+ python -m lidar_slam --no-model /working/ca7839dc-a585-45c2-803d-b45cec4266d4 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/ca7839dc-a585-45c2-803d-b45cec4266d4 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 0.022755096 Adjusted end_distance from 9.223372036854776e+18 to 736.542755096 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.022755096 meters 0.06509594506913136 Centerline is valid? [0, True] SLAMing on 0.052755096 meters 0.06728341888708819 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 9.99999946e-01 -1.75402143e-04 2.78123929e-04 3.01384251e-02] [ 1.75406962e-04 9.99999984e-01 -1.73037165e-05 -3.00056499e-04] [-2.78120890e-04 1.73525004e-05 9.99999961e-01 -3.66131186e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.082755096 meters 0.07142474506759316 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:-0.00 [[ 9.99999972e-01 5.65250486e-05 -2.30968173e-04 6.11361178e-02] [-5.65216410e-05 9.99999998e-01 1.47599245e-05 3.07576301e-04] [ 2.30969006e-04 -1.47468694e-05 9.99999973e-01 -1.78195619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11275509600000001 meters 0.09685700734923666 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:-0.00 [[ 9.99996804e-01 -7.04148474e-04 -2.42806405e-03 9.07676706e-02] [ 7.04515354e-04 9.99999741e-01 1.50247713e-04 -3.71275167e-03] [ 2.42795763e-03 -1.51957841e-04 9.99997041e-01 -1.53319100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.142755096 meters 0.12258560004966192 Centerline is valid? [True, False] Translation: X:0.09, Y:-0.00, Z:-0.00 [[ 9.99995872e-01 -1.08774398e-03 -2.65956690e-03 9.18975471e-02] [ 1.08708830e-03 9.99999378e-01 -2.47968068e-04 -3.27292174e-03] [ 2.65983497e-03 2.45075861e-04 9.99996433e-01 -2.43846960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17275509600000002 meters 0.13288301824897897 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.00, Z:-0.00 [[ 9.99995080e-01 -1.30430172e-03 -2.85294119e-03 9.28390653e-02] [ 1.30311782e-03 9.99999064e-01 -4.16795442e-04 -3.39211222e-03] [ 2.85348214e-03 4.13075673e-04 9.99995843e-01 -3.18680014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20275509600000002 meters 0.14244924796741765 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.00, Z:-0.00 [[ 0.99999292 -0.0019308 -0.00322972 0.09449123] [ 0.0019274 0.99999758 -0.00105616 -0.00233108] [ 0.00323175 0.00104993 0.99999423 -0.00435591] [ 0. 0. 0. 1. ]] SLAMing on 0.23275509600000002 meters 0.1538488512207636 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.00, Z:-0.01 [[ 9.99990648e-01 -2.56064588e-03 -3.48521838e-03 9.58581643e-02] [ 2.55409205e-03 9.99994964e-01 -1.88361927e-03 -4.97464271e-04] [ 3.49002411e-03 1.87470009e-03 9.99992153e-01 -5.42892813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.262755096 meters 0.14477510012837672 Centerline is valid? [False, False] Translation: X:0.10, Y:0.00, Z:-0.01 [[ 9.99989552e-01 -2.87796514e-03 -3.55139470e-03 9.64544867e-02] [ 2.86945389e-03 9.99993005e-01 -2.39936471e-03 9.72591781e-04] [ 3.55827515e-03 2.38914908e-03 9.99990815e-01 -6.01080764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.292755096 meters 0.16249475748124395 Centerline is valid? [False, False] Translation: X:0.10, Y:0.00, Z:-0.01 [[ 0.99998566 -0.0036121 -0.00395444 0.09806011] [ 0.00359861 0.9999877 -0.00341271 0.00382131] [ 0.00396672 0.00339843 0.99998636 -0.00697679] [ 0. 0. 0. 1. ]] SLAMing on 0.322755096 meters 0.1750587827013257 Centerline is valid? [False, False] Translation: X:0.10, Y:0.00, Z:-0.01 [[ 0.99998498 -0.00375614 -0.0039919 0.09857979] [ 0.00374163 0.99998639 -0.00363502 0.00442437] [ 0.0040055 0.00362003 0.99998543 -0.00753139] [ 0. 0. 0. 1. ]] SLAMing on 0.352755096 meters 0.18033344397975284 Centerline is valid? [False, False] Translation: X:0.10, Y:0.00, Z:-0.01 [[ 0.99998451 -0.00387345 -0.00399811 0.09886242] [ 0.00385808 0.99998517 -0.00384412 0.00498492] [ 0.00401294 0.00382863 0.99998462 -0.00784123] [ 0. 0. 0. 1. ]] SLAMing on 0.382755096 meters 0.19799539240372133 Centerline is valid? [False, False] Translation: X:0.10, Y:0.00, Z:-0.01 [[ 9.99989728e-01 8.91145070e-05 -4.53173260e-03 1.00346169e-01] [-8.57616567e-05 9.99999722e-01 7.40049507e-04 2.94376751e-03] [ 4.53179730e-03 -7.39653256e-04 9.99989458e-01 -8.27450205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.412755096 meters 0.20359560941183286 Centerline is valid? [False, False] Translation: X:0.10, Y:0.00, Z:-0.01 [[ 9.99988907e-01 -3.71346060e-04 -4.69560073e-03 1.01307255e-01] [ 3.72076624e-04 9.99999919e-01 1.54712286e-04 4.28281465e-03] [ 4.69554290e-03 -1.56457693e-04 9.99988964e-01 -8.98606800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.442755096 meters 0.20816957397169375 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-0.01 [[ 9.99987204e-01 -1.10776581e-03 -4.93599414e-03 1.02487299e-01] [ 1.10314945e-03 9.99998952e-01 -9.37869857e-04 7.49995083e-03] [ 4.93702791e-03 9.32412717e-04 9.99987378e-01 -9.72133861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.472755096 meters 0.2155699324961809 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.01 [[ 9.99983989e-01 -5.05993164e-04 -5.63615919e-03 1.06394948e-01] [ 5.05006984e-04 9.99999857e-01 -1.76395587e-04 9.77255977e-03] [ 5.63624764e-03 1.73546463e-04 9.99984101e-01 -1.21823442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.502755096 meters 0.22643326251003212 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.01 [[ 9.99981719e-01 -1.10918892e-03 -5.94394712e-03 1.07808372e-01] [ 1.10401421e-03 9.99999009e-01 -8.73795652e-04 1.13959048e-02] [ 5.94491043e-03 8.67217476e-04 9.99981953e-01 -1.30195522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.532755096 meters 0.23244015599697226 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.01 [[ 0.99998015 -0.00150464 -0.00611901 0.1089421 ] [ 0.00149672 0.99999804 -0.00129852 0.01231754] [ 0.00612095 0.00128933 0.99998044 -0.01387111] [ 0. 0. 0. 1. ]] SLAMing on 0.5627550960000001 meters 0.24593732515920633 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.01 [[ 0.99997884 -0.00178635 -0.00625586 0.10991243] [ 0.00177641 0.99999715 -0.00159362 0.01281279] [ 0.00625869 0.00158248 0.99997916 -0.01468754] [ 0. 0. 0. 1. ]] SLAMing on 0.5927550960000001 meters 0.24837532694548248 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.02 [[ 0.99997756 -0.00194258 -0.00641172 0.11055783] [ 0.00193135 0.99999659 -0.00175724 0.01347842] [ 0.00641512 0.00174482 0.9999779 -0.01502676] [ 0. 0. 0. 1. ]] SLAMing on 0.6227550960000001 meters 0.2576727886779336 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.02 [[ 0.99997505 -0.00225306 -0.00669472 0.11176722] [ 0.00224023 0.99999564 -0.00192317 0.01372824] [ 0.00669902 0.00190813 0.99997574 -0.01566505] [ 0. 0. 0. 1. ]] SLAMing on 0.652755096 meters 0.26505643997344575 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.02 [[ 0.99997263 -0.00240326 -0.00699757 0.11304879] [ 0.0023907 0.99999552 -0.00180285 0.01320709] [ 0.00700188 0.00178607 0.99997389 -0.01633157] [ 0. 0. 0. 1. ]] SLAMing on 0.6827550960000001 meters 0.26545707684567016 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.02 [[ 0.99997049 -0.00237861 -0.00730511 0.11400164] [ 0.00236908 0.99999633 -0.00131267 0.01166281] [ 0.0073082 0.00129533 0.99997246 -0.0165933 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7127550960000001 meters 0.27393725697874616 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.02 [[ 0.99995982 -0.00426753 -0.00788279 0.11669309] [ 0.00425814 0.99999021 -0.00120678 0.00842868] [ 0.00788786 0.00117316 0.9999682 -0.01749684] [ 0. 0. 0. 1. ]] SLAMing on 0.7427550960000001 meters 0.2832431372455044 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.02 [[ 9.99953135e-01 -4.55611127e-03 -8.54218119e-03 1.18599422e-01] [ 4.55229409e-03 9.99989530e-01 -4.66252873e-04 5.92282509e-03] [ 8.54421605e-03 4.27344502e-04 9.99963406e-01 -1.78853686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7727550960000001 meters 0.27941365224221837 Centerline is valid? [False, False] Translation: X:0.12, Y:0.00, Z:-0.02 [[ 9.99947183e-01 -4.89312037e-03 -9.03818719e-03 1.19959037e-01] [ 4.89475332e-03 9.99988008e-01 1.58560530e-04 3.75993992e-03] [ 9.03730295e-03 -2.02791852e-04 9.99959142e-01 -1.79823275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8027550960000001 meters 0.2940452333968607 Centerline is valid? [False, False] Translation: X:0.12, Y:0.00, Z:-0.02 [[ 0.99988498 -0.01101417 -0.01042684 0.12492089] [ 0.01096813 0.99992989 -0.00446252 0.00451083] [ 0.01047526 0.00434765 0.99993568 -0.01934844] [ 0. 0. 0. 1. ]] SLAMing on 0.8327550960000001 meters 0.29696197143592995 Centerline is valid? [False, False] Translation: X:0.13, Y:0.00, Z:-0.02 [[ 9.99909053e-01 -8.22014347e-03 -1.06918138e-02 1.26304799e-01] [ 8.22221335e-03 9.99966186e-01 1.49652006e-04 1.11829742e-03] [ 1.06902221e-02 -2.37548769e-04 9.99942830e-01 -1.94819428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8627550960000001 meters 0.29116033463867236 Centerline is valid? [False, False] Translation: X:0.13, Y:0.00, Z:-0.02 [[ 9.99895600e-01 -9.15056174e-03 -1.11828396e-02 1.27754476e-01] [ 9.15023291e-03 9.99958132e-01 -8.05693125e-05 1.77017775e-03] [ 1.11831087e-02 -2.17646862e-05 9.99937467e-01 -1.94244643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8927550960000001 meters 0.29015526231958755 Centerline is valid? [False, False] Translation: X:0.13, Y:0.00, Z:-0.02 [[ 9.99891647e-01 -9.30072150e-03 -1.14100998e-02 1.28249416e-01] [ 9.30091354e-03 9.99956745e-01 -3.62343331e-05 1.96259311e-03] [ 1.14099433e-02 -6.98939449e-05 9.99934902e-01 -1.92368765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.922755096 meters 0.27810989261614383 Centerline is valid? [False, False] Translation: X:0.13, Y:0.00, Z:-0.02 [[ 9.99882853e-01 -9.86622334e-03 -1.17020605e-02 1.28753215e-01] [ 9.85896452e-03 9.99951169e-01 -6.77828787e-04 4.54033449e-03] [ 1.17081767e-02 5.62379182e-04 9.99931299e-01 -1.88073099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9527550960000001 meters 0.26302799950413697 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:-0.02 [[ 0.99987792 -0.01025159 -0.01179197 0.12895987] [ 0.01023477 0.99994652 -0.00148571 0.00718653] [ 0.01180657 0.00136484 0.99992937 -0.0188179 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9827550960000001 meters 0.2680960629532851 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:-0.02 [[ 0.99990847 -0.00637019 -0.0119362 0.12899484] [ 0.00640334 0.99997574 0.00274099 0.00717063] [ 0.01191845 -0.00281717 0.999925 -0.01819622] [ 0. 0. 0. 1. ]] SLAMing on 1.012755096 meters 0.2574115895076779 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:-0.02 [[ 0.99990856 -0.00670361 -0.01174483 0.12832528] [ 0.00672063 0.99997642 0.00141087 0.0115769 ] [ 0.01173509 -0.00148967 0.99993003 -0.01807705] [ 0. 0. 0. 1. ]] SLAMing on 1.042755096 meters 0.23555905080728992 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:-0.02 [[ 0.9999287 -0.00300542 -0.01155724 0.12617951] [ 0.00304728 0.99998886 0.00360547 0.0188018 ] [ 0.01154628 -0.00364043 0.99992671 -0.01623581] [ 0. 0. 0. 1. ]] SLAMing on 1.072755096 meters 0.22384872955338167 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:-0.02 [[ 0.99993074 -0.00323125 -0.01131705 0.12509982] [ 0.00325368 0.99999278 0.00196373 0.02436126] [ 0.01131063 -0.00200041 0.99993403 -0.01576966] [ 0. 0. 0. 1. ]] SLAMing on 1.102755096 meters 0.1994717028528167 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:-0.01 [[ 9.99940188e-01 6.03324355e-04 -1.09204432e-02 1.22158352e-01] [-5.64655397e-04 9.99993562e-01 3.54370653e-03 3.37264093e-02] [ 1.09225109e-02 -3.53732828e-03 9.99934091e-01 -1.36959753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1327550960000001 meters 0.1853605385152641 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.01 [[ 9.99943021e-01 9.35994683e-04 -1.06338633e-02 1.20496885e-01] [-9.15441380e-04 9.99997704e-01 1.93751925e-03 4.11233982e-02] [ 1.06356524e-02 -1.92767418e-03 9.99941582e-01 -1.28919367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1627550960000002 meters 0.1853605385152641 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.01 [[ 9.99943021e-01 9.35994683e-04 -1.06338633e-02 1.20496885e-01] [-9.15441380e-04 9.99997704e-01 1.93751925e-03 4.11233982e-02] [ 1.06356524e-02 -1.92767418e-03 9.99941582e-01 -1.28919367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1927550960000002 meters 0.1748308963803736 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:-0.01 [[ 0.99993399 0.00437411 -0.01062435 0.12041466] [-0.00433177 0.9999826 0.00400489 0.04663542] [ 0.01064168 -0.0039586 0.99993554 -0.0130921 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2227550960000002 meters 0.14007339331913202 Centerline is valid? [False, False] Translation: X:0.12, Y:0.06, Z:-0.01 [[ 0.99987825 0.01154073 -0.01050218 0.11948309] [-0.01145276 0.99989915 0.00839829 0.05717401] [ 0.01059805 -0.00827699 0.99990958 -0.0127856 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2527550960000002 meters 0.12971615603242045 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.01 [[ 0.99988759 0.01064874 -0.01055556 0.11967798] [-0.01059629 0.9999313 0.00501212 0.06581811] [ 0.01060821 -0.00489971 0.99993173 -0.01355686] [ 0. 0. 0. 1. ]] SLAMing on 1.282755096 meters 0.12518440259633232 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.01 [[ 0.99989636 0.00963249 -0.01069944 0.12016895] [-0.00961883 0.99995286 0.00132755 0.07496529] [ 0.01071172 -0.00122449 0.99994188 -0.01452956] [ 0. 0. 0. 1. ]] SLAMing on 1.312755096 meters 0.10866310585192185 Centerline is valid? [False, False] Translation: X:0.12, Y:0.09, Z:-0.01 [[ 0.99980828 0.01655655 -0.01045428 0.11908993] [-0.01650442 0.99985102 0.00505342 0.08662513] [ 0.01053639 -0.00487991 0.99993258 -0.01429936] [ 0. 0. 0. 1. ]] SLAMing on 1.342755096 meters 0.1072193818720011 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.01 [[ 0.99983 0.01167726 -0.01426962 0.1296611 ] [-0.01161604 0.999923 0.00436566 0.09570361] [ 0.0143195 -0.00419916 0.99988865 -0.01214054] [ 0. 0. 0. 1. ]] SLAMing on 1.3727550960000001 meters 0.10416042282042812 Centerline is valid? [False, False] Translation: X:0.15, Y:0.11, Z:-0.01 [[ 0.99982835 0.01618556 -0.00901694 0.14532901] [-0.01617417 0.9998683 0.00133413 0.11075282] [ 0.00903735 -0.00118805 0.99995846 -0.01316004] [ 0. 0. 0. 1. ]] SLAMing on 1.4027550960000001 meters 0.09847360477559049 Centerline is valid? [False, True] Translation: X:0.14, Y:0.12, Z:-0.01 [[ 0.99984181 0.0153543 -0.00897722 0.14495928] [-0.01537058 0.99988034 -0.00174722 0.11875215] [ 0.00894932 0.00188493 0.99995818 -0.01307394] [ 0. 0. 0. 1. ]] SLAMing on 1.4327550960000002 meters 0.09809130037303741 Centerline is valid? [True, True] Translation: X:0.17, Y:0.12, Z:-0.01 [[ 9.99774225e-01 1.89045717e-02 -9.70132418e-03 1.74641395e-01] [-1.88993077e-02 9.99821191e-01 6.34002301e-04 1.23080217e-01] [ 9.71157504e-03 -4.50510849e-04 9.99952740e-01 -1.08233259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4627550960000002 meters 0.09610233837055344 Centerline is valid? [True, True] Translation: X:0.21, Y:0.13, Z:-0.01 [[ 9.99711073e-01 2.19707659e-02 -9.74966595e-03 2.05154753e-01] [-2.19656006e-02 9.99758524e-01 6.36573898e-04 1.30672457e-01] [ 9.76129766e-03 -4.22232706e-04 9.99952268e-01 -8.74410699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4927550960000002 meters 0.0912884189850687 Centerline is valid? [True, True] Translation: X:0.24, Y:0.14, Z:-0.01 [[ 9.99532146e-01 2.72465838e-02 -1.38965377e-02 2.35313156e-01] [-2.72366034e-02 9.99628603e-01 9.06980628e-04 1.42961996e-01] [ 1.39160887e-02 -5.28061808e-04 9.99903027e-01 -9.78210845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5227550960000003 meters 0.0904108251486986 Centerline is valid? [True, True] Translation: X:0.26, Y:0.15, Z:-0.01 [[ 9.99469951e-01 2.87765695e-02 -1.52225594e-02 2.64966975e-01] [-2.87647799e-02 9.99585715e-01 9.92906243e-04 1.47870273e-01] [ 1.52448253e-02 -5.54506384e-04 9.99883637e-01 -9.96161399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.552755096 meters 0.08692676659914943 Centerline is valid? [True, True] Translation: X:0.29, Y:0.15, Z:-0.01 [[ 9.99419476e-01 2.97406070e-02 -1.66194599e-02 2.94481282e-01] [-2.97267050e-02 9.99557477e-01 1.08295768e-03 1.51298787e-01] [ 1.66443133e-02 -5.88287213e-04 9.99861301e-01 -9.87368098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.582755096 meters 0.08761319585981273 Centerline is valid? [True, True] Translation: X:0.32, Y:0.16, Z:-0.01 [[ 9.99375480e-01 3.03208974e-02 -1.81464339e-02 3.23048414e-01] [-3.03044471e-02 9.99540017e-01 1.18089027e-03 1.59364867e-01] [ 1.81738925e-02 -6.30235133e-04 9.99834643e-01 -9.91942997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.612755096 meters 0.08696330957286541 Centerline is valid? [True, True] Translation: X:0.35, Y:0.16, Z:-0.01 [[ 9.99332535e-01 3.03116224e-02 -2.03884605e-02 3.51768992e-01] [-3.02909015e-02 9.99540248e-01 1.32443541e-03 1.61273611e-01] [ 2.04192327e-02 -7.05966543e-04 9.99791256e-01 -1.05522351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6427550960000001 meters 0.08435525863788725 Centerline is valid? [True, True] Translation: X:0.38, Y:0.16, Z:-0.01 [[ 9.99361024e-01 2.96927734e-02 -1.98968103e-02 3.79953425e-01] [-2.96729480e-02 9.99558827e-01 1.29096470e-03 1.62441183e-01] [ 1.99263647e-02 -6.99742788e-04 9.99801205e-01 -8.89688186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6727550960000002 meters 0.08162831660551599 Centerline is valid? [True, True] Translation: X:0.41, Y:0.17, Z:-0.01 [[ 9.99391630e-01 2.80488024e-02 -2.07276157e-02 4.08937356e-01] [-2.80269766e-02 9.99606265e-01 1.34278498e-03 1.70341728e-01] [ 2.07571181e-02 -7.61035669e-04 9.99784258e-01 -8.39211134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7027550960000002 meters 0.08429345511716606 Centerline is valid? [True, True] Translation: X:0.44, Y:0.17, Z:-0.01 [[ 9.99399984e-01 2.72387990e-02 -2.13943900e-02 4.37026890e-01] [-2.72154080e-02 9.99628634e-01 1.38378298e-03 1.67631478e-01] [ 2.14241374e-02 -8.00695641e-04 9.99770156e-01 -8.56731331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7327550960000002 meters 0.0795619375586124 Centerline is valid? [True, True] Translation: X:0.47, Y:0.17, Z:-0.01 [[ 9.99411987e-01 2.58874235e-02 -2.24837867e-02 4.65385404e-01] [-2.58612994e-02 9.99664486e-01 1.45194700e-03 1.67273023e-01] [ 2.25138302e-02 -8.69633293e-04 9.99746153e-01 -8.45410194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7627550960000002 meters 0.07643126612601521 Centerline is valid? [True, True] Translation: X:0.50, Y:0.18, Z:-0.01 [[ 0.99939292 0.02320226 -0.02598947 0.49527228] [-0.02316651 0.99973022 0.00167585 0.17581697] [ 0.02602134 -0.00107275 0.99966081 -0.00895656] [ 0. 0. 0. 1. ]] SLAMing on 1.7927550960000003 meters 0.07660829394425485 Centerline is valid? [True, True] Translation: X:0.52, Y:0.17, Z:-0.01 [[ 0.99938875 0.02173924 -0.02737762 0.52327505] [-0.02169908 0.99976299 0.00176324 0.17148808] [ 0.02740946 -0.00116809 0.99962361 -0.01011939] [ 0. 0. 0. 1. ]] SLAMing on 1.822755096 meters 0.07257253480516275 Centerline is valid? [True, True] Translation: X:0.55, Y:0.18, Z:-0.01 [[ 0.99930012 0.01987121 -0.03169233 0.55272499] [-0.01981654 0.99980156 0.0020381 0.17580392] [ 0.03172654 -0.00140864 0.99949559 -0.01218238] [ 0. 0. 0. 1. ]] SLAMing on 1.852755096 meters 0.07366498344432251 Centerline is valid? [True, True] Translation: X:0.58, Y:0.18, Z:-0.01 [[ 0.99922014 0.01961046 -0.03427153 0.58199987] [-0.01954646 0.99980653 0.00220149 0.1757724 ] [ 0.03430807 -0.00152988 0.99941013 -0.01288464] [ 0. 0. 0. 1. ]] SLAMing on 1.8827550960000001 meters 0.07405045692788986 Centerline is valid? [True, True] Translation: X:0.61, Y:0.18, Z:-0.02 [[ 0.99905918 0.01914902 -0.03891111 0.61097271] [-0.01906644 0.99981511 0.00249217 0.17635385] [ 0.03895164 -0.00174792 0.99923957 -0.01545292] [ 0. 0. 0. 1. ]] SLAMing on 1.9127550960000002 meters 0.07173441541089727 Centerline is valid? [True, True] Translation: X:0.64, Y:0.18, Z:-0.02 [[ 0.99887773 0.01832619 -0.04367404 0.63985252] [-0.01822168 0.99983008 0.00278987 0.17689592] [ 0.04371774 -0.00199093 0.99904194 -0.01844608] [ 0. 0. 0. 1. ]] SLAMing on 1.9427550960000002 meters 0.07140396628809312 Centerline is valid? [True, True] Translation: X:0.67, Y:0.18, Z:-0.02 [[ 0.99868281 0.01838829 -0.04790102 0.66939291] [-0.01826276 0.99982855 0.0030569 0.18010045] [ 0.04794901 -0.00217807 0.99884741 -0.01857166] [ 0. 0. 0. 1. ]] SLAMing on 1.9727550960000002 meters 0.06969798600893501 Centerline is valid? [True, True] Translation: X:0.70, Y:0.18, Z:-0.02 [[ 0.99846861 0.01783022 -0.05236908 0.69937933] [-0.01767952 0.99983813 0.00333942 0.18460591] [ 0.05242014 -0.00240845 0.99862221 -0.01854853] [ 0. 0. 0. 1. ]] SLAMing on 2.002755096 meters 0.06840933554038202 Centerline is valid? [True, True] Translation: X:0.73, Y:0.18, Z:-0.02 [[ 0.99845468 0.01721664 -0.05283783 0.72802167] [-0.01706294 0.99984878 0.00335877 0.18428348] [ 0.05288767 -0.00245201 0.99859746 -0.01777904] [ 0. 0. 0. 1. ]] SLAMing on 2.0327550960000003 meters 0.06701676493049179 Centerline is valid? [True, True] Translation: X:0.76, Y:0.19, Z:-0.02 [[ 0.99830217 0.01704032 -0.05569919 0.75767065] [-0.01686962 0.99985145 0.00353348 0.18578799] [ 0.05575113 -0.00258785 0.99844134 -0.01635219] [ 0. 0. 0. 1. ]] SLAMing on 2.062755096 meters 0.0680302159428674 Centerline is valid? [True, True] Translation: X:0.79, Y:0.18, Z:-0.02 [[ 0.9981472 0.01621943 -0.05864389 0.786138 ] [-0.01602895 0.99986462 0.00371697 0.18212128] [ 0.05869624 -0.00277009 0.99827205 -0.01843334] [ 0. 0. 0. 1. ]] SLAMing on 2.0927550960000003 meters 0.069450318673358 Centerline is valid? [True, True] Translation: X:0.81, Y:0.18, Z:-0.02 [[ 0.99814787 0.01560221 -0.05879959 0.81403769] [-0.01540995 0.99987433 0.00372176 0.17885681] [ 0.05885027 -0.00280877 0.99826287 -0.01978876] [ 0. 0. 0. 1. ]] SLAMing on 2.122755096 meters 0.06318656633038931 Centerline is valid? [True, True] Translation: X:0.84, Y:0.19, Z:-0.01 [[ 0.998157 0.01581019 -0.05858883 0.84314745] [-0.01562045 0.99987117 0.00369505 0.18728269] [ 0.0586397 -0.00277306 0.99827536 -0.01191836] [ 0. 0. 0. 1. ]] SLAMing on 2.1527550960000004 meters 0.06244250102036226 Centerline is valid? [True, True] Translation: X:0.87, Y:0.19, Z:-0.01 [[ 0.99809509 0.01695214 -0.05931967 0.87197612] [-0.01676068 0.9998526 0.00372372 0.18921096] [ 0.05937405 -0.00272239 0.99823209 -0.01029507] [ 0. 0. 0. 1. ]] SLAMing on 2.182755096 meters 0.06399308811739915 Centerline is valid? [True, True] Translation: X:0.90, Y:0.18, Z:-0.01 [[ 0.99814728 0.01782138 -0.05817557 0.89993552] [-0.01763927 0.99983778 0.00364238 0.18414388] [ 0.05823105 -0.00260946 0.99829972 -0.0132914 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2127550960000004 meters 0.06298977474811253 Centerline is valid? [True, True] Translation: X:0.93, Y:0.18, Z:-0.01 [[ 0.99809466 0.01833563 -0.0589139 0.92772998] [-0.01815062 0.99982851 0.00367394 0.18480668] [ 0.05897116 -0.00259762 0.99825631 -0.01205866] [ 0. 0. 0. 1. ]] SLAMing on 2.2427550960000002 meters 0.056830302732690366 Centerline is valid? [True, True] Translation: X:0.96, Y:0.19, Z:-0.00 [[ 0.99823431 0.01869483 -0.0563806 0.95692531] [-0.01852648 0.99982222 0.0035071 0.19143447] [ 0.05643614 -0.00245638 0.99840319 -0.00392076] [ 0. 0. 0. 1. ]] SLAMing on 2.272755096 meters 0.05852537005570513 Centerline is valid? [True, True] Translation: X:0.98, Y:0.19, Z:-0.01 [[ 0.99812645 0.02026397 -0.05773179 0.98489313] [-0.0200904 0.99979174 0.00358541 0.18963742] [ 0.05779242 -0.00241884 0.99832569 -0.00584982] [ 0. 0. 0. 1. ]] SLAMing on 2.3027550960000003 meters 0.0563674842403854 Centerline is valid? [True, True] Translation: X:1.01, Y:0.19, Z:-0.00 [[ 0.99822566 0.01982192 -0.05614831 1.01371363] [-0.01965778 0.99980073 0.00347412 0.19018066] [ 0.05620598 -0.0023642 0.9984164 -0.00274555] [ 0. 0. 0. 1. ]] SLAMing on 2.332755096 meters 0.05551191898096968 Centerline is valid? [True, True] Translation: X:1.04, Y:0.19, Z:-0.00 [[ 9.98308550e-01 1.85003364e-02 -5.51160256e-02 1.04141229e+00] [-1.83411563e-02 9.99826031e-01 3.39256612e-03 1.88924480e-01] [ 5.51692008e-02 -2.37593613e-03 9.98474193e-01 -7.51562209e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3627550960000003 meters 0.05598701035738383 Centerline is valid? [True, True] Translation: X:1.07, Y:0.18, Z:0.00 [[ 9.98519621e-01 1.56579679e-02 -5.20902566e-02 1.06868949e+00] [-1.55124405e-02 9.99874564e-01 3.19690399e-03 1.81469191e-01] [ 5.21337797e-02 -2.38412435e-03 9.98637264e-01 8.56496610e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.392755096 meters 0.05491409378674017 Centerline is valid? [True, True] Translation: X:1.10, Y:0.18, Z:0.00 [[ 0.99860847 0.0130841 -0.05108757 1.09736124] [-0.01294134 0.99991138 0.0031241 0.17862489] [ 0.05112391 -0.00245862 0.99868929 0.00306062] [ 0. 0. 0. 1. ]] SLAMing on 2.4227550960000004 meters 0.05670502327159535 Centerline is valid? [True, True] Translation: X:1.13, Y:0.17, Z:0.00 [[ 0.99879723 0.00865631 -0.04826135 1.12535074] [-0.00852411 0.99995933 0.00294437 0.17087397] [ 0.04828487 -0.00252944 0.9988304 0.00387775] [ 0. 0. 0. 1. ]] SLAMing on 2.452755096 meters 0.05629680275383082 Centerline is valid? [True, True] Translation: X:1.15, Y:0.17, Z:0.01 [[ 0.99882062 0.00750035 -0.04796988 1.15396865] [-0.00736888 0.99996859 0.00291713 0.17003696] [ 0.04799025 -0.00256021 0.99884452 0.00547977] [ 0. 0. 0. 1. ]] SLAMing on 2.4827550960000004 meters 0.056762149102645154 Centerline is valid? [True, True] Translation: X:1.18, Y:0.17, Z:0.01 [[ 0.99885553 0.00694679 -0.04732201 1.18194823] [-0.00681861 0.99997264 0.00286964 0.16833683] [ 0.04734065 -0.00254368 0.99887556 0.00660181] [ 0. 0. 0. 1. ]] SLAMing on 2.5127550960000002 meters 0.0564076521154018 Centerline is valid? [True, True] Translation: X:1.21, Y:0.17, Z:0.01 [[ 0.99894001 0.00705437 -0.04548738 1.20936259] [-0.00693625 0.99997215 0.00275394 0.16655134] [ 0.04550554 -0.00243551 0.99896112 0.00795256] [ 0. 0. 0. 1. ]] SLAMing on 2.542755096 meters 0.05658739545558671 Centerline is valid? [True, True] Translation: X:1.24, Y:0.16, Z:0.01 [[ 0.99893396 0.00768041 -0.04551879 1.23677935] [-0.00756299 0.99996762 0.00275137 0.16480619] [ 0.04553845 -0.00240418 0.99895969 0.00788987] [ 0. 0. 0. 1. ]] SLAMing on 2.5727550960000003 meters 0.05493589247091652 Centerline is valid? [True, True] Translation: X:1.27, Y:0.16, Z:0.01 [[ 0.99894971 0.00850182 -0.0450244 1.26533039] [-0.00838817 0.99996114 0.00271251 0.16400893] [ 0.04504571 -0.00233199 0.9989822 0.00777626] [ 0. 0. 0. 1. ]] SLAMing on 2.602755096 meters 0.05470268733033684 Centerline is valid? [True, True] Translation: X:1.29, Y:0.16, Z:0.01 [[ 0.99899976 0.00862402 -0.04387605 1.29447455] [-0.00851674 0.99996027 0.00263154 0.16250142] [ 0.043897 -0.00225523 0.99903352 0.00853109] [ 0. 0. 0. 1. ]] SLAMing on 2.6327550960000003 meters 0.054294336502129545 Centerline is valid? [True, True] Translation: X:1.32, Y:0.16, Z:0.01 [[ 0.99901721 0.0089716 -0.04340648 1.32311201] [-0.00886744 0.99995732 0.00259168 0.16178666] [ 0.04342788 -0.00220423 0.99905413 0.00966908] [ 0. 0. 0. 1. ]] SLAMing on 2.662755096 meters 0.053658881317634195 Centerline is valid? [True, True] Translation: X:1.35, Y:0.16, Z:0.01 [[ 0.99916335 0.00842825 -0.04001953 1.35216967] [-0.0083397 0.99996239 0.00237907 0.16211515] [ 0.04003808 -0.00204333 0.99919607 0.01326565] [ 0. 0. 0. 1. ]] SLAMing on 2.6927550960000004 meters 0.05336327926092049 Centerline is valid? [True, True] Translation: X:1.38, Y:0.16, Z:0.01 [[ 0.99907431 0.01038351 -0.0417458 1.37988834] [-0.01028916 0.999944 0.00247427 0.1628044 ] [ 0.04176915 -0.00204245 0.9991252 0.01225416] [ 0. 0. 0. 1. ]] SLAMing on 2.722755096 meters 0.053995093930237784 Centerline is valid? [True, True] Translation: X:1.41, Y:0.16, Z:0.01 [[ 0.99909612 0.00943288 -0.04144838 1.40762418] [-0.00933922 0.99995338 0.00245274 0.16210206] [ 0.04146958 -0.00206343 0.99913764 0.01309213] [ 0. 0. 0. 1. ]] SLAMing on 2.7527550960000005 meters 0.054516398041589705 Centerline is valid? [True, True] Translation: X:1.44, Y:0.16, Z:0.01 [[ 0.99912138 0.00856706 -0.04102524 1.43598832] [-0.00847488 0.99996116 0.00242014 0.16029513] [ 0.04104438 -0.00207033 0.99915518 0.01399106] [ 0. 0. 0. 1. ]] SLAMing on 2.7827550960000003 meters 0.05558723997643582 Centerline is valid? [True, True] Translation: X:1.46, Y:0.16, Z:0.01 [[ 0.99916958 0.006831 -0.04016834 1.46433614] [-0.00674166 0.99997449 0.00235923 0.15729015] [ 0.04018343 -0.00208647 0.99919014 0.0148737 ] [ 0. 0. 0. 1. ]] SLAMing on 2.812755096 meters 0.05613808797003427 Centerline is valid? [True, True] Translation: X:1.49, Y:0.16, Z:0.02 [[ 0.99921965 0.00577372 -0.03907375 1.49282219] [-0.00568877 0.99998121 0.00228492 0.15522238] [ 0.03908621 -0.00206085 0.99923372 0.01603308] [ 0. 0. 0. 1. ]] SLAMing on 2.8427550960000003 meters 0.056965686812654216 Centerline is valid? [True, True] Translation: X:1.52, Y:0.16, Z:0.02 [[ 0.9992634 0.00495299 -0.03805427 1.52037787] [-0.00487207 0.99998567 0.0022188 0.15546129] [ 0.03806472 -0.00203177 0.99927321 0.01690645] [ 0. 0. 0. 1. ]] SLAMing on 2.872755096 meters 0.0580934651108076 Centerline is valid? [True, True] Translation: X:1.55, Y:0.16, Z:0.02 [[ 0.99929669 0.0041553 -0.03726736 1.54841674] [-0.00407726 0.99998933 0.00216956 0.15667718] [ 0.03727598 -0.00201609 0.99930298 0.0180162 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9027550960000004 meters 0.05794234405049431 Centerline is valid? [True, True] Translation: X:1.58, Y:0.16, Z:0.02 [[ 0.99934813 0.00357783 -0.03592369 1.57636405] [-0.00350519 0.99999168 0.00208473 0.15634719] [ 0.03593085 -0.00195746 0.99935236 0.01951392] [ 0. 0. 0. 1. ]] SLAMing on 2.932755096 meters 0.05785264999172765 Centerline is valid? [True, True] Translation: X:1.61, Y:0.15, Z:0.02 [[ 0.99937594 0.00360757 -0.03513851 1.6054706 ] [-0.00353843 0.99999168 0.00202977 0.15494069] [ 0.03514554 -0.00190417 0.99938039 0.02072256] [ 0. 0. 0. 1. ]] SLAMing on 2.9627550960000004 meters 0.05761401710967359 Centerline is valid? [True, True] Translation: X:1.63, Y:0.15, Z:0.02 [[ 0.99937588 0.00410588 -0.03508554 1.63385161] [-0.00403755 0.99998981 0.00201796 0.15347347] [ 0.03509346 -0.00187504 0.99938228 0.02207915] [ 0. 0. 0. 1. ]] SLAMing on 2.9927550960000002 meters 0.058901514082529534 Centerline is valid? [True, True] Translation: X:1.66, Y:0.15, Z:0.02 [[ 0.99945848 0.00281153 -0.03278464 1.66117961] [-0.00275139 0.99999445 0.00187943 0.15013286] [ 0.03278974 -0.00178821 0.99946067 0.02496931] [ 0. 0. 0. 1. ]] SLAMing on 3.0227550960000005 meters 0.059529747004085316 Centerline is valid? [True, True] Translation: X:1.69, Y:0.15, Z:0.03 [[ 0.99946634 0.00215088 -0.03259464 1.68985044] [-0.00209127 0.99999608 0.00186271 0.14862766] [ 0.03259852 -0.00179355 0.99946692 0.02564559] [ 0. 0. 0. 1. ]] SLAMing on 3.0527550960000003 meters 0.059529747004085316 Centerline is valid? [True, True] Translation: X:1.72, Y:0.15, Z:0.03 [[ 0.99946688 0.00187189 -0.03259513 1.71736505] [-0.00181241 0.99999664 0.00185427 0.14732065] [ 0.03259849 -0.00179421 0.99946692 0.02616119] [ 0. 0. 0. 1. ]] SLAMing on 3.082755096 meters 0.05960365444281446 Centerline is valid? [True, True] Translation: X:1.75, Y:0.15, Z:0.03 [[ 9.99461875e-01 1.68214853e-03 -3.27586644e-02 1.74557632e+00] [-1.62226897e-03 9.99996965e-01 1.85439295e-03 1.46282557e-01] [ 3.27616844e-02 -1.80025169e-03 9.99461571e-01 2.66531882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1127550960000003 meters 0.06075970263832647 Centerline is valid? [True, True] Translation: X:1.77, Y:0.14, Z:0.03 [[ 9.99456069e-01 1.45648086e-03 -3.29460821e-02 1.77335547e+00] [-1.39600507e-03 9.99997299e-01 1.85852711e-03 1.43757488e-01] [ 3.29487000e-02 -1.81152330e-03 9.99455402e-01 2.70039128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.142755096 meters 0.060789816829304046 Centerline is valid? [True, True] Translation: X:1.80, Y:0.14, Z:0.03 [[ 9.99453338e-01 1.34391752e-03 -3.30336038e-02 1.80120769e+00] [-1.28324254e-03 9.99997451e-01 1.85789745e-03 1.42749904e-01] [ 3.30360164e-02 -1.81449168e-03 9.99452515e-01 2.78500061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1727550960000004 meters 0.06198344788722585 Centerline is valid? [True, True] Translation: X:1.83, Y:0.14, Z:0.03 [[ 9.99444907e-01 8.41137092e-04 -3.33042100e-02 1.82910844e+00] [-7.79420092e-04 9.99997955e-01 1.86606832e-03 1.40562861e-01] [ 3.33057115e-02 -1.83907451e-03 9.99443519e-01 2.84981131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.202755096 meters 0.06264300977472176 Centerline is valid? [True, True] Translation: X:1.86, Y:0.14, Z:0.03 [[ 9.99462567e-01 -3.48115728e-04 -3.27789064e-02 1.85759031e+00] [ 4.08351086e-04 9.99998240e-01 1.83094910e-03 1.38116989e-01] [ 3.27782113e-02 -1.84335039e-03 9.99460950e-01 2.98182359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2327550960000004 meters 0.05456222441564859 Centerline is valid? [True, True] Translation: X:1.89, Y:0.15, Z:0.03 [[ 9.99470920e-01 -1.56970983e-03 -3.24871822e-02 1.88664919e+00] [ 1.62925955e-03 9.99997041e-01 1.80663102e-03 1.46458293e-01] [ 3.24842502e-02 -1.85860522e-03 9.99470519e-01 3.37273878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2627550960000002 meters 0.057773588744991215 Centerline is valid? [True, True] Translation: X:1.92, Y:0.14, Z:0.03 [[ 9.99442659e-01 -4.51514134e-03 -3.30754363e-02 1.91513834e+00] [ 4.57829228e-03 9.99987838e-01 1.83381332e-03 1.40109983e-01] [ 3.30667541e-02 -1.98422028e-03 9.99451176e-01 3.37722406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2927550960000005 meters 0.06190625231306926 Centerline is valid? [True, True] Translation: X:1.94, Y:0.13, Z:0.03 [[ 9.99422628e-01 -8.61984275e-03 -3.28650188e-02 1.94434028e+00] [ 8.68437372e-03 9.99960632e-01 1.82127413e-03 1.32401100e-01] [ 3.28480259e-02 -2.10563468e-03 9.99458140e-01 3.48284699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3227550960000003 meters 0.06456222912434548 Centerline is valid? [True, True] Translation: X:1.97, Y:0.13, Z:0.04 [[ 9.99422199e-01 -1.08296508e-02 -3.22177961e-02 1.97365673e+00] [ 1.08927834e-02 9.99939079e-01 1.78467991e-03 1.27227702e-01] [ 3.21965059e-02 -2.13459019e-03 9.99479279e-01 3.59767531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.352755096 meters 0.06666976687237965 Centerline is valid? [True, True] Translation: X:2.00, Y:0.12, Z:0.04 [[ 9.99398165e-01 -1.32118903e-02 -3.20741880e-02 2.00293304e+00] [ 1.32756370e-02 9.99910299e-01 1.77532328e-03 1.22771123e-01] [ 3.20478555e-02 -2.20006011e-03 9.99483914e-01 3.71883816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3827550960000003 meters 0.06851061004871112 Centerline is valid? [True, True] Translation: X:2.03, Y:0.12, Z:0.04 [[ 9.99367958e-01 -1.51159597e-02 -3.21744119e-02 2.03243918e+00] [ 1.51810391e-02 9.99883178e-01 1.77936871e-03 1.18377380e-01] [ 3.21437563e-02 -2.26668508e-03 9.99480686e-01 3.78466909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.412755096 meters 0.07284688405341956 Centerline is valid? [True, True] Translation: X:2.06, Y:0.11, Z:0.04 [[ 9.99343823e-01 -1.81055638e-02 -3.13705444e-02 2.06118057e+00] [ 1.81688604e-02 9.99833429e-01 1.73380751e-03 1.09546986e-01] [ 3.13339274e-02 -2.30263686e-03 9.99506320e-01 3.89306319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4427550960000004 meters 0.07337141866485374 Centerline is valid? [True, True] Translation: X:2.09, Y:0.11, Z:0.04 [[ 9.99367719e-01 -1.84085536e-02 -3.04185254e-02 2.08826937e+00] [ 1.84681410e-02 9.99828039e-01 1.67910702e-03 1.06508762e-01] [ 3.03823847e-02 -2.23981897e-03 9.99535839e-01 4.13839997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.472755096 meters 0.07249456472883917 Centerline is valid? [True, True] Translation: X:2.12, Y:0.11, Z:0.04 [[ 9.99390133e-01 -1.75428993e-02 -3.01928627e-02 2.11767810e+00] [ 1.76010650e-02 9.99843708e-01 1.66175916e-03 1.06384623e-01] [ 3.01589918e-02 -2.19217224e-03 9.99542710e-01 4.29603517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5027550960000005 meters 0.07175212038968587 Centerline is valid? [True, True] Translation: X:2.15, Y:0.11, Z:0.04 [[ 9.99456367e-01 -1.43961202e-02 -2.96601146e-02 2.14673909e+00] [ 1.44507400e-02 9.99894257e-01 1.62798374e-03 1.07230243e-01] [ 2.96335416e-02 -2.05570932e-03 9.99558716e-01 4.48659131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5327550960000003 meters 0.06957770612549642 Centerline is valid? [True, True] Translation: X:2.18, Y:0.11, Z:0.05 [[ 9.99501671e-01 -1.20026748e-02 -2.91949711e-02 2.17697833e+00] [ 1.20545590e-02 9.99926058e-01 1.60179905e-03 1.08822603e-01] [ 2.91735865e-02 -1.95293333e-03 9.99572453e-01 4.63122970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5627550960000005 meters 0.06793544690713643 Centerline is valid? [True, True] Translation: X:2.21, Y:0.11, Z:0.05 [[ 9.99517452e-01 -9.91064162e-03 -2.94387892e-02 2.20648210e+00] [ 9.96247279e-03 9.99949070e-01 1.61448724e-03 1.09582603e-01] [ 2.94212893e-02 -1.90699131e-03 9.99565281e-01 4.69096409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5927550960000003 meters 0.06497917841751677 Centerline is valid? [True, True] Translation: X:2.24, Y:0.11, Z:0.05 [[ 9.99586342e-01 -6.08837243e-03 -2.81083068e-02 2.23680906e+00] [ 6.13409876e-03 9.99979999e-01 1.54084974e-03 1.10827130e-01] [ 2.80983634e-02 -1.71263148e-03 9.99603696e-01 4.91896193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.622755096 meters 0.05828565289918094 Centerline is valid? [True, True] Translation: X:2.27, Y:0.12, Z:0.05 [[ 9.99598665e-01 -4.72922652e-03 -2.79310304e-02 2.26598690e+00] [ 4.77382712e-03 9.99987434e-01 1.53034522e-03 1.17431027e-01] [ 2.79234421e-02 -1.66306895e-03 9.99608681e-01 5.09794889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6527550960000004 meters 0.05814368813688973 Centerline is valid? [True, True] Translation: X:2.30, Y:0.12, Z:0.05 [[ 9.99598288e-01 -3.92351822e-03 -2.80689970e-02 2.29524377e+00] [ 3.96814540e-03 9.99990950e-01 1.53438455e-03 1.15656705e-01] [ 2.80627228e-02 -1.64515003e-03 9.99604810e-01 5.13944865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.682755096 meters 0.06391916995644845 Centerline is valid? [True, True] Translation: X:2.32, Y:0.11, Z:0.05 [[ 9.99596079e-01 -4.36228016e-03 -2.80829112e-02 2.32259467e+00] [ 4.40696754e-03 9.99989119e-01 1.52956958e-03 1.06865083e-01] [ 2.80759332e-02 -1.65271223e-03 9.99604427e-01 5.03979301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7127550960000004 meters 0.060735898449774506 Centerline is valid? [True, True] Translation: X:2.35, Y:0.11, Z:0.05 [[ 9.99557737e-01 -5.73308192e-03 -2.91798101e-02 2.35238925e+00] [ 5.78182594e-03 9.99982027e-01 1.58636999e-03 1.08102612e-01] [ 2.91701909e-02 -1.75438098e-03 9.99572920e-01 5.00372377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7427550960000002 meters 0.06834799493335078 Centerline is valid? [True, True] Translation: X:2.38, Y:0.10, Z:0.05 [[ 9.99560979e-01 -7.13293854e-03 -2.87570875e-02 2.37971036e+00] [ 7.18081297e-03 9.99972998e-01 1.56185866e-03 9.61116444e-02] [ 2.87451704e-02 -1.76767224e-03 9.99585209e-01 4.92092412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7727550960000005 meters 0.06373846964923063 Centerline is valid? [True, True] Translation: X:2.41, Y:0.10, Z:0.05 [[ 9.99575877e-01 -8.56080088e-03 -2.78348615e-02 2.40818915e+00] [ 8.60613783e-03 9.99961827e-01 1.50939024e-03 9.89598397e-02] [ 2.78208774e-02 -1.74830073e-03 9.99611396e-01 5.17560358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8027550960000003 meters 0.06533990742827045 Centerline is valid? [True, True] Translation: X:2.44, Y:0.09, Z:0.05 [[ 9.99573423e-01 -1.02231246e-02 -2.73579759e-02 2.43769871e+00] [ 1.02674887e-02 9.99946190e-01 1.48162781e-03 9.41419320e-02] [ 2.73413569e-02 -1.76189350e-03 9.99624603e-01 5.24155105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8327550960000005 meters 0.0681984959362005 Centerline is valid? [True, True] Translation: X:2.47, Y:0.09, Z:0.05 [[ 9.99560783e-01 -1.27256993e-02 -2.67637257e-02 2.46627812e+00] [ 1.27690213e-02 9.99917424e-01 1.44839578e-03 8.54981336e-02] [ 2.67430838e-02 -1.78950620e-03 9.99640738e-01 5.30165237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8627550960000003 meters 0.0716475613097158 Centerline is valid? [True, True] Translation: X:2.49, Y:0.08, Z:0.06 [[ 9.99563884e-01 -1.48627233e-02 -2.55174614e-02 2.49412488e+00] [ 1.49027611e-02 9.99887996e-01 1.37956973e-03 7.61899691e-02] [ 2.54940991e-02 -1.75924871e-03 9.99673425e-01 5.52689116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.892755096 meters 0.07316766110894764 Centerline is valid? [True, True] Translation: X:2.52, Y:0.07, Z:0.06 [[ 9.99539689e-01 -1.58368785e-02 -2.58767093e-02 2.52135458e+00] [ 1.58783245e-02 9.99872956e-01 1.39696987e-03 7.20208572e-02] [ 2.58512982e-02 -1.80720562e-03 9.99664166e-01 5.57591561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9227550960000004 meters 0.07377781208003893 Centerline is valid? [True, True] Translation: X:2.55, Y:0.07, Z:0.06 [[ 9.99557727e-01 -1.62524577e-02 -2.49039742e-02 2.54934868e+00] [ 1.62908872e-02 9.99866395e-01 1.34098417e-03 6.94686338e-02] [ 2.48788526e-02 -1.74609892e-03 9.99688949e-01 5.72592898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.952755096 meters 0.07484627599915611 Centerline is valid? [True, True] Translation: X:2.58, Y:0.07, Z:0.06 [[ 9.99571750e-01 -1.63109387e-02 -2.42954635e-02 2.57695534e+00] [ 1.63473999e-02 9.99865523e-01 1.30287246e-03 6.61742820e-02] [ 2.42709453e-02 -1.69948217e-03 9.99703973e-01 5.79783739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9827550960000004 meters 0.07381874274675765 Centerline is valid? [True, True] Translation: X:2.61, Y:0.06, Z:0.06 [[ 9.99600787e-01 -1.42407057e-02 -2.44022377e-02 2.60593869e+00] [ 1.42768317e-02 9.99897227e-01 1.30685115e-03 6.36351421e-02] [ 2.43811193e-02 -1.65471608e-03 9.99701367e-01 5.82877046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.012755096 meters 0.07226835120587728 Centerline is valid? [True, True] Translation: X:2.63, Y:0.06, Z:0.06 [[ 9.99632123e-01 -1.28373014e-02 -2.38918837e-02 2.63473759e+00] [ 1.28715101e-02 9.99916341e-01 1.27857553e-03 6.24532983e-02] [ 2.38734715e-02 -1.58562980e-03 9.99713731e-01 5.90608539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0427550960000005 meters 0.06919212518842585 Centerline is valid? [True, True] Translation: X:2.66, Y:0.06, Z:0.06 [[ 9.99688365e-01 -8.77835415e-03 -2.33690721e-02 2.66498205e+00] [ 8.80994904e-03 9.99960411e-01 1.24938327e-03 6.09597794e-02] [ 2.33571794e-02 -1.45487425e-03 9.99726125e-01 6.01494637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.072755096000001 meters 0.06701976005262815 Centerline is valid? [True, True] Translation: X:2.70, Y:0.06, Z:0.06 [[ 9.99715200e-01 -6.62366498e-03 -2.29269823e-02 2.69523126e+00] [ 6.65350569e-03 9.99977114e-01 1.22551589e-03 6.08695281e-02] [ 2.29183402e-02 -1.37771167e-03 9.99736391e-01 6.13546249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.102755096 meters 0.06394366549749896 Centerline is valid? [True, True] Translation: X:2.73, Y:0.06, Z:0.06 [[ 9.99739437e-01 -4.03571106e-03 -2.24671000e-02 2.72550886e+00] [ 4.06369630e-03 9.99991023e-01 1.20009349e-03 6.24112313e-02] [ 2.24620551e-02 -1.29108026e-03 9.99746863e-01 6.26830695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.132755096 meters 0.060858789815125984 Centerline is valid? [True, True] Translation: X:2.76, Y:0.06, Z:0.06 [[ 9.99766599e-01 6.19914840e-04 -2.15954435e-02 2.75551002e+00] [-5.95148729e-04 9.99999158e-01 1.15322924e-03 6.37653030e-02] [ 2.15961402e-02 -1.14010758e-03 9.99766126e-01 6.37077373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.162755096000001 meters 0.05845344307441762 Centerline is valid? [True, True] Translation: X:2.79, Y:0.06, Z:0.06 [[ 9.99751268e-01 3.44581738e-03 -2.20346903e-02 2.78587104e+00] [-3.42072045e-03 9.99993457e-01 1.17656432e-03 6.36990014e-02] [ 2.20386003e-02 -1.10089716e-03 9.99756514e-01 6.33328244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.192755096 meters 0.05429779998393672 Centerline is valid? [True, True] Translation: X:2.82, Y:0.06, Z:0.06 [[ 9.99728202e-01 7.97212973e-03 -2.19081668e-02 2.81512526e+00] [-7.94841245e-03 9.99967727e-01 1.16944359e-03 6.36483294e-02] [ 2.19167827e-02 -9.94990588e-04 9.99759303e-01 6.29543417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.222755096 meters 0.05142276633699063 Centerline is valid? [True, True] Translation: X:2.84, Y:0.06, Z:0.06 [[ 9.99713662e-01 1.01017590e-02 -2.16921378e-02 2.84374527e+00] [-1.00790200e-02 9.99948536e-01 1.15733687e-03 6.39179066e-02] [ 2.17027126e-02 -9.38369991e-04 9.99764028e-01 6.32465857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2527550960000005 meters 0.04798881386760056 Centerline is valid? [True, True] Translation: X:2.87, Y:0.06, Z:0.06 [[ 9.99678853e-01 1.36967073e-02 -2.13211224e-02 2.87312770e+00] [-1.36755827e-02 9.99905839e-01 1.13628171e-03 6.17677521e-02] [ 2.13346781e-02 -8.44338029e-04 9.99772033e-01 6.33332567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.282755096000001 meters 0.03970248692240478 Centerline is valid? [True, True] Translation: X:2.90, Y:0.07, Z:0.06 [[ 9.99650843e-01 1.52893243e-02 -2.15505969e-02 2.90208241e+00] [-1.52681292e-02 9.99882777e-01 1.14770521e-03 6.81555509e-02] [ 2.15656183e-02 -8.18267185e-04 9.99767100e-01 6.38018441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.312755096 meters 0.04625385421620264 Centerline is valid? [True, True] Translation: X:2.93, Y:0.06, Z:0.06 [[ 9.99630486e-01 1.60223334e-02 -2.19585350e-02 2.92961706e+00] [-1.60005411e-02 9.99871301e-01 1.16777643e-03 5.55900611e-02] [ 2.19744195e-02 -8.15996478e-04 9.99758200e-01 6.27542918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.342755096 meters 0.03879571463140598 Centerline is valid? [True, True] Translation: X:2.96, Y:0.06, Z:0.06 [[ 9.99598696e-01 1.76927816e-02 -2.21226570e-02 2.95907446e+00] [-1.76711118e-02 9.99843164e-01 1.17464898e-03 5.81389784e-02] [ 2.21399702e-02 -7.83245638e-04 9.99754574e-01 6.37114449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.372755096000001 meters 0.03830520066096581 Centerline is valid? [True, True] Translation: X:2.99, Y:0.05, Z:0.06 [[ 9.99605874e-01 1.82420679e-02 -2.13383144e-02 2.98785703e+00] [-1.82220570e-02 9.99833324e-01 1.13186948e-03 5.41063458e-02] [ 2.13554055e-02 -7.42595397e-04 9.99771672e-01 6.48260942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.402755096000001 meters 0.03744046869772757 Centerline is valid? [True, True] Translation: X:3.02, Y:0.05, Z:0.07 [[ 9.99602125e-01 1.96305669e-02 -2.02542159e-02 3.01558662e+00] [-1.96128508e-02 9.99807074e-01 1.07298225e-03 4.71136970e-02] [ 2.02713716e-02 -6.75312421e-04 9.99794287e-01 6.67975796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.432755096 meters 0.037768450146059826 Centerline is valid? [True, True] Translation: X:3.04, Y:0.04, Z:0.07 [[ 9.99602852e-01 1.97478776e-02 -2.01037413e-02 3.04372810e+00] [-1.97304818e-02 9.99804770e-01 1.06329801e-03 4.16825555e-02] [ 2.01208143e-02 -6.66219216e-04 9.99797334e-01 6.72233444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.462755096 meters 0.033773457090169635 Centerline is valid? [True, True] Translation: X:3.07, Y:0.04, Z:0.07 [[ 9.99606703e-01 1.98203113e-02 -1.98392365e-02 3.07279746e+00] [-1.98034116e-02 9.99803344e-01 1.04794902e-03 4.17604555e-02] [ 1.98561057e-02 -6.54652295e-04 9.99802634e-01 6.78665909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.492755096000001 meters 0.035433348458751714 Centerline is valid? [True, True] Translation: X:3.10, Y:0.03, Z:0.07 [[ 9.99621462e-01 1.88340628e-02 -2.00552023e-02 3.09974142e+00] [-1.88166260e-02 9.99822392e-01 1.05780528e-03 3.03935036e-02] [ 2.00715631e-02 -6.80033620e-04 9.99798315e-01 6.81727550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.522755096 meters 0.03609041830582442 Centerline is valid? [True, True] Translation: X:3.13, Y:0.02, Z:0.07 [[ 9.99635037e-01 1.79838206e-02 -2.01587402e-02 3.12810540e+00] [-1.79660681e-02 9.99838034e-01 1.06141027e-03 2.43825499e-02] [ 2.01745634e-02 -6.98849594e-04 9.99796229e-01 6.85941761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.552755096 meters 0.037186738652820725 Centerline is valid? [True, True] Translation: X:3.16, Y:0.02, Z:0.07 [[ 9.99649740e-01 1.67866147e-02 -2.04598794e-02 3.15669398e+00] [-1.67681086e-02 9.99858827e-01 1.07573575e-03 1.74462708e-02] [ 2.04750490e-02 -7.32285487e-04 9.99790096e-01 6.85726735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5827550960000005 meters 0.038828973010934 Centerline is valid? [True, True] Translation: X:3.18, Y:0.01, Z:0.07 [[ 9.99677681e-01 1.55023090e-02 -2.01050140e-02 3.18484696e+00] [-1.54842092e-02 9.99879555e-01 1.05563208e-03 9.63398559e-03] [ 2.01189571e-02 -7.43981593e-04 9.99797316e-01 6.91136580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.612755096000001 meters 0.04128309347764865 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.00, Z:0.07 [[ 9.99728145e-01 1.31804999e-02 -1.92330442e-02 3.21274563e+00] [-1.31635328e-02 9.99912848e-01 1.00852095e-03 -3.64024418e-03] [ 1.92446609e-02 -7.55071969e-04 9.99814519e-01 7.07870639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.642755096 meters 0.04438109269682277 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.02, Z:0.07 [[ 9.99782147e-01 1.03621867e-02 -1.81185892e-02 3.24099121e+00] [-1.03466838e-02 9.99946021e-01 9.49168705e-04 -1.70311099e-02] [ 1.81274466e-02 -7.61494612e-04 9.99835394e-01 7.22732827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.672755096 meters 0.04603548353916292 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.02, Z:0.07 [[ 9.99796673e-01 8.99444529e-03 -1.80474966e-02 3.26955221e+00] [-8.97886579e-03 9.99959243e-01 9.44095510e-04 -2.47048739e-02] [ 1.80552526e-02 -7.81857501e-04 9.99836685e-01 7.29547364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.702755096000001 meters 0.047178814191923775 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.03, Z:0.07 [[ 9.99813238e-01 7.68557858e-03 -1.77319457e-02 3.29757417e+00] [-7.67035533e-03 9.99970153e-01 9.26373049e-04 -3.12968361e-02] [ 1.77385362e-02 -7.90189713e-04 9.99842348e-01 7.33541371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.732755096 meters 0.04838068139757417 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.04, Z:0.07 [[ 9.99825574e-01 6.89582316e-03 -1.73571288e-02 3.32576083e+00] [-6.88114451e-03 9.99975915e-01 9.05265879e-04 -3.77192541e-02] [ 1.73629533e-02 -7.85671065e-04 9.99848944e-01 7.38085915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.762755096 meters 0.04040958520748382 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.04, Z:0.07 [[ 9.99832284e-01 5.55382566e-03 -1.74515937e-02 3.35444163e+00] [-5.53880407e-03 9.99984248e-01 9.08973721e-04 -3.53628625e-02] [ 1.74563670e-02 -8.12160314e-04 9.99847296e-01 7.29697920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7927550960000005 meters 0.051591328981477155 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.06, Z:0.07 [[ 9.99826907e-01 5.02759768e-03 -1.79131124e-02 3.38123015e+00] [-5.01171334e-03 9.99987007e-01 9.31524605e-04 -5.73121058e-02] [ 1.79175630e-02 -8.41587980e-04 9.99839113e-01 7.21772656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.822755096000001 meters 0.05196661421737982 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.06, Z:0.07 [[ 9.99823179e-01 4.94701464e-03 -1.81421583e-02 3.40881880e+00] [-4.93074190e-03 9.99987401e-01 9.41578540e-04 -6.23158750e-02] [ 1.81465877e-02 -8.51957750e-04 9.99834974e-01 7.22748471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.852755096 meters 0.0528083591339078 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.07, Z:0.07 [[ 9.99819270e-01 4.63497846e-03 -1.84375939e-02 3.43754587e+00] [-4.61815400e-03 9.99988880e-01 9.54981297e-04 -6.77599693e-02] [ 1.84418152e-02 -8.69661055e-04 9.99829557e-01 7.22210138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.882755096 meters 0.05341409292781956 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.08, Z:0.07 [[ 9.99840592e-01 4.68547785e-03 -1.72289351e-02 3.46526340e+00] [-4.67081302e-03 9.99988694e-01 8.91315736e-04 -7.51241011e-02] [ 1.72329165e-02 -8.10700519e-04 9.99851174e-01 7.31313588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.912755096000001 meters 0.05392144459042859 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.08, Z:0.07 [[ 9.99848585e-01 4.57527220e-03 -1.67891186e-02 3.49338014e+00] [-4.56135372e-03 9.99989221e-01 8.67217757e-04 -7.97128108e-02] [ 1.67929054e-02 -7.90505338e-04 9.99858677e-01 7.39338276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.942755096000001 meters 0.05397916806041218 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.08, Z:0.07 [[ 9.99855571e-01 4.62247633e-03 -1.63545029e-02 3.52181324e+00] [-4.60930299e-03 9.99989022e-01 8.43089832e-04 -8.39606830e-02] [ 1.63582206e-02 -7.67585206e-04 9.99865901e-01 7.49939394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.972755096 meters 0.05397916806041218 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.09, Z:0.08 [[ 9.99856026e-01 4.52277266e-03 -1.63545551e-02 3.54932715e+00] [-4.50960254e-03 9.99989477e-01 8.42076592e-04 -8.52064969e-02] [ 1.63581915e-02 -7.68202812e-04 9.99865901e-01 7.55095573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0027550960000005 meters 0.04023553547230361 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.07, Z:0.08 [[ 9.99871991e-01 4.84950624e-03 -1.52474305e-02 3.57875372e+00] [-4.83811922e-03 9.99987989e-01 7.83613792e-04 -7.41294379e-02] [ 1.52510475e-02 -7.09744596e-04 9.99883444e-01 7.59584851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.032755096000001 meters 0.039840471406535335 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.08, Z:0.08 [[ 9.99877393e-01 5.13929255e-03 -1.47914193e-02 3.60743767e+00] [-5.12862553e-03 9.99986560e-01 7.59004397e-04 -7.76475401e-02] [ 1.47951213e-02 -6.83051687e-04 9.99890313e-01 7.68737289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.062755096 meters 0.04001582413367256 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.08, Z:0.08 [[ 9.99885835e-01 6.66243545e-03 -1.35620078e-02 3.63548592e+00] [-6.65362143e-03 9.99977623e-01 6.94921917e-04 -8.45305782e-02] [ 1.35663342e-02 -6.04606116e-04 9.99907790e-01 7.90559853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.092755096 meters 0.03952117640645595 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.09, Z:0.08 [[ 9.99890292e-01 7.41303272e-03 -1.28238058e-02 3.66406164e+00] [-7.40522625e-03 9.99972366e-01 6.56125566e-04 -8.71437317e-02] [ 1.28283153e-02 -5.61090400e-04 9.99917556e-01 7.99190963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.122755096000001 meters 0.03858241498143761 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.09, Z:0.08 [[ 9.99876525e-01 8.75598595e-03 -1.30486763e-02 3.69328150e+00] [-8.74803307e-03 9.99961513e-01 6.66431947e-04 -8.90992714e-02] [ 1.30540094e-02 -5.52199407e-04 9.99914640e-01 8.01886048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.152755096000001 meters 0.03596002088063812 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.09, Z:0.08 [[ 9.99842171e-01 1.27338019e-02 -1.23888334e-02 3.72252952e+00] [-1.27269481e-02 9.99918809e-01 6.31913876e-04 -9.08380039e-02] [ 1.23958742e-02 -4.74142102e-04 9.99923056e-01 8.12857612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.182755096 meters 0.03140249551993831 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.09, Z:0.08 [[ 9.99817680e-01 1.48014237e-02 -1.20633665e-02 3.75197784e+00] [-1.47950749e-02 9.99890358e-01 6.15369055e-04 -8.81099872e-02] [ 1.20711522e-02 -4.36778449e-04 9.99927046e-01 8.14395548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.212755096 meters 0.03059727115684609 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.09, Z:0.08 [[ 9.99784013e-01 1.68442965e-02 -1.21736227e-02 3.77942790e+00] [-1.68380009e-02 9.99858039e-01 6.19467370e-04 -9.04054718e-02] [ 1.21823290e-02 -4.14354103e-04 9.99925707e-01 8.19850576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.242755096000001 meters 0.02885568351295497 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.09, Z:0.08 [[ 9.99713076e-01 2.01404880e-02 -1.29663584e-02 3.80770718e+00] [-2.01336436e-02 9.99797081e-01 6.58189312e-04 -9.26852503e-02] [ 1.29769836e-02 -3.96940423e-04 9.99915717e-01 8.16384333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.272755096 meters 0.02906346072688971 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.10, Z:0.08 [[ 9.99700446e-01 2.06005615e-02 -1.32149680e-02 3.83667436e+00] [-2.05935072e-02 9.99787707e-01 6.69680813e-04 -9.50928673e-02] [ 1.32259583e-02 -3.97337669e-04 9.99912454e-01 8.14723484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.302755096 meters 0.02908221727552921 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.10, Z:0.08 [[ 9.99707250e-01 1.99427185e-02 -1.37004685e-02 3.86537217e+00] [-1.99350909e-02 9.99801036e-01 6.93096021e-04 -1.00660646e-01] [ 1.37115648e-02 -4.19773033e-04 9.99905904e-01 8.19539796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3327550960000005 meters 0.0305294728529716 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.11, Z:0.08 [[ 9.99722194e-01 1.85839984e-02 -1.44972311e-02 3.89247151e+00] [-1.85753310e-02 9.99827195e-01 7.32301145e-04 -1.06483100e-01] [ 1.45083350e-02 -4.62806841e-04 9.99894641e-01 8.24476093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.362755096000001 meters 0.03178944247140472 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.11, Z:0.08 [[ 9.99767827e-01 1.63019524e-02 -1.40903684e-02 3.92098107e+00] [-1.62935643e-02 9.99866999e-01 7.09909048e-04 -1.12415648e-01] [ 1.41000673e-02 -4.80161903e-04 9.99900474e-01 8.33321427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.392755096 meters 0.03361166230536548 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.12, Z:0.08 [[ 9.99807225e-01 1.37159520e-02 -1.40493736e-02 3.94965735e+00] [-1.37073736e-02 9.99905800e-01 7.06705511e-04 -1.19312925e-01] [ 1.40577432e-02 -5.13989264e-04 9.99901053e-01 8.39084626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.422755096 meters 0.03725021456049222 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.13, Z:0.08 [[ 9.99873692e-01 8.15125825e-03 -1.36439686e-02 3.97885085e+00] [-8.14266883e-03 9.99966613e-01 6.84973408e-04 -1.31651062e-01] [ 1.36490965e-02 -5.73788572e-04 9.99906682e-01 8.47033557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.452755096000001 meters 0.03913021899817365 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.14, Z:0.09 [[ 9.99897276e-01 3.42994613e-03 -1.39166109e-02 4.00867901e+00] [-3.42055900e-03 9.99993906e-01 6.98273582e-04 -1.41087338e-01] [ 1.39189211e-02 -6.50599264e-04 9.99902915e-01 8.50208721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.482755096000001 meters 0.038091551602544876 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.14, Z:0.08 [[ 9.99900668e-01 1.54761844e-03 -1.40092314e-02 4.03707068e+00] [-1.53791687e-03 9.99998570e-01 7.03258734e-04 -1.42963682e-01] [ 1.40102997e-02 -6.81643844e-04 9.99901619e-01 8.48075441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.512755096 meters 0.045232755117449286 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.16, Z:0.09 [[ 9.99891731e-01 5.19970327e-04 -1.47056239e-02 4.06471065e+00] [-5.09208022e-04 9.99999600e-01 7.35584470e-04 -1.55665779e-01] [ 1.47060004e-02 -7.28016608e-04 9.99891596e-01 8.52756039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5427550960000005 meters 0.04227017929152945 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.16, Z:0.08 [[ 9.99880399e-01 -2.54371455e-04 -1.54636216e-02 4.09316826e+00] [ 2.66335469e-04 9.99999667e-01 7.71633255e-04 -1.58107867e-01] [ 1.54634202e-02 -7.75659477e-04 9.99880133e-01 8.40995627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.572755096000001 meters 0.03989383279149164 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.16, Z:0.08 [[ 9.99873589e-01 -4.10889612e-04 -1.58945485e-02 4.12115886e+00] [ 4.23539660e-04 9.99999596e-01 7.92515410e-04 -1.59006846e-01] [ 1.58942164e-02 -7.99147199e-04 9.99873360e-01 8.41672357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.602755096 meters 0.04075042191170021 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.17, Z:0.08 [[ 9.99861596e-01 -2.53860696e-04 -1.66350158e-02 4.14896963e+00] [ 2.67586217e-04 9.99999626e-01 8.22877534e-04 -1.66064872e-01] [ 1.66348006e-02 -8.27214946e-04 9.99861290e-01 8.42039816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.632755096 meters 0.04096660506015076 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.17, Z:0.08 [[ 9.99852797e-01 -1.96773018e-04 -1.71565209e-02 4.17760705e+00] [ 2.11336744e-04 9.99999619e-01 8.47065160e-04 -1.69632829e-01] [ 1.71563477e-02 -8.50566272e-04 9.99852457e-01 8.44465570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.662755096000001 meters 0.04091072352907191 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.17, Z:0.08 [[ 9.99846704e-01 -4.60020701e-04 -1.75030608e-02 4.20526564e+00] [ 4.75128132e-04 9.99999518e-01 8.58982162e-04 -1.72307210e-01] [ 1.75026572e-02 -8.67166680e-04 9.99846441e-01 8.46455662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.692755096000001 meters 0.041157941722036344 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.18, Z:0.09 [[ 9.99838004e-01 -1.04992964e-05 -1.79990217e-02 4.23320278e+00] [ 2.62872994e-05 9.99999615e-01 8.76922586e-04 -1.76014314e-01] [ 1.79990056e-02 -8.77253674e-04 9.99837620e-01 8.51712385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.722755096 meters 0.04007338045423873 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.18, Z:0.09 [[ 9.99826027e-01 7.49336878e-04 -1.86374512e-02 4.26225173e+00] [-7.32577688e-04 9.99999321e-01 9.06032181e-04 -1.79313743e-01] [ 1.86381175e-02 -8.92221175e-04 9.99825897e-01 8.55668521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7527550960000005 meters 0.03932703704288393 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.18, Z:0.09 [[ 9.99826863e-01 2.53309130e-03 -1.84343950e-02 4.28969567e+00] [-2.51709660e-03 9.99996435e-01 8.90805895e-04 -1.84324905e-01] [ 1.84365858e-02 -8.44250510e-04 9.99829675e-01 8.75911904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.782755096000001 meters 0.03648611187875039 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.18, Z:0.09 [[ 9.99836403e-01 3.40852756e-03 -1.77636803e-02 4.31871867e+00] [-3.39386094e-03 9.99993875e-01 8.55732752e-04 -1.83993848e-01] [ 1.77664883e-02 -7.95305297e-04 9.99841847e-01 8.91917466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.812755096 meters 0.038404466653024716 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.19, Z:0.09 [[ 9.99830979e-01 4.52639044e-03 -1.78192404e-02 4.34664404e+00] [-4.51183520e-03 9.99989454e-01 8.56944539e-04 -1.89713226e-01] [ 1.78229314e-02 -7.76402221e-04 9.99840857e-01 9.05464126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.842755096 meters 0.03658674668205987 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.19, Z:0.09 [[ 9.99811118e-01 7.29376244e-03 -1.80146763e-02 4.37566970e+00] [-7.27938667e-03 9.99973132e-01 8.63448239e-04 -1.91520407e-01] [ 1.80204901e-02 -7.32149355e-04 9.99837350e-01 9.07661298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.872755096000001 meters 0.03569444769393119 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.19, Z:0.09 [[ 9.99796685e-01 8.92379572e-03 -1.80818663e-02 4.40332618e+00] [-8.90960472e-03 9.99959934e-01 8.65227047e-04 -1.93193617e-01] [ 1.80888629e-02 -7.03948852e-04 9.99836135e-01 9.10150886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.902755096000001 meters 0.0346048696625072 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.19, Z:0.09 [[ 9.99775353e-01 1.04773064e-02 -1.84247008e-02 4.43269402e+00] [-1.04628701e-02 9.99944876e-01 8.79754021e-04 -1.94842954e-01] [ 1.84329026e-02 -6.86781136e-04 9.99829864e-01 9.15547140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.932755096 meters 0.030189620233544108 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.20, Z:0.09 [[ 9.99705221e-01 1.43386933e-02 -1.95926962e-02 4.46208696e+00] [-1.43231327e-02 9.99896982e-01 9.34309382e-04 -1.95137497e-01] [ 1.96040746e-02 -6.53405179e-04 9.99807608e-01 9.19495341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.962755096 meters 0.02737704697382596 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.19, Z:0.09 [[ 9.99655871e-01 1.67080574e-02 -2.02232441e-02 4.48992886e+00] [-1.66919824e-02 9.99860215e-01 9.63428632e-04 -1.94636085e-01] [ 2.02365143e-02 -6.25531053e-04 9.99795025e-01 9.20544515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.992755096000001 meters 0.024460358981574237 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.20, Z:0.09 [[ 9.99523152e-01 2.19951224e-02 -2.16721909e-02 4.51966443e+00] [-2.19779491e-02 9.99757925e-01 1.03030380e-03 -1.95590214e-01] [ 2.16896062e-02 -5.53502198e-04 9.99764600e-01 9.20620799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.022755096000001 meters 0.02301377113991489 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.20, Z:0.09 [[ 9.99459831e-01 2.43117824e-02 -2.21129636e-02 4.54839819e+00] [-2.42944913e-02 9.99704294e-01 1.05029500e-03 -1.95960764e-01] [ 2.21319592e-02 -5.12504464e-04 9.99754927e-01 9.23282747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.052755096 meters 0.02251311764663905 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.20, Z:0.09 [[ 9.99401218e-01 2.64778482e-02 -2.22739754e-02 4.57641083e+00] [-2.64608808e-02 9.99649292e-01 1.05619607e-03 -1.97787281e-01] [ 2.22941295e-02 -4.66174632e-04 9.99751346e-01 9.26803835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0827550960000005 meters 0.021017930214298614 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.20, Z:0.09 [[ 9.99311582e-01 2.99773661e-02 -2.18567758e-02 4.60489119e+00] [-2.99619075e-02 9.99550506e-01 1.03447223e-03 -2.00624528e-01] [ 2.18779620e-02 -3.78889389e-04 9.99760577e-01 9.36771513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.112755096000001 meters 0.020024148163737016 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.21, Z:0.09 [[ 9.99231295e-01 3.21704522e-02 -2.24027107e-02 4.63361501e+00] [-3.21548001e-02 9.99482340e-01 1.05863564e-03 -2.06106242e-01] [ 2.24251705e-02 -3.37467174e-04 9.99748467e-01 9.49078508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.142755096 meters 0.01943479298228855 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.21, Z:0.10 [[ 9.99218413e-01 3.20803381e-02 -2.30957730e-02 4.66204720e+00] [-3.20637193e-02 9.99485233e-01 1.08961437e-03 -2.08923527e-01] [ 2.31188393e-02 -3.48226358e-04 9.99732663e-01 9.57140105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.172755096 meters 0.020606801957477935 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.22, Z:0.10 [[ 9.99232819e-01 3.13697662e-02 -2.34459128e-02 4.68979860e+00] [-3.13524914e-02 9.99507780e-01 1.10411617e-03 -2.15686384e-01] [ 2.34690082e-02 -3.68181330e-04 9.99724497e-01 9.51158303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.202755096000001 meters 0.021063905253005673 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.22, Z:0.10 [[ 9.99253257e-01 3.05117505e-02 -2.37057163e-02 4.71788215e+00] [-3.04939097e-02 9.99534332e-01 1.11380719e-03 -2.21101942e-01] [ 2.37286616e-02 -3.90095486e-04 9.99718360e-01 9.53374272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.232755096000001 meters 0.021185979388905873 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.23, Z:0.10 [[ 9.99319955e-01 2.78588115e-02 -2.41560334e-02 4.74589858e+00] [-2.78395655e-02 9.99611762e-01 1.13273083e-03 -2.28416073e-01] [ 2.41782117e-02 -4.59467045e-04 9.99707559e-01 9.70441932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.262755096 meters 0.02232741578656049 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.24, Z:0.10 [[ 9.99369692e-01 2.62763188e-02 -2.38699301e-02 4.77366113e+00] [-2.62571298e-02 9.99654598e-01 1.11701920e-03 -2.35138590e-01] [ 2.38910365e-02 -4.89559286e-04 9.99714449e-01 9.81601211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2927550960000005 meters 0.023674162288053135 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.25, Z:0.10 [[ 9.99473767e-01 2.28826351e-02 -2.29907554e-02 4.80227708e+00] [-2.28639870e-02 9.99738008e-01 1.07368539e-03 -2.45091522e-01] [ 2.30093008e-02 -5.47460049e-04 9.99735101e-01 1.00201772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.322755096000001 meters 0.023940182419000276 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.25, Z:0.10 [[ 9.99514010e-01 2.11640999e-02 -2.28872226e-02 4.83099584e+00] [-2.11452079e-02 9.99775846e-01 1.06715881e-03 -2.49841275e-01] [ 2.29046778e-02 -5.82685105e-04 9.99737484e-01 1.01190262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.352755096 meters 0.02513750308412467 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.26, Z:0.10 [[ 9.99546740e-01 1.92682280e-02 -2.31311348e-02 4.85852850e+00] [-1.92484664e-02 9.99814151e-01 1.07669302e-03 -2.56177628e-01] [ 2.31475819e-02 -6.30966124e-04 9.99731860e-01 1.01616514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.382755096 meters 0.02614412462536633 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.26, Z:0.10 [[ 9.99559743e-01 1.76524590e-02 -2.38476660e-02 4.88673775e+00] [-1.76310488e-02 9.99843947e-01 1.10776891e-03 -2.62176762e-01] [ 2.38634994e-02 -6.86821843e-04 9.99714990e-01 1.01374357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.412755096000001 meters 0.027640998045126677 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.27, Z:0.10 [[ 9.99552995e-01 1.51471514e-02 -2.57754398e-02 4.91522041e+00] [-1.51213681e-02 9.99884952e-01 1.19493477e-03 -2.71710576e-01] [ 2.57905743e-02 -8.04640719e-04 9.99667044e-01 1.00119444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.442755096000001 meters 0.026756592084223617 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.27, Z:0.10 [[ 9.99553652e-01 1.63851561e-02 -2.49804481e-02 4.94393863e+00] [-1.63613700e-02 9.99865475e-01 1.15629250e-03 -2.71673587e-01] [ 2.49960336e-02 -7.47062040e-04 9.99687271e-01 1.01767805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.472755096 meters 0.02523743043573182 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.27, Z:0.10 [[ 9.99491614e-01 1.95936595e-02 -2.51515732e-02 4.97273959e+00] [-1.95706082e-02 9.99807802e-01 1.16234512e-03 -2.72135613e-01] [ 2.51695137e-02 -6.69522618e-04 9.99682973e-01 1.01853265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5027550960000005 meters 0.023470222150381442 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.27, Z:0.10 [[ 9.99431234e-01 2.20482261e-02 -2.55163539e-02 5.00199207e+00] [-2.20253494e-02 9.99756719e-01 1.17728986e-03 -2.71218446e-01] [ 2.55361034e-02 -6.14613653e-04 9.99673712e-01 1.02603787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.532755096000001 meters 0.02344198714286668 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.27, Z:0.10 [[ 9.99380845e-01 2.38372080e-02 -2.58788533e-02 5.02947219e+00] [-2.38143302e-02 9.99715688e-01 1.19191175e-03 -2.73056617e-01] [ 2.58999075e-02 -5.74886217e-04 9.99664376e-01 1.02218752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.562755096000001 meters 0.021317215049635515 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.27, Z:0.10 [[ 9.99280736e-01 2.80049067e-02 -2.55682663e-02 5.05870205e+00] [-2.79839956e-02 9.99607680e-01 1.17536719e-03 -2.70162730e-01] [ 2.55911514e-02 -4.59019544e-04 9.99672387e-01 1.03083204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.592755096 meters 0.020695066218814645 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.27, Z:0.10 [[ 9.99225555e-01 3.01460078e-02 -2.52884909e-02 5.08620793e+00] [-3.01262880e-02 9.99545427e-01 1.16050350e-03 -2.70341630e-01] [ 2.53119799e-02 -3.97756400e-04 9.99679521e-01 1.04094752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.622755096000001 meters 0.019417771163281916 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.27, Z:0.10 [[ 9.99112332e-01 3.29125206e-02 -2.62928455e-02 5.11544609e+00] [-3.28922248e-02 9.99458179e-01 1.20414489e-03 -2.66915177e-01] [ 2.63182309e-02 -3.38245819e-04 9.99653558e-01 1.03470144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.652755096000001 meters 0.019980945356033623 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.27, Z:0.10 [[ 9.99092756e-01 3.24567222e-02 -2.75721928e-02 5.14291776e+00] [-3.24342978e-02 9.99473075e-01 1.26025277e-03 -2.70105083e-01] [ 2.75985680e-02 -3.64824706e-04 9.99619020e-01 1.02110894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.682755096 meters 0.020188770461314093 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.27, Z:0.10 [[ 9.99108490e-01 3.19935813e-02 -2.75433322e-02 5.17217990e+00] [-3.19711023e-02 9.99488004e-01 1.25624021e-03 -2.71452967e-01] [ 2.75694217e-02 -3.74529568e-04 9.99619821e-01 1.02428480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.712755096 meters 0.020986169823662235 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.27, Z:0.10 [[ 9.99219361e-01 2.91540483e-02 -2.66591396e-02 5.20059841e+00] [-2.91320307e-02 9.99574835e-01 1.21398973e-03 -2.74482113e-01] [ 2.66831977e-02 -4.36407168e-04 9.99643845e-01 1.03505966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.742755096000001 meters 0.021694492321326697 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.28, Z:0.10 [[ 9.99306179e-01 2.66426564e-02 -2.60255599e-02 5.22935708e+00] [-2.66208715e-02 9.99644902e-01 1.18323141e-03 -2.77800333e-01] [ 2.60478427e-02 -4.89587374e-04 9.99660577e-01 1.04975925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.772755096000001 meters 0.022934682350714036 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.28, Z:0.11 [[ 9.99408448e-01 2.33526689e-02 -2.52469245e-02 5.25802369e+00] [-2.33311659e-02 9.99727134e-01 1.14597977e-03 -2.81287366e-01] [ 2.52667972e-02 -5.56261682e-04 9.99680589e-01 1.05965954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.802755096 meters 0.02550909096931063 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.29, Z:0.11 [[ 9.99583308e-01 1.59117505e-02 -2.40837565e-02 5.28836888e+00] [-1.58900575e-02 9.99873149e-01 1.09184869e-03 -2.86319056e-01] [ 2.40980746e-02 -7.08701448e-04 9.99709348e-01 1.07337531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8327550960000005 meters 0.029228796721365077 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.29, Z:0.11 [[ 9.99705492e-01 9.02415856e-03 -2.25276169e-02 5.31673485e+00] [-9.00343547e-03 9.99958947e-01 1.02115565e-03 -2.94197670e-01] [ 2.25359071e-02 -8.18028962e-04 9.99745700e-01 1.09402016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.862755096000001 meters 0.029228796721365077 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.30, Z:0.11 [[ 9.99706504e-01 8.91123669e-03 -2.25276684e-02 5.34425979e+00] [-8.89051060e-03 9.99959958e-01 1.02001683e-03 -2.95317143e-01] [ 2.25358560e-02 -8.19434986e-04 9.99745700e-01 1.09917769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.892755096 meters 0.030801635689621226 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.30, Z:0.11 [[ 9.99733880e-01 5.92538358e-03 -2.22947999e-02 5.37368748e+00] [-5.90439229e-03 9.99982062e-01 1.00724238e-03 -2.99125315e-01] [ 2.23003683e-02 -8.75337086e-04 9.99750933e-01 1.10734948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.922755096 meters 0.032647941525033294 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.30, Z:0.11 [[ 9.99747498e-01 2.91571787e-03 -2.22809086e-02 5.40268086e+00] [-2.89402678e-03 9.99995307e-01 1.00571098e-03 -3.03178155e-01] [ 2.22837364e-02 -9.40975494e-04 9.99751244e-01 1.11470831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.952755096000001 meters 0.036070234518154685 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.31, Z:0.11 [[ 9.99764533e-01 1.17910885e-03 -2.16676869e-02 5.43049986e+00] [-1.15821660e-03 9.99998852e-01 9.76736474e-04 -3.08610006e-01] [ 2.16688137e-02 -9.51410610e-04 9.99764751e-01 1.12880523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.982755096000001 meters 0.03482287911588551 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.31, Z:0.11 [[ 9.99766419e-01 -3.22521325e-03 -2.13706804e-02 5.46109398e+00] [ 3.24650394e-03 9.99994268e-01 9.61637816e-04 -3.08219322e-01] [ 2.13674564e-02 -1.03079319e-03 9.99771158e-01 1.12909640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.012755096 meters 0.03777266363289757 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.31, Z:0.11 [[ 9.99747315e-01 -5.26461921e-03 -2.18538264e-02 5.48907777e+00] [ 5.28736428e-03 9.99985539e-01 9.83130803e-04 -3.13762886e-01] [ 2.18483345e-02 -1.09843152e-03 9.99760693e-01 1.12735657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0427550960000005 meters 0.03734413175629273 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.31, Z:0.11 [[ 9.99739981e-01 -7.24863701e-03 -2.16200640e-02 5.51791850e+00] [ 7.27131251e-03 9.99973093e-01 9.70388883e-04 -3.14053994e-01] [ 2.16124482e-02 -1.12734281e-03 9.99765788e-01 1.13425847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.072755096000001 meters 0.042994565868014215 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.32, Z:0.11 [[ 9.99724797e-01 -1.01379146e-02 -2.11554241e-02 5.54558567e+00] [ 1.01601646e-02 9.99947938e-01 9.44518779e-04 -3.22552323e-01] [ 2.11447473e-02 -1.15920144e-03 9.99775753e-01 1.14145336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.102755096000001 meters 0.03957844576746534 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.32, Z:0.12 [[ 9.99718049e-01 -1.11158260e-02 -2.09823786e-02 5.57456599e+00] [ 1.11378865e-02 9.99937535e-01 9.34808072e-04 -3.18927556e-01] [ 2.09706768e-02 -1.16824385e-03 9.99779409e-01 1.15337912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.132755096 meters 0.04246370403424017 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.32, Z:0.12 [[ 9.99701784e-01 -1.26289305e-02 -2.09010192e-02 5.60245899e+00] [ 1.26510431e-02 9.99919544e-01 9.26076192e-04 -3.23483272e-01] [ 2.08876422e-02 -1.19021972e-03 9.99781121e-01 1.16032191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.162755096000001 meters 0.040555657627779386 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.32, Z:0.12 [[ 9.99731994e-01 -1.18309502e-02 -1.98989617e-02 5.63144979e+00] [ 1.18507961e-02 9.99929390e-01 8.79709186e-04 -3.19776131e-01] [ 1.98871489e-02 -1.11529196e-03 9.99801609e-01 1.17778271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.192755096000001 meters 0.040396622542958456 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.32, Z:0.12 [[ 9.99743216e-01 -1.10182660e-02 -1.98015273e-02 5.66048242e+00] [ 1.10376579e-02 9.99938704e-01 8.70284155e-04 -3.19343042e-01] [ 1.97907245e-02 -1.08862316e-03 9.99803552e-01 1.18657592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.222755096 meters 0.04008920137366497 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.32, Z:0.12 [[ 9.99720900e-01 -9.80270165e-03 -2.14948648e-02 5.68929849e+00] [ 9.82514472e-03 9.99951291e-01 9.38751982e-04 -3.19786373e-01] [ 2.14846155e-02 -1.14968013e-03 9.99768518e-01 1.17589734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2527550960000005 meters 0.03903671467331635 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.32, Z:0.12 [[ 9.99705085e-01 -9.34939759e-03 -2.24127491e-02 5.71878404e+00] [ 9.37355412e-03 9.99955594e-01 9.72986317e-04 -3.19121471e-01] [ 2.24026570e-02 -1.18278649e-03 9.99748329e-01 1.17327851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.282755096000001 meters 0.03636474700936553 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.32, Z:0.12 [[ 9.99711594e-01 -8.84772746e-03 -2.23258999e-02 5.74799353e+00] [ 8.87145088e-03 9.99960183e-01 9.63774525e-04 -3.16405830e-01] [ 2.23164837e-02 -1.16155969e-03 9.99750281e-01 1.18575698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.312755096000001 meters 0.036786423691294826 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.32, Z:0.12 [[ 9.99717661e-01 -8.72058204e-03 -2.21031830e-02 5.77603408e+00] [ 8.74368691e-03 9.99961323e-01 9.48888910e-04 -3.18199430e-01] [ 2.20940533e-02 -1.14188431e-03 9.99755245e-01 1.19871555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.342755096 meters 0.0370225181259275 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.32, Z:0.12 [[ 9.99724529e-01 -9.15096949e-03 -2.16130797e-02 5.80402361e+00] [ 9.17310481e-03 9.99957498e-01 9.25242111e-04 -3.18711364e-01] [ 2.16036942e-02 -1.12324628e-03 9.99765982e-01 1.20908066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.372755096000001 meters 0.03595458040124598 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.32, Z:0.12 [[ 9.99708949e-01 -9.84954247e-03 -2.20228010e-02 5.83276972e+00] [ 9.87254758e-03 9.99950827e-01 9.36121912e-04 -3.16089341e-01] [ 2.20124977e-02 -1.15327060e-03 9.99757030e-01 1.21372903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.402755096000001 meters 0.03609192307715195 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.32, Z:0.12 [[ 9.99697947e-01 -1.02638740e-02 -2.23308564e-02 5.86090754e+00] [ 1.02874913e-02 9.99946638e-01 9.42984025e-04 -3.17323530e-01] [ 2.23199861e-02 -1.17242769e-03 9.99750191e-01 1.22022224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.432755096 meters 0.035596706804252684 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.32, Z:0.12 [[ 9.99703571e-01 -1.05789652e-02 -2.19284135e-02 5.88888755e+00] [ 1.06016683e-02 9.99943378e-01 9.19333383e-04 -3.19116906e-01] [ 2.19174463e-02 -1.15153863e-03 9.99759121e-01 1.23422320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.462755096 meters 0.036566619855826654 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.32, Z:0.12 [[ 9.99686296e-01 -1.06191179e-02 -2.26835489e-02 5.91573908e+00] [ 1.06432742e-02 9.99942913e-01 9.44457641e-04 -3.21510491e-01] [ 2.26722246e-02 -1.18558859e-03 9.99742249e-01 1.23886546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.492755096000001 meters 0.03664750749921943 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.32, Z:0.12 [[ 9.99688309e-01 -1.02726395e-02 -2.27542862e-02 5.94434946e+00] [ 1.02967755e-02 9.99946541e-01 9.43811503e-04 -3.22636257e-01] [ 2.27433744e-02 -1.17781310e-03 9.99740642e-01 1.24033187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.522755096000001 meters 0.03429468836484566 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.32, Z:0.12 [[ 9.99692707e-01 -9.66073301e-03 -2.28289618e-02 5.97384636e+00] [ 9.68474119e-03 9.99952659e-01 9.41325179e-04 -3.20196519e-01] [ 2.28187872e-02 -1.16212850e-03 9.99738942e-01 1.24710700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.552755096 meters 0.035543208115451565 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.32, Z:0.12 [[ 9.99691942e-01 -9.60281040e-03 -2.28868357e-02 6.00137419e+00] [ 9.62685319e-03 9.99953218e-01 9.40558001e-04 -3.22823637e-01] [ 2.28767330e-02 -1.16059646e-03 9.99737620e-01 1.24930170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5827550960000005 meters 0.03598952710577627 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.32, Z:0.12 [[ 9.99676876e-01 -1.05095254e-02 -2.31450330e-02 6.02999342e+00] [ 1.05342864e-02 9.99944063e-01 9.48150499e-04 -3.24267395e-01] [ 2.31337737e-02 -1.19166054e-03 9.99731668e-01 1.24746466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.612755096000001 meters 0.03814085856403263 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.33, Z:0.13 [[ 9.99664566e-01 -1.12783976e-02 -2.33142189e-02 6.05775821e+00] [ 1.13036028e-02 9.99935661e-01 9.49604430e-04 -3.28976327e-01] [ 2.33020089e-02 -1.21282057e-03 9.99727736e-01 1.25180899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.642755096000001 meters 0.037035219528644844 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.33, Z:0.13 [[ 9.99656033e-01 -1.21274995e-02 -2.32537971e-02 6.08683861e+00] [ 1.21527342e-02 9.99925707e-01 9.44170749e-04 -3.29994438e-01] [ 2.32406191e-02 -1.22644320e-03 9.99729148e-01 1.26551833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.672755096 meters 0.03592576708353068 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.33, Z:0.13 [[ 9.99667936e-01 -1.35588120e-02 -2.19129477e-02 6.11536212e+00] [ 1.35814408e-02 9.99907377e-01 8.84170108e-04 -3.31262813e-01] [ 2.18989298e-02 -1.18148591e-03 9.99759492e-01 1.28969768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.702755096000001 meters 0.03641426768558241 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.33, Z:0.13 [[ 9.99666746e-01 -1.40942776e-02 -2.16275068e-02 6.14387807e+00] [ 1.41163197e-02 9.99899984e-01 8.66833624e-04 -3.33348640e-01] [ 2.16131263e-02 -1.17184555e-03 9.99765722e-01 1.30259092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.732755096000001 meters 0.03688132871510154 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.34, Z:0.13 [[ 9.99669044e-01 -1.41771375e-02 -2.14665353e-02 6.17071302e+00] [ 1.41987514e-02 9.99898827e-01 8.54774757e-04 -3.35653372e-01] [ 2.14522452e-02 -1.15928986e-03 9.99769202e-01 1.31837560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.762755096 meters 0.03861282016827656 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.34, Z:0.13 [[ 9.99671151e-01 -1.42888040e-02 -2.12936407e-02 6.19776072e+00] [ 1.43100060e-02 9.99897251e-01 8.43647499e-04 -3.37817582e-01] [ 2.12793980e-02 -1.14808219e-03 9.99772909e-01 1.30743745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7927550960000005 meters 0.037246278538302265 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.34, Z:0.13 [[ 9.99670065e-01 -1.32968881e-02 -2.19761954e-02 6.22683729e+00] [ 1.33191572e-02 9.99910920e-01 8.67260998e-04 -3.37941475e-01] [ 2.19627059e-02 -1.15967926e-03 9.99758118e-01 1.32657866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.822755096000001 meters 0.0359752808697872 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.34, Z:0.13 [[ 9.99684454e-01 -1.04832082e-02 -2.28275164e-02 6.25630491e+00] [ 1.05063841e-02 9.99944405e-01 8.95564345e-04 -3.37295799e-01] [ 2.28168590e-02 -1.13511641e-03 9.99739017e-01 1.32430702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.852755096000001 meters 0.03782882026740916 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.34, Z:0.13 [[ 9.99678995e-01 -9.13345531e-03 -2.36323314e-02 6.28404553e+00] [ 9.15789059e-03 9.99957637e-01 9.25954896e-04 -3.40624631e-01] [ 2.36228731e-02 -1.14207996e-03 9.99720289e-01 1.32125534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.882755096 meters 0.03096213573215682 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.33, Z:0.13 [[ 9.99699824e-01 -5.67443559e-03 -2.38340670e-02 6.31444572e+00] [ 5.69826493e-03 9.99983330e-01 9.32003981e-04 -3.32479637e-01] [ 2.38283811e-02 -1.06753704e-03 9.99715494e-01 1.32976163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.912755096000001 meters 0.03446900093068385 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.34, Z:0.13 [[ 9.99690973e-01 -4.26826379e-03 -2.44896037e-02 6.34232819e+00] [ 4.29297834e-03 9.99990327e-01 9.56699406e-04 -3.38320646e-01] [ 2.44852834e-02 -1.06153710e-03 9.99699627e-01 1.32409330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.942755096000001 meters 0.032975146091083755 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.34, Z:0.13 [[ 9.99685267e-01 -3.04822274e-03 -2.49012980e-02 6.37160197e+00] [ 3.07331186e-03 9.99994808e-01 9.69334201e-04 -3.37549228e-01] [ 2.48982140e-02 -1.04555857e-03 9.99689445e-01 1.32781550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.972755096000001 meters 0.032041036601895 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.34, Z:0.13 [[ 9.99656439e-01 -5.83280753e-04 -2.62042852e-02 6.40010875e+00] [ 6.10072297e-04 9.99999299e-01 1.01442780e-03 -3.37929143e-01] [ 2.62036751e-02 -1.03006579e-03 9.99656094e-01 1.32454261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.002755096 meters 0.031753253753040986 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.34, Z:0.13 [[ 9.99642113e-01 7.78520821e-05 -2.67514506e-02 6.42853730e+00] [-5.02578525e-05 9.99999466e-01 1.03217486e-03 -3.39218697e-01] [ 2.67515167e-02 -1.03046098e-03 9.99641583e-01 1.32627550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.032755095999999 meters 0.027615541352315733 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.33, Z:0.14 [[ 9.99658707e-01 4.02002759e-03 -2.58129589e-02 6.45881749e+00] [-3.99577611e-03 9.99991526e-01 9.91019498e-04 -3.32896320e-01] [ 2.58167241e-02 -8.87538466e-04 9.99666299e-01 1.35507745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.062755096 meters 0.027429004964238862 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.33, Z:0.14 [[ 9.99649654e-01 5.19370267e-03 -2.59537137e-02 6.48671323e+00] [-5.16962333e-03 9.99986143e-01 9.94791143e-04 -3.33727089e-01] [ 2.59585207e-02 -8.60271698e-04 9.99662651e-01 1.35747481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.092755096 meters 0.025971086877310645 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.33, Z:0.14 [[ 9.99635277e-01 5.15996893e-03 -2.65082573e-02 6.51496623e+00] [-5.13494901e-03 9.99986304e-01 1.01183887e-03 -3.33075793e-01] [ 2.65131153e-02 -8.75351280e-04 9.99648082e-01 1.35969505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.122755096 meters 0.028033890319864262 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.34, Z:0.14 [[ 9.99637475e-01 4.52356258e-03 -2.65415935e-02 6.54231842e+00] [-4.49843961e-03 9.99989376e-01 1.00618316e-03 -3.37278855e-01] [ 2.65458631e-02 -8.86422634e-04 9.99647203e-01 1.36087136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.152755096 meters 0.028671403182890846 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.34, Z:0.14 [[ 9.99681428e-01 4.07069038e-03 -2.49092873e-02 6.56954569e+00] [-4.04850551e-03 9.99991362e-01 9.40992207e-04 -3.38856562e-01] [ 2.49129026e-02 -8.39847046e-04 9.99689273e-01 1.37738270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.182755096 meters 0.030719008735088555 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.35, Z:0.14 [[ 9.99675884e-01 1.35329751e-03 -2.54223543e-02 6.59809141e+00] [-1.32938299e-03 9.99998658e-01 9.57565763e-04 -3.45737890e-01] [ 2.54236160e-02 -9.23459355e-04 9.99676341e-01 1.38815897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.212755096 meters 0.034386148459051545 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.35, Z:0.14 [[ 9.99669196e-01 -1.13202025e-04 -2.57193783e-02 6.62570797e+00] [ 1.38120992e-04 9.99999523e-01 9.67104625e-04 -3.51344700e-01] [ 2.57192566e-02 -9.70337088e-04 9.99668734e-01 1.38976961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.242755096 meters 0.028956357768017926 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.34, Z:0.14 [[ 9.99679323e-01 -1.82570502e-03 -2.52570201e-02 6.65477898e+00] [ 1.85019521e-03 9.99997841e-01 9.46304104e-04 -3.43898997e-01] [ 2.52552379e-02 -9.92731064e-04 9.99680543e-01 1.40932924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.272755096 meters 0.02897201226670824 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.34, Z:0.14 [[ 9.99676019e-01 -3.39748806e-03 -2.52252506e-02 6.68330299e+00] [ 3.42224320e-03 9.99993704e-01 9.38258024e-04 -3.44250755e-01] [ 2.52219041e-02 -1.02428099e-03 9.99681352e-01 1.41957451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.302755096 meters 0.0342142238426624 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.35, Z:0.14 [[ 9.99685566e-01 -6.77014900e-03 -2.41440345e-02 6.71189950e+00] [ 6.79367905e-03 9.99976524e-01 8.92676854e-04 -3.53182928e-01] [ 2.41374242e-02 -1.05642299e-03 9.99708092e-01 1.43106774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.332755096 meters 0.03268235842093348 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.35, Z:0.14 [[ 9.99676330e-01 -8.47131630e-03 -2.39890058e-02 6.74043302e+00] [ 8.49498474e-03 9.99963525e-01 8.84899410e-04 -3.52018282e-01] [ 2.39806345e-02 -1.08839923e-03 9.99711831e-01 1.44871589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.362755095999999 meters 0.03261554268694145 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.35, Z:0.15 [[ 9.99643498e-01 -1.18726479e-02 -2.39147899e-02 6.77002611e+00] [ 1.18970935e-02 9.99928840e-01 8.80174447e-04 -3.53049754e-01] [ 2.39026381e-02 -1.16437716e-03 9.99713613e-01 1.46732517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.392755096 meters 0.036521340268357495 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.36, Z:0.15 [[ 9.99629365e-01 -1.29867650e-02 -2.39265009e-02 6.79729493e+00] [ 1.30115231e-02 9.99914960e-01 8.79358995e-04 -3.59622007e-01] [ 2.39130462e-02 -1.19035329e-03 9.99713334e-01 1.46737679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.422755096 meters 0.035009938136809006 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.36, Z:0.15 [[ 9.99588973e-01 -1.42342350e-02 -2.48851514e-02 6.82660185e+00] [ 1.42613143e-02 9.99897887e-01 9.11023905e-04 -3.57409050e-01] [ 2.48696425e-02 -1.26554442e-03 9.99689902e-01 1.46100070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.452755096 meters 0.03907015533965682 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.36, Z:0.14 [[ 9.99562996e-01 -1.44040522e-02 -2.58135675e-02 6.85382181e+00] [ 1.44330905e-02 9.99895397e-01 9.38951314e-04 -3.62820998e-01] [ 2.57973426e-02 -1.31111054e-03 9.99666333e-01 1.44757506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.482755096 meters 0.034278883813263446 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.36, Z:0.15 [[ 9.99546925e-01 -1.44634174e-02 -2.63960931e-02 6.88218142e+00] [ 1.44936808e-02 9.99894505e-01 9.55541691e-04 -3.56809713e-01] [ 2.63794880e-02 -1.33768531e-03 9.99651106e-01 1.45669564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.512755096 meters 0.0338831821818857 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.36, Z:0.15 [[ 9.99563482e-01 -1.32233928e-02 -2.64194457e-02 6.91128677e+00] [ 1.32530676e-02 9.99911724e-01 9.48428496e-04 -3.57365291e-01] [ 2.64045721e-02 -1.29815319e-03 9.99650496e-01 1.46110682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.542755096 meters 0.032586018753439874 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.36, Z:0.15 [[ 9.99571476e-01 -1.21016052e-02 -2.66536356e-02 6.94075874e+00] [ 1.21312200e-02 9.99925963e-01 9.49669889e-04 -3.56330026e-01] [ 2.66401698e-02 -1.27260405e-03 9.99644278e-01 1.47196306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.572755096 meters 0.032831181829400743 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.36, Z:0.15 [[ 9.99584793e-01 -9.12302212e-03 -2.73315396e-02 6.96944144e+00] [ 9.15290460e-03 9.99957642e-01 9.68425251e-04 -3.56475444e-01] [ 2.73215469e-02 -1.21818613e-03 9.99625955e-01 1.46889886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.602755096 meters 0.031472549705402066 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.36, Z:0.15 [[ 9.99608342e-01 -7.78074545e-03 -2.68816266e-02 6.99809661e+00] [ 7.80907957e-03 9.99969058e-01 9.49212749e-04 -3.55325715e-01] [ 2.68734092e-02 -1.15876174e-03 9.99638173e-01 1.48106847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.632755096 meters 0.030892713000447596 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.36, Z:0.15 [[ 9.99624881e-01 -6.62524056e-03 -2.65744797e-02 7.02714205e+00] [ 6.65233475e-03 9.99977439e-01 9.31278674e-04 -3.55309579e-01] [ 2.65677103e-02 -1.10771167e-03 9.99646402e-01 1.49158543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.662755096 meters 0.027661702505284626 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.35, Z:0.15 [[ 9.99638546e-01 -4.18256595e-03 -2.65571832e-02 7.05632186e+00] [ 4.20861443e-03 9.99990716e-01 9.25025997e-04 -3.51218168e-01] [ 2.65530677e-02 -1.03646059e-03 9.99646868e-01 1.50697007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.692755095999999 meters 0.029823280377748264 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.36, Z:0.15 [[ 9.99646571e-01 -3.23013019e-03 -2.63874996e-02 7.08389054e+00] [ 3.25545621e-03 9.99994281e-01 9.16870248e-04 -3.55332172e-01] [ 2.63843870e-02 -1.00244955e-03 9.99651369e-01 1.50719075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.722755096 meters 0.028816529063815124 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.36, Z:0.15 [[ 9.99687385e-01 -2.44419112e-03 -2.48828834e-02 7.11304984e+00] [ 2.46638295e-03 9.99996588e-01 8.61200097e-04 -3.56318504e-01] [ 2.48806936e-02 -9.22301592e-04 9.99690002e-01 1.53692524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.752755096 meters 0.028816529063815124 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.36, Z:0.15 [[ 9.99686589e-01 -2.74840969e-03 -2.48831191e-02 7.14064183e+00] [ 2.77052517e-03 9.99995797e-01 8.54343167e-04 -3.57096637e-01] [ 2.48806664e-02 -9.23014714e-04 9.99690002e-01 1.54207838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.782755096 meters 0.029478007371554604 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.36, Z:0.16 [[ 9.99699926e-01 -2.65903305e-03 -2.43513399e-02 7.16862381e+00] [ 2.68003781e-03 9.99996064e-01 8.29975359e-04 -3.59471418e-01] [ 2.43490371e-02 -8.94988817e-04 9.99703118e-01 1.55650668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.812755096 meters 0.02778544093399408 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.36, Z:0.16 [[ 9.99710823e-01 -3.05013428e-03 -2.38530306e-02 7.19652625e+00] [ 3.07031963e-03 9.99994959e-01 8.09660656e-04 -3.57760483e-01] [ 2.38504408e-02 -8.82662949e-04 9.99715148e-01 1.56961780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.842755096 meters 0.02852317621482103 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.36, Z:0.16 [[ 9.99727462e-01 -3.43968724e-03 -2.30904869e-02 7.22463106e+00] [ 3.45856558e-03 9.99993717e-01 7.77695409e-04 -3.59406053e-01] [ 2.30876668e-02 -8.57343420e-04 9.99733077e-01 1.57313728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.872755096 meters 0.02825840875240675 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.36, Z:0.16 [[ 9.99744040e-01 -4.29171546e-03 -2.22134182e-02 7.25322092e+00] [ 4.30933682e-03 9.99990437e-01 7.45467393e-04 -3.59935926e-01] [ 2.22100064e-02 -8.41001684e-04 9.99752974e-01 1.58988824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.902755096 meters 0.02905993500018668 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.36, Z:0.16 [[ 9.99751180e-01 -4.80959946e-03 -2.17817911e-02 7.28131272e+00] [ 4.82654681e-03 9.99988089e-01 7.25546088e-04 -3.61883144e-01] [ 2.17780421e-02 -8.30496392e-04 9.99762485e-01 1.59582488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.932755096 meters 0.029933033737329983 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.36, Z:0.16 [[ 9.99753641e-01 -6.15142138e-03 -2.13264575e-02 7.31013716e+00] [ 6.16790099e-03 9.99980728e-01 7.07039118e-04 -3.64919058e-01] [ 2.13216972e-02 -8.38404411e-04 9.99772315e-01 1.60222173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.962755096 meters 0.029310330449343006 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.37, Z:0.16 [[ 9.99741350e-01 -7.27228659e-03 -2.15487175e-02 7.33878170e+00] [ 7.28924660e-03 9.99973182e-01 7.08611711e-04 -3.65266452e-01] [ 2.15429864e-02 -8.65502344e-04 9.99767548e-01 1.60915974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.992755096 meters 0.029626151293611302 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.37, Z:0.16 [[ 9.99728259e-01 -8.19532481e-03 -2.18230471e-02 7.36756545e+00] [ 8.21280814e-03 9.99966021e-01 7.11634473e-04 -3.66923529e-01] [ 2.18164735e-02 -8.90669591e-04 9.99761596e-01 1.60982104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.022755096 meters 0.03151470879480966 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.37, Z:0.16 [[ 9.99694254e-01 -1.04860168e-02 -2.23928778e-02 7.39606056e+00] [ 1.05048772e-02 9.99944560e-01 7.24778676e-04 -3.70057995e-01] [ 2.23840363e-02 -9.59791509e-04 9.99748985e-01 1.60064620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.052755096 meters 0.031825838548367784 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.37, Z:0.16 [[ 9.99669482e-01 -1.18786353e-02 -2.27996560e-02 7.42515956e+00] [ 1.18984986e-02 9.99928940e-01 7.35744339e-04 -3.70997658e-01] [ 2.27892962e-02 -1.00678284e-03 9.99739783e-01 1.60156117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.082755096 meters 0.0342900625319974 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.37, Z:0.16 [[ 9.99622365e-01 -1.41371974e-02 -2.35641016e-02 7.45401674e+00] [ 1.41589122e-02 9.99899473e-01 7.54921896e-04 -3.74548745e-01] [ 2.35510603e-02 -1.08827886e-03 9.99722043e-01 1.59345284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.112755095999999 meters 0.035158458646985774 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.38, Z:0.16 [[ 9.99606084e-01 -1.52404028e-02 -2.35670619e-02 7.48285092e+00] [ 1.52623739e-02 9.99883240e-01 7.52678664e-04 -3.76760969e-01] [ 2.35528391e-02 -1.11207148e-03 9.99721975e-01 1.59460213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.142755096 meters 0.03559742679757341 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.38, Z:0.16 [[ 9.99593715e-01 -1.60810658e-02 -2.35330606e-02 7.51147192e+00] [ 1.61030613e-02 9.99870059e-01 7.45445291e-04 -3.78713948e-01] [ 2.35180151e-02 -1.12409674e-03 9.99722781e-01 1.59951910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.172755096 meters 0.03700545797108248 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.38, Z:0.16 [[ 9.99561423e-01 -1.71837208e-02 -2.41180759e-02 7.53877430e+00] [ 1.72070020e-02 9.99851661e-01 7.58087559e-04 -3.82116254e-01] [ 2.41014715e-02 -1.17275486e-03 9.99708829e-01 1.60535660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.202755096 meters 0.03745241494490787 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.38, Z:0.16 [[ 9.99545297e-01 -1.77389644e-02 -2.43829548e-02 7.56785854e+00] [ 1.77628144e-02 9.99841938e-01 7.61887393e-04 -3.83081959e-01] [ 2.43655857e-02 -1.19465086e-03 9.99702401e-01 1.60850550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.232755096 meters 0.037787105411374575 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.38, Z:0.16 [[ 9.99562013e-01 -1.69266969e-02 -2.42748772e-02 7.59612409e+00] [ 1.69499684e-02 9.99856055e-01 7.53212511e-04 -3.82672495e-01] [ 2.42586335e-02 -1.16434102e-03 9.99705038e-01 1.60777779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.262755096 meters 0.0377353381764163 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.38, Z:0.16 [[ 9.99572496e-01 -1.54196528e-02 -2.48406885e-02 7.62419303e+00] [ 1.54435010e-02 9.99880447e-01 7.68477137e-04 -3.83037882e-01] [ 2.48258690e-02 -1.15177581e-03 9.99691127e-01 1.60868341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.292755096 meters 0.03396101170786223 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.38, Z:0.16 [[ 9.99589822e-01 -1.40688811e-02 -2.49450184e-02 7.65334606e+00] [ 1.40924276e-02 9.99900402e-01 7.68384388e-04 -3.78372653e-01] [ 2.49317236e-02 -1.11960508e-03 9.99688529e-01 1.61848207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.322755096 meters 0.03446734634248685 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.38, Z:0.16 [[ 9.99636909e-01 -9.58024362e-03 -2.51847131e-02 7.68191901e+00] [ 9.60268928e-03 9.99953596e-01 7.70450298e-04 -3.79583308e-01] [ 2.51761633e-02 -1.01201153e-03 9.99682518e-01 1.61855393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.352755096 meters 0.03311072321638075 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.38, Z:0.16 [[ 9.99654376e-01 -7.00461942e-03 -2.53389951e-02 7.71097595e+00] [ 7.02647657e-03 9.99975015e-01 7.73654843e-04 -3.78222675e-01] [ 2.53329428e-02 -9.51431304e-04 9.99678617e-01 1.62310262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.382755096 meters 0.031686477718802245 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.38, Z:0.16 [[ 9.99659310e-01 -4.58753462e-03 -2.56947104e-02 7.74040459e+00] [ 4.60913739e-03 9.99989072e-01 7.81585690e-04 -3.76404423e-01] [ 2.56908441e-02 -8.99749862e-04 9.99669531e-01 1.63029112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.412755096 meters 0.029778890310485476 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.37, Z:0.16 [[ 9.99665066e-01 -6.81666498e-04 -2.58706574e-02 7.76984480e+00] [ 7.02142084e-04 9.99999447e-01 7.82384130e-04 -3.72645617e-01] [ 2.58701098e-02 -8.00286960e-04 9.99664992e-01 1.62966348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.442755095999999 meters 0.02730888005912385 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.37, Z:0.16 [[ 9.99649773e-01 7.99999107e-04 -2.64516953e-02 7.79925218e+00] [-7.79180565e-04 9.99999379e-01 7.97337734e-04 -3.68887691e-01] [ 2.64523167e-02 -7.76447837e-04 9.99649775e-01 1.64070638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.472755096 meters 0.026440749974110445 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.37, Z:0.16 [[ 9.99648179e-01 2.82281563e-03 -2.63732668e-02 7.82680236e+00] [-2.80296606e-03 9.99995760e-01 7.89577537e-04 -3.67976630e-01] [ 2.63753838e-02 -7.15376375e-04 9.99651853e-01 1.64785389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.502755096 meters 0.026271081022348722 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.37, Z:0.17 [[ 9.99653017e-01 3.05775429e-03 -2.61628666e-02 7.85555769e+00] [-3.03839259e-03 9.99995080e-01 7.79766473e-04 -3.69445955e-01] [ 2.61651222e-02 -7.00002848e-04 9.99657389e-01 1.66052309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.532755096 meters 0.0266383641255538 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.37, Z:0.17 [[ 9.99657993e-01 2.58224170e-03 -2.60236362e-02 7.88357178e+00] [-2.56309901e-03 9.99996420e-01 7.68918134e-04 -3.71820432e-01] [ 2.60255285e-02 -7.01954002e-04 9.99661032e-01 1.67336589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.562755096 meters 0.027819132553318148 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.38, Z:0.17 [[ 9.99682845e-01 9.77293517e-04 -2.51645527e-02 7.91137099e+00] [-9.59029103e-04 9.99999268e-01 7.37857728e-04 -3.75550579e-01] [ 2.51652554e-02 -7.13490175e-04 9.99683050e-01 1.69177128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.592755096 meters 0.028816135315998123 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.38, Z:0.17 [[ 9.99693383e-01 -8.71611276e-04 -2.47463239e-02 7.94019972e+00] [ 8.89763152e-04 9.99999343e-01 7.22516673e-04 -3.77233998e-01] [ 2.47456779e-02 -7.44313504e-04 9.99693502e-01 1.69769617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.622755096 meters 0.030099747027233458 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.38, Z:0.17 [[ 9.99707851e-01 -2.86125912e-03 -2.40005547e-02 7.96872856e+00] [ 2.87876901e-03 9.99995615e-01 6.95042680e-04 -3.79371281e-01] [ 2.39984608e-02 -7.63931677e-04 9.99711704e-01 1.70367077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.652755096 meters 0.027542395520966278 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.38, Z:0.17 [[ 9.99700374e-01 -6.62777461e-03 -2.35634271e-02 7.99863591e+00] [ 6.64558807e-03 9.99977688e-01 6.77751497e-04 -3.77616382e-01] [ 2.35584093e-02 -8.34141255e-04 9.99722114e-01 1.71997789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.682755096 meters 0.02882732953401197 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.38, Z:0.17 [[ 9.99672482e-01 -9.15765853e-03 -2.38969689e-02 8.02777346e+00] [ 9.17667472e-03 9.99957658e-01 6.86213487e-04 -3.81394064e-01] [ 2.38896730e-02 -9.05283450e-04 9.99714191e-01 1.72692921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.712755096 meters 0.03306869949770777 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.39, Z:0.17 [[ 9.99603606e-01 -1.47425132e-02 -2.39851666e-02 8.05659634e+00] [ 1.47632377e-02 9.99890781e-01 6.87203093e-04 -3.90919969e-01] [ 2.39724159e-02 -1.04102941e-03 9.99712078e-01 1.72919850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.742755096 meters 0.031789575812056464 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.39, Z:0.17 [[ 9.99577435e-01 -1.69781140e-02 -2.35943680e-02 8.08580370e+00] [ 1.69987756e-02 9.99855282e-01 6.75393370e-04 -3.89483928e-01] [ 2.35794866e-02 -1.07618334e-03 9.99721386e-01 1.74066814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.772755096 meters 0.03340645959988815 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.39, Z:0.17 [[ 9.99560628e-01 -1.83873291e-02 -2.32477429e-02 8.11311420e+00] [ 1.84077307e-02 9.99830343e-01 6.63863969e-04 -3.91955225e-01] [ 2.32315921e-02 -1.09151048e-03 9.99729514e-01 1.74423312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.802755096 meters 0.034392304877138964 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.39, Z:0.17 [[ 9.99513686e-01 -2.04839048e-02 -2.35117122e-02 8.14310595e+00] [ 2.05052951e-02 9.99789520e-01 6.69016735e-04 -3.93042586e-01] [ 2.34930594e-02 -1.15080598e-03 9.99723338e-01 1.74100295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.832755096 meters 0.035621694775430895 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.40, Z:0.17 [[ 9.99478178e-01 -2.16594998e-02 -2.39632791e-02 8.17128003e+00] [ 2.16820273e-02 9.99764686e-01 6.80630420e-04 -3.95345327e-01] [ 2.39428981e-02 -1.19984772e-03 9.99712608e-01 1.73809995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.862755096 meters 0.03582340739719679 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.40, Z:0.17 [[ 9.99424302e-01 -2.32622114e-02 -2.46968508e-02 8.20008529e+00] [ 2.32865426e-02 9.99728588e-01 6.98018548e-04 -3.96061115e-01] [ 2.46739104e-02 -1.27272097e-03 9.99694743e-01 1.73230400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.892755096 meters 0.03715091744406426 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.40, Z:0.17 [[ 9.99408456e-01 -2.35509092e-02 -2.50617838e-02 8.22783969e+00] [ 2.35759126e-02 9.99721803e-01 7.02624792e-04 -3.98389079e-01] [ 2.50382643e-02 -1.29306358e-03 9.99685657e-01 1.72972173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.922755096 meters 0.03539085164276896 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.40, Z:0.17 [[ 9.99411620e-01 -2.32533387e-02 -2.52130317e-02 8.25695170e+00] [ 2.32784612e-02 9.99728773e-01 7.03321766e-04 -3.96689653e-01] [ 2.51898387e-02 -1.28982853e-03 9.99681854e-01 1.73722534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.952755096 meters 0.03511732158662597 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.40, Z:0.17 [[ 9.99450319e-01 -2.15211230e-02 -2.52170900e-02 8.28516820e+00] [ 2.15455545e-02 9.99767624e-01 6.97517063e-04 -3.95616755e-01] [ 2.51962188e-02 -1.24044984e-03 9.99681755e-01 1.74336251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.982755096 meters 0.03499668737095017 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.39, Z:0.18 [[ 9.99493070e-01 -2.02710424e-02 -2.45497101e-02 8.31369444e+00] [ 2.02937240e-02 9.99793833e-01 6.75091370e-04 -3.94884185e-01] [ 2.45309639e-02 -1.17295419e-03 9.99698383e-01 1.75281244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.012755096 meters 0.03403337518589142 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.39, Z:0.18 [[ 9.99540341e-01 -1.86580044e-02 -2.38953001e-02 8.34224188e+00] [ 1.86789080e-02 9.99825321e-01 6.51876050e-04 -3.92954948e-01] [ 2.38789634e-02 -1.09791452e-03 9.99714254e-01 1.76424160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.042755096 meters 0.03318441413553916 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.39, Z:0.18 [[ 9.99638092e-01 -1.53308770e-02 -2.21054259e-02 8.37105827e+00] [ 1.53479205e-02 9.99882033e-01 6.01551038e-04 -3.91105906e-01] [ 2.20935959e-02 -9.40605652e-04 9.99755464e-01 1.78666631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.072755096 meters 0.03230694141593607 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.39, Z:0.18 [[ 9.99673147e-01 -1.39284306e-02 -2.14382598e-02 8.40031548e+00] [ 1.39441018e-02 9.99902607e-01 5.81672246e-04 -3.90156092e-01] [ 2.14280701e-02 -8.80419400e-04 9.99770005e-01 1.79978162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.102755096 meters 0.028349377022667797 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.38, Z:0.18 [[ 9.99726625e-01 -1.10687394e-02 -2.05951042e-02 8.42984847e+00] [ 1.10824903e-02 9.99938434e-01 5.53660601e-04 -3.83839342e-01] [ 2.05877079e-02 -7.81754287e-04 9.99787745e-01 1.81039328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.132755096 meters 0.027496124233523035 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.38, Z:0.18 [[ 9.99738921e-01 -1.02472884e-02 -2.04226245e-02 8.45858346e+00] [ 1.02605331e-02 9.99947211e-01 5.43851623e-04 -3.82266988e-01] [ 2.04159735e-02 -7.53256650e-04 9.99791289e-01 1.81213610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.162755096 meters 0.02727761456631495 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.38, Z:0.18 [[ 9.99737261e-01 -9.64988457e-03 -2.07915496e-02 8.48796001e+00] [ 9.66336331e-03 9.99953159e-01 5.47906383e-04 -3.81705027e-01] [ 2.07852884e-02 -7.48678724e-04 9.99783682e-01 1.81179202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.192755095999999 meters 0.027459575118550426 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.38, Z:0.18 [[ 9.99742327e-01 -9.79515064e-03 -2.04776774e-02 8.51655090e+00] [ 9.80814861e-03 9.99951756e-01 5.34397914e-04 -3.81725575e-01] [ 2.04714550e-02 -7.35108317e-04 9.99790168e-01 1.80914589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.222755096 meters 0.02854887387957817 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.38, Z:0.18 [[ 9.99723873e-01 -1.09676058e-02 -2.07819721e-02 8.54465461e+00] [ 1.09811187e-02 9.99939562e-01 5.36213535e-04 -3.84170690e-01] [ 2.07748351e-02 -7.64274775e-04 9.99783888e-01 1.81243970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.252755096 meters 0.028048875365945067 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.38, Z:0.18 [[ 9.99722169e-01 -1.25338131e-02 -1.99621812e-02 8.57346394e+00] [ 1.25465510e-02 9.99921157e-01 5.12985105e-04 -3.84738076e-01] [ 1.99541777e-02 -7.63299107e-04 9.99800604e-01 1.82415712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.282755096 meters 0.03160125475606316 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.39, Z:0.18 [[ 9.99681247e-01 -1.61733871e-02 -1.93862399e-02 8.60204793e+00] [ 1.61859858e-02 9.99868877e-01 4.93136907e-04 -3.91945877e-01] [ 1.93757222e-02 -8.06765122e-04 9.99811948e-01 1.83536700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.312755096 meters 0.03189547890127985 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.39, Z:0.18 [[ 9.99651773e-01 -1.85579278e-02 -1.87599434e-02 8.63118318e+00] [ 1.85701246e-02 9.99827447e-01 4.76145417e-04 -3.93447420e-01] [ 1.87478701e-02 -8.24354098e-04 9.99823903e-01 1.84388814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.342755096 meters 0.03410451445751819 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.40, Z:0.19 [[ 9.99587447e-01 -2.28618327e-02 -1.73859963e-02 8.66086851e+00] [ 2.28729408e-02 9.99738283e-01 4.40300157e-04 -3.97717211e-01] [ 1.73713800e-02 -8.37787374e-04 9.99848755e-01 1.85345865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.372755096 meters 0.03586739902130587 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.40, Z:0.19 [[ 9.99535189e-01 -2.50023800e-02 -1.74438398e-02 8.68930269e+00] [ 2.50138813e-02 9.99687006e-01 4.41424155e-04 -4.00645214e-01] [ 1.74273433e-02 -8.77557114e-04 9.99847747e-01 1.85580446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.402755096 meters 0.03815363716396829 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.40, Z:0.19 [[ 9.99495827e-01 -2.67007101e-02 -1.71803104e-02 8.71676578e+00] [ 2.67121023e-02 9.99643074e-01 4.33918340e-04 -4.04453594e-01] [ 1.71625924e-02 -8.92621779e-04 9.99852313e-01 1.85605543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.432755096 meters 0.03882954685814136 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.41, Z:0.18 [[ 9.99395552e-01 -2.93651985e-02 -1.86068860e-02 8.74646621e+00] [ 2.93789685e-02 9.99568236e-01 4.67071756e-04 -4.05944893e-01] [ 1.85851365e-02 -1.01344055e-03 9.99826768e-01 1.84633079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.462755096 meters 0.0381674156871413 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.41, Z:0.18 [[ 9.99356762e-01 -3.05823438e-02 -1.87291790e-02 8.77495842e+00] [ 3.05964951e-02 9.99531707e-01 4.69425429e-04 -4.05431812e-01] [ 1.87060521e-02 -1.04217071e-03 9.99824483e-01 1.84696863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.492755096 meters 0.04086216788324827 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.41, Z:0.18 [[ 9.99301407e-01 -3.17218560e-02 -1.97591114e-02 8.80240312e+00] [ 3.17377895e-02 9.99496108e-01 4.93245231e-04 -4.09169807e-01] [ 1.97335083e-02 -1.12001117e-03 9.99804648e-01 1.84064351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.522755096 meters 0.0398601495327522 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.41, Z:0.18 [[ 9.99275758e-01 -3.20953373e-02 -2.04413349e-02 8.83091381e+00] [ 3.21124201e-02 9.99484134e-01 5.07917409e-04 -4.08424972e-01] [ 2.04144881e-02 -1.16397029e-03 9.99790925e-01 1.84469585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.552755096 meters 0.04107678814620188 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.41, Z:0.19 [[ 9.99275453e-01 -3.20261380e-02 -2.05644054e-02 8.85856251e+00] [ 3.20432921e-02 9.99486354e-01 5.05111039e-04 -4.10714337e-01] [ 2.05376659e-02 -1.16369631e-03 9.99788403e-01 1.85320214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.582755096 meters 0.04000860024283428 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.41, Z:0.19 [[ 9.99306026e-01 -3.08652476e-02 -2.08519294e-02 8.88766646e+00] [ 3.08825846e-02 9.99522889e-01 5.09854622e-04 -4.09621638e-01] [ 2.08262439e-02 -1.15346227e-03 9.99782445e-01 1.86206827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.612755096 meters 0.038714137877809404 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.41, Z:0.19 [[ 9.99344053e-01 -2.99437478e-02 -2.03675106e-02 8.91693422e+00] [ 2.99599935e-02 9.99550977e-01 4.92889584e-04 -4.07580949e-01] [ 2.03436062e-02 -1.10277676e-03 9.99792439e-01 1.86664261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.642755096 meters 0.038714137877809404 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.41, Z:0.19 [[ 9.99335015e-01 -3.02437911e-02 -2.03676402e-02 8.94455436e+00] [ 3.02599889e-02 9.99541943e-01 4.87477551e-04 -4.08070473e-01] [ 2.03435675e-02 -1.10347795e-03 9.99792439e-01 1.87179973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.672755096 meters 0.035378859541258155 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.40, Z:0.19 [[ 9.99388659e-01 -2.83484234e-02 -2.04615513e-02 8.97340456e+00] [ 2.83642566e-02 9.99597536e-01 4.83940699e-04 -4.03579732e-01] [ 2.04395973e-02 -1.06402154e-03 9.99790523e-01 1.87602405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.702755096 meters 0.037117600179154234 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.41, Z:0.19 [[ 9.99486734e-01 -2.45711829e-02 -2.05554247e-02 9.00206827e+00] [ 2.45863327e-02 9.99697593e-01 4.84594465e-04 -4.05142816e-01] [ 2.05373015e-02 -9.89728250e-04 9.99788597e-01 1.87695702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.732755096 meters 0.03769139477331385 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.41, Z:0.19 [[ 9.99541019e-01 -2.24882782e-02 -2.02985105e-02 9.03024227e+00] [ 2.25025992e-02 9.99746670e-01 4.77354654e-04 -4.06361543e-01] [ 2.02826334e-02 -9.33904803e-04 9.99793850e-01 1.88187773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.762755096 meters 0.030672560267040714 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.40, Z:0.19 [[ 9.99629847e-01 -1.86567959e-02 -1.98013308e-02 9.06038558e+00] [ 1.86696469e-02 9.99825599e-01 4.64318300e-04 -3.96447001e-01] [ 1.97892148e-02 -8.33830287e-04 9.99803827e-01 1.89702963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.792755096 meters 0.02914970332595627 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.39, Z:0.19 [[ 9.99662535e-01 -1.66967603e-02 -1.99006000e-02 9.08967469e+00] [ 1.67093396e-02 9.99860281e-01 4.65982847e-04 -3.94197853e-01] [ 1.98900391e-02 -7.98351478e-04 9.99801855e-01 1.90244110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.822755096 meters 0.027628238276109822 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.39, Z:0.19 [[ 9.99707884e-01 -1.45655387e-02 -1.92871125e-02 9.11880912e+00] [ 1.45768683e-02 9.99893652e-01 4.46958860e-04 -3.91710183e-01] [ 1.92785512e-02 -7.27973996e-04 9.99813886e-01 1.90938722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.852755096 meters 0.031357444119238694 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.40, Z:0.19 [[ 9.99737291e-01 -1.27019952e-02 -1.90789992e-02 9.14662332e+00] [ 1.27127141e-02 9.99919093e-01 4.40633879e-04 -3.97253525e-01] [ 1.90718586e-02 -6.83063982e-04 9.99817882e-01 1.91737496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.882755096 meters 0.026440429692805884 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.39, Z:0.19 [[ 9.99772928e-01 -8.91124497e-03 -1.93567266e-02 9.17616990e+00] [ 8.92153211e-03 9.99960103e-01 4.45159910e-04 -3.89938871e-01] [ 1.93519874e-02 -6.17750485e-04 9.99812542e-01 1.92576552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.912755096 meters 0.024877294714068462 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.39, Z:0.19 [[ 9.99781779e-01 -7.64265150e-03 -1.94418347e-02 9.20564310e+00] [ 7.65277227e-03 9.99970618e-01 4.46219958e-04 -3.87842391e-01] [ 1.94378532e-02 -5.94906516e-04 9.99810890e-01 1.93076947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.942755096 meters 0.024131883389639428 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.39, Z:0.19 [[ 9.99787065e-01 -6.81770182e-03 -1.94767499e-02 9.23427363e+00] [ 6.82760572e-03 9.99976594e-01 4.42046968e-04 -3.86797675e-01] [ 1.94732803e-02 -5.74932410e-04 9.99810212e-01 1.93857760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.972755096 meters 0.02533886291511233 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.39, Z:0.19 [[ 9.99785398e-01 -6.13992329e-03 -1.97853297e-02 9.26264088e+00] [ 6.14990125e-03 9.99980991e-01 4.43504841e-04 -3.88727509e-01] [ 1.97822305e-02 -5.65087488e-04 9.99804153e-01 1.94183969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.002755096 meters 0.024958555401956833 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.39, Z:0.20 [[ 9.99779622e-01 -6.86028801e-03 -1.98404731e-02 9.29199864e+00] [ 6.87035548e-03 9.99976302e-01 4.39302364e-04 -3.88120528e-01] [ 1.98369892e-02 -5.75516654e-04 9.99803062e-01 1.95026940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.032755096 meters 0.025653519360232784 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.39, Z:0.20 [[ 9.99771979e-01 -9.26755832e-03 -1.92380257e-02 9.32105688e+00] [ 9.27737304e-03 9.99956876e-01 4.20986446e-04 -3.88799478e-01] [ 1.92332945e-02 -5.99368794e-04 9.99814843e-01 1.96431410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.062755096 meters 0.02670672329752918 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.39, Z:0.20 [[ 9.99764519e-01 -1.07697570e-02 -1.88393121e-02 9.34918942e+00] [ 1.07793424e-02 9.99941818e-01 4.07323355e-04 -3.90634113e-01] [ 1.88338292e-02 -6.10302834e-04 9.99822441e-01 1.97238334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.092755096 meters 0.025866671799134815 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.39, Z:0.20 [[ 9.99746789e-01 -1.27900116e-02 -1.85141565e-02 9.37777001e+00] [ 1.27995836e-02 9.99918003e-01 3.98605244e-04 -3.89771143e-01] [ 1.85075402e-02 -6.35477807e-04 9.99828519e-01 1.98014879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.122755096 meters 0.026947479810496187 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.39, Z:0.20 [[ 9.99680759e-01 -1.61794329e-02 -1.94063479e-02 9.40714804e+00] [ 1.61904813e-02 9.99868841e-01 4.12330265e-04 -3.92058903e-01] [ 1.93971313e-02 -7.26396744e-04 9.99811594e-01 1.98290557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.152755096 meters 0.03147366415865918 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.40, Z:0.20 [[ 9.99642069e-01 -1.75461940e-02 -2.01956752e-02 9.43508083e+00] [ 1.75584195e-02 9.99845747e-01 4.28175557e-04 -3.99323830e-01] [ 2.01850471e-02 -7.82626437e-04 9.99795955e-01 1.98086687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.182755096 meters 0.029906600545960723 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.40, Z:0.20 [[ 9.99589331e-01 -1.90036668e-02 -2.14483203e-02 9.46394101e+00] [ 1.90177332e-02 9.99819044e-01 4.52029407e-04 -3.97297430e-01] [ 2.14358488e-02 -8.59742205e-04 9.99769856e-01 1.97585642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.212755096 meters 0.02871439883458904 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.39, Z:0.20 [[ 9.99515790e-01 -2.10770210e-02 -2.28898356e-02 9.49310996e+00] [ 2.10934350e-02 9.99777396e-01 4.75852579e-04 -3.94574251e-01] [ 2.28747106e-02 -9.58447424e-04 9.99737880e-01 1.96638378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.242755096 meters 0.030057554744633043 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.40, Z:0.20 [[ 9.99486757e-01 -2.17852371e-02 -2.34867085e-02 9.52076682e+00] [ 2.18025756e-02 9.99762179e-01 4.82377500e-04 -3.95538581e-01] [ 2.34706142e-02 -9.94200661e-04 9.99724033e-01 1.96042632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.272755096 meters 0.031129682472456528 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.40, Z:0.20 [[ 9.99465271e-01 -2.24413654e-02 -2.37814505e-02 9.54875245e+00] [ 2.24592709e-02 9.99747641e-01 4.86058763e-04 -3.96605032e-01] [ 2.37645412e-02 -1.01991289e-03 9.99717063e-01 1.96070370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.302755096 meters 0.031107115526432486 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.40, Z:0.20 [[ 9.99421006e-01 -2.40080161e-02 -2.41095093e-02 9.57766374e+00] [ 2.40267940e-02 9.99711195e-01 4.89438047e-04 -3.96201741e-01] [ 2.40907959e-02 -1.06842888e-03 9.99709204e-01 1.96219178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.332755096 meters 0.03229528375470874 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.40, Z:0.20 [[ 9.99404323e-01 -2.50003919e-02 -2.37903180e-02 9.60590467e+00] [ 2.50188179e-02 9.99686867e-01 4.77140386e-04 -3.98353550e-01] [ 2.37709397e-02 -1.07206180e-03 9.99716856e-01 1.97049651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.362755096 meters 0.032303939657779286 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.40, Z:0.20 [[ 9.99392346e-01 -2.58590533e-02 -2.33719489e-02 9.63483228e+00] [ 2.58769792e-02 9.99665027e-01 4.64818377e-04 -3.98892550e-01] [ 2.33521001e-02 -1.06933136e-03 9.99726731e-01 1.98673323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.392755096 meters 0.03164336462430731 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.40, Z:0.20 [[ 9.99385080e-01 -2.65509418e-02 -2.29021512e-02 9.66373210e+00] [ 2.65681950e-02 9.99646902e-01 4.49346745e-04 -3.97320685e-01] [ 2.28821339e-02 -1.05753925e-03 9.99737610e-01 2.00652475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.422755096 meters 0.03329685578365577 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.40, Z:0.20 [[ 9.99397624e-01 -2.62451017e-02 -2.27064905e-02 9.69178614e+00] [ 2.62618576e-02 9.99655001e-01 4.40005780e-04 -3.99126786e-01] [ 2.26871088e-02 -1.03605535e-03 9.99742078e-01 2.01274981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.452755096 meters 0.03301865339884 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.40, Z:0.20 [[ 9.99416134e-01 -2.57979744e-02 -2.24021410e-02 9.72056261e+00] [ 2.58141098e-02 9.99666667e-01 4.31331363e-04 -3.98318249e-01] [ 2.23835462e-02 -1.00937085e-03 9.99748948e-01 2.02684469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.482755096 meters 0.030755409135637422 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.39, Z:0.21 [[ 9.99503782e-01 -2.34461024e-02 -2.10349833e-02 9.75010604e+00] [ 2.34596977e-02 9.99724703e-01 3.99754226e-04 -3.93808277e-01] [ 2.10198198e-02 -8.93030210e-04 9.99778660e-01 2.05390297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.512755096 meters 0.030098705936782048 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.39, Z:0.21 [[ 9.99554168e-01 -2.20370324e-02 -2.01453134e-02 9.77932947e+00] [ 2.20491177e-02 9.99756817e-01 3.77962013e-04 -3.92243604e-01] [ 2.01320852e-02 -8.21979891e-04 9.99796991e-01 2.07028291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.542755096 meters 0.03106212385380212 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.39, Z:0.21 [[ 9.99581972e-01 -2.05768650e-02 -2.03094294e-02 9.80715749e+00] [ 2.05887409e-02 9.99787959e-01 3.75808590e-04 -3.92478408e-01] [ 2.02973900e-02 -7.93797072e-04 9.99793672e-01 2.07869630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.572755096 meters 0.02927086215902802 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.39, Z:0.21 [[ 9.99635566e-01 -1.74718408e-02 -2.05783745e-02 9.83627431e+00] [ 1.74833366e-02 9.99847083e-01 3.78845685e-04 -3.86997356e-01] [ 2.05686086e-02 -7.38486269e-04 9.99788171e-01 2.08274574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.602755096 meters 0.027986499521899823 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.38, Z:0.21 [[ 9.99651969e-01 -1.64354761e-02 -2.06352947e-02 9.86522087e+00] [ 1.64467761e-02 9.99864671e-01 3.78007300e-04 -3.84234966e-01] [ 2.06262894e-02 -7.17259814e-04 9.99786998e-01 2.08646308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.632755096 meters 0.02512438949168662 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.38, Z:0.21 [[ 9.99654651e-01 -1.56255595e-02 -2.11286915e-02 9.89419623e+00] [ 1.56371052e-02 9.99877660e-01 3.81334199e-04 -3.78566196e-01] [ 2.11201481e-02 -7.11594077e-04 9.99776692e-01 2.09387266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.662755096 meters 0.025913252548301326 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.38, Z:0.21 [[ 9.99653602e-01 -1.55934156e-02 -2.12018981e-02 9.92075871e+00] [ 1.56049118e-02 9.99878165e-01 3.76875017e-04 -3.79448123e-01] [ 2.11934382e-02 -7.07598216e-04 9.99775143e-01 2.09744729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.692755096 meters 0.026298856163953773 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.38, Z:0.21 [[ 9.99647598e-01 -1.60641835e-02 -2.11334431e-02 9.94898475e+00] [ 1.60756094e-02 9.99870710e-01 3.70870942e-04 -3.79592730e-01] [ 2.11247530e-02 -7.10473223e-04 9.99776595e-01 2.10388565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.722755096 meters 0.026001174688590874 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.38, Z:0.21 [[ 9.99628413e-01 -1.68277038e-02 -2.14444554e-02 9.97757259e+00] [ 1.68395016e-02 9.99858137e-01 3.69681078e-04 -3.78547303e-01] [ 2.14351924e-02 -7.30657649e-04 9.99769973e-01 2.11111291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.752755096 meters 0.027475111042771887 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.38, Z:0.21 [[ 9.99580596e-01 -1.91139487e-02 -2.17552266e-02 1.00049133e+01] [ 1.91265104e-02 9.99817003e-01 3.69461876e-04 -3.79037496e-01] [ 2.17441835e-02 -7.85408490e-04 9.99763259e-01 2.11539955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.782755096 meters 0.028285833024377226 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.38, Z:0.21 [[ 9.99536231e-01 -2.09375889e-02 -2.21119959e-02 1.00338347e+01] [ 2.09509424e-02 9.99780436e-01 3.72388301e-04 -3.79770114e-01] [ 2.20993440e-02 -8.35482752e-04 9.99755431e-01 2.11595618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.812755096 meters 0.031341417524893035 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.38, Z:0.21 [[ 9.99428919e-01 -2.52218262e-02 -2.24876760e-02 1.00618432e+01] [ 2.52365977e-02 9.99681437e-01 3.73276771e-04 -3.83790698e-01] [ 2.24710975e-02 -9.40576030e-04 9.99747051e-01 2.12249291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.842755096 meters 0.03360376281850122 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.39, Z:0.21 [[ 9.99367683e-01 -2.74759102e-02 -2.25678501e-02 1.00902226e+01] [ 2.74913235e-02 9.99621973e-01 3.72952412e-04 -3.86752436e-01] [ 2.25490717e-02 -9.93136657e-04 9.99745244e-01 2.12829207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.872755096 meters 0.03480861802944575 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.39, Z:0.21 [[ 9.99314957e-01 -2.96094755e-02 -2.22012594e-02 1.01197480e+01] [ 2.96248915e-02 9.99561020e-01 3.65727496e-04 -3.87864561e-01] [ 2.21806844e-02 -1.02318686e-03 9.99753455e-01 2.13947975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.902755096 meters 0.03210076305760185 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.38, Z:0.22 [[ 9.99215795e-01 -3.26252089e-02 -2.24363916e-02 1.01489876e+01] [ 3.26416907e-02 9.99467050e-01 3.68670344e-04 -3.82400501e-01] [ 2.24124062e-02 -1.10074299e-03 9.99748205e-01 2.15444057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.932755096 meters 0.03956054334664531 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.39, Z:0.21 [[ 9.99160991e-01 -3.40212570e-02 -2.28006139e-02 1.01767384e+01] [ 3.40385869e-02 9.99420450e-01 3.72281539e-04 -3.91874000e-01] [ 2.27747343e-02 -1.14806987e-03 9.99739963e-01 2.14746541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.962755096 meters 0.03377426994879214 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.38, Z:0.22 [[ 9.99098290e-01 -3.56138253e-02 -2.31141228e-02 1.02054228e+01] [ 3.56318971e-02 9.99364914e-01 3.70337292e-04 -3.83413908e-01] [ 2.30862542e-02 -1.19360340e-03 9.99732764e-01 2.15875647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.992755096 meters 0.03704829099384118 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.39, Z:0.22 [[ 9.99006395e-01 -3.75260851e-02 -2.40419526e-02 1.02335594e+01] [ 3.75460369e-02 9.99294827e-01 3.78847239e-04 -3.86640545e-01] [ 2.40107822e-02 -1.28115085e-03 9.99710879e-01 2.15576395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.022755096000001 meters 0.0465580435055715 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.40, Z:0.21 [[ 9.98980860e-01 -3.80358108e-02 -2.43005683e-02 1.02617704e+01] [ 3.80562677e-02 9.99275526e-01 3.79753419e-04 -3.98545709e-01] [ 2.42685189e-02 -1.30415533e-03 9.99704625e-01 2.14677328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.052755096 meters 0.044102685091394214 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.39, Z:0.22 [[ 9.98978617e-01 -3.81492065e-02 -2.42149063e-02 1.02904266e+01] [ 3.81693809e-02 9.99271215e-01 3.71318107e-04 -3.92664453e-01] [ 2.41830933e-02 -1.29520683e-03 9.99706707e-01 2.15396411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.082755096 meters 0.04685162432068925 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.40, Z:0.22 [[ 9.99015011e-01 -3.75026748e-02 -2.37182860e-02 1.03183029e+01] [ 3.75217007e-02 9.99295749e-01 3.57477413e-04 -3.95055797e-01] [ 2.36881760e-02 -1.24707573e-03 9.99718618e-01 2.15992073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.112755096 meters 0.042900888181500806 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.39, Z:0.22 [[ 9.99035984e-01 -3.69732484e-02 -2.36660354e-02 1.03474691e+01] [ 3.69919632e-02 9.99315501e-01 3.53338617e-04 -3.88947658e-01] [ 2.36367719e-02 -1.22845110e-03 9.99719858e-01 2.17476548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.142755096 meters 0.042838208469115915 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.39, Z:0.22 [[ 9.99131781e-01 -3.44386485e-02 -2.34449277e-02 1.03755740e+01] [ 3.44561816e-02 9.99406150e-01 3.44164232e-04 -3.87133171e-01] [ 2.34191524e-02 -1.15168811e-03 9.99725071e-01 2.18781521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.172755096 meters 0.04431405507278844 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.39, Z:0.22 [[ 9.99184601e-01 -3.31455924e-02 -2.30543544e-02 1.04030428e+01] [ 3.31621494e-02 9.99449928e-01 3.36122471e-04 -3.88256251e-01] [ 2.30305319e-02 -1.10038034e-03 9.99734157e-01 2.19351975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.202755096 meters 0.04055320702982368 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.38, Z:0.22 [[ 9.99234438e-01 -3.15553296e-02 -2.31257315e-02 1.04324212e+01] [ 3.15714948e-02 9.99501440e-01 3.34152285e-04 -3.82247852e-01] [ 2.31036576e-02 -1.06401038e-03 9.99732509e-01 2.20285625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.232755096 meters 0.03845965889567043 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.38, Z:0.22 [[ 9.99350140e-01 -2.79068198e-02 -2.28146043e-02 1.04618839e+01] [ 2.79214908e-02 9.99610066e-01 3.24693106e-04 -3.76833937e-01] [ 2.27966469e-02 -9.61499864e-04 9.99739660e-01 2.21216739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.262755096 meters 0.03395704546179428 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.37, Z:0.22 [[ 9.99385681e-01 -2.64920144e-02 -2.29441646e-02 1.04907171e+01] [ 2.65064349e-02 9.99648590e-01 3.24554981e-04 -3.69826131e-01] [ 2.29275037e-02 -9.32523608e-04 9.99736695e-01 2.22209905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.292755096 meters 0.035874617556777705 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.37, Z:0.22 [[ 9.99432257e-01 -2.47732692e-02 -2.28352551e-02 1.05191604e+01] [ 2.47869529e-02 9.99692706e-01 3.16340630e-04 -3.71856721e-01] [ 2.28204012e-02 -8.82177424e-04 9.99739192e-01 2.22521445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.322755096 meters 0.03202715257520885 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.37, Z:0.22 [[ 9.99477076e-01 -2.21189242e-02 -2.35865988e-02 1.05484836e+01] [ 2.21326226e-02 9.99754992e-01 3.19843053e-04 -3.65332153e-01] [ 2.35737453e-02 -8.41709088e-04 9.99721746e-01 2.23368678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.352755096000001 meters 0.03038941236879166 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.36, Z:0.22 [[ 9.99504473e-01 -2.06819748e-02 -2.37289631e-02 1.05766358e+01] [ 2.06953048e-02 9.99785779e-01 3.16298420e-04 -3.62484791e-01] [ 2.37173382e-02 -8.07219810e-04 9.99718378e-01 2.24178537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.382755096 meters 0.027521605563090964 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.36, Z:0.22 [[ 9.99551988e-01 -1.80184761e-02 -2.38989031e-02 1.06057747e+01] [ 1.80311581e-02 9.99837376e-01 3.15246545e-04 -3.57936808e-01] [ 2.38893362e-02 -7.46030211e-04 9.99714331e-01 2.24859545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.412755096 meters 0.023494322055383682 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.35, Z:0.23 [[ 9.99557048e-01 -1.69107234e-02 -2.44895089e-02 1.06344931e+01] [ 1.69235357e-02 9.99856737e-01 3.16001636e-04 -3.51708937e-01] [ 2.44806567e-02 -7.30310741e-04 9.99700037e-01 2.26039365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.442755096 meters 0.02331131444534989 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.35, Z:0.23 [[ 9.99570763e-01 -1.58175020e-02 -2.46596187e-02 1.06628929e+01] [ 1.58299774e-02 9.99874650e-01 3.10766459e-04 -3.51443874e-01] [ 2.46516120e-02 -7.00994273e-04 9.99695857e-01 2.26377152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.472755096 meters 0.022935513911653212 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.35, Z:0.23 [[ 9.99576989e-01 -1.47812896e-02 -2.50471031e-02 1.06914493e+01] [ 1.47936590e-02 9.99890520e-01 3.08608419e-04 -3.50637995e-01] [ 2.50397993e-02 -6.79016176e-04 9.99686224e-01 2.26715936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.502755096 meters 0.023590347099209007 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.35, Z:0.23 [[ 9.99608386e-01 -1.28284756e-02 -2.48697740e-02 1.07203533e+01] [ 1.28398968e-02 9.99917520e-01 2.99601268e-04 -3.51713889e-01] [ 2.48638793e-02 -6.18809270e-04 9.99690654e-01 2.26266173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.532755096 meters 0.021992309846142165 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.35, Z:0.23 [[ 9.99610113e-01 -1.21025812e-02 -2.51624739e-02 1.07481217e+01] [ 1.21138936e-02 9.99926580e-01 2.97187464e-04 -3.49921955e-01] [ 2.51570297e-02 -6.01887127e-04 9.99683331e-01 2.27605176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.562755096 meters 0.021992309846142165 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.35, Z:0.23 [[ 9.99606304e-01 -1.24131185e-02 -2.51625204e-02 1.07756913e+01] [ 1.24244287e-02 9.99922771e-01 2.93193046e-04 -3.50079237e-01] [ 2.51569377e-02 -6.05707558e-04 9.99683331e-01 2.28121058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.592755096 meters 0.02195203898646857 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.35, Z:0.23 [[ 9.99612673e-01 -1.28489983e-02 -2.46861631e-02 1.08035621e+01] [ 1.28598304e-02 9.99917270e-01 2.80081876e-04 -3.51484619e-01] [ 2.46805220e-02 -5.97433262e-04 9.99695211e-01 2.28822657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.622755096 meters 0.023930967873764378 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.36, Z:0.23 [[ 9.99588876e-01 -1.37249245e-02 -2.51735132e-02 1.08324814e+01] [ 1.37362727e-02 9.99905614e-01 2.77923025e-04 -3.55729148e-01] [ 2.51673227e-02 -6.23599005e-04 9.99683058e-01 2.28481730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.652755096 meters 0.023458140008617706 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.36, Z:0.23 [[ 9.99582406e-01 -1.48031883e-02 -2.48169009e-02 1.08598234e+01] [ 1.48144058e-02 9.99890225e-01 2.68209736e-04 -3.55918242e-01] [ 2.48102062e-02 -6.35745373e-04 9.99691977e-01 2.29356625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.682755096 meters 0.026595565109284142 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.36, Z:0.23 [[ 9.99526783e-01 -1.77376594e-02 -2.51313470e-02 1.08881654e+01] [ 1.77499839e-02 9.99842421e-01 2.67394653e-04 -3.62844465e-01] [ 2.51226439e-02 -7.13349121e-04 9.99684122e-01 2.28843521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.712755096 meters 0.025378939161873577 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.36, Z:0.23 [[ 9.99497243e-01 -1.91140354e-02 -2.52965484e-02 1.09164637e+01] [ 1.91268090e-02 9.99817031e-01 2.63071864e-04 -3.62443487e-01] [ 2.52868915e-02 -7.46781853e-04 9.99679957e-01 2.29476099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.742755096 meters 0.028500905846991127 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.37, Z:0.23 [[ 9.99451059e-01 -2.08556505e-02 -2.57414701e-02 1.09453932e+01] [ 2.08693565e-02 9.99782176e-01 2.63882066e-04 -3.68348558e-01] [ 2.57303595e-02 -8.00945125e-04 9.99668599e-01 2.29136334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.772755096000001 meters 0.03193153778022828 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.38, Z:0.23 [[ 9.99359649e-01 -2.38998764e-02 -2.66286904e-02 1.09736767e+01] [ 2.39154674e-02 9.99713949e-01 2.67131967e-04 -3.76218783e-01] [ 2.66146888e-02 -9.03798486e-04 9.99645358e-01 2.28851686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.802755096 meters 0.0293084444578331 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.37, Z:0.23 [[ 9.99296518e-01 -2.59662939e-02 -2.70595850e-02 1.10029375e+01] [ 2.59830420e-02 9.99662348e-01 2.67448741e-04 -3.74027905e-01] [ 2.70435037e-02 -9.70350929e-04 9.99633787e-01 2.30228639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.832755096 meters 0.028749130067569486 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.37, Z:0.23 [[ 9.99239472e-01 -2.79269512e-02 -2.72132791e-02 1.10322016e+01] [ 2.79444102e-02 9.99609445e-01 2.61398157e-04 -3.74858433e-01] [ 2.71953507e-02 -1.02165839e-03 9.99629616e-01 2.31103011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.862755096 meters 0.034966429270542373 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.38, Z:0.23 [[ 9.99174048e-01 -3.00930880e-02 -2.73061906e-02 1.10602507e+01] [ 3.01112694e-02 9.99546520e-01 2.54797175e-04 -3.84867623e-01] [ 2.72861402e-02 -1.07681079e-03 9.99627084e-01 2.30066342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.892755096 meters 0.032959782733978454 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.39, Z:0.23 [[ 9.99046321e-01 -3.36044968e-02 -2.78780762e-02 1.10897709e+01] [ 3.36246495e-02 9.99434499e-01 2.54284195e-04 -3.85149519e-01] [ 2.78537660e-02 -1.19143223e-03 9.99611299e-01 2.31816372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.922755096 meters 0.033615619283851074 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.39, Z:0.23 [[ 9.98982598e-01 -3.51846787e-02 -2.82100639e-02 1.11186619e+01] [ 3.52058516e-02 9.99380050e-01 2.54062243e-04 -3.88098578e-01] [ 2.81836360e-02 -1.24696308e-03 9.99601985e-01 2.32340948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.952755096 meters 0.039370646872321696 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.40, Z:0.23 [[ 9.98908428e-01 -3.76097435e-02 -2.77030605e-02 1.11474216e+01] [ 3.76308929e-02 9.99291678e-01 2.42297108e-04 -3.99306708e-01] [ 2.76743251e-02 -1.28452353e-03 9.99616167e-01 2.32225027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.982755096 meters 0.03698850066468241 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.40, Z:0.23 [[ 9.98878733e-01 -3.84879633e-02 -2.75672543e-02 1.11756019e+01] [ 3.85090779e-02 9.99258223e-01 2.35249986e-04 -3.97634715e-01] [ 2.75377512e-02 -1.29657575e-03 9.99619923e-01 2.33787743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.012755096 meters 0.03789717491511201 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.40, Z:0.23 [[ 9.98869835e-01 -3.88662686e-02 -2.73580890e-02 1.12036037e+01] [ 3.88870855e-02 9.99243585e-01 2.29078304e-04 -4.00238705e-01] [ 2.73284915e-02 -1.29269575e-03 9.99625671e-01 2.34476083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.042755096 meters 0.042949150180853546 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.41, Z:0.24 [[ 9.98910506e-01 -3.87455609e-02 -2.60112056e-02 1.12321553e+01] [ 3.87641756e-02 9.99248364e-01 2.11597921e-04 -4.09001562e-01] [ 2.59834562e-02 -1.21967033e-03 9.99661629e-01 2.35088982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.072755096 meters 0.03354630077459465 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.40, Z:0.24 [[ 9.98926690e-01 -3.84372696e-02 -2.58465361e-02 1.12608790e+01] [ 3.84554221e-02 9.99260296e-01 2.05448401e-04 -3.97341093e-01] [ 2.58195204e-02 -1.19916735e-03 9.99665901e-01 2.37760542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.102755096000001 meters 0.033085116150591204 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.40, Z:0.24 [[ 9.98995677e-01 -3.70926573e-02 -2.51350655e-02 1.12902061e+01] [ 3.71092262e-02 9.99311197e-01 1.92911655e-04 -3.99464365e-01] [ 2.51105968e-02 -1.12546074e-03 9.99684046e-01 2.39010643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.132755096 meters 0.03277689964340218 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.40, Z:0.24 [[ 9.99031694e-01 -3.62407232e-02 -2.49456343e-02 1.13191041e+01] [ 3.62566236e-02 9.99342495e-01 1.85257499e-04 -4.00348510e-01] [ 2.49225186e-02 -1.08952259e-03 9.99688792e-01 2.39853881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.162755096 meters 0.030861520558508555 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.40, Z:0.24 [[ 9.99153148e-01 -3.33545157e-02 -2.40928061e-02 1.13486597e+01] [ 3.33683900e-02 9.99443105e-01 1.73962310e-04 -3.99826625e-01] [ 2.40735865e-02 -9.77753141e-04 9.99709711e-01 2.41124702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.192755096 meters 0.030160471554724216 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.40, Z:0.24 [[ 9.99207867e-01 -3.18875408e-02 -2.38080436e-02 1.13773091e+01] [ 3.19006248e-02 9.99491031e-01 1.69869862e-04 -3.99715006e-01] [ 2.37905093e-02 -9.29226771e-04 9.99716534e-01 2.41653213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.222755096 meters 0.030016738599485067 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.40, Z:0.24 [[ 9.99243210e-01 -3.05597363e-02 -2.40647019e-02 1.14048110e+01] [ 3.05725821e-02 9.99532536e-01 1.65982390e-04 -4.00195801e-01] [ 2.40483801e-02 -9.01576850e-04 9.99710389e-01 2.41563581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.252755096 meters 0.028641212799128783 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.40, Z:0.24 [[ 9.99341069e-01 -2.75700917e-02 -2.36075763e-02 1.14334482e+01] [ 2.75815528e-02 9.99619544e-01 1.59951566e-04 -3.99742250e-01] [ 2.35941848e-02 -8.10979782e-04 9.99721290e-01 2.41839411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.282755096 meters 0.028075744754341242 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.40, Z:0.24 [[ 9.99377998e-01 -2.63892427e-02 -2.33928408e-02 1.14619340e+01] [ 2.64001132e-02 9.99651444e-01 1.55931838e-04 -3.99972341e-01] [ 2.33805722e-02 -7.73408494e-04 9.99726338e-01 2.42656604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.312755096 meters 0.02763573354557121 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.40, Z:0.24 [[ 9.99420830e-01 -2.49851759e-02 -2.31029496e-02 1.14897201e+01] [ 2.49952849e-02 9.99687558e-01 1.48849361e-04 -4.00524759e-01] [ 2.30920123e-02 -7.26227960e-04 9.99733080e-01 2.43138816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.342755096 meters 0.02693153512697347 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.40, Z:0.24 [[ 9.99469788e-01 -2.31977670e-02 -2.28474684e-02 1.15179792e+01] [ 2.32071247e-02 9.99730668e-01 1.44477991e-04 -4.02383379e-01] [ 2.28379633e-02 -6.74625436e-04 9.99738952e-01 2.44654225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.372755096 meters 0.026656247741259763 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.40, Z:0.25 [[ 9.99479672e-01 -2.28804190e-02 -2.27348013e-02 1.15469734e+01] [ 2.28894729e-02 9.99737992e-01 1.38056435e-04 -4.03244468e-01] [ 2.27256859e-02 -6.58372219e-04 9.99741521e-01 2.45424813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.402755096 meters 0.025330137538607283 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.40, Z:0.25 [[ 9.99486685e-01 -2.32125887e-02 -2.20803587e-02 1.15752426e+01] [ 2.32210868e-02 9.99730346e-01 1.28519036e-04 -4.02932140e-01] [ 2.20714214e-02 -6.41182991e-04 9.99756191e-01 2.46557623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.432755096000001 meters 0.023605958149002782 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.40, Z:0.25 [[ 9.99470286e-01 -2.37820477e-02 -2.22162604e-02 1.16036236e+01] [ 2.37906415e-02 9.99716955e-01 1.22565808e-04 -4.01051757e-01] [ 2.22070573e-02 -6.51039969e-04 9.99753181e-01 2.47313552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.462755096 meters 0.027976708699859867 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.41, Z:0.25 [[ 9.99457757e-01 -2.46198182e-02 -2.18645205e-02 1.16310016e+01] [ 2.46282077e-02 9.99696673e-01 1.14471092e-04 -4.09192980e-01] [ 2.18550701e-02 -6.52892972e-04 9.99760936e-01 2.47239022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.492755096 meters 0.02427253942491673 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.41, Z:0.25 [[ 9.99442262e-01 -2.54358602e-02 -2.16375028e-02 1.16599271e+01] [ 2.54442107e-02 9.99676238e-01 1.10661863e-04 -4.05150592e-01] [ 2.16276826e-02 -6.61149322e-04 9.99765876e-01 2.48393503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.522755096000001 meters 0.02729098782381739 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.41, Z:0.25 [[ 9.99391047e-01 -2.77627650e-02 -2.11367814e-02 1.16872493e+01] [ 2.77711375e-02 9.99614302e-01 1.02627077e-04 -4.13208739e-01] [ 2.11257798e-02 -6.89557044e-04 9.99776588e-01 2.48780938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.552755096 meters 0.028186847698756443 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.42, Z:0.25 [[ 9.99353536e-01 -2.92578444e-02 -2.08923186e-02 1.17157430e+01] [ 2.92662724e-02 9.99571646e-01 9.76960497e-05 -4.16223180e-01] [ 2.08805109e-02 -7.09073181e-04 9.99781727e-01 2.49233303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.582755096 meters 0.029208971542643045 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.42, Z:0.25 [[ 9.99305135e-01 -3.08399958e-02 -2.09318328e-02 1.17443771e+01] [ 3.08486887e-02 9.99524062e-01 9.24541686e-05 -4.19139838e-01] [ 2.09190193e-02 -7.38109521e-04 9.99780901e-01 2.49651994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.612755096 meters 0.028886094323386267 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.42, Z:0.25 [[ 9.99211181e-01 -3.35555347e-02 -2.12377558e-02 1.17741853e+01] [ 3.35649903e-02 9.99436533e-01 8.88183178e-05 -4.20840179e-01] [ 2.12228087e-02 -8.01593323e-04 9.99774449e-01 2.49477569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.642755096 meters 0.03257716474030361 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.43, Z:0.25 [[ 9.99149919e-01 -3.52958958e-02 -2.12988015e-02 1.18016066e+01] [ 3.53057762e-02 9.99376553e-01 8.79272579e-05 -4.27585723e-01] [ 2.12824193e-02 -8.39823231e-04 9.99773151e-01 2.49085619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.672755096 meters 0.028267778245969644 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.42, Z:0.25 [[ 9.99069983e-01 -3.73044128e-02 -2.16229237e-02 1.18307262e+01] [ 3.73149798e-02 9.99303550e-01 8.52853745e-05 -4.24466931e-01] [ 2.16046829e-02 -8.92065019e-04 9.99766194e-01 2.50137365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.702755096 meters 0.02937128937227189 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.43, Z:0.25 [[ 9.99039492e-01 -3.80326169e-02 -2.17626468e-02 1.18582436e+01] [ 3.80433682e-02 9.99276086e-01 8.00745601e-05 -4.27033181e-01] [ 2.17438470e-02 -9.07922031e-04 9.99763162e-01 2.50305317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.732755096 meters 0.03608183661390334 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.44, Z:0.25 [[ 9.99006113e-01 -3.87907701e-02 -2.19559354e-02 1.18864481e+01] [ 3.88018273e-02 9.99246923e-01 7.76583340e-05 -4.37339034e-01] [ 2.19363884e-02 -9.29511564e-04 9.99758936e-01 2.50098380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.762755096 meters 0.030340296661042026 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.43, Z:0.25 [[ 9.98988435e-01 -3.92149349e-02 -2.20067128e-02 1.19148669e+01] [ 3.92260831e-02 9.99230358e-01 7.49724879e-05 -4.31525215e-01] [ 2.19868354e-02 -9.38133791e-04 9.99757820e-01 2.51476867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.792755096 meters 0.03160070439341089 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.43, Z:0.25 [[ 9.99002033e-01 -3.93745376e-02 -2.10851504e-02 1.19418635e+01] [ 3.93846732e-02 9.99224121e-01 6.54898226e-05 -4.33844888e-01] [ 2.10662122e-02 -8.95856224e-04 9.99777681e-01 2.52402337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.822755096 meters 0.030884309269238748 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.43, Z:0.25 [[ 9.99010867e-01 -3.92070103e-02 -2.09785072e-02 1.19712453e+01] [ 3.92168734e-02 9.99230721e-01 5.87982751e-05 -4.33245619e-01] [ 2.09600636e-02 -8.81451577e-04 9.99779925e-01 2.53395900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.852755096000001 meters 0.030185596857101784 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.43, Z:0.25 [[ 9.99055127e-01 -3.81336828e-02 -2.08488848e-02 1.20003956e+01] [ 3.81430813e-02 9.99272286e-01 5.31723740e-05 -4.32927013e-01] [ 2.08316851e-02 -8.48362840e-04 9.99782637e-01 2.53911834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.882755096 meters 0.030108201022487784 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.43, Z:0.25 [[ 9.99086790e-01 -3.75158287e-02 -2.04486642e-02 1.20289653e+01] [ 3.75246305e-02 9.99295702e-01 4.67607810e-05 -4.33313537e-01] [ 2.04325080e-02 -8.14046648e-04 9.99790903e-01 2.54692834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.912755096 meters 0.02794412140008029 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.43, Z:0.25 [[ 9.99154307e-01 -3.57358272e-02 -2.03376993e-02 1.20584745e+01] [ 3.57440562e-02 9.99360976e-01 4.11352218e-05 -4.30228780e-01] [ 2.03232330e-02 -7.68052300e-04 9.99793167e-01 2.54973447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.942755096 meters 0.026919162468635034 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.43, Z:0.26 [[ 9.99176892e-01 -3.48728165e-02 -2.07225952e-02 1.20876547e+01] [ 3.48810629e-02 9.99391470e-01 3.65135849e-05 -4.28476050e-01] [ 2.07087115e-02 -7.59309677e-04 9.99785263e-01 2.55221798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.972755096 meters 0.026431882714637728 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.43, Z:0.26 [[ 9.99206280e-01 -3.40137188e-02 -2.07334831e-02 1.21166177e+01] [ 3.40216701e-02 9.99421095e-01 3.07865410e-05 -4.27561298e-01] [ 2.07204332e-02 -7.36149825e-04 9.99785038e-01 2.55374568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.002755096 meters 0.0268591266938428 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.43, Z:0.26 [[ 9.99246209e-01 -3.29728689e-02 -2.04891041e-02 1.21443336e+01] [ 3.29803068e-02 9.99456001e-01 2.51305168e-05 -4.28286760e-01] [ 2.04771295e-02 -7.00848514e-04 9.99790076e-01 2.56110124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.032755096 meters 0.02562298259417144 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.43, Z:0.26 [[ 9.99298110e-01 -3.14142736e-02 -2.04066370e-02 1.21729211e+01] [ 3.14212806e-02 9.99506229e-01 2.27482417e-05 -4.26449911e-01] [ 2.03958461e-02 -6.63934941e-04 9.99791763e-01 2.57133147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.062755096 meters 0.02562003108232646 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.43, Z:0.26 [[ 9.99313819e-01 -3.09873066e-02 -2.02898368e-02 1.22013126e+01] [ 3.09940343e-02 9.99519569e-01 1.71255235e-05 -4.26402355e-01] [ 2.02795583e-02 -6.45977671e-04 9.99794140e-01 2.57895831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.092755096 meters 0.025694459118595265 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.43, Z:0.26 [[ 9.99305851e-01 -3.07951088e-02 -2.09637053e-02 1.22306191e+01] [ 3.08021267e-02 9.99525502e-01 1.18699523e-05 -4.26544025e-01] [ 2.09533925e-02 -6.57588419e-04 9.99780237e-01 2.58332736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.122755096 meters 0.02551349079746096 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.43, Z:0.26 [[ 9.99286352e-01 -3.13471851e-02 -2.10746550e-02 1.22582335e+01] [ 3.13542785e-02 9.99508334e-01 6.16382738e-06 -4.26335766e-01] [ 2.10641001e-02 -6.66940033e-04 9.99777905e-01 2.58409243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.152755096 meters 0.02513599202523608 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.43, Z:0.26 [[ 9.99263725e-01 -3.19002262e-02 -2.13162680e-02 1.22865132e+01] [ 3.19074671e-02 9.99490827e-01 -4.23674546e-07 -4.26011686e-01] [ 2.13054278e-02 -6.79724757e-04 9.99772783e-01 2.58901347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.182755096000001 meters 0.025830441362632222 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.43, Z:0.26 [[ 9.99240437e-01 -3.25858194e-02 -2.13708504e-02 1.23141261e+01] [ 3.25931230e-02 9.99468703e-01 -6.55796698e-06 -4.27144169e-01] [ 2.13597098e-02 -6.89989769e-04 9.99771617e-01 2.59011383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.212755096 meters 0.026709357970662435 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.43, Z:0.26 [[ 9.99173089e-01 -3.44169410e-02 -2.16474375e-02 1.23430680e+01] [ 3.44248074e-02 9.99407291e-01 -9.26529486e-06 -4.28843755e-01] [ 2.16349257e-02 -7.35951234e-04 9.99765667e-01 2.59477979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.242755096 meters 0.026953749288868543 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.43, Z:0.26 [[ 9.99143377e-01 -3.53240318e-02 -2.15574995e-02 1.23717658e+01] [ 3.53319189e-02 9.99375633e-01 -1.50214083e-05 -4.29221129e-01] [ 2.15445703e-02 -7.46659283e-04 9.99767610e-01 2.59933438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.272755096000001 meters 0.02842027192906221 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.43, Z:0.26 [[ 9.99078528e-01 -3.68920197e-02 -2.19333803e-02 1.23999759e+01] [ 3.69004388e-02 9.99318947e-01 -2.08910380e-05 -4.31752868e-01] [ 2.19192132e-02 -7.88479570e-04 9.99759434e-01 2.60859472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.302755096 meters 0.029375590674779604 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.43, Z:0.26 [[ 9.99055204e-01 -3.74976442e-02 -2.19687453e-02 1.24279517e+01] [ 3.75061709e-02 9.99296396e-01 -2.39186114e-05 -4.33363501e-01] [ 2.19541849e-02 -8.00067504e-04 9.99758658e-01 2.61470873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.332755096 meters 0.030316843854458656 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.43, Z:0.26 [[ 9.99003401e-01 -3.85455060e-02 -2.25044278e-02 1.24552664e+01] [ 3.85546694e-02 9.99256492e-01 -2.67181324e-05 -4.34635987e-01] [ 2.24887255e-02 -8.40959269e-04 9.99746743e-01 2.61700520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.362755096 meters 0.027392835605734925 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.43, Z:0.26 [[ 9.98959108e-01 -3.93842611e-02 -2.30126325e-02 1.24840874e+01] [ 3.93939892e-02 9.99223755e-01 -3.06343531e-05 -4.30082002e-01] [ 2.29959756e-02 -8.75956931e-04 9.99735174e-01 2.62233735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.392755096 meters 0.02929993155482093 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.43, Z:0.26 [[ 9.98915641e-01 -4.03698466e-02 -2.31909170e-02 1.25121775e+01] [ 4.03798593e-02 9.99184400e-01 -3.65615477e-05 -4.31999975e-01] [ 2.31734785e-02 -8.99924064e-04 9.99731054e-01 2.62046646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.422755096 meters 0.028497027252381606 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.43, Z:0.26 [[ 9.98888763e-01 -4.11866479e-02 -2.29107001e-02 1.25413526e+01] [ 4.11965666e-02 9.99151060e-01 -3.90892324e-05 -4.30316639e-01] [ 2.28928603e-02 -9.04796388e-04 9.99737515e-01 2.62972291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.452755096 meters 0.029573671687457035 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.43, Z:0.26 [[ 9.98840441e-01 -4.20624267e-02 -2.34206372e-02 1.25688413e+01] [ 4.20728983e-02 9.99114543e-01 -4.56841044e-05 -4.31393028e-01] [ 2.34018208e-02 -9.39742956e-04 9.99725698e-01 2.63452082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.482755096 meters 0.029573671687457035 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.43, Z:0.26 [[ 9.98827346e-01 -4.23722476e-02 -2.34206303e-02 1.25964494e+01] [ 4.23827275e-02 9.99101447e-01 -4.89620460e-05 -4.31172046e-01] [ 2.34016603e-02 -9.43725563e-04 9.99725698e-01 2.63968590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.512755096000001 meters 0.029893564735141112 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.43, Z:0.26 [[ 9.98793094e-01 -4.30113550e-02 -2.37145220e-02 1.26252656e+01] [ 4.30221081e-02 9.99074119e-01 -5.68045133e-05 -4.30638037e-01] [ 2.36950084e-02 -9.63512775e-04 9.99718770e-01 2.64115145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.542755096 meters 0.030049052027619202 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.43, Z:0.26 [[ 9.98778934e-01 -4.30415282e-02 -2.42500988e-02 1.26531369e+01] [ 4.30526152e-02 9.99072804e-01 -6.49525568e-05 -4.28872405e-01] [ 2.42304099e-02 -9.79156928e-04 9.99705921e-01 2.64264502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.572755096 meters 0.030660042468158493 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.43, Z:0.26 [[ 9.98788073e-01 -4.25821961e-02 -2.46808005e-02 1.26807146e+01] [ 4.25933824e-02 9.99092487e-01 -7.25215101e-05 -4.28589182e-01] [ 2.46614905e-02 -9.78805156e-04 9.99695380e-01 2.64460773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.602755096000001 meters 0.029427528727882072 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.43, Z:0.27 [[ 9.98780841e-01 -4.27196930e-02 -2.47358027e-02 1.27088500e+01] [ 4.27308815e-02 9.99086616e-01 -7.63157079e-05 -4.25541655e-01] [ 2.47164696e-02 -9.80759986e-04 9.99694020e-01 2.65246516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.632755096 meters 0.02726586893793053 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.42, Z:0.27 [[ 9.98795536e-01 -4.26170998e-02 -2.43158565e-02 1.27373161e+01] [ 4.26277053e-02 9.99091023e-01 -8.22567846e-05 -4.21031978e-01] [ 2.42972595e-02 -9.54371455e-04 9.99704322e-01 2.66230902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.662755096 meters 0.02689321024771396 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.42, Z:0.27 [[ 9.98819081e-01 -4.20644545e-02 -2.43109917e-02 1.27663879e+01] [ 4.20747263e-02 9.99114463e-01 -8.90737515e-05 -4.18720675e-01] [ 2.42932103e-02 -9.33909760e-04 9.99704440e-01 2.67364603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.692755096 meters 0.02678773096508844 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.42, Z:0.27 [[ 9.98815844e-01 -4.22039802e-02 -2.42019477e-02 1.27941095e+01] [ 4.22140311e-02 9.99108586e-01 -9.56901260e-05 -4.17731021e-01] [ 2.41844123e-02 -9.26084962e-04 9.99707085e-01 2.68096355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.722755096 meters 0.028988078210902317 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.42, Z:0.27 [[ 9.98835224e-01 -4.15806247e-02 -2.44795281e-02 1.28219042e+01] [ 4.15905573e-02 9.99134733e-01 -1.03461118e-04 -4.19836892e-01] [ 2.44626488e-02 -9.14776608e-04 9.99700326e-01 2.68499494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.752755096 meters 0.027684213176461213 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.42, Z:0.27 [[ 9.98883792e-01 -4.03014593e-02 -2.46366040e-02 1.28509916e+01] [ 4.03110462e-02 9.99187174e-01 -1.07584220e-04 -4.15317133e-01] [ 2.46209145e-02 -8.85663147e-04 9.99696467e-01 2.68831923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.782755096 meters 0.025799501666685744 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.41, Z:0.27 [[ 9.98914737e-01 -3.92647654e-02 -2.50524896e-02 1.28794395e+01] [ 3.92741815e-02 9.99228465e-01 -1.16259027e-04 -4.11155544e-01] [ 2.50377256e-02 -8.67783168e-04 9.99686130e-01 2.69497837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.812755096 meters 0.025317701324419722 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.41, Z:0.27 [[ 9.98999187e-01 -3.70697296e-02 -2.50291932e-02 1.29072722e+01] [ 3.70782949e-02 9.99312356e-01 -1.21952058e-04 -4.09070562e-01] [ 2.50165027e-02 -8.06209800e-04 9.99686713e-01 2.70656128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.842755096 meters 0.024098999254684415 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.41, Z:0.27 [[ 9.99040147e-01 -3.62936243e-02 -2.45266684e-02 1.29364597e+01] [ 3.63015316e-02 9.99340875e-01 -1.22918144e-04 -4.06721748e-01] [ 2.45149634e-02 -7.67555465e-04 9.99699168e-01 2.72172359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.872755096 meters 0.0236064326792935 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.41, Z:0.27 [[ 9.99064722e-01 -3.58663384e-02 -2.41513451e-02 1.29654438e+01] [ 3.58737200e-02 9.99356323e-01 -1.27696585e-04 -4.05496251e-01] [ 2.41403794e-02 -7.38821437e-04 9.99708306e-01 2.73420272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.902755096 meters 0.02431210888620882 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.41, Z:0.27 [[ 9.99095714e-01 -3.47261487e-02 -2.45326114e-02 1.29934235e+01] [ 3.47332703e-02 9.99396609e-01 -1.35893050e-04 -4.05785256e-01] [ 2.45225277e-02 -7.16327660e-04 9.99699021e-01 2.74334071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.932755096000001 meters 0.023388791136679136 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.40, Z:0.28 [[ 9.99108618e-01 -3.43612565e-02 -2.45208601e-02 1.30219773e+01] [ 3.43681551e-02 9.99409231e-01 -1.40165959e-04 -4.03759765e-01] [ 2.45111902e-02 -7.02695704e-04 9.99699309e-01 2.75155395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.962755096 meters 0.02324230885984654 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.40, Z:0.28 [[ 9.99110171e-01 -3.43884615e-02 -2.44192498e-02 1.30504503e+01] [ 3.43951425e-02 9.99408301e-01 -1.46490849e-04 -4.02604568e-01] [ 2.44098386e-02 -6.93543081e-04 9.99701795e-01 2.75616180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.992755096 meters 0.02300530388111271 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.40, Z:0.28 [[ 9.99111583e-01 -3.41834521e-02 -2.46482721e-02 1.30789897e+01] [ 3.41900101e-02 9.99415339e-01 -1.55434279e-04 -4.01564634e-01] [ 2.46391745e-02 -6.87428484e-04 9.99696173e-01 2.76305118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.022755096000001 meters 0.024171731979223995 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.40, Z:0.28 [[ 9.99088456e-01 -3.45358481e-02 -2.50904741e-02 1.31063781e+01] [ 3.45425979e-02 9.99403213e-01 -1.64473031e-04 -4.02098612e-01] [ 2.50811807e-02 -7.02367053e-04 9.99685171e-01 2.76053119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.052755096 meters 0.02392747330541482 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.40, Z:0.28 [[ 9.99085733e-01 -3.46934128e-02 -2.49812782e-02 1.31340052e+01] [ 3.47000313e-02 9.99397758e-01 -1.68638324e-04 -4.01805008e-01] [ 2.49720840e-02 -6.98366990e-04 9.99687905e-01 2.77011168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.082755096 meters 0.024159931677434333 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.40, Z:0.28 [[ 9.99038352e-01 -3.57745077e-02 -2.53486836e-02 1.31630882e+01] [ 3.57814763e-02 9.99359622e-01 -1.78762083e-04 -4.01767242e-01] [ 2.53388460e-02 -7.28423145e-04 9.99678655e-01 2.77966786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.112755096 meters 0.02499883733222618 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.40, Z:0.28 [[ 9.99010007e-01 -3.68014018e-02 -2.49932403e-02 1.31912473e+01] [ 3.68083586e-02 9.99322326e-01 -1.81805263e-04 -4.02756343e-01] [ 2.49829937e-02 -7.38334873e-04 9.99687604e-01 2.78577013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.142755096 meters 0.0256380403859124 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.40, Z:0.28 [[ 9.98955323e-01 -3.81338108e-02 -2.51808655e-02 1.32200984e+01] [ 3.81412072e-02 9.99272342e-01 -1.86668528e-04 -4.03347351e-01] [ 2.51696608e-02 -7.73955090e-04 9.99682894e-01 2.79252157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.172755096 meters 0.02667386933705418 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.40, Z:0.28 [[ 9.98894882e-01 -3.93632952e-02 -2.56816302e-02 1.32484227e+01] [ 3.93712401e-02 9.99224633e-01 -1.96405770e-04 -4.04574553e-01] [ 2.56694487e-02 -8.14928908e-04 9.99670153e-01 2.79468262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.202755096 meters 0.02954231704740005 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.41, Z:0.28 [[ 9.98775185e-01 -4.16278762e-02 -2.67441640e-02 1.32758264e+01] [ 4.16372065e-02 9.99132774e-01 -2.08151693e-04 -4.06663713e-01] [ 2.67296357e-02 -9.05655534e-04 9.99642289e-01 2.78220225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.232755096 meters 0.026190460786777406 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.40, Z:0.28 [[ 9.98749752e-01 -4.26462206e-02 -2.60812803e-02 1.33049709e+01] [ 4.26553349e-02 9.99089826e-01 -2.07044493e-04 -4.02807580e-01] [ 2.60663714e-02 -9.05720109e-04 9.99659804e-01 2.81075951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.262755096000001 meters 0.029723023456911458 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.41, Z:0.28 [[ 9.98705526e-01 -4.33252784e-02 -2.66494564e-02 1.33325373e+01] [ 4.33348646e-02 9.99060580e-01 -2.17979108e-04 -4.07253068e-01] [ 2.66338654e-02 -9.37153645e-04 9.99644816e-01 2.80462502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.292755096 meters 0.027307893912826082 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.40, Z:0.28 [[ 9.98616456e-01 -4.44478414e-02 -2.80991704e-02 1.33613792e+01] [ 4.44587905e-02 9.99011191e-01 -2.35278710e-04 -4.02534714e-01] [ 2.80818433e-02 -1.01430194e-03 9.99605113e-01 2.80861240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.322755096 meters 0.026933461960363773 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.40, Z:0.28 [[ 9.98578113e-01 -4.49401232e-02 -2.86729574e-02 1.33900032e+01] [ 4.49514984e-02 9.98989140e-01 -2.48058288e-04 -4.01300134e-01] [ 2.86551208e-02 -1.04118682e-03 9.99588815e-01 2.81081978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.352755096000001 meters 0.02730611896340199 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.40, Z:0.28 [[ 9.98548604e-01 -4.52400390e-02 -2.92236982e-02 1.34177071e+01] [ 4.52517854e-02 9.98975580e-01 -2.59619135e-04 -4.00723676e-01] [ 2.92055061e-02 -1.06318220e-03 9.99572863e-01 2.81918089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.382755096 meters 0.02644891610660718 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.40, Z:0.28 [[ 9.98545365e-01 -4.54871627e-02 -2.89494878e-02 1.34461428e+01] [ 4.54986202e-02 9.98964367e-01 -2.63161805e-04 -3.98256223e-01] [ 2.89314773e-02 -1.05438275e-03 9.99580841e-01 2.83301527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.412755096 meters 0.026191964338298467 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.40, Z:0.28 [[ 9.98524875e-01 -4.61067088e-02 -2.86748110e-02 1.34739728e+01] [ 4.61179435e-02 9.98935965e-01 -2.69780142e-04 -3.96622013e-01] [ 2.86567386e-02 -1.05304113e-03 9.99588757e-01 2.84439315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.442755096 meters 0.02673742377493289 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.40, Z:0.29 [[ 9.98517940e-01 -4.64712618e-02 -2.83257007e-02 1.35019935e+01] [ 4.64821754e-02 9.98919082e-01 -2.73399902e-04 -3.96313505e-01] [ 2.83077882e-02 -1.04364548e-03 9.99598709e-01 2.85327282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.472755096 meters 0.027050891298976674 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.40, Z:0.29 [[ 9.98495796e-01 -4.70612841e-02 -2.81314882e-02 1.35307143e+01] [ 4.70721572e-02 9.98891453e-01 -2.75967919e-04 -3.95161820e-01] [ 2.81132906e-02 -1.04865703e-03 9.99604193e-01 2.87175473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.502755096 meters 0.025964921368203366 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.39, Z:0.29 [[ 9.98536799e-01 -4.64401101e-02 -2.77051775e-02 1.35597869e+01] [ 4.64502063e-02 9.98920568e-01 -2.79397475e-04 -3.92523801e-01] [ 2.76882468e-02 -1.00792255e-03 9.99616099e-01 2.88404771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.532755096 meters 0.026479868254886373 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.39, Z:0.29 [[ 9.98574750e-01 -4.56279390e-02 -2.76868052e-02 1.35879629e+01] [ 4.56375401e-02 9.98958024e-01 -2.85355412e-04 -3.91678550e-01] [ 2.76709764e-02 -9.78608976e-04 9.99616606e-01 2.88923917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.562755096 meters 0.02558864495368342 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.39, Z:0.29 [[ 9.98631054e-01 -4.43942568e-02 -2.76616833e-02 1.36165501e+01] [ 4.44032484e-02 9.99013647e-01 -2.89414056e-04 -3.88732490e-01] [ 2.76472475e-02 -9.39250732e-04 9.99617301e-01 2.89897860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.592755096000001 meters 0.023501346555871362 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.38, Z:0.29 [[ 9.98786965e-01 -4.11724551e-02 -2.70079305e-02 1.36452980e+01] [ 4.11796959e-02 9.99151715e-01 -2.88272691e-04 -3.82385153e-01] [ 2.69968890e-02 -8.24255358e-04 9.99635178e-01 2.91298604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.622755096 meters 0.02431938031246967 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.38, Z:0.29 [[ 9.98874072e-01 -3.92562940e-02 -2.66370503e-02 1.36733308e+01] [ 3.92625963e-02 9.99228886e-01 -2.86577397e-04 -3.81828557e-01] [ 2.66277600e-02 -7.59585019e-04 9.99645130e-01 2.91236570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.652755096 meters 0.02278631535250885 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.38, Z:0.29 [[ 9.98937080e-01 -3.78681027e-02 -2.62815114e-02 1.37018838e+01] [ 3.78736552e-02 9.99282495e-01 -2.86649241e-04 -3.77572939e-01] [ 2.62735091e-02 -7.09032344e-04 9.99654540e-01 2.92163742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.682755096000001 meters 0.021963814523254126 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.37, Z:0.29 [[ 9.99023773e-01 -3.51508646e-02 -2.67566468e-02 1.37294264e+01] [ 3.51554858e-02 9.99381810e-01 -2.97816630e-04 -3.74563649e-01] [ 2.67505746e-02 -6.43117025e-04 9.99641932e-01 2.92648493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.712755096 meters 0.023033122943897755 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.38, Z:0.29 [[ 9.99075882e-01 -3.38391723e-02 -2.65007961e-02 1.37574391e+01] [ 3.38431773e-02 9.99427111e-01 -2.97502519e-04 -3.75648962e-01] [ 2.64956814e-02 -5.99643550e-04 9.99648748e-01 2.92226413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.742755096 meters 0.020270420225175098 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.37, Z:0.29 [[ 9.99123307e-01 -3.20284752e-02 -2.69591148e-02 1.37859773e+01] [ 3.20318519e-02 9.99486802e-01 -3.06702763e-04 -3.69659670e-01] [ 2.69551027e-02 -5.57116495e-04 9.99636490e-01 2.94099172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.772755096000001 meters 0.02009632524305592 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.37, Z:0.29 [[ 9.99146092e-01 -3.16424607e-02 -2.65676775e-02 1.38146880e+01] [ 3.16454139e-02 9.99499111e-01 -3.09386485e-04 -3.68389717e-01] [ 2.65641598e-02 -5.31622854e-04 9.99646969e-01 2.94554521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.802755096 meters 0.019832143255478656 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.37, Z:0.30 [[ 9.99161739e-01 -3.13599847e-02 -2.63129500e-02 1.38431095e+01] [ 3.13625976e-02 9.99508024e-01 -3.13488547e-04 -3.66800482e-01] [ 2.63098357e-02 -5.12016701e-04 9.99653705e-01 2.95516965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.832755096 meters 0.01978744954179386 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.37, Z:0.30 [[ 9.99159694e-01 -3.16364415e-02 -2.60584093e-02 1.38713955e+01] [ 3.16389078e-02 9.99499314e-01 -3.17750816e-04 -3.65712924e-01] [ 2.60554147e-02 -5.06975801e-04 9.99660371e-01 2.96223419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.862755096 meters 0.018945459027943735 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.36, Z:0.30 [[ 9.99138093e-01 -3.22474138e-02 -2.61376215e-02 1.38996435e+01] [ 3.22498896e-02 9.99479784e-01 -3.26920674e-04 -3.63575031e-01] [ 2.61345666e-02 -5.16296508e-04 9.99658301e-01 2.97509455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.892755096 meters 0.02033662082567751 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.37, Z:0.30 [[ 9.99112653e-01 -3.28516618e-02 -2.63566983e-02 1.39279113e+01] [ 3.28541976e-02 9.99460098e-01 -3.36937283e-04 -3.65789296e-01] [ 2.63535372e-02 -5.29289871e-04 9.99652545e-01 2.97368892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.922755096000001 meters 0.01984558926000587 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.37, Z:0.30 [[ 9.99059004e-01 -3.44947826e-02 -2.62910079e-02 1.39572160e+01] [ 3.44977450e-02 9.99404717e-01 -3.41019704e-04 -3.65775108e-01] [ 2.62871207e-02 -5.66281680e-04 9.99654274e-01 2.98541696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.952755096 meters 0.02097974710127519 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.37, Z:0.30 [[ 9.99004857e-01 -3.55429932e-02 -2.69442307e-02 1.39849547e+01] [ 3.55463200e-02 9.99367967e-01 -3.55642890e-04 -3.68211664e-01] [ 2.69398417e-02 -6.02479273e-04 9.99636875e-01 2.98534057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.982755096 meters 0.02048113478348451 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.37, Z:0.30 [[ 9.98949335e-01 -3.68955455e-02 -2.71835272e-02 1.40141694e+01] [ 3.68993170e-02 9.99318922e-01 -3.63034782e-04 -3.67816453e-01] [ 2.71784075e-02 -6.40400233e-04 9.99630394e-01 2.99092209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.012755096000003 meters 0.022063118407519886 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.37, Z:0.30 [[ 9.98881385e-01 -3.84603731e-02 -2.75096027e-02 1.40418832e+01] [ 3.84646583e-02 9.99259891e-01 -3.73582087e-04 -3.70827600e-01] [ 2.75036107e-02 -6.84983274e-04 9.99621469e-01 2.98118120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.042755096 meters 0.02265444156728981 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.37, Z:0.30 [[ 9.98832377e-01 -3.94001754e-02 -2.79554788e-02 1.40705758e+01] [ 3.94048465e-02 9.99223254e-01 -3.84002315e-04 -3.71625946e-01] [ 2.79488942e-02 -7.18027405e-04 9.99609095e-01 2.98193238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.072755096 meters 0.022467503078197483 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.37, Z:0.30 [[ 9.98778578e-01 -4.05044862e-02 -2.82973113e-02 1.40991861e+01] [ 4.05094968e-02 9.99179075e-01 -3.96411124e-04 -3.72162073e-01] [ 2.82901378e-02 -7.50382904e-04 9.99599472e-01 2.98594859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.102755096000003 meters 0.02209340607918015 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.37, Z:0.30 [[ 9.98754610e-01 -4.11282823e-02 -2.82434559e-02 1.41274287e+01] [ 4.11332933e-02 9.99153586e-01 -4.03792954e-04 -3.71817107e-01] [ 2.82361576e-02 -7.58456280e-04 9.99600992e-01 2.99288579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.132755096000004 meters 0.021592016928436417 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.37, Z:0.30 [[ 9.98734088e-01 -4.15993051e-02 -2.82793172e-02 1.41558278e+01] [ 4.16042620e-02 9.99134082e-01 -4.13335735e-04 -3.71391453e-01] [ 2.82720241e-02 -7.63727635e-04 9.99599975e-01 2.99987436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.162755096 meters 0.022148786342710627 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.37, Z:0.30 [[ 9.98696663e-01 -4.22354996e-02 -2.86554890e-02 1.41841447e+01] [ 4.22406470e-02 9.99107375e-01 -4.25952455e-04 -3.72631004e-01] [ 2.86479007e-02 -7.85029102e-04 9.99589256e-01 3.00431543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.192755096000003 meters 0.023307097935661308 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.38, Z:0.30 [[ 9.98634036e-01 -4.37662159e-02 -2.85408504e-02 1.42118762e+01] [ 4.37718660e-02 9.99041461e-01 -4.27077051e-04 -3.75955692e-01] [ 2.85321844e-02 -8.22792597e-04 9.99592536e-01 3.01190454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.222755096000004 meters 0.022919635001183093 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.38, Z:0.30 [[ 9.98591874e-01 -4.48151438e-02 -2.83878807e-02 1.42406123e+01] [ 4.48210277e-02 9.98994941e-01 -4.29330470e-04 -3.75783101e-01] [ 2.83785897e-02 -8.43648071e-04 9.99596891e-01 3.02091714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.252755096 meters 0.02487738786101045 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.38, Z:0.30 [[ 9.98540020e-01 -4.60494039e-02 -2.82361534e-02 1.42684088e+01] [ 4.60555440e-02 9.98938787e-01 -4.33197442e-04 -3.78726071e-01] [ 2.82261373e-02 -8.67866421e-04 9.99601186e-01 3.02462922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.282755096000002 meters 0.024520893783744804 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.38, Z:0.30 [[ 9.98470800e-01 -4.79894057e-02 -2.74422781e-02 1.42968884e+01] [ 4.79958213e-02 9.98847446e-01 -4.25228793e-04 -3.79375043e-01] [ 2.74310559e-02 -8.92536144e-04 9.99623299e-01 3.04728443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.312755096000004 meters 0.026021183543685936 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.38, Z:0.31 [[ 9.98452041e-01 -4.87954133e-02 -2.66932328e-02 1.43246813e+01] [ 4.88016057e-02 9.98808404e-01 -4.19808871e-04 -3.82374612e-01] [ 2.66819100e-02 -8.83513599e-04 9.99643584e-01 3.05720989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.342755096 meters 0.026205756014264555 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.38, Z:0.31 [[ 9.98382691e-01 -5.05374211e-02 -2.60378679e-02 1.43532996e+01] [ 5.05437836e-02 9.98721760e-01 -4.14146683e-04 -3.84365264e-01] [ 2.60255152e-02 -9.02575481e-04 9.99660871e-01 3.08609477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.372755096000002 meters 0.025935723540561884 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.38, Z:0.31 [[ 9.98356635e-01 -5.12346523e-02 -2.56717844e-02 1.43821916e+01] [ 5.12408900e-02 9.98686236e-01 -4.15224852e-04 -3.84321179e-01] [ 2.56593317e-02 -9.00902596e-04 9.99670339e-01 3.10040233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.402755096000003 meters 0.025935723540561884 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.38, Z:0.31 [[ 9.98340570e-01 -5.15467968e-02 -2.56716647e-02 1.44097827e+01] [ 5.15529502e-02 9.98670173e-01 -4.22518145e-04 -3.83705670e-01] [ 2.56593053e-02 -9.01633045e-04 9.99670339e-01 3.10555506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.432755096 meters 0.025989058187327767 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.38, Z:0.31 [[ 9.98335697e-01 -5.18600154e-02 -2.52264610e-02 1.44377894e+01] [ 5.18658607e-02 9.98653971e-01 -4.22974549e-04 -3.83648666e-01] [ 2.52144409e-02 -8.86121519e-04 9.99681673e-01 3.11780862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.462755096000002 meters 0.025887807914134354 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.38, Z:0.31 [[ 9.98337006e-01 -5.19311151e-02 -2.50276096e-02 1.44663178e+01] [ 5.19366963e-02 9.98650288e-01 -4.27412852e-04 -3.82638886e-01] [ 2.50160255e-02 -8.73149292e-04 9.99686669e-01 3.12285221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.492755096000003 meters 0.025901048618473574 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.38, Z:0.31 [[ 9.98382067e-01 -5.05033268e-02 -2.61277914e-02 1.44938206e+01] [ 5.05087345e-02 9.98723516e-01 -4.53363534e-04 -3.81263273e-01] [ 2.61173360e-02 -8.67051655e-04 9.99658508e-01 3.11317750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.522755096 meters 0.025038040086060746 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.38, Z:0.31 [[ 9.98416363e-01 -4.95079324e-02 -2.67157377e-02 1.45230135e+01] [ 4.95131000e-02 9.98773364e-01 -4.68446710e-04 -3.79521702e-01] [ 2.67061591e-02 -8.55074134e-04 9.99642961e-01 3.11459596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.552755096000002 meters 0.024592026026384935 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.38, Z:0.31 [[ 9.98499362e-01 -4.75083071e-02 -2.72394158e-02 1.45511577e+01] [ 4.75127737e-02 9.98870513e-01 -4.83593816e-04 -3.78997858e-01] [ 2.72316240e-02 -8.11352084e-04 9.99628821e-01 3.11903710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.582755096000003 meters 0.02259652858357908 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.38, Z:0.31 [[ 9.98552681e-01 -4.64858671e-02 -2.70482402e-02 1.45799091e+01] [ 4.64897861e-02 9.98918648e-01 -4.84282903e-04 -3.75772777e-01] [ 2.70415038e-02 -7.73884909e-04 9.99634012e-01 3.13303597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.612755096 meters 0.02219772629146026 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.37, Z:0.31 [[ 9.98588353e-01 -4.55097641e-02 -2.73890842e-02 1.46091429e+01] [ 4.55132061e-02 9.98963613e-01 -4.98038895e-04 -3.74666503e-01] [ 2.73833642e-02 -7.49229195e-04 9.99624725e-01 3.14232129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.642755096000002 meters 0.021467639680339354 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.37, Z:0.32 [[ 9.98632014e-01 -4.46472390e-02 -2.72162572e-02 1.46381661e+01] [ 4.46501131e-02 9.99002560e-01 -5.02410539e-04 -3.72933109e-01] [ 2.72115419e-02 -7.13485713e-04 9.99629443e-01 3.15197125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.672755096000003 meters 0.020771084071431425 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.37, Z:0.32 [[ 9.98718076e-01 -4.29028478e-02 -2.68617007e-02 1.46674399e+01] [ 4.29048219e-02 9.99079037e-01 -5.03123021e-04 -3.71392093e-01] [ 2.68585475e-02 -6.50018430e-04 9.99639033e-01 3.16462554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.702755096 meters 0.02071250703904449 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.37, Z:0.32 [[ 9.98745884e-01 -4.23235471e-02 -2.67465137e-02 1.46965881e+01] [ 4.23251091e-02 9.99103762e-01 -5.07977314e-04 -3.70823945e-01] [ 2.67440418e-02 -6.24708857e-04 9.99642119e-01 3.16950336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.732755096 meters 0.020384893039923913 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.37, Z:0.32 [[ 9.98767259e-01 -4.17823764e-02 -2.67991723e-02 1.47254828e+01] [ 4.17835519e-02 9.99126553e-01 -5.16365538e-04 -3.69996196e-01] [ 2.67973396e-02 -6.04035614e-04 9.99640704e-01 3.17825622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.762755096000003 meters 0.020071620816384687 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.37, Z:0.32 [[ 9.98808793e-01 -4.12284185e-02 -2.61000518e-02 1.47544284e+01] [ 4.12291608e-02 9.99149587e-01 -5.09921124e-04 -3.70159871e-01] [ 2.60988793e-02 -5.66769531e-04 9.99659206e-01 3.19209496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.792755096 meters 0.019974959850947067 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.37, Z:0.32 [[ 9.98855688e-01 -4.04689103e-02 -2.54868835e-02 1.47820092e+01] [ 4.04692268e-02 9.99180658e-01 -5.03593576e-04 -3.70031410e-01] [ 2.54863809e-02 -5.28417161e-04 9.99675030e-01 3.20046724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.822755096 meters 0.019266760779208244 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.37, Z:0.32 [[ 9.98853108e-01 -4.04052467e-02 -2.56882088e-02 1.48102949e+01] [ 4.04054436e-02 9.99183236e-01 -5.11603896e-04 -3.68182504e-01] [ 2.56878991e-02 -5.26926330e-04 9.99669873e-01 3.20517037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.852755096000003 meters 0.019879789433020746 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.37, Z:0.32 [[ 9.98857483e-01 -4.01046564e-02 -2.59873889e-02 1.48382725e+01] [ 4.01045817e-02 9.99195350e-01 -5.24279318e-04 -3.68911176e-01] [ 2.59875041e-02 -5.18533038e-04 9.99662133e-01 3.20462050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.882755096000004 meters 0.019144633557350244 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.37, Z:0.32 [[ 9.98849372e-01 -4.02757084e-02 -2.60345910e-02 1.48658315e+01] [ 4.02755838e-02 9.99188469e-01 -5.29364531e-04 -3.67612153e-01] [ 2.60347836e-02 -5.19802922e-04 9.99660902e-01 3.21674025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.912755096 meters 0.019309198976954225 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.37, Z:0.32 [[ 9.98854608e-01 -4.02097434e-02 -2.59354765e-02 1.48930488e+01] [ 4.02094202e-02 9.99191131e-01 -5.34184852e-04 -3.68173047e-01] [ 2.59359776e-02 -5.09277474e-04 9.99663476e-01 3.22375114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.942755096000003 meters 0.018572859014024706 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.37, Z:0.32 [[ 9.98852787e-01 -4.07338458e-02 -2.51766449e-02 1.49206965e+01] [ 4.07335933e-02 9.99169906e-01 -5.23089442e-04 -3.68118568e-01] [ 2.51770533e-02 -5.03045866e-04 9.99682881e-01 3.24357436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.972755096000004 meters 0.019091389684787286 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.37, Z:0.32 [[ 9.98841316e-01 -4.10434740e-02 -2.51288428e-02 1.49475104e+01] [ 4.10431479e-02 9.99157235e-01 -5.28960539e-04 -3.69231891e-01] [ 2.51293755e-02 -5.03019171e-04 9.99684081e-01 3.24771766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.002755096 meters 0.0188479796316418 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.37, Z:0.33 [[ 9.98812812e-01 -4.14094756e-02 -2.56558398e-02 1.49759561e+01] [ 4.14091323e-02 9.99142125e-01 -5.44890557e-04 -3.68900810e-01] [ 2.56563939e-02 -5.18142395e-04 9.99670686e-01 3.25368287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.032755096000002 meters 0.01960050063657369 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.37, Z:0.32 [[ 9.98791886e-01 -4.15185081e-02 -2.62865166e-02 1.50042614e+01] [ 4.15180067e-02 9.99137596e-01 -5.65086265e-04 -3.69759156e-01] [ 2.62873085e-02 -5.26960195e-04 9.99654290e-01 3.24232329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.062755096000004 meters 0.019752015774943225 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.37, Z:0.32 [[ 9.98759277e-01 -4.21374955e-02 -2.65393503e-02 1.50329199e+01] [ 4.21370987e-02 9.99111673e-01 -5.74446126e-04 -3.69182924e-01] [ 2.65399804e-02 -5.44557824e-04 9.99647604e-01 3.24135001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.092755096 meters 0.020724254391779013 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.37, Z:0.32 [[ 9.98678630e-01 -4.31732825e-02 -2.78758092e-02 1.50607251e+01] [ 4.31730666e-02 9.99067422e-01 -6.09887981e-04 -3.71460119e-01] [ 2.78761437e-02 -5.94402073e-04 9.99611208e-01 3.23511734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.122755096000002 meters 0.019965102742736312 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.37, Z:0.33 [[ 9.98626524e-01 -4.43344736e-02 -2.79198820e-02 1.50895485e+01] [ 4.43345668e-02 9.99016550e-01 -6.15992808e-04 -3.70682800e-01] [ 2.79197339e-02 -6.22669116e-04 9.99609974e-01 3.25045230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.152755096000003 meters 0.020730664234703607 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.37, Z:0.33 [[ 9.98590309e-01 -4.51454907e-02 -2.79155922e-02 1.51175138e+01] [ 4.51457334e-02 9.98980218e-01 -6.21884957e-04 -3.72447685e-01] [ 2.79151997e-02 -6.39261590e-04 9.99610090e-01 3.25729018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.182755096 meters 0.020934633321576253 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.37, Z:0.33 [[ 9.98542888e-01 -4.61640354e-02 -2.79460703e-02 1.51460789e+01] [ 4.61645576e-02 9.98933652e-01 -6.26845252e-04 -3.72876119e-01] [ 2.79452078e-02 -6.64186103e-04 9.99609236e-01 3.27229083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.212755096000002 meters 0.020598244723726598 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.37, Z:0.33 [[ 9.98504390e-01 -4.74695149e-02 -2.71224709e-02 1.51752163e+01] [ 4.74702926e-02 9.98872461e-01 -6.15563519e-04 -3.73220510e-01] [ 2.71211098e-02 -6.72868756e-04 9.99631929e-01 3.29866026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.242755096000003 meters 0.020674410677567364 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.37, Z:0.33 [[ 9.98494637e-01 -4.80277293e-02 -2.64914437e-02 1.52031367e+01] [ 4.80284692e-02 9.98845782e-01 -6.08722079e-04 -3.73327013e-01] [ 2.64901023e-02 -6.64537757e-04 9.99648855e-01 3.31083589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.272755096 meters 0.02082435229885558 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.37, Z:0.33 [[ 9.98471385e-01 -4.86004005e-02 -2.63228882e-02 1.52315749e+01] [ 4.86011129e-02 9.98818080e-01 -6.13085714e-04 -3.72707942e-01] [ 2.63215728e-02 -6.67173118e-04 9.99653305e-01 3.31977852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.302755096000002 meters 0.021493632101890394 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.37, Z:0.33 [[ 9.98481293e-01 -4.85935659e-02 -2.59571298e-02 1.52594259e+01] [ 4.85940875e-02 9.98818423e-01 -6.11067724e-04 -3.73205962e-01] [ 2.59561534e-02 -6.51223346e-04 9.99662870e-01 3.31885933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.332755096000003 meters 0.02156660394599851 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.37, Z:0.33 [[ 9.98454495e-01 -4.91316558e-02 -2.59750294e-02 1.52871794e+01] [ 4.91322552e-02 9.98792092e-01 -6.15524600e-04 -3.72481845e-01] [ 2.59738957e-02 -6.61638470e-04 9.99662403e-01 3.31848943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.362755096 meters 0.021616541856168493 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.37, Z:0.33 [[ 9.98444648e-01 -4.94593847e-02 -2.57304299e-02 1.53157421e+01] [ 4.94598807e-02 9.98775920e-01 -6.17529364e-04 -3.72018971e-01] [ 2.57294764e-02 -6.56055107e-04 9.99668727e-01 3.31932243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.392755096000002 meters 0.02183556183233523 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.37, Z:0.33 [[ 9.98423187e-01 -4.99534393e-02 -2.56084647e-02 1.53437985e+01] [ 4.99538942e-02 9.98751331e-01 -6.22361623e-04 -3.71915121e-01] [ 2.56075773e-02 -6.57862259e-04 9.99671856e-01 3.32049108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.422755096000003 meters 0.02272283525820902 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.37, Z:0.33 [[ 9.98445784e-01 -4.99498106e-02 -2.47190956e-02 1.53722385e+01] [ 4.99500590e-02 9.98751532e-01 -6.07791291e-04 -3.72761127e-01] [ 2.47185937e-02 -6.27873632e-04 9.99694252e-01 3.32380733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.452755096 meters 0.020965492342097 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.37, Z:0.33 [[ 9.98450062e-01 -5.00865537e-02 -2.42654447e-02 1.54005237e+01] [ 5.00866747e-02 9.98744693e-01 -6.03172762e-04 -3.69198727e-01] [ 2.42651950e-02 -6.13137554e-04 9.99705369e-01 3.33617312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.482755096 meters 0.019830227106197224 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.37, Z:0.34 [[ 9.98495636e-01 -4.99375693e-02 -2.26429522e-02 1.54295129e+01] [ 4.99374893e-02 9.98752183e-01 -5.69325894e-04 -3.67117051e-01] [ 2.26431287e-02 -5.62262761e-04 9.99743453e-01 3.35577958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.512755096000003 meters 0.020953816483414753 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.37, Z:0.34 [[ 9.98521034e-01 -4.95470301e-02 -2.23793634e-02 1.54571697e+01] [ 4.95467264e-02 9.98771645e-01 -5.68393410e-04 -3.68659690e-01] [ 2.23800358e-02 -5.41271418e-04 9.99749389e-01 3.36070697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.542755096000004 meters 0.02092306076397377 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.37, Z:0.34 [[ 9.98538604e-01 -4.94553618e-02 -2.17904671e-02 1.54851388e+01] [ 4.94549731e-02 9.98776199e-01 -5.57051773e-04 -3.68101636e-01] [ 2.17913491e-02 -5.21409267e-04 9.99762404e-01 3.36897497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.572755096 meters 0.021077653642450806 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.37, Z:0.34 [[ 9.98582399e-01 -4.90128412e-02 -2.07589233e-02 1.55125409e+01] [ 4.90122778e-02 9.98798032e-01 -5.36220738e-04 -3.67715369e-01] [ 2.07602534e-02 -4.81981524e-04 9.99784367e-01 3.36963700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.602755096000003 meters 0.019383402886370554 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.36, Z:0.34 [[ 9.98579644e-01 -4.92815014e-02 -2.02491650e-02 1.55406135e+01] [ 4.92809763e-02 9.98784816e-01 -5.25234530e-04 -3.63943225e-01] [ 2.02504429e-02 -4.73410111e-04 9.99794827e-01 3.37248631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.632755096000004 meters 0.019467168608421036 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.36, Z:0.34 [[ 9.98584577e-01 -4.94539304e-02 -1.95742438e-02 1.55689432e+01] [ 4.94533553e-02 9.98776302e-01 -5.13728101e-04 -3.62671861e-01] [ 1.95756967e-02 -4.55011073e-04 9.99808274e-01 3.37204485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.662755096 meters 0.0195561486785117 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.36, Z:0.34 [[ 9.98625775e-01 -4.89435561e-02 -1.87373907e-02 1.55970449e+01] [ 4.89428338e-02 9.98801458e-01 -4.97395524e-04 -3.61451089e-01] [ 1.87392774e-02 -4.20349006e-04 9.99824316e-01 3.37068611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.692755096000003 meters 0.020144165389841002 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.36, Z:0.34 [[ 9.98659525e-01 -4.84951709e-02 -1.80933877e-02 1.56249475e+01] [ 4.84943931e-02 9.98823338e-01 -4.81995171e-04 -3.61860709e-01] [ 1.80954723e-02 -3.96078784e-04 9.99836185e-01 3.37827237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.722755096000004 meters 0.019181618933856923 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.36, Z:0.34 [[ 9.98663387e-01 -4.85549545e-02 -1.77159835e-02 1.56529750e+01] [ 4.85541927e-02 9.98820437e-01 -4.73380452e-04 -3.59710210e-01] [ 1.77180713e-02 -3.87437550e-04 9.99842948e-01 3.38719223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.752755096 meters 0.01945150714143614 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.36, Z:0.34 [[ 9.98662837e-01 -4.87781706e-02 -1.71239131e-02 1.56806874e+01] [ 4.87774036e-02 9.98809567e-01 -4.62698275e-04 -3.59724290e-01] [ 1.71260978e-02 -3.73180451e-04 9.99853268e-01 3.38810825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.782755096000002 meters 0.01956695976224807 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.36, Z:0.34 [[ 9.98639897e-01 -4.92683497e-02 -1.70583208e-02 1.57083635e+01] [ 4.92675704e-02 9.98785507e-01 -4.66174741e-04 -3.58882901e-01] [ 1.70605713e-02 -3.74881327e-04 9.99854388e-01 3.38561475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.812755096000004 meters 0.01998486656311754 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.36, Z:0.34 [[ 9.98622090e-01 -4.95600385e-02 -1.72546765e-02 1.57362596e+01] [ 4.95591857e-02 9.98771075e-01 -4.77276713e-04 -3.58696187e-01] [ 1.72571256e-02 -3.78508649e-04 9.99851013e-01 3.38175474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.842755096 meters 0.021800338360317344 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.36, Z:0.34 [[ 9.98625280e-01 -4.98121167e-02 -1.63188078e-02 1.57646313e+01] [ 4.98113636e-02 9.98758541e-01 -4.52860272e-04 -3.60984538e-01] [ 1.63211066e-02 -3.60624353e-04 9.99866737e-01 3.37939877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.872755096000002 meters 0.02065809465328729 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.36, Z:0.34 [[ 9.98619300e-01 -5.01611060e-02 -1.55999063e-02 1.57925786e+01] [ 5.01604486e-02 9.98741078e-01 -4.33660183e-04 -3.58358072e-01] [ 1.56020201e-02 -3.49436870e-04 9.99878220e-01 3.38191124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.902755096000003 meters 0.021300823140653877 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.36, Z:0.34 [[ 9.98613912e-01 -5.05003847e-02 -1.48312406e-02 1.58201399e+01] [ 5.04997541e-02 9.98723986e-01 -4.17261247e-04 -3.59339453e-01] [ 1.48333876e-02 -3.32291117e-04 9.99889924e-01 3.39006868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.932755096 meters 0.021582321457586442 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.36, Z:0.34 [[ 9.98587869e-01 -5.10477102e-02 -1.47105329e-02 1.58485372e+01] [ 5.10471412e-02 9.98696159e-01 -4.14410575e-04 -3.58796304e-01] [ 1.47125074e-02 -3.37105277e-04 9.99891708e-01 3.39177376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.962755096000002 meters 0.021998919909534433 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.36, Z:0.34 [[ 9.98562793e-01 -5.16773327e-02 -1.42056822e-02 1.58778915e+01] [ 5.16768069e-02 9.98663779e-01 -4.04328528e-04 -3.58703247e-01] [ 1.42075949e-02 -3.30356871e-04 9.99899012e-01 3.39449328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.992755096000003 meters 0.022221045936750675 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.36, Z:0.34 [[ 9.98526677e-01 -5.23318059e-02 -1.43477474e-02 1.59058221e+01] [ 5.23312862e-02 9.98629695e-01 -4.11912530e-04 -3.58513993e-01] [ 1.43496427e-02 -3.39530423e-04 9.99896981e-01 3.39536452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.022755096 meters 0.023309186680999107 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.36, Z:0.34 [[ 9.98456956e-01 -5.36982150e-02 -1.41495199e-02 1.59340236e+01] [ 5.36977769e-02 9.98557149e-01 -4.11149950e-04 -3.60063026e-01] [ 1.41511823e-02 -3.49282235e-04 9.99899806e-01 3.39562146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.052755096000002 meters 0.024068549046950022 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.36, Z:0.34 [[ 9.98400548e-01 -5.48147496e-02 -1.38451662e-02 1.59627331e+01] [ 5.48144315e-02 9.98496478e-01 -4.02736492e-04 -3.60901314e-01] [ 1.38464256e-02 -3.56822581e-04 9.99904070e-01 3.40376370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.082755096000003 meters 0.021592086085542257 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.36, Z:0.34 [[ 9.98365368e-01 -5.55527645e-02 -1.34344066e-02 1.59918567e+01] [ 5.55524907e-02 9.98455690e-01 -3.93842568e-04 -3.56753744e-01] [ 1.34355388e-02 -3.53115968e-04 9.99909677e-01 3.40377707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.112755096 meters 0.02256306796779972 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.36, Z:0.34 [[ 9.98293518e-01 -5.70965292e-02 -1.22490423e-02 1.60200955e+01] [ 5.70963721e-02 9.98368606e-01 -3.62812943e-04 -3.58111635e-01] [ 1.22497747e-02 -3.37182070e-04 9.99924912e-01 3.41694229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.142755096000002 meters 0.02307594099970998 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.36, Z:0.34 [[ 9.98251500e-01 -5.80334048e-02 -1.12279278e-02 1.60492872e+01] [ 5.80333267e-02 9.98314591e-01 -3.33039245e-04 -3.57837213e-01] [ 1.12283316e-02 -3.19137077e-04 9.99936909e-01 3.42397806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.172755096000003 meters 0.0236711316779395 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.36, Z:0.34 [[ 9.98200210e-01 -5.89676964e-02 -1.09156820e-02 1.60783359e+01] [ 5.89676477e-02 9.98259841e-01 -3.26584685e-04 -3.57827906e-01] [ 1.09159450e-02 -3.17675191e-04 9.99940369e-01 3.42956519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.202755096 meters 0.024518168607853906 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.36, Z:0.34 [[ 9.98111238e-01 -6.05171091e-02 -1.05657967e-02 1.61069999e+01] [ 6.05171221e-02 9.98167108e-01 -3.18778290e-04 -3.58771864e-01] [ 1.05657222e-02 -3.21235413e-04 9.99944130e-01 3.43963241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.232755096 meters 0.025170057147014632 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.36, Z:0.34 [[ 9.98067314e-01 -6.12799263e-02 -1.03154387e-02 1.61353707e+01] [ 6.12799415e-02 9.98120569e-01 -3.14894106e-04 -3.58965457e-01] [ 1.03153482e-02 -3.17843965e-04 9.99946745e-01 3.44506355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.262755096000003 meters 0.025738176005897118 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.36, Z:0.34 [[ 9.98049312e-01 -6.16233990e-02 -1.00064081e-02 1.61628774e+01] [ 6.16234132e-02 9.98099424e-01 -3.07198369e-04 -3.59082511e-01] [ 1.00063207e-02 -3.10029898e-04 9.99949887e-01 3.44954380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.292755096000004 meters 0.025738176005897118 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.36, Z:0.35 [[ 9.98030991e-01 -6.19193969e-02 -1.00064345e-02 1.61904552e+01] [ 6.19194344e-02 9.98081104e-01 -3.06356052e-04 -3.58053075e-01] [ 1.00062025e-02 -3.13839928e-04 9.99949887e-01 3.45470683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.322755096 meters 0.026529650426455397 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.36, Z:0.35 [[ 9.98014325e-01 -6.21624688e-02 -1.01604083e-02 1.62180038e+01] [ 6.21624706e-02 9.98065994e-01 -3.15927475e-04 -3.58202979e-01] [ 1.01603968e-02 -3.16295934e-04 9.99948332e-01 3.45547692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.352755096000003 meters 0.02670197972199813 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.36, Z:0.35 [[ 9.98003080e-01 -6.22903651e-02 -1.04767339e-02 1.62463231e+01] [ 6.22903807e-02 9.98058016e-01 -3.25145820e-04 -3.57336853e-01] [ 1.04766417e-02 -3.28103212e-04 9.99945065e-01 3.45562234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.382755096000004 meters 0.02688264075992982 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.36, Z:0.35 [[ 9.97980473e-01 -6.25855628e-02 -1.08638015e-02 1.62739289e+01] [ 6.25855604e-02 9.98039544e-01 -3.40523444e-04 -3.55661215e-01] [ 1.08638154e-02 -3.40081359e-04 9.99940929e-01 3.45086748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.412755096 meters 0.0243404095264054 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.35, Z:0.34 [[ 9.97977193e-01 -6.26681318e-02 -1.06876828e-02 1.63020407e+01] [ 6.26681040e-02 9.98034365e-01 -3.37836076e-04 -3.50317285e-01] [ 1.06878462e-02 -3.32624115e-04 9.99942828e-01 3.44443888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.442755096000003 meters 0.024404642885599605 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.35, Z:0.35 [[ 9.97984206e-01 -6.25666093e-02 -1.06275432e-02 1.63301140e+01] [ 6.25665413e-02 9.98040737e-01 -3.39198563e-04 -3.49081035e-01] [ 1.06279436e-02 -3.26413816e-04 9.99943469e-01 3.45008503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.472755096000004 meters 0.02708544171914972 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.35, Z:0.35 [[ 9.98005062e-01 -6.22564038e-02 -1.04897958e-02 1.63583971e+01] [ 6.22562693e-02 9.98060139e-01 -3.39674082e-04 -3.51808138e-01] [ 1.04905939e-02 -3.14059096e-04 9.99944923e-01 3.46889168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.502755096 meters 0.02419771672019979 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.35, Z:0.35 [[ 9.98047432e-01 -6.16599611e-02 -9.96856389e-03 1.63867729e+01] [ 6.16598162e-02 9.98097171e-01 -3.22165729e-04 -3.46058455e-01] [ 9.96946015e-03 -2.93123139e-04 9.99950261e-01 3.46540404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.532755096000002 meters 0.02426704052526231 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.34, Z:0.35 [[ 9.98056165e-01 -6.14591248e-02 -1.03280106e-02 1.64142984e+01] [ 6.14589177e-02 9.98109557e-01 -3.37733408e-04 -3.44779199e-01] [ 1.03292429e-02 -2.97671443e-04 9.99946608e-01 3.47011297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.562755096000004 meters 0.02390425141835558 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.34, Z:0.35 [[ 9.98094686e-01 -6.08647951e-02 -1.01229335e-02 1.64429367e+01] [ 6.08645622e-02 9.98145979e-01 -3.31356495e-04 -3.42408278e-01] [ 1.01243333e-02 -2.85402760e-04 9.99948707e-01 3.47289305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.592755096 meters 0.024316721900767464 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.34, Z:0.35 [[ 9.98115356e-01 -6.04746687e-02 -1.04187909e-02 1.64711727e+01] [ 6.04743563e-02 9.98169691e-01 -3.45314809e-04 -3.41802506e-01] [ 1.04206041e-02 -2.85405659e-04 9.99945663e-01 3.47792759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.622755096000002 meters 0.02427181811696597 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.34, Z:0.35 [[ 9.98128868e-01 -6.02577955e-02 -1.03807644e-02 1.65000070e+01] [ 6.02574778e-02 9.98182808e-01 -3.43661973e-04 -3.40306181e-01] [ 1.03826089e-02 -2.82499745e-04 9.99946059e-01 3.48269281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.652755096000003 meters 0.023510823239517708 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.34, Z:0.35 [[ 9.98174017e-01 -5.94414306e-02 -1.07400024e-02 1.65284159e+01] [ 5.94410124e-02 9.98231755e-01 -3.58430212e-04 -3.37075319e-01] [ 1.07423171e-02 -2.80620891e-04 9.99942260e-01 3.47943914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.682755096 meters 0.021053565589136423 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.33, Z:0.35 [[ 9.98197089e-01 -5.90715464e-02 -1.06359340e-02 1.65571374e+01] [ 5.90710886e-02 9.98253715e-01 -3.57465450e-04 -3.31708870e-01] [ 1.06384767e-02 -2.71455227e-04 9.99943373e-01 3.46965653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.712755096000002 meters 0.023125416702173482 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.33, Z:0.35 [[ 9.98228011e-01 -5.85777696e-02 -1.04633975e-02 1.65852588e+01] [ 5.85772542e-02 9.98282815e-01 -3.55971505e-04 -3.33803516e-01] [ 1.04662819e-02 -2.57576366e-04 9.99945194e-01 3.48499231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.742755096000003 meters 0.02052831599106957 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.33, Z:0.35 [[ 9.98261400e-01 -5.79458310e-02 -1.07915774e-02 1.66141620e+01] [ 5.79452492e-02 9.98319695e-01 -3.66835643e-04 -3.28015440e-01] [ 1.07947008e-02 -2.59122777e-04 9.99941702e-01 3.47550752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.772755096 meters 0.02025335703298915 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.33, Z:0.35 [[ 9.98312504e-01 -5.70438426e-02 -1.08694090e-02 1.66430636e+01] [ 5.70431656e-02 9.98371643e-01 -3.72547221e-04 -3.25066848e-01] [ 1.08729612e-02 -2.48106946e-04 9.99940857e-01 3.47845264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.802755096000002 meters 0.020020522280761063 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.32, Z:0.35 [[ 9.98328772e-01 -5.67113579e-02 -1.11123677e-02 1.66717284e+01] [ 5.67105946e-02 9.98390585e-01 -3.84040842e-04 -3.23153577e-01] [ 1.11162627e-02 -2.46789955e-04 9.99938182e-01 3.47997770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.832755096000003 meters 0.02005008980154653 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.32, Z:0.35 [[ 9.98321809e-01 -5.67825242e-02 -1.13714959e-02 1.66994494e+01] [ 5.67816956e-02 9.98386539e-01 -3.95972605e-04 -3.22033331e-01] [ 1.13756328e-02 -2.50384734e-04 9.99935264e-01 3.48120174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.862755096 meters 0.020173933706849733 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.32, Z:0.35 [[ 9.98300658e-01 -5.71330684e-02 -1.14720496e-02 1.67279265e+01] [ 5.71322064e-02 9.98366540e-01 -4.03116923e-04 -3.20306901e-01] [ 1.14763418e-02 -2.52991615e-04 9.99934113e-01 3.48209500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.892755096000002 meters 0.020013908938665722 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.32, Z:0.35 [[ 9.98266961e-01 -5.76744428e-02 -1.16933155e-02 1.67555754e+01] [ 5.76735407e-02 9.98335410e-01 -4.14622976e-04 -3.18393431e-01] [ 1.16977641e-02 -2.60490490e-04 9.99931545e-01 3.48163561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.922755096000003 meters 0.020371036710625023 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.32, Z:0.35 [[ 9.98212577e-01 -5.86336260e-02 -1.15649983e-02 1.67843033e+01] [ 5.86327634e-02 9.98279534e-01 -4.13917602e-04 -3.16964667e-01] [ 1.15693706e-02 -2.64910054e-04 9.99933038e-01 3.48409550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.952755096 meters 0.02124487836655047 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.32, Z:0.35 [[ 9.98141397e-01 -5.97456928e-02 -1.20085287e-02 1.68125443e+01] [ 5.97447907e-02 9.98213590e-01 -4.34167213e-04 -3.17211269e-01] [ 1.20130162e-02 -2.84086766e-04 9.99927801e-01 3.48976089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.982755096 meters 0.021831345650303254 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.32, Z:0.35 [[ 9.98091903e-01 -6.04941962e-02 -1.23695255e-02 1.68406249e+01] [ 6.04932692e-02 9.98168504e-01 -4.49422869e-04 -3.17034711e-01] [ 1.23740583e-02 -2.99707711e-04 9.99923393e-01 3.49677426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.012755096000003 meters 0.022807100233327895 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.32, Z:0.35 [[ 9.97954885e-01 -6.26690039e-02 -1.25954097e-02 1.68697106e+01] [ 6.26682135e-02 9.98034311e-01 -4.57813165e-04 -3.16834355e-01] [ 1.25993417e-02 -3.32454937e-04 9.99920570e-01 3.49674625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.042755096000004 meters 0.023971509660999004 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.32, Z:0.35 [[ 9.97884594e-01 -6.37477552e-02 -1.27499369e-02 1.68974731e+01] [ 6.37469762e-02 9.97965983e-01 -4.67905844e-04 -3.17613686e-01] [ 1.27538312e-02 -3.45853888e-04 9.99918607e-01 3.50534645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.072755096 meters 0.024868168556483064 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.32, Z:0.35 [[ 9.97822637e-01 -6.46638593e-02 -1.29835026e-02 1.69258225e+01] [ 6.46631126e-02 9.97907037e-01 -4.77741371e-04 -3.18030896e-01] [ 1.29872212e-02 -3.62852533e-04 9.99915597e-01 3.51089010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.102755096000003 meters 0.02412827528457227 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.32, Z:0.35 [[ 9.97657690e-01 -6.70204868e-02 -1.36889954e-02 1.69550549e+01] [ 6.70198722e-02 9.97751513e-01 -5.04148959e-04 -3.15804982e-01] [ 1.36920042e-02 -4.14466634e-04 9.99906174e-01 3.50611987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.132755096000004 meters 0.0243804826905876 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.31, Z:0.35 [[ 9.97578860e-01 -6.82210227e-02 -1.35022558e-02 1.69841870e+01] [ 6.82204862e-02 9.97670143e-01 -5.00853975e-04 -3.14864906e-01] [ 1.35049663e-02 -4.21489118e-04 9.99908715e-01 3.50922275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.162755096 meters 0.02832672278130238 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.32, Z:0.35 [[ 9.97479354e-01 -6.95877326e-02 -1.38739526e-02 1.70123852e+01] [ 6.95872321e-02 9.97575735e-01 -5.19407205e-04 -3.18945468e-01] [ 1.38764628e-02 -4.47351995e-04 9.99903617e-01 3.51799129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.192755096000003 meters 0.02597308253687997 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.31, Z:0.35 [[ 9.97432237e-01 -7.01884095e-02 -1.42309683e-02 1.70415337e+01] [ 7.01879347e-02 9.97533643e-01 -5.33424280e-04 -3.13806508e-01] [ 1.42333098e-02 -4.66787699e-04 9.99898592e-01 3.51450371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.222755096000004 meters 0.02584445335015435 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.31, Z:0.35 [[ 9.97390228e-01 -7.07833193e-02 -1.42286355e-02 1.70705470e+01] [ 7.07828513e-02 9.97491604e-01 -5.37115970e-04 -3.11917202e-01] [ 1.42309633e-02 -4.71429172e-04 9.99898624e-01 3.51303964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.252755096 meters 0.026332169062304556 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.31, Z:0.35 [[ 9.97363804e-01 -7.10591708e-02 -1.46981788e-02 1.70981819e+01] [ 7.10586306e-02 9.97471983e-01 -5.59657251e-04 -3.11375713e-01] [ 1.47007903e-02 -4.86250570e-04 9.99891819e-01 3.51419026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.282755096000002 meters 0.026642208626999595 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.31, Z:0.35 [[ 9.97365533e-01 -7.09727318e-02 -1.49955145e-02 1.71263132e+01] [ 7.09721378e-02 9.97478134e-01 -5.72445214e-04 -3.10745005e-01] [ 1.49983258e-02 -4.93326595e-04 9.99887397e-01 3.52251996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.312755096000004 meters 0.027052223597182522 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.31, Z:0.35 [[ 9.97364482e-01 -7.10183285e-02 -1.48487921e-02 1.71532549e+01] [ 7.10177326e-02 9.97474891e-01 -5.68084153e-04 -3.09986632e-01] [ 1.48516417e-02 -4.87940589e-04 9.99889589e-01 3.53030555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.342755096 meters 0.02700067855696142 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.31, Z:0.35 [[ 9.97376653e-01 -7.07650800e-02 -1.52353635e-02 1.71820861e+01] [ 7.07643988e-02 9.97492886e-01 -5.84474276e-04 -3.08412884e-01] [ 1.52385271e-02 -4.95180344e-04 9.99883764e-01 3.53644778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.372755096000002 meters 0.0245622031095609 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.30, Z:0.35 [[ 9.97395790e-01 -7.03974682e-02 -1.56790818e-02 1.72107499e+01] [ 7.03966363e-02 9.97518895e-01 -6.05649446e-04 -3.02145595e-01] [ 1.56828165e-02 -4.99682409e-04 9.99876892e-01 3.53368529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.402755096000003 meters 0.027151604396573426 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.30, Z:0.35 [[ 9.97412328e-01 -7.01976273e-02 -1.55222745e-02 1.72391750e+01] [ 7.01967133e-02 9.97532985e-01 -6.04387574e-04 -3.04601066e-01] [ 1.55264074e-02 -4.86789036e-04 9.99879340e-01 3.54001151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.432755096 meters 0.025858126181461914 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.30, Z:0.35 [[ 9.97403512e-01 -7.02714571e-02 -1.57529725e-02 1.72671077e+01] [ 7.02705098e-02 9.97527783e-01 -6.14328195e-04 -3.00881966e-01] [ 1.57571975e-02 -4.94236312e-04 9.99875726e-01 3.54594394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.462755096000002 meters 0.02463381212382248 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.30, Z:0.35 [[ 9.97416488e-01 -7.00547426e-02 -1.58959973e-02 1.72955643e+01] [ 7.00536724e-02 9.97543028e-01 -6.24818964e-04 -2.97552496e-01] [ 1.59007129e-02 -4.90368254e-04 9.99873455e-01 3.54929114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.492755096000003 meters 0.025893966886734603 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.30, Z:0.36 [[ 9.97489085e-01 -6.90491792e-02 -1.57396167e-02 1.73237584e+01] [ 6.90479303e-02 9.97613149e-01 -6.23413039e-04 -2.97935666e-01] [ 1.57450947e-02 -4.64940253e-04 9.99875930e-01 3.56146100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.522755096 meters 0.02607346985989081 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.30, Z:0.36 [[ 9.97472771e-01 -6.92287971e-02 -1.59826518e-02 1.73517187e+01] [ 6.92275159e-02 9.97600696e-01 -6.34067484e-04 -2.96367333e-01] [ 1.59882003e-02 -4.73974233e-04 9.99872068e-01 3.56732012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.552755096000002 meters 0.026971359556437147 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.30, Z:0.36 [[ 9.97487628e-01 -6.90347978e-02 -1.58942851e-02 1.73797418e+01] [ 6.90334260e-02 9.97614145e-01 -6.35599773e-04 -2.96129318e-01] [ 1.59002421e-02 -4.63234041e-04 9.99873476e-01 3.57333014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.582755096000003 meters 0.02634729844806558 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.29, Z:0.36 [[ 9.97471331e-01 -6.92587153e-02 -1.59428653e-02 1.74072539e+01] [ 6.92573357e-02 9.97598623e-01 -6.39301460e-04 -2.93741759e-01] [ 1.59488577e-02 -4.66475495e-04 9.99872700e-01 3.57658231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.612755096 meters 0.02600889873626004 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.29, Z:0.36 [[ 9.97458718e-01 -6.93247963e-02 -1.64371191e-02 1.74355523e+01] [ 6.93232584e-02 9.97594028e-01 -6.64002193e-04 -2.92460392e-01] [ 1.64436037e-02 -4.77159881e-04 9.99864681e-01 3.58102660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.642755096000002 meters 0.02297832734094551 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.29, Z:0.36 [[ 9.97436775e-01 -6.95754880e-02 -1.67072080e-02 1.74631962e+01] [ 6.95738531e-02 9.97576572e-01 -6.79771966e-04 -2.86978198e-01] [ 1.67140147e-02 -4.84355275e-04 9.99860194e-01 3.58527887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.672755096000003 meters 0.02307644445299117 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.29, Z:0.36 [[ 9.97432778e-01 -6.96789722e-02 -1.65134346e-02 1.74907791e+01] [ 6.96773035e-02 9.97569353e-01 -6.77077740e-04 -2.85668857e-01] [ 1.65204744e-02 -4.75272065e-04 9.99863415e-01 3.59130425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.702755096000004 meters 0.022986247499986366 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.28, Z:0.36 [[ 9.97453583e-01 -6.93223570e-02 -1.67558947e-02 1.75192583e+01] [ 6.93204971e-02 9.97594201e-01 -6.92476525e-04 -2.83860815e-01] [ 1.67635875e-02 -4.70813761e-04 9.99859370e-01 3.59639890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.732755096 meters 0.023280929097915046 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.28, Z:0.36 [[ 9.97469076e-01 -6.88983080e-02 -1.75631619e-02 1.75466301e+01] [ 6.88961062e-02 9.97623572e-01 -7.31118763e-04 -2.82819772e-01] [ 1.75717972e-02 -4.80765110e-04 9.99845488e-01 3.59407712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.762755096000003 meters 0.022333341039288482 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.28, Z:0.36 [[ 9.97461704e-01 -6.89079384e-02 -1.79400136e-02 1.75744301e+01] [ 6.89056138e-02 9.97622903e-01 -7.48417912e-04 -2.80321445e-01] [ 1.79489404e-02 -4.89649442e-04 9.99838785e-01 3.59544394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.792755096000004 meters 0.02329237923432459 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.28, Z:0.36 [[ 9.97432060e-01 -6.92146542e-02 -1.84015555e-02 1.76023545e+01] [ 6.92121488e-02 9.97601664e-01 -7.73739357e-04 -2.81050043e-01] [ 1.84109765e-02 -5.01858754e-04 9.99830378e-01 3.59747839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.822755096 meters 0.023441406966848495 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.28, Z:0.36 [[ 9.97386732e-01 -6.97623909e-02 -1.87860309e-02 1.76300098e+01] [ 6.97598411e-02 9.97563501e-01 -7.91803518e-04 -2.80959879e-01] [ 1.87954969e-02 -5.20776208e-04 9.99823213e-01 3.60057257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.852755096000003 meters 0.024185675776824535 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.28, Z:0.36 [[ 9.97359281e-01 -7.01848984e-02 -1.86693589e-02 1.76574055e+01] [ 7.01823475e-02 9.97533864e-01 -7.92596665e-04 -2.80950723e-01] [ 1.86789461e-02 -5.19755796e-04 9.99825398e-01 3.60511437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.882755096000004 meters 0.025590775784837316 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.28, Z:0.36 [[ 9.97247064e-01 -7.15677329e-02 -1.93998100e-02 1.76865263e+01] [ 7.15651777e-02 9.97435583e-01 -8.26811527e-04 -2.79844645e-01] [ 1.94092338e-02 -5.63815481e-04 9.99811464e-01 3.59234966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.912755096 meters 0.023772594829603536 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.28, Z:0.36 [[ 9.97239360e-01 -7.16921416e-02 -1.93364066e-02 1.77139961e+01] [ 7.16895257e-02 9.97426651e-01 -8.29318432e-04 -2.77090719e-01] [ 1.93461029e-02 -5.59188834e-04 9.99812690e-01 3.61193887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.942755096000003 meters 0.024672170260909995 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.28, Z:0.36 [[ 9.97139735e-01 -7.29981010e-02 -1.95863692e-02 1.77421467e+01] [ 7.29955509e-02 9.97331908e-01 -8.46050721e-04 -2.76726476e-01] [ 1.95958710e-02 -5.86087015e-04 9.99807811e-01 3.61641697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.972755096000004 meters 0.025174156230836662 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.28, Z:0.36 [[ 9.97083406e-01 -7.38170611e-02 -1.93835781e-02 1.77712312e+01] [ 7.38146802e-02 9.97271622e-01 -8.39243485e-04 -2.76390547e-01] [ 1.93926428e-02 -5.93996865e-04 9.99811769e-01 3.62086038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.002755096 meters 0.025429753125392505 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.28, Z:0.36 [[ 9.97037417e-01 -7.43703963e-02 -1.96324679e-02 1.77997279e+01] [ 7.43679565e-02 9.97230503e-01 -8.55337750e-04 -2.75983013e-01] [ 1.96417077e-02 -6.07222782e-04 9.99806899e-01 3.62684407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.032755096000002 meters 0.026242264436449114 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.28, Z:0.36 [[ 9.96968928e-01 -7.52323296e-02 -1.98255942e-02 1.78271710e+01] [ 7.52298955e-02 9.97165837e-01 -8.69616347e-04 -2.76401132e-01] [ 1.98348285e-02 -6.24496900e-04 9.99803075e-01 3.63259317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.062755096000004 meters 0.02564484417250623 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.27, Z:0.36 [[ 9.96927321e-01 -7.57648000e-02 -1.98899840e-02 1.78550161e+01] [ 7.57624066e-02 9.97125515e-01 -8.74917988e-04 -2.73509243e-01] [ 1.98990985e-02 -6.34683409e-04 9.99801792e-01 3.63870713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.092755096 meters 0.02664428551823951 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.27, Z:0.36 [[ 9.96917767e-01 -7.58907442e-02 -1.98886953e-02 1.78823689e+01] [ 7.58882592e-02 9.97115939e-01 -8.80740117e-04 -2.73147280e-01] [ 1.98981752e-02 -6.31292996e-04 9.99801812e-01 3.64425369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.122755096000002 meters 0.0249791275364354 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.27, Z:0.36 [[ 9.96903220e-01 -7.61010948e-02 -1.98139814e-02 1.79104377e+01] [ 7.60986141e-02 9.97099908e-01 -8.80245557e-04 -2.68407531e-01] [ 1.98235066e-02 -6.30296893e-04 9.99803296e-01 3.64911033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.152755096000003 meters 0.02687453241645787 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.27, Z:0.36 [[ 9.96963657e-01 -7.51744865e-02 -2.03042856e-02 1.79379907e+01] [ 7.51715640e-02 9.97170202e-01 -9.08211909e-04 -2.69348918e-01] [ 2.03151029e-02 -6.20850636e-04 9.99793434e-01 3.64412824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.182755096 meters 0.02687453241645787 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.27, Z:0.36 [[ 9.96941842e-01 -7.54632742e-02 -2.03041453e-02 1.79655432e+01] [ 7.54603479e-02 9.97148387e-01 -9.11336106e-04 -2.67928564e-01] [ 2.03150182e-02 -6.23608776e-04 9.99793434e-01 3.64928693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.212755096000002 meters 0.024835901572888567 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.26, Z:0.37 [[ 9.96933125e-01 -7.53422033e-02 -2.11635692e-02 1.79935303e+01] [ 7.53388611e-02 9.97157531e-01 -9.56321969e-04 -2.63225212e-01] [ 2.11754638e-02 -6.41050153e-04 9.99775569e-01 3.65205836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.242755096000003 meters 0.024155279850176972 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.26, Z:0.37 [[ 9.96970876e-01 -7.49803019e-02 -2.06646287e-02 1.80221305e+01] [ 7.49769111e-02 9.97184827e-01 -9.39895454e-04 -2.60644560e-01] [ 2.06769278e-02 -6.12321636e-04 9.99786022e-01 3.66170530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.272755096 meters 0.024688647181466475 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.26, Z:0.37 [[ 9.96970289e-01 -7.50481320e-02 -2.04455423e-02 1.80489266e+01] [ 7.50447197e-02 9.97179731e-01 -9.35173687e-04 -2.60269114e-01] [ 2.04580634e-02 -6.01989608e-04 9.99790531e-01 3.66607348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.302755096000002 meters 0.024983928712436806 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.26, Z:0.37 [[ 9.96977431e-01 -7.48844024e-02 -2.06960924e-02 1.80767772e+01] [ 7.48808143e-02 9.97192039e-01 -9.49359110e-04 -2.59319185e-01] [ 2.07090707e-02 -6.03250642e-04 9.99785362e-01 3.66878826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.332755096000003 meters 0.025161758713292126 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.26, Z:0.37 [[ 9.96954046e-01 -7.52703883e-02 -2.04205318e-02 1.81049604e+01] [ 7.52669300e-02 9.97162979e-01 -9.38965795e-04 -2.57928575e-01] [ 2.04332746e-02 -6.00884988e-04 9.99791038e-01 3.67180935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.362755096 meters 0.024819570043644816 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.26, Z:0.37 [[ 9.96939894e-01 -7.55620490e-02 -2.00306062e-02 1.81326899e+01] [ 7.55586621e-02 9.97140928e-01 -9.26937344e-04 -2.55709845e-01] [ 2.00433785e-02 -5.89384985e-04 9.99798938e-01 3.68017935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.392755096000002 meters 0.024685197000750777 Centerline is valid? [True, True] Translation: X:18.16, Y:-0.25, Z:0.37 [[ 9.96923710e-01 -7.58607173e-02 -1.97045418e-02 1.81611060e+01] [ 7.58573821e-02 9.97118255e-01 -9.17723754e-04 -2.54138129e-01] [ 1.97173775e-02 -5.79834384e-04 9.99805425e-01 3.68941807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.422755096000003 meters 0.02517224292481033 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.25, Z:0.37 [[ 9.96926748e-01 -7.60897618e-02 -1.86388444e-02 1.81886685e+01] [ 7.60867171e-02 9.97100822e-01 -8.73468759e-04 -2.54154394e-01] [ 1.86512691e-02 -5.47384115e-04 9.99825900e-01 3.70399909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.452755096000004 meters 0.026284951822951163 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.25, Z:0.37 [[ 9.96899097e-01 -7.63952223e-02 -1.88668887e-02 1.82163353e+01] [ 7.63921229e-02 9.97077459e-01 -8.85984333e-04 -2.53701244e-01] [ 1.88794344e-02 -5.58044701e-04 9.99821612e-01 3.69703377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.482755096 meters 0.026010257958031895 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.25, Z:0.37 [[ 9.96917962e-01 -7.62708928e-02 -1.83664910e-02 1.82437244e+01] [ 7.62678355e-02 9.97086989e-01 -8.67871299e-04 -2.53021737e-01] [ 1.83791825e-02 -5.35576027e-04 9.99830945e-01 3.71689294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.512755096000003 meters 0.02592839514512751 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.25, Z:0.37 [[ 9.96905910e-01 -7.65754699e-02 -1.77427206e-02 1.82721198e+01] [ 7.65726404e-02 9.97063652e-01 -8.39777048e-04 -2.51363777e-01] [ 1.77549281e-02 -5.21428264e-04 9.99842233e-01 3.72532537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.542755096000004 meters 0.025323980265453065 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.25, Z:0.37 [[ 9.96937660e-01 -7.60602750e-02 -1.81696453e-02 1.83012309e+01] [ 7.60571229e-02 9.97103086e-01 -8.65445947e-04 -2.48419460e-01] [ 1.81828355e-02 -5.19135290e-04 9.99834544e-01 3.72292540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.572755096 meters 0.02580156037852139 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.25, Z:0.37 [[ 9.96964032e-01 -7.56179192e-02 -1.85647419e-02 1.83289159e+01] [ 7.56144608e-02 9.97136732e-01 -8.89166949e-04 -2.47303156e-01] [ 1.85788230e-02 -5.17295480e-04 9.99827265e-01 3.72196189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.602755096000003 meters 0.02565569200703207 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.25, Z:0.37 [[ 9.97021156e-01 -7.48610192e-02 -1.85645222e-02 1.83568892e+01] [ 7.48573983e-02 9.97193851e-01 -8.90846705e-04 -2.45457314e-01] [ 1.85791171e-02 -5.01498819e-04 9.99827268e-01 3.71911662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.632755096000004 meters 0.02299295911022243 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.24, Z:0.37 [[ 9.97053785e-01 -7.41350093e-02 -1.96913935e-02 1.83858402e+01] [ 7.41307541e-02 9.97248081e-01 -9.46950932e-04 -2.39790622e-01] [ 1.97074066e-02 -5.15576838e-04 9.99805657e-01 3.71027217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.662755096 meters 0.02522362796872669 Centerline is valid? [True, True] Translation: X:18.41, Y:-0.24, Z:0.37 [[ 9.97066849e-01 -7.38570873e-02 -2.00706174e-02 1.84134297e+01] [ 7.38525051e-02 9.97268703e-01 -9.70430046e-04 -2.42224711e-01] [ 2.00874717e-02 -5.14681743e-04 9.99798094e-01 3.70905198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.692755096000003 meters 0.025125118023747117 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.24, Z:0.37 [[ 9.97118026e-01 -7.30945878e-02 -2.03180374e-02 1.84413628e+01] [ 7.30896943e-02 9.97324886e-01 -9.84328889e-04 -2.40880879e-01] [ 2.03356334e-02 -5.03547065e-04 9.99793083e-01 3.71081933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.722755096000004 meters 0.02214877446360236 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.23, Z:0.37 [[ 9.97130726e-01 -7.29902359e-02 -2.00684114e-02 1.84691054e+01] [ 7.29854000e-02 9.97332533e-01 -9.74266853e-04 -2.34101321e-01] [ 2.00859915e-02 -4.93229617e-04 9.99798134e-01 3.71724108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.752755096 meters 0.021855088170261893 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.23, Z:0.37 [[ 9.97136573e-01 -7.29917698e-02 -1.97700897e-02 1.84966136e+01] [ 7.29869575e-02 9.97332428e-01 -9.65816584e-04 -2.31647297e-01] [ 1.97878482e-02 -4.79907657e-04 9.99804086e-01 3.72390309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.782755096000002 meters 0.022197322117767915 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.23, Z:0.37 [[ 9.97153829e-01 -7.28298821e-02 -1.94948634e-02 1.85241041e+01] [ 7.28250581e-02 9.97344270e-01 -9.58203968e-04 -2.30673542e-01] [ 1.95128762e-02 -4.64237807e-04 9.99809498e-01 3.73042672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.812755096000004 meters 0.022222979520021693 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.23, Z:0.37 [[ 9.97126881e-01 -7.31946157e-02 -1.95072253e-02 1.85519048e+01] [ 7.31898153e-02 9.97317566e-01 -9.60864510e-04 -2.29331416e-01] [ 1.95252285e-02 -4.69626381e-04 9.99809254e-01 3.73709281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.842755096 meters 0.022866930397944473 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.23, Z:0.37 [[ 9.97086901e-01 -7.36847612e-02 -1.97045096e-02 1.85801553e+01] [ 7.36798416e-02 9.97281468e-01 -9.76520961e-04 -2.29343095e-01] [ 1.97228970e-02 -4.78148888e-04 9.99805370e-01 3.74106616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.872755096000002 meters 0.02290371890929867 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.23, Z:0.37 [[ 9.97030564e-01 -7.42653097e-02 -2.03646274e-02 1.86090769e+01] [ 7.42601108e-02 9.97238392e-01 -1.01243675e-03 -2.28048640e-01] [ 2.03835772e-02 -5.02849104e-04 9.99792107e-01 3.74475758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.902755096000003 meters 0.023821321854287716 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.23, Z:0.37 [[ 9.96987179e-01 -7.48978625e-02 -2.01711209e-02 1.86367758e+01] [ 7.48927896e-02 9.97191082e-01 -1.00784876e-03 -2.28071111e-01] [ 2.01899475e-02 -5.05859222e-04 9.99796034e-01 3.74978923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.932755096 meters 0.022031377292711225 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.22, Z:0.38 [[ 9.96949455e-01 -7.54170790e-02 -2.01009465e-02 1.86650333e+01] [ 7.54121029e-02 9.97151945e-01 -1.00652816e-03 -2.23167148e-01] [ 2.01196073e-02 -5.12396949e-04 9.99797449e-01 3.75787502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.962755096000002 meters 0.024600722541145894 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.23, Z:0.38 [[ 9.96926429e-01 -7.57623433e-02 -1.99439734e-02 1.86935610e+01] [ 7.57573933e-02 9.97125773e-01 -1.00469318e-03 -2.26138878e-01] [ 1.99627678e-02 -5.09298251e-04 9.99800594e-01 3.76295800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.992755096000003 meters 0.022630520871804154 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.22, Z:0.38 [[ 9.96899736e-01 -7.61770163e-02 -1.96971734e-02 1.87212008e+01] [ 7.61722270e-02 9.97094180e-01 -9.94384060e-04 -2.21088473e-01] [ 1.97156862e-02 -5.09076359e-04 9.99805497e-01 3.77362774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.022755096 meters 0.02217203295126989 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.22, Z:0.38 [[ 9.96860797e-01 -7.65574961e-02 -2.01866432e-02 1.87496854e+01] [ 7.65524133e-02 9.97065031e-01 -1.02555304e-03 -2.18575517e-01] [ 2.02059098e-02 -5.23002634e-04 9.99795703e-01 3.77714876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.052755096000002 meters 0.021799808672293246 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.22, Z:0.38 [[ 9.96861490e-01 -7.65960873e-02 -2.00052457e-02 1.87780385e+01] [ 7.65909755e-02 9.97062073e-01 -1.02271570e-03 -2.17480262e-01] [ 2.00248078e-02 -5.12715385e-04 9.99799352e-01 3.78835553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.082755096000003 meters 0.022987363776187916 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.22, Z:0.38 [[ 9.96821649e-01 -7.69568155e-02 -2.05972992e-02 1.88058591e+01] [ 7.69513426e-02 9.97034287e-01 -1.05933394e-03 -2.18590778e-01] [ 2.06177364e-02 -5.29022823e-04 9.99787292e-01 3.78859796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.112755096000004 meters 0.02273791605367443 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.22, Z:0.38 [[ 9.96778885e-01 -7.73714413e-02 -2.11071963e-02 1.88337024e+01] [ 7.73657312e-02 9.97002186e-01 -1.08820081e-03 -2.16441224e-01] [ 2.11281165e-02 -5.48278081e-04 9.99776626e-01 3.79201630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.142755096000002 meters 0.022477031808156845 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.21, Z:0.38 [[ 9.96748626e-01 -7.77793784e-02 -2.10367651e-02 1.88620301e+01] [ 7.77736596e-02 9.96970445e-01 -1.09109806e-03 -2.14122132e-01] [ 2.10578980e-02 -5.48555713e-04 9.99778107e-01 3.79607650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.172755096000003 meters 0.023729892201260417 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.21, Z:0.38 [[ 9.96707384e-01 -7.83379271e-02 -2.09179419e-02 1.88894764e+01] [ 7.83322684e-02 9.96926710e-01 -1.09100720e-03 -2.14477633e-01] [ 2.09391223e-02 -5.51134906e-04 9.99780601e-01 3.80420535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.202755096000004 meters 0.02392637657917815 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.21, Z:0.38 [[ 9.96664998e-01 -7.89833573e-02 -2.05063593e-02 1.89187847e+01] [ 7.89780091e-02 9.96875782e-01 -1.07180080e-03 -2.13647677e-01] [ 2.05269474e-02 -5.51325094e-04 9.99789148e-01 3.81556287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.232755096 meters 0.02417807347528749 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.21, Z:0.38 [[ 9.96617676e-01 -7.95735895e-02 -2.05243992e-02 1.89474177e+01] [ 7.95682458e-02 9.96828838e-01 -1.07815943e-03 -2.12884016e-01] [ 2.05451060e-02 -5.58577698e-04 9.99788771e-01 3.82705335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.262755096000003 meters 0.025093850917344895 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.21, Z:0.38 [[ 9.96559776e-01 -8.02940691e-02 -2.05298402e-02 1.89753242e+01] [ 8.02887709e-02 9.96771057e-01 -1.08352134e-03 -2.13317315e-01] [ 2.05505508e-02 -5.68521848e-04 9.99788653e-01 3.84038921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.292755096000004 meters 0.02331163727442052 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.21, Z:0.38 [[ 9.96551433e-01 -8.04136602e-02 -2.04666637e-02 1.90028857e+01] [ 8.04083730e-02 9.96761417e-01 -1.08246373e-03 -2.09337147e-01] [ 2.04874255e-02 -5.66960347e-04 9.99789950e-01 3.84858899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.322755096 meters 0.02530831381597986 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.21, Z:0.39 [[ 9.96550553e-01 -8.03995931e-02 -2.05645275e-02 1.90297513e+01] [ 8.03941270e-02 9.96762554e-01 -1.09372621e-03 -2.11005463e-01] [ 2.05858861e-02 -5.63313778e-04 9.99787929e-01 3.85497587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.352755096000003 meters 0.02558342885635362 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.21, Z:0.39 [[ 9.96574405e-01 -8.00924254e-02 -2.06072254e-02 1.90571412e+01] [ 8.00868154e-02 9.96787287e-01 -1.09868598e-03 -2.09446308e-01] [ 2.06290167e-02 -5.55444730e-04 9.99787045e-01 3.86240389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.382755096000004 meters 0.022855757275246354 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.20, Z:0.39 [[ 9.96584474e-01 -7.99720095e-02 -2.05879493e-02 1.90844774e+01] [ 7.99663378e-02 9.96796958e-01 -1.09991818e-03 -2.03473203e-01] [ 2.06099679e-02 -5.50181525e-04 9.99787441e-01 3.87158629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.412755096 meters 0.023555561845985937 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.20, Z:0.39 [[ 9.96593102e-01 -7.98138243e-02 -2.07832270e-02 1.91127109e+01] [ 7.98078843e-02 9.96809638e-01 -1.11639796e-03 -2.02968884e-01] [ 2.08060250e-02 -5.46070870e-04 9.99783382e-01 3.87397682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.442755096000003 meters 0.02287566113196948 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.20, Z:0.39 [[ 9.96596796e-01 -7.96568712e-02 -2.12039964e-02 1.91404693e+01] [ 7.96505977e-02 9.96822190e-01 -1.14159503e-03 -2.00177448e-01] [ 2.12275501e-02 -5.51201043e-04 9.99774518e-01 3.88071213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.472755096000004 meters 0.021790231587356806 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.20, Z:0.39 [[ 9.96657898e-01 -7.88157925e-02 -2.14733834e-02 1.91689061e+01] [ 7.88090225e-02 9.96889054e-01 -1.16265549e-03 -1.96851768e-01] [ 2.14982164e-02 -5.33526579e-04 9.99768744e-01 3.88355789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.502755096 meters 0.02122505628443728 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.19, Z:0.39 [[ 9.96652406e-01 -7.87729903e-02 -2.18814475e-02 1.91969231e+01] [ 7.87658138e-02 9.96892436e-01 -1.19097694e-03 -1.94159812e-01] [ 2.19072663e-02 -5.36519985e-04 9.99759863e-01 3.89156029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.532755096000002 meters 0.020696284655450658 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.19, Z:0.39 [[ 9.96661665e-01 -7.86351951e-02 -2.19552062e-02 1.92251246e+01] [ 7.86277822e-02 9.96903319e-01 -1.20202231e-03 -1.91017884e-01] [ 2.19817391e-02 -5.28279612e-04 9.99758233e-01 3.89713049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.562755096000004 meters 0.021511244401488685 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.19, Z:0.39 [[ 9.96653533e-01 -7.86294613e-02 -2.23415277e-02 1.92524270e+01] [ 7.86216348e-02 9.96903770e-01 -1.22983128e-03 -1.90425693e-01] [ 2.23690541e-02 -5.30811737e-04 9.99749640e-01 3.89803475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.592755096 meters 0.020799736680873863 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.19, Z:0.39 [[ 9.96620837e-01 -7.90672307e-02 -2.22548841e-02 1.92802089e+01] [ 7.90594905e-02 9.96869142e-01 -1.22880488e-03 -1.87516633e-01] [ 2.22823654e-02 -5.34807251e-04 9.99751574e-01 3.90342174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.622755096000002 meters 0.02127719052530189 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.19, Z:0.39 [[ 9.96562703e-01 -7.98279533e-02 -2.21422009e-02 1.93085841e+01] [ 7.98203390e-02 9.96808509e-01 -1.22888817e-03 -1.87094704e-01] [ 2.21696339e-02 -5.42733871e-04 9.99754076e-01 3.91609690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.652755096000003 meters 0.021847748429946568 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.19, Z:0.39 [[ 9.96529317e-01 -8.03280073e-02 -2.18341905e-02 1.93359777e+01] [ 8.03206765e-02 9.96768336e-01 -1.21393327e-03 -1.86379659e-01] [ 2.18611426e-02 -5.44016867e-04 9.99760869e-01 3.92485186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.682755096 meters 0.022041080368687203 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.18, Z:0.39 [[ 9.96465168e-01 -8.11869688e-02 -2.15834628e-02 1.93645890e+01] [ 8.11799503e-02 9.96698736e-01 -1.20260444e-03 -1.84872453e-01] [ 2.16098459e-02 -5.53791003e-04 9.99766327e-01 3.93237538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.712755096000002 meters 0.02178683072509149 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.18, Z:0.39 [[ 9.96419435e-01 -8.17399142e-02 -2.16077621e-02 1.93924661e+01] [ 8.17328790e-02 9.96653537e-01 -1.20999999e-03 -1.81738133e-01] [ 2.16343578e-02 -5.60397096e-04 9.99765793e-01 3.94095094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.742755096000003 meters 0.021641955195963354 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.18, Z:0.39 [[ 9.96374510e-01 -8.23335020e-02 -2.14249904e-02 1.94203990e+01] [ 8.23265774e-02 9.96604675e-01 -1.20652575e-03 -1.79289154e-01] [ 2.14515831e-02 -5.61694631e-04 9.99769731e-01 3.94917287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.772755096 meters 0.021641955195963354 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.18, Z:0.40 [[ 9.96347975e-01 -8.26540975e-02 -2.14246007e-02 1.94479391e+01] [ 8.26470990e-02 9.96578138e-01 -1.21340866e-03 -1.77570437e-01] [ 2.14515819e-02 -5.61703839e-04 9.99769731e-01 3.95432173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.802755096000002 meters 0.02229903062881316 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.18, Z:0.40 [[ 9.96315706e-01 -8.30994027e-02 -2.12014713e-02 1.94758394e+01] [ 8.30925180e-02 9.96541106e-01 -1.20699267e-03 -1.77162560e-01] [ 2.12284380e-02 -5.59137882e-04 9.99774495e-01 3.95931020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.832755096000003 meters 0.022013070576533005 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.17, Z:0.40 [[ 9.96269047e-01 -8.36129024e-02 -2.13744939e-02 1.95033696e+01] [ 8.36059642e-02 9.96498146e-01 -1.21958434e-03 -1.74973581e-01] [ 2.14016165e-02 -5.72001040e-04 9.99770796e-01 3.96439284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.862755096000004 meters 0.02299426658431193 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.17, Z:0.40 [[ 9.96251802e-01 -8.38521607e-02 -2.12405669e-02 1.95307999e+01] [ 8.38452245e-02 9.96478045e-01 -1.21847618e-03 -1.74675691e-01] [ 2.12679304e-02 -5.67011009e-04 9.99773651e-01 3.96604842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.892755096000002 meters 0.022629333932715254 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.17, Z:0.40 [[ 9.96247677e-01 -8.38259882e-02 -2.15353203e-02 1.95584489e+01] [ 8.38187436e-02 9.96480245e-01 -1.24041227e-03 -1.71675089e-01] [ 2.15635000e-02 -5.69305646e-04 9.99767319e-01 3.97109526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.922755096000003 meters 0.022751929225030137 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.17, Z:0.40 [[ 9.96218495e-01 -8.41863159e-02 -2.14796095e-02 1.95866836e+01] [ 8.41790479e-02 9.96449869e-01 -1.24392197e-03 -1.69407413e-01] [ 2.15080753e-02 -5.68915006e-04 9.99768513e-01 3.97623300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.952755096000004 meters 0.022314459691178946 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.17, Z:0.40 [[ 9.96201480e-01 -8.43276325e-02 -2.17131643e-02 1.96144686e+01] [ 8.43200896e-02 9.96437918e-01 -1.26432713e-03 -1.66427904e-01] [ 2.17424379e-02 -5.71331393e-04 9.99763442e-01 3.98060410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.982755096 meters 0.02194455867305545 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.16, Z:0.40 [[ 9.96169045e-01 -8.47296888e-02 -2.16359131e-02 1.96427094e+01] [ 8.47221452e-02 9.96403810e-01 -1.26670379e-03 -1.63640688e-01] [ 2.16654337e-02 -5.71189864e-04 9.99765114e-01 3.98604838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.012755096000003 meters 0.0219653986898921 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.16, Z:0.40 [[ 9.96119011e-01 -8.53081037e-02 -2.16666512e-02 1.96703241e+01] [ 8.53005230e-02 9.96354452e-01 -1.27552181e-03 -1.61865652e-01] [ 2.16964767e-02 -5.77605152e-04 9.99764437e-01 3.99102766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.042755096000004 meters 0.023814191766305934 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.16, Z:0.40 [[ 9.96028437e-01 -8.63818263e-02 -2.15762301e-02 1.96981951e+01] [ 8.63744237e-02 9.96261928e-01 -1.27652675e-03 -1.63545228e-01] [ 2.16058453e-02 -5.92177497e-04 9.99766391e-01 3.99455081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.072755096 meters 0.023011938932216515 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.16, Z:0.40 [[ 9.95944858e-01 -8.73636077e-02 -2.14811287e-02 1.97268825e+01] [ 8.73564415e-02 9.96176305e-01 -1.27354258e-03 -1.60659128e-01] [ 2.15102527e-02 -6.08136779e-04 9.99768443e-01 4.00696476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.102755096000003 meters 0.023011938932216515 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.16, Z:0.40 [[ 9.95917040e-01 -8.76802500e-02 -2.14807663e-02 1.97544181e+01] [ 8.76730262e-02 9.96148484e-01 -1.27962854e-03 -1.58859041e-01] [ 2.15102309e-02 -6.08879915e-04 9.99768443e-01 4.01211634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.132755096000004 meters 0.024066943899001367 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.16, Z:0.40 [[ 9.95895365e-01 -8.80306131e-02 -2.10483284e-02 1.97827350e+01] [ 8.80236273e-02 9.96117590e-01 -1.25994368e-03 -1.58773062e-01] [ 2.10775238e-02 -5.97978146e-04 9.99777665e-01 4.02003241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.162755096 meters 0.02318753320175862 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.15, Z:0.40 [[ 9.95899791e-01 -8.79388187e-02 -2.12219112e-02 1.98106835e+01] [ 8.79316398e-02 9.96125698e-01 -1.27299619e-03 -1.54946126e-01] [ 2.12516369e-02 -5.98300818e-04 9.99773979e-01 4.02500028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.192755096000003 meters 0.02295788553908368 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.15, Z:0.40 [[ 9.95885519e-01 -8.80678847e-02 -2.13560351e-02 1.98383191e+01] [ 8.80604984e-02 9.96114296e-01 -1.28786571e-03 -1.52774933e-01] [ 2.13864714e-02 -5.98056281e-04 9.99771104e-01 4.02790026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.222755096000004 meters 0.023604816382815315 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.15, Z:0.40 [[ 9.95917108e-01 -8.77080249e-02 -2.13639078e-02 1.98662123e+01] [ 8.77004174e-02 9.96146054e-01 -1.29456051e-03 -1.51975003e-01] [ 2.13951158e-02 -5.84348667e-04 9.99770928e-01 4.03111860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.252755096 meters 0.02307221321135031 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.15, Z:0.40 [[ 9.96036422e-01 -8.63002037e-02 -2.15341590e-02 1.98947062e+01] [ 8.62920892e-02 9.96269023e-01 -1.30749770e-03 -1.48657337e-01] [ 2.15666529e-02 -5.55912232e-04 9.99767258e-01 4.03690986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.282755096000002 meters 0.02266186524703333 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.15, Z:0.40 [[ 9.96120203e-01 -8.53896672e-02 -2.12872236e-02 1.99236033e+01] [ 8.53814089e-02 9.96347494e-01 -1.29818170e-03 -1.45785478e-01] [ 2.13203232e-02 -5.24388124e-04 9.99772559e-01 4.04069145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.312755096000004 meters 0.02225622326349356 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.14, Z:0.41 [[ 9.96237239e-01 -8.40970952e-02 -2.09533547e-02 1.99515073e+01] [ 8.40887000e-02 9.96457447e-01 -1.28296941e-03 -1.42979694e-01] [ 2.09870204e-02 -4.83798461e-04 9.99779631e-01 4.05162196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.342755096 meters 0.021839603708552247 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.14, Z:0.41 [[ 9.96352763e-01 -8.27350962e-02 -2.08824242e-02 1.99796494e+01] [ 8.27264175e-02 9.96571473e-01 -1.28059889e-03 -1.39903098e-01] [ 2.09167788e-02 -4.51599904e-04 9.99781118e-01 4.05863763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.372755096000002 meters 0.020002163053415657 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.13, Z:0.41 [[ 9.96595084e-01 -7.96345334e-02 -2.13677064e-02 2.00085219e+01] [ 7.96246803e-02 9.96824050e-01 -1.31287412e-03 -1.33348858e-01] [ 2.14043938e-02 -3.92992898e-04 9.99770822e-01 4.05764318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.402755096000003 meters 0.01967104011447583 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.13, Z:0.41 [[ 9.96652791e-01 -7.88167761e-02 -2.17055450e-02 2.00370856e+01] [ 7.88062863e-02 9.96889048e-01 -1.33955327e-03 -1.30062316e-01] [ 2.17435994e-02 -3.75463890e-04 9.99763509e-01 4.05880561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.432755096 meters 0.01951541651784121 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.13, Z:0.41 [[ 9.96730138e-01 -7.76968599e-02 -2.21862537e-02 2.00650486e+01] [ 7.76855018e-02 9.96976967e-01 -1.37466980e-03 -1.27561437e-01] [ 2.22259915e-02 -3.53375439e-04 9.99752910e-01 4.06239256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.462755096000002 meters 0.01891704462110098 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.12, Z:0.41 [[ 9.96805674e-01 -7.67332917e-02 -2.21461033e-02 2.00933350e+01] [ 7.67216775e-02 9.97051600e-01 -1.37486173e-03 -1.24212568e-01] [ 2.21863054e-02 -3.28616221e-04 9.99753800e-01 4.06223905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.492755096000003 meters 0.018911520918798375 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.12, Z:0.41 [[ 9.96821121e-01 -7.65242206e-02 -2.21742135e-02 2.01209922e+01] [ 7.65123920e-02 9.97067672e-01 -1.38259856e-03 -1.22405572e-01] [ 2.22149937e-02 -3.18398668e-04 9.99753166e-01 4.06850670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.522755096 meters 0.018456889262364138 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.12, Z:0.41 [[ 9.96813445e-01 -7.67473308e-02 -2.17440374e-02 2.01485102e+01] [ 7.67358695e-02 9.97050526e-01 -1.36221768e-03 -1.19860564e-01] [ 2.17844505e-02 -3.10670721e-04 9.99762642e-01 4.07947178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.552755096000002 meters 0.018466081731878525 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.12, Z:0.41 [[ 9.96819657e-01 -7.66657138e-02 -2.17471940e-02 2.01762875e+01] [ 7.66540832e-02 9.97056807e-01 -1.36913944e-03 -1.17835548e-01] [ 2.17881538e-02 -3.02226108e-04 9.99762564e-01 4.08470874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.582755096000003 meters 0.01827762398884407 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.12, Z:0.41 [[ 9.96800025e-01 -7.68482587e-02 -2.20012668e-02 2.02043158e+01] [ 7.68362479e-02 9.97042754e-01 -1.39199664e-03 -1.15137679e-01] [ 2.20431762e-02 -3.02952508e-04 9.99756974e-01 4.08729154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.612755096000004 meters 0.017919712402928868 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.11, Z:0.41 [[ 9.96812572e-01 -7.66466619e-02 -2.21356348e-02 2.02320303e+01] [ 7.66342999e-02 9.97058275e-01 -1.40745688e-03 -1.11947461e-01] [ 2.21783947e-02 -2.93378166e-04 9.99753986e-01 4.08906461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.642755096000002 meters 0.018218985612260874 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.11, Z:0.41 [[ 9.96819123e-01 -7.65539511e-02 -2.21614331e-02 2.02594678e+01] [ 7.65413931e-02 9.97065400e-01 -1.41559011e-03 -1.10974319e-01] [ 2.22047672e-02 -2.85179674e-04 9.99753403e-01 4.09084541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.672755096000003 meters 0.017944708876993766 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.11, Z:0.41 [[ 9.96788633e-01 -7.69799981e-02 -2.20567584e-02 2.02875653e+01] [ 7.69675817e-02 9.97032595e-01 -1.41257053e-03 -1.08376595e-01] [ 2.21000468e-02 -2.89621114e-04 9.99755722e-01 4.09881180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.702755096000004 meters 0.018306131918605865 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.11, Z:0.41 [[ 9.96712599e-01 -7.80386971e-02 -2.17705549e-02 2.03154855e+01] [ 7.80267174e-02 9.96950285e-01 -1.40046937e-03 -1.07828624e-01] [ 2.18134517e-02 -3.02819467e-04 9.99762012e-01 4.10061204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.732755096 meters 0.01858279425011045 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.11, Z:0.41 [[ 9.96630354e-01 -7.90567927e-02 -2.18622978e-02 2.03444784e+01] [ 7.90448969e-02 9.96870061e-01 -1.40909772e-03 -1.06881655e-01] [ 2.19052689e-02 -3.23753513e-04 9.99759998e-01 4.10403707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.762755096000003 meters 0.018785641470219556 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.11, Z:0.41 [[ 9.96562735e-01 -7.98153674e-02 -2.21860909e-02 2.03724566e+01] [ 7.98031655e-02 9.96809607e-01 -1.43621784e-03 -1.05666909e-01] [ 2.22299408e-02 -3.39239102e-04 9.99752827e-01 4.10848425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.792755096000004 meters 0.019248570966793704 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.11, Z:0.41 [[ 9.96519522e-01 -8.03814071e-02 -2.20832913e-02 2.04002825e+01] [ 8.03693221e-02 9.96764120e-01 -1.43565859e-03 -1.05330541e-01] [ 2.21272327e-02 -3.44157345e-04 9.99755104e-01 4.11262871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.822755096 meters 0.019242128615702493 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.10, Z:0.41 [[ 9.96449196e-01 -8.11245568e-02 -2.25345322e-02 2.04294638e+01] [ 8.11120982e-02 9.96703904e-01 -1.46785337e-03 -1.03602922e-01] [ 2.25793352e-02 -3.65181878e-04 9.99744988e-01 4.11682722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.852755096000003 meters 0.018838230442967282 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.10, Z:0.41 [[ 9.96403176e-01 -8.17976891e-02 -2.21325234e-02 2.04576164e+01] [ 8.17857035e-02 9.96648886e-01 -1.44769033e-03 -1.00866662e-01] [ 2.21767725e-02 -3.67640753e-04 9.99753998e-01 4.12002812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.882755096000004 meters 0.0191117667074343 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.10, Z:0.41 [[ 9.96351899e-01 -8.22702409e-02 -2.26826220e-02 2.04854034e+01] [ 8.22576260e-02 9.96609985e-01 -1.49020234e-03 -1.01024793e-01] [ 2.27283268e-02 -3.81052704e-04 9.99741606e-01 4.12621244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.912755096 meters 0.01906897296247917 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.10, Z:0.41 [[ 9.96303784e-01 -8.29147173e-02 -2.24481689e-02 2.05137087e+01] [ 8.29024572e-02 9.96556571e-01 -1.47782796e-03 -9.96371640e-02] [ 2.24934039e-02 -3.88642773e-04 9.99746916e-01 4.13497073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.942755096000003 meters 0.019633881892491357 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.10, Z:0.41 [[ 9.96284180e-01 -8.32375634e-02 -2.21210596e-02 2.05412143e+01] [ 8.32255970e-02 9.96529659e-01 -1.46263215e-03 -9.93233553e-02] [ 2.21660379e-02 -3.83841117e-04 9.99754230e-01 4.14029835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.972755096000004 meters 0.020647523437849473 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.10, Z:0.41 [[ 9.96236213e-01 -8.38693440e-02 -2.18938401e-02 2.05687728e+01] [ 8.38577121e-02 9.96476683e-01 -1.45046342e-03 -9.98613413e-02] [ 2.19383506e-02 -3.90963152e-04 9.99759249e-01 4.14663444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.002755096 meters 0.019939619249062308 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.10, Z:0.42 [[ 9.96199245e-01 -8.43317257e-02 -2.17996352e-02 2.05967562e+01] [ 8.43202448e-02 9.96437656e-01 -1.44694547e-03 -9.64545120e-02] [ 2.18440009e-02 -3.96704597e-04 9.99761313e-01 4.15764868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.032755096000002 meters 0.019774505489360297 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.09, Z:0.42 [[ 9.96184208e-01 -8.46057469e-02 -2.14217413e-02 2.06247458e+01] [ 8.45945852e-02 9.96414430e-01 -1.42832705e-03 -9.43939248e-02] [ 2.14657768e-02 -3.89286467e-04 9.99769508e-01 4.16206192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.062755096000004 meters 0.019775214267643008 Centerline is valid? [True, True] Translation: X:20.65, Y:-0.09, Z:0.42 [[ 9.96164055e-01 -8.48037522e-02 -2.15754520e-02 2.06523632e+01] [ 8.47923305e-02 9.96397597e-01 -1.44531233e-03 -9.35148209e-02] [ 2.16202964e-02 -3.89664664e-04 9.99766178e-01 4.16665791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.092755096 meters 0.019671824330074625 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.09, Z:0.42 [[ 9.96134465e-01 -8.50846749e-02 -2.18340689e-02 2.06798944e+01] [ 8.50728949e-02 9.96373646e-01 -1.46949803e-03 -9.19043160e-02] [ 2.18799226e-02 -3.93669818e-04 9.99760528e-01 4.17356151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.122755096000002 meters 0.019286660828861955 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.09, Z:0.42 [[ 9.96156634e-01 -8.48281645e-02 -2.18207081e-02 2.07078017e+01] [ 8.48161888e-02 9.96395523e-01 -1.47539514e-03 -8.97209505e-02] [ 2.18672109e-02 -3.81024641e-04 9.99760811e-01 4.18003767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.152755096000003 meters 0.019514917311829694 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.09, Z:0.42 [[ 9.96153490e-01 -8.49005587e-02 -2.16822313e-02 2.07349912e+01] [ 8.48886161e-02 9.96389359e-01 -1.47227150e-03 -8.83615844e-02] [ 2.17289413e-02 -3.73966217e-04 9.99763829e-01 4.18362569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.182755096 meters 0.018808146331528275 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.08, Z:0.42 [[ 9.96226678e-01 -8.40354563e-02 -2.16898272e-02 2.07637737e+01] [ 8.40232269e-02 9.96462703e-01 -1.47616385e-03 -8.43905533e-02] [ 2.17371539e-02 -3.51855464e-04 9.99763658e-01 4.19189585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.212755096000002 meters 0.018772571290026536 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.08, Z:0.42 [[ 9.96264332e-01 -8.36041528e-02 -2.16269994e-02 2.07918782e+01] [ 8.35917742e-02 9.96498988e-01 -1.47734377e-03 -8.20171060e-02] [ 2.16747951e-02 -3.36014352e-04 9.99765018e-01 4.19744132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.242755096000003 meters 0.019014750489659397 Centerline is valid? [True, True] Translation: X:20.82, Y:-0.08, Z:0.42 [[ 9.96324114e-01 -8.27696071e-02 -2.20783145e-02 2.08195539e+01] [ 8.27564530e-02 9.96568657e-01 -1.51037311e-03 -8.07562042e-02] [ 2.21275692e-02 -3.22301849e-04 9.99755103e-01 4.19819714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.272755096000004 meters 0.018674437372921 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.08, Z:0.42 [[ 9.96301363e-01 -8.30504110e-02 -2.20504525e-02 2.08479090e+01] [ 8.30372957e-02 9.96545294e-01 -1.51132278e-03 -7.80689947e-02] [ 2.20997906e-02 -3.25276992e-04 9.99755717e-01 4.20336442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.302755096000002 meters 0.01861733464527485 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.08, Z:0.42 [[ 9.96285673e-01 -8.32384973e-02 -2.20501983e-02 2.08753473e+01] [ 8.32252902e-02 9.96529602e-01 -1.51755779e-03 -7.57976147e-02] [ 2.20999946e-02 -3.23213070e-04 9.99755713e-01 4.21081611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.332755096000003 meters 0.018720710319642456 Centerline is valid? [True, True] Translation: X:20.90, Y:-0.07, Z:0.42 [[ 9.96256455e-01 -8.38105170e-02 -2.11866224e-02 2.09032622e+01] [ 8.37983845e-02 9.96481658e-01 -1.46137266e-03 -7.46023795e-02] [ 2.12345591e-02 -3.19502787e-04 9.99774470e-01 4.22055429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.362755096000004 meters 0.018578686010554266 Centerline is valid? [True, True] Translation: X:20.93, Y:-0.07, Z:0.42 [[ 9.96201032e-01 -8.45607271e-02 -2.08083669e-02 2.09312546e+01] [ 8.45490537e-02 9.96418275e-01 -1.44169614e-03 -7.19376018e-02] [ 2.08557480e-02 -3.23108553e-04 9.99782443e-01 4.23043277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.392755096000002 meters 0.01881875265506725 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.07, Z:0.42 [[ 9.96161699e-01 -8.50660006e-02 -2.06311784e-02 2.09590138e+01] [ 8.50545059e-02 9.96375266e-01 -1.43558664e-03 -7.02883458e-02] [ 2.06785155e-02 -3.24698266e-04 9.99786124e-01 4.23733364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.422755096000003 meters 0.01930908558210321 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.07, Z:0.42 [[ 9.96081041e-01 -8.60922881e-02 -2.02652045e-02 2.09869982e+01] [ 8.60813696e-02 9.96287109e-01 -1.41210539e-03 -6.89057508e-02] [ 2.03115334e-02 -3.37885151e-04 9.99793642e-01 4.24921052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.452755096000004 meters 0.01955633953655138 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.07, Z:0.43 [[ 9.96033908e-01 -8.66659239e-02 -2.01363333e-02 2.10147922e+01] [ 8.66552214e-02 9.96237370e-01 -1.40509107e-03 -6.72797054e-02] [ 2.01823412e-02 -3.45400071e-04 9.99796256e-01 4.25459726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.482755096 meters 0.020261577190563044 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.07, Z:0.43 [[ 9.95985806e-01 -8.71813737e-02 -2.02899351e-02 2.10416590e+01] [ 8.71705702e-02 9.96192392e-01 -1.41796548e-03 -6.68042431e-02] [ 2.03362992e-02 -3.56411725e-04 9.99793133e-01 4.25670552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.512755096000003 meters 0.02022299060866033 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.06, Z:0.43 [[ 9.95898878e-01 -8.81687141e-02 -2.02904607e-02 2.10705181e+01] [ 8.81580263e-02 9.96105486e-01 -1.42235940e-03 -6.45253922e-02] [ 2.03368468e-02 -3.72240839e-04 9.99793116e-01 4.26020042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.542755096000004 meters 0.02047744274822959 Centerline is valid? [True, True] Translation: X:21.10, Y:-0.06, Z:0.43 [[ 9.95870530e-01 -8.85515091e-02 -2.00129308e-02 2.10983560e+01] [ 8.85410877e-02 9.96071530e-01 -1.40794972e-03 -6.18302275e-02] [ 2.00589866e-02 -3.69831026e-04 9.99798730e-01 4.26247810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.572755096 meters 0.019829517039563156 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.06, Z:0.43 [[ 9.95841601e-01 -8.88654666e-02 -2.00607472e-02 2.11261537e+01] [ 8.88550147e-02 9.96043567e-01 -1.41351496e-03 -5.79398419e-02] [ 2.01069908e-02 -3.74860982e-04 9.99797764e-01 4.26814257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.602755096000003 meters 0.020295760606533618 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.06, Z:0.43 [[ 9.95864615e-01 -8.85781130e-02 -2.01887750e-02 2.11542572e+01] [ 8.85673457e-02 9.96069166e-01 -1.42859726e-03 -5.66334301e-02] [ 2.02359587e-02 -3.65376751e-04 9.99795165e-01 4.27116047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.632755096000004 meters 0.02047024231729665 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.05, Z:0.43 [[ 9.95814213e-01 -8.91585321e-02 -2.01198552e-02 2.11819078e+01] [ 8.91479113e-02 9.96017378e-01 -1.42596231e-03 -5.46251830e-02] [ 2.01668621e-02 -3.73649532e-04 9.99796558e-01 4.27505403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.662755096 meters 0.01987049296450652 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.05, Z:0.43 [[ 9.95771335e-01 -8.95244098e-02 -2.06113846e-02 2.12100862e+01] [ 8.95132108e-02 9.95984554e-01 -1.46714974e-03 -5.11445649e-02] [ 2.06599664e-02 -3.84045558e-04 9.99786486e-01 4.27762950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.692755096000003 meters 0.02056150190247478 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.05, Z:0.43 [[ 9.95757740e-01 -8.97675356e-02 -2.02067623e-02 2.12372000e+01] [ 8.97567016e-02 9.95962674e-01 -1.44429292e-03 -5.03938560e-02] [ 2.02548316e-02 -3.75526486e-04 9.99794779e-01 4.28222324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.722755096000004 meters 0.020337896045293413 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.05, Z:0.43 [[ 9.95761395e-01 -8.96370380e-02 -2.06021019e-02 2.12647189e+01] [ 8.96256827e-02 9.95974427e-01 -1.47571223e-03 -4.80219681e-02] [ 2.06514451e-02 -3.77020179e-04 9.99786665e-01 4.28789959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.752755096 meters 0.02043986589990787 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.05, Z:0.43 [[ 9.95748103e-01 -8.97322601e-02 -2.08287509e-02 2.12917670e+01] [ 8.97205493e-02 9.95965852e-01 -1.49793733e-03 -4.59190795e-02] [ 2.08791380e-02 -3.77198722e-04 9.99781936e-01 4.29352490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.782755096000002 meters 0.020020190708938252 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.04, Z:0.43 [[ 9.95767134e-01 -8.93960719e-02 -2.13578254e-02 2.13195866e+01] [ 8.93836101e-02 9.95996085e-01 -1.53930833e-03 -4.27101903e-02] [ 2.14099186e-02 -3.76246890e-04 9.99770711e-01 4.29819159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.812755096000004 meters 0.019939605688616746 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.04, Z:0.43 [[ 9.95805688e-01 -8.89562116e-02 -2.13968447e-02 2.13476340e+01] [ 8.89434756e-02 9.96035472e-01 -1.54804877e-03 -4.04643832e-02] [ 2.14497249e-02 -3.61553971e-04 9.99769863e-01 4.30319058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.842755096 meters 0.019897599349332648 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.04, Z:0.43 [[ 9.95821399e-01 -8.88917776e-02 -2.09282775e-02 2.13753447e+01] [ 8.88795290e-02 9.96041229e-01 -1.51653434e-03 -3.74313754e-02] [ 2.09802347e-02 -3.49898097e-04 9.99779829e-01 4.31485269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.872755096000002 meters 0.018681304808518203 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.03, Z:0.43 [[ 9.95947059e-01 -8.74221731e-02 -2.11381154e-02 2.14034658e+01] [ 8.74092127e-02 9.96171302e-01 -1.53806580e-03 -3.14470708e-02] [ 2.11916450e-02 -3.15833909e-04 9.99775382e-01 4.32923317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.902755096000003 meters 0.01901825962839233 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.03, Z:0.43 [[ 9.96019471e-01 -8.65808567e-02 -2.11888697e-02 2.14312842e+01] [ 8.65675265e-02 9.96244784e-01 -1.54727118e-03 -2.97560215e-02] [ 2.12432650e-02 -2.93155815e-04 9.99774293e-01 4.33140677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.932755096 meters 0.018172058092782904 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.03, Z:0.43 [[ 9.96093040e-01 -8.55554927e-02 -2.18840901e-02 2.14600537e+01] [ 8.55409448e-02 9.96333369e-01 -1.60172951e-03 -2.53954341e-02] [ 2.19408859e-02 -2.76514125e-04 9.99759232e-01 4.33553599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.962755096000002 meters 0.018812202836062393 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.02, Z:0.43 [[ 9.96083299e-01 -8.55375849e-02 -2.23915957e-02 2.14875782e+01] [ 8.55222213e-02 9.96334906e-01 -1.64460613e-03 -2.49844238e-02] [ 2.24502040e-02 -2.76814297e-04 9.99747924e-01 4.33544708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.992755096000003 meters 0.018238967648816818 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.02, Z:0.43 [[ 9.96070831e-01 -8.56715137e-02 -2.24341731e-02 2.15154093e+01] [ 8.56560424e-02 9.96323399e-01 -1.65143054e-03 -2.14207370e-02] [ 2.24931722e-02 -2.76680693e-04 9.99746958e-01 4.34451072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.022755096000004 meters 0.018238967648816818 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.02, Z:0.43 [[ 9.96044403e-01 -8.59783527e-02 -2.24336632e-02 2.15428999e+01] [ 8.59628038e-02 9.96296967e-01 -1.65833113e-03 -1.92150685e-02] [ 2.24931712e-02 -2.76689148e-04 9.99746958e-01 4.34965822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.052755096000002 meters 0.018795930926146724 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.02, Z:0.43 [[ 9.96042074e-01 -8.59250278e-02 -2.27393031e-02 2.15695520e+01] [ 8.59088923e-02 9.96301568e-01 -1.68733147e-03 -1.85177973e-02] [ 2.28001874e-02 -2.72855206e-04 9.99740005e-01 4.34991973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.082755096000003 meters 0.01823063120947257 Centerline is valid? [True, True] Translation: X:21.60, Y:-0.01, Z:0.44 [[ 9.96023373e-01 -8.61571433e-02 -2.26801255e-02 2.15977395e+01] [ 8.61410674e-02 9.96281522e-01 -1.68665005e-03 -1.44784332e-02] [ 2.27411069e-02 -2.73747345e-04 9.99741350e-01 4.35948881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.112755096000004 meters 0.018137431291490275 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.01, Z:0.44 [[ 9.95968707e-01 -8.67015660e-02 -2.30037550e-02 2.16257676e+01] [ 8.66850099e-02 9.96234289e-01 -1.71779276e-03 -1.17406215e-02] [ 2.30660648e-02 -2.83212900e-04 9.99733903e-01 4.36838089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.142755096000002 meters 0.018032449825866555 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.01, Z:0.44 [[ 9.95922268e-01 -8.71917175e-02 -2.31611859e-02 2.16534431e+01] [ 8.71748986e-02 9.96191508e-01 -1.73677704e-03 -9.48875241e-03] [ 2.32244093e-02 -2.89379113e-04 9.99730235e-01 4.37332840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.172755096000003 meters 0.01905380292718527 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.01, Z:0.44 [[ 9.95759610e-01 -8.88592873e-02 -2.38081185e-02 2.16818007e+01] [ 8.88418300e-02 9.96044134e-01 -1.79207601e-03 -9.91240475e-03] [ 2.38731793e-02 -3.30679904e-04 9.99714940e-01 4.36990086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.202755096000004 meters 0.019442387838049607 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.01, Z:0.44 [[ 9.95698765e-01 -8.95602106e-02 -2.37263152e-02 2.17097364e+01] [ 8.95429966e-02 9.95981351e-01 -1.78908428e-03 -9.44530390e-03] [ 2.37911982e-02 -3.43136355e-04 9.99716890e-01 4.37655201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.232755096 meters 0.01909748025757951 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.01, Z:0.44 [[ 9.95551977e-01 -9.11246500e-02 -2.39282128e-02 2.17387190e+01] [ 9.11075181e-02 9.95839421e-01 -1.80744665e-03 -6.75699152e-03] [ 2.39933606e-02 -3.80632996e-04 9.99712045e-01 4.38913140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.262755096000003 meters 0.02090604302022936 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.01, Z:0.44 [[ 9.95354748e-01 -9.31582952e-02 -2.42993444e-02 2.17669445e+01] [ 9.31410952e-02 9.95651217e-01 -1.84114844e-03 -9.36885551e-03] [ 2.43651901e-02 -4.30671703e-04 9.99703032e-01 4.38627385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.292755096000004 meters 0.02121254802764356 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.01, Z:0.44 [[ 9.95288546e-01 -9.38838577e-02 -2.42184212e-02 2.17957361e+01] [ 9.38669098e-02 9.95583057e-01 -1.83818404e-03 -8.21288854e-03] [ 2.42840256e-02 -4.43784835e-04 9.99705001e-01 4.39533916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.322755096 meters 0.020610157803573507 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.00, Z:0.44 [[ 9.95209240e-01 -9.48051009e-02 -2.38864196e-02 2.18241975e+01] [ 9.47887364e-02 9.95495749e-01 -1.81896538e-03 -4.89438801e-03] [ 2.39512763e-02 -4.53912378e-04 9.99713024e-01 4.41101906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.352755096000003 meters 0.02077710667004519 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.00, Z:0.44 [[ 9.95132188e-01 -9.57736102e-02 -2.32237971e-02 2.18531897e+01] [ 9.57582654e-02 9.95403037e-01 -1.77448574e-03 -2.98244110e-03] [ 2.32869871e-02 -4.58022656e-04 9.99728716e-01 4.42774345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.382755096000004 meters 0.02092517436107108 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.00, Z:0.44 [[ 9.95076493e-01 -9.64078204e-02 -2.29849130e-02 2.18812550e+01] [ 9.63928154e-02 9.95341810e-01 -1.76245094e-03 -1.43595884e-03] [ 2.30477589e-02 -4.61806969e-04 9.99734258e-01 4.43518469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.412755096 meters 0.02123121714377502 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.00, Z:0.44 [[ 9.95022356e-01 -9.69899342e-02 -2.28793388e-02 2.19089298e+01] [ 9.69750620e-02 9.95285253e-01 -1.76126620e-03 -2.49200179e-04] [ 2.29422936e-02 -4.66226051e-04 9.99736682e-01 4.44263006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.442755096000003 meters 0.02069104406550689 Centerline is valid? [True, True] Translation: X:21.94, Y:0.00, Z:0.45 [[ 9.94950281e-01 -9.79177914e-02 -2.20464343e-02 2.19377810e+01] [ 9.79040695e-02 9.95194399e-01 -1.70350187e-03 2.22341576e-03] [ 2.21072911e-02 -4.63535974e-04 9.99755497e-01 4.45558295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.472755096000004 meters 0.02102849443943028 Centerline is valid? [True, True] Translation: X:21.97, Y:0.00, Z:0.45 [[ 9.94897744e-01 -9.83833520e-02 -2.23426676e-02 2.19656557e+01] [ 9.83692516e-02 9.95148477e-01 -1.73194985e-03 3.42393644e-03] [ 2.24046666e-02 -4.74718487e-04 9.99748871e-01 4.46041109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.502755096 meters 0.020741407682068443 Centerline is valid? [True, True] Translation: X:21.99, Y:0.01, Z:0.45 [[ 9.94850354e-01 -9.88552390e-02 -2.23699537e-02 2.19933821e+01] [ 9.88411562e-02 9.95101708e-01 -1.73705468e-03 5.81510549e-03] [ 2.24320961e-02 -4.82962621e-04 9.99748252e-01 4.46625006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.532755096000002 meters 0.02168319960216916 Centerline is valid? [True, True] Translation: X:22.02, Y:0.01, Z:0.45 [[ 9.94802561e-01 -9.93422885e-02 -2.23377373e-02 2.20210674e+01] [ 9.93282284e-02 9.95053201e-01 -1.74083213e-03 5.24025188e-03] [ 2.24001752e-02 -4.86983603e-04 9.99748966e-01 4.47277538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.562755096000004 meters 0.020925364697224468 Centerline is valid? [True, True] Translation: X:22.05, Y:0.01, Z:0.45 [[ 9.94771254e-01 -9.97265483e-02 -2.20174360e-02 2.20490433e+01] [ 9.97129192e-02 9.95014764e-01 -1.71873813e-03 8.45301051e-03] [ 2.20790777e-02 -4.85671536e-04 9.99756109e-01 4.48275420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.592755096 meters 0.02113856304017326 Centerline is valid? [True, True] Translation: X:22.08, Y:0.01, Z:0.45 [[ 9.94712703e-01 -1.00230160e-01 -2.23730340e-02 2.20773370e+01] [ 1.00216053e-01 9.94964154e-01 -1.75368785e-03 9.96153339e-03] [ 2.24361393e-02 -4.97721577e-04 9.99748154e-01 4.48812255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.622755096000002 meters 0.020923526308306635 Centerline is valid? [True, True] Translation: X:22.11, Y:0.01, Z:0.45 [[ 9.94665826e-01 -1.00632576e-01 -2.26490332e-02 2.21056802e+01] [ 1.00618078e-01 9.94923529e-01 -1.78170425e-03 1.12967974e-02] [ 2.27133535e-02 -5.06701866e-04 9.99741890e-01 4.49668197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.652755096000003 meters 0.020817187620769194 Centerline is valid? [True, True] Translation: X:22.13, Y:0.01, Z:0.45 [[ 9.94631168e-01 -1.00854123e-01 -2.31794249e-02 2.21340368e+01] [ 1.00838920e-01 9.94901088e-01 -1.82680493e-03 1.30220153e-02] [ 2.32454758e-02 -5.20391043e-04 9.99729652e-01 4.50361380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.682755096000005 meters 0.02083037244666495 Centerline is valid? [True, True] Translation: X:22.16, Y:0.01, Z:0.45 [[ 9.94574498e-01 -1.01310695e-01 -2.36159147e-02 2.21622358e+01] [ 1.01294858e-01 9.94854692e-01 -1.86896420e-03 1.36076877e-02] [ 2.36837496e-02 -5.33346593e-04 9.99719358e-01 4.50866596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.712755096000002 meters 0.02313600592438707 Centerline is valid? [True, True] Translation: X:22.19, Y:0.01, Z:0.45 [[ 9.94597031e-01 -1.01068252e-01 -2.37055952e-02 2.21903198e+01] [ 1.01052070e-01 9.94879357e-01 -1.88263355e-03 1.09805688e-02] [ 2.37744818e-02 -5.23037727e-04 9.99717210e-01 4.50154630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.742755096000003 meters 0.020773591286271546 Centerline is valid? [True, True] Translation: X:22.22, Y:0.02, Z:0.45 [[ 9.94590488e-01 -1.01203808e-01 -2.33998139e-02 2.22177627e+01] [ 1.01187999e-01 9.94865580e-01 -1.86172885e-03 1.72364282e-02] [ 2.34680835e-02 -5.16122535e-04 9.99724453e-01 4.51787931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.772755096000004 meters 0.020940566733674976 Centerline is valid? [True, True] Translation: X:22.24, Y:0.02, Z:0.45 [[ 9.94601710e-01 -1.01156591e-01 -2.31253672e-02 2.22443708e+01] [ 1.01140985e-01 9.94870389e-01 -1.84650858e-03 1.76801821e-02] [ 2.31935296e-02 -5.02381817e-04 9.99730868e-01 4.52344509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.802755096000002 meters 0.02109912861828982 Centerline is valid? [True, True] Translation: X:22.27, Y:0.02, Z:0.45 [[ 9.94611523e-01 -1.01142259e-01 -2.27631885e-02 2.22724815e+01] [ 1.01127045e-01 9.94871853e-01 -1.82147013e-03 1.91096787e-02] [ 2.28306831e-02 -4.90318797e-04 9.99739226e-01 4.52825598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.832755096000003 meters 0.021129806839592823 Centerline is valid? [True, True] Translation: X:22.30, Y:0.02, Z:0.45 [[ 9.94654956e-01 -1.00820193e-01 -2.22891486e-02 2.23000881e+01] [ 1.00805388e-01 9.94904554e-01 -1.78970123e-03 2.00487148e-02] [ 2.23560134e-02 -4.66731069e-04 9.99749964e-01 4.53661116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.862755096000004 meters 0.02124213799513903 Centerline is valid? [True, True] Translation: X:22.33, Y:0.02, Z:0.45 [[ 9.94628607e-01 -1.01145556e-01 -2.19888603e-02 2.23278918e+01] [ 1.01131164e-01 9.94871530e-01 -1.76843127e-03 2.15801569e-02] [ 2.20549600e-02 -4.64826702e-04 9.99756652e-01 4.54376253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.892755096000002 meters 0.020639223517696117 Centerline is valid? [True, True] Translation: X:22.36, Y:0.02, Z:0.46 [[ 9.94651483e-01 -1.00881718e-01 -2.21654517e-02 2.23558399e+01] [ 1.00866872e-01 9.94898322e-01 -1.78961259e-03 2.33924262e-02] [ 2.22329099e-02 -4.55718963e-04 9.99752714e-01 4.55014963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.922755096000003 meters 0.020557511596040873 Centerline is valid? [True, True] Translation: X:22.38, Y:0.02, Z:0.46 [[ 9.94714926e-01 -1.00204311e-01 -2.23899764e-02 2.23840819e+01] [ 1.00188845e-01 9.94966785e-01 -1.81428991e-03 2.49376762e-02] [ 2.24590825e-02 -4.38524611e-04 9.99747667e-01 4.55258845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.952755096000004 meters 0.02013683734565386 Centerline is valid? [True, True] Translation: X:22.41, Y:0.03, Z:0.46 [[ 9.94722967e-01 -1.00016915e-01 -2.28656127e-02 2.24122175e+01] [ 1.00000640e-01 9.94985640e-01 -1.85697957e-03 2.78899062e-02] [ 2.29366856e-02 -4.39395680e-04 9.99736823e-01 4.55968682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.982755096 meters 0.020048982381668624 Centerline is valid? [True, True] Translation: X:22.44, Y:0.03, Z:0.46 [[ 9.94896488e-01 -9.81324893e-02 -2.34732200e-02 2.24402161e+01] [ 9.81146583e-02 9.95173279e-01 -1.91290803e-03 2.98436274e-02] [ 2.35476397e-02 -3.99921474e-04 9.99722636e-01 4.55821664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.012755096000003 meters 0.019579282888326607 Centerline is valid? [True, True] Translation: X:22.47, Y:0.03, Z:0.46 [[ 9.94949082e-01 -9.76204413e-02 -2.33789163e-02 2.24693280e+01] [ 9.76025388e-02 9.95223645e-01 -1.90834237e-03 3.30557944e-02] [ 2.34535435e-02 -3.83138099e-04 9.99724854e-01 4.56469916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.042755096000004 meters 0.019433119440099154 Centerline is valid? [True, True] Translation: X:22.50, Y:0.03, Z:0.46 [[ 9.95026216e-01 -9.67779416e-02 -2.35978655e-02 2.24974586e+01] [ 9.67593265e-02 9.95305933e-01 -1.93208085e-03 3.46442369e-02] [ 2.36740783e-02 -3.60842477e-04 9.99719665e-01 4.57413747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.072755096 meters 0.019502604015094415 Centerline is valid? [True, True] Translation: X:22.53, Y:0.04, Z:0.46 [[ 9.95022300e-01 -9.68090033e-02 -2.36355515e-02 2.25254698e+01] [ 9.67902369e-02 9.95302913e-01 -1.93940112e-03 3.65308444e-02] [ 2.37122848e-02 -3.57943268e-04 9.99718760e-01 4.57738950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.102755096000003 meters 0.01913920449287108 Centerline is valid? [True, True] Translation: X:22.55, Y:0.04, Z:0.46 [[ 9.94983969e-01 -9.71770511e-02 -2.37386096e-02 2.25532444e+01] [ 9.71580505e-02 9.95267045e-01 -1.95519994e-03 3.92499128e-02] [ 2.38162564e-02 -3.61004430e-04 9.99716288e-01 4.58307787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.132755096000004 meters 0.019517640569119026 Centerline is valid? [True, True] Translation: X:22.58, Y:0.04, Z:0.46 [[ 9.94967519e-01 -9.73133019e-02 -2.38695946e-02 2.25802919e+01] [ 9.72939714e-02 9.95253732e-01 -1.97261863e-03 3.99152524e-02] [ 2.39482651e-02 -3.59676194e-04 9.99713134e-01 4.58552121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.162755096 meters 0.019700256585696015 Centerline is valid? [True, True] Translation: X:22.61, Y:0.04, Z:0.46 [[ 9.94933047e-01 -9.77164625e-02 -2.36584891e-02 2.26078582e+01] [ 9.76975153e-02 9.95214229e-01 -1.95816341e-03 4.02494805e-02] [ 2.37366098e-02 -3.63134107e-04 9.99718181e-01 4.59890755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.192755096000003 meters 0.01905657791446123 Centerline is valid? [True, True] Translation: X:22.64, Y:0.04, Z:0.46 [[ 9.94867202e-01 -9.84065833e-02 -2.35668136e-02 2.26355063e+01] [ 9.83878979e-02 9.95146222e-01 -1.95389151e-03 4.37690755e-02] [ 2.36447013e-02 -3.74826674e-04 9.99720355e-01 4.61279797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.222755096000004 meters 0.018852777591264303 Centerline is valid? [True, True] Translation: X:22.66, Y:0.05, Z:0.46 [[ 9.94822335e-01 -9.89481534e-02 -2.31901866e-02 2.26637359e+01] [ 9.89300363e-02 9.95092520e-01 -1.93002368e-03 4.66463984e-02] [ 2.32673535e-02 -3.74175340e-04 9.99729208e-01 4.62348797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.252755096 meters 0.018857572689579348 Centerline is valid? [True, True] Translation: X:22.69, Y:0.05, Z:0.46 [[ 9.94850332e-01 -9.85996718e-02 -2.34717254e-02 2.26912350e+01] [ 9.85808593e-02 9.95127114e-01 -1.96006740e-03 4.93513526e-02] [ 2.35506124e-02 -3.63889152e-04 9.99722580e-01 4.62952443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.282755096000002 meters 0.0197882194277317 Centerline is valid? [True, True] Translation: X:22.72, Y:0.05, Z:0.46 [[ 9.94931064e-01 -9.79060814e-02 -2.29472491e-02 2.27191110e+01] [ 9.78878640e-02 9.95195602e-01 -1.91852464e-03 5.01671244e-02] [ 2.30248366e-02 -3.37457437e-04 9.99734836e-01 4.62939727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.312755096000004 meters 0.019176913626928783 Centerline is valid? [True, True] Translation: X:22.75, Y:0.05, Z:0.46 [[ 9.94920688e-01 -9.80270244e-02 -2.28807269e-02 2.27469058e+01] [ 9.80088732e-02 9.95183696e-01 -1.91606725e-03 5.36271400e-02] [ 2.29583527e-02 -3.36179311e-04 9.99736366e-01 4.63898234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.342755096 meters 0.01824584285617287 Centerline is valid? [True, True] Translation: X:22.77, Y:0.06, Z:0.46 [[ 9.94939086e-01 -9.78307584e-02 -2.29206837e-02 2.27742611e+01] [ 9.78123320e-02 9.95203013e-01 -1.92635396e-03 5.85525719e-02] [ 2.29991901e-02 -3.25320667e-04 9.99735431e-01 4.64859447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.372755096000002 meters 0.01810372556348053 Centerline is valid? [True, True] Translation: X:22.80, Y:0.06, Z:0.47 [[ 9.94893110e-01 -9.82064096e-02 -2.33066822e-02 2.28019263e+01] [ 9.81872840e-02 9.95166012e-01 -1.96633331e-03 6.12680215e-02] [ 2.33871245e-02 -3.32128360e-04 9.99726429e-01 4.65390668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.402755096000003 meters 0.01849247863789019 Centerline is valid? [True, True] Translation: X:22.83, Y:0.06, Z:0.47 [[ 9.94842444e-01 -9.86564860e-02 -2.35671445e-02 2.28291960e+01] [ 9.86369020e-02 9.95121491e-01 -1.99484409e-03 6.38499233e-02] [ 2.36489763e-02 -3.40034557e-04 9.99720266e-01 4.65027870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.432755096000005 meters 0.018047766858454325 Centerline is valid? [True, True] Translation: X:22.86, Y:0.07, Z:0.47 [[ 9.94749072e-01 -9.95125295e-02 -2.39068920e-02 2.28583541e+01] [ 9.94925430e-02 9.95036243e-01 -2.02697352e-03 6.78644360e-02] [ 2.39899332e-02 -3.62227450e-04 9.99712135e-01 4.65658099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.462755096000002 meters 0.018906268728561416 Centerline is valid? [True, True] Translation: X:22.89, Y:0.07, Z:0.47 [[ 9.94663214e-01 -1.00296804e-01 -2.42000447e-02 2.28865684e+01] [ 1.00276412e-01 9.94957490e-01 -2.05777669e-03 6.87829892e-02] [ 2.42844042e-02 -3.79898870e-04 9.99705018e-01 4.65073645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.492755096000003 meters 0.019204856593667028 Centerline is valid? [True, True] Translation: X:22.92, Y:0.07, Z:0.47 [[ 9.94364005e-01 -1.03202231e-01 -2.42801192e-02 2.29155641e+01] [ 1.03182485e-01 9.94660293e-01 -2.06804144e-03 6.99827257e-02] [ 2.43638970e-02 -4.48897062e-04 9.99703055e-01 4.66006910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.522755096000004 meters 0.019556296533333913 Centerline is valid? [True, True] Translation: X:22.94, Y:0.07, Z:0.47 [[ 9.94186871e-01 -1.04828446e-01 -2.45654906e-02 2.29445739e+01] [ 1.04808559e-01 9.94490201e-01 -2.09926850e-03 7.14709679e-02] [ 2.46502028e-02 -4.87608486e-04 9.99696019e-01 4.66846776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.552755096000002 meters 0.020407799409127195 Centerline is valid? [True, True] Translation: X:22.97, Y:0.07, Z:0.47 [[ 9.94022999e-01 -1.06421103e-01 -2.43480341e-02 2.29728572e+01] [ 1.06401903e-01 9.94321015e-01 -2.08643099e-03 7.21387251e-02] [ 2.44318023e-02 -5.16716786e-04 9.99701365e-01 4.67324191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.582755096000003 meters 0.020940777615908897 Centerline is valid? [True, True] Translation: X:23.00, Y:0.07, Z:0.47 [[ 9.93816085e-01 -1.08290144e-01 -2.45526932e-02 2.30020130e+01] [ 1.08271104e-01 9.94119171e-01 -2.10744914e-03 7.33952076e-02] [ 2.46365190e-02 -5.63930359e-04 9.99696316e-01 4.67923048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.612755096000004 meters 0.024019322641630314 Centerline is valid? [True, True] Translation: X:23.03, Y:0.07, Z:0.47 [[ 9.93403566e-01 -1.12085519e-01 -2.42113722e-02 2.30300708e+01] [ 1.12067988e-01 9.93698356e-01 -2.08401473e-03 7.09995279e-02] [ 2.42923886e-02 -6.43052111e-04 9.99704690e-01 4.68196006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.642755096000002 meters 0.023285469460994107 Centerline is valid? [True, True] Translation: X:23.06, Y:0.07, Z:0.47 [[ 9.93238820e-01 -1.13602622e-01 -2.38975085e-02 2.30584530e+01] [ 1.13585883e-01 9.93526043e-01 -2.06110832e-03 7.48024918e-02] [ 2.39769444e-02 -6.67246806e-04 9.99712289e-01 4.69531285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.672755096000003 meters 0.023620479378933874 Centerline is valid? [True, True] Translation: X:23.09, Y:0.08, Z:0.47 [[ 9.92901257e-01 -1.16539354e-01 -2.37838733e-02 2.30874297e+01] [ 1.16523461e-01 9.93185808e-01 -2.05774686e-03 7.65726142e-02] [ 2.38616139e-02 -7.28239793e-04 9.99715006e-01 4.70259973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.702755096000004 meters 0.02445283675154853 Centerline is valid? [True, True] Translation: X:23.11, Y:0.08, Z:0.47 [[ 9.92742522e-01 -1.17802851e-01 -2.41821016e-02 2.31148496e+01] [ 1.17786652e-01 9.93036708e-01 -2.09812347e-03 7.72799019e-02] [ 2.42608795e-02 -7.65432407e-04 9.99705369e-01 4.70921464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.732755096 meters 0.025405313637082205 Centerline is valid? [True, True] Translation: X:23.14, Y:0.08, Z:0.47 [[ 9.92594023e-01 -1.19103562e-01 -2.39049573e-02 2.31426637e+01] [ 1.19088044e-01 9.92881526e-01 -2.07676204e-03 7.80270315e-02] [ 2.39821403e-02 -7.85413029e-04 9.99712079e-01 4.71553117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.762755096000003 meters 0.025505859390849945 Centerline is valid? [True, True] Translation: X:23.17, Y:0.08, Z:0.47 [[ 9.92581103e-01 -1.19334261e-01 -2.32827957e-02 2.31707937e+01] [ 1.19319530e-01 9.92853839e-01 -2.02590988e-03 8.25854881e-02] [ 2.33581735e-02 -7.67212370e-04 9.99726866e-01 4.72924912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.792755096000004 meters 0.025078213505534415 Centerline is valid? [True, True] Translation: X:23.20, Y:0.09, Z:0.47 [[ 9.92550409e-01 -1.19453708e-01 -2.39686763e-02 2.31987152e+01] [ 1.19437948e-01 9.92839461e-01 -2.09319185e-03 8.62636072e-02] [ 2.40470872e-02 -7.85171096e-04 9.99710519e-01 4.72894470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.822755096 meters 0.02592305665089151 Centerline is valid? [True, True] Translation: X:23.23, Y:0.09, Z:0.47 [[ 9.92462667e-01 -1.20065027e-01 -2.45406740e-02 2.32264987e+01] [ 1.20048531e-01 9.92765697e-01 -2.14967708e-03 8.77828307e-02] [ 2.46212404e-02 -8.12597617e-04 9.99696521e-01 4.72763871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.852755096000003 meters 0.026311554182835876 Centerline is valid? [True, True] Translation: X:23.25, Y:0.09, Z:0.47 [[ 9.92413385e-01 -1.20470544e-01 -2.45462989e-02 2.32547594e+01] [ 1.20454107e-01 9.92716563e-01 -2.15253340e-03 9.01452509e-02] [ 2.46268343e-02 -8.20499539e-04 9.99696377e-01 4.73466422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.882755096000004 meters 0.024524225475596136 Centerline is valid? [True, True] Translation: X:23.28, Y:0.10, Z:0.47 [[ 9.92352835e-01 -1.21039276e-01 -2.41938806e-02 2.32826357e+01] [ 1.21023390e-01 9.92647381e-01 -2.12517153e-03 9.54422406e-02] [ 2.42732214e-02 -8.19105462e-04 9.99705026e-01 4.74572397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.912755096 meters 0.024524225475596136 Centerline is valid? [True, True] Translation: X:23.31, Y:0.10, Z:0.48 [[ 9.92314068e-01 -1.21356825e-01 -2.41931982e-02 2.33101224e+01] [ 1.21340845e-01 9.92608609e-01 -2.13291523e-03 9.80226481e-02] [ 2.42732206e-02 -8.19101309e-04 9.99705026e-01 4.75087403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.942755096000003 meters 0.02539099014597859 Centerline is valid? [True, True] Translation: X:23.34, Y:0.10, Z:0.48 [[ 9.92269587e-01 -1.21779724e-01 -2.38906843e-02 2.33378840e+01] [ 1.21764102e-01 9.92556819e-01 -2.11297404e-03 9.92808096e-02] [ 2.39701790e-02 -8.12387842e-04 9.99712344e-01 4.75918462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.972755096000004 meters 0.027399944402761407 Centerline is valid? [True, True] Translation: X:23.36, Y:0.10, Z:0.48 [[ 9.92244047e-01 -1.22040600e-01 -2.36186871e-02 2.33646415e+01] [ 1.22025323e-01 9.92524782e-01 -2.09237603e-03 9.92566249e-02] [ 2.36974871e-02 -8.05930275e-04 9.99718850e-01 4.75995536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.002755096 meters 0.024772807687724014 Centerline is valid? [True, True] Translation: X:23.39, Y:0.11, Z:0.48 [[ 9.92206506e-01 -1.22363577e-01 -2.35245399e-02 2.33924825e+01] [ 1.22348415e-01 9.92485015e-01 -2.08813103e-03 1.06263738e-01] [ 2.36032645e-02 -8.06332990e-04 9.99721079e-01 4.76907805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.032755096000002 meters 0.025937911051887953 Centerline is valid? [True, True] Translation: X:23.42, Y:0.11, Z:0.48 [[ 9.92137824e-01 -1.22971097e-01 -2.32518189e-02 2.34203129e+01] [ 1.22956303e-01 9.92409926e-01 -2.07029726e-03 1.07289973e-01] [ 2.33299226e-02 -8.04937468e-04 9.99727496e-01 4.77751126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.062755096000004 meters 0.02516535107712275 Centerline is valid? [True, True] Translation: X:23.45, Y:0.11, Z:0.48 [[ 9.92130818e-01 -1.23103190e-01 -2.28482781e-02 2.34484218e+01] [ 1.23088868e-01 9.92393561e-01 -2.03751993e-03 1.10679521e-01] [ 2.29253093e-02 -7.90882369e-04 9.99736868e-01 4.79153044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.092755096 meters 0.025287901568867555 Centerline is valid? [True, True] Translation: X:23.48, Y:0.11, Z:0.48 [[ 9.92071961e-01 -1.23593748e-01 -2.27554486e-02 2.34759293e+01] [ 1.23579507e-01 9.92332585e-01 -2.03645502e-03 1.12973388e-01] [ 2.28326663e-02 -7.91797186e-04 9.99738987e-01 4.80321916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.122755096000002 meters 0.025160113953714317 Centerline is valid? [True, True] Translation: X:23.50, Y:0.12, Z:0.48 [[ 9.92131962e-01 -1.23048869e-01 -2.30899358e-02 2.35047956e+01] [ 1.23033891e-01 9.92400303e-01 -2.07361652e-03 1.15995829e-01] [ 2.31696155e-02 -7.83543412e-04 9.99731241e-01 4.80791580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.152755096000003 meters 0.028361644347868035 Centerline is valid? [True, True] Translation: X:23.53, Y:0.11, Z:0.48 [[ 9.92203283e-01 -1.22529273e-01 -2.27864454e-02 2.35335310e+01] [ 1.22514407e-01 9.92464612e-01 -2.05255898e-03 1.14186747e-01] [ 2.28662393e-02 -7.55112098e-04 9.99738248e-01 4.80630084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.182755096000005 meters 0.024832648237420513 Centerline is valid? [True, True] Translation: X:23.56, Y:0.12, Z:0.48 [[ 9.92233903e-01 -1.22311125e-01 -2.26245680e-02 2.35615646e+01] [ 1.22296273e-01 9.92491533e-01 -2.04411501e-03 1.22360209e-01] [ 2.27047102e-02 -7.38660139e-04 9.99741942e-01 4.81675308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.212755096000002 meters 0.028250943140163912 Centerline is valid? [True, True] Translation: X:23.59, Y:0.12, Z:0.48 [[ 9.92299173e-01 -1.21798951e-01 -2.25247882e-02 2.35895190e+01] [ 1.21783975e-01 9.92554532e-01 -2.04053789e-03 1.20589225e-01] [ 2.26056160e-02 -7.18334187e-04 9.99744202e-01 4.81288516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.242755096000003 meters 0.025047951597674013 Centerline is valid? [True, True] Translation: X:23.62, Y:0.13, Z:0.48 [[ 9.92356658e-01 -1.21309888e-01 -2.26312714e-02 2.36175068e+01] [ 1.21294578e-01 9.92614432e-01 -2.05305544e-03 1.28769559e-01] [ 2.27131825e-02 -7.07687264e-04 9.99741772e-01 4.81478426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.272755096000004 meters 0.023509059526752665 Centerline is valid? [True, True] Translation: X:23.65, Y:0.13, Z:0.48 [[ 9.92313977e-01 -1.21653657e-01 -2.26574456e-02 2.36456853e+01] [ 1.21638258e-01 9.92572357e-01 -2.06169799e-03 1.33981143e-01] [ 2.27399673e-02 -7.10160494e-04 9.99741161e-01 4.82393526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.302755096000002 meters 0.02569894555186799 Centerline is valid? [True, True] Translation: X:23.67, Y:0.13, Z:0.48 [[ 9.92273143e-01 -1.21986616e-01 -2.26555853e-02 2.36733297e+01] [ 1.21971152e-01 9.92531491e-01 -2.06835135e-03 1.33068243e-01] [ 2.27386931e-02 -7.10958338e-04 9.99741190e-01 4.82510943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.332755096000003 meters 0.02685986250095328 Centerline is valid? [True, True] Translation: X:23.70, Y:0.13, Z:0.48 [[ 9.92087946e-01 -1.23555972e-01 -2.22582253e-02 2.37014683e+01] [ 1.23541343e-01 9.92337337e-01 -2.03637636e-03 1.33233303e-01] [ 2.23392744e-02 -7.29546612e-04 9.99750181e-01 4.83209952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.362755096000004 meters 0.025142035842260494 Centerline is valid? [True, True] Translation: X:23.73, Y:0.14, Z:0.48 [[ 9.91971911e-01 -1.24568717e-01 -2.17798638e-02 2.37298454e+01] [ 1.24554899e-01 9.92210712e-01 -1.99517722e-03 1.38168491e-01] [ 2.18587508e-02 -7.33628968e-04 9.99760800e-01 4.84562653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.392755096000002 meters 0.025692653224055676 Centerline is valid? [True, True] Translation: X:23.76, Y:0.14, Z:0.49 [[ 9.91754315e-01 -1.26542757e-01 -2.02561148e-02 2.37587189e+01] [ 1.26531110e-01 9.91960894e-01 -1.86079817e-03 1.40575223e-01] [ 2.03287442e-02 -7.17574062e-04 9.99793092e-01 4.86312996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.422755096000003 meters 0.026614980250954833 Centerline is valid? [True, True] Translation: X:23.79, Y:0.14, Z:0.49 [[ 9.91664204e-01 -1.27308451e-01 -1.98661748e-02 2.37867751e+01] [ 1.27297297e-01 9.91862918e-01 -1.83019971e-03 1.42055369e-01] [ 1.99375220e-02 -7.13966810e-04 9.99800973e-01 4.87053415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.452755096000004 meters 0.027359478973835623 Centerline is valid? [True, True] Translation: X:23.82, Y:0.14, Z:0.49 [[ 9.91523603e-01 -1.28460723e-01 -1.94624496e-02 2.38156149e+01] [ 1.28450183e-01 9.91714337e-01 -1.79588853e-03 1.43893862e-01] [ 1.95318914e-02 -7.19289342e-04 9.99808976e-01 4.87676884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.482755096 meters 0.027974459135134747 Centerline is valid? [True, True] Translation: X:23.84, Y:0.15, Z:0.49 [[ 9.91433252e-01 -1.29281836e-01 -1.86094877e-02 2.38447732e+01] [ 1.29272255e-01 9.91607644e-01 -1.72197942e-03 1.45622199e-01] [ 1.86759309e-02 -6.98462780e-04 9.99825346e-01 4.88614487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.512755096000003 meters 0.032685881864969304 Centerline is valid? [True, True] Translation: X:23.87, Y:0.14, Z:0.49 [[ 9.91330523e-01 -1.30183362e-01 -1.77788068e-02 2.38727669e+01] [ 1.30174678e-01 9.91489703e-01 -1.64980148e-03 1.41213016e-01] [ 1.78422806e-02 -6.78851885e-04 9.99840583e-01 4.89685329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.542755096000004 meters 0.02840112463649063 Centerline is valid? [True, True] Translation: X:23.90, Y:0.15, Z:0.49 [[ 9.91253382e-01 -1.30729069e-01 -1.80732648e-02 2.39011299e+01] [ 1.30720155e-01 9.91417885e-01 -1.67876562e-03 1.50189813e-01] [ 1.81376215e-02 -6.98457886e-04 9.99835256e-01 4.89935838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.572755096 meters 0.026959818313758807 Centerline is valid? [True, True] Translation: X:23.93, Y:0.16, Z:0.49 [[ 9.91227131e-01 -1.30964568e-01 -1.78060676e-02 2.39288677e+01] [ 1.30955871e-01 9.91386811e-01 -1.65861348e-03 1.55909914e-01] [ 1.78699202e-02 -6.87746412e-04 9.99840084e-01 4.90035192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.602755096000003 meters 0.025940318722330998 Centerline is valid? [True, True] Translation: X:23.96, Y:0.16, Z:0.49 [[ 9.91174635e-01 -1.31371255e-01 -1.77323823e-02 2.39567644e+01] [ 1.31362595e-01 9.91333003e-01 -1.65734551e-03 1.60665273e-01] [ 1.77964234e-02 -6.86652920e-04 9.99841395e-01 4.90151872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.632755096000004 meters 0.027467695805526018 Centerline is valid? [True, True] Translation: X:23.98, Y:0.16, Z:0.49 [[ 9.91202874e-01 -1.31185048e-01 -1.75313007e-02 2.39849886e+01] [ 1.31176450e-01 9.91357672e-01 -1.64444199e-03 1.61505809e-01] [ 1.75955157e-02 -6.69718174e-04 9.99844963e-01 4.90758595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.662755096 meters 0.027675617809273804 Centerline is valid? [True, True] Translation: X:24.01, Y:0.16, Z:0.49 [[ 9.91239530e-01 -1.30922281e-01 -1.74226734e-02 2.40125188e+01] [ 1.30913719e-01 9.91392416e-01 -1.63599767e-03 1.64388161e-01] [ 1.74868948e-02 -6.59201407e-04 9.99846875e-01 4.91157547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.692755096000003 meters 0.025427943786907544 Centerline is valid? [True, True] Translation: X:24.04, Y:0.17, Z:0.49 [[ 9.91285599e-01 -1.30579815e-01 -1.73715988e-02 2.40411802e+01] [ 1.30571226e-01 9.91437587e-01 -1.63263938e-03 1.70720500e-01] [ 1.74360458e-02 -6.49819046e-04 9.99847769e-01 4.91794695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.722755096000004 meters 0.025155921395353407 Centerline is valid? [True, True] Translation: X:24.07, Y:0.17, Z:0.49 [[ 9.91437947e-01 -1.29409974e-01 -1.74314610e-02 2.40702212e+01] [ 1.29401054e-01 9.91590977e-01 -1.64339333e-03 1.74979615e-01] [ 1.74975510e-02 -6.26326927e-04 9.99846710e-01 4.92432247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.752755096 meters 0.02465775579725929 Centerline is valid? [True, True] Translation: X:24.10, Y:0.18, Z:0.49 [[ 9.91509298e-01 -1.28865935e-01 -1.74035043e-02 2.40992489e+01] [ 1.28856919e-01 9.91661835e-01 -1.64317486e-03 1.78982252e-01] [ 1.74701403e-02 -6.13338790e-04 9.99847197e-01 4.93503026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.782755096000002 meters 0.02429784075996269 Centerline is valid? [True, True] Translation: X:24.13, Y:0.18, Z:0.49 [[ 9.91621656e-01 -1.28077489e-01 -1.68121702e-02 2.41279395e+01] [ 1.28068884e-01 9.91763998e-01 -1.59191961e-03 1.82760235e-01] [ 1.68775942e-02 -5.74533910e-04 9.99857398e-01 4.93997774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.812755096000004 meters 0.024097799481831383 Centerline is valid? [True, True] Translation: X:24.16, Y:0.19, Z:0.49 [[ 9.91710996e-01 -1.27465204e-01 -1.61840203e-02 2.41564074e+01] [ 1.27457078e-01 9.91842897e-01 -1.53680647e-03 1.86936702e-01] [ 1.62478949e-02 -5.38700065e-04 9.99867849e-01 4.94990811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.842755096000005 meters 0.02348926852205768 Centerline is valid? [True, True] Translation: X:24.18, Y:0.19, Z:0.50 [[ 9.91976645e-01 -1.25464093e-01 -1.55272980e-02 2.41844839e+01] [ 1.25456303e-01 9.92098044e-01 -1.47859607e-03 1.92271958e-01] [ 1.55901126e-02 -4.81264626e-04 9.99878351e-01 4.96088543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.872755096000002 meters 0.023394773610425433 Centerline is valid? [True, True] Translation: X:24.21, Y:0.20, Z:0.50 [[ 9.92074604e-01 -1.24726460e-01 -1.52082313e-02 2.42126309e+01] [ 1.24718837e-01 9.92191061e-01 -1.45234592e-03 1.95964093e-01] [ 1.52706171e-02 -4.55917415e-04 9.99883293e-01 4.96877534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.902755096000003 meters 0.023105745685314972 Centerline is valid? [True, True] Translation: X:24.24, Y:0.20, Z:0.50 [[ 9.92139234e-01 -1.24197963e-01 -1.53168576e-02 2.42410911e+01] [ 1.24190103e-01 9.92257359e-01 -1.46696175e-03 1.99866055e-01] [ 1.53804583e-02 -4.46771815e-04 9.99881614e-01 4.97056357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.932755096000005 meters 0.022511317130529365 Centerline is valid? [True, True] Translation: X:24.27, Y:0.20, Z:0.50 [[ 9.92213913e-01 -1.23590822e-01 -1.53902263e-02 2.42694289e+01] [ 1.23582748e-01 9.92333169e-01 -1.47822087e-03 2.04383924e-01] [ 1.54549266e-02 -4.35255149e-04 9.99880471e-01 4.96702745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.962755096000002 meters 0.023170061181132663 Centerline is valid? [True, True] Translation: X:24.30, Y:0.21, Z:0.50 [[ 9.92181720e-01 -1.23811856e-01 -1.56862783e-02 2.42961227e+01] [ 1.23803420e-01 9.92305613e-01 -1.51147199e-03 2.06288827e-01] [ 1.57527202e-02 -4.42360017e-04 9.99875820e-01 4.97125626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.992755096000003 meters 0.024340559871235526 Centerline is valid? [True, True] Translation: X:24.32, Y:0.21, Z:0.50 [[ 9.91996297e-01 -1.25247246e-01 -1.60147824e-02 2.43236717e+01] [ 1.25238602e-01 9.92125448e-01 -1.54546081e-03 2.08124327e-01] [ 1.60822379e-02 -4.72577561e-04 9.99870561e-01 4.96845761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.022755096000004 meters 0.025062877024116404 Centerline is valid? [True, True] Translation: X:24.35, Y:0.21, Z:0.50 [[ 9.91875856e-01 -1.26189040e-01 -1.60814555e-02 2.43513675e+01] [ 1.26180423e-01 9.92006093e-01 -1.55343237e-03 2.10319742e-01] [ 1.61489280e-02 -4.88352793e-04 9.99869478e-01 4.96563142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.052755096000002 meters 0.025851811159029753 Centerline is valid? [True, True] Translation: X:24.38, Y:0.21, Z:0.50 [[ 9.91716517e-01 -1.27426895e-01 -1.61473334e-02 2.43801683e+01] [ 1.27418353e-01 9.91847834e-01 -1.56089794e-03 2.12482436e-01] [ 1.62145980e-02 -5.09498363e-04 9.99868405e-01 4.96726687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.082755096000003 meters 0.026925342928474358 Centerline is valid? [True, True] Translation: X:24.41, Y:0.21, Z:0.50 [[ 9.91537442e-01 -1.28822030e-01 -1.60743519e-02 2.44078582e+01] [ 1.28813676e-01 9.91667590e-01 -1.55831726e-03 2.13963168e-01] [ 1.61411594e-02 -5.25466451e-04 9.99869585e-01 4.97184160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.112755096000004 meters 0.02882259868918571 Centerline is valid? [True, True] Translation: X:24.44, Y:0.21, Z:0.50 [[ 9.91235837e-01 -1.31218923e-01 -1.52679063e-02 2.44354292e+01] [ 1.31211641e-01 9.91353271e-01 -1.48203662e-03 2.14063873e-01] [ 1.53303601e-02 -5.34279221e-04 9.99882340e-01 4.98035200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.142755096000002 meters 0.027317112856560754 Centerline is valid? [True, True] Translation: X:24.46, Y:0.22, Z:0.50 [[ 9.91085032e-01 -1.32374542e-01 -1.50811361e-02 2.44634771e+01] [ 1.32367531e-01 9.91199620e-01 -1.46652810e-03 2.18762368e-01] [ 1.51425474e-02 -5.42798706e-04 9.99885198e-01 4.98297610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.172755096000003 meters 0.030826396464747663 Centerline is valid? [True, True] Translation: X:24.49, Y:0.22, Z:0.50 [[ 9.90889357e-01 -1.33821423e-01 -1.51693645e-02 2.44913369e+01] [ 1.33814476e-01 9.91005301e-01 -1.47656550e-03 2.16211841e-01] [ 1.52305168e-02 -5.66767533e-04 9.99883848e-01 4.99061772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.202755096000004 meters 0.02971829117136146 Centerline is valid? [True, True] Translation: X:24.52, Y:0.22, Z:0.50 [[ 9.90495090e-01 -1.36715716e-01 -1.51092309e-02 2.45209414e+01] [ 1.36709137e-01 9.90610137e-01 -1.47232919e-03 2.20424159e-01] [ 1.51686479e-02 -6.07235082e-04 9.99884765e-01 4.98797848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.232755096 meters 0.030235553117464366 Centerline is valid? [True, True] Translation: X:24.55, Y:0.22, Z:0.50 [[ 9.90284709e-01 -1.38239167e-01 -1.50375746e-02 2.45499181e+01] [ 1.38232829e-01 9.90398677e-01 -1.46508951e-03 2.22851495e-01] [ 1.50957268e-02 -6.27830745e-04 9.99885856e-01 4.99034775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.262755096000003 meters 0.035438635353263595 Centerline is valid? [True, True] Translation: X:24.58, Y:0.22, Z:0.50 [[ 9.90125146e-01 -1.39376223e-01 -1.50486997e-02 2.45780301e+01] [ 1.39369936e-01 9.90239293e-01 -1.47080774e-03 2.18764752e-01] [ 1.51068094e-02 -6.41052582e-04 9.99885680e-01 4.99929793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.292755096000004 meters 0.03228735735840514 Centerline is valid? [True, True] Translation: X:24.61, Y:0.23, Z:0.50 [[ 9.90001246e-01 -1.40227937e-01 -1.52859167e-02 2.46067516e+01] [ 1.40221538e-01 9.90119026e-01 -1.49490172e-03 2.26427513e-01] [ 1.53445039e-02 -6.63460188e-04 9.99882046e-01 4.99488130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.322755096 meters 0.032474874025775695 Centerline is valid? [True, True] Translation: X:24.63, Y:0.23, Z:0.50 [[ 9.89971743e-01 -1.40424757e-01 -1.53894855e-02 2.46349098e+01] [ 1.40418235e-01 9.90091128e-01 -1.50896500e-03 2.29413159e-01] [ 1.54488892e-02 -6.67131681e-04 9.99880436e-01 5.00254357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.352755096000003 meters 0.029301895441970517 Centerline is valid? [True, True] Translation: X:24.66, Y:0.24, Z:0.50 [[ 9.89996393e-01 -1.40274553e-01 -1.51720743e-02 2.46631421e+01] [ 1.40268126e-01 9.90112431e-01 -1.49216056e-03 2.37279560e-01] [ 1.52313715e-02 -6.50924861e-04 9.99883784e-01 5.00399310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.382755096000004 meters 0.027832839279759266 Centerline is valid? [True, True] Translation: X:24.69, Y:0.24, Z:0.50 [[ 9.90190375e-01 -1.38832631e-01 -1.57646007e-02 2.46915018e+01] [ 1.38825440e-01 9.90315646e-01 -1.55494562e-03 2.43599922e-01] [ 1.58278079e-02 -6.48835435e-04 9.99874522e-01 4.99815068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.412755096 meters 0.027695379356331058 Centerline is valid? [True, True] Translation: X:24.72, Y:0.25, Z:0.50 [[ 9.90262581e-01 -1.38262218e-01 -1.62351584e-02 2.47201319e+01] [ 1.38254438e-01 9.90395442e-01 -1.60603006e-03 2.47496192e-01] [ 1.63012802e-02 -6.54191233e-04 9.99866911e-01 4.99784611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.442755096000003 meters 0.02761174591794454 Centerline is valid? [True, True] Translation: X:24.75, Y:0.25, Z:0.50 [[ 9.90389898e-01 -1.37334702e-01 -1.63410266e-02 2.47480280e+01] [ 1.37326615e-01 9.90524493e-01 -1.62135580e-03 2.50786167e-01] [ 1.64088556e-02 -6.38283462e-04 9.99865162e-01 4.99776493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.472755096000004 meters 0.03151967667479747 Centerline is valid? [True, True] Translation: X:24.78, Y:0.25, Z:0.50 [[ 9.90736656e-01 -1.34683453e-01 -1.73564410e-02 2.47767142e+01] [ 1.34673874e-01 9.90888476e-01 -1.72486126e-03 2.48846699e-01] [ 1.74306076e-02 -6.28575870e-04 9.99847878e-01 4.99955035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.502755096 meters 0.03087581502827511 Centerline is valid? [True, True] Translation: X:24.80, Y:0.25, Z:0.50 [[ 9.90952524e-01 -1.33148953e-01 -1.68656732e-02 2.48045707e+01] [ 1.33139665e-01 9.91095866e-01 -1.67733647e-03 2.53014032e-01] [ 1.69388346e-02 -5.83329271e-04 9.99856357e-01 5.00487625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.532755096000002 meters 0.024566586111094562 Centerline is valid? [True, True] Translation: X:24.83, Y:0.27, Z:0.50 [[ 9.91107206e-01 -1.31990988e-01 -1.68785682e-02 2.48329351e+01] [ 1.31981498e-01 9.91250757e-01 -1.67978206e-03 2.65562165e-01] [ 1.69526096e-02 -5.62814620e-04 9.99856136e-01 5.00778345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.562755096000004 meters 0.02362026218094561 Centerline is valid? [True, True] Translation: X:24.86, Y:0.27, Z:0.50 [[ 9.91476619e-01 -1.29258561e-01 -1.63198591e-02 2.48605421e+01] [ 1.29249248e-01 9.91610801e-01 -1.62854430e-03 2.70348798e-01] [ 1.63934518e-02 -4.94665918e-04 9.99865496e-01 5.01190423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.592755096000005 meters 0.022865872937935662 Centerline is valid? [True, True] Translation: X:24.89, Y:0.27, Z:0.50 [[ 9.91615955e-01 -1.28206925e-01 -1.61487493e-02 2.48893649e+01] [ 1.28197649e-01 9.91747328e-01 -1.61258306e-03 2.74678857e-01] [ 1.62222233e-02 -4.71168608e-04 9.99868300e-01 5.01860806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.622755096000002 meters 0.022670654557823456 Centerline is valid? [True, True] Translation: X:24.92, Y:0.28, Z:0.50 [[ 9.91692276e-01 -1.27603606e-01 -1.62403853e-02 2.49179366e+01] [ 1.27594071e-01 9.91825140e-01 -1.62618588e-03 2.78190739e-01] [ 1.63151296e-02 -4.59500888e-04 9.99866794e-01 5.02216720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.652755096000003 meters 0.023241862998360854 Centerline is valid? [True, True] Translation: X:24.95, Y:0.28, Z:0.50 [[ 9.91867401e-01 -1.26309164e-01 -1.56541803e-02 2.49453005e+01] [ 1.26300072e-01 9.91990837e-01 -1.57205477e-03 2.80137163e-01] [ 1.57273684e-02 -4.17854215e-04 9.99876230e-01 5.03096481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.682755096000005 meters 0.02316681647867295 Centerline is valid? [True, True] Translation: X:24.97, Y:0.28, Z:0.50 [[ 9.91889170e-01 -1.26197625e-01 -1.51668678e-02 2.49730228e+01] [ 1.26189066e-01 9.92005039e-01 -1.52382310e-03 2.82987181e-01] [ 1.52379121e-02 -4.02429243e-04 9.99883815e-01 5.04345659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.712755096000002 meters 0.02206458119295275 Centerline is valid? [True, True] Translation: X:25.00, Y:0.29, Z:0.50 [[ 9.91875225e-01 -1.26387327e-01 -1.44838221e-02 2.50003049e+01] [ 1.26379485e-01 9.91980895e-01 -1.45916062e-03 2.87437073e-01] [ 1.45520942e-02 -3.83152703e-04 9.99894039e-01 5.04680708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.742755096000003 meters 0.022022360469588168 Centerline is valid? [True, True] Translation: X:25.03, Y:0.29, Z:0.51 [[ 9.91828307e-01 -1.26774605e-01 -1.43111781e-02 2.50281143e+01] [ 1.26766927e-01 9.91931477e-01 -1.44606087e-03 2.90155178e-01] [ 1.43790318e-02 -3.79939960e-04 9.99896544e-01 5.05333348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.772755096000004 meters 0.021172705955138513 Centerline is valid? [True, True] Translation: X:25.06, Y:0.29, Z:0.51 [[ 9.91700064e-01 -1.27864743e-01 -1.34755493e-02 2.50567581e+01] [ 1.27857983e-01 9.91791546e-01 -1.36554034e-03 2.93814369e-01] [ 1.35395403e-02 -3.68750104e-04 9.99908268e-01 5.05073546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.802755096000002 meters 0.021691445568409636 Centerline is valid? [True, True] Translation: X:25.09, Y:0.30, Z:0.51 [[ 9.91586445e-01 -1.28757004e-01 -1.33400476e-02 2.50859244e+01] [ 1.28750410e-01 9.91676104e-01 -1.35549554e-03 2.95267966e-01] [ 1.34035360e-02 -3.73445600e-04 9.99910099e-01 5.05319893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.832755096000003 meters 0.021691445568409636 Centerline is valid? [True, True] Translation: X:25.11, Y:0.30, Z:0.51 [[ 9.91545872e-01 -1.29069111e-01 -1.33396952e-02 2.51133586e+01] [ 1.29062499e-01 9.91635530e-01 -1.35895308e-03 2.98231315e-01] [ 1.34035146e-02 -3.74190092e-04 9.99910099e-01 5.05835041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.862755096000004 meters 0.022194253378278597 Centerline is valid? [True, True] Translation: X:25.14, Y:0.30, Z:0.51 [[ 9.91257283e-01 -1.31334348e-01 -1.26604592e-02 2.51422228e+01] [ 1.31328527e-01 9.91338058e-01 -1.29369472e-03 2.99084935e-01] [ 1.27207015e-02 -3.80295136e-04 9.99919016e-01 5.06108068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.892755096000002 meters 0.023247146746736613 Centerline is valid? [True, True] Translation: X:25.17, Y:0.30, Z:0.51 [[ 9.91081233e-01 -1.32664494e-01 -1.25746814e-02 2.51705138e+01] [ 1.32658800e-01 9.91160925e-01 -1.28955198e-03 2.99788267e-01] [ 1.26346106e-02 -3.90091377e-04 9.99920104e-01 5.06351106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.922755096000003 meters 0.023614954637308522 Centerline is valid? [True, True] Translation: X:25.20, Y:0.30, Z:0.51 [[ 9.90895900e-01 -1.34062505e-01 -1.23515418e-02 2.51997771e+01] [ 1.34057119e-01 9.90972797e-01 -1.26673915e-03 3.01738153e-01] [ 1.24098642e-02 -4.00605477e-04 9.99922914e-01 5.06250223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.952755096000004 meters 0.02492483367308222 Centerline is valid? [True, True] Translation: X:25.23, Y:0.30, Z:0.51 [[ 9.90604507e-01 -1.36190078e-01 -1.24488215e-02 2.52284574e+01] [ 1.36184716e-01 9.90682634e-01 -1.28135439e-03 3.00642938e-01] [ 1.25073390e-02 -4.26023792e-04 9.99921689e-01 5.06347619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.982755096 meters 0.026672202846259756 Centerline is valid? [True, True] Translation: X:25.26, Y:0.30, Z:0.51 [[ 9.90457657e-01 -1.37240529e-01 -1.25963259e-02 2.52565469e+01] [ 1.37235109e-01 9.90537652e-01 -1.29780834e-03 2.99894625e-01] [ 1.26552470e-02 -4.43233945e-04 9.99919821e-01 5.06739024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.012755096000003 meters 0.025728599356938418 Centerline is valid? [True, True] Translation: X:25.29, Y:0.30, Z:0.51 [[ 9.90269731e-01 -1.38567485e-01 -1.28417766e-02 2.52851155e+01] [ 1.38561959e-01 9.90352883e-01 -1.32334123e-03 3.03360924e-01] [ 1.29012625e-02 -4.68916954e-04 9.99916665e-01 5.06630082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.042755096000004 meters 0.026686693634792803 Centerline is valid? [True, True] Translation: X:25.31, Y:0.30, Z:0.51 [[ 9.90109730e-01 -1.39686709e-01 -1.30516633e-02 2.53128005e+01] [ 1.39681036e-01 9.90195630e-01 -1.34970479e-03 3.03400455e-01] [ 1.31122358e-02 -4.86714006e-04 9.99913912e-01 5.06159566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.072755096 meters 0.027602371085277865 Centerline is valid? [True, True] Translation: X:25.34, Y:0.30, Z:0.51 [[ 9.90039321e-01 -1.40170100e-01 -1.32092884e-02 2.53404527e+01] [ 1.40164315e-01 9.90127313e-01 -1.36733713e-03 3.04384083e-01] [ 1.32705371e-02 -4.97753339e-04 9.99911819e-01 5.06338752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.102755096000003 meters 0.02607941792427439 Centerline is valid? [True, True] Translation: X:25.37, Y:0.31, Z:0.51 [[ 9.89999714e-01 -1.40399125e-01 -1.37350655e-02 2.53684206e+01] [ 1.40392888e-01 9.90094851e-01 -1.42208314e-03 3.08635034e-01] [ 1.37986769e-02 -5.20443608e-04 9.99904658e-01 5.05960655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.132755096000004 meters 0.027504919430400336 Centerline is valid? [True, True] Translation: X:25.40, Y:0.31, Z:0.51 [[ 9.89975581e-01 -1.40489835e-01 -1.45242645e-02 2.53959380e+01] [ 1.40482791e-01 9.90081970e-01 -1.50922780e-03 3.08602691e-01] [ 1.45922436e-02 -5.46310543e-04 9.99893378e-01 5.05857168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.162755096 meters 0.02703182457283465 Centerline is valid? [True, True] Translation: X:25.42, Y:0.31, Z:0.51 [[ 9.90046437e-01 -1.39940949e-01 -1.49861207e-02 2.54249650e+01] [ 1.39933338e-01 9.90159697e-01 -1.56041532e-03 3.10030289e-01] [ 1.50570187e-02 -5.52174273e-04 9.99886484e-01 5.05738400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.192755096000003 meters 0.025571333026109477 Centerline is valid? [True, True] Translation: X:25.45, Y:0.31, Z:0.51 [[ 9.90114993e-01 -1.39463690e-01 -1.49056872e-02 2.54536211e+01] [ 1.39456047e-01 9.90227040e-01 -1.55604175e-03 3.14166892e-01] [ 1.49770258e-02 -5.38027937e-04 9.99887693e-01 5.06545323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.222755096000004 meters 0.026825234084335514 Centerline is valid? [True, True] Translation: X:25.48, Y:0.31, Z:0.51 [[ 9.90385983e-01 -1.37570408e-01 -1.44909315e-02 2.54822510e+01] [ 1.37562925e-01 9.90491868e-01 -1.51665550e-03 3.14305402e-01] [ 1.45617967e-02 -4.91340572e-04 9.99893851e-01 5.06983634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.252755096000005 meters 0.024269909461953267 Centerline is valid? [True, True] Translation: X:25.51, Y:0.32, Z:0.51 [[ 9.90528743e-01 -1.36540349e-01 -1.44755522e-02 2.55109064e+01] [ 1.36532714e-01 9.90634398e-01 -1.51903754e-03 3.20818997e-01] [ 1.45473899e-02 -4.71736091e-04 9.99894070e-01 5.06861889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.282755096000002 meters 0.024266758127982065 Centerline is valid? [True, True] Translation: X:25.54, Y:0.32, Z:0.51 [[ 9.90702865e-01 -1.35251165e-01 -1.46613859e-02 2.55384817e+01] [ 1.35243122e-01 9.90811242e-01 -1.54321693e-03 3.23076223e-01] [ 1.47353878e-02 -4.53982168e-04 9.99891325e-01 5.07331519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.312755096000004 meters 0.024458104484057767 Centerline is valid? [True, True] Translation: X:25.57, Y:0.33, Z:0.51 [[ 9.91153692e-01 -1.31996656e-01 -1.38289999e-02 2.55660311e+01] [ 1.31989158e-01 9.91250088e-01 -1.45751738e-03 3.25135852e-01] [ 1.39003848e-02 -3.80654314e-04 9.99903313e-01 5.09160603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.342755096000005 meters 0.022151419805537212 Centerline is valid? [True, True] Translation: X:25.59, Y:0.33, Z:0.51 [[ 9.91321574e-01 -1.30730650e-01 -1.38215313e-02 2.55946290e+01] [ 1.30723021e-01 9.91417857e-01 -1.45792811e-03 3.31958081e-01] [ 1.38935088e-02 -3.61516732e-04 9.99903415e-01 5.09059172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.372755096000002 meters 0.021995851438285235 Centerline is valid? [True, True] Translation: X:25.62, Y:0.33, Z:0.51 [[ 9.91457488e-01 -1.29708954e-01 -1.36980729e-02 2.56224687e+01] [ 1.29701300e-01 9.91552052e-01 -1.44947518e-03 3.34635607e-01] [ 1.37703622e-02 -3.39564838e-04 9.99905126e-01 5.09560821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.402755096000003 meters 0.02091026871821855 Centerline is valid? [True, True] Translation: X:25.65, Y:0.34, Z:0.51 [[ 9.91649323e-01 -1.28293941e-01 -1.31257273e-02 2.56511820e+01] [ 1.28286786e-01 9.91736140e-01 -1.38913100e-03 3.38550773e-01] [ 1.31954752e-02 -3.06326553e-04 9.99912889e-01 5.09829479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.432755096000005 meters 0.02064205374674428 Centerline is valid? [True, True] Translation: X:25.68, Y:0.34, Z:0.51 [[ 9.91610404e-01 -1.28579068e-01 -1.32751473e-02 2.56793653e+01] [ 1.28571729e-01 9.91699212e-01 -1.40840730e-03 3.41736686e-01] [ 1.33460448e-02 -3.10217308e-04 9.99910889e-01 5.10148424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.462755096000002 meters 0.02056016563623532 Centerline is valid? [True, True] Translation: X:25.71, Y:0.34, Z:0.51 [[ 9.91594193e-01 -1.28737598e-01 -1.29455418e-02 2.57074109e+01] [ 1.28730580e-01 9.91678648e-01 -1.37736571e-03 3.44817826e-01] [ 1.30151362e-02 -3.00699266e-04 9.99915254e-01 5.10727038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.492755096000003 meters 0.02101310557445864 Centerline is valid? [True, True] Translation: X:25.73, Y:0.35, Z:0.51 [[ 9.91558777e-01 -1.28998633e-01 -1.30592471e-02 2.57344704e+01] [ 1.28991446e-01 9.91644726e-01 -1.39465054e-03 3.46363688e-01] [ 1.31300415e-02 -3.01653182e-04 9.99913752e-01 5.11427859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.522755096000004 meters 0.020112016653153895 Centerline is valid? [True, True] Translation: X:25.76, Y:0.35, Z:0.51 [[ 9.91677007e-01 -1.28177958e-01 -1.21295133e-02 2.57630390e+01] [ 1.28171690e-01 9.91751147e-01 -1.29592879e-03 3.52499784e-01] [ 1.21955682e-02 -2.69517436e-04 9.99925595e-01 5.11981326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.552755096000002 meters 0.020599608587923226 Centerline is valid? [True, True] Translation: X:25.79, Y:0.35, Z:0.51 [[ 9.91631002e-01 -1.28512120e-01 -1.23527380e-02 2.57912081e+01] [ 1.28505588e-01 9.91707900e-01 -1.32442647e-03 3.54875247e-01] [ 1.24205127e-02 -2.74053507e-04 9.99922825e-01 5.12210477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.582755096000003 meters 0.02000780828848724 Centerline is valid? [True, True] Translation: X:25.82, Y:0.36, Z:0.51 [[ 9.91628885e-01 -1.28558918e-01 -1.20315736e-02 2.58184218e+01] [ 1.28552728e-01 9.91701837e-01 -1.28966891e-03 3.60104126e-01] [ 1.20975321e-02 -2.67818675e-04 9.99926786e-01 5.13039042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.612755096000004 meters 0.021096935901093142 Centerline is valid? [True, True] Translation: X:25.85, Y:0.36, Z:0.51 [[ 9.91527997e-01 -1.29347905e-01 -1.18890925e-02 2.58466786e+01] [ 1.29341855e-01 9.91599237e-01 -1.27960962e-03 3.60977847e-01] [ 1.19547298e-02 -2.68988519e-04 9.99928503e-01 5.13878233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.642755096000002 meters 0.02004965351425513 Centerline is valid? [True, True] Translation: X:25.88, Y:0.37, Z:0.51 [[ 9.91398358e-01 -1.30311123e-01 -1.21781228e-02 2.58754938e+01] [ 1.30304847e-01 9.91473110e-01 -1.31076433e-03 3.65615221e-01] [ 1.22450884e-02 -2.87378813e-04 9.99924985e-01 5.14306868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.672755096000003 meters 0.020729971662144363 Centerline is valid? [True, True] Translation: X:25.90, Y:0.37, Z:0.52 [[ 9.91352792e-01 -1.30747105e-01 -1.11730474e-02 2.59032924e+01] [ 1.30741804e-01 9.91415717e-01 -1.20670325e-03 3.69550887e-01] [ 1.12349077e-02 -2.64515728e-04 9.99936851e-01 5.15013861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.702755096000004 meters 0.02073835448488181 Centerline is valid? [True, True] Translation: X:25.93, Y:0.37, Z:0.51 [[ 9.91191002e-01 -1.31945029e-01 -1.14414317e-02 2.59321711e+01] [ 1.31939551e-01 9.91256994e-01 -1.23558434e-03 3.72745478e-01] [ 1.15044284e-02 -2.84877289e-04 9.99933781e-01 5.14834426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.732755096 meters 0.021187584116870436 Centerline is valid? [True, True] Translation: X:25.96, Y:0.38, Z:0.51 [[ 9.91025886e-01 -1.33136097e-01 -1.19361930e-02 2.59614391e+01] [ 1.33130179e-01 9.91097717e-01 -1.29261203e-03 3.75137629e-01] [ 1.20020270e-02 -3.08055532e-04 9.99927926e-01 5.14842470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.762755096000003 meters 0.021578069941869133 Centerline is valid? [True, True] Translation: X:25.99, Y:0.38, Z:0.51 [[ 9.90823986e-01 -1.34616893e-01 -1.20880373e-02 2.59898153e+01] [ 1.34610891e-01 9.90897666e-01 -1.31252035e-03 3.78036549e-01] [ 1.21546953e-02 -3.26704829e-04 9.99926076e-01 5.14745823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.792755096000004 meters 0.022192530608001512 Centerline is valid? [True, True] Translation: X:26.02, Y:0.38, Z:0.51 [[ 9.90498738e-01 -1.36899370e-01 -1.30694990e-02 2.60184515e+01] [ 1.36892498e-01 9.90584887e-01 -1.42319852e-03 3.80872714e-01] [ 1.31412832e-02 -3.79440030e-04 9.99913578e-01 5.14188698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.822755096 meters 0.023372669932736453 Centerline is valid? [True, True] Translation: X:26.05, Y:0.38, Z:0.51 [[ 9.90370618e-01 -1.37829071e-01 -1.30071212e-02 2.60458196e+01] [ 1.37822285e-01 9.90455955e-01 -1.42099506e-03 3.82098600e-01] [ 1.30788350e-02 -3.85359393e-04 9.99914394e-01 5.14649997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.852755096000003 meters 0.023425958689448356 Centerline is valid? [True, True] Translation: X:26.07, Y:0.39, Z:0.51 [[ 9.90268863e-01 -1.38548155e-01 -1.31144472e-02 2.60747385e+01] [ 1.38541309e-01 9.90355618e-01 -1.43345535e-03 3.85341776e-01] [ 1.31865691e-02 -3.97386491e-04 9.99912974e-01 5.14987919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.882755096000004 meters 0.024251621585876012 Centerline is valid? [True, True] Translation: X:26.10, Y:0.39, Z:0.52 [[ 9.90180320e-01 -1.39152018e-01 -1.34033468e-02 2.61024421e+01] [ 1.39144862e-01 9.90270947e-01 -1.46954159e-03 3.88720580e-01] [ 1.34774346e-02 -4.09895683e-04 9.99909091e-01 5.15210046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.912755096 meters 0.02308762285515597 Centerline is valid? [True, True] Translation: X:26.13, Y:0.39, Z:0.52 [[ 9.90173677e-01 -1.39246522e-01 -1.29033310e-02 2.61299823e+01] [ 1.39239888e-01 9.90257668e-01 -1.41551489e-03 3.93852725e-01] [ 1.29747280e-02 -3.95052777e-04 9.99915747e-01 5.15575924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.942755096000003 meters 0.023198463596624766 Centerline is valid? [True, True] Translation: X:26.16, Y:0.40, Z:0.52 [[ 9.90208143e-01 -1.39027816e-01 -1.26134535e-02 2.61576805e+01] [ 1.39021395e-01 9.90288404e-01 -1.38866961e-03 3.96350087e-01] [ 1.26840205e-02 -3.78467958e-04 9.99919483e-01 5.16547616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.972755096000004 meters 0.022808645795485902 Centerline is valid? [True, True] Translation: X:26.19, Y:0.40, Z:0.52 [[ 9.90257943e-01 -1.38661582e-01 -1.27346942e-02 2.61866601e+01] [ 1.38654992e-01 9.90339752e-01 -1.40320892e-03 4.00049209e-01] [ 1.28062451e-02 -3.76190150e-04 9.99917926e-01 5.17533153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.002755096000005 meters 0.022190768726415108 Centerline is valid? [True, True] Translation: X:26.21, Y:0.40, Z:0.52 [[ 9.90524141e-01 -1.36765393e-01 -1.25360563e-02 2.62141361e+01] [ 1.36758798e-01 9.90603407e-01 -1.38584356e-03 4.04823000e-01] [ 1.26077956e-02 -3.41704496e-04 9.99920460e-01 5.18117623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.032755096000002 meters 0.021761453392310604 Centerline is valid? [True, True] Translation: X:26.24, Y:0.41, Z:0.52 [[ 9.90609816e-01 -1.36077605e-01 -1.32316875e-02 2.62430085e+01] [ 1.36070191e-01 9.90698119e-01 -1.46319670e-03 4.09145249e-01] [ 1.33077162e-02 -3.50981232e-04 9.99911387e-01 5.18622713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.062755096000004 meters 0.021362003643431698 Centerline is valid? [True, True] Translation: X:26.27, Y:0.41, Z:0.52 [[ 9.90670971e-01 -1.35694850e-01 -1.25671894e-02 2.62712478e+01] [ 1.35688090e-01 9.90750626e-01 -1.39292432e-03 4.13335272e-01] [ 1.26399634e-02 -3.25288236e-04 9.99920060e-01 5.18736406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.092755096000005 meters 0.02067069760164145 Centerline is valid? [True, True] Translation: X:26.30, Y:0.42, Z:0.52 [[ 9.90867792e-01 -1.34325771e-01 -1.17305855e-02 2.62999098e+01] [ 1.34319751e-01 9.90937186e-01 -1.30311802e-03 4.19565719e-01] [ 1.17993157e-02 -2.84431648e-04 9.99930345e-01 5.20007813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.122755096000002 meters 0.02050591556282944 Centerline is valid? [True, True] Translation: X:26.33, Y:0.42, Z:0.52 [[ 9.90907763e-01 -1.34017836e-01 -1.18754246e-02 2.63284244e+01] [ 1.34011604e-01 9.90978880e-01 -1.32260590e-03 4.23256598e-01] [ 1.19455477e-02 -2.80864240e-04 9.99928610e-01 5.21034020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.152755096000003 meters 0.020562310941954237 Centerline is valid? [True, True] Translation: X:26.36, Y:0.43, Z:0.52 [[ 9.90839999e-01 -1.34535674e-01 -1.16725520e-02 2.63561846e+01] [ 1.34529656e-01 9.90908711e-01 -1.30287987e-03 4.25290500e-01] [ 1.17417173e-02 -2.79358910e-04 9.99931025e-01 5.21558726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.182755096000005 meters 0.020488014499630544 Centerline is valid? [True, True] Translation: X:26.38, Y:0.43, Z:0.52 [[ 9.90840366e-01 -1.34546687e-01 -1.15134020e-02 2.63841052e+01] [ 1.34540790e-01 9.90907218e-01 -1.28873022e-03 4.29170848e-01] [ 1.15821075e-02 -2.72096277e-04 9.99932888e-01 5.22564328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.212755096000002 meters 0.020602077793788993 Centerline is valid? [True, True] Translation: X:26.41, Y:0.43, Z:0.52 [[ 9.90905124e-01 -1.34151552e-01 -1.05069989e-02 2.64105262e+01] [ 1.34146580e-01 9.90960798e-01 -1.17974763e-03 4.33432378e-01] [ 1.05702890e-02 -2.40459995e-04 9.99944104e-01 5.23708820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.242755096000003 meters 0.020820414773432487 Centerline is valid? [True, True] Translation: X:26.44, Y:0.44, Z:0.52 [[ 9.90872469e-01 -1.34330944e-01 -1.12670633e-02 2.64376847e+01] [ 1.34325201e-01 9.90936492e-01 -1.26841456e-03 4.35450253e-01] [ 1.13353315e-02 -2.56613473e-04 9.99935720e-01 5.23401689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.272755096000004 meters 0.020806575670696787 Centerline is valid? [True, True] Translation: X:26.47, Y:0.44, Z:0.52 [[ 9.90763577e-01 -1.35101012e-01 -1.16297036e-02 2.64652747e+01] [ 1.35094941e-01 9.90831793e-01 -1.30966608e-03 4.38998359e-01] [ 1.17000172e-02 -2.73544667e-04 9.99931515e-01 5.23497433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.302755096000002 meters 0.02040096364269496 Centerline is valid? [True, True] Translation: X:26.49, Y:0.44, Z:0.52 [[ 9.90707862e-01 -1.35506626e-01 -1.16570446e-02 2.64929648e+01] [ 1.35500512e-01 9.90776402e-01 -1.31640542e-03 4.44219482e-01] [ 1.17279064e-02 -2.75362317e-04 9.99931188e-01 5.23709144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.332755096000003 meters 0.021087843161190896 Centerline is valid? [True, True] Translation: X:26.52, Y:0.45, Z:0.52 [[ 9.90501586e-01 -1.36990370e-01 -1.18425763e-02 2.65220619e+01] [ 1.36984115e-01 9.90572336e-01 -1.34153611e-03 4.47268357e-01] [ 1.19147060e-02 -2.93451183e-04 9.99928974e-01 5.23277502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.362755096000004 meters 0.020893501479820123 Centerline is valid? [True, True] Translation: X:26.55, Y:0.45, Z:0.52 [[ 9.90463718e-01 -1.37299630e-01 -1.14208137e-02 2.65493647e+01] [ 1.37293803e-01 9.90529520e-01 -1.29645271e-03 4.52153306e-01] [ 1.14906556e-02 -2.83917584e-04 9.99933940e-01 5.24267144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.392755096000002 meters 0.021405728116974845 Centerline is valid? [True, True] Translation: X:26.58, Y:0.46, Z:0.52 [[ 9.90365630e-01 -1.38025775e-01 -1.11716042e-02 2.65774753e+01] [ 1.38020188e-01 9.90428597e-01 -1.27326920e-03 4.55777741e-01] [ 1.12404202e-02 -2.80904858e-04 9.99936785e-01 5.24629992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.422755096000003 meters 0.022859165476210055 Centerline is valid? [True, True] Translation: X:26.61, Y:0.46, Z:0.52 [[ 9.89952674e-01 -1.40878473e-01 -1.21227028e-02 2.66056230e+01] [ 1.40872091e-01 9.90026839e-01 -1.38303674e-03 4.56569617e-01] [ 1.21966412e-02 -3.38609570e-04 9.99925561e-01 5.23835025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.452755096000004 meters 0.023171933985834125 Centerline is valid? [True, True] Translation: X:26.63, Y:0.46, Z:0.52 [[ 9.89666957e-01 -1.42784858e-01 -1.31071919e-02 2.66347759e+01] [ 1.42777558e-01 9.89753672e-01 -1.49580104e-03 4.59084014e-01] [ 1.31864691e-02 -3.91067994e-04 9.99912978e-01 5.24076775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.482755096 meters 0.02342922856936746 Centerline is valid? [True, True] Translation: X:26.66, Y:0.46, Z:0.53 [[ 9.89561286e-01 -1.43592160e-01 -1.22373519e-02 2.66629455e+01] [ 1.43585821e-01 9.89636879e-01 -1.39960609e-03 4.63232568e-01] [ 1.23115072e-02 -3.72114227e-04 9.99924141e-01 5.25006955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.512755096000003 meters 0.024838631541088875 Centerline is valid? [True, True] Translation: X:26.69, Y:0.47, Z:0.52 [[ 9.89289508e-01 -1.45402503e-01 -1.28211544e-02 2.66910230e+01] [ 1.45395634e-01 9.89372501e-01 -1.47124203e-03 4.65639037e-01] [ 1.28988199e-02 -4.08655571e-04 9.99916723e-01 5.24373657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.542755096000004 meters 0.025328087183904238 Centerline is valid? [True, True] Translation: X:26.72, Y:0.47, Z:0.52 [[ 9.89143976e-01 -1.46375213e-01 -1.29804102e-02 2.67196135e+01] [ 1.46368251e-01 9.89229051e-01 -1.48984179e-03 4.68714056e-01] [ 1.30586748e-02 -4.26251914e-04 9.99914641e-01 5.24429991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.572755096 meters 0.024439412612636123 Centerline is valid? [True, True] Translation: X:26.75, Y:0.47, Z:0.52 [[ 9.89048499e-01 -1.47020102e-01 -1.29674771e-02 2.67484831e+01] [ 1.47013165e-01 9.89133411e-01 -1.49183852e-03 4.74464947e-01] [ 1.30458951e-02 -4.30889194e-04 9.99914806e-01 5.24115354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.602755096000003 meters 0.02597251389257547 Centerline is valid? [True, True] Translation: X:26.78, Y:0.48, Z:0.52 [[ 9.88996143e-01 -1.47385424e-01 -1.28127261e-02 2.67761943e+01] [ 1.47378623e-01 9.89079044e-01 -1.47862699e-03 4.76361272e-01] [ 1.28907269e-02 -4.25965529e-04 9.99916820e-01 5.24671809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.632755096000004 meters 0.02545160295278807 Centerline is valid? [True, True] Translation: X:26.80, Y:0.48, Z:0.52 [[ 9.88925161e-01 -1.47875878e-01 -1.26392340e-02 2.68036560e+01] [ 1.47869300e-01 9.89005836e-01 -1.45855337e-03 4.80390025e-01] [ 1.27159610e-02 -4.26554552e-04 9.99919058e-01 5.24916523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.662755096 meters 0.025752675608995718 Centerline is valid? [True, True] Translation: X:26.83, Y:0.48, Z:0.53 [[ 9.88999136e-01 -1.47393358e-01 -1.24862508e-02 2.68308954e+01] [ 1.47386835e-01 9.89077868e-01 -1.44608241e-03 4.84202847e-01] [ 1.25630173e-02 -4.10134739e-04 9.99920998e-01 5.26175756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.692755096000003 meters 0.026440528254302233 Centerline is valid? [True, True] Translation: X:26.86, Y:0.49, Z:0.53 [[ 9.89099146e-01 -1.46729393e-01 -1.23840196e-02 2.68587624e+01] [ 1.46722909e-01 9.89176591e-01 -1.43544309e-03 4.87518734e-01] [ 1.24606039e-02 -3.97223835e-04 9.99922285e-01 5.26979951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.722755096000004 meters 0.026440528254302233 Centerline is valid? [True, True] Translation: X:26.89, Y:0.49, Z:0.53 [[ 9.89055472e-01 -1.47023498e-01 -1.23840307e-02 2.68861517e+01] [ 1.47017038e-01 9.89132918e-01 -1.43534982e-03 4.90876523e-01] [ 1.24604825e-02 -4.01022913e-04 9.99922285e-01 5.27496207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.752755096000005 meters 0.02640357978781631 Centerline is valid? [True, True] Translation: X:26.91, Y:0.49, Z:0.53 [[ 9.89178883e-01 -1.46200639e-01 -1.22683170e-02 2.69140380e+01] [ 1.46194175e-01 9.89254885e-01 -1.42690252e-03 4.94688312e-01] [ 1.23451066e-02 -3.82094649e-04 9.99923723e-01 5.28141617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.782755096000002 meters 0.025756118300494738 Centerline is valid? [True, True] Translation: X:26.94, Y:0.50, Z:0.53 [[ 9.89317355e-01 -1.45256650e-01 -1.23156958e-02 2.69429173e+01] [ 1.45250061e-01 9.89393940e-01 -1.43252752e-03 4.98922025e-01] [ 1.23931589e-02 -3.71631232e-04 9.99923133e-01 5.28725189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.812755096000004 meters 0.023961127953451213 Centerline is valid? [True, True] Translation: X:26.97, Y:0.51, Z:0.53 [[ 9.89677463e-01 -1.42850992e-01 -1.14940795e-02 2.69718902e+01] [ 1.42845059e-01 9.89744156e-01 -1.33972083e-03 5.05027913e-01] [ 1.15675784e-02 -3.15980950e-04 9.99933043e-01 5.29785134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.842755096000005 meters 0.02127386677367169 Centerline is valid? [True, True] Translation: X:27.00, Y:0.51, Z:0.53 [[ 9.89846966e-01 -1.41686848e-01 -1.13058418e-02 2.70004677e+01] [ 1.41681003e-01 9.89911486e-01 -1.32032366e-03 5.13400807e-01] [ 1.13788551e-02 -2.94904632e-04 9.99935215e-01 5.29662945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.872755096000002 meters 0.02142448647000057 Centerline is valid? [True, True] Translation: X:27.03, Y:0.52, Z:0.53 [[ 9.90175922e-01 -1.39392911e-01 -1.10117614e-02 2.70285607e+01] [ 1.39387195e-01 9.90237118e-01 -1.28860400e-03 5.17236939e-01] [ 1.10838772e-02 -2.58953889e-04 9.99938538e-01 5.30980202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.902755096000003 meters 0.020184088275008682 Centerline is valid? [True, True] Translation: X:27.06, Y:0.52, Z:0.53 [[ 9.90274046e-01 -1.38680977e-01 -1.11758600e-02 2.70573187e+01] [ 1.38675008e-01 9.90337076e-01 -1.31101695e-03 5.22763630e-01] [ 1.12496816e-02 -2.51546408e-04 9.99936689e-01 5.30945233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.932755096000005 meters 0.019564770025648045 Centerline is valid? [True, True] Translation: X:27.09, Y:0.53, Z:0.53 [[ 9.90385913e-01 -1.37883147e-01 -1.11347152e-02 2.70856597e+01] [ 1.37877138e-01 9.90448475e-01 -1.30924996e-03 5.27418182e-01] [ 1.12088852e-02 -2.38559934e-04 9.99937150e-01 5.30744981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.962755096000002 meters 0.02189914709558657 Centerline is valid? [True, True] Translation: X:27.11, Y:0.53, Z:0.53 [[ 9.90465698e-01 -1.37259840e-01 -1.17233640e-02 2.71136191e+01] [ 1.37253077e-01 9.90535047e-01 -1.38329602e-03 5.26549037e-01] [ 1.18022739e-02 -2.38960520e-04 9.99930322e-01 5.32465326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.992755096000003 meters 0.01951975305629346 Centerline is valid? [True, True] Translation: X:27.14, Y:0.53, Z:0.53 [[ 9.90630099e-01 -1.36102765e-01 -1.13157025e-02 2.71425194e+01] [ 1.36096381e-01 9.90694701e-01 -1.33591036e-03 5.32049438e-01] [ 1.13922276e-02 -2.16633146e-04 9.99935083e-01 5.32082401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.022755096000004 meters 0.019166138168869265 Centerline is valid? [True, True] Translation: X:27.17, Y:0.53, Z:0.53 [[ 9.90615499e-01 -1.36205284e-01 -1.13601429e-02 2.71708961e+01] [ 1.36198851e-01 9.90680611e-01 -1.34162544e-03 5.34847229e-01] [ 1.14370098e-02 -2.18203455e-04 9.99934571e-01 5.32642276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.052755096000002 meters 0.019571101861207876 Centerline is valid? [True, True] Translation: X:27.20, Y:0.54, Z:0.53 [[ 9.90615442e-01 -1.36228577e-01 -1.10824404e-02 2.71984294e+01] [ 1.36222403e-01 9.90677410e-01 -1.31351839e-03 5.36428828e-01] [ 1.11580621e-02 -2.08485060e-04 9.99937725e-01 5.33231600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.082755096000003 meters 0.01848579873569964 Centerline is valid? [True, True] Translation: X:27.23, Y:0.54, Z:0.53 [[ 9.90697176e-01 -1.35677653e-01 -1.05204491e-02 2.72264234e+01] [ 1.35672061e-01 9.90753015e-01 -1.24670524e-03 5.41763674e-01] [ 1.05923167e-02 -1.92223644e-04 9.99943881e-01 5.33024461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.112755096000004 meters 0.01935485403025979 Centerline is valid? [True, True] Translation: X:27.25, Y:0.54, Z:0.53 [[ 9.90830902e-01 -1.34739962e-01 -9.96325074e-03 2.72540760e+01] [ 1.34734851e-01 9.90880979e-01 -1.18550491e-03 5.44184479e-01] [ 1.00321305e-02 -1.67762206e-04 9.99949663e-01 5.34897127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.142755096000002 meters 0.018458910274469897 Centerline is valid? [True, True] Translation: X:27.28, Y:0.55, Z:0.53 [[ 9.90912310e-01 -1.34141002e-01 -9.94910849e-03 2.72827045e+01] [ 1.34135881e-01 9.90962242e-01 -1.18332828e-03 5.48700303e-01] [ 1.00179237e-02 -1.61957867e-04 9.99949806e-01 5.34537427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.172755096000003 meters 0.017759808373065573 Centerline is valid? [True, True] Translation: X:27.31, Y:0.55, Z:0.53 [[ 9.91098103e-01 -1.32771610e-01 -9.81074993e-03 2.73116061e+01] [ 1.32766537e-01 9.91146649e-01 -1.16941020e-03 5.53773302e-01] [ 9.87915638e-03 -1.43539063e-04 9.99951190e-01 5.34406047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.202755096000004 meters 0.017629698930768992 Centerline is valid? [True, True] Translation: X:27.34, Y:0.56, Z:0.54 [[ 9.91262320e-01 -1.31577431e-01 -9.29478235e-03 2.73393241e+01] [ 1.31572788e-01 9.91305889e-01 -1.11189247e-03 5.58315574e-01] [ 9.36027244e-03 -1.20763324e-04 9.99956184e-01 5.36147889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.232755096 meters 0.016992324323996805 Centerline is valid? [True, True] Translation: X:27.37, Y:0.56, Z:0.54 [[ 9.91384049e-01 -1.30688719e-01 -8.83893809e-03 2.73671248e+01] [ 1.30684497e-01 9.91423445e-01 -1.05594399e-03 5.63389250e-01] [ 8.90113042e-03 -1.08266150e-04 9.99960378e-01 5.36328475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.262755096000003 meters 0.016982220513717217 Centerline is valid? [True, True] Translation: X:27.39, Y:0.57, Z:0.54 [[ 9.91614742e-01 -1.29013983e-01 -7.45627925e-03 2.73939912e+01] [ 1.29010906e-01 9.91642772e-01 -8.94281239e-04 5.67618724e-01] [ 7.50934021e-03 -7.51588790e-05 9.99971802e-01 5.38590232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.292755096000004 meters 0.01675907712354171 Centerline is valid? [True, True] Translation: X:27.42, Y:0.57, Z:0.54 [[ 9.91592014e-01 -1.29172392e-01 -7.73121924e-03 2.74215091e+01] [ 1.29169094e-01 9.91622149e-01 -9.26507758e-04 5.71731027e-01] [ 7.78612746e-03 -7.99168904e-05 9.99969684e-01 5.38493699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.322755096 meters 0.016634636358919458 Centerline is valid? [True, True] Translation: X:27.45, Y:0.58, Z:0.54 [[ 9.91536299e-01 -1.29584460e-01 -7.97715238e-03 2.74493017e+01] [ 1.29580941e-01 9.91568384e-01 -9.58643238e-04 5.75532189e-01] [ 8.03411737e-03 -8.31573397e-05 9.99967723e-01 5.38426896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.352755096000003 meters 0.016747808406624175 Centerline is valid? [True, True] Translation: X:27.48, Y:0.58, Z:0.54 [[ 9.91539663e-01 -1.29603187e-01 -7.21874904e-03 2.74766051e+01] [ 1.29600274e-01 9.91565938e-01 -8.71802664e-04 5.78951653e-01] [ 7.27085407e-03 -7.11249330e-05 9.99973564e-01 5.39149317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.382755096000004 meters 0.016635287937922738 Centerline is valid? [True, True] Translation: X:27.50, Y:0.58, Z:0.54 [[ 9.91574245e-01 -1.29388024e-01 -6.26537843e-03 2.75047220e+01] [ 1.29385841e-01 9.91594038e-01 -7.54303895e-04 5.84290795e-01] [ 6.31030979e-03 -6.27029392e-05 9.99980088e-01 5.39704769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.412755096000005 meters 0.016728598609852825 Centerline is valid? [True, True] Translation: X:27.53, Y:0.59, Z:0.54 [[ 9.91542051e-01 -1.29611034e-01 -6.73360196e-03 2.75325517e+01] [ 1.29608481e-01 9.91564913e-01 -8.15934697e-04 5.87774515e-01] [ 6.78255758e-03 -6.36983585e-05 9.99976996e-01 5.40067924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.442755096000003 meters 0.016532215042704777 Centerline is valid? [True, True] Translation: X:27.56, Y:0.59, Z:0.54 [[ 9.91548423e-01 -1.29512564e-01 -7.63025276e-03 2.75606327e+01] [ 1.29509291e-01 9.91577778e-01 -9.23587318e-04 5.92817031e-01] [ 7.68560524e-03 -7.24070774e-05 9.99970463e-01 5.39243654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.472755096000004 meters 0.016591768917142525 Centerline is valid? [True, True] Translation: X:27.59, Y:0.60, Z:0.54 [[ 9.91419029e-01 -1.30464026e-01 -8.21254007e-03 2.75872544e+01] [ 1.30460239e-01 9.91453040e-01 -9.97444654e-04 5.95521054e-01] [ 8.27247846e-03 -8.25243320e-05 9.99965779e-01 5.39117957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.502755096000005 meters 0.016642172090811612 Centerline is valid? [True, True] Translation: X:27.62, Y:0.60, Z:0.54 [[ 9.91247161e-01 -1.31738599e-01 -8.60275936e-03 2.76156335e+01] [ 1.31734483e-01 9.91284486e-01 -1.04584442e-03 5.98498642e-01] [ 8.66555997e-03 -9.65897499e-05 9.99962449e-01 5.39156807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.532755096000002 meters 0.017286688065683092 Centerline is valid? [True, True] Translation: X:27.64, Y:0.60, Z:0.54 [[ 9.91073157e-01 -1.33116932e-01 -7.34022211e-03 2.76434403e+01] [ 1.33113944e-01 9.91100335e-01 -8.96404526e-04 6.02410632e-01] [ 7.39422321e-03 -8.86834482e-05 9.99972658e-01 5.40774049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.562755096000004 meters 0.017670875339137884 Centerline is valid? [True, True] Translation: X:27.67, Y:0.60, Z:0.54 [[ 9.90822013e-01 -1.34954422e-01 -7.68393043e-03 2.76725003e+01] [ 1.34951210e-01 9.90851801e-01 -9.37323023e-04 6.04530977e-01] [ 7.74013220e-03 -1.08235425e-04 9.99970039e-01 5.40787438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.592755096000005 meters 0.018163030068295335 Centerline is valid? [True, True] Translation: X:27.70, Y:0.61, Z:0.54 [[ 9.90582293e-01 -1.36727042e-01 -7.24126643e-03 2.77010120e+01] [ 1.36724224e-01 9.90608754e-01 -8.85024659e-04 6.08169231e-01] [ 7.29426872e-03 -1.13366778e-04 9.99973390e-01 5.41724632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.622755096000002 meters 0.019529084599288943 Centerline is valid? [True, True] Translation: X:27.73, Y:0.61, Z:0.54 [[ 9.90101853e-01 -1.40240563e-01 -5.55920752e-03 2.77295264e+01] [ 1.40238956e-01 9.90117454e-01 -6.79799040e-04 6.11613339e-01] [ 5.59960380e-03 -1.06547169e-04 9.99984316e-01 5.43438671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.652755096000003 meters 0.02115288503504834 Centerline is valid? [True, True] Translation: X:27.76, Y:0.61, Z:0.55 [[ 9.89755995e-01 -1.42679657e-01 -5.05821325e-03 2.77570969e+01] [ 1.42678342e-01 9.89768915e-01 -6.21630458e-04 6.12091215e-01] [ 5.09515625e-03 -1.06435009e-04 9.99987014e-01 5.45053217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.682755096000005 meters 0.02227923453940254 Centerline is valid? [True, True] Translation: X:27.79, Y:0.62, Z:0.55 [[ 9.89279628e-01 -1.45971729e-01 -4.25119587e-03 2.77854674e+01] [ 1.45970840e-01 9.89288756e-01 -5.20406937e-04 6.15629990e-01] [ 4.28162497e-03 -1.05722650e-04 9.99990828e-01 5.45785991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.712755096000002 meters 0.02333940369184306 Centerline is valid? [True, True] Translation: X:27.81, Y:0.62, Z:0.55 [[ 9.89050293e-01 -1.47520522e-01 -4.14893442e-03 2.78136327e+01] [ 1.47519673e-01 9.89058989e-01 -5.11421241e-04 6.18433984e-01] [ 4.17898601e-03 -1.06228121e-04 9.99991262e-01 5.46127812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.742755096000003 meters 0.023315858163327683 Centerline is valid? [True, True] Translation: X:27.84, Y:0.62, Z:0.54 [[ 9.88698739e-01 -1.49832879e-01 -4.99125438e-03 2.78425593e+01] [ 1.49831689e-01 9.88711327e-01 -6.13649383e-04 6.21923486e-01] [ 5.02685459e-03 -1.41133701e-04 9.99987355e-01 5.44841697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.772755096000004 meters 0.025349186786374267 Centerline is valid? [True, True] Translation: X:27.87, Y:0.62, Z:0.55 [[ 9.88405721e-01 -1.51749517e-01 -5.11996226e-03 2.78705383e+01] [ 1.51748274e-01 9.88418970e-01 -6.32755774e-04 6.22648965e-01] [ 5.15668821e-03 -1.51526008e-04 9.99986693e-01 5.46064502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.802755096000002 meters 0.025015402199304385 Centerline is valid? [True, True] Translation: X:27.90, Y:0.63, Z:0.54 [[ 9.87897900e-01 -1.55022839e-01 -5.06540239e-03 2.78997965e+01] [ 1.55021654e-01 9.87910873e-01 -6.28151658e-04 6.28993218e-01] [ 5.10154395e-03 -1.64697353e-04 9.99986973e-01 5.44483400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.832755096000003 meters 0.025409566188276896 Centerline is valid? [True, True] Translation: X:27.93, Y:0.63, Z:0.54 [[ 9.87664746e-01 -1.56492493e-01 -5.33369900e-03 2.79282112e+01] [ 1.56491216e-01 9.87679131e-01 -6.58464374e-04 6.32876930e-01] [ 5.37102792e-03 -1.84334995e-04 9.99985559e-01 5.43938906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.862755096000004 meters 0.027395602940297154 Centerline is valid? [True, True] Translation: X:27.96, Y:0.64, Z:0.54 [[ 9.87300952e-01 -1.58732246e-01 -6.39564382e-03 2.79561703e+01] [ 1.58730425e-01 9.87321640e-01 -7.94641090e-04 6.35100438e-01] [ 6.44069271e-03 -2.30633357e-04 9.99979232e-01 5.43289342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.892755096000002 meters 0.028469538176229943 Centerline is valid? [True, True] Translation: X:27.98, Y:0.64, Z:0.54 [[ 9.87068468e-01 -1.60125638e-01 -7.45781109e-03 2.79840816e+01] [ 1.60123193e-01 9.87096602e-01 -9.27680702e-04 6.37193393e-01] [ 7.51012546e-03 -2.78484152e-04 9.99971760e-01 5.42808489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.922755096000003 meters 0.028833380938455475 Centerline is valid? [True, True] Translation: X:28.01, Y:0.64, Z:0.54 [[ 9.86794377e-01 -1.61756708e-01 -8.46315733e-03 2.80126309e+01] [ 1.61753625e-01 9.86830613e-01 -1.05202919e-03 6.40509373e-01] [ 8.52187552e-03 -3.30809887e-04 9.99963633e-01 5.42240877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.952755096000004 meters 0.0295433108337047 Centerline is valid? [True, True] Translation: X:28.04, Y:0.65, Z:0.54 [[ 9.86720788e-01 -1.62133488e-01 -9.73746313e-03 2.80390234e+01] [ 1.62129386e-01 9.86768761e-01 -1.21442332e-03 6.45995003e-01] [ 9.80552312e-03 -3.80432186e-04 9.99951852e-01 5.41361852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.982755096 meters 0.028879302329616895 Centerline is valid? [True, True] Translation: X:28.07, Y:0.65, Z:0.54 [[ 9.86559636e-01 -1.63025721e-01 -1.10769230e-02 2.80678294e+01] [ 1.63020441e-01 9.86621721e-01 -1.38392378e-03 6.50730385e-01] [ 1.11543480e-02 -4.40441531e-04 9.99937691e-01 5.39870229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.012755096000003 meters 0.029052397264728524 Centerline is valid? [True, True] Translation: X:28.10, Y:0.66, Z:0.54 [[ 9.86338850e-01 -1.64112870e-01 -1.42351173e-02 2.80962582e+01] [ 1.64104187e-01 9.86441399e-01 -1.78389432e-03 6.56274927e-01] [ 1.43348691e-02 -5.76518083e-04 9.99897084e-01 5.37543921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.042755096000004 meters 0.028208420276573064 Centerline is valid? [True, True] Translation: X:28.12, Y:0.66, Z:0.54 [[ 9.86373305e-01 -1.63826289e-01 -1.51211635e-02 2.81249192e+01] [ 1.63816389e-01 9.86489018e-01 -1.89942743e-03 6.63044866e-01] [ 1.52280379e-02 -6.03549886e-04 9.99883865e-01 5.36676119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.072755096 meters 0.028354860262105205 Centerline is valid? [True, True] Translation: X:28.15, Y:0.67, Z:0.54 [[ 9.86325187e-01 -1.64004696e-01 -1.62814435e-02 2.81529070e+01] [ 1.63993163e-01 9.86459345e-01 -2.05007685e-03 6.67207245e-01] [ 1.63972043e-02 -6.48002971e-04 9.99865347e-01 5.36196549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.102755096000003 meters 0.028250501734910092 Centerline is valid? [True, True] Translation: X:28.18, Y:0.67, Z:0.54 [[ 9.86370746e-01 -1.63632430e-01 -1.72388635e-02 2.81820052e+01] [ 1.63619340e-01 9.86521147e-01 -2.17657726e-03 6.71309249e-01] [ 1.73626621e-02 -6.73699339e-04 9.99849031e-01 5.35861482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.132755096000004 meters 0.027140174306432053 Centerline is valid? [True, True] Translation: X:28.21, Y:0.68, Z:0.53 [[ 9.86558034e-01 -1.62218402e-01 -1.97087863e-02 2.82099077e+01] [ 1.62200896e-01 9.86754604e-01 -2.49424496e-03 6.78920081e-01] [ 1.98523481e-02 -7.36065389e-04 9.99802652e-01 5.34233334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.162755096000005 meters 0.026749503058404372 Centerline is valid? [True, True] Translation: X:28.24, Y:0.68, Z:0.53 [[ 9.86652774e-01 -1.61511056e-01 -2.07480824e-02 2.82388201e+01] [ 1.61491372e-01 9.86870615e-01 -2.63182174e-03 6.84405710e-01] [ 2.09007412e-02 -7.53942078e-04 9.99781271e-01 5.33641518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.192755096000003 meters 0.02742230197069618 Centerline is valid? [True, True] Translation: X:28.27, Y:0.69, Z:0.53 [[ 9.86792789e-01 -1.60542354e-01 -2.15903813e-02 2.82667156e+01] [ 1.60520692e-01 9.87028661e-01 -2.74398514e-03 6.87702293e-01] [ 2.17508510e-02 -7.57958191e-04 9.99763135e-01 5.33422113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.222755096000004 meters 0.024829451922523976 Centerline is valid? [True, True] Translation: X:28.30, Y:0.70, Z:0.53 [[ 9.87142052e-01 -1.58215837e-01 -2.27666063e-02 2.82952059e+01] [ 1.58191062e-01 9.87404273e-01 -2.89651185e-03 6.97397530e-01] [ 2.29381184e-02 -7.42204985e-04 9.99736611e-01 5.33437438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.252755096000005 meters 0.025198390219492068 Centerline is valid? [True, True] Translation: X:28.32, Y:0.70, Z:0.53 [[ 9.87344786e-01 -1.56804443e-01 -2.37200530e-02 2.83228787e+01] [ 1.56777009e-01 9.87629398e-01 -3.02340230e-03 7.01769307e-01] [ 2.39007045e-02 -7.33618462e-04 9.99714068e-01 5.32694542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.282755096000002 meters 0.02393109180835957 Centerline is valid? [True, True] Translation: X:28.35, Y:0.71, Z:0.53 [[ 9.87507187e-01 -1.55624030e-01 -2.47126825e-02 2.83513424e+01] [ 1.55593792e-01 9.87816090e-01 -3.15356675e-03 7.08732331e-01] [ 2.49023561e-02 -7.30970136e-04 9.99689621e-01 5.32653820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.312755096000004 meters 0.022945886839111793 Centerline is valid? [True, True] Translation: X:28.38, Y:0.72, Z:0.53 [[ 9.87809538e-01 -1.53534794e-01 -2.56784769e-02 2.83798641e+01] [ 1.53501250e-01 9.88142996e-01 -3.28416506e-03 7.16261431e-01] [ 2.58782407e-02 -6.97548744e-04 9.99664859e-01 5.32252512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.342755096000005 meters 0.021743527518032973 Centerline is valid? [True, True] Translation: X:28.41, Y:0.72, Z:0.53 [[ 9.87905129e-01 -1.52852704e-01 -2.60673568e-02 2.84079427e+01] [ 1.52817705e-01 9.88248746e-01 -3.34128643e-03 7.23551909e-01] [ 2.62717573e-02 -6.82679645e-04 9.99654605e-01 5.32669465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.372755096000002 meters 0.023422604751524932 Centerline is valid? [True, True] Translation: X:28.44, Y:0.73, Z:0.53 [[ 9.88036744e-01 -1.51843747e-01 -2.69605119e-02 2.84353182e+01] [ 1.51805760e-01 9.88404282e-01 -3.46211257e-03 7.26066008e-01] [ 2.71735856e-02 -6.72066581e-04 9.99630504e-01 5.31489690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.402755096000003 meters 0.021361931336893052 Centerline is valid? [True, True] Translation: X:28.46, Y:0.74, Z:0.53 [[ 9.88231823e-01 -1.50568603e-01 -2.69621816e-02 2.84627821e+01] [ 1.50530023e-01 9.88599360e-01 -3.46652365e-03 7.35887222e-01] [ 2.71767451e-02 -6.32888842e-04 9.99630444e-01 5.32517408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.432755096000005 meters 0.02102297587639197 Centerline is valid? [True, True] Translation: X:28.49, Y:0.74, Z:0.53 [[ 9.88329513e-01 -1.49876377e-01 -2.72368471e-02 2.84914841e+01] [ 1.49836536e-01 9.88704555e-01 -3.50941618e-03 7.41920805e-01] [ 2.74551733e-02 -6.12615239e-04 9.99622848e-01 5.32951757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.462755096000002 meters 0.020589618827855077 Centerline is valid? [True, True] Translation: X:28.52, Y:0.75, Z:0.53 [[ 9.88448017e-01 -1.49038646e-01 -2.75317894e-02 2.85193383e+01] [ 1.48997400e-01 9.88831197e-01 -3.55508528e-03 7.48316374e-01] [ 2.77541373e-02 -5.88148035e-04 9.99614607e-01 5.33047926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.492755096000003 meters 0.020219237838010787 Centerline is valid? [True, True] Translation: X:28.55, Y:0.76, Z:0.53 [[ 9.88681584e-01 -1.47248904e-01 -2.87486716e-02 2.85469902e+01] [ 1.47202938e-01 9.89099314e-01 -3.72038604e-03 7.55928633e-01] [ 2.89831141e-02 -5.53611768e-04 9.99579748e-01 5.32094939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.522755096000004 meters 0.020050692020518686 Centerline is valid? [True, True] Translation: X:28.57, Y:0.76, Z:0.53 [[ 9.88753000e-01 -1.46714101e-01 -2.90254540e-02 2.85749734e+01] [ 1.46666782e-01 9.89178794e-01 -3.76417945e-03 7.61228914e-01] [ 2.92636218e-02 -5.35226203e-04 9.99571585e-01 5.32225390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.552755096000002 meters 0.018877940076256355 Centerline is valid? [True, True] Translation: X:28.60, Y:0.77, Z:0.53 [[ 9.88882418e-01 -1.45865133e-01 -2.88950875e-02 2.86027781e+01] [ 1.45817645e-01 9.89304358e-01 -3.75517986e-03 7.68503640e-01] [ 2.91337858e-02 -4.99982276e-04 9.99575396e-01 5.33087354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.582755096000003 meters 0.018462614451155844 Centerline is valid? [True, True] Translation: X:28.63, Y:0.78, Z:0.53 [[ 9.88962158e-01 -1.45186481e-01 -2.95759244e-02 2.86302674e+01] [ 1.45136157e-01 9.89404191e-01 -3.85262945e-03 7.75035476e-01] [ 2.98218933e-02 -4.82431278e-04 9.99555112e-01 5.33158341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.612755096000004 meters 0.017994135897364115 Centerline is valid? [True, True] Translation: X:28.66, Y:0.78, Z:0.53 [[ 9.89068353e-01 -1.44360254e-01 -3.00650808e-02 2.86576258e+01] [ 1.44307570e-01 9.89525093e-01 -3.92627483e-03 7.82812007e-01] [ 3.03169499e-02 -4.55264563e-04 9.99540232e-01 5.33608819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.642755096000002 meters 0.017994135897364115 Centerline is valid? [True, True] Translation: X:28.68, Y:0.79, Z:0.53 [[ 9.89021867e-01 -1.44678659e-01 -3.00638160e-02 2.86849439e+01] [ 1.44625828e-01 9.89478589e-01 -3.93594046e-03 7.86546852e-01] [ 3.03169488e-02 -4.55273089e-04 9.99540232e-01 5.34123618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.672755096000003 meters 0.018292313089352693 Centerline is valid? [True, True] Translation: X:28.71, Y:0.79, Z:0.53 [[ 9.89029230e-01 -1.44617433e-01 -3.01161225e-02 2.87119659e+01] [ 1.44564155e-01 9.89487543e-01 -3.95051233e-03 7.90887500e-01] [ 3.03708410e-02 -4.46539633e-04 9.99538600e-01 5.34032694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.702755096000004 meters 0.01793916369991256 Centerline is valid? [True, True] Translation: X:28.74, Y:0.80, Z:0.54 [[ 9.88997735e-01 -1.44776673e-01 -3.03841256e-02 2.87396410e+01] [ 1.44722317e-01 9.89464256e-01 -3.99218164e-03 7.97097972e-01] [ 3.06419810e-02 -4.49002469e-04 9.99530323e-01 5.35375169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.732755096 meters 0.017917598867274245 Centerline is valid? [True, True] Translation: X:28.77, Y:0.80, Z:0.54 [[ 9.88982305e-01 -1.44823950e-01 -3.06597990e-02 2.87662487e+01] [ 1.44768383e-01 9.89457338e-01 -4.03623165e-03 8.01240425e-01] [ 3.09211061e-02 -4.46807851e-04 9.99521728e-01 5.35704355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.762755096000003 meters 0.018324634454419515 Centerline is valid? [True, True] Translation: X:28.79, Y:0.80, Z:0.54 [[ 9.88925296e-01 -1.45272315e-01 -3.03762008e-02 2.87933626e+01] [ 1.45217853e-01 9.89391606e-01 -4.00315169e-03 8.04746563e-01] [ 3.06355052e-02 -4.52348687e-04 9.99530520e-01 5.36150241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.792755096000004 meters 0.018915529359684862 Centerline is valid? [True, True] Translation: X:28.82, Y:0.81, Z:0.54 [[ 9.88703474e-01 -1.46742075e-01 -3.05320184e-02 2.88212114e+01] [ 1.46687637e-01 9.89174664e-01 -4.02746959e-03 8.07575185e-01] [ 3.07924983e-02 -4.96696437e-04 9.99525675e-01 5.36993088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.822755096000005 meters 0.018680675886533066 Centerline is valid? [True, True] Translation: X:28.85, Y:0.81, Z:0.54 [[ 9.88512022e-01 -1.47928095e-01 -3.10042273e-02 2.88495433e+01] [ 1.47872376e-01 9.88997973e-01 -4.09508739e-03 8.11873082e-01] [ 3.12688964e-02 -5.36625619e-04 9.99510864e-01 5.38344713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.852755096000003 meters 0.01945227486105795 Centerline is valid? [True, True] Translation: X:28.88, Y:0.81, Z:0.54 [[ 9.88324772e-01 -1.49083188e-01 -3.14380021e-02 2.88772260e+01] [ 1.49026274e-01 9.88824490e-01 -4.15893669e-03 8.14145487e-01] [ 3.17066939e-02 -5.74708161e-04 9.99497051e-01 5.38231155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.882755096000004 meters 0.019053203048664605 Centerline is valid? [True, True] Translation: X:28.91, Y:0.82, Z:0.54 [[ 9.88170966e-01 -1.50125105e-01 -3.13144423e-02 2.89055538e+01] [ 1.50068989e-01 9.88666826e-01 -4.14803616e-03 8.17894286e-01] [ 3.15822746e-02 -6.00357776e-04 9.99500975e-01 5.39819422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.912755096000005 meters 0.02101572579820764 Centerline is valid? [True, True] Translation: X:28.93, Y:0.82, Z:0.54 [[ 9.87722902e-01 -1.53058238e-01 -3.12513022e-02 2.89340410e+01] [ 1.53003608e-01 9.88216932e-01 -4.14618981e-03 8.16982911e-01] [ 3.15176745e-02 -6.86275377e-04 9.99502959e-01 5.40148357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.942755096000003 meters 0.020761704526586537 Centerline is valid? [True, True] Translation: X:28.96, Y:0.82, Z:0.54 [[ 9.87455831e-01 -1.54750597e-01 -3.13565637e-02 2.89625507e+01] [ 1.54696278e-01 9.87953293e-01 -4.16562573e-03 8.20220209e-01] [ 3.16234535e-02 -7.37372297e-04 9.99499582e-01 5.41587043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.972755096000004 meters 0.02209981858726378 Centerline is valid? [True, True] Translation: X:28.99, Y:0.82, Z:0.54 [[ 9.86900071e-01 -1.58223692e-01 -3.15200557e-02 2.89915090e+01] [ 1.58170291e-01 9.87402932e-01 -4.19624971e-03 8.18973672e-01] [ 3.17869415e-02 -8.44257236e-04 9.99494311e-01 5.42904280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.002755096 meters 0.022618789335204628 Centerline is valid? [True, True] Translation: X:29.02, Y:0.82, Z:0.54 [[ 9.86659961e-01 -1.59812902e-01 -3.10154447e-02 2.90199267e+01] [ 1.59761782e-01 9.87146935e-01 -4.13546224e-03 8.19940542e-01] [ 3.12777014e-02 -8.74787702e-04 9.99510350e-01 5.44173636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.032755096 meters 0.023615554915631172 Centerline is valid? [True, True] Translation: X:29.05, Y:0.82, Z:0.55 [[ 9.86426684e-01 -1.61366098e-01 -3.03871651e-02 2.90478773e+01] [ 1.61317671e-01 9.86894203e-01 -4.05469227e-03 8.20247139e-01] [ 3.06432070e-02 -9.02330074e-04 9.99529979e-01 5.45341969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.062755096 meters 0.02595130521703737 Centerline is valid? [True, True] Translation: X:29.08, Y:0.82, Z:0.55 [[ 9.85981856e-01 -1.64222056e-01 -2.95109403e-02 2.90767813e+01] [ 1.64177558e-01 9.86422930e-01 -3.94118153e-03 8.16648341e-01] [ 2.97574971e-02 -9.59100625e-04 9.99556687e-01 5.46477634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.092755096 meters 0.026748041344992004 Centerline is valid? [True, True] Translation: X:29.11, Y:0.82, Z:0.55 [[ 9.85768115e-01 -1.65626864e-01 -2.87917560e-02 2.91053976e+01] [ 1.65584987e-01 9.86188012e-01 -3.84927828e-03 8.16830336e-01] [ 2.90316285e-02 -9.72986748e-04 9.99578020e-01 5.47552848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.122755096 meters 0.025294369267904217 Centerline is valid? [True, True] Translation: X:29.13, Y:0.82, Z:0.55 [[ 9.85503033e-01 -1.67322108e-01 -2.80550072e-02 2.91342380e+01] [ 1.67282883e-01 9.85901785e-01 -3.75606703e-03 8.20525608e-01] [ 2.82879547e-02 -9.91507025e-04 9.99599324e-01 5.49526118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.152755096 meters 0.024320951681920586 Centerline is valid? [True, True] Translation: X:29.16, Y:0.83, Z:0.55 [[ 9.85935794e-01 -1.65194943e-01 -2.53227399e-02 2.91626088e+01] [ 1.65162150e-01 9.86260581e-01 -3.39555831e-03 8.25905730e-01] [ 2.55357492e-02 -8.34555691e-04 9.99673561e-01 5.52117371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.182755096 meters 0.023652771767276475 Centerline is valid? [True, True] Translation: X:29.19, Y:0.83, Z:0.55 [[ 9.86043367e-01 -1.64562310e-01 -2.52532047e-02 2.91912476e+01] [ 1.64529403e-01 9.86366355e-01 -3.38963893e-03 8.28443086e-01] [ 2.54667183e-02 -8.12563714e-04 9.99675340e-01 5.52505375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.212755096 meters 0.023821090383254074 Centerline is valid? [True, True] Translation: X:29.22, Y:0.83, Z:0.55 [[ 9.86184410e-01 -1.63708713e-01 -2.52936015e-02 2.92190836e+01] [ 1.63675268e-01 9.86508408e-01 -3.40104901e-03 8.29465611e-01] [ 2.55091319e-02 -7.85875493e-04 9.99674280e-01 5.52984488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.242755096 meters 0.02257452374219352 Centerline is valid? [True, True] Translation: X:29.25, Y:0.83, Z:0.55 [[ 9.86574226e-01 -1.61361757e-01 -2.51730109e-02 2.92479900e+01] [ 1.61327772e-01 9.86895064e-01 -3.38856540e-03 8.32791617e-01] [ 2.53899051e-02 -7.18034474e-04 9.99677367e-01 5.54080935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.272755096 meters 0.022323488173638398 Centerline is valid? [True, True] Translation: X:29.28, Y:0.84, Z:0.55 [[ 9.86702817e-01 -1.60525374e-01 -2.54785358e-02 2.92761891e+01] [ 1.60490094e-01 9.87031467e-01 -3.43693434e-03 8.36891832e-01] [ 2.56998317e-02 -6.97819803e-04 9.99669461e-01 5.54409099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.302755096 meters 0.02205406553385354 Centerline is valid? [True, True] Translation: X:29.31, Y:0.84, Z:0.55 [[ 9.86879454e-01 -1.59480622e-01 -2.51966992e-02 2.93052205e+01] [ 1.59445603e-01 9.87200841e-01 -3.40578721e-03 8.41026607e-01] [ 2.54173597e-02 -6.56401473e-04 9.99676711e-01 5.54912280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.332755096 meters 0.021013800462454508 Centerline is valid? [True, True] Translation: X:29.33, Y:0.85, Z:0.56 [[ 9.87032471e-01 -1.58600015e-01 -2.47575440e-02 2.93331593e+01] [ 1.58565767e-01 9.87342724e-01 -3.35290914e-03 8.46789005e-01] [ 2.49759524e-02 -6.16268767e-04 9.99687862e-01 5.55690025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.362755096 meters 0.020576013698840788 Centerline is valid? [True, True] Translation: X:29.36, Y:0.85, Z:0.56 [[ 9.87293559e-01 -1.56990090e-01 -2.46077109e-02 2.93602168e+01] [ 1.56955610e-01 9.87600016e-01 -3.33847696e-03 8.52814515e-01] [ 2.48266835e-02 -5.66261473e-04 9.99691610e-01 5.56576283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.392755096 meters 0.020480136414662065 Centerline is valid? [True, True] Translation: X:29.39, Y:0.86, Z:0.56 [[ 9.87353930e-01 -1.56742392e-01 -2.37495213e-02 2.93886657e+01] [ 1.56710126e-01 9.87639374e-01 -3.22531253e-03 8.56951232e-01] [ 2.39615056e-02 -5.37265479e-04 9.99712738e-01 5.57193520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.422755096 meters 0.020643483086427442 Centerline is valid? [True, True] Translation: X:29.42, Y:0.86, Z:0.56 [[ 9.87369351e-01 -1.56843247e-01 -2.24044818e-02 2.94164513e+01] [ 1.56814419e-01 9.87623381e-01 -3.04880295e-03 8.58061113e-01] [ 2.26053742e-02 -5.03051217e-04 9.99744339e-01 5.59497885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.452755096 meters 0.020797531530941687 Centerline is valid? [True, True] Translation: X:29.44, Y:0.86, Z:0.56 [[ 9.87307453e-01 -1.57322858e-01 -2.17603220e-02 2.94445126e+01] [ 1.57295631e-01 9.87547101e-01 -2.96791697e-03 8.60447180e-01] [ 2.19562641e-02 -4.92557036e-04 9.99758811e-01 5.60733038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.482755096 meters 0.021149403665115543 Centerline is valid? [True, True] Translation: X:29.47, Y:0.86, Z:0.56 [[ 9.87180764e-01 -1.58197779e-01 -2.11565849e-02 2.94730016e+01] [ 1.58172105e-01 9.87407323e-01 -2.89203208e-03 8.63333173e-01] [ 2.13476799e-02 -4.91423138e-04 9.99771992e-01 5.61786568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.512755096 meters 0.02192065366646929 Centerline is valid? [True, True] Translation: X:29.50, Y:0.87, Z:0.56 [[ 9.87029539e-01 -1.59339860e-01 -1.95831327e-02 2.95010668e+01] [ 1.59317992e-01 9.87223675e-01 -2.68180611e-03 8.65374386e-01] [ 1.97602508e-02 -4.72923527e-04 9.99804635e-01 5.63377418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.542755096 meters 0.021990957449117873 Centerline is valid? [True, True] Translation: X:29.53, Y:0.87, Z:0.56 [[ 9.86939603e-01 -1.60011681e-01 -1.86140417e-02 2.95297314e+01] [ 1.59992011e-01 9.87115013e-01 -2.55083926e-03 8.69910969e-01] [ 1.87823641e-02 -4.60573678e-04 9.99823490e-01 5.64728074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.572755096 meters 0.022540309783599742 Centerline is valid? [True, True] Translation: X:29.56, Y:0.87, Z:0.57 [[ 9.86848699e-01 -1.60675342e-01 -1.76940795e-02 2.95575994e+01] [ 1.60657589e-01 9.87007212e-01 -2.42953674e-03 8.73233167e-01] [ 1.78545508e-02 -4.45102992e-04 9.99840496e-01 5.65416620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.602755096 meters 0.02250880886275985 Centerline is valid? [True, True] Translation: X:29.59, Y:0.88, Z:0.57 [[ 9.86579280e-01 -1.62329433e-01 -1.76204359e-02 2.95859348e+01] [ 1.62312064e-01 9.86736506e-01 -2.42096088e-03 8.76697291e-01] [ 1.77797206e-02 -4.71539482e-04 9.99841817e-01 5.65618505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.632755096 meters 0.022738706905483134 Centerline is valid? [True, True] Translation: X:29.61, Y:0.88, Z:0.57 [[ 9.86528686e-01 -1.62714000e-01 -1.68910055e-02 2.96137221e+01] [ 1.62698020e-01 9.86673172e-01 -2.32517509e-03 8.80667718e-01] [ 1.70442405e-02 -4.54281231e-04 9.99854633e-01 5.66823499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.662755096 meters 0.02322140271257853 Centerline is valid? [True, True] Translation: X:29.64, Y:0.88, Z:0.57 [[ 9.86478092e-01 -1.63053520e-01 -1.65687466e-02 2.96409065e+01] [ 1.63038099e-01 9.86617125e-01 -2.28639643e-03 8.84026014e-01] [ 1.67198141e-02 -4.45856959e-04 9.99860115e-01 5.67616074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.692755096 meters 0.023858316300839726 Centerline is valid? [True, True] Translation: X:29.67, Y:0.89, Z:0.57 [[ 9.86317508e-01 -1.63988085e-01 -1.69021053e-02 2.96690871e+01] [ 1.63972145e-01 9.86462208e-01 -2.33409798e-03 8.86524834e-01] [ 1.70560523e-02 -4.69312743e-04 9.99854425e-01 5.67258665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.722755096 meters 0.02401381630979478 Centerline is valid? [True, True] Translation: X:29.70, Y:0.89, Z:0.57 [[ 9.86195112e-01 -1.64753807e-01 -1.65947208e-02 2.96973043e+01] [ 1.64738529e-01 9.86334608e-01 -2.29288368e-03 8.91269565e-01] [ 1.67457088e-02 -4.72559224e-04 9.99859669e-01 5.67900777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.752755096 meters 0.023504871218992217 Centerline is valid? [True, True] Translation: X:29.72, Y:0.90, Z:0.57 [[ 9.86145456e-01 -1.65127078e-01 -1.58172902e-02 2.97247405e+01] [ 1.65113183e-01 9.86272195e-01 -2.18942317e-03 8.97458134e-01] [ 1.59616866e-02 -4.52553419e-04 9.99872502e-01 5.68140872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.782755096 meters 0.02338943131612161 Centerline is valid? [True, True] Translation: X:29.75, Y:0.90, Z:0.57 [[ 9.86084182e-01 -1.65452632e-01 -1.62299686e-02 2.97524288e+01] [ 1.65437959e-01 9.86217628e-01 -2.25187990e-03 9.02964247e-01] [ 1.63788606e-02 -4.64509725e-04 9.99865750e-01 5.67337842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.812755096 meters 0.023731208593622585 Centerline is valid? [True, True] Translation: X:29.78, Y:0.91, Z:0.57 [[ 9.86034360e-01 -1.65699885e-01 -1.67269174e-02 2.97796639e+01] [ 1.65684234e-01 9.86176110e-01 -2.32678830e-03 9.06834513e-01] [ 1.68812349e-02 -4.77093291e-04 9.99857388e-01 5.67154179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.842755096 meters 0.025880192478594004 Centerline is valid? [True, True] Translation: X:29.81, Y:0.91, Z:0.57 [[ 9.86016675e-01 -1.65850277e-01 -1.62727683e-02 2.98067381e+01] [ 1.65835464e-01 9.86150835e-01 -2.26491581e-03 9.08891065e-01] [ 1.64230410e-02 -4.65357337e-04 9.99865024e-01 5.66686571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.872755096 meters 0.02316391402275152 Centerline is valid? [True, True] Translation: X:29.83, Y:0.92, Z:0.57 [[ 9.85911846e-01 -1.66487789e-01 -1.61136078e-02 2.98343978e+01] [ 1.66473296e-01 9.86043405e-01 -2.24602228e-03 9.18076385e-01] [ 1.62626520e-02 -4.68105427e-04 9.99867645e-01 5.66926753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.902755096 meters 0.02354422846405014 Centerline is valid? [True, True] Translation: X:29.86, Y:0.92, Z:0.57 [[ 9.85887048e-01 -1.66675168e-01 -1.56880876e-02 2.98617243e+01] [ 1.66661377e-01 9.86011756e-01 -2.19157436e-03 9.21565773e-01] [ 1.58339198e-02 -4.53953513e-04 9.99874533e-01 5.67580783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.932755096 meters 0.023624064419966867 Centerline is valid? [True, True] Translation: X:29.89, Y:0.93, Z:0.57 [[ 9.85760090e-01 -1.67450459e-01 -1.54074336e-02 2.98906281e+01] [ 1.67437237e-01 9.85880386e-01 -2.15331748e-03 9.26035252e-01] [ 1.55504606e-02 -4.57123683e-04 9.99878980e-01 5.67939279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.962755096 meters 0.02430329855643967 Centerline is valid? [True, True] Translation: X:29.92, Y:0.93, Z:0.57 [[ 9.85609163e-01 -1.68369154e-01 -1.50468070e-02 2.99181532e+01] [ 1.68356578e-01 9.85723907e-01 -2.10769227e-03 9.29653470e-01] [ 1.51868678e-02 -4.55868132e-04 9.99884569e-01 5.68805373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.992755096 meters 0.024219046112918575 Centerline is valid? [True, True] Translation: X:29.95, Y:0.93, Z:0.57 [[ 9.85517076e-01 -1.68974021e-01 -1.42783870e-02 2.99465760e+01] [ 1.68962752e-01 9.85620407e-01 -2.00061232e-03 9.34170970e-01] [ 1.44111211e-02 -4.40877959e-04 9.99896057e-01 5.69853740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.022755096 meters 0.024440544196485052 Centerline is valid? [True, True] Translation: X:29.97, Y:0.94, Z:0.57 [[ 9.85457464e-01 -1.69371131e-01 -1.36750355e-02 2.99747077e+01] [ 1.69360785e-01 9.85552251e-01 -1.91952107e-03 9.38131419e-01] [ 1.38025735e-02 -4.24408384e-04 9.99904650e-01 5.70964144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.052755096 meters 0.024738113452204398 Centerline is valid? [True, True] Translation: X:30.00, Y:0.94, Z:0.57 [[ 9.85419443e-01 -1.69654865e-01 -1.28743093e-02 3.00029335e+01] [ 1.69645670e-01 9.85503459e-01 -1.81092584e-03 9.42075556e-01] [ 1.29949087e-02 -3.99549292e-04 9.99915483e-01 5.72262412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.082755096 meters 0.024246541345950504 Centerline is valid? [True, True] Translation: X:30.03, Y:0.95, Z:0.57 [[ 9.85360252e-01 -1.70038592e-01 -1.23309295e-02 3.00301116e+01] [ 1.70030142e-01 9.85437329e-01 -1.73813540e-03 9.48052870e-01] [ 1.24469083e-02 -3.83940155e-04 9.99922461e-01 5.72873069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.112755096 meters 0.024000971222662353 Centerline is valid? [True, True] Translation: X:30.06, Y:0.95, Z:0.57 [[ 9.85319664e-01 -1.70295702e-01 -1.20222517e-02 3.00575262e+01] [ 1.70287644e-01 9.85392934e-01 -1.69833973e-03 9.53122991e-01] [ 1.21358618e-02 -3.73833377e-04 9.99926288e-01 5.73267951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.142755096 meters 0.024860606669983968 Centerline is valid? [True, True] Translation: X:30.09, Y:0.96, Z:0.57 [[ 9.85235121e-01 -1.70813167e-01 -1.16025544e-02 3.00855497e+01] [ 1.70805637e-01 9.85303370e-01 -1.64419433e-03 9.56507556e-01] [ 1.17128860e-02 -3.61863685e-04 9.99931336e-01 5.73831475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.172755096 meters 0.024955276168401937 Centerline is valid? [True, True] Translation: X:30.11, Y:0.96, Z:0.57 [[ 9.85114901e-01 -1.71505036e-01 -1.16040320e-02 3.01136698e+01] [ 1.71497553e-01 9.85183174e-01 -1.64432474e-03 9.60925128e-01] [ 1.17141071e-02 -3.70214301e-04 9.99931319e-01 5.74346375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.202755096 meters 0.02532185387205057 Centerline is valid? [True, True] Translation: X:30.14, Y:0.96, Z:0.57 [[ 9.84975292e-01 -1.72249202e-01 -1.24050962e-02 3.01423107e+01] [ 1.72240660e-01 9.85053324e-01 -1.76169250e-03 9.64991764e-01] [ 1.25231314e-02 -4.01438377e-04 9.99921502e-01 5.74525788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.232755096 meters 0.02591673330373426 Centerline is valid? [True, True] Translation: X:30.17, Y:0.97, Z:0.57 [[ 9.84687551e-01 -1.73898908e-01 -1.22309751e-02 3.01713165e+01] [ 1.73890691e-01 9.84763423e-01 -1.74030890e-03 9.68668322e-01] [ 1.23472547e-02 -4.13192201e-04 9.99923684e-01 5.74657502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.262755096 meters 0.026526553811009657 Centerline is valid? [True, True] Translation: X:30.20, Y:0.97, Z:0.58 [[ 9.84606755e-01 -1.74323416e-01 -1.26840028e-02 3.01981181e+01] [ 1.74314561e-01 9.84688358e-01 -1.80888054e-03 9.71708544e-01] [ 1.28051201e-02 -4.29970382e-04 9.99917919e-01 5.75024683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.292755096 meters 0.0265059577523917 Centerline is valid? [True, True] Translation: X:30.23, Y:0.98, Z:0.58 [[ 9.84476123e-01 -1.75041263e-01 -1.29351658e-02 3.02265002e+01] [ 1.75032083e-01 9.84560997e-01 -1.84724976e-03 9.76258622e-01] [ 1.30588047e-02 -4.45495728e-04 9.99914631e-01 5.75330123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.322755096 meters 0.026846216153475443 Centerline is valid? [True, True] Translation: X:30.25, Y:0.98, Z:0.58 [[ 9.84374645e-01 -1.75587413e-01 -1.32521116e-02 3.02539067e+01] [ 1.75577778e-01 9.84463737e-01 -1.89611998e-03 9.80174576e-01] [ 1.33791581e-02 -4.60283868e-04 9.99910389e-01 5.76089739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.352755096 meters 0.027543305076358635 Centerline is valid? [True, True] Translation: X:30.28, Y:0.98, Z:0.58 [[ 9.84382194e-01 -1.75517602e-01 -1.36113182e-02 3.02819395e+01] [ 1.75507367e-01 9.84476182e-01 -1.95216764e-03 9.83067827e-01] [ 1.37426583e-02 -4.67207550e-04 9.99905456e-01 5.77171051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.382755096 meters 0.027357574709202793 Centerline is valid? [True, True] Translation: X:30.31, Y:0.99, Z:0.58 [[ 9.84319209e-01 -1.75875511e-01 -1.35462091e-02 3.03092922e+01] [ 1.75865359e-01 9.84412305e-01 -1.94632196e-03 9.87615746e-01] [ 1.36773653e-02 -4.66506849e-04 9.99906352e-01 5.77879827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.412755096 meters 0.02700578607066824 Centerline is valid? [True, True] Translation: X:30.34, Y:0.99, Z:0.58 [[ 9.84342830e-01 -1.75747249e-01 -1.34943449e-02 3.03376840e+01] [ 1.75737103e-01 9.84435216e-01 -1.94328479e-03 9.92602923e-01] [ 1.36258353e-02 -4.58598630e-04 9.99907059e-01 5.78262731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.442755096 meters 0.027088982665785487 Centerline is valid? [True, True] Translation: X:30.37, Y:1.00, Z:0.58 [[ 9.84423576e-01 -1.75203516e-01 -1.46270833e-02 3.03657773e+01] [ 1.75191471e-01 9.84532119e-01 -2.11081937e-03 9.97193925e-01] [ 1.47706563e-02 -4.84599888e-04 9.99890790e-01 5.77561858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.472755096 meters 0.026562060293635153 Centerline is valid? [True, True] Translation: X:30.39, Y:1.00, Z:0.58 [[ 9.84485247e-01 -1.74838196e-01 -1.48460194e-02 3.03946252e+01] [ 1.74825684e-01 9.84597061e-01 -2.14649351e-03 1.00220068e+00] [ 1.49926362e-02 -4.82274312e-04 9.99887488e-01 5.77504638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.502755096 meters 0.026891936547334246 Centerline is valid? [True, True] Translation: X:30.42, Y:1.01, Z:0.58 [[ 9.84693691e-01 -1.73590072e-01 -1.56467641e-02 3.04227574e+01] [ 1.73575946e-01 9.84817878e-01 -2.26676363e-03 1.00570040e+00] [ 1.58027007e-02 -4.83834029e-04 9.99875012e-01 5.77414535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.532755096 meters 0.026891936547334246 Centerline is valid? [True, True] Translation: X:30.45, Y:1.01, Z:0.58 [[ 9.84642783e-01 -1.73878657e-01 -1.56461831e-02 3.04500247e+01] [ 1.73864504e-01 9.84766966e-01 -2.27076632e-03 1.00984434e+00] [ 1.58026820e-02 -4.84422191e-04 9.99875012e-01 5.77929655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.562755096 meters 0.026152415177510158 Centerline is valid? [True, True] Translation: X:30.48, Y:1.01, Z:0.58 [[ 9.84720219e-01 -1.73389450e-01 -1.61922454e-02 3.04789628e+01] [ 1.73374141e-01 9.84853218e-01 -2.35518407e-03 1.01488475e+00] [ 1.63553491e-02 -4.88119271e-04 9.99866123e-01 5.77831300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.592755096 meters 0.025800374789808816 Centerline is valid? [True, True] Translation: X:30.51, Y:1.02, Z:0.58 [[ 9.84807292e-01 -1.72842393e-01 -1.67363499e-02 3.05073549e+01] [ 1.72825888e-01 9.84949372e-01 -2.43854215e-03 1.01907139e+00] [ 1.69059408e-02 -4.90980445e-04 9.99856964e-01 5.77938235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.622755096 meters 0.02559464751058653 Centerline is valid? [True, True] Translation: X:30.54, Y:1.02, Z:0.58 [[ 9.85010447e-01 -1.71602951e-01 -1.75170423e-02 3.05352774e+01] [ 1.71584585e-01 9.85166072e-01 -2.55730547e-03 1.02197018e+00] [ 1.76960369e-02 -4.86681830e-04 9.99843294e-01 5.78027159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.652755096 meters 0.02561939949484878 Centerline is valid? [True, True] Translation: X:30.56, Y:1.03, Z:0.58 [[ 9.85016955e-01 -1.71553205e-01 -1.76379156e-02 3.05625930e+01] [ 1.71534551e-01 9.85174736e-01 -2.57642798e-03 1.02568639e+00] [ 1.78184234e-02 -4.87686687e-04 9.99841120e-01 5.78697976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.682755096 meters 0.02536286599172677 Centerline is valid? [True, True] Translation: X:30.59, Y:1.03, Z:0.58 [[ 9.85118489e-01 -1.70977332e-01 -1.75588942e-02 3.05907736e+01] [ 1.70958660e-01 9.85274851e-01 -2.57007640e-03 1.03001847e+00] [ 1.77397617e-02 -4.70015251e-04 9.99842528e-01 5.79278191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.712755096 meters 0.024928343632711535 Centerline is valid? [True, True] Translation: X:30.62, Y:1.04, Z:0.58 [[ 9.85447737e-01 -1.69218630e-01 -1.60565487e-02 3.06180633e+01] [ 1.69202717e-01 9.85578458e-01 -2.35429604e-03 1.03593300e+00] [ 1.62233792e-02 -3.96775959e-04 9.99868314e-01 5.81893531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.742755096 meters 0.024947347998498532 Centerline is valid? [True, True] Translation: X:30.65, Y:1.04, Z:0.58 [[ 9.85501768e-01 -1.68919630e-01 -1.58878656e-02 3.06455360e+01] [ 1.68903988e-01 9.85629753e-01 -2.33098907e-03 1.03917829e+00] [ 1.60533028e-02 -3.86330017e-04 9.99871063e-01 5.82720196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.772755096 meters 0.02504317568679275 Centerline is valid? [True, True] Translation: X:30.67, Y:1.04, Z:0.58 [[ 9.85429905e-01 -1.69360219e-01 -1.56530407e-02 3.06729321e+01] [ 1.69345079e-01 9.85554142e-01 -2.29734094e-03 1.04250873e+00] [ 1.58159973e-02 -3.86896940e-04 9.99874844e-01 5.83101183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.802755096 meters 0.026093154793801226 Centerline is valid? [True, True] Translation: X:30.70, Y:1.04, Z:0.58 [[ 9.85246841e-01 -1.70350007e-01 -1.64176216e-02 3.07009334e+01] [ 1.70333401e-01 9.85383530e-01 -2.41481683e-03 1.04323045e+00] [ 1.65890180e-02 -4.17278668e-04 9.99862306e-01 5.82948739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.832755096 meters 0.026385778903842243 Centerline is valid? [True, True] Translation: X:30.73, Y:1.05, Z:0.58 [[ 9.85094486e-01 -1.71224809e-01 -1.64596030e-02 3.07299604e+01] [ 1.71208209e-01 9.85231891e-01 -2.42292896e-03 1.04602093e+00] [ 1.66313914e-02 -4.31205195e-04 9.99861596e-01 5.83590190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.862755096 meters 0.027949458576299806 Centerline is valid? [True, True] Translation: X:30.76, Y:1.05, Z:0.58 [[ 9.84821094e-01 -1.72696254e-01 -1.74188746e-02 3.07578695e+01] [ 1.72677809e-01 9.84975013e-01 -2.56883171e-03 1.04743067e+00] [ 1.76007839e-02 -4.78013443e-04 9.99844980e-01 5.83576131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.892755096 meters 0.028292651773807995 Centerline is valid? [True, True] Translation: X:30.79, Y:1.05, Z:0.58 [[ 9.84734939e-01 -1.73161615e-01 -1.76678942e-02 3.07851994e+01] [ 1.73142674e-01 9.84893301e-01 -2.60777383e-03 1.05244590e+00] [ 1.78525570e-02 -4.91100443e-04 9.99840510e-01 5.83318781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.922755096 meters 0.02711421273464544 Centerline is valid? [True, True] Translation: X:30.81, Y:1.06, Z:0.58 [[ 9.84657052e-01 -1.73583754e-01 -1.78653319e-02 3.08130335e+01] [ 1.73564367e-01 9.84818984e-01 -2.64188808e-03 1.05937946e+00] [ 1.80527069e-02 -4.99431298e-04 9.99836912e-01 5.83249343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.952755096 meters 0.029766944486266315 Centerline is valid? [True, True] Translation: X:30.84, Y:1.06, Z:0.58 [[ 9.84507299e-01 -1.74360149e-01 -1.85449921e-02 3.08407357e+01] [ 1.74339293e-01 9.84681806e-01 -2.74791360e-03 1.05955295e+00] [ 1.87400429e-02 -5.27779818e-04 9.99824251e-01 5.83414273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.982755096 meters 0.030969854104673112 Centerline is valid? [True, True] Translation: X:30.87, Y:1.06, Z:0.58 [[ 9.84324759e-01 -1.75293799e-01 -1.94126868e-02 3.08691179e+01] [ 1.75271092e-01 9.84516003e-01 -2.87828056e-03 1.06078252e+00] [ 1.96166456e-02 -5.69319997e-04 9.99807413e-01 5.83336687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.012755096 meters 0.03101100394323907 Centerline is valid? [True, True] Translation: X:30.90, Y:1.07, Z:0.58 [[ 9.84304714e-01 -1.75417599e-01 -1.93105221e-02 3.08969578e+01] [ 1.75395119e-01 9.84493954e-01 -2.86487686e-03 1.06529557e+00] [ 1.95136421e-02 -5.67059536e-04 9.99809430e-01 5.84728201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.042755096 meters 0.026193571940056858 Centerline is valid? [True, True] Translation: X:30.92, Y:1.08, Z:0.59 [[ 9.84367262e-01 -1.75038535e-01 -1.95602819e-02 3.09248330e+01] [ 1.75015292e-01 9.84561423e-01 -2.90717972e-03 1.07733199e+00] [ 1.97671674e-02 -5.61615896e-04 9.99804453e-01 5.85723738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.072755096 meters 0.024443919165276322 Centerline is valid? [True, True] Translation: X:30.95, Y:1.08, Z:0.59 [[ 9.84297819e-01 -1.75377848e-01 -2.00103326e-02 3.09517122e+01] [ 1.75353483e-01 9.84501030e-01 -2.97956088e-03 1.08449853e+00] [ 2.02227421e-02 -5.76106234e-04 9.99795333e-01 5.86248217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.102755096 meters 0.024277000133469607 Centerline is valid? [True, True] Translation: X:30.98, Y:1.09, Z:0.59 [[ 9.84298394e-01 -1.75318869e-01 -2.04930863e-02 3.09797219e+01] [ 1.75293161e-01 9.84511531e-01 -3.05817297e-03 1.08946372e+00] [ 2.07118352e-02 -5.82143143e-04 9.99785317e-01 5.86336606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.132755096 meters 0.024252334795469767 Centerline is valid? [True, True] Translation: X:31.01, Y:1.09, Z:0.59 [[ 9.84185047e-01 -1.75815049e-01 -2.16531971e-02 3.10076203e+01] [ 1.75786308e-01 9.84423022e-01 -3.23861509e-03 1.09487281e+00] [ 2.18853030e-02 -6.18939031e-04 9.99760296e-01 5.85930891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.162755096 meters 0.02562908078346351 Centerline is valid? [True, True] Translation: X:31.04, Y:1.10, Z:0.59 [[ 9.84106205e-01 -1.76260742e-01 -2.16131388e-02 3.10352614e+01] [ 1.76232077e-01 9.84343316e-01 -3.23889879e-03 1.09651175e+00] [ 2.18456395e-02 -6.21507955e-04 9.99761162e-01 5.86267898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.192755096 meters 0.024311816246558936 Centerline is valid? [True, True] Translation: X:31.06, Y:1.10, Z:0.59 [[ 9.83964871e-01 -1.77035741e-01 -2.17135505e-02 3.10629365e+01] [ 1.77006950e-01 9.84204215e-01 -3.25612400e-03 1.10295612e+00] [ 2.19470182e-02 -6.39537713e-04 9.99758931e-01 5.87147000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.222755096 meters 0.02574227860429052 Centerline is valid? [True, True] Translation: X:31.09, Y:1.10, Z:0.59 [[ 9.83731481e-01 -1.78273715e-01 -2.21552849e-02 3.10908544e+01] [ 1.78244003e-01 9.83980702e-01 -3.32465260e-03 1.10452797e+00] [ 2.23930710e-02 -6.78481235e-04 9.99749014e-01 5.88151073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.252755096 meters 0.025765065712779672 Centerline is valid? [True, True] Translation: X:31.12, Y:1.11, Z:0.59 [[ 9.83560299e-01 -1.79159041e-01 -2.26091985e-02 3.11194980e+01] [ 1.79128263e-01 9.83819869e-01 -3.39580566e-03 1.10860488e+00] [ 2.28517680e-02 -7.09966820e-04 9.99738612e-01 5.89023085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.282755096 meters 0.025379252127270727 Centerline is valid? [True, True] Translation: X:31.15, Y:1.11, Z:0.59 [[ 9.83535474e-01 -1.79292569e-01 -2.26306304e-02 3.11475409e+01] [ 1.79261620e-01 9.83795545e-01 -3.40549142e-03 1.11299467e+00] [ 2.28744926e-02 -7.07381828e-04 9.99738094e-01 5.89921234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.312755096 meters 0.025113237123134024 Centerline is valid? [True, True] Translation: X:31.18, Y:1.12, Z:0.59 [[ 9.83568339e-01 -1.79155578e-01 -2.22845523e-02 3.11758271e+01] [ 1.79125378e-01 9.83820516e-01 -3.36031052e-03 1.11723482e+00] [ 2.25260182e-02 -6.86633809e-04 9.99746021e-01 5.91722860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.342755096 meters 0.024902519406431272 Centerline is valid? [True, True] Translation: X:31.20, Y:1.12, Z:0.59 [[ 9.83600797e-01 -1.78931352e-01 -2.26504769e-02 3.12044983e+01] [ 1.78899945e-01 9.83861322e-01 -3.42191212e-03 1.12252937e+00] [ 2.28972155e-02 -6.86373594e-04 9.99737589e-01 5.92023672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.372755096 meters 0.02414080197722836 Centerline is valid? [True, True] Translation: X:31.23, Y:1.13, Z:0.59 [[ 9.83632186e-01 -1.78710687e-01 -2.30263681e-02 3.12332367e+01] [ 1.78678016e-01 9.83901428e-01 -3.48524989e-03 1.12871226e+00] [ 2.32785279e-02 -6.86101812e-04 9.99728783e-01 5.92500432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.402755096 meters 0.024334807184095524 Centerline is valid? [True, True] Translation: X:31.26, Y:1.13, Z:0.59 [[ 9.83764924e-01 -1.77934277e-01 -2.33659296e-02 3.12605117e+01] [ 1.77900279e-01 9.84042144e-01 -3.54248010e-03 1.13252078e+00] [ 2.36233881e-02 -6.71837730e-04 9.99720703e-01 5.92771437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.432755096 meters 0.02448691811042031 Centerline is valid? [True, True] Translation: X:31.29, Y:1.14, Z:0.59 [[ 9.83855671e-01 -1.77420091e-01 -2.34548455e-02 3.12883384e+01] [ 1.77385626e-01 9.84134989e-01 -3.55855834e-03 1.13670550e+00] [ 2.37140938e-02 -6.59444642e-04 9.99718564e-01 5.93204849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.462755096 meters 0.024150138101045722 Centerline is valid? [True, True] Translation: X:31.32, Y:1.14, Z:0.59 [[ 9.83927314e-01 -1.76972921e-01 -2.38249228e-02 3.13172819e+01] [ 1.76937129e-01 9.84215503e-01 -3.61883322e-03 1.14195718e+00] [ 2.40892938e-02 -6.54844586e-04 9.99709596e-01 5.93700721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.492755096 meters 0.023774400470666084 Centerline is valid? [True, True] Translation: X:31.35, Y:1.15, Z:0.59 [[ 9.84017629e-01 -1.76352385e-01 -2.46808186e-02 3.13456124e+01] [ 1.76313616e-01 9.84326880e-01 -3.75541061e-03 1.14634887e+00] [ 2.49562688e-02 -6.56174142e-04 9.99688328e-01 5.93937653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.522755096 meters 0.02323703046015367 Centerline is valid? [True, True] Translation: X:31.37, Y:1.15, Z:0.59 [[ 9.84079343e-01 -1.75919448e-01 -2.53020584e-02 3.13737767e+01] [ 1.75878380e-01 9.84404347e-01 -3.85698461e-03 1.15132098e+00] [ 2.55859748e-02 -6.54506143e-04 9.99672411e-01 5.94431219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.552755096 meters 0.023003673425375796 Centerline is valid? [True, True] Translation: X:31.40, Y:1.16, Z:0.59 [[ 9.84139255e-01 -1.75504820e-01 -2.58453897e-02 3.14022889e+01] [ 1.75461637e-01 9.84478357e-01 -3.94703263e-03 1.15597899e+00] [ 2.61369501e-02 -6.50444633e-04 9.99658160e-01 5.94584238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.582755096 meters 0.022469420961287147 Centerline is valid? [True, True] Translation: X:31.43, Y:1.16, Z:0.60 [[ 9.84441629e-01 -1.73729545e-01 -2.63196542e-02 3.14295058e+01] [ 1.73683970e-01 9.84793214e-01 -4.02540044e-03 1.15981911e+00] [ 2.66187479e-02 -6.08530257e-04 9.99645473e-01 5.95242549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.612755096 meters 0.021856180325131938 Centerline is valid? [True, True] Translation: X:31.46, Y:1.16, Z:0.60 [[ 9.84616433e-01 -1.72715525e-01 -2.64542464e-02 3.14583099e+01] [ 1.72669010e-01 9.84971579e-01 -4.04995120e-03 1.16439643e+00] [ 2.67561703e-02 -5.80180032e-04 9.99641821e-01 5.96321576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.642755096 meters 0.021528378998673662 Centerline is valid? [True, True] Translation: X:31.49, Y:1.17, Z:0.60 [[ 9.84786923e-01 -1.71759617e-01 -2.63315353e-02 3.14855415e+01] [ 1.71713028e-01 9.85138740e-01 -4.03728853e-03 1.16863183e+00] [ 2.66336586e-02 -5.45598709e-04 9.99645112e-01 5.96867404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.672755096 meters 0.02047506279657638 Centerline is valid? [True, True] Translation: X:31.51, Y:1.17, Z:0.60 [[ 9.85157483e-01 -1.69548757e-01 -2.67946526e-02 3.15140799e+01] [ 1.69499564e-01 9.85521679e-01 -4.11322440e-03 1.17448654e+00] [ 2.71041031e-02 -4.89508130e-04 9.99632496e-01 5.96834301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.702755096 meters 0.020480825214126485 Centerline is valid? [True, True] Translation: X:31.54, Y:1.18, Z:0.60 [[ 9.85282278e-01 -1.68778729e-01 -2.70660868e-02 3.15420946e+01] [ 1.68728083e-01 9.85653855e-01 -4.16074469e-03 1.17855449e+00] [ 2.73800380e-02 -4.67300914e-04 9.99624987e-01 5.96627239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.732755096 meters 0.020251171349155283 Centerline is valid? [True, True] Translation: X:31.57, Y:1.18, Z:0.60 [[ 9.85303351e-01 -1.68607512e-01 -2.73644390e-02 3.15700940e+01] [ 1.68555554e-01 9.85683160e-01 -4.21105289e-03 1.18294857e+00] [ 2.76826818e-02 -4.63263648e-04 9.99616654e-01 5.96629283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.762755096 meters 0.020266256498399728 Centerline is valid? [True, True] Translation: X:31.60, Y:1.19, Z:0.60 [[ 9.85277905e-01 -1.68719977e-01 -2.75865933e-02 3.15977425e+01] [ 1.68666984e-01 9.85663916e-01 -4.25355115e-03 1.18640231e+00] [ 2.79087687e-02 -4.62017525e-04 9.99610368e-01 5.96760658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.792755096 meters 0.020658924907182304 Centerline is valid? [True, True] Translation: X:31.62, Y:1.19, Z:0.60 [[ 9.85210180e-01 -1.69244222e-01 -2.67823667e-02 3.16241902e+01] [ 1.69194293e-01 9.85574038e-01 -4.13597222e-03 1.18913896e+00] [ 2.70959947e-02 -4.56621673e-04 9.99632732e-01 5.97200920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.822755096 meters 0.020498006139336958 Centerline is valid? [True, True] Translation: X:31.65, Y:1.19, Z:0.60 [[ 9.85211903e-01 -1.69410277e-01 -2.56449732e-02 3.16520715e+01] [ 1.69364442e-01 9.85545517e-01 -3.96470520e-03 1.19430736e+00] [ 2.59459502e-02 -4.37271817e-04 9.99663252e-01 5.98655621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.852755096 meters 0.021051118095843944 Centerline is valid? [True, True] Translation: X:31.68, Y:1.20, Z:0.60 [[ 9.85090194e-01 -1.70148849e-01 -2.54298971e-02 3.16801526e+01] [ 1.70103871e-01 9.85418271e-01 -3.93746002e-03 1.19702497e+00] [ 2.57290395e-02 -4.46970684e-04 9.99668854e-01 5.99367028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.882755096 meters 0.020370590905894707 Centerline is valid? [True, True] Translation: X:31.71, Y:1.20, Z:0.60 [[ 9.85009509e-01 -1.70743789e-01 -2.45525097e-02 3.17071339e+01] [ 1.70701960e-01 9.85315362e-01 -3.80505767e-03 1.20301711e+00] [ 2.48416549e-02 -4.43143544e-04 9.99691300e-01 6.00463459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.912755096 meters 0.021525427368061463 Centerline is valid? [True, True] Translation: X:31.74, Y:1.20, Z:0.60 [[ 9.84751884e-01 -1.72170938e-01 -2.49177510e-02 3.17352974e+01] [ 1.72128147e-01 9.85066971e-01 -3.86823241e-03 1.20496027e+00] [ 2.52116507e-02 -4.79797150e-04 9.99682021e-01 6.00072229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.942755096 meters 0.023517301423295577 Centerline is valid? [True, True] Translation: X:31.76, Y:1.21, Z:0.60 [[ 9.84404043e-01 -1.74315085e-01 -2.37261644e-02 3.17628309e+01] [ 1.74276838e-01 9.84689796e-01 -3.68628637e-03 1.20569358e+00] [ 2.40054873e-02 -5.06125705e-04 9.99711699e-01 6.00492965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.972755096 meters 0.024541382488914357 Centerline is valid? [True, True] Translation: X:31.79, Y:1.21, Z:0.60 [[ 9.84096834e-01 -1.76149376e-01 -2.29089155e-02 3.17915414e+01] [ 1.76114145e-01 9.84363306e-01 -3.56235289e-03 1.20808609e+00] [ 2.31782020e-02 -5.28883865e-04 9.99731209e-01 6.01386677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.002755096 meters 0.025651924457564024 Centerline is valid? [True, True] Translation: X:31.82, Y:1.21, Z:0.60 [[ 9.83817042e-01 -1.77712284e-01 -2.28554644e-02 3.18198088e+01] [ 1.77677524e-01 9.84082329e-01 -3.55895064e-03 1.21052166e+00] [ 2.31241279e-02 -5.59546040e-04 9.99732445e-01 6.01725619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.032755096 meters 0.026732888272551915 Centerline is valid? [True, True] Translation: X:31.85, Y:1.21, Z:0.60 [[ 9.83463757e-01 -1.79730122e-01 -2.22738081e-02 3.18487606e+01] [ 1.79697570e-01 9.83715780e-01 -3.47086692e-03 1.21444628e+00] [ 2.25349158e-02 -5.89077369e-04 9.99745883e-01 6.02200135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.062755096000004 meters 0.026823090919275788 Centerline is valid? [True, True] Translation: X:31.88, Y:1.22, Z:0.60 [[ 9.83108111e-01 -1.81753111e-01 -2.15464407e-02 3.18764843e+01] [ 1.81723032e-01 9.83344006e-01 -3.36230374e-03 1.22072142e+00] [ 2.17986725e-02 -6.09976452e-04 9.99762195e-01 6.02195498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.092755096 meters 0.02771336490547299 Centerline is valid? [True, True] Translation: X:31.90, Y:1.22, Z:0.60 [[ 9.82949537e-01 -1.82720776e-01 -2.05748848e-02 3.19044409e+01] [ 1.82693507e-01 9.83164665e-01 -3.21325816e-03 1.22424933e+00] [ 2.08156288e-02 -6.00427244e-04 9.99783151e-01 6.02659985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.122755096 meters 0.02436654218179711 Centerline is valid? [True, True] Translation: X:31.93, Y:1.23, Z:0.60 [[ 9.82845582e-01 -1.83338387e-01 -2.00398979e-02 3.19315876e+01] [ 1.83312603e-01 9.83049684e-01 -3.13179953e-03 1.23374764e+00] [ 2.02743944e-02 -5.95490516e-04 9.99794276e-01 6.03663344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.152755096 meters 0.023754614332517066 Centerline is valid? [True, True] Translation: X:31.96, Y:1.24, Z:0.60 [[ 9.82740259e-01 -1.83909014e-01 -1.99764139e-02 3.19595991e+01] [ 1.83883385e-01 9.82943089e-01 -3.12812125e-03 1.23922951e+00] [ 2.02109677e-02 -5.99199927e-04 9.99795558e-01 6.04125766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.182755096 meters 0.024157190770352516 Centerline is valid? [True, True] Translation: X:31.99, Y:1.24, Z:0.60 [[ 9.82706694e-01 -1.84113445e-01 -1.97431857e-02 3.19868021e+01] [ 1.84088346e-01 9.82904822e-01 -3.09693933e-03 1.24286792e+00] [ 1.99758606e-02 -5.91107396e-04 9.99800288e-01 6.04413464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.212755096 meters 0.02388208089516525 Centerline is valid? [True, True] Translation: X:32.01, Y:1.25, Z:0.60 [[ 9.82686810e-01 -1.84160417e-01 -2.02872845e-02 3.20144100e+01] [ 1.84133859e-01 9.82896014e-01 -3.18551771e-03 1.24851125e+00] [ 2.05269374e-02 -6.05209756e-04 9.99789117e-01 6.03260908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.242755096 meters 0.024002779093674726 Centerline is valid? [True, True] Translation: X:32.04, Y:1.25, Z:0.60 [[ 9.82682763e-01 -1.84192475e-01 -2.01920792e-02 3.20424271e+01] [ 1.84166040e-01 9.82890012e-01 -3.17701236e-03 1.25359130e+00] [ 2.04317747e-02 -5.96699985e-04 9.99791071e-01 6.02904565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.272755096 meters 0.023654032648037074 Centerline is valid? [True, True] Translation: X:32.07, Y:1.26, Z:0.60 [[ 9.82637242e-01 -1.84475240e-01 -1.98226200e-02 3.20701176e+01] [ 1.84449697e-01 9.82836987e-01 -3.12510835e-03 1.25893507e+00] [ 2.00589092e-02 -5.85428394e-04 9.99798628e-01 6.02781214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.302755096 meters 0.02442955912664754 Centerline is valid? [True, True] Translation: X:32.10, Y:1.26, Z:0.60 [[ 9.82569142e-01 -1.84931506e-01 -1.89266669e-02 3.20984783e+01] [ 1.84908195e-01 9.82751251e-01 -2.98958994e-03 1.26097872e+00] [ 1.91530750e-02 -5.62216994e-04 9.99816405e-01 6.03219664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.332755096 meters 0.02457874406078665 Centerline is valid? [True, True] Translation: X:32.13, Y:1.26, Z:0.60 [[ 9.82352763e-01 -1.86170378e-01 -1.79899743e-02 3.21267702e+01] [ 1.86149495e-01 9.82517319e-01 -2.84324021e-03 1.26489036e+00] [ 1.82047884e-02 -5.55759752e-04 9.99834125e-01 6.03710552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.362755096 meters 0.024146913401088658 Centerline is valid? [True, True] Translation: X:32.16, Y:1.27, Z:0.60 [[ 9.82142333e-01 -1.87302136e-01 -1.77298591e-02 3.21550619e+01] [ 1.87281950e-01 9.82302190e-01 -2.80698832e-03 1.26968254e+00] [ 1.79418344e-02 -5.63620525e-04 9.99838873e-01 6.04159733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.392755096 meters 0.026678011466780036 Centerline is valid? [True, True] Translation: X:32.18, Y:1.27, Z:0.60 [[ 9.81732431e-01 -1.89492448e-01 -1.71477773e-02 3.21831033e+01] [ 1.89473814e-01 9.81882008e-01 -2.71973776e-03 1.26966442e+00] [ 1.73524638e-02 -5.79000006e-04 9.99849267e-01 6.04407621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.422755096 meters 0.02662227033494389 Centerline is valid? [True, True] Translation: X:32.21, Y:1.27, Z:0.61 [[ 9.81586326e-01 -1.90300199e-01 -1.65565265e-02 3.22111316e+01] [ 1.90282900e-01 9.81725781e-01 -2.62848162e-03 1.27410514e+00] [ 1.67541695e-02 -5.70342265e-04 9.99859476e-01 6.05375271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.452755096 meters 0.02662227033494389 Centerline is valid? [True, True] Translation: X:32.24, Y:1.28, Z:0.61 [[ 9.81527853e-01 -1.90601578e-01 -1.65563399e-02 3.22383541e+01] [ 1.90584302e-01 9.81667311e-01 -2.62965689e-03 1.27859970e+00] [ 1.67540344e-02 -5.74296995e-04 9.99859476e-01 6.05891505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.482755096 meters 0.026153588738077025 Centerline is valid? [True, True] Translation: X:32.27, Y:1.29, Z:0.61 [[ 9.81492924e-01 -1.90953240e-01 -1.44395171e-02 3.22653626e+01] [ 1.90940082e-01 9.81599006e-01 -2.29722073e-03 1.28520272e+00] [ 1.46124774e-02 -5.02376699e-04 9.99893106e-01 6.07164729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.512755096 meters 0.026227679319932144 Centerline is valid? [True, True] Translation: X:32.29, Y:1.29, Z:0.61 [[ 9.81471037e-01 -1.91111024e-01 -1.38267868e-02 3.22933434e+01] [ 1.91098917e-01 9.81568310e-01 -2.20392284e-03 1.28958713e+00] [ 1.39931297e-02 -4.79197537e-04 9.99901977e-01 6.07966061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.542755096 meters 0.025952040971298558 Centerline is valid? [True, True] Translation: X:32.32, Y:1.29, Z:0.61 [[ 9.81527560e-01 -1.90854483e-01 -1.33497003e-02 3.23221291e+01] [ 1.90843115e-01 9.81618235e-01 -2.13212933e-03 1.29442108e+00] [ 1.35112357e-02 -4.54954686e-04 9.99908616e-01 6.08771243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.572755096 meters 0.025877630249495402 Centerline is valid? [True, True] Translation: X:32.35, Y:1.30, Z:0.61 [[ 9.81813137e-01 -1.89443568e-01 -1.24136489e-02 3.23498805e+01] [ 1.89433573e-01 9.81891529e-01 -1.98682602e-03 1.29932246e+00] [ 1.25652481e-02 -4.00869979e-04 9.99920974e-01 6.09514820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.602755096 meters 0.025439742963061077 Centerline is valid? [True, True] Translation: X:32.38, Y:1.31, Z:0.61 [[ 9.81953410e-01 -1.88757819e-01 -1.17467392e-02 3.23782122e+01] [ 1.88748822e-01 9.82023598e-01 -1.87996351e-03 1.30537481e+00] [ 1.18904330e-02 -3.71146615e-04 9.99929237e-01 6.10116888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.632755096 meters 0.027016282271649268 Centerline is valid? [True, True] Translation: X:32.41, Y:1.31, Z:0.61 [[ 9.82123172e-01 -1.87898373e-01 -1.13259295e-02 3.24060378e+01] [ 1.87889903e-01 9.82188415e-01 -1.81680970e-03 1.30793652e+00] [ 1.14655723e-02 -3.43696894e-04 9.99934209e-01 6.11481401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.662755096 meters 0.02428122685025975 Centerline is valid? [True, True] Translation: X:32.43, Y:1.32, Z:0.61 [[ 9.82466616e-01 -1.86141261e-01 -1.05251668e-02 3.24332181e+01] [ 1.86133852e-01 9.82522946e-01 -1.68785741e-03 1.31901277e+00] [ 1.06553978e-02 -3.00826267e-04 9.99943184e-01 6.11211769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.692755096 meters 0.024448495007055596 Centerline is valid? [True, True] Translation: X:32.46, Y:1.33, Z:0.61 [[ 9.82540364e-01 -1.85764512e-01 -1.02945952e-02 3.24606297e+01] [ 1.85757364e-01 9.82594252e-01 -1.65461649e-03 1.32503956e+00] [ 1.04227791e-02 -2.86569370e-04 9.99945640e-01 6.11822381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.722755096 meters 0.024115196312120276 Centerline is valid? [True, True] Translation: X:32.49, Y:1.33, Z:0.61 [[ 9.82645412e-01 -1.85261512e-01 -9.28256345e-03 3.24892459e+01] [ 1.85255678e-01 9.82689222e-01 -1.49190476e-03 1.33172313e+00] [ 9.39826759e-03 -2.53634217e-04 9.99955803e-01 6.12336922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.752755096 meters 0.02385795166265326 Centerline is valid? [True, True] Translation: X:32.52, Y:1.34, Z:0.61 [[ 9.82816713e-01 -1.84306492e-01 -1.01205877e-02 3.25166959e+01] [ 1.84299460e-01 9.82868785e-01 -1.63119580e-03 1.33719277e+00] [ 1.02478497e-02 -2.62052352e-04 9.99947455e-01 6.12192688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.782755096 meters 0.024287403456272155 Centerline is valid? [True, True] Translation: X:32.54, Y:1.34, Z:0.61 [[ 9.82773251e-01 -1.84541148e-01 -1.00649240e-02 3.25446905e+01] [ 1.84534195e-01 9.82824754e-01 -1.62317520e-03 1.34075554e+00] [ 1.01915991e-02 -2.62109484e-04 9.99948030e-01 6.12301898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.812755096000004 meters 0.024245997673820907 Centerline is valid? [True, True] Translation: X:32.57, Y:1.35, Z:0.61 [[ 9.82677580e-01 -1.84992366e-01 -1.10724031e-02 3.25726909e+01] [ 1.84983984e-01 9.82739914e-01 -1.78533063e-03 1.34526237e+00] [ 1.12115650e-02 -2.93812847e-04 9.99937105e-01 6.11816079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.842755096 meters 0.024940969804489205 Centerline is valid? [True, True] Translation: X:32.60, Y:1.35, Z:0.61 [[ 9.82465572e-01 -1.86125851e-01 -1.08888560e-02 3.26014999e+01] [ 1.86117775e-01 9.82525867e-01 -1.75921776e-03 1.34910678e+00] [ 1.10260186e-02 -2.98238782e-04 9.99939167e-01 6.12243756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.872755096 meters 0.023980178337423826 Centerline is valid? [True, True] Translation: X:32.63, Y:1.36, Z:0.61 [[ 9.82273636e-01 -1.87177534e-01 -1.01525826e-02 3.26300802e+01] [ 1.87170547e-01 9.82326060e-01 -1.64248982e-03 1.35568709e+00] [ 1.02805836e-02 -2.86889986e-04 9.99947112e-01 6.12509380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.902755096 meters 0.026517807071402468 Centerline is valid? [True, True] Translation: X:32.66, Y:1.36, Z:0.61 [[ 9.82049204e-01 -1.88387835e-01 -9.45429582e-03 3.26583164e+01] [ 1.88381796e-01 9.82094674e-01 -1.53335238e-03 1.35647838e+00] [ 9.57387850e-03 -2.75189736e-04 9.99954132e-01 6.14290669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.932755096 meters 0.027768076459873243 Centerline is valid? [True, True] Translation: X:32.69, Y:1.36, Z:0.62 [[ 9.81764522e-01 -1.89869088e-01 -9.38900844e-03 3.26858725e+01] [ 1.89863190e-01 9.81809374e-01 -1.52371185e-03 1.35896003e+00] [ 9.50752228e-03 -2.86700865e-04 9.99954761e-01 6.15287303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.962755096 meters 0.02591870901309296 Centerline is valid? [True, True] Translation: X:32.71, Y:1.37, Z:0.61 [[ 9.81193979e-01 -1.92793569e-01 -9.43478834e-03 3.27144581e+01] [ 1.92787738e-01 9.81239288e-01 -1.53228563e-03 1.36529643e+00] [ 9.55319981e-03 -3.15442068e-04 9.99954317e-01 6.14969735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.992755096 meters 0.0308172571693374 Centerline is valid? [True, True] Translation: X:32.74, Y:1.36, Z:0.62 [[ 9.80867161e-01 -1.94465925e-01 -9.08938057e-03 3.27435795e+01] [ 1.94460587e-01 9.80909222e-01 -1.47586078e-03 1.36198897e+00] [ 9.20286186e-03 -3.19902911e-04 9.99957602e-01 6.17525991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.022755096 meters 0.028952917179042283 Centerline is valid? [True, True] Translation: X:32.77, Y:1.37, Z:0.62 [[ 9.80164828e-01 -1.97987717e-01 -8.81892521e-03 3.27718249e+01] [ 1.97982816e-01 9.80204442e-01 -1.43403141e-03 1.36924619e+00] [ 8.92827027e-03 -3.40408501e-04 9.99960084e-01 6.16569616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.052755096 meters 0.031102193054880604 Centerline is valid? [True, True] Translation: X:32.80, Y:1.37, Z:0.62 [[ 9.79881323e-01 -1.99394650e-01 -8.62362798e-03 3.27997057e+01] [ 1.99390022e-01 9.79919208e-01 -1.40190172e-03 1.37073490e+00] [ 8.72999041e-03 -3.45768062e-04 9.99961833e-01 6.17681621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.082755096 meters 0.03218090304644773 Centerline is valid? [True, True] Translation: X:32.83, Y:1.37, Z:0.62 [[ 9.79652639e-01 -2.00520903e-01 -8.48963083e-03 3.28273772e+01] [ 2.00516445e-01 9.79689362e-01 -1.38182667e-03 1.37380201e+00] [ 8.59428615e-03 -3.48600444e-04 9.99963008e-01 6.18407543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.112755096 meters 0.03310089528585495 Centerline is valid? [True, True] Translation: X:32.85, Y:1.38, Z:0.62 [[ 9.79467682e-01 -2.01434901e-01 -8.18784449e-03 3.28545966e+01] [ 2.01430786e-01 9.79501844e-01 -1.33270162e-03 1.37716655e+00] [ 8.28846139e-03 -3.43945783e-04 9.99965591e-01 6.19569864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.142755096 meters 0.03405765863219844 Centerline is valid? [True, True] Translation: X:32.88, Y:1.38, Z:0.62 [[ 9.79343264e-01 -2.02032689e-01 -8.34054253e-03 3.28824822e+01] [ 2.02028423e-01 9.79378715e-01 -1.35969175e-03 1.38041418e+00] [ 8.44325200e-03 -3.53421697e-04 9.99964293e-01 6.20624493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.172755096 meters 0.028895988382838293 Centerline is valid? [True, True] Translation: X:32.91, Y:1.39, Z:0.62 [[ 9.79296943e-01 -2.02263704e-01 -8.17876881e-03 3.29085416e+01] [ 2.02259624e-01 9.79331033e-01 -1.33163599e-03 1.39260820e+00] [ 8.27906373e-03 -3.50167644e-04 9.99965667e-01 6.19407194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.202755096 meters 0.030013653404097868 Centerline is valid? [True, True] Translation: X:32.94, Y:1.40, Z:0.62 [[ 9.79666562e-01 -2.00420014e-01 -9.23287774e-03 3.29363271e+01] [ 2.00414681e-01 9.79709998e-01 -1.50877523e-03 1.39649404e+00] [ 9.34793138e-03 -3.72307602e-04 9.99956238e-01 6.19832753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.232755096 meters 0.028733160073758236 Centerline is valid? [True, True] Translation: X:32.96, Y:1.40, Z:0.62 [[ 9.79847300e-01 -1.99493772e-01 -1.00748592e-02 3.29641906e+01] [ 1.99487368e-01 9.79899014e-01 -1.64684901e-03 1.40392639e+00] [ 1.02008807e-02 -3.96146586e-04 9.99947891e-01 6.19232054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.262755096 meters 0.027123478438198935 Centerline is valid? [True, True] Translation: X:32.99, Y:1.41, Z:0.62 [[ 9.80151460e-01 -1.97986639e-01 -1.02179673e-02 3.29918767e+01] [ 1.97979940e-01 9.80204644e-01 -1.67309527e-03 1.41174246e+00] [ 1.03469495e-02 -3.83065789e-04 9.99946396e-01 6.19128796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.292755096 meters 0.02847484494092654 Centerline is valid? [True, True] Translation: X:33.02, Y:1.42, Z:0.62 [[ 9.80828773e-01 -1.94537985e-01 -1.13969487e-02 3.30207390e+01] [ 1.94529355e-01 9.80894911e-01 -1.87165112e-03 1.41536960e+00] [ 1.15433162e-02 -3.81271803e-04 9.99933301e-01 6.19894832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.322755096 meters 0.02574233493151919 Centerline is valid? [True, True] Translation: X:33.05, Y:1.42, Z:0.62 [[ 9.81079097e-01 -1.93252529e-01 -1.17160370e-02 3.30489256e+01] [ 1.93243330e-01 9.81148978e-01 -1.92296334e-03 1.42445444e+00] [ 1.18667953e-02 -3.77466876e-04 9.99929516e-01 6.19426031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.352755096 meters 0.023819366694822406 Centerline is valid? [True, True] Translation: X:33.08, Y:1.43, Z:0.62 [[ 9.81241040e-01 -1.92396563e-01 -1.22304756e-02 3.30768963e+01] [ 1.92386429e-01 9.81317185e-01 -2.01087895e-03 1.43198230e+00] [ 1.23888621e-02 -3.79820563e-04 9.99923183e-01 6.19370789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.382755096 meters 0.02459839426686579 Centerline is valid? [True, True] Translation: X:33.10, Y:1.44, Z:0.62 [[ 9.81409016e-01 -1.91526575e-01 -1.24062284e-02 3.31048856e+01] [ 1.91516019e-01 9.81487358e-01 -2.04450228e-03 1.43513845e+00] [ 1.25681329e-02 -3.69498504e-04 9.99920950e-01 6.20562437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.412755096 meters 0.024991918078774805 Centerline is valid? [True, True] Translation: X:33.13, Y:1.44, Z:0.62 [[ 9.81569385e-01 -1.90731880e-01 -1.19537157e-02 3.31326652e+01] [ 1.90722007e-01 9.81642109e-01 -1.97108829e-03 1.43802341e+00] [ 1.21102201e-02 -3.45076734e-04 9.99926609e-01 6.22295571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.442755096 meters 0.024039476485773592 Centerline is valid? [True, True] Translation: X:33.16, Y:1.44, Z:0.62 [[ 9.81488923e-01 -1.91158311e-01 -1.17471316e-02 3.31605707e+01] [ 1.91148811e-01 9.81559158e-01 -1.93665609e-03 1.44412490e+00] [ 1.19007125e-02 -3.44643735e-04 9.99929125e-01 6.22695444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.472755096 meters 0.025223138435907684 Centerline is valid? [True, True] Translation: X:33.19, Y:1.45, Z:0.62 [[ 9.81313018e-01 -1.92068463e-01 -1.15959322e-02 3.31880958e+01] [ 1.92059214e-01 9.81381468e-01 -1.91649619e-03 1.44607678e+00] [ 1.17481314e-02 -3.46422961e-04 9.99930928e-01 6.24322922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.502755096 meters 0.023415955343068475 Centerline is valid? [True, True] Translation: X:33.22, Y:1.45, Z:0.62 [[ 9.81194404e-01 -1.92680319e-01 -1.14819923e-02 3.32162444e+01] [ 1.92671285e-01 9.81261521e-01 -1.89833378e-03 1.45306298e+00] [ 1.16326088e-02 -3.49615716e-04 9.99932278e-01 6.24219132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.532755096 meters 0.024778858851818623 Centerline is valid? [True, True] Translation: X:33.24, Y:1.45, Z:0.63 [[ 9.80907507e-01 -1.94117904e-01 -1.17771770e-02 3.32439413e+01] [ 1.94108446e-01 9.80978135e-01 -1.95191221e-03 1.45384478e+00] [ 1.19320543e-02 -3.71404192e-04 9.99928742e-01 6.25682656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.562755096000004 meters 0.025438934068863116 Centerline is valid? [True, True] Translation: X:33.27, Y:1.46, Z:0.63 [[ 9.80779983e-01 -1.94764498e-01 -1.17224607e-02 3.32719609e+01] [ 1.94755159e-01 9.80849962e-01 -1.94404389e-03 1.45690636e+00] [ 1.18766059e-02 -3.76330369e-04 9.99929400e-01 6.26761820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.592755096 meters 0.026553322987438358 Centerline is valid? [True, True] Translation: X:33.30, Y:1.46, Z:0.63 [[ 9.80635069e-01 -1.95481409e-01 -1.19113610e-02 3.32998956e+01] [ 1.95471804e-01 9.80707330e-01 -1.97659132e-03 1.46009262e+00] [ 1.20679459e-02 -3.90020462e-04 9.99927104e-01 6.27719447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.622755096 meters 0.025813596058785016 Centerline is valid? [True, True] Translation: X:33.33, Y:1.47, Z:0.63 [[ 9.80503465e-01 -1.96138283e-01 -1.19469212e-02 3.33285027e+01] [ 1.96128670e-01 9.80576164e-01 -1.98248836e-03 1.46642299e+00] [ 1.21037080e-02 -3.99297063e-04 9.99926668e-01 6.27897296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.652755096 meters 0.025820134357474014 Centerline is valid? [True, True] Translation: X:33.36, Y:1.47, Z:0.63 [[ 9.80309853e-01 -1.97057246e-01 -1.26899299e-02 3.33572160e+01] [ 1.97046428e-01 9.80391888e-01 -2.10962227e-03 1.47138955e+00] [ 1.28568207e-02 -4.32421858e-04 9.99917254e-01 6.28188864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.682755096 meters 0.027160627057795008 Centerline is valid? [True, True] Translation: X:33.38, Y:1.47, Z:0.63 [[ 9.80271756e-01 -1.97230865e-01 -1.29332844e-02 3.33843969e+01] [ 1.97219584e-01 9.80356973e-01 -2.15459100e-03 1.47390969e+00] [ 1.31041874e-02 -4.38612258e-04 9.99914040e-01 6.29078444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.712755096 meters 0.0252683828045638 Centerline is valid? [True, True] Translation: X:33.41, Y:1.48, Z:0.63 [[ 9.80217677e-01 -1.97462441e-01 -1.34866681e-02 3.34115647e+01] [ 1.97450181e-01 9.80310345e-01 -2.24783265e-03 1.48163430e+00] [ 1.36649828e-02 -4.59579764e-04 9.99906524e-01 6.28798214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.742755096 meters 0.02508636024024018 Centerline is valid? [True, True] Translation: X:33.44, Y:1.49, Z:0.63 [[ 9.80301658e-01 -1.96980993e-01 -1.43926397e-02 3.34404443e+01] [ 1.96966902e-01 9.80407191e-01 -2.40408399e-03 1.48654030e+00] [ 1.45842063e-02 -4.78146123e-04 9.99893530e-01 6.29121611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.772755096 meters 0.0259138738447167 Centerline is valid? [True, True] Translation: X:33.47, Y:1.49, Z:0.63 [[ 9.80352640e-01 -1.96659315e-01 -1.52910347e-02 3.34679672e+01] [ 1.96643290e-01 9.80471757e-01 -2.55938226e-03 1.48991886e+00] [ 1.54957541e-02 -4.97782226e-04 9.99879810e-01 6.29110960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.802755096 meters 0.026202030108218175 Centerline is valid? [True, True] Translation: X:33.50, Y:1.50, Z:0.63 [[ 9.80577311e-01 -1.95309700e-01 -1.79515322e-02 3.34958778e+01] [ 1.95287350e-01 9.80741460e-01 -3.00672058e-03 1.49504512e+00] [ 1.81930535e-02 -5.57385159e-04 9.99834337e-01 6.27491541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.832755096 meters 0.023915689751823087 Centerline is valid? [True, True] Translation: X:33.52, Y:1.50, Z:0.63 [[ 9.80671904e-01 -1.94701054e-01 -1.93420743e-02 3.35233618e+01] [ 1.94674878e-01 9.80862457e-01 -3.24529718e-03 1.50382505e+00] [ 1.96037773e-02 -5.82844198e-04 9.99807658e-01 6.26918310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.862755096 meters 0.02408193135140893 Centerline is valid? [True, True] Translation: X:33.55, Y:1.51, Z:0.63 [[ 9.80832092e-01 -1.93806236e-01 -2.01878587e-02 3.35509351e+01] [ 1.93777417e-01 9.81039653e-01 -3.39279926e-03 1.50822319e+00] [ 2.04626356e-02 -5.84184726e-04 9.99790448e-01 6.26509297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.892755096 meters 0.025102480962409267 Centerline is valid? [True, True] Translation: X:33.58, Y:1.51, Z:0.63 [[ 9.81018745e-01 -1.92798454e-01 -2.07600250e-02 3.35782792e+01] [ 1.92767708e-01 9.81238209e-01 -3.49107131e-03 1.51127565e+00] [ 2.10436029e-02 -5.77056049e-04 9.99778392e-01 6.26786475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.922755096 meters 0.0230198559860013 Centerline is valid? [True, True] Translation: X:33.61, Y:1.52, Z:0.63 [[ 9.80956456e-01 -1.93097200e-01 -2.09261231e-02 3.36050605e+01] [ 1.93065972e-01 9.81179458e-01 -3.52160304e-03 1.51912366e+00] [ 2.12122938e-02 -5.85583067e-04 9.99774822e-01 6.28078822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.952755096 meters 0.02394893537223662 Centerline is valid? [True, True] Translation: X:33.63, Y:1.52, Z:0.63 [[ 9.80909810e-01 -1.93303592e-01 -2.12053431e-02 3.36325633e+01] [ 1.93271440e-01 9.81138813e-01 -3.57486104e-03 1.52166904e+00] [ 2.14964187e-02 -5.91770936e-04 9.99768750e-01 6.28612549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.982755096 meters 0.024131702914886883 Centerline is valid? [True, True] Translation: X:33.66, Y:1.52, Z:0.63 [[ 9.80525145e-01 -1.95127376e-01 -2.22653662e-02 3.36613154e+01] [ 1.95092330e-01 9.80777687e-01 -3.75653175e-03 1.52489234e+00] [ 2.25703765e-02 -6.60428334e-04 9.99745038e-01 6.29257175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.012755096 meters 0.024913183137019186 Centerline is valid? [True, True] Translation: X:33.69, Y:1.53, Z:0.63 [[ 9.80313689e-01 -1.96159631e-01 -2.25048958e-02 3.36893849e+01] [ 1.96123973e-01 9.80571736e-01 -3.80248953e-03 1.52759726e+00] [ 2.28135596e-02 -6.86117016e-04 9.99739501e-01 6.30095294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.042755096 meters 0.02654079767974818 Centerline is valid? [True, True] Translation: X:33.72, Y:1.53, Z:0.63 [[ 9.80173677e-01 -1.96905107e-01 -2.20893923e-02 3.37169500e+01] [ 1.96870895e-01 9.80422309e-01 -3.73440330e-03 1.53050553e+00] [ 2.23922561e-02 -6.88394617e-04 9.99749025e-01 6.31653701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.072755096 meters 0.024597007151955914 Centerline is valid? [True, True] Translation: X:33.74, Y:1.54, Z:0.63 [[ 9.80236017e-01 -1.96729250e-01 -2.08555275e-02 3.37449643e+01] [ 1.96698665e-01 9.80457642e-01 -3.52815209e-03 1.54074419e+00] [ 2.11420520e-02 -6.43832654e-04 9.99776275e-01 6.33681650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.102755096 meters 0.024420345986048732 Centerline is valid? [True, True] Translation: X:33.77, Y:1.55, Z:0.63 [[ 9.80290477e-01 -1.96424872e-01 -2.11624945e-02 3.37729459e+01] [ 1.96393181e-01 9.80518668e-01 -3.58600164e-03 1.54710840e+00] [ 2.14546009e-02 -6.40846362e-04 9.99769618e-01 6.34243487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.132755096 meters 0.024641608299055522 Centerline is valid? [True, True] Translation: X:33.80, Y:1.55, Z:0.63 [[ 9.80203677e-01 -1.96777490e-01 -2.18945609e-02 3.38002224e+01] [ 1.96743516e-01 9.80447947e-01 -3.71639509e-03 1.55280119e+00] [ 2.21977802e-02 -6.64788749e-04 9.99753378e-01 6.34187884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.162755096 meters 0.025455819959195203 Centerline is valid? [True, True] Translation: X:33.83, Y:1.56, Z:0.63 [[ 9.80007117e-01 -1.97556343e-01 -2.36123182e-02 3.38277498e+01] [ 1.97516893e-01 9.80291262e-01 -4.01471274e-03 1.55639662e+00] [ 2.39400812e-02 -7.29384660e-04 9.99713129e-01 6.33480163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.192755096 meters 0.02631096540956041 Centerline is valid? [True, True] Translation: X:33.86, Y:1.56, Z:0.63 [[ 9.79737557e-01 -1.98831809e-01 -2.40879942e-02 3.38561184e+01] [ 1.98791056e-01 9.80033323e-01 -4.09893326e-03 1.55995337e+00] [ 2.44220353e-02 -7.72598951e-04 9.99701439e-01 6.33697750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.222755096 meters 0.025979636345929674 Centerline is valid? [True, True] Translation: X:33.88, Y:1.57, Z:0.63 [[ 9.79471687e-01 -2.00073282e-01 -2.46149462e-02 3.38845432e+01] [ 2.00030948e-01 9.79780597e-01 -4.19538743e-03 1.56538139e+00] [ 2.49566316e-02 -8.14487826e-04 9.99688203e-01 6.34773676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.252755096 meters 0.02657666625054048 Centerline is valid? [True, True] Translation: X:33.91, Y:1.57, Z:0.64 [[ 9.79218667e-01 -2.01295675e-01 -2.47154358e-02 3.39126822e+01] [ 2.01253212e-01 9.79530164e-01 -4.21936077e-03 1.56997606e+00] [ 2.50588539e-02 -8.42383994e-04 9.99685623e-01 6.35293523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.282755096 meters 0.02787436727064877 Centerline is valid? [True, True] Translation: X:33.94, Y:1.58, Z:0.64 [[ 9.78889908e-01 -2.02833500e-01 -2.51618712e-02 3.39402007e+01] [ 2.02789847e-01 9.79212835e-01 -4.30140690e-03 1.57604017e+00] [ 2.55112967e-02 -8.91968230e-04 9.99674136e-01 6.35239085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.312755096000004 meters 0.028249565745010946 Centerline is valid? [True, True] Translation: X:33.97, Y:1.58, Z:0.64 [[ 9.78787983e-01 -2.03326163e-01 -2.51506561e-02 3.39673508e+01] [ 2.03282613e-01 9.79110648e-01 -4.30336063e-03 1.58141218e+00] [ 2.55002610e-02 -9.00613437e-04 9.99674410e-01 6.35308870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.342755096 meters 0.028249565745010946 Centerline is valid? [True, True] Translation: X:33.99, Y:1.59, Z:0.64 [[ 9.78726788e-01 -2.03620688e-01 -2.51493591e-02 3.39945120e+01] [ 2.03577041e-01 9.79049439e-01 -4.31092898e-03 1.58624384e+00] [ 2.55002603e-02 -9.00610442e-04 9.99674410e-01 6.35823895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.372755096 meters 0.026947985628649522 Centerline is valid? [True, True] Translation: X:34.02, Y:1.59, Z:0.64 [[ 9.78651988e-01 -2.03949428e-01 -2.53952292e-02 3.40220979e+01] [ 2.03904828e-01 9.78981002e-01 -4.36106422e-03 1.59404815e+00] [ 2.57508835e-02 -9.10245668e-04 9.99667977e-01 6.37082307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.402755096 meters 0.03031984571715979 Centerline is valid? [True, True] Translation: X:34.05, Y:1.59, Z:0.64 [[ 9.78822011e-01 -2.03103794e-01 -2.56187237e-02 3.40498199e+01] [ 2.03057943e-01 9.79156810e-01 -4.40610474e-03 1.59472896e+00] [ 2.59796443e-02 -8.89293041e-04 9.99662077e-01 6.36836448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.432755096 meters 0.02696736210143496 Centerline is valid? [True, True] Translation: X:34.08, Y:1.60, Z:0.64 [[ 9.78913785e-01 -2.02662719e-01 -2.56051670e-02 3.40775806e+01] [ 2.02616668e-01 9.79248211e-01 -4.40755634e-03 1.60450607e+00] [ 2.59670613e-02 -8.73415951e-04 9.99662417e-01 6.38161526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.462755096 meters 0.025946361258013865 Centerline is valid? [True, True] Translation: X:34.11, Y:1.61, Z:0.64 [[ 9.79020483e-01 -2.02085389e-01 -2.60842858e-02 3.41063202e+01] [ 2.02037204e-01 9.79367522e-01 -4.49716567e-03 1.61096855e+00] [ 2.64549138e-02 -8.67178872e-04 9.99649631e-01 6.38860883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.492755096 meters 0.025877672041447055 Centerline is valid? [True, True] Translation: X:34.13, Y:1.62, Z:0.64 [[ 9.79311645e-01 -2.00634657e-01 -2.63521703e-02 3.41337640e+01] [ 2.00584793e-01 9.79665782e-01 -4.54933570e-03 1.61652362e+00] [ 2.67290740e-02 -8.30627201e-04 9.99642369e-01 6.39506609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.522755096 meters 0.025926081685580176 Centerline is valid? [True, True] Translation: X:34.16, Y:1.62, Z:0.64 [[ 9.79386942e-01 -2.00305695e-01 -2.60546960e-02 3.41624622e+01] [ 2.00256709e-01 9.79733115e-01 -4.50270995e-03 1.62243948e+00] [ 2.64285669e-02 -8.07732345e-04 9.99650378e-01 6.40207483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.552755096 meters 0.02563723314925 Centerline is valid? [True, True] Translation: X:34.19, Y:1.63, Z:0.64 [[ 9.79456736e-01 -2.00032868e-01 -2.55216383e-02 3.41906577e+01] [ 1.99985596e-01 9.79788879e-01 -4.41744246e-03 1.62847836e+00] [ 2.58894511e-02 -7.77266283e-04 9.99664510e-01 6.40867405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.582755096 meters 0.026026712993063587 Centerline is valid? [True, True] Translation: X:34.22, Y:1.63, Z:0.64 [[ 9.79523339e-01 -1.99843098e-01 -2.44287497e-02 3.42186380e+01] [ 1.99799595e-01 9.79827637e-01 -4.23367505e-03 1.63267453e+00] [ 2.47820348e-02 -7.33870778e-04 9.99692609e-01 6.42818989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.612755096 meters 0.026086755430806 Centerline is valid? [True, True] Translation: X:34.25, Y:1.64, Z:0.64 [[ 9.79463207e-01 -2.00173878e-01 -2.41297406e-02 3.42462419e+01] [ 2.00131449e-01 9.79760117e-01 -4.18536099e-03 1.63703179e+00] [ 2.44791574e-02 -7.29712838e-04 9.99700074e-01 6.43922330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.642755096 meters 0.026451313866104373 Centerline is valid? [True, True] Translation: X:34.27, Y:1.64, Z:0.65 [[ 9.79542700e-01 -1.99819397e-01 -2.38391912e-02 3.42738094e+01] [ 1.99777730e-01 9.79832491e-01 -4.14108134e-03 1.63996025e+00] [ 2.41858824e-02 -7.06173494e-04 9.99707229e-01 6.45447785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.672755096 meters 0.026463930546385305 Centerline is valid? [True, True] Translation: X:34.30, Y:1.64, Z:0.65 [[ 9.79489293e-01 -2.00064247e-01 -2.39796026e-02 3.43017467e+01] [ 2.00022078e-01 9.79782521e-01 -4.16890364e-03 1.64474701e+00] [ 2.43288441e-02 -7.13053469e-04 9.99703756e-01 6.46585529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.702755096 meters 0.026693402504366484 Centerline is valid? [True, True] Translation: X:34.33, Y:1.65, Z:0.65 [[ 9.79450680e-01 -2.00285253e-01 -2.37103953e-02 3.43291003e+01] [ 2.00243920e-01 9.79737374e-01 -4.12918325e-03 1.64928080e+00] [ 2.40569749e-02 -7.03531137e-04 9.99710342e-01 6.47405848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.732755096 meters 0.026720015414610235 Centerline is valid? [True, True] Translation: X:34.36, Y:1.65, Z:0.65 [[ 9.79429794e-01 -2.00428624e-01 -2.33590348e-02 3.43562736e+01] [ 2.00388384e-01 9.79708064e-01 -4.07489778e-03 1.65419307e+00] [ 2.37017609e-02 -6.89802936e-04 9.99718836e-01 6.48101815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.762755096 meters 0.027118391980700162 Centerline is valid? [True, True] Translation: X:34.38, Y:1.66, Z:0.65 [[ 9.79414165e-01 -2.00608750e-01 -2.24504455e-02 3.43829484e+01] [ 2.00571495e-01 9.79671216e-01 -3.92219177e-03 1.65846611e+00] [ 2.27808812e-02 -6.61469244e-04 9.99740263e-01 6.48973198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.792755096 meters 0.0273078174920043 Centerline is valid? [True, True] Translation: X:34.41, Y:1.66, Z:0.65 [[ 9.79334296e-01 -2.00982173e-01 -2.25943092e-02 3.44109727e+01] [ 2.00944456e-01 9.79594669e-01 -3.95093723e-03 1.66270217e+00] [ 2.29273328e-02 -6.70912829e-04 9.99736909e-01 6.49460287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.822755096 meters 0.027899988444448708 Centerline is valid? [True, True] Translation: X:34.44, Y:1.66, Z:0.65 [[ 9.79228595e-01 -2.01433453e-01 -2.31499908e-02 3.44385813e+01] [ 2.01393842e-01 9.79501957e-01 -4.05408379e-03 1.66493685e+00] [ 2.34920894e-02 -6.92390814e-04 9.99723783e-01 6.49481356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.852755096 meters 0.027205390035371566 Centerline is valid? [True, True] Translation: X:34.47, Y:1.67, Z:0.65 [[ 9.79197189e-01 -2.01512167e-01 -2.37847078e-02 3.44657113e+01] [ 2.01470297e-01 9.79485754e-01 -4.16854155e-03 1.67008700e+00] [ 2.41367943e-02 -7.10087979e-04 9.99708413e-01 6.49807471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.882755096 meters 0.02789796648213892 Centerline is valid? [True, True] Translation: X:34.49, Y:1.67, Z:0.65 [[ 9.79258496e-01 -2.01182941e-01 -2.40462495e-02 3.44940336e+01] [ 2.01139877e-01 9.79553434e-01 -4.22135014e-03 1.67315694e+00] [ 2.44038499e-02 -7.02866678e-04 9.99701935e-01 6.49476213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.912755096 meters 0.027000234233722737 Centerline is valid? [True, True] Translation: X:34.52, Y:1.68, Z:0.65 [[ 9.79348391e-01 -2.00609900e-01 -2.51474898e-02 3.45223089e+01] [ 2.00562441e-01 9.79670944e-01 -4.42135045e-03 1.67884517e+00] [ 2.55232318e-02 -7.13599497e-04 9.99673975e-01 6.48730736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.942755096 meters 0.028117419704955307 Centerline is valid? [True, True] Translation: X:34.55, Y:1.68, Z:0.65 [[ 9.79370154e-01 -2.00430504e-01 -2.57238000e-02 3.45496907e+01] [ 2.00380633e-01 9.79707658e-01 -4.52842417e-03 1.68200518e+00] [ 2.61094382e-02 -7.19547852e-04 9.99658832e-01 6.47992345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.972755096 meters 0.026928626326960237 Centerline is valid? [True, True] Translation: X:34.58, Y:1.69, Z:0.65 [[ 9.79354748e-01 -2.00441587e-01 -2.62192253e-02 3.45774712e+01] [ 2.00389657e-01 9.79705383e-01 -4.62028849e-03 1.68842018e+00] [ 2.66132142e-02 -7.29160097e-04 9.99645540e-01 6.48273927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.002755096 meters 0.026921915739635146 Centerline is valid? [True, True] Translation: X:34.60, Y:1.69, Z:0.65 [[ 9.79519937e-01 -1.99615944e-01 -2.63470506e-02 3.46047570e+01] [ 1.99563044e-01 9.79873961e-01 -4.64892848e-03 1.69267643e+00] [ 2.67447890e-02 -7.04179474e-04 9.99642046e-01 6.48240790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.032755096 meters 0.022843764097199834 Centerline is valid? [True, True] Translation: X:34.63, Y:1.70, Z:0.65 [[ 9.79688291e-01 -1.98847745e-01 -2.58926015e-02 3.46320180e+01] [ 1.98796287e-01 9.80030167e-01 -4.57250270e-03 1.70465822e+00] [ 2.62847624e-02 -6.67725694e-04 9.99654273e-01 6.50486092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.062755096000004 meters 0.026185522760137806 Centerline is valid? [True, True] Translation: X:34.66, Y:1.70, Z:0.65 [[ 9.79789557e-01 -1.98324738e-01 -2.60714694e-02 3.46606481e+01] [ 1.98272221e-01 9.80136150e-01 -4.61016088e-03 1.70365071e+00] [ 2.64678986e-02 -6.52260651e-04 9.99649451e-01 6.49355090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.092755096 meters 0.022242754619169726 Centerline is valid? [True, True] Translation: X:34.69, Y:1.72, Z:0.65 [[ 9.79957902e-01 -1.97570766e-01 -2.54617988e-02 3.46883354e+01] [ 1.97520327e-01 9.80288435e-01 -4.50603051e-03 1.71550593e+00] [ 2.58501668e-02 -6.13502618e-04 9.99665640e-01 6.52581351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.122755096 meters 0.02201820133640016 Centerline is valid? [True, True] Translation: X:34.72, Y:1.72, Z:0.65 [[ 9.80140720e-01 -1.96638654e-01 -2.56399848e-02 3.47154651e+01] [ 1.96587032e-01 9.80475851e-01 -4.54356613e-03 1.71987519e+00] [ 2.60328267e-02 -5.87154334e-04 9.99660916e-01 6.53245292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.152755096 meters 0.021896180541080914 Centerline is valid? [True, True] Translation: X:34.74, Y:1.72, Z:0.65 [[ 9.80122028e-01 -1.96696481e-01 -2.59095563e-02 3.47429129e+01] [ 1.96643650e-01 9.80464251e-01 -4.59655404e-03 1.72443968e+00] [ 2.63075197e-02 -5.89765856e-04 9.99653723e-01 6.54135167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.182755096 meters 0.02199062953263205 Centerline is valid? [True, True] Translation: X:34.77, Y:1.73, Z:0.65 [[ 9.80203841e-01 -1.96368486e-01 -2.52952060e-02 3.47702017e+01] [ 1.96317846e-01 9.80530012e-01 -4.49440544e-03 1.72860371e+00] [ 2.56852683e-02 -5.60466892e-04 9.99669922e-01 6.54936126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.212755096 meters 0.021534450311450896 Centerline is valid? [True, True] Translation: X:34.80, Y:1.74, Z:0.66 [[ 9.80369346e-01 -1.95676299e-01 -2.42225300e-02 3.47984125e+01] [ 1.95629547e-01 9.80668405e-01 -4.30807822e-03 1.73519236e+00] [ 2.45972586e-02 -5.15134737e-04 9.99697309e-01 6.57069900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.242755096 meters 0.02178105651951827 Centerline is valid? [True, True] Translation: X:34.83, Y:1.74, Z:0.66 [[ 9.80468920e-01 -1.95285248e-01 -2.33317003e-02 3.48259287e+01] [ 1.95241633e-01 9.80746369e-01 -4.15509313e-03 1.74029104e+00] [ 2.36939088e-02 -4.81379592e-04 9.99719144e-01 6.58118326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.272755096 meters 0.020831091815342002 Centerline is valid? [True, True] Translation: X:34.85, Y:1.75, Z:0.66 [[ 9.80580131e-01 -1.94882394e-01 -2.19877196e-02 3.48534403e+01] [ 1.94843497e-01 9.80826517e-01 -3.91847086e-03 1.74894797e+00] [ 2.23297794e-02 -4.41789513e-04 9.99750562e-01 6.59903132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.302755096 meters 0.020833030435324064 Centerline is valid? [True, True] Translation: X:34.88, Y:1.75, Z:0.66 [[ 9.80575077e-01 -1.94959583e-01 -2.15239009e-02 3.48806771e+01] [ 1.94922195e-01 9.80811183e-01 -3.84192092e-03 1.75463523e+00] [ 2.18599020e-02 -4.28194104e-04 9.99760952e-01 6.60845151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.332755096 meters 0.020624282056894382 Centerline is valid? [True, True] Translation: X:34.91, Y:1.76, Z:0.66 [[ 9.80548262e-01 -1.95145523e-01 -2.10554383e-02 3.49081851e+01] [ 1.95109645e-01 9.80774210e-01 -3.76497295e-03 1.76016017e+00] [ 2.13853484e-02 -4.16381397e-04 9.99771221e-01 6.61862521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.362755096 meters 0.020963744839864098 Centerline is valid? [True, True] Translation: X:34.93, Y:1.76, Z:0.66 [[ 9.80495200e-01 -1.95491109e-01 -2.03073771e-02 3.49348635e+01] [ 1.95457684e-01 9.80705391e-01 -3.63724356e-03 1.76405164e+00] [ 2.06266030e-02 -4.02933062e-04 9.99787168e-01 6.62838976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.392755096 meters 0.02107089418343139 Centerline is valid? [True, True] Translation: X:34.96, Y:1.77, Z:0.66 [[ 9.80439406e-01 -1.95732100e-01 -2.06764793e-02 3.49624802e+01] [ 1.95697433e-01 9.80657318e-01 -3.70670028e-03 1.76861142e+00] [ 2.10020610e-02 -4.12138893e-04 9.99779347e-01 6.62953896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.422755096 meters 0.02092251940686325 Centerline is valid? [True, True] Translation: X:34.99, Y:1.77, Z:0.66 [[ 9.80337122e-01 -1.96200614e-01 -2.10819079e-02 3.49903061e+01] [ 1.96164537e-01 9.80563685e-01 -3.78617558e-03 1.77393070e+00] [ 2.14150032e-02 -4.23794222e-04 9.99770583e-01 6.63029770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.452755096 meters 0.020756632827485817 Centerline is valid? [True, True] Translation: X:35.02, Y:1.78, Z:0.66 [[ 9.80192627e-01 -1.96881543e-01 -2.14492888e-02 3.50182533e+01] [ 1.96844208e-01 9.80427185e-01 -3.85914372e-03 1.77875543e+00] [ 2.17892600e-02 -4.39464040e-04 9.99762489e-01 6.62248875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.482755096 meters 0.02161046449034285 Centerline is valid? [True, True] Translation: X:35.05, Y:1.78, Z:0.66 [[ 9.80043970e-01 -1.97541279e-01 -2.21643648e-02 3.50461116e+01] [ 1.97501429e-01 9.80294460e-01 -3.99457475e-03 1.78176939e+00] [ 2.25166974e-02 -4.62634815e-04 9.99746360e-01 6.61461576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.512755096 meters 0.02227917360853168 Centerline is valid? [True, True] Translation: X:35.07, Y:1.78, Z:0.66 [[ 9.79929340e-01 -1.98039283e-01 -2.27800447e-02 3.50736958e+01] [ 1.97997246e-01 9.80193965e-01 -4.10881995e-03 1.78489317e+00] [ 2.31425701e-02 -4.84032897e-04 9.99732058e-01 6.61314586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.542755096 meters 0.02228478347267641 Centerline is valid? [True, True] Translation: X:35.10, Y:1.79, Z:0.66 [[ 9.79931346e-01 -1.98094360e-01 -2.22076831e-02 3.51009525e+01] [ 1.98054358e-01 9.80182842e-01 -4.00848177e-03 1.79061793e+00] [ 2.25616475e-02 -4.70291488e-04 9.99745343e-01 6.61859435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.572755096 meters 0.021093552925737787 Centerline is valid? [True, True] Translation: X:35.13, Y:1.80, Z:0.66 [[ 9.79960487e-01 -1.97949755e-01 -2.22112168e-02 3.51280208e+01] [ 1.97909550e-01 9.80212060e-01 -4.01593118e-03 1.79754162e+00] [ 2.25666552e-02 -4.60358041e-04 9.99745235e-01 6.62438234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.602755096 meters 0.021384055593902454 Centerline is valid? [True, True] Translation: X:35.16, Y:1.80, Z:0.66 [[ 9.79890990e-01 -1.98316321e-01 -2.20064704e-02 3.51552990e+01] [ 1.98276808e-01 9.80137963e-01 -3.98509653e-03 1.80170456e+00] [ 2.23596867e-02 -4.58412506e-04 9.99749886e-01 6.62875115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.632755096000004 meters 0.021880769447811508 Centerline is valid? [True, True] Translation: X:35.18, Y:1.81, Z:0.66 [[ 9.79744096e-01 -1.99024170e-01 -2.21559744e-02 3.51823728e+01] [ 1.98984242e-01 9.79994466e-01 -4.01464754e-03 1.80578449e+00] [ 2.25117442e-02 -4.75362557e-04 9.99746466e-01 6.63120690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.662755096 meters 0.021679548153628634 Centerline is valid? [True, True] Translation: X:35.21, Y:1.81, Z:0.66 [[ 9.79672215e-01 -1.99483240e-01 -2.11846198e-02 3.52097426e+01] [ 1.99446760e-01 9.79901130e-01 -3.84255929e-03 1.81256897e+00] [ 2.15253591e-02 -4.60755225e-04 9.99768196e-01 6.64247438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.692755096 meters 0.021818279189643255 Centerline is valid? [True, True] Translation: X:35.24, Y:1.82, Z:0.66 [[ 9.79444708e-01 -2.00585011e-01 -2.13006532e-02 3.52384338e+01] [ 2.00548247e-01 9.79676182e-01 -3.87023627e-03 1.81643485e+00] [ 2.16440540e-02 -4.81126211e-04 9.99765624e-01 6.64550242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.722755096 meters 0.023078387086388114 Centerline is valid? [True, True] Translation: X:35.27, Y:1.82, Z:0.67 [[ 9.79067654e-01 -2.02499461e-01 -2.05060203e-02 3.52659810e+01] [ 2.02465702e-01 9.79282247e-01 -3.73096237e-03 1.81828657e+00] [ 2.08366995e-02 -4.98901222e-04 9.99782768e-01 6.65340205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.752755096 meters 0.023780375998003724 Centerline is valid? [True, True] Translation: X:35.29, Y:1.82, Z:0.67 [[ 9.78754297e-01 -2.04069346e-01 -1.98929159e-02 3.52940242e+01] [ 2.04037861e-01 9.78956300e-01 -3.62130117e-03 1.82268566e+00] [ 2.02132919e-02 -5.14543930e-04 9.99795558e-01 6.66087896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.782755096 meters 0.023912303080901552 Centerline is valid? [True, True] Translation: X:35.32, Y:1.83, Z:0.67 [[ 9.78367434e-01 -2.05912471e-01 -1.99303296e-02 3.53228061e+01] [ 2.05881205e-01 9.78570258e-01 -3.63030856e-03 1.82805308e+00] [ 2.02507536e-02 -5.51504611e-04 9.99794780e-01 6.66680647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.812755096000004 meters 0.025872660598049078 Centerline is valid? [True, True] Translation: X:35.35, Y:1.83, Z:0.67 [[ 9.77719307e-01 -2.09080432e-01 -1.87171047e-02 3.53517935e+01] [ 2.09053345e-01 9.77898278e-01 -3.41411415e-03 1.83086033e+00] [ 1.90172489e-02 -5.74828025e-04 9.99818991e-01 6.67439480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.842755096 meters 0.024597903760148192 Centerline is valid? [True, True] Translation: X:35.38, Y:1.84, Z:0.67 [[ 9.77294442e-01 -2.11065175e-01 -1.86296815e-02 3.53798171e+01] [ 2.11038680e-01 9.77471800e-01 -3.39930021e-03 1.83918888e+00] [ 1.89274622e-02 -6.09466179e-04 9.99820674e-01 6.67492344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.872755096 meters 0.027724927850768338 Centerline is valid? [True, True] Translation: X:35.41, Y:1.84, Z:0.67 [[ 9.77045372e-01 -2.12217801e-01 -1.85996509e-02 3.54078590e+01] [ 2.12191499e-01 9.77222193e-01 -3.39913255e-03 1.84016745e+00] [ 1.88973480e-02 -6.25581065e-04 9.99821233e-01 6.67730454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.902755096 meters 0.027980055635563328 Centerline is valid? [True, True] Translation: X:35.44, Y:1.84, Z:0.67 [[ 9.76796478e-01 -2.13400397e-01 -1.81359142e-02 3.54359765e+01] [ 2.13375561e-01 9.76964622e-01 -3.31613453e-03 1.84472223e+00] [ 1.84258110e-02 -6.30572342e-04 9.99830031e-01 6.68412204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.932755096 meters 0.027076843947398392 Centerline is valid? [True, True] Translation: X:35.46, Y:1.85, Z:0.67 [[ 9.76668891e-01 -2.14050133e-01 -1.73325879e-02 3.54645835e+01] [ 2.14027473e-01 9.76822486e-01 -3.17368789e-03 1.84938854e+00] [ 1.76101899e-02 -6.10007766e-04 9.99844742e-01 6.70088113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.962755096 meters 0.02698785490311468 Centerline is valid? [True, True] Translation: X:35.49, Y:1.85, Z:0.67 [[ 9.76664377e-01 -2.14119033e-01 -1.67252590e-02 3.54918750e+01] [ 2.14097869e-01 9.76807400e-01 -3.06685414e-03 1.85463293e+00] [ 1.69940286e-02 -5.85555124e-04 9.99855420e-01 6.70652955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.992755096 meters 0.025945234062281285 Centerline is valid? [True, True] Translation: X:35.52, Y:1.86, Z:0.67 [[ 9.76742690e-01 -2.13727986e-01 -1.71483711e-02 3.55198627e+01] [ 2.13705580e-01 9.76893035e-01 -3.15003737e-03 1.86207970e+00] [ 1.74253755e-02 -5.87926617e-04 9.99847994e-01 6.70143361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.022755096 meters 0.02604619670545072 Centerline is valid? [True, True] Translation: X:35.55, Y:1.87, Z:0.67 [[ 9.77109712e-01 -2.11964718e-01 -1.80988846e-02 3.55476239e+01] [ 2.11939358e-01 9.77277146e-01 -3.33002905e-03 1.86840401e+00] [ 1.83934750e-02 -5.82062255e-04 9.99830656e-01 6.68904557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.052755096 meters 0.025957265179812963 Centerline is valid? [True, True] Translation: X:35.57, Y:1.87, Z:0.67 [[ 9.77315725e-01 -2.10991044e-01 -1.83508499e-02 3.55747984e+01] [ 2.10964704e-01 9.77487830e-01 -3.38160229e-03 1.87416588e+00] [ 1.86512202e-02 -5.66488519e-04 9.99825890e-01 6.68362959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.082755096 meters 0.023323804952353717 Centerline is valid? [True, True] Translation: X:35.60, Y:1.88, Z:0.67 [[ 9.77769665e-01 -2.08811938e-01 -1.90802574e-02 3.56020880e+01] [ 2.08783008e-01 9.77955663e-01 -3.51805066e-03 1.88355788e+00] [ 1.93942568e-02 -5.43790329e-04 9.99811766e-01 6.67354784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.112755096 meters 0.022954868239851836 Centerline is valid? [True, True] Translation: X:35.63, Y:1.89, Z:0.67 [[ 9.77919192e-01 -2.08115045e-01 -1.90310783e-02 3.56302749e+01] [ 2.08086028e-01 9.78104214e-01 -3.51436231e-03 1.88865840e+00] [ 1.93457696e-02 -5.23339147e-04 9.99812716e-01 6.68046792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.142755096 meters 0.023264474489199924 Centerline is valid? [True, True] Translation: X:35.66, Y:1.89, Z:0.67 [[ 9.78026426e-01 -2.07658504e-01 -1.85001480e-02 3.56577357e+01] [ 2.07630907e-01 9.78201258e-01 -3.42137390e-03 1.89232335e+00] [ 1.88073454e-02 -4.95008425e-04 9.99823004e-01 6.69275551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.172755096 meters 0.022760157772490314 Centerline is valid? [True, True] Translation: X:35.69, Y:1.90, Z:0.67 [[ 9.78200913e-01 -2.06946056e-01 -1.72134447e-02 3.56860092e+01] [ 2.06922016e-01 9.78352253e-01 -3.18563963e-03 1.89883310e+00] [ 1.75000680e-02 -4.45645085e-04 9.99846763e-01 6.71281051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.202755096 meters 0.02257745573225917 Centerline is valid? [True, True] Translation: X:35.71, Y:1.91, Z:0.67 [[ 9.78360013e-01 -2.06258212e-01 -1.64084028e-02 3.57135995e+01] [ 2.06236193e-01 9.78497513e-01 -3.04132542e-03 1.90503510e+00] [ 1.66828797e-02 -4.08495344e-04 9.99860748e-01 6.72430815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.232755096 meters 0.02257745573225917 Centerline is valid? [True, True] Translation: X:35.74, Y:1.91, Z:0.67 [[ 9.78297301e-01 -2.06555469e-01 -1.64081918e-02 3.57406833e+01] [ 2.06533472e-01 9.78434805e-01 -3.04246364e-03 1.91023331e+00] [ 1.66827835e-02 -4.12406863e-04 9.99860748e-01 6.72946833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.262755096 meters 0.022634943445216004 Centerline is valid? [True, True] Translation: X:35.77, Y:1.92, Z:0.67 [[ 9.78308181e-01 -2.06573006e-01 -1.55143656e-02 3.57679496e+01] [ 2.06553271e-01 9.78431114e-01 -2.88129252e-03 1.91648696e+00] [ 1.57749353e-02 -3.85750927e-04 9.99875494e-01 6.74132094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.292755096 meters 0.022816041637534788 Centerline is valid? [True, True] Translation: X:35.79, Y:1.92, Z:0.68 [[ 9.78325104e-01 -2.06532157e-01 -1.49819759e-02 3.57943913e+01] [ 2.06513670e-01 9.78439745e-01 -2.78752211e-03 1.92149796e+00] [ 1.52346736e-02 -3.66879970e-04 9.99883878e-01 6.75396457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.322755096 meters 0.0237685659305687 Centerline is valid? [True, True] Translation: X:35.82, Y:1.93, Z:0.68 [[ 9.78249576e-01 -2.06976090e-01 -1.37355234e-02 3.58219429e+01] [ 2.06960574e-01 9.78345942e-01 -2.55722511e-03 1.92582748e+00] [ 1.39673780e-02 -3.41107424e-04 9.99902393e-01 6.76894161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.352755096 meters 0.02261797700633855 Centerline is valid? [True, True] Translation: X:35.85, Y:1.93, Z:0.68 [[ 9.78077579e-01 -2.07808979e-01 -1.34043508e-02 3.58495845e+01] [ 2.07794264e-01 9.78169367e-01 -2.49675328e-03 1.93328550e+00] [ 1.36305731e-02 -3.43328799e-04 9.99907040e-01 6.77402603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.382755096000004 meters 0.02336471819054715 Centerline is valid? [True, True] Translation: X:35.88, Y:1.94, Z:0.68 [[ 9.77923805e-01 -2.08562945e-01 -1.29046650e-02 3.58770251e+01] [ 2.08549317e-01 9.78008888e-01 -2.40781041e-03 1.93747018e+00] [ 1.31230571e-02 -3.36603962e-04 9.99913832e-01 6.78379182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.412755096 meters 0.024448041960956977 Centerline is valid? [True, True] Translation: X:35.90, Y:1.94, Z:0.68 [[ 9.77565151e-01 -2.10282908e-01 -1.21439087e-02 3.59042821e+01] [ 2.10270948e-01 9.77640520e-01 -2.26781383e-03 1.94221916e+00] [ 1.23492597e-02 -3.36575426e-04 9.99923688e-01 6.78890807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.442755096 meters 0.02372681613467478 Centerline is valid? [True, True] Translation: X:35.93, Y:1.95, Z:0.68 [[ 9.77364219e-01 -2.11186017e-01 -1.26352620e-02 3.59316606e+01] [ 2.11173129e-01 9.77445822e-01 -2.36084756e-03 1.95009363e+00] [ 1.28488621e-02 -3.60819887e-04 9.99917385e-01 6.78217361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.472755096 meters 0.02447074686472471 Centerline is valid? [True, True] Translation: X:35.96, Y:1.96, Z:0.68 [[ 9.77209053e-01 -2.11892350e-01 -1.28101149e-02 3.59594145e+01] [ 2.11879146e-01 9.77292941e-01 -2.39483808e-03 1.95529923e+00] [ 1.30266828e-02 -3.73938757e-04 9.99915079e-01 6.77850701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.502755096 meters 0.0253928211013657 Centerline is valid? [True, True] Translation: X:35.99, Y:1.96, Z:0.68 [[ 9.77081777e-01 -2.12368359e-01 -1.45217559e-02 3.59857613e+01] [ 2.12351421e-01 9.77189590e-01 -2.71637579e-03 1.96063752e+00] [ 1.47673810e-02 -4.29594223e-04 9.99890864e-01 6.76045256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.532755096 meters 0.023055278498169456 Centerline is valid? [True, True] Translation: X:36.01, Y:1.97, Z:0.68 [[ 9.77025112e-01 -2.12544555e-01 -1.57080389e-02 3.60123054e+01] [ 2.12524729e-01 9.77151265e-01 -2.94011174e-03 1.97030206e+00] [ 1.59740348e-02 -4.65783703e-04 9.99872298e-01 6.75079386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.562755096000004 meters 0.024355801121579916 Centerline is valid? [True, True] Translation: X:36.04, Y:1.97, Z:0.67 [[ 9.77132057e-01 -2.11881771e-01 -1.78621992e-02 3.60396826e+01] [ 2.11855898e-01 9.77295173e-01 -3.35020169e-03 1.97419150e+00] [ 1.81664877e-02 -5.10622795e-04 9.99834845e-01 6.73332973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.592755096 meters 0.02523528052608142 Centerline is valid? [True, True] Translation: X:36.07, Y:1.98, Z:0.67 [[ 9.77199592e-01 -2.11521616e-01 -1.84272669e-02 3.60669213e+01] [ 2.11493962e-01 9.77373183e-01 -3.45909943e-03 1.97859405e+00] [ 1.87419908e-02 -5.17025140e-04 9.99824220e-01 6.72790895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.622755096 meters 0.022428403154513974 Centerline is valid? [True, True] Translation: X:36.09, Y:1.99, Z:0.67 [[ 9.77227478e-01 -2.11312703e-01 -1.93235010e-02 3.60946490e+01] [ 2.11282211e-01 9.77418362e-01 -3.62947846e-03 1.98904498e+00] [ 1.96540996e-02 -5.35885940e-04 9.99806696e-01 6.72760052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.652755096 meters 0.02325012063803169 Centerline is valid? [True, True] Translation: X:36.12, Y:1.99, Z:0.67 [[ 9.77294693e-01 -2.10983305e-01 -1.95225088e-02 3.61221497e+01] [ 2.10952006e-01 9.77489522e-01 -3.67237280e-03 1.99352496e+00] [ 1.98578571e-02 -5.29321934e-04 9.99802673e-01 6.72484386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.682755096 meters 0.02216523633357406 Centerline is valid? [True, True] Translation: X:36.15, Y:2.00, Z:0.67 [[ 9.77342023e-01 -2.10696248e-01 -2.02400946e-02 3.61502199e+01] [ 2.10662492e-01 9.77551431e-01 -3.80984754e-03 2.00102839e+00] [ 2.05884540e-02 -5.40304663e-04 9.99787889e-01 6.72368380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.712755096 meters 0.022497696538758084 Centerline is valid? [True, True] Translation: X:36.18, Y:2.01, Z:0.67 [[ 9.77275815e-01 -2.11006385e-01 -2.02061319e-02 3.61781240e+01] [ 2.10972697e-01 9.77484533e-01 -3.80893892e-03 2.00548597e+00] [ 2.05548919e-02 -5.40558265e-04 9.99788580e-01 6.72827647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.742755096 meters 0.02270082573223516 Centerline is valid? [True, True] Translation: X:36.21, Y:2.01, Z:0.67 [[ 9.77146400e-01 -2.11608658e-01 -2.01665364e-02 3.62053889e+01] [ 2.11575179e-01 9.77354324e-01 -3.80392267e-03 2.00990196e+00] [ 2.05147945e-02 -5.49749206e-04 9.99789398e-01 6.73474521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.772755096 meters 0.022830627154263504 Centerline is valid? [True, True] Translation: X:36.23, Y:2.01, Z:0.67 [[ 9.77081624e-01 -2.11948677e-01 -1.97296284e-02 3.62333073e+01] [ 2.11916577e-01 9.77280650e-01 -3.72780027e-03 2.01435000e+00] [ 2.00714864e-02 -5.38670167e-04 9.99798402e-01 6.74235074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.802755096 meters 0.026600470949786417 Centerline is valid? [True, True] Translation: X:36.26, Y:2.01, Z:0.68 [[ 9.76988698e-01 -2.12463113e-01 -1.87752464e-02 3.62617111e+01] [ 2.12434028e-01 9.77168951e-01 -3.55321098e-03 2.01170780e+00] [ 1.91015141e-02 -5.17054258e-04 9.99817416e-01 6.76118552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.832755096 meters 0.023725885743447334 Centerline is valid? [True, True] Translation: X:36.29, Y:2.02, Z:0.68 [[ 9.76836971e-01 -2.13213729e-01 -1.81504246e-02 3.62894849e+01] [ 2.13186646e-01 9.77005447e-01 -3.43668590e-03 2.02108622e+00] [ 1.84658123e-02 -5.12346294e-04 9.99829361e-01 6.77385626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.862755096 meters 0.0240509668030523 Centerline is valid? [True, True] Translation: X:36.32, Y:2.03, Z:0.68 [[ 9.76800021e-01 -2.13490515e-01 -1.68380111e-02 3.63170052e+01] [ 2.13467169e-01 9.76945021e-01 -3.19278556e-03 2.02506609e+00] [ 1.71314405e-02 -4.75649556e-04 9.99853133e-01 6.78841379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.892755096 meters 0.02397180933448023 Centerline is valid? [True, True] Translation: X:36.34, Y:2.03, Z:0.68 [[ 9.76774488e-01 -2.13605358e-01 -1.68626791e-02 3.63448767e+01] [ 2.13581938e-01 9.76919917e-01 -3.19879322e-03 2.03059089e+00] [ 1.71567664e-02 -4.77064061e-04 9.99852698e-01 6.79638693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.922755096 meters 0.02385709031451704 Centerline is valid? [True, True] Translation: X:36.37, Y:2.04, Z:0.68 [[ 9.76684923e-01 -2.14038090e-01 -1.65607025e-02 3.63719110e+01] [ 2.14015477e-01 9.76825202e-01 -3.14660903e-03 2.03664361e+00] [ 1.68504057e-02 -4.71001046e-04 9.99857911e-01 6.80182686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.952755096 meters 0.0236529061171734 Centerline is valid? [True, True] Translation: X:36.40, Y:2.04, Z:0.68 [[ 9.76892474e-01 -2.13093582e-01 -1.64990936e-02 3.63989329e+01] [ 2.13070909e-01 9.77031691e-01 -3.14052685e-03 2.04253773e+00] [ 1.67893634e-02 -4.47519812e-04 9.99858949e-01 6.79803942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.982755096 meters 0.024099198405053923 Centerline is valid? [True, True] Translation: X:36.43, Y:2.05, Z:0.68 [[ 9.76963504e-01 -2.12740528e-01 -1.68457305e-02 3.64264545e+01] [ 2.12716811e-01 9.77108625e-01 -3.20819711e-03 2.04726638e+00] [ 1.71426221e-02 -4.49078574e-04 9.99852954e-01 6.79974133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.012755096 meters 0.0235977840585135 Centerline is valid? [True, True] Translation: X:36.46, Y:2.05, Z:0.68 [[ 9.77141155e-01 -2.11868307e-01 -1.75209824e-02 3.64552306e+01] [ 2.11842480e-01 9.77298122e-01 -3.33842140e-03 2.05267481e+00] [ 1.78305288e-02 -4.49579419e-04 9.99840922e-01 6.79426994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.042755096 meters 0.023194917595178915 Centerline is valid? [True, True] Translation: X:36.48, Y:2.06, Z:0.68 [[ 9.77335429e-01 -2.10905382e-01 -1.82860411e-02 3.64824867e+01] [ 2.10876987e-01 9.77506379e-01 -3.48929394e-03 2.05835895e+00] [ 1.86106326e-02 -4.45894658e-04 9.99826708e-01 6.79310948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.072755096 meters 0.02258023264292257 Centerline is valid? [True, True] Translation: X:36.51, Y:2.07, Z:0.68 [[ 9.77539077e-01 -2.09887916e-01 -1.90896787e-02 3.65102622e+01] [ 2.09856738e-01 9.77725353e-01 -3.64463624e-03 2.06625724e+00] [ 1.94294280e-02 -4.43323349e-04 9.99811133e-01 6.78877415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.102755096 meters 0.02193410810331609 Centerline is valid? [True, True] Translation: X:36.54, Y:2.07, Z:0.68 [[ 9.77884876e-01 -2.08209204e-01 -1.97508588e-02 3.65374241e+01] [ 2.08175383e-01 9.78084225e-01 -3.77601921e-03 2.07447331e+00] [ 2.01042054e-02 -4.19130524e-04 9.99797802e-01 6.77806736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.132755096000004 meters 0.020201337991525254 Centerline is valid? [True, True] Translation: X:36.57, Y:2.09, Z:0.68 [[ 9.78614909e-01 -2.04618962e-01 -2.10698716e-02 3.65653020e+01] [ 2.04579587e-01 9.78841635e-01 -4.03066821e-03 2.08573246e+00] [ 2.14488187e-02 -3.65993626e-04 9.99769881e-01 6.76443753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.162755096 meters 0.019119531142482618 Centerline is valid? [True, True] Translation: X:36.59, Y:2.09, Z:0.68 [[ 9.78809424e-01 -2.03606359e-01 -2.18303125e-02 3.65932806e+01] [ 2.03563716e-01 9.79052771e-01 -4.18164435e-03 2.09458226e+00] [ 2.22244373e-02 -3.50826635e-04 9.99752945e-01 6.76503984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.192755096 meters 0.01941908088224919 Centerline is valid? [True, True] Translation: X:36.62, Y:2.10, Z:0.68 [[ 9.78910577e-01 -2.03075627e-01 -2.22344647e-02 3.66202835e+01] [ 2.03031126e-01 9.79162997e-01 -4.26464854e-03 2.09976306e+00] [ 2.26372112e-02 -3.39578831e-04 9.99743688e-01 6.76412839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.222755096 meters 0.018745038913054218 Centerline is valid? [True, True] Translation: X:36.65, Y:2.11, Z:0.68 [[ 9.79236065e-01 -2.01560106e-01 -2.16852989e-02 3.66462539e+01] [ 2.01517341e-01 9.79476103e-01 -4.16220063e-03 2.10964350e+00] [ 2.20791657e-02 -2.94186814e-04 9.99756182e-01 6.78119725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.252755096 meters 0.018898495657063887 Centerline is valid? [True, True] Translation: X:36.67, Y:2.12, Z:0.68 [[ 9.79060934e-01 -2.02422134e-01 -2.15631169e-02 3.66733486e+01] [ 2.02380002e-01 9.79298312e-01 -4.14134290e-03 2.11561656e+00] [ 2.19550234e-02 -3.09316593e-04 9.99758912e-01 6.79004091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.282755096 meters 0.019508337578006064 Centerline is valid? [True, True] Translation: X:36.70, Y:2.12, Z:0.68 [[ 9.78374562e-01 -2.05753595e-01 -2.11819360e-02 3.67014894e+01] [ 2.05713590e-01 9.78603761e-01 -4.07415895e-03 2.12057204e+00] [ 2.15669951e-02 -3.71358615e-04 9.99767336e-01 6.80086430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.312755096000004 meters 0.019511836324786737 Centerline is valid? [True, True] Translation: X:36.73, Y:2.13, Z:0.68 [[ 9.77878226e-01 -2.08099038e-01 -2.11887942e-02 3.67293013e+01] [ 2.08059444e-01 9.78107671e-01 -4.08067430e-03 2.12600925e+00] [ 2.15741066e-02 -4.18126201e-04 9.99767164e-01 6.80691563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.342755096 meters 0.021128374529133027 Centerline is valid? [True, True] Translation: X:36.76, Y:2.13, Z:0.68 [[ 9.77328948e-01 -2.10664746e-01 -2.11776419e-02 3.67574562e+01] [ 2.10625750e-01 9.77558255e-01 -4.08065782e-03 2.12801908e+00] [ 2.15620294e-02 -4.72411694e-04 9.99767401e-01 6.81184596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.372755096 meters 0.02268345824165227 Centerline is valid? [True, True] Translation: X:36.79, Y:2.13, Z:0.68 [[ 9.76166416e-01 -2.15989767e-01 -2.11553638e-02 3.67869935e+01] [ 2.15952056e-01 9.76395450e-01 -4.07843855e-03 2.12883926e+00] [ 2.15369020e-02 -5.87309579e-04 9.99767882e-01 6.81979765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.402755096 meters 0.023324641163991865 Centerline is valid? [True, True] Translation: X:36.82, Y:2.13, Z:0.68 [[ 9.75597180e-01 -2.18540042e-01 -2.12224422e-02 3.68155590e+01] [ 2.18502643e-01 9.75827770e-01 -4.09378158e-03 2.13344007e+00] [ 2.16041037e-02 -6.43277943e-04 9.99766397e-01 6.82668457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.432755096 meters 0.025928546158592226 Centerline is valid? [True, True] Translation: X:36.84, Y:2.14, Z:0.68 [[ 9.74797538e-01 -2.22158113e-01 -2.03846275e-02 3.68438087e+01] [ 2.22124289e-01 9.75010409e-01 -3.93740747e-03 2.13568033e+00] [ 2.07499510e-02 -6.89745789e-04 9.99784459e-01 6.82836335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.462755096 meters 0.02647698506122502 Centerline is valid? [True, True] Translation: X:36.87, Y:2.14, Z:0.68 [[ 9.74403841e-01 -2.23928542e-01 -1.98283103e-02 3.68721646e+01] [ 2.23896867e-01 9.74605310e-01 -3.83181089e-03 2.14063733e+00] [ 2.01828284e-02 -7.05765319e-04 9.99796057e-01 6.83598205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.492755096 meters 0.026971493386573033 Centerline is valid? [True, True] Translation: X:36.90, Y:2.15, Z:0.68 [[ 9.74144286e-01 -2.25103994e-01 -1.92640206e-02 3.69005177e+01] [ 2.25074223e-01 9.74334489e-01 -3.72803827e-03 2.14514054e+00] [ 1.96087960e-02 -7.04187287e-04 9.99807481e-01 6.84531244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.522755096 meters 0.027267396752248492 Centerline is valid? [True, True] Translation: X:36.93, Y:2.15, Z:0.69 [[ 9.73977341e-01 -2.25791768e-01 -1.96524031e-02 3.69292237e+01] [ 2.25760811e-01 9.74175317e-01 -3.80883172e-03 2.14968613e+00] [ 2.00048889e-02 -7.27026670e-04 9.99799618e-01 6.85567566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.552755096 meters 0.027774508303893036 Centerline is valid? [True, True] Translation: X:36.96, Y:2.15, Z:0.69 [[ 9.73953103e-01 -2.25883513e-01 -1.97987860e-02 3.69560815e+01] [ 2.25852004e-01 9.74154047e-01 -3.84257090e-03 2.15297327e+00] [ 2.01550409e-02 -7.29111635e-04 9.99796601e-01 6.86227289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.582755096 meters 0.027668537400067462 Centerline is valid? [True, True] Translation: X:36.98, Y:2.16, Z:0.69 [[ 9.74015656e-01 -2.25575063e-01 -2.02334634e-02 3.69845035e+01] [ 2.25542024e-01 9.74225513e-01 -3.93003564e-03 2.15822708e+00] [ 2.05984743e-02 -7.35580058e-04 9.99787558e-01 6.86802808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.612755096 meters 0.0277135386242789 Centerline is valid? [True, True] Translation: X:37.01, Y:2.16, Z:0.69 [[ 9.74197555e-01 -2.24801410e-01 -2.00860805e-02 3.70117214e+01] [ 2.24768581e-01 9.74404343e-01 -3.90658401e-03 2.16336518e+00] [ 2.04501697e-02 -7.08935229e-04 9.99790622e-01 6.87307015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.642755096 meters 0.02628880835658054 Centerline is valid? [True, True] Translation: X:37.04, Y:2.17, Z:0.69 [[ 9.74669563e-01 -2.22775027e-01 -1.97618333e-02 3.70390412e+01] [ 2.22742791e-01 9.74869663e-01 -3.84564688e-03 2.17233479e+00] [ 2.01219258e-02 -6.53570938e-04 9.99797320e-01 6.87888082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.672755096 meters 0.02532258323788496 Centerline is valid? [True, True] Translation: X:37.07, Y:2.18, Z:0.69 [[ 9.74811730e-01 -2.22144321e-01 -1.98492137e-02 3.70666307e+01] [ 2.22111560e-01 9.75013586e-01 -3.86801440e-03 2.18008417e+00] [ 2.02125105e-02 -6.38154010e-04 9.99795503e-01 6.88165347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.702755096 meters 0.02570699920800423 Centerline is valid? [True, True] Translation: X:37.09, Y:2.19, Z:0.69 [[ 9.74941482e-01 -2.21555668e-01 -2.00547373e-02 3.70940455e+01] [ 2.21521992e-01 9.75147523e-01 -3.91335099e-03 2.18542997e+00] [ 2.04233525e-02 -6.27277155e-04 9.99791225e-01 6.88609114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.732755096 meters 0.02547793166378177 Centerline is valid? [True, True] Translation: X:37.12, Y:2.19, Z:0.69 [[ 9.74939643e-01 -2.21500437e-01 -2.07424322e-02 3.71212697e+01] [ 2.21464345e-01 9.75160059e-01 -4.05013025e-03 2.19023262e+00] [ 2.11242970e-02 -6.45076616e-04 9.99776649e-01 6.89102371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.762755096 meters 0.02580200197344158 Centerline is valid? [True, True] Translation: X:37.15, Y:2.19, Z:0.69 [[ 9.74818985e-01 -2.21996969e-01 -2.11019328e-02 3.71491123e+01] [ 2.21959589e-01 9.75047132e-01 -4.12696022e-03 2.19420889e+00] [ 2.14915517e-02 -6.60737155e-04 9.99768812e-01 6.89575239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.792755096 meters 0.025774664643846232 Centerline is valid? [True, True] Translation: X:37.18, Y:2.20, Z:0.69 [[ 9.74600665e-01 -2.22927842e-01 -2.13710309e-02 3.71776772e+01] [ 2.22889582e-01 9.74834709e-01 -4.18615041e-03 2.19850983e+00] [ 2.17664322e-02 -6.83555179e-04 9.99762849e-01 6.90434017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.822755096 meters 0.027025903826890862 Centerline is valid? [True, True] Translation: X:37.21, Y:2.20, Z:0.69 [[ 9.74405601e-01 -2.23759867e-01 -2.15695947e-02 3.72057719e+01] [ 2.23720976e-01 9.74644052e-01 -4.23057508e-03 2.20082667e+00] [ 2.19693101e-02 -7.03274726e-04 9.99758398e-01 6.91235783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.852755096 meters 0.028246349915135558 Centerline is valid? [True, True] Translation: X:37.23, Y:2.20, Z:0.69 [[ 9.73979665e-01 -2.25657124e-01 -2.10350934e-02 3.72348017e+01] [ 2.25620507e-01 9.74206517e-01 -4.12903049e-03 2.20301206e+00] [ 2.14242702e-02 -7.24356707e-04 9.99770212e-01 6.93279921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.882755096000004 meters 0.027224392644030305 Centerline is valid? [True, True] Translation: X:37.26, Y:2.21, Z:0.70 [[ 9.73822269e-01 -2.26424005e-01 -2.00588777e-02 3.72631160e+01] [ 2.26390767e-01 9.74028581e-01 -3.94250967e-03 2.20957166e+00] [ 2.04305991e-02 -7.01840997e-04 9.99791027e-01 6.95037857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.912755096 meters 0.029276912626768868 Centerline is valid? [True, True] Translation: X:37.29, Y:2.21, Z:0.70 [[ 9.73691418e-01 -2.26994693e-01 -1.99607576e-02 3.72915240e+01] [ 2.26961794e-01 9.73895740e-01 -3.92837162e-03 2.21180896e+00] [ 2.03314163e-02 -7.05307623e-04 9.99793047e-01 6.96080536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.942755096 meters 0.03009050504133142 Centerline is valid? [True, True] Translation: X:37.32, Y:2.21, Z:0.70 [[ 9.73632824e-01 -2.27250446e-01 -1.99087686e-02 3.73189412e+01] [ 2.27217733e-01 9.73836092e-01 -3.92005107e-03 2.21458386e+00] [ 2.02787107e-02 -7.06934871e-04 9.99794116e-01 6.97595136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.972755096 meters 0.028531113002898664 Centerline is valid? [True, True] Translation: X:37.35, Y:2.22, Z:0.70 [[ 9.73551437e-01 -2.27610385e-01 -1.97765613e-02 3.73458982e+01] [ 2.27578137e-01 9.73752028e-01 -3.89613942e-03 2.22191014e+00] [ 2.01442685e-02 -7.07620837e-04 9.99796833e-01 6.98211392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.002755096 meters 0.030457387994545598 Centerline is valid? [True, True] Translation: X:37.37, Y:2.22, Z:0.70 [[ 9.73593312e-01 -2.27436375e-01 -1.97169681e-02 3.73737805e+01] [ 2.27404169e-01 9.73792694e-01 -3.89014505e-03 2.22427149e+00] [ 2.00850000e-02 -6.96301543e-04 9.99798034e-01 6.98894251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.032755096 meters 0.030334734176635174 Centerline is valid? [True, True] Translation: X:37.40, Y:2.23, Z:0.70 [[ 9.73764014e-01 -2.26704291e-01 -1.97182613e-02 3.74007986e+01] [ 2.26671894e-01 9.73963399e-01 -3.89226485e-03 2.23015308e+00] [ 2.00872579e-02 -6.79428182e-04 9.99798000e-01 6.99646300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.062755096000004 meters 0.027315087744350697 Centerline is valid? [True, True] Translation: X:37.43, Y:2.24, Z:0.70 [[ 9.73836055e-01 -2.26399527e-01 -1.96619478e-02 3.74282548e+01] [ 2.26367213e-01 9.74034294e-01 -3.88314413e-03 2.24046716e+00] [ 2.00305534e-02 -6.69274554e-04 9.99799144e-01 7.00099781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.092755096 meters 0.027356317105055178 Centerline is valid? [True, True] Translation: X:37.46, Y:2.25, Z:0.70 [[ 9.74033203e-01 -2.25496282e-01 -2.02668821e-02 3.74553274e+01] [ 2.25461644e-01 9.74243801e-01 -4.00787489e-03 2.24634878e+00] [ 2.06486451e-02 -6.65601338e-04 9.99786572e-01 7.00119577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.122755096 meters 0.027356317105055178 Centerline is valid? [True, True] Translation: X:37.48, Y:2.25, Z:0.70 [[ 9.73967674e-01 -2.25779188e-01 -2.02664413e-02 3.74823471e+01] [ 2.25744565e-01 9.74178274e-01 -4.01010237e-03 2.25188147e+00] [ 2.06485245e-02 -6.69328908e-04 9.99786572e-01 7.00635654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.152755096 meters 0.02544020408843819 Centerline is valid? [True, True] Translation: X:37.51, Y:2.26, Z:0.70 [[ 9.73957081e-01 -2.25826188e-01 -2.02518638e-02 3.75087932e+01] [ 2.25791499e-01 9.74167384e-01 -4.01335377e-03 2.26037744e+00] [ 2.06350256e-02 -6.63864366e-04 9.99786855e-01 7.01330382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.182755096 meters 0.026290785037577695 Centerline is valid? [True, True] Translation: X:37.54, Y:2.26, Z:0.70 [[ 9.74000234e-01 -2.25610644e-01 -2.05762400e-02 3.75368815e+01] [ 2.25574650e-01 9.74217325e-01 -4.08413638e-03 2.26473584e+00] [ 2.09671541e-02 -6.63528348e-04 9.99779945e-01 7.02274212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.212755096 meters 0.02383760856496164 Centerline is valid? [True, True] Translation: X:37.56, Y:2.27, Z:0.70 [[ 9.74304525e-01 -2.24298166e-01 -2.05189148e-02 3.75648317e+01] [ 2.24261965e-01 9.74520363e-01 -4.07833073e-03 2.27432249e+00] [ 2.09108624e-02 -6.28076063e-04 9.99781147e-01 7.03543908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.242755096 meters 0.02469002931932384 Centerline is valid? [True, True] Translation: X:37.59, Y:2.28, Z:0.70 [[ 9.74530604e-01 -2.23276844e-01 -2.09177433e-02 3.75918913e+01] [ 2.23238878e-01 9.74754879e-01 -4.16272142e-03 2.27897219e+00] [ 2.13191117e-02 -6.12954122e-04 9.99772534e-01 7.03639295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.272755096 meters 0.024296518238361174 Centerline is valid? [True, True] Translation: X:37.62, Y:2.29, Z:0.70 [[ 9.74707719e-01 -2.22491389e-01 -2.10343580e-02 3.76196395e+01] [ 2.22452761e-01 9.74934473e-01 -4.18846893e-03 2.28600916e+00] [ 2.14390190e-02 -5.96618038e-04 9.99769980e-01 7.03868547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.302755096 meters 0.0226142248145038 Centerline is valid? [True, True] Translation: X:37.65, Y:2.29, Z:0.70 [[ 9.74855874e-01 -2.21797122e-01 -2.14956049e-02 3.76476920e+01] [ 2.21756484e-01 9.75092657e-01 -4.28619444e-03 2.29488595e+00] [ 2.19108721e-02 -5.88367948e-04 9.99759755e-01 7.04491127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.332755096 meters 0.02143730366598758 Centerline is valid? [True, True] Translation: X:37.68, Y:2.30, Z:0.71 [[ 9.75224219e-01 -2.20216365e-01 -2.10350960e-02 3.76752334e+01] [ 2.20176959e-01 9.75450904e-01 -4.20010607e-03 2.30280861e+00] [ 2.14436355e-02 -5.35398308e-04 9.99769915e-01 7.05220065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.362755096 meters 0.022100668511669242 Centerline is valid? [True, True] Translation: X:37.70, Y:2.31, Z:0.71 [[ 9.75388946e-01 -2.19506184e-01 -2.08192110e-02 3.77032559e+01] [ 2.19467308e-01 9.75610976e-01 -4.16234933e-03 2.30700903e+00] [ 2.12251122e-02 -5.09226664e-04 9.99774592e-01 7.06038901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.392755096 meters 0.0199309549475702 Centerline is valid? [True, True] Translation: X:37.73, Y:2.32, Z:0.71 [[ 9.75558311e-01 -2.18780867e-01 -2.05162024e-02 3.77306265e+01] [ 2.18742903e-01 9.75773897e-01 -4.10418807e-03 2.31576755e+00] [ 2.09170926e-02 -4.83898886e-04 9.99781097e-01 7.07341722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.422755096 meters 0.02043833378984001 Centerline is valid? [True, True] Translation: X:37.76, Y:2.32, Z:0.71 [[ 9.75640562e-01 -2.18416861e-01 -2.04833901e-02 3.77580004e+01] [ 2.18378822e-01 9.75855447e-01 -4.10313960e-03 2.31999169e+00] [ 2.08850227e-02 -4.69949182e-04 9.99781774e-01 7.07718288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.452755096 meters 0.020362396329040716 Centerline is valid? [True, True] Translation: X:37.79, Y:2.33, Z:0.71 [[ 9.75770376e-01 -2.17834287e-01 -2.05035643e-02 3.77853714e+01] [ 2.17796002e-01 9.75985664e-01 -4.10926872e-03 2.32520301e+00] [ 2.09063244e-02 -4.55891640e-04 9.99781335e-01 7.08461953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.482755096 meters 0.019229013047542057 Centerline is valid? [True, True] Translation: X:37.81, Y:2.33, Z:0.71 [[ 9.75885495e-01 -2.17334740e-01 -2.03251609e-02 3.78133831e+01] [ 2.17296961e-01 9.76097033e-01 -4.07587828e-03 2.33224727e+00] [ 2.07251592e-02 -4.39005199e-04 9.99785114e-01 7.09302498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.512755096 meters 0.019394055667044392 Centerline is valid? [True, True] Translation: X:37.84, Y:2.34, Z:0.71 [[ 9.75895768e-01 -2.17314057e-01 -2.00511816e-02 3.78401166e+01] [ 2.17277173e-01 9.76101643e-01 -4.02639113e-03 2.33716844e+00] [ 2.04469827e-02 -4.27325996e-04 9.99790847e-01 7.10099802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.542755096 meters 0.019594189909520936 Centerline is valid? [True, True] Translation: X:37.87, Y:2.34, Z:0.71 [[ 9.75901987e-01 -2.17316387e-01 -1.97205396e-02 3.78663705e+01] [ 2.17280655e-01 9.76101129e-01 -3.96276054e-03 2.34191089e+00] [ 2.01104138e-02 -4.17625888e-04 9.99797678e-01 7.10779698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.572755096 meters 0.01919927709016975 Centerline is valid? [True, True] Translation: X:37.89, Y:2.35, Z:0.71 [[ 9.75802163e-01 -2.17731957e-01 -2.00731832e-02 3.78935438e+01] [ 2.17694958e-01 9.76008509e-01 -4.03681021e-03 2.34801320e+00] [ 2.04705402e-02 -4.30702644e-04 9.99790364e-01 7.11192887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.602755096 meters 0.020681520167746235 Centerline is valid? [True, True] Translation: X:37.92, Y:2.35, Z:0.71 [[ 9.75448552e-01 -2.19250852e-01 -2.07168270e-02 3.79213758e+01] [ 2.19211647e-01 9.75668408e-01 -4.17272085e-03 2.35036923e+00] [ 2.11276262e-02 -4.71095266e-04 9.99776676e-01 7.10359309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.632755096000004 meters 0.02088543279952438 Centerline is valid? [True, True] Translation: X:37.95, Y:2.36, Z:0.71 [[ 9.75140927e-01 -2.20542183e-01 -2.14783246e-02 3.79499826e+01] [ 2.20500295e-01 9.75377302e-01 -4.32890097e-03 2.35544631e+00] [ 2.19041756e-02 -5.14688422e-04 9.99759942e-01 7.10412444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.662755096 meters 0.020733737009316952 Centerline is valid? [True, True] Translation: X:37.98, Y:2.36, Z:0.71 [[ 9.74851907e-01 -2.21821954e-01 -2.14191799e-02 3.79787030e+01] [ 2.21780474e-01 9.75087039e-01 -4.32294280e-03 2.36083453e+00] [ 2.18444884e-02 -5.36126853e-04 9.99761237e-01 7.11130045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.692755096 meters 0.02277338987384718 Centerline is valid? [True, True] Translation: X:38.01, Y:2.36, Z:0.71 [[ 9.74353351e-01 -2.23956634e-01 -2.18854645e-02 3.80071024e+01] [ 2.23913738e-01 9.74598931e-01 -4.42278400e-03 2.36182009e+00] [ 2.23200622e-02 -5.91101765e-04 9.99750702e-01 7.11078715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.722755096 meters 0.023247954445571466 Centerline is valid? [True, True] Translation: X:38.04, Y:2.37, Z:0.71 [[ 9.74118748e-01 -2.24914856e-01 -2.24938416e-02 3.80360239e+01] [ 2.24869727e-01 9.74378219e-01 -4.54877592e-03 2.36687082e+00] [ 2.29405966e-02 -6.27136121e-04 9.99736633e-01 7.11121125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.752755096 meters 0.023800448204970567 Centerline is valid? [True, True] Translation: X:38.06, Y:2.37, Z:0.71 [[ 9.73853581e-01 -2.25895683e-01 -2.40903311e-02 3.80640508e+01] [ 2.25844050e-01 9.74151254e-01 -4.87855779e-03 2.37200569e+00] [ 2.45696714e-02 -6.89656971e-04 9.99697882e-01 7.09906819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.782755096 meters 0.02524007698951724 Centerline is valid? [True, True] Translation: X:38.09, Y:2.38, Z:0.71 [[ 9.73785258e-01 -2.26115304e-01 -2.47818478e-02 3.80920927e+01] [ 2.26060589e-01 9.74100285e-01 -5.02435826e-03 2.37578166e+00] [ 2.52760893e-02 -7.09553113e-04 9.99680257e-01 7.09136603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.812755096000004 meters 0.022911228234469724 Centerline is valid? [True, True] Translation: X:38.12, Y:2.38, Z:0.71 [[ 9.73689192e-01 -2.26480055e-01 -2.52218515e-02 3.81185325e+01] [ 2.26423398e-01 9.74015531e-01 -5.11757854e-03 2.38469965e+00] [ 2.57255045e-02 -7.27886410e-04 9.99668779e-01 7.09660815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.842755096 meters 0.025621635565851605 Centerline is valid? [True, True] Translation: X:38.15, Y:2.39, Z:0.71 [[ 9.73628154e-01 -2.26726220e-01 -2.53660833e-02 3.81469345e+01] [ 2.26668825e-01 9.73958256e-01 -5.15348717e-03 2.38539767e+00] [ 2.58739369e-02 -7.32120095e-04 9.99664946e-01 7.09145716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.872755096 meters 0.023554809591770556 Centerline is valid? [True, True] Translation: X:38.17, Y:2.39, Z:0.71 [[ 9.73494131e-01 -2.27318026e-01 -2.52129392e-02 3.81742669e+01] [ 2.27261418e-01 9.73820296e-01 -5.12636047e-03 2.39331835e+00] [ 2.57181861e-02 -7.39446509e-04 9.99668959e-01 7.10776301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.902755096 meters 0.02417169043664432 Centerline is valid? [True, True] Translation: X:38.20, Y:2.40, Z:0.71 [[ 9.73383854e-01 -2.27799227e-01 -2.51273770e-02 3.82015323e+01] [ 2.27742997e-01 9.73707841e-01 -5.11542438e-03 2.39741739e+00] [ 2.56320138e-02 -7.43312655e-04 9.99671170e-01 7.11154849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.932755096 meters 0.022982650253540748 Centerline is valid? [True, True] Translation: X:38.23, Y:2.40, Z:0.71 [[ 9.73282710e-01 -2.28256185e-01 -2.48973861e-02 3.82291718e+01] [ 2.28201030e-01 9.73600822e-01 -5.07251645e-03 2.40423340e+00] [ 2.53979488e-02 -7.44616596e-04 9.99677143e-01 7.12298056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.962755096 meters 0.02551445153859484 Centerline is valid? [True, True] Translation: X:38.26, Y:2.41, Z:0.71 [[ 9.72886304e-01 -2.29871619e-01 -2.55201660e-02 3.82577417e+01] [ 2.29814046e-01 9.73220632e-01 -5.20624131e-03 2.40546749e+00] [ 2.60335192e-02 -7.99811749e-04 9.99660751e-01 7.11990208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.992755096 meters 0.024273441988688062 Centerline is valid? [True, True] Translation: X:38.29, Y:2.41, Z:0.71 [[ 9.72609139e-01 -2.31030296e-01 -2.56215648e-02 3.82858313e+01] [ 2.30972564e-01 9.72946203e-01 -5.23084523e-03 2.41214254e+00] [ 2.61368879e-02 -8.30310649e-04 9.99658028e-01 7.12994681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.022755096 meters 0.025074855374133634 Centerline is valid? [True, True] Translation: X:38.31, Y:2.42, Z:0.71 [[ 9.72392497e-01 -2.31969184e-01 -2.53600005e-02 3.83136157e+01] [ 2.31912792e-01 9.72722771e-01 -5.18330331e-03 2.41532773e+00] [ 2.58706166e-02 -8.41103271e-04 9.99664946e-01 7.13217774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.052755096 meters 0.026500504442667043 Centerline is valid? [True, True] Translation: X:38.34, Y:2.42, Z:0.71 [[ 9.71904406e-01 -2.33958463e-01 -2.57927036e-02 3.83420364e+01] [ 2.33900761e-01 9.72246170e-01 -5.27435306e-03 2.41604222e+00] [ 2.63108368e-02 -9.06766020e-04 9.99653399e-01 7.13646160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.082755096 meters 0.02741921551846186 Centerline is valid? [True, True] Translation: X:38.37, Y:2.42, Z:0.71 [[ 9.71604349e-01 -2.35218772e-01 -2.56343180e-02 3.83707185e+01] [ 2.35162114e-01 9.71942005e-01 -5.24578199e-03 2.41952211e+00] [ 2.61489769e-02 -9.31395823e-04 9.99657623e-01 7.14343316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.112755096 meters 0.028003489291133082 Centerline is valid? [True, True] Translation: X:38.40, Y:2.42, Z:0.72 [[ 9.71337144e-01 -2.36326648e-01 -2.55708428e-02 3.83992674e+01] [ 2.36270470e-01 9.71673201e-01 -5.23981488e-03 2.42366845e+00] [ 2.60848105e-02 -9.52008229e-04 9.99659280e-01 7.15099281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.142755096 meters 0.028911080005932916 Centerline is valid? [True, True] Translation: X:38.43, Y:2.43, Z:0.72 [[ 9.71271401e-01 -2.36711527e-01 -2.44850615e-02 3.84261209e+01] [ 2.36660000e-01 9.71579546e-01 -5.02298689e-03 2.42733467e+00] [ 2.49781838e-02 -9.15951148e-04 9.99687577e-01 7.16378379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.172755096 meters 0.02868039866035205 Centerline is valid? [True, True] Translation: X:38.45, Y:2.43, Z:0.72 [[ 9.71308945e-01 -2.36611453e-01 -2.39573403e-02 3.84547231e+01] [ 2.36561999e-01 9.71603946e-01 -4.91857730e-03 2.43396050e+00] [ 2.44408381e-02 -8.89938191e-04 9.99700882e-01 7.17677034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.202755096000004 meters 0.02532104968883807 Centerline is valid? [True, True] Translation: X:38.48, Y:2.44, Z:0.72 [[ 9.71417151e-01 -2.36231201e-01 -2.33139106e-02 3.84815796e+01] [ 2.36184117e-01 9.71696504e-01 -4.79239314e-03 2.44474573e+00] [ 2.37861582e-02 -8.50962510e-04 9.99716707e-01 7.19513866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.232755096 meters 0.025546296931683515 Centerline is valid? [True, True] Translation: X:38.51, Y:2.45, Z:0.72 [[ 9.71696147e-01 -2.35150188e-01 -2.26050319e-02 3.85089847e+01] [ 2.35105498e-01 9.71958723e-01 -4.65246611e-03 2.44996014e+00] [ 2.30651863e-02 -7.93783904e-04 9.99733648e-01 7.20397197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.262755096 meters 0.02673895281757417 Centerline is valid? [True, True] Translation: X:38.54, Y:2.45, Z:0.72 [[ 9.71893481e-01 -2.34302265e-01 -2.29240092e-02 3.85368722e+01] [ 2.34255994e-01 9.72163483e-01 -4.72138920e-03 2.45375820e+00] [ 2.33921168e-02 -7.81399158e-04 9.99726062e-01 7.20468284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.292755096 meters 0.023793306353460626 Centerline is valid? [True, True] Translation: X:38.56, Y:2.46, Z:0.72 [[ 9.72232355e-01 -2.32853310e-01 -2.33148833e-02 3.85644885e+01] [ 2.32804952e-01 9.72511575e-01 -4.80519910e-03 2.46371090e+00] [ 2.37929004e-02 -7.56050263e-04 9.99716623e-01 7.21561615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.322755096 meters 0.02463581997401098 Centerline is valid? [True, True] Translation: X:38.59, Y:2.47, Z:0.72 [[ 9.72445226e-01 -2.31997364e-01 -2.29674770e-02 3.85919533e+01] [ 2.31950059e-01 9.72716149e-01 -4.73951261e-03 2.46854326e+00] [ 2.34403903e-02 -7.18391250e-04 9.99724978e-01 7.21741655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.352755096 meters 0.023573838186503517 Centerline is valid? [True, True] Translation: X:38.62, Y:2.48, Z:0.72 [[ 9.72614763e-01 -2.31289660e-01 -2.29262954e-02 3.86202517e+01] [ 2.31242236e-01 9.72884684e-01 -4.73498343e-03 2.47653985e+00] [ 2.33997944e-02 -6.96213022e-04 9.99725945e-01 7.22429957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.382755096000004 meters 0.02350300446290115 Centerline is valid? [True, True] Translation: X:38.65, Y:2.48, Z:0.72 [[ 9.72748827e-01 -2.30730597e-01 -2.28716440e-02 3.86485926e+01] [ 2.30683102e-01 9.73017439e-01 -4.72976152e-03 2.48366851e+00] [ 2.33458091e-02 -6.75231815e-04 9.99727221e-01 7.22921724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.412755096 meters 0.022599089976907405 Centerline is valid? [True, True] Translation: X:38.68, Y:2.49, Z:0.72 [[ 9.73142614e-01 -2.29113321e-01 -2.23727140e-02 3.86758554e+01] [ 2.29067309e-01 9.73399561e-01 -4.63273606e-03 2.49250713e+00] [ 2.28390115e-02 -6.16544501e-04 9.99738966e-01 7.23477586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.442755096 meters 0.022193210620669167 Centerline is valid? [True, True] Translation: X:38.70, Y:2.50, Z:0.72 [[ 9.73211842e-01 -2.28833662e-01 -2.22230744e-02 3.87041592e+01] [ 2.28788050e-01 9.73465354e-01 -4.60793874e-03 2.49982080e+00] [ 2.26878445e-02 -5.99873304e-04 9.99742418e-01 7.24170397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.472755096 meters 0.022138134515570524 Centerline is valid? [True, True] Translation: X:38.73, Y:2.51, Z:0.72 [[ 9.73182222e-01 -2.28959379e-01 -2.22253198e-02 3.87311184e+01] [ 2.28913644e-01 9.73435795e-01 -4.61482831e-03 2.50601256e+00] [ 2.26915301e-02 -5.96610088e-04 9.99742336e-01 7.24619097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.502755096 meters 0.022898300472988655 Centerline is valid? [True, True] Translation: X:38.76, Y:2.51, Z:0.72 [[ 9.72795890e-01 -2.30551690e-01 -2.26732262e-02 3.87597673e+01] [ 2.30504357e-01 9.73059869e-01 -4.71507013e-03 2.51102761e+00] [ 2.31494739e-02 -6.39476608e-04 9.99731810e-01 7.24813924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.532755096 meters 0.023027357748608528 Centerline is valid? [True, True] Translation: X:38.79, Y:2.52, Z:0.73 [[ 9.72495653e-01 -2.31786703e-01 -2.29592753e-02 3.87885382e+01] [ 2.31738359e-01 9.72766403e-01 -4.78110664e-03 2.51657844e+00] [ 2.34422086e-02 -6.70939357e-04 9.99724969e-01 7.25271618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.562755096000004 meters 0.024321230963646683 Centerline is valid? [True, True] Translation: X:38.82, Y:2.52, Z:0.73 [[ 9.71849924e-01 -2.34483586e-01 -2.29166475e-02 3.88175394e+01] [ 2.34436017e-01 9.72119806e-01 -4.77874769e-03 2.52069464e+00] [ 2.33982648e-02 -7.28261969e-04 9.99725958e-01 7.25647468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.592755096 meters 0.025576971147375217 Centerline is valid? [True, True] Translation: X:38.85, Y:2.53, Z:0.73 [[ 9.71562163e-01 -2.35700327e-01 -2.26344594e-02 3.88450210e+01] [ 2.35654123e-01 9.71825501e-01 -4.72547700e-03 2.52501566e+00] [ 2.31105413e-02 -7.42809017e-04 9.99732640e-01 7.26247574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.622755096 meters 0.025561648552870332 Centerline is valid? [True, True] Translation: X:38.87, Y:2.53, Z:0.73 [[ 9.71218710e-01 -2.37170170e-01 -2.20119810e-02 3.88729870e+01] [ 2.37126786e-01 9.71467829e-01 -4.59835346e-03 2.53169314e+00] [ 2.24745237e-02 -7.53623399e-04 9.99747132e-01 7.27278915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.652755096 meters 0.026759269417739994 Centerline is valid? [True, True] Translation: X:38.90, Y:2.54, Z:0.73 [[ 9.70959605e-01 -2.38284063e-01 -2.14044638e-02 3.89006119e+01] [ 2.38243193e-01 9.71195212e-01 -4.47681182e-03 2.53648428e+00] [ 2.18546656e-02 -7.52664364e-04 9.99760875e-01 7.28014154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.682755096 meters 0.0273216128021612 Centerline is valid? [True, True] Translation: X:38.93, Y:2.54, Z:0.73 [[ 9.70446887e-01 -2.40430268e-01 -2.06428047e-02 3.89287881e+01] [ 2.40392689e-01 9.70666108e-01 -4.31993006e-03 2.54338288e+00] [ 2.10759129e-02 -7.70116657e-04 9.99777582e-01 7.28987875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.712755096 meters 0.02810433045758882 Centerline is valid? [True, True] Translation: X:38.96, Y:2.55, Z:0.73 [[ 9.70281220e-01 -2.41086433e-01 -2.07770470e-02 3.89560896e+01] [ 2.41048398e-01 9.70503332e-01 -4.35347348e-03 2.54870902e+00] [ 2.12137568e-02 -7.84180352e-04 9.99774655e-01 7.29313539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.742755096 meters 0.028739921950185925 Centerline is valid? [True, True] Translation: X:38.98, Y:2.55, Z:0.73 [[ 9.70226682e-01 -2.41285528e-01 -2.10114334e-02 3.89836877e+01] [ 2.41246632e-01 9.70453843e-01 -4.40470227e-03 2.55426112e+00] [ 2.14534172e-02 -7.95377867e-04 9.99769533e-01 7.29651306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.772755096 meters 0.02848801384995753 Centerline is valid? [True, True] Translation: X:39.01, Y:2.56, Z:0.73 [[ 9.70250038e-01 -2.41204363e-01 -2.08643191e-02 3.90119071e+01] [ 2.41165938e-01 9.70474028e-01 -4.37635112e-03 2.56185436e+00] [ 2.13038748e-02 -7.85608230e-04 9.99772738e-01 7.30267331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.802755096 meters 0.028374981502839475 Centerline is valid? [True, True] Translation: X:39.04, Y:2.57, Z:0.73 [[ 9.70236799e-01 -2.41260292e-01 -2.08332547e-02 3.90394487e+01] [ 2.41221870e-01 9.70460130e-01 -4.37567513e-03 2.56836962e+00] [ 2.12735197e-02 -7.79995618e-04 9.99773389e-01 7.30852840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.832755096 meters 0.029464220362059906 Centerline is valid? [True, True] Translation: X:39.07, Y:2.57, Z:0.73 [[ 9.70273616e-01 -2.41085690e-01 -2.11376667e-02 3.90666743e+01] [ 2.41045963e-01 9.70503518e-01 -4.44575164e-03 2.57352853e+00] [ 2.15859870e-02 -7.81553710e-04 9.99766690e-01 7.31215515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.862755096 meters 0.02856959750829031 Centerline is valid? [True, True] Translation: X:39.09, Y:2.58, Z:0.73 [[ 9.70290270e-01 -2.41032875e-01 -2.09748593e-02 3.90945007e+01] [ 2.40993691e-01 9.70516645e-01 -4.41400054e-03 2.58163502e+00] [ 2.14203693e-02 -7.71946997e-04 9.99770260e-01 7.31825726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.892755096 meters 0.02713313185103922 Centerline is valid? [True, True] Translation: X:39.12, Y:2.59, Z:0.73 [[ 9.70335306e-01 -2.40818454e-01 -2.13510129e-02 3.91220351e+01] [ 2.40777672e-01 9.70569869e-01 -4.49908060e-03 2.59108923e+00] [ 2.18061114e-02 -7.75230427e-04 9.99761918e-01 7.32113226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.922755096 meters 0.02760603320737198 Centerline is valid? [True, True] Translation: X:39.15, Y:2.60, Z:0.73 [[ 9.70655534e-01 -2.39508807e-01 -2.15259073e-02 3.91492346e+01] [ 2.39466911e-01 9.70893905e-01 -4.54142506e-03 2.59817175e+00] [ 2.19870835e-02 -7.46583150e-04 9.99757976e-01 7.32103430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.952755096000004 meters 0.026233215762069283 Centerline is valid? [True, True] Translation: X:39.18, Y:2.61, Z:0.73 [[ 9.70769009e-01 -2.39076613e-01 -2.12109482e-02 3.91769528e+01] [ 2.39035775e-01 9.71000438e-01 -4.47757031e-03 2.60669582e+00] [ 2.16663224e-02 -7.23488944e-04 9.99764996e-01 7.32772669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.982755096 meters 0.025615991204611964 Centerline is valid? [True, True] Translation: X:39.20, Y:2.61, Z:0.73 [[ 9.70997068e-01 -2.38103297e-01 -2.17143672e-02 3.92048343e+01] [ 2.38060117e-01 9.71239575e-01 -4.59003004e-03 2.61366661e+00] [ 2.21827541e-02 -7.12419102e-04 9.99753679e-01 7.33536295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.012755096 meters 0.02533430591356156 Centerline is valid? [True, True] Translation: X:39.23, Y:2.62, Z:0.73 [[ 9.71385277e-01 -2.36528169e-01 -2.15654304e-02 3.92317740e+01] [ 2.36485073e-01 9.71624403e-01 -4.56393992e-03 2.62043839e+00] [ 2.20329988e-02 -6.66558337e-04 9.99757022e-01 7.34064212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.042755096 meters 0.02478071612992966 Centerline is valid? [True, True] Translation: X:39.26, Y:2.63, Z:0.73 [[ 9.71476774e-01 -2.36155429e-01 -2.15288248e-02 3.92598115e+01] [ 2.36112328e-01 9.71715074e-01 -4.55888150e-03 2.62771549e+00] [ 2.19964882e-02 -6.54373462e-04 9.99757834e-01 7.34621086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.072755096 meters 0.02478071612992966 Centerline is valid? [True, True] Translation: X:39.29, Y:2.63, Z:0.74 [[ 9.71405415e-01 -2.36448902e-01 -2.15275934e-02 3.92867554e+01] [ 2.36405745e-01 9.71643704e-01 -4.56468939e-03 2.63360570e+00] [ 2.19964664e-02 -6.55082770e-04 9.99757834e-01 7.35136215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.102755096 meters 0.024297640522284437 Centerline is valid? [True, True] Translation: X:39.31, Y:2.64, Z:0.74 [[ 9.71492184e-01 -2.36068307e-01 -2.17873924e-02 3.93148042e+01] [ 2.36023854e-01 9.71736248e-01 -4.62659243e-03 2.64078312e+00] [ 2.22637908e-02 -6.47645947e-04 9.99751921e-01 7.35151717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.132755096000004 meters 0.024568504565593674 Centerline is valid? [True, True] Translation: X:39.34, Y:2.65, Z:0.73 [[ 9.71520617e-01 -2.35865966e-01 -2.26922213e-02 3.93421151e+01] [ 2.35817555e-01 9.71785370e-01 -4.82446343e-03 2.64601210e+00] [ 2.31898954e-02 -6.64158464e-04 9.99730858e-01 7.34754730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.162755096 meters 0.024263962924350468 Centerline is valid? [True, True] Translation: X:39.37, Y:2.65, Z:0.74 [[ 9.71394737e-01 -2.36308567e-01 -2.34632798e-02 3.93700305e+01] [ 2.36256856e-01 9.71677817e-01 -4.99188474e-03 2.65203220e+00] [ 2.39783736e-02 -6.94270138e-04 9.99712236e-01 7.35156919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.192755096 meters 0.024015741567567066 Centerline is valid? [True, True] Translation: X:39.40, Y:2.66, Z:0.74 [[ 9.71096220e-01 -2.37552902e-01 -2.32540365e-02 3.93981498e+01] [ 2.37502296e-01 9.71374342e-01 -4.95451426e-03 2.65725172e+00] [ 2.37653336e-02 -7.11576974e-04 9.99717311e-01 7.35955790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.222755096 meters 0.02573296583413741 Centerline is valid? [True, True] Translation: X:39.43, Y:2.66, Z:0.74 [[ 9.70964194e-01 -2.38054204e-01 -2.36374681e-02 3.94257412e+01] [ 2.38001923e-01 9.71251596e-01 -5.04201507e-03 2.66003264e+00] [ 2.41582015e-02 -7.30146756e-04 9.99707881e-01 7.36096798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.252755096 meters 0.026792999053045694 Centerline is valid? [True, True] Translation: X:39.45, Y:2.66, Z:0.74 [[ 9.70766537e-01 -2.38898138e-01 -2.32381237e-02 3.94535690e+01] [ 2.38847796e-01 9.71044354e-01 -4.95911193e-03 2.66396777e+00] [ 2.37499714e-02 -7.36234705e-04 9.99717659e-01 7.36960343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.282755096 meters 0.027646223276237388 Centerline is valid? [True, True] Translation: X:39.48, Y:2.67, Z:0.74 [[ 9.70465515e-01 -2.40213202e-01 -2.22328868e-02 3.94822916e+01] [ 2.40167405e-01 9.70719878e-01 -4.74731165e-03 2.66819267e+00] [ 2.27222721e-02 -7.32512463e-04 9.99741547e-01 7.38506749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.312755096000004 meters 0.02528760600141347 Centerline is valid? [True, True] Translation: X:39.51, Y:2.68, Z:0.74 [[ 9.69898309e-01 -2.42588639e-01 -2.11665462e-02 3.95103243e+01] [ 2.42547576e-01 9.70128959e-01 -4.52505450e-03 2.67614746e+00] [ 2.16320062e-02 -7.45051778e-04 9.99765723e-01 7.41341050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.342755096 meters 0.03010967001783797 Centerline is valid? [True, True] Translation: X:39.54, Y:2.67, Z:0.74 [[ 9.69562735e-01 -2.43927160e-01 -2.11575760e-02 3.95392660e+01] [ 2.43886330e-01 9.69793251e-01 -4.52872965e-03 2.67449721e+00] [ 2.16231546e-02 -7.69156059e-04 9.99765896e-01 7.41973004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.372755096 meters 0.03103605864689504 Centerline is valid? [True, True] Translation: X:39.57, Y:2.68, Z:0.74 [[ 9.69231395e-01 -2.45254279e-01 -2.09962035e-02 3.95682791e+01] [ 2.45214325e-01 9.69458464e-01 -4.49675086e-03 2.67890906e+00] [ 2.14577946e-02 -7.90177753e-04 9.99769443e-01 7.42767756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.402755096 meters 0.03213305924736649 Centerline is valid? [True, True] Translation: X:39.60, Y:2.68, Z:0.74 [[ 9.68942032e-01 -2.46376409e-01 -2.12132696e-02 3.95972661e+01] [ 2.46335772e-01 9.69173873e-01 -4.54880537e-03 2.68301180e+00] [ 2.16800650e-02 -8.18058417e-04 9.99764625e-01 7.43302815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.432755096 meters 0.027515669811679307 Centerline is valid? [True, True] Translation: X:39.62, Y:2.70, Z:0.75 [[ 9.69218738e-01 -2.45401708e-01 -1.98252374e-02 3.96243470e+01] [ 2.45365917e-01 9.69421196e-01 -4.25581633e-03 2.69633553e+00] [ 2.02633900e-02 -7.39620635e-04 9.99794403e-01 7.45642809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.462755096 meters 0.027161625422168267 Centerline is valid? [True, True] Translation: X:39.65, Y:2.70, Z:0.75 [[ 9.69325567e-01 -2.44951545e-01 -2.01664591e-02 3.96530691e+01] [ 2.44914347e-01 9.69535040e-01 -4.33231813e-03 2.70241167e+00] [ 2.06132968e-02 -7.39628444e-04 9.99787250e-01 7.46379967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.492755096 meters 0.02663408542609097 Centerline is valid? [True, True] Translation: X:39.68, Y:2.71, Z:0.75 [[ 9.69801348e-01 -2.43043018e-01 -2.03822612e-02 3.96808570e+01] [ 2.43004486e-01 9.70015257e-01 -4.38407464e-03 2.70867765e+00] [ 2.08366231e-02 -7.01299423e-04 9.99782648e-01 7.46695678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.522755096 meters 0.024444816021028177 Centerline is valid? [True, True] Translation: X:39.71, Y:2.72, Z:0.75 [[ 9.70147377e-01 -2.41635911e-01 -2.06434824e-02 3.97088410e+01] [ 2.41595945e-01 9.70366751e-01 -4.44603751e-03 2.71842751e+00] [ 2.11060713e-02 -6.74070015e-04 9.99777015e-01 7.47198843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.552755096 meters 0.02471806736182419 Centerline is valid? [True, True] Translation: X:39.74, Y:2.72, Z:0.75 [[ 9.70412627e-01 -2.40560235e-01 -2.07390120e-02 3.97362514e+01] [ 2.40519544e-01 9.70633995e-01 -4.47174230e-03 2.72464825e+00] [ 2.12057135e-02 -6.48702528e-04 9.99774923e-01 7.47084129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.582755096 meters 0.026669770846470667 Centerline is valid? [True, True] Translation: X:39.76, Y:2.73, Z:0.75 [[ 9.71312895e-01 -2.36864452e-01 -2.11303512e-02 3.97642440e+01] [ 2.36821290e-01 9.71542536e-01 -4.55823402e-03 2.72929369e+00] [ 2.16087186e-02 -5.76645556e-04 9.99766338e-01 7.46201737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.612755096 meters 0.02143784558355652 Centerline is valid? [True, True] Translation: X:39.79, Y:2.74, Z:0.75 [[ 9.71630131e-01 -2.35540208e-01 -2.13470886e-02 3.97902670e+01] [ 2.35495786e-01 9.71864449e-01 -4.60731950e-03 2.74467379e+00] [ 2.18316855e-02 -5.50538980e-04 9.99761509e-01 7.47247463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.642755096 meters 0.022346365006902916 Centerline is valid? [True, True] Translation: X:39.82, Y:2.75, Z:0.75 [[ 9.71912155e-01 -2.34369348e-01 -2.13956002e-02 3.98171090e+01] [ 2.34324319e-01 9.72147488e-01 -4.62335122e-03 2.75022045e+00] [ 2.18832508e-02 -5.20018183e-04 9.99760398e-01 7.47413492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.672755096 meters 0.020368077715288972 Centerline is valid? [True, True] Translation: X:39.84, Y:2.76, Z:0.75 [[ 9.72202991e-01 -2.33037775e-01 -2.26878541e-02 3.98448507e+01] [ 2.32986705e-01 9.72467546e-01 -4.90580170e-03 2.75986053e+00] [ 2.32064389e-02 -5.16533268e-04 9.99730561e-01 7.47668753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.702755096000004 meters 0.020101716207145355 Centerline is valid? [True, True] Translation: X:39.87, Y:2.77, Z:0.75 [[ 9.72180485e-01 -2.33088871e-01 -2.31232026e-02 3.98721678e+01] [ 2.33035673e-01 9.72455298e-01 -5.00681296e-03 2.76598272e+00] [ 2.36533133e-02 -5.21005237e-04 9.99720085e-01 7.48578116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.732755096 meters 0.019986199298063317 Centerline is valid? [True, True] Translation: X:39.90, Y:2.77, Z:0.75 [[ 9.72050668e-01 -2.33601516e-01 -2.34057762e-02 3.98994955e+01] [ 2.33546973e-01 9.72332272e-01 -5.07575861e-03 2.77213806e+00] [ 2.39438965e-02 -5.32453637e-04 9.99713162e-01 7.49232482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.762755096 meters 0.020245235003199004 Centerline is valid? [True, True] Translation: X:39.93, Y:2.78, Z:0.75 [[ 9.71731552e-01 -2.34933916e-01 -2.33205141e-02 3.99279546e+01] [ 2.34879973e-01 9.72011186e-01 -5.06478670e-03 2.77793734e+00] [ 2.38576907e-02 -5.55908686e-04 9.99715210e-01 7.50076896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.792755096 meters 0.02126611874832437 Centerline is valid? [True, True] Translation: X:39.96, Y:2.78, Z:0.75 [[ 9.71550758e-01 -2.35693747e-01 -2.31858020e-02 3.99553734e+01] [ 2.35640503e-01 9.71827216e-01 -5.04137124e-03 2.78192990e+00] [ 2.37208131e-02 -5.65565994e-04 9.99718462e-01 7.50585714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.822755096 meters 0.02134976147153468 Centerline is valid? [True, True] Translation: X:39.98, Y:2.79, Z:0.75 [[ 9.71223220e-01 -2.37062665e-01 -2.29510414e-02 3.99834346e+01] [ 2.37010801e-01 9.71494182e-01 -4.99354279e-03 2.78786144e+00] [ 2.34805857e-02 -5.89799990e-04 9.99724119e-01 7.51514158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.852755096 meters 0.02195153175555543 Centerline is valid? [True, True] Translation: X:40.01, Y:2.79, Z:0.75 [[ 9.70921446e-01 -2.38310964e-01 -2.27910274e-02 4.00120232e+01] [ 2.38260012e-01 9.71188711e-01 -4.96524708e-03 2.79307998e+00] [ 2.33176614e-02 -6.09325580e-04 9.99727921e-01 7.52375940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.882755096000004 meters 0.02276297750571415 Centerline is valid? [True, True] Translation: X:40.04, Y:2.80, Z:0.75 [[ 9.70321042e-01 -2.40762096e-01 -2.25984127e-02 4.00400469e+01] [ 2.40712535e-01 9.70583938e-01 -4.92891888e-03 2.79734668e+00] [ 2.31203532e-02 -6.57087497e-04 9.99732473e-01 7.54156452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.912755096 meters 0.023847128174160015 Centerline is valid? [True, True] Translation: X:40.07, Y:2.80, Z:0.76 [[ 9.70032090e-01 -2.41955405e-01 -2.22559359e-02 4.00678411e+01] [ 2.41907597e-01 9.70287137e-01 -4.85647945e-03 2.80132298e+00] [ 2.27696998e-02 -6.72939056e-04 9.99740510e-01 7.55237296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.942755096 meters 0.02482692489750651 Centerline is valid? [True, True] Translation: X:40.10, Y:2.81, Z:0.76 [[ 9.69583659e-01 -2.43767221e-01 -2.20242951e-02 4.00959424e+01] [ 2.43720820e-01 9.69833513e-01 -4.80815435e-03 2.80584605e+00] [ 2.25319699e-02 -7.05871383e-04 9.99745874e-01 7.57159836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.972755096 meters 0.02405745941015685 Centerline is valid? [True, True] Translation: X:40.12, Y:2.81, Z:0.76 [[ 9.69411296e-01 -2.44461013e-01 -2.19214883e-02 4.01232948e+01] [ 2.44415171e-01 9.69658858e-01 -4.78792016e-03 2.81353055e+00] [ 2.24268251e-02 -7.16480423e-04 9.99748230e-01 7.58321927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.002755096 meters 0.024099655059050356 Centerline is valid? [True, True] Translation: X:40.15, Y:2.82, Z:0.76 [[ 9.69332586e-01 -2.44783846e-01 -2.17992418e-02 4.01506603e+01] [ 2.44738528e-01 9.69577410e-01 -4.76426752e-03 2.81998948e+00] [ 2.23022681e-02 -7.16954575e-04 9.99751016e-01 7.59439783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.032755096 meters 0.024025019782176922 Centerline is valid? [True, True] Translation: X:40.18, Y:2.83, Z:0.76 [[ 9.69254019e-01 -2.45138035e-01 -2.13070752e-02 4.01782528e+01] [ 2.45094674e-01 9.69487932e-01 -4.66365905e-03 2.82700584e+00] [ 2.18001925e-02 -7.01980363e-04 9.99762101e-01 7.60677220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.062755096000004 meters 0.024049022723723088 Centerline is valid? [True, True] Translation: X:40.21, Y:2.83, Z:0.76 [[ 9.69208331e-01 -2.45312050e-01 -2.13824680e-02 4.02056466e+01] [ 2.45268268e-01 9.69443916e-01 -4.68732335e-03 2.83353450e+00] [ 2.18789604e-02 -7.01448044e-04 9.99760381e-01 7.61485296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.092755096 meters 0.024184137505292944 Centerline is valid? [True, True] Translation: X:40.23, Y:2.84, Z:0.76 [[ 9.69225680e-01 -2.45207765e-01 -2.17883539e-02 4.02324594e+01] [ 2.45162114e-01 9.69470296e-01 -4.78365494e-03 2.83992571e+00] [ 2.22961512e-02 -7.05237676e-04 9.99751161e-01 7.61571212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.122755096 meters 0.02395322364714841 Centerline is valid? [True, True] Translation: X:40.26, Y:2.85, Z:0.76 [[ 9.69476437e-01 -2.44141264e-01 -2.25938428e-02 4.02596030e+01] [ 2.44091731e-01 9.69739426e-01 -4.96719509e-03 2.84788812e+00] [ 2.31228375e-02 -6.99391606e-04 9.99732387e-01 7.61413756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.152755096 meters 0.023312003751146677 Centerline is valid? [True, True] Translation: X:40.29, Y:2.86, Z:0.76 [[ 9.69439132e-01 -2.44244280e-01 -2.30759651e-02 4.02863735e+01] [ 2.44192557e-01 9.69713474e-01 -5.07668093e-03 2.85595080e+00] [ 2.36170245e-02 -7.13445747e-04 9.99720825e-01 7.61423792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.182755096 meters 0.023662051587495292 Centerline is valid? [True, True] Translation: X:40.31, Y:2.86, Z:0.76 [[ 9.69424839e-01 -2.44255857e-01 -2.35490639e-02 4.03124746e+01] [ 2.44201826e-01 9.69710553e-01 -5.18772829e-03 2.86217640e+00] [ 2.41029088e-02 -7.21611740e-04 9.99709222e-01 7.61086400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.212755096 meters 0.02439007914898436 Centerline is valid? [True, True] Translation: X:40.34, Y:2.87, Z:0.76 [[ 9.69385672e-01 -2.44358828e-01 -2.40869639e-02 4.03385648e+01] [ 2.44302245e-01 9.69684598e-01 -5.30974407e-03 2.86767057e+00] [ 2.46542407e-02 -7.37309531e-04 9.99695766e-01 7.60636839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.242755096 meters 0.024716726565735304 Centerline is valid? [True, True] Translation: X:40.37, Y:2.87, Z:0.76 [[ 9.69293103e-01 -2.44669439e-01 -2.46525068e-02 4.03658377e+01] [ 2.44610150e-01 9.69606256e-01 -5.43909510e-03 2.87469557e+00] [ 2.52340052e-02 -7.58176023e-04 9.99681284e-01 7.60421536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.272755096 meters 0.02511694844657078 Centerline is valid? [True, True] Translation: X:40.39, Y:2.88, Z:0.76 [[ 9.69282945e-01 -2.44675940e-01 -2.49851328e-02 4.03926687e+01] [ 2.44614868e-01 9.69604612e-01 -5.51931626e-03 2.88072747e+00] [ 2.55761438e-02 -7.61955828e-04 9.99672587e-01 7.60596981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.302755096 meters 0.025017771130231847 Centerline is valid? [True, True] Translation: X:40.42, Y:2.89, Z:0.76 [[ 9.69147678e-01 -2.45199041e-01 -2.51039384e-02 4.04200373e+01] [ 2.45137448e-01 9.69472449e-01 -5.54998746e-03 2.88955546e+00] [ 2.56984282e-02 -7.75157921e-04 9.99669440e-01 7.60838749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.332755096 meters 0.024358229416048205 Centerline is valid? [True, True] Translation: X:40.45, Y:2.90, Z:0.76 [[ 9.69016079e-01 -2.45687725e-01 -2.54043462e-02 4.04467482e+01] [ 2.45624623e-01 9.69348708e-01 -5.62384233e-03 2.89783934e+00] [ 2.60073791e-02 -7.90339309e-04 9.99661438e-01 7.61446960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.362755096 meters 0.026784780988320208 Centerline is valid? [True, True] Translation: X:40.47, Y:2.90, Z:0.76 [[ 9.68808543e-01 -2.46503779e-01 -2.54144533e-02 4.04739451e+01] [ 2.46440724e-01 9.69141495e-01 -5.63307304e-03 2.90281040e+00] [ 2.60187750e-02 -8.05786987e-04 9.99661130e-01 7.61362213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.392755096 meters 0.02745415640727106 Centerline is valid? [True, True] Translation: X:40.50, Y:2.91, Z:0.76 [[ 9.68649774e-01 -2.47118392e-01 -2.54973758e-02 4.05011042e+01] [ 2.47055048e-01 9.68984946e-01 -5.65488443e-03 2.90905216e+00] [ 2.61039992e-02 -8.21652877e-04 9.99658895e-01 7.62107192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.422755096 meters 0.024684426196481698 Centerline is valid? [True, True] Translation: X:40.53, Y:2.92, Z:0.76 [[ 9.68489452e-01 -2.47781496e-01 -2.51497659e-02 4.05276408e+01] [ 2.47720029e-01 9.68815590e-01 -5.58020514e-03 2.92016962e+00] [ 2.57481569e-02 -8.25730931e-04 9.99668120e-01 7.63893120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.452755096000004 meters 0.02531482667464237 Centerline is valid? [True, True] Translation: X:40.55, Y:2.93, Z:0.76 [[ 9.68272572e-01 -2.48666288e-01 -2.47649472e-02 4.05543290e+01] [ 2.48606901e-01 9.68588862e-01 -5.49781465e-03 2.92632244e+00] [ 2.53541732e-02 -8.33353655e-04 9.99678184e-01 7.64770693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.482755096 meters 0.029538518762888454 Centerline is valid? [True, True] Translation: X:40.58, Y:2.93, Z:0.76 [[ 9.67910435e-01 -2.50112932e-01 -2.43497807e-02 4.05818337e+01] [ 2.50055879e-01 9.68216295e-01 -5.40957536e-03 2.92865182e+00] [ 2.49288592e-02 -8.52821369e-04 9.99688864e-01 7.64922611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.512755096 meters 0.029958991437177975 Centerline is valid? [True, True] Translation: X:40.61, Y:2.94, Z:0.77 [[ 9.67688563e-01 -2.51004181e-01 -2.39947289e-02 4.06094223e+01] [ 2.50948963e-01 9.67985621e-01 -5.33435986e-03 2.93573208e+00] [ 2.45654991e-02 -8.59453309e-04 9.99697853e-01 7.65728492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.542755096 meters 0.026874843610051963 Centerline is valid? [True, True] Translation: X:40.64, Y:2.95, Z:0.77 [[ 9.67499973e-01 -2.51747780e-01 -2.38087803e-02 4.06361728e+01] [ 2.51693486e-01 9.67792491e-01 -5.29932290e-03 2.94808072e+00] [ 2.43760515e-02 -8.65420136e-04 9.99702485e-01 7.67205601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.572755096 meters 0.026062423824394196 Centerline is valid? [True, True] Translation: X:40.66, Y:2.96, Z:0.77 [[ 9.67322836e-01 -2.52424847e-01 -2.38375314e-02 4.06632221e+01] [ 2.52370461e-01 9.67616106e-01 -5.31251522e-03 2.95735442e+00] [ 2.44065901e-02 -8.76971494e-04 9.99701730e-01 7.68050824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.602755096 meters 0.027047852365906084 Centerline is valid? [True, True] Translation: X:40.69, Y:2.96, Z:0.77 [[ 9.67251697e-01 -2.52700576e-01 -2.38028123e-02 4.06895030e+01] [ 2.52646272e-01 9.67544134e-01 -5.31132610e-03 2.96481418e+00] [ 2.43724466e-02 -8.76302618e-04 9.99702564e-01 7.68565164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.632755096000004 meters 0.027833493071241024 Centerline is valid? [True, True] Translation: X:40.72, Y:2.97, Z:0.77 [[ 9.67155945e-01 -2.53093255e-01 -2.35198279e-02 4.07170528e+01] [ 2.53040215e-01 9.67441495e-01 -5.25382185e-03 2.97149709e+00] [ 2.40837643e-02 -8.70197269e-04 9.99709565e-01 7.68966660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.662755096 meters 0.03094604105905224 Centerline is valid? [True, True] Translation: X:40.74, Y:2.98, Z:0.77 [[ 9.67283478e-01 -2.52619076e-01 -2.33725180e-02 4.07442165e+01] [ 2.52566393e-01 9.67565443e-01 -5.22790689e-03 2.97629710e+00] [ 2.39351098e-02 -8.46244621e-04 9.99713156e-01 7.69076135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.692755096 meters 0.031204485114548267 Centerline is valid? [True, True] Translation: X:40.77, Y:2.98, Z:0.77 [[ 9.67338674e-01 -2.52391738e-01 -2.35435721e-02 4.07713769e+01] [ 2.52338066e-01 9.67624774e-01 -5.27224569e-03 2.98415406e+00] [ 2.41120149e-02 -8.40892312e-04 9.99708909e-01 7.69230837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.722755096 meters 0.024691594407200777 Centerline is valid? [True, True] Translation: X:40.80, Y:3.00, Z:0.77 [[ 9.67442885e-01 -2.51969764e-01 -2.37802883e-02 4.07966088e+01] [ 2.51914789e-01 9.67734747e-01 -5.32899271e-03 3.00151246e+00] [ 2.43557564e-02 -8.35110245e-04 9.99703006e-01 7.70861968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.752755096 meters 0.03037030754091683 Centerline is valid? [True, True] Translation: X:40.82, Y:3.00, Z:0.77 [[ 9.67805357e-01 -2.50557667e-01 -2.39509372e-02 4.08249165e+01] [ 2.50501280e-01 9.68101347e-01 -5.37493210e-03 3.00346208e+00] [ 2.45336650e-02 -7.97852343e-04 9.99698686e-01 7.69162962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.782755096 meters 0.02843869101815968 Centerline is valid? [True, True] Translation: X:40.85, Y:3.01, Z:0.77 [[ 9.67917169e-01 -2.50123299e-01 -2.39726698e-02 4.08522916e+01] [ 2.50066492e-01 9.68213678e-01 -5.38730011e-03 3.01419158e+00] [ 2.45581561e-02 -7.80301189e-04 9.99698098e-01 7.70375796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.812755096000004 meters 0.02609990022262909 Centerline is valid? [True, True] Translation: X:40.88, Y:3.02, Z:0.77 [[ 9.68119601e-01 -2.49341940e-01 -2.39381433e-02 4.08790894e+01] [ 2.49284878e-01 9.68415216e-01 -5.38687240e-03 3.02462599e+00] [ 2.45252354e-02 -7.52280364e-04 9.99698928e-01 7.71638342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.842755096 meters 0.026228593840923815 Centerline is valid? [True, True] Translation: X:40.91, Y:3.03, Z:0.77 [[ 9.68514394e-01 -2.47767127e-01 -2.43170482e-02 4.09059963e+01] [ 2.47707585e-01 9.68819352e-01 -5.47870908e-03 3.03196758e+00] [ 2.49162708e-02 -7.17308669e-04 9.99689284e-01 7.72016417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.872755096 meters 0.02583076792225068 Centerline is valid? [True, True] Translation: X:40.93, Y:3.04, Z:0.77 [[ 9.68572552e-01 -2.47521530e-01 -2.45011051e-02 4.09336671e+01] [ 2.47460908e-01 9.68882131e-01 -5.52399765e-03 3.04003987e+00] [ 2.51059912e-02 -7.12673211e-04 9.99684541e-01 7.72623771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.902755096 meters 0.023741490956704657 Centerline is valid? [True, True] Translation: X:40.96, Y:3.05, Z:0.77 [[ 9.68621929e-01 -2.47296143e-01 -2.48229082e-02 4.09597045e+01] [ 2.47233694e-01 9.68939685e-01 -5.60247535e-03 3.05048462e+00] [ 2.54373714e-02 -7.10378790e-04 9.99676165e-01 7.73806186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.932755096 meters 0.02465643447019454 Centerline is valid? [True, True] Translation: X:40.99, Y:3.06, Z:0.77 [[ 9.68628731e-01 -2.47360796e-01 -2.38959971e-02 4.09872103e+01] [ 2.47302873e-01 9.68923202e-01 -5.39615751e-03 3.05829554e+00] [ 2.44881838e-02 -6.82675525e-04 9.99699886e-01 7.74696440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.962755096 meters 0.02465643447019454 Centerline is valid? [True, True] Translation: X:41.01, Y:3.06, Z:0.78 [[ 9.68543015e-01 -2.47696312e-01 -2.38948725e-02 4.10140592e+01] [ 2.47638368e-01 9.68837482e-01 -5.40113292e-03 3.06459593e+00] [ 2.44880888e-02 -6.86057660e-04 9.99699886e-01 7.75212202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.992755096 meters 0.026178832414551087 Centerline is valid? [True, True] Translation: X:41.04, Y:3.07, Z:0.78 [[ 9.68487681e-01 -2.47949660e-01 -2.35069879e-02 4.10405556e+01] [ 2.47893468e-01 9.68772684e-01 -5.32129364e-03 3.06918446e+00] [ 2.40923407e-02 -6.73621408e-04 9.99709510e-01 7.75846794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.022755096 meters 0.024626986387583552 Centerline is valid? [True, True] Translation: X:41.07, Y:3.08, Z:0.78 [[ 9.68372400e-01 -2.48420187e-01 -2.32874516e-02 4.10672352e+01] [ 2.48365025e-01 9.68652135e-01 -5.27789678e-03 3.07820341e+00] [ 2.38685758e-02 -6.72818942e-04 9.99714879e-01 7.77343589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.052755096 meters 0.025988703022016488 Centerline is valid? [True, True] Translation: X:41.09, Y:3.08, Z:0.78 [[ 9.68147186e-01 -2.49353512e-01 -2.26683261e-02 4.10949104e+01] [ 2.49301338e-01 9.68412297e-01 -5.14455056e-03 3.08358576e+00] [ 2.32350975e-02 -6.70561876e-04 9.99729804e-01 7.78387398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.082755096 meters 0.02449412830841004 Centerline is valid? [True, True] Translation: X:41.12, Y:3.09, Z:0.78 [[ 9.67916201e-01 -2.50258091e-01 -2.25635760e-02 4.11220694e+01] [ 2.50206563e-01 9.68178918e-01 -5.12424606e-03 3.09301478e+00] [ 2.31279627e-02 -6.85714030e-04 9.99732278e-01 7.79345216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.112755096 meters 0.026264873904051442 Centerline is valid? [True, True] Translation: X:41.15, Y:3.10, Z:0.78 [[ 9.67667480e-01 -2.51228360e-01 -2.24490343e-02 4.11494865e+01] [ 2.51177465e-01 9.67927592e-01 -5.10472607e-03 3.09763437e+00] [ 2.30114917e-02 -6.99014132e-04 9.99734956e-01 7.79256220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.142755096 meters 0.027244002401520064 Centerline is valid? [True, True] Translation: X:41.18, Y:3.10, Z:0.78 [[ 9.67203610e-01 -2.53011507e-01 -2.24132441e-02 4.11770748e+01] [ 2.52961193e-01 9.67462988e-01 -5.09917417e-03 3.10414949e+00] [ 2.29741339e-02 -7.37741302e-04 9.99735788e-01 7.79236898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.172755096 meters 0.02777219344598615 Centerline is valid? [True, True] Translation: X:41.21, Y:3.11, Z:0.78 [[ 9.66944294e-01 -2.54011567e-01 -2.22902690e-02 4.12052935e+01] [ 2.53961993e-01 9.67200887e-01 -5.07453212e-03 3.11027059e+00] [ 2.28481578e-02 -7.54091270e-04 9.99738662e-01 7.79901792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.202755096000004 meters 0.028313240620943977 Centerline is valid? [True, True] Translation: X:41.23, Y:3.12, Z:0.78 [[ 9.66689452e-01 -2.54992229e-01 -2.21464679e-02 4.12333026e+01] [ 2.54943390e-01 9.66942799e-01 -5.04878878e-03 3.11639197e+00] [ 2.27017696e-02 -7.65484759e-04 9.99741989e-01 7.80555012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.232755096 meters 0.02930626222970713 Centerline is valid? [True, True] Translation: X:41.26, Y:3.12, Z:0.78 [[ 9.66445410e-01 -2.55904543e-01 -2.22740812e-02 4.12601950e+01] [ 2.55855232e-01 9.66701737e-01 -5.08447455e-03 3.12167887e+00] [ 2.28335331e-02 -7.85073107e-04 9.99738973e-01 7.80693061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.262755096 meters 0.029182193017271336 Centerline is valid? [True, True] Translation: X:41.29, Y:3.13, Z:0.78 [[ 9.66409913e-01 -2.56048265e-01 -2.21622846e-02 4.12870765e+01] [ 2.55999372e-01 9.66663684e-01 -5.06390871e-03 3.12853278e+00] [ 2.27200807e-02 -7.79719370e-04 9.99741562e-01 7.81205161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.292755096 meters 0.02860119133492852 Centerline is valid? [True, True] Translation: X:41.31, Y:3.14, Z:0.78 [[ 9.66314038e-01 -2.56426166e-01 -2.19727477e-02 4.13140763e+01] [ 2.56378028e-01 9.66563512e-01 -5.02840079e-03 3.13633646e+00] [ 2.25274697e-02 -7.74315465e-04 9.99745924e-01 7.81583692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.322755096 meters 0.028254199122443195 Centerline is valid? [True, True] Translation: X:41.34, Y:3.14, Z:0.78 [[ 9.66561629e-01 -2.55489174e-01 -2.19977195e-02 4.13412478e+01] [ 2.55440525e-01 9.66811628e-01 -5.04117088e-03 3.14393157e+00] [ 2.25556155e-02 -7.46506676e-04 9.99745311e-01 7.81254841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.352755096 meters 0.02799567632128157 Centerline is valid? [True, True] Translation: X:41.37, Y:3.15, Z:0.78 [[ 9.66717051e-01 -2.54876668e-01 -2.22716467e-02 4.13693008e+01] [ 2.54826562e-01 9.66973288e-01 -5.10727570e-03 3.15067286e+00] [ 2.28378129e-02 -7.38116661e-04 9.99738911e-01 7.81244744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.382755096000004 meters 0.027606725928252147 Centerline is valid? [True, True] Translation: X:41.40, Y:3.16, Z:0.78 [[ 9.66893229e-01 -2.54191441e-01 -2.24542968e-02 4.13972489e+01] [ 2.54140163e-01 9.67153654e-01 -5.15618202e-03 3.15720826e+00] [ 2.30274125e-02 -7.21061162e-04 9.99734574e-01 7.81492743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.412755096 meters 0.027215147531542805 Centerline is valid? [True, True] Translation: X:41.43, Y:3.16, Z:0.78 [[ 9.67070291e-01 -2.53474082e-01 -2.29334313e-02 4.14251393e+01] [ 2.53420221e-01 9.67341916e-01 -5.27340849e-03 3.16379352e+00] [ 2.35211417e-02 -7.12038541e-04 9.99723086e-01 7.81487516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.442755096 meters 0.026362128135025423 Centerline is valid? [True, True] Translation: X:41.45, Y:3.17, Z:0.78 [[ 9.67563864e-01 -2.51578229e-01 -2.29905222e-02 4.14520713e+01] [ 2.51523420e-01 9.67836741e-01 -5.29265922e-03 3.17025042e+00] [ 2.35825899e-02 -6.61668950e-04 9.99721673e-01 7.81375624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.472755096 meters 0.02590274836980793 Centerline is valid? [True, True] Translation: X:41.48, Y:3.18, Z:0.78 [[ 9.67767132e-01 -2.50782041e-01 -2.31332395e-02 4.14797236e+01] [ 2.50726240e-01 9.68043364e-01 -5.32896524e-03 3.17711489e+00] [ 2.37303877e-02 -6.42912746e-04 9.99718188e-01 7.81470355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.502755096 meters 0.025516836495116168 Centerline is valid? [True, True] Translation: X:41.51, Y:3.18, Z:0.78 [[ 9.68012651e-01 -2.49808229e-01 -2.33956628e-02 4.15062993e+01] [ 2.49750725e-01 9.68295133e-01 -5.39549722e-03 3.18391536e+00] [ 2.40017461e-02 -6.20174180e-04 9.99711724e-01 7.81659485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.532755096 meters 0.023646795649446092 Centerline is valid? [True, True] Translation: X:41.53, Y:3.19, Z:0.78 [[ 9.68527749e-01 -2.47874183e-01 -2.26360131e-02 4.15343386e+01] [ 2.47819751e-01 9.68792076e-01 -5.22350399e-03 3.19237654e+00] [ 2.32243619e-02 -5.50542554e-04 9.99730127e-01 7.82943339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.562755096000004 meters 0.02460756923745047 Centerline is valid? [True, True] Translation: X:41.56, Y:3.20, Z:0.78 [[ 9.68702154e-01 -2.47199669e-01 -2.25490721e-02 4.15622630e+01] [ 2.47145329e-01 9.68964420e-01 -5.20958674e-03 3.19659467e+00] [ 2.31370567e-02 -5.26359934e-04 9.99732164e-01 7.83768549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.592755096 meters 0.020089024521877625 Centerline is valid? [True, True] Translation: X:41.59, Y:3.21, Z:0.79 [[ 9.68938675e-01 -2.46394804e-01 -2.11528598e-02 4.15890219e+01] [ 2.46346716e-01 9.69169427e-01 -4.89064018e-03 3.20861524e+00] [ 2.17057333e-02 -4.72207112e-04 9.99764291e-01 7.87123420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.622755096 meters 0.022528405918298248 Centerline is valid? [True, True] Translation: X:41.62, Y:3.21, Z:0.79 [[ 9.68857815e-01 -2.46770676e-01 -2.04638335e-02 4.16164979e+01] [ 2.46725621e-01 9.69073796e-01 -4.73763819e-03 3.21013863e+00] [ 2.10000750e-02 -4.58854232e-04 9.99779369e-01 7.87734155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.652755096 meters 0.020121359165360245 Centerline is valid? [True, True] Translation: X:41.64, Y:3.22, Z:0.79 [[ 9.68769594e-01 -2.47159946e-01 -1.99357703e-02 4.16426562e+01] [ 2.47117128e-01 9.68974592e-01 -4.62224480e-03 3.22009588e+00] [ 2.04596887e-02 -4.48580084e-04 9.99790578e-01 7.89285284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.682755096 meters 0.020717759965590752 Centerline is valid? [True, True] Translation: X:41.67, Y:3.22, Z:0.79 [[ 9.68566446e-01 -2.48019784e-01 -1.91108778e-02 4.16701949e+01] [ 2.47980478e-01 9.68754867e-01 -4.43736478e-03 3.22392938e+00] [ 1.96143101e-02 -4.41241983e-04 9.99807524e-01 7.90425238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.712755096 meters 0.02111754751985886 Centerline is valid? [True, True] Translation: X:41.70, Y:3.23, Z:0.79 [[ 9.68246590e-01 -2.49288478e-01 -1.88094469e-02 4.16983765e+01] [ 2.49250604e-01 9.68429164e-01 -4.36937967e-03 3.22883266e+00] [ 1.93048529e-02 -4.57629021e-04 9.99813539e-01 7.91088701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.742755096 meters 0.0235413571429507 Centerline is valid? [True, True] Translation: X:41.73, Y:3.23, Z:0.79 [[ 9.67976426e-01 -2.50351240e-01 -1.85982770e-02 4.17266262e+01] [ 2.50314307e-01 9.68154966e-01 -4.32554030e-03 3.23013726e+00] [ 1.90889186e-02 -4.68393783e-04 9.99817680e-01 7.92105220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.772755096000004 meters 0.024033266832463377 Centerline is valid? [True, True] Translation: X:41.76, Y:3.23, Z:0.79 [[ 9.67635881e-01 -2.51697329e-01 -1.81454070e-02 4.17552369e+01] [ 2.51662376e-01 9.67805881e-01 -4.22199868e-03 3.23472552e+00] [ 1.86238974e-02 -4.81158844e-04 9.99826444e-01 7.93230850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.802755096 meters 0.028816098484468148 Centerline is valid? [True, True] Translation: X:41.78, Y:3.23, Z:0.79 [[ 9.67002542e-01 -2.54180822e-01 -1.72682981e-02 4.17847466e+01] [ 2.54149485e-01 9.67156585e-01 -4.02229274e-03 3.23204451e+00] [ 1.77235379e-02 -4.99161761e-04 9.99842801e-01 7.94583240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.832755096 meters 0.02567287647410899 Centerline is valid? [True, True] Translation: X:41.81, Y:3.24, Z:0.80 [[ 9.66782010e-01 -2.55069563e-01 -1.64943304e-02 4.18115758e+01] [ 2.55041026e-01 9.66922582e-01 -3.84641200e-03 3.24217588e+00] [ 1.69298432e-02 -4.88089039e-04 9.99856561e-01 7.95516627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.862755096 meters 0.02573056559682751 Centerline is valid? [True, True] Translation: X:41.84, Y:3.25, Z:0.80 [[ 9.66743107e-01 -2.55225137e-01 -1.63674894e-02 4.18390336e+01] [ 2.55196977e-01 9.66881532e-01 -3.82179672e-03 3.24659860e+00] [ 1.68008419e-02 -4.82238186e-04 9.99858740e-01 7.96440321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.892755096 meters 0.02364163836167252 Centerline is valid? [True, True] Translation: X:41.87, Y:3.26, Z:0.80 [[ 9.66851129e-01 -2.54815709e-01 -1.63661222e-02 4.18658625e+01] [ 2.54787390e-01 9.66989521e-01 -3.82770570e-03 3.25566674e+00] [ 1.68012282e-02 -4.69059979e-04 9.99858739e-01 7.96433563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.922755096 meters 0.023454395334192066 Centerline is valid? [True, True] Translation: X:41.89, Y:3.26, Z:0.80 [[ 9.66962491e-01 -2.54392222e-01 -1.63749571e-02 4.18940974e+01] [ 2.54363787e-01 9.67101021e-01 -3.83123479e-03 3.26194802e+00] [ 1.68108741e-02 -4.60535780e-04 9.99858581e-01 7.96905644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.952755096000004 meters 0.022774321366453826 Centerline is valid? [True, True] Translation: X:41.92, Y:3.27, Z:0.80 [[ 9.67367963e-01 -2.52832590e-01 -1.65802521e-02 4.19227069e+01] [ 2.52803128e-01 9.67509945e-01 -3.88399570e-03 3.26770570e+00] [ 1.70235594e-02 -4.34286585e-04 9.99854994e-01 7.97150747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.982755096 meters 0.022753771579513617 Centerline is valid? [True, True] Translation: X:41.95, Y:3.27, Z:0.80 [[ 9.67533452e-01 -2.52177474e-01 -1.68979292e-02 4.19504551e+01] [ 2.52146686e-01 9.67680908e-01 -3.96341046e-03 3.27287410e+00] [ 1.73512863e-02 -4.26024661e-04 9.99849364e-01 7.97404042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.012755096 meters 0.021982383139033158 Centerline is valid? [True, True] Translation: X:41.98, Y:3.28, Z:0.80 [[ 9.67620808e-01 -2.51862372e-01 -1.65926717e-02 4.19782078e+01] [ 2.51832603e-01 9.67762976e-01 -3.89399047e-03 3.27953728e+00] [ 1.70385230e-02 -4.10669487e-04 9.99854749e-01 7.97797539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.042755096 meters 0.02045796704698426 Centerline is valid? [True, True] Translation: X:42.01, Y:3.29, Z:0.80 [[ 9.67751002e-01 -2.51352455e-01 -1.67314617e-02 4.20063074e+01] [ 2.51322028e-01 9.67895543e-01 -3.93131334e-03 3.28657732e+00] [ 1.71824525e-02 -4.00452481e-04 9.99852291e-01 7.97897297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.072755096 meters 0.0215721849410485 Centerline is valid? [True, True] Translation: X:42.03, Y:3.29, Z:0.80 [[ 9.67819927e-01 -2.51080370e-01 -1.68296242e-02 4.20345856e+01] [ 2.51049453e-01 9.67966163e-01 -3.95965654e-03 3.29001668e+00] [ 1.72846988e-02 -3.92833437e-04 9.99850531e-01 7.98438862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.102755096 meters 0.02041405168177323 Centerline is valid? [True, True] Translation: X:42.06, Y:3.30, Z:0.80 [[ 9.67839935e-01 -2.51004540e-01 -1.68101516e-02 4.20619013e+01] [ 2.50973641e-01 9.67985831e-01 -3.95750968e-03 3.29750078e+00] [ 1.72653415e-02 -3.88669048e-04 9.99850867e-01 7.98984498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.132755096000004 meters 0.021253960778622738 Centerline is valid? [True, True] Translation: X:42.09, Y:3.30, Z:0.80 [[ 9.67975635e-01 -2.50519245e-01 -1.62258525e-02 4.20898470e+01] [ 2.50490292e-01 9.68111552e-01 -3.82573218e-03 3.30022630e+00] [ 1.66668548e-02 -3.61203001e-04 9.99861033e-01 8.00197245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.162755096 meters 0.020175750672695576 Centerline is valid? [True, True] Translation: X:42.12, Y:3.31, Z:0.80 [[ 9.67929778e-01 -2.50696379e-01 -1.62256106e-02 4.21169181e+01] [ 2.50667431e-01 9.68065697e-01 -3.82691234e-03 3.30836772e+00] [ 1.66668501e-02 -3.63049715e-04 9.99861032e-01 8.00788774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.192755096 meters 0.020291328614151644 Centerline is valid? [True, True] Translation: X:42.14, Y:3.31, Z:0.80 [[ 9.67937866e-01 -2.50698365e-01 -1.57040585e-02 4.21445341e+01] [ 2.50671165e-01 9.68065189e-01 -3.70906094e-03 3.31396396e+00] [ 1.61324079e-02 -3.46414114e-04 9.99869804e-01 8.01712321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.222755096 meters 0.020614986069362823 Centerline is valid? [True, True] Translation: X:42.17, Y:3.32, Z:0.80 [[ 9.67946203e-01 -2.50654618e-01 -1.58874342e-02 4.21712248e+01] [ 2.50626677e-01 9.68076518e-01 -3.75828510e-03 3.31910638e+00] [ 1.63222835e-02 -3.43997058e-04 9.99866723e-01 8.02343949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.252755096 meters 0.02066949195530663 Centerline is valid? [True, True] Translation: X:42.20, Y:3.32, Z:0.80 [[ 9.67940950e-01 -2.50680478e-01 -1.57991909e-02 4.21976635e+01] [ 2.50652812e-01 9.68069823e-01 -3.73971825e-03 3.32474103e+00] [ 1.62321943e-02 -3.40285207e-04 9.99868191e-01 8.02829694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.282755096 meters 0.020873449394395765 Centerline is valid? [True, True] Translation: X:42.23, Y:3.33, Z:0.80 [[ 9.67776060e-01 -2.51311897e-01 -1.58690626e-02 4.22250676e+01] [ 2.51284040e-01 9.67906094e-01 -3.75815878e-03 3.32979614e+00] [ 1.63042324e-02 -3.50586061e-04 9.99867016e-01 8.03071099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.312755096000004 meters 0.02104092024308082 Centerline is valid? [True, True] Translation: X:42.25, Y:3.34, Z:0.80 [[ 9.67668136e-01 -2.51718940e-01 -1.59985673e-02 4.22524690e+01] [ 2.51690594e-01 9.67800315e-01 -3.79417221e-03 3.33541372e+00] [ 1.64384835e-02 -3.55189365e-04 9.99864816e-01 8.03468133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.342755096 meters 0.020844449414275542 Centerline is valid? [True, True] Translation: X:42.28, Y:3.34, Z:0.80 [[ 9.67445331e-01 -2.52559294e-01 -1.62275922e-02 4.22809615e+01] [ 2.52530158e-01 9.67581349e-01 -3.85396123e-03 3.34195891e+00] [ 1.66748693e-02 -3.69459627e-04 9.99860896e-01 8.03343726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.372755096 meters 0.021095377380341705 Centerline is valid? [True, True] Translation: X:42.31, Y:3.35, Z:0.80 [[ 9.67162264e-01 -2.53642191e-01 -1.62109309e-02 4.23092952e+01] [ 2.53613188e-01 9.67298037e-01 -3.85475747e-03 3.34733992e+00] [ 1.66585308e-02 -3.83129905e-04 9.99861164e-01 8.04098138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.402755096 meters 0.021597735362026405 Centerline is valid? [True, True] Translation: X:42.34, Y:3.35, Z:0.80 [[ 9.66863619e-01 -2.54785391e-01 -1.60980366e-02 4.23378564e+01] [ 2.54756870e-01 9.66997543e-01 -3.83260358e-03 3.35237443e+00] [ 1.65432533e-02 -3.95480459e-04 9.99863073e-01 8.04717605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.432755096 meters 0.022594574643685403 Centerline is valid? [True, True] Translation: X:42.37, Y:3.36, Z:0.81 [[ 9.66439098e-01 -2.56430341e-01 -1.54580322e-02 4.23660407e+01] [ 2.56404179e-01 9.66562630e-01 -3.68490163e-03 3.35590753e+00] [ 1.58860768e-02 -4.02271040e-04 9.99873727e-01 8.05759353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.462755096 meters 0.022832276328758828 Centerline is valid? [True, True] Translation: X:42.39, Y:3.36, Z:0.81 [[ 9.66236492e-01 -2.57192678e-01 -1.54585914e-02 4.23939476e+01] [ 2.57166580e-01 9.66360055e-01 -3.68704950e-03 3.36146883e+00] [ 1.58868474e-02 -4.12871300e-04 9.99873711e-01 8.06538128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.492755096 meters 0.022708975398693466 Centerline is valid? [True, True] Translation: X:42.42, Y:3.37, Z:0.81 [[ 9.65959137e-01 -2.58226112e-01 -1.55634570e-02 4.24228025e+01] [ 2.58199721e-01 9.66084412e-01 -3.71656038e-03 3.36619679e+00] [ 1.59953261e-02 -4.28434781e-04 9.99871975e-01 8.06870476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.522755096000004 meters 0.02416016407773428 Centerline is valid? [True, True] Translation: X:42.45, Y:3.37, Z:0.81 [[ 9.65863964e-01 -2.58576379e-01 -1.56543404e-02 4.24510814e+01] [ 2.58549642e-01 9.65990719e-01 -3.74335770e-03 3.36860186e+00] [ 1.60898914e-02 -4.31849793e-04 9.99870456e-01 8.07351356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.552755096 meters 0.023193388659389916 Centerline is valid? [True, True] Translation: X:42.48, Y:3.38, Z:0.81 [[ 9.65722176e-01 -2.59087818e-01 -1.59430368e-02 4.24788374e+01] [ 2.59060137e-01 9.65853665e-01 -3.81356209e-03 3.37521691e+00] [ 1.63866880e-02 -4.47363807e-04 9.99865629e-01 8.07842509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.582755096 meters 0.02360934402420855 Centerline is valid? [True, True] Translation: X:42.51, Y:3.38, Z:0.81 [[ 9.65752018e-01 -2.58937035e-01 -1.65725997e-02 4.25073078e+01] [ 2.58907003e-01 9.65894095e-01 -3.96993196e-03 3.37835214e+00] [ 1.70353386e-02 -4.56792303e-04 9.99854784e-01 8.07877771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.612755096 meters 0.02312820189427002 Centerline is valid? [True, True] Translation: X:42.54, Y:3.38, Z:0.81 [[ 9.65880039e-01 -2.58478542e-01 -1.62663592e-02 4.25356490e+01] [ 2.58449469e-01 9.66016901e-01 -3.90113116e-03 3.38497890e+00] [ 1.67219366e-02 -4.36007186e-04 9.99860084e-01 8.08378474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.642755096 meters 0.022317087573267707 Centerline is valid? [True, True] Translation: X:42.56, Y:3.39, Z:0.81 [[ 9.66495853e-01 -2.56140244e-01 -1.66715607e-02 4.25631049e+01] [ 2.56109270e-01 9.66639547e-01 -4.00338514e-03 3.39086891e+00] [ 1.71408179e-02 -4.00486095e-04 9.99853005e-01 8.08656596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.672755096 meters 0.021789240877258732 Centerline is valid? [True, True] Translation: X:42.59, Y:3.40, Z:0.81 [[ 9.66849708e-01 -2.54810327e-01 -1.65329783e-02 4.25913736e+01] [ 2.54779634e-01 9.66990982e-01 -3.97230093e-03 3.39813268e+00] [ 1.69994242e-02 -3.71648167e-04 9.99855430e-01 8.09143595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.702755096000004 meters 0.02102971269802365 Centerline is valid? [True, True] Translation: X:42.62, Y:3.41, Z:0.81 [[ 9.67277926e-01 -2.53187532e-01 -1.64160749e-02 4.26195301e+01] [ 2.53156961e-01 9.67417159e-01 -3.94874686e-03 3.40540691e+00] [ 1.68809661e-02 -3.36307977e-04 9.99857450e-01 8.09606719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.732755096 meters 0.019933136109096465 Centerline is valid? [True, True] Translation: X:42.65, Y:3.41, Z:0.81 [[ 9.67690713e-01 -2.51579362e-01 -1.68079835e-02 4.26476934e+01] [ 2.51546988e-01 9.67836623e-01 -4.04781183e-03 3.41365358e+00] [ 1.72857279e-02 -3.10967720e-04 9.99850542e-01 8.10389542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.762755096 meters 0.018975395402922077 Centerline is valid? [True, True] Translation: X:42.68, Y:3.42, Z:0.81 [[ 9.68466108e-01 -2.48612966e-01 -1.62785667e-02 4.26755215e+01] [ 2.48582112e-01 9.68602877e-01 -3.92441806e-03 3.42066657e+00] [ 1.67431278e-02 -2.45894617e-04 9.99859794e-01 8.11325680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.792755096 meters 0.01848090384677499 Centerline is valid? [True, True] Translation: X:42.70, Y:3.43, Z:0.81 [[ 9.68684408e-01 -2.47782905e-01 -1.59420937e-02 4.27037459e+01] [ 2.47753128e-01 9.68815557e-01 -3.84770605e-03 3.42788893e+00] [ 1.63983441e-02 -2.22490730e-04 9.99865513e-01 8.12200129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.822755096 meters 0.0183555905725774 Centerline is valid? [True, True] Translation: X:42.73, Y:3.43, Z:0.81 [[ 9.68813067e-01 -2.47269960e-01 -1.60875199e-02 4.27308045e+01] [ 2.47239490e-01 9.68946604e-01 -3.88746258e-03 3.43374053e+00] [ 1.65492005e-02 -2.11245667e-04 9.99863030e-01 8.12821194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.852755096 meters 0.018175457689154483 Centerline is valid? [True, True] Translation: X:42.76, Y:3.44, Z:0.81 [[ 9.68798043e-01 -2.47378875e-01 -1.52984932e-02 4.27590554e+01] [ 2.47351259e-01 9.68918806e-01 -3.70158876e-03 3.43804404e+00] [ 1.57386926e-02 -1.98009618e-04 9.99876119e-01 8.13889427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.882755096000004 meters 0.018175457689154483 Centerline is valid? [True, True] Translation: X:42.79, Y:3.44, Z:0.81 [[ 9.68718522e-01 -2.47690166e-01 -1.52973004e-02 4.27858173e+01] [ 2.47662511e-01 9.68839276e-01 -3.70651091e-03 3.44469682e+00] [ 1.57386918e-02 -1.98002060e-04 9.99876120e-01 8.14404164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.912755096 meters 0.018996641156039013 Centerline is valid? [True, True] Translation: X:42.81, Y:3.45, Z:0.82 [[ 9.68605866e-01 -2.48113591e-01 -1.55666898e-02 4.28133513e+01] [ 2.48084911e-01 9.68730925e-01 -3.77780727e-03 3.44742746e+00] [ 1.60172592e-02 -2.02654577e-04 9.99871695e-01 8.15727606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.942755096 meters 0.01863013018297819 Centerline is valid? [True, True] Translation: X:42.84, Y:3.45, Z:0.82 [[ 9.68372936e-01 -2.49027431e-01 -1.54659473e-02 4.28402231e+01] [ 2.48999222e-01 9.68496408e-01 -3.75435376e-03 3.45396435e+00] [ 1.59136515e-02 -2.15394279e-04 9.99873347e-01 8.15602919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.972755096 meters 0.019355696994469693 Centerline is valid? [True, True] Translation: X:42.87, Y:3.46, Z:0.82 [[ 9.67814914e-01 -2.51174929e-01 -1.56667843e-02 4.28688479e+01] [ 2.51146170e-01 9.67941679e-01 -3.80896252e-03 3.45540488e+00] [ 1.61212494e-02 -2.48282135e-04 9.99870013e-01 8.16154677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.002755096 meters 0.01973124696723376 Centerline is valid? [True, True] Translation: X:42.90, Y:3.46, Z:0.82 [[ 9.67412293e-01 -2.52726147e-01 -1.55868450e-02 4.28978587e+01] [ 2.52697864e-01 9.67537814e-01 -3.79062921e-03 3.45932348e+00] [ 1.60388531e-02 -2.71661159e-04 9.99871332e-01 8.16811313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.032755096 meters 0.02046560111133188 Centerline is valid? [True, True] Translation: X:42.93, Y:3.46, Z:0.82 [[ 9.66851919e-01 -2.54863191e-01 -1.55602304e-02 4.29275338e+01] [ 2.54835209e-01 9.66977074e-01 -3.78863021e-03 3.46012420e+00] [ 1.60119685e-02 -3.02250192e-04 9.99871755e-01 8.17743927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.062755096000004 meters 0.021306078245839914 Centerline is valid? [True, True] Translation: X:42.96, Y:3.46, Z:0.82 [[ 9.66589251e-01 -2.55854144e-01 -1.56165572e-02 4.29552060e+01] [ 2.55826008e-01 9.66715345e-01 -3.80731310e-03 3.46308653e+00] [ 1.60708823e-02 -3.15013580e-04 9.99870805e-01 8.18363496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.092755096 meters 0.021253391089298808 Centerline is valid? [True, True] Translation: X:42.98, Y:3.47, Z:0.82 [[ 9.66310879e-01 -2.56899135e-01 -1.56882209e-02 4.29835167e+01] [ 2.56870860e-01 9.66438163e-01 -3.82592117e-03 3.46851915e+00] [ 1.61445713e-02 -3.32817559e-04 9.99869613e-01 8.18926863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.122755096 meters 0.021761754686771845 Centerline is valid? [True, True] Translation: X:43.01, Y:3.47, Z:0.82 [[ 9.66071038e-01 -2.57786626e-01 -1.58998428e-02 4.30111067e+01] [ 2.57757620e-01 9.66201809e-01 -3.88255168e-03 3.47276594e+00] [ 1.63633267e-02 -3.47484900e-04 9.99866051e-01 8.19235187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.152755096 meters 0.021497608982272834 Centerline is valid? [True, True] Translation: X:43.04, Y:3.48, Z:0.82 [[ 9.65910974e-01 -2.58383277e-01 -1.59396681e-02 4.30387533e+01] [ 2.58354181e-01 9.66042419e-01 -3.89388047e-03 3.47904488e+00] [ 1.64045091e-02 -3.56938033e-04 9.99865373e-01 8.19922217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.182755096 meters 0.021771982951280515 Centerline is valid? [True, True] Translation: X:43.07, Y:3.49, Z:0.82 [[ 9.66047664e-01 -2.57882832e-01 -1.57592949e-02 4.30663135e+01] [ 2.57854300e-01 9.66176137e-01 -3.85130346e-03 3.48545561e+00] [ 1.62194397e-02 -3.43059233e-04 9.99868397e-01 8.20691984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.212755096 meters 0.021234474121481793 Centerline is valid? [True, True] Translation: X:43.09, Y:3.49, Z:0.82 [[ 9.66267176e-01 -2.57031461e-01 -1.62041128e-02 4.30940025e+01] [ 2.57001137e-01 9.66402978e-01 -3.96232437e-03 3.49203442e+00] [ 1.66781449e-02 -3.35811451e-04 9.99860854e-01 8.21178553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.242755096 meters 0.02074396870832689 Centerline is valid? [True, True] Translation: X:43.12, Y:3.50, Z:0.82 [[ 9.66190804e-01 -2.57301116e-01 -1.64762142e-02 4.31215717e+01] [ 2.57269726e-01 9.66331216e-01 -4.03351596e-03 3.49953108e+00] [ 1.69593082e-02 -3.41685066e-04 9.99856122e-01 8.21187191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.272755096000004 meters 0.020013788016129345 Centerline is valid? [True, True] Translation: X:43.15, Y:3.51, Z:0.82 [[ 9.66565600e-01 -2.55872901e-01 -1.67331674e-02 4.31492130e+01] [ 2.55840211e-01 9.66710380e-01 -4.10215101e-03 3.50940292e+00] [ 1.72257559e-02 -3.16019009e-04 9.99851576e-01 8.21988057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.302755096 meters 0.019950976265835366 Centerline is valid? [True, True] Translation: X:43.18, Y:3.52, Z:0.82 [[ 9.66461602e-01 -2.56207850e-01 -1.75928823e-02 4.31766552e+01] [ 2.56171672e-01 9.66621656e-01 -4.31834205e-03 3.51579478e+00] [ 1.81120541e-02 -3.33286286e-04 9.99835908e-01 8.21837428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.332755096 meters 0.019664900118806682 Centerline is valid? [True, True] Translation: X:43.20, Y:3.53, Z:0.82 [[ 9.66770590e-01 -2.55064103e-01 -1.72316317e-02 4.32029784e+01] [ 2.55029108e-01 9.66924099e-01 -4.23560316e-03 3.52526009e+00] [ 1.77420302e-02 -2.99711082e-04 9.99842553e-01 8.22765123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.362755096 meters 0.02004947567006533 Centerline is valid? [True, True] Translation: X:43.23, Y:3.53, Z:0.82 [[ 9.66812949e-01 -2.54875643e-01 -1.76388311e-02 4.32291614e+01] [ 2.54838910e-01 9.66973793e-01 -4.33751892e-03 3.53225688e+00] [ 1.81618153e-02 -3.01491042e-04 9.99835015e-01 8.22383465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.392755096 meters 0.019333322567787865 Centerline is valid? [True, True] Translation: X:43.26, Y:3.54, Z:0.82 [[ 9.66777551e-01 -2.54894922e-01 -1.92287849e-02 4.32559428e+01] [ 2.54851176e-01 9.66968704e-01 -4.73335596e-03 3.53994845e+00] [ 1.98001416e-02 -3.24376155e-04 9.99803905e-01 8.22226851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.422755096 meters 0.019685438657781183 Centerline is valid? [True, True] Translation: X:43.28, Y:3.55, Z:0.82 [[ 9.66338725e-01 -2.56432458e-01 -2.07813031e-02 4.32846992e+01] [ 2.56381560e-01 9.66562079e-01 -5.12287081e-03 3.54537845e+00] [ 2.14000899e-02 -3.77514460e-04 9.99770921e-01 8.21860791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.452755096000004 meters 0.020097700580402562 Centerline is valid? [True, True] Translation: X:43.31, Y:3.55, Z:0.82 [[ 9.66022176e-01 -2.57639273e-01 -2.05708560e-02 4.33127177e+01] [ 2.57589548e-01 9.66241093e-01 -5.07695998e-03 3.55232224e+00] [ 2.11844307e-02 -3.94381558e-04 9.99775507e-01 8.22366230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.482755096 meters 0.021147313086087482 Centerline is valid? [True, True] Translation: X:43.34, Y:3.56, Z:0.82 [[ 9.65447844e-01 -2.59792919e-01 -2.04474957e-02 4.33399515e+01] [ 2.59744155e-01 9.65664254e-01 -5.05201226e-03 3.55927278e+00] [ 2.10578927e-02 -4.33663151e-04 9.99778164e-01 8.22674580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.512755096 meters 0.021559680037205247 Centerline is valid? [True, True] Translation: X:43.37, Y:3.57, Z:0.82 [[ 9.65132180e-01 -2.61006650e-01 -1.98847912e-02 4.33682802e+01] [ 2.60960743e-01 9.65336900e-01 -4.91529284e-03 3.56652041e+00] [ 2.04784469e-02 -4.45242595e-04 9.99790195e-01 8.23582443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.542755096 meters 0.022628817755699783 Centerline is valid? [True, True] Translation: X:43.40, Y:3.57, Z:0.82 [[ 9.64571682e-01 -2.63153174e-01 -1.87583834e-02 4.33960061e+01] [ 2.63112629e-01 9.64753957e-01 -4.64193688e-03 3.57344120e+00] [ 1.93187650e-02 -4.58086709e-04 9.99813270e-01 8.24668934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.572755096 meters 0.02249646174561778 Centerline is valid? [True, True] Translation: X:43.42, Y:3.58, Z:0.83 [[ 9.64224288e-01 -2.64396878e-01 -1.91262573e-02 4.34243182e+01] [ 2.64354862e-01 9.64413839e-01 -4.73851215e-03 3.58093751e+00] [ 1.96984751e-02 -4.87130610e-04 9.99805848e-01 8.25265947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.602755096 meters 0.02316692705388193 Centerline is valid? [True, True] Translation: X:43.45, Y:3.59, Z:0.83 [[ 9.63954521e-01 -2.65395696e-01 -1.88892879e-02 4.34512399e+01] [ 2.65354803e-01 9.64139450e-01 -4.68509659e-03 3.58627238e+00] [ 1.94553121e-02 -4.96143236e-04 9.99810604e-01 8.25751650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.632755096000004 meters 0.02555155327950176 Centerline is valid? [True, True] Translation: X:43.48, Y:3.59, Z:0.83 [[ 9.63595719e-01 -2.66725685e-01 -1.84580410e-02 4.34792878e+01] [ 2.66686846e-01 9.63772354e-01 -4.57998715e-03 3.58889667e+00] [ 1.90109499e-02 -5.09260742e-04 9.99819146e-01 8.26801790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.662755096 meters 0.023682018437432423 Centerline is valid? [True, True] Translation: X:43.51, Y:3.60, Z:0.83 [[ 9.63370463e-01 -2.67557866e-01 -1.81697195e-02 4.35063089e+01] [ 2.67520346e-01 9.63541656e-01 -4.51025829e-03 3.59912264e+00] [ 1.87140366e-02 -5.15720005e-04 9.99824744e-01 8.26918004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.692755096 meters 0.02396312183995205 Centerline is valid? [True, True] Translation: X:43.53, Y:3.61, Z:0.83 [[ 9.63167455e-01 -2.68251823e-01 -1.86925854e-02 4.35348110e+01] [ 2.68212135e-01 9.63348675e-01 -4.64564899e-03 3.60605079e+00] [ 1.92536811e-02 -5.39040305e-04 9.99814485e-01 8.26973376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.722755096 meters 0.025296141855927424 Centerline is valid? [True, True] Translation: X:43.56, Y:3.61, Z:0.83 [[ 9.63013802e-01 -2.68812775e-01 -1.85501974e-02 4.35627572e+01] [ 2.68773692e-01 9.63192296e-01 -4.61554793e-03 3.61108948e+00] [ 1.91081255e-02 -5.40968691e-04 9.99817277e-01 8.27086844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.752755096 meters 0.024339659959390983 Centerline is valid? [True, True] Translation: X:43.59, Y:3.62, Z:0.83 [[ 9.62854007e-01 -2.69415983e-01 -1.80883779e-02 4.35902923e+01] [ 2.69378894e-01 9.63023748e-01 -4.50243911e-03 3.62020617e+00] [ 1.86325665e-02 -5.37435704e-04 9.99826254e-01 8.27625230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.782755096 meters 0.02526542965059548 Centerline is valid? [True, True] Translation: X:43.62, Y:3.63, Z:0.83 [[ 9.62852003e-01 -2.69437115e-01 -1.78790610e-02 4.36172386e+01] [ 2.69400787e-01 9.63017842e-01 -4.45554709e-03 3.62548863e+00] [ 1.84183445e-02 -5.26600667e-04 9.99830229e-01 8.28472963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.812755096000004 meters 0.024489703059402866 Centerline is valid? [True, True] Translation: X:43.64, Y:3.63, Z:0.83 [[ 9.62798815e-01 -2.69636433e-01 -1.77379724e-02 4.36441099e+01] [ 2.69600666e-01 9.62962055e-01 -4.42285459e-03 3.63379762e+00] [ 1.82735571e-02 -5.23850018e-04 9.99832887e-01 8.29335533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.842755096 meters 0.025297730567042712 Centerline is valid? [True, True] Translation: X:43.67, Y:3.64, Z:0.83 [[ 9.63077407e-01 -2.68647886e-01 -1.76130930e-02 4.36721752e+01] [ 2.68612350e-01 9.63238323e-01 -4.39754184e-03 3.63860923e+00] [ 1.81469965e-02 -4.95921111e-04 9.99835207e-01 8.30747578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.872755096 meters 0.023810764984066483 Centerline is valid? [True, True] Translation: X:43.70, Y:3.65, Z:0.83 [[ 9.63230784e-01 -2.68097920e-01 -1.76057476e-02 4.37000347e+01] [ 2.68062229e-01 9.63391548e-01 -4.40078081e-03 3.64830020e+00] [ 1.81410686e-02 -4.80468382e-04 9.99835322e-01 8.31504780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.902755096 meters 0.023656751403223247 Centerline is valid? [True, True] Translation: X:43.73, Y:3.66, Z:0.83 [[ 9.63377850e-01 -2.67539704e-01 -1.80450865e-02 4.37277425e+01] [ 2.67502020e-01 9.63546719e-01 -4.51554595e-03 3.65564346e+00] [ 1.85953717e-02 -4.76920140e-04 9.99826977e-01 8.31968717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.932755096 meters 0.0232638946770577 Centerline is valid? [True, True] Translation: X:43.75, Y:3.66, Z:0.83 [[ 9.63817614e-01 -2.65910038e-01 -1.86402157e-02 4.37545577e+01] [ 2.65869418e-01 9.63997741e-01 -4.66989340e-03 3.66394178e+00] [ 1.92108974e-02 -4.54937792e-04 9.99815350e-01 8.31733973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.962755096 meters 0.023117004834085693 Centerline is valid? [True, True] Translation: X:43.78, Y:3.67, Z:0.83 [[ 9.63851884e-01 -2.65747143e-01 -1.91833635e-02 4.37812223e+01] [ 2.65704044e-01 9.64042656e-01 -4.80818883e-03 3.67171051e+00] [ 1.97713431e-02 -4.62715393e-04 9.99804421e-01 8.31219721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.992755096 meters 0.023283782957837534 Centerline is valid? [True, True] Translation: X:43.81, Y:3.68, Z:0.83 [[ 9.63920153e-01 -2.65423029e-01 -2.02127193e-02 4.38086474e+01] [ 2.65374975e-01 9.64131936e-01 -5.07267999e-03 3.67872029e+00] [ 2.08341343e-02 -4.74291399e-04 9.99782833e-01 8.30834683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.022755096000004 meters 0.023410574634427295 Centerline is valid? [True, True] Translation: X:43.83, Y:3.68, Z:0.83 [[ 9.63955846e-01 -2.65164304e-01 -2.18407730e-02 4.38349266e+01] [ 2.65108051e-01 9.64203111e-01 -5.48473432e-03 3.68470125e+00] [ 2.25132971e-02 -5.03123064e-04 9.99746417e-01 8.30621420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.052755096 meters 0.022724325720980106 Centerline is valid? [True, True] Translation: X:43.86, Y:3.69, Z:0.83 [[ 9.63891264e-01 -2.65342032e-01 -2.25219127e-02 4.38617468e+01] [ 2.65282172e-01 9.64154208e-01 -5.65977899e-03 3.69240283e+00] [ 2.32163742e-02 -5.19250396e-04 9.99730329e-01 8.31088068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.082755096 meters 0.02354167213926235 Centerline is valid? [True, True] Translation: X:43.89, Y:3.70, Z:0.83 [[ 9.63914302e-01 -2.65209127e-01 -2.30940798e-02 4.38878339e+01] [ 2.65145988e-01 9.64190772e-01 -5.81028477e-03 3.69777212e+00] [ 2.38080392e-02 -5.22686013e-04 9.99716412e-01 8.31167276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.112755096 meters 0.022254571495972104 Centerline is valid? [True, True] Translation: X:43.92, Y:3.71, Z:0.83 [[ 9.64099628e-01 -2.64460845e-01 -2.39242098e-02 4.39150512e+01] [ 2.64392749e-01 9.64396284e-01 -6.02341599e-03 3.70777732e+00] [ 2.46653768e-02 -5.18214491e-04 9.99695629e-01 8.32142651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.142755096 meters 0.022231399715412 Centerline is valid? [True, True] Translation: X:43.94, Y:3.72, Z:0.83 [[ 9.64010294e-01 -2.64717665e-01 -2.46720505e-02 4.39416778e+01] [ 2.64645138e-01 9.64325813e-01 -6.21917884e-03 3.71532724e+00] [ 2.54382217e-02 -5.33985783e-04 9.99676253e-01 8.32515972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.172755096 meters 0.022398074482678266 Centerline is valid? [True, True] Translation: X:43.97, Y:3.72, Z:0.83 [[ 9.64049324e-01 -2.64444221e-01 -2.60414141e-02 4.39680026e+01] [ 2.64363119e-01 9.64400826e-01 -6.57177724e-03 3.72191842e+00] [ 2.68522298e-02 -5.48872069e-04 9.99639263e-01 8.32668880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.202755096000004 meters 0.022282992724639357 Centerline is valid? [True, True] Translation: X:44.00, Y:3.73, Z:0.83 [[ 9.63929034e-01 -2.64830749e-01 -2.65610965e-02 4.39950465e+01] [ 2.64746377e-01 9.64294745e-01 -6.70830845e-03 3.72926314e+00] [ 2.73892921e-02 -5.65620775e-04 9.99624683e-01 8.33265822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.232755096 meters 0.021937994847901834 Centerline is valid? [True, True] Translation: X:44.02, Y:3.74, Z:0.83 [[ 9.63828263e-01 -2.65183074e-01 -2.67023616e-02 4.40220371e+01] [ 2.65097694e-01 9.64197911e-01 -6.75283266e-03 3.73690132e+00] [ 2.75370982e-02 -5.70163504e-04 9.99620620e-01 8.34554749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.262755096 meters 0.02267758634083404 Centerline is valid? [True, True] Translation: X:44.05, Y:3.74, Z:0.84 [[ 9.63701372e-01 -2.65603294e-01 -2.71026950e-02 4.40498620e+01] [ 2.65515301e-01 9.64082231e-01 -6.86118855e-03 3.74237983e+00] [ 2.79515809e-02 -5.84043396e-04 9.99609108e-01 8.35347190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.292755096 meters 0.022042123364294612 Centerline is valid? [True, True] Translation: X:44.08, Y:3.75, Z:0.84 [[ 9.63492438e-01 -2.66343142e-01 -2.72700047e-02 4.40776013e+01] [ 2.66254226e-01 9.63878086e-01 -6.90812647e-03 3.75088743e+00] [ 2.81248920e-02 -6.04826365e-04 9.99604234e-01 8.36712370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.322755096 meters 0.023023268969377602 Centerline is valid? [True, True] Translation: X:44.10, Y:3.76, Z:0.84 [[ 9.63457997e-01 -2.66506578e-01 -2.68873799e-02 4.41042968e+01] [ 2.66420022e-01 9.63832916e-01 -6.81774680e-03 3.75566712e+00] [ 2.77319161e-02 -5.94723661e-04 9.99615220e-01 8.37171733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.352755096 meters 0.022479657941857228 Centerline is valid? [True, True] Translation: X:44.13, Y:3.76, Z:0.84 [[ 9.63116214e-01 -2.67732212e-01 -2.69559222e-02 4.41320212e+01] [ 2.67645548e-01 9.63493160e-01 -6.84036798e-03 3.76313682e+00] [ 2.78032335e-02 -6.26563237e-04 9.99613219e-01 8.39688769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.382755096000004 meters 0.02305769387968777 Centerline is valid? [True, True] Translation: X:44.16, Y:3.77, Z:0.84 [[ 9.62932168e-01 -2.68371769e-01 -2.71704360e-02 4.41598251e+01] [ 2.68283797e-01 9.63315202e-01 -6.90111826e-03 3.76862966e+00] [ 2.80257593e-02 -6.44078972e-04 9.99606994e-01 8.40768897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.412755096 meters 0.023466684079526363 Centerline is valid? [True, True] Translation: X:44.19, Y:3.77, Z:0.84 [[ 9.62703200e-01 -2.69166686e-01 -2.74197714e-02 4.41877254e+01] [ 2.69077285e-01 9.63093374e-01 -6.96900352e-03 3.77478283e+00] [ 2.82836237e-02 -6.68955659e-04 9.99599714e-01 8.41819490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.442755096 meters 0.023916122739786855 Centerline is valid? [True, True] Translation: X:44.22, Y:3.78, Z:0.84 [[ 9.62252939e-01 -2.70672195e-01 -2.83873869e-02 4.42157664e+01] [ 2.70576782e-01 9.62671299e-01 -7.22325423e-03 3.78083341e+00] [ 2.92828567e-02 -7.30370190e-04 9.99570898e-01 8.42654221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.472755096 meters 0.024202855898525194 Centerline is valid? [True, True] Translation: X:44.24, Y:3.79, Z:0.84 [[ 9.62025921e-01 -2.71456883e-01 -2.85882388e-02 4.42440887e+01] [ 2.71360218e-01 9.62450308e-01 -7.28261105e-03 3.78756650e+00] [ 2.94916742e-02 -7.51650100e-04 9.99564743e-01 8.43309902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.502755096 meters 0.025229559634728987 Centerline is valid? [True, True] Translation: X:44.27, Y:3.79, Z:0.84 [[ 9.61625114e-01 -2.72818859e-01 -2.91034420e-02 4.42715097e+01] [ 2.72719109e-01 9.62065085e-01 -7.42026121e-03 3.79327661e+00] [ 3.00237926e-02 -8.01555214e-04 9.99548863e-01 8.43320431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.532755096 meters 0.02573024865668067 Centerline is valid? [True, True] Translation: X:44.30, Y:3.80, Z:0.84 [[ 9.61467593e-01 -2.73347063e-01 -2.93504900e-02 4.42986579e+01] [ 2.73245767e-01 9.61915125e-01 -7.48622211e-03 3.79983358e+00] [ 3.02790170e-02 -8.22137176e-04 9.99541147e-01 8.43406700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.562755096000004 meters 0.025301898043170182 Centerline is valid? [True, True] Translation: X:44.33, Y:3.81, Z:0.84 [[ 9.61275130e-01 -2.73979513e-01 -2.97548531e-02 4.43267556e+01] [ 2.73875551e-01 9.61735154e-01 -7.59450509e-03 3.80820878e+00] [ 3.06970270e-02 -8.48717912e-04 9.99528375e-01 8.44537929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.592755096 meters 0.02651848834641798 Centerline is valid? [True, True] Translation: X:44.35, Y:3.81, Z:0.84 [[ 9.61095766e-01 -2.74617166e-01 -2.96705417e-02 4.43541107e+01] [ 2.74513902e-01 9.61553260e-01 -7.57930531e-03 3.81348761e+00] [ 3.06112134e-02 -8.60537953e-04 9.99530997e-01 8.44824944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.622755096 meters 0.0274040156199413 Centerline is valid? [True, True] Translation: X:44.38, Y:3.82, Z:0.85 [[ 9.60666787e-01 -2.76060329e-01 -3.01665279e-02 4.43820310e+01] [ 2.75954134e-01 9.61139872e-01 -7.71115191e-03 3.81939571e+00] [ 3.11229959e-02 -9.16730546e-04 9.99515142e-01 8.45160337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.652755096 meters 0.028206231380697083 Centerline is valid? [True, True] Translation: X:44.41, Y:3.83, Z:0.85 [[ 9.60385222e-01 -2.76969184e-01 -3.07944152e-02 4.44090087e+01] [ 2.76858788e-01 9.60878322e-01 -7.87794043e-03 3.82513417e+00] [ 3.17716327e-02 -9.59846870e-04 9.99494693e-01 8.45484493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.682755096 meters 0.02845734508897213 Centerline is valid? [True, True] Translation: X:44.44, Y:3.83, Z:0.85 [[ 9.60343477e-01 -2.77143466e-01 -3.05271368e-02 4.44366288e+01] [ 2.77034898e-01 9.60828077e-01 -7.81487173e-03 3.83241486e+00] [ 3.14971707e-02 -9.52121134e-04 9.99503388e-01 8.46103108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.712755096 meters 0.02931473936584729 Centerline is valid? [True, True] Translation: X:44.46, Y:3.84, Z:0.85 [[ 9.60181803e-01 -2.77697545e-01 -3.05774152e-02 4.44630941e+01] [ 2.77588697e-01 9.60668070e-01 -7.83416048e-03 3.83976641e+00] [ 3.15502735e-02 -9.65726506e-04 9.99501700e-01 8.46770378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.742755096 meters 0.028896862396562976 Centerline is valid? [True, True] Translation: X:44.49, Y:3.85, Z:0.85 [[ 9.60039322e-01 -2.78195126e-01 -3.05282354e-02 4.44902655e+01] [ 2.78086705e-01 9.60524087e-01 -7.82708102e-03 3.84810668e+00] [ 3.15005612e-02 -9.75190845e-04 9.99503258e-01 8.47744585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.772755096000004 meters 0.028896862396562976 Centerline is valid? [True, True] Translation: X:44.52, Y:3.86, Z:0.85 [[ 9.59959394e-01 -2.78471052e-01 -3.05259830e-02 4.45169403e+01] [ 2.78362492e-01 9.60444128e-01 -7.83585776e-03 3.85514488e+00] [ 3.15005606e-02 -9.75183437e-04 9.99503258e-01 8.48259562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.802755096 meters 0.03019420651826162 Centerline is valid? [True, True] Translation: X:44.54, Y:3.86, Z:0.85 [[ 9.59728602e-01 -2.79346645e-01 -2.97735174e-02 4.45435579e+01] [ 2.79243592e-01 9.60189828e-01 -7.64922373e-03 3.86218307e+00] [ 3.07250135e-02 -9.72885152e-04 9.99527402e-01 8.48426579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.832755096 meters 0.030813032750868566 Centerline is valid? [True, True] Translation: X:44.57, Y:3.87, Z:0.85 [[ 9.59472974e-01 -2.80257827e-01 -2.94476146e-02 4.45717830e+01] [ 2.80157306e-01 9.59924256e-01 -7.57014127e-03 3.86928204e+00] [ 3.03890709e-02 -9.86618399e-04 9.99537659e-01 8.48939896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.862755096 meters 0.026935799422208632 Centerline is valid? [True, True] Translation: X:44.60, Y:3.88, Z:0.85 [[ 9.59270017e-01 -2.81007352e-01 -2.89119712e-02 4.45979236e+01] [ 2.80910564e-01 9.59705110e-01 -7.44018740e-03 3.88221578e+00] [ 2.98377138e-02 -9.84529433e-04 9.99554271e-01 8.51605344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.892755096 meters 0.0319597093079038 Centerline is valid? [True, True] Translation: X:44.63, Y:3.88, Z:0.85 [[ 9.59099909e-01 -2.81527949e-01 -2.94852228e-02 4.46265883e+01] [ 2.81427332e-01 9.59552492e-01 -7.59419471e-03 3.88251974e+00] [ 3.04305971e-02 -1.01435614e-03 9.99536367e-01 8.49130748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.922755096 meters 0.027276625267984352 Centerline is valid? [True, True] Translation: X:44.65, Y:3.90, Z:0.85 [[ 9.59216951e-01 -2.81189348e-01 -2.89031378e-02 4.46527702e+01] [ 2.81092366e-01 9.59651808e-01 -7.44915037e-03 3.89673847e+00] [ 2.98315702e-02 -9.79100076e-04 9.99554460e-01 8.51332295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.952755096000004 meters 0.026691595837290118 Centerline is valid? [True, True] Translation: X:44.68, Y:3.91, Z:0.85 [[ 9.59313978e-01 -2.80846589e-01 -2.90152460e-02 4.46801165e+01] [ 2.80748448e-01 9.59752189e-01 -7.48634336e-03 3.90532205e+00] [ 2.99499599e-02 -9.64231457e-04 9.99550934e-01 8.51444021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.982755096 meters 0.02573720470156624 Centerline is valid? [True, True] Translation: X:44.71, Y:3.91, Z:0.85 [[ 9.60088217e-01 -2.78264920e-01 -2.82710226e-02 4.47071034e+01] [ 2.78170459e-01 9.60503984e-01 -7.30020518e-03 3.91426001e+00] [ 2.91858208e-02 -8.55322353e-04 9.99573637e-01 8.52250330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.012755096 meters 0.02511489443106132 Centerline is valid? [True, True] Translation: X:44.73, Y:3.92, Z:0.85 [[ 9.60415592e-01 -2.77143100e-01 -2.81707678e-02 4.47345125e+01] [ 2.77048701e-01 9.60828309e-01 -7.27861461e-03 3.92272306e+00] [ 2.90844890e-02 -8.14179674e-04 9.99576625e-01 8.52694347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.042755096 meters 0.023892539714846048 Centerline is valid? [True, True] Translation: X:44.76, Y:3.93, Z:0.85 [[ 9.60724657e-01 -2.76115962e-01 -2.77147935e-02 4.47616072e+01] [ 2.76023944e-01 9.61124026e-01 -7.16859606e-03 3.93221610e+00] [ 2.86167177e-02 -7.62899618e-04 9.99590167e-01 8.53748379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.072755096 meters 0.02335168220371139 Centerline is valid? [True, True] Translation: X:44.79, Y:3.94, Z:0.85 [[ 9.61079405e-01 -2.74897094e-01 -2.75311713e-02 4.47892958e+01] [ 2.74805568e-01 9.61473389e-01 -7.12898621e-03 3.94084138e+00] [ 2.84302262e-02 -7.14197341e-04 9.99595524e-01 8.54280065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.102755096 meters 0.022551385597889856 Centerline is valid? [True, True] Translation: X:44.82, Y:3.95, Z:0.86 [[ 9.61675947e-01 -2.72939014e-01 -2.61470209e-02 4.48156125e+01] [ 2.72855582e-01 9.62031139e-01 -6.77632867e-03 3.94946532e+00] [ 2.70037728e-02 -6.17728300e-04 9.99635141e-01 8.55332186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.132755096000004 meters 0.021875432477422414 Centerline is valid? [True, True] Translation: X:44.84, Y:3.96, Z:0.86 [[ 9.61871633e-01 -2.72339328e-01 -2.51843593e-02 4.48428926e+01] [ 2.72261622e-01 9.62201102e-01 -6.53064487e-03 3.95822045e+00] [ 2.60109697e-02 -5.75092468e-04 9.99661492e-01 8.56455744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.162755096 meters 0.0221357433003907 Centerline is valid? [True, True] Translation: X:44.87, Y:3.96, Z:0.86 [[ 9.62103011e-01 -2.71605307e-01 -2.42559974e-02 4.48695580e+01] [ 2.71532844e-01 9.62408581e-01 -6.29584683e-03 3.96473521e+00] [ 2.50541654e-02 -5.29046748e-04 9.99685955e-01 8.56748804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.192755096 meters 0.022142971072828217 Centerline is valid? [True, True] Translation: X:44.90, Y:3.97, Z:0.86 [[ 9.62106941e-01 -2.71633745e-01 -2.37769426e-02 4.48967436e+01] [ 2.71564015e-01 9.62400563e-01 -6.17596643e-03 3.97183014e+00] [ 2.45605439e-02 -5.15021828e-04 9.99698212e-01 8.57251441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.222755096 meters 0.02220902280612674 Centerline is valid? [True, True] Translation: X:44.92, Y:3.98, Z:0.86 [[ 9.61921502e-01 -2.72320201e-01 -2.34250268e-02 4.49242774e+01] [ 2.72252546e-01 9.62206548e-01 -6.09184766e-03 3.97921532e+00] [ 2.41986474e-02 -5.17643947e-04 9.99707036e-01 8.58025066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.252755096 meters 0.023001606661387605 Centerline is valid? [True, True] Translation: X:44.95, Y:3.98, Z:0.86 [[ 9.61601931e-01 -2.73487286e-01 -2.29440670e-02 4.49510404e+01] [ 2.73422567e-01 9.61875472e-01 -5.97295047e-03 3.98492205e+00] [ 2.37028612e-02 -5.29824971e-04 9.99718907e-01 8.58572451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.282755096 meters 0.02355370912012833 Centerline is valid? [True, True] Translation: X:44.98, Y:3.99, Z:0.86 [[ 9.61338327e-01 -2.74422961e-01 -2.28179632e-02 4.49786252e+01] [ 2.74359154e-01 9.61608932e-01 -5.94268846e-03 3.99106654e+00] [ 2.35727674e-02 -5.47382912e-04 9.99721974e-01 8.58982673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.312755096000004 meters 0.02270078641988603 Centerline is valid? [True, True] Translation: X:45.01, Y:4.00, Z:0.86 [[ 9.60981033e-01 -2.75673328e-01 -2.27962825e-02 4.50065364e+01] [ 2.75609922e-01 9.61251209e-01 -5.94011266e-03 3.99993264e+00] [ 2.35504847e-02 -5.74546048e-04 9.99722484e-01 8.59983652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.342755096000005 meters 0.023315603270701132 Centerline is valid? [True, True] Translation: X:45.03, Y:4.01, Z:0.86 [[ 9.60568297e-01 -2.77162974e-01 -2.21186298e-02 4.50345273e+01] [ 2.77103536e-01 9.60822742e-01 -5.76965767e-03 4.00617982e+00] [ 2.28512180e-02 -5.87000301e-04 9.99738704e-01 8.60545613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.372755096 meters 0.02450458255430419 Centerline is valid? [True, True] Translation: X:45.06, Y:4.01, Z:0.86 [[ 9.59654762e-01 -2.80336615e-01 -2.17742813e-02 4.50629522e+01] [ 2.80279693e-01 9.59901539e-01 -5.68590846e-03 4.01143199e+00] [ 2.24951345e-02 -6.46379756e-04 9.99746743e-01 8.61967345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.402755096 meters 0.02592698273283119 Centerline is valid? [True, True] Translation: X:45.09, Y:4.02, Z:0.86 [[ 9.59183361e-01 -2.81972604e-01 -2.14180109e-02 4.50902550e+01] [ 2.81917817e-01 9.59422224e-01 -5.59826908e-03 4.01612753e+00] [ 2.21274741e-02 -6.68352312e-04 9.99754934e-01 8.62683904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.432755096 meters 0.027456874838462125 Centerline is valid? [True, True] Translation: X:45.12, Y:4.02, Z:0.86 [[ 9.58207804e-01 -2.85286521e-01 -2.11991829e-02 4.51196443e+01] [ 2.85233615e-01 9.58441996e-01 -5.54299645e-03 4.02169629e+00] [ 2.18995293e-02 -7.35377111e-04 9.99759906e-01 8.62476932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.462755096 meters 0.02869654899378235 Centerline is valid? [True, True] Translation: X:45.15, Y:4.03, Z:0.86 [[ 9.57587930e-01 -2.87358539e-01 -2.12232391e-02 4.51482334e+01] [ 2.87305986e-01 9.57822770e-01 -5.55087675e-03 4.02755155e+00] [ 2.19231935e-02 -7.82111056e-04 9.99759352e-01 8.62679920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.492755096 meters 0.029939332883434266 Centerline is valid? [True, True] Translation: X:45.18, Y:4.03, Z:0.86 [[ 9.57066943e-01 -2.89020764e-01 -2.21329011e-02 4.51760791e+01] [ 2.88963923e-01 9.57322451e-01 -5.79445262e-03 4.03319859e+00] [ 2.28630403e-02 -8.49930877e-04 9.99738245e-01 8.61859738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.522755096000004 meters 0.032144769088543586 Centerline is valid? [True, True] Translation: X:45.20, Y:4.04, Z:0.86 [[ 9.56252287e-01 -2.91609160e-01 -2.33593854e-02 4.52047248e+01] [ 2.91546559e-01 9.56537075e-01 -6.11787118e-03 4.03787789e+00] [ 2.41281455e-02 -9.60120127e-04 9.99708413e-01 8.60231051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.552755096 meters 0.03296506314275488 Centerline is valid? [True, True] Translation: X:45.23, Y:4.04, Z:0.86 [[ 9.55924000e-01 -2.92709714e-01 -2.30289030e-02 4.52329747e+01] [ 2.92649123e-01 9.56200858e-01 -6.03413496e-03 4.04437577e+00] [ 2.37865067e-02 -9.71213826e-04 9.99716589e-01 8.60330645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.582755096 meters 0.031357370261953295 Centerline is valid? [True, True] Translation: X:45.26, Y:4.05, Z:0.86 [[ 9.55786386e-01 -2.93134838e-01 -2.33313430e-02 4.52604682e+01] [ 2.93072616e-01 9.56070599e-01 -6.11981392e-03 4.05429691e+00] [ 2.41003417e-02 -9.88542898e-04 9.99709056e-01 8.61154791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.612755096 meters 0.03245253342786134 Centerline is valid? [True, True] Translation: X:45.29, Y:4.06, Z:0.86 [[ 9.55687296e-01 -2.93533648e-01 -2.23559683e-02 4.52862016e+01] [ 2.93476496e-01 9.55948269e-01 -5.86974992e-03 4.06122854e+00] [ 2.30941183e-02 -9.51305821e-04 9.99732843e-01 8.61299781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.642755096 meters 0.030019371394451162 Centerline is valid? [True, True] Translation: X:45.31, Y:4.07, Z:0.86 [[ 9.55622076e-01 -2.93791210e-01 -2.17525431e-02 4.53121314e+01] [ 2.93737055e-01 9.55869168e-01 -5.71634362e-03 4.07262990e+00] [ 2.24719968e-02 -9.26863791e-04 9.99747043e-01 8.62459863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.672755096 meters 0.028809724441161175 Centerline is valid? [True, True] Translation: X:45.34, Y:4.08, Z:0.86 [[ 9.55576632e-01 -2.93949373e-01 -2.16117343e-02 4.53383256e+01] [ 2.93895799e-01 9.55820550e-01 -5.68644242e-03 4.08215675e+00] [ 2.23284659e-02 -9.17766408e-04 9.99750267e-01 8.63465018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.702755096000004 meters 0.035681431893459195 Centerline is valid? [True, True] Translation: X:45.37, Y:4.08, Z:0.86 [[ 9.55365628e-01 -2.94655721e-01 -2.13195597e-02 4.53676792e+01] [ 2.94603621e-01 9.55603039e-01 -5.61592267e-03 4.08051089e+00] [ 2.20277998e-02 -9.15560005e-04 9.99756939e-01 8.63328454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.732755096 meters 0.029451038037140952 Centerline is valid? [True, True] Translation: X:45.39, Y:4.10, Z:0.86 [[ 9.55083011e-01 -2.95553942e-01 -2.15478308e-02 4.53932003e+01] [ 2.95500883e-01 9.55325587e-01 -5.67897293e-03 4.09672096e+00] [ 2.22636369e-02 -9.43512461e-04 9.99751689e-01 8.64613011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.762755096 meters 0.03602776377455372 Centerline is valid? [True, True] Translation: X:45.42, Y:4.10, Z:0.87 [[ 9.54805906e-01 -2.96459964e-01 -2.13815843e-02 4.54218341e+01] [ 2.96407823e-01 9.55044807e-01 -5.64078506e-03 4.09639368e+00] [ 2.20926380e-02 -9.51813973e-04 9.99755475e-01 8.65109438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.792755096 meters 0.03623849607531032 Centerline is valid? [True, True] Translation: X:45.45, Y:4.10, Z:0.87 [[ 9.54694684e-01 -2.96857211e-01 -2.08291984e-02 4.54483249e+01] [ 2.96807767e-01 9.54921423e-01 -5.49771082e-03 4.10428728e+00] [ 2.15222829e-02 -9.33632571e-04 9.99767933e-01 8.66398352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.822755096 meters 0.03623624748403884 Centerline is valid? [True, True] Translation: X:45.47, Y:4.11, Z:0.87 [[ 9.54684068e-01 -2.96925482e-01 -2.03368882e-02 4.54748932e+01] [ 2.96878238e-01 9.54900222e-01 -5.37374118e-03 4.11280378e+00] [ 2.10152998e-02 -9.07354460e-04 9.99778742e-01 8.67414816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.852755096 meters 0.0368053997888692 Centerline is valid? [True, True] Translation: X:45.50, Y:4.12, Z:0.87 [[ 9.54917433e-01 -2.96237770e-01 -1.93876405e-02 4.55010594e+01] [ 2.96194586e-01 9.55113851e-01 -5.12819655e-03 4.12249054e+00] [ 2.00365695e-02 -8.45509884e-04 9.99798890e-01 8.68986848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.882755096000004 meters 0.031008900052596187 Centerline is valid? [True, True] Translation: X:45.53, Y:4.14, Z:0.87 [[ 9.54993236e-01 -2.96009847e-01 -1.91334840e-02 4.55266316e+01] [ 2.95967704e-01 9.55184529e-01 -5.06291378e-03 4.13938069e+00] [ 1.97746803e-02 -8.27844925e-04 9.99804119e-01 8.69980881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.912755096 meters 0.0310276915213768 Centerline is valid? [True, True] Translation: X:45.55, Y:4.15, Z:0.87 [[ 9.55067622e-01 -2.95793708e-01 -1.87595359e-02 4.55541643e+01] [ 2.95753054e-01 9.55251505e-01 -4.96917585e-03 4.14789180e+00] [ 1.93899259e-02 -8.02291075e-04 9.99811676e-01 8.71142521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.942755096 meters 0.03660999844330943 Centerline is valid? [True, True] Translation: X:45.58, Y:4.15, Z:0.87 [[ 9.55312044e-01 -2.95043376e-01 -1.81191974e-02 4.55830290e+01] [ 2.95005223e-01 9.55483561e-01 -4.80447612e-03 4.14978808e+00] [ 1.87301241e-02 -7.55483976e-04 9.99824290e-01 8.72306939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.972755096 meters 0.0312897975499441 Centerline is valid? [True, True] Translation: X:45.61, Y:4.17, Z:0.87 [[ 9.55241115e-01 -2.95288897e-01 -1.78572037e-02 4.56076484e+01] [ 2.95251792e-01 9.55407721e-01 -4.73990137e-03 4.16520080e+00] [ 1.84605505e-02 -7.44622704e-04 9.99829312e-01 8.73221691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.002755096 meters 0.02722012217209778 Centerline is valid? [True, True] Translation: X:45.63, Y:4.18, Z:0.87 [[ 9.55427814e-01 -2.94690254e-01 -1.77580116e-02 4.56331868e+01] [ 2.94653354e-01 9.55592555e-01 -4.71915964e-03 4.18059057e+00] [ 1.83601140e-02 -7.23641307e-04 9.99831177e-01 8.73764069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.032755096 meters 0.027618155218401993 Centerline is valid? [True, True] Translation: X:45.66, Y:4.19, Z:0.87 [[ 9.55487687e-01 -2.94483312e-01 -1.79682910e-02 4.56596348e+01] [ 2.94445395e-01 9.55656348e-01 -4.78048596e-03 4.18890143e+00] [ 1.85792847e-02 -7.22985078e-04 9.99827129e-01 8.74151436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.062755096000004 meters 0.028448041163971212 Centerline is valid? [True, True] Translation: X:45.69, Y:4.20, Z:0.87 [[ 9.55613358e-01 -2.94089182e-01 -1.77387568e-02 4.56862032e+01] [ 2.94052109e-01 9.55777724e-01 -4.72219719e-03 4.19677704e+00] [ 1.83430557e-02 -7.03524115e-04 9.99831504e-01 8.74925240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.092755096000005 meters 0.026865740472131003 Centerline is valid? [True, True] Translation: X:45.71, Y:4.21, Z:0.88 [[ 9.55775672e-01 -2.93586228e-01 -1.73202461e-02 4.57132146e+01] [ 2.93550756e-01 9.55932357e-01 -4.61330580e-03 4.20834635e+00] [ 1.79113867e-02 -6.75085878e-04 9.99839350e-01 8.75404754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.122755096 meters 0.02659349667353201 Centerline is valid? [True, True] Translation: X:45.74, Y:4.22, Z:0.88 [[ 9.56124206e-01 -2.92426267e-01 -1.77025852e-02 4.57399698e+01] [ 2.92388915e-01 9.56287843e-01 -4.72048907e-03 4.21831189e+00] [ 1.83091620e-02 -6.62665811e-04 9.99832154e-01 8.75586597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.152755096 meters 0.02648007192308451 Centerline is valid? [True, True] Translation: X:45.77, Y:4.23, Z:0.88 [[ 9.56267584e-01 -2.91954992e-01 -1.77366776e-02 4.57674596e+01] [ 2.91917320e-01 9.56431838e-01 -4.73477795e-03 4.22699216e+00] [ 1.83462652e-02 -6.49928716e-04 9.99831482e-01 8.75955039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.182755096 meters 0.025944298067877493 Centerline is valid? [True, True] Translation: X:45.80, Y:4.24, Z:0.88 [[ 9.56468476e-01 -2.91253783e-01 -1.84197570e-02 4.57950315e+01] [ 2.91212917e-01 9.56645600e-01 -4.92267493e-03 4.23622304e+00] [ 1.90549272e-02 -6.55687797e-04 9.99818223e-01 8.76367433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.212755096 meters 0.025054748819580534 Centerline is valid? [True, True] Translation: X:45.82, Y:4.25, Z:0.88 [[ 9.57044349e-01 -2.89341509e-01 -1.86441845e-02 4.58217385e+01] [ 2.89299174e-01 9.57225734e-01 -4.98812846e-03 4.24716657e+00] [ 1.92899658e-02 -6.19887013e-04 9.99813739e-01 8.76261225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.242755096 meters 0.025330941667804047 Centerline is valid? [True, True] Translation: X:45.85, Y:4.26, Z:0.88 [[ 9.57474429e-01 -2.87900841e-01 -1.88632838e-02 4.58486867e+01] [ 2.87857120e-01 9.57660041e-01 -5.05210738e-03 4.25513555e+00] [ 1.95191191e-02 -5.92666939e-04 9.99809308e-01 8.76228222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.272755096000004 meters 0.024033954838329322 Centerline is valid? [True, True] Translation: X:45.88, Y:4.27, Z:0.88 [[ 9.57836619e-01 -2.86647210e-01 -1.95547568e-02 4.58754771e+01] [ 2.86599916e-01 9.58036030e-01 -5.23963427e-03 4.26576167e+00] [ 2.02360881e-02 -5.85678080e-04 9.99795058e-01 8.76714745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.302755096 meters 0.022970679435998297 Centerline is valid? [True, True] Translation: X:45.90, Y:4.28, Z:0.88 [[ 9.58752354e-01 -2.83507096e-01 -2.04364812e-02 4.59013249e+01] [ 2.83454609e-01 9.58969988e-01 -5.48149726e-03 4.27733401e+00] [ 2.11520155e-02 -5.37416372e-04 9.99776127e-01 8.76270861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.332755096 meters 0.022336027136029217 Centerline is valid? [True, True] Translation: X:45.93, Y:4.29, Z:0.88 [[ 9.59084457e-01 -2.82312264e-01 -2.13726650e-02 4.59290163e+01] [ 2.82254500e-01 9.59322419e-01 -5.73535794e-03 4.28733073e+00] [ 2.21224386e-02 -5.31838231e-04 9.99755127e-01 8.76151823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.362755096 meters 0.0212002145997687 Centerline is valid? [True, True] Translation: X:45.96, Y:4.30, Z:0.88 [[ 9.59377563e-01 -2.81277525e-01 -2.18551201e-02 4.59560017e+01] [ 2.81216722e-01 9.59626328e-01 -5.87071791e-03 4.29796590e+00] [ 2.26240497e-02 -5.13790203e-04 9.99743911e-01 8.76613231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.392755096 meters 0.020352867066179954 Centerline is valid? [True, True] Translation: X:45.98, Y:4.31, Z:0.88 [[ 9.59602043e-01 -2.80450944e-01 -2.26094681e-02 4.59832579e+01] [ 2.80385485e-01 9.59868227e-01 -6.08003316e-03 4.30919099e+00] [ 2.34072611e-02 -5.04954432e-04 9.99725885e-01 8.77459004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.422755096 meters 0.020206587696663683 Centerline is valid? [True, True] Translation: X:46.01, Y:4.32, Z:0.88 [[ 9.59471594e-01 -2.80864116e-01 -2.30132411e-02 4.60102643e+01] [ 2.80796248e-01 9.59747405e-01 -6.19566175e-03 4.31805695e+00] [ 2.38270374e-02 -5.17470289e-04 9.99715962e-01 8.78528637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.452755096000004 meters 0.020944845136763268 Centerline is valid? [True, True] Translation: X:46.04, Y:4.33, Z:0.88 [[ 9.58893486e-01 -2.82795228e-01 -2.34550792e-02 4.60382315e+01] [ 2.82725116e-01 9.59180137e-01 -6.32245402e-03 4.32511637e+00] [ 2.42856060e-02 -5.68780027e-04 9.99704899e-01 8.79826611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.482755096 meters 0.021572554128831013 Centerline is valid? [True, True] Translation: X:46.07, Y:4.33, Z:0.88 [[ 9.58458423e-01 -2.84258673e-01 -2.35469204e-02 4.60661936e+01] [ 2.84188281e-01 9.58747435e-01 -6.35420934e-03 4.33144638e+00] [ 2.43817887e-02 -6.01513366e-04 9.99702539e-01 8.81025242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.512755096 meters 0.02248201546826379 Centerline is valid? [True, True] Translation: X:46.09, Y:4.34, Z:0.88 [[ 9.57980115e-01 -2.85891466e-01 -2.32415439e-02 4.60936218e+01] [ 2.85823227e-01 9.58261798e-01 -6.27763142e-03 4.33717161e+00] [ 2.40662049e-02 -6.29127014e-04 9.99710169e-01 8.82229714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.542755096 meters 0.02432099086012129 Centerline is valid? [True, True] Translation: X:46.12, Y:4.34, Z:0.88 [[ 9.56867759e-01 -2.89593101e-01 -2.32363363e-02 4.61225001e+01] [ 2.89525929e-01 9.57149580e-01 -6.27844698e-03 4.34280691e+00] [ 2.40588444e-02 -7.19878347e-04 9.99710285e-01 8.84107028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.572755096 meters 0.025454328730802462 Centerline is valid? [True, True] Translation: X:46.15, Y:4.35, Z:0.88 [[ 9.56290206e-01 -2.91479896e-01 -2.34203236e-02 4.61501395e+01] [ 2.91412180e-01 9.56576643e-01 -6.32984321e-03 4.34921572e+00] [ 2.42483566e-02 -7.71800488e-04 9.99705667e-01 8.84917347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.602755096 meters 0.029857222199440314 Centerline is valid? [True, True] Translation: X:46.18, Y:4.35, Z:0.89 [[ 9.55504133e-01 -2.94074925e-01 -2.30605876e-02 4.61789326e+01] [ 2.94009947e-01 9.55782017e-01 -6.23599114e-03 4.35140085e+00] [ 2.38747435e-02 -8.21526840e-04 9.99714620e-01 8.85221367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.632755096000004 meters 0.027792975735368538 Centerline is valid? [True, True] Translation: X:46.21, Y:4.36, Z:0.89 [[ 9.54318916e-01 -2.97913087e-01 -2.28735677e-02 4.62064004e+01] [ 2.97850118e-01 9.54592570e-01 -6.19130209e-03 4.36238561e+00] [ 2.36794077e-02 -9.04418147e-04 9.99719194e-01 8.88046671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.662755096 meters 0.027792975735368538 Centerline is valid? [True, True] Translation: X:46.23, Y:4.37, Z:0.89 [[ 9.54224977e-01 -2.98213895e-01 -2.28728453e-02 4.62329835e+01] [ 2.98150949e-01 9.54498636e-01 -6.19396959e-03 4.36975241e+00] [ 2.36792274e-02 -9.09120019e-04 9.99719194e-01 8.88563019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.692755096 meters 0.03400258543654137 Centerline is valid? [True, True] Translation: X:46.26, Y:4.37, Z:0.89 [[ 9.53483379e-01 -3.00532448e-01 -2.34455606e-02 4.62617635e+01] [ 3.00466816e-01 9.53771084e-01 -6.35702694e-03 4.36911965e+00] [ 2.42721906e-02 -9.83293413e-04 9.99704903e-01 8.88165985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.722755096 meters 0.03611526950939194 Centerline is valid? [True, True] Translation: X:46.29, Y:4.37, Z:0.89 [[ 9.52980980e-01 -3.02090599e-01 -2.38436743e-02 4.62896556e+01] [ 3.02023038e-01 9.53278659e-01 -6.47173765e-03 4.37399134e+00] [ 2.46847169e-02 -1.03389606e-03 9.99694751e-01 8.88628480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.752755096 meters 0.03594241399937614 Centerline is valid? [True, True] Translation: X:46.32, Y:4.38, Z:0.89 [[ 9.52364982e-01 -3.03904917e-01 -2.53523670e-02 4.63173888e+01] [ 3.03829032e-01 9.52701681e-01 -6.88673327e-03 4.38281913e+00] [ 2.62461547e-02 -1.14410150e-03 9.99654856e-01 8.89130565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.782755096 meters 0.03931040955781342 Centerline is valid? [True, True] Translation: X:46.34, Y:4.39, Z:0.89 [[ 9.52270090e-01 -3.04154392e-01 -2.59187451e-02 4.63448278e+01] [ 3.04074989e-01 9.52622032e-01 -7.04731252e-03 4.38662261e+00] [ 2.68342387e-02 -1.17029722e-03 9.99639212e-01 8.88947625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.812755096000004 meters 0.03664372175735009 Centerline is valid? [True, True] Translation: X:46.37, Y:4.40, Z:0.89 [[ 9.52205105e-01 -3.04307044e-01 -2.65077724e-02 4.63701962e+01] [ 3.04223910e-01 9.52573247e-01 -7.21255955e-03 4.39871081e+00] [ 2.74454275e-02 -1.19646215e-03 9.99622587e-01 8.89996610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.842755096000005 meters 0.034648418356702876 Centerline is valid? [True, True] Translation: X:46.40, Y:4.41, Z:0.89 [[ 9.52236838e-01 -3.04178389e-01 -2.68423521e-02 4.63973364e+01] [ 3.04092831e-01 9.52614334e-01 -7.31300427e-03 4.41020024e+00] [ 2.77948672e-02 -1.19885478e-03 9.99612929e-01 8.90949735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.872755096 meters 0.03374440262459371 Centerline is valid? [True, True] Translation: X:46.42, Y:4.42, Z:0.89 [[ 9.52877088e-01 -3.02139580e-01 -2.71464577e-02 4.64232469e+01] [ 3.02051049e-01 9.53263008e-01 -7.40283541e-03 4.42038403e+00] [ 2.81144035e-02 -1.14562380e-03 9.99604056e-01 8.91515885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.902755096 meters 0.03261638529357057 Centerline is valid? [True, True] Translation: X:46.45, Y:4.43, Z:0.89 [[ 9.53269541e-01 -3.00841162e-01 -2.77808678e-02 4.64508868e+01] [ 3.00747785e-01 9.53673592e-01 -7.57961357e-03 4.43043919e+00] [ 2.87741397e-02 -1.12961970e-03 9.99585300e-01 8.92136184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.932755096 meters 0.02870955204789079 Centerline is valid? [True, True] Translation: X:46.48, Y:4.44, Z:0.89 [[ 9.53707223e-01 -2.99494221e-01 -2.73083410e-02 4.64763095e+01] [ 2.99403327e-01 9.54097518e-01 -7.45476407e-03 4.44403019e+00] [ 2.82874791e-02 -1.06654581e-03 9.99599260e-01 8.94318739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.962755096 meters 0.02780378392488072 Centerline is valid? [True, True] Translation: X:46.50, Y:4.45, Z:0.90 [[ 9.54689855e-01 -2.96367699e-01 -2.70826238e-02 4.65022698e+01] [ 2.96276961e-01 9.55073432e-01 -7.39610858e-03 4.45443506e+00] [ 2.80578621e-02 -9.62967637e-04 9.99605837e-01 8.95526777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.992755096 meters 0.025307709612368296 Centerline is valid? [True, True] Translation: X:46.53, Y:4.47, Z:0.90 [[ 9.55050613e-01 -2.95188680e-01 -2.72391090e-02 4.65290589e+01] [ 2.95096282e-01 9.55438527e-01 -7.44341878e-03 4.46716046e+00] [ 2.82225072e-02 -9.29318127e-04 9.99601234e-01 8.96775036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.022755096000004 meters 0.025079387384200635 Centerline is valid? [True, True] Translation: X:46.56, Y:4.48, Z:0.90 [[ 9.55419446e-01 -2.93964702e-01 -2.75397360e-02 4.65560187e+01] [ 2.93869510e-01 9.55815857e-01 -7.53380066e-03 4.47630120e+00] [ 2.85375878e-02 -8.95149068e-04 9.99592319e-01 8.97038170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.052755096 meters 0.025122309563772042 Centerline is valid? [True, True] Translation: X:46.58, Y:4.49, Z:0.90 [[ 9.55995249e-01 -2.92117338e-01 -2.72129522e-02 4.65827838e+01] [ 2.92023420e-01 9.56382133e-01 -7.45235904e-03 4.48623528e+00] [ 2.82029445e-02 -8.22399534e-04 9.99601880e-01 8.96982619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.082755096 meters 0.024323755969174212 Centerline is valid? [True, True] Translation: X:46.61, Y:4.50, Z:0.90 [[ 9.56063881e-01 -2.91947934e-01 -2.66131389e-02 4.66101929e+01] [ 2.91857834e-01 9.56433885e-01 -7.29577525e-03 4.49637952e+00] [ 2.75836944e-02 -7.92025870e-04 9.99619184e-01 8.98207166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.112755096 meters 0.023537418884324205 Centerline is valid? [True, True] Translation: X:46.64, Y:4.51, Z:0.90 [[ 9.56069240e-01 -2.92018473e-01 -2.56285160e-02 4.66371201e+01] [ 2.91934748e-01 9.56412378e-01 -7.03314928e-03 4.50700524e+00] [ 2.65652395e-02 -7.57676681e-04 9.99646795e-01 8.99488544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.142755096 meters 0.02517786955279572 Centerline is valid? [True, True] Translation: X:46.66, Y:4.51, Z:0.90 [[ 9.55973601e-01 -2.92369068e-01 -2.51952720e-02 4.66646483e+01] [ 2.92288116e-01 9.56305269e-01 -6.92026469e-03 4.51282027e+00] [ 2.61176427e-02 -7.48688231e-04 9.99658596e-01 8.99695505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.172755096 meters 0.02423889688571522 Centerline is valid? [True, True] Translation: X:46.69, Y:4.52, Z:0.90 [[ 9.55733550e-01 -2.93178194e-01 -2.48983410e-02 4.66917863e+01] [ 2.93099316e-01 9.56057515e-01 -6.84246035e-03 4.52266600e+00] [ 2.58103062e-02 -7.58117806e-04 9.99666571e-01 9.00677105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.202755096000004 meters 0.02870824143029354 Centerline is valid? [True, True] Translation: X:46.72, Y:4.53, Z:0.90 [[ 9.55190198e-01 -2.95010938e-01 -2.40880156e-02 4.67197645e+01] [ 2.94937525e-01 9.55493562e-01 -6.62648929e-03 4.52512796e+00] [ 2.49708306e-02 -7.74902078e-04 9.99687880e-01 9.00143350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.232755096 meters 0.030791525744941886 Centerline is valid? [True, True] Translation: X:46.75, Y:4.53, Z:0.90 [[ 9.54813301e-01 -2.96251976e-01 -2.37976312e-02 4.67467386e+01] [ 2.96180545e-01 9.55109491e-01 -6.55319751e-03 4.53064104e+00] [ 2.46707411e-02 -7.91315215e-04 9.99695318e-01 9.00487679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.262755096 meters 0.03189769408285235 Centerline is valid? [True, True] Translation: X:46.77, Y:4.54, Z:0.90 [[ 9.54327229e-01 -2.97856200e-01 -2.32642286e-02 4.67748555e+01] [ 2.97788304e-01 9.54610407e-01 -6.41075826e-03 4.53801142e+00] [ 2.41177588e-02 -8.09853994e-04 9.99708797e-01 9.01155710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.292755096 meters 0.03062234225281032 Centerline is valid? [True, True] Translation: X:46.80, Y:4.55, Z:0.90 [[ 9.53907270e-01 -2.99236726e-01 -2.27662360e-02 4.68017157e+01] [ 2.99171939e-01 9.54178552e-01 -6.28026115e-03 4.54776457e+00] [ 2.36023389e-02 -8.20232217e-04 9.99721090e-01 9.02549382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.322755096 meters 0.03214722181411807 Centerline is valid? [True, True] Translation: X:46.83, Y:4.55, Z:0.90 [[ 9.53087068e-01 -3.01860215e-01 -2.24822597e-02 4.68300497e+01] [ 3.01797601e-01 9.53351802e-01 -6.20889401e-03 4.55389763e+00] [ 2.33077209e-02 -8.67475460e-04 9.99727962e-01 9.03310175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.352755096 meters 0.033755144333662314 Centerline is valid? [True, True] Translation: X:46.86, Y:4.56, Z:0.90 [[ 9.52753948e-01 -3.02910462e-01 -2.24759156e-02 4.68571644e+01] [ 3.02848031e-01 9.53018607e-01 -6.21327638e-03 4.55932884e+00] [ 2.33020322e-02 -8.87063201e-04 9.99728077e-01 9.03731182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.382755096000004 meters 0.03432424920524016 Centerline is valid? [True, True] Translation: X:46.89, Y:4.57, Z:0.90 [[ 9.52285278e-01 -3.04411940e-01 -2.20481187e-02 4.68851322e+01] [ 3.04352192e-01 9.52540054e-01 -6.09820896e-03 4.56721737e+00] [ 2.28580838e-02 -9.03158652e-04 9.99738312e-01 9.04468336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.412755096 meters 0.03424461338341481 Centerline is valid? [True, True] Translation: X:46.91, Y:4.58, Z:0.90 [[ 9.52168048e-01 -3.04797859e-01 -2.17778369e-02 4.69119198e+01] [ 3.04739513e-01 9.52416644e-01 -6.03030119e-03 4.57563269e+00] [ 2.25795972e-02 -8.94707295e-04 9.99744648e-01 9.04937982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.442755096 meters 0.035037768726096846 Centerline is valid? [True, True] Translation: X:46.94, Y:4.58, Z:0.91 [[ 9.52290850e-01 -3.04429086e-01 -2.15654409e-02 4.69390694e+01] [ 3.04371628e-01 9.52534605e-01 -5.97821658e-03 4.58275107e+00] [ 2.23617718e-02 -8.70907413e-04 9.99749565e-01 9.05520499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.472755096 meters 0.03292914715556873 Centerline is valid? [True, True] Translation: X:46.97, Y:4.59, Z:0.91 [[ 9.53013217e-01 -3.02119047e-01 -2.21334414e-02 4.69661507e+01] [ 3.02057845e-01 9.53269837e-01 -6.13805618e-03 4.59390160e+00] [ 2.29535657e-02 -8.35930939e-04 9.99736183e-01 9.05730329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.502755096 meters 0.03156652984986439 Centerline is valid? [True, True] Translation: X:46.99, Y:4.60, Z:0.91 [[ 9.53354892e-01 -3.01041137e-01 -2.21061754e-02 4.69938561e+01] [ 3.00979734e-01 9.53610813e-01 -6.13322091e-03 4.60411557e+00] [ 2.29270397e-02 -8.06374616e-04 9.99736816e-01 9.06075038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.532755096 meters 0.029077871067581786 Centerline is valid? [True, True] Translation: X:47.02, Y:4.62, Z:0.91 [[ 9.53859439e-01 -2.99419702e-01 -2.23609781e-02 4.70207936e+01] [ 2.99356277e-01 9.54121192e-01 -6.21049453e-03 4.61552652e+00] [ 2.31946275e-02 -7.69960330e-04 9.99730672e-01 9.06296886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.562755096000004 meters 0.027113005118358 Centerline is valid? [True, True] Translation: X:47.05, Y:4.63, Z:0.91 [[ 9.55039221e-01 -2.95573297e-01 -2.31627276e-02 4.70464125e+01] [ 2.95503955e-01 9.55319812e-01 -6.43966869e-03 4.62654443e+00] [ 2.40312067e-02 -6.94541440e-04 9.99710968e-01 9.05708958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.592755096000005 meters 0.02624774055880342 Centerline is valid? [True, True] Translation: X:47.07, Y:4.64, Z:0.91 [[ 9.55522455e-01 -2.93983727e-01 -2.34607407e-02 4.70741107e+01] [ 2.93912022e-01 9.55810197e-01 -6.52612060e-03 4.63638117e+00] [ 2.43425885e-02 -6.59538956e-04 9.99703458e-01 9.05409038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.622755096 meters 0.02520525921405158 Centerline is valid? [True, True] Translation: X:47.10, Y:4.65, Z:0.91 [[ 9.55953783e-01 -2.92528915e-01 -2.40665503e-02 4.71013075e+01] [ 2.92452819e-01 9.56256469e-01 -6.70179046e-03 4.64611169e+00] [ 2.49742619e-02 -6.31728545e-04 9.99687895e-01 9.05219512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.652755096 meters 0.02456787349825965 Centerline is valid? [True, True] Translation: X:47.13, Y:4.66, Z:0.91 [[ 9.56326654e-01 -2.91299353e-01 -2.41664562e-02 4.71289526e+01] [ 2.91222045e-01 9.56631765e-01 -6.73702644e-03 4.65500240e+00] [ 2.50808910e-02 -5.95006821e-04 9.99685248e-01 9.05155954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.682755096 meters 0.02373374033622904 Centerline is valid? [True, True] Translation: X:47.16, Y:4.66, Z:0.91 [[ 9.56808555e-01 -2.89711832e-01 -2.41752428e-02 4.71561652e+01] [ 2.89633778e-01 9.57113763e-01 -6.74678866e-03 4.66289039e+00] [ 2.50930821e-02 -5.46581784e-04 9.99684970e-01 9.05573956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.712755096 meters 0.023812034219466174 Centerline is valid? [True, True] Translation: X:47.18, Y:4.67, Z:0.91 [[ 9.56815873e-01 -2.89715985e-01 -2.38334584e-02 4.71822421e+01] [ 2.89639958e-01 9.57112514e-01 -6.65809455e-03 4.66923729e+00] [ 2.47402577e-02 -5.32551343e-04 9.99693771e-01 9.06349140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.742755096 meters 0.02428172466822712 Centerline is valid? [True, True] Translation: X:47.21, Y:4.67, Z:0.91 [[ 9.56516817e-01 -2.90762237e-01 -2.30846207e-02 4.72106040e+01] [ 2.90691084e-01 9.56795189e-01 -6.45444974e-03 4.67387657e+00] [ 2.39639642e-02 -5.36703691e-04 9.99712679e-01 9.07244456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.772755096000004 meters 0.02261703325190627 Centerline is valid? [True, True] Translation: X:47.24, Y:4.68, Z:0.91 [[ 9.56275523e-01 -2.91586859e-01 -2.26765801e-02 4.72382160e+01] [ 2.91518274e-01 9.56544202e-01 -6.34704752e-03 4.68327288e+00] [ 2.35418668e-02 -5.41111294e-04 9.99722705e-01 9.08891160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.802755096 meters 0.025505817199980692 Centerline is valid? [True, True] Translation: X:47.27, Y:4.69, Z:0.91 [[ 9.56073441e-01 -2.92253397e-01 -2.26169867e-02 4.72669510e+01] [ 2.92185210e-01 9.56340760e-01 -6.33666437e-03 4.68543250e+00] [ 2.34814579e-02 -5.50032501e-04 9.99724121e-01 9.08273807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.832755096 meters 0.024481431270599558 Centerline is valid? [True, True] Translation: X:47.29, Y:4.69, Z:0.91 [[ 9.55536227e-01 -2.94042851e-01 -2.21205985e-02 4.72948365e+01] [ 2.93978028e-01 9.55792063e-01 -6.20088023e-03 4.69250488e+00] [ 2.29660169e-02 -5.77804213e-04 9.99736079e-01 9.09095645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.862755096 meters 0.027684784015761552 Centerline is valid? [True, True] Translation: X:47.32, Y:4.69, Z:0.91 [[ 9.55155300e-01 -2.95276186e-01 -2.21433455e-02 4.73233536e+01] [ 2.95211420e-01 9.55411750e-01 -6.21335908e-03 4.69418894e+00] [ 2.29906694e-02 -6.02245609e-04 9.99735498e-01 9.09052363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.892755096 meters 0.025643244853165242 Centerline is valid? [True, True] Translation: X:47.35, Y:4.70, Z:0.91 [[ 9.54795222e-01 -2.96459740e-01 -2.18564857e-02 4.73506837e+01] [ 2.96396880e-01 9.55045150e-01 -6.13602700e-03 4.70354452e+00] [ 2.26930156e-02 -6.19544898e-04 9.99742288e-01 9.10298123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.922755096 meters 0.030730071024855206 Centerline is valid? [True, True] Translation: X:47.38, Y:4.70, Z:0.91 [[ 9.54141864e-01 -2.98637353e-01 -2.07131554e-02 4.73800251e+01] [ 2.98581289e-01 9.54366457e-01 -5.82066383e-03 4.70108607e+00] [ 2.15062083e-02 -6.30821601e-04 9.99768516e-01 9.11233584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.952755096000004 meters 0.02811843684455886 Centerline is valid? [True, True] Translation: X:47.41, Y:4.71, Z:0.91 [[ 9.53820832e-01 -2.99668200e-01 -2.06104382e-02 4.74074934e+01] [ 2.99612872e-01 9.54043264e-01 -5.79457261e-03 4.71124046e+00] [ 2.13996989e-02 -6.48168519e-04 9.99770790e-01 9.12435571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.982755096 meters 0.028453786864573064 Centerline is valid? [True, True] Translation: X:47.44, Y:4.72, Z:0.91 [[ 9.53519608e-01 -3.00656350e-01 -2.01523197e-02 4.74354484e+01] [ 3.00603548e-01 9.53732320e-01 -5.67181936e-03 4.71711517e+00] [ 2.09251871e-02 -6.49667827e-04 9.99780833e-01 9.13014541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.012755096 meters 0.026561648178732317 Centerline is valid? [True, True] Translation: X:47.46, Y:4.73, Z:0.91 [[ 9.53405445e-01 -3.01038001e-01 -1.98539756e-02 4.74617861e+01] [ 3.00986717e-01 9.53611928e-01 -5.59350895e-03 4.72557170e+00] [ 2.06168467e-02 -6.42901052e-04 9.99787244e-01 9.13938439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.042755096 meters 0.026484715851327285 Centerline is valid? [True, True] Translation: X:47.49, Y:4.73, Z:0.91 [[ 9.53319584e-01 -3.01281345e-01 -2.02810802e-02 4.74900383e+01] [ 3.01227829e-01 9.53535063e-01 -5.71656086e-03 4.73048317e+00] [ 2.10610142e-02 -6.59516330e-04 9.99777975e-01 9.14280951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.072755096 meters 0.023538991658139167 Centerline is valid? [True, True] Translation: X:47.52, Y:4.74, Z:0.91 [[ 9.53322664e-01 -3.01296780e-01 -1.99034837e-02 4.75158439e+01] [ 3.01245111e-01 9.53530198e-01 -5.61643789e-03 4.74132247e+00] [ 2.06707874e-02 -6.41549619e-04 9.99786131e-01 9.14849566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.102755096 meters 0.023473274213773803 Centerline is valid? [True, True] Translation: X:47.54, Y:4.75, Z:0.91 [[ 9.53677582e-01 -3.00156850e-01 -2.01230210e-02 4.75427081e+01] [ 3.00103635e-01 9.53889661e-01 -5.68534293e-03 4.74726184e+00] [ 2.09016363e-02 -6.17007665e-04 9.99781347e-01 9.14427876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.132755096000004 meters 0.026502199052994856 Centerline is valid? [True, True] Translation: X:47.57, Y:4.75, Z:0.91 [[ 9.53844931e-01 -2.99594661e-01 -2.05642231e-02 4.75708381e+01] [ 2.99538833e-01 9.54066383e-01 -5.81580864e-03 4.74956555e+00] [ 2.13620191e-02 -6.12403782e-04 9.99771618e-01 9.13919895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.162755096 meters 0.028305326452618775 Centerline is valid? [True, True] Translation: X:47.60, Y:4.75, Z:0.91 [[ 9.54009483e-01 -2.99081213e-01 -2.04042851e-02 4.76001222e+01] [ 2.99026086e-01 9.54227476e-01 -5.77276194e-03 4.75395956e+00] [ 2.11968541e-02 -5.94143865e-04 9.99775145e-01 9.13825270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.192755096 meters 0.02263535991732481 Centerline is valid? [True, True] Translation: X:47.63, Y:4.77, Z:0.91 [[ 9.54049681e-01 -2.98928326e-01 -2.07620332e-02 4.76254789e+01] [ 2.98871146e-01 9.54275379e-01 -5.87707669e-03 4.76721105e+00] [ 2.15695218e-02 -5.98149517e-04 9.99767172e-01 9.14904016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.222755096 meters 0.023362599561695955 Centerline is valid? [True, True] Translation: X:47.65, Y:4.77, Z:0.92 [[ 9.53867305e-01 -2.99492478e-01 -2.10099993e-02 4.76526701e+01] [ 2.99433890e-01 9.54098466e-01 -5.95506251e-03 4.77201627e+00] [ 2.18291046e-02 -6.10766407e-04 9.99761530e-01 9.15491051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.252755096 meters 0.023786718239964866 Centerline is valid? [True, True] Translation: X:47.68, Y:4.78, Z:0.92 [[ 9.53767842e-01 -2.99800753e-01 -2.11284451e-02 4.76793548e+01] [ 2.99741428e-01 9.54001641e-01 -5.99552162e-03 4.77708402e+00] [ 2.19540332e-02 -6.14734567e-04 9.99758792e-01 9.16036481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.282755096 meters 0.02315645487405957 Centerline is valid? [True, True] Translation: X:47.71, Y:4.78, Z:0.92 [[ 9.53424370e-01 -3.00954039e-01 -2.02147547e-02 4.77073108e+01] [ 3.00899894e-01 9.53638451e-01 -5.74091807e-03 4.78323316e+00] [ 2.10053198e-02 -6.09086355e-04 9.99779178e-01 9.17202486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.312755096000004 meters 0.02362449187416267 Centerline is valid? [True, True] Translation: X:47.73, Y:4.79, Z:0.92 [[ 9.53370415e-01 -3.01113107e-01 -2.03898910e-02 4.77341286e+01] [ 3.01057933e-01 9.53588235e-01 -5.79648164e-03 4.78868923e+00] [ 2.11889568e-02 -6.12344348e-04 9.99775301e-01 9.17628705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.342755096000005 meters 0.023485233077292843 Centerline is valid? [True, True] Translation: X:47.76, Y:4.80, Z:0.92 [[ 9.53272418e-01 -3.01423161e-01 -2.03905550e-02 4.77613202e+01] [ 3.01367980e-01 9.53490272e-01 -5.80017078e-03 4.79538780e+00] [ 2.11905017e-02 -6.15917544e-04 9.99775266e-01 9.18428656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.372755096 meters 0.023500603119408582 Centerline is valid? [True, True] Translation: X:47.79, Y:4.80, Z:0.92 [[ 9.53649019e-01 -3.00305604e-01 -1.92378017e-02 4.77894989e+01] [ 3.00256135e-01 9.53842880e-01 -5.47843923e-03 4.80026370e+00] [ 1.99950462e-02 -5.51759798e-04 9.99799927e-01 9.19571560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.402755096 meters 0.023084119850790435 Centerline is valid? [True, True] Translation: X:47.82, Y:4.81, Z:0.92 [[ 9.53970297e-01 -2.99313468e-01 -1.87648685e-02 4.78176534e+01] [ 2.99266105e-01 9.54154697e-01 -5.34916266e-03 4.80758957e+00] [ 1.95056638e-02 -5.12746810e-04 9.99809615e-01 9.20809816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.432755096 meters 0.021498607568986042 Centerline is valid? [True, True] Translation: X:47.85, Y:4.82, Z:0.92 [[ 9.54810493e-01 -2.96724990e-01 -1.70646521e-02 4.78456368e+01] [ 2.96685329e-01 9.54962883e-01 -4.86896409e-03 4.81589515e+00] [ 1.77408527e-02 -4.13893926e-04 9.99842533e-01 9.22153739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.462755096 meters 0.02141238564412062 Centerline is valid? [True, True] Translation: X:47.87, Y:4.82, Z:0.92 [[ 9.55132408e-01 -2.95672709e-01 -1.73127755e-02 4.78731293e+01] [ 2.95631620e-01 9.55289219e-01 -4.94491641e-03 4.82292334e+00] [ 1.80007846e-02 -3.95153960e-04 9.99837895e-01 9.22423905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.492755096 meters 0.021686492305005408 Centerline is valid? [True, True] Translation: X:47.90, Y:4.83, Z:0.92 [[ 9.55391394e-01 -2.94858665e-01 -1.69012351e-02 4.79006305e+01] [ 2.94819291e-01 9.55540807e-01 -4.83236364e-03 4.82941044e+00] [ 1.75746841e-02 -3.66011522e-04 9.99845486e-01 9.22584563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.522755096000004 meters 0.020648237903861243 Centerline is valid? [True, True] Translation: X:47.93, Y:4.84, Z:0.92 [[ 9.55667874e-01 -2.93969088e-01 -1.67657364e-02 4.79285328e+01] [ 2.93930181e-01 9.55814865e-01 -4.79508549e-03 4.83835568e+00] [ 1.74345470e-02 -3.45446788e-04 9.99847947e-01 9.22556364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.552755096 meters 0.020648237903861243 Centerline is valid? [True, True] Translation: X:47.95, Y:4.85, Z:0.92 [[ 9.55579412e-01 -2.94256588e-01 -1.67644869e-02 4.79549886e+01] [ 2.94217649e-01 9.55726394e-01 -4.79944996e-03 4.84611442e+00] [ 1.74345324e-02 -3.46152344e-04 9.99847947e-01 9.23071354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.582755096 meters 0.020222933162496588 Centerline is valid? [True, True] Translation: X:47.98, Y:4.85, Z:0.92 [[ 9.55791655e-01 -2.93596489e-01 -1.62300362e-02 4.79827757e+01] [ 2.93559810e-01 9.55929391e-01 -4.65161303e-03 4.85274604e+00] [ 1.68804659e-02 -3.18513432e-04 9.99857464e-01 9.23551627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.612755096 meters 0.020540791128276337 Centerline is valid? [True, True] Translation: X:48.01, Y:4.86, Z:0.92 [[ 9.55775443e-01 -2.93641210e-01 -1.63750554e-02 4.80096424e+01] [ 2.93603796e-01 9.55915655e-01 -4.69811536e-03 4.85811072e+00] [ 1.70327320e-02 -3.17435125e-04 9.99854882e-01 9.24070450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.642755096 meters 0.020475417087311824 Centerline is valid? [True, True] Translation: X:48.04, Y:4.86, Z:0.92 [[ 9.55696744e-01 -2.93900331e-01 -1.63195742e-02 4.80370273e+01] [ 2.93863174e-01 9.55836018e-01 -4.68419030e-03 4.86447326e+00] [ 1.69755219e-02 -3.19056467e-04 9.99855855e-01 9.24693570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.672755096 meters 0.02060430868383601 Centerline is valid? [True, True] Translation: X:48.06, Y:4.87, Z:0.93 [[ 9.55688041e-01 -2.93926864e-01 -1.63513629e-02 4.80641261e+01] [ 2.93889471e-01 9.55827861e-01 -4.69887605e-03 4.86856923e+00] [ 1.70102141e-02 -3.14833742e-04 9.99855266e-01 9.25677799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.702755096000004 meters 0.02086120203404455 Centerline is valid? [True, True] Translation: X:48.09, Y:4.87, Z:0.93 [[ 9.55655875e-01 -2.94060938e-01 -1.58117965e-02 4.80903996e+01] [ 2.94025956e-01 9.55786625e-01 -4.54593338e-03 4.87455606e+00] [ 1.64494851e-02 -3.04730640e-04 9.99864652e-01 9.26621228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.732755096 meters 0.02074770477263269 Centerline is valid? [True, True] Translation: X:48.12, Y:4.88, Z:0.93 [[ 9.55778854e-01 -2.93677267e-01 -1.55062930e-02 4.81174523e+01] [ 2.93643537e-01 9.55904587e-01 -4.46027899e-03 4.88083402e+00] [ 1.61324192e-02 -2.90282392e-04 9.99869822e-01 9.27258309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.762755096 meters 0.020709933418141327 Centerline is valid? [True, True] Translation: X:48.14, Y:4.89, Z:0.93 [[ 9.55697508e-01 -2.93926245e-01 -1.57998601e-02 4.81448608e+01] [ 2.93891243e-01 9.55828056e-01 -4.54582031e-03 4.88799813e+00] [ 1.64380855e-02 -2.99011392e-04 9.99864841e-01 9.27381220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.792755096 meters 0.02082341793217247 Centerline is valid? [True, True] Translation: X:48.17, Y:4.89, Z:0.93 [[ 9.55636065e-01 -2.94116662e-01 -1.59718560e-02 4.81718243e+01] [ 2.94080837e-01 9.55769480e-01 -4.60029638e-03 4.89473411e+00] [ 1.66184363e-02 -3.00807648e-04 9.99861859e-01 9.27404852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.822755096 meters 0.020970091730201253 Centerline is valid? [True, True] Translation: X:48.20, Y:4.90, Z:0.93 [[ 9.55470122e-01 -2.94598973e-01 -1.69791471e-02 4.81998020e+01] [ 2.94558465e-01 9.55620919e-01 -4.89597192e-03 4.90058560e+00] [ 1.76679765e-02 -3.23396622e-04 9.99843857e-01 9.26199065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.852755096 meters 0.01969170480128834 Centerline is valid? [True, True] Translation: X:48.23, Y:4.91, Z:0.93 [[ 9.55266421e-01 -2.95218629e-01 -1.76642364e-02 4.82258243e+01] [ 2.95174788e-01 9.55429664e-01 -5.09913768e-03 4.90997260e+00] [ 1.83822959e-02 -3.43002253e-04 9.99830972e-01 9.25620036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.882755096000004 meters 0.02190833091116283 Centerline is valid? [True, True] Translation: X:48.25, Y:4.91, Z:0.93 [[ 9.55060289e-01 -2.95848345e-01 -1.82647632e-02 4.82538100e+01] [ 2.95801468e-01 9.55234854e-01 -5.27874203e-03 4.91278642e+00] [ 1.90088455e-02 -3.61226864e-04 9.99819250e-01 9.25457827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.912755096000005 meters 0.02274079375554288 Centerline is valid? [True, True] Translation: X:48.28, Y:4.92, Z:0.92 [[ 9.54708312e-01 -2.96875258e-01 -1.99278867e-02 4.82812768e+01] [ 2.96819611e-01 9.54916180e-01 -5.76263497e-03 4.91708459e+00] [ 2.07402452e-02 -4.13352085e-04 9.99784813e-01 9.24367349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.942755096 meters 0.023100781704942747 Centerline is valid? [True, True] Translation: X:48.31, Y:4.92, Z:0.92 [[ 9.54533493e-01 -2.97415393e-01 -2.02458487e-02 4.83083451e+01] [ 2.97358028e-01 9.54748082e-01 -5.85693668e-03 4.92350199e+00] [ 2.10716283e-02 -4.29623419e-04 9.99777876e-01 9.24195966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.972755096 meters 0.020641666165260322 Centerline is valid? [True, True] Translation: X:48.33, Y:4.94, Z:0.93 [[ 9.54309344e-01 -2.98078681e-01 -2.10422460e-02 4.83349270e+01] [ 2.98016735e-01 9.54541195e-01 -6.09371131e-03 4.93501353e+00] [ 2.19020960e-02 -4.55655812e-04 9.99760016e-01 9.25053235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.002755096 meters 0.020513688639000844 Centerline is valid? [True, True] Translation: X:48.36, Y:4.94, Z:0.93 [[ 9.53947717e-01 -2.99170216e-01 -2.19302519e-02 4.83633413e+01] [ 2.99103067e-01 9.54199632e-01 -6.35752718e-03 4.94200560e+00] [ 2.28278211e-02 -4.94657083e-04 9.99739289e-01 9.25484167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.032755096 meters 0.02145619295777298 Centerline is valid? [True, True] Translation: X:48.39, Y:4.95, Z:0.93 [[ 9.53757392e-01 -2.99767422e-01 -2.20528733e-02 4.83906388e+01] [ 2.99699546e-01 9.54012178e-01 -6.39891980e-03 4.94691467e+00] [ 2.29568974e-02 -5.06219055e-04 9.99736328e-01 9.25706573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.062755096000004 meters 0.021691799242613673 Centerline is valid? [True, True] Translation: X:48.42, Y:4.95, Z:0.93 [[ 9.53113660e-01 -3.01784916e-01 -2.23654945e-02 4.84192178e+01] [ 3.01715580e-01 9.53375871e-01 -6.49285640e-03 4.95128915e+00] [ 2.32821689e-02 -5.59588011e-04 9.99728777e-01 9.27284383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.092755096000005 meters 0.02280067048886214 Centerline is valid? [True, True] Translation: X:48.45, Y:4.96, Z:0.93 [[ 9.52641630e-01 -3.03294872e-01 -2.20487053e-02 4.84470466e+01] [ 3.03227756e-01 9.52896574e-01 -6.40677393e-03 4.95604762e+00] [ 2.29532774e-02 -5.82419859e-04 9.99736369e-01 9.28082220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.122755096 meters 0.02420191643975778 Centerline is valid? [True, True] Translation: X:48.47, Y:4.96, Z:0.93 [[ 9.52242691e-01 -3.04544285e-01 -2.20598254e-02 4.84749607e+01] [ 3.04477362e-01 9.52497982e-01 -6.41324005e-03 4.96034340e+00] [ 2.29650548e-02 -6.09756458e-04 9.99736082e-01 9.28726246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.152755096 meters 0.024039829484541832 Centerline is valid? [True, True] Translation: X:48.50, Y:4.97, Z:0.93 [[ 9.51856921e-01 -3.05767370e-01 -2.17880196e-02 4.85025716e+01] [ 3.05702340e-01 9.52106045e-01 -6.33713149e-03 4.96739914e+00] [ 2.26821932e-02 -6.28606115e-04 9.99742528e-01 9.29614552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.182755096 meters 0.023341628964926274 Centerline is valid? [True, True] Translation: X:48.53, Y:4.97, Z:0.93 [[ 9.51458038e-01 -3.07046354e-01 -2.12164524e-02 4.85307200e+01] [ 3.06984877e-01 9.51694348e-01 -6.17688262e-03 4.97441017e+00] [ 2.20881671e-02 -6.36085391e-04 9.99755824e-01 9.31540537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.212755096 meters 0.023298183922563356 Centerline is valid? [True, True] Translation: X:48.56, Y:4.98, Z:0.93 [[ 9.51329418e-01 -3.07498744e-01 -2.04171502e-02 4.85576616e+01] [ 3.07441788e-01 9.51548287e-01 -5.95018446e-03 4.98147972e+00] [ 2.12575785e-02 -6.16499634e-04 9.99773842e-01 9.32800479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.242755096 meters 0.022619785490782116 Centerline is valid? [True, True] Translation: X:48.59, Y:4.99, Z:0.93 [[ 9.51582473e-01 -3.06734733e-01 -2.01147028e-02 4.85858892e+01] [ 3.06679141e-01 9.51794863e-01 -5.86875015e-03 4.98930209e+00] [ 2.09452203e-02 -5.84159992e-04 9.99780454e-01 9.34383172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.272755096000004 meters 0.022233575109596015 Centerline is valid? [True, True] Translation: X:48.61, Y:5.00, Z:0.93 [[ 9.51772302e-01 -3.06138131e-01 -2.02220236e-02 4.86140309e+01] [ 3.06081681e-01 9.51986934e-01 -5.90613169e-03 4.99773772e+00] [ 2.10591943e-02 -5.68298418e-04 9.99778069e-01 9.34812027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.302755096 meters 0.021881159524626135 Centerline is valid? [True, True] Translation: X:48.64, Y:5.01, Z:0.94 [[ 9.52213898e-01 -3.04752799e-01 -2.03574319e-02 4.86408013e+01] [ 3.04695161e-01 9.52431333e-01 -5.95099750e-03 5.00565250e+00] [ 2.12026392e-02 -5.36188484e-04 9.99775055e-01 9.35126683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.332755096 meters 0.020481030071958294 Centerline is valid? [True, True] Translation: X:48.67, Y:5.01, Z:0.94 [[ 9.53511287e-01 -3.00661683e-01 -2.04640670e-02 4.86668527e+01] [ 3.00602450e-01 9.53730756e-01 -5.98435781e-03 5.01496620e+00] [ 2.13164771e-02 -4.45395955e-04 9.99772679e-01 9.35437467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.362755096 meters 0.019081517803458303 Centerline is valid? [True, True] Translation: X:48.69, Y:5.03, Z:0.94 [[ 9.54389117e-01 -2.97877966e-01 -2.02516931e-02 4.86933262e+01] [ 2.97819276e-01 9.54603884e-01 -5.92480958e-03 5.02667881e+00] [ 2.10972151e-02 -3.76770799e-04 9.99777358e-01 9.36225947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.392755096 meters 0.018354206594516517 Centerline is valid? [True, True] Translation: X:48.72, Y:5.04, Z:0.94 [[ 9.54991122e-01 -2.95958884e-01 -2.00074013e-02 4.87205292e+01] [ 2.95901057e-01 9.55200625e-01 -5.85926035e-03 5.03687620e+00] [ 2.08451824e-02 -3.24669575e-04 9.99782663e-01 9.36622732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.422755096 meters 0.01749018807421837 Centerline is valid? [True, True] Translation: X:48.75, Y:5.05, Z:0.94 [[ 9.56118882e-01 -2.92302618e-01 -1.98962904e-02 4.87464378e+01] [ 2.92244524e-01 9.56325845e-01 -5.83226075e-03 5.04769394e+00] [ 2.07321219e-02 -2.38247301e-04 9.99785038e-01 9.37226941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.452755096000004 meters 0.01705317620952344 Centerline is valid? [True, True] Translation: X:48.77, Y:5.06, Z:0.94 [[ 9.56543963e-01 -2.90925483e-01 -1.96471461e-02 4.87733288e+01] [ 2.90868496e-01 9.56745694e-01 -5.76159718e-03 5.05820822e+00] [ 2.04735178e-02 -2.03514832e-04 9.99790375e-01 9.37997570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.482755096 meters 0.01675570912063324 Centerline is valid? [True, True] Translation: X:48.80, Y:5.07, Z:0.94 [[ 9.56811331e-01 -2.90045349e-01 -1.96410808e-02 4.87999233e+01] [ 2.89988092e-01 9.57012886e-01 -5.76567925e-03 5.06736153e+00] [ 2.04690758e-02 -1.79012304e-04 9.99790470e-01 9.38544556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.512755096 meters 0.01671073283312418 Centerline is valid? [True, True] Translation: X:48.83, Y:5.08, Z:0.94 [[ 9.57154403e-01 -2.88907955e-01 -1.96886436e-02 4.88263778e+01] [ 2.88850049e-01 9.57356867e-01 -5.78597560e-03 5.07505560e+00] [ 2.05206726e-02 -1.48993660e-04 9.99789418e-01 9.38787835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.542755096 meters 0.01659144696789595 Centerline is valid? [True, True] Translation: X:48.85, Y:5.08, Z:0.94 [[ 9.57101262e-01 -2.89067050e-01 -1.99352674e-02 4.88531506e+01] [ 2.89007666e-01 9.57308841e-01 -5.86103380e-03 5.08387291e+00] [ 2.07784395e-02 -1.51842259e-04 9.99784093e-01 9.39287326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.572755096 meters 0.016846762463041075 Centerline is valid? [True, True] Translation: X:48.88, Y:5.09, Z:0.94 [[ 9.56893294e-01 -2.89729593e-01 -2.02974507e-02 4.88801453e+01] [ 2.89668045e-01 9.57108529e-01 -5.97391893e-03 5.09106906e+00] [ 2.11576843e-02 -1.63119884e-04 9.99776138e-01 9.39181733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.602755096 meters 0.01708787954658378 Centerline is valid? [True, True] Translation: X:48.91, Y:5.10, Z:0.94 [[ 9.56507450e-01 -2.91005804e-01 -2.02267248e-02 4.89079039e+01] [ 2.90944916e-01 9.56721269e-01 -5.95561094e-03 5.09867208e+00] [ 2.10844552e-02 -1.88276526e-04 9.99777680e-01 9.39195541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.632755096000004 meters 0.017570321027295242 Centerline is valid? [True, True] Translation: X:48.94, Y:5.11, Z:0.94 [[ 9.55945316e-01 -2.92838399e-01 -2.03525153e-02 4.89351569e+01] [ 2.92777051e-01 9.56161922e-01 -5.99803392e-03 5.10559842e+00] [ 2.12167548e-02 -2.24956976e-04 9.99774874e-01 9.39623698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.662755096000005 meters 0.01817630569391032 Centerline is valid? [True, True] Translation: X:48.96, Y:5.11, Z:0.94 [[ 9.55325480e-01 -2.94862932e-01 -2.02256784e-02 4.89636143e+01] [ 2.94802749e-01 9.55539523e-01 -5.96308496e-03 5.11287358e+00] [ 2.10847278e-02 -2.65898600e-04 9.99777657e-01 9.39888316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.692755096 meters 0.019104014651814098 Centerline is valid? [True, True] Translation: X:48.99, Y:5.12, Z:0.94 [[ 9.53912326e-01 -2.99439125e-01 -1.96846394e-02 4.89916402e+01] [ 2.99382981e-01 9.54115342e-01 -5.80898826e-03 5.11929309e+00] [ 2.05208548e-02 -3.51980531e-04 9.99789363e-01 9.41213178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.722755096 meters 0.019813350194621743 Centerline is valid? [True, True] Translation: X:49.02, Y:5.13, Z:0.94 [[ 9.53051225e-01 -3.02196160e-01 -1.92573179e-02 4.90196546e+01] [ 3.02142876e-01 9.53245678e-01 -5.68852574e-03 5.12569050e+00] [ 2.00760057e-02 -3.97005000e-04 9.99798378e-01 9.42333587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.752755096 meters 0.02103353367703647 Centerline is valid? [True, True] Translation: X:49.05, Y:5.13, Z:0.94 [[ 9.52248648e-01 -3.04725084e-01 -1.91085432e-02 4.90468490e+01] [ 3.04673018e-01 9.52440249e-01 -5.65009022e-03 5.13073789e+00] [ 1.99214699e-02 -4.41566761e-04 9.99801450e-01 9.43448580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.782755096 meters 0.023422777588233655 Centerline is valid? [True, True] Translation: X:49.08, Y:5.13, Z:0.94 [[ 9.50826823e-01 -3.09135879e-01 -1.90620536e-02 4.90753407e+01] [ 3.09084911e-01 9.51017732e-01 -5.63832798e-03 5.13483760e+00] [ 1.98713605e-02 -5.30719672e-04 9.99802404e-01 9.44160178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.812755096000004 meters 0.024466990550152688 Centerline is valid? [True, True] Translation: X:49.10, Y:5.14, Z:0.94 [[ 9.50216798e-01 -3.11001446e-01 -1.91347396e-02 4.91029630e+01] [ 3.10950442e-01 9.50409267e-01 -5.66108386e-03 5.14165294e+00] [ 1.99464391e-02 -5.70698758e-04 9.99800887e-01 9.44622038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.842755096000005 meters 0.02602803201791028 Centerline is valid? [True, True] Translation: X:49.13, Y:5.15, Z:0.94 [[ 9.49242459e-01 -3.13916168e-01 -1.98845234e-02 4.91312052e+01] [ 3.13861674e-01 9.49450479e-01 -5.88539686e-03 5.14814365e+00] [ 2.07268915e-02 -6.54321220e-04 9.99784961e-01 9.44993494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.872755096 meters 0.02680061897797032 Centerline is valid? [True, True] Translation: X:49.16, Y:5.16, Z:0.95 [[ 9.48996372e-01 -3.14672153e-01 -1.96804837e-02 4.91576522e+01] [ 3.14618826e-01 9.49200191e-01 -5.83029820e-03 5.15534592e+00] [ 2.05153514e-02 -6.58918842e-04 9.99789321e-01 9.45389245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.902755096 meters 0.025603977573315027 Centerline is valid? [True, True] Translation: X:49.18, Y:5.17, Z:0.95 [[ 9.48655395e-01 -3.15701984e-01 -1.96264706e-02 4.91849081e+01] [ 3.15649121e-01 9.48858155e-01 -5.81661677e-03 5.16636202e+00] [ 2.04590541e-02 -6.77113314e-04 9.99790462e-01 9.46183472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.932755096 meters 0.025667427192198767 Centerline is valid? [True, True] Translation: X:49.21, Y:5.18, Z:0.95 [[ 9.48472162e-01 -3.16239575e-01 -1.98264718e-02 4.92111388e+01] [ 3.16185623e-01 9.48679111e-01 -5.88192028e-03 5.17503728e+00] [ 2.06690556e-02 -6.90007685e-04 9.99786134e-01 9.46665007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.962755096 meters 0.025845675905235895 Centerline is valid? [True, True] Translation: X:49.24, Y:5.18, Z:0.95 [[ 9.48570239e-01 -3.15945403e-01 -1.98243481e-02 4.92380862e+01] [ 3.15891268e-01 9.48777130e-01 -5.88760136e-03 5.18280512e+00] [ 2.06690487e-02 -6.77535035e-04 9.99786143e-01 9.47581711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.992755096 meters 0.025992882304407328 Centerline is valid? [True, True] Translation: X:49.26, Y:5.19, Z:0.95 [[ 9.48639925e-01 -3.15731431e-01 -1.98986519e-02 4.92647342e+01] [ 3.15676798e-01 9.48848360e-01 -5.91177031e-03 5.19104086e+00] [ 2.07473349e-02 -6.73401365e-04 9.99784524e-01 9.47892762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.022755096000004 meters 0.025719388408149746 Centerline is valid? [True, True] Translation: X:49.29, Y:5.20, Z:0.95 [[ 9.48750840e-01 -3.15370224e-01 -2.03338693e-02 4.92923185e+01] [ 3.15313037e-01 9.48968473e-01 -6.04367905e-03 5.20034397e+00] [ 2.12021973e-02 -6.77588484e-04 9.99774979e-01 9.48565734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.052755096 meters 0.024920139342745867 Centerline is valid? [True, True] Translation: X:49.32, Y:5.21, Z:0.95 [[ 9.49427909e-01 -3.13267114e-01 -2.12217143e-02 4.93198067e+01] [ 3.13204158e-01 9.49664830e-01 -6.31391120e-03 5.21097529e+00] [ 2.21314564e-02 -6.52125636e-04 9.99754857e-01 9.48900146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.082755096 meters 0.024459918327195018 Centerline is valid? [True, True] Translation: X:49.35, Y:5.22, Z:0.95 [[ 9.49899783e-01 -3.11837550e-01 -2.11600042e-02 4.93457706e+01] [ 3.11774491e-01 9.50135237e-01 -6.30068554e-03 5.21990931e+00] [ 2.20696560e-02 -6.12129732e-04 9.99756248e-01 9.49723804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.112755096 meters 0.023037425121263215 Centerline is valid? [True, True] Translation: X:49.37, Y:5.23, Z:0.95 [[ 9.51015837e-01 -3.08421827e-01 -2.10915604e-02 4.93716922e+01] [ 3.08358288e-01 9.51249545e-01 -6.28245393e-03 5.23131134e+00] [ 2.20009832e-02 -5.29044278e-04 9.99757809e-01 9.51545674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.142755096 meters 0.022475942465225815 Centerline is valid? [True, True] Translation: X:49.40, Y:5.24, Z:0.95 [[ 9.51539550e-01 -3.06820105e-01 -2.08304650e-02 4.93979983e+01] [ 3.06757701e-01 9.51767403e-01 -6.20676274e-03 5.24061695e+00] [ 2.17301172e-02 -4.83925323e-04 9.99763756e-01 9.52623842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.172755096 meters 0.021425117896610807 Centerline is valid? [True, True] Translation: X:49.42, Y:5.25, Z:0.95 [[ 9.52044246e-01 -3.05228046e-01 -2.11564336e-02 4.94246221e+01] [ 3.05163220e-01 9.52279180e-01 -6.30661502e-03 5.25099723e+00] [ 2.20717870e-02 -4.51988846e-04 9.99756286e-01 9.53746381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.202755096000004 meters 0.02058308083498329 Centerline is valid? [True, True] Translation: X:49.45, Y:5.26, Z:0.95 [[ 9.52824642e-01 -3.02790120e-01 -2.10557797e-02 4.94503976e+01] [ 3.02725197e-01 9.53057182e-01 -6.28193051e-03 5.26147913e+00] [ 2.19694686e-02 -3.88536873e-04 9.99758567e-01 9.54747675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.232755096 meters 0.020251452273141998 Centerline is valid? [True, True] Translation: X:49.48, Y:5.27, Z:0.96 [[ 9.53053022e-01 -3.02058467e-01 -2.12278047e-02 4.94773928e+01] [ 3.01992237e-01 9.53289329e-01 -6.33595327e-03 5.27074834e+00] [ 2.21500680e-02 -3.72132814e-04 9.99754588e-01 9.55294227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.262755096 meters 0.02013898471525267 Centerline is valid? [True, True] Translation: X:49.50, Y:5.28, Z:0.96 [[ 9.53245664e-01 -3.01455284e-01 -2.11521920e-02 4.95041070e+01] [ 3.01389262e-01 9.53480250e-01 -6.31861835e-03 5.27898712e+00] [ 2.20729782e-02 -3.51847977e-04 9.99756300e-01 9.55889334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.292755096 meters 0.020149196939130344 Centerline is valid? [True, True] Translation: X:49.53, Y:5.29, Z:0.96 [[ 9.53571061e-01 -3.00363210e-01 -2.20039627e-02 4.95308301e+01] [ 3.00291421e-01 9.53824842e-01 -6.57527276e-03 5.28671735e+00] [ 2.29628963e-02 -3.37611402e-04 9.99736261e-01 9.55509422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.322755096 meters 0.01929626752678995 Centerline is valid? [True, True] Translation: X:49.56, Y:5.30, Z:0.96 [[ 9.53564501e-01 -3.00350800e-01 -2.24530267e-02 4.95569960e+01] [ 3.00275971e-01 9.53828748e-01 -6.71272522e-03 5.29648698e+00] [ 2.34325148e-02 -3.41087927e-04 9.99725363e-01 9.56240587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.352755096 meters 0.019095106145104176 Centerline is valid? [True, True] Translation: X:49.58, Y:5.30, Z:0.96 [[ 9.53478539e-01 -3.00615183e-01 -2.25651893e-02 4.95839803e+01] [ 3.00539501e-01 9.53745456e-01 -6.75378146e-03 5.30381232e+00] [ 2.35517361e-02 -3.42145072e-04 9.99722561e-01 9.57264469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.382755096000004 meters 0.01946898125228294 Centerline is valid? [True, True] Translation: X:49.61, Y:5.31, Z:0.96 [[ 9.53323242e-01 -3.01097582e-01 -2.26945453e-02 4.96106991e+01] [ 3.01021012e-01 9.53593269e-01 -6.79905404e-03 5.31027946e+00] [ 2.36885444e-02 -3.49838737e-04 9.99719326e-01 9.57816591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.412755096000005 meters 0.019294597890637165 Centerline is valid? [True, True] Translation: X:49.64, Y:5.32, Z:0.96 [[ 9.52887216e-01 -3.02492255e-01 -2.24586263e-02 4.96386899e+01] [ 3.02417581e-01 9.53151768e-01 -6.73155855e-03 5.31830610e+00] [ 2.34427236e-02 -3.77467328e-04 9.99725110e-01 9.59397784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.442755096 meters 0.019359529246947924 Centerline is valid? [True, True] Translation: X:49.67, Y:5.33, Z:0.96 [[ 9.52629174e-01 -3.03307043e-01 -2.24163729e-02 4.96652474e+01] [ 3.03232714e-01 9.52892798e-01 -6.72575030e-03 5.32612615e+00] [ 2.34003678e-02 -3.90231661e-04 9.99726098e-01 9.59988423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.472755096 meters 0.019359529246947924 Centerline is valid? [True, True] Translation: X:49.69, Y:5.33, Z:0.96 [[ 9.52533001e-01 -3.03609097e-01 -2.24142391e-02 4.96916170e+01] [ 3.03534685e-01 9.52796602e-01 -6.73285486e-03 5.33421685e+00] [ 2.34003668e-02 -3.90232549e-04 9.99726098e-01 9.60503196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.502755096 meters 0.019642044697216064 Centerline is valid? [True, True] Translation: X:49.72, Y:5.34, Z:0.96 [[ 9.52223661e-01 -3.04589135e-01 -2.22611473e-02 4.97197476e+01] [ 3.04515830e-01 9.52483751e-01 -6.69432192e-03 5.34176930e+00] [ 2.32423988e-02 -4.04380014e-04 9.99729777e-01 9.61051465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.532755096 meters 0.02016590896312288 Centerline is valid? [True, True] Translation: X:49.75, Y:5.35, Z:0.96 [[ 9.51913948e-01 -3.05556019e-01 -2.22565798e-02 4.97472126e+01] [ 3.05482867e-01 9.52174008e-01 -6.69900716e-03 5.34866381e+00] [ 2.32390587e-02 -4.22125447e-04 9.99729847e-01 9.61363729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.562755096000004 meters 0.02106007321565216 Centerline is valid? [True, True] Translation: X:49.77, Y:5.35, Z:0.96 [[ 9.51224591e-01 -3.07655064e-01 -2.28065506e-02 4.97747396e+01] [ 3.07578773e-01 9.51497835e-01 -6.86796839e-03 5.35368886e+00] [ 2.38133487e-02 -4.81830427e-04 9.99716306e-01 9.61326863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.592755096000005 meters 0.021796369430793532 Centerline is valid? [True, True] Translation: X:49.80, Y:5.36, Z:0.96 [[ 9.50731950e-01 -3.09141582e-01 -2.32431063e-02 4.98030858e+01] [ 3.09062702e-01 9.51015881e-01 -7.00288422e-03 5.36030923e+00] [ 2.42694459e-02 -5.25711462e-04 9.99705315e-01 9.61445330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.622755096 meters 0.0232670086202879 Centerline is valid? [True, True] Translation: X:49.83, Y:5.37, Z:0.96 [[ 9.49756383e-01 -3.12076625e-01 -2.38954589e-02 4.98316471e+01] [ 3.11994005e-01 9.50056739e-01 -7.20651351e-03 5.36518800e+00] [ 2.49510262e-02 -6.10807725e-04 9.99688488e-01 9.60878501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.652755096 meters 0.022511143639942256 Centerline is valid? [True, True] Translation: X:49.86, Y:5.37, Z:0.96 [[ 9.49368936e-01 -3.13214255e-01 -2.44019216e-02 4.98585683e+01] [ 3.13128318e-01 9.49682268e-01 -7.36525154e-03 5.37428158e+00] [ 2.54809740e-02 -6.48591642e-04 9.99675097e-01 9.61202466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.682755096 meters 0.02460295536840774 Centerline is valid? [True, True] Translation: X:49.89, Y:5.38, Z:0.96 [[ 9.49013413e-01 -3.14247609e-01 -2.49395692e-02 4.98859077e+01] [ 3.14158128e-01 9.49340806e-01 -7.53027167e-03 5.37874275e+00] [ 2.60425206e-02 -6.88639545e-04 9.99660599e-01 9.60554825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.712755096 meters 0.02522525741082167 Centerline is valid? [True, True] Translation: X:49.91, Y:5.39, Z:0.96 [[ 9.48799724e-01 -3.14814742e-01 -2.58990823e-02 4.99127429e+01] [ 3.14718377e-01 9.49152858e-01 -7.82279696e-03 5.38538091e+00] [ 2.70449198e-02 -7.28649543e-04 9.99633954e-01 9.60279547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.742755096 meters 0.026076268516979806 Centerline is valid? [True, True] Translation: X:49.94, Y:5.39, Z:0.96 [[ 9.48793453e-01 -3.14825503e-01 -2.59978120e-02 4.99391919e+01] [ 3.14728325e-01 9.49149288e-01 -7.85557568e-03 5.39158700e+00] [ 2.71489403e-02 -7.28929044e-04 9.99631134e-01 9.60405324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.772755096000004 meters 0.02601184625359935 Centerline is valid? [True, True] Translation: X:49.97, Y:5.40, Z:0.96 [[ 9.48761698e-01 -3.14912946e-01 -2.60974332e-02 4.99658178e+01] [ 3.14814916e-01 9.49120279e-01 -7.89078762e-03 5.39932508e+00] [ 2.72545143e-02 -7.29384177e-04 9.99628261e-01 9.60726390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.802755096 meters 0.024302687097998966 Centerline is valid? [True, True] Translation: X:49.99, Y:5.41, Z:0.96 [[ 9.48771716e-01 -3.14878676e-01 -2.61467137e-02 4.99918803e+01] [ 3.14780032e-01 9.49131655e-01 -7.91410676e-03 5.40951761e+00] [ 2.73086571e-02 -7.21782727e-04 9.99626788e-01 9.62271473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.832755096 meters 0.02633467479826376 Centerline is valid? [True, True] Translation: X:50.02, Y:5.41, Z:0.96 [[ 9.49005587e-01 -3.14162928e-01 -2.62688092e-02 5.00200373e+01] [ 3.14062898e-01 9.49368826e-01 -7.95793748e-03 5.41413840e+00] [ 2.74388775e-02 -6.97931225e-04 9.99623239e-01 9.62137105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.862755096 meters 0.023175185227722144 Centerline is valid? [True, True] Translation: X:50.05, Y:5.43, Z:0.96 [[ 9.48978471e-01 -3.14243130e-01 -2.62891135e-02 5.00455651e+01] [ 3.14142846e-01 9.49342283e-01 -7.96879559e-03 5.42685090e+00] [ 2.74615063e-02 -6.96321483e-04 9.99622619e-01 9.64489991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.892755096 meters 0.023539125985777166 Centerline is valid? [True, True] Translation: X:50.07, Y:5.43, Z:0.97 [[ 9.49097897e-01 -3.13854012e-01 -2.66240771e-02 5.00727924e+01] [ 3.13750805e-01 9.49471004e-01 -8.07744348e-03 5.43383072e+00] [ 2.78139272e-02 -6.87041021e-04 9.99612882e-01 9.65771737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.922755096 meters 0.023643870361326997 Centerline is valid? [True, True] Translation: X:50.10, Y:5.44, Z:0.97 [[ 9.49046077e-01 -3.14046432e-01 -2.61988991e-02 5.01000881e+01] [ 3.13946443e-01 9.49407384e-01 -7.95306192e-03 5.44141228e+00] [ 2.73710589e-02 -6.77228948e-04 9.99625113e-01 9.66824651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.952755096000004 meters 0.023530437658922043 Centerline is valid? [True, True] Translation: X:50.13, Y:5.45, Z:0.97 [[ 9.48911082e-01 -3.14446950e-01 -2.62844746e-02 5.01271371e+01] [ 3.14346219e-01 9.49274802e-01 -7.98780994e-03 5.44954958e+00] [ 2.74629319e-02 -6.82703821e-04 9.99622589e-01 9.68221082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.982755096 meters 0.022711600182335867 Centerline is valid? [True, True] Translation: X:50.15, Y:5.46, Z:0.97 [[ 9.48663972e-01 -3.15225489e-01 -2.58758351e-02 5.01543277e+01] [ 3.15127930e-01 9.49016554e-01 -7.87194358e-03 5.45828758e+00] [ 2.70380331e-02 -6.86369077e-04 9.99634170e-01 9.70401624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.012755096 meters 0.024490198405157877 Centerline is valid? [True, True] Translation: X:50.18, Y:5.46, Z:0.97 [[ 9.48431207e-01 -3.15920180e-01 -2.59361732e-02 5.01816347e+01] [ 3.15822253e-01 9.48785512e-01 -7.89663687e-03 5.46314238e+00] [ 2.71025723e-02 -7.01803827e-04 9.99632411e-01 9.70068041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.042755096 meters 0.02358318352871531 Centerline is valid? [True, True] Translation: X:50.21, Y:5.47, Z:0.97 [[ 9.47785758e-01 -3.17821961e-01 -2.62936979e-02 5.02088846e+01] [ 3.17721923e-01 9.48150104e-01 -8.00998311e-03 5.47224502e+00] [ 2.74761209e-02 -7.62336339e-04 9.99622169e-01 9.71818252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.072755096 meters 0.02554862179797641 Centerline is valid? [True, True] Translation: X:50.24, Y:5.48, Z:0.97 [[ 9.47437323e-01 -3.18875753e-01 -2.60916379e-02 5.02368217e+01] [ 3.18777463e-01 9.47796204e-01 -7.95511686e-03 5.47735573e+00] [ 2.72662493e-02 -7.80451510e-04 9.99627902e-01 9.71739915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.102755096 meters 0.024855176450880857 Centerline is valid? [True, True] Translation: X:50.26, Y:5.49, Z:0.97 [[ 9.46990849e-01 -3.20181367e-01 -2.63101660e-02 5.02639724e+01] [ 3.20081778e-01 9.47355910e-01 -8.02713536e-03 5.48663259e+00] [ 2.74952304e-02 -8.19780981e-04 9.99621599e-01 9.72976628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.132755096000004 meters 0.025053918630169977 Centerline is valid? [True, True] Translation: X:50.29, Y:5.49, Z:0.97 [[ 9.46644361e-01 -3.21178986e-01 -2.66178928e-02 5.02920709e+01] [ 3.21077224e-01 9.47018128e-01 -8.12903647e-03 5.49483121e+00] [ 2.78185027e-02 -8.51092607e-04 9.99612628e-01 9.73947364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.162755096000005 meters 0.025851054367628187 Centerline is valid? [True, True] Translation: X:50.32, Y:5.50, Z:0.97 [[ 9.46243404e-01 -3.22358642e-01 -2.66144170e-02 5.03191603e+01] [ 3.22257198e-01 9.46617205e-01 -8.13427132e-03 5.50189197e+00] [ 2.78158177e-02 -8.79686858e-04 9.99612678e-01 9.74382196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.192755096 meters 0.02568735980003178 Centerline is valid? [True, True] Translation: X:50.35, Y:5.51, Z:0.97 [[ 9.46097496e-01 -3.22780553e-01 -2.66878681e-02 5.03461681e+01] [ 3.22678579e-01 9.46473413e-01 -8.16161677e-03 5.51062916e+00] [ 2.78937688e-02 -8.89918186e-04 9.99610497e-01 9.74910869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.222755096 meters 0.025082437869071862 Centerline is valid? [True, True] Translation: X:50.37, Y:5.52, Z:0.98 [[ 9.46134937e-01 -3.22604642e-01 -2.74759287e-02 5.03725961e+01] [ 3.22496206e-01 9.46533376e-01 -8.41220816e-03 5.52054350e+00] [ 2.87207009e-02 -9.01798708e-04 9.99587069e-01 9.75492710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.252755096 meters 0.02550141861445588 Centerline is valid? [True, True] Translation: X:50.40, Y:5.53, Z:0.98 [[ 9.46307372e-01 -3.22108580e-01 -2.73572605e-02 5.03991399e+01] [ 3.22000667e-01 9.46702327e-01 -8.38304751e-03 5.52849849e+00] [ 2.85994337e-02 -8.76116452e-04 9.99590569e-01 9.75397351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.282755096 meters 0.02444830402779888 Centerline is valid? [True, True] Translation: X:50.43, Y:5.54, Z:0.98 [[ 9.46431591e-01 -3.21732011e-01 -2.74910151e-02 5.04261272e+01] [ 3.21622743e-01 9.46830378e-01 -8.42887101e-03 5.53898268e+00] [ 2.87411659e-02 -8.64385882e-04 9.99586514e-01 9.76105411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.312755096000004 meters 0.024602557162368643 Centerline is valid? [True, True] Translation: X:50.45, Y:5.55, Z:0.98 [[ 9.46849447e-01 -3.20553993e-01 -2.68563219e-02 5.04531631e+01] [ 3.20449013e-01 9.47229906e-01 -8.24228875e-03 5.54762490e+00] [ 2.80812099e-02 -8.01875305e-04 9.99605323e-01 9.76929915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.342755096000005 meters 0.024893578931210244 Centerline is valid? [True, True] Translation: X:50.48, Y:5.56, Z:0.98 [[ 9.47073699e-01 -3.19927035e-01 -2.64215999e-02 5.04802941e+01] [ 3.19825012e-01 9.47441875e-01 -8.11507134e-03 5.55566462e+00] [ 2.76291609e-02 -7.64717865e-04 9.99617949e-01 9.77459086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.372755096 meters 0.02327708244613702 Centerline is valid? [True, True] Translation: X:50.51, Y:5.57, Z:0.98 [[ 9.47201464e-01 -3.19567095e-01 -2.61965451e-02 5.05069200e+01] [ 3.19466545e-01 9.47563359e-01 -8.05029843e-03 5.56693273e+00] [ 2.73954967e-02 -7.43665291e-04 9.99624396e-01 9.78806711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.402755096 meters 0.022180383233481538 Centerline is valid? [True, True] Translation: X:50.53, Y:5.58, Z:0.98 [[ 9.47781601e-01 -3.17896315e-01 -2.55336797e-02 5.05338609e+01] [ 3.17799982e-01 9.48125247e-01 -7.85417335e-03 5.57827943e+00] [ 2.67059391e-02 -6.70561958e-04 9.99643108e-01 9.79771520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.432755096 meters 0.021710148169612357 Centerline is valid? [True, True] Translation: X:50.56, Y:5.59, Z:0.98 [[ 9.48105417e-01 -3.16961104e-01 -2.51351815e-02 5.05611854e+01] [ 3.16867228e-01 9.48438330e-01 -7.73914476e-03 5.58836470e+00] [ 2.62921774e-02 -6.26990211e-04 9.99654104e-01 9.80300199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.462755096 meters 0.020940721939889655 Centerline is valid? [True, True] Translation: X:50.59, Y:5.60, Z:0.98 [[ 9.49066300e-01 -3.14155340e-01 -2.40744747e-02 5.05872806e+01] [ 3.14068170e-01 9.49371451e-01 -7.41840763e-03 5.59933832e+00] [ 2.51861514e-02 -5.20465550e-04 9.99682643e-01 9.81039576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.492755096 meters 0.020546567434691444 Centerline is valid? [True, True] Translation: X:50.61, Y:5.61, Z:0.98 [[ 9.49315323e-01 -3.13444200e-01 -2.35191732e-02 5.06140111e+01] [ 3.13360701e-01 9.49606496e-01 -7.25082956e-03 5.60931930e+00] [ 2.46066902e-02 -4.86661022e-04 9.99697091e-01 9.81975593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.522755096000004 meters 0.02023580966203458 Centerline is valid? [True, True] Translation: X:50.64, Y:5.62, Z:0.98 [[ 9.49572449e-01 -3.12709759e-01 -2.29078867e-02 5.06410079e+01] [ 3.12630172e-01 9.49848622e-01 -7.06899543e-03 5.61917271e+00] [ 2.39695685e-02 -4.49173281e-04 9.99712588e-01 9.82811120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.552755096 meters 0.01981851083902813 Centerline is valid? [True, True] Translation: X:50.67, Y:5.63, Z:0.98 [[ 9.49633739e-01 -3.12548291e-01 -2.25682859e-02 5.06669758e+01] [ 3.12470841e-01 9.49901773e-01 -6.97096967e-03 5.62862616e+00] [ 2.36164194e-02 -4.32063274e-04 9.99721000e-01 9.83840418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.582755096 meters 0.019528607168359115 Centerline is valid? [True, True] Translation: X:50.69, Y:5.64, Z:0.99 [[ 9.49551564e-01 -3.12858640e-01 -2.17094068e-02 5.06929492e+01] [ 3.12786891e-01 9.49799610e-01 -6.71284573e-03 5.63837717e+00] [ 2.27197579e-02 -4.16224695e-04 9.99741786e-01 9.85848307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.612755096 meters 0.019939307373328146 Centerline is valid? [True, True] Translation: X:50.72, Y:5.65, Z:0.99 [[ 9.49424275e-01 -3.13290410e-01 -2.10396319e-02 5.07186088e+01] [ 3.13222983e-01 9.49657282e-01 -6.51224096e-03 5.64594433e+00] [ 2.20206622e-02 -4.07216611e-04 9.99757433e-01 9.86328712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.642755096 meters 0.020382863630732474 Centerline is valid? [True, True] Translation: X:50.75, Y:5.65, Z:0.99 [[ 9.48862381e-01 -3.15062711e-01 -1.98914458e-02 5.07455976e+01] [ 3.15002776e-01 9.49070762e-01 -6.15960915e-03 5.65478507e+00] [ 2.08190528e-02 -4.21239243e-04 9.99783171e-01 9.87507566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.672755096 meters 0.021255148899085745 Centerline is valid? [True, True] Translation: X:50.77, Y:5.66, Z:0.99 [[ 9.48254955e-01 -3.16932458e-01 -1.91404393e-02 5.07735908e+01] [ 3.16877300e-01 9.48448006e-01 -5.92926052e-03 5.66232957e+00] [ 2.00328866e-02 -4.42720042e-04 9.99799224e-01 9.88310751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.702755096000004 meters 0.021879444670524946 Centerline is valid? [True, True] Translation: X:50.80, Y:5.67, Z:0.99 [[ 9.47680461e-01 -3.18691806e-01 -1.83650929e-02 5.08010732e+01] [ 3.18641255e-01 9.47858283e-01 -5.69431022e-03 5.66983171e+00] [ 1.92222354e-02 -4.55489718e-04 9.99815132e-01 9.89289545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.732755096 meters 0.024238209420185126 Centerline is valid? [True, True] Translation: X:50.83, Y:5.67, Z:0.99 [[ 9.46291368e-01 -3.22834793e-01 -1.76165619e-02 5.08297891e+01] [ 3.22788902e-01 9.46455194e-01 -5.46727195e-03 5.67472981e+00] [ 1.84383121e-02 -5.12798419e-04 9.99829868e-01 9.90471730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.762755096 meters 0.024521626783653865 Centerline is valid? [True, True] Translation: X:50.86, Y:5.68, Z:0.99 [[ 9.45589912e-01 -3.24904265e-01 -1.72318657e-02 5.08569684e+01] [ 3.24860682e-01 9.45746756e-01 -5.34887410e-03 5.68292435e+00] [ 1.80348531e-02 -5.40114255e-04 9.99837213e-01 9.91304924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.792755096 meters 0.025799777786401894 Centerline is valid? [True, True] Translation: X:50.88, Y:5.69, Z:0.99 [[ 9.44925614e-01 -3.26863367e-01 -1.66109407e-02 5.08838184e+01] [ 3.26823125e-01 9.45071443e-01 -5.15874188e-03 5.68941214e+00] [ 1.73847294e-02 -5.54212206e-04 9.99848721e-01 9.92213381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.822755096 meters 0.027509830665369314 Centerline is valid? [True, True] Translation: X:50.91, Y:5.70, Z:0.99 [[ 9.43864022e-01 -3.29936782e-01 -1.61996476e-02 5.09121691e+01] [ 3.29898931e-01 9.44002843e-01 -5.03273465e-03 5.69609623e+00] [ 1.69529976e-02 -5.94029245e-04 9.99856111e-01 9.92886990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.852755096 meters 0.02840238211158566 Centerline is valid? [True, True] Translation: X:50.94, Y:5.70, Z:0.99 [[ 9.43330617e-01 -3.31467074e-01 -1.60289071e-02 5.09401183e+01] [ 3.31430228e-01 9.43466587e-01 -4.98025608e-03 5.70390278e+00] [ 1.67735292e-02 -6.14436294e-04 9.99859126e-01 9.92995695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.882755096000004 meters 0.029290596180966706 Centerline is valid? [True, True] Translation: X:50.97, Y:5.71, Z:0.99 [[ 9.42966634e-01 -3.32461351e-01 -1.68338125e-02 5.09668874e+01] [ 3.32420776e-01 9.43116650e-01 -5.23563110e-03 5.71126852e+00] [ 1.76168938e-02 -6.58883567e-04 9.99844593e-01 9.92817276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.912755096000005 meters 0.030492148546461727 Centerline is valid? [True, True] Translation: X:50.99, Y:5.72, Z:0.99 [[ 9.42683341e-01 -3.33239900e-01 -1.72999185e-02 5.09937696e+01] [ 3.33197128e-01 9.42841818e-01 -5.38336435e-03 5.71902632e+00] [ 1.81050384e-02 -6.89475276e-04 9.99835853e-01 9.92309562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.942755096 meters 0.02773352337782452 Centerline is valid? [True, True] Translation: X:51.02, Y:5.73, Z:0.99 [[ 9.42615747e-01 -3.33396376e-01 -1.79557589e-02 5.10190792e+01] [ 3.33350291e-01 9.42786478e-01 -5.58935905e-03 5.73210835e+00] [ 1.87919187e-02 -7.16939599e-04 9.99823159e-01 9.92049509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.972755096 meters 0.02753419665721957 Centerline is valid? [True, True] Translation: X:51.05, Y:5.74, Z:0.99 [[ 9.42653850e-01 -3.33278643e-01 -1.81401576e-02 5.10458365e+01] [ 3.33231466e-01 9.42828104e-01 -5.65303203e-03 5.74359349e+00] [ 1.89870852e-02 -7.16018898e-04 9.99819473e-01 9.91082211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.002755096 meters 0.02960002334715613 Centerline is valid? [True, True] Translation: X:51.07, Y:5.75, Z:0.99 [[ 9.42695277e-01 -3.33151759e-01 -1.83172078e-02 5.10729471e+01] [ 3.33103528e-01 9.42872947e-01 -5.71366451e-03 5.75038093e+00] [ 1.91743170e-02 -7.15281972e-04 9.99815900e-01 9.90997922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.032755096 meters 0.02787300022241431 Centerline is valid? [True, True] Translation: X:51.10, Y:5.76, Z:0.99 [[ 9.42719012e-01 -3.33073153e-01 -1.85240297e-02 5.10998727e+01] [ 3.33023771e-01 9.42900714e-01 -5.78028542e-03 5.76259561e+00] [ 1.93915787e-02 -7.19757248e-04 9.99811707e-01 9.91139750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.062755096000004 meters 0.02894073781592855 Centerline is valid? [True, True] Translation: X:51.13, Y:5.77, Z:0.99 [[ 9.42962558e-01 -3.32367942e-01 -1.87926793e-02 5.11263994e+01] [ 3.32316869e-01 9.43149536e-01 -5.86956515e-03 5.77133491e+00] [ 1.96751621e-02 -7.10344195e-04 9.99806173e-01 9.91347378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.092755096000005 meters 0.03044707680776629 Centerline is valid? [True, True] Translation: X:51.15, Y:5.78, Z:0.99 [[ 9.43190958e-01 -3.31742666e-01 -1.83744158e-02 5.11530173e+01] [ 3.31693687e-01 9.43369674e-01 -5.74080326e-03 5.77842368e+00] [ 1.92383360e-02 -6.80004005e-04 9.99814695e-01 9.92288438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.122755096 meters 0.02504715570804883 Centerline is valid? [True, True] Translation: X:51.18, Y:5.80, Z:0.99 [[ 9.43395779e-01 -3.31172304e-01 -1.81468532e-02 5.11782404e+01] [ 3.31124390e-01 9.43570067e-01 -5.67156751e-03 5.79581743e+00] [ 1.90010936e-02 -6.58332867e-04 9.99819246e-01 9.93443650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.152755096 meters 0.024082330935942618 Centerline is valid? [True, True] Translation: X:51.20, Y:5.81, Z:1.00 [[ 9.43905904e-01 -3.29786645e-01 -1.68051854e-02 5.12049682e+01] [ 3.29745251e-01 9.44055313e-01 -5.25700622e-03 5.80802031e+00] [ 1.75987150e-02 -5.79310870e-04 9.99844963e-01 9.95193808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.182755096 meters 0.023724549060265623 Centerline is valid? [True, True] Translation: X:51.23, Y:5.82, Z:1.00 [[ 9.44237186e-01 -3.28858260e-01 -1.63823385e-02 5.12321867e+01] [ 3.28818699e-01 9.44379135e-01 -5.12965212e-03 5.81839757e+00] [ 1.71580672e-02 -5.43210956e-04 9.99852642e-01 9.96097004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.212755096 meters 0.025059592139565916 Centerline is valid? [True, True] Translation: X:51.26, Y:5.83, Z:1.00 [[ 9.45093417e-01 -3.26417225e-01 -1.58185847e-02 5.12586366e+01] [ 3.26379915e-01 9.45225670e-01 -4.95820845e-03 5.82726777e+00] [ 1.65705770e-02 -4.76898163e-04 9.99862585e-01 9.97966811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.242755096 meters 0.024452254602300057 Centerline is valid? [True, True] Translation: X:51.29, Y:5.84, Z:1.00 [[ 9.45481726e-01 -3.25315382e-01 -1.53038485e-02 5.12859409e+01] [ 3.25280296e-01 9.45605471e-01 -4.79807323e-03 5.83836776e+00] [ 1.60322899e-02 -4.41549794e-04 9.99871377e-01 9.98846444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.272755096000004 meters 0.02201190439237537 Centerline is valid? [True, True] Translation: X:51.31, Y:5.85, Z:1.00 [[ 9.45752204e-01 -3.24547100e-01 -1.48979041e-02 5.13114863e+01] [ 3.24513699e-01 9.45869446e-01 -4.67446724e-03 5.85226004e+00] [ 1.56085570e-02 -4.13686258e-04 9.99878093e-01 9.99317881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.302755096 meters 0.021601061237841057 Centerline is valid? [True, True] Translation: X:51.34, Y:5.86, Z:1.00 [[ 9.46029004e-01 -3.23744620e-01 -1.47832324e-02 5.13380115e+01] [ 3.23711564e-01 9.46144422e-01 -4.64293452e-03 5.86274216e+00] [ 1.54901979e-02 -3.93152558e-04 9.99879942e-01 9.99875122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.332755096 meters 0.023190571627289654 Centerline is valid? [True, True] Translation: X:51.37, Y:5.87, Z:1.00 [[ 9.46559630e-01 -3.22199015e-01 -1.45829034e-02 5.13652276e+01] [ 3.22166589e-01 9.46671890e-01 -4.58500555e-03 5.87015242e+00] [ 1.52825090e-02 -3.58143081e-04 9.99883151e-01 1.00075465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.362755096 meters 0.023035861091878423 Centerline is valid? [True, True] Translation: X:51.39, Y:5.88, Z:1.00 [[ 9.46657177e-01 -3.21906605e-01 -1.47080425e-02 5.13925459e+01] [ 3.21873569e-01 9.46771362e-01 -4.62541933e-03 5.87977035e+00] [ 1.54141065e-02 -3.55443716e-04 9.99881132e-01 1.00105145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.392755096 meters 0.023035861091878423 Centerline is valid? [True, True] Translation: X:51.42, Y:5.89, Z:1.00 [[ 9.46565699e-01 -3.22175548e-01 -1.47069281e-02 5.14187869e+01] [ 3.22142490e-01 9.46679877e-01 -4.62895966e-03 5.88823209e+00] [ 1.54140905e-02 -3.56111991e-04 9.99881132e-01 1.00156647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.422755096 meters 0.020654775486925205 Centerline is valid? [True, True] Translation: X:51.44, Y:5.90, Z:1.00 [[ 9.46563426e-01 -3.22154929e-01 -1.52932215e-02 5.14440222e+01] [ 3.22119100e-01 9.46686890e-01 -4.81840767e-03 5.90123426e+00] [ 1.60301661e-02 -3.65310270e-04 9.99871442e-01 1.00102638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.452755096000004 meters 0.021066346628366994 Centerline is valid? [True, True] Translation: X:51.47, Y:5.91, Z:1.00 [[ 9.46387105e-01 -3.22636502e-01 -1.60354128e-02 5.14705310e+01] [ 3.22597074e-01 9.46522868e-01 -5.05851851e-03 5.91075735e+00] [ 1.68099476e-02 -3.85660562e-04 9.99858628e-01 1.00020174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.482755096000005 meters 0.02174345277230318 Centerline is valid? [True, True] Translation: X:51.50, Y:5.92, Z:1.00 [[ 9.46246584e-01 -3.23007970e-01 -1.68301661e-02 5.14970258e+01] [ 3.22964562e-01 9.46396156e-01 -5.31112378e-03 5.91924894e+00] [ 1.76435398e-02 -4.09914494e-04 9.99844257e-01 1.00032559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.512755096 meters 0.02282777355704934 Centerline is valid? [True, True] Translation: X:51.52, Y:5.93, Z:1.00 [[ 9.45719308e-01 -3.24528737e-01 -1.72072531e-02 5.15238596e+01] [ 3.24483580e-01 9.45875732e-01 -5.43198227e-03 5.92728214e+00] [ 1.80387574e-02 -4.46340569e-04 9.99837189e-01 9.99973379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.542755096 meters 0.023181628733096614 Centerline is valid? [True, True] Translation: X:51.55, Y:5.94, Z:1.00 [[ 9.45180711e-01 -3.26065428e-01 -1.77414783e-02 5.15514991e+01] [ 3.26017659e-01 9.45347078e-01 -5.60249862e-03 5.93539517e+00] [ 1.85986358e-02 -4.88661593e-04 9.99826911e-01 9.99972687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.572755096 meters 0.02367424510536081 Centerline is valid? [True, True] Translation: X:51.58, Y:5.94, Z:1.00 [[ 9.44484966e-01 -3.28047279e-01 -1.82519118e-02 5.15796350e+01] [ 3.27996987e-01 9.44661153e-01 -5.76913080e-03 5.94367385e+00] [ 1.91344197e-02 -5.37714767e-04 9.99816776e-01 1.00028509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.602755096 meters 0.02525642067979565 Centerline is valid? [True, True] Translation: X:51.61, Y:5.95, Z:1.00 [[ 9.43813548e-01 -3.29967448e-01 -1.83703488e-02 5.16072550e+01] [ 3.29916761e-01 9.43992136e-01 -5.81192271e-03 5.94950436e+00] [ 1.92592101e-02 -5.75314575e-04 9.99814359e-01 1.00062380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.632755096000004 meters 0.028497975707269585 Centerline is valid? [True, True] Translation: X:51.64, Y:5.95, Z:1.00 [[ 9.42308781e-01 -3.34220198e-01 -1.87355654e-02 5.16359936e+01] [ 3.34168275e-01 9.42494778e-01 -5.92942242e-03 5.95365818e+00] [ 1.96399053e-02 -6.73484774e-04 9.99806892e-01 1.00079425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.662755096000005 meters 0.029090026195857294 Centerline is valid? [True, True] Translation: X:51.66, Y:5.96, Z:1.00 [[ 9.41544412e-01 -3.36350490e-01 -1.90385923e-02 5.16631124e+01] [ 3.36297284e-01 9.41736597e-01 -6.02655703e-03 5.96163998e+00] [ 1.99563745e-02 -7.28355773e-04 9.99800586e-01 1.00079227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.692755096 meters 0.03314272310104623 Centerline is valid? [True, True] Translation: X:51.69, Y:5.97, Z:1.00 [[ 9.40190783e-01 -3.40107824e-01 -1.91822792e-02 5.16913563e+01] [ 3.40054552e-01 9.40386095e-01 -6.07399380e-03 5.96511869e+00] [ 2.01045615e-02 -8.12308387e-04 9.99797553e-01 1.00096542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.722755096 meters 0.031606648849350556 Centerline is valid? [True, True] Translation: X:51.72, Y:5.98, Z:1.00 [[ 9.39500395e-01 -3.42004920e-01 -1.92780556e-02 5.17182716e+01] [ 3.41951475e-01 9.39697772e-01 -6.10619626e-03 5.97631328e+00] [ 2.02038951e-02 -8.55385751e-04 9.99795515e-01 1.00164881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.752755096 meters 0.031293128129590786 Centerline is valid? [True, True] Translation: X:51.75, Y:5.99, Z:1.00 [[ 9.38714516e-01 -3.44137424e-01 -1.96084499e-02 5.17453402e+01] [ 3.44082476e-01 9.38918848e-01 -6.21664385e-03 5.98547503e+00] [ 2.05501230e-02 -9.11270186e-04 9.99788409e-01 1.00223909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.782755096 meters 0.03205157823499563 Centerline is valid? [True, True] Translation: X:51.77, Y:5.99, Z:1.00 [[ 9.38536071e-01 -3.44623755e-01 -1.96089325e-02 5.17720746e+01] [ 3.44568795e-01 9.38740447e-01 -6.22240246e-03 5.99301943e+00] [ 2.05520857e-02 -9.16677064e-04 9.99788363e-01 1.00260424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.812755096000004 meters 0.03243790449386122 Centerline is valid? [True, True] Translation: X:51.80, Y:6.00, Z:1.00 [[ 9.38374307e-01 -3.45064973e-01 -1.95914642e-02 5.17998782e+01] [ 3.45010138e-01 9.38578347e-01 -6.22018753e-03 6.00194157e+00] [ 2.05344930e-02 -9.22389617e-04 9.99788720e-01 1.00292631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.842755096000005 meters 0.032414645790571066 Centerline is valid? [True, True] Translation: X:51.83, Y:6.01, Z:1.00 [[ 9.38434984e-01 -3.44887062e-01 -1.98165335e-02 5.18266069e+01] [ 3.44830798e-01 9.38643735e-01 -6.29753805e-03 6.01169182e+00] [ 2.07726044e-02 -9.23521045e-04 9.99783800e-01 1.00361212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.872755096 meters 0.03299861672324257 Centerline is valid? [True, True] Translation: X:51.85, Y:6.02, Z:1.00 [[ 9.38732956e-01 -3.44071695e-01 -1.98773005e-02 5.18532305e+01] [ 3.44014789e-01 9.38942945e-01 -6.32230821e-03 6.01975299e+00] [ 2.08389784e-02 -9.03126288e-04 9.99782437e-01 1.00383454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.902755096 meters 0.03261267840678515 Centerline is valid? [True, True] Translation: X:51.88, Y:6.03, Z:1.00 [[ 9.38990717e-01 -3.43353323e-01 -2.01228530e-02 5.18802783e+01] [ 3.43294784e-01 9.39205885e-01 -6.40293965e-03 6.02954701e+00] [ 2.10979725e-02 -8.95769587e-04 9.99777012e-01 1.00425976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.932755096 meters 0.03188841648899883 Centerline is valid? [True, True] Translation: X:51.91, Y:6.04, Z:1.01 [[ 9.39682952e-01 -3.41471405e-01 -1.98299874e-02 5.19072577e+01] [ 3.41414031e-01 9.39891792e-01 -6.31497879e-03 6.03999875e+00] [ 2.07944271e-02 -8.36158044e-04 9.99783423e-01 1.00529471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.962755096 meters 0.03139703434707367 Centerline is valid? [True, True] Translation: X:51.93, Y:6.05, Z:1.01 [[ 9.39886474e-01 -3.40925961e-01 -1.95679666e-02 5.19346076e+01] [ 3.40869936e-01 9.40089799e-01 -6.23346682e-03 6.04949155e+00] [ 2.05207964e-02 -8.11380366e-04 9.99789097e-01 1.00642893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.992755096 meters 0.030762072777296517 Centerline is valid? [True, True] Translation: X:51.96, Y:6.06, Z:1.01 [[ 9.40527618e-01 -3.39193135e-01 -1.88631274e-02 5.19610400e+01] [ 3.39140626e-01 9.40716465e-01 -6.01395953e-03 6.05918374e+00] [ 1.97847483e-02 -7.40957808e-04 9.99803988e-01 1.00776196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.022755096000004 meters 0.03052531604987173 Centerline is valid? [True, True] Translation: X:51.99, Y:6.07, Z:1.01 [[ 9.40753682e-01 -3.38574668e-01 -1.87003855e-02 5.19885168e+01] [ 3.38522899e-01 9.40939252e-01 -5.96409373e-03 6.06910216e+00] [ 1.96152178e-02 -7.19765574e-04 9.99807344e-01 1.00846828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.052755096 meters 0.030084386512960082 Centerline is valid? [True, True] Translation: X:52.02, Y:6.08, Z:1.01 [[ 9.40978631e-01 -3.37961451e-01 -1.84735916e-02 5.20161333e+01] [ 3.37910714e-01 9.41159698e-01 -5.89685269e-03 6.07909732e+00] [ 1.93795088e-02 -6.93612165e-04 9.99811959e-01 1.00935696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.082755096 meters 0.029996143068341946 Centerline is valid? [True, True] Translation: X:52.04, Y:6.09, Z:1.01 [[ 9.41199235e-01 -3.37360070e-01 -1.82258829e-02 5.20422166e+01] [ 3.37310484e-01 9.41375450e-01 -5.82240140e-03 6.08796058e+00] [ 1.91216444e-02 -6.67741621e-04 9.99816942e-01 1.01015572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.112755096 meters 0.02733554267891381 Centerline is valid? [True, True] Translation: X:52.07, Y:6.10, Z:1.01 [[ 9.41499121e-01 -3.36524614e-01 -1.81821137e-02 5.20681327e+01] [ 3.36475058e-01 9.41674448e-01 -5.81113570e-03 6.10077339e+00] [ 1.90772221e-02 -6.46648612e-04 9.99817804e-01 1.01094197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.142755096 meters 0.02975050537828977 Centerline is valid? [True, True] Translation: X:52.10, Y:6.11, Z:1.01 [[ 9.41594248e-01 -3.36256060e-01 -1.82245281e-02 5.20957793e+01] [ 3.36206122e-01 9.41770384e-01 -5.82994492e-03 6.10593282e+00] [ 1.91236751e-02 -6.37755291e-04 9.99816922e-01 1.01154023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.172755096 meters 0.029962039042398313 Centerline is valid? [True, True] Translation: X:52.12, Y:6.11, Z:1.01 [[ 9.41705310e-01 -3.35944929e-01 -1.82239821e-02 5.21226751e+01] [ 3.35894899e-01 9.41881420e-01 -5.83165413e-03 6.11463846e+00] [ 1.91239448e-02 -6.29642983e-04 9.99816922e-01 1.01197364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.202755096000004 meters 0.02993094761841512 Centerline is valid? [True, True] Translation: X:52.15, Y:6.12, Z:1.01 [[ 9.41795851e-01 -3.35685569e-01 -1.83241310e-02 5.21501654e+01] [ 3.35634904e-01 9.41973889e-01 -5.86555921e-03 6.12435703e+00] [ 1.92298365e-02 -6.26058602e-04 9.99814894e-01 1.01247093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.232755096000005 meters 0.030139140192247962 Centerline is valid? [True, True] Translation: X:52.18, Y:6.13, Z:1.01 [[ 9.41760483e-01 -3.35794717e-01 -1.81411402e-02 5.21766033e+01] [ 3.35744986e-01 9.41934991e-01 -5.81179860e-03 6.13280222e+00] [ 1.90393460e-02 -6.17474622e-04 9.99818545e-01 1.01304448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.262755096 meters 0.025283864779856127 Centerline is valid? [True, True] Translation: X:52.20, Y:6.15, Z:1.01 [[ 9.41754089e-01 -3.35838420e-01 -1.76576009e-02 5.22005660e+01] [ 3.35791217e-01 9.41919423e-01 -5.66210112e-03 6.14869228e+00] [ 1.85335883e-02 -5.96960421e-04 9.99828060e-01 1.01353678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.292755096 meters 0.031000995260044458 Centerline is valid? [True, True] Translation: X:52.23, Y:6.15, Z:1.01 [[ 9.41677934e-01 -3.36053558e-01 -1.76259870e-02 5.22284325e+01] [ 3.36006448e-01 9.41842690e-01 -5.65807326e-03 6.14900346e+00] [ 1.85023227e-02 -5.94362560e-04 9.99828641e-01 1.01404970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.322755096 meters 0.02862745620474846 Centerline is valid? [True, True] Translation: X:52.25, Y:6.16, Z:1.01 [[ 9.41570415e-01 -3.36365374e-01 -1.74209075e-02 5.22542035e+01] [ 3.36319362e-01 9.41731377e-01 -5.59474743e-03 6.16094457e+00] [ 1.82876946e-02 -5.91139845e-04 9.99832591e-01 1.01433587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.352755096 meters 0.024716155049737606 Centerline is valid? [True, True] Translation: X:52.28, Y:6.18, Z:1.01 [[ 9.41584115e-01 -3.36311408e-01 -1.77197858e-02 5.22789359e+01] [ 3.36263688e-01 9.41750648e-01 -5.69640965e-03 6.17502876e+00] [ 1.86033873e-02 -5.94871697e-04 9.99826765e-01 1.01429880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.382755096000004 meters 0.024402894779306267 Centerline is valid? [True, True] Translation: X:52.31, Y:6.18, Z:1.01 [[ 9.41469629e-01 -3.36613506e-01 -1.80633486e-02 5.23052243e+01] [ 3.36563851e-01 9.41642703e-01 -5.81331678e-03 6.18426623e+00] [ 1.89660614e-02 -6.06408973e-04 9.99819944e-01 1.01433622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.412755096000005 meters 0.02547872395635866 Centerline is valid? [True, True] Translation: X:52.33, Y:6.19, Z:1.01 [[ 9.41560650e-01 -3.36329031e-01 -1.86098191e-02 5.23320380e+01] [ 3.36276140e-01 9.41744343e-01 -5.99582689e-03 6.19115308e+00] [ 1.95422625e-02 -6.12603457e-04 9.99808844e-01 1.01439263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.442755096 meters 0.024479805125804877 Centerline is valid? [True, True] Translation: X:52.36, Y:6.20, Z:1.01 [[ 9.41780381e-01 -3.35687103e-01 -1.90757359e-02 5.23592762e+01] [ 3.35631331e-01 9.41973352e-01 -6.14932466e-03 6.20215181e+00] [ 2.00330838e-02 -6.11101301e-04 9.99799131e-01 1.01404841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.472755096 meters 0.024432359166595873 Centerline is valid? [True, True] Translation: X:52.39, Y:6.21, Z:1.01 [[ 9.41862093e-01 -3.35453891e-01 -1.91437883e-02 5.23866741e+01] [ 3.35397555e-01 9.42056433e-01 -6.17712498e-03 6.21124017e+00] [ 2.01066695e-02 -6.02779906e-04 9.99797659e-01 1.01422804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.502755096 meters 0.02453559310807024 Centerline is valid? [True, True] Translation: X:52.41, Y:6.22, Z:1.01 [[ 9.42062524e-01 -3.34886976e-01 -1.92071504e-02 5.24132455e+01] [ 3.34830036e-01 9.42258122e-01 -6.20312842e-03 6.21950172e+00] [ 2.01754404e-02 -5.87396047e-04 9.99796283e-01 1.01458121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.532755096 meters 0.024334653938236667 Centerline is valid? [True, True] Translation: X:52.44, Y:6.23, Z:1.01 [[ 9.42196315e-01 -3.34512663e-01 -1.91672167e-02 5.24411928e+01] [ 3.34455837e-01 9.42391079e-01 -6.19250149e-03 6.22849998e+00] [ 2.01344842e-02 -5.76035411e-04 9.99797115e-01 1.01495121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.562755096000004 meters 0.02419207175283254 Centerline is valid? [True, True] Translation: X:52.47, Y:6.24, Z:1.02 [[ 9.42303272e-01 -3.34214766e-01 -1.91058456e-02 5.24691052e+01] [ 3.34158136e-01 9.42496776e-01 -6.17793730e-03 6.23743482e+00] [ 2.00719557e-02 -5.62883212e-04 9.99798380e-01 1.01518569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.592755096000005 meters 0.024187435157700877 Centerline is valid? [True, True] Translation: X:52.50, Y:6.25, Z:1.02 [[ 9.42318761e-01 -3.34179607e-01 -1.89563528e-02 5.24958508e+01] [ 3.34123741e-01 9.42509249e-01 -6.13519488e-03 6.24616183e+00] [ 1.99167949e-02 -5.52458296e-04 9.99801488e-01 1.01576877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.622755096 meters 0.022822973868794016 Centerline is valid? [True, True] Translation: X:52.52, Y:6.26, Z:1.02 [[ 9.42422624e-01 -3.33931160e-01 -1.81542764e-02 5.25222509e+01] [ 3.33879765e-01 9.42597322e-01 -5.88144526e-03 6.25716008e+00] [ 1.90761702e-02 -5.18538453e-04 9.99817899e-01 1.01687700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.652755096 meters 0.024547749036488088 Centerline is valid? [True, True] Translation: X:52.55, Y:6.26, Z:1.02 [[ 9.42463354e-01 -3.33835970e-01 -1.77868426e-02 5.25494280e+01] [ 3.33786517e-01 9.42631049e-01 -5.76777161e-03 6.26289757e+00] [ 1.86919197e-02 -5.01094861e-04 9.99825165e-01 1.01735212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.682755096 meters 0.023055499477216638 Centerline is valid? [True, True] Translation: X:52.57, Y:6.27, Z:1.02 [[ 9.42442073e-01 -3.33918406e-01 -1.73619301e-02 5.25748709e+01] [ 3.33871270e-01 9.42601856e-01 -5.63171938e-03 6.27404998e+00] [ 1.82459223e-02 -4.89080349e-04 9.99833410e-01 1.01790799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.712755096 meters 0.024704068476998586 Centerline is valid? [True, True] Translation: X:52.60, Y:6.28, Z:1.02 [[ 9.42595666e-01 -3.33507542e-01 -1.69153808e-02 5.26019844e+01] [ 3.33462629e-01 9.42747317e-01 -5.49278948e-03 6.27919562e+00] [ 1.77788166e-02 -4.63167797e-04 9.99841837e-01 1.01877214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.742755096 meters 0.021896618506511357 Centerline is valid? [True, True] Translation: X:52.63, Y:6.29, Z:1.02 [[ 9.42597276e-01 -3.33512114e-01 -1.67345627e-02 5.26273251e+01] [ 3.33468130e-01 9.42745703e-01 -5.43557555e-03 6.29235892e+00] [ 1.75892674e-02 -4.56884631e-04 9.99845192e-01 1.01918043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.772755096000004 meters 0.023497038660375866 Centerline is valid? [True, True] Translation: X:52.65, Y:6.30, Z:1.02 [[ 9.42705988e-01 -3.33184200e-01 -1.71379350e-02 5.26545835e+01] [ 3.33137898e-01 9.42861645e-01 -5.57308529e-03 6.29752934e+00] [ 1.80155656e-02 -4.55514777e-04 9.99837603e-01 1.01993065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.802755096 meters 0.02222622194425225 Centerline is valid? [True, True] Translation: X:52.68, Y:6.31, Z:1.02 [[ 9.42612459e-01 -3.33465048e-01 -1.68170685e-02 5.26809112e+01] [ 3.33420481e-01 9.42762355e-01 -5.47033940e-03 6.30831453e+00] [ 1.76786661e-02 -4.50744981e-04 9.99843619e-01 1.02045837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.832755096 meters 0.024071257236088932 Centerline is valid? [True, True] Translation: X:52.71, Y:6.31, Z:1.02 [[ 9.42543646e-01 -3.33659825e-01 -1.68106415e-02 5.27075261e+01] [ 3.33615214e-01 9.42693439e-01 -5.47436502e-03 6.31305764e+00] [ 1.76738571e-02 -4.48457790e-04 9.99843705e-01 1.02087033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.862755096 meters 0.022402922289831744 Centerline is valid? [True, True] Translation: X:52.73, Y:6.32, Z:1.02 [[ 9.42410814e-01 -3.34017836e-01 -1.71447776e-02 5.27331664e+01] [ 3.33971448e-01 9.42566640e-01 -5.58570618e-03 6.32433910e+00] [ 1.80258209e-02 -4.61836281e-04 9.99837415e-01 1.02095828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.892755096 meters 0.02461148637501092 Centerline is valid? [True, True] Translation: X:52.76, Y:6.33, Z:1.02 [[ 9.42313637e-01 -3.34280445e-01 -1.73664499e-02 5.27613043e+01] [ 3.34232779e-01 9.42473536e-01 -5.66421769e-03 6.32926070e+00] [ 1.82608566e-02 -4.66967229e-04 9.99833148e-01 1.02147701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.922755096 meters 0.02276103162697397 Centerline is valid? [True, True] Translation: X:52.79, Y:6.34, Z:1.02 [[ 9.42122987e-01 -3.34819051e-01 -1.73343700e-02 5.27868741e+01] [ 3.34771620e-01 9.42282324e-01 -5.65552081e-03 6.34062774e+00] [ 1.82274465e-02 -4.74858958e-04 9.99833754e-01 1.02188092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.952755096000004 meters 0.02292620524214961 Centerline is valid? [True, True] Translation: X:52.81, Y:6.35, Z:1.02 [[ 9.41954216e-01 -3.35279908e-01 -1.75965624e-02 5.28134699e+01] [ 3.35230996e-01 9.42118436e-01 -5.74728458e-03 6.34816785e+00] [ 1.85049949e-02 -4.85234182e-04 9.99828650e-01 1.02184104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.982755096000005 meters 0.022896081063106918 Centerline is valid? [True, True] Translation: X:52.84, Y:6.36, Z:1.02 [[ 9.41810349e-01 -3.35660871e-01 -1.80290304e-02 5.28406308e+01] [ 3.35609473e-01 9.41982766e-01 -5.89495266e-03 6.35696784e+00] [ 1.89617409e-02 -4.98785981e-04 9.99820086e-01 1.02193124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.012755096 meters 0.023033785532187667 Centerline is valid? [True, True] Translation: X:52.87, Y:6.37, Z:1.02 [[ 9.41779192e-01 -3.35727759e-01 -1.84071767e-02 5.28674213e+01] [ 3.35674069e-01 9.41958925e-01 -6.02512402e-03 6.36546543e+00] [ 1.93616058e-02 -5.04475470e-04 9.99812419e-01 1.02177901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.042755096 meters 0.023058341377618866 Centerline is valid? [True, True] Translation: X:52.89, Y:6.37, Z:1.02 [[ 9.41977571e-01 -3.35146233e-01 -1.88483028e-02 5.28938936e+01] [ 3.35089695e-01 9.42165991e-01 -6.17592626e-03 6.37326024e+00] [ 1.98280683e-02 -4.98288013e-04 9.99803280e-01 1.02174221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.072755096 meters 0.02286967716518669 Centerline is valid? [True, True] Translation: X:52.92, Y:6.38, Z:1.02 [[ 9.42013948e-01 -3.35034014e-01 -1.90244878e-02 5.29210160e+01] [ 3.34976344e-01 9.42205902e-01 -6.23597190e-03 6.38220032e+00] [ 2.00142474e-02 -4.98380860e-04 9.99799571e-01 1.02212446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.102755096 meters 0.023234427929079808 Centerline is valid? [True, True] Translation: X:52.95, Y:6.39, Z:1.02 [[ 9.42404319e-01 -3.33893331e-01 -1.97317781e-02 5.29474241e+01] [ 3.33830917e-01 9.42610740e-01 -6.47388803e-03 6.39000407e+00] [ 2.07609740e-02 -4.86057528e-04 9.99784350e-01 1.02198184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.132755096000004 meters 0.022487899427107515 Centerline is valid? [True, True] Translation: X:52.97, Y:6.40, Z:1.02 [[ 9.42541424e-01 -3.33519227e-01 -1.95087011e-02 5.29748366e+01] [ 3.33458093e-01 9.42743180e-01 -6.40281594e-03 6.40066456e+00] [ 2.05271571e-02 -4.70415021e-04 9.99789185e-01 1.02240736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.162755096000005 meters 0.02239828988821026 Centerline is valid? [True, True] Translation: X:53.00, Y:6.41, Z:1.02 [[ 9.42571511e-01 -3.33426425e-01 -1.96408917e-02 5.30012092e+01] [ 3.33364368e-01 9.42776007e-01 -6.44968692e-03 6.40999624e+00] [ 2.06674576e-02 -4.68282321e-04 9.99786296e-01 1.02288440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.192755096 meters 0.02220861758619065 Centerline is valid? [True, True] Translation: X:53.03, Y:6.42, Z:1.02 [[ 9.42705840e-01 -3.33064069e-01 -1.93397249e-02 5.30289913e+01] [ 3.33003697e-01 9.42904092e-01 -6.35705806e-03 6.41923319e+00] [ 2.03528133e-02 -4.47364117e-04 9.99792760e-01 1.02353740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.222755096 meters 0.022523749712688484 Centerline is valid? [True, True] Translation: X:53.06, Y:6.43, Z:1.02 [[ 9.42702201e-01 -3.33094903e-01 -1.89827727e-02 5.30551721e+01] [ 3.33036641e-01 9.42893205e-01 -6.24492684e-03 6.42685021e+00] [ 1.99788807e-02 -4.34852580e-04 9.99800308e-01 1.02413704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.252755096 meters 0.02276569783569728 Centerline is valid? [True, True] Translation: X:53.08, Y:6.44, Z:1.02 [[ 9.42520490e-01 -3.33617493e-01 -1.88279996e-02 5.30821601e+01] [ 3.33560225e-01 9.42708425e-01 -6.19686378e-03 6.43516714e+00] [ 1.98166960e-02 -4.39600691e-04 9.99803533e-01 1.02495363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.282755096 meters 0.023483809313098278 Centerline is valid? [True, True] Translation: X:53.11, Y:6.44, Z:1.03 [[ 9.42270386e-01 -3.34340601e-01 -1.85171052e-02 5.31094346e+01] [ 3.34285237e-01 9.42452210e-01 -6.10026672e-03 6.44220635e+00] [ 1.94910536e-02 -4.41894234e-04 9.99809934e-01 1.02597918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.312755096000004 meters 0.023483809313098278 Centerline is valid? [True, True] Translation: X:53.14, Y:6.45, Z:1.03 [[ 9.42174099e-01 -3.34611875e-01 -1.85165075e-02 5.31355618e+01] [ 3.34556528e-01 9.42355928e-01 -6.10208060e-03 6.45101418e+00] [ 1.94909692e-02 -4.45596154e-04 9.99809934e-01 1.02649510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.342755096000005 meters 0.021319886312161838 Centerline is valid? [True, True] Translation: X:53.16, Y:6.46, Z:1.03 [[ 9.42015225e-01 -3.35098672e-01 -1.77819027e-02 5.31611026e+01] [ 3.35047614e-01 9.42182940e-01 -5.86544450e-03 6.46343618e+00] [ 1.87193080e-02 -4.32446058e-04 9.99824685e-01 1.02733112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.372755096 meters 0.024238538184526707 Centerline is valid? [True, True] Translation: X:53.19, Y:6.47, Z:1.03 [[ 9.41815577e-01 -3.35667084e-01 -1.76359571e-02 5.31894978e+01] [ 3.35616844e-01 9.41980584e-01 -5.82355844e-03 6.46717669e+00] [ 1.85675061e-02 -4.34206224e-04 9.99827515e-01 1.02787006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.402755096 meters 0.02190483807603639 Centerline is valid? [True, True] Translation: X:53.22, Y:6.48, Z:1.03 [[ 9.41614213e-01 -3.36286127e-01 -1.65624503e-02 5.32159645e+01] [ 3.36241871e-01 9.41759771e-01 -5.47146829e-03 6.48010509e+00] [ 1.74378283e-02 -4.16976984e-04 9.99847863e-01 1.02825843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.432755096 meters 0.02203125668029912 Centerline is valid? [True, True] Translation: X:53.24, Y:6.49, Z:1.03 [[ 9.41554944e-01 -3.36446040e-01 -1.66837861e-02 5.32423811e+01] [ 3.36401069e-01 9.41702653e-01 -5.51667478e-03 6.48825143e+00] [ 1.75672290e-02 -4.18191048e-04 9.99845597e-01 1.02872235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.462755096 meters 0.0220089655552655 Centerline is valid? [True, True] Translation: X:53.27, Y:6.50, Z:1.03 [[ 9.41473512e-01 -3.36659355e-01 -1.69736486e-02 5.32687169e+01] [ 3.36612734e-01 9.41626412e-01 -5.61856278e-03 6.49674601e+00] [ 1.78743776e-02 -4.23818221e-04 9.99840151e-01 1.02886445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.492755096 meters 0.022170628521530827 Centerline is valid? [True, True] Translation: X:53.30, Y:6.50, Z:1.03 [[ 9.41598954e-01 -3.36300137e-01 -1.71355856e-02 5.32959945e+01] [ 3.36252451e-01 9.41754769e-01 -5.67838493e-03 6.50448956e+00] [ 1.80471610e-02 -4.15121336e-04 9.99837051e-01 1.02860123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.522755096000004 meters 0.021682403306839387 Centerline is valid? [True, True] Translation: X:53.32, Y:6.51, Z:1.03 [[ 9.41595974e-01 -3.36306451e-01 -1.71753789e-02 5.33223673e+01] [ 3.36258512e-01 9.41752515e-01 -5.69328812e-03 6.51404262e+00] [ 1.80896458e-02 -4.14590169e-04 9.99836283e-01 1.02866449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.552755096 meters 0.022096963081964464 Centerline is valid? [True, True] Translation: X:53.35, Y:6.52, Z:1.03 [[ 9.41867952e-01 -3.35544607e-01 -1.71632857e-02 5.33489082e+01] [ 3.35496497e-01 9.42024236e-01 -5.69549426e-03 6.52155927e+00] [ 1.80793235e-02 -3.93818728e-04 9.99836478e-01 1.02879241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.582755096 meters 0.021424083459865698 Centerline is valid? [True, True] Translation: X:53.38, Y:6.53, Z:1.03 [[ 9.41853766e-01 -3.35574911e-01 -1.73482427e-02 5.33751655e+01] [ 3.35525731e-01 9.42013440e-01 -5.75868523e-03 6.53154400e+00] [ 1.82747480e-02 -3.96942426e-04 9.99832924e-01 1.02901576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.612755096 meters 0.021113413417581307 Centerline is valid? [True, True] Translation: X:53.40, Y:6.54, Z:1.03 [[ 9.41931955e-01 -3.35354575e-01 -1.73638027e-02 5.34018428e+01] [ 3.35305158e-01 9.42091906e-01 -5.76996151e-03 6.54071593e+00] [ 1.82932810e-02 -3.87261488e-04 9.99832589e-01 1.02969751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.642755096 meters 0.020742732694094188 Centerline is valid? [True, True] Translation: X:53.43, Y:6.55, Z:1.03 [[ 9.42219695e-01 -3.34537322e-01 -1.75164515e-02 5.34297395e+01] [ 3.34486774e-01 9.42382430e-01 -5.82698697e-03 6.54988983e+00] [ 1.84565407e-02 -3.68719454e-04 9.99829596e-01 1.03063051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.672755096 meters 0.02071488460873391 Centerline is valid? [True, True] Translation: X:53.46, Y:6.56, Z:1.03 [[ 9.42307302e-01 -3.34313146e-01 -1.70783001e-02 5.34560439e+01] [ 3.34264973e-01 9.42461987e-01 -5.68598855e-03 6.55873863e+00] [ 1.79965494e-02 -3.50728995e-04 9.99837987e-01 1.03124592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.702755096000004 meters 0.02076076631114858 Centerline is valid? [True, True] Translation: X:53.48, Y:6.57, Z:1.03 [[ 9.42449106e-01 -3.33905328e-01 -1.72312334e-02 5.34822324e+01] [ 3.33856106e-01 9.42606554e-01 -5.74316880e-03 6.56700024e+00] [ 1.81599482e-02 -3.40108169e-04 9.99835037e-01 1.03170770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.732755096000005 meters 0.021032502520897837 Centerline is valid? [True, True] Translation: X:53.51, Y:6.57, Z:1.03 [[ 9.42631045e-01 -3.33376898e-01 -1.75087749e-02 5.35091957e+01] [ 3.33325951e-01 9.42793579e-01 -5.83761135e-03 6.57482077e+00] [ 1.84532854e-02 -3.33415359e-04 9.99829668e-01 1.03233086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.762755096 meters 0.020970145610486157 Centerline is valid? [True, True] Translation: X:53.54, Y:6.58, Z:1.03 [[ 9.42528625e-01 -3.33663853e-01 -1.75563397e-02 5.35354223e+01] [ 3.33612644e-01 9.42692059e-01 -5.85531078e-03 6.58342812e+00] [ 1.85039276e-02 -3.38218892e-04 9.99828730e-01 1.03269818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.792755096 meters 0.020668061914066425 Centerline is valid? [True, True] Translation: X:53.56, Y:6.59, Z:1.03 [[ 9.42419342e-01 -3.33925970e-01 -1.84182241e-02 5.35618559e+01] [ 3.33869533e-01 9.42599237e-01 -6.14925780e-03 6.59219631e+00] [ 1.94144008e-02 -3.54104387e-04 9.99811460e-01 1.03267332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.822755096 meters 0.020849935377944794 Centerline is valid? [True, True] Translation: X:53.59, Y:6.60, Z:1.03 [[ 9.42173579e-01 -3.34616120e-01 -1.84661829e-02 5.35889751e+01] [ 3.34559398e-01 9.42354456e-01 -6.17163636e-03 6.60050577e+00] [ 1.94668188e-02 -3.63282320e-04 9.99810438e-01 1.03283130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.852755096 meters 0.021000440173162122 Centerline is valid? [True, True] Translation: X:53.62, Y:6.61, Z:1.03 [[ 9.41956055e-01 -3.35226098e-01 -1.85000989e-02 5.36160297e+01] [ 3.35169161e-01 9.42137636e-01 -6.18931103e-03 6.60879219e+00] [ 1.95044580e-02 -3.70603621e-04 9.99809701e-01 1.03344368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.882755096000004 meters 0.021524899784031475 Centerline is valid? [True, True] Translation: X:53.64, Y:6.62, Z:1.03 [[ 9.41641580e-01 -3.36098955e-01 -1.86715414e-02 5.36433663e+01] [ 3.36041007e-01 9.41826599e-01 -6.25287276e-03 6.61528937e+00] [ 1.96869383e-02 -3.86438579e-04 9.99806119e-01 1.03386063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.912755096000005 meters 0.021910842883853265 Centerline is valid? [True, True] Translation: X:53.67, Y:6.62, Z:1.03 [[ 9.41444596e-01 -3.36642697e-01 -1.88087229e-02 5.36704268e+01] [ 3.36583963e-01 9.41632378e-01 -6.30080689e-03 6.62249544e+00] [ 1.98320231e-02 -3.98853890e-04 9.99803247e-01 1.03453449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.942755096 meters 0.022232198770638482 Centerline is valid? [True, True] Translation: X:53.70, Y:6.63, Z:1.04 [[ 9.41071045e-01 -3.37695054e-01 -1.86370222e-02 5.36982114e+01] [ 3.37637553e-01 9.41255480e-01 -6.24537019e-03 6.63027529e+00] [ 1.96512299e-02 -4.15221509e-04 9.99806810e-01 1.03538690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.972755096 meters 0.021393697676358323 Centerline is valid? [True, True] Translation: X:53.73, Y:6.64, Z:1.04 [[ 9.40794844e-01 -3.38471674e-01 -1.84928791e-02 5.37259799e+01] [ 3.38415104e-01 9.40976486e-01 -6.20242584e-03 6.63942757e+00] [ 1.95007098e-02 -4.23059351e-04 9.99809754e-01 1.03683692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.002755096 meters 0.023220140377703185 Centerline is valid? [True, True] Translation: X:53.75, Y:6.64, Z:1.04 [[ 9.40635675e-01 -3.38954686e-01 -1.77270601e-02 5.37535733e+01] [ 3.38902693e-01 9.40802611e-01 -5.95081704e-03 6.64488865e+00] [ 1.86947217e-02 -4.10197586e-04 9.99825154e-01 1.03776782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.032755096 meters 0.02372733243434642 Centerline is valid? [True, True] Translation: X:53.78, Y:6.65, Z:1.04 [[ 9.40263620e-01 -3.40003514e-01 -1.73762701e-02 5.37820969e+01] [ 3.39953705e-01 9.40424071e-01 -5.83484833e-03 6.65213983e+00] [ 1.83249316e-02 -4.20831788e-04 9.99831996e-01 1.03864325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.062755096000004 meters 0.02257605928420692 Centerline is valid? [True, True] Translation: X:53.81, Y:6.66, Z:1.04 [[ 9.40020623e-01 -3.40683659e-01 -1.72009822e-02 5.38090328e+01] [ 3.40634876e-01 9.40177889e-01 -5.78077022e-03 6.66265685e+00] [ 1.81413971e-02 -4.25211226e-04 9.99835341e-01 1.03925789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.092755096000005 meters 0.02231047317313278 Centerline is valid? [True, True] Translation: X:53.84, Y:6.67, Z:1.04 [[ 9.39639859e-01 -3.41708880e-01 -1.76628697e-02 5.38363211e+01] [ 3.41657522e-01 9.39805744e-01 -5.94142296e-03 6.67183009e+00] [ 1.86299034e-02 -4.51854461e-04 9.99826346e-01 1.03958830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.122755096 meters 0.022520275085214064 Centerline is valid? [True, True] Translation: X:53.86, Y:6.68, Z:1.04 [[ 9.39236855e-01 -3.42803290e-01 -1.78894862e-02 5.38639466e+01] [ 3.42750698e-01 9.39407089e-01 -6.02324187e-03 6.67980281e+00] [ 1.88702973e-02 -4.74383123e-04 9.99821828e-01 1.03986892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.152755096 meters 0.023491156908616122 Centerline is valid? [True, True] Translation: X:53.89, Y:6.68, Z:1.04 [[ 9.38534341e-01 -3.44683345e-01 -1.86194278e-02 5.38918839e+01] [ 3.44626629e-01 9.38718868e-01 -6.27481393e-03 6.68481901e+00] [ 1.96412321e-02 -5.27622284e-04 9.99806953e-01 1.03988240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.182755096 meters 0.023956647036756068 Centerline is valid? [True, True] Translation: X:53.92, Y:6.69, Z:1.04 [[ 9.38163839e-01 -3.45668781e-01 -1.90185662e-02 5.39195304e+01] [ 3.45609762e-01 9.38356426e-01 -6.41169103e-03 6.69189648e+00] [ 2.00625152e-02 -5.57785461e-04 9.99798572e-01 1.04000844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.212755096 meters 0.02427114081180329 Centerline is valid? [True, True] Translation: X:53.95, Y:6.70, Z:1.04 [[ 9.37808320e-01 -3.46617577e-01 -1.92824067e-02 5.39472118e+01] [ 3.46556988e-01 9.38006353e-01 -6.50656529e-03 6.69980966e+00] [ 2.03423099e-02 -5.80541751e-04 9.99792905e-01 1.04048475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.242755096 meters 0.02527384861528282 Centerline is valid? [True, True] Translation: X:53.97, Y:6.71, Z:1.04 [[ 9.37411828e-01 -3.47658005e-01 -1.98236452e-02 5.39743915e+01] [ 3.47594079e-01 9.37621210e-01 -6.69495664e-03 6.70554422e+00] [ 2.09146254e-02 -6.14650149e-04 9.99781076e-01 1.04004593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.272755096000004 meters 0.02541699364950329 Centerline is valid? [True, True] Translation: X:54.00, Y:6.71, Z:1.04 [[ 9.37217559e-01 -3.48164910e-01 -2.01107752e-02 5.40014107e+01] [ 3.48099177e-01 9.37433089e-01 -6.79466503e-03 6.71388782e+00] [ 2.12181701e-02 -6.32464934e-04 9.99774669e-01 1.04036470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.302755096 meters 0.025956684872990247 Centerline is valid? [True, True] Translation: X:54.03, Y:6.72, Z:1.04 [[ 9.37015411e-01 -3.48684325e-01 -2.05270641e-02 5.40283476e+01] [ 3.48615827e-01 9.37240000e-01 -6.94176819e-03 6.71997858e+00] [ 2.16592713e-02 -6.51515671e-04 9.99765198e-01 1.04026187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.332755096 meters 0.0247778424787505 Centerline is valid? [True, True] Translation: X:54.05, Y:6.73, Z:1.04 [[ 9.36781118e-01 -3.49294959e-01 -2.08367211e-02 5.40549453e+01] [ 3.49224467e-01 9.37012582e-01 -7.04933126e-03 6.73018459e+00] [ 2.19865657e-02 -6.73012395e-04 9.99758040e-01 1.04108450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.362755096 meters 0.024328549654259405 Centerline is valid? [True, True] Translation: X:54.08, Y:6.74, Z:1.04 [[ 9.36988994e-01 -3.48775221e-01 -2.01859119e-02 5.40819641e+01] [ 3.48708816e-01 9.37206190e-01 -6.83517232e-03 6.74101616e+00] [ 2.13023003e-02 -6.34524198e-04 9.99772879e-01 1.04263560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.392755096 meters 0.023913195551447688 Centerline is valid? [True, True] Translation: X:54.11, Y:6.75, Z:1.04 [[ 9.37296861e-01 -3.47991283e-01 -1.94077564e-02 5.41087389e+01] [ 3.47929613e-01 9.37497585e-01 -6.57743785e-03 6.75157880e+00] [ 2.04836158e-02 -5.87521345e-04 9.99790016e-01 1.04340424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.422755096 meters 0.025142196029752213 Centerline is valid? [True, True] Translation: X:54.14, Y:6.76, Z:1.04 [[ 9.37564602e-01 -3.47236817e-01 -1.99802362e-02 5.41361324e+01] [ 3.47171160e-01 9.37777294e-01 -6.77730447e-03 6.75748367e+00] [ 2.10903414e-02 -5.82401008e-04 9.99777404e-01 1.04315371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.452755096000004 meters 0.02354115938639828 Centerline is valid? [True, True] Translation: X:54.16, Y:6.77, Z:1.04 [[ 9.37622619e-01 -3.47072968e-01 -2.01042239e-02 5.41621722e+01] [ 3.47006400e-01 9.37837949e-01 -6.82201860e-03 6.76922562e+00] [ 2.12222423e-02 -5.79815404e-04 9.99774615e-01 1.04378721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.482755096000005 meters 0.02536822843330654 Centerline is valid? [True, True] Translation: X:54.19, Y:6.78, Z:1.04 [[ 9.38054658e-01 -3.45897925e-01 -2.02011032e-02 5.41893778e+01] [ 3.45830317e-01 9.38271988e-01 -6.86069481e-03 6.77575705e+00] [ 2.13272293e-02 -5.50447197e-04 9.99772397e-01 1.04377827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.512755096 meters 0.0236008954536653 Centerline is valid? [True, True] Translation: X:54.22, Y:6.79, Z:1.04 [[ 9.38213739e-01 -3.45480691e-01 -1.99517179e-02 5.42159362e+01] [ 3.45414576e-01 9.38425708e-01 -6.77943521e-03 6.78783243e+00] [ 2.10653689e-02 -5.31054914e-04 9.99777959e-01 1.04489366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.542755096 meters 0.022638834634809073 Centerline is valid? [True, True] Translation: X:54.24, Y:6.80, Z:1.05 [[ 9.38342907e-01 -3.45140077e-01 -1.97716246e-02 5.42423687e+01] [ 3.45074954e-01 9.38551045e-01 -6.72399052e-03 6.79920645e+00] [ 2.08773976e-02 -5.13283659e-04 9.99781912e-01 1.04586643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.572755096 meters 0.02137871132001488 Centerline is valid? [True, True] Translation: X:54.27, Y:6.81, Z:1.05 [[ 9.38715381e-01 -3.44132575e-01 -1.96520527e-02 5.42683364e+01] [ 3.44067895e-01 9.38920943e-01 -6.68920993e-03 6.81350801e+00] [ 2.07536989e-02 -4.82376171e-04 9.99784502e-01 1.04648231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.602755096 meters 0.02151719859505442 Centerline is valid? [True, True] Translation: X:54.29, Y:6.82, Z:1.05 [[ 9.38899311e-01 -3.43615429e-01 -1.99128083e-02 5.42939829e+01] [ 3.43548783e-01 9.39110331e-01 -6.78376077e-03 6.82318115e+00] [ 2.10313288e-02 -4.71752735e-04 9.99778706e-01 1.04683544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.632755096000004 meters 0.02046973026148453 Centerline is valid? [True, True] Translation: X:54.32, Y:6.83, Z:1.05 [[ 9.39156029e-01 -3.42938937e-01 -1.94637588e-02 5.43204710e+01] [ 3.42875068e-01 9.39357593e-01 -6.63322101e-03 6.83491598e+00] [ 2.05582194e-02 -4.44008105e-04 9.99788559e-01 1.04809225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.662755096000005 meters 0.020451377136664707 Centerline is valid? [True, True] Translation: X:54.35, Y:6.84, Z:1.05 [[ 9.39079711e-01 -3.43157434e-01 -1.92943318e-02 5.43471760e+01] [ 3.43094594e-01 9.39277798e-01 -6.58154975e-03 6.84458269e+00] [ 2.03812452e-02 -4.39181100e-04 9.99792184e-01 1.04887226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.692755096 meters 0.022591275360967278 Centerline is valid? [True, True] Translation: X:54.37, Y:6.85, Z:1.05 [[ 9.39020446e-01 -3.43328748e-01 -1.91304257e-02 5.43737164e+01] [ 3.43266876e-01 9.39215195e-01 -6.53214356e-03 6.85018108e+00] [ 2.02102592e-02 -4.33025116e-04 9.99795658e-01 1.04901319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.722755096 meters 0.02062869517391432 Centerline is valid? [True, True] Translation: X:54.40, Y:6.86, Z:1.05 [[ 9.38928933e-01 -3.43562558e-01 -1.94223288e-02 5.43986857e+01] [ 3.43498763e-01 9.39129690e-01 -6.63520267e-03 6.86305740e+00] [ 2.05196928e-02 -4.41562149e-04 9.99789351e-01 1.04946965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.752755096 meters 0.021156487830434167 Centerline is valid? [True, True] Translation: X:54.42, Y:6.87, Z:1.05 [[ 9.38577630e-01 -3.44509527e-01 -1.96269769e-02 5.44245940e+01] [ 3.44444451e-01 9.38782708e-01 -6.71166762e-03 6.87238857e+00] [ 2.07376999e-02 -4.60982183e-04 9.99784845e-01 1.04950491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.782755096 meters 0.02134299497963066 Centerline is valid? [True, True] Translation: X:54.45, Y:6.88, Z:1.05 [[ 9.38176329e-01 -3.45599066e-01 -1.96586020e-02 5.44517614e+01] [ 3.45533967e-01 9.38382146e-01 -6.72502024e-03 6.88305477e+00] [ 2.07714419e-02 -4.83459957e-04 9.99784133e-01 1.04987506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.812755096000004 meters 0.021822286306743904 Centerline is valid? [True, True] Translation: X:54.48, Y:6.89, Z:1.05 [[ 9.38072433e-01 -3.45891363e-01 -1.94749836e-02 5.44784440e+01] [ 3.45827423e-01 9.38274445e-01 -6.66777779e-03 6.89170617e+00] [ 2.05792062e-02 -4.80124862e-04 9.99788110e-01 1.05030612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.842755096000005 meters 0.02333879837290185 Centerline is valid? [True, True] Translation: X:54.51, Y:6.90, Z:1.05 [[ 9.37940683e-01 -3.46245655e-01 -1.95249106e-02 5.45053904e+01] [ 3.46181420e-01 9.38143757e-01 -6.68698810e-03 6.89858872e+00] [ 2.06325135e-02 -4.87163075e-04 9.99787008e-01 1.05075804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.872755096 meters 0.022150666876584717 Centerline is valid? [True, True] Translation: X:54.53, Y:6.91, Z:1.05 [[ 9.37762964e-01 -3.46719131e-01 -1.96587839e-02 5.45314975e+01] [ 3.46654062e-01 9.37968867e-01 -6.73539492e-03 6.91019607e+00] [ 2.07746175e-02 -4.98593395e-04 9.99784060e-01 1.05134486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.902755096 meters 0.021747521952305424 Centerline is valid? [True, True] Translation: X:54.56, Y:6.92, Z:1.05 [[ 9.37458611e-01 -3.47548330e-01 -1.95323176e-02 5.45581527e+01] [ 3.47484140e-01 9.37661933e-01 -6.69862939e-03 6.92159072e+00] [ 2.06428081e-02 -5.07482759e-04 9.99786786e-01 1.05160448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.932755096 meters 0.02292348629409536 Centerline is valid? [True, True] Translation: X:54.58, Y:6.93, Z:1.05 [[ 9.37465634e-01 -3.47529715e-01 -1.95264776e-02 5.45845639e+01] [ 3.47465442e-01 9.37668836e-01 -6.70232926e-03 6.92892500e+00] [ 2.06386281e-02 -5.01572817e-04 9.99786875e-01 1.05170849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.962755096 meters 0.02162594902664019 Centerline is valid? [True, True] Translation: X:54.61, Y:6.94, Z:1.05 [[ 9.37201319e-01 -3.48242600e-01 -1.95135540e-02 5.46111427e+01] [ 3.48178499e-01 9.37404303e-01 -6.70113480e-03 6.94129358e+00] [ 2.06257101e-02 -5.13887553e-04 9.99787135e-01 1.05238261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.992755096 meters 0.023762948491257842 Centerline is valid? [True, True] Translation: X:54.64, Y:6.95, Z:1.05 [[ 9.37065823e-01 -3.48616660e-01 -1.93408056e-02 5.46378051e+01] [ 3.48553650e-01 9.37265257e-01 -6.64763810e-03 6.94720660e+00] [ 2.04449425e-02 -5.12033902e-04 9.99790849e-01 1.05270685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.022755096000004 meters 0.02236656033966593 Centerline is valid? [True, True] Translation: X:54.66, Y:6.96, Z:1.05 [[ 9.36738553e-01 -3.49496191e-01 -1.93208805e-02 5.46644475e+01] [ 3.49433400e-01 9.36937637e-01 -6.64553245e-03 6.95936741e+00] [ 2.04250484e-02 -5.26234508e-04 9.99791248e-01 1.05312780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.052755096000006 meters 0.022991942997533616 Centerline is valid? [True, True] Translation: X:54.69, Y:6.97, Z:1.05 [[ 9.36371945e-01 -3.50517926e-01 -1.85678321e-02 5.46907018e+01] [ 3.50460032e-01 9.36555877e-01 -6.39181910e-03 6.96724481e+00] [ 1.96302595e-02 -5.22162967e-04 9.99807172e-01 1.05390948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.082755096 meters 0.02510038430061726 Centerline is valid? [True, True] Translation: X:54.72, Y:6.97, Z:1.05 [[ 9.36176434e-01 -3.51051050e-01 -1.83533382e-02 5.47177789e+01] [ 3.50994543e-01 9.36356174e-01 -6.32031303e-03 6.97316972e+00] [ 1.94040141e-02 -5.24993437e-04 9.99811587e-01 1.05461163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.112755096 meters 0.02598992213751291 Centerline is valid? [True, True] Translation: X:54.74, Y:6.98, Z:1.06 [[ 9.35934263e-01 -3.51701380e-01 -1.82536411e-02 5.47441013e+01] [ 3.51645571e-01 9.36112095e-01 -6.28791593e-03 6.98144097e+00] [ 1.92989229e-02 -5.33736074e-04 9.99813616e-01 1.05526717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.142755096 meters 0.022622604985883407 Centerline is valid? [True, True] Translation: X:54.77, Y:7.00, Z:1.06 [[ 9.35960781e-01 -3.51643565e-01 -1.80061128e-02 5.47689469e+01] [ 3.51589214e-01 9.36133820e-01 -6.20450707e-03 6.99663468e+00] [ 1.90379061e-02 -5.23579756e-04 9.99818626e-01 1.05666124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.172755096 meters 0.02393340514660941 Centerline is valid? [True, True] Translation: X:54.80, Y:7.00, Z:1.06 [[ 9.36037275e-01 -3.51443599e-01 -1.79336814e-02 5.47955925e+01] [ 3.51389528e-01 9.36208916e-01 -6.18581209e-03 7.00383961e+00] [ 1.89636365e-02 -5.11557154e-04 9.99820043e-01 1.05759811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.202755096000004 meters 0.02393340514660941 Centerline is valid? [True, True] Translation: X:54.82, Y:7.01, Z:1.06 [[ 9.35932257e-01 -3.51723210e-01 -1.79330616e-02 5.48216088e+01] [ 3.51669156e-01 9.36103904e-01 -6.18760857e-03 7.01300245e+00] [ 1.89635345e-02 -5.15322166e-04 9.99820043e-01 1.05811417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.232755096000005 meters 0.02211980387212068 Centerline is valid? [True, True] Translation: X:54.85, Y:7.03, Z:1.06 [[ 9.36243821e-01 -3.50886262e-01 -1.80648639e-02 5.48475108e+01] [ 3.50831139e-01 9.36417954e-01 -6.23915935e-03 7.02597510e+00] [ 1.91054982e-02 -4.96342386e-04 9.99817350e-01 1.05921161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.262755096 meters 0.021876449750342513 Centerline is valid? [True, True] Translation: X:54.87, Y:7.04, Z:1.06 [[ 9.36334931e-01 -3.50597613e-01 -1.89264831e-02 5.48744127e+01] [ 3.50536926e-01 9.36526057e-01 -6.54279222e-03 7.03639709e+00] [ 2.00190319e-02 -5.08186291e-04 9.99799470e-01 1.05964462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.292755096 meters 0.02115488538013983 Centerline is valid? [True, True] Translation: X:54.90, Y:7.05, Z:1.06 [[ 9.36390003e-01 -3.50448673e-01 -1.89602099e-02 5.49006553e+01] [ 3.50387620e-01 9.36581805e-01 -6.56034545e-03 7.04753976e+00] [ 2.00568520e-02 -5.00380944e-04 9.99798716e-01 1.06002011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.322755096 meters 0.02107167943675779 Centerline is valid? [True, True] Translation: X:54.93, Y:7.06, Z:1.06 [[ 9.36811814e-01 -3.49280066e-01 -1.96738320e-02 5.49269078e+01] [ 3.49213932e-01 9.37018249e-01 -6.81405286e-03 7.05758645e+00] [ 2.08147524e-02 -4.86891012e-04 9.99783231e-01 1.06013224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.352755096 meters 0.02069510986189219 Centerline is valid? [True, True] Translation: X:54.95, Y:7.07, Z:1.06 [[ 9.36855672e-01 -3.49159037e-01 -1.97336450e-02 5.49526819e+01] [ 3.49092418e-01 9.37063356e-01 -6.83745122e-03 7.06788866e+00] [ 2.08790335e-02 -4.83160864e-04 9.99781892e-01 1.06085557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.382755096000004 meters 0.02083255544235154 Centerline is valid? [True, True] Translation: X:54.98, Y:7.08, Z:1.06 [[ 9.36963229e-01 -3.48868568e-01 -1.97643644e-02 5.49791678e+01] [ 3.48801541e-01 9.37171542e-01 -6.85458618e-03 7.07683661e+00] [ 2.09139495e-02 -4.71345546e-04 9.99781168e-01 1.06140781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.412755096000005 meters 0.02147865718468408 Centerline is valid? [True, True] Translation: X:55.01, Y:7.08, Z:1.06 [[ 9.37085315e-01 -3.48578554e-01 -1.90815298e-02 5.50057137e+01] [ 3.48515978e-01 9.37279463e-01 -6.61978475e-03 7.08466736e+00] [ 2.01922410e-02 -4.46914953e-04 9.99796016e-01 1.06235988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.442755096 meters 0.02085423849031481 Centerline is valid? [True, True] Translation: X:55.03, Y:7.09, Z:1.06 [[ 9.36948905e-01 -3.48952561e-01 -1.89435916e-02 5.50317233e+01] [ 3.48890916e-01 9.37140282e-01 -6.57425144e-03 7.09488773e+00] [ 2.00469047e-02 -4.49509344e-04 9.99798940e-01 1.06333844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.472755096 meters 0.02120018470245998 Centerline is valid? [True, True] Translation: X:55.06, Y:7.10, Z:1.06 [[ 9.36896020e-01 -3.49112120e-01 -1.86165156e-02 5.50575098e+01] [ 3.49052494e-01 9.37080858e-01 -6.46696985e-03 7.10329223e+00] [ 1.97028779e-02 -4.39262858e-04 9.99805783e-01 1.06423543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.502755096 meters 0.02140459170310958 Centerline is valid? [True, True] Translation: X:55.08, Y:7.11, Z:1.06 [[ 9.36725104e-01 -3.49596743e-01 -1.81162252e-02 5.50840162e+01] [ 3.49540289e-01 9.36900171e-01 -6.29736636e-03 7.11232987e+00] [ 1.91746332e-02 -4.33449438e-04 9.99816056e-01 1.06465273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.532755096 meters 0.021112741523272114 Centerline is valid? [True, True] Translation: X:55.11, Y:7.12, Z:1.07 [[ 9.36610141e-01 -3.49907220e-01 -1.80660018e-02 5.51103376e+01] [ 3.49851020e-01 9.36784260e-01 -6.28601201e-03 7.12195572e+00] [ 1.91234671e-02 -4.32866555e-04 9.99817036e-01 1.06524134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.562755096000004 meters 0.021618842710536712 Centerline is valid? [True, True] Translation: X:55.14, Y:7.13, Z:1.07 [[ 9.36587894e-01 -3.49987211e-01 -1.76654631e-02 5.51365102e+01] [ 3.49933379e-01 9.36754384e-01 -6.15256788e-03 7.12997428e+00] [ 1.87015201e-02 -4.19314597e-04 9.99825023e-01 1.06585668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.592755096000005 meters 0.021660685999457606 Centerline is valid? [True, True] Translation: X:55.16, Y:7.14, Z:1.07 [[ 9.36673732e-01 -3.49790219e-01 -1.70036209e-02 5.51630577e+01] [ 3.49740243e-01 9.36827970e-01 -5.92594650e-03 7.13875884e+00] [ 1.80023058e-02 -3.96172077e-04 9.99837867e-01 1.06685632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.622755096 meters 0.021406127662097086 Centerline is valid? [True, True] Translation: X:55.19, Y:7.15, Z:1.07 [[ 9.36710184e-01 -3.49690366e-01 -1.70493200e-02 5.51895831e+01] [ 3.49640075e-01 9.36865248e-01 -5.94349761e-03 7.14828545e+00] [ 1.80512993e-02 -3.93790781e-04 9.99836984e-01 1.06729181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.652755096 meters 0.021436782082531608 Centerline is valid? [True, True] Translation: X:55.22, Y:7.16, Z:1.07 [[ 9.36915281e-01 -3.49124522e-01 -1.73730985e-02 5.52161914e+01] [ 3.49072095e-01 9.37076262e-01 -6.06234627e-03 7.15746029e+00] [ 1.83964320e-02 -3.84559047e-04 9.99830697e-01 1.06731008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.682755096 meters 0.021340781027088487 Centerline is valid? [True, True] Translation: X:55.24, Y:7.17, Z:1.07 [[ 9.36939767e-01 -3.49055698e-01 -1.74354101e-02 5.52429020e+01] [ 3.49002850e-01 9.37101901e-01 -6.08583891e-03 7.16709201e+00] [ 1.84630527e-02 -3.82943345e-04 9.99829470e-01 1.06762954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.712755096 meters 0.021729884112215533 Centerline is valid? [True, True] Translation: X:55.27, Y:7.18, Z:1.07 [[ 9.36859522e-01 -3.49267159e-01 -1.75124811e-02 5.52680944e+01] [ 3.49213773e-01 9.37023108e-01 -6.11850963e-03 7.17561469e+00] [ 1.85465939e-02 -3.83415573e-04 9.99827924e-01 1.06793122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.742755096 meters 0.021910621601855595 Centerline is valid? [True, True] Translation: X:55.29, Y:7.18, Z:1.07 [[ 9.36803905e-01 -3.49391517e-01 -1.80003050e-02 5.52939738e+01] [ 3.49335088e-01 9.36976741e-01 -6.29157949e-03 7.18381541e+00] [ 1.90640916e-02 -3.94161886e-04 9.99818186e-01 1.06798846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.772755096000004 meters 0.02190875818967524 Centerline is valid? [True, True] Translation: X:55.32, Y:7.19, Z:1.07 [[ 9.36714509e-01 -3.49637027e-01 -1.78851672e-02 5.53203635e+01] [ 3.49581287e-01 9.36885156e-01 -6.25525629e-03 7.19273846e+00] [ 1.89434169e-02 -3.92930457e-04 9.99820480e-01 1.06856537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.802755096000006 meters 0.022069576160469766 Centerline is valid? [True, True] Translation: X:55.35, Y:7.20, Z:1.07 [[ 9.36552848e-01 -3.50060499e-01 -1.80668352e-02 5.53472916e+01] [ 3.50003589e-01 9.36727008e-01 -6.32460287e-03 7.20164800e+00] [ 1.91376862e-02 -4.00132342e-04 9.99816778e-01 1.06901229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.832755096 meters 0.02241464590240908 Centerline is valid? [True, True] Translation: X:55.37, Y:7.21, Z:1.07 [[ 9.36323778e-01 -3.50702891e-01 -1.74718304e-02 5.53746363e+01] [ 3.50649681e-01 9.36486693e-01 -6.12167648e-03 7.21079868e+00] [ 1.85090263e-02 -3.94620490e-04 9.99828615e-01 1.06998554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.862755096 meters 0.02082350534746014 Centerline is valid? [True, True] Translation: X:55.40, Y:7.22, Z:1.07 [[ 9.36171476e-01 -3.51114210e-01 -1.73717806e-02 5.53999500e+01] [ 3.51061591e-01 9.36332556e-01 -6.09136870e-03 7.22300609e+00] [ 1.84045299e-02 -3.95999321e-04 9.99830544e-01 1.07035948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.892755096 meters 0.020958432455743227 Centerline is valid? [True, True] Translation: X:55.43, Y:7.23, Z:1.07 [[ 9.35963014e-01 -3.51673996e-01 -1.72811224e-02 5.54268245e+01] [ 3.51621913e-01 9.36122450e-01 -6.06544775e-03 7.23260554e+00] [ 1.83103069e-02 -3.99386569e-04 9.99832273e-01 1.07052622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.922755096 meters 0.021582339458553364 Centerline is valid? [True, True] Translation: X:55.45, Y:7.24, Z:1.07 [[ 9.35630542e-01 -3.52554647e-01 -1.73410012e-02 5.54537810e+01] [ 3.52502242e-01 9.35791136e-01 -6.09247399e-03 7.24019975e+00] [ 1.83754853e-02 -4.12437074e-04 9.99831071e-01 1.07097288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.952755096000004 meters 0.021951719272789147 Centerline is valid? [True, True] Translation: X:55.48, Y:7.25, Z:1.07 [[ 9.35407991e-01 -3.53135444e-01 -1.75285013e-02 5.54807131e+01] [ 3.53081951e-01 9.35572112e-01 -6.16112784e-03 7.24840482e+00] [ 1.85748896e-02 -4.25829221e-04 9.99827381e-01 1.07190099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.982755096000005 meters 0.02234169457839627 Centerline is valid? [True, True] Translation: X:55.51, Y:7.26, Z:1.07 [[ 9.35135827e-01 -3.53864929e-01 -1.73377220e-02 5.55085507e+01] [ 3.53812614e-01 9.35296438e-01 -6.09981952e-03 7.25643389e+00] [ 1.83744218e-02 -4.30144961e-04 9.99831084e-01 1.07260343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.012755096 meters 0.02252827107940286 Centerline is valid? [True, True] Translation: X:55.53, Y:7.27, Z:1.07 [[ 9.35110917e-01 -3.53909804e-01 -1.77601777e-02 5.55341612e+01] [ 3.53854816e-01 9.35279456e-01 -6.25372409e-03 7.26510015e+00] [ 1.88239836e-02 -4.36598745e-04 9.99822718e-01 1.07291540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.042755096 meters 0.021488703479424047 Centerline is valid? [True, True] Translation: X:55.56, Y:7.28, Z:1.07 [[ 9.35011295e-01 -3.54171215e-01 -1.77940845e-02 5.55595412e+01] [ 3.54116015e-01 9.35180494e-01 -6.26825680e-03 7.27634209e+00] [ 1.88607169e-02 -4.40279401e-04 9.99822024e-01 1.07335517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.072755096 meters 0.021262141442260338 Centerline is valid? [True, True] Translation: X:55.59, Y:7.29, Z:1.07 [[ 9.35049118e-01 -3.54051931e-01 -1.81762722e-02 5.55861253e+01] [ 3.53994189e-01 9.35225660e-01 -6.40927987e-03 7.28680275e+00] [ 1.92681340e-02 -4.41303220e-04 9.99814255e-01 1.07352062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.102755096 meters 0.021133556606800843 Centerline is valid? [True, True] Translation: X:55.61, Y:7.30, Z:1.07 [[ 9.35143199e-01 -3.53808861e-01 -1.80689700e-02 5.56133333e+01] [ 3.53751635e-01 9.35317650e-01 -6.37761939e-03 7.29654689e+00] [ 1.91566848e-02 -4.27940269e-04 9.99816402e-01 1.07380004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.132755096000004 meters 0.02015905812277416 Centerline is valid? [True, True] Translation: X:55.64, Y:7.31, Z:1.07 [[ 9.35072514e-01 -3.53972412e-01 -1.85182307e-02 5.56389354e+01] [ 3.53912224e-01 9.35255762e-01 -6.54192669e-03 7.30765010e+00] [ 1.96349435e-02 -4.36652372e-04 9.99807121e-01 1.07422136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.162755096000005 meters 0.021163335757748755 Centerline is valid? [True, True] Translation: X:55.66, Y:7.31, Z:1.07 [[ 9.35078818e-01 -3.53964461e-01 -1.83511695e-02 5.56647040e+01] [ 3.53905228e-01 9.35258776e-01 -6.48929956e-03 7.31496422e+00] [ 1.94600738e-02 -4.26568262e-04 9.99810544e-01 1.07472840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.192755096 meters 0.020114701784070148 Centerline is valid? [True, True] Translation: X:55.69, Y:7.33, Z:1.07 [[ 9.35048318e-01 -3.54023018e-01 -1.87708469e-02 5.56901143e+01] [ 3.53960993e-01 9.35236608e-01 -6.64091422e-03 7.32618803e+00] [ 1.99062197e-02 -4.34571944e-04 9.99801757e-01 1.07476557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.222755096 meters 0.020083966014978073 Centerline is valid? [True, True] Translation: X:55.72, Y:7.34, Z:1.08 [[ 9.35022508e-01 -3.54084522e-01 -1.88960659e-02 5.57161266e+01] [ 3.54021543e-01 9.35213326e-01 -6.69199863e-03 7.33573497e+00] [ 2.00413858e-02 -4.32445073e-04 9.99799058e-01 1.07510164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.252755096 meters 0.02019317725428868 Centerline is valid? [True, True] Translation: X:55.74, Y:7.35, Z:1.08 [[ 9.34781986e-01 -3.54701506e-01 -1.92218775e-02 5.57420243e+01] [ 3.54636324e-01 9.34979487e-01 -6.81435418e-03 7.34596153e+00] [ 2.03891229e-02 -4.46840464e-04 9.99792020e-01 1.07518141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.282755096 meters 0.02042584731576399 Centerline is valid? [True, True] Translation: X:55.77, Y:7.35, Z:1.08 [[ 9.34732732e-01 -3.54817802e-01 -1.94691039e-02 5.57675648e+01] [ 3.54750820e-01 9.34935359e-01 -6.90868803e-03 7.35490102e+00] [ 2.06536792e-02 -4.48903756e-04 9.99786589e-01 1.07559814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.312755096000004 meters 0.0205467875073503 Centerline is valid? [True, True] Translation: X:55.79, Y:7.36, Z:1.08 [[ 9.34593461e-01 -3.55161901e-01 -1.98767793e-02 5.57942667e+01] [ 3.55092086e-01 9.34804691e-01 -7.05693225e-03 7.36474211e+00] [ 2.10872600e-02 -4.62724298e-04 9.99777532e-01 1.07560078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.342755096000005 meters 0.01997097547194163 Centerline is valid? [True, True] Translation: X:55.82, Y:7.38, Z:1.08 [[ 9.35006026e-01 -3.54099362e-01 -1.94260772e-02 5.58205076e+01] [ 3.54032313e-01 9.35207711e-01 -6.90352196e-03 7.37858826e+00] [ 2.06119499e-02 -4.22624416e-04 9.99787462e-01 1.07653652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.372755096 meters 0.01978326829357481 Centerline is valid? [True, True] Translation: X:55.85, Y:7.39, Z:1.08 [[ 9.35080109e-01 -3.53915638e-01 -1.92070356e-02 5.58465913e+01] [ 3.53849939e-01 9.35277261e-01 -6.83124910e-03 7.38942793e+00] [ 2.03815895e-02 -4.08643213e-04 9.99792190e-01 1.07697631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.402755096 meters 0.019871332024454715 Centerline is valid? [True, True] Translation: X:55.87, Y:7.40, Z:1.08 [[ 9.35056813e-01 -3.53960581e-01 -1.95105940e-02 5.58724195e+01] [ 3.53892661e-01 9.35260252e-01 -6.94587172e-03 7.39830131e+00] [ 2.07060479e-02 -4.09871369e-04 9.99785523e-01 1.07757228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.432755096 meters 0.02009041648030753 Centerline is valid? [True, True] Translation: X:55.90, Y:7.41, Z:1.08 [[ 9.34656861e-01 -3.54991162e-01 -1.99455767e-02 5.59002426e+01] [ 3.54920341e-01 9.34869553e-01 -7.10421578e-03 7.40754284e+00] [ 2.11684462e-02 -4.39086867e-04 9.99775827e-01 1.07766921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.462755096 meters 0.020684343673647975 Centerline is valid? [True, True] Translation: X:55.93, Y:7.42, Z:1.08 [[ 9.34387152e-01 -3.55698124e-01 -1.99873537e-02 5.59263342e+01] [ 3.55627046e-01 9.34600792e-01 -7.12482109e-03 7.41591807e+00] [ 2.12144821e-02 -4.50702244e-04 9.99774846e-01 1.07813434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.492755096 meters 0.020875225044051874 Centerline is valid? [True, True] Translation: X:55.95, Y:7.43, Z:1.08 [[ 9.34025949e-01 -3.56663810e-01 -1.96584002e-02 5.59537661e+01] [ 3.56595213e-01 9.34232687e-01 -7.01007691e-03 7.42518616e+00] [ 2.08657608e-02 -4.62497672e-04 9.99782179e-01 1.07876135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.522755096000004 meters 0.0213223281281235 Centerline is valid? [True, True] Translation: X:55.98, Y:7.43, Z:1.08 [[ 9.33337667e-01 -3.58464884e-01 -1.95889289e-02 5.59811587e+01] [ 3.58397042e-01 9.33543080e-01 -6.99131134e-03 7.43413899e+00] [ 2.07932486e-02 -4.95359973e-04 9.99783674e-01 1.07921528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.552755096000006 meters 0.021711255414585635 Centerline is valid? [True, True] Translation: X:56.01, Y:7.44, Z:1.08 [[ 9.33018857e-01 -3.59303105e-01 -1.94188225e-02 5.60088191e+01] [ 3.59236494e-01 9.33220780e-01 -6.93658782e-03 7.44400615e+00] [ 2.06143862e-02 -5.03982478e-04 9.99787374e-01 1.07963750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.582755096 meters 0.023962567996855585 Centerline is valid? [True, True] Translation: X:56.04, Y:7.45, Z:1.08 [[ 9.32630836e-01 -3.60309811e-01 -1.94052654e-02 5.60359673e+01] [ 3.60243395e-01 9.32832552e-01 -6.93739709e-03 7.45023483e+00] [ 2.06014755e-02 -5.20588244e-04 9.99787632e-01 1.07944452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.612755096 meters 0.022268615351663284 Centerline is valid? [True, True] Translation: X:56.06, Y:7.46, Z:1.08 [[ 9.32603517e-01 -3.60410288e-01 -1.88442310e-02 5.60612244e+01] [ 3.60347631e-01 9.32793744e-01 -6.73912886e-03 7.46168065e+00] [ 2.00066321e-02 -5.05538721e-04 9.99799719e-01 1.08057199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.642755096 meters 0.023905337534775774 Centerline is valid? [True, True] Translation: X:56.09, Y:7.47, Z:1.08 [[ 9.32591315e-01 -3.60456376e-01 -1.85644954e-02 5.60875054e+01] [ 3.60395452e-01 9.32775942e-01 -6.64533592e-03 7.46782318e+00] [ 1.97118684e-02 -4.93177136e-04 9.99805581e-01 1.08164189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.672755096 meters 0.02182479772268742 Centerline is valid? [True, True] Translation: X:56.11, Y:7.48, Z:1.08 [[ 9.32706143e-01 -3.60163207e-01 -1.84855542e-02 5.61137940e+01] [ 3.60102685e-01 9.32889185e-01 -6.62001280e-03 7.48096322e+00] [ 1.96292586e-02 -4.82171099e-04 9.99807211e-01 1.08243111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.702755096000004 meters 0.02150400039156879 Centerline is valid? [True, True] Translation: X:56.14, Y:7.49, Z:1.08 [[ 9.33227090e-01 -3.58798336e-01 -1.87337145e-02 5.61400644e+01] [ 3.58735786e-01 9.33414992e-01 -6.71476696e-03 7.49170435e+00] [ 1.98955772e-02 -4.54051365e-04 9.99801960e-01 1.08233672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.732755096000005 meters 0.021069427628793755 Centerline is valid? [True, True] Translation: X:56.17, Y:7.50, Z:1.08 [[ 9.33546152e-01 -3.57960138e-01 -1.88711876e-02 5.61672122e+01] [ 3.57896378e-01 9.33736768e-01 -6.76988619e-03 7.50261207e+00] [ 2.00440711e-02 -4.33928486e-04 9.99799003e-01 1.08245538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.762755096 meters 0.02052268192494296 Centerline is valid? [True, True] Translation: X:56.19, Y:7.51, Z:1.08 [[ 9.34233029e-01 -3.56151320e-01 -1.91019778e-02 5.61929799e+01] [ 3.56085498e-01 9.34428211e-01 -6.85831156e-03 7.51375398e+00] [ 2.02920237e-02 -3.94676119e-04 9.99794018e-01 1.08222731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.792755096 meters 0.020160037821961643 Centerline is valid? [True, True] Translation: X:56.22, Y:7.52, Z:1.08 [[ 9.34527076e-01 -3.55380080e-01 -1.90825428e-02 5.62199111e+01] [ 3.55314184e-01 9.34721808e-01 -6.85368723e-03 7.52466287e+00] [ 2.02725328e-02 -3.75341834e-04 9.99794421e-01 1.08243394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.822755096 meters 0.019927691924856814 Centerline is valid? [True, True] Translation: X:56.25, Y:7.53, Z:1.08 [[ 9.34886690e-01 -3.54451434e-01 -1.87365206e-02 5.62466049e+01] [ 3.54387608e-01 9.35074362e-01 -6.73501729e-03 7.53436823e+00] [ 1.99072765e-02 -3.43512684e-04 9.99801772e-01 1.08323389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.852755096 meters 0.020558089440377576 Centerline is valid? [True, True] Translation: X:56.27, Y:7.54, Z:1.08 [[ 9.34939146e-01 -3.54330736e-01 -1.83989919e-02 5.62728455e+01] [ 3.54269059e-01 9.35120110e-01 -6.61909795e-03 7.54208378e+00] [ 1.95506172e-02 -3.29739774e-04 9.99808814e-01 1.08396135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.882755096000004 meters 0.019813747603345144 Centerline is valid? [True, True] Translation: X:56.30, Y:7.55, Z:1.08 [[ 9.34938951e-01 -3.54350511e-01 -1.80242337e-02 5.62987744e+01] [ 3.54291245e-01 9.35112621e-01 -6.48846371e-03 7.55283324e+00] [ 1.91538788e-02 -3.19510742e-04 9.99816497e-01 1.08488203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.912755096000005 meters 0.02054015530484514 Centerline is valid? [True, True] Translation: X:56.32, Y:7.56, Z:1.09 [[ 9.34786863e-01 -3.54789394e-01 -1.72628939e-02 5.63248802e+01] [ 3.54735000e-01 9.34946196e-01 -6.22012095e-03 7.56106519e+00] [ 1.83467099e-02 -3.09265302e-04 9.99831637e-01 1.08595086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.942755096 meters 0.020842927061266545 Centerline is valid? [True, True] Translation: X:56.35, Y:7.57, Z:1.09 [[ 9.34674970e-01 -3.55099944e-01 -1.69331217e-02 5.63509349e+01] [ 3.55047587e-01 9.34828292e-01 -6.10527057e-03 7.56980762e+00] [ 1.79975424e-02 -3.05620405e-04 9.99837984e-01 1.08651462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.972755096 meters 0.02013184026207345 Centerline is valid? [True, True] Translation: X:56.38, Y:7.58, Z:1.09 [[ 9.34384859e-01 -3.55874472e-01 -1.66822109e-02 5.63775592e+01] [ 3.55823752e-01 9.34533713e-01 -6.01629693e-03 7.58128900e+00] [ 1.77311350e-02 -3.14390122e-04 9.99842742e-01 1.08717963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.002755096 meters 0.02033393039964512 Centerline is valid? [True, True] Translation: X:56.41, Y:7.59, Z:1.09 [[ 9.34048709e-01 -3.56772652e-01 -1.63182093e-02 5.64053032e+01] [ 3.56724173e-01 9.34191186e-01 -5.88995801e-03 7.59070029e+00] [ 1.73457032e-02 -3.19592041e-04 9.99849501e-01 1.08760933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.032755096 meters 0.020869494748378074 Centerline is valid? [True, True] Translation: X:56.43, Y:7.60, Z:1.09 [[ 9.33526137e-01 -3.58144101e-01 -1.61788273e-02 5.64335046e+01] [ 3.58096566e-01 9.33666262e-01 -5.84463032e-03 7.59880514e+00] [ 1.71988451e-02 -3.37467346e-04 9.99852032e-01 1.08825225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.062755096000004 meters 0.02088283182921944 Centerline is valid? [True, True] Translation: X:56.46, Y:7.61, Z:1.09 [[ 9.33197809e-01 -3.59020862e-01 -1.56802435e-02 5.64609212e+01] [ 3.58976258e-01 9.33329474e-01 -5.66917930e-03 7.60877767e+00] [ 1.66701870e-02 -3.38369432e-04 9.99860986e-01 1.08912672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.092755096000005 meters 0.021682357869275637 Centerline is valid? [True, True] Translation: X:56.49, Y:7.62, Z:1.09 [[ 9.32943721e-01 -3.59687739e-01 -1.55159228e-02 5.64875876e+01] [ 3.59644071e-01 9.33072673e-01 -5.61503541e-03 7.61713198e+00] [ 1.64971429e-02 -3.41697602e-04 9.99863854e-01 1.08943669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.122755096 meters 0.021682357869275637 Centerline is valid? [True, True] Translation: X:56.51, Y:7.63, Z:1.09 [[ 9.32831767e-01 -3.59978003e-01 -1.55155290e-02 5.65134643e+01] [ 3.59934357e-01 9.32960727e-01 -5.61612331e-03 7.62667671e+00] [ 1.64970601e-02 -3.45673749e-04 9.99863854e-01 1.08995271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.152755096 meters 0.021291673055465445 Centerline is valid? [True, True] Translation: X:56.54, Y:7.64, Z:1.09 [[ 9.32671782e-01 -3.60392841e-01 -1.55031032e-02 5.65394332e+01] [ 3.60349233e-01 9.32800557e-01 -5.61705437e-03 7.63731345e+00] [ 1.64856495e-02 -3.47663255e-04 9.99864042e-01 1.09005180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.182755096 meters 0.021393709287990375 Centerline is valid? [True, True] Translation: X:56.57, Y:7.65, Z:1.09 [[ 9.32532073e-01 -3.60747950e-01 -1.56476320e-02 5.65654986e+01] [ 3.60703479e-01 9.32663279e-01 -5.67516917e-03 7.64691034e+00] [ 1.66412774e-02 -3.51878026e-04 9.99861462e-01 1.09067356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.212755096 meters 0.021504174116096505 Centerline is valid? [True, True] Translation: X:56.59, Y:7.66, Z:1.09 [[ 9.32431394e-01 -3.61022063e-01 -1.53220738e-02 5.65922637e+01] [ 3.60979372e-01 9.32557211e-01 -5.56251439e-03 7.65686193e+00] [ 1.62969008e-02 -3.44289537e-04 9.99867137e-01 1.09131981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.242755096 meters 0.022270359164051807 Centerline is valid? [True, True] Translation: X:56.62, Y:7.67, Z:1.09 [[ 9.32393350e-01 -3.61091320e-01 -1.59906256e-02 5.66176108e+01] [ 3.61044723e-01 9.32530393e-01 -5.81160397e-03 7.66521851e+00] [ 1.70102641e-02 -3.54630085e-04 9.99855252e-01 1.09148372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.272755096000004 meters 0.02183955851031748 Centerline is valid? [True, True] Translation: X:56.64, Y:7.68, Z:1.09 [[ 9.32396005e-01 -3.61077812e-01 -1.61401472e-02 5.66440437e+01] [ 3.61030299e-01 9.32535623e-01 -5.86823559e-03 7.67618137e+00] [ 1.71701519e-02 -3.55562739e-04 9.99852519e-01 1.09140048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.302755096000006 meters 0.02190882416440605 Centerline is valid? [True, True] Translation: X:56.67, Y:7.69, Z:1.09 [[ 9.32416189e-01 -3.61008840e-01 -1.65126323e-02 5.66698946e+01] [ 3.60959000e-01 9.32562325e-01 -6.00924512e-03 7.68590577e+00] [ 1.75684493e-02 -3.57265788e-04 9.99845599e-01 1.09142432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.332755096 meters 0.021829535609310186 Centerline is valid? [True, True] Translation: X:56.70, Y:7.70, Z:1.09 [[ 9.32636715e-01 -3.60410648e-01 -1.71150069e-02 5.66956197e+01] [ 3.60356888e-01 9.32793675e-01 -6.23480774e-03 7.69616673e+00] [ 1.82118613e-02 -3.52700003e-04 9.99834088e-01 1.09078712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.362755096 meters 0.021753962894807213 Centerline is valid? [True, True] Translation: X:56.72, Y:7.71, Z:1.09 [[ 9.32630648e-01 -3.60414917e-01 -1.73540162e-02 5.67217750e+01] [ 3.60359612e-01 9.32792024e-01 -6.32372910e-03 7.70649818e+00] [ 1.84668542e-02 -3.55982990e-04 9.99829410e-01 1.09112942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.392755096 meters 0.02168545771287003 Centerline is valid? [True, True] Translation: X:56.75, Y:7.72, Z:1.09 [[ 9.32901888e-01 -3.59752437e-01 -1.65000566e-02 5.67476374e+01] [ 3.59702237e-01 9.33047738e-01 -6.01824233e-03 7.71645298e+00] [ 1.75604178e-02 -3.20677622e-04 9.99845753e-01 1.09239542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.422755096 meters 0.021842106781480436 Centerline is valid? [True, True] Translation: X:56.77, Y:7.73, Z:1.09 [[ 9.32912999e-01 -3.59736574e-01 -1.62152374e-02 5.67731902e+01] [ 3.59688062e-01 9.33053857e-01 -5.91600895e-03 7.72529175e+00] [ 1.72578946e-02 -3.13305650e-04 9.99851022e-01 1.09340409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.452755096000004 meters 0.021147556867357076 Centerline is valid? [True, True] Translation: X:56.80, Y:7.74, Z:1.09 [[ 9.32831089e-01 -3.59964262e-01 -1.58710427e-02 5.67990130e+01] [ 3.59917788e-01 9.32966041e-01 -5.79237107e-03 7.73661288e+00] [ 1.68921905e-02 -3.08966781e-04 9.99857269e-01 1.09419181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.482755096000005 meters 0.02136814906621312 Centerline is valid? [True, True] Translation: X:56.82, Y:7.74, Z:1.10 [[ 9.32807273e-01 -3.60036816e-01 -1.56231523e-02 5.68243943e+01] [ 3.59991696e-01 9.32938048e-01 -5.70767306e-03 7.74486281e+00] [ 1.66304056e-02 -3.00046138e-04 9.99861660e-01 1.09504724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.512755096 meters 0.021335797933938448 Centerline is valid? [True, True] Translation: X:56.85, Y:7.75, Z:1.10 [[ 9.32716309e-01 -3.60281228e-01 -1.54182649e-02 5.68511082e+01] [ 3.60237261e-01 9.32843689e-01 -5.63629025e-03 7.75498324e+00] [ 1.64134807e-02 -2.97173679e-04 9.99865246e-01 1.09554705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.542755096 meters 0.02231715815704376 Centerline is valid? [True, True] Translation: X:56.88, Y:7.76, Z:1.10 [[ 9.32738046e-01 -3.60222928e-01 -1.54654252e-02 5.68778045e+01] [ 3.60178592e-01 9.32866205e-01 -5.65908953e-03 7.76227216e+00] [ 1.64657063e-02 -2.91866964e-04 9.99864388e-01 1.09650178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.572755096 meters 0.02131493894379155 Centerline is valid? [True, True] Translation: X:56.90, Y:7.77, Z:1.10 [[ 9.32794977e-01 -3.60056330e-01 -1.59050339e-02 5.69034761e+01] [ 3.60009314e-01 9.32930520e-01 -5.82575937e-03 7.77419574e+00] [ 1.69358931e-02 -2.91721260e-04 9.99856535e-01 1.09643509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.602755096 meters 0.022391474042156186 Centerline is valid? [True, True] Translation: X:56.93, Y:7.78, Z:1.10 [[ 9.32690035e-01 -3.60305580e-01 -1.64069306e-02 5.69296407e+01] [ 3.60255479e-01 9.32834283e-01 -6.01585635e-03 7.78101483e+00] [ 1.74724940e-02 -2.99757394e-04 9.99847299e-01 1.09677317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.632755096000004 meters 0.021362020911357332 Centerline is valid? [True, True] Translation: X:56.96, Y:7.79, Z:1.10 [[ 9.32628863e-01 -3.60456326e-01 -1.65722951e-02 5.69552604e+01] [ 3.60405192e-01 9.32776042e-01 -6.07886691e-03 7.79293582e+00] [ 1.76494058e-02 -3.03414446e-04 9.99844191e-01 1.09701521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.662755096000005 meters 0.021593620983015847 Centerline is valid? [True, True] Translation: X:56.98, Y:7.80, Z:1.10 [[ 9.32362842e-01 -3.61129971e-01 -1.68723304e-02 5.69813334e+01] [ 3.61076970e-01 9.32515439e-01 -6.19495567e-03 7.80202353e+00] [ 1.79708928e-02 -3.16263493e-04 9.99838460e-01 1.09733137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.692755096 meters 0.02206963905125315 Centerline is valid? [True, True] Translation: X:57.01, Y:7.81, Z:1.10 [[ 9.31624853e-01 -3.63021681e-01 -1.70408977e-02 5.70091013e+01] [ 3.62967823e-01 9.31780627e-01 -6.26287091e-03 7.81065240e+00] [ 1.81519363e-02 -3.50651360e-04 9.99835179e-01 1.09772559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.722755096 meters 0.02221414252494358 Centerline is valid? [True, True] Translation: X:57.04, Y:7.82, Z:1.10 [[ 9.31199989e-01 -3.64094177e-01 -1.73784334e-02 5.70368222e+01] [ 3.64038250e-01 9.31362062e-01 -6.39236980e-03 7.82016278e+00] [ 1.85130382e-02 -3.73839789e-04 9.99828549e-01 1.09836203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.752755096 meters 0.022796916317924177 Centerline is valid? [True, True] Translation: X:57.06, Y:7.83, Z:1.10 [[ 9.30308889e-01 -3.66374514e-01 -1.71780994e-02 5.70643448e+01] [ 3.66320161e-01 9.30467381e-01 -6.32391541e-03 7.82786670e+00] [ 1.83005826e-02 -4.09489406e-04 9.99832446e-01 1.09954942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.782755096 meters 0.023102221152904542 Centerline is valid? [True, True] Translation: X:57.09, Y:7.84, Z:1.10 [[ 9.30119869e-01 -3.66874028e-01 -1.67474426e-02 5.70909568e+01] [ 3.66822357e-01 9.30270544e-01 -6.17041501e-03 7.83782441e+00] [ 1.78434175e-02 -4.04110747e-04 9.99840712e-01 1.10102918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.812755096000004 meters 0.024368459046114992 Centerline is valid? [True, True] Translation: X:57.12, Y:7.85, Z:1.10 [[ 9.29872020e-01 -3.67499789e-01 -1.67908327e-02 5.71172710e+01] [ 3.67447842e-01 9.30023514e-01 -6.19252718e-03 7.84570893e+00] [ 1.78916216e-02 -4.11497474e-04 9.99839847e-01 1.10203507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.842755096000005 meters 0.023944473335263842 Centerline is valid? [True, True] Translation: X:57.14, Y:7.86, Z:1.10 [[ 9.29244079e-01 -3.69091545e-01 -1.66395344e-02 5.71444966e+01] [ 3.69040756e-01 9.29392942e-01 -6.13834197e-03 7.85605886e+00] [ 1.77302760e-02 -4.36648443e-04 9.99842711e-01 1.10241912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.872755096 meters 0.024964994488472725 Centerline is valid? [True, True] Translation: X:57.17, Y:7.86, Z:1.10 [[ 9.28822929e-01 -3.70133279e-01 -1.70094525e-02 5.71714030e+01] [ 3.70080284e-01 9.28978548e-01 -6.28021534e-03 7.86440086e+00] [ 1.81259331e-02 -4.61654975e-04 9.99835605e-01 1.10317249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.902755096 meters 0.026003284528101432 Centerline is valid? [True, True] Translation: X:57.20, Y:7.87, Z:1.10 [[ 9.28616088e-01 -3.70656851e-01 -1.69014462e-02 5.71980615e+01] [ 3.70604581e-01 9.28769767e-01 -6.24214607e-03 7.87306744e+00] [ 1.80112465e-02 -4.67196117e-04 9.99837675e-01 1.10359530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.932755096 meters 0.025339439177336887 Centerline is valid? [True, True] Translation: X:57.22, Y:7.89, Z:1.10 [[ 9.28302863e-01 -3.71427755e-01 -1.71818927e-02 5.72238766e+01] [ 3.71373834e-01 9.28461730e-01 -6.34749465e-03 7.88618354e+00] [ 1.83103655e-02 -4.88507905e-04 9.99832232e-01 1.10385693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.962755096 meters 0.02398357318190348 Centerline is valid? [True, True] Translation: X:57.25, Y:7.90, Z:1.10 [[ 9.28185362e-01 -3.71708693e-01 -1.74522730e-02 5.72490493e+01] [ 3.71653013e-01 9.28349288e-01 -6.45269703e-03 7.89986759e+00] [ 1.86003288e-02 -4.96890928e-04 9.99826875e-01 1.10396698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.992755096 meters 0.02686753453505782 Centerline is valid? [True, True] Translation: X:57.28, Y:7.91, Z:1.10 [[ 9.28018864e-01 -3.72080324e-01 -1.83635730e-02 5.72762298e+01] [ 3.72018617e-01 9.28200386e-01 -6.79643294e-03 7.90542676e+00] [ 1.95738945e-02 -5.24373049e-04 9.99808275e-01 1.10346924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.022755096000004 meters 0.025514515011428717 Centerline is valid? [True, True] Translation: X:57.30, Y:7.92, Z:1.10 [[ 9.27701659e-01 -3.72838464e-01 -1.90029584e-02 5.73020582e+01] [ 3.72772493e-01 9.27896099e-01 -7.03554508e-03 7.91840305e+00] [ 2.02558928e-02 -5.56893327e-04 9.99794673e-01 1.10359254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.052755096000006 meters 0.027434924873053417 Centerline is valid? [True, True] Translation: X:57.33, Y:7.93, Z:1.10 [[ 9.27168904e-01 -3.74092477e-01 -2.03136050e-02 5.73290831e+01] [ 3.74017262e-01 9.27391199e-01 -7.52675277e-03 7.92630353e+00] [ 2.16543601e-02 -6.19067826e-04 9.99765325e-01 1.10295982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.082755096 meters 0.0273877605658236 Centerline is valid? [True, True] Translation: X:57.36, Y:7.94, Z:1.10 [[ 9.26776761e-01 -3.75037635e-01 -2.07751574e-02 5.73555288e+01] [ 3.74959137e-01 9.27009356e-01 -7.70062969e-03 7.93713622e+00] [ 2.21467912e-02 -6.53070429e-04 9.99754516e-01 1.10369899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.112755096 meters 0.02652451779933638 Centerline is valid? [True, True] Translation: X:57.38, Y:7.95, Z:1.10 [[ 9.26517654e-01 -3.75681351e-01 -2.07016883e-02 5.73816978e+01] [ 3.75603434e-01 9.26748664e-01 -7.67947680e-03 7.94969362e+00] [ 2.20702982e-02 -6.60454399e-04 9.99756203e-01 1.10442231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.142755096 meters 0.02666092130643051 Centerline is valid? [True, True] Translation: X:57.41, Y:7.96, Z:1.11 [[ 9.26481811e-01 -3.75784190e-01 -2.04376107e-02 5.74073655e+01] [ 3.75708137e-01 9.26706977e-01 -7.58776766e-03 7.96234105e+00] [ 2.17910395e-02 -6.48647890e-04 9.99762337e-01 1.10530687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.172755096 meters 0.026582080441970097 Centerline is valid? [True, True] Translation: X:57.43, Y:7.97, Z:1.11 [[ 9.26613827e-01 -3.75465806e-01 -2.03037983e-02 5.74336101e+01] [ 3.75390521e-01 9.26836033e-01 -7.54491431e-03 7.97405787e+00] [ 2.16511492e-02 -6.30631487e-04 9.99765387e-01 1.10612057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.202755096000004 meters 0.026000625866767522 Centerline is valid? [True, True] Translation: X:57.46, Y:7.99, Z:1.11 [[ 9.27086130e-01 -3.74322267e-01 -1.98531757e-02 5.74591682e+01] [ 3.74249902e-01 9.27298494e-01 -7.38327829e-03 7.98721925e+00] [ 2.11735454e-02 -5.85114164e-04 9.99775644e-01 1.10749767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.232755096000005 meters 0.024590753006024348 Centerline is valid? [True, True] Translation: X:57.49, Y:8.00, Z:1.11 [[ 9.27313656e-01 -3.73753133e-01 -1.99494105e-02 5.74852818e+01] [ 3.73679805e-01 9.27528044e-01 -7.42507462e-03 8.00095863e+00] [ 2.12787826e-02 -5.69318732e-04 9.99773419e-01 1.10863604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.262755096 meters 0.025517533981550124 Centerline is valid? [True, True] Translation: X:57.51, Y:8.01, Z:1.11 [[ 9.27702455e-01 -3.72783434e-01 -2.00166252e-02 5.75113208e+01] [ 3.72709263e-01 9.27918216e-01 -7.45583518e-03 8.00996407e+00] [ 2.13532030e-02 -5.43585045e-04 9.99771847e-01 1.10959071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.292755096 meters 0.025097948126157912 Centerline is valid? [True, True] Translation: X:57.54, Y:8.02, Z:1.11 [[ 9.28574395e-01 -3.70587159e-01 -2.03654192e-02 5.75362448e+01] [ 3.70509803e-01 9.28797560e-01 -7.58800903e-03 8.02188020e+00] [ 2.17273704e-02 -4.99556552e-04 9.99763808e-01 1.11039084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.322755096 meters 0.023229289216068493 Centerline is valid? [True, True] Translation: X:57.56, Y:8.04, Z:1.11 [[ 9.28920404e-01 -3.69729281e-01 -2.01777676e-02 5.75618292e+01] [ 3.69653085e-01 9.29139406e-01 -7.52069739e-03 8.03650234e+00] [ 2.15285811e-02 -4.72644800e-04 9.99768122e-01 1.11159032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.352755096 meters 0.022596901032048387 Centerline is valid? [True, True] Translation: X:57.59, Y:8.05, Z:1.11 [[ 9.29303837e-01 -3.68747867e-01 -2.04789888e-02 5.75883575e+01] [ 3.68669003e-01 9.29529347e-01 -7.63929096e-03 8.04904492e+00] [ 2.18527933e-02 -4.50745967e-04 9.99761098e-01 1.11247671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.382755096000004 meters 0.02272013914036891 Centerline is valid? [True, True] Translation: X:57.61, Y:8.06, Z:1.11 [[ 9.30169346e-01 -3.66562274e-01 -2.04227138e-02 5.76141180e+01] [ 3.66483193e-01 9.30393435e-01 -7.62396307e-03 8.06018828e+00] [ 2.17958161e-02 -3.93004630e-04 9.99762366e-01 1.11366426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.412755096000005 meters 0.021551331251612453 Centerline is valid? [True, True] Translation: X:57.64, Y:8.07, Z:1.12 [[ 9.30324848e-01 -3.66174812e-01 -2.02900306e-02 5.76401374e+01] [ 3.66096603e-01 9.30546003e-01 -7.57715477e-03 8.07392509e+00] [ 2.16553701e-02 -3.78895944e-04 9.99765423e-01 1.11504412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.442755096 meters 0.0213013334938871 Centerline is valid? [True, True] Translation: X:57.67, Y:8.09, Z:1.12 [[ 9.30485468e-01 -3.65773833e-01 -2.01567973e-02 5.76662825e+01] [ 3.65696423e-01 9.30703697e-01 -7.53350509e-03 8.08523759e+00] [ 2.15155648e-02 -3.61451677e-04 9.99768448e-01 1.11614806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.472755096 meters 0.021304080037200565 Centerline is valid? [True, True] Translation: X:57.69, Y:8.10, Z:1.12 [[ 9.30549882e-01 -3.65618011e-01 -2.00096670e-02 5.76915088e+01] [ 3.65541570e-01 9.30764926e-01 -7.48417667e-03 8.09584133e+00] [ 2.13606460e-02 -3.49965388e-04 9.99771774e-01 1.11694289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.502755096 meters 0.02132282189188371 Centerline is valid? [True, True] Translation: X:57.72, Y:8.11, Z:1.12 [[ 9.30551885e-01 -3.65571099e-01 -2.07596224e-02 5.77162117e+01] [ 3.65488737e-01 9.30783349e-01 -7.76789492e-03 8.10651076e+00] [ 2.21624288e-02 -3.58978933e-04 9.99754319e-01 1.11731480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.532755096 meters 0.02110695876806661 Centerline is valid? [True, True] Translation: X:57.74, Y:8.12, Z:1.12 [[ 9.30389453e-01 -3.66014981e-01 -2.02113867e-02 5.77423767e+01] [ 3.65936942e-01 9.30608890e-01 -7.56622024e-03 8.11755485e+00] [ 2.15782461e-02 -3.56561544e-04 9.99767099e-01 1.11803966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.562755096000004 meters 0.020937822673597395 Centerline is valid? [True, True] Translation: X:57.77, Y:8.13, Z:1.12 [[ 9.30129820e-01 -3.66660999e-01 -2.04506496e-02 5.77684882e+01] [ 3.66581100e-01 9.30354543e-01 -7.66298749e-03 8.12850482e+00] [ 2.18360734e-02 -3.69248470e-04 9.99761496e-01 1.11884761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.592755096000005 meters 0.02077077729677605 Centerline is valid? [True, True] Translation: X:57.79, Y:8.14, Z:1.12 [[ 9.29687432e-01 -3.67785631e-01 -2.03717786e-02 5.77946383e+01] [ 3.67706462e-01 9.29910522e-01 -7.64055405e-03 8.14003441e+00] [ 2.17540173e-02 -3.87507568e-04 9.99763278e-01 1.11995462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.622755096000006 meters 0.02130463586878209 Centerline is valid? [True, True] Translation: X:57.82, Y:8.15, Z:1.12 [[ 9.29335552e-01 -3.68676266e-01 -2.03283775e-02 5.78213139e+01] [ 3.68597518e-01 9.29557771e-01 -7.63022317e-03 8.14934472e+00] [ 2.17094834e-02 -4.01951826e-04 9.99764241e-01 1.12047450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.652755096 meters 0.02260920637518656 Centerline is valid? [True, True] Translation: X:57.85, Y:8.16, Z:1.12 [[ 9.28995016e-01 -3.69520606e-01 -2.05616761e-02 5.78484602e+01] [ 3.69440195e-01 9.29222439e-01 -7.72014261e-03 8.15652187e+00] [ 2.19591226e-02 -4.24335618e-04 9.99758779e-01 1.12066255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.682755096 meters 0.02225008431490249 Centerline is valid? [True, True] Translation: X:57.88, Y:8.17, Z:1.12 [[ 9.27993101e-01 -3.72013075e-01 -2.08585033e-02 5.78751293e+01] [ 3.71930887e-01 9.28227361e-01 -7.83459620e-03 8.16778481e+00] [ 2.22760057e-02 -4.87470440e-04 9.99751740e-01 1.12117996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.712755096 meters 0.022584630692157368 Centerline is valid? [True, True] Translation: X:57.90, Y:8.18, Z:1.12 [[ 9.27533447e-01 -3.73134204e-01 -2.12736757e-02 5.79019485e+01] [ 3.73048870e-01 9.27777234e-01 -7.99652979e-03 8.17698038e+00] [ 2.27210107e-02 -5.19071825e-04 9.99741710e-01 1.12166446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.742755096 meters 0.023345677298606576 Centerline is valid? [True, True] Translation: X:57.93, Y:8.19, Z:1.12 [[ 9.26978371e-01 -3.74503925e-01 -2.13988131e-02 5.79285842e+01] [ 3.74417893e-01 9.27225164e-01 -8.04596224e-03 8.18543859e+00] [ 2.28547624e-02 -5.53665554e-04 9.99738642e-01 1.12181341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.772755096000004 meters 0.02519584164676879 Centerline is valid? [True, True] Translation: X:57.96, Y:8.19, Z:1.12 [[ 9.26071766e-01 -3.76720427e-01 -2.17440615e-02 5.79552259e+01] [ 3.76632148e-01 9.26326800e-01 -8.17829532e-03 8.19217595e+00] [ 2.32230378e-02 -6.15824178e-04 9.99730119e-01 1.12114511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.802755096000006 meters 0.024085771130132064 Centerline is valid? [True, True] Translation: X:57.98, Y:8.20, Z:1.12 [[ 9.25567257e-01 -3.77933809e-01 -2.21650288e-02 5.79813001e+01] [ 3.77842336e-01 9.25832386e-01 -8.34042053e-03 8.20437144e+00] [ 2.36732284e-02 -6.55266116e-04 9.99719535e-01 1.12199803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.832755096 meters 0.024153709319400234 Centerline is valid? [True, True] Translation: X:58.01, Y:8.21, Z:1.12 [[ 9.25159028e-01 -3.78915677e-01 -2.24428960e-02 5.80080354e+01] [ 3.78822013e-01 9.25430951e-01 -8.45211447e-03 8.21434604e+00] [ 2.39719893e-02 -6.82313033e-04 9.99712398e-01 1.12227478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.862755096 meters 0.02466527238252311 Centerline is valid? [True, True] Translation: X:58.04, Y:8.22, Z:1.12 [[ 9.24783600e-01 -3.79803643e-01 -2.29016440e-02 5.80359715e+01] [ 3.79706202e-01 9.25066854e-01 -8.63224823e-03 8.22315922e+00] [ 2.44641111e-02 -7.12934671e-04 9.99700455e-01 1.12262249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.892755096 meters 0.02519261728520561 Centerline is valid? [True, True] Translation: X:58.06, Y:8.23, Z:1.12 [[ 9.24573316e-01 -3.80305203e-01 -2.30680742e-02 5.80627872e+01] [ 3.80206336e-01 9.24860761e-01 -8.70148043e-03 8.23228256e+00] [ 2.46439749e-02 -7.25471329e-04 9.99696028e-01 1.12293051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.922755096 meters 0.024734941650193434 Centerline is valid? [True, True] Translation: X:58.09, Y:8.24, Z:1.12 [[ 9.24409087e-01 -3.80715012e-01 -2.28892902e-02 5.80889890e+01] [ 3.80617678e-01 9.24692139e-01 -8.63890805e-03 8.24283100e+00] [ 2.44545087e-02 -7.26183375e-04 9.99700680e-01 1.12368410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.952755096000004 meters 0.025672358676459308 Centerline is valid? [True, True] Translation: X:58.12, Y:8.25, Z:1.12 [[ 9.24356939e-01 -3.80806834e-01 -2.34606855e-02 5.81159570e+01] [ 3.80704430e-01 9.24654318e-01 -8.86172352e-03 8.25096194e+00] [ 2.50676290e-02 -7.40191249e-04 9.99685484e-01 1.12358226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.982755096000005 meters 0.025693453824240063 Centerline is valid? [True, True] Translation: X:58.14, Y:8.26, Z:1.12 [[ 9.24345471e-01 -3.80830863e-01 -2.35224276e-02 5.81424629e+01] [ 3.80727824e-01 9.24644422e-01 -8.88909670e-03 8.26080827e+00] [ 2.51351238e-02 -7.39046403e-04 9.99683790e-01 1.12364697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.012755096 meters 0.025693453824240063 Centerline is valid? [True, True] Translation: X:58.17, Y:8.27, Z:1.12 [[ 9.24229735e-01 -3.81111819e-01 -2.35197222e-02 5.81681970e+01] [ 3.81008690e-01 9.24528656e-01 -8.89625012e-03 8.27072494e+00] [ 2.51351232e-02 -7.39039630e-04 9.99683790e-01 1.12416188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04275509600001 meters 0.024162332643215368 Centerline is valid? [True, True] Translation: X:58.19, Y:8.28, Z:1.13 [[ 9.24244931e-01 -3.81062325e-01 -2.37236511e-02 5.81932234e+01] [ 3.80957170e-01 9.24549059e-01 -8.98178377e-03 8.28306975e+00] [ 2.53562987e-02 -7.36326850e-04 9.99678206e-01 1.12504407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07275509600001 meters 0.026189934358099468 Centerline is valid? [True, True] Translation: X:58.22, Y:8.29, Z:1.12 [[ 9.24263518e-01 -3.81009393e-01 -2.38493651e-02 5.82196168e+01] [ 3.80902914e-01 9.24570877e-01 -9.03679081e-03 8.28939124e+00] [ 2.54935306e-02 -7.31916591e-04 9.99674719e-01 1.12463129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.102755096 meters 0.024097083115646397 Centerline is valid? [True, True] Translation: X:58.25, Y:8.30, Z:1.13 [[ 9.24345909e-01 -3.80884894e-01 -2.26127782e-02 5.82459913e+01] [ 3.80789033e-01 9.24622207e-01 -8.57245986e-03 8.30224669e+00] [ 2.41733974e-02 -6.86779739e-04 9.99707545e-01 1.12655209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.132755096 meters 0.024862566302902532 Centerline is valid? [True, True] Translation: X:58.27, Y:8.31, Z:1.13 [[ 9.24232546e-01 -3.81189304e-01 -2.21114305e-02 5.82714933e+01] [ 3.81097589e-01 9.24496761e-01 -8.38849900e-03 8.31039216e+00] [ 2.36395520e-02 -6.73689070e-04 9.99720320e-01 1.12759163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.162755096 meters 0.026770212248938705 Centerline is valid? [True, True] Translation: X:58.30, Y:8.32, Z:1.13 [[ 9.24128531e-01 -3.81462323e-01 -2.17475133e-02 5.82976624e+01] [ 3.81373592e-01 9.24384148e-01 -8.25413271e-03 8.31668984e+00] [ 2.32516972e-02 -6.66047722e-04 9.99729421e-01 1.12811947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.192755096 meters 0.023988151972355126 Centerline is valid? [True, True] Translation: X:58.32, Y:8.33, Z:1.13 [[ 9.23898594e-01 -3.82067709e-01 -2.08723148e-02 5.83222839e+01] [ 3.81986014e-01 9.24134105e-01 -7.92719605e-03 8.32985645e+00] [ 2.23175436e-02 -6.49007066e-04 9.99750722e-01 1.12975920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.222755096 meters 0.024109436791305065 Centerline is valid? [True, True] Translation: X:58.35, Y:8.34, Z:1.13 [[ 9.23731227e-01 -3.82493607e-01 -2.04758659e-02 5.83491190e+01] [ 3.82414931e-01 9.23957916e-01 -7.78394575e-03 8.33921179e+00] [ 2.18961479e-02 -6.40003077e-04 9.99760046e-01 1.13049944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.252755096 meters 0.025736283564683365 Centerline is valid? [True, True] Translation: X:58.38, Y:8.35, Z:1.13 [[ 9.23598567e-01 -3.82835135e-01 -2.00735046e-02 5.83765055e+01] [ 3.82759461e-01 9.23816466e-01 -7.63751080e-03 8.34646273e+00] [ 2.14681416e-02 -6.29329783e-04 9.99769335e-01 1.13095803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.282755096 meters 0.024201998383799994 Centerline is valid? [True, True] Translation: X:58.40, Y:8.36, Z:1.13 [[ 9.23406685e-01 -3.83324861e-01 -1.95485596e-02 5.84023451e+01] [ 3.83253147e-01 9.23613374e-01 -7.44044431e-03 8.35836605e+00] [ 2.09074184e-02 -6.21490977e-04 9.99781223e-01 1.13207968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.312755096 meters 0.024000810374678227 Centerline is valid? [True, True] Translation: X:58.43, Y:8.37, Z:1.13 [[ 9.23384878e-01 -3.83380191e-01 -1.94934784e-02 5.84287332e+01] [ 3.83308746e-01 9.23590413e-01 -7.42657708e-03 8.36857568e+00] [ 2.08511923e-02 -6.14431774e-04 9.99782401e-01 1.13257759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.342755096 meters 0.02490966073263984 Centerline is valid? [True, True] Translation: X:58.46, Y:8.38, Z:1.13 [[ 9.23332616e-01 -3.83507498e-01 -1.94647944e-02 5.84550515e+01] [ 3.83436148e-01 9.23537561e-01 -7.42254809e-03 8.37665414e+00] [ 2.08230716e-02 -6.10025043e-04 9.99782990e-01 1.13281181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.372755096 meters 0.02367657450568177 Centerline is valid? [True, True] Translation: X:58.48, Y:8.39, Z:1.13 [[ 9.23411018e-01 -3.83307113e-01 -1.96913385e-02 5.84815593e+01] [ 3.83233938e-01 9.23620749e-01 -7.51404045e-03 8.38854977e+00] [ 2.10675140e-02 -6.07841476e-04 9.99777871e-01 1.13251399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.402755096 meters 0.023659115275517166 Centerline is valid? [True, True] Translation: X:58.51, Y:8.40, Z:1.13 [[ 9.23420838e-01 -3.83246832e-01 -2.03917017e-02 5.85080205e+01] [ 3.83168194e-01 9.23645754e-01 -7.78817035e-03 8.39871102e+00] [ 2.18195003e-02 -6.21692734e-04 9.99761733e-01 1.13230116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43275509600001 meters 0.02363663736430054 Centerline is valid? [True, True] Translation: X:58.53, Y:8.41, Z:1.13 [[ 9.23608228e-01 -3.82773854e-01 -2.07850555e-02 5.85342736e+01] [ 3.82691880e-01 9.23841868e-01 -7.94529259e-03 8.40832329e+00] [ 2.22433548e-02 -6.15934372e-04 9.99752396e-01 1.13198527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46275509600001 meters 0.023510720841660306 Centerline is valid? [True, True] Translation: X:58.56, Y:8.42, Z:1.13 [[ 9.24163747e-01 -3.81398294e-01 -2.13707971e-02 5.85602039e+01] [ 3.81311210e-01 9.24410615e-01 -8.17166337e-03 8.41783609e+00] [ 2.28720502e-02 -5.96969467e-04 9.99738222e-01 1.13161244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.492755096 meters 0.023115971444047527 Centerline is valid? [True, True] Translation: X:58.59, Y:8.43, Z:1.13 [[ 9.24266300e-01 -3.81144517e-01 -2.14630592e-02 5.85867921e+01] [ 3.81056537e-01 9.24515283e-01 -8.21014973e-03 8.42907398e+00] [ 2.29721798e-02 -5.90274320e-04 9.99735930e-01 1.13220077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.522755096 meters 0.02261599487482371 Centerline is valid? [True, True] Translation: X:58.61, Y:8.44, Z:1.13 [[ 9.24434693e-01 -3.80717268e-01 -2.17912766e-02 5.86131206e+01] [ 3.80626297e-01 9.24691312e-01 -8.34260539e-03 8.44021536e+00] [ 2.33263781e-02 -5.82139059e-04 9.99727734e-01 1.13233367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.552755096 meters 0.022556349595057673 Centerline is valid? [True, True] Translation: X:58.64, Y:8.45, Z:1.13 [[ 9.24471213e-01 -3.80632268e-01 -2.17267756e-02 5.86394155e+01] [ 3.80541648e-01 9.24726311e-01 -8.32493307e-03 8.45053198e+00] [ 2.32600592e-02 -5.71782011e-04 9.99729285e-01 1.13265653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.582755096 meters 0.02241171670841843 Centerline is valid? [True, True] Translation: X:58.67, Y:8.46, Z:1.13 [[ 9.24793371e-01 -3.79815214e-01 -2.23074913e-02 5.86655386e+01] [ 3.79719280e-01 9.25062209e-01 -8.55440508e-03 8.46016229e+00] [ 2.38849104e-02 -5.59527431e-04 9.99714558e-01 1.13237352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.612755096 meters 0.02172235418501178 Centerline is valid? [True, True] Translation: X:58.69, Y:8.47, Z:1.13 [[ 9.24923675e-01 -3.79537467e-01 -2.16219021e-02 5.86921210e+01] [ 3.79447191e-01 9.25176214e-01 -8.29468118e-03 8.47138695e+00] [ 2.31522118e-02 -5.32423012e-04 9.99731810e-01 1.13326807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.642755096 meters 0.021467572966260253 Centerline is valid? [True, True] Translation: X:58.72, Y:8.48, Z:1.13 [[ 9.24898771e-01 -3.79584185e-01 -2.18657456e-02 5.87179764e+01] [ 3.79491705e-01 9.25157048e-01 -8.39541897e-03 8.48148983e+00] [ 2.34160169e-02 -5.32956405e-04 9.99725665e-01 1.13410505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.672755096 meters 0.021761126410476582 Centerline is valid? [True, True] Translation: X:58.74, Y:8.49, Z:1.13 [[ 9.25099252e-01 -3.79103231e-01 -2.17281957e-02 5.87448219e+01] [ 3.79011620e-01 9.25354245e-01 -8.34942944e-03 8.49036785e+00] [ 2.32715738e-02 -5.11187724e-04 9.99729050e-01 1.13475755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.702755096 meters 0.021223134524399 Centerline is valid? [True, True] Translation: X:58.77, Y:8.50, Z:1.14 [[ 9.25102104e-01 -3.79110539e-01 -2.14778337e-02 5.87708893e+01] [ 3.79020950e-01 9.25351256e-01 -8.25662420e-03 8.50140999e+00] [ 2.30047137e-02 -5.02328535e-04 9.99735230e-01 1.13575806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.732755096 meters 0.021655223243355132 Centerline is valid? [True, True] Translation: X:58.80, Y:8.51, Z:1.14 [[ 9.25230370e-01 -3.78817965e-01 -2.11118758e-02 5.87971402e+01] [ 3.78731178e-01 9.25471079e-01 -8.12256989e-03 8.51039813e+00] [ 2.26154059e-02 -4.80477253e-04 9.99744124e-01 1.13644763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.762755096 meters 0.021863032989074466 Centerline is valid? [True, True] Translation: X:58.82, Y:8.52, Z:1.14 [[ 9.25116346e-01 -3.79105772e-01 -2.09418306e-02 5.88224123e+01] [ 3.79020396e-01 9.25353220e-01 -8.05961581e-03 8.51973504e+00] [ 2.24340373e-02 -4.81298612e-04 9.99748209e-01 1.13705767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79275509600001 meters 0.022190446649547314 Centerline is valid? [True, True] Translation: X:58.85, Y:8.53, Z:1.14 [[ 9.25206828e-01 -3.78909334e-01 -2.04949382e-02 5.88488058e+01] [ 3.78827451e-01 9.25433683e-01 -7.89055558e-03 8.52804727e+00] [ 2.19565113e-02 -4.63649304e-04 9.99758819e-01 1.13754396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82275509600001 meters 0.024046000521749007 Centerline is valid? [True, True] Translation: X:58.88, Y:8.54, Z:1.14 [[ 9.24839127e-01 -3.79759008e-01 -2.13468028e-02 5.88764074e+01] [ 3.79670330e-01 9.25085318e-01 -8.22165039e-03 8.53812410e+00] [ 2.28698597e-02 -5.01043714e-04 9.99738325e-01 1.13594818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.852755096 meters 0.021030257140262066 Centerline is valid? [True, True] Translation: X:58.90, Y:8.55, Z:1.14 [[ 9.25043074e-01 -3.79338321e-01 -1.99436514e-02 5.89031299e+01] [ 3.79260700e-01 9.25257928e-01 -7.68692580e-03 8.54919226e+00] [ 2.13689671e-02 -4.53105701e-04 9.99771555e-01 1.13939944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.882755096 meters 0.02104132218531108 Centerline is valid? [True, True] Translation: X:58.93, Y:8.56, Z:1.14 [[ 9.24864402e-01 -3.79780588e-01 -1.98126731e-02 5.89298031e+01] [ 3.79703951e-01 9.25076482e-01 -7.64271989e-03 8.55894836e+00] [ 2.12307946e-02 -4.54470715e-04 9.99774498e-01 1.14011279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.912755096 meters 0.021192784685527002 Centerline is valid? [True, True] Translation: X:58.96, Y:8.57, Z:1.14 [[ 9.24738203e-01 -3.80098410e-01 -1.96075112e-02 5.89564484e+01] [ 3.80023289e-01 9.24945942e-01 -7.57000839e-03 8.56864221e+00] [ 2.10132361e-02 -4.51034948e-04 9.99779096e-01 1.14048877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.942755096 meters 0.02176968787412417 Centerline is valid? [True, True] Translation: X:58.98, Y:8.58, Z:1.14 [[ 9.24427520e-01 -3.80870016e-01 -1.92819069e-02 5.89835711e+01] [ 3.80797493e-01 9.24628477e-01 -7.44641666e-03 8.57650698e+00] [ 2.06647170e-02 -4.58829323e-04 9.99786357e-01 1.14118832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.972755096 meters 0.021865634244074898 Centerline is valid? [True, True] Translation: X:59.01, Y:8.59, Z:1.14 [[ 9.24128782e-01 -3.81614862e-01 -1.88704120e-02 5.90106910e+01] [ 3.81545509e-01 9.24321309e-01 -7.28982697e-03 8.58628560e+00] [ 2.02242302e-02 -4.63182032e-04 9.99795362e-01 1.14197493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.002755096 meters 0.022383160311226443 Centerline is valid? [True, True] Translation: X:59.04, Y:8.59, Z:1.14 [[ 9.23840250e-01 -3.82332914e-01 -1.84589917e-02 5.90369411e+01] [ 3.82266590e-01 9.24024528e-01 -7.13628105e-03 8.59441049e+00] [ 1.97849962e-02 -4.63472122e-04 9.99804150e-01 1.14262302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.032755096 meters 0.023109920146411778 Centerline is valid? [True, True] Translation: X:59.06, Y:8.60, Z:1.14 [[ 9.23531779e-01 -3.83092018e-01 -1.81537862e-02 5.90633596e+01] [ 3.83027977e-01 9.23710066e-01 -7.02023706e-03 8.60248782e+00] [ 1.94582318e-02 -4.69995996e-04 9.99810560e-01 1.14331983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.062755096 meters 0.024485170333397106 Centerline is valid? [True, True] Translation: X:59.09, Y:8.61, Z:1.14 [[ 9.23058116e-01 -3.84244715e-01 -1.78805329e-02 5.90911196e+01] [ 3.84182767e-01 9.23231154e-01 -6.91646603e-03 8.60877671e+00] [ 1.91654805e-02 -4.85092485e-04 9.99816208e-01 1.14394493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.092755096 meters 0.023410808802745 Centerline is valid? [True, True] Translation: X:59.12, Y:8.62, Z:1.14 [[ 9.22791889e-01 -3.84901475e-01 -1.74924126e-02 5.91177483e+01] [ 3.84842271e-01 9.22957539e-01 -6.76816214e-03 8.62052383e+00] [ 1.87498296e-02 -4.86214645e-04 9.99824088e-01 1.14454423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.122755096 meters 0.022854965285174958 Centerline is valid? [True, True] Translation: X:59.14, Y:8.63, Z:1.14 [[ 9.22578091e-01 -3.85436711e-01 -1.69766657e-02 5.91436493e+01] [ 3.85380947e-01 9.22734151e-01 -6.57362369e-03 8.63094039e+00] [ 1.81986651e-02 -4.77802295e-04 9.99834276e-01 1.14483448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.152755096 meters 0.024612085601013238 Centerline is valid? [True, True] Translation: X:59.17, Y:8.64, Z:1.15 [[ 9.22700418e-01 -3.85135628e-01 -1.71606002e-02 5.91709389e+01] [ 3.85078481e-01 9.22859862e-01 -6.65115492e-03 8.63826708e+00] [ 1.83984259e-02 -4.71154441e-04 9.99830624e-01 1.14508167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18275509600001 meters 0.022160864705352987 Centerline is valid? [True, True] Translation: X:59.20, Y:8.65, Z:1.15 [[ 9.22802413e-01 -3.84879128e-01 -1.74288141e-02 5.91966637e+01] [ 3.84820097e-01 9.22966866e-01 -6.75706934e-03 8.65244437e+00] [ 1.86868729e-02 -4.71518062e-04 9.99825274e-01 1.14511093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21275509600001 meters 0.023797282665960096 Centerline is valid? [True, True] Translation: X:59.22, Y:8.66, Z:1.15 [[ 9.23019886e-01 -3.84348888e-01 -1.76131293e-02 5.92238366e+01] [ 3.84288399e-01 9.23187804e-01 -6.83414202e-03 8.65973549e+00] [ 1.88869211e-02 -4.60472295e-04 9.99821520e-01 1.14510751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.242755096 meters 0.02256935344622173 Centerline is valid? [True, True] Translation: X:59.25, Y:8.67, Z:1.14 [[ 9.23449988e-01 -3.83273024e-01 -1.84907744e-02 5.92500631e+01] [ 3.83206095e-01 9.23634982e-01 -7.17704574e-03 8.67162998e+00] [ 1.98294941e-02 -4.58134658e-04 9.99803271e-01 1.14443262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.272755096 meters 0.02140319775641867 Centerline is valid? [True, True] Translation: X:59.28, Y:8.68, Z:1.14 [[ 9.23729966e-01 -3.82570436e-01 -1.90476063e-02 5.92761072e+01] [ 3.82499145e-01 9.23926219e-01 -7.39906768e-03 8.68370033e+00] [ 2.04292474e-02 -4.50952569e-04 9.99791199e-01 1.14474803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.302755096 meters 0.021386449970048627 Centerline is valid? [True, True] Translation: X:59.30, Y:8.69, Z:1.14 [[ 9.23982968e-01 -3.81958271e-01 -1.90618507e-02 5.93021265e+01] [ 3.81886628e-01 9.24179470e-01 -7.41020596e-03 8.69358458e+00] [ 2.04469606e-02 -4.32561796e-04 9.99790845e-01 1.14487545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.332755096 meters 0.02099394747342918 Centerline is valid? [True, True] Translation: X:59.33, Y:8.71, Z:1.15 [[ 9.24191463e-01 -3.81459007e-01 -1.89516489e-02 5.93292175e+01] [ 3.81388038e-01 9.24385662e-01 -7.36969731e-03 8.70504334e+00] [ 2.03298699e-02 -4.16920843e-04 9.99793240e-01 1.14565002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.362755096 meters 0.020906512472062433 Centerline is valid? [True, True] Translation: X:59.35, Y:8.72, Z:1.15 [[ 9.24376332e-01 -3.81019502e-01 -1.87759402e-02 5.93547711e+01] [ 3.80949650e-01 9.24566915e-01 -7.30642992e-03 8.71548434e+00] [ 2.01435054e-02 -3.98796981e-04 9.99797019e-01 1.14617795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.392755096 meters 0.02113416548840282 Centerline is valid? [True, True] Translation: X:59.38, Y:8.73, Z:1.15 [[ 9.24353326e-01 -3.81084503e-01 -1.85884781e-02 5.93804120e+01] [ 3.81016011e-01 9.24540127e-01 -7.23552292e-03 8.72517347e+00] [ 1.99431395e-02 -3.94328092e-04 9.99801038e-01 1.14675215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.422755096 meters 0.021916054025038312 Centerline is valid? [True, True] Translation: X:59.41, Y:8.73, Z:1.15 [[ 9.23874158e-01 -3.82284169e-01 -1.77582306e-02 5.94072051e+01] [ 3.82221832e-01 9.24044726e-01 -6.91490112e-03 8.73365029e+00] [ 1.90528566e-02 -3.99084997e-04 9.99818398e-01 1.14781854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.452755096 meters 0.020723333977791636 Centerline is valid? [True, True] Translation: X:59.43, Y:8.75, Z:1.15 [[ 9.23454054e-01 -3.83304361e-01 -1.76175187e-02 5.94332687e+01] [ 3.83243141e-01 9.23621998e-01 -6.86290438e-03 8.74549806e+00] [ 1.89025090e-02 -4.14216321e-04 9.99821246e-01 1.14883344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.482755096 meters 0.021092003762657668 Centerline is valid? [True, True] Translation: X:59.46, Y:8.75, Z:1.15 [[ 9.22857243e-01 -3.84772555e-01 -1.68697922e-02 5.94608270e+01] [ 3.84716574e-01 9.23011324e-01 -6.57675734e-03 8.75483350e+00] [ 1.81015649e-02 -4.20680500e-04 9.99836065e-01 1.14999761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.512755096 meters 0.022417649376774304 Centerline is valid? [True, True] Translation: X:59.49, Y:8.76, Z:1.15 [[ 9.21619563e-01 -3.87781715e-01 -1.55795417e-02 5.94885806e+01] [ 3.87734323e-01 9.21751132e-01 -6.07831273e-03 8.76220357e+00] [ 1.67175187e-02 -4.38831126e-04 9.99860156e-01 1.15145197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54275509600001 meters 0.02359986713926908 Centerline is valid? [True, True] Translation: X:59.52, Y:8.77, Z:1.15 [[ 9.21062992e-01 -3.89108932e-01 -1.54014220e-02 5.95154759e+01] [ 3.89062718e-01 9.21191638e-01 -6.01396511e-03 8.77009607e+00] [ 1.65277487e-02 -4.52878420e-04 9.99863305e-01 1.15224973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57275509600001 meters 0.02417628170171099 Centerline is valid? [True, True] Translation: X:59.54, Y:8.78, Z:1.15 [[ 9.20079522e-01 -3.91427690e-01 -1.54284177e-02 5.95424993e+01] [ 3.91381601e-01 9.20208737e-01 -6.02682068e-03 8.77944611e+00] [ 1.65564293e-02 -4.93244529e-04 9.99862811e-01 1.15229044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.602755096 meters 0.024780206278566037 Centerline is valid? [True, True] Translation: X:59.57, Y:8.79, Z:1.15 [[ 9.19663262e-01 -3.92394455e-01 -1.56867994e-02 5.95692331e+01] [ 3.92346859e-01 9.19796894e-01 -6.13311610e-03 8.78907596e+00] [ 1.68352701e-02 -5.14264913e-04 9.99858145e-01 1.15247246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.632755096 meters 0.0243007001888299 Centerline is valid? [True, True] Translation: X:59.60, Y:8.80, Z:1.15 [[ 9.19283651e-01 -3.93274830e-01 -1.58895139e-02 5.95963930e+01] [ 3.93226102e-01 9.19420807e-01 -6.21384562e-03 8.80030100e+00] [ 1.70528988e-02 -5.35884937e-04 9.99854445e-01 1.15225808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.662755096 meters 0.0240077936407287 Centerline is valid? [True, True] Translation: X:59.62, Y:8.81, Z:1.15 [[ 9.18922810e-01 -3.94097942e-01 -1.63609905e-02 5.96230526e+01] [ 3.94046315e-01 9.19068276e-01 -6.40361033e-03 8.81117784e+00] [ 1.75605170e-02 -5.62564416e-04 9.99845644e-01 1.15211109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.692755096 meters 0.02500952534466185 Centerline is valid? [True, True] Translation: X:59.65, Y:8.82, Z:1.15 [[ 9.18334433e-01 -3.95420675e-01 -1.74458742e-02 5.96498137e+01] [ 3.95362098e-01 9.18499921e-01 -6.83427784e-03 8.81919865e+00] [ 1.87264488e-02 -6.21284770e-04 9.99824452e-01 1.15172002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.722755096 meters 0.025525183849515423 Centerline is valid? [True, True] Translation: X:59.68, Y:8.83, Z:1.15 [[ 9.18071823e-01 -3.96004780e-01 -1.80094975e-02 5.96769525e+01] [ 3.95942425e-01 9.18248218e-01 -7.05732316e-03 8.82878771e+00] [ 1.93319227e-02 -6.51594583e-04 9.99812909e-01 1.15171965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.752755096 meters 0.025476340724095513 Centerline is valid? [True, True] Translation: X:59.70, Y:8.84, Z:1.15 [[ 9.17775376e-01 -3.96670923e-01 -1.84536749e-02 5.97036708e+01] [ 3.96605470e-01 9.17960632e-01 -7.23737505e-03 8.83943907e+00] [ 1.98106033e-02 -6.76543808e-04 9.99803522e-01 1.15168823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.782755096 meters 0.02663118299539263 Centerline is valid? [True, True] Translation: X:59.73, Y:8.85, Z:1.15 [[ 9.17686817e-01 -3.96869210e-01 -1.85939614e-02 5.97300467e+01] [ 3.96802685e-01 9.17874919e-01 -7.29814138e-03 8.84783042e+00] [ 1.99633384e-02 -6.80725660e-04 9.99800481e-01 1.15161176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.812755096 meters 0.026594298590495894 Centerline is valid? [True, True] Translation: X:59.76, Y:8.86, Z:1.15 [[ 9.17443943e-01 -3.97415880e-01 -1.89005166e-02 5.97567690e+01] [ 3.97347209e-01 9.17638341e-01 -7.42092323e-03 8.85846789e+00] [ 2.02930314e-02 -7.01786429e-04 9.99793829e-01 1.15172247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.842755096 meters 0.026317857418134062 Centerline is valid? [True, True] Translation: X:59.78, Y:8.87, Z:1.15 [[ 9.17348346e-01 -3.97619594e-01 -1.92527961e-02 5.97831100e+01] [ 3.97548256e-01 9.17550080e-01 -7.56542845e-03 8.86924481e+00] [ 2.06735672e-02 -7.13782220e-04 9.99786024e-01 1.15227520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.872755096 meters 0.02582825778136993 Centerline is valid? [True, True] Translation: X:59.81, Y:8.88, Z:1.15 [[ 9.17150106e-01 -3.98069591e-01 -1.93980128e-02 5.98090921e+01] [ 3.97997126e-01 9.17354936e-01 -7.62951760e-03 8.88009622e+00] [ 2.08319417e-02 -7.22940460e-04 9.99782730e-01 1.15302754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.902755096 meters 0.02644611227598086 Centerline is valid? [True, True] Translation: X:59.84, Y:8.89, Z:1.15 [[ 9.17005947e-01 -3.98388301e-01 -1.96686124e-02 5.98351276e+01] [ 3.98313732e-01 9.17216563e-01 -7.74264530e-03 8.88874869e+00] [ 2.11249564e-02 -7.34226612e-04 9.99776574e-01 1.15405918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93275509600001 meters 0.02644611227598086 Centerline is valid? [True, True] Translation: X:59.86, Y:8.90, Z:1.15 [[ 9.16881771e-01 -3.98674054e-01 -1.96676671e-02 5.98607434e+01] [ 3.98599499e-01 9.17092391e-01 -7.74504569e-03 8.89901143e+00] [ 2.11248166e-02 -7.38231056e-04 9.99776574e-01 1.15457545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96275509600001 meters 0.02667893126020009 Centerline is valid? [True, True] Translation: X:59.89, Y:8.91, Z:1.16 [[ 9.16766701e-01 -3.98930746e-01 -1.98261568e-02 5.98870557e+01] [ 3.98854891e-01 9.16980756e-01 -7.81464065e-03 8.90886682e+00] [ 2.12977047e-02 -7.43557278e-04 9.99772902e-01 1.15536895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.992755096 meters 0.02734144257469202 Centerline is valid? [True, True] Translation: X:59.91, Y:8.92, Z:1.16 [[ 9.16527945e-01 -3.99492225e-01 -1.95573096e-02 5.99131143e+01] [ 3.99418408e-01 9.16736284e-01 -7.71504959e-03 8.91808046e+00] [ 2.10109976e-02 -7.40490901e-04 9.99778970e-01 1.15615708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.022755096 meters 0.027817580883917684 Centerline is valid? [True, True] Translation: X:59.94, Y:8.93, Z:1.16 [[ 9.16379227e-01 -3.99824318e-01 -1.97389835e-02 5.99393128e+01] [ 3.99749152e-01 9.16591484e-01 -7.78891240e-03 8.92790864e+00] [ 2.12067808e-02 -7.53044409e-04 9.99774827e-01 1.15668861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.052755096 meters 0.0278913827066519 Centerline is valid? [True, True] Translation: X:59.97, Y:8.94, Z:1.16 [[ 9.16190485e-01 -4.00240556e-01 -2.00622341e-02 5.99650903e+01] [ 4.00162946e-01 9.16409789e-01 -7.91933052e-03 8.93822344e+00] [ 2.15548649e-02 -7.72547430e-04 9.99767368e-01 1.15671904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.082755096 meters 0.028870825433512045 Centerline is valid? [True, True] Translation: X:59.99, Y:8.95, Z:1.16 [[ 9.15938135e-01 -4.00776626e-01 -2.08669389e-02 5.99919116e+01] [ 4.00692653e-01 9.16175441e-01 -8.24370585e-03 8.94733225e+00] [ 2.24216616e-02 -8.10504549e-04 9.99748274e-01 1.15675170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.112755096 meters 0.02752215495862348 Centerline is valid? [True, True] Translation: X:60.02, Y:8.96, Z:1.16 [[ 9.15698363e-01 -4.01321353e-01 -2.09207793e-02 6.00181343e+01] [ 4.01237020e-01 9.15936949e-01 -8.26796647e-03 8.95966502e+00] [ 2.24802262e-02 -8.23227772e-04 9.99746949e-01 1.15772276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.142755096 meters 0.028090798348394914 Centerline is valid? [True, True] Translation: X:60.05, Y:8.97, Z:1.16 [[ 9.15396080e-01 -4.01994137e-01 -2.12304118e-02 6.00456932e+01] [ 4.01907317e-01 9.15641850e-01 -8.39703750e-03 8.96949166e+00] [ 2.28150134e-02 -8.46042643e-04 9.99739346e-01 1.15841309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.172755096 meters 0.028029111523309246 Centerline is valid? [True, True] Translation: X:60.07, Y:8.98, Z:1.16 [[ 9.15243174e-01 -4.02339809e-01 -2.12746402e-02 6.00722054e+01] [ 4.02252565e-01 9.15490008e-01 -8.42130502e-03 8.97989322e+00] [ 2.28649468e-02 -8.50236674e-04 9.99738201e-01 1.15926174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.202755096 meters 0.028727297020477334 Centerline is valid? [True, True] Translation: X:60.10, Y:8.99, Z:1.16 [[ 9.15181529e-01 -4.02466453e-01 -2.15295829e-02 6.00972536e+01] [ 4.02376982e-01 9.15434334e-01 -8.52910148e-03 8.98884037e+00] [ 2.31415966e-02 -8.57332430e-04 9.99731830e-01 1.15970460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.232755096 meters 0.02910775810822342 Centerline is valid? [True, True] Translation: X:60.12, Y:9.00, Z:1.16 [[ 9.15179060e-01 -4.02457870e-01 -2.17933499e-02 6.01229708e+01] [ 4.02366091e-01 9.15438101e-01 -8.63782396e-03 8.99882915e+00] [ 2.34268230e-02 -8.63749389e-04 9.99725181e-01 1.16011643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.262755096 meters 0.02883885806007406 Centerline is valid? [True, True] Translation: X:60.15, Y:9.01, Z:1.16 [[ 9.15319233e-01 -4.02126147e-01 -2.20287073e-02 6.01492244e+01] [ 4.02032101e-01 9.15583872e-01 -8.73862371e-03 9.01022201e+00] [ 2.36831582e-02 -8.57617152e-04 9.99719147e-01 1.16067610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29275509600001 meters 0.02864990771064676 Centerline is valid? [True, True] Translation: X:60.18, Y:9.02, Z:1.16 [[ 9.15557465e-01 -4.01569282e-01 -2.22854354e-02 6.01763181e+01] [ 4.01472706e-01 9.15828256e-01 -8.84713472e-03 9.02160865e+00] [ 2.39623690e-02 -8.46933832e-04 9.99712502e-01 1.16132978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32275509600001 meters 0.028015348644421772 Centerline is valid? [True, True] Translation: X:60.20, Y:9.03, Z:1.16 [[ 9.16443405e-01 -3.99535074e-01 -2.24323551e-02 6.02018547e+01] [ 3.99436480e-01 9.16717565e-01 -8.91086890e-03 9.03311229e+00] [ 2.41243387e-02 -7.93993951e-04 9.99708650e-01 1.16163348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.352755096 meters 0.02759324337771193 Centerline is valid? [True, True] Translation: X:60.23, Y:9.04, Z:1.16 [[ 9.16860951e-01 -3.98567303e-01 -2.25854344e-02 6.02279347e+01] [ 3.98466984e-01 9.17138763e-01 -8.97505598e-03 9.04469493e+00] [ 2.42911412e-02 -7.70671564e-04 9.99704630e-01 1.16199428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.382755096 meters 0.02640110665130498 Centerline is valid? [True, True] Translation: X:60.25, Y:9.06, Z:1.16 [[ 9.18012892e-01 -3.95885804e-01 -2.29512765e-02 6.02532577e+01] [ 3.95781228e-01 9.18299479e-01 -9.12619852e-03 9.05698635e+00] [ 2.46890776e-02 -7.05716470e-04 9.99694929e-01 1.16247469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.412755096 meters 0.025642414643645365 Centerline is valid? [True, True] Translation: X:60.28, Y:9.07, Z:1.16 [[ 9.18556329e-01 -3.94645061e-01 -2.25731223e-02 6.02798763e+01] [ 3.94543450e-01 9.18833414e-01 -8.97910116e-03 9.06916716e+00] [ 2.42844970e-02 -6.58267349e-04 9.99704871e-01 1.16310881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.442755096 meters 0.021100905526587336 Centerline is valid? [True, True] Translation: X:60.30, Y:9.09, Z:1.17 [[ 9.19737352e-01 -3.91881908e-01 -2.26223882e-02 6.03037598e+01] [ 3.91778853e-01 9.20015344e-01 -9.00540679e-03 9.08727257e+00] [ 2.43420003e-02 -5.80364315e-04 9.99703521e-01 1.16513309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.472755096 meters 0.02060216810861221 Centerline is valid? [True, True] Translation: X:60.33, Y:9.10, Z:1.17 [[ 9.20276059e-01 -3.90621476e-01 -2.25130461e-02 6.03303817e+01] [ 3.90518863e-01 9.20551233e-01 -8.96906791e-03 9.09959049e+00] [ 2.42279229e-02 -5.37750705e-04 9.99706316e-01 1.16576817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.502755096 meters 0.019979692778787975 Centerline is valid? [True, True] Translation: X:60.36, Y:9.11, Z:1.17 [[ 9.20833583e-01 -3.89313710e-01 -2.23684679e-02 6.03570561e+01] [ 3.89211856e-01 9.21105093e-01 -8.91850967e-03 9.11185649e+00] [ 2.40758078e-02 -4.93609677e-04 9.99710014e-01 1.16663688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.532755096 meters 0.01961598202175273 Centerline is valid? [True, True] Translation: X:60.38, Y:9.12, Z:1.17 [[ 9.21427954e-01 -3.87927293e-01 -2.19759061e-02 6.03827065e+01] [ 3.87828456e-01 9.21689871e-01 -8.76761427e-03 9.12310400e+00] [ 2.36561669e-02 -4.44156831e-04 9.99720055e-01 1.16742632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.562755096 meters 0.0186662928173271 Centerline is valid? [True, True] Translation: X:60.41, Y:9.14, Z:1.17 [[ 9.22433738e-01 -3.85553362e-01 -2.15546670e-02 6.04088069e+01] [ 3.85457554e-01 9.22685464e-01 -8.60281641e-03 9.13579120e+00] [ 2.32050227e-02 -3.72881113e-04 9.99730658e-01 1.16860498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.592755096 meters 0.017884958320290543 Centerline is valid? [True, True] Translation: X:60.44, Y:9.15, Z:1.17 [[ 9.22723210e-01 -3.84864368e-01 -2.14777874e-02 6.04352555e+01] [ 3.84768897e-01 9.22973075e-01 -8.57899530e-03 9.14856516e+00] [ 2.31251691e-02 -3.47946470e-04 9.99732517e-01 1.16949426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.622755096 meters 0.01822136905889663 Centerline is valid? [True, True] Translation: X:60.46, Y:9.16, Z:1.17 [[ 9.23003890e-01 -3.84171424e-01 -2.18205573e-02 6.04616133e+01] [ 3.84072536e-01 9.23261723e-01 -8.72229705e-03 9.15860975e+00] [ 2.34969426e-02 -3.29962689e-04 9.99723854e-01 1.16919348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.652755096 meters 0.01767327627658824 Centerline is valid? [True, True] Translation: X:60.49, Y:9.17, Z:1.17 [[ 9.23346180e-01 -3.83318736e-01 -2.23288903e-02 6.04883686e+01] [ 3.83214849e-01 9.23616072e-01 -8.92919019e-03 9.17045569e+00] [ 2.40460479e-02 -3.12028675e-04 9.99710803e-01 1.16902714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68275509600001 meters 0.017748317664792988 Centerline is valid? [True, True] Translation: X:60.51, Y:9.18, Z:1.17 [[ 9.23247857e-01 -3.83516407e-01 -2.29904292e-02 6.05141166e+01] [ 3.83406137e-01 9.23534008e-01 -9.20165290e-03 9.18064980e+00] [ 2.47614281e-02 -3.19265325e-04 9.99693338e-01 1.16893908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71275509600001 meters 0.017837176461959415 Centerline is valid? [True, True] Translation: X:60.54, Y:9.19, Z:1.17 [[ 9.23136165e-01 -3.83762537e-01 -2.33652651e-02 6.05406300e+01] [ 3.83648499e-01 9.23431758e-01 -9.36045551e-03 9.19098952e+00] [ 2.51684200e-02 -3.23073881e-04 9.99683173e-01 1.16917777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.742755096 meters 0.01844935670034798 Centerline is valid? [True, True] Translation: X:60.57, Y:9.20, Z:1.17 [[ 9.22660081e-01 -3.84896155e-01 -2.35228465e-02 6.05673363e+01] [ 3.84780760e-01 9.22959819e-01 -9.43075906e-03 9.19927605e+00] [ 2.53405051e-02 -3.49753855e-04 9.99678817e-01 1.16919812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.772755096 meters 0.018661528075658424 Centerline is valid? [True, True] Translation: X:60.59, Y:9.21, Z:1.17 [[ 9.22170132e-01 -3.86086279e-01 -2.32300073e-02 6.05942191e+01] [ 3.85974021e-01 9.22462598e-01 -9.31718720e-03 9.20864958e+00] [ 2.50260510e-02 -3.74147586e-04 9.99686729e-01 1.17000233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.802755096 meters 0.019487134933582295 Centerline is valid? [True, True] Translation: X:60.62, Y:9.22, Z:1.17 [[ 9.21221234e-01 -3.88382191e-01 -2.25989476e-02 6.06219353e+01] [ 3.88276467e-01 9.21498290e-01 -9.07115911e-03 9.21618843e+00] [ 2.43479682e-02 -4.18095140e-04 9.99703457e-01 1.17182966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.832755096 meters 0.019854936439134684 Centerline is valid? [True, True] Translation: X:60.65, Y:9.23, Z:1.17 [[ 9.20572421e-01 -3.89935954e-01 -2.22793628e-02 6.06496031e+01] [ 3.89833485e-01 9.20841872e-01 -8.94992787e-03 9.22586398e+00] [ 2.40056688e-02 -4.46184875e-04 9.99711723e-01 1.17273560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.862755096 meters 0.020394674766658367 Centerline is valid? [True, True] Translation: X:60.68, Y:9.23, Z:1.17 [[ 9.20038271e-01 -3.91205783e-01 -2.20820102e-02 6.06767345e+01] [ 3.91105320e-01 9.20303111e-01 -8.87766687e-03 9.23484933e+00] [ 2.37951373e-02 -4.68598392e-04 9.99716746e-01 1.17329795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.892755096 meters 0.02099869569541977 Centerline is valid? [True, True] Translation: X:60.70, Y:9.24, Z:1.17 [[ 9.19405820e-01 -3.92702779e-01 -2.18509839e-02 6.07039193e+01] [ 3.92604667e-01 9.19665310e-01 -8.79167188e-03 9.24404166e+00] [ 2.35481059e-02 -4.95683978e-04 9.99722582e-01 1.17399022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.922755096 meters 0.021392354483489265 Centerline is valid? [True, True] Translation: X:60.73, Y:9.25, Z:1.18 [[ 9.18677483e-01 -3.94443354e-01 -2.11216261e-02 6.07311308e+01] [ 3.94351994e-01 9.18920113e-01 -8.50475469e-03 9.25355706e+00] [ 2.27637310e-02 -5.16228747e-04 9.99740739e-01 1.17528751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.952755096 meters 0.021466843369196582 Centerline is valid? [True, True] Translation: X:60.76, Y:9.26, Z:1.18 [[ 9.18270575e-01 -3.95406996e-01 -2.07956326e-02 6.07579471e+01] [ 3.95318533e-01 9.18505869e-01 -8.38010759e-03 9.26404282e+00] [ 2.24144638e-02 -5.25692776e-04 9.99748626e-01 1.17577400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.982755096 meters 0.022800560325886947 Centerline is valid? [True, True] Translation: X:60.78, Y:9.27, Z:1.18 [[ 9.18101942e-01 -3.95777145e-01 -2.11961157e-02 6.07844512e+01] [ 3.95685198e-01 9.18346428e-01 -8.54768345e-03 9.27219659e+00] [ 2.28483549e-02 -5.39344463e-04 9.99738797e-01 1.17596037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.012755096 meters 0.021930432035751436 Centerline is valid? [True, True] Translation: X:60.81, Y:9.29, Z:1.18 [[ 9.17957160e-01 -3.96121878e-01 -2.10264053e-02 6.08097815e+01] [ 3.96031413e-01 9.18197781e-01 -8.48255631e-03 9.28565332e+00] [ 2.26665248e-02 -5.40493695e-04 9.99742935e-01 1.17672965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04275509600001 meters 0.022147021685328498 Centerline is valid? [True, True] Translation: X:60.84, Y:9.30, Z:1.18 [[ 9.17614570e-01 -3.96875973e-01 -2.17477276e-02 6.08363216e+01] [ 3.96779219e-01 9.17872070e-01 -8.78151984e-03 9.29592124e+00] [ 2.34468060e-02 -5.70995819e-04 9.99724923e-01 1.17649409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07275509600001 meters 0.022985048516634007 Centerline is valid? [True, True] Translation: X:60.86, Y:9.30, Z:1.18 [[ 9.17548230e-01 -3.97012162e-01 -2.20587612e-02 6.08623155e+01] [ 3.96912508e-01 9.17813167e-01 -8.91349382e-03 9.30483892e+00] [ 2.37845870e-02 -5.76837773e-04 9.99716940e-01 1.17605736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.102755096 meters 0.02428853108158818 Centerline is valid? [True, True] Translation: X:60.89, Y:9.31, Z:1.18 [[ 9.17240585e-01 -3.97675675e-01 -2.28859502e-02 6.08886439e+01] [ 3.97568528e-01 9.17525848e-01 -9.25120149e-03 9.31316859e+00] [ 2.46774286e-02 -6.13156037e-04 9.99695278e-01 1.17564712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.132755096 meters 0.02286852650158652 Centerline is valid? [True, True] Translation: X:60.91, Y:9.33, Z:1.18 [[ 9.17080085e-01 -3.98017208e-01 -2.33756384e-02 6.09137993e+01] [ 3.97905432e-01 9.17377732e-01 -9.45325053e-03 9.32644251e+00] [ 2.52068465e-02 -6.31905686e-04 9.99682057e-01 1.17638538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.162755096 meters 0.02270292160107679 Centerline is valid? [True, True] Translation: X:60.94, Y:9.34, Z:1.18 [[ 9.16893875e-01 -3.98426924e-01 -2.36982905e-02 6.09398381e+01] [ 3.98311956e-01 9.17199854e-01 -9.59239060e-03 9.33821267e+00] [ 2.55579353e-02 -6.44108281e-04 9.99673135e-01 1.17630057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.192755096 meters 0.02351446894342547 Centerline is valid? [True, True] Translation: X:60.97, Y:9.35, Z:1.18 [[ 9.16627672e-01 -3.99048605e-01 -2.35355328e-02 6.09654439e+01] [ 3.98935239e-01 9.16929543e-01 -9.53350250e-03 9.34958763e+00] [ 2.53847562e-02 -6.50481213e-04 9.99677544e-01 1.17640556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.222755096 meters 0.02340511755540168 Centerline is valid? [True, True] Translation: X:60.99, Y:9.36, Z:1.18 [[ 9.16435988e-01 -3.99502187e-01 -2.33041318e-02 6.09908775e+01] [ 3.99391083e-01 9.16732009e-01 -9.44385883e-03 9.36120574e+00] [ 2.51364858e-02 -6.52770323e-04 9.99683815e-01 1.17698638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.252755096 meters 0.023790623719941832 Centerline is valid? [True, True] Translation: X:61.02, Y:9.37, Z:1.18 [[ 9.16148795e-01 -4.00175853e-01 -2.30363300e-02 6.10177731e+01] [ 4.00067302e-01 9.16438135e-01 -9.34331463e-03 9.37205364e+00] [ 2.48503402e-02 -6.56215941e-04 9.99690967e-01 1.17763845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.282755096 meters 0.025401481000216015 Centerline is valid? [True, True] Translation: X:61.04, Y:9.38, Z:1.18 [[ 9.15607222e-01 -4.01435438e-01 -2.26496059e-02 6.10439903e+01] [ 4.01330738e-01 9.15887076e-01 -9.19251207e-03 9.38014379e+00] [ 2.44346815e-02 -6.73252634e-04 9.99701202e-01 1.17919671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.312755096 meters 0.023904802154454088 Centerline is valid? [True, True] Translation: X:61.07, Y:9.39, Z:1.18 [[ 9.15257617e-01 -4.02252024e-01 -2.22890922e-02 6.10692080e+01] [ 4.02150806e-01 9.15528724e-01 -9.04902971e-03 9.39339347e+00] [ 2.40462947e-02 -6.81383036e-04 9.99710614e-01 1.18081414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.342755096 meters 0.025018284450372637 Centerline is valid? [True, True] Translation: X:61.10, Y:9.40, Z:1.18 [[ 9.14938245e-01 -4.02990818e-01 -2.20546439e-02 6.10955995e+01] [ 4.02891873e-01 9.15203760e-01 -8.95634612e-03 9.40268669e+00] [ 2.37938183e-02 -6.91133195e-04 9.99716648e-01 1.18144870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.372755096 meters 0.025767130694132688 Centerline is valid? [True, True] Translation: X:61.12, Y:9.41, Z:1.18 [[ 9.14392731e-01 -4.04233819e-01 -2.19306337e-02 6.11220397e+01] [ 4.04136260e-01 9.14655403e-01 -8.90936203e-03 9.41454002e+00] [ 2.36604381e-02 -7.16308401e-04 9.99719796e-01 1.18184208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.402755096 meters 0.024768520010872732 Centerline is valid? [True, True] Translation: X:61.15, Y:9.43, Z:1.18 [[ 9.14113313e-01 -4.04835594e-01 -2.24720476e-02 6.11479787e+01] [ 4.04733166e-01 9.14389189e-01 -9.13647278e-03 9.42826986e+00] [ 2.42469667e-02 -7.43411563e-04 9.99705723e-01 1.18284374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43275509600001 meters 0.026301246188854276 Centerline is valid? [True, True] Translation: X:61.17, Y:9.44, Z:1.18 [[ 9.13899032e-01 -4.05338156e-01 -2.21255164e-02 6.11740841e+01] [ 4.05238866e-01 9.14166523e-01 -9.00162985e-03 9.43766185e+00] [ 2.38751104e-02 -7.39538355e-04 9.99714675e-01 1.18318904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46275509600001 meters 0.025335809650901132 Centerline is valid? [True, True] Translation: X:61.20, Y:9.45, Z:1.18 [[ 9.13631742e-01 -4.05940706e-01 -2.21174686e-02 6.11995334e+01] [ 4.05841581e-01 9.13899107e-01 -9.00185307e-03 9.45086658e+00] [ 2.38673534e-02 -7.51809722e-04 9.99714851e-01 1.18421393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.492755096 meters 0.026628591125098255 Centerline is valid? [True, True] Translation: X:61.22, Y:9.46, Z:1.19 [[ 9.13107281e-01 -4.07145941e-01 -2.16165623e-02 6.12249938e+01] [ 4.07051447e-01 9.13362800e-01 -8.80424034e-03 9.46097297e+00] [ 2.33283746e-02 -7.59836983e-04 9.99727568e-01 1.18522371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.522755096 meters 0.02686434088472265 Centerline is valid? [True, True] Translation: X:61.25, Y:9.47, Z:1.19 [[ 9.12707811e-01 -4.08065723e-01 -2.11380811e-02 6.12517366e+01] [ 4.07975508e-01 9.12952236e-01 -8.61390948e-03 9.47261312e+00] [ 2.28130996e-02 -7.61836914e-04 9.99739457e-01 1.18609626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.552755096 meters 0.026928244436172605 Centerline is valid? [True, True] Translation: X:61.28, Y:9.48, Z:1.19 [[ 9.12271997e-01 -4.09049300e-01 -2.09397611e-02 6.12773754e+01] [ 4.08960898e-01 9.12511957e-01 -8.53889504e-03 9.48478522e+00] [ 2.26006114e-02 -7.73748650e-04 9.99744274e-01 1.18704675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.582755096 meters 0.027244663780523166 Centerline is valid? [True, True] Translation: X:61.30, Y:9.50, Z:1.19 [[ 9.11926339e-01 -4.09822303e-01 -2.08814038e-02 6.13039861e+01] [ 4.09734525e-01 9.12165040e-01 -8.51817449e-03 9.49678321e+00] [ 2.25382244e-02 -7.87884412e-04 9.99745671e-01 1.18739060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.612755096 meters 0.027589942816530145 Centerline is valid? [True, True] Translation: X:61.33, Y:9.51, Z:1.19 [[ 9.11813485e-01 -4.10058191e-01 -2.11766081e-02 6.13300222e+01] [ 4.09967840e-01 9.12059012e-01 -8.64459852e-03 9.50806911e+00] [ 2.28591047e-02 -7.99466776e-04 9.99738377e-01 1.18757414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.642755096 meters 0.027020249694597685 Centerline is valid? [True, True] Translation: X:61.36, Y:9.52, Z:1.19 [[ 9.11414882e-01 -4.10937353e-01 -2.12933010e-02 6.13556013e+01] [ 4.10846169e-01 9.11663213e-01 -8.69546220e-03 9.52209645e+00] [ 2.29856094e-02 -8.23097497e-04 9.99735457e-01 1.18774158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.672755096 meters 0.028164628318136858 Centerline is valid? [True, True] Translation: X:61.38, Y:9.53, Z:1.19 [[ 9.11207916e-01 -4.11395439e-01 -2.13055552e-02 6.13815969e+01] [ 4.11304136e-01 9.11456584e-01 -8.70650474e-03 9.53165394e+00] [ 2.30009049e-02 -8.29626935e-04 9.99735100e-01 1.18799246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.702755096 meters 0.026615507120294674 Centerline is valid? [True, True] Translation: X:61.41, Y:9.54, Z:1.19 [[ 9.11034695e-01 -4.11779268e-01 -2.12983112e-02 6.14067865e+01] [ 4.11688076e-01 9.11283235e-01 -8.70597852e-03 9.54499862e+00] [ 2.29937354e-02 -8.36812253e-04 9.99735259e-01 1.18896616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.732755096 meters 0.028103494644699783 Centerline is valid? [True, True] Translation: X:61.43, Y:9.55, Z:1.19 [[ 9.10567875e-01 -4.12845807e-01 -2.06030356e-02 6.14328750e+01] [ 4.12760692e-01 9.10800552e-01 -8.42411320e-03 9.55438991e+00] [ 2.22431160e-02 -8.33396371e-04 9.99752244e-01 1.18994124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.762755096 meters 0.028374431615705707 Centerline is valid? [True, True] Translation: X:61.46, Y:9.57, Z:1.19 [[ 9.10344672e-01 -4.13328634e-01 -2.07850747e-02 6.14596308e+01] [ 4.13242064e-01 9.10581528e-01 -8.50166651e-03 9.56577900e+00] [ 2.24404873e-02 -8.49820352e-04 9.99747819e-01 1.19055939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79275509600001 meters 0.02783038147152734 Centerline is valid? [True, True] Translation: X:61.49, Y:9.58, Z:1.19 [[ 9.10118135e-01 -4.13839040e-01 -2.05482077e-02 6.14854215e+01] [ 4.13754418e-01 9.10349676e-01 -8.41126947e-03 9.57821817e+00] [ 2.21869659e-02 -8.46662811e-04 9.99753480e-01 1.19138599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82275509600001 meters 0.02783038147152734 Centerline is valid? [True, True] Translation: X:61.51, Y:9.59, Z:1.19 [[ 9.09986802e-01 -4.14127866e-01 -2.05458228e-02 6.15108960e+01] [ 4.14043186e-01 9.10218321e-01 -8.41709122e-03 9.58882630e+00] [ 2.21869364e-02 -8.47416000e-04 9.99753480e-01 1.19190128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.852755096 meters 0.028938196604864252 Centerline is valid? [True, True] Translation: X:61.54, Y:9.60, Z:1.19 [[ 9.09891888e-01 -4.14359366e-01 -2.00765307e-02 6.15364389e+01] [ 4.14278422e-01 9.10112977e-01 -8.23155092e-03 9.59859585e+00] [ 2.16827314e-02 -8.27452044e-04 9.99764560e-01 1.19244484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.882755096 meters 0.02797010254786088 Centerline is valid? [True, True] Translation: X:61.56, Y:9.61, Z:1.19 [[ 9.10242479e-01 -4.13604359e-01 -1.97500030e-02 6.15616565e+01] [ 4.13525774e-01 9.10456372e-01 -8.10117901e-03 9.61218891e+00] [ 2.13321990e-02 -7.93098004e-04 9.99772128e-01 1.19303979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.912755096 meters 0.02797121561505128 Centerline is valid? [True, True] Translation: X:61.59, Y:9.62, Z:1.19 [[ 9.10542401e-01 -4.12950132e-01 -1.96144146e-02 6.15875347e+01] [ 4.12872349e-01 9.10753314e-01 -8.05130949e-03 9.62363163e+00] [ 2.11886824e-02 -7.67190767e-04 9.99775200e-01 1.19331253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.942755096 meters 0.02864100573973263 Centerline is valid? [True, True] Translation: X:61.61, Y:9.63, Z:1.19 [[ 9.10842583e-01 -4.12300657e-01 -1.93379607e-02 6.16131011e+01] [ 4.12224860e-01 9.11047541e-01 -7.93998556e-03 9.63371592e+00] [ 2.08914628e-02 -7.39511179e-04 9.99781476e-01 1.19399110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.972755096 meters 0.028057972099183308 Centerline is valid? [True, True] Translation: X:61.64, Y:9.65, Z:1.19 [[ 9.11887246e-01 -4.09972878e-01 -1.95931186e-02 6.16379116e+01] [ 4.09894483e-01 9.12097450e-01 -8.04696022e-03 9.64626157e+00] [ 2.11698690e-02 -6.93190838e-04 9.99775653e-01 1.19454548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.002755096 meters 0.027476526289295488 Centerline is valid? [True, True] Translation: X:61.66, Y:9.66, Z:1.19 [[ 9.12351026e-01 -4.08953546e-01 -1.93029403e-02 6.16640636e+01] [ 4.08877177e-01 9.12554966e-01 -7.93023686e-03 9.65913724e+00] [ 2.08580925e-02 -6.57372015e-04 9.99782230e-01 1.19489271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.032755096 meters 0.02526016002112571 Centerline is valid? [True, True] Translation: X:61.69, Y:9.67, Z:1.19 [[ 9.13592592e-01 -4.06142721e-01 -1.99164512e-02 6.16889710e+01] [ 4.06060632e-01 9.13809456e-01 -8.18787453e-03 9.67487657e+00] [ 2.15252870e-02 -6.06905232e-04 9.99768120e-01 1.19438097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.062755096 meters 0.025626308635129064 Centerline is valid? [True, True] Translation: X:61.71, Y:9.69, Z:1.19 [[ 9.14115971e-01 -4.04948738e-01 -2.02116779e-02 6.17146011e+01] [ 4.04863865e-01 9.14339202e-01 -8.31109061e-03 9.68550194e+00] [ 2.18458951e-02 -5.85677365e-04 9.99761178e-01 1.19422817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.092755096 meters 0.02402069522633896 Centerline is valid? [True, True] Translation: X:61.74, Y:9.70, Z:1.19 [[ 9.14709226e-01 -4.03599291e-01 -2.03628357e-02 6.17398886e+01] [ 4.03512747e-01 9.14935683e-01 -8.37605373e-03 9.69910734e+00] [ 2.20112543e-02 -5.55010157e-04 9.99757569e-01 1.19483715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.122755096 meters 0.02111977223678479 Centerline is valid? [True, True] Translation: X:61.76, Y:9.72, Z:1.20 [[ 9.15750889e-01 -4.01263177e-01 -1.97020968e-02 6.17645879e+01] [ 4.01181493e-01 9.15962682e-01 -8.11011280e-03 9.71546659e+00] [ 2.13006750e-02 -4.77273591e-04 9.99773001e-01 1.19631075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.152755096 meters 0.021348593792574456 Centerline is valid? [True, True] Translation: X:61.79, Y:9.73, Z:1.20 [[ 9.16133083e-01 -4.00389975e-01 -1.96987762e-02 6.17907449e+01] [ 4.00307989e-01 9.16344730e-01 -8.11481472e-03 9.72617049e+00] [ 2.12999602e-02 -4.51327266e-04 9.99773028e-01 1.19714297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18275509600001 meters 0.020559692369067326 Centerline is valid? [True, True] Translation: X:61.82, Y:9.74, Z:1.20 [[ 9.16200251e-01 -4.00246529e-01 -1.94888799e-02 6.18162443e+01] [ 4.00166168e-01 9.16407400e-01 -8.03212012e-03 9.73909338e+00] [ 2.10745819e-02 -4.39759907e-04 9.99777810e-01 1.19822133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21275509600001 meters 0.02076770236123068 Centerline is valid? [True, True] Translation: X:61.84, Y:9.75, Z:1.20 [[ 9.16212965e-01 -4.00258795e-01 -1.86198949e-02 6.18409350e+01] [ 4.00185315e-01 9.16402054e-01 -7.68038093e-03 9.74927597e+00] [ 2.01374500e-02 -4.14543930e-04 9.99797135e-01 1.19893498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.242755096 meters 0.02057475881800377 Centerline is valid? [True, True] Translation: X:61.87, Y:9.76, Z:1.20 [[ 9.15933400e-01 -4.00907558e-01 -1.84156621e-02 6.18664135e+01] [ 4.00835749e-01 9.16118416e-01 -7.59932541e-03 9.76132263e+00] [ 1.99175542e-02 -4.21179760e-04 9.99801537e-01 1.19968098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.272755096 meters 0.020839125851596408 Centerline is valid? [True, True] Translation: X:61.89, Y:9.77, Z:1.20 [[ 9.15517917e-01 -4.01875453e-01 -1.79739645e-02 6.18931121e+01] [ 4.01807105e-01 9.15694239e-01 -7.42366179e-03 9.77235544e+00] [ 1.94420432e-02 -4.25571272e-04 9.99810895e-01 1.20042223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.302755096 meters 0.022721982693913473 Centerline is valid? [True, True] Translation: X:61.92, Y:9.78, Z:1.20 [[ 9.14751851e-01 -4.03628405e-01 -1.76963846e-02 6.19206625e+01] [ 4.03562370e-01 9.14922897e-01 -7.31473451e-03 9.77925128e+00] [ 1.91432621e-02 -4.50427962e-04 9.99816650e-01 1.20078202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.332755096 meters 0.02160968560836143 Centerline is valid? [True, True] Translation: X:61.95, Y:9.79, Z:1.20 [[ 9.14166390e-01 -4.04967032e-01 -1.73641724e-02 6.19462849e+01] [ 4.04903639e-01 9.14331168e-01 -7.18041787e-03 9.79240010e+00] [ 1.87844366e-02 -4.66719929e-04 9.99823448e-01 1.20154773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.362755096 meters 0.02328690504286337 Centerline is valid? [True, True] Translation: X:61.97, Y:9.80, Z:1.20 [[ 9.13472963e-01 -4.06539216e-01 -1.71175664e-02 6.19729505e+01] [ 4.06477780e-01 9.13633203e-01 -7.08414669e-03 9.80053156e+00] [ 1.85191605e-02 -4.86733922e-04 9.99828387e-01 1.20223350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.392755096 meters 0.023772388957652553 Centerline is valid? [True, True] Translation: X:62.00, Y:9.81, Z:1.20 [[ 9.12089643e-01 -4.09634667e-01 -1.70857668e-02 6.20001310e+01] [ 4.09573964e-01 9.12249495e-01 -7.07296142e-03 9.81084371e+00] [ 1.84838123e-02 -5.46710377e-04 9.99829010e-01 1.20321402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.422755096 meters 0.024723217287618077 Centerline is valid? [True, True] Translation: X:62.03, Y:9.82, Z:1.20 [[ 9.11369213e-01 -4.11242810e-01 -1.68970052e-02 6.20270082e+01] [ 4.11183615e-01 9.11525660e-01 -7.00041794e-03 9.82023538e+00] [ 1.82809254e-02 -5.67806295e-04 9.99832729e-01 1.20363952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.452755096 meters 0.025516067523270843 Centerline is valid? [True, True] Translation: X:62.05, Y:9.83, Z:1.20 [[ 9.10554282e-01 -4.13030485e-01 -1.72255045e-02 6.20543565e+01] [ 4.12969247e-01 9.10716993e-01 -7.13854952e-03 9.83027607e+00] [ 1.86359983e-02 -6.13566803e-04 9.99826146e-01 1.20411391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.482755096 meters 0.027309382120068823 Centerline is valid? [True, True] Translation: X:62.08, Y:9.84, Z:1.20 [[ 9.09184330e-01 -4.16000786e-01 -1.80886642e-02 6.20832822e+01] [ 4.15933723e-01 9.09363982e-01 -7.50240236e-03 9.83880967e+00] [ 1.95701849e-02 -7.02618759e-04 9.99808239e-01 1.20403663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.512755096 meters 0.027990231033118915 Centerline is valid? [True, True] Translation: X:62.11, Y:9.85, Z:1.20 [[ 9.08463933e-01 -4.17551918e-01 -1.85385399e-02 6.21102973e+01] [ 4.17481693e-01 9.08652758e-01 -7.69431249e-03 9.84907834e+00] [ 2.00578703e-02 -7.49495616e-04 9.99798540e-01 1.20396222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54275509600001 meters 0.028904199658087253 Centerline is valid? [True, True] Translation: X:62.14, Y:9.86, Z:1.20 [[ 9.07713631e-01 -4.19155628e-01 -1.90924844e-02 6.21374311e+01] [ 4.19081365e-01 9.07914046e-01 -7.93057966e-03 9.85890302e+00] [ 2.06584818e-02 -8.02609150e-04 9.99786269e-01 1.20395202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57275509600001 meters 0.029618416954080223 Centerline is valid? [True, True] Translation: X:62.16, Y:9.87, Z:1.20 [[ 9.07073338e-01 -4.20532806e-01 -1.92384775e-02 6.21641266e+01] [ 4.20457582e-01 9.07276949e-01 -7.99745413e-03 9.86917820e+00] [ 2.08178190e-02 -8.34686343e-04 9.99782937e-01 1.20427246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.602755096 meters 0.031241567256869246 Centerline is valid? [True, True] Translation: X:62.19, Y:9.88, Z:1.20 [[ 9.06203856e-01 -4.22377784e-01 -1.97883508e-02 6.21905287e+01] [ 4.22298509e-01 9.06419441e-01 -8.23202547e-03 9.87792747e+00] [ 2.14135705e-02 -8.96697787e-04 9.99770301e-01 1.20415529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.632755096 meters 0.03123337775362793 Centerline is valid? [True, True] Translation: X:62.22, Y:9.89, Z:1.20 [[ 9.05866602e-01 -4.23070109e-01 -2.04299375e-02 6.22174906e+01] [ 4.22985718e-01 9.06096463e-01 -8.50193695e-03 9.88881732e+00] [ 2.21084095e-02 -9.39951046e-04 9.99755137e-01 1.20444785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.662755096 meters 0.031157975024639004 Centerline is valid? [True, True] Translation: X:62.24, Y:9.90, Z:1.21 [[ 9.05632616e-01 -4.23563258e-01 -2.05847512e-02 6.22442284e+01] [ 4.23477564e-01 9.05866026e-01 -8.57292880e-03 9.89966725e+00] [ 2.22782045e-02 -9.53256372e-04 9.99751356e-01 1.20530660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.692755096 meters 0.030402231711944866 Centerline is valid? [True, True] Translation: X:62.27, Y:9.91, Z:1.21 [[ 9.05593412e-01 -4.23653865e-01 -2.04444416e-02 6.22693810e+01] [ 4.23569211e-01 9.05823666e-01 -8.52112366e-03 9.91121111e+00] [ 2.21290660e-02 -9.42962569e-04 9.99754678e-01 1.20627103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.722755096 meters 0.028350916136899953 Centerline is valid? [True, True] Translation: X:62.29, Y:9.93, Z:1.21 [[ 9.06114780e-01 -4.22561004e-01 -1.99550242e-02 6.22948595e+01] [ 4.22479937e-01 9.06334050e-01 -8.32425305e-03 9.92529588e+00] [ 2.16034226e-02 -8.87868640e-04 9.99766225e-01 1.20793837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.752755096 meters 0.027735964763261966 Centerline is valid? [True, True] Translation: X:62.32, Y:9.94, Z:1.21 [[ 9.06541607e-01 -4.21663133e-01 -1.95580482e-02 6.23212182e+01] [ 4.21584916e-01 9.06752166e-01 -8.16505521e-03 9.93746858e+00] [ 2.11772054e-02 -8.43415835e-04 9.99775382e-01 1.20899186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.782755096 meters 0.027148608054050664 Centerline is valid? [True, True] Translation: X:62.35, Y:9.95, Z:1.21 [[ 9.07764003e-01 -4.19048920e-01 -1.90398966e-02 6.23461337e+01] [ 4.18974098e-01 9.07963342e-01 -7.95455056e-03 9.94939363e+00] [ 2.06208740e-02 -7.56368846e-04 9.99787081e-01 1.21018944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.812755096 meters 0.030312347414588468 Centerline is valid? [True, True] Translation: X:62.37, Y:9.96, Z:1.21 [[ 9.08359608e-01 -4.17766266e-01 -1.88193800e-02 6.23734969e+01] [ 4.17692847e-01 9.08554254e-01 -7.86461067e-03 9.95605270e+00] [ 2.03839968e-02 -7.16825740e-04 9.99791968e-01 1.21068757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.842755096 meters 0.025369230747930904 Centerline is valid? [True, True] Translation: X:62.40, Y:9.97, Z:1.21 [[ 9.09846983e-01 -4.14525524e-01 -1.86294735e-02 6.23976633e+01] [ 4.14452852e-01 9.10037464e-01 -7.78764641e-03 9.97456735e+00] [ 2.01816970e-02 -6.35471824e-04 9.99796127e-01 1.21191551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.872755096 meters 0.024411397775186274 Centerline is valid? [True, True] Translation: X:62.42, Y:9.99, Z:1.21 [[ 9.10428634e-01 -4.13264977e-01 -1.82143251e-02 6.24238929e+01] [ 4.13195150e-01 9.10610626e-01 -7.61947358e-03 9.98753041e+00] [ 1.97350195e-02 -5.89083858e-04 9.99805072e-01 1.21281450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.902755096 meters 0.02361207550353743 Centerline is valid? [True, True] Translation: X:62.45, Y:10.00, Z:1.21 [[ 9.11080311e-01 -4.11837461e-01 -1.79602939e-02 6.24497738e+01] [ 4.11769179e-01 9.11257158e-01 -7.51899820e-03 1.00002252e+01] [ 1.94630515e-02 -5.45084223e-04 9.99810428e-01 1.21354614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93275509600001 meters 0.024631772997055892 Centerline is valid? [True, True] Translation: X:62.48, Y:10.01, Z:1.21 [[ 9.12224116e-01 -4.09279580e-01 -1.83680946e-02 6.24756387e+01] [ 4.09207524e-01 9.12408888e-01 -7.69569115e-03 1.00100130e+01] [ 1.99089020e-02 -4.96167465e-04 9.99801675e-01 1.21333065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96275509600001 meters 0.02263823534651377 Centerline is valid? [True, True] Translation: X:62.50, Y:10.03, Z:1.21 [[ 9.12521796e-01 -4.08625505e-01 -1.81430334e-02 6.25011905e+01] [ 4.08555012e-01 9.12702018e-01 -7.60454254e-03 1.00250349e+01] [ 1.96665933e-02 -4.73116430e-04 9.99806482e-01 1.21422871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.992755096 meters 0.02236128334467004 Centerline is valid? [True, True] Translation: X:62.53, Y:10.04, Z:1.21 [[ 9.12673760e-01 -4.08300272e-01 -1.78184312e-02 6.25276403e+01] [ 4.08232116e-01 9.12847568e-01 -7.47371442e-03 1.00368110e+01] [ 1.93170312e-02 -4.52992839e-04 9.99813306e-01 1.21487562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.022755096 meters 0.021834260764326294 Centerline is valid? [True, True] Translation: X:62.55, Y:10.05, Z:1.22 [[ 9.12641217e-01 -4.08387410e-01 -1.74852262e-02 6.25533851e+01] [ 4.08321691e-01 9.12808594e-01 -7.33949492e-03 1.00485686e+01] [ 1.89580221e-02 -4.41271560e-04 9.99820183e-01 1.21562043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.052755096 meters 0.02165701870962744 Centerline is valid? [True, True] Translation: X:62.58, Y:10.06, Z:1.22 [[ 9.12533785e-01 -4.08634815e-01 -1.73112619e-02 6.25794196e+01] [ 4.08570320e-01 9.12697868e-01 -7.27293801e-03 1.00601111e+01] [ 1.87719275e-02 -4.36066191e-04 9.99823697e-01 1.21631324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.082755096 meters 0.021861492512730608 Centerline is valid? [True, True] Translation: X:62.61, Y:10.07, Z:1.22 [[ 9.12291573e-01 -4.09174444e-01 -1.73308950e-02 6.26051044e+01] [ 4.09109776e-01 9.12456070e-01 -7.28778506e-03 1.00706663e+01] [ 1.87956558e-02 -4.41653683e-04 9.99823249e-01 1.21658695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.112755096 meters 0.02236390241687989 Centerline is valid? [True, True] Translation: X:62.63, Y:10.08, Z:1.22 [[ 9.11882698e-01 -4.10083546e-01 -1.73617764e-02 6.26308906e+01] [ 4.10018689e-01 9.12047849e-01 -7.30730684e-03 1.00815109e+01] [ 1.88313771e-02 -4.55246121e-04 9.99822570e-01 1.21657470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.142755096 meters 0.022946544858484123 Centerline is valid? [True, True] Translation: X:62.66, Y:10.09, Z:1.22 [[ 9.11664146e-01 -4.10564368e-01 -1.74752614e-02 6.26572216e+01] [ 4.10498710e-01 9.11831499e-01 -7.35712085e-03 1.00918414e+01] [ 1.89550655e-02 -4.66348963e-04 9.99820228e-01 1.21687057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.172755096 meters 0.0229060666703455 Centerline is valid? [True, True] Translation: X:62.68, Y:10.10, Z:1.22 [[ 9.11300826e-01 -4.11361181e-01 -1.76856659e-02 6.26838739e+01] [ 4.11294040e-01 9.11472294e-01 -7.44785474e-03 1.01036611e+01] [ 1.91837528e-02 -4.86772813e-04 9.99815856e-01 1.21683543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.202755096 meters 0.023582470997933123 Centerline is valid? [True, True] Translation: X:62.71, Y:10.11, Z:1.22 [[ 9.10859340e-01 -4.12309321e-01 -1.83381421e-02 6.27101863e+01] [ 4.12237208e-01 9.11043772e-01 -7.72854289e-03 1.01134078e+01] [ 1.98934005e-02 -5.20049052e-04 9.99801971e-01 1.21676044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.232755096 meters 0.02380030004146455 Centerline is valid? [True, True] Translation: X:62.74, Y:10.12, Z:1.22 [[ 9.10481360e-01 -4.13118972e-01 -1.88787636e-02 6.27372848e+01] [ 4.13042666e-01 9.10676897e-01 -7.95894112e-03 1.01243764e+01] [ 2.04804434e-02 -5.51267312e-04 9.99790102e-01 1.21688920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.262755096 meters 0.023740797588689924 Centerline is valid? [True, True] Translation: X:62.76, Y:10.14, Z:1.22 [[ 9.10275133e-01 -4.13547241e-01 -1.94386522e-02 6.27630397e+01] [ 4.13466302e-01 9.10482483e-01 -8.20152513e-03 1.01353530e+01] [ 2.10902705e-02 -5.71583275e-04 9.99777412e-01 1.21709062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29275509600001 meters 0.024560904707592607 Centerline is valid? [True, True] Translation: X:62.79, Y:10.15, Z:1.22 [[ 9.10169765e-01 -4.13734326e-01 -2.03692668e-02 6.27886640e+01] [ 4.13645339e-01 9.10397469e-01 -8.60130768e-03 1.01450520e+01] [ 2.21027852e-02 -5.97002071e-04 9.99755525e-01 1.21660492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32275509600001 meters 0.024286347995661574 Centerline is valid? [True, True] Translation: X:62.81, Y:10.16, Z:1.22 [[ 9.10184625e-01 -4.13692327e-01 -2.05574061e-02 6.28138221e+01] [ 4.13601598e-01 9.10416553e-01 -8.68434512e-03 1.01569470e+01] [ 2.23084498e-02 -5.98218622e-04 9.99750957e-01 1.21703597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35275509600001 meters 0.024520110336924937 Centerline is valid? [True, True] Translation: X:62.84, Y:10.17, Z:1.22 [[ 9.10427139e-01 -4.13141869e-01 -2.08858662e-02 6.28390993e+01] [ 4.13047920e-01 9.10666487e-01 -8.82984152e-03 1.01677564e+01] [ 2.26680357e-02 -5.87936245e-04 9.99742874e-01 1.21713271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.382755096 meters 0.022380454302704567 Centerline is valid? [True, True] Translation: X:62.86, Y:10.18, Z:1.22 [[ 9.10926079e-01 -4.12035746e-01 -2.09814865e-02 6.28641222e+01] [ 4.11940569e-01 9.11167509e-01 -8.87343070e-03 1.01831705e+01] [ 2.27738194e-02 -5.60086050e-04 9.99740486e-01 1.21810891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.412755096 meters 0.02255111299670703 Centerline is valid? [True, True] Translation: X:62.89, Y:10.19, Z:1.22 [[ 9.11199225e-01 -4.11440289e-01 -2.08053037e-02 6.28896300e+01] [ 4.11346411e-01 9.11436560e-01 -8.80498761e-03 1.01938900e+01] [ 2.25854411e-02 -5.35089133e-04 9.99744773e-01 1.21878666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.442755096 meters 0.02196227265558235 Centerline is valid? [True, True] Translation: X:62.92, Y:10.21, Z:1.22 [[ 9.11550980e-01 -4.10659995e-01 -2.08129600e-02 6.29160890e+01] [ 4.10565773e-01 9.11788410e-01 -8.81139991e-03 1.02064307e+01] [ 2.25955052e-02 -5.13048797e-04 9.99744557e-01 1.21981936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.472755096 meters 0.02067301542637023 Centerline is valid? [True, True] Translation: X:62.94, Y:10.22, Z:1.22 [[ 9.12292239e-01 -4.09005481e-01 -2.09138248e-02 6.29412561e+01] [ 4.08909752e-01 9.12531806e-01 -8.86099372e-03 1.02201862e+01] [ 2.27087253e-02 -4.68051103e-04 9.99742014e-01 1.22115530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.502755096 meters 0.021125243681636558 Centerline is valid? [True, True] Translation: X:62.97, Y:10.23, Z:1.22 [[ 9.12554675e-01 -4.08433107e-01 -2.06485512e-02 6.29677021e+01] [ 4.08339490e-01 9.12788147e-01 -8.75548087e-03 1.02304667e+01] [ 2.24237810e-02 -4.41763866e-04 9.99748458e-01 1.22148650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.532755096 meters 0.020816387010531866 Centerline is valid? [True, True] Translation: X:62.99, Y:10.24, Z:1.22 [[ 9.12794401e-01 -4.07907940e-01 -2.04326559e-02 6.29936780e+01] [ 4.07815991e-01 9.13022966e-01 -8.67066562e-03 1.02421980e+01] [ 2.21923174e-02 -4.18228771e-04 9.99753633e-01 1.22214721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.562755096 meters 0.021786253125851234 Centerline is valid? [True, True] Translation: X:63.02, Y:10.25, Z:1.22 [[ 9.13207229e-01 -4.06979776e-01 -2.04943573e-02 6.30197572e+01] [ 4.06886903e-01 9.13437085e-01 -8.70280908e-03 1.02508432e+01] [ 2.22621733e-02 -3.91417421e-04 9.99752090e-01 1.22257163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.592755096 meters 0.020502451768880246 Centerline is valid? [True, True] Translation: X:63.04, Y:10.26, Z:1.22 [[ 9.13102442e-01 -4.07190802e-01 -2.09661849e-02 6.30445837e+01] [ 4.07093582e-01 9.13343029e-01 -8.90655593e-03 1.02644221e+01] [ 2.27759865e-02 -4.02601342e-04 9.99740513e-01 1.22391605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.622755096 meters 0.020779204439929238 Centerline is valid? [True, True] Translation: X:63.07, Y:10.27, Z:1.22 [[ 9.12990262e-01 -4.07447923e-01 -2.08559819e-02 6.30700722e+01] [ 4.07351634e-01 9.13228356e-01 -8.86661276e-03 1.02743170e+01] [ 2.26589570e-02 -4.00587179e-04 9.99743173e-01 1.22472166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.652755096 meters 0.021332890395288212 Centerline is valid? [True, True] Translation: X:63.10, Y:10.28, Z:1.23 [[ 9.12240340e-01 -4.09142966e-01 -2.04840365e-02 6.30974749e+01] [ 4.09050425e-01 9.12470190e-01 -8.71219359e-03 1.02839230e+01] [ 2.22556054e-02 -4.31389395e-04 9.99752220e-01 1.22590057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68275509600001 meters 0.021563399542628387 Centerline is valid? [True, True] Translation: X:63.12, Y:10.29, Z:1.23 [[ 9.11619189e-01 -4.10534589e-01 -2.02930061e-02 6.31240608e+01] [ 4.10443971e-01 9.11844912e-01 -8.63729422e-03 1.02945739e+01] [ 2.20499824e-02 -4.55218854e-04 9.99756766e-01 1.22708973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71275509600001 meters 0.02183842420443688 Centerline is valid? [True, True] Translation: X:63.15, Y:10.30, Z:1.23 [[ 9.11017594e-01 -4.11881854e-01 -2.00070317e-02 6.31508266e+01] [ 4.11793959e-01 9.11237133e-01 -8.52191010e-03 1.03048587e+01] [ 2.17411703e-02 -4.75164757e-04 9.99763520e-01 1.22840847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.742755096 meters 0.02183842420443688 Centerline is valid? [True, True] Translation: X:63.18, Y:10.32, Z:1.23 [[ 9.10889408e-01 -4.12165379e-01 -2.00046651e-02 6.31761254e+01] [ 4.12077430e-01 9.11108925e-01 -8.52746218e-03 1.03158244e+01] [ 2.17411536e-02 -4.75896011e-04 9.99763520e-01 1.22892348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.772755096 meters 0.022312946753734596 Centerline is valid? [True, True] Translation: X:63.20, Y:10.33, Z:1.23 [[ 9.09548127e-01 -4.15124603e-01 -1.98436054e-02 6.32033049e+01] [ 4.15038613e-01 9.09764408e-01 -8.46596391e-03 1.03255961e+01] [ 2.15674358e-02 -5.35660846e-04 9.99767252e-01 1.23000502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.802755096 meters 0.0247262426942132 Centerline is valid? [True, True] Translation: X:63.23, Y:10.33, Z:1.23 [[ 9.08958594e-01 -4.16375971e-01 -2.06234265e-02 6.32305027e+01] [ 4.16283268e-01 9.09192341e-01 -8.80502987e-03 1.03318418e+01] [ 2.24168643e-02 -5.81779805e-04 9.99748541e-01 1.23007686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.832755096 meters 0.024579934214841195 Centerline is valid? [True, True] Translation: X:63.26, Y:10.34, Z:1.23 [[ 9.07507422e-01 -4.19522063e-01 -2.07730139e-02 6.32572167e+01] [ 4.19428760e-01 9.07744899e-01 -8.87209418e-03 1.03420257e+01] [ 2.25786367e-02 -6.61308143e-04 9.99744851e-01 1.23104952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.862755096 meters 0.02685232033440902 Centerline is valid? [True, True] Translation: X:63.28, Y:10.35, Z:1.23 [[ 9.06698712e-01 -4.21246107e-01 -2.11934735e-02 6.32844208e+01] [ 4.21149316e-01 9.06946089e-01 -9.05784103e-03 1.03486413e+01] [ 2.30369182e-02 -7.12884066e-04 9.99734361e-01 1.23100420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.892755096 meters 0.025860278034816588 Centerline is valid? [True, True] Translation: X:63.31, Y:10.36, Z:1.23 [[ 9.05943538e-01 -4.22840654e-01 -2.17275541e-02 6.33100665e+01] [ 4.22739320e-01 9.06203723e-01 -9.28865426e-03 1.03607359e+01] [ 2.36172111e-02 -7.70095133e-04 9.99720778e-01 1.23183366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.922755096 meters 0.02690437027193517 Centerline is valid? [True, True] Translation: X:63.34, Y:10.37, Z:1.23 [[ 9.04779486e-01 -4.25304083e-01 -2.21476721e-02 6.33371786e+01] [ 4.25199457e-01 9.05050119e-01 -9.47116780e-03 1.03695311e+01] [ 2.40728796e-02 -8.47859816e-04 9.99709847e-01 1.23251354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.952755096 meters 0.027753037065569402 Centerline is valid? [True, True] Translation: X:63.36, Y:10.38, Z:1.23 [[ 9.04345510e-01 -4.26200397e-01 -2.26367103e-02 6.33632670e+01] [ 4.26091289e-01 9.04628340e-01 -9.68402232e-03 1.03792027e+01] [ 2.46051438e-02 -8.87602947e-04 9.99696854e-01 1.23326162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.982755096 meters 0.02730703613028856 Centerline is valid? [True, True] Translation: X:63.39, Y:10.39, Z:1.23 [[ 9.03949815e-01 -4.27065975e-01 -2.21220471e-02 6.33893683e+01] [ 4.26961945e-01 9.04220032e-01 -9.46740462e-03 1.03910866e+01] [ 2.40464045e-02 -8.87213587e-04 9.99710450e-01 1.23447585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.012755096 meters 0.027555154470371927 Centerline is valid? [True, True] Translation: X:63.42, Y:10.40, Z:1.24 [[ 9.03747074e-01 -4.27491330e-01 -2.21898506e-02 6.34157820e+01] [ 4.27386607e-01 9.04019006e-01 -9.50394833e-03 1.04018948e+01] [ 2.41229022e-02 -8.94479469e-04 9.99708600e-01 1.23564906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04275509600001 meters 0.028197501547840044 Centerline is valid? [True, True] Translation: X:63.44, Y:10.41, Z:1.24 [[ 9.03590271e-01 -4.27834890e-01 -2.19528929e-02 6.34409060e+01] [ 4.27732313e-01 9.03856471e-01 -9.41001550e-03 1.04113039e+01] [ 2.38681972e-02 -8.87163188e-04 9.99714720e-01 1.23733081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07275509600001 meters 0.028320222258183536 Centerline is valid? [True, True] Translation: X:63.47, Y:10.42, Z:1.24 [[ 9.03633838e-01 -4.27752188e-01 -2.17704338e-02 6.34671893e+01] [ 4.27651149e-01 9.03895627e-01 -9.33758510e-03 1.04220241e+01] [ 2.36723723e-02 -8.72393139e-04 9.99719389e-01 1.23862468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10275509600001 meters 0.0272146878034478 Centerline is valid? [True, True] Translation: X:63.49, Y:10.44, Z:1.24 [[ 9.04492866e-01 -4.25927006e-01 -2.18824482e-02 6.34932532e+01] [ 4.25824223e-01 9.04757155e-01 -9.39263288e-03 1.04351598e+01] [ 2.37988775e-02 -8.22507069e-04 9.99716428e-01 1.23993144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.132755096 meters 0.026652527754337494 Centerline is valid? [True, True] Translation: X:63.52, Y:10.45, Z:1.24 [[ 9.04976662e-01 -4.24900959e-01 -2.18269511e-02 6.35189236e+01] [ 4.24798235e-01 9.05239502e-01 -9.37572476e-03 1.04479488e+01] [ 2.37423728e-02 -7.87238208e-04 9.99717800e-01 1.24035243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.162755096 meters 0.02460315284643348 Centerline is valid? [True, True] Translation: X:63.54, Y:10.46, Z:1.24 [[ 9.05909976e-01 -4.22899711e-01 -2.19760987e-02 6.35445327e+01] [ 4.22794839e-01 9.06176194e-01 -9.44609652e-03 1.04628633e+01] [ 2.39089689e-02 -7.34068029e-04 9.99713870e-01 1.24138502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.192755096 meters 0.022628448270011533 Centerline is valid? [True, True] Translation: X:63.57, Y:10.48, Z:1.24 [[ 9.07923487e-01 -4.18571909e-01 -2.17370295e-02 6.35692745e+01] [ 4.18467989e-01 9.08183453e-01 -9.34653621e-03 1.04783755e+01] [ 2.36534080e-02 -6.10311280e-04 9.99720033e-01 1.24209195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.222755096 meters 0.021964736133528513 Centerline is valid? [True, True] Translation: X:63.59, Y:10.49, Z:1.24 [[ 9.08924060e-01 -4.16407221e-01 -2.14960596e-02 6.35941006e+01] [ 4.16304941e-01 9.09178051e-01 -9.24485962e-03 1.04910362e+01] [ 2.33933719e-02 -5.46040493e-04 9.99726189e-01 1.24280561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.252755096 meters 0.02091337228399854 Centerline is valid? [True, True] Translation: X:63.62, Y:10.50, Z:1.24 [[ 9.09925605e-01 -4.14239325e-01 -2.10041521e-02 6.36199386e+01] [ 4.14141024e-01 9.10167872e-01 -9.03646264e-03 1.05049638e+01] [ 2.28605626e-02 -4.76172324e-04 9.99738550e-01 1.24421004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.282755096 meters 0.019127519218003517 Centerline is valid? [True, True] Translation: X:63.64, Y:10.52, Z:1.25 [[ 9.12179115e-01 -4.09329862e-01 -1.94506280e-02 6.36448218e+01] [ 4.09244334e-01 9.12386410e-01 -8.37341301e-03 1.05205319e+01] [ 2.11739767e-02 -3.22006853e-04 9.99775754e-01 1.24617929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.312755096 meters 0.01886360410477168 Centerline is valid? [True, True] Translation: X:63.67, Y:10.53, Z:1.25 [[ 9.13057583e-01 -4.07377966e-01 -1.92104584e-02 6.36697409e+01] [ 4.07294069e-01 9.13259612e-01 -8.27179098e-03 1.05323097e+01] [ 2.09138811e-02 -2.71684271e-04 9.99781244e-01 1.24700514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.342755096 meters 0.017795034757266175 Centerline is valid? [True, True] Translation: X:63.69, Y:10.55, Z:1.25 [[ 9.13768217e-01 -4.05796889e-01 -1.88820057e-02 6.36949149e+01] [ 4.05715449e-01 9.13963255e-01 -8.13282035e-03 1.05472065e+01] [ 2.05577326e-02 -2.29208650e-04 9.99788641e-01 1.24777883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.372755096 meters 0.01729882845932092 Centerline is valid? [True, True] Translation: X:63.72, Y:10.56, Z:1.25 [[ 9.15032921e-01 -4.02947638e-01 -1.86535257e-02 6.37190832e+01] [ 4.02867447e-01 9.15223020e-01 -8.04016770e-03 1.05604106e+01] [ 2.03119027e-02 -1.57880142e-04 9.99793680e-01 1.24821724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.402755096 meters 0.01718040423801575 Centerline is valid? [True, True] Translation: X:63.74, Y:10.57, Z:1.25 [[ 9.15504696e-01 -4.01885136e-01 -1.84252551e-02 6.37438276e+01] [ 4.01806638e-01 9.15690079e-01 -7.94388866e-03 1.05725255e+01] [ 2.00643541e-02 -1.30722433e-04 9.99798682e-01 1.24836946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43275509600001 meters 0.0169746582644119 Centerline is valid? [True, True] Translation: X:63.77, Y:10.58, Z:1.25 [[ 9.15769382e-01 -4.01292240e-01 -1.81927614e-02 6.37695841e+01] [ 4.01215549e-01 9.15950067e-01 -7.84587608e-03 1.05847905e+01] [ 1.98121502e-02 -1.14205653e-04 9.99803714e-01 1.24900547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46275509600001 meters 0.017080173324680755 Centerline is valid? [True, True] Translation: X:63.79, Y:10.60, Z:1.25 [[ 9.15466717e-01 -4.01985703e-01 -1.81158776e-02 6.37949434e+01] [ 4.01909668e-01 9.15645935e-01 -7.81920297e-03 1.05956510e+01] [ 1.97309375e-02 -1.22726288e-04 9.99805319e-01 1.24941009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.492755096 meters 0.017311000249298724 Centerline is valid? [True, True] Translation: X:63.82, Y:10.61, Z:1.25 [[ 9.14864494e-01 -4.03364558e-01 -1.78882999e-02 6.38209344e+01] [ 4.03290560e-01 9.15039350e-01 -7.72734726e-03 1.06066495e+01] [ 1.94854364e-02 -1.44706857e-04 9.99810130e-01 1.24969669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.522755096 meters 0.01771896020294701 Centerline is valid? [True, True] Translation: X:63.85, Y:10.62, Z:1.25 [[ 9.14440477e-01 -4.04313512e-01 -1.81438059e-02 6.38470818e+01] [ 4.04237439e-01 9.14620445e-01 -7.84442996e-03 1.06165075e+01] [ 1.97663048e-02 -1.61141334e-04 9.99804615e-01 1.24955518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.552755096 meters 0.018966992848623073 Centerline is valid? [True, True] Translation: X:63.88, Y:10.62, Z:1.25 [[ 9.12753257e-01 -4.08097847e-01 -1.83749406e-02 6.38754959e+01] [ 4.08020540e-01 9.12938162e-01 -7.94678424e-03 1.06238012e+01] [ 2.00182500e-02 -2.43899980e-04 9.99799585e-01 1.24901420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.582755096 meters 0.020279328604841957 Centerline is valid? [True, True] Translation: X:63.90, Y:10.63, Z:1.25 [[ 9.11608479e-01 -4.10639270e-01 -1.85841462e-02 6.39026228e+01] [ 4.10560600e-01 9.11797840e-01 -8.04314080e-03 1.06311818e+01] [ 2.02478138e-02 -2.97722871e-04 9.99794948e-01 1.24897116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.612755096 meters 0.020079567264826594 Centerline is valid? [True, True] Translation: X:63.93, Y:10.64, Z:1.25 [[ 9.10389945e-01 -4.13341883e-01 -1.84020485e-02 6.39291173e+01] [ 4.13265232e-01 9.10575842e-01 -7.96765866e-03 1.06420999e+01] [ 2.00498279e-02 -3.51250519e-04 9.99798920e-01 1.24946956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.642755096 meters 0.02254623976869585 Centerline is valid? [True, True] Translation: X:63.96, Y:10.65, Z:1.25 [[ 9.07838885e-01 -4.18888469e-01 -1.90002462e-02 6.39580340e+01] [ 4.18807838e-01 9.08037564e-01 -8.23274873e-03 1.06476511e+01] [ 2.07015408e-02 -4.83442608e-04 9.99785583e-01 1.24892041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.672755096 meters 0.023414325417855028 Centerline is valid? [True, True] Translation: X:63.99, Y:10.66, Z:1.25 [[ 9.06730922e-01 -4.21282030e-01 -1.89864890e-02 6.39853833e+01] [ 4.21202002e-01 9.06929525e-01 -8.22859501e-03 1.06568945e+01] [ 2.06859667e-02 -5.36025649e-04 9.99785879e-01 1.24911153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.702755096 meters 0.02403918372976934 Centerline is valid? [True, True] Translation: X:64.01, Y:10.67, Z:1.25 [[ 9.05336917e-01 -4.24259142e-01 -1.92157994e-02 6.40123616e+01] [ 4.24177712e-01 9.05540619e-01 -8.33399351e-03 1.06664107e+01] [ 2.09364599e-02 -6.05841863e-04 9.99780625e-01 1.24883303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.732755096 meters 0.02455696091238985 Centerline is valid? [True, True] Translation: X:64.04, Y:10.68, Z:1.25 [[ 9.04777012e-01 -4.25447353e-01 -1.93160306e-02 6.40389344e+01] [ 4.25365261e-01 9.04982955e-01 -8.38126952e-03 1.06768216e+01] [ 2.10464674e-02 -6.33188400e-04 9.99778298e-01 1.24902094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.762755096 meters 0.025410491865581846 Centerline is valid? [True, True] Translation: X:64.06, Y:10.69, Z:1.25 [[ 9.04766023e-01 -4.25447770e-01 -1.98151096e-02 6.40643477e+01] [ 4.25361245e-01 9.04982752e-01 -8.60410088e-03 1.06851220e+01] [ 2.15929279e-02 -6.43881555e-04 9.99766638e-01 1.24846837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79275509600001 meters 0.02495405667541334 Centerline is valid? [True, True] Translation: X:64.09, Y:10.70, Z:1.25 [[ 9.04910893e-01 -4.25127660e-01 -2.00686063e-02 6.40910319e+01] [ 4.25038745e-01 9.05133174e-01 -8.71796755e-03 1.06972480e+01] [ 2.18710104e-02 -6.40951438e-04 9.99760595e-01 1.24899172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82275509600001 meters 0.024774581506439724 Centerline is valid? [True, True] Translation: X:64.12, Y:10.71, Z:1.25 [[ 9.05159833e-01 -4.24606224e-01 -1.98804077e-02 6.41178388e+01] [ 4.24518706e-01 9.05377918e-01 -8.64258488e-03 1.07089980e+01] [ 2.16689774e-02 -6.16684244e-04 9.99765010e-01 1.24946580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85275509600001 meters 0.024176846858861345 Centerline is valid? [True, True] Translation: X:64.14, Y:10.72, Z:1.25 [[ 9.05588828e-01 -4.23680381e-01 -2.00950092e-02 6.41443345e+01] [ 4.23590593e-01 9.05811559e-01 -8.74238701e-03 1.07214509e+01] [ 2.19062695e-02 -5.95048861e-04 9.99759852e-01 1.24997211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.882755096 meters 0.024216921682583714 Centerline is valid? [True, True] Translation: X:64.17, Y:10.73, Z:1.25 [[ 9.06115432e-01 -4.22554956e-01 -2.00532749e-02 6.41703995e+01] [ 4.22465124e-01 9.06337131e-01 -8.73066026e-03 1.07325952e+01] [ 2.18642114e-02 -5.60823253e-04 9.99760792e-01 1.25037821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.912755096 meters 0.02176917135288354 Centerline is valid? [True, True] Translation: X:64.19, Y:10.75, Z:1.25 [[ 9.07078299e-01 -4.20506324e-01 -1.95803637e-02 6.41947887e+01] [ 4.20420071e-01 9.07289473e-01 -8.53091143e-03 1.07480819e+01] [ 2.13523600e-02 -4.93773247e-04 9.99771890e-01 1.25128978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.942755096 meters 0.02251232808770915 Centerline is valid? [True, True] Translation: X:64.22, Y:10.76, Z:1.25 [[ 9.07344047e-01 -4.19961673e-01 -1.89465803e-02 6.42212001e+01] [ 4.19880677e-01 9.07541724e-01 -8.26049040e-03 1.07582119e+01] [ 2.06639016e-02 -4.60196184e-04 9.99786373e-01 1.25184363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.972755096 meters 0.02101713832864296 Centerline is valid? [True, True] Translation: X:64.25, Y:10.77, Z:1.25 [[ 9.07982324e-01 -4.18607899e-01 -1.83173870e-02 6.42471252e+01] [ 4.18531872e-01 9.08166976e-01 -7.98849021e-03 1.07713720e+01] [ 1.99792911e-02 -4.13002365e-04 9.99800309e-01 1.25316969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.002755096 meters 0.02127151669909872 Centerline is valid? [True, True] Translation: X:64.27, Y:10.78, Z:1.25 [[ 9.08111217e-01 -4.18355382e-01 -1.76859386e-02 6.42728836e+01] [ 4.18284352e-01 9.08283339e-01 -7.71862100e-03 1.07816443e+01] [ 1.92929700e-02 -3.88385055e-04 9.99813798e-01 1.25416514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.032755096 meters 0.02116319622723022 Centerline is valid? [True, True] Translation: X:64.30, Y:10.79, Z:1.26 [[ 9.08138281e-01 -4.18318735e-01 -1.71551522e-02 6.42989673e+01] [ 4.18251844e-01 9.08300224e-01 -7.48989064e-03 1.07928645e+01] [ 1.87151902e-02 -3.73317642e-04 9.99824786e-01 1.25511062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.062755096 meters 0.020743807459044195 Centerline is valid? [True, True] Translation: X:64.33, Y:10.80, Z:1.26 [[ 9.08346617e-01 -4.17889802e-01 -1.65691771e-02 6.43257164e+01] [ 4.17827225e-01 9.08497657e-01 -7.23993810e-03 1.08043953e+01] [ 1.80785549e-02 -3.46680022e-04 9.99836509e-01 1.25573201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.092755096 meters 0.02023896719339287 Centerline is valid? [True, True] Translation: X:64.35, Y:10.82, Z:1.26 [[ 9.08326712e-01 -4.17926439e-01 -1.67354832e-02 6.43511246e+01] [ 4.17862507e-01 9.08480804e-01 -7.31804275e-03 1.08162359e+01] [ 1.82622688e-02 -3.45957258e-04 9.99833171e-01 1.25610310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.122755096 meters 0.021278631000462695 Centerline is valid? [True, True] Translation: X:64.38, Y:10.82, Z:1.26 [[ 9.08319697e-01 -4.17948265e-01 -1.65703142e-02 6.43771418e+01] [ 4.17885478e-01 9.08470767e-01 -7.25209812e-03 1.08247947e+01] [ 1.80846479e-02 -3.37270106e-04 9.99836402e-01 1.25652782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.152755096 meters 0.019848051539149307 Centerline is valid? [True, True] Translation: X:64.40, Y:10.84, Z:1.26 [[ 9.08302467e-01 -4.17995111e-01 -1.63314262e-02 6.44019012e+01] [ 4.17934057e-01 9.08449216e-01 -7.15157488e-03 1.08376309e+01] [ 1.78255947e-02 -3.29666102e-04 9.99841057e-01 1.25722749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18275509600001 meters 0.020376083711983038 Centerline is valid? [True, True] Translation: X:64.43, Y:10.85, Z:1.26 [[ 9.08139376e-01 -4.18347488e-01 -1.63784511e-02 6.44284176e+01] [ 4.18286024e-01 9.08286997e-01 -7.17864215e-03 1.08475871e+01] [ 1.78795011e-02 -3.31669579e-04 9.99840094e-01 1.25718637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21275509600001 meters 0.020611246397224725 Centerline is valid? [True, True] Translation: X:64.45, Y:10.86, Z:1.26 [[ 9.07901071e-01 -4.18864155e-01 -1.63848963e-02 6.44541206e+01] [ 4.18802693e-01 9.08048844e-01 -7.18335968e-03 1.08573041e+01] [ 1.78871380e-02 -3.40258735e-04 9.99839954e-01 1.25757986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.242755096 meters 0.02090922791060382 Centerline is valid? [True, True] Translation: X:64.48, Y:10.87, Z:1.26 [[ 9.07211300e-01 -4.20359705e-01 -1.62903470e-02 6.44818857e+01] [ 4.20299143e-01 9.07357474e-01 -7.14459148e-03 1.08663716e+01] [ 1.77844664e-02 -3.65164746e-04 9.99841777e-01 1.25812826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.272755096 meters 0.0212781949211253 Centerline is valid? [True, True] Translation: X:64.51, Y:10.88, Z:1.26 [[ 9.06679316e-01 -4.21496392e-01 -1.65350923e-02 6.45085797e+01] [ 4.21434087e-01 9.06829996e-01 -7.25736600e-03 1.08763784e+01] [ 1.80534712e-02 -3.88347877e-04 9.99836947e-01 1.25843911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.302755096 meters 0.021512191125361603 Centerline is valid? [True, True] Translation: X:64.54, Y:10.89, Z:1.26 [[ 9.06149692e-01 -4.22646985e-01 -1.61945113e-02 6.45351015e+01] [ 4.22587311e-01 9.06294305e-01 -7.11316511e-03 1.08864560e+01] [ 1.76833512e-02 -3.98002612e-04 9.99843558e-01 1.25880335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.332755096 meters 0.02258894282206904 Centerline is valid? [True, True] Translation: X:64.56, Y:10.89, Z:1.26 [[ 9.05111797e-01 -4.24861155e-01 -1.62982998e-02 6.45622610e+01] [ 4.24801021e-01 9.05258418e-01 -7.16161627e-03 1.08943554e+01] [ 1.77968657e-02 -4.41471028e-04 9.99841526e-01 1.25931043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.362755096 meters 0.02257171341016272 Centerline is valid? [True, True] Translation: X:64.59, Y:10.91, Z:1.26 [[ 9.04687463e-01 -4.25759339e-01 -1.64188838e-02 6.45893220e+01] [ 4.25698410e-01 9.04836324e-01 -7.21736694e-03 1.09054053e+01] [ 1.79292638e-02 -4.60031344e-04 9.99839152e-01 1.25941635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.392755096 meters 0.022956071006818107 Centerline is valid? [True, True] Translation: X:64.62, Y:10.92, Z:1.26 [[ 9.04207566e-01 -4.26754358e-01 -1.70116337e-02 6.46170731e+01] [ 4.26689018e-01 9.04367445e-01 -7.48369663e-03 1.09151771e+01] [ 1.85784679e-02 -4.91862174e-04 9.99827284e-01 1.25915675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.422755096 meters 0.022576505891420566 Centerline is valid? [True, True] Translation: X:64.64, Y:10.93, Z:1.26 [[ 9.04104460e-01 -4.26958523e-01 -1.73650276e-02 6.46428050e+01] [ 4.26890368e-01 9.04271070e-01 -7.64495027e-03 1.09262350e+01] [ 1.89667688e-02 -5.01129394e-04 9.99819989e-01 1.25931294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.452755096 meters 0.022184745088038763 Centerline is valid? [True, True] Translation: X:64.67, Y:10.94, Z:1.26 [[ 9.03964385e-01 -4.27256258e-01 -1.73343620e-02 6.46681703e+01] [ 4.27188275e-01 9.04130433e-01 -7.63798802e-03 1.09374788e+01] [ 1.89359024e-02 -5.00567066e-04 9.99820574e-01 1.25993403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.482755096 meters 0.022277406764394908 Centerline is valid? [True, True] Translation: X:64.69, Y:10.95, Z:1.26 [[ 9.04041059e-01 -4.27104684e-01 -1.70690552e-02 6.46943334e+01] [ 4.27038618e-01 9.04202054e-01 -7.52757033e-03 1.09480170e+01] [ 1.86489353e-02 -4.83913073e-04 9.99825976e-01 1.26077053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.512755096 meters 0.022182282685415344 Centerline is valid? [True, True] Translation: X:64.72, Y:10.96, Z:1.26 [[ 9.04494269e-01 -4.26137140e-01 -1.72411138e-02 6.47204620e+01] [ 4.26069520e-01 9.04658455e-01 -7.60552149e-03 1.09578157e+01] [ 1.88383145e-02 -4.66762472e-04 9.99822434e-01 1.26133084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54275509600001 meters 0.022123538362681907 Centerline is valid? [True, True] Translation: X:64.75, Y:10.97, Z:1.26 [[ 9.04817280e-01 -4.25434099e-01 -1.76498261e-02 6.47460472e+01] [ 4.25363061e-01 9.04989290e-01 -7.78793262e-03 1.09678755e+01] [ 1.92861557e-02 -4.60928040e-04 9.99813899e-01 1.26155087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57275509600001 meters 0.021205930511093502 Centerline is valid? [True, True] Translation: X:64.77, Y:10.98, Z:1.26 [[ 9.05061804e-01 -4.24901704e-01 -1.79352230e-02 6.47722502e+01] [ 4.24828200e-01 9.05239380e-01 -7.91614169e-03 1.09800703e+01] [ 1.95992522e-02 -4.54791016e-04 9.99807813e-01 1.26209612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60275509600001 meters 0.02114664395978257 Centerline is valid? [True, True] Translation: X:64.80, Y:10.99, Z:1.26 [[ 9.05744028e-01 -4.23448412e-01 -1.78661222e-02 6.47985686e+01] [ 4.23375076e-01 9.05920123e-01 -7.89150880e-03 1.09906972e+01] [ 1.95269265e-02 -4.16383866e-04 9.99809245e-01 1.26230159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.632755096 meters 0.02114664395978257 Centerline is valid? [True, True] Translation: X:64.82, Y:11.00, Z:1.26 [[ 9.05614169e-01 -4.23726158e-01 -1.78639515e-02 6.48237251e+01] [ 4.23652779e-01 9.05790246e-01 -7.89641959e-03 1.10020067e+01] [ 1.95269125e-02 -4.17003226e-04 9.99809245e-01 1.26281658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.662755096 meters 0.020077029912564225 Centerline is valid? [True, True] Translation: X:64.85, Y:11.02, Z:1.26 [[ 9.05936121e-01 -4.23033450e-01 -1.79567271e-02 6.48494900e+01] [ 4.22959042e-01 9.06113978e-01 -7.94401526e-03 1.10152027e+01] [ 1.96314256e-02 -3.98189719e-04 9.99807206e-01 1.26342530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.692755096 meters 0.0194038848095701 Centerline is valid? [True, True] Translation: X:64.87, Y:11.03, Z:1.26 [[ 9.06741766e-01 -4.21293762e-01 -1.81916152e-02 6.48745496e+01] [ 4.21216928e-01 9.06924162e-01 -8.05378654e-03 1.10264663e+01] [ 1.98914254e-02 -3.59911639e-04 9.99802081e-01 1.26397583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.722755096 meters 0.019286758174738856 Centerline is valid? [True, True] Translation: X:64.90, Y:11.04, Z:1.26 [[ 9.06928669e-01 -4.20889679e-01 -1.82281752e-02 6.49011199e+01] [ 4.20812407e-01 9.07111766e-01 -8.07233928e-03 1.10377374e+01] [ 1.99325565e-02 -3.49606371e-04 9.99801266e-01 1.26471198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.752755096 meters 0.018963548346320514 Centerline is valid? [True, True] Translation: X:64.93, Y:11.05, Z:1.27 [[ 9.06891691e-01 -4.20987457e-01 -1.78051022e-02 6.49269747e+01] [ 4.20913638e-01 9.07066396e-01 -7.89065813e-03 1.10492201e+01] [ 1.94722779e-02 -3.38438029e-04 9.99810340e-01 1.26561502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.782755096 meters 0.019666614104314313 Centerline is valid? [True, True] Translation: X:64.95, Y:11.06, Z:1.27 [[ 9.06999982e-01 -4.20767377e-01 -1.74884886e-02 6.49527539e+01] [ 4.20695997e-01 9.07168513e-01 -7.75677280e-03 1.10578486e+01] [ 1.91288031e-02 -3.21944342e-04 9.99816976e-01 1.26645834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.812755096 meters 0.01872100320843589 Centerline is valid? [True, True] Translation: X:64.98, Y:11.07, Z:1.27 [[ 9.07022144e-01 -4.20757346e-01 -1.65555427e-02 6.49779092e+01] [ 4.20693306e-01 9.07173173e-01 -7.34690925e-03 1.10695515e+01] [ 1.81100102e-02 -3.00996616e-04 9.99835955e-01 1.26781888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.842755096 meters 0.018726802591586777 Centerline is valid? [True, True] Translation: X:65.00, Y:11.08, Z:1.27 [[ 9.06980288e-01 -4.20853498e-01 -1.64039521e-02 6.50031672e+01] [ 4.20790533e-01 9.07128572e-01 -7.28566409e-03 1.10807471e+01] [ 1.79466908e-02 -2.94674027e-04 9.99838902e-01 1.26858528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.872755096 meters 0.01897954802771985 Centerline is valid? [True, True] Translation: X:65.03, Y:11.09, Z:1.27 [[ 9.06945711e-01 -4.20938084e-01 -1.61432934e-02 6.50281361e+01] [ 4.20877010e-01 9.07089327e-01 -7.17597680e-03 1.10913377e+01] [ 1.76640511e-02 -2.86119671e-04 9.99843938e-01 1.26909780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.902755096 meters 0.01904997901470109 Centerline is valid? [True, True] Translation: X:65.05, Y:11.10, Z:1.27 [[ 9.06636769e-01 -4.21613219e-01 -1.58764604e-02 6.50542424e+01] [ 4.21554212e-01 9.06775721e-01 -7.05961123e-03 1.11023628e+01] [ 1.73728143e-02 -2.92285648e-04 9.99849039e-01 1.26957679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93275509600001 meters 0.019287386391561783 Centerline is valid? [True, True] Translation: X:65.08, Y:11.11, Z:1.27 [[ 9.06463150e-01 -4.21990050e-01 -1.57782933e-02 6.50800681e+01] [ 4.21931723e-01 9.06600415e-01 -7.02201118e-03 1.11127199e+01] [ 1.72678261e-02 -2.92168116e-04 9.99850857e-01 1.27029415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96275509600001 meters 0.019884049459007073 Centerline is valid? [True, True] Translation: X:65.11, Y:11.12, Z:1.27 [[ 9.05934496e-01 -4.23133571e-01 -1.55135522e-02 6.51067445e+01] [ 4.23077324e-01 9.06067264e-01 -6.90590857e-03 1.11219601e+01] [ 1.69784436e-02 -3.07131361e-04 9.99855809e-01 1.27094923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.992755096 meters 0.020318631224534377 Centerline is valid? [True, True] Translation: X:65.13, Y:11.13, Z:1.27 [[ 9.05534188e-01 -4.23979259e-01 -1.57931026e-02 6.51332975e+01] [ 4.23921064e-01 9.05671839e-01 -7.03214926e-03 1.11320742e+01] [ 1.72848537e-02 -3.27177294e-04 9.99850552e-01 1.27170731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.022755096 meters 0.020648713975262377 Centerline is valid? [True, True] Translation: X:65.16, Y:11.14, Z:1.27 [[ 9.05165181e-01 -4.24765805e-01 -1.58116064e-02 6.51600740e+01] [ 4.24707567e-01 9.05303206e-01 -7.04187840e-03 1.11428104e+01] [ 1.73054471e-02 -3.41245724e-04 9.99850191e-01 1.27236134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.052755096 meters 0.019839643178410974 Centerline is valid? [True, True] Translation: X:65.19, Y:11.16, Z:1.27 [[ 9.04624274e-01 -4.25897809e-01 -1.63089063e-02 6.51862580e+01] [ 4.25835941e-01 9.04771198e-01 -7.26853355e-03 1.11560354e+01] [ 1.78514812e-02 -3.69626582e-04 9.99840581e-01 1.27143512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.082755096 meters 0.021594950433978802 Centerline is valid? [True, True] Translation: X:65.21, Y:11.16, Z:1.27 [[ 9.04487430e-01 -4.26179006e-01 -1.65512551e-02 6.52124033e+01] [ 4.26115231e-01 9.04638775e-01 -7.38212853e-03 1.11642351e+01] [ 1.81190153e-02 -3.75699425e-04 9.99835767e-01 1.27164367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.112755096 meters 0.02159233000391435 Centerline is valid? [True, True] Translation: X:65.24, Y:11.18, Z:1.27 [[ 9.04388046e-01 -4.26376613e-01 -1.68892613e-02 6.52379317e+01] [ 4.26310160e-01 9.04545652e-01 -7.53727836e-03 1.11757552e+01] [ 1.84908271e-02 -3.83439260e-04 9.99828957e-01 1.27158988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.142755096 meters 0.020594758518709465 Centerline is valid? [True, True] Translation: X:65.26, Y:11.19, Z:1.27 [[ 9.05049805e-01 -4.24948535e-01 -1.74238945e-02 6.52639839e+01] [ 4.24877426e-01 9.05217439e-01 -7.78203543e-03 1.11888947e+01] [ 1.90793777e-02 -3.59889790e-04 9.99817907e-01 1.27133492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.172755096 meters 0.01896837942325287 Centerline is valid? [True, True] Translation: X:65.29, Y:11.20, Z:1.27 [[ 9.05469170e-01 -4.24026141e-01 -1.80945885e-02 6.52887836e+01] [ 4.23949155e-01 9.05649883e-01 -8.08726513e-03 1.12037915e+01] [ 1.98165738e-02 -3.48416283e-04 9.99803572e-01 1.27157238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.202755096 meters 0.018417567824545254 Centerline is valid? [True, True] Translation: X:65.31, Y:11.22, Z:1.27 [[ 9.07382409e-01 -4.19882201e-01 -1.88706212e-02 6.53124469e+01] [ 4.19797448e-01 9.07578574e-01 -8.44007299e-03 1.12194001e+01] [ 2.06704079e-02 -2.63464852e-04 9.99786310e-01 1.27122167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.232755096 meters 0.01731192565547053 Centerline is valid? [True, True] Translation: X:65.34, Y:11.24, Z:1.27 [[ 9.08484763e-01 -4.17497004e-01 -1.87532955e-02 6.53366297e+01] [ 4.17412743e-01 9.08678276e-01 -8.39002393e-03 1.12353610e+01] [ 2.05435221e-02 -2.05655625e-04 9.99788938e-01 1.27145849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.262755096 meters 0.016175513252258186 Centerline is valid? [True, True] Translation: X:65.36, Y:11.25, Z:1.27 [[ 9.09442143e-01 -4.15396966e-01 -1.89828602e-02 6.53611657e+01] [ 4.15310054e-01 9.09640224e-01 -8.49837818e-03 1.12518087e+01] [ 2.07977737e-02 -1.54989418e-04 9.99783691e-01 1.27177858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29275509600001 meters 0.015523696502396118 Centerline is valid? [True, True] Translation: X:65.38, Y:11.27, Z:1.27 [[ 9.11368788e-01 -4.11124672e-01 -1.95815519e-02 6.53847173e+01] [ 4.11031075e-01 9.11579125e-01 -8.77234801e-03 1.12684814e+01] [ 2.14566626e-02 -5.37821586e-05 9.99769778e-01 1.27220364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32275509600001 meters 0.01545918179719985 Centerline is valid? [True, True] Translation: X:65.41, Y:11.28, Z:1.27 [[ 9.12090327e-01 -4.09536840e-01 -1.92564992e-02 6.54093512e+01] [ 4.09445914e-01 9.12293580e-01 -8.62942894e-03 1.12822486e+01] [ 2.11016497e-02 -1.36762599e-05 9.99777335e-01 1.27297025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35275509600001 meters 0.015494027588273566 Centerline is valid? [True, True] Translation: X:65.43, Y:11.30, Z:1.27 [[ 9.12619391e-01 -4.08346485e-01 -1.94677990e-02 6.54340168e+01] [ 4.08253128e-01 9.12827009e-01 -8.73130253e-03 1.12952616e+01] [ 2.13361294e-02 2.05661587e-05 9.99772359e-01 1.27341161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.382755096 meters 0.015484849689679147 Centerline is valid? [True, True] Translation: X:65.46, Y:11.31, Z:1.27 [[ 9.13067520e-01 -4.07340066e-01 -1.95390517e-02 6.54581912e+01] [ 4.07245652e-01 9.13276556e-01 -8.76987283e-03 1.13077970e+01] [ 2.14168784e-02 5.02921833e-05 9.99770631e-01 1.27418253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.412755096 meters 0.015684008324530922 Centerline is valid? [True, True] Translation: X:65.48, Y:11.32, Z:1.28 [[ 9.13391725e-01 -4.06643011e-01 -1.88949211e-02 6.54814001e+01] [ 4.06554511e-01 9.13587137e-01 -8.48364375e-03 1.13212443e+01] [ 2.07119713e-02 6.70745883e-05 9.99785482e-01 1.27522534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.442755096 meters 0.015612665958543267 Centerline is valid? [True, True] Translation: X:65.51, Y:11.33, Z:1.28 [[ 9.13112192e-01 -4.07304173e-01 -1.81503500e-02 6.55067934e+01] [ 4.07222583e-01 9.13292564e-01 -8.15227588e-03 1.13334839e+01] [ 1.98970357e-02 5.27100868e-05 9.99802033e-01 1.27623656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.472755096 meters 0.015560273345456016 Centerline is valid? [True, True] Translation: X:65.53, Y:11.34, Z:1.28 [[ 9.12565183e-01 -4.08534909e-01 -1.80004345e-02 6.55320575e+01] [ 4.08454776e-01 9.12742695e-01 -8.09126183e-03 1.13447608e+01] [ 1.97353280e-02 3.14404052e-05 9.99805239e-01 1.27711999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.502755096 meters 0.01553141888572126 Centerline is valid? [True, True] Translation: X:65.56, Y:11.35, Z:1.28 [[ 9.11291330e-01 -4.11398552e-01 -1.73015498e-02 6.55587820e+01] [ 4.11324926e-01 9.11455556e-01 -7.78296328e-03 1.13537508e+01] [ 1.89714935e-02 -2.40117203e-05 9.99820025e-01 1.27848378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.532755096 meters 0.0156119058429396 Centerline is valid? [True, True] Translation: X:65.58, Y:11.36, Z:1.28 [[ 9.10330308e-01 -4.13512086e-01 -1.75067316e-02 6.55849203e+01] [ 4.13436967e-01 9.10498628e-01 -7.88182863e-03 1.13634408e+01] [ 1.91990865e-02 -6.28625536e-05 9.99815679e-01 1.27899261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.562755096 meters 0.01593871635235198 Centerline is valid? [True, True] Translation: X:65.61, Y:11.37, Z:1.28 [[ 9.09394067e-01 -4.15571211e-01 -1.74068888e-02 6.56120428e+01] [ 4.15497202e-01 9.09560641e-01 -7.84322424e-03 1.13721964e+01] [ 1.90920391e-02 -9.99319904e-05 9.99817725e-01 1.27948987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.592755096 meters 0.016836153989068705 Centerline is valid? [True, True] Translation: X:65.64, Y:11.38, Z:1.28 [[ 9.07390180e-01 -4.19930038e-01 -1.73730908e-02 6.56397206e+01] [ 4.19857075e-01 9.07556460e-01 -7.83000296e-03 1.13798862e+01] [ 1.90551142e-02 -1.89347304e-04 9.99818417e-01 1.28015465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.622755096 meters 0.01757641424257175 Centerline is valid? [True, True] Translation: X:65.67, Y:11.39, Z:1.28 [[ 9.06582199e-01 -4.21669859e-01 -1.74139839e-02 6.56658898e+01] [ 4.21596817e-01 9.06749403e-01 -7.85139651e-03 1.13888454e+01] [ 1.91008167e-02 -2.23743851e-04 9.99817538e-01 1.28026231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.652755096 meters 0.01810170799042235 Centerline is valid? [True, True] Translation: X:65.69, Y:11.40, Z:1.28 [[ 9.05657746e-01 -4.23646500e-01 -1.75411156e-02 6.56928560e+01] [ 4.23572717e-01 9.05827562e-01 -7.91081034e-03 1.13996001e+01] [ 1.92406131e-02 -2.65451310e-04 9.99814847e-01 1.28005251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68275509600001 meters 0.01874506949846008 Centerline is valid? [True, True] Translation: X:65.72, Y:11.41, Z:1.28 [[ 9.04397690e-01 -4.26323324e-01 -1.76986491e-02 6.57195164e+01] [ 4.26248611e-01 9.04570794e-01 -7.98749219e-03 1.14099265e+01] [ 1.94149353e-02 -3.20155124e-04 9.99811461e-01 1.27983860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71275509600001 meters 0.01989203234302455 Centerline is valid? [True, True] Translation: X:65.75, Y:11.42, Z:1.28 [[ 9.03940414e-01 -4.27284354e-01 -1.78831906e-02 6.57455424e+01] [ 4.27208151e-01 9.04117230e-01 -8.07648847e-03 1.14193433e+01] [ 1.96194579e-02 -3.39180461e-04 9.99807462e-01 1.27995819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.742755096 meters 0.020532024701188673 Centerline is valid? [True, True] Translation: X:65.77, Y:11.43, Z:1.28 [[ 9.03128435e-01 -4.28970071e-01 -1.85393807e-02 6.57725959e+01] [ 4.28888477e-01 9.03318619e-01 -8.37533675e-03 1.14294825e+01] [ 2.03397366e-02 -3.87321971e-04 9.99793051e-01 1.27954041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.772755096 meters 0.021085963426083716 Centerline is valid? [True, True] Translation: X:65.80, Y:11.44, Z:1.28 [[ 9.02807854e-01 -4.29619338e-01 -1.91102876e-02 6.57981863e+01] [ 4.29532664e-01 9.03009998e-01 -8.63906018e-03 1.14394711e+01] [ 2.09682881e-02 -4.09081379e-04 9.99780058e-01 1.27938398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.802755096 meters 0.021399331953556176 Centerline is valid? [True, True] Translation: X:65.82, Y:11.45, Z:1.28 [[ 9.02326951e-01 -4.30620721e-01 -1.92838795e-02 6.58248610e+01] [ 4.30532619e-01 9.02532884e-01 -8.72105991e-03 1.14505665e+01] [ 2.11598045e-02 -4.33091752e-04 9.99776012e-01 1.27970179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.832755096 meters 0.020113370017732068 Centerline is valid? [True, True] Translation: X:65.85, Y:11.46, Z:1.28 [[ 9.02022820e-01 -4.31234171e-01 -1.97970428e-02 6.58499249e+01] [ 4.31141327e-01 9.02239926e-01 -8.95944034e-03 1.14642881e+01] [ 2.17252993e-02 -4.53703692e-04 9.99763875e-01 1.28035822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.862755096 meters 0.020347719110761497 Centerline is valid? [True, True] Translation: X:65.88, Y:11.48, Z:1.28 [[ 9.02393505e-01 -4.30451896e-01 -1.99280482e-02 6.58751148e+01] [ 4.30357497e-01 9.02613416e-01 -9.02478231e-03 1.14761293e+01] [ 2.18720583e-02 -4.32279998e-04 9.99760684e-01 1.28101717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.892755096 meters 0.019844738679534783 Centerline is valid? [True, True] Translation: X:65.90, Y:11.49, Z:1.28 [[ 9.03373417e-01 -4.28415252e-01 -1.94124203e-02 6.58989993e+01] [ 4.28325157e-01 9.03581891e-01 -8.79349620e-03 1.14901612e+01] [ 2.13079794e-02 -3.71017277e-04 9.99772890e-01 1.28200708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.922755096 meters 0.020042689714765454 Centerline is valid? [True, True] Translation: X:65.92, Y:11.50, Z:1.28 [[ 9.03674123e-01 -4.27759731e-01 -1.98668764e-02 6.59241713e+01] [ 4.27665159e-01 9.03892406e-01 -9.00166679e-03 1.15014276e+01] [ 2.18080693e-02 -3.61797531e-04 9.99762110e-01 1.28200565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.952755096 meters 0.019124600821188095 Centerline is valid? [True, True] Translation: X:65.95, Y:11.52, Z:1.28 [[ 9.03785635e-01 -4.27501444e-01 -2.03480164e-02 6.59490955e+01] [ 4.27402099e-01 9.04014593e-01 -9.22282910e-03 1.15154586e+01] [ 2.23376765e-02 -3.61324451e-04 9.99750418e-01 1.28253194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.982755096 meters 0.018670874767187217 Centerline is valid? [True, True] Translation: X:65.97, Y:11.53, Z:1.28 [[ 9.03778658e-01 -4.27497566e-01 -2.07356561e-02 6.59734358e+01] [ 4.27394222e-01 9.04016427e-01 -9.40629078e-03 1.15285798e+01] [ 2.27665401e-02 -3.61094742e-04 9.99740744e-01 1.28294195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.012755096 meters 0.019340533109009402 Centerline is valid? [True, True] Translation: X:66.00, Y:11.54, Z:1.28 [[ 9.03591894e-01 -4.27859580e-01 -2.13978632e-02 6.59989199e+01] [ 4.27749462e-01 9.03845141e-01 -9.71385475e-03 1.15393276e+01] [ 2.34965205e-02 -3.75564039e-04 9.99723848e-01 1.28284483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04275509600001 meters 0.019556864346868263 Centerline is valid? [True, True] Translation: X:66.02, Y:11.55, Z:1.28 [[ 9.03265958e-01 -4.28549419e-01 -2.13542930e-02 6.60241458e+01] [ 4.28439858e-01 9.03518259e-01 -9.69761546e-03 1.15511349e+01] [ 2.34499011e-02 -3.89504336e-04 9.99724937e-01 1.28331372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07275509600001 meters 0.01947732297000551 Centerline is valid? [True, True] Translation: X:66.05, Y:11.56, Z:1.28 [[ 9.02862843e-01 -4.29410048e-01 -2.11115555e-02 6.60496812e+01] [ 4.29303029e-01 9.03109545e-01 -9.59477253e-03 1.15639091e+01] [ 2.31861390e-02 -4.00491122e-04 9.99731085e-01 1.28438698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10275509600001 meters 0.020670482295043893 Centerline is valid? [True, True] Translation: X:66.08, Y:11.57, Z:1.29 [[ 9.02000446e-01 -4.31227639e-01 -2.09265012e-02 6.60752750e+01] [ 4.31122840e-01 9.02243055e-01 -9.51658821e-03 1.15749837e+01] [ 2.29846062e-02 -4.37925819e-04 9.99735723e-01 1.28552254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.132755096 meters 0.021171488895813825 Centerline is valid? [True, True] Translation: X:66.10, Y:11.59, Z:1.29 [[ 9.01593535e-01 -4.32106771e-01 -2.03183622e-02 6.61010254e+01] [ 4.32008143e-01 9.01822345e-01 -9.24247719e-03 1.15859905e+01] [ 2.23172900e-02 -4.44740237e-04 9.99750839e-01 1.28670437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.162755096 meters 0.02101936198231375 Centerline is valid? [True, True] Translation: X:66.13, Y:11.60, Z:1.29 [[ 9.00802165e-01 -4.33775946e-01 -1.98466067e-02 6.61264551e+01] [ 4.33682169e-01 9.01020647e-01 -9.03160578e-03 1.15990376e+01] [ 2.17998958e-02 -4.71429394e-04 9.99762243e-01 1.28842459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.192755096 meters 0.02195020484465702 Centerline is valid? [True, True] Translation: X:66.15, Y:11.61, Z:1.29 [[ 9.00334142e-01 -4.34755071e-01 -1.96585947e-02 6.61525141e+01] [ 4.34663169e-01 9.00548607e-01 -8.95190727e-03 1.16098052e+01] [ 2.15954071e-02 -4.85159313e-04 9.99766674e-01 1.28892450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.222755096 meters 0.02312166101309787 Centerline is valid? [True, True] Translation: X:66.18, Y:11.62, Z:1.29 [[ 8.99986369e-01 -4.35470704e-01 -1.97433681e-02 6.61784652e+01] [ 4.35378130e-01 9.00202762e-01 -8.99280820e-03 1.16203317e+01] [ 2.16891391e-02 -5.02425898e-04 9.99764637e-01 1.28922852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.252755096 meters 0.024004707359638576 Centerline is valid? [True, True] Translation: X:66.20, Y:11.63, Z:1.29 [[ 8.99307116e-01 -4.36886948e-01 -1.94037423e-02 6.62042307e+01] [ 4.36797812e-01 8.99516269e-01 -8.84039651e-03 1.16315053e+01] [ 2.13162357e-02 -5.25280679e-04 9.99772645e-01 1.28982976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.282755096 meters 0.02294159468989819 Centerline is valid? [True, True] Translation: X:66.23, Y:11.65, Z:1.29 [[ 8.99020464e-01 -4.37478298e-01 -1.93634463e-02 6.62292894e+01] [ 4.37389594e-01 8.99228810e-01 -8.82557606e-03 1.16455663e+01] [ 2.12731668e-02 -5.34996442e-04 9.99773557e-01 1.29070176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.312755096 meters 0.0229187148788837 Centerline is valid? [True, True] Translation: X:66.25, Y:11.66, Z:1.29 [[ 8.98847469e-01 -4.37818764e-01 -1.96966332e-02 6.62538106e+01] [ 4.37726927e-01 8.99063085e-01 -8.98371469e-03 1.16581906e+01] [ 2.16417546e-02 -5.46757492e-04 9.99765640e-01 1.29117321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.342755096 meters 0.02481130172093623 Centerline is valid? [True, True] Translation: X:66.28, Y:11.67, Z:1.29 [[ 8.98911793e-01 -4.37690718e-01 -1.96067223e-02 6.62802242e+01] [ 4.37599587e-01 8.99125435e-01 -8.94731037e-03 1.16677726e+01] [ 2.15450574e-02 -5.37050755e-04 9.99767734e-01 1.29102710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.372755096 meters 0.023416625505819036 Centerline is valid? [True, True] Translation: X:66.30, Y:11.68, Z:1.29 [[ 8.98810803e-01 -4.37874838e-01 -2.01188345e-02 6.63046535e+01] [ 4.37778861e-01 8.99035773e-01 -9.18412675e-03 1.16823859e+01] [ 2.21090499e-02 -5.52808119e-04 9.99755412e-01 1.29182720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.402755096 meters 0.023425617166110038 Centerline is valid? [True, True] Translation: X:66.33, Y:11.70, Z:1.29 [[ 8.99061399e-01 -4.37340562e-01 -2.05386086e-02 6.63292385e+01] [ 4.37240248e-01 8.99295800e-01 -9.38242731e-03 1.16953898e+01] [ 2.25736005e-02 -5.44928113e-04 9.99745035e-01 1.29189371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43275509600001 meters 0.023208324108466395 Centerline is valid? [True, True] Translation: X:66.36, Y:11.71, Z:1.29 [[ 8.99188854e-01 -4.37085188e-01 -2.03946713e-02 6.63555687e+01] [ 4.36986144e-01 8.99419955e-01 -9.31961216e-03 1.17082070e+01] [ 2.24168388e-02 -5.32097389e-04 9.99748569e-01 1.29270883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46275509600001 meters 0.02272367178840106 Centerline is valid? [True, True] Translation: X:66.38, Y:11.72, Z:1.29 [[ 8.99713755e-01 -4.36024001e-01 -1.99557000e-02 6.63814662e+01] [ 4.35928779e-01 8.99934904e-01 -9.12512487e-03 1.17217355e+01] [ 2.19376044e-02 -4.89263581e-04 9.99759222e-01 1.29442766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.492755096 meters 0.02236538974500174 Centerline is valid? [True, True] Translation: X:66.41, Y:11.73, Z:1.30 [[ 9.00047376e-01 -4.35335081e-01 -1.99521484e-02 6.64071484e+01] [ 4.35239589e-01 9.00268376e-01 -9.12967349e-03 1.17347760e+01] [ 2.19367554e-02 -4.66826182e-04 9.99759251e-01 1.29506837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.522755096 meters 0.02236538974500174 Centerline is valid? [True, True] Translation: X:66.43, Y:11.75, Z:1.30 [[ 8.99920531e-01 -4.35597342e-01 -1.99497740e-02 6.64321418e+01] [ 4.35501799e-01 9.00141510e-01 -9.13485916e-03 1.17464240e+01] [ 2.19367401e-02 -4.67515162e-04 9.99759251e-01 1.29558338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.552755096 meters 0.021770063759523672 Centerline is valid? [True, True] Translation: X:66.46, Y:11.76, Z:1.30 [[ 9.00459451e-01 -4.34483780e-01 -1.99153491e-02 6.64574349e+01] [ 4.34388144e-01 9.00679553e-01 -9.12597584e-03 1.17597750e+01] [ 2.19024362e-02 -4.33420328e-04 9.99760019e-01 1.29608283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.582755096 meters 0.01978263441598502 Centerline is valid? [True, True] Translation: X:66.48, Y:11.78, Z:1.30 [[ 9.01660522e-01 -4.31991744e-01 -1.97847207e-02 6.64814641e+01] [ 4.31896626e-01 9.01877486e-01 -9.07220737e-03 1.17769192e+01] [ 2.17625129e-02 -3.64902899e-04 9.99763102e-01 1.29660501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.612755096 meters 0.01905243054892205 Centerline is valid? [True, True] Translation: X:66.51, Y:11.79, Z:1.30 [[ 9.02372832e-01 -4.30470901e-01 -2.04468897e-02 6.65064911e+01] [ 4.30368764e-01 9.02604394e-01 -9.38264846e-03 1.17911351e+01] [ 2.24944096e-02 -3.33055598e-04 9.99746913e-01 1.29709818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.642755096 meters 0.018511650792567415 Centerline is valid? [True, True] Translation: X:66.53, Y:11.81, Z:1.30 [[ 9.02982490e-01 -4.29175667e-01 -2.07574108e-02 6.65317367e+01] [ 4.29069905e-01 9.03220990e-01 -9.53205370e-03 1.18051461e+01] [ 2.28394547e-02 -2.99102711e-04 9.99739101e-01 1.29750806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.672755096 meters 0.01812396319360229 Centerline is valid? [True, True] Translation: X:66.56, Y:11.82, Z:1.30 [[ 9.03697156e-01 -4.27659365e-01 -2.09503570e-02 6.65565290e+01] [ 4.27551078e-01 9.03939932e-01 -9.62679854e-03 1.18182041e+01] [ 2.30548548e-02 -2.57637252e-04 9.99734168e-01 1.29757026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.702755096 meters 0.01743575056803009 Centerline is valid? [True, True] Translation: X:66.58, Y:11.83, Z:1.30 [[ 9.05100868e-01 -4.24666582e-01 -2.12300067e-02 6.65809722e+01] [ 4.24554480e-01 9.05349801e-01 -9.75867548e-03 1.18331003e+01] [ 2.33647657e-02 -1.80708800e-04 9.99726990e-01 1.29770790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.732755096 meters 0.0171422167234019 Centerline is valid? [True, True] Translation: X:66.61, Y:11.85, Z:1.30 [[ 9.05711537e-01 -4.23359306e-01 -2.12957606e-02 6.66059964e+01] [ 4.23245982e-01 9.05961852e-01 -9.79596677e-03 1.18467319e+01] [ 2.34403604e-02 -1.41024966e-04 9.99725227e-01 1.29810863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.762755096 meters 0.016894190812445982 Centerline is valid? [True, True] Translation: X:66.63, Y:11.86, Z:1.30 [[ 9.06263073e-01 -4.22174416e-01 -2.13542794e-02 6.66303259e+01] [ 4.22059954e-01 9.06514618e-01 -9.83073201e-03 1.18600597e+01] [ 2.35082500e-02 -1.03556784e-04 9.99723638e-01 1.29873228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79275509600001 meters 0.01672697237890102 Centerline is valid? [True, True] Translation: X:66.66, Y:11.87, Z:1.30 [[ 9.07067784e-01 -4.20448654e-01 -2.12359430e-02 6.66552141e+01] [ 4.20334826e-01 9.07316332e-01 -9.78300923e-03 1.18733089e+01] [ 2.33809710e-02 -5.23538968e-05 9.99726626e-01 1.29938303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82275509600001 meters 0.016713080975754864 Centerline is valid? [True, True] Translation: X:66.68, Y:11.88, Z:1.30 [[ 9.07175630e-01 -4.20227917e-01 -2.09970007e-02 6.66804044e+01] [ 4.20116499e-01 9.07418589e-01 -9.67631113e-03 1.18849100e+01] [ 2.31193248e-02 -4.30727575e-05 9.99732712e-01 1.30036030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85275509600001 meters 0.01665333473321582 Centerline is valid? [True, True] Translation: X:66.71, Y:11.90, Z:1.30 [[ 9.07073471e-01 -4.20470538e-01 -2.05486061e-02 6.67065836e+01] [ 4.20363725e-01 9.07306191e-01 -9.47703678e-03 1.18959083e+01] [ 2.26286923e-02 -4.15199698e-05 9.99743937e-01 1.30136138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.882755096 meters 0.01667730474714932 Centerline is valid? [True, True] Translation: X:66.73, Y:11.91, Z:1.30 [[ 9.06866518e-01 -4.20934079e-01 -2.01896030e-02 6.67323142e+01] [ 4.20830916e-01 9.07091230e-01 -9.31887671e-03 1.19069602e+01] [ 2.22364446e-02 -4.54318505e-05 9.99752739e-01 1.30247348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.912755096 meters 0.016707096154937692 Centerline is valid? [True, True] Translation: X:66.76, Y:11.92, Z:1.30 [[ 9.06586750e-01 -4.21542110e-01 -2.00677351e-02 6.67569862e+01] [ 4.21440184e-01 9.06808826e-01 -9.26954739e-03 1.19173798e+01] [ 2.21051039e-02 -5.37011308e-05 9.99755651e-01 1.30303722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.942755096 meters 0.01671140738752398 Centerline is valid? [True, True] Translation: X:66.78, Y:11.93, Z:1.30 [[ 9.05885876e-01 -4.23039826e-01 -2.02011012e-02 6.67836681e+01] [ 4.22936823e-01 9.06111085e-01 -9.33518143e-03 1.19269468e+01] [ 2.22535953e-02 -8.71805633e-05 9.99752354e-01 1.30400254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.972755096 meters 0.0167942458087241 Centerline is valid? [True, True] Translation: X:66.81, Y:11.94, Z:1.30 [[ 9.05375078e-01 -4.24144588e-01 -1.99333250e-02 6.68102386e+01] [ 4.24044401e-01 9.05594477e-01 -9.21892008e-03 1.19375426e+01] [ 2.19616641e-02 -1.06034388e-04 9.99758808e-01 1.30452788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.002755096 meters 0.01701442091734412 Centerline is valid? [True, True] Translation: X:66.84, Y:11.95, Z:1.30 [[ 9.04936776e-01 -4.25067871e-01 -2.01676985e-02 6.68362854e+01] [ 4.24965391e-01 9.05161471e-01 -9.33419867e-03 1.19468023e+01] [ 2.22226916e-02 -1.23714238e-04 9.99753038e-01 1.30485903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.032755096 meters 0.017663250192173862 Centerline is valid? [True, True] Translation: X:66.86, Y:11.95, Z:1.31 [[ 9.03915830e-01 -4.27239560e-01 -2.00631619e-02 6.68634729e+01] [ 4.27138622e-01 9.04138445e-01 -9.28813017e-03 1.19536681e+01] [ 2.21081327e-02 -1.74063445e-04 9.99755570e-01 1.30524457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.062755096 meters 0.017951153788756207 Centerline is valid? [True, True] Translation: X:66.89, Y:11.96, Z:1.31 [[ 9.03314989e-01 -4.28483205e-01 -2.05954961e-02 6.68907854e+01] [ 4.28377094e-01 9.03549722e-01 -9.53755908e-03 1.19636891e+01] [ 2.26957386e-02 -2.07218685e-04 9.99742397e-01 1.30550669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.092755096 meters 0.017564948188704913 Centerline is valid? [True, True] Translation: X:66.92, Y:11.98, Z:1.31 [[ 9.02705746e-01 -4.29751371e-01 -2.08829040e-02 6.69168810e+01] [ 4.29642468e-01 9.02947232e-01 -9.67708820e-03 1.19755874e+01] [ 2.30149023e-02 -2.36619302e-04 9.99735094e-01 1.30651489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.122755096 meters 0.01812245227764668 Centerline is valid? [True, True] Translation: X:66.94, Y:11.99, Z:1.31 [[ 9.01719264e-01 -4.31772062e-01 -2.18003662e-02 6.69444961e+01] [ 4.31653791e-01 9.01982705e-01 -1.01096582e-02 1.19851695e+01] [ 2.40286212e-02 -2.94137139e-04 9.99711228e-01 1.30603971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.152755096 meters 0.018046543367263683 Centerline is valid? [True, True] Translation: X:66.97, Y:12.00, Z:1.31 [[ 9.01210774e-01 -4.32809909e-01 -2.22423541e-02 6.69708407e+01] [ 4.32686925e-01 9.01485152e-01 -1.03221030e-02 1.19971724e+01] [ 2.45186604e-02 -3.21585422e-04 9.99699321e-01 1.30642095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18275509600001 meters 0.019304180614125678 Centerline is valid? [True, True] Translation: X:67.00, Y:12.01, Z:1.31 [[ 9.00695639e-01 -4.33870756e-01 -2.24395617e-02 6.69972122e+01] [ 4.33745748e-01 9.00975053e-01 -1.04201425e-02 1.20055457e+01] [ 2.47384804e-02 -3.47687547e-04 9.99693897e-01 1.30593815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21275509600001 meters 0.019160946808760012 Centerline is valid? [True, True] Translation: X:67.02, Y:12.02, Z:1.31 [[ 8.99682647e-01 -4.35944740e-01 -2.28761551e-02 6.70236366e+01] [ 4.35815387e-01 8.99973342e-01 -1.06269456e-02 1.20165790e+01] [ 2.52206908e-02 -4.08901879e-04 9.99681824e-01 1.30676376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.242755096 meters 0.020690063449856935 Centerline is valid? [True, True] Translation: X:67.05, Y:12.02, Z:1.31 [[ 8.99125666e-01 -4.37092054e-01 -2.28817286e-02 6.70507447e+01] [ 4.36962840e-01 8.99416670e-01 -1.06362589e-02 1.20247433e+01] [ 2.52292325e-02 -4.35131732e-04 9.99681598e-01 1.30639777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.272755096 meters 0.021406162898534604 Centerline is valid? [True, True] Translation: X:67.08, Y:12.03, Z:1.31 [[ 8.98616775e-01 -4.38127494e-01 -2.30692528e-02 6.70768966e+01] [ 4.37996399e-01 8.98912723e-01 -1.07271188e-02 1.20344327e+01] [ 2.54370906e-02 -4.64680763e-04 9.99676317e-01 1.30692955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.302755096 meters 0.021085177141360118 Centerline is valid? [True, True] Translation: X:67.10, Y:12.05, Z:1.31 [[ 8.97635876e-01 -4.40130991e-01 -2.31202283e-02 6.71036637e+01] [ 4.39999881e-01 8.97933428e-01 -1.07546762e-02 1.20453500e+01] [ 2.54938922e-02 -5.19114529e-04 9.99674843e-01 1.30855483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.332755096 meters 0.023175948460316467 Centerline is valid? [True, True] Translation: X:67.13, Y:12.05, Z:1.31 [[ 8.97262334e-01 -4.40897889e-01 -2.30077197e-02 6.71306457e+01] [ 4.40768148e-01 8.97557111e-01 -1.07085285e-02 1.20534030e+01] [ 2.53721100e-02 -5.32710672e-04 9.99677934e-01 1.30831599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.362755096 meters 0.020853694959747367 Centerline is valid? [True, True] Translation: X:67.15, Y:12.07, Z:1.31 [[ 8.97110442e-01 -4.41223106e-01 -2.26941863e-02 6.71539639e+01] [ 4.41096878e-01 8.97397286e-01 -1.05667217e-02 1.20693019e+01] [ 2.50279830e-02 -5.30818339e-04 9.99686610e-01 1.31052297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.392755096 meters 0.019820700944671317 Centerline is valid? [True, True] Translation: X:67.18, Y:12.08, Z:1.31 [[ 8.97901164e-01 -4.39637357e-01 -2.21922020e-02 6.71782748e+01] [ 4.39515967e-01 8.98175247e-01 -1.03411548e-02 1.20849371e+01] [ 2.44788444e-02 -4.68492169e-04 9.99700238e-01 1.31242416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.422755096 meters 0.019378249317902666 Centerline is valid? [True, True] Translation: X:67.20, Y:12.10, Z:1.31 [[ 8.98034515e-01 -4.39365202e-01 -2.21862362e-02 6.72030938e+01] [ 4.39243603e-01 8.98308417e-01 -1.03462458e-02 1.20976830e+01] [ 2.44758631e-02 -4.53876496e-04 9.99700318e-01 1.31323915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.452755096 meters 0.020717007775297967 Centerline is valid? [True, True] Translation: X:67.23, Y:12.11, Z:1.31 [[ 8.98319693e-01 -4.38760290e-01 -2.26083510e-02 6.72299065e+01] [ 4.38633639e-01 8.98604037e-01 -1.05506218e-02 1.21070956e+01] [ 2.49451494e-02 -4.38952007e-04 9.99688725e-01 1.31247473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.482755096 meters 0.021364192567720437 Centerline is valid? [True, True] Translation: X:67.26, Y:12.12, Z:1.31 [[ 8.98951383e-01 -4.37454669e-01 -2.27996396e-02 6.72555088e+01] [ 4.37325376e-01 8.99240374e-01 -1.06426257e-02 1.21184273e+01] [ 2.51580227e-02 -4.03657821e-04 9.99683405e-01 1.31233436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.512755096 meters 0.01856651523722529 Centerline is valid? [True, True] Translation: X:67.28, Y:12.14, Z:1.32 [[ 8.99485217e-01 -4.36371627e-01 -2.24977173e-02 6.72794932e+01] [ 4.36245309e-01 8.99766453e-01 -1.05052690e-02 1.21364552e+01] [ 2.48268926e-02 -3.65189446e-04 9.99691698e-01 1.31526935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54275509600001 meters 0.018846614842864113 Centerline is valid? [True, True] Translation: X:67.30, Y:12.15, Z:1.31 [[ 9.00470446e-01 -4.34315596e-01 -2.28678436e-02 6.73049723e+01] [ 4.34184269e-01 9.00760716e-01 -1.06841969e-02 1.21484572e+01] [ 2.52387685e-02 -3.08054424e-04 9.99681404e-01 1.31454567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57275509600001 meters 0.017697479057027884 Centerline is valid? [True, True] Translation: X:67.33, Y:12.16, Z:1.32 [[ 9.00824927e-01 -4.33574249e-01 -2.29743644e-02 6.73296323e+01] [ 4.33441353e-01 9.01117800e-01 -1.07379802e-02 1.21638589e+01] [ 2.53583204e-02 -2.84999362e-04 9.99678385e-01 1.31580568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60275509600001 meters 0.017551258886728538 Centerline is valid? [True, True] Translation: X:67.35, Y:12.18, Z:1.32 [[ 9.01046723e-01 -4.33101194e-01 -2.31982689e-02 6.73540055e+01] [ 4.32965333e-01 9.01345264e-01 -1.08506402e-02 1.21771936e+01] [ 2.56090750e-02 -2.67112451e-04 9.99671998e-01 1.31624485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.632755096 meters 0.017193705244616747 Centerline is valid? [True, True] Translation: X:67.38, Y:12.19, Z:1.32 [[ 9.01403203e-01 -4.32359450e-01 -2.31856061e-02 6.73784241e+01] [ 4.32223267e-01 9.01701308e-01 -1.08534913e-02 1.21903146e+01] [ 2.55991009e-02 -2.37986545e-04 9.99672261e-01 1.31689192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.662755096 meters 0.017051874402567672 Centerline is valid? [True, True] Translation: X:67.40, Y:12.20, Z:1.32 [[ 9.01279285e-01 -4.32625452e-01 -2.30405971e-02 6.74032154e+01] [ 4.32490830e-01 9.01573715e-01 -1.07943782e-02 1.22026187e+01] [ 2.54427194e-02 -2.36097469e-04 9.99676254e-01 1.31779266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.692755096 meters 0.01732102330848955 Centerline is valid? [True, True] Translation: X:67.43, Y:12.21, Z:1.32 [[ 9.00711280e-01 -4.33802183e-01 -2.31269756e-02 6.74283733e+01] [ 4.33666751e-01 9.01008100e-01 -1.08421431e-02 1.22143056e+01] [ 2.55409377e-02 -2.63759813e-04 9.99673742e-01 1.31810897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.722755096 meters 0.017603842703350005 Centerline is valid? [True, True] Translation: X:67.46, Y:12.23, Z:1.32 [[ 9.00103701e-01 -4.35064526e-01 -2.30691480e-02 6.74551963e+01] [ 4.34930082e-01 9.00399229e-01 -1.08190984e-02 1.22262731e+01] [ 2.54784490e-02 -2.95155893e-04 9.99675328e-01 1.31843074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.752755096 meters 0.01790558746011489 Centerline is valid? [True, True] Translation: X:67.48, Y:12.24, Z:1.32 [[ 8.99303675e-01 -4.36726877e-01 -2.28590182e-02 6.74817288e+01] [ 4.36595216e-01 8.99594089e-01 -1.07281566e-02 1.22374757e+01] [ 2.52491119e-02 -3.32267314e-04 9.99681135e-01 1.31944006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.782755096 meters 0.019320631843979117 Centerline is valid? [True, True] Translation: X:67.51, Y:12.25, Z:1.32 [[ 8.97594844e-01 -4.40244591e-01 -2.25432266e-02 6.75084351e+01] [ 4.40117493e-01 8.97877789e-01 -1.05862123e-02 1.22460002e+01] [ 2.49015852e-02 -4.19538777e-04 9.99689819e-01 1.32023903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.812755096 meters 0.020122902109942307 Centerline is valid? [True, True] Translation: X:67.53, Y:12.26, Z:1.32 [[ 8.96569978e-01 -4.42331832e-01 -2.24683155e-02 6.75349938e+01] [ 4.42206137e-01 8.96851341e-01 -1.05548403e-02 1.22567681e+01] [ 2.48194807e-02 -4.72474050e-04 9.99691838e-01 1.32128050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.842755096 meters 0.02036298495173426 Centerline is valid? [True, True] Translation: X:67.56, Y:12.27, Z:1.32 [[ 8.95532566e-01 -4.44426259e-01 -2.25105211e-02 6.75617107e+01] [ 4.44300568e-01 8.95815285e-01 -1.05820958e-02 1.22686417e+01] [ 2.48682302e-02 -5.24825913e-04 9.99690600e-01 1.32249424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.872755096 meters 0.02190109654436872 Centerline is valid? [True, True] Translation: X:67.59, Y:12.28, Z:1.32 [[ 8.93689457e-01 -4.48178390e-01 -2.13374288e-02 6.75886250e+01] [ 4.48066385e-01 8.93943948e-01 -1.00365661e-02 1.22780235e+01] [ 2.35726374e-02 -5.91011255e-04 9.99721952e-01 1.32393553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.902755096 meters 0.023075112138474446 Centerline is valid? [True, True] Translation: X:67.61, Y:12.29, Z:1.32 [[ 8.92960083e-01 -4.49625798e-01 -2.14226963e-02 6.76145102e+01] [ 4.49513251e-01 8.93216797e-01 -1.00792476e-02 1.22879693e+01] [ 2.36670019e-02 -6.29420093e-04 9.99719699e-01 1.32429698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93275509600001 meters 0.024760949411260728 Centerline is valid? [True, True] Translation: X:67.64, Y:12.30, Z:1.32 [[ 8.91404623e-01 -4.52704076e-01 -2.13732894e-02 6.76416386e+01] [ 4.52592848e-01 8.91660541e-01 -1.00594646e-02 1.22982198e+01] [ 2.36116794e-02 -7.06344687e-04 9.99720956e-01 1.32482686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96275509600001 meters 0.024565690520780482 Centerline is valid? [True, True] Translation: X:67.67, Y:12.31, Z:1.33 [[ 8.90689435e-01 -4.54114207e-01 -2.12747778e-02 6.76674431e+01] [ 4.54004240e-01 8.90943179e-01 -1.00200908e-02 1.23107625e+01] [ 2.35048838e-02 -7.34050325e-04 9.99723453e-01 1.32544723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.992755096 meters 0.025249490848552165 Centerline is valid? [True, True] Translation: X:67.69, Y:12.32, Z:1.33 [[ 8.90065373e-01 -4.55340354e-01 -2.11847585e-02 6.76934923e+01] [ 4.55231518e-01 8.90317128e-01 -9.98385677e-03 1.23221194e+01] [ 2.34072062e-02 -7.57684552e-04 9.99725727e-01 1.32565237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.022755096 meters 0.026015213500771666 Centerline is valid? [True, True] Translation: X:67.72, Y:12.33, Z:1.33 [[ 8.89445351e-01 -4.56546709e-01 -2.12619297e-02 6.77203563e+01] [ 4.56437341e-01 8.89699095e-01 -1.00236826e-02 1.23337477e+01] [ 2.34929989e-02 -7.89220750e-04 9.99723690e-01 1.32592131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.052755096 meters 0.025991959890566196 Centerline is valid? [True, True] Translation: X:67.75, Y:12.35, Z:1.33 [[ 8.88460043e-01 -4.58485543e-01 -2.07306317e-02 6.77464362e+01] [ 4.58381944e-01 8.88701494e-01 -9.77997491e-03 1.23467352e+01] [ 2.29073204e-02 -8.13430327e-04 9.99737262e-01 1.32633699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.082755096 meters 0.027859830323036232 Centerline is valid? [True, True] Translation: X:67.77, Y:12.36, Z:1.33 [[ 8.88170773e-01 -4.59032585e-01 -2.10181607e-02 6.77728482e+01] [ 4.58926098e-01 8.88419040e-01 -9.92195420e-03 1.23565072e+01] [ 2.32274344e-02 -8.33392741e-04 9.99729859e-01 1.32651634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.112755096 meters 0.028231994471438593 Centerline is valid? [True, True] Translation: X:67.80, Y:12.37, Z:1.33 [[ 8.87980657e-01 -4.59405813e-01 -2.08962258e-02 6.77978799e+01] [ 4.59300581e-01 8.88226098e-01 -9.86788696e-03 1.23685120e+01] [ 2.30939377e-02 -8.35155912e-04 9.99732951e-01 1.32685410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.142755096 meters 0.026503949162775854 Centerline is valid? [True, True] Translation: X:67.82, Y:12.38, Z:1.33 [[ 8.88080138e-01 -4.59228905e-01 -2.05543751e-02 6.78223836e+01] [ 4.59126872e-01 8.88317599e-01 -9.71383785e-03 1.23835482e+01] [ 2.27196882e-02 -8.10399498e-04 9.99741546e-01 1.32770930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.172755096 meters 0.024931570320195905 Centerline is valid? [True, True] Translation: X:67.85, Y:12.40, Z:1.33 [[ 8.89001370e-01 -4.57472195e-01 -1.98936075e-02 6.78472162e+01] [ 4.57376036e-01 8.89223622e-01 -9.40806888e-03 1.23989106e+01] [ 2.19937956e-02 -7.35073209e-04 9.99757837e-01 1.32913210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.202755096 meters 0.025108708429786113 Centerline is valid? [True, True] Translation: X:67.87, Y:12.41, Z:1.33 [[ 8.89552130e-01 -4.56407966e-01 -1.97174488e-02 6.78723718e+01] [ 4.56313105e-01 8.89770354e-01 -9.33096417e-03 1.24115515e+01] [ 2.18027278e-02 -6.96951239e-04 9.99762049e-01 1.32942112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.232755096 meters 0.023438969928865152 Centerline is valid? [True, True] Translation: X:67.90, Y:12.43, Z:1.33 [[ 8.90198824e-01 -4.55156447e-01 -1.94592469e-02 6.78967880e+01] [ 4.55063673e-01 8.90411243e-01 -9.21261129e-03 1.24268374e+01] [ 2.15199116e-02 -6.54140621e-04 9.99768206e-01 1.33039411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.262755096 meters 0.022511661149296664 Centerline is valid? [True, True] Translation: X:67.92, Y:12.44, Z:1.33 [[ 8.91808586e-01 -4.52031347e-01 -1.85770634e-02 6.79209271e+01] [ 4.51946000e-01 8.92001884e-01 -8.80063333e-03 1.24418321e+01] [ 2.05489377e-02 -5.47349140e-04 9.99788698e-01 1.33147591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29275509600001 meters 0.02115031274749468 Centerline is valid? [True, True] Translation: X:67.95, Y:12.46, Z:1.33 [[ 8.92644334e-01 -4.50393942e-01 -1.82041306e-02 6.79454677e+01] [ 4.50311606e-01 8.92829799e-01 -8.62599933e-03 1.24570332e+01] [ 2.01382881e-02 -4.97581863e-04 9.99797080e-01 1.33275540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32275509600001 meters 0.02104235529825692 Centerline is valid? [True, True] Translation: X:67.97, Y:12.47, Z:1.33 [[ 8.93380561e-01 -4.48957237e-01 -1.75662532e-02 6.79703927e+01] [ 4.48880183e-01 8.93553133e-01 -8.32938587e-03 1.24703445e+01] [ 1.94359186e-02 -4.43831528e-04 9.99811006e-01 1.33346943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35275509600001 meters 0.020382358205200984 Centerline is valid? [True, True] Translation: X:68.00, Y:12.48, Z:1.33 [[ 8.94192209e-01 -4.47351562e-01 -1.72300063e-02 6.79953101e+01] [ 4.47277092e-01 8.94358106e-01 -8.17205030e-03 1.24845597e+01] [ 1.90655752e-02 -3.99203383e-04 9.99818156e-01 1.33448621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.382755096 meters 0.019826905619212194 Centerline is valid? [True, True] Translation: X:68.02, Y:12.50, Z:1.34 [[ 8.94718348e-01 -4.46312786e-01 -1.68515267e-02 6.80201443e+01] [ 4.46241267e-01 8.94876955e-01 -7.99795088e-03 1.24989020e+01] [ 1.86496306e-02 -3.63933228e-04 9.99826014e-01 1.33540896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.412755096 meters 0.019826905619212194 Centerline is valid? [True, True] Translation: X:68.04, Y:12.51, Z:1.34 [[ 8.94582150e-01 -4.46585798e-01 -1.68493942e-02 6.80449785e+01] [ 4.46514242e-01 8.94740740e-01 -8.00244098e-03 1.25108898e+01] [ 1.86496159e-02 -3.64653618e-04 9.99826014e-01 1.33592395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.442755096 meters 0.018824977783514298 Centerline is valid? [True, True] Translation: X:68.07, Y:12.53, Z:1.34 [[ 8.95760917e-01 -4.44244741e-01 -1.60931403e-02 6.80684921e+01] [ 4.44178981e-01 8.95905420e-01 -7.64921394e-03 1.25264767e+01] [ 1.78160547e-02 -2.96367759e-04 9.99841238e-01 1.33721187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.472755096 meters 0.018825200634035394 Centerline is valid? [True, True] Translation: X:68.09, Y:12.54, Z:1.34 [[ 8.96250097e-01 -4.43266817e-01 -1.58206491e-02 6.80927544e+01] [ 4.43203081e-01 8.96389679e-01 -7.52149394e-03 1.25393041e+01] [ 1.75154953e-02 -2.70620763e-04 9.99846555e-01 1.33788236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.502755096 meters 0.017589132267491914 Centerline is valid? [True, True] Translation: X:68.12, Y:12.56, Z:1.34 [[ 8.96831051e-01 -4.42082754e-01 -1.60282386e-02 6.81169564e+01] [ 4.42017116e-01 8.96974234e-01 -7.62185664e-03 1.25563460e+01] [ 1.77464084e-02 -2.49238084e-04 9.99842489e-01 1.33780709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.532755096 meters 0.017981194173657244 Centerline is valid? [True, True] Translation: X:68.14, Y:12.57, Z:1.34 [[ 8.96934434e-01 -4.41873016e-01 -1.60267997e-02 6.81417636e+01] [ 4.41807259e-01 8.97077578e-01 -7.62664237e-03 1.25682462e+01] [ 1.77472901e-02 -2.40158288e-04 9.99842476e-01 1.33831667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.562755096 meters 0.01768178815219304 Centerline is valid? [True, True] Translation: X:68.17, Y:12.58, Z:1.34 [[ 8.96506308e-01 -4.42746380e-01 -1.58771359e-02 6.81668357e+01] [ 4.42681940e-01 8.96646853e-01 -7.55783319e-03 1.25831295e+01] [ 1.75823872e-02 -2.52876193e-04 9.99845386e-01 1.33844205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.592755096 meters 0.017911665876731674 Centerline is valid? [True, True] Translation: X:68.19, Y:12.60, Z:1.34 [[ 8.96029217e-01 -4.43711880e-01 -1.58559290e-02 6.81927881e+01] [ 4.43647671e-01 8.96169457e-01 -7.55300635e-03 1.25952922e+01] [ 1.75609579e-02 -2.66731588e-04 9.99845759e-01 1.33876704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.622755096 meters 0.018469513474051135 Centerline is valid? [True, True] Translation: X:68.22, Y:12.61, Z:1.34 [[ 8.95266149e-01 -4.45247972e-01 -1.58985888e-02 6.82189616e+01] [ 4.45183566e-01 8.95407258e-01 -7.57861206e-03 1.26070885e+01] [ 1.76100734e-02 -2.92915607e-04 9.99844888e-01 1.33911461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.652755096 meters 0.018380494601850678 Centerline is valid? [True, True] Translation: X:68.24, Y:12.62, Z:1.34 [[ 8.94408177e-01 -4.46982225e-01 -1.55210554e-02 6.82444820e+01] [ 4.46921016e-01 8.94542784e-01 -7.40360520e-03 1.26201949e+01] [ 1.71935280e-02 -3.14840823e-04 9.99852131e-01 1.33923502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68275509600001 meters 0.019621917908023593 Centerline is valid? [True, True] Translation: X:68.27, Y:12.63, Z:1.34 [[ 8.92385426e-01 -4.50998497e-01 -1.57672875e-02 6.82714624e+01] [ 4.50935859e-01 8.92524622e-01 -7.52661935e-03 1.26311258e+01] [ 1.74671863e-02 -3.93389916e-04 9.99847360e-01 1.33947726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71275509600001 meters 0.021140320486684547 Centerline is valid? [True, True] Translation: X:68.30, Y:12.64, Z:1.34 [[ 8.91289118e-01 -4.53150807e-01 -1.60640515e-02 6.82973084e+01] [ 4.53086034e-01 8.91433763e-01 -7.67411253e-03 1.26406926e+01] [ 1.77975682e-02 -4.38544404e-04 9.99841515e-01 1.33976158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.742755096 meters 0.021133165714553905 Centerline is valid? [True, True] Translation: X:68.32, Y:12.65, Z:1.34 [[ 8.90016845e-01 -4.55643973e-01 -1.60805660e-02 6.83229860e+01] [ 4.55579413e-01 8.90161971e-01 -7.68537121e-03 1.26534423e+01] [ 1.78161014e-02 -4.85864993e-04 9.99841163e-01 1.33968656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.772755096 meters 0.02358383769234908 Centerline is valid? [True, True] Translation: X:68.35, Y:12.66, Z:1.34 [[ 8.87700198e-01 -4.60132328e-01 -1.63278708e-02 6.83503509e+01] [ 4.60066415e-01 8.87850159e-01 -7.80954251e-03 1.26625386e+01] [ 1.80901256e-02 -5.79372543e-04 9.99836192e-01 1.33986245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.802755096 meters 0.025565298871072974 Centerline is valid? [True, True] Translation: X:68.38, Y:12.67, Z:1.34 [[ 8.86609015e-01 -4.62231936e-01 -1.63123114e-02 6.83769336e+01] [ 4.62166472e-01 8.86758847e-01 -7.80382514e-03 1.26721807e+01] [ 1.80722637e-02 -6.20061697e-04 9.99836491e-01 1.34029098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.832755096 meters 0.02598297432510213 Centerline is valid? [True, True] Translation: X:68.40, Y:12.69, Z:1.34 [[ 8.84751439e-01 -4.65766676e-01 -1.66221327e-02 6.84029036e+01] [ 4.65699284e-01 8.84907288e-01 -7.95412386e-03 1.26850767e+01] [ 1.84138122e-02 -7.03492764e-04 9.99830204e-01 1.34065720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.862755096 meters 0.026948277475255657 Centerline is valid? [True, True] Translation: X:68.43, Y:12.70, Z:1.34 [[ 8.83887703e-01 -4.67390023e-01 -1.70027676e-02 6.84293031e+01] [ 4.67319784e-01 8.84050903e-01 -8.13759096e-03 1.26969903e+01] [ 1.88347409e-02 -7.53013095e-04 9.99822327e-01 1.34126899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.892755096 meters 0.02776199888748173 Centerline is valid? [True, True] Translation: X:68.46, Y:12.71, Z:1.34 [[ 8.83224574e-01 -4.68654942e-01 -1.66402415e-02 6.84550375e+01] [ 4.68587785e-01 8.83380988e-01 -7.96976296e-03 1.27090452e+01] [ 1.84347418e-02 -7.58323428e-04 9.99829778e-01 1.34149667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.922755096 meters 0.028777060405329718 Centerline is valid? [True, True] Translation: X:68.48, Y:12.72, Z:1.34 [[ 8.82567562e-01 -4.69880243e-01 -1.69427318e-02 6.84808657e+01] [ 4.69810808e-01 8.82729813e-01 -8.11676167e-03 1.27209248e+01] [ 1.87697604e-02 -7.96287963e-04 9.99823515e-01 1.34172870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.952755096 meters 0.02968409522316188 Centerline is valid? [True, True] Translation: X:68.51, Y:12.73, Z:1.34 [[ 8.81727788e-01 -4.71437657e-01 -1.73966713e-02 6.85064026e+01] [ 4.71364710e-01 8.81898982e-01 -8.33642142e-03 1.27334458e+01] [ 1.92722096e-02 -8.49722489e-04 9.99813913e-01 1.34182877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.982755096 meters 0.030330243831225647 Centerline is valid? [True, True] Translation: X:68.53, Y:12.75, Z:1.34 [[ 8.81366533e-01 -4.72120855e-01 -1.71736082e-02 6.85321369e+01] [ 4.72049856e-01 8.81533421e-01 -8.23166635e-03 1.27460215e+01] [ 1.90254509e-02 -8.51684023e-04 9.99818637e-01 1.34216957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.012755096 meters 0.03128672428864187 Centerline is valid? [True, True] Translation: X:68.56, Y:12.76, Z:1.34 [[ 8.81030636e-01 -4.72735726e-01 -1.74914927e-02 6.85570792e+01] [ 4.72662081e-01 8.81203817e-01 -8.38992128e-03 1.27588567e+01] [ 1.93797857e-02 -8.75787676e-04 9.99811811e-01 1.34234563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04275509600001 meters 0.031076095627697194 Centerline is valid? [True, True] Translation: X:68.58, Y:12.77, Z:1.34 [[ 8.80919647e-01 -4.72946688e-01 -1.73782983e-02 6.85814488e+01] [ 4.72873992e-01 8.81090613e-01 -8.33781882e-03 1.27720574e+01] [ 1.92551993e-02 -8.72796850e-04 9.99814221e-01 1.34303819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07275509600001 meters 0.03110029821537496 Centerline is valid? [True, True] Translation: X:68.61, Y:12.79, Z:1.34 [[ 8.81149800e-01 -4.72523574e-01 -1.72192300e-02 6.86060374e+01] [ 4.72451998e-01 8.81317621e-01 -8.26804708e-03 1.27865256e+01] [ 1.90824580e-02 -8.49871594e-04 9.99817552e-01 1.34392172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10275509600001 meters 0.031573662059618555 Centerline is valid? [True, True] Translation: X:68.63, Y:12.80, Z:1.34 [[ 8.81302271e-01 -4.72247747e-01 -1.69815322e-02 6.86307784e+01] [ 4.72177977e-01 8.81465473e-01 -8.15948425e-03 1.27992729e+01] [ 1.88219324e-02 -8.27333512e-04 9.99822509e-01 1.34471308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.132755096 meters 0.03019770352954649 Centerline is valid? [True, True] Translation: X:68.66, Y:12.82, Z:1.34 [[ 8.81415612e-01 -4.72048802e-01 -1.66267255e-02 6.86555964e+01] [ 4.71981846e-01 8.81572052e-01 -7.99090340e-03 1.28154899e+01] [ 1.84297529e-02 -8.04205576e-04 9.99829834e-01 1.34456390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.162755096 meters 0.02930942322160757 Centerline is valid? [True, True] Translation: X:68.68, Y:12.83, Z:1.35 [[ 8.81816977e-01 -4.71309660e-01 -1.63102019e-02 6.86806868e+01] [ 4.71245052e-01 8.81967465e-01 -7.84166782e-03 1.28296567e+01] [ 1.80809212e-02 -7.71186105e-04 9.99836229e-01 1.34639356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.192755096 meters 0.02998983591431689 Centerline is valid? [True, True] Translation: X:68.70, Y:12.84, Z:1.35 [[ 8.82328220e-01 -4.70394683e-01 -1.50250974e-02 6.87047450e+01] [ 4.70339641e-01 8.82455873e-01 -7.22874657e-03 1.28434564e+01] [ 1.66593494e-02 -6.88771831e-04 9.99860986e-01 1.34760515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.222755096 meters 0.028542965673239135 Centerline is valid? [True, True] Translation: X:68.73, Y:12.86, Z:1.35 [[ 8.82451901e-01 -4.70167424e-01 -1.48739842e-02 6.87295297e+01] [ 4.70113413e-01 8.82576987e-01 -7.15831698e-03 1.28594504e+01] [ 1.64930436e-02 -6.75589040e-04 9.99863752e-01 1.34826150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.252755096 meters 0.031951183330350144 Centerline is valid? [True, True] Translation: X:68.76, Y:12.87, Z:1.35 [[ 8.82629448e-01 -4.69837965e-01 -1.47493788e-02 6.87561168e+01] [ 4.69784722e-01 8.82752430e-01 -7.10373701e-03 1.28682650e+01] [ 1.63576553e-02 -6.59065366e-04 9.99865987e-01 1.34933682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.282755096 meters 0.028193693714589612 Centerline is valid? [True, True] Translation: X:68.78, Y:12.89, Z:1.35 [[ 8.83037943e-01 -4.69059428e-01 -1.50745928e-02 6.87792537e+01] [ 4.69003674e-01 8.83166360e-01 -7.26181605e-03 1.28877407e+01] [ 1.67195965e-02 -6.57580291e-04 9.99860002e-01 1.34895510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.312755096 meters 0.031031670617143174 Centerline is valid? [True, True] Translation: X:68.81, Y:12.90, Z:1.35 [[ 8.83204493e-01 -4.68745954e-01 -1.50683185e-02 6.88066103e+01] [ 4.68690111e-01 8.83332787e-01 -7.26412905e-03 1.28979485e+01] [ 1.67153708e-02 -6.46660436e-04 9.99860079e-01 1.34942386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.342755096 meters 0.02751268453939673 Centerline is valid? [True, True] Translation: X:68.83, Y:12.92, Z:1.35 [[ 8.84021502e-01 -4.67192561e-01 -1.53978542e-02 6.88279808e+01] [ 4.67133960e-01 8.84155369e-01 -7.42614580e-03 1.29172213e+01] [ 1.70835355e-02 -6.27988041e-04 9.99853869e-01 1.34919823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.372755096 meters 0.031055310183644512 Centerline is valid? [True, True] Translation: X:68.85, Y:12.93, Z:1.35 [[ 8.84391249e-01 -4.66500646e-01 -1.51415118e-02 6.88541132e+01] [ 4.66443828e-01 8.84520653e-01 -7.30547335e-03 1.29262455e+01] [ 1.68009879e-02 -6.01768012e-04 9.99858672e-01 1.34961782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.402755096 meters 0.029778052430659636 Centerline is valid? [True, True] Translation: X:68.88, Y:12.94, Z:1.35 [[ 8.84779378e-01 -4.65755256e-01 -1.54108583e-02 6.88783950e+01] [ 4.65696259e-01 8.84913378e-01 -7.43695037e-03 1.29416778e+01] [ 1.71010734e-02 -5.96718734e-04 9.99853588e-01 1.34955204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43275509600001 meters 0.027077270165545248 Centerline is valid? [True, True] Translation: X:68.90, Y:12.96, Z:1.35 [[ 8.85171117e-01 -4.65002336e-01 -1.56499639e-02 6.89012643e+01] [ 4.64941287e-01 8.85309259e-01 -7.55749653e-03 1.29605420e+01] [ 1.73693114e-02 -5.86636694e-04 9.99848970e-01 1.34924903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46275509600001 meters 0.031497227939386724 Centerline is valid? [True, True] Translation: X:68.93, Y:12.97, Z:1.35 [[ 8.85263080e-01 -4.64841081e-01 -1.52331687e-02 6.89289337e+01] [ 4.64783116e-01 8.85393954e-01 -7.36221084e-03 1.29682194e+01] [ 1.69096135e-02 -5.62626193e-04 9.99856864e-01 1.35009492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49275509600001 meters 0.031210119422349008 Centerline is valid? [True, True] Translation: X:68.95, Y:12.98, Z:1.35 [[ 8.85173614e-01 -4.65006647e-01 -1.53782691e-02 6.89534643e+01] [ 4.64947568e-01 8.85307005e-01 -7.43405259e-03 1.29818790e+01] [ 1.70713732e-02 -5.69661613e-04 9.99854111e-01 1.35078123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.522755096 meters 0.02855367529428993 Centerline is valid? [True, True] Translation: X:68.98, Y:13.00, Z:1.35 [[ 8.85052294e-01 -4.65229895e-01 -1.56071116e-02 6.89760495e+01] [ 4.65168968e-01 8.85189704e-01 -7.55107982e-03 1.29992900e+01] [ 1.73282425e-02 -5.76843479e-04 9.99849688e-01 1.35054890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.552755096 meters 0.027901467968696234 Centerline is valid? [True, True] Translation: X:69.00, Y:13.01, Z:1.35 [[ 8.84761157e-01 -4.65783046e-01 -1.56156988e-02 6.90011672e+01] [ 4.65722111e-01 8.84898757e-01 -7.55681668e-03 1.30139053e+01] [ 1.73381496e-02 -5.86598361e-04 9.99849511e-01 1.35063988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.582755096 meters 0.024016503016354364 Centerline is valid? [True, True] Translation: X:69.02, Y:13.03, Z:1.35 [[ 8.84391116e-01 -4.66494771e-01 -1.53291743e-02 6.90239378e+01] [ 4.66436072e-01 8.84523763e-01 -7.42322359e-03 1.30328554e+01] [ 1.70219139e-02 -5.85046839e-04 9.99854946e-01 1.35061029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.612755096 meters 0.028343258352989675 Centerline is valid? [True, True] Translation: X:69.05, Y:13.04, Z:1.35 [[ 8.83662358e-01 -4.67865393e-01 -1.55823791e-02 6.90513503e+01] [ 4.67804847e-01 8.83799521e-01 -7.55191699e-03 1.30411480e+01] [ 1.73049798e-02 -6.16167709e-04 9.99850068e-01 1.35077507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.642755096 meters 0.03527465235017148 Centerline is valid? [True, True] Translation: X:69.08, Y:13.05, Z:1.35 [[ 8.83280226e-01 -4.68584931e-01 -1.56270319e-02 6.90797985e+01] [ 4.68524043e-01 8.83418230e-01 -7.57968249e-03 1.30451977e+01] [ 1.73569299e-02 -6.26656508e-04 9.99849161e-01 1.35148410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.672755096 meters 0.029172188452001205 Centerline is valid? [True, True] Translation: X:69.10, Y:13.07, Z:1.35 [[ 8.82687247e-01 -4.69691270e-01 -1.59165220e-02 6.91016720e+01] [ 4.69628242e-01 8.82830492e-01 -7.72247452e-03 1.30666234e+01] [ 1.76787698e-02 -6.58318478e-04 9.99843502e-01 1.35138981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.702755096 meters 0.029833123071406148 Centerline is valid? [True, True] Translation: X:69.13, Y:13.08, Z:1.35 [[ 8.82516760e-01 -4.70013992e-01 -1.58434737e-02 6.91268486e+01] [ 4.69951483e-01 8.82658721e-01 -7.69327163e-03 1.30785274e+01] [ 1.76003255e-02 -6.56222793e-04 9.99844887e-01 1.35194380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.732755096 meters 0.03158027057625473 Centerline is valid? [True, True] Translation: X:69.15, Y:13.09, Z:1.35 [[ 8.82256005e-01 -4.70500485e-01 -1.59259195e-02 6.91522194e+01] [ 4.70437365e-01 8.82399483e-01 -7.73545921e-03 1.30890889e+01] [ 1.76925605e-02 -6.67492280e-04 9.99843252e-01 1.35234027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.762755096 meters 0.029586767278007346 Centerline is valid? [True, True] Translation: X:69.18, Y:13.10, Z:1.35 [[ 8.82094901e-01 -4.70802075e-01 -1.59371040e-02 6.91759840e+01] [ 4.70738883e-01 8.82238604e-01 -7.74272752e-03 1.31049194e+01] [ 1.77056206e-02 -6.72394086e-04 9.99843017e-01 1.35266095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79275509600001 meters 0.029664096476643226 Centerline is valid? [True, True] Translation: X:69.20, Y:13.12, Z:1.35 [[ 8.82219783e-01 -4.70578607e-01 -1.56214150e-02 6.92003311e+01] [ 4.70517737e-01 8.82357838e-01 -7.59639964e-03 1.31187088e+01] [ 1.73583811e-02 -6.48458774e-04 9.99849122e-01 1.35312428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82275509600001 meters 0.029880640913471365 Centerline is valid? [True, True] Translation: X:69.22, Y:13.13, Z:1.35 [[ 8.82062984e-01 -4.70860655e-01 -1.59729984e-02 6.92248760e+01] [ 4.70797025e-01 8.82207345e-01 -7.76932222e-03 1.31314635e+01] [ 1.77497646e-02 -6.67008570e-04 9.99842238e-01 1.35348656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85275509600001 meters 0.029691050586196206 Centerline is valid? [True, True] Translation: X:69.25, Y:13.14, Z:1.35 [[ 8.82030015e-01 -4.70922810e-01 -1.59611931e-02 6.92498223e+01] [ 4.70859162e-01 8.82174172e-01 -7.77042752e-03 1.31446779e+01] [ 1.77398239e-02 -6.61723721e-04 9.99842418e-01 1.35373878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.882755096 meters 0.029117868270267824 Centerline is valid? [True, True] Translation: X:69.28, Y:13.16, Z:1.35 [[ 8.82393951e-01 -4.70227384e-01 -1.63438995e-02 6.92751794e+01] [ 4.70160397e-01 8.82545056e-01 -7.96400610e-03 1.31587590e+01] [ 1.81691215e-02 -6.56863478e-04 9.99834712e-01 1.35426599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.912755096 meters 0.028580527282953433 Centerline is valid? [True, True] Translation: X:69.30, Y:13.17, Z:1.35 [[ 8.82738388e-01 -4.69585899e-01 -1.61870787e-02 6.93008216e+01] [ 4.69519974e-01 8.82886564e-01 -7.89364060e-03 1.31729457e+01] [ 1.79980966e-02 -6.32137186e-04 9.99837821e-01 1.35478405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.942755096 meters 0.028248742665788855 Centerline is valid? [True, True] Translation: X:69.33, Y:13.19, Z:1.36 [[ 8.82963799e-01 -4.69162928e-01 -1.61578403e-02 6.93264135e+01] [ 4.69097062e-01 8.83111412e-01 -7.88545529e-03 1.31872777e+01] [ 1.79687364e-02 -6.17023846e-04 9.99838359e-01 1.35518808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.972755096 meters 0.026799053591126165 Centerline is valid? [True, True] Translation: X:69.35, Y:13.20, Z:1.36 [[ 8.83996611e-01 -4.67207850e-01 -1.63345609e-02 6.93504942e+01] [ 4.67140089e-01 8.84147324e-01 -7.97786761e-03 1.32031660e+01] [ 1.81694807e-02 -5.78120310e-04 9.99834754e-01 1.35554300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.002755096 meters 0.026264571097265436 Centerline is valid? [True, True] Translation: X:69.38, Y:13.22, Z:1.36 [[ 8.84455425e-01 -4.66339346e-01 -1.63161177e-02 6.93754367e+01] [ 4.66271481e-01 8.84605735e-01 -7.97491230e-03 1.32173294e+01] [ 1.81523467e-02 -5.54285928e-04 9.99835079e-01 1.35584303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.032755096 meters 0.024961356181947548 Centerline is valid? [True, True] Translation: X:69.40, Y:13.23, Z:1.36 [[ 8.85000445e-01 -4.65297772e-01 -1.64983459e-02 6.94006048e+01] [ 4.65228089e-01 8.85154054e-01 -8.07013508e-03 1.32323253e+01] [ 1.83585936e-02 -5.33420788e-04 9.99831325e-01 1.35615347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.062755096 meters 0.022933363016010847 Centerline is valid? [True, True] Translation: X:69.43, Y:13.25, Z:1.36 [[ 8.86219846e-01 -4.62979135e-01 -1.62697385e-02 6.94252705e+01] [ 4.62910870e-01 8.86369052e-01 -7.96429107e-03 1.32483920e+01] [ 1.81082933e-02 -4.73326003e-04 9.99835919e-01 1.35686219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.092755096 meters 0.022155423648972234 Centerline is valid? [True, True] Translation: X:69.45, Y:13.26, Z:1.36 [[ 8.86754099e-01 -4.61947709e-01 -1.64766855e-02 6.94502776e+01] [ 4.61877402e-01 8.86907047e-01 -8.07193015e-03 1.32626171e+01] [ 1.83420982e-02 -4.52391569e-04 9.99831667e-01 1.35723168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.122755096 meters 0.02218906315563061 Centerline is valid? [True, True] Translation: X:69.47, Y:13.27, Z:1.36 [[ 8.87322520e-01 -4.60849783e-01 -1.66199442e-02 6.94749186e+01] [ 4.60777937e-01 8.87478053e-01 -8.14854828e-03 1.32749848e+01] [ 1.85050925e-02 -4.27713212e-04 9.99828675e-01 1.35771050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.152755096 meters 0.019427012663216163 Centerline is valid? [True, True] Translation: X:69.50, Y:13.29, Z:1.36 [[ 8.88252680e-01 -4.59054994e-01 -1.66038880e-02 6.94988656e+01] [ 4.58982932e-01 8.88407768e-01 -8.14285784e-03 1.32929132e+01] [ 1.84890426e-02 -3.87985908e-04 9.99828988e-01 1.35774573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18275509600001 meters 0.02047803909203737 Centerline is valid? [True, True] Translation: X:69.53, Y:13.30, Z:1.36 [[ 8.88520320e-01 -4.58526423e-01 -1.68866840e-02 6.95253962e+01] [ 4.58451678e-01 8.88680694e-01 -8.28749085e-03 1.33037477e+01] [ 1.88069036e-02 -3.78124617e-04 9.99823063e-01 1.35796895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21275509600001 meters 0.020294359880597388 Centerline is valid? [True, True] Translation: X:69.55, Y:13.32, Z:1.36 [[ 8.88766413e-01 -4.58029182e-01 -1.74221806e-02 6.95507683e+01] [ 4.57949455e-01 8.88937077e-01 -8.55392236e-03 1.33152771e+01] [ 1.94051684e-02 -3.76039220e-04 9.99811631e-01 1.35779562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24275509600001 meters 0.018746520358376 Centerline is valid? [True, True] Translation: X:69.58, Y:13.33, Z:1.36 [[ 8.88660230e-01 -4.58242413e-01 -1.72304250e-02 6.95754022e+01] [ 4.58164405e-01 8.88827178e-01 -8.46324016e-03 1.33296981e+01] [ 1.91930856e-02 -3.73422459e-04 9.99815726e-01 1.35822451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.272755096 meters 0.018825614678910366 Centerline is valid? [True, True] Translation: X:69.60, Y:13.34, Z:1.36 [[ 8.88429226e-01 -4.58677794e-01 -1.75553729e-02 6.96012907e+01] [ 4.58596752e-01 8.88602574e-01 -8.63046728e-03 1.33411072e+01] [ 1.95583532e-02 -3.83277610e-04 9.99808644e-01 1.35876842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.302755096 meters 0.02017639627071919 Centerline is valid? [True, True] Translation: X:69.63, Y:13.35, Z:1.36 [[ 8.87988486e-01 -4.59540486e-01 -1.72913434e-02 6.96289102e+01] [ 4.59461897e-01 8.88156737e-01 -8.50737692e-03 1.33494643e+01] [ 1.92669073e-02 -3.90260699e-04 9.99814300e-01 1.35948967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.332755096 meters 0.02017639627071919 Centerline is valid? [True, True] Translation: X:69.65, Y:13.36, Z:1.36 [[ 8.87828648e-01 -4.59849307e-01 -1.72889480e-02 6.96535475e+01] [ 4.59770682e-01 8.87996882e-01 -8.51224211e-03 1.33618379e+01] [ 1.92668806e-02 -3.91539022e-04 9.99814300e-01 1.36000477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.362755096 meters 0.019876160876017675 Centerline is valid? [True, True] Translation: X:69.68, Y:13.37, Z:1.36 [[ 8.87504991e-01 -4.60479278e-01 -1.71384205e-02 6.96788228e+01] [ 4.60401995e-01 8.87670366e-01 -8.44537214e-03 1.33737821e+01] [ 1.91021869e-02 -3.95253071e-04 9.99817458e-01 1.36035131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.392755096 meters 0.020278235182388166 Centerline is valid? [True, True] Translation: X:69.70, Y:13.38, Z:1.36 [[ 8.87166520e-01 -4.61129650e-01 -1.71759078e-02 6.97042784e+01] [ 4.61052107e-01 8.87332677e-01 -8.46613669e-03 1.33841136e+01] [ 1.91447309e-02 -4.08115459e-04 9.99816640e-01 1.36104905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.422755096 meters 0.020684712644470186 Centerline is valid? [True, True] Translation: X:69.73, Y:13.40, Z:1.36 [[ 8.86647300e-01 -4.62135640e-01 -1.69474447e-02 6.97313169e+01] [ 4.62060292e-01 8.86809152e-01 -8.35556183e-03 1.33953229e+01] [ 1.88905519e-02 -4.22304889e-04 9.99821468e-01 1.36181346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.452755096 meters 0.021947796317768296 Centerline is valid? [True, True] Translation: X:69.76, Y:13.40, Z:1.36 [[ 8.85958003e-01 -4.63463778e-01 -1.67255426e-02 6.97597862e+01] [ 4.63390523e-01 8.86115756e-01 -8.25166003e-03 1.34038307e+01] [ 1.86451123e-02 -4.39833701e-04 9.99826068e-01 1.36267546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.482755096 meters 0.021096117969370012 Centerline is valid? [True, True] Translation: X:69.78, Y:13.42, Z:1.36 [[ 8.85573418e-01 -4.64203747e-01 -1.65711348e-02 6.97845025e+01] [ 4.64131862e-01 8.85728334e-01 -8.18119925e-03 1.34161802e+01] [ 1.84752670e-02 -4.46139100e-04 9.99829218e-01 1.36306851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.512755096 meters 0.02173164558116014 Centerline is valid? [True, True] Translation: X:69.81, Y:13.43, Z:1.36 [[ 8.85283075e-01 -4.64751348e-01 -1.67350481e-02 6.98097108e+01] [ 4.64678090e-01 8.85441118e-01 -8.26435287e-03 1.34257380e+01] [ 1.86587688e-02 -4.60118462e-04 9.99825804e-01 1.36348143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54275509600001 meters 0.02104068295010127 Centerline is valid? [True, True] Translation: X:69.84, Y:13.44, Z:1.36 [[ 8.84864040e-01 -4.65554739e-01 -1.65655293e-02 6.98357795e+01] [ 4.65482982e-01 8.85018965e-01 -8.18695542e-03 1.34376387e+01] [ 1.84722835e-02 -4.66629540e-04 9.99829264e-01 1.36379908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57275509600001 meters 0.023324648721098677 Centerline is valid? [True, True] Translation: X:69.86, Y:13.45, Z:1.36 [[ 8.84543506e-01 -4.66157833e-01 -1.67230780e-02 6.98624885e+01] [ 4.66084702e-01 8.84701445e-01 -8.27071017e-03 1.34456157e+01] [ 1.86503876e-02 -4.78567867e-04 9.99825952e-01 1.36424688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60275509600001 meters 0.022155130077375407 Centerline is valid? [True, True] Translation: X:69.89, Y:13.46, Z:1.36 [[ 8.84589216e-01 -4.66061915e-01 -1.69767357e-02 6.98866716e+01] [ 4.65986412e-01 8.84751978e-01 -8.40243104e-03 1.34572776e+01] [ 1.89362536e-02 -4.78228292e-04 9.99820579e-01 1.36452148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.632755096 meters 0.021700941778268534 Centerline is valid? [True, True] Translation: X:69.91, Y:13.47, Z:1.36 [[ 8.84548934e-01 -4.66135890e-01 -1.70445275e-02 6.99123996e+01] [ 4.66059740e-01 8.84713006e-01 -8.43897410e-03 1.34696716e+01] [ 1.90132239e-02 -4.79082509e-04 9.99819118e-01 1.36495331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.662755096 meters 0.020384292560757314 Centerline is valid? [True, True] Translation: X:69.94, Y:13.48, Z:1.37 [[ 8.84593090e-01 -4.66047823e-01 -1.71607348e-02 6.99370541e+01] [ 4.65970495e-01 8.84759403e-01 -8.50278221e-03 1.34834173e+01] [ 1.91458247e-02 -4.74893708e-04 9.99816589e-01 1.36555122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.692755096 meters 0.020792892479014575 Centerline is valid? [True, True] Translation: X:69.96, Y:13.49, Z:1.37 [[ 8.85102704e-01 -4.65056917e-01 -1.77557918e-02 6.99633889e+01] [ 4.64973790e-01 8.85280662e-01 -8.80482331e-03 1.34937693e+01] [ 1.98136031e-02 -4.62804867e-04 9.99803584e-01 1.36570843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.722755096 meters 0.020522499380983612 Centerline is valid? [True, True] Translation: X:69.99, Y:13.51, Z:1.37 [[ 8.85366465e-01 -4.64553890e-01 -1.77737537e-02 6.99898304e+01] [ 4.64470425e-01 8.85544738e-01 -8.81714422e-03 1.35065099e+01] [ 1.98354927e-02 -4.48979120e-04 9.99803156e-01 1.36597781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.752755096 meters 0.02063154212002047 Centerline is valid? [True, True] Translation: X:70.02, Y:13.52, Z:1.37 [[ 8.85636835e-01 -4.64031562e-01 -1.79472856e-02 7.00163567e+01] [ 4.63946240e-01 8.85818559e-01 -8.90886084e-03 1.35189542e+01] [ 2.00320313e-02 -4.36560364e-04 9.99799243e-01 1.36640215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.782755096 meters 0.020198521453684014 Centerline is valid? [True, True] Translation: X:70.04, Y:13.53, Z:1.37 [[ 8.85815116e-01 -4.63676403e-01 -1.83241079e-02 7.00418593e+01] [ 4.63587265e-01 8.86004518e-01 -9.10173102e-03 1.35318700e+01] [ 2.04555003e-02 -4.32372132e-04 9.99790671e-01 1.36672118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.812755096 meters 0.018976555512663817 Centerline is valid? [True, True] Translation: X:70.07, Y:13.55, Z:1.37 [[ 8.86346149e-01 -4.62659567e-01 -1.83474443e-02 7.00676080e+01] [ 4.62569857e-01 8.86535934e-01 -9.11949160e-03 1.35457150e+01] [ 2.04848887e-02 -4.03948417e-04 9.99790081e-01 1.36731275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.842755096 meters 0.018735969909101795 Centerline is valid? [True, True] Translation: X:70.09, Y:13.56, Z:1.37 [[ 8.86526963e-01 -4.62296934e-01 -1.87480287e-02 7.00933481e+01] [ 4.62203046e-01 8.86725090e-01 -9.32515579e-03 1.35584646e+01] [ 2.09353384e-02 -3.98393911e-04 9.99780752e-01 1.36798894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.872755096 meters 0.01864692115567374 Centerline is valid? [True, True] Translation: X:70.12, Y:13.57, Z:1.37 [[ 8.86888180e-01 -4.61605173e-01 -1.87088256e-02 7.01183893e+01] [ 4.61511398e-01 8.87085409e-01 -9.31163197e-03 1.35696896e+01] [ 2.08946237e-02 -3.75959941e-04 9.99781613e-01 1.36868815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.902755096 meters 0.01859968159740239 Centerline is valid? [True, True] Translation: X:70.14, Y:13.58, Z:1.37 [[ 8.87066131e-01 -4.61267029e-01 -1.86120324e-02 7.01434757e+01] [ 4.61174101e-01 8.87261289e-01 -9.26570110e-03 1.35813878e+01] [ 2.07876982e-02 -3.64097669e-04 9.99783846e-01 1.36948577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93275509600001 meters 0.018488535769562057 Centerline is valid? [True, True] Translation: X:70.17, Y:13.59, Z:1.37 [[ 8.87110658e-01 -4.61187768e-01 -1.84532563e-02 7.01692031e+01] [ 4.61096347e-01 8.87302494e-01 -9.18928962e-03 1.35935641e+01] [ 2.06116083e-02 -3.56812293e-04 9.99787495e-01 1.37028698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96275509600001 meters 0.019020897931113345 Centerline is valid? [True, True] Translation: X:70.19, Y:13.60, Z:1.37 [[ 8.87316701e-01 -4.60807160e-01 -1.80508731e-02 7.01947514e+01] [ 4.60719476e-01 8.87500225e-01 -8.99527540e-03 1.36037612e+01] [ 2.01652412e-02 -3.34730707e-04 9.99796605e-01 1.37123407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99275509600001 meters 0.01765669745424661 Centerline is valid? [True, True] Translation: X:70.22, Y:13.62, Z:1.37 [[ 8.87301092e-01 -4.60842887e-01 -1.79054695e-02 7.02192832e+01] [ 4.60756569e-01 8.87481676e-01 -8.92521972e-03 1.36184149e+01] [ 2.00039001e-02 -3.30705476e-04 9.99799847e-01 1.37212346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.022755096 meters 0.01790193942904545 Centerline is valid? [True, True] Translation: X:70.24, Y:13.63, Z:1.37 [[ 8.87253501e-01 -4.60948325e-01 -1.75461434e-02 7.02442049e+01] [ 4.60865328e-01 8.87426920e-01 -8.75275752e-03 1.36287036e+01] [ 1.96054890e-02 -3.20494400e-04 9.99807743e-01 1.37299601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.052755096 meters 0.018280683927320535 Centerline is valid? [True, True] Translation: X:70.27, Y:13.64, Z:1.37 [[ 8.87014685e-01 -4.61400972e-01 -1.77226502e-02 7.02700462e+01] [ 4.61316326e-01 8.87191655e-01 -8.84387587e-03 1.36400463e+01] [ 1.98039603e-02 -3.31100133e-04 9.99803828e-01 1.37343292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.082755096 meters 0.017812702645222448 Centerline is valid? [True, True] Translation: X:70.29, Y:13.65, Z:1.37 [[ 8.86675396e-01 -4.62050694e-01 -1.77735508e-02 7.02946236e+01] [ 4.61965626e-01 8.86853448e-01 -8.87257818e-03 1.36527610e+01] [ 1.98621157e-02 -3.43672751e-04 9.99802670e-01 1.37392004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.112755096 meters 0.018033243777101318 Centerline is valid? [True, True] Translation: X:70.32, Y:13.66, Z:1.37 [[ 8.86420589e-01 -4.62526532e-01 -1.81037696e-02 7.03197393e+01] [ 4.62438231e-01 8.86605370e-01 -9.04440869e-03 1.36638772e+01] [ 2.02341783e-02 -3.54725106e-04 9.99795205e-01 1.37443649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.142755096 meters 0.018634034265833457 Centerline is valid? [True, True] Translation: X:70.35, Y:13.67, Z:1.37 [[ 8.85558867e-01 -4.64164921e-01 -1.83417589e-02 7.03469797e+01] [ 4.64074579e-01 8.85748706e-01 -9.16595931e-03 1.36744295e+01] [ 2.05007060e-02 -3.94947490e-04 9.99789760e-01 1.37477975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.172755096 meters 0.01915722244941382 Centerline is valid? [True, True] Translation: X:70.37, Y:13.68, Z:1.38 [[ 8.85156976e-01 -4.64913703e-01 -1.87716926e-02 7.03724756e+01] [ 4.64819114e-01 8.85355903e-01 -9.38699672e-03 1.36849660e+01] [ 2.09837722e-02 -4.16475876e-04 9.99779730e-01 1.37526525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.202755096 meters 0.01962410187371366 Centerline is valid? [True, True] Translation: X:70.40, Y:13.70, Z:1.38 [[ 8.84236259e-01 -4.66655412e-01 -1.89463648e-02 7.03993249e+01] [ 4.66559393e-01 8.84439097e-01 -9.47717107e-03 1.36956470e+01] [ 2.11794789e-02 -4.59546151e-04 9.99775584e-01 1.37617103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.232755096 meters 0.020679316793568176 Centerline is valid? [True, True] Translation: X:70.43, Y:13.71, Z:1.38 [[ 8.83759596e-01 -4.67563306e-01 -1.88024343e-02 7.04254098e+01] [ 4.67468818e-01 8.83959463e-01 -9.41127543e-03 1.37058532e+01] [ 2.10209567e-02 -4.72246740e-04 9.99778924e-01 1.37635936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.262755096 meters 0.020259545150329208 Centerline is valid? [True, True] Translation: X:70.45, Y:13.72, Z:1.38 [[ 8.83297746e-01 -4.68413868e-01 -1.93272123e-02 7.04513103e+01] [ 4.68314148e-01 8.83509024e-01 -9.67798087e-03 1.37187990e+01] [ 2.16090669e-02 -5.02668283e-04 9.99766370e-01 1.37710473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29275509600001 meters 0.020717011150102688 Centerline is valid? [True, True] Translation: X:70.48, Y:13.73, Z:1.38 [[ 8.82298181e-01 -4.70284005e-01 -1.95671854e-02 7.04781730e+01] [ 4.70182102e-01 8.82514959e-01 -9.80499670e-03 1.37297961e+01] [ 2.18794669e-02 -5.49209613e-04 9.99760465e-01 1.37741539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32275509600001 meters 0.020943050425373443 Centerline is valid? [True, True] Translation: X:70.50, Y:13.74, Z:1.38 [[ 8.81720613e-01 -4.71350041e-01 -1.99474218e-02 7.05046306e+01] [ 4.71244253e-01 8.81946031e-01 -1.00026109e-02 1.37417760e+01] [ 2.23072805e-02 -5.80599675e-04 9.99750993e-01 1.37782115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35275509600001 meters 0.022105081334129133 Centerline is valid? [True, True] Translation: X:70.53, Y:13.75, Z:1.38 [[ 8.81385521e-01 -4.71975046e-01 -1.99779931e-02 7.05309002e+01] [ 4.71868954e-01 8.81611709e-01 -1.00242039e-02 1.37520806e+01] [ 2.23440067e-02 -5.91806494e-04 9.99750166e-01 1.37812601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.382755096 meters 0.022665782975846555 Centerline is valid? [True, True] Translation: X:70.56, Y:13.76, Z:1.38 [[ 8.81006143e-01 -4.72675158e-01 -2.01586499e-02 7.05561504e+01] [ 4.72567265e-01 8.81236529e-01 -1.01173511e-02 1.37630809e+01] [ 2.25467592e-02 -6.12869602e-04 9.99745602e-01 1.37848696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.412755096 meters 0.02186889675976208 Centerline is valid? [True, True] Translation: X:70.58, Y:13.78, Z:1.38 [[ 8.80312788e-01 -4.73947462e-01 -2.05717870e-02 7.05820652e+01] [ 4.73835370e-01 8.80552879e-01 -1.03280972e-02 1.37756950e+01] [ 2.30095217e-02 -6.55684260e-04 9.99735031e-01 1.37946258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.442755096 meters 0.02310791047356219 Centerline is valid? [True, True] Translation: X:70.61, Y:13.79, Z:1.38 [[ 8.79976520e-01 -4.74569018e-01 -2.06293727e-02 7.06084107e+01] [ 4.74456321e-01 8.80218041e-01 -1.03633821e-02 1.37859658e+01] [ 2.30764861e-02 -6.68203371e-04 9.99733479e-01 1.37966802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.472755096 meters 0.022215252725293348 Centerline is valid? [True, True] Translation: X:70.63, Y:13.80, Z:1.38 [[ 8.79571297e-01 -4.75290581e-01 -2.12884305e-02 7.06345018e+01] [ 4.75170688e-01 8.79828600e-01 -1.06982187e-02 1.37989828e+01] [ 2.38149326e-02 -7.05792093e-04 9.99716135e-01 1.38028923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.502755096 meters 0.022712473777663316 Centerline is valid? [True, True] Translation: X:70.66, Y:13.81, Z:1.38 [[ 8.79487884e-01 -4.75440971e-01 -2.13762695e-02 7.06597805e+01] [ 4.75319969e-01 8.79747341e-01 -1.07491078e-02 1.38099362e+01] [ 2.39162825e-02 -7.06857697e-04 9.99713715e-01 1.38078086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.532755096 meters 0.02251144031451197 Centerline is valid? [True, True] Translation: X:70.68, Y:13.82, Z:1.38 [[ 8.79434230e-01 -4.75539312e-01 -2.13962087e-02 7.06848687e+01] [ 4.75417999e-01 8.79694188e-01 -1.07639202e-02 1.38219498e+01] [ 2.39407876e-02 -7.05982808e-04 9.99713129e-01 1.38111664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.562755096 meters 0.023105650001804676 Centerline is valid? [True, True] Translation: X:70.71, Y:13.83, Z:1.38 [[ 8.79572782e-01 -4.75237081e-01 -2.23928283e-02 7.07104760e+01] [ 4.75103911e-01 8.79857485e-01 -1.12729821e-02 1.38321959e+01] [ 2.50598366e-02 -7.23512104e-04 9.99685691e-01 1.38095384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.592755096 meters 0.021852188211623533 Centerline is valid? [True, True] Translation: X:70.74, Y:13.85, Z:1.38 [[ 8.79755267e-01 -4.74886707e-01 -2.26558005e-02 7.07356634e+01] [ 4.74750168e-01 8.80046646e-01 -1.14095437e-02 1.38462303e+01] [ 2.53564019e-02 -7.18238902e-04 9.99678217e-01 1.38190810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.622755096 meters 0.02248736189788174 Centerline is valid? [True, True] Translation: X:70.76, Y:13.86, Z:1.38 [[ 8.80069521e-01 -4.74294405e-01 -2.28572993e-02 7.07609091e+01] [ 4.74155056e-01 8.80366018e-01 -1.15177260e-02 1.38570381e+01] [ 2.55855826e-02 -7.01504469e-04 9.99672389e-01 1.38210833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.652755096 meters 0.021335004955436727 Centerline is valid? [True, True] Translation: X:70.79, Y:13.87, Z:1.38 [[ 8.80843276e-01 -4.72832464e-01 -2.33363322e-02 7.07868784e+01] [ 4.72686588e-01 8.81152094e-01 -1.17633448e-02 1.38706263e+01] [ 2.61249493e-02 -6.69108070e-04 9.99658461e-01 1.38248714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68275509600001 meters 0.020729942180576354 Centerline is valid? [True, True] Translation: X:70.81, Y:13.88, Z:1.38 [[ 8.81307628e-01 -4.71950783e-01 -2.36500320e-02 7.08126957e+01] [ 4.71800434e-01 8.81624661e-01 -1.19292787e-02 1.38841144e+01] [ 2.64804838e-02 -6.44731083e-04 9.99649123e-01 1.38306757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71275509600001 meters 0.020400336093424672 Centerline is valid? [True, True] Translation: X:70.84, Y:13.90, Z:1.38 [[ 8.82208653e-01 -4.70278385e-01 -2.33694939e-02 7.08379933e+01] [ 4.70130815e-01 8.82517933e-01 -1.17946823e-02 1.38955841e+01] [ 2.61707816e-02 -5.81348450e-04 9.99657317e-01 1.38380263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74275509600001 meters 0.019494017969754637 Centerline is valid? [True, True] Translation: X:70.86, Y:13.91, Z:1.39 [[ 8.82531518e-01 -4.69694180e-01 -2.29237190e-02 7.08634521e+01] [ 4.69551858e-01 8.82829019e-01 -1.15747977e-02 1.39093959e+01] [ 2.56743395e-02 -5.48751087e-04 9.99670209e-01 1.38524258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.772755096 meters 0.0189830347352021 Centerline is valid? [True, True] Translation: X:70.89, Y:13.92, Z:1.39 [[ 8.82926918e-01 -4.68984508e-01 -2.22168602e-02 7.08895596e+01] [ 4.68850422e-01 8.83206248e-01 -1.12252401e-02 1.39229459e+01] [ 2.48865335e-02 -5.05317640e-04 9.99690155e-01 1.38651824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.802755096 meters 0.018342371929107523 Centerline is valid? [True, True] Translation: X:70.92, Y:13.94, Z:1.39 [[ 8.83743844e-01 -4.67487708e-01 -2.12617427e-02 7.09156016e+01] [ 4.67364329e-01 8.83999463e-01 -1.07486285e-02 1.39363993e+01] [ 2.38202208e-02 -4.37945861e-04 9.99716162e-01 1.38802099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.832755096 meters 0.017889891489623194 Centerline is valid? [True, True] Translation: X:70.94, Y:13.95, Z:1.39 [[ 8.84159469e-01 -4.66724359e-01 -2.07462207e-02 7.09413690e+01] [ 4.66606579e-01 8.84402742e-01 -1.04923998e-02 1.39499017e+01] [ 2.32450731e-02 -4.03368424e-04 9.99729715e-01 1.38869905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.862755096 meters 0.01720066368949159 Centerline is valid? [True, True] Translation: X:70.97, Y:13.96, Z:1.39 [[ 8.84612622e-01 -4.65884326e-01 -2.03052557e-02 7.09664424e+01] [ 4.65771121e-01 8.84845557e-01 -1.02763098e-02 1.39635732e+01] [ 2.27545870e-02 -3.67048391e-04 9.99741013e-01 1.38965758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.892755096 meters 0.017002070546765863 Centerline is valid? [True, True] Translation: X:70.99, Y:13.98, Z:1.39 [[ 8.85638316e-01 -4.63947806e-01 -1.99300226e-02 7.09918359e+01] [ 4.63838102e-01 8.85862484e-01 -1.00933345e-02 1.39762401e+01] [ 2.23380397e-02 -3.05260057e-04 9.99750428e-01 1.38959177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.922755096 meters 0.016733567905538933 Centerline is valid? [True, True] Translation: X:71.02, Y:13.99, Z:1.39 [[ 8.86179703e-01 -4.62903201e-01 -2.01534311e-02 7.10171120e+01] [ 4.62790593e-01 8.86408794e-01 -1.02135556e-02 1.39892061e+01] [ 2.25920662e-02 -2.75772729e-04 9.99744729e-01 1.38977466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.952755096 meters 0.01640909072492159 Centerline is valid? [True, True] Translation: X:71.04, Y:14.00, Z:1.39 [[ 8.86531215e-01 -4.62242179e-01 -1.98638830e-02 7.10428008e+01] [ 4.62132471e-01 8.86753690e-01 -1.00734163e-02 1.40033196e+01] [ 2.22707295e-02 -2.49347336e-04 9.99751945e-01 1.39009391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.982755096 meters 0.01601612104619898 Centerline is valid? [True, True] Translation: X:71.07, Y:14.02, Z:1.39 [[ 8.87172143e-01 -4.60983682e-01 -2.04849648e-02 7.10681783e+01] [ 4.60866505e-01 8.87408585e-01 -1.03955634e-02 1.40169377e+01] [ 2.29707187e-02 -2.18179863e-04 9.99736114e-01 1.38969270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.012755096 meters 0.016061919718997293 Centerline is valid? [True, True] Translation: X:71.09, Y:14.03, Z:1.39 [[ 8.87407067e-01 -4.60529414e-01 -2.05269458e-02 7.10932029e+01] [ 4.60411491e-01 8.87644421e-01 -1.04230736e-02 1.40295861e+01] [ 2.30207609e-02 -2.01332575e-04 9.99734967e-01 1.38980517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04275509600001 meters 0.016049267824870626 Centerline is valid? [True, True] Translation: X:71.12, Y:14.04, Z:1.39 [[ 8.87333121e-01 -4.60646726e-01 -2.10837983e-02 7.11186153e+01] [ 4.60522261e-01 8.87583546e-01 -1.07096203e-02 1.40424792e+01] [ 2.36469840e-02 -2.06557608e-04 9.99720350e-01 1.38980798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07275509600001 meters 0.01655646994252717 Centerline is valid? [True, True] Translation: X:71.14, Y:14.05, Z:1.39 [[ 8.86962493e-01 -4.61357676e-01 -2.11336475e-02 7.11447620e+01] [ 4.61232656e-01 8.87214205e-01 -1.07419919e-02 1.40530693e+01] [ 2.37059727e-02 -2.19784473e-04 9.99718950e-01 1.38948714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10275509600001 meters 0.01658965915979223 Centerline is valid? [True, True] Translation: X:71.17, Y:14.06, Z:1.39 [[ 8.86455859e-01 -4.62321237e-01 -2.13327167e-02 7.11696887e+01] [ 4.62194037e-01 8.86712476e-01 -1.08470308e-02 1.40649620e+01] [ 2.39307987e-02 -2.44440392e-04 9.99713588e-01 1.39051094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.132755096 meters 0.01715000384657011 Centerline is valid? [True, True] Translation: X:71.20, Y:14.08, Z:1.39 [[ 8.85864869e-01 -4.63462414e-01 -2.11192958e-02 7.11954389e+01] [ 4.63337903e-01 8.86116539e-01 -1.07455714e-02 1.40756559e+01] [ 2.36943257e-02 -2.66246013e-04 9.99719215e-01 1.39081482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.162755096 meters 0.018011918689229005 Centerline is valid? [True, True] Translation: X:71.22, Y:14.09, Z:1.39 [[ 8.84217987e-01 -4.66607918e-01 -2.08710649e-02 7.12229401e+01] [ 4.66487111e-01 8.84464207e-01 -1.06227321e-02 1.40861768e+01] [ 2.34163608e-02 -3.43271976e-04 9.99725740e-01 1.39160511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.192755096 meters 0.018630268070529303 Centerline is valid? [True, True] Translation: X:71.25, Y:14.10, Z:1.39 [[ 8.83261730e-01 -4.68433299e-01 -2.04685424e-02 7.12500183e+01] [ 4.68317436e-01 8.83498784e-01 -1.04248479e-02 1.40975871e+01] [ 2.29672783e-02 -3.77906107e-04 9.99736146e-01 1.39204869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.222755096 meters 0.018630268070529303 Centerline is valid? [True, True] Translation: X:71.27, Y:14.11, Z:1.39 [[ 8.83114685e-01 -4.68710585e-01 -2.04656030e-02 7.12745155e+01] [ 4.68594663e-01 8.83351710e-01 -1.04306157e-02 1.41102575e+01] [ 2.29672654e-02 -3.78642427e-04 9.99736146e-01 1.39256366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.252755096 meters 0.01963632399207651 Centerline is valid? [True, True] Translation: X:71.30, Y:14.12, Z:1.39 [[ 8.82070087e-01 -4.70677932e-01 -2.03628493e-02 7.13003400e+01] [ 4.70563534e-01 8.82304997e-01 -1.03852609e-02 1.41206053e+01] [ 2.28543568e-02 -4.21486321e-04 9.99738716e-01 1.39319115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.282755096 meters 0.02084163620060313 Centerline is valid? [True, True] Translation: X:71.33, Y:14.13, Z:1.39 [[ 8.80065174e-01 -4.74442747e-01 -1.97324291e-02 7.13276147e+01] [ 4.74336200e-01 8.80286220e-01 -1.00667816e-02 1.41307391e+01] [ 2.21462969e-02 -5.00381528e-04 9.99754615e-01 1.39418526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.312755096 meters 0.02377442478330485 Centerline is valid? [True, True] Translation: X:71.36, Y:14.14, Z:1.39 [[ 8.79251523e-01 -4.75964309e-01 -1.93581072e-02 7.13553719e+01] [ 4.75862003e-01 8.79464441e-01 -9.88185947e-03 1.41385947e+01] [ 2.17281794e-02 -5.23147675e-04 9.99763778e-01 1.39441430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.342755096 meters 0.022871668653756595 Centerline is valid? [True, True] Translation: X:71.38, Y:14.15, Z:1.40 [[ 8.78201245e-01 -4.77934769e-01 -1.84642874e-02 7.13805173e+01] [ 4.77842082e-01 8.78395162e-01 -9.42776658e-03 1.41517120e+01] [ 2.07247982e-02 -5.43537191e-04 9.99785071e-01 1.39611322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.372755096 meters 0.022366194245524516 Centerline is valid? [True, True] Translation: X:71.41, Y:14.17, Z:1.40 [[ 8.77836409e-01 -4.78623888e-01 -1.79558439e-02 7.14062787e+01] [ 4.78536331e-01 8.78019863e-01 -9.17059857e-03 1.41653932e+01] [ 2.01548551e-02 -5.42238342e-04 9.99796723e-01 1.39679351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.402755096 meters 0.026100338680348258 Centerline is valid? [True, True] Translation: X:71.43, Y:14.17, Z:1.40 [[ 8.77730837e-01 -4.78824058e-01 -1.77791999e-02 7.14336148e+01] [ 4.78738134e-01 8.77910721e-01 -9.08653507e-03 1.41721847e+01] [ 1.99594018e-02 -5.36048972e-04 9.99800648e-01 1.39713066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43275509600001 meters 0.02429521793058173 Centerline is valid? [True, True] Translation: X:71.46, Y:14.19, Z:1.40 [[ 8.78239709e-01 -4.77881212e-01 -1.80155527e-02 7.14582211e+01] [ 4.77792687e-01 8.78424316e-01 -9.21241294e-03 1.41879981e+01] [ 2.02277387e-02 -5.16992491e-04 9.99795265e-01 1.39775412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46275509600001 meters 0.023761547208277705 Centerline is valid? [True, True] Translation: X:71.48, Y:14.20, Z:1.40 [[ 8.78866582e-01 -4.76722281e-01 -1.81493330e-02 7.14834347e+01] [ 4.76632069e-01 8.79053825e-01 -9.28673319e-03 1.42019853e+01] [ 2.03814333e-02 -4.88754700e-04 9.99792158e-01 1.39788063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49275509600001 meters 0.0210369287216569 Centerline is valid? [True, True] Translation: X:71.51, Y:14.22, Z:1.40 [[ 8.79471407e-01 -4.75597381e-01 -1.83623500e-02 7.15066069e+01] [ 4.75504669e-01 8.79662957e-01 -9.40174857e-03 1.42198555e+01] [ 2.06241261e-02 -4.62814123e-04 9.99787193e-01 1.39857749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.522755096 meters 0.020108500417526504 Centerline is valid? [True, True] Translation: X:71.53, Y:14.23, Z:1.40 [[ 8.81344133e-01 -4.72130597e-01 -1.80338025e-02 7.15306715e+01] [ 4.72040326e-01 8.81528538e-01 -9.23949896e-03 1.42343686e+01] [ 2.02595617e-02 -3.69503802e-04 9.99794686e-01 1.39920408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.552755096 meters 0.019187629274924876 Centerline is valid? [True, True] Translation: X:71.56, Y:14.25, Z:1.40 [[ 8.81995243e-01 -4.70909303e-01 -1.81333936e-02 7.15555175e+01] [ 4.70817720e-01 8.82181564e-01 -9.29314178e-03 1.42496381e+01] [ 2.03731724e-02 -3.41016188e-04 9.99792387e-01 1.39999714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.582755096 meters 0.018721361463507443 Centerline is valid? [True, True] Translation: X:71.58, Y:14.26, Z:1.40 [[ 8.83333138e-01 -4.68426961e-01 -1.72843969e-02 7.15796733e+01] [ 4.68343166e-01 8.83502186e-01 -8.86376683e-03 1.42637583e+01] [ 1.94228298e-02 -2.65370198e-04 9.99811324e-01 1.40132007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.612755096 meters 0.01849866908065417 Centerline is valid? [True, True] Translation: X:71.60, Y:14.28, Z:1.40 [[ 8.83657389e-01 -4.67827562e-01 -1.69407841e-02 7.16045573e+01] [ 4.67746916e-01 8.83819728e-01 -8.68970500e-03 1.42778383e+01] [ 1.90378827e-02 -2.45277464e-04 9.99818733e-01 1.40244520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.642755096 meters 0.018075800376763557 Centerline is valid? [True, True] Translation: X:71.63, Y:14.29, Z:1.40 [[ 8.83889713e-01 -4.67389342e-01 -1.69168131e-02 7.16285936e+01] [ 4.67308734e-01 8.84051554e-01 -8.68315748e-03 1.42915702e+01] [ 1.90137502e-02 -2.30420948e-04 9.99819196e-01 1.40350859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.672755096 meters 0.01802531147629738 Centerline is valid? [True, True] Translation: X:71.65, Y:14.30, Z:1.40 [[ 8.83983750e-01 -4.67212261e-01 -1.68947665e-02 7.16526619e+01] [ 4.67131704e-01 8.84145155e-01 -8.67853557e-03 1.43033885e+01] [ 1.89921442e-02 -2.20396644e-04 9.99819609e-01 1.40428147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.702755096 meters 0.01819185819553882 Centerline is valid? [True, True] Translation: X:71.68, Y:14.32, Z:1.40 [[ 8.83828294e-01 -4.67511959e-01 -1.67366275e-02 7.16772872e+01] [ 4.67432902e-01 8.83986719e-01 -8.60017465e-03 1.43154691e+01] [ 1.88156409e-02 -2.22172683e-04 9.99822945e-01 1.40499331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.732755096 meters 0.018303557881686847 Centerline is valid? [True, True] Translation: X:71.70, Y:14.33, Z:1.41 [[ 8.83406646e-01 -4.68308342e-01 -1.67330161e-02 7.17022371e+01] [ 4.68229408e-01 8.83565074e-01 -8.60119887e-03 1.43277677e+01] [ 1.88127218e-02 -2.36533974e-04 9.99822997e-01 1.40546040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.762755096 meters 0.01863893522875964 Centerline is valid? [True, True] Translation: X:71.73, Y:14.34, Z:1.41 [[ 8.82687567e-01 -4.69674321e-01 -1.63917893e-02 7.17289970e+01] [ 4.69598693e-01 8.82839718e-01 -8.43207038e-03 1.43396111e+01] [ 1.84316495e-02 -2.54679126e-04 9.99830090e-01 1.40617602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79275509600001 meters 0.018870655309040547 Centerline is valid? [True, True] Translation: X:71.76, Y:14.35, Z:1.41 [[ 8.82098686e-01 -4.70783804e-01 -1.62640277e-02 7.17553598e+01] [ 4.70709439e-01 8.82248568e-01 -8.37182571e-03 1.43524589e+01] [ 1.82902351e-02 -2.70854899e-04 9.99832683e-01 1.40713770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82275509600001 meters 0.02027114433110184 Centerline is valid? [True, True] Translation: X:71.78, Y:14.36, Z:1.41 [[ 8.81178123e-01 -4.72525067e-01 -1.56581027e-02 7.17815531e+01] [ 4.72456319e-01 8.81317183e-01 -8.06534170e-03 1.43617238e+01] [ 1.76108311e-02 -2.90766905e-04 9.99844875e-01 1.40850702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85275509600001 meters 0.01960616480398263 Centerline is valid? [True, True] Translation: X:71.81, Y:14.38, Z:1.41 [[ 8.80647872e-01 -4.73523698e-01 -1.53177611e-02 7.18063241e+01] [ 4.73458031e-01 8.80781026e-01 -7.89155977e-03 1.43763783e+01] [ 1.72284339e-02 -3.02631700e-04 9.99851534e-01 1.40870786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.882755096 meters 0.01989245069051756 Centerline is valid? [True, True] Translation: X:71.83, Y:14.39, Z:1.41 [[ 8.80244863e-01 -4.74263585e-01 -1.55895266e-02 7.18324148e+01] [ 4.74195586e-01 8.80382843e-01 -8.03710263e-03 1.43890604e+01] [ 1.75364569e-02 -3.17866410e-04 9.99846174e-01 1.40880487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.912755096 meters 0.020285489449012383 Centerline is valid? [True, True] Translation: X:71.86, Y:14.40, Z:1.41 [[ 8.79794641e-01 -4.75079412e-01 -1.61536906e-02 7.18578635e+01] [ 4.75006433e-01 8.79942859e-01 -8.33387170e-03 1.44011940e+01] [ 1.81735755e-02 -3.41011266e-04 9.99834789e-01 1.40866651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.942755096 meters 0.020196432280871417 Centerline is valid? [True, True] Translation: X:71.88, Y:14.42, Z:1.41 [[ 8.79412684e-01 -4.75767029e-01 -1.67052666e-02 7.18825731e+01] [ 4.75689063e-01 8.79571260e-01 -8.62056530e-03 1.44155993e+01] [ 1.87948531e-02 -3.65478147e-04 9.99823294e-01 1.40854778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.972755096 meters 0.020725596442661646 Centerline is valid? [True, True] Translation: X:71.91, Y:14.43, Z:1.41 [[ 8.79094556e-01 -4.76355687e-01 -1.66739516e-02 7.19075018e+01] [ 4.76278011e-01 8.79252592e-01 -8.61021292e-03 1.44269597e+01] [ 1.87621390e-02 -3.72245177e-04 9.99823906e-01 1.40879989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.002755096 meters 0.02030759865532801 Centerline is valid? [True, True] Translation: X:71.93, Y:14.44, Z:1.41 [[ 8.78594982e-01 -4.77249375e-01 -1.74325069e-02 7.19323997e+01] [ 4.77164571e-01 8.78767813e-01 -9.00568443e-03 1.44409379e+01] [ 1.96170832e-02 -4.05825528e-04 9.99807484e-01 1.40917961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.032755096 meters 0.02019026477899901 Centerline is valid? [True, True] Translation: X:71.96, Y:14.46, Z:1.41 [[ 8.78563922e-01 -4.77324261e-01 -1.69406202e-02 7.19569315e+01] [ 4.77244079e-01 8.78727146e-01 -8.75742421e-03 1.44555101e+01] [ 1.90663139e-02 -3.90853745e-04 9.99818145e-01 1.41017361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.062755096 meters 0.02063438282991383 Centerline is valid? [True, True] Translation: X:71.98, Y:14.47, Z:1.41 [[ 8.78887683e-01 -4.76746634e-01 -1.64039215e-02 7.19812844e+01] [ 4.76671231e-01 8.79040680e-01 -8.48648142e-03 1.44680808e+01] [ 1.84656158e-02 -3.60613464e-04 9.99829431e-01 1.41093679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.092755096 meters 0.019886973591477283 Centerline is valid? [True, True] Translation: X:72.01, Y:14.48, Z:1.41 [[ 8.78746555e-01 -4.76964875e-01 -1.75784142e-02 7.20050735e+01] [ 4.76878279e-01 8.78922270e-01 -9.09671578e-03 1.44835030e+01] [ 1.97888736e-02 -3.89056230e-04 9.99804105e-01 1.41047058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.122755096 meters 0.02022302338089463 Centerline is valid? [True, True] Translation: X:72.03, Y:14.50, Z:1.41 [[ 8.78694802e-01 -4.77036001e-01 -1.82235690e-02 7.20289769e+01] [ 4.76942798e-01 8.78883664e-01 -9.43783415e-03 1.44959775e+01] [ 2.05185838e-02 -3.98624186e-04 9.99789392e-01 1.41025346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.152755096 meters 0.019804980202790146 Centerline is valid? [True, True] Translation: X:72.05, Y:14.51, Z:1.41 [[ 8.78681486e-01 -4.77047708e-01 -1.85561380e-02 7.20527989e+01] [ 4.76950996e-01 8.78877308e-01 -9.61381390e-03 1.45101446e+01] [ 2.08948165e-02 -4.02888211e-04 9.99781598e-01 1.41028611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18275509600001 meters 0.019705775191500095 Centerline is valid? [True, True] Translation: X:72.08, Y:14.52, Z:1.41 [[ 8.78841919e-01 -4.76750254e-01 -1.86031616e-02 7.20769022e+01] [ 4.76652826e-01 8.79038704e-01 -9.64571032e-03 1.45238726e+01] [ 2.09514939e-02 -3.90194968e-04 9.99780417e-01 1.41032822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21275509600001 meters 0.019755936827809104 Centerline is valid? [True, True] Translation: X:72.10, Y:14.54, Z:1.41 [[ 8.78998067e-01 -4.76459722e-01 -1.86689925e-02 7.21012130e+01] [ 4.76361392e-01 8.79196218e-01 -9.68678603e-03 1.45367554e+01] [ 2.10290710e-02 -3.78521075e-04 9.99778793e-01 1.41124836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24275509600001 meters 0.019030061318915298 Centerline is valid? [True, True] Translation: X:72.13, Y:14.55, Z:1.41 [[ 8.79342805e-01 -4.75828653e-01 -1.85289851e-02 7.21254638e+01] [ 4.75731596e-01 8.79537927e-01 -9.61686491e-03 1.45532658e+01] [ 2.08729250e-02 -3.58302664e-04 9.99782073e-01 1.41269188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.272755096 meters 0.01893450578367355 Centerline is valid? [True, True] Translation: X:72.15, Y:14.57, Z:1.41 [[ 8.79342505e-01 -4.75841764e-01 -1.82036733e-02 7.21499335e+01] [ 4.75747956e-01 8.79530838e-01 -9.45446909e-03 1.45673776e+01] [ 2.05095233e-02 -3.46643820e-04 9.99789598e-01 1.41332118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.302755096 meters 0.018766531797683415 Centerline is valid? [True, True] Translation: X:72.17, Y:14.58, Z:1.41 [[ 8.79308481e-01 -4.75903189e-01 -1.82414368e-02 7.21746417e+01] [ 4.75808852e-01 8.79497605e-01 -9.48150709e-03 1.45816540e+01] [ 2.05555794e-02 -3.42267498e-04 9.99788653e-01 1.41408495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.332755096 meters 0.0187176617559251 Centerline is valid? [True, True] Translation: X:72.20, Y:14.60, Z:1.42 [[ 8.79425729e-01 -4.75704958e-01 -1.77533138e-02 7.21990654e+01] [ 4.75615427e-01 8.79604848e-01 -9.23455052e-03 1.45954714e+01] [ 2.00088224e-02 -3.22648621e-04 9.99799751e-01 1.41530128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.362755096 meters 0.018659429773887133 Centerline is valid? [True, True] Translation: X:72.22, Y:14.61, Z:1.42 [[ 8.79379653e-01 -4.75792700e-01 -1.76842253e-02 7.22234931e+01] [ 4.75703832e-01 8.79557391e-01 -9.20113839e-03 1.46085991e+01] [ 1.99321255e-02 -3.21159846e-04 9.99801284e-01 1.41613218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.392755096 meters 0.019292883684812114 Centerline is valid? [True, True] Translation: X:72.25, Y:14.62, Z:1.42 [[ 8.79459341e-01 -4.75653995e-01 -1.74512006e-02 7.22483527e+01] [ 4.75567293e-01 8.79632413e-01 -9.08666835e-03 1.46201175e+01] [ 1.96727518e-02 -3.07864849e-04 9.99806425e-01 1.41662246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.422755096 meters 0.01840619916981002 Centerline is valid? [True, True] Translation: X:72.27, Y:14.63, Z:1.42 [[ 8.79745252e-01 -4.75123659e-01 -1.74871585e-02 7.22727061e+01] [ 4.75036432e-01 8.79918986e-01 -9.10858123e-03 1.46349911e+01] [ 1.97149852e-02 -2.93806292e-04 9.99805598e-01 1.41740302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.452755096 meters 0.01822544467657526 Centerline is valid? [True, True] Translation: X:72.30, Y:14.65, Z:1.42 [[ 8.79840883e-01 -4.74930994e-01 -1.79045191e-02 7.22973703e+01] [ 4.74839383e-01 8.80022992e-01 -9.33241968e-03 1.46486946e+01] [ 2.01886438e-02 -2.90726420e-04 9.99796146e-01 1.41770041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.482755096 meters 0.018120639022673305 Centerline is valid? [True, True] Translation: X:72.32, Y:14.66, Z:1.42 [[ 8.79810432e-01 -4.74988396e-01 -1.78781192e-02 7.23219032e+01] [ 4.74896924e-01 8.79992013e-01 -9.32574056e-03 1.46628036e+01] [ 2.01622206e-02 -2.85379972e-04 9.99796681e-01 1.41796526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.512755096 meters 0.018367632205704067 Centerline is valid? [True, True] Translation: X:72.35, Y:14.68, Z:1.42 [[ 8.79572224e-01 -4.75438298e-01 -1.76387952e-02 7.23465619e+01] [ 4.75349217e-01 8.79749023e-01 -9.20752476e-03 1.46755069e+01] [ 1.98953228e-02 -2.85904467e-04 9.99802028e-01 1.41776166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54275509600001 meters 0.018377316690295593 Centerline is valid? [True, True] Translation: X:72.37, Y:14.69, Z:1.42 [[ 8.79118517e-01 -4.76271652e-01 -1.77748766e-02 7.23724055e+01] [ 4.76181313e-01 8.79298141e-01 -9.28101566e-03 1.46886211e+01] [ 2.00497006e-02 -3.04951343e-04 9.99798938e-01 1.41809489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57275509600001 meters 0.01961777763159871 Centerline is valid? [True, True] Translation: X:72.40, Y:14.70, Z:1.42 [[ 8.77899917e-01 -4.78518970e-01 -1.76445537e-02 7.23982382e+01] [ 4.78430286e-01 8.78077146e-01 -9.21885682e-03 1.46984284e+01] [ 1.99046772e-02 -3.48455247e-04 9.99801822e-01 1.41756892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60275509600001 meters 0.020372849108012517 Centerline is valid? [True, True] Translation: X:72.42, Y:14.71, Z:1.42 [[ 8.77096206e-01 -4.79990683e-01 -1.76405635e-02 7.24242476e+01] [ 4.79902264e-01 8.77273504e-01 -9.22043273e-03 1.47097507e+01] [ 1.99013208e-02 -3.78539791e-04 9.99801877e-01 1.41792084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.632755096 meters 0.021166476282513575 Centerline is valid? [True, True] Translation: X:72.45, Y:14.72, Z:1.42 [[ 8.76202089e-01 -4.81626742e-01 -1.74808616e-02 7.24507992e+01] [ 4.81540197e-01 8.76376354e-01 -9.13919912e-03 1.47214234e+01] [ 1.97214964e-02 -4.09952174e-04 9.99805428e-01 1.41848071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.662755096 meters 0.02252868751499901 Centerline is valid? [True, True] Translation: X:72.48, Y:14.73, Z:1.42 [[ 8.74509194e-01 -4.84706937e-01 -1.71130373e-02 7.24778144e+01] [ 4.84624478e-01 8.74676494e-01 -8.95241391e-03 1.47324808e+01] [ 1.93076686e-02 -4.64428498e-04 9.99813482e-01 1.41898468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.692755096 meters 0.022684588053366515 Centerline is valid? [True, True] Translation: X:72.50, Y:14.75, Z:1.42 [[ 8.73693686e-01 -4.86184412e-01 -1.68540999e-02 7.25033750e+01] [ 4.86104600e-01 8.73856099e-01 -8.82245676e-03 1.47461837e+01] [ 1.90173990e-02 -4.84730737e-04 9.99819035e-01 1.41951156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.722755096 meters 0.02546746773078771 Centerline is valid? [True, True] Translation: X:72.53, Y:14.76, Z:1.42 [[ 8.72748757e-01 -4.87885321e-01 -1.66589421e-02 7.25298563e+01] [ 4.87807551e-01 8.72907586e-01 -8.72585497e-03 1.47563466e+01] [ 1.87989335e-02 -5.10878654e-04 9.99823154e-01 1.41984081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.752755096 meters 0.022516697568788196 Centerline is valid? [True, True] Translation: X:72.55, Y:14.77, Z:1.42 [[ 8.72529332e-01 -4.88271564e-01 -1.68358449e-02 7.25518875e+01] [ 4.88192165e-01 8.72691587e-01 -8.82062158e-03 1.47738194e+01] [ 1.89993589e-02 -5.22876544e-04 9.99819359e-01 1.42010583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.782755096 meters 0.025543124396217223 Centerline is valid? [True, True] Translation: X:72.58, Y:14.78, Z:1.42 [[ 8.72689031e-01 -4.87977430e-01 -1.70845688e-02 7.25788859e+01] [ 4.87895479e-01 8.72856093e-01 -8.95776417e-03 1.47827394e+01] [ 1.92835567e-02 -5.18141352e-04 9.99813921e-01 1.41989382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.812755096 meters 0.021826638180766758 Centerline is valid? [True, True] Translation: X:72.60, Y:14.80, Z:1.42 [[ 8.73389438e-01 -4.86672331e-01 -1.84643216e-02 7.26017316e+01] [ 4.86576257e-01 8.73584435e-01 -9.68408210e-03 1.48021495e+01] [ 2.08431188e-02 -5.26325474e-04 9.99782620e-01 1.41898927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.842755096 meters 0.02146100844800471 Centerline is valid? [True, True] Translation: X:72.63, Y:14.82, Z:1.42 [[ 8.74041623e-01 -4.85462321e-01 -1.94313124e-02 7.26264222e+01] [ 4.85355478e-01 8.74257437e-01 -1.01977177e-02 1.48159306e+01] [ 2.19385771e-02 -5.17864140e-04 9.99759186e-01 1.41863900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.872755096 meters 0.023625936777191343 Centerline is valid? [True, True] Translation: X:72.65, Y:14.83, Z:1.42 [[ 8.74583634e-01 -4.84457932e-01 -2.00992471e-02 7.26531315e+01] [ 4.84343275e-01 8.74814412e-01 -1.05515909e-02 1.48261583e+01] [ 2.26949129e-02 -5.06686407e-04 9.99742309e-01 1.41738067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.902755096 meters 0.01959488292784053 Centerline is valid? [True, True] Translation: X:72.68, Y:14.85, Z:1.42 [[ 8.75995040e-01 -4.81845695e-01 -2.13872581e-02 7.26751177e+01] [ 4.81714905e-01 8.76255964e-01 -1.12355161e-02 1.48463235e+01] [ 2.41544975e-02 -4.60304579e-04 9.99708132e-01 1.41726317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93275509600001 meters 0.019940763832679252 Centerline is valid? [True, True] Translation: X:72.70, Y:14.86, Z:1.42 [[ 8.76701158e-01 -4.80560547e-01 -2.13691354e-02 7.27003877e+01] [ 4.80429442e-01 8.76961450e-01 -1.12323761e-02 1.48587502e+01] [ 2.41377447e-02 -4.18924616e-04 9.99708554e-01 1.41717321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96275509600001 meters 0.019038048203070215 Centerline is valid? [True, True] Translation: X:72.72, Y:14.87, Z:1.42 [[ 8.77104383e-01 -4.79837055e-01 -2.10784737e-02 7.27248494e+01] [ 4.79709200e-01 8.77357537e-01 -1.10831350e-02 1.48735874e+01] [ 2.38114567e-02 -3.90471457e-04 9.99716391e-01 1.41807765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99275509600001 meters 0.01799197756632223 Centerline is valid? [True, True] Translation: X:72.75, Y:14.89, Z:1.42 [[ 8.77869396e-01 -4.78465663e-01 -2.03944565e-02 7.27497606e+01] [ 4.78345446e-01 8.78106199e-01 -1.07302158e-02 1.48884862e+01] [ 2.30425385e-02 -3.35867284e-04 9.99734429e-01 1.41974089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.022755096 meters 0.01754181451622302 Centerline is valid? [True, True] Translation: X:72.77, Y:14.90, Z:1.42 [[ 8.77903033e-01 -4.78414813e-01 -2.01377886e-02 7.27740873e+01] [ 4.78297427e-01 8.78133909e-01 -1.06023434e-02 1.49018671e+01] [ 2.27559931e-02 -3.24023035e-04 9.99740996e-01 1.42091591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.052755096 meters 0.019761263812034323 Centerline is valid? [True, True] Translation: X:72.80, Y:14.91, Z:1.42 [[ 8.77873043e-01 -4.78481199e-01 -1.98661060e-02 7.28008667e+01] [ 4.78366812e-01 8.78097741e-01 -1.04666111e-02 1.49098070e+01] [ 2.24524594e-02 -3.14930009e-04 9.99747862e-01 1.42060454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.082755096 meters 0.017663560356414927 Centerline is valid? [True, True] Translation: X:72.82, Y:14.93, Z:1.42 [[ 8.77598094e-01 -4.79040604e-01 -1.84847501e-02 7.28248071e+01] [ 4.78941623e-01 8.77792691e-01 -9.74235447e-03 1.49254854e+01] [ 2.08927619e-02 -3.03244504e-04 9.99781676e-01 1.42355505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.112755096 meters 0.017826071584614408 Centerline is valid? [True, True] Translation: X:72.85, Y:14.94, Z:1.42 [[ 8.77408953e-01 -4.79405668e-01 -1.79926377e-02 7.28492000e+01] [ 4.79311823e-01 8.77593367e-01 -9.48992631e-03 1.49369673e+01] [ 2.03397440e-02 -2.97537677e-04 9.99793082e-01 1.42479172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.142755096 meters 0.017826071584614408 Centerline is valid? [True, True] Translation: X:72.87, Y:14.95, Z:1.43 [[ 8.77259618e-01 -4.79678960e-01 -1.79905197e-02 7.28735109e+01] [ 4.79585091e-01 8.77444019e-01 -9.49393989e-03 1.49499870e+01] [ 2.03397171e-02 -2.99334944e-04 9.99793082e-01 1.42530700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.172755096 meters 0.018899552989180363 Centerline is valid? [True, True] Translation: X:72.90, Y:14.96, Z:1.43 [[ 8.77064512e-01 -4.80046819e-01 -1.76888079e-02 7.28991242e+01] [ 4.79956013e-01 8.77242819e-01 -9.34139769e-03 1.49602338e+01] [ 2.00016880e-02 -2.96841341e-04 9.99799902e-01 1.42590630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.202755096 meters 0.018225941539570183 Centerline is valid? [True, True] Translation: X:72.92, Y:14.97, Z:1.43 [[ 8.76651984e-01 -4.80799690e-01 -1.76905900e-02 7.29244613e+01] [ 4.80708955e-01 8.76830406e-01 -9.34553339e-03 1.49746269e+01] [ 2.00049768e-02 -3.11244658e-04 9.99799832e-01 1.42680899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.232755096 meters 0.018838252705727653 Centerline is valid? [True, True] Translation: X:72.95, Y:14.99, Z:1.43 [[ 8.75992652e-01 -4.82016480e-01 -1.72333039e-02 7.29504732e+01] [ 4.81930501e-01 8.76162090e-01 -9.10959644e-03 1.49852693e+01] [ 1.94901432e-02 -3.25315243e-04 9.99809996e-01 1.42789562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.262755096 meters 0.01872456990677694 Centerline is valid? [True, True] Translation: X:72.98, Y:15.00, Z:1.43 [[ 8.75681124e-01 -4.82589792e-01 -1.70194342e-02 7.29753238e+01] [ 4.82506000e-01 8.75846438e-01 -8.99871440e-03 1.49980514e+01] [ 1.92490985e-02 -3.31974790e-04 9.99814664e-01 1.42857491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29275509600001 meters 0.018759428423831256 Centerline is valid? [True, True] Translation: X:73.00, Y:15.01, Z:1.43 [[ 8.75313791e-01 -4.83263658e-01 -1.67929571e-02 7.30002462e+01] [ 4.83182083e-01 8.75474799e-01 -8.88546799e-03 1.50108797e+01] [ 1.89958345e-02 -3.36483304e-04 9.99819506e-01 1.42941376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32275509600001 meters 0.020850630696742985 Centerline is valid? [True, True] Translation: X:73.03, Y:15.02, Z:1.43 [[ 8.75038058e-01 -4.83751246e-01 -1.71209931e-02 7.30267350e+01] [ 4.83666415e-01 8.75205468e-01 -9.06579907e-03 1.50196264e+01] [ 1.93699783e-02 -3.47930111e-04 9.99812324e-01 1.42942609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35275509600001 meters 0.01889583363204635 Centerline is valid? [True, True] Translation: X:73.05, Y:15.04, Z:1.43 [[ 8.74891587e-01 -4.84016576e-01 -1.71074545e-02 7.30498792e+01] [ 4.83931885e-01 8.75058758e-01 -9.06088102e-03 1.50363584e+01] [ 1.93556445e-02 -3.51554141e-04 9.99812600e-01 1.43023770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.382755096 meters 0.018539567830040824 Centerline is valid? [True, True] Translation: X:73.07, Y:15.05, Z:1.43 [[ 8.75593854e-01 -4.82724965e-01 -1.76638674e-02 7.30732356e+01] [ 4.82634273e-01 8.75771946e-01 -9.36253171e-03 1.50512973e+01] [ 1.99890473e-02 -3.27412588e-04 9.99800145e-01 1.43013235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.412755096 meters 0.018237125145627642 Centerline is valid? [True, True] Translation: X:73.10, Y:15.07, Z:1.43 [[ 8.75638717e-01 -4.82625923e-01 -1.81398918e-02 7.30972254e+01] [ 4.82530200e-01 8.75826529e-01 -9.61756984e-03 1.50652268e+01] [ 2.05290870e-02 -3.31529081e-04 9.99789201e-01 1.43025116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.442755096 meters 0.01797765916719696 Centerline is valid? [True, True] Translation: X:73.12, Y:15.08, Z:1.43 [[ 8.76410202e-01 -4.81217640e-01 -1.82959409e-02 7.31209592e+01] [ 4.81119814e-01 8.76601104e-01 -9.70716290e-03 1.50804073e+01] [ 2.07095000e-02 -2.95083078e-04 9.99785492e-01 1.43053474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.472755096 meters 0.017677197864395852 Centerline is valid? [True, True] Translation: X:73.14, Y:15.09, Z:1.43 [[ 8.76994576e-01 -4.80098022e-01 -1.96571385e-02 7.31448595e+01] [ 4.79984753e-01 8.77214801e-01 -1.04321138e-02 1.50946347e+01] [ 2.22519701e-02 -2.86219522e-04 9.99752353e-01 1.42968710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.502755096 meters 0.017698667247217276 Centerline is valid? [True, True] Translation: X:73.17, Y:15.11, Z:1.43 [[ 8.77093160e-01 -4.79882510e-01 -2.05028155e-02 7.31701655e+01] [ 4.79759118e-01 8.77332715e-01 -1.08855382e-02 1.51077502e+01] [ 2.32115702e-02 -2.88781573e-04 9.99730534e-01 1.42918091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.532755096 meters 0.017179785958743744 Centerline is valid? [True, True] Translation: X:73.19, Y:15.12, Z:1.43 [[ 8.77066761e-01 -4.79905924e-01 -2.10760948e-02 7.31939744e+01] [ 4.79775343e-01 8.77319907e-01 -1.11982202e-02 1.51225713e+01] [ 2.38645697e-02 -2.90203868e-04 9.99715158e-01 1.43003728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.562755096 meters 0.017255798524187044 Centerline is valid? [True, True] Translation: X:73.22, Y:15.14, Z:1.43 [[ 8.76942938e-01 -4.80118316e-01 -2.13889403e-02 7.32182993e+01] [ 4.79983681e-01 8.77203692e-01 -1.13731697e-02 1.51370474e+01] [ 2.42229245e-02 -2.92721408e-04 9.99706539e-01 1.43072699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.592755096 meters 0.017435666278517017 Centerline is valid? [True, True] Translation: X:73.24, Y:15.15, Z:1.43 [[ 8.76376310e-01 -4.81162489e-01 -2.11476616e-02 7.32438101e+01] [ 4.81030982e-01 8.76631372e-01 -1.12530751e-02 1.51504423e+01] [ 2.39532612e-02 -3.10751994e-04 9.99713031e-01 1.43172608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.622755096 meters 0.018379055566627323 Centerline is valid? [True, True] Translation: X:73.27, Y:15.16, Z:1.43 [[ 8.74869669e-01 -4.83901735e-01 -2.10279350e-02 7.32697405e+01] [ 4.83772326e-01 8.75122259e-01 -1.11967900e-02 1.51630380e+01] [ 2.38201601e-02 -3.77001040e-04 9.99716189e-01 1.43297349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.652755096 meters 0.019429246330542837 Centerline is valid? [True, True] Translation: X:73.30, Y:15.17, Z:1.43 [[ 8.74118502e-01 -4.85255798e-01 -2.10631206e-02 7.32955017e+01] [ 4.85126194e-01 8.74372142e-01 -1.12219793e-02 1.51744669e+01] [ 2.38625364e-02 -4.08931775e-04 9.99715166e-01 1.43373208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68275509600001 meters 0.01938440304910838 Centerline is valid? [True, True] Translation: X:73.32, Y:15.19, Z:1.44 [[ 8.73163976e-01 -4.86975025e-01 -2.09761049e-02 7.33206815e+01] [ 4.86846898e-01 8.73415778e-01 -1.11792633e-02 1.51882340e+01] [ 2.37648830e-02 -4.50821645e-04 9.99717474e-01 1.43526634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71275509600001 meters 0.0203588197351761 Centerline is valid? [True, True] Translation: X:73.35, Y:15.20, Z:1.44 [[ 8.71875574e-01 -4.89305904e-01 -2.03154148e-02 7.33470356e+01] [ 4.89186193e-01 8.72112086e-01 -1.08341524e-02 1.52001783e+01] [ 2.30185335e-02 -4.91987566e-04 9.99734917e-01 1.43697425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74275509600001 meters 0.02101182307622706 Centerline is valid? [True, True] Translation: X:73.37, Y:15.21, Z:1.44 [[ 8.71338291e-01 -4.90288741e-01 -1.96604293e-02 7.33715276e+01] [ 4.90176741e-01 8.71559926e-01 -1.04908867e-02 1.52126789e+01] [ 2.22788059e-02 -4.95973824e-04 9.99751674e-01 1.43796209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.772755096 meters 0.02170294003304299 Centerline is valid? [True, True] Translation: X:73.40, Y:15.23, Z:1.44 [[ 8.70823568e-01 -4.91218099e-01 -1.92637348e-02 7.33963624e+01] [ 4.91110749e-01 8.71036464e-01 -1.02815680e-02 1.52254758e+01] [ 2.18299077e-02 -5.07195486e-04 9.99761571e-01 1.43870546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.802755096 meters 0.02206129829470303 Centerline is valid? [True, True] Translation: X:73.42, Y:15.24, Z:1.44 [[ 8.70397886e-01 -4.91981867e-01 -1.90095463e-02 7.34212716e+01] [ 4.91877464e-01 8.70605292e-01 -1.01482048e-02 1.52390068e+01] [ 2.15425444e-02 -5.17391363e-04 9.99767799e-01 1.43932465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.832755096 meters 0.02170158485262351 Centerline is valid? [True, True] Translation: X:73.45, Y:15.25, Z:1.44 [[ 8.69728190e-01 -4.93168853e-01 -1.89038801e-02 7.34457701e+01] [ 4.93065826e-01 8.69933439e-01 -1.00946486e-02 1.52541745e+01] [ 2.14234837e-02 -5.41256813e-04 9.99770344e-01 1.44015159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.862755096 meters 0.022070628724458242 Centerline is valid? [True, True] Translation: X:73.47, Y:15.27, Z:1.44 [[ 8.69494600e-01 -4.93554496e-01 -1.95729638e-02 7.34703812e+01] [ 4.93444000e-01 8.69714689e-01 -1.04583830e-02 1.52674494e+01] [ 2.21846761e-02 -5.64653982e-04 9.99753730e-01 1.44018880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.892755096 meters 0.023181553984645668 Centerline is valid? [True, True] Translation: X:73.50, Y:15.28, Z:1.44 [[ 8.69125028e-01 -4.94185902e-01 -2.00494631e-02 7.34955091e+01] [ 4.94070070e-01 8.69356051e-01 -1.07155491e-02 1.52804010e+01] [ 2.27255954e-02 -5.92687707e-04 9.99741565e-01 1.43950103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.922755096 meters 0.022402416541800134 Centerline is valid? [True, True] Translation: X:73.52, Y:15.30, Z:1.44 [[ 8.69075191e-01 -4.94264525e-01 -2.02704808e-02 7.35196731e+01] [ 4.94146064e-01 8.69311349e-01 -1.08372491e-02 1.52952036e+01] [ 2.29778268e-02 -5.98193948e-04 9.99735796e-01 1.44029070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.952755096 meters 0.021137375805416178 Centerline is valid? [True, True] Translation: X:73.54, Y:15.31, Z:1.44 [[ 8.68924341e-01 -4.94531929e-01 -2.02153648e-02 7.35433308e+01] [ 4.94413997e-01 8.69159258e-01 -1.08159332e-02 1.53111838e+01] [ 2.29191958e-02 -5.96531669e-04 9.99737143e-01 1.44112636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.982755096 meters 0.021997002976378573 Centerline is valid? [True, True] Translation: X:73.57, Y:15.33, Z:1.44 [[ 8.69405406e-01 -4.93689287e-01 -2.01278172e-02 7.35679792e+01] [ 4.93571974e-01 8.69638183e-01 -1.07767105e-02 1.53251450e+01] [ 2.28242649e-02 -5.65196163e-04 9.99739333e-01 1.44118283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.012755096 meters 0.02075099408717137 Centerline is valid? [True, True] Translation: X:73.59, Y:15.34, Z:1.44 [[ 8.69694995e-01 -4.93187673e-01 -1.99131900e-02 7.35918158e+01] [ 4.93072619e-01 8.69922770e-01 -1.06661798e-02 1.53417185e+01] [ 2.25833658e-02 -5.42325558e-04 9.99744816e-01 1.44209217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04275509600001 meters 0.02071013249728085 Centerline is valid? [True, True] Translation: X:73.62, Y:15.36, Z:1.44 [[ 8.70138651e-01 -4.92406998e-01 -1.98513542e-02 7.36157931e+01] [ 4.92292311e-01 8.70364914e-01 -1.06394060e-02 1.53562242e+01] [ 2.25168402e-02 -5.14910661e-04 9.99746331e-01 1.44259630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07275509600001 meters 0.019951103782466107 Centerline is valid? [True, True] Translation: X:73.64, Y:15.37, Z:1.44 [[ 8.70779892e-01 -4.91293792e-01 -1.93077681e-02 7.36395761e+01] [ 4.91184960e-01 8.70993794e-01 -1.03511098e-02 1.53732206e+01] [ 2.19023821e-02 -4.70147054e-04 9.99760004e-01 1.44357076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10275509600001 meters 0.020101898433867397 Centerline is valid? [True, True] Translation: X:73.66, Y:15.39, Z:1.44 [[ 8.71182892e-01 -4.90568608e-01 -1.95655206e-02 7.36636398e+01] [ 4.90456527e-01 8.71402454e-01 -1.04956320e-02 1.53865322e+01] [ 2.21982702e-02 -4.52422282e-04 9.99753486e-01 1.44403099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.132755096 meters 0.019319676903653764 Centerline is valid? [True, True] Translation: X:73.69, Y:15.40, Z:1.44 [[ 8.71208562e-01 -4.90529373e-01 -1.94055717e-02 7.36873021e+01] [ 4.90419037e-01 8.71424544e-01 -1.04130787e-02 1.54016999e+01] [ 2.20184124e-02 -4.44898426e-04 9.99757466e-01 1.44463113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.162755096 meters 0.020632396428712216 Centerline is valid? [True, True] Translation: X:73.71, Y:15.41, Z:1.44 [[ 8.71634136e-01 -4.89756368e-01 -1.98149671e-02 7.37129877e+01] [ 4.89640963e-01 8.71859230e-01 -1.06400779e-02 1.54136870e+01] [ 2.24869079e-02 -4.27964473e-04 9.99747046e-01 1.44380051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.192755096 meters 0.0190234075597875 Centerline is valid? [True, True] Translation: X:73.74, Y:15.43, Z:1.44 [[ 8.71689013e-01 -4.89634085e-01 -2.04139048e-02 7.37357594e+01] [ 4.89511476e-01 8.71927907e-01 -1.09654128e-02 1.54299835e+01] [ 2.31684931e-02 -4.34410816e-04 9.99731480e-01 1.44440071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.222755096 meters 0.018517606174176627 Centerline is valid? [True, True] Translation: X:73.76, Y:15.45, Z:1.44 [[ 8.72387680e-01 -4.88377621e-01 -2.06648199e-02 7.37594775e+01] [ 4.88251452e-01 8.72632305e-01 -1.11076724e-02 1.54450848e+01] [ 2.34575280e-02 -3.99431721e-04 9.99724755e-01 1.44472869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.252755096 meters 0.0183826583886158 Centerline is valid? [True, True] Translation: X:73.78, Y:15.46, Z:1.45 [[ 8.72834244e-01 -4.87571034e-01 -2.08535251e-02 7.37832713e+01] [ 4.87442233e-01 8.73083240e-01 -1.12127166e-02 1.54586378e+01] [ 2.36738591e-02 -3.78045827e-04 9.99719663e-01 1.44523341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.282755096 meters 0.017971512859188476 Centerline is valid? [True, True] Translation: X:73.81, Y:15.47, Z:1.45 [[ 8.73207571e-01 -4.86907863e-01 -2.07188653e-02 7.38081066e+01] [ 4.86780453e-01 8.73453266e-01 -1.11437747e-02 1.54735781e+01] [ 2.35229521e-02 -3.54710208e-04 9.99723234e-01 1.44597357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.312755096 meters 0.01778564269948434 Centerline is valid? [True, True] Translation: X:73.83, Y:15.49, Z:1.45 [[ 8.73435208e-01 -4.86498542e-01 -2.07389928e-02 7.38324334e+01] [ 4.86370596e-01 8.73681323e-01 -1.11619286e-02 1.54878737e+01] [ 2.35495327e-02 -3.37614857e-04 9.99722614e-01 1.44669109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.342755096 meters 0.017485045605312617 Centerline is valid? [True, True] Translation: X:73.86, Y:15.50, Z:1.45 [[ 8.73905220e-01 -4.85632894e-01 -2.12216517e-02 7.38564956e+01] [ 4.85498495e-01 8.74162795e-01 -1.14288566e-02 1.55022513e+01] [ 2.41014071e-02 -3.15342545e-04 9.99709469e-01 1.44726490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.372755096 meters 0.017252757089284563 Centerline is valid? [True, True] Translation: X:73.88, Y:15.52, Z:1.45 [[ 8.73943245e-01 -4.85566303e-01 -2.11794599e-02 7.38809507e+01] [ 4.85432327e-01 8.74199788e-01 -1.14099374e-02 1.55161266e+01] [ 2.40553604e-02 -3.09556773e-04 9.99710580e-01 1.44765750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.402755096 meters 0.017372866959575125 Centerline is valid? [True, True] Translation: X:73.90, Y:15.53, Z:1.45 [[ 8.73870224e-01 -4.85683493e-01 -2.15029377e-02 7.39046982e+01] [ 4.85545237e-01 8.74134685e-01 -1.15920059e-02 1.55286682e+01] [ 2.44265096e-02 -3.10740227e-04 9.99701580e-01 1.44815089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43275509600001 meters 0.016593191754003554 Centerline is valid? [True, True] Translation: X:73.93, Y:15.54, Z:1.45 [[ 8.73700643e-01 -4.85978883e-01 -2.17189260e-02 7.39284182e+01] [ 4.85837765e-01 8.73970494e-01 -1.17149906e-02 1.55430567e+01] [ 2.46749386e-02 -3.16479635e-04 9.99695477e-01 1.44970787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46275509600001 meters 0.017841553278966835 Centerline is valid? [True, True] Translation: X:73.95, Y:15.55, Z:1.45 [[ 8.73443992e-01 -4.86420947e-01 -2.21417022e-02 7.39538564e+01] [ 4.86274229e-01 8.73724530e-01 -1.19507117e-02 1.55538592e+01] [ 2.51588249e-02 -3.28661848e-04 9.99683413e-01 1.44885215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49275509600001 meters 0.017625006710227265 Centerline is valid? [True, True] Translation: X:73.98, Y:15.57, Z:1.45 [[ 8.73104448e-01 -4.87017202e-01 -2.24247065e-02 7.39782409e+01] [ 4.86866793e-01 8.73392309e-01 -1.21078850e-02 1.55677475e+01] [ 2.54823145e-02 -3.46396633e-04 9.99675213e-01 1.44932005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.522755096 meters 0.018020359626220183 Centerline is valid? [True, True] Translation: X:74.00, Y:15.58, Z:1.45 [[ 8.72454106e-01 -4.88160008e-01 -2.28831583e-02 7.40045092e+01] [ 4.88003554e-01 8.72754067e-01 -1.23640481e-02 1.55804779e+01] [ 2.60070033e-02 -3.79997996e-04 9.99661688e-01 1.44999668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.552755096 meters 0.01913021137699555 Centerline is valid? [True, True] Translation: X:74.03, Y:15.59, Z:1.45 [[ 8.72029439e-01 -4.88910274e-01 -2.30521646e-02 7.40299318e+01] [ 4.88751595e-01 8.72333987e-01 -1.24617131e-02 1.55914766e+01] [ 2.62018462e-02 -3.99801540e-04 9.99656593e-01 1.44996980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.582755096 meters 0.01846447473434287 Centerline is valid? [True, True] Translation: X:74.06, Y:15.61, Z:1.45 [[ 8.71125466e-01 -4.90536503e-01 -2.26795497e-02 7.40555793e+01] [ 4.90383359e-01 8.71420534e-01 -1.22643479e-02 1.56053481e+01] [ 2.57795356e-02 -4.37887989e-04 9.99667557e-01 1.45240381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.612755096 meters 0.01904984986989059 Centerline is valid? [True, True] Translation: X:74.08, Y:15.62, Z:1.45 [[ 8.70528033e-01 -4.91604261e-01 -2.24987831e-02 7.40811443e+01] [ 4.91453741e-01 8.70818603e-01 -1.21729745e-02 1.56176737e+01] [ 2.55766450e-02 -4.60195580e-04 9.99672758e-01 1.45303607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.642755096 meters 0.019940965911346406 Centerline is valid? [True, True] Translation: X:74.11, Y:15.63, Z:1.45 [[ 8.69818550e-01 -4.92863490e-01 -2.23890563e-02 7.41065614e+01] [ 4.92714783e-01 8.70106509e-01 -1.21163357e-02 1.56292354e+01] [ 2.54525631e-02 -4.92405478e-04 9.99675910e-01 1.45356577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.672755096 meters 0.02092921160985608 Centerline is valid? [True, True] Translation: X:74.13, Y:15.64, Z:1.45 [[ 8.69058372e-01 -4.94205586e-01 -2.23245406e-02 7.41318469e+01] [ 4.94058108e-01 8.69344903e-01 -1.20841154e-02 1.56407621e+01] [ 2.53797629e-02 -5.27818661e-04 9.99677743e-01 1.45385783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.702755096 meters 0.02248764693459153 Centerline is valid? [True, True] Translation: X:74.16, Y:15.65, Z:1.45 [[ 8.67363797e-01 -4.97187149e-01 -2.20223003e-02 7.41586455e+01] [ 4.97044501e-01 8.67643115e-01 -1.19243056e-02 1.56515778e+01] [ 2.50361087e-02 -6.03352287e-04 9.99686365e-01 1.45439172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.732755096 meters 0.023930063196939036 Centerline is valid? [True, True] Translation: X:74.18, Y:15.66, Z:1.45 [[ 8.66624472e-01 -4.98478967e-01 -2.19258930e-02 7.41843448e+01] [ 4.98337826e-01 8.66901563e-01 -1.18782137e-02 1.56623971e+01] [ 2.49286306e-02 -6.32551215e-04 9.99689033e-01 1.45469736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.762755096 meters 0.023071275779153445 Centerline is valid? [True, True] Translation: X:74.21, Y:15.68, Z:1.46 [[ 8.66115205e-01 -4.99366342e-01 -2.18565628e-02 7.42090528e+01] [ 4.99226310e-01 8.66390691e-01 -1.18432421e-02 1.56763807e+01] [ 2.48504390e-02 -6.53759095e-04 9.99690966e-01 1.45551613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79275509600001 meters 0.025030755624537063 Centerline is valid? [True, True] Translation: X:74.23, Y:15.69, Z:1.46 [[ 8.65442496e-01 -5.00532883e-01 -2.18201670e-02 7.42346327e+01] [ 5.00393618e-01 8.65717255e-01 -1.18262839e-02 1.56865286e+01] [ 2.48095391e-02 -6.83703631e-04 9.99691962e-01 1.45577248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82275509600001 meters 0.0245664389295904 Centerline is valid? [True, True] Translation: X:74.26, Y:15.70, Z:1.46 [[ 8.65260111e-01 -5.00857242e-01 -2.16093549e-02 7.42590672e+01] [ 5.00720651e-01 8.65529640e-01 -1.17163275e-02 1.57006507e+01] [ 2.45717447e-02 -6.82579392e-04 9.99697836e-01 1.45650155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85275509600001 meters 0.023374580580482612 Centerline is valid? [True, True] Translation: X:74.28, Y:15.72, Z:1.46 [[ 8.65428243e-01 -5.00570493e-01 -2.15206266e-02 7.42836360e+01] [ 5.00434739e-01 8.65695524e-01 -1.16761602e-02 1.57165405e+01] [ 2.44750514e-02 -6.64790356e-04 9.99700220e-01 1.45725478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.882755096 meters 0.024024504693822137 Centerline is valid? [True, True] Translation: X:74.31, Y:15.73, Z:1.46 [[ 8.65807676e-01 -4.99921909e-01 -2.13342942e-02 7.43087681e+01] [ 4.99788150e-01 8.66070252e-01 -1.15812109e-02 1.57290858e+01] [ 2.42666986e-02 -6.35526122e-04 9.99705318e-01 1.45761859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.912755096 meters 0.024154536868106508 Centerline is valid? [True, True] Translation: X:74.33, Y:15.74, Z:1.46 [[ 8.66023074e-01 -4.99560441e-01 -2.10570942e-02 7.43336599e+01] [ 4.99429946e-01 8.66278817e-01 -1.14341864e-02 1.57426514e+01] [ 2.39533819e-02 -6.14274129e-04 9.99712888e-01 1.45830426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.942755096 meters 0.021396637330302334 Centerline is valid? [True, True] Translation: X:74.36, Y:15.76, Z:1.46 [[ 8.66731182e-01 -4.98344095e-01 -2.07417802e-02 7.43571574e+01] [ 4.98216971e-01 8.66979148e-01 -1.12697209e-02 1.57595170e+01] [ 2.35988897e-02 -5.66088423e-04 9.99721347e-01 1.45985199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.972755096 meters 0.023336146774044993 Centerline is valid? [True, True] Translation: X:74.38, Y:15.77, Z:1.46 [[ 8.66966047e-01 -4.97938740e-01 -2.06611614e-02 7.43829228e+01] [ 4.97812343e-01 8.67212034e-01 -1.12320956e-02 1.57700023e+01] [ 2.35105034e-02 -5.47535641e-04 9.99723440e-01 1.45983266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.002755096 meters 0.020987125844492926 Centerline is valid? [True, True] Translation: X:74.41, Y:15.79, Z:1.46 [[ 8.66845090e-01 -4.98144209e-01 -2.07831131e-02 7.44052314e+01] [ 4.98016286e-01 8.67094021e-01 -1.13021289e-02 1.57868506e+01] [ 2.36510031e-02 -5.53133860e-04 9.99720123e-01 1.46088449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.032755096 meters 0.020987125844492926 Centerline is valid? [True, True] Translation: X:74.43, Y:15.80, Z:1.46 [[ 8.66692751e-01 -4.98409351e-01 -2.07796558e-02 7.44293735e+01] [ 4.98281352e-01 8.66941643e-01 -1.13084823e-02 1.58001839e+01] [ 2.36510022e-02 -5.53135371e-04 9.99720123e-01 1.46139932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.062755096 meters 0.020981105416477467 Centerline is valid? [True, True] Translation: X:74.45, Y:15.81, Z:1.46 [[ 8.66447233e-01 -4.98832326e-01 -2.08686973e-02 7.44538347e+01] [ 4.98703153e-01 8.66698331e-01 -1.13652517e-02 1.58143237e+01] [ 2.37562201e-02 -5.59894275e-04 9.99717624e-01 1.46153572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.092755096 meters 0.020749846722448007 Centerline is valid? [True, True] Translation: X:74.48, Y:15.83, Z:1.46 [[ 8.66160743e-01 -4.99349252e-01 -2.03934362e-02 7.44783851e+01] [ 4.99225853e-01 8.66400610e-01 -1.11144257e-02 1.58281949e+01] [ 2.32188658e-02 -5.54051381e-04 9.99730252e-01 1.46214884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.122755096 meters 0.021690092777062984 Centerline is valid? [True, True] Translation: X:74.50, Y:15.84, Z:1.46 [[ 8.65595433e-01 -5.00327596e-01 -2.04167510e-02 7.45034138e+01] [ 5.00204020e-01 8.65835993e-01 -1.11342798e-02 1.58402395e+01] [ 2.32483453e-02 -5.74759171e-04 9.99729555e-01 1.46264462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.152755096 meters 0.021361372740065863 Centerline is valid? [True, True] Translation: X:74.53, Y:15.85, Z:1.46 [[ 8.65124957e-01 -5.01166290e-01 -1.97777028e-02 7.45284883e+01] [ 5.01050477e-01 8.65350806e-01 -1.07889469e-02 1.58547736e+01] [ 2.25217076e-02 -5.75840237e-04 9.99746188e-01 1.46383931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18275509600001 meters 0.022639237010785872 Centerline is valid? [True, True] Translation: X:74.55, Y:15.87, Z:1.46 [[ 8.64786275e-01 -5.01748418e-01 -1.98298509e-02 7.45535877e+01] [ 5.01631999e-01 8.65013399e-01 -1.08238806e-02 1.58662135e+01] [ 2.25839517e-02 -5.86944314e-04 9.99744778e-01 1.46438088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21275509600001 meters 0.02174386007576922 Centerline is valid? [True, True] Translation: X:74.58, Y:15.88, Z:1.47 [[ 8.64237894e-01 -5.02709042e-01 -1.94031249e-02 7.45782384e+01] [ 5.02597732e-01 8.64455473e-01 -1.05950444e-02 1.58817181e+01] [ 2.20993622e-02 -5.95327712e-04 9.99755602e-01 1.46546467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24275509600001 meters 0.02308644028746794 Centerline is valid? [True, True] Translation: X:74.60, Y:15.89, Z:1.47 [[ 8.63522970e-01 -5.03935754e-01 -1.94122460e-02 7.46029040e+01] [ 5.03824509e-01 8.63740916e-01 -1.06063544e-02 1.58936568e+01] [ 2.21120723e-02 -6.21534649e-04 9.99755305e-01 1.46557562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.272755096 meters 0.02232459404299424 Centerline is valid? [True, True] Translation: X:74.63, Y:15.91, Z:1.47 [[ 8.63128252e-01 -5.04619216e-01 -1.92111327e-02 7.46278150e+01] [ 5.04510358e-01 8.63341792e-01 -1.04999360e-02 1.59093306e+01] [ 2.18842431e-02 -6.29424046e-04 9.99760313e-01 1.46610422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.302755096 meters 0.02257405656201484 Centerline is valid? [True, True] Translation: X:74.65, Y:15.92, Z:1.47 [[ 8.62841579e-01 -5.05098672e-01 -1.94869757e-02 7.46527993e+01] [ 5.04986629e-01 8.63061363e-01 -1.06577855e-02 1.59237411e+01] [ 2.22016891e-02 -6.44681678e-04 9.99753304e-01 1.46547251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.332755096 meters 0.02256024768154296 Centerline is valid? [True, True] Translation: X:74.68, Y:15.94, Z:1.47 [[ 8.62716467e-01 -5.05322549e-01 -1.92202683e-02 7.46776319e+01] [ 5.05213456e-01 8.62930309e-01 -1.05188710e-02 1.59378452e+01] [ 2.19011748e-02 -6.35534894e-04 9.99759939e-01 1.46558350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.362755096 meters 0.02323491018832276 Centerline is valid? [True, True] Translation: X:74.70, Y:15.95, Z:1.47 [[ 8.62938142e-01 -5.04931679e-01 -1.95387411e-02 7.47019251e+01] [ 5.04818678e-01 8.63159083e-01 -1.07004028e-02 1.59507409e+01] [ 2.22680142e-02 -6.29735743e-04 9.99751839e-01 1.46510154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.392755096 meters 0.02215467425090815 Centerline is valid? [True, True] Translation: X:74.73, Y:15.97, Z:1.47 [[ 8.62781049e-01 -5.05183063e-01 -1.99733542e-02 7.47257628e+01] [ 5.05064964e-01 8.63011966e-01 -1.09420094e-02 1.59665062e+01] [ 2.27649615e-02 -6.47283109e-04 9.99740635e-01 1.46518968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.422755096 meters 0.02212171589582039 Centerline is valid? [True, True] Translation: X:74.75, Y:15.98, Z:1.47 [[ 8.62869894e-01 -5.05030089e-01 -2.00038932e-02 7.47510055e+01] [ 5.04911404e-01 8.63101502e-01 -1.09668169e-02 1.59813062e+01] [ 2.28039628e-02 -6.37257659e-04 9.99739753e-01 1.46521522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.452755096 meters 0.022808026869148623 Centerline is valid? [True, True] Translation: X:74.78, Y:15.99, Z:1.47 [[ 8.62972416e-01 -5.04852021e-01 -2.00760164e-02 7.47755145e+01] [ 5.04732283e-01 8.63205677e-01 -1.10127614e-02 1.59943708e+01] [ 2.28895462e-02 -6.29304221e-04 9.99737802e-01 1.46507797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.482755096 meters 0.02224670402685994 Centerline is valid? [True, True] Translation: X:74.80, Y:16.01, Z:1.47 [[ 8.63424010e-01 -5.04081392e-01 -2.00232260e-02 7.47998438e+01] [ 5.03962000e-01 8.63655942e-01 -1.09871549e-02 1.60099746e+01] [ 2.28315985e-02 -6.04371685e-04 9.99739142e-01 1.46568216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.512755096 meters 0.02198733608654569 Centerline is valid? [True, True] Translation: X:74.82, Y:16.02, Z:1.47 [[ 8.63583200e-01 -5.03807449e-01 -2.00527082e-02 7.48247835e+01] [ 5.03687471e-01 8.63815781e-01 -1.10103578e-02 1.60246301e+01] [ 2.28689461e-02 -5.91937819e-04 9.99738296e-01 1.46647226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54275509600001 meters 0.021472356383447442 Centerline is valid? [True, True] Translation: X:74.85, Y:16.04, Z:1.47 [[ 8.64466805e-01 -5.02301417e-01 -1.97592937e-02 7.48488111e+01] [ 5.02184394e-01 8.64692429e-01 -1.08553305e-02 1.60394194e+01] [ 2.25383596e-02 -5.38736101e-04 9.99745834e-01 1.46706936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57275509600001 meters 0.02109516823588972 Centerline is valid? [True, True] Translation: X:74.87, Y:16.05, Z:1.47 [[ 8.64890832e-01 -5.01578874e-01 -1.95571461e-02 7.48737949e+01] [ 5.01463980e-01 8.65111768e-01 -1.07473679e-02 1.60543552e+01] [ 2.23097700e-02 -5.11904324e-04 9.99750975e-01 1.46767661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60275509600001 meters 0.020640929585394648 Centerline is valid? [True, True] Translation: X:74.90, Y:16.07, Z:1.47 [[ 8.65156777e-01 -5.01129183e-01 -1.93208083e-02 7.48981875e+01] [ 5.01016792e-01 8.65372350e-01 -1.06240564e-02 1.60692701e+01] [ 2.20437180e-02 -4.88575014e-04 9.99756888e-01 1.46820432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63275509600001 meters 0.020851684425255316 Centerline is valid? [True, True] Translation: X:74.92, Y:16.08, Z:1.47 [[ 8.65624438e-01 -5.00352600e-01 -1.84826434e-02 7.49226605e+01] [ 5.00249453e-01 8.65821621e-01 -1.01688226e-02 1.60833479e+01] [ 2.10906691e-02 -4.43550940e-04 9.99777469e-01 1.46881359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.662755096 meters 0.020774721013135166 Centerline is valid? [True, True] Translation: X:74.95, Y:16.10, Z:1.47 [[ 8.65677575e-01 -5.00265065e-01 -1.83630061e-02 7.49470409e+01] [ 5.00163173e-01 8.65872204e-01 -1.01057304e-02 1.60973786e+01] [ 2.09555604e-02 -4.36195209e-04 9.99780313e-01 1.46922709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.692755096 meters 0.02083056904422264 Centerline is valid? [True, True] Translation: X:74.97, Y:16.11, Z:1.47 [[ 8.65607384e-01 -5.00396404e-01 -1.80913167e-02 7.49719541e+01] [ 5.00297394e-01 8.65796313e-01 -9.96301467e-03 1.61111200e+01] [ 2.06488520e-02 -4.26979533e-04 9.99786699e-01 1.46975138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.722755096 meters 0.02126516785026917 Centerline is valid? [True, True] Translation: X:75.00, Y:16.12, Z:1.47 [[ 8.65290028e-01 -5.00945357e-01 -1.80808260e-02 7.49970096e+01] [ 5.00846440e-01 8.65478804e-01 -9.96406018e-03 1.61241563e+01] [ 2.06400214e-02 -4.33915429e-04 9.99786878e-01 1.47000409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.752755096 meters 0.021685559416350267 Centerline is valid? [True, True] Translation: X:75.02, Y:16.14, Z:1.47 [[ 8.65052687e-01 -5.01351609e-01 -1.81772618e-02 7.50218585e+01] [ 5.01251581e-01 8.65243533e-01 -1.00240500e-02 1.61370553e+01] [ 2.07533318e-02 -4.40049808e-04 9.99784530e-01 1.47020985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.782755096 meters 0.021804197370579516 Centerline is valid? [True, True] Translation: X:75.05, Y:16.15, Z:1.47 [[ 8.64579132e-01 -5.02155859e-01 -1.85045107e-02 7.50471059e+01] [ 5.02052235e-01 8.64777012e-01 -1.02114263e-02 1.61509854e+01] [ 2.11300030e-02 -4.61644890e-04 9.99776630e-01 1.47049363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.812755096 meters 0.020632740874972615 Centerline is valid? [True, True] Translation: X:75.07, Y:16.17, Z:1.47 [[ 8.63870596e-01 -5.03370369e-01 -1.85974326e-02 7.50717170e+01] [ 5.03265851e-01 8.64070618e-01 -1.02689015e-02 1.61667538e+01] [ 2.12385559e-02 -4.88450657e-04 9.99774317e-01 1.47092438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.842755096 meters 0.020616924803582688 Centerline is valid? [True, True] Translation: X:75.10, Y:16.18, Z:1.47 [[ 8.63403554e-01 -5.04164393e-01 -1.87767674e-02 7.50974029e+01] [ 5.04057893e-01 8.63607554e-01 -1.03746229e-02 1.61807262e+01] [ 2.14462737e-02 -5.07091517e-04 9.99769874e-01 1.47082700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.872755096 meters 0.020423717615259036 Centerline is valid? [True, True] Translation: X:75.12, Y:16.19, Z:1.47 [[ 8.62957069e-01 -5.04907603e-01 -1.93237898e-02 7.51223556e+01] [ 5.04794851e-01 8.63173230e-01 -1.06832870e-02 1.61942156e+01] [ 2.20738509e-02 -5.35331507e-04 9.99756200e-01 1.47122938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.902755096 meters 0.020612553975058106 Centerline is valid? [True, True] Translation: X:75.15, Y:16.21, Z:1.47 [[ 8.62294524e-01 -5.06036566e-01 -1.93687268e-02 7.51478306e+01] [ 5.05923502e-01 8.62511842e-01 -1.07113706e-02 1.62075455e+01] [ 2.21261014e-02 -5.62737900e-04 9.99755029e-01 1.47143383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93275509600001 meters 0.022035135205828844 Centerline is valid? [True, True] Translation: X:75.17, Y:16.22, Z:1.47 [[ 8.61064644e-01 -5.08118026e-01 -1.95895838e-02 7.51734271e+01] [ 5.08002757e-01 8.61287229e-01 -1.08401274e-02 1.62178595e+01] [ 2.23803225e-02 -6.17512106e-04 9.99749339e-01 1.47181498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96275509600001 meters 0.02304530436885637 Centerline is valid? [True, True] Translation: X:75.20, Y:16.23, Z:1.47 [[ 8.60346508e-01 -5.09328365e-01 -1.97104650e-02 7.51989310e+01] [ 5.09211918e-01 8.60572016e-01 -1.09100269e-02 1.62297874e+01] [ 2.25190608e-02 -6.50400119e-04 9.99746202e-01 1.47198708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99275509600001 meters 0.023455649424180103 Centerline is valid? [True, True] Translation: X:75.22, Y:16.24, Z:1.47 [[ 8.59556260e-01 -5.10663648e-01 -1.96385749e-02 7.52247549e+01] [ 5.10548324e-01 8.59780307e-01 -1.08734995e-02 1.62429847e+01] [ 2.24375608e-02 -6.80056957e-04 9.99748015e-01 1.47265775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.022755096 meters 0.028310746551433435 Centerline is valid? [True, True] Translation: X:75.25, Y:16.25, Z:1.47 [[ 8.58692950e-01 -5.12107562e-01 -1.98056407e-02 7.52528727e+01] [ 5.11990505e-01 8.58921026e-01 -1.09723967e-02 1.62500152e+01] [ 2.26305285e-02 -7.18380314e-04 9.99743639e-01 1.47222140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.052755096 meters 0.024833416074302183 Centerline is valid? [True, True] Translation: X:75.28, Y:16.27, Z:1.47 [[ 8.57298846e-01 -5.14430828e-01 -1.99902980e-02 7.52768147e+01] [ 5.14312129e-01 8.57531521e-01 -1.10781229e-02 1.62671546e+01] [ 2.28412386e-02 -7.83990744e-04 9.99738797e-01 1.47366638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.082755096 meters 0.025180725274562978 Centerline is valid? [True, True] Translation: X:75.30, Y:16.28, Z:1.47 [[ 8.56764810e-01 -5.15312435e-01 -2.01780960e-02 7.53030694e+01] [ 5.15191568e-01 8.57002007e-01 -1.11896098e-02 1.62801938e+01] [ 2.30588138e-02 -8.08720971e-04 9.99733783e-01 1.47446389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.112755096 meters 0.02565566113836139 Centerline is valid? [True, True] Translation: X:75.33, Y:16.29, Z:1.48 [[ 8.56320632e-01 -5.16055851e-01 -2.00332897e-02 7.53291346e+01] [ 5.15936750e-01 8.56554547e-01 -1.11165850e-02 1.62933261e+01] [ 2.28963841e-02 -8.16549278e-04 9.99737510e-01 1.47505077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.142755096 meters 0.026664404369693792 Centerline is valid? [True, True] Translation: X:75.35, Y:16.30, Z:1.48 [[ 8.56215555e-01 -5.16236866e-01 -1.98600390e-02 7.53537250e+01] [ 5.16119708e-01 8.56445471e-01 -1.10273401e-02 1.63049622e+01] [ 2.27017599e-02 -8.08377407e-04 9.99741955e-01 1.47584126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.172755096 meters 0.025296108741864467 Centerline is valid? [True, True] Translation: X:75.38, Y:16.32, Z:1.48 [[ 8.56383201e-01 -5.15959622e-01 -1.98363964e-02 7.53777462e+01] [ 5.15842535e-01 8.56612536e-01 -1.10200900e-02 1.63208714e+01] [ 2.26780273e-02 -7.95037035e-04 9.99742504e-01 1.47707029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.202755096 meters 0.024654680543738993 Centerline is valid? [True, True] Translation: X:75.40, Y:16.34, Z:1.48 [[ 8.56674597e-01 -5.15478516e-01 -1.97619256e-02 7.54025317e+01] [ 5.15362016e-01 8.56902154e-01 -1.09859309e-02 1.63359170e+01] [ 2.25970480e-02 -7.73177902e-04 9.99744355e-01 1.47785535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.232755096 meters 0.025021444455602827 Centerline is valid? [True, True] Translation: X:75.43, Y:16.35, Z:1.48 [[ 8.58066500e-01 -5.13162237e-01 -1.96570382e-02 7.54271419e+01] [ 5.13046215e-01 8.58291340e-01 -1.09342084e-02 1.63488069e+01] [ 2.24824885e-02 -7.02691088e-04 9.99746990e-01 1.47870316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.262755096 meters 0.025864222581756028 Centerline is valid? [True, True] Translation: X:75.45, Y:16.36, Z:1.48 [[ 8.59029580e-01 -5.11536141e-01 -1.99739333e-02 7.54522175e+01] [ 5.11415829e-01 8.59261503e-01 -1.11139090e-02 1.63609227e+01] [ 2.28479981e-02 -6.67809064e-04 9.99738727e-01 1.47893057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29275509600001 meters 0.021857924772977017 Centerline is valid? [True, True] Translation: X:75.47, Y:16.38, Z:1.48 [[ 8.59824101e-01 -5.10205476e-01 -1.98213842e-02 7.54744869e+01] [ 5.10086568e-01 8.60052313e-01 -1.10323119e-02 1.63800814e+01] [ 2.26761733e-02 -6.24774169e-04 9.99742667e-01 1.48027429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32275509600001 meters 0.020632577176691636 Centerline is valid? [True, True] Translation: X:75.50, Y:16.39, Z:1.48 [[ 8.61960320e-01 -5.06585553e-01 -1.98867595e-02 7.54984922e+01] [ 5.06464746e-01 8.62189539e-01 -1.10751988e-02 1.63946267e+01] [ 2.27566917e-02 -5.25560738e-04 9.99740895e-01 1.48080594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35275509600001 meters 0.02197700193610104 Centerline is valid? [True, True] Translation: X:75.52, Y:16.41, Z:1.48 [[ 8.62942358e-01 -5.04909444e-01 -1.99233621e-02 7.55241637e+01] [ 5.04787685e-01 8.63172186e-01 -1.10981650e-02 1.64058452e+01] [ 2.28008603e-02 -4.79991184e-04 9.99739911e-01 1.48074255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38275509600001 meters 0.019338635093572056 Centerline is valid? [True, True] Translation: X:75.55, Y:16.42, Z:1.48 [[ 8.63798539e-01 -5.03451394e-01 -1.97174680e-02 7.55471235e+01] [ 5.03331686e-01 8.64023440e-01 -1.09867097e-02 1.64234730e+01] [ 2.25676288e-02 -4.34122631e-04 9.99745224e-01 1.48240491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.412755096 meters 0.01783475253505744 Centerline is valid? [True, True] Translation: X:75.57, Y:16.44, Z:1.48 [[ 8.65476502e-01 -5.00599217e-01 -1.87309646e-02 7.55709750e+01] [ 5.00490385e-01 8.65679104e-01 -1.04433403e-02 1.64395584e+01] [ 2.14429327e-02 -3.36202050e-04 9.99770017e-01 1.48396496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.442755096 meters 0.01710965965592847 Centerline is valid? [True, True] Translation: X:75.60, Y:16.45, Z:1.49 [[ 8.66049544e-01 -4.99626737e-01 -1.82019634e-02 7.55954905e+01] [ 4.99523619e-01 8.66240749e-01 -1.01547465e-02 1.64549720e+01] [ 2.08408653e-02 -2.97797022e-04 9.99782761e-01 1.48500009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.472755096 meters 0.01709462052472216 Centerline is valid? [True, True] Translation: X:75.62, Y:16.47, Z:1.49 [[ 8.66623046e-01 -4.98640762e-01 -1.79412228e-02 7.56204091e+01] [ 4.98540240e-01 8.66808699e-01 -1.00154226e-02 1.64680691e+01] [ 2.05457060e-02 -2.64825501e-04 9.99788880e-01 1.48575028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.502755096 meters 0.016491020639428457 Centerline is valid? [True, True] Translation: X:75.65, Y:16.48, Z:1.49 [[ 8.67044689e-01 -4.97912652e-01 -1.77903626e-02 7.56453929e+01] [ 4.97813607e-01 8.67227151e-01 -9.93384079e-03 1.64828780e+01] [ 2.03744705e-02 -2.43200659e-04 9.99792389e-01 1.48684085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.532755096 meters 0.016423786600274392 Centerline is valid? [True, True] Translation: X:75.67, Y:16.49, Z:1.49 [[ 8.67567874e-01 -4.97030740e-01 -1.69241769e-02 7.56702676e+01] [ 4.96940826e-01 8.67732909e-01 -9.45590645e-03 1.64945891e+01] [ 1.93855414e-02 -2.06673792e-04 9.99812061e-01 1.48768567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.562755096 meters 0.016343306042771667 Centerline is valid? [True, True] Translation: X:75.69, Y:16.51, Z:1.49 [[ 8.67514344e-01 -4.97133639e-01 -1.66435346e-02 7.56947658e+01] [ 4.97046660e-01 8.67673961e-01 -9.30129186e-03 1.65076844e+01] [ 1.90651467e-02 -2.03609178e-04 9.99818223e-01 1.48858659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.592755096 meters 0.016372628687740337 Centerline is valid? [True, True] Translation: X:75.72, Y:16.52, Z:1.49 [[ 8.67223844e-01 -4.97655965e-01 -1.61661417e-02 7.57195787e+01] [ 4.97573880e-01 8.67374486e-01 -9.04075881e-03 1.65210219e+01] [ 1.85212864e-02 -2.03488231e-04 9.99828446e-01 1.48944272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.622755096 meters 0.01648033112100828 Centerline is valid? [True, True] Translation: X:75.74, Y:16.53, Z:1.49 [[ 8.66804062e-01 -4.98400040e-01 -1.57517381e-02 7.57442601e+01] [ 4.98322121e-01 8.66947147e-01 -8.81518104e-03 1.65335092e+01] [ 1.80494110e-02 -2.08404785e-04 9.99837074e-01 1.49002828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.652755096 meters 0.017210715936654398 Centerline is valid? [True, True] Translation: X:75.77, Y:16.55, Z:1.49 [[ 8.66417953e-01 -4.99072241e-01 -1.57108026e-02 7.57691807e+01] [ 4.98994720e-01 8.66560357e-01 -8.79876935e-03 1.65452138e+01] [ 1.80055802e-02 -2.16195792e-04 9.99837863e-01 1.49084369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68275509600001 meters 0.016942649198048675 Centerline is valid? [True, True] Translation: X:75.79, Y:16.56, Z:1.49 [[ 8.66068685e-01 -4.99677979e-01 -1.57146609e-02 7.57936837e+01] [ 4.99600487e-01 8.66211213e-01 -8.80272183e-03 1.65593298e+01] [ 1.80107417e-02 -2.27290525e-04 9.99837768e-01 1.49123004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71275509600001 meters 0.0173683183996538 Centerline is valid? [True, True] Translation: X:75.82, Y:16.57, Z:1.49 [[ 8.64866835e-01 -5.01762404e-01 -1.54870150e-02 7.58199721e+01] [ 5.01687366e-01 8.65005446e-01 -8.68130210e-03 1.65721895e+01] [ 1.77523034e-02 -2.61469523e-04 9.99842381e-01 1.49196931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74275509600001 meters 0.017470331924462772 Centerline is valid? [True, True] Translation: X:75.85, Y:16.59, Z:1.49 [[ 8.64140158e-01 -5.03022644e-01 -1.51659682e-02 7.58451936e+01] [ 5.02950787e-01 8.64273188e-01 -8.50665623e-03 1.65855800e+01] [ 1.73865804e-02 -2.76792385e-04 9.99848804e-01 1.49242096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.772755096 meters 0.01800251331518112 Centerline is valid? [True, True] Translation: X:75.87, Y:16.60, Z:1.49 [[ 8.63508332e-01 -5.04108617e-01 -1.50951251e-02 7.58700469e+01] [ 5.04037495e-01 8.63640213e-01 -8.47271922e-03 1.65973482e+01] [ 1.73079279e-02 -2.92245414e-04 9.99850164e-01 1.49288380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.802755096 meters 0.018323562616406924 Centerline is valid? [True, True] Translation: X:75.90, Y:16.61, Z:1.49 [[ 8.62746525e-01 -5.05406471e-01 -1.52555432e-02 7.58960487e+01] [ 5.05334001e-01 8.62881334e-01 -8.56451053e-03 1.66109021e+01] [ 1.74922825e-02 -3.20142981e-04 9.99846947e-01 1.49328783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.832755096 meters 0.01890092196116452 Centerline is valid? [True, True] Translation: X:75.92, Y:16.62, Z:1.49 [[ 8.61436287e-01 -5.07624072e-01 -1.56628628e-02 7.59220191e+01] [ 5.07547941e-01 8.61578589e-01 -8.79902747e-03 1.66242924e+01] [ 1.79613854e-02 -3.69852215e-04 9.99838613e-01 1.49290451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.862755096 meters 0.019971070250505468 Centerline is valid? [True, True] Translation: X:75.95, Y:16.64, Z:1.49 [[ 8.60704224e-01 -5.08861800e-01 -1.57450934e-02 7.59475189e+01] [ 5.08784966e-01 8.60848137e-01 -8.85120339e-03 1.66367030e+01] [ 1.80581736e-02 -3.92598688e-04 9.99836861e-01 1.49265717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.892755096 meters 0.021108078707237625 Centerline is valid? [True, True] Translation: X:75.97, Y:16.65, Z:1.49 [[ 8.59176965e-01 -5.11390075e-01 -1.71794428e-02 7.59739616e+01] [ 5.11299056e-01 8.59348565e-01 -9.66016387e-03 1.66492035e+01] [ 1.97032415e-02 -4.84042612e-04 9.99805755e-01 1.49184519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.922755096 meters 0.021421347931408888 Centerline is valid? [True, True] Translation: X:76.00, Y:16.66, Z:1.49 [[ 8.58532940e-01 -5.12465886e-01 -1.73178244e-02 7.59992236e+01] [ 5.12373489e-01 8.58707434e-01 -9.74421626e-03 1.66626151e+01] [ 1.98645230e-02 -5.07463471e-04 9.99802552e-01 1.49182409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.952755096 meters 0.022592204257236702 Centerline is valid? [True, True] Translation: X:76.02, Y:16.67, Z:1.49 [[ 8.57806004e-01 -5.13667204e-01 -1.77443856e-02 7.60245624e+01] [ 5.13570327e-01 8.57989341e-01 -9.99050567e-03 1.66746239e+01] [ 2.03562888e-02 -5.43074171e-04 9.99792642e-01 1.49196247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.982755096 meters 0.022592204257236702 Centerline is valid? [True, True] Translation: X:76.05, Y:16.69, Z:1.49 [[ 8.57649365e-01 -5.13928749e-01 -1.77428149e-02 7.60485137e+01] [ 5.13831870e-01 8.57832701e-01 -9.99329430e-03 1.66883102e+01] [ 2.03562081e-02 -5.46081275e-04 9.99792642e-01 1.49247829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.012755096 meters 0.022670013566840508 Centerline is valid? [True, True] Translation: X:76.07, Y:16.70, Z:1.49 [[ 8.56459673e-01 -5.15881478e-01 -1.85237666e-02 7.60735351e+01] [ 5.15776176e-01 8.56659749e-01 -1.04407947e-02 1.67029296e+01] [ 2.12547779e-02 -6.11997882e-04 9.99773904e-01 1.49264546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04275509600001 meters 0.022626181152698648 Centerline is valid? [True, True] Translation: X:76.10, Y:16.72, Z:1.49 [[ 8.56046184e-01 -5.16563444e-01 -1.86316764e-02 7.60983691e+01] [ 5.16456927e-01 8.56248688e-01 -1.05084164e-02 1.67173928e+01] [ 2.13816123e-02 -6.26768567e-04 9.99771191e-01 1.49342560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07275509600001 meters 0.022727290211930352 Centerline is valid? [True, True] Translation: X:76.12, Y:16.73, Z:1.49 [[ 8.55801408e-01 -5.16983829e-01 -1.82118298e-02 7.61223537e+01] [ 5.16882016e-01 8.55994942e-01 -1.02782337e-02 1.67312000e+01] [ 2.09029148e-02 -6.17240384e-04 9.99781320e-01 1.49414755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10275509600001 meters 0.0225461732265485 Centerline is valid? [True, True] Translation: X:76.15, Y:16.75, Z:1.50 [[ 8.55724209e-01 -5.17122492e-01 -1.78999014e-02 7.61461226e+01] [ 5.17024017e-01 8.55911189e-01 -1.01095445e-02 1.67465088e+01] [ 2.05485988e-02 -6.03696924e-04 9.99788673e-01 1.49560463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13275509600001 meters 0.021799637743953767 Centerline is valid? [True, True] Translation: X:76.17, Y:16.76, Z:1.50 [[ 8.56175260e-01 -5.16392617e-01 -1.73951015e-02 7.61702783e+01] [ 5.16299327e-01 8.56351766e-01 -9.83143161e-03 1.67634880e+01] [ 1.99732046e-02 -5.63650671e-04 9.99800357e-01 1.49696321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.162755096 meters 0.021805788187334387 Centerline is valid? [True, True] Translation: X:76.19, Y:16.78, Z:1.50 [[ 8.56642388e-01 -5.15626080e-01 -1.71337433e-02 7.61944569e+01] [ 5.15535309e-01 8.56813551e-01 -9.68933000e-03 1.67781142e+01] [ 1.96764947e-02 -5.32758840e-04 9.99806257e-01 1.49825248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.192755096 meters 0.021182198093862806 Centerline is valid? [True, True] Translation: X:76.22, Y:16.79, Z:1.50 [[ 8.57160147e-01 -5.14774330e-01 -1.68484842e-02 7.62187260e+01] [ 5.14686348e-01 8.57325572e-01 -9.53030766e-03 1.67941862e+01] [ 1.93505941e-02 -5.02684890e-04 9.99812633e-01 1.49913759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.222755096 meters 0.02018225160508022 Centerline is valid? [True, True] Translation: X:76.24, Y:16.81, Z:1.50 [[ 8.57736419e-01 -5.13827076e-01 -1.64308185e-02 7.62426755e+01] [ 5.13743119e-01 8.57893653e-01 -9.29990321e-03 1.68107997e+01] [ 1.88744370e-02 -4.64354283e-04 9.99821754e-01 1.49985979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.252755096 meters 0.018747312228992695 Centerline is valid? [True, True] Translation: X:76.27, Y:16.83, Z:1.50 [[ 8.59182843e-01 -5.11410568e-01 -1.62503179e-02 7.62660238e+01] [ 5.11327901e-01 8.59336412e-01 -9.20369331e-03 1.68287922e+01] [ 1.86713559e-02 -4.01585579e-04 9.99825594e-01 1.50054147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.282755096 meters 0.01830499031716279 Centerline is valid? [True, True] Translation: X:76.29, Y:16.84, Z:1.50 [[ 8.59896590e-01 -5.10216410e-01 -1.60333620e-02 7.62905053e+01] [ 5.10135619e-01 8.60045976e-01 -9.08675069e-03 1.68448348e+01] [ 1.84256378e-02 -3.65523125e-04 9.99830167e-01 1.50120359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.312755096 meters 0.01831452358385354 Centerline is valid? [True, True] Translation: X:76.31, Y:16.86, Z:1.50 [[ 8.60599162e-01 -5.09044513e-01 -1.55809966e-02 7.63143787e+01] [ 5.08967920e-01 8.60740134e-01 -8.83619283e-03 1.68591769e+01] [ 1.79092046e-02 -3.25807313e-04 9.99839564e-01 1.50174157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.342755096 meters 0.017078635702496365 Centerline is valid? [True, True] Translation: X:76.34, Y:16.88, Z:1.50 [[ 8.61820773e-01 -5.06965897e-01 -1.58282916e-02 7.63377320e+01] [ 5.06886466e-01 8.61966066e-01 -8.97845263e-03 1.68771508e+01] [ 1.81952196e-02 -2.85329825e-04 9.99834413e-01 1.50211022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.372755096 meters 0.017406764755928537 Centerline is valid? [True, True] Translation: X:76.36, Y:16.89, Z:1.50 [[ 8.62149235e-01 -5.06406215e-01 -1.58568978e-02 7.63620475e+01] [ 5.06326293e-01 8.62295003e-01 -9.00064985e-03 1.68907758e+01] [ 1.82313088e-02 -2.68860895e-04 9.99833760e-01 1.50252610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.402755096 meters 0.017366838361016906 Centerline is valid? [True, True] Translation: X:76.39, Y:16.91, Z:1.50 [[ 8.62528476e-01 -5.05742367e-01 -1.64099396e-02 7.63861651e+01] [ 5.05656611e-01 8.62684525e-01 -9.31678956e-03 1.69053392e+01] [ 1.88684962e-02 -2.61798166e-04 9.99821940e-01 1.50187849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43275509600001 meters 0.01683848993813427 Centerline is valid? [True, True] Translation: X:76.41, Y:16.92, Z:1.50 [[ 8.62317911e-01 -5.06092772e-01 -1.66711307e-02 7.64100205e+01] [ 5.06004267e-01 8.62479004e-01 -9.46833692e-03 1.69207014e+01] [ 1.91703570e-02 -2.70946733e-04 9.99816195e-01 1.50233666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46275509600001 meters 0.01689162561696684 Centerline is valid? [True, True] Translation: X:76.43, Y:16.93, Z:1.50 [[ 8.62106511e-01 -5.06457379e-01 -1.65313801e-02 7.64342469e+01] [ 5.06370290e-01 8.62264953e-01 -9.39573518e-03 1.69343632e+01] [ 1.90129691e-02 -2.70875245e-04 9.99819200e-01 1.50245835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49275509600001 meters 0.017098802711413435 Centerline is valid? [True, True] Translation: X:76.46, Y:16.95, Z:1.50 [[ 8.61448776e-01 -5.07583591e-01 -1.62758657e-02 7.64591904e+01] [ 5.07499251e-01 8.61602470e-01 -9.25709781e-03 1.69480566e+01] [ 1.87220770e-02 -2.85474050e-04 9.99824686e-01 1.50271522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.522755096 meters 0.017584131303049918 Centerline is valid? [True, True] Translation: X:76.49, Y:16.96, Z:1.50 [[ 8.60209754e-01 -5.09661324e-01 -1.68675278e-02 7.64851117e+01] [ 5.09571015e-01 8.60375047e-01 -9.59995273e-03 1.69610562e+01] [ 1.94051246e-02 -3.37230277e-04 9.99811646e-01 1.50248529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.552755096 meters 0.017890241683927954 Centerline is valid? [True, True] Translation: X:76.51, Y:16.97, Z:1.50 [[ 8.59415190e-01 -5.10992922e-01 -1.70810876e-02 7.65106904e+01] [ 5.10900449e-01 8.59584841e-01 -9.72791054e-03 1.69743626e+01] [ 1.96535374e-02 -3.66421213e-04 9.99806783e-01 1.50262428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.582755096 meters 0.01833711581636225 Centerline is valid? [True, True] Translation: X:76.54, Y:16.99, Z:1.50 [[ 8.58531325e-01 -5.12481960e-01 -1.69175894e-02 7.65367890e+01] [ 5.12391415e-01 8.58697903e-01 -9.64105979e-03 1.69875981e+01] [ 1.94679677e-02 -3.91275719e-04 9.99810405e-01 1.50303895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.612755096 meters 0.02019269567252899 Centerline is valid? [True, True] Translation: X:76.56, Y:17.00, Z:1.50 [[ 8.57215180e-01 -5.14679603e-01 -1.69423040e-02 7.65628905e+01] [ 5.14589101e-01 8.57382479e-01 -9.66131391e-03 1.69972953e+01] [ 1.94985158e-02 -4.36500026e-04 9.99809791e-01 1.50324521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.642755096 meters 0.02016025937882928 Centerline is valid? [True, True] Translation: X:76.59, Y:17.01, Z:1.50 [[ 8.56373753e-01 -5.16073934e-01 -1.70789324e-02 7.65885071e+01] [ 5.15982195e-01 8.56543912e-01 -9.74168407e-03 1.70113654e+01] [ 1.96562848e-02 -4.69902509e-04 9.99806686e-01 1.50370336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.672755096 meters 0.020774114977273224 Centerline is valid? [True, True] Translation: X:76.61, Y:17.02, Z:1.50 [[ 8.55599169e-01 -5.17365114e-01 -1.68345157e-02 7.66142409e+01] [ 5.17276114e-01 8.55764630e-01 -9.60834948e-03 1.70245819e+01] [ 1.93774079e-02 -4.87197033e-04 9.99812122e-01 1.50446149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.702755096 meters 0.021366516515128612 Centerline is valid? [True, True] Translation: X:76.64, Y:17.04, Z:1.51 [[ 8.54937337e-01 -5.18453984e-01 -1.69592785e-02 7.66402562e+01] [ 5.18363752e-01 8.55105377e-01 -9.68579283e-03 1.70377779e+01] [ 1.95236081e-02 -5.10329289e-04 9.99809266e-01 1.50524566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.732755096 meters 0.022628287152186604 Centerline is valid? [True, True] Translation: X:76.67, Y:17.05, Z:1.51 [[ 8.54310143e-01 -5.19486702e-01 -1.69630976e-02 7.66661018e+01] [ 5.19396515e-01 8.54478371e-01 -9.69396999e-03 1.70492857e+01] [ 1.95304885e-02 -5.28916883e-04 9.99809122e-01 1.50533325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.762755096 meters 0.022830112888996595 Centerline is valid? [True, True] Translation: X:76.69, Y:17.06, Z:1.51 [[ 8.53829667e-01 -5.20268654e-01 -1.71879960e-02 7.66918025e+01] [ 5.20176170e-01 8.54002472e-01 -9.82494045e-03 1.70634137e+01] [ 1.97901996e-02 -5.51960298e-04 9.99804002e-01 1.50548604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79275509600001 meters 0.022174649498894226 Centerline is valid? [True, True] Translation: X:76.72, Y:17.08, Z:1.51 [[ 8.53511571e-01 -5.20784514e-01 -1.73634358e-02 7.67164214e+01] [ 5.20690113e-01 8.53687983e-01 -9.93147206e-03 1.70784315e+01] [ 1.99951133e-02 -5.64343012e-04 9.99799918e-01 1.50566270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82275509600001 meters 0.02362189395151278 Centerline is valid? [True, True] Translation: X:76.74, Y:17.09, Z:1.51 [[ 8.53403567e-01 -5.20917572e-01 -1.86342161e-02 7.67412834e+01] [ 5.20808733e-01 8.53606771e-01 -1.06651319e-02 1.70888587e+01] [ 2.14619476e-02 -6.03200892e-04 9.99769484e-01 1.50515949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85275509600001 meters 0.02141363471416404 Centerline is valid? [True, True] Translation: X:76.76, Y:17.11, Z:1.51 [[ 8.53428656e-01 -5.20865569e-01 -1.89364306e-02 7.67638437e+01] [ 5.20753068e-01 8.53638500e-01 -1.08421807e-02 1.71054312e+01] [ 2.18121849e-02 -6.08176660e-04 9.99761901e-01 1.50536840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88275509600001 meters 0.021911448046123407 Centerline is valid? [True, True] Translation: X:76.79, Y:17.12, Z:1.50 [[ 8.53656260e-01 -5.20453515e-01 -1.99782037e-02 7.67889212e+01] [ 5.20328000e-01 8.53889776e-01 -1.14465002e-02 1.71183367e+01] [ 2.30165551e-02 -6.23842232e-04 9.99734889e-01 1.50473253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.912755096 meters 0.022176830577056394 Centerline is valid? [True, True] Translation: X:76.81, Y:17.13, Z:1.50 [[ 8.55338456e-01 -5.17696239e-01 -1.96654615e-02 7.68121270e+01] [ 5.17573832e-01 8.55564325e-01 -1.12700336e-02 1.71338597e+01] [ 2.26595213e-02 -5.38635125e-04 9.99743095e-01 1.50440892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.942755096 meters 0.01977325719928614 Centerline is valid? [True, True] Translation: X:76.83, Y:17.15, Z:1.50 [[ 8.56280312e-01 -5.16127816e-01 -1.99023913e-02 7.68348123e+01] [ 5.16001921e-01 8.56511429e-01 -1.14100352e-02 1.71516580e+01] [ 2.29356622e-02 -4.99483633e-04 9.99736818e-01 1.50469067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.972755096 meters 0.019342157495028618 Centerline is valid? [True, True] Translation: X:76.86, Y:17.17, Z:1.50 [[ 8.56896897e-01 -5.15085431e-01 -2.03643545e-02 7.68596029e+01] [ 5.14953152e-01 8.57138712e-01 -1.16824026e-02 1.71665904e+01] [ 2.34725120e-02 -4.76074007e-04 9.99724369e-01 1.50488606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.002755096 meters 0.01845948404224196 Centerline is valid? [True, True] Translation: X:76.88, Y:17.18, Z:1.51 [[ 8.57444292e-01 -5.14175738e-01 -2.03124603e-02 7.68840161e+01] [ 5.14043705e-01 8.57684740e-01 -1.16599828e-02 1.71818744e+01] [ 2.34169675e-02 -4.43706610e-04 9.99725687e-01 1.50537325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.032755096 meters 0.019494151508112827 Centerline is valid? [True, True] Translation: X:76.91, Y:17.19, Z:1.51 [[ 8.58157944e-01 -5.12994772e-01 -2.00326242e-02 7.69091672e+01] [ 5.12865883e-01 8.58391638e-01 -1.15057448e-02 1.71933295e+01] [ 2.30982240e-02 -4.00303159e-04 9.99733120e-01 1.50603612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.062755096 meters 0.01810189644994742 Centerline is valid? [True, True] Translation: X:76.93, Y:17.21, Z:1.51 [[ 8.58049208e-01 -5.13207144e-01 -1.92349768e-02 7.69325897e+01] [ 5.13088296e-01 8.58264690e-01 -1.10508941e-02 1.72091939e+01] [ 2.21800992e-02 -3.87030522e-04 9.99753916e-01 1.50811206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.092755096 meters 0.018343911685803013 Centerline is valid? [True, True] Translation: X:76.96, Y:17.22, Z:1.51 [[ 8.57958376e-01 -5.13386588e-01 -1.84834145e-02 7.69561616e+01] [ 5.13276737e-01 8.58157372e-01 -1.06262246e-02 1.72224074e+01] [ 2.13170396e-02 -3.70248336e-04 9.99772698e-01 1.50942901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.122755096 meters 0.01830753137825876 Centerline is valid? [True, True] Translation: X:76.98, Y:17.24, Z:1.51 [[ 8.57929000e-01 -5.13471681e-01 -1.74546008e-02 7.69793101e+01] [ 5.13373641e-01 8.58106469e-01 -1.00395796e-02 1.72377187e+01] [ 2.01329457e-02 -3.47485518e-04 9.99797251e-01 1.51118560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.152755096 meters 0.018219372803980047 Centerline is valid? [True, True] Translation: X:77.00, Y:17.25, Z:1.51 [[ 8.57646841e-01 -5.13958170e-01 -1.69969108e-02 7.70033475e+01] [ 5.13865166e-01 8.57815179e-01 -9.78312791e-03 1.72524955e+01] [ 1.96083266e-02 -3.43651637e-04 9.99807679e-01 1.51193992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18275509600001 meters 0.018217793958824943 Centerline is valid? [True, True] Translation: X:77.03, Y:17.27, Z:1.51 [[ 8.57370448e-01 -5.14441650e-01 -1.63004313e-02 7.70279609e+01] [ 5.14356077e-01 8.57525321e-01 -9.38877826e-03 1.72664685e+01] [ 1.88080111e-02 -3.34564870e-04 9.99823058e-01 1.51299111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21275509600001 meters 0.018975625870374768 Centerline is valid? [True, True] Translation: X:77.05, Y:17.28, Z:1.51 [[ 8.57236476e-01 -5.14672102e-01 -1.60702154e-02 7.70523591e+01] [ 5.14588845e-01 8.57387030e-01 -9.26289726e-03 1.72785019e+01] [ 1.85457490e-02 -3.29060158e-04 9.99827959e-01 1.51351389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24275509600001 meters 0.01830084530501673 Centerline is valid? [True, True] Translation: X:77.08, Y:17.29, Z:1.51 [[ 8.57054650e-01 -5.14958464e-01 -1.65863519e-02 7.70757374e+01] [ 5.14869765e-01 8.57215062e-01 -9.56360938e-03 1.72935178e+01] [ 1.91429323e-02 -3.43275201e-04 9.99816698e-01 1.51398160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.272755096 meters 0.019053065835077505 Centerline is valid? [True, True] Translation: X:77.10, Y:17.31, Z:1.51 [[ 8.56863598e-01 -5.15279671e-01 -1.64813283e-02 7.70995613e+01] [ 5.15192020e-01 8.57022020e-01 -9.50994749e-03 1.73058504e+01] [ 1.90251439e-02 -3.42320982e-04 9.99818947e-01 1.51373291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.302755096 meters 0.01882954397279036 Centerline is valid? [True, True] Translation: X:77.12, Y:17.32, Z:1.51 [[ 8.56582571e-01 -5.15742554e-01 -1.66107535e-02 7.71228982e+01] [ 5.15653550e-01 8.56743540e-01 -9.58768397e-03 1.73209206e+01] [ 1.91759323e-02 -3.52751004e-04 9.99816063e-01 1.51402193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.332755096 meters 0.018936151527771384 Centerline is valid? [True, True] Translation: X:77.15, Y:17.34, Z:1.51 [[ 8.56169531e-01 -5.16423574e-01 -1.67459225e-02 7.71478672e+01] [ 5.16333108e-01 8.56333206e-01 -9.67273537e-03 1.73359348e+01] [ 1.93353181e-02 -3.64972917e-04 9.99812989e-01 1.51394064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.362755096 meters 0.01945317253839541 Centerline is valid? [True, True] Translation: X:77.17, Y:17.35, Z:1.51 [[ 8.55836154e-01 -5.16962739e-01 -1.71465536e-02 7.71724146e+01] [ 5.16867878e-01 8.56007816e-01 -9.91038409e-03 1.73498736e+01] [ 1.98008832e-02 -3.80837743e-04 9.99803871e-01 1.51387407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.392755096 meters 0.01955204957345484 Centerline is valid? [True, True] Translation: X:77.20, Y:17.36, Z:1.51 [[ 8.54883045e-01 -5.18514514e-01 -1.78235453e-02 7.71976533e+01] [ 5.18412292e-01 8.55068718e-01 -1.03044707e-02 1.73642296e+01] [ 2.05833737e-02 -4.30827732e-04 9.99788047e-01 1.51406707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.422755096 meters 0.020766092895922274 Centerline is valid? [True, True] Translation: X:77.22, Y:17.38, Z:1.51 [[ 8.54312337e-01 -5.19455623e-01 -1.77844300e-02 7.72233899e+01] [ 5.19353925e-01 8.54497312e-01 -1.02881266e-02 1.73762628e+01] [ 2.05409728e-02 -4.47140084e-04 9.99788912e-01 1.51474801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.452755096 meters 0.021463907506497716 Centerline is valid? [True, True] Translation: X:77.25, Y:17.39, Z:1.52 [[ 8.53202876e-01 -5.21300660e-01 -1.70433036e-02 7.72485238e+01] [ 5.21207583e-01 8.53372956e-01 -9.86174974e-03 1.73898366e+01] [ 1.96852311e-02 -4.69025852e-04 9.99806117e-01 1.51585685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.482755096 meters 0.021852395731289075 Centerline is valid? [True, True] Translation: X:77.27, Y:17.40, Z:1.52 [[ 8.52677605e-01 -5.22162253e-01 -1.69553435e-02 7.72734205e+01] [ 5.22070185e-01 8.52846029e-01 -9.81695587e-03 1.74039816e+01] [ 1.95863412e-02 -4.81180895e-04 9.99808053e-01 1.51663418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.512755096 meters 0.022246534512455226 Centerline is valid? [True, True] Translation: X:77.30, Y:17.42, Z:1.52 [[ 8.52354197e-01 -5.22694077e-01 -1.68292797e-02 7.72984925e+01] [ 5.22603359e-01 8.52520186e-01 -9.75000107e-03 1.74179428e+01] [ 1.94435684e-02 -4.84583747e-04 9.99810839e-01 1.51743202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54275509600001 meters 0.021628524000095368 Centerline is valid? [True, True] Translation: X:77.32, Y:17.43, Z:1.52 [[ 8.52314278e-01 -5.22759342e-01 -1.68238393e-02 7.73219619e+01] [ 5.22668578e-01 8.52480169e-01 -9.75290954e-03 1.74331689e+01] [ 1.94404140e-02 -4.80748110e-04 9.99810902e-01 1.51737407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57275509600001 meters 0.021956188861513935 Centerline is valid? [True, True] Translation: X:77.35, Y:17.45, Z:1.52 [[ 8.52404033e-01 -5.22607384e-01 -1.69966627e-02 7.73459993e+01] [ 5.22514573e-01 8.52573337e-01 -9.86029339e-03 1.74466842e+01] [ 1.96439636e-02 -4.76050104e-04 9.99806925e-01 1.51742562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60275509600001 meters 0.020582585032439576 Centerline is valid? [True, True] Translation: X:77.37, Y:17.46, Z:1.52 [[ 8.52625475e-01 -5.22236310e-01 -1.72926243e-02 7.73693187e+01] [ 5.22140017e-01 8.52800689e-01 -1.00392459e-02 1.74631522e+01] [ 1.99900207e-02 -4.69454325e-04 9.99800069e-01 1.51793394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63275509600001 meters 0.019869488360350913 Centerline is valid? [True, True] Translation: X:77.39, Y:17.48, Z:1.52 [[ 8.53802328e-01 -5.20306126e-01 -1.74103312e-02 7.73935404e+01] [ 5.20207983e-01 8.53979717e-01 -1.01142006e-02 1.74790181e+01] [ 2.01305502e-02 -4.21465315e-04 9.99797271e-01 1.51804897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.662755096 meters 0.019523955373993904 Centerline is valid? [True, True] Translation: X:77.42, Y:17.49, Z:1.52 [[ 8.54485939e-01 -5.19175110e-01 -1.76347777e-02 7.74170830e+01] [ 5.19074049e-01 8.54667801e-01 -1.02509476e-02 1.74937979e+01] [ 2.03939136e-02 -3.94464861e-04 9.99791945e-01 1.51815326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.692755096 meters 0.01860296651862717 Centerline is valid? [True, True] Translation: X:77.44, Y:17.51, Z:1.52 [[ 8.56239439e-01 -5.16260389e-01 -1.81448144e-02 7.74404415e+01] [ 5.16152680e-01 8.56431609e-01 -1.05503641e-02 1.75102048e+01] [ 2.09865277e-02 -3.31856732e-04 9.99779703e-01 1.51821916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.722755096 meters 0.0179913705746006 Centerline is valid? [True, True] Translation: X:77.46, Y:17.53, Z:1.52 [[ 8.57079867e-01 -5.14852853e-01 -1.84564909e-02 7.74644722e+01] [ 5.14740938e-01 8.57278515e-01 -1.07384908e-02 1.75260288e+01] [ 2.13510957e-02 -2.96567154e-04 9.99771995e-01 1.51873250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.752755096 meters 0.017495482422916243 Centerline is valid? [True, True] Translation: X:77.49, Y:17.54, Z:1.52 [[ 8.58016615e-01 -5.13286946e-01 -1.85472179e-02 7.74881625e+01] [ 5.13173427e-01 8.58217016e-01 -1.07975622e-02 1.75414647e+01] [ 2.14597857e-02 -2.53451623e-04 9.99769680e-01 1.51927044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.782755096 meters 0.016760516620259486 Centerline is valid? [True, True] Translation: X:77.51, Y:17.56, Z:1.52 [[ 8.59913878e-01 -5.10113686e-01 -1.82249519e-02 7.75111816e+01] [ 5.10003315e-01 8.60106969e-01 -1.06122782e-02 1.75579180e+01] [ 2.10888765e-02 -1.69140585e-04 9.99777591e-01 1.52021537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.812755096 meters 0.01645195843262244 Centerline is valid? [True, True] Translation: X:77.53, Y:17.57, Z:1.52 [[ 8.60426074e-01 -5.09256349e-01 -1.80261328e-02 7.75347853e+01] [ 5.09148125e-01 8.60614867e-01 -1.04993582e-02 1.75731832e+01] [ 2.08604227e-02 -1.44050103e-04 9.99782387e-01 1.52129313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.842755096 meters 0.0163990656109241 Centerline is valid? [True, True] Translation: X:77.56, Y:17.59, Z:1.52 [[ 8.61013652e-01 -5.08267661e-01 -1.78738720e-02 7.75585733e+01] [ 5.08160899e-01 8.61199148e-01 -1.04177179e-02 1.75873682e+01] [ 2.06879525e-02 -1.13005520e-04 9.99785975e-01 1.52201290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.872755096 meters 0.0163990656109241 Centerline is valid? [True, True] Translation: X:77.58, Y:17.60, Z:1.52 [[ 8.60860125e-01 -5.08527692e-01 -1.78726481e-02 7.75823009e+01] [ 5.08420943e-01 8.61045627e-01 -1.04198172e-02 1.76014056e+01] [ 2.06879311e-02 -1.16823423e-04 9.99785975e-01 1.52252871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.902755096 meters 0.017511156333383383 Centerline is valid? [True, True] Translation: X:77.61, Y:17.62, Z:1.52 [[ 8.61123561e-01 -5.08091020e-01 -1.75991153e-02 7.76055600e+01] [ 5.07987286e-01 8.61303376e-01 -1.02670442e-02 1.76153275e+01] [ 2.03747704e-02 -9.89331527e-05 9.99792408e-01 1.52189269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93275509600001 meters 0.016426936351949546 Centerline is valid? [True, True] Translation: X:77.63, Y:17.63, Z:1.52 [[ 8.61088724e-01 -5.08161942e-01 -1.72525488e-02 7.76294061e+01] [ 5.08062203e-01 8.61261535e-01 -1.00680710e-02 1.76297659e+01] [ 1.99751672e-02 -9.58655455e-05 9.99800472e-01 1.52401552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96275509600001 meters 0.016429901235802714 Centerline is valid? [True, True] Translation: X:77.65, Y:17.64, Z:1.52 [[ 8.60693334e-01 -5.08836806e-01 -1.70906432e-02 7.76534210e+01] [ 5.08738930e-01 8.60862994e-01 -9.98035848e-03 1.76441063e+01] [ 1.97910760e-02 -1.04647508e-04 9.99804132e-01 1.52478412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99275509600001 meters 0.01664353650454166 Centerline is valid? [True, True] Translation: X:77.68, Y:17.66, Z:1.53 [[ 8.60312101e-01 -5.09498698e-01 -1.65579420e-02 7.76770208e+01] [ 5.09406822e-01 8.60471420e-01 -9.67598612e-03 1.76563840e+01] [ 1.91775382e-02 -1.10360675e-04 9.99816088e-01 1.52543371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.022755096 meters 0.01741110512673872 Centerline is valid? [True, True] Translation: X:77.70, Y:17.67, Z:1.53 [[ 8.59455790e-01 -5.10970578e-01 -1.56465020e-02 7.77022834e+01] [ 5.10888734e-01 8.59598191e-01 -9.14610231e-03 1.76676789e+01] [ 1.81230940e-02 -1.32951011e-04 9.99835754e-01 1.52681647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.052755096 meters 0.016858439234357824 Centerline is valid? [True, True] Translation: X:77.73, Y:17.68, Z:1.53 [[ 8.58844252e-01 -5.12007878e-01 -1.53128746e-02 7.77263995e+01] [ 5.11929624e-01 8.58980739e-01 -8.95264285e-03 1.76822580e+01] [ 1.77372880e-02 -1.50188278e-04 9.99842671e-01 1.52834753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.082755096 meters 0.017284829331747208 Centerline is valid? [True, True] Translation: X:77.75, Y:17.69, Z:1.53 [[ 8.57856239e-01 -5.13657864e-01 -1.54360851e-02 7.77514689e+01] [ 5.13578488e-01 8.57995086e-01 -9.03162335e-03 1.76948657e+01] [ 1.78832495e-02 -1.79806795e-04 9.99840066e-01 1.52906895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.112755096 meters 0.017311243078529555 Centerline is valid? [True, True] Translation: X:77.78, Y:17.71, Z:1.53 [[ 8.57350429e-01 -5.14491805e-01 -1.57614933e-02 7.77757501e+01] [ 5.14409130e-01 8.57495273e-01 -9.22517355e-03 1.77087278e+01] [ 1.82616822e-02 -1.98649541e-04 9.99833222e-01 1.52885897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.142755096 meters 0.017640422217525015 Centerline is valid? [True, True] Translation: X:77.80, Y:17.72, Z:1.53 [[ 8.56917753e-01 -5.15202540e-01 -1.60719695e-02 7.77997865e+01] [ 5.15116569e-01 8.57068433e-01 -9.41395684e-03 1.77220160e+01] [ 1.86248722e-02 -2.11951057e-04 9.99826520e-01 1.52838241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.172755096 meters 0.01789832766580816 Centerline is valid? [True, True] Translation: X:77.82, Y:17.74, Z:1.53 [[ 8.56043038e-01 -5.16630896e-01 -1.68176810e-02 7.78249218e+01] [ 5.16536965e-01 8.56208184e-01 -9.85439913e-03 1.77356163e+01] [ 1.94905232e-02 -2.51164151e-04 9.99810010e-01 1.52753499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.202755096 meters 0.018213629140551198 Centerline is valid? [True, True] Translation: X:77.85, Y:17.75, Z:1.53 [[ 8.55481175e-01 -5.17543217e-01 -1.73486927e-02 7.78503565e+01] [ 5.17443315e-01 8.55657024e-01 -1.01721744e-02 1.77495110e+01] [ 2.01090707e-02 -2.74861318e-04 9.99797754e-01 1.52727769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.232755096 meters 0.01832206756412755 Centerline is valid? [True, True] Translation: X:77.88, Y:17.76, Z:1.53 [[ 8.55132446e-01 -5.18100545e-01 -1.78976250e-02 7.78750939e+01] [ 5.17994199e-01 8.55319672e-01 -1.05009037e-02 1.77632507e+01] [ 2.07487147e-02 -2.91202423e-04 9.99784680e-01 1.52716406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.262755096 meters 0.021908115246011255 Centerline is valid? [True, True] Translation: X:77.90, Y:17.78, Z:1.52 [[ 8.53804948e-01 -5.20243920e-01 -1.90624118e-02 7.79005611e+01] [ 5.20123629e-01 8.54017644e-01 -1.11926499e-02 1.77766455e+01] [ 2.21025440e-02 -3.58470961e-04 9.99755645e-01 1.52376749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29275509600001 meters 0.01877391486534266 Centerline is valid? [True, True] Translation: X:77.92, Y:17.79, Z:1.53 [[ 8.53760274e-01 -5.20321553e-01 -1.89440493e-02 7.79243934e+01] [ 5.20202610e-01 8.53970350e-01 -1.11304483e-02 1.77905146e+01] [ 2.19690685e-02 -3.52009277e-04 9.99758589e-01 1.52710440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32275509600001 meters 0.019042006158878088 Centerline is valid? [True, True] Translation: X:77.95, Y:17.80, Z:1.53 [[ 8.53131735e-01 -5.21343108e-01 -1.91730533e-02 7.79493037e+01] [ 5.21221347e-01 8.53347070e-01 -1.12731888e-02 1.78045778e+01] [ 2.22384682e-02 -3.75889590e-04 9.99752624e-01 1.52723173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35275509600001 meters 0.019359272081264752 Centerline is valid? [True, True] Translation: X:77.97, Y:17.82, Z:1.53 [[ 8.52555433e-01 -5.22282207e-01 -1.92491541e-02 7.79743326e+01] [ 5.22159554e-01 8.52772619e-01 -1.13252477e-02 1.78184921e+01] [ 2.23301269e-02 -3.95728258e-04 9.99750573e-01 1.52770956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38275509600001 meters 0.020007173147654485 Centerline is valid? [True, True] Translation: X:78.00, Y:17.83, Z:1.53 [[ 8.51964041e-01 -5.23251891e-01 -1.90979135e-02 7.79988342e+01] [ 5.23131259e-01 8.52177967e-01 -1.12426870e-02 1.78315015e+01] [ 2.21575784e-02 -4.12350474e-04 9.99754406e-01 1.52788898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.412755096 meters 0.01990842031316627 Centerline is valid? [True, True] Translation: X:78.02, Y:17.85, Z:1.53 [[ 8.51716693e-01 -5.23664448e-01 -1.88207473e-02 7.80227948e+01] [ 5.23547321e-01 8.51924512e-01 -1.10827918e-02 1.78462328e+01] [ 2.18375200e-02 -4.14152997e-04 9.99761447e-01 1.52862620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.442755096 meters 0.02007836551011722 Centerline is valid? [True, True] Translation: X:78.05, Y:17.86, Z:1.53 [[ 8.51659837e-01 -5.23749044e-01 -1.90383818e-02 7.80461110e+01] [ 5.23629047e-01 8.51872506e-01 -1.12184925e-02 1.78605318e+01] [ 2.20939487e-02 -4.14710219e-04 9.99755813e-01 1.52910337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.472755096 meters 0.01978570091907736 Centerline is valid? [True, True] Translation: X:78.07, Y:17.88, Z:1.53 [[ 8.51640725e-01 -5.23780689e-01 -1.90227499e-02 7.80691624e+01] [ 5.23660803e-01 8.51853051e-01 -1.12135175e-02 1.78758507e+01] [ 2.20780115e-02 -4.11580290e-04 9.99756166e-01 1.52955185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.502755096 meters 0.02074507670126437 Centerline is valid? [True, True] Translation: X:78.09, Y:17.89, Z:1.53 [[ 8.51566087e-01 -5.23881881e-01 -1.95697172e-02 7.80924637e+01] [ 5.23754851e-01 8.51790818e-01 -1.15437050e-02 1.78891238e+01] [ 2.27168433e-02 -4.19506611e-04 9.99741851e-01 1.52906167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.532755096 meters 0.019766900788617522 Centerline is valid? [True, True] Translation: X:78.12, Y:17.91, Z:1.53 [[ 8.51357981e-01 -5.24223745e-01 -1.94692836e-02 7.81150377e+01] [ 5.24098005e-01 8.51580464e-01 -1.14888791e-02 1.79052915e+01] [ 2.26024048e-02 -4.22663758e-04 9.99744444e-01 1.52965954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.562755096 meters 0.021262208184485553 Centerline is valid? [True, True] Translation: X:78.14, Y:17.92, Z:1.53 [[ 8.50818590e-01 -5.25089088e-01 -1.97275596e-02 7.81400025e+01] [ 5.24960050e-01 8.51047150e-01 -1.16487953e-02 1.79185456e+01] [ 2.29057387e-02 -4.45169061e-04 9.99737530e-01 1.52881679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.592755096 meters 0.02210002306708759 Centerline is valid? [True, True] Translation: X:78.16, Y:17.93, Z:1.53 [[ 8.50120875e-01 -5.26213229e-01 -1.98528191e-02 7.81647883e+01] [ 5.26082772e-01 8.50352522e-01 -1.17262997e-02 1.79330250e+01] [ 2.30524288e-02 -4.75453932e-04 9.99734144e-01 1.52888740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.622755096 meters 0.02146507956279248 Centerline is valid? [True, True] Translation: X:78.19, Y:17.95, Z:1.53 [[ 8.49839598e-01 -5.26707919e-01 -1.87463749e-02 7.81893573e+01] [ 5.26591589e-01 8.50046210e-01 -1.10787586e-02 1.79465777e+01] [ 2.17705548e-02 -4.56515543e-04 9.99762889e-01 1.53127118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.652755096 meters 0.02142061193361052 Centerline is valid? [True, True] Translation: X:78.21, Y:17.96, Z:1.53 [[ 8.48629711e-01 -5.28682906e-01 -1.79443081e-02 7.82132016e+01] [ 5.28576702e-01 8.48819269e-01 -1.06074666e-02 1.79623101e+01] [ 2.08394608e-02 -4.83131895e-04 9.99782718e-01 1.53250112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68275509600001 meters 0.022077811578648365 Centerline is valid? [True, True] Translation: X:78.24, Y:17.98, Z:1.53 [[ 8.47909787e-01 -5.29842255e-01 -1.77813815e-02 7.82386142e+01] [ 5.29738087e-01 8.48096064e-01 -1.05178460e-02 1.79769283e+01] [ 2.06531189e-02 -5.01290524e-04 9.99786576e-01 1.53286810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71275509600001 meters 0.023343996480394327 Centerline is valid? [True, True] Translation: X:78.26, Y:17.99, Z:1.53 [[ 8.47130459e-01 -5.31091613e-01 -1.76545508e-02 7.82637924e+01] [ 5.30989062e-01 8.47314242e-01 -1.04494274e-02 1.79915352e+01] [ 2.05085556e-02 -5.22345139e-04 9.99789541e-01 1.53247141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74275509600001 meters 0.023081553718735968 Centerline is valid? [True, True] Translation: X:78.29, Y:18.01, Z:1.53 [[ 8.46341954e-01 -5.32373678e-01 -1.68393583e-02 7.82881371e+01] [ 5.32280514e-01 8.46509299e-01 -9.97300418e-03 1.80064019e+01] [ 1.95640383e-02 -5.22690478e-04 9.99808469e-01 1.53361398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.772755096 meters 0.023797060810594618 Centerline is valid? [True, True] Translation: X:78.31, Y:18.02, Z:1.53 [[ 8.45921947e-01 -5.33045833e-01 -1.66793321e-02 7.83124535e+01] [ 5.32954443e-01 8.46086202e-01 -9.88433073e-03 1.80197973e+01] [ 1.93809541e-02 -5.27951869e-04 9.99812032e-01 1.53381205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.802755096 meters 0.023740653360559874 Centerline is valid? [True, True] Translation: X:78.34, Y:18.04, Z:1.53 [[ 8.45069648e-01 -5.34395771e-01 -1.66868512e-02 7.83362920e+01] [ 5.34304518e-01 8.45234198e-01 -9.89101724e-03 1.80351772e+01] [ 1.93900151e-02 -5.57261531e-04 9.99811841e-01 1.53426541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.832755096 meters 0.026991619777121938 Centerline is valid? [True, True] Translation: X:78.36, Y:18.05, Z:1.53 [[ 8.44283269e-01 -5.35602523e-01 -1.77679329e-02 7.83610775e+01] [ 5.35499276e-01 8.44469983e-01 -1.05343736e-02 1.80483696e+01] [ 2.06467230e-02 -6.20719820e-04 9.99786641e-01 1.53191981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.862755096 meters 0.02444233218421975 Centerline is valid? [True, True] Translation: X:78.39, Y:18.06, Z:1.53 [[ 8.44417736e-01 -5.35425496e-01 -1.66800893e-02 7.83853751e+01] [ 5.35334428e-01 8.44582267e-01 -9.89165387e-03 1.80644496e+01] [ 1.93839513e-02 -5.76738104e-04 9.99811947e-01 1.53489483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.892755096 meters 0.0241279455138975 Centerline is valid? [True, True] Translation: X:78.41, Y:18.08, Z:1.54 [[ 8.44087794e-01 -5.35938003e-01 -1.69190149e-02 7.84097023e+01] [ 5.35844283e-01 8.44257133e-01 -1.00397916e-02 1.80805142e+01] [ 1.96647049e-02 -5.91491903e-04 9.99806456e-01 1.53513754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.922755096 meters 0.02518525797939341 Centerline is valid? [True, True] Translation: X:78.43, Y:18.09, Z:1.54 [[ 8.44104445e-01 -5.35912423e-01 -1.68985209e-02 7.84339554e+01] [ 5.35818800e-01 8.44273375e-01 -1.00339960e-02 1.80934895e+01] [ 1.96443144e-02 -5.84804534e-04 9.99806861e-01 1.53555320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.952755096 meters 0.029404211595564823 Centerline is valid? [True, True] Translation: X:78.46, Y:18.10, Z:1.53 [[ 8.43759812e-01 -5.36431560e-01 -1.76227432e-02 7.84596292e+01] [ 5.36329746e-01 8.43943600e-01 -1.04691907e-02 1.81041853e+01] [ 2.04886056e-02 -6.18119010e-04 9.99789895e-01 1.53385732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.982755096 meters 0.023838419283233044 Centerline is valid? [True, True] Translation: X:78.48, Y:18.13, Z:1.54 [[ 8.44619947e-01 -5.35087158e-01 -1.72881219e-02 7.84802094e+01] [ 5.34988843e-01 8.44796665e-01 -1.02728964e-02 1.81258923e+01] [ 2.01018427e-02 -5.72259147e-04 9.99797774e-01 1.53628380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.012755096 meters 0.02374636363807148 Centerline is valid? [True, True] Translation: X:78.50, Y:18.14, Z:1.54 [[ 8.45127852e-01 -5.34275759e-01 -1.75592475e-02 7.85037482e+01] [ 5.34174031e-01 8.45310064e-01 -1.04403461e-02 1.81410411e+01] [ 2.04210324e-02 -5.56266777e-04 9.99791314e-01 1.53661732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04275509600001 meters 0.0266925175095746 Centerline is valid? [True, True] Translation: X:78.53, Y:18.15, Z:1.54 [[ 8.45520177e-01 -5.33637798e-01 -1.80646436e-02 7.85297693e+01] [ 5.33529922e-01 8.45712950e-01 -1.07437735e-02 1.81529101e+01] [ 2.10107866e-02 -5.53950649e-04 9.99779096e-01 1.53551997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07275509600001 meters 0.023212843727475337 Centerline is valid? [True, True] Translation: X:78.55, Y:18.17, Z:1.54 [[ 8.47060472e-01 -5.31185940e-01 -1.81673667e-02 7.85514638e+01] [ 5.31076128e-01 8.47255131e-01 -1.08115288e-02 1.81740546e+01] [ 2.11353267e-02 -4.90236111e-04 9.99776504e-01 1.53686812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10275509600001 meters 0.022375583796976156 Centerline is valid? [True, True] Translation: X:78.57, Y:18.19, Z:1.54 [[ 8.47675980e-01 -5.30193959e-01 -1.84336095e-02 7.85743931e+01] [ 5.30080536e-01 8.47876257e-01 -1.09762518e-02 1.81927791e+01] [ 2.14489622e-02 -4.66992543e-04 9.99769835e-01 1.53661074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13275509600001 meters 0.020752103153797163 Centerline is valid? [True, True] Translation: X:78.60, Y:18.21, Z:1.54 [[ 8.49393484e-01 -5.27456650e-01 -1.78938985e-02 7.85964723e+01] [ 5.27349032e-01 8.49581860e-01 -1.06611643e-02 1.82099908e+01] [ 2.08256336e-02 -3.80806514e-04 9.99783050e-01 1.53828151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.162755096 meters 0.02023812683633563 Centerline is valid? [True, True] Translation: X:78.62, Y:18.23, Z:1.54 [[ 8.49940178e-01 -5.26563553e-01 -1.82350989e-02 7.86202321e+01] [ 5.26451501e-01 8.50135691e-01 -1.08684855e-02 1.82268635e+01] [ 2.12252568e-02 -3.62332686e-04 9.99774653e-01 1.53865501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.192755096 meters 0.019999934911001195 Centerline is valid? [True, True] Translation: X:78.64, Y:18.24, Z:1.54 [[ 8.50371723e-01 -5.25863893e-01 -1.83057246e-02 7.86446945e+01] [ 5.25750662e-01 8.50568663e-01 -1.09174634e-02 1.82427712e+01] [ 2.13113755e-02 -3.40344691e-04 9.99772829e-01 1.53883591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.222755096 meters 0.020722725232251934 Centerline is valid? [True, True] Translation: X:78.67, Y:18.26, Z:1.54 [[ 8.50744554e-01 -5.25263066e-01 -1.82322726e-02 7.86691949e+01] [ 5.25150472e-01 8.50939839e-01 -1.08799143e-02 1.82554804e+01] [ 2.12293843e-02 -3.18658771e-04 9.99774580e-01 1.53900246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.252755096 meters 0.019388564933235854 Centerline is valid? [True, True] Translation: X:78.69, Y:18.27, Z:1.54 [[ 8.50621610e-01 -5.25489589e-01 -1.74232306e-02 7.86917740e+01] [ 5.25386761e-01 8.50799975e-01 -1.03997474e-02 1.82729967e+01] [ 2.02886431e-02 -3.07684846e-04 9.99794117e-01 1.54108852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.282755096 meters 0.019563220421376225 Centerline is valid? [True, True] Translation: X:78.72, Y:18.29, Z:1.54 [[ 8.50354137e-01 -5.25928473e-01 -1.72361062e-02 7.87160345e+01] [ 5.25827780e-01 8.50528745e-01 -1.02956037e-02 1.82872610e+01] [ 2.00745549e-02 -3.08314268e-04 9.99798438e-01 1.54198280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.312755096 meters 0.020025809121609617 Centerline is valid? [True, True] Translation: X:78.74, Y:18.30, Z:1.54 [[ 8.50124221e-01 -5.26308375e-01 -1.69794991e-02 7.87399589e+01] [ 5.26210593e-01 8.50293714e-01 -1.01494310e-02 1.83002877e+01] [ 1.97792919e-02 -3.06515193e-04 9.99804324e-01 1.54262691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.342755096 meters 0.021670549496432465 Centerline is valid? [True, True] Translation: X:78.76, Y:18.31, Z:1.54 [[ 8.49610383e-01 -5.27126834e-01 -1.73060406e-02 7.87644774e+01] [ 5.27025361e-01 8.49786557e-01 -1.03477445e-02 1.83137844e+01] [ 2.01610145e-02 -3.29171158e-04 9.99796692e-01 1.54189250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.372755096 meters 0.0213034271831609 Centerline is valid? [True, True] Translation: X:78.79, Y:18.33, Z:1.54 [[ 8.48432225e-01 -5.29051299e-01 -1.63548572e-02 7.87891337e+01] [ 5.28960994e-01 8.48589770e-01 -9.78101598e-03 1.83277436e+01] [ 1.90532238e-02 -3.52552394e-04 9.99818409e-01 1.54423685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.402755096 meters 0.021285551050787582 Centerline is valid? [True, True] Translation: X:78.81, Y:18.34, Z:1.55 [[ 8.47646272e-01 -5.30323483e-01 -1.58997206e-02 7.88140946e+01] [ 5.30238321e-01 8.47795298e-01 -9.51081324e-03 1.83417094e+01] [ 1.85235159e-02 -3.68835758e-04 9.99828357e-01 1.54576041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43275509600001 meters 0.022406554000907283 Centerline is valid? [True, True] Translation: X:78.84, Y:18.35, Z:1.55 [[ 8.45807039e-01 -5.33265950e-01 -1.54233375e-02 7.88400491e+01] [ 5.33186201e-01 8.45947548e-01 -9.23155362e-03 1.83537827e+01] [ 1.79702078e-02 -4.15397708e-04 9.99838436e-01 1.54716257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46275509600001 meters 0.023093999969718056 Centerline is valid? [True, True] Translation: X:78.87, Y:18.37, Z:1.55 [[ 8.44623054e-01 -5.35144386e-01 -1.52440811e-02 7.88657161e+01] [ 5.35066753e-01 8.44760489e-01 -9.12606957e-03 1.83672725e+01] [ 1.77613623e-02 -4.48512218e-04 9.99842154e-01 1.54773114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49275509600001 meters 0.02414527565768761 Centerline is valid? [True, True] Translation: X:78.89, Y:18.38, Z:1.55 [[ 8.43574540e-01 -5.36793519e-01 -1.53203603e-02 7.88909989e+01] [ 5.36715273e-01 8.43713510e-01 -9.17760860e-03 1.83801021e+01] [ 1.78524758e-02 -4.80674398e-04 9.99840516e-01 1.54830271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.522755096 meters 0.026797252914713725 Centerline is valid? [True, True] Translation: X:78.92, Y:18.39, Z:1.55 [[ 8.41671397e-01 -5.39752553e-01 -1.60137532e-02 7.89176819e+01] [ 5.39667536e-01 8.41823534e-01 -9.59628286e-03 1.83923853e+01] [ 1.86603725e-02 -5.65185900e-04 9.99825720e-01 1.54714205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.552755096 meters 0.025831684442130486 Centerline is valid? [True, True] Translation: X:78.94, Y:18.41, Z:1.55 [[ 8.41265620e-01 -5.40394781e-01 -1.56728245e-02 7.89429283e+01] [ 5.40313354e-01 8.41411412e-01 -9.39761556e-03 1.84072684e+01] [ 1.82657158e-02 -5.62345471e-04 9.99833010e-01 1.54898507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.582755096 meters 0.026405951120470773 Centerline is valid? [True, True] Translation: X:78.97, Y:18.42, Z:1.55 [[ 8.40534042e-01 -5.41501490e-01 -1.66931508e-02 7.89676430e+01] [ 5.41409205e-01 8.40699562e-01 -1.00159413e-02 1.84220638e+01] [ 1.94575717e-02 -6.19085906e-04 9.99810492e-01 1.54820142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.612755096 meters 0.028764992580745472 Centerline is valid? [True, True] Translation: X:78.99, Y:18.44, Z:1.55 [[ 8.40101969e-01 -5.42112161e-01 -1.85225907e-02 7.89929744e+01] [ 5.41998526e-01 8.40305849e-01 -1.11210637e-02 1.84365402e+01] [ 2.15935052e-02 -6.96389351e-04 9.99766591e-01 1.54576196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.642755096 meters 0.02699684140577388 Centerline is valid? [True, True] Translation: X:79.02, Y:18.45, Z:1.55 [[ 8.40382994e-01 -5.41690278e-01 -1.81126035e-02 7.90167706e+01] [ 5.41581393e-01 8.40577897e-01 -1.08808986e-02 1.84516614e+01] [ 2.11191311e-02 -6.65326916e-04 9.99776745e-01 1.54768119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.672755096 meters 0.028143250454184608 Centerline is valid? [True, True] Translation: X:79.04, Y:18.46, Z:1.55 [[ 8.40427006e-01 -5.41597382e-01 -1.88341026e-02 7.90407282e+01] [ 5.41479561e-01 8.40637737e-01 -1.13172612e-02 1.84644921e+01] [ 2.19620564e-02 -6.86949674e-04 9.99758569e-01 1.54737156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.702755096 meters 0.026941089869721505 Centerline is valid? [True, True] Translation: X:79.06, Y:18.48, Z:1.55 [[ 8.40954869e-01 -5.40736873e-01 -1.99635268e-02 7.90640564e+01] [ 5.40604111e-01 8.41191504e-01 -1.20020784e-02 1.84810426e+01] [ 2.32831155e-02 -6.99158367e-04 9.99728667e-01 1.54743238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.732755096 meters 0.02720141319254865 Centerline is valid? [True, True] Translation: X:79.09, Y:18.49, Z:1.55 [[ 8.41397048e-01 -5.40031311e-01 -2.04252296e-02 7.90880954e+01] [ 5.39891977e-01 8.41644644e-01 -1.22860164e-02 1.84948407e+01] [ 2.38256186e-02 -6.89999627e-04 9.99715892e-01 1.54772179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.762755096 meters 0.02644768158813428 Centerline is valid? [True, True] Translation: X:79.11, Y:18.51, Z:1.55 [[ 8.41735576e-01 -5.39495898e-01 -2.06251488e-02 7.91118480e+01] [ 5.39353575e-01 8.41987955e-01 -1.24099028e-02 1.85105427e+01] [ 2.40612184e-02 -6.78391072e-04 9.99710257e-01 1.54843252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79275509600001 meters 0.02644768158813428 Centerline is valid? [True, True] Translation: X:79.14, Y:18.52, Z:1.55 [[ 8.41577298e-01 -5.39742893e-01 -2.06218592e-02 7.91353816e+01] [ 5.39600510e-01 8.41829643e-01 -1.24153670e-02 1.85249223e+01] [ 2.40611985e-02 -6.79074731e-04 9.99710257e-01 1.54894761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82275509600001 meters 0.023388144597677043 Centerline is valid? [True, True] Translation: X:79.16, Y:18.55, Z:1.55 [[ 8.42542251e-01 -5.38200318e-01 -2.15168033e-02 7.91570546e+01] [ 5.38044583e-01 8.42816699e-01 -1.29629361e-02 1.85450402e+01] [ 2.51113775e-02 -6.55178140e-04 9.99684445e-01 1.55007396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85275509600001 meters 0.023379343223810387 Centerline is valid? [True, True] Translation: X:79.18, Y:18.56, Z:1.55 [[ 8.43019601e-01 -5.37450502e-01 -2.15617788e-02 7.91805755e+01] [ 5.37293698e-01 8.43295063e-01 -1.29968691e-02 1.85600597e+01] [ 2.51681154e-02 -6.28392491e-04 9.99683035e-01 1.55071111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88275509600001 meters 0.022278191255910913 Centerline is valid? [True, True] Translation: X:79.20, Y:18.58, Z:1.55 [[ 8.44025421e-01 -5.35859341e-01 -2.18141173e-02 7.92040791e+01] [ 5.35698228e-01 8.44307068e-01 -1.31523085e-02 1.85777577e+01] [ 2.54656008e-02 -5.84901310e-04 9.99675528e-01 1.55222290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.912755096 meters 0.022118478554291613 Centerline is valid? [True, True] Translation: X:79.23, Y:18.59, Z:1.55 [[ 8.44482694e-01 -5.35150369e-01 -2.15188754e-02 7.92277023e+01] [ 5.34993261e-01 8.44756638e-01 -1.29782125e-02 1.85923586e+01] [ 2.51235080e-02 -5.52577464e-04 9.99684202e-01 1.55357247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.942755096 meters 0.021689294617030144 Centerline is valid? [True, True] Translation: X:79.25, Y:18.61, Z:1.56 [[ 8.44753108e-01 -5.34740714e-01 -2.10844550e-02 7.92520381e+01] [ 5.34589659e-01 8.45016030e-01 -1.27202333e-02 1.86083339e+01] [ 2.46187291e-02 -5.26075058e-04 9.99696775e-01 1.55500109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.972755096 meters 0.021670555151025016 Centerline is valid? [True, True] Translation: X:79.28, Y:18.62, Z:1.56 [[ 8.45116532e-01 -5.34168191e-01 -2.10331021e-02 7.92755707e+01] [ 5.34017529e-01 8.45378076e-01 -1.26959854e-02 1.86224791e+01] [ 2.45627149e-02 -5.02458007e-04 9.99698165e-01 1.55594637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.002755096 meters 0.021489665966895548 Centerline is valid? [True, True] Translation: X:79.30, Y:18.64, Z:1.56 [[ 8.45540599e-01 -5.33485260e-01 -2.13207067e-02 7.92992488e+01] [ 5.33330151e-01 8.45809223e-01 -1.28728135e-02 1.86378108e+01] [ 2.49007066e-02 -4.86489235e-04 9.99689811e-01 1.55736716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.032755096 meters 0.02140191364685641 Centerline is valid? [True, True] Translation: X:79.32, Y:18.65, Z:1.56 [[ 8.45649816e-01 -5.33306925e-01 -2.14502452e-02 7.93228719e+01] [ 5.33149730e-01 8.45921683e-01 -1.29565096e-02 1.86528119e+01] [ 2.50550238e-02 -4.79522465e-04 9.99685959e-01 1.55788668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.062755096 meters 0.021378482159185506 Centerline is valid? [True, True] Translation: X:79.35, Y:18.67, Z:1.56 [[ 8.45760965e-01 -5.33102250e-01 -2.21445383e-02 7.93469045e+01] [ 5.32934400e-01 8.46050684e-01 -1.33852790e-02 1.86682864e+01] [ 2.58711242e-02 -4.80839765e-04 9.99665171e-01 1.55808518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.092755096 meters 0.020831455236247857 Centerline is valid? [True, True] Translation: X:79.37, Y:18.68, Z:1.56 [[ 8.45894929e-01 -5.32867798e-01 -2.26644857e-02 7.93698562e+01] [ 5.32691641e-01 8.46198371e-01 -1.37088646e-02 1.86846372e+01] [ 2.64836634e-02 -4.76922985e-04 9.99649133e-01 1.55840248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.122755096 meters 0.020654058313436488 Centerline is valid? [True, True] Translation: X:79.39, Y:18.70, Z:1.56 [[ 8.45658481e-01 -5.33213563e-01 -2.33458730e-02 7.93941366e+01] [ 5.33026514e-01 8.45980527e-01 -1.41309272e-02 1.87005273e+01] [ 2.72849560e-02 -4.94030906e-04 9.99627574e-01 1.55900654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.152755096 meters 0.02101349496609208 Centerline is valid? [True, True] Translation: X:79.42, Y:18.71, Z:1.56 [[ 8.45558721e-01 -5.33333112e-01 -2.42123995e-02 7.94178086e+01] [ 5.33131748e-01 8.45905155e-01 -1.46631471e-02 1.87142369e+01] [ 2.83017354e-02 -5.09846983e-04 9.99599296e-01 1.55932624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18275509600001 meters 0.021102973821754977 Centerline is valid? [True, True] Translation: X:79.44, Y:18.73, Z:1.56 [[ 8.45162996e-01 -5.33951594e-01 -2.43968276e-02 7.94425899e+01] [ 5.33747241e-01 8.45514882e-01 -1.47806473e-02 1.87289512e+01] [ 2.85200310e-02 -5.29683241e-04 9.99593081e-01 1.56012388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21275509600001 meters 0.02095703720645051 Centerline is valid? [True, True] Translation: X:79.47, Y:18.74, Z:1.56 [[ 8.44702810e-01 -5.34665736e-01 -2.46923736e-02 7.94673317e+01] [ 5.34456431e-01 8.45063457e-01 -1.49692266e-02 1.87446298e+01] [ 2.88701551e-02 -5.52450141e-04 9.99583018e-01 1.56113765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24275509600001 meters 0.021743581840886143 Centerline is valid? [True, True] Translation: X:79.49, Y:18.76, Z:1.56 [[ 8.43774440e-01 -5.36126671e-01 -2.47565627e-02 7.94915847e+01] [ 5.35916670e-01 8.44137333e-01 -1.50161949e-02 1.87582879e+01] [ 2.89485214e-02 -5.97173256e-04 9.99580725e-01 1.56186299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.272755096 meters 0.022053875650481034 Centerline is valid? [True, True] Translation: X:79.52, Y:18.77, Z:1.56 [[ 8.43188802e-01 -5.37045722e-01 -2.47898667e-02 7.95164808e+01] [ 5.36835359e-01 8.43552905e-01 -1.50430522e-02 1.87730561e+01] [ 2.89903709e-02 -6.23943837e-04 9.99579496e-01 1.56274234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.302755096 meters 0.022560933879852505 Centerline is valid? [True, True] Translation: X:79.54, Y:18.79, Z:1.56 [[ 8.42239951e-01 -5.38551401e-01 -2.43773213e-02 7.95414093e+01] [ 5.38348350e-01 8.42592403e-01 -1.48019319e-02 1.87872384e+01] [ 2.85117469e-02 -6.56712291e-04 9.99593242e-01 1.56442259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.332755096 meters 0.02375126753291659 Centerline is valid? [True, True] Translation: X:79.57, Y:18.80, Z:1.56 [[ 8.41675454e-01 -5.39419201e-01 -2.46851353e-02 7.95660993e+01] [ 5.39211147e-01 8.42037085e-01 -1.49962256e-02 1.88002691e+01] [ 2.88750514e-02 -6.88545156e-04 9.99582792e-01 1.56461861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.362755096 meters 0.023494787686527446 Centerline is valid? [True, True] Translation: X:79.59, Y:18.82, Z:1.57 [[ 8.41227022e-01 -5.40103294e-01 -2.50106018e-02 7.95907158e+01] [ 5.39889854e-01 8.41598431e-01 -1.51995584e-02 1.88162628e+01] [ 2.92582147e-02 -7.16690902e-04 9.99571630e-01 1.56594703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.392755096 meters 0.02454025741101848 Centerline is valid? [True, True] Translation: X:79.62, Y:18.83, Z:1.57 [[ 8.40688860e-01 -5.40912552e-01 -2.56096075e-02 7.96150872e+01] [ 5.40688896e-01 8.41078498e-01 -1.55717262e-02 1.88300176e+01] [ 2.99626324e-02 -7.55853645e-04 9.99550734e-01 1.56621726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.422755096 meters 0.024096480283761944 Centerline is valid? [True, True] Translation: X:79.64, Y:18.85, Z:1.57 [[ 8.40613208e-01 -5.41033031e-01 -2.55478507e-02 7.96390402e+01] [ 5.40810289e-01 8.41001007e-01 -1.55414850e-02 1.88455124e+01] [ 2.98942249e-02 -7.52162994e-04 9.99552785e-01 1.56766785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.452755096 meters 0.024637675694297055 Centerline is valid? [True, True] Translation: X:79.66, Y:18.86, Z:1.57 [[ 8.40570113e-01 -5.41074648e-01 -2.60789197e-02 7.96621469e+01] [ 5.40842263e-01 8.40974225e-01 -1.58745234e-02 1.88592945e+01] [ 3.05210014e-02 -7.60932008e-04 9.99533836e-01 1.56781525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.482755096 meters 0.025159572947943437 Centerline is valid? [True, True] Translation: X:79.68, Y:18.88, Z:1.57 [[ 8.40543224e-01 -5.41088883e-01 -2.66441199e-02 7.96842810e+01] [ 5.40846027e-01 8.40965057e-01 -1.62279976e-02 1.88761584e+01] [ 3.11875629e-02 -7.70032941e-04 9.99513253e-01 1.56702615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.512755096 meters 0.024104723289260936 Centerline is valid? [True, True] Translation: X:79.71, Y:18.89, Z:1.57 [[ 8.41279452e-01 -5.39935790e-01 -2.67997538e-02 7.97083797e+01] [ 5.39689235e-01 8.41705898e-01 -1.63312944e-02 1.88905167e+01] [ 3.13753612e-02 -7.24356212e-04 9.99507410e-01 1.56933677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54275509600001 meters 0.02377971956961263 Centerline is valid? [True, True] Translation: X:79.73, Y:18.91, Z:1.57 [[ 8.42014533e-01 -5.38789850e-01 -2.67772981e-02 7.97315038e+01] [ 5.38543017e-01 8.42439931e-01 -1.63211698e-02 1.89059132e+01] [ 3.13519458e-02 -6.78064785e-04 9.99508177e-01 1.57037875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57275509600001 meters 0.02344740077557172 Centerline is valid? [True, True] Translation: X:79.76, Y:18.92, Z:1.57 [[ 8.42350878e-01 -5.38269713e-01 -2.66592127e-02 7.97556268e+01] [ 5.38024609e-01 8.42772385e-01 -1.62550932e-02 1.89215848e+01] [ 3.12172726e-02 -6.50820392e-04 9.99512410e-01 1.57123758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60275509600001 meters 0.02335238540603482 Centerline is valid? [True, True] Translation: X:79.78, Y:18.94, Z:1.57 [[ 8.42467436e-01 -5.38093815e-01 -2.65266926e-02 7.97799622e+01] [ 5.37850760e-01 8.42884717e-01 -1.61837793e-02 1.89373309e+01] [ 3.10673353e-02 -6.33094716e-04 9.99517093e-01 1.57198865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63275509600001 meters 0.021834204034657197 Centerline is valid? [True, True] Translation: X:79.80, Y:18.96, Z:1.57 [[ 8.43237830e-01 -5.36900738e-01 -2.62213496e-02 7.98032076e+01] [ 5.36662388e-01 8.43645226e-01 -1.60067010e-02 1.89554980e+01] [ 3.07155260e-02 -5.74556264e-04 9.99528002e-01 1.57451776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.662755096 meters 0.022705972494175202 Centerline is valid? [True, True] Translation: X:79.83, Y:18.97, Z:1.57 [[ 8.43518615e-01 -5.36462612e-01 -2.61574445e-02 7.98274758e+01] [ 5.36225000e-01 8.43923908e-01 -1.59745820e-02 1.89692492e+01] [ 3.06446588e-02 -5.51418393e-04 9.99530190e-01 1.57400587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.692755096 meters 0.02235872481982235 Centerline is valid? [True, True] Translation: X:79.85, Y:18.99, Z:1.57 [[ 8.43895154e-01 -5.35887733e-01 -2.57935609e-02 7.98517751e+01] [ 5.35656252e-01 8.44289091e-01 -1.57578644e-02 1.89852126e+01] [ 3.02216683e-02 -5.18496805e-04 9.99543087e-01 1.57478549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.722755096 meters 0.02394013195238199 Centerline is valid? [True, True] Translation: X:79.87, Y:19.00, Z:1.57 [[ 8.44140669e-01 -5.35540119e-01 -2.49662144e-02 7.98748006e+01] [ 5.35322911e-01 8.44509649e-01 -1.52589204e-02 1.90001961e+01] [ 2.92559730e-02 -4.84311282e-04 9.99571835e-01 1.57376747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.752755096 meters 0.02175639008706652 Centerline is valid? [True, True] Translation: X:79.90, Y:19.02, Z:1.58 [[ 8.44573708e-01 -5.34875220e-01 -2.45713367e-02 7.98982442e+01] [ 5.34664408e-01 8.44930942e-01 -1.50224523e-02 1.90163474e+01] [ 2.87962202e-02 -4.49850957e-04 9.99585202e-01 1.57695897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.782755096 meters 0.021497416409549542 Centerline is valid? [True, True] Translation: X:79.92, Y:19.03, Z:1.58 [[ 8.44913631e-01 -5.34370267e-01 -2.38615431e-02 7.99215149e+01] [ 5.34171085e-01 8.45250404e-01 -1.45947540e-02 1.90322591e+01] [ 2.79679815e-02 -4.14839782e-04 9.99608733e-01 1.57773394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.812755096 meters 0.02160950987522398 Centerline is valid? [True, True] Translation: X:79.95, Y:19.05, Z:1.58 [[ 8.44680910e-01 -5.34744218e-01 -2.37230298e-02 7.99450596e+01] [ 5.34547352e-01 8.45013873e-01 -1.45149322e-02 1.90473052e+01] [ 2.78080654e-02 -4.20596657e-04 9.99613192e-01 1.57844346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.842755096 meters 0.02330296482681861 Centerline is valid? [True, True] Translation: X:79.97, Y:19.06, Z:1.58 [[ 8.44149715e-01 -5.35602641e-01 -2.32609018e-02 7.99693792e+01] [ 5.35413457e-01 8.44470026e-01 -1.42409896e-02 1.90620474e+01] [ 2.72706459e-02 -4.32672502e-04 9.99627993e-01 1.57720285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.872755096 meters 0.02163569214241101 Centerline is valid? [True, True] Translation: X:79.99, Y:19.08, Z:1.58 [[ 8.44222209e-01 -5.35499698e-01 -2.29985768e-02 7.99927808e+01] [ 5.35314484e-01 8.44535316e-01 -1.40891267e-02 1.90775380e+01] [ 2.69678334e-02 -4.17117636e-04 9.99636215e-01 1.58003106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.902755096 meters 0.022165820655344677 Centerline is valid? [True, True] Translation: X:80.02, Y:19.09, Z:1.58 [[ 8.43632169e-01 -5.36475332e-01 -2.18856329e-02 8.00171271e+01] [ 5.36307774e-01 8.43915897e-01 -1.34138459e-02 1.90918750e+01] [ 2.56658310e-02 -4.21083112e-04 9.99670490e-01 1.58158986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93275509600001 meters 0.020861723363517926 Centerline is valid? [True, True] Translation: X:80.04, Y:19.11, Z:1.58 [[ 8.43177711e-01 -5.37217042e-01 -2.11942724e-02 8.00390745e+01] [ 5.37060039e-01 8.43443933e-01 -1.29941168e-02 1.91088573e+01] [ 2.48568415e-02 -4.26247090e-04 9.99690930e-01 1.58372260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96275509600001 meters 0.02276043342930369 Centerline is valid? [True, True] Translation: X:80.06, Y:19.12, Z:1.58 [[ 8.43024762e-01 -5.37463634e-01 -2.10259996e-02 8.00638356e+01] [ 5.37309005e-01 8.43286821e-01 -1.28984493e-02 1.91198035e+01] [ 2.46633958e-02 -4.23746743e-04 9.99695722e-01 1.58312298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99275509600001 meters 0.020371280044880605 Centerline is valid? [True, True] Translation: X:80.09, Y:19.14, Z:1.59 [[ 8.42404204e-01 -5.38425495e-01 -2.12871812e-02 8.00855455e+01] [ 5.38267183e-01 8.42672998e-01 -1.30636413e-02 1.91391999e+01] [ 2.49719303e-02 -4.53324745e-04 9.99688050e-01 1.58525059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.022755096 meters 0.022014748968915622 Centerline is valid? [True, True] Translation: X:80.11, Y:19.15, Z:1.58 [[ 8.41753195e-01 -5.39438985e-01 -2.13808367e-02 8.01109890e+01] [ 5.39279429e-01 8.42024555e-01 -1.31280543e-02 1.91515351e+01] [ 2.50849738e-02 -4.79663806e-04 9.99685207e-01 1.58442941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.052755096 meters 0.022576731773044784 Centerline is valid? [True, True] Translation: X:80.13, Y:19.17, Z:1.58 [[ 8.41539211e-01 -5.39767628e-01 -2.15096326e-02 8.01347404e+01] [ 5.39606175e-01 8.41813915e-01 -1.32101694e-02 1.91651389e+01] [ 2.52375299e-02 -4.89855025e-04 9.99681363e-01 1.58437137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.082755096 meters 0.022971765132652824 Centerline is valid? [True, True] Translation: X:80.16, Y:19.18, Z:1.58 [[ 8.41066239e-01 -5.40495753e-01 -2.17237764e-02 8.01594278e+01] [ 5.40331197e-01 8.41346586e-01 -1.33461254e-02 1.91806615e+01] [ 2.54907492e-02 -5.13058598e-04 9.99674926e-01 1.58422332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.112755096 meters 0.021476837520033855 Centerline is valid? [True, True] Translation: X:80.18, Y:19.20, Z:1.59 [[ 8.40932515e-01 -5.40704469e-01 -2.17067482e-02 8.01817995e+01] [ 5.40540037e-01 8.41212467e-01 -1.33436466e-02 1.91983347e+01] [ 2.54749565e-02 -5.12260197e-04 9.99675329e-01 1.58545779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.142755096 meters 0.023350427846858635 Centerline is valid? [True, True] Translation: X:80.21, Y:19.21, Z:1.58 [[ 8.40855135e-01 -5.40828710e-01 -2.16089988e-02 8.02063866e+01] [ 5.40665599e-01 8.41132599e-01 -1.32913879e-02 1.92104774e+01] [ 2.53643975e-02 -5.07110556e-04 9.99678143e-01 1.58472444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.172755096 meters 0.022033041543661463 Centerline is valid? [True, True] Translation: X:80.23, Y:19.23, Z:1.59 [[ 8.40362391e-01 -5.41592361e-01 -2.16509910e-02 8.02290602e+01] [ 5.41428740e-01 8.40641087e-01 -1.33222666e-02 1.92282583e+01] [ 2.54159504e-02 -5.26936943e-04 9.99676824e-01 1.58614369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.202755096 meters 0.02250570974258003 Centerline is valid? [True, True] Translation: X:80.25, Y:19.24, Z:1.59 [[ 8.39899214e-01 -5.42327464e-01 -2.12186797e-02 8.02532565e+01] [ 5.42170378e-01 8.40167030e-01 -1.30630289e-02 1.92427366e+01] [ 2.49116744e-02 -5.32511877e-04 9.99689514e-01 1.58673894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.232755096 meters 0.022744863507519367 Centerline is valid? [True, True] Translation: X:80.28, Y:19.26, Z:1.59 [[ 8.39452455e-01 -5.43044711e-01 -2.05430523e-02 8.02770619e+01] [ 5.42897567e-01 8.39703614e-01 -1.26520018e-02 1.92577509e+01] [ 2.41206780e-02 -5.32019129e-04 9.99708913e-01 1.58782649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.262755096 meters 0.023866955792965272 Centerline is valid? [True, True] Translation: X:80.30, Y:19.27, Z:1.59 [[ 8.38337686e-01 -5.44835003e-01 -1.85672549e-02 8.03008384e+01] [ 5.44715106e-01 8.38543110e-01 -1.14414428e-02 1.92718283e+01] [ 2.18031422e-02 -5.22071489e-04 9.99762147e-01 1.58991744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29275509600001 meters 0.022662185230668035 Centerline is valid? [True, True] Translation: X:80.32, Y:19.29, Z:1.59 [[ 8.37725215e-01 -5.45819213e-01 -1.72583733e-02 8.03238982e+01] [ 5.45715786e-01 8.37902816e-01 -1.06372834e-02 1.92893814e+01] [ 2.02668732e-02 -5.07046176e-04 9.99794477e-01 1.59165952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32275509600001 meters 0.022808491683744648 Centerline is valid? [True, True] Translation: X:80.35, Y:19.30, Z:1.59 [[ 8.37116918e-01 -5.46772723e-01 -1.65787504e-02 8.03479092e+01] [ 5.46677350e-01 8.37280918e-01 -1.02244744e-02 1.93046937e+01] [ 1.94715351e-02 -5.04146873e-04 9.99810285e-01 1.59299004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35275509600001 meters 0.02385895342580063 Centerline is valid? [True, True] Translation: X:80.37, Y:19.32, Z:1.59 [[ 8.35956468e-01 -5.48578467e-01 -1.54418256e-02 8.03720896e+01] [ 5.48495932e-01 8.36098925e-01 -9.52892814e-03 1.93189506e+01] [ 1.81382585e-02 -5.04009404e-04 9.99835361e-01 1.59399798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38275509600001 meters 0.024479280088377665 Centerline is valid? [True, True] Translation: X:80.40, Y:19.33, Z:1.59 [[ 8.35416118e-01 -5.49410804e-01 -1.50889998e-02 8.03965008e+01] [ 5.49332099e-01 8.35552219e-01 -9.31314657e-03 1.93334107e+01] [ 1.77243906e-02 -5.08519195e-04 9.99842781e-01 1.59417766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.412755096 meters 0.02530214914063909 Centerline is valid? [True, True] Translation: X:80.42, Y:19.35, Z:1.59 [[ 8.34849516e-01 -5.50281379e-01 -1.47203816e-02 8.04213790e+01] [ 5.50206562e-01 8.34979127e-01 -9.08828162e-03 1.93484944e+01] [ 1.72923235e-02 -5.11903066e-04 9.99850346e-01 1.59382311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.442755096 meters 0.025343143163781206 Centerline is valid? [True, True] Translation: X:80.45, Y:19.36, Z:1.59 [[ 8.34457429e-01 -5.50872342e-01 -1.48479653e-02 8.04452501e+01] [ 5.50796213e-01 8.34589353e-01 -9.17293137e-03 1.93636054e+01] [ 1.74450679e-02 -5.23782318e-04 9.99847686e-01 1.59459991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.472755096 meters 0.025634344738752753 Centerline is valid? [True, True] Translation: X:80.47, Y:19.38, Z:1.59 [[ 8.34377254e-01 -5.51010099e-01 -1.42291204e-02 8.04679191e+01] [ 5.50940179e-01 8.34498422e-01 -8.79214736e-03 1.93779060e+01] [ 1.67187405e-02 -5.03426373e-04 9.99860105e-01 1.59495262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.502755096 meters 0.02483246565705115 Centerline is valid? [True, True] Translation: X:80.49, Y:19.40, Z:1.59 [[ 8.34648304e-01 -5.50591002e-01 -1.45518658e-02 8.04913800e+01] [ 5.50517739e-01 8.34774997e-01 -8.99574287e-03 1.93953676e+01] [ 1.71005089e-02 -5.02778750e-04 9.99853649e-01 1.59411501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.532755096 meters 0.024892480379931248 Centerline is valid? [True, True] Translation: X:80.52, Y:19.41, Z:1.59 [[ 8.34912503e-01 -5.50188981e-01 -1.46012737e-02 8.05151251e+01] [ 5.50115059e-01 8.35040025e-01 -9.03207889e-03 1.94104173e+01] [ 1.71619982e-02 -4.91384927e-04 9.99852601e-01 1.59411241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.562755096 meters 0.024589803030411708 Centerline is valid? [True, True] Translation: X:80.54, Y:19.43, Z:1.59 [[ 8.35376275e-01 -5.49462436e-01 -1.54114089e-02 8.05396666e+01] [ 5.49379922e-01 8.35518271e-01 -9.53524675e-03 1.94258795e+01] [ 1.81157736e-02 -5.01199725e-04 9.99835770e-01 1.59374143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.592755096 meters 0.024855451594442933 Centerline is valid? [True, True] Translation: X:80.56, Y:19.44, Z:1.59 [[ 8.35780271e-01 -5.48861112e-01 -1.49270699e-02 8.05634778e+01] [ 5.48783512e-01 8.35913429e-01 -9.24106208e-03 1.94395841e+01] [ 1.75497978e-02 -4.68232469e-04 9.99845881e-01 1.59427009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.622755096 meters 0.023514431076708933 Centerline is valid? [True, True] Translation: X:80.59, Y:19.46, Z:1.59 [[ 8.36571465e-01 -5.47665702e-01 -1.45073390e-02 8.05872487e+01] [ 5.47592182e-01 8.36697135e-01 -8.98370923e-03 1.94562024e+01] [ 1.70583184e-02 -4.28590609e-04 9.99854404e-01 1.59461409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.652755096 meters 0.023110087815902507 Centerline is valid? [True, True] Translation: X:80.61, Y:19.47, Z:1.59 [[ 8.37067377e-01 -5.46908082e-01 -1.44829475e-02 8.06115695e+01] [ 5.46834606e-01 8.37192561e-01 -8.97383351e-03 1.94718635e+01] [ 1.70328780e-02 -4.08073643e-04 9.99854847e-01 1.59492751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68275509600001 meters 0.023110087815902507 Centerline is valid? [True, True] Translation: X:80.63, Y:19.49, Z:1.60 [[ 8.36903826e-01 -5.47158384e-01 -1.44806388e-02 8.06349038e+01] [ 5.47084882e-01 8.37028993e-01 -8.97755743e-03 1.94865433e+01] [ 1.70328603e-02 -4.08786394e-04 9.99854847e-01 1.59544251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71275509600001 meters 0.02104542241520015 Centerline is valid? [True, True] Translation: X:80.66, Y:19.50, Z:1.60 [[ 8.37767831e-01 -5.45866684e-01 -1.32145457e-02 8.06578175e+01] [ 5.45805236e-01 8.37871974e-01 -8.19759788e-03 1.95047062e+01] [ 1.55468931e-02 -3.44884450e-04 9.99879080e-01 1.59617073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74275509600001 meters 0.02087748263415094 Centerline is valid? [True, True] Translation: X:80.68, Y:19.52, Z:1.60 [[ 8.38186214e-01 -5.45232288e-01 -1.28694742e-02 8.06819103e+01] [ 5.45173859e-01 8.38284946e-01 -7.98831973e-03 1.95196818e+01] [ 1.51437763e-02 -3.20401440e-04 9.99885275e-01 1.59709630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77275509600001 meters 0.020518725527625428 Centerline is valid? [True, True] Translation: X:80.71, Y:19.53, Z:1.60 [[ 8.38459426e-01 -5.44835766e-01 -1.18227836e-02 8.07052337e+01] [ 5.44786364e-01 8.38542728e-01 -7.34239713e-03 1.95344369e+01] [ 1.39143098e-02 -2.84589196e-04 9.99903151e-01 1.59810669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.802755096 meters 0.02054682171633628 Centerline is valid? [True, True] Translation: X:80.73, Y:19.55, Z:1.60 [[ 8.38917945e-01 -5.44149496e-01 -1.08631142e-02 8.07294851e+01] [ 5.44107659e-01 8.38988239e-01 -6.75204009e-03 1.95485529e+01] [ 1.27881443e-02 -2.46296063e-04 9.99918198e-01 1.59976810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.832755096 meters 0.020334442219505793 Centerline is valid? [True, True] Translation: X:80.75, Y:19.56, Z:1.60 [[ 8.39003370e-01 -5.44016361e-01 -1.09336420e-02 8.07536459e+01] [ 5.43973967e-01 8.39074573e-01 -6.79591847e-03 1.95636811e+01] [ 1.28712319e-02 -2.45818133e-04 9.99917132e-01 1.60025419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.862755096 meters 0.01952733475044835 Centerline is valid? [True, True] Translation: X:80.78, Y:19.58, Z:1.60 [[ 8.38946345e-01 -5.44103644e-01 -1.09660783e-02 8.07769679e+01] [ 5.44060947e-01 8.39017977e-01 -6.82063088e-03 1.95797416e+01] [ 1.29118669e-02 -2.44071594e-04 9.99916609e-01 1.60007521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.892755096 meters 0.02096359485621347 Centerline is valid? [True, True] Translation: X:80.80, Y:19.59, Z:1.60 [[ 8.38844135e-01 -5.44262341e-01 -1.09096415e-02 8.08013380e+01] [ 5.44220019e-01 8.38915041e-01 -6.79152355e-03 1.95916296e+01] [ 1.28486328e-02 -2.40215586e-04 9.99917424e-01 1.60116113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.922755096 meters 0.019618993502780572 Centerline is valid? [True, True] Translation: X:80.82, Y:19.61, Z:1.60 [[ 8.38519673e-01 -5.44765749e-01 -1.07254751e-02 8.08233310e+01] [ 5.44724876e-01 8.38588230e-01 -6.67758764e-03 1.96088703e+01] [ 1.26319782e-02 -2.43144474e-04 9.99920184e-01 1.60065054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.952755096 meters 0.019976581102978484 Centerline is valid? [True, True] Translation: X:80.85, Y:19.62, Z:1.60 [[ 8.38340829e-01 -5.45028768e-01 -1.13268219e-02 8.08468814e+01] [ 5.44983120e-01 8.38417305e-01 -7.05846350e-03 1.96226711e+01] [ 1.33436692e-02 -2.55528602e-04 9.99910937e-01 1.60119022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.982755096 meters 0.02019527003867165 Centerline is valid? [True, True] Translation: X:80.87, Y:19.64, Z:1.60 [[ 8.37831359e-01 -5.45824305e-01 -1.06977311e-02 8.08717298e+01] [ 5.45783640e-01 8.37899615e-01 -6.66733232e-03 1.96368404e+01] [ 1.26028168e-02 -2.52546544e-04 9.99920549e-01 1.60225480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.012755096 meters 0.020578609182927796 Centerline is valid? [True, True] Translation: X:80.90, Y:19.65, Z:1.60 [[ 8.37307609e-01 -5.46630401e-01 -1.05438639e-02 8.08963616e+01] [ 5.46590913e-01 8.37373954e-01 -6.57531539e-03 1.96511647e+01] [ 1.24234243e-02 -2.57618583e-04 9.99922793e-01 1.60285356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04275509600001 meters 0.021505382809087568 Centerline is valid? [True, True] Translation: X:80.92, Y:19.66, Z:1.60 [[ 8.36434477e-01 -5.47954546e-01 -1.10987196e-02 8.09213263e+01] [ 5.47910840e-01 8.36508059e-01 -6.92663120e-03 1.96635411e+01] [ 1.30796474e-02 -2.87435630e-04 9.99914416e-01 1.60276762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07275509600001 meters 0.022065122758983056 Centerline is valid? [True, True] Translation: X:80.95, Y:19.68, Z:1.60 [[ 8.35736220e-01 -5.49007792e-01 -1.16368036e-02 8.09454329e+01] [ 5.48959810e-01 8.35817171e-01 -7.26517896e-03 1.96768048e+01] [ 1.37148801e-02 -3.16364280e-04 9.99905897e-01 1.60291969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10275509600001 meters 0.02265163667433976 Centerline is valid? [True, True] Translation: X:80.97, Y:19.69, Z:1.60 [[ 8.35059366e-01 -5.50029389e-01 -1.19802085e-02 8.09707874e+01] [ 5.49978628e-01 8.35145229e-01 -7.48029631e-03 1.96914080e+01] [ 1.41195968e-02 -3.42367159e-04 9.99900255e-01 1.60266387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13275509600001 meters 0.023801187187412875 Centerline is valid? [True, True] Translation: X:81.00, Y:19.70, Z:1.60 [[ 8.33950573e-01 -5.51695731e-01 -1.25802271e-02 8.09957213e+01] [ 5.51639864e-01 8.34045366e-01 -7.86055684e-03 1.97042808e+01] [ 1.48291157e-02 -3.84438860e-04 9.99889969e-01 1.60216331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.162755096 meters 0.02413335734169202 Centerline is valid? [True, True] Translation: X:81.02, Y:19.72, Z:1.60 [[ 8.33391315e-01 -5.52538157e-01 -1.26688679e-02 8.10204717e+01] [ 5.52481583e-01 8.33487507e-01 -7.91684462e-03 1.97186401e+01] [ 1.49337018e-02 -4.01486633e-04 9.99888405e-01 1.60246642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.192755096 meters 0.024821905426667422 Centerline is valid? [True, True] Translation: X:81.04, Y:19.73, Z:1.60 [[ 8.32998469e-01 -5.53133984e-01 -1.25038170e-02 8.10445559e+01] [ 5.53078869e-01 8.33092212e-01 -7.81866378e-03 1.97322697e+01] [ 1.47416012e-02 -4.02662000e-04 9.99891256e-01 1.60325327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.222755096 meters 0.02507720340964601 Centerline is valid? [True, True] Translation: X:81.07, Y:19.75, Z:1.60 [[ 8.32736870e-01 -5.53526203e-01 -1.25717474e-02 8.10684919e+01] [ 5.53470507e-01 8.32831660e-01 -7.86283164e-03 1.97463441e+01] [ 1.48224326e-02 -4.10421622e-04 9.99890057e-01 1.60458419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.252755096 meters 0.02524289785576123 Centerline is valid? [True, True] Translation: X:81.09, Y:19.76, Z:1.61 [[ 8.32870051e-01 -5.53321962e-01 -1.27390543e-02 8.10926218e+01] [ 5.53264658e-01 8.32967371e-01 -7.97354916e-03 1.97609785e+01] [ 1.50231564e-02 -4.07138218e-04 9.99887063e-01 1.60544485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.282755096 meters 0.022961669357909335 Centerline is valid? [True, True] Translation: X:81.11, Y:19.78, Z:1.61 [[ 8.32877306e-01 -5.53311202e-01 -1.27321150e-02 8.11145884e+01] [ 5.53253948e-01 8.32974519e-01 -7.96992461e-03 1.97792466e+01] [ 1.50153759e-02 -4.06123568e-04 9.99887180e-01 1.60578967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.312755096 meters 0.022551653023598496 Centerline is valid? [True, True] Translation: X:81.14, Y:19.79, Z:1.61 [[ 8.33154962e-01 -5.52899366e-01 -1.24539339e-02 8.11387483e+01] [ 5.52844462e-01 8.33247948e-01 -7.80118497e-03 1.97947820e+01] [ 1.46904851e-02 -3.85492393e-04 9.99892015e-01 1.60644836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.342755096 meters 0.02182015031186163 Centerline is valid? [True, True] Translation: X:81.16, Y:19.81, Z:1.61 [[ 8.33331234e-01 -5.52628423e-01 -1.26838737e-02 8.11623684e+01] [ 5.52571369e-01 8.33427669e-01 -7.95004641e-03 1.98108678e+01] [ 1.49645129e-02 -3.83723492e-04 9.99887952e-01 1.60678899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.372755096 meters 0.02164363727035346 Centerline is valid? [True, True] Translation: X:81.19, Y:19.83, Z:1.61 [[ 8.33198077e-01 -5.52821100e-01 -1.30305574e-02 8.11862344e+01] [ 5.52760832e-01 8.33299872e-01 -8.17228868e-03 1.98262543e+01] [ 1.53761754e-02 -3.93646525e-04 9.99881702e-01 1.60702777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.402755096 meters 0.021147879109304966 Centerline is valid? [True, True] Translation: X:81.21, Y:19.84, Z:1.61 [[ 8.33466904e-01 -5.52401032e-01 -1.36388896e-02 8.12109718e+01] [ 5.52334846e-01 8.33578395e-01 -8.56022072e-03 1.98418319e+01] [ 1.60977585e-02 -3.98573307e-04 9.99870343e-01 1.60759796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43275509600001 meters 0.022290375557937416 Centerline is valid? [True, True] Translation: X:81.24, Y:19.85, Z:1.61 [[ 8.33588839e-01 -5.52215190e-01 -1.37124498e-02 8.12355415e+01] [ 5.52148169e-01 8.33701523e-01 -8.61222492e-03 1.98549485e+01] [ 1.61878917e-02 -3.92249459e-04 9.99868891e-01 1.60807623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46275509600001 meters 0.020194558304579335 Centerline is valid? [True, True] Translation: X:81.26, Y:19.87, Z:1.61 [[ 8.33572796e-01 -5.52232777e-01 -1.39768927e-02 8.12572238e+01] [ 5.52163125e-01 8.33689871e-01 -8.77965719e-03 1.98726224e+01] [ 1.65008084e-02 -3.99041363e-04 9.99863773e-01 1.60812177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49275509600001 meters 0.020635033547716872 Centerline is valid? [True, True] Translation: X:81.28, Y:19.89, Z:1.61 [[ 8.33464481e-01 -5.52391460e-01 -1.41645129e-02 8.12808376e+01] [ 5.52319832e-01 8.33584737e-01 -8.90446596e-03 1.98863607e+01] [ 1.67260727e-02 -4.01785278e-04 9.99860029e-01 1.60875120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52275509600001 meters 0.020631582982574483 Centerline is valid? [True, True] Translation: X:81.30, Y:19.90, Z:1.61 [[ 8.33260378e-01 -5.52692059e-01 -1.44440718e-02 8.13047176e+01] [ 5.52617577e-01 8.33385455e-01 -9.08275621e-03 1.99004138e+01] [ 1.70574466e-02 -4.13747090e-04 9.99854426e-01 1.60947622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.552755096 meters 0.02116785897431138 Centerline is valid? [True, True] Translation: X:81.33, Y:19.91, Z:1.61 [[ 8.33138758e-01 -5.52876275e-01 -1.44095588e-02 8.13281165e+01] [ 5.52802062e-01 8.33263257e-01 -9.06778173e-03 1.99137621e+01] [ 1.70203173e-02 -4.10913397e-04 9.99855059e-01 1.60986343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.582755096 meters 0.020645011482579963 Centerline is valid? [True, True] Translation: X:81.35, Y:19.93, Z:1.61 [[ 8.33249626e-01 -5.52693341e-01 -1.50043911e-02 8.13521082e+01] [ 5.52612794e-01 8.33384601e-01 -9.44494285e-03 1.99292016e+01] [ 1.77245855e-02 -4.21623378e-04 9.99842818e-01 1.60993671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.612755096 meters 0.0205465122119934 Centerline is valid? [True, True] Translation: X:81.38, Y:19.94, Z:1.61 [[ 8.33247574e-01 -5.52691019e-01 -1.52025771e-02 8.13757169e+01] [ 5.52608224e-01 8.33386141e-01 -9.57556460e-03 1.99442377e+01] [ 1.79619456e-02 -4.22253174e-04 9.99838582e-01 1.61019169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.642755096 meters 0.01997802592317816 Centerline is valid? [True, True] Translation: X:81.40, Y:19.96, Z:1.61 [[ 8.33283446e-01 -5.52637972e-01 -1.51647459e-02 8.13990346e+01] [ 5.52555462e-01 8.33421322e-01 -9.55834986e-03 1.99601442e+01] [ 1.79209296e-02 -4.14548453e-04 9.99839321e-01 1.61067031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.672755096 meters 0.02035318949100303 Centerline is valid? [True, True] Translation: X:81.42, Y:19.97, Z:1.61 [[ 8.33378639e-01 -5.52486248e-01 -1.54592583e-02 8.14232737e+01] [ 5.52400345e-01 8.33521910e-01 -9.75113435e-03 1.99743913e+01] [ 1.82729982e-02 -4.13312561e-04 9.99832949e-01 1.61085958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.702755096 meters 0.01969915685165668 Centerline is valid? [True, True] Translation: X:81.45, Y:19.99, Z:1.61 [[ 8.33120277e-01 -5.52864053e-01 -1.58727204e-02 8.14466693e+01] [ 5.52773519e-01 8.33271356e-01 -1.00141911e-02 1.99904251e+01] [ 1.87627695e-02 -4.30993890e-04 9.99823871e-01 1.61114968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.732755096 meters 0.021116161219504055 Centerline is valid? [True, True] Translation: X:81.47, Y:20.00, Z:1.61 [[ 8.32467322e-01 -5.53830377e-01 -1.64338596e-02 8.14720391e+01] [ 5.53733370e-01 8.32629389e-01 -1.03757038e-02 2.00021762e+01] [ 1.94296944e-02 -4.62542147e-04 9.99811119e-01 1.61119372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.762755096 meters 0.02068533444665524 Centerline is valid? [True, True] Translation: X:81.50, Y:20.02, Z:1.61 [[ 8.32014722e-01 -5.54488898e-01 -1.71337190e-02 8.14963293e+01] [ 5.54383534e-01 8.32190974e-01 -1.08203758e-02 2.00177088e+01] [ 2.02583046e-02 -4.95939711e-04 9.99794656e-01 1.61104514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79275509600001 meters 0.020797550344839297 Centerline is valid? [True, True] Translation: X:81.52, Y:20.03, Z:1.61 [[ 8.31540803e-01 -5.55194545e-01 -1.72890073e-02 8.15209217e+01] [ 5.55087277e-01 8.31720358e-01 -1.09252224e-02 2.00322563e+01] [ 2.04452433e-02 -5.12139784e-04 9.99790843e-01 1.61124883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82275509600001 meters 0.021543973670252767 Centerline is valid? [True, True] Translation: X:81.55, Y:20.05, Z:1.61 [[ 8.31250414e-01 -5.55612463e-01 -1.78196892e-02 8.15453761e+01] [ 5.55498460e-01 8.31441223e-01 -1.12673587e-02 2.00451012e+01] [ 2.10763091e-02 -5.32813390e-04 9.99777728e-01 1.61121029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85275509600001 meters 0.021989972367766942 Centerline is valid? [True, True] Translation: X:81.57, Y:20.06, Z:1.61 [[ 8.30775833e-01 -5.56302264e-01 -1.84202631e-02 8.15710326e+01] [ 5.56180520e-01 8.30979826e-01 -1.16514882e-02 2.00585138e+01] [ 2.17886163e-02 -5.65216710e-04 9.99762440e-01 1.61104731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88275509600001 meters 0.021825967711353037 Centerline is valid? [True, True] Translation: X:81.60, Y:20.07, Z:1.61 [[ 8.30550968e-01 -5.56623506e-01 -1.88510617e-02 8.15950914e+01] [ 5.56495917e-01 8.30764669e-01 -1.19314521e-02 2.00733516e+01] [ 2.23021227e-02 -5.80859779e-04 9.99751108e-01 1.61112765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.912755096 meters 0.02144070752982024 Centerline is valid? [True, True] Translation: X:81.62, Y:20.09, Z:1.61 [[ 8.30680729e-01 -5.56414991e-01 -1.92843153e-02 8.16204320e+01] [ 5.56281234e-01 8.30904338e-01 -1.22134980e-02 2.00882038e+01] [ 2.28191946e-02 -5.81985299e-04 9.99739439e-01 1.61163107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.942755096 meters 0.021373238739052138 Centerline is valid? [True, True] Translation: X:81.65, Y:20.10, Z:1.61 [[ 8.30900427e-01 -5.56072697e-01 -1.96885054e-02 8.16455244e+01] [ 5.55933063e-01 8.31133454e-01 -1.24744076e-02 2.01030910e+01] [ 2.33004529e-02 -5.80500506e-04 9.99728339e-01 1.61205078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.972755096 meters 0.02115236985995966 Centerline is valid? [True, True] Translation: X:81.67, Y:20.12, Z:1.61 [[ 8.31111493e-01 -5.55750668e-01 -1.98716458e-02 8.16700859e+01] [ 5.55608152e-01 8.31348826e-01 -1.25980952e-02 2.01183248e+01] [ 2.35216692e-02 -5.70426647e-04 9.99723165e-01 1.61256092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.002755096 meters 0.020080918750211493 Centerline is valid? [True, True] Translation: X:81.69, Y:20.13, Z:1.61 [[ 8.32449313e-01 -5.53726570e-01 -2.03722208e-02 8.16945541e+01] [ 5.53575984e-01 8.32698394e-01 -1.29233668e-02 2.01334399e+01] [ 2.41199271e-02 -5.19524370e-04 9.99708937e-01 1.61300376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.032755096 meters 0.019989709972960353 Centerline is valid? [True, True] Translation: X:81.72, Y:20.15, Z:1.61 [[ 8.33188902e-01 -5.52603403e-01 -2.06332917e-02 8.17186828e+01] [ 5.52448423e-01 8.33444204e-01 -1.30957163e-02 2.01478564e+01] [ 2.44334347e-02 -4.87624004e-04 9.99701340e-01 1.61312599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.062755096 meters 0.019557073502616002 Centerline is valid? [True, True] Translation: X:81.74, Y:20.16, Z:1.61 [[ 8.34007899e-01 -5.51346518e-01 -2.11622494e-02 8.17426254e+01] [ 5.51183004e-01 8.34276217e-01 -1.34346693e-02 2.01626897e+01] [ 2.50623196e-02 -4.59651878e-04 9.99685785e-01 1.61330196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.092755096 meters 0.017789828281242672 Centerline is valid? [True, True] Translation: X:81.77, Y:20.18, Z:1.61 [[ 8.35536164e-01 -5.49005255e-01 -2.17381619e-02 8.17665440e+01] [ 5.48831785e-01 8.35818804e-01 -1.38057243e-02 2.01793171e+01] [ 2.57485797e-02 -3.95412324e-04 9.99668372e-01 1.61427487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.122755096 meters 0.017514401542823774 Centerline is valid? [True, True] Translation: X:81.79, Y:20.19, Z:1.61 [[ 8.36284292e-01 -5.47851587e-01 -2.20730858e-02 8.17903874e+01] [ 5.47672145e-01 8.36575465e-01 -1.40254071e-02 2.01938296e+01] [ 2.61496435e-02 -3.59586606e-04 9.99657975e-01 1.61467352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.152755096 meters 0.017272146497173547 Centerline is valid? [True, True] Translation: X:81.81, Y:20.21, Z:1.62 [[ 8.37342192e-01 -5.46231843e-01 -2.21094547e-02 8.18147488e+01] [ 5.46051166e-01 8.37633977e-01 -1.40514933e-02 2.02074908e+01] [ 2.61950036e-02 -3.06985339e-04 9.99656805e-01 1.61525372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18275509600001 meters 0.016916257767081826 Centerline is valid? [True, True] Translation: X:81.84, Y:20.22, Z:1.62 [[ 8.37574900e-01 -5.45872744e-01 -2.21638098e-02 8.18388364e+01] [ 5.45690926e-01 8.37868046e-01 -1.40908386e-02 2.02226387e+01] [ 2.62621527e-02 -2.92457095e-04 9.99655047e-01 1.61650497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21275509600001 meters 0.016911276388361 Centerline is valid? [True, True] Translation: X:81.86, Y:20.24, Z:1.62 [[ 8.37747214e-01 -5.45616781e-01 -2.19530021e-02 8.18618918e+01] [ 5.45438116e-01 8.38034756e-01 -1.39645550e-02 2.02359545e+01] [ 2.60166744e-02 -2.75237038e-04 9.99661471e-01 1.61717367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24275509600001 meters 0.01686214581810405 Centerline is valid? [True, True] Translation: X:81.89, Y:20.25, Z:1.62 [[ 8.37457135e-01 -5.46081374e-01 -2.14634796e-02 8.18875308e+01] [ 5.45910611e-01 8.37732091e-01 -1.36583061e-02 2.02477453e+01] [ 2.54391922e-02 -2.78895427e-04 9.99676332e-01 1.61835214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27275509600001 meters 0.01705860819336998 Centerline is valid? [True, True] Translation: X:81.91, Y:20.26, Z:1.62 [[ 8.36958271e-01 -5.46863196e-01 -2.10118232e-02 8.19126896e+01] [ 5.46699577e-01 8.37221931e-01 -1.33795064e-02 2.02607036e+01] [ 2.49083188e-02 -2.89066259e-04 9.99689698e-01 1.61967833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.302755096 meters 0.017517688779566377 Centerline is valid? [True, True] Translation: X:81.94, Y:20.27, Z:1.62 [[ 8.36415683e-01 -5.47682249e-01 -2.12828619e-02 8.19380971e+01] [ 5.47514460e-01 8.36686356e-01 -1.35594430e-02 2.02732885e+01] [ 2.52333464e-02 -3.11343888e-04 9.99681540e-01 1.62017748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.332755096 meters 0.017825714697245993 Centerline is valid? [True, True] Translation: X:81.96, Y:20.28, Z:1.62 [[ 8.36058743e-01 -5.48250048e-01 -2.06800191e-02 8.19626726e+01] [ 5.48091735e-01 8.36314406e-01 -1.31782081e-02 2.02848315e+01] [ 2.45199511e-02 -3.16791450e-04 9.99699291e-01 1.62188143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.362755096 meters 0.016937918774365002 Centerline is valid? [True, True] Translation: X:81.99, Y:20.30, Z:1.62 [[ 8.36478385e-01 -5.47621197e-01 -2.03699909e-02 8.19857061e+01] [ 5.47467301e-01 8.36726324e-01 -1.29851265e-02 2.03020066e+01] [ 2.41550381e-02 -2.90126300e-04 9.99708182e-01 1.62345751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.392755096 meters 0.0164669593716228 Centerline is valid? [True, True] Translation: X:82.01, Y:20.32, Z:1.62 [[ 8.36627203e-01 -5.47393616e-01 -2.03752953e-02 8.20095039e+01] [ 5.47239383e-01 8.36875231e-01 -1.29963333e-02 2.03178099e+01] [ 2.41656898e-02 -2.77078065e-04 9.99707929e-01 1.62433941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.422755096 meters 0.015986818752987242 Centerline is valid? [True, True] Translation: X:82.03, Y:20.34, Z:1.63 [[ 8.37772549e-01 -5.45630881e-01 -2.05936451e-02 8.20329031e+01] [ 5.45472583e-01 8.38025592e-01 -1.31441287e-02 2.03352482e+01] [ 2.44298442e-02 -2.21478588e-04 9.99701522e-01 1.62526416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.452755096 meters 0.015767334435602978 Centerline is valid? [True, True] Translation: X:82.06, Y:20.35, Z:1.63 [[ 8.38054501e-01 -5.45189731e-01 -2.08040983e-02 8.20558141e+01] [ 5.45027836e-01 8.38312660e-01 -1.32869284e-02 2.03507832e+01] [ 2.46842359e-02 -2.03642494e-04 9.99695277e-01 1.62546231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.482755096 meters 0.015686620259864538 Centerline is valid? [True, True] Translation: X:82.08, Y:20.37, Z:1.62 [[ 8.38744192e-01 -5.44095660e-01 -2.16354692e-02 8.20790318e+01] [ 5.43919982e-01 8.39023172e-01 -1.38264171e-02 2.03654407e+01] [ 2.56755536e-02 -1.71136944e-04 9.99670314e-01 1.62499896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.512755096 meters 0.01563573262447561 Centerline is valid? [True, True] Translation: X:82.10, Y:20.38, Z:1.63 [[ 8.38911743e-01 -5.43822745e-01 -2.19979354e-02 8.21018807e+01] [ 5.43640906e-01 8.39200093e-01 -1.40630295e-02 2.03808488e+01] [ 2.61084647e-02 -1.61336951e-04 9.99659103e-01 1.62506767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54275509600001 meters 0.015483226272644651 Centerline is valid? [True, True] Translation: X:82.12, Y:20.40, Z:1.63 [[ 8.38918054e-01 -5.43801817e-01 -2.22729084e-02 8.21245862e+01] [ 5.43615194e-01 8.39213656e-01 -1.42464472e-02 2.03966457e+01] [ 2.64389728e-02 -1.56289682e-04 9.99650417e-01 1.62537403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57275509600001 meters 0.01541254526219363 Centerline is valid? [True, True] Translation: X:82.15, Y:20.41, Z:1.63 [[ 8.38991791e-01 -5.43666271e-01 -2.27982423e-02 8.21475809e+01] [ 5.43470459e-01 8.39301473e-01 -1.45909681e-02 2.04115596e+01] [ 2.70672155e-02 -1.48468742e-04 9.99633605e-01 1.62514579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60275509600001 meters 0.01541254526219363 Centerline is valid? [True, True] Translation: X:82.17, Y:20.43, Z:1.63 [[ 8.38823279e-01 -5.43926348e-01 -2.27954746e-02 8.21707121e+01] [ 5.43730515e-01 8.39132948e-01 -1.45952910e-02 2.04265704e+01] [ 2.70671971e-02 -1.51725298e-04 9.99633605e-01 1.62566148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63275509600001 meters 0.015694441149472448 Centerline is valid? [True, True] Translation: X:82.19, Y:20.44, Z:1.62 [[ 8.38532260e-01 -5.44320711e-01 -2.40543751e-02 8.21945656e+01] [ 5.44102552e-01 8.38877188e-01 -1.54102790e-02 2.04416539e+01] [ 2.85668006e-02 -1.66030819e-04 9.99591872e-01 1.62441761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.662755096 meters 0.01553464625663652 Centerline is valid? [True, True] Translation: X:82.22, Y:20.46, Z:1.63 [[ 8.38090827e-01 -5.44991003e-01 -2.42605186e-02 8.22177060e+01] [ 5.44769168e-01 8.38441872e-01 -1.55493107e-02 2.04570298e+01] [ 2.88152690e-02 -1.84647831e-04 9.99584737e-01 1.62516371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.692755096 meters 0.01580204442599002 Centerline is valid? [True, True] Translation: X:82.24, Y:20.47, Z:1.63 [[ 8.37174014e-01 -5.46358073e-01 -2.51500758e-02 8.22421944e+01] [ 5.46119959e-01 8.37551672e-01 -1.61303260e-02 2.04719357e+01] [ 2.98774218e-02 -2.31068599e-04 9.99553543e-01 1.62537924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.722755096 meters 0.016130036987777745 Centerline is valid? [True, True] Translation: X:82.27, Y:20.49, Z:1.63 [[ 8.36628463e-01 -5.47199492e-01 -2.50106256e-02 8.22658895e+01] [ 5.46964154e-01 8.37002182e-01 -1.60487321e-02 2.04860550e+01] [ 2.97158063e-02 -2.53089641e-04 9.99558356e-01 1.62530391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.752755096 meters 0.015993556431454756 Centerline is valid? [True, True] Translation: X:82.29, Y:20.50, Z:1.63 [[ 8.36247333e-01 -5.47802271e-01 -2.45574684e-02 8.22889971e+01] [ 5.47575447e-01 8.36607795e-01 -1.57647569e-02 2.05010838e+01] [ 2.91809391e-02 -2.63830868e-04 9.99574111e-01 1.62659974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.782755096 meters 0.016528155010901106 Centerline is valid? [True, True] Translation: X:82.31, Y:20.51, Z:1.63 [[ 8.35628896e-01 -5.48786228e-01 -2.36225474e-02 8.23125995e+01] [ 5.48576487e-01 8.35962677e-01 -1.51736464e-02 2.05149661e+01] [ 2.80746562e-02 -2.79236681e-04 9.99605790e-01 1.62770764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.812755096 meters 0.0162274424294215 Centerline is valid? [True, True] Translation: X:82.34, Y:20.53, Z:1.63 [[ 8.35193552e-01 -5.49478838e-01 -2.29071643e-02 8.23355003e+01] [ 5.49281659e-01 8.35507585e-01 -1.47218989e-02 2.05306918e+01] [ 2.72284814e-02 -2.86850152e-04 9.99629195e-01 1.62979975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.842755096 meters 0.01600275634832586 Centerline is valid? [True, True] Translation: X:82.36, Y:20.55, Z:1.63 [[ 8.34816400e-01 -5.50067339e-01 -2.25277793e-02 8.23584475e+01] [ 5.49876584e-01 8.35120253e-01 -1.44881139e-02 2.05465641e+01] [ 2.67828430e-02 -2.92583281e-04 9.99641233e-01 1.63126981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.872755096 meters 0.016165080594606925 Centerline is valid? [True, True] Translation: X:82.38, Y:20.56, Z:1.63 [[ 8.34839862e-01 -5.50040364e-01 -2.23159844e-02 8.23812860e+01] [ 5.49852942e-01 8.35138024e-01 -1.43604648e-02 2.05610294e+01] [ 2.65357623e-02 -2.81821254e-04 9.99647825e-01 1.63186771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.902755096 meters 0.016448570850524823 Centerline is valid? [True, True] Translation: X:82.40, Y:20.58, Z:1.63 [[ 8.34798316e-01 -5.50109607e-01 -2.21628413e-02 8.24044062e+01] [ 5.49924658e-01 8.35092416e-01 -1.42663042e-02 2.05756426e+01] [ 2.63560517e-02 -2.78406193e-04 9.99652580e-01 1.63169329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93275509600001 meters 0.01617602138434843 Centerline is valid? [True, True] Translation: X:82.43, Y:20.59, Z:1.63 [[ 8.34824378e-01 -5.50082532e-01 -2.18509724e-02 8.24274563e+01] [ 5.49902594e-01 8.35110253e-01 -1.40713074e-02 2.05919906e+01] [ 2.59883515e-02 -2.68835898e-04 9.99662210e-01 1.63273723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96275509600001 meters 0.016275532218732257 Centerline is valid? [True, True] Translation: X:82.45, Y:20.61, Z:1.63 [[ 8.34716205e-01 -5.50263151e-01 -2.14317841e-02 8.24504412e+01] [ 5.50089907e-01 8.34991255e-01 -1.38093778e-02 2.06069061e+01] [ 2.54941440e-02 -2.62496684e-04 9.99674937e-01 1.63308668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99275509600001 meters 0.016137387102263832 Centerline is valid? [True, True] Translation: X:82.47, Y:20.62, Z:1.63 [[ 8.34415875e-01 -5.50718662e-01 -2.14266894e-02 8.24735678e+01] [ 5.50545507e-01 8.34690890e-01 -1.38116896e-02 2.06228164e+01] [ 2.54910176e-02 -2.71674549e-04 9.99675014e-01 1.63422445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02275509600001 meters 0.016487554373101388 Centerline is valid? [True, True] Translation: X:82.50, Y:20.64, Z:1.63 [[ 8.33913677e-01 -5.51508641e-01 -2.06445781e-02 8.24963474e+01] [ 5.51347950e-01 8.34169132e-01 -1.33152817e-02 2.06377392e+01] [ 2.45645627e-02 -2.78550304e-04 9.99698207e-01 1.63487309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.052755096 meters 0.016432832701093972 Centerline is valid? [True, True] Translation: X:82.52, Y:20.65, Z:1.64 [[ 8.33515187e-01 -5.52133921e-01 -2.00141431e-02 8.25199238e+01] [ 5.51982960e-01 8.33755391e-01 -1.29135285e-02 2.06532451e+01] [ 2.38168968e-02 -2.83843788e-04 9.99716297e-01 1.63602306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.082755096 meters 0.01680721785351454 Centerline is valid? [True, True] Translation: X:82.54, Y:20.67, Z:1.64 [[ 8.33090001e-01 -5.52783471e-01 -1.97859809e-02 8.25430863e+01] [ 5.52635935e-01 8.33324876e-01 -1.27739878e-02 2.06673188e+01] [ 2.35493994e-02 -2.92562569e-04 9.99722632e-01 1.63665356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.112755096 meters 0.01729448109490289 Centerline is valid? [True, True] Translation: X:82.57, Y:20.68, Z:1.64 [[ 8.31976661e-01 -5.54451207e-01 -1.99673513e-02 8.25678230e+01] [ 5.54301325e-01 8.32216164e-01 -1.28956167e-02 2.06822990e+01] [ 2.37671427e-02 -3.39077144e-04 9.99717464e-01 1.63698793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.142755096 meters 0.01766002055247058 Centerline is valid? [True, True] Translation: X:82.59, Y:20.70, Z:1.64 [[ 8.31232730e-01 -5.55560539e-01 -2.01155736e-02 8.25926527e+01] [ 5.55408561e-01 8.31476008e-01 -1.29991287e-02 2.06974593e+01] [ 2.39474198e-02 -3.67060547e-04 9.99713152e-01 1.63736115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.172755096 meters 0.018354310249034264 Centerline is valid? [True, True] Translation: X:82.62, Y:20.71, Z:1.64 [[ 8.30465166e-01 -5.56701463e-01 -2.02753229e-02 8.26164436e+01] [ 5.56547239e-01 8.30712539e-01 -1.31090575e-02 2.07118106e+01] [ 2.41407965e-02 -3.97559370e-04 9.99708489e-01 1.63740270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.202755096 meters 0.01967259344174827 Centerline is valid? [True, True] Translation: X:82.64, Y:20.73, Z:1.64 [[ 8.28876437e-01 -5.59061121e-01 -2.03596482e-02 8.26412538e+01] [ 5.58906247e-01 8.29126315e-01 -1.31666527e-02 2.07254147e+01] [ 2.42416837e-02 -4.65606423e-04 9.99706019e-01 1.63687108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.232755096 meters 0.02088009180826541 Centerline is valid? [True, True] Translation: X:82.67, Y:20.74, Z:1.64 [[ 8.27727305e-01 -5.60755111e-01 -2.05235081e-02 8.26653201e+01] [ 5.60598160e-01 8.27981545e-01 -1.32764517e-02 2.07390298e+01] [ 2.44379241e-02 -5.16159228e-04 9.99701216e-01 1.63678904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.262755096 meters 0.019996916738248736 Centerline is valid? [True, True] Translation: X:82.69, Y:20.76, Z:1.64 [[ 8.26805731e-01 -5.62124952e-01 -2.01945995e-02 8.26883128e+01] [ 5.61973335e-01 8.27052139e-01 -1.30663702e-02 2.07557346e+01] [ 2.40469195e-02 -5.45476657e-04 9.99710682e-01 1.63805285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29275509600001 meters 0.021442679978740293 Centerline is valid? [True, True] Translation: X:82.71, Y:20.77, Z:1.64 [[ 8.24960896e-01 -5.64847573e-01 -1.96656857e-02 8.27125973e+01] [ 5.64704500e-01 8.25195039e-01 -1.27269783e-02 2.07685115e+01] [ 2.34168291e-02 -6.06041823e-04 9.99725605e-01 1.63888076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32275509600001 meters 0.0240878414116166 Centerline is valid? [True, True] Translation: X:82.74, Y:20.78, Z:1.64 [[ 8.24189000e-01 -5.65985781e-01 -1.93025259e-02 8.27377901e+01] [ 5.65848184e-01 8.24414766e-01 -1.24950460e-02 2.07801099e+01] [ 2.29853057e-02 -6.24019774e-04 9.99735608e-01 1.63887270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35275509600001 meters 0.025149843413603164 Centerline is valid? [True, True] Translation: X:82.76, Y:20.79, Z:1.64 [[ 8.23612932e-01 -5.66806426e-01 -1.98043952e-02 8.27617245e+01] [ 5.66661751e-01 8.23850738e-01 -1.28226885e-02 2.07937564e+01] [ 2.35838478e-02 -6.61461173e-04 9.99721644e-01 1.63899506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38275509600001 meters 0.023493846034559923 Centerline is valid? [True, True] Translation: X:82.78, Y:20.81, Z:1.64 [[ 8.22816927e-01 -5.67943760e-01 -2.03024778e-02 8.27837366e+01] [ 5.67791988e-01 8.23067059e-01 -1.31482154e-02 2.08119361e+01] [ 2.41777475e-02 -7.09010052e-04 9.99707424e-01 1.63916198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.412755096 meters 0.02312545871604829 Centerline is valid? [True, True] Translation: X:82.81, Y:20.83, Z:1.64 [[ 8.22688503e-01 -5.68112559e-01 -2.07785315e-02 8.28069994e+01] [ 5.67953501e-01 8.22950541e-01 -1.34620929e-02 2.08279134e+01] [ 2.47476878e-02 -7.26130644e-04 9.99693465e-01 1.63947132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.442755096 meters 0.023026624142317396 Centerline is valid? [True, True] Translation: X:82.83, Y:20.84, Z:1.64 [[ 8.23491124e-01 -5.66948562e-01 -2.07773222e-02 8.28300201e+01] [ 5.66788953e-01 8.23752912e-01 -1.34693636e-02 2.08440184e+01] [ 2.47518159e-02 -6.84455319e-04 9.99693393e-01 1.64002566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.472755096 meters 0.0252153945071303 Centerline is valid? [True, True] Translation: X:82.85, Y:20.86, Z:1.64 [[ 8.24109178e-01 -5.66045906e-01 -2.08829119e-02 8.28547992e+01] [ 5.65884274e-01 8.24373459e-01 -1.35420828e-02 2.08571749e+01] [ 2.48807588e-02 -6.57156742e-04 9.99690210e-01 1.63973085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.502755096 meters 0.021050319269370475 Centerline is valid? [True, True] Translation: X:82.88, Y:20.88, Z:1.64 [[ 8.24794600e-01 -5.65052027e-01 -2.07382278e-02 8.28750732e+01] [ 5.64892187e-01 8.25055043e-01 -1.34533781e-02 2.08791512e+01] [ 2.47120380e-02 -6.18589264e-04 9.99694420e-01 1.64158739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.532755096 meters 0.021085168433719312 Centerline is valid? [True, True] Translation: X:82.90, Y:20.90, Z:1.64 [[ 8.26188747e-01 -5.62992095e-01 -2.12616045e-02 8.28971829e+01] [ 5.62823211e-01 8.26462087e-01 -1.38004021e-02 2.08959365e+01] [ 2.53414273e-02 -5.64787580e-04 9.99678695e-01 1.64157127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.562755096 meters 0.020820786005230848 Centerline is valid? [True, True] Translation: X:82.92, Y:20.91, Z:1.64 [[ 8.26642164e-01 -5.62320568e-01 -2.14082238e-02 8.29210027e+01] [ 5.62148983e-01 8.26919152e-01 -1.39009542e-02 2.09131058e+01] [ 2.55196627e-02 -5.43496338e-04 9.99674173e-01 1.64205146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.592755096 meters 0.01979037350104858 Centerline is valid? [True, True] Translation: X:82.94, Y:20.93, Z:1.64 [[ 8.27000792e-01 -5.61793800e-01 -2.13873015e-02 8.29435944e+01] [ 5.61622169e-01 8.27277134e-01 -1.38954414e-02 2.09312185e+01] [ 2.54995983e-02 -5.20041561e-04 9.99674697e-01 1.64313525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.622755096 meters 0.01963458960924725 Centerline is valid? [True, True] Translation: X:82.97, Y:20.95, Z:1.64 [[ 8.27462655e-01 -5.61123559e-01 -2.11165082e-02 8.29665505e+01] [ 5.60955859e-01 8.27731910e-01 -1.37262522e-02 2.09471095e+01] [ 2.51809311e-02 -4.87467890e-04 9.99682791e-01 1.64377537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.652755096 meters 0.019142667625116933 Centerline is valid? [True, True] Translation: X:82.99, Y:20.96, Z:1.65 [[ 8.28168673e-01 -5.60103341e-01 -2.05157911e-02 8.29893434e+01] [ 5.59944639e-01 8.28422630e-01 -1.33396948e-02 2.09647560e+01] [ 2.44673532e-02 -4.40189884e-04 9.99700533e-01 1.64545521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68275509600001 meters 0.01832048503593809 Centerline is valid? [True, True] Translation: X:83.01, Y:20.98, Z:1.65 [[ 8.28406102e-01 -5.59762710e-01 -2.02247254e-02 8.30119370e+01] [ 5.59608193e-01 8.28652843e-01 -1.31581324e-02 2.09823749e+01] [ 2.41247080e-02 -4.17644874e-04 9.99708870e-01 1.64684443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71275509600001 meters 0.018229349747862517 Centerline is valid? [True, True] Translation: X:83.03, Y:21.00, Z:1.65 [[ 8.28725772e-01 -5.59301798e-01 -1.98769502e-02 8.30340220e+01] [ 5.59152258e-01 8.28964019e-01 -1.29385805e-02 2.09990946e+01] [ 2.37138479e-02 -3.91706470e-04 9.99718710e-01 1.64759065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74275509600001 meters 0.018590817734961854 Centerline is valid? [True, True] Translation: X:83.06, Y:21.01, Z:1.65 [[ 8.28578735e-01 -5.59522317e-01 -1.98004431e-02 8.30567211e+01] [ 5.59373918e-01 8.28815192e-01 -1.28917726e-02 2.10137988e+01] [ 2.36241425e-02 -3.94002801e-04 9.99720833e-01 1.64795393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77275509600001 meters 0.018112492074339303 Centerline is valid? [True, True] Translation: X:83.08, Y:21.03, Z:1.65 [[ 8.28223632e-01 -5.60054662e-01 -1.96059082e-02 8.30797903e+01] [ 5.59909202e-01 8.28455560e-01 -1.27699204e-02 2.10306717e+01] [ 2.33944771e-02 -4.01178623e-04 9.99726231e-01 1.64910151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.802755096 meters 0.01979841026858005 Centerline is valid? [True, True] Translation: X:83.10, Y:21.04, Z:1.65 [[ 8.27092064e-01 -5.61739743e-01 -1.91619325e-02 8.31045849e+01] [ 5.61601077e-01 8.27313891e-01 -1.24882210e-02 2.10433240e+01] [ 2.28680630e-02 -4.32453461e-04 9.99738398e-01 1.64978245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.832755096 meters 0.019570287000379702 Centerline is valid? [True, True] Translation: X:83.13, Y:21.06, Z:1.65 [[ 8.26047461e-01 -5.63278537e-01 -1.90494454e-02 8.31286447e+01] [ 5.63141824e-01 8.26266948e-01 -1.24184215e-02 2.10596852e+01] [ 2.27349574e-02 -4.69333865e-04 9.99741417e-01 1.65088468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.862755096 meters 0.021177043099418015 Centerline is valid? [True, True] Translation: X:83.15, Y:21.07, Z:1.65 [[ 8.24042642e-01 -5.66195318e-01 -1.94058444e-02 8.31530142e+01] [ 5.66054080e-01 8.24270924e-01 -1.26579201e-02 2.10723755e+01] [ 2.31625284e-02 -5.54091498e-04 9.99731559e-01 1.65097649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.892755096 meters 0.021893748690338954 Centerline is valid? [True, True] Translation: X:83.18, Y:21.09, Z:1.65 [[ 8.22793086e-01 -5.68006951e-01 -1.94843814e-02 8.31777560e+01] [ 5.67864951e-01 8.23023536e-01 -1.27144559e-02 2.10873234e+01] [ 2.32580038e-02 -6.03130896e-04 9.99729314e-01 1.65157659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.922755096 meters 0.023325759327913104 Centerline is valid? [True, True] Translation: X:83.20, Y:21.10, Z:1.65 [[ 8.21816994e-01 -5.69420353e-01 -1.94239666e-02 8.32023030e+01] [ 5.69279474e-01 8.22046262e-01 -1.26816140e-02 2.11005356e+01] [ 2.31885683e-02 -6.35699589e-04 9.99730907e-01 1.65188083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.952755096 meters 0.02288304291770766 Centerline is valid? [True, True] Translation: X:83.23, Y:21.12, Z:1.65 [[ 8.20040644e-01 -5.71984346e-01 -1.91637454e-02 8.32262267e+01] [ 5.71847834e-01 8.20264240e-01 -1.25152351e-02 2.11171621e+01] [ 2.28778536e-02 -6.95744865e-04 9.99738026e-01 1.65315763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.982755096 meters 0.025164241694065385 Centerline is valid? [True, True] Translation: X:83.25, Y:21.13, Z:1.65 [[ 8.19387709e-01 -5.72920039e-01 -1.91418753e-02 8.32513564e+01] [ 5.72783939e-01 8.19610955e-01 -1.25077069e-02 2.11297397e+01] [ 2.28548066e-02 -7.15497462e-04 9.99738539e-01 1.65333383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.012755096 meters 0.02690049764523284 Centerline is valid? [True, True] Translation: X:83.28, Y:21.14, Z:1.65 [[ 8.18540378e-01 -5.74103341e-01 -1.99249631e-02 8.32760890e+01] [ 5.73956150e-01 8.18782481e-01 -1.30225565e-02 2.11434945e+01] [ 2.37905039e-02 -7.76566802e-04 9.99716664e-01 1.65263465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04275509600001 meters 0.02506891985965415 Centerline is valid? [True, True] Translation: X:83.30, Y:21.16, Z:1.65 [[ 8.18238129e-01 -5.74525887e-01 -2.01585925e-02 8.32987166e+01] [ 5.74375233e-01 8.18486026e-01 -1.31801935e-02 2.11619572e+01] [ 2.40718886e-02 -7.94059415e-04 9.99709915e-01 1.65296867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07275509600001 meters 0.02561730389560577 Centerline is valid? [True, True] Translation: X:83.32, Y:21.18, Z:1.65 [[ 8.18104276e-01 -5.74704332e-01 -2.05018445e-02 8.33217292e+01] [ 5.74548384e-01 8.18360727e-01 -1.34117318e-02 2.11761553e+01] [ 2.44856847e-02 -8.07106565e-04 9.99699855e-01 1.65294017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10275509600001 meters 0.024285441177500464 Centerline is valid? [True, True] Translation: X:83.34, Y:21.19, Z:1.65 [[ 8.18229329e-01 -5.74507299e-01 -2.10268523e-02 8.33448588e+01] [ 5.74343067e-01 8.18499050e-01 -1.37603232e-02 2.11936384e+01] [ 2.51158648e-02 -8.17526837e-04 9.99684213e-01 1.65310272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13275509600001 meters 0.024768888467908604 Centerline is valid? [True, True] Translation: X:83.37, Y:21.21, Z:1.65 [[ 8.18329439e-01 -5.74363332e-01 -2.10640044e-02 8.33688201e+01] [ 5.74198285e-01 8.18600091e-01 -1.37920106e-02 2.12085404e+01] [ 2.51646211e-02 -8.08506919e-04 9.99682994e-01 1.65345714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.162755096 meters 0.024951901352496565 Centerline is valid? [True, True] Translation: X:83.39, Y:21.22, Z:1.65 [[ 8.19052820e-01 -5.73331384e-01 -2.10618607e-02 8.33923338e+01] [ 5.73165927e-01 8.19323212e-01 -1.37946845e-02 2.12239021e+01] [ 2.51653969e-02 -7.73365717e-04 9.99683002e-01 1.65363622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.192755096 meters 0.023109554178928505 Centerline is valid? [True, True] Translation: X:83.42, Y:21.24, Z:1.66 [[ 8.19396765e-01 -5.72839971e-01 -2.10548957e-02 8.34151988e+01] [ 5.72674354e-01 8.19666883e-01 -1.37944162e-02 2.12425060e+01] [ 2.51599937e-02 -7.54498770e-04 9.99683153e-01 1.65503378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.222755096 meters 0.022039224837151712 Centerline is valid? [True, True] Translation: X:83.44, Y:21.26, Z:1.66 [[ 8.19904297e-01 -5.72125157e-01 -2.07303797e-02 8.34386225e+01] [ 5.71964180e-01 8.20166016e-01 -1.35898057e-02 2.12603896e+01] [ 2.47774226e-02 -7.14694551e-04 9.99692737e-01 1.65619444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.252755096 meters 0.021653575093916456 Centerline is valid? [True, True] Translation: X:83.46, Y:21.28, Z:1.66 [[ 8.20568395e-01 -5.71186713e-01 -2.03285177e-02 8.34620157e+01] [ 5.71031444e-01 8.20819892e-01 -1.33339859e-02 2.12765873e+01] [ 2.43022473e-02 -6.66775465e-04 9.99704434e-01 1.65732980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.282755096 meters 0.021604387139116096 Centerline is valid? [True, True] Translation: X:83.48, Y:21.29, Z:1.66 [[ 8.22035337e-01 -5.69093879e-01 -1.97499856e-02 8.34848309e+01] [ 5.68946561e-01 8.22272350e-01 -1.29611869e-02 2.12925914e+01] [ 2.36159992e-02 -5.82132702e-04 9.99720934e-01 1.65882708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.312755096 meters 0.020534240958905783 Centerline is valid? [True, True] Translation: X:83.51, Y:21.31, Z:1.66 [[ 8.22545661e-01 -5.68378167e-01 -1.91022160e-02 8.35082880e+01] [ 5.68240085e-01 8.22767262e-01 -1.25394817e-02 2.13104473e+01] [ 2.28438456e-02 -5.40348622e-04 9.99738899e-01 1.66022001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.342755096 meters 0.020491917157746287 Centerline is valid? [True, True] Translation: X:83.53, Y:21.33, Z:1.66 [[ 8.23133504e-01 -5.67533685e-01 -1.88878785e-02 8.35316835e+01] [ 5.67398324e-01 8.23350023e-01 -1.24048739e-02 2.13260592e+01] [ 2.25915190e-02 -5.06083321e-04 9.99744651e-01 1.66137844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.372755096 meters 0.01930823425983977 Centerline is valid? [True, True] Translation: X:83.55, Y:21.34, Z:1.66 [[ 8.23688909e-01 -5.66747600e-01 -1.82685497e-02 8.35541895e+01] [ 5.66620710e-01 8.23891340e-01 -1.20012647e-02 2.13439141e+01] [ 2.18529879e-02 -4.66029939e-04 9.99761086e-01 1.66330257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.402755096 meters 0.01963082678147529 Centerline is valid? [True, True] Translation: X:83.58, Y:21.36, Z:1.66 [[ 8.23782567e-01 -5.66619578e-01 -1.80148910e-02 8.35765728e+01] [ 5.66496009e-01 8.23979400e-01 -1.18414986e-02 2.13583351e+01] [ 2.15535240e-02 -4.50543753e-04 9.99767594e-01 1.66410471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43275509600001 meters 0.019236954455446202 Centerline is valid? [True, True] Translation: X:83.60, Y:21.37, Z:1.67 [[ 8.23633537e-01 -5.66846364e-01 -1.76917313e-02 8.35991527e+01] [ 5.66727121e-01 8.23823405e-01 -1.16347503e-02 2.13747455e+01] [ 2.11699782e-02 -4.43613376e-04 9.99775792e-01 1.66561580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46275509600001 meters 0.01983187364525564 Centerline is valid? [True, True] Translation: X:83.62, Y:21.39, Z:1.67 [[ 8.23383227e-01 -5.67209750e-01 -1.76963456e-02 8.36219668e+01] [ 5.67090370e-01 8.23573251e-01 -1.16452495e-02 2.13897014e+01] [ 2.11795360e-02 -4.46924094e-04 9.99775589e-01 1.66611703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49275509600001 meters 0.01983187364525564 Centerline is valid? [True, True] Translation: X:83.64, Y:21.41, Z:1.67 [[ 8.23208325e-01 -5.67463616e-01 -1.76945927e-02 8.36449074e+01] [ 5.67344238e-01 8.23398350e-01 -1.16479123e-02 2.14050034e+01] [ 2.11794649e-02 -4.50266827e-04 9.99775589e-01 1.66663280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52275509600001 meters 0.019807632273115175 Centerline is valid? [True, True] Translation: X:83.67, Y:21.42, Z:1.67 [[ 8.23018878e-01 -5.67748331e-01 -1.73712316e-02 8.36682057e+01] [ 5.67633183e-01 8.23202063e-01 -1.14426100e-02 2.14213408e+01] [ 2.07965565e-02 -4.43003466e-04 9.99783630e-01 1.66744720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.552755096 meters 0.02009447358150647 Centerline is valid? [True, True] Translation: X:83.69, Y:21.44, Z:1.67 [[ 8.22698607e-01 -5.68217175e-01 -1.72117522e-02 8.36913972e+01] [ 5.68104085e-01 8.22878511e-01 -1.13447773e-02 2.14370201e+01] [ 2.06094783e-02 -4.44734312e-04 9.99787503e-01 1.66809710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.582755096 meters 0.020450666015486046 Centerline is valid? [True, True] Translation: X:83.72, Y:21.45, Z:1.67 [[ 8.21614906e-01 -5.69779910e-01 -1.73147704e-02 8.37155975e+01] [ 5.69665727e-01 8.21797189e-01 -1.14166028e-02 2.14535356e+01] [ 2.07341806e-02 -4.83580237e-04 9.99784907e-01 1.66882917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.612755096 meters 0.020784689642113763 Centerline is valid? [True, True] Translation: X:83.74, Y:21.47, Z:1.67 [[ 8.20971565e-01 -5.70708901e-01 -1.72348526e-02 8.37396277e+01] [ 5.70595835e-01 8.21152301e-01 -1.13706377e-02 2.14691619e+01] [ 2.06417630e-02 -4.99164838e-04 9.99786812e-01 1.66933937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.642755096 meters 0.0223687620661812 Centerline is valid? [True, True] Translation: X:83.76, Y:21.48, Z:1.67 [[ 8.19194791e-01 -5.73241970e-01 -1.77070057e-02 8.37640026e+01] [ 5.73123074e-01 8.19385938e-01 -1.16887386e-02 2.14829238e+01] [ 2.12093470e-02 -5.72939778e-04 9.99774892e-01 1.66907960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.672755096 meters 0.022798750113729564 Centerline is valid? [True, True] Translation: X:83.79, Y:21.50, Z:1.67 [[ 8.18017521e-01 -5.74921548e-01 -1.76790481e-02 8.37881783e+01] [ 5.74803355e-01 8.18208310e-01 -1.16732610e-02 2.14989598e+01] [ 2.11763533e-02 -6.13044155e-04 9.99775568e-01 1.66940009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.702755096 meters 0.023041628499226228 Centerline is valid? [True, True] Translation: X:83.81, Y:21.52, Z:1.67 [[ 8.16900030e-01 -5.76497362e-01 -1.80314328e-02 8.38125406e+01] [ 5.76374636e-01 8.17098742e-01 -1.19131906e-02 2.15150613e+01] [ 2.16013840e-02 -6.60974756e-04 9.99766444e-01 1.66941115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.732755096 meters 0.027484215159553176 Centerline is valid? [True, True] Translation: X:83.84, Y:21.53, Z:1.67 [[ 8.15280603e-01 -5.78759422e-01 -1.88432954e-02 8.38390453e+01] [ 5.78625839e-01 8.15497991e-01 -1.24565800e-02 2.15255451e+01] [ 2.25760326e-02 -7.47609595e-04 9.99744849e-01 1.66879844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.762755096 meters 0.02543959993251279 Centerline is valid? [True, True] Translation: X:83.86, Y:21.54, Z:1.67 [[ 8.14391277e-01 -5.80015239e-01 -1.86861182e-02 8.38609159e+01] [ 5.79884128e-01 8.14605257e-01 -1.23560767e-02 2.15445147e+01] [ 2.23885229e-02 -7.73102289e-04 9.99749047e-01 1.66973555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79275509600001 meters 0.026405598767757478 Centerline is valid? [True, True] Translation: X:83.88, Y:21.56, Z:1.67 [[ 8.13943345e-01 -5.80642945e-01 -1.87083435e-02 8.38842006e+01] [ 5.80511540e-01 8.14157941e-01 -1.23773685e-02 2.15593594e+01] [ 2.24183781e-02 -7.85932533e-04 9.99748368e-01 1.67028817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82275509600001 meters 0.02780013285828036 Centerline is valid? [True, True] Translation: X:83.91, Y:21.57, Z:1.67 [[ 8.13919545e-01 -5.80667441e-01 -1.89814674e-02 8.39072309e+01] [ 5.80532113e-01 8.14140460e-01 -1.25609239e-02 2.15730691e+01] [ 2.27473001e-02 -7.95769956e-04 9.99740930e-01 1.67044833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85275509600001 meters 0.026429787818743947 Centerline is valid? [True, True] Translation: X:83.93, Y:21.59, Z:1.67 [[ 8.14107674e-01 -5.80398790e-01 -1.91295296e-02 8.39301789e+01] [ 5.80261170e-01 8.14332008e-01 -1.26631856e-02 2.15916127e+01] [ 2.29274858e-02 -7.90926617e-04 9.99736818e-01 1.67112241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88275509600001 meters 0.02948682410872753 Centerline is valid? [True, True] Translation: X:83.96, Y:21.60, Z:1.67 [[ 8.14543381e-01 -5.79788449e-01 -1.90901543e-02 8.39554325e+01] [ 5.79651084e-01 8.14766694e-01 -1.26433870e-02 2.16040753e+01] [ 2.28845117e-02 -7.67041438e-04 9.99737821e-01 1.67082935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.912755096 meters 0.026461934558287076 Centerline is valid? [True, True] Translation: X:83.98, Y:21.63, Z:1.67 [[ 8.15990994e-01 -5.77745316e-01 -1.92105860e-02 8.39760800e+01] [ 5.77605542e-01 8.16216788e-01 -1.27276440e-02 2.16251000e+01] [ 2.30333396e-02 -7.10498047e-04 9.99734445e-01 1.67197690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.942755096 meters 0.024826082678945427 Centerline is valid? [True, True] Translation: X:84.00, Y:21.64, Z:1.67 [[ 8.16820221e-01 -5.76572824e-01 -1.91964920e-02 8.39984199e+01] [ 5.76432769e-01 8.17045487e-01 -1.27253659e-02 2.16438511e+01] [ 2.30215073e-02 -6.71150826e-04 9.99734745e-01 1.67306274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.972755096 meters 0.023624724358486233 Centerline is valid? [True, True] Translation: X:84.02, Y:21.66, Z:1.67 [[ 8.17798357e-01 -5.75177540e-01 -1.94073106e-02 8.40207970e+01] [ 5.75033828e-01 8.18028359e-01 -1.28724602e-02 2.16618956e+01] [ 2.32796804e-02 -6.32783293e-04 9.99728791e-01 1.67393252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.002755096 meters 0.02072200610152301 Centerline is valid? [True, True] Translation: X:84.04, Y:21.68, Z:1.68 [[ 8.20135490e-01 -5.71839741e-01 -1.94187678e-02 8.40421178e+01] [ 5.71694752e-01 8.20365179e-01 -1.28873198e-02 2.16830910e+01] [ 2.32999626e-02 -5.32259307e-04 9.99728377e-01 1.67546965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.032755096 meters 0.020966231867967866 Centerline is valid? [True, True] Translation: X:84.07, Y:21.70, Z:1.68 [[ 8.21511721e-01 -5.69859350e-01 -1.94631344e-02 8.40653630e+01] [ 5.69712996e-01 8.21742112e-01 -1.29229520e-02 2.16989086e+01] [ 2.33579421e-02 -4.72044094e-04 9.99727055e-01 1.67572165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.062755096 meters 0.01837960186995938 Centerline is valid? [True, True] Translation: X:84.09, Y:21.72, Z:1.68 [[ 8.23809759e-01 -5.66544335e-01 -1.91049065e-02 8.40862984e+01] [ 5.66402350e-01 8.24031177e-01 -1.26884478e-02 2.17205337e+01] [ 2.29316068e-02 -3.68196764e-04 9.99736968e-01 1.67699920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.092755096 meters 0.0173599598708708 Centerline is valid? [True, True] Translation: X:84.11, Y:21.74, Z:1.68 [[ 8.24586651e-01 -5.65409609e-01 -1.92049264e-02 8.41085090e+01] [ 5.65265665e-01 8.24810199e-01 -1.27618320e-02 2.17390038e+01] [ 2.30560816e-02 -3.32649125e-04 9.99734118e-01 1.67791843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.122755096 meters 0.01716513974134945 Centerline is valid? [True, True] Translation: X:84.13, Y:21.76, Z:1.68 [[ 8.25281676e-01 -5.64389926e-01 -1.93433872e-02 8.41314216e+01] [ 5.64243463e-01 8.25508280e-01 -1.28605538e-02 2.17552852e+01] [ 2.32264933e-02 -3.00800369e-04 9.99730183e-01 1.67819354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.152755096 meters 0.016655786311147294 Centerline is valid? [True, True] Translation: X:84.15, Y:21.77, Z:1.68 [[ 8.25619992e-01 -5.63896282e-01 -1.93031348e-02 8.41543983e+01] [ 5.63750204e-01 8.25845568e-01 -1.28376216e-02 2.17722603e+01] [ 2.31804954e-02 -2.83149150e-04 9.99731256e-01 1.67904978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18275509600001 meters 0.016569973043107974 Centerline is valid? [True, True] Translation: X:84.18, Y:21.79, Z:1.68 [[ 8.25884580e-01 -5.63491362e-01 -1.98026385e-02 8.41778877e+01] [ 5.63337294e-01 8.26121910e-01 -1.31788646e-02 2.17883552e+01] [ 2.37855699e-02 -2.71343699e-04 9.99717046e-01 1.67951042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21275509600001 meters 0.016569520774215443 Centerline is valid? [True, True] Translation: X:84.20, Y:21.80, Z:1.68 [[ 8.25518730e-01 -5.64037926e-01 -1.94947297e-02 8.42013908e+01] [ 5.63888563e-01 8.25748837e-01 -1.29825638e-02 2.18034520e+01] [ 2.34204087e-02 -2.75505499e-04 9.99725667e-01 1.68013042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24275509600001 meters 0.017071706942153257 Centerline is valid? [True, True] Translation: X:84.23, Y:21.82, Z:1.68 [[ 8.24773473e-01 -5.65132579e-01 -1.93361391e-02 8.42254066e+01] [ 5.64985765e-01 8.25000048e-01 -1.28843531e-02 2.18173805e+01] [ 2.32336833e-02 -2.97970676e-04 9.99730017e-01 1.68103828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27275509600001 meters 0.0171902267568188 Centerline is valid? [True, True] Translation: X:84.25, Y:21.83, Z:1.68 [[ 8.24202138e-01 -5.65967441e-01 -1.92792945e-02 8.42500241e+01] [ 5.65821633e-01 8.24427532e-01 -1.28500657e-02 2.18333093e+01] [ 2.31671000e-02 -3.17590274e-04 9.99731556e-01 1.68184404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.302755096 meters 0.01748441730665449 Centerline is valid? [True, True] Translation: X:84.27, Y:21.85, Z:1.68 [[ 8.23409373e-01 -5.67118492e-01 -1.93292452e-02 8.42748605e+01] [ 5.66972068e-01 8.23636144e-01 -1.28909573e-02 2.18485862e+01] [ 2.32309652e-02 -3.44607068e-04 9.99730065e-01 1.68242226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.332755096 meters 0.018594123616225696 Centerline is valid? [True, True] Translation: X:84.30, Y:21.86, Z:1.68 [[ 8.21874337e-01 -5.69334050e-01 -1.95272328e-02 8.42997734e+01] [ 5.69185076e-01 8.22106182e-01 -1.30297509e-02 2.18609651e+01] [ 2.34717397e-02 -4.05791602e-04 9.99724418e-01 1.68256452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.362755096 meters 0.018739092737479316 Centerline is valid? [True, True] Translation: X:84.32, Y:21.88, Z:1.68 [[ 8.20960054e-01 -5.70632782e-01 -2.00703099e-02 8.43246469e+01] [ 5.70475696e-01 8.21205226e-01 -1.33961424e-02 2.18762367e+01] [ 2.41261214e-02 -4.51926183e-04 9.99708821e-01 1.68287052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.392755096 meters 0.01988496622744957 Centerline is valid? [True, True] Translation: X:84.35, Y:21.89, Z:1.68 [[ 8.19939866e-01 -5.72083464e-01 -2.04725820e-02 8.43487945e+01] [ 5.71920292e-01 8.20195258e-01 -1.36717879e-02 2.18894104e+01] [ 2.46129184e-02 -4.98641156e-04 9.99696932e-01 1.68253234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.422755096 meters 0.020224756910605646 Centerline is valid? [True, True] Translation: X:84.37, Y:21.90, Z:1.68 [[ 8.17936827e-01 -5.74909934e-01 -2.13989270e-02 8.43735922e+01] [ 5.74732491e-01 8.18216475e-01 -1.42955436e-02 2.19037129e+01] [ 2.57276047e-02 -6.05807052e-04 9.99668807e-01 1.68273218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.452755096 meters 0.02171376137017659 Centerline is valid? [True, True] Translation: X:84.40, Y:21.92, Z:1.68 [[ 8.17201489e-01 -5.75945919e-01 -2.16338590e-02 8.43982953e+01] [ 5.75764730e-01 8.17487547e-01 -1.44598095e-02 2.19166605e+01] [ 2.60134786e-02 -6.39435106e-04 9.99661388e-01 1.68266094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.482755096 meters 0.023194609576639724 Centerline is valid? [True, True] Translation: X:84.42, Y:21.93, Z:1.68 [[ 8.15999510e-01 -5.77619282e-01 -2.23777764e-02 8.44230523e+01] [ 5.77425955e-01 8.16305982e-01 -1.49603031e-02 2.19292528e+01] [ 2.69084723e-02 -7.13908944e-04 9.99637647e-01 1.68246256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.512755096 meters 0.02361612043824033 Centerline is valid? [True, True] Translation: X:84.45, Y:21.94, Z:1.68 [[ 8.15613754e-01 -5.78140626e-01 -2.29699931e-02 8.44476508e+01] [ 5.77936997e-01 8.15936799e-01 -1.53612565e-02 2.19439998e+01] [ 2.76230291e-02 -7.46356747e-04 9.99618133e-01 1.68256434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54275509600001 meters 0.023289747173787418 Centerline is valid? [True, True] Translation: X:84.47, Y:21.96, Z:1.68 [[ 8.15030888e-01 -5.78945780e-01 -2.33759781e-02 8.44716475e+01] [ 5.78734962e-01 8.15365670e-01 -1.56418740e-02 2.19600137e+01] [ 2.81157670e-02 -7.79885322e-04 9.99604369e-01 1.68326255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57275509600001 meters 0.02387459558695603 Centerline is valid? [True, True] Translation: X:84.50, Y:21.97, Z:1.68 [[ 8.14207564e-01 -5.80077914e-01 -2.39928459e-02 8.44969804e+01] [ 5.79856034e-01 8.14560569e-01 -1.60642213e-02 2.19739173e+01] [ 2.88621262e-02 -8.32786007e-04 9.99583055e-01 1.68342246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60275509600001 meters 0.02468946796565032 Centerline is valid? [True, True] Translation: X:84.52, Y:21.99, Z:1.68 [[ 8.14007758e-01 -5.80358122e-01 -2.39962519e-02 8.45203058e+01] [ 5.80136050e-01 8.14360947e-01 -1.60751886e-02 2.19873880e+01] [ 2.88709767e-02 -8.35762598e-04 9.99582797e-01 1.68369344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63275509600001 meters 0.024499767774328014 Centerline is valid? [True, True] Translation: X:84.54, Y:22.00, Z:1.68 [[ 8.14093702e-01 -5.80245089e-01 -2.38134703e-02 8.45442314e+01] [ 5.80026114e-01 8.14441506e-01 -1.59606098e-02 2.20032178e+01] [ 2.86557441e-02 -8.19002743e-04 9.99589004e-01 1.68418509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.662755096 meters 0.023417278018283947 Centerline is valid? [True, True] Translation: X:84.57, Y:22.02, Z:1.69 [[ 8.14641533e-01 -5.79502111e-01 -2.31619337e-02 8.45672175e+01] [ 5.79294412e-01 8.14970379e-01 -1.55326932e-02 2.20200091e+01] [ 2.78775184e-02 -7.64001778e-04 9.99611054e-01 1.68581114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.692755096 meters 0.02342036561223132 Centerline is valid? [True, True] Translation: X:84.59, Y:22.04, Z:1.69 [[ 8.15144450e-01 -5.78800167e-01 -2.30193920e-02 8.45905413e+01] [ 5.78594542e-01 8.15469088e-01 -1.54441703e-02 2.20353871e+01] [ 2.77106910e-02 -7.29664842e-04 9.99615719e-01 1.68650760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.722755096 meters 0.023064083000833294 Centerline is valid? [True, True] Translation: X:84.61, Y:22.05, Z:1.69 [[ 8.15665276e-01 -5.78075383e-01 -2.27817523e-02 8.46144070e+01] [ 5.77873565e-01 8.15983070e-01 -1.52896311e-02 2.20513724e+01] [ 2.74280836e-02 -6.93751211e-04 9.99623539e-01 1.68730213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.752755096 meters 0.02275849352742317 Centerline is valid? [True, True] Translation: X:84.64, Y:22.07, Z:1.69 [[ 8.16384691e-01 -5.77055756e-01 -2.28624467e-02 8.46372951e+01] [ 5.76851913e-01 8.16704490e-01 -1.53507597e-02 2.20667139e+01] [ 2.75301071e-02 -6.56120918e-04 9.99620759e-01 1.68797262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.782755096 meters 0.022020768460958916 Centerline is valid? [True, True] Translation: X:84.66, Y:22.08, Z:1.69 [[ 8.17694740e-01 -5.75220954e-01 -2.22748048e-02 8.46601358e+01] [ 5.75026697e-01 8.17997874e-01 -1.49591503e-02 2.20820992e+01] [ 2.68255597e-02 -5.76588896e-04 9.99639964e-01 1.68901137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.812755096 meters 0.021526207066599908 Centerline is valid? [True, True] Translation: X:84.68, Y:22.10, Z:1.69 [[ 8.18532887e-01 -5.74031995e-01 -2.21626095e-02 8.46828855e+01] [ 5.73839175e-01 8.18832697e-01 -1.48867604e-02 2.20977227e+01] [ 2.66929461e-02 -5.32470621e-04 9.99643538e-01 1.68972093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.842755096 meters 0.020297957536579574 Centerline is valid? [True, True] Translation: X:84.71, Y:22.12, Z:1.69 [[ 8.20085914e-01 -5.71832050e-01 -2.16148242e-02 8.47060673e+01] [ 5.71647770e-01 8.20370592e-01 -1.45230683e-02 2.21154155e+01] [ 2.60369220e-02 -4.45902345e-04 9.99660882e-01 1.69094140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.872755096 meters 0.019801746646600647 Centerline is valid? [True, True] Translation: X:84.73, Y:22.13, Z:1.69 [[ 8.20705357e-01 -5.70962682e-01 -2.10791812e-02 8.47293831e+01] [ 5.70786943e-01 8.20975916e-01 -1.41708039e-02 2.21321625e+01] [ 2.53965003e-02 -4.01666753e-04 9.99677376e-01 1.69202661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.902755096 meters 0.018481063248093316 Centerline is valid? [True, True] Translation: X:84.75, Y:22.15, Z:1.69 [[ 8.21259604e-01 -5.70190709e-01 -2.03768830e-02 8.47516846e+01] [ 5.70026066e-01 8.21512280e-01 -1.37061187e-02 2.21503283e+01] [ 2.45549612e-02 -3.59072843e-04 9.99698417e-01 1.69408408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93275509600001 meters 0.018083127037766107 Centerline is valid? [True, True] Translation: X:84.77, Y:22.17, Z:1.70 [[ 8.22129798e-01 -5.68972991e-01 -1.92958818e-02 8.47749923e+01] [ 5.68824872e-01 8.22356154e-01 -1.29853997e-02 2.21658075e+01] [ 2.32564288e-02 -3.00293429e-04 9.99729488e-01 1.69587327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96275509600001 meters 0.017898768039331558 Centerline is valid? [True, True] Translation: X:84.80, Y:22.18, Z:1.70 [[ 8.22135546e-01 -5.68982256e-01 -1.87706186e-02 8.47983632e+01] [ 5.68842012e-01 8.22349749e-01 -1.26355077e-02 2.21811143e+01] [ 2.26253931e-02 -2.89416456e-04 9.99743971e-01 1.69735312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99275509600001 meters 0.018025802136235038 Centerline is valid? [True, True] Translation: X:84.82, Y:22.20, Z:1.70 [[ 8.22080051e-01 -5.69064835e-01 -1.86976699e-02 8.48215943e+01] [ 5.68925512e-01 8.22292608e-01 -1.25947969e-02 2.21960664e+01] [ 2.25422118e-02 -2.83650192e-04 9.99745852e-01 1.69828055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02275509600001 meters 0.017969974700135852 Centerline is valid? [True, True] Translation: X:84.85, Y:22.21, Z:1.70 [[ 8.21847619e-01 -5.69413847e-01 -1.82855534e-02 8.48454318e+01] [ 5.69280508e-01 8.22050967e-01 -1.23252292e-02 2.22115860e+01] [ 2.20498130e-02 -2.80148877e-04 9.99756834e-01 1.69906722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.052755096 meters 0.018431764333388626 Centerline is valid? [True, True] Translation: X:84.87, Y:22.23, Z:1.70 [[ 8.21334576e-01 -5.70161289e-01 -1.80449198e-02 8.48691224e+01] [ 5.70031460e-01 8.21532726e-01 -1.21702472e-02 2.22256444e+01] [ 2.17634960e-02 -2.90327151e-04 9.99763105e-01 1.69925344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.082755096 meters 0.018616295012092426 Centerline is valid? [True, True] Translation: X:84.89, Y:22.24, Z:1.70 [[ 8.20773604e-01 -5.70959204e-01 -1.83378837e-02 8.48937279e+01] [ 5.70825251e-01 8.20978373e-01 -1.23710877e-02 2.22408720e+01] [ 2.21183924e-02 -3.13864811e-04 9.99755309e-01 1.69932675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.112755096 meters 0.019761465705636836 Centerline is valid? [True, True] Translation: X:84.92, Y:22.25, Z:1.70 [[ 8.19597280e-01 -5.72652890e-01 -1.81374237e-02 8.49181981e+01] [ 5.72522123e-01 8.19797868e-01 -1.22423144e-02 2.22535839e+01] [ 2.18796180e-02 -3.50308757e-04 9.99760551e-01 1.69927165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.142755096 meters 0.019655140086949265 Centerline is valid? [True, True] Translation: X:84.94, Y:22.27, Z:1.70 [[ 8.18948866e-01 -5.73578693e-01 -1.81724224e-02 8.49424279e+01] [ 5.73447546e-01 8.19150379e-01 -1.22706204e-02 2.22691872e+01] [ 2.19241132e-02 -3.71920347e-04 9.99759569e-01 1.69970545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.172755096 meters 0.019957723493020902 Centerline is valid? [True, True] Translation: X:84.97, Y:22.28, Z:1.70 [[ 8.18258970e-01 -5.74560382e-01 -1.82380390e-02 8.49671516e+01] [ 5.74428375e-01 8.18462102e-01 -1.23219187e-02 2.22848658e+01] [ 2.20068300e-02 -3.93926587e-04 9.99757743e-01 1.69979551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.202755096 meters 0.021773396921652113 Centerline is valid? [True, True] Translation: X:84.99, Y:22.30, Z:1.70 [[ 8.17189608e-01 -5.76067096e-01 -1.86506159e-02 8.49927167e+01] [ 5.75929293e-01 8.17402293e-01 -1.26072025e-02 2.22975655e+01] [ 2.25076507e-02 -4.38961161e-04 9.99746574e-01 1.69920552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.232755096 meters 0.0203044850218186 Centerline is valid? [True, True] Translation: X:85.02, Y:22.32, Z:1.70 [[ 8.16744277e-01 -5.76688977e-01 -1.89369934e-02 8.50151871e+01] [ 5.76546996e-01 8.16963654e-01 -1.28043042e-02 2.23157734e+01] [ 2.28549364e-02 -4.60224499e-04 9.99738686e-01 1.69981048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.262755096 meters 0.022336642131760905 Centerline is valid? [True, True] Translation: X:85.04, Y:22.33, Z:1.70 [[ 8.16120614e-01 -5.77565432e-01 -1.91132245e-02 8.50405368e+01] [ 5.77420878e-01 8.16344252e-01 -1.29302586e-02 2.23277510e+01] [ 2.30710414e-02 -4.83724281e-04 9.99733711e-01 1.69865537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29275509600001 meters 0.02097539000083094 Centerline is valid? [True, True] Translation: X:85.06, Y:22.35, Z:1.70 [[ 8.15850518e-01 -5.77938798e-01 -1.93566283e-02 8.50631315e+01] [ 5.77790550e-01 8.16079959e-01 -1.30989133e-02 2.23452914e+01] [ 2.33669266e-02 -4.97321733e-04 9.99726832e-01 1.69946046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32275509600001 meters 0.022997406296347212 Centerline is valid? [True, True] Translation: X:85.09, Y:22.36, Z:1.70 [[ 8.15701638e-01 -5.78146121e-01 -1.94396531e-02 8.50880568e+01] [ 5.77996461e-01 8.15933094e-01 -1.31634478e-02 2.23567743e+01] [ 2.34718526e-02 -4.98604817e-04 9.99724374e-01 1.69910735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35275509600001 meters 0.022749089608254183 Centerline is valid? [True, True] Translation: X:85.11, Y:22.37, Z:1.70 [[ 8.15643437e-01 -5.78229762e-01 -1.93939755e-02 8.51114945e+01] [ 5.78080678e-01 8.15873825e-01 -1.31389513e-02 2.23721746e+01] [ 2.34203697e-02 -4.94583101e-04 9.99725583e-01 1.69956382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38275509600001 meters 0.02122825441736988 Centerline is valid? [True, True] Translation: X:85.13, Y:22.39, Z:1.70 [[ 8.15432389e-01 -5.78537099e-01 -1.91008855e-02 8.51333266e+01] [ 5.78392387e-01 8.15655923e-01 -1.29484243e-02 2.23891640e+01] [ 2.30708943e-02 -4.89242182e-04 9.99733712e-01 1.70081942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.412755096 meters 0.02122825441736988 Centerline is valid? [True, True] Translation: X:85.16, Y:22.40, Z:1.70 [[ 8.15252536e-01 -5.78790647e-01 -1.90968584e-02 8.51560582e+01] [ 5.78645865e-01 8.15476025e-01 -1.29543614e-02 2.24047859e+01] [ 2.30708934e-02 -4.89242163e-04 9.99733712e-01 1.70133422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.442755096 meters 0.021113210286382456 Centerline is valid? [True, True] Translation: X:85.18, Y:22.42, Z:1.70 [[ 8.15254508e-01 -5.78792736e-01 -1.89487977e-02 8.51791359e+01] [ 5.78649995e-01 8.15474549e-01 -1.28624758e-02 2.24203504e+01] [ 2.28969698e-02 -4.78530313e-04 9.99737715e-01 1.70177190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.472755096 meters 0.021190948226302082 Centerline is valid? [True, True] Translation: X:85.20, Y:22.44, Z:1.70 [[ 8.15277936e-01 -5.78774013e-01 -1.85075329e-02 8.52021316e+01] [ 5.78637672e-01 8.15487847e-01 -1.25704162e-02 2.24352039e+01] [ 2.23680984e-02 -4.60772772e-04 9.99749697e-01 1.70243005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.502755096 meters 0.023250977736965217 Centerline is valid? [True, True] Translation: X:85.23, Y:22.45, Z:1.70 [[ 8.15284328e-01 -5.78763633e-01 -1.85505197e-02 8.52274099e+01] [ 5.78626573e-01 8.15495215e-01 -1.26032648e-02 2.24463634e+01] [ 2.24221714e-02 -4.58579357e-04 9.99748486e-01 1.70279838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.532755096 meters 0.02134514256745352 Centerline is valid? [True, True] Translation: X:85.25, Y:22.46, Z:1.70 [[ 8.15189717e-01 -5.78904513e-01 -1.83109395e-02 8.52490289e+01] [ 5.78770912e-01 8.15395217e-01 -1.24447236e-02 2.24641543e+01] [ 2.21349591e-02 -4.53028403e-04 9.99754889e-01 1.70406604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.562755096 meters 0.02149662812298773 Centerline is valid? [True, True] Translation: X:85.27, Y:22.48, Z:1.71 [[ 8.14981294e-01 -5.79214328e-01 -1.77835126e-02 8.52731463e+01] [ 5.79088223e-01 8.15175176e-01 -1.20939334e-02 2.24791549e+01] [ 2.15016575e-02 -4.41893170e-04 9.99768715e-01 1.70520227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.592755096 meters 0.02091746828264082 Centerline is valid? [True, True] Translation: X:85.30, Y:22.49, Z:1.71 [[ 8.14683497e-01 -5.79660916e-01 -1.68529655e-02 8.52969200e+01] [ 5.79547616e-01 8.14857682e-01 -1.14681681e-02 2.24940471e+01] [ 2.03804172e-02 -4.24168706e-04 9.99792208e-01 1.70715999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.622755096 meters 0.020943290383966206 Centerline is valid? [True, True] Translation: X:85.32, Y:22.51, Z:1.71 [[ 8.14467439e-01 -5.79962464e-01 -1.69213414e-02 8.53205856e+01] [ 5.79848148e-01 8.14643086e-01 -1.15224329e-02 2.25090295e+01] [ 2.04674324e-02 -4.27162073e-04 9.99790429e-01 1.70825067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.652755096 meters 0.021073614363499985 Centerline is valid? [True, True] Translation: X:85.34, Y:22.52, Z:1.71 [[ 8.14298259e-01 -5.80201917e-01 -1.68547060e-02 8.53442532e+01] [ 5.80088396e-01 8.14472562e-01 -1.14846684e-02 2.25242947e+01] [ 2.03911222e-02 -4.25273863e-04 9.99791989e-01 1.70892967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68275509600001 meters 0.02053650378614163 Centerline is valid? [True, True] Translation: X:85.37, Y:22.54, Z:1.71 [[ 8.14226582e-01 -5.80309217e-01 -1.66218710e-02 8.53678932e+01] [ 5.80198684e-01 8.14396120e-01 -1.13334240e-02 2.25400348e+01] [ 2.01136777e-02 -4.16012577e-04 9.99797613e-01 1.71005900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71275509600001 meters 0.020207531671269197 Centerline is valid? [True, True] Translation: X:85.39, Y:22.56, Z:1.71 [[ 8.14225152e-01 -5.80317254e-01 -1.64099795e-02 8.53913619e+01] [ 5.80209376e-01 8.14390398e-01 -1.11963979e-02 2.25561987e+01] [ 1.98615926e-02 -4.04835244e-04 9.99802657e-01 1.71090479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74275509600001 meters 0.02060987267066717 Centerline is valid? [True, True] Translation: X:85.41, Y:22.57, Z:1.71 [[ 8.14282426e-01 -5.80237195e-01 -1.63990278e-02 8.54145054e+01] [ 5.80129295e-01 8.14447445e-01 -1.11964441e-02 2.25702840e+01] [ 1.98527396e-02 -3.96488768e-04 9.99802836e-01 1.71154262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77275509600001 meters 0.020168157864152006 Centerline is valid? [True, True] Translation: X:85.44, Y:22.59, Z:1.71 [[ 8.14228369e-01 -5.80317217e-01 -1.62508402e-02 8.54383271e+01] [ 5.80211172e-01 8.14390431e-01 -1.11004873e-02 2.25860131e+01] [ 1.96763327e-02 -3.90587389e-04 9.99806326e-01 1.71215688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.802755096 meters 0.01998908101425025 Centerline is valid? [True, True] Translation: X:85.46, Y:22.60, Z:1.71 [[ 8.13849227e-01 -5.80849492e-01 -1.62266547e-02 8.54616264e+01] [ 5.80743721e-01 8.14010879e-01 -1.10914405e-02 2.26016468e+01] [ 1.96511310e-02 -3.96767622e-04 9.99806819e-01 1.71247822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.832755096 meters 0.020134918029488077 Centerline is valid? [True, True] Translation: X:85.49, Y:22.62, Z:1.71 [[ 8.13411729e-01 -5.81460376e-01 -1.62846767e-02 8.54856992e+01] [ 5.81353820e-01 8.13574622e-01 -1.11386941e-02 2.26180114e+01] [ 1.97255089e-02 -4.06814587e-04 9.99805350e-01 1.71277042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.862755096 meters 0.02160075701304434 Centerline is valid? [True, True] Translation: X:85.51, Y:22.63, Z:1.71 [[ 8.13684814e-01 -5.81084963e-01 -1.60402742e-02 8.55102113e+01] [ 5.80981384e-01 8.13842808e-01 -1.09779053e-02 2.26320221e+01] [ 1.94333575e-02 -3.86545926e-04 9.99811080e-01 1.71257266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.892755096 meters 0.020320190357538955 Centerline is valid? [True, True] Translation: X:85.53, Y:22.65, Z:1.71 [[ 8.13321164e-01 -5.81588596e-01 -1.62292705e-02 8.55324833e+01] [ 5.81482588e-01 8.13482972e-01 -1.11110295e-02 2.26496945e+01] [ 1.96642832e-02 -4.00202777e-04 9.99806559e-01 1.71309440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.922755096 meters 0.021431000307247094 Centerline is valid? [True, True] Translation: X:85.56, Y:22.66, Z:1.71 [[ 8.13959052e-01 -5.80695507e-01 -1.62292881e-02 8.55558636e+01] [ 5.80589177e-01 8.14120746e-01 -1.11183634e-02 2.26642917e+01] [ 1.96689838e-02 -3.72656467e-04 9.99806477e-01 1.71400412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.952755096 meters 0.020164007988804328 Centerline is valid? [True, True] Translation: X:85.58, Y:22.68, Z:1.71 [[ 8.13849216e-01 -5.80838592e-01 -1.66127420e-02 8.55782347e+01] [ 5.80727129e-01 8.14018663e-01 -1.13849638e-02 2.26820713e+01] [ 2.01359084e-02 -3.81826055e-04 9.99797179e-01 1.71330990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.982755096 meters 0.019996945056488726 Centerline is valid? [True, True] Translation: X:85.60, Y:22.70, Z:1.71 [[ 8.13792435e-01 -5.80905137e-01 -1.70614832e-02 8.56008039e+01] [ 5.80787421e-01 8.13971174e-01 -1.17004302e-02 2.26987680e+01] [ 2.06843955e-02 -3.87373255e-04 9.99785980e-01 1.71376816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.012755096 meters 0.020187562058686638 Centerline is valid? [True, True] Translation: X:85.62, Y:22.71, Z:1.71 [[ 8.13745931e-01 -5.80963761e-01 -1.72820158e-02 8.56219940e+01] [ 5.80842836e-01 8.13929333e-01 -1.18592169e-02 2.27148638e+01] [ 2.09561149e-02 -3.87745602e-04 9.99780321e-01 1.71384998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04275509600001 meters 0.02022705753324647 Centerline is valid? [True, True] Translation: X:85.64, Y:22.73, Z:1.71 [[ 8.13527031e-01 -5.81264657e-01 -1.74690733e-02 8.56448675e+01] [ 5.81141084e-01 8.13714472e-01 -1.19915954e-02 2.27313265e+01] [ 2.11851283e-02 -3.96509146e-04 9.99775491e-01 1.71393669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07275509600001 meters 0.02041713605620005 Centerline is valid? [True, True] Translation: X:85.67, Y:22.75, Z:1.71 [[ 8.13104763e-01 -5.81849285e-01 -1.76650387e-02 8.56678430e+01] [ 5.81722890e-01 8.13296527e-01 -1.21341555e-02 2.27475150e+01] [ 2.14271644e-02 -4.09817746e-04 9.99770328e-01 1.71469197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10275509600001 meters 0.020362836784001158 Centerline is valid? [True, True] Translation: X:85.69, Y:22.76, Z:1.72 [[ 8.12734043e-01 -5.82372335e-01 -1.74882831e-02 8.56903988e+01] [ 5.82248412e-01 8.12922071e-01 -1.20205530e-02 2.27640363e+01] [ 2.12170489e-02 -4.13012412e-04 9.99774808e-01 1.71520169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13275509600001 meters 0.02036137527652128 Centerline is valid? [True, True] Translation: X:85.71, Y:22.78, Z:1.72 [[ 8.11942341e-01 -5.83483516e-01 -1.72227174e-02 8.57131172e+01] [ 5.83363418e-01 8.12124869e-01 -1.18456854e-02 2.27812921e+01] [ 2.08987593e-02 -4.29089703e-04 9.99781505e-01 1.71663785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.162755096 meters 0.02104193870132088 Centerline is valid? [True, True] Translation: X:85.74, Y:22.80, Z:1.72 [[ 8.11541074e-01 -5.84046958e-01 -1.70363031e-02 8.57368787e+01] [ 5.83929435e-01 8.11719757e-01 -1.17239738e-02 2.27965170e+01] [ 2.06760550e-02 -4.33512526e-04 9.99786134e-01 1.71750350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.192755096 meters 0.02158532142769066 Centerline is valid? [True, True] Translation: X:85.76, Y:22.81, Z:1.72 [[ 8.11100219e-01 -5.84664194e-01 -1.68586902e-02 8.57597694e+01] [ 5.84549193e-01 8.11275283e-01 -1.16041642e-02 2.28118563e+01] [ 2.04615779e-02 -4.42593635e-04 9.99790542e-01 1.71838793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.222755096 meters 0.022031169638377666 Centerline is valid? [True, True] Translation: X:85.78, Y:22.83, Z:1.72 [[ 8.10428152e-01 -5.85608291e-01 -1.64054847e-02 8.57831334e+01] [ 5.85499534e-01 8.10594057e-01 -1.12947118e-02 2.28291773e+01] [ 1.99124653e-02 -4.51851207e-04 9.99801625e-01 1.71922127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.252755096 meters 0.02149030008765319 Centerline is valid? [True, True] Translation: X:85.81, Y:22.85, Z:1.72 [[ 8.09902889e-01 -5.86328658e-01 -1.66137357e-02 8.58056041e+01] [ 5.86217140e-01 8.10073135e-01 -1.14446840e-02 2.28472556e+01] [ 2.01686872e-02 -4.70173959e-04 9.99796481e-01 1.71984057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.282755096 meters 0.02205203252611315 Centerline is valid? [True, True] Translation: X:85.83, Y:22.86, Z:1.72 [[ 8.09581019e-01 -5.86781735e-01 -1.63024248e-02 8.58283120e+01] [ 5.86674325e-01 8.09745007e-01 -1.12365012e-02 2.28630945e+01] [ 1.97941807e-02 -4.67355924e-04 9.99803967e-01 1.72082531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.312755096 meters 0.02244972537544571 Centerline is valid? [True, True] Translation: X:85.85, Y:22.88, Z:1.72 [[ 8.09253462e-01 -5.87245602e-01 -1.58567492e-02 8.58510178e+01] [ 5.87144032e-01 8.09408665e-01 -1.09315319e-02 2.28786518e+01] [ 1.92540843e-02 -4.63815635e-04 9.99814515e-01 1.72152357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.342755096 meters 0.022999288852910593 Centerline is valid? [True, True] Translation: X:85.87, Y:22.89, Z:1.72 [[ 8.08934933e-01 -5.87685091e-01 -1.58274165e-02 8.58739020e+01] [ 5.87583937e-01 8.09089619e-01 -1.09135803e-02 2.28940017e+01] [ 1.92195468e-02 -4.71559368e-04 9.99815176e-01 1.72242308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.372755096 meters 0.023119278917345512 Centerline is valid? [True, True] Translation: X:85.90, Y:22.91, Z:1.72 [[ 8.08590847e-01 -5.88162009e-01 -1.56937456e-02 8.58971754e+01] [ 5.88062582e-01 8.08742990e-01 -1.08247654e-02 2.29105229e+01] [ 1.90589225e-02 -4.76098287e-04 9.99818249e-01 1.72328520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.402755096 meters 0.02355036809231074 Centerline is valid? [True, True] Translation: X:85.92, Y:22.93, Z:1.72 [[ 8.07842087e-01 -5.89214391e-01 -1.47500537e-02 8.59207642e+01] [ 5.89126627e-01 8.07976599e-01 -1.01800688e-02 2.29272216e+01] [ 1.79159413e-02 -4.65761346e-04 9.99839388e-01 1.72459088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43275509600001 meters 0.024216109381235477 Centerline is valid? [True, True] Translation: X:85.94, Y:22.94, Z:1.73 [[ 8.07626610e-01 -5.89520471e-01 -1.43134157e-02 8.59436145e+01] [ 5.89437774e-01 8.07753309e-01 -9.88440520e-03 2.29424720e+01] [ 1.73887681e-02 -4.53959206e-04 9.99848701e-01 1.72575914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46275509600001 meters 0.024529582153852997 Centerline is valid? [True, True] Translation: X:85.97, Y:22.96, Z:1.73 [[ 8.07155162e-01 -5.90182187e-01 -1.36209648e-02 8.59673451e+01] [ 5.90107371e-01 8.07269960e-01 -9.40756502e-03 2.29592928e+01] [ 1.65479730e-02 -4.44467058e-04 9.99862974e-01 1.72670655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49275509600001 meters 0.025376858729451317 Centerline is valid? [True, True] Translation: X:85.99, Y:22.97, Z:1.73 [[ 8.06969664e-01 -5.90460714e-01 -1.24942542e-02 8.59906490e+01] [ 5.90397724e-01 8.07066279e-01 -8.63420502e-03 2.29749222e+01] [ 1.51818501e-02 -4.09037740e-04 9.99884665e-01 1.72831860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52275509600001 meters 0.025309732793323117 Centerline is valid? [True, True] Translation: X:86.01, Y:22.99, Z:1.73 [[ 8.06778511e-01 -5.90725036e-01 -1.23436727e-02 8.60137918e+01] [ 5.90663560e-01 8.06872832e-01 -8.53185251e-03 2.29913820e+01] [ 1.49997531e-02 -4.07642415e-04 9.99887414e-01 1.72914620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.552755096 meters 0.02443278972425608 Centerline is valid? [True, True] Translation: X:86.04, Y:23.01, Z:1.73 [[ 8.07096283e-01 -5.90284822e-01 -1.26260710e-02 8.60360807e+01] [ 5.90220361e-01 8.07194936e-01 -8.73272723e-03 2.30097096e+01] [ 1.53464969e-02 -4.04012486e-04 9.99882154e-01 1.72934839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.582755096 meters 0.022045782614679602 Centerline is valid? [True, True] Translation: X:86.06, Y:23.03, Z:1.73 [[ 8.07407799e-01 -5.89847424e-01 -1.31400962e-02 8.60571208e+01] [ 5.89777467e-01 8.07514613e-01 -9.09341136e-03 2.30305145e+01] [ 1.59745449e-02 -4.07641376e-04 9.99872316e-01 1.72845904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.612755096 meters 0.02474644148869183 Centerline is valid? [True, True] Translation: X:86.08, Y:23.04, Z:1.73 [[ 8.07796200e-01 -5.89301535e-01 -1.37477079e-02 8.60823136e+01] [ 5.89224771e-01 8.07913073e-01 -9.52033228e-03 2.30434655e+01] [ 1.67172993e-02 -4.10001771e-04 9.99860172e-01 1.72866529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.642755096 meters 0.02347468816082135 Centerline is valid? [True, True] Translation: X:86.10, Y:23.06, Z:1.73 [[ 8.08971515e-01 -5.87667467e-01 -1.45614989e-02 8.61042458e+01] [ 5.87581043e-01 8.09102460e-01 -1.00859882e-02 2.30634763e+01] [ 1.77089517e-02 -3.96783519e-04 9.99843105e-01 1.72798722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.672755096 meters 0.02039301143795796 Centerline is valid? [True, True] Translation: X:86.12, Y:23.09, Z:1.73 [[ 8.09534805e-01 -5.86885911e-01 -1.47758799e-02 8.61247013e+01] [ 5.86796702e-01 8.09669551e-01 -1.02395445e-02 2.30856110e+01] [ 1.79730244e-02 -3.81169982e-04 9.99838399e-01 1.72808437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.702755096 meters 0.021166802343485554 Centerline is valid? [True, True] Translation: X:86.15, Y:23.10, Z:1.73 [[ 8.10115584e-01 -5.86074600e-01 -1.51427879e-02 8.61487305e+01] [ 5.85980652e-01 8.10257014e-01 -1.04998790e-02 2.31005914e+01] [ 1.84232625e-02 -3.67265133e-04 9.99830210e-01 1.72856258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.732755096 meters 0.019635779782314365 Centerline is valid? [True, True] Translation: X:86.17, Y:23.12, Z:1.73 [[ 8.11225300e-01 -5.84533051e-01 -1.53174506e-02 8.61707714e+01] [ 5.84436606e-01 8.11369830e-01 -1.06232606e-02 2.31196528e+01] [ 1.86377642e-02 -3.34221052e-04 9.99826246e-01 1.72974147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.762755096 meters 0.019156188167182002 Centerline is valid? [True, True] Translation: X:86.19, Y:23.14, Z:1.73 [[ 8.11904247e-01 -5.83596140e-01 -1.50678380e-02 8.61936375e+01] [ 5.83502542e-01 8.12043997e-01 -1.04560758e-02 2.31365976e+01] [ 1.83378729e-02 -3.02789463e-04 9.99831801e-01 1.73053425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79275509600001 meters 0.018651565632331075 Centerline is valid? [True, True] Translation: X:86.22, Y:23.15, Z:1.73 [[ 8.12293092e-01 -5.83059186e-01 -1.48969337e-02 8.62167480e+01] [ 5.82967503e-01 8.12429631e-01 -1.03433503e-02 2.31547036e+01] [ 1.81334958e-02 -2.82596285e-04 9.99835535e-01 1.73111312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82275509600001 meters 0.0185213411558651 Centerline is valid? [True, True] Translation: X:86.24, Y:23.17, Z:1.73 [[ 8.13053888e-01 -5.82000607e-01 -1.47874391e-02 8.62394071e+01] [ 5.81909982e-01 8.13188311e-01 -1.02734256e-02 2.31709427e+01] [ 1.80041126e-02 -2.52109852e-04 9.99837881e-01 1.73163555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85275509600001 meters 0.01837055219352638 Centerline is valid? [True, True] Translation: X:86.26, Y:23.19, Z:1.73 [[ 8.14082309e-01 -5.80557882e-01 -1.49177686e-02 8.62612560e+01] [ 5.80465371e-01 8.14218949e-01 -1.03661306e-02 2.31880216e+01] [ 1.81644687e-02 -2.20364517e-04 9.99834988e-01 1.73262869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88275509600001 meters 0.01752067041827294 Centerline is valid? [True, True] Translation: X:86.28, Y:23.21, Z:1.73 [[ 8.14470654e-01 -5.80004461e-01 -1.52439804e-02 8.62827447e+01] [ 5.79907723e-01 8.14613271e-01 -1.05949349e-02 2.32057818e+01] [ 1.85630582e-02 -2.10838418e-04 9.99827669e-01 1.73300338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91275509600001 meters 0.01744876504985087 Centerline is valid? [True, True] Translation: X:86.30, Y:23.22, Z:1.73 [[ 8.14762594e-01 -5.79593829e-01 -1.52613335e-02 8.63046573e+01] [ 5.79496668e-01 8.14905489e-01 -1.06139729e-02 2.32212311e+01] [ 1.85883377e-02 -1.96023797e-04 9.99827203e-01 1.73308804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.942755096 meters 0.01719755264409595 Centerline is valid? [True, True] Translation: X:86.33, Y:23.24, Z:1.73 [[ 8.14858723e-01 -5.79442483e-01 -1.58640904e-02 8.63278095e+01] [ 5.79337403e-01 8.15013110e-01 -1.10364891e-02 2.32377617e+01] [ 1.93244523e-02 -1.97481505e-04 9.99813246e-01 1.73363929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.972755096 meters 0.017405350033373457 Centerline is valid? [True, True] Translation: X:86.35, Y:23.25, Z:1.73 [[ 8.14788364e-01 -5.79549159e-01 -1.55786305e-02 8.63505018e+01] [ 5.79447714e-01 8.14937259e-01 -1.08448856e-02 2.32524835e+01] [ 1.89807508e-02 -1.90715191e-04 9.99819831e-01 1.73421587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.002755096 meters 0.01760351104651672 Centerline is valid? [True, True] Translation: X:86.37, Y:23.27, Z:1.74 [[ 8.14655317e-01 -5.79751891e-01 -1.49819768e-02 8.63734189e+01] [ 5.79658020e-01 8.14793048e-01 -1.04340622e-02 2.32667565e+01] [ 1.82563779e-02 -1.84258779e-04 9.99833321e-01 1.73593927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.032755096 meters 0.017453556673558683 Centerline is valid? [True, True] Translation: X:86.40, Y:23.28, Z:1.74 [[ 8.14460605e-01 -5.80034052e-01 -1.46431308e-02 8.63964130e+01] [ 5.79944379e-01 8.14592208e-01 -1.02006194e-02 2.32835738e+01] [ 1.78448868e-02 -1.84198766e-04 9.99840750e-01 1.73671406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.062755096 meters 0.017273361453380785 Centerline is valid? [True, True] Translation: X:86.42, Y:23.30, Z:1.74 [[ 8.13929408e-01 -5.80784699e-01 -1.44240418e-02 8.64193673e+01] [ 5.80697697e-01 8.14057183e-01 -1.00542631e-02 2.33003377e+01] [ 1.75813570e-02 -1.92547443e-04 9.99845417e-01 1.73741695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.092755096 meters 0.017885563908082658 Centerline is valid? [True, True] Translation: X:86.44, Y:23.31, Z:1.74 [[ 8.13189315e-01 -5.81815701e-01 -1.46159946e-02 8.64430808e+01] [ 5.81726410e-01 8.13320628e-01 -1.01950505e-02 2.33142120e+01] [ 1.78191304e-02 -2.12003987e-04 9.99841204e-01 1.73778400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.122755096 meters 0.017930567209924225 Centerline is valid? [True, True] Translation: X:86.47, Y:23.33, Z:1.74 [[ 8.12495453e-01 -5.82788462e-01 -1.44481014e-02 8.64668453e+01] [ 5.82701303e-01 8.12623872e-01 -1.00814079e-02 2.33305349e+01] [ 1.76162003e-02 -2.27829420e-04 9.99844797e-01 1.73774444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.152755096 meters 0.0182120711502273 Centerline is valid? [True, True] Translation: X:86.49, Y:23.35, Z:1.74 [[ 8.11830505e-01 -5.83697600e-01 -1.51110279e-02 8.64908621e+01] [ 5.83602300e-01 8.11971088e-01 -1.05502525e-02 2.33459668e+01] [ 1.84278749e-02 -2.53813850e-04 9.99830160e-01 1.73818641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18275509600001 meters 0.018563671544379556 Centerline is valid? [True, True] Translation: X:86.52, Y:23.36, Z:1.74 [[ 8.11212988e-01 -5.84574660e-01 -1.43511214e-02 8.65154537e+01] [ 5.84488748e-01 8.11339881e-01 -1.00250557e-02 2.33616142e+01] [ 1.75040307e-02 -2.55613633e-04 9.99846760e-01 1.73867070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21275509600001 meters 0.019564345798503982 Centerline is valid? [True, True] Translation: X:86.54, Y:23.38, Z:1.74 [[ 8.09828605e-01 -5.86483209e-01 -1.46655013e-02 8.65400976e+01] [ 5.86393695e-01 8.09961331e-01 -1.02507396e-02 2.33753936e+01] [ 1.78903756e-02 -2.98415340e-04 9.99839910e-01 1.73907013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24275509600001 meters 0.02035655045094711 Centerline is valid? [True, True] Translation: X:86.56, Y:23.39, Z:1.74 [[ 8.08600209e-01 -5.88173521e-01 -1.47516485e-02 8.65645345e+01] [ 5.88083199e-01 8.08734688e-01 -1.03128717e-02 2.33910709e+01] [ 1.79959280e-02 -3.36206404e-04 9.99838004e-01 1.73941209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27275509600001 meters 0.021252953309131867 Centerline is valid? [True, True] Translation: X:86.59, Y:23.41, Z:1.74 [[ 8.07509873e-01 -5.89664463e-01 -1.49541567e-02 8.65889934e+01] [ 5.89571792e-01 8.07648243e-01 -1.04602786e-02 2.34069173e+01] [ 1.82457530e-02 -3.69770748e-04 9.99833464e-01 1.73984061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.302755096 meters 0.021252953309131867 Centerline is valid? [True, True] Translation: X:86.61, Y:23.42, Z:1.74 [[ 8.07336910e-01 -5.89901320e-01 -1.49514821e-02 8.66114788e+01] [ 5.89808619e-01 8.07475260e-01 -1.04641002e-02 2.34228790e+01] [ 1.82457384e-02 -3.70458745e-04 9.99833464e-01 1.74035559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.332755096 meters 0.023091509094526615 Centerline is valid? [True, True] Translation: X:86.64, Y:23.44, Z:1.74 [[ 8.05269051e-01 -5.92732183e-01 -1.45022294e-02 8.66361139e+01] [ 5.92645314e-01 8.05399520e-01 -1.01560725e-02 2.34361646e+01] [ 1.76999196e-02 -4.16307416e-04 9.99843257e-01 1.74112234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.362755096 meters 0.024330177105104878 Centerline is valid? [True, True] Translation: X:86.66, Y:23.45, Z:1.74 [[ 8.03908326e-01 -5.94577066e-01 -1.44746693e-02 8.66611578e+01] [ 5.94490794e-01 8.04038498e-01 -1.01385179e-02 2.34514475e+01] [ 1.76663216e-02 -4.54618663e-04 9.99843835e-01 1.74190463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.392755096 meters 0.02669491630355333 Centerline is valid? [True, True] Translation: X:86.69, Y:23.46, Z:1.74 [[ 8.01758490e-01 -5.97483235e-01 -1.40395079e-02 8.66865043e+01] [ 5.97402425e-01 8.01881248e-01 -9.83905278e-03 2.34636663e+01] [ 1.71366872e-02 -4.98691979e-04 9.99853032e-01 1.74297207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.422755096 meters 0.027714632768819802 Centerline is valid? [True, True] Translation: X:86.71, Y:23.48, Z:1.74 [[ 8.00750604e-01 -5.98832947e-01 -1.40560206e-02 8.67111219e+01] [ 5.98752111e-01 8.00873788e-01 -9.85319753e-03 2.34788871e+01] [ 1.71575178e-02 -5.26118132e-04 9.99852661e-01 1.74350459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.452755096 meters 0.028622406437729012 Centerline is valid? [True, True] Translation: X:86.74, Y:23.49, Z:1.74 [[ 7.99933620e-01 -5.99924361e-01 -1.40343983e-02 8.67353669e+01] [ 5.99843852e-01 8.00056538e-01 -9.84321838e-03 2.34943014e+01] [ 1.71334986e-02 -5.44526200e-04 9.99853063e-01 1.74397525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.482755096 meters 0.029796683474042455 Centerline is valid? [True, True] Translation: X:86.76, Y:23.51, Z:1.74 [[ 7.99041125e-01 -6.01111845e-01 -1.40652464e-02 8.67586441e+01] [ 6.01031071e-01 7.99164707e-01 -9.87032525e-03 2.35095773e+01] [ 1.71736179e-02 -5.66854297e-04 9.99852362e-01 1.74363965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.512755096 meters 0.030277325717834307 Centerline is valid? [True, True] Translation: X:86.78, Y:23.52, Z:1.74 [[ 7.99106129e-01 -6.01021165e-01 -1.42461775e-02 8.67805073e+01] [ 6.00938254e-01 7.99232903e-01 -9.99908568e-03 2.35249786e+01] [ 1.73956759e-02 -5.70742396e-04 9.99848521e-01 1.74377742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54275509600001 meters 0.024328139160271423 Centerline is valid? [True, True] Translation: X:86.80, Y:23.55, Z:1.74 [[ 7.99396913e-01 -6.00639154e-01 -1.40421837e-02 8.67991269e+01] [ 6.00558497e-01 7.99520045e-01 -9.85851042e-03 2.35495504e+01] [ 1.71484147e-02 -5.52289934e-04 9.99852803e-01 1.74334448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57275509600001 meters 0.029420476203280053 Centerline is valid? [True, True] Translation: X:86.83, Y:23.56, Z:1.74 [[ 8.00022745e-01 -5.99809188e-01 -1.38760327e-02 8.68264925e+01] [ 5.99730201e-01 8.00142902e-01 -9.74794173e-03 2.35596525e+01] [ 1.69497141e-02 -5.23300772e-04 9.99856206e-01 1.74386524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60275509600001 meters 0.023050044426105934 Centerline is valid? [True, True] Translation: X:86.84, Y:23.58, Z:1.74 [[ 8.01703584e-01 -5.97554145e-01 -1.41565329e-02 8.68444436e+01] [ 5.97471548e-01 8.01828417e-01 -9.94684609e-03 2.35848913e+01] [ 1.72948895e-02 -4.83703483e-04 9.99850315e-01 1.74328943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63275509600001 meters 0.022549350496274642 Centerline is valid? [True, True] Translation: X:86.87, Y:23.60, Z:1.74 [[ 8.02573494e-01 -5.96385350e-01 -1.41527571e-02 8.68671436e+01] [ 5.96302523e-01 8.02698143e-01 -9.94953694e-03 2.36018462e+01] [ 1.72941499e-02 -4.54090106e-04 9.99850342e-01 1.74333788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66275509600001 meters 0.024062122745828824 Centerline is valid? [True, True] Translation: X:86.89, Y:23.62, Z:1.74 [[ 8.03684180e-01 -5.94884514e-01 -1.42882420e-02 8.68915945e+01] [ 5.94799749e-01 8.03811071e-01 -1.00508961e-02 2.36157220e+01] [ 1.74641696e-02 -4.20896592e-04 9.99847401e-01 1.74379814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.692755096 meters 0.024002775037585834 Centerline is valid? [True, True] Translation: X:86.91, Y:23.63, Z:1.74 [[ 8.05507427e-01 -5.92416173e-01 -1.41726030e-02 8.69147509e+01] [ 5.92332357e-01 8.05632017e-01 -9.97157541e-03 2.36315180e+01] [ 1.73252253e-02 -3.62713314e-04 9.99849841e-01 1.74374394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.722755096 meters 0.01985617710231038 Centerline is valid? [True, True] Translation: X:86.93, Y:23.65, Z:1.74 [[ 8.06094628e-01 -5.91607483e-01 -1.45614661e-02 8.69342698e+01] [ 5.91518842e-01 8.06226061e-01 -1.02469186e-02 2.36540334e+01] [ 1.78019872e-02 -3.53395503e-04 9.99841470e-01 1.74368092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.752755096 meters 0.019332203371224273 Centerline is valid? [True, True] Translation: X:86.96, Y:23.67, Z:1.74 [[ 8.06434028e-01 -5.91143639e-01 -1.46067329e-02 8.69572479e+01] [ 5.91054262e-01 8.06566229e-01 -1.02847727e-02 2.36715697e+01] [ 1.78610754e-02 -3.39381093e-04 9.99840421e-01 1.74391310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.782755096 meters 0.01947132802994894 Centerline is valid? [True, True] Translation: X:86.98, Y:23.69, Z:1.74 [[ 8.07027112e-01 -5.90341475e-01 -1.42892858e-02 8.69807899e+01] [ 5.90255709e-01 8.07153546e-01 -1.00673504e-02 2.36867373e+01] [ 1.74768222e-02 -3.09707796e-04 9.99847221e-01 1.74424021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.812755096 meters 0.019028554297096528 Centerline is valid? [True, True] Translation: X:87.00, Y:23.70, Z:1.74 [[ 8.07036888e-01 -5.90334895e-01 -1.40062233e-02 8.70030932e+01] [ 5.90252464e-01 8.07158362e-01 -9.86952586e-03 2.37030972e+01] [ 1.71315657e-02 -3.02136360e-04 9.99853198e-01 1.74459521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.842755096 meters 0.018792557520034288 Centerline is valid? [True, True] Translation: X:87.03, Y:23.72, Z:1.74 [[ 8.06915114e-01 -5.90496081e-01 -1.42259583e-02 8.70263492e+01] [ 5.90410951e-01 8.07040449e-01 -1.00311340e-02 2.37194980e+01] [ 1.74042691e-02 -3.04887960e-04 9.99848488e-01 1.74499860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.872755096 meters 0.018891425734412742 Centerline is valid? [True, True] Translation: X:87.05, Y:23.74, Z:1.75 [[ 8.06659764e-01 -5.90838115e-01 -1.45033634e-02 8.70502360e+01] [ 5.90749562e-01 8.06790074e-01 -1.02338055e-02 2.37350438e+01] [ 1.77476920e-02 -3.12656507e-04 9.99842448e-01 1.74520468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.902755096 meters 0.018840119673417758 Centerline is valid? [True, True] Translation: X:87.07, Y:23.75, Z:1.75 [[ 8.06397165e-01 -5.91194725e-01 -1.45742556e-02 8.70729353e+01] [ 5.91105238e-01 8.06528795e-01 -1.02907912e-02 2.37510221e+01] [ 1.78384183e-02 -3.16453991e-04 9.99840833e-01 1.74580042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93275509600001 meters 0.019153800705418562 Centerline is valid? [True, True] Translation: X:87.10, Y:23.77, Z:1.75 [[ 8.06319649e-01 -5.91301314e-01 -1.45389398e-02 8.70950992e+01] [ 5.91212151e-01 8.06450655e-01 -1.02729294e-02 2.37660575e+01] [ 1.77993342e-02 -3.12333050e-04 9.99841531e-01 1.74615055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96275509600001 meters 0.01906146935596735 Centerline is valid? [True, True] Translation: X:87.12, Y:23.78, Z:1.75 [[ 8.06243996e-01 -5.91404921e-01 -1.45202678e-02 8.71175139e+01] [ 5.91315955e-01 8.06374679e-01 -1.02625095e-02 2.37828077e+01] [ 1.77780749e-02 -3.11979369e-04 9.99841909e-01 1.74683342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99275509600001 meters 0.018937918939400358 Centerline is valid? [True, True] Translation: X:87.14, Y:23.80, Z:1.75 [[ 8.06187771e-01 -5.91478712e-01 -1.46359478e-02 8.71398552e+01] [ 5.91388213e-01 8.06320554e-01 -1.03511038e-02 2.37992854e+01] [ 1.79237231e-02 -3.10593740e-04 9.99839309e-01 1.74696831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02275509600001 meters 0.019095095291273626 Centerline is valid? [True, True] Translation: X:87.16, Y:23.82, Z:1.75 [[ 8.05927426e-01 -5.91824712e-01 -1.49831459e-02 8.71627634e+01] [ 5.91729797e-01 8.06066627e-01 -1.06037639e-02 2.38159229e+01] [ 1.83529834e-02 -3.20109747e-04 9.99831519e-01 1.74719839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.052755096 meters 0.01935482112660405 Centerline is valid? [True, True] Translation: X:87.19, Y:23.83, Z:1.75 [[ 8.05478155e-01 -5.92426935e-01 -1.53384609e-02 8.71855326e+01] [ 5.92327438e-01 8.05624114e-01 -1.08624601e-02 2.38323201e+01] [ 1.87922479e-02 -3.35916874e-04 9.99823354e-01 1.74719108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.082755096 meters 0.019027125751992054 Centerline is valid? [True, True] Translation: X:87.21, Y:23.85, Z:1.75 [[ 8.04554595e-01 -5.93644136e-01 -1.66896252e-02 8.72079063e+01] [ 5.93526428e-01 8.04727586e-01 -1.18275590e-02 2.38506668e+01] [ 2.04519629e-02 -3.89816677e-04 9.99790761e-01 1.74613755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.112755096 meters 0.01960741149765286 Centerline is valid? [True, True] Translation: X:87.23, Y:23.87, Z:1.75 [[ 8.03931876e-01 -5.94474469e-01 -1.71360627e-02 8.72305906e+01] [ 5.94350423e-01 8.04114378e-01 -1.21508244e-02 2.38662529e+01] [ 2.10027093e-02 -4.16391070e-04 9.99779332e-01 1.74581448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.142755096 meters 0.019931406266480083 Centerline is valid? [True, True] Translation: X:87.25, Y:23.88, Z:1.75 [[ 8.02579168e-01 -5.96263565e-01 -1.83423049e-02 8.72538415e+01] [ 5.96121820e-01 8.02788589e-01 -1.30098739e-02 2.38834654e+01] [ 2.24823068e-02 -4.92794430e-04 9.99747120e-01 1.74551404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.172755096 meters 0.020423353979005274 Centerline is valid? [True, True] Translation: X:87.28, Y:23.90, Z:1.75 [[ 8.01690830e-01 -5.97453865e-01 -1.84578490e-02 8.72779791e+01] [ 5.97310466e-01 8.01903115e-01 -1.30996563e-02 2.38999860e+01] [ 2.26278469e-02 -5.23192028e-04 9.99743821e-01 1.74592788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.202755096 meters 0.020911243100555595 Centerline is valid? [True, True] Translation: X:87.30, Y:23.92, Z:1.75 [[ 8.00866631e-01 -5.98556229e-01 -1.85224137e-02 8.73017609e+01] [ 5.98411942e-01 8.01080607e-01 -1.31532969e-02 2.39166275e+01] [ 2.27109342e-02 -5.49996954e-04 9.99741922e-01 1.74613817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.232755096 meters 0.02493489246614995 Centerline is valid? [True, True] Translation: X:87.33, Y:23.93, Z:1.75 [[ 7.99363725e-01 -6.00567581e-01 -1.83361696e-02 8.73275653e+01] [ 6.00426556e-01 7.99573777e-01 -1.30278609e-02 2.39288090e+01] [ 2.24852313e-02 -5.95523785e-04 9.99746998e-01 1.74584996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.262755096 meters 0.022904373177758695 Centerline is valid? [True, True] Translation: X:87.35, Y:23.95, Z:1.75 [[ 7.98647627e-01 -6.01522699e-01 -1.82321308e-02 8.73489245e+01] [ 6.01383440e-01 7.98855471e-01 -1.29574163e-02 2.39490544e+01] [ 2.23590175e-02 -6.16091753e-04 9.99749816e-01 1.74708925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29275509600001 meters 0.023377233330076786 Centerline is valid? [True, True] Translation: X:87.37, Y:23.97, Z:1.75 [[ 7.98100117e-01 -6.02250203e-01 -1.81905434e-02 8.73723828e+01] [ 6.02111602e-01 7.98307144e-01 -1.29352971e-02 2.39663307e+01] [ 2.23119261e-02 -6.29075093e-04 9.99750860e-01 1.74772794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32275509600001 meters 0.024045705896743146 Centerline is valid? [True, True] Translation: X:87.39, Y:23.98, Z:1.75 [[ 7.97814573e-01 -6.02657699e-01 -1.71931682e-02 8.73944567e+01] [ 6.02533845e-01 7.97999585e-01 -1.22322459e-02 2.39836076e+01] [ 2.10919983e-02 -6.00401729e-04 9.99777359e-01 1.74888316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35275509600001 meters 0.023543023800901217 Centerline is valid? [True, True] Translation: X:87.42, Y:24.00, Z:1.75 [[ 7.97953940e-01 -6.02492593e-01 -1.64980469e-02 8.74174755e+01] [ 6.02378460e-01 7.98124270e-01 -1.17405505e-02 2.40017955e+01] [ 2.02410863e-02 -5.69649576e-04 9.99794966e-01 1.75033567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38275509600001 meters 0.023530634555827 Centerline is valid? [True, True] Translation: X:87.44, Y:24.02, Z:1.75 [[ 7.98012750e-01 -6.02427214e-01 -1.60344241e-02 8.74399718e+01] [ 6.02319267e-01 7.98173635e-01 -1.14169957e-02 2.40193610e+01] [ 1.96761635e-02 -5.46934453e-04 9.99806256e-01 1.75166206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41275509600001 meters 0.023129519460726815 Centerline is valid? [True, True] Translation: X:87.46, Y:24.04, Z:1.75 [[ 7.99241269e-01 -6.00821816e-01 -1.50512368e-02 8.74610922e+01] [ 6.00726296e-01 7.99382839e-01 -1.07235241e-02 2.40379215e+01] [ 1.84746276e-02 -4.70990719e-04 9.99829219e-01 1.75352317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.442755096 meters 0.021478846152520187 Centerline is valid? [True, True] Translation: X:87.48, Y:24.06, Z:1.75 [[ 7.99658797e-01 -6.00271779e-01 -1.48189208e-02 8.74818728e+01] [ 6.00179055e-01 7.99795967e-01 -1.05599721e-02 2.40580365e+01] [ 1.81909664e-02 -4.49631314e-04 9.99834430e-01 1.75431716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.472755096 meters 0.022149364130767457 Centerline is valid? [True, True] Translation: X:87.50, Y:24.07, Z:1.75 [[ 8.00409658e-01 -5.99271983e-01 -1.47468702e-02 8.75045915e+01] [ 5.99179875e-01 8.00545386e-01 -1.05148806e-02 2.40746430e+01] [ 1.81068122e-02 -4.19815879e-04 9.99835970e-01 1.75495212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.502755096 meters 0.02194526303134536 Centerline is valid? [True, True] Translation: X:87.53, Y:24.09, Z:1.76 [[ 8.01334821e-01 -5.98039108e-01 -1.45509454e-02 8.75261313e+01] [ 5.97949172e-01 8.01466828e-01 -1.03783899e-02 2.40922359e+01] [ 1.78687831e-02 -3.84160534e-04 9.99840267e-01 1.75589923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.532755096 meters 0.019493510258397503 Centerline is valid? [True, True] Translation: X:87.54, Y:24.12, Z:1.76 [[ 8.02924610e-01 -5.95906706e-01 -1.43967889e-02 8.75446217e+01] [ 5.95818291e-01 8.03053602e-01 -1.02702004e-02 2.41156064e+01] [ 1.76814744e-02 -3.31673500e-04 9.99843615e-01 1.75651379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.562755096 meters 0.01931720472023441 Centerline is valid? [True, True] Translation: X:87.57, Y:24.13, Z:1.76 [[ 8.03507540e-01 -5.95117960e-01 -1.44998832e-02 8.75669503e+01] [ 5.95028035e-01 8.03638300e-01 -1.03498999e-02 2.41342607e+01] [ 1.78120728e-02 -3.11614374e-04 9.99841304e-01 1.75746213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.592755096 meters 0.01896335411234138 Centerline is valid? [True, True] Translation: X:87.59, Y:24.15, Z:1.76 [[ 8.03830209e-01 -5.94690181e-01 -1.41627475e-02 8.75890090e+01] [ 5.94604223e-01 8.03954915e-01 -1.01150271e-02 2.41531007e+01] [ 1.74015177e-02 -2.90465128e-04 9.99848540e-01 1.75812332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.622755096 meters 0.019194740003796222 Centerline is valid? [True, True] Translation: X:87.61, Y:24.17, Z:1.76 [[ 8.04158747e-01 -5.94257582e-01 -1.36614620e-02 8.76100064e+01] [ 5.94177441e-01 8.04274738e-01 -9.76287799e-03 2.41707093e+01] [ 1.67892331e-02 -2.66428834e-04 9.99859015e-01 1.75921895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.652755096 meters 0.0191569324255926 Centerline is valid? [True, True] Translation: X:87.63, Y:24.19, Z:1.76 [[ 8.03798764e-01 -5.94756867e-01 -1.31079095e-02 8.76319179e+01] [ 5.94683125e-01 8.03905591e-01 -9.36916893e-03 2.41879023e+01] [ 1.61098993e-02 -2.64126188e-04 9.99870192e-01 1.75999390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68275509600001 meters 0.020251751677849577 Centerline is valid? [True, True] Translation: X:87.65, Y:24.20, Z:1.76 [[ 8.02448859e-01 -5.96586203e-01 -1.26779766e-02 8.76548581e+01] [ 5.96517344e-01 8.02548952e-01 -9.06846850e-03 2.42030102e+01] [ 1.55848201e-02 -2.85650754e-04 9.99878509e-01 1.76077631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71275509600001 meters 0.02074682202645381 Centerline is valid? [True, True] Translation: X:87.68, Y:24.22, Z:1.76 [[ 8.01551392e-01 -5.97791864e-01 -1.26591451e-02 8.76790496e+01] [ 5.97723341e-01 8.01651291e-01 -9.05618876e-03 2.42193769e+01] [ 1.55619360e-02 -3.07665809e-04 9.99878858e-01 1.76127837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74275509600001 meters 0.02088427290831811 Centerline is valid? [True, True] Translation: X:87.70, Y:24.24, Z:1.76 [[ 8.00373118e-01 -5.99366240e-01 -1.27664857e-02 8.77023213e+01] [ 5.99296669e-01 8.00474857e-01 -9.13815386e-03 2.42362617e+01] [ 1.56963517e-02 -3.36979669e-04 9.99876748e-01 1.76119523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77275509600001 meters 0.022567059186183316 Centerline is valid? [True, True] Translation: X:87.73, Y:24.25, Z:1.76 [[ 7.98179475e-01 -6.02278246e-01 -1.30552535e-02 8.77261554e+01] [ 6.02205785e-01 7.98286136e-01 -9.35078595e-03 2.42499803e+01] [ 1.60536028e-02 -3.98343733e-04 9.99871053e-01 1.76110689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.802755096 meters 0.023094469890704506 Centerline is valid? [True, True] Translation: X:87.75, Y:24.27, Z:1.76 [[ 7.97086145e-01 -6.03728192e-01 -1.28820893e-02 8.77498702e+01] [ 6.03657782e-01 7.97190125e-01 -9.22969920e-03 2.42661310e+01] [ 1.58417040e-02 -4.19508089e-04 9.99874424e-01 1.76129818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.832755096 meters 0.024088404588599673 Centerline is valid? [True, True] Translation: X:87.77, Y:24.28, Z:1.76 [[ 7.95974185e-01 -6.05192331e-01 -1.29359583e-02 8.77736168e+01] [ 6.05121432e-01 7.96079169e-01 -9.27409644e-03 2.42816162e+01] [ 1.59106590e-02 -4.45884271e-04 9.99873318e-01 1.76147400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.862755096 meters 0.024340719514971354 Centerline is valid? [True, True] Translation: X:87.80, Y:24.30, Z:1.76 [[ 7.94899666e-01 -6.06607283e-01 -1.27328601e-02 8.77972523e+01] [ 6.06538738e-01 7.95001502e-01 -9.13074364e-03 2.42981642e+01] [ 1.56614185e-02 -4.64947821e-04 9.99877244e-01 1.76169981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.892755096 meters 0.025879403665651748 Centerline is valid? [True, True] Translation: X:87.82, Y:24.31, Z:1.76 [[ 7.93052374e-01 -6.09015486e-01 -1.29641607e-02 8.78220021e+01] [ 6.08944661e-01 7.93158162e-01 -9.30213872e-03 2.43138922e+01] [ 1.59477764e-02 -5.17373238e-04 9.99872692e-01 1.76138904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.922755096 meters 0.025927488599804878 Centerline is valid? [True, True] Translation: X:87.85, Y:24.33, Z:1.76 [[ 7.92338907e-01 -6.09944900e-01 -1.28947817e-02 8.78455175e+01] [ 6.09874870e-01 7.92443651e-01 -9.25761875e-03 2.43307806e+01] [ 1.58650252e-02 -5.29031772e-04 9.99874003e-01 1.76171611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.952755096 meters 0.028685439249032604 Centerline is valid? [True, True] Translation: X:87.87, Y:24.34, Z:1.76 [[ 7.91809198e-01 -6.10625289e-01 -1.32268535e-02 8.78705761e+01] [ 6.10551600e-01 7.91919473e-01 -9.50220834e-03 2.43437797e+01] [ 1.62768916e-02 -5.51740623e-04 9.99867370e-01 1.76225178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.982755096 meters 0.027332914586140213 Centerline is valid? [True, True] Translation: X:87.89, Y:24.36, Z:1.76 [[ 7.90990992e-01 -6.11680808e-01 -1.34104082e-02 8.78927872e+01] [ 6.11605185e-01 7.91104451e-01 -9.63560039e-03 2.43627439e+01] [ 1.65029454e-02 -5.80202067e-04 9.99863649e-01 1.76187626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.012755096 meters 0.027626617416121546 Centerline is valid? [True, True] Translation: X:87.92, Y:24.38, Z:1.76 [[ 7.90709485e-01 -6.12032841e-01 -1.39395982e-02 8.79155381e+01] [ 6.11951085e-01 7.90832115e-01 -1.00217350e-02 2.43788471e+01] [ 1.71575128e-02 -6.06071305e-04 9.99852615e-01 1.76216819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04275509600001 meters 0.02868859203173482 Centerline is valid? [True, True] Translation: X:87.94, Y:24.39, Z:1.76 [[ 7.90462284e-01 -6.12346238e-01 -1.41937792e-02 8.79386211e+01] [ 6.12261400e-01 7.90589465e-01 -1.02115377e-02 2.43941701e+01] [ 1.74744490e-02 -6.18467696e-04 9.99847119e-01 1.76239304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07275509600001 meters 0.02831160475751451 Centerline is valid? [True, True] Translation: X:87.96, Y:24.41, Z:1.76 [[ 7.90352407e-01 -6.12481799e-01 -1.44609782e-02 8.79605576e+01] [ 6.12393725e-01 7.90484438e-01 -1.04056555e-02 2.44113665e+01] [ 1.78044528e-02 -6.31677457e-04 9.99841289e-01 1.76229417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10275509600001 meters 0.028651605452134014 Centerline is valid? [True, True] Translation: X:87.98, Y:24.43, Z:1.76 [[ 7.90121425e-01 -6.12783819e-01 -1.42872334e-02 8.79832958e+01] [ 6.12697785e-01 7.90250340e-01 -1.02871006e-02 2.44273736e+01] [ 1.75942598e-02 -6.25697669e-04 9.99845013e-01 1.76297670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13275509600001 meters 0.029025575308494322 Centerline is valid? [True, True] Translation: X:88.01, Y:24.44, Z:1.76 [[ 7.89796334e-01 -6.13203049e-01 -1.42748865e-02 8.80067470e+01] [ 6.13117117e-01 7.89925076e-01 -1.02847500e-02 2.44437799e+01] [ 1.75827308e-02 -6.29319375e-04 9.99845214e-01 1.76354210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16275509600001 meters 0.02968665264875204 Centerline is valid? [True, True] Translation: X:88.03, Y:24.46, Z:1.76 [[ 7.89776118e-01 -6.13237180e-01 -1.39228144e-02 8.80292828e+01] [ 6.13155345e-01 7.89898594e-01 -1.00366432e-02 2.44590469e+01] [ 1.71524543e-02 -6.10146979e-04 9.99852700e-01 1.76483164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.192755096 meters 0.02968665264875204 Centerline is valid? [True, True] Translation: X:88.05, Y:24.48, Z:1.77 [[ 7.89594926e-01 -6.13470497e-01 -1.39213234e-02 8.80515465e+01] [ 6.13388661e-01 7.89717402e-01 -1.00387109e-02 2.44753296e+01] [ 1.71523643e-02 -6.12666714e-04 9.99852700e-01 1.76534737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.222755096 meters 0.029535605992792757 Centerline is valid? [True, True] Translation: X:88.07, Y:24.49, Z:1.77 [[ 7.89502498e-01 -6.13598136e-01 -1.35326617e-02 8.80741175e+01] [ 6.13520727e-01 7.89618247e-01 -9.76433761e-03 2.44925850e+01] [ 1.66770160e-02 -5.93599504e-04 9.99860753e-01 1.76636217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.252755096 meters 0.02957315130821795 Centerline is valid? [True, True] Translation: X:88.10, Y:24.51, Z:1.77 [[ 7.89528180e-01 -6.13570323e-01 -1.32933022e-02 8.80964639e+01] [ 6.13495529e-01 7.89639870e-01 -9.59747739e-03 2.45091135e+01] [ 1.63856488e-02 -5.77902642e-04 9.99865579e-01 1.76746905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.282755096 meters 0.029276443390356118 Centerline is valid? [True, True] Translation: X:88.12, Y:24.53, Z:1.77 [[ 7.90009598e-01 -6.12951052e-01 -1.32605705e-02 8.81192230e+01] [ 6.12876441e-01 7.90120684e-01 -9.57981154e-03 2.45272770e+01] [ 1.63494066e-02 -5.58948213e-04 9.99866183e-01 1.76818722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.312755096 meters 0.029153178497732843 Centerline is valid? [True, True] Translation: X:88.14, Y:24.54, Z:1.77 [[ 7.90506006e-01 -6.12304218e-01 -1.35572445e-02 8.81415971e+01] [ 6.12226040e-01 7.90622058e-01 -9.79988755e-03 2.45444553e+01] [ 1.67191690e-02 -5.53228138e-04 9.99860072e-01 1.76862764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.342755096 meters 0.025628615838989517 Centerline is valid? [True, True] Translation: X:88.16, Y:24.57, Z:1.77 [[ 7.91039173e-01 -6.11609955e-01 -1.37945692e-02 8.81618933e+01] [ 6.11528880e-01 7.91159253e-01 -9.97324303e-03 2.45664908e+01] [ 1.70134358e-02 -5.46551551e-04 9.99855112e-01 1.76883379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.372755096 meters 0.024702490973945786 Centerline is valid? [True, True] Translation: X:88.18, Y:24.59, Z:1.77 [[ 7.92255219e-01 -6.10024898e-01 -1.41877240e-02 8.81842708e+01] [ 6.09938827e-01 7.92382072e-01 -1.02605746e-02 2.45856178e+01] [ 1.75013042e-02 -5.24649956e-04 9.99846703e-01 1.76967191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.402755096 meters 0.02462471666129495 Centerline is valid? [True, True] Translation: X:88.21, Y:24.60, Z:1.77 [[ 7.92863095e-01 -6.09235875e-01 -1.41336829e-02 8.82064991e+01] [ 6.09150235e-01 7.92988901e-01 -1.02271198e-02 2.46024375e+01] [ 1.74385820e-02 -5.00830418e-04 9.99847811e-01 1.77054344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43275509600001 meters 0.024081177835991188 Centerline is valid? [True, True] Translation: X:88.23, Y:24.62, Z:1.77 [[ 7.93341749e-01 -6.08613910e-01 -1.40705001e-02 8.82287223e+01] [ 6.08528905e-01 7.93466367e-01 -1.01831579e-02 2.46206451e+01] [ 1.73620802e-02 -4.83581744e-04 9.99849151e-01 1.77112121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46275509600001 meters 0.02329440489122351 Centerline is valid? [True, True] Translation: X:88.25, Y:24.64, Z:1.77 [[ 7.94589897e-01 -6.06969936e-01 -1.46421674e-02 8.82497025e+01] [ 6.06877490e-01 7.94724660e-01 -1.06031962e-02 2.46389638e+01] [ 1.80723128e-02 -4.60809232e-04 9.99836576e-01 1.77129260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49275509600001 meters 0.023486646750589927 Centerline is valid? [True, True] Translation: X:88.27, Y:24.66, Z:1.77 [[ 7.95094444e-01 -6.06309344e-01 -1.46220423e-02 8.82719614e+01] [ 6.06216984e-01 7.95228761e-01 -1.05917492e-02 2.46558028e+01] [ 1.80497451e-02 -4.42689424e-04 9.99836992e-01 1.77166154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52275509600001 meters 0.02157677373700495 Centerline is valid? [True, True] Translation: X:88.29, Y:24.68, Z:1.77 [[ 7.96022127e-01 -6.05080209e-01 -1.50569942e-02 8.82926951e+01] [ 6.04982012e-01 7.96164405e-01 -1.09089970e-02 2.46764710e+01] [ 1.85886610e-02 -4.25407666e-04 9.99827125e-01 1.77165152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.552755096 meters 0.022606986097760358 Centerline is valid? [True, True] Translation: X:88.32, Y:24.69, Z:1.77 [[ 7.96149277e-01 -6.04912304e-01 -1.50808817e-02 8.83155547e+01] [ 6.04813648e-01 7.96291988e-01 -1.09325699e-02 2.46915507e+01] [ 1.86220313e-02 -4.17165518e-04 9.99826508e-01 1.77204738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.582755096 meters 0.0224307103857672 Centerline is valid? [True, True] Translation: X:88.34, Y:24.71, Z:1.77 [[ 7.96034101e-01 -6.05062552e-01 -1.51333638e-02 8.83380533e+01] [ 6.04963179e-01 7.96177827e-01 -1.09736230e-02 2.47086082e+01] [ 1.86885771e-02 -4.19749735e-04 9.99825265e-01 1.77272081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.612755096 meters 0.02129696211742706 Centerline is valid? [True, True] Translation: X:88.36, Y:24.73, Z:1.77 [[ 7.95783707e-01 -6.05395199e-01 -1.49981243e-02 8.83592736e+01] [ 6.05297529e-01 7.95924920e-01 -1.08822483e-02 2.47268270e+01] [ 1.85254418e-02 -4.18411693e-04 9.99828302e-01 1.77341670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.642755096 meters 0.024034568353336876 Centerline is valid? [True, True] Translation: X:88.38, Y:24.74, Z:1.77 [[ 7.94702216e-01 -6.06828254e-01 -1.44173190e-02 8.83842528e+01] [ 6.06738116e-01 7.94832867e-01 -1.04676740e-02 2.47396197e+01] [ 1.78114394e-02 -4.28853243e-04 9.99841272e-01 1.77442910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.672755096 meters 0.023803865975954117 Centerline is valid? [True, True] Translation: X:88.41, Y:24.76, Z:1.78 [[ 7.93732926e-01 -6.08096331e-01 -1.43838687e-02 8.84072739e+01] [ 6.08006784e-01 7.93863115e-01 -1.04453115e-02 2.47570452e+01] [ 1.77705784e-02 -4.54702068e-04 9.99841987e-01 1.77503788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.702755096 meters 0.023737101724332747 Centerline is valid? [True, True] Translation: X:88.43, Y:24.77, Z:1.78 [[ 7.92729162e-01 -6.09405512e-01 -1.43316976e-02 8.84303885e+01] [ 6.09316728e-01 7.92858558e-01 -1.04130812e-02 2.47742258e+01] [ 1.77087982e-02 -4.77789959e-04 9.99843073e-01 1.77571473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.732755096 meters 0.025439453773502596 Centerline is valid? [True, True] Translation: X:88.45, Y:24.79, Z:1.78 [[ 7.91879564e-01 -6.10512606e-01 -1.41814478e-02 8.84542780e+01] [ 6.10425746e-01 7.92006386e-01 -1.03098797e-02 2.47883391e+01] [ 1.75261087e-02 -4.92537817e-04 9.99846285e-01 1.77624027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.762755096 meters 0.025198987776136172 Centerline is valid? [True, True] Translation: X:88.48, Y:24.81, Z:1.78 [[ 7.90079849e-01 -6.12844022e-01 -1.40013252e-02 8.84772667e+01] [ 6.12759690e-01 7.90203719e-01 -1.01806040e-02 2.48062988e+01] [ 1.73030215e-02 -5.35957562e-04 9.99850148e-01 1.77622915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79275509600001 meters 0.028461500592607835 Centerline is valid? [True, True] Translation: X:88.50, Y:24.82, Z:1.78 [[ 7.89122244e-01 -6.14082780e-01 -1.37267483e-02 8.85027675e+01] [ 6.14001809e-01 7.89241433e-01 -9.98698245e-03 2.48190953e+01] [ 1.69665525e-02 -5.47298307e-04 9.99855908e-01 1.77664200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82275509600001 meters 0.03008617301002057 Centerline is valid? [True, True] Translation: X:88.53, Y:24.83, Z:1.78 [[ 7.87952387e-01 -6.15571462e-01 -1.42411770e-02 8.85271778e+01] [ 6.15484514e-01 7.88080844e-01 -1.03632451e-02 2.48343244e+01] [ 1.76025167e-02 -5.99480201e-04 9.99844884e-01 1.77639562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85275509600001 meters 0.027273089105977387 Centerline is valid? [True, True] Translation: X:88.55, Y:24.85, Z:1.78 [[ 7.87288324e-01 -6.16409999e-01 -1.46903926e-02 8.85477082e+01] [ 6.16317513e-01 7.87425116e-01 -1.06962749e-02 2.48549772e+01] [ 1.81608749e-02 -6.32893937e-04 9.99834877e-01 1.77598882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88275509600001 meters 0.027779817203742833 Centerline is valid? [True, True] Translation: X:88.57, Y:24.87, Z:1.78 [[ 7.86761674e-01 -6.17067617e-01 -1.52847541e-02 8.85713645e+01] [ 6.16967486e-01 7.86909848e-01 -1.11360908e-02 2.48718079e+01] [ 1.88994446e-02 -6.68746856e-04 9.99821166e-01 1.77590770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91275509600001 meters 0.02863742685106794 Centerline is valid? [True, True] Translation: X:88.59, Y:24.89, Z:1.78 [[ 7.86549974e-01 -6.17339745e-01 -1.51913917e-02 8.85941434e+01] [ 6.17240769e-01 7.86696381e-01 -1.10742145e-02 2.48874149e+01] [ 1.87875656e-02 -6.66323145e-04 9.99823276e-01 1.77582652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.942755096 meters 0.028799854228658092 Centerline is valid? [True, True] Translation: X:88.62, Y:24.90, Z:1.78 [[ 7.86570529e-01 -6.17292167e-01 -1.60369730e-02 8.86163987e+01] [ 6.17181781e-01 7.86733685e-01 -1.16943337e-02 2.49033944e+01] [ 1.98356474e-02 -6.99309290e-04 9.99803010e-01 1.77509560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.972755096 meters 0.029408026735014588 Centerline is valid? [True, True] Translation: X:88.64, Y:24.92, Z:1.78 [[ 7.86563715e-01 -6.17303491e-01 -1.59349190e-02 8.86388053e+01] [ 6.17194432e-01 7.86724806e-01 -1.16238080e-02 2.49187372e+01] [ 1.97118133e-02 -6.92077677e-04 9.99805464e-01 1.77521543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.002755096 meters 0.02842371599637327 Centerline is valid? [True, True] Translation: X:88.66, Y:24.94, Z:1.78 [[ 7.86691678e-01 -6.17143517e-01 -1.58139882e-02 8.86613260e+01] [ 6.17035979e-01 7.86850315e-01 -1.15405049e-02 2.49368941e+01] [ 1.95653894e-02 -6.78980549e-04 9.99808349e-01 1.77589480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.032755096 meters 0.027268370805177144 Centerline is valid? [True, True] Translation: X:88.68, Y:24.96, Z:1.78 [[ 7.87513244e-01 -6.16101295e-01 -1.55590769e-02 8.86842013e+01] [ 6.15996875e-01 7.87666673e-01 -1.13605947e-02 2.49554967e+01] [ 1.92546434e-02 -6.37723941e-04 9.99814409e-01 1.77677852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.062755096 meters 0.02706705483949846 Centerline is valid? [True, True] Translation: X:88.71, Y:24.97, Z:1.78 [[ 7.87813267e-01 -6.15727699e-01 -1.51544299e-02 8.87073428e+01] [ 6.15628468e-01 7.87958775e-01 -1.10706526e-02 2.49725611e+01] [ 1.87575735e-02 -6.07891493e-04 9.99823876e-01 1.77758256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.092755096 meters 0.026739211324281774 Centerline is valid? [True, True] Translation: X:88.73, Y:24.99, Z:1.78 [[ 7.88678373e-01 -6.14640144e-01 -1.42799518e-02 8.87300604e+01] [ 6.14551762e-01 7.88807453e-01 -1.04371803e-02 2.49894446e+01] [ 1.76792424e-02 -5.44191186e-04 9.99843562e-01 1.77912847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.122755096 meters 0.0264194282958036 Centerline is valid? [True, True] Translation: X:88.75, Y:25.01, Z:1.78 [[ 7.89090103e-01 -6.14116827e-01 -1.40475160e-02 8.87532624e+01] [ 6.14031121e-01 7.89214960e-01 -1.02727670e-02 2.50065748e+01] [ 1.73951888e-02 -5.19473234e-04 9.99848557e-01 1.78025397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.152755096 meters 0.0264995256660653 Centerline is valid? [True, True] Translation: X:88.78, Y:25.02, Z:1.78 [[ 7.89404156e-01 -6.13716740e-01 -1.38867531e-02 8.87769253e+01] [ 6.13632827e-01 7.89526132e-01 -1.01607905e-02 2.50229709e+01] [ 1.71998017e-02 -5.00397307e-04 9.99851947e-01 1.78134821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18275509600001 meters 0.023452152459074265 Centerline is valid? [True, True] Translation: X:88.80, Y:25.04, Z:1.78 [[ 7.89892555e-01 -6.13094590e-01 -1.35932099e-02 8.87981976e+01] [ 6.13014050e-01 7.90009367e-01 -9.94865290e-03 2.50434224e+01] [ 1.68382284e-02 -4.74461815e-04 9.99858114e-01 1.78250731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21275509600001 meters 0.02291576834373315 Centerline is valid? [True, True] Translation: X:88.82, Y:25.06, Z:1.78 [[ 7.90070160e-01 -6.12867512e-01 -1.35113057e-02 8.88216068e+01] [ 6.12787810e-01 7.90185547e-01 -9.89446463e-03 2.50610779e+01] [ 1.67404344e-02 -4.62242173e-04 9.99859762e-01 1.78327857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24275509600001 meters 0.02283988955099735 Centerline is valid? [True, True] Translation: X:88.84, Y:25.08, Z:1.78 [[ 7.90043593e-01 -6.12903584e-01 -1.34282802e-02 8.88440976e+01] [ 6.12824770e-01 7.90157572e-01 -9.83929314e-03 2.50775014e+01] [ 1.66409953e-02 -4.55712206e-04 9.99861425e-01 1.78353262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27275509600001 meters 0.023138523891678316 Centerline is valid? [True, True] Translation: X:88.87, Y:25.09, Z:1.78 [[ 7.90125812e-01 -6.12787028e-01 -1.39017755e-02 8.88662813e+01] [ 6.12702415e-01 7.90247963e-01 -1.01935266e-02 2.50931410e+01] [ 1.72323106e-02 -4.63482971e-04 9.99851405e-01 1.78393073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.302755096 meters 0.023180730475503536 Centerline is valid? [True, True] Translation: X:88.89, Y:25.11, Z:1.78 [[ 7.90579640e-01 -6.12197437e-01 -1.40759042e-02 8.88891025e+01] [ 6.12110546e-01 7.90704807e-01 -1.03241156e-02 2.51094544e+01] [ 1.74502822e-02 -4.53973868e-04 9.99847629e-01 1.78368883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.332755096 meters 0.02209532740949701 Centerline is valid? [True, True] Translation: X:88.91, Y:25.13, Z:1.78 [[ 7.90572675e-01 -6.12199428e-01 -1.43772802e-02 8.89105542e+01] [ 6.12108742e-01 7.90703261e-01 -1.05470891e-02 2.51270618e+01] [ 1.78250843e-02 -4.62218455e-04 9.99841014e-01 1.78366207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.362755096 meters 0.02303944299172396 Centerline is valid? [True, True] Translation: X:88.93, Y:25.14, Z:1.78 [[ 7.90708593e-01 -6.12017131e-01 -1.46612317e-02 8.89345700e+01] [ 6.11922662e-01 7.90844370e-01 -1.07627693e-02 2.51421598e+01] [ 1.81817517e-02 -4.61325732e-04 9.99834592e-01 1.78386372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.392755096 meters 0.023382350644128063 Centerline is valid? [True, True] Translation: X:88.96, Y:25.16, Z:1.78 [[ 7.90829073e-01 -6.11839868e-01 -1.55355589e-02 8.89581191e+01] [ 6.11733689e-01 7.90981507e-01 -1.14083470e-02 2.51578377e+01] [ 1.92684213e-02 -4.81572260e-04 9.99814231e-01 1.78354050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.422755096 meters 0.023361538002242187 Centerline is valid? [True, True] Translation: X:88.98, Y:25.17, Z:1.78 [[ 7.90762383e-01 -6.11923071e-01 -1.56527837e-02 8.89811950e+01] [ 6.11815222e-01 7.90917139e-01 -1.14983766e-02 2.51743080e+01] [ 1.94161769e-02 -4.84127632e-04 9.99811371e-01 1.78408332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.452755096 meters 0.023728031217349024 Centerline is valid? [True, True] Translation: X:89.00, Y:25.19, Z:1.78 [[ 7.90564510e-01 -6.12168141e-01 -1.60599628e-02 8.90031319e+01] [ 6.12054513e-01 7.90727463e-01 -1.18048054e-02 2.51894256e+01] [ 1.99255794e-02 -4.97112480e-04 9.99801342e-01 1.78412262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.482755096 meters 0.023464185881963872 Centerline is valid? [True, True] Translation: X:89.03, Y:25.21, Z:1.78 [[ 7.89777556e-01 -6.13172106e-01 -1.64736409e-02 8.90269608e+01] [ 6.13052673e-01 7.89949166e-01 -1.21134572e-02 2.52058070e+01] [ 2.04409729e-02 -5.32272954e-04 9.99790920e-01 1.78383727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.512755096 meters 0.025139932734439725 Centerline is valid? [True, True] Translation: X:89.05, Y:25.22, Z:1.78 [[ 7.89230011e-01 -6.13874018e-01 -1.65734823e-02 8.90514621e+01] [ 6.13753155e-01 7.89403819e-01 -1.21932393e-02 2.52191445e+01] [ 2.05682830e-02 -5.48756714e-04 9.99788300e-01 1.78408378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54275509600001 meters 0.02473347452693905 Centerline is valid? [True, True] Translation: X:89.07, Y:25.24, Z:1.78 [[ 7.88354537e-01 -6.14997199e-01 -1.66002513e-02 8.90749054e+01] [ 6.14876137e-01 7.88529082e-01 -1.22157049e-02 2.52361386e+01] [ 2.06024052e-02 -5.76791992e-04 9.99787582e-01 1.78480548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57275509600001 meters 0.026168876785194077 Centerline is valid? [True, True] Translation: X:89.10, Y:25.25, Z:1.79 [[ 7.87099766e-01 -6.16602533e-01 -1.65914327e-02 8.90996425e+01] [ 6.16481824e-01 7.87274374e-01 -1.22155628e-02 2.52493366e+01] [ 2.05941568e-02 -6.13450025e-04 9.99787730e-01 1.78579740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60275509600001 meters 0.026961410653581222 Centerline is valid? [True, True] Translation: X:89.12, Y:25.26, Z:1.79 [[ 7.86369820e-01 -6.17539284e-01 -1.63627494e-02 8.91238349e+01] [ 6.17422008e-01 7.86539790e-01 -1.20508577e-02 2.52649984e+01] [ 2.03118315e-02 -6.26290814e-04 9.99793497e-01 1.78666931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63275509600001 meters 0.02448921539543107 Centerline is valid? [True, True] Translation: X:89.15, Y:25.28, Z:1.79 [[ 7.85217234e-01 -6.18991279e-01 -1.68431496e-02 8.91453336e+01] [ 6.18867205e-01 7.85397566e-01 -1.24115208e-02 2.52844302e+01] [ 2.09111918e-02 -6.77932896e-04 9.99781107e-01 1.78704351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66275509600001 meters 0.027377139664263896 Centerline is valid? [True, True] Translation: X:89.17, Y:25.30, Z:1.79 [[ 7.84809420e-01 -6.19501499e-01 -1.70899862e-02 8.91706556e+01] [ 6.19373724e-01 7.84995165e-01 -1.26008498e-02 2.52970184e+01] [ 2.12218019e-02 -6.95822735e-04 9.99774550e-01 1.78712384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.692755096 meters 0.029233682536809576 Centerline is valid? [True, True] Translation: X:89.19, Y:25.31, Z:1.79 [[ 7.84511518e-01 -6.19868228e-01 -1.74659174e-02 8.91949755e+01] [ 6.19734707e-01 7.84705593e-01 -1.28851066e-02 2.53107422e+01] [ 2.16926712e-02 -7.15720688e-04 9.99764430e-01 1.78723366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.722755096 meters 0.028142967897543638 Centerline is valid? [True, True] Translation: X:89.22, Y:25.33, Z:1.79 [[ 7.84288918e-01 -6.20145075e-01 -1.76346094e-02 8.92173938e+01] [ 6.20008937e-01 7.84486812e-01 -1.30138630e-02 2.53281586e+01] [ 2.19046016e-02 -7.26986884e-04 9.99759801e-01 1.78791854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.752755096 meters 0.02821406154525586 Centerline is valid? [True, True] Translation: X:89.24, Y:25.34, Z:1.79 [[ 7.84647106e-01 -6.19691432e-01 -1.76478867e-02 8.92412060e+01] [ 6.19554803e-01 7.84845225e-01 -1.30314549e-02 2.53436367e+01] [ 2.19263405e-02 -7.08739603e-04 9.99759338e-01 1.78873222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.782755096 meters 0.028781910027902986 Centerline is valid? [True, True] Translation: X:89.26, Y:25.36, Z:1.79 [[ 7.85234527e-01 -6.18937549e-01 -1.79735356e-02 8.92642337e+01] [ 6.18795485e-01 7.85439894e-01 -1.32785571e-02 2.53590776e+01] [ 2.23357295e-02 -6.95161150e-04 9.99750285e-01 1.78880964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.812755096 meters 0.02377911013927172 Centerline is valid? [True, True] Translation: X:89.28, Y:25.38, Z:1.79 [[ 7.85923393e-01 -6.18066426e-01 -1.78413167e-02 8.92830776e+01] [ 6.17926120e-01 7.86125597e-01 -1.31854346e-02 2.53817155e+01] [ 2.21749902e-02 -6.61874032e-04 9.99753886e-01 1.79010369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.842755096 meters 0.022599353222104386 Centerline is valid? [True, True] Translation: X:89.30, Y:25.40, Z:1.79 [[ 7.87907964e-01 -6.15505162e-01 -1.88264844e-02 8.93047784e+01] [ 6.15348029e-01 7.88132613e-01 -1.39207721e-02 2.53990506e+01] [ 2.34060734e-02 -6.16552861e-04 9.99725850e-01 1.78998212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.872755096 meters 0.021818340037934862 Centerline is valid? [True, True] Translation: X:89.33, Y:25.42, Z:1.79 [[ 7.88794920e-01 -6.14371860e-01 -1.87027285e-02 8.93272688e+01] [ 6.14216381e-01 7.89016404e-01 -1.38330196e-02 2.54170119e+01] [ 2.32553776e-02 -5.76106567e-04 9.99729391e-01 1.79030949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.902755096 meters 0.02114768916141575 Centerline is valid? [True, True] Translation: X:89.35, Y:25.43, Z:1.79 [[ 7.89928848e-01 -6.12911046e-01 -1.87740563e-02 8.93492631e+01] [ 6.12753805e-01 7.90151738e-01 -1.38926385e-02 2.54338907e+01] [ 2.33493048e-02 -5.29678524e-04 9.99727227e-01 1.79059467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93275509600001 meters 0.019817420688106636 Centerline is valid? [True, True] Translation: X:89.37, Y:25.45, Z:1.79 [[ 7.91810383e-01 -6.10483562e-01 -1.86047583e-02 8.93720847e+01] [ 6.10328389e-01 7.92028798e-01 -1.37710202e-02 2.54515231e+01] [ 2.31424858e-02 -4.50975353e-04 9.99732075e-01 1.79134738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96275509600001 meters 0.019240820474740697 Centerline is valid? [True, True] Translation: X:89.39, Y:25.47, Z:1.79 [[ 7.92421506e-01 -6.09685033e-01 -1.87701197e-02 8.93949882e+01] [ 6.09526683e-01 7.92643665e-01 -1.39011735e-02 2.54688777e+01] [ 2.33533539e-02 -4.25299901e-04 9.99727183e-01 1.79170742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99275509600001 meters 0.018778131227878976 Centerline is valid? [True, True] Translation: X:89.42, Y:25.49, Z:1.79 [[ 7.93126028e-01 -6.08760677e-01 -1.90142554e-02 8.94173558e+01] [ 6.08597744e-01 7.93353818e-01 -1.40891991e-02 2.54852803e+01] [ 2.36619825e-02 -3.97522387e-04 9.99719937e-01 1.79263162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02275509600001 meters 0.018178988004242565 Centerline is valid? [True, True] Translation: X:89.44, Y:25.50, Z:1.79 [[ 7.94332571e-01 -6.07215296e-01 -1.80374745e-02 8.94399653e+01] [ 6.07068189e-01 7.94537271e-01 -1.33693118e-02 2.55015500e+01] [ 2.24494963e-02 -3.30297153e-04 9.99747924e-01 1.79426791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.052755096 meters 0.017702403423805104 Centerline is valid? [True, True] Translation: X:89.46, Y:25.52, Z:1.80 [[ 7.94476976e-01 -6.07021056e-01 -1.82146418e-02 8.94621877e+01] [ 6.06870911e-01 7.94685681e-01 -1.35042821e-02 2.55182685e+01] [ 2.26722986e-02 -3.25095022e-04 9.99742898e-01 1.79505761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.082755096 meters 0.017702403423805104 Centerline is valid? [True, True] Translation: X:89.48, Y:25.53, Z:1.80 [[ 7.94295990e-01 -6.07257980e-01 -1.82106129e-02 8.94842210e+01] [ 6.07107773e-01 7.94504651e-01 -1.35097133e-02 2.55348381e+01] [ 2.26722978e-02 -3.25093554e-04 9.99742898e-01 1.79557233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.112755096 meters 0.017639353313866613 Centerline is valid? [True, True] Translation: X:89.51, Y:25.55, Z:1.80 [[ 7.94273257e-01 -6.07300360e-01 -1.77838695e-02 8.95074493e+01] [ 6.07156943e-01 7.94472262e-01 -1.32011815e-02 2.55513210e+01] [ 2.21458733e-02 -3.12254394e-04 9.99754701e-01 1.79670251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.142755096 meters 0.017807725916589273 Centerline is valid? [True, True] Translation: X:89.53, Y:25.57, Z:1.80 [[ 7.93880681e-01 -6.07808118e-01 -1.79654206e-02 8.95312485e+01] [ 6.07661702e-01 7.94083866e-01 -1.33442591e-02 2.55664307e+01] [ 2.23767996e-02 -3.23148568e-04 9.99749556e-01 1.79709465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.172755096 meters 0.018228429180514677 Centerline is valid? [True, True] Translation: X:89.55, Y:25.58, Z:1.80 [[ 7.93502287e-01 -6.08295139e-01 -1.81973566e-02 8.95539903e+01] [ 6.08144869e-01 7.93710849e-01 -1.35243066e-02 2.55808691e+01] [ 2.26702094e-02 -3.35060831e-04 9.99742942e-01 1.79745820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.202755096 meters 0.018487717771567824 Centerline is valid? [True, True] Translation: X:89.58, Y:25.60, Z:1.80 [[ 7.93003449e-01 -6.08937976e-01 -1.84410125e-02 8.95785204e+01] [ 6.08783705e-01 7.93217761e-01 -1.37107229e-02 2.55968729e+01] [ 2.29767185e-02 -3.53937343e-04 9.99735938e-01 1.79796347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.232755096 meters 0.01868916855200279 Centerline is valid? [True, True] Translation: X:89.60, Y:25.61, Z:1.80 [[ 7.92555245e-01 -6.09512513e-01 -1.87264651e-02 8.96029993e+01] [ 6.09353416e-01 7.92776362e-01 -1.39303554e-02 2.56131624e+01] [ 2.33366248e-02 -3.70459281e-04 9.99727595e-01 1.79818582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.262755096 meters 0.017925669914553737 Centerline is valid? [True, True] Translation: X:89.63, Y:25.63, Z:1.80 [[ 7.91271146e-01 -6.11162783e-01 -1.92360767e-02 8.96265455e+01] [ 6.10995206e-01 7.91504815e-01 -1.43173086e-02 2.56302925e+01] [ 2.39756535e-02 -4.24277472e-04 9.99712453e-01 1.79898134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29275509600001 meters 0.018289432540271405 Centerline is valid? [True, True] Translation: X:89.65, Y:25.65, Z:1.80 [[ 7.90440192e-01 -6.12220645e-01 -1.97531049e-02 8.96505171e+01] [ 6.12044053e-01 7.90686833e-01 -1.47108253e-02 2.56461765e+01] [ 2.46247909e-02 -4.61742845e-04 9.99696657e-01 1.79904730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32275509600001 meters 0.01871903502968766 Centerline is valid? [True, True] Translation: X:89.67, Y:25.66, Z:1.80 [[ 7.89557900e-01 -6.13338528e-01 -2.03512378e-02 8.96743883e+01] [ 6.13151258e-01 7.89819976e-01 -1.51637860e-02 2.56616733e+01] [ 2.53743484e-02 -5.05700035e-04 9.99677891e-01 1.79922476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35275509600001 meters 0.020268345927987933 Centerline is valid? [True, True] Translation: X:89.70, Y:25.67, Z:1.80 [[ 7.87696085e-01 -6.15709224e-01 -2.09052159e-02 8.97002733e+01] [ 6.15512365e-01 7.87973221e-01 -1.55798499e-02 2.56742275e+01] [ 2.60654076e-02 -5.95232097e-04 9.99660062e-01 1.79878986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38275509600001 meters 0.02101537058522851 Centerline is valid? [True, True] Translation: X:89.72, Y:25.69, Z:1.80 [[ 7.86524327e-01 -6.17199462e-01 -2.10785974e-02 8.97247947e+01] [ 6.16999728e-01 7.86806461e-01 -1.57139698e-02 2.56891909e+01] [ 2.62834303e-02 -6.46069358e-04 9.99654322e-01 1.79887888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41275509600001 meters 0.02210494302624813 Centerline is valid? [True, True] Translation: X:89.75, Y:25.70, Z:1.80 [[ 7.84402572e-01 -6.19890038e-01 -2.11883517e-02 8.97507645e+01] [ 6.19688956e-01 7.84688348e-01 -1.58048735e-02 2.57032842e+01] [ 2.64235363e-02 -7.32804049e-04 9.99650569e-01 1.79967223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.442755096 meters 0.02333162522489734 Centerline is valid? [True, True] Translation: X:89.77, Y:25.72, Z:1.80 [[ 7.83816673e-01 -6.20638224e-01 -2.09670875e-02 8.97743824e+01] [ 6.20441396e-01 7.84096704e-01 -1.56471247e-02 2.57178131e+01] [ 2.61514279e-02 -7.44371813e-04 9.99657716e-01 1.80050372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.472755096 meters 0.02215703365352355 Centerline is valid? [True, True] Translation: X:89.80, Y:25.74, Z:1.80 [[ 7.83506625e-01 -6.21041795e-01 -2.06023509e-02 8.97959138e+01] [ 6.20851767e-01 7.83777098e-01 -1.53799650e-02 2.57364423e+01] [ 2.56992519e-02 -7.40701538e-04 9.99669445e-01 1.80173395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.502755096 meters 0.021881260504126848 Centerline is valid? [True, True] Translation: X:89.82, Y:25.75, Z:1.80 [[ 7.82988123e-01 -6.21679446e-01 -2.10776246e-02 8.98196650e+01] [ 6.21480506e-01 7.83271391e-01 -1.57451122e-02 2.57536780e+01] [ 2.62979129e-02 -7.71096924e-04 9.99653853e-01 1.80237125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.532755096 meters 0.02296676370295325 Centerline is valid? [True, True] Translation: X:89.84, Y:25.77, Z:1.80 [[ 7.83052130e-01 -6.21596688e-01 -2.11404805e-02 8.98429133e+01] [ 6.21396318e-01 7.83337075e-01 -1.58000658e-02 2.57682189e+01] [ 2.63813907e-02 -7.64341529e-04 9.99651658e-01 1.80229829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.562755096 meters 0.02255475641230756 Centerline is valid? [True, True] Translation: X:89.87, Y:25.79, Z:1.80 [[ 7.83583355e-01 -6.20932642e-01 -2.09709125e-02 8.98652076e+01] [ 6.20735086e-01 7.83863584e-01 -1.56791032e-02 2.57861369e+01] [ 2.61740016e-02 -7.31496826e-04 9.99657134e-01 1.80328805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.592755096 meters 0.02107305117898127 Centerline is valid? [True, True] Translation: X:89.89, Y:25.81, Z:1.80 [[ 7.84456929e-01 -6.19822272e-01 -2.11583770e-02 8.98867583e+01] [ 6.19620523e-01 7.84741913e-01 -1.58283827e-02 2.58057227e+01] [ 2.64146494e-02 -6.93480094e-04 9.99650832e-01 1.80415620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.622755096 meters 0.02094803969469742 Centerline is valid? [True, True] Translation: X:89.91, Y:25.82, Z:1.80 [[ 7.86084944e-01 -6.17746428e-01 -2.14432021e-02 8.99089562e+01] [ 6.17538233e-01 7.86377110e-01 -1.60490647e-02 2.58230174e+01] [ 2.67766957e-02 -6.26068968e-04 9.99641244e-01 1.80388978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.652755096 meters 0.020431894209310467 Centerline is valid? [True, True] Translation: X:89.93, Y:25.84, Z:1.80 [[ 7.86917340e-01 -6.16690132e-01 -2.13162047e-02 8.99310485e+01] [ 6.16483877e-01 7.87205781e-01 -1.59589425e-02 2.58413829e+01] [ 2.66219619e-02 -5.82727965e-04 9.99645403e-01 1.80443147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68275509600001 meters 0.019359538878043436 Centerline is valid? [True, True] Translation: X:89.95, Y:25.86, Z:1.81 [[ 7.87835956e-01 -6.15528389e-01 -2.09597037e-02 8.99524423e+01] [ 6.15328338e-01 7.88114538e-01 -1.57006939e-02 2.58607834e+01] [ 2.61828700e-02 -5.27528471e-04 9.99657031e-01 1.80526348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71275509600001 meters 0.018243358181765333 Centerline is valid? [True, True] Translation: X:89.97, Y:25.88, Z:1.81 [[ 7.89302782e-01 -6.13654366e-01 -2.07228744e-02 8.99735468e+01] [ 6.13457940e-01 7.89574641e-01 -1.55319676e-02 2.58807562e+01] [ 2.58935158e-02 -4.53186649e-04 9.99664604e-01 1.80631516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74275509600001 meters 0.01832727282565558 Centerline is valid? [True, True] Translation: X:90.00, Y:25.90, Z:1.81 [[ 7.90089180e-01 -6.12654843e-01 -2.03256242e-02 8.99960191e+01] [ 6.12465367e-01 7.90350478e-01 -1.52412617e-02 2.58975242e+01] [ 2.54019996e-02 -4.06784958e-04 9.99677234e-01 1.80700154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77275509600001 meters 0.017018904257234548 Centerline is valid? [True, True] Translation: X:90.02, Y:25.92, Z:1.81 [[ 7.91168209e-01 -6.11268994e-01 -2.00769017e-02 9.00171269e+01] [ 6.11083571e-01 7.91422828e-01 -1.50591398e-02 2.59180276e+01] [ 2.50945036e-02 -3.54352125e-04 9.99685021e-01 1.80867034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.802755096 meters 0.016953891471814236 Centerline is valid? [True, True] Translation: X:90.04, Y:25.93, Z:1.81 [[ 7.91591938e-01 -6.10718046e-01 -2.01412994e-02 9.00389807e+01] [ 6.10531070e-01 7.91848065e-01 -1.51147293e-02 2.59348732e+01] [ 2.51796869e-02 -3.32191215e-04 9.99682886e-01 1.80930513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.832755096 meters 0.01680435352980005 Centerline is valid? [True, True] Translation: X:90.06, Y:25.95, Z:1.81 [[ 7.91701688e-01 -6.10580058e-01 -2.00107421e-02 9.00612865e+01] [ 6.10395328e-01 7.91954475e-01 -1.50217789e-02 2.59520522e+01] [ 2.50195953e-02 -3.21695772e-04 9.99686909e-01 1.81013767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.862755096 meters 0.016553432967842417 Centerline is valid? [True, True] Translation: X:90.08, Y:25.97, Z:1.81 [[ 7.91831681e-01 -6.10415985e-01 -1.98724583e-02 9.00833941e+01] [ 6.10233513e-01 7.92080950e-01 -1.49274469e-02 2.59696089e+01] [ 2.48525479e-02 -3.06814735e-04 9.99691081e-01 1.81067502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.892755096 meters 0.01642123681088369 Centerline is valid? [True, True] Translation: X:90.11, Y:25.99, Z:1.81 [[ 7.91676228e-01 -6.10611965e-01 -2.00444068e-02 9.01050786e+01] [ 6.10426139e-01 7.91929879e-01 -1.50663650e-02 2.59869461e+01] [ 2.50734674e-02 -3.07946814e-04 9.99685564e-01 1.81091837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.922755096 meters 0.01692701377192022 Centerline is valid? [True, True] Translation: X:90.13, Y:26.00, Z:1.81 [[ 7.91441619e-01 -6.10920047e-01 -1.99213424e-02 9.01274722e+01] [ 6.10736372e-01 7.91692239e-01 -1.49827483e-02 2.60029699e+01] [ 2.49248335e-02 -3.08717856e-04 9.99689280e-01 1.81074063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.952755096 meters 0.016449193674632382 Centerline is valid? [True, True] Translation: X:90.15, Y:26.02, Z:1.81 [[ 7.91005461e-01 -6.11493740e-01 -1.96409705e-02 9.01495704e+01] [ 6.11315199e-01 7.91249206e-01 -1.47790759e-02 2.60207007e+01] [ 2.45782147e-02 -3.16494048e-04 9.99697860e-01 1.81213683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.982755096 meters 0.01672783136032932 Centerline is valid? [True, True] Translation: X:90.17, Y:26.04, Z:1.81 [[ 7.89867383e-01 -6.12970268e-01 -1.94156455e-02 9.01735640e+01] [ 6.12796021e-01 7.90105896e-01 -1.46188139e-02 2.60370406e+01] [ 2.43013143e-02 -3.50906000e-04 9.99704618e-01 1.81289524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.012755096 meters 0.0174832111137167 Centerline is valid? [True, True] Translation: X:90.20, Y:26.05, Z:1.81 [[ 7.89289217e-01 -6.13711799e-01 -1.95027976e-02 9.01971382e+01] [ 6.13536031e-01 7.89530044e-01 -1.46917652e-02 2.60525653e+01] [ 2.44145543e-02 -3.69617199e-04 9.99701852e-01 1.81248685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04275509600001 meters 0.017994380889867746 Centerline is valid? [True, True] Translation: X:90.22, Y:26.07, Z:1.81 [[ 7.88415187e-01 -6.14829075e-01 -1.96647157e-02 9.02208015e+01] [ 6.14650616e-01 7.88660285e-01 -1.48180729e-02 2.60685183e+01] [ 2.46193623e-02 -4.04135882e-04 9.99696816e-01 1.81230460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07275509600001 meters 0.0184905480909103 Centerline is valid? [True, True] Translation: X:90.24, Y:26.08, Z:1.81 [[ 7.86818943e-01 -6.16853869e-01 -2.01805885e-02 9.02449428e+01] [ 6.16666366e-01 7.87077557e-01 -1.52155254e-02 2.60847465e+01] [ 2.52694440e-02 -4.72826496e-04 9.99680565e-01 1.81287025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10275509600001 meters 0.018975838326280678 Centerline is valid? [True, True] Translation: X:90.27, Y:26.10, Z:1.81 [[ 7.86266573e-01 -6.17561898e-01 -2.00543524e-02 9.02678669e+01] [ 6.17376783e-01 7.86522132e-01 -1.51275517e-02 2.61008887e+01] [ 2.51153916e-02 -4.86803307e-04 9.99684440e-01 1.81310854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13275509600001 meters 0.01971175977198882 Centerline is valid? [True, True] Translation: X:90.29, Y:26.12, Z:1.81 [[ 7.85613704e-01 -6.18385804e-01 -2.02510660e-02 9.02911536e+01] [ 6.18197219e-01 7.85874502e-01 -1.52795759e-02 2.61169351e+01] [ 2.53634692e-02 -5.15308485e-04 9.99678163e-01 1.81312867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16275509600001 meters 0.019714786303957448 Centerline is valid? [True, True] Translation: X:90.31, Y:26.13, Z:1.81 [[ 7.84358826e-01 -6.19970274e-01 -2.04472872e-02 9.03147897e+01] [ 6.19778395e-01 7.84625094e-01 -1.54338085e-02 2.61341009e+01] [ 2.56119571e-02 -5.67142924e-04 9.99671799e-01 1.81366469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.192755096 meters 0.020967405985394413 Centerline is valid? [True, True] Translation: X:90.34, Y:26.15, Z:1.81 [[ 7.83644771e-01 -6.20880681e-01 -2.02003282e-02 9.03384347e+01] [ 6.20693529e-01 7.83904866e-01 -1.52546502e-02 2.61491728e+01] [ 2.53064532e-02 -5.83986152e-04 9.99679570e-01 1.81332385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.222755096 meters 0.02088724840741162 Centerline is valid? [True, True] Translation: X:90.36, Y:26.17, Z:1.81 [[ 7.82517223e-01 -6.22293541e-01 -2.04339140e-02 9.03614109e+01] [ 6.22102394e-01 7.82783717e-01 -1.54357651e-02 2.61671448e+01] [ 2.56009121e-02 -6.33234732e-04 9.99672042e-01 1.81351994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.252755096 meters 0.021498318086732242 Centerline is valid? [True, True] Translation: X:90.38, Y:26.18, Z:1.81 [[ 7.82079443e-01 -6.22844222e-01 -2.04161545e-02 9.03843733e+01] [ 6.22653407e-01 7.82345614e-01 -1.54296879e-02 2.61831498e+01] [ 2.55827809e-02 -6.44946424e-04 9.99672499e-01 1.81358021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.282755096 meters 0.02125326318849132 Centerline is valid? [True, True] Translation: X:90.41, Y:26.20, Z:1.81 [[ 7.81581047e-01 -6.23464156e-01 -2.05794229e-02 9.04072818e+01] [ 6.23270368e-01 7.81851649e-01 -1.55578529e-02 2.62007460e+01] [ 2.57898193e-02 -6.66821535e-04 9.99667165e-01 1.81426062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.312755096 meters 0.02248333949443593 Centerline is valid? [True, True] Translation: X:90.43, Y:26.22, Z:1.81 [[ 7.81043870e-01 -6.24141933e-01 -2.04284357e-02 9.04309245e+01] [ 6.23951023e-01 7.81310685e-01 -1.54510103e-02 2.62159942e+01] [ 2.56045785e-02 -6.78426525e-04 9.99671919e-01 1.81444605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.342755096 meters 0.022277196419795794 Centerline is valid? [True, True] Translation: X:90.45, Y:26.23, Z:1.82 [[ 7.80637656e-01 -6.24642506e-01 -2.06540749e-02 9.04535895e+01] [ 6.24447406e-01 7.80910527e-01 -1.56264477e-02 2.62337065e+01] [ 2.58899280e-02 -6.98790009e-04 9.99664555e-01 1.81512774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.372755096 meters 0.022113108144384896 Centerline is valid? [True, True] Translation: X:90.48, Y:26.25, Z:1.82 [[ 7.80542801e-01 -6.24763715e-01 -2.05727257e-02 9.04761249e+01] [ 6.24569955e-01 7.80813563e-01 -1.55740562e-02 2.62512189e+01] [ 2.57935685e-02 -6.92888967e-04 9.99667050e-01 1.81563818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.402755096 meters 0.023868585909013335 Centerline is valid? [True, True] Translation: X:90.50, Y:26.27, Z:1.82 [[ 7.80724344e-01 -6.24533464e-01 -2.06749049e-02 9.04991259e+01] [ 6.24337466e-01 7.80997751e-01 -1.56601715e-02 2.62655509e+01] [ 2.59273554e-02 -6.81840595e-04 9.99663597e-01 1.81534247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43275509600001 meters 0.022456072310445028 Centerline is valid? [True, True] Translation: X:90.52, Y:26.28, Z:1.82 [[ 7.81127718e-01 -6.24029265e-01 -2.06631028e-02 9.05204348e+01] [ 6.23833161e-01 7.81400691e-01 -1.56571842e-02 2.62847560e+01] [ 2.59167040e-02 -6.60068149e-04 9.99663888e-01 1.81588197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46275509600001 meters 0.02248725766846996 Centerline is valid? [True, True] Translation: X:90.54, Y:26.30, Z:1.82 [[ 7.81556516e-01 -6.23489920e-01 -2.07299703e-02 9.05427335e+01] [ 6.23292169e-01 7.81831128e-01 -1.57149540e-02 2.63018669e+01] [ 2.60054515e-02 -6.38703392e-04 9.99661597e-01 1.81611502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49275509600001 meters 0.020664415378639143 Centerline is valid? [True, True] Translation: X:90.56, Y:26.32, Z:1.82 [[ 7.81887335e-01 -6.23075015e-01 -2.07297272e-02 9.05638159e+01] [ 6.22877000e-01 7.82161838e-01 -1.57195068e-02 2.63217151e+01] [ 2.60084335e-02 -6.21186973e-04 9.99661530e-01 1.81724576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52275509600001 meters 0.02062647090055094 Centerline is valid? [True, True] Translation: X:90.59, Y:26.34, Z:1.82 [[ 7.82626025e-01 -6.22143182e-01 -2.08414494e-02 9.05859758e+01] [ 6.21942502e-01 7.82903261e-01 -1.58116881e-02 2.63389006e+01] [ 2.61539726e-02 -5.87544600e-04 9.99657754e-01 1.81776967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.552755096 meters 0.019645610948409126 Centerline is valid? [True, True] Translation: X:90.61, Y:26.36, Z:1.82 [[ 7.84051906e-01 -6.20358260e-01 -2.04508751e-02 9.06073782e+01] [ 6.20164305e-01 7.84318408e-01 -1.55199938e-02 2.63589677e+01] [ 2.56679541e-02 -5.14422028e-04 9.99670391e-01 1.81891357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.582755096 meters 0.019086151863514415 Centerline is valid? [True, True] Translation: X:90.63, Y:26.38, Z:1.82 [[ 7.84720746e-01 -6.19520414e-01 -2.01942704e-02 9.06296724e+01] [ 6.19330802e-01 7.84980402e-01 -1.53337942e-02 2.63776714e+01] [ 2.53517051e-02 -4.74187266e-04 9.99678481e-01 1.81973495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.612755096 meters 0.01847185327776711 Centerline is valid? [True, True] Translation: X:90.65, Y:26.40, Z:1.82 [[ 7.85990889e-01 -6.17919828e-01 -1.98345071e-02 9.06507887e+01] [ 6.17736229e-01 7.86241005e-01 -1.50676077e-02 2.63961538e+01] [ 2.49052763e-02 -4.09491288e-04 9.99689732e-01 1.82055810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.642755096 meters 0.01838023327327683 Centerline is valid? [True, True] Translation: X:90.67, Y:26.41, Z:1.82 [[ 7.86271171e-01 -6.17575746e-01 -1.94382015e-02 9.06718225e+01] [ 6.17399229e-01 7.86511314e-01 -1.47697257e-02 2.64129276e+01] [ 2.44097898e-02 -3.88121102e-04 9.99701961e-01 1.82153931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.672755096 meters 0.01820202024642512 Centerline is valid? [True, True] Translation: X:90.69, Y:26.43, Z:1.82 [[ 7.86567570e-01 -6.17218190e-01 -1.87926721e-02 9.06944464e+01] [ 6.17052990e-01 7.86791952e-01 -1.42839479e-02 2.64306309e+01] [ 2.36022356e-02 -3.60784339e-04 9.99721363e-01 1.82262661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.702755096 meters 0.017369590455732616 Centerline is valid? [True, True] Translation: X:90.72, Y:26.45, Z:1.82 [[ 7.86440289e-01 -6.17403830e-01 -1.80051029e-02 9.07154463e+01] [ 6.17252067e-01 7.86646294e-01 -1.36928131e-02 2.64493632e+01] [ 2.26176428e-02 -3.45107106e-04 9.99744129e-01 1.82420753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.732755096 meters 0.018517106085228763 Centerline is valid? [True, True] Translation: X:90.74, Y:26.46, Z:1.82 [[ 7.86040661e-01 -6.17919923e-01 -1.77495815e-02 9.07382448e+01] [ 6.17772391e-01 7.86240960e-01 -1.35065034e-02 2.64642329e+01] [ 2.23013855e-02 -3.48540554e-04 9.99751232e-01 1.82438329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.762755096 meters 0.01880493781307357 Centerline is valid? [True, True] Translation: X:90.76, Y:26.48, Z:1.82 [[ 7.85549082e-01 -6.18545047e-01 -1.77387900e-02 9.07609707e+01] [ 6.18397759e-01 7.85749256e-01 -1.35025312e-02 2.64813276e+01] [ 2.22901649e-02 -3.62726986e-04 9.99751478e-01 1.82491176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79275509600001 meters 0.019856243645946473 Centerline is valid? [True, True] Translation: X:90.78, Y:26.50, Z:1.83 [[ 7.84343988e-01 -6.20094069e-01 -1.69662879e-02 9.07838119e+01] [ 6.19959563e-01 7.84527372e-01 -1.29206171e-02 2.64966490e+01] [ 2.13225153e-02 -3.84204141e-04 9.99772576e-01 1.82519097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82275509600001 meters 0.019182220091238565 Centerline is valid? [True, True] Translation: X:90.81, Y:26.51, Z:1.83 [[ 7.83557785e-01 -6.21090749e-01 -1.68368264e-02 9.08057832e+01] [ 6.20958455e-01 7.83738552e-01 -1.28249839e-02 2.65149880e+01] [ 2.11611488e-02 -4.05853678e-04 9.99775995e-01 1.82608340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85275509600001 meters 0.018979075465733384 Centerline is valid? [True, True] Translation: X:90.83, Y:26.53, Z:1.83 [[ 7.82706259e-01 -6.22162865e-01 -1.68606853e-02 9.08284012e+01] [ 6.22030290e-01 7.82887722e-01 -1.28504051e-02 2.65333020e+01] [ 2.11950684e-02 -4.29764474e-04 9.99775267e-01 1.82632871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88275509600001 meters 0.02106679055687136 Centerline is valid? [True, True] Translation: X:90.85, Y:26.55, Z:1.83 [[ 7.81070989e-01 -6.24214513e-01 -1.68627684e-02 9.08525797e+01] [ 6.24082235e-01 7.81252848e-01 -1.28589476e-02 2.65473932e+01] [ 2.12008276e-02 -4.80003231e-04 9.99775122e-01 1.82603634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91275509600001 meters 0.021295624262810536 Centerline is valid? [True, True] Translation: X:90.88, Y:26.56, Z:1.83 [[ 7.79973711e-01 -6.25586445e-01 -1.68109937e-02 9.08756371e+01] [ 6.25455229e-01 7.80154687e-01 -1.28226301e-02 2.65649354e+01] [ 2.11368391e-02 -5.13209581e-04 9.99776460e-01 1.82615905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.942755096 meters 0.022006614646359987 Centerline is valid? [True, True] Translation: X:90.90, Y:26.58, Z:1.83 [[ 7.77617970e-01 -6.28495506e-01 -1.74267742e-02 9.08989574e+01] [ 6.28355058e-01 7.77812979e-01 -1.33000618e-02 2.65817112e+01] [ 2.19138002e-02 -6.07834695e-04 9.99759679e-01 1.82600939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.972755096 meters 0.023434034694906604 Centerline is valid? [True, True] Translation: X:90.92, Y:26.60, Z:1.83 [[ 7.76397878e-01 -6.30003853e-01 -1.73631790e-02 9.09224637e+01] [ 6.29864652e-01 7.76591741e-01 -1.32584933e-02 2.65969484e+01] [ 2.18370032e-02 -6.42586675e-04 9.99761338e-01 1.82624432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.002755096 meters 0.023434034694906604 Centerline is valid? [True, True] Translation: X:90.94, Y:26.61, Z:1.83 [[ 7.76200608e-01 -6.30246932e-01 -1.73614603e-02 9.09442910e+01] [ 6.30107742e-01 7.76394479e-01 -1.32607434e-02 2.66138232e+01] [ 2.18368848e-02 -6.46593481e-04 9.99761338e-01 1.82676048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.032755096 meters 0.023835227777614227 Centerline is valid? [True, True] Translation: X:90.97, Y:26.63, Z:1.83 [[ 7.74964005e-01 -6.31778919e-01 -1.69170848e-02 9.09679350e+01] [ 6.31646956e-01 7.75148343e-01 -1.29294147e-02 2.66310327e+01] [ 2.12817819e-02 -6.65794129e-04 9.99773296e-01 1.82748463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.062755096 meters 0.025840767534557024 Centerline is valid? [True, True] Translation: X:90.99, Y:26.65, Z:1.83 [[ 7.72736179e-01 -6.34523844e-01 -1.60713972e-02 9.09916799e+01] [ 6.34405204e-01 7.72902971e-01 -1.22896055e-02 2.66454726e+01] [ 2.02196783e-02 -6.99155196e-04 9.99795317e-01 1.82849948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.092755096 meters 0.027119324637014944 Centerline is valid? [True, True] Translation: X:91.02, Y:26.66, Z:1.83 [[ 7.71665231e-01 -6.35835283e-01 -1.56927807e-02 9.10151442e+01] [ 6.35722357e-01 7.71824452e-01 -1.20041798e-02 2.66613376e+01] [ 1.97447529e-02 -7.13043297e-04 9.99804799e-01 1.82950128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.122755096 meters 0.02563762817953798 Centerline is valid? [True, True] Translation: X:91.04, Y:26.68, Z:1.83 [[ 7.70845773e-01 -6.36828417e-01 -1.56958889e-02 9.10363153e+01] [ 6.36715580e-01 7.71005205e-01 -1.20101808e-02 2.66804421e+01] [ 1.97500365e-02 -7.35819872e-04 9.99804678e-01 1.83038137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.152755096 meters 0.026952472495456438 Centerline is valid? [True, True] Translation: X:91.06, Y:26.70, Z:1.83 [[ 7.70086059e-01 -6.37757009e-01 -1.52793550e-02 9.10594713e+01] [ 6.37650196e-01 7.70237272e-01 -1.16949974e-02 2.66962846e+01] [ 1.92272953e-02 -7.36729278e-04 9.99814867e-01 1.83096740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18275509600001 meters 0.027605612770548564 Centerline is valid? [True, True] Translation: X:91.08, Y:26.71, Z:1.83 [[ 7.69403957e-01 -6.38590834e-01 -1.48086979e-02 9.10827692e+01] [ 6.38490612e-01 7.69546107e-01 -1.13370153e-02 2.67138701e+01] [ 1.86356899e-02 -7.32470137e-04 9.99826072e-01 1.83172165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21275509600001 meters 0.02738796006122651 Centerline is valid? [True, True] Translation: X:91.10, Y:26.73, Z:1.83 [[ 7.69251823e-01 -6.38777723e-01 -1.46510558e-02 9.11044399e+01] [ 6.38679540e-01 7.69390991e-01 -1.12226743e-02 2.67316936e+01] [ 1.84411847e-02 -7.24266932e-04 9.99829685e-01 1.83254082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24275509600001 meters 0.027574812698650492 Centerline is valid? [True, True] Translation: X:91.13, Y:26.75, Z:1.83 [[ 7.69463334e-01 -6.38519878e-01 -1.47832280e-02 9.11266649e+01] [ 6.38419727e-01 7.69604996e-01 -1.13314785e-02 2.67489483e+01] [ 1.86126204e-02 -7.18747120e-04 9.99826512e-01 1.83330029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27275509600001 meters 0.026106275025594938 Centerline is valid? [True, True] Translation: X:91.15, Y:26.77, Z:1.83 [[ 7.70135766e-01 -6.37723851e-01 -1.41135062e-02 9.11477933e+01] [ 6.37632404e-01 7.70264789e-01 -1.08200098e-02 2.67689522e+01] [ 1.77713152e-02 -6.66352292e-04 9.99841856e-01 1.83419779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.302755096 meters 0.025771722336472958 Centerline is valid? [True, True] Translation: X:91.17, Y:26.79, Z:1.84 [[ 7.70510146e-01 -6.37264324e-01 -1.44324862e-02 9.11696699e+01] [ 6.37168495e-01 7.70645015e-01 -1.10711442e-02 2.67871652e+01] [ 1.81775688e-02 -6.65496530e-04 9.99834553e-01 1.83504509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.332755096 meters 0.026397169873422374 Centerline is valid? [True, True] Translation: X:91.19, Y:26.80, Z:1.84 [[ 7.72338802e-01 -6.35060891e-01 -1.38000010e-02 9.11915040e+01] [ 6.34972819e-01 7.72461861e-01 -1.05921295e-02 2.68044171e+01] [ 1.73866216e-02 -5.81912911e-04 9.99848672e-01 1.83627919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.362755096 meters 0.024675895646359313 Centerline is valid? [True, True] Translation: X:91.21, Y:26.82, Z:1.84 [[ 7.73209441e-01 -6.34005293e-01 -1.35811823e-02 9.12119778e+01] [ 6.33919799e-01 7.73328513e-01 -1.04259260e-02 2.68247270e+01] [ 1.71128078e-02 -5.47955905e-04 9.99853415e-01 1.83719682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.392755096 meters 0.023937786370827826 Centerline is valid? [True, True] Translation: X:91.23, Y:26.84, Z:1.84 [[ 7.74246520e-01 -6.32742851e-01 -1.33719772e-02 9.12337874e+01] [ 6.32659687e-01 7.74361819e-01 -1.02710412e-02 2.68441297e+01] [ 1.68536765e-02 -5.07592940e-04 9.99857838e-01 1.83806639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.422755096 meters 0.021954109230427933 Centerline is valid? [True, True] Translation: X:91.25, Y:26.87, Z:1.84 [[ 7.75455597e-01 -6.31267255e-01 -1.30487739e-02 9.12539717e+01] [ 6.31187763e-01 7.75565240e-01 -1.00282516e-02 2.68651084e+01] [ 1.64506823e-02 -4.59762552e-04 9.99864573e-01 1.83890074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.452755096 meters 0.02055846313399948 Centerline is valid? [True, True] Translation: X:91.27, Y:26.89, Z:1.84 [[ 7.77997412e-01 -6.28143018e-01 -1.25050270e-02 9.12736809e+01] [ 6.28069526e-01 7.78097815e-01 -9.61571152e-03 2.68857123e+01] [ 1.57701762e-02 -3.73027689e-04 9.99875573e-01 1.84004939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.482755096 meters 0.019534130685947792 Centerline is valid? [True, True] Translation: X:91.29, Y:26.91, Z:1.84 [[ 7.79166002e-01 -6.26691993e-01 -1.25494044e-02 9.12948909e+01] [ 6.26617701e-01 7.79266982e-01 -9.65542719e-03 2.69055982e+01] [ 1.58303154e-02 -3.40498334e-04 9.99874635e-01 1.84054330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.512755096 meters 0.018799689328665405 Centerline is valid? [True, True] Translation: X:91.31, Y:26.93, Z:1.84 [[ 7.80916134e-01 -6.24511128e-01 -1.24837132e-02 9.13148551e+01] [ 6.24437234e-01 7.81015856e-01 -9.61112197e-03 2.69250704e+01] [ 1.57522306e-02 -2.89815123e-04 9.99875884e-01 1.84100688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54275509600001 meters 0.01886055826794001 Centerline is valid? [True, True] Translation: X:91.34, Y:26.94, Z:1.84 [[ 7.81274549e-01 -6.24063131e-01 -1.24614502e-02 9.13359972e+01] [ 6.23989413e-01 7.81373874e-01 -9.59595893e-03 2.69428801e+01] [ 1.57255358e-02 -2.78734529e-04 9.99876307e-01 1.84174179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57275509600001 meters 0.018500824125315403 Centerline is valid? [True, True] Translation: X:91.36, Y:26.96, Z:1.84 [[ 7.81574841e-01 -6.23684856e-01 -1.25685658e-02 9.13579381e+01] [ 6.23609795e-01 7.81675845e-01 -9.67977666e-03 2.69615876e+01] [ 1.58616744e-02 -2.72410849e-04 9.99874159e-01 1.84232193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60275509600001 meters 0.018531407578835816 Centerline is valid? [True, True] Translation: X:91.38, Y:26.98, Z:1.84 [[ 7.81641026e-01 -6.23600038e-01 -1.26609402e-02 9.13790182e+01] [ 6.23523761e-01 7.81743514e-01 -9.75696961e-03 2.69787951e+01] [ 1.59820545e-02 -2.67949347e-04 9.99872243e-01 1.84292550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63275509600001 meters 0.01833097222999556 Centerline is valid? [True, True] Translation: X:91.40, Y:27.00, Z:1.84 [[ 7.80896757e-01 -6.24534789e-01 -1.25120818e-02 9.14007736e+01] [ 6.24460382e-01 7.80996938e-01 -9.64438040e-03 2.69981016e+01] [ 1.57951486e-02 -2.82033986e-04 9.99875209e-01 1.84346268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66275509600001 meters 0.019087882833065787 Centerline is valid? [True, True] Translation: X:91.42, Y:27.01, Z:1.84 [[ 7.80353325e-01 -6.25212856e-01 -1.25528455e-02 9.14231940e+01] [ 6.25137950e-01 7.80454227e-01 -9.68211984e-03 2.70140288e+01] [ 1.58503071e-02 -2.91785687e-04 9.99874333e-01 1.84453595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.692755096 meters 0.020117842145698856 Centerline is valid? [True, True] Translation: X:91.45, Y:27.03, Z:1.84 [[ 7.78718814e-01 -6.27240568e-01 -1.28948725e-02 9.14469730e+01] [ 6.27161776e-01 7.78825496e-01 -9.94751508e-03 2.70309737e+01] [ 1.62823404e-02 -3.40853971e-04 9.99867376e-01 1.84487703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.722755096 meters 0.020668885202425488 Centerline is valid? [True, True] Translation: X:91.47, Y:27.05, Z:1.85 [[ 7.77613336e-01 -6.28609921e-01 -1.29254324e-02 9.14703155e+01] [ 6.28530853e-01 7.77720665e-01 -9.97665792e-03 2.70486249e+01] [ 1.63238020e-02 -3.66050786e-04 9.99866691e-01 1.84511522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.752755096 meters 0.02066023733406968 Centerline is valid? [True, True] Translation: X:91.49, Y:27.07, Z:1.85 [[ 7.76604628e-01 -6.29852591e-01 -1.30753674e-02 9.14929197e+01] [ 6.29771759e-01 7.76714594e-01 -1.00980757e-02 2.70672716e+01] [ 1.65161279e-02 -3.92284839e-04 9.99863523e-01 1.84513809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.782755096 meters 0.02279672948418137 Centerline is valid? [True, True] Translation: X:91.52, Y:27.08, Z:1.84 [[ 7.74550167e-01 -6.32362134e-01 -1.37902224e-02 9.15163494e+01] [ 6.32272500e-01 7.74672780e-01 -1.06569385e-02 2.70825595e+01] [ 1.74219543e-02 -4.64844932e-04 9.99848118e-01 1.84487535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.812755096 meters 0.023219168422912887 Centerline is valid? [True, True] Translation: X:91.54, Y:27.10, Z:1.85 [[ 7.73475200e-01 -6.33673849e-01 -1.39128782e-02 9.15394663e+01] [ 6.33582790e-01 7.73600159e-01 -1.07536815e-02 2.71004403e+01] [ 1.75773315e-02 -4.97254185e-04 9.99845383e-01 1.84508151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.842755096 meters 0.026053591071041417 Centerline is valid? [True, True] Translation: X:91.56, Y:27.11, Z:1.85 [[ 7.72346203e-01 -6.35041808e-01 -1.42564074e-02 9.15636246e+01] [ 6.34946312e-01 7.72477582e-01 -1.10257080e-02 2.71142845e+01] [ 1.80145406e-02 -5.36389600e-04 9.99837581e-01 1.84550587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.872755096 meters 0.025714779266574467 Centerline is valid? [True, True] Translation: X:91.59, Y:27.13, Z:1.85 [[ 7.71297741e-01 -6.36315435e-01 -1.42289334e-02 9.15857366e+01] [ 6.36220486e-01 7.71428772e-01 -1.10064845e-02 2.71326720e+01] [ 1.79802046e-02 -5.63462303e-04 9.99838184e-01 1.84589290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.902755096 meters 0.026006075126169134 Centerline is valid? [True, True] Translation: X:91.61, Y:27.15, Z:1.85 [[ 7.69363560e-01 -6.38636017e-01 -1.49582941e-02 9.16079606e+01] [ 6.38531396e-01 7.69508689e-01 -1.15772854e-02 2.71507385e+01] [ 1.89042087e-02 -6.44198913e-04 9.99821092e-01 1.84583229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93275509600001 meters 0.026686097162495717 Centerline is valid? [True, True] Translation: X:91.63, Y:27.17, Z:1.85 [[ 7.68534849e-01 -6.39631563e-01 -1.50216513e-02 9.16305381e+01] [ 6.39526120e-01 7.68681351e-01 -1.16328004e-02 2.71678598e+01] [ 1.89875695e-02 -6.66525864e-04 9.99819498e-01 1.84632909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96275509600001 meters 0.02512817013015759 Centerline is valid? [True, True] Translation: X:91.65, Y:27.19, Z:1.85 [[ 7.67575332e-01 -6.40776917e-01 -1.52660579e-02 9.16510888e+01] [ 6.40668192e-01 7.67726805e-01 -1.18245992e-02 2.71882005e+01] [ 1.92970920e-02 -7.04207039e-04 9.99813546e-01 1.84690336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99275509600001 meters 0.02736622693277883 Centerline is valid? [True, True] Translation: X:91.67, Y:27.20, Z:1.85 [[ 7.66484116e-01 -6.42079338e-01 -1.53695576e-02 9.16737516e+01] [ 6.41969260e-01 7.66637842e-01 -1.19116948e-02 2.72041939e+01] [ 1.94311376e-02 -7.36658670e-04 9.99810926e-01 1.84743078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02275509600001 meters 0.027666268754771222 Centerline is valid? [True, True] Translation: X:91.70, Y:27.22, Z:1.85 [[ 7.66020862e-01 -6.42631144e-01 -1.54029684e-02 9.16958790e+01] [ 6.42520646e-01 7.66175339e-01 -1.19402650e-02 2.72221743e+01] [ 1.94745607e-02 -7.50233059e-04 9.99810071e-01 1.84810843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05275509600001 meters 0.027329659121992096 Centerline is valid? [True, True] Translation: X:91.72, Y:27.24, Z:1.85 [[ 7.65631850e-01 -6.43092598e-01 -1.54848466e-02 9.17171073e+01] [ 6.42980883e-01 7.65788046e-01 -1.20105470e-02 2.72418456e+01] [ 1.95820043e-02 -7.60802963e-04 9.99807965e-01 1.84887956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.082755096 meters 0.027083655908553876 Centerline is valid? [True, True] Translation: X:91.74, Y:27.26, Z:1.85 [[ 7.65419605e-01 -6.43345854e-01 -1.54576798e-02 9.17382626e+01] [ 6.43234454e-01 7.65575295e-01 -1.19959933e-02 2.72600057e+01] [ 1.95515903e-02 -7.60943777e-04 9.99808560e-01 1.84959003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.112755096 meters 0.02901846973240427 Centerline is valid? [True, True] Translation: X:91.76, Y:27.28, Z:1.85 [[ 7.65484574e-01 -6.43261662e-01 -1.57417010e-02 9.17615294e+01] [ 6.43145950e-01 7.65646032e-01 -1.22245589e-02 2.72760259e+01] [ 1.99161610e-02 -7.66499998e-04 9.99801360e-01 1.85011343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.142755096 meters 0.02676709485284115 Centerline is valid? [True, True] Translation: X:91.78, Y:27.30, Z:1.85 [[ 7.66073160e-01 -6.42564222e-01 -1.55927702e-02 9.17812175e+01] [ 6.42450460e-01 7.66231477e-01 -1.21132608e-02 2.72985688e+01] [ 1.97312193e-02 -7.37938369e-04 9.99805048e-01 1.85093768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.172755096 meters 0.02657012802328384 Centerline is valid? [True, True] Translation: X:91.80, Y:27.32, Z:1.85 [[ 7.66411447e-01 -6.42155609e-01 -1.58008459e-02 9.18029724e+01] [ 6.42038571e-01 7.66573961e-01 -1.22815540e-02 2.73176103e+01] [ 1.99991858e-02 -7.32028949e-04 9.99799728e-01 1.85147514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.202755096 meters 0.02615934319369421 Centerline is valid? [True, True] Translation: X:91.82, Y:27.34, Z:1.85 [[ 7.67119900e-01 -6.41313047e-01 -1.56408124e-02 9.18246317e+01] [ 6.41198056e-01 7.67279017e-01 -1.21640288e-02 2.73367633e+01] [ 1.98018175e-02 -6.97589920e-04 9.99803681e-01 1.85215298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.232755096 meters 0.025762759482352803 Centerline is valid? [True, True] Translation: X:91.85, Y:27.36, Z:1.85 [[ 7.67647420e-01 -6.40683926e-01 -1.55417112e-02 9.18458697e+01] [ 6.40570126e-01 7.67804438e-01 -1.20937646e-02 2.73559740e+01] [ 1.96812754e-02 -6.71808668e-04 9.99806079e-01 1.85296507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.262755096 meters 0.024306793353345287 Centerline is valid? [True, True] Translation: X:91.87, Y:27.38, Z:1.85 [[ 7.69143775e-01 -6.38886798e-01 -1.55406551e-02 9.18658852e+01] [ 6.38772511e-01 7.69300510e-01 -1.20997976e-02 2.73773893e+01] [ 1.96858348e-02 -6.20459292e-04 9.99806023e-01 1.85388943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29275509600001 meters 0.023791411503885494 Centerline is valid? [True, True] Translation: X:91.89, Y:27.40, Z:1.85 [[ 7.69939485e-01 -6.37932741e-01 -1.53299898e-02 9.18875217e+01] [ 6.37821211e-01 7.70091864e-01 -1.19425178e-02 2.73966503e+01] [ 1.94240235e-02 -5.82776685e-04 9.99811166e-01 1.85469878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32275509600001 meters 0.023308423607194418 Centerline is valid? [True, True] Translation: X:91.91, Y:27.42, Z:1.86 [[ 7.71433736e-01 -6.36124545e-01 -1.53477877e-02 9.19072648e+01] [ 6.36012269e-01 7.71586210e-01 -1.19630159e-02 2.74163185e+01] [ 1.94521094e-02 -5.32707236e-04 9.99810648e-01 1.85531432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35275509600001 meters 0.02310927025038985 Centerline is valid? [True, True] Translation: X:91.93, Y:27.44, Z:1.86 [[ 7.71879494e-01 -6.35588891e-01 -1.51264205e-02 9.19293674e+01] [ 6.35479682e-01 7.72027526e-01 -1.17928842e-02 2.74357291e+01] [ 1.91734392e-02 -5.09847464e-04 9.99816043e-01 1.85592005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38275509600001 meters 0.022047964693807504 Centerline is valid? [True, True] Translation: X:91.95, Y:27.46, Z:1.86 [[ 7.72808933e-01 -6.34464161e-01 -1.48856235e-02 9.19497686e+01] [ 6.34358082e-01 7.72952138e-01 -1.16110143e-02 2.74565628e+01] [ 1.88726470e-02 -4.69720025e-04 9.99821785e-01 1.85658240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41275509600001 meters 0.021839979396504047 Centerline is valid? [True, True] Translation: X:91.97, Y:27.48, Z:1.86 [[ 7.72980452e-01 -6.34259413e-01 -1.47043893e-02 9.19712515e+01] [ 6.34155746e-01 7.73120166e-01 -1.14759944e-02 2.74753497e+01] [ 1.86470173e-02 -4.54153614e-04 9.99826026e-01 1.85678245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.442755096 meters 0.02212461682701786 Centerline is valid? [True, True] Translation: X:91.99, Y:27.49, Z:1.86 [[ 7.72865422e-01 -6.34400841e-01 -1.46496544e-02 9.19923714e+01] [ 6.34297851e-01 7.73004120e-01 -1.14396796e-02 2.74924450e+01] [ 1.85815855e-02 -4.50911503e-04 9.99827246e-01 1.85713755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.472755096 meters 0.021662842133508445 Centerline is valid? [True, True] Translation: X:92.01, Y:27.51, Z:1.86 [[ 7.72731806e-01 -6.34557016e-01 -1.49314972e-02 9.20133726e+01] [ 6.34449973e-01 7.72875916e-01 -1.16640150e-02 2.75107925e+01] [ 1.89416771e-02 -4.60132639e-04 9.99820484e-01 1.85739985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.502755096 meters 0.02347624420217482 Centerline is valid? [True, True] Translation: X:92.04, Y:27.53, Z:1.86 [[ 7.72209509e-01 -6.35186410e-01 -1.51887781e-02 9.20367782e+01] [ 6.35075621e-01 7.72358722e-01 -1.18726345e-02 2.75266126e+01] [ 1.92725213e-02 -4.77861378e-04 9.99814154e-01 1.85729589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.532755096 meters 0.0222826427816427 Centerline is valid? [True, True] Translation: X:92.06, Y:27.55, Z:1.86 [[ 7.71506818e-01 -6.36039749e-01 -1.51877649e-02 9.20575970e+01] [ 6.35929070e-01 7.71656136e-01 -1.18754592e-02 2.75464768e+01] [ 1.92729961e-02 -4.96343499e-04 9.99814135e-01 1.85760003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.562755096 meters 0.02417260767517395 Centerline is valid? [True, True] Translation: X:92.08, Y:27.56, Z:1.86 [[ 7.70362970e-01 -6.37423383e-01 -1.52422503e-02 9.20814232e+01] [ 6.37312046e-01 7.70513564e-01 -1.19248916e-02 2.75624172e+01] [ 1.93455653e-02 -5.27574858e-04 9.99812718e-01 1.85805985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.592755096 meters 0.02235067592506818 Centerline is valid? [True, True] Translation: X:92.10, Y:27.58, Z:1.86 [[ 7.69834781e-01 -6.38069192e-01 -1.49035815e-02 9.21019819e+01] [ 6.37962744e-01 7.69978850e-01 -1.16665063e-02 2.75827556e+01] [ 1.89194808e-02 -5.26647473e-04 9.99820872e-01 1.85879103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.622755096 meters 0.02300256870708202 Centerline is valid? [True, True] Translation: X:92.12, Y:27.60, Z:1.86 [[ 7.69002534e-01 -6.39078539e-01 -1.46192776e-02 9.21246377e+01] [ 6.38976165e-01 7.69141297e-01 -1.14510288e-02 2.76001487e+01] [ 1.85623969e-02 -5.35499784e-04 9.99827560e-01 1.85931097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.652755096 meters 0.02402502954592879 Centerline is valid? [True, True] Translation: X:92.15, Y:27.62, Z:1.86 [[ 7.67444860e-01 -6.40951507e-01 -1.44758953e-02 9.21478266e+01] [ 6.40851345e-01 7.67581162e-01 -1.13452184e-02 2.76176629e+01] [ 1.83831594e-02 -5.70067470e-04 9.99830853e-01 1.85989407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68275509600001 meters 0.02471093070614348 Centerline is valid? [True, True] Translation: X:92.17, Y:27.63, Z:1.86 [[ 7.66526549e-01 -6.42053951e-01 -1.42749430e-02 9.21706902e+01] [ 6.41956625e-01 7.66659236e-01 -1.11940703e-02 2.76348244e+01] [ 1.81312139e-02 -5.83342124e-04 9.99835446e-01 1.86045684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71275509600001 meters 0.025531509735994724 Centerline is valid? [True, True] Translation: X:92.19, Y:27.65, Z:1.86 [[ 7.65630995e-01 -6.43125065e-01 -1.41184607e-02 9.21935005e+01] [ 6.43029929e-01 7.65760925e-01 -1.10777421e-02 2.76511503e+01] [ 1.79357391e-02 -5.97130038e-04 9.99838963e-01 1.86100145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74275509600001 meters 0.026971939705891713 Centerline is valid? [True, True] Translation: X:92.22, Y:27.67, Z:1.86 [[ 7.63584227e-01 -6.45546898e-01 -1.44336543e-02 9.22172147e+01] [ 6.45447834e-01 7.63720341e-01 -1.13284942e-02 2.76681831e+01] [ 1.83363496e-02 -6.65911438e-04 9.99831653e-01 1.86073217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77275509600001 meters 0.031144408409208443 Centerline is valid? [True, True] Translation: X:92.24, Y:27.68, Z:1.86 [[ 7.62640336e-01 -6.46661069e-01 -1.44630358e-02 9.22431440e+01] [ 6.46561683e-01 7.62777154e-01 -1.13579689e-02 2.76816332e+01] [ 1.83768296e-02 -6.89199527e-04 9.99830894e-01 1.86115678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80275509600001 meters 0.03240071825121955 Centerline is valid? [True, True] Translation: X:92.27, Y:27.70, Z:1.86 [[ 7.62182312e-01 -6.47199953e-01 -1.45032715e-02 9.22662731e+01] [ 6.47099991e-01 7.62319967e-01 -1.13960253e-02 2.76980169e+01] [ 1.84316405e-02 -6.99217882e-04 9.99829878e-01 1.86164710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.832755096 meters 0.027902674925305845 Centerline is valid? [True, True] Translation: X:92.28, Y:27.72, Z:1.86 [[ 7.61382793e-01 -6.48145615e-01 -1.42654687e-02 9.22837644e+01] [ 6.48049027e-01 7.61516093e-01 -1.12115399e-02 2.77216542e+01] [ 1.81300944e-02 -7.08449573e-04 9.99835385e-01 1.86232938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.862755096 meters 0.031088932573762967 Centerline is valid? [True, True] Translation: X:92.31, Y:27.74, Z:1.86 [[ 7.61083164e-01 -6.48500585e-01 -1.41211921e-02 9.23083137e+01] [ 6.48405962e-01 7.61213827e-01 -1.11003787e-02 2.77359600e+01] [ 1.79478488e-02 -7.07953832e-04 9.99838674e-01 1.86275257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.892755096 meters 0.031088932573762967 Centerline is valid? [True, True] Translation: X:92.33, Y:27.75, Z:1.86 [[ 7.60854903e-01 -6.48768457e-01 -1.41175767e-02 9.23298628e+01] [ 6.48673794e-01 7.60985537e-01 -1.11049749e-02 2.77531987e+01] [ 1.79478291e-02 -7.08427444e-04 9.99838674e-01 1.86326777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.922755096 meters 0.027097276664829653 Centerline is valid? [True, True] Translation: X:92.35, Y:27.78, Z:1.86 [[ 7.61247618e-01 -6.48314076e-01 -1.38174613e-02 9.23485144e+01] [ 6.48223185e-01 7.61372708e-01 -1.08766657e-02 2.77764478e+01] [ 1.75717334e-02 -6.76962947e-04 9.99845376e-01 1.86408528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.952755096 meters 0.030820636689215142 Centerline is valid? [True, True] Translation: X:92.37, Y:27.79, Z:1.86 [[ 7.61614313e-01 -6.47878917e-01 -1.40195400e-02 9.23737538e+01] [ 6.47785148e-01 7.61743040e-01 -1.10428292e-02 2.77896052e+01] [ 1.78337033e-02 -6.71273036e-04 9.99840742e-01 1.86498053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.982755096 meters 0.02999539981745195 Centerline is valid? [True, True] Translation: X:92.40, Y:27.81, Z:1.87 [[ 7.62259680e-01 -6.47126110e-01 -1.37105224e-02 9.23955473e+01] [ 6.47036193e-01 7.62382710e-01 -1.08059600e-02 2.78086231e+01] [ 1.74454841e-02 -6.34256638e-04 9.99847615e-01 1.86580767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.012755096 meters 0.02880916562382739 Centerline is valid? [True, True] Translation: X:92.42, Y:27.83, Z:1.87 [[ 7.62818840e-01 -6.46476518e-01 -1.32487603e-02 9.24165458e+01] [ 6.46392353e-01 7.62933653e-01 -1.04482692e-02 2.78283966e+01] [ 1.68624858e-02 -5.93760773e-04 9.99857642e-01 1.86647325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04275509600001 meters 0.027219903061840953 Centerline is valid? [True, True] Translation: X:92.44, Y:27.85, Z:1.87 [[ 7.64744601e-01 -6.44211640e-01 -1.25322975e-02 9.24371108e+01] [ 6.44135935e-01 7.64847111e-01 -9.88910494e-03 2.78494526e+01] [ 1.59559681e-02 -5.09863572e-04 9.99872565e-01 1.86742880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07275509600001 meters 0.026396809979475255 Centerline is valid? [True, True] Translation: X:92.46, Y:27.87, Z:1.87 [[ 7.65587409e-01 -6.43212434e-01 -1.23969094e-02 9.24588682e+01] [ 6.43138130e-01 7.65687622e-01 -9.78831520e-03 2.78691119e+01] [ 1.57881261e-02 -4.79114244e-04 9.99875245e-01 1.86809396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10275509600001 meters 0.025069795041809635 Centerline is valid? [True, True] Translation: X:92.48, Y:27.89, Z:1.87 [[ 7.67037261e-01 -6.41491008e-01 -1.19636015e-02 9.24799682e+01] [ 6.41421511e-01 7.67130437e-01 -9.45188973e-03 2.78898371e+01] [ 1.52409451e-02 -4.23759718e-04 9.99883760e-01 1.86881754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13275509600001 meters 0.024655598010870184 Centerline is valid? [True, True] Translation: X:92.50, Y:27.91, Z:1.87 [[ 7.67859726e-01 -6.40505443e-01 -1.20090572e-02 9.25013265e+01] [ 6.40435201e-01 7.67953525e-01 -9.49403861e-03 2.79077212e+01] [ 1.53033812e-02 -4.00933046e-04 9.99882816e-01 1.86928198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16275509600001 meters 0.022356436051199916 Centerline is valid? [True, True] Translation: X:92.52, Y:27.93, Z:1.87 [[ 7.68525639e-01 -6.39711732e-01 -1.17150581e-02 9.25213207e+01] [ 6.39644779e-01 7.68614832e-01 -9.26266349e-03 2.79288136e+01] [ 1.49298019e-02 -3.74881350e-04 9.99888474e-01 1.86970958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.192755096 meters 0.02260155301812928 Centerline is valid? [True, True] Translation: X:92.54, Y:27.95, Z:1.87 [[ 7.70015511e-01 -6.37925222e-01 -1.12926464e-02 9.25435107e+01] [ 6.37862731e-01 7.70098245e-01 -8.93468777e-03 2.79462432e+01] [ 1.43961098e-02 -3.23310089e-04 9.99896318e-01 1.87119479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.222755096 meters 0.02280626732014185 Centerline is valid? [True, True] Translation: X:92.57, Y:27.96, Z:1.87 [[ 7.70438140e-01 -6.37421123e-01 -1.09263434e-02 9.25659227e+01] [ 6.37362547e-01 7.70515555e-01 -8.64652928e-03 2.79642573e+01] [ 1.39303979e-02 -3.02426101e-04 9.99902922e-01 1.87230606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.252755096 meters 0.02182163794602194 Centerline is valid? [True, True] Translation: X:92.59, Y:27.98, Z:1.87 [[ 7.70842002e-01 -6.36932201e-01 -1.09535202e-02 9.25861565e+01] [ 6.36873204e-01 7.70919767e-01 -8.67381585e-03 2.79835130e+01] [ 1.39689179e-02 -2.89861939e-04 9.99902388e-01 1.87254189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.282755096 meters 0.021231759984315906 Centerline is valid? [True, True] Translation: X:92.61, Y:28.00, Z:1.87 [[ 7.71337529e-01 -6.36336071e-01 -1.07154780e-02 9.26078681e+01] [ 6.36279542e-01 7.71411907e-01 -8.48607179e-03 2.80026758e+01] [ 1.36660409e-02 -2.72413774e-04 9.99906578e-01 1.87317535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.312755096 meters 0.021441321082867094 Centerline is valid? [True, True] Translation: X:92.63, Y:28.02, Z:1.87 [[ 7.71296055e-01 -6.36385122e-01 -1.07875542e-02 9.26288314e+01] [ 6.36327762e-01 7.71371443e-01 -8.54846248e-03 2.80190087e+01] [ 1.37613256e-02 -2.71024843e-04 9.99905272e-01 1.87341639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.342755096 meters 0.021488325596571555 Centerline is valid? [True, True] Translation: X:92.65, Y:28.04, Z:1.87 [[ 7.70940415e-01 -6.36818014e-01 -1.06627238e-02 9.26507444e+01] [ 6.36761989e-01 7.71014100e-01 -8.45147426e-03 2.80363203e+01] [ 1.36031614e-02 -2.74034113e-04 9.99907435e-01 1.87373769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.372755096 meters 0.022360530560672828 Centerline is valid? [True, True] Translation: X:92.67, Y:28.05, Z:1.87 [[ 7.69968663e-01 -6.37986968e-01 -1.09948685e-02 9.26743519e+01] [ 6.37927421e-01 7.70047103e-01 -8.72156035e-03 2.80515470e+01] [ 1.40308085e-02 -2.98599975e-04 9.99901519e-01 1.87323418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.402755096 meters 0.023413200280982455 Centerline is valid? [True, True] Translation: X:92.70, Y:28.07, Z:1.87 [[ 7.68908534e-01 -6.39258158e-01 -1.13434568e-02 9.26987152e+01] [ 6.39194902e-01 7.68992131e-01 -8.99889964e-03 2.80680360e+01] [ 1.44756490e-02 -3.31349023e-04 9.99895167e-01 1.87358276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43275509600001 meters 0.022934908980804216 Centerline is valid? [True, True] Translation: X:92.72, Y:28.09, Z:1.87 [[ 7.67654879e-01 -6.40756797e-01 -1.16924502e-02 9.27210711e+01] [ 6.40689684e-01 7.67743833e-01 -9.28097260e-03 2.80864563e+01] [ 1.49236528e-02 -3.66648332e-04 9.99888569e-01 1.87308302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46275509600001 meters 0.024776989039250012 Centerline is valid? [True, True] Translation: X:92.75, Y:28.10, Z:1.87 [[ 7.65139184e-01 -6.43750027e-01 -1.21627429e-02 9.27452169e+01] [ 6.43677681e-01 7.65235723e-01 -9.66079808e-03 2.81002115e+01] [ 1.55265044e-02 -4.37030968e-04 9.99879361e-01 1.87263643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49275509600001 meters 0.024899328320146744 Centerline is valid? [True, True] Translation: X:92.77, Y:28.12, Z:1.87 [[ 7.63615138e-01 -6.45557838e-01 -1.21243168e-02 9.27683899e+01] [ 6.45486131e-01 7.63711240e-01 -9.63313342e-03 2.81174520e+01] [ 1.54782218e-02 -4.70071834e-04 9.99880095e-01 1.87262496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52275509600001 meters 0.024521980882452478 Centerline is valid? [True, True] Translation: X:92.79, Y:28.13, Z:1.87 [[ 7.62348088e-01 -6.47047594e-01 -1.24420039e-02 9.27907241e+01] [ 6.46972177e-01 7.62449443e-01 -9.89191553e-03 2.81348713e+01] [ 1.58869391e-02 -5.08547460e-04 9.99873665e-01 1.87286513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55275509600001 meters 0.026608097275676645 Centerline is valid? [True, True] Translation: X:92.82, Y:28.15, Z:1.87 [[ 7.60402571e-01 -6.49332888e-01 -1.24390815e-02 9.28159314e+01] [ 6.49257777e-01 7.60504105e-01 -9.89166529e-03 2.81479716e+01] [ 1.58829561e-02 -5.54522677e-04 9.99873704e-01 1.87366301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.582755096 meters 0.026713241742959404 Centerline is valid? [True, True] Translation: X:92.84, Y:28.17, Z:1.87 [[ 7.59416354e-01 -6.50484570e-01 -1.25150053e-02 9.28386436e+01] [ 6.50408674e-01 7.59519247e-01 -9.95341603e-03 2.81651722e+01] [ 1.59799309e-02 -5.81081085e-04 9.99872144e-01 1.87431302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.612755096 meters 0.028460394462536415 Centerline is valid? [True, True] Translation: X:92.86, Y:28.18, Z:1.88 [[ 7.58955450e-01 -6.51025627e-01 -1.23392485e-02 9.28624347e+01] [ 6.50951821e-01 7.59055530e-01 -9.81987847e-03 2.81797266e+01] [ 1.57591674e-02 -5.79406007e-04 9.99875649e-01 1.87512517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.642755096 meters 0.02829368898091915 Centerline is valid? [True, True] Translation: X:92.89, Y:28.20, Z:1.88 [[ 7.58150138e-01 -6.51962321e-01 -1.23895178e-02 9.28857606e+01] [ 6.51888015e-01 7.58251127e-01 -9.86124573e-03 2.81972440e+01] [ 1.58235265e-02 -6.00273345e-04 9.99874620e-01 1.87530895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.672755096 meters 0.0290575019393732 Centerline is valid? [True, True] Translation: X:92.91, Y:28.21, Z:1.88 [[ 7.57721639e-01 -6.52461908e-01 -1.23034797e-02 9.29086762e+01] [ 6.52388600e-01 7.57821282e-01 -9.79887442e-03 2.82135775e+01] [ 1.57172311e-02 -6.01830723e-04 9.99876296e-01 1.87562786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.702755096 meters 0.029016071502183424 Centerline is valid? [True, True] Translation: X:92.93, Y:28.23, Z:1.88 [[ 7.57667743e-01 -6.52527241e-01 -1.21569343e-02 9.29305554e+01] [ 6.52455662e-01 7.57765033e-01 -9.68318795e-03 2.82306646e+01] [ 1.55306436e-02 -5.95221466e-04 9.99879215e-01 1.87623160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.732755096 meters 0.027933848239141263 Centerline is valid? [True, True] Translation: X:92.95, Y:28.25, Z:1.88 [[ 7.57944275e-01 -6.52191765e-01 -1.28987900e-02 9.29530180e+01] [ 6.52111017e-01 7.58053771e-01 -1.02811306e-02 2.82492965e+01] [ 1.64832451e-02 -6.18918947e-04 9.99863951e-01 1.87700531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.762755096 meters 0.027586778678331376 Centerline is valid? [True, True] Translation: X:92.98, Y:28.27, Z:1.88 [[ 7.58459427e-01 -6.51599551e-01 -1.25428582e-02 9.29754894e+01] [ 6.51523031e-01 7.58562907e-01 -1.00028621e-02 2.82670553e+01] [ 1.60324074e-02 -5.85195907e-04 9.99871301e-01 1.87790820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79275509600001 meters 0.027284481348775782 Centerline is valid? [True, True] Translation: X:93.00, Y:28.28, Z:1.88 [[ 7.59549072e-01 -6.50332976e-01 -1.23380527e-02 9.29974102e+01] [ 6.50258675e-01 7.59649079e-01 -9.84543168e-03 2.82841288e+01] [ 1.57753992e-02 -5.44837291e-04 9.99875412e-01 1.87926369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82275509600001 meters 0.026310005988072545 Centerline is valid? [True, True] Translation: X:93.02, Y:28.30, Z:1.88 [[ 7.60107131e-01 -6.49683006e-01 -1.22123408e-02 9.30194527e+01] [ 6.49610092e-01 7.60205049e-01 -9.74739644e-03 2.83029296e+01] [ 1.56166010e-02 -5.24194308e-04 9.99877916e-01 1.88010153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85275509600001 meters 0.02755876211865074 Centerline is valid? [True, True] Translation: X:93.04, Y:28.32, Z:1.88 [[ 7.60410874e-01 -6.49323423e-01 -1.24255671e-02 9.30419134e+01] [ 6.49247797e-01 7.60512209e-01 -9.92362939e-03 2.83200187e+01] [ 1.58934405e-02 -5.21236348e-04 9.99873555e-01 1.87891138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88275509600001 meters 0.025501622150761065 Centerline is valid? [True, True] Translation: X:93.06, Y:28.34, Z:1.88 [[ 7.61153094e-01 -6.48459554e-01 -1.20902609e-02 9.30636406e+01] [ 6.48387805e-01 7.61248953e-01 -9.65845007e-03 2.83389686e+01] [ 1.54668127e-02 -4.87618546e-04 9.99880263e-01 1.88216601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91275509600001 meters 0.02501590765129974 Centerline is valid? [True, True] Translation: X:93.09, Y:28.36, Z:1.88 [[ 7.62193167e-01 -6.47239423e-01 -1.19459209e-02 9.30855779e+01] [ 6.47169136e-01 7.62286642e-01 -9.54913704e-03 2.83557404e+01] [ 1.52867938e-02 -4.52744269e-04 9.99883048e-01 1.88269675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.942755096 meters 0.025483353925216168 Centerline is valid? [True, True] Translation: X:93.11, Y:28.37, Z:1.88 [[ 7.62608368e-01 -6.46742308e-01 -1.23638317e-02 9.31078315e+01] [ 6.46666918e-01 7.62708450e-01 -9.88522596e-03 2.83718545e+01] [ 1.58231928e-02 -4.56724937e-04 9.99874701e-01 1.88342420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.972755096 meters 0.024431882385873734 Centerline is valid? [True, True] Translation: X:93.13, Y:28.39, Z:1.88 [[ 7.63657104e-01 -6.45500231e-01 -1.25411013e-02 9.31301525e+01] [ 6.45422474e-01 7.63759951e-01 -1.00283621e-02 2.83906980e+01] [ 1.60517010e-02 -4.36078619e-04 9.99871068e-01 1.88384912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.002755096 meters 0.02412522097002379 Centerline is valid? [True, True] Translation: X:93.15, Y:28.41, Z:1.88 [[ 7.63978656e-01 -6.45116496e-01 -1.27011886e-02 9.31522993e+01] [ 6.45036598e-01 7.64084107e-01 -1.01619235e-02 2.84085695e+01] [ 1.62604008e-02 -4.29238852e-04 9.99867699e-01 1.88422278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.032755096 meters 0.02446548457833818 Centerline is valid? [True, True] Translation: X:93.18, Y:28.43, Z:1.88 [[ 7.64506482e-01 -6.44478761e-01 -1.33028352e-02 9.31752272e+01] [ 6.44390909e-01 7.64622091e-01 -1.06496435e-02 2.84250471e+01] [ 1.70351107e-02 -4.30504616e-04 9.99854799e-01 1.88431142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.062755096 meters 0.022440804102433362 Centerline is valid? [True, True] Translation: X:93.20, Y:28.45, Z:1.88 [[ 7.64332351e-01 -6.44678724e-01 -1.36161731e-02 9.31952837e+01] [ 6.44586686e-01 7.64453495e-01 -1.09022376e-02 2.84450224e+01] [ 1.74373718e-02 -4.43871034e-04 9.99847859e-01 1.88437439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.092755096 meters 0.02218568989817351 Centerline is valid? [True, True] Translation: X:93.22, Y:28.46, Z:1.88 [[ 7.64347041e-01 -6.44655920e-01 -1.38688612e-02 9.32171648e+01] [ 6.44560300e-01 7.64472724e-01 -1.11118533e-02 2.84622792e+01] [ 1.77656881e-02 -4.46005112e-04 9.99842078e-01 1.88481607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.122755096 meters 0.022104505427611477 Centerline is valid? [True, True] Translation: X:93.24, Y:28.48, Z:1.89 [[ 7.64244047e-01 -6.44774876e-01 -1.40141536e-02 9.32392969e+01] [ 6.44677129e-01 7.64372395e-01 -1.12356519e-02 2.84790098e+01] [ 1.79564983e-02 -4.47824211e-04 9.99838669e-01 1.88538387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.152755096 meters 0.022263266493631684 Centerline is valid? [True, True] Translation: X:93.26, Y:28.49, Z:1.89 [[ 7.63994036e-01 -6.45066944e-01 -1.42038969e-02 9.32624921e+01] [ 6.44966446e-01 7.64125926e-01 -1.13952923e-02 2.84946343e+01] [ 1.82042923e-02 -4.55101600e-04 9.99834185e-01 1.88570322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18275509600001 meters 0.022474285585939186 Centerline is valid? [True, True] Translation: X:93.29, Y:28.51, Z:1.89 [[ 7.63563938e-01 -6.45574916e-01 -1.42527102e-02 9.32850171e+01] [ 6.45473679e-01 7.63696807e-01 -1.14418834e-02 2.85113500e+01] [ 1.82713422e-02 -4.63139784e-04 9.99832958e-01 1.88611660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21275509600001 meters 0.023415487409268475 Centerline is valid? [True, True] Translation: X:93.31, Y:28.53, Z:1.89 [[ 7.62762192e-01 -6.46512331e-01 -1.46848506e-02 9.33085340e+01] [ 6.46404887e-01 7.62903376e-01 -1.17966252e-02 2.85258675e+01] [ 1.88297857e-02 -4.94339542e-04 9.99822582e-01 1.88599091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24275509600001 meters 0.023876731920048546 Centerline is valid? [True, True] Translation: X:93.33, Y:28.54, Z:1.89 [[ 7.62085670e-01 -6.47303537e-01 -1.49519915e-02 9.33322090e+01] [ 6.47192217e-01 7.62232157e-01 -1.20155572e-02 2.85428871e+01] [ 1.91746014e-02 -5.19928531e-04 9.99816015e-01 1.88636681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27275509600001 meters 0.024457882681895905 Centerline is valid? [True, True] Translation: X:93.36, Y:28.56, Z:1.89 [[ 7.61393437e-01 -6.48116691e-01 -1.49929386e-02 9.33557775e+01] [ 6.48004790e-01 7.61540850e-01 -1.20551328e-02 2.85593799e+01] [ 1.92308680e-02 -5.36797014e-04 9.99814926e-01 1.88656759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30275509600001 meters 0.025451766072440863 Centerline is valid? [True, True] Translation: X:93.38, Y:28.57, Z:1.89 [[ 7.60495912e-01 -6.49159753e-01 -1.54136940e-02 9.33796702e+01] [ 6.49041561e-01 7.60651882e-01 -1.24002656e-02 2.85738692e+01] [ 1.97742087e-02 -5.73776719e-04 9.99804307e-01 1.88668218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.332755096 meters 0.02419937641044869 Centerline is valid? [True, True] Translation: X:93.40, Y:28.59, Z:1.89 [[ 7.60207149e-01 -6.49491794e-01 -1.56684624e-02 9.34011988e+01] [ 6.49369651e-01 7.60368373e-01 -1.26092613e-02 2.85926433e+01] [ 2.01034149e-02 -5.88973394e-04 9.99797732e-01 1.88727418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.362755096 meters 0.02452150559360527 Centerline is valid? [True, True] Translation: X:93.42, Y:28.61, Z:1.89 [[ 7.60034331e-01 -6.49688598e-01 -1.58915394e-02 9.34232801e+01] [ 6.49562830e-01 7.60200217e-01 -1.27968661e-02 2.86087576e+01] [ 2.03947297e-02 -5.96495713e-04 9.99791828e-01 1.88772334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.392755096 meters 0.02412523662216961 Centerline is valid? [True, True] Translation: X:93.45, Y:28.63, Z:1.89 [[ 7.60654449e-01 -6.48947068e-01 -1.65079568e-02 9.34464991e+01] [ 6.48811067e-01 7.60833325e-01 -1.32985439e-02 2.86262578e+01] [ 2.11898548e-02 -5.94948510e-04 9.99775293e-01 1.88825256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.422755096 meters 0.023513887857585538 Centerline is valid? [True, True] Translation: X:93.47, Y:28.64, Z:1.89 [[ 7.61112811e-01 -6.48412935e-01 -1.63693378e-02 9.34692921e+01] [ 6.48278932e-01 7.61288606e-01 -1.31941252e-02 2.86447895e+01] [ 2.10170318e-02 -5.69679075e-04 9.99778955e-01 1.88878809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.452755096 meters 0.02440975057413148 Centerline is valid? [True, True] Translation: X:93.49, Y:28.66, Z:1.89 [[ 7.62527037e-01 -6.46727029e-01 -1.72240592e-02 9.34926802e+01] [ 6.46578079e-01 7.62721347e-01 -1.38901188e-02 2.86595274e+01] [ 2.21202729e-02 -5.45108005e-04 9.99755168e-01 1.88890032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.482755096 meters 0.023957635685326897 Centerline is valid? [True, True] Translation: X:93.52, Y:28.68, Z:1.89 [[ 7.63118036e-01 -6.46030953e-01 -1.71717913e-02 9.35150839e+01] [ 6.45882630e-01 7.63311036e-01 -1.38524801e-02 2.86778697e+01] [ 2.20565487e-02 -5.19884291e-04 9.99756590e-01 1.88936281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.512755096 meters 0.022689823617922284 Centerline is valid? [True, True] Translation: X:93.54, Y:28.70, Z:1.89 [[ 7.63815352e-01 -6.45202601e-01 -1.73122005e-02 9.35363404e+01] [ 6.45051466e-01 7.64011361e-01 -1.39730802e-02 2.86971228e+01] [ 2.22421856e-02 -4.94407165e-04 9.99752490e-01 1.89024684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54275509600001 meters 0.02173625983660079 Centerline is valid? [True, True] Translation: X:93.56, Y:28.72, Z:1.89 [[ 7.65254659e-01 -6.43486306e-01 -1.76261561e-02 9.35585298e+01] [ 6.43329008e-01 7.65457494e-01 -1.42342025e-02 2.87153895e+01] [ 2.26515876e-02 -4.46627781e-04 9.99743320e-01 1.89114022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57275509600001 meters 0.020377920822904693 Centerline is valid? [True, True] Translation: X:93.58, Y:28.74, Z:1.89 [[ 7.65939091e-01 -6.42667631e-01 -1.77658287e-02 9.35798086e+01] [ 6.42507432e-01 7.66144986e-01 -1.43547998e-02 2.87351229e+01] [ 2.28365657e-02 -4.19774658e-04 9.99739123e-01 1.89229978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60275509600001 meters 0.02017239537001056 Centerline is valid? [True, True] Translation: X:93.60, Y:28.75, Z:1.89 [[ 7.66797863e-01 -6.41634974e-01 -1.80443152e-02 9.36017759e+01] [ 6.41469256e-01 7.67010044e-01 -1.45871569e-02 2.87522834e+01] [ 2.31998010e-02 -3.89472758e-04 9.99730773e-01 1.89288050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63275509600001 meters 0.01961275194899556 Centerline is valid? [True, True] Translation: X:93.62, Y:28.77, Z:1.89 [[ 7.67952550e-01 -6.40244722e-01 -1.83187441e-02 9.36242350e+01] [ 6.40073433e-01 7.68170927e-01 -1.48130877e-02 2.87698121e+01] [ 2.35559278e-02 -3.49592938e-04 9.99722460e-01 1.89406806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66275509600001 meters 0.01953269640398028 Centerline is valid? [True, True] Translation: X:93.65, Y:28.79, Z:1.89 [[ 7.68420341e-01 -6.39676882e-01 -1.85382090e-02 9.36455646e+01] [ 6.39501117e-01 7.68643856e-01 -1.49981424e-02 2.87864029e+01] [ 2.38432454e-02 -3.30327641e-04 9.99715655e-01 1.89463808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.692755096 meters 0.01925372355169908 Centerline is valid? [True, True] Translation: X:93.67, Y:28.80, Z:1.90 [[ 7.68643861e-01 -6.39406406e-01 -1.86027720e-02 9.36675488e+01] [ 6.39229200e-01 7.68868875e-01 -1.50560313e-02 2.88036597e+01] [ 2.39300152e-02 -3.18709003e-04 9.99713585e-01 1.89555292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.722755096 meters 0.018687666125904705 Centerline is valid? [True, True] Translation: X:93.69, Y:28.82, Z:1.90 [[ 7.68703990e-01 -6.39336750e-01 -1.85120488e-02 9.36897565e+01] [ 6.39161022e-01 7.68926801e-01 -1.49920917e-02 2.88207355e+01] [ 2.38194057e-02 -3.07699368e-04 9.99716230e-01 1.89686074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.752755096 meters 0.018847540965734082 Centerline is valid? [True, True] Translation: X:93.71, Y:28.84, Z:1.90 [[ 7.68543247e-01 -6.39543833e-01 -1.80267052e-02 9.37121418e+01] [ 6.39377058e-01 7.68754574e-01 -1.46075885e-02 2.88368291e+01] [ 2.32003052e-02 -2.99298237e-04 9.99730792e-01 1.89758023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.782755096 meters 0.018642580290228947 Centerline is valid? [True, True] Translation: X:93.74, Y:28.85, Z:1.90 [[ 7.68239512e-01 -6.39909529e-01 -1.79957783e-02 9.37356651e+01] [ 6.39743284e-01 7.68450195e-01 -1.45886227e-02 2.88529036e+01] [ 2.31642581e-02 -3.05121918e-04 9.99731626e-01 1.89885523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.812755096 meters 0.019056326923927946 Centerline is valid? [True, True] Translation: X:93.76, Y:28.87, Z:1.90 [[ 7.67913894e-01 -6.40308289e-01 -1.77072697e-02 9.37581140e+01] [ 6.40147247e-01 7.68117961e-01 -1.43631426e-02 2.88681077e+01] [ 2.27981111e-02 -3.05603140e-04 9.99740043e-01 1.89914904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.842755096 meters 0.019056326923927946 Centerline is valid? [True, True] Translation: X:93.78, Y:28.89, Z:1.90 [[ 7.67715185e-01 -6.40546590e-01 -1.77048239e-02 9.37794195e+01] [ 6.40385542e-01 7.67919248e-01 -1.43661568e-02 2.88856135e+01] [ 2.27980678e-02 -3.08796510e-04 9.99740043e-01 1.89966472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.872755096 meters 0.018962737885655265 Centerline is valid? [True, True] Translation: X:93.80, Y:28.90, Z:1.90 [[ 7.67279788e-01 -6.41057364e-01 -1.80882131e-02 9.38016842e+01] [ 6.40889185e-01 7.67492900e-01 -1.46867569e-02 2.89025509e+01] [ 2.32976288e-02 -3.23688495e-04 9.99728521e-01 1.89980455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.902755096 meters 0.01890820628672272 Centerline is valid? [True, True] Translation: X:93.82, Y:28.92, Z:1.90 [[ 7.66841493e-01 -6.41574785e-01 -1.83281115e-02 9.38239949e+01] [ 6.41402033e-01 7.67060416e-01 -1.48912821e-02 2.89194958e+01] [ 2.36126400e-02 -3.36434964e-04 9.99721126e-01 1.90015224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93275509600001 meters 0.019152814324816397 Centerline is valid? [True, True] Translation: X:93.85, Y:28.94, Z:1.90 [[ 7.66243128e-01 -6.42276104e-01 -1.87849469e-02 9.38485651e+01] [ 6.42094603e-01 7.66473272e-01 -1.52723474e-02 2.89354346e+01] [ 2.42072235e-02 -3.59381830e-04 9.99706898e-01 1.89964222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96275509600001 meters 0.0192848632280094 Centerline is valid? [True, True] Translation: X:93.87, Y:28.95, Z:1.90 [[ 7.65846592e-01 -6.42737703e-01 -1.91635742e-02 9.38712126e+01] [ 6.42548724e-01 7.66086226e-01 -1.55894905e-02 2.89523815e+01] [ 2.47009035e-02 -3.74371920e-04 9.99694816e-01 1.89950226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99275509600001 meters 0.01966728088981889 Centerline is valid? [True, True] Translation: X:93.89, Y:28.97, Z:1.90 [[ 7.65463231e-01 -6.43183347e-01 -1.95249566e-02 9.38947431e+01] [ 6.42987084e-01 7.65712107e-01 -1.58927542e-02 2.89671977e+01] [ 2.51724505e-02 -3.88975903e-04 9.99683048e-01 1.89909898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02275509600001 meters 0.019667647996582115 Centerline is valid? [True, True] Translation: X:93.92, Y:28.98, Z:1.90 [[ 7.65153235e-01 -6.43544327e-01 -1.97794186e-02 9.39168151e+01] [ 6.43342860e-01 7.65408739e-01 -1.61067060e-02 2.89838753e+01] [ 2.55047192e-02 -4.00849530e-04 9.99674621e-01 1.89943735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05275509600001 meters 0.019939029568303228 Centerline is valid? [True, True] Translation: X:93.94, Y:29.00, Z:1.90 [[ 7.64624556e-01 -6.44166184e-01 -1.99803746e-02 9.39405270e+01] [ 6.43960552e-01 7.64885450e-01 -1.62805101e-02 2.90011495e+01] [ 2.57700519e-02 -4.18095245e-04 9.99667810e-01 1.89966610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.082755096 meters 0.02028479252297563 Centerline is valid? [True, True] Translation: X:93.96, Y:29.02, Z:1.90 [[ 7.63801781e-01 -6.45144198e-01 -1.98948174e-02 9.39648615e+01] [ 6.44940422e-01 7.64060710e-01 -1.62198634e-02 2.90169867e+01] [ 2.56649991e-02 -4.42211373e-04 9.99670502e-01 1.90018738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.112755096 meters 0.021813531865806715 Centerline is valid? [True, True] Translation: X:93.99, Y:29.03, Z:1.90 [[ 7.63140150e-01 -6.45928925e-01 -1.98225922e-02 9.39894223e+01] [ 6.45726689e-01 7.63397414e-01 -1.61688236e-02 2.90315071e+01] [ 2.55764265e-02 -4.60898323e-04 9.99672763e-01 1.89985403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.142755096 meters 0.021034980875377522 Centerline is valid? [True, True] Translation: X:94.01, Y:29.05, Z:1.90 [[ 7.61978892e-01 -6.47296119e-01 -1.98973096e-02 9.40118350e+01] [ 6.47092670e-01 7.62238467e-01 -1.62356456e-02 2.90490448e+01] [ 2.56757652e-02 -5.04183953e-04 9.99670196e-01 1.90181132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.172755096 meters 0.02128588454306175 Centerline is valid? [True, True] Translation: X:94.04, Y:29.07, Z:1.90 [[ 7.61271818e-01 -6.48131155e-01 -1.97794146e-02 9.40351369e+01] [ 6.47930160e-01 7.61528550e-01 -1.61485377e-02 2.90659379e+01] [ 2.55289593e-02 -5.22252627e-04 9.99673947e-01 1.90266270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.202755096 meters 0.02151184954823266 Centerline is valid? [True, True] Translation: X:94.06, Y:29.08, Z:1.90 [[ 7.60737096e-01 -6.48764169e-01 -1.95990961e-02 9.40585287e+01] [ 6.48566805e-01 7.60989337e-01 -1.60102785e-02 2.90831294e+01] [ 2.53015982e-02 -5.31710388e-04 9.99679722e-01 1.90361230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.232755096 meters 0.021929871872935484 Centerline is valid? [True, True] Translation: X:94.08, Y:29.10, Z:1.90 [[ 7.60778285e-01 -6.48711762e-01 -1.97345180e-02 9.40806006e+01] [ 6.48511434e-01 7.61034015e-01 -1.61291063e-02 2.90981545e+01] [ 2.54817804e-02 -5.27386745e-04 9.99675148e-01 1.90445545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.262755096 meters 0.02133606773485405 Centerline is valid? [True, True] Translation: X:94.10, Y:29.12, Z:1.91 [[ 7.60754875e-01 -6.48745929e-01 -1.95125561e-02 9.41012203e+01] [ 6.48549925e-01 7.61004896e-01 -1.59544199e-02 2.91168516e+01] [ 2.51995157e-02 -5.17464091e-04 9.99682308e-01 1.90527976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29275509600001 meters 0.021717926491940508 Centerline is valid? [True, True] Translation: X:94.12, Y:29.13, Z:1.91 [[ 7.60910775e-01 -6.48556642e-01 -1.97249787e-02 9.41222183e+01] [ 6.48356048e-01 7.61166225e-01 -1.61373072e-02 2.91334075e+01] [ 2.54799453e-02 -5.09758276e-04 9.99675204e-01 1.90574648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32275509600001 meters 0.021032416956537146 Centerline is valid? [True, True] Translation: X:94.14, Y:29.15, Z:1.91 [[ 7.61776151e-01 -6.47558407e-01 -1.91103416e-02 9.41438765e+01] [ 6.47369658e-01 7.62015682e-01 -1.56405069e-02 2.91530257e+01] [ 2.46905218e-02 -4.56890211e-04 9.99695038e-01 1.90705423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35275509600001 meters 0.020472605915558193 Centerline is valid? [True, True] Translation: X:94.16, Y:29.17, Z:1.91 [[ 7.61813817e-01 -6.47513980e-01 -1.91142203e-02 9.41649250e+01] [ 6.47324918e-01 7.62053439e-01 -1.56526824e-02 2.91717220e+01] [ 2.47013880e-02 -4.48681359e-04 9.99694773e-01 1.90800882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38275509600001 meters 0.02122117482739216 Centerline is valid? [True, True] Translation: X:94.19, Y:29.19, Z:1.91 [[ 7.61984651e-01 -6.47320811e-01 -1.88456725e-02 9.41876141e+01] [ 6.47136752e-01 7.62217543e-01 -1.54415507e-02 2.91874222e+01] [ 2.43601393e-02 -4.29502659e-04 9.99703156e-01 1.90811762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41275509600001 meters 0.02032702003454706 Centerline is valid? [True, True] Translation: X:94.21, Y:29.21, Z:1.91 [[ 7.61637326e-01 -6.47730985e-01 -1.87924013e-02 9.42079703e+01] [ 6.47547939e-01 7.61869005e-01 -1.54041029e-02 2.92069559e+01] [ 2.42950629e-02 -4.36640985e-04 9.99704736e-01 1.90917718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.442755096 meters 0.021614159984630812 Centerline is valid? [True, True] Translation: X:94.23, Y:29.22, Z:1.91 [[ 7.61397976e-01 -6.48006279e-01 -1.89995773e-02 9.42303662e+01] [ 6.47819035e-01 7.61634864e-01 -1.55830604e-02 2.92222402e+01] [ 2.45686614e-02 -4.43377152e-04 9.99698047e-01 1.90885702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.472755096 meters 0.02150928829999664 Centerline is valid? [True, True] Translation: X:94.25, Y:29.24, Z:1.91 [[ 7.60639635e-01 -6.48895255e-01 -1.90340288e-02 9.42521813e+01] [ 6.48707452e-01 7.60877605e-01 -1.56177043e-02 2.92409026e+01] [ 2.46168205e-02 -4.68071390e-04 9.99696851e-01 1.90948757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.502755096 meters 0.0210988764187435 Centerline is valid? [True, True] Translation: X:94.27, Y:29.26, Z:1.91 [[ 7.60042324e-01 -6.49598567e-01 -1.89041644e-02 9.42736055e+01] [ 6.49413332e-01 7.60277233e-01 -1.55194689e-02 2.92602505e+01] [ 2.44538305e-02 -4.81163178e-04 9.99700845e-01 1.91050264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.532755096 meters 0.022259820390783985 Centerline is valid? [True, True] Translation: X:94.30, Y:29.28, Z:1.91 [[ 7.59810450e-01 -6.49882107e-01 -1.84750388e-02 9.42952546e+01] [ 6.49705089e-01 7.60034882e-01 -1.51748090e-02 2.92765457e+01] [ 2.39035108e-02 -4.73348293e-04 9.99714158e-01 1.91079038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.562755096 meters 0.021295492517472387 Centerline is valid? [True, True] Translation: X:94.32, Y:29.30, Z:1.91 [[ 7.59140414e-01 -6.50677008e-01 -1.80350630e-02 9.43157291e+01] [ 6.50508410e-01 7.59354462e-01 -1.48192043e-02 2.92978572e+01] [ 2.33375211e-02 -4.82103280e-04 9.99727527e-01 1.91161660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.592755096 meters 0.021805875268225344 Centerline is valid? [True, True] Translation: X:94.34, Y:29.31, Z:1.91 [[ 7.58456073e-01 -6.51471216e-01 -1.81559740e-02 9.43373409e+01] [ 6.51300396e-01 7.58673184e-01 -1.49262726e-02 2.93147813e+01] [ 2.34984876e-02 -5.04070989e-04 9.99723745e-01 1.91194734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.622755096 meters 0.022183704527016332 Centerline is valid? [True, True] Translation: X:94.36, Y:29.33, Z:1.91 [[ 7.57206469e-01 -6.52913733e-01 -1.84938019e-02 9.43598108e+01] [ 6.52736785e-01 7.57432076e-01 -1.52098385e-02 2.93332541e+01] [ 2.39385112e-02 -5.54596660e-04 9.99713279e-01 1.91232429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.652755096 meters 0.022937948004174716 Centerline is valid? [True, True] Translation: X:94.38, Y:29.35, Z:1.91 [[ 7.56653285e-01 -6.53555590e-01 -1.84633886e-02 9.43815534e+01] [ 6.53379233e-01 7.56878305e-01 -1.51924215e-02 2.93499854e+01] [ 2.39036303e-02 -5.68198994e-04 9.99714106e-01 1.91252899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68275509600001 meters 0.024417153329071215 Centerline is valid? [True, True] Translation: X:94.40, Y:29.37, Z:1.91 [[ 7.56259824e-01 -6.54008378e-01 -1.85504613e-02 9.44046375e+01] [ 6.53830386e-01 7.56487080e-01 -1.52683940e-02 2.93663052e+01] [ 2.40188419e-02 -5.81982319e-04 9.99711337e-01 1.91266160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71275509600001 meters 0.022899949987790012 Centerline is valid? [True, True] Translation: X:94.42, Y:29.39, Z:1.91 [[ 7.55482129e-01 -6.54895051e-01 -1.89532270e-02 9.44240254e+01] [ 6.54709387e-01 7.55719584e-01 -1.56054230e-02 2.93887289e+01] [ 2.45432391e-02 -6.19237412e-04 9.99698578e-01 1.91382723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74275509600001 meters 0.022815123480288513 Centerline is valid? [True, True] Translation: X:94.44, Y:29.41, Z:1.91 [[ 7.55219342e-01 -6.55191805e-01 -1.91688292e-02 9.44445425e+01] [ 6.55001756e-01 7.55462311e-01 -1.57922972e-02 2.94074299e+01] [ 2.48283117e-02 -6.28968516e-04 9.99691532e-01 1.91425028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77275509600001 meters 0.023613620732938993 Centerline is valid? [True, True] Translation: X:94.47, Y:29.42, Z:1.91 [[ 7.55191087e-01 -6.55212759e-01 -1.95617725e-02 9.44654195e+01] [ 6.55014605e-01 7.55444132e-01 -1.61254625e-02 2.94239703e+01] [ 2.53434350e-02 -6.35441141e-04 9.99678602e-01 1.91437921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80275509600001 meters 0.02361019020301111 Centerline is valid? [True, True] Translation: X:94.49, Y:29.44, Z:1.92 [[ 7.54831081e-01 -6.55623871e-01 -1.96819633e-02 9.44864733e+01] [ 6.55423234e-01 7.55087359e-01 -1.62315752e-02 2.94427918e+01] [ 2.55034099e-02 -6.47918560e-04 9.99674525e-01 1.91543969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.832755096 meters 0.023758817553388496 Centerline is valid? [True, True] Translation: X:94.51, Y:29.46, Z:1.92 [[ 7.54296105e-01 -6.56232533e-01 -1.99059995e-02 9.45082668e+01] [ 6.56027254e-01 7.54558425e-01 -1.64263876e-02 2.94615754e+01] [ 2.57997696e-02 -6.68518007e-04 9.99666907e-01 1.91616516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.862755096 meters 0.023855492934875173 Centerline is valid? [True, True] Translation: X:94.53, Y:29.48, Z:1.92 [[ 7.53670473e-01 -6.56942581e-01 -2.01807900e-02 9.45298928e+01] [ 6.56731606e-01 7.53940291e-01 -1.66624182e-02 2.94802959e+01] [ 2.61613627e-02 -6.95390044e-04 9.99657491e-01 1.91719841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.892755096 meters 0.024106818302513627 Centerline is valid? [True, True] Translation: X:94.55, Y:29.50, Z:1.92 [[ 7.52919657e-01 -6.57805820e-01 -2.00871282e-02 9.45514534e+01] [ 6.57596867e-01 7.53187222e-01 -1.65942636e-02 2.94989115e+01] [ 2.60451714e-02 -7.15085298e-04 9.99660511e-01 1.91856241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.922755096 meters 0.024094935659002323 Centerline is valid? [True, True] Translation: X:94.57, Y:29.52, Z:1.92 [[ 7.52329512e-01 -6.58480109e-01 -2.01060069e-02 9.45729016e+01] [ 6.58270761e-01 7.52597775e-01 -1.66191266e-02 2.95177300e+01] [ 2.60751004e-02 -7.32137059e-04 9.99659719e-01 1.91950420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.952755096 meters 0.025086532443234263 Centerline is valid? [True, True] Translation: X:94.59, Y:29.53, Z:1.92 [[ 7.51650210e-01 -6.59250422e-01 -2.02692469e-02 9.45949450e+01] [ 6.59037737e-01 7.51923071e-01 -1.67617724e-02 2.95348273e+01] [ 2.62911199e-02 -7.59208873e-04 9.99654040e-01 1.92017153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.982755096 meters 0.026264189538206046 Centerline is valid? [True, True] Translation: X:94.62, Y:29.55, Z:1.92 [[ 7.50602567e-01 -6.60451778e-01 -1.99808792e-02 9.46173615e+01] [ 6.60245443e-01 7.50868050e-01 -1.65265301e-02 2.95520229e+01] [ 2.59179799e-02 -7.87428521e-04 9.99663763e-01 1.92159301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.012755096 meters 0.02502808025669936 Centerline is valid? [True, True] Translation: X:94.64, Y:29.57, Z:1.92 [[ 7.50152793e-01 -6.60954878e-01 -2.02345320e-02 9.46378441e+01] [ 6.60743320e-01 7.50425207e-01 -1.67413914e-02 2.95720133e+01] [ 2.62498071e-02 -8.11230336e-04 9.99655085e-01 1.92312846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04275509600001 meters 0.026762793034243497 Centerline is valid? [True, True] Translation: X:94.66, Y:29.59, Z:1.92 [[ 7.49668868e-01 -6.61490420e-01 -2.06642916e-02 9.46598448e+01] [ 6.61269769e-01 7.49953143e-01 -1.71048855e-02 2.95889476e+01] [ 2.68119684e-02 -8.41671185e-04 9.99640140e-01 1.92323813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07275509600001 meters 0.027626045600020445 Centerline is valid? [True, True] Translation: X:94.68, Y:29.61, Z:1.92 [[ 7.49577418e-01 -6.61593732e-01 -2.06743561e-02 9.46812334e+01] [ 6.61372793e-01 7.49862004e-01 -1.71173669e-02 2.96062098e+01] [ 2.68276567e-02 -8.42664951e-04 9.99639718e-01 1.92348755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10275509600001 meters 0.027169661918364226 Centerline is valid? [True, True] Translation: X:94.70, Y:29.63, Z:1.92 [[ 7.49351477e-01 -6.61845034e-01 -2.08210027e-02 9.47014673e+01] [ 6.61620848e-01 7.49640197e-01 -1.72461214e-02 2.96253523e+01] [ 2.70225204e-02 -8.52202944e-04 9.99634462e-01 1.92419429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13275509600001 meters 0.026323609555286998 Centerline is valid? [True, True] Translation: X:94.72, Y:29.65, Z:1.93 [[ 7.49142376e-01 -6.62082969e-01 -2.07808296e-02 9.47217508e+01] [ 6.61859453e-01 7.49430062e-01 -1.72234243e-02 2.96455617e+01] [ 2.69771144e-02 -8.51191488e-04 9.99635689e-01 1.92559394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16275509600001 meters 0.026375483620154596 Centerline is valid? [True, True] Translation: X:94.74, Y:29.66, Z:1.93 [[ 7.48931416e-01 -6.62325151e-01 -2.06670815e-02 9.47430089e+01] [ 6.62103882e-01 7.49216042e-01 -1.71397995e-02 2.96639060e+01] [ 2.68362293e-02 -8.47220562e-04 9.99639485e-01 1.92638800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.192755096 meters 0.028744299595839632 Centerline is valid? [True, True] Translation: X:94.77, Y:29.68, Z:1.93 [[ 7.48938748e-01 -6.62323593e-01 -2.04501832e-02 9.47651363e+01] [ 6.62106705e-01 7.49217436e-01 -1.69689419e-02 2.96793759e+01] [ 2.65605644e-02 -8.31505372e-04 9.99646860e-01 1.92654694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.222755096 meters 0.026634897080317865 Centerline is valid? [True, True] Translation: X:94.78, Y:29.70, Z:1.93 [[ 7.48846068e-01 -6.62433124e-01 -2.02958957e-02 9.47843697e+01] [ 6.62219354e-01 7.49120603e-01 -1.68478262e-02 2.97007821e+01] [ 2.63646318e-02 -8.23906543e-04 9.99652053e-01 1.92822015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.252755096 meters 0.026356908709454088 Centerline is valid? [True, True] Translation: X:94.80, Y:29.72, Z:1.93 [[ 7.48833385e-01 -6.62447974e-01 -2.02791581e-02 9.48049284e+01] [ 6.62234290e-01 7.49107480e-01 -1.68442697e-02 2.97198571e+01] [ 2.63497213e-02 -8.16002416e-04 9.99652453e-01 1.92913973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.282755096 meters 0.024654716475612043 Centerline is valid? [True, True] Translation: X:94.83, Y:29.74, Z:1.93 [[ 7.49133876e-01 -6.62117348e-01 -1.99763326e-02 9.48253805e+01] [ 6.61909630e-01 7.49399761e-01 -1.66024105e-02 2.97412498e+01] [ 2.59630029e-02 -7.85098822e-04 9.99662596e-01 1.93052604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.312755096 meters 0.02349501145934246 Centerline is valid? [True, True] Translation: X:94.85, Y:29.76, Z:1.93 [[ 7.49731459e-01 -6.61436858e-01 -2.01003367e-02 9.48457579e+01] [ 6.61226073e-01 7.50000471e-01 -1.67144603e-02 2.97624538e+01] [ 2.61308220e-02 -7.59510016e-04 9.99658243e-01 1.93150512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.342755096 meters 0.023516742326225998 Centerline is valid? [True, True] Translation: X:94.87, Y:29.78, Z:1.93 [[ 7.50425446e-01 -6.60655265e-01 -1.99065449e-02 9.48667754e+01] [ 6.60448052e-01 7.50689086e-01 -1.65610313e-02 2.97805407e+01] [ 2.58847585e-02 -7.19419475e-04 9.99664675e-01 1.93209377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.372755096 meters 0.02251998514331058 Centerline is valid? [True, True] Translation: X:94.89, Y:29.80, Z:1.93 [[ 7.52133209e-01 -6.58712636e-01 -1.98317525e-02 9.48869586e+01] [ 6.58506174e-01 7.52394341e-01 -1.65037618e-02 2.98017606e+01] [ 2.57925348e-02 -6.46304139e-04 9.99667108e-01 1.93267181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.402755096 meters 0.02215431765678783 Centerline is valid? [True, True] Translation: X:94.91, Y:29.82, Z:1.93 [[ 7.53091098e-01 -6.57610615e-01 -2.00518661e-02 9.49076020e+01] [ 6.57398951e-01 7.53357755e-01 -1.66946701e-02 2.98205982e+01] [ 2.60848211e-02 -6.09468329e-04 9.99659547e-01 1.93255762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43275509600001 meters 0.02144681307879454 Centerline is valid? [True, True] Translation: X:94.93, Y:29.84, Z:1.93 [[ 7.54033185e-01 -6.56525340e-01 -2.02097619e-02 9.49286222e+01] [ 6.56309804e-01 7.54303752e-01 -1.68312378e-02 2.98405806e+01] [ 2.62944333e-02 -5.72552970e-04 9.99654078e-01 1.93311792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46275509600001 meters 0.021170412878563562 Centerline is valid? [True, True] Translation: X:94.95, Y:29.86, Z:1.93 [[ 7.54695054e-01 -6.55753830e-01 -2.05496954e-02 9.49490522e+01] [ 6.55530486e-01 7.54974578e-01 -1.71221748e-02 2.98594371e+01] [ 2.67424293e-02 -5.48931221e-04 9.99642207e-01 1.93321110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49275509600001 meters 0.020546376861754884 Centerline is valid? [True, True] Translation: X:94.97, Y:29.88, Z:1.93 [[ 7.55936862e-01 -6.54334146e-01 -2.01565192e-02 9.49687838e+01] [ 6.54118678e-01 7.56205387e-01 -1.67978508e-02 2.98787263e+01] [ 2.62338758e-02 -4.86641009e-04 9.99655714e-01 1.93360251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52275509600001 meters 0.02061201917304509 Centerline is valid? [True, True] Translation: X:94.99, Y:29.90, Z:1.93 [[ 7.56224215e-01 -6.53999075e-01 -2.02520901e-02 9.49893688e+01] [ 6.53781335e-01 7.56495199e-01 -1.68813734e-02 2.98963420e+01] [ 2.63610115e-02 -4.74335158e-04 9.99652376e-01 1.93411765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55275509600001 meters 0.020387493655163687 Centerline is valid? [True, True] Translation: X:95.01, Y:29.92, Z:1.93 [[ 7.55959157e-01 -6.54300527e-01 -2.04101430e-02 9.50102772e+01] [ 6.54079302e-01 7.56234479e-01 -1.70199971e-02 2.99151299e+01] [ 2.65710469e-02 -4.83429417e-04 9.99646811e-01 1.93465407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.582755096 meters 0.020770821555068753 Centerline is valid? [True, True] Translation: X:95.03, Y:29.93, Z:1.94 [[ 7.55463909e-01 -6.54875130e-01 -2.03186356e-02 9.50320506e+01] [ 6.54655858e-01 7.55736938e-01 -1.69525196e-02 2.99323614e+01] [ 2.64573269e-02 -4.94697114e-04 9.99649821e-01 1.93507699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.612755096 meters 0.020290354144976375 Centerline is valid? [True, True] Translation: X:95.05, Y:29.95, Z:1.94 [[ 7.54015092e-01 -6.56556457e-01 -1.98710663e-02 9.50539165e+01] [ 6.56347169e-01 7.54276694e-01 -1.65850136e-02 2.99519007e+01] [ 2.58772800e-02 -5.36967582e-04 9.99664983e-01 1.93680020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.642755096 meters 0.022603038483082837 Centerline is valid? [True, True] Translation: X:95.08, Y:29.97, Z:1.94 [[ 7.53094409e-01 -6.57625296e-01 -1.94366112e-02 9.50775839e+01] [ 6.57425224e-01 7.53344982e-01 -1.62299890e-02 2.99664150e+01] [ 2.53157248e-02 -5.55404523e-04 9.99679351e-01 1.93669106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.672755096 meters 0.023556704635247828 Centerline is valid? [True, True] Translation: X:95.10, Y:29.98, Z:1.94 [[ 7.52188021e-01 -6.58660028e-01 -1.94974125e-02 9.50996656e+01] [ 6.58458957e-01 7.52440443e-01 -1.62844005e-02 2.99832667e+01] [ 2.53965253e-02 -5.89314924e-04 9.99677283e-01 1.93733131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.702755096 meters 0.02394431110351101 Centerline is valid? [True, True] Translation: X:95.12, Y:30.00, Z:1.94 [[ 7.51241044e-01 -6.59751887e-01 -1.90877564e-02 9.51221834e+01] [ 6.59559396e-01 7.51483251e-01 -1.59476042e-02 3.00015879e+01] [ 2.48655912e-02 -6.09014242e-04 9.99690618e-01 1.93829993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.732755096 meters 0.02394431110351101 Centerline is valid? [True, True] Translation: X:95.14, Y:30.02, Z:1.94 [[ 7.51048531e-01 -6.59971152e-01 -1.90835390e-02 9.51432228e+01] [ 6.59778604e-01 7.51290694e-01 -1.59526496e-02 3.00194139e+01] [ 2.48655738e-02 -6.09696660e-04 9.99690618e-01 1.93881497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.762755096 meters 0.023256879575433126 Centerline is valid? [True, True] Translation: X:95.16, Y:30.04, Z:1.94 [[ 7.49020426e-01 -6.62268915e-01 -1.91907510e-02 9.51643611e+01] [ 6.62074713e-01 7.49265919e-01 -1.60516885e-02 3.00394257e+01] [ 2.50095100e-02 -6.82668406e-04 9.99686980e-01 1.94003838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79275509600001 meters 0.02685223865987453 Centerline is valid? [True, True] Translation: X:95.19, Y:30.05, Z:1.94 [[ 7.47929460e-01 -6.63502857e-01 -1.91175705e-02 9.51890129e+01] [ 6.63310349e-01 7.48173407e-01 -1.59979427e-02 3.00532402e+01] [ 2.49179386e-02 -7.15549701e-04 9.99689244e-01 1.93964655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82275509600001 meters 0.027574933233037245 Centerline is valid? [True, True] Translation: X:95.21, Y:30.07, Z:1.94 [[ 7.47003883e-01 -6.64535771e-01 -1.94269727e-02 9.52118410e+01] [ 6.64337213e-01 7.47256069e-01 -1.62614207e-02 3.00715918e+01] [ 2.53232190e-02 -7.58716543e-04 9.99679028e-01 1.94008260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85275509600001 meters 0.029606027614379832 Centerline is valid? [True, True] Translation: X:95.23, Y:30.09, Z:1.94 [[ 7.45453179e-01 -6.66272495e-01 -1.95069256e-02 9.52337698e+01] [ 6.66072712e-01 7.45707917e-01 -1.63353995e-02 3.00881717e+01] [ 2.54302963e-02 -8.15755326e-04 9.99676265e-01 1.94025235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88275509600001 meters 0.02693758999396787 Centerline is valid? [True, True] Translation: X:95.25, Y:30.11, Z:1.94 [[ 7.44514419e-01 -6.67318183e-01 -1.96143453e-02 9.52528101e+01] [ 6.67116427e-01 7.44772258e-01 -1.64303443e-02 3.01105611e+01] [ 2.55724877e-02 -8.52423753e-04 9.99672607e-01 1.94172933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91275509600001 meters 0.02779093498203071 Centerline is valid? [True, True] Translation: X:95.27, Y:30.13, Z:1.94 [[ 7.43653083e-01 -6.68276328e-01 -1.96683070e-02 9.52744103e+01] [ 6.68073605e-01 7.43912610e-01 -1.64829310e-02 3.01290066e+01] [ 2.56466542e-02 -8.82294335e-04 9.99670681e-01 1.94185831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.942755096 meters 0.02818264416945892 Centerline is valid? [True, True] Translation: X:95.30, Y:30.15, Z:1.94 [[ 7.43177572e-01 -6.68799517e-01 -1.98570463e-02 9.52967068e+01] [ 6.68592946e-01 7.43442255e-01 -1.66459027e-02 3.01477162e+01] [ 2.58953390e-02 -9.05419542e-04 9.99664249e-01 1.94239095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.972755096 meters 0.028783128294097793 Centerline is valid? [True, True] Translation: X:95.32, Y:30.17, Z:1.94 [[ 7.42688274e-01 -6.69337761e-01 -2.00272324e-02 9.53188249e+01] [ 6.69127593e-01 7.42957674e-01 -1.67975793e-02 3.01659646e+01] [ 2.61226401e-02 -9.25408641e-04 9.99658317e-01 1.94264643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.002755096 meters 0.02617327385817358 Centerline is valid? [True, True] Translation: X:95.34, Y:30.19, Z:1.94 [[ 7.42536453e-01 -6.69488805e-01 -2.05999154e-02 9.53369035e+01] [ 6.69266235e-01 7.42821538e-01 -1.72878534e-02 3.01877991e+01] [ 2.68760852e-02 -9.49966411e-04 9.99638321e-01 1.94365411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.032755096 meters 0.026135759101353653 Centerline is valid? [True, True] Translation: X:95.36, Y:30.21, Z:1.94 [[ 7.42397718e-01 -6.69634272e-01 -2.08703346e-02 9.53576500e+01] [ 6.69405566e-01 7.42690394e-01 -1.75261782e-02 3.02064607e+01] [ 2.72363266e-02 -9.59323459e-04 9.99628562e-01 1.94409258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.062755096 meters 0.028941424856940918 Centerline is valid? [True, True] Translation: X:95.38, Y:30.22, Z:1.94 [[ 7.43257569e-01 -6.68675417e-01 -2.10088727e-02 9.53805846e+01] [ 6.68443037e-01 7.43553854e-01 -1.76514217e-02 3.02226058e+01] [ 2.74243000e-02 -9.23681925e-04 9.99623456e-01 1.94251437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.092755096 meters 0.025171116947459944 Centerline is valid? [True, True] Translation: X:95.40, Y:30.25, Z:1.94 [[ 7.43867583e-01 -6.67993963e-01 -2.10970489e-02 9.53984018e+01] [ 6.67759200e-01 7.44166150e-01 -1.77311012e-02 3.02458092e+01] [ 2.75439782e-02 -8.98157125e-04 9.99620189e-01 1.94402049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.122755096 meters 0.024820657647092504 Centerline is valid? [True, True] Translation: X:95.42, Y:30.26, Z:1.94 [[ 7.44674543e-01 -6.67094125e-01 -2.11010142e-02 9.54187548e+01] [ 6.66858695e-01 7.44972946e-01 -1.77423388e-02 3.02648011e+01] [ 2.75554947e-02 -8.59126726e-04 9.99619906e-01 1.94439274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.152755096 meters 0.0230701380689942 Centerline is valid? [True, True] Translation: X:95.44, Y:30.29, Z:1.94 [[ 7.46981564e-01 -6.64519456e-01 -2.07950749e-02 9.54384099e+01] [ 6.64289665e-01 7.47270588e-01 -1.74902744e-02 3.02869920e+01] [ 2.71621755e-02 -7.49040845e-04 9.99630759e-01 1.94494309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18275509600001 meters 0.022538005212441512 Centerline is valid? [True, True] Translation: X:95.46, Y:30.31, Z:1.95 [[ 7.48192828e-01 -6.63161593e-01 -2.05959586e-02 9.54590234e+01] [ 6.62935460e-01 7.48475938e-01 -1.73304944e-02 3.03063566e+01] [ 2.69084977e-02 -6.87239708e-04 9.99637665e-01 1.94550818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21275509600001 meters 0.021967198792597772 Centerline is valid? [True, True] Translation: X:95.48, Y:30.33, Z:1.95 [[ 7.49526819e-01 -6.61651174e-01 -2.06705464e-02 9.54791589e+01] [ 6.61422703e-01 7.49811526e-01 -1.73977946e-02 3.03253725e+01] [ 2.70102852e-02 -6.31855052e-04 9.99634956e-01 1.94611614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24275509600001 meters 0.02021903601257215 Centerline is valid? [True, True] Translation: X:95.50, Y:30.35, Z:1.95 [[ 7.52188707e-01 -6.58646009e-01 -1.99394943e-02 9.54984028e+01] [ 6.58432232e-01 7.52452778e-01 -1.67872843e-02 3.03468063e+01] [ 2.60604057e-02 -5.01600045e-04 9.99660244e-01 1.94762069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27275509600001 meters 0.019222067586688506 Centerline is valid? [True, True] Translation: X:95.52, Y:30.37, Z:1.95 [[ 7.53542941e-01 -6.57109488e-01 -1.94976407e-02 9.55193809e+01] [ 6.56904373e-01 7.53795021e-01 -1.64228723e-02 3.03675451e+01] [ 2.54888497e-02 -4.32745976e-04 9.99675013e-01 1.94858989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30275509600001 meters 0.018492084070124787 Centerline is valid? [True, True] Translation: X:95.54, Y:30.39, Z:1.95 [[ 7.54537910e-01 -6.55978658e-01 -1.90929941e-02 9.55399869e+01] [ 6.55781470e-01 7.54779341e-01 -1.60875568e-02 3.03876543e+01] [ 2.49640914e-02 -3.82160290e-04 9.99688275e-01 1.94953832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.332755096 meters 0.017200895758491336 Centerline is valid? [True, True] Translation: X:95.56, Y:30.41, Z:1.95 [[ 7.56770417e-01 -6.53419738e-01 -1.84711197e-02 9.55592283e+01] [ 6.53234227e-01 7.56995751e-01 -1.55716915e-02 3.04093942e+01] [ 2.41574097e-02 -2.81772158e-04 9.99708127e-01 1.95064328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.362755096 meters 0.01706949308460953 Centerline is valid? [True, True] Translation: X:95.58, Y:30.43, Z:1.95 [[ 7.57603704e-01 -6.52459898e-01 -1.82403320e-02 9.55797504e+01] [ 6.52278549e-01 7.57823213e-01 -1.53841569e-02 3.04279216e+01] [ 2.38604925e-02 -2.42683061e-04 9.99715268e-01 1.95062233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.392755096 meters 0.016195741612523993 Centerline is valid? [True, True] Translation: X:95.60, Y:30.45, Z:1.95 [[ 7.58518058e-01 -6.51399058e-01 -1.81554949e-02 9.55999752e+01] [ 6.51218991e-01 7.58735280e-01 -1.53166900e-02 3.04486809e+01] [ 2.37524919e-02 -2.05217097e-04 9.99717849e-01 1.95132802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.422755096 meters 0.01608293836950517 Centerline is valid? [True, True] Translation: X:95.62, Y:30.47, Z:1.95 [[ 7.58579161e-01 -6.51334040e-01 -1.79338934e-02 9.56202998e+01] [ 6.51158144e-01 7.58791098e-01 -1.51374355e-02 3.04658692e+01] [ 2.34676057e-02 -1.94857631e-04 9.99724579e-01 1.95179523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.452755096 meters 0.016076620439184595 Centerline is valid? [True, True] Translation: X:95.64, Y:30.48, Z:1.95 [[ 7.58188565e-01 -6.51790869e-01 -1.78539486e-02 9.56421874e+01] [ 6.51616522e-01 7.58398722e-01 -1.50760095e-02 3.04838485e+01] [ 2.33668172e-02 -2.03469869e-04 9.99726938e-01 1.95226159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.482755096 meters 0.01612597070558763 Centerline is valid? [True, True] Translation: X:95.66, Y:30.50, Z:1.95 [[ 7.57537045e-01 -6.52554055e-01 -1.76304276e-02 9.56642449e+01] [ 6.52384037e-01 7.57742145e-01 -1.48966083e-02 3.05018950e+01] [ 2.30801602e-02 -2.17076980e-04 9.99733594e-01 1.95292110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.512755096 meters 0.01711387810918634 Centerline is valid? [True, True] Translation: X:95.69, Y:30.52, Z:1.95 [[ 7.55943816e-01 -6.54401015e-01 -1.75572804e-02 9.56880735e+01] [ 6.54232712e-01 7.56147631e-01 -1.48431161e-02 3.05163774e+01] [ 2.29892462e-02 -2.65985329e-04 9.99735677e-01 1.95251391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54275509600001 meters 0.01724801792976607 Centerline is valid? [True, True] Translation: X:95.71, Y:30.53, Z:1.95 [[ 7.54629844e-01 -6.55917114e-01 -1.75082351e-02 9.57103611e+01] [ 6.55750067e-01 7.54832859e-01 -1.48055444e-02 3.05341653e+01] [ 2.29270011e-02 -3.08320687e-04 9.99737094e-01 1.95345450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57275509600001 meters 0.018314058690309797 Centerline is valid? [True, True] Translation: X:95.73, Y:30.55, Z:1.95 [[ 7.52074403e-01 -6.58854143e-01 -1.71845832e-02 9.57346000e+01] [ 6.58693823e-01 7.52270609e-01 -1.45388571e-02 3.05493581e+01] [ 2.25064431e-02 -3.85076526e-04 9.99746624e-01 1.95434483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60275509600001 meters 0.019314261718156856 Centerline is valid? [True, True] Translation: X:95.76, Y:30.57, Z:1.95 [[ 7.50628831e-01 -6.60504152e-01 -1.70476921e-02 9.57569975e+01] [ 6.60346735e-01 7.50822271e-01 -1.44259604e-02 3.05652406e+01] [ 2.23281936e-02 -4.28846024e-04 9.99750603e-01 1.95486879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63275509600001 meters 0.020440381619880554 Centerline is valid? [True, True] Translation: X:95.78, Y:30.58, Z:1.96 [[ 7.49130493e-01 -6.62210642e-01 -1.67502351e-02 9.57802904e+01] [ 6.62059022e-01 7.49317587e-01 -1.41776442e-02 3.05814441e+01] [ 2.19398326e-02 -4.68738686e-04 9.99759183e-01 1.95548957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66275509600001 meters 0.022612252464450516 Centerline is valid? [True, True] Translation: X:95.81, Y:30.60, Z:1.96 [[ 7.46211869e-01 -6.65491184e-01 -1.70097213e-02 9.58052383e+01] [ 6.65335583e-01 7.46405492e-01 -1.44014989e-02 3.05962427e+01] [ 2.22802199e-02 -5.70603405e-04 9.99751602e-01 1.95550084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.692755096 meters 0.023674060712335205 Centerline is valid? [True, True] Translation: X:95.83, Y:30.61, Z:1.96 [[ 7.44407664e-01 -6.67511703e-01 -1.68924766e-02 9.58282947e+01] [ 6.67358656e-01 7.44599045e-01 -1.43068584e-02 3.06132601e+01] [ 2.21281174e-02 -6.23205447e-04 9.99754949e-01 1.95554814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.722755096 meters 0.025169641581127083 Centerline is valid? [True, True] Translation: X:95.85, Y:30.63, Z:1.96 [[ 7.43050326e-01 -6.69008298e-01 -1.74387522e-02 9.58511534e+01] [ 6.68845437e-01 7.43254619e-01 -1.47767438e-02 3.06288432e+01] [ 2.28471973e-02 -6.83965561e-04 9.99738735e-01 1.95504195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.752755096 meters 0.027795664761576695 Centerline is valid? [True, True] Translation: X:95.88, Y:30.64, Z:1.96 [[ 7.39957466e-01 -6.72426531e-01 -1.74788040e-02 9.58754953e+01] [ 6.72263781e-01 7.40163454e-01 -1.48145235e-02 3.06431599e+01] [ 2.28988506e-02 -7.88249567e-04 9.99737476e-01 1.95500455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.782755096 meters 0.029075613984317007 Centerline is valid? [True, True] Translation: X:95.90, Y:30.66, Z:1.96 [[ 7.38532905e-01 -6.74003850e-01 -1.69693661e-02 9.58990747e+01] [ 6.73850689e-01 7.38727392e-01 -1.43906033e-02 3.06599363e+01] [ 2.22350576e-02 -8.06884949e-04 9.99752445e-01 1.95548372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.812755096 meters 0.027461871647313355 Centerline is valid? [True, True] Translation: X:95.92, Y:30.68, Z:1.96 [[ 7.36056237e-01 -6.76708003e-01 -1.69556852e-02 9.59203283e+01] [ 6.76555633e-01 7.36250977e-01 -1.43865890e-02 3.06797603e+01] [ 2.22191597e-02 -8.82125820e-04 9.99752735e-01 1.95685165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.842755096 meters 0.028958013888558252 Centerline is valid? [True, True] Translation: X:95.94, Y:30.70, Z:1.96 [[ 7.35118899e-01 -6.77743011e-01 -1.62670155e-02 9.59432248e+01] [ 6.77602877e-01 7.35298342e-01 -1.38090117e-02 3.06960096e+01] [ 2.13200707e-02 -8.71311024e-04 9.99772322e-01 1.95756165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.872755096 meters 0.02896379503881682 Centerline is valid? [True, True] Translation: X:95.97, Y:30.71, Z:1.96 [[ 7.34550418e-01 -6.78359800e-01 -1.62377543e-02 9.59655451e+01] [ 6.78220249e-01 7.34729337e-01 -1.37875107e-02 3.07147511e+01] [ 2.12832475e-02 -8.85152016e-04 9.99773094e-01 1.95836903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.902755096 meters 0.029946460001014797 Centerline is valid? [True, True] Translation: X:95.99, Y:30.73, Z:1.96 [[ 7.34296318e-01 -6.78649096e-01 -1.56307889e-02 9.59866755e+01] [ 6.78519708e-01 7.34462166e-01 -1.32790481e-02 3.07310874e+01] [ 2.04920371e-02 -8.55042181e-04 9.99789651e-01 1.95943901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93275509600001 meters 0.02896724073118437 Centerline is valid? [True, True] Translation: X:96.01, Y:30.75, Z:1.96 [[ 7.34402090e-01 -6.78540514e-01 -1.53733619e-02 9.60073139e+01] [ 6.78415230e-01 7.34562505e-01 -1.30652824e-02 3.07507563e+01] [ 2.01580187e-02 -8.34352128e-04 9.99796458e-01 1.96022257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96275509600001 meters 0.028964964058819584 Centerline is valid? [True, True] Translation: X:96.03, Y:30.77, Z:1.96 [[ 7.34985694e-01 -6.77910352e-01 -1.52834582e-02 9.60294771e+01] [ 6.77786254e-01 7.35144138e-01 -1.29958072e-02 3.07700544e+01] [ 2.00455369e-02 -8.07185546e-04 9.99798742e-01 1.96081598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99275509600001 meters 0.02589613454693516 Centerline is valid? [True, True] Translation: X:96.05, Y:30.79, Z:1.96 [[ 7.36738654e-01 -6.76008579e-01 -1.51181059e-02 9.60478607e+01] [ 6.75886674e-01 7.36893376e-01 -1.28591288e-02 3.07929784e+01] [ 1.98333135e-02 -7.44309096e-04 9.99803023e-01 1.96137448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02275509600001 meters 0.025196324611542475 Centerline is valid? [True, True] Translation: X:96.07, Y:30.81, Z:1.96 [[ 7.37771749e-01 -6.74879196e-01 -1.51959907e-02 9.60684818e+01] [ 6.74755644e-01 7.37927885e-01 -1.29327847e-02 3.08129125e+01] [ 1.99416126e-02 -7.12137324e-04 9.99800893e-01 1.96184869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05275509600001 meters 0.02646599895921004 Centerline is valid? [True, True] Translation: X:96.09, Y:30.83, Z:1.96 [[ 7.39186027e-01 -6.73326025e-01 -1.53649442e-02 9.60903884e+01] [ 6.73199229e-01 7.39345395e-01 -1.30837725e-02 3.08300184e+01] [ 2.01696452e-02 -6.72326745e-04 9.99796346e-01 1.96199398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.082755096 meters 0.022558862233708725 Centerline is valid? [True, True] Translation: X:96.11, Y:30.85, Z:1.96 [[ 7.42371898e-01 -6.69806870e-01 -1.55795465e-02 9.61079375e+01] [ 6.69675668e-01 7.42535129e-01 -1.32695918e-02 3.08544883e+01] [ 2.04564243e-02 -5.82271164e-04 9.99790576e-01 1.96262830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.112755096 meters 0.021392793621773647 Centerline is valid? [True, True] Translation: X:96.13, Y:30.88, Z:1.96 [[ 7.44115456e-01 -6.67865223e-01 -1.57553660e-02 9.61286812e+01] [ 6.67730460e-01 7.44282046e-01 -1.34264348e-02 3.08751066e+01] [ 2.06934849e-02 -5.29520073e-04 9.99785727e-01 1.96311643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.142755096 meters 0.019202979926926694 Centerline is valid? [True, True] Translation: X:96.15, Y:30.90, Z:1.96 [[ 7.47737870e-01 -6.63807656e-01 -1.57313232e-02 9.61473475e+01] [ 6.63672249e-01 7.47903221e-01 -1.34133825e-02 3.08972283e+01] [ 2.06694133e-02 -4.10748549e-04 9.99786280e-01 1.96385596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.172755096 meters 0.018252722456563057 Centerline is valid? [True, True] Translation: X:96.17, Y:30.92, Z:1.96 [[ 7.49219528e-01 -6.62132138e-01 -1.58470974e-02 9.61679486e+01] [ 6.61994199e-01 7.49387017e-01 -1.35195891e-02 3.09177838e+01] [ 2.08273635e-02 -3.61546401e-04 9.99783022e-01 1.96428644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.202755096 meters 0.01738597008983119 Centerline is valid? [True, True] Translation: X:96.19, Y:30.94, Z:1.97 [[ 7.50453830e-01 -6.60735861e-01 -1.57216703e-02 9.61885151e+01] [ 6.60599638e-01 7.50618427e-01 -1.34199452e-02 3.09384861e+01] [ 2.06680145e-02 -3.14680464e-04 9.99786344e-01 1.96511856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.232755096 meters 0.01693917805118687 Centerline is valid? [True, True] Translation: X:96.21, Y:30.96, Z:1.97 [[ 7.51663344e-01 -6.59369135e-01 -1.53153525e-02 9.62092254e+01] [ 6.59239443e-01 7.51819309e-01 -1.30798957e-02 3.09577270e+01] [ 2.01388573e-02 -2.64806333e-04 9.99797158e-01 1.96602297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.262755096 meters 0.016162304845024 Centerline is valid? [True, True] Translation: X:96.23, Y:30.98, Z:1.97 [[ 7.53198660e-01 -6.57628550e-01 -1.47128845e-02 9.62294411e+01] [ 6.57508481e-01 7.53342317e-01 -1.25678725e-02 3.09780397e+01] [ 1.93488303e-02 -2.07741556e-04 9.99812772e-01 1.96715930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29275509600001 meters 0.01590722213576627 Centerline is valid? [True, True] Translation: X:96.25, Y:31.00, Z:1.97 [[ 7.53605513e-01 -6.57160519e-01 -1.47913372e-02 9.62503598e+01] [ 6.57038942e-01 7.53750632e-01 -1.26417177e-02 3.09967947e+01] [ 1.94566175e-02 -1.91616423e-04 9.99810684e-01 1.96783348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32275509600001 meters 0.015608375933105153 Centerline is valid? [True, True] Translation: X:96.27, Y:31.02, Z:1.97 [[ 7.53785261e-01 -6.56962495e-01 -1.44243121e-02 9.62712460e+01] [ 6.56846702e-01 7.53923238e-01 -1.23353472e-02 3.10154614e+01] [ 1.89786845e-02 -1.76358918e-04 9.99819873e-01 1.96835243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35275509600001 meters 0.015908833549406098 Centerline is valid? [True, True] Translation: X:96.29, Y:31.03, Z:1.97 [[ 7.53583725e-01 -6.57182810e-01 -1.49104991e-02 9.62927153e+01] [ 6.57058963e-01 7.53731199e-01 -1.27592616e-02 3.10318055e+01] [ 1.96236758e-02 -1.81905153e-04 9.99807421e-01 1.96867693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38275509600001 meters 0.01608584838797085 Centerline is valid? [True, True] Translation: X:96.31, Y:31.05, Z:1.97 [[ 7.52841201e-01 -6.58028727e-01 -1.51102393e-02 9.63148878e+01] [ 6.57901614e-01 7.52992797e-01 -1.29349990e-02 3.10492590e+01] [ 1.98895023e-02 -2.03050572e-04 9.99802164e-01 1.96844053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41275509600001 meters 0.016166361630572456 Centerline is valid? [True, True] Translation: X:96.34, Y:31.07, Z:1.97 [[ 7.51844739e-01 -6.59155964e-01 -1.55853434e-02 9.63374684e+01] [ 6.59020801e-01 7.52006223e-01 -1.33500345e-02 3.10678301e+01] [ 2.05200301e-02 -2.33912317e-04 9.99789415e-01 1.96839968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.442755096 meters 0.01649184015970814 Centerline is valid? [True, True] Translation: X:96.36, Y:31.09, Z:1.97 [[ 7.51104064e-01 -6.59991420e-01 -1.59377051e-02 9.63603973e+01] [ 6.59850102e-01 7.51273093e-01 -1.36595498e-02 3.10856651e+01] [ 2.09887546e-02 -2.56752989e-04 9.99779679e-01 1.96851001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.472755096 meters 0.017005012203958694 Centerline is valid? [True, True] Translation: X:96.38, Y:31.10, Z:1.97 [[ 7.50159461e-01 -6.61059202e-01 -1.61714207e-02 9.63828830e+01] [ 6.60913801e-01 7.50333693e-01 -1.38671162e-02 3.11024800e+01] [ 2.13009466e-02 -2.85366704e-04 9.99773068e-01 1.96855961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.502755096 meters 0.01818197271797288 Centerline is valid? [True, True] Translation: X:96.41, Y:31.12, Z:1.97 [[ 7.48052456e-01 -6.63435690e-01 -1.64501482e-02 9.64071941e+01] [ 6.63285710e-01 7.48233225e-01 -1.41105980e-02 3.11180642e+01] [ 2.16700218e-02 -3.55680729e-04 9.99765114e-01 1.96862754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.532755096 meters 0.01918377607339358 Centerline is valid? [True, True] Translation: X:96.43, Y:31.14, Z:1.97 [[ 7.46435776e-01 -6.65250645e-01 -1.65894963e-02 9.64308879e+01] [ 6.65098391e-01 7.46619994e-01 -1.42378250e-02 3.11353241e+01] [ 2.18577719e-02 -4.06025330e-04 9.99761008e-01 1.96900521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.562755096 meters 0.02022858162997507 Centerline is valid? [True, True] Translation: X:96.45, Y:31.15, Z:1.97 [[ 7.45140222e-01 -6.66697506e-01 -1.67477029e-02 9.64536142e+01] [ 6.66542544e-01 7.45328274e-01 -1.43805941e-02 3.11511747e+01] [ 2.20700427e-02 -4.47497391e-04 9.99756327e-01 1.96908361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.592755096 meters 0.022624030899258744 Centerline is valid? [True, True] Translation: X:96.48, Y:31.16, Z:1.97 [[ 7.42137420e-01 -6.70030336e-01 -1.70704277e-02 9.64783367e+01] [ 6.69870140e-01 7.42333511e-01 -1.46613119e-02 3.11648859e+01] [ 2.24954743e-02 -5.54261585e-04 9.99746791e-01 1.96907052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.622755096 meters 0.023821329802989757 Centerline is valid? [True, True] Translation: X:96.50, Y:31.18, Z:1.97 [[ 7.40368835e-01 -6.71978392e-01 -1.72924679e-02 9.65017739e+01] [ 6.71814355e-01 7.40570497e-01 -1.48597092e-02 3.11817094e+01] [ 2.27916951e-02 -6.15662555e-04 9.99740046e-01 1.96909272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.652755096 meters 0.023821329802989757 Centerline is valid? [True, True] Translation: X:96.52, Y:31.20, Z:1.97 [[ 7.40170690e-01 -6.72196739e-01 -1.72885350e-02 9.65225676e+01] [ 6.72032654e-01 7.40372315e-01 -1.48642838e-02 3.11998242e+01] [ 2.27916758e-02 -6.16352888e-04 9.99740046e-01 1.96960778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68275509600001 meters 0.026375461720649026 Centerline is valid? [True, True] Translation: X:96.55, Y:31.21, Z:1.97 [[ 7.37123205e-01 -6.75526429e-01 -1.77037939e-02 9.65476557e+01] [ 6.75355125e-01 7.37335413e-01 -1.52297073e-02 3.12139031e+01] [ 2.33417039e-02 -7.30177285e-04 9.99727279e-01 1.96990989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71275509600001 meters 0.02817815947273676 Centerline is valid? [True, True] Translation: X:96.57, Y:31.23, Z:1.97 [[ 7.35505128e-01 -6.77289215e-01 -1.76500903e-02 9.65711097e+01] [ 6.77119346e-01 7.35716461e-01 -1.51881779e-02 3.12296405e+01] [ 2.32722511e-02 -7.80234877e-04 9.99728860e-01 1.97041094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74275509600001 meters 0.030036194661452197 Centerline is valid? [True, True] Translation: X:96.59, Y:31.25, Z:1.97 [[ 7.34087493e-01 -6.78828940e-01 -1.75163404e-02 9.65943863e+01] [ 6.78661961e-01 7.34295989e-01 -1.50779165e-02 3.12453685e+01] [ 2.30975046e-02 -8.19163987e-04 9.99732881e-01 1.97112011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77275509600001 meters 0.030492511433964264 Centerline is valid? [True, True] Translation: X:96.62, Y:31.26, Z:1.97 [[ 7.32648421e-01 -6.80383077e-01 -1.74688332e-02 9.66172435e+01] [ 6.80217294e-01 7.32856144e-01 -1.50434589e-02 3.12636523e+01] [ 2.30374566e-02 -8.61036040e-04 9.99734232e-01 1.97198482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80275509600001 meters 0.028002094457644806 Centerline is valid? [True, True] Translation: X:96.64, Y:31.28, Z:1.97 [[ 7.31077874e-01 -6.82079792e-01 -1.70967647e-02 9.66370511e+01] [ 6.81921308e-01 7.31277215e-01 -1.47296945e-02 3.12841026e+01] [ 2.25493014e-02 -8.90094364e-04 9.99745336e-01 1.97361854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.832755096 meters 0.033079613957980446 Centerline is valid? [True, True] Translation: X:96.66, Y:31.30, Z:1.97 [[ 7.30676789e-01 -6.82513044e-01 -1.69521491e-02 9.66626886e+01] [ 6.82357271e-01 7.30872866e-01 -1.46084876e-02 3.12963202e+01] [ 2.23603491e-02 -8.93339394e-04 9.99749577e-01 1.97373460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.862755096 meters 0.03334272363430516 Centerline is valid? [True, True] Translation: X:96.68, Y:31.31, Z:1.97 [[ 7.30300538e-01 -6.82919962e-01 -1.67764575e-02 9.66848814e+01] [ 6.82767377e-01 7.30492662e-01 -1.44630207e-02 3.13143296e+01] [ 2.21321647e-02 -8.92066061e-04 9.99754656e-01 1.97432734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.892755096 meters 0.02860884608656143 Centerline is valid? [True, True] Translation: X:96.70, Y:31.34, Z:1.98 [[ 7.30940926e-01 -6.82249760e-01 -1.61439865e-02 9.67029699e+01] [ 6.82108140e-01 7.31118712e-01 -1.39253255e-02 3.13370742e+01] [ 2.13037206e-02 -8.33354331e-04 9.99772703e-01 1.97587759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.922755096 meters 0.02962774350470088 Centerline is valid? [True, True] Translation: X:96.73, Y:31.35, Z:1.98 [[ 7.31708372e-01 -6.81431003e-01 -1.59576533e-02 9.67250444e+01] [ 6.81292295e-01 7.31881928e-01 -1.37714483e-02 3.13536664e+01] [ 2.10634099e-02 -7.95142185e-04 9.99777826e-01 1.97638071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.952755096 meters 0.025549021469077563 Centerline is valid? [True, True] Translation: X:96.74, Y:31.38, Z:1.98 [[ 7.32508021e-01 -6.80575640e-01 -1.57733218e-02 9.67432543e+01] [ 6.80439856e-01 7.32677434e-01 -1.36154637e-02 3.13765518e+01] [ 2.08231099e-02 -7.59360423e-04 9.99782887e-01 1.97724181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.982755096 meters 0.023975785748797794 Centerline is valid? [True, True] Translation: X:96.76, Y:31.40, Z:1.98 [[ 7.35039062e-01 -6.77842010e-01 -1.57412199e-02 9.67639747e+01] [ 6.77705993e-01 7.35207286e-01 -1.35953416e-02 3.13974445e+01] [ 2.07885533e-02 -6.74811970e-04 9.99783667e-01 1.97778631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.012755096 meters 0.022398599113261388 Centerline is valid? [True, True] Translation: X:96.78, Y:31.42, Z:1.98 [[ 7.36325195e-01 -6.76445922e-01 -1.56882586e-02 9.67839170e+01] [ 6.76310355e-01 7.36492037e-01 -1.35566838e-02 3.14184846e+01] [ 2.07246410e-02 -6.28003838e-04 9.99785024e-01 1.97826761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04275509600001 meters 0.020834022442366058 Centerline is valid? [True, True] Translation: X:96.80, Y:31.44, Z:1.98 [[ 7.39568313e-01 -6.72913667e-01 -1.50302268e-02 9.68033713e+01] [ 6.72788362e-01 7.39720857e-01 -1.29951721e-02 3.14391517e+01] [ 1.98628012e-02 -5.01344118e-04 9.99802589e-01 1.97899541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07275509600001 meters 0.01987410742019139 Centerline is valid? [True, True] Translation: X:96.82, Y:31.46, Z:1.98 [[ 7.41175172e-01 -6.71147253e-01 -1.48569899e-02 9.68242250e+01] [ 6.71024325e-01 7.41323929e-01 -1.28525145e-02 3.14595837e+01] [ 1.96397719e-02 -4.43436969e-04 9.99807023e-01 1.97974380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10275509600001 meters 0.01921063734212124 Centerline is valid? [True, True] Translation: X:96.84, Y:31.48, Z:1.98 [[ 7.42607530e-01 -6.69570080e-01 -1.44901733e-02 9.68443839e+01] [ 6.69452719e-01 7.42748786e-01 -1.25418680e-02 3.14789839e+01] [ 1.91602182e-02 -3.86800351e-04 9.99816351e-01 1.98062819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13275509600001 meters 0.018367426160810264 Centerline is valid? [True, True] Translation: X:96.87, Y:31.50, Z:1.98 [[ 7.43807427e-01 -6.68243754e-01 -1.41702546e-02 9.68652765e+01] [ 6.68131234e-01 7.43942314e-01 -1.22673189e-02 3.14997864e+01] [ 1.87394113e-02 -3.43066799e-04 9.99824343e-01 1.98126603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16275509600001 meters 0.017388021339289482 Centerline is valid? [True, True] Translation: X:96.89, Y:31.52, Z:1.98 [[ 7.45720221e-01 -6.66115311e-01 -1.38471928e-02 9.68853556e+01] [ 6.66007386e-01 7.45848721e-01 -1.19936388e-02 3.15203518e+01] [ 1.83170575e-02 -2.78433708e-04 9.99832190e-01 1.98207002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19275509600001 meters 0.016782478559434988 Centerline is valid? [True, True] Translation: X:96.91, Y:31.54, Z:1.98 [[ 7.46244321e-01 -6.65530818e-01 -1.37165212e-02 9.69066702e+01] [ 6.65424704e-01 7.46370326e-01 -1.18869056e-02 3.15405342e+01] [ 1.81487064e-02 -2.56776299e-04 9.99835266e-01 1.98256269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.222755096 meters 0.016817767435940264 Centerline is valid? [True, True] Translation: X:96.93, Y:31.56, Z:1.98 [[ 7.46547312e-01 -6.65193653e-01 -1.35836168e-02 9.69268396e+01] [ 6.65089411e-01 7.46670842e-01 -1.17783622e-02 3.15583842e+01] [ 1.79773823e-02 -2.41215079e-04 9.99838365e-01 1.98301340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.252755096 meters 0.016854659151801066 Centerline is valid? [True, True] Translation: X:96.95, Y:31.58, Z:1.98 [[ 7.46967432e-01 -6.64727632e-01 -1.32977788e-02 9.69472305e+01] [ 6.64627591e-01 7.47085755e-01 -1.15342760e-02 3.15766168e+01] [ 1.76017331e-02 -2.22342194e-04 9.99845053e-01 1.98347561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.282755096 meters 0.01653732355677294 Centerline is valid? [True, True] Translation: X:96.97, Y:31.60, Z:1.98 [[ 7.46907516e-01 -6.64801650e-01 -1.29587258e-02 9.69679643e+01] [ 6.64706604e-01 7.47019893e-01 -1.12432605e-02 3.15958918e+01] [ 1.71549641e-02 -2.16074840e-04 9.99852819e-01 1.98396430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.312755096 meters 0.017260284602914167 Centerline is valid? [True, True] Translation: X:96.99, Y:31.61, Z:1.98 [[ 7.46360353e-01 -6.65412864e-01 -1.31127146e-02 9.69903408e+01] [ 6.65315509e-01 7.46475498e-01 -1.13844276e-02 3.16130839e+01] [ 1.73636647e-02 -2.27206934e-04 9.99849214e-01 1.98446378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.342755096 meters 0.017462417151641024 Centerline is valid? [True, True] Translation: X:97.01, Y:31.63, Z:1.98 [[ 7.45806027e-01 -6.66036288e-01 -1.30013060e-02 9.70116208e+01] [ 6.65940616e-01 7.45919303e-01 -1.12911255e-02 3.16312279e+01] [ 1.72182244e-02 -2.37108273e-04 9.99851727e-01 1.98483777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.372755096 meters 0.01787113372288816 Centerline is valid? [True, True] Translation: X:97.03, Y:31.65, Z:1.99 [[ 7.45223654e-01 -6.66685823e-01 -1.31041557e-02 9.70336304e+01] [ 6.66588607e-01 7.45338817e-01 -1.13876306e-02 3.16487595e+01] [ 1.73590077e-02 -2.48749233e-04 9.99849290e-01 1.98516472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.402755096 meters 0.01847099953960623 Centerline is valid? [True, True] Translation: X:97.06, Y:31.67, Z:1.99 [[ 7.43607242e-01 -6.68482703e-01 -1.33845143e-02 9.70564072e+01] [ 6.68381518e-01 7.43727631e-01 -1.16343102e-02 3.16663777e+01] [ 1.77317683e-02 -2.94604677e-04 9.99842736e-01 1.98509219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43275509600001 meters 0.01897561908860223 Centerline is valid? [True, True] Translation: X:97.08, Y:31.68, Z:1.99 [[ 7.42600584e-01 -6.69591568e-01 -1.38385188e-02 9.70786776e+01] [ 6.69483473e-01 7.42729442e-01 -1.20355477e-02 3.16842615e+01] [ 1.83371766e-02 -3.27054932e-04 9.99831806e-01 1.98515099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46275509600001 meters 0.02002252427341304 Centerline is valid? [True, True] Translation: X:97.10, Y:31.70, Z:1.98 [[ 7.41408653e-01 -6.70905511e-01 -1.41068732e-02 9.71006265e+01] [ 6.70793296e-01 7.41542760e-01 -1.22755561e-02 3.17008967e+01] [ 1.86965879e-02 -3.61592444e-04 9.99825138e-01 1.98473806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49275509600001 meters 0.02128356603419459 Centerline is valid? [True, True] Translation: X:97.12, Y:31.72, Z:1.98 [[ 7.39234888e-01 -6.73290762e-01 -1.45372204e-02 9.71238673e+01] [ 6.73171981e-01 7.39377687e-01 -1.26538755e-02 3.17177503e+01] [ 1.92682339e-02 -4.31863272e-04 9.99814257e-01 1.98438822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52275509600001 meters 0.02164149885163046 Centerline is valid? [True, True] Translation: X:97.15, Y:31.74, Z:1.98 [[ 7.37844245e-01 -6.74804457e-01 -1.49938136e-02 9.71457582e+01] [ 6.74678268e-01 7.37996418e-01 -1.30583732e-02 3.17361841e+01] [ 1.98772292e-02 -4.80954621e-04 9.99802313e-01 1.98462630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55275509600001 meters 0.022335455664978084 Centerline is valid? [True, True] Translation: X:97.17, Y:31.75, Z:1.98 [[ 7.36923780e-01 -6.75809540e-01 -1.49935986e-02 9.71678965e+01] [ 6.75683427e-01 7.37076124e-01 -1.30649844e-02 3.17539055e+01] [ 1.98808646e-02 -5.03028340e-04 9.99802230e-01 1.98486882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.582755096 meters 0.024231962032836254 Centerline is valid? [True, True] Translation: X:97.19, Y:31.77, Z:1.99 [[ 7.35222192e-01 -6.77655128e-01 -1.52268132e-02 9.71906403e+01] [ 6.77525374e-01 7.35379640e-01 -1.32722524e-02 3.17698068e+01] [ 2.01914983e-02 -5.58497859e-04 9.99795975e-01 1.98559710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.612755096 meters 0.02621783928219776 Centerline is valid? [True, True] Translation: X:97.21, Y:31.79, Z:1.99 [[ 7.34303512e-01 -6.78652228e-01 -1.51494127e-02 9.72133734e+01] [ 6.78523898e-01 7.34459541e-01 -1.32099516e-02 3.17859909e+01] [ 2.00915938e-02 -5.79124712e-04 9.99797976e-01 1.98612333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.642755096 meters 0.025656825532078882 Centerline is valid? [True, True] Translation: X:97.23, Y:31.81, Z:1.99 [[ 7.33280485e-01 -6.79758668e-01 -1.50957898e-02 9.72340616e+01] [ 6.79631400e-01 7.33435606e-01 -1.31670795e-02 3.18054047e+01] [ 2.00222262e-02 -6.04410362e-04 9.99799352e-01 1.98655135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.672755096 meters 0.027150836211669777 Centerline is valid? [True, True] Translation: X:97.26, Y:31.82, Z:1.99 [[ 7.32766841e-01 -6.80313845e-01 -1.50275766e-02 9.72562379e+01] [ 6.80187756e-01 7.32920661e-01 -1.31118559e-02 3.18219010e+01] [ 1.99341985e-02 -6.13640398e-04 9.99801106e-01 1.98704336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.702755096 meters 0.026084902116827673 Centerline is valid? [True, True] Translation: X:97.28, Y:31.84, Z:1.99 [[ 7.32553185e-01 -6.80547113e-01 -1.48814527e-02 9.72764411e+01] [ 6.80423378e-01 7.32704071e-01 -1.29911966e-02 3.18417972e+01] [ 1.97448223e-02 -6.08945806e-04 9.99804867e-01 1.98778174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.732755096 meters 0.023682355506262465 Centerline is valid? [True, True] Translation: X:97.30, Y:31.86, Z:1.99 [[ 7.32378437e-01 -6.80735757e-01 -1.48544532e-02 9.72953574e+01] [ 6.80612356e-01 7.32528812e-01 -1.29753319e-02 3.18632143e+01] [ 1.97140874e-02 -6.07271106e-04 9.99805474e-01 1.98891939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.762755096 meters 0.02412571835885068 Centerline is valid? [True, True] Translation: X:97.32, Y:31.88, Z:1.99 [[ 7.31979724e-01 -6.81161404e-01 -1.49941809e-02 9.73168816e+01] [ 6.81035594e-01 7.32133020e-01 -1.31057487e-02 3.18818044e+01] [ 1.99048652e-02 -6.18428634e-04 9.99801687e-01 1.98974301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79275509600001 meters 0.024400093708642073 Centerline is valid? [True, True] Translation: X:97.34, Y:31.90, Z:1.99 [[ 7.31663300e-01 -6.81505064e-01 -1.48210182e-02 9.73379561e+01] [ 6.81382056e-01 7.31813139e-01 -1.29624273e-02 3.19000839e+01] [ 1.96801757e-02 -6.14643493e-04 9.99806138e-01 1.98991749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82275509600001 meters 0.025137169717978677 Centerline is valid? [True, True] Translation: X:97.36, Y:31.92, Z:1.99 [[ 7.31356548e-01 -6.81829632e-01 -1.50317055e-02 9.73596059e+01] [ 6.81703009e-01 7.31510739e-01 -1.31547372e-02 3.19178746e+01] [ 1.99651436e-02 -6.26355692e-04 9.99800480e-01 1.99031389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85275509600001 meters 0.02545170616921031 Centerline is valid? [True, True] Translation: X:97.38, Y:31.94, Z:1.99 [[ 7.30995152e-01 -6.82215255e-01 -1.51140261e-02 9.73809611e+01] [ 6.82087242e-01 7.31151106e-01 -1.32308545e-02 3.19363159e+01] [ 2.00769277e-02 -6.37393910e-04 9.99798235e-01 1.99094529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88275509600001 meters 0.025560025294982778 Centerline is valid? [True, True] Translation: X:97.40, Y:31.96, Z:1.99 [[ 7.30684704e-01 -6.82552346e-01 -1.49050071e-02 9.74022131e+01] [ 6.82427763e-01 7.30836436e-01 -1.30557392e-02 3.19552249e+01] [ 1.98043477e-02 -6.31961707e-04 9.99803675e-01 1.99169709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91275509600001 meters 0.030866636552640877 Centerline is valid? [True, True] Translation: X:97.43, Y:31.97, Z:1.99 [[ 7.30440081e-01 -6.82814934e-01 -1.48678885e-02 9.74270711e+01] [ 6.82690869e-01 7.30591108e-01 -1.30311198e-02 3.19682547e+01] [ 1.97601903e-02 -6.31719532e-04 9.99804549e-01 1.99231982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94275509600001 meters 0.026260202304201945 Centerline is valid? [True, True] Translation: X:97.44, Y:31.99, Z:1.99 [[ 7.30276463e-01 -6.82990578e-01 -1.48377195e-02 9.74434521e+01] [ 6.82866911e-01 7.30426912e-01 -1.30118579e-02 3.19924238e+01] [ 1.97248460e-02 -6.29934166e-04 9.99805248e-01 1.99323603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.972755096 meters 0.026370339027033826 Centerline is valid? [True, True] Translation: X:97.46, Y:32.01, Z:1.99 [[ 7.30152020e-01 -6.83126255e-01 -1.47155617e-02 9.74641663e+01] [ 6.83004494e-01 7.30300029e-01 -1.29123956e-02 3.20114061e+01] [ 1.95675716e-02 -6.22783060e-04 9.99808343e-01 1.99419674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.002755096 meters 0.024382330277749924 Centerline is valid? [True, True] Translation: X:97.48, Y:32.03, Z:1.99 [[ 7.29882522e-01 -6.83420777e-01 -1.44064411e-02 9.74829691e+01] [ 6.83303994e-01 7.30024429e-01 -1.26485357e-02 3.20328937e+01] [ 1.91613261e-02 -6.12033556e-04 9.99816218e-01 1.99485799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.032755096 meters 0.024566913575347585 Centerline is valid? [True, True] Translation: X:97.50, Y:32.05, Z:2.00 [[ 7.30224035e-01 -6.83045824e-01 -1.48748188e-02 9.75033208e+01] [ 6.82921083e-01 7.30375262e-01 -1.30679414e-02 3.20518401e+01] [ 1.97902025e-02 -6.15802509e-04 9.99803965e-01 1.99540318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.062755096 meters 0.024342922143559563 Centerline is valid? [True, True] Translation: X:97.52, Y:32.07, Z:2.00 [[ 7.30485209e-01 -6.82768853e-01 -1.47665786e-02 9.75242334e+01] [ 6.82645811e-01 7.30634198e-01 -1.29755733e-02 3.20716688e+01] [ 1.96482846e-02 -6.01878713e-04 9.99806773e-01 1.99586022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.092755096 meters 0.026718134719726717 Centerline is valid? [True, True] Translation: X:97.55, Y:32.09, Z:2.00 [[ 7.30932571e-01 -6.82287734e-01 -1.48668887e-02 9.75468849e+01] [ 6.82162777e-01 7.31083513e-01 -1.30706987e-02 3.20877339e+01] [ 1.97869146e-02 -5.87838706e-04 9.99804047e-01 1.99606000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.122755096 meters 0.0222426856683715 Centerline is valid? [True, True] Translation: X:97.56, Y:32.11, Z:2.00 [[ 7.31969234e-01 -6.81154713e-01 -1.57891666e-02 9.75626690e+01] [ 6.81013400e-01 7.32139270e-01 -1.38865988e-02 3.21129495e+01] [ 2.10187911e-02 -5.88070970e-04 9.99778908e-01 1.99604665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.152755096 meters 0.025433319620894054 Centerline is valid? [True, True] Translation: X:97.59, Y:32.13, Z:2.00 [[ 7.32724168e-01 -6.80335626e-01 -1.60850558e-02 9.75862228e+01] [ 6.80188606e-01 7.32900479e-01 -1.41544560e-02 3.21283545e+01] [ 2.14185258e-02 -5.69559712e-04 9.99770435e-01 1.99520991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18275509600001 meters 0.024212974952268426 Centerline is valid? [True, True] Translation: X:97.60, Y:32.15, Z:2.00 [[ 7.34364815e-01 -6.78556028e-01 -1.64327620e-02 9.76047984e+01] [ 6.78402038e-01 7.34548461e-01 -1.44649310e-02 3.21494654e+01] [ 2.18859261e-02 -5.25482855e-04 9.99760336e-01 1.99521549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21275509600001 meters 0.02362256797207713 Centerline is valid? [True, True] Translation: X:97.62, Y:32.17, Z:2.00 [[ 7.35132734e-01 -6.77727860e-01 -1.62730405e-02 9.76244313e+01] [ 6.77576584e-01 7.35312658e-01 -1.43271734e-02 3.21691112e+01] [ 2.16756972e-02 -4.93857037e-04 9.99764932e-01 1.99555409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24275509600001 meters 0.02290963838279639 Centerline is valid? [True, True] Translation: X:97.64, Y:32.19, Z:2.00 [[ 7.35785687e-01 -6.77021230e-01 -1.61764322e-02 9.76442901e+01] [ 6.76871459e-01 7.35963339e-01 -1.42475140e-02 3.21889706e+01] [ 2.15511305e-02 -4.66248374e-04 9.99767639e-01 1.99604352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27275509600001 meters 0.01875276227818905 Centerline is valid? [True, True] Translation: X:97.66, Y:32.21, Z:2.00 [[ 7.37211929e-01 -6.75470130e-01 -1.60833660e-02 9.76604307e+01] [ 6.75321545e-01 7.37387234e-01 -1.41731095e-02 3.22145122e+01] [ 2.14331809e-02 -4.12858164e-04 9.99770198e-01 1.99719730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30275509600001 meters 0.021095031914104605 Centerline is valid? [True, True] Translation: X:97.68, Y:32.23, Z:2.00 [[ 7.37934091e-01 -6.74683517e-01 -1.59821155e-02 9.76839810e+01] [ 6.74536456e-01 7.38107042e-01 -1.40912945e-02 3.22302856e+01] [ 2.13036761e-02 -3.82072979e-04 9.99772978e-01 1.99710810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.332755096 meters 0.020691257012125926 Centerline is valid? [True, True] Translation: X:97.70, Y:32.25, Z:2.00 [[ 7.38451363e-01 -6.74111898e-01 -1.62090256e-02 9.77031506e+01] [ 6.73960386e-01 7.38629145e-01 -1.42963209e-02 3.22490091e+01] [ 2.16097788e-02 -3.67103535e-04 9.99766414e-01 1.99737193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.362755096 meters 0.01744715625782672 Centerline is valid? [True, True] Translation: X:97.72, Y:32.27, Z:2.00 [[ 7.39236809e-01 -6.73253281e-01 -1.60922120e-02 9.77206217e+01] [ 6.73103604e-01 7.39411866e-01 -1.41996635e-02 3.22733459e+01] [ 2.14587425e-02 -3.34811950e-04 9.99769679e-01 1.99861374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.392755096 meters 0.01746349559292839 Centerline is valid? [True, True] Translation: X:97.74, Y:32.29, Z:2.00 [[ 7.39510907e-01 -6.72951794e-01 -1.61090653e-02 9.77408402e+01] [ 6.72801572e-01 7.39686272e-01 -1.42219810e-02 3.22916226e+01] [ 2.14863621e-02 -3.20894359e-04 9.99769090e-01 1.99905604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.422755096 meters 0.019753135667116783 Centerline is valid? [True, True] Translation: X:97.76, Y:32.31, Z:2.00 [[ 7.39402666e-01 -6.73077799e-01 -1.58105478e-02 9.77641817e+01] [ 6.72933025e-01 7.39571617e-01 -1.39630624e-02 3.23065658e+01] [ 2.10912597e-02 -3.15114205e-04 9.99777505e-01 1.99896636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.452755096 meters 0.017511280553746147 Centerline is valid? [True, True] Translation: X:97.78, Y:32.33, Z:2.00 [[ 7.39258579e-01 -6.73232443e-01 -1.59634078e-02 9.77820463e+01] [ 6.73084756e-01 7.39430846e-01 -1.41044067e-02 3.23282188e+01] [ 2.12993803e-02 -3.17922763e-04 9.99773092e-01 2.00013289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.482755096 meters 0.017820165357404383 Centerline is valid? [True, True] Translation: X:97.80, Y:32.35, Z:2.00 [[ 7.38428638e-01 -6.74148105e-01 -1.57314427e-02 9.78045994e+01] [ 6.74004711e-01 7.38596115e-01 -1.39078257e-02 3.23465340e+01] [ 2.09951168e-02 -3.33129682e-04 9.99779523e-01 2.00088474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.512755096 meters 0.018292365170924845 Centerline is valid? [True, True] Translation: X:97.83, Y:32.36, Z:2.00 [[ 7.37647074e-01 -6.75001876e-01 -1.57880378e-02 9.78267761e+01] [ 6.74857483e-01 7.37815928e-01 -1.39654563e-02 3.23645873e+01] [ 2.10753749e-02 -3.53097473e-04 9.99777827e-01 2.00148091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54275509600001 meters 0.018292365170924845 Centerline is valid? [True, True] Translation: X:97.85, Y:32.38, Z:2.00 [[ 7.37440414e-01 -6.75227734e-01 -1.57842385e-02 9.78473077e+01] [ 6.75083302e-01 7.37609234e-01 -1.39697492e-02 3.23829888e+01] [ 2.10753621e-02 -3.53818178e-04 9.99777827e-01 2.00199585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57275509600001 meters 0.01883029286751611 Centerline is valid? [True, True] Translation: X:97.87, Y:32.40, Z:2.00 [[ 7.36649400e-01 -6.76093401e-01 -1.56644345e-02 9.78692857e+01] [ 6.75951184e-01 7.36815836e-01 -1.38715955e-02 3.24003136e+01] [ 2.09202976e-02 -3.69890538e-04 9.99781078e-01 2.00270059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60275509600001 meters 0.020143130537097324 Centerline is valid? [True, True] Translation: X:97.89, Y:32.42, Z:2.00 [[ 7.34781837e-01 -6.78124257e-01 -1.55930737e-02 9.78924913e+01] [ 6.77983729e-01 7.34947149e-01 -1.38112430e-02 3.24164992e+01] [ 2.08258240e-02 -4.23599759e-04 9.99783029e-01 2.00307117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63275509600001 meters 0.021182010593570753 Centerline is valid? [True, True] Translation: X:97.92, Y:32.43, Z:2.00 [[ 7.33440001e-01 -6.79575898e-01 -1.55680130e-02 9.79157819e+01] [ 6.79436044e-01 7.33605062e-01 -1.37940608e-02 3.24343109e+01] [ 2.07948843e-02 -4.60353183e-04 9.99783657e-01 2.00364752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66275509600001 meters 0.021861360721736507 Centerline is valid? [True, True] Translation: X:97.94, Y:32.45, Z:2.00 [[ 7.30951998e-01 -6.82249846e-01 -1.56308575e-02 9.79393964e+01] [ 6.82109316e-01 7.31118912e-01 -1.38570411e-02 3.24507952e+01] [ 2.08819797e-02 -5.33121607e-04 9.99781806e-01 2.00447526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69275509600001 meters 0.02150999980836633 Centerline is valid? [True, True] Translation: X:97.96, Y:32.47, Z:2.01 [[ 7.29618530e-01 -6.83673213e-01 -1.57396925e-02 9.79609048e+01] [ 6.83530889e-01 7.29788058e-01 -1.39611428e-02 3.24695350e+01] [ 2.10314989e-02 -5.72257519e-04 9.99778650e-01 2.00521798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.722755096 meters 0.026081186223031044 Centerline is valid? [True, True] Translation: X:97.99, Y:32.48, Z:2.01 [[ 7.28424803e-01 -6.84953972e-01 -1.53415347e-02 9.79870612e+01] [ 6.84818896e-01 7.28586104e-01 -1.36150186e-02 3.24822404e+01] [ 2.05032901e-02 -5.88655667e-04 9.99789612e-01 2.00529717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.752755096 meters 0.02415716256216584 Centerline is valid? [True, True] Translation: X:98.01, Y:32.50, Z:2.01 [[ 7.27096824e-01 -6.86363049e-01 -1.53614423e-02 9.80071250e+01] [ 6.86227873e-01 7.27258807e-01 -1.36358110e-02 3.25035354e+01] [ 2.05308610e-02 -6.26895014e-04 9.99789023e-01 2.00635289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.782755096 meters 0.024986097530764802 Centerline is valid? [True, True] Translation: X:98.03, Y:32.52, Z:2.01 [[ 7.25148401e-01 -6.88431996e-01 -1.48722178e-02 9.80295950e+01] [ 6.88305588e-01 7.25300595e-01 -1.32085053e-02 3.25212731e+01] [ 1.98799861e-02 -6.58504152e-04 9.99802157e-01 2.00670229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.812755096 meters 0.024837507765327418 Centerline is valid? [True, True] Translation: X:98.05, Y:32.54, Z:2.01 [[ 7.24237616e-01 -6.89393254e-01 -1.47247110e-02 9.80513102e+01] [ 6.89269399e-01 7.24386974e-01 -1.30846275e-02 3.25407729e+01] [ 1.96868427e-02 -6.72913286e-04 9.99805969e-01 2.00729523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.842755096 meters 0.02472849030569474 Centerline is valid? [True, True] Translation: X:98.07, Y:32.56, Z:2.01 [[ 7.23664260e-01 -6.90004715e-01 -1.42664618e-02 9.80731768e+01] [ 6.89888437e-01 7.23804569e-01 -1.26842816e-02 3.25593476e+01] [ 1.90783443e-02 -6.63105754e-04 9.99817772e-01 2.00841567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.872755096 meters 0.02568382603613263 Centerline is valid? [True, True] Translation: X:98.09, Y:32.58, Z:2.01 [[ 7.23629340e-01 -6.90046960e-01 -1.39918120e-02 9.80946644e+01] [ 6.89934996e-01 7.23764309e-01 -1.24469655e-02 3.25761182e+01] [ 1.87157649e-02 -6.46451345e-04 9.99824636e-01 2.00927229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.902755096 meters 0.025443391558345515 Centerline is valid? [True, True] Translation: X:98.12, Y:32.60, Z:2.01 [[ 7.23730674e-01 -6.89945238e-01 -1.37652082e-02 9.81160764e+01] [ 6.89836756e-01 7.23861294e-01 -1.22506153e-02 3.25955502e+01] [ 1.84163551e-02 -6.29600540e-04 9.99830206e-01 2.01015137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93275509600001 meters 0.024285426810952176 Centerline is valid? [True, True] Translation: X:98.14, Y:32.62, Z:2.01 [[ 7.24804504e-01 -6.88823341e-01 -1.34475176e-02 9.81360168e+01] [ 6.88719501e-01 7.24929007e-01 -1.19742842e-02 3.26164835e+01] [ 1.79966620e-02 -5.82552524e-04 9.99837877e-01 2.01076322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96275509600001 meters 0.02674416814657943 Centerline is valid? [True, True] Translation: X:98.16, Y:32.63, Z:2.01 [[ 7.25583759e-01 -6.87998674e-01 -1.36394133e-02 9.81586166e+01] [ 6.87891577e-01 7.25711723e-01 -1.21520661e-02 3.26323499e+01] [ 1.82588875e-02 -5.65095740e-04 9.99833133e-01 2.01118275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99275509600001 meters 0.023189055821811803 Centerline is valid? [True, True] Translation: X:98.18, Y:32.66, Z:2.01 [[ 7.26206495e-01 -6.87339226e-01 -1.37446230e-02 9.81760111e+01] [ 6.87230310e-01 7.26336344e-01 -1.22481354e-02 3.26559212e+01] [ 1.84018431e-02 -5.51046040e-04 9.99830520e-01 2.01135339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02275509600001 meters 0.022478952808232325 Centerline is valid? [True, True] Translation: X:98.20, Y:32.68, Z:2.01 [[ 7.27810244e-01 -6.85635650e-01 -1.40001492e-02 9.81955848e+01] [ 6.85522199e-01 7.27944705e-01 -1.24828521e-02 3.26757750e+01] [ 1.87500229e-02 -5.12265450e-04 9.99824072e-01 2.01127508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05275509600001 meters 0.022083014365915355 Centerline is valid? [True, True] Translation: X:98.22, Y:32.70, Z:2.01 [[ 7.28332687e-01 -6.85076421e-01 -1.42054319e-02 9.82161978e+01] [ 6.84959463e-01 7.28471031e-01 -1.26684666e-02 3.26954778e+01] [ 1.90271134e-02 -5.03286647e-04 9.99818841e-01 2.01145712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.082755096 meters 0.022147662496024848 Centerline is valid? [True, True] Translation: X:98.24, Y:32.71, Z:2.01 [[ 7.28676764e-01 -6.84710910e-01 -1.41824986e-02 9.82371870e+01] [ 6.84594131e-01 7.28814607e-01 -1.26548245e-02 3.27143431e+01] [ 1.90013085e-02 -4.87978737e-04 9.99819340e-01 2.01201496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.112755096 meters 0.021007928019964293 Centerline is valid? [True, True] Translation: X:98.26, Y:32.73, Z:2.01 [[ 7.28969622e-01 -6.84410979e-01 -1.35978468e-02 9.82570102e+01] [ 6.84303512e-01 7.29096291e-01 -1.21368019e-02 3.27349844e+01] [ 1.82207002e-02 -4.57694391e-04 9.99833885e-01 2.01333898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.142755096 meters 0.022425313016605587 Centerline is valid? [True, True] Translation: X:98.28, Y:32.75, Z:2.01 [[ 7.28799317e-01 -6.84600005e-01 -1.32056041e-02 9.82780467e+01] [ 6.84498565e-01 7.28918812e-01 -1.17931770e-02 3.27513334e+01] [ 1.76994223e-02 -4.44357732e-04 9.99843254e-01 2.01447187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.172755096 meters 0.022921996425512594 Centerline is valid? [True, True] Translation: X:98.30, Y:32.77, Z:2.02 [[ 7.28509033e-01 -6.84917723e-01 -1.27397138e-02 9.82986393e+01] [ 6.84823300e-01 7.28620288e-01 -1.13808327e-02 3.27694204e+01] [ 1.70773480e-02 -4.33413421e-04 9.99854078e-01 2.01566468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.202755096 meters 0.02331196724025134 Centerline is valid? [True, True] Translation: X:98.32, Y:32.79, Z:2.02 [[ 7.27984796e-01 -6.85483814e-01 -1.22506245e-02 9.83197321e+01] [ 6.85396489e-01 7.28087742e-01 -1.09495684e-02 3.27881711e+01] [ 1.64252814e-02 -4.25415723e-04 9.99865005e-01 2.01689215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.232755096 meters 0.024442490970125266 Centerline is valid? [True, True] Translation: X:98.34, Y:32.81, Z:2.02 [[ 7.26935564e-01 -6.86607979e-01 -1.15831226e-02 9.83410606e+01] [ 6.86529958e-01 7.27027720e-01 -1.03590823e-02 3.28055887e+01] [ 1.55338798e-02 -4.21775345e-04 9.99879253e-01 2.01862296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.262755096 meters 0.02277255307684419 Centerline is valid? [True, True] Translation: X:98.36, Y:32.83, Z:2.02 [[ 7.25365384e-01 -6.88278462e-01 -1.08544240e-02 9.83601422e+01] [ 6.88210107e-01 7.25446467e-01 -9.70935136e-03 3.28274330e+01] [ 1.45570409e-02 -4.27296899e-04 9.99893949e-01 2.01945554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29275509600001 meters 0.026869570286704447 Centerline is valid? [True, True] Translation: X:98.38, Y:32.84, Z:2.02 [[ 7.24587269e-01 -6.89098988e-01 -1.07644916e-02 9.83849848e+01] [ 6.89031761e-01 7.24667092e-01 -9.63524793e-03 3.28418773e+01] [ 1.44403125e-02 -4.35498641e-04 9.99895638e-01 2.02059033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32275509600001 meters 0.02365995688936985 Centerline is valid? [True, True] Translation: X:98.40, Y:32.87, Z:2.02 [[ 7.23778784e-01 -6.89950878e-01 -1.05857873e-02 9.84030052e+01] [ 6.89885944e-01 7.23856055e-01 -9.47603073e-03 3.28657367e+01] [ 1.42005819e-02 -4.44435834e-04 9.99899068e-01 2.02009693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35275509600001 meters 0.02387429922995314 Centerline is valid? [True, True] Translation: X:98.42, Y:32.88, Z:2.02 [[ 7.23089445e-01 -6.90669652e-01 -1.08207003e-02 9.84239003e+01] [ 6.90601789e-01 7.23170255e-01 -9.69286939e-03 3.28848895e+01] [ 1.45197793e-02 -4.63983424e-04 9.99894475e-01 2.02005498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38275509600001 meters 0.02407782437817579 Centerline is valid? [True, True] Translation: X:98.44, Y:32.90, Z:2.02 [[ 7.22147317e-01 -6.91648719e-01 -1.11938632e-02 9.84445319e+01] [ 6.91576194e-01 7.22233896e-01 -1.00283183e-02 3.29048896e+01] [ 1.50206609e-02 -4.99486140e-04 9.99887059e-01 2.01937349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41275509600001 meters 0.024241964908506563 Centerline is valid? [True, True] Translation: X:98.47, Y:32.92, Z:2.02 [[ 7.21874574e-01 -6.91929522e-01 -1.14296687e-02 9.84650465e+01] [ 6.91853856e-01 7.21964871e-01 -1.02453377e-02 3.29237663e+01] [ 1.53408709e-02 -5.11811581e-04 9.99882191e-01 2.01932105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44275509600001 meters 0.02483129265938736 Centerline is valid? [True, True] Translation: X:98.49, Y:32.94, Z:2.02 [[ 7.21690250e-01 -6.92120677e-01 -1.14956947e-02 9.84855627e+01] [ 6.92044046e-01 7.21781618e-01 -1.03118259e-02 3.29417812e+01] [ 1.54344091e-02 -5.13582829e-04 9.99880751e-01 2.01953482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.472755096 meters 0.02411890317144872 Centerline is valid? [True, True] Translation: X:98.50, Y:32.96, Z:2.02 [[ 7.21634183e-01 -6.92175956e-01 -1.16855568e-02 9.85049454e+01] [ 6.92096728e-01 7.21728602e-01 -1.04854373e-02 3.29620585e+01] [ 1.56915681e-02 -5.20885640e-04 9.99876744e-01 2.01964567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.502755096 meters 0.024059049836920032 Centerline is valid? [True, True] Translation: X:98.53, Y:32.98, Z:2.02 [[ 7.21766333e-01 -6.92036218e-01 -1.17996743e-02 9.85263332e+01] [ 6.91955298e-01 7.21862594e-01 -1.05953570e-02 3.29822036e+01] [ 1.58501143e-02 -5.17475196e-04 9.99874245e-01 2.01984935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.532755096 meters 0.02413083604564516 Centerline is valid? [True, True] Translation: X:98.55, Y:33.00, Z:2.02 [[ 7.21757771e-01 -6.92048615e-01 -1.15946443e-02 9.85468393e+01] [ 6.91970443e-01 7.21850717e-01 -1.04138509e-02 3.30010101e+01] [ 1.55764934e-02 -5.06873378e-04 9.99878551e-01 2.02048047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.562755096 meters 0.024215594893037016 Centerline is valid? [True, True] Translation: X:98.57, Y:33.02, Z:2.02 [[ 7.22619853e-01 -6.91148607e-01 -1.15824018e-02 9.85671008e+01] [ 6.91070370e-01 7.22712510e-01 -1.04102211e-02 3.30201420e+01] [ 1.55657565e-02 -4.81622271e-04 9.99878730e-01 2.02061406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.592755096 meters 0.023850122245722947 Centerline is valid? [True, True] Translation: X:98.59, Y:33.04, Z:2.02 [[ 7.23112733e-01 -6.90628048e-01 -1.18690293e-02 9.85879559e+01] [ 6.90545777e-01 7.23209975e-01 -1.06705742e-02 3.30401733e+01] [ 1.59531982e-02 -4.80079990e-04 9.99872624e-01 2.02115623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.622755096 meters 0.026257147684318374 Centerline is valid? [True, True] Translation: X:98.61, Y:33.06, Z:2.02 [[ 7.23418558e-01 -6.90310506e-01 -1.17045082e-02 9.86106531e+01] [ 6.90230358e-01 7.23513091e-01 -1.05290287e-02 3.30566064e+01] [ 1.57366640e-02 -4.61912066e-04 9.99876064e-01 2.02187268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.652755096 meters 0.025514772144091338 Centerline is valid? [True, True] Translation: X:98.63, Y:33.08, Z:2.02 [[ 7.24700450e-01 -6.88965104e-01 -1.16765786e-02 9.86302328e+01] [ 6.88885132e-01 7.24794385e-01 -1.05059582e-02 3.30764181e+01] [ 1.57013572e-02 -4.30148765e-04 9.99876634e-01 2.02244707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68275509600001 meters 0.021696365235379638 Centerline is valid? [True, True] Translation: X:98.65, Y:33.10, Z:2.02 [[ 7.25215543e-01 -6.88424622e-01 -1.15739398e-02 9.86474105e+01] [ 6.88345964e-01 7.25307775e-01 -1.04146500e-02 3.31005177e+01] [ 1.55643700e-02 -4.14008725e-04 9.99878782e-01 2.02251210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71275509600001 meters 0.021551597963341853 Centerline is valid? [True, True] Translation: X:98.67, Y:33.12, Z:2.02 [[ 7.26407097e-01 -6.87171157e-01 -1.13370940e-02 9.86676286e+01] [ 6.87095436e-01 7.26495465e-01 -1.02079392e-02 3.31190521e+01] [ 1.52509488e-02 -3.74546024e-04 9.99883627e-01 2.02323657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74275509600001 meters 0.02097427765723211 Centerline is valid? [True, True] Translation: X:98.69, Y:33.14, Z:2.02 [[ 7.27052556e-01 -6.86487771e-01 -1.13631503e-02 9.86886436e+01] [ 6.86411599e-01 7.27141259e-01 -1.02326274e-02 3.31392457e+01] [ 1.52871890e-02 -3.60140294e-04 9.99883079e-01 2.02374354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77275509600001 meters 0.020514957600961965 Centerline is valid? [True, True] Translation: X:98.71, Y:33.16, Z:2.02 [[ 7.27713750e-01 -6.85788545e-01 -1.12592408e-02 9.87096870e+01] [ 6.85713592e-01 7.27800768e-01 -1.01445515e-02 3.31592874e+01] [ 1.51515013e-02 -3.38284859e-04 9.99885152e-01 2.02418857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80275509600001 meters 0.02045047984581726 Centerline is valid? [True, True] Translation: X:98.73, Y:33.18, Z:2.02 [[ 7.28246071e-01 -6.85224108e-01 -1.12063009e-02 9.87299113e+01] [ 6.85149696e-01 7.28332217e-01 -1.01032094e-02 3.31780687e+01] [ 1.50848727e-02 -3.20371103e-04 9.99886166e-01 2.02494850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.832755096 meters 0.019866299942919875 Centerline is valid? [True, True] Translation: X:98.75, Y:33.20, Z:2.03 [[ 7.29274367e-01 -6.84127230e-01 -1.13503527e-02 9.87506685e+01] [ 6.84050741e-01 7.29362628e-01 -1.02342940e-02 3.31978656e+01] [ 1.52800822e-02 -3.00608855e-04 9.99883208e-01 2.02501409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.862755096 meters 0.019290174199579423 Centerline is valid? [True, True] Translation: X:98.77, Y:33.22, Z:2.03 [[ 7.29481290e-01 -6.83901339e-01 -1.16621681e-02 9.87708933e+01] [ 6.83820470e-01 7.29574444e-01 -1.05211938e-02 3.32178082e+01] [ 1.57038783e-02 -2.99815249e-04 9.99876642e-01 2.02523509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.892755096 meters 0.019061410306892707 Centerline is valid? [True, True] Translation: X:98.79, Y:33.24, Z:2.03 [[ 7.29643430e-01 -6.83719659e-01 -1.21611379e-02 9.87917853e+01] [ 6.83631587e-01 7.29744706e-01 -1.09780576e-02 3.32371228e+01] [ 1.63804398e-02 -3.03670448e-04 9.99865785e-01 2.02565253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.922755096 meters 0.019417069366095344 Centerline is valid? [True, True] Translation: X:98.81, Y:33.25, Z:2.03 [[ 7.29534619e-01 -6.83835657e-01 -1.21669612e-02 9.88124766e+01] [ 6.83747400e-01 7.29636008e-01 -1.09904223e-02 3.32541393e+01] [ 1.63930956e-02 -3.01234527e-04 9.99865579e-01 2.02569663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.952755096 meters 0.019640198981361715 Centerline is valid? [True, True] Translation: X:98.83, Y:33.27, Z:2.03 [[ 7.29149640e-01 -6.84249508e-01 -1.19755274e-02 9.88336594e+01] [ 6.84164010e-01 7.29247913e-01 -1.08207709e-02 3.32721620e+01] [ 1.61372356e-02 -3.03263600e-04 9.99869740e-01 2.02600236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.982755096 meters 0.02057291341850553 Centerline is valid? [True, True] Translation: X:98.86, Y:33.29, Z:2.03 [[ 7.28011154e-01 -6.85456372e-01 -1.22197349e-02 9.88563113e+01] [ 6.85367396e-01 7.28113626e-01 -1.10489749e-02 3.32883044e+01] [ 1.64709457e-02 -3.31230911e-04 9.99864290e-01 2.02662592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.012755096 meters 0.021707125491045216 Centerline is valid? [True, True] Translation: X:98.88, Y:33.30, Z:2.03 [[ 7.27114698e-01 -6.86410325e-01 -1.20449911e-02 9.88786411e+01] [ 6.86323959e-01 7.27214375e-01 -1.08939139e-02 3.33043976e+01] [ 1.62369857e-02 -3.45641063e-04 9.99868112e-01 2.02705542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04275509600001 meters 0.0208148487079353 Centerline is valid? [True, True] Translation: X:98.90, Y:33.32, Z:2.03 [[ 7.26178306e-01 -6.87395624e-01 -1.23419485e-02 9.88995265e+01] [ 6.87305022e-01 7.26283083e-01 -1.11664922e-02 3.33241746e+01] [ 1.66395463e-02 -3.73818784e-04 9.99861483e-01 2.02715450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07275509600001 meters 0.021098896608621225 Centerline is valid? [True, True] Translation: X:98.92, Y:33.34, Z:2.03 [[ 7.24913023e-01 -6.88727147e-01 -1.24910271e-02 9.89220056e+01] [ 6.88634433e-01 7.25020519e-01 -1.13077037e-02 3.33427994e+01] [ 1.68441735e-02 -4.04649671e-04 9.99858045e-01 2.02744781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10275509600001 meters 0.022465087582139907 Centerline is valid? [True, True] Translation: X:98.95, Y:33.36, Z:2.03 [[ 7.23073712e-01 -6.90659997e-01 -1.23763891e-02 9.89453892e+01] [ 6.90569147e-01 7.23179489e-01 -1.12106652e-02 3.33581801e+01] [ 1.66931087e-02 -4.40615206e-04 9.99860563e-01 2.02805436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13275509600001 meters 0.023463824681705197 Centerline is valid? [True, True] Translation: X:98.97, Y:33.38, Z:2.03 [[ 7.22142938e-01 -6.91632349e-01 -1.24205966e-02 9.89675688e+01] [ 6.91540954e-01 7.22249596e-01 -1.12529600e-02 3.33750572e+01] [ 1.67536820e-02 -4.63105615e-04 9.99859540e-01 2.02860099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16275509600001 meters 0.02404492297612214 Centerline is valid? [True, True] Translation: X:98.99, Y:33.39, Z:2.03 [[ 7.21352640e-01 -6.92461370e-01 -1.21499185e-02 9.89896790e+01] [ 6.92374001e-01 7.21454801e-01 -1.10096811e-02 3.33929059e+01] [ 1.63893959e-02 -4.70425185e-04 9.99865574e-01 2.02929352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19275509600001 meters 0.024950205611246525 Centerline is valid? [True, True] Translation: X:99.01, Y:33.41, Z:2.03 [[ 7.19776834e-01 -6.94101320e-01 -1.20277876e-02 9.90133142e+01] [ 6.94015883e-01 7.19877147e-01 -1.09017247e-02 3.34102528e+01] [ 1.62254309e-02 -5.00666758e-04 9.99868234e-01 2.02971949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.222755096 meters 0.02512747426191252 Centerline is valid? [True, True] Translation: X:99.04, Y:33.43, Z:2.03 [[ 7.18939629e-01 -6.94969181e-01 -1.19853359e-02 9.90352642e+01] [ 6.94884370e-01 7.19039341e-01 -1.08691509e-02 3.34288275e+01] [ 1.61716529e-02 -5.14159268e-04 9.99869098e-01 2.02962352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.252755096 meters 0.02563696912420156 Centerline is valid? [True, True] Translation: X:99.06, Y:33.45, Z:2.03 [[ 7.17866463e-01 -6.96065433e-01 -1.26749258e-02 9.90580142e+01] [ 6.95970630e-01 7.17978129e-01 -1.15016283e-02 3.34458798e+01] [ 1.71062054e-02 -5.64742881e-04 9.99853519e-01 2.02952203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.282755096 meters 0.025732757946226283 Centerline is valid? [True, True] Translation: X:99.08, Y:33.46, Z:2.03 [[ 7.17371239e-01 -6.96576193e-01 -1.26536108e-02 9.90800828e+01] [ 6.96481756e-01 7.17482598e-01 -1.14841553e-02 3.34648417e+01] [ 1.70783347e-02 -5.74606406e-04 9.99853989e-01 2.02969588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.312755096 meters 0.026191538850743018 Centerline is valid? [True, True] Translation: X:99.10, Y:33.48, Z:2.03 [[ 7.17283812e-01 -6.96656095e-01 -1.31991777e-02 9.91014192e+01] [ 6.96553226e-01 7.17404997e-01 -1.19863797e-02 3.34821911e+01] [ 1.78195405e-02 -5.96293657e-04 9.99841042e-01 2.02975863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.342755096 meters 0.026317642256012744 Centerline is valid? [True, True] Translation: X:99.12, Y:33.50, Z:2.03 [[ 7.17357176e-01 -6.96581257e-01 -1.31618453e-02 9.91228346e+01] [ 6.96478886e-01 7.17477668e-01 -1.19564707e-02 3.35011316e+01] [ 1.77719835e-02 -5.89887316e-04 9.99841892e-01 2.02992620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.372755096 meters 0.026098959870315436 Centerline is valid? [True, True] Translation: X:99.14, Y:33.52, Z:2.03 [[ 7.17655799e-01 -6.96277104e-01 -1.29749272e-02 9.91437312e+01] [ 6.96177455e-01 7.17772854e-01 -1.17932610e-02 3.35205036e+01] [ 1.75244281e-02 -5.69349678e-04 9.99846273e-01 2.03040279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.402755096 meters 0.02617724773061811 Centerline is valid? [True, True] Translation: X:99.16, Y:33.54, Z:2.03 [[ 7.18140181e-01 -6.95776940e-01 -1.30050097e-02 9.91648292e+01] [ 6.95676628e-01 7.18257713e-01 -1.18273250e-02 3.35389714e+01] [ 1.75701286e-02 -5.53603997e-04 9.99845480e-01 2.03074697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43275509600001 meters 0.025868217952861924 Centerline is valid? [True, True] Translation: X:99.19, Y:33.56, Z:2.03 [[ 7.19331437e-01 -6.94543468e-01 -1.31016984e-02 9.91859231e+01] [ 6.94441414e-01 7.19450550e-01 -1.19175710e-02 3.35572653e+01] [ 1.77032952e-02 -5.25678490e-04 9.99843146e-01 2.03147799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46275509600001 meters 0.025868217952861924 Centerline is valid? [True, True] Translation: X:99.21, Y:33.58, Z:2.03 [[ 7.19122263e-01 -6.94760061e-01 -1.31007133e-02 9.92062106e+01] [ 6.94658023e-01 7.19241390e-01 -1.19186538e-02 3.35759577e+01] [ 1.77031799e-02 -5.29546314e-04 9.99843146e-01 2.03199409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49275509600001 meters 0.02560083662237502 Centerline is valid? [True, True] Translation: X:99.23, Y:33.59, Z:2.03 [[ 7.19668662e-01 -6.94195821e-01 -1.30068807e-02 9.92270788e+01] [ 6.94095022e-01 7.19786013e-01 -1.18404147e-02 3.35946298e+01] [ 1.75817372e-02 -5.06835738e-04 9.99845301e-01 2.03290858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52275509600001 meters 0.02533068366162732 Centerline is valid? [True, True] Translation: X:99.25, Y:33.61, Z:2.03 [[ 7.20148116e-01 -6.93708755e-01 -1.24440475e-02 9.92479795e+01] [ 6.93616313e-01 7.20255471e-01 -1.13343286e-02 3.36138640e+01] [ 1.68256163e-02 -4.68998947e-04 9.99858329e-01 2.03409942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55275509600001 meters 0.02469145794376376 Centerline is valid? [True, True] Translation: X:99.27, Y:33.63, Z:2.04 [[ 7.21687685e-01 -6.92120378e-01 -1.16733995e-02 9.92682193e+01] [ 6.92038721e-01 7.21781977e-01 -1.06389104e-02 3.36333633e+01] [ 1.57890560e-02 -4.00473825e-04 9.99875265e-01 2.03530719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.582755096 meters 0.02433285887310828 Centerline is valid? [True, True] Translation: X:99.29, Y:33.65, Z:2.04 [[ 7.22313501e-01 -6.91470654e-01 -1.14691121e-02 9.92884306e+01] [ 6.91391732e-01 7.22404451e-01 -1.04537953e-02 3.36525969e+01] [ 1.55138303e-02 -3.78731775e-04 9.99879582e-01 2.03621851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.612755096 meters 0.023939697021991408 Centerline is valid? [True, True] Translation: X:99.31, Y:33.67, Z:2.04 [[ 7.23450168e-01 -6.90296500e-01 -1.05164291e-02 9.93083637e+01] [ 6.90229936e-01 7.23526530e-01 -9.59147363e-03 3.36715239e+01] [ 1.42298762e-02 -3.19800992e-04 9.99898699e-01 2.03805075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.642755096 meters 0.023761297883326718 Centerline is valid? [True, True] Translation: X:99.33, Y:33.69, Z:2.04 [[ 7.23664995e-01 -6.90070209e-01 -1.05868912e-02 9.93292894e+01] [ 6.90002716e-01 7.23742362e-01 -9.65635649e-03 3.36908885e+01] [ 1.43257456e-02 -3.17016534e-04 9.99897331e-01 2.03893610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.672755096 meters 0.021821828230341518 Centerline is valid? [True, True] Translation: X:99.35, Y:33.71, Z:2.04 [[ 7.23961113e-01 -6.89761150e-01 -1.04815247e-02 9.93482173e+01] [ 6.89694885e-01 7.24036921e-01 -9.56568097e-03 3.37131370e+01] [ 1.41870460e-02 -3.03872902e-04 9.99899313e-01 2.03918954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.702755096 meters 0.023670678801649355 Centerline is valid? [True, True] Translation: X:99.37, Y:33.73, Z:2.04 [[ 7.24139261e-01 -6.89576862e-01 -1.02996503e-02 9.93709124e+01] [ 6.89512777e-01 7.24212446e-01 -9.40549373e-03 3.37285468e+01] [ 1.39449458e-02 -2.90853227e-04 9.99902722e-01 2.04082404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.732755096 meters 0.023724134715891756 Centerline is valid? [True, True] Translation: X:99.39, Y:33.75, Z:2.04 [[ 7.24473428e-01 -6.89218470e-01 -1.07774363e-02 9.93908671e+01] [ 6.89148213e-01 7.24553527e-01 -9.84518669e-03 3.37464003e+01] [ 1.45943140e-02 -2.94674841e-04 9.99893454e-01 2.04092026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.762755096 meters 0.02193010305873094 Centerline is valid? [True, True] Translation: X:99.41, Y:33.77, Z:2.04 [[ 7.24500418e-01 -6.89183351e-01 -1.12005676e-02 9.94093441e+01] [ 6.89107412e-01 7.24586928e-01 -1.02350993e-02 3.37680848e+01] [ 1.51696450e-02 -3.03060418e-04 9.99884888e-01 2.04044182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79275509600001 meters 0.02181211691043801 Centerline is valid? [True, True] Translation: X:99.43, Y:33.79, Z:2.04 [[ 7.24639051e-01 -6.89035116e-01 -1.13513799e-02 9.94294982e+01] [ 6.88957001e-01 7.24727893e-01 -1.03793875e-02 3.37874679e+01] [ 1.53784241e-02 -2.99303164e-04 9.99881700e-01 2.04007440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82275509600001 meters 0.0217341456057753 Centerline is valid? [True, True] Translation: X:99.45, Y:33.81, Z:2.04 [[ 7.24679057e-01 -6.88981436e-01 -1.20351310e-02 9.94503403e+01] [ 6.88893500e-01 7.24778921e-01 -1.10118618e-02 3.38069573e+01] [ 1.63097776e-02 -3.10857858e-04 9.99866938e-01 2.03943259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85275509600001 meters 0.021318779368805815 Centerline is valid? [True, True] Translation: X:99.47, Y:33.83, Z:2.04 [[ 7.24440410e-01 -6.89233667e-01 -1.19600870e-02 9.94699891e+01] [ 6.89146751e-01 7.24539064e-01 -1.09498762e-02 3.38265858e+01] [ 1.62125736e-02 -3.09722236e-04 9.99868520e-01 2.03948917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88275509600001 meters 0.02181437357622498 Centerline is valid? [True, True] Translation: X:99.49, Y:33.84, Z:2.04 [[ 7.24017377e-01 -6.89677394e-01 -1.19970953e-02 9.94910928e+01] [ 6.89589877e-01 7.24116699e-01 -1.09912880e-02 3.38438539e+01] [ 1.62677399e-02 -3.15192016e-04 9.99867622e-01 2.03961860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91275509600001 meters 0.0221722242549914 Centerline is valid? [True, True] Translation: X:99.51, Y:33.86, Z:2.04 [[ 7.23592428e-01 -6.90121044e-01 -1.21219782e-02 9.95116470e+01] [ 6.90031689e-01 7.23693885e-01 -1.11099014e-02 3.38611580e+01] [ 1.64397782e-02 -3.25508538e-04 9.99864805e-01 2.04006130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94275509600001 meters 0.02407105499872489 Centerline is valid? [True, True] Translation: X:99.54, Y:33.88, Z:2.04 [[ 7.22682645e-01 -6.91072297e-01 -1.22013891e-02 9.95352106e+01] [ 6.90981832e-01 7.22785556e-01 -1.11869402e-02 3.38765020e+01] [ 1.65499722e-02 -3.46330634e-04 9.99862980e-01 2.04061380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.972755096 meters 0.023068245595283695 Centerline is valid? [True, True] Translation: X:99.55, Y:33.90, Z:2.04 [[ 7.22235520e-01 -6.91536530e-01 -1.23725720e-02 9.95547379e+01] [ 6.91443522e-01 7.22341400e-01 -1.13471605e-02 3.38972139e+01] [ 1.67841970e-02 -3.59612384e-04 9.99859071e-01 2.04067517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.002755096 meters 0.023408243577811495 Centerline is valid? [True, True] Translation: X:99.58, Y:33.92, Z:2.04 [[ 7.21734318e-01 -6.92056580e-01 -1.25405272e-02 9.95765872e+01] [ 6.91961056e-01 7.21843162e-01 -1.15041978e-02 3.39165112e+01] [ 1.70138495e-02 -3.74582091e-04 9.99855184e-01 2.04080729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.032755096 meters 0.023638386831787463 Centerline is valid? [True, True] Translation: X:99.60, Y:33.93, Z:2.04 [[ 7.21396033e-01 -6.92410043e-01 -1.24938537e-02 9.95969955e+01] [ 6.92315175e-01 7.21504117e-01 -1.14676504e-02 3.39344971e+01] [ 1.69546832e-02 -3.76967052e-04 9.99856188e-01 2.04109376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.062755096 meters 0.024948612335374848 Centerline is valid? [True, True] Translation: X:99.62, Y:33.95, Z:2.04 [[ 7.21143952e-01 -6.92667286e-01 -1.27840131e-02 9.96188212e+01] [ 6.92567917e-01 7.21257153e-01 -1.17388280e-02 3.39511129e+01] [ 1.73516630e-02 -3.88412521e-04 9.99849373e-01 2.04156294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.092755096 meters 0.023818299678320613 Centerline is valid? [True, True] Translation: X:99.64, Y:33.97, Z:2.04 [[ 7.21095074e-01 -6.92715855e-01 -1.29088667e-02 9.96381979e+01] [ 6.92614430e-01 7.21210505e-01 -1.18599694e-02 3.39717931e+01] [ 1.75255991e-02 -3.88701854e-04 9.99846339e-01 2.04204695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.122755096 meters 0.02308644606015286 Centerline is valid? [True, True] Translation: X:99.66, Y:33.99, Z:2.04 [[ 7.21243042e-01 -6.92564165e-01 -1.27808854e-02 9.96579989e+01] [ 6.92464597e-01 7.21356178e-01 -1.17493318e-02 3.39922434e+01] [ 1.73567368e-02 -3.76186813e-04 9.99849290e-01 2.04272630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.152755096 meters 0.022703081332544273 Centerline is valid? [True, True] Translation: X:99.68, Y:34.01, Z:2.04 [[ 7.21781129e-01 -6.91997815e-01 -1.30777075e-02 9.96782568e+01] [ 6.91893338e-01 7.21899502e-01 -1.20298562e-02 3.40124098e+01] [ 1.77654248e-02 -3.65455556e-04 9.99842116e-01 2.04302745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18275509600001 meters 0.022463745270320214 Centerline is valid? [True, True] Translation: X:99.70, Y:34.03, Z:2.04 [[ 7.22216737e-01 -6.91543396e-01 -1.30658385e-02 9.96986215e+01] [ 6.91438920e-01 7.22334832e-01 -1.20253826e-02 3.40320868e+01] [ 1.77539842e-02 -3.49296677e-04 9.99842325e-01 2.04359061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21275509600001 meters 0.022091122096518156 Centerline is valid? [True, True] Translation: X:99.72, Y:34.05, Z:2.04 [[ 7.23157340e-01 -6.90555305e-01 -1.32978413e-02 9.97181313e+01] [ 6.90446783e-01 7.23279521e-01 -1.22464537e-02 3.40514550e+01] [ 1.80749099e-02 -3.25338883e-04 9.99836583e-01 2.04413870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24275509600001 meters 0.022023189015868288 Centerline is valid? [True, True] Translation: X:99.74, Y:34.07, Z:2.04 [[ 7.23636022e-01 -6.90055695e-01 -1.31926575e-02 9.97381254e+01] [ 6.89948701e-01 7.23756205e-01 -1.21550608e-02 3.40702309e+01] [ 1.79359366e-02 -3.06417052e-04 9.99839091e-01 2.04476531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27275509600001 meters 0.021815450044736697 Centerline is valid? [True, True] Translation: X:99.76, Y:34.09, Z:2.05 [[ 7.23784904e-01 -6.89895462e-01 -1.34038977e-02 9.97589767e+01] [ 6.89784873e-01 7.23908945e-01 -1.23559208e-02 3.40897645e+01] [ 1.82274951e-02 -3.02776866e-04 9.99833820e-01 2.04513861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30275509600001 meters 0.02181961249767354 Centerline is valid? [True, True] Translation: X:99.78, Y:34.11, Z:2.05 [[ 7.24075243e-01 -6.89589901e-01 -1.34466007e-02 9.97788042e+01] [ 6.89478426e-01 7.24200030e-01 -1.24022504e-02 3.41081660e+01] [ 1.82904953e-02 -2.90978594e-04 9.99832673e-01 2.04544500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.332755096 meters 0.021672217708527914 Centerline is valid? [True, True] Translation: X:99.80, Y:34.13, Z:2.05 [[ 7.24008790e-01 -6.89656939e-01 -1.35859835e-02 9.97993186e+01] [ 6.89543032e-01 7.24136191e-01 -1.25373274e-02 3.41269953e+01] [ 1.84845571e-02 -2.90985053e-04 9.99829104e-01 2.04608984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.362755096 meters 0.021362824216373276 Centerline is valid? [True, True] Translation: X:99.82, Y:34.15, Z:2.05 [[ 7.23562698e-01 -6.90125132e-01 -1.35766076e-02 9.98190392e+01] [ 6.90011330e-01 7.23689998e-01 -1.25359985e-02 3.41463748e+01] [ 1.84766627e-02 -2.97432183e-04 9.99829248e-01 2.04627321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.392755096 meters 0.022106876900142923 Centerline is valid? [True, True] Translation: X:99.84, Y:34.16, Z:2.05 [[ 7.23206051e-01 -6.90495024e-01 -1.37706199e-02 9.98405331e+01] [ 6.90377865e-01 7.23337078e-01 -1.27229994e-02 3.41628688e+01] [ 1.87459678e-02 -3.05581002e-04 9.99824232e-01 2.04695164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.422755096 meters 0.022583452919953916 Centerline is valid? [True, True] Translation: X:99.86, Y:34.18, Z:2.05 [[ 7.22342004e-01 -6.91391419e-01 -1.41398181e-02 9.98629260e+01] [ 6.91267923e-01 7.22480307e-01 -1.30714830e-02 3.41806639e+01] [ 1.92532513e-02 -3.32321461e-04 9.99814584e-01 2.04796864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.452755096 meters 0.02279118836554826 Centerline is valid? [True, True] Translation: X:99.88, Y:34.20, Z:2.05 [[ 7.21734451e-01 -6.92026223e-01 -1.41098866e-02 9.98844585e+01] [ 6.91903233e-01 7.21872280e-01 -1.30509381e-02 3.41994086e+01] [ 1.92171274e-02 -3.43364570e-04 9.99815275e-01 2.04841511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.482755096 meters 0.0219389069345706 Centerline is valid? [True, True] Translation: X:99.90, Y:34.22, Z:2.05 [[ 7.20756186e-01 -6.93032989e-01 -1.46900281e-02 9.99044693e+01] [ 6.92899732e-01 7.20905772e-01 -1.35952054e-02 3.42195406e+01] [ 2.00120519e-02 -3.79888154e-04 9.99799667e-01 2.04898041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.512755096 meters 0.02165499969086637 Centerline is valid? [True, True] Translation: X:99.93, Y:34.24, Z:2.05 [[ 7.20178022e-01 -6.93636847e-01 -1.45444685e-02 9.99254979e+01] [ 6.93506253e-01 7.20324769e-01 -1.34649326e-02 3.42394506e+01] [ 1.98165143e-02 -3.89531304e-04 9.99803558e-01 2.04963316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54275509600001 meters 0.021772809631396425 Centerline is valid? [True, True] Translation: X:99.95, Y:34.26, Z:2.05 [[ 7.19367846e-01 -6.94474535e-01 -1.46636665e-02 9.99467525e+01] [ 6.94341811e-01 7.19517166e-01 -1.35829596e-02 3.42585880e+01] [ 1.99837793e-02 -4.10452386e-04 9.99800220e-01 2.04994785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57275509600001 meters 0.02251381755640527 Centerline is valid? [True, True] Translation: X:99.97, Y:34.28, Z:2.05 [[ 7.18697225e-01 -6.95172292e-01 -1.44838903e-02 9.99685317e+01] [ 6.95042802e-01 7.18843035e-01 -1.34236432e-02 3.42757073e+01] [ 1.97433885e-02 -4.19388554e-04 9.99804992e-01 2.05060490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60275509600001 meters 0.022770890726646734 Centerline is valid? [True, True] Translation: X:99.99, Y:34.29, Z:2.05 [[ 7.18162008e-01 -6.95723804e-01 -1.45505337e-02 9.99900255e+01] [ 6.95593175e-01 7.18309265e-01 -1.34883611e-02 3.42949814e+01] [ 1.98359571e-02 -4.34423470e-04 9.99803154e-01 2.05106916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63275509600001 meters 0.022201651452233885 Centerline is valid? [True, True] Translation: X:100.01, Y:34.32, Z:2.05 [[ 7.17561302e-01 -6.96343051e-01 -1.45648041e-02 1.00009855e+02] [ 6.96212151e-01 7.17708963e-01 -1.35087145e-02 3.43153185e+01] [ 1.98599900e-02 -4.46862849e-04 9.99802671e-01 2.05135899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66275509600001 meters 0.022424947559932656 Centerline is valid? [True, True] Translation: X:100.03, Y:34.33, Z:2.05 [[ 7.17175011e-01 -6.96737092e-01 -1.47454483e-02 1.00030163e+02] [ 6.96602920e-01 7.17326434e-01 -1.36805893e-02 3.43342361e+01] [ 2.01090738e-02 -4.60345550e-04 9.99797686e-01 2.05183969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69275509600001 meters 0.022610089889217953 Centerline is valid? [True, True] Translation: X:100.05, Y:34.35, Z:2.05 [[ 7.16742413e-01 -6.97163028e-01 -1.56213308e-02 1.00050147e+02] [ 6.97012334e-01 7.16912456e-01 -1.45030000e-02 3.43539198e+01] [ 2.13100820e-02 -4.93345017e-04 9.99772793e-01 2.05153545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.722755096 meters 0.022511862319624872 Centerline is valid? [True, True] Translation: X:100.07, Y:34.37, Z:2.05 [[ 7.16730227e-01 -6.97170341e-01 -1.58523285e-02 1.00070426e+02] [ 6.97014953e-01 7.16905343e-01 -1.47269938e-02 3.43734137e+01] [ 2.16318423e-02 -4.94028379e-04 9.99765882e-01 2.05187279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.752755096 meters 0.022553429370861324 Centerline is valid? [True, True] Translation: X:100.09, Y:34.39, Z:2.05 [[ 7.17123953e-01 -6.96758307e-01 -1.61585107e-02 1.00090216e+02] [ 6.96596558e-01 7.17305811e-01 -1.50202544e-02 3.43923536e+01] [ 2.20560806e-02 -4.84578690e-04 9.99756618e-01 2.05148001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.782755096 meters 0.02180548096058836 Centerline is valid? [True, True] Translation: X:100.11, Y:34.41, Z:2.05 [[ 7.17807819e-01 -6.96036949e-01 -1.68671525e-02 1.00109372e+02] [ 6.95860395e-01 7.18005805e-01 -1.56835959e-02 3.44139552e+01] [ 2.30270757e-02 -4.79375657e-04 9.99734727e-01 2.05108123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.812755096 meters 0.02172812653093851 Centerline is valid? [True, True] Translation: X:100.13, Y:34.43, Z:2.05 [[ 7.18095293e-01 -6.95722294e-01 -1.75966001e-02 1.00128737e+02] [ 6.95529824e-01 7.18310697e-01 -1.63709067e-02 3.44332490e+01] [ 2.40294308e-02 -4.83089076e-04 9.99711135e-01 2.05087407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.842755096 meters 0.021559780137431366 Centerline is valid? [True, True] Translation: X:100.15, Y:34.45, Z:2.05 [[ 7.18493199e-01 -6.95291664e-01 -1.83582141e-02 1.00147925e+02] [ 6.95081817e-01 7.18727534e-01 -1.70879974e-02 3.44536235e+01] [ 2.50756961e-02 -4.82850874e-04 9.99685439e-01 2.05023337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.872755096 meters 0.021222273499133585 Centerline is valid? [True, True] Translation: X:100.17, Y:34.47, Z:2.05 [[ 7.18467860e-01 -6.95299281e-01 -1.90484781e-02 1.00167760e+02] [ 6.95073056e-01 7.18720159e-01 -1.77420544e-02 3.44739988e+01] [ 2.60265628e-02 -4.92988016e-04 9.99661130e-01 2.05076590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.902755096 meters 0.021245698348328807 Centerline is valid? [True, True] Translation: X:100.19, Y:34.49, Z:2.05 [[ 7.18217304e-01 -6.95558772e-01 -1.90236273e-02 1.00187783e+02] [ 6.95332932e-01 7.18469032e-01 -1.77302935e-02 3.44933664e+01] [ 2.60003483e-02 -4.93550915e-04 9.99661812e-01 2.05126000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93275509600001 meters 0.02139224257049427 Centerline is valid? [True, True] Translation: X:100.21, Y:34.51, Z:2.05 [[ 7.18443956e-01 -6.95343115e-01 -1.83366853e-02 1.00207723e+02] [ 6.95133001e-01 7.18677771e-01 -1.70988791e-02 3.45122722e+01] [ 2.50677560e-02 -4.61848756e-04 9.99685648e-01 2.05245716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96275509600001 meters 0.021328470314656893 Centerline is valid? [True, True] Translation: X:100.23, Y:34.53, Z:2.05 [[ 7.18291260e-01 -6.95507802e-01 -1.80710524e-02 1.00227946e+02] [ 6.95303654e-01 7.18518398e-01 -1.68564831e-02 3.45320476e+01] [ 2.47081991e-02 -4.57004310e-04 9.99694601e-01 2.05350646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99275509600001 meters 0.02103342403065311 Centerline is valid? [True, True] Translation: X:100.25, Y:34.55, Z:2.05 [[ 7.18059690e-01 -6.95751695e-01 -1.78846398e-02 1.00247245e+02] [ 6.95551557e-01 7.18282238e-01 -1.66930220e-02 3.45518881e+01] [ 2.44604175e-02 -4.53102811e-04 9.99700697e-01 2.05472585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02275509600001 meters 0.02175941131121972 Centerline is valid? [True, True] Translation: X:100.27, Y:34.57, Z:2.06 [[ 7.17911389e-01 -6.95910676e-01 -1.76513032e-02 1.00267372e+02] [ 6.95715549e-01 7.18128214e-01 -1.64845977e-02 3.45695188e+01] [ 2.41477063e-02 -4.45805674e-04 9.99708302e-01 2.05526688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05275509600001 meters 0.02096108569084059 Centerline is valid? [True, True] Translation: X:100.29, Y:34.59, Z:2.06 [[ 7.18085196e-01 -6.95731613e-01 -1.76401006e-02 1.00285678e+02] [ 6.95536515e-01 7.18301701e-01 -1.64809941e-02 3.45911629e+01] [ 2.41372629e-02 -4.34576229e-04 9.99708559e-01 2.05669090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.082755096 meters 0.020986787551816398 Centerline is valid? [True, True] Translation: X:100.31, Y:34.61, Z:2.06 [[ 7.17851062e-01 -6.95986100e-01 -1.71231398e-02 1.00305766e+02] [ 6.95802110e-01 7.18055130e-01 -1.60079234e-02 3.46109817e+01] [ 2.34366505e-02 -4.23012001e-04 9.99725234e-01 2.05738868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.112755096 meters 0.021291992414219266 Centerline is valid? [True, True] Translation: X:100.33, Y:34.63, Z:2.06 [[ 7.18139986e-01 -6.95692718e-01 -1.69293371e-02 1.00325453e+02] [ 6.95512582e-01 7.18339390e-01 -1.58356700e-02 3.46300592e+01] [ 2.31777700e-02 -4.02339089e-04 9.99731278e-01 2.05806782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.142755096 meters 0.021220237044087334 Centerline is valid? [True, True] Translation: X:100.35, Y:34.65, Z:2.06 [[ 7.17921565e-01 -6.95918430e-01 -1.69164158e-02 1.00345596e+02] [ 6.95738498e-01 7.18120724e-01 -1.58293520e-02 3.46498387e+01] [ 2.31639666e-02 -4.05168561e-04 9.99731597e-01 2.05878242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.172755096 meters 0.0210492051023648 Centerline is valid? [True, True] Translation: X:100.37, Y:34.67, Z:2.06 [[ 7.17916536e-01 -6.95924396e-01 -1.68844010e-02 1.00365550e+02] [ 6.95744921e-01 7.18114947e-01 -1.58090863e-02 3.46701602e+01] [ 2.31268696e-02 -3.97631774e-04 9.99732459e-01 2.05963301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.202755096 meters 0.02107680807455238 Centerline is valid? [True, True] Translation: X:100.39, Y:34.69, Z:2.06 [[ 7.17827813e-01 -6.96019231e-01 -1.67469354e-02 1.00385072e+02] [ 6.95842487e-01 7.18023034e-01 -1.56893612e-02 3.46889100e+01] [ 2.29447825e-02 -3.90969295e-04 9.99736657e-01 2.06004427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.232755096 meters 0.020977696738047637 Centerline is valid? [True, True] Translation: X:100.41, Y:34.71, Z:2.06 [[ 7.17697753e-01 -6.96152904e-01 -1.67651246e-02 1.00405139e+02] [ 6.95975649e-01 7.17893434e-01 -1.57135088e-02 3.47088445e+01] [ 2.29745777e-02 -3.90568497e-04 9.99735973e-01 2.06066644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.262755096 meters 0.02069364152068815 Centerline is valid? [True, True] Translation: X:100.42, Y:34.73, Z:2.06 [[ 7.17519894e-01 -6.96336629e-01 -1.67481817e-02 1.00424755e+02] [ 6.96159561e-01 7.17715228e-01 -1.57072439e-02 3.47293380e+01] [ 2.29579543e-02 -3.89146891e-04 9.99736356e-01 2.06154765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29275509600001 meters 0.02116681577116986 Centerline is valid? [True, True] Translation: X:100.44, Y:34.75, Z:2.06 [[ 7.17388152e-01 -6.96472192e-01 -1.67548482e-02 1.00443930e+02] [ 6.96294813e-01 7.17583679e-01 -1.57224948e-02 3.47478710e+01] [ 2.29732860e-02 -3.87182445e-04 9.99736004e-01 2.06199514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32275509600001 meters 0.021024876475143096 Centerline is valid? [True, True] Translation: X:100.46, Y:34.77, Z:2.06 [[ 7.17072704e-01 -6.96797219e-01 -1.67443050e-02 1.00463924e+02] [ 6.96620010e-01 7.17268068e-01 -1.57187870e-02 3.47678847e+01] [ 2.29629624e-02 -3.92904825e-04 9.99736239e-01 2.06239855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35275509600001 meters 0.021024876475143096 Centerline is valid? [True, True] Translation: X:100.48, Y:34.79, Z:2.06 [[ 7.16861738e-01 -6.97014373e-01 -1.67395441e-02 1.00483903e+02] [ 6.96837105e-01 7.17057047e-01 -1.57238558e-02 3.47868914e+01] [ 2.29629616e-02 -3.92904810e-04 9.99736239e-01 2.06291330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38275509600001 meters 0.0212209643783748 Centerline is valid? [True, True] Translation: X:100.50, Y:34.81, Z:2.06 [[ 7.16374856e-01 -6.97507075e-01 -1.70571342e-02 1.00504209e+02] [ 6.97322925e-01 7.16577778e-01 -1.60320285e-02 3.48062903e+01] [ 2.34052166e-02 -4.09388605e-04 9.99725977e-01 2.06308252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41275509600001 meters 0.021747041721418312 Centerline is valid? [True, True] Translation: X:100.53, Y:34.83, Z:2.06 [[ 7.15369261e-01 -6.98526014e-01 -1.75564606e-02 1.00525810e+02] [ 6.98330991e-01 7.15584521e-01 -1.65111920e-02 3.48260927e+01] [ 2.40966286e-02 -4.48621318e-04 9.99709533e-01 2.06270382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44275509600001 meters 0.021734663281125027 Centerline is valid? [True, True] Translation: X:100.55, Y:34.85, Z:2.06 [[ 7.14595189e-01 -6.99310460e-01 -1.78492713e-02 1.00546391e+02] [ 6.99108898e-01 7.14817917e-01 -1.67957037e-02 3.48457613e+01] [ 2.45043902e-02 -4.76455296e-04 9.99699609e-01 2.06282755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.472755096 meters 0.023469377786135087 Centerline is valid? [True, True] Translation: X:100.57, Y:34.86, Z:2.06 [[ 7.12897221e-01 -7.01025770e-01 -1.84505394e-02 1.00568484e+02] [ 7.00810731e-01 7.13135731e-01 -1.73708862e-02 3.48623755e+01] [ 2.53351778e-02 -5.46679515e-04 9.99678863e-01 2.06263909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.502755096 meters 0.024421857420216533 Centerline is valid? [True, True] Translation: X:100.59, Y:34.88, Z:2.06 [[ 7.11937286e-01 -7.01996016e-01 -1.86250866e-02 1.00589865e+02] [ 7.01777066e-01 7.12180633e-01 -1.75412627e-02 3.48799880e+01] [ 2.55783225e-02 -5.82379614e-04 9.99672652e-01 2.06281834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.532755096 meters 0.024309275199334776 Centerline is valid? [True, True] Translation: X:100.61, Y:34.90, Z:2.06 [[ 7.10698063e-01 -7.03252121e-01 -1.85665892e-02 1.00610997e+02] [ 7.03034819e-01 7.10940271e-01 -1.74921146e-02 3.48999104e+01] [ 2.55011026e-02 -6.21346765e-04 9.99674601e-01 2.06382943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.562755096 meters 0.026085015332298768 Centerline is valid? [True, True] Translation: X:100.63, Y:34.92, Z:2.06 [[ 7.09489835e-01 -7.04466089e-01 -1.87537385e-02 1.00633275e+02] [ 7.04244597e-01 7.09737336e-01 -1.76766069e-02 3.49166054e+01] [ 2.57627986e-02 -6.65846099e-04 9.99667862e-01 2.06389503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.592755096 meters 0.02538716757107207 Centerline is valid? [True, True] Translation: X:100.65, Y:34.94, Z:2.07 [[ 7.07302325e-01 -7.06664180e-01 -1.86857480e-02 1.00653310e+02] [ 7.06444890e-01 7.07548720e-01 -1.76189225e-02 3.49369517e+01] [ 2.56717385e-02 -7.38546395e-04 9.99670154e-01 2.06543015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.622755096 meters 0.024842204792276504 Centerline is valid? [True, True] Translation: X:100.67, Y:34.96, Z:2.07 [[ 7.06317378e-01 -7.07640399e-01 -1.89954684e-02 1.00673932e+02] [ 7.07413874e-01 7.06572330e-01 -1.79207504e-02 3.49577479e+01] [ 2.61031193e-02 -7.79920451e-04 9.99658951e-01 2.06647723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.652755096 meters 0.025426793620113713 Centerline is valid? [True, True] Translation: X:100.70, Y:34.98, Z:2.07 [[ 7.04882892e-01 -7.09060568e-01 -1.93188787e-02 1.00695457e+02] [ 7.08826522e-01 7.05147081e-01 -1.82360962e-02 3.49767440e+01] [ 2.65531477e-02 -8.39421369e-04 9.99647051e-01 2.06697754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68275509600001 meters 0.026461863749959902 Centerline is valid? [True, True] Translation: X:100.72, Y:34.99, Z:2.07 [[ 7.04445940e-01 -7.09493059e-01 -1.93782625e-02 1.00716555e+02] [ 7.09257503e-01 7.04711908e-01 -1.83008601e-02 3.49943097e+01] [ 2.66404255e-02 -8.52211483e-04 9.99644718e-01 2.06741933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71275509600001 meters 0.02673875401996179 Centerline is valid? [True, True] Translation: X:100.74, Y:35.01, Z:2.07 [[ 7.03507466e-01 -7.10421039e-01 -1.94728452e-02 1.00738012e+02] [ 7.10183354e-01 7.03776357e-01 -1.83968305e-02 3.50136965e+01] [ 2.67740235e-02 -8.86982912e-04 9.99641118e-01 2.06830705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74275509600001 meters 0.026889590478711662 Centerline is valid? [True, True] Translation: X:100.76, Y:35.03, Z:2.07 [[ 7.03099131e-01 -7.10827897e-01 -1.93729792e-02 1.00759484e+02] [ 7.10592534e-01 7.03365415e-01 -1.83123889e-02 3.50333849e+01] [ 2.66432404e-02 -8.90869695e-04 9.99644609e-01 2.06921151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77275509600001 meters 0.02710578384403221 Centerline is valid? [True, True] Translation: X:100.78, Y:35.05, Z:2.07 [[ 7.02703182e-01 -7.11220442e-01 -1.93318513e-02 1.00780262e+02] [ 7.10985951e-01 7.02968477e-01 -1.82838254e-02 3.50524820e+01] [ 2.65935124e-02 -8.96572403e-04 9.99645928e-01 2.07003543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80275509600001 meters 0.026439586249079387 Centerline is valid? [True, True] Translation: X:100.80, Y:35.07, Z:2.07 [[ 7.02234139e-01 -7.11688925e-01 -1.91334462e-02 1.00800583e+02] [ 7.11459113e-01 7.02494177e-01 -1.81069558e-02 3.50730680e+01] [ 2.63276545e-02 -8.97342132e-04 9.99652964e-01 2.07162587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.832755096 meters 0.026515285577163508 Centerline is valid? [True, True] Translation: X:100.82, Y:35.09, Z:2.07 [[ 7.02254235e-01 -7.11664918e-01 -1.92881670e-02 1.00821037e+02] [ 7.11431084e-01 7.02518498e-01 -1.82639597e-02 3.50921591e+01] [ 2.65481135e-02 -8.96258503e-04 9.99647135e-01 2.07232989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.862755096 meters 0.02641648399232247 Centerline is valid? [True, True] Translation: X:100.84, Y:35.11, Z:2.07 [[ 7.02105324e-01 -7.11813767e-01 -1.92165460e-02 1.00841066e+02] [ 7.11581418e-01 7.02367687e-01 -1.82075974e-02 3.51116988e+01] [ 2.64574995e-02 -8.90486018e-04 9.99649542e-01 2.07324549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.892755096 meters 0.026332575674742405 Centerline is valid? [True, True] Translation: X:100.86, Y:35.13, Z:2.07 [[ 7.01992671e-01 -7.11911595e-01 -1.97020744e-02 1.00861121e+02] [ 7.11667067e-01 7.02268507e-01 -1.86796681e-02 3.51317570e+01] [ 2.71344187e-02 -9.08327341e-04 9.99631381e-01 2.07398498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.922755096 meters 0.026458662437755538 Centerline is valid? [True, True] Translation: X:100.88, Y:35.15, Z:2.07 [[ 7.01751161e-01 -7.12148779e-01 -1.97338172e-02 1.00881176e+02] [ 7.11903235e-01 7.02027981e-01 -1.87215800e-02 3.51511065e+01] [ 2.71862422e-02 -9.10677855e-04 9.99629971e-01 2.07421981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.952755096 meters 0.025699276055965076 Centerline is valid? [True, True] Translation: X:100.90, Y:35.17, Z:2.07 [[ 7.02102155e-01 -7.11792937e-01 -2.00842915e-02 1.00900834e+02] [ 7.11538125e-01 7.02388778e-01 -1.90656924e-02 3.51719401e+01] [ 2.76778062e-02 -9.04675464e-04 9.99616487e-01 2.07488322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.982755096 meters 0.02710659182470026 Centerline is valid? [True, True] Translation: X:100.92, Y:35.19, Z:2.07 [[ 7.02039385e-01 -7.11843882e-01 -2.04692553e-02 1.00920834e+02] [ 7.11578957e-01 7.02337132e-01 -1.94407282e-02 3.51901135e+01] [ 2.82150815e-02 -9.17334464e-04 9.99601454e-01 2.07458477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.012755096 meters 0.025867361659910028 Centerline is valid? [True, True] Translation: X:100.94, Y:35.21, Z:2.08 [[ 7.02746139e-01 -7.11160102e-01 -1.99793409e-02 1.00940694e+02] [ 7.10907219e-01 7.03029562e-01 -1.89831965e-02 3.52102982e+01] [ 2.75461592e-02 -8.63089662e-04 9.99620160e-01 2.07598521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04275509600001 meters 0.024453247149504052 Centerline is valid? [True, True] Translation: X:100.96, Y:35.23, Z:2.08 [[ 7.03528241e-01 -7.10388514e-01 -1.99041057e-02 1.00959854e+02] [ 7.10136941e-01 7.03809266e-01 -1.89219897e-02 3.52319958e+01] [ 2.74506582e-02 -8.22486586e-04 9.99622821e-01 2.07708790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07275509600001 meters 0.022675122994532126 Centerline is valid? [True, True] Translation: X:100.98, Y:35.26, Z:2.08 [[ 7.05844442e-01 -7.08092616e-01 -1.97096624e-02 1.00977569e+02] [ 7.07844759e-01 7.06119204e-01 -1.87474512e-02 3.52550001e+01] [ 2.71923029e-02 -7.18596981e-04 9.99629963e-01 2.07810047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10275509600001 meters 0.022415104010368 Centerline is valid? [True, True] Translation: X:101.00, Y:35.28, Z:2.08 [[ 7.07104810e-01 -7.06832799e-01 -1.97530325e-02 1.00997325e+02] [ 7.06583073e-01 7.07380345e-01 -1.87991555e-02 3.52753695e+01] [ 2.72607667e-02 -6.64185146e-04 9.99628136e-01 2.07825144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13275509600001 meters 0.02115172697753095 Centerline is valid? [True, True] Translation: X:101.02, Y:35.30, Z:2.08 [[ 7.08425909e-01 -7.05501120e-01 -2.00225234e-02 1.01016205e+02] [ 7.05243706e-01 7.08708539e-01 -1.90662541e-02 3.52975309e+01] [ 2.76413970e-02 -6.13730252e-04 9.99617715e-01 2.07887604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16275509600001 meters 0.02065050501664703 Centerline is valid? [True, True] Translation: X:101.04, Y:35.32, Z:2.08 [[ 7.11607839e-01 -7.02273269e-01 -2.06528188e-02 1.01035334e+02] [ 7.01997708e-01 7.11907305e-01 -1.96775939e-02 3.53185620e+01] [ 2.85219408e-02 -4.95501442e-04 9.99593044e-01 2.07823803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19275509600001 meters 0.018854549495979665 Centerline is valid? [True, True] Translation: X:101.05, Y:35.34, Z:2.08 [[ 7.12867030e-01 -7.00994827e-01 -2.06603530e-02 1.01053599e+02] [ 7.00718222e-01 7.13166223e-01 -1.96954729e-02 3.53418966e+01] [ 2.85406905e-02 -4.36832583e-04 9.99592536e-01 2.07977904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.222755096 meters 0.017916722498457 Centerline is valid? [True, True] Translation: X:101.07, Y:35.36, Z:2.08 [[ 7.15098653e-01 -6.98720094e-01 -2.05948405e-02 1.01071436e+02] [ 6.98444071e-01 7.15395077e-01 -1.96408876e-02 3.53632120e+01] [ 2.84569304e-02 -3.39171949e-04 9.99594962e-01 2.08070707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.252755096 meters 0.017354632668764067 Centerline is valid? [True, True] Translation: X:101.09, Y:35.38, Z:2.08 [[ 7.15685002e-01 -6.98132223e-01 -2.01588005e-02 1.01091476e+02] [ 6.97867374e-01 7.15968789e-01 -1.92307560e-02 3.53847974e+01] [ 2.78586824e-02 -3.05005569e-04 9.99611825e-01 2.08164478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.282755096 meters 0.017221392736994568 Centerline is valid? [True, True] Translation: X:101.11, Y:35.40, Z:2.08 [[ 7.15751363e-01 -6.98063850e-01 -2.01704755e-02 1.01110969e+02] [ 6.97798369e-01 7.16035456e-01 -1.92525804e-02 3.54046732e+01] [ 2.78823060e-02 -2.94864271e-04 9.99611169e-01 2.08236107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.312755096 meters 0.017221472538943343 Centerline is valid? [True, True] Translation: X:101.13, Y:35.42, Z:2.08 [[ 7.15533821e-01 -6.98297766e-01 -1.97884013e-02 1.01131175e+02] [ 6.98042015e-01 7.15807339e-01 -1.88996909e-02 3.54244087e+01] [ 2.73622948e-02 -2.89767486e-04 9.99625540e-01 2.08263862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.342755096 meters 0.01759132588068893 Centerline is valid? [True, True] Translation: X:101.15, Y:35.44, Z:2.08 [[ 7.15015388e-01 -6.98843776e-01 -1.92450335e-02 1.01151642e+02] [ 6.98601817e-01 7.15274276e-01 -1.83905457e-02 3.54424625e+01] [ 2.66175958e-02 -2.95092178e-04 9.99645645e-01 2.08260544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.372755096 meters 0.017524041933979134 Centerline is valid? [True, True] Translation: X:101.17, Y:35.46, Z:2.08 [[ 7.14451180e-01 -6.99430024e-01 -1.88984768e-02 1.01171679e+02] [ 6.99196708e-01 7.14701020e-01 -1.80669969e-02 3.54615398e+01] [ 2.61433607e-02 -3.05765501e-04 9.99658157e-01 2.08357746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.402755096 meters 0.01771606610046843 Centerline is valid? [True, True] Translation: X:101.19, Y:35.48, Z:2.08 [[ 7.13734889e-01 -7.00163376e-01 -1.88083665e-02 1.01192166e+02] [ 6.99932245e-01 7.13982593e-01 -1.79919417e-02 3.54802153e+01] [ 2.60261450e-02 -3.23105658e-04 9.99661210e-01 2.08420161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43275509600001 meters 0.018474928508392347 Centerline is valid? [True, True] Translation: X:101.21, Y:35.50, Z:2.09 [[ 7.11928271e-01 -7.02017023e-01 -1.81723930e-02 1.01214627e+02] [ 7.01801609e-01 7.12160068e-01 -1.73936639e-02 3.54988870e+01] [ 2.51523008e-02 -3.70373584e-04 9.99683562e-01 2.08549195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46275509600001 meters 0.018842006346332808 Centerline is valid? [True, True] Translation: X:101.24, Y:35.52, Z:2.09 [[ 7.10743218e-01 -7.03226334e-01 -1.77989217e-02 1.01236426e+02] [ 7.03019840e-01 7.10965938e-01 -1.70452431e-02 3.55182335e+01] [ 2.46410909e-02 -3.98204183e-04 9.99696283e-01 2.08626913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49275509600001 meters 0.019893255690013194 Centerline is valid? [True, True] Translation: X:101.26, Y:35.54, Z:2.09 [[ 7.08581030e-01 -7.05421827e-01 -1.71163733e-02 1.01259235e+02] [ 7.05231303e-01 7.08787587e-01 -1.64002079e-02 3.55361401e+01] [ 2.37009376e-02 -4.50126008e-04 9.99718992e-01 2.08744592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52275509600001 meters 0.020259921083505175 Centerline is valid? [True, True] Translation: X:101.28, Y:35.56, Z:2.09 [[ 7.07293307e-01 -7.06720203e-01 -1.68146486e-02 1.01280915e+02] [ 7.06536503e-01 7.07492986e-01 -1.61196869e-02 3.55555789e+01] [ 2.32883544e-02 -4.78816325e-04 9.99728675e-01 2.08866209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55275509600001 meters 0.02231318536268166 Centerline is valid? [True, True] Translation: X:101.30, Y:35.57, Z:2.09 [[ 7.06197280e-01 -7.07810843e-01 -1.70062167e-02 1.01303852e+02] [ 7.07623058e-01 7.06401830e-01 -1.63114542e-02 3.55722487e+01] [ 2.35586468e-02 -5.14886478e-04 9.99722324e-01 2.08868018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.582755096 meters 0.02142182676048359 Centerline is valid? [True, True] Translation: X:101.32, Y:35.59, Z:2.09 [[ 7.04274918e-01 -7.09728815e-01 -1.67883629e-02 1.01323888e+02] [ 7.09546224e-01 7.04474760e-01 -1.61080518e-02 3.55929632e+01] [ 2.32593264e-02 -5.67622645e-04 9.99729304e-01 2.09012498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.612755096 meters 0.024313922133329117 Centerline is valid? [True, True] Translation: X:101.35, Y:35.61, Z:2.09 [[ 7.03555891e-01 -7.10434515e-01 -1.70853175e-02 1.01346920e+02] [ 7.10245410e-01 7.03763061e-01 -1.64016026e-02 3.56085165e+01] [ 2.36762799e-02 -5.95324172e-04 9.99719500e-01 2.08962668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.642755096 meters 0.02240275688761848 Centerline is valid? [True, True] Translation: X:101.37, Y:35.63, Z:2.09 [[ 7.02818643e-01 -7.11158788e-01 -1.72954561e-02 1.01365364e+02] [ 7.10965052e-01 7.03031145e-01 -1.66103712e-02 3.56308277e+01] [ 2.39718558e-02 -6.22386304e-04 9.99712440e-01 2.09056715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.672755096 meters 0.022633806823525313 Centerline is valid? [True, True] Translation: X:101.38, Y:35.65, Z:2.09 [[ 7.02588749e-01 -7.11382418e-01 -1.74386272e-02 1.01384819e+02] [ 7.11185317e-01 7.02804852e-01 -1.67566315e-02 3.56498345e+01] [ 2.41763248e-02 -6.29074915e-04 9.99707512e-01 2.09078827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.702755096 meters 0.021821851439645223 Centerline is valid? [True, True] Translation: X:101.40, Y:35.67, Z:2.09 [[ 7.02921556e-01 -7.11054175e-01 -1.74139941e-02 1.01404737e+02] [ 7.10857368e-01 7.03136961e-01 -1.67396542e-02 3.56715089e+01] [ 2.41472239e-02 -6.12202253e-04 9.99708226e-01 2.09149137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.732755096 meters 0.021840162592038852 Centerline is valid? [True, True] Translation: X:101.42, Y:35.69, Z:2.09 [[ 7.03333989e-01 -7.10648584e-01 -1.73173160e-02 1.01424556e+02] [ 7.10453719e-01 7.03546900e-01 -1.66515072e-02 3.56913162e+01] [ 2.40169140e-02 -5.91580533e-04 9.99711377e-01 2.09176110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.762755096 meters 0.02269478489982393 Centerline is valid? [True, True] Translation: X:101.45, Y:35.71, Z:2.09 [[ 7.04603447e-01 -7.09387166e-01 -1.74307359e-02 1.01445222e+02] [ 7.09189274e-01 7.04818804e-01 -1.67638545e-02 3.57105502e+01] [ 2.41775736e-02 -5.49821289e-04 9.99707529e-01 2.09181673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79275509600001 meters 0.02075675986231404 Centerline is valid? [True, True] Translation: X:101.46, Y:35.73, Z:2.09 [[ 7.05386758e-01 -7.08611440e-01 -1.73016832e-02 1.01462532e+02] [ 7.08416123e-01 7.05598725e-01 -1.66444097e-02 3.57328750e+01] [ 2.40024647e-02 -5.16045106e-04 9.99711766e-01 2.09335301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82275509600001 meters 0.01979547632722506 Centerline is valid? [True, True] Translation: X:101.48, Y:35.75, Z:2.09 [[ 7.07241381e-01 -7.06769763e-01 -1.69153877e-02 1.01480644e+02] [ 7.06582352e-01 7.07443503e-01 -1.62809488e-02 3.57544675e+01] [ 2.34735635e-02 -4.37553673e-04 9.99724362e-01 2.09436215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85275509600001 meters 0.019402365931842778 Centerline is valid? [True, True] Translation: X:101.50, Y:35.77, Z:2.10 [[ 7.07733106e-01 -7.06280693e-01 -1.67759639e-02 1.01499403e+02] [ 7.06096121e-01 7.07931783e-01 -1.61510770e-02 3.57749678e+01] [ 2.32834319e-02 -4.14791171e-04 9.99728818e-01 2.09514468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88275509600001 meters 0.01920449352290983 Centerline is valid? [True, True] Translation: X:101.52, Y:35.80, Z:2.10 [[ 7.08141578e-01 -7.05878000e-01 -1.64849770e-02 1.01518563e+02] [ 7.05699454e-01 7.08333325e-01 -1.58802246e-02 3.57954558e+01] [ 2.28863597e-02 -3.87991978e-04 9.99737998e-01 2.09579640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91275509600001 meters 0.01951367206906466 Centerline is valid? [True, True] Translation: X:101.54, Y:35.81, Z:2.10 [[ 7.08442019e-01 -7.05583642e-01 -1.61749836e-02 1.01537446e+02] [ 7.05411473e-01 7.08626553e-01 -1.55904836e-02 3.58142250e+01] [ 2.24624131e-02 -3.65065286e-04 9.99747622e-01 2.09635090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94275509600001 meters 0.01886042480174542 Centerline is valid? [True, True] Translation: X:101.56, Y:35.84, Z:2.10 [[ 7.08335634e-01 -7.05712173e-01 -1.51973057e-02 1.01555456e+02] [ 7.05560066e-01 7.08498562e-01 -1.46553896e-02 3.58363275e+01] [ 2.11097561e-02 -3.41677347e-04 9.99777106e-01 2.09803445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.972755096 meters 0.018636686820772873 Centerline is valid? [True, True] Translation: X:101.57, Y:35.86, Z:2.10 [[ 7.08023334e-01 -7.06033956e-01 -1.47990247e-02 1.01574972e+02] [ 7.05889616e-01 7.08177901e-01 -1.42797041e-02 3.58568380e+01] [ 2.05622983e-02 -3.36114113e-04 9.99788517e-01 2.09906892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.002755096 meters 0.019444589377498465 Centerline is valid? [True, True] Translation: X:101.60, Y:35.88, Z:2.10 [[ 7.06807282e-01 -7.07266305e-01 -1.40655618e-02 1.01595350e+02] [ 7.07136011e-01 7.06947136e-01 -1.35797294e-02 3.58761955e+01] [ 1.95480937e-02 -3.48013671e-04 9.99808857e-01 2.10039499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.032755096 meters 0.020906932365380763 Centerline is valid? [True, True] Translation: X:101.62, Y:35.89, Z:2.10 [[ 7.05850880e-01 -7.08229193e-01 -1.36361604e-02 1.01616536e+02] [ 7.08106845e-01 7.05982493e-01 -1.31687717e-02 3.58938042e+01] [ 1.89533991e-02 -3.60669427e-04 9.99820303e-01 2.10130915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.062755096 meters 0.020416678310430286 Centerline is valid? [True, True] Translation: X:101.64, Y:35.92, Z:2.10 [[ 7.03861930e-01 -7.10207650e-01 -1.35453609e-02 1.01635632e+02] [ 7.10087223e-01 7.03992135e-01 -1.30846667e-02 3.59156521e+01] [ 1.88286579e-02 -4.08588977e-04 9.99822642e-01 2.10174364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.092755096 meters 0.02055930310082211 Centerline is valid? [True, True] Translation: X:101.66, Y:35.94, Z:2.10 [[ 7.02570758e-01 -7.11484087e-01 -1.35913115e-02 1.01655768e+02] [ 7.11362943e-01 7.02702071e-01 -1.31362815e-02 3.59360565e+01] [ 1.88968980e-02 -4.39188105e-04 9.99821341e-01 2.10216714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.122755096 meters 0.023619592223988312 Centerline is valid? [True, True] Translation: X:101.68, Y:35.95, Z:2.10 [[ 7.01189995e-01 -7.12847292e-01 -1.34658255e-02 1.01678884e+02] [ 7.12728491e-01 7.01319129e-01 -1.30222245e-02 3.59524094e+01] [ 1.87266985e-02 -4.66423892e-04 9.99824531e-01 2.10232103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.152755096 meters 0.024080034101871477 Centerline is valid? [True, True] Translation: X:101.70, Y:35.97, Z:2.10 [[ 6.99814369e-01 -7.14189589e-01 -1.38953564e-02 1.01699465e+02] [ 7.14063295e-01 6.99952116e-01 -1.34404831e-02 3.59722528e+01] [ 1.93251372e-02 -5.16320808e-04 9.99813119e-01 2.10269899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18275509600001 meters 0.025862052022558635 Centerline is valid? [True, True] Translation: X:101.72, Y:35.99, Z:2.10 [[ 6.98453277e-01 -7.15522217e-01 -1.38194200e-02 1.01720771e+02] [ 7.15397430e-01 6.98589764e-01 -1.33738135e-02 3.59896996e+01] [ 1.92233661e-02 -5.45393660e-04 9.99815065e-01 2.10300980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21275509600001 meters 0.02846189421981858 Centerline is valid? [True, True] Translation: X:101.74, Y:36.01, Z:2.10 [[ 6.95585758e-01 -7.18318902e-01 -1.33569608e-02 1.01742538e+02] [ 7.18202789e-01 6.95713731e-01 -1.29289802e-02 3.60072376e+01] [ 1.85797519e-02 -5.99792070e-04 9.99827202e-01 2.10376595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24275509600001 meters 0.02556608795760699 Centerline is valid? [True, True] Translation: X:101.76, Y:36.03, Z:2.10 [[ 6.94348748e-01 -7.19509944e-01 -1.36108835e-02 1.01760152e+02] [ 7.19389466e-01 6.94481844e-01 -1.31819650e-02 3.60307520e+01] [ 1.89370664e-02 -6.38645319e-04 9.99820474e-01 2.10444851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27275509600001 meters 0.02556608795760699 Centerline is valid? [True, True] Translation: X:101.78, Y:36.05, Z:2.10 [[ 6.94123579e-01 -7.19727239e-01 -1.36072707e-02 1.01779847e+02] [ 7.19606729e-01 6.94256647e-01 -1.31856933e-02 3.60500671e+01] [ 1.89370408e-02 -6.39382874e-04 9.99820474e-01 2.10496368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30275509600001 meters 0.025765948911360446 Centerline is valid? [True, True] Translation: X:101.80, Y:36.07, Z:2.11 [[ 6.92010750e-01 -7.21765573e-01 -1.32506726e-02 1.01800056e+02] [ 7.21651524e-01 6.92137275e-01 -1.28479870e-02 3.60706735e+01] [ 1.84445191e-02 -6.71422967e-04 9.99829660e-01 2.10543595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33275509600001 meters 0.026864559287052753 Centerline is valid? [True, True] Translation: X:101.82, Y:36.09, Z:2.11 [[ 6.91106974e-01 -7.22630264e-01 -1.32910199e-02 1.01820836e+02] [ 7.22515544e-01 6.91234420e-01 -1.28944072e-02 3.60893431e+01] [ 1.85050993e-02 -6.91553730e-04 9.99828527e-01 2.10571884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.362755096 meters 0.028434057742308026 Centerline is valid? [True, True] Translation: X:101.84, Y:36.11, Z:2.11 [[ 6.89680647e-01 -7.23976822e-01 -1.40771108e-02 1.01841354e+02] [ 7.23848315e-01 6.89823870e-01 -1.36618404e-02 3.61083731e+01] [ 1.96015829e-02 -7.67385975e-04 9.99807576e-01 2.10534767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.392755096 meters 0.028654824000028938 Centerline is valid? [True, True] Translation: X:101.86, Y:36.13, Z:2.11 [[ 6.89369903e-01 -7.24275230e-01 -1.39473080e-02 1.01861131e+02] [ 7.24149030e-01 6.89510555e-01 -1.35416588e-02 3.61282773e+01] [ 1.94247041e-02 -7.64717550e-04 9.99811030e-01 2.10582981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.422755096 meters 0.028295629839175048 Centerline is valid? [True, True] Translation: X:101.88, Y:36.15, Z:2.11 [[ 6.89302797e-01 -7.24336605e-01 -1.40760982e-02 1.01879983e+02] [ 7.24207909e-01 6.89446077e-01 -1.36752452e-02 3.61487226e+01] [ 1.96101913e-02 -7.67636834e-04 9.99807407e-01 2.10639801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.452755096 meters 0.027157411975374437 Centerline is valid? [True, True] Translation: X:101.90, Y:36.17, Z:2.11 [[ 6.90779680e-01 -7.22928692e-01 -1.40549058e-02 1.01898603e+02] [ 7.22799928e-01 6.90922273e-01 -1.36629756e-02 3.61718207e+01] [ 1.95882046e-02 -7.20779004e-04 9.99807873e-01 2.10728103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.482755096 meters 0.026782674208809754 Centerline is valid? [True, True] Translation: X:101.92, Y:36.19, Z:2.11 [[ 6.91856855e-01 -7.21898482e-01 -1.40240435e-02 1.01917454e+02] [ 7.21769994e-01 6.91998634e-01 -1.36369410e-02 3.61927683e+01] [ 1.95491059e-02 -6.87322665e-04 9.99808662e-01 2.10791974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.512755096 meters 0.02586387390387485 Centerline is valid? [True, True] Translation: X:101.94, Y:36.21, Z:2.11 [[ 6.93128831e-01 -7.20672882e-01 -1.42485553e-02 1.01936017e+02] [ 7.20539928e-01 6.93274953e-01 -1.38582398e-02 3.62148527e+01] [ 1.98654241e-02 -6.61107396e-04 9.99802444e-01 2.10858170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54275509600001 meters 0.023493282188332357 Centerline is valid? [True, True] Translation: X:101.95, Y:36.24, Z:2.11 [[ 6.96563192e-01 -7.17353049e-01 -1.42941474e-02 1.01952202e+02] [ 7.17218393e-01 6.96709614e-01 -1.39100929e-02 3.62392933e+01] [ 1.99373175e-02 -5.62766710e-04 9.99801074e-01 2.10871400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57275509600001 meters 0.022854002202252543 Centerline is valid? [True, True] Translation: X:101.97, Y:36.26, Z:2.11 [[ 6.98007216e-01 -7.15946171e-01 -1.43877149e-02 1.01970965e+02] [ 7.15809291e-01 6.98155290e-01 -1.40089327e-02 3.62608411e+01] [ 2.00745011e-02 -5.20523898e-04 9.99798351e-01 2.10911166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60275509600001 meters 0.0205125718624298 Centerline is valid? [True, True] Translation: X:101.99, Y:36.28, Z:2.11 [[ 7.01250733e-01 -7.12762071e-01 -1.47526178e-02 1.01987827e+02] [ 7.12617297e-01 7.01405761e-01 -1.43717495e-02 3.62849111e+01] [ 2.05912090e-02 -4.34770770e-04 9.99787884e-01 2.10977893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63275509600001 meters 0.01945809050795673 Centerline is valid? [True, True] Translation: X:102.01, Y:36.31, Z:2.11 [[ 7.02544003e-01 -7.11491238e-01 -1.45651142e-02 1.02006711e+02] [ 7.11349749e-01 7.02694860e-01 -1.41939214e-02 3.63070742e+01] [ 2.03336816e-02 -3.89035965e-04 9.99793174e-01 2.11053052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66275509600001 meters 0.018990845399995227 Centerline is valid? [True, True] Translation: X:102.03, Y:36.33, Z:2.11 [[ 7.03665778e-01 -7.10388434e-01 -1.42388846e-02 1.02025295e+02] [ 7.10252845e-01 7.03809743e-01 -1.38831403e-02 3.63277205e+01] [ 1.98838880e-02 -3.44117576e-04 9.99802237e-01 2.11105925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69275509600001 meters 0.01876484314394687 Centerline is valid? [True, True] Translation: X:102.04, Y:36.35, Z:2.11 [[ 7.04583429e-01 -7.09480190e-01 -1.41439757e-02 1.02044025e+02] [ 7.09346113e-01 7.04725310e-01 -1.37960184e-02 3.63474261e+01] [ 1.97556194e-02 -3.12528281e-04 9.99804790e-01 2.11156456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.722755096 meters 0.017887881359445138 Centerline is valid? [True, True] Translation: X:102.06, Y:36.37, Z:2.11 [[ 7.06000370e-01 -7.08075010e-01 -1.39017440e-02 1.02062740e+02] [ 7.07945093e-01 7.06137176e-01 -1.35659184e-02 3.63691841e+01] [ 1.94222260e-02 -2.64128015e-04 9.99811336e-01 2.11211105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.752755096 meters 0.0173101917552731 Centerline is valid? [True, True] Translation: X:102.08, Y:36.39, Z:2.11 [[ 7.06295639e-01 -7.07781463e-01 -1.38517545e-02 1.02081569e+02] [ 7.07652289e-01 7.06431411e-01 -1.35240527e-02 3.63893914e+01] [ 1.93573883e-02 -2.50246328e-04 9.99812597e-01 2.11281739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.782755096 meters 0.017470702127386373 Centerline is valid? [True, True] Translation: X:102.10, Y:36.41, Z:2.11 [[ 7.06675846e-01 -7.07403628e-01 -1.37606525e-02 1.02102223e+02] [ 7.07275922e-01 7.06809771e-01 -1.34431208e-02 3.64073708e+01] [ 1.92358760e-02 -2.32649408e-04 9.99814946e-01 2.11359190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.812755096 meters 0.016912476036459078 Centerline is valid? [True, True] Translation: X:102.12, Y:36.43, Z:2.11 [[ 7.06426202e-01 -7.07653632e-01 -1.37243420e-02 1.02121510e+02] [ 7.07526511e-01 7.06559468e-01 -1.34146989e-02 3.64276022e+01] [ 1.91900242e-02 -2.33841025e-04 9.99815827e-01 2.11431437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.842755096 meters 0.016866296982029527 Centerline is valid? [True, True] Translation: X:102.14, Y:36.45, Z:2.11 [[ 7.05531140e-01 -7.08556920e-01 -1.31491883e-02 1.02142894e+02] [ 7.08440249e-01 7.05653620e-01 -1.28600726e-02 3.64476410e+01] [ 1.83908658e-02 -2.42232591e-04 9.99830844e-01 2.11498199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.872755096 meters 0.017015880740645903 Centerline is valid? [True, True] Translation: X:102.16, Y:36.47, Z:2.12 [[ 7.04980377e-01 -7.09103663e-01 -1.32160108e-02 1.02163178e+02] [ 7.08985763e-01 7.05104199e-01 -1.29327348e-02 3.64661007e+01] [ 1.84893143e-02 -2.52639275e-04 9.99829026e-01 2.11567701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.902755096 meters 0.018021417138983656 Centerline is valid? [True, True] Translation: X:102.18, Y:36.48, Z:2.12 [[ 7.04265210e-01 -7.09815814e-01 -1.31158025e-02 1.02184671e+02] [ 7.09699733e-01 7.04387279e-01 -1.28393988e-02 3.64833023e+01] [ 1.83522127e-02 -2.65939614e-04 9.99831549e-01 2.11600341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93275509600001 meters 0.01851611733257601 Centerline is valid? [True, True] Translation: X:102.20, Y:36.50, Z:2.12 [[ 7.03401276e-01 -7.10674779e-01 -1.29616124e-02 1.02204994e+02] [ 7.10561467e-01 7.03520632e-01 -1.26933659e-02 3.65011604e+01] [ 1.81396168e-02 -2.81492534e-04 9.99835424e-01 2.11629493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96275509600001 meters 0.019427091643200507 Centerline is valid? [True, True] Translation: X:102.23, Y:36.52, Z:2.12 [[ 7.02141387e-01 -7.11912825e-01 -1.33267262e-02 1.02226947e+02] [ 7.11793168e-01 7.02267775e-01 -1.30559708e-02 3.65182724e+01] [ 1.86536434e-02 -3.18735193e-04 9.99825955e-01 2.11617389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99275509600001 meters 0.019934979251045693 Centerline is valid? [True, True] Translation: X:102.25, Y:36.54, Z:2.12 [[ 7.01278261e-01 -7.12758045e-01 -1.35929739e-02 1.02248203e+02] [ 7.12633645e-01 7.01409901e-01 -1.33205844e-02 3.65372552e+01] [ 1.90286002e-02 -3.45374254e-04 9.99818880e-01 2.11638123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02275509600001 meters 0.019494532715775014 Centerline is valid? [True, True] Translation: X:102.27, Y:36.56, Z:2.12 [[ 6.99662822e-01 -7.14328380e-01 -1.43840486e-02 1.02268416e+02] [ 7.14189242e-01 6.99810547e-01 -1.41041015e-02 3.65577471e+01] [ 2.01410689e-02 -4.04817305e-04 9.99797066e-01 2.11640281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05275509600001 meters 0.02180239216953911 Centerline is valid? [True, True] Translation: X:102.29, Y:36.57, Z:2.12 [[ 6.98915577e-01 -7.15053256e-01 -1.46920896e-02 1.02291156e+02] [ 7.14908094e-01 6.99069851e-01 -1.44138865e-02 3.65739196e+01] [ 2.05774934e-02 -4.29403962e-04 9.99788169e-01 2.11612703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08275509600001 meters 0.020313611891968262 Centerline is valid? [True, True] Translation: X:102.31, Y:36.60, Z:2.12 [[ 6.97947006e-01 -7.15992984e-01 -1.49673939e-02 1.02310399e+02] [ 7.15842450e-01 6.98107322e-01 -1.46885846e-02 3.65961809e+01] [ 2.09657708e-02 -4.62442250e-04 9.99780087e-01 2.11665097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.112755096 meters 0.02273927797445987 Centerline is valid? [True, True] Translation: X:102.33, Y:36.61, Z:2.12 [[ 6.95983468e-01 -7.17892362e-01 -1.54132959e-02 1.02333806e+02] [ 7.17733010e-01 6.96153917e-01 -1.51343976e-02 3.66124919e+01] [ 2.15948947e-02 -5.29340769e-04 9.99766663e-01 2.11653250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.142755096 meters 0.022277536973116602 Centerline is valid? [True, True] Translation: X:102.35, Y:36.63, Z:2.12 [[ 6.94829606e-01 -7.19011246e-01 -1.53181995e-02 1.02354028e+02] [ 7.18853992e-01 6.94998215e-01 -1.50472093e-02 3.66328333e+01] [ 2.14652340e-02 -5.56302368e-04 9.99769441e-01 2.11719244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.172755096 meters 0.024236795242114986 Centerline is valid? [True, True] Translation: X:102.38, Y:36.65, Z:2.12 [[ 6.93881342e-01 -7.19926874e-01 -1.52963707e-02 1.02375784e+02] [ 7.19770129e-01 6.94049682e-01 -1.50332819e-02 3.66496706e+01] [ 2.14393049e-02 -5.78556856e-04 9.99769984e-01 2.11770617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.202755096 meters 0.023881370741783352 Centerline is valid? [True, True] Translation: X:102.40, Y:36.67, Z:2.12 [[ 6.91817259e-01 -7.21913011e-01 -1.51817012e-02 1.02396161e+02] [ 7.21759000e-01 6.91983529e-01 -1.49245480e-02 3.66699042e+01] [ 2.12797125e-02 -6.32469542e-04 9.99773361e-01 2.11894897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.232755096 meters 0.026853865771374077 Centerline is valid? [True, True] Translation: X:102.42, Y:36.69, Z:2.12 [[ 6.91013389e-01 -7.22686859e-01 -1.49733242e-02 1.02419493e+02] [ 7.22537069e-01 6.91175297e-01 -1.47272540e-02 3.66861693e+01] [ 2.09923848e-02 -6.42052039e-04 9.99779429e-01 2.11943227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.262755096 meters 0.028254038981930508 Centerline is valid? [True, True] Translation: X:102.44, Y:36.70, Z:2.12 [[ 6.89457719e-01 -7.24172495e-01 -1.49080528e-02 1.02441603e+02] [ 7.24024252e-01 6.89618542e-01 -1.46679718e-02 3.67045901e+01] [ 2.09030113e-02 -6.80845365e-04 9.99781276e-01 2.12004443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29275509600001 meters 0.02541430162721274 Centerline is valid? [True, True] Translation: X:102.46, Y:36.73, Z:2.12 [[ 6.88840946e-01 -7.24764431e-01 -1.46516706e-02 1.02459047e+02] [ 7.24621229e-01 6.88996412e-01 -1.44228996e-02 3.67275397e+01] [ 2.05481531e-02 -6.81827731e-04 9.99788632e-01 2.12098613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32275509600001 meters 0.027498909229103436 Centerline is valid? [True, True] Translation: X:102.48, Y:36.74, Z:2.12 [[ 6.88524759e-01 -7.25062603e-01 -1.47606870e-02 1.02480821e+02] [ 7.24917173e-01 6.88682615e-01 -1.45378249e-02 3.67444813e+01] [ 2.07062617e-02 -6.90623093e-04 9.99785364e-01 2.12138866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35275509600001 meters 0.02852988153786821 Centerline is valid? [True, True] Translation: X:102.50, Y:36.76, Z:2.12 [[ 6.88333018e-01 -7.25237398e-01 -1.51120166e-02 1.02501880e+02] [ 7.25084903e-01 6.88498521e-01 -1.48886003e-02 3.67623459e+01] [ 2.12023708e-02 -7.09179921e-04 9.99774953e-01 2.12177846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38275509600001 meters 0.024396274337814744 Centerline is valid? [True, True] Translation: X:102.52, Y:36.79, Z:2.12 [[ 6.88469090e-01 -7.25107770e-01 -1.51338711e-02 1.02518244e+02] [ 7.24954632e-01 6.88635049e-01 -1.49181245e-02 3.67867642e+01] [ 2.12389621e-02 -7.00702370e-04 9.99774182e-01 2.12297599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41275509600001 meters 0.024589348109780626 Centerline is valid? [True, True] Translation: X:102.54, Y:36.81, Z:2.12 [[ 6.88928152e-01 -7.24669467e-01 -1.52369617e-02 1.02538282e+02] [ 7.24513962e-01 6.89096287e-01 -1.50275146e-02 3.68058935e+01] [ 2.13897147e-02 -6.86513676e-04 9.99770978e-01 2.12380942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44275509600001 meters 0.027710207725443168 Centerline is valid? [True, True] Translation: X:102.56, Y:36.82, Z:2.13 [[ 6.89864331e-01 -7.23793270e-01 -1.45088609e-02 1.02561183e+02] [ 7.23652022e-01 6.90016602e-01 -1.43122673e-02 3.68221476e+01] [ 2.03704777e-02 -6.25843819e-04 9.99792304e-01 2.12512739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.472755096 meters 0.02417476960697907 Centerline is valid? [True, True] Translation: X:102.58, Y:36.85, Z:2.13 [[ 6.90390387e-01 -7.23299832e-01 -1.40877969e-02 1.02577751e+02] [ 7.23166472e-01 6.90533854e-01 -1.39014453e-02 3.68462745e+01] [ 1.97830137e-02 -5.90398225e-04 9.99804123e-01 2.12656728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.502755096 meters 0.02378690164429529 Centerline is valid? [True, True] Translation: X:102.60, Y:36.87, Z:2.13 [[ 6.90935198e-01 -7.22782614e-01 -1.39227923e-02 1.02597062e+02] [ 7.22652107e-01 6.91075231e-01 -1.37461804e-02 3.68663303e+01] [ 1.95571971e-02 -5.63615270e-04 9.99808581e-01 2.12779022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.532755096 meters 0.02313353891280899 Centerline is valid? [True, True] Translation: X:102.62, Y:36.89, Z:2.13 [[ 6.91468676e-01 -7.22280439e-01 -1.34920989e-02 1.02616291e+02] [ 7.22157642e-01 6.91600093e-01 -1.33286092e-02 3.68867294e+01] [ 1.89581306e-02 -5.27106568e-04 9.99820140e-01 2.12893773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.562755096 meters 0.022943749838693808 Centerline is valid? [True, True] Translation: X:102.64, Y:36.91, Z:2.13 [[ 6.91483312e-01 -7.22268867e-01 -1.33608576e-02 1.02636032e+02] [ 7.22148299e-01 6.91612187e-01 -1.32067533e-02 3.69066332e+01] [ 1.87793587e-02 -5.16271061e-04 9.99823519e-01 2.12979833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.592755096 meters 0.022595454691946595 Centerline is valid? [True, True] Translation: X:102.66, Y:36.93, Z:2.13 [[ 6.91389463e-01 -7.22350342e-01 -1.38056136e-02 1.02655756e+02] [ 7.22221459e-01 6.91527081e-01 -1.36550466e-02 3.69272279e+01] [ 1.94106832e-02 -5.29755109e-04 9.99811455e-01 2.12988048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.622755096 meters 0.024077954563608003 Centerline is valid? [True, True] Translation: X:102.68, Y:36.94, Z:2.13 [[ 6.91132031e-01 -7.22588629e-01 -1.42193190e-02 1.02676674e+02] [ 7.22451780e-01 6.91278074e-01 -1.40730496e-02 3.69449691e+01] [ 1.99985291e-02 -5.46437002e-04 9.99799860e-01 2.12985153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.652755096 meters 0.024255725354083147 Centerline is valid? [True, True] Translation: X:102.70, Y:36.97, Z:2.13 [[ 6.90813681e-01 -7.22886506e-01 -1.45450048e-02 1.02696735e+02] [ 7.22743250e-01 6.90966556e-01 -1.44018008e-02 3.69650641e+01] [ 2.04609794e-02 -5.63342999e-04 9.99790494e-01 2.12979046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68275509600001 meters 0.02451771920427636 Centerline is valid? [True, True] Translation: X:102.72, Y:36.99, Z:2.13 [[ 6.90133883e-01 -7.23531801e-01 -1.47294640e-02 1.02716989e+02] [ 7.23384855e-01 6.90290803e-01 -1.45931221e-02 3.69855061e+01] [ 2.07262015e-02 -5.83863109e-04 9.99785019e-01 2.13016745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71275509600001 meters 0.022929966302907535 Centerline is valid? [True, True] Translation: X:102.74, Y:37.01, Z:2.13 [[ 6.89452859e-01 -7.24178076e-01 -1.48616815e-02 1.02735386e+02] [ 7.24028454e-01 6.89612755e-01 -1.47324984e-02 3.70076682e+01] [ 2.09177575e-02 -6.02917133e-04 9.99781018e-01 2.13123947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74275509600001 meters 0.025447944315004457 Centerline is valid? [True, True] Translation: X:102.76, Y:37.02, Z:2.13 [[ 6.89057278e-01 -7.24561070e-01 -1.45369869e-02 1.02757548e+02] [ 7.24417845e-01 6.89210346e-01 -1.44182134e-02 3.70245899e+01] [ 2.04659179e-02 -5.95877879e-04 9.99790374e-01 2.13169677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77275509600001 meters 0.023175322750275233 Centerline is valid? [True, True] Translation: X:102.78, Y:37.05, Z:2.13 [[ 6.88487202e-01 -7.25100915e-01 -1.46299479e-02 1.02775260e+02] [ 7.24955847e-01 6.88642352e-01 -1.45165995e-02 3.70481216e+01] [ 2.06008014e-02 -6.11573297e-04 9.99787594e-01 2.13256544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80275509600001 meters 0.02392807612826004 Centerline is valid? [True, True] Translation: X:102.79, Y:37.07, Z:2.13 [[ 6.87909157e-01 -7.25635262e-01 -1.53120171e-02 1.02794978e+02] [ 7.25476306e-01 6.88079241e-01 -1.52015614e-02 3.70672358e+01] [ 2.15666701e-02 -6.51212265e-04 9.99767200e-01 2.13272780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83275509600001 meters 0.02358735044785905 Centerline is valid? [True, True] Translation: X:102.81, Y:37.09, Z:2.13 [[ 6.87329780e-01 -7.26180358e-01 -1.54874439e-02 1.02814776e+02] [ 7.26017767e-01 6.87503917e-01 -1.53807176e-02 3.70886247e+01] [ 2.18168534e-02 -6.72534208e-04 9.99761758e-01 2.13261023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.862755096 meters 0.025418422040729523 Centerline is valid? [True, True] Translation: X:102.84, Y:37.11, Z:2.13 [[ 6.86181733e-01 -7.27238122e-01 -1.67135747e-02 1.02836088e+02] [ 7.27048863e-01 6.86384836e-01 -1.66074757e-02 3.71070816e+01] [ 2.35495336e-02 -7.55838995e-04 9.99722386e-01 2.13157585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.892755096 meters 0.024648862054782953 Centerline is valid? [True, True] Translation: X:102.86, Y:37.13, Z:2.13 [[ 6.85373866e-01 -7.27996043e-01 -1.68649185e-02 1.02855282e+02] [ 7.27803430e-01 6.85580882e-01 -1.67636956e-02 3.71279518e+01] [ 2.37661697e-02 -7.84946668e-04 9.99717237e-01 2.13204189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.922755096 meters 0.02612702666646432 Centerline is valid? [True, True] Translation: X:102.88, Y:37.15, Z:2.13 [[ 6.84532210e-01 -7.28778297e-01 -1.72582411e-02 1.02876839e+02] [ 7.28576711e-01 6.84749231e-01 -1.71600366e-02 3.71461935e+01] [ 2.43234296e-02 -8.27354742e-04 9.99703799e-01 2.13217384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.952755096 meters 0.02614210643658396 Centerline is valid? [True, True] Translation: X:102.90, Y:37.17, Z:2.13 [[ 6.83443890e-01 -7.29793790e-01 -1.74778062e-02 1.02897705e+02] [ 7.29587212e-01 6.83666781e-01 -1.73848154e-02 3.71667997e+01] [ 2.46363258e-02 -8.70037971e-04 9.99696101e-01 2.13280321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.982755096 meters 0.028355560824596417 Centerline is valid? [True, True] Translation: X:102.92, Y:37.18, Z:2.13 [[ 6.81764344e-01 -7.31371547e-01 -1.71183636e-02 1.02919852e+02] [ 7.31173663e-01 6.81978626e-01 -1.70360926e-02 3.71845969e+01] [ 2.41340715e-02 -9.01896103e-04 9.99708324e-01 2.13361801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.012755096 meters 0.028492209123779116 Centerline is valid? [True, True] Translation: X:102.94, Y:37.20, Z:2.13 [[ 6.81154388e-01 -7.31948492e-01 -1.67363650e-02 1.02939809e+02] [ 7.31759328e-01 6.81359378e-01 -1.66638377e-02 3.72044559e+01] [ 2.36005501e-02 -8.96345021e-04 9.99721066e-01 2.13491720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04275509600001 meters 0.028682920147341764 Centerline is valid? [True, True] Translation: X:102.96, Y:37.22, Z:2.14 [[ 6.80489791e-01 -7.32569294e-01 -1.66094386e-02 1.02959967e+02] [ 7.32382951e-01 6.80691862e-01 -1.65469768e-02 3.72248657e+01] [ 2.34277168e-02 -9.04420826e-04 9.99725124e-01 2.13584540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07275509600001 meters 0.02879895469721992 Centerline is valid? [True, True] Translation: X:102.98, Y:37.24, Z:2.14 [[ 6.80453813e-01 -7.32605632e-01 -1.64801533e-02 1.02978898e+02] [ 7.32421980e-01 6.80652768e-01 -1.64271738e-02 3.72449596e+01] [ 2.32519020e-02 -8.92493473e-04 9.99729240e-01 2.13671405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10275509600001 meters 0.028359470126438312 Centerline is valid? [True, True] Translation: X:103.00, Y:37.27, Z:2.14 [[ 6.80788156e-01 -7.32297624e-01 -1.63608479e-02 1.02998433e+02] [ 7.32116306e-01 6.80984167e-01 -1.63180662e-02 3.72658582e+01] [ 2.30911595e-02 -8.68897334e-04 9.99732986e-01 2.13713316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13275509600001 meters 0.0272517095255037 Centerline is valid? [True, True] Translation: X:103.02, Y:37.29, Z:2.14 [[ 6.82457019e-01 -7.30733469e-01 -1.67634823e-02 1.03016657e+02] [ 7.30542409e-01 6.82662369e-01 -1.67296071e-02 3.72876227e+01] [ 2.36686823e-02 -8.29196927e-04 9.99719514e-01 2.13738482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16275509600001 meters 0.0272517095255037 Centerline is valid? [True, True] Translation: X:103.04, Y:37.31, Z:2.14 [[ 6.82235637e-01 -7.30940272e-01 -1.67587039e-02 1.03036054e+02] [ 7.30749157e-01 6.82440935e-01 -1.67343926e-02 3.73072332e+01] [ 2.36686671e-02 -8.29609733e-04 9.99719514e-01 2.13789991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19275509600001 meters 0.026478759784495123 Centerline is valid? [True, True] Translation: X:103.05, Y:37.33, Z:2.14 [[ 6.83311889e-01 -7.29930512e-01 -1.69207021e-02 1.03054833e+02] [ 7.29735133e-01 6.83520896e-01 -1.69061934e-02 3.73287625e+01] [ 2.39059999e-02 -7.95427852e-04 9.99713894e-01 2.13791434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.222755096 meters 0.026585196960036566 Centerline is valid? [True, True] Translation: X:103.07, Y:37.35, Z:2.14 [[ 6.85787047e-01 -7.27595832e-01 -1.73329601e-02 1.03073266e+02] [ 7.27389870e-01 6.86005670e-01 -1.73262157e-02 3.73492883e+01] [ 2.44969912e-02 -7.25725276e-04 9.99699640e-01 2.13698702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.252755096 meters 0.025977529312306184 Centerline is valid? [True, True] Translation: X:103.09, Y:37.37, Z:2.14 [[ 6.86966120e-01 -7.26495020e-01 -1.68087885e-02 1.03091634e+02] [ 7.26300898e-01 6.87171410e-01 -1.68065248e-02 3.73700489e+01] [ 2.37603755e-02 -6.62725027e-04 9.99717463e-01 2.13762196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.282755096 meters 0.023560528675057674 Centerline is valid? [True, True] Translation: X:103.11, Y:37.39, Z:2.14 [[ 6.88003579e-01 -7.25509124e-01 -1.69583792e-02 1.03108944e+02] [ 7.25311069e-01 6.88212260e-01 -1.69628597e-02 3.73931301e+01] [ 2.39776740e-02 -6.29591985e-04 9.99712296e-01 2.13850598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.312755096 meters 0.02293242233688642 Centerline is valid? [True, True] Translation: X:103.13, Y:37.41, Z:2.14 [[ 6.88991138e-01 -7.24580732e-01 -1.65521701e-02 1.03127881e+02] [ 7.24391614e-01 6.89189690e-01 -1.65638501e-02 3.74132957e+01] [ 2.34094316e-02 -5.77907266e-04 9.99725795e-01 2.13928810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.342755096 meters 0.021918435663580337 Centerline is valid? [True, True] Translation: X:103.15, Y:37.43, Z:2.14 [[ 6.90391478e-01 -7.23257383e-01 -1.60737071e-02 1.03146976e+02] [ 7.23078596e-01 6.90578375e-01 -1.60888543e-02 3.74345507e+01] [ 2.27365372e-02 -5.14945684e-04 9.99741359e-01 2.14046912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.372755096 meters 0.021090159946539563 Centerline is valid? [True, True] Translation: X:103.17, Y:37.46, Z:2.14 [[ 6.90720159e-01 -7.22951349e-01 -1.57165212e-02 1.03166012e+02] [ 7.22780162e-01 6.90898769e-01 -1.57393899e-02 3.74554306e+01] [ 2.22373383e-02 -4.88075817e-04 9.99752601e-01 2.14130061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.402755096 meters 0.021096229048013497 Centerline is valid? [True, True] Translation: X:103.18, Y:37.47, Z:2.14 [[ 6.90871995e-01 -7.22815612e-01 -1.52799557e-02 1.03184799e+02] [ 7.22653586e-01 6.91040791e-01 -1.53107403e-02 3.74742424e+01] [ 2.16259148e-02 -4.64353079e-04 9.99766025e-01 2.14199960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43275509600001 meters 0.019541679617344713 Centerline is valid? [True, True] Translation: X:103.20, Y:37.50, Z:2.14 [[ 6.90794005e-01 -7.22899842e-01 -1.48142061e-02 1.03202561e+02] [ 7.22747405e-01 6.90952689e-01 -1.48516128e-02 3.74956868e+01] [ 2.09721441e-02 -4.47523908e-04 9.99779960e-01 2.14313122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46275509600001 meters 0.02180258798134413 Centerline is valid? [True, True] Translation: X:103.22, Y:37.51, Z:2.14 [[ 6.90430727e-01 -7.23254158e-01 -1.44510939e-02 1.03224749e+02] [ 7.23109004e-01 6.90581805e-01 -1.44962014e-02 3.75124155e+01] [ 2.04641004e-02 -4.41093233e-04 9.99790491e-01 2.14323493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49275509600001 meters 0.020080114240527327 Centerline is valid? [True, True] Translation: X:103.24, Y:37.53, Z:2.14 [[ 6.89583874e-01 -7.24063019e-01 -1.43814389e-02 1.03243693e+02] [ 7.23919325e-01 6.89733669e-01 -1.44317790e-02 3.75342581e+01] [ 2.03688801e-02 -4.59079464e-04 9.99792427e-01 2.14381007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52275509600001 meters 0.02116939150474804 Centerline is valid? [True, True] Translation: X:103.27, Y:37.55, Z:2.14 [[ 6.88980378e-01 -7.24633326e-01 -1.45801895e-02 1.03265486e+02] [ 7.24485598e-01 6.89134469e-01 -1.46390724e-02 3.75524250e+01] [ 2.06556708e-02 -4.77103718e-04 9.99786535e-01 2.14387219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55275509600001 meters 0.022176946509682164 Centerline is valid? [True, True] Translation: X:103.29, Y:37.57, Z:2.14 [[ 6.88449308e-01 -7.25133607e-01 -1.47919776e-02 1.03286516e+02] [ 7.24981562e-01 6.88608021e-01 -1.48569239e-02 3.75702648e+01] [ 2.09591293e-02 -4.95672062e-04 9.99780210e-01 2.14388958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58275509600001 meters 0.024113412051840043 Centerline is valid? [True, True] Translation: X:103.31, Y:37.59, Z:2.14 [[ 6.87970856e-01 -7.25576336e-01 -1.53323822e-02 1.03308471e+02] [ 7.25412900e-01 6.88141488e-01 -1.54083352e-02 3.75874086e+01] [ 2.17307717e-02 -5.21822271e-04 9.99763723e-01 2.14349780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.612755096 meters 0.021693804428659917 Centerline is valid? [True, True] Translation: X:103.33, Y:37.61, Z:2.14 [[ 6.87312915e-01 -7.26196231e-01 -1.54916566e-02 1.03326197e+02] [ 7.26029369e-01 6.87487266e-01 -1.55760937e-02 3.76098240e+01] [ 2.19616172e-02 -5.41747295e-04 9.99758668e-01 2.14389276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.642755096 meters 0.025332131492722794 Centerline is valid? [True, True] Translation: X:103.35, Y:37.62, Z:2.14 [[ 6.86941915e-01 -7.26544771e-01 -1.56045228e-02 1.03349274e+02] [ 7.26375455e-01 6.87118905e-01 -1.56942362e-02 3.76248612e+01] [ 2.21247278e-02 -5.53713637e-04 9.99755065e-01 2.14364206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.672755096 meters 0.02300637144494602 Centerline is valid? [True, True] Translation: X:103.37, Y:37.65, Z:2.15 [[ 6.86225096e-01 -7.27227545e-01 -1.53367123e-02 1.03366624e+02] [ 7.27064021e-01 6.86396228e-01 -1.54313798e-02 3.76468566e+01] [ 2.17491860e-02 -5.61371625e-04 9.99763301e-01 2.14512248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.702755096 meters 0.023112457728220903 Centerline is valid? [True, True] Translation: X:103.39, Y:37.67, Z:2.15 [[ 6.85722643e-01 -7.27704270e-01 -1.51970871e-02 1.03386986e+02] [ 7.27543638e-01 6.85890790e-01 -1.52996201e-02 3.76669043e+01] [ 2.15571410e-02 -5.65248066e-04 9.99767458e-01 2.14599026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.732755096 meters 0.023623565632834444 Centerline is valid? [True, True] Translation: X:103.41, Y:37.69, Z:2.15 [[ 6.85047469e-01 -7.28343540e-01 -1.50217382e-02 1.03407186e+02] [ 7.28186561e-01 6.85211909e-01 -1.51318339e-02 3.76860155e+01] [ 2.13142474e-02 -5.72603318e-04 9.99772662e-01 2.14689527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.762755096 meters 0.024761685992285017 Centerline is valid? [True, True] Translation: X:103.43, Y:37.70, Z:2.15 [[ 6.84232051e-01 -7.29121437e-01 -1.44370999e-02 1.03428439e+02] [ 7.28976466e-01 6.84384108e-01 -1.45500851e-02 3.77045505e+01] [ 2.04893007e-02 -5.68671455e-04 9.99789911e-01 2.14780703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79275509600001 meters 0.023817295093254268 Centerline is valid? [True, True] Translation: X:103.45, Y:37.73, Z:2.15 [[ 6.83731280e-01 -7.29600336e-01 -1.39601641e-02 1.03447190e+02] [ 7.29464800e-01 6.83873552e-01 -1.40737554e-02 3.77257112e+01] [ 1.98152037e-02 -5.60781494e-04 9.99803502e-01 2.14851639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82275509600001 meters 0.023454899135620048 Centerline is valid? [True, True] Translation: X:103.47, Y:37.75, Z:2.15 [[ 6.83395120e-01 -7.29913605e-01 -1.40441532e-02 1.03466220e+02] [ 7.29776331e-01 6.83539177e-01 -1.41668752e-02 3.77458212e+01] [ 1.99403238e-02 -5.67517212e-04 9.99801011e-01 2.14907536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85275509600001 meters 0.024558486631575213 Centerline is valid? [True, True] Translation: X:103.49, Y:37.76, Z:2.15 [[ 6.83069109e-01 -7.30220075e-01 -1.39726477e-02 1.03486508e+02] [ 7.30084089e-01 6.83211768e-01 -1.41032559e-02 3.77639970e+01] [ 1.98447579e-02 -5.67709311e-04 9.99802912e-01 2.14990048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88275509600001 meters 0.023183510092090215 Centerline is valid? [True, True] Translation: X:103.51, Y:37.79, Z:2.15 [[ 6.83448753e-01 -7.29863391e-01 -1.40439497e-02 1.03505311e+02] [ 7.29725782e-01 6.83592804e-01 -1.41831030e-02 3.77857863e+01] [ 1.99520706e-02 -5.54808139e-04 9.99800784e-01 2.15044230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91275509600001 meters 0.022390218858269546 Centerline is valid? [True, True] Translation: X:103.52, Y:37.81, Z:2.15 [[ 6.83743139e-01 -7.29588894e-01 -1.39773108e-02 1.03523854e+02] [ 7.29452372e-01 6.83885776e-01 -1.41238273e-02 3.78069370e+01] [ 1.98634716e-02 -5.38712470e-04 9.99802557e-01 2.15101416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94275509600001 meters 0.021073617295663462 Centerline is valid? [True, True] Translation: X:103.54, Y:37.83, Z:2.15 [[ 6.85773273e-01 -7.27678002e-01 -1.41330819e-02 1.03541186e+02] [ 7.27537841e-01 6.85918721e-01 -1.42897527e-02 3.78284458e+01] [ 2.00924842e-02 -4.82821469e-04 9.99798009e-01 2.15162619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.972755096 meters 0.020080589627254404 Centerline is valid? [True, True] Translation: X:103.56, Y:37.85, Z:2.15 [[ 6.86614470e-01 -7.26884235e-01 -1.41378429e-02 1.03560151e+02] [ 7.26743750e-01 6.86759855e-01 -1.42976436e-02 3.78510280e+01] [ 2.01020347e-02 -4.57619978e-04 9.99797829e-01 2.15215324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.002755096 meters 0.020376432591910767 Centerline is valid? [True, True] Translation: X:103.58, Y:37.87, Z:2.15 [[ 6.88824038e-01 -7.24793076e-01 -1.40157938e-02 1.03579233e+02] [ 7.24654435e-01 6.88966506e-01 -1.41810906e-02 3.78715980e+01] [ 1.99347688e-02 -3.88331043e-04 9.99801207e-01 2.15222327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.032755096 meters 0.01963222943272433 Centerline is valid? [True, True] Translation: X:103.60, Y:37.89, Z:2.15 [[ 6.89431880e-01 -7.24210708e-01 -1.42314338e-02 1.03597690e+02] [ 7.24067578e-01 6.89578647e-01 -1.44025095e-02 3.78928909e+01] [ 2.02441445e-02 -3.74970642e-04 9.99794996e-01 2.15281839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.062755096 meters 0.017859810718506997 Centerline is valid? [True, True] Translation: X:103.62, Y:37.92, Z:2.15 [[ 6.90045610e-01 -7.23629081e-01 -1.40715953e-02 1.03615533e+02] [ 7.23488866e-01 6.90188983e-01 -1.42487860e-02 3.79164064e+01] [ 2.00228959e-02 -3.48330296e-04 9.99799461e-01 2.15365365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.092755096 meters 0.01745649944681688 Centerline is valid? [True, True] Translation: X:103.64, Y:37.94, Z:2.15 [[ 6.90883947e-01 -7.22836548e-01 -1.36637163e-02 1.03635061e+02] [ 7.22704043e-01 6.91018979e-01 -1.38432966e-02 3.79381038e+01] [ 1.94483280e-02 -3.10711600e-04 9.99810815e-01 2.15451776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.122755096 meters 0.017694032039881295 Centerline is valid? [True, True] Translation: X:103.65, Y:37.96, Z:2.16 [[ 6.90930719e-01 -7.22790180e-01 -1.37512301e-02 1.03654388e+02] [ 7.22655814e-01 6.91067480e-01 -1.39396365e-02 3.79574383e+01] [ 1.95784603e-02 -3.06083290e-04 9.99808277e-01 2.15523197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.152755096 meters 0.01833534097726279 Centerline is valid? [True, True] Translation: X:103.67, Y:37.98, Z:2.16 [[ 6.90574562e-01 -7.23138810e-01 -1.33054463e-02 1.03673638e+02] [ 7.23012993e-01 6.90702664e-01 -1.34923094e-02 3.79761826e+01] [ 1.89469197e-02 -3.02564918e-04 9.99820445e-01 2.15561809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18275509600001 meters 0.01793418563142619 Centerline is valid? [True, True] Translation: X:103.69, Y:38.00, Z:2.16 [[ 6.90170624e-01 -7.23528838e-01 -1.30587136e-02 1.03692866e+02] [ 7.23407580e-01 6.90294088e-01 -1.32493429e-02 3.79971362e+01] [ 1.86006345e-02 -3.02465121e-04 9.99826947e-01 2.15656847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21275509600001 meters 0.018564220010139295 Centerline is valid? [True, True] Translation: X:103.71, Y:38.02, Z:2.16 [[ 6.88863040e-01 -7.24777865e-01 -1.28358165e-02 1.03714096e+02] [ 7.24660783e-01 6.88982540e-01 -1.30311011e-02 3.80171596e+01] [ 1.82883071e-02 -3.24968920e-04 9.99832702e-01 2.15756528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24275509600001 meters 0.018984041234475404 Centerline is valid? [True, True] Translation: X:103.73, Y:38.04, Z:2.16 [[ 6.88018497e-01 -7.25582077e-01 -1.26963616e-02 1.03734177e+02] [ 7.25467538e-01 6.88135550e-01 -1.28963663e-02 3.80365271e+01] [ 1.80941901e-02 -3.37859633e-04 9.99836230e-01 2.15778394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27275509600001 meters 0.019707110952011556 Centerline is valid? [True, True] Translation: X:103.76, Y:38.06, Z:2.16 [[ 6.86335873e-01 -7.27171295e-01 -1.28443308e-02 1.03755649e+02] [ 7.27054204e-01 6.86455945e-01 -1.30545041e-02 3.80560413e+01] [ 1.83099279e-02 -3.78750253e-04 9.99832287e-01 2.15846543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30275509600001 meters 0.020148080125397757 Centerline is valid? [True, True] Translation: X:103.78, Y:38.08, Z:2.16 [[ 6.85514293e-01 -7.27945286e-01 -1.28769386e-02 1.03776219e+02] [ 7.27827606e-01 6.85635110e-01 -1.30946964e-02 3.80759009e+01] [ 1.83611038e-02 -3.95589876e-04 9.99831342e-01 2.15886107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33275509600001 meters 0.020653280513933663 Centerline is valid? [True, True] Translation: X:103.80, Y:38.10, Z:2.16 [[ 6.84684674e-01 -7.28724717e-01 -1.29299830e-02 1.03796495e+02] [ 7.28606061e-01 6.84806627e-01 -1.31564087e-02 3.80958233e+01] [ 1.84419383e-02 -4.12872529e-04 9.99829848e-01 2.15922127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.362755096 meters 0.021993480355735978 Centerline is valid? [True, True] Translation: X:103.82, Y:38.12, Z:2.16 [[ 6.83112875e-01 -7.30190815e-01 -1.33481827e-02 1.03817173e+02] [ 7.30064483e-01 6.83243120e-01 -1.35900443e-02 3.81150076e+01] [ 1.90433795e-02 -4.61499863e-04 9.99818552e-01 2.15861725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.392755096 meters 0.02247473337577289 Centerline is valid? [True, True] Translation: X:103.84, Y:38.14, Z:2.16 [[ 6.82223571e-01 -7.31019480e-01 -1.34729216e-02 1.03837851e+02] [ 7.30890847e-01 6.82356420e-01 -1.37217360e-02 3.81356775e+01] [ 1.92241909e-02 -4.85943272e-04 9.99815080e-01 2.15877461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.422755096 meters 0.023194136755136117 Centerline is valid? [True, True] Translation: X:103.86, Y:38.15, Z:2.16 [[ 6.81491860e-01 -7.31691963e-01 -1.39898837e-02 1.03857732e+02] [ 7.31553260e-01 6.81635241e-01 -1.42557376e-02 3.81546824e+01] [ 1.99668064e-02 -5.19175881e-04 9.99800509e-01 2.15852255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.452755096 meters 0.02385634370046612 Centerline is valid? [True, True] Translation: X:103.88, Y:38.17, Z:2.16 [[ 6.80669998e-01 -7.32457116e-01 -1.39616410e-02 1.03878748e+02] [ 7.32319053e-01 6.80812958e-01 -1.42309932e-02 3.81748172e+01] [ 1.99288583e-02 -5.37765627e-04 9.99801256e-01 2.15871379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.482755096 meters 0.022223983190274556 Centerline is valid? [True, True] Translation: X:103.90, Y:38.20, Z:2.16 [[ 6.79509209e-01 -7.33530254e-01 -1.41633396e-02 1.03896821e+02] [ 7.33388257e-01 6.79656559e-01 -1.44439077e-02 3.81969222e+01] [ 2.02212500e-02 -5.72458597e-04 9.99795366e-01 2.15879258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.512755096 meters 0.022808398464581343 Centerline is valid? [True, True] Translation: X:103.92, Y:38.22, Z:2.16 [[ 6.79044105e-01 -7.33958071e-01 -1.43057525e-02 1.03917050e+02] [ 7.33813200e-01 6.79194527e-01 -1.45939334e-02 3.82160921e+01] [ 2.04277240e-02 -5.87825623e-04 9.99791159e-01 2.15907645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54275509600001 meters 0.02355388622809071 Centerline is valid? [True, True] Translation: X:103.94, Y:38.23, Z:2.16 [[ 6.78728826e-01 -7.34246522e-01 -1.44646270e-02 1.03936700e+02] [ 7.34098373e-01 6.78882674e-01 -1.47612087e-02 3.82349072e+01] [ 2.06581508e-02 -5.99601327e-04 9.99786418e-01 2.15931072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57275509600001 meters 0.02294414134970643 Centerline is valid? [True, True] Translation: X:103.96, Y:38.26, Z:2.16 [[ 6.79002048e-01 -7.33995208e-01 -1.43962808e-02 1.03955365e+02] [ 7.33848228e-01 6.79154396e-01 -1.46997845e-02 3.82556073e+01] [ 2.05668688e-02 -5.83501410e-04 9.99788309e-01 2.15980496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60275509600001 meters 0.022395218586358148 Centerline is valid? [True, True] Translation: X:103.97, Y:38.28, Z:2.16 [[ 6.79542913e-01 -7.33495178e-01 -1.43615207e-02 1.03974554e+02] [ 7.33348613e-01 6.79694424e-01 -1.46731673e-02 3.82764849e+01] [ 2.05241430e-02 -5.60954405e-04 9.99789200e-01 2.16024501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63275509600001 meters 0.020715056999237088 Centerline is valid? [True, True] Translation: X:103.99, Y:38.30, Z:2.16 [[ 6.80706254e-01 -7.32413082e-01 -1.44939091e-02 1.03992484e+02] [ 7.32263372e-01 6.80860338e-01 -1.48173377e-02 3.82989196e+01] [ 2.07207398e-02 -5.27104336e-04 9.99785163e-01 2.16122563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66275509600001 meters 0.021411601451130344 Centerline is valid? [True, True] Translation: X:104.01, Y:38.32, Z:2.16 [[ 6.81590229e-01 -7.31593537e-01 -1.43406925e-02 1.04012473e+02] [ 7.31446639e-01 6.81740900e-01 -1.46683182e-02 3.83179311e+01] [ 2.05078834e-02 -4.91669012e-04 9.99789570e-01 2.16184607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69275509600001 meters 0.019965994864101614 Centerline is valid? [True, True] Translation: X:104.03, Y:38.34, Z:2.16 [[ 6.82307209e-01 -7.30925559e-01 -1.43073525e-02 1.04030942e+02] [ 7.30779129e-01 6.82457037e-01 -1.46375286e-02 3.83402925e+01] [ 2.04630972e-02 -4.68223334e-04 9.99790499e-01 2.16260442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.722755096 meters 0.01912735757748234 Centerline is valid? [True, True] Translation: X:104.05, Y:38.36, Z:2.16 [[ 6.84148986e-01 -7.29194886e-01 -1.46622912e-02 1.04049575e+02] [ 7.29040524e-01 6.84305956e-01 -1.50091219e-02 3.83617178e+01] [ 2.09780681e-02 -4.20928872e-04 9.99779848e-01 2.16291723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.752755096 meters 0.019230337480683462 Centerline is valid? [True, True] Translation: X:104.07, Y:38.38, Z:2.16 [[ 6.85045855e-01 -7.28352513e-01 -1.46558623e-02 1.04068744e+02] [ 7.28197923e-01 6.85202500e-01 -1.50106385e-02 3.83812223e+01] [ 2.09752697e-02 -3.89392823e-04 9.99779919e-01 2.16324947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.782755096 meters 0.01867885475793338 Centerline is valid? [True, True] Translation: X:104.09, Y:38.40, Z:2.16 [[ 6.85879392e-01 -7.27568776e-01 -1.45991927e-02 1.04087799e+02] [ 7.27415051e-01 6.86034655e-01 -1.49598052e-02 3.84025650e+01] [ 2.08998392e-02 -3.59050443e-04 9.99781510e-01 2.16400825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.812755096 meters 0.01711376184633427 Centerline is valid? [True, True] Translation: X:104.11, Y:38.43, Z:2.16 [[ 6.87785874e-01 -7.25766128e-01 -1.46327937e-02 1.04105754e+02] [ 7.25611106e-01 6.87941449e-01 -1.50028543e-02 3.84256551e+01] [ 2.09550688e-02 -2.98966301e-04 9.99780374e-01 2.16489254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.842755096 meters 0.017133085606746715 Centerline is valid? [True, True] Translation: X:104.12, Y:38.45, Z:2.17 [[ 6.88508599e-01 -7.25080607e-01 -1.46295253e-02 1.04124475e+02] [ 7.24925333e-01 6.88663953e-01 -1.50073748e-02 3.84450586e+01] [ 2.09563831e-02 -2.72606879e-04 9.99780354e-01 2.16546149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.872755096 meters 0.01684228321902693 Centerline is valid? [True, True] Translation: X:104.14, Y:38.47, Z:2.17 [[ 6.88970171e-01 -7.24643270e-01 -1.45682608e-02 1.04143797e+02] [ 7.24489041e-01 6.89124130e-01 -1.49520000e-02 3.84659372e+01] [ 2.08742062e-02 -2.53063262e-04 9.99782078e-01 2.16613726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.902755096 meters 0.01629962145072871 Centerline is valid? [True, True] Translation: X:104.16, Y:38.49, Z:2.17 [[ 6.89339554e-01 -7.24291297e-01 -1.45978487e-02 1.04162969e+02] [ 7.24136182e-01 6.89494062e-01 -1.49909738e-02 3.84868568e+01] [ 2.09229618e-02 -2.36959179e-04 9.99781063e-01 2.16710847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93275509600001 meters 0.01638224469105344 Centerline is valid? [True, True] Translation: X:104.18, Y:38.51, Z:2.17 [[ 6.89088630e-01 -7.24533231e-01 -1.44380046e-02 1.04182537e+02] [ 7.24381369e-01 6.89239828e-01 -1.48354867e-02 3.85063211e+01] [ 2.07000509e-02 -2.35656329e-04 9.99785703e-01 2.16815848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96275509600001 meters 0.016335654908171262 Centerline is valid? [True, True] Translation: X:104.20, Y:38.53, Z:2.17 [[ 6.88371424e-01 -7.25218695e-01 -1.42347477e-02 1.04202412e+02] [ 7.25071051e-01 6.88518543e-01 -1.46351147e-02 3.85261172e+01] [ 2.04145465e-02 -2.46808719e-04 9.99791571e-01 2.16914401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99275509600001 meters 0.016924344682360714 Centerline is valid? [True, True] Translation: X:104.22, Y:38.54, Z:2.17 [[ 6.87494907e-01 -7.26048419e-01 -1.42984730e-02 1.04222391e+02] [ 7.25899452e-01 6.87643529e-01 -1.47092745e-02 3.85449425e+01] [ 2.05118980e-02 -2.66702426e-04 9.99789573e-01 2.16944521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02275509600001 meters 0.016700202100636573 Centerline is valid? [True, True] Translation: X:104.24, Y:38.57, Z:2.17 [[ 6.86801628e-01 -7.26707210e-01 -1.41475823e-02 1.04241984e+02] [ 7.26561393e-01 6.86947271e-01 -1.45598784e-02 3.85651816e+01] [ 2.02994117e-02 -2.79338915e-04 9.99793907e-01 2.17004891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05275509600001 meters 0.01662789687649332 Centerline is valid? [True, True] Translation: X:104.26, Y:38.59, Z:2.17 [[ 6.85869467e-01 -7.27581728e-01 -1.44188706e-02 1.04262325e+02] [ 7.27430264e-01 6.86020944e-01 -1.48483851e-02 3.85860168e+01] [ 2.06950609e-02 -3.04668909e-04 9.99785788e-01 2.17034671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08275509600001 meters 0.01662789687649332 Centerline is valid? [True, True] Translation: X:104.28, Y:38.61, Z:2.17 [[ 6.85635487e-01 -7.27802306e-01 -1.44146366e-02 1.04281410e+02] [ 7.27650804e-01 6.85786928e-01 -1.48524944e-02 3.86059114e+01] [ 2.06950490e-02 -3.05424690e-04 9.99785788e-01 2.17086162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.112755096 meters 0.01745427929691415 Centerline is valid? [True, True] Translation: X:104.30, Y:38.62, Z:2.17 [[ 6.83652831e-01 -7.29662767e-01 -1.45276882e-02 1.04302881e+02] [ 7.29509098e-01 6.83807077e-01 -1.49785620e-02 3.86248156e+01] [ 2.08634349e-02 -3.57944403e-04 9.99782271e-01 2.17063541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.142755096 meters 0.01829906123976432 Centerline is valid? [True, True] Translation: X:104.32, Y:38.64, Z:2.17 [[ 6.82621524e-01 -7.30624839e-01 -1.46696728e-02 1.04323458e+02] [ 7.30468202e-01 6.82779024e-01 -1.51330805e-02 3.86432503e+01] [ 2.10727494e-02 -3.85562998e-04 9.99777871e-01 2.17083452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.172755096 meters 0.019290894496706488 Centerline is valid? [True, True] Translation: X:104.35, Y:38.66, Z:2.17 [[ 6.80564377e-01 -7.32537054e-01 -1.48859964e-02 1.04345122e+02] [ 7.32376111e-01 6.80727011e-01 -1.53612480e-02 3.86622964e+01] [ 2.13859832e-02 -4.47829946e-04 9.99771193e-01 2.17063138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.202755096 meters 0.019979472362863373 Centerline is valid? [True, True] Translation: X:104.37, Y:38.68, Z:2.17 [[ 6.79714515e-01 -7.33324033e-01 -1.49679935e-02 1.04365468e+02] [ 7.33161330e-01 6.79879138e-01 -1.54538793e-02 3.86812722e+01] [ 2.15091276e-02 -4.69727935e-04 9.99768542e-01 2.17103256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.232755096 meters 0.019685530939125884 Centerline is valid? [True, True] Translation: X:104.39, Y:38.70, Z:2.17 [[ 6.79033302e-01 -7.33955850e-01 -1.49193015e-02 1.04385135e+02] [ 7.33794251e-01 6.79197008e-01 -1.54084974e-02 3.87019691e+01] [ 2.14423017e-02 -4.84814781e-04 9.99769970e-01 2.17147240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.262755096 meters 0.02098322373331005 Centerline is valid? [True, True] Translation: X:104.41, Y:38.72, Z:2.17 [[ 6.77968442e-01 -7.34939759e-01 -1.49111848e-02 1.04406243e+02] [ 7.34778399e-01 6.78132208e-01 -1.54082231e-02 3.87200446e+01] [ 2.14358705e-02 -5.10127460e-04 9.99770095e-01 2.17148983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29275509600001 meters 0.021167082492985195 Centerline is valid? [True, True] Translation: X:104.43, Y:38.74, Z:2.17 [[ 6.77465585e-01 -7.35402121e-01 -1.49700596e-02 1.04426381e+02] [ 7.35239482e-01 6.77630760e-01 -1.54743783e-02 3.87402317e+01] [ 2.15240635e-02 -5.23220072e-04 9.99768194e-01 2.17185135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32275509600001 meters 0.0210941476732027 Centerline is valid? [True, True] Translation: X:104.45, Y:38.76, Z:2.17 [[ 6.77057170e-01 -7.35775995e-01 -1.50756045e-02 1.04446083e+02] [ 7.35610937e-01 6.77224779e-01 -1.55931977e-02 3.87607599e+01] [ 2.16826735e-02 -5.32293318e-04 9.99764761e-01 2.17249809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35275509600001 meters 0.02085811384076546 Centerline is valid? [True, True] Translation: X:104.47, Y:38.78, Z:2.17 [[ 6.76942054e-01 -7.35883236e-01 -1.50106281e-02 1.04465023e+02] [ 7.35719414e-01 6.77108253e-01 -1.55356871e-02 3.87817521e+01] [ 2.15962718e-02 -5.26850576e-04 9.99766635e-01 2.17326249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38275509600001 meters 0.02011915035292873 Centerline is valid? [True, True] Translation: X:104.48, Y:38.80, Z:2.17 [[ 6.76903772e-01 -7.35922275e-01 -1.48219227e-02 1.04483095e+02] [ 7.35762352e-01 6.77065832e-01 -1.53499697e-02 3.88031737e+01] [ 2.13318020e-02 -5.14960325e-04 9.99772319e-01 2.17405589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41275509600001 meters 0.01980742680688698 Centerline is valid? [True, True] Translation: X:104.50, Y:38.82, Z:2.18 [[ 6.77529551e-01 -7.35360377e-01 -1.41004837e-02 1.04502494e+02] [ 7.35215341e-01 6.77676101e-01 -1.46117826e-02 3.88243144e+01] [ 2.03004867e-02 -4.66977445e-04 9.99793815e-01 2.17559920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44275509600001 meters 0.020112095354927938 Centerline is valid? [True, True] Translation: X:104.52, Y:38.84, Z:2.18 [[ 6.77934763e-01 -7.34992918e-01 -1.37792409e-02 1.04522489e+02] [ 7.34854190e-01 6.78074639e-01 -1.42864671e-02 3.88443081e+01] [ 1.98438059e-02 -4.40440206e-04 9.99802995e-01 2.17657335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.472755096 meters 0.01949928653524384 Centerline is valid? [True, True] Translation: X:104.54, Y:38.87, Z:2.18 [[ 6.78238745e-01 -7.34722280e-01 -1.32429537e-02 1.04541399e+02] [ 7.34594037e-01 6.78367895e-01 -1.37331912e-02 3.88658772e+01] [ 1.90736762e-02 -4.13812479e-04 9.99817995e-01 2.17734010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.502755096 meters 0.01918331998381491 Centerline is valid? [True, True] Translation: X:104.56, Y:38.89, Z:2.18 [[ 6.79462450e-01 -7.33594188e-01 -1.30516890e-02 1.04559627e+02] [ 7.33469275e-01 6.79587690e-01 -1.35422980e-02 3.88864197e+01] [ 1.88043183e-02 -3.71529928e-04 9.99823114e-01 2.17847512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.532755096 meters 0.01891564496067587 Centerline is valid? [True, True] Translation: X:104.58, Y:38.91, Z:2.18 [[ 6.79732923e-01 -7.33346919e-01 -1.28627329e-02 1.04578169e+02] [ 7.33225505e-01 6.79854520e-01 -1.33487808e-02 3.89074103e+01] [ 1.85340744e-02 -3.57678034e-04 9.99828165e-01 2.17892624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.562755096 meters 0.018571270628894652 Centerline is valid? [True, True] Translation: X:104.60, Y:38.93, Z:2.18 [[ 6.80245741e-01 -7.32870338e-01 -1.29150720e-02 1.04597327e+02] [ 7.32747691e-01 6.80368247e-01 -1.34115705e-02 3.89289539e+01] [ 1.86159471e-02 -3.40325464e-04 9.99826650e-01 2.17941839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.592755096 meters 0.018640167866439534 Centerline is valid? [True, True] Translation: X:104.62, Y:38.95, Z:2.18 [[ 6.80492429e-01 -7.32643706e-01 -1.27771149e-02 1.04615942e+02] [ 7.32523491e-01 6.80612294e-01 -1.32755951e-02 3.89489936e+01] [ 1.84225427e-02 -3.25594848e-04 9.99830238e-01 2.17974846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.622755096 meters 0.018533187778118885 Centerline is valid? [True, True] Translation: X:104.63, Y:38.97, Z:2.18 [[ 6.81049835e-01 -7.32128220e-01 -1.26250745e-02 1.04634227e+02] [ 7.32010660e-01 6.81166777e-01 -1.31231098e-02 3.89690043e+01] [ 1.82075803e-02 -3.04197390e-04 9.99834182e-01 2.18020385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.652755096 meters 0.018355738566197634 Centerline is valid? [True, True] Translation: X:104.65, Y:38.99, Z:2.18 [[ 6.81032638e-01 -7.32145982e-01 -1.25222823e-02 1.04653613e+02] [ 7.32030213e-01 6.81147688e-01 -1.30228055e-02 3.89898565e+01] [ 1.80641184e-02 -2.97733418e-04 9.99836786e-01 2.18088495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68275509600001 meters 0.017943228869937364 Centerline is valid? [True, True] Translation: X:104.67, Y:39.01, Z:2.18 [[ 6.81106279e-01 -7.32078687e-01 -1.24512368e-02 1.04671533e+02] [ 7.31964074e-01 6.81220018e-01 -1.29568913e-02 3.90112103e+01] [ 1.79674957e-02 -2.88838014e-04 9.99838530e-01 2.18115705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71275509600001 meters 0.017868120888146915 Centerline is valid? [True, True] Translation: X:104.69, Y:39.03, Z:2.18 [[ 6.80841255e-01 -7.32328906e-01 -1.22294394e-02 1.04690268e+02] [ 7.32218242e-01 6.80951020e-01 -1.27339650e-02 3.90320371e+01] [ 1.76530999e-02 -2.84809895e-04 9.99844131e-01 2.18141652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74275509600001 meters 0.018188205427618637 Centerline is valid? [True, True] Translation: X:104.71, Y:39.05, Z:2.18 [[ 6.80702159e-01 -7.32461278e-01 -1.20435209e-02 1.04709538e+02] [ 7.32353833e-01 6.80808636e-01 -1.25485083e-02 3.90513075e+01] [ 1.73906295e-02 -2.78322049e-04 9.99848733e-01 2.18214470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77275509600001 meters 0.018435796741622833 Centerline is valid? [True, True] Translation: X:104.73, Y:39.07, Z:2.18 [[ 6.79873148e-01 -7.33233230e-01 -1.18967496e-02 1.04729645e+02] [ 7.33128436e-01 6.79977165e-01 -1.23996905e-02 3.90722521e+01] [ 1.71813832e-02 -2.91628795e-04 9.99852347e-01 2.18269508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80275509600001 meters 0.018607434088294843 Centerline is valid? [True, True] Translation: X:104.75, Y:39.09, Z:2.18 [[ 6.79306182e-01 -7.33758411e-01 -1.19039829e-02 1.04748937e+02] [ 7.33653454e-01 6.79410409e-01 -1.24139449e-02 3.90923436e+01] [ 1.71965264e-02 -3.00528629e-04 9.99852084e-01 2.18344348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83275509600001 meters 0.01922147770586097 Centerline is valid? [True, True] Translation: X:104.77, Y:39.11, Z:2.18 [[ 6.78773878e-01 -7.34246029e-01 -1.21979716e-02 1.04768714e+02] [ 7.34135753e-01 6.78883399e-01 -1.27289854e-02 3.91115163e+01] [ 1.76272074e-02 -3.14864329e-04 9.99844579e-01 2.18391263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.862755096 meters 0.01952490983262441 Centerline is valid? [True, True] Translation: X:104.79, Y:39.13, Z:2.18 [[ 6.78413386e-01 -7.34579862e-01 -1.21533283e-02 1.04787208e+02] [ 7.34470367e-01 6.78522162e-01 -1.26868268e-02 3.91307774e+01] [ 1.75657901e-02 -3.19346377e-04 9.99845659e-01 2.18427668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.892755096 meters 0.01929367321639672 Centerline is valid? [True, True] Translation: X:104.81, Y:39.15, Z:2.18 [[ 6.78391981e-01 -7.34596372e-01 -1.23486836e-02 1.04806422e+02] [ 7.34483202e-01 6.78504287e-01 -1.28980206e-02 3.91518812e+01] [ 1.78534739e-02 -3.19986934e-04 9.99840563e-01 2.18447988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.922755096 meters 0.019586311046281602 Centerline is valid? [True, True] Translation: X:104.83, Y:39.17, Z:2.18 [[ 6.78316379e-01 -7.34662749e-01 -1.25513068e-02 1.04825145e+02] [ 7.34545695e-01 6.78432415e-01 -1.31179476e-02 3.91711243e+01] [ 1.81524809e-02 -3.21389656e-04 9.99835178e-01 2.18481645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.952755096 meters 0.019457925601021317 Centerline is valid? [True, True] Translation: X:104.84, Y:39.19, Z:2.19 [[ 6.78224676e-01 -7.34745027e-01 -1.26899065e-02 1.04844073e+02] [ 7.34625286e-01 6.78343306e-01 -1.32683515e-02 3.91918825e+01] [ 1.83569684e-02 -3.23402757e-04 9.99831444e-01 2.18506035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.982755096 meters 0.019598179315346784 Centerline is valid? [True, True] Translation: X:104.86, Y:39.21, Z:2.18 [[ 6.78334205e-01 -7.34634536e-01 -1.32214028e-02 1.04862639e+02] [ 7.34504365e-01 6.78462963e-01 -1.38328190e-02 3.92111000e+01] [ 1.91322987e-02 -3.27903807e-04 9.99816907e-01 2.18489726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.012755096 meters 0.01906858271982765 Centerline is valid? [True, True] Translation: X:104.88, Y:39.23, Z:2.19 [[ 6.78160045e-01 -7.34789907e-01 -1.35183281e-02 1.04880888e+02] [ 7.34653701e-01 6.78294685e-01 -1.41512967e-02 3.92320089e+01] [ 1.95676400e-02 -3.34445759e-04 9.99808479e-01 2.18513560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04275509600001 meters 0.020161566615931 Centerline is valid? [True, True] Translation: X:104.90, Y:39.25, Z:2.19 [[ 6.77725244e-01 -7.35177349e-01 -1.42393646e-02 1.04901546e+02] [ 7.35026110e-01 6.77874721e-01 -1.49157611e-02 3.92503362e+01] [ 2.06182350e-02 -3.57516925e-04 9.99787358e-01 2.18527888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07275509600001 meters 0.02039180926126656 Centerline is valid? [True, True] Translation: X:104.92, Y:39.27, Z:2.19 [[ 6.77256071e-01 -7.35608133e-01 -1.43139341e-02 1.04921309e+02] [ 7.35455224e-01 6.77407219e-01 -1.50024308e-02 3.92703170e+01] [ 2.07322724e-02 -3.66770269e-04 9.99784996e-01 2.18590829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10275509600001 meters 0.020592544522570855 Centerline is valid? [True, True] Translation: X:104.94, Y:39.29, Z:2.19 [[ 6.76742109e-01 -7.36083920e-01 -1.41626582e-02 1.04941318e+02] [ 7.35934154e-01 6.76890187e-01 -1.48524878e-02 3.92905473e+01] [ 2.05192417e-02 -3.71479949e-04 9.99789389e-01 2.18666955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13275509600001 meters 0.019698864877516643 Centerline is valid? [True, True] Translation: X:104.96, Y:39.31, Z:2.19 [[ 6.76034369e-01 -7.36739118e-01 -1.38925840e-02 1.04959800e+02] [ 7.36594979e-01 6.76176995e-01 -1.45776487e-02 3.93118941e+01] [ 2.01337697e-02 -3.78216063e-04 9.99797224e-01 2.18843300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16275509600001 meters 0.021315993892465013 Centerline is valid? [True, True] Translation: X:104.98, Y:39.33, Z:2.19 [[ 6.75607694e-01 -7.37127983e-01 -1.40206844e-02 1.04980375e+02] [ 7.36981071e-01 6.75753051e-01 -1.47212024e-02 3.93291152e+01] [ 2.03259305e-02 -3.87221411e-04 9.99793332e-01 2.18923357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19275509600001 meters 0.021678982017158996 Centerline is valid? [True, True] Translation: X:105.00, Y:39.35, Z:2.19 [[ 6.75186374e-01 -7.37513721e-01 -1.40311055e-02 1.04999542e+02] [ 7.37366504e-01 6.75332034e-01 -1.47405004e-02 3.93483345e+01] [ 2.03469763e-02 -3.93482215e-04 9.99792901e-01 2.18990102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.222755096 meters 0.02024669768084819 Centerline is valid? [True, True] Translation: X:105.02, Y:39.37, Z:2.19 [[ 6.74616272e-01 -7.38025351e-01 -1.45419098e-02 1.05017531e+02] [ 7.37867163e-01 6.74772856e-01 -1.52854119e-02 3.93706596e+01] [ 2.10935074e-02 -4.18210164e-04 9.99777420e-01 2.19063231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.252755096 meters 0.01982638494136928 Centerline is valid? [True, True] Translation: X:105.04, Y:39.39, Z:2.19 [[ 6.74130897e-01 -7.38459694e-01 -1.49937870e-02 1.05036610e+02] [ 7.38291429e-01 6.74297477e-01 -1.57695163e-02 3.93917705e+01] [ 2.17554250e-02 -4.39066260e-04 9.99763226e-01 2.19143782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.282755096 meters 0.020209115432667773 Centerline is valid? [True, True] Translation: X:105.06, Y:39.41, Z:2.19 [[ 6.73626455e-01 -7.38917336e-01 -1.51185248e-02 1.05056611e+02] [ 7.38746146e-01 6.73795940e-01 -1.59111287e-02 3.94116162e+01] [ 2.19438095e-02 -4.50594647e-04 9.99759104e-01 2.19179293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.312755096 meters 0.021099185930139274 Centerline is valid? [True, True] Translation: X:105.08, Y:39.43, Z:2.19 [[ 6.72556734e-01 -7.39886809e-01 -1.53280347e-02 1.05077809e+02] [ 7.39710876e-01 6.72731207e-01 -1.61413542e-02 3.94303284e+01] [ 2.22544223e-02 -4.82337525e-04 9.99752223e-01 2.19230543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.342755096 meters 0.020894161964931733 Centerline is valid? [True, True] Translation: X:105.10, Y:39.45, Z:2.19 [[ 6.71811750e-01 -7.40558751e-01 -1.55469944e-02 1.05097571e+02] [ 7.40377796e-01 6.71991427e-01 -1.63780609e-02 3.94513695e+01] [ 2.25763633e-02 -5.07675677e-04 9.99744993e-01 2.19291197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.372755096 meters 0.022335421581519396 Centerline is valid? [True, True] Translation: X:105.12, Y:39.47, Z:2.19 [[ 6.70925072e-01 -7.41353480e-01 -1.59550931e-02 1.05118675e+02] [ 7.41162899e-01 6.71114538e-01 -1.68176671e-02 3.94715480e+01] [ 2.31755310e-02 -5.41928561e-04 9.99731264e-01 2.19219908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.402755096 meters 0.024464847064978444 Centerline is valid? [True, True] Translation: X:105.14, Y:39.49, Z:2.19 [[ 6.69369919e-01 -7.42759680e-01 -1.58735417e-02 1.05142497e+02] [ 7.42571234e-01 6.69557854e-01 -1.67404353e-02 3.94877540e+01] [ 2.30623749e-02 -5.81691678e-04 9.99733859e-01 2.19367067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43275509600001 meters 0.022547578607298623 Centerline is valid? [True, True] Translation: X:105.16, Y:39.51, Z:2.20 [[ 6.68670250e-01 -7.43388899e-01 -1.59072718e-02 1.05160370e+02] [ 7.43199679e-01 6.68859166e-01 -1.67825251e-02 3.95107941e+01] [ 2.31156674e-02 -6.00304062e-04 9.99732617e-01 2.19530559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46275509600001 meters 0.02303826352445862 Centerline is valid? [True, True] Translation: X:105.18, Y:39.53, Z:2.20 [[ 6.67604475e-01 -7.44338834e-01 -1.62469812e-02 1.05181129e+02] [ 7.44141496e-01 6.67801834e-01 -1.71506086e-02 3.95308151e+01] [ 2.36156278e-02 -6.40229852e-04 9.99720907e-01 2.19620253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49275509600001 meters 0.02365556533674955 Centerline is valid? [True, True] Translation: X:105.20, Y:39.55, Z:2.20 [[ 6.67231223e-01 -7.44673913e-01 -1.62252442e-02 1.05200446e+02] [ 7.44476988e-01 6.67428159e-01 -1.71367100e-02 3.95492908e+01] [ 2.35904458e-02 -6.45172930e-04 9.99721499e-01 2.19704314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52275509600001 meters 0.023509647673239556 Centerline is valid? [True, True] Translation: X:105.22, Y:39.57, Z:2.20 [[ 6.66656507e-01 -7.45184659e-01 -1.63989647e-02 1.05219863e+02] [ 7.44983455e-01 6.66857842e-01 -1.73282844e-02 3.95701850e+01] [ 2.38485499e-02 -6.64943804e-04 9.99715362e-01 2.19764952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55275509600001 meters 0.023674986344954504 Centerline is valid? [True, True] Translation: X:105.24, Y:39.59, Z:2.20 [[ 6.66545186e-01 -7.45278589e-01 -1.66535064e-02 1.05239659e+02] [ 7.45070852e-01 6.66752858e-01 -1.76082784e-02 3.95903527e+01] [ 2.42268459e-02 -6.71329014e-04 9.99706261e-01 2.19820310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58275509600001 meters 0.024301230299349063 Centerline is valid? [True, True] Translation: X:105.26, Y:39.61, Z:2.20 [[ 6.66142477e-01 -7.45626457e-01 -1.71868094e-02 1.05259355e+02] [ 7.45405030e-01 6.66363789e-01 -1.81835859e-02 3.96093970e+01] [ 2.50108302e-02 -6.98275196e-04 9.99686936e-01 2.19853347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.612755096 meters 0.02359735651705051 Centerline is valid? [True, True] Translation: X:105.28, Y:39.63, Z:2.20 [[ 6.65952429e-01 -7.45794782e-01 -1.72483501e-02 1.05277521e+02] [ 7.45571554e-01 6.66175392e-01 -1.82593697e-02 3.96301931e+01] [ 2.51081691e-02 -7.00007539e-04 9.99684495e-01 2.19920555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.642755096 meters 0.024374995948030383 Centerline is valid? [True, True] Translation: X:105.30, Y:39.65, Z:2.20 [[ 6.65840366e-01 -7.45889911e-01 -1.74598625e-02 1.05296700e+02] [ 7.45660915e-01 6.66068873e-01 -1.84947418e-02 3.96486942e+01] [ 2.54245123e-02 -7.04591431e-04 9.99676497e-01 2.19932394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.672755096 meters 0.02423210979579105 Centerline is valid? [True, True] Translation: X:105.32, Y:39.67, Z:2.20 [[ 6.65312169e-01 -7.46351482e-01 -1.78656681e-02 1.05316336e+02] [ 7.46111594e-01 6.65551598e-01 -1.89356766e-02 3.96690421e+01] [ 2.60231942e-02 -7.31646057e-04 9.99661072e-01 2.19984920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.702755096 meters 0.024544623899307595 Centerline is valid? [True, True] Translation: X:105.34, Y:39.69, Z:2.20 [[ 6.64857640e-01 -7.46754973e-01 -1.79256661e-02 1.05336037e+02] [ 7.46513316e-01 6.65098834e-01 -1.90107913e-02 3.96885761e+01] [ 2.61187426e-02 -7.42278560e-04 9.99658572e-01 2.20036264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.732755096 meters 0.024855506420682683 Centerline is valid? [True, True] Translation: X:105.36, Y:39.71, Z:2.20 [[ 6.64331958e-01 -7.47220275e-01 -1.80252448e-02 1.05356290e+02] [ 7.46975788e-01 6.64576021e-01 -1.91281049e-02 3.97079917e+01] [ 2.62720533e-02 -7.57010043e-04 9.99654543e-01 2.20152446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.762755096 meters 0.02481147053153545 Centerline is valid? [True, True] Translation: X:105.38, Y:39.73, Z:2.20 [[ 6.63907085e-01 -7.47596784e-01 -1.80673861e-02 1.05375319e+02] [ 7.47350993e-01 6.64152438e-01 -1.91841695e-02 3.97279319e+01] [ 2.63415220e-02 -7.66172877e-04 9.99652708e-01 2.20247822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79275509600001 meters 0.02451756860687893 Centerline is valid? [True, True] Translation: X:105.39, Y:39.75, Z:2.20 [[ 6.63494731e-01 -7.47969171e-01 -1.78006003e-02 1.05394074e+02] [ 7.47730436e-01 6.63733033e-01 -1.89117961e-02 3.97482833e+01] [ 2.59602868e-02 -7.62173551e-04 9.99662684e-01 2.20325518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82275509600001 meters 0.025731249548644194 Centerline is valid? [True, True] Translation: X:105.41, Y:39.77, Z:2.20 [[ 6.63300127e-01 -7.48141846e-01 -1.77966028e-02 1.05414226e+02] [ 7.47902983e-01 6.63538393e-01 -1.89190193e-02 3.97664235e+01] [ 2.59628393e-02 -7.61144366e-04 9.99662619e-01 2.20378460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85275509600001 meters 0.025967895392777118 Centerline is valid? [True, True] Translation: X:105.43, Y:39.79, Z:2.20 [[ 6.62992363e-01 -7.48408385e-01 -1.80559332e-02 1.05433756e+02] [ 7.48162315e-01 6.63237731e-01 -1.92057916e-02 3.97862832e+01] [ 2.63491516e-02 -7.75475674e-04 9.99652500e-01 2.20445619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88275509600001 meters 0.02645497703677432 Centerline is valid? [True, True] Translation: X:105.45, Y:39.80, Z:2.21 [[ 6.62641153e-01 -7.48719879e-01 -1.80345427e-02 1.05452720e+02] [ 7.48474212e-01 6.62886065e-01 -1.91942418e-02 3.98049879e+01] [ 2.63259574e-02 -7.79495667e-04 9.99653108e-01 2.20520137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91275509600001 meters 0.02573303854448477 Centerline is valid? [True, True] Translation: X:105.47, Y:39.83, Z:2.21 [[ 6.62257668e-01 -7.49062898e-01 -1.78761267e-02 1.05471483e+02] [ 7.48821374e-01 6.62498429e-01 -1.90363141e-02 3.98261474e+01] [ 2.61023025e-02 -7.79080777e-04 9.99658973e-01 2.20664355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94275509600001 meters 0.025876989708648185 Centerline is valid? [True, True] Translation: X:105.49, Y:39.85, Z:2.21 [[ 6.61704349e-01 -7.49549918e-01 -1.79520228e-02 1.05491908e+02] [ 7.49306213e-01 6.61947347e-01 -1.91287530e-02 3.98461648e+01] [ 2.62212491e-02 -7.93983168e-04 9.99655849e-01 2.20750899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.972755096 meters 0.025876989708648185 Centerline is valid? [True, True] Translation: X:105.51, Y:39.87, Z:2.21 [[ 6.61476503e-01 -7.49751136e-01 -1.79463259e-02 1.05510653e+02] [ 7.49507360e-01 6.61719430e-01 -1.91340967e-02 3.98664003e+01] [ 2.62212432e-02 -7.94147957e-04 9.99655849e-01 2.20802395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.002755096 meters 0.026171644830110304 Centerline is valid? [True, True] Translation: X:105.53, Y:39.89, Z:2.21 [[ 6.61025687e-01 -7.50147617e-01 -1.79887250e-02 1.05530379e+02] [ 7.49902528e-01 6.61269919e-01 -1.91909625e-02 3.98864845e+01] [ 2.62914576e-02 -8.04071215e-04 9.99653997e-01 2.20856757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.032755096 meters 0.027438646929206698 Centerline is valid? [True, True] Translation: X:105.55, Y:39.91, Z:2.21 [[ 6.60574239e-01 -7.50546998e-01 -1.79130759e-02 1.05550398e+02] [ 7.50303820e-01 6.60816577e-01 -1.91214255e-02 3.99050412e+01] [ 2.61887860e-02 -8.09128204e-04 9.99656687e-01 2.20896088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.062755096 meters 0.026950831475342867 Centerline is valid? [True, True] Translation: X:105.57, Y:39.93, Z:2.21 [[ 6.60386620e-01 -7.50718175e-01 -1.76559875e-02 1.05569027e+02] [ 7.50481718e-01 6.60622120e-01 -1.88575001e-02 3.99263904e+01] [ 2.58206040e-02 -7.97255087e-04 9.99666275e-01 2.21014019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.092755096 meters 0.0274692418085385 Centerline is valid? [True, True] Translation: X:105.59, Y:39.95, Z:2.21 [[ 6.60494171e-01 -7.50619340e-01 -1.78341485e-02 1.05587945e+02] [ 7.50377763e-01 6.60734422e-01 -1.90587722e-02 3.99457173e+01] [ 2.60895188e-02 -7.94140534e-04 9.99659295e-01 2.21061073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.122755096 meters 0.024760642580580396 Centerline is valid? [True, True] Translation: X:105.60, Y:39.97, Z:2.21 [[ 6.60824183e-01 -7.50332195e-01 -1.76917161e-02 1.05603494e+02] [ 7.50094095e-01 6.61060515e-01 -1.89167382e-02 3.99692719e+01] [ 2.58891326e-02 -7.69813693e-04 9.99664524e-01 2.21271764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.152755096 meters 0.024354674065450898 Centerline is valid? [True, True] Translation: X:105.62, Y:39.99, Z:2.21 [[ 6.60627329e-01 -7.50504880e-01 -1.77188372e-02 1.05622079e+02] [ 7.50265808e-01 6.60864458e-01 -1.89574503e-02 3.99905045e+01] [ 2.59374087e-02 -7.70028003e-04 9.99663272e-01 2.21334244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18275509600001 meters 0.025311408834751924 Centerline is valid? [True, True] Translation: X:105.64, Y:40.01, Z:2.21 [[ 6.60286379e-01 -7.50798962e-01 -1.79670787e-02 1.05641419e+02] [ 7.50552960e-01 6.60530318e-01 -1.92341664e-02 4.00096326e+01] [ 2.63087924e-02 -7.85186055e-04 9.99653555e-01 2.21325075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21275509600001 meters 0.02544194303503798 Centerline is valid? [True, True] Translation: X:105.66, Y:40.03, Z:2.21 [[ 6.59608191e-01 -7.51393744e-01 -1.80131959e-02 1.05660906e+02] [ 7.51146459e-01 6.59853615e-01 -1.92925651e-02 4.00305234e+01] [ 2.63823851e-02 -8.05014349e-04 9.99651600e-01 2.21383521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24275509600001 meters 0.0259550544842114 Centerline is valid? [True, True] Translation: X:105.68, Y:40.05, Z:2.21 [[ 6.59349840e-01 -7.51622684e-01 -1.79200942e-02 1.05680391e+02] [ 7.51377739e-01 6.59592827e-01 -1.92040501e-02 4.00498900e+01] [ 2.62541652e-02 -8.02572463e-04 9.99654978e-01 2.21441390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27275509600001 meters 0.02462970689147751 Centerline is valid? [True, True] Translation: X:105.70, Y:40.07, Z:2.22 [[ 6.58857701e-01 -7.52051295e-01 -1.80382670e-02 1.05697692e+02] [ 7.51802971e-01 6.59104075e-01 -1.93419663e-02 4.00722219e+01] [ 2.64352461e-02 -8.17619275e-04 9.99650193e-01 2.21539330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30275509600001 meters 0.024845865960611366 Centerline is valid? [True, True] Translation: X:105.72, Y:40.09, Z:2.22 [[ 6.58489982e-01 -7.52368224e-01 -1.82482759e-02 1.05716511e+02] [ 7.52113870e-01 6.58742259e-01 -1.95796734e-02 4.00931491e+01] [ 2.67520346e-02 -8.31762647e-04 9.99641754e-01 2.21570452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33275509600001 meters 0.02521795006613429 Centerline is valid? [True, True] Translation: X:105.74, Y:40.11, Z:2.22 [[ 6.58537243e-01 -7.52321593e-01 -1.84640194e-02 1.05735297e+02] [ 7.52060836e-01 6.58795514e-01 -1.98234778e-02 4.01125973e+01] [ 2.70776435e-02 -8.31567423e-04 9.99632988e-01 2.21579410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.362755096 meters 0.025804758229025632 Centerline is valid? [True, True] Translation: X:105.75, Y:40.13, Z:2.22 [[ 6.58161555e-01 -7.52646271e-01 -1.86267883e-02 1.05753701e+02] [ 7.52380713e-01 6.58424541e-01 -2.00096450e-02 4.01320497e+01] [ 2.73245193e-02 -8.44857172e-04 9.99626259e-01 2.21592484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.392755096 meters 0.025753403568654208 Centerline is valid? [True, True] Translation: X:105.77, Y:40.15, Z:2.22 [[ 6.58054256e-01 -7.52745567e-01 -1.84040244e-02 1.05772265e+02] [ 7.52486052e-01 6.58311036e-01 -1.97818435e-02 4.01527756e+01] [ 2.70062674e-02 -8.31245326e-04 9.99634919e-01 2.21683298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.422755096 meters 0.02502635638491976 Centerline is valid? [True, True] Translation: X:105.79, Y:40.17, Z:2.22 [[ 6.58037351e-01 -7.52760330e-01 -1.84046242e-02 1.05790195e+02] [ 7.52500472e-01 6.58294164e-01 -1.97947638e-02 4.01742999e+01] [ 2.70163697e-02 -8.23794476e-04 9.99634652e-01 2.21746514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.452755096 meters 0.024509882757361896 Centerline is valid? [True, True] Translation: X:105.81, Y:40.20, Z:2.22 [[ 6.58138958e-01 -7.52675325e-01 -1.82473906e-02 1.05808460e+02] [ 7.52419528e-01 6.58391378e-01 -1.96379033e-02 4.01957179e+01] [ 2.67948899e-02 -8.05223787e-04 9.99640628e-01 2.21861479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.482755096 meters 0.024501220883936848 Centerline is valid? [True, True] Translation: X:105.83, Y:40.22, Z:2.22 [[ 6.58890199e-01 -7.52018165e-01 -1.82314430e-02 1.05827315e+02] [ 7.51762246e-01 6.59141932e-01 -1.96325872e-02 4.02169996e+01] [ 2.67811708e-02 -7.69991244e-04 9.99641024e-01 2.21914940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.512755096 meters 0.02361942978598269 Centerline is valid? [True, True] Translation: X:105.84, Y:40.24, Z:2.22 [[ 6.59376134e-01 -7.51599557e-01 -1.79225859e-02 1.05844936e+02] [ 7.51351797e-01 6.59619260e-01 -1.93108499e-02 4.02390064e+01] [ 2.63361091e-02 -7.33053552e-04 9.99652876e-01 2.21994797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54275509600001 meters 0.02331048795425978 Centerline is valid? [True, True] Translation: X:105.86, Y:40.26, Z:2.22 [[ 6.60040140e-01 -7.51010741e-01 -1.81626242e-02 1.05863534e+02] [ 7.50755751e-01 6.60289605e-01 -1.95816339e-02 4.02605634e+01] [ 2.66986093e-02 -7.11030162e-04 9.99643276e-01 2.22024570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57275509600001 meters 0.023346503346058468 Centerline is valid? [True, True] Translation: X:105.88, Y:40.28, Z:2.22 [[ 6.61503041e-01 -7.49711539e-01 -1.86100846e-02 1.05881945e+02] [ 7.49442983e-01 6.61764432e-01 -2.00761594e-02 4.02821417e+01] [ 2.73668204e-02 -6.66756810e-04 9.99625236e-01 2.21953970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60275509600001 meters 0.022182890323573665 Centerline is valid? [True, True] Translation: X:105.90, Y:40.30, Z:2.22 [[ 6.62091046e-01 -7.49194825e-01 -1.85083945e-02 1.05899208e+02] [ 7.48928686e-01 6.62349388e-01 -1.99777891e-02 4.03048506e+01] [ 2.72262800e-02 -6.34352320e-04 9.99629095e-01 2.22049713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63275509600001 meters 0.02129074077936652 Centerline is valid? [True, True] Translation: X:105.92, Y:40.33, Z:2.22 [[ 6.63362638e-01 -7.48070585e-01 -1.84502096e-02 1.05916554e+02] [ 7.47805359e-01 6.63618916e-01 -1.99268731e-02 4.03276986e+01] [ 2.71506157e-02 -5.78422526e-04 9.99631187e-01 2.22194649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66275509600001 meters 0.020832016826263063 Centerline is valid? [True, True] Translation: X:105.93, Y:40.35, Z:2.22 [[ 6.63723169e-01 -7.47755533e-01 -1.82542548e-02 1.05934994e+02] [ 7.47495485e-01 6.63973914e-01 -1.97266710e-02 4.03496132e+01] [ 2.68710764e-02 -5.51924423e-04 9.99638755e-01 2.22315877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69275509600001 meters 0.020820787927254506 Centerline is valid? [True, True] Translation: X:105.95, Y:40.37, Z:2.22 [[ 6.63813417e-01 -7.47683418e-01 -1.79235427e-02 1.05953752e+02] [ 7.47432361e-01 6.64055137e-01 -1.93814587e-02 4.03704385e+01] [ 2.63934159e-02 -5.30963517e-04 9.99651492e-01 2.22372149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.722755096 meters 0.02101972740154061 Centerline is valid? [True, True] Translation: X:105.97, Y:40.39, Z:2.22 [[ 6.63866197e-01 -7.47639916e-01 -1.77827793e-02 1.05971751e+02] [ 7.47392463e-01 6.64104124e-01 -1.92410723e-02 4.03904282e+01] [ 2.61950107e-02 -5.17217748e-04 9.99656718e-01 2.22477720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.752755096 meters 0.020911385428089947 Centerline is valid? [True, True] Translation: X:105.99, Y:40.41, Z:2.23 [[ 6.63473397e-01 -7.47980756e-01 -1.81063553e-02 1.05990516e+02] [ 7.47724029e-01 6.63720201e-01 -1.96028403e-02 4.04116845e+01] [ 2.66801011e-02 -5.32593878e-04 9.99643881e-01 2.22565301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.782755096 meters 0.02088937588796817 Centerline is valid? [True, True] Translation: X:106.01, Y:40.43, Z:2.23 [[ 6.62870477e-01 -7.48517500e-01 -1.80078621e-02 1.06009864e+02] [ 7.48263439e-01 6.63114815e-01 -1.95081686e-02 4.04332790e+01] [ 2.65434857e-02 -5.43235750e-04 9.99647512e-01 2.22636325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.812755096 meters 0.02151573071381499 Centerline is valid? [True, True] Translation: X:106.03, Y:40.45, Z:2.23 [[ 6.61238015e-01 -7.49960868e-01 -1.79717291e-02 1.06030012e+02] [ 7.49708067e-01 6.61481931e-01 -1.94799847e-02 4.04538104e+01] [ 2.64972003e-02 -5.92643838e-04 9.99648712e-01 2.22718877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.842755096 meters 0.02187660052665942 Centerline is valid? [True, True] Translation: X:106.05, Y:40.47, Z:2.23 [[ 6.60230663e-01 -7.50851439e-01 -1.78210019e-02 1.06050042e+02] [ 7.50602901e-01 6.60470845e-01 -1.93274083e-02 4.04747945e+01] [ 2.62822645e-02 -6.15948136e-04 9.99654372e-01 2.22810247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.872755096 meters 0.022910412149938116 Centerline is valid? [True, True] Translation: X:106.07, Y:40.49, Z:2.23 [[ 6.59063166e-01 -7.51871285e-01 -1.80364842e-02 1.06070155e+02] [ 7.51616811e-01 6.59309592e-01 -1.95711973e-02 4.04935490e+01] [ 2.66066483e-02 -6.57869527e-04 9.99645764e-01 2.22850432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.902755096 meters 0.02286313270098557 Centerline is valid? [True, True] Translation: X:106.09, Y:40.51, Z:2.23 [[ 6.58214200e-01 -7.52612740e-01 -1.81143603e-02 1.06089798e+02] [ 7.52356112e-01 6.58463054e-01 -1.96643541e-02 4.05149708e+01] [ 2.67272804e-02 -6.85092539e-04 9.99642528e-01 2.22910445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93275509600001 meters 0.023574689143629913 Centerline is valid? [True, True] Translation: X:106.11, Y:40.53, Z:2.23 [[ 6.57801491e-01 -7.52973301e-01 -1.81219679e-02 1.06109248e+02] [ 7.52716322e-01 6.58050702e-01 -1.96827759e-02 4.05342252e+01] [ 2.67457785e-02 -6.93341735e-04 9.99642027e-01 2.22917524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96275509600001 meters 0.0244030282221806 Centerline is valid? [True, True] Translation: X:106.13, Y:40.55, Z:2.23 [[ 6.57500693e-01 -7.53236578e-01 -1.80968595e-02 1.06128307e+02] [ 7.52980189e-01 6.57749323e-01 -1.96637472e-02 4.05541384e+01] [ 2.67146507e-02 -6.97649285e-04 9.99642857e-01 2.22874775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99275509600001 meters 0.023294683078820533 Centerline is valid? [True, True] Translation: X:106.15, Y:40.58, Z:2.23 [[ 6.57643784e-01 -7.53113680e-01 -1.80121511e-02 1.06146517e+02] [ 7.52859390e-01 6.57890050e-01 -1.95811175e-02 4.05751488e+01] [ 2.65968225e-02 -6.83216848e-04 9.99646008e-01 2.22974077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02275509600001 meters 0.02362406157752139 Centerline is valid? [True, True] Translation: X:106.17, Y:40.59, Z:2.23 [[ 6.57573181e-01 -7.53169053e-01 -1.82726590e-02 1.06165016e+02] [ 7.52907049e-01 6.57826653e-01 -1.98763877e-02 4.05944744e+01] [ 2.69905222e-02 -6.87434289e-04 9.99635453e-01 2.22967190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05275509600001 meters 0.022843546943657006 Centerline is valid? [True, True] Translation: X:106.18, Y:40.62, Z:2.23 [[ 6.57969397e-01 -7.52826603e-01 -1.81211982e-02 1.06183314e+02] [ 7.52568493e-01 6.58218558e-01 -1.97229078e-02 4.06156064e+01] [ 2.67756386e-02 -6.60373054e-04 9.99641250e-01 2.23032248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08275509600001 meters 0.023119705326717543 Centerline is valid? [True, True] Translation: X:106.20, Y:40.63, Z:2.23 [[ 6.58098043e-01 -7.52712660e-01 -1.81828730e-02 1.06201779e+02] [ 7.52452432e-01 6.58348865e-01 -1.98017650e-02 4.06349628e+01] [ 2.68757130e-02 -6.50244175e-04 9.99638571e-01 2.23024874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.112755096 meters 0.022795893294524732 Centerline is valid? [True, True] Translation: X:106.22, Y:40.66, Z:2.23 [[ 6.58361896e-01 -7.52481930e-01 -1.81812807e-02 1.06220732e+02] [ 7.52221358e-01 6.58612590e-01 -1.98112184e-02 4.06555383e+01] [ 2.68820042e-02 -6.33396358e-04 9.99638413e-01 2.23099622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.142755096 meters 0.02304412632666056 Centerline is valid? [True, True] Translation: X:106.24, Y:40.68, Z:2.23 [[ 6.58248503e-01 -7.52586114e-01 -1.79735930e-02 1.06239856e+02] [ 7.52331195e-01 6.58493548e-01 -1.95964250e-02 4.06753342e+01] [ 2.65834923e-02 -6.22777294e-04 9.99646403e-01 2.23150076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.172755096 meters 0.023235214171245078 Centerline is valid? [True, True] Translation: X:106.26, Y:40.70, Z:2.23 [[ 6.57790885e-01 -7.52991971e-01 -1.77269067e-02 1.06259223e+02] [ 7.52743865e-01 6.58029409e-01 -1.93383327e-02 4.06951653e+01] [ 2.62264352e-02 -6.23241268e-04 9.99655834e-01 2.23223963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.202755096 meters 0.022716534822411264 Centerline is valid? [True, True] Translation: X:106.28, Y:40.72, Z:2.23 [[ 6.57144345e-01 -7.53569097e-01 -1.71733782e-02 1.06278717e+02] [ 7.53336156e-01 6.57368415e-01 -1.87457344e-02 4.07155695e+01] [ 2.54154425e-02 -6.18673369e-04 9.99676784e-01 2.23427759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.232755096 meters 0.02224519559156354 Centerline is valid? [True, True] Translation: X:106.30, Y:40.74, Z:2.24 [[ 6.56526086e-01 -7.54117047e-01 -1.67624049e-02 1.06297552e+02] [ 7.53895019e-01 6.56739750e-01 -1.83085097e-02 4.07361440e+01] [ 2.48152968e-02 -6.17079354e-04 9.99691863e-01 2.23538687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.262755096 meters 0.022469346909564484 Centerline is valid? [True, True] Translation: X:106.32, Y:40.76, Z:2.24 [[ 6.56110872e-01 -7.54478533e-01 -1.67531317e-02 1.06317763e+02] [ 7.54256574e-01 6.56324429e-01 -1.83102079e-02 4.07563082e+01] [ 2.48101483e-02 -6.22633251e-04 9.99691987e-01 2.23608057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29275509600001 meters 0.024152458246391048 Centerline is valid? [True, True] Translation: X:106.34, Y:40.77, Z:2.24 [[ 6.54916533e-01 -7.55519129e-01 -1.65885606e-02 1.06339488e+02] [ 7.55301593e-01 6.55126266e-01 -1.81405219e-02 4.07736330e+01] [ 2.45731130e-02 -6.48838560e-04 9.99697825e-01 2.23689277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32275509600001 meters 0.025683164044678745 Centerline is valid? [True, True] Translation: X:106.36, Y:40.79, Z:2.24 [[ 6.54478714e-01 -7.55901691e-01 -1.64391685e-02 1.06360041e+02] [ 7.55688015e-01 6.54684815e-01 -1.79838092e-02 4.07914823e+01] [ 2.43564658e-02 -6.52862310e-04 9.99703124e-01 2.23738963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35275509600001 meters 0.02338928554910346 Centerline is valid? [True, True] Translation: X:106.38, Y:40.81, Z:2.24 [[ 6.54274504e-01 -7.56077430e-01 -1.64861591e-02 1.06376736e+02] [ 7.55862331e-01 6.54481850e-01 -1.80456210e-02 4.08144918e+01] [ 2.44337786e-02 -6.54476918e-04 9.99701236e-01 2.23888923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38275509600001 meters 0.023828086486954378 Centerline is valid? [True, True] Translation: X:106.40, Y:40.83, Z:2.24 [[ 6.54111335e-01 -7.56210873e-01 -1.68367627e-02 1.06396324e+02] [ 7.55986283e-01 6.54327648e-01 -1.84409279e-02 4.08329442e+01] [ 2.49619896e-02 -6.65941677e-04 9.99688179e-01 2.23952884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41275509600001 meters 0.023121582409867336 Centerline is valid? [True, True] Translation: X:106.41, Y:40.85, Z:2.24 [[ 6.54108522e-01 -7.56208133e-01 -1.70675409e-02 1.06414624e+02] [ 7.55977062e-01 6.54330814e-01 -1.87047517e-02 4.08541955e+01] [ 2.53125033e-02 -6.67731933e-04 9.99679364e-01 2.24009246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44275509600001 meters 0.023116051687671946 Centerline is valid? [True, True] Translation: X:106.43, Y:40.87, Z:2.24 [[ 6.54403706e-01 -7.55943179e-01 -1.74842644e-02 1.06433049e+02] [ 7.55700282e-01 6.54636897e-01 -1.91733632e-02 4.08741499e+01] [ 2.59398177e-02 -6.65743648e-04 9.99663285e-01 2.24047026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.472755096 meters 0.023859347180982555 Centerline is valid? [True, True] Translation: X:106.45, Y:40.89, Z:2.24 [[ 6.54778372e-01 -7.55610294e-01 -1.78428355e-02 1.06452483e+02] [ 7.55356923e-01 6.55021106e-01 -1.95772869e-02 4.08934232e+01] [ 2.64802333e-02 -6.58925250e-04 9.99649120e-01 2.23951599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.502755096 meters 0.022716166258040196 Centerline is valid? [True, True] Translation: X:106.47, Y:40.92, Z:2.24 [[ 6.54757908e-01 -7.55628085e-01 -1.78403747e-02 1.06470201e+02] [ 7.55374501e-01 6.55000589e-01 -1.95854817e-02 4.09155473e+01] [ 2.64847959e-02 -6.52415084e-04 9.99649003e-01 2.24058315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.532755096 meters 0.02235482322081935 Centerline is valid? [True, True] Translation: X:106.49, Y:40.94, Z:2.24 [[ 6.54806795e-01 -7.55590335e-01 -1.76438689e-02 1.06489003e+02] [ 7.55341977e-01 6.55044152e-01 -1.93818476e-02 4.09370048e+01] [ 2.62022498e-02 -6.35789331e-04 9.99656460e-01 2.24121513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.562755096 meters 0.022257802221521336 Centerline is valid? [True, True] Translation: X:106.51, Y:40.96, Z:2.24 [[ 6.55443490e-01 -7.55038499e-01 -1.76265718e-02 1.06507379e+02] [ 7.54790129e-01 6.55680180e-01 -1.93742920e-02 4.09566350e+01] [ 2.61857301e-02 -6.05608818e-04 9.99656912e-01 2.24188354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.592755096 meters 0.02200496157223979 Centerline is valid? [True, True] Translation: X:106.53, Y:40.98, Z:2.24 [[ 6.56118406e-01 -7.54453375e-01 -1.75710540e-02 1.06525495e+02] [ 7.54206113e-01 6.56353391e-01 -1.93226304e-02 4.09769387e+01] [ 2.61108446e-02 -5.74262914e-04 9.99658889e-01 2.24280604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.622755096 meters 0.021253099946230758 Centerline is valid? [True, True] Translation: X:106.54, Y:41.00, Z:2.24 [[ 6.56476104e-01 -7.54143637e-01 -1.75071146e-02 1.06543304e+02] [ 7.53897802e-01 6.56709272e-01 -1.92623050e-02 4.09986226e+01] [ 2.60236293e-02 -5.53332263e-04 9.99661175e-01 2.24399175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.652755096 meters 0.021097892155588983 Centerline is valid? [True, True] Translation: X:106.56, Y:41.02, Z:2.24 [[ 6.57182864e-01 -7.53528714e-01 -1.74688345e-02 1.06561624e+02] [ 7.53283427e-01 6.57414791e-01 -1.92320628e-02 4.10195207e+01] [ 2.59761817e-02 -5.20001451e-04 9.99662427e-01 2.24442117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68275509600001 meters 0.020793917692138272 Centerline is valid? [True, True] Translation: X:106.58, Y:41.04, Z:2.24 [[ 6.57672330e-01 -7.53101245e-01 -1.74820377e-02 1.06580484e+02] [ 7.52855130e-01 6.57904453e-01 -1.92583261e-02 4.10406625e+01] [ 2.60049798e-02 -4.95773592e-04 9.99661690e-01 2.24497644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71275509600001 meters 0.01992870040285175 Centerline is valid? [True, True] Translation: X:106.60, Y:41.06, Z:2.25 [[ 6.58024832e-01 -7.52789984e-01 -1.76227318e-02 1.06597816e+02] [ 7.52539464e-01 6.58260594e-01 -1.94253777e-02 4.10623018e+01] [ 2.62235797e-02 -4.79420213e-04 9.99655988e-01 2.24594648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74275509600001 meters 0.019633460890585857 Centerline is valid? [True, True] Translation: X:106.62, Y:41.08, Z:2.25 [[ 6.58879315e-01 -7.52046189e-01 -1.74521271e-02 1.06616089e+02] [ 7.51799936e-01 6.59110262e-01 -1.92488584e-02 4.10819952e+01] [ 2.59789067e-02 -4.37833364e-04 9.99662395e-01 2.24633415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77275509600001 meters 0.019723495860420565 Centerline is valid? [True, True] Translation: X:106.64, Y:41.10, Z:2.25 [[ 6.59030646e-01 -7.51910153e-01 -1.75991415e-02 1.06635144e+02] [ 7.51659407e-01 6.59265453e-01 -1.94215969e-02 4.11027127e+01] [ 2.62058019e-02 -4.29132726e-04 9.99656477e-01 2.24677998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80275509600001 meters 0.01924242036412196 Centerline is valid? [True, True] Translation: X:106.65, Y:41.12, Z:2.25 [[ 6.59561580e-01 -7.51444958e-01 -1.75783317e-02 1.06653615e+02] [ 7.51194327e-01 6.59795660e-01 -1.94105636e-02 4.11223448e+01] [ 2.61840771e-02 -4.02281019e-04 9.99657057e-01 2.24717561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83275509600001 meters 0.01937022635764903 Centerline is valid? [True, True] Translation: X:106.67, Y:41.14, Z:2.25 [[ 6.59372204e-01 -7.51609596e-01 -1.76440139e-02 1.06671841e+02] [ 7.51356885e-01 6.59608105e-01 -1.94930519e-02 4.11417537e+01] [ 2.62892994e-02 -4.03774710e-04 9.99654295e-01 2.24756341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.862755096 meters 0.01937022635764903 Centerline is valid? [True, True] Translation: X:106.69, Y:41.16, Z:2.25 [[ 6.59137788e-01 -7.51815291e-01 -1.76392878e-02 1.06690218e+02] [ 7.51562540e-01 6.59373645e-01 -1.94973278e-02 4.11623132e+01] [ 2.62892707e-02 -4.05602383e-04 9.99654295e-01 2.24807868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.892755096 meters 0.018874066023609467 Centerline is valid? [True, True] Translation: X:106.71, Y:41.18, Z:2.25 [[ 6.59000571e-01 -7.51943844e-01 -1.72830479e-02 1.06708614e+02] [ 7.51700937e-01 6.59227048e-01 -1.91154707e-02 4.11839551e+01] [ 2.57672131e-02 -3.94577219e-04 9.99667892e-01 2.24918225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.922755096 meters 0.019101086008914612 Centerline is valid? [True, True] Translation: X:106.73, Y:41.20, Z:2.25 [[ 6.58765541e-01 -7.52151672e-01 -1.71995275e-02 1.06727317e+02] [ 7.51910873e-01 6.58989915e-01 -1.90350050e-02 4.12035406e+01] [ 2.56515260e-02 -3.92906345e-04 9.99670868e-01 2.24947784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.952755096 meters 0.02170649100952816 Centerline is valid? [True, True] Translation: X:106.75, Y:41.22, Z:2.25 [[ 6.58084121e-01 -7.52744634e-01 -1.73437346e-02 1.06746500e+02] [ 7.52499696e-01 6.58312499e-01 -1.92057569e-02 4.12224011e+01] [ 2.58746277e-02 -4.12151362e-04 9.99665111e-01 2.24846557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.982755096 meters 0.01996764877728358 Centerline is valid? [True, True] Translation: X:106.76, Y:41.24, Z:2.25 [[ 6.58313191e-01 -7.52556812e-01 -1.67924728e-02 1.06764413e+02] [ 7.52326884e-01 6.58527217e-01 -1.86054744e-02 4.12420936e+01] [ 2.50599769e-02 -3.85199493e-04 9.99685875e-01 2.25047398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.012755096 meters 0.018620063237881825 Centerline is valid? [True, True] Translation: X:106.78, Y:41.26, Z:2.25 [[ 6.58547768e-01 -7.52356679e-01 -1.65609625e-02 1.06782070e+02] [ 7.52132735e-01 6.58755869e-01 -1.83590423e-02 4.12635182e+01] [ 2.47221793e-02 -3.65735688e-04 9.99694293e-01 2.25200185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04275509600001 meters 0.019232050684092436 Centerline is valid? [True, True] Translation: X:106.80, Y:41.28, Z:2.25 [[ 6.58136106e-01 -7.52717291e-01 -1.65392001e-02 1.06802232e+02] [ 7.52493767e-01 6.58343787e-01 -1.83463828e-02 4.12822540e+01] [ 2.46981192e-02 -3.71228028e-04 9.99694886e-01 2.25200806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07275509600001 meters 0.021341495158594438 Centerline is valid? [True, True] Translation: X:106.82, Y:41.30, Z:2.25 [[ 6.56983620e-01 -7.53721323e-01 -1.66340053e-02 1.06821829e+02] [ 7.53495281e-01 6.57194038e-01 -1.84623484e-02 4.13032143e+01] [ 2.48472348e-02 -4.04184033e-04 9.99691178e-01 2.25100906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10275509600001 meters 0.019726817132264048 Centerline is valid? [True, True] Translation: X:106.84, Y:41.32, Z:2.25 [[ 6.57132042e-01 -7.53600543e-01 -1.62388906e-02 1.06840881e+02] [ 7.53384817e-01 6.57332545e-01 -1.80344739e-02 4.13235689e+01] [ 2.42651406e-02 -3.83102978e-04 9.99705485e-01 2.25273353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13275509600001 meters 0.018822788898496107 Centerline is valid? [True, True] Translation: X:106.86, Y:41.34, Z:2.25 [[ 6.57277122e-01 -7.53471378e-01 -1.63605410e-02 1.06860042e+02] [ 7.53252088e-01 6.57480603e-01 -1.81810134e-02 4.13446552e+01] [ 2.44556116e-02 -3.73647551e-04 9.99700847e-01 2.25362975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16275509600001 meters 0.019059093544170857 Centerline is valid? [True, True] Translation: X:106.88, Y:41.36, Z:2.25 [[ 6.57100275e-01 -7.53620431e-01 -1.65974146e-02 1.06878703e+02] [ 7.53394510e-01 6.57309747e-01 -1.84556144e-02 4.13642944e+01] [ 2.48181705e-02 -3.77211749e-04 9.99691911e-01 2.25377134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19275509600001 meters 0.018586940836284867 Centerline is valid? [True, True] Translation: X:106.90, Y:41.39, Z:2.25 [[ 6.56961084e-01 -7.53742432e-01 -1.65674636e-02 1.06897217e+02] [ 7.53517098e-01 6.57169846e-01 -1.84330092e-02 4.13859270e+01] [ 2.47813787e-02 -3.74097364e-04 9.99692824e-01 2.25425909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22275509600001 meters 0.019031968743229447 Centerline is valid? [True, True] Translation: X:106.92, Y:41.41, Z:2.25 [[ 6.57099292e-01 -7.53614103e-01 -1.69205455e-02 1.06916872e+02] [ 7.53378716e-01 6.57317007e-01 -1.88377799e-02 4.14050817e+01] [ 2.53185789e-02 -3.69286994e-04 9.99679365e-01 2.25356069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.252755096 meters 0.019109846483884 Centerline is valid? [True, True] Translation: X:106.94, Y:41.42, Z:2.25 [[ 6.57207950e-01 -7.53517758e-01 -1.69911327e-02 1.06935099e+02] [ 7.53280099e-01 6.57427455e-01 -1.89270702e-02 4.14244530e+01] [ 2.54323206e-02 -3.60061106e-04 9.99676481e-01 2.25350081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.282755096 meters 0.018359974683616196 Centerline is valid? [True, True] Translation: X:106.95, Y:41.45, Z:2.25 [[ 6.57292313e-01 -7.53443132e-01 -1.70370808e-02 1.06952880e+02] [ 7.53203886e-01 6.57512983e-01 -1.89890080e-02 4.14460788e+01] [ 2.55092395e-02 -3.51066428e-04 9.99674525e-01 2.25446021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.312755096 meters 0.018325567755158974 Centerline is valid? [True, True] Translation: X:106.97, Y:41.47, Z:2.25 [[ 6.57764720e-01 -7.53021178e-01 -1.74550763e-02 1.06971504e+02] [ 7.52769581e-01 6.57996196e-01 -1.94670071e-02 4.14655670e+01] [ 2.61444425e-02 -3.34940024e-04 9.99658120e-01 2.25451607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.342755096 meters 0.01810311660616366 Centerline is valid? [True, True] Translation: X:106.99, Y:41.49, Z:2.26 [[ 6.57962121e-01 -7.52848946e-01 -1.74445191e-02 1.06990356e+02] [ 7.52597299e-01 6.58193255e-01 -1.94664937e-02 4.14868620e+01] [ 2.61371941e-02 -3.20482466e-04 9.99658314e-01 2.25505229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.372755096 meters 0.0184330022639899 Centerline is valid? [True, True] Translation: X:107.01, Y:41.51, Z:2.25 [[ 6.58574539e-01 -7.52302577e-01 -1.79000035e-02 1.07009175e+02] [ 7.52037081e-01 6.58817687e-01 -1.99870975e-02 4.15057346e+01] [ 2.68291838e-02 -2.98472893e-04 9.99639988e-01 2.25384030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.402755096 meters 0.020898180644767114 Centerline is valid? [True, True] Translation: X:107.03, Y:41.53, Z:2.25 [[ 6.57831241e-01 -7.52949689e-01 -1.80228874e-02 1.07027047e+02] [ 7.52680463e-01 6.58078007e-01 -2.01359412e-02 4.15276161e+01] [ 2.70218165e-02 -3.19424082e-04 9.99634793e-01 2.25269753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43275509600001 meters 0.017460792289542063 Centerline is valid? [True, True] Translation: X:107.05, Y:41.55, Z:2.26 [[ 6.58965432e-01 -7.51961766e-01 -1.78342754e-02 1.07045305e+02] [ 7.51697459e-01 6.59206668e-01 -1.99374097e-02 4.15490725e+01] [ 2.67486430e-02 -2.67915689e-04 9.99642155e-01 2.25584829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46275509600001 meters 0.01727405057973674 Centerline is valid? [True, True] Translation: X:107.06, Y:41.57, Z:2.26 [[ 6.59158650e-01 -7.51800051e-01 -1.75088150e-02 1.07063354e+02] [ 7.51544947e-01 6.59391099e-01 -1.95849473e-02 4.15686180e+01] [ 2.62691211e-02 -2.49074047e-04 9.99654876e-01 2.25664051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49275509600001 meters 0.01721626601751656 Centerline is valid? [True, True] Translation: X:107.08, Y:41.59, Z:2.26 [[ 6.59212798e-01 -7.51758241e-01 -1.72636558e-02 1.07082096e+02] [ 7.51509939e-01 6.59438769e-01 -1.93215226e-02 4.15894972e+01] [ 2.59094378e-02 -2.36813956e-04 9.99664266e-01 2.25762071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52275509600001 meters 0.01715198823680701 Centerline is valid? [True, True] Translation: X:107.10, Y:41.61, Z:2.26 [[ 6.59150800e-01 -7.51820057e-01 -1.69358856e-02 1.07100666e+02] [ 7.51580825e-01 6.59368296e-01 -1.89660920e-02 4.16101636e+01] [ 2.54260745e-02 -2.27172152e-04 9.99676679e-01 2.25831281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55275509600001 meters 0.01689403512320886 Centerline is valid? [True, True] Translation: X:107.12, Y:41.63, Z:2.26 [[ 6.59467439e-01 -7.51553262e-01 -1.64435622e-02 1.07119148e+02] [ 7.51327395e-01 6.59672383e-01 -1.84253322e-02 4.16305377e+01] [ 2.46949824e-02 -2.03592099e-04 9.99695012e-01 2.25920691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58275509600001 meters 0.016784077058956497 Centerline is valid? [True, True] Translation: X:107.14, Y:41.65, Z:2.26 [[ 6.59428841e-01 -7.51585113e-01 -1.65354795e-02 1.07137722e+02] [ 7.51356471e-01 6.59636096e-01 -1.85384568e-02 4.16511811e+01] [ 2.48406273e-02 -1.99246408e-04 9.99691404e-01 2.25980655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.612755096 meters 0.017456860152797397 Centerline is valid? [True, True] Translation: X:107.16, Y:41.67, Z:2.26 [[ 6.59032573e-01 -7.51936422e-01 -1.63611020e-02 1.07156211e+02] [ 7.51712415e-01 6.59235600e-01 -1.83540042e-02 4.16726165e+01] [ 2.45868651e-02 -2.02956895e-04 9.99697677e-01 2.25983370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.642755096 meters 0.01657625613613912 Centerline is valid? [True, True] Translation: X:107.17, Y:41.69, Z:2.26 [[ 6.58898877e-01 -7.52060212e-01 -1.60532535e-02 1.07174773e+02] [ 7.51844331e-01 6.59094378e-01 -1.80195229e-02 4.16919745e+01] [ 2.41323753e-02 -1.96504242e-04 9.99708753e-01 2.26040755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.672755096 meters 0.016696230925771893 Centerline is valid? [True, True] Translation: X:107.19, Y:41.71, Z:2.26 [[ 6.58274843e-01 -7.52608472e-01 -1.59599200e-02 1.07193543e+02] [ 7.52395029e-01 6.58468256e-01 -1.79241987e-02 4.17121539e+01] [ 2.39990045e-02 -2.09115346e-04 9.99711961e-01 2.26089674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.702755096 meters 0.01648082662047045 Centerline is valid? [True, True] Translation: X:107.21, Y:41.73, Z:2.26 [[ 6.58579666e-01 -7.52349315e-01 -1.55990860e-02 1.07210149e+02] [ 7.52145163e-01 6.58764353e-01 -1.75265808e-02 4.17336130e+01] [ 2.34622328e-02 -1.90127373e-04 9.99724706e-01 2.26146912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.732755096 meters 0.016258618928771337 Centerline is valid? [True, True] Translation: X:107.23, Y:41.76, Z:2.26 [[ 6.58209432e-01 -7.52676089e-01 -1.54611840e-02 1.07228270e+02] [ 7.52475398e-01 6.58390969e-01 -1.73812367e-02 4.17553169e+01] [ 2.32619452e-02 -1.93666671e-04 9.99729386e-01 2.26212371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.762755096 meters 0.016012609043857963 Centerline is valid? [True, True] Translation: X:107.25, Y:41.78, Z:2.26 [[ 6.58288300e-01 -7.52608410e-01 -1.53979022e-02 1.07246198e+02] [ 7.52409091e-01 6.58468334e-01 -1.73208869e-02 4.17775973e+01] [ 2.31748762e-02 -1.83384384e-04 9.99731410e-01 2.26282187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79275509600001 meters 0.01628187514434731 Centerline is valid? [True, True] Translation: X:107.26, Y:41.80, Z:2.26 [[ 6.58206900e-01 -7.52679898e-01 -1.53833369e-02 1.07264477e+02] [ 7.52480734e-01 6.58386618e-01 -1.73149222e-02 4.17976765e+01] [ 2.31607770e-02 -1.78863328e-04 9.99731737e-01 2.26255945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82275509600001 meters 0.01594998184482069 Centerline is valid? [True, True] Translation: X:107.28, Y:41.82, Z:2.26 [[ 6.57895510e-01 -7.52951107e-01 -1.54314086e-02 1.07281126e+02] [ 7.52750530e-01 6.58076437e-01 -1.73793634e-02 4.18200999e+01] [ 2.32408574e-02 -1.82195863e-04 9.99729878e-01 2.26335756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85275509600001 meters 0.015760986771388565 Centerline is valid? [True, True] Translation: X:107.30, Y:41.84, Z:2.26 [[ 6.58309463e-01 -7.52589333e-01 -1.54255636e-02 1.07297605e+02] [ 7.52388552e-01 6.58490144e-01 -1.73837840e-02 4.18418029e+01] [ 2.32404320e-02 -1.62107950e-04 9.99729892e-01 2.26366786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88275509600001 meters 0.01565765533952102 Centerline is valid? [True, True] Translation: X:107.31, Y:41.86, Z:2.26 [[ 6.58187409e-01 -7.52697164e-01 -1.53725009e-02 1.07314768e+02] [ 7.52497557e-01 6.58366885e-01 -1.73341323e-02 4.18635794e+01] [ 2.31680977e-02 -1.58661755e-04 9.99731571e-01 2.26392089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91275509600001 meters 0.01579013575235871 Centerline is valid? [True, True] Translation: X:107.33, Y:41.89, Z:2.26 [[ 6.57392651e-01 -7.53379267e-01 -1.59556257e-02 1.07332407e+02] [ 7.53164147e-01 6.57586227e-01 -1.80033694e-02 4.18860711e+01] [ 2.40555650e-02 -1.81922530e-04 9.99710606e-01 2.26330621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94275509600001 meters 0.015896068331617358 Centerline is valid? [True, True] Translation: X:107.35, Y:41.91, Z:2.26 [[ 6.56440155e-01 -7.54201845e-01 -1.63064367e-02 1.07351308e+02] [ 7.53977124e-01 6.56642623e-01 -1.84109313e-02 4.19072362e+01] [ 2.45930596e-02 -2.09005642e-04 9.99697523e-01 2.26304414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97275509600001 meters 0.016958324140920487 Centerline is valid? [True, True] Translation: X:107.37, Y:41.93, Z:2.26 [[ 6.54156620e-01 -7.56176070e-01 -1.66393809e-02 1.07371601e+02] [ 7.55942448e-01 6.54368147e-01 -1.87974352e-02 4.19265238e+01] [ 2.51024515e-02 -2.81947663e-04 9.99684844e-01 2.26238697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00275509600002 meters 0.017132897371973866 Centerline is valid? [True, True] Translation: X:107.39, Y:41.95, Z:2.26 [[ 6.52628716e-01 -7.57493837e-01 -1.66987040e-02 1.07390645e+02] [ 7.57258793e-01 6.52842232e-01 -1.88717130e-02 4.19480501e+01] [ 2.51968254e-02 -3.29018574e-04 9.99682455e-01 2.26318850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03275509600002 meters 0.01796394598097959 Centerline is valid? [True, True] Translation: X:107.41, Y:41.97, Z:2.26 [[ 6.51402058e-01 -7.58552584e-01 -1.65328772e-02 1.07409912e+02] [ 7.58322301e-01 6.51611730e-01 -1.86933196e-02 4.19678370e+01] [ 2.49528826e-02 -3.60382625e-04 9.99688563e-01 2.26357248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06275509600002 meters 0.018180505454714797 Centerline is valid? [True, True] Translation: X:107.43, Y:41.99, Z:2.26 [[ 6.50088385e-01 -7.59684214e-01 -1.62784298e-02 1.07428494e+02] [ 7.59461159e-01 6.50292042e-01 -1.84121452e-02 4.19895504e+01] [ 2.45731494e-02 -3.93313404e-04 9.99697957e-01 2.26467933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09275509600002 meters 0.02028098298868101 Centerline is valid? [True, True] Translation: X:107.45, Y:42.01, Z:2.27 [[ 6.47971409e-01 -7.61500037e-01 -1.58349981e-02 1.07448104e+02] [ 7.61289285e-01 6.48164714e-01 -1.79200219e-02 4.20092917e+01] [ 2.39097843e-02 -4.43352538e-04 9.99714022e-01 2.26560226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12275509600002 meters 0.019411784451514546 Centerline is valid? [True, True] Translation: X:107.46, Y:42.03, Z:2.27 [[ 6.46984988e-01 -7.62345429e-01 -1.54878333e-02 1.07464995e+02] [ 7.62143905e-01 6.47170176e-01 -1.75337370e-02 4.20319918e+01] [ 2.33900281e-02 -4.59893170e-04 9.99726310e-01 2.26718176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15275509600002 meters 0.019599585049421168 Centerline is valid? [True, True] Translation: X:107.48, Y:42.05, Z:2.27 [[ 6.45534765e-01 -7.63579261e-01 -1.52177297e-02 1.07483089e+02] [ 7.63384814e-01 6.45713925e-01 -1.72381449e-02 4.20541858e+01] [ 2.29889899e-02 -4.89161949e-04 9.99735599e-01 2.26906242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.182755096 meters 0.01955039786238903 Centerline is valid? [True, True] Translation: X:107.50, Y:42.08, Z:2.27 [[ 6.44975838e-01 -7.64055608e-01 -1.50065459e-02 1.07501309e+02] [ 7.63866427e-01 6.45150204e-01 -1.70087064e-02 4.20760482e+01] [ 2.26770736e-02 -4.92791945e-04 9.99742721e-01 2.27010384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.212755096 meters 0.020778824032791465 Centerline is valid? [True, True] Translation: X:107.52, Y:42.10, Z:2.27 [[ 6.44560306e-01 -7.64403162e-01 -1.51597068e-02 1.07520247e+02] [ 7.64209940e-01 6.44738360e-01 -1.71934715e-02 4.20956648e+01] [ 2.29167885e-02 -5.02969341e-04 9.99737249e-01 2.27019589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.242755096 meters 0.020339530136976113 Centerline is valid? [True, True] Translation: X:107.54, Y:42.12, Z:2.27 [[ 6.44485462e-01 -7.64474875e-01 -1.47192391e-02 1.07536221e+02] [ 7.64292519e-01 6.44653342e-01 -1.67036917e-02 4.21192761e+01] [ 2.22583593e-02 -4.84517925e-04 9.99752135e-01 2.27152346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.272755096 meters 0.01999225224351025 Centerline is valid? [True, True] Translation: X:107.55, Y:42.14, Z:2.27 [[ 6.44438525e-01 -7.64511959e-01 -1.48476327e-02 1.07552633e+02] [ 7.64326176e-01 6.44609363e-01 -1.68601664e-02 4.21418251e+01] [ 2.24607219e-02 -4.83093569e-04 9.99747609e-01 2.27223642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.302755096 meters 0.019659172336846206 Centerline is valid? [True, True] Translation: X:107.57, Y:42.16, Z:2.27 [[ 6.45119695e-01 -7.63949012e-01 -1.42297255e-02 1.07567743e+02] [ 7.63778028e-01 6.45276464e-01 -1.61681760e-02 4.21642198e+01] [ 2.15337690e-02 -4.37942875e-04 9.99768026e-01 2.27326664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.332755096 meters 0.019637075219224934 Centerline is valid? [True, True] Translation: X:107.59, Y:42.19, Z:2.27 [[ 6.44911173e-01 -7.64128418e-01 -1.40478091e-02 1.07585263e+02] [ 7.63961648e-01 6.45064008e-01 -1.59695404e-02 4.21866139e+01] [ 2.12645156e-02 -4.33052351e-04 9.99773791e-01 2.27433817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.362755096 meters 0.01973181237913378 Centerline is valid? [True, True] Translation: X:107.60, Y:42.21, Z:2.28 [[ 6.44825363e-01 -7.64206749e-01 -1.37221069e-02 1.07602670e+02] [ 7.64047440e-01 6.44971216e-01 -1.56089755e-02 4.22082736e+01] [ 2.07788484e-02 -4.19277399e-04 9.99784009e-01 2.27546747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.392755096 meters 0.019794262045140083 Centerline is valid? [True, True] Translation: X:107.62, Y:42.23, Z:2.28 [[ 6.44722325e-01 -7.64297300e-01 -1.35188911e-02 1.07619746e+02] [ 7.64142505e-01 6.44863915e-01 -1.53871146e-02 4.22295097e+01] [ 2.04781752e-02 -4.09942993e-04 9.99790216e-01 2.27637583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.422755096 meters 0.020051361210114128 Centerline is valid? [True, True] Translation: X:107.64, Y:42.25, Z:2.28 [[ 6.44523720e-01 -7.64469777e-01 -1.32338426e-02 1.07635381e+02] [ 7.64321349e-01 6.44659443e-01 -1.50691223e-02 4.22512287e+01] [ 2.00512102e-02 -4.02501674e-04 9.99798873e-01 2.27723755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.452755096 meters 0.020135473248481677 Centerline is valid? [True, True] Translation: X:107.65, Y:42.27, Z:2.28 [[ 6.44047306e-01 -7.64875925e-01 -1.29571222e-02 1.07652592e+02] [ 7.64733562e-01 6.44177505e-01 -1.47621562e-02 4.22738171e+01] [ 1.96379045e-02 -4.01219262e-04 9.99807077e-01 2.27801893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.482755096 meters 0.02048832137352562 Centerline is valid? [True, True] Translation: X:107.67, Y:42.29, Z:2.28 [[ 6.43797111e-01 -7.65084880e-01 -1.30539826e-02 1.07669512e+02] [ 7.64940243e-01 6.43929315e-01 -1.48815843e-02 4.22948668e+01] [ 1.97915172e-02 -4.04795632e-04 9.99804047e-01 2.27853188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.512755096 meters 0.020606772472181623 Centerline is valid? [True, True] Translation: X:107.69, Y:42.32, Z:2.28 [[ 6.42960977e-01 -7.65794854e-01 -1.26263338e-02 1.07685978e+02] [ 7.65659564e-01 6.43084811e-01 -1.43999392e-02 4.23185818e+01] [ 1.91472029e-02 -4.08874218e-04 9.99816592e-01 2.27878721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.542755096 meters 0.02122767151759854 Centerline is valid? [True, True] Translation: X:107.70, Y:42.34, Z:2.28 [[ 6.42468964e-01 -7.66210652e-01 -1.24446069e-02 1.07703209e+02] [ 7.66079150e-01 6.42589347e-01 -1.42009297e-02 4.23388718e+01] [ 1.88776754e-02 -4.09897306e-04 9.99821717e-01 2.27899738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.572755096 meters 0.02132074441129468 Centerline is valid? [True, True] Translation: X:107.72, Y:42.36, Z:2.28 [[ 6.41795679e-01 -7.66777478e-01 -1.22721114e-02 1.07720281e+02] [ 7.66649558e-01 6.41912865e-01 -1.40117630e-02 4.23619502e+01] [ 1.86215305e-02 -4.15719846e-04 9.99826518e-01 2.27928630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.602755096 meters 0.020422215193590207 Centerline is valid? [True, True] Translation: X:107.74, Y:42.39, Z:2.28 [[ 6.41140249e-01 -7.67328883e-01 -1.20650394e-02 1.07736092e+02] [ 7.67205197e-01 6.41253623e-01 -1.37832349e-02 4.23851216e+01] [ 1.83130245e-02 -4.19374282e-04 9.99832215e-01 2.27984052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.632755096 meters 0.02032319316583112 Centerline is valid? [True, True] Translation: X:107.75, Y:42.41, Z:2.28 [[ 6.40874502e-01 -7.67551797e-01 -1.20046362e-02 1.07753376e+02] [ 7.67429231e-01 6.40986789e-01 -1.37226589e-02 4.24074943e+01] [ 1.82276647e-02 -4.18206589e-04 9.99833775e-01 2.28011927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.662755096 meters 0.022896291784595076 Centerline is valid? [True, True] Translation: X:107.77, Y:42.43, Z:2.28 [[ 6.40360515e-01 -7.67985816e-01 -1.16703309e-02 1.07773309e+02] [ 7.67869908e-01 6.40466717e-01 -1.33487836e-02 4.24264084e+01] [ 1.77261350e-02 -4.13261949e-04 9.99842794e-01 2.28065777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.692755096 meters 0.02084936475620692 Centerline is valid? [True, True] Translation: X:107.79, Y:42.45, Z:2.28 [[ 6.39691782e-01 -7.68556280e-01 -1.07549436e-02 1.07787025e+02] [ 7.68457818e-01 6.39782066e-01 -1.23081336e-02 4.24519628e+01] [ 1.63403134e-02 -3.91308621e-04 9.99866412e-01 2.28141858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72275509600001 meters 0.023713670817077804 Centerline is valid? [True, True] Translation: X:107.81, Y:42.47, Z:2.28 [[ 6.39118386e-01 -7.69035429e-01 -1.05922984e-02 1.07807367e+02] [ 7.68939869e-01 6.39206034e-01 -1.21294272e-02 4.24706853e+01] [ 1.60986203e-02 -3.92700660e-04 9.99870332e-01 2.28245732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75275509600002 meters 0.02078408390754559 Centerline is valid? [True, True] Translation: X:107.82, Y:42.50, Z:2.28 [[ 6.38487405e-01 -7.69565598e-01 -1.01303622e-02 1.07821273e+02] [ 7.69478164e-01 6.38567649e-01 -1.16065782e-02 4.24967006e+01] [ 1.54009449e-02 -3.84438557e-04 9.99881325e-01 2.28256913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78275509600002 meters 0.02078408390754559 Centerline is valid? [True, True] Translation: X:107.84, Y:42.52, Z:2.28 [[ 6.38237677e-01 -7.69772770e-01 -1.01267625e-02 1.07839272e+02] [ 7.69685312e-01 6.38317895e-01 -1.16097179e-02 4.25175891e+01] [ 1.54009384e-02 -3.84660906e-04 9.99881325e-01 2.28308400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81275509600002 meters 0.02246966341198637 Centerline is valid? [True, True] Translation: X:107.86, Y:42.54, Z:2.28 [[ 6.36947209e-01 -7.70852315e-01 -9.21752205e-03 1.07856559e+02] [ 7.70779869e-01 6.37013793e-01 -1.05745234e-02 4.25389153e+01] [ 1.40230845e-02 -3.69267297e-04 9.99901604e-01 2.28445188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84275509600002 meters 0.02177000784141724 Centerline is valid? [True, True] Translation: X:107.87, Y:42.56, Z:2.28 [[ 6.36162256e-01 -7.71504481e-01 -8.85548709e-03 1.07872853e+02] [ 7.71437648e-01 6.36223782e-01 -1.01614437e-02 4.25619542e+01] [ 1.34736708e-02 -3.67129183e-04 9.99909159e-01 2.28471291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87275509600002 meters 0.0265036872553573 Centerline is valid? [True, True] Translation: X:107.89, Y:42.58, Z:2.29 [[ 6.34862776e-01 -7.72585946e-01 -7.75956795e-03 1.07893908e+02] [ 7.72534662e-01 6.34910104e-01 -8.90816137e-03 4.25803224e+01] [ 1.18089484e-02 -3.39075141e-04 9.99930214e-01 2.28660611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90275509600002 meters 0.025865754180297556 Centerline is valid? [True, True] Translation: X:107.91, Y:42.60, Z:2.29 [[ 6.34008211e-01 -7.73290657e-01 -7.42615580e-03 1.07910139e+02] [ 7.73243676e-01 6.34051613e-01 -8.53047519e-03 4.26035712e+01] [ 1.13051028e-02 -3.33836699e-04 9.99936040e-01 2.28659634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.932755096 meters 0.02652203621987781 Centerline is valid? [True, True] Translation: X:107.93, Y:42.63, Z:2.29 [[ 6.33687962e-01 -7.73549122e-01 -7.83087667e-03 1.07927327e+02] [ 7.73496827e-01 6.33736247e-01 -9.00153255e-03 4.26255972e+01] [ 1.19258380e-02 -3.52995438e-04 9.99928822e-01 2.28543383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.962755096 meters 0.024008817627798752 Centerline is valid? [True, True] Translation: X:107.94, Y:42.65, Z:2.29 [[ 6.33142077e-01 -7.74002734e-01 -7.13295264e-03 1.07940304e+02] [ 7.73959317e-01 6.33182171e-01 -8.20445970e-03 4.26502601e+01] [ 1.08667327e-02 -3.26026503e-04 9.99940902e-01 2.28563400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.992755096 meters 0.026128534092314224 Centerline is valid? [True, True] Translation: X:107.96, Y:42.67, Z:2.29 [[ 6.33071899e-01 -7.74061510e-01 -6.98210617e-03 1.07960012e+02] [ 7.74019866e-01 6.33110321e-01 -8.03549046e-03 4.26707495e+01] [ 1.06404074e-02 -3.17245670e-04 9.99943339e-01 2.28682467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.022755096 meters 0.026733962087569254 Centerline is valid? [True, True] Translation: X:107.98, Y:42.69, Z:2.29 [[ 6.32896389e-01 -7.74207996e-01 -6.64376240e-03 1.07977289e+02] [ 7.74170260e-01 6.32931187e-01 -7.64994561e-03 4.26921693e+01] [ 1.01276935e-02 -3.01780313e-04 9.99948668e-01 2.28752021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.052755096 meters 0.02692529045014953 Centerline is valid? [True, True] Translation: X:107.99, Y:42.71, Z:2.29 [[ 6.32761891e-01 -7.74316517e-01 -6.80592498e-03 1.07992748e+02] [ 7.74276860e-01 6.32798417e-01 -7.84263119e-03 4.27144174e+01] [ 1.03794574e-02 -3.07152083e-04 9.99946085e-01 2.28695255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.082755096 meters 0.025697546964351326 Centerline is valid? [True, True] Translation: X:108.01, Y:42.74, Z:2.29 [[ 6.32457304e-01 -7.74565001e-01 -6.84243116e-03 1.08008413e+02] [ 7.74524872e-01 6.32494241e-01 -7.89037627e-03 4.27373569e+01] [ 1.04394076e-02 -3.09307020e-04 9.99945460e-01 2.28647362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.112755096 meters 0.027681167320002364 Centerline is valid? [True, True] Translation: X:108.03, Y:42.76, Z:2.29 [[ 6.31954837e-01 -7.74975896e-01 -6.74124500e-03 1.08027534e+02] [ 7.74936918e-01 6.31990716e-01 -7.77866287e-03 4.27570689e+01] [ 1.02886805e-02 -3.08276001e-04 9.99947023e-01 2.28759948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.142755096 meters 0.02928251523177771 Centerline is valid? [True, True] Translation: X:108.05, Y:42.78, Z:2.29 [[ 6.30835791e-01 -7.75890417e-01 -6.34554641e-03 1.08045585e+02] [ 7.75855872e-01 6.30867634e-01 -7.32768547e-03 4.27780974e+01] [ 9.68868078e-03 -3.00663181e-04 9.99953018e-01 2.28839342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.172755096 meters 0.02412159116605061 Centerline is valid? [True, True] Translation: X:108.06, Y:42.81, Z:2.29 [[ 6.29900136e-01 -7.76651734e-01 -6.15654727e-03 1.08057715e+02] [ 7.76619220e-01 6.29930150e-01 -7.11284853e-03 4.28056858e+01] [ 9.40240088e-03 -3.00908679e-04 9.99955751e-01 2.28627098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.202755096 meters 0.029650341733773095 Centerline is valid? [True, True] Translation: X:108.08, Y:42.82, Z:2.29 [[ 6.28122190e-01 -7.78094289e-01 -5.63846835e-03 1.08079916e+02] [ 7.78067043e-01 6.28147429e-01 -6.51797332e-03 4.28222891e+01] [ 8.61338721e-03 -2.93022720e-04 9.99962861e-01 2.28867537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.232755096 meters 0.030016774449538815 Centerline is valid? [True, True] Translation: X:108.10, Y:42.84, Z:2.29 [[ 6.27457517e-01 -7.78630164e-01 -5.66853067e-03 1.08097515e+02] [ 7.78602603e-01 6.27483050e-01 -6.55808334e-03 4.28435108e+01] [ 8.66322843e-03 -2.98614047e-04 9.99962429e-01 2.28907985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.262755096 meters 0.02945773946313568 Centerline is valid? [True, True] Translation: X:108.11, Y:42.87, Z:2.29 [[ 6.26517120e-01 -7.79391055e-01 -5.08731196e-03 1.08114476e+02] [ 7.79368875e-01 6.26537713e-01 -5.88651456e-03 4.28661634e+01] [ 7.77528959e-03 -2.76890446e-04 9.99969734e-01 2.28952652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.292755096 meters 0.0305979324024232 Centerline is valid? [True, True] Translation: X:108.13, Y:42.89, Z:2.29 [[ 6.25662298e-01 -7.80076184e-01 -5.27597785e-03 1.08132672e+02] [ 7.80052315e-01 6.25684474e-01 -6.10941663e-03 4.28863948e+01] [ 8.06690783e-03 -2.93107084e-04 9.99967419e-01 2.29004652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.322755096 meters 0.031370867753324955 Centerline is valid? [True, True] Translation: X:108.15, Y:42.91, Z:2.29 [[ 6.24799906e-01 -7.80769045e-01 -4.97744809e-03 1.08151033e+02] [ 7.80747801e-01 6.24819668e-01 -5.76653186e-03 4.29081907e+01] [ 7.61233704e-03 -2.83203086e-04 9.99970986e-01 2.29067111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.352755096 meters 0.03146663619437759 Centerline is valid? [True, True] Translation: X:108.17, Y:42.93, Z:2.29 [[ 6.24402027e-01 -7.81083978e-01 -5.47074243e-03 1.08168955e+02] [ 7.81058287e-01 6.24425914e-01 -6.34265232e-03 4.29299228e+01] [ 8.37021745e-03 -3.12603745e-04 9.99964920e-01 2.29064229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.382755096 meters 0.03434415572022433 Centerline is valid? [True, True] Translation: X:108.19, Y:42.95, Z:2.29 [[ 6.23932143e-01 -7.81460035e-01 -5.37530791e-03 1.08188794e+02] [ 7.81435217e-01 6.23955220e-01 -6.23574191e-03 4.29482971e+01] [ 8.22693452e-03 -3.09775091e-04 9.99966110e-01 2.29188089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.412755096 meters 0.03217523465175234 Centerline is valid? [True, True] Translation: X:108.20, Y:42.97, Z:2.29 [[ 6.23718629e-01 -7.81630103e-01 -5.42714433e-03 1.08203688e+02] [ 7.81604770e-01 6.23742162e-01 -6.30077712e-03 4.29728871e+01] [ 8.31001580e-03 -3.11969828e-04 9.99965423e-01 2.29093787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.442755096 meters 0.03211609146574928 Centerline is valid? [True, True] Translation: X:108.22, Y:43.00, Z:2.29 [[ 6.23724493e-01 -7.81624772e-01 -5.52010125e-03 1.08221380e+02] [ 7.81598523e-01 6.23748841e-01 -6.41346491e-03 4.29953317e+01] [ 8.45607981e-03 -3.14267833e-04 9.99964197e-01 2.29121911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47275509600001 meters 0.032210686462146865 Centerline is valid? [True, True] Translation: X:108.24, Y:43.02, Z:2.29 [[ 6.23995232e-01 -7.81408039e-01 -5.60598461e-03 1.08238215e+02] [ 7.81380924e-01 6.24020334e-01 -6.51714691e-03 4.30178430e+01] [ 8.59079939e-03 -3.13740841e-04 9.99963049e-01 2.29164558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50275509600002 meters 0.03226479222563383 Centerline is valid? [True, True] Translation: X:108.26, Y:43.04, Z:2.29 [[ 6.24112529e-01 -7.81311239e-01 -6.02492359e-03 1.08255548e+02] [ 7.81279867e-01 6.24141520e-01 -7.00945831e-03 4.30393444e+01] [ 9.23697353e-03 -3.32460751e-04 9.99957283e-01 2.29166657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53275509600002 meters 0.032339893664100436 Centerline is valid? [True, True] Translation: X:108.27, Y:43.06, Z:2.29 [[ 6.24081096e-01 -7.81337379e-01 -5.88946866e-03 1.08273533e+02] [ 7.81307364e-01 6.24108802e-01 -6.85614933e-03 4.30612716e+01] [ 9.03263497e-03 -3.22692039e-04 9.99959153e-01 2.29248253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56275509600002 meters 0.032275322691162914 Centerline is valid? [True, True] Translation: X:108.29, Y:43.08, Z:2.29 [[ 6.24169079e-01 -7.81264533e-01 -6.22015143e-03 1.08291324e+02] [ 7.81231000e-01 6.24199981e-01 -7.24632391e-03 4.30832637e+01] [ 9.54391427e-03 -3.36443801e-04 9.99954399e-01 2.29262671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59275509600002 meters 0.03156855251195074 Centerline is valid? [True, True] Translation: X:108.31, Y:43.11, Z:2.29 [[ 6.24969447e-01 -7.80622915e-01 -6.40744992e-03 1.08307708e+02] [ 7.80587246e-01 6.25002203e-01 -7.46979112e-03 4.31061968e+01] [ 9.83576044e-03 -3.33182463e-04 9.99951572e-01 2.29303955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62275509600002 meters 0.0314831090990601 Centerline is valid? [True, True] Translation: X:108.32, Y:43.13, Z:2.29 [[ 6.25599833e-01 -7.80116410e-01 -6.57540832e-03 1.08324661e+02] [ 7.80078759e-01 6.25634301e-01 -7.67150714e-03 4.31276889e+01] [ 1.00984696e-02 -3.30042772e-04 9.99948955e-01 2.29380591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65275509600002 meters 0.030275241059553426 Centerline is valid? [True, True] Translation: X:108.34, Y:43.15, Z:2.29 [[ 6.27289994e-01 -7.78755034e-01 -6.91809998e-03 1.08339656e+02] [ 7.78713224e-01 6.27328059e-01 -8.07600408e-03 4.31508724e+01] [ 1.06291471e-02 -3.21219383e-04 9.99943457e-01 2.29404837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.682755096 meters 0.029240581102404052 Centerline is valid? [True, True] Translation: X:108.36, Y:43.17, Z:2.29 [[ 6.28468682e-01 -7.77803767e-01 -6.95813737e-03 1.08356730e+02] [ 7.77761393e-01 6.28507125e-01 -8.12467732e-03 4.31742310e+01] [ 1.06926435e-02 -3.05665370e-04 9.99942785e-01 2.29444133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.712755096 meters 0.02789404693040667 Centerline is valid? [True, True] Translation: X:108.37, Y:43.20, Z:2.30 [[ 6.29501336e-01 -7.76968896e-01 -6.88502903e-03 1.08372969e+02] [ 7.76927313e-01 6.29538921e-01 -8.04339838e-03 4.31977116e+01] [ 1.05838641e-02 -2.85837090e-04 9.99943948e-01 2.29500559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.742755096 meters 0.027027540564764887 Centerline is valid? [True, True] Translation: X:108.39, Y:43.22, Z:2.30 [[ 6.30701164e-01 -7.75994056e-01 -7.01897543e-03 1.08389384e+02] [ 7.75950725e-01 6.30740161e-01 -8.20496437e-03 4.32202067e+01] [ 1.07941533e-02 -2.71498493e-04 9.99941705e-01 2.29590728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.772755096 meters 0.02177241344246264 Centerline is valid? [True, True] Translation: X:108.40, Y:43.25, Z:2.29 [[ 6.33402503e-01 -7.73789272e-01 -7.17161059e-03 1.08400403e+02] [ 7.73743843e-01 6.33443057e-01 -8.38797268e-03 4.32478507e+01] [ 1.10333302e-02 -2.36026653e-04 9.99939103e-01 2.29488751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.802755096 meters 0.019230194231896265 Centerline is valid? [True, True] Translation: X:108.41, Y:43.27, Z:2.29 [[ 6.36042247e-01 -7.71619935e-01 -7.27569916e-03 1.08414442e+02] [ 7.71572967e-01 6.36083829e-01 -8.51587700e-03 4.32737305e+01] [ 1.11989750e-02 -1.97275241e-04 9.99937270e-01 2.29436948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.832755096 meters 0.018643057784296174 Centerline is valid? [True, True] Translation: X:108.43, Y:43.30, Z:2.29 [[ 6.36930658e-01 -7.70888392e-01 -7.10093551e-03 1.08431381e+02] [ 7.70843556e-01 6.36970215e-01 -8.31607804e-03 4.32965700e+01] [ 1.09338525e-02 -1.76945319e-04 9.99940208e-01 2.29472642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.862755096 meters 0.01899000404930702 Centerline is valid? [True, True] Translation: X:108.45, Y:43.32, Z:2.30 [[ 6.37944333e-01 -7.70050844e-01 -6.98042341e-03 1.08449170e+02] [ 7.70007415e-01 6.37982502e-01 -8.17968866e-03 4.33171310e+01] [ 1.07521641e-02 -1.56791764e-04 9.99942182e-01 2.29622402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.892755096 meters 0.01806579104494089 Centerline is valid? [True, True] Translation: X:108.46, Y:43.34, Z:2.30 [[ 6.38845646e-01 -7.69303587e-01 -6.94487296e-03 1.08464956e+02] [ 7.69260499e-01 6.38883378e-01 -8.14333441e-03 4.33403094e+01] [ 1.07016603e-02 -1.40082707e-04 9.99942726e-01 2.29601054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.922755096 meters 0.017656524111683572 Centerline is valid? [True, True] Translation: X:108.48, Y:43.36, Z:2.30 [[ 6.40496721e-01 -7.67931391e-01 -6.73260287e-03 1.08481394e+02] [ 7.67890758e-01 6.40532096e-01 -7.90049223e-03 4.33626042e+01] [ 1.03794842e-02 -1.09664149e-04 9.99946126e-01 2.29649205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.952755096 meters 0.01767487348898485 Centerline is valid? [True, True] Translation: X:108.50, Y:43.38, Z:2.30 [[ 6.40933818e-01 -7.67564470e-01 -6.97317712e-03 1.08499102e+02] [ 7.67520823e-01 6.40971741e-01 -8.18617622e-03 4.33840534e+01] [ 1.07530275e-02 -1.05261454e-04 9.99942179e-01 2.29755523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.982755096 meters 0.017698196812847726 Centerline is valid? [True, True] Translation: X:108.52, Y:43.41, Z:2.30 [[ 6.41042951e-01 -7.67473101e-01 -6.99810416e-03 1.08516324e+02] [ 7.67429078e-01 6.41081140e-01 -8.22080643e-03 4.34050466e+01] [ 1.07956004e-02 -1.00658609e-04 9.99941721e-01 2.29789652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.012755096 meters 0.017612924372692428 Centerline is valid? [True, True] Translation: X:108.53, Y:43.43, Z:2.30 [[ 6.41112275e-01 -7.67413482e-01 -7.18322607e-03 1.08534088e+02] [ 7.67367039e-01 6.41152508e-01 -8.44328773e-03 4.34265303e+01] [ 1.10850362e-02 -9.90755193e-05 9.99938554e-01 2.29801435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.042755096 meters 0.01778933319008263 Centerline is valid? [True, True] Translation: X:108.55, Y:43.45, Z:2.30 [[ 6.40566005e-01 -7.67868017e-01 -7.34176761e-03 1.08552424e+02] [ 7.67819466e-01 6.40608068e-01 -8.63546368e-03 4.34474412e+01] [ 1.13340919e-02 -1.05567620e-04 9.99935762e-01 2.29771179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.072755096 meters 0.018039199648818796 Centerline is valid? [True, True] Translation: X:108.57, Y:43.47, Z:2.30 [[ 6.39609249e-01 -7.68662876e-01 -7.57575967e-03 1.08571499e+02] [ 7.68611160e-01 6.39654101e-01 -8.91716361e-03 4.34681425e+01] [ 1.17001584e-02 -1.19313102e-04 9.99931544e-01 2.29811844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.102755096 meters 0.0188973819034968 Centerline is valid? [True, True] Translation: X:108.59, Y:43.49, Z:2.30 [[ 6.37758075e-01 -7.70201256e-01 -7.39349444e-03 1.08592384e+02] [ 7.70152013e-01 6.37800914e-01 -8.71040528e-03 4.34875717e+01] [ 1.14243426e-02 -1.38983321e-04 9.99934730e-01 2.29898195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.132755096 meters 0.020072661548036937 Centerline is valid? [True, True] Translation: X:108.61, Y:43.51, Z:2.30 [[ 6.36275438e-01 -7.71427050e-01 -7.33980671e-03 1.08612261e+02] [ 7.71378578e-01 6.36317752e-01 -8.64919695e-03 4.35072013e+01] [ 1.13426738e-02 -1.58498081e-04 9.99935657e-01 2.30016969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.162755096 meters 0.020351707366686775 Centerline is valid? [True, True] Translation: X:108.63, Y:43.53, Z:2.30 [[ 6.34662023e-01 -7.72754481e-01 -7.39117358e-03 1.08631264e+02] [ 7.72705388e-01 6.34705033e-01 -8.71227057e-03 4.35284759e+01] [ 1.14236612e-02 -1.81852388e-04 9.99934731e-01 2.29982626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.192755096 meters 0.022150607267246502 Centerline is valid? [True, True] Translation: X:108.65, Y:43.55, Z:2.30 [[ 6.31934423e-01 -7.74982680e-01 -7.79302333e-03 1.08652172e+02] [ 7.74928194e-01 6.31982431e-01 -9.19245798e-03 4.35464638e+01] [ 1.20490495e-02 -2.30002870e-04 9.99927381e-01 2.29941765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22275509600001 meters 0.02286678068510837 Centerline is valid? [True, True] Translation: X:108.67, Y:43.57, Z:2.30 [[ 6.30396176e-01 -7.76229997e-01 -8.22511376e-03 1.08671700e+02] [ 7.76169325e-01 6.30449777e-01 -9.70859942e-03 4.35668407e+01] [ 1.27216272e-02 -2.63817050e-04 9.99919042e-01 2.29934348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25275509600002 meters 0.024009472792810682 Centerline is valid? [True, True] Translation: X:108.69, Y:43.59, Z:2.30 [[ 6.28270866e-01 -7.77945650e-01 -8.73406760e-03 1.08692299e+02] [ 7.77877294e-01 6.28331495e-01 -1.03173324e-02 4.35860611e+01] [ 1.35142136e-02 -3.11953521e-04 9.99908630e-01 2.29849500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28275509600002 meters 0.024708775945205194 Centerline is valid? [True, True] Translation: X:108.71, Y:43.61, Z:2.30 [[ 6.27371050e-01 -7.78669278e-01 -8.92861950e-03 1.08711694e+02] [ 7.78597866e-01 6.27434494e-01 -1.05507460e-02 4.36067026e+01] [ 1.38176656e-02 -3.32571491e-04 9.99904476e-01 2.29904512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31275509600002 meters 0.025128635857892778 Centerline is valid? [True, True] Translation: X:108.73, Y:43.63, Z:2.30 [[ 6.26712710e-01 -7.79196852e-01 -9.13476119e-03 1.08730484e+02] [ 7.79122055e-01 6.26779183e-01 -1.08017677e-02 4.36271903e+01] [ 1.41421815e-02 -3.47488836e-04 9.99899934e-01 2.29947593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34275509600002 meters 0.02577672115726175 Centerline is valid? [True, True] Translation: X:108.75, Y:43.65, Z:2.30 [[ 6.25805393e-01 -7.79923256e-01 -9.34475101e-03 1.08749498e+02] [ 7.79844952e-01 6.25875051e-01 -1.10576587e-02 4.36476678e+01] [ 1.44727717e-02 -3.67514485e-04 9.99895196e-01 2.29987337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37275509600002 meters 0.02539173793242389 Centerline is valid? [True, True] Translation: X:108.77, Y:43.67, Z:2.30 [[ 6.25482406e-01 -7.80180669e-01 -9.48067460e-03 1.08767202e+02] [ 7.80099989e-01 6.25554141e-01 -1.12260115e-02 4.36693596e+01] [ 1.46889924e-02 -3.74201466e-04 9.99892041e-01 2.30043331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40275509600002 meters 0.026083043600623065 Centerline is valid? [True, True] Translation: X:108.79, Y:43.69, Z:2.30 [[ 6.25537862e-01 -7.80134297e-01 -9.63649943e-03 1.08786233e+02] [ 7.80050821e-01 6.25611971e-01 -1.14183011e-02 4.36887943e+01] [ 1.49365177e-02 -3.74379653e-04 9.99888374e-01 2.30119453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.432755096 meters 0.02467782598176272 Centerline is valid? [True, True] Translation: X:108.80, Y:43.71, Z:2.30 [[ 6.25244337e-01 -7.80369212e-01 -9.66494307e-03 1.08802537e+02] [ 7.80285149e-01 6.25318919e-01 -1.14601877e-02 4.37115195e+01] [ 1.49868494e-02 -3.75994071e-04 9.99887620e-01 2.30148902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.462755096 meters 0.02597707919311702 Centerline is valid? [True, True] Translation: X:108.82, Y:43.73, Z:2.30 [[ 6.25300667e-01 -7.80322225e-01 -9.81328156e-03 1.08822089e+02] [ 7.80235426e-01 6.25377553e-01 -1.16445561e-02 4.37303991e+01] [ 1.52235119e-02 -3.75321226e-04 9.99884045e-01 2.30265692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.492755096 meters 0.024480589319144628 Centerline is valid? [True, True] Translation: X:108.84, Y:43.75, Z:2.30 [[ 6.25350727e-01 -7.80280300e-01 -9.95598676e-03 1.08838659e+02] [ 7.80190842e-01 6.25429863e-01 -1.18210603e-02 4.37536898e+01] [ 1.54505119e-02 -3.75261007e-04 9.99880563e-01 2.30262432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.522755096 meters 0.024028174296472762 Centerline is valid? [True, True] Translation: X:108.86, Y:43.78, Z:2.30 [[ 6.25693094e-01 -7.80004849e-01 -1.00293561e-02 1.08856485e+02] [ 7.79913902e-01 6.25773363e-01 -1.19164987e-02 4.37754694e+01] [ 1.55710307e-02 -3.65963280e-04 9.99878697e-01 2.30314800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.552755096 meters 0.024057137472080582 Centerline is valid? [True, True] Translation: X:108.87, Y:43.80, Z:2.30 [[ 6.25749080e-01 -7.79958308e-01 -1.01551314e-02 1.08874385e+02] [ 7.79864922e-01 6.25831372e-01 -1.20746702e-02 4.37962741e+01] [ 1.57731392e-02 -3.63916999e-04 9.99875530e-01 2.30391973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.582755096 meters 0.023799331519180296 Centerline is valid? [True, True] Translation: X:108.89, Y:43.82, Z:2.30 [[ 6.25655036e-01 -7.80036855e-01 -9.91367016e-03 1.08892312e+02] [ 7.79947786e-01 6.25733473e-01 -1.17928503e-02 4.38180390e+01] [ 1.54021732e-02 -3.53888886e-04 9.99881317e-01 2.30431824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.612755096 meters 0.023869394937722676 Centerline is valid? [True, True] Translation: X:108.91, Y:43.84, Z:2.30 [[ 6.25727666e-01 -7.79972228e-01 -1.04025168e-02 1.08910956e+02] [ 7.79874004e-01 6.25814023e-01 -1.23833319e-02 4.38379810e+01] [ 1.61686958e-02 -3.64059049e-04 9.99869212e-01 2.30467413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.642755096 meters 0.02416715509662257 Centerline is valid? [True, True] Translation: X:108.93, Y:43.86, Z:2.30 [[ 6.25574825e-01 -7.80090935e-01 -1.06897753e-02 1.08929431e+02] [ 7.79987071e-01 6.25666041e-01 -1.27347630e-02 4.38580230e+01] [ 1.66225026e-02 -3.71339406e-04 9.99861768e-01 2.30483330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.672755096 meters 0.02416715509662257 Centerline is valid? [True, True] Translation: X:108.95, Y:43.88, Z:2.31 [[ 6.25320176e-01 -7.80295138e-01 -1.06852728e-02 1.08946963e+02] [ 7.80191239e-01 6.25411352e-01 -1.27385397e-02 4.38792925e+01] [ 1.66225115e-02 -3.70890355e-04 9.99861768e-01 2.30534797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.702755096 meters 0.02316970194139607 Centerline is valid? [True, True] Translation: X:108.96, Y:43.90, Z:2.31 [[ 6.24894114e-01 -7.80636197e-01 -1.06992259e-02 1.08963722e+02] [ 7.80531937e-01 6.24985589e-01 -1.27635881e-02 4.39013403e+01] [ 1.66505809e-02 -3.75196415e-04 9.99861299e-01 2.30544800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.732755096 meters 0.023948744506485795 Centerline is valid? [True, True] Translation: X:108.98, Y:43.92, Z:2.31 [[ 6.24377978e-01 -7.81039169e-01 -1.13998201e-02 1.08982547e+02] [ 7.80920691e-01 6.24481907e-01 -1.36096237e-02 4.39203210e+01] [ 1.77486306e-02 -4.04806055e-04 9.99842399e-01 2.30577673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.762755096 meters 0.023813529905168034 Centerline is valid? [True, True] Translation: X:109.00, Y:43.94, Z:2.31 [[ 6.23768481e-01 -7.81523241e-01 -1.15890436e-02 1.09000240e+02] [ 7.81400720e-01 6.23875987e-01 -1.38444240e-02 4.39417173e+01] [ 1.80498651e-02 -4.19971685e-04 9.99837000e-01 2.30604084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.792755096 meters 0.02464310795415755 Centerline is valid? [True, True] Translation: X:109.02, Y:43.96, Z:2.31 [[ 6.23156332e-01 -7.82009948e-01 -1.16887768e-02 1.09018800e+02] [ 7.81885215e-01 6.23265798e-01 -1.39733801e-02 4.39609096e+01] [ 1.82125371e-02 -4.31681441e-04 9.99834045e-01 2.30657279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.822755096 meters 0.025462924371610636 Centerline is valid? [True, True] Translation: X:109.04, Y:43.98, Z:2.31 [[ 6.22306929e-01 -7.82686170e-01 -1.16809742e-02 1.09038128e+02] [ 7.82561562e-01 6.22416388e-01 -1.39728648e-02 4.39797727e+01] [ 1.82067978e-02 -4.45670857e-04 9.99834143e-01 2.30711071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.852755096 meters 0.02512542473953353 Centerline is valid? [True, True] Translation: X:109.06, Y:44.00, Z:2.31 [[ 6.21670438e-01 -7.83190523e-01 -1.17674010e-02 1.09056040e+02] [ 7.83063968e-01 6.21781631e-01 -1.40863982e-02 4.40011522e+01] [ 1.83490874e-02 -4.57530379e-04 9.99831537e-01 2.30757682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.882755096 meters 0.02564576262479556 Centerline is valid? [True, True] Translation: X:109.07, Y:44.02, Z:2.31 [[ 6.21028483e-01 -7.83699535e-01 -1.17754736e-02 1.09074360e+02] [ 7.83572721e-01 6.21139936e-01 -1.41057041e-02 4.40212777e+01] [ 1.83688507e-02 -4.66895873e-04 9.99831169e-01 2.30804889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.912755096 meters 0.025893018996033874 Centerline is valid? [True, True] Translation: X:109.09, Y:44.04, Z:2.31 [[ 6.20046450e-01 -7.84475593e-01 -1.18509085e-02 1.09093582e+02] [ 7.84347099e-01 6.20159502e-01 -1.42063726e-02 4.40418397e+01] [ 1.84940061e-02 -4.86614781e-04 9.99828853e-01 2.30885804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.942755096 meters 0.026638474868246494 Centerline is valid? [True, True] Translation: X:109.11, Y:44.06, Z:2.31 [[ 6.19457155e-01 -7.84942005e-01 -1.17847816e-02 1.09111955e+02] [ 7.84814857e-01 6.19569049e-01 -1.41362525e-02 4.40612413e+01] [ 1.83976243e-02 -4.92068974e-04 9.99830628e-01 2.30944371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97275509600001 meters 0.027466155411042616 Centerline is valid? [True, True] Translation: X:109.13, Y:44.08, Z:2.31 [[ 6.18920417e-01 -7.85367008e-01 -1.16696213e-02 1.09130411e+02] [ 7.85242285e-01 6.19030223e-01 -1.40048977e-02 4.40809549e+01] [ 1.82228329e-02 -4.95562964e-04 9.99833828e-01 2.31013290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00275509600002 meters 0.027429165607112498 Centerline is valid? [True, True] Translation: X:109.15, Y:44.10, Z:2.31 [[ 6.18155640e-01 -7.85968581e-01 -1.17044366e-02 1.09149164e+02] [ 7.85843038e-01 6.18266229e-01 -1.40566249e-02 4.41024102e+01] [ 1.82845234e-02 -5.08668024e-04 9.99832695e-01 2.31089861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03275509600002 meters 0.026878101552470036 Centerline is valid? [True, True] Translation: X:109.17, Y:44.12, Z:2.31 [[ 6.17950804e-01 -7.86135885e-01 -1.12771431e-02 1.09166452e+02] [ 7.86019217e-01 6.18053501e-01 -1.35521423e-02 4.41244215e+01] [ 1.76237031e-02 -4.89493960e-04 9.99844571e-01 2.31142806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06275509600002 meters 0.028606943624707108 Centerline is valid? [True, True] Translation: X:109.19, Y:44.14, Z:2.31 [[ 6.17879467e-01 -7.86189071e-01 -1.14764489e-02 1.09186015e+02] [ 7.86068079e-01 6.17985842e-01 -1.38012237e-02 4.41435024e+01] [ 1.79426542e-02 -4.93777365e-04 9.99838896e-01 2.31212165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09275509600002 meters 0.027266655087286443 Centerline is valid? [True, True] Translation: X:109.20, Y:44.17, Z:2.31 [[ 6.18120457e-01 -7.85999280e-01 -1.14992371e-02 1.09202111e+02] [ 7.85877595e-01 6.18227222e-01 -1.38386248e-02 4.41663418e+01] [ 1.79862905e-02 -4.83055734e-04 9.99838117e-01 2.31276265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12275509600002 meters 0.02513264504955846 Centerline is valid? [True, True] Translation: X:109.22, Y:44.19, Z:2.31 [[ 6.18567576e-01 -7.85647661e-01 -1.14850369e-02 1.09216538e+02] [ 7.85526053e-01 6.18674014e-01 -1.38305895e-02 4.41896417e+01] [ 1.79714641e-02 -4.66641460e-04 9.99838391e-01 2.31292585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15275509600002 meters 0.02689375375808405 Centerline is valid? [True, True] Translation: X:109.24, Y:44.21, Z:2.31 [[ 6.19857583e-01 -7.84628020e-01 -1.16382061e-02 1.09235677e+02] [ 7.84502791e-01 6.19966677e-01 -1.40246377e-02 4.42091614e+01] [ 1.82194237e-02 -4.36927132e-04 9.99833917e-01 2.31315581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.182755096 meters 0.022319850955100758 Centerline is valid? [True, True] Translation: X:109.25, Y:44.24, Z:2.31 [[ 6.20775348e-01 -7.83899613e-01 -1.18052667e-02 1.09247331e+02] [ 7.83770468e-01 6.20887449e-01 -1.42347994e-02 4.42367120e+01] [ 1.84883957e-02 -4.16006893e-04 9.99828988e-01 2.31321718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.212755096 meters 0.023736350494412275 Centerline is valid? [True, True] Translation: X:109.27, Y:44.26, Z:2.31 [[ 6.21731057e-01 -7.83141370e-01 -1.18358813e-02 1.09266934e+02] [ 7.83011236e-01 6.21843585e-01 -1.42814763e-02 4.42562840e+01] [ 1.85444818e-02 -3.88390648e-04 9.99827961e-01 2.31361239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.242755096 meters 0.020837538683103785 Centerline is valid? [True, True] Translation: X:109.28, Y:44.28, Z:2.31 [[ 6.24267037e-01 -7.81119531e-01 -1.19559871e-02 1.09280268e+02] [ 7.80986188e-01 6.24381432e-01 -1.44361200e-02 4.42823602e+01] [ 1.87414317e-02 -3.25466935e-04 9.99824311e-01 2.31405200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.272755096 meters 0.020235005436671102 Centerline is valid? [True, True] Translation: X:109.30, Y:44.31, Z:2.31 [[ 6.25096502e-01 -7.80457821e-01 -1.18301197e-02 1.09297156e+02] [ 7.80326977e-01 6.25208366e-01 -1.42936147e-02 4.43053330e+01] [ 1.85518532e-02 -2.96472998e-04 9.99827856e-01 2.31472353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.302755096 meters 0.01995302248991413 Centerline is valid? [True, True] Translation: X:109.31, Y:44.33, Z:2.32 [[ 6.26119266e-01 -7.79634466e-01 -1.20318487e-02 1.09314665e+02] [ 7.79498789e-01 6.26234802e-01 -1.45468815e-02 4.43278672e+01] [ 1.88760125e-02 -2.70728731e-04 9.99821796e-01 2.31562628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.332755096 meters 0.019696175010575905 Centerline is valid? [True, True] Translation: X:109.33, Y:44.35, Z:2.32 [[ 6.26832379e-01 -7.79064358e-01 -1.18277205e-02 1.09331576e+02] [ 7.78932978e-01 6.26943910e-01 -1.43090545e-02 4.43498750e+01] [ 1.85629917e-02 -2.43622896e-04 9.99827663e-01 2.31652170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.362755096 meters 0.020960931129614727 Centerline is valid? [True, True] Translation: X:109.35, Y:44.37, Z:2.32 [[ 6.27635941e-01 -7.78422483e-01 -1.14701423e-02 1.09349040e+02] [ 7.78298661e-01 6.27740705e-01 -1.38852683e-02 4.43700733e+01] [ 1.80088802e-02 -2.12302992e-04 9.99837804e-01 2.31525022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.392755096 meters 0.019634509229955365 Centerline is valid? [True, True] Translation: X:109.37, Y:44.39, Z:2.32 [[ 6.27590377e-01 -7.78459850e-01 -1.14271963e-02 1.09366604e+02] [ 7.78336824e-01 6.27694367e-01 -1.38408816e-02 4.43912348e+01] [ 1.79473574e-02 -2.07803580e-04 9.99838912e-01 2.31860622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.422755096 meters 0.019421770486691286 Centerline is valid? [True, True] Translation: X:109.38, Y:44.41, Z:2.32 [[ 6.27523623e-01 -7.78515228e-01 -1.13200166e-02 1.09384430e+02] [ 7.78394353e-01 6.27625684e-01 -1.37197782e-02 4.44123358e+01] [ 1.77857894e-02 -2.01952101e-04 9.99841800e-01 2.31967431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.452755096 meters 0.019581781416558624 Centerline is valid? [True, True] Translation: X:109.40, Y:44.43, Z:2.32 [[ 6.27264789e-01 -7.78726891e-01 -1.11047158e-02 1.09402388e+02] [ 7.78610454e-01 6.27363045e-01 -1.34674042e-02 4.44324715e+01] [ 1.74541181e-02 -1.98619374e-04 9.99847646e-01 2.32051382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.482755096 meters 0.0196680941727326 Centerline is valid? [True, True] Translation: X:109.42, Y:44.45, Z:2.32 [[ 6.27021957e-01 -7.78923952e-01 -1.09973825e-02 1.09420710e+02] [ 7.78809654e-01 6.27118361e-01 -1.33448359e-02 4.44535811e+01] [ 1.72912728e-02 -1.97362553e-04 9.99850475e-01 2.32139937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.512755096 meters 0.019977386739811757 Centerline is valid? [True, True] Translation: X:109.44, Y:44.47, Z:2.32 [[ 6.26412189e-01 -7.79415747e-01 -1.09024632e-02 1.09438813e+02] [ 7.79303345e-01 6.26507025e-01 -1.32379607e-02 4.44737969e+01] [ 1.71483448e-02 -2.03906128e-04 9.99852936e-01 2.32226269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.542755096 meters 0.020018004593815496 Centerline is valid? [True, True] Translation: X:109.46, Y:44.49, Z:2.32 [[ 6.25283137e-01 -7.80321279e-01 -1.09407737e-02 1.09457628e+02] [ 7.80208093e-01 6.25378807e-01 -1.32920756e-02 4.44944569e+01] [ 1.72142174e-02 -2.24769442e-04 9.99851799e-01 2.32286127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.572755096 meters 0.02018992484664721 Centerline is valid? [True, True] Translation: X:109.48, Y:44.52, Z:2.32 [[ 6.24635898e-01 -7.80837582e-01 -1.10754164e-02 1.09476467e+02] [ 7.80721530e-01 6.24734035e-01 -1.34639839e-02 4.45158876e+01] [ 1.74323742e-02 -2.36728371e-04 9.99848017e-01 2.32317397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.602755096 meters 0.02062250199793965 Centerline is valid? [True, True] Translation: X:109.50, Y:44.54, Z:2.32 [[ 6.23373899e-01 -7.81835616e-01 -1.17495793e-02 1.09496013e+02] [ 7.81705005e-01 6.23484559e-01 -1.42930394e-02 4.45358963e+01] [ 1.85004885e-02 -2.74797214e-04 9.99828814e-01 2.32273635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.632755096 meters 0.021148828404866288 Centerline is valid? [True, True] Translation: X:109.51, Y:44.56, Z:2.32 [[ 6.22628417e-01 -7.82424760e-01 -1.20560909e-02 1.09514611e+02] [ 7.82287275e-01 6.22745058e-01 -1.46701107e-02 4.45555985e+01] [ 1.89861289e-02 -2.97298673e-04 9.99819703e-01 2.32278995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.662755096 meters 0.021327725441982276 Centerline is valid? [True, True] Translation: X:109.53, Y:44.58, Z:2.32 [[ 6.21590570e-01 -7.83243400e-01 -1.24475176e-02 1.09533166e+02] [ 7.83096836e-01 6.21715104e-01 -1.51550748e-02 4.45769378e+01] [ 1.96089220e-02 -3.27360087e-04 9.99807673e-01 2.32300323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.692755096 meters 0.02212529602126012 Centerline is valid? [True, True] Translation: X:109.55, Y:44.60, Z:2.32 [[ 6.20076086e-01 -7.84426847e-01 -1.34226991e-02 1.09552969e+02] [ 7.84256483e-01 6.20221228e-01 -1.63523005e-02 4.45956315e+01] [ 2.11522264e-02 -3.87168250e-04 9.99776192e-01 2.32226970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72275509600001 meters 0.02269970592031018 Centerline is valid? [True, True] Translation: X:109.57, Y:44.62, Z:2.32 [[ 6.19110714e-01 -7.85186423e-01 -1.35722521e-02 1.09572073e+02] [ 7.85012263e-01 6.19259325e-01 -1.65419629e-02 4.46159892e+01] [ 2.13932684e-02 -4.13077853e-04 9.99771053e-01 2.32241905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75275509600002 meters 0.02197540655818885 Centerline is valid? [True, True] Translation: X:109.59, Y:44.64, Z:2.32 [[ 6.18218919e-01 -7.85881970e-01 -1.39605407e-02 1.09589594e+02] [ 7.85697669e-01 6.18376368e-01 -1.70247079e-02 4.46383203e+01] [ 2.20122794e-02 -4.43767775e-04 9.99757602e-01 2.32290727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78275509600002 meters 0.024251422343834074 Centerline is valid? [True, True] Translation: X:109.61, Y:44.66, Z:2.32 [[ 6.16550917e-01 -7.87186960e-01 -1.42005768e-02 1.09611690e+02] [ 7.86996389e-01 6.16714235e-01 -1.73273312e-02 4.46559276e+01] [ 2.23975470e-02 -4.92620753e-04 9.99749022e-01 2.32300347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81275509600002 meters 0.02353637904915809 Centerline is valid? [True, True] Translation: X:109.63, Y:44.68, Z:2.32 [[ 6.15557478e-01 -7.87965469e-01 -1.41213147e-02 1.09629711e+02] [ 7.87777087e-01 6.15719218e-01 -1.72367461e-02 4.46788078e+01] [ 2.22767255e-02 -5.14240193e-04 9.99751711e-01 2.32447630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84275509600002 meters 0.02536851252084438 Centerline is valid? [True, True] Translation: X:109.65, Y:44.70, Z:2.33 [[ 6.14282247e-01 -7.88961206e-01 -1.40547657e-02 1.09651180e+02] [ 7.88774649e-01 6.14442773e-01 -1.71648316e-02 4.46966244e+01] [ 2.21782355e-02 -5.41991602e-04 9.99753886e-01 2.32539473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87275509600002 meters 0.023547022884210334 Centerline is valid? [True, True] Translation: X:109.67, Y:44.72, Z:2.33 [[ 6.13463275e-01 -7.89595382e-01 -1.42107019e-02 1.09667170e+02] [ 7.89404608e-01 6.13627586e-01 -1.73651982e-02 4.47201550e+01] [ 2.24315590e-02 -5.65082281e-04 9.99748221e-01 2.32685843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90275509600002 meters 0.0230316295084041 Centerline is valid? [True, True] Translation: X:109.69, Y:44.74, Z:2.33 [[ 6.13174672e-01 -7.89818706e-01 -1.42559982e-02 1.09685038e+02] [ 7.89626528e-01 6.13340109e-01 -1.74314821e-02 4.47416978e+01] [ 2.25114861e-02 -5.68371032e-04 9.99746423e-01 2.32841492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.932755096 meters 0.024954122770635922 Centerline is valid? [True, True] Translation: X:109.70, Y:44.76, Z:2.33 [[ 6.13124747e-01 -7.89857134e-01 -1.42741858e-02 1.09704245e+02] [ 7.89664221e-01 6.13290625e-01 -1.74650328e-02 4.47609795e+01] [ 2.25491051e-02 -5.63570050e-04 9.99745578e-01 2.32721642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.962755096 meters 0.023884363166042717 Centerline is valid? [True, True] Translation: X:109.72, Y:44.78, Z:2.33 [[ 6.13127742e-01 -7.89861054e-01 -1.39243397e-02 1.09721805e+02] [ 7.89677266e-01 6.13285594e-01 -1.70468704e-02 4.47824274e+01] [ 2.20042559e-02 -5.43825343e-04 9.99757729e-01 2.32969226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.992755096 meters 0.022860993267901124 Centerline is valid? [True, True] Translation: X:109.74, Y:44.81, Z:2.33 [[ 6.13438276e-01 -7.89614551e-01 -1.42247370e-02 1.09738541e+02] [ 7.89422428e-01 6.13602942e-01 -1.74258406e-02 4.48051483e+01] [ 2.24880378e-02 -5.39648810e-04 9.99746966e-01 2.33091479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.022755096 meters 0.02549303385496007 Centerline is valid? [True, True] Translation: X:109.76, Y:44.83, Z:2.33 [[ 6.14625024e-01 -7.88680858e-01 -1.47845977e-02 1.09757528e+02] [ 7.88472767e-01 6.14802600e-01 -1.81234418e-02 4.48253293e+01] [ 2.33832207e-02 -5.18131831e-04 9.99726441e-01 2.32818260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.052755096 meters 0.022843900548852925 Centerline is valid? [True, True] Translation: X:109.77, Y:44.85, Z:2.33 [[ 6.15649991e-01 -7.87891016e-01 -1.42420147e-02 1.09774171e+02] [ 7.87697501e-01 6.15814526e-01 -1.74675789e-02 4.48468450e+01] [ 2.25329880e-02 -4.64484579e-04 9.99745992e-01 2.33207872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.082755096 meters 0.022340054105776202 Centerline is valid? [True, True] Translation: X:109.79, Y:44.87, Z:2.33 [[ 6.16233674e-01 -7.87431757e-01 -1.43974659e-02 1.09790259e+02] [ 7.87233671e-01 6.16401677e-01 -1.76669266e-02 4.48697523e+01] [ 2.27861212e-02 -4.47214863e-04 9.99740263e-01 2.33220348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.112755096 meters 0.02250429276345368 Centerline is valid? [True, True] Translation: X:109.81, Y:44.89, Z:2.33 [[ 6.17991062e-01 -7.86050340e-01 -1.45571641e-02 1.09808358e+02] [ 7.85847192e-01 6.18162364e-01 -1.78740488e-02 4.48927958e+01] [ 2.30485931e-02 -3.93704180e-04 9.99734268e-01 2.33170636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.142755096 meters 0.020543674193059473 Centerline is valid? [True, True] Translation: X:109.83, Y:44.91, Z:2.33 [[ 6.18954857e-01 -7.85300364e-01 -1.40791835e-02 1.09825139e+02] [ 7.85109938e-01 6.19114866e-01 -1.72964519e-02 4.49141171e+01] [ 2.22995417e-02 -3.47983951e-04 9.99751274e-01 2.33444798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.172755096 meters 0.02008779735687277 Centerline is valid? [True, True] Translation: X:109.84, Y:44.93, Z:2.33 [[ 6.20560816e-01 -7.84025928e-01 -1.44089721e-02 1.09842511e+02] [ 7.83825928e-01 6.20728002e-01 -1.77105052e-02 4.49346677e+01] [ 2.28295477e-02 -3.03680387e-04 9.99739326e-01 2.33452901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.202755096 meters 0.021202179544004284 Centerline is valid? [True, True] Translation: X:109.86, Y:44.96, Z:2.33 [[ 6.20764436e-01 -7.83852847e-01 -1.50409381e-02 1.09860231e+02] [ 7.83634634e-01 6.20946553e-01 -1.84969989e-02 4.49565458e+01] [ 2.38385439e-02 -3.04320918e-04 9.99715775e-01 2.33345670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.232755096 meters 0.019606768870372642 Centerline is valid? [True, True] Translation: X:109.88, Y:44.98, Z:2.34 [[ 6.21216743e-01 -7.83496469e-01 -1.49345624e-02 1.09877856e+02] [ 7.83280962e-01 6.21396173e-01 -1.83774665e-02 4.49775513e+01] [ 2.36789601e-02 -2.81568518e-04 9.99719574e-01 2.33537653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.262755096 meters 0.01937930396043591 Centerline is valid? [True, True] Translation: X:109.90, Y:45.00, Z:2.34 [[ 6.21415769e-01 -7.83327891e-01 -1.54873254e-02 1.09896225e+02] [ 7.83095806e-01 6.21608669e-01 -1.90688348e-02 4.49983215e+01] [ 2.45642059e-02 -2.78384927e-04 9.99698216e-01 2.33569788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.292755096 meters 0.019556531986486447 Centerline is valid? [True, True] Translation: X:109.91, Y:45.02, Z:2.34 [[ 6.21286810e-01 -7.83429297e-01 -1.55317566e-02 1.09914456e+02] [ 7.83195617e-01 6.21480861e-01 -1.91354409e-02 4.50187956e+01] [ 2.46439544e-02 -2.75806652e-04 9.99696254e-01 2.33592052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.322755096 meters 0.019498744593970555 Centerline is valid? [True, True] Translation: X:109.93, Y:45.04, Z:2.34 [[ 6.20656936e-01 -7.83924387e-01 -1.57328831e-02 1.09932880e+02] [ 7.83684487e-01 6.20856240e-01 -1.93946943e-02 4.50403688e+01] [ 2.49718325e-02 -2.92164851e-04 9.99688112e-01 2.33622371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.352755096 meters 0.019875814414937847 Centerline is valid? [True, True] Translation: X:109.95, Y:45.06, Z:2.34 [[ 6.19646708e-01 -7.84715276e-01 -1.61211616e-02 1.09952461e+02] [ 7.84463338e-01 6.19856298e-01 -1.98857165e-02 4.50599471e+01] [ 2.55974291e-02 -3.24341480e-04 9.99672280e-01 2.33627754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.382755096 meters 0.020168005638069714 Centerline is valid? [True, True] Translation: X:109.97, Y:45.08, Z:2.34 [[ 6.18708815e-01 -7.85454760e-01 -1.61314185e-02 1.09971482e+02] [ 7.85202460e-01 6.18918976e-01 -1.99097521e-02 4.50808863e+01] [ 2.56222506e-02 -3.48090380e-04 9.99671636e-01 2.33679408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.412755096 meters 0.023623197278866855 Centerline is valid? [True, True] Translation: X:109.99, Y:45.10, Z:2.33 [[ 6.17126522e-01 -7.86679252e-01 -1.70473024e-02 1.09991363e+02] [ 7.86397596e-01 6.17361794e-01 -2.10531919e-02 4.51012202e+01] [ 2.70864624e-02 -4.13474473e-04 9.99633009e-01 2.33374437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.442755096 meters 0.020879396614576506 Centerline is valid? [True, True] Translation: X:110.01, Y:45.12, Z:2.34 [[ 6.15428400e-01 -7.88021219e-01 -1.64451206e-02 1.10011456e+02] [ 7.87759295e-01 6.15647916e-01 -2.03208383e-02 4.51224077e+01] [ 2.61376560e-02 -4.48775626e-04 9.99658252e-01 2.33779196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47275509600001 meters 0.0222913780282753 Centerline is valid? [True, True] Translation: X:110.03, Y:45.14, Z:2.34 [[ 6.14223823e-01 -7.88962075e-01 -1.63688675e-02 1.10031931e+02] [ 7.88702655e-01 6.14441709e-01 -2.02363230e-02 4.51414861e+01] [ 2.60234063e-02 -4.80537538e-04 9.99661218e-01 2.33737912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50275509600002 meters 0.023034723591466952 Centerline is valid? [True, True] Translation: X:110.05, Y:45.16, Z:2.34 [[ 6.12924138e-01 -7.89963123e-01 -1.68007351e-02 1.10050718e+02] [ 7.89690047e-01 6.13154124e-01 -2.07761943e-02 4.51610180e+01] [ 2.67138674e-02 -5.33142245e-04 9.99642979e-01 2.33752553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53275509600002 meters 0.022013683651241577 Centerline is valid? [True, True] Translation: X:110.07, Y:45.18, Z:2.34 [[ 6.10750438e-01 -7.91637864e-01 -1.71287477e-02 1.10069132e+02] [ 7.91354465e-01 6.10990274e-01 -2.11895241e-02 4.51833947e+01] [ 2.72399279e-02 -6.13399828e-04 9.99628736e-01 2.33871038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56275509600002 meters 0.022916414622270544 Centerline is valid? [True, True] Translation: X:110.09, Y:45.20, Z:2.34 [[ 6.09540968e-01 -7.92564108e-01 -1.73765090e-02 1.10088686e+02] [ 7.92272527e-01 6.09788243e-01 -2.15067649e-02 4.52037449e+01] [ 2.76414809e-02 -6.57676380e-04 9.99617685e-01 2.33874983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59275509600002 meters 0.022916414622270544 Centerline is valid? [True, True] Translation: X:110.11, Y:45.23, Z:2.34 [[ 6.09290800e-01 -7.92756541e-01 -1.73720262e-02 1.10105889e+02] [ 7.92464935e-01 6.09538046e-01 -2.15103855e-02 4.52253005e+01] [ 2.76414097e-02 -6.60641625e-04 9.99617685e-01 2.33926550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62275509600002 meters 0.023428176369094125 Centerline is valid? [True, True] Translation: X:110.13, Y:45.25, Z:2.34 [[ 6.07627776e-01 -7.94018676e-01 -1.79674176e-02 1.10125787e+02] [ 7.93706881e-01 6.07892921e-01 -2.22617313e-02 4.52459151e+01] [ 2.85984964e-02 -7.34016736e-04 9.99590710e-01 2.33981820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65275509600002 meters 0.023746908148816928 Centerline is valid? [True, True] Translation: X:110.14, Y:45.27, Z:2.34 [[ 6.06806438e-01 -7.94647828e-01 -1.79102001e-02 1.10144418e+02] [ 7.94337916e-01 6.07070228e-01 -2.22039037e-02 4.52669525e+01] [ 2.85170331e-02 -7.53279331e-04 9.99593023e-01 2.34054936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.682755096 meters 0.023558834004989145 Centerline is valid? [True, True] Translation: X:110.16, Y:45.29, Z:2.34 [[ 6.06112708e-01 -7.95171872e-01 -1.81405322e-02 1.10162680e+02] [ 7.94853757e-01 6.06383613e-01 -2.25037248e-02 4.52892076e+01] [ 2.88944504e-02 -7.79276623e-04 9.99582164e-01 2.34130908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.712755096 meters 0.02431344055027754 Centerline is valid? [True, True] Translation: X:110.18, Y:45.31, Z:2.34 [[ 6.05471792e-01 -7.95655380e-01 -1.83418952e-02 1.10181434e+02] [ 7.95329958e-01 6.05749018e-01 -2.27680663e-02 4.53099316e+01] [ 2.92261195e-02 -8.02436799e-04 9.99572504e-01 2.34111669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.742755096 meters 0.024334797497380208 Centerline is valid? [True, True] Translation: X:110.20, Y:45.33, Z:2.34 [[ 6.05502994e-01 -7.95629910e-01 -1.84166032e-02 1.10199874e+02] [ 7.95301404e-01 6.05782480e-01 -2.28749571e-02 4.53302019e+01] [ 2.93564556e-02 -7.95895366e-04 9.99568690e-01 2.34198510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.772755096 meters 0.024600638715416248 Centerline is valid? [True, True] Translation: X:110.22, Y:45.35, Z:2.34 [[ 6.05305063e-01 -7.95777191e-01 -1.85591549e-02 1.10216927e+02] [ 7.95443245e-01 6.05588986e-01 -2.30656509e-02 4.53518772e+01] [ 2.95943386e-02 -8.00999128e-04 9.99561671e-01 2.34197865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.802755096 meters 0.02370261720132023 Centerline is valid? [True, True] Translation: X:110.24, Y:45.37, Z:2.34 [[ 6.06083509e-01 -7.95186708e-01 -1.84629191e-02 1.10235314e+02] [ 7.94855548e-01 6.06364182e-01 -2.29594496e-02 4.53742300e+01] [ 2.94523020e-02 -7.60009909e-04 9.99565898e-01 2.34373814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.832755096 meters 0.023678334458512664 Centerline is valid? [True, True] Translation: X:110.25, Y:45.40, Z:2.34 [[ 6.06679178e-01 -7.94737252e-01 -1.82503456e-02 1.10252598e+02] [ 7.94413114e-01 6.06953193e-01 -2.27073864e-02 4.53952740e+01] [ 2.91235114e-02 -7.22215390e-04 9.99575560e-01 2.34445818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.862755096 meters 0.022199565045703872 Centerline is valid? [True, True] Translation: X:110.27, Y:45.42, Z:2.35 [[ 6.07832569e-01 -7.93862703e-01 -1.79325915e-02 1.10269525e+02] [ 7.93549046e-01 6.08096680e-01 -2.23235320e-02 4.54182796e+01] [ 2.86265689e-02 -6.61421091e-04 9.99589957e-01 2.34659694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.892755096 meters 0.021561455811962105 Centerline is valid? [True, True] Translation: X:110.29, Y:45.44, Z:2.35 [[ 6.08834867e-01 -7.93102163e-01 -1.75801984e-02 1.10287068e+02] [ 7.92800054e-01 6.09088328e-01 -2.18970772e-02 4.54411999e+01] [ 2.80745129e-02 -6.05878117e-04 9.99605650e-01 2.34768186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.922755096 meters 0.02065310882981503 Centerline is valid? [True, True] Translation: X:110.30, Y:45.46, Z:2.35 [[ 6.11220341e-01 -7.91263383e-01 -1.76621828e-02 1.10303908e+02] [ 7.90957404e-01 6.11475257e-01 -2.20089911e-02 4.54634911e+01] [ 2.82148966e-02 -5.17691180e-04 9.99601747e-01 2.34865624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.952755096 meters 0.02013932636418364 Centerline is valid? [True, True] Translation: X:110.32, Y:45.49, Z:2.35 [[ 6.12252164e-01 -7.90468901e-01 -1.74986940e-02 1.10320917e+02] [ 7.90168031e-01 6.12501995e-01 -2.18125896e-02 4.54861362e+01] [ 2.79601587e-02 -4.72103385e-04 9.99608927e-01 2.34938927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.982755096 meters 0.02105593024689746 Centerline is valid? [True, True] Translation: X:110.34, Y:45.51, Z:2.35 [[ 6.13913526e-01 -7.89175387e-01 -1.76746073e-02 1.10337323e+02] [ 7.88867546e-01 6.14167763e-01 -2.20443694e-02 4.55083698e+01] [ 2.82520478e-02 -4.09587513e-04 9.99600747e-01 2.34824868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.012755096 meters 0.018852953940548405 Centerline is valid? [True, True] Translation: X:110.35, Y:45.53, Z:2.35 [[ 6.15224767e-01 -7.88160376e-01 -1.73697560e-02 1.10354243e+02] [ 7.87862355e-01 6.15469821e-01 -2.16750831e-02 4.55315361e+01] [ 2.77740022e-02 -3.49928956e-04 9.99614167e-01 2.35048984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.042755096 meters 0.018644894042748703 Centerline is valid? [True, True] Translation: X:110.37, Y:45.55, Z:2.35 [[ 6.16039778e-01 -7.87520551e-01 -1.75035396e-02 1.10371006e+02] [ 7.87217306e-01 6.16288311e-01 -2.18547907e-02 4.55532096e+01] [ 2.79983237e-02 -3.15668893e-04 9.99607920e-01 2.35082907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.072755096 meters 0.018728666806249277 Centerline is valid? [True, True] Translation: X:110.39, Y:45.58, Z:2.35 [[ 6.17257521e-01 -7.86561848e-01 -1.77090803e-02 1.10387214e+02] [ 7.86250687e-01 6.17511447e-01 -2.21239517e-02 4.55762904e+01] [ 2.83374162e-02 -2.67600934e-04 9.99598379e-01 2.35108450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.102755096 meters 0.017854820664316356 Centerline is valid? [True, True] Translation: X:110.40, Y:45.60, Z:2.35 [[ 6.17861797e-01 -7.86093160e-01 -1.74454412e-02 1.10403908e+02] [ 7.85790676e-01 6.18107991e-01 -2.18065421e-02 4.55976012e+01] [ 2.79251402e-02 -2.35035794e-04 9.99609990e-01 2.35190650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.132755096 meters 0.017814777462480332 Centerline is valid? [True, True] Translation: X:110.42, Y:45.62, Z:2.35 [[ 6.17951686e-01 -7.86025480e-01 -1.73106561e-02 1.10421111e+02] [ 7.85727371e-01 6.18194059e-01 -2.16472578e-02 4.56183370e+01] [ 2.77166410e-02 -2.24496872e-04 9.99615795e-01 2.35206230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.162755096 meters 0.017559320695653198 Centerline is valid? [True, True] Translation: X:110.44, Y:45.64, Z:2.35 [[ 6.17604787e-01 -7.86301671e-01 -1.71467004e-02 1.10438589e+02] [ 7.86008997e-01 6.17842723e-01 -2.14528826e-02 4.56400926e+01] [ 2.74624015e-02 -2.28057790e-04 9.99622811e-01 2.35357170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.192755096 meters 0.017865877562311595 Centerline is valid? [True, True] Translation: X:110.46, Y:45.66, Z:2.35 [[ 6.16851189e-01 -7.86895689e-01 -1.70230865e-02 1.10456657e+02] [ 7.86607086e-01 6.17085986e-01 -2.13114657e-02 4.56600974e+01] [ 2.72746086e-02 -2.44477464e-04 9.99627949e-01 2.35383342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22275509600001 meters 0.018533616115045486 Centerline is valid? [True, True] Translation: X:110.48, Y:45.68, Z:2.35 [[ 6.14600379e-01 -7.88662117e-01 -1.66865186e-02 1.10476898e+02] [ 7.88385125e-01 6.14826781e-01 -2.09027226e-02 4.56796233e+01] [ 2.67445040e-02 -3.08581819e-04 9.99642254e-01 2.35495846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25275509600002 meters 0.019327977221323456 Centerline is valid? [True, True] Translation: X:110.50, Y:45.70, Z:2.36 [[ 6.13143263e-01 -7.89793319e-01 -1.67884723e-02 1.10496092e+02] [ 7.89513079e-01 6.13372960e-01 -2.10406464e-02 4.56996530e+01] [ 2.69153569e-02 -3.53787861e-04 9.99637654e-01 2.35505930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28275509600002 meters 0.019866997760998643 Centerline is valid? [True, True] Translation: X:110.52, Y:45.72, Z:2.36 [[ 6.09684318e-01 -7.92468591e-01 -1.66902911e-02 1.10516198e+02] [ 7.92192373e-01 6.09912550e-01 -2.09266665e-02 4.57201081e+01] [ 2.67633439e-02 -4.63260963e-04 9.99641690e-01 2.35635306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31275509600002 meters 0.020914194701777182 Centerline is valid? [True, True] Translation: X:110.54, Y:45.74, Z:2.36 [[ 6.08037455e-01 -7.93734434e-01 -1.66163051e-02 1.10535303e+02] [ 7.93460841e-01 6.08264242e-01 -2.08447905e-02 4.57396871e+01] [ 2.66523322e-02 -5.09974066e-04 9.99644633e-01 2.35673490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34275509600002 meters 0.02178483050612859 Centerline is valid? [True, True] Translation: X:110.55, Y:45.76, Z:2.36 [[ 6.06174359e-01 -7.95161075e-01 -1.64776215e-02 1.10554873e+02] [ 7.94892316e-01 6.06398012e-01 -2.06798782e-02 4.57606578e+01] [ 2.64358311e-02 -5.62322820e-04 9.99650354e-01 2.35706356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37275509600002 meters 0.02389362339542007 Centerline is valid? [True, True] Translation: X:110.58, Y:45.78, Z:2.36 [[ 6.03061645e-01 -7.97534035e-01 -1.60036081e-02 1.10575980e+02] [ 7.97281053e-01 6.03273614e-01 -2.00964668e-02 4.57786662e+01] [ 2.56821707e-02 -6.39965199e-04 9.99669954e-01 2.35755829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40275509600002 meters 0.024741908709863467 Centerline is valid? [True, True] Translation: X:110.60, Y:45.80, Z:2.36 [[ 6.01718015e-01 -7.98546613e-01 -1.60853485e-02 1.10595628e+02] [ 7.98291089e-01 6.01932593e-01 -2.02111583e-02 4.57998946e+01] [ 2.58218475e-02 -6.79372372e-04 9.99666330e-01 2.35785915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.432755096 meters 0.025279452019177282 Centerline is valid? [True, True] Translation: X:110.61, Y:45.82, Z:2.36 [[ 6.00289827e-01 -7.99618021e-01 -1.62217051e-02 1.10614609e+02] [ 7.99358234e-01 6.00508531e-01 -2.03940745e-02 4.58213478e+01] [ 2.60487418e-02 -7.24598121e-04 9.99660411e-01 2.35847414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.462755096 meters 0.02758689757787408 Centerline is valid? [True, True] Translation: X:110.64, Y:45.84, Z:2.36 [[ 5.98206502e-01 -8.01178121e-01 -1.62049138e-02 1.10635102e+02] [ 8.00919137e-01 5.98425437e-01 -2.03846138e-02 4.58397756e+01] [ 2.60291392e-02 -7.84617038e-04 9.99660877e-01 2.35819160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.492755096 meters 0.02836098368295877 Centerline is valid? [True, True] Translation: X:110.65, Y:45.86, Z:2.36 [[ 5.97372188e-01 -8.01796088e-01 -1.64165346e-02 1.10653581e+02] [ 8.01530211e-01 5.97597164e-01 -2.06627774e-02 4.58609368e+01] [ 2.63778085e-02 -8.14979887e-04 9.99651713e-01 2.35868170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.522755096 meters 0.028819027738775555 Centerline is valid? [True, True] Translation: X:110.67, Y:45.88, Z:2.36 [[ 5.96898225e-01 -8.02160545e-01 -1.58419882e-02 1.10671925e+02] [ 8.01912808e-01 5.97107885e-01 -1.99504714e-02 4.58818368e+01] [ 2.54628570e-02 -7.95492274e-04 9.99675452e-01 2.35981948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.552755096 meters 0.02920102700968721 Centerline is valid? [True, True] Translation: X:110.69, Y:45.90, Z:2.36 [[ 5.96345867e-01 -8.02567580e-01 -1.60276816e-02 1.10688366e+02] [ 8.02313842e-01 5.96560654e-01 -2.01961340e-02 4.59040764e+01] [ 2.57702466e-02 -8.15349831e-04 9.99667560e-01 2.35947734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.582755096 meters 0.02791576838919634 Centerline is valid? [True, True] Translation: X:110.71, Y:45.93, Z:2.36 [[ 5.97716647e-01 -8.01557498e-01 -1.55044314e-02 1.10705015e+02] [ 8.01319469e-01 5.97917242e-01 -1.95468609e-02 4.59257386e+01] [ 2.49382998e-02 -7.40518642e-04 9.99688718e-01 2.36162148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.612755096 meters 0.027249156866932116 Centerline is valid? [True, True] Translation: X:110.72, Y:45.95, Z:2.36 [[ 5.98299576e-01 -8.01124318e-01 -1.54092266e-02 1.10721914e+02] [ 8.00888864e-01 5.98497550e-01 -1.94347537e-02 4.59487121e+01] [ 2.47920382e-02 -7.13273069e-04 9.99692376e-01 2.36223514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.642755096 meters 0.024627488629088454 Centerline is valid? [True, True] Translation: X:110.74, Y:45.97, Z:2.36 [[ 5.99100686e-01 -8.00528353e-01 -1.52552731e-02 1.10736601e+02] [ 8.00297117e-01 5.99294502e-01 -1.92516187e-02 4.59736209e+01] [ 2.45538679e-02 -6.75093100e-04 9.99698280e-01 2.36321323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.672755096 meters 0.02138874653859841 Centerline is valid? [True, True] Translation: X:110.75, Y:46.00, Z:2.36 [[ 6.00974436e-01 -7.99122303e-01 -1.52732649e-02 1.10750267e+02] [ 7.98889790e-01 6.01168172e-01 -1.92855561e-02 4.59999853e+01] [ 2.45933188e-02 -6.11529138e-04 9.99697352e-01 2.36474514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.702755096 meters 0.021530320713738043 Centerline is valid? [True, True] Translation: X:110.77, Y:46.02, Z:2.37 [[ 6.02330030e-01 -7.98109480e-01 -1.48254239e-02 1.10767141e+02] [ 7.97889861e-01 6.02512206e-01 -1.87299720e-02 4.60214456e+01] [ 2.38810671e-02 -5.47430801e-04 9.99714657e-01 2.36528778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.732755096 meters 0.019029690904264297 Centerline is valid? [True, True] Translation: X:110.78, Y:46.05, Z:2.37 [[ 6.05364848e-01 -7.95822768e-01 -1.41252731e-02 1.10780318e+02] [ 7.95622597e-01 6.05529468e-01 -1.78534400e-02 4.60475186e+01] [ 2.27614431e-02 -4.30541453e-04 9.99740832e-01 2.36721442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.762755096 meters 0.018389586357572575 Centerline is valid? [True, True] Translation: X:110.80, Y:46.07, Z:2.37 [[ 6.06874117e-01 -7.94680554e-01 -1.36610100e-02 1.10796477e+02] [ 7.94492820e-01 6.07027743e-01 -1.72764986e-02 4.60709294e+01] [ 2.20219095e-02 -3.68914513e-04 9.99757420e-01 2.36805742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.792755096 meters 0.01821082373468329 Centerline is valid? [True, True] Translation: X:110.81, Y:46.09, Z:2.37 [[ 6.08711461e-01 -7.93274255e-01 -1.36496976e-02 1.10812478e+02] [ 7.93086269e-01 6.08864402e-01 -1.72716546e-02 4.60930376e+01] [ 2.20119739e-02 -3.11933701e-04 9.99757658e-01 2.36811916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.822755096 meters 0.016840765163077163 Centerline is valid? [True, True] Translation: X:110.83, Y:46.12, Z:2.37 [[ 6.12334596e-01 -7.90487854e-01 -1.32399443e-02 1.10825996e+02] [ 7.90310176e-01 6.12477684e-01 -1.67604339e-02 4.61170049e+01] [ 2.13580898e-02 -2.00669197e-04 9.99771870e-01 2.36827441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.852755096 meters 0.01545940537977226 Centerline is valid? [True, True] Translation: X:110.84, Y:46.14, Z:2.37 [[ 6.14917634e-01 -7.88481445e-01 -1.31648958e-02 1.10838741e+02] [ 7.88305170e-01 6.15058530e-01 -1.66722525e-02 4.61429910e+01] [ 2.12429432e-02 -1.25893343e-04 9.99774335e-01 2.36838040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.882755096 meters 0.01521482282770375 Centerline is valid? [True, True] Translation: X:110.85, Y:46.17, Z:2.37 [[ 6.15935093e-01 -7.87685315e-01 -1.32591389e-02 1.10854566e+02] [ 7.87506095e-01 6.16077784e-01 -1.68022504e-02 4.61661018e+01] [ 2.14035468e-02 -9.25570441e-05 9.99770914e-01 2.36882751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.912755096 meters 0.015129192154589252 Centerline is valid? [True, True] Translation: X:110.87, Y:46.19, Z:2.37 [[ 6.16522847e-01 -7.87230256e-01 -1.29654792e-02 1.10870398e+02] [ 7.87058572e-01 6.16659160e-01 -1.64403350e-02 4.61880725e+01] [ 2.09376107e-02 -6.87493981e-05 9.99780782e-01 2.36910241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.942755096 meters 0.015045353045118988 Centerline is valid? [True, True] Translation: X:110.89, Y:46.21, Z:2.37 [[ 6.16953711e-01 -7.86892743e-01 -1.29587778e-02 1.10887187e+02] [ 7.86721001e-01 6.17089790e-01 -1.64395113e-02 4.62110202e+01] [ 2.09328616e-02 -5.25250676e-05 9.99780882e-01 2.36922765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97275509600001 meters 0.014982014130896441 Centerline is valid? [True, True] Translation: X:110.90, Y:46.23, Z:2.37 [[ 6.16913779e-01 -7.86925064e-01 -1.28969981e-02 1.10904071e+02] [ 7.86754743e-01 6.17048573e-01 -1.63717153e-02 4.62337254e+01] [ 2.08413873e-02 -4.68376476e-05 9.99782794e-01 2.36956506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00275509600002 meters 0.014805826186132055 Centerline is valid? [True, True] Translation: X:110.92, Y:46.25, Z:2.37 [[ 6.16620090e-01 -7.87157963e-01 -1.27281441e-02 1.10920511e+02] [ 7.86991915e-01 6.16751440e-01 -1.61674676e-02 4.62546702e+01] [ 2.05764521e-02 -4.77611140e-05 9.99788281e-01 2.36997078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03275509600002 meters 0.01481917770195793 Centerline is valid? [True, True] Translation: X:110.94, Y:46.28, Z:2.37 [[ 6.15856970e-01 -7.87754382e-01 -1.27760069e-02 1.10937907e+02] [ 7.87587058e-01 6.15989472e-01 -1.62356682e-02 4.62760114e+01] [ 2.06596045e-02 -6.33682771e-05 9.99786566e-01 2.37018606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06275509600002 meters 0.015077484425681112 Centerline is valid? [True, True] Translation: X:110.96, Y:46.30, Z:2.37 [[ 6.13685757e-01 -7.89445593e-01 -1.28626086e-02 1.10956519e+02] [ 7.89276176e-01 6.13820529e-01 -1.63547090e-02 4.62954619e+01] [ 2.08064861e-02 -1.15498553e-04 9.99783515e-01 2.37025343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09275509600002 meters 0.0153004373919614 Centerline is valid? [True, True] Translation: X:110.97, Y:46.32, Z:2.37 [[ 6.12055409e-01 -7.90714340e-01 -1.26099216e-02 1.10974852e+02] [ 7.90551680e-01 6.12185274e-01 -1.60384158e-02 4.63171257e+01] [ 2.04014137e-02 -1.52395570e-04 9.99791858e-01 2.37127718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12275509600002 meters 0.015484219892549366 Centerline is valid? [True, True] Translation: X:110.99, Y:46.34, Z:2.37 [[ 6.10612801e-01 -7.91830398e-01 -1.25150964e-02 1.10993415e+02] [ 7.91670208e-01 6.10741015e-01 -1.59278034e-02 4.63381048e+01] [ 2.02556016e-02 -1.82108257e-04 9.99794818e-01 2.37204999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15275509600002 meters 0.016938308903194595 Centerline is valid? [True, True] Translation: X:111.01, Y:46.36, Z:2.37 [[ 6.07763551e-01 -7.94018857e-01 -1.25507312e-02 1.11013714e+02] [ 7.93858020e-01 6.07893076e-01 -1.59828505e-02 4.63572732e+01] [ 2.03201873e-02 -2.49704652e-04 9.99793492e-01 2.37242309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.182755096 meters 0.017177103763638513 Centerline is valid? [True, True] Translation: X:111.03, Y:46.38, Z:2.37 [[ 6.06303749e-01 -7.95133362e-01 -1.25976543e-02 1.11031150e+02] [ 7.94971425e-01 6.06434544e-01 -1.60492095e-02 4.63790139e+01] [ 2.04009146e-02 -2.84079276e-04 9.99791839e-01 2.37266162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.212755096 meters 0.01760854092007799 Centerline is valid? [True, True] Translation: X:111.05, Y:46.40, Z:2.37 [[ 6.04633683e-01 -7.96403758e-01 -1.26159997e-02 1.11049050e+02] [ 7.96241424e-01 6.04765203e-01 -1.60824425e-02 4.64009051e+01] [ 2.04378352e-02 -3.21395106e-04 9.99791074e-01 2.37272075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.242755096 meters 0.018332834432457163 Centerline is valid? [True, True] Translation: X:111.07, Y:46.42, Z:2.37 [[ 6.01707431e-01 -7.98606976e-01 -1.32312440e-02 1.11067268e+02] [ 7.98428728e-01 6.01852748e-01 -1.68770743e-02 4.64232573e+01] [ 2.14414099e-02 -4.09144333e-04 9.99770023e-01 2.37242883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.272755096 meters 0.01987970091356091 Centerline is valid? [True, True] Translation: X:111.09, Y:46.44, Z:2.37 [[ 6.00504944e-01 -7.99511211e-01 -1.32527505e-02 1.11085801e+02] [ 7.99332397e-01 6.00651008e-01 -1.69140639e-02 4.64430963e+01] [ 2.14832617e-02 -4.36373809e-04 9.99769113e-01 2.37226024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.302755096 meters 0.019461890289287485 Centerline is valid? [True, True] Translation: X:111.10, Y:46.47, Z:2.37 [[ 5.98156636e-01 -8.01268923e-01 -1.32947802e-02 1.11102760e+02] [ 8.01089195e-01 5.98304160e-01 -1.69774461e-02 4.64663360e+01] [ 2.15578222e-02 -4.95132691e-04 9.99767481e-01 2.37239790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.332755096 meters 0.020519543593194273 Centerline is valid? [True, True] Translation: X:111.12, Y:46.49, Z:2.37 [[ 5.96693760e-01 -8.02360049e-01 -1.32252581e-02 1.11121084e+02] [ 8.02182267e-01 5.96840074e-01 -1.68978054e-02 4.64872616e+01] [ 2.14514880e-02 -5.26252492e-04 9.99769752e-01 2.37276349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.362755096 meters 0.020619092018558237 Centerline is valid? [True, True] Translation: X:111.14, Y:46.51, Z:2.37 [[ 5.95452686e-01 -8.03284236e-01 -1.30589078e-02 1.11138858e+02] [ 8.03110993e-01 5.95595614e-01 -1.66912413e-02 4.65098546e+01] [ 2.11856392e-02 -5.48907926e-04 9.99775408e-01 2.37338262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.392755096 meters 0.022309729613783098 Centerline is valid? [True, True] Translation: X:111.16, Y:46.53, Z:2.37 [[ 5.93306207e-01 -8.04877671e-01 -1.26364701e-02 1.11157628e+02] [ 8.04715630e-01 5.93440476e-01 -1.61603474e-02 4.65301057e+01] [ 2.05060956e-02 -5.80730537e-04 9.99789559e-01 2.37397079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.422755096 meters 0.023066990651213308 Centerline is valid? [True, True] Translation: X:111.18, Y:46.55, Z:2.37 [[ 5.92173954e-01 -8.05713740e-01 -1.24650941e-02 1.11175714e+02] [ 8.05556053e-01 5.92304833e-01 -1.59508937e-02 4.65521248e+01] [ 2.02349897e-02 -5.95628220e-04 9.99795074e-01 2.37440183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.452755096 meters 0.023995051664813128 Centerline is valid? [True, True] Translation: X:111.19, Y:46.57, Z:2.38 [[ 5.91047262e-01 -8.06541863e-01 -1.23837467e-02 1.11193276e+02] [ 8.06386219e-01 5.91176662e-01 -1.58562273e-02 4.65728918e+01] [ 2.01096931e-02 -6.14302999e-04 9.99797591e-01 2.37509265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.482755096 meters 0.02298889837166149 Centerline is valid? [True, True] Translation: X:111.21, Y:46.60, Z:2.38 [[ 5.91051027e-01 -8.06542541e-01 -1.21578437e-02 1.11209086e+02] [ 8.06392351e-01 5.91175754e-01 -1.55757531e-02 4.65962700e+01] [ 1.97499299e-02 -5.97927325e-04 9.99804772e-01 2.37581608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.512755096 meters 0.02298889837166149 Centerline is valid? [True, True] Translation: X:111.23, Y:46.62, Z:2.38 [[ 5.90799930e-01 -8.06726563e-01 -1.21529912e-02 1.11225924e+02] [ 8.06576335e-01 5.90924610e-01 -1.55795383e-02 4.66181245e+01] [ 1.97499290e-02 -5.97924983e-04 9.99804772e-01 2.37633097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.542755096 meters 0.023734250435209846 Centerline is valid? [True, True] Translation: X:111.24, Y:46.64, Z:2.38 [[ 5.90746288e-01 -8.06768848e-01 -1.19519299e-02 1.11243029e+02] [ 8.06623372e-01 5.90866893e-01 -1.53313772e-02 4.66393596e+01] [ 1.94308772e-02 -5.83751810e-04 9.99811032e-01 2.37678142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.572755096 meters 0.02283490467289502 Centerline is valid? [True, True] Translation: X:111.26, Y:46.66, Z:2.38 [[ 5.91693204e-01 -8.06084749e-01 -1.12485440e-02 1.11258010e+02] [ 8.05955654e-01 5.91799884e-01 -1.44354197e-02 4.66630651e+01] [ 1.82930587e-02 -5.24487953e-04 9.99832530e-01 2.37772859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.602755096 meters 0.02278066983718861 Centerline is valid? [True, True] Translation: X:111.27, Y:46.69, Z:2.38 [[ 5.93063323e-01 -8.05084409e-01 -1.07233322e-02 1.11273371e+02] [ 8.04966783e-01 5.93160078e-01 -1.37695403e-02 4.66856888e+01] [ 1.74462947e-02 -4.65716894e-04 9.99847693e-01 2.37837555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.632755096 meters 0.01991835565900249 Centerline is valid? [True, True] Translation: X:111.29, Y:46.71, Z:2.38 [[ 5.94073577e-01 -8.04340690e-01 -1.06131718e-02 1.11286762e+02] [ 8.04225253e-01 5.94168212e-01 -1.36337251e-02 4.67118005e+01] [ 1.72721691e-02 -4.35944903e-04 9.99850730e-01 2.37852773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.662755096 meters 0.020620733306445142 Centerline is valid? [True, True] Translation: X:111.30, Y:46.73, Z:2.38 [[ 5.94924663e-01 -8.03719894e-01 -9.94877183e-03 1.11303276e+02] [ 8.03618301e-01 5.95007715e-01 -1.27845871e-02 4.67329086e+01] [ 1.61948230e-02 -3.89148914e-04 9.99868780e-01 2.37919741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.692755096 meters 0.02043035816089517 Centerline is valid? [True, True] Translation: X:111.32, Y:46.76, Z:2.38 [[ 5.97165495e-01 -8.02061146e-01 -9.55455385e-03 1.11318406e+02] [ 8.01967145e-01 5.97241836e-01 -1.22836436e-02 4.67563513e+01] [ 1.55586125e-02 -3.27070166e-04 9.99878904e-01 2.38027902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72275509600001 meters 0.01966757735430597 Centerline is valid? [True, True] Translation: X:111.33, Y:46.78, Z:2.38 [[ 5.98054190e-01 -8.01398728e-01 -9.55322853e-03 1.11333680e+02] [ 8.01304554e-01 5.98130408e-01 -1.22892805e-02 4.67798930e+01] [ 1.55626902e-02 -3.05389845e-04 9.99878847e-01 2.38080227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75275509600002 meters 0.018706427126214717 Centerline is valid? [True, True] Translation: X:111.35, Y:46.80, Z:2.38 [[ 5.99929601e-01 -8.00000035e-01 -9.18793584e-03 1.11347269e+02] [ 7.99912652e-01 5.99999899e-01 -1.18266864e-02 4.68034869e+01] [ 1.49741101e-02 -2.54366851e-04 9.99887849e-01 2.38150497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78275509600002 meters 0.017782633212548107 Centerline is valid? [True, True] Translation: X:111.36, Y:46.83, Z:2.38 [[ 6.00358628e-01 -7.99681879e-01 -8.85495645e-03 1.11362149e+02] [ 7.99600627e-01 6.00423882e-01 -1.14017725e-02 4.68276990e+01] [ 1.44345182e-02 -2.35276238e-04 9.99895789e-01 2.38157581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81275509600002 meters 0.01679510785992382 Centerline is valid? [True, True] Translation: X:111.38, Y:46.85, Z:2.38 [[ 6.00462501e-01 -7.99606292e-01 -8.63492701e-03 1.11376918e+02] [ 7.99528930e-01 6.00524543e-01 -1.11248501e-02 4.68519683e+01] [ 1.40809857e-02 -2.23818663e-04 9.99900833e-01 2.38148718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84275509600002 meters 0.01664092492957191 Centerline is valid? [True, True] Translation: X:111.39, Y:46.88, Z:2.38 [[ 6.00337275e-01 -7.99701509e-01 -8.52366393e-03 1.11392954e+02] [ 7.99626041e-01 6.00397742e-01 -1.09884300e-02 4.68753928e+01] [ 1.39050527e-02 -2.18979507e-04 9.99903296e-01 2.38151954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87275509600002 meters 0.016945062344996126 Centerline is valid? [True, True] Translation: X:111.41, Y:46.90, Z:2.38 [[ 6.00098157e-01 -7.99882839e-01 -8.34542492e-03 1.11408692e+02] [ 7.99810416e-01 6.00156145e-01 -1.07657316e-02 4.68978068e+01] [ 1.36198820e-02 -2.14262088e-04 9.99907222e-01 2.38186795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90275509600002 meters 0.016815181471336163 Centerline is valid? [True, True] Translation: X:111.42, Y:46.92, Z:2.38 [[ 5.99460860e-01 -8.00360870e-01 -8.31596619e-03 1.11424452e+02] [ 8.00288922e-01 5.99518498e-01 -1.07337350e-02 4.69206000e+01] [ 1.35764370e-02 -2.20721597e-04 9.99907812e-01 2.38212352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.932755096 meters 0.017099681546955514 Centerline is valid? [True, True] Translation: X:111.44, Y:46.94, Z:2.38 [[ 5.98310237e-01 -8.01222929e-01 -8.16563271e-03 1.11440455e+02] [ 8.01153548e-01 5.98365912e-01 -1.05464833e-02 4.69434815e+01] [ 1.33361205e-02 -2.31856689e-04 9.99911043e-01 2.38249409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.962755096 meters 0.018373461885629813 Centerline is valid? [True, True] Translation: X:111.46, Y:46.96, Z:2.38 [[ 5.97685234e-01 -8.01691255e-01 -7.96824585e-03 1.11458434e+02] [ 8.01625146e-01 5.97738302e-01 -1.02979739e-02 4.69641745e+01] [ 1.30187214e-02 -2.32599293e-04 9.99915226e-01 2.38364358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.992755096 meters 0.017840782180646476 Centerline is valid? [True, True] Translation: X:111.47, Y:46.99, Z:2.38 [[ 5.96221549e-01 -8.02781159e-01 -7.89144463e-03 1.11473766e+02] [ 8.02716336e-01 5.96273719e-01 -1.02047584e-02 4.69889538e+01] [ 1.28976488e-02 -2.50294643e-04 9.99916791e-01 2.38321341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.022755096 meters 0.018481000916238197 Centerline is valid? [True, True] Translation: X:111.49, Y:47.01, Z:2.38 [[ 5.95487152e-01 -8.03329540e-01 -7.53009060e-03 1.11490294e+02] [ 8.03270486e-01 5.95534709e-01 -9.74355180e-03 4.70102435e+01] [ 1.23117133e-02 -2.46539624e-04 9.99924178e-01 2.38370466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.052755096 meters 0.018873034348277088 Centerline is valid? [True, True] Translation: X:111.51, Y:47.03, Z:2.38 [[ 5.94467192e-01 -8.04083096e-01 -7.68976050e-03 1.11506955e+02] [ 8.04021532e-01 5.94516866e-01 -9.95345865e-03 4.70329305e+01] [ 1.25751002e-02 -2.65728407e-04 9.99920895e-01 2.38386916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.082755096 meters 0.019353998428209097 Centerline is valid? [True, True] Translation: X:111.52, Y:47.06, Z:2.38 [[ 5.93661160e-01 -8.04679024e-01 -7.62202146e-03 1.11524238e+02] [ 8.04618513e-01 5.93710025e-01 -9.87191480e-03 4.70556420e+01] [ 1.24689933e-02 -2.72247184e-04 9.99922222e-01 2.38411681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.112755096 meters 0.020423602371088877 Centerline is valid? [True, True] Translation: X:111.54, Y:47.08, Z:2.38 [[ 5.92061957e-01 -8.05854513e-01 -7.81933254e-03 1.11540003e+02] [ 8.05790825e-01 5.92113514e-01 -1.01356992e-02 4.70775799e+01] [ 1.27978314e-02 -2.99784494e-04 9.99918059e-01 2.38383151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.142755096 meters 0.02117130768260047 Centerline is valid? [True, True] Translation: X:111.56, Y:47.10, Z:2.38 [[ 5.91056983e-01 -8.06593266e-01 -7.67765087e-03 1.11556611e+02] [ 8.06531913e-01 5.91106765e-01 -9.95319834e-03 4.71011275e+01] [ 1.25664941e-02 -3.09363063e-04 9.99920991e-01 2.38333252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.172755096 meters 0.021372869188954976 Centerline is valid? [True, True] Translation: X:111.57, Y:47.12, Z:2.38 [[ 5.90621645e-01 -8.06909950e-01 -7.89975263e-03 1.11573009e+02] [ 8.06844942e-01 5.90674386e-01 -1.02474619e-02 4.71234779e+01] [ 1.29349605e-02 -3.21502631e-04 9.99916288e-01 2.38345627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.202755096 meters 0.02038882453021327 Centerline is valid? [True, True] Translation: X:111.59, Y:47.15, Z:2.38 [[ 5.90125633e-01 -8.07271243e-01 -8.05462699e-03 1.11587872e+02] [ 8.07203606e-01 5.90180506e-01 -1.04550562e-02 4.71472261e+01] [ 1.31937500e-02 -3.31927316e-04 9.99912904e-01 2.38291290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.232755096 meters 0.02210587802774683 Centerline is valid? [True, True] Translation: X:111.61, Y:47.17, Z:2.38 [[ 5.90126822e-01 -8.07268018e-01 -8.28739165e-03 1.11605623e+02] [ 8.07196302e-01 5.90184915e-01 -1.07654832e-02 4.71682568e+01] [ 1.35817238e-02 -3.36551493e-04 9.99907707e-01 2.38348961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.262755096 meters 0.02085966496882544 Centerline is valid? [True, True] Translation: X:111.62, Y:47.19, Z:2.38 [[ 5.90141242e-01 -8.07258705e-01 -8.16689544e-03 1.11619893e+02] [ 8.07189008e-01 5.90197657e-01 -1.06127841e-02 4.71920804e+01] [ 1.33873449e-02 -3.29186625e-04 9.99910331e-01 2.38400424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.292755096 meters 0.02203631886597266 Centerline is valid? [True, True] Translation: X:111.64, Y:47.21, Z:2.39 [[ 5.91094604e-01 -8.06565684e-01 -7.67904191e-03 1.11636013e+02] [ 8.06503922e-01 5.91144410e-01 -9.98549676e-03 4.72139973e+01] [ 1.25933817e-02 -2.90804168e-04 9.99920658e-01 2.38633033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.322755096 meters 0.02178030370563267 Centerline is valid? [True, True] Translation: X:111.65, Y:47.24, Z:2.39 [[ 5.91602182e-01 -8.06195871e-01 -7.42133094e-03 1.11651674e+02] [ 8.06138108e-01 5.91648666e-01 -9.65433390e-03 4.72371058e+01] [ 1.21741047e-02 -2.71092681e-04 9.99925856e-01 2.38721437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.352755096 meters 0.021333575559243798 Centerline is valid? [True, True] Translation: X:111.67, Y:47.26, Z:2.39 [[ 5.92436623e-01 -8.05585264e-01 -7.15749247e-03 1.11667266e+02] [ 8.05531429e-01 5.92479807e-01 -9.31641609e-03 4.72602753e+01] [ 1.17458373e-02 -2.46199049e-04 9.99930985e-01 2.38839378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.382755096 meters 0.021083231242983957 Centerline is valid? [True, True] Translation: X:111.68, Y:47.28, Z:2.39 [[ 5.94575616e-01 -8.04011925e-01 -6.68293417e-03 1.11681160e+02] [ 8.03964828e-01 5.94613139e-01 -8.70462233e-03 4.72841618e+01] [ 1.09723806e-02 -1.97287838e-04 9.99939782e-01 2.38878181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.412755096 meters 0.01976718701432899 Centerline is valid? [True, True] Translation: X:111.70, Y:47.31, Z:2.39 [[ 5.95758946e-01 -8.03136891e-01 -6.51258229e-03 1.11696198e+02] [ 8.03092091e-01 5.95794515e-01 -8.48466042e-03 4.73074985e+01] [ 1.06945046e-02 -1.75390987e-04 9.99942797e-01 2.39003208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.442755096 meters 0.019096463752431327 Centerline is valid? [True, True] Translation: X:111.71, Y:47.33, Z:2.39 [[ 5.97815229e-01 -8.01606277e-01 -6.65793921e-03 1.11710867e+02] [ 8.01559288e-01 5.97852285e-01 -8.68055485e-03 4.73301726e+01] [ 1.09388514e-02 -1.47365131e-04 9.99940158e-01 2.39002538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47275509600001 meters 0.017602909098831606 Centerline is valid? [True, True] Translation: X:111.72, Y:47.35, Z:2.39 [[ 5.98374728e-01 -8.01190124e-01 -6.48614253e-03 1.11724863e+02] [ 8.01145488e-01 5.98409865e-01 -8.45813470e-03 4.73546462e+01] [ 1.06579457e-02 -1.35209776e-04 9.99943193e-01 2.38828617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50275509600002 meters 0.018689869303526424 Centerline is valid? [True, True] Translation: X:111.74, Y:47.37, Z:2.39 [[ 5.98918660e-01 -8.00783159e-01 -6.53996028e-03 1.11743376e+02] [ 8.00737678e-01 5.98954353e-01 -8.53548676e-03 4.73743843e+01] [ 1.07522117e-02 -1.24730318e-04 9.99942186e-01 2.39058881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53275509600002 meters 0.01780847214682774 Centerline is valid? [True, True] Translation: X:111.76, Y:47.40, Z:2.39 [[ 5.98981692e-01 -8.00734544e-01 -6.71733169e-03 1.11759040e+02] [ 8.00686527e-01 5.99019344e-01 -8.76985438e-03 4.73981116e+01] [ 1.10461370e-02 -1.25494770e-04 9.99938982e-01 2.38919037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56275509600002 meters 0.018001816842965975 Centerline is valid? [True, True] Translation: X:111.78, Y:47.42, Z:2.39 [[ 5.98709457e-01 -8.00938980e-01 -6.61336410e-03 1.11778151e+02] [ 8.00892392e-01 5.98745969e-01 -8.63948744e-03 4.74193452e+01] [ 1.08794274e-02 -1.24050161e-04 9.99940810e-01 2.38908337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59275509600002 meters 0.01842117360451443 Centerline is valid? [True, True] Translation: X:111.80, Y:47.44, Z:2.39 [[ 5.97401955e-01 -8.01914708e-01 -6.61100206e-03 1.11798127e+02] [ 8.01868152e-01 5.97438517e-01 -8.64203660e-03 4.74392615e+01] [ 1.08798435e-02 -1.38382445e-04 9.99940803e-01 2.38925886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62275509600002 meters 0.019457189084520116 Centerline is valid? [True, True] Translation: X:111.82, Y:47.46, Z:2.39 [[ 5.96606114e-01 -8.02504102e-01 -6.95060185e-03 1.11816822e+02] [ 8.02452607e-01 5.96646581e-01 -9.09235590e-03 4.74595707e+01] [ 1.14437057e-02 -1.52973457e-04 9.99934507e-01 2.38862861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65275509600002 meters 0.019029949743543117 Centerline is valid? [True, True] Translation: X:111.84, Y:47.48, Z:2.39 [[ 5.95499335e-01 -8.03327191e-01 -6.77982498e-03 1.11835086e+02] [ 8.03278195e-01 5.95537906e-01 -8.87375706e-03 4.74807089e+01] [ 1.11661731e-02 -1.61769143e-04 9.99937643e-01 2.38919224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.682755096 meters 0.019526229036667307 Centerline is valid? [True, True] Translation: X:111.85, Y:47.50, Z:2.39 [[ 5.94574381e-01 -8.04012573e-01 -6.71481980e-03 1.11853985e+02] [ 8.03964496e-01 5.94612272e-01 -8.79403817e-03 4.75015798e+01] [ 1.10632315e-02 -1.69766924e-04 9.99938786e-01 2.38947564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.712755096 meters 0.02026856404085772 Centerline is valid? [True, True] Translation: X:111.88, Y:47.52, Z:2.39 [[ 5.92855259e-01 -8.05281404e-01 -6.67103530e-03 1.11875007e+02] [ 8.05233972e-01 5.92892760e-01 -8.74220552e-03 4.75212721e+01] [ 1.09951441e-02 -1.88881737e-04 9.99939534e-01 2.38976984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.742755096 meters 0.020802486787525356 Centerline is valid? [True, True] Translation: X:111.89, Y:47.54, Z:2.39 [[ 5.91824011e-01 -8.06039032e-01 -6.73938111e-03 1.11893342e+02] [ 8.05990616e-01 5.91862347e-01 -8.83677646e-03 4.75411760e+01] [ 1.11115727e-02 -2.02061451e-04 9.99938244e-01 2.39035321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.772755096 meters 0.021739099483330086 Centerline is valid? [True, True] Translation: X:111.91, Y:47.56, Z:2.39 [[ 5.90253554e-01 -8.07189718e-01 -6.74552202e-03 1.11913898e+02] [ 8.07141207e-01 5.90292056e-01 -8.85209837e-03 4.75594556e+01] [ 1.11271508e-02 -2.19606269e-04 9.99938067e-01 2.39036244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.802755096 meters 0.02156173644111912 Centerline is valid? [True, True] Translation: X:111.93, Y:47.58, Z:2.39 [[ 5.89382191e-01 -8.07825159e-01 -6.86629926e-03 1.11931741e+02] [ 8.07774903e-01 5.89422139e-01 -9.01376700e-03 4.75808408e+01] [ 1.13286966e-02 -2.33870480e-04 9.99935801e-01 2.39024071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.832755096 meters 0.023224673582772973 Centerline is valid? [True, True] Translation: X:111.95, Y:47.60, Z:2.39 [[ 5.87705151e-01 -8.09043911e-01 -7.11368886e-03 1.11952933e+02] [ 8.08989982e-01 5.87748144e-01 -9.34494758e-03 4.75989977e+01] [ 1.17415304e-02 -2.62829195e-04 9.99931031e-01 2.39107564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.862755096 meters 0.02285060636153311 Centerline is valid? [True, True] Translation: X:111.97, Y:47.62, Z:2.39 [[ 5.86880733e-01 -8.09643003e-01 -7.01525320e-03 1.11969906e+02] [ 8.09590542e-01 5.86922598e-01 -9.22050909e-03 4.76210893e+01] [ 1.15827313e-02 -2.68143512e-04 9.99932882e-01 2.39110324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.892755096 meters 0.023274301492302925 Centerline is valid? [True, True] Translation: X:111.99, Y:47.64, Z:2.39 [[ 5.86153733e-01 -8.10170028e-01 -6.95168883e-03 1.11987707e+02] [ 8.10118488e-01 5.86194891e-01 -9.14249101e-03 4.76417879e+01] [ 1.14820167e-02 -2.72786406e-04 9.99934042e-01 2.39176615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.922755096 meters 0.023646284884879354 Centerline is valid? [True, True] Translation: X:112.01, Y:47.66, Z:2.39 [[ 5.86132357e-01 -8.10185636e-01 -6.93513740e-03 1.12005516e+02] [ 8.10134257e-01 5.86173322e-01 -9.12803503e-03 4.76618679e+01] [ 1.14605954e-02 -2.68155697e-04 9.99934289e-01 2.39227649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.952755096 meters 0.02431764607953614 Centerline is valid? [True, True] Translation: X:112.02, Y:47.68, Z:2.39 [[ 5.86314335e-01 -8.10054380e-01 -6.88483941e-03 1.12023057e+02] [ 8.10003701e-01 5.86354698e-01 -9.06484485e-03 4.76823209e+01] [ 1.13799752e-02 -2.61896923e-04 9.99935212e-01 2.39323007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.982755096 meters 0.02376323551052799 Centerline is valid? [True, True] Translation: X:112.04, Y:47.71, Z:2.39 [[ 5.87110648e-01 -8.09475366e-01 -7.12172192e-03 1.12037316e+02] [ 8.09421021e-01 5.87153785e-01 -9.38317554e-03 4.77068749e+01] [ 1.17769954e-02 -2.55509155e-04 9.99930616e-01 2.38919029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.012755096 meters 0.021385552253075066 Centerline is valid? [True, True] Translation: X:112.05, Y:47.73, Z:2.39 [[ 5.87448617e-01 -8.09231491e-01 -6.96541950e-03 1.12053374e+02] [ 8.09179425e-01 5.87489860e-01 -9.18270267e-03 4.77297764e+01] [ 1.15230455e-02 -2.41908170e-04 9.99933578e-01 2.39180736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.042755096 meters 0.021292285856800066 Centerline is valid? [True, True] Translation: X:112.07, Y:47.75, Z:2.39 [[ 5.87832224e-01 -8.08949729e-01 -7.32206992e-03 1.12069622e+02] [ 8.08892082e-01 5.87877773e-01 -9.66040922e-03 4.77511436e+01] [ 1.21192676e-02 -2.44064550e-04 9.99926529e-01 2.39195454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.072755096 meters 0.021528194541438228 Centerline is valid? [True, True] Translation: X:112.09, Y:47.77, Z:2.39 [[ 5.89441076e-01 -8.07781973e-01 -6.89214304e-03 1.12086422e+02] [ 8.07730772e-01 5.89481333e-01 -9.09712070e-03 4.77733035e+01] [ 1.14112798e-02 -2.04779402e-04 9.99934868e-01 2.39233334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.102755096 meters 0.020527207735727655 Centerline is valid? [True, True] Translation: X:112.10, Y:47.80, Z:2.39 [[ 5.90359007e-01 -8.07115126e-01 -6.43554896e-03 1.12102854e+02] [ 8.07070395e-01 5.90394057e-01 -8.49914959e-03 4.77967177e+01] [ 1.06593021e-02 -1.76391529e-04 9.99943172e-01 2.39430920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.132755096 meters 0.01975218052163756 Centerline is valid? [True, True] Translation: X:112.12, Y:47.82, Z:2.40 [[ 5.92571036e-01 -8.05498057e-01 -5.69628589e-03 1.12117749e+02] [ 8.05462902e-01 5.92598400e-01 -7.52657737e-03 4.78204226e+01] [ 9.43825335e-03 -1.28115218e-04 9.99955450e-01 2.39666805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.162755096 meters 0.020846663605207656 Centerline is valid? [True, True] Translation: X:112.13, Y:47.84, Z:2.40 [[ 5.93782607e-01 -8.04606523e-01 -5.52793087e-03 1.12133486e+02] [ 8.04573339e-01 5.93808328e-01 -7.30828103e-03 4.78436493e+01] [ 9.16282198e-03 -1.08095630e-04 9.99958015e-01 2.39535719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.192755096 meters 0.01911274990983847 Centerline is valid? [True, True] Translation: X:112.15, Y:47.87, Z:2.40 [[ 5.94871870e-01 -8.03804803e-01 -5.02950625e-03 1.12148808e+02] [ 8.03777278e-01 5.94893125e-01 -6.65261404e-03 4.78672889e+01] [ 8.33942181e-03 -8.51498829e-05 9.99965223e-01 2.39899040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22275509600001 meters 0.01892959233654811 Centerline is valid? [True, True] Translation: X:112.16, Y:47.89, Z:2.40 [[ 5.96915805e-01 -8.02290423e-01 -4.64742203e-03 1.12163800e+02] [ 8.02266842e-01 5.96933894e-01 -6.15151085e-03 4.78901795e+01] [ 7.70950197e-03 -5.65385400e-05 9.99970280e-01 2.40063840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25275509600002 meters 0.01888209932150204 Centerline is valid? [True, True] Translation: X:112.18, Y:47.91, Z:2.40 [[ 5.97432641e-01 -8.01907798e-01 -4.25711182e-03 1.12180070e+02] [ 8.01887991e-01 5.97447806e-01 -5.63637342e-03 4.79136681e+01] [ 7.06325392e-03 -4.63733849e-05 9.99975054e-01 2.40127078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28275509600002 meters 0.018921477678973942 Centerline is valid? [True, True] Translation: X:112.20, Y:47.94, Z:2.40 [[ 5.98434669e-01 -8.01161029e-01 -4.11739892e-03 1.12195588e+02] [ 8.01142456e-01 5.98448832e-01 -5.45532550e-03 4.79363468e+01] [ 6.83464676e-03 -3.39671699e-05 9.99976643e-01 2.40201985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31275509600002 meters 0.01896772895806311 Centerline is valid? [True, True] Translation: X:112.21, Y:47.96, Z:2.40 [[ 5.98584308e-01 -8.01048610e-01 -4.23681460e-03 1.12211951e+02] [ 8.01028920e-01 5.98599301e-01 -5.61654524e-03 4.79589748e+01] [ 7.03528002e-03 -3.18351815e-05 9.99975252e-01 2.40191146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34275509600002 meters 0.01887307663774316 Centerline is valid? [True, True] Translation: X:112.23, Y:47.98, Z:2.40 [[ 5.98626953e-01 -8.01015020e-01 -4.55074143e-03 1.12228339e+02] [ 8.00992269e-01 5.98644249e-01 -6.03722894e-03 4.79818599e+01] [ 7.56018624e-03 -3.10607340e-05 9.99971421e-01 2.40160712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37275509600002 meters 0.01882135345752951 Centerline is valid? [True, True] Translation: X:112.25, Y:48.00, Z:2.40 [[ 5.97653214e-01 -8.01736234e-01 -5.44493104e-03 1.12245186e+02] [ 8.01703627e-01 5.97678015e-01 -7.23077397e-03 4.80031183e+01] [ 9.05148907e-03 -4.37256528e-05 9.99959033e-01 2.40052144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40275509600002 meters 0.01882135345752951 Centerline is valid? [True, True] Translation: X:112.26, Y:48.03, Z:2.40 [[ 5.97407727e-01 -8.01919184e-01 -5.44330292e-03 1.12261617e+02] [ 8.01886574e-01 5.97432523e-01 -7.23199914e-03 4.80252555e+01] [ 9.05148505e-03 -4.44593688e-05 9.99959033e-01 2.40103633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.432755096 meters 0.01873922185632043 Centerline is valid? [True, True] Translation: X:112.28, Y:48.05, Z:2.40 [[ 5.96500630e-01 -8.02592791e-01 -5.64011703e-03 1.12279242e+02] [ 8.02557764e-01 5.96527291e-01 -7.49842413e-03 4.80474467e+01] [ 9.38266488e-03 -5.37049947e-05 9.99955980e-01 2.40072965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.462755096 meters 0.01898206360506215 Centerline is valid? [True, True] Translation: X:112.30, Y:48.07, Z:2.40 [[ 5.95277038e-01 -8.03498922e-01 -5.89329333e-03 1.12297122e+02] [ 8.03460664e-01 5.95306206e-01 -7.84112007e-03 4.80682157e+01] [ 9.80864561e-03 -6.73906379e-05 9.99951892e-01 2.40155473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.492755096 meters 0.019331519674390698 Centerline is valid? [True, True] Translation: X:112.32, Y:48.09, Z:2.40 [[ 5.92578909e-01 -8.05487511e-01 -6.33294168e-03 1.12316324e+02] [ 8.05443387e-01 5.92612739e-01 -8.43161178e-03 4.80886799e+01] [ 1.05445399e-02 -1.04430684e-04 9.99944399e-01 2.40124199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.522755096 meters 0.01994178471836145 Centerline is valid? [True, True] Translation: X:112.33, Y:48.11, Z:2.40 [[ 5.91171830e-01 -8.06519307e-01 -6.51728148e-03 1.12334428e+02] [ 8.06472574e-01 5.91207740e-01 -8.68303227e-03 4.81086127e+01] [ 1.08561004e-02 -1.22844699e-04 9.99941063e-01 2.40243807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.552755096 meters 0.020430551188617512 Centerline is valid? [True, True] Translation: X:112.35, Y:48.13, Z:2.40 [[ 5.87735411e-01 -8.09026210e-01 -6.60893841e-03 1.12352916e+02] [ 8.08978255e-01 5.87772543e-01 -8.81022022e-03 4.81307199e+01] [ 1.10122516e-02 -1.68409065e-04 9.99939349e-01 2.40158658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.582755096 meters 0.02151368631893786 Centerline is valid? [True, True] Translation: X:112.37, Y:48.15, Z:2.40 [[ 5.85736517e-01 -8.10473588e-01 -6.73012475e-03 1.12371285e+02] [ 8.10423888e-01 5.85775148e-01 -8.97765140e-03 4.81510665e+01] [ 1.12184892e-02 -1.95715593e-04 9.99937052e-01 2.40227930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.612755096 meters 0.02198578145683786 Centerline is valid? [True, True] Translation: X:112.39, Y:48.17, Z:2.40 [[ 5.83671332e-01 -8.11961926e-01 -6.75331534e-03 1.12389336e+02] [ 8.11911922e-01 5.83710358e-01 -9.01379371e-03 4.81732735e+01] [ 1.12608374e-02 -2.22004251e-04 9.99936570e-01 2.40226723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.642755096 meters 0.02373615077572532 Centerline is valid? [True, True] Translation: X:112.41, Y:48.19, Z:2.40 [[ 5.79993769e-01 -8.14589944e-01 -7.10290044e-03 1.12409131e+02] [ 8.14534737e-01 5.80037191e-01 -9.48781578e-03 4.81928088e+01] [ 1.18486257e-02 -2.82685109e-04 9.99929763e-01 2.40238243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.672755096 meters 0.024539118635934713 Centerline is valid? [True, True] Translation: X:112.43, Y:48.21, Z:2.40 [[ 5.78191659e-01 -8.15869426e-01 -7.17538738e-03 1.12427692e+02] [ 8.15813152e-01 5.78236097e-01 -9.58737622e-03 4.82144892e+01] [ 1.19711151e-02 -3.10434437e-04 9.99928295e-01 2.40303620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.702755096 meters 0.02661594814135319 Centerline is valid? [True, True] Translation: X:112.45, Y:48.23, Z:2.40 [[ 5.75149973e-01 -8.18014469e-01 -7.40524532e-03 1.12446613e+02] [ 8.17954622e-01 5.75197529e-01 -9.90145611e-03 4.82341473e+01] [ 1.23590132e-02 -3.62332426e-04 9.99923559e-01 2.40369087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.732755096 meters 0.027143778817745552 Centerline is valid? [True, True] Translation: X:112.46, Y:48.26, Z:2.40 [[ 5.74113777e-01 -8.18739638e-01 -7.66660679e-03 1.12463979e+02] [ 8.18675502e-01 5.74164832e-01 -1.02550993e-02 4.82564805e+01] [ 1.27981522e-02 -3.88869403e-04 9.99918025e-01 2.40415780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.762755096 meters 0.027801557381152642 Centerline is valid? [True, True] Translation: X:112.48, Y:48.28, Z:2.40 [[ 5.73246981e-01 -8.19346454e-01 -7.69981786e-03 1.12481350e+02] [ 8.19281738e-01 5.73298550e-01 -1.03056754e-02 4.82790061e+01] [ 1.28582130e-02 -4.00622849e-04 9.99917250e-01 2.40482275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.792755096 meters 0.028203257332049713 Centerline is valid? [True, True] Translation: X:112.50, Y:48.30, Z:2.41 [[ 5.72315550e-01 -8.19992650e-01 -8.18321099e-03 1.12497414e+02] [ 8.19919522e-01 5.72373884e-01 -1.09596652e-02 4.83020377e+01] [ 1.36707012e-02 -4.37187607e-04 9.99906456e-01 2.40526036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.822755096 meters 0.028619457681556305 Centerline is valid? [True, True] Translation: X:112.51, Y:48.32, Z:2.41 [[ 5.72000707e-01 -8.20208970e-01 -8.51100801e-03 1.12513833e+02] [ 8.20129790e-01 5.72063841e-01 -1.14056578e-02 4.83244386e+01] [ 1.42238627e-02 -4.56086899e-04 9.99898732e-01 2.40550833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.852755096 meters 0.028991501566391367 Centerline is valid? [True, True] Translation: X:112.53, Y:48.35, Z:2.41 [[ 5.72044180e-01 -8.20173601e-01 -8.98445926e-03 1.12529190e+02] [ 8.20085245e-01 5.72114532e-01 -1.20479666e-02 4.83470442e+01] [ 1.50215638e-02 -4.76053305e-04 9.99887057e-01 2.40564257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.882755096 meters 0.02938661437457393 Centerline is valid? [True, True] Translation: X:112.54, Y:48.37, Z:2.41 [[ 5.71920405e-01 -8.20256056e-01 -9.33020841e-03 1.12544988e+02] [ 8.20160649e-01 5.71996294e-01 -1.25199521e-02 4.83691552e+01] [ 1.56064111e-02 -4.91853740e-04 9.99878092e-01 2.40600673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.912755096 meters 0.02942240089599966 Centerline is valid? [True, True] Translation: X:112.56, Y:48.39, Z:2.41 [[ 5.71810833e-01 -8.20334311e-01 -9.16454767e-03 1.12560258e+02] [ 8.20242153e-01 5.71884068e-01 -1.23054016e-02 4.83933584e+01] [ 1.53356019e-02 -4.80786379e-04 9.99882287e-01 2.40695341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.942755096 meters 0.029650489313736535 Centerline is valid? [True, True] Translation: X:112.58, Y:48.42, Z:2.41 [[ 5.71979310e-01 -8.20218390e-01 -9.02563212e-03 1.12575869e+02] [ 8.20128876e-01 5.72050327e-01 -1.21264161e-02 4.84156002e+01] [ 1.51094253e-02 -4.66122388e-04 9.99885737e-01 2.40781511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97275509600001 meters 0.028674787669811578 Centerline is valid? [True, True] Translation: X:112.59, Y:48.44, Z:2.41 [[ 5.71794304e-01 -8.20347767e-01 -8.98977640e-03 1.12590190e+02] [ 8.20258908e-01 5.71864779e-01 -1.20829546e-02 4.84400159e+01] [ 1.50531613e-02 -4.64979560e-04 9.99886587e-01 2.40867724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00275509600002 meters 0.025617102399804047 Centerline is valid? [True, True] Translation: X:112.60, Y:48.47, Z:2.41 [[ 5.72206584e-01 -8.20064656e-01 -8.57814922e-03 1.12600714e+02] [ 8.19983625e-01 5.72270716e-01 -1.15361160e-02 4.84669122e+01] [ 1.43693846e-02 -4.32900371e-04 9.99896661e-01 2.40943685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03275509600002 meters 0.025769591467620985 Centerline is valid? [True, True] Translation: X:112.62, Y:48.49, Z:2.41 [[ 5.72151084e-01 -8.20102493e-01 -8.66246495e-03 1.12615918e+02] [ 8.20019752e-01 5.72216491e-01 -1.16573620e-02 4.84889750e+01] [ 1.45170369e-02 -4.33620074e-04 9.99894528e-01 2.41029637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06275509600002 meters 0.025337939359970398 Centerline is valid? [True, True] Translation: X:112.63, Y:48.51, Z:2.41 [[ 5.72738380e-01 -8.19693307e-01 -8.58089056e-03 1.12630507e+02] [ 8.19611976e-01 5.72802506e-01 -1.15541390e-02 4.85139060e+01] [ 1.43860060e-02 -4.15501823e-04 9.99896430e-01 2.41079058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09275509600002 meters 0.027384645872653966 Centerline is valid? [True, True] Translation: X:112.65, Y:48.53, Z:2.41 [[ 5.72787036e-01 -8.19657977e-01 -8.70700531e-03 1.12648584e+02] [ 8.19574126e-01 5.72853059e-01 -1.17313780e-02 4.85347710e+01] [ 1.46035522e-02 -4.16455010e-04 9.99893276e-01 2.41208986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12275509600002 meters 0.02569498456963383 Centerline is valid? [True, True] Translation: X:112.66, Y:48.56, Z:2.41 [[ 5.72873065e-01 -8.19599489e-01 -8.55147611e-03 1.12661668e+02] [ 8.19518488e-01 5.72936746e-01 -1.15297027e-02 4.85603926e+01] [ 1.43491933e-02 -4.03036648e-04 9.99896964e-01 2.41228748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15275509600002 meters 0.025383773805428403 Centerline is valid? [True, True] Translation: X:112.68, Y:48.59, Z:2.41 [[ 5.73326361e-01 -8.19280815e-01 -8.70799870e-03 1.12675247e+02] [ 8.19196672e-01 5.73392351e-01 -1.17484134e-02 4.85852109e+01] [ 1.46183495e-02 -3.97888473e-04 9.99893067e-01 2.41253172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.182755096 meters 0.02544009005059947 Centerline is valid? [True, True] Translation: X:112.69, Y:48.61, Z:2.41 [[ 5.73434847e-01 -8.19200590e-01 -9.10324359e-03 1.12690573e+02] [ 8.19108499e-01 5.73506953e-01 -1.22898710e-02 4.86076308e+01] [ 1.52886430e-02 -4.09103916e-04 9.99883038e-01 2.41261768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.212755096 meters 0.025736083599460703 Centerline is valid? [True, True] Translation: X:112.71, Y:48.63, Z:2.41 [[ 5.73460048e-01 -8.19175307e-01 -9.76670586e-03 1.12705189e+02] [ 8.19069143e-01 5.73543048e-01 -1.31950855e-02 4.86303439e+01] [ 1.64107145e-02 -4.32753024e-04 9.99865242e-01 2.41260495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.242755096 meters 0.024297203986118555 Centerline is valid? [True, True] Translation: X:112.72, Y:48.65, Z:2.41 [[ 5.73244582e-01 -8.19323176e-01 -1.00091358e-02 1.12718577e+02] [ 8.19211544e-01 5.73331787e-01 -1.35317812e-02 4.86549910e+01] [ 1.68254576e-02 -4.42579361e-04 9.99858344e-01 2.41296995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.272755096 meters 0.02443108606613611 Centerline is valid? [True, True] Translation: X:112.73, Y:48.68, Z:2.41 [[ 5.72800043e-01 -8.19626168e-01 -1.06327925e-02 1.12734473e+02] [ 8.19500060e-01 5.72898526e-01 -1.43850731e-02 4.86780443e+01] [ 1.78818935e-02 -4.73803579e-04 9.99839994e-01 2.41286950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.302755096 meters 0.026326624983969912 Centerline is valid? [True, True] Translation: X:112.75, Y:48.70, Z:2.41 [[ 5.72228712e-01 -8.20023333e-01 -1.07719664e-02 1.12752337e+02] [ 8.19893795e-01 5.72329885e-01 -1.45831266e-02 4.86985213e+01] [ 1.81236223e-02 -4.86984714e-04 9.99835635e-01 2.41311196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.332755096 meters 0.027742913646732627 Centerline is valid? [True, True] Translation: X:112.77, Y:48.72, Z:2.41 [[ 5.71502706e-01 -8.20520916e-01 -1.14053906e-02 1.12766901e+02] [ 8.20375607e-01 5.71616260e-01 -1.54503733e-02 4.87228949e+01] [ 1.91968612e-02 -5.26774037e-04 9.99815585e-01 2.40966740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.362755096 meters 0.0258304029467936 Centerline is valid? [True, True] Translation: X:112.78, Y:48.75, Z:2.41 [[ 5.70904697e-01 -8.20940900e-01 -1.11294782e-02 1.12782385e+02] [ 8.20802444e-01 5.71012929e-01 -1.50858532e-02 4.87467605e+01] [ 1.87396699e-02 -5.22518454e-04 9.99824260e-01 2.41399925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.392755096 meters 0.0262636654599572 Centerline is valid? [True, True] Translation: X:112.80, Y:48.77, Z:2.41 [[ 5.69687755e-01 -8.21782007e-01 -1.14102916e-02 1.12797799e+02] [ 8.21636448e-01 5.69801738e-01 -1.54766218e-02 4.87698744e+01] [ 1.92200133e-02 -5.58269501e-04 9.99815123e-01 2.41397311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.422755096 meters 0.026940638358086706 Centerline is valid? [True, True] Translation: X:112.81, Y:48.79, Z:2.41 [[ 5.69079266e-01 -8.22199528e-01 -1.16929840e-02 1.12814337e+02] [ 8.22046625e-01 5.69199084e-01 -1.58666319e-02 4.87919310e+01] [ 1.97011730e-02 -5.82806810e-04 9.99805743e-01 2.41426604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.452755096 meters 0.027295585432574168 Centerline is valid? [True, True] Translation: X:112.83, Y:48.81, Z:2.41 [[ 5.68384657e-01 -8.22677548e-01 -1.18547222e-02 1.12831072e+02] [ 8.22520333e-01 5.68507949e-01 -1.60938664e-02 4.88149796e+01] [ 1.99795664e-02 -6.03243377e-04 9.99800207e-01 2.41454497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.482755096 meters 0.029140396800321492 Centerline is valid? [True, True] Translation: X:112.85, Y:48.84, Z:2.41 [[ 5.66962965e-01 -8.23649432e-01 -1.24341993e-02 1.12848162e+02] [ 8.23476471e-01 5.67098911e-01 -1.68916290e-02 4.88365009e+01] [ 2.09642015e-02 -6.62342473e-04 9.99780008e-01 2.41334151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.512755096 meters 0.02962965481647643 Centerline is valid? [True, True] Translation: X:112.86, Y:48.86, Z:2.41 [[ 5.65318895e-01 -8.24776825e-01 -1.25593218e-02 1.12864231e+02] [ 8.24600430e-01 5.65457949e-01 -1.70715867e-02 4.88585378e+01] [ 2.11820174e-02 -7.05531653e-04 9.99775387e-01 2.41493926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.542755096 meters 0.03151646306373091 Centerline is valid? [True, True] Translation: X:112.88, Y:48.88, Z:2.41 [[ 5.64545670e-01 -8.25300851e-01 -1.29109209e-02 1.12881416e+02] [ 8.25114350e-01 5.64692800e-01 -1.75599085e-02 4.88805749e+01] [ 2.17829115e-02 -7.39615769e-04 9.99762451e-01 2.41333617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.572755096 meters 0.030378535184702044 Centerline is valid? [True, True] Translation: X:112.90, Y:48.90, Z:2.42 [[ 5.64281543e-01 -8.25486468e-01 -1.25869889e-02 1.12896941e+02] [ 8.25309058e-01 5.64421447e-01 -1.71286135e-02 4.89037239e+01] [ 2.12438051e-02 -7.22795443e-04 9.99774064e-01 2.41652435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.602755096 meters 0.030551550217099557 Centerline is valid? [True, True] Translation: X:112.91, Y:48.93, Z:2.42 [[ 5.63974836e-01 -8.25697213e-01 -1.25099112e-02 1.12912856e+02] [ 8.25521804e-01 5.64113104e-01 -1.70340040e-02 4.89270191e+01] [ 2.11219345e-02 -7.20454850e-04 9.99776647e-01 2.41741586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.632755096 meters 0.030318516844759235 Centerline is valid? [True, True] Translation: X:112.93, Y:48.95, Z:2.42 [[ 5.64836136e-01 -8.25107930e-01 -1.25316727e-02 1.12927115e+02] [ 8.24931554e-01 5.64974709e-01 -1.70736428e-02 4.89501532e+01] [ 2.11676762e-02 -6.93961755e-04 9.99775699e-01 2.41824285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.662755096 meters 0.02796973570770132 Centerline is valid? [True, True] Translation: X:112.94, Y:48.98, Z:2.42 [[ 5.65762967e-01 -8.24469724e-01 -1.27255433e-02 1.12939990e+02] [ 8.24287520e-01 5.65905661e-01 -1.73455012e-02 4.89758682e+01] [ 2.15022976e-02 -6.76064331e-04 9.99768570e-01 2.41928058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.692755096 meters 0.02771866268404095 Centerline is valid? [True, True] Translation: X:112.95, Y:49.00, Z:2.42 [[ 5.68696407e-01 -8.22446079e-01 -1.29168006e-02 1.12954164e+02] [ 8.22257608e-01 5.68842759e-01 -1.76165132e-02 4.89990857e+01] [ 2.18362607e-02 -6.02489770e-04 9.99761379e-01 2.41975004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72275509600001 meters 0.024185494140423362 Centerline is valid? [True, True] Translation: X:112.97, Y:49.03, Z:2.42 [[ 5.70382835e-01 -8.21274803e-01 -1.30812379e-02 1.12965083e+02] [ 8.21081010e-01 5.70532544e-01 -1.78491182e-02 4.90263942e+01] [ 2.21223030e-02 -5.59925382e-04 9.99755115e-01 2.42094995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75275509600002 meters 0.02371586426182246 Centerline is valid? [True, True] Translation: X:112.98, Y:49.05, Z:2.42 [[ 5.72175617e-01 -8.20024958e-01 -1.31958948e-02 1.12979754e+02] [ 8.19827177e-01 5.72327536e-01 -1.80164202e-02 4.90493777e+01] [ 2.23262882e-02 -5.09796865e-04 9.99750607e-01 2.42130669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78275509600002 meters 0.022982668345827375 Centerline is valid? [True, True] Translation: X:112.99, Y:49.07, Z:2.42 [[ 5.76087826e-01 -8.17284352e-01 -1.30040446e-02 1.12992887e+02] [ 8.17091419e-01 5.76234443e-01 -1.77617628e-02 4.90730255e+01] [ 2.20097892e-02 -3.93157888e-04 9.99757678e-01 2.42178759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81275509600002 meters 0.021077503726532817 Centerline is valid? [True, True] Translation: X:113.01, Y:49.10, Z:2.42 [[ 5.77750424e-01 -8.16110125e-01 -1.29888875e-02 1.13005495e+02] [ 8.15917190e-01 5.77896310e-01 -1.77480536e-02 4.90995946e+01] [ 2.19905964e-02 -3.43911114e-04 9.99758118e-01 2.42310886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84275509600002 meters 0.021349884277781592 Centerline is valid? [True, True] Translation: X:113.02, Y:49.12, Z:2.42 [[ 5.79407059e-01 -8.14937415e-01 -1.28245328e-02 1.13022296e+02] [ 8.14748830e-01 5.79548898e-01 -1.75333738e-02 4.91215437e+01] [ 2.17210461e-02 -2.89812502e-04 9.99764028e-01 2.42345430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87275509600002 meters 0.020771374714238865 Centerline is valid? [True, True] Translation: X:113.04, Y:49.15, Z:2.42 [[ 5.80672909e-01 -8.14034351e-01 -1.29247469e-02 1.13037197e+02] [ 8.13842384e-01 5.80816677e-01 -1.76793969e-02 4.91454801e+01] [ 2.18985450e-02 -2.52760034e-04 9.99760166e-01 2.42460370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90275509600002 meters 0.019645142239474316 Centerline is valid? [True, True] Translation: X:113.05, Y:49.17, Z:2.43 [[ 5.83213193e-01 -8.12222725e-01 -1.25146619e-02 1.13050019e+02] [ 8.12042120e-01 5.83347422e-01 -1.71283767e-02 4.91713052e+01] [ 2.12124525e-02 -1.72937301e-04 9.99774976e-01 2.42684162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93275509600002 meters 0.01941791576192084 Centerline is valid? [True, True] Translation: X:113.07, Y:49.19, Z:2.43 [[ 5.83930807e-01 -8.11706951e-01 -1.25154921e-02 1.13065890e+02] [ 8.11525973e-01 5.84064896e-01 -1.71403773e-02 4.91947949e+01] [ 2.12228230e-02 -1.47852534e-04 9.99774760e-01 2.42764846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.962755096 meters 0.019383694489478687 Centerline is valid? [True, True] Translation: X:113.08, Y:49.22, Z:2.43 [[ 5.84450298e-01 -8.11336822e-01 -1.22641708e-02 1.13081036e+02] [ 8.11162742e-01 5.84578947e-01 -1.68065611e-02 4.92166508e+01] [ 2.08051579e-02 -1.25638802e-04 9.99783541e-01 2.42857926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.992755096 meters 0.01933261450086451 Centerline is valid? [True, True] Translation: X:113.10, Y:49.24, Z:2.43 [[ 5.84959001e-01 -8.10972210e-01 -1.21260412e-02 1.13096532e+02] [ 8.10801801e-01 5.85084663e-01 -1.66245779e-02 4.92388380e+01] [ 2.05768314e-02 -1.07119555e-04 9.99788269e-01 2.42950259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.022755096 meters 0.01942380170999791 Centerline is valid? [True, True] Translation: X:113.11, Y:49.26, Z:2.43 [[ 5.84514282e-01 -8.11293729e-01 -1.20639965e-02 1.13113345e+02] [ 8.11124964e-01 5.84638754e-01 -1.65474873e-02 4.92601392e+01] [ 2.04779525e-02 -1.13166087e-04 9.99790298e-01 2.42986609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.052755096 meters 0.019269388131299962 Centerline is valid? [True, True] Translation: X:113.13, Y:49.28, Z:2.43 [[ 5.83858668e-01 -8.11771638e-01 -1.16560242e-02 1.13130520e+02] [ 8.11613989e-01 5.83974994e-01 -1.59981071e-02 4.92826004e+01] [ 1.97936362e-02 -1.19558748e-04 9.99804080e-01 2.43116932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.082755096 meters 0.019324669156581056 Centerline is valid? [True, True] Translation: X:113.15, Y:49.30, Z:2.43 [[ 5.83343195e-01 -8.12137658e-01 -1.19641792e-02 1.13147452e+02] [ 8.11971421e-01 5.83465859e-01 -1.64317687e-02 4.93039246e+01] [ 2.03255482e-02 -1.29211083e-04 9.99793406e-01 2.43139081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.112755096 meters 0.019186517720489096 Centerline is valid? [True, True] Translation: X:113.16, Y:49.33, Z:2.43 [[ 5.82111993e-01 -8.13016662e-01 -1.22284312e-02 1.13164865e+02] [ 8.12842956e-01 5.82240399e-01 -1.68061492e-02 4.93257868e+01] [ 2.07835660e-02 -1.56733111e-04 9.99783986e-01 2.43149266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.142755096 meters 0.019431621496423183 Centerline is valid? [True, True] Translation: X:113.18, Y:49.35, Z:2.43 [[ 5.80665320e-01 -8.14044016e-01 -1.26540683e-02 1.13183140e+02] [ 8.13857996e-01 5.80803153e-01 -1.74028876e-02 4.93462551e+01] [ 2.15162393e-02 -1.93361388e-04 9.99768480e-01 2.43112785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.172755096 meters 0.019522316763613747 Centerline is valid? [True, True] Translation: X:113.20, Y:49.37, Z:2.43 [[ 5.79535216e-01 -8.14844777e-01 -1.29198815e-02 1.13200442e+02] [ 8.14650817e-01 5.79679171e-01 -1.77793472e-02 4.93681975e+01] [ 2.19767944e-02 -2.21434175e-04 9.99758457e-01 2.43124031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.202755096 meters 0.019903847199068472 Centerline is valid? [True, True] Translation: X:113.22, Y:49.39, Z:2.43 [[ 5.78424563e-01 -8.15632469e-01 -1.29884956e-02 1.13218040e+02] [ 8.15436386e-01 5.78570320e-01 -1.78853149e-02 4.93892117e+01] [ 2.21026016e-02 -2.45986477e-04 9.99755677e-01 2.43112373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.232755096 meters 0.020111116119122998 Centerline is valid? [True, True] Translation: X:113.24, Y:49.41, Z:2.43 [[ 5.77195346e-01 -8.16502797e-01 -1.29889893e-02 1.13235765e+02] [ 8.16306652e-01 5.77341413e-01 -1.78981139e-02 4.94110290e+01] [ 2.21129415e-02 -2.72290312e-04 9.99755442e-01 2.43137010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.262755096 meters 0.02076079285353189 Centerline is valid? [True, True] Translation: X:113.25, Y:49.43, Z:2.43 [[ 5.75726363e-01 -8.17540691e-01 -1.28985618e-02 1.13253605e+02] [ 8.17347284e-01 5.75870755e-01 -1.77845714e-02 4.94324323e+01] [ 2.19675153e-02 -3.03557822e-04 9.99758639e-01 2.43125821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.292755096 meters 0.020924993547836935 Centerline is valid? [True, True] Translation: X:113.27, Y:49.45, Z:2.43 [[ 5.72332840e-01 -8.19921530e-01 -1.27986367e-02 1.13273572e+02] [ 8.19731480e-01 5.72475795e-01 -1.76568804e-02 4.94540971e+01] [ 2.18041662e-02 -3.85832903e-04 9.99762186e-01 2.43256604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.322755096 meters 0.020924993547836935 Centerline is valid? [True, True] Translation: X:113.29, Y:49.48, Z:2.43 [[ 5.72071661e-01 -8.20103858e-01 -1.27936083e-02 1.13289614e+02] [ 8.19913772e-01 5.72214569e-01 -1.76605233e-02 4.94765157e+01] [ 2.18041523e-02 -3.86570779e-04 9.99762186e-01 2.43308095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.352755096 meters 0.02233252960911941 Centerline is valid? [True, True] Translation: X:113.31, Y:49.50, Z:2.43 [[ 5.70093146e-01 -8.21485256e-01 -1.24811350e-02 1.13309583e+02] [ 8.21304435e-01 5.70229599e-01 -1.72403566e-02 4.94964235e+01] [ 2.12798114e-02 -4.22202388e-04 9.99773470e-01 2.43352338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.382755096 meters 0.02369147411532968 Centerline is valid? [True, True] Translation: X:113.33, Y:49.52, Z:2.43 [[ 5.66370342e-01 -8.24058293e-01 -1.23517209e-02 1.13330331e+02] [ 8.23881592e-01 5.66504786e-01 -1.70718993e-02 4.95159930e+01] [ 2.10655492e-02 -5.07338030e-04 9.99777968e-01 2.43492253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.412755096 meters 0.024520326453408164 Centerline is valid? [True, True] Translation: X:113.35, Y:49.54, Z:2.44 [[ 5.64435225e-01 -8.25385904e-01 -1.22876038e-02 1.13349221e+02] [ 8.25211119e-01 5.64568693e-01 -1.69941059e-02 4.95375477e+01] [ 2.09638919e-02 -5.47795344e-04 9.99780083e-01 2.43556638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.442755096 meters 0.02559201861885279 Centerline is valid? [True, True] Translation: X:113.37, Y:49.56, Z:2.44 [[ 5.62800889e-01 -8.26500995e-01 -1.22989377e-02 1.13367555e+02] [ 8.26325945e-01 5.62934955e-01 -1.70196773e-02 4.95584937e+01] [ 2.09902821e-02 -5.84241793e-04 9.99779509e-01 2.43603640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47275509600001 meters 0.02549026481237547 Centerline is valid? [True, True] Translation: X:113.39, Y:49.58, Z:2.44 [[ 5.60295593e-01 -8.28204873e-01 -1.20638669e-02 1.13385448e+02] [ 8.28036702e-01 5.60425097e-01 -1.67012119e-02 4.95804050e+01] [ 2.05929189e-02 -6.31709098e-04 9.99787744e-01 2.43673006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50275509600002 meters 0.028090852696374166 Centerline is valid? [True, True] Translation: X:113.41, Y:49.60, Z:2.44 [[ 5.59245316e-01 -8.28917011e-01 -1.18855158e-02 1.13405599e+02] [ 8.28753731e-01 5.59371233e-01 -1.64643857e-02 4.95995286e+01] [ 2.02960250e-02 -6.42535005e-04 9.99793808e-01 2.43723261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53275509600002 meters 0.026387472422027228 Centerline is valid? [True, True] Translation: X:113.42, Y:49.62, Z:2.44 [[ 5.57631414e-01 -8.30011026e-01 -1.13535312e-02 1.13420816e+02] [ 8.29862089e-01 5.57746607e-01 -1.57364548e-02 4.96238655e+01] [ 1.93938245e-02 -6.46723538e-04 9.99811713e-01 2.43877543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56275509600002 meters 0.027579038236333068 Centerline is valid? [True, True] Translation: X:113.44, Y:49.64, Z:2.44 [[ 5.56979721e-01 -8.30449797e-01 -1.12572589e-02 1.13438621e+02] [ 8.30303277e-01 5.57093090e-01 -1.56127216e-02 4.96449374e+01] [ 1.92369226e-02 -6.50969626e-04 9.99814741e-01 2.43945064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59275509600002 meters 0.027018789407748916 Centerline is valid? [True, True] Translation: X:113.45, Y:49.67, Z:2.44 [[ 5.56823074e-01 -8.30556821e-01 -1.11099582e-02 1.13454334e+02] [ 8.30413960e-01 5.56933530e-01 -1.54174773e-02 4.96676234e+01] [ 1.89925991e-02 -6.41057230e-04 9.99819419e-01 2.44003917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62275509600002 meters 0.028074594948016958 Centerline is valid? [True, True] Translation: X:113.47, Y:49.69, Z:2.44 [[ 5.57334747e-01 -8.30216684e-01 -1.08737184e-02 1.13472450e+02] [ 8.30079589e-01 5.57440477e-01 -1.50993744e-02 4.96881595e+01] [ 1.85972033e-02 -6.10645659e-04 9.99826871e-01 2.44043278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65275509600002 meters 0.025077212298480606 Centerline is valid? [True, True] Translation: X:113.49, Y:49.71, Z:2.44 [[ 5.58161243e-01 -8.29657585e-01 -1.11498284e-02 1.13485051e+02] [ 8.29513125e-01 5.58272273e-01 -1.54933591e-02 4.97135190e+01] [ 1.90788229e-02 -6.01136407e-04 9.99817802e-01 2.44071581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68275509600002 meters 0.024806540921927127 Centerline is valid? [True, True] Translation: X:113.50, Y:49.74, Z:2.44 [[ 5.60440147e-01 -8.28120901e-01 -1.10731469e-02 1.13500775e+02] [ 8.27977932e-01 5.60549268e-01 -1.53968323e-02 4.97361391e+01] [ 1.89574830e-02 -5.39318320e-04 9.99820145e-01 2.44061159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.712755096 meters 0.024502402157111695 Centerline is valid? [True, True] Translation: X:113.52, Y:49.76, Z:2.44 [[ 5.61740988e-01 -8.27235767e-01 -1.13158763e-02 1.13515998e+02] [ 8.27086077e-01 5.61854716e-01 -1.57448410e-02 4.97587124e+01] [ 1.93825741e-02 -5.14681187e-04 9.99812008e-01 2.44122638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.742755096 meters 0.022506355499172077 Centerline is valid? [True, True] Translation: X:113.53, Y:49.78, Z:2.44 [[ 5.63400671e-01 -8.26106388e-01 -1.13101304e-02 1.13529171e+02] [ 8.25956487e-01 5.63513987e-01 -1.57438340e-02 4.97841532e+01] [ 1.93794985e-02 -4.71588923e-04 9.99812089e-01 2.44169232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.772755096 meters 0.021126406426292193 Centerline is valid? [True, True] Translation: X:113.54, Y:49.81, Z:2.44 [[ 5.66725031e-01 -8.23828726e-01 -1.13564554e-02 1.13542139e+02] [ 8.23676937e-01 5.66838671e-01 -1.58184772e-02 4.98078994e+01] [ 1.94689940e-02 -3.89323397e-04 9.99810385e-01 2.44161901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.802755096 meters 0.020488363841379285 Centerline is valid? [True, True] Translation: X:113.56, Y:49.83, Z:2.44 [[ 5.68102032e-01 -8.22876525e-01 -1.15890360e-02 1.13557416e+02] [ 8.22718106e-01 5.68220111e-01 -1.61500399e-02 4.98316703e+01] [ 1.98746120e-02 -3.59639242e-04 9.99802416e-01 2.44189655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.832755096 meters 0.019455654425503077 Centerline is valid? [True, True] Translation: X:113.57, Y:49.86, Z:2.44 [[ 5.70692314e-01 -8.21078105e-01 -1.18755251e-02 1.13572477e+02] [ 8.20911143e-01 5.70815782e-01 -1.65601340e-02 4.98553859e+01] [ 2.03759006e-02 -2.98009658e-04 9.99792345e-01 2.44200731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.862755096 meters 0.018595054038003524 Centerline is valid? [True, True] Translation: X:113.59, Y:49.88, Z:2.44 [[ 5.71600103e-01 -8.20442991e-01 -1.21086759e-02 1.13587775e+02] [ 8.20269038e-01 5.71728277e-01 -1.68962429e-02 4.98796127e+01] [ 2.07852765e-02 -2.74477698e-04 9.99783925e-01 2.44215315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.892755096 meters 0.018600889517259633 Centerline is valid? [True, True] Translation: X:113.60, Y:49.90, Z:2.44 [[ 5.72630146e-01 -8.19720725e-01 -1.23551150e-02 1.13603651e+02] [ 8.19539202e-01 5.72763365e-01 -1.72517551e-02 4.99015067e+01] [ 2.12181784e-02 -2.46626062e-04 9.99774839e-01 2.44210537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.922755096 meters 0.01780811735876846 Centerline is valid? [True, True] Translation: X:113.62, Y:49.93, Z:2.44 [[ 5.74516271e-01 -8.18400877e-01 -1.22906427e-02 1.13618542e+02] [ 8.18220734e-01 5.74647691e-01 -1.71715425e-02 4.99259638e+01] [ 2.11159949e-02 -1.91128114e-04 9.99777014e-01 2.44254136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.952755096 meters 0.01751581143203368 Centerline is valid? [True, True] Translation: X:113.63, Y:49.95, Z:2.44 [[ 5.74949742e-01 -8.18099575e-01 -1.20780305e-02 1.13633874e+02] [ 8.17925320e-01 5.75076565e-01 -1.68853295e-02 4.99490445e+01] [ 2.07596731e-02 -1.70711148e-04 9.99784480e-01 2.44320385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.982755096 meters 0.018223217555823786 Centerline is valid? [True, True] Translation: X:113.65, Y:49.97, Z:2.44 [[ 5.75443665e-01 -8.17753033e-01 -1.20235246e-02 1.13650266e+02] [ 8.17580038e-01 5.75569243e-01 -1.68204468e-02 4.99708749e+01] [ 2.06753423e-02 -1.50974095e-04 9.99786231e-01 2.44215199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.012755096 meters 0.01717314516698115 Centerline is valid? [True, True] Translation: X:113.67, Y:49.99, Z:2.44 [[ 5.75694564e-01 -8.17576713e-01 -1.20036583e-02 1.13665901e+02] [ 8.17404037e-01 5.75819676e-01 -1.68030003e-02 4.99938978e+01] [ 2.06496844e-02 -1.38442846e-04 9.99786763e-01 2.44395240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.042755096 meters 0.017224322397105418 Centerline is valid? [True, True] Translation: X:113.68, Y:50.02, Z:2.44 [[ 5.75235587e-01 -8.17897355e-01 -1.21629173e-02 1.13683439e+02] [ 8.17719902e-01 5.75364142e-01 -1.70371927e-02 5.00152132e+01] [ 2.09327813e-02 -1.45460030e-04 9.99780875e-01 2.44410884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.072755096 meters 0.01714116733267801 Centerline is valid? [True, True] Translation: X:113.70, Y:50.04, Z:2.44 [[ 5.74557459e-01 -8.18373594e-01 -1.21814262e-02 1.13700091e+02] [ 8.18195535e-01 5.74686554e-01 -1.70713464e-02 5.00375278e+01] [ 2.09712409e-02 -1.58319161e-04 9.99780067e-01 2.44484097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.102755096 meters 0.017432820496053377 Centerline is valid? [True, True] Translation: X:113.72, Y:50.06, Z:2.45 [[ 5.73546890e-01 -8.19084306e-01 -1.20359834e-02 1.13717283e+02] [ 8.18910405e-01 5.73673137e-01 -1.68784086e-02 5.00590899e+01] [ 2.07295599e-02 -1.75833272e-04 9.99785104e-01 2.44528618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.132755096 meters 0.017857894700833293 Centerline is valid? [True, True] Translation: X:113.74, Y:50.08, Z:2.45 [[ 5.71549854e-01 -8.20478425e-01 -1.20796506e-02 1.13735366e+02] [ 8.20303406e-01 5.71677448e-01 -1.69474894e-02 5.00796748e+01] [ 2.08107133e-02 -2.22643436e-04 9.99783409e-01 2.44529527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.162755096 meters 0.017773086394064646 Centerline is valid? [True, True] Translation: X:113.75, Y:50.10, Z:2.45 [[ 5.70337145e-01 -8.21322638e-01 -1.20277393e-02 1.13752074e+02] [ 8.21149103e-01 5.70463903e-01 -1.68845252e-02 5.01026100e+01] [ 2.07290339e-02 -2.46695490e-04 9.99785100e-01 2.44587554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.192755096 meters 0.018605604743372722 Centerline is valid? [True, True] Translation: X:113.77, Y:50.12, Z:2.45 [[ 5.69015494e-01 -8.22235104e-01 -1.22801277e-02 1.13770345e+02] [ 8.22054183e-01 5.69147921e-01 -1.72500409e-02 5.01227761e+01] [ 2.11727983e-02 -2.79389803e-04 9.99775792e-01 2.44594853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22275509600001 meters 0.019175768792009718 Centerline is valid? [True, True] Translation: X:113.79, Y:50.14, Z:2.45 [[ 5.67422050e-01 -8.23337392e-01 -1.21554972e-02 1.13788259e+02] [ 8.23160219e-01 5.67552148e-01 -1.70825400e-02 5.01443451e+01] [ 2.09635724e-02 -3.12911893e-04 9.99780191e-01 2.44620194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25275509600002 meters 0.020402999536861668 Centerline is valid? [True, True] Translation: X:113.81, Y:50.17, Z:2.45 [[ 5.64661801e-01 -8.25228771e-01 -1.24308698e-02 1.13808109e+02] [ 8.25043705e-01 5.64798484e-01 -1.74802193e-02 5.01652231e+01] [ 2.14461163e-02 -3.85598758e-04 9.99769931e-01 2.44672023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28275509600002 meters 0.020225630026027244 Centerline is valid? [True, True] Translation: X:113.82, Y:50.19, Z:2.45 [[ 5.63000655e-01 -8.26364872e-01 -1.23028812e-02 1.13824873e+02] [ 8.26183652e-01 5.63134906e-01 -1.73104334e-02 5.01885691e+01] [ 2.12329159e-02 -4.18653971e-04 9.99774469e-01 2.44719309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31275509600002 meters 0.020611379790536476 Centerline is valid? [True, True] Translation: X:113.84, Y:50.21, Z:2.45 [[ 5.61574825e-01 -8.27333469e-01 -1.23712017e-02 1.13842584e+02] [ 8.27150229e-01 5.61710893e-01 -1.74175730e-02 5.02110477e+01] [ 2.13591799e-02 -4.51571825e-04 9.99771765e-01 2.44766663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34275509600002 meters 0.021886692616367547 Centerline is valid? [True, True] Translation: X:113.86, Y:50.23, Z:2.45 [[ 5.59071920e-01 -8.29023008e-01 -1.26269916e-02 1.13861024e+02] [ 8.28832290e-01 5.59214254e-01 -1.77891590e-02 5.02317555e+01] [ 2.18088158e-02 -5.20239040e-04 9.99762024e-01 2.44689487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37275509600002 meters 0.02242177846313582 Centerline is valid? [True, True] Translation: X:113.88, Y:50.25, Z:2.45 [[ 5.58023175e-01 -8.29723737e-01 -1.29867365e-02 1.13878232e+02] [ 8.29521921e-01 5.58173996e-01 -1.83077347e-02 5.02539823e+01] [ 2.24392207e-02 -5.56642403e-04 9.99748054e-01 2.44684443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40275509600002 meters 0.022746767512940674 Centerline is valid? [True, True] Translation: X:113.90, Y:50.28, Z:2.45 [[ 5.57123566e-01 -8.30322912e-01 -1.33113951e-02 1.13896036e+02] [ 8.30110774e-01 5.57282258e-01 -1.87773338e-02 5.02763919e+01] [ 2.30094548e-02 -5.88637369e-04 9.99735074e-01 2.44679993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43275509600002 meters 0.022820244027494833 Centerline is valid? [True, True] Translation: X:113.91, Y:50.30, Z:2.45 [[ 5.56935155e-01 -8.30446366e-01 -1.34931945e-02 1.13912483e+02] [ 8.30228146e-01 5.57098267e-01 -1.90459206e-02 5.02988578e+01] [ 2.33336508e-02 -5.95087167e-04 9.99727556e-01 2.44706536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.462755096 meters 0.022870854334660257 Centerline is valid? [True, True] Translation: X:113.93, Y:50.32, Z:2.45 [[ 5.56803177e-01 -8.30531198e-01 -1.37168071e-02 1.13928420e+02] [ 8.30305407e-01 5.56971783e-01 -1.93743407e-02 5.03213852e+01] [ 2.37308689e-02 -6.01444648e-04 9.99718202e-01 2.44730442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.492755096 meters 0.021850505709536658 Centerline is valid? [True, True] Translation: X:113.94, Y:50.35, Z:2.45 [[ 5.57566180e-01 -8.30022928e-01 -1.34867935e-02 1.13943464e+02] [ 8.29804211e-01 5.57728986e-01 -1.90617437e-02 5.03456116e+01] [ 2.33436599e-02 -5.63214413e-04 9.99727341e-01 2.44870516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.522755096 meters 0.02087228812972798 Centerline is valid? [True, True] Translation: X:113.96, Y:50.37, Z:2.45 [[ 5.58213390e-01 -8.29585875e-01 -1.36046949e-02 1.13958227e+02] [ 8.29362884e-01 5.58378887e-01 -1.92412358e-02 5.03695581e+01] [ 2.35588318e-02 -5.42513591e-04 9.99722305e-01 2.44999154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.552755096 meters 0.021756760523991465 Centerline is valid? [True, True] Translation: X:113.98, Y:50.39, Z:2.45 [[ 5.60140549e-01 -8.28286450e-01 -1.35691605e-02 1.13975836e+02] [ 8.28063963e-01 5.60304673e-01 -1.92028062e-02 5.03910115e+01] [ 2.35082882e-02 -4.79862456e-04 9.99723527e-01 2.45038631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.582755096 meters 0.02097414794565588 Centerline is valid? [True, True] Translation: X:113.99, Y:50.41, Z:2.45 [[ 5.61185576e-01 -8.27578538e-01 -1.35835311e-02 1.13990983e+02] [ 8.27355154e-01 5.61349770e-01 -1.92323705e-02 5.04143198e+01] [ 2.35414092e-02 -4.45475562e-04 9.99722763e-01 2.45124654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.612755096 meters 0.018626293140928372 Centerline is valid? [True, True] Translation: X:114.00, Y:50.44, Z:2.45 [[ 5.63630379e-01 -8.25916799e-01 -1.34995428e-02 1.14003584e+02] [ 8.25695416e-01 5.63791900e-01 -1.91252022e-02 5.04396299e+01] [ 2.34067587e-02 -3.66965640e-04 9.99725957e-01 2.45320613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.642755096 meters 0.01798758253156204 Centerline is valid? [True, True] Translation: X:114.02, Y:50.46, Z:2.45 [[ 5.64817275e-01 -8.25105790e-01 -1.34863572e-02 1.14018627e+02] [ 8.24884326e-01 5.64978167e-01 -1.91185683e-02 5.04632708e+01] [ 2.33943388e-02 -3.26187015e-04 9.99726262e-01 2.45370075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.672755096 meters 0.01679326833645858 Centerline is valid? [True, True] Translation: X:114.03, Y:50.49, Z:2.45 [[ 5.67181880e-01 -8.23483549e-01 -1.33999678e-02 1.14032764e+02] [ 8.23264175e-01 5.67340093e-01 -1.90083433e-02 5.04878574e+01] [ 2.32553970e-02 -2.50525547e-04 9.99729525e-01 2.45496855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.702755096 meters 0.01643207271615353 Centerline is valid? [True, True] Translation: X:114.05, Y:50.51, Z:2.46 [[ 5.68129827e-01 -8.22830829e-01 -1.33388888e-02 1.14048298e+02] [ 8.22612988e-01 5.68286353e-01 -1.89338949e-02 5.05114252e+01] [ 2.31597009e-02 -2.15832699e-04 9.99731755e-01 2.45565260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.732755096 meters 0.016220308651034104 Centerline is valid? [True, True] Translation: X:114.06, Y:50.53, Z:2.46 [[ 5.68928231e-01 -8.22282107e-01 -1.31455358e-02 1.14063345e+02] [ 8.22070108e-01 5.69080050e-01 -1.86717525e-02 5.05337578e+01] [ 2.28343101e-02 -1.83664907e-04 9.99739246e-01 2.45612631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.762755096 meters 0.01574152466068025 Centerline is valid? [True, True] Translation: X:114.08, Y:50.56, Z:2.46 [[ 5.70180430e-01 -8.21412402e-01 -1.32643519e-02 1.14079305e+02] [ 8.21196018e-01 5.70334678e-01 -1.88535003e-02 5.05573313e+01] [ 2.30516188e-02 -1.42736115e-04 9.99734266e-01 2.45647546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.792755096 meters 0.015594205624658002 Centerline is valid? [True, True] Translation: X:114.10, Y:50.58, Z:2.46 [[ 5.70601251e-01 -8.21115212e-01 -1.35654389e-02 1.14095236e+02] [ 8.20888505e-01 5.70762467e-01 -1.92942709e-02 5.05795463e+01] [ 2.35854627e-02 -1.26377799e-04 9.99721816e-01 2.45654421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.822755096 meters 0.01543341686547032 Centerline is valid? [True, True] Translation: X:114.11, Y:50.60, Z:2.46 [[ 5.70695352e-01 -8.21048281e-01 -1.36577918e-02 1.14111612e+02] [ 8.20818144e-01 5.70858745e-01 -1.94388116e-02 5.06026676e+01] [ 2.37568727e-02 -1.16923870e-04 9.99717759e-01 2.45700844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.852755096 meters 0.015278308580129067 Centerline is valid? [True, True] Translation: X:114.13, Y:50.62, Z:2.46 [[ 5.70082785e-01 -8.21474408e-01 -1.36167254e-02 1.14128822e+02] [ 8.21245475e-01 5.70245369e-01 -1.93930150e-02 5.06247359e+01] [ 2.36957401e-02 -1.27050163e-04 9.99719208e-01 2.45756133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.882755096 meters 0.015138514755130162 Centerline is valid? [True, True] Translation: X:114.15, Y:50.65, Z:2.46 [[ 5.69597281e-01 -8.21812365e-01 -1.35415748e-02 1.14145457e+02] [ 8.21585749e-01 5.69758211e-01 -1.92986748e-02 5.06472945e+01] [ 2.35753130e-02 -1.33092171e-04 9.99722055e-01 2.45823924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.912755096 meters 0.015097204195848027 Centerline is valid? [True, True] Translation: X:114.16, Y:50.67, Z:2.46 [[ 5.68650654e-01 -8.22472040e-01 -1.32731959e-02 1.14162793e+02] [ 8.22254208e-01 5.68805522e-01 -1.89287093e-02 5.06689150e+01] [ 2.31182013e-02 -1.50118268e-04 9.99732727e-01 2.45927724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.942755096 meters 0.015214059998100948 Centerline is valid? [True, True] Translation: X:114.18, Y:50.69, Z:2.46 [[ 5.67718358e-01 -8.23114738e-01 -1.33414400e-02 1.14179512e+02] [ 8.22894535e-01 5.67875074e-01 -1.90390460e-02 5.06909491e+01] [ 2.32475905e-02 -1.69782110e-04 9.99729724e-01 2.45981061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97275509600001 meters 0.015268051201212749 Centerline is valid? [True, True] Translation: X:114.20, Y:50.71, Z:2.46 [[ 5.67157846e-01 -8.23499917e-01 -1.34113960e-02 1.14196347e+02] [ 8.23277201e-01 5.67316363e-01 -1.91518938e-02 5.07130452e+01] [ 2.33800873e-02 -1.79149748e-04 9.99726632e-01 2.46028392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00275509600002 meters 0.015352691082376696 Centerline is valid? [True, True] Translation: X:114.21, Y:50.74, Z:2.46 [[ 5.66384749e-01 -8.24033081e-01 -1.33341009e-02 1.14213727e+02] [ 8.23812775e-01 5.66541653e-01 -1.90543274e-02 5.07356516e+01] [ 2.32557197e-02 -1.92722222e-04 9.99729531e-01 2.46070582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03275509600002 meters 0.015777035828132245 Centerline is valid? [True, True] Translation: X:114.23, Y:50.76, Z:2.46 [[ 5.65069742e-01 -8.24931358e-01 -1.35809134e-02 1.14231823e+02] [ 8.24702799e-01 5.65232875e-01 -1.94188171e-02 5.07557786e+01] [ 2.36955699e-02 -2.27231370e-04 9.99719195e-01 2.46048116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06275509600002 meters 0.015786289415460054 Centerline is valid? [True, True] Translation: X:114.25, Y:50.78, Z:2.46 [[ 5.64503398e-01 -8.25318589e-01 -1.36066133e-02 1.14248676e+02] [ 8.25089101e-01 5.64667308e-01 -1.94629745e-02 5.07783611e+01] [ 2.37463644e-02 -2.39753082e-04 9.99717987e-01 2.46113479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09275509600002 meters 0.016246298384340524 Centerline is valid? [True, True] Translation: X:114.27, Y:50.80, Z:2.46 [[ 5.63758555e-01 -8.25820428e-01 -1.40325603e-02 1.14266437e+02] [ 8.25576183e-01 5.63933110e-01 -2.00851315e-02 5.07994250e+01] [ 2.45001373e-02 -2.61782862e-04 9.99699792e-01 2.46074875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12275509600002 meters 0.016228933593452666 Centerline is valid? [True, True] Translation: X:114.28, Y:50.82, Z:2.46 [[ 5.63782547e-01 -8.25798145e-01 -1.43757653e-02 1.14282575e+02] [ 8.25541522e-01 5.63965739e-01 -2.05873868e-02 5.08221099e+01] [ 2.51084649e-02 -2.60981796e-04 9.99684699e-01 2.46066221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15275509600002 meters 0.01610324251982133 Centerline is valid? [True, True] Translation: X:114.30, Y:50.84, Z:2.46 [[ 5.64030637e-01 -8.25623909e-01 -1.46492764e-02 1.14297879e+02] [ 8.25357012e-01 5.64220788e-01 -2.09929778e-02 5.08443908e+01] [ 2.55977307e-02 -2.50200382e-04 9.99672293e-01 2.46061866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18275509600002 meters 0.015709066675178632 Centerline is valid? [True, True] Translation: X:114.31, Y:50.87, Z:2.46 [[ 5.65199397e-01 -8.24808526e-01 -1.55092604e-02 1.14313157e+02] [ 8.24508639e-01 5.65412105e-01 -2.22408309e-02 5.08679792e+01] [ 2.71135505e-02 -2.17014960e-04 9.99632337e-01 2.45995234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.212755096 meters 0.015709066675178632 Centerline is valid? [True, True] Translation: X:114.33, Y:50.89, Z:2.46 [[ 5.64950758e-01 -8.24978977e-01 -1.55025505e-02 1.14328775e+02] [ 8.24679026e-01 5.65163375e-01 -2.22455074e-02 5.08907006e+01] [ 2.71135497e-02 -2.17011977e-04 9.99632337e-01 2.46046701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.242755096 meters 0.015050113357682039 Centerline is valid? [True, True] Translation: X:114.34, Y:50.91, Z:2.46 [[ 5.66086777e-01 -8.24194369e-01 -1.57925295e-02 1.14344031e+02] [ 8.23882371e-01 5.66306995e-01 -2.26765486e-02 5.09145025e+01] [ 2.76333036e-02 -1.74292298e-04 9.99618112e-01 2.46076155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.272755096 meters 0.014948934401998869 Centerline is valid? [True, True] Translation: X:114.36, Y:50.94, Z:2.46 [[ 5.66530875e-01 -8.23888307e-01 -1.58374296e-02 1.14359923e+02] [ 8.23573992e-01 5.66752180e-01 -2.27562071e-02 5.09378063e+01] [ 2.77244707e-02 -1.51201228e-04 9.99615592e-01 2.46130920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.302755096 meters 0.014975960907720834 Centerline is valid? [True, True] Translation: X:114.38, Y:50.96, Z:2.46 [[ 5.66746960e-01 -8.23740757e-01 -1.57812563e-02 1.14375790e+02] [ 8.23428187e-01 5.66966619e-01 -2.26908165e-02 5.09603231e+01] [ 2.76387959e-02 -1.34779981e-04 9.99617966e-01 2.46141270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.332755096 meters 0.014702482527162712 Centerline is valid? [True, True] Translation: X:114.39, Y:50.98, Z:2.46 [[ 5.66610868e-01 -8.23839462e-01 -1.55133932e-02 1.14391784e+02] [ 8.23537040e-01 5.66823187e-01 -2.23208262e-02 5.09828946e+01] [ 2.71821284e-02 -1.28631241e-04 9.99630489e-01 2.46294775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.362755096 meters 0.014645977218945758 Centerline is valid? [True, True] Translation: X:114.41, Y:51.01, Z:2.46 [[ 5.66253592e-01 -8.24087506e-01 -1.53835001e-02 1.14408437e+02] [ 8.23789827e-01 5.66462502e-01 -2.21484691e-02 5.10057166e+01] [ 2.69664526e-02 -1.31120681e-04 9.99636330e-01 2.46430557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.392755096 meters 0.014603859943933277 Centerline is valid? [True, True] Translation: X:114.43, Y:51.03, Z:2.47 [[ 5.65496563e-01 -8.24611351e-01 -1.51577108e-02 1.14426319e+02] [ 8.24322150e-01 5.65699654e-01 -2.18379279e-02 5.10274612e+01] [ 2.65825150e-02 -1.45563587e-04 9.99646612e-01 2.46569877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.422755096 meters 0.014681026396336963 Centerline is valid? [True, True] Translation: X:114.44, Y:51.05, Z:2.47 [[ 5.64911971e-01 -8.25013366e-01 -1.50801716e-02 1.14443097e+02] [ 8.24726879e-01 5.65113194e-01 -2.17405934e-02 5.10487045e+01] [ 2.64582841e-02 -1.55501370e-04 9.99649906e-01 2.46621092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.452755096 meters 0.014633228081109513 Centerline is valid? [True, True] Translation: X:114.46, Y:51.07, Z:2.47 [[ 5.64585420e-01 -8.25240023e-01 -1.49066194e-02 1.14459709e+02] [ 8.24959818e-01 5.64782152e-01 -2.15039426e-02 5.10714191e+01] [ 2.61649067e-02 -1.56549532e-04 9.99657628e-01 2.46770111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.482755096 meters 0.014650690640224272 Centerline is valid? [True, True] Translation: X:114.48, Y:51.09, Z:2.47 [[ 5.64355729e-01 -8.25400059e-01 -1.47429344e-02 1.14476828e+02] [ 8.25125649e-01 5.64548244e-01 -2.12824911e-02 5.10925205e+01] [ 2.58896671e-02 -1.53877560e-04 9.99664795e-01 2.46851912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.512755096 meters 0.014447611388137663 Centerline is valid? [True, True] Translation: X:114.49, Y:51.12, Z:2.47 [[ 5.64095531e-01 -8.25587037e-01 -1.42224157e-02 1.14492683e+02] [ 8.25331368e-01 5.64274776e-01 -2.05453254e-02 5.11155456e+01] [ 2.49873047e-02 -1.48679572e-04 9.99687758e-01 2.46997428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.542755096 meters 0.014413613748316822 Centerline is valid? [True, True] Translation: X:114.51, Y:51.14, Z:2.47 [[ 5.64364327e-01 -8.25410846e-01 -1.37782750e-02 1.14509236e+02] [ 8.25170520e-01 5.64532478e-01 -1.99171802e-02 5.11367916e+01] [ 2.42181403e-02 -1.28880327e-04 9.99706690e-01 2.47076662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.572755096 meters 0.014240303277478925 Centerline is valid? [True, True] Translation: X:114.53, Y:51.16, Z:2.47 [[ 5.64310747e-01 -8.25446956e-01 -1.38095500e-02 1.14525575e+02] [ 8.25205205e-01 5.64479679e-01 -1.99765407e-02 5.11596312e+01] [ 2.42847851e-02 -1.22735865e-04 9.99705074e-01 2.47188984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.602755096 meters 0.014336480106474496 Centerline is valid? [True, True] Translation: X:114.54, Y:51.18, Z:2.47 [[ 5.64235721e-01 -8.25498901e-01 -1.37700598e-02 1.14541703e+02] [ 8.25258223e-01 5.64403712e-01 -1.99327757e-02 5.11808995e+01] [ 2.42263573e-02 -1.17071019e-04 9.99706492e-01 2.47230801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.632755096 meters 0.014188664496567527 Centerline is valid? [True, True] Translation: X:114.56, Y:51.20, Z:2.47 [[ 5.64573592e-01 -8.25271086e-01 -1.35754895e-02 1.14558228e+02] [ 8.25036778e-01 5.64736775e-01 -1.96644205e-02 5.12029762e+01] [ 2.38950558e-02 -9.82656412e-05 9.99714468e-01 2.47312801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.662755096 meters 0.014008800506035514 Centerline is valid? [True, True] Translation: X:114.57, Y:51.23, Z:2.47 [[ 5.64765221e-01 -8.25141793e-01 -1.34635405e-02 1.14573571e+02] [ 8.24911005e-01 5.64925672e-01 -1.95146026e-02 5.12259565e+01] [ 2.37082138e-02 -8.50538863e-05 9.99718917e-01 2.47470465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.692755096 meters 0.014027500236651409 Centerline is valid? [True, True] Translation: X:114.59, Y:51.25, Z:2.48 [[ 5.64846424e-01 -8.25089204e-01 -1.32786404e-02 1.14589207e+02] [ 8.24864395e-01 5.65002478e-01 -1.92595439e-02 5.12485741e+01] [ 2.33933064e-02 -7.43931847e-05 9.99726336e-01 2.47526988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72275509600001 meters 0.013914406638140074 Centerline is valid? [True, True] Translation: X:114.60, Y:51.27, Z:2.48 [[ 5.65332815e-01 -8.24761538e-01 -1.29311530e-02 1.14604478e+02] [ 8.24547977e-01 5.65480683e-01 -1.87677980e-02 5.12711722e+01] [ 2.27912752e-02 -5.23039579e-05 9.99740244e-01 2.47571026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75275509600002 meters 0.013997941243173623 Centerline is valid? [True, True] Translation: X:114.62, Y:51.29, Z:2.48 [[ 5.65233411e-01 -8.24830559e-01 -1.28740413e-02 1.14619736e+02] [ 8.24618681e-01 5.65380002e-01 -1.86945018e-02 5.12944093e+01] [ 2.26985218e-02 -4.94179222e-05 9.99742354e-01 2.47637986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78275509600002 meters 0.013970473062423872 Centerline is valid? [True, True] Translation: X:114.63, Y:51.32, Z:2.48 [[ 5.64898221e-01 -8.25066034e-01 -1.24915834e-02 1.14634156e+02] [ 8.24866357e-01 5.65036314e-01 -1.81509473e-02 5.13169351e+01] [ 2.20339283e-02 -5.04490432e-05 9.99757222e-01 2.47664155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81275509600002 meters 0.013932657599522773 Centerline is valid? [True, True] Translation: X:114.65, Y:51.34, Z:2.48 [[ 5.64596224e-01 -8.25278410e-01 -1.21099162e-02 1.14649556e+02] [ 8.25090543e-01 5.64726079e-01 -1.76082720e-02 5.13405328e+01] [ 2.13705122e-02 -5.02134081e-05 9.99771623e-01 2.47775963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84275509600002 meters 0.013970976849985491 Centerline is valid? [True, True] Translation: X:114.66, Y:51.36, Z:2.48 [[ 5.64046143e-01 -8.25652544e-01 -1.22403353e-02 1.14664761e+02] [ 8.25460434e-01 5.64178937e-01 -1.78100729e-02 5.13626306e+01] [ 2.16106714e-02 -5.82095993e-05 9.99766460e-01 2.47823750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87275509600002 meters 0.014101591649340309 Centerline is valid? [True, True] Translation: X:114.68, Y:51.39, Z:2.48 [[ 5.62886548e-01 -8.26443981e-01 -1.22098118e-02 1.14680276e+02] [ 8.26252745e-01 5.63018951e-01 -1.77781185e-02 5.13852643e+01] [ 2.15669744e-02 -8.13267503e-05 9.99767402e-01 2.47857307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90275509600002 meters 0.013936920276072377 Centerline is valid? [True, True] Translation: X:114.70, Y:51.41, Z:2.48 [[ 5.62080951e-01 -8.26990811e-01 -1.22964283e-02 1.14695671e+02] [ 8.26796719e-01 5.62215429e-01 -1.79163876e-02 5.14089589e+01] [ 2.17299296e-02 -9.61864164e-05 9.99763873e-01 2.47961284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93275509600002 meters 0.014140816317168207 Centerline is valid? [True, True] Translation: X:114.71, Y:51.43, Z:2.48 [[ 5.60417966e-01 -8.28113353e-01 -1.26482528e-02 1.14711434e+02] [ 8.27907991e-01 5.60560662e-01 -1.84418658e-02 5.14305608e+01] [ 2.23620683e-02 -1.36436682e-04 9.99749928e-01 2.47949319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.962755096 meters 0.014393634508535796 Centerline is valid? [True, True] Translation: X:114.73, Y:51.45, Z:2.48 [[ 5.59287900e-01 -8.28871003e-01 -1.30347796e-02 1.14727698e+02] [ 8.28652817e-01 5.59439749e-01 -1.90177881e-02 5.14530088e+01] [ 2.30554669e-02 -1.64888127e-04 9.99734174e-01 2.47939936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.992755096 meters 0.01516404167616415 Centerline is valid? [True, True] Translation: X:114.74, Y:51.47, Z:2.48 [[ 5.57072569e-01 -8.30355849e-01 -1.33909603e-02 1.14744387e+02] [ 8.30125691e-01 5.57233446e-01 -1.95505532e-02 5.14745828e+01] [ 2.36958072e-02 -2.25103242e-04 9.99719190e-01 2.47881350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.022755096 meters 0.015180002975806878 Centerline is valid? [True, True] Translation: X:114.76, Y:51.50, Z:2.48 [[ 5.55871958e-01 -8.31159430e-01 -1.34301306e-02 1.14760249e+02] [ 8.30927871e-01 5.56034115e-01 -1.96197923e-02 5.14980332e+01] [ 2.37747862e-02 -2.53377485e-04 9.99717308e-01 2.47952521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.052755096 meters 0.01586301729571154 Centerline is valid? [True, True] Translation: X:114.78, Y:51.52, Z:2.48 [[ 5.53443014e-01 -8.32780123e-01 -1.33452719e-02 1.14777399e+02] [ 8.32551643e-01 5.53603801e-01 -1.95088256e-02 5.15207025e+01] [ 2.36345554e-02 -3.13604750e-04 9.99720616e-01 2.48020216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.082755096 meters 0.016190786556147328 Centerline is valid? [True, True] Translation: X:114.79, Y:51.54, Z:2.48 [[ 5.52352876e-01 -8.33506628e-01 -1.31530102e-02 1.14793498e+02] [ 8.33284600e-01 5.52509357e-01 -1.92401810e-02 5.15435660e+01] [ 2.33039796e-02 -3.32831568e-04 9.99728370e-01 2.48089539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.112755096 meters 0.016655375149108472 Centerline is valid? [True, True] Translation: X:114.81, Y:51.57, Z:2.48 [[ 5.51506185e-01 -8.34069239e-01 -1.30166465e-02 1.14808944e+02] [ 8.33851668e-01 5.51659664e-01 -1.90528618e-02 5.15656762e+01] [ 2.30721648e-02 -3.46181240e-04 9.99733742e-01 2.48168128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.142755096 meters 0.016468579433351564 Centerline is valid? [True, True] Translation: X:114.82, Y:51.59, Z:2.48 [[ 5.50974402e-01 -8.34425530e-01 -1.26981454e-02 1.14824282e+02] [ 8.34218356e-01 5.51120598e-01 -1.85962486e-02 5.15893583e+01] [ 2.25153941e-02 -3.46969017e-04 9.99746436e-01 2.48278898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.172755096 meters 0.016581782130032162 Centerline is valid? [True, True] Translation: X:114.84, Y:51.61, Z:2.48 [[ 5.50663873e-01 -8.34639328e-01 -1.21033691e-02 1.14839637e+02] [ 8.34450911e-01 5.50796770e-01 -1.77368151e-02 5.16133436e+01] [ 2.14703401e-02 -3.32644100e-04 9.99769430e-01 2.48416466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.202755096 meters 0.016388398028157877 Centerline is valid? [True, True] Translation: X:114.85, Y:51.64, Z:2.49 [[ 5.51230582e-01 -8.34274435e-01 -1.14461016e-02 1.14853259e+02] [ 8.34105629e-01 5.51349327e-01 -1.67845179e-02 5.16366481e+01] [ 2.03136946e-02 -2.95118171e-04 9.99793612e-01 2.48550220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.232755096 meters 0.01614263214683391 Centerline is valid? [True, True] Translation: X:114.87, Y:51.66, Z:2.49 [[ 5.51810798e-01 -8.33892828e-01 -1.12957535e-02 1.14867431e+02] [ 8.33728117e-01 5.51926333e-01 -1.65755963e-02 5.16596710e+01] [ 2.00566947e-02 -2.70994267e-04 9.99798808e-01 2.48624627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.262755096 meters 0.015592515865678065 Centerline is valid? [True, True] Translation: X:114.88, Y:51.68, Z:2.49 [[ 5.52553397e-01 -8.33406527e-01 -1.08768240e-02 1.14881543e+02] [ 8.33253505e-01 5.52660388e-01 -1.59716077e-02 5.16839653e+01] [ 1.93220319e-02 -2.37985608e-04 9.99813284e-01 2.48746916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.292755096 meters 0.015462338569891411 Centerline is valid? [True, True] Translation: X:114.90, Y:51.71, Z:2.49 [[ 5.53072387e-01 -8.33065806e-01 -1.05970387e-02 1.14896047e+02] [ 8.32920299e-01 5.53173858e-01 -1.55710880e-02 5.17074425e+01] [ 1.88337457e-02 -2.14549866e-04 9.99822606e-01 2.48828684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.322755096 meters 0.01479491607334379 Centerline is valid? [True, True] Translation: X:114.91, Y:51.73, Z:2.49 [[ 5.54606920e-01 -8.32052854e-01 -9.96053299e-03 1.14908997e+02] [ 8.31923975e-01 5.54696332e-01 -1.46450683e-02 5.17322667e+01] [ 1.77105420e-02 -1.64149990e-04 9.99843143e-01 2.48967090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.352755096 meters 0.014467343347377629 Centerline is valid? [True, True] Translation: X:114.92, Y:51.76, Z:2.49 [[ 5.55958958e-01 -8.31158852e-01 -9.19781083e-03 1.14922448e+02] [ 8.31048697e-01 5.56035024e-01 -1.35319786e-02 5.17569258e+01] [ 1.63615288e-02 -1.20603983e-04 9.99866134e-01 2.49058576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.382755096 meters 0.01443124856961348 Centerline is valid? [True, True] Translation: X:114.94, Y:51.78, Z:2.49 [[ 5.56280421e-01 -8.30945960e-01 -8.99470777e-03 1.14936620e+02] [ 8.30840449e-01 5.56353125e-01 -1.32418917e-02 5.17795180e+01] [ 1.60075302e-02 -1.06961963e-04 9.99871866e-01 2.49127344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.412755096 meters 0.014322542975787255 Centerline is valid? [True, True] Translation: X:114.95, Y:51.80, Z:2.49 [[ 5.56597633e-01 -8.30733181e-01 -9.02532268e-03 1.14951546e+02] [ 8.30626767e-01 5.56670794e-01 -1.32966784e-02 5.18029665e+01] [ 1.60701255e-02 -9.57748532e-05 9.99870863e-01 2.49169100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.442755096 meters 0.01421231227750827 Centerline is valid? [True, True] Translation: X:114.97, Y:51.83, Z:2.49 [[ 5.56989081e-01 -8.30472314e-01 -8.88257368e-03 1.14967016e+02] [ 8.30369068e-01 5.57059898e-01 -1.30950857e-02 5.18266764e+01] [ 1.58232317e-02 -8.19946658e-05 9.99874801e-01 2.49228102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47275509600001 meters 0.014329073251585068 Centerline is valid? [True, True] Translation: X:114.98, Y:51.85, Z:2.49 [[ 5.57348969e-01 -8.30236418e-01 -8.34365498e-03 1.14982219e+02] [ 8.30145181e-01 5.57411415e-01 -1.23082144e-02 5.18493520e+01] [ 1.48695763e-02 -6.64743930e-05 9.99889440e-01 2.49349431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50275509600002 meters 0.014381264253567998 Centerline is valid? [True, True] Translation: X:115.00, Y:51.87, Z:2.49 [[ 5.57010458e-01 -8.30463847e-01 -8.31554533e-03 1.14998004e+02] [ 8.30373117e-01 5.57072521e-01 -1.22756706e-02 5.18724395e+01] [ 1.48268625e-02 -6.73283786e-05 9.99890074e-01 2.49405979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53275509600002 meters 0.01445819871115093 Centerline is valid? [True, True] Translation: X:115.01, Y:51.89, Z:2.49 [[ 5.56591200e-01 -8.30747072e-01 -8.09559169e-03 1.15013789e+02] [ 8.30660998e-01 5.56650068e-01 -1.19586194e-02 5.18945906e+01] [ 1.44409997e-02 -6.86299440e-05 9.99895721e-01 2.49472984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56275509600002 meters 0.014632306168038862 Centerline is valid? [True, True] Translation: X:115.03, Y:51.92, Z:2.49 [[ 5.55353613e-01 -8.31575074e-01 -8.07836927e-03 1.15030574e+02] [ 8.31489329e-01 5.55412359e-01 -1.19418282e-02 5.19167014e+01] [ 1.44173528e-02 -8.51404139e-05 9.99896061e-01 2.49434413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59275509600002 meters 0.014808668907114988 Centerline is valid? [True, True] Translation: X:115.05, Y:51.94, Z:2.49 [[ 5.54449275e-01 -8.32175936e-01 -8.31950749e-03 1.15046896e+02] [ 8.32084938e-01 5.54511679e-01 -1.23066662e-02 5.19390021e+01] [ 1.48545755e-02 -9.91147205e-05 9.99889660e-01 2.49417919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62275509600002 meters 0.0152711662910631 Centerline is valid? [True, True] Translation: X:115.06, Y:51.96, Z:2.49 [[ 5.52702753e-01 -8.33336708e-01 -8.34253754e-03 1.15064500e+02] [ 8.33245217e-01 5.52765696e-01 -1.23488030e-02 5.19594223e+01] [ 1.49021794e-02 -1.26162110e-04 9.99888948e-01 2.49383558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65275509600002 meters 0.015520891302093762 Centerline is valid? [True, True] Translation: X:115.08, Y:51.98, Z:2.49 [[ 5.51528738e-01 -8.34113820e-01 -8.37770387e-03 1.15082010e+02] [ 8.34021514e-01 5.51592345e-01 -1.24096792e-02 5.19819283e+01] [ 1.49721622e-02 -1.42890579e-04 9.99887901e-01 2.49390433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68275509600002 meters 0.015920642496683214 Centerline is valid? [True, True] Translation: X:115.10, Y:52.00, Z:2.49 [[ 5.50491368e-01 -8.34798606e-01 -8.39890750e-03 1.15098853e+02] [ 8.34705781e-01 5.50555414e-01 -1.24497165e-02 5.20034505e+01] [ 1.50170700e-02 -1.57155160e-04 9.99887225e-01 2.49378602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.712755096 meters 0.0167929737423166 Centerline is valid? [True, True] Translation: X:115.12, Y:52.02, Z:2.49 [[ 5.48775914e-01 -8.35927172e-01 -8.41187247e-03 1.15117364e+02] [ 8.35834108e-01 5.48840349e-01 -1.24745491e-02 5.20241297e+01] [ 1.50445895e-02 -1.85197872e-04 9.99886807e-01 2.49400386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.742755096 meters 0.017319805365963663 Centerline is valid? [True, True] Translation: X:115.13, Y:52.05, Z:2.49 [[ 5.47572477e-01 -8.36716174e-01 -8.39205302e-03 1.15134988e+02] [ 8.36623537e-01 5.47636744e-01 -1.24520520e-02 5.20459424e+01] [ 1.50146299e-02 -2.02588132e-04 9.99887254e-01 2.49435869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.772755096 meters 0.017199429021595866 Centerline is valid? [True, True] Translation: X:115.15, Y:52.07, Z:2.50 [[ 5.47678027e-01 -8.36651561e-01 -7.93372360e-03 1.15149404e+02] [ 8.36568664e-01 5.47735457e-01 -1.17787847e-02 5.20696689e+01] [ 1.42003203e-02 -1.86122978e-04 9.99899153e-01 2.49505013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.802755096 meters 0.01684381537612758 Centerline is valid? [True, True] Translation: X:115.16, Y:52.09, Z:2.50 [[ 5.48222989e-01 -8.36296606e-01 -7.71636620e-03 1.15163819e+02] [ 8.36218058e-01 5.48277265e-01 -1.14630160e-02 5.20941803e+01] [ 1.38171895e-02 -1.68275874e-04 9.99904524e-01 2.49599062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.832755096 meters 0.015674207410783035 Centerline is valid? [True, True] Translation: X:115.18, Y:52.12, Z:2.50 [[ 5.49896258e-01 -8.35198176e-01 -7.62317309e-03 1.15176365e+02] [ 8.35121315e-01 5.49949079e-01 -1.13313860e-02 5.21192945e+01] [ 1.36563099e-02 -1.35187571e-04 9.99906739e-01 2.49597091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.862755096 meters 0.015519430375457425 Centerline is valid? [True, True] Translation: X:115.19, Y:52.14, Z:2.50 [[ 5.51511593e-01 -8.34134373e-01 -7.40343700e-03 1.15189511e+02] [ 8.34061677e-01 5.51561273e-01 -1.10127674e-02 5.21428516e+01] [ 1.32695770e-02 -1.01254190e-04 9.99911950e-01 2.49710136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.892755096 meters 0.014947789222753404 Centerline is valid? [True, True] Translation: X:115.20, Y:52.17, Z:2.50 [[ 5.54140846e-01 -8.32390894e-01 -7.30218858e-03 1.15202394e+02] [ 8.32319963e-01 5.54188953e-01 -1.08666221e-02 5.21679858e+01] [ 1.30920696e-02 -5.61181558e-05 9.99914294e-01 2.49709164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.922755096 meters 0.014980349635462787 Centerline is valid? [True, True] Translation: X:115.22, Y:52.19, Z:2.50 [[ 5.55533771e-01 -8.31462736e-01 -7.20748512e-03 1.15216609e+02] [ 8.31393463e-01 5.55580523e-01 -1.07327871e-02 5.21923583e+01] [ 1.29282509e-02 -2.98303430e-05 9.99916426e-01 2.49789624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.952755096 meters 0.014995458082394235 Centerline is valid? [True, True] Translation: X:115.23, Y:52.22, Z:2.50 [[ 5.56938844e-01 -8.30522203e-01 -7.21066152e-03 1.15230015e+02] [ 8.30452699e-01 5.56985520e-01 -1.07445222e-02 5.22160142e+01] [ 1.29397983e-02 -4.07156951e-06 9.99916277e-01 2.49839358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.982755096 meters 0.015132449982431675 Centerline is valid? [True, True] Translation: X:115.24, Y:52.24, Z:2.50 [[ 5.58017684e-01 -8.29799642e-01 -6.98704021e-03 1.15244014e+02] [ 8.29734234e-01 5.58061425e-01 -1.04185438e-02 5.22398379e+01] [ 1.25445015e-02 1.63452315e-05 9.99921315e-01 2.49891689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.012755096 meters 0.015766101628442542 Centerline is valid? [True, True] Translation: X:115.26, Y:52.26, Z:2.50 [[ 5.60015944e-01 -8.28457628e-01 -6.33261307e-03 1.15257106e+02] [ 8.28403756e-01 5.60051745e-01 -9.44774852e-03 5.22640400e+01] [ 1.13736503e-02 4.49293579e-05 9.99935317e-01 2.50060289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.042755096 meters 0.01621406820264359 Centerline is valid? [True, True] Translation: X:115.27, Y:52.29, Z:2.50 [[ 5.60612035e-01 -8.28059219e-01 -5.66360177e-03 1.15272303e+02] [ 8.28016057e-01 5.60640640e-01 -8.45467538e-03 5.22879728e+01] [ 1.01762172e-02 5.02395642e-05 9.99948220e-01 2.50230192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.072755096 meters 0.01657987302212748 Centerline is valid? [True, True] Translation: X:115.29, Y:52.31, Z:2.50 [[ 5.61049544e-01 -8.27767694e-01 -4.90450017e-03 1.15286958e+02] [ 8.27735281e-01 5.61070978e-01 -7.32547126e-03 5.23107779e+01] [ 8.81556116e-03 5.03244837e-05 9.99961141e-01 2.50440053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.102755096 meters 0.01711364607141861 Centerline is valid? [True, True] Translation: X:115.30, Y:52.33, Z:2.51 [[ 5.60357087e-01 -8.28244971e-01 -3.19428506e-03 1.15301736e+02] [ 8.28231220e-01 5.60366191e-01 -4.77260171e-03 5.23342231e+01] [ 5.74285271e-03 2.87545764e-05 9.99983509e-01 2.50769908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.132755096 meters 0.01711364607141861 Centerline is valid? [True, True] Translation: X:115.32, Y:52.36, Z:2.51 [[ 5.60114615e-01 -8.28408965e-01 -3.19458515e-03 1.15316900e+02] [ 8.28395218e-01 5.60123724e-01 -4.77240179e-03 5.23572483e+01] [ 5.74286336e-03 2.67129208e-05 9.99983509e-01 2.50821439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.162755096 meters 0.017159810579151162 Centerline is valid? [True, True] Translation: X:115.33, Y:52.38, Z:2.51 [[ 5.58950686e-01 -8.29197013e-01 -2.53832473e-03 1.15333294e+02] [ 8.29188341e-01 5.58956450e-01 -3.79242976e-03 5.23798076e+01] [ 4.56348441e-03 1.50319445e-05 9.99989587e-01 2.51001356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.192755096 meters 0.017441896593732107 Centerline is valid? [True, True] Translation: X:115.35, Y:52.40, Z:2.51 [[ 5.56013285e-01 -8.31172832e-01 -9.74201959e-04 1.15351755e+02] [ 8.31171568e-01 5.56014139e-01 -1.44991104e-03 5.24001039e+01] [ 1.74679673e-03 -3.55917075e-06 9.99998474e-01 2.51394468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22275509600001 meters 0.017691810237897707 Centerline is valid? [True, True] Translation: X:115.37, Y:52.42, Z:2.52 [[ 5.54168611e-01 -8.32404383e-01 -3.05900427e-04 1.15369582e+02] [ 8.32404262e-01 5.54168696e-01 -4.49156971e-04 5.24223694e+01] [ 5.43400672e-04 -5.72412442e-06 9.99999852e-01 2.51627558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25275509600002 meters 0.018185127815796724 Centerline is valid? [True, True] Translation: X:115.39, Y:52.44, Z:2.52 [[ 5.52095355e-01 -8.33780818e-01 5.15205764e-04 1.15386781e+02] [ 8.33780450e-01 5.52095596e-01 7.83420313e-04 5.24431094e+01] [-9.37643663e-04 -2.95422198e-06 9.99999560e-01 2.51888154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28275509600002 meters 0.01867455221531448 Centerline is valid? [True, True] Translation: X:115.41, Y:52.46, Z:2.52 [[ 5.48372565e-01 -8.36232054e-01 1.86584202e-03 1.15406101e+02] [ 8.36227329e-01 5.48375739e-01 2.81135392e-03 5.24642349e+01] [-3.37412676e-03 1.85987285e-05 9.99994307e-01 2.52064048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31275509600002 meters 0.02022035071103994 Centerline is valid? [True, True] Translation: X:115.42, Y:52.49, Z:2.53 [[ 5.46437367e-01 -8.37495964e-01 2.59111795e-03 1.15423437e+02] [ 8.37486864e-01 5.46443509e-01 3.90434684e-03 5.24853813e+01] [-4.68577430e-03 3.65462413e-05 9.99989021e-01 2.52503056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34275509600002 meters 0.01955578895992127 Centerline is valid? [True, True] Translation: X:115.44, Y:52.51, Z:2.52 [[ 5.42959627e-01 -8.39748936e-01 4.07031035e-03 1.15439877e+02] [ 8.39726562e-01 5.42974876e-01 6.13067754e-03 5.25091654e+01] [-7.35830620e-03 8.92373220e-05 9.99972923e-01 2.52147685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37275509600002 meters 0.02009700051732328 Centerline is valid? [True, True] Translation: X:115.46, Y:52.53, Z:2.52 [[ 5.41323152e-01 -8.40802214e-01 4.56972038e-03 1.15456705e+02] [ 8.40774022e-01 5.41342428e-01 6.88621088e-03 5.25326312e+01] [-8.26372488e-03 1.14436800e-04 9.99965848e-01 2.52228226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40275509600002 meters 0.020716942105630985 Centerline is valid? [True, True] Translation: X:115.47, Y:52.56, Z:2.52 [[ 5.39783283e-01 -8.41789493e-01 4.94527532e-03 1.15473282e+02] [ 8.41756483e-01 5.39805918e-01 7.45611115e-03 5.25553623e+01] [-8.94596491e-03 1.38033405e-04 9.99959975e-01 2.52358211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43275509600002 meters 0.025899794695916956 Centerline is valid? [True, True] Translation: X:115.49, Y:52.57, Z:2.53 [[ 5.37622028e-01 -8.43169001e-01 5.34707409e-03 1.15493715e+02] [ 8.43130470e-01 5.37648589e-01 8.06255686e-03 5.25741046e+01] [-9.67294486e-03 1.73672918e-04 9.99953201e-01 2.53297110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.462755096 meters 0.026480118480823885 Centerline is valid? [True, True] Translation: X:115.51, Y:52.60, Z:2.53 [[ 5.36737845e-01 -8.43731743e-01 5.40667006e-03 1.15508959e+02] [ 8.43692318e-01 5.36765045e-01 8.15839588e-03 5.25976042e+01] [-9.78560907e-03 1.82646170e-04 9.99952103e-01 2.53366068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.492755096 meters 0.022792199322122605 Centerline is valid? [True, True] Translation: X:115.52, Y:52.62, Z:2.53 [[ 5.35459466e-01 -8.44543613e-01 5.40801125e-03 1.15519216e+02] [ 8.44504149e-01 5.35486740e-01 8.16665149e-03 5.26249856e+01] [-9.79301167e-03 1.94177087e-04 9.99952028e-01 2.52511505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.522755096 meters 0.02254315228430868 Centerline is valid? [True, True] Translation: X:115.53, Y:52.65, Z:2.52 [[ 5.34597310e-01 -8.45091616e-01 5.08695978e-03 1.15534199e+02] [ 8.45056663e-01 5.34621479e-01 7.68839001e-03 5.26493652e+01] [-9.21699189e-03 1.88576635e-04 9.99957505e-01 2.52389134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.552755096 meters 0.02293259353363641 Centerline is valid? [True, True] Translation: X:115.55, Y:52.67, Z:2.52 [[ 5.33676361e-01 -8.45674227e-01 4.96424061e-03 1.15549680e+02] [ 8.45640918e-01 5.33699414e-01 7.50818760e-03 5.26725595e+01] [-8.99889305e-03 1.91022758e-04 9.99959491e-01 2.52346860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.582755096 meters 0.029552111684927974 Centerline is valid? [True, True] Translation: X:115.57, Y:52.69, Z:2.53 [[ 5.32218681e-01 -8.46597320e-01 4.03144766e-03 1.15572198e+02] [ 8.46575364e-01 5.32233924e-01 6.09951820e-03 5.26905059e+01] [-7.30950896e-03 1.66646738e-04 9.99973271e-01 2.53106860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.612755096 meters 0.0298583531815131 Centerline is valid? [True, True] Translation: X:115.59, Y:52.71, Z:2.53 [[ 5.31744858e-01 -8.46896527e-01 3.69852764e-03 1.15585477e+02] [ 8.46877999e-01 5.31757698e-01 5.60408705e-03 5.27127637e+01] [-6.71280241e-03 1.52257211e-04 9.99977457e-01 2.53044773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.642755096 meters 0.023011670095872582 Centerline is valid? [True, True] Translation: X:115.59, Y:52.74, Z:2.52 [[ 5.31318919e-01 -8.47166045e-01 3.14610755e-03 1.15592021e+02] [ 8.47152618e-01 5.31328218e-01 4.77139338e-03 5.27421394e+01] [-5.71377817e-03 1.30101678e-04 9.99983668e-01 2.51904205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.672755096 meters 0.022376995779370985 Centerline is valid? [True, True] Translation: X:115.60, Y:52.77, Z:2.51 [[ 5.30282155e-01 -8.47818361e-01 2.20522211e-03 1.15604682e+02] [ 8.47811747e-01 5.30286732e-01 3.35013240e-03 5.27680913e+01] [-4.00970378e-03 9.30977753e-05 9.99991957e-01 2.51494584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.702755096 meters 0.022945485053603863 Centerline is valid? [True, True] Translation: X:115.62, Y:52.79, Z:2.51 [[ 5.29365985e-01 -8.48391360e-01 1.93741526e-03 1.15619082e+02] [ 8.48386251e-01 5.29369524e-01 2.94567208e-03 5.27911479e+01] [-3.52469134e-03 8.43378653e-05 9.99993785e-01 2.51442670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.732755096 meters 0.02339062779949277 Centerline is valid? [True, True] Translation: X:115.63, Y:52.82, Z:2.51 [[ 5.27222242e-01 -8.49726511e-01 1.25035554e-03 1.15634211e+02] [ 8.49724375e-01 5.27223722e-01 1.90621428e-03 5.28150225e+01] [-2.27897791e-03 5.74590150e-05 9.99997401e-01 2.51198758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.762755096 meters 0.026501966931135282 Centerline is valid? [True, True] Translation: X:115.65, Y:52.84, Z:2.51 [[ 5.25841285e-01 -8.50582348e-01 7.83245941e-04 1.15652898e+02] [ 8.50581505e-01 5.25841867e-01 1.19805485e-03 5.28355423e+01] [-1.43090782e-03 3.62278082e-05 9.99998976e-01 2.51413474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.792755096 meters 0.02490155199323315 Centerline is valid? [True, True] Translation: X:115.67, Y:52.86, Z:2.51 [[ 5.24676523e-01 -8.51301508e-01 5.38065287e-04 1.15665505e+02] [ 8.51301106e-01 5.24676798e-01 8.27084610e-04 5.28618051e+01] [-9.86408747e-04 2.41036972e-05 9.99999513e-01 2.51137106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.822755096 meters 0.028679115066880357 Centerline is valid? [True, True] Translation: X:115.68, Y:52.88, Z:2.51 [[ 5.22622233e-01 -8.52563982e-01 -8.11359745e-04 1.15683259e+02] [ 8.52563106e-01 5.22622860e-01 -1.22303431e-03 5.28824384e+01] [ 1.46675015e-03 -5.25504635e-05 9.99998923e-01 2.51013737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.852755096 meters 0.02600823716227803 Centerline is valid? [True, True] Translation: X:115.69, Y:52.91, Z:2.51 [[ 5.21935442e-01 -8.52983847e-01 -1.39704238e-03 1.15693685e+02] [ 8.52981234e-01 5.21937304e-01 -2.11302482e-03 5.29093880e+01] [ 2.53154458e-03 -8.87883897e-05 9.99996792e-01 2.50600323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.882755096 meters 0.025418205533216918 Centerline is valid? [True, True] Translation: X:115.71, Y:52.93, Z:2.50 [[ 5.21155542e-01 -8.53458338e-01 -2.40143329e-03 1.15707356e+02] [ 8.53450580e-01 5.21161053e-01 -3.64214270e-03 5.29343459e+01] [ 4.35995056e-03 -1.51381780e-04 9.99990484e-01 2.50332344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.912755096 meters 0.0274118443428926 Centerline is valid? [True, True] Translation: X:115.72, Y:52.96, Z:2.50 [[ 5.20137281e-01 -8.54071497e-01 -4.36887209e-03 1.15722324e+02] [ 8.54045736e-01 5.20155554e-01 -6.63934757e-03 5.29575366e+01] [ 7.94297060e-03 -2.77844388e-04 9.99968416e-01 2.49965445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.942755096 meters 0.027706200701696857 Centerline is valid? [True, True] Translation: X:115.74, Y:52.98, Z:2.50 [[ 5.19568211e-01 -8.54413464e-01 -5.14838987e-03 1.15736889e+02] [ 8.54377630e-01 5.19593614e-01 -7.83212544e-03 5.29819593e+01] [ 9.36694393e-03 -3.29345726e-04 9.99956075e-01 2.49783261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97275509600001 meters 0.028665264790116784 Centerline is valid? [True, True] Translation: X:115.75, Y:53.01, Z:2.49 [[ 5.18802106e-01 -8.54864532e-01 -7.14194214e-03 1.15750595e+02] [ 8.54795470e-01 5.18851056e-01 -1.08758898e-02 5.30051841e+01] [ 1.30030167e-02 -4.62465228e-04 9.99915350e-01 2.49304238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00275509600002 meters 0.027274364325935403 Centerline is valid? [True, True] Translation: X:115.76, Y:53.03, Z:2.49 [[ 5.18457756e-01 -8.55062642e-01 -8.33270850e-03 1.15762407e+02] [ 8.54968494e-01 5.18524432e-01 -1.26998996e-02 5.30312524e+01] [ 1.51799227e-02 -5.39841796e-04 9.99884633e-01 2.49056202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03275509600002 meters 0.025894569432971564 Centerline is valid? [True, True] Translation: X:115.77, Y:53.06, Z:2.49 [[ 5.18585664e-01 -8.54966251e-01 -1.00806272e-02 1.15771829e+02] [ 8.54828212e-01 5.18683233e-01 -1.53763736e-02 5.30591706e+01] [ 1.83749328e-02 -6.43237581e-04 9.99830960e-01 2.48604675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06275509600002 meters 0.02612005277267652 Centerline is valid? [True, True] Translation: X:115.78, Y:53.08, Z:2.48 [[ 5.18691361e-01 -8.54890377e-01 -1.10324453e-02 1.15784747e+02] [ 8.54724766e-01 5.18808212e-01 -1.68408419e-02 5.30835686e+01] [ 2.01207969e-02 -6.94504960e-04 9.99797315e-01 2.48409241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09275509600002 meters 0.028253342883816684 Centerline is valid? [True, True] Translation: X:115.80, Y:53.11, Z:2.48 [[ 5.19576663e-01 -8.54340062e-01 -1.19645319e-02 1.15800327e+02] [ 8.54144834e-01 5.19713899e-01 -1.82774691e-02 5.31066193e+01] [ 2.18333076e-02 -7.22896758e-04 9.99761364e-01 2.48232840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12275509600002 meters 0.025326466078914738 Centerline is valid? [True, True] Translation: X:115.81, Y:53.14, Z:2.48 [[ 5.21320549e-01 -8.53258763e-01 -1.32048855e-02 1.15806575e+02] [ 8.53020267e-01 5.21487234e-01 -2.01863627e-02 5.31364438e+01] [ 2.41103701e-02 -7.40469332e-04 9.99709029e-01 2.47957469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15275509600002 meters 0.026959860067176 Centerline is valid? [True, True] Translation: X:115.82, Y:53.16, Z:2.48 [[ 5.22319590e-01 -8.52637722e-01 -1.38260829e-02 1.15820708e+02] [ 8.52375708e-01 5.22502028e-01 -2.11490648e-02 5.31602440e+01] [ 2.52566468e-02 -7.38446314e-04 9.99680727e-01 2.47773255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18275509600002 meters 0.02421227540552105 Centerline is valid? [True, True] Translation: X:115.83, Y:53.19, Z:2.48 [[ 5.23012609e-01 -8.52209725e-01 -1.40140960e-02 1.15829375e+02] [ 8.51940088e-01 5.23199832e-01 -2.14481256e-02 5.31877605e+01] [ 2.56104739e-02 -7.21530031e-04 9.99671738e-01 2.47814932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.212755096 meters 0.024962753562519945 Centerline is valid? [True, True] Translation: X:115.84, Y:53.21, Z:2.48 [[ 5.23653136e-01 -8.51807662e-01 -1.45293009e-02 1.15838706e+02] [ 8.51517306e-01 5.23854167e-01 -2.22505886e-02 5.32141679e+01] [ 2.65644567e-02 -7.20360611e-04 9.99646843e-01 2.47673232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.242755096 meters 0.02262626290704044 Centerline is valid? [True, True] Translation: X:115.85, Y:53.24, Z:2.48 [[ 5.23287344e-01 -8.52025366e-01 -1.49375431e-02 1.15847664e+02] [ 8.51718201e-01 5.23499971e-01 -2.28885834e-02 5.32422682e+01] [ 2.73214571e-02 -7.45271329e-04 9.99626421e-01 2.47768816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.272755096 meters 0.022471078823209357 Centerline is valid? [True, True] Translation: X:115.86, Y:53.27, Z:2.48 [[ 5.22927810e-01 -8.52234164e-01 -1.56024270e-02 1.15856386e+02] [ 8.51898647e-01 5.23159938e-01 -2.39243510e-02 5.32698905e+01] [ 2.85517140e-02 -7.80977973e-04 9.99592012e-01 2.47716116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.302755096 meters 0.02285746055349198 Centerline is valid? [True, True] Translation: X:115.87, Y:53.30, Z:2.48 [[ 5.22342028e-01 -8.52591468e-01 -1.57033612e-02 1.15868854e+02] [ 8.52251283e-01 5.22577414e-01 -2.40955848e-02 5.32958088e+01] [ 2.87499119e-02 -7.97073111e-04 9.99586318e-01 2.47680435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.332755096 meters 0.024302804271415433 Centerline is valid? [True, True] Translation: X:115.88, Y:53.32, Z:2.48 [[ 5.21736904e-01 -8.52955376e-01 -1.60539574e-02 1.15881342e+02] [ 8.52599516e-01 5.21983183e-01 -2.46499780e-02 5.33198281e+01] [ 2.94052270e-02 -8.26793139e-04 9.99567231e-01 2.47614085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.362755096 meters 0.024097838265020616 Centerline is valid? [True, True] Translation: X:115.89, Y:53.35, Z:2.48 [[ 5.21347749e-01 -8.53185173e-01 -1.64798578e-02 1.15888596e+02] [ 8.52809794e-01 5.21607451e-01 -2.53203912e-02 5.33483393e+01] [ 3.01989989e-02 -8.53455224e-04 9.99543542e-01 2.47571249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.392755096 meters 0.02699708153979861 Centerline is valid? [True, True] Translation: X:115.90, Y:53.37, Z:2.47 [[ 5.21036169e-01 -8.53368888e-01 -1.68182028e-02 1.15903631e+02] [ 8.52977481e-01 5.21306800e-01 -2.58580084e-02 5.33723027e+01] [ 3.08338634e-02 -8.72590678e-04 9.99524143e-01 2.47406085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.422755096 meters 0.02702446140805262 Centerline is valid? [True, True] Translation: X:115.91, Y:53.40, Z:2.48 [[ 5.20944449e-01 -8.53426477e-01 -1.67370464e-02 1.15912501e+02] [ 8.53038306e-01 5.21212533e-01 -2.57515910e-02 5.33984729e+01] [ 3.07006479e-02 -8.62193365e-04 9.99528252e-01 2.47536749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.452755096 meters 0.026728289384112622 Centerline is valid? [True, True] Translation: X:115.93, Y:53.42, Z:2.48 [[ 5.20533090e-01 -8.53683759e-01 -1.64116511e-02 1.15925046e+02] [ 8.53310095e-01 5.20791049e-01 -2.52698284e-02 5.34242878e+01] [ 3.01194831e-02 -8.50445656e-04 9.99545944e-01 2.47728990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.482755096 meters 0.027273180764106692 Centerline is valid? [True, True] Translation: X:115.94, Y:53.45, Z:2.48 [[ 5.20570405e-01 -8.53665294e-01 -1.61869873e-02 1.15937950e+02] [ 8.53301236e-01 5.20821351e-01 -2.49423419e-02 5.34486199e+01] [ 2.97229402e-02 -8.28131245e-04 9.99557833e-01 2.47849385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.512755096 meters 0.026005472483398497 Centerline is valid? [True, True] Translation: X:115.95, Y:53.48, Z:2.48 [[ 5.21756013e-01 -8.52952249e-01 -1.55924642e-02 1.15947410e+02] [ 8.52613638e-01 5.21988410e-01 -2.40434070e-02 5.34764425e+01] [ 2.86469636e-02 -7.49555424e-04 9.99589310e-01 2.48178746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.542755096 meters 0.02502977481629095 Centerline is valid? [True, True] Translation: X:115.96, Y:53.50, Z:2.48 [[ 5.22451981e-01 -8.52533365e-01 -1.51917662e-02 1.15959763e+02] [ 8.52211318e-01 5.22672338e-01 -2.34413653e-02 5.35018193e+01] [ 2.79248620e-02 -6.99607326e-04 9.99609780e-01 2.48408509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.572755096 meters 0.02313294101823326 Centerline is valid? [True, True] Translation: X:115.97, Y:53.53, Z:2.49 [[ 5.23274105e-01 -8.52035535e-01 -1.48209043e-02 1.15971721e+02] [ 8.51728378e-01 5.23483551e-01 -2.28854169e-02 5.35278971e+01] [ 2.72576880e-02 -6.48038707e-04 9.99628230e-01 2.48698013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.602755096 meters 0.021507830716963397 Centerline is valid? [True, True] Translation: X:115.98, Y:53.55, Z:2.49 [[ 5.25597914e-01 -8.50622194e-01 -1.37373653e-02 1.15984163e+02] [ 8.50357460e-01 5.25777146e-01 -2.12269477e-02 5.35537703e+01] [ 2.52789056e-02 -5.24831614e-04 9.99680300e-01 2.49139662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.632755096 meters 0.02075569732744334 Centerline is valid? [True, True] Translation: X:116.00, Y:53.58, Z:2.49 [[ 5.27100567e-01 -8.49700573e-01 -1.31881990e-02 1.15997535e+02] [ 8.49455970e-01 5.27265332e-01 -2.03917946e-02 5.35777892e+01] [ 2.42805997e-02 -4.54267924e-04 9.99705080e-01 2.49364621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.662755096 meters 0.01854441192876791 Centerline is valid? [True, True] Translation: X:116.01, Y:53.60, Z:2.50 [[ 5.30565254e-01 -8.47553275e-01 -1.24079129e-02 1.16008801e+02] [ 8.47335940e-01 5.30710219e-01 -1.91955101e-02 5.36048529e+01] [ 2.28542237e-02 -3.29199880e-04 9.99738754e-01 2.49678068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.692755096 meters 0.01772596713319237 Centerline is valid? [True, True] Translation: X:116.02, Y:53.63, Z:2.50 [[ 5.32232334e-01 -8.46510794e-01 -1.21744718e-02 1.16022189e+02] [ 8.46300998e-01 5.32371488e-01 -1.88472837e-02 5.36292736e+01] [ 2.24357708e-02 -2.72133854e-04 9.99748249e-01 2.49810597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72275509600001 meters 0.017129585943823668 Centerline is valid? [True, True] Translation: X:116.04, Y:53.65, Z:2.50 [[ 5.34017596e-01 -8.45387721e-01 -1.20336445e-02 1.16035900e+02] [ 8.45182153e-01 5.34153120e-01 -1.86433331e-02 5.36531024e+01] [ 2.21886536e-02 -2.14753636e-04 9.99753778e-01 2.49917777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75275509600002 meters 0.01660438058362792 Centerline is valid? [True, True] Translation: X:116.05, Y:53.68, Z:2.50 [[ 5.35449873e-01 -8.44487730e-01 -1.15718804e-02 1.16049974e+02] [ 8.44297140e-01 5.35574876e-01 -1.79413410e-02 5.36770877e+01] [ 2.13488508e-02 -1.63416763e-04 9.99772074e-01 2.50097612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78275509600002 meters 0.016060378628722463 Centerline is valid? [True, True] Translation: X:116.06, Y:53.70, Z:2.50 [[ 5.38626019e-01 -8.42476321e-01 -1.07545329e-02 1.16063487e+02] [ 8.42311071e-01 5.38733369e-01 -1.66858439e-02 5.37001197e+01] [ 1.98512541e-02 -7.12324408e-05 9.99802942e-01 2.50384354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81275509600002 meters 0.015921021761603416 Centerline is valid? [True, True] Translation: X:116.08, Y:53.72, Z:2.51 [[ 5.40126139e-01 -8.41517278e-01 -1.06030897e-02 1.16077349e+02] [ 8.41356218e-01 5.40230201e-01 -1.64634118e-02 5.37229918e+01] [ 1.95823547e-02 -2.86563958e-05 9.99808247e-01 2.50508411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84275509600002 meters 0.01597233590790317 Centerline is valid? [True, True] Translation: X:116.09, Y:53.75, Z:2.51 [[ 5.42650887e-01 -8.39891421e-01 -1.06026144e-02 1.16091969e+02] [ 8.39729813e-01 5.42754456e-01 -1.64754952e-02 5.37469852e+01] [ 1.95922432e-02 3.71106925e-05 9.99808053e-01 2.50625488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87275509600002 meters 0.01610945474693051 Centerline is valid? [True, True] Translation: X:116.11, Y:53.77, Z:2.51 [[ 5.43754380e-01 -8.39176611e-01 -1.06672170e-02 1.16107335e+02] [ 8.39012659e-01 5.43858998e-01 -1.65875720e-02 5.37708727e+01] [ 1.97213644e-02 6.96348355e-05 9.99805513e-01 2.50719585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90275509600002 meters 0.016341900279552495 Centerline is valid? [True, True] Translation: X:116.12, Y:53.79, Z:2.51 [[ 5.45058143e-01 -8.38327289e-01 -1.09076823e-02 1.16123602e+02] [ 8.38155449e-01 5.45167263e-01 -1.69734987e-02 5.37922759e+01] [ 2.01758584e-02 1.09210329e-04 9.99796441e-01 2.50780739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93275509600002 meters 0.016550532831406672 Centerline is valid? [True, True] Translation: X:116.14, Y:53.81, Z:2.51 [[ 5.45215830e-01 -8.38221391e-01 -1.11623568e-02 1.16139579e+02] [ 8.38041233e-01 5.45330069e-01 -1.73783742e-02 5.38139523e+01] [ 2.06540938e-02 1.20449470e-04 9.99786674e-01 2.50827978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.962755096 meters 0.016502414528172492 Centerline is valid? [True, True] Translation: X:116.16, Y:53.84, Z:2.51 [[ 5.44836348e-01 -8.38471400e-01 -1.09116994e-02 1.16156583e+02] [ 8.38299076e-01 5.44945592e-01 -1.69988643e-02 5.38362694e+01] [ 2.01993441e-02 1.14331594e-04 9.99795966e-01 2.50901258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.992755096 meters 0.016502414528172492 Centerline is valid? [True, True] Translation: X:116.17, Y:53.86, Z:2.51 [[ 5.44565815e-01 -8.38647201e-01 -1.09062569e-02 1.16171306e+02] [ 8.38474842e-01 5.44675004e-01 -1.70023556e-02 5.38595501e+01] [ 2.01993434e-02 1.14279610e-04 9.99795966e-01 2.50952725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.022755096 meters 0.016429229766942312 Centerline is valid? [True, True] Translation: X:116.19, Y:53.88, Z:2.51 [[ 5.43875065e-01 -8.39093879e-01 -1.10170596e-02 1.16189102e+02] [ 8.38917840e-01 5.43986628e-01 -1.71874160e-02 5.38820282e+01] [ 2.04149886e-02 1.05399131e-04 9.99791587e-01 2.51049036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.052755096 meters 0.01610454960505937 Centerline is valid? [True, True] Translation: X:116.21, Y:53.90, Z:2.51 [[ 5.41338671e-01 -8.40735397e-01 -1.07905425e-02 1.16209571e+02] [ 8.40566614e-01 5.41446202e-01 -1.68456982e-02 5.39013163e+01] [ 2.00052730e-02 4.90580894e-05 9.99799873e-01 2.51149085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.082755096 meters 0.015977852389056493 Centerline is valid? [True, True] Translation: X:116.23, Y:53.92, Z:2.51 [[ 5.39474048e-01 -8.41932112e-01 -1.08659644e-02 1.16228133e+02] [ 8.41760991e-01 5.39583467e-01 -1.69739682e-02 5.39226819e+01] [ 2.01540236e-02 1.04703981e-05 9.99796887e-01 2.51211423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.112755096 meters 0.016004826995751332 Centerline is valid? [True, True] Translation: X:116.25, Y:53.94, Z:2.51 [[ 5.37618451e-01 -8.43116915e-01 -1.09667570e-02 1.16246734e+02] [ 8.42942602e-01 5.37730293e-01 -1.71435902e-02 5.39439517e+01] [ 2.03512084e-02 -2.76362439e-05 9.99792892e-01 2.51252437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.142755096 meters 0.01618729796998743 Centerline is valid? [True, True] Translation: X:116.27, Y:53.96, Z:2.51 [[ 5.34382750e-01 -8.45171468e-01 -1.09666166e-02 1.16268595e+02] [ 8.44997343e-01 5.34495258e-01 -1.71554667e-02 5.39628425e+01] [ 2.03609156e-02 -9.91763981e-05 9.99792690e-01 2.51345238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.172755096 meters 0.016292535302145177 Centerline is valid? [True, True] Translation: X:116.29, Y:53.98, Z:2.51 [[ 5.33162755e-01 -8.45943346e-01 -1.08319979e-02 1.16286892e+02] [ 8.45773391e-01 5.33272764e-01 -1.69566810e-02 5.39833383e+01] [ 2.01208009e-02 -1.20744791e-04 9.99797549e-01 2.51431150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.202755096 meters 0.01678905978107766 Centerline is valid? [True, True] Translation: X:116.31, Y:54.00, Z:2.52 [[ 5.30635893e-01 -8.47530578e-01 -1.08382639e-02 1.16308873e+02] [ 8.47360534e-01 5.30746539e-01 -1.69775428e-02 5.40024097e+01] [ 2.01413577e-02 -1.75023545e-04 9.99797127e-01 2.51512487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.232755096 meters 0.01691086385543503 Centerline is valid? [True, True] Translation: X:116.33, Y:54.02, Z:2.52 [[ 5.29346944e-01 -8.48335816e-01 -1.08699681e-02 1.16326537e+02] [ 8.48164707e-01 5.29458500e-01 -1.70389804e-02 5.40240236e+01] [ 2.02099743e-02 -1.99991145e-04 9.99795738e-01 2.51595381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.262755096 meters 0.017341515820718505 Centerline is valid? [True, True] Translation: X:116.34, Y:54.05, Z:2.52 [[ 5.27878246e-01 -8.49250650e-01 -1.08577694e-02 1.16344981e+02] [ 8.49079879e-01 5.27989850e-01 -1.70316865e-02 5.40450050e+01] [ 2.01969629e-02 -2.28456691e-04 9.99795994e-01 2.51689378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.292755096 meters 0.018004006975510974 Centerline is valid? [True, True] Translation: X:116.37, Y:54.06, Z:2.52 [[ 5.25382089e-01 -8.50803249e-01 -1.03678144e-02 1.16367068e+02] [ 8.50647654e-01 5.25484309e-01 -1.62729886e-02 5.40643808e+01] [ 1.92932353e-02 -2.69820225e-04 9.99813832e-01 2.51854548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.322755096 meters 0.018306667373629522 Centerline is valid? [True, True] Translation: X:116.39, Y:54.09, Z:2.52 [[ 5.24077600e-01 -8.51611745e-01 -1.00052950e-02 1.16385676e+02] [ 8.51466801e-01 5.24173021e-01 -1.57140526e-02 5.40863991e+01] [ 1.86267774e-02 -2.83793537e-04 9.99826466e-01 2.51986987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.352755096 meters 0.019110825747559942 Centerline is valid? [True, True] Translation: X:116.41, Y:54.11, Z:2.52 [[ 5.22178610e-01 -8.52782648e-01 -9.55275060e-03 1.16407785e+02] [ 8.52650540e-01 5.22265892e-01 -1.50131608e-02 5.41052844e+01] [ 1.77920389e-02 -3.05606509e-04 9.99841662e-01 2.52171803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.382755096 meters 0.020113908275015985 Centerline is valid? [True, True] Translation: X:116.43, Y:54.13, Z:2.52 [[ 5.21325968e-01 -8.53305779e-01 -9.40654784e-03 1.16426273e+02] [ 8.53177663e-01 5.21410729e-01 -1.47894307e-02 5.41256052e+01] [ 1.75245817e-02 -3.15342210e-04 9.99846383e-01 2.52267767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.412755096 meters 0.019942323240462804 Centerline is valid? [True, True] Translation: X:116.44, Y:54.15, Z:2.52 [[ 5.20719500e-01 -8.53674113e-01 -9.57661792e-03 1.16444647e+02] [ 8.53541184e-01 5.20807451e-01 -1.50680332e-02 5.41466449e+01] [ 1.78507639e-02 -3.27819075e-04 9.99840609e-01 2.52319737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.442755096 meters 0.019484350929818987 Centerline is valid? [True, True] Translation: X:116.46, Y:54.17, Z:2.52 [[ 5.21024396e-01 -8.53489718e-01 -9.42761345e-03 1.16460411e+02] [ 8.53360691e-01 5.21109589e-01 -1.48434364e-02 5.41695024e+01] [ 1.75815401e-02 -3.11362238e-04 9.99845384e-01 2.52375452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47275509600001 meters 0.01932725522091452 Centerline is valid? [True, True] Translation: X:116.48, Y:54.19, Z:2.52 [[ 5.21449854e-01 -8.53229368e-01 -9.47074335e-03 1.16476264e+02] [ 8.53098932e-01 5.21535767e-01 -1.49216648e-02 5.41922206e+01] [ 1.76709340e-02 -2.98581113e-04 9.99843812e-01 2.52420707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50275509600002 meters 0.01890029422282327 Centerline is valid? [True, True] Translation: X:116.49, Y:54.22, Z:2.52 [[ 5.22322261e-01 -8.52697529e-01 -9.29405305e-03 1.16491998e+02] [ 8.52571660e-01 5.22404872e-01 -1.46531105e-02 5.42150807e+01] [ 1.73499297e-02 -2.70200440e-04 9.99849442e-01 2.52486387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53275509600002 meters 0.018191165450686442 Centerline is valid? [True, True] Translation: X:116.51, Y:54.24, Z:2.53 [[ 5.24435318e-01 -8.51403889e-01 -8.88897946e-03 1.16508738e+02] [ 8.51288416e-01 5.24510602e-01 -1.40236143e-02 5.42383722e+01] [ 1.66021237e-02 -2.12606616e-04 9.99862153e-01 2.52643670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56275509600002 meters 0.017978382472574137 Centerline is valid? [True, True] Translation: X:116.52, Y:54.26, Z:2.53 [[ 5.25071374e-01 -8.51012137e-01 -8.85410303e-03 1.16523853e+02] [ 8.50897360e-01 5.25145985e-01 -1.39777453e-02 5.42605959e+01] [ 1.65449275e-02 -1.94618987e-04 9.99863104e-01 2.52692059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59275509600002 meters 0.017744322816689737 Centerline is valid? [True, True] Translation: X:116.54, Y:54.28, Z:2.53 [[ 5.26151100e-01 -8.50341104e-01 -9.22105426e-03 1.16540344e+02] [ 8.50216322e-01 5.26231866e-01 -1.45680505e-02 5.42837865e+01] [ 1.72402247e-02 -1.74895054e-04 9.99851361e-01 2.52686531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62275509600002 meters 0.017600316863780628 Centerline is valid? [True, True] Translation: X:116.56, Y:54.31, Z:2.53 [[ 5.26271545e-01 -8.50263060e-01 -9.53885308e-03 1.16556122e+02] [ 8.50129324e-01 5.26357957e-01 -1.50808851e-02 5.43068188e+01] [ 1.78435707e-02 -1.72618035e-04 9.99840776e-01 2.52653295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65275509600002 meters 0.017635981627429062 Centerline is valid? [True, True] Translation: X:116.57, Y:54.33, Z:2.53 [[ 5.26027661e-01 -8.50409657e-01 -9.91544404e-03 1.16572670e+02] [ 8.50264967e-01 5.26121073e-01 -1.56876492e-02 5.43299486e+01] [ 1.85576525e-02 -1.78617260e-04 9.99827776e-01 2.52635666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68275509600002 meters 0.017834919088104778 Centerline is valid? [True, True] Translation: X:116.59, Y:54.35, Z:2.53 [[ 5.25285605e-01 -8.50862291e-01 -1.04113230e-02 1.16590617e+02] [ 8.50702623e-01 5.25388735e-01 -1.64840559e-02 5.43504610e+01] [ 1.94956534e-02 -1.98102537e-04 9.99809922e-01 2.52575478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.712755096 meters 0.017860159213582492 Centerline is valid? [True, True] Translation: X:116.61, Y:54.37, Z:2.53 [[ 5.24432029e-01 -8.51388947e-01 -1.03878621e-02 1.16606957e+02] [ 8.51229938e-01 5.24534856e-01 -1.64553208e-02 5.43730668e+01] [ 1.94586740e-02 -2.12761916e-04 9.99810639e-01 2.52648991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.742755096 meters 0.018074075088251564 Centerline is valid? [True, True] Translation: X:116.62, Y:54.40, Z:2.53 [[ 5.23385406e-01 -8.52033548e-01 -1.03222861e-02 1.16623452e+02] [ 8.51876447e-01 5.23487135e-01 -1.63627446e-02 5.43958866e+01] [ 1.93451913e-02 -2.29290712e-04 9.99812838e-01 2.52754045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.772755096 meters 0.018580480609210668 Centerline is valid? [True, True] Translation: X:116.64, Y:54.42, Z:2.53 [[ 5.21038443e-01 -8.53478184e-01 -9.69178654e-03 1.16641524e+02] [ 8.53339753e-01 5.21128508e-01 -1.53734952e-02 5.44179330e+01] [ 1.81716090e-02 -2.60204752e-04 9.99834849e-01 2.52913144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.802755096 meters 0.01917629269719275 Centerline is valid? [True, True] Translation: X:116.66, Y:54.44, Z:2.53 [[ 5.19877349e-01 -8.54188260e-01 -9.48463891e-03 1.16658393e+02] [ 8.54055622e-01 5.19963789e-01 -1.50549719e-02 5.44395927e+01] [ 1.77914490e-02 -2.73670316e-04 9.99841682e-01 2.53008295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.832755096 meters 0.019603690996399897 Centerline is valid? [True, True] Translation: X:116.68, Y:54.46, Z:2.53 [[ 5.17771486e-01 -8.55468847e-01 -9.25963593e-03 1.16675605e+02] [ 8.55342505e-01 5.17854186e-01 -1.47051073e-02 5.44624020e+01] [ 1.73749024e-02 -3.06274963e-04 9.99848998e-01 2.53164761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.862755096 meters 0.019249999798365447 Centerline is valid? [True, True] Translation: X:116.69, Y:54.49, Z:2.53 [[ 5.18687410e-01 -8.54918509e-01 -8.81553157e-03 1.16689112e+02] [ 8.54803764e-01 5.18762248e-01 -1.40090708e-02 5.44876001e+01] [ 1.65497789e-02 -2.69220901e-04 9.99863007e-01 2.53292835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.892755096 meters 0.019190423160124946 Centerline is valid? [True, True] Translation: X:116.70, Y:54.51, Z:2.53 [[ 5.18819418e-01 -8.54836599e-01 -8.98891133e-03 1.16703777e+02] [ 8.54717182e-01 5.18897213e-01 -1.42905862e-02 5.45119689e+01] [ 1.68804371e-02 -2.68743367e-04 9.99857479e-01 2.53318173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.922755096 meters 0.01898254329521604 Centerline is valid? [True, True] Translation: X:116.72, Y:54.54, Z:2.53 [[ 5.19022755e-01 -8.54707550e-01 -9.50700149e-03 1.16718608e+02] [ 8.54573748e-01 5.19109746e-01 -1.51254911e-02 5.45354305e+01] [ 1.78630486e-02 -2.73959843e-04 9.99840405e-01 2.53288229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.952755096 meters 0.018176820013794833 Centerline is valid? [True, True] Translation: X:116.73, Y:54.56, Z:2.53 [[ 5.21541490e-01 -8.53166703e-01 -1.00524617e-02 1.16729993e+02] [ 8.53016592e-01 5.21638309e-01 -1.60052338e-02 5.45608798e+01] [ 1.88988816e-02 -2.27523151e-04 9.99821374e-01 2.53239214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.982755096 meters 0.01781463211694633 Centerline is valid? [True, True] Translation: X:116.74, Y:54.59, Z:2.53 [[ 5.22571795e-01 -8.52532294e-01 -1.03637098e-02 1.16743127e+02] [ 8.52372453e-01 5.22674511e-01 -1.65092655e-02 5.45854972e+01] [ 1.94915290e-02 -2.06464249e-04 9.99810001e-01 2.53170119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.012755096 meters 0.017413879154834402 Centerline is valid? [True, True] Translation: X:116.76, Y:54.61, Z:2.53 [[ 5.24237730e-01 -8.51498062e-01 -1.12183819e-02 1.16756675e+02] [ 8.51310245e-01 5.24357721e-01 -1.78843014e-02 5.46090174e+01] [ 2.11108932e-02 -1.74697897e-04 9.99777125e-01 2.53053856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.042755096 meters 0.017269944622988354 Centerline is valid? [True, True] Translation: X:116.77, Y:54.63, Z:2.53 [[ 5.24398219e-01 -8.51395820e-01 -1.14746057e-02 1.16770237e+02] [ 8.51199007e-01 5.24523718e-01 -1.83062779e-02 5.46340354e+01] [ 2.16045913e-02 -1.67393433e-04 9.99766580e-01 2.53085002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.072755096 meters 0.017256370610259957 Centerline is valid? [True, True] Translation: X:116.78, Y:54.66, Z:2.53 [[ 5.24264033e-01 -8.51477029e-01 -1.15798448e-02 1.16784239e+02] [ 8.51276325e-01 5.24391878e-01 -1.84872185e-02 5.46585017e+01] [ 2.18138184e-02 -1.65463979e-04 9.99762037e-01 2.53085020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.102755096 meters 0.01711725183171685 Centerline is valid? [True, True] Translation: X:116.80, Y:54.68, Z:2.53 [[ 5.23733710e-01 -8.51800245e-01 -1.18043653e-02 1.16798126e+02] [ 8.51591466e-01 5.23866693e-01 -1.88590260e-02 5.46825100e+01] [ 2.22480368e-02 -1.75389056e-04 9.99752466e-01 2.53109254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.132755096 meters 0.01730107551756532 Centerline is valid? [True, True] Translation: X:116.81, Y:54.71, Z:2.53 [[ 5.23028785e-01 -8.52232200e-01 -1.18813752e-02 1.16812519e+02] [ 8.52020492e-01 5.23163685e-01 -1.89957515e-02 5.47051980e+01] [ 2.24046952e-02 -1.87850329e-04 9.99748966e-01 2.53209078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.162755096 meters 0.01749545010124999 Centerline is valid? [True, True] Translation: X:116.83, Y:54.73, Z:2.53 [[ 5.22397044e-01 -8.52620514e-01 -1.18147740e-02 1.16827110e+02] [ 8.52410961e-01 5.22530594e-01 -1.89032079e-02 5.47289713e+01] [ 2.22908437e-02 -1.96062994e-04 9.99751509e-01 2.53297380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.192755096 meters 0.017786653393376584 Centerline is valid? [True, True] Translation: X:116.84, Y:54.75, Z:2.53 [[ 5.20999884e-01 -8.53474782e-01 -1.18286708e-02 1.16842037e+02] [ 8.53264660e-01 5.21134095e-01 -1.89387117e-02 5.47526955e+01] [ 2.23280365e-02 -2.25920172e-04 9.99750673e-01 2.53424541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22275509600001 meters 0.017911133100523117 Centerline is valid? [True, True] Translation: X:116.86, Y:54.78, Z:2.54 [[ 5.20153516e-01 -8.53991356e-01 -1.17933857e-02 1.16857156e+02] [ 8.53782323e-01 5.20287138e-01 -1.88954578e-02 5.47762385e+01] [ 2.22725045e-02 -2.40445401e-04 9.99751908e-01 2.53514558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25275509600002 meters 0.01841482226780812 Centerline is valid? [True, True] Translation: X:116.87, Y:54.80, Z:2.54 [[ 5.19367056e-01 -8.54470379e-01 -1.17572600e-02 1.16872454e+02] [ 8.54262452e-01 5.19500056e-01 -1.88508493e-02 5.47987472e+01] [ 2.22153896e-02 -2.53275611e-04 9.99753176e-01 2.53573949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28275509600002 meters 0.018526881974793654 Centerline is valid? [True, True] Translation: X:116.89, Y:54.82, Z:2.54 [[ 5.17725012e-01 -8.55465664e-01 -1.18029718e-02 1.16886309e+02] [ 8.55256066e-01 5.17859454e-01 -1.89380007e-02 5.48227928e+01] [ 2.23130899e-02 -2.89886620e-04 9.99750990e-01 2.53651367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31275509600002 meters 0.018770253911910038 Centerline is valid? [True, True] Translation: X:116.90, Y:54.85, Z:2.54 [[ 5.16693643e-01 -8.56085110e-01 -1.20815754e-02 1.16901175e+02] [ 8.55865357e-01 5.16834775e-01 -1.93986331e-02 5.48468337e+01] [ 2.28510592e-02 -3.17051471e-04 9.99738830e-01 2.53669044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34275509600002 meters 0.019082745910667 Centerline is valid? [True, True] Translation: X:116.92, Y:54.87, Z:2.54 [[ 5.14776052e-01 -8.57236631e-01 -1.22872074e-02 1.16916645e+02] [ 8.57009340e-01 5.14922542e-01 -1.97425054e-02 5.48706708e+01] [ 2.32509589e-02 -3.67282548e-04 9.99729592e-01 2.53731954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37275509600002 meters 0.01948556393999476 Centerline is valid? [True, True] Translation: X:116.93, Y:54.89, Z:2.54 [[ 5.13605484e-01 -8.57938202e-01 -1.23064282e-02 1.16931505e+02] [ 8.57710087e-01 5.13752750e-01 -1.97868551e-02 5.48928336e+01] [ 2.32983602e-02 -3.92710315e-04 9.99728479e-01 2.53754131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40275509600002 meters 0.01959294901366279 Centerline is valid? [True, True] Translation: X:116.95, Y:54.92, Z:2.54 [[ 5.12271667e-01 -8.58735685e-01 -1.22785484e-02 1.16945951e+02] [ 8.58508494e-01 5.12418624e-01 -1.97564955e-02 5.49163652e+01] [ 2.32573646e-02 -4.20545209e-04 9.99729422e-01 2.53848354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43275509600002 meters 0.02063772030803388 Centerline is valid? [True, True] Translation: X:116.96, Y:54.94, Z:2.54 [[ 5.10041688e-01 -8.60058288e-01 -1.25386695e-02 1.16962145e+02] [ 8.59821425e-01 5.10195559e-01 -2.01893293e-02 5.49387213e+01] [ 2.37611734e-02 -4.83617073e-04 9.99717546e-01 2.53918352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.462755096 meters 0.021106422340398123 Centerline is valid? [True, True] Translation: X:116.98, Y:54.96, Z:2.54 [[ 5.08636546e-01 -8.60889444e-01 -1.25789378e-02 1.16977841e+02] [ 8.60650995e-01 5.08791802e-01 -2.02673908e-02 5.49629191e+01] [ 2.38480433e-02 -5.17339695e-04 9.99715461e-01 2.54011838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.492755096 meters 0.022150472396624873 Centerline is valid? [True, True] Translation: X:116.99, Y:54.99, Z:2.54 [[ 5.07185590e-01 -8.61746049e-01 -1.25109411e-02 1.16993686e+02] [ 8.61510120e-01 5.07339577e-01 -2.01709271e-02 5.49855914e+01] [ 2.37295123e-02 -5.47898779e-04 9.99718265e-01 2.54058196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.522755096 meters 0.022127156556340885 Centerline is valid? [True, True] Translation: X:117.01, Y:55.01, Z:2.54 [[ 5.05922826e-01 -8.62487335e-01 -1.25574986e-02 1.17008188e+02] [ 8.62249569e-01 5.06078317e-01 -2.02587959e-02 5.50097660e+01] [ 2.38280326e-02 -5.78310479e-04 9.99715905e-01 2.54191547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.552755096 meters 0.024513938430946035 Centerline is valid? [True, True] Translation: X:117.03, Y:55.03, Z:2.54 [[ 5.03618706e-01 -8.63839191e-01 -1.22495317e-02 1.17026726e+02] [ 8.63613045e-01 5.03767275e-01 -1.97747438e-02 5.50306079e+01] [ 2.32531119e-02 -6.19924462e-04 9.99729418e-01 2.54295654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.582755096 meters 0.023433918164637774 Centerline is valid? [True, True] Translation: X:117.04, Y:55.06, Z:2.54 [[ 5.02329961e-01 -8.64589896e-01 -1.22033560e-02 1.17040374e+02] [ 8.64365375e-01 5.02477755e-01 -1.97130563e-02 5.50558724e+01] [ 2.31756242e-02 -6.45699609e-04 9.99731201e-01 2.54455710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.612755096 meters 0.023626757608468347 Centerline is valid? [True, True] Translation: X:117.06, Y:55.08, Z:2.55 [[ 5.00491884e-01 -8.65653854e-01 -1.22995884e-02 1.17055938e+02] [ 8.65425786e-01 5.00642511e-01 -1.98817772e-02 5.50800123e+01] [ 2.33684339e-02 -6.93712802e-04 9.99726680e-01 2.54501023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.642755096 meters 0.024219014636295715 Centerline is valid? [True, True] Translation: X:117.07, Y:55.10, Z:2.55 [[ 4.99430966e-01 -8.66269351e-01 -1.20880512e-02 1.17071252e+02] [ 8.66048947e-01 4.99576737e-01 -1.95526079e-02 5.51027626e+01] [ 2.29767341e-02 -7.03666132e-04 9.99735752e-01 2.54558797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.672755096 meters 0.024948300915200134 Centerline is valid? [True, True] Translation: X:117.09, Y:55.13, Z:2.55 [[ 4.98269022e-01 -8.66935944e-01 -1.22495304e-02 1.17086926e+02] [ 8.66709513e-01 4.98419025e-01 -1.98266264e-02 5.51263765e+01] [ 2.32938140e-02 -7.37790768e-04 9.99728390e-01 2.54592282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.702755096 meters 0.025565507126507972 Centerline is valid? [True, True] Translation: X:117.10, Y:55.15, Z:2.55 [[ 4.97030981e-01 -8.67644843e-01 -1.23543266e-02 1.17102415e+02] [ 8.67414425e-01 4.97183901e-01 -2.00095860e-02 5.51506354e+01] [ 2.35035864e-02 -7.70936919e-04 9.99723455e-01 2.54591503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.732755096 meters 0.024932125450905077 Centerline is valid? [True, True] Translation: X:117.12, Y:55.17, Z:2.55 [[ 4.96783337e-01 -8.67785238e-01 -1.24538032e-02 1.17116136e+02] [ 8.67550815e-01 4.96938806e-01 -2.01843324e-02 5.51749984e+01] [ 2.37044438e-02 -7.77067099e-04 9.99718708e-01 2.54674572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.762755096 meters 0.025992062376017144 Centerline is valid? [True, True] Translation: X:117.13, Y:55.20, Z:2.55 [[ 4.96481170e-01 -8.67952759e-01 -1.28240106e-02 1.17131613e+02] [ 8.67703898e-01 4.96646117e-01 -2.07985679e-02 5.51971968e+01] [ 2.44211694e-02 -8.01346635e-04 9.99701438e-01 2.54663777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.792755096 meters 0.02424693043031925 Centerline is valid? [True, True] Translation: X:117.14, Y:55.22, Z:2.55 [[ 4.97048127e-01 -8.67623067e-01 -1.31671570e-02 1.17143876e+02] [ 8.67360286e-01 4.97221856e-01 -2.13672723e-02 5.52232148e+01] [ 2.50857366e-02 -8.00106352e-04 9.99684983e-01 2.54682662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.822755096 meters 0.02468299801298075 Centerline is valid? [True, True] Translation: X:117.16, Y:55.25, Z:2.55 [[ 4.97523238e-01 -8.67349066e-01 -1.32749861e-02 1.17158499e+02] [ 8.67081487e-01 4.97699689e-01 -2.15572328e-02 5.52464320e+01] [ 2.53046022e-02 -7.85270478e-04 9.99679479e-01 2.54664071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.852755096 meters 0.023786174877450186 Centerline is valid? [True, True] Translation: X:117.17, Y:55.27, Z:2.55 [[ 4.99281706e-01 -8.66339774e-01 -1.31595991e-02 1.17171073e+02] [ 8.66076093e-01 4.99454581e-01 -2.13851112e-02 5.52715618e+01] [ 2.50993944e-02 -7.20019358e-04 9.99684701e-01 2.54728466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.882755096 meters 0.02494647877333049 Centerline is valid? [True, True] Translation: X:117.19, Y:55.29, Z:2.55 [[ 5.00356940e-01 -8.65721211e-01 -1.30276139e-02 1.17186446e+02] [ 8.65462259e-01 5.00526053e-01 -2.11836850e-02 5.52939508e+01] [ 2.48598256e-02 -6.75504353e-04 9.99690719e-01 2.54727258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.912755096 meters 0.022769738362729927 Centerline is valid? [True, True] Translation: X:117.20, Y:55.32, Z:2.55 [[ 5.01478955e-01 -8.65073687e-01 -1.28986242e-02 1.17197725e+02] [ 8.64819354e-01 5.01644414e-01 -2.09849168e-02 5.53198467e+01] [ 2.46240221e-02 -6.31485667e-04 9.99696583e-01 2.54867128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.942755096 meters 0.022769738362729927 Centerline is valid? [True, True] Translation: X:117.21, Y:55.34, Z:2.55 [[ 5.01213188e-01 -8.65227789e-01 -1.28923653e-02 1.17212016e+02] [ 8.64973409e-01 5.01378574e-01 -2.09887617e-02 5.53434380e+01] [ 2.46240156e-02 -6.31709010e-04 9.99696583e-01 2.54918616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97275509600001 meters 0.020017290843244148 Centerline is valid? [True, True] Translation: X:117.22, Y:55.37, Z:2.55 [[ 5.04235085e-01 -8.63472826e-01 -1.27144737e-02 1.17222140e+02] [ 8.63224512e-01 5.04395080e-01 -2.07134044e-02 5.53703174e+01] [ 2.42985798e-02 -5.31020109e-04 9.99704605e-01 2.55061139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00275509600002 meters 0.019934341439490348 Centerline is valid? [True, True] Translation: X:117.24, Y:55.39, Z:2.55 [[ 5.05765576e-01 -8.62579350e-01 -1.25716789e-02 1.17236100e+02] [ 8.62335979e-01 5.05921574e-01 -2.04943905e-02 5.53939258e+01] [ 2.40383216e-02 -4.75653825e-04 9.99710925e-01 2.55115712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03275509600002 meters 0.01939527667581569 Centerline is valid? [True, True] Translation: X:117.25, Y:55.42, Z:2.55 [[ 5.08749602e-01 -8.60826195e-01 -1.23330897e-02 1.17247329e+02] [ 8.60591203e-01 5.08898927e-01 -2.01162280e-02 5.54198419e+01] [ 2.35928721e-02 -3.79625514e-04 9.99721577e-01 2.55180848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06275509600002 meters 0.018777988583634855 Centerline is valid? [True, True] Translation: X:117.26, Y:55.44, Z:2.55 [[ 5.10457879e-01 -8.59819233e-01 -1.19850103e-02 1.17261329e+02] [ 8.59596747e-01 5.10598458e-01 -1.95613513e-02 5.54438862e+01] [ 2.29387538e-02 -3.17029951e-04 9.99736822e-01 2.55284254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09275509600002 meters 0.017421176604189077 Centerline is valid? [True, True] Translation: X:117.27, Y:55.47, Z:2.55 [[ 5.11431113e-01 -8.59244348e-01 -1.17204104e-02 1.17272256e+02] [ 8.59031141e-01 5.11565317e-01 -1.91422175e-02 5.54699129e+01] [ 2.24435976e-02 -2.78271928e-04 9.99748072e-01 2.55403877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12275509600002 meters 0.016873824481195714 Centerline is valid? [True, True] Translation: X:117.28, Y:55.49, Z:2.56 [[ 5.12424851e-01 -8.58661500e-01 -1.10091309e-02 1.17284173e+02] [ 8.58473002e-01 5.12543047e-01 -1.79924805e-02 5.54949897e+01] [ 2.10921038e-02 -2.31247579e-04 9.99777510e-01 2.55547431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15275509600002 meters 0.016930492948110262 Centerline is valid? [True, True] Translation: X:117.30, Y:55.52, Z:2.56 [[ 5.12118063e-01 -8.58850226e-01 -1.05536214e-02 1.17298208e+02] [ 8.58676804e-01 5.12226746e-01 -1.72599974e-02 5.55181746e+01] [ 2.02295998e-02 -2.22993446e-04 9.99795336e-01 2.55638358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18275509600002 meters 0.016952490629637787 Centerline is valid? [True, True] Translation: X:117.31, Y:55.54, Z:2.56 [[ 5.11244417e-01 -8.59372572e-01 -1.03888938e-02 1.17312518e+02] [ 8.59204377e-01 5.11349908e-01 -1.70032312e-02 5.55418830e+01] [ 1.99244704e-02 -2.33375999e-04 9.99801461e-01 2.55695511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.212755096 meters 0.017754249390727343 Centerline is valid? [True, True] Translation: X:117.33, Y:55.56, Z:2.56 [[ 5.09233080e-01 -8.60566435e-01 -1.03480241e-02 1.17328701e+02] [ 8.60399566e-01 5.09338136e-01 -1.69484214e-02 5.55636177e+01] [ 1.98558859e-02 -2.72738635e-04 9.99802815e-01 2.55673143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.242755096 meters 0.01846105667780977 Centerline is valid? [True, True] Translation: X:117.34, Y:55.59, Z:2.56 [[ 5.07612742e-01 -8.61522072e-01 -1.04414515e-02 1.17344583e+02] [ 8.61352161e-01 5.07720026e-01 -1.71122683e-02 5.55858364e+01] [ 2.00439309e-02 -3.07361417e-04 9.99799053e-01 2.55675164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.272755096 meters 0.018791670066902577 Centerline is valid? [True, True] Translation: X:117.36, Y:55.61, Z:2.56 [[ 5.04557092e-01 -8.63313209e-01 -1.06039693e-02 1.17360567e+02] [ 8.63138197e-01 5.04668365e-01 -1.73866177e-02 5.56098617e+01] [ 2.03615845e-02 -3.80149676e-04 9.99792609e-01 2.55647339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.302755096 meters 0.020089475833833418 Centerline is valid? [True, True] Translation: X:117.38, Y:55.63, Z:2.56 [[ 5.03032018e-01 -8.64200724e-01 -1.07656181e-02 1.17377165e+02] [ 8.64020284e-01 5.03147032e-01 -1.76638827e-02 5.56314641e+01] [ 2.06818290e-02 -4.16213841e-04 9.99786021e-01 2.55629912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.332755096 meters 0.020844380868880626 Centerline is valid? [True, True] Translation: X:117.39, Y:55.65, Z:2.56 [[ 5.01403613e-01 -8.65146063e-01 -1.08030791e-02 1.17393199e+02] [ 8.64964343e-01 5.01519777e-01 -1.77369393e-02 5.56548077e+01] [ 2.07630010e-02 -4.50912755e-04 9.99784324e-01 2.55676088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.362755096 meters 0.022030513409795154 Centerline is valid? [True, True] Translation: X:117.41, Y:55.68, Z:2.56 [[ 4.99444444e-01 -8.66283227e-01 -1.04219754e-02 1.17409183e+02] [ 8.66114133e-01 4.99552944e-01 -1.71220367e-02 5.56768424e+01] [ 2.00388617e-02 -4.75114125e-04 9.99799089e-01 2.55725857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.392755096 meters 0.021729083037786135 Centerline is valid? [True, True] Translation: X:117.42, Y:55.70, Z:2.56 [[ 4.98417628e-01 -8.66876272e-01 -1.02663077e-02 1.17422885e+02] [ 8.66712108e-01 4.98523112e-01 -1.68768679e-02 5.57012872e+01] [ 1.97481480e-02 -4.86204710e-04 9.99804868e-01 2.55765093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.422755096 meters 0.023243760414752217 Centerline is valid? [True, True] Translation: X:117.44, Y:55.72, Z:2.56 [[ 4.97596602e-01 -8.67347579e-01 -1.02858750e-02 1.17439299e+02] [ 8.67182651e-01 4.97702650e-01 -1.69210391e-02 5.57235038e+01] [ 1.97957296e-02 -4.99880786e-04 9.99803920e-01 2.55798799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.452755096 meters 0.023062605902784097 Centerline is valid? [True, True] Translation: X:117.45, Y:55.75, Z:2.56 [[ 4.96700606e-01 -8.67860032e-01 -1.03669137e-02 1.17454025e+02] [ 8.67692352e-01 4.96808511e-01 -1.70670836e-02 5.57475567e+01] [ 1.99622107e-02 -5.18060945e-04 9.99800601e-01 2.55804906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.482755096 meters 0.023204788658630585 Centerline is valid? [True, True] Translation: X:117.47, Y:55.77, Z:2.56 [[ 4.96435800e-01 -8.68010707e-01 -1.04358963e-02 1.17468902e+02] [ 8.67840583e-01 4.96545204e-01 -1.71924994e-02 5.57712764e+01] [ 2.01051678e-02 -5.21722152e-04 9.99797735e-01 2.55828678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.512755096 meters 0.02195923220952934 Centerline is valid? [True, True] Translation: X:117.48, Y:55.80, Z:2.56 [[ 4.96483319e-01 -8.67980064e-01 -1.07201821e-02 1.17482166e+02] [ 8.67800281e-01 4.96598761e-01 -1.76732383e-02 5.57963197e+01] [ 2.06636477e-02 -5.28509053e-04 9.99786344e-01 2.55810450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.542755096 meters 0.02150419262670731 Centerline is valid? [True, True] Translation: X:117.50, Y:55.82, Z:2.56 [[ 4.96926857e-01 -8.67720646e-01 -1.11614958e-02 1.17495773e+02] [ 8.67525397e-01 4.97051905e-01 -1.84143717e-02 5.58207335e+01] [ 2.15263733e-02 -5.32285197e-04 9.99768139e-01 2.55778495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.572755096 meters 0.02184982634757652 Centerline is valid? [True, True] Translation: X:117.51, Y:55.84, Z:2.56 [[ 4.97363185e-01 -8.67469214e-01 -1.12705053e-02 1.17510435e+02] [ 8.67269786e-01 4.97490594e-01 -1.86071692e-02 5.58435948e+01] [ 2.17481168e-02 -5.20047798e-04 9.99763346e-01 2.55779211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.602755096 meters 0.022351389810376824 Centerline is valid? [True, True] Translation: X:117.52, Y:55.87, Z:2.56 [[ 4.97940261e-01 -8.67134877e-01 -1.15153167e-02 1.17524852e+02] [ 8.66926361e-01 4.98073132e-01 -1.90220797e-02 5.58660274e+01] [ 2.22301786e-02 -5.11072316e-04 9.99752748e-01 2.55767616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.632755096 meters 0.022620370399962276 Centerline is valid? [True, True] Translation: X:117.54, Y:55.89, Z:2.56 [[ 4.99208337e-01 -8.66405714e-01 -1.14967197e-02 1.17539186e+02] [ 8.66197379e-01 4.99340482e-01 -1.90048253e-02 5.58895135e+01] [ 2.22066668e-02 -4.71061219e-04 9.99753291e-01 2.55759389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.662755096 meters 0.020883846013645773 Centerline is valid? [True, True] Translation: X:117.55, Y:55.91, Z:2.56 [[ 4.99633950e-01 -8.66160551e-01 -1.14810900e-02 1.17551091e+02] [ 8.65952438e-01 4.99765639e-01 -1.89916191e-02 5.59149420e+01] [ 2.21876456e-02 -4.53220221e-04 9.99753721e-01 2.55861161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.692755096 meters 0.02013560676534774 Centerline is valid? [True, True] Translation: X:117.56, Y:55.94, Z:2.56 [[ 5.00008769e-01 -8.65942779e-01 -1.15902526e-02 1.17564908e+02] [ 8.65730334e-01 5.00142888e-01 -1.91854017e-02 5.59394018e+01] [ 2.24102425e-02 -4.41164119e-04 9.99748762e-01 2.55954618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72275509600001 meters 0.01943959157569433 Centerline is valid? [True, True] Translation: X:117.58, Y:55.96, Z:2.56 [[ 5.00104233e-01 -8.65889011e-01 -1.14880966e-02 1.17580306e+02] [ 8.65679986e-01 5.00235981e-01 -1.90295727e-02 5.59634330e+01] [ 2.22242572e-02 -4.28245469e-04 9.99752919e-01 2.56083987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75275509600002 meters 0.019836631480277016 Centerline is valid? [True, True] Translation: X:117.60, Y:55.99, Z:2.56 [[ 4.99801866e-01 -8.66064022e-01 -1.14544100e-02 1.17596186e+02] [ 8.65855960e-01 4.99932922e-01 -1.89876176e-02 5.59856269e+01] [ 2.21709291e-02 -4.27822436e-04 9.99754103e-01 2.56129294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78275509600002 meters 0.01989161816367461 Centerline is valid? [True, True] Translation: X:117.61, Y:56.01, Z:2.56 [[ 4.99271203e-01 -8.66369606e-01 -1.14879105e-02 1.17611148e+02] [ 8.66160084e-01 4.99403161e-01 -1.90576115e-02 5.60096221e+01] [ 2.22480342e-02 -4.35452948e-04 9.99752387e-01 2.56191944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81275509600002 meters 0.02160565559079328 Centerline is valid? [True, True] Translation: X:117.63, Y:56.03, Z:2.56 [[ 4.98858974e-01 -8.66609571e-01 -1.12949738e-02 1.17627768e+02] [ 8.66406800e-01 4.98986639e-01 -1.87507715e-02 5.60315387e+01] [ 2.18856391e-02 -4.32051483e-04 9.99760387e-01 2.56172110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84275509600002 meters 0.021134296083885975 Centerline is valid? [True, True] Translation: X:117.64, Y:56.06, Z:2.56 [[ 4.98745251e-01 -8.66674395e-01 -1.13431986e-02 1.17640576e+02] [ 8.66469595e-01 4.98874041e-01 -1.88449570e-02 5.60558324e+01] [ 2.19912691e-02 -4.29703900e-04 9.99758070e-01 2.56249872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87275509600002 meters 0.020461378720608506 Centerline is valid? [True, True] Translation: X:117.65, Y:56.08, Z:2.56 [[ 4.98454254e-01 -8.66845899e-01 -1.10246700e-02 1.17654279e+02] [ 8.66652202e-01 4.98575984e-01 -1.83289333e-02 5.60802545e+01] [ 2.13849963e-02 -4.18419716e-04 9.99771227e-01 2.56400938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90275509600002 meters 0.019779620652865138 Centerline is valid? [True, True] Translation: X:117.67, Y:56.10, Z:2.57 [[ 4.97773486e-01 -8.67237306e-01 -1.10005348e-02 1.17668121e+02] [ 8.67044281e-01 4.97894840e-01 -1.83014441e-02 5.61045769e+01] [ 2.13488046e-02 -4.27977144e-04 9.99771997e-01 2.56538130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93275509600002 meters 0.020397814849871937 Centerline is valid? [True, True] Translation: X:117.68, Y:56.13, Z:2.57 [[ 4.97249282e-01 -8.67541171e-01 -1.07456460e-02 1.17683751e+02] [ 8.67356803e-01 4.97365194e-01 -1.78896713e-02 5.61271218e+01] [ 2.08645367e-02 -4.24682962e-04 9.99782222e-01 2.56674776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.962755096 meters 0.020617929976080925 Centerline is valid? [True, True] Translation: X:117.70, Y:56.15, Z:2.57 [[ 4.96104093e-01 -8.68202468e-01 -1.02568930e-02 1.17698251e+02] [ 8.68034457e-01 4.96209928e-01 -1.70847664e-02 5.61508637e+01] [ 1.99226084e-02 -4.27514021e-04 9.99801434e-01 2.56813300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.992755096 meters 0.02117125011230742 Centerline is valid? [True, True] Translation: X:117.71, Y:56.17, Z:2.57 [[ 4.95446049e-01 -8.68579273e-01 -1.01616683e-02 1.17712552e+02] [ 8.68414211e-01 4.95550058e-01 -1.69380959e-02 5.61737368e+01] [ 1.97476944e-02 -4.32624436e-04 9.99804902e-01 2.56869964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.022755096 meters 0.020035102854620943 Centerline is valid? [True, True] Translation: X:117.72, Y:56.20, Z:2.57 [[ 4.94789631e-01 -8.68951879e-01 -1.02884631e-02 1.17723939e+02] [ 8.68782492e-01 4.94896385e-01 -1.71624285e-02 5.61996611e+01] [ 2.00050477e-02 -4.46644967e-04 9.99799779e-01 2.56853876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.052755096 meters 0.021176505005692656 Centerline is valid? [True, True] Translation: X:117.74, Y:56.22, Z:2.57 [[ 4.94124977e-01 -8.69326464e-01 -1.05833311e-02 1.17738949e+02] [ 8.69147036e-01 4.94238080e-01 -1.76677583e-02 5.62220775e+01] [ 2.05897351e-02 -4.68390153e-04 9.99787899e-01 2.56861786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.082755096 meters 0.022119971996115703 Centerline is valid? [True, True] Translation: X:117.75, Y:56.24, Z:2.57 [[ 4.93588546e-01 -8.69627465e-01 -1.08820231e-02 1.17753982e+02] [ 8.69437532e-01 4.93708248e-01 -1.81808904e-02 5.62441599e+01] [ 2.11831462e-02 -4.87360091e-04 9.99775493e-01 2.56844685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.112755096 meters 0.020701894412699543 Centerline is valid? [True, True] Translation: X:117.77, Y:56.27, Z:2.57 [[ 4.93055685e-01 -8.69926764e-01 -1.11138055e-02 1.17765977e+02] [ 8.69728423e-01 4.93180668e-01 -1.85822061e-02 5.62696712e+01] [ 2.16462724e-02 -5.03930171e-04 9.99765565e-01 2.56857020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.142755096 meters 0.020918603757857406 Centerline is valid? [True, True] Translation: X:117.78, Y:56.29, Z:2.57 [[ 4.93011892e-01 -8.69945135e-01 -1.16075735e-02 1.17779721e+02] [ 8.69728465e-01 4.93148244e-01 -1.94218115e-02 5.62934760e+01] [ 2.26201650e-02 -5.20253070e-04 9.99743996e-01 2.56762136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.172755096 meters 0.02143592071817172 Centerline is valid? [True, True] Translation: X:117.79, Y:56.32, Z:2.57 [[ 4.93026251e-01 -8.69935453e-01 -1.17227637e-02 1.17794258e+02] [ 8.69714199e-01 4.93165325e-01 -1.96258787e-02 5.63165167e+01] [ 2.28545083e-02 -5.19380661e-04 9.99738667e-01 2.56742140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.202755096 meters 0.021173195081253572 Centerline is valid? [True, True] Translation: X:117.81, Y:56.34, Z:2.57 [[ 4.93282193e-01 -8.69792522e-01 -1.15605834e-02 1.17807402e+02] [ 8.69576988e-01 4.93417389e-01 -1.93685867e-02 5.63419155e+01] [ 2.25508448e-02 -4.98638416e-04 9.99745573e-01 2.56799767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.232755096 meters 0.02081021454142295 Centerline is valid? [True, True] Translation: X:117.82, Y:56.37, Z:2.57 [[ 4.93064064e-01 -8.69916297e-01 -1.15527062e-02 1.17820461e+02] [ 8.69700800e-01 4.93199137e-01 -1.93682718e-02 5.63667197e+01] [ 2.25465600e-02 -4.97598999e-04 9.99745670e-01 2.56864653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.262755096 meters 0.020883669935797353 Centerline is valid? [True, True] Translation: X:117.83, Y:56.39, Z:2.57 [[ 4.92569504e-01 -8.70198752e-01 -1.13760924e-02 1.17834133e+02] [ 8.69989572e-01 4.92700605e-01 -1.90855708e-02 5.63910669e+01] [ 2.22132475e-02 -4.96111640e-04 9.99753132e-01 2.56949208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.292755096 meters 0.021224272946311667 Centerline is valid? [True, True] Translation: X:117.85, Y:56.42, Z:2.57 [[ 4.91480267e-01 -8.70821984e-01 -1.07805507e-02 1.17848412e+02] [ 8.70634024e-01 4.91598243e-01 -1.80987286e-02 5.64154892e+01] [ 2.10604706e-02 -4.90746271e-04 9.99778083e-01 2.57142157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.322755096 meters 0.021888006131183822 Centerline is valid? [True, True] Translation: X:117.86, Y:56.44, Z:2.57 [[ 4.90478173e-01 -8.71387461e-01 -1.07263829e-02 1.17863207e+02] [ 8.71201257e-01 4.90595186e-01 -1.80203535e-02 5.64388048e+01] [ 2.09650219e-02 -5.06248227e-04 9.99780082e-01 2.57206227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.352755096 meters 0.022170688124337198 Centerline is valid? [True, True] Translation: X:117.88, Y:56.46, Z:2.57 [[ 4.89568632e-01 -8.71897800e-01 -1.08065329e-02 1.17878032e+02] [ 8.71708680e-01 4.89687604e-01 -1.81666409e-02 5.64629226e+01] [ 2.11312794e-02 -5.26331011e-04 9.99776571e-01 2.57275837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.382755096 meters 0.022428948025360267 Centerline is valid? [True, True] Translation: X:117.89, Y:56.49, Z:2.57 [[ 4.87626639e-01 -8.72988283e-01 -1.05697074e-02 1.17892732e+02] [ 8.72807366e-01 4.87740864e-01 -1.77806569e-02 5.64869398e+01] [ 2.06775834e-02 -5.54996465e-04 9.99786042e-01 2.57400100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.412755096 meters 0.022695211425112854 Centerline is valid? [True, True] Translation: X:117.91, Y:56.51, Z:2.57 [[ 4.86845623e-01 -8.73424138e-01 -1.05647999e-02 1.17907568e+02] [ 8.73243242e-01 4.86959910e-01 -1.77844316e-02 5.65111208e+01] [ 2.06779858e-02 -5.67367448e-04 9.99786027e-01 2.57438905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.442755096 meters 0.023366479128613324 Centerline is valid? [True, True] Translation: X:117.92, Y:56.54, Z:2.57 [[ 4.85470074e-01 -8.74192705e-01 -1.02918696e-02 1.17921826e+02] [ 8.74020965e-01 4.85578809e-01 -1.73370211e-02 5.65350769e+01] [ 2.01534112e-02 -5.78704903e-04 9.99796732e-01 2.57498423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47275509600001 meters 0.023892203371959648 Centerline is valid? [True, True] Translation: X:117.94, Y:56.56, Z:2.58 [[ 4.84822866e-01 -8.74554371e-01 -1.00717194e-02 1.17935859e+02] [ 8.74389765e-01 4.84927128e-01 -1.69770073e-02 5.65582280e+01] [ 1.97313659e-02 -5.75767006e-04 9.99805152e-01 2.57542681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50275509600002 meters 0.026203469215485022 Centerline is valid? [True, True] Translation: X:117.95, Y:56.58, Z:2.58 [[ 4.83991136e-01 -8.75015347e-01 -1.00360809e-02 1.17952098e+02] [ 8.74851755e-01 4.84094824e-01 -1.69295033e-02 5.65801823e+01] [ 1.96719900e-02 -5.86353461e-04 9.99806316e-01 2.57633773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53275509600002 meters 0.024894960169916533 Centerline is valid? [True, True] Translation: X:117.96, Y:56.61, Z:2.58 [[ 4.83464706e-01 -8.75309632e-01 -9.74302306e-03 1.17964066e+02] [ 8.75155324e-01 4.83562526e-01 -1.64451563e-02 5.66056379e+01] [ 1.91059645e-02 -5.76005865e-04 9.99817298e-01 2.57706066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56275509600002 meters 0.026800136789599586 Centerline is valid? [True, True] Translation: X:117.98, Y:56.63, Z:2.58 [[ 4.83017422e-01 -8.75556079e-01 -9.78380647e-03 1.17979855e+02] [ 8.75400306e-01 4.83116149e-01 -1.65254747e-02 5.66276874e+01] [ 1.91956947e-02 -5.82655007e-04 9.99815576e-01 2.57739602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59275509600002 meters 0.025561405539581177 Centerline is valid? [True, True] Translation: X:117.99, Y:56.65, Z:2.58 [[ 4.82605023e-01 -8.75784710e-01 -9.67133753e-03 1.17991293e+02] [ 8.75632320e-01 4.82701571e-01 -1.63472613e-02 5.66531917e+01] [ 1.89850513e-02 -5.79265292e-04 9.99819600e-01 2.57828101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62275509600002 meters 0.025784738792640753 Centerline is valid? [True, True] Translation: X:118.00, Y:56.68, Z:2.58 [[ 4.82291849e-01 -8.75957273e-01 -9.66585975e-03 1.18004751e+02] [ 8.75804878e-01 4.82388350e-01 -1.63491682e-02 5.66771146e+01] [ 1.89838709e-02 -5.80336558e-04 9.99819622e-01 2.57840680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65275509600002 meters 0.024636583104129986 Centerline is valid? [True, True] Translation: X:118.02, Y:56.70, Z:2.58 [[ 4.81902394e-01 -8.76172604e-01 -9.57342984e-03 1.18016554e+02] [ 8.76022923e-01 4.81997131e-01 -1.62050701e-02 5.67030908e+01] [ 1.88128042e-02 -5.77281908e-04 9.99822857e-01 2.57886127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68275509600002 meters 0.024116883027908462 Centerline is valid? [True, True] Translation: X:118.03, Y:56.73, Z:2.58 [[ 4.81557381e-01 -8.76361745e-01 -9.62194118e-03 1.18029474e+02] [ 8.76210362e-01 4.81653147e-01 -1.62987022e-02 5.67277812e+01] [ 1.89179973e-02 -5.82084234e-04 9.99820869e-01 2.57935638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.712755096 meters 0.02431204804770737 Centerline is valid? [True, True] Translation: X:118.04, Y:56.75, Z:2.58 [[ 4.81379919e-01 -8.76459893e-01 -9.56189904e-03 1.18043041e+02] [ 8.76310197e-01 4.81474531e-01 -1.62085009e-02 5.67519337e+01] [ 1.88099118e-02 -5.76742798e-04 9.99822912e-01 2.57962362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.742755096 meters 0.026746844391417442 Centerline is valid? [True, True] Translation: X:118.06, Y:56.77, Z:2.58 [[ 4.81284943e-01 -8.76512209e-01 -9.54730670e-03 1.18059267e+02] [ 8.76362764e-01 4.81379289e-01 -1.61952350e-02 5.67735946e+01] [ 1.87911969e-02 -5.72381343e-04 9.99823266e-01 2.57953603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.772755096 meters 0.026802659535808574 Centerline is valid? [True, True] Translation: X:118.07, Y:56.80, Z:2.58 [[ 4.81853979e-01 -8.76198262e-01 -9.66168935e-03 1.18072101e+02] [ 8.76044988e-01 4.81950505e-01 -1.63978753e-02 5.67961726e+01] [ 1.90242459e-02 -5.62693053e-04 9.99818864e-01 2.57984900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.802755096 meters 0.026802659535808574 Centerline is valid? [True, True] Translation: X:118.09, Y:56.82, Z:2.58 [[ 4.81573113e-01 -8.76352708e-01 -9.65754967e-03 1.18085473e+02] [ 8.76199416e-01 4.81669610e-01 -1.64003131e-02 5.68193453e+01] [ 1.90242069e-02 -5.63989560e-04 9.99818864e-01 2.58034861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.832755096 meters 0.02422608090169227 Centerline is valid? [True, True] Translation: X:118.10, Y:56.85, Z:2.58 [[ 4.82268070e-01 -8.75972481e-01 -9.47206741e-03 1.18095670e+02] [ 8.75824732e-01 4.82360786e-01 -1.60969102e-02 5.68454951e+01] [ 1.86694043e-02 -5.32845072e-04 9.99825570e-01 2.58139119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.862755096 meters 0.02631390803825814 Centerline is valid? [True, True] Translation: X:118.11, Y:56.87, Z:2.58 [[ 4.82724557e-01 -8.75721742e-01 -9.40388362e-03 1.18111975e+02] [ 8.75575861e-01 4.82815872e-01 -1.59920099e-02 5.68674110e+01] [ 1.85448950e-02 -5.14077605e-04 9.99827896e-01 2.58209266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.892755096 meters 0.022966900161002807 Centerline is valid? [True, True] Translation: X:118.12, Y:56.89, Z:2.58 [[ 4.83337088e-01 -8.75383140e-01 -9.46664694e-03 1.18121362e+02] [ 8.75235027e-01 4.83429528e-01 -1.61102250e-02 5.68948697e+01] [ 1.86790760e-02 -4.98871745e-04 9.99825406e-01 2.58268751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.922755096 meters 0.022615089115609235 Centerline is valid? [True, True] Translation: X:118.13, Y:56.92, Z:2.58 [[ 4.83973930e-01 -8.75032385e-01 -9.35737414e-03 1.18134592e+02] [ 8.74887402e-01 4.84064149e-01 -1.59352932e-02 5.69199628e+01] [ 1.84734670e-02 -4.74382269e-04 9.99829238e-01 2.58312870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.952755096 meters 0.021060897319350052 Centerline is valid? [True, True] Translation: X:118.15, Y:56.95, Z:2.58 [[ 4.85277043e-01 -8.74314253e-01 -8.98773650e-03 1.18145017e+02] [ 8.74180193e-01 4.85360080e-01 -1.53160781e-02 5.69467245e+01] [ 1.77533539e-02 -4.24360148e-04 9.99842307e-01 2.58376086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.982755096 meters 0.021958239820570342 Centerline is valid? [True, True] Translation: X:118.16, Y:56.97, Z:2.58 [[ 4.85596822e-01 -8.74137793e-01 -8.87949440e-03 1.18159340e+02] [ 8.74006733e-01 4.85677828e-01 -1.51419298e-02 5.69693438e+01] [ 1.75487067e-02 -4.07864894e-04 9.99845926e-01 2.58432030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.012755096 meters 0.021966400215663522 Centerline is valid? [True, True] Translation: X:118.17, Y:56.99, Z:2.59 [[ 4.85523941e-01 -8.74180871e-01 -8.62012594e-03 1.18173134e+02] [ 8.74057180e-01 4.85600299e-01 -1.47103837e-02 5.69941956e+01] [ 1.70454718e-02 -3.92239499e-04 9.99854638e-01 2.58503528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.042755096 meters 0.021327144862039245 Centerline is valid? [True, True] Translation: X:118.19, Y:57.02, Z:2.59 [[ 4.85136378e-01 -8.74396713e-01 -8.54884679e-03 1.18185878e+02] [ 8.74274927e-01 4.85211536e-01 -1.45985596e-02 5.70191426e+01] [ 1.69129316e-02 -3.91750071e-04 9.99856889e-01 2.58565506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.072755096 meters 0.020902090453073317 Centerline is valid? [True, True] Translation: X:118.20, Y:57.04, Z:2.59 [[ 4.84878780e-01 -8.74539996e-01 -8.50670858e-03 1.18199114e+02] [ 8.74419258e-01 4.84953238e-01 -1.45367752e-02 5.70435268e+01] [ 1.68383472e-02 -3.89855978e-04 9.99858149e-01 2.58599066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.102755096 meters 0.023365095249802622 Centerline is valid? [True, True] Translation: X:118.22, Y:57.07, Z:2.59 [[ 4.84755470e-01 -8.74607750e-01 -8.56840773e-03 1.18216281e+02] [ 8.74485080e-01 4.84831034e-01 -1.46531127e-02 5.70650464e+01] [ 1.69699559e-02 -3.89768179e-04 9.99855924e-01 2.58683988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.132755096 meters 0.021230738561986717 Centerline is valid? [True, True] Translation: X:118.23, Y:57.09, Z:2.59 [[ 4.84538630e-01 -8.74730172e-01 -8.33327592e-03 1.18225996e+02] [ 8.74614046e-01 4.84610135e-01 -1.42578915e-02 5.70916807e+01] [ 1.65101979e-02 -3.79900944e-04 9.99863625e-01 2.58736168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.162755096 meters 0.02154396153692509 Centerline is valid? [True, True] Translation: X:118.24, Y:57.12, Z:2.59 [[ 4.84516877e-01 -8.74742797e-01 -8.27257357e-03 1.18239293e+02] [ 8.74628197e-01 4.84587351e-01 -1.41639212e-02 5.71157631e+01] [ 1.63985726e-02 -3.72767223e-04 9.99865465e-01 2.58789605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.192755096 meters 0.021161216536716345 Centerline is valid? [True, True] Translation: X:118.25, Y:57.14, Z:2.59 [[ 4.84484760e-01 -8.74760246e-01 -8.30838153e-03 1.18251943e+02] [ 8.74644477e-01 4.84555854e-01 -1.42359909e-02 5.71413955e+01] [ 1.64789538e-02 -3.69759376e-04 9.99864144e-01 2.58833021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22275509600001 meters 0.021348258261443827 Centerline is valid? [True, True] Translation: X:118.26, Y:57.17, Z:2.59 [[ 4.84180108e-01 -8.74928369e-01 -8.36495062e-03 1.18264246e+02] [ 8.74810873e-01 4.84252217e-01 -1.43431408e-02 5.71663551e+01] [ 1.65999667e-02 -3.73086309e-04 9.99862141e-01 2.58878270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25275509600002 meters 0.022009633549966146 Centerline is valid? [True, True] Translation: X:118.28, Y:57.19, Z:2.59 [[ 4.83691548e-01 -8.75203082e-01 -7.87734217e-03 1.18277486e+02] [ 8.75098786e-01 4.83755557e-01 -1.35157692e-02 5.71894438e+01] [ 1.56397509e-02 -3.55989268e-04 9.99877628e-01 2.58983284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28275509600002 meters 0.02198180989074846 Centerline is valid? [True, True] Translation: X:118.29, Y:57.21, Z:2.59 [[ 4.82955322e-01 -8.75609900e-01 -7.83969490e-03 1.18290224e+02] [ 8.75506488e-01 4.83018812e-01 -1.34616914e-02 5.72138738e+01] [ 1.55739103e-02 -3.62308259e-04 9.99878654e-01 2.59054577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31275509600002 meters 0.023219776150267383 Centerline is valid? [True, True] Translation: X:118.30, Y:57.24, Z:2.59 [[ 4.81507909e-01 -8.76407672e-01 -7.72825559e-03 1.18303804e+02] [ 8.76307182e-01 4.81569775e-01 -1.32768434e-02 5.72367391e+01] [ 1.53576217e-02 -3.79420785e-04 9.99881993e-01 2.59124483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34275509600002 meters 0.024133368054554922 Centerline is valid? [True, True] Translation: X:118.32, Y:57.26, Z:2.59 [[ 4.80388389e-01 -8.77021931e-01 -7.71551833e-03 1.18317731e+02] [ 8.76921733e-01 4.80450182e-01 -1.32625938e-02 5.72593027e+01] [ 1.53385078e-02 -3.94709651e-04 9.99882280e-01 2.59163892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37275509600002 meters 0.024550863165420732 Centerline is valid? [True, True] Translation: X:118.33, Y:57.28, Z:2.59 [[ 4.79035894e-01 -8.77758832e-01 -8.00276669e-03 1.18331301e+02] [ 8.77651037e-01 4.79102543e-01 -1.37626371e-02 5.72833086e+01] [ 1.59144222e-02 -4.30839306e-04 9.99873265e-01 2.59164232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40275509600002 meters 0.026582304298748742 Centerline is valid? [True, True] Translation: X:118.35, Y:57.31, Z:2.59 [[ 4.76627615e-01 -8.79061280e-01 -8.79669668e-03 1.18345874e+02] [ 8.78931041e-01 4.76708506e-01 -1.51402070e-02 5.73055373e+01] [ 1.75026299e-02 -5.15449016e-04 9.99846684e-01 2.59036583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43275509600002 meters 0.027573342815499228 Centerline is valid? [True, True] Translation: X:118.36, Y:57.33, Z:2.59 [[ 4.75345498e-01 -8.79751257e-01 -9.18599987e-03 1.18360075e+02] [ 8.79609196e-01 4.75433919e-01 -1.58192987e-02 5.73295826e+01] [ 1.82843839e-02 -5.60457514e-04 9.99832670e-01 2.59017440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.462755096 meters 0.0255525725786012 Centerline is valid? [True, True] Translation: X:118.37, Y:57.36, Z:2.59 [[ 4.73638199e-01 -8.80667489e-01 -9.57233764e-03 1.18369569e+02] [ 8.80513197e-01 4.73734519e-01 -1.64959488e-02 5.73573954e+01] [ 1.90621925e-02 -6.15458156e-04 9.99818110e-01 2.58996626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.492755096 meters 0.025938882140706 Centerline is valid? [True, True] Translation: X:118.38, Y:57.38, Z:2.59 [[ 4.72820568e-01 -8.81103827e-01 -9.83646307e-03 1.18382924e+02] [ 8.80940766e-01 4.72922435e-01 -1.69628358e-02 5.73816879e+01] [ 1.95979036e-02 -6.44963666e-04 9.99807735e-01 2.59039727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.522755096 meters 0.025069895405827852 Centerline is valid? [True, True] Translation: X:118.40, Y:57.41, Z:2.59 [[ 4.72027029e-01 -8.81530345e-01 -9.73315256e-03 1.18395117e+02] [ 8.81370551e-01 4.72126919e-01 -1.67965636e-02 5.74067299e+01] [ 1.94019639e-02 -6.50082000e-04 9.99811553e-01 2.59117622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.552755096 meters 0.02661201697454379 Centerline is valid? [True, True] Translation: X:118.41, Y:57.43, Z:2.59 [[ 4.71072944e-01 -8.82044850e-01 -9.33616730e-03 1.18409499e+02] [ 8.81897712e-01 4.71165019e-01 -1.61229528e-02 5.74294888e+01] [ 1.86200429e-02 -6.38457745e-04 9.99826428e-01 2.59322087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.582755096 meters 0.02593750305046221 Centerline is valid? [True, True] Translation: X:118.42, Y:57.45, Z:2.59 [[ 4.70596384e-01 -8.82300087e-01 -9.25198345e-03 1.18421302e+02] [ 8.82155548e-01 4.70686888e-01 -1.59825920e-02 5.74546043e+01] [ 1.84562296e-02 -6.40338533e-04 9.99829464e-01 2.59397325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.612755096 meters 0.025552008876180938 Centerline is valid? [True, True] Translation: X:118.43, Y:57.48, Z:2.59 [[ 4.70469848e-01 -8.82366237e-01 -9.37796661e-03 1.18433537e+02] [ 8.82217521e-01 4.70562862e-01 -1.62122923e-02 5.74802537e+01] [ 1.87181021e-02 -6.46011769e-04 9.99824592e-01 2.59449231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.642755096 meters 0.025983866977651267 Centerline is valid? [True, True] Translation: X:118.45, Y:57.51, Z:2.59 [[ 4.71007316e-01 -8.82075187e-01 -9.77102433e-03 1.18445241e+02] [ 8.81913429e-01 4.71108199e-01 -1.69046733e-02 5.75051159e+01] [ 1.95144025e-02 -6.54972785e-04 9.99809361e-01 2.59424085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.672755096 meters 0.026036712328200325 Centerline is valid? [True, True] Translation: X:118.46, Y:57.53, Z:2.59 [[ 4.71150332e-01 -8.81995646e-01 -1.00521108e-02 1.18458580e+02] [ 8.81824231e-01 4.71257082e-01 -1.74008259e-02 5.75303479e+01] [ 2.00845811e-02 -6.65790004e-04 9.99798063e-01 2.59454648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.702755096 meters 0.026004062720346846 Centerline is valid? [True, True] Translation: X:118.47, Y:57.55, Z:2.60 [[ 4.71883136e-01 -8.81603742e-01 -1.00572242e-02 1.18471370e+02] [ 8.81431817e-01 4.71989860e-01 -1.74219720e-02 5.75542017e+01] [ 2.01061835e-02 -6.43622602e-04 9.99797643e-01 2.59542901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.732755096 meters 0.02599375438657713 Centerline is valid? [True, True] Translation: X:118.48, Y:57.58, Z:2.60 [[ 4.72115544e-01 -8.81479043e-01 -1.00801779e-02 1.18484716e+02] [ 8.81306112e-01 4.72222715e-01 -1.74712166e-02 5.75791350e+01] [ 2.01606003e-02 -6.35289452e-04 9.99796553e-01 2.59610178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.762755096 meters 0.025679223738204145 Centerline is valid? [True, True] Translation: X:118.50, Y:57.60, Z:2.60 [[ 4.72319300e-01 -8.81370662e-01 -1.00117409e-02 1.18497247e+02] [ 8.81199803e-01 4.72424990e-01 -1.73647810e-02 5.76044583e+01] [ 2.00346051e-02 -6.20622923e-04 9.99799095e-01 2.59666146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.792755096 meters 0.02585458731952185 Centerline is valid? [True, True] Translation: X:118.51, Y:57.63, Z:2.60 [[ 4.72465161e-01 -8.81294061e-01 -9.87166427e-03 1.18509250e+02] [ 8.81127697e-01 4.72567894e-01 -1.71338141e-02 5.76290420e+01] [ 1.97649602e-02 -6.03066548e-04 9.99804472e-01 2.59732766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.822755096 meters 0.024375253194405193 Centerline is valid? [True, True] Translation: X:118.52, Y:57.65, Z:2.60 [[ 4.71838837e-01 -8.81628680e-01 -9.94903423e-03 1.18520741e+02] [ 8.81459516e-01 4.71943315e-01 -1.72809001e-02 5.76546032e+01] [ 1.99307173e-02 -6.15871106e-04 9.99801174e-01 2.59758612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.852755096 meters 0.025272100337919746 Centerline is valid? [True, True] Translation: X:118.54, Y:57.68, Z:2.60 [[ 4.70798334e-01 -8.82183260e-01 -1.00809073e-02 1.18535514e+02] [ 8.82009445e-01 4.70905812e-01 -1.75229822e-02 5.76780250e+01] [ 2.02056394e-02 -6.41664614e-04 9.99795639e-01 2.59790131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.882755096 meters 0.025576660885109515 Centerline is valid? [True, True] Translation: X:118.55, Y:57.70, Z:2.60 [[ 4.68715583e-01 -8.83296534e-01 -9.64029546e-03 1.18550126e+02] [ 8.83137610e-01 4.68814254e-01 -1.67677166e-02 5.77026530e+01] [ 1.93303739e-02 -6.54417448e-04 9.99812937e-01 2.59901448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.912755096 meters 0.02999945171193731 Centerline is valid? [True, True] Translation: X:118.57, Y:57.72, Z:2.60 [[ 4.67518535e-01 -8.83930899e-01 -9.62209516e-03 1.18569473e+02] [ 8.83772486e-01 4.67617056e-01 -1.67476164e-02 5.77231068e+01] [ 1.93031915e-02 -6.73921872e-04 9.99813449e-01 2.59951019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.942755096 meters 0.0272713376820741 Centerline is valid? [True, True] Translation: X:118.58, Y:57.75, Z:2.60 [[ 4.65405168e-01 -8.85044614e-01 -9.69851974e-03 1.18579656e+02] [ 8.84883693e-01 4.65505652e-01 -1.68919160e-02 5.77498824e+01] [ 1.94648150e-02 -7.20476969e-04 9.99810283e-01 2.60002695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97275509600001 meters 0.027230146095485987 Centerline is valid? [True, True] Translation: X:118.59, Y:57.77, Z:2.60 [[ 4.64456977e-01 -8.85539414e-01 -9.98313576e-03 1.18593418e+02] [ 8.85368778e-01 4.64563637e-01 -1.73998643e-02 5.77741203e+01] [ 2.00460675e-02 -7.57268327e-04 9.99798771e-01 2.59996074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00275509600002 meters 0.032230833335705346 Centerline is valid? [True, True] Translation: X:118.61, Y:57.79, Z:2.60 [[ 4.63764920e-01 -8.85899262e-01 -1.02272445e-02 1.18613423e+02] [ 8.85720015e-01 4.63877009e-01 -1.78374755e-02 5.77940889e+01] [ 2.05463900e-02 -7.86079709e-04 9.99788592e-01 2.59961460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03275509600002 meters 0.02831213070012751 Centerline is valid? [True, True] Translation: X:118.62, Y:57.82, Z:2.60 [[ 4.63875829e-01 -8.85842046e-01 -1.01530794e-02 1.18622746e+02] [ 8.85665138e-01 4.63986286e-01 -1.77197505e-02 5.78214143e+01] [ 2.04077896e-02 -7.72464548e-04 9.99791441e-01 2.60099269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06275509600002 meters 0.028210584193264693 Centerline is valid? [True, True] Translation: X:118.64, Y:57.85, Z:2.60 [[ 4.64301228e-01 -8.85621344e-01 -9.96013895e-03 1.18635561e+02] [ 8.85450807e-01 4.64407454e-01 -1.73950059e-02 5.78452399e+01] [ 2.00309513e-02 -7.42690457e-04 9.99799085e-01 2.60210462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09275509600002 meters 0.027033512830984287 Centerline is valid? [True, True] Translation: X:118.65, Y:57.87, Z:2.60 [[ 4.65215321e-01 -8.85141402e-01 -9.97011797e-03 1.18647913e+02] [ 8.84970147e-01 4.65321593e-01 -1.74256671e-02 5.78711915e+01] [ 2.00634906e-02 -7.16569433e-04 9.99798451e-01 2.60303499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12275509600002 meters 0.02865277678022665 Centerline is valid? [True, True] Translation: X:118.66, Y:57.89, Z:2.60 [[ 4.66406635e-01 -8.84510570e-01 -1.02908752e-02 1.18663239e+02] [ 8.84327701e-01 4.66519618e-01 -1.79989753e-02 5.78939668e+01] [ 2.07211791e-02 -7.05664459e-04 9.99785044e-01 2.60298467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15275509600002 meters 0.025311690847870886 Centerline is valid? [True, True] Translation: X:118.67, Y:57.92, Z:2.60 [[ 4.69252278e-01 -8.82998658e-01 -1.07549835e-02 1.18671847e+02] [ 8.82798306e-01 4.69375043e-01 -1.88207283e-02 5.79211025e+01] [ 2.16667987e-02 -6.62811618e-04 9.99765028e-01 2.60316370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18275509600002 meters 0.0247276959998755 Centerline is valid? [True, True] Translation: X:118.68, Y:57.95, Z:2.60 [[ 4.70790576e-01 -8.82178970e-01 -1.07934834e-02 1.18684064e+02] [ 8.81976684e-01 4.70913877e-01 -1.89010559e-02 5.79453581e+01] [ 2.17569151e-02 -6.21161734e-04 9.99763097e-01 2.60324881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.212755096 meters 0.023379659808391167 Centerline is valid? [True, True] Translation: X:118.70, Y:57.97, Z:2.60 [[ 4.73653336e-01 -8.80645660e-01 -1.07581507e-02 1.18695690e+02] [ 8.80444099e-01 4.73775184e-01 -1.88484432e-02 5.79702686e+01] [ 2.16957445e-02 -5.44322246e-04 9.99764471e-01 2.60401339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.242755096 meters 0.022551835392854293 Centerline is valid? [True, True] Translation: X:118.71, Y:58.00, Z:2.60 [[ 4.74483689e-01 -8.80196074e-01 -1.09590263e-02 1.18708475e+02] [ 8.79986490e-01 4.74609938e-01 -1.92141616e-02 5.79956788e+01] [ 2.21134924e-02 -5.26988824e-04 9.99755328e-01 2.60457786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.272755096 meters 0.02194245802314338 Centerline is valid? [True, True] Translation: X:118.72, Y:58.02, Z:2.60 [[ 4.75177641e-01 -8.79821200e-01 -1.09939045e-02 1.18721382e+02] [ 8.79609870e-01 4.75304536e-01 -1.92892622e-02 5.80207043e+01] [ 2.21965545e-02 -5.04520827e-04 9.99753499e-01 2.60462058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.302755096 meters 0.022052431307063202 Centerline is valid? [True, True] Translation: X:118.73, Y:58.04, Z:2.60 [[ 4.75794111e-01 -8.79479539e-01 -1.16492277e-02 1.18734889e+02] [ 8.79241788e-01 4.75936425e-01 -2.04547777e-02 5.80437251e+01] [ 2.35338503e-02 -5.10225003e-04 9.99722910e-01 2.60388412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.332755096 meters 0.0215458925489689 Centerline is valid? [True, True] Translation: X:118.75, Y:58.07, Z:2.60 [[ 4.75640071e-01 -8.79562053e-01 -1.17097563e-02 1.18747962e+02] [ 8.79321482e-01 4.75783917e-01 -2.05765677e-02 5.80681940e+01] [ 2.36696819e-02 -5.09600134e-04 9.99719704e-01 2.60444820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.362755096 meters 0.02209883468621135 Centerline is valid? [True, True] Translation: X:118.76, Y:58.09, Z:2.60 [[ 4.75282519e-01 -8.79753069e-01 -1.18770686e-02 1.18762319e+02] [ 8.79505283e-01 4.75430612e-01 -2.08851730e-02 5.80906652e+01] [ 2.40205171e-02 -5.19586948e-04 9.99711331e-01 2.60495937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.392755096 meters 0.021958837002976277 Centerline is valid? [True, True] Translation: X:118.78, Y:58.11, Z:2.61 [[ 4.74454149e-01 -8.80201231e-01 -1.17920391e-02 1.18776242e+02] [ 8.79956835e-01 4.74600367e-01 -2.07475425e-02 5.81146630e+01] [ 2.38585185e-02 -5.32727791e-04 9.99715203e-01 2.60575679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.422755096 meters 0.023025381515228538 Centerline is valid? [True, True] Translation: X:118.79, Y:58.14, Z:2.61 [[ 4.72773243e-01 -8.81109884e-01 -1.14382008e-02 1.18792297e+02] [ 8.80879875e-01 4.72911265e-01 -2.01390529e-02 5.81366652e+01] [ 2.31539726e-02 -5.54475568e-04 9.99731757e-01 2.60727387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.452755096 meters 0.02388356712310363 Centerline is valid? [True, True] Translation: X:118.81, Y:58.16, Z:2.61 [[ 4.70308025e-01 -8.82436090e-01 -1.08124721e-02 1.18808121e+02] [ 8.82230645e-01 4.70431941e-01 -1.90493609e-02 5.81598377e+01] [ 2.18963758e-02 -5.80026965e-04 9.99760077e-01 2.60959622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.482755096 meters 0.024387872649698147 Centerline is valid? [True, True] Translation: X:118.82, Y:58.18, Z:2.61 [[ 4.68908543e-01 -8.83184475e-01 -1.04862541e-02 1.18823428e+02] [ 8.82991163e-01 4.69025409e-01 -1.84870541e-02 5.81829189e+01] [ 2.12457988e-02 -5.90532141e-04 9.99774108e-01 2.61129562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.512755096 meters 0.025253612674546632 Centerline is valid? [True, True] Translation: X:118.84, Y:58.21, Z:2.61 [[ 4.67594193e-01 -8.83885077e-01 -1.01410914e-02 1.18838754e+02] [ 8.83704212e-01 4.67703769e-01 -1.78899455e-02 5.82053206e+01] [ 2.05556825e-02 -5.96490573e-04 9.99788532e-01 2.61224306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.542755096 meters 0.027941778036039262 Centerline is valid? [True, True] Translation: X:118.86, Y:58.23, Z:2.61 [[ 4.66067216e-01 -8.84693907e-01 -9.90155447e-03 1.18856943e+02] [ 8.84521444e-01 4.66171981e-01 -1.74785194e-02 5.82266506e+01] [ 2.00789669e-02 -6.11972390e-04 9.99798210e-01 2.61322004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.572755096 meters 0.027249279695969707 Centerline is valid? [True, True] Translation: X:118.87, Y:58.25, Z:2.61 [[ 4.64145503e-01 -8.85706758e-01 -9.61721691e-03 1.18871956e+02] [ 8.85544063e-01 4.64244698e-01 -1.69874317e-02 5.82506166e+01] [ 1.95106250e-02 -6.31829327e-04 9.99809450e-01 2.61464388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.602755096 meters 0.027607936668851304 Centerline is valid? [True, True] Translation: X:118.89, Y:58.27, Z:2.62 [[ 4.63254162e-01 -8.86171504e-01 -9.77991839e-03 1.18886795e+02] [ 8.86003112e-01 4.63356919e-01 -1.72873213e-02 5.82741230e+01] [ 1.98511243e-02 -6.56614596e-04 9.99802731e-01 2.61539491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.632755096 meters 0.026357667938631653 Centerline is valid? [True, True] Translation: X:118.90, Y:58.30, Z:2.61 [[ 4.63156467e-01 -8.86221322e-01 -9.89221598e-03 1.18898378e+02] [ 8.86048798e-01 4.63261624e-01 -1.74984195e-02 5.82998233e+01] [ 2.00901565e-02 -6.60479934e-04 9.99797954e-01 2.61429352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.662755096 meters 0.02758511768191144 Centerline is valid? [True, True] Translation: X:118.92, Y:58.32, Z:2.62 [[ 4.64192192e-01 -8.85676094e-01 -1.01717724e-02 1.18915353e+02] [ 8.85493269e-01 4.64303172e-01 -1.80065009e-02 5.83219540e+01] [ 2.06707136e-02 -6.48558881e-04 9.99786128e-01 2.61570239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.692755096 meters 0.027180844860282792 Centerline is valid? [True, True] Translation: X:118.93, Y:58.35, Z:2.62 [[ 4.65212074e-01 -8.85139177e-01 -1.03132371e-02 1.18928824e+02] [ 8.84950890e-01 4.65325952e-01 -1.82669470e-02 5.83466722e+01] [ 2.09678073e-02 -6.28704009e-04 9.99779954e-01 2.61572324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72275509600001 meters 0.025722815570502513 Centerline is valid? [True, True] Translation: X:118.94, Y:58.37, Z:2.62 [[ 4.67993287e-01 -8.83666661e-01 -1.07477831e-02 1.18941311e+02] [ 8.83461485e-01 4.68116327e-01 -1.90501530e-02 5.83702173e+01] [ 2.18651979e-02 -5.79908661e-04 9.99760760e-01 2.61553175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75275509600002 meters 0.025722815570502513 Centerline is valid? [True, True] Translation: X:118.95, Y:58.39, Z:2.62 [[ 4.67702205e-01 -8.83820824e-01 -1.07423669e-02 1.18954250e+02] [ 8.83615619e-01 4.67825196e-01 -1.90532069e-02 5.83936275e+01] [ 2.18651709e-02 -5.80896291e-04 9.99760760e-01 2.61603121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78275509600002 meters 0.023001999591785928 Centerline is valid? [True, True] Translation: X:118.96, Y:58.42, Z:2.62 [[ 4.69236950e-01 -8.83004423e-01 -1.09486931e-02 1.18964283e+02] [ 8.82790701e-01 4.69364347e-01 -1.94341862e-02 5.84202928e+01] [ 2.22993986e-02 -5.46166153e-04 9.99751188e-01 2.61650055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81275509600002 meters 0.022085114272497996 Centerline is valid? [True, True] Translation: X:118.98, Y:58.45, Z:2.62 [[ 4.71691229e-01 -8.81688517e-01 -1.15214393e-02 1.18978031e+02] [ 8.81451097e-01 4.71831651e-01 -2.04659764e-02 5.84450876e+01] [ 2.34807961e-02 -5.01963797e-04 9.99724162e-01 2.61623534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84275509600002 meters 0.02215626394207589 Centerline is valid? [True, True] Translation: X:118.99, Y:58.47, Z:2.62 [[ 4.72316081e-01 -8.81352440e-01 -1.16359741e-02 1.18992136e+02] [ 8.81109819e-01 4.72459144e-01 -2.06843861e-02 5.84681525e+01] [ 2.37277566e-02 -4.83002854e-04 9.99718340e-01 2.61611869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87275509600002 meters 0.02156692177605837 Centerline is valid? [True, True] Translation: X:119.01, Y:58.49, Z:2.62 [[ 4.73192362e-01 -8.80878979e-01 -1.18833079e-02 1.19005455e+02] [ 8.80625391e-01 4.73341326e-01 -2.11402489e-02 5.84925575e+01] [ 2.42468616e-02 -4.61338360e-04 9.99705895e-01 2.61667186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90275509600002 meters 0.022862442430538605 Centerline is valid? [True, True] Translation: X:119.02, Y:58.52, Z:2.62 [[ 4.73624826e-01 -8.80647455e-01 -1.18145434e-02 1.19019197e+02] [ 8.80396351e-01 4.73771956e-01 -2.10332865e-02 5.85156725e+01] [ 2.41203096e-02 -4.39594205e-04 9.99708966e-01 2.61515385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93275509600002 meters 0.02116137880621444 Centerline is valid? [True, True] Translation: X:119.03, Y:58.54, Z:2.62 [[ 4.75033282e-01 -8.79891820e-01 -1.15657455e-02 1.19033559e+02] [ 8.79650599e-01 4.75173901e-01 -2.06055240e-02 5.85382387e+01] [ 2.36263724e-02 -3.85505273e-04 9.99720784e-01 2.61829682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.962755096 meters 0.02059158977906076 Centerline is valid? [True, True] Translation: X:119.05, Y:58.56, Z:2.62 [[ 4.74971637e-01 -8.79926810e-01 -1.14347290e-02 1.19047365e+02] [ 8.79690692e-01 4.75109111e-01 -2.03867189e-02 5.85625180e+01] [ 2.33715645e-02 -3.75911457e-04 9.99726777e-01 2.61963325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.992755096 meters 0.02114832058109953 Centerline is valid? [True, True] Translation: X:119.06, Y:58.58, Z:2.62 [[ 4.74776989e-01 -8.80034460e-01 -1.12320873e-02 1.19062918e+02] [ 8.79806331e-01 4.74909690e-01 -2.00401054e-02 5.85844863e+01] [ 2.29702104e-02 -3.67480622e-04 9.99736082e-01 2.62040933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.022755096 meters 0.02109696261735443 Centerline is valid? [True, True] Translation: X:119.08, Y:58.61, Z:2.62 [[ 4.73948597e-01 -8.80483587e-01 -1.10172667e-02 1.19078748e+02] [ 8.80263889e-01 4.74076483e-01 -1.96716313e-02 5.86077771e+01] [ 2.25435756e-02 -3.74759967e-04 9.99745791e-01 2.62197999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.052755096 meters 0.021170693834664002 Centerline is valid? [True, True] Translation: X:119.09, Y:58.63, Z:2.62 [[ 4.73442019e-01 -8.80758229e-01 -1.08441891e-02 1.19093808e+02] [ 8.80545148e-01 4.73566047e-01 -1.93762849e-02 5.86315273e+01] [ 2.22012622e-02 -3.75250663e-04 9.99753451e-01 2.62272614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.082755096 meters 0.0214298979105007 Centerline is valid? [True, True] Translation: X:119.11, Y:58.65, Z:2.62 [[ 4.72270898e-01 -8.81389146e-01 -1.06476210e-02 1.19110837e+02] [ 8.81183588e-01 4.72390749e-01 -1.90385077e-02 5.86540787e+01] [ 2.18101717e-02 -3.91175789e-04 9.99762053e-01 2.62418100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.112755096 meters 0.02125511893518256 Centerline is valid? [True, True] Translation: X:119.12, Y:58.68, Z:2.63 [[ 4.71533591e-01 -8.81784335e-01 -1.06046528e-02 1.19124969e+02] [ 8.81580236e-01 4.71652653e-01 -1.89753146e-02 5.86778434e+01] [ 2.17338478e-02 -4.01354091e-04 9.99763711e-01 2.62525794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.142755096 meters 0.021801402991706628 Centerline is valid? [True, True] Translation: X:119.14, Y:58.70, Z:2.63 [[ 4.70744387e-01 -8.82208028e-01 -1.04267398e-02 1.19140734e+02] [ 8.82010532e-01 4.70859670e-01 -1.86706073e-02 5.87005432e+01] [ 2.13808909e-02 -4.07410749e-04 9.99771320e-01 2.62580969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.172755096 meters 0.021899332360878012 Centerline is valid? [True, True] Translation: X:119.16, Y:58.72, Z:2.63 [[ 4.69712650e-01 -8.82760237e-01 -1.02172135e-02 1.19155806e+02] [ 8.82570439e-01 4.69823574e-01 -1.83092813e-02 5.87243603e+01] [ 2.09629932e-02 -4.17309584e-04 9.99780165e-01 2.62665293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.202755096 meters 0.02212638605915233 Centerline is valid? [True, True] Translation: X:119.17, Y:58.75, Z:2.63 [[ 4.69953265e-01 -8.82641362e-01 -9.38912272e-03 1.19169060e+02] [ 8.82480846e-01 4.70046899e-01 -1.68365218e-02 5.87478832e+01] [ 1.92739385e-02 -3.73342594e-04 9.99814171e-01 2.62906028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.232755096 meters 0.023843207102694098 Centerline is valid? [True, True] Translation: X:119.18, Y:58.77, Z:2.63 [[ 4.70022101e-01 -8.82599054e-01 -9.90633062e-03 1.19181931e+02] [ 8.82420152e-01 4.70126324e-01 -1.77740037e-02 5.87703580e+01] [ 2.03445457e-02 -3.87371200e-04 9.99792953e-01 2.62596971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.262755096 meters 0.021057250099087505 Centerline is valid? [True, True] Translation: X:119.19, Y:58.80, Z:2.63 [[ 4.70181862e-01 -8.82513877e-01 -9.91327326e-03 1.19193167e+02] [ 8.82334479e-01 4.70286203e-01 -1.77975861e-02 5.87962259e+01] [ 2.03686923e-02 -3.78720638e-04 9.99792465e-01 2.62910084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.292755096 meters 0.020621650069779472 Centerline is valid? [True, True] Translation: X:119.21, Y:58.82, Z:2.63 [[ 4.70667371e-01 -8.82253509e-01 -1.00484932e-02 1.19205090e+02] [ 8.82068844e-01 4.70774481e-01 -1.80538787e-02 5.88213999e+01] [ 2.06586720e-02 -3.66091193e-04 9.99786520e-01 2.62909481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.322755096 meters 0.020122826453764665 Centerline is valid? [True, True] Translation: X:119.22, Y:58.85, Z:2.63 [[ 4.71697041e-01 -8.81704851e-01 -9.92252970e-03 1.19216914e+02] [ 8.81524397e-01 4.71801277e-01 -1.78407503e-02 5.88474785e+01] [ 2.04117382e-02 -3.31522890e-04 9.99791604e-01 2.62956339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.352755096 meters 0.019992301664841373 Centerline is valid? [True, True] Translation: X:119.23, Y:58.87, Z:2.63 [[ 4.72937956e-01 -8.81035708e-01 -1.02844753e-02 1.19229248e+02] [ 8.80841411e-01 4.73049665e-01 -1.85046568e-02 5.88715221e+01] [ 2.11683310e-02 -3.07437186e-04 9.99775879e-01 2.62904536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.382755096 meters 0.019546996010953173 Centerline is valid? [True, True] Translation: X:119.24, Y:58.90, Z:2.63 [[ 4.73833079e-01 -8.80552212e-01 -1.04887868e-02 1.19240487e+02] [ 8.80349761e-01 4.73949069e-01 -1.88832980e-02 5.88977307e+01] [ 2.15988806e-02 -2.86269763e-04 9.99766676e-01 2.62903677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.412755096 meters 0.0191364870908376 Centerline is valid? [True, True] Translation: X:119.25, Y:58.92, Z:2.63 [[ 4.74008199e-01 -8.80452703e-01 -1.09208445e-02 1.19252326e+02] [ 8.80232862e-01 4.74133900e-01 -1.96762250e-02 5.89238210e+01] [ 2.25019281e-02 -2.86194250e-04 9.99746759e-01 2.62881146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.442755096 meters 0.019663009818119713 Centerline is valid? [True, True] Translation: X:119.27, Y:58.95, Z:2.63 [[ 4.72633860e-01 -8.81182749e-01 -1.15843385e-02 1.19265868e+02] [ 8.80935210e-01 4.72775689e-01 -2.08879039e-02 5.89471229e+01] [ 2.38828542e-02 -3.32721034e-04 9.99714709e-01 2.62683827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47275509600001 meters 0.021072528844342468 Centerline is valid? [True, True] Translation: X:119.28, Y:58.97, Z:2.63 [[ 4.71075158e-01 -8.82014197e-01 -1.17962628e-02 1.19280707e+02] [ 8.81757424e-01 4.71222681e-01 -2.12844958e-02 5.89700436e+01] [ 2.43318940e-02 -3.74845059e-04 9.99703865e-01 2.62557106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50275509600002 meters 0.02074344151865048 Centerline is valid? [True, True] Translation: X:119.30, Y:58.99, Z:2.63 [[ 4.67874580e-01 -8.83718996e-01 -1.15807038e-02 1.19295241e+02] [ 8.83471712e-01 4.68017665e-01 -2.09093369e-02 5.89949117e+01] [ 2.38979521e-02 -4.48276966e-04 9.99714303e-01 2.62848903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53275509600002 meters 0.021874911787701738 Centerline is valid? [True, True] Translation: X:119.31, Y:59.02, Z:2.63 [[ 4.66434126e-01 -8.84481947e-01 -1.14408236e-02 1.19310219e+02] [ 8.84240487e-01 4.66574175e-01 -2.06712290e-02 5.90183640e+01] [ 2.36213217e-02 -4.74672848e-04 9.99720865e-01 2.62940331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56275509600002 meters 0.021522838986504037 Centerline is valid? [True, True] Translation: X:119.32, Y:59.04, Z:2.63 [[ 4.64876561e-01 -8.85309752e-01 -1.07901325e-02 1.19322865e+02] [ 8.85094920e-01 4.65001518e-01 -1.95082236e-02 5.90439201e+01] [ 2.22882486e-02 -4.81375596e-04 9.99751470e-01 2.63141509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59275509600002 meters 0.022465556798447094 Centerline is valid? [True, True] Translation: X:119.34, Y:59.07, Z:2.63 [[ 4.63033407e-01 -8.86278827e-01 -1.04835962e-02 1.19336905e+02] [ 8.86075988e-01 4.63151794e-01 -1.89673010e-02 5.90673866e+01] [ 2.16658137e-02 -5.06768889e-04 9.99765140e-01 2.63241778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62275509600002 meters 0.022599412981173666 Centerline is valid? [True, True] Translation: X:119.35, Y:59.09, Z:2.63 [[ 4.62115306e-01 -8.86756699e-01 -1.05830283e-02 1.19350017e+02] [ 8.86549823e-01 4.62236171e-01 -1.91607312e-02 5.90916517e+01] [ 2.18827652e-02 -5.27914705e-04 9.99760404e-01 2.63248427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65275509600002 meters 0.022517405968550994 Centerline is valid? [True, True] Translation: X:119.36, Y:59.12, Z:2.63 [[ 4.61166551e-01 -8.87250338e-01 -1.05948136e-02 1.19363713e+02] [ 8.87042796e-01 4.61287916e-01 -1.91973199e-02 5.91163554e+01] [ 2.19200880e-02 -5.44891252e-04 9.99759578e-01 2.63300090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68275509600002 meters 0.02402692330533931 Centerline is valid? [True, True] Translation: X:119.38, Y:59.14, Z:2.63 [[ 4.60237559e-01 -8.87732996e-01 -1.05601488e-02 1.19380409e+02] [ 8.87526624e-01 4.60358354e-01 -1.91488032e-02 5.91382391e+01] [ 2.18604772e-02 -5.59414827e-04 9.99760875e-01 2.63347092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.712755096 meters 0.02298489241404479 Centerline is valid? [True, True] Translation: X:119.39, Y:59.16, Z:2.63 [[ 4.59522410e-01 -8.88102731e-01 -1.06157781e-02 1.19391819e+02] [ 8.87893984e-01 4.59644657e-01 -1.92629812e-02 5.91639128e+01] [ 2.19869919e-02 -5.73913921e-04 9.99758092e-01 2.63417158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.742755096 meters 0.023010241275899467 Centerline is valid? [True, True] Translation: X:119.41, Y:59.19, Z:2.63 [[ 4.59427788e-01 -8.88149464e-01 -1.07998836e-02 1.19405338e+02] [ 8.87933088e-01 4.59554344e-01 -1.96121658e-02 5.91888969e+01] [ 2.23816679e-02 -5.79200035e-04 9.99749331e-01 2.63417339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.772755096 meters 0.023122746876077224 Centerline is valid? [True, True] Translation: X:119.42, Y:59.21, Z:2.63 [[ 4.59406080e-01 -8.88160883e-01 -1.07841978e-02 1.19418531e+02] [ 8.87944805e-01 4.59532282e-01 -1.95985998e-02 5.92128601e+01] [ 2.23623968e-02 -5.72056476e-04 9.99749767e-01 2.63417447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.802755096 meters 0.023077933530768563 Centerline is valid? [True, True] Translation: X:119.43, Y:59.24, Z:2.64 [[ 4.59070003e-01 -8.88335319e-01 -1.07282031e-02 1.19432358e+02] [ 8.88121186e-01 4.59194987e-01 -1.95121426e-02 5.92377660e+01] [ 2.22596624e-02 -5.70505095e-04 9.99752060e-01 2.63507620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.832755096 meters 0.02242493338787 Centerline is valid? [True, True] Translation: X:119.45, Y:59.26, Z:2.64 [[ 4.59130387e-01 -8.88307212e-01 -1.04682422e-02 1.19445964e+02] [ 8.88103020e-01 4.59249383e-01 -1.90533516e-02 5.92618547e+01] [ 2.17327634e-02 -5.48904843e-04 9.99763665e-01 2.63665654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.862755096 meters 0.022728906628439155 Centerline is valid? [True, True] Translation: X:119.46, Y:59.29, Z:2.64 [[ 4.59044551e-01 -8.88352322e-01 -1.04044232e-02 1.19460354e+02] [ 8.88150323e-01 4.59162127e-01 -1.89511000e-02 5.92852492e+01] [ 2.16125708e-02 -5.41292642e-04 9.99766275e-01 2.63772613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.892755096 meters 0.022650390434573925 Centerline is valid? [True, True] Translation: X:119.47, Y:59.31, Z:2.64 [[ 4.58863927e-01 -8.88447448e-01 -1.02483309e-02 1.19474450e+02] [ 8.88251260e-01 4.58978048e-01 -1.86775207e-02 5.93090446e+01] [ 2.12977545e-02 -5.32652365e-04 9.99773035e-01 2.63869019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.922755096 meters 0.02279679144323888 Centerline is valid? [True, True] Translation: X:119.49, Y:59.33, Z:2.64 [[ 4.58854319e-01 -8.88452919e-01 -1.02041041e-02 1.19487917e+02] [ 8.88258124e-01 4.58967467e-01 -1.86110115e-02 5.93321648e+01] [ 2.12183594e-02 -5.24135353e-04 9.99774728e-01 2.63949943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.952755096 meters 0.022859732288527387 Centerline is valid? [True, True] Translation: X:119.50, Y:59.36, Z:2.64 [[ 4.58590993e-01 -8.88587331e-01 -1.03371327e-02 1.19502336e+02] [ 8.88387133e-01 4.58707177e-01 -1.88687036e-02 5.93562786e+01] [ 2.15082080e-02 -5.30358166e-04 9.99768531e-01 2.63944526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.982755096 meters 0.02291727318643896 Centerline is valid? [True, True] Translation: X:119.52, Y:59.38, Z:2.64 [[ 4.58011053e-01 -8.88889005e-01 -1.01100046e-02 1.19516679e+02] [ 8.88697298e-01 4.58122319e-01 -1.84676392e-02 5.93806000e+01] [ 2.10473002e-02 -5.26350936e-04 9.99778342e-01 2.63980052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.012755096 meters 0.02245973995624183 Centerline is valid? [True, True] Translation: X:119.53, Y:59.40, Z:2.64 [[ 4.57886304e-01 -8.88952643e-01 -1.01652282e-02 1.19530163e+02] [ 8.88758555e-01 4.57998824e-01 -1.85824704e-02 5.94049865e+01] [ 2.11745987e-02 -5.25774821e-04 9.99775655e-01 2.64054304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.042755096 meters 0.02283176602347479 Centerline is valid? [True, True] Translation: X:119.54, Y:59.43, Z:2.64 [[ 4.57155324e-01 -8.89330749e-01 -9.99147031e-03 1.19544400e+02] [ 8.89143046e-01 4.57264192e-01 -1.82784791e-02 5.94291741e+01] [ 2.08243551e-02 -5.27742323e-04 9.99783010e-01 2.64123921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.072755096 meters 0.022958960271600163 Centerline is valid? [True, True] Translation: X:119.56, Y:59.45, Z:2.64 [[ 4.57113141e-01 -8.89351407e-01 -1.00821795e-02 1.19559122e+02] [ 8.89159991e-01 4.57224011e-01 -1.84584228e-02 5.94534299e+01] [ 2.10258388e-02 -5.27083002e-04 9.99778794e-01 2.64207909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.102755096 meters 0.022393075933002656 Centerline is valid? [True, True] Translation: X:119.57, Y:59.48, Z:2.64 [[ 4.58575555e-01 -8.88601840e-01 -9.75864979e-03 1.19570663e+02] [ 8.88422081e-01 4.58679135e-01 -1.78789460e-02 5.94798975e+01] [ 2.03633533e-02 -4.70952397e-04 9.99792535e-01 2.64306709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.132755096 meters 0.023068401563174426 Centerline is valid? [True, True] Translation: X:119.58, Y:59.50, Z:2.64 [[ 4.60528667e-01 -8.87584689e-01 -1.03327991e-02 1.19582881e+02] [ 8.87382608e-01 4.60644355e-01 -1.89442570e-02 5.95046110e+01] [ 2.15743780e-02 -4.44772827e-04 9.99767147e-01 2.63970818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.162755096 meters 0.0213554000660722 Centerline is valid? [True, True] Translation: X:119.60, Y:59.53, Z:2.64 [[ 4.61496730e-01 -8.87073530e-01 -1.10145816e-02 1.19595477e+02] [ 8.86843393e-01 4.61627943e-01 -2.02098650e-02 5.95301367e+01] [ 2.30122750e-02 -4.41422307e-04 9.99735085e-01 2.64192476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.192755096 meters 0.02077470733246082 Centerline is valid? [True, True] Translation: X:119.61, Y:59.56, Z:2.64 [[ 4.62733358e-01 -8.86426642e-01 -1.12092351e-02 1.19607545e+02] [ 8.86187753e-01 4.62868923e-01 -2.05821847e-02 5.95557767e+01] [ 2.34330035e-02 -4.09423435e-04 9.99725326e-01 2.64235201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22275509600001 meters 0.019670872062380353 Centerline is valid? [True, True] Translation: X:119.62, Y:59.58, Z:2.64 [[ 4.65583261e-01 -8.84934124e-01 -1.11276022e-02 1.19616903e+02] [ 8.84697932e-01 4.65716106e-01 -2.04469364e-02 5.95811054e+01] [ 2.32764953e-02 -3.24815308e-04 9.99729013e-01 2.64324863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25275509600002 meters 0.019240439133600098 Centerline is valid? [True, True] Translation: X:119.63, Y:59.61, Z:2.64 [[ 4.66759759e-01 -8.84317064e-01 -1.08930097e-02 1.19628751e+02] [ 8.84090235e-01 4.66886765e-01 -2.00300940e-02 5.96054252e+01] [ 2.27987560e-02 -2.81161655e-04 9.99740035e-01 2.64403991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28275509600002 meters 0.01885613896033255 Centerline is valid? [True, True] Translation: X:119.64, Y:59.63, Z:2.64 [[ 4.67953748e-01 -8.83687882e-01 -1.07245878e-02 1.19638283e+02] [ 8.83467496e-01 4.68076564e-01 -1.97361174e-02 5.96305533e+01] [ 2.24604960e-02 -2.39234626e-04 9.99747703e-01 2.64469727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31275509600002 meters 0.01874634279022873 Centerline is valid? [True, True] Translation: X:119.65, Y:59.66, Z:2.65 [[ 4.67892013e-01 -8.83721538e-01 -1.06445945e-02 1.19650260e+02] [ 8.83504075e-01 4.68013023e-01 -1.96050783e-02 5.96550648e+01] [ 2.23072388e-02 -2.31483102e-04 9.99751136e-01 2.64506370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34275509600002 meters 0.018995577245569824 Centerline is valid? [True, True] Translation: X:119.66, Y:59.68, Z:2.65 [[ 4.67233595e-01 -8.84069947e-01 -1.06346767e-02 1.19663102e+02] [ 8.83852634e-01 4.67354545e-01 -1.96023117e-02 5.96784649e+01] [ 2.22999792e-02 -2.40628489e-04 9.99751296e-01 2.64570219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37275509600002 meters 0.019246304835542214 Centerline is valid? [True, True] Translation: X:119.68, Y:59.70, Z:2.65 [[ 4.65982496e-01 -8.84731475e-01 -1.05133499e-02 1.19677333e+02] [ 8.84518915e-01 4.66101007e-01 -1.93943353e-02 5.97020401e+01] [ 2.20590619e-02 -2.61836088e-04 9.99756635e-01 2.64676712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40275509600002 meters 0.020061514576857082 Centerline is valid? [True, True] Translation: X:119.69, Y:59.73, Z:2.65 [[ 4.63231214e-01 -8.86175226e-01 -1.05029338e-02 1.19692056e+02] [ 8.85963140e-01 4.63350153e-01 -1.93894112e-02 5.97254163e+01] [ 2.20489518e-02 -3.23431714e-04 9.99756840e-01 2.64847743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43275509600002 meters 0.01990209655246176 Centerline is valid? [True, True] Translation: X:119.71, Y:59.75, Z:2.65 [[ 4.61567047e-01 -8.87043654e-01 -1.04602635e-02 1.19705151e+02] [ 8.86833278e-01 4.61685421e-01 -1.93212271e-02 5.97506804e+01] [ 2.19681230e-02 -3.58468080e-04 9.99758607e-01 2.64940570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.462755096 meters 0.0223894388283402 Centerline is valid? [True, True] Translation: X:119.72, Y:59.77, Z:2.65 [[ 4.58808500e-01 -8.88476958e-01 -1.01713264e-02 1.19723338e+02] [ 8.88278126e-01 4.58921047e-01 -1.88000687e-02 5.97718256e+01] [ 2.13712636e-02 -4.09335437e-04 9.99771525e-01 2.65027046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.492755096 meters 0.020957304181840133 Centerline is valid? [True, True] Translation: X:119.73, Y:59.80, Z:2.65 [[ 4.57246259e-01 -8.89284250e-01 -9.96897275e-03 1.19733968e+02] [ 8.89093257e-01 4.57354713e-01 -1.84349261e-02 5.97981254e+01] [ 2.09532461e-02 -4.34045466e-04 9.99780362e-01 2.65157561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.522755096 meters 0.021534899941227613 Centerline is valid? [True, True] Translation: X:119.75, Y:59.82, Z:2.65 [[ 4.55557651e-01 -8.90153833e-01 -9.66334302e-03 1.19747749e+02] [ 8.89974311e-01 4.55659903e-01 -1.78823336e-02 5.98229806e+01] [ 2.03212257e-02 -4.53693191e-04 9.99793400e-01 2.65203519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.552755096 meters 0.02400437030666754 Centerline is valid? [True, True] Translation: X:119.76, Y:59.85, Z:2.65 [[ 4.52255706e-01 -8.91839497e-01 -9.33211147e-03 1.19764582e+02] [ 8.91672195e-01 4.52351695e-01 -1.72812440e-02 5.98452561e+01] [ 1.96334924e-02 -5.05643121e-04 9.99807117e-01 2.65246243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.582755096 meters 0.02469339731215466 Centerline is valid? [True, True] Translation: X:119.78, Y:59.87, Z:2.65 [[ 4.49315291e-01 -8.93325570e-01 -9.23011106e-03 1.19778698e+02] [ 8.93162059e-01 4.49409737e-01 -1.71004207e-02 5.98693992e+01] [ 1.94243449e-02 -5.60504504e-04 9.99811173e-01 2.65264864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.612755096 meters 0.02469339731215466 Centerline is valid? [True, True] Translation: X:119.79, Y:59.89, Z:2.65 [[ 4.49038791e-01 -8.93464642e-01 -9.22483209e-03 1.19791644e+02] [ 8.93301102e-01 4.49133186e-01 -1.71032680e-02 5.98937564e+01] [ 1.94243435e-02 -5.60521894e-04 9.99811173e-01 2.65316348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.642755096 meters 0.024690490194513477 Centerline is valid? [True, True] Translation: X:119.80, Y:59.92, Z:2.65 [[ 4.47618686e-01 -8.94175703e-01 -9.34471719e-03 1.19804744e+02] [ 8.94007783e-01 4.47715825e-01 -1.73385245e-02 5.99189364e+01] [ 1.96874651e-02 -5.93202333e-04 9.99806007e-01 2.65334928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.672755096 meters 0.02640746769822955 Centerline is valid? [True, True] Translation: X:119.82, Y:59.94, Z:2.65 [[ 4.45341868e-01 -8.95307654e-01 -9.73786779e-03 1.19819489e+02] [ 8.95125299e-01 4.45447824e-01 -1.80813717e-02 5.99420599e+01] [ 2.05261025e-02 -6.64219952e-04 9.99789097e-01 2.65316666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.702755096 meters 0.027211902069752745 Centerline is valid? [True, True] Translation: X:119.83, Y:59.97, Z:2.65 [[ 4.44261216e-01 -8.95844790e-01 -9.69972071e-03 1.19833153e+02] [ 8.95663719e-01 4.44366571e-01 -1.80236510e-02 5.99657538e+01] [ 2.04566255e-02 -6.80478819e-04 9.99790510e-01 2.65327753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.732755096 meters 0.02785504825822455 Centerline is valid? [True, True] Translation: X:119.85, Y:59.99, Z:2.65 [[ 4.43447677e-01 -8.96245666e-01 -9.89265250e-03 1.19846356e+02] [ 8.96057114e-01 4.43557446e-01 -1.83967324e-02 5.99898142e+01] [ 2.08759514e-02 -7.06393394e-04 9.99781824e-01 2.65333842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.762755096 meters 0.028193378255360595 Centerline is valid? [True, True] Translation: X:119.86, Y:60.01, Z:2.65 [[ 4.43100292e-01 -8.96417976e-01 -9.84595951e-03 1.19859209e+02] [ 8.96230950e-01 4.43209110e-01 -1.83240163e-02 6.00136957e+01] [ 2.07897965e-02 -7.04876685e-04 9.99783620e-01 2.65383362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.792755096 meters 0.028088145729793606 Centerline is valid? [True, True] Translation: X:119.87, Y:60.04, Z:2.65 [[ 4.43201020e-01 -8.96368877e-01 -9.78223241e-03 1.19871540e+02] [ 8.96183949e-01 4.43308424e-01 -1.82200795e-02 6.00375865e+01] [ 2.06684582e-02 -6.91521835e-04 9.99786145e-01 2.65432361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.822755096 meters 0.028088145729793606 Centerline is valid? [True, True] Translation: X:119.88, Y:60.06, Z:2.65 [[ 4.42899164e-01 -8.96518130e-01 -9.77609334e-03 1.19883998e+02] [ 8.96333166e-01 4.43006505e-01 -1.82233730e-02 6.00612732e+01] [ 2.06684572e-02 -6.91520025e-04 9.99786145e-01 2.65482290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.852755096 meters 0.02785204306173574 Centerline is valid? [True, True] Translation: X:119.90, Y:60.09, Z:2.66 [[ 4.43330827e-01 -8.96303058e-01 -9.93006974e-03 1.19895374e+02] [ 8.96111848e-01 4.43441494e-01 -1.85255810e-02 6.00861810e+01] [ 2.10079399e-02 -6.85491990e-04 9.99779074e-01 2.65503098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.882755096 meters 0.02601104187153717 Centerline is valid? [True, True] Translation: X:119.91, Y:60.11, Z:2.66 [[ 4.43962307e-01 -8.95990606e-01 -9.91487630e-03 1.19905733e+02] [ 8.95799594e-01 4.44072511e-01 -1.85119380e-02 6.01131382e+01] [ 2.09894465e-02 -6.63139478e-04 9.99779477e-01 2.65541823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.912755096 meters 0.024333047538765463 Centerline is valid? [True, True] Translation: X:119.92, Y:60.14, Z:2.66 [[ 4.45964162e-01 -8.94993043e-01 -1.01695335e-02 1.19916423e+02] [ 8.94791532e-01 4.46079659e-01 -1.90013954e-02 6.01399756e+01] [ 2.15425388e-02 -6.25671110e-04 9.99767737e-01 2.65544528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.942755096 meters 0.024577998912657405 Centerline is valid? [True, True] Translation: X:119.93, Y:60.16, Z:2.66 [[ 4.46780281e-01 -8.94584077e-01 -1.03300286e-02 1.19929305e+02] [ 8.94375731e-01 4.46899271e-01 -1.93156296e-02 6.01638395e+01] [ 2.18959370e-02 -6.09084434e-04 9.99760070e-01 2.65577846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97275509600001 meters 0.023264792903246043 Centerline is valid? [True, True] Translation: X:119.94, Y:60.19, Z:2.66 [[ 4.47690467e-01 -8.94125933e-01 -1.05858652e-02 1.19940127e+02] [ 8.93906662e-01 4.47815210e-01 -1.98095307e-02 6.01897960e+01] [ 2.24527266e-02 -5.94237388e-04 9.99747729e-01 2.65631479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00275509600002 meters 0.0236485142547175 Centerline is valid? [True, True] Translation: X:119.95, Y:60.21, Z:2.66 [[ 4.49038679e-01 -8.93444785e-01 -1.09854340e-02 1.19953171e+02] [ 8.93208085e-01 4.49172668e-01 -2.05725848e-02 6.02134843e+01] [ 2.33148253e-02 -5.74392127e-04 9.99728008e-01 2.65568742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03275509600002 meters 0.022634342869228927 Centerline is valid? [True, True] Translation: X:119.96, Y:60.24, Z:2.66 [[ 4.49540403e-01 -8.93189392e-01 -1.12310274e-02 1.19964776e+02] [ 8.92941610e-01 4.49680316e-01 -2.10450697e-02 6.02392107e+01] [ 2.38476049e-02 -5.68042585e-04 9.99715444e-01 2.65598831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06275509600002 meters 0.02242019206762554 Centerline is valid? [True, True] Translation: X:119.98, Y:60.26, Z:2.66 [[ 4.49631594e-01 -8.93140920e-01 -1.14335686e-02 1.19977247e+02] [ 8.92883703e-01 4.49776582e-01 -2.14410816e-02 6.02645238e+01] [ 2.42924587e-02 -5.68259393e-04 9.99704733e-01 2.65588008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09275509600002 meters 0.022870451769399176 Centerline is valid? [True, True] Translation: X:119.99, Y:60.29, Z:2.66 [[ 4.50351636e-01 -8.92777478e-01 -1.14794975e-02 1.19990541e+02] [ 8.92517667e-01 4.50497592e-01 -2.15437642e-02 6.02876361e+01] [ 2.44052734e-02 -5.43384831e-04 9.99701999e-01 2.65619424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12275509600002 meters 0.02234608935526846 Centerline is valid? [True, True] Translation: X:120.00, Y:60.31, Z:2.66 [[ 4.50277014e-01 -8.92814809e-01 -1.15033969e-02 1.20003419e+02] [ 8.92553518e-01 4.50423608e-01 -2.16053355e-02 6.03130506e+01] [ 2.44709650e-02 -5.39011399e-04 9.99700396e-01 2.65710390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15275509600002 meters 0.022727070196442867 Centerline is valid? [True, True] Translation: X:120.02, Y:60.34, Z:2.66 [[ 4.49531561e-01 -8.93192145e-01 -1.13652363e-02 1.20016953e+02] [ 8.92936825e-01 4.49674877e-01 -2.13619025e-02 6.03366457e+01] [ 2.41909447e-02 -5.45588673e-04 9.99707207e-01 2.65748372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18275509600002 meters 0.023384389319863724 Centerline is valid? [True, True] Translation: X:120.03, Y:60.36, Z:2.66 [[ 4.47972478e-01 -8.93974133e-01 -1.14415188e-02 1.20031185e+02] [ 8.93715218e-01 4.48118185e-01 -2.15221293e-02 6.03610031e+01] [ 2.43673795e-02 -5.84137892e-04 9.99702901e-01 2.65868201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21275509600002 meters 0.022730754981455978 Centerline is valid? [True, True] Translation: X:120.04, Y:60.39, Z:2.66 [[ 4.47097968e-01 -8.94414691e-01 -1.12146237e-02 1.20043481e+02] [ 8.94165710e-01 4.47238207e-01 -2.11108993e-02 6.03863927e+01] [ 2.38975066e-02 -5.89091775e-04 9.99714240e-01 2.65961811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.242755096 meters 0.024569311794029464 Centerline is valid? [True, True] Translation: X:120.06, Y:60.41, Z:2.66 [[ 4.45808855e-01 -8.95057501e-01 -1.12487962e-02 1.20059355e+02] [ 8.94806817e-01 4.45950321e-01 -2.11913140e-02 6.04086769e+01] [ 2.39838488e-02 -6.18224122e-04 9.99712155e-01 2.65955401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.272755096 meters 0.02486632279174029 Centerline is valid? [True, True] Translation: X:120.07, Y:60.43, Z:2.66 [[ 4.43881309e-01 -8.96016328e-01 -1.11410773e-02 1.20073365e+02] [ 8.95770377e-01 4.44020617e-01 -2.10029315e-02 6.04337175e+01] [ 2.37658375e-02 -6.57038280e-04 9.99717337e-01 2.66035367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.302755096 meters 0.02614190335710709 Centerline is valid? [True, True] Translation: X:120.09, Y:60.46, Z:2.66 [[ 4.43097050e-01 -8.96407901e-01 -1.08571857e-02 1.20089813e+02] [ 8.96174103e-01 4.43229564e-01 -2.04824706e-02 6.04560941e+01] [ 2.31728742e-02 -6.54206309e-04 9.99731259e-01 2.66180853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.332755096 meters 0.025230295883221135 Centerline is valid? [True, True] Translation: X:120.10, Y:60.48, Z:2.66 [[ 4.42100498e-01 -8.96897021e-01 -1.10852589e-02 1.20101976e+02] [ 8.96653053e-01 4.42238919e-01 -2.09294497e-02 6.04813720e+01] [ 2.36738940e-02 -6.86711115e-04 9.99719498e-01 2.66263539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.362755096 meters 0.026049547988638996 Centerline is valid? [True, True] Translation: X:120.12, Y:60.50, Z:2.66 [[ 4.41107404e-01 -8.97378784e-01 -1.16437137e-02 1.20115995e+02] [ 8.97109362e-01 4.41260432e-01 -2.20005541e-02 6.05042355e+01] [ 2.48807406e-02 -7.41077246e-04 9.99690152e-01 2.66194205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.392755096 meters 0.026143203322072945 Centerline is valid? [True, True] Translation: X:120.13, Y:60.53, Z:2.66 [[ 4.40494732e-01 -8.97676697e-01 -1.18717358e-02 1.20129122e+02] [ 8.97396275e-01 4.40654016e-01 -2.24491425e-02 6.05287137e+01] [ 2.53834001e-02 -7.64922450e-04 9.99677497e-01 2.66200572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.422755096 meters 0.026494343089522348 Centerline is valid? [True, True] Translation: X:120.14, Y:60.55, Z:2.66 [[ 4.39821279e-01 -8.98006172e-01 -1.19229834e-02 1.20142176e+02] [ 8.97723014e-01 4.39982166e-01 -2.25628806e-02 6.05530940e+01] [ 2.55075061e-02 -7.79901619e-04 9.99674326e-01 2.66204468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.452755096 meters 0.02623051154584639 Centerline is valid? [True, True] Translation: X:120.15, Y:60.58, Z:2.66 [[ 4.40262341e-01 -8.97781889e-01 -1.25200327e-02 1.20154864e+02] [ 8.97469079e-01 4.40439603e-01 -2.37109333e-02 6.05781362e+01] [ 2.68015647e-02 -7.97311217e-04 9.99640456e-01 2.66183883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.482755096 meters 0.026870792265179706 Centerline is valid? [True, True] Translation: X:120.17, Y:60.60, Z:2.66 [[ 4.40467143e-01 -8.97678482e-01 -1.27294267e-02 1.20168153e+02] [ 8.97354555e-01 4.40650325e-01 -2.41266172e-02 6.06009441e+01] [ 2.72671711e-02 -7.95826930e-04 9.99627865e-01 2.66163085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.512755096 meters 0.026878575448514554 Centerline is valid? [True, True] Translation: X:120.18, Y:60.63, Z:2.66 [[ 4.40624644e-01 -8.97603014e-01 -1.25996930e-02 1.20180829e+02] [ 8.97285078e-01 4.40804072e-01 -2.39010070e-02 6.06252410e+01] [ 2.70076119e-02 -7.74143804e-04 9.99634928e-01 2.66226041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.542755096 meters 0.024432515746916936 Centerline is valid? [True, True] Translation: X:120.19, Y:60.65, Z:2.66 [[ 4.41982482e-01 -8.96933773e-01 -1.27000708e-02 1.20190738e+02] [ 8.96609957e-01 4.42164305e-01 -2.41104056e-02 6.06524589e+01] [ 2.72409551e-02 -7.30633050e-04 9.99628629e-01 2.66432648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.572755096 meters 0.026082756368315165 Centerline is valid? [True, True] Translation: X:120.21, Y:60.68, Z:2.66 [[ 4.42392245e-01 -8.96732840e-01 -1.26219956e-02 1.20206023e+02] [ 8.96412476e-01 4.42571705e-01 -2.39782979e-02 6.06753947e+01] [ 2.70882653e-02 -7.06701250e-04 9.99632796e-01 2.66400599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.602755096 meters 0.023898374084962697 Centerline is valid? [True, True] Translation: X:120.22, Y:60.70, Z:2.67 [[ 4.43310556e-01 -8.96282377e-01 -1.23956679e-02 1.20216096e+02] [ 8.95972846e-01 4.43483331e-01 -2.35625676e-02 6.07019626e+01] [ 2.66159862e-02 -6.60646944e-04 9.99645514e-01 2.66631622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.632755096 meters 0.02344049859597275 Centerline is valid? [True, True] Translation: X:120.23, Y:60.73, Z:2.67 [[ 4.45132738e-01 -8.95384985e-01 -1.19404656e-02 1.20227456e+02] [ 8.95097031e-01 4.45292484e-01 -2.27136269e-02 6.07268876e+01] [ 2.56544401e-02 -5.77296384e-04 9.99670704e-01 2.66807698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.662755096 meters 0.022368174977972152 Centerline is valid? [True, True] Translation: X:120.24, Y:60.75, Z:2.67 [[ 4.45968333e-01 -8.94972971e-01 -1.16459248e-02 1.20238695e+02] [ 8.94698514e-01 4.46120048e-01 -2.21691512e-02 6.07531173e+01] [ 2.50362716e-02 -5.32852203e-04 9.99686401e-01 2.66945965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.692755096 meters 0.023255749536034587 Centerline is valid? [True, True] Translation: X:120.25, Y:60.78, Z:2.67 [[ 4.46297852e-01 -8.94808036e-01 -1.16963769e-02 1.20251194e+02] [ 8.94530703e-01 4.46450792e-01 -2.22825583e-02 6.07764021e+01] [ 2.51604690e-02 -5.18110288e-04 9.99683291e-01 2.66901548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72275509600001 meters 0.020704465556131337 Centerline is valid? [True, True] Translation: X:120.26, Y:60.80, Z:2.67 [[ 4.47439606e-01 -8.94242545e-01 -1.13168315e-02 1.20262036e+02] [ 8.93982307e-01 4.47582459e-01 -2.15772508e-02 6.08026303e+01] [ 2.43605109e-02 -4.62530569e-04 9.99703132e-01 2.67212117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75275509600002 meters 0.020401113292359628 Centerline is valid? [True, True] Translation: X:120.27, Y:60.83, Z:2.67 [[ 4.47547653e-01 -8.94189117e-01 -1.12659826e-02 1.20274273e+02] [ 8.93930806e-01 4.47689201e-01 -2.14963587e-02 6.08277225e+01] [ 2.42654688e-02 -4.50363995e-04 9.99705449e-01 2.67288633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78275509600002 meters 0.0209039044276616 Centerline is valid? [True, True] Translation: X:120.29, Y:60.85, Z:2.67 [[ 4.47318035e-01 -8.94303837e-01 -1.12792613e-02 1.20287847e+02] [ 8.94044573e-01 4.47459991e-01 -2.15373414e-02 6.08510271e+01] [ 2.43079452e-02 -4.50121175e-04 9.99704417e-01 2.67269665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81275509600002 meters 0.02179008229686627 Centerline is valid? [True, True] Translation: X:120.30, Y:60.87, Z:2.67 [[ 4.46755313e-01 -8.94585408e-01 -1.12533336e-02 1.20301812e+02] [ 8.94327093e-01 4.46896786e-01 -2.15014871e-02 6.08736373e+01] [ 2.42639952e-02 -4.58257474e-04 9.99705481e-01 2.67286921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84275509600002 meters 0.02151126372807825 Centerline is valid? [True, True] Translation: X:120.31, Y:60.90, Z:2.67 [[ 4.46270962e-01 -8.94827775e-01 -1.12018599e-02 1.20313620e+02] [ 8.94571449e-01 4.46411291e-01 -2.14215535e-02 6.08978295e+01] [ 2.41692378e-02 -4.61046739e-04 9.99707775e-01 2.67382131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87275509600002 meters 0.02049649771103513 Centerline is valid? [True, True] Translation: X:120.32, Y:60.92, Z:2.67 [[ 4.45266436e-01 -8.95326218e-01 -1.13474097e-02 1.20324581e+02] [ 8.95062917e-01 4.45410738e-01 -2.17174923e-02 6.09240846e+01] [ 2.44984984e-02 -4.86575238e-04 9.99699748e-01 2.67459373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90275509600002 meters 0.020974532953297608 Centerline is valid? [True, True] Translation: X:120.34, Y:60.95, Z:2.68 [[ 4.44209271e-01 -8.95850930e-01 -1.13681242e-02 1.20338227e+02] [ 8.95586434e-01 4.44354421e-01 -2.17735651e-02 6.09476458e+01] [ 2.45573448e-02 -5.09118270e-04 9.99698293e-01 2.67506455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93275509600002 meters 0.02190578201618403 Centerline is valid? [True, True] Translation: X:120.35, Y:60.97, Z:2.68 [[ 4.42113981e-01 -8.96892650e-01 -1.08996692e-02 1.20353463e+02] [ 8.96649493e-01 4.42247992e-01 -2.08902229e-02 6.09707013e+01] [ 2.35566442e-02 -5.37323283e-04 9.99722359e-01 2.67644081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96275509600002 meters 0.02183803878041733 Centerline is valid? [True, True] Translation: X:120.37, Y:61.00, Z:2.68 [[ 4.40924285e-01 -8.97479735e-01 -1.07656740e-02 1.20366228e+02] [ 8.97242362e-01 4.41055344e-01 -2.06477113e-02 6.09961123e+01] [ 2.32791606e-02 -5.55341403e-04 9.99728849e-01 2.67723663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.992755096 meters 0.02164038211513562 Centerline is valid? [True, True] Translation: X:120.38, Y:61.02, Z:2.68 [[ 4.40085387e-01 -8.97892734e-01 -1.06532257e-02 1.20378361e+02] [ 8.97660068e-01 4.40213948e-01 -2.04470738e-02 6.10211725e+01] [ 2.30489776e-02 -5.64516949e-04 9.99734178e-01 2.67771828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.022755096 meters 0.022758359129856152 Centerline is valid? [True, True] Translation: X:120.39, Y:61.04, Z:2.68 [[ 4.39345897e-01 -8.98255505e-01 -1.05939227e-02 1.20392719e+02] [ 8.98025159e-01 4.39473230e-01 -2.03492991e-02 6.10444689e+01] [ 2.29346154e-02 -5.73228055e-04 9.99736803e-01 2.67780065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.052755096 meters 0.02285302561087653 Centerline is valid? [True, True] Translation: X:120.41, Y:61.07, Z:2.68 [[ 4.38539084e-01 -8.98646812e-01 -1.08342020e-02 1.20406420e+02] [ 8.98405612e-01 4.38672484e-01 -2.08280522e-02 6.10691962e+01] [ 2.34697290e-02 -5.99592921e-04 9.99724368e-01 2.67797353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.082755096 meters 0.02343196655570342 Centerline is valid? [True, True] Translation: X:120.42, Y:61.09, Z:2.68 [[ 4.38016530e-01 -8.98901384e-01 -1.08545058e-02 1.20419703e+02] [ 8.98658982e-01 4.38150582e-01 -2.08830441e-02 6.10926418e+01] [ 2.35277053e-02 -6.07380640e-04 9.99723001e-01 2.67828927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.112755096 meters 0.023450626325369827 Centerline is valid? [True, True] Translation: X:120.43, Y:61.12, Z:2.68 [[ 4.37683645e-01 -8.99065998e-01 -1.06469516e-02 1.20431607e+02] [ 8.98832454e-01 4.37812715e-01 -2.04999217e-02 6.11170143e+01] [ 2.30921534e-02 -5.97345213e-04 9.99733162e-01 2.67873511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.142755096 meters 0.021865698448451903 Centerline is valid? [True, True] Translation: X:120.44, Y:61.14, Z:2.68 [[ 4.38577493e-01 -8.98630464e-01 -1.06335142e-02 1.20441544e+02] [ 8.98396992e-01 4.38706016e-01 -2.04908797e-02 6.11438351e+01] [ 2.30787154e-02 -5.66278490e-04 9.99733491e-01 2.67980241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.172755096 meters 0.02159245403066553 Centerline is valid? [True, True] Translation: X:120.45, Y:61.17, Z:2.68 [[ 4.39216892e-01 -8.98316114e-01 -1.08018857e-02 1.20453550e+02] [ 8.98074713e-01 4.39349354e-01 -2.08315766e-02 6.11691961e+01] [ 2.34591424e-02 -5.51320104e-04 9.99724644e-01 2.67993909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.202755096 meters 0.020564708229582642 Centerline is valid? [True, True] Translation: X:120.46, Y:61.20, Z:2.68 [[ 4.41169798e-01 -8.97356212e-01 -1.10017466e-02 1.20464681e+02] [ 8.97105104e-01 4.41306670e-01 -2.12333847e-02 6.11954133e+01] [ 2.39090538e-02 -5.02195039e-04 9.99714012e-01 2.67979630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.232755096 meters 0.020198200359252825 Centerline is valid? [True, True] Translation: X:120.48, Y:61.22, Z:2.68 [[ 4.41964678e-01 -8.96962407e-01 -1.12099623e-02 1.20476939e+02] [ 8.96701176e-01 4.42106556e-01 -2.16516537e-02 6.12206981e+01] [ 2.43767173e-02 -4.82720245e-04 9.99702727e-01 2.68031605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.262755096 meters 0.02010001661460204 Centerline is valid? [True, True] Translation: X:120.49, Y:61.25, Z:2.68 [[ 4.42806809e-01 -8.96546609e-01 -1.12386355e-02 1.20488964e+02] [ 8.96283495e-01 4.42949175e-01 -2.17238323e-02 6.12454672e+01] [ 2.44545725e-02 -4.53542636e-04 9.99700839e-01 2.68073467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.292755096 meters 0.01931730291066841 Centerline is valid? [True, True] Translation: X:120.50, Y:61.27, Z:2.68 [[ 4.43773187e-01 -8.96068125e-01 -1.12815429e-02 1.20499626e+02] [ 8.95802423e-01 4.43916363e-01 -2.18238841e-02 6.12718761e+01] [ 2.45637484e-02 -4.21178904e-04 9.99698177e-01 2.68160723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.322755096 meters 0.018632108005376322 Centerline is valid? [True, True] Translation: X:120.51, Y:61.30, Z:2.68 [[ 4.46331514e-01 -8.94799261e-01 -1.10662686e-02 1.20509070e+02] [ 8.94542823e-01 4.46468553e-01 -2.14235799e-02 6.12975016e+01] [ 2.41105444e-02 -3.37232275e-04 9.99709242e-01 2.68157966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.352755096 meters 0.01830420877841421 Centerline is valid? [True, True] Translation: X:120.52, Y:61.32, Z:2.68 [[ 4.47127349e-01 -8.94402398e-01 -1.10220053e-02 1.20519778e+02] [ 8.94147487e-01 4.47263073e-01 -2.13545020e-02 6.13218426e+01] [ 2.40292538e-02 -3.07116476e-04 9.99711209e-01 2.68233911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.382755096 meters 0.01776073975215586 Centerline is valid? [True, True] Translation: X:120.53, Y:61.35, Z:2.68 [[ 4.48302137e-01 -8.93819744e-01 -1.05573821e-02 1.20530025e+02] [ 8.93585319e-01 4.48426358e-01 -2.04714105e-02 6.13468170e+01] [ 2.30319593e-02 -2.56544563e-04 9.99734696e-01 2.68466008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.412755096 meters 0.01757970691890096 Centerline is valid? [True, True] Translation: X:120.54, Y:61.37, Z:2.69 [[ 4.48394672e-01 -8.93775649e-01 -1.03589021e-02 1.20542250e+02] [ 8.93549580e-01 4.48514247e-01 -2.01026765e-02 6.13722758e+01] [ 2.26133979e-02 -2.42259527e-04 9.99744255e-01 2.68586583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.442755096 meters 0.01768324757622771 Centerline is valid? [True, True] Translation: X:120.55, Y:61.40, Z:2.69 [[ 4.48404437e-01 -8.93770569e-01 -1.03745357e-02 1.20554475e+02] [ 8.93543464e-01 4.48524375e-01 -2.01485446e-02 6.13951740e+01] [ 2.26614083e-02 -2.35401802e-04 9.99743170e-01 2.68623453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47275509600001 meters 0.017461860442512286 Centerline is valid? [True, True] Translation: X:120.57, Y:61.42, Z:2.69 [[ 4.47728266e-01 -8.94110322e-01 -1.03020028e-02 1.20565244e+02] [ 8.93886086e-01 4.47846706e-01 -2.00248328e-02 6.14208599e+01] [ 2.25181278e-02 -2.43133286e-04 9.99746405e-01 2.68741950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50275509600002 meters 0.01746678356873722 Centerline is valid? [True, True] Translation: X:120.58, Y:61.45, Z:2.69 [[ 4.46905649e-01 -8.94521976e-01 -1.02847549e-02 1.20577575e+02] [ 8.94298250e-01 4.47023902e-01 -2.00067856e-02 6.14462656e+01] [ 2.24940407e-02 -2.56492843e-04 9.99746944e-01 2.68827161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53275509600002 meters 0.01786278715060367 Centerline is valid? [True, True] Translation: X:120.59, Y:61.47, Z:2.69 [[ 4.45949182e-01 -8.95000853e-01 -1.01390573e-02 1.20590560e+02] [ 8.94783203e-01 4.46064346e-01 -1.97387715e-02 6.14705361e+01] [ 2.21888892e-02 -2.69769164e-04 9.99753760e-01 2.68876807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56275509600002 meters 0.01786278715060367 Centerline is valid? [True, True] Translation: X:120.60, Y:61.50, Z:2.69 [[ 4.45674871e-01 -8.95137554e-01 -1.01325258e-02 1.20602992e+02] [ 8.94919864e-01 4.45789957e-01 -1.97421239e-02 6.14951425e+01] [ 2.21888948e-02 -2.69230127e-04 9.99753760e-01 2.68928259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59275509600002 meters 0.018157776020298357 Centerline is valid? [True, True] Translation: X:120.62, Y:61.52, Z:2.69 [[ 4.43716105e-01 -8.96113263e-01 -9.85073739e-03 1.20615721e+02] [ 8.95907448e-01 4.43825334e-01 -1.92072198e-02 6.15207406e+01] [ 2.15838512e-02 -3.02796250e-04 9.99766996e-01 2.69048953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62275509600002 meters 0.018405964293965252 Centerline is valid? [True, True] Translation: X:120.63, Y:61.55, Z:2.69 [[ 4.42238120e-01 -8.96842916e-01 -9.91107439e-03 1.20628624e+02] [ 8.96634435e-01 4.42349039e-01 -1.93395202e-02 6.15453818e+01] [ 2.17286659e-02 -3.33937552e-04 9.99763849e-01 2.69093493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65275509600002 meters 0.019053619857901865 Centerline is valid? [True, True] Translation: X:120.64, Y:61.57, Z:2.69 [[ 4.40450219e-01 -8.97720879e-01 -1.00413573e-02 1.20641990e+02] [ 8.97506767e-01 4.40564505e-01 -1.96091878e-02 6.15691648e+01] [ 2.20274429e-02 -3.75315090e-04 9.99757296e-01 2.69087198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68275509600002 meters 0.019621984636236458 Centerline is valid? [True, True] Translation: X:120.66, Y:61.59, Z:2.69 [[ 4.37439631e-01 -8.99190426e-01 -1.01561309e-02 1.20655533e+02] [ 8.98971465e-01 4.37557285e-01 -1.98476070e-02 6.15939742e+01] [ 2.22906672e-02 -4.47942014e-04 9.99751432e-01 2.69154475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71275509600002 meters 0.020454418143638024 Centerline is valid? [True, True] Translation: X:120.67, Y:61.62, Z:2.69 [[ 4.35646730e-01 -9.00058852e-01 -1.02951356e-02 1.20668720e+02] [ 8.99833762e-01 4.35768081e-01 -2.01340492e-02 6.16175743e+01] [ 2.26081207e-02 -4.92577913e-04 9.99744282e-01 2.69181411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.742755096 meters 0.020859455960247922 Centerline is valid? [True, True] Translation: X:120.68, Y:61.64, Z:2.69 [[ 4.33666118e-01 -9.01013584e-01 -1.04028367e-02 1.20681253e+02] [ 9.00783746e-01 4.33790533e-01 -2.03571992e-02 6.16430599e+01] [ 2.28547651e-02 -5.42478673e-04 9.99738649e-01 2.69219434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.772755096 meters 0.02245874770355057 Centerline is valid? [True, True] Translation: X:120.69, Y:61.67, Z:2.69 [[ 4.29913424e-01 -9.02805274e-01 -1.08205608e-02 1.20694767e+02] [ 9.02556768e-01 4.30049075e-01 -2.11913722e-02 6.16670518e+01] [ 2.37850548e-02 -6.55715021e-04 9.99716881e-01 2.69096908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.802755096 meters 0.02377959925898246 Centerline is valid? [True, True] Translation: X:120.71, Y:61.69, Z:2.69 [[ 4.28092245e-01 -9.03667373e-01 -1.10593185e-02 1.20708774e+02] [ 9.03407644e-01 4.28234482e-01 -2.16761671e-02 6.16903046e+01] [ 2.43240265e-02 -7.11673820e-04 9.99703874e-01 2.69088264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.832755096 meters 0.025438468702435976 Centerline is valid? [True, True] Translation: X:120.72, Y:61.71, Z:2.69 [[ 4.24472358e-01 -9.05371316e-01 -1.12248604e-02 1.20723759e+02] [ 9.05103936e-01 4.24619968e-01 -2.20169712e-02 6.17145129e+01] [ 2.46998340e-02 -8.14069681e-04 9.99694581e-01 2.69104450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.862755096 meters 0.026654467388895053 Centerline is valid? [True, True] Translation: X:120.74, Y:61.74, Z:2.69 [[ 4.22601080e-01 -9.06241967e-01 -1.15682428e-02 1.20737199e+02] [ 9.05957904e-01 4.22758459e-01 -2.27059787e-02 6.17384333e+01] [ 2.54676833e-02 -8.84769887e-04 9.99675254e-01 2.69107153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.892755096 meters 0.027747820028894102 Centerline is valid? [True, True] Translation: X:120.75, Y:61.76, Z:2.69 [[ 4.20506087e-01 -9.07218795e-01 -1.13441324e-02 1.20750622e+02] [ 9.06945682e-01 4.20658070e-01 -2.22782042e-02 6.17629874e+01] [ 2.49832064e-02 -9.20391428e-04 9.99687447e-01 2.69135062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.922755096 meters 0.029177993051765667 Centerline is valid? [True, True] Translation: X:120.76, Y:61.79, Z:2.69 [[ 4.18726020e-01 -9.08040313e-01 -1.14590673e-02 1.20764144e+02] [ 9.07761495e-01 4.18881661e-01 -2.25216108e-02 6.17862553e+01] [ 2.52505237e-02 -9.71715627e-04 9.99680682e-01 2.69173012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.952755096 meters 0.030494358053152693 Centerline is valid? [True, True] Translation: X:120.78, Y:61.81, Z:2.69 [[ 4.16453367e-01 -9.09085269e-01 -1.14265640e-02 1.20778944e+02] [ 9.08807969e-01 4.16608838e-01 -2.24755960e-02 6.18102251e+01] [ 2.51926408e-02 -1.02451478e-03 9.99682090e-01 2.69278596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.982755096 meters 0.030153717107726005 Centerline is valid? [True, True] Translation: X:120.79, Y:61.84, Z:2.69 [[ 4.15327587e-01 -9.09601579e-01 -1.13120910e-02 1.20791027e+02] [ 9.09329577e-01 4.15480312e-01 -2.22672552e-02 6.18357443e+01] [ 2.49542816e-02 -1.03821357e-03 9.99688054e-01 2.69378633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.012755096 meters 0.03182176846185764 Centerline is valid? [True, True] Translation: X:120.80, Y:61.86, Z:2.69 [[ 4.14673524e-01 -9.09903051e-01 -1.10592048e-02 1.20804928e+02] [ 9.09642773e-01 4.14819702e-01 -2.17862416e-02 6.18591841e+01] [ 2.44109438e-02 -1.02574813e-03 9.99701482e-01 2.69440246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.042755096 meters 0.029487169962879613 Centerline is valid? [True, True] Translation: X:120.81, Y:61.89, Z:2.70 [[ 4.14354715e-01 -9.10048078e-01 -1.10754956e-02 1.20814012e+02] [ 9.09786650e-01 4.14501434e-01 -2.18360648e-02 6.18859762e+01] [ 2.44626776e-02 -1.02846163e-03 9.99700215e-01 2.69537863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.072755096 meters 0.033016397025722406 Centerline is valid? [True, True] Translation: X:120.83, Y:61.91, Z:2.70 [[ 4.15571142e-01 -9.09496832e-01 -1.07767457e-02 1.20830228e+02] [ 9.09248747e-01 4.15709738e-01 -2.12633712e-02 6.19078398e+01] [ 2.38189669e-02 -9.62299083e-04 9.99715825e-01 2.69552703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.102755096 meters 0.028077294059940697 Centerline is valid? [True, True] Translation: X:120.84, Y:61.94, Z:2.70 [[ 4.16535588e-01 -9.09057901e-01 -1.05753040e-02 1.20836373e+02] [ 9.08818498e-01 4.16668813e-01 -2.08815183e-02 6.19365386e+01] [ 2.33889085e-02 -9.13136414e-04 9.99726025e-01 2.69715943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.132755096 meters 0.02708728397509882 Centerline is valid? [True, True] Translation: X:120.85, Y:61.96, Z:2.70 [[ 4.19232713e-01 -9.07820350e-01 -1.03026000e-02 1.20846302e+02] [ 9.07592418e-01 4.19358494e-01 -2.03582281e-02 6.19619303e+01] [ 2.28020966e-02 -8.15726386e-04 9.99739666e-01 2.69811043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.162755096 meters 0.025339640058092333 Centerline is valid? [True, True] Translation: X:120.86, Y:61.99, Z:2.70 [[ 4.21016169e-01 -9.06999103e-01 -9.90015050e-03 1.20856488e+02] [ 9.06788095e-01 4.21131911e-01 -1.95771243e-02 6.19891838e+01] [ 2.19257035e-02 -7.35052746e-04 9.99759333e-01 2.69921539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.192755096 meters 0.024346264013197786 Centerline is valid? [True, True] Translation: X:120.87, Y:62.02, Z:2.70 [[ 4.22653556e-01 -9.06239076e-01 -9.73186158e-03 1.20867504e+02] [ 9.06034778e-01 4.22765035e-01 -1.92537073e-02 6.20155982e+01] [ 2.15627527e-02 -6.79757209e-04 9.99767266e-01 2.70024101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22275509600001 meters 0.024247852689617284 Centerline is valid? [True, True] Translation: X:120.88, Y:62.04, Z:2.70 [[ 4.25403066e-01 -9.04954376e-01 -9.47673603e-03 1.20879025e+02] [ 9.04760048e-01 4.25508197e-01 -1.87624383e-02 6.20400128e+01] [ 2.10115795e-02 -5.92573383e-04 9.99779057e-01 2.70084057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25275509600002 meters 0.02225278060942876 Centerline is valid? [True, True] Translation: X:120.89, Y:62.07, Z:2.70 [[ 4.26452555e-01 -9.04461514e-01 -9.35885991e-03 1.20888467e+02] [ 9.04271661e-01 4.26554873e-01 -1.85392644e-02 6.20672168e+01] [ 2.07601184e-02 -5.56835123e-04 9.99784330e-01 2.70202107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28275509600002 meters 0.02149107494063967 Centerline is valid? [True, True] Translation: X:120.90, Y:62.09, Z:2.70 [[ 4.28497228e-01 -9.03495070e-01 -9.31575156e-03 1.20899302e+02] [ 9.03306447e-01 4.28598188e-01 -1.84677002e-02 6.20928603e+01] [ 2.06781903e-02 -5.01620105e-04 9.99786058e-01 2.70332621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31275509600002 meters 0.021370094771640064 Centerline is valid? [True, True] Translation: X:120.91, Y:62.12, Z:2.70 [[ 4.29023109e-01 -9.03247610e-01 -9.10640706e-03 1.20911050e+02] [ 9.03067041e-01 4.29119484e-01 -1.80662017e-02 6.21178078e+01] [ 2.02259902e-02 -4.72878059e-04 9.99795322e-01 2.70372929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34275509600002 meters 0.022547027482661734 Centerline is valid? [True, True] Translation: X:120.92, Y:62.14, Z:2.70 [[ 4.29209226e-01 -9.03158177e-01 -9.20585276e-03 1.20924457e+02] [ 9.02973323e-01 4.29307686e-01 -1.82780863e-02 6.21411978e+01] [ 2.04601464e-02 -4.67516203e-04 9.99790560e-01 2.70402548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37275509600002 meters 0.020837299299708137 Centerline is valid? [True, True] Translation: X:120.93, Y:62.17, Z:2.70 [[ 4.28977613e-01 -9.03268169e-01 -9.20994079e-03 1.20932960e+02] [ 9.03082868e-01 4.29076215e-01 -1.83012322e-02 6.21688459e+01] [ 2.04826870e-02 -4.66520847e-04 9.99790099e-01 2.70369935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40275509600002 meters 0.023065830073892915 Centerline is valid? [True, True] Translation: X:120.95, Y:62.19, Z:2.70 [[ 4.28377868e-01 -9.03551625e-01 -9.32003463e-03 1.20949070e+02] [ 9.03361623e-01 4.28478974e-01 -1.85350386e-02 6.21913196e+01] [ 2.07408031e-02 -4.79361289e-04 9.99784771e-01 2.70350900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43275509600002 meters 0.022578629562010986 Centerline is valid? [True, True] Translation: X:120.96, Y:62.22, Z:2.70 [[ 4.27402013e-01 -9.04011757e-01 -9.50068725e-03 1.20960690e+02] [ 9.03814087e-01 4.27507298e-01 -1.89104914e-02 6.22159201e+01] [ 2.11569197e-02 -5.04472870e-04 9.99776040e-01 2.70348335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46275509600002 meters 0.022692098623938367 Centerline is valid? [True, True] Translation: X:120.97, Y:62.24, Z:2.70 [[ 4.25257193e-01 -9.05019928e-01 -9.75960988e-03 1.20973222e+02] [ 9.04811241e-01 4.25368797e-01 -1.94423608e-02 6.22411248e+01] [ 2.17471575e-02 -5.62600941e-04 9.99763344e-01 2.70372318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.492755096 meters 0.023355883086540696 Centerline is valid? [True, True] Translation: X:120.99, Y:62.27, Z:2.70 [[ 4.23595499e-01 -9.05800591e-01 -9.59909784e-03 1.20986644e+02] [ 9.05598617e-01 4.23703841e-01 -1.91363670e-02 6.22661296e+01] [ 2.14009071e-02 -5.86850810e-04 9.99770802e-01 2.70405340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.522755096 meters 0.023841326175965252 Centerline is valid? [True, True] Translation: X:121.00, Y:62.29, Z:2.70 [[ 4.22210199e-01 -9.06445641e-01 -9.73902212e-03 1.21000096e+02] [ 9.06237589e-01 4.22322049e-01 -1.94298430e-02 6.22909283e+01] [ 2.17251003e-02 -6.22390048e-04 9.99763788e-01 2.70435054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.552755096 meters 0.026253107877771978 Centerline is valid? [True, True] Translation: X:121.02, Y:62.31, Z:2.70 [[ 4.19286269e-01 -9.07797470e-01 -1.01379276e-02 1.21016200e+02] [ 9.07572055e-01 4.19408206e-01 -2.02415920e-02 6.23127461e+01] [ 2.26271960e-02 -7.13878253e-04 9.99743717e-01 2.70414461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.582755096 meters 0.0245742425735755 Centerline is valid? [True, True] Translation: X:121.03, Y:62.34, Z:2.71 [[ 4.17754955e-01 -9.08502857e-01 -1.01664096e-02 1.21026889e+02] [ 9.08276066e-01 4.17877971e-01 -2.03123127e-02 6.23390666e+01] [ 2.27021127e-02 -7.48337250e-04 9.99741994e-01 2.70514216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.612755096 meters 0.025175352429928813 Centerline is valid? [True, True] Translation: X:121.04, Y:62.36, Z:2.71 [[ 4.16134811e-01 -9.09244696e-01 -1.02908816e-02 1.21040410e+02] [ 9.09012177e-01 4.16261284e-01 -2.05768098e-02 6.23636395e+01] [ 2.29930508e-02 -7.91809847e-04 9.99735311e-01 2.70558621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.642755096 meters 0.02642144196073583 Centerline is valid? [True, True] Translation: X:121.05, Y:62.39, Z:2.71 [[ 4.14683543e-01 -9.09904234e-01 -1.05756445e-02 1.21054737e+02] [ 9.09658496e-01 4.14817517e-01 -2.11624164e-02 6.23875022e+01] [ 2.36427349e-02 -8.44519081e-04 9.99720115e-01 2.70568073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.672755096 meters 0.03068046528025576 Centerline is valid? [True, True] Translation: X:121.07, Y:62.41, Z:2.71 [[ 4.12487096e-01 -9.10902063e-01 -1.05748379e-02 1.21072774e+02] [ 9.10656312e-01 4.12621656e-01 -2.11766682e-02 6.24089204e+01] [ 2.36532779e-02 -8.94940481e-04 9.99719822e-01 2.70529734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.702755096 meters 0.029706801772561384 Centerline is valid? [True, True] Translation: X:121.08, Y:62.43, Z:2.71 [[ 4.11685044e-01 -9.11264014e-01 -1.06451935e-02 1.21083877e+02] [ 9.11014706e-01 4.11821635e-01 -2.13341514e-02 6.24345006e+01] [ 2.38249655e-02 -9.14976775e-04 9.99715727e-01 2.70582832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.732755096 meters 0.02850527374769462 Centerline is valid? [True, True] Translation: X:121.10, Y:62.46, Z:2.71 [[ 4.10938998e-01 -9.11600929e-01 -1.06247827e-02 1.21095163e+02] [ 9.11352301e-01 4.11075283e-01 -2.13095083e-02 6.24602688e+01] [ 2.37933531e-02 -9.26012153e-04 9.99716469e-01 2.70708724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.762755096 meters 0.02915556529829348 Centerline is valid? [True, True] Translation: X:121.11, Y:62.48, Z:2.71 [[ 4.10595019e-01 -9.11756837e-01 -1.05451489e-02 1.21107997e+02] [ 9.11511579e-01 4.10729377e-01 -2.11665055e-02 6.24838883e+01] [ 2.36299086e-02 -9.21163630e-04 9.99720350e-01 2.70772689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.792755096 meters 0.028805095476383758 Centerline is valid? [True, True] Translation: X:121.12, Y:62.51, Z:2.71 [[ 4.10547218e-01 -9.11778487e-01 -1.05343742e-02 1.21119891e+02] [ 9.11533328e-01 4.10681330e-01 -2.11621703e-02 6.25090772e+01] [ 2.36214825e-02 -9.14363045e-04 9.99720556e-01 2.70869761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.822755096 meters 0.02892202162098171 Centerline is valid? [True, True] Translation: X:121.13, Y:62.53, Z:2.71 [[ 4.11392716e-01 -9.11399523e-01 -1.03413417e-02 1.21132005e+02] [ 9.11162780e-01 4.11521753e-01 -2.07902742e-02 6.25337257e+01] [ 2.32039330e-02 -8.69678320e-04 9.99730374e-01 2.70973364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.852755096 meters 0.028380345412033613 Centerline is valid? [True, True] Translation: X:121.14, Y:62.56, Z:2.71 [[ 4.12302074e-01 -9.10989113e-01 -1.02876231e-02 1.21143487e+02] [ 9.10754330e-01 4.12429555e-01 -2.06981301e-02 6.25592801e+01] [ 2.30986910e-02 -8.35615311e-04 9.99732840e-01 2.71074988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.882755096 meters 0.02790693017738633 Centerline is valid? [True, True] Translation: X:121.15, Y:62.58, Z:2.71 [[ 4.13596146e-01 -9.10406023e-01 -9.95492069e-03 1.21154858e+02] [ 9.10185683e-01 4.13715214e-01 -2.00435640e-02 6.25840673e+01] [ 2.23662836e-02 -7.70885447e-04 9.99749546e-01 2.71216394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.912755096 meters 0.02523517405837902 Centerline is valid? [True, True] Translation: X:121.16, Y:62.61, Z:2.71 [[ 4.16464533e-01 -9.09100560e-01 -9.66770950e-03 1.21163031e+02] [ 9.08892092e-01 4.16576184e-01 -1.94794489e-02 6.26109854e+01] [ 2.17361155e-02 -6.74405121e-04 9.99763515e-01 2.71441103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.942755096 meters 0.025924461073445235 Centerline is valid? [True, True] Translation: X:121.18, Y:62.64, Z:2.72 [[ 4.17731289e-01 -9.08518821e-01 -9.70162383e-03 1.21175887e+02] [ 9.08308391e-01 4.17843442e-01 -1.95633483e-02 6.26351227e+01] [ 2.18274300e-02 -6.39843635e-04 9.99761549e-01 2.71501295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97275509600001 meters 0.023258535027503843 Centerline is valid? [True, True] Translation: X:121.18, Y:62.66, Z:2.72 [[ 4.19662603e-01 -9.07628477e-01 -9.68750682e-03 1.21183873e+02] [ 9.07418094e-01 4.19773992e-01 -1.95498703e-02 6.26627679e+01] [ 2.18105824e-02 -5.86269504e-04 9.99761949e-01 2.71589277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00275509600002 meters 0.023057902088215888 Centerline is valid? [True, True] Translation: X:121.20, Y:62.69, Z:2.72 [[ 4.20409469e-01 -9.07280159e-01 -9.92927444e-03 1.21195876e+02] [ 9.07058709e-01 4.20526314e-01 -2.00528848e-02 6.26886641e+01] [ 2.23691057e-02 -5.76012183e-04 9.99749614e-01 2.71612273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03275509600002 meters 0.02291102383750444 Centerline is valid? [True, True] Translation: X:121.21, Y:62.71, Z:2.72 [[ 4.20886100e-01 -9.07056700e-01 -1.01505733e-02 1.21207471e+02] [ 9.06824945e-01 4.21008095e-01 -2.05110552e-02 6.27140833e+01] [ 2.28781636e-02 -5.71975064e-04 9.99738097e-01 2.71595356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06275509600002 meters 0.022941452168922523 Centerline is valid? [True, True] Translation: X:121.22, Y:62.74, Z:2.72 [[ 4.20821090e-01 -9.07085033e-01 -1.03127729e-02 1.21219860e+02] [ 9.06845437e-01 4.20947042e-01 -2.08552562e-02 6.27397454e+01] [ 2.32586220e-02 -5.75759407e-04 9.99729316e-01 2.71596742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09275509600002 meters 0.02353777784559095 Centerline is valid? [True, True] Translation: X:121.23, Y:62.76, Z:2.72 [[ 4.20230562e-01 -9.07357460e-01 -1.04266202e-02 1.21232659e+02] [ 9.07112225e-01 4.20359479e-01 -2.11025924e-02 6.27624395e+01] [ 2.35305233e-02 -5.90160430e-04 9.99722945e-01 2.71683428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12275509600002 meters 0.02393660639730441 Centerline is valid? [True, True] Translation: X:121.25, Y:62.79, Z:2.72 [[ 4.19393118e-01 -9.07744443e-01 -1.04613323e-02 1.21245511e+02] [ 9.07497240e-01 4.19523133e-01 -2.11919622e-02 6.27868577e+01] [ 2.36256568e-02 -6.05867078e-04 9.99720692e-01 2.71725123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15275509600002 meters 0.0252315625383033 Centerline is valid? [True, True] Translation: X:121.26, Y:62.81, Z:2.72 [[ 4.17672011e-01 -9.08533207e-01 -1.08398602e-02 1.21260033e+02] [ 9.08267590e-01 4.17812120e-01 -2.19776706e-02 6.28102803e+01] [ 2.44964686e-02 -6.66035813e-04 9.99699695e-01 2.71709930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18275509600002 meters 0.02580158499957177 Centerline is valid? [True, True] Translation: X:121.27, Y:62.84, Z:2.72 [[ 4.16710730e-01 -9.08973190e-01 -1.09502179e-02 1.21273594e+02] [ 9.08701853e-01 4.16854005e-01 -2.22189289e-02 6.28351761e+01] [ 2.47610528e-02 -6.91617244e-04 9.99693159e-01 2.71733822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21275509600002 meters 0.026305203189073968 Centerline is valid? [True, True] Translation: X:121.29, Y:62.86, Z:2.72 [[ 4.15832382e-01 -9.09374306e-01 -1.10364053e-02 1.21286316e+02] [ 9.09098391e-01 4.15978200e-01 -2.24109957e-02 6.28589167e+01] [ 2.49708876e-02 -7.13960558e-04 9.99687924e-01 2.71761344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.242755096 meters 0.026934406653216 Centerline is valid? [True, True] Translation: X:121.30, Y:62.88, Z:2.72 [[ 4.14997360e-01 -9.09755831e-01 -1.10236138e-02 1.21299298e+02] [ 9.09480234e-01 4.15143106e-01 -2.24032378e-02 6.28832805e+01] [ 2.49578535e-02 -7.28474335e-04 9.99688239e-01 2.71789641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.272755096 meters 0.027716984791599508 Centerline is valid? [True, True] Translation: X:121.31, Y:62.91, Z:2.72 [[ 4.13982107e-01 -9.10217485e-01 -1.10880727e-02 1.21313009e+02] [ 9.09938387e-01 4.14129886e-01 -2.25514818e-02 6.29077993e+01] [ 2.51186553e-02 -7.53553003e-04 9.99684193e-01 2.71808590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.302755096 meters 0.028030700523426124 Centerline is valid? [True, True] Translation: X:121.33, Y:62.93, Z:2.72 [[ 4.13280520e-01 -9.10534185e-01 -1.12565244e-02 1.21325195e+02] [ 9.10246217e-01 4.13433058e-01 -2.29113873e-02 6.29317870e+01] [ 2.55154207e-02 -7.77378711e-04 9.99674126e-01 2.71816256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.332755096 meters 0.028943153589749224 Centerline is valid? [True, True] Translation: X:121.34, Y:62.96, Z:2.72 [[ 4.12505039e-01 -9.10884155e-01 -1.13863580e-02 1.21338602e+02] [ 9.10589154e-01 4.12661381e-01 -2.31943332e-02 6.29554739e+01] [ 2.58260608e-02 -8.00514737e-04 9.99666131e-01 2.71790480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.362755096 meters 0.026764852532750058 Centerline is valid? [True, True] Translation: X:121.35, Y:62.98, Z:2.72 [[ 4.10813431e-01 -9.11644678e-01 -1.16749930e-02 1.21349216e+02] [ 9.11334342e-01 4.10978391e-01 -2.38008294e-02 6.29811609e+01] [ 2.64960692e-02 -8.62121666e-04 9.99648546e-01 2.71921833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.392755096 meters 0.027392241466386382 Centerline is valid? [True, True] Translation: X:121.36, Y:63.01, Z:2.72 [[ 4.09877311e-01 -9.12064932e-01 -1.17537205e-02 1.21362811e+02] [ 9.11750070e-01 4.10044842e-01 -2.39799474e-02 6.30054222e+01] [ 2.66908215e-02 -8.87619095e-04 9.99643342e-01 2.71978004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.422755096 meters 0.027392241466386382 Centerline is valid? [True, True] Translation: X:121.37, Y:63.03, Z:2.72 [[ 4.09564940e-01 -9.12205343e-01 -1.17461403e-02 1.21374390e+02] [ 9.11890433e-01 4.09732379e-01 -2.39836603e-02 6.30295500e+01] [ 2.66907971e-02 -8.88326608e-04 9.99643343e-01 2.72027955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.452755096 meters 0.028070771855011473 Centerline is valid? [True, True] Translation: X:121.39, Y:63.05, Z:2.72 [[ 4.08549610e-01 -9.12659154e-01 -1.18526315e-02 1.21388014e+02] [ 9.12338146e-01 4.08720474e-01 -2.42214944e-02 6.30543223e+01] [ 2.69503817e-02 -9.17925792e-04 9.99636351e-01 2.72061474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.482755096 meters 0.028941544985236944 Centerline is valid? [True, True] Translation: X:121.40, Y:63.08, Z:2.72 [[ 4.07120678e-01 -9.13297546e-01 -1.18467632e-02 1.21401598e+02] [ 9.12976624e-01 4.07291892e-01 -2.42280487e-02 6.30785591e+01] [ 2.69525080e-02 -9.52078281e-04 9.99636262e-01 2.72157547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.512755096 meters 0.02809190780106517 Centerline is valid? [True, True] Translation: X:121.41, Y:63.10, Z:2.72 [[ 4.06713436e-01 -9.13478139e-01 -1.19109293e-02 1.21412596e+02] [ 9.13153297e-01 4.06886673e-01 -2.43780934e-02 6.31040966e+01] [ 2.71152537e-02 -9.61606226e-04 9.99631851e-01 2.72287758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.542755096 meters 0.029796031027929413 Centerline is valid? [True, True] Translation: X:121.43, Y:63.13, Z:2.72 [[ 4.07036179e-01 -9.13339589e-01 -1.15040720e-02 1.21426117e+02] [ 9.13036014e-01 4.07197695e-01 -2.35642562e-02 6.31265431e+01] [ 2.62065997e-02 -9.12127210e-04 9.99656132e-01 2.72377195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.572755096 meters 0.029748250034266743 Centerline is valid? [True, True] Translation: X:121.44, Y:63.15, Z:2.72 [[ 4.07375746e-01 -9.13190409e-01 -1.13259747e-02 1.21437379e+02] [ 9.12895568e-01 4.07532209e-01 -2.32202647e-02 6.31503718e+01] [ 2.58202225e-02 -8.80059493e-04 9.99666215e-01 2.72453875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.602755096 meters 0.029515027828937255 Centerline is valid? [True, True] Translation: X:121.45, Y:63.17, Z:2.73 [[ 4.07838025e-01 -9.12984722e-01 -1.12713456e-02 1.21448932e+02] [ 9.12692129e-01 4.07992852e-01 -2.31281276e-02 6.31745520e+01] [ 2.57142556e-02 -8.54738545e-04 9.99668968e-01 2.72544464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.632755096 meters 0.02730997580672365 Centerline is valid? [True, True] Translation: X:121.46, Y:63.20, Z:2.73 [[ 4.08600492e-01 -9.12644628e-01 -1.11991782e-02 1.21458676e+02] [ 9.12355170e-01 4.08753117e-01 -2.29985396e-02 6.32014004e+01] [ 2.55671926e-02 -8.20413495e-04 9.99672769e-01 2.72712771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.662755096 meters 0.02816025220784471 Centerline is valid? [True, True] Translation: X:121.47, Y:63.23, Z:2.73 [[ 4.10515292e-01 -9.11783054e-01 -1.13515290e-02 1.21471557e+02] [ 9.11484877e-01 4.10671486e-01 -2.33291619e-02 6.32255471e+01] [ 2.59328838e-02 -7.69769315e-04 9.99663390e-01 2.72679680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.692755096 meters 0.025087821361751337 Centerline is valid? [True, True] Translation: X:121.48, Y:63.25, Z:2.73 [[ 4.11599794e-01 -9.11294858e-01 -1.12823511e-02 1.21478962e+02] [ 9.10999681e-01 4.11753752e-01 -2.32040867e-02 6.32530663e+01] [ 2.57913152e-02 -7.27420946e-04 9.99667084e-01 2.72802124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72275509600001 meters 0.024549168669556334 Centerline is valid? [True, True] Translation: X:121.49, Y:63.28, Z:2.73 [[ 4.12573613e-01 -9.10855182e-01 -1.12183040e-02 1.21489684e+02] [ 9.10562760e-01 4.12725529e-01 -2.30889241e-02 6.32787065e+01] [ 2.56607466e-02 -6.89089027e-04 9.99670471e-01 2.72839983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75275509600002 meters 0.023056075964178618 Centerline is valid? [True, True] Translation: X:121.50, Y:63.31, Z:2.73 [[ 4.15023859e-01 -9.09740642e-01 -1.12766153e-02 1.21500135e+02] [ 9.09444378e-01 4.15176570e-01 -2.32236818e-02 6.33051343e+01] [ 2.58093136e-02 -6.17072397e-04 9.99666694e-01 2.72917093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78275509600002 meters 0.02316944776502095 Centerline is valid? [True, True] Translation: X:121.51, Y:63.33, Z:2.73 [[ 4.15924920e-01 -9.09329269e-01 -1.12579182e-02 1.21512211e+02] [ 9.09033350e-01 4.16076844e-01 -2.32040694e-02 6.33286959e+01] [ 2.57842985e-02 -5.82672400e-04 9.99667360e-01 2.72978444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81275509600002 meters 0.021879169683838507 Centerline is valid? [True, True] Translation: X:121.52, Y:63.35, Z:2.73 [[ 4.17896539e-01 -9.08426842e-01 -1.10975337e-02 1.21523033e+02] [ 9.08138472e-01 4.18043552e-01 -2.28933354e-02 6.33542194e+01] [ 2.54361728e-02 -5.11051707e-04 9.99676318e-01 2.73175559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84275509600002 meters 0.021868996073366693 Centerline is valid? [True, True] Translation: X:121.53, Y:63.38, Z:2.73 [[ 4.18413369e-01 -9.08193518e-01 -1.07138132e-02 1.21534374e+02] [ 9.07924249e-01 4.18550248e-01 -2.21189590e-02 6.33776699e+01] [ 2.45725644e-02 -4.72462633e-04 9.99697937e-01 2.73261151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87275509600002 meters 0.0208952225199426 Centerline is valid? [True, True] Translation: X:121.54, Y:63.40, Z:2.73 [[ 4.18515209e-01 -9.08147349e-01 -1.06495146e-02 1.21544251e+02] [ 9.07880818e-01 4.18650429e-01 -2.20054093e-02 6.34035956e+01] [ 2.44425780e-02 -4.58891540e-04 9.99701130e-01 2.73417065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90275509600002 meters 0.020668241071721417 Centerline is valid? [True, True] Translation: X:121.56, Y:63.43, Z:2.74 [[ 4.18717102e-01 -9.08058770e-01 -1.02595432e-02 1.21556700e+02] [ 9.07810995e-01 4.18842553e-01 -2.12158658e-02 6.34292278e+01] [ 2.35623863e-02 -4.30280291e-04 9.99722276e-01 2.73503581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93275509600002 meters 0.020515801341078516 Centerline is valid? [True, True] Translation: X:121.57, Y:63.45, Z:2.74 [[ 4.18793187e-01 -9.08024032e-01 -1.02285836e-02 1.21569333e+02] [ 9.07777347e-01 4.18917869e-01 -2.11685260e-02 6.34547825e+01] [ 2.35064668e-02 -4.20042017e-04 9.99723597e-01 2.73571891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96275509600002 meters 0.02075247605316959 Centerline is valid? [True, True] Translation: X:121.58, Y:63.48, Z:2.74 [[ 4.18144071e-01 -9.08322693e-01 -1.02674896e-02 1.21582258e+02] [ 9.08073821e-01 4.18269888e-01 -2.12658560e-02 6.34792208e+01] [ 2.36108413e-02 -4.31446915e-04 9.99721132e-01 2.73610051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.992755096 meters 0.020872094305522382 Centerline is valid? [True, True] Translation: X:121.59, Y:63.50, Z:2.74 [[ 4.17499362e-01 -9.08618885e-01 -1.02958247e-02 1.21594814e+02] [ 9.08368319e-01 4.17626060e-01 -2.13417856e-02 6.35037690e+01] [ 2.36913541e-02 -4.42219077e-04 9.99719223e-01 2.73637881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.022755096 meters 0.0215018469677315 Centerline is valid? [True, True] Translation: X:121.61, Y:63.53, Z:2.74 [[ 4.16402027e-01 -9.09118225e-01 -1.06491401e-02 1.21608559e+02] [ 9.08849842e-01 4.16537901e-01 -2.20939176e-02 6.35267919e+01] [ 2.45217536e-02 -4.78517236e-04 9.99699182e-01 2.73587932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.052755096 meters 0.021328788060756533 Centerline is valid? [True, True] Translation: X:121.62, Y:63.55, Z:2.74 [[ 4.15732847e-01 -9.09422033e-01 -1.08520058e-02 1.21620482e+02] [ 9.09142961e-01 4.15874161e-01 -2.25335000e-02 6.35518942e+01] [ 2.50055302e-02 -4.98108620e-04 9.99687189e-01 2.73622033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.082755096 meters 0.02166901669168475 Centerline is valid? [True, True] Translation: X:121.63, Y:63.58, Z:2.74 [[ 4.14744686e-01 -9.09872989e-01 -1.08622989e-02 1.21633892e+02] [ 9.09593096e-01 4.14886581e-01 -2.25726626e-02 6.35766680e+01] [ 2.50448781e-02 -5.18380272e-04 9.99686193e-01 2.73631379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.112755096 meters 0.023237952587116265 Centerline is valid? [True, True] Translation: X:121.65, Y:63.60, Z:2.74 [[ 4.13782309e-01 -9.10309125e-01 -1.10225722e-02 1.21647963e+02] [ 9.10020618e-01 4.13928736e-01 -2.29232783e-02 6.35988081e+01] [ 2.54298288e-02 -5.45520968e-04 9.99676461e-01 2.73630464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.142755096 meters 0.022284420363580738 Centerline is valid? [True, True] Translation: X:121.66, Y:63.62, Z:2.74 [[ 4.13390184e-01 -9.10488598e-01 -1.09118568e-02 1.21658701e+02] [ 9.10205506e-01 4.13533815e-01 -2.27094746e-02 6.36240885e+01] [ 2.51891394e-02 -5.44158311e-04 9.99682555e-01 2.73768658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.172755096 meters 0.02265237692148559 Centerline is valid? [True, True] Translation: X:121.67, Y:63.65, Z:2.74 [[ 4.12559648e-01 -9.10861884e-01 -1.11877280e-02 1.21671499e+02] [ 9.10563898e-01 4.12710916e-01 -2.33042320e-02 6.36480207e+01] [ 2.58442342e-02 -5.72755465e-04 9.99665818e-01 2.73818700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.202755096 meters 0.022056567770721885 Centerline is valid? [True, True] Translation: X:121.68, Y:63.67, Z:2.74 [[ 4.12090263e-01 -9.11076604e-01 -1.10016334e-02 1.21683169e+02] [ 9.10788038e-01 4.12236701e-01 -2.29358144e-02 6.36740641e+01] [ 2.54315609e-02 -5.68530352e-04 9.99676404e-01 2.73920280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.232755096 meters 0.021827056339537007 Centerline is valid? [True, True] Translation: X:121.70, Y:63.70, Z:2.74 [[ 4.11738292e-01 -9.11233313e-01 -1.11994923e-02 1.21695516e+02] [ 9.10933839e-01 4.11890170e-01 -2.33672367e-02 6.36991298e+01] [ 2.59059653e-02 -5.80810338e-04 9.99664215e-01 2.73961714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.262755096 meters 0.021995525984984058 Centerline is valid? [True, True] Translation: X:121.71, Y:63.72, Z:2.74 [[ 4.11419211e-01 -9.11375234e-01 -1.13761117e-02 1.21708659e+02] [ 9.11065783e-01 4.11576037e-01 -2.37551054e-02 6.37237936e+01] [ 2.63319497e-02 -5.91079385e-04 9.99653079e-01 2.74049594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.292755096 meters 0.02165919949511183 Centerline is valid? [True, True] Translation: X:121.72, Y:63.75, Z:2.74 [[ 4.11667884e-01 -9.11266572e-01 -1.10810060e-02 1.21719937e+02] [ 9.10972463e-01 4.11816610e-01 -2.31571187e-02 6.37491008e+01] [ 2.56656505e-02 -5.61449243e-04 9.99670425e-01 2.74100515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.322755096 meters 0.021581290485060627 Centerline is valid? [True, True] Translation: X:121.73, Y:63.77, Z:2.74 [[ 4.12799978e-01 -9.10753843e-01 -1.11183017e-02 1.21731419e+02] [ 9.10457079e-01 4.12949348e-01 -2.32538782e-02 6.37735646e+01] [ 2.57698544e-02 -5.23536043e-04 9.99667765e-01 2.74181107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.352755096 meters 0.021282961757749276 Centerline is valid? [True, True] Translation: X:121.74, Y:63.80, Z:2.74 [[ 4.13479160e-01 -9.10450242e-01 -1.07397285e-02 1.21742606e+02] [ 9.10172784e-01 4.13618335e-01 -2.24805526e-02 6.37977471e+01] [ 2.49095731e-02 -4.79768627e-04 9.99689593e-01 2.74266629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.382755096 meters 0.020609235042063776 Centerline is valid? [True, True] Translation: X:121.75, Y:63.82, Z:2.74 [[ 4.14124953e-01 -9.10157574e-01 -1.06636768e-02 1.21753353e+02] [ 9.09883444e-01 4.14261979e-01 -2.23412505e-02 6.38233104e+01] [ 2.47516142e-02 -4.50633665e-04 9.99693530e-01 2.74401226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.412755096 meters 0.0195654469581006 Centerline is valid? [True, True] Translation: X:121.76, Y:63.85, Z:2.75 [[ 4.16668072e-01 -9.08994801e-01 -1.07781847e-02 1.21763572e+02] [ 9.08713906e-01 4.16807280e-01 -2.25993089e-02 6.38492064e+01] [ 2.50350801e-02 -3.77875834e-04 9.99686502e-01 2.74531220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.442755096 meters 0.01902239052509182 Centerline is valid? [True, True] Translation: X:121.77, Y:63.88, Z:2.75 [[ 4.18078197e-01 -9.08347137e-01 -1.07749480e-02 1.21774319e+02] [ 9.08065742e-01 4.18216891e-01 -2.26106152e-02 6.38755629e+01] [ 2.50445528e-02 -3.31355980e-04 9.99686281e-01 2.74583635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47275509600001 meters 0.01886865866353786 Centerline is valid? [True, True] Translation: X:121.78, Y:63.90, Z:2.75 [[ 4.19339454e-01 -9.07762465e-01 -1.10331133e-02 1.21784926e+02] [ 9.07466711e-01 4.19484469e-01 -2.31721461e-02 6.38999744e+01] [ 2.56630241e-02 -2.95187923e-04 9.99670607e-01 2.74597004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50275509600002 meters 0.018201346797497908 Centerline is valid? [True, True] Translation: X:121.79, Y:63.93, Z:2.75 [[ 4.20984813e-01 -9.07001650e-01 -1.09450434e-02 1.21794459e+02] [ 9.06709800e-01 4.21127000e-01 -2.30084301e-02 6.39252163e+01] [ 2.54779374e-02 -2.37778481e-04 9.99675356e-01 2.74646892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53275509600002 meters 0.01756085040156907 Centerline is valid? [True, True] Translation: X:121.80, Y:63.95, Z:2.75 [[ 4.24462479e-01 -9.05380732e-01 -1.08320829e-02 1.21802249e+02] [ 9.05093832e-01 4.24600651e-01 -2.27912862e-02 6.39510447e+01] [ 2.52341008e-02 -1.30005577e-04 9.99681561e-01 2.74710801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56275509600002 meters 0.01732096600600459 Centerline is valid? [True, True] Translation: X:121.81, Y:63.98, Z:2.75 [[ 4.26011175e-01 -9.04653852e-01 -1.07650377e-02 1.21812007e+02] [ 9.04369743e-01 4.26147159e-01 -2.26708429e-02 6.39768116e+01] [ 2.50967556e-02 -7.75419859e-05 9.99685024e-01 2.74754800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59275509600002 meters 0.017171689846374554 Centerline is valid? [True, True] Translation: X:121.82, Y:64.00, Z:2.75 [[ 4.28768320e-01 -9.03349879e-01 -1.08039068e-02 1.21820209e+02] [ 9.03062827e-01 4.28904414e-01 -2.27713556e-02 6.40020089e+01] [ 2.52043446e-02 7.02927488e-06 9.99682320e-01 2.74764841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62275509600002 meters 0.017194123582539602 Centerline is valid? [True, True] Translation: X:121.83, Y:64.03, Z:2.75 [[ 4.29583264e-01 -9.02963484e-01 -1.07315332e-02 1.21830894e+02] [ 9.02679740e-01 4.29717285e-01 -2.26349890e-02 6.40267279e+01] [ 2.50500938e-02 3.64748531e-05 9.99686197e-01 2.74872003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65275509600002 meters 0.0171136476722319 Centerline is valid? [True, True] Translation: X:121.84, Y:64.05, Z:2.75 [[ 4.30135225e-01 -9.02701947e-01 -1.06246936e-02 1.21843064e+02] [ 9.02423273e-01 4.30266420e-01 -2.24286567e-02 6.40525360e+01] [ 2.48178409e-02 5.93844744e-05 9.99691988e-01 2.75066410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68275509600002 meters 0.017361769005757838 Centerline is valid? [True, True] Translation: X:121.85, Y:64.08, Z:2.75 [[ 4.31186447e-01 -9.02203390e-01 -1.03581601e-02 1.21853459e+02] [ 9.01937972e-01 4.31310833e-01 -2.18828485e-02 6.40778403e+01] [ 2.42103667e-02 9.31697210e-05 9.99706882e-01 2.75098775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71275509600002 meters 0.017192800846237876 Centerline is valid? [True, True] Translation: X:121.87, Y:64.10, Z:2.75 [[ 4.31121018e-01 -9.02232657e-01 -1.05309288e-02 1.21865643e+02] [ 9.01957953e-01 4.31249606e-01 -2.22627296e-02 6.41030897e+01] [ 2.46276205e-02 9.94757020e-05 9.99696689e-01 2.75209537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.742755096 meters 0.017167728609069156 Centerline is valid? [True, True] Translation: X:121.88, Y:64.13, Z:2.75 [[ 4.30795380e-01 -9.02388410e-01 -1.05118004e-02 1.21877710e+02] [ 9.02114299e-01 4.30923598e-01 -2.22406134e-02 6.41287556e+01] [ 2.45994546e-02 9.83080157e-05 9.99697383e-01 2.75237621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.772755096 meters 0.017090511334163564 Centerline is valid? [True, True] Translation: X:121.89, Y:64.15, Z:2.75 [[ 4.28976803e-01 -9.03250204e-01 -1.08614893e-02 1.21891100e+02] [ 9.02957319e-01 4.29114281e-01 -2.30003221e-02 6.41524482e+01] [ 2.54358658e-02 5.91433689e-05 9.99676454e-01 2.75230065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.802755096 meters 0.017037649753514458 Centerline is valid? [True, True] Translation: X:121.90, Y:64.18, Z:2.75 [[ 4.27813496e-01 -9.03803264e-01 -1.07364939e-02 1.21903657e+02] [ 9.03516762e-01 4.27948196e-01 -2.27552506e-02 6.41765079e+01] [ 2.51609330e-02 3.44010971e-05 9.99683413e-01 2.75240541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.832755096 meters 0.016865440718242412 Centerline is valid? [True, True] Translation: X:121.92, Y:64.20, Z:2.75 [[ 4.26286080e-01 -9.04524733e-01 -1.07324680e-02 1.21917027e+02] [ 9.04238190e-01 4.26421162e-01 -2.27659280e-02 6.42007328e+01] [ 2.51688965e-02 9.07525819e-08 9.99683213e-01 2.75392304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.862755096 meters 0.017001192585596733 Centerline is valid? [True, True] Translation: X:121.93, Y:64.22, Z:2.75 [[ 4.23211231e-01 -9.05963145e-01 -1.10920259e-02 1.21932534e+02] [ 9.05657054e-01 4.23356555e-01 -2.35484024e-02 6.42248256e+01] [ 2.60298666e-02 -7.96231609e-05 9.99661162e-01 2.75412780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.892755096 meters 0.01709480274699312 Centerline is valid? [True, True] Translation: X:121.95, Y:64.25, Z:2.75 [[ 4.21701997e-01 -9.06662019e-01 -1.14633575e-02 1.21946490e+02] [ 9.06334793e-01 4.21857759e-01 -2.43572107e-02 6.42495618e+01] [ 2.69196641e-02 -1.18155326e-04 9.99637593e-01 2.75399815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.922755096 meters 0.017319661573104862 Centerline is valid? [True, True] Translation: X:121.96, Y:64.27, Z:2.75 [[ 4.20011958e-01 -9.07443791e-01 -1.16499880e-02 1.21960131e+02] [ 9.07105561e-01 4.20173465e-01 -2.47742066e-02 6.42745423e+01] [ 2.73762158e-02 -1.62305856e-04 9.99625188e-01 2.75402925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.952755096 meters 0.017975728661425175 Centerline is valid? [True, True] Translation: X:121.97, Y:64.30, Z:2.75 [[ 4.16991680e-01 -9.08829728e-01 -1.21022216e-02 1.21973579e+02] [ 9.08464682e-01 4.17167186e-01 -2.57577208e-02 6.42984075e+01] [ 2.84580321e-02 -2.53685622e-04 9.99594956e-01 2.75333440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.982755096 meters 0.01829882210725822 Centerline is valid? [True, True] Translation: X:121.99, Y:64.32, Z:2.75 [[ 4.15217613e-01 -9.09639645e-01 -1.22494877e-02 1.21986483e+02] [ 9.09265377e-01 4.15398151e-01 -2.60931205e-02 6.43232917e+01] [ 2.88237514e-02 -3.03711858e-04 9.99584463e-01 2.75314279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.012755096 meters 0.01824150386622206 Centerline is valid? [True, True] Translation: X:122.00, Y:64.35, Z:2.75 [[ 4.15313261e-01 -9.09600330e-01 -1.19220495e-02 1.21995490e+02] [ 9.09245209e-01 4.15484246e-01 -2.54163478e-02 6.43487163e+01] [ 2.80721421e-02 -2.84320136e-04 9.99605859e-01 2.75442369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.042755096 meters 0.018403813409649455 Centerline is valid? [True, True] Translation: X:122.01, Y:64.37, Z:2.75 [[ 4.14625932e-01 -9.09913294e-01 -1.19638768e-02 1.22005953e+02] [ 9.09555153e-01 4.14798397e-01 -2.55286846e-02 6.43725349e+01] [ 2.81914864e-02 -2.96951118e-04 9.99602497e-01 2.75498845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.072755096 meters 0.018771113821501727 Centerline is valid? [True, True] Translation: X:122.02, Y:64.40, Z:2.76 [[ 4.13332657e-01 -9.10499369e-01 -1.21249305e-02 1.22018591e+02] [ 9.10131076e-01 4.13510326e-01 -2.58966227e-02 6.43952097e+01] [ 2.85926426e-02 -3.31356180e-04 9.99591092e-01 2.75515841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.102755096 meters 0.019245357102493556 Centerline is valid? [True, True] Translation: X:122.03, Y:64.42, Z:2.76 [[ 4.11903464e-01 -9.11145723e-01 -1.22068669e-02 1.22031026e+02] [ 9.10772085e-01 4.12084136e-01 -2.60935646e-02 6.44188983e+01] [ 2.88052960e-02 -3.69643949e-04 9.99584973e-01 2.75552130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.132755096 meters 0.02019963489672276 Centerline is valid? [True, True] Translation: X:122.04, Y:64.44, Z:2.76 [[ 4.09649879e-01 -9.12161842e-01 -1.21552509e-02 1.22044385e+02] [ 9.11791262e-01 4.09829950e-01 -2.60020650e-02 6.44428789e+01] [ 2.86996774e-02 -4.31308774e-04 9.99587986e-01 2.75591352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.162755096 meters 0.020793646074152305 Centerline is valid? [True, True] Translation: X:122.06, Y:64.47, Z:2.76 [[ 4.08100784e-01 -9.12857798e-01 -1.20163005e-02 1.22056579e+02] [ 9.12495342e-01 4.08277386e-01 -2.57260002e-02 6.44668952e+01] [ 2.83901637e-02 -4.66017352e-04 9.99596809e-01 2.75655107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.192755096 meters 0.01977736425076688 Centerline is valid? [True, True] Translation: X:122.07, Y:64.49, Z:2.76 [[ 4.07056215e-01 -9.13327956e-01 -1.17167324e-02 1.22065993e+02] [ 9.12982968e-01 4.07224528e-01 -2.51054749e-02 6.44932841e+01] [ 2.77008729e-02 -4.77837466e-04 9.99616143e-01 2.75913086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22275509600001 meters 0.0209838683279107 Centerline is valid? [True, True] Translation: X:122.08, Y:64.52, Z:2.76 [[ 4.06282593e-01 -9.13680916e-01 -1.10290213e-02 1.22077281e+02] [ 9.13374877e-01 4.06431998e-01 -2.36508981e-02 6.45174654e+01] [ 2.60919214e-02 -4.64682789e-04 9.99659440e-01 2.76068936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25275509600002 meters 0.019655596377490734 Centerline is valid? [True, True] Translation: X:122.09, Y:64.54, Z:2.76 [[ 4.06276826e-01 -9.13686760e-01 -1.07538190e-02 1.22085836e+02] [ 9.13395315e-01 4.06418879e-01 -2.30801665e-02 6.45444428e+01] [ 2.54585976e-02 -4.45551059e-04 9.99675778e-01 2.76333231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28275509600002 meters 0.02038454567694546 Centerline is valid? [True, True] Translation: X:122.10, Y:64.57, Z:2.76 [[ 4.07065735e-01 -9.13340087e-01 -1.03620861e-02 1.22098028e+02] [ 9.13068969e-01 4.07197402e-01 -2.22560875e-02 6.45683011e+01] [ 2.45467914e-02 -4.01608656e-04 9.99698601e-01 2.76440935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31275509600002 meters 0.02008150948024456 Centerline is valid? [True, True] Translation: X:122.11, Y:64.59, Z:2.77 [[ 4.07564785e-01 -9.13120115e-01 -1.01292166e-02 1.22108588e+02] [ 9.12860642e-01 4.07690465e-01 -2.17699933e-02 6.45930069e+01] [ 2.40082038e-02 -3.73880505e-04 9.99711692e-01 2.76557172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34275509600002 meters 0.0190320395027825 Centerline is valid? [True, True] Translation: X:122.12, Y:64.62, Z:2.77 [[ 4.08064126e-01 -9.12898349e-01 -1.00136927e-02 1.22117065e+02] [ 9.12644258e-01 4.08186824e-01 -2.15400701e-02 6.46187269e+01] [ 2.37513518e-02 -3.49209318e-04 9.99717836e-01 2.76705521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37275509600002 meters 0.0190320395027825 Centerline is valid? [True, True] Translation: X:122.13, Y:64.64, Z:2.77 [[ 4.07750174e-01 -9.13038701e-01 -1.00062824e-02 1.22128137e+02] [ 9.12784569e-01 4.07872784e-01 -2.15435123e-02 6.46430775e+01] [ 2.37513507e-02 -3.49209302e-04 9.99717836e-01 2.76755426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40275509600002 meters 0.01840579680534117 Centerline is valid? [True, True] Translation: X:122.14, Y:64.67, Z:2.77 [[ 4.09493081e-01 -9.12260585e-01 -9.80012122e-03 1.22135518e+02] [ 9.12016155e-01 4.09610231e-01 -2.11185283e-02 6.46690367e+01] [ 2.32798309e-02 -2.89977667e-04 9.99728946e-01 2.76817298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43275509600002 meters 0.017993647390420874 Centerline is valid? [True, True] Translation: X:122.14, Y:64.69, Z:2.77 [[ 4.10331524e-01 -9.11882868e-01 -9.88306855e-03 1.22144629e+02] [ 9.11633703e-01 4.10450442e-01 -2.13172722e-02 6.46947601e+01] [ 2.34953652e-02 -2.62589586e-04 9.99723911e-01 2.76852804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46275509600002 meters 0.017813692347942837 Centerline is valid? [True, True] Translation: X:122.15, Y:64.72, Z:2.77 [[ 4.10975860e-01 -9.11590932e-01 -1.00407021e-02 1.22154032e+02] [ 9.11333202e-01 4.11098425e-01 -2.16767328e-02 6.47205951e+01] [ 2.38880299e-02 -2.41811287e-04 9.99714611e-01 2.76851455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.492755096 meters 0.017616429975088957 Centerline is valid? [True, True] Translation: X:122.16, Y:64.75, Z:2.77 [[ 4.11139420e-01 -9.11517327e-01 -1.00269754e-02 1.22164296e+02] [ 9.11259822e-01 4.11261608e-01 -2.16662483e-02 6.47463590e+01] [ 2.38728708e-02 -2.29331088e-04 9.99714976e-01 2.76863067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.522755096 meters 0.017616541314459177 Centerline is valid? [True, True] Translation: X:122.18, Y:64.77, Z:2.77 [[ 4.10702105e-01 -9.11715269e-01 -9.95237726e-03 1.22175206e+02] [ 9.11461187e-01 4.10822608e-01 -2.15241556e-02 6.47701677e+01] [ 2.37125629e-02 -2.31189599e-04 9.99718791e-01 2.76911687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.552755096 meters 0.017549018730311686 Centerline is valid? [True, True] Translation: X:122.19, Y:64.80, Z:2.77 [[ 4.09587312e-01 -9.12217017e-01 -9.91709928e-03 1.22187012e+02] [ 9.11964413e-01 4.09707276e-01 -2.14675933e-02 6.47950050e+01] [ 2.36462116e-02 -2.51187794e-04 9.99720358e-01 2.77049407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.582755096 meters 0.01856264166239322 Centerline is valid? [True, True] Translation: X:122.20, Y:64.82, Z:2.77 [[ 4.07210412e-01 -9.13284615e-01 -9.53377959e-03 1.22200402e+02] [ 9.13051047e-01 4.07321896e-01 -2.06557376e-02 6.48187954e+01] [ 2.27478845e-02 -2.93596019e-04 9.99741190e-01 2.77204188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.612755096 meters 0.01830329679342089 Centerline is valid? [True, True] Translation: X:122.21, Y:64.84, Z:2.77 [[ 4.05870413e-01 -9.13882332e-01 -9.39637154e-03 1.22211125e+02] [ 9.13655228e-01 4.05979044e-01 -2.03750068e-02 6.48446186e+01] [ 2.24350887e-02 -3.15431558e-04 9.99748252e-01 2.77318862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.642755096 meters 0.018890947208787163 Centerline is valid? [True, True] Translation: X:122.22, Y:64.87, Z:2.77 [[ 4.03109971e-01 -9.15103338e-01 -9.39323264e-03 1.22224275e+02] [ 9.14876344e-01 4.03219221e-01 -2.03846956e-02 6.48702718e+01] [ 2.24416349e-02 -3.76372274e-04 9.99748084e-01 2.77351439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.672755096 meters 0.019539703392921957 Centerline is valid? [True, True] Translation: X:122.24, Y:64.89, Z:2.77 [[ 4.01695092e-01 -9.15724225e-01 -9.49718090e-03 1.22236831e+02] [ 9.15491996e-01 4.01807138e-01 -2.06259543e-02 6.48943656e+01] [ 2.27037211e-02 -4.09248481e-04 9.99742154e-01 2.77354955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.702755096 meters 0.01956948729898529 Centerline is valid? [True, True] Translation: X:122.25, Y:64.92, Z:2.77 [[ 4.00388535e-01 -9.16296827e-01 -9.44166965e-03 1.22248172e+02] [ 9.16067165e-01 4.00499608e-01 -2.05185827e-02 6.49196433e+01] [ 2.25824972e-02 -4.33798277e-04 9.99744889e-01 2.77408375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.732755096 meters 0.020502145649434728 Centerline is valid? [True, True] Translation: X:122.26, Y:64.94, Z:2.77 [[ 3.99030137e-01 -9.16888685e-01 -9.49147820e-03 1.22261192e+02] [ 9.16656363e-01 3.99142737e-01 -2.06443227e-02 6.49435325e+01] [ 2.27170005e-02 -4.62716952e-04 9.99741829e-01 2.77446374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.762755096 meters 0.02141828523073561 Centerline is valid? [True, True] Translation: X:122.27, Y:64.97, Z:2.78 [[ 3.96211347e-01 -9.18109894e-01 -9.52836958e-03 1.22274644e+02] [ 9.17875699e-01 3.96325552e-01 -2.07426424e-02 6.49681107e+01] [ 2.28203615e-02 -5.27388612e-04 9.99739443e-01 2.77534069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.792755096 meters 0.021211738101240038 Centerline is valid? [True, True] Translation: X:122.29, Y:64.99, Z:2.78 [[ 3.94810513e-01 -9.18713606e-01 -9.48519601e-03 1.22285422e+02] [ 9.18481320e-01 3.94924049e-01 -2.06654471e-02 6.49942810e+01] [ 2.27315594e-02 -5.53039594e-04 9.99741452e-01 2.77629147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.822755096 meters 0.022313203853732606 Centerline is valid? [True, True] Translation: X:122.30, Y:65.02, Z:2.78 [[ 3.93668437e-01 -9.19202949e-01 -9.54465455e-03 1.22297637e+02] [ 9.18967504e-01 3.93783702e-01 -2.08115974e-02 6.50184735e+01] [ 2.28886112e-02 -5.78358343e-04 9.99737854e-01 2.77665497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.852755096 meters 0.02184413704989332 Centerline is valid? [True, True] Translation: X:122.31, Y:65.05, Z:2.78 [[ 3.92223728e-01 -9.19822221e-01 -9.36108845e-03 1.22307830e+02] [ 9.19595577e-01 3.92334967e-01 -2.04266530e-02 6.50450258e+01] [ 2.24615717e-02 -5.96597536e-04 9.99747529e-01 2.77802097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.882755096 meters 0.02367021012320609 Centerline is valid? [True, True] Translation: X:122.32, Y:65.07, Z:2.78 [[ 3.91678281e-01 -9.20054026e-01 -9.41878318e-03 1.22321709e+02] [ 9.19824260e-01 3.91791042e-01 -2.05696208e-02 6.50688300e+01] [ 2.26153573e-02 -6.06951572e-04 9.99744056e-01 2.77844929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.912755096 meters 0.0243973302253545 Centerline is valid? [True, True] Translation: X:122.33, Y:65.09, Z:2.78 [[ 3.90571484e-01 -9.20524258e-01 -9.43428170e-03 1.22332475e+02] [ 9.20293477e-01 3.90684905e-01 -2.06208795e-02 6.50930801e+01] [ 2.26678512e-02 -6.28380403e-04 9.99742854e-01 2.77893376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.942755096 meters 0.02272330998458995 Centerline is valid? [True, True] Translation: X:122.34, Y:65.12, Z:2.78 [[ 3.89953204e-01 -9.20786809e-01 -9.38891215e-03 1.22340912e+02] [ 9.20558035e-01 3.90065698e-01 -2.05342621e-02 6.51201830e+01] [ 2.25699702e-02 -6.35637216e-04 9.99745064e-01 2.77980251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97275509600001 meters 0.02519933913763855 Centerline is valid? [True, True] Translation: X:122.36, Y:65.14, Z:2.78 [[ 3.89361215e-01 -9.21037549e-01 -9.36363339e-03 1.22355282e+02] [ 9.20809681e-01 3.89473262e-01 -2.04965608e-02 6.51436231e+01] [ 2.25249869e-02 -6.41558475e-04 9.99746074e-01 2.77995322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00275509600002 meters 0.022709607322365318 Centerline is valid? [True, True] Translation: X:122.36, Y:65.17, Z:2.78 [[ 3.89151841e-01 -9.21128254e-01 -9.14241766e-03 1.22362312e+02] [ 9.20910668e-01 3.89258717e-01 -2.00298055e-02 6.51710250e+01] [ 2.20087856e-02 -6.24714267e-04 9.99757582e-01 2.78151608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03275509600002 meters 0.025717001543126894 Centerline is valid? [True, True] Translation: X:122.38, Y:65.19, Z:2.78 [[ 3.89224007e-01 -9.21100673e-01 -8.84441422e-03 1.22376234e+02] [ 9.20896704e-01 3.89324023e-01 -1.93924250e-02 6.51940421e+01] [ 2.13057187e-02 -5.96794534e-04 9.99772829e-01 2.78168783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06275509600002 meters 0.023499763060784728 Centerline is valid? [True, True] Translation: X:122.38, Y:65.22, Z:2.78 [[ 3.88887140e-01 -9.21241810e-01 -8.96212134e-03 1.22384280e+02] [ 9.21032134e-01 3.88989921e-01 -1.96634097e-02 6.52213528e+01] [ 2.16009300e-02 -6.07554599e-04 9.99766488e-01 2.78253228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09275509600002 meters 0.023955782813639713 Centerline is valid? [True, True] Translation: X:122.40, Y:65.25, Z:2.78 [[ 3.88916482e-01 -9.21231779e-01 -8.71660086e-03 1.22395593e+02] [ 9.21033101e-01 3.89013712e-01 -1.91405124e-02 6.52450720e+01] [ 2.10237255e-02 -5.84217176e-04 9.99778806e-01 2.78370681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12275509600002 meters 0.023697734929012972 Centerline is valid? [True, True] Translation: X:122.41, Y:65.27, Z:2.78 [[ 3.88780704e-01 -9.21289971e-01 -8.62286473e-03 1.22405910e+02] [ 9.21095179e-01 3.88875893e-01 -1.89528669e-02 6.52697723e+01] [ 2.08143104e-02 -5.73970203e-04 9.99783194e-01 2.78465625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15275509600002 meters 0.022890237877048508 Centerline is valid? [True, True] Translation: X:122.42, Y:65.30, Z:2.79 [[ 3.89135088e-01 -9.21140523e-01 -8.60350423e-03 1.22415691e+02] [ 9.20946212e-01 3.89229785e-01 -1.89274773e-02 6.52963647e+01] [ 2.07836064e-02 -5.58019090e-04 9.99783842e-01 2.78527657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18275509600002 meters 0.022277174367498147 Centerline is valid? [True, True] Translation: X:122.42, Y:65.32, Z:2.79 [[ 3.90605694e-01 -9.20519503e-01 -8.42835299e-03 1.22424791e+02] [ 9.20332571e-01 3.90696284e-01 -1.85572748e-02 6.53226923e+01] [ 2.03752596e-02 -5.08310561e-04 9.99792274e-01 2.78579566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21275509600002 meters 0.02144039080617463 Centerline is valid? [True, True] Translation: X:122.43, Y:65.35, Z:2.79 [[ 3.91147943e-01 -9.20291687e-01 -8.15456453e-03 1.22434003e+02] [ 9.20116371e-01 3.91232648e-01 -1.79688450e-02 6.53489967e+01] [ 1.97269106e-02 -4.74671541e-04 9.99805293e-01 2.78636645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.242755096 meters 0.02091462591856589 Centerline is valid? [True, True] Translation: X:122.44, Y:65.37, Z:2.79 [[ 3.92646504e-01 -9.19653064e-01 -8.18320858e-03 1.22443187e+02] [ 9.19476072e-01 3.92731524e-01 -1.80472617e-02 6.53749638e+01] [ 1.98110235e-02 -4.38070253e-04 9.99803646e-01 2.78683330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.272755096 meters 0.020711424129143806 Centerline is valid? [True, True] Translation: X:122.45, Y:65.40, Z:2.79 [[ 3.93119695e-01 -9.19451466e-01 -8.11832967e-03 1.22453493e+02] [ 9.19276932e-01 3.93203289e-01 -1.79191561e-02 6.53997311e+01] [ 1.96679483e-02 -4.18620031e-04 9.99806480e-01 2.78686963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.302755096 meters 0.020467568738927137 Centerline is valid? [True, True] Translation: X:122.46, Y:65.43, Z:2.79 [[ 3.93439223e-01 -9.19312976e-01 -8.32042676e-03 1.22464143e+02] [ 9.19129284e-01 3.93526974e-01 -1.83814992e-02 6.54254252e+01] [ 2.01726631e-02 -4.15545154e-04 9.99796425e-01 2.78671758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.332755096 meters 0.020405238675184182 Centerline is valid? [True, True] Translation: X:122.47, Y:65.45, Z:2.79 [[ 3.93555131e-01 -9.19261734e-01 -8.49836983e-03 1.22474847e+02] [ 9.19069758e-01 3.93646657e-01 -1.87906663e-02 6.54502547e+01] [ 2.06188954e-02 -4.15431556e-04 9.99787322e-01 2.78656397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.362755096 meters 0.020368786735834372 Centerline is valid? [True, True] Translation: X:122.49, Y:65.48, Z:2.79 [[ 3.92731716e-01 -9.19611814e-01 -8.71271189e-03 1.22486333e+02] [ 9.19409733e-01 3.92828105e-01 -1.92827072e-02 6.54762519e+01] [ 2.11552035e-02 -4.37621418e-04 9.99776108e-01 2.78650072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.392755096 meters 0.021096011684393557 Centerline is valid? [True, True] Translation: X:122.50, Y:65.50, Z:2.79 [[ 3.91904267e-01 -9.19965813e-01 -8.59935378e-03 1.22498900e+02] [ 9.19768710e-01 3.91998349e-01 -1.90476803e-02 6.55004220e+01] [ 2.08941472e-02 -4.44549359e-04 9.99781595e-01 2.78640197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.422755096 meters 0.02153443582912116 Centerline is valid? [True, True] Translation: X:122.51, Y:65.53, Z:2.79 [[ 3.90910070e-01 -9.20387730e-01 -8.70306412e-03 1.22510901e+02] [ 9.20185583e-01 3.91006661e-01 -1.92946586e-02 6.55253798e+01] [ 2.11615231e-02 -4.65957790e-04 9.99775961e-01 2.78697537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.452755096 meters 0.022911799149624167 Centerline is valid? [True, True] Translation: X:122.52, Y:65.55, Z:2.79 [[ 3.88803853e-01 -9.21277468e-01 -8.91017040e-03 1.22523723e+02] [ 9.21065433e-01 3.88905589e-01 -1.97714469e-02 6.55487708e+01] [ 2.16802036e-02 -5.19635227e-04 9.99764822e-01 2.78714313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.482755096 meters 0.02369791508437531 Centerline is valid? [True, True] Translation: X:122.54, Y:65.57, Z:2.79 [[ 3.87232882e-01 -9.21939097e-01 -8.88803091e-03 1.22536317e+02] [ 9.21728002e-01 3.87334480e-01 -1.97355070e-02 6.55740068e+01] [ 2.16375764e-02 -5.50109702e-04 9.99765729e-01 2.78795843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.512755096 meters 0.02428622731695527 Centerline is valid? [True, True] Translation: X:122.55, Y:65.60, Z:2.79 [[ 3.84038914e-01 -9.23275284e-01 -8.76719214e-03 1.22548599e+02] [ 9.23069907e-01 3.84138488e-01 -1.94825269e-02 6.55988697e+01] [ 2.13555515e-02 -6.10682774e-04 9.99771758e-01 2.78857188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.542755096 meters 0.024974668003587774 Centerline is valid? [True, True] Translation: X:122.56, Y:65.62, Z:2.79 [[ 3.82665379e-01 -9.23843892e-01 -8.92586650e-03 1.22561390e+02] [ 9.23630791e-01 3.82768918e-01 -1.98523793e-02 6.56240486e+01] [ 2.17570436e-02 -6.47386897e-04 9.99763078e-01 2.78903702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.572755096 meters 0.023454757408259978 Centerline is valid? [True, True] Translation: X:122.57, Y:65.65, Z:2.79 [[ 3.81261330e-01 -9.24421994e-01 -9.15289274e-03 1.22571245e+02] [ 9.24197703e-01 3.81370554e-01 -2.03741468e-02 6.56507826e+01] [ 2.23249532e-02 -6.91208167e-04 9.99750528e-01 2.78980204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.602755096 meters 0.02569949347451769 Centerline is valid? [True, True] Translation: X:122.59, Y:65.67, Z:2.79 [[ 3.79645993e-01 -9.25084416e-01 -9.36713898e-03 1.22585825e+02] [ 9.24849343e-01 3.79760812e-01 -2.08666846e-02 6.56737671e+01] [ 2.28607171e-02 -7.41239109e-04 9.99738385e-01 2.78995679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.632755096 meters 0.026198290778896342 Centerline is valid? [True, True] Translation: X:122.60, Y:65.70, Z:2.79 [[ 3.76603132e-01 -9.26326407e-01 -9.45875623e-03 1.22597610e+02] [ 9.26086873e-01 3.76721002e-01 -2.10805618e-02 6.56991737e+01] [ 2.30907932e-02 -8.20624370e-04 9.99733035e-01 2.79034204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.662755096 meters 0.02720281270581682 Centerline is valid? [True, True] Translation: X:122.61, Y:65.72, Z:2.79 [[ 3.75182287e-01 -9.26903750e-01 -9.36430767e-03 1.22610216e+02] [ 9.26668754e-01 3.75298190e-01 -2.08875177e-02 6.57246077e+01] [ 2.28751262e-02 -8.40984676e-04 9.99737976e-01 2.79057497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.692755096 meters 0.026514429511428583 Centerline is valid? [True, True] Translation: X:122.62, Y:65.75, Z:2.79 [[ 3.73360549e-01 -9.27637371e-01 -9.52933618e-03 1.22621374e+02] [ 9.27393837e-01 3.73481067e-01 -2.12735496e-02 6.57509847e+01] [ 2.32931663e-02 -8.94743472e-04 9.99728277e-01 2.79215512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72275509600001 meters 0.029510685480428366 Centerline is valid? [True, True] Translation: X:122.64, Y:65.77, Z:2.79 [[ 3.72870157e-01 -9.27833983e-01 -9.58888037e-03 1.22636660e+02] [ 9.27587041e-01 3.72992332e-01 -2.14243404e-02 6.57735414e+01] [ 2.34548100e-02 -9.06023973e-04 9.99724488e-01 2.79216838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75275509600002 meters 0.030532178585963864 Centerline is valid? [True, True] Translation: X:122.65, Y:65.80, Z:2.79 [[ 3.72426075e-01 -9.28013124e-01 -9.51108064e-03 1.22648944e+02] [ 9.27769779e-01 3.72546409e-01 -2.12699190e-02 6.57972695e+01] [ 2.32820829e-02 -9.02620740e-04 9.99728528e-01 2.79280985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78275509600002 meters 0.027447605681512888 Centerline is valid? [True, True] Translation: X:122.66, Y:65.83, Z:2.79 [[ 3.72995609e-01 -9.27784831e-01 -9.46486943e-03 1.22656318e+02] [ 9.27543316e-01 3.73114646e-01 -2.11862588e-02 6.58251395e+01] [ 2.31877710e-02 -8.76694865e-04 9.99730743e-01 2.79418845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81275509600002 meters 0.027123783380028146 Centerline is valid? [True, True] Translation: X:122.67, Y:65.85, Z:2.79 [[ 3.73771883e-01 -9.27474538e-01 -9.24988337e-03 1.22666612e+02] [ 9.27243408e-01 3.73885395e-01 -2.07213498e-02 6.58505231e+01] [ 2.26769207e-02 -8.31835430e-04 9.99742500e-01 2.79482522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84275509600002 meters 0.027159012042421632 Centerline is valid? [True, True] Translation: X:122.68, Y:65.88, Z:2.80 [[ 3.75968050e-01 -9.26588021e-01 -9.09200589e-03 1.22676750e+02] [ 9.26364166e-01 3.76077201e-01 -2.03806367e-02 6.58753154e+01] [ 2.23037500e-02 -7.60040217e-04 9.99750952e-01 2.79542761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87275509600002 meters 0.02520657077302778 Centerline is valid? [True, True] Translation: X:122.69, Y:65.90, Z:2.80 [[ 3.76802387e-01 -9.26249604e-01 -9.03504249e-03 1.22685453e+02] [ 9.26028094e-01 3.76909988e-01 -2.02689599e-02 6.59022368e+01] [ 2.21795138e-02 -7.29310691e-04 9.99753738e-01 2.79645452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90275509600002 meters 0.023102881217155206 Centerline is valid? [True, True] Translation: X:122.69, Y:65.93, Z:2.80 [[ 3.77769014e-01 -9.25857584e-01 -8.84901940e-03 1.22694042e+02] [ 9.25644639e-01 3.77872020e-01 -1.98680521e-02 6.59296876e+01] [ 2.17387836e-02 -6.85512888e-04 9.99763450e-01 2.79773719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93275509600002 meters 0.02335729688143227 Centerline is valid? [True, True] Translation: X:122.71, Y:65.95, Z:2.80 [[ 3.78797227e-01 -9.25439415e-01 -8.63424711e-03 1.22705584e+02] [ 9.25236245e-01 3.78895078e-01 -1.94013120e-02 6.59542038e+01] [ 2.12262126e-02 -6.39555167e-04 9.99774494e-01 2.79835972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96275509600002 meters 0.02190644109926207 Centerline is valid? [True, True] Translation: X:122.72, Y:65.98, Z:2.80 [[ 3.80938382e-01 -9.24562058e-01 -8.42320007e-03 1.22715045e+02] [ 9.24368241e-01 3.81031067e-01 -1.89388855e-02 6.59803863e+01] [ 2.07196759e-02 -5.71590231e-04 9.99785161e-01 2.79947287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.992755096 meters 0.022674537842981173 Centerline is valid? [True, True] Translation: X:122.73, Y:66.00, Z:2.80 [[ 3.81735313e-01 -9.24234156e-01 -8.32920407e-03 1.22727016e+02] [ 9.24044236e-01 3.81825787e-01 -1.87434891e-02 6.60045086e+01] [ 2.05036778e-02 -5.41501307e-04 9.99789631e-01 2.80024898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.022755096 meters 0.020998990415766142 Centerline is valid? [True, True] Translation: X:122.74, Y:66.03, Z:2.80 [[ 3.83526780e-01 -9.23496609e-01 -7.82447612e-03 1.22735512e+02] [ 9.23328579e-01 3.83606304e-01 -1.76220803e-02 6.60312027e+01] [ 1.92754497e-02 -4.66022714e-04 9.99814103e-01 2.80172002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.052755096 meters 0.02072213164546222 Centerline is valid? [True, True] Translation: X:122.75, Y:66.06, Z:2.80 [[ 3.84221897e-01 -9.23208249e-01 -7.75006473e-03 1.22745778e+02] [ 9.23043063e-01 3.84299798e-01 -1.74690886e-02 6.60551104e+01] [ 1.91059550e-02 -4.41637111e-04 9.99817367e-01 2.80239732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.082755096 meters 0.020585578339918153 Centerline is valid? [True, True] Translation: X:122.76, Y:66.08, Z:2.80 [[ 3.84625195e-01 -9.23040675e-01 -7.70537194e-03 1.22756684e+02] [ 9.22877114e-01 3.84702134e-01 -1.73810224e-02 6.60799222e+01] [ 1.90076636e-02 -4.25932315e-04 9.99819247e-01 2.80289218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.112755096 meters 0.019908336807007185 Centerline is valid? [True, True] Translation: X:122.77, Y:66.11, Z:2.80 [[ 3.85812282e-01 -9.22543603e-01 -7.88558272e-03 1.22767714e+02] [ 9.22371871e-01 3.85892649e-01 -1.78043794e-02 6.61058849e+01] [ 1.94683047e-02 -4.04291428e-04 9.99810393e-01 2.80274172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.142755096 meters 0.019496307099021865 Centerline is valid? [True, True] Translation: X:122.78, Y:66.13, Z:2.80 [[ 3.85927349e-01 -9.22495629e-01 -7.86742994e-03 1.22777817e+02] [ 9.22324389e-01 3.86007330e-01 -1.77781257e-02 6.61308999e+01] [ 1.94371289e-02 -3.95257584e-04 9.99811003e-01 2.80319553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.172755096 meters 0.01973321900256561 Centerline is valid? [True, True] Translation: X:122.79, Y:66.16, Z:2.80 [[ 3.85736519e-01 -9.22576295e-01 -7.76646523e-03 1.22788717e+02] [ 9.22409126e-01 3.85814502e-01 -1.75662988e-02 6.61550172e+01] [ 1.92026657e-02 -3.87895456e-04 9.99815537e-01 2.80322670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.202755096 meters 0.0200458601977053 Centerline is valid? [True, True] Translation: X:122.80, Y:66.18, Z:2.80 [[ 3.85290058e-01 -9.22763704e-01 -7.66272268e-03 1.22799831e+02] [ 9.22600689e-01 3.85366057e-01 -1.73485073e-02 6.61784470e+01] [ 1.89615260e-02 -3.85425852e-04 9.99820140e-01 2.80359158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.232755096 meters 0.0203571160893656 Centerline is valid? [True, True] Translation: X:122.81, Y:66.20, Z:2.80 [[ 3.84541800e-01 -9.23073044e-01 -7.98492292e-03 1.22812515e+02] [ 9.22895738e-01 3.84624474e-01 -1.80961777e-02 6.62028225e+01] [ 1.97752906e-02 -4.10514577e-04 9.99804366e-01 2.80319027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.262755096 meters 0.0203571160893656 Centerline is valid? [True, True] Translation: X:122.82, Y:66.23, Z:2.80 [[ 3.84231663e-01 -9.23202236e-01 -7.97883792e-03 1.22823101e+02] [ 9.23024901e-01 3.84314277e-01 -1.80988603e-02 6.62273862e+01] [ 1.97752897e-02 -4.10510883e-04 9.99804366e-01 2.80368938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.292755096 meters 0.020626991478788447 Centerline is valid? [True, True] Translation: X:122.84, Y:66.25, Z:2.80 [[ 3.83526493e-01 -9.23494802e-01 -8.04862081e-03 1.22835291e+02] [ 9.23314081e-01 3.83610704e-01 -1.82739310e-02 6.62522384e+01] [ 1.99634174e-02 -4.22868264e-04 9.99800622e-01 2.80342598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.322755096 meters 0.020442487074141504 Centerline is valid? [True, True] Translation: X:122.85, Y:66.28, Z:2.80 [[ 3.81556610e-01 -9.24308283e-01 -8.29166328e-03 1.22848068e+02] [ 9.24116312e-01 3.81646400e-01 -1.88432197e-02 6.62768630e+01] [ 2.05814275e-02 -4.72706268e-04 9.99788068e-01 2.80367272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.352755096 meters 0.020926078031192428 Centerline is valid? [True, True] Translation: X:122.86, Y:66.30, Z:2.80 [[ 3.80317753e-01 -9.24819878e-01 -8.16092611e-03 1.22861146e+02] [ 9.24633717e-01 3.80404991e-01 -1.85615858e-02 6.63021320e+01] [ 2.02705805e-02 -4.86566845e-04 9.99794412e-01 2.80449037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.382755096 meters 0.020870364565102884 Centerline is valid? [True, True] Translation: X:122.87, Y:66.33, Z:2.80 [[ 3.79149862e-01 -9.25298862e-01 -8.20958039e-03 1.22872574e+02] [ 9.25110263e-01 3.79238389e-01 -1.86881309e-02 6.63276322e+01] [ 2.04054943e-02 -5.09164816e-04 9.99791657e-01 2.80496835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.412755096 meters 0.02173817506485794 Centerline is valid? [True, True] Translation: X:122.89, Y:66.35, Z:2.81 [[ 3.77122869e-01 -9.26128354e-01 -8.03833439e-03 1.22885916e+02] [ 9.25947417e-01 3.77208145e-01 -1.83138023e-02 6.63527297e+01] [ 1.99930568e-02 -5.36521323e-04 9.99799975e-01 2.80519924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.442755096 meters 0.02559652353991931 Centerline is valid? [True, True] Translation: X:122.90, Y:66.37, Z:2.81 [[ 3.75666822e-01 -9.26719426e-01 -8.09597883e-03 1.22902570e+02] [ 9.26535698e-01 3.75753624e-01 -1.84611852e-02 6.63747548e+01] [ 2.01504324e-02 -5.65958612e-04 9.99796799e-01 2.80562234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47275509600001 meters 0.025300337334539274 Centerline is valid? [True, True] Translation: X:122.91, Y:66.40, Z:2.81 [[ 3.74701139e-01 -9.27111191e-01 -7.99349109e-03 1.22914320e+02] [ 9.26931851e-01 3.74785953e-01 -1.82437150e-02 6.64001758e+01] [ 1.99098005e-02 -5.73480702e-04 9.99801616e-01 2.80621207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50275509600002 meters 0.024141093082398226 Centerline is valid? [True, True] Translation: X:122.93, Y:66.43, Z:2.81 [[ 3.72826738e-01 -9.27867428e-01 -7.89045157e-03 1.22925443e+02] [ 9.27692572e-01 3.72909741e-01 -1.80226639e-02 6.64256949e+01] [ 1.96650690e-02 -6.00582320e-04 9.99806443e-01 2.80717489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53275509600002 meters 0.024420990979518126 Centerline is valid? [True, True] Translation: X:122.94, Y:66.45, Z:2.81 [[ 3.71944075e-01 -9.28221996e-01 -7.84424467e-03 1.22937388e+02] [ 9.28048963e-01 3.72026283e-01 -1.79322875e-02 6.64504828e+01] [ 1.95634088e-02 -6.10035059e-04 9.99808432e-01 2.80750053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56275509600002 meters 0.02369202655021021 Centerline is valid? [True, True] Translation: X:122.95, Y:66.48, Z:2.81 [[ 3.71260578e-01 -9.28497532e-01 -7.61026201e-03 1.22948183e+02] [ 9.28334421e-01 3.71338084e-01 -1.74135020e-02 6.64764237e+01] [ 1.89943737e-02 -5.99921365e-04 9.99819411e-01 2.80786090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59275509600002 meters 0.023336092014750228 Centerline is valid? [True, True] Translation: X:122.96, Y:66.50, Z:2.81 [[ 3.71026447e-01 -9.28592408e-01 -7.45084264e-03 1.22959032e+02] [ 9.28435808e-01 3.71100788e-01 -1.70632645e-02 6.65024610e+01] [ 1.86098315e-02 -5.86706692e-04 9.99826650e-01 2.80868012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62275509600002 meters 0.023876973141827258 Centerline is valid? [True, True] Translation: X:122.97, Y:66.53, Z:2.81 [[ 3.71473945e-01 -9.28413005e-01 -7.50998248e-03 1.22970965e+02] [ 9.28253585e-01 3.71549404e-01 -1.72140122e-02 6.65264141e+01] [ 1.87720423e-02 -5.76611153e-04 9.99823623e-01 2.80965250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65275509600002 meters 0.02344280441873608 Centerline is valid? [True, True] Translation: X:122.98, Y:66.55, Z:2.81 [[ 3.72939170e-01 -9.27826412e-01 -7.38406459e-03 1.22981993e+02] [ 9.27671981e-01 3.73011881e-01 -1.69361216e-02 6.65516448e+01] [ 1.84681248e-02 -5.33846700e-04 9.99829307e-01 2.81059843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68275509600002 meters 0.024148510368230035 Centerline is valid? [True, True] Translation: X:122.99, Y:66.58, Z:2.81 [[ 3.73813612e-01 -9.27473892e-01 -7.45404196e-03 1.22993816e+02] [ 9.27316176e-01 3.73887568e-01 -1.71112732e-02 6.65757450e+01] [ 1.86572328e-02 -5.15826850e-04 9.99825806e-01 2.81075973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71275509600002 meters 0.02172590887627646 Centerline is valid? [True, True] Translation: X:123.00, Y:66.60, Z:2.81 [[ 3.74863120e-01 -9.27048927e-01 -7.61109269e-03 1.23001693e+02] [ 9.26884118e-01 3.74940046e-01 -1.74869512e-02 6.66030567e+01] [ 1.90649628e-02 -4.99387840e-04 9.99818122e-01 2.81082436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.742755096 meters 0.02060902672696416 Centerline is valid? [True, True] Translation: X:123.01, Y:66.63, Z:2.81 [[ 3.77649342e-01 -9.25918286e-01 -7.50344323e-03 1.23011454e+02] [ 9.25757608e-01 3.77723632e-01 -1.72542291e-02 6.66285970e+01] [ 1.88102341e-02 -4.30321378e-04 9.99822979e-01 2.81093199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.772755096 meters 0.020831945923422076 Centerline is valid? [True, True] Translation: X:123.02, Y:66.65, Z:2.81 [[ 3.78918069e-01 -9.25400091e-01 -7.46778006e-03 1.23022594e+02] [ 9.25240576e-01 3.78991442e-01 -1.71861626e-02 6.66532325e+01] [ 1.87343012e-02 -3.97345574e-04 9.99824419e-01 2.81144293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.802755096 meters 0.020192345769691495 Centerline is valid? [True, True] Translation: X:123.03, Y:66.68, Z:2.81 [[ 3.79856352e-01 -9.25014833e-01 -7.53062479e-03 1.23032623e+02] [ 9.24852263e-01 3.79930806e-01 -1.73457390e-02 6.66788811e+01] [ 1.89061822e-02 -3.75826240e-04 9.99821192e-01 2.81147211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.832755096 meters 0.0185278713574139 Centerline is valid? [True, True] Translation: X:123.04, Y:66.71, Z:2.81 [[ 3.81114270e-01 -9.24498798e-01 -7.34063587e-03 1.23042320e+02] [ 9.24343953e-01 3.81184810e-01 -1.69232950e-02 6.67056072e+01] [ 1.84437048e-02 -3.35563149e-04 9.99829844e-01 2.81187430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.862755096 meters 0.018242820589123247 Centerline is valid? [True, True] Translation: X:123.05, Y:66.73, Z:2.81 [[ 3.81010216e-01 -9.24541396e-01 -7.37714062e-03 1.23053686e+02] [ 9.24384738e-01 3.81081482e-01 -1.70223485e-02 6.67311801e+01] [ 1.85491575e-02 -3.33627533e-04 9.99827894e-01 2.81236438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.892755096 meters 0.01946934534189661 Centerline is valid? [True, True] Translation: X:123.07, Y:66.75, Z:2.81 [[ 3.80714431e-01 -9.24660979e-01 -7.65484173e-03 1.23069158e+02] [ 9.24492017e-01 3.80791222e-01 -1.76792589e-02 6.67539221e+01] [ 1.92622174e-02 -3.46091092e-04 9.99814406e-01 2.81230133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.922755096 meters 0.018487973174177306 Centerline is valid? [True, True] Translation: X:123.08, Y:66.78, Z:2.81 [[ 3.79999476e-01 -9.24955078e-01 -7.64868836e-03 1.23079617e+02] [ 9.24786225e-01 3.80076278e-01 -1.76765751e-02 6.67801787e+01] [ 1.92571229e-02 -3.56312350e-04 9.99814501e-01 2.81260780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.952755096 meters 0.018899331721335302 Centerline is valid? [True, True] Translation: X:123.09, Y:66.80, Z:2.81 [[ 3.79094689e-01 -9.25326992e-01 -7.56136493e-03 1.23092011e+02] [ 9.25161756e-01 3.79169915e-01 -1.74900198e-02 6.68038791e+01] [ 1.90510295e-02 -3.65112036e-04 9.99818446e-01 2.81312712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.982755096 meters 0.019134083796095838 Centerline is valid? [True, True] Translation: X:123.10, Y:66.83, Z:2.81 [[ 3.77748231e-01 -9.25878350e-01 -7.45347462e-03 1.23104285e+02] [ 9.25717696e-01 3.77821563e-01 -1.72514734e-02 6.68289709e+01] [ 1.87888491e-02 -3.83099813e-04 9.99823401e-01 2.81362241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.012755096 meters 0.020398279961961682 Centerline is valid? [True, True] Translation: X:123.12, Y:66.85, Z:2.81 [[ 3.74983560e-01 -9.27004397e-01 -7.08363742e-03 1.23119716e+02] [ 9.26859245e-01 3.75050234e-01 -1.64091701e-02 6.68516734e+01] [ 1.78680927e-02 -4.12365816e-04 9.99840268e-01 2.81431890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.042755096 meters 0.021016576851320218 Centerline is valid? [True, True] Translation: X:123.13, Y:66.88, Z:2.82 [[ 3.73681299e-01 -9.27530719e-01 -7.00372043e-03 1.23133290e+02] [ 9.27388651e-01 3.73746683e-01 -1.62390453e-02 6.68766176e+01] [ 1.76798306e-02 -4.26943320e-04 9.99843608e-01 2.81500953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.072755096 meters 0.021166951463590017 Centerline is valid? [True, True] Translation: X:123.15, Y:66.90, Z:2.82 [[ 3.72506033e-01 -9.28003488e-01 -6.98431200e-03 1.23145639e+02] [ 9.27862044e-01 3.72571241e-01 -1.62079690e-02 6.69017810e+01] [ 1.76432056e-02 -4.42911755e-04 9.99844248e-01 2.81544964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.102755096 meters 0.021556041458082705 Centerline is valid? [True, True] Translation: X:123.16, Y:66.93, Z:2.82 [[ 3.70979582e-01 -9.28613020e-01 -7.21176883e-03 1.23158903e+02] [ 9.28462051e-01 3.71049360e-01 -1.67508966e-02 6.69262769e+01] [ 1.82310229e-02 -4.81613078e-04 9.99833685e-01 2.81536068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.132755096 meters 0.020932000882463626 Centerline is valid? [True, True] Translation: X:123.17, Y:66.95, Z:2.82 [[ 3.72153142e-01 -9.28146344e-01 -6.81192297e-03 1.23167809e+02] [ 9.28011349e-01 3.72215233e-01 -1.58353161e-02 6.69534882e+01] [ 1.72329922e-02 -4.28379194e-04 9.99851409e-01 2.81623207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.162755096 meters 0.021499677550663936 Centerline is valid? [True, True] Translation: X:123.18, Y:66.98, Z:2.82 [[ 3.72893624e-01 -9.27846536e-01 -7.15199567e-03 1.23180283e+02] [ 9.27697405e-01 3.72961957e-01 -1.66403992e-02 6.69776930e+01] [ 1.81071590e-02 -4.29789072e-04 9.99835960e-01 2.81588567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.192755096 meters 0.020808063964126534 Centerline is valid? [True, True] Translation: X:123.19, Y:67.00, Z:2.82 [[ 3.72992077e-01 -9.27804115e-01 -7.51232932e-03 1.23190922e+02] [ 9.27639342e-01 3.73067456e-01 -1.74906829e-02 6.70027499e+01] [ 1.90305332e-02 -4.44846076e-04 9.99818804e-01 2.81618856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22275509600001 meters 0.020578927351788512 Centerline is valid? [True, True] Translation: X:123.20, Y:67.03, Z:2.82 [[ 3.72951255e-01 -9.27818790e-01 -7.72358484e-03 1.23201692e+02] [ 9.27644273e-01 3.73030948e-01 -1.80004191e-02 6.70280422e+01] [ 1.95822633e-02 -4.51460331e-04 9.99808147e-01 2.81627359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25275509600002 meters 0.020289732130647536 Centerline is valid? [True, True] Translation: X:123.21, Y:67.05, Z:2.82 [[ 3.72827979e-01 -9.27866704e-01 -7.91690169e-03 1.23212102e+02] [ 9.27682982e-01 3.72911744e-01 -1.84693385e-02 6.70529816e+01] [ 2.00893898e-02 -4.58488837e-04 9.99798083e-01 2.81642064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28275509600002 meters 0.02107078002323725 Centerline is valid? [True, True] Translation: X:123.22, Y:67.08, Z:2.82 [[ 3.72199534e-01 -9.28119184e-01 -7.89228964e-03 1.23223911e+02] [ 9.27936296e-01 3.72282911e-01 -1.84299795e-02 6.70768532e+01] [ 2.00433821e-02 -4.63912248e-04 9.99799004e-01 2.81682949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31275509600002 meters 0.020612243946327578 Centerline is valid? [True, True] Translation: X:123.23, Y:67.10, Z:2.82 [[ 3.71993361e-01 -9.28202065e-01 -7.86545366e-03 1.23233212e+02] [ 9.28020063e-01 3.72076222e-01 -1.83860568e-02 6.71027046e+01] [ 1.99925241e-02 -4.59807743e-04 9.99800024e-01 2.81732465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34275509600002 meters 0.020919835707706443 Centerline is valid? [True, True] Translation: X:123.24, Y:67.13, Z:2.82 [[ 3.71662941e-01 -9.28334479e-01 -7.85835830e-03 1.23242328e+02] [ 9.28152476e-01 3.71745725e-01 -1.83873905e-02 6.71274197e+01] [ 1.99909596e-02 -4.59843095e-04 9.99800055e-01 2.81736265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37275509600002 meters 0.02074535649292 Centerline is valid? [True, True] Translation: X:123.25, Y:67.15, Z:2.82 [[ 3.71317361e-01 -9.28473651e-01 -7.75222325e-03 1.23252585e+02] [ 9.28296203e-01 3.71397999e-01 -1.81572539e-02 6.71530088e+01] [ 1.97376920e-02 -4.54255792e-04 9.99805090e-01 2.81828520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40275509600002 meters 0.020712873300010367 Centerline is valid? [True, True] Translation: X:123.26, Y:67.18, Z:2.82 [[ 3.71474952e-01 -9.28410943e-01 -7.71236957e-03 1.23263224e+02] [ 9.28234960e-01 3.71554740e-01 -1.80813289e-02 6.71782957e+01] [ 1.96524711e-02 -4.42130277e-04 9.99806774e-01 2.81946228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43275509600002 meters 0.02136045000170115 Centerline is valid? [True, True] Translation: X:123.27, Y:67.20, Z:2.82 [[ 3.71955853e-01 -9.28218593e-01 -7.68675640e-03 1.23274272e+02] [ 9.28043399e-01 3.72035029e-01 -1.80384534e-02 6.72023294e+01] [ 1.96033704e-02 -4.24135224e-04 9.99807746e-01 2.82075096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46275509600002 meters 0.01948260955965847 Centerline is valid? [True, True] Translation: X:123.28, Y:67.23, Z:2.82 [[ 3.72065101e-01 -9.28175631e-01 -7.58668738e-03 1.23281180e+02] [ 9.28004705e-01 3.72142215e-01 -1.78168190e-02 6.72298728e+01] [ 1.93604638e-02 -4.11465041e-04 9.99812484e-01 2.82137331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.492755096 meters 0.019331574024064244 Centerline is valid? [True, True] Translation: X:123.29, Y:67.26, Z:2.82 [[ 3.72732239e-01 -9.27908196e-01 -7.55365079e-03 1.23290809e+02] [ 9.27738395e-01 3.72808567e-01 -1.77550617e-02 6.72554107e+01] [ 1.92911330e-02 -3.89927945e-04 9.99813833e-01 2.82142487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.522755096 meters 0.01910939400087339 Centerline is valid? [True, True] Translation: X:123.30, Y:67.28, Z:2.82 [[ 3.72709817e-01 -9.27917110e-01 -7.56505093e-03 1.23300538e+02] [ 9.27746480e-01 3.72786386e-01 -1.77982905e-02 6.72814009e+01] [ 1.93354863e-02 -3.84851772e-04 9.99812978e-01 2.82198557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.552755096 meters 0.019675030223846705 Centerline is valid? [True, True] Translation: X:123.31, Y:67.31, Z:2.82 [[ 3.72878182e-01 -9.27849566e-01 -7.55275434e-03 1.23311715e+02] [ 9.27679171e-01 3.72954478e-01 -1.77851944e-02 6.73066114e+01] [ 1.93188184e-02 -3.74821940e-04 9.99813304e-01 2.82232472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.582755096 meters 0.01934523309480941 Centerline is valid? [True, True] Translation: X:123.32, Y:67.33, Z:2.82 [[ 3.72207608e-01 -9.28121580e-01 -7.19929312e-03 1.23320979e+02] [ 9.27966549e-01 3.72277047e-01 -1.69671310e-02 6.73330548e+01] [ 1.84276920e-02 -3.65407931e-04 9.99830129e-01 2.82337188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.612755096 meters 0.02013063291792452 Centerline is valid? [True, True] Translation: X:123.33, Y:67.36, Z:2.82 [[ 3.71482837e-01 -9.28412934e-01 -7.06584492e-03 1.23332941e+02] [ 9.28263387e-01 3.71549848e-01 -1.66671581e-02 6.73576905e+01] [ 1.80993188e-02 -3.67401957e-04 9.99836126e-01 2.82435558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.642755096 meters 0.020132684154137367 Centerline is valid? [True, True] Translation: X:123.34, Y:67.38, Z:2.83 [[ 3.69385532e-01 -9.29250175e-01 -6.96001480e-03 1.23343221e+02] [ 9.29105041e-01 3.69450882e-01 -1.64276860e-02 6.73842776e+01] [ 1.78368137e-02 -3.98435311e-04 9.99840832e-01 2.82514775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.672755096 meters 0.02134592383687641 Centerline is valid? [True, True] Translation: X:123.36, Y:67.41, Z:2.83 [[ 3.68128269e-01 -9.29748574e-01 -7.01195562e-03 1.23355663e+02] [ 9.29601088e-01 3.68194803e-01 -1.65651613e-02 6.74089222e+01] [ 1.79832007e-02 -4.20217420e-04 9.99838201e-01 2.82563217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.702755096 meters 0.02096695238728865 Centerline is valid? [True, True] Translation: X:123.37, Y:67.43, Z:2.83 [[ 3.66839820e-01 -9.30259189e-01 -6.81089829e-03 1.23365391e+02] [ 9.30119870e-01 3.66902793e-01 -1.61049062e-02 6.74348968e+01] [ 1.74806746e-02 -4.27030932e-04 9.99847110e-01 2.82628142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.732755096 meters 0.021489948992592746 Centerline is valid? [True, True] Translation: X:123.38, Y:67.46, Z:2.83 [[ 3.65293582e-01 -9.30868500e-01 -6.66596047e-03 1.23376941e+02] [ 9.30734914e-01 3.65354131e-01 -1.57758819e-02 6.74603672e+01] [ 1.71207077e-02 -4.41413732e-04 9.99853333e-01 2.82679598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.762755096 meters 0.022575354028903444 Centerline is valid? [True, True] Translation: X:123.39, Y:67.49, Z:2.83 [[ 3.62921830e-01 -9.31795611e-01 -6.68466796e-03 1.23389598e+02] [ 9.31661187e-01 3.62983068e-01 -1.58342900e-02 6.74854194e+01] [ 1.71807432e-02 -4.81236170e-04 9.99852284e-01 2.82723394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.792755096 meters 0.023377173002445673 Centerline is valid? [True, True] Translation: X:123.40, Y:67.51, Z:2.83 [[ 3.62002166e-01 -9.32152062e-01 -6.85308265e-03 1.23401103e+02] [ 9.32010578e-01 3.62066676e-01 -1.62482222e-02 6.75094721e+01] [ 1.76270867e-02 -5.05253897e-04 9.99844503e-01 2.82763270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.822755096 meters 0.023296120207494355 Centerline is valid? [True, True] Translation: X:123.41, Y:67.54, Z:2.83 [[ 3.61044805e-01 -9.32522622e-01 -6.94324203e-03 1.23411576e+02] [ 9.32377270e-01 3.61111177e-01 -1.64725454e-02 6.75352293e+01] [ 1.78683035e-02 -5.26394115e-04 9.99840211e-01 2.82776035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.852755096 meters 0.024287966405954264 Centerline is valid? [True, True] Translation: X:123.42, Y:67.56, Z:2.83 [[ 3.59813088e-01 -9.32997896e-01 -7.03338997e-03 1.23422506e+02] [ 9.32848562e-01 3.59881400e-01 -1.67014627e-02 6.75597263e+01] [ 1.81136158e-02 -5.51682855e-04 9.99835783e-01 2.82742722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.882755096 meters 0.024171783679876938 Centerline is valid? [True, True] Translation: X:123.43, Y:67.59, Z:2.83 [[ 3.59126250e-01 -9.33263068e-01 -6.95578130e-03 1.23432219e+02] [ 9.33116877e-01 3.59193177e-01 -1.65274169e-02 6.75854366e+01] [ 1.79228970e-02 -5.55127649e-04 9.99839218e-01 2.82760438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.912755096 meters 0.024529818685587054 Centerline is valid? [True, True] Translation: X:123.44, Y:67.61, Z:2.83 [[ 3.58276939e-01 -9.33588885e-01 -7.03059693e-03 1.23442578e+02] [ 9.33439292e-01 3.58345458e-01 -1.67218376e-02 6.76109696e+01] [ 1.81307042e-02 -5.71586619e-04 9.99835462e-01 2.82771357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.942755096 meters 0.02590659714236842 Centerline is valid? [True, True] Translation: X:123.45, Y:67.64, Z:2.83 [[ 3.57108395e-01 -9.34034502e-01 -7.28991298e-03 1.23454451e+02] [ 9.33873430e-01 3.57182273e-01 -1.73562901e-02 6.76352004e+01] [ 1.88152015e-02 -6.09779145e-04 9.99822792e-01 2.82764218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97275509600001 meters 0.024489365575178407 Centerline is valid? [True, True] Translation: X:123.46, Y:67.66, Z:2.83 [[ 3.56601793e-01 -9.34227028e-01 -7.41760243e-03 1.23463250e+02] [ 9.34059987e-01 3.56678383e-01 -1.76768510e-02 6.76616650e+01] [ 1.91598904e-02 -6.24888862e-04 9.99816237e-01 2.82825577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00275509600002 meters 0.024042084549525 Centerline is valid? [True, True] Translation: X:123.47, Y:67.69, Z:2.83 [[ 3.56230235e-01 -9.34366770e-01 -7.66543823e-03 1.23473951e+02] [ 9.34188078e-01 3.56312110e-01 -1.82842755e-02 6.76880071e+01] [ 1.98155080e-02 -6.47549235e-04 9.99803444e-01 2.82878344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03275509600002 meters 0.027014526170934715 Centerline is valid? [True, True] Translation: X:123.49, Y:67.71, Z:2.83 [[ 3.56360424e-01 -9.34316285e-01 -7.76709759e-03 1.23487970e+02] [ 9.34132468e-01 3.56444471e-01 -1.85437701e-02 6.77109898e+01] [ 2.00942853e-02 -6.47232271e-04 9.99797880e-01 2.82925118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06275509600002 meters 0.024331754093548607 Centerline is valid? [True, True] Translation: X:123.49, Y:67.74, Z:2.83 [[ 3.56505097e-01 -9.34261384e-01 -7.73183845e-03 1.23493495e+02] [ 9.34078873e-01 3.56588366e-01 -1.84769343e-02 6.77378149e+01] [ 2.00193699e-02 -6.35025683e-04 9.99799391e-01 2.83018493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09275509600002 meters 0.02435167402130913 Centerline is valid? [True, True] Translation: X:123.50, Y:67.76, Z:2.83 [[ 3.56660632e-01 -9.34202563e-01 -7.66584232e-03 1.23502833e+02] [ 9.34022780e-01 3.56742467e-01 -1.83373473e-02 6.77633353e+01] [ 1.98655284e-02 -6.19861455e-04 9.99802469e-01 2.83064509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12275509600002 meters 0.023863144684382737 Centerline is valid? [True, True] Translation: X:123.51, Y:67.79, Z:2.83 [[ 3.58084623e-01 -9.33657913e-01 -7.63576559e-03 1.23511910e+02] [ 9.33479060e-01 3.58165555e-01 -1.82833256e-02 6.77892569e+01] [ 1.98052398e-02 -5.80849534e-04 9.99803688e-01 2.83131515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15275509600002 meters 0.02347955400827533 Centerline is valid? [True, True] Translation: X:123.52, Y:67.81, Z:2.83 [[ 3.58588318e-01 -9.33465133e-01 -7.56723455e-03 1.23521974e+02] [ 9.33289128e-01 3.58667718e-01 -1.81348081e-02 6.78149170e+01] [ 1.96423338e-02 -5.59487412e-04 9.99806914e-01 2.83202156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18275509600002 meters 0.02347955400827533 Centerline is valid? [True, True] Translation: X:123.53, Y:67.84, Z:2.83 [[ 3.58262899e-01 -9.33590128e-01 -7.56091258e-03 1.23532078e+02] [ 9.33414096e-01 3.58342237e-01 -1.81374435e-02 6.78397021e+01] [ 1.96423326e-02 -5.59489280e-04 9.99806914e-01 2.83252076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21275509600002 meters 0.023358860249944973 Centerline is valid? [True, True] Translation: X:123.54, Y:67.86, Z:2.83 [[ 3.58828848e-01 -9.33372668e-01 -7.57107400e-03 1.23541923e+02] [ 9.33195760e-01 3.58908303e-01 -1.81797419e-02 6.78635653e+01] [ 1.96857955e-02 -5.41878304e-04 9.99806069e-01 2.83328509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.242755096 meters 0.02203550811314016 Centerline is valid? [True, True] Translation: X:123.55, Y:67.89, Z:2.83 [[ 3.60473062e-01 -9.32738806e-01 -7.58233235e-03 1.23550720e+02] [ 9.32560864e-01 3.60552450e-01 -1.82254107e-02 6.78906599e+01] [ 1.97333763e-02 -5.01216811e-04 9.99805152e-01 2.83446326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.272755096 meters 0.021867714321006357 Centerline is valid? [True, True] Translation: X:123.56, Y:67.92, Z:2.83 [[ 3.61255233e-01 -9.32436002e-01 -7.59989614e-03 1.23559876e+02] [ 9.32256847e-01 3.61334847e-01 -1.82838467e-02 6.79151220e+01] [ 1.97946242e-02 -4.79919915e-04 9.99803952e-01 2.83490860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.302755096 meters 0.02143981980327924 Centerline is valid? [True, True] Translation: X:123.57, Y:67.94, Z:2.84 [[ 3.61935197e-01 -9.32173900e-01 -7.39813722e-03 1.23569037e+02] [ 9.32003732e-01 3.62010525e-01 -1.78163636e-02 6.79410048e+01] [ 1.92861526e-02 -4.46722437e-04 9.99813905e-01 2.83555443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.332755096 meters 0.020256672640710457 Centerline is valid? [True, True] Translation: X:123.58, Y:67.97, Z:2.84 [[ 3.62902635e-01 -9.31797360e-01 -7.44025440e-03 1.23576955e+02] [ 9.31624830e-01 3.62978652e-01 -1.79352981e-02 6.79676395e+01] [ 1.94127169e-02 -4.22758803e-04 9.99811466e-01 2.83634065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.362755096 meters 0.019829028367931024 Centerline is valid? [True, True] Translation: X:123.59, Y:67.99, Z:2.84 [[ 3.64442748e-01 -9.31194792e-01 -7.59883334e-03 1.23586754e+02] [ 9.31014365e-01 3.64521747e-01 -1.83343259e-02 6.79930552e+01] [ 1.98427688e-02 -3.92810892e-04 9.99803036e-01 2.83737572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.392755096 meters 0.020305497976187255 Centerline is valid? [True, True] Translation: X:123.60, Y:68.02, Z:2.84 [[ 3.64717893e-01 -9.31086316e-01 -7.68963238e-03 1.23597662e+02] [ 9.30901185e-01 3.64798744e-01 -1.85704169e-02 6.80170914e+01] [ 2.00958293e-02 -3.85324554e-04 9.99797984e-01 2.83776517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.422755096 meters 0.019687724851596387 Centerline is valid? [True, True] Translation: X:123.61, Y:68.04, Z:2.84 [[ 3.65314387e-01 -9.30850301e-01 -7.94455699e-03 1.23607771e+02] [ 9.30652210e-01 3.65400568e-01 -1.92065025e-02 6.80419647e+01] [ 2.07813243e-02 -3.77207818e-04 9.99783974e-01 2.83830821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.452755096 meters 0.01894982858464167 Centerline is valid? [True, True] Translation: X:123.62, Y:68.07, Z:2.84 [[ 3.65454845e-01 -9.30793594e-01 -8.12656128e-03 1.23617483e+02] [ 9.30585897e-01 3.65544996e-01 -1.96658076e-02 6.80687118e+01] [ 2.12754315e-02 -3.75498648e-04 9.99773582e-01 2.83865945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.482755096 meters 0.019667863244284944 Centerline is valid? [True, True] Translation: X:123.63, Y:68.09, Z:2.84 [[ 3.65058936e-01 -9.30946128e-01 -8.44272106e-03 1.23628261e+02] [ 9.30721564e-01 3.65156339e-01 -2.04503605e-02 6.80921849e+01] [ 2.21210971e-02 -3.92235705e-04 9.99755222e-01 2.83831813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.512755096 meters 0.019144732879756102 Centerline is valid? [True, True] Translation: X:123.64, Y:68.12, Z:2.84 [[ 3.64926350e-01 -9.30994219e-01 -8.86136278e-03 1.23637072e+02] [ 9.30746300e-01 3.65033697e-01 -2.14878136e-02 6.81179679e+01] [ 2.32397262e-02 -4.06211224e-04 9.99729839e-01 2.83761589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.542755096 meters 0.019563182390175227 Centerline is valid? [True, True] Translation: X:123.65, Y:68.14, Z:2.84 [[ 3.64175861e-01 -9.31289036e-01 -8.75638043e-03 1.23647576e+02] [ 9.31046552e-01 3.64280884e-01 -2.12545625e-02 6.81417581e+01] [ 2.29839230e-02 -4.12199211e-04 9.99735750e-01 2.83790913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.572755096 meters 0.01986886123736544 Centerline is valid? [True, True] Translation: X:123.66, Y:68.17, Z:2.84 [[ 3.63373128e-01 -9.31602312e-01 -8.78080502e-03 1.23658535e+02] [ 9.31358052e-01 3.63478957e-01 -2.13360594e-02 6.81663454e+01] [ 2.30683601e-02 -4.25122822e-04 9.99733800e-01 2.83868408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.602755096 meters 0.020312370650311693 Centerline is valid? [True, True] Translation: X:123.67, Y:68.19, Z:2.84 [[ 3.61614685e-01 -9.32288062e-01 -8.59008657e-03 1.23671439e+02] [ 9.32054043e-01 3.61716417e-01 -2.08924317e-02 6.81914355e+01] [ 2.25849400e-02 -4.51414808e-04 9.99744826e-01 2.83990929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.632755096 meters 0.02055356067576404 Centerline is valid? [True, True] Translation: X:123.68, Y:68.22, Z:2.84 [[ 3.60515907e-01 -9.32712822e-01 -8.66443248e-03 1.23682760e+02] [ 9.32474421e-01 3.60619697e-01 -2.10923836e-02 6.82163073e+01] [ 2.27977017e-02 -4.75221834e-04 9.99739986e-01 2.84077372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.662755096 meters 0.020804406373150456 Centerline is valid? [True, True] Translation: X:123.69, Y:68.24, Z:2.84 [[ 3.57972784e-01 -9.33691586e-01 -8.68957005e-03 1.23694367e+02] [ 9.33451608e-01 3.58077841e-01 -2.11744097e-02 6.82422296e+01] [ 2.28819107e-02 -5.31430755e-04 9.99738034e-01 2.84167513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.692755096 meters 0.02119080038130157 Centerline is valid? [True, True] Translation: X:123.71, Y:68.27, Z:2.84 [[ 3.56628366e-01 -9.34204936e-01 -8.79465055e-03 1.23705834e+02] [ 9.33958811e-01 3.56736344e-01 -2.14503977e-02 6.82675135e+01] [ 2.31764389e-02 -5.64021105e-04 9.99731231e-01 2.84210782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72275509600001 meters 0.02375855685800254 Centerline is valid? [True, True] Translation: X:123.72, Y:68.29, Z:2.84 [[ 3.55277075e-01 -9.34718619e-01 -8.90526766e-03 1.23720111e+02] [ 9.34465974e-01 3.55388162e-01 -2.17392937e-02 6.82909670e+01] [ 2.34849493e-02 -5.98196936e-04 9.99724012e-01 2.84179044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75275509600002 meters 0.022066274857773526 Centerline is valid? [True, True] Translation: X:123.73, Y:68.32, Z:2.84 [[ 3.54122668e-01 -9.35155647e-01 -9.00290287e-03 1.23727784e+02] [ 9.34897191e-01 3.54236533e-01 -2.19936497e-02 6.83181390e+01] [ 2.37566428e-02 -6.28338705e-04 9.99717574e-01 2.84249743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78275509600002 meters 0.02308397021048427 Centerline is valid? [True, True] Translation: X:123.74, Y:68.34, Z:2.84 [[ 3.52798299e-01 -9.35653734e-01 -9.24390610e-03 1.23739666e+02] [ 9.35380900e-01 3.52918742e-01 -2.26038541e-02 6.83422063e+01] [ 2.44117282e-02 -6.71971909e-04 9.99701764e-01 2.84202760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81275509600002 meters 0.024835600903918544 Centerline is valid? [True, True] Translation: X:123.75, Y:68.37, Z:2.84 [[ 3.52475768e-01 -9.35773408e-01 -9.43196845e-03 1.23752653e+02] [ 9.35488821e-01 3.52601275e-01 -2.30869416e-02 6.83655410e+01] [ 2.49298701e-02 -6.85913568e-04 9.99688967e-01 2.84166327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84275509600002 meters 0.025239611187338366 Centerline is valid? [True, True] Translation: X:123.76, Y:68.39, Z:2.84 [[ 3.52324627e-01 -9.35827954e-01 -9.66425560e-03 1.23762448e+02] [ 9.35528552e-01 3.52456456e-01 -2.36806860e-02 6.83895956e+01] [ 2.55672772e-02 -6.97898179e-04 9.99672860e-01 2.84196633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87275509600002 meters 0.023925904754263077 Centerline is valid? [True, True] Translation: X:123.77, Y:68.42, Z:2.84 [[ 3.52235106e-01 -9.35862123e-01 -9.61856502e-03 1.23769949e+02] [ 9.35564964e-01 3.52365736e-01 -2.35920554e-02 6.84156010e+01] [ 2.54681638e-02 -6.88842301e-04 9.99675396e-01 2.84329510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90275509600002 meters 0.022689614481751014 Centerline is valid? [True, True] Translation: X:123.78, Y:68.44, Z:2.84 [[ 3.52146518e-01 -9.35895506e-01 -9.61414878e-03 1.23777719e+02] [ 9.35598039e-01 3.52277073e-01 -2.36045236e-02 6.84419227e+01] [ 2.54782118e-02 -6.82727940e-04 9.99675145e-01 2.84433939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93275509600002 meters 0.022225799963030198 Centerline is valid? [True, True] Translation: X:123.79, Y:68.47, Z:2.84 [[ 3.52755532e-01 -9.35664522e-01 -9.76918930e-03 1.23786842e+02] [ 9.35356652e-01 3.52890148e-01 -2.40099273e-02 6.84678511e+01] [ 2.59126878e-02 -6.68041528e-04 9.99663987e-01 2.84467696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96275509600002 meters 0.022187644785167705 Centerline is valid? [True, True] Translation: X:123.80, Y:68.49, Z:2.84 [[ 3.53104611e-01 -9.35532176e-01 -9.83260864e-03 1.23796514e+02] [ 9.35219589e-01 3.53240880e-01 -2.41909173e-02 6.84924542e+01] [ 2.61046609e-02 -6.53723753e-04 9.99659002e-01 2.84498613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.992755096 meters 0.02156637732990173 Centerline is valid? [True, True] Translation: X:123.81, Y:68.52, Z:2.85 [[ 3.54149640e-01 -9.35136212e-01 -9.91445707e-03 1.23806502e+02] [ 9.34817583e-01 3.54287847e-01 -2.44173487e-02 6.85189767e+01] [ 2.63461186e-02 -6.20813535e-04 9.99652688e-01 2.84607600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.022755096 meters 0.02158726281398843 Centerline is valid? [True, True] Translation: X:123.82, Y:68.54, Z:2.85 [[ 3.54055101e-01 -9.35174202e-01 -9.70547958e-03 1.23816309e+02] [ 9.34868314e-01 3.54187588e-01 -2.39246157e-02 6.85441497e+01] [ 2.58112438e-02 -6.02713111e-04 9.99666653e-01 2.84678005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.052755096 meters 0.021374333709103382 Centerline is valid? [True, True] Translation: X:123.83, Y:68.57, Z:2.85 [[ 3.54152329e-01 -9.35137940e-01 -9.65194492e-03 1.23825367e+02] [ 9.34834790e-01 3.54283342e-01 -2.38165812e-02 6.85701117e+01] [ 2.56913120e-02 -5.88276191e-04 9.99669751e-01 2.84751772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.082755096 meters 0.021042436122868595 Centerline is valid? [True, True] Translation: X:123.83, Y:68.60, Z:2.85 [[ 3.54532506e-01 -9.34996789e-01 -9.36517728e-03 1.23832702e+02] [ 9.34710768e-01 3.54655747e-01 -2.31318367e-02 6.85963443e+01] [ 2.49496070e-02 -5.52744014e-04 9.99688557e-01 2.84830783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.112755096 meters 0.020564041661586163 Centerline is valid? [True, True] Translation: X:123.84, Y:68.62, Z:2.85 [[ 3.54354700e-01 -9.35066250e-01 -9.15723420e-03 1.23841745e+02] [ 9.34792277e-01 3.54472593e-01 -2.26402309e-02 6.86231204e+01] [ 2.44161044e-02 -5.37439581e-04 9.99701738e-01 2.84932548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.142755096 meters 0.02084242959696496 Centerline is valid? [True, True] Translation: X:123.85, Y:68.65, Z:2.85 [[ 3.53890304e-01 -9.35245228e-01 -8.83270315e-03 1.23851482e+02] [ 9.34989910e-01 3.54000127e-01 -2.18581221e-02 6.86473631e+01] [ 2.35694824e-02 -5.23110846e-04 9.99722064e-01 2.85033346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.172755096 meters 0.020978300497979833 Centerline is valid? [True, True] Translation: X:123.86, Y:68.67, Z:2.85 [[ 3.52728628e-01 -9.35686496e-01 -8.56133132e-03 1.23862287e+02] [ 9.35446260e-01 3.52832117e-01 -2.12083011e-02 6.86730318e+01] [ 2.28650336e-02 -5.27890398e-04 9.99738422e-01 2.85197268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.202755096 meters 0.020856948405054285 Centerline is valid? [True, True] Translation: X:123.87, Y:68.70, Z:2.85 [[ 3.51885433e-01 -9.36004819e-01 -8.46294209e-03 1.23872215e+02] [ 9.35769733e-01 3.51986779e-01 -2.09836514e-02 6.86989758e+01] [ 2.26196426e-02 -5.35523788e-04 9.99744000e-01 2.85261830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.232755096 meters 0.02111781898569804 Centerline is valid? [True, True] Translation: X:123.88, Y:68.72, Z:2.85 [[ 3.51067292e-01 -9.36312682e-01 -8.38553846e-03 1.23882649e+02] [ 9.36081535e-01 3.51167005e-01 -2.08109276e-02 6.87248215e+01] [ 2.24302598e-02 -5.43511726e-04 9.99748262e-01 2.85289784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.262755096 meters 0.021687545922979667 Centerline is valid? [True, True] Translation: X:123.89, Y:68.75, Z:2.85 [[ 3.49640939e-01 -9.36845502e-01 -8.46866517e-03 1.23894065e+02] [ 9.36609458e-01 3.49743009e-01 -2.10369014e-02 6.87509371e+01] [ 2.26701829e-02 -5.76469917e-04 9.99742832e-01 2.85317336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.292755096 meters 0.02201763583130333 Centerline is valid? [True, True] Translation: X:123.90, Y:68.78, Z:2.85 [[ 3.48369557e-01 -9.37319912e-01 -8.36865756e-03 1.23904580e+02] [ 9.37089118e-01 3.48469554e-01 -2.08075684e-02 6.87771107e+01] [ 2.24195706e-02 -5.93454561e-04 9.99748474e-01 2.85349086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.322755096 meters 0.02225439877723927 Centerline is valid? [True, True] Translation: X:123.92, Y:68.80, Z:2.85 [[ 3.47058796e-01 -9.37807069e-01 -8.25184547e-03 1.23915005e+02] [ 9.37582392e-01 3.47156347e-01 -2.05360241e-02 6.88035094e+01] [ 2.21235091e-02 -6.09577210e-04 9.99755059e-01 2.85398272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.352755096 meters 0.023653218759628544 Centerline is valid? [True, True] Translation: X:123.93, Y:68.83, Z:2.85 [[ 3.44174676e-01 -9.38871972e-01 -7.95060524e-03 1.23927080e+02] [ 9.38663296e-01 3.44265887e-01 -1.98044121e-02 6.88276322e+01] [ 2.13309296e-02 -6.46764212e-04 9.99772261e-01 2.85499434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.382755096 meters 0.024160676410029287 Centerline is valid? [True, True] Translation: X:123.94, Y:68.85, Z:2.86 [[ 3.42668173e-01 -9.39423908e-01 -7.82585175e-03 1.23938713e+02] [ 9.39221477e-01 3.42756882e-01 -1.95125036e-02 6.88533733e+01] [ 2.10128770e-02 -6.63894075e-04 9.99778985e-01 2.85532133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.412755096 meters 0.025184455308770337 Centerline is valid? [True, True] Translation: X:123.95, Y:68.88, Z:2.86 [[ 3.40836824e-01 -9.40087595e-01 -8.09767525e-03 1.23950498e+02] [ 9.39870618e-01 3.40932238e-01 -2.02096513e-02 6.88774686e+01] [ 2.17596010e-02 -7.22573687e-04 9.99762971e-01 2.85563681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.442755096 meters 0.02673326272620107 Centerline is valid? [True, True] Translation: X:123.96, Y:68.90, Z:2.86 [[ 3.37835163e-01 -9.41168911e-01 -8.27551738e-03 1.23963678e+02] [ 9.40942164e-01 3.37935552e-01 -2.06738096e-02 6.89022096e+01] [ 2.22541384e-02 -8.02443418e-04 9.99752024e-01 2.85530322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47275509600001 meters 0.02721633400184835 Centerline is valid? [True, True] Translation: X:123.97, Y:68.93, Z:2.86 [[ 3.36593459e-01 -9.41611379e-01 -8.53541288e-03 1.23974828e+02] [ 9.41369848e-01 3.36700588e-01 -2.13430049e-02 6.89276575e+01] [ 2.29706949e-02 -8.51064466e-04 9.99735777e-01 2.85564960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50275509600002 meters 0.02843463151866735 Centerline is valid? [True, True] Translation: X:123.99, Y:68.95, Z:2.86 [[ 3.35123302e-01 -9.42134447e-01 -8.66346774e-03 1.23985949e+02] [ 9.41885337e-01 3.35234075e-01 -2.16824257e-02 6.89519211e+01] [ 2.33320497e-02 -8.93707122e-04 9.99727371e-01 2.85577451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53275509600002 meters 0.028301865022379354 Centerline is valid? [True, True] Translation: X:124.00, Y:68.98, Z:2.86 [[ 3.34561901e-01 -9.42334912e-01 -8.55857257e-03 1.23995211e+02] [ 9.42091477e-01 3.34670167e-01 -2.14366321e-02 6.89772794e+01] [ 2.30647857e-02 -8.91077888e-04 9.99733575e-01 2.85595187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56275509600002 meters 0.028649479901513713 Centerline is valid? [True, True] Translation: X:124.01, Y:69.00, Z:2.86 [[ 3.34487362e-01 -9.42359998e-01 -8.70856095e-03 1.24005169e+02] [ 9.42107429e-01 3.34599497e-01 -2.18350267e-02 6.90012324e+01] [ 2.34903358e-02 -9.00859495e-04 9.99723658e-01 2.85639857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59275509600002 meters 0.028520974250317847 Centerline is valid? [True, True] Translation: X:124.02, Y:69.03, Z:2.86 [[ 3.34495344e-01 -9.42357414e-01 -8.68152049e-03 1.24015022e+02] [ 9.42105875e-01 3.34606802e-01 -2.17901114e-02 6.90270570e+01] [ 2.34389689e-02 -8.90220629e-04 9.99724873e-01 2.85720562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62275509600002 meters 0.028327938081942845 Centerline is valid? [True, True] Translation: X:124.02, Y:69.05, Z:2.86 [[ 3.34937801e-01 -9.42203290e-01 -8.34439913e-03 1.24024392e+02] [ 9.41970412e-01 3.35040679e-01 -2.09639470e-02 6.90538285e+01] [ 2.25480130e-02 -8.38558777e-04 9.99745410e-01 2.85875685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65275509600002 meters 0.026583230954089158 Centerline is valid? [True, True] Translation: X:124.03, Y:69.08, Z:2.86 [[ 3.35283592e-01 -9.42081173e-01 -8.24475593e-03 1.24031803e+02] [ 9.41853369e-01 3.35383959e-01 -2.07323534e-02 6.90802645e+01] [ 2.22967187e-02 -8.14133228e-04 9.99751066e-01 2.85973516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68275509600002 meters 0.027669600231196363 Centerline is valid? [True, True] Translation: X:124.04, Y:69.10, Z:2.86 [[ 3.36892782e-01 -9.41507338e-01 -8.19671505e-03 1.24043202e+02] [ 9.41281551e-01 3.36991615e-01 -2.06323545e-02 6.91049789e+01] [ 2.21877374e-02 -7.64525339e-04 9.99753530e-01 2.85994021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71275509600002 meters 0.024504489936228144 Centerline is valid? [True, True] Translation: X:124.05, Y:69.13, Z:2.86 [[ 3.37804318e-01 -9.41182154e-01 -8.02466911e-03 1.24048626e+02] [ 9.40965272e-01 3.37898849e-01 -2.02169272e-02 6.91329414e+01] [ 2.17393375e-02 -7.21569651e-04 9.99763412e-01 2.86126647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.742755096 meters 0.02479200366079778 Centerline is valid? [True, True] Translation: X:124.06, Y:69.16, Z:2.86 [[ 3.38728877e-01 -9.40851519e-01 -7.82101660e-03 1.24058474e+02] [ 9.40645038e-01 3.38818480e-01 -1.97218242e-02 6.91583302e+01] [ 2.12052132e-02 -6.76449099e-04 9.99774915e-01 2.86217120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.772755096 meters 0.022135920975266888 Centerline is valid? [True, True] Translation: X:124.06, Y:69.19, Z:2.86 [[ 3.41943594e-01 -9.39688735e-01 -7.72400474e-03 1.24063358e+02] [ 9.39486672e-01 3.42030311e-01 -1.94951394e-02 6.91863308e+01] [ 2.09612066e-02 -5.90361478e-04 9.99780115e-01 2.86263728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.802755096 meters 0.024582571727549726 Centerline is valid? [True, True] Translation: X:124.08, Y:69.21, Z:2.86 [[ 3.43348025e-01 -9.39177069e-01 -7.65284827e-03 1.24076327e+02] [ 9.38978204e-01 3.43432865e-01 -1.93338870e-02 6.92109329e+01] [ 2.07861829e-02 -5.47605810e-04 9.99783794e-01 2.86264608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.832755096 meters 0.021058102516265928 Centerline is valid? [True, True] Translation: X:124.08, Y:69.24, Z:2.86 [[ 3.44673195e-01 -9.38692793e-01 -7.49865751e-03 1.24080725e+02] [ 9.38501394e-01 3.44754390e-01 -1.89616470e-02 6.92389111e+01] [ 2.03843565e-02 -5.01929059e-04 9.99792091e-01 2.86371912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.862755096 meters 0.019833218246483493 Centerline is valid? [True, True] Translation: X:124.09, Y:69.27, Z:2.86 [[ 3.46919874e-01 -9.37868532e-01 -7.01558395e-03 1.24088305e+02] [ 9.37700538e-01 3.46990550e-01 -1.77555141e-02 6.92659529e+01] [ 1.90866793e-02 -4.18776130e-04 9.99817745e-01 2.86495825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.892755096 meters 0.020925954115707305 Centerline is valid? [True, True] Translation: X:124.10, Y:69.29, Z:2.87 [[ 3.47433010e-01 -9.37677891e-01 -7.10459812e-03 1.24099644e+02] [ 9.37505238e-01 3.47505404e-01 -1.79978357e-02 6.92901775e+01] [ 1.93450589e-02 -4.07555706e-04 9.99812784e-01 2.86535562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.922755096 meters 0.019338754775684808 Centerline is valid? [True, True] Translation: X:124.11, Y:69.32, Z:2.87 [[ 3.47729995e-01 -9.37569387e-01 -6.89161750e-03 1.24106522e+02] [ 9.37406561e-01 3.47798070e-01 -1.74768834e-02 6.93169354e+01] [ 1.87826821e-02 -3.83010890e-04 9.99823517e-01 2.86593064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.952755096 meters 0.019152496495779766 Centerline is valid? [True, True] Translation: X:124.12, Y:69.34, Z:2.87 [[ 3.48060941e-01 -9.37448036e-01 -6.69033136e-03 1.24115594e+02] [ 9.37294248e-01 3.48125049e-01 -1.69836274e-02 6.93430770e+01] [ 1.82503401e-02 -3.59471766e-04 9.99833384e-01 2.86642976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.982755096 meters 0.01960940421931623 Centerline is valid? [True, True] Translation: X:124.13, Y:69.37, Z:2.87 [[ 3.47327416e-01 -9.37722051e-01 -6.40481025e-03 1.24125183e+02] [ 9.37580874e-01 3.47386286e-01 -1.62749067e-02 6.93670739e+01] [ 1.74862821e-02 -3.52306300e-04 9.99847041e-01 2.86722348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.012755096 meters 0.020255659461034095 Centerline is valid? [True, True] Translation: X:124.14, Y:69.39, Z:2.87 [[ 3.45807849e-01 -9.38283631e-01 -6.38425476e-03 1.24136294e+02] [ 9.38143144e-01 3.45866575e-01 -1.62405215e-02 6.93929449e+01] [ 1.74463158e-02 -3.73245018e-04 9.99847732e-01 2.86796664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.042755096 meters 0.019675216487832416 Centerline is valid? [True, True] Translation: X:124.15, Y:69.42, Z:2.87 [[ 3.44450404e-01 -9.38783985e-01 -6.20880936e-03 1.24145345e+02] [ 9.38650960e-01 3.44506144e-01 -1.58079739e-02 6.94192256e+01] [ 1.69792457e-02 -3.82841866e-04 9.99855769e-01 2.86855470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.072755096 meters 0.019675216487832416 Centerline is valid? [True, True] Translation: X:124.16, Y:69.44, Z:2.87 [[ 3.44147113e-01 -9.38895244e-01 -6.20369729e-03 1.24155273e+02] [ 9.38762201e-01 3.44202810e-01 -1.58099797e-02 6.94449609e+01] [ 1.69792448e-02 -3.82837633e-04 9.99855769e-01 2.86906945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.102755096 meters 0.021561936296742634 Centerline is valid? [True, True] Translation: X:124.17, Y:69.47, Z:2.87 [[ 3.42758598e-01 -9.39403091e-01 -6.19487520e-03 1.24168363e+02] [ 9.39270255e-01 3.42814340e-01 -1.58024179e-02 6.94693488e+01] [ 1.69685322e-02 -4.02247418e-04 9.99855943e-01 2.86975218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.132755096 meters 0.021601845254874304 Centerline is valid? [True, True] Translation: X:124.18, Y:69.50, Z:2.87 [[ 3.40215577e-01 -9.40325758e-01 -6.38985005e-03 1.24178461e+02] [ 9.40184292e-01 3.40275272e-01 -1.63167624e-02 6.94959976e+01] [ 1.75173799e-02 -4.56419906e-04 9.99846455e-01 2.86950722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.162755096 meters 0.02193258711329714 Centerline is valid? [True, True] Translation: X:124.19, Y:69.52, Z:2.87 [[ 3.38677751e-01 -9.40880019e-01 -6.49395813e-03 1.24188739e+02] [ 9.40733727e-01 3.38739654e-01 -1.65982526e-02 6.95220436e+01] [ 1.78167254e-02 -4.87626567e-04 9.99841151e-01 2.86947411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.192755096 meters 0.022754767859767287 Centerline is valid? [True, True] Translation: X:124.20, Y:69.55, Z:2.87 [[ 3.37162713e-01 -9.41423333e-01 -6.58886924e-03 1.24199652e+02] [ 9.41272546e-01 3.37226688e-01 -1.68568670e-02 6.95475830e+01] [ 1.80913905e-02 -5.18414699e-04 9.99836203e-01 2.86938377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22275509600001 meters 0.02449767452993856 Centerline is valid? [True, True] Translation: X:124.21, Y:69.57, Z:2.87 [[ 3.34175967e-01 -9.42485210e-01 -6.93194399e-03 1.24211400e+02] [ 9.42318206e-01 3.34247317e-01 -1.77519083e-02 6.95718275e+01] [ 1.90478947e-02 -5.99835921e-04 9.99818392e-01 2.86871361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25275509600002 meters 0.025200793307037474 Centerline is valid? [True, True] Translation: X:124.22, Y:69.60, Z:2.87 [[ 3.32748426e-01 -9.42988723e-01 -7.12412844e-03 1.24221898e+02] [ 9.42812084e-01 3.32824066e-01 -1.82624138e-02 6.95973122e+01] [ 1.95923317e-02 -6.39924923e-04 9.99807847e-01 2.86896202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28275509600002 meters 0.026884426193280943 Centerline is valid? [True, True] Translation: X:124.23, Y:69.62, Z:2.87 [[ 3.30517459e-01 -9.43770587e-01 -7.43562892e-03 1.24233093e+02] [ 9.43577962e-01 3.30600326e-01 -1.90801913e-02 6.96221088e+01] [ 2.04655447e-02 -7.09759245e-04 9.99790307e-01 2.86863678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31275509600002 meters 0.025535595668186584 Centerline is valid? [True, True] Translation: X:124.24, Y:69.65, Z:2.87 [[ 3.29540722e-01 -9.44112160e-01 -7.42580263e-03 1.24240520e+02] [ 9.43919755e-01 3.29623582e-01 -1.90733042e-02 6.96490334e+01] [ 2.04550581e-02 -7.23931365e-04 9.99790511e-01 2.86931648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34275509600002 meters 0.02623266144549879 Centerline is valid? [True, True] Translation: X:124.25, Y:69.67, Z:2.87 [[ 3.28743002e-01 -9.44390551e-01 -7.38409054e-03 1.24250342e+02] [ 9.44200009e-01 3.28825108e-01 -1.89839914e-02 6.96741807e+01] [ 2.03563764e-02 -7.31204034e-04 9.99792520e-01 2.86972914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37275509600002 meters 0.026038648226188222 Centerline is valid? [True, True] Translation: X:124.26, Y:69.70, Z:2.87 [[ 3.27969532e-01 -9.44658384e-01 -7.51826584e-03 1.24258656e+02] [ 9.44460515e-01 3.28054825e-01 -1.93485498e-02 6.96998794e+01] [ 2.07441732e-02 -7.54970392e-04 9.99784531e-01 2.87009132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40275509600002 meters 0.026527456065341293 Centerline is valid? [True, True] Translation: X:124.27, Y:69.73, Z:2.87 [[ 3.27564596e-01 -9.44796655e-01 -7.79207122e-03 1.24266705e+02] [ 9.44583679e-01 3.27656323e-01 -2.00750561e-02 6.97261838e+01] [ 2.15199673e-02 -7.84385648e-04 9.99768111e-01 2.87049760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43275509600002 meters 0.026879665732948938 Centerline is valid? [True, True] Translation: X:124.28, Y:69.75, Z:2.87 [[ 3.27255644e-01 -9.44903601e-01 -7.80563891e-03 1.24275773e+02] [ 9.44689454e-01 3.27347777e-01 -2.01312650e-02 6.97511627e+01] [ 2.15772633e-02 -7.85834673e-04 9.99766875e-01 2.87124208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46275509600002 meters 0.02593190017091857 Centerline is valid? [True, True] Translation: X:124.28, Y:69.78, Z:2.87 [[ 3.27925632e-01 -9.44670405e-01 -7.91237322e-03 1.24282737e+02] [ 9.44449808e-01 3.28020163e-01 -2.04287451e-02 6.97789888e+01] [ 2.18938489e-02 -7.73730205e-04 9.99760002e-01 2.87194804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.492755096 meters 0.026404062430346268 Centerline is valid? [True, True] Translation: X:124.29, Y:69.80, Z:2.87 [[ 3.28055002e-01 -9.44624459e-01 -8.03411289e-03 1.24291517e+02] [ 9.44396558e-01 3.28152448e-01 -2.07632372e-02 6.98039100e+01] [ 2.22498755e-02 -7.75904740e-04 9.99752140e-01 2.87240044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.522755096 meters 0.02621485258500886 Centerline is valid? [True, True] Translation: X:124.30, Y:69.83, Z:2.87 [[ 3.28645840e-01 -9.44417793e-01 -8.18196869e-03 1.24299825e+02] [ 9.44180832e-01 3.28746776e-01 -2.11687165e-02 6.98297787e+01] [ 2.26819084e-02 -7.68247381e-04 9.99742437e-01 2.87316693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.552755096 meters 0.02535729285962713 Centerline is valid? [True, True] Translation: X:124.31, Y:69.86, Z:2.87 [[ 3.29944842e-01 -9.43966300e-01 -8.00166623e-03 1.24305941e+02] [ 9.43739081e-01 3.30041081e-01 -2.07227429e-02 6.98576339e+01] [ 2.22024495e-02 -7.14122989e-04 9.99753240e-01 2.87456536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.582755096 meters 0.02507045431723362 Centerline is valid? [True, True] Translation: X:124.31, Y:69.88, Z:2.88 [[ 3.30681359e-01 -9.43709770e-01 -7.85548442e-03 1.24314172e+02] [ 9.43490308e-01 3.30773956e-01 -2.03624147e-02 6.98847031e+01] [ 2.18145993e-02 -6.78102459e-04 9.99761803e-01 2.87570205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.612755096 meters 0.024300210623017564 Centerline is valid? [True, True] Translation: X:124.32, Y:69.91, Z:2.88 [[ 3.31632596e-01 -9.43378025e-01 -7.59753349e-03 1.24321662e+02] [ 9.43172289e-01 3.31719016e-01 -1.97110867e-02 6.99115031e+01] [ 2.11152524e-02 -6.28944194e-04 9.99776850e-01 2.87699951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.642755096 meters 0.023976147448974344 Centerline is valid? [True, True] Translation: X:124.33, Y:69.94, Z:2.88 [[ 3.33521297e-01 -9.42712570e-01 -7.52029321e-03 1.24328424e+02] [ 9.42510461e-01 3.33605576e-01 -1.95281910e-02 6.99375662e+01] [ 2.09182829e-02 -5.74887413e-04 9.99781024e-01 2.87800533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.672755096 meters 0.024188312656466014 Centerline is valid? [True, True] Translation: X:124.34, Y:69.96, Z:2.88 [[ 3.33738935e-01 -9.42636337e-01 -7.42016492e-03 1.24336804e+02] [ 9.42439217e-01 3.33820948e-01 -1.92846205e-02 6.99621234e+01] [ 2.06553906e-02 -5.57025697e-04 9.99786499e-01 2.87868607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.702755096 meters 0.024115833107225152 Centerline is valid? [True, True] Translation: X:124.34, Y:69.99, Z:2.88 [[ 3.34633868e-01 -9.42317575e-01 -7.60015648e-03 1.24343839e+02] [ 9.42110364e-01 3.34719720e-01 -1.97679545e-02 6.99876173e+01] [ 2.11716132e-02 -5.45159115e-04 9.99775708e-01 2.87902240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.732755096 meters 0.02095254305079074 Centerline is valid? [True, True] Translation: X:124.35, Y:70.02, Z:2.88 [[ 3.34705250e-01 -9.42291680e-01 -7.66714314e-03 1.24348026e+02] [ 9.42080456e-01 3.34792614e-01 -1.99579417e-02 7.00162581e+01] [ 2.13731053e-02 -5.43037837e-04 9.99771422e-01 2.87955533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.762755096 meters 0.02341556831577767 Centerline is valid? [True, True] Translation: X:124.36, Y:70.04, Z:2.88 [[ 3.34786251e-01 -9.42263452e-01 -7.59958189e-03 1.24359792e+02] [ 9.42055520e-01 3.34872075e-01 -1.98012817e-02 7.00398319e+01] [ 2.12029118e-02 -5.30031203e-04 9.99775053e-01 2.87940276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.792755096 meters 0.0209943743216468 Centerline is valid? [True, True] Translation: X:124.36, Y:70.07, Z:2.88 [[ 3.34310585e-01 -9.42433007e-01 -7.51396697e-03 1.24363208e+02] [ 9.42229322e-01 3.34394601e-01 -1.95998762e-02 7.00674185e+01] [ 2.09842003e-02 -5.27433906e-04 9.99779668e-01 2.88048834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.822755096 meters 0.021118471152526158 Centerline is valid? [True, True] Translation: X:124.37, Y:70.09, Z:2.88 [[ 3.33687287e-01 -9.42653853e-01 -7.51716913e-03 1.24372376e+02] [ 9.42449612e-01 3.33771520e-01 -1.96290942e-02 7.00929689e+01] [ 2.10124582e-02 -5.34573944e-04 9.99779071e-01 2.88063091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.852755096 meters 0.02107934650457077 Centerline is valid? [True, True] Translation: X:124.38, Y:70.12, Z:2.88 [[ 3.32575313e-01 -9.43046104e-01 -7.59655923e-03 1.24382126e+02] [ 9.42837180e-01 3.32661592e-01 -1.98574353e-02 7.01197800e+01] [ 2.12535605e-02 -5.58225708e-04 9.99773962e-01 2.88062372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.882755096 meters 0.02202296346605877 Centerline is valid? [True, True] Translation: X:124.39, Y:70.14, Z:2.88 [[ 3.31718988e-01 -9.43347773e-01 -7.58232818e-03 1.24392998e+02] [ 9.43139305e-01 3.31805144e-01 -1.98392738e-02 7.01448864e+01] [ 2.12311902e-02 -5.70127899e-04 9.99774430e-01 2.88080870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.912755096 meters 0.023191502944333572 Centerline is valid? [True, True] Translation: X:124.40, Y:70.17, Z:2.88 [[ 3.29839984e-01 -9.44005446e-01 -7.70085172e-03 1.24402074e+02] [ 9.43790159e-01 3.29929295e-01 -2.01691650e-02 7.01697868e+01] [ 2.15805382e-02 -6.15390988e-04 9.99766924e-01 2.88068737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.942755096 meters 0.02315939657235316 Centerline is valid? [True, True] Translation: X:124.41, Y:70.20, Z:2.88 [[ 3.28689591e-01 -9.44406291e-01 -7.74021226e-03 1.24410979e+02] [ 9.44188581e-01 3.28780091e-01 -2.02873114e-02 7.01963932e+01] [ 2.17042922e-02 -6.39991942e-04 9.99764229e-01 2.88079136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97275509600001 meters 0.022825609162599084 Centerline is valid? [True, True] Translation: X:124.42, Y:70.22, Z:2.88 [[ 3.27276715e-01 -9.44896607e-01 -7.76873621e-03 1.24419734e+02] [ 9.44677004e-01 3.27368225e-01 -2.03814495e-02 7.02228687e+01] [ 2.18015998e-02 -6.68572622e-04 9.99762093e-01 2.88102100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00275509600002 meters 0.026075977181267168 Centerline is valid? [True, True] Translation: X:124.43, Y:70.25, Z:2.88 [[ 3.24842117e-01 -9.45734821e-01 -7.95282462e-03 1.24432228e+02] [ 9.45504482e-01 3.24938621e-01 -2.08846049e-02 7.02464694e+01] [ 2.23354780e-02 -7.35232055e-04 9.99750262e-01 2.88064615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03275509600002 meters 0.025448667224804485 Centerline is valid? [True, True] Translation: X:124.44, Y:70.27, Z:2.88 [[ 3.23443777e-01 -9.46214660e-01 -7.87024417e-03 1.24440543e+02] [ 9.45988851e-01 3.23538634e-01 -2.06844533e-02 7.02737204e+01] [ 2.21182610e-02 -7.54905545e-04 9.99755076e-01 2.88134235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06275509600002 meters 0.029957570411093846 Centerline is valid? [True, True] Translation: X:124.46, Y:70.30, Z:2.88 [[ 3.21543434e-01 -9.46861440e-01 -7.95194567e-03 1.24455402e+02] [ 9.46630660e-01 3.21640749e-01 -2.09194030e-02 7.02972956e+01] [ 2.23654458e-02 -8.01058919e-04 9.99749541e-01 2.88106220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09275509600002 meters 0.02726097173445417 Centerline is valid? [True, True] Translation: X:124.46, Y:70.32, Z:2.88 [[ 3.20319855e-01 -9.47276486e-01 -7.90245872e-03 1.24460840e+02] [ 9.47048224e-01 3.20416275e-01 -2.08103814e-02 7.03246283e+01] [ 2.22452614e-02 -8.18031132e-04 9.99752209e-01 2.88204927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12275509600002 meters 0.030632459284049326 Centerline is valid? [True, True] Translation: X:124.47, Y:70.35, Z:2.88 [[ 3.18463704e-01 -9.47903802e-01 -7.69749624e-03 1.24473518e+02] [ 9.47686931e-01 3.18555630e-01 -2.02926286e-02 7.03498521e+01] [ 2.16875406e-02 -8.32350904e-04 9.99764451e-01 2.88296439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15275509600002 meters 0.030699059122132843 Centerline is valid? [True, True] Translation: X:124.48, Y:70.38, Z:2.88 [[ 3.17762060e-01 -9.48140490e-01 -7.54219933e-03 1.24482370e+02] [ 9.47931934e-01 3.17850485e-01 -1.99027162e-02 7.03756927e+01] [ 2.12678628e-02 -8.25163514e-04 9.99773473e-01 2.88411614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18275509600002 meters 0.02702947350669282 Centerline is valid? [True, True] Translation: X:124.49, Y:70.40, Z:2.89 [[ 3.17438837e-01 -9.48248943e-01 -7.51844914e-03 1.24486110e+02] [ 9.48041233e-01 3.17526796e-01 -1.98634021e-02 7.04034167e+01] [ 2.12227591e-02 -8.22384509e-04 9.99774434e-01 2.88504715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21275509600002 meters 0.031217595593716608 Centerline is valid? [True, True] Translation: X:124.50, Y:70.43, Z:2.89 [[ 3.17322485e-01 -9.48288184e-01 -7.48071963e-03 1.24499457e+02] [ 9.48082076e-01 3.17409607e-01 -1.97868021e-02 7.04262712e+01] [ 2.11380429e-02 -8.13539002e-04 9.99776236e-01 2.88541591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.242755096 meters 0.0308159030484433 Centerline is valid? [True, True] Translation: X:124.51, Y:70.45, Z:2.89 [[ 3.17472003e-01 -9.48237983e-01 -7.50031488e-03 1.24506035e+02] [ 9.48030296e-01 3.17559568e-01 -1.98614677e-02 7.04534658e+01] [ 2.12151948e-02 -8.05065804e-04 9.99774608e-01 2.88595599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.272755096 meters 0.03068356147703082 Centerline is valid? [True, True] Translation: X:124.51, Y:70.48, Z:2.89 [[ 3.17752746e-01 -9.48144960e-01 -7.37072684e-03 1.24514415e+02] [ 9.47943920e-01 3.17837269e-01 -1.95395842e-02 7.04794119e+01] [ 2.08690500e-02 -7.78279150e-04 9.99781915e-01 2.88673411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.302755096 meters 0.030520842595171363 Centerline is valid? [True, True] Translation: X:124.52, Y:70.51, Z:2.89 [[ 3.18460810e-01 -9.47907512e-01 -7.35256918e-03 1.24521213e+02] [ 9.47706930e-01 3.18544785e-01 -1.95139523e-02 7.05053966e+01] [ 2.08395446e-02 -7.53651702e-04 9.99782549e-01 2.88736240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.332755096 meters 0.030271791276570044 Centerline is valid? [True, True] Translation: X:124.53, Y:70.53, Z:2.89 [[ 3.18841741e-01 -9.47779449e-01 -7.35254189e-03 1.24529012e+02] [ 9.47578368e-01 3.18925650e-01 -1.95362646e-02 7.05314870e+01] [ 2.08609843e-02 -7.38133021e-04 9.99782114e-01 2.88781980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.362755096 meters 0.0312149364722239 Centerline is valid? [True, True] Translation: X:124.54, Y:70.56, Z:2.89 [[ 3.19125728e-01 -9.47682239e-01 -7.55929892e-03 1.24536960e+02] [ 9.47469159e-01 3.19214377e-01 -2.01090652e-02 7.05578435e+01] [ 2.14700408e-02 -7.44882527e-04 9.99769215e-01 2.88588171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.392755096 meters 0.026373306276564135 Centerline is valid? [True, True] Translation: X:124.54, Y:70.59, Z:2.89 [[ 3.19521241e-01 -9.47550415e-01 -7.37481484e-03 1.24540814e+02] [ 9.47347120e-01 3.19605547e-01 -1.96399824e-02 7.05858103e+01] [ 2.09669052e-02 -7.11118056e-04 9.99779917e-01 2.88861182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.422755096 meters 0.029991960876133195 Centerline is valid? [True, True] Translation: X:124.55, Y:70.61, Z:2.89 [[ 3.19639735e-01 -9.47511217e-01 -7.27552212e-03 1.24553615e+02] [ 9.47312907e-01 3.19721777e-01 -1.93969721e-02 7.06092730e+01] [ 2.07049915e-02 -6.92152993e-04 9.99785389e-01 2.88899109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.452755096 meters 0.030216396011316714 Centerline is valid? [True, True] Translation: X:124.56, Y:70.63, Z:2.89 [[ 3.19421235e-01 -9.47586717e-01 -7.03475654e-03 1.24562672e+02] [ 9.47400929e-01 3.19497993e-01 -1.87752827e-02 7.06344823e+01] [ 2.00387991e-02 -6.67510892e-04 9.99798980e-01 2.89024739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.482755096 meters 0.030829778326794354 Centerline is valid? [True, True] Translation: X:124.57, Y:70.66, Z:2.89 [[ 3.18800583e-01 -9.47795433e-01 -7.07152515e-03 1.24571115e+02] [ 9.47607279e-01 3.18878284e-01 -1.88966674e-02 7.06588346e+01] [ 2.01651308e-02 -6.76760145e-04 9.99796434e-01 2.89089268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.512755096 meters 0.03108589692112027 Centerline is valid? [True, True] Translation: X:124.58, Y:70.68, Z:2.89 [[ 3.17930831e-01 -9.48088472e-01 -6.94527644e-03 1.24579970e+02] [ 9.47906587e-01 3.18005965e-01 -1.85824922e-02 7.06834928e+01] [ 1.98264860e-02 -6.75526093e-04 9.99803208e-01 2.89140381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.542755096 meters 0.03188691511594732 Centerline is valid? [True, True] Translation: X:124.59, Y:70.71, Z:2.89 [[ 3.17208803e-01 -9.48329911e-01 -6.99685365e-03 1.24589925e+02] [ 9.48144919e-01 3.17285214e-01 -1.87431740e-02 7.07081313e+01] [ 1.99947107e-02 -6.88531449e-04 9.99799849e-01 2.89178988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.572755096 meters 0.033487184811743134 Centerline is valid? [True, True] Translation: X:124.60, Y:70.73, Z:2.89 [[ 3.16144750e-01 -9.48684693e-01 -7.06039885e-03 1.24600612e+02] [ 9.48495963e-01 3.16222782e-01 -1.89356947e-02 7.07325268e+01] [ 2.01966627e-02 -7.10339322e-04 9.99795774e-01 2.89201928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.602755096 meters 0.02839441952338964 Centerline is valid? [True, True] Translation: X:124.60, Y:70.76, Z:2.89 [[ 3.15494454e-01 -9.48901470e-01 -7.01786288e-03 1.24603030e+02] [ 9.48714736e-01 3.15571688e-01 -1.88376933e-02 7.07606969e+01] [ 2.00897537e-02 -7.14762166e-04 9.99797925e-01 2.89286558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.632755096 meters 0.03198307833920337 Centerline is valid? [True, True] Translation: X:124.62, Y:70.78, Z:2.89 [[ 3.14634254e-01 -9.49187331e-01 -6.97825548e-03 1.24616157e+02] [ 9.49002321e-01 3.14710802e-01 -1.87537988e-02 7.07833951e+01] [ 1.99970007e-02 -7.21793141e-04 9.99799779e-01 2.89300831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.662755096 meters 0.029462907840118978 Centerline is valid? [True, True] Translation: X:124.62, Y:70.81, Z:2.89 [[ 3.13714689e-01 -9.49490269e-01 -7.16401215e-03 1.24621883e+02] [ 9.49294849e-01 3.13795574e-01 -1.92776168e-02 7.08099692e+01] [ 2.05519449e-02 -7.53088266e-04 9.99788503e-01 2.89311311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.692755096 meters 0.03639367533554796 Centerline is valid? [True, True] Translation: X:124.64, Y:70.83, Z:2.89 [[ 3.12931199e-01 -9.49748769e-01 -7.16525040e-03 1.24639120e+02] [ 9.49552874e-01 3.13012291e-01 -1.93040456e-02 7.08312540e+01] [ 2.05768050e-02 -7.62945948e-04 9.99787984e-01 2.89310834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72275509600001 meters 0.038097245499867226 Centerline is valid? [True, True] Translation: X:124.65, Y:70.86, Z:2.89 [[ 3.11951784e-01 -9.50067823e-01 -7.56410061e-03 1.24649651e+02] [ 9.49849033e-01 3.12042401e-01 -2.04047836e-02 7.08556740e+01] [ 2.17462485e-02 -8.19444991e-04 9.99763187e-01 2.89201704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75275509600002 meters 0.038083496287806225 Centerline is valid? [True, True] Translation: X:124.66, Y:70.88, Z:2.89 [[ 3.11341518e-01 -9.50266657e-01 -7.72916643e-03 1.24658605e+02] [ 9.50037760e-01 3.11436298e-01 -2.08731217e-02 7.08809082e+01] [ 2.22421746e-02 -8.44330556e-04 9.99752256e-01 2.89188999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78275509600002 meters 0.030138062461691973 Centerline is valid? [True, True] Translation: X:124.66, Y:70.91, Z:2.89 [[ 3.10429839e-01 -9.50564009e-01 -7.83451060e-03 1.24657813e+02] [ 9.50328370e-01 3.10527467e-01 -2.11821063e-02 7.09099297e+01] [ 2.25677787e-02 -8.69799833e-04 9.99744937e-01 2.89320116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81275509600002 meters 0.031134565819270984 Centerline is valid? [True, True] Translation: X:124.67, Y:70.94, Z:2.89 [[ 3.09173765e-01 -9.50973588e-01 -7.79862283e-03 1.24668090e+02] [ 9.50739662e-01 3.09270832e-01 -2.11103499e-02 7.09351353e+01] [ 2.24872717e-02 -8.87693683e-04 9.99746735e-01 2.89399390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84275509600002 meters 0.03170136839915526 Centerline is valid? [True, True] Translation: X:124.68, Y:70.96, Z:2.89 [[ 3.08531854e-01 -9.51181561e-01 -7.85705123e-03 1.24677670e+02] [ 9.50943625e-01 3.08630563e-01 -2.12931223e-02 7.09605212e+01] [ 2.26785515e-02 -9.02006263e-04 9.99742402e-01 2.89405911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87275509600002 meters 0.032196719560341355 Centerline is valid? [True, True] Translation: X:124.69, Y:70.99, Z:2.89 [[ 3.08157381e-01 -9.51301519e-01 -8.02800365e-03 1.24687353e+02] [ 9.51052534e-01 3.08260554e-01 -2.17831975e-02 7.09851967e+01] [ 2.31971057e-02 -9.22400137e-04 9.99730485e-01 2.89398105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90275509600002 meters 0.028709887057964945 Centerline is valid? [True, True] Translation: X:124.69, Y:71.01, Z:2.90 [[ 3.08139272e-01 -9.51308210e-01 -7.92955773e-03 1.24691990e+02] [ 9.51064685e-01 3.08239960e-01 -2.15427805e-02 7.10114896e+01] [ 2.29380305e-02 -9.03345620e-04 9.99736481e-01 2.89535774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93275509600002 meters 0.032790626212779166 Centerline is valid? [True, True] Translation: X:124.71, Y:71.04, Z:2.90 [[ 3.07944332e-01 -9.51372552e-01 -7.78177230e-03 1.24706147e+02] [ 9.51137473e-01 3.08041373e-01 -2.11664640e-02 7.10351449e+01] [ 2.25343007e-02 -8.83442609e-04 9.99745680e-01 2.89534676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96275509600002 meters 0.03287211437356682 Centerline is valid? [True, True] Translation: X:124.72, Y:71.06, Z:2.90 [[ 3.08148967e-01 -9.51306044e-01 -7.81183910e-03 1.24715312e+02] [ 9.51068593e-01 3.08246728e-01 -2.12717128e-02 7.10606970e+01] [ 2.26438828e-02 -8.74738505e-04 9.99743212e-01 2.89598503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.992755096 meters 0.03287211437356682 Centerline is valid? [True, True] Translation: X:124.72, Y:71.09, Z:2.90 [[ 3.07792454e-01 -9.51421518e-01 -7.80388568e-03 1.24724251e+02] [ 9.51184030e-01 3.07890127e-01 -2.12746305e-02 7.10859261e+01] [ 2.26438806e-02 -8.74760692e-04 9.99743212e-01 2.89648441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.022755096 meters 0.03125179642750423 Centerline is valid? [True, True] Translation: X:124.73, Y:71.11, Z:2.90 [[ 3.08635646e-01 -9.51148546e-01 -7.77699461e-03 1.24730605e+02] [ 9.50912051e-01 3.08732458e-01 -2.12259241e-02 7.11125119e+01] [ 2.25900175e-02 -8.44161108e-04 9.99744457e-01 2.89745553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.052755096 meters 0.0317112442955202 Centerline is valid? [True, True] Translation: X:124.74, Y:71.14, Z:2.90 [[ 3.09352874e-01 -9.50916695e-01 -7.63145036e-03 1.24739872e+02] [ 9.50688362e-01 3.09445945e-01 -2.08529357e-02 7.11374949e+01] [ 2.21909261e-02 -8.04215458e-04 9.99753428e-01 2.89766639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.082755096 meters 0.03148979738459805 Centerline is valid? [True, True] Translation: X:124.75, Y:71.16, Z:2.90 [[ 3.09749630e-01 -9.50787910e-01 -7.58402053e-03 1.24748076e+02] [ 9.50561811e-01 3.09841474e-01 -2.07486279e-02 7.11626827e+01] [ 2.20773886e-02 -7.82200484e-04 9.99755959e-01 2.89800112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.112755096 meters 0.029404975572233934 Centerline is valid? [True, True] Translation: X:124.75, Y:71.19, Z:2.90 [[ 3.11749438e-01 -9.50134338e-01 -7.55168496e-03 1.24754965e+02] [ 9.49909411e-01 3.11840047e-01 -2.06856439e-02 7.11894814e+01] [ 2.20090584e-02 -7.24678747e-04 9.99757509e-01 2.89862164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.142755096 meters 0.028944934423995868 Centerline is valid? [True, True] Translation: X:124.76, Y:71.21, Z:2.90 [[ 3.12727056e-01 -9.49814726e-01 -7.33309450e-03 1.24763102e+02] [ 9.49602066e-01 3.12812293e-01 -2.01093480e-02 7.12141403e+01] [ 2.13940370e-02 -6.74784495e-04 9.99770894e-01 2.89962178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.172755096 meters 0.024378254908598292 Centerline is valid? [True, True] Translation: X:124.77, Y:71.24, Z:2.90 [[ 3.15327700e-01 -9.48954326e-01 -7.35720769e-03 1.24765576e+02] [ 9.48739521e-01 3.15412926e-01 -2.01991778e-02 7.12435047e+01] [ 2.14886555e-02 -6.10713438e-04 9.99768906e-01 2.90078688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.202755096 meters 0.024151232104801766 Centerline is valid? [True, True] Translation: X:124.77, Y:71.27, Z:2.90 [[ 3.16431780e-01 -9.48585975e-01 -7.45498369e-03 1.24773731e+02] [ 9.48364855e-01 3.16519042e-01 -2.04889716e-02 7.12693193e+01] [ 2.17951954e-02 -5.86682779e-04 9.99762284e-01 2.90026156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.232755096 meters 0.023642233527674347 Centerline is valid? [True, True] Translation: X:124.78, Y:71.30, Z:2.90 [[ 3.17347434e-01 -9.48278678e-01 -7.62595287e-03 1.24781795e+02] [ 9.48046696e-01 3.17438534e-01 -2.09818664e-02 7.12952207e+01] [ 2.23174279e-02 -5.71217942e-04 9.99750772e-01 2.89992873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.262755096 meters 0.020063468326632427 Centerline is valid? [True, True] Translation: X:124.79, Y:71.32, Z:2.90 [[ 3.18151055e-01 -9.48008536e-01 -7.72804245e-03 1.24786041e+02] [ 9.47769761e-01 3.18244419e-01 -2.12830760e-02 7.13235856e+01] [ 2.26359441e-02 -5.53171867e-04 9.99743621e-01 2.90101805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.292755096 meters 0.02274846429382264 Centerline is valid? [True, True] Translation: X:124.80, Y:71.35, Z:2.90 [[ 3.19197195e-01 -9.47658657e-01 -7.49800188e-03 1.24800206e+02] [ 9.47433478e-01 3.19284844e-01 -2.06638031e-02 7.13468970e+01] [ 2.19762303e-02 -5.08030006e-04 9.99758364e-01 2.90097256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.322755096 meters 0.02101335224853848 Centerline is valid? [True, True] Translation: X:124.81, Y:71.37, Z:2.90 [[ 3.18931849e-01 -9.47748209e-01 -7.47046147e-03 1.24807147e+02] [ 9.47524186e-01 3.19018929e-01 -2.06116429e-02 7.13735635e+01] [ 2.19178662e-02 -5.04733560e-04 9.99759647e-01 2.90230276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.352755096 meters 0.023360154164684916 Centerline is valid? [True, True] Translation: X:124.82, Y:71.40, Z:2.90 [[ 3.18341618e-01 -9.47948984e-01 -7.16505098e-03 1.24820466e+02] [ 9.47742475e-01 3.18421864e-01 -1.97918484e-02 7.13968353e+01] [ 2.10431715e-02 -4.90054106e-04 9.99778448e-01 2.90284999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.382755096 meters 0.021661709884717967 Centerline is valid? [True, True] Translation: X:124.83, Y:71.42, Z:2.90 [[ 3.17107475e-01 -9.48364351e-01 -6.92153332e-03 1.24827616e+02] [ 9.48171372e-01 3.17182619e-01 -1.91372697e-02 7.14234309e+01] [ 2.03444944e-02 -4.94228477e-04 9.99792907e-01 2.90417816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.412755096 meters 0.022486830614853674 Centerline is valid? [True, True] Translation: X:124.84, Y:71.45, Z:2.91 [[ 3.15965049e-01 -9.48746364e-01 -6.81352978e-03 1.24838381e+02] [ 9.48558994e-01 3.16038104e-01 -1.88613840e-02 7.14482623e+01] [ 2.00480045e-02 -5.03496834e-04 9.99798892e-01 2.90517070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.442755096 meters 0.023956812568102132 Centerline is valid? [True, True] Translation: X:124.85, Y:71.47, Z:2.91 [[ 3.13371108e-01 -9.49605258e-01 -6.95717821e-03 1.24851573e+02] [ 9.49409650e-01 3.13447821e-01 -1.92816134e-02 7.14729038e+01] [ 2.04906338e-02 -5.62911593e-04 9.99789886e-01 2.90528020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47275509600001 meters 0.024568819027552098 Centerline is valid? [True, True] Translation: X:124.86, Y:71.50, Z:2.91 [[ 3.11900776e-01 -9.50089724e-01 -6.88635073e-03 1.24863092e+02] [ 9.49897757e-01 3.11976245e-01 -1.91068843e-02 7.14989133e+01] [ 2.03016323e-02 -5.81877078e-04 9.99793731e-01 2.90566495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50275509600002 meters 0.02576303668831403 Centerline is valid? [True, True] Translation: X:124.88, Y:71.52, Z:2.91 [[ 3.10326973e-01 -9.50605718e-01 -6.77787347e-03 1.24875048e+02] [ 9.50419473e-01 3.10400403e-01 -1.88259093e-02 7.15243221e+01] [ 1.99998717e-02 -5.99635489e-04 9.99799803e-01 2.90638341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53275509600002 meters 0.02352527059582634 Centerline is valid? [True, True] Translation: X:124.88, Y:71.55, Z:2.91 [[ 3.08735692e-01 -9.51123545e-01 -6.80261987e-03 1.24881959e+02] [ 9.50935654e-01 3.08809986e-01 -1.89149363e-02 7.15519700e+01] [ 2.00911582e-02 -6.29137818e-04 9.99797954e-01 2.90692596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56275509600002 meters 0.028098912827488987 Centerline is valid? [True, True] Translation: X:124.90, Y:71.58, Z:2.91 [[ 3.06257657e-01 -9.51924380e-01 -6.79864773e-03 1.24898206e+02] [ 9.51736494e-01 3.06332367e-01 -1.89242644e-02 7.15754707e+01] [ 2.00971145e-02 -6.74820266e-04 9.99797805e-01 2.90604932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59275509600002 meters 0.027236947412799906 Centerline is valid? [True, True] Translation: X:124.91, Y:71.60, Z:2.91 [[ 3.05244631e-01 -9.52248621e-01 -6.94834100e-03 1.24907065e+02] [ 9.52052018e-01 3.05322890e-01 -1.93620180e-02 7.16021966e+01] [ 2.05589425e-02 -7.05030022e-04 9.99788394e-01 2.90613173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62275509600002 meters 0.028718697387322502 Centerline is valid? [True, True] Translation: X:124.92, Y:71.63, Z:2.91 [[ 3.03810220e-01 -9.52704525e-01 -7.31018509e-03 1.24919719e+02] [ 9.52486523e-01 3.03897187e-01 -2.03942098e-02 7.16266783e+01] [ 2.16512006e-02 -7.66883411e-04 9.99765291e-01 2.90532867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65275509600002 meters 0.025544036889413375 Centerline is valid? [True, True] Translation: X:124.93, Y:71.65, Z:2.91 [[ 3.02997880e-01 -9.52961922e-01 -7.47396621e-03 1.24925280e+02] [ 9.52733562e-01 3.03089002e-01 -2.08762246e-02 7.16539103e+01] [ 2.21595241e-02 -7.95246664e-04 9.99754131e-01 2.90562482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68275509600002 meters 0.029142260298460156 Centerline is valid? [True, True] Translation: X:124.94, Y:71.68, Z:2.90 [[ 3.02753008e-01 -9.53038138e-01 -7.67615119e-03 1.24940043e+02] [ 9.52796698e-01 3.02849209e-01 -2.14664531e-02 7.16778828e+01] [ 2.27830648e-02 -8.14778255e-04 9.99740100e-01 2.90491826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71275509600002 meters 0.027093395406016792 Centerline is valid? [True, True] Translation: X:124.95, Y:71.70, Z:2.91 [[ 3.02328968e-01 -9.53172598e-01 -7.69375051e-03 1.24947350e+02] [ 9.52929665e-01 3.02425734e-01 -2.15343869e-02 7.17027945e+01] [ 2.28527756e-02 -8.21134131e-04 9.99738504e-01 2.90548752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.742755096 meters 0.028888312726040515 Centerline is valid? [True, True] Translation: X:124.96, Y:71.73, Z:2.91 [[ 3.02256294e-01 -9.53196271e-01 -7.61585125e-03 1.24958677e+02] [ 9.52957772e-01 3.02351146e-01 -2.13370563e-02 7.17272378e+01] [ 2.26410639e-02 -8.08325066e-04 9.99743331e-01 2.90572497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.772755096 meters 0.02992005128579306 Centerline is valid? [True, True] Translation: X:124.97, Y:71.75, Z:2.91 [[ 3.02857316e-01 -9.53005595e-01 -7.60146587e-03 1.24968887e+02] [ 9.52767374e-01 3.02951679e-01 -2.13216058e-02 7.17517182e+01] [ 2.26224865e-02 -7.85024368e-04 9.99743771e-01 2.90576803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.802755096 meters 0.027331623057431965 Centerline is valid? [True, True] Translation: X:124.98, Y:71.78, Z:2.91 [[ 3.03030140e-01 -9.52951182e-01 -7.53517859e-03 1.24975037e+02] [ 9.52716480e-01 3.03122843e-01 -2.11624711e-02 7.17779416e+01] [ 2.24508866e-02 -7.66022238e-04 9.99747654e-01 2.90684600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.832755096 meters 0.026471347748189374 Centerline is valid? [True, True] Translation: X:124.98, Y:71.80, Z:2.91 [[ 3.03488162e-01 -9.52805814e-01 -7.48444889e-03 1.24983667e+02] [ 9.52573655e-01 3.03579528e-01 -2.10452406e-02 7.18031517e+01] [ 2.23241530e-02 -7.42507452e-04 9.99750509e-01 2.90767820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.862755096 meters 0.02345565272572977 Centerline is valid? [True, True] Translation: X:124.99, Y:71.83, Z:2.91 [[ 3.04044338e-01 -9.52630160e-01 -7.26767684e-03 1.24989458e+02] [ 9.52410776e-01 3.04130375e-01 -2.04555235e-02 7.18302597e+01] [ 2.16968699e-02 -7.02427637e-04 9.99764348e-01 2.90952214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.892755096 meters 0.02463573908829241 Centerline is valid? [True, True] Translation: X:125.00, Y:71.86, Z:2.91 [[ 3.06667499e-01 -9.51789611e-01 -7.18208732e-03 1.25001232e+02] [ 9.51574653e-01 3.06750945e-01 -2.02370434e-02 7.18564498e+01] [ 2.14645197e-02 -6.28248779e-04 9.99769413e-01 2.90993518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.922755096 meters 0.024173295736151002 Centerline is valid? [True, True] Translation: X:125.01, Y:71.88, Z:2.91 [[ 3.08419622e-01 -9.51222786e-01 -7.24907754e-03 1.25009481e+02] [ 9.51003206e-01 3.08504240e-01 -2.04459345e-02 7.18820561e+01] [ 2.16850099e-02 -5.87968596e-04 9.99764680e-01 2.91000379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.952755096 meters 0.02072525291906111 Centerline is valid? [True, True] Translation: X:125.01, Y:71.91, Z:2.91 [[ 3.10083161e-01 -9.50682379e-01 -7.17276641e-03 1.25013795e+02] [ 9.50466789e-01 3.10165643e-01 -2.02523309e-02 7.19101949e+01] [ 2.14782798e-02 -5.37569475e-04 9.99769171e-01 2.91092590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.982755096 meters 0.019147489001425048 Centerline is valid? [True, True] Translation: X:125.02, Y:71.94, Z:2.91 [[ 3.14173235e-01 -9.49339101e-01 -7.10286361e-03 1.25020415e+02] [ 9.49126893e-01 3.14253216e-01 -2.00762848e-02 7.19361517e+01] [ 2.12912999e-02 -4.34087536e-04 9.99773220e-01 2.91115040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.012755096 meters 0.01887396692766817 Centerline is valid? [True, True] Translation: X:125.03, Y:71.96, Z:2.91 [[ 3.15914336e-01 -9.48760377e-01 -7.20271895e-03 1.25028441e+02] [ 9.48541593e-01 3.15996189e-01 -2.03778141e-02 7.19618891e+01] [ 2.16096943e-02 -3.94434881e-04 9.99766405e-01 2.91048642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.042755096 meters 0.017563484423477133 Centerline is valid? [True, True] Translation: X:125.04, Y:71.99, Z:2.91 [[ 3.17947161e-01 -9.48081286e-01 -7.17475141e-03 1.25036524e+02] [ 9.47863592e-01 3.18027921e-01 -2.03187842e-02 7.19883808e+01] [ 2.15456303e-02 -3.40385884e-04 9.99767808e-01 2.91142064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.072755096 meters 0.016353272696195225 Centerline is valid? [True, True] Translation: X:125.04, Y:72.01, Z:2.91 [[ 3.21126604e-01 -9.47010786e-01 -6.94806707e-03 1.25044598e+02] [ 9.46805966e-01 3.21201662e-01 -1.96965624e-02 7.20144357e+01] [ 2.08845877e-02 -2.53381148e-04 9.99781861e-01 2.91264008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.102755096 meters 0.015806558378430542 Centerline is valid? [True, True] Translation: X:125.05, Y:72.04, Z:2.91 [[ 3.21985749e-01 -9.46719894e-01 -6.82784547e-03 1.25052257e+02] [ 9.46521655e-01 3.22058056e-01 -1.93743489e-02 7.20401207e+01] [ 2.05410441e-02 -2.24439374e-04 9.99788985e-01 2.91330116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.132755096 meters 0.015565118425180241 Centerline is valid? [True, True] Translation: X:125.06, Y:72.07, Z:2.91 [[ 3.22359895e-01 -9.46593634e-01 -6.67759249e-03 1.25060993e+02] [ 9.46403586e-01 3.22428985e-01 -1.89684705e-02 7.20659555e+01] [ 2.01084828e-02 -2.05023294e-04 9.99797783e-01 2.91344755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.162755096 meters 0.015893868827463152 Centerline is valid? [True, True] Translation: X:125.07, Y:72.09, Z:2.91 [[ 3.21829071e-01 -9.46774738e-01 -6.60645130e-03 1.25072353e+02] [ 9.46588348e-01 3.21896805e-01 -1.87868421e-02 7.20902634e+01] [ 1.99135031e-02 -2.07437884e-04 9.99801685e-01 2.91313952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.192755096 meters 0.015930712916074594 Centerline is valid? [True, True] Translation: X:125.08, Y:72.12, Z:2.91 [[ 3.21072700e-01 -9.47031899e-01 -6.55008257e-03 1.25082741e+02] [ 9.46848312e-01 3.21139434e-01 -1.86477259e-02 7.21152627e+01] [ 1.97634811e-02 -2.14658935e-04 9.99804660e-01 2.91367187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22275509600001 meters 0.016366342684545867 Centerline is valid? [True, True] Translation: X:125.09, Y:72.14, Z:2.91 [[ 3.19787329e-01 -9.47466594e-01 -6.56646661e-03 1.25093538e+02] [ 9.47281776e-01 3.19854652e-01 -1.87146728e-02 7.21388555e+01] [ 1.98318422e-02 -2.35578923e-04 9.99803302e-01 2.91404064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25275509600002 meters 0.01748790537641723 Centerline is valid? [True, True] Translation: X:125.11, Y:72.16, Z:2.91 [[ 3.17152103e-01 -9.48351861e-01 -6.57962536e-03 1.25106264e+02] [ 9.48166068e-01 3.17220218e-01 -1.87734194e-02 7.21626077e+01] [ 1.98909974e-02 -2.84548063e-04 9.99802114e-01 2.91426381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28275509600002 meters 0.01816130434303517 Centerline is valid? [True, True] Translation: X:125.12, Y:72.19, Z:2.91 [[ 3.15414126e-01 -9.48931750e-01 -6.51635080e-03 1.25117137e+02] [ 9.48749229e-01 3.15481278e-01 -1.86135349e-02 7.21878968e+01] [ 1.97187609e-02 -3.11410950e-04 9.99805518e-01 2.91401670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31275509600002 meters 0.019989228869657955 Centerline is valid? [True, True] Translation: X:125.13, Y:72.21, Z:2.91 [[ 3.12194463e-01 -9.49994065e-01 -6.77444898e-03 1.25130146e+02] [ 9.49796620e-01 3.12267716e-01 -1.93714982e-02 7.22108778e+01] [ 2.05182500e-02 -3.86674264e-04 9.99789404e-01 2.91341020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34275509600002 meters 0.020863024428465646 Centerline is valid? [True, True] Translation: X:125.14, Y:72.24, Z:2.91 [[ 3.10569757e-01 -9.50526242e-01 -6.80361443e-03 1.25141237e+02] [ 9.50326883e-01 3.10643989e-01 -1.94711775e-02 7.22356978e+01] [ 2.06213671e-02 -4.18498843e-04 9.99787269e-01 2.91358204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37275509600002 meters 0.021817773692916913 Centerline is valid? [True, True] Translation: X:125.15, Y:72.26, Z:2.91 [[ 3.08854712e-01 -9.51085341e-01 -6.74099947e-03 1.25152286e+02] [ 9.50889362e-01 3.08927946e-01 -1.93118018e-02 7.22609041e+01] [ 2.04496547e-02 -4.45403694e-04 9.99790785e-01 2.91423427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40275509600002 meters 0.02366368239048121 Centerline is valid? [True, True] Translation: X:125.16, Y:72.28, Z:2.91 [[ 3.06353071e-01 -9.51894422e-01 -6.69371865e-03 1.25164833e+02] [ 9.51700981e-01 3.06425799e-01 -1.91956586e-02 7.22841345e+01] [ 2.03233684e-02 -4.89769635e-04 9.99793339e-01 2.91450428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43275509600002 meters 0.021706567759200733 Centerline is valid? [True, True] Translation: X:125.17, Y:72.31, Z:2.92 [[ 3.04999443e-01 -9.52327975e-01 -6.83865929e-03 1.25171512e+02] [ 9.52125834e-01 3.05075650e-01 -1.96276243e-02 7.23116858e+01] [ 2.07782442e-02 -5.24849694e-04 9.99783971e-01 2.91502377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46275509600002 meters 0.021112058552702637 Centerline is valid? [True, True] Translation: X:125.18, Y:72.34, Z:2.92 [[ 3.04016849e-01 -9.52642828e-01 -6.73771339e-03 1.25180268e+02] [ 9.52446300e-01 3.04091036e-01 -1.93568715e-02 7.23384391e+01] [ 2.04890630e-02 -5.32495114e-04 9.99789935e-01 2.91576173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49275509600002 meters 0.02256750017674149 Centerline is valid? [True, True] Translation: X:125.19, Y:72.36, Z:2.92 [[ 3.03384763e-01 -9.52843175e-01 -6.89712384e-03 1.25191989e+02] [ 9.52636855e-01 3.03462649e-01 -1.98353889e-02 7.23625280e+01] [ 2.09930344e-02 -5.52699602e-04 9.99779469e-01 2.91615675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.522755096 meters 0.025972231278890468 Centerline is valid? [True, True] Translation: X:125.21, Y:72.39, Z:2.92 [[ 3.03054667e-01 -9.52947791e-01 -6.95531656e-03 1.25205453e+02] [ 9.52737608e-01 3.03133955e-01 -2.00213922e-02 7.23851197e+01] [ 2.11877341e-02 -5.59015321e-04 9.99775358e-01 2.91603739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.552755096 meters 0.022050846424595465 Centerline is valid? [True, True] Translation: X:125.21, Y:72.41, Z:2.92 [[ 3.03324537e-01 -9.52863076e-01 -6.79580138e-03 1.25209072e+02] [ 9.52661944e-01 3.03400186e-01 -1.95843618e-02 7.24128415e+01] [ 2.07230626e-02 -5.33683886e-04 9.99785112e-01 2.91743974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.582755096 meters 0.021531387081826007 Centerline is valid? [True, True] Translation: X:125.22, Y:72.44, Z:2.92 [[ 3.04423249e-01 -9.52513142e-01 -6.72312515e-03 1.25217378e+02] [ 9.52315768e-01 3.04497073e-01 -1.93961371e-02 7.24398382e+01] [ 2.05222474e-02 -4.97903025e-04 9.99789273e-01 2.91845369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.612755096 meters 0.020997646759114214 Centerline is valid? [True, True] Translation: X:125.23, Y:72.47, Z:2.92 [[ 3.05102961e-01 -9.52297004e-01 -6.52680323e-03 1.25225485e+02] [ 9.52110577e-01 3.05172412e-01 -1.88480027e-02 7.24654198e+01] [ 1.99406968e-02 -4.63656953e-04 9.99801057e-01 2.91946217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.642755096 meters 0.019977452770764882 Centerline is valid? [True, True] Translation: X:125.23, Y:72.49, Z:2.92 [[ 3.07233792e-01 -9.51613703e-01 -6.22548130e-03 1.25233657e+02] [ 9.51443590e-01 3.07296606e-01 -1.79969483e-02 7.24908016e+01] [ 1.90392119e-02 -3.93923617e-04 9.99818660e-01 2.92091420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.672755096 meters 0.01943493720757711 Centerline is valid? [True, True] Translation: X:125.24, Y:72.52, Z:2.92 [[ 3.08283434e-01 -9.51274234e-01 -6.21745234e-03 1.25241809e+02] [ 9.51104160e-01 3.08345906e-01 -1.79910978e-02 7.25171165e+01] [ 1.90315937e-02 -3.67087390e-04 9.99818815e-01 2.92186295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.702755096 meters 0.01896629569341568 Centerline is valid? [True, True] Translation: X:125.25, Y:72.54, Z:2.92 [[ 3.09296302e-01 -9.50946199e-01 -6.09294946e-03 1.25249713e+02] [ 9.50782450e-01 3.09356129e-01 -1.76498541e-02 7.25421160e+01] [ 1.86689529e-02 -3.34034832e-04 9.99825664e-01 2.92246985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.732755096 meters 0.01770521251344906 Centerline is valid? [True, True] Translation: X:125.26, Y:72.57, Z:2.92 [[ 3.10243163e-01 -9.50638658e-01 -5.94317276e-03 1.25256242e+02] [ 9.50482452e-01 3.10299936e-01 -1.72353514e-02 7.25683445e+01] [ 1.82287574e-02 -3.01731501e-04 9.99833797e-01 2.92336041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.762755096 meters 0.017303959908212322 Centerline is valid? [True, True] Translation: X:125.26, Y:72.59, Z:2.92 [[ 3.12818272e-01 -9.49794164e-01 -5.98125133e-03 1.25264661e+02] [ 9.49635424e-01 3.12875351e-01 -1.73659658e-02 7.25945937e+01] [ 1.83654791e-02 -2.47616726e-04 9.99831310e-01 2.92431473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.792755096 meters 0.016273872200696867 Centerline is valid? [True, True] Translation: X:125.27, Y:72.62, Z:2.92 [[ 3.13899361e-01 -9.49438751e-01 -5.76625282e-03 1.25270987e+02] [ 9.49290870e-01 3.13952247e-01 -1.67579893e-02 7.26212570e+01] [ 1.77210125e-02 -2.13529018e-04 9.99842948e-01 2.92486623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.822755096 meters 0.015847367740535138 Centerline is valid? [True, True] Translation: X:125.28, Y:72.65, Z:2.93 [[ 3.15473442e-01 -9.48916644e-01 -5.80602263e-03 1.25278310e+02] [ 9.48766284e-01 3.15526814e-01 -1.68928606e-02 7.26461197e+01] [ 1.78618724e-02 -1.79309635e-04 9.99840448e-01 2.92541127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.852755096 meters 0.01565604991330186 Centerline is valid? [True, True] Translation: X:125.29, Y:72.67, Z:2.93 [[ 3.15862577e-01 -9.48787170e-01 -5.80844368e-03 1.25287157e+02] [ 9.48636301e-01 3.15915935e-01 -1.69201118e-02 7.26715030e+01] [ 1.78885649e-02 -1.65670430e-04 9.99839973e-01 2.92590214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.882755096 meters 0.01565604991330186 Centerline is valid? [True, True] Translation: X:125.30, Y:72.70, Z:2.93 [[ 3.15536826e-01 -9.48895590e-01 -5.80262951e-03 1.25295624e+02] [ 9.48744703e-01 3.15590132e-01 -1.69221054e-02 7.26968708e+01] [ 1.78885638e-02 -1.65666584e-04 9.99839973e-01 2.92640116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.912755096 meters 0.015946093362270073 Centerline is valid? [True, True] Translation: X:125.31, Y:72.72, Z:2.93 [[ 3.15430951e-01 -9.48929936e-01 -5.94070157e-03 1.25305456e+02] [ 9.48771421e-01 3.15486846e-01 -1.73447576e-02 7.27207942e+01] [ 1.83331729e-02 -1.65294483e-04 9.99831920e-01 2.92687621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.942755096 meters 0.015666198480640058 Centerline is valid? [True, True] Translation: X:125.31, Y:72.75, Z:2.93 [[ 3.15244660e-01 -9.48992012e-01 -5.91315172e-03 1.25314416e+02] [ 9.48834705e-01 3.15300070e-01 -1.72791041e-02 7.27466838e+01] [ 1.82621489e-02 -1.63458271e-04 9.99833220e-01 2.92726114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97275509600001 meters 0.01551480565505452 Centerline is valid? [True, True] Translation: X:125.32, Y:72.77, Z:2.93 [[ 3.14634159e-01 -9.49194404e-01 -5.94381064e-03 1.25323329e+02] [ 9.49035147e-01 3.14690251e-01 -1.73878370e-02 7.27728829e+01] [ 1.83748968e-02 -1.70077749e-04 9.99831153e-01 2.92757052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00275509600002 meters 0.015979468157722936 Centerline is valid? [True, True] Translation: X:125.33, Y:72.80, Z:2.93 [[ 3.13528762e-01 -9.49560027e-01 -5.95579641e-03 1.25333820e+02] [ 9.49399818e-01 3.13585270e-01 -1.74431443e-02 7.27969009e+01] [ 1.84309626e-02 -1.85504607e-04 9.99830118e-01 2.92821783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03275509600002 meters 0.015952370538133753 Centerline is valid? [True, True] Translation: X:125.34, Y:72.82, Z:2.93 [[ 3.12563663e-01 -9.49877786e-01 -6.01234434e-03 1.25343138e+02] [ 9.49714177e-01 3.12621419e-01 -1.76303555e-02 7.28224896e+01] [ 1.86262707e-02 -1.99400160e-04 9.99826496e-01 2.92862367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06275509600002 meters 0.016582635199959977 Centerline is valid? [True, True] Translation: X:125.36, Y:72.85, Z:2.93 [[ 3.10185177e-01 -9.50656752e-01 -6.07422678e-03 1.25355299e+02] [ 9.50489516e-01 3.10244551e-01 -1.78325356e-02 7.28466149e+01] [ 1.88371162e-02 -2.42100653e-04 9.99822536e-01 2.92918518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09275509600002 meters 0.017046621859111884 Centerline is valid? [True, True] Translation: X:125.37, Y:72.87, Z:2.93 [[ 3.08600433e-01 -9.51172343e-01 -6.07844628e-03 1.25365927e+02] [ 9.51004609e-01 3.08660174e-01 -1.78642152e-02 7.28715522e+01] [ 1.88681217e-02 -2.67725870e-04 9.99821945e-01 2.92987396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12275509600002 meters 0.019544499736573576 Centerline is valid? [True, True] Translation: X:125.38, Y:72.90, Z:2.93 [[ 3.05207050e-01 -9.52266073e-01 -6.16300926e-03 1.25381378e+02] [ 9.52093466e-01 3.05269087e-01 -1.81333236e-02 7.28952245e+01] [ 1.91491251e-02 -3.33342629e-04 9.99816583e-01 2.93035221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15275509600002 meters 0.018777262370567014 Centerline is valid? [True, True] Translation: X:125.39, Y:72.92, Z:2.93 [[ 3.02958600e-01 -9.52984061e-01 -6.12090083e-03 1.25389439e+02] [ 9.52813700e-01 3.03020198e-01 -1.80225816e-02 7.29217918e+01] [ 1.90299896e-02 -3.71982058e-04 9.99818844e-01 2.93057539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18275509600002 meters 0.01941734031006795 Centerline is valid? [True, True] Translation: X:125.40, Y:72.95, Z:2.93 [[ 3.01170703e-01 -9.53550298e-01 -6.16744509e-03 1.25400558e+02] [ 9.53377092e-01 3.01233573e-01 -1.81784291e-02 7.29475831e+01] [ 1.91918880e-02 -4.05090589e-04 9.99815737e-01 2.93124033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21275509600002 meters 0.02058186953324564 Centerline is valid? [True, True] Translation: X:125.41, Y:72.97, Z:2.93 [[ 2.97952556e-01 -9.54561479e-01 -6.05458892e-03 1.25413090e+02] [ 9.54394422e-01 2.98013717e-01 -1.78637104e-02 7.29728201e+01] [ 1.88563604e-02 -4.55927715e-04 9.99822099e-01 2.93205052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24275509600002 meters 0.02047101539683755 Centerline is valid? [True, True] Translation: X:125.42, Y:73.00, Z:2.93 [[ 2.96541948e-01 -9.54999035e-01 -6.30207436e-03 1.25422696e+02] [ 9.54817746e-01 2.96608488e-01 -1.86138935e-02 7.29988896e+01] [ 1.96454991e-02 -4.97532210e-04 9.99806885e-01 2.93273695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.272755096 meters 0.02273793769168176 Centerline is valid? [True, True] Translation: X:125.44, Y:73.02, Z:2.93 [[ 2.93593405e-01 -9.55908590e-01 -6.45604659e-03 1.25435354e+02] [ 9.55718133e-01 2.93663835e-01 -1.90893420e-02 7.30228823e+01] [ 2.01435734e-02 -5.65655880e-04 9.99796938e-01 2.93230113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.302755096 meters 0.022478187639138197 Centerline is valid? [True, True] Translation: X:125.44, Y:73.05, Z:2.93 [[ 2.92318219e-01 -9.56298171e-01 -6.62322997e-03 1.25444700e+02] [ 9.56097361e-01 2.92392625e-01 -1.96058662e-02 7.30498021e+01] [ 2.06856376e-02 -6.01300798e-04 9.99785848e-01 2.93270700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.332755096 meters 0.02317344003892126 Centerline is valid? [True, True] Translation: X:125.46, Y:73.08, Z:2.93 [[ 2.91267024e-01 -9.56618198e-01 -6.71893020e-03 1.25455064e+02] [ 9.56411182e-01 2.91343836e-01 -1.99103243e-02 7.30753468e+01] [ 2.10040974e-02 -6.26839069e-04 9.99779193e-01 2.93316967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.362755096 meters 0.02248173732390914 Centerline is valid? [True, True] Translation: X:125.46, Y:73.10, Z:2.93 [[ 2.90479412e-01 -9.56857606e-01 -6.72550760e-03 1.25463529e+02] [ 9.56649788e-01 2.90556558e-01 -1.99516895e-02 7.31020627e+01] [ 2.10450662e-02 -6.38400386e-04 9.99778324e-01 2.93408591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.392755096 meters 0.024299835325439497 Centerline is valid? [True, True] Translation: X:125.47, Y:73.13, Z:2.93 [[ 2.89708276e-01 -9.57092259e-01 -6.59712009e-03 1.25474999e+02] [ 9.56891944e-01 2.89782679e-01 -1.95909946e-02 7.31261328e+01] [ 2.06621204e-02 -6.37057794e-04 9.99786313e-01 2.93491072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.422755096 meters 0.024349822843734416 Centerline is valid? [True, True] Translation: X:125.48, Y:73.15, Z:2.94 [[ 2.89690976e-01 -9.57097896e-01 -6.53879361e-03 1.25483885e+02] [ 9.56900737e-01 2.89764085e-01 -1.94359215e-02 7.31518315e+01] [ 2.04967871e-02 -6.26565345e-04 9.99789722e-01 2.93595685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.452755096 meters 0.022933909790824256 Centerline is valid? [True, True] Translation: X:125.49, Y:73.18, Z:2.94 [[ 2.90245681e-01 -9.56928947e-01 -6.66603030e-03 1.25490479e+02] [ 9.56723516e-01 2.90321558e-01 -1.98370199e-02 7.31781298e+01] [ 2.09179108e-02 -6.19938603e-04 9.99781004e-01 2.93678987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.482755096 meters 0.02234726735011982 Centerline is valid? [True, True] Translation: X:125.50, Y:73.20, Z:2.94 [[ 2.90464270e-01 -9.56862924e-01 -6.62219533e-03 1.25498095e+02] [ 9.56659695e-01 2.90539120e-01 -1.97293898e-02 7.32048029e+01] [ 2.08023284e-02 -6.04504561e-04 9.99783425e-01 2.93778977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.512755096 meters 0.022395918190181722 Centerline is valid? [True, True] Translation: X:125.51, Y:73.23, Z:2.94 [[ 2.90969804e-01 -9.56709913e-01 -6.53574867e-03 1.25506294e+02] [ 9.56511472e-01 2.91042620e-01 -1.94935377e-02 7.32294596e+01] [ 2.05518422e-02 -5.79487744e-04 9.99788621e-01 2.93831626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.542755096 meters 0.021724637257642013 Centerline is valid? [True, True] Translation: X:125.51, Y:73.26, Z:2.94 [[ 2.93163242e-01 -9.56040724e-01 -6.43790912e-03 1.25514492e+02] [ 9.55847550e-01 2.93233466e-01 -1.92248715e-02 7.32558392e+01] [ 2.02675704e-02 -5.17634003e-04 9.99794458e-01 2.93990142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.572755096 meters 0.021410734775087654 Centerline is valid? [True, True] Translation: X:125.52, Y:73.28, Z:2.94 [[ 2.94062492e-01 -9.55765444e-01 -6.29820268e-03 1.25522686e+02] [ 9.55580121e-01 2.94129537e-01 -1.88267693e-02 7.32808686e+01] [ 1.98464629e-02 -4.82190585e-04 9.99802923e-01 2.94077767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.602755096 meters 0.02021863282656237 Centerline is valid? [True, True] Translation: X:125.53, Y:73.31, Z:2.94 [[ 2.95456253e-01 -9.55335886e-01 -6.24083260e-03 1.25529959e+02] [ 9.55153397e-01 2.95521826e-01 -1.86772340e-02 7.33082765e+01] [ 1.96873341e-02 -4.42646885e-04 9.99806088e-01 2.94197028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.632755096 meters 0.018792604589199825 Centerline is valid? [True, True] Translation: X:125.54, Y:73.34, Z:2.94 [[ 2.98338533e-01 -9.54439998e-01 -6.19754302e-03 1.25535923e+02] [ 9.54259471e-01 2.98402663e-01 -1.85664573e-02 7.33360104e+01] [ 1.95699328e-02 -3.74974486e-04 9.99808420e-01 2.94286997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.662755096 meters 0.017796122899426375 Centerline is valid? [True, True] Translation: X:125.54, Y:73.36, Z:2.94 [[ 2.99666244e-01 -9.54024478e-01 -6.11869282e-03 1.25542485e+02] [ 9.53848070e-01 2.99728514e-01 -1.83487820e-02 7.33621942e+01] [ 1.93391339e-02 -3.37792750e-04 9.99812924e-01 2.94376087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.692755096 meters 0.01638346426940083 Centerline is valid? [True, True] Translation: X:125.55, Y:73.39, Z:2.94 [[ 3.02252174e-01 -9.53207745e-01 -6.21442557e-03 1.25548007e+02] [ 9.53025168e-01 3.02315920e-01 -1.86578303e-02 7.33903603e+01] [ 1.96635081e-02 -2.83134224e-04 9.99806614e-01 2.94402655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72275509600001 meters 0.016090136895502965 Centerline is valid? [True, True] Translation: X:125.56, Y:73.42, Z:2.94 [[ 3.02958220e-01 -9.52982834e-01 -6.32738861e-03 1.25555708e+02] [ 9.52793092e-01 3.03024170e-01 -1.90177905e-02 7.34168403e+01] [ 2.00409796e-02 -2.67096206e-04 9.99799124e-01 2.94387350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75275509600002 meters 0.01591946291850644 Centerline is valid? [True, True] Translation: X:125.56, Y:73.44, Z:2.94 [[ 3.03322995e-01 -9.52866125e-01 -6.42719823e-03 1.25563980e+02] [ 9.52669842e-01 3.03390973e-01 -1.93413817e-02 7.34433475e+01] [ 2.03797013e-02 -2.56312111e-04 9.99792279e-01 2.94406457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78275509600002 meters 0.015846593008122464 Centerline is valid? [True, True] Translation: X:125.57, Y:73.47, Z:2.94 [[ 3.03325606e-01 -9.52864736e-01 -6.50939703e-03 1.25572717e+02] [ 9.52662932e-01 3.03395339e-01 -1.96114011e-02 7.34688885e+01] [ 2.06619332e-02 -2.52621149e-04 9.99786488e-01 2.94434489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81275509600002 meters 0.01582799180053767 Centerline is valid? [True, True] Translation: X:125.58, Y:73.49, Z:2.94 [[ 3.02775321e-01 -9.53039772e-01 -6.50364752e-03 1.25581922e+02] [ 9.52837881e-01 3.02845054e-01 -1.96175070e-02 7.34940698e+01] [ 2.06658618e-02 -2.57224744e-04 9.99786405e-01 2.94472533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84275509600002 meters 0.01635185763178028 Centerline is valid? [True, True] Translation: X:125.59, Y:73.52, Z:2.94 [[ 3.00363727e-01 -9.53803009e-01 -6.43826344e-03 1.25591830e+02] [ 9.53604861e-01 3.00432572e-01 -1.94432243e-02 7.35200179e+01] [ 2.04792699e-02 -2.99520001e-04 9.99790233e-01 2.94495969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87275509600002 meters 0.01704190955196478 Centerline is valid? [True, True] Translation: X:125.60, Y:73.54, Z:2.95 [[ 2.98236070e-01 -9.54470525e-01 -6.42362621e-03 1.25601759e+02] [ 9.54272999e-01 2.98305049e-01 -1.94201403e-02 7.35449681e+01] [ 2.04521517e-02 -3.38106705e-04 9.99790776e-01 2.94518727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90275509600002 meters 0.017610394644184797 Centerline is valid? [True, True] Translation: X:125.61, Y:73.57, Z:2.95 [[ 2.96241325e-01 -9.55090687e-01 -6.54659431e-03 1.25612289e+02] [ 9.54885196e-01 2.96313407e-01 -1.98148123e-02 7.35713820e+01] [ 2.08647863e-02 -3.81279757e-04 9.99782234e-01 2.94535693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93275509600002 meters 0.01880718214898427 Centerline is valid? [True, True] Translation: X:125.62, Y:73.60, Z:2.95 [[ 2.94327569e-01 -9.55681956e-01 -6.57879284e-03 1.25623428e+02] [ 9.55474130e-01 2.94400786e-01 -1.99340071e-02 7.35966556e+01] [ 2.09873727e-02 -4.18738512e-04 9.99779653e-01 2.94596129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96275509600002 meters 0.02074280904308195 Centerline is valid? [True, True] Translation: X:125.64, Y:73.62, Z:2.95 [[ 2.90769295e-01 -9.56769247e-01 -6.76943408e-03 1.25635572e+02] [ 9.56548988e-01 2.90847647e-01 -2.05348570e-02 7.36205521e+01] [ 2.16159937e-02 -5.04389425e-04 9.99766220e-01 2.94577596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99275509600002 meters 0.02081633522443657 Centerline is valid? [True, True] Translation: X:125.64, Y:73.65, Z:2.95 [[ 2.88917109e-01 -9.57328878e-01 -6.95154585e-03 1.25644923e+02] [ 9.57096338e-01 2.89000193e-01 -2.11065727e-02 7.36472663e+01] [ 2.22149296e-02 -5.55249118e-04 9.99753064e-01 2.94598795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.022755096 meters 0.021616765579373823 Centerline is valid? [True, True] Translation: X:125.66, Y:73.67, Z:2.95 [[ 2.87339636e-01 -9.57802356e-01 -7.11202694e-03 1.25655181e+02] [ 9.57558570e-01 2.87427015e-01 -2.16170519e-02 7.36731785e+01] [ 2.27490519e-02 -5.98746513e-04 9.99741028e-01 2.94610455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.052755096 meters 0.02322496152983705 Centerline is valid? [True, True] Translation: X:125.67, Y:73.70, Z:2.95 [[ 2.84949199e-01 -9.58513901e-01 -7.41997305e-03 1.25666319e+02] [ 9.58248231e-01 2.85044985e-01 -2.25761796e-02 7.36984398e+01] [ 2.37546081e-02 -6.77111767e-04 9.99717590e-01 2.94554341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.082755096 meters 0.024499125851555816 Centerline is valid? [True, True] Translation: X:125.68, Y:73.72, Z:2.95 [[ 2.83721714e-01 -9.58877186e-01 -7.51877918e-03 1.25676167e+02] [ 9.58604085e-01 2.83820429e-01 -2.28948120e-02 7.37231453e+01] [ 2.40872961e-02 -7.11777136e-04 9.99709606e-01 2.94532236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.112755096 meters 0.024287769753238313 Centerline is valid? [True, True] Translation: X:125.68, Y:73.75, Z:2.95 [[ 2.82110557e-01 -9.59352170e-01 -7.55300117e-03 1.25684425e+02] [ 9.59076252e-01 2.82210651e-01 -2.30193677e-02 7.37501568e+01] [ 2.42152177e-02 -7.49897422e-04 9.99706487e-01 2.94581400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.142755096 meters 0.02533680897246902 Centerline is valid? [True, True] Translation: X:125.70, Y:73.78, Z:2.95 [[ 2.80257890e-01 -9.59894835e-01 -7.57765948e-03 1.25695236e+02] [ 9.59616712e-01 2.80359195e-01 -2.31189740e-02 7.37756993e+01] [ 2.43162502e-02 -7.92373807e-04 9.99704002e-01 2.94640489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.172755096 meters 0.025384309993153175 Centerline is valid? [True, True] Translation: X:125.70, Y:73.80, Z:2.95 [[ 2.79418936e-01 -9.60139365e-01 -7.58014894e-03 1.25703912e+02] [ 9.59860518e-01 2.79520572e-01 -2.31524569e-02 7.38018288e+01] [ 2.43483928e-02 -8.06650805e-04 9.99703209e-01 2.94715062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.202755096 meters 0.02454664443154307 Centerline is valid? [True, True] Translation: X:125.71, Y:73.83, Z:2.95 [[ 2.79342413e-01 -9.60162489e-01 -7.47068078e-03 1.25710835e+02] [ 9.59891008e-01 2.79441177e-01 -2.28447109e-02 7.38280858e+01] [ 2.40222503e-02 -7.89542634e-04 9.99711112e-01 2.94833256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.232755096 meters 0.0254245375963444 Centerline is valid? [True, True] Translation: X:125.72, Y:73.85, Z:2.95 [[ 2.79679741e-01 -9.60064701e-01 -7.41704272e-03 1.25719238e+02] [ 9.59796420e-01 2.79777019e-01 -2.27079586e-02 7.38525957e+01] [ 2.38762276e-02 -7.67895075e-04 9.99714627e-01 2.94870013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.262755096 meters 0.022878747969198178 Centerline is valid? [True, True] Translation: X:125.72, Y:73.88, Z:2.95 [[ 2.80189653e-01 -9.59915632e-01 -7.46582648e-03 1.25723100e+02] [ 9.59643067e-01 2.80288092e-01 -2.28860323e-02 7.38796792e+01] [ 2.40612424e-02 -7.52099173e-04 9.99710203e-01 2.94965655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.292755096 meters 0.022720518849991374 Centerline is valid? [True, True] Translation: X:125.73, Y:73.91, Z:2.95 [[ 2.82434315e-01 -9.59257638e-01 -7.45934648e-03 1.25730216e+02] [ 9.58984660e-01 2.82531966e-01 -2.28934378e-02 7.39056348e+01] [ 2.40682089e-02 -6.87506426e-04 9.99710082e-01 2.94986580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.322755096 meters 0.021726876742024386 Centerline is valid? [True, True] Translation: X:125.74, Y:73.93, Z:2.95 [[ 2.83424400e-01 -9.58966770e-01 -7.30369911e-03 1.25736954e+02] [ 9.58704418e-01 2.83517764e-01 -2.24391911e-02 7.39326730e+01] [ 2.35891670e-02 -6.42274320e-04 9.99721531e-01 2.95079636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.352755096 meters 0.021599681245705278 Centerline is valid? [True, True] Translation: X:125.74, Y:73.96, Z:2.95 [[ 2.84571946e-01 -9.58627376e-01 -7.23613891e-03 1.25744829e+02] [ 9.58369160e-01 2.84663297e-01 -2.22566995e-02 7.39583607e+01] [ 2.33957446e-02 -6.01260075e-04 9.99726101e-01 2.95154923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.382755096 meters 0.019858788406247958 Centerline is valid? [True, True] Translation: X:125.75, Y:73.99, Z:2.95 [[ 2.86598088e-01 -9.58024207e-01 -7.15219828e-03 1.25749889e+02] [ 9.57771213e-01 2.86686811e-01 -2.20221435e-02 7.39862469e+01] [ 2.31481875e-02 -5.38665398e-04 9.99731900e-01 2.95252645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.412755096 meters 0.01941051158251112 Centerline is valid? [True, True] Translation: X:125.76, Y:74.01, Z:2.95 [[ 2.87381673e-01 -9.57789042e-01 -7.20594038e-03 1.25756818e+02] [ 9.57531573e-01 2.87471538e-01 -2.22126354e-02 7.40122864e+01] [ 2.33465215e-02 -5.16411099e-04 9.99727299e-01 2.95320920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.442755096 meters 0.018618492311953446 Centerline is valid? [True, True] Translation: X:125.76, Y:74.04, Z:2.95 [[ 2.89453471e-01 -9.57167007e-01 -6.92881298e-03 1.25762662e+02] [ 9.56928224e-01 2.89536053e-01 -2.13833431e-02 7.40398596e+01] [ 2.24735717e-02 -4.40893811e-04 9.99747340e-01 2.95412563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47275509600001 meters 0.018379988058288867 Centerline is valid? [True, True] Translation: X:125.77, Y:74.07, Z:2.95 [[ 2.90203843e-01 -9.56939793e-01 -6.92551595e-03 1.25769680e+02] [ 9.56700634e-01 2.90286169e-01 -2.13971278e-02 7.40651971e+01] [ 2.24861446e-02 -4.16116778e-04 9.99747068e-01 2.95481964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50275509600002 meters 0.01791837846212449 Centerline is valid? [True, True] Translation: X:125.78, Y:74.09, Z:2.96 [[ 2.90771391e-01 -9.56767798e-01 -6.88322594e-03 1.25776941e+02] [ 9.56530901e-01 2.90852585e-01 -2.12934225e-02 7.40912454e+01] [ 2.23748650e-02 -3.92500224e-04 9.99749574e-01 2.95569772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53275509600002 meters 0.017752393870876838 Centerline is valid? [True, True] Translation: X:125.78, Y:74.12, Z:2.96 [[ 2.91714783e-01 -9.56481412e-01 -6.76713419e-03 1.25784671e+02] [ 9.56251803e-01 2.91793045e-01 -2.09596883e-02 7.41163314e+01] [ 2.20221550e-02 -3.56833338e-04 9.99757419e-01 2.95674098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56275509600002 meters 0.017546790849593038 Centerline is valid? [True, True] Translation: X:125.79, Y:74.14, Z:2.96 [[ 2.92059762e-01 -9.56375626e-01 -6.83799792e-03 1.25792377e+02] [ 9.56140550e-01 2.92139597e-01 -2.12062583e-02 7.41427392e+01] [ 2.22787985e-02 -3.44592348e-04 9.99751737e-01 2.95751433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59275509600002 meters 0.01736155704762851 Centerline is valid? [True, True] Translation: X:125.80, Y:74.17, Z:2.96 [[ 2.92527012e-01 -9.56232626e-01 -6.86384077e-03 1.25799919e+02] [ 9.55995162e-01 2.92607344e-01 -2.13118074e-02 7.41694641e+01] [ 2.23874557e-02 -3.27519234e-04 9.99749316e-01 2.95774408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62275509600002 meters 0.017261402863616 Centerline is valid? [True, True] Translation: X:125.81, Y:74.20, Z:2.96 [[ 2.92646507e-01 -9.56196033e-01 -6.86791579e-03 1.25806998e+02] [ 9.55957731e-01 2.92726912e-01 -2.13488027e-02 7.41954823e+01] [ 2.24240642e-02 -3.17784677e-04 9.99748499e-01 2.95792980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65275509600002 meters 0.017000825312057082 Centerline is valid? [True, True] Translation: X:125.81, Y:74.22, Z:2.96 [[ 2.93190660e-01 -9.56027811e-01 -7.07546066e-03 1.25813275e+02] [ 9.55774215e-01 2.93275863e-01 -2.20208583e-02 7.42217214e+01] [ 2.31276147e-02 -3.06232882e-04 9.99732474e-01 2.95762462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68275509600002 meters 0.017315152944136717 Centerline is valid? [True, True] Translation: X:125.82, Y:74.25, Z:2.96 [[ 2.92845080e-01 -9.56133478e-01 -7.10861356e-03 1.25821148e+02] [ 9.55876909e-01 2.92931183e-01 -2.21507548e-02 7.42465566e+01] [ 2.32614128e-02 -3.08220011e-04 9.99729369e-01 2.95745602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71275509600002 meters 0.017161771974638435 Centerline is valid? [True, True] Translation: X:125.83, Y:74.27, Z:2.96 [[ 2.92104050e-01 -9.56359794e-01 -7.15324130e-03 1.25829060e+02] [ 9.56099412e-01 2.92191448e-01 -2.23175337e-02 7.42724730e+01] [ 2.34337078e-02 -3.20167830e-04 9.99725342e-01 2.95788853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74275509600002 meters 0.017566207967164776 Centerline is valid? [True, True] Translation: X:125.84, Y:74.30, Z:2.96 [[ 2.91322256e-01 -9.56597626e-01 -7.23360542e-03 1.25837754e+02] [ 9.56330784e-01 2.91411856e-01 -2.25956181e-02 7.42972019e+01] [ 2.37228730e-02 -3.35113095e-04 9.99718517e-01 2.95804209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.772755096 meters 0.017566207967164776 Centerline is valid? [True, True] Translation: X:125.85, Y:74.32, Z:2.96 [[ 2.90997275e-01 -9.56696596e-01 -7.22554504e-03 1.25845692e+02] [ 9.56429721e-01 2.91086775e-01 -2.25981957e-02 7.43227488e+01] [ 2.37228775e-02 -3.34712661e-04 9.99718517e-01 2.95854102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.802755096 meters 0.01763840215145117 Centerline is valid? [True, True] Translation: X:125.85, Y:74.35, Z:2.96 [[ 2.89736695e-01 -9.57079295e-01 -7.20220387e-03 1.25854022e+02] [ 9.56813631e-01 2.89825976e-01 -2.25517098e-02 7.43484998e+01] [ 2.36711602e-02 -3.57108987e-04 9.99719735e-01 2.95912175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.832755096 meters 0.018102226412547974 Centerline is valid? [True, True] Translation: X:125.86, Y:74.37, Z:2.96 [[ 2.88462628e-01 -9.57464069e-01 -7.20204005e-03 1.25863227e+02] [ 9.57197892e-01 2.88552269e-01 -2.25783679e-02 7.43745281e+01] [ 2.36961410e-02 -3.80762210e-04 9.99719135e-01 2.95949601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.862755096 meters 0.018855224600776186 Centerline is valid? [True, True] Translation: X:125.87, Y:74.40, Z:2.96 [[ 2.85835180e-01 -9.58252184e-01 -7.14148287e-03 1.25872887e+02] [ 9.57990093e-01 2.85924050e-01 -2.24146970e-02 7.44013075e+01] [ 2.35208541e-02 -4.34560878e-04 9.99723252e-01 2.95970581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.892755096 meters 0.019415661774591978 Centerline is valid? [True, True] Translation: X:125.88, Y:74.43, Z:2.96 [[ 2.84301653e-01 -9.58708511e-01 -7.11058729e-03 1.25881709e+02] [ 9.58448263e-01 2.84390182e-01 -2.23417065e-02 7.44274928e+01] [ 2.34413654e-02 -4.63345961e-04 9.99725106e-01 2.95992937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.922755096 meters 0.020030864405019944 Centerline is valid? [True, True] Translation: X:125.89, Y:74.45, Z:2.96 [[ 2.81244846e-01 -9.59609798e-01 -7.09732676e-03 1.25890962e+02] [ 9.59350237e-01 2.81333883e-01 -2.23241873e-02 7.44536664e+01] [ 2.34192273e-02 -5.30259507e-04 9.99725592e-01 2.96024953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.952755096 meters 0.021126752625623708 Centerline is valid? [True, True] Translation: X:125.90, Y:74.48, Z:2.96 [[ 2.79226628e-01 -9.60199753e-01 -6.99467427e-03 1.25901611e+02] [ 9.59947263e-01 2.79313653e-01 -2.20257772e-02 7.44787659e+01] [ 2.31028539e-02 -5.64334918e-04 9.99732934e-01 2.96101259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.982755096 meters 0.021347621556973888 Centerline is valid? [True, True] Translation: X:125.91, Y:74.51, Z:2.96 [[ 2.77615350e-01 -9.60667958e-01 -6.84047051e-03 1.25911030e+02] [ 9.60426064e-01 2.77699000e-01 -2.15647890e-02 7.45053188e+01] [ 2.26161936e-02 -5.83049736e-04 9.99744051e-01 2.96233888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.012755096 meters 0.022538085654513245 Centerline is valid? [True, True] Translation: X:125.92, Y:74.53, Z:2.96 [[ 2.74724236e-01 -9.61499258e-01 -6.76544550e-03 1.25921260e+02] [ 9.61262364e-01 2.74806788e-01 -2.13517240e-02 7.45315476e+01] [ 2.23888571e-02 -6.37532059e-04 9.99749135e-01 2.96323903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.042755096 meters 0.023397459317951463 Centerline is valid? [True, True] Translation: X:125.93, Y:74.56, Z:2.96 [[ 2.73903276e-01 -9.61734281e-01 -6.64586933e-03 1.25929612e+02] [ 9.61505239e-01 2.73983146e-01 -2.09978672e-02 7.45560003e+01] [ 2.20152249e-02 -6.38653588e-04 9.99757432e-01 2.96295282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.072755096 meters 0.02382604756496315 Centerline is valid? [True, True] Translation: X:125.94, Y:74.58, Z:2.96 [[ 2.73584963e-01 -9.61824103e-01 -6.75747826e-03 1.25936548e+02] [ 9.61586725e-01 2.73667634e-01 -2.13774891e-02 7.45808879e+01] [ 2.24106874e-02 -6.49341816e-04 9.99748638e-01 2.96307916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.102755096 meters 0.023121647064246197 Centerline is valid? [True, True] Translation: X:125.94, Y:74.61, Z:2.96 [[ 2.73554026e-01 -9.61833721e-01 -6.63987720e-03 1.25942935e+02] [ 9.61604087e-01 2.73633865e-01 -2.10258907e-02 7.46078112e+01] [ 2.20403060e-02 -6.33215997e-04 9.99756882e-01 2.96400523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.132755096 meters 0.023773773533056243 Centerline is valid? [True, True] Translation: X:125.95, Y:74.63, Z:2.96 [[ 2.73997022e-01 -9.61709074e-01 -6.42561838e-03 1.25951145e+02] [ 9.61493464e-01 2.74071708e-01 -2.03719769e-02 7.46327738e+01] [ 2.13529952e-02 -5.96329070e-04 9.99771821e-01 2.96441602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.162755096 meters 0.023311052395858272 Centerline is valid? [True, True] Translation: X:125.96, Y:74.66, Z:2.96 [[ 2.75017923e-01 -9.61417203e-01 -6.48867349e-03 1.25957947e+02] [ 9.61196695e-01 2.75093864e-01 -2.05980715e-02 7.46598282e+01] [ 2.15883346e-02 -5.72052659e-04 9.99766781e-01 2.96498437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.192755096 meters 0.022529959476365977 Centerline is valid? [True, True] Translation: X:125.96, Y:74.69, Z:2.97 [[ 2.76972523e-01 -9.60856631e-01 -6.38407241e-03 1.25963201e+02] [ 9.60642585e-01 2.77045611e-01 -2.02867821e-02 7.46852608e+01] [ 2.12613684e-02 -5.13930591e-04 9.99773819e-01 2.96558889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22275509600001 meters 0.02220228900045474 Centerline is valid? [True, True] Translation: X:125.97, Y:74.71, Z:2.97 [[ 2.77663665e-01 -9.60658176e-01 -6.22556774e-03 1.25970360e+02] [ 9.60454200e-01 2.77733031e-01 -1.98013400e-02 7.47117163e+01] [ 2.07513650e-02 -4.81260056e-04 9.99784551e-01 2.96632512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25275509600002 meters 0.021476337676360615 Centerline is valid? [True, True] Translation: X:125.98, Y:74.74, Z:2.97 [[ 2.79318504e-01 -9.60180910e-01 -5.81321508e-03 1.25975342e+02] [ 9.60002569e-01 2.79378689e-01 -1.85098761e-02 7.47372163e+01] [ 1.93969181e-02 -4.10550505e-04 9.99811778e-01 2.96780966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28275509600002 meters 0.020813499620115087 Centerline is valid? [True, True] Translation: X:125.98, Y:74.76, Z:2.97 [[ 2.79667346e-01 -9.60079928e-01 -5.71912861e-03 1.25981126e+02] [ 9.59906981e-01 2.79725542e-01 -1.82265956e-02 7.47641021e+01] [ 1.90987749e-02 -3.92447868e-04 9.99817525e-01 2.96860771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31275509600002 meters 0.020510944644439092 Centerline is valid? [True, True] Translation: X:125.99, Y:74.79, Z:2.97 [[ 2.80334828e-01 -9.59886060e-01 -5.58002952e-03 1.25987815e+02] [ 9.59721004e-01 2.80390121e-01 -1.78037571e-02 7.47910138e+01] [ 1.86541634e-02 -3.64258353e-04 9.99825930e-01 2.96912794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34275509600002 meters 0.02074453327432545 Centerline is valid? [True, True] Translation: X:125.99, Y:74.82, Z:2.97 [[ 2.80795362e-01 -9.59751093e-01 -5.63947700e-03 1.25991491e+02] [ 9.59582073e-01 2.80851766e-01 -1.80147471e-02 7.48189725e+01] [ 1.88735303e-02 -3.53083603e-04 9.99821817e-01 2.96739950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37275509600002 meters 0.02021421302600554 Centerline is valid? [True, True] Translation: X:126.00, Y:74.84, Z:2.97 [[ 2.80830549e-01 -9.59742855e-01 -5.27774723e-03 1.26001268e+02] [ 9.59594489e-01 2.80879950e-01 -1.68780865e-02 7.48435933e+01] [ 1.76810363e-02 -3.24614867e-04 9.99843626e-01 2.97019460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40275509600002 meters 0.02040402146363981 Centerline is valid? [True, True] Translation: X:126.01, Y:74.87, Z:2.97 [[ 2.80477545e-01 -9.59846510e-01 -5.19850198e-03 1.26008083e+02] [ 9.59702202e-01 2.80525534e-01 -1.66465762e-02 7.48677055e+01] [ 1.74364706e-02 -3.20022971e-04 9.99847922e-01 2.97068277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43275509600002 meters 0.02102742712706856 Centerline is valid? [True, True] Translation: X:126.02, Y:74.89, Z:2.97 [[ 2.79707414e-01 -9.60071745e-01 -5.09976448e-03 1.26015123e+02] [ 9.59932527e-01 2.79753716e-01 -1.63524372e-02 7.48923910e+01] [ 1.71261910e-02 -3.21531882e-04 9.99853284e-01 2.97112200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46275509600002 meters 0.019562398000887268 Centerline is valid? [True, True] Translation: X:126.02, Y:74.92, Z:2.97 [[ 2.78812909e-01 -9.60331902e-01 -5.09905849e-03 1.26019397e+02] [ 9.60192488e-01 2.78859334e-01 -1.63663711e-02 7.49193752e+01] [ 1.71390683e-02 -3.32922110e-04 9.99853060e-01 2.97067790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49275509600002 meters 0.020326890952457 Centerline is valid? [True, True] Translation: X:126.03, Y:74.94, Z:2.97 [[ 2.77212707e-01 -9.60793703e-01 -5.34557632e-03 1.26027177e+02] [ 9.60640160e-01 2.77263992e-01 -1.71802506e-02 7.49449660e+01] [ 1.79888124e-02 -3.72591514e-04 9.99838119e-01 2.97034534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.522755096 meters 0.022041034475127237 Centerline is valid? [True, True] Translation: X:126.04, Y:74.97, Z:2.97 [[ 2.75958651e-01 -9.61154406e-01 -5.38805994e-03 1.26037426e+02] [ 9.60998108e-01 2.76010967e-01 -1.73373008e-02 7.49705304e+01] [ 1.81509867e-02 -3.93537258e-04 9.99835180e-01 2.97034059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.552755096 meters 0.021338843776540377 Centerline is valid? [True, True] Translation: X:126.04, Y:75.00, Z:2.97 [[ 2.74834932e-01 -9.61476229e-01 -5.40565706e-03 1.26043686e+02] [ 9.61318602e-01 2.74887781e-01 -1.74141911e-02 7.49974992e+01] [ 1.82292799e-02 -4.10530658e-04 9.99833749e-01 2.97033903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.582755096 meters 0.022307696593534536 Centerline is valid? [True, True] Translation: X:126.05, Y:75.02, Z:2.97 [[ 2.72431574e-01 -9.62158275e-01 -5.70017650e-03 1.26052411e+02] [ 9.61982716e-01 2.72490787e-01 -1.83854424e-02 7.50236576e+01] [ 1.92429512e-02 -4.74696249e-04 9.99814725e-01 2.96986223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.612755096 meters 0.0233812319263527 Centerline is valid? [True, True] Translation: X:126.06, Y:75.05, Z:2.97 [[ 2.70986769e-01 -9.62565594e-01 -5.80079340e-03 1.26061346e+02] [ 9.62383441e-01 2.71048375e-01 -1.87321109e-02 7.50488188e+01] [ 1.96031811e-02 -5.06433311e-04 9.99807711e-01 2.96949991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.642755096 meters 0.024005064309113207 Centerline is valid? [True, True] Translation: X:126.07, Y:75.08, Z:2.97 [[ 2.69596814e-01 -9.62954424e-01 -6.02784203e-03 1.26070185e+02] [ 9.62757357e-01 2.69663634e-01 -1.94883816e-02 7.50756505e+01] [ 2.03919131e-02 -5.49343655e-04 9.99791912e-01 2.96947089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.672755096 meters 0.025814013519516614 Centerline is valid? [True, True] Translation: X:126.08, Y:75.10, Z:2.97 [[ 2.66350396e-01 -9.63857607e-01 -5.99841800e-03 1.26080091e+02] [ 9.63662258e-01 2.66417234e-01 -1.94141757e-02 7.51001982e+01] [ 2.03105829e-02 -6.09475649e-04 9.99793533e-01 2.96994911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.702755096 meters 0.02671437278642117 Centerline is valid? [True, True] Translation: X:126.09, Y:75.13, Z:2.97 [[ 2.64678704e-01 -9.64318535e-01 -5.91154276e-03 1.26089162e+02] [ 9.64128443e-01 2.64743965e-01 -1.91566785e-02 7.51255629e+01] [ 2.00381854e-02 -6.29121680e-04 9.99799017e-01 2.97076700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.732755096 meters 0.028808120876130456 Centerline is valid? [True, True] Translation: X:126.10, Y:75.15, Z:2.97 [[ 2.61962743e-01 -9.65060762e-01 -5.76592725e-03 1.26099027e+02] [ 9.64879672e-01 2.62025352e-01 -1.87064865e-02 7.51498569e+01] [ 1.95637152e-02 -6.63023481e-04 9.99808392e-01 2.97208443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.762755096 meters 0.029645063751221282 Centerline is valid? [True, True] Translation: X:126.11, Y:75.18, Z:2.97 [[ 2.60526013e-01 -9.65450494e-01 -5.61597633e-03 1.26107679e+02] [ 9.65278370e-01 2.60585679e-01 -1.82420555e-02 7.51754989e+01] [ 1.90752445e-02 -6.68450474e-04 9.99817828e-01 2.97306280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.792755096 meters 0.030322938839576666 Centerline is valid? [True, True] Translation: X:126.12, Y:75.20, Z:2.97 [[ 2.59177484e-01 -9.65814000e-01 -5.50899628e-03 1.26116386e+02] [ 9.65648071e-01 2.59235144e-01 -1.79149060e-02 7.52007606e+01] [ 1.87305924e-02 -6.76611368e-04 9.99824338e-01 2.97391737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.822755096 meters 0.031776846064988304 Centerline is valid? [True, True] Translation: X:126.13, Y:75.23, Z:2.97 [[ 2.57263390e-01 -9.66325370e-01 -5.55218986e-03 1.26125538e+02] [ 9.66156523e-01 2.57322307e-01 -1.80776858e-02 7.52254296e+01] [ 1.88976287e-02 -7.13557733e-04 9.99821169e-01 2.97452978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.852755096 meters 0.03195583025587816 Centerline is valid? [True, True] Translation: X:126.13, Y:75.25, Z:2.98 [[ 2.56641342e-01 -9.66490542e-01 -5.59059483e-03 1.26132970e+02] [ 9.66318962e-01 2.56701202e-01 -1.82251373e-02 7.52508684e+01] [ 1.90495352e-02 -7.24974124e-04 9.99818278e-01 2.97506141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.882755096 meters 0.028067386512221165 Centerline is valid? [True, True] Translation: X:126.13, Y:75.28, Z:2.98 [[ 2.56187066e-01 -9.66610665e-01 -5.65769519e-03 1.26134946e+02] [ 9.66434510e-01 2.56248473e-01 -1.84677709e-02 7.52791354e+01] [ 1.93009200e-02 -7.36587841e-04 9.99813449e-01 2.97563741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.912755096 meters 0.03262654872740311 Centerline is valid? [True, True] Translation: X:126.15, Y:75.30, Z:2.98 [[ 2.56233649e-01 -9.66598146e-01 -5.68688782e-03 1.26148204e+02] [ 9.66419708e-01 2.56295699e-01 -1.85866005e-02 7.53029710e+01] [ 1.94232985e-02 -7.33407997e-04 9.99811081e-01 2.97599153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.942755096 meters 0.026915593153621447 Centerline is valid? [True, True] Translation: X:126.15, Y:75.33, Z:2.98 [[ 2.57565377e-01 -9.66242523e-01 -5.95518692e-03 1.26145913e+02] [ 9.66046214e-01 2.57633170e-01 -1.94900385e-02 7.53334371e+01] [ 2.03663576e-02 -7.33026669e-04 9.99792316e-01 2.97535765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97275509600001 meters 0.03261894006677874 Centerline is valid? [True, True] Translation: X:126.16, Y:75.36, Z:2.98 [[ 2.58195422e-01 -9.66075551e-01 -5.75794043e-03 1.26162040e+02] [ 9.65891577e-01 2.58258694e-01 -1.88655217e-02 7.53570804e+01] [ 1.97125574e-02 -6.90554826e-04 9.99805450e-01 2.97683367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00275509600002 meters 0.02550930564102394 Centerline is valid? [True, True] Translation: X:126.16, Y:75.39, Z:2.98 [[ 2.60075897e-01 -9.65571515e-01 -5.67241895e-03 1.26158457e+02] [ 9.65392435e-01 2.60136969e-01 -1.86065730e-02 7.53873650e+01] [ 1.94415828e-02 -6.36989176e-04 9.99810792e-01 2.97788165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03275509600002 meters 0.024347662247203253 Centerline is valid? [True, True] Translation: X:126.16, Y:75.41, Z:2.98 [[ 2.60474674e-01 -9.65464058e-01 -5.66540409e-03 1.26163362e+02] [ 9.65284986e-01 2.60535534e-01 -1.86045814e-02 7.54140232e+01] [ 1.94380937e-02 -6.22707240e-04 9.99810868e-01 2.97855599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06275509600002 meters 0.023456605088757475 Centerline is valid? [True, True] Translation: X:126.17, Y:75.44, Z:2.98 [[ 2.61125504e-01 -9.65289121e-01 -5.51222906e-03 1.26169664e+02] [ 9.65119129e-01 2.61183017e-01 -1.81245331e-02 7.54419983e+01] [ 1.89351152e-02 -5.87179881e-04 9.99820542e-01 2.97924662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09275509600002 meters 0.023431568382104122 Centerline is valid? [True, True] Translation: X:126.18, Y:75.47, Z:2.98 [[ 2.61965838e-01 -9.65061342e-01 -5.52326732e-03 1.26176003e+02] [ 9.64890237e-01 2.62023445e-01 -1.81808719e-02 7.54686020e+01] [ 1.89928822e-02 -5.66579372e-04 9.99819458e-01 2.97954064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12275509600002 meters 0.023976801727218697 Centerline is valid? [True, True] Translation: X:126.18, Y:75.49, Z:2.98 [[ 2.62126311e-01 -9.65018291e-01 -5.43084405e-03 1.26183643e+02] [ 9.64852468e-01 2.62181991e-01 -1.78974363e-02 7.54934300e+01] [ 1.86952229e-02 -5.48574318e-04 9.99825079e-01 2.97993445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15275509600002 meters 0.023634413951700777 Centerline is valid? [True, True] Translation: X:126.19, Y:75.52, Z:2.98 [[ 2.61854983e-01 -9.65092178e-01 -5.39037904e-03 1.26190440e+02] [ 9.64928503e-01 2.61909891e-01 -1.77817947e-02 7.55202273e+01] [ 1.85728645e-02 -5.45078837e-04 9.99827361e-01 2.98073167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18275509600002 meters 0.02356420264554072 Centerline is valid? [True, True] Translation: X:126.20, Y:75.55, Z:2.98 [[ 2.61772095e-01 -9.65115212e-01 -5.29129718e-03 1.26198006e+02] [ 9.64957098e-01 2.61825029e-01 -1.74771880e-02 7.55464076e+01] [ 1.82528940e-02 -5.30834652e-04 9.99833261e-01 2.98167161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21275509600002 meters 0.023492635086166124 Centerline is valid? [True, True] Translation: X:126.21, Y:75.57, Z:2.98 [[ 2.61699924e-01 -9.65134843e-01 -5.28053872e-03 1.26205619e+02] [ 9.64976964e-01 2.61752666e-01 -1.74642482e-02 7.55730982e+01] [ 1.82375495e-02 -5.25205815e-04 9.99833544e-01 2.98214989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24275509600002 meters 0.023723198045915054 Centerline is valid? [True, True] Translation: X:126.21, Y:75.60, Z:2.98 [[ 2.61577641e-01 -9.65168369e-01 -5.21133150e-03 1.26213218e+02] [ 9.65014235e-01 2.61629040e-01 -1.72560777e-02 7.55986151e+01] [ 1.80184560e-02 -5.15204991e-04 9.99837522e-01 2.98286129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.272755096 meters 0.024047051330703825 Centerline is valid? [True, True] Translation: X:126.22, Y:75.62, Z:2.98 [[ 2.61906500e-01 -9.65079857e-01 -5.08481886e-03 1.26220481e+02] [ 9.64932707e-01 2.61955396e-01 -1.68594637e-02 7.56239145e+01] [ 1.76027246e-02 -4.90904887e-04 9.99844940e-01 2.98364574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.302755096 meters 0.02336721129047721 Centerline is valid? [True, True] Translation: X:126.23, Y:75.65, Z:2.98 [[ 2.61855339e-01 -9.65093740e-01 -5.08467118e-03 1.26226784e+02] [ 9.64946202e-01 2.61904250e-01 -1.68816542e-02 7.56503003e+01] [ 1.76240758e-02 -4.85882868e-04 9.99844566e-01 2.98410694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.332755096 meters 0.023499150321046682 Centerline is valid? [True, True] Translation: X:126.23, Y:75.68, Z:2.98 [[ 2.62328390e-01 -9.64964339e-01 -5.25749109e-03 1.26233861e+02] [ 9.64806153e-01 2.62380616e-01 -1.74785250e-02 7.56752718e+01] [ 1.82456171e-02 -4.87346435e-04 9.99833416e-01 2.98402476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.362755096 meters 0.0248811025072102 Centerline is valid? [True, True] Translation: X:126.24, Y:75.70, Z:2.98 [[ 2.62050189e-01 -9.65039391e-01 -5.35456229e-03 1.26243338e+02] [ 9.64874874e-01 2.62104421e-01 -1.78255293e-02 7.57001772e+01] [ 1.86057924e-02 -4.95299292e-04 9.99826775e-01 2.98405713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.392755096 meters 0.02516239367361079 Centerline is valid? [True, True] Translation: X:126.25, Y:75.72, Z:2.98 [[ 2.61964480e-01 -9.65062036e-01 -5.46607648e-03 1.26250781e+02] [ 9.64890133e-01 2.62021022e-01 -1.82212921e-02 7.57248104e+01] [ 1.90169042e-02 -5.00831937e-04 9.99819037e-01 2.98381999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.422755096 meters 0.024013499962459668 Centerline is valid? [True, True] Translation: X:126.26, Y:75.75, Z:2.98 [[ 2.61686274e-01 -9.65137592e-01 -5.45192101e-03 1.26256113e+02] [ 9.64966119e-01 2.61742585e-01 -1.81991557e-02 7.57512006e+01] [ 1.89916892e-02 -4.98449821e-04 9.99819517e-01 2.98419814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.452755096 meters 0.023063621310279014 Centerline is valid? [True, True] Translation: X:126.26, Y:75.78, Z:2.98 [[ 2.61415715e-01 -9.65210828e-01 -5.46641629e-03 1.26261613e+02] [ 9.65038028e-01 2.61472386e-01 -1.82700790e-02 7.57776529e+01] [ 1.90637950e-02 -4.99213828e-04 9.99818145e-01 2.98448200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.482755096 meters 0.023028278226540234 Centerline is valid? [True, True] Translation: X:126.27, Y:75.80, Z:2.99 [[ 2.61252930e-01 -9.65254991e-01 -5.45066190e-03 1.26268741e+02] [ 9.65082755e-01 2.61309315e-01 -1.82405536e-02 7.58040528e+01] [ 1.90310941e-02 -4.94941729e-04 9.99818770e-01 2.98525055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.512755096 meters 0.024277697138378327 Centerline is valid? [True, True] Translation: X:126.28, Y:75.83, Z:2.99 [[ 2.61111397e-01 -9.65293138e-01 -5.47686429e-03 1.26277690e+02] [ 9.65118802e-01 2.61168362e-01 -1.83516872e-02 7.58290728e+01] [ 1.91451414e-02 -4.93990014e-04 9.99816593e-01 2.98572820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.542755096 meters 0.023161903237501415 Centerline is valid? [True, True] Translation: X:126.28, Y:75.86, Z:2.99 [[ 2.61317382e-01 -9.65238333e-01 -5.30917708e-03 1.26283014e+02] [ 9.65074071e-01 2.61370889e-01 -1.78127905e-02 7.58560627e+01] [ 1.85812525e-02 -4.68957370e-04 9.99827244e-01 2.98649581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.572755096 meters 0.02314909426371815 Centerline is valid? [True, True] Translation: X:126.29, Y:75.88, Z:2.99 [[ 2.60958932e-01 -9.65335127e-01 -5.34119661e-03 1.26290142e+02] [ 9.65168477e-01 2.61013159e-01 -1.79427414e-02 7.58818477e+01] [ 1.87148811e-02 -4.72835972e-04 9.99824749e-01 2.98681837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.602755096 meters 0.023686949462387325 Centerline is valid? [True, True] Translation: X:126.30, Y:75.91, Z:2.99 [[ 2.60084880e-01 -9.65571808e-01 -5.19023418e-03 1.26297918e+02] [ 9.65414108e-01 2.60136237e-01 -1.74567532e-02 7.59064610e+01] [ 1.82059168e-02 -4.70487728e-04 9.99834148e-01 2.98718421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.632755096 meters 0.02389100106457655 Centerline is valid? [True, True] Translation: X:126.31, Y:75.93, Z:2.99 [[ 2.59480235e-01 -9.65734687e-01 -5.15004386e-03 1.26305691e+02] [ 9.65579043e-01 2.59530908e-01 -1.73441384e-02 7.59326599e+01] [ 1.80864316e-02 -4.72313318e-04 9.99836316e-01 2.98768640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.662755096 meters 0.024633316107520495 Centerline is valid? [True, True] Translation: X:126.31, Y:75.96, Z:2.99 [[ 2.58497622e-01 -9.65998821e-01 -5.02570410e-03 1.26313458e+02] [ 9.65850288e-01 2.58546038e-01 -1.69460141e-02 7.59575124e+01] [ 1.76692055e-02 -4.73573401e-04 9.99843775e-01 2.98837513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.692755096 meters 0.024633316107520495 Centerline is valid? [True, True] Translation: X:126.32, Y:75.98, Z:2.99 [[ 2.58176357e-01 -9.66084755e-01 -5.02139332e-03 1.26320838e+02] [ 9.65936214e-01 2.58224747e-01 -1.69472914e-02 7.59832230e+01] [ 1.76691678e-02 -4.74955710e-04 9.99843775e-01 2.98887469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72275509600001 meters 0.02399629297117791 Centerline is valid? [True, True] Translation: X:126.33, Y:76.01, Z:2.99 [[ 2.56681277e-01 -9.66483237e-01 -4.98749004e-03 1.26326790e+02] [ 9.66336408e-01 2.56729253e-01 -1.68534204e-02 7.60111347e+01] [ 1.75689829e-02 -4.93635754e-04 9.99845532e-01 2.98938243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75275509600002 meters 0.02592470262456083 Centerline is valid? [True, True] Translation: X:126.34, Y:76.04, Z:2.99 [[ 2.56152761e-01 -9.66623250e-01 -5.02552066e-03 1.26337188e+02] [ 9.66473853e-01 2.56201563e-01 -1.70015078e-02 7.60354740e+01] [ 1.77215989e-02 -5.02051160e-04 9.99842834e-01 2.98966767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78275509600002 meters 0.02711696780116341 Centerline is valid? [True, True] Translation: X:126.35, Y:76.06, Z:2.99 [[ 2.54620192e-01 -9.67028725e-01 -4.89925436e-03 1.26346245e+02] [ 9.66886548e-01 2.54666806e-01 -1.65898170e-02 7.60599414e+01] [ 1.72905070e-02 -5.12920740e-04 9.99850376e-01 2.99065597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81275509600002 meters 0.027493550026367868 Centerline is valid? [True, True] Translation: X:126.35, Y:76.09, Z:2.99 [[ 2.54047664e-01 -9.67179197e-01 -4.91791860e-03 1.26354015e+02] [ 9.67035598e-01 2.54094729e-01 -1.66739591e-02 7.60850157e+01] [ 1.73763235e-02 -5.19822005e-04 9.99848885e-01 2.99121338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84275509600002 meters 0.027688972880196942 Centerline is valid? [True, True] Translation: X:126.36, Y:76.11, Z:2.99 [[ 2.53674369e-01 -9.67277285e-01 -4.89574156e-03 1.26360969e+02] [ 9.67134621e-01 2.53721077e-01 -1.66204884e-02 7.61102239e+01] [ 1.73187737e-02 -5.18649247e-04 9.99849884e-01 2.99149226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87275509600002 meters 0.027910009406940606 Centerline is valid? [True, True] Translation: X:126.37, Y:76.13, Z:2.99 [[ 2.53578756e-01 -9.67302240e-01 -4.91844809e-03 1.26367472e+02] [ 9.67157873e-01 2.53625923e-01 -1.67194358e-02 7.61348212e+01] [ 1.74201937e-02 -5.17222051e-04 9.99848123e-01 2.99183067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90275509600002 meters 0.0276836756132183 Centerline is valid? [True, True] Translation: X:126.37, Y:76.16, Z:2.99 [[ 2.53710228e-01 -9.67267216e-01 -5.02520477e-03 1.26374256e+02] [ 9.67116082e-01 2.53759457e-01 -1.71062043e-02 7.61604837e+01] [ 1.78214638e-02 -5.19937361e-04 9.99841050e-01 2.99195382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93275509600002 meters 0.027718508911295608 Centerline is valid? [True, True] Translation: X:126.38, Y:76.18, Z:2.99 [[ 2.53787265e-01 -9.67247188e-01 -4.99010661e-03 1.26380926e+02] [ 9.67097770e-01 2.53835808e-01 -1.70084127e-02 7.61847654e+01] [ 1.77180071e-02 -5.09402430e-04 9.99842894e-01 2.99252705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96275509600002 meters 0.02263470385215393 Centerline is valid? [True, True] Translation: X:126.38, Y:76.21, Z:2.99 [[ 2.54446164e-01 -9.67074039e-01 -4.99525093e-03 1.26380285e+02] [ 9.66923873e-01 2.54494716e-01 -1.70488473e-02 7.62136348e+01] [ 1.77587625e-02 -4.92013599e-04 9.99842180e-01 2.99298814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99275509600002 meters 0.027289090524241978 Centerline is valid? [True, True] Translation: X:126.39, Y:76.24, Z:2.99 [[ 2.54654736e-01 -9.67018507e-01 -5.11587834e-03 1.26394840e+02] [ 9.66860551e-01 2.54705640e-01 -1.74846496e-02 7.62366677e+01] [ 1.82110228e-02 -4.93792118e-04 9.99834044e-01 2.99364802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.022755096 meters 0.02787904748884795 Centerline is valid? [True, True] Translation: X:126.40, Y:76.26, Z:2.99 [[ 2.55647243e-01 -9.66756020e-01 -5.22350552e-03 1.26401543e+02] [ 9.66590812e-01 2.55700154e-01 -1.78782708e-02 7.62619607e+01] [ 1.86195771e-02 -4.78461798e-04 9.99826526e-01 2.99237835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.052755096 meters 0.022069618667590378 Centerline is valid? [True, True] Translation: X:126.40, Y:76.29, Z:2.99 [[ 2.56048705e-01 -9.66649482e-01 -5.27633610e-03 1.26400691e+02] [ 9.66480483e-01 2.56102632e-01 -1.80808561e-02 7.62909702e+01] [ 1.88291337e-02 -4.69896082e-04 9.99822606e-01 2.99398164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.082755096 meters 0.02625677542040506 Centerline is valid? [True, True] Translation: X:126.42, Y:76.31, Z:2.99 [[ 2.56417624e-01 -9.66552426e-01 -5.13908658e-03 1.26415111e+02] [ 9.66391668e-01 2.56468731e-01 -1.76333169e-02 7.63141775e+01] [ 1.83615403e-02 -4.44877228e-04 9.99831314e-01 2.99486634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.112755096 meters 0.021919767346186142 Centerline is valid? [True, True] Translation: X:126.42, Y:76.34, Z:3.00 [[ 2.56679006e-01 -9.66483990e-01 -4.95830269e-03 1.26415208e+02] [ 9.66333926e-01 2.56726550e-01 -1.70359233e-02 7.63426629e+01] [ 1.77378750e-02 -4.18612258e-04 9.99842584e-01 2.99593315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.142755096 meters 0.02273408243916656 Centerline is valid? [True, True] Translation: X:126.42, Y:76.37, Z:3.00 [[ 2.56558322e-01 -9.66516559e-01 -4.85468302e-03 1.26423474e+02] [ 9.66372333e-01 2.56603927e-01 -1.67014787e-02 7.63686680e+01] [ 1.73879865e-02 -4.06527993e-04 9.99848735e-01 2.99549880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.172755096 meters 0.022080054505700775 Centerline is valid? [True, True] Translation: X:126.43, Y:76.39, Z:3.00 [[ 2.56221966e-01 -9.66606471e-01 -4.71539673e-03 1.26430742e+02] [ 9.66470068e-01 2.56265047e-01 -1.62429529e-02 7.63945847e+01] [ 1.69089348e-02 -3.95488470e-04 9.99856956e-01 2.99736561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.202755096 meters 0.02262347052339889 Centerline is valid? [True, True] Translation: X:126.44, Y:76.42, Z:3.00 [[ 2.55555947e-01 -9.66782497e-01 -4.77086350e-03 1.26439441e+02] [ 9.66642514e-01 2.55600153e-01 -1.64563436e-02 7.64191994e+01] [ 1.71291384e-02 -4.06203013e-04 9.99853203e-01 2.99771746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.232755096 meters 0.022813075186642825 Centerline is valid? [True, True] Translation: X:126.45, Y:76.44, Z:3.00 [[ 2.54791772e-01 -9.66983117e-01 -4.98036107e-03 1.26447095e+02] [ 9.66830287e-01 2.54840074e-01 -1.71969089e-02 7.64448533e+01] [ 1.78983162e-02 -4.33533025e-04 9.99839718e-01 2.99773075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.262755096 meters 0.022758324965854382 Centerline is valid? [True, True] Translation: X:126.46, Y:76.47, Z:3.00 [[ 2.54048031e-01 -9.67178847e-01 -4.96755891e-03 1.26455008e+02] [ 9.67026418e-01 2.54096212e-01 -1.71762081e-02 7.64713727e+01] [ 1.78747030e-02 -4.40178867e-04 9.99840138e-01 2.99792429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.292755096 meters 0.023991424617543434 Centerline is valid? [True, True] Translation: X:126.47, Y:76.50, Z:3.00 [[ 2.52671059e-01 -9.67538549e-01 -5.14705384e-03 1.26465609e+02] [ 9.67374532e-01 2.52723029e-01 -1.78209293e-02 7.64963768e+01] [ 1.85432151e-02 -4.76295738e-04 9.99827946e-01 2.99790566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.322755096 meters 0.02460253139969701 Centerline is valid? [True, True] Translation: X:126.47, Y:76.52, Z:3.00 [[ 2.51411421e-01 -9.67865993e-01 -5.26460543e-03 1.26474444e+02] [ 9.67694036e-01 2.51466027e-01 -1.82507549e-02 7.65225910e+01] [ 1.89881544e-02 -5.06079053e-04 9.99819581e-01 2.99779439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.352755096 meters 0.024733640483452474 Centerline is valid? [True, True] Translation: X:126.48, Y:76.55, Z:3.00 [[ 2.50233895e-01 -9.68170650e-01 -5.34704641e-03 1.26482736e+02] [ 9.67992877e-01 2.50290452e-01 -1.85601550e-02 7.65496637e+01] [ 1.93077120e-02 -5.31522973e-04 9.99813447e-01 2.99786138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.382755096 meters 0.025754074982859063 Centerline is valid? [True, True] Translation: X:126.49, Y:76.57, Z:3.00 [[ 2.48542927e-01 -9.68604678e-01 -5.60284552e-03 1.26491877e+02] [ 9.68409131e-01 2.48605379e-01 -1.94710306e-02 7.65738869e+01] [ 2.02526289e-02 -5.86459825e-04 9.99794722e-01 2.99706580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.412755096 meters 0.02626716105042869 Centerline is valid? [True, True] Translation: X:126.50, Y:76.60, Z:3.00 [[ 2.47707826e-01 -9.68817911e-01 -5.71735250e-03 1.26500212e+02] [ 9.68613892e-01 2.47773046e-01 -1.98908364e-02 7.65994202e+01] [ 2.06872044e-02 -6.10791220e-04 9.99785810e-01 2.99714933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.442755096 meters 0.027291564236244972 Centerline is valid? [True, True] Translation: X:126.51, Y:76.62, Z:3.00 [[ 2.46538071e-01 -9.69116116e-01 -5.73874385e-03 1.26509324e+02] [ 9.68910123e-01 2.46604044e-01 -1.99904904e-02 7.66245355e+01] [ 2.07883038e-02 -6.31910067e-04 9.99783700e-01 2.99755549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47275509600001 meters 0.024864940861739664 Centerline is valid? [True, True] Translation: X:126.52, Y:76.65, Z:3.00 [[ 2.44779552e-01 -9.69561868e-01 -5.72327141e-03 1.26515105e+02] [ 9.69356565e-01 2.44845559e-01 -1.99625108e-02 7.66516927e+01] [ 2.07562068e-02 -6.61476262e-04 9.99784348e-01 2.99798540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50275509600002 meters 0.028343470483342563 Centerline is valid? [True, True] Translation: X:126.53, Y:76.68, Z:3.00 [[ 2.44031992e-01 -9.69750377e-01 -5.70908474e-03 1.26528711e+02] [ 9.69545652e-01 2.44097845e-01 -1.99366858e-02 7.66750799e+01] [ 2.07271839e-02 -6.70029133e-04 9.99784944e-01 2.99841052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53275509600002 meters 0.030164791167529733 Centerline is valid? [True, True] Translation: X:126.54, Y:76.70, Z:3.00 [[ 2.42815055e-01 -9.70055878e-01 -5.69580772e-03 1.26539158e+02] [ 9.69851747e-01 2.42880872e-01 -1.99115801e-02 7.66997941e+01] [ 2.06987481e-02 -6.89257648e-04 9.99785520e-01 2.99876342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56275509600002 meters 0.03125539991062755 Centerline is valid? [True, True] Translation: X:126.55, Y:76.72, Z:3.00 [[ 2.41397396e-01 -9.70410367e-01 -5.56934142e-03 1.26549105e+02] [ 9.70214794e-01 2.41460626e-01 -1.94941050e-02 7.67239546e+01] [ 2.02620582e-02 -6.97631249e-04 9.99794460e-01 2.99981764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59275509600002 meters 0.02752793486537187 Centerline is valid? [True, True] Translation: X:126.55, Y:76.75, Z:3.00 [[ 2.40521070e-01 -9.70628198e-01 -5.52406575e-03 1.26551166e+02] [ 9.70435361e-01 2.40583467e-01 -1.93598829e-02 7.67514919e+01] [ 2.01202472e-02 -7.04288980e-04 9.99797319e-01 3.00052484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62275509600002 meters 0.027640571546440278 Centerline is valid? [True, True] Translation: X:126.56, Y:76.78, Z:3.00 [[ 2.40521864e-01 -9.70628983e-01 -5.34883384e-03 1.26559834e+02] [ 9.70447723e-01 2.40580381e-01 -1.87696106e-02 7.67778009e+01] [ 1.95051525e-02 -6.76261901e-04 9.99809528e-01 3.00128564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65275509600002 meters 0.02618427999464805 Centerline is valid? [True, True] Translation: X:126.57, Y:76.81, Z:3.00 [[ 2.40608944e-01 -9.70607166e-01 -5.39118835e-03 1.26565521e+02] [ 9.70422529e-01 2.40668392e-01 -1.89430804e-02 7.68050499e+01] [ 1.96837782e-02 -6.73856073e-04 9.99806029e-01 3.00169343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68275509600002 meters 0.0254023073993108 Centerline is valid? [True, True] Translation: X:126.57, Y:76.83, Z:3.00 [[ 2.41199320e-01 -9.70461019e-01 -5.31963002e-03 1.26572337e+02] [ 9.70280756e-01 2.41257106e-01 -1.87152994e-02 7.68313179e+01] [ 1.94458671e-02 -6.47417137e-04 9.99810702e-01 3.00245590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71275509600002 meters 0.02573628287937976 Centerline is valid? [True, True] Translation: X:126.58, Y:76.86, Z:3.00 [[ 2.42100089e-01 -9.70236982e-01 -5.26743831e-03 1.26580774e+02] [ 9.70059705e-01 2.42156598e-01 -1.85567119e-02 7.68570097e+01] [ 1.92799531e-02 -6.17148036e-04 9.99813934e-01 3.00302526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74275509600002 meters 0.02397058277867757 Centerline is valid? [True, True] Translation: X:126.59, Y:76.88, Z:3.00 [[ 2.44150588e-01 -9.69724272e-01 -5.03248033e-03 1.26585838e+02] [ 9.69561971e-01 2.44201838e-01 -1.77495463e-02 7.68848068e+01] [ 1.84411068e-02 -5.45739382e-04 9.99829799e-01 3.00348310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.772755096 meters 0.02394573239406852 Centerline is valid? [True, True] Translation: X:126.59, Y:76.91, Z:3.00 [[ 2.45154767e-01 -9.69470630e-01 -5.08309374e-03 1.26593284e+02] [ 9.69304581e-01 2.45206893e-01 -1.79501737e-02 7.69112904e+01] [ 1.86485758e-02 -5.26495392e-04 9.99825962e-01 3.00404629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.802755096 meters 0.022999670710636064 Centerline is valid? [True, True] Translation: X:126.60, Y:76.94, Z:3.00 [[ 2.47757872e-01 -9.68808595e-01 -5.09349421e-03 1.26599383e+02] [ 9.68641317e-01 2.47809774e-01 -1.80087396e-02 7.69379756e+01] [ 1.87092393e-02 -4.71961962e-04 9.99824855e-01 3.00456151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.832755096 meters 0.024679817430517014 Centerline is valid? [True, True] Translation: X:126.61, Y:76.96, Z:3.00 [[ 2.48146084e-01 -9.68707913e-01 -5.33852827e-03 1.26607182e+02] [ 9.68523685e-01 2.48203037e-01 -1.88977150e-02 7.69644925e+01] [ 1.96314050e-02 -4.81097086e-04 9.99807170e-01 3.00292666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.862755096 meters 0.021128663856105834 Centerline is valid? [True, True] Translation: X:126.61, Y:76.99, Z:3.01 [[ 2.50664368e-01 -9.68059587e-01 -5.29245047e-03 1.26612213e+02] [ 9.67877897e-01 2.50719882e-01 -1.87594603e-02 7.69920334e+01] [ 1.94871980e-02 -4.20117561e-04 9.99810018e-01 3.00574249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.892755096 meters 0.021579796734212887 Centerline is valid? [True, True] Translation: X:126.62, Y:77.02, Z:3.01 [[ 2.50963390e-01 -9.67982028e-01 -5.30747381e-03 1.26620467e+02] [ 9.67798831e-01 2.51019173e-01 -1.88360996e-02 7.70170884e+01] [ 1.95652836e-02 -4.09395536e-04 9.99808498e-01 3.00622388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.922755096 meters 0.020801587049982573 Centerline is valid? [True, True] Translation: X:126.63, Y:77.04, Z:3.01 [[ 2.51369443e-01 -9.67876166e-01 -5.39719328e-03 1.26626853e+02] [ 9.67686136e-01 2.51427058e-01 -1.91826953e-02 7.70440330e+01] [ 1.99234740e-02 -4.00845693e-04 9.99801428e-01 3.00665945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.952755096 meters 0.021005407353988283 Centerline is valid? [True, True] Translation: X:126.63, Y:77.07, Z:3.01 [[ 2.51306275e-01 -9.67892682e-01 -5.37701928e-03 1.26634844e+02] [ 9.67703558e-01 2.51363483e-01 -1.91369433e-02 7.70690381e+01] [ 1.98740937e-02 -3.94126751e-04 9.99802413e-01 3.00699295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.982755096 meters 0.02177268219387074 Centerline is valid? [True, True] Translation: X:126.65, Y:77.09, Z:3.01 [[ 2.50825287e-01 -9.68016831e-01 -5.48550210e-03 1.26645237e+02] [ 9.67819586e-01 2.50884934e-01 -1.95447753e-02 7.70935583e+01] [ 2.02959013e-02 -4.06652485e-04 9.99793934e-01 3.00727338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.012755096 meters 0.021071068871439023 Centerline is valid? [True, True] Translation: X:126.65, Y:77.12, Z:3.01 [[ 2.49972678e-01 -9.68236992e-01 -5.54867780e-03 1.26651933e+02] [ 9.68034650e-01 2.50033896e-01 -1.97981806e-02 7.71196274e+01] [ 2.05566884e-02 -4.22308128e-04 9.99788600e-01 3.00808491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.042755096 meters 0.021197400417409307 Centerline is valid? [True, True] Translation: X:126.66, Y:77.15, Z:3.01 [[ 2.48575238e-01 -9.68596405e-01 -5.59949370e-03 1.26660797e+02] [ 9.68389859e-01 2.48637893e-01 -2.00069697e-02 7.71467811e+01] [ 2.07709253e-02 -4.49255647e-04 9.99784160e-01 3.00864230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.072755096 meters 0.022049135971084183 Centerline is valid? [True, True] Translation: X:126.67, Y:77.17, Z:3.01 [[ 2.46712700e-01 -9.69071868e-01 -5.70602882e-03 1.26671960e+02] [ 9.68856965e-01 2.46778185e-01 -2.04134326e-02 7.71721860e+01] [ 2.11902067e-02 -4.92072699e-04 9.99775341e-01 3.00926479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.102755096 meters 0.022447330491468194 Centerline is valid? [True, True] Translation: X:126.68, Y:77.20, Z:3.01 [[ 2.45609050e-01 -9.69351601e-01 -5.80246321e-03 1.26681331e+02] [ 9.69128853e-01 2.45677035e-01 -2.07860710e-02 7.71982587e+01] [ 2.15745432e-02 -5.18087355e-04 9.99767108e-01 3.01020110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.132755096 meters 0.025627866210171872 Centerline is valid? [True, True] Translation: X:126.70, Y:77.22, Z:3.01 [[ 2.43251692e-01 -9.69945391e-01 -5.87812209e-03 1.26696164e+02] [ 9.69716362e-01 2.43322033e-01 -2.10847085e-02 7.72224742e+01] [ 2.18812924e-02 -5.71220168e-04 9.99760413e-01 3.01095962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.162755096 meters 0.02412530368135858 Centerline is valid? [True, True] Translation: X:126.70, Y:77.25, Z:3.01 [[ 2.42008934e-01 -9.70256246e-01 -5.87305456e-03 1.26702069e+02] [ 9.70027275e-01 2.42079458e-01 -2.10860509e-02 7.72503087e+01] [ 2.18806184e-02 -5.94010404e-04 9.99760414e-01 3.01211442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.192755096 meters 0.023858967268571996 Centerline is valid? [True, True] Translation: X:126.71, Y:77.28, Z:3.01 [[ 2.40909540e-01 -9.70529561e-01 -5.91309280e-03 1.26709831e+02] [ 9.70296970e-01 2.40981308e-01 -2.12555566e-02 7.72767873e+01] [ 2.20540909e-02 -6.16789642e-04 9.99756589e-01 3.01294944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22275509600001 meters 0.02495506668290187 Centerline is valid? [True, True] Translation: X:126.72, Y:77.30, Z:3.01 [[ 2.39774491e-01 -9.70810020e-01 -6.00817708e-03 1.26719754e+02] [ 9.70569342e-01 2.39848884e-01 -2.16255892e-02 7.73025534e+01] [ 2.24353933e-02 -6.46087825e-04 9.99748086e-01 3.01364810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25275509600002 meters 0.02469049863362299 Centerline is valid? [True, True] Translation: X:126.73, Y:77.33, Z:3.01 [[ 2.39390956e-01 -9.70903760e-01 -6.15300350e-03 1.26726924e+02] [ 9.70650696e-01 2.39469097e-01 -2.21760435e-02 7.73286294e+01] [ 2.30042582e-02 -6.63672901e-04 9.99735147e-01 3.01384439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28275509600002 meters 0.024395887716915324 Centerline is valid? [True, True] Translation: X:126.73, Y:77.36, Z:3.01 [[ 2.38908208e-01 -9.71022515e-01 -6.17602276e-03 1.26733728e+02] [ 9.70766898e-01 2.38987083e-01 -2.22890911e-02 7.73553683e+01] [ 2.31191990e-02 -6.70431634e-04 9.99732491e-01 3.01438386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31275509600002 meters 0.024072780375877165 Centerline is valid? [True, True] Translation: X:126.74, Y:77.38, Z:3.01 [[ 2.39125969e-01 -9.70967365e-01 -6.41464813e-03 1.26741175e+02] [ 9.70690809e-01 2.39211016e-01 -2.31828395e-02 7.73813418e+01] [ 2.40442350e-02 -6.83021033e-04 9.99710662e-01 3.01470514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34275509600002 meters 0.024013104176280258 Centerline is valid? [True, True] Translation: X:126.75, Y:77.41, Z:3.02 [[ 2.39396824e-01 -9.70899966e-01 -6.51283904e-03 1.26748598e+02] [ 9.70614048e-01 2.39484437e-01 -2.35706052e-02 7.74063838e+01] [ 2.44444234e-02 -6.78725035e-04 9.99700960e-01 3.01556995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37275509600002 meters 0.024099874689246247 Centerline is valid? [True, True] Translation: X:126.76, Y:77.43, Z:3.02 [[ 2.40109024e-01 -9.70724766e-01 -6.40979118e-03 1.26755927e+02] [ 9.70446975e-01 2.40193706e-01 -2.32304289e-02 7.74312687e+01] [ 2.40899441e-02 -6.42526845e-04 9.99709589e-01 3.01665563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40275509600002 meters 0.022192339123371242 Centerline is valid? [True, True] Translation: X:126.76, Y:77.46, Z:3.02 [[ 2.40429433e-01 -9.70646227e-01 -6.29202240e-03 1.26759693e+02] [ 9.70377770e-01 2.40510963e-01 -2.28355101e-02 7.74584989e+01] [ 2.36785021e-02 -6.15309901e-04 9.99719436e-01 3.01812115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43275509600002 meters 0.0232850898237606 Centerline is valid? [True, True] Translation: X:126.77, Y:77.48, Z:3.02 [[ 2.40413207e-01 -9.70651173e-01 -6.14739701e-03 1.26767997e+02] [ 9.70394201e-01 2.40491055e-01 -2.23415963e-02 7.74839783e+01] [ 2.31642906e-02 -5.94183608e-04 9.99731495e-01 3.01854126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46275509600002 meters 0.022143649845554003 Centerline is valid? [True, True] Translation: X:126.77, Y:77.51, Z:3.02 [[ 2.41471669e-01 -9.70391575e-01 -5.62352748e-03 1.26773024e+02] [ 9.70175915e-01 2.41536595e-01 -2.04638233e-02 7.75113613e+01] [ 2.12162094e-02 -5.14377358e-04 9.99774779e-01 3.02062540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49275509600002 meters 0.021693738964730702 Centerline is valid? [True, True] Translation: X:126.78, Y:77.54, Z:3.02 [[ 2.41623490e-01 -9.70355110e-01 -5.38982790e-03 1.26779146e+02] [ 9.70156518e-01 2.41683112e-01 -1.96368233e-02 7.75382715e+01] [ 2.03573222e-02 -4.84258909e-04 9.99792651e-01 3.02211871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.522755096 meters 0.021373572089630637 Centerline is valid? [True, True] Translation: X:126.79, Y:77.56, Z:3.02 [[ 2.41792620e-01 -9.70314375e-01 -5.13241429e-03 1.26785351e+02] [ 9.70133806e-01 2.41846664e-01 -1.87240484e-02 7.75647351e+01] [ 1.94094706e-02 -4.51791886e-04 9.99811516e-01 3.02316716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.552755096 meters 0.021321650116958808 Centerline is valid? [True, True] Translation: X:126.79, Y:77.59, Z:3.02 [[ 2.41979456e-01 -9.70268956e-01 -4.90876874e-03 1.26792187e+02] [ 9.70103321e-01 2.42028871e-01 -1.79324263e-02 7.75914562e+01] [ 1.85873403e-02 -4.22734101e-04 9.99827151e-01 3.02390162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.582755096 meters 0.021321650116958808 Centerline is valid? [True, True] Translation: X:126.80, Y:77.62, Z:3.02 [[ 2.41632169e-01 -9.70355534e-01 -4.90235264e-03 1.26799046e+02] [ 9.70189881e-01 2.41681524e-01 -1.79341802e-02 7.76173249e+01] [ 1.85873390e-02 -4.22738079e-04 9.99827151e-01 3.02440075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.612755096 meters 0.02300090866537194 Centerline is valid? [True, True] Translation: X:126.81, Y:77.64, Z:3.02 [[ 2.42682106e-01 -9.70094464e-01 -4.70392852e-03 1.26808053e+02] [ 9.69941482e-01 2.42727392e-01 -1.72318084e-02 7.76421787e+01] [ 1.78582543e-02 -3.80683829e-04 9.99840456e-01 3.02470609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.642755096 meters 0.021220176559130968 Centerline is valid? [True, True] Translation: X:126.81, Y:77.67, Z:3.03 [[ 2.42909310e-01 -9.70038761e-01 -4.45749442e-03 1.26811024e+02] [ 9.69901105e-01 2.42949949e-01 -1.63453120e-02 7.76697467e+01] [ 1.69385343e-02 -3.52900294e-04 9.99856470e-01 3.02529632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.672755096 meters 0.020472236452733033 Centerline is valid? [True, True] Translation: X:126.81, Y:77.70, Z:3.03 [[ 2.44240451e-01 -9.69705083e-01 -4.31909504e-03 1.26814906e+02] [ 9.69575443e-01 2.44278435e-01 -1.58589394e-02 7.76965533e+01] [ 1.64335559e-02 -3.14293978e-04 9.99864911e-01 3.02531279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.702755096 meters 0.020681065703741293 Centerline is valid? [True, True] Translation: X:126.82, Y:77.72, Z:3.03 [[ 2.44611285e-01 -9.69611683e-01 -4.30150371e-03 1.26821462e+02] [ 9.69482711e-01 2.44648917e-01 -1.58170985e-02 7.77219195e+01] [ 1.63888018e-02 -3.01192683e-04 9.99865649e-01 3.02573637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.732755096 meters 0.020321337633540777 Centerline is valid? [True, True] Translation: X:126.83, Y:77.75, Z:3.03 [[ 2.44776961e-01 -9.69569909e-01 -4.29321079e-03 1.26827242e+02] [ 9.69441159e-01 2.44814431e-01 -1.58029564e-02 7.77485263e+01] [ 1.63731110e-02 -2.93815609e-04 9.99865908e-01 3.02596556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.762755096 meters 0.02001813027290138 Centerline is valid? [True, True] Translation: X:126.83, Y:77.77, Z:3.03 [[ 2.44862451e-01 -9.69549107e-01 -4.11202650e-03 1.26833584e+02] [ 9.69430681e-01 2.44896821e-01 -1.51559162e-02 7.77749369e+01] [ 1.57014272e-02 -2.75209866e-04 9.99876687e-01 3.02621368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.792755096 meters 0.020496252480165147 Centerline is valid? [True, True] Translation: X:126.84, Y:77.80, Z:3.03 [[ 2.44650696e-01 -9.69602681e-01 -4.08390234e-03 1.26841542e+02] [ 9.69485548e-01 2.44684629e-01 -1.50732975e-02 7.78000886e+01] [ 1.56143778e-02 -2.71591581e-04 9.99878051e-01 3.02692945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.822755096 meters 0.020638959368130125 Centerline is valid? [True, True] Translation: X:126.85, Y:77.83, Z:3.03 [[ 2.43822072e-01 -9.69811926e-01 -3.95295519e-03 1.26848823e+02] [ 9.69701890e-01 2.43853963e-01 -1.46112960e-02 7.78265375e+01] [ 1.51341529e-02 -2.70631659e-04 9.99885436e-01 3.02754389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.852755096 meters 0.02104709377460787 Centerline is valid? [True, True] Translation: X:126.86, Y:77.85, Z:3.03 [[ 2.41824944e-01 -9.70312099e-01 -3.88920281e-03 1.26856750e+02] [ 9.70205352e-01 2.41856040e-01 -1.43955018e-02 7.78530690e+01] [ 1.49087568e-02 -2.92133957e-04 9.99888816e-01 3.02709509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.882755096 meters 0.021480795203898697 Centerline is valid? [True, True] Translation: X:126.86, Y:77.88, Z:3.03 [[ 2.40498986e-01 -9.70641600e-01 -3.88880409e-03 1.26864709e+02] [ 9.70534659e-01 2.40530226e-01 -1.44113138e-02 7.78794333e+01] [ 1.49235956e-02 -3.08312817e-04 9.99888589e-01 3.02740738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.912755096 meters 0.021248262136718075 Centerline is valid? [True, True] Translation: X:126.87, Y:77.91, Z:3.03 [[ 2.38860073e-01 -9.71046523e-01 -3.81002095e-03 1.26871228e+02] [ 9.70943642e-01 2.38890241e-01 -1.41385094e-02 7.79062827e+01] [ 1.46393272e-02 -3.22190219e-04 9.99892787e-01 3.02735936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.942755096 meters 0.0225516701855731 Centerline is valid? [True, True] Translation: X:126.88, Y:77.93, Z:3.03 [[ 2.35888006e-01 -9.71773065e-01 -3.73626919e-03 1.26881129e+02] [ 9.71673950e-01 2.35917326e-01 -1.38834464e-02 7.79320788e+01] [ 1.43730098e-02 -3.55496964e-04 9.99896640e-01 3.02784257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97275509600001 meters 0.023611786795595193 Centerline is valid? [True, True] Translation: X:126.89, Y:77.96, Z:3.03 [[ 2.34423219e-01 -9.72127367e-01 -3.75991140e-03 1.26890153e+02] [ 9.72026759e-01 2.34453069e-01 -1.39906306e-02 7.79578497e+01] [ 1.44821976e-02 -3.75005843e-04 9.99895057e-01 3.02823859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00275509600002 meters 0.023914698496551208 Centerline is valid? [True, True] Translation: X:126.90, Y:77.98, Z:3.03 [[ 2.32677832e-01 -9.72545841e-01 -3.95141839e-03 1.26898342e+02] [ 9.72434461e-01 2.32711010e-01 -1.47243067e-02 7.79844354e+01] [ 1.52396018e-02 -4.16475647e-04 9.99883784e-01 3.02835996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03275509600002 meters 0.023953135927449125 Centerline is valid? [True, True] Translation: X:126.91, Y:78.01, Z:3.03 [[ 2.31736290e-01 -9.72770346e-01 -4.01810256e-03 1.26905560e+02] [ 9.72654921e-01 2.31770716e-01 -1.49913278e-02 7.80111960e+01] [ 1.55143976e-02 -4.34192550e-04 9.99879550e-01 3.02816507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06275509600002 meters 0.02442523527926362 Centerline is valid? [True, True] Translation: X:126.91, Y:78.04, Z:3.03 [[ 2.31161379e-01 -9.72906338e-01 -4.20399315e-03 1.26912809e+02] [ 9.72779630e-01 2.31199149e-01 -1.57081366e-02 7.80360184e+01] [ 1.62545053e-02 -4.58444376e-04 9.99867782e-01 3.02778485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09275509600002 meters 0.026259994216393603 Centerline is valid? [True, True] Translation: X:126.92, Y:78.06, Z:3.03 [[ 2.30706805e-01 -9.73013026e-01 -4.47449732e-03 1.26920838e+02] [ 9.72869046e-01 2.30749671e-01 -1.67454220e-02 7.80613531e+01] [ 1.73260026e-02 -4.89817126e-04 9.99849774e-01 3.02701986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12275509600002 meters 0.024751704690477404 Centerline is valid? [True, True] Translation: X:126.93, Y:78.09, Z:3.03 [[ 2.30998401e-01 -9.72944439e-01 -4.34258181e-03 1.26927119e+02] [ 9.72808419e-01 2.31038748e-01 -1.62750550e-02 7.80880802e+01] [ 1.68380290e-02 -4.64988454e-04 9.99858122e-01 3.02864979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15275509600002 meters 0.02461353883014518 Centerline is valid? [True, True] Translation: X:126.93, Y:78.11, Z:3.03 [[ 2.31177431e-01 -9.72901650e-01 -4.40162572e-03 1.26933797e+02] [ 9.72761505e-01 2.31218868e-01 -1.65193823e-02 7.81146066e+01] [ 1.70894732e-02 -4.62823689e-04 9.99853857e-01 3.02916905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18275509600002 meters 0.02453207114528504 Centerline is valid? [True, True] Translation: X:126.94, Y:78.14, Z:3.03 [[ 2.31424824e-01 -9.72842927e-01 -4.38065134e-03 1.26940287e+02] [ 9.72703720e-01 2.31465841e-01 -1.64631889e-02 7.81407125e+01] [ 1.70300680e-02 -4.51085263e-04 9.99854876e-01 3.02967520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21275509600002 meters 0.023178220222844024 Centerline is valid? [True, True] Translation: X:126.94, Y:78.17, Z:3.03 [[ 2.32268507e-01 -9.72641704e-01 -4.41088658e-03 1.26944718e+02] [ 9.72500142e-01 2.32309980e-01 -1.65996019e-02 7.81673570e+01] [ 1.71701581e-02 -4.34023072e-04 9.99852488e-01 3.03021409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24275509600002 meters 0.022340299167981987 Centerline is valid? [True, True] Translation: X:126.95, Y:78.19, Z:3.03 [[ 2.32777040e-01 -9.72520212e-01 -4.39163094e-03 1.26949779e+02] [ 9.72379464e-01 2.32818088e-01 -1.65503824e-02 7.81938628e+01] [ 1.71180326e-02 -4.17782708e-04 9.99853388e-01 3.03106139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.272755096 meters 0.02370309356163497 Centerline is valid? [True, True] Translation: X:126.96, Y:78.22, Z:3.03 [[ 2.33620698e-01 -9.72318098e-01 -4.34579753e-03 1.26959062e+02] [ 9.72179840e-01 2.33660784e-01 -1.64011524e-02 7.82182073e+01] [ 1.69625798e-02 -3.93248080e-04 9.99856048e-01 3.03213492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.302755096 meters 0.022255000159619526 Centerline is valid? [True, True] Translation: X:126.96, Y:78.25, Z:3.03 [[ 2.33940151e-01 -9.72241644e-01 -4.26505507e-03 1.26963720e+02] [ 9.72108058e-01 2.33978727e-01 -1.61207700e-02 7.82454550e+01] [ 1.66712161e-02 -3.74799035e-04 9.99860955e-01 3.03281764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.332755096 meters 0.02225338076636371 Centerline is valid? [True, True] Translation: X:126.97, Y:78.27, Z:3.03 [[ 2.33899370e-01 -9.72251800e-01 -4.18599919e-03 1.26970942e+02] [ 9.72122761e-01 2.33936543e-01 -1.58439616e-02 7.82714475e+01] [ 1.63835783e-02 -3.63412454e-04 9.99865714e-01 3.03378863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.362755096 meters 0.021911107229207288 Centerline is valid? [True, True] Translation: X:126.98, Y:78.30, Z:3.03 [[ 2.34359338e-01 -9.72141785e-01 -4.00639249e-03 1.26978005e+02] [ 9.72023248e-01 2.34393340e-01 -1.51844546e-02 7.82976606e+01] [ 1.57005145e-02 -3.35687903e-04 9.99876683e-01 3.03491797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.392755096 meters 0.021467802437742094 Centerline is valid? [True, True] Translation: X:126.98, Y:78.32, Z:3.04 [[ 2.33952410e-01 -9.72240019e-01 -3.95159528e-03 1.26983992e+02] [ 9.72124394e-01 2.33985544e-01 -1.49976165e-02 7.83240714e+01] [ 1.55058991e-02 -3.32713651e-04 9.99879721e-01 3.03549715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.422755096 meters 0.022212984669549855 Centerline is valid? [True, True] Translation: X:126.99, Y:78.35, Z:3.04 [[ 2.33382141e-01 -9.72377319e-01 -3.88925450e-03 1.26991914e+02] [ 9.72265012e-01 2.33414310e-01 -1.47819421e-02 7.83491823e+01] [ 1.52814329e-02 -3.31544783e-04 9.99883177e-01 3.03527948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.452755096 meters 0.021462442925587442 Centerline is valid? [True, True] Translation: X:127.00, Y:78.38, Z:3.04 [[ 2.33093677e-01 -9.72446354e-01 -3.92774221e-03 1.26997735e+02] [ 9.72331463e-01 2.33126528e-01 -1.49514985e-02 7.83763259e+01] [ 1.54551911e-02 -3.33967557e-04 9.99880506e-01 3.03541033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.482755096 meters 0.021746573232413267 Centerline is valid? [True, True] Translation: X:127.01, Y:78.40, Z:3.04 [[ 2.32641583e-01 -9.72554352e-01 -3.99079915e-03 1.27005473e+02] [ 9.72435401e-01 2.32675560e-01 -1.52143208e-02 7.84018170e+01] [ 1.57253154e-02 -3.41310688e-04 9.99876291e-01 3.03567638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.512755096 meters 0.022400364468627924 Centerline is valid? [True, True] Translation: X:127.01, Y:78.43, Z:3.04 [[ 2.31752086e-01 -9.72765982e-01 -4.16113141e-03 1.27014387e+02] [ 9.72636267e-01 2.31789153e-01 -1.58896756e-02 7.84269118e+01] [ 1.64214410e-02 -3.64801843e-04 9.99865093e-01 3.03529096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.542755096 meters 0.022393071680540555 Centerline is valid? [True, True] Translation: X:127.02, Y:78.45, Z:3.04 [[ 2.30769869e-01 -9.72998910e-01 -4.28812948e-03 1.27021260e+02] [ 9.72860754e-01 2.30809382e-01 -1.64007130e-02 7.84529929e+01] [ 1.69476164e-02 -3.86962489e-04 9.99856304e-01 3.03504153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.572755096 meters 0.02314291039971785 Centerline is valid? [True, True] Translation: X:127.03, Y:78.48, Z:3.04 [[ 2.29877471e-01 -9.73209548e-01 -4.41867372e-03 1.27029838e+02] [ 9.73062448e-01 2.29919571e-01 -1.69252029e-02 7.84783131e+01] [ 1.74877087e-02 -4.08922624e-04 9.99846995e-01 3.03507733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.602755096 meters 0.023471758051043432 Centerline is valid? [True, True] Translation: X:127.04, Y:78.50, Z:3.04 [[ 2.28427161e-01 -9.73550794e-01 -4.45907876e-03 1.27037798e+02] [ 9.73400590e-01 2.28470269e-01 -1.71063509e-02 7.85048144e+01] [ 1.76726684e-02 -4.32914725e-04 9.99843732e-01 3.03515422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.632755096 meters 0.02381806724510982 Centerline is valid? [True, True] Translation: X:127.04, Y:78.53, Z:3.04 [[ 2.27818429e-01 -9.73693125e-01 -4.52343994e-03 1.27044930e+02] [ 9.73538178e-01 2.27862897e-01 -1.73757199e-02 7.85304960e+01] [ 1.79493431e-02 -4.45232280e-04 9.99838798e-01 3.03549155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.662755096 meters 0.02332423176705965 Centerline is valid? [True, True] Translation: X:127.05, Y:78.56, Z:3.04 [[ 2.26498448e-01 -9.74001352e-01 -4.45187141e-03 1.27050868e+02] [ 9.73851007e-01 2.26541732e-01 -1.71190064e-02 7.85574690e+01] [ 1.76824701e-02 -4.58031065e-04 9.99843548e-01 3.03613968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.692755096 meters 0.023819757710358803 Centerline is valid? [True, True] Translation: X:127.06, Y:78.58, Z:3.04 [[ 2.25570332e-01 -9.74216989e-01 -4.39130978e-03 1.27058545e+02] [ 9.74070347e-01 2.25612597e-01 -1.69090459e-02 7.85841104e+01] [ 1.74638146e-02 -4.63265530e-04 9.99847389e-01 3.03647827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72275509600001 meters 0.02455095898676611 Centerline is valid? [True, True] Translation: X:127.07, Y:78.61, Z:3.04 [[ 2.24628419e-01 -9.74434354e-01 -4.44567274e-03 1.27066279e+02] [ 9.74283648e-01 2.24671894e-01 -1.71438983e-02 7.86092225e+01] [ 1.77044212e-02 -4.80339494e-04 9.99843149e-01 3.03715238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75275509600002 meters 0.02481382075154076 Centerline is valid? [True, True] Translation: X:127.07, Y:78.64, Z:3.04 [[ 2.23758608e-01 -9.74634096e-01 -4.52373786e-03 1.27073138e+02] [ 9.74477735e-01 2.23803772e-01 -1.74646831e-02 7.86359529e+01] [ 1.80341052e-02 -5.00408652e-04 9.99837247e-01 3.03734312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78275509600002 meters 0.024727850852583732 Centerline is valid? [True, True] Translation: X:127.08, Y:78.66, Z:3.04 [[ 2.23376934e-01 -9.74721845e-01 -4.47997332e-03 1.27079140e+02] [ 9.74568075e-01 2.23421301e-01 -1.73201807e-02 7.86624278e+01] [ 1.78832799e-02 -4.97110119e-04 9.99839958e-01 3.03732967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81275509600002 meters 0.02492784403194898 Centerline is valid? [True, True] Translation: X:127.09, Y:78.69, Z:3.04 [[ 2.22845123e-01 -9.74843096e-01 -4.58140668e-03 1.27085353e+02] [ 9.74681833e-01 2.22891622e-01 -1.77383578e-02 7.86891550e+01] [ 1.83132729e-02 -5.12507329e-04 9.99832167e-01 3.03754720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84275509600002 meters 0.02583014845331695 Centerline is valid? [True, True] Translation: X:127.09, Y:78.71, Z:3.04 [[ 2.23182335e-01 -9.74765593e-01 -4.65654067e-03 1.27091931e+02] [ 9.74598491e-01 2.23230328e-01 -1.80555004e-02 7.87144571e+01] [ 1.86393617e-02 -5.08588765e-04 9.99826143e-01 3.03736065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87275509600002 meters 0.02409151360167614 Centerline is valid? [True, True] Translation: X:127.09, Y:78.74, Z:3.04 [[ 2.23400526e-01 -9.74715970e-01 -4.58070501e-03 1.27094744e+02] [ 9.74553905e-01 2.23446942e-01 -1.77806320e-02 7.87414034e+01] [ 1.83546105e-02 -4.91941392e-04 9.99831419e-01 3.03779382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90275509600002 meters 0.02392877912331183 Centerline is valid? [True, True] Translation: X:127.10, Y:78.77, Z:3.04 [[ 2.23639956e-01 -9.74661499e-01 -4.48687576e-03 1.27100416e+02] [ 9.74505551e-01 2.23684463e-01 -1.74410850e-02 7.87677705e+01] [ 1.80027985e-02 -4.71961854e-04 9.99837825e-01 3.03834001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93275509600002 meters 0.024181535390762836 Centerline is valid? [True, True] Translation: X:127.11, Y:78.79, Z:3.04 [[ 2.25340301e-01 -9.74269752e-01 -4.49424002e-03 1.27106146e+02] [ 9.74112757e-01 2.25384693e-01 -1.74950591e-02 7.87943611e+01] [ 1.80578398e-02 -4.35554657e-04 9.99836849e-01 3.03909859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96275509600002 meters 0.023597804050035434 Centerline is valid? [True, True] Translation: X:127.11, Y:78.82, Z:3.04 [[ 2.26319954e-01 -9.74042867e-01 -4.44658793e-03 1.27110737e+02] [ 9.73888759e-01 2.26363264e-01 -1.73308571e-02 7.88203314e+01] [ 1.78875419e-02 -4.08163227e-04 9.99839922e-01 3.03996633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99275509600002 meters 0.021649935370501163 Centerline is valid? [True, True] Translation: X:127.11, Y:78.85, Z:3.04 [[ 2.28727576e-01 -9.73481499e-01 -4.17941132e-03 1.27112428e+02] [ 9.73344870e-01 2.28765508e-01 -1.63127809e-02 7.88479366e+01] [ 1.68362956e-02 -3.36825727e-04 9.99858203e-01 3.04173988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.022755096 meters 0.020311050119653368 Centerline is valid? [True, True] Translation: X:127.12, Y:78.88, Z:3.04 [[ 2.29574180e-01 -9.73282847e-01 -4.02438884e-03 1.27115180e+02] [ 9.73155797e-01 2.29609247e-01 -1.57285805e-02 7.88755427e+01] [ 1.62323945e-02 -3.05481379e-04 9.99868199e-01 3.04254975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.052755096 meters 0.020899208527757788 Centerline is valid? [True, True] Translation: X:127.12, Y:78.90, Z:3.04 [[ 2.30232595e-01 -9.73127880e-01 -3.88339495e-03 1.27122053e+02] [ 9.73009218e-01 2.30265174e-01 -1.51990693e-02 7.89007869e+01] [ 1.56848487e-02 -2.79257922e-04 9.99876946e-01 3.04362392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.082755096 meters 0.01978567927440031 Centerline is valid? [True, True] Translation: X:127.13, Y:78.93, Z:3.04 [[ 2.30552341e-01 -9.73052800e-01 -3.72368994e-03 1.27125773e+02] [ 9.72943357e-01 2.30582266e-01 -1.45959864e-02 7.89279462e+01] [ 1.50612823e-02 -2.57800553e-04 9.99886539e-01 3.04411262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.112755096 meters 0.019389366809772 Centerline is valid? [True, True] Translation: X:127.13, Y:78.95, Z:3.04 [[ 2.31521248e-01 -9.72822737e-01 -3.71953668e-03 1.27130945e+02] [ 9.72713182e-01 2.31551003e-01 -1.46013162e-02 7.89546592e+01] [ 1.50657548e-02 -2.37527410e-04 9.99886477e-01 3.04445738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.142755096 meters 0.019700604190320724 Centerline is valid? [True, True] Translation: X:127.14, Y:78.98, Z:3.05 [[ 2.31693718e-01 -9.72781568e-01 -3.74726292e-03 1.27137713e+02] [ 9.72670040e-01 2.31723904e-01 -1.47318205e-02 7.89803759e+01] [ 1.51991738e-02 -2.31580112e-04 9.99884459e-01 3.04501121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.172755096 meters 0.01973425641970264 Centerline is valid? [True, True] Translation: X:127.14, Y:79.01, Z:3.05 [[ 2.31579554e-01 -9.72808687e-01 -3.76406429e-03 1.27143026e+02] [ 9.72695808e-01 2.31610029e-01 -1.48208956e-02 7.90057821e+01] [ 1.52896910e-02 -2.29073151e-04 9.99883080e-01 3.04511521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.202755096 meters 0.018630700304839123 Centerline is valid? [True, True] Translation: X:127.15, Y:79.03, Z:3.04 [[ 2.31559103e-01 -9.72813650e-01 -3.73953969e-03 1.27146247e+02] [ 9.72701870e-01 2.31589190e-01 -1.47485394e-02 7.90335786e+01] [ 1.52136174e-02 -2.22298693e-04 9.99884242e-01 3.04487343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.232755096 meters 0.019000922591002688 Centerline is valid? [True, True] Translation: X:127.15, Y:79.06, Z:3.05 [[ 2.31203098e-01 -9.72897979e-01 -3.82749603e-03 1.27153400e+02] [ 9.72780659e-01 2.31234663e-01 -1.51102972e-02 7.90590519e+01] [ 1.55858273e-02 -2.29766597e-04 9.99878507e-01 3.04550473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.262755096 meters 0.018895725033791454 Centerline is valid? [True, True] Translation: X:127.16, Y:79.09, Z:3.05 [[ 2.30389344e-01 -9.73090305e-01 -4.00105742e-03 1.27158973e+02] [ 9.72961698e-01 2.30423950e-01 -1.58220418e-02 7.90856744e+01] [ 1.63182150e-02 -2.47645789e-04 9.99866818e-01 3.04527148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.292755096 meters 0.01888164522763833 Centerline is valid? [True, True] Translation: X:127.17, Y:79.11, Z:3.05 [[ 2.29676763e-01 -9.73258261e-01 -4.11610526e-03 1.27165710e+02] [ 9.73121760e-01 2.29713494e-01 -1.63018483e-02 7.91120791e+01] [ 1.68114334e-02 -2.61315864e-04 9.99858644e-01 3.04500613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.322755096 meters 0.019119324666332572 Centerline is valid? [True, True] Translation: X:127.17, Y:79.14, Z:3.05 [[ 2.28563060e-01 -9.73519760e-01 -4.26656359e-03 1.27172675e+02] [ 9.73372689e-01 2.28602701e-01 -1.69237783e-02 7.91385765e+01] [ 1.74509806e-02 -2.84805914e-04 9.99847679e-01 3.04501859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.352755096 meters 0.019033834565174323 Centerline is valid? [True, True] Translation: X:127.18, Y:79.16, Z:3.05 [[ 2.27802059e-01 -9.73697864e-01 -4.32349444e-03 1.27178952e+02] [ 9.73546415e-01 2.27842890e-01 -1.71754134e-02 7.91649556e+01] [ 1.77087408e-02 -2.96527974e-04 9.99843144e-01 3.04530649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.382755096 meters 0.019677263971560412 Centerline is valid? [True, True] Translation: X:127.19, Y:79.19, Z:3.05 [[ 2.25732076e-01 -9.74179101e-01 -4.48435845e-03 1.27186093e+02] [ 9.74015747e-01 2.25776359e-01 -1.78426684e-02 7.91921543e+01] [ 1.83944167e-02 -3.40173164e-04 9.99830751e-01 3.04519206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.412755096 meters 0.020138401688424856 Centerline is valid? [True, True] Translation: X:127.19, Y:79.22, Z:3.05 [[ 2.24145208e-01 -9.74545530e-01 -4.46505612e-03 1.27193461e+02] [ 9.74383214e-01 2.24189382e-01 -1.77897023e-02 7.92191724e+01] [ 1.83378930e-02 -3.63199221e-04 9.99831781e-01 3.04552558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.442755096 meters 0.02098076203487558 Centerline is valid? [True, True] Translation: X:127.20, Y:79.25, Z:3.05 [[ 2.21459029e-01 -9.75159349e-01 -4.48795802e-03 1.27201676e+02] [ 9.74995044e-01 2.21504119e-01 -1.79050190e-02 7.92456180e+01] [ 1.84543479e-02 -4.10508703e-04 9.99829620e-01 3.04567759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47275509600001 meters 0.021793075341517754 Centerline is valid? [True, True] Translation: X:127.21, Y:79.27, Z:3.05 [[ 2.19819298e-01 -9.75530031e-01 -4.54266314e-03 1.27209739e+02] [ 9.75361282e-01 2.19865788e-01 -1.81495249e-02 7.92710564e+01] [ 1.87041827e-02 -4.41121941e-04 9.99824964e-01 3.04627276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50275509600002 meters 0.021793075341517754 Centerline is valid? [True, True] Translation: X:127.22, Y:79.30, Z:3.05 [[ 2.19477402e-01 -9.75607028e-01 -4.53848453e-03 1.27216028e+02] [ 9.75438274e-01 2.19523874e-01 -1.81505697e-02 7.92970649e+01] [ 1.87041291e-02 -4.43371640e-04 9.99824964e-01 3.04677256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53275509600002 meters 0.022338105513776765 Centerline is valid? [True, True] Translation: X:127.22, Y:79.32, Z:3.05 [[ 2.17725142e-01 -9.75999734e-01 -4.50353220e-03 1.27223740e+02] [ 9.75833156e-01 2.17771212e-01 -1.80375003e-02 7.93240607e+01] [ 1.85853352e-02 -4.67478722e-04 9.99827168e-01 3.04736364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56275509600002 meters 0.0233687997746045 Centerline is valid? [True, True] Translation: X:127.23, Y:79.35, Z:3.05 [[ 2.14984801e-01 -9.76606767e-01 -4.55608300e-03 1.27232408e+02] [ 9.76435949e-01 2.15032443e-01 -1.82725620e-02 7.93507798e+01] [ 1.88248134e-02 -5.20400133e-04 9.99822662e-01 3.04807942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59275509600002 meters 0.02439537279538278 Centerline is valid? [True, True] Translation: X:127.24, Y:79.38, Z:3.05 [[ 2.13407448e-01 -9.76952487e-01 -4.59343816e-03 1.27240408e+02] [ 9.76778464e-01 2.13456169e-01 -1.84471008e-02 7.93764220e+01] [ 1.90024387e-02 -5.50022784e-04 9.99819286e-01 3.04854777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62275509600002 meters 0.02550723218435302 Centerline is valid? [True, True] Translation: X:127.25, Y:79.40, Z:3.05 [[ 2.11094242e-01 -9.77454309e-01 -4.72172142e-03 1.27248399e+02] [ 9.77270018e-01 2.11146174e-01 -1.89896366e-02 7.94024765e+01] [ 1.95584755e-02 -6.05793832e-04 9.99808531e-01 3.04876828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65275509600002 meters 0.02620120832782549 Centerline is valid? [True, True] Translation: X:127.26, Y:79.43, Z:3.05 [[ 2.09959706e-01 -9.77697725e-01 -4.90713055e-03 1.27255683e+02] [ 9.77498129e-01 2.10016046e-01 -1.97653216e-02 7.94288868e+01] [ 2.03550861e-02 -6.46789817e-04 9.99792605e-01 3.04878588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68275509600002 meters 0.02694969904796989 Centerline is valid? [True, True] Translation: X:127.26, Y:79.45, Z:3.05 [[ 2.09127389e-01 -9.77876122e-01 -4.90146451e-03 1.27262595e+02] [ 9.77676452e-01 2.09183788e-01 -1.97711276e-02 7.94536987e+01] [ 2.03590205e-02 -6.57362125e-04 9.99792518e-01 3.04923257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71275509600002 meters 0.02707158956357645 Centerline is valid? [True, True] Translation: X:127.27, Y:79.48, Z:3.05 [[ 2.08512019e-01 -9.78007809e-01 -4.84387197e-03 1.27268928e+02] [ 9.77812301e-01 2.08567241e-01 -1.95655197e-02 7.94789074e+01] [ 2.01455040e-02 -6.56751585e-04 9.99796843e-01 3.04976330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74275509600002 meters 0.029896275933144752 Centerline is valid? [True, True] Translation: X:127.28, Y:79.50, Z:3.05 [[ 2.07813426e-01 -9.78155658e-01 -5.00881499e-03 1.27276581e+02] [ 9.77945948e-01 2.07872645e-01 -2.02653827e-02 7.95027875e+01] [ 2.08638944e-02 -6.86931707e-04 9.99782089e-01 3.04822494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.772755096 meters 0.027019102877105752 Centerline is valid? [True, True] Translation: X:127.28, Y:79.53, Z:3.05 [[ 2.10089588e-01 -9.77670098e-01 -4.85228971e-03 1.27281394e+02] [ 9.77472525e-01 2.10144724e-01 -1.96636330e-02 7.95295037e+01] [ 2.02442290e-02 -6.11855332e-04 9.99794877e-01 3.05085054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.802755096 meters 0.024622312228623208 Centerline is valid? [True, True] Translation: X:127.28, Y:79.56, Z:3.05 [[ 2.10827383e-01 -9.77510550e-01 -4.99383374e-03 1.27282758e+02] [ 9.77300624e-01 2.10885643e-01 -2.02666046e-02 7.95576246e+01] [ 2.08639476e-02 -6.07721630e-04 9.99782139e-01 3.05041502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.832755096 meters 0.027047107703572465 Centerline is valid? [True, True] Translation: X:127.29, Y:79.58, Z:3.05 [[ 2.11434400e-01 -9.77379155e-01 -5.04792544e-03 1.27291507e+02] [ 9.77163946e-01 2.11493815e-01 -2.05180311e-02 7.95823446e+01] [ 2.11215009e-02 -5.94433147e-04 9.99776740e-01 3.04989790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.862755096 meters 0.022676032102190023 Centerline is valid? [True, True] Translation: X:127.29, Y:79.61, Z:3.05 [[ 2.13131579e-01 -9.77011046e-01 -4.93411174e-03 1.27293430e+02] [ 9.76804692e-01 2.13188005e-01 -2.00865259e-02 7.96111199e+01] [ 2.06766511e-02 -5.38590504e-04 9.99786070e-01 3.05231322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.892755096 meters 0.02422818290735736 Centerline is valid? [True, True] Translation: X:127.30, Y:79.64, Z:3.05 [[ 2.14992206e-01 -9.76603510e-01 -4.89230980e-03 1.27301928e+02] [ 9.76399985e-01 2.15047307e-01 -1.99430564e-02 7.96368112e+01] [ 2.05285369e-02 -4.89249517e-04 9.99789148e-01 3.05281270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.922755096 meters 0.021989935304949366 Centerline is valid? [True, True] Translation: X:127.31, Y:79.66, Z:3.05 [[ 2.15715549e-01 -9.76444367e-01 -4.81673155e-03 1.27305159e+02] [ 9.76246519e-01 2.15768826e-01 -1.96608024e-02 7.96638863e+01] [ 2.02369802e-02 -4.61176628e-04 9.99795105e-01 3.05449547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.952755096 meters 0.021371347705609205 Centerline is valid? [True, True] Translation: X:127.31, Y:79.69, Z:3.06 [[ 2.16069978e-01 -9.76366590e-01 -4.69536394e-03 1.27310678e+02] [ 9.76178023e-01 2.16120548e-01 -1.91931318e-02 7.96907622e+01] [ 1.97542973e-02 -4.36451528e-04 9.99804770e-01 3.05555761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.982755096 meters 0.025230882084276412 Centerline is valid? [True, True] Translation: X:127.32, Y:79.71, Z:3.05 [[ 2.15853523e-01 -9.76413663e-01 -4.85961667e-03 1.27320730e+02] [ 9.76211047e-01 2.15907752e-01 -1.98955984e-02 7.97149339e+01] [ 2.04755631e-02 -4.49476461e-04 9.99790253e-01 3.05397975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.012755096 meters 0.022823991098477974 Centerline is valid? [True, True] Translation: X:127.32, Y:79.74, Z:3.05 [[ 2.16076789e-01 -9.76364375e-01 -4.84024010e-03 1.27323766e+02] [ 9.76162725e-01 2.16130554e-01 -1.98473786e-02 7.97423259e+01] [ 2.04243972e-02 -4.36304128e-04 9.99791305e-01 3.05494670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.042755096 meters 0.01994445432182607 Centerline is valid? [True, True] Translation: X:127.33, Y:79.77, Z:3.06 [[ 2.16980837e-01 -9.76163826e-01 -4.84771884e-03 1.27328460e+02] [ 9.75960888e-01 2.17034593e-01 -1.99080317e-02 7.97690830e+01] [ 2.04856230e-02 -4.11522617e-04 9.99790063e-01 3.05671123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.072755096 meters 0.020912293037180306 Centerline is valid? [True, True] Translation: X:127.34, Y:79.79, Z:3.06 [[ 2.16579213e-01 -9.76252804e-01 -4.88942097e-03 1.27336549e+02] [ 9.76045732e-01 2.16633996e-01 -2.01107230e-02 7.97941954e+01] [ 2.06923645e-02 -4.16733905e-04 9.99785803e-01 3.05666500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.102755096 meters 0.021723067080948216 Centerline is valid? [True, True] Translation: X:127.34, Y:79.82, Z:3.06 [[ 2.15600730e-01 -9.76469065e-01 -4.94879470e-03 1.27341483e+02] [ 9.76256291e-01 2.15657079e-01 -2.03881799e-02 7.98213696e+01] [ 2.09756696e-02 -4.35585485e-04 9.99779892e-01 3.05521161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.132755096 meters 0.021096537038374823 Centerline is valid? [True, True] Translation: X:127.35, Y:79.85, Z:3.06 [[ 2.16049301e-01 -9.76370205e-01 -4.89100439e-03 1.27350159e+02] [ 9.76161693e-01 2.16104259e-01 -2.01816418e-02 7.98464312e+01] [ 2.07617206e-02 -4.14181522e-04 9.99784366e-01 3.05685651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.162755096 meters 0.02016883763732648 Centerline is valid? [True, True] Translation: X:127.36, Y:79.87, Z:3.06 [[ 2.14915640e-01 -9.76619882e-01 -4.98746301e-03 1.27355906e+02] [ 9.76402402e-01 2.14973054e-01 -2.06139495e-02 7.98732124e+01] [ 2.12041630e-02 -4.39510733e-04 9.99775070e-01 3.05652953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.192755096 meters 0.02187410639599907 Centerline is valid? [True, True] Translation: X:127.37, Y:79.90, Z:3.06 [[ 2.14289401e-01 -9.76757072e-01 -5.06701603e-03 1.27365614e+02] [ 9.76531949e-01 2.14348819e-01 -2.09746538e-02 7.98974583e+01] [ 2.15732503e-02 -4.53457052e-04 9.99767168e-01 3.05645829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22275509600001 meters 0.022046804158090363 Centerline is valid? [True, True] Translation: X:127.37, Y:79.92, Z:3.06 [[ 2.12524810e-01 -9.77142176e-01 -5.13543439e-03 1.27371699e+02] [ 9.76910469e-01 2.12586275e-01 -2.12840839e-02 7.99244682e+01] [ 2.18892989e-02 -4.93463722e-04 9.99760279e-01 3.05566818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25275509600002 meters 0.021267834427325442 Centerline is valid? [True, True] Translation: X:127.38, Y:79.95, Z:3.06 [[ 2.11968340e-01 -9.77263607e-01 -5.02649952e-03 1.27378408e+02] [ 9.77041057e-01 2.12027365e-01 -2.08607275e-02 7.99504363e+01] [ 2.14521852e-02 -4.89282612e-04 9.99769756e-01 3.05698413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28275509600002 meters 0.02324156086719299 Centerline is valid? [True, True] Translation: X:127.39, Y:79.98, Z:3.06 [[ 2.10874068e-01 -9.77499557e-01 -5.17141393e-03 1.27385537e+02] [ 9.77263319e-01 2.10936827e-01 -2.14956031e-02 7.99767656e+01] [ 2.21027841e-02 -5.20967859e-04 9.99755568e-01 3.05547825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31275509600002 meters 0.02150586551472372 Centerline is valid? [True, True] Translation: X:127.39, Y:80.00, Z:3.06 [[ 2.11339337e-01 -9.77399772e-01 -5.03689493e-03 1.27392375e+02] [ 9.77174958e-01 2.11398782e-01 -2.09679647e-02 8.00021906e+01] [ 2.15588774e-02 -4.90571823e-04 9.99767460e-01 3.05789660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34275509600002 meters 0.021430183180575192 Centerline is valid? [True, True] Translation: X:127.40, Y:80.03, Z:3.06 [[ 2.11187974e-01 -9.77432390e-01 -5.05602664e-03 1.27398902e+02] [ 9.77205147e-01 2.11247923e-01 -2.10811889e-02 8.00290721e+01] [ 2.16735119e-02 -4.88681694e-04 9.99764982e-01 3.05848316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37275509600002 meters 0.021492279908004407 Centerline is valid? [True, True] Translation: X:127.41, Y:80.05, Z:3.06 [[ 2.11117634e-01 -9.77448073e-01 -4.96078989e-03 1.27405589e+02] [ 9.77228674e-01 2.11175377e-01 -2.07142443e-02 8.00537183e+01] [ 2.12946948e-02 -4.74683882e-04 9.99773130e-01 3.05903845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40275509600002 meters 0.021244652715425912 Centerline is valid? [True, True] Translation: X:127.41, Y:80.08, Z:3.06 [[ 2.11648093e-01 -9.77333476e-01 -4.93571990e-03 1.27412154e+02] [ 9.77115659e-01 2.11705148e-01 -2.06378030e-02 8.00786638e+01] [ 2.12149331e-02 -4.54817547e-04 9.99774835e-01 3.05981018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43275509600002 meters 0.021614382711895076 Centerline is valid? [True, True] Translation: X:127.42, Y:80.11, Z:3.06 [[ 2.11424588e-01 -9.77381683e-01 -4.96878592e-03 1.27417205e+02] [ 9.77160191e-01 2.11482477e-01 -2.08116307e-02 8.01058211e+01] [ 2.13917178e-02 -4.55209348e-04 9.99771067e-01 3.05864121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46275509600002 meters 0.019859817154352026 Centerline is valid? [True, True] Translation: X:127.42, Y:80.13, Z:3.06 [[ 2.11927019e-01 -9.77273447e-01 -4.85258281e-03 1.27422465e+02] [ 9.77061528e-01 2.11982137e-01 -2.03554315e-02 8.01328188e+01] [ 2.09214836e-02 -4.27406056e-04 9.99781030e-01 3.06076589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49275509600002 meters 0.019806111205478243 Centerline is valid? [True, True] Translation: X:127.43, Y:80.16, Z:3.06 [[ 2.12452980e-01 -9.77160207e-01 -4.65410559e-03 1.27429319e+02] [ 9.76964656e-01 2.12503588e-01 -1.95521107e-02 8.01577590e+01] [ 2.00945587e-02 -3.92992491e-04 9.99798007e-01 3.06189892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.522755096 meters 0.019660557301752556 Centerline is valid? [True, True] Translation: X:127.44, Y:80.18, Z:3.06 [[ 2.12457586e-01 -9.77159556e-01 -4.57999972e-03 1.27435728e+02] [ 9.76969576e-01 2.12506606e-01 -1.92714992e-02 8.01840858e+01] [ 1.98046098e-02 -3.80144179e-04 9.99803797e-01 3.06289501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.552755096 meters 0.019563399038555116 Centerline is valid? [True, True] Translation: X:127.44, Y:80.21, Z:3.06 [[ 2.12532855e-01 -9.77144318e-01 -4.33219224e-03 1.27442528e+02] [ 9.76973847e-01 2.12576710e-01 -1.82550081e-02 8.02095403e+01] [ 1.87587006e-02 -3.52649538e-04 9.99823978e-01 3.06425949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.582755096 meters 0.01941241645508222 Centerline is valid? [True, True] Translation: X:127.45, Y:80.24, Z:3.07 [[ 2.12436409e-01 -9.77165431e-01 -4.30020448e-03 1.27448524e+02] [ 9.76996938e-01 2.12479646e-01 -1.81489024e-02 8.02358014e+01] [ 1.86481859e-02 -3.45798962e-04 9.99826048e-01 3.06517037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.612755096 meters 0.019840108031066967 Centerline is valid? [True, True] Translation: X:127.45, Y:80.26, Z:3.07 [[ 2.12255063e-01 -9.77205067e-01 -4.24789808e-03 1.27454976e+02] [ 9.77040162e-01 2.12297294e-01 -1.79549881e-02 8.02607215e+01] [ 1.84475226e-02 -3.39329912e-04 9.99829772e-01 3.06562738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.642755096 meters 0.019740997369103962 Centerline is valid? [True, True] Translation: X:127.46, Y:80.29, Z:3.07 [[ 2.11969619e-01 -9.77267926e-01 -4.03512156e-03 1.27460593e+02] [ 9.77118766e-01 2.12007777e-01 -1.70768647e-02 8.02862444e+01] [ 1.75441493e-02 -3.23016485e-04 9.99846037e-01 3.06619831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.672755096 meters 0.018601831851304578 Centerline is valid? [True, True] Translation: X:127.46, Y:80.31, Z:3.07 [[ 2.11606156e-01 -9.77346995e-01 -3.96051362e-03 1.27464409e+02] [ 9.77202849e-01 2.11642978e-01 -1.67881394e-02 8.03132990e+01] [ 1.72460525e-02 -3.17751539e-04 9.99851225e-01 3.06679003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.702755096 meters 0.02090467266861242 Centerline is valid? [True, True] Translation: X:127.47, Y:80.34, Z:3.07 [[ 2.09806407e-01 -9.77735823e-01 -3.73260240e-03 1.27474843e+02] [ 9.77607464e-01 2.09839356e-01 -1.58458466e-02 8.03387533e+01] [ 1.62762987e-02 -3.24459835e-04 9.99867480e-01 3.06780776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.732755096 meters 0.019867995579515595 Centerline is valid? [True, True] Translation: X:127.48, Y:80.37, Z:3.07 [[ 2.08479512e-01 -9.78019567e-01 -3.74442673e-03 1.27479495e+02] [ 9.77890048e-01 2.08512854e-01 -1.59199286e-02 8.03660303e+01] [ 1.63507628e-02 -3.42658688e-04 9.99866259e-01 3.06772325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.762755096 meters 0.02220419655867085 Centerline is valid? [True, True] Translation: X:127.49, Y:80.39, Z:3.07 [[ 2.07034842e-01 -9.78326610e-01 -3.69041001e-03 1.27489589e+02] [ 9.78200488e-01 2.07067422e-01 -1.57126779e-02 8.03902550e+01] [ 1.61362946e-02 -3.56889100e-04 9.99869738e-01 3.06851607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.792755096 meters 0.020871037151274908 Centerline is valid? [True, True] Translation: X:127.49, Y:80.42, Z:3.07 [[ 2.04443945e-01 -9.78871412e-01 -3.66509240e-03 1.27494498e+02] [ 9.78746684e-01 2.04476420e-01 -1.56308278e-02 8.04183882e+01] [ 1.60499955e-02 -3.91568924e-04 9.99871114e-01 3.06794804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.822755096 meters 0.021465179364701683 Centerline is valid? [True, True] Translation: X:127.50, Y:80.45, Z:3.07 [[ 2.03115396e-01 -9.79147844e-01 -3.69254845e-03 1.27501643e+02] [ 9.79020919e-01 2.03148540e-01 -1.57705591e-02 8.04455860e+01] [ 1.61918448e-02 -4.11838820e-04 9.99868819e-01 3.06821767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.852755096 meters 0.02215677511629167 Centerline is valid? [True, True] Translation: X:127.51, Y:80.47, Z:3.07 [[ 2.02004627e-01 -9.79377621e-01 -3.68857272e-03 1.27508833e+02] [ 9.79250649e-01 2.02037853e-01 -1.57756926e-02 8.04717884e+01] [ 1.61955916e-02 -4.25274337e-04 9.99868752e-01 3.06838801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.882755096 meters 0.022612070745236804 Centerline is valid? [True, True] Translation: X:127.52, Y:80.50, Z:3.07 [[ 2.00906021e-01 -9.79603031e-01 -3.83056314e-03 1.27515681e+02] [ 9.79465707e-01 2.00942020e-01 -1.64083479e-02 8.04986400e+01] [ 1.68433884e-02 -4.55369339e-04 9.99858036e-01 3.06816600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.912755096 meters 0.02265922814270844 Centerline is valid? [True, True] Translation: X:127.52, Y:80.53, Z:3.07 [[ 2.00489290e-01 -9.79688009e-01 -3.93061855e-03 1.27521643e+02] [ 9.79542963e-01 2.00527268e-01 -1.68641505e-02 8.05257501e+01] [ 1.73098022e-02 -4.69128175e-04 9.99850064e-01 3.06805752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.942755096 meters 0.022710332208819208 Centerline is valid? [True, True] Translation: X:127.53, Y:80.55, Z:3.07 [[ 2.00553126e-01 -9.79674768e-01 -3.97394939e-03 1.27526764e+02] [ 9.79526030e-01 2.00591949e-01 -1.70770612e-02 8.05513727e+01] [ 1.75271083e-02 -4.67728855e-04 9.99846279e-01 3.06809265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97275509600001 meters 0.02295316308552375 Centerline is valid? [True, True] Translation: X:127.53, Y:80.58, Z:3.07 [[ 2.00523589e-01 -9.79680234e-01 -4.11455090e-03 1.27532728e+02] [ 9.79520238e-01 2.00565226e-01 -1.77113862e-02 8.05773245e+01] [ 1.81767308e-02 -4.78735154e-04 9.99834675e-01 3.06799029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00275509600002 meters 0.022715037011823598 Centerline is valid? [True, True] Translation: X:127.54, Y:80.60, Z:3.07 [[ 2.00616062e-01 -9.79660942e-01 -4.19938489e-03 1.27537740e+02] [ 9.79493717e-01 2.00659433e-01 -1.81066557e-02 8.06032662e+01] [ 1.85810296e-02 -4.80785137e-04 9.99827242e-01 3.06755131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03275509600002 meters 0.0226976304153176 Centerline is valid? [True, True] Translation: X:127.54, Y:80.63, Z:3.07 [[ 2.01277680e-01 -9.79524507e-01 -4.36287280e-03 1.27542748e+02] [ 9.79343333e-01 2.01324388e-01 -1.88447941e-02 8.06282761e+01] [ 1.93372903e-02 -4.79713958e-04 9.99812902e-01 3.06697555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06275509600002 meters 0.02192420886957725 Centerline is valid? [True, True] Translation: X:127.55, Y:80.65, Z:3.07 [[ 2.01639484e-01 -9.79449547e-01 -4.48371943e-03 1.27546983e+02] [ 9.79257632e-01 2.01688758e-01 -1.93941867e-02 8.06544584e+01] [ 1.98999431e-02 -4.80082672e-04 9.99801861e-01 3.06719120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09275509600002 meters 0.020324287511685586 Centerline is valid? [True, True] Translation: X:127.55, Y:80.68, Z:3.07 [[ 2.02037627e-01 -9.79367440e-01 -4.49607466e-03 1.27549669e+02] [ 9.79173782e-01 2.02087109e-01 -1.94808767e-02 8.06820266e+01] [ 1.99875351e-02 -4.66568325e-04 9.99800120e-01 3.06740999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12275509600002 meters 0.01973517206675047 Centerline is valid? [True, True] Translation: X:127.55, Y:80.71, Z:3.07 [[ 2.03737193e-01 -9.79015359e-01 -4.48148354e-03 1.27553176e+02] [ 9.78822253e-01 2.03786034e-01 -1.94486405e-02 8.07087813e+01] [ 1.99537815e-02 -4.24164395e-04 9.99800814e-01 3.06735653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15275509600002 meters 0.019360502562182417 Centerline is valid? [True, True] Translation: X:127.56, Y:80.74, Z:3.07 [[ 2.04201870e-01 -9.78918512e-01 -4.48816333e-03 1.27557585e+02] [ 9.78724380e-01 2.04250773e-01 -1.94989871e-02 8.07362493e+01] [ 2.00046303e-02 -4.10945238e-04 9.99799803e-01 3.06756455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18275509600002 meters 0.019389794189417733 Centerline is valid? [True, True] Translation: X:127.56, Y:80.76, Z:3.07 [[ 2.04480548e-01 -9.78860129e-01 -4.53354240e-03 1.27562615e+02] [ 9.78661414e-01 2.04530402e-01 -1.97269321e-02 8.07619270e+01] [ 2.02371545e-02 -4.03029129e-04 9.99795127e-01 3.06819883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21275509600002 meters 0.0189713990012998 Centerline is valid? [True, True] Translation: X:127.57, Y:80.79, Z:3.07 [[ 2.04590037e-01 -9.78838128e-01 -4.34013088e-03 1.27566827e+02] [ 9.78655404e-01 2.04635719e-01 -1.89161815e-02 8.07889331e+01] [ 1.94040255e-02 -3.77430254e-04 9.99811653e-01 3.06929836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24275509600002 meters 0.01851221470133703 Centerline is valid? [True, True] Translation: X:127.57, Y:80.82, Z:3.07 [[ 2.04215008e-01 -9.78917160e-01 -4.17419959e-03 1.27571362e+02] [ 9.78747630e-01 2.04257339e-01 -1.82212832e-02 8.08155318e+01] [ 1.86897377e-02 -3.64428451e-04 9.99825265e-01 3.07019100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.272755096 meters 0.01922318741498187 Centerline is valid? [True, True] Translation: X:127.58, Y:80.84, Z:3.07 [[ 2.03634100e-01 -9.79038407e-01 -4.11705373e-03 1.27577986e+02] [ 9.78872966e-01 2.03675389e-01 -1.80014421e-02 8.08411577e+01] [ 1.84626457e-02 -3.64365134e-04 9.99829484e-01 3.07094672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.302755096 meters 0.019581427266953423 Centerline is valid? [True, True] Translation: X:127.58, Y:80.87, Z:3.07 [[ 2.02782615e-01 -9.79215546e-01 -4.01556499e-03 1.27583959e+02] [ 9.79057804e-01 2.02822039e-01 -1.75794257e-02 8.08664448e+01] [ 1.80284920e-02 -3.66668331e-04 9.99837406e-01 3.07154464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.332755096 meters 0.01959100980489117 Centerline is valid? [True, True] Translation: X:127.59, Y:80.89, Z:3.07 [[ 2.01128945e-01 -9.79557415e-01 -3.79707010e-03 1.27588756e+02] [ 9.79415978e-01 2.01164444e-01 -1.66496074e-02 8.08939199e+01] [ 1.70730819e-02 -3.70193146e-04 9.99854176e-01 3.07215225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.362755096 meters 0.019547196165000096 Centerline is valid? [True, True] Translation: X:127.59, Y:80.92, Z:3.07 [[ 2.00267901e-01 -9.79733939e-01 -3.76529455e-03 1.27593647e+02] [ 9.79594490e-01 2.00302939e-01 -1.65338126e-02 8.09203445e+01] [ 1.69529369e-02 -3.77269855e-04 9.99856217e-01 3.07275919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.392755096 meters 0.019547196165000096 Centerline is valid? [True, True] Translation: X:127.60, Y:80.95, Z:3.07 [[ 1.99914854e-01 -9.79806062e-01 -3.75933957e-03 1.27599382e+02] [ 9.79666601e-01 1.99949842e-01 -1.65351664e-02 8.09464838e+01] [ 1.69529356e-02 -3.77274048e-04 9.99856217e-01 3.07325829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.422755096 meters 0.019933460157625794 Centerline is valid? [True, True] Translation: X:127.60, Y:80.97, Z:3.07 [[ 1.98531580e-01 -9.80087594e-01 -3.67693744e-03 1.27604849e+02] [ 9.79953784e-01 1.98565249e-01 -1.61994815e-02 8.09741612e+01] [ 1.66070228e-02 -3.87120108e-04 9.99862019e-01 3.07363139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.452755096 meters 0.02166947020292425 Centerline is valid? [True, True] Translation: X:127.61, Y:81.00, Z:3.07 [[ 1.98049205e-01 -9.80184992e-01 -3.72750078e-03 1.27613272e+02] [ 9.80047067e-01 1.98083884e-01 -1.64475101e-02 8.09994981e+01] [ 1.68599603e-02 -3.95709920e-04 9.99857782e-01 3.07422248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.482755096 meters 0.020291020739448076 Centerline is valid? [True, True] Translation: X:127.62, Y:81.03, Z:3.07 [[ 1.96750272e-01 -9.80446085e-01 -3.84779108e-03 1.27615967e+02] [ 9.80298771e-01 1.96787430e-01 -1.70008173e-02 8.10273687e+01] [ 1.74255817e-02 -4.27069435e-04 9.99848072e-01 3.07382328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.512755096 meters 0.02042871314735638 Centerline is valid? [True, True] Translation: X:127.62, Y:81.05, Z:3.07 [[ 1.96202333e-01 -9.80555804e-01 -3.86780726e-03 1.27621368e+02] [ 9.80406526e-01 1.96239973e-01 -1.71148250e-02 8.10541407e+01] [ 1.75410594e-02 -4.34054874e-04 9.99846050e-01 3.07397395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.542755096 meters 0.02093920179746098 Centerline is valid? [True, True] Translation: X:127.63, Y:81.08, Z:3.07 [[ 1.96027792e-01 -9.80590249e-01 -3.98363096e-03 1.27627214e+02] [ 9.80431345e-01 1.96067762e-01 -1.76581728e-02 8.10796351e+01] [ 1.80964937e-02 -4.44184029e-04 9.99836146e-01 3.07399923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.572755096 meters 0.020540462808401175 Centerline is valid? [True, True] Translation: X:127.63, Y:81.11, Z:3.07 [[ 1.95872187e-01 -9.80621073e-01 -4.04936537e-03 1.27630655e+02] [ 9.80456453e-01 1.95913524e-01 -1.79731727e-02 8.11063184e+01] [ 1.84181973e-02 -4.49781766e-04 9.99830269e-01 3.07372964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.602755096 meters 0.021432099347086404 Centerline is valid? [True, True] Translation: X:127.64, Y:81.13, Z:3.07 [[ 1.95601714e-01 -9.80674549e-01 -4.17124373e-03 1.27636984e+02] [ 9.80499275e-01 1.95645639e-01 -1.85460454e-02 8.11315967e+01] [ 1.90037203e-02 -4.62263181e-04 9.99819306e-01 3.07372192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.632755096 meters 0.02011278326000887 Centerline is valid? [True, True] Translation: X:127.64, Y:81.16, Z:3.07 [[ 1.95527702e-01 -9.80689506e-01 -4.12449458e-03 1.27640065e+02] [ 9.80517544e-01 1.95570676e-01 -1.83700084e-02 8.11591701e+01] [ 1.88219047e-02 -4.52293754e-04 9.99822750e-01 3.07443805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.662755096 meters 0.01979026806532463 Centerline is valid? [True, True] Translation: X:127.65, Y:81.19, Z:3.07 [[ 1.96025969e-01 -9.80589283e-01 -4.29854005e-03 1.27645090e+02] [ 9.80401813e-01 1.96072566e-01 -1.91789982e-02 8.11861301e+01] [ 1.96495458e-02 -4.54714756e-04 9.99806826e-01 3.07437557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.692755096 meters 0.019439991485662004 Centerline is valid? [True, True] Translation: X:127.65, Y:81.21, Z:3.08 [[ 1.96330430e-01 -9.80528211e-01 -4.33464498e-03 1.27650387e+02] [ 9.80336906e-01 1.96377769e-01 -1.93732510e-02 8.12126608e+01] [ 1.98472471e-02 -4.45853747e-04 9.99802925e-01 3.07505026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72275509600001 meters 0.019268366305324816 Centerline is valid? [True, True] Translation: X:127.66, Y:81.24, Z:3.08 [[ 1.97555560e-01 -9.80282602e-01 -4.22148369e-03 1.27655381e+02] [ 9.80100492e-01 1.97600246e-01 -1.88989217e-02 8.12389754e+01] [ 1.93604504e-02 -4.03891172e-04 9.99812487e-01 3.07655475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75275509600002 meters 0.018667753726959155 Centerline is valid? [True, True] Translation: X:127.66, Y:81.27, Z:3.08 [[ 1.98256041e-01 -9.80141752e-01 -4.08518418e-03 1.27659667e+02] [ 9.79970619e-01 1.98297778e-01 -1.83187505e-02 8.12657647e+01] [ 1.87650552e-02 -3.71557511e-04 9.99823852e-01 3.07740940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78275509600002 meters 0.018302813270446923 Centerline is valid? [True, True] Translation: X:127.66, Y:81.29, Z:3.08 [[ 1.98911739e-01 -9.80009091e-01 -4.03765038e-03 1.27664392e+02] [ 9.79841325e-01 1.98952408e-01 -1.81360708e-02 8.12925000e+01] [ 1.85768145e-02 -3.48779317e-04 9.99827375e-01 3.07829873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81275509600002 meters 0.018440975133206656 Centerline is valid? [True, True] Translation: X:127.67, Y:81.32, Z:3.08 [[ 1.99388963e-01 -9.79912008e-01 -4.06179572e-03 1.27669753e+02] [ 9.79741625e-01 1.99430048e-01 -1.82757809e-02 8.13181657e+01] [ 1.87187013e-02 -3.35521332e-04 9.99824733e-01 3.07874938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84275509600002 meters 0.01810602648489594 Centerline is valid? [True, True] Translation: X:127.67, Y:81.34, Z:3.08 [[ 2.00146737e-01 -9.79757330e-01 -4.10593829e-03 1.27674990e+02] [ 9.79582560e-01 2.00188596e-01 -1.85076950e-02 8.13446444e+01] [ 1.89550118e-02 -3.17850780e-04 9.99820287e-01 3.07924454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87275509600002 meters 0.017723408045982148 Centerline is valid? [True, True] Translation: X:127.68, Y:81.37, Z:3.08 [[ 2.00008034e-01 -9.79785560e-01 -4.12816299e-03 1.27679937e+02] [ 9.79608311e-01 2.00050383e-01 -1.86387200e-02 8.13712004e+01] [ 1.90877894e-02 -3.16089014e-04 9.99817762e-01 3.08007218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90275509600002 meters 0.01791397680309473 Centerline is valid? [True, True] Translation: X:127.69, Y:81.40, Z:3.08 [[ 1.99094465e-01 -9.79971801e-01 -4.08212692e-03 1.27686465e+02] [ 9.79797940e-01 1.99136046e-01 -1.84616428e-02 8.13981213e+01] [ 1.89047880e-02 -3.24048635e-04 9.99821236e-01 3.08094450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93275509600002 meters 0.018391959398672202 Centerline is valid? [True, True] Translation: X:127.69, Y:81.42, Z:3.08 [[ 1.98264034e-01 -9.80140534e-01 -3.98820444e-03 1.27693395e+02] [ 9.79974069e-01 1.98303874e-01 -1.80664550e-02 8.14238741e+01] [ 1.84985413e-02 -3.26408688e-04 9.99828834e-01 3.08203439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96275509600002 meters 0.018069372157291354 Centerline is valid? [True, True] Translation: X:127.70, Y:81.45, Z:3.08 [[ 1.96981883e-01 -9.80398929e-01 -4.00971094e-03 1.27699157e+02] [ 9.80230277e-01 1.97022382e-01 -1.81874768e-02 8.14507958e+01] [ 1.86209856e-02 -3.47836635e-04 9.99826554e-01 3.08284248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99275509600002 meters 0.019358154433570668 Centerline is valid? [True, True] Translation: X:127.71, Y:81.48, Z:3.08 [[ 1.94348781e-01 -9.80924943e-01 -3.84796733e-03 1.27708938e+02] [ 9.80769209e-01 1.94386507e-01 -1.74826841e-02 8.14763573e+01] [ 1.78971939e-02 -3.76229519e-04 9.99839762e-01 3.08443073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.022755096 meters 0.0201843028509746 Centerline is valid? [True, True] Translation: X:127.72, Y:81.50, Z:3.09 [[ 1.93013437e-01 -9.81188906e-01 -3.76083251e-03 1.27716979e+02] [ 9.81039713e-01 1.93049686e-01 -1.71143239e-02 8.15024315e+01] [ 1.75184122e-02 -3.86231589e-04 9.99846466e-01 3.08547126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.052755096 meters 0.020366219441042076 Centerline is valid? [True, True] Translation: X:127.72, Y:81.53, Z:3.09 [[ 1.91282832e-01 -9.81528644e-01 -3.52136743e-03 1.27723929e+02] [ 9.81397654e-01 1.91314849e-01 -1.60397648e-02 8.15300497e+01] [ 1.64171784e-02 -3.87730106e-04 9.99865154e-01 3.08643906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.082755096 meters 0.021634624148361772 Centerline is valid? [True, True] Translation: X:127.73, Y:81.56, Z:3.09 [[ 1.88696107e-01 -9.82029893e-01 -3.32690193e-03 1.27732589e+02] [ 9.81912704e-01 1.88725002e-01 -1.51761234e-02 8.15552983e+01] [ 1.55312764e-02 -4.03051863e-04 9.99879301e-01 3.08772041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.112755096 meters 0.023065020738377594 Centerline is valid? [True, True] Translation: X:127.74, Y:81.58, Z:3.09 [[ 1.87285698e-01 -9.82299796e-01 -3.34338008e-03 1.27740736e+02] [ 9.82181221e-01 1.87315058e-01 -1.52682354e-02 8.15805354e+01] [ 1.56242500e-02 -4.24282994e-04 9.99877844e-01 3.08803285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.142755096 meters 0.02274068630957607 Centerline is valid? [True, True] Translation: X:127.75, Y:81.61, Z:3.09 [[ 1.86087089e-01 -9.82527657e-01 -3.31626172e-03 1.27746574e+02] [ 9.82410612e-01 1.86116129e-01 -1.51715294e-02 8.16080387e+01] [ 1.55236571e-02 -4.34704958e-04 9.99879406e-01 3.08836716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.172755096 meters 0.02509928437782766 Centerline is valid? [True, True] Translation: X:127.76, Y:81.63, Z:3.09 [[ 1.84462769e-01 -9.82834407e-01 -3.16465126e-03 1.27755826e+02] [ 9.82727553e-01 1.84489400e-01 -1.44988804e-02 8.16326318e+01] [ 1.48338431e-02 -4.35486372e-04 9.99889878e-01 3.08918179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.202755096 meters 0.023683195130768962 Centerline is valid? [True, True] Translation: X:127.76, Y:81.66, Z:3.09 [[ 1.83605247e-01 -9.82995073e-01 -3.13035140e-03 1.27759263e+02] [ 9.82890301e-01 1.83631402e-01 -1.43584386e-02 8.16599996e+01] [ 1.46891052e-02 -4.40507373e-04 9.99892012e-01 3.08905950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.232755096 meters 0.022403051182472287 Centerline is valid? [True, True] Translation: X:127.76, Y:81.69, Z:3.09 [[ 1.83510243e-01 -9.83012744e-01 -3.15219019e-03 1.27762879e+02] [ 9.82906150e-01 1.83536785e-01 -1.44827330e-02 8.16869835e+01] [ 1.48152540e-02 -4.40577260e-04 9.99890151e-01 3.08847588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.262755096 meters 0.022399061649174 Centerline is valid? [True, True] Translation: X:127.77, Y:81.71, Z:3.09 [[ 1.83545881e-01 -9.83005647e-01 -3.28733495e-03 1.27768478e+02] [ 9.82889282e-01 1.83574757e-01 -1.51316974e-02 8.17141795e+01] [ 1.54780157e-02 -4.53725560e-04 9.99880105e-01 3.08844682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.292755096 meters 0.022479979677344965 Centerline is valid? [True, True] Translation: X:127.77, Y:81.74, Z:3.09 [[ 1.84010795e-01 -9.82918565e-01 -3.33496635e-03 1.27773915e+02] [ 9.82798394e-01 1.84040468e-01 -1.53760499e-02 8.17394707e+01] [ 1.57271737e-02 -4.48240397e-04 9.99876220e-01 3.08861223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.322755096 meters 0.022466087874119932 Centerline is valid? [True, True] Translation: X:127.78, Y:81.76, Z:3.09 [[ 1.84577566e-01 -9.82811969e-01 -3.42867649e-03 1.27778871e+02] [ 9.82684449e-01 1.84608869e-01 -1.58379138e-02 8.17648091e+01] [ 1.61986553e-02 -4.45983495e-04 9.99868694e-01 3.08859747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.352755096 meters 0.021547832276006998 Centerline is valid? [True, True] Translation: X:127.78, Y:81.79, Z:3.09 [[ 1.86854356e-01 -9.82381365e-01 -3.50749752e-03 1.27782237e+02] [ 9.82247343e-01 1.86886818e-01 -1.62318956e-02 8.17907737e+01] [ 1.66014168e-02 -4.12229728e-04 9.99862102e-01 3.08859535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.382755096 meters 0.020950014145567467 Centerline is valid? [True, True] Translation: X:127.79, Y:81.82, Z:3.09 [[ 1.88419329e-01 -9.82082070e-01 -3.60060321e-03 1.27786383e+02] [ 9.81940264e-01 1.88453325e-01 -1.66931866e-02 8.18165391e+01] [ 1.70726249e-02 -3.90258235e-04 9.99854176e-01 3.08905984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.412755096 meters 0.019718335385993456 Centerline is valid? [True, True] Translation: X:127.79, Y:81.84, Z:3.09 [[ 1.91256790e-01 -9.81533079e-01 -3.69541956e-03 1.27788945e+02] [ 9.81383058e-01 1.91292178e-01 -1.71637786e-02 8.18433919e+01] [ 1.75537213e-02 -3.43932949e-04 9.99845862e-01 3.08926669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.442755096 meters 0.01920349004620067 Centerline is valid? [True, True] Translation: X:127.79, Y:81.87, Z:3.09 [[ 1.92386144e-01 -9.81312524e-01 -3.64712881e-03 1.27792929e+02] [ 9.81165887e-01 1.92420454e-01 -1.69667717e-02 8.18698051e+01] [ 1.73514877e-02 -3.14266594e-04 9.99849402e-01 3.08981458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47275509600001 meters 0.018864766033028346 Centerline is valid? [True, True] Translation: X:127.80, Y:81.90, Z:3.09 [[ 1.92993734e-01 -9.81193246e-01 -3.63756650e-03 1.27797312e+02] [ 9.81046824e-01 1.93027784e-01 -1.69529979e-02 8.18956138e+01] [ 1.73363184e-02 -2.96800692e-04 9.99849671e-01 3.09041325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50275509600002 meters 0.018530974532043075 Centerline is valid? [True, True] Translation: X:127.80, Y:81.92, Z:3.09 [[ 1.94010235e-01 -9.80992641e-01 -3.66972038e-03 1.27802156e+02] [ 9.80843037e-01 1.94044743e-01 -1.71340141e-02 8.19202524e+01] [ 1.75204317e-02 -2.75245590e-04 9.99846468e-01 3.09151370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53275509600002 meters 0.018319589774071596 Centerline is valid? [True, True] Translation: X:127.81, Y:81.95, Z:3.09 [[ 1.94191917e-01 -9.80956824e-01 -3.63430659e-03 1.27807503e+02] [ 9.80809534e-01 1.94225744e-01 -1.70005327e-02 8.19465820e+01] [ 1.73826644e-02 -2.63196518e-04 9.99848875e-01 3.09270783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56275509600002 meters 0.017350732321560775 Centerline is valid? [True, True] Translation: X:127.81, Y:81.97, Z:3.09 [[ 1.94320704e-01 -9.80931518e-01 -3.58056270e-03 1.27810974e+02] [ 9.80788043e-01 1.94353526e-01 -1.67785772e-02 8.19737449e+01] [ 1.71545302e-02 -2.51348145e-04 9.99852819e-01 3.09347797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59275509600002 meters 0.017982128010447043 Centerline is valid? [True, True] Translation: X:127.82, Y:82.00, Z:3.10 [[ 1.94902739e-01 -9.80816449e-01 -3.46630980e-03 1.27817741e+02] [ 9.80681520e-01 1.94933427e-01 -1.62700970e-02 8.19989729e+01] [ 1.66336784e-02 -2.28259488e-04 9.99861625e-01 3.09504296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62275509600002 meters 0.017737887043087396 Centerline is valid? [True, True] Translation: X:127.82, Y:82.02, Z:3.10 [[ 1.95055498e-01 -9.80786417e-01 -3.37005078e-03 1.27821920e+02] [ 9.80658421e-01 1.95084491e-01 -1.58461963e-02 8.20246726e+01] [ 1.61991787e-02 -2.13980970e-04 9.99868762e-01 3.09569311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65275509600002 meters 0.01675384475556094 Centerline is valid? [True, True] Translation: X:127.82, Y:82.05, Z:3.10 [[ 1.95180406e-01 -9.80761754e-01 -3.31514123e-03 1.27824909e+02] [ 9.80637459e-01 1.95208452e-01 -1.56152065e-02 8.20520218e+01] [ 1.59619409e-02 -2.03169331e-04 9.99872579e-01 3.09622681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68275509600002 meters 0.016588279963709207 Centerline is valid? [True, True] Translation: X:127.83, Y:82.08, Z:3.10 [[ 1.95090787e-01 -9.80779803e-01 -3.25004941e-03 1.27829246e+02] [ 9.80659934e-01 1.95117759e-01 -1.53347333e-02 8.20784685e+01] [ 1.56741391e-02 -1.95528043e-04 9.99877134e-01 3.09705931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71275509600002 meters 0.017803387001496675 Centerline is valid? [True, True] Translation: X:127.84, Y:82.10, Z:3.10 [[ 1.94823854e-01 -9.80832817e-01 -3.26348349e-03 1.27837440e+02] [ 9.80711512e-01 1.94851087e-01 -1.54267335e-02 8.21032520e+01] [ 1.57669398e-02 -1.95040150e-04 9.99875675e-01 3.09815142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74275509600002 meters 0.016844458953784253 Centerline is valid? [True, True] Translation: X:127.84, Y:82.13, Z:3.10 [[ 1.93777096e-01 -9.81039969e-01 -3.31919257e-03 1.27840516e+02] [ 9.80914181e-01 1.93805406e-01 -1.57109820e-02 8.21309132e+01] [ 1.60563787e-02 -2.11414595e-04 9.99871066e-01 3.09739783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.772755096 meters 0.017023878630497147 Centerline is valid? [True, True] Translation: X:127.85, Y:82.16, Z:3.10 [[ 1.92938235e-01 -9.81205092e-01 -3.37699545e-03 1.27845725e+02] [ 9.81074424e-01 1.92967657e-01 -1.60143185e-02 8.21564185e+01] [ 1.63649818e-02 -2.23309513e-04 9.99866060e-01 3.09733292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.802755096 meters 0.017137060800079394 Centerline is valid? [True, True] Translation: X:127.85, Y:82.18, Z:3.10 [[ 1.92042201e-01 -9.81380564e-01 -3.46132169e-03 1.27850537e+02] [ 9.81242942e-01 1.92073242e-01 -1.64365011e-02 8.21827928e+01] [ 1.67952900e-02 -2.39895627e-04 9.99858920e-01 3.09702438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.832755096 meters 0.017470755791324552 Centerline is valid? [True, True] Translation: X:127.86, Y:82.21, Z:3.10 [[ 1.90825306e-01 -9.81617431e-01 -3.59472692e-03 1.27855007e+02] [ 9.81468486e-01 1.90858977e-01 -1.71014897e-02 8.22101684e+01] [ 1.74732063e-02 -2.64714180e-04 9.99847297e-01 3.09621758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.862755096 meters 0.017689789027509468 Centerline is valid? [True, True] Translation: X:127.86, Y:82.24, Z:3.10 [[ 1.90223279e-01 -9.81733840e-01 -3.71091061e-03 1.27859971e+02] [ 9.81574552e-01 1.90259269e-01 -1.76864158e-02 8.22357619e+01] [ 1.80693880e-02 -2.78167409e-04 9.99836697e-01 3.09604955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.892755096 meters 0.017677289581936352 Centerline is valid? [True, True] Translation: X:127.86, Y:82.26, Z:3.10 [[ 1.89421887e-01 -9.81888963e-01 -3.66241264e-03 1.27864337e+02] [ 9.81733270e-01 1.89457078e-01 -1.74872215e-02 8.22629643e+01] [ 1.78643798e-02 -2.83049840e-04 9.99840379e-01 3.09649267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.922755096 meters 0.01767201858670056 Centerline is valid? [True, True] Translation: X:127.87, Y:82.29, Z:3.10 [[ 1.89487846e-01 -9.81876482e-01 -3.59593744e-03 1.27866109e+02] [ 9.81725867e-01 1.89521769e-01 -1.71994800e-02 8.22897633e+01] [ 1.75692734e-02 -2.71132383e-04 9.99845612e-01 3.09674768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.952755096 meters 0.017315634735030547 Centerline is valid? [True, True] Translation: X:127.87, Y:82.32, Z:3.10 [[ 1.89016381e-01 -9.81966688e-01 -3.77241400e-03 1.27869890e+02] [ 9.81800295e-01 1.89053805e-01 -1.80787040e-02 8.23172151e+01] [ 1.84658743e-02 -2.86585972e-04 9.99829450e-01 3.09640966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.982755096 meters 0.018220292667037064 Centerline is valid? [True, True] Translation: X:127.88, Y:82.34, Z:3.09 [[ 1.87658553e-01 -9.82225758e-01 -4.10210344e-03 1.27875958e+02] [ 9.82028308e-01 1.87703088e-01 -1.96965398e-02 8.23425386e+01] [ 2.01164263e-02 -3.32157537e-04 9.99797589e-01 3.09486664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.012755096 meters 0.01817170246406486 Centerline is valid? [True, True] Translation: X:127.88, Y:82.37, Z:3.09 [[ 1.86654841e-01 -9.82416275e-01 -4.27009331e-03 1.27881312e+02] [ 9.82201730e-01 1.86703328e-01 -2.05336255e-02 8.23692088e+01] [ 2.09698085e-02 -3.61392435e-04 9.99780044e-01 3.09472164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.042755096 meters 0.018391396315614077 Centerline is valid? [True, True] Translation: X:127.89, Y:82.40, Z:3.09 [[ 1.85692279e-01 -9.82598048e-01 -4.41073971e-03 1.27887288e+02] [ 9.82368344e-01 1.85744252e-01 -2.12487653e-02 8.23960070e+01] [ 2.16982648e-02 -3.87239418e-04 9.99764490e-01 3.09467923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.072755096 meters 0.01868936434187928 Centerline is valid? [True, True] Translation: X:127.89, Y:82.42, Z:3.10 [[ 1.84785533e-01 -9.82768619e-01 -4.48864678e-03 1.27892751e+02] [ 9.82529914e-01 1.84839594e-01 -2.16631607e-02 8.24223297e+01] [ 2.21195542e-02 -4.07191023e-04 9.99755250e-01 3.09514425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.102755096 meters 0.020672339820786628 Centerline is valid? [True, True] Translation: X:127.90, Y:82.45, Z:3.09 [[ 1.83406744e-01 -9.83026485e-01 -4.57125121e-03 1.27899427e+02] [ 9.82778100e-01 1.83463178e-01 -2.21013150e-02 8.24486754e+01] [ 2.25648342e-02 -4.38995357e-04 9.99745285e-01 3.09422843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.132755096 meters 0.02069817990626153 Centerline is valid? [True, True] Translation: X:127.90, Y:82.48, Z:3.09 [[ 1.82579281e-01 -9.83180531e-01 -4.56606326e-03 1.27903575e+02] [ 9.82931911e-01 1.82635812e-01 -2.21137722e-02 8.24751812e+01] [ 2.25757570e-02 -4.50612647e-04 9.99745034e-01 3.09460356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.162755096 meters 0.02133930657412963 Centerline is valid? [True, True] Translation: X:127.91, Y:82.50, Z:3.10 [[ 1.81564414e-01 -9.83368613e-01 -4.53158741e-03 1.27908628e+02] [ 9.83122881e-01 1.81620366e-01 -2.19873602e-02 8.24999128e+01] [ 2.24447085e-02 -4.62985094e-04 9.99747979e-01 3.09524739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.192755096 meters 0.022055354114716093 Centerline is valid? [True, True] Translation: X:127.92, Y:82.53, Z:3.10 [[ 1.79473858e-01 -9.83753303e-01 -4.30967442e-03 1.27915498e+02] [ 9.83530351e-01 1.79524955e-01 -2.09484934e-02 8.25263503e+01] [ 2.13818436e-02 -4.78988672e-04 9.99771268e-01 3.09712664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22275509600001 meters 0.02081629329222402 Centerline is valid? [True, True] Translation: X:127.92, Y:82.55, Z:3.10 [[ 1.78475778e-01 -9.83935124e-01 -4.25067542e-03 1.27919097e+02] [ 9.83717570e-01 1.78525723e-01 -2.06956313e-02 8.25531492e+01] [ 2.11220134e-02 -4.87795196e-04 9.99776786e-01 3.09887070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25275509600002 meters 0.020981655300074762 Centerline is valid? [True, True] Translation: X:127.92, Y:82.58, Z:3.10 [[ 1.77458283e-01 -9.84119534e-01 -4.15947761e-03 1.27924825e+02] [ 9.83910535e-01 1.77506340e-01 -2.02868903e-02 8.25792690e+01] [ 2.07030587e-02 -4.92477125e-04 9.99785547e-01 3.10039291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28275509600002 meters 0.021118554331143666 Centerline is valid? [True, True] Translation: X:127.93, Y:82.61, Z:3.10 [[ 1.76788958e-01 -9.84241095e-01 -3.88998122e-03 1.27930043e+02] [ 9.84057686e-01 1.76831131e-01 -1.90058466e-02 8.26059539e+01] [ 1.93942050e-02 -4.67942103e-04 9.99811805e-01 3.10243489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31275509600002 meters 0.021118554331143666 Centerline is valid? [True, True] Translation: X:127.94, Y:82.63, Z:3.10 [[ 1.76445441e-01 -9.84302761e-01 -3.88334448e-03 1.27935192e+02] [ 9.84119338e-01 1.76487549e-01 -1.90072025e-02 8.26322075e+01] [ 1.93942039e-02 -4.67940169e-04 9.99811805e-01 3.10293401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34275509600002 meters 0.020539166620290823 Centerline is valid? [True, True] Translation: X:127.94, Y:82.66, Z:3.10 [[ 1.76306282e-01 -9.84328248e-01 -3.74092081e-03 1.27938431e+02] [ 9.84157450e-01 1.76345397e-01 -1.83416011e-02 8.26592594e+01] [ 1.87138502e-02 -4.47915594e-04 9.99824780e-01 3.10392678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37275509600002 meters 0.02066463039318694 Centerline is valid? [True, True] Translation: X:127.94, Y:82.69, Z:3.10 [[ 1.76565328e-01 -9.84282402e-01 -3.58304384e-03 1.27942612e+02] [ 9.84125150e-01 1.76601183e-01 -1.75986212e-02 8.26853873e+01] [ 1.79547829e-02 -4.18857220e-04 9.99838712e-01 3.10472928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40275509600002 meters 0.02053846406287163 Centerline is valid? [True, True] Translation: X:127.95, Y:82.71, Z:3.11 [[ 1.77048151e-01 -9.84196173e-01 -3.44158402e-03 1.27945627e+02] [ 9.84050695e-01 1.77081168e-01 -1.69260234e-02 8.27114775e+01] [ 1.72679672e-02 -3.89972002e-04 9.99850821e-01 3.10586286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43275509600002 meters 0.020587056873062295 Centerline is valid? [True, True] Translation: X:127.95, Y:82.74, Z:3.11 [[ 1.77201317e-01 -9.84169090e-01 -3.30079049e-03 1.27950526e+02] [ 9.84034773e-01 1.77231678e-01 -1.62633751e-02 8.27385424e+01] [ 1.65909157e-02 -3.66201145e-04 9.99862294e-01 3.10653254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46275509600002 meters 0.020636280721380715 Centerline is valid? [True, True] Translation: X:127.96, Y:82.77, Z:3.11 [[ 1.77112197e-01 -9.84185407e-01 -3.21792111e-03 1.27955651e+02] [ 9.84057306e-01 1.77141075e-01 -1.58826074e-02 8.27657925e+01] [ 1.62014564e-02 -3.53615293e-04 9.99868685e-01 3.10711184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49275509600002 meters 0.020785018572683476 Centerline is valid? [True, True] Translation: X:127.96, Y:82.79, Z:3.11 [[ 1.77457734e-01 -9.84123020e-01 -3.26113227e-03 1.27961091e+02] [ 9.83990952e-01 1.77487356e-01 -1.61258725e-02 8.27918340e+01] [ 1.64486521e-02 -3.47263857e-04 9.99864651e-01 3.10785437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.522755096 meters 0.020889052212569318 Centerline is valid? [True, True] Translation: X:127.97, Y:82.82, Z:3.11 [[ 1.77021360e-01 -9.84201436e-01 -3.31247328e-03 1.27966053e+02] [ 9.84064826e-01 1.77051991e-01 -1.64015413e-02 8.28176481e+01] [ 1.67289004e-02 -3.56265307e-04 9.99859999e-01 3.10810116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.552755096 meters 0.02117829126559365 Centerline is valid? [True, True] Translation: X:127.97, Y:82.84, Z:3.11 [[ 1.76470770e-01 -9.84300432e-01 -3.27528077e-03 1.27970904e+02] [ 9.84166376e-01 1.76500803e-01 -1.62484349e-02 8.28424435e+01] [ 1.65714312e-02 -3.56047374e-04 9.99862621e-01 3.10816617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.582755096 meters 0.02135556734333188 Centerline is valid? [True, True] Translation: X:127.98, Y:82.87, Z:3.11 [[ 1.76116564e-01 -9.84363440e-01 -3.40206223e-03 1.27975090e+02] [ 9.84218196e-01 1.76149032e-01 -1.69133500e-02 8.28682100e+01] [ 1.72481534e-02 -3.69650461e-04 9.99851171e-01 3.10809952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.612755096 meters 0.02150364455948228 Centerline is valid? [True, True] Translation: X:127.98, Y:82.89, Z:3.11 [[ 1.75758059e-01 -9.84427568e-01 -3.38637012e-03 1.27979768e+02] [ 9.84283119e-01 1.75790292e-01 -1.68675526e-02 8.28937406e+01] [ 1.72001748e-02 -3.68538649e-04 9.99851998e-01 3.10833603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.642755096 meters 0.02162817837687546 Centerline is valid? [True, True] Translation: X:127.98, Y:82.92, Z:3.11 [[ 1.75552411e-01 -9.84464241e-01 -3.39243365e-03 1.27984701e+02] [ 9.84318722e-01 1.75584803e-01 -1.69301692e-02 8.29192764e+01] [ 1.72628060e-02 -3.67103928e-04 9.99850919e-01 3.10864876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.672755096 meters 0.02202194425346599 Centerline is valid? [True, True] Translation: X:127.99, Y:82.94, Z:3.11 [[ 1.75124792e-01 -9.84539947e-01 -3.52132115e-03 1.27989717e+02] [ 9.84382551e-01 1.75159773e-01 -1.76081573e-02 8.29439697e+01] [ 1.79527281e-02 -3.82702203e-04 9.99838764e-01 3.10815684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.702755096 meters 0.02116378911794754 Centerline is valid? [True, True] Translation: X:127.99, Y:82.97, Z:3.11 [[ 1.74700478e-01 -9.84614898e-01 -3.63955486e-03 1.27993312e+02] [ 9.84446073e-01 1.74737935e-01 -1.82368857e-02 8.29704500e+01] [ 1.85922776e-02 -3.96952831e-04 9.99827070e-01 3.10816214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.732755096 meters 0.021445469390669117 Centerline is valid? [True, True] Translation: X:128.00, Y:83.00, Z:3.11 [[ 1.74401711e-01 -9.84667502e-01 -3.73558018e-03 1.27998348e+02] [ 9.84488937e-01 1.74441240e-01 -1.87559739e-02 8.29956193e+01] [ 1.91200372e-02 -4.06563414e-04 9.99817113e-01 3.10768357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.762755096 meters 0.021634115509763123 Centerline is valid? [True, True] Translation: X:128.00, Y:83.02, Z:3.11 [[ 1.74111221e-01 -9.84718608e-01 -3.81382293e-03 1.28003184e+02] [ 9.84531710e-01 1.74152494e-01 -1.91890602e-02 8.30200833e+01] [ 1.95600115e-02 -4.13798911e-04 9.99808599e-01 3.10775338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.792755096 meters 0.021956166941542066 Centerline is valid? [True, True] Translation: X:128.01, Y:83.04, Z:3.11 [[ 1.73689958e-01 -9.84793094e-01 -3.78946538e-03 1.28007876e+02] [ 9.84607841e-01 1.73730801e-01 -1.91051737e-02 8.30446790e+01] [ 1.94729900e-02 -4.12760497e-04 9.99810298e-01 3.10795402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.822755096 meters 0.020605332234989792 Centerline is valid? [True, True] Translation: X:128.01, Y:83.07, Z:3.11 [[ 1.73512301e-01 -9.84824393e-01 -3.79429906e-03 1.28010595e+02] [ 9.84637920e-01 1.73553297e-01 -1.91681729e-02 8.30722503e+01] [ 1.95357973e-02 -4.10096964e-04 9.99809074e-01 3.10819668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.852755096 meters 0.020638647694300082 Centerline is valid? [True, True] Translation: X:128.02, Y:83.10, Z:3.11 [[ 1.73182054e-01 -9.84883015e-01 -3.66380801e-03 1.28016387e+02] [ 9.84708539e-01 1.73220351e-01 -1.85419378e-02 8.30990831e+01] [ 1.88962857e-02 -3.96652162e-04 9.99821371e-01 3.10912650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.882755096 meters 0.020138804863326955 Centerline is valid? [True, True] Translation: X:128.02, Y:83.13, Z:3.11 [[ 1.72884046e-01 -9.84935406e-01 -3.65411881e-03 1.28021069e+02] [ 9.84761216e-01 1.72922207e-01 -1.85272117e-02 8.31260622e+01] [ 1.88799850e-02 -3.95375160e-04 9.99821679e-01 3.11023734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.912755096 meters 0.020574842790230197 Centerline is valid? [True, True] Translation: X:128.03, Y:83.15, Z:3.11 [[ 1.72797164e-01 -9.84951159e-01 -3.51500741e-03 1.28027169e+02] [ 9.84789388e-01 1.72832502e-01 -1.78546130e-02 8.31519097e+01] [ 1.81934293e-02 -3.76315495e-04 9.99834415e-01 3.11160076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.942755096 meters 0.020101933110663835 Centerline is valid? [True, True] Translation: X:128.03, Y:83.18, Z:3.11 [[ 1.72853895e-01 -9.84941549e-01 -3.41698647e-03 1.28031501e+02] [ 9.84788074e-01 1.72887293e-01 -1.73906340e-02 8.31784999e+01] [ 1.77195115e-02 -3.58968702e-04 9.99842933e-01 3.11252923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97275509600001 meters 0.020329624207450856 Centerline is valid? [True, True] Translation: X:128.04, Y:83.20, Z:3.11 [[ 1.72714638e-01 -9.84966413e-01 -3.28924946e-03 1.28036775e+02] [ 9.84823686e-01 1.72745616e-01 -1.67708068e-02 8.32042193e+01] [ 1.70868849e-02 -3.42766937e-04 9.99853950e-01 3.11330218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00275509600002 meters 0.019996348541117592 Centerline is valid? [True, True] Translation: X:128.04, Y:83.23, Z:3.11 [[ 1.73300742e-01 -9.84863682e-01 -3.22195635e-03 1.28041829e+02] [ 9.84726179e-01 1.73330394e-01 -1.64598386e-02 8.32311711e+01] [ 1.67691602e-02 -3.20242519e-04 9.99859336e-01 3.11448911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03275509600002 meters 0.020129551205917067 Centerline is valid? [True, True] Translation: X:128.05, Y:83.26, Z:3.12 [[ 1.73188611e-01 -9.84883551e-01 -3.17734189e-03 1.28047173e+02] [ 9.84749344e-01 1.73217473e-01 -1.62615142e-02 8.32568386e+01] [ 1.65660690e-02 -3.12576276e-04 9.99862724e-01 3.11505904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06275509600002 meters 0.019651523686628116 Centerline is valid? [True, True] Translation: X:128.05, Y:83.28, Z:3.12 [[ 1.73299008e-01 -9.84864153e-01 -3.17086417e-03 1.28051817e+02] [ 9.84729961e-01 1.73327747e-01 -1.62602311e-02 8.32838678e+01] [ 1.65637175e-02 -3.04563029e-04 9.99862766e-01 3.11528272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09275509600002 meters 0.01907184809632371 Centerline is valid? [True, True] Translation: X:128.06, Y:83.31, Z:3.12 [[ 1.73719236e-01 -9.84790143e-01 -3.16256082e-03 1.28056694e+02] [ 9.84656137e-01 1.73747777e-01 -1.62481380e-02 8.33111745e+01] [ 1.65504940e-02 -2.91420802e-04 9.99862989e-01 3.11550326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12275509600002 meters 0.01977886915090399 Centerline is valid? [True, True] Translation: X:128.06, Y:83.34, Z:3.12 [[ 1.73497419e-01 -9.84829054e-01 -3.22179469e-03 1.28063303e+02] [ 9.84689473e-01 1.73527079e-01 -1.65829382e-02 8.33368191e+01] [ 1.68904279e-02 -2.95370340e-04 9.99857303e-01 3.11590775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15275509600002 meters 0.02052063619773716 Centerline is valid? [True, True] Translation: X:128.07, Y:83.36, Z:3.12 [[ 1.73119423e-01 -9.84895887e-01 -3.12381183e-03 1.28068421e+02] [ 9.84764161e-01 1.73147366e-01 -1.61101284e-02 8.33624519e+01] [ 1.64076790e-02 -2.87241811e-04 9.99865344e-01 3.11516266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18275509600002 meters 0.018977924731707237 Centerline is valid? [True, True] Translation: X:128.07, Y:83.39, Z:3.12 [[ 1.72743695e-01 -9.84961950e-01 -3.09401161e-03 1.28071497e+02] [ 9.84832215e-01 1.72771166e-01 -1.59885045e-02 8.33894883e+01] [ 1.62826245e-02 -2.85168959e-04 9.99867389e-01 3.11609485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21275509600002 meters 0.0192966789836147 Centerline is valid? [True, True] Translation: X:128.08, Y:83.42, Z:3.12 [[ 1.71527945e-01 -9.85174306e-01 -3.12281206e-03 1.28078757e+02] [ 9.85041653e-01 1.71556102e-01 -1.61692534e-02 8.34159866e+01] [ 1.64652704e-02 -3.02621158e-04 9.99864392e-01 3.11640193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24275509600002 meters 0.01951844611745343 Centerline is valid? [True, True] Translation: X:128.09, Y:83.44, Z:3.12 [[ 1.70456673e-01 -9.85360150e-01 -3.14590546e-03 1.28085290e+02] [ 9.85225030e-01 1.70485405e-01 -1.63207645e-02 8.34426823e+01] [ 1.66181619e-02 -3.17441597e-04 9.99861858e-01 3.11658706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.272755096 meters 0.019601851054048467 Centerline is valid? [True, True] Translation: X:128.09, Y:83.47, Z:3.12 [[ 1.69208714e-01 -9.85574992e-01 -3.21645953e-03 1.28091450e+02] [ 9.85433213e-01 1.69238940e-01 -1.67201506e-02 8.34688371e+01] [ 1.70233125e-02 -3.40410869e-04 9.99855035e-01 3.11679793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.302755096 meters 0.020198939303288282 Centerline is valid? [True, True] Translation: X:128.10, Y:83.49, Z:3.12 [[ 1.67809816e-01 -9.85813861e-01 -3.30102316e-03 1.28098423e+02] [ 9.85663959e-01 1.67841877e-01 -1.71949142e-02 8.34949713e+01] [ 1.75050347e-02 -3.68224164e-04 9.99846707e-01 3.11681560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.332755096 meters 0.021206219900822512 Centerline is valid? [True, True] Translation: X:128.11, Y:83.52, Z:3.12 [[ 1.65814491e-01 -9.86151542e-01 -3.26972834e-03 1.28106988e+02] [ 9.86003974e-01 1.65846257e-01 -1.70640573e-02 8.35212845e+01] [ 1.73700186e-02 -3.94497173e-04 9.99849052e-01 3.11681702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.362755096 meters 0.02145218771682768 Centerline is valid? [True, True] Translation: X:128.11, Y:83.55, Z:3.12 [[ 1.64579814e-01 -9.86358316e-01 -3.27996795e-03 1.28112687e+02] [ 9.86209496e-01 1.64611974e-01 -1.71384772e-02 8.35477472e+01] [ 1.74446015e-02 -4.14088155e-04 9.99847746e-01 3.11697359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.392755096 meters 0.021571423020697034 Centerline is valid? [True, True] Translation: X:128.12, Y:83.57, Z:3.12 [[ 1.63512951e-01 -9.86535722e-01 -3.28385367e-03 1.28118090e+02] [ 9.86386004e-01 1.63545362e-01 -1.71920087e-02 8.35740279e+01] [ 1.74975898e-02 -4.28031225e-04 9.99846814e-01 3.11760572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.422755096 meters 0.022250653189499422 Centerline is valid? [True, True] Translation: X:128.12, Y:83.60, Z:3.12 [[ 1.62383048e-01 -9.86722389e-01 -3.26699930e-03 1.28124790e+02] [ 9.86573660e-01 1.62415312e-01 -1.71370655e-02 8.36002601e+01] [ 1.74401369e-02 -4.40366530e-04 9.99847812e-01 3.11811735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.452755096 meters 0.022395736278164737 Centerline is valid? [True, True] Translation: X:128.13, Y:83.63, Z:3.12 [[ 1.61941269e-01 -9.86795106e-01 -3.23168487e-03 1.28130196e+02] [ 9.86649064e-01 1.61972918e-01 -1.69823167e-02 8.36269087e+01] [ 1.72815124e-02 -4.38400938e-04 9.99850567e-01 3.11847245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.482755096 meters 0.021958144892627214 Centerline is valid? [True, True] Translation: X:128.13, Y:83.65, Z:3.12 [[ 1.63793693e-01 -9.86489381e-01 -3.21352760e-03 1.28132578e+02] [ 9.86344352e-01 1.63824730e-01 -1.69197146e-02 8.36529059e+01] [ 1.72175741e-02 -3.98302261e-04 9.99851687e-01 3.11926191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.512755096 meters 0.021538630205289497 Centerline is valid? [True, True] Translation: X:128.14, Y:83.68, Z:3.12 [[ 1.64561052e-01 -9.86361132e-01 -3.37319524e-03 1.28136671e+02] [ 9.86200809e-01 1.64595135e-01 -1.77877937e-02 8.36795962e+01] [ 1.81003998e-02 -3.99469844e-04 9.99836095e-01 3.11883482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.542755096 meters 0.021310808346148888 Centerline is valid? [True, True] Translation: X:128.14, Y:83.71, Z:3.12 [[ 1.65037710e-01 -9.86281089e-01 -3.48812519e-03 1.28141298e+02] [ 9.86108966e-01 1.65074087e-01 -1.84296758e-02 8.37061338e+01] [ 1.87526398e-02 -3.98080026e-04 9.99824075e-01 3.11897224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.572755096 meters 0.02063914781941611 Centerline is valid? [True, True] Translation: X:128.14, Y:83.73, Z:3.12 [[ 1.66557325e-01 -9.86025388e-01 -3.54855616e-03 1.28144119e+02] [ 9.85846471e-01 1.66594713e-01 -1.87866121e-02 8.37330955e+01] [ 1.91152472e-02 -3.69283711e-04 9.99817219e-01 3.11912744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.602755096 meters 0.019974230236424147 Centerline is valid? [True, True] Translation: X:128.15, Y:83.76, Z:3.12 [[ 1.68339528e-01 -9.85721930e-01 -3.75244307e-03 1.28147528e+02] [ 9.85521002e-01 1.68380987e-01 -1.99047282e-02 8.37580784e+01] [ 2.02523671e-02 -3.47358907e-04 9.99794839e-01 3.11843119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.632755096 meters 0.01985270503656763 Centerline is valid? [True, True] Translation: X:128.15, Y:83.78, Z:3.12 [[ 1.68400158e-01 -9.85711627e-01 -3.73829827e-03 1.28152275e+02] [ 9.85511538e-01 1.68441304e-01 -1.98628914e-02 8.37841165e+01] [ 2.02087668e-02 -3.39222032e-04 9.99795724e-01 3.11881452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.662755096 meters 0.0199330933201607 Centerline is valid? [True, True] Translation: X:128.16, Y:83.81, Z:3.12 [[ 1.68279317e-01 -9.85732520e-01 -3.67037200e-03 1.28157008e+02] [ 9.85538873e-01 1.68319018e-01 -1.95406932e-02 8.38088821e+01] [ 1.98796902e-02 -3.28999785e-04 9.99802325e-01 3.11955014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.692755096 meters 0.02028830994682524 Centerline is valid? [True, True] Translation: X:128.16, Y:83.83, Z:3.12 [[ 1.67570683e-01 -9.85854045e-01 -3.44489568e-03 1.28160711e+02] [ 9.85682964e-01 1.67605788e-01 -1.83682703e-02 8.38335380e+01] [ 1.86858181e-02 -3.17591384e-04 9.99825354e-01 3.12055764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72275509600001 meters 0.019534314696787042 Centerline is valid? [True, True] Translation: X:128.16, Y:83.86, Z:3.12 [[ 1.66478046e-01 -9.86039637e-01 -3.30061151e-03 1.28163474e+02] [ 9.85882143e-01 1.66510455e-01 -1.76257869e-02 8.38609387e+01] [ 1.79293109e-02 -3.19707386e-04 9.99839206e-01 3.12150252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75275509600002 meters 0.019687591400226377 Centerline is valid? [True, True] Translation: X:128.17, Y:83.89, Z:3.12 [[ 1.65134918e-01 -9.86266025e-01 -3.12839363e-03 1.28168211e+02] [ 9.86124057e-01 1.65164236e-01 -1.67367947e-02 8.38877806e+01] [ 1.70236307e-02 -3.21154997e-04 9.99855036e-01 3.12254970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78275509600002 meters 0.020053328765784695 Centerline is valid? [True, True] Translation: X:128.17, Y:83.91, Z:3.12 [[ 1.63072448e-01 -9.86609846e-01 -2.89636999e-03 1.28173883e+02] [ 9.86487763e-01 1.63097843e-01 -1.55237429e-02 8.39147716e+01] [ 1.57882693e-02 -3.25738788e-04 9.99875304e-01 3.12487897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81275509600002 meters 0.0207495985582693 Centerline is valid? [True, True] Translation: X:128.18, Y:83.94, Z:3.13 [[ 1.61783753e-01 -9.86822136e-01 -2.84400535e-03 1.28179779e+02] [ 9.86703991e-01 1.61808402e-01 -1.52733436e-02 8.39414915e+01] [ 1.55322575e-02 -3.35212579e-04 9.99879311e-01 3.12554273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84275509600002 meters 0.021030579279097808 Centerline is valid? [True, True] Translation: X:128.19, Y:83.97, Z:3.13 [[ 1.60039066e-01 -9.87106571e-01 -2.84882999e-03 1.28185030e+02] [ 9.86987785e-01 1.60064014e-01 -1.53174396e-02 8.39685649e+01] [ 1.55759405e-02 -3.60371671e-04 9.99878623e-01 3.12624157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87275509600002 meters 0.02161465856522106 Centerline is valid? [True, True] Translation: X:128.19, Y:83.99, Z:3.13 [[ 1.58897893e-01 -9.87290870e-01 -2.86328966e-03 1.28190154e+02] [ 9.87170454e-01 1.58923245e-01 -1.54239264e-02 8.39942480e+01] [ 1.56829450e-02 -3.75725543e-04 9.99876944e-01 3.12648033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90275509600002 meters 0.02202864968059704 Centerline is valid? [True, True] Translation: X:128.19, Y:84.02, Z:3.13 [[ 1.57855907e-01 -9.87457777e-01 -2.94120153e-03 1.28194918e+02] [ 9.87330188e-01 1.57882805e-01 -1.58783044e-02 8.40206883e+01] [ 1.61435204e-02 -3.97452908e-04 9.99869606e-01 3.12643578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93275509600002 meters 0.022627820342329442 Centerline is valid? [True, True] Translation: X:128.20, Y:84.05, Z:3.13 [[ 1.56761627e-01 -9.87631835e-01 -3.02498180e-03 1.28199904e+02] [ 9.87496356e-01 1.56790242e-01 -1.63635994e-02 8.40465949e+01] [ 1.66354994e-02 -4.21974037e-04 9.99861531e-01 3.12624818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96275509600002 meters 0.023979624876015588 Centerline is valid? [True, True] Translation: X:128.21, Y:84.07, Z:3.13 [[ 1.54705151e-01 -9.87955677e-01 -3.14572478e-03 1.28205679e+02] [ 9.87808596e-01 1.54736419e-01 -1.70534020e-02 8.40723740e+01] [ 1.73347635e-02 -4.69124835e-04 9.99849632e-01 3.12578268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99275509600002 meters 0.02404369402606091 Centerline is valid? [True, True] Translation: X:128.21, Y:84.10, Z:3.13 [[ 1.53749455e-01 -9.88104830e-01 -3.15448272e-03 1.28209951e+02] [ 9.87956345e-01 1.53781057e-01 -1.71361397e-02 8.40988909e+01] [ 1.74174021e-02 -4.81819077e-04 9.99848189e-01 3.12629944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.022755096 meters 0.024748480820975444 Centerline is valid? [True, True] Translation: X:128.21, Y:84.12, Z:3.13 [[ 1.52888548e-01 -9.88238197e-01 -3.21829067e-03 1.28214275e+02] [ 9.88083066e-01 1.52921593e-01 -1.75168987e-02 8.41236493e+01] [ 1.78030145e-02 -5.01805308e-04 9.99841388e-01 3.12660365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.052755096 meters 0.023243030456472247 Centerline is valid? [True, True] Translation: X:128.22, Y:84.15, Z:3.13 [[ 1.52878215e-01 -9.88239780e-01 -3.22325410e-03 1.28216416e+02] [ 9.88083465e-01 1.52911384e-01 -1.75833956e-02 8.41512874e+01] [ 1.78694832e-02 -4.96725938e-04 9.99840205e-01 3.12724630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.082755096 meters 0.02368611255319352 Centerline is valid? [True, True] Translation: X:128.22, Y:84.18, Z:3.13 [[ 1.52657390e-01 -9.88273813e-01 -3.25453773e-03 1.28220550e+02] [ 9.88113810e-01 1.52691259e-01 -1.77898106e-02 8.41767688e+01] [ 1.80781435e-02 -5.00107613e-04 9.99836452e-01 3.12750150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.112755096 meters 0.023317226148004515 Centerline is valid? [True, True] Translation: X:128.22, Y:84.20, Z:3.13 [[ 1.52882076e-01 -9.88238947e-01 -3.29471456e-03 1.28224071e+02] [ 9.88074259e-01 1.52916769e-01 -1.80477516e-02 8.42043390e+01] [ 1.83393081e-02 -4.96244916e-04 9.99831698e-01 3.12794379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.142755096 meters 0.023428122613286338 Centerline is valid? [True, True] Translation: X:128.23, Y:84.23, Z:3.13 [[ 1.53104513e-01 -9.88204650e-01 -3.25229020e-03 1.28228082e+02] [ 9.88043576e-01 1.53138297e-01 -1.78480776e-02 8.42301803e+01] [ 1.81356035e-02 -4.80783214e-04 9.99835421e-01 3.12819746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.172755096 meters 0.023083076301642084 Centerline is valid? [True, True] Translation: X:128.23, Y:84.26, Z:3.13 [[ 1.53918384e-01 -9.88078458e-01 -3.17694122e-03 1.28231590e+02] [ 9.87924103e-01 1.53950511e-01 -1.74702031e-02 8.42554880e+01] [ 1.77510231e-02 -4.49591372e-04 9.99842337e-01 3.12914187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.202755096 meters 0.02203737852220379 Centerline is valid? [True, True] Translation: X:128.23, Y:84.28, Z:3.13 [[ 1.53979216e-01 -9.88069169e-01 -3.11739525e-03 1.28234189e+02] [ 9.87920046e-01 1.54010153e-01 -1.71713402e-02 8.42828747e+01] [ 1.74465824e-02 -4.35707760e-04 9.99847702e-01 3.13008267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.232755096 meters 0.02203737852220379 Centerline is valid? [True, True] Translation: X:128.24, Y:84.31, Z:3.13 [[ 1.53631258e-01 -9.88123351e-01 -3.11134706e-03 1.28238753e+02] [ 9.87974217e-01 1.53662143e-01 -1.71724360e-02 8.43092360e+01] [ 1.74465812e-02 -4.35707730e-04 9.99847702e-01 3.13058180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.262755096 meters 0.02286194058170913 Centerline is valid? [True, True] Translation: X:128.24, Y:84.34, Z:3.13 [[ 1.53651201e-01 -9.88120392e-01 -3.06584713e-03 1.28244510e+02] [ 9.87975013e-01 1.53681200e-01 -1.69547382e-02 8.43352574e+01] [ 1.72244857e-02 -4.23864467e-04 9.99851558e-01 3.13143512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.292755096 meters 0.02206602468981635 Centerline is valid? [True, True] Translation: X:128.25, Y:84.36, Z:3.13 [[ 1.53486316e-01 -9.88146217e-01 -3.00063765e-03 1.28247612e+02] [ 9.88006380e-01 1.53515090e-01 -1.66285861e-02 8.43622110e+01] [ 1.68921176e-02 -4.12388735e-04 9.99857233e-01 3.13230496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.322755096 meters 0.021742605931559626 Centerline is valid? [True, True] Translation: X:128.25, Y:84.39, Z:3.13 [[ 1.54111896e-01 -9.88048847e-01 -2.99987063e-03 1.28251432e+02] [ 9.87908502e-01 1.54140580e-01 -1.66575251e-02 8.43896334e+01] [ 1.69208503e-02 -3.96474926e-04 9.99856754e-01 3.13288303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.352755096 meters 0.022040584911935043 Centerline is valid? [True, True] Translation: X:128.26, Y:84.42, Z:3.13 [[ 1.54533634e-01 -9.87982819e-01 -3.05039618e-03 1.28256141e+02] [ 9.87837105e-01 1.54563244e-01 -1.69722849e-02 8.44156360e+01] [ 1.72398050e-02 -3.90505670e-04 9.99851307e-01 3.13330936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.382755096 meters 0.021507098904276902 Centerline is valid? [True, True] Translation: X:128.26, Y:84.44, Z:3.13 [[ 1.54737530e-01 -9.87950813e-01 -3.08039690e-03 1.28259250e+02] [ 9.87801582e-01 1.54767708e-01 -1.71752946e-02 8.44416107e+01] [ 1.74450922e-02 -3.85158280e-04 9.99847749e-01 3.13356339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.412755096 meters 0.021659843561295355 Centerline is valid? [True, True] Translation: X:128.26, Y:84.47, Z:3.13 [[ 1.54244291e-01 -9.88027882e-01 -3.09877521e-03 1.28264007e+02] [ 9.87876216e-01 1.54274922e-01 -1.73156149e-02 8.44671420e+01] [ 1.75863736e-02 -3.90371588e-04 9.99845272e-01 3.13394947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.442755096 meters 0.021949709888469855 Centerline is valid? [True, True] Translation: X:128.27, Y:84.49, Z:3.13 [[ 1.53645932e-01 -9.88121011e-01 -3.12979114e-03 1.28269033e+02] [ 9.87965630e-01 1.53677288e-01 -1.75272668e-02 8.44930547e+01] [ 1.78000384e-02 -3.99132823e-04 9.99841487e-01 3.13436061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47275509600001 meters 0.023003693968544753 Centerline is valid? [True, True] Translation: X:128.28, Y:84.52, Z:3.13 [[ 1.51749172e-01 -9.88414167e-01 -3.10219652e-03 1.28275333e+02] [ 9.88260915e-01 1.51780286e-01 -1.74100255e-02 8.45185172e+01] [ 1.76791682e-02 -4.23822605e-04 9.99843621e-01 3.13449564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50275509600002 meters 0.023683293658797976 Centerline is valid? [True, True] Translation: X:128.28, Y:84.55, Z:3.14 [[ 1.50290832e-01 -9.88636998e-01 -3.09065423e-03 1.28281205e+02] [ 9.88484308e-01 1.50321954e-01 -1.73805521e-02 8.45456000e+01] [ 1.76476500e-02 -4.42925590e-04 9.99844170e-01 3.13504308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53275509600002 meters 0.022175055654393615 Centerline is valid? [True, True] Translation: X:128.28, Y:84.57, Z:3.14 [[ 1.48783263e-01 -9.88865254e-01 -3.00821861e-03 1.28283052e+02] [ 9.88720106e-01 1.48812983e-01 -1.69484187e-02 8.45739553e+01] [ 1.72073643e-02 -4.52645181e-04 9.99851840e-01 3.13562162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56275509600002 meters 0.022072605971946616 Centerline is valid? [True, True] Translation: X:128.29, Y:84.60, Z:3.14 [[ 1.47596051e-01 -9.89043036e-01 -3.04594750e-03 1.28287733e+02] [ 9.88893700e-01 1.47626715e-01 -1.71930907e-02 8.46020839e+01] [ 1.74543699e-02 -4.74485996e-04 9.99847548e-01 3.13599821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59275509600002 meters 0.023127943494226977 Centerline is valid? [True, True] Translation: X:128.29, Y:84.63, Z:3.14 [[ 1.45748788e-01 -9.89316668e-01 -3.13400658e-03 1.28294694e+02] [ 9.89158017e-01 1.45781564e-01 -1.77243690e-02 8.46282801e+01] [ 1.79918940e-02 -5.16722436e-04 9.99837999e-01 3.13626691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62275509600002 meters 0.02277093030857376 Centerline is valid? [True, True] Translation: X:128.30, Y:84.66, Z:3.14 [[ 1.44982257e-01 -9.89429254e-01 -3.14584048e-03 1.28299161e+02] [ 9.89268790e-01 1.45015423e-01 -1.78266263e-02 8.46554692e+01] [ 1.80943809e-02 -5.27537289e-04 9.99836144e-01 3.13657195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65275509600002 meters 0.023317782518504054 Centerline is valid? [True, True] Translation: X:128.31, Y:84.68, Z:3.14 [[ 1.44669109e-01 -9.89474733e-01 -3.25600460e-03 1.28305002e+02] [ 9.89302080e-01 1.44704715e-01 -1.84916465e-02 8.46809007e+01] [ 1.87681762e-02 -5.46002109e-04 9.99823713e-01 3.13661996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68275509600002 meters 0.023759231727138425 Centerline is valid? [True, True] Translation: X:128.31, Y:84.71, Z:3.14 [[ 1.44619097e-01 -9.89481785e-01 -3.33378631e-03 1.28309932e+02] [ 9.89299951e-01 1.44656458e-01 -1.89767091e-02 8.47062933e+01] [ 1.92593618e-02 -5.53720086e-04 9.99814368e-01 3.13686839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71275509600002 meters 0.022770870153848637 Centerline is valid? [True, True] Translation: X:128.31, Y:84.73, Z:3.14 [[ 1.44946685e-01 -9.89433626e-01 -3.39963336e-03 1.28312644e+02] [ 9.89243673e-01 1.44985498e-01 -1.93948813e-02 8.47331039e+01] [ 1.96828453e-02 -5.51842031e-04 9.99806122e-01 3.13698434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74275509600002 meters 0.022727272794743576 Centerline is valid? [True, True] Translation: X:128.32, Y:84.76, Z:3.14 [[ 1.46108440e-01 -9.89262340e-01 -3.51389509e-03 1.28317490e+02] [ 9.89058468e-01 1.46149690e-01 -2.00901476e-02 8.47598522e+01] [ 2.03879811e-02 -5.40107580e-04 9.99791998e-01 3.13699139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77275509600003 meters 0.02271535033809381 Centerline is valid? [True, True] Translation: X:128.32, Y:84.79, Z:3.14 [[ 1.46468706e-01 -9.89208838e-01 -3.57678160e-03 1.28321689e+02] [ 9.88996760e-01 1.46511390e-01 -2.04895562e-02 8.47857392e+01] [ 2.07924893e-02 -5.36346627e-04 9.99783669e-01 3.13736367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.802755096 meters 0.021464124503479988 Centerline is valid? [True, True] Translation: X:128.32, Y:84.81, Z:3.14 [[ 1.47051983e-01 -9.89122363e-01 -3.55870746e-03 1.28324141e+02] [ 9.88911484e-01 1.47094136e-01 -2.04301644e-02 8.48130335e+01] [ 2.07313975e-02 -5.14950486e-04 9.99784949e-01 3.13804001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.832755096 meters 0.02121843841356861 Centerline is valid? [True, True] Translation: X:128.33, Y:84.84, Z:3.14 [[ 1.48426428e-01 -9.88916771e-01 -3.63527523e-03 1.28328794e+02] [ 9.88695706e-01 1.48470131e-01 -2.09146070e-02 8.48394540e+01] [ 2.12225354e-02 -4.89900600e-04 9.99774657e-01 3.13846116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.862755096 meters 0.021427833786500622 Centerline is valid? [True, True] Translation: X:128.33, Y:84.86, Z:3.14 [[ 1.48880046e-01 -9.88848216e-01 -3.73320321e-03 1.28334006e+02] [ 9.88614164e-01 1.48926048e-01 -2.15189953e-02 8.48647215e+01] [ 2.18349914e-02 -4.86948562e-04 9.99761470e-01 3.13846924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.892755096 meters 0.02191562362012276 Centerline is valid? [True, True] Translation: X:128.34, Y:84.89, Z:3.14 [[ 1.49091354e-01 -9.88816130e-01 -3.79858108e-03 1.28339460e+02] [ 9.88572935e-01 1.49138949e-01 -2.19345704e-02 8.48892239e+01] [ 2.22557734e-02 -4.84919639e-04 9.99752192e-01 3.13872473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.922755096 meters 0.020398797668353046 Centerline is valid? [True, True] Translation: X:128.34, Y:84.92, Z:3.14 [[ 1.49186664e-01 -9.88801781e-01 -3.79170774e-03 1.28341906e+02] [ 9.88558334e-01 1.49234087e-01 -2.19455673e-02 8.49169496e+01] [ 2.22656681e-02 -4.74338300e-04 9.99751977e-01 3.13991945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.952755096 meters 0.0203833676310897 Centerline is valid? [True, True] Translation: X:128.35, Y:84.94, Z:3.14 [[ 1.48614258e-01 -9.88888079e-01 -3.76422194e-03 1.28346607e+02] [ 9.88647206e-01 1.48661156e-01 -2.18303380e-02 8.49436210e+01] [ 2.21473546e-02 -4.77188017e-04 9.99754603e-01 3.14066200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.982755096 meters 0.02108227374309307 Centerline is valid? [True, True] Translation: X:128.35, Y:84.97, Z:3.14 [[ 1.47690123e-01 -9.89026695e-01 -3.71805171e-03 1.28353186e+02] [ 9.88790731e-01 1.47736120e-01 -2.16085648e-02 8.49686506e+01] [ 2.19207380e-02 -4.85003478e-04 9.99759594e-01 3.14137965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.012755096 meters 0.02128952985892526 Centerline is valid? [True, True] Translation: X:128.36, Y:85.00, Z:3.14 [[ 1.46466951e-01 -9.89208690e-01 -3.68769620e-03 1.28358212e+02] [ 9.88975589e-01 1.46512511e-01 -2.14794801e-02 8.49950331e+01] [ 2.17879820e-02 -5.01007558e-04 9.99762488e-01 3.14229623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.042755096 meters 0.02087386456019227 Centerline is valid? [True, True] Translation: X:128.36, Y:85.02, Z:3.14 [[ 1.45408704e-01 -9.89364715e-01 -3.71078187e-03 1.28362559e+02] [ 9.89127725e-01 1.45455113e-01 -2.16599468e-02 8.50219831e+01] [ 2.19693392e-02 -5.20892445e-04 9.99758509e-01 3.14319638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.072755096 meters 0.02210794397862089 Centerline is valid? [True, True] Translation: X:128.37, Y:85.05, Z:3.14 [[ 1.43019975e-01 -9.89712887e-01 -3.69976112e-03 1.28370203e+02] [ 9.89476395e-01 1.43066703e-01 -2.16421522e-02 8.50480919e+01] [ 2.19488295e-02 -5.65566235e-04 9.99758935e-01 3.14368439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.102755096 meters 0.022445047214008217 Centerline is valid? [True, True] Translation: X:128.38, Y:85.07, Z:3.14 [[ 1.42029548e-01 -9.89855476e-01 -3.70723986e-03 1.28375889e+02] [ 9.89617124e-01 1.42076728e-01 -2.17290436e-02 8.50742143e+01] [ 2.20353253e-02 -5.82581817e-04 9.99757023e-01 3.14424325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.132755096 meters 0.02288134622831868 Centerline is valid? [True, True] Translation: X:128.38, Y:85.10, Z:3.14 [[ 1.40815265e-01 -9.90028850e-01 -3.73329250e-03 1.28381755e+02] [ 9.89786363e-01 1.40863430e-01 -2.19191745e-02 8.51020424e+01] [ 2.22264995e-02 -6.08607644e-04 9.99752776e-01 3.14438230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.162755096 meters 0.023513620880091197 Centerline is valid? [True, True] Translation: X:128.39, Y:85.13, Z:3.14 [[ 1.39128256e-01 -9.90266677e-01 -3.90337064e-03 1.28388122e+02] [ 9.90000630e-01 1.39181391e-01 -2.29628619e-02 8.51293019e+01] [ 2.32826335e-02 -6.69556455e-04 9.99728699e-01 3.14434203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.192755096 meters 0.02397945292152252 Centerline is valid? [True, True] Translation: X:128.39, Y:85.16, Z:3.14 [[ 1.38343962e-01 -9.90376390e-01 -3.94394307e-03 1.28393583e+02] [ 9.90103754e-01 1.38398454e-01 -2.32470125e-02 8.51561071e+01] [ 2.35691279e-02 -6.88829039e-04 9.99721972e-01 3.14443778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22275509600001 meters 0.02427206687380328 Centerline is valid? [True, True] Translation: X:128.40, Y:85.18, Z:3.14 [[ 1.36953525e-01 -9.90569446e-01 -3.98812407e-03 1.28399200e+02] [ 9.90289571e-01 1.37009672e-01 -2.35566358e-02 8.51839067e+01] [ 2.38808953e-02 -7.23233348e-04 9.99714549e-01 3.14466228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25275509600002 meters 0.023802332540589225 Centerline is valid? [True, True] Translation: X:128.40, Y:85.21, Z:3.15 [[ 1.35973498e-01 -9.90704528e-01 -3.96813275e-03 1.28402985e+02] [ 9.90426415e-01 1.36029392e-01 -2.34844753e-02 8.52107311e+01] [ 2.38059587e-02 -7.36877226e-04 9.99716326e-01 3.14526611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28275509600002 meters 0.02422752573353568 Centerline is valid? [True, True] Translation: X:128.41, Y:85.24, Z:3.15 [[ 1.35102467e-01 -9.90824024e-01 -3.88295713e-03 1.28408219e+02] [ 9.90556616e-01 1.35156257e-01 -2.30299064e-02 8.52376406e+01] [ 2.33433904e-02 -7.34891712e-04 9.99727236e-01 3.14621443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31275509600002 meters 0.02425299665729801 Centerline is valid? [True, True] Translation: X:128.41, Y:85.26, Z:3.15 [[ 1.34394860e-01 -9.90920357e-01 -3.85582994e-03 1.28412571e+02] [ 9.90655558e-01 1.34448127e-01 -2.29186902e-02 8.52641542e+01] [ 2.32290058e-02 -7.39645188e-04 9.99729897e-01 3.14698579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34275509600002 meters 0.02541572482387386 Centerline is valid? [True, True] Translation: X:128.42, Y:85.29, Z:3.15 [[ 1.33680387e-01 -9.91016835e-01 -3.89703597e-03 1.28419050e+02] [ 9.90745165e-01 1.33735032e-01 -2.32154852e-02 8.52897117e+01] [ 2.35281069e-02 -7.57514506e-04 9.99722889e-01 3.14735890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37275509600002 meters 0.025914262892783854 Centerline is valid? [True, True] Translation: X:128.42, Y:85.32, Z:3.15 [[ 1.33372880e-01 -9.91058360e-01 -3.87332710e-03 1.28423859e+02] [ 9.90788770e-01 1.33426986e-01 -2.31268990e-02 8.53154219e+01] [ 2.34369129e-02 -7.53147883e-04 9.99725034e-01 3.14764297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40275509600002 meters 0.02451896065424237 Centerline is valid? [True, True] Translation: X:128.43, Y:85.34, Z:3.15 [[ 1.33964938e-01 -9.90977888e-01 -4.02741461e-03 1.28425700e+02] [ 9.90685036e-01 1.34023302e-01 -2.41021666e-02 8.53430934e+01] [ 2.44244816e-02 -7.61054116e-04 9.99701388e-01 3.14769196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43275509600002 meters 0.02451266007714276 Centerline is valid? [True, True] Translation: X:128.43, Y:85.37, Z:3.15 [[ 1.34369263e-01 -9.90922834e-01 -4.10345068e-03 1.28429491e+02] [ 9.90617425e-01 1.34429769e-01 -2.46120814e-02 8.53694907e+01] [ 2.49402994e-02 -7.57842493e-04 9.99688655e-01 3.14737509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46275509600002 meters 0.02217566154459251 Centerline is valid? [True, True] Translation: X:128.43, Y:85.40, Z:3.15 [[ 1.36234725e-01 -9.90668170e-01 -4.08370746e-03 1.28429567e+02] [ 9.90364236e-01 1.36294119e-01 -2.45477604e-02 8.53975808e+01] [ 2.48752702e-02 -7.00100429e-04 9.99690317e-01 3.14848291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49275509600002 meters 0.023436835920420118 Centerline is valid? [True, True] Translation: X:128.44, Y:85.42, Z:3.15 [[ 1.37071747e-01 -9.90552538e-01 -4.12388961e-03 1.28435557e+02] [ 9.90241241e-01 1.37132089e-01 -2.48410124e-02 8.54236548e+01] [ 2.51718454e-02 -6.78644605e-04 9.99682909e-01 3.14858435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52275509600003 meters 0.022156010680054013 Centerline is valid? [True, True] Translation: X:128.44, Y:85.45, Z:3.15 [[ 1.38146378e-01 -9.90403329e-01 -4.10164619e-03 1.28437883e+02] [ 9.90093960e-01 1.38205771e-01 -2.47611606e-02 8.54513924e+01] [ 2.50904071e-02 -6.40350467e-04 9.99684981e-01 3.14946772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.552755096 meters 0.02154213890838407 Centerline is valid? [True, True] Translation: X:128.44, Y:85.48, Z:3.15 [[ 1.39201098e-01 -9.90256016e-01 -4.00960697e-03 1.28441312e+02] [ 9.89959131e-01 1.39257570e-01 -2.42538278e-02 8.54792557e+01] [ 2.45758670e-02 -5.93187573e-04 9.99697792e-01 3.15055185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.582755096 meters 0.020529250802956214 Centerline is valid? [True, True] Translation: X:128.44, Y:85.51, Z:3.15 [[ 1.40023674e-01 -9.90140411e-01 -3.91624101e-03 1.28443649e+02] [ 9.89856025e-01 1.40077337e-01 -2.37358108e-02 8.55064061e+01] [ 2.40503620e-02 -5.52939341e-04 9.99710595e-01 3.15179090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.612755096 meters 0.020133833312637992 Centerline is valid? [True, True] Translation: X:128.45, Y:85.53, Z:3.15 [[ 1.41686998e-01 -9.89904850e-01 -3.63083331e-03 1.28446756e+02] [ 9.89659318e-01 1.41732736e-01 -2.20514219e-02 8.55338237e+01] [ 2.23434174e-02 -4.68888258e-04 9.99750245e-01 3.15330313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.642755096 meters 0.018977831104099625 Centerline is valid? [True, True] Translation: X:128.45, Y:85.56, Z:3.15 [[ 1.42482877e-01 -9.89790674e-01 -3.61279861e-03 1.28448771e+02] [ 9.89546554e-01 1.42527986e-01 -2.19861703e-02 8.55611670e+01] [ 2.22766313e-02 -4.42379617e-04 9.99751747e-01 3.15437903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.672755096 meters 0.01871508913177376 Centerline is valid? [True, True] Translation: X:128.45, Y:85.59, Z:3.15 [[ 1.44189892e-01 -9.89543589e-01 -3.57219781e-03 1.28452346e+02] [ 9.89303787e-01 1.44233601e-01 -2.17872556e-02 8.55885272e+01] [ 2.20746700e-02 -3.92486786e-04 9.99756248e-01 3.15496176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.702755096 meters 0.018080233719783637 Centerline is valid? [True, True] Translation: X:128.46, Y:85.62, Z:3.16 [[ 1.44716488e-01 -9.89466890e-01 -3.52297198e-03 1.28455280e+02] [ 9.89232684e-01 1.44758892e-01 -2.15304434e-02 8.56154750e+01] [ 2.18136424e-02 -3.69228880e-04 9.99761986e-01 3.15550280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.732755096 meters 0.017936705433021397 Centerline is valid? [True, True] Translation: X:128.46, Y:85.64, Z:3.16 [[ 1.45349517e-01 -9.89374525e-01 -3.40108560e-03 1.28458420e+02] [ 9.89155254e-01 1.45388914e-01 -2.08314075e-02 8.56414941e+01] [ 2.11045440e-02 -3.36366670e-04 9.99777218e-01 3.15635638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.762755096 meters 0.018214154099430033 Centerline is valid? [True, True] Translation: X:128.46, Y:85.67, Z:3.16 [[ 1.45099081e-01 -9.89411444e-01 -3.35424775e-03 1.28462657e+02] [ 9.89197179e-01 1.45137471e-01 -2.05926166e-02 8.56669899e+01] [ 2.08613976e-02 -3.30042654e-04 9.99782323e-01 3.15666943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.792755096 meters 0.01782383870766988 Centerline is valid? [True, True] Translation: X:128.47, Y:85.69, Z:3.16 [[ 1.44923763e-01 -9.89437372e-01 -3.28470562e-03 1.28466041e+02] [ 9.89230965e-01 1.44960629e-01 -2.02117403e-02 8.56938240e+01] [ 2.04744042e-02 -3.20171035e-04 9.99790326e-01 3.15712004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.822755096 meters 0.018459501631870052 Centerline is valid? [True, True] Translation: X:128.47, Y:85.72, Z:3.16 [[ 1.43821578e-01 -9.89598604e-01 -3.15542507e-03 1.28471443e+02] [ 9.89407354e-01 1.43855824e-01 -1.94573764e-02 8.57190364e+01] [ 1.97089188e-02 -3.23610199e-04 9.99805708e-01 3.15791786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.852755096 meters 0.0180259968984429 Centerline is valid? [True, True] Translation: X:128.47, Y:85.75, Z:3.16 [[ 1.42703781e-01 -9.89760897e-01 -2.99961374e-03 1.28474834e+02] [ 9.89587537e-01 1.42734934e-01 -1.85268720e-02 8.57465556e+01] [ 1.87653231e-02 -3.24525694e-04 9.99823863e-01 3.15868237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.882755096 meters 0.01843306549307393 Centerline is valid? [True, True] Translation: X:128.48, Y:85.77, Z:3.16 [[ 1.41626351e-01 -9.89915749e-01 -2.96439122e-03 1.28480048e+02] [ 9.89745697e-01 1.41656975e-01 -1.83509173e-02 8.57724771e+01] [ 1.85857888e-02 -3.35019996e-04 9.99827213e-01 3.15944952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.912755096 meters 0.018800462440864675 Centerline is valid? [True, True] Translation: X:128.49, Y:85.80, Z:3.16 [[ 1.39918431e-01 -9.90158843e-01 -2.88069354e-03 1.28485580e+02] [ 9.89997757e-01 1.39947638e-01 -1.78633544e-02 8.58002247e+01] [ 1.80907046e-02 -3.52467620e-04 9.99836288e-01 3.15958779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.942755096 meters 0.01906431599728602 Centerline is valid? [True, True] Translation: X:128.49, Y:85.83, Z:3.16 [[ 1.38889996e-01 -9.90303498e-01 -2.92401764e-03 1.28490249e+02] [ 9.90136877e-01 1.38920275e-01 -1.81692712e-02 8.58268897e+01] [ 1.83992982e-02 -3.71647681e-04 9.99830650e-01 3.15978444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97275509600001 meters 0.01993655248227688 Centerline is valid? [True, True] Translation: X:128.50, Y:85.85, Z:3.16 [[ 1.37070749e-01 -9.90557365e-01 -2.77767827e-03 1.28495541e+02] [ 9.90406385e-01 1.37098364e-01 -1.72982725e-02 8.58538933e+01] [ 1.75157463e-02 -3.79943123e-04 9.99846515e-01 3.16009117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00275509600002 meters 0.020429293859040368 Centerline is valid? [True, True] Translation: X:128.50, Y:85.88, Z:3.16 [[ 1.36278276e-01 -9.90666743e-01 -2.76328692e-03 1.28500097e+02] [ 9.90516923e-01 1.36305735e-01 -1.72328683e-02 8.58799429e+01] [ 1.74486813e-02 -3.88616875e-04 9.99847685e-01 3.16060042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03275509600002 meters 0.021049627946094558 Centerline is valid? [True, True] Translation: X:128.50, Y:85.91, Z:3.16 [[ 1.35391670e-01 -9.90788612e-01 -2.64995693e-03 1.28504889e+02] [ 9.90650225e-01 1.35417060e-01 -1.65635403e-02 8.59060538e+01] [ 1.67698165e-02 -3.82615049e-04 9.99859304e-01 3.16093615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06275509600002 meters 0.020278641697493188 Centerline is valid? [True, True] Translation: X:128.51, Y:85.93, Z:3.16 [[ 1.34805452e-01 -9.90868527e-01 -2.65579547e-03 1.28507878e+02] [ 9.90728887e-01 1.34831052e-01 -1.66391131e-02 8.59335194e+01] [ 1.68452571e-02 -3.88130125e-04 9.99858033e-01 3.16103821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09275509600002 meters 0.020331326772056145 Centerline is valid? [True, True] Translation: X:128.51, Y:85.96, Z:3.16 [[ 1.33998061e-01 -9.90978020e-01 -2.66166457e-03 1.28512485e+02] [ 9.90837134e-01 1.34023903e-01 -1.67142928e-02 8.59605441e+01] [ 1.69202234e-02 -3.97593269e-04 9.99856764e-01 3.16122391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12275509600002 meters 0.020331326772056145 Centerline is valid? [True, True] Translation: X:128.52, Y:85.99, Z:3.16 [[ 1.33643244e-01 -9.91025949e-01 -2.65567899e-03 1.28516482e+02] [ 9.90885054e-01 1.33669036e-01 -1.67152436e-02 8.59870002e+01] [ 1.69202222e-02 -3.97593240e-04 9.99856764e-01 3.16172302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15275509600002 meters 0.020670486047637774 Centerline is valid? [True, True] Translation: X:128.52, Y:86.01, Z:3.16 [[ 1.33413443e-01 -9.91056904e-01 -2.65834882e-03 1.28521171e+02] [ 9.90915075e-01 1.33439336e-01 -1.67707540e-02 8.60128523e+01] [ 1.69754998e-02 -3.96753889e-04 9.99855827e-01 3.16214029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18275509600002 meters 0.019929461750213866 Centerline is valid? [True, True] Translation: X:128.52, Y:86.04, Z:3.16 [[ 1.33240155e-01 -9.91080160e-01 -2.67914599e-03 1.28523627e+02] [ 9.90935394e-01 1.33266496e-01 -1.69435936e-02 8.60400206e+01] [ 1.71494999e-02 -3.97293547e-04 9.99852858e-01 3.16210717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21275509600002 meters 0.019677710396073987 Centerline is valid? [True, True] Translation: X:128.53, Y:86.07, Z:3.16 [[ 1.34121600e-01 -9.90961056e-01 -2.75360965e-03 1.28526884e+02] [ 9.90807361e-01 1.34149305e-01 -1.74567385e-02 8.60660578e+01] [ 1.76683428e-02 -3.86971020e-04 9.99843828e-01 3.16185901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24275509600002 meters 0.019459629479830168 Centerline is valid? [True, True] Translation: X:128.53, Y:86.09, Z:3.16 [[ 1.34594505e-01 -9.90896946e-01 -2.74982483e-03 1.28530548e+02] [ 9.90742895e-01 1.34622077e-01 -1.74760211e-02 8.60934717e+01] [ 1.76871231e-02 -3.72192999e-04 9.99843501e-01 3.16240592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27275509600003 meters 0.018794835460680198 Centerline is valid? [True, True] Translation: X:128.53, Y:86.12, Z:3.16 [[ 1.36375919e-01 -9.90653501e-01 -2.69257770e-03 1.28533566e+02] [ 9.90505069e-01 1.36402103e-01 -1.71515195e-02 8.61216178e+01] [ 1.73584861e-02 -3.27957622e-04 9.99849276e-01 3.16306033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.302755096 meters 0.018276845502471377 Centerline is valid? [True, True] Translation: X:128.54, Y:86.15, Z:3.16 [[ 1.37094078e-01 -9.90554320e-01 -2.71178784e-03 1.28536681e+02] [ 9.90403118e-01 1.37120539e-01 -1.73095898e-02 8.61487660e+01] [ 1.75179307e-02 -3.12720882e-04 9.99846500e-01 3.16349491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.332755096 meters 0.01834871277013489 Centerline is valid? [True, True] Translation: X:128.54, Y:86.17, Z:3.16 [[ 1.37522135e-01 -9.90494788e-01 -2.78179139e-03 1.28540553e+02] [ 9.90334900e-01 1.37549924e-01 -1.77989861e-02 8.61746205e+01] [ 1.80124382e-02 -3.07150530e-04 9.99837716e-01 3.16353320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.362755096 meters 0.017690189706668368 Centerline is valid? [True, True] Translation: X:128.54, Y:86.20, Z:3.16 [[ 1.38514235e-01 -9.90356866e-01 -2.66164495e-03 1.28543523e+02] [ 9.90209779e-01 1.38539540e-01 -1.70701264e-02 8.62016232e+01] [ 1.72742599e-02 -2.71131357e-04 9.99850752e-01 3.16424471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.392755096 meters 0.017331579321504413 Centerline is valid? [True, True] Translation: X:128.55, Y:86.23, Z:3.17 [[ 1.38980492e-01 -9.90291771e-01 -2.57520589e-03 1.28547177e+02] [ 9.90153429e-01 1.39004125e-01 -1.65541554e-02 8.62291014e+01] [ 1.67514081e-02 -2.49144271e-04 9.99859654e-01 3.16521092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.422755096 meters 0.017674538959464622 Centerline is valid? [True, True] Translation: X:128.55, Y:86.25, Z:3.17 [[ 1.38926319e-01 -9.90299567e-01 -2.49910280e-03 1.28551979e+02] [ 9.90168871e-01 1.38948589e-01 -1.60902833e-02 8.62545467e+01] [ 1.62814474e-02 -2.39169959e-04 9.99867420e-01 3.16637863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.452755096 meters 0.017201840277445094 Centerline is valid? [True, True] Translation: X:128.56, Y:86.28, Z:3.17 [[ 1.38979308e-01 -9.90292424e-01 -2.38042558e-03 1.28555522e+02] [ 9.90173461e-01 1.38999513e-01 -1.53509834e-02 8.62815371e+01] [ 1.55328405e-02 -2.23565185e-04 9.99879333e-01 3.16729178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.482755096 meters 0.01733047149287907 Centerline is valid? [True, True] Translation: X:128.56, Y:86.31, Z:3.17 [[ 1.38245002e-01 -9.90395285e-01 -2.34501461e-03 1.28560107e+02] [ 9.90279312e-01 1.38264703e-01 -1.51577310e-02 8.63085632e+01] [ 1.53363780e-02 -2.26738906e-04 9.99882365e-01 3.16790934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.512755096 meters 0.01748976927924956 Centerline is valid? [True, True] Translation: X:128.56, Y:86.34, Z:3.17 [[ 1.37544510e-01 -9.90492911e-01 -2.30218863e-03 1.28564826e+02] [ 9.90380625e-01 1.37563586e-01 -1.49156827e-02 8.63357381e+01] [ 1.50905753e-02 -2.28472740e-04 9.99886105e-01 3.16857607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.542755096 meters 0.01811572661910505 Centerline is valid? [True, True] Translation: X:128.57, Y:86.36, Z:3.17 [[ 1.35860234e-01 -9.90725158e-01 -2.37877574e-03 1.28570330e+02] [ 9.90604710e-01 1.35880814e-01 -1.54503476e-02 8.63626293e+01] [ 1.56302780e-02 -2.57338616e-04 9.99877807e-01 3.16868278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.572755096 meters 0.018286933893660158 Centerline is valid? [True, True] Translation: X:128.57, Y:86.39, Z:3.17 [[ 1.34600773e-01 -9.90897030e-01 -2.38923849e-03 1.28574625e+02] [ 9.90775008e-01 1.34621698e-01 -1.55525450e-02 8.63895500e+01] [ 1.57326140e-02 -2.73813208e-04 9.99876197e-01 3.16874153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.602755096 meters 0.018849591112181766 Centerline is valid? [True, True] Translation: X:128.58, Y:86.41, Z:3.17 [[ 1.33545556e-01 -9.91039852e-01 -2.36546917e-03 1.28580512e+02] [ 9.90919708e-01 1.33566205e-01 -1.54337553e-02 8.64148035e+01] [ 1.56114133e-02 -2.82880579e-04 9.99878094e-01 3.16933906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.632755096 meters 0.018924816069004667 Centerline is valid? [True, True] Translation: X:128.59, Y:86.44, Z:3.17 [[ 1.31143827e-01 -9.91360511e-01 -2.37356568e-03 1.28586150e+02] [ 9.91238967e-01 1.31164922e-01 -1.55265143e-02 8.64424523e+01] [ 1.57037017e-02 -3.16564299e-04 9.99876639e-01 3.16978706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.662755096 meters 0.020170423185112744 Centerline is valid? [True, True] Translation: X:128.59, Y:86.47, Z:3.17 [[ 1.29757872e-01 -9.91542794e-01 -2.40455904e-03 1.28592911e+02] [ 9.91417542e-01 1.29779708e-01 -1.57633891e-02 8.64687435e+01] [ 1.59421378e-02 -3.38498183e-04 9.99872859e-01 3.17017739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.692755096 meters 0.019881106670153522 Centerline is valid? [True, True] Translation: X:128.60, Y:86.50, Z:3.17 [[ 1.28517903e-01 -9.91704152e-01 -2.45429605e-03 1.28596873e+02] [ 9.91573087e-01 1.28540828e-01 -1.61266448e-02 8.64958590e+01] [ 1.63083379e-02 -3.61051338e-04 9.99866945e-01 3.17055784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72275509600001 meters 0.020566977372460365 Centerline is valid? [True, True] Translation: X:128.60, Y:86.52, Z:3.17 [[ 1.26894340e-01 -9.91913087e-01 -2.50084869e-03 1.28602706e+02] [ 9.91776365e-01 1.26918382e-01 -1.64732060e-02 8.65219621e+01] [ 1.66573923e-02 -3.89926021e-04 9.99861180e-01 3.17082356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75275509600002 meters 0.020747863356692254 Centerline is valid? [True, True] Translation: X:128.61, Y:86.55, Z:3.17 [[ 1.26027520e-01 -9.92023519e-01 -2.53026698e-03 1.28607111e+02] [ 9.91882944e-01 1.26052269e-01 -1.67048435e-02 8.65492581e+01] [ 1.68905435e-02 -4.04458668e-04 9.99857263e-01 3.17098968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78275509600002 meters 0.02201863585117109 Centerline is valid? [True, True] Translation: X:128.61, Y:86.57, Z:3.17 [[ 1.25116664e-01 -9.92138238e-01 -2.74541993e-03 1.28613952e+02] [ 9.91971895e-01 1.25145974e-01 -1.81726476e-02 8.65745667e+01] [ 1.83733569e-02 -4.49678355e-04 9.99831095e-01 3.17045053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81275509600002 meters 0.02023518015415133 Centerline is valid? [True, True] Translation: X:128.62, Y:86.60, Z:3.17 [[ 1.25026980e-01 -9.92149305e-01 -2.83032729e-03 1.28615094e+02] [ 9.91971592e-01 1.25058169e-01 -1.87833799e-02 8.66014738e+01] [ 1.89898729e-02 -4.59175001e-04 9.99819571e-01 3.17049768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84275509600002 meters 0.020374214181925844 Centerline is valid? [True, True] Translation: X:128.62, Y:86.63, Z:3.17 [[ 1.25253075e-01 -9.92120815e-01 -2.82060804e-03 1.28619348e+02] [ 9.91943438e-01 1.25284031e-01 -1.87650812e-02 8.66271181e+01] [ 1.89706048e-02 -4.47499506e-04 9.99819942e-01 3.17029085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87275509600002 meters 0.020041416732916602 Centerline is valid? [True, True] Translation: X:128.62, Y:86.65, Z:3.17 [[ 1.26136466e-01 -9.92008411e-01 -2.98395874e-03 1.28622664e+02] [ 9.91808774e-01 1.26170959e-01 -1.99058958e-02 8.66540245e+01] [ 2.01233050e-02 -4.48657103e-04 9.99797405e-01 3.16971085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90275509600002 meters 0.021961387139463082 Centerline is valid? [True, True] Translation: X:128.63, Y:86.68, Z:3.17 [[ 1.26310254e-01 -9.91986118e-01 -3.04328867e-03 1.28629563e+02] [ 9.91777421e-01 1.26346118e-01 -2.03520337e-02 8.66792358e+01] [ 2.05734426e-02 -4.47594436e-04 9.99788244e-01 3.16915624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93275509600002 meters 0.01929499036245069 Centerline is valid? [True, True] Translation: X:128.63, Y:86.71, Z:3.17 [[ 1.26996907e-01 -9.91898157e-01 -3.13547261e-03 1.28629503e+02] [ 9.91675438e-01 1.27034848e-01 -2.10231452e-02 8.67066155e+01] [ 2.12511332e-02 -4.39496760e-04 9.99774073e-01 3.16960199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96275509600002 meters 0.019516318700218124 Centerline is valid? [True, True] Translation: X:128.63, Y:86.73, Z:3.17 [[ 1.27383566e-01 -9.91848387e-01 -3.19439387e-03 1.28634161e+02] [ 9.91616032e-01 1.27422879e-01 -2.14721954e-02 8.67324371e+01] [ 2.17042013e-02 -4.32407346e-04 9.99764343e-01 3.17031834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99275509600002 meters 0.018464403355670105 Centerline is valid? [True, True] Translation: X:128.63, Y:86.76, Z:3.17 [[ 1.29641936e-01 -9.91556359e-01 -2.99245249e-03 1.28634646e+02] [ 9.91351386e-01 1.29675989e-01 -2.01635245e-02 8.67601548e+01] [ 2.03813201e-02 -3.52533578e-04 9.99792217e-01 3.17202878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02275509600003 meters 0.018157078819638125 Centerline is valid? [True, True] Translation: X:128.64, Y:86.79, Z:3.17 [[ 1.29979620e-01 -9.91512020e-01 -3.03529885e-03 1.28637926e+02] [ 9.91300096e-01 1.30014600e-01 -2.05017718e-02 8.67874790e+01] [ 2.07223863e-02 -3.44079549e-04 9.99785209e-01 3.17272779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.052755096 meters 0.01775008809194972 Centerline is valid? [True, True] Translation: X:128.64, Y:86.81, Z:3.17 [[ 1.30160719e-01 -9.91488213e-01 -3.05147629e-03 1.28641420e+02] [ 9.91272968e-01 1.30196051e-01 -2.06613319e-02 8.68148774e+01] [ 2.08827572e-02 -3.35552137e-04 9.99781875e-01 3.17357842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.082755096 meters 0.01768516228185041 Centerline is valid? [True, True] Translation: X:128.65, Y:86.84, Z:3.17 [[ 1.30221182e-01 -9.91480257e-01 -3.05671772e-03 1.28645280e+02] [ 9.91263200e-01 1.30256640e-01 -2.07479171e-02 8.68418266e+01] [ 2.09693079e-02 -3.28193492e-04 9.99780066e-01 3.17415134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.112755096 meters 0.017641833196515706 Centerline is valid? [True, True] Translation: X:128.65, Y:86.87, Z:3.17 [[ 1.30432724e-01 -9.91452581e-01 -3.01403622e-03 1.28648186e+02] [ 9.91240503e-01 1.30467169e-01 -2.05081221e-02 8.68674459e+01] [ 2.07260634e-02 -3.12704550e-04 9.99785143e-01 3.17482605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.142755096 meters 0.017723995339657104 Centerline is valid? [True, True] Translation: X:128.65, Y:86.89, Z:3.18 [[ 1.30024320e-01 -9.91506311e-01 -2.98508742e-03 1.28651939e+02] [ 9.91297234e-01 1.30058208e-01 -2.03631030e-02 8.68938746e+01] [ 2.05783803e-02 -3.11410290e-04 9.99788194e-01 3.17538132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.172755096 meters 0.01861238736030277 Centerline is valid? [True, True] Translation: X:128.66, Y:86.92, Z:3.18 [[ 1.28282692e-01 -9.91733095e-01 -3.00309572e-03 1.28655924e+02] [ 9.91520454e-01 1.28317381e-01 -2.05387033e-02 8.69196329e+01] [ 2.07542612e-02 -3.42870670e-04 9.99784548e-01 3.17534776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.202755096 meters 0.019116169752080202 Centerline is valid? [True, True] Translation: X:128.66, Y:86.94, Z:3.18 [[ 1.26983295e-01 -9.91900426e-01 -2.96447874e-03 1.28659957e+02] [ 9.91692234e-01 1.27017386e-01 -2.03247545e-02 8.69446981e+01] [ 2.05366730e-02 -3.58946249e-04 9.99789036e-01 3.17602988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.232755096 meters 0.019086082959731212 Centerline is valid? [True, True] Translation: X:128.66, Y:86.97, Z:3.18 [[ 1.25158557e-01 -9.92132346e-01 -2.95696045e-03 1.28663076e+02] [ 9.91924400e-01 1.25192874e-01 -2.03157134e-02 8.69712929e+01] [ 2.05260668e-02 -3.90395841e-04 9.99789242e-01 3.17666530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.262755096 meters 0.020875946696051553 Centerline is valid? [True, True] Translation: X:128.67, Y:87.00, Z:3.18 [[ 1.21255876e-01 -9.92617110e-01 -2.87855299e-03 1.28670480e+02] [ 9.92419415e-01 1.21289189e-01 -1.98150550e-02 8.69970798e+01] [ 2.00179000e-02 -4.54040012e-04 9.99799519e-01 3.17837317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.292755096 meters 0.021313123311572906 Centerline is valid? [True, True] Translation: X:128.68, Y:87.02, Z:3.18 [[ 1.19265668e-01 -9.92858515e-01 -2.76932790e-03 1.28675033e+02] [ 9.92674684e-01 1.19296890e-01 -1.91108477e-02 8.70241049e+01] [ 1.93047401e-02 -4.69773674e-04 9.99813536e-01 3.17948577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.322755096 meters 0.022518686704544783 Centerline is valid? [True, True] Translation: X:128.68, Y:87.05, Z:3.18 [[ 1.17572018e-01 -9.93060553e-01 -2.74913089e-03 1.28680525e+02] [ 9.92878551e-01 1.17603119e-01 -1.90181292e-02 8.70498929e+01] [ 1.92094603e-02 -4.93553257e-04 9.99815359e-01 3.18023725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.352755096 meters 0.024364414620032 Centerline is valid? [True, True] Translation: X:128.69, Y:87.08, Z:3.18 [[ 1.15107420e-01 -9.93349091e-01 -2.80447079e-03 1.28685755e+02] [ 9.93158762e-01 1.15140284e-01 -1.94522305e-02 8.70757486e+01] [ 1.96457630e-02 -5.46188661e-04 9.99806854e-01 3.18015831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.382755096 meters 0.024742782315732435 Centerline is valid? [True, True] Translation: X:128.69, Y:87.10, Z:3.18 [[ 1.14256051e-01 -9.93447296e-01 -2.83278467e-03 1.28689117e+02] [ 9.93252129e-01 1.14289776e-01 -1.96991441e-02 8.71018957e+01] [ 1.98938198e-02 -5.62922996e-04 9.99801940e-01 3.18004663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.412755096 meters 0.023327775054591094 Centerline is valid? [True, True] Translation: X:128.69, Y:87.13, Z:3.18 [[ 1.14079415e-01 -9.93466924e-01 -3.05911917e-03 1.28688748e+02] [ 9.93238047e-01 1.14118821e-01 -2.13325137e-02 8.71294356e+01] [ 2.15422498e-02 -6.04832858e-04 9.99767756e-01 3.17900224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.442755096 meters 0.02322678899703837 Centerline is valid? [True, True] Translation: X:128.69, Y:87.16, Z:3.18 [[ 1.14400175e-01 -9.93429719e-01 -3.16121091e-03 1.28691288e+02] [ 9.93184043e-01 1.14442211e-01 -2.21006243e-02 8.71564107e+01] [ 2.23171929e-02 -6.11348939e-04 9.99750754e-01 3.17867415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47275509600001 meters 0.02457214906344321 Centerline is valid? [True, True] Translation: X:128.70, Y:87.18, Z:3.18 [[ 1.14850720e-01 -9.93377592e-01 -3.20481875e-03 1.28696218e+02] [ 9.93123765e-01 1.14893844e-01 -2.24631225e-02 8.71815871e+01] [ 2.26825765e-02 -6.02875872e-04 9.99742535e-01 3.17818504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50275509600002 meters 0.024125991068971245 Centerline is valid? [True, True] Translation: X:128.70, Y:87.21, Z:3.18 [[ 1.15614075e-01 -9.93288788e-01 -3.28156725e-03 1.28698357e+02] [ 9.93021082e-01 1.15659124e-01 -2.30672284e-02 8.72078809e+01] [ 2.32919626e-02 -5.91769180e-04 9.99728530e-01 3.17794445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53275509600002 meters 0.022945627670610237 Centerline is valid? [True, True] Translation: X:128.70, Y:87.24, Z:3.18 [[ 1.17901644e-01 -9.93019058e-01 -3.51461449e-03 1.28699334e+02] [ 9.92710206e-01 1.17952648e-01 -2.47713331e-02 8.72354808e+01] [ 2.50129640e-02 -5.68412774e-04 9.99686965e-01 3.17714915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56275509600002 meters 0.021012359634857786 Centerline is valid? [True, True] Translation: X:128.70, Y:87.26, Z:3.18 [[ 1.18702819e-01 -9.92923256e-01 -3.61227406e-03 1.28699310e+02] [ 9.92595322e-01 1.18756469e-01 -2.55230839e-02 8.72621312e+01] [ 2.57714445e-02 -5.55864319e-04 9.99667707e-01 3.17794934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59275509600002 meters 0.021537635999047816 Centerline is valid? [True, True] Translation: X:128.70, Y:87.29, Z:3.18 [[ 1.20280857e-01 -9.92733261e-01 -3.63155490e-03 1.28703414e+02] [ 9.92399911e-01 1.20334590e-01 -2.57294299e-02 8.72879247e+01] [ 2.59794625e-02 -5.09196881e-04 9.99662347e-01 3.17822168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62275509600002 meters 0.021732480042556224 Centerline is valid? [True, True] Translation: X:128.71, Y:87.31, Z:3.18 [[ 1.20550032e-01 -9.92701112e-01 -3.49168857e-03 1.28707115e+02] [ 9.92391370e-01 1.20599652e-01 -2.48010732e-02 8.73135418e+01] [ 2.50411494e-02 -4.75351433e-04 9.99686308e-01 3.17906841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65275509600002 meters 0.019393899254318066 Centerline is valid? [True, True] Translation: X:128.71, Y:87.34, Z:3.18 [[ 1.20720635e-01 -9.92680586e-01 -3.43248855e-03 1.28706648e+02] [ 9.92379720e-01 1.20768564e-01 -2.44426811e-02 8.73410173e+01] [ 2.46783118e-02 -4.55596049e-04 9.99695340e-01 3.18161367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68275509600002 meters 0.02152735662277126 Centerline is valid? [True, True] Translation: X:128.71, Y:87.37, Z:3.18 [[ 1.20783125e-01 -9.92673019e-01 -3.42244720e-03 1.28714215e+02] [ 9.92372358e-01 1.20830784e-01 -2.44341056e-02 8.73666882e+01] [ 2.46686144e-02 -4.45114355e-04 9.99695584e-01 3.18163274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71275509600002 meters 0.01921700101983862 Centerline is valid? [True, True] Translation: X:128.71, Y:87.39, Z:3.18 [[ 1.20379767e-01 -9.92722167e-01 -3.37810211e-03 1.28713328e+02] [ 9.92427716e-01 1.20426347e-01 -2.41810738e-02 8.73946196e+01] [ 2.44119005e-02 -4.41610117e-04 9.99701888e-01 3.18379056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74275509600002 meters 0.022709788731917396 Centerline is valid? [True, True] Translation: X:128.72, Y:87.42, Z:3.18 [[ 1.18913060e-01 -9.92899023e-01 -3.34884239e-03 1.28723274e+02] [ 9.92608208e-01 1.18959293e-01 -2.40339908e-02 8.74195709e+01] [ 2.42617019e-02 -4.66133047e-04 9.99705533e-01 3.18306401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77275509600003 meters 0.02105096094629755 Centerline is valid? [True, True] Translation: X:128.72, Y:87.45, Z:3.19 [[ 1.17697340e-01 -9.93044152e-01 -3.26322220e-03 1.28724565e+02] [ 9.92766597e-01 1.17741607e-01 -2.34818606e-02 8.74458400e+01] [ 2.37027414e-02 -4.75865470e-04 9.99718937e-01 3.18524630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.802755096 meters 0.02377767093602156 Centerline is valid? [True, True] Translation: X:128.73, Y:87.47, Z:3.18 [[ 1.16729271e-01 -9.93158485e-01 -3.24050585e-03 1.28733191e+02] [ 9.92883327e-01 1.16773222e-01 -2.33819014e-02 8.74702662e+01] [ 2.36003380e-02 -4.88091926e-04 9.99721354e-01 3.18476415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.832755096 meters 0.0211595107551877 Centerline is valid? [True, True] Translation: X:128.73, Y:87.50, Z:3.19 [[ 1.15756161e-01 -9.93272489e-01 -3.20532437e-03 1.28732900e+02] [ 9.93001801e-01 1.15799459e-01 -2.31928577e-02 8.74970543e+01] [ 2.34080024e-02 -4.98176698e-04 9.99725871e-01 3.18686435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.862755096 meters 0.02179015251544113 Centerline is valid? [True, True] Translation: X:128.74, Y:87.52, Z:3.19 [[ 1.14450594e-01 -9.93423880e-01 -3.17114862e-03 1.28738311e+02] [ 9.93157530e-01 1.14493354e-01 -2.30085080e-02 8.75228549e+01] [ 2.32202767e-02 -5.16112734e-04 9.99730240e-01 3.18830915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.892755096 meters 0.02054297183503872 Centerline is valid? [True, True] Translation: X:128.74, Y:87.55, Z:3.19 [[ 1.13905337e-01 -9.93486581e-01 -3.16039785e-03 1.28739844e+02] [ 9.93220654e-01 1.13947985e-01 -2.29910569e-02 8.75500845e+01] [ 2.32014274e-02 -5.20168353e-04 9.99730675e-01 3.18965224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.922755096 meters 0.022377230001853134 Centerline is valid? [True, True] Translation: X:128.75, Y:87.58, Z:3.19 [[ 1.13365510e-01 -9.93548358e-01 -3.14988675e-03 1.28746377e+02] [ 9.93282790e-01 1.13408051e-01 -2.29763485e-02 8.75761515e+01] [ 2.31853358e-02 -5.24002833e-04 9.99731047e-01 3.18930793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.952755096 meters 0.02087685256017024 Centerline is valid? [True, True] Translation: X:128.75, Y:87.60, Z:3.19 [[ 1.13116612e-01 -9.93576599e-01 -3.18977117e-03 1.28747310e+02] [ 9.93302737e-01 1.13160340e-01 -2.33326103e-02 8.76032004e+01] [ 2.35436912e-02 -5.29102615e-04 9.99722669e-01 3.18997038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.982755096 meters 0.020373489868803347 Centerline is valid? [True, True] Translation: X:128.75, Y:87.63, Z:3.19 [[ 1.12639494e-01 -9.93630478e-01 -3.28906929e-03 1.28750262e+02] [ 9.93337714e-01 1.12686164e-01 -2.41249903e-02 8.76305173e+01] [ 2.43419583e-02 -5.49729855e-04 9.99703539e-01 3.19050335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.012755096 meters 0.020788416249637995 Centerline is valid? [True, True] Translation: X:128.76, Y:87.66, Z:3.19 [[ 1.12248035e-01 -9.93674658e-01 -3.32464217e-03 1.28755555e+02] [ 9.93373864e-01 1.12295875e-01 -2.44540951e-02 8.76563091e+01] [ 2.46727582e-02 -5.57688509e-04 9.99695426e-01 3.19055165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.042755096 meters 0.020788416249637995 Centerline is valid? [True, True] Translation: X:128.76, Y:87.68, Z:3.19 [[ 1.11891345e-01 -9.93714916e-01 -3.31544113e-03 1.28758951e+02] [ 9.93414104e-01 1.11939067e-01 -2.44553430e-02 8.76828523e+01] [ 2.46727665e-02 -5.57264766e-04 9.99695426e-01 3.19105064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.072755096 meters 0.02111863068854724 Centerline is valid? [True, True] Translation: X:128.76, Y:87.71, Z:3.19 [[ 1.11659496e-01 -9.93740974e-01 -3.32161112e-03 1.28763400e+02] [ 9.93437498e-01 1.11707501e-01 -2.45636257e-02 8.77084405e+01] [ 2.47809302e-02 -5.57050975e-04 9.99692750e-01 3.19118487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.102755096 meters 0.020626568848567263 Centerline is valid? [True, True] Translation: X:128.77, Y:87.74, Z:3.19 [[ 1.12608772e-01 -9.93633869e-01 -3.31657119e-03 1.28765091e+02] [ 9.93329910e-01 1.12656371e-01 -2.45811171e-02 8.77352652e+01] [ 2.47982633e-02 -5.26399963e-04 9.99692337e-01 3.19201300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.132755096 meters 0.020614226909411257 Centerline is valid? [True, True] Translation: X:128.77, Y:87.76, Z:3.19 [[ 1.12953652e-01 -9.93594634e-01 -3.34294949e-03 1.28768096e+02] [ 9.93284115e-01 1.13001939e-01 -2.48441008e-02 8.77610451e+01] [ 2.50627251e-02 -5.14266705e-04 9.99685748e-01 3.19218731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.162755096 meters 0.020601837619416273 Centerline is valid? [True, True] Translation: X:128.77, Y:87.79, Z:3.19 [[ 1.12853710e-01 -9.93605732e-01 -3.41911348e-03 1.28771119e+02] [ 9.93279069e-01 1.12904293e-01 -2.54815875e-02 8.77876721e+01] [ 2.57046840e-02 -5.20442176e-04 9.99669445e-01 3.19229437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.192755096 meters 0.020568868041795564 Centerline is valid? [True, True] Translation: X:128.77, Y:87.81, Z:3.19 [[ 1.12539001e-01 -9.93641375e-01 -3.43373661e-03 1.28773923e+02] [ 9.93310169e-01 1.12590158e-01 -2.56586225e-02 8.78145943e+01] [ 2.58820739e-02 -5.23169751e-04 9.99664866e-01 3.19279786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22275509600001 meters 0.021716990600510213 Centerline is valid? [True, True] Translation: X:128.78, Y:87.84, Z:3.19 [[ 1.12209337e-01 -9.93678676e-01 -3.42840759e-03 1.28779165e+02] [ 9.93346683e-01 1.12260482e-01 -2.56895168e-02 8.78398395e+01] [ 2.59119998e-02 -5.22993657e-04 9.99664091e-01 3.19265890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25275509600002 meters 0.020850979215537843 Centerline is valid? [True, True] Translation: X:128.78, Y:87.87, Z:3.19 [[ 1.11668706e-01 -9.93739630e-01 -3.41281647e-03 1.28781307e+02] [ 9.93408685e-01 1.11719607e-01 -2.56498194e-02 8.78660325e+01] [ 2.58705205e-02 -5.26039385e-04 9.99665164e-01 3.19405813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28275509600002 meters 0.021746206529917933 Centerline is valid? [True, True] Translation: X:128.79, Y:87.89, Z:3.19 [[ 1.10711068e-01 -9.93846796e-01 -3.40675116e-03 1.28785691e+02] [ 9.93515125e-01 1.10762147e-01 -2.56796209e-02 8.78913485e+01] [ 2.58989480e-02 -5.41640558e-04 9.99664419e-01 3.19414436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31275509600002 meters 0.02058210157254707 Centerline is valid? [True, True] Translation: X:128.79, Y:87.92, Z:3.20 [[ 1.09837578e-01 -9.93943800e-01 -3.38053790e-03 1.28786326e+02] [ 9.93615327e-01 1.09888203e-01 -2.55570796e-02 8.79190560e+01] [ 2.57737821e-02 -5.51826544e-04 9.99667649e-01 3.19538349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34275509600002 meters 0.022397000534360185 Centerline is valid? [True, True] Translation: X:128.79, Y:87.94, Z:3.20 [[ 1.08508686e-01 -9.94090027e-01 -3.29909197e-03 1.28792044e+02] [ 9.93775663e-01 1.08557356e-01 -2.50046611e-02 8.79445166e+01] [ 2.52150249e-02 -5.65334379e-04 9.99681891e-01 3.19520875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37275509600002 meters 0.021717899445254964 Centerline is valid? [True, True] Translation: X:128.79, Y:87.97, Z:3.20 [[ 1.07527147e-01 -9.94196977e-01 -3.20669052e-03 1.28793690e+02] [ 9.93898708e-01 1.07573452e-01 -2.43579752e-02 8.79719210e+01] [ 2.45615801e-02 -5.67981977e-04 9.99698158e-01 3.19662700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40275509600002 meters 0.021123898712661994 Centerline is valid? [True, True] Translation: X:128.80, Y:88.00, Z:3.20 [[ 1.07028285e-01 -9.94250781e-01 -3.21417891e-03 1.28795306e+02] [ 9.93949506e-01 1.07074996e-01 -2.44811253e-02 8.79994972e+01] [ 2.46845362e-02 -5.74558663e-04 9.99695125e-01 3.19766396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43275509600002 meters 0.021002117340140358 Centerline is valid? [True, True] Translation: X:128.80, Y:88.03, Z:3.20 [[ 1.06235076e-01 -9.94336089e-01 -3.13860305e-03 1.28797641e+02] [ 9.94047271e-01 1.06279883e-01 -2.39710130e-02 8.80264913e+01] [ 2.41688137e-02 -5.73357418e-04 9.99707727e-01 3.19829695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46275509600002 meters 0.022828484029417867 Centerline is valid? [True, True] Translation: X:128.80, Y:88.05, Z:3.20 [[ 1.05129346e-01 -9.94454012e-01 -3.00649097e-03 1.28803602e+02] [ 9.94187581e-01 1.05170791e-01 -2.30251594e-02 8.80519915e+01] [ 2.32136572e-02 -5.68396035e-04 9.99730365e-01 3.19913715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49275509600002 meters 0.022289205479635994 Centerline is valid? [True, True] Translation: X:128.81, Y:88.08, Z:3.20 [[ 1.04516896e-01 -9.94518872e-01 -2.90374267e-03 1.28805597e+02] [ 9.94268951e-01 1.04555745e-01 -2.23013087e-02 8.80789264e+01] [ 2.24826753e-02 -5.56237625e-04 9.99747078e-01 3.20052945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52275509600003 meters 0.02269977749084916 Centerline is valid? [True, True] Translation: X:128.81, Y:88.10, Z:3.20 [[ 1.04150531e-01 -9.94557759e-01 -2.74432093e-03 1.28808933e+02] [ 9.94333362e-01 1.04185344e-01 -2.11324046e-02 8.81046176e+01] [ 2.13033150e-02 -5.27818696e-04 9.99772919e-01 3.20179675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.552755096 meters 0.021804678545139917 Centerline is valid? [True, True] Translation: X:128.81, Y:88.13, Z:3.20 [[ 1.03503695e-01 -9.94625683e-01 -2.59520242e-03 1.28808685e+02] [ 9.94423884e-01 1.03534987e-01 -2.00411007e-02 8.81317499e+01] [ 2.02020877e-02 -5.06403306e-04 9.99795789e-01 3.20268649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.582755096 meters 0.021673447630707048 Centerline is valid? [True, True] Translation: X:128.81, Y:88.16, Z:3.20 [[ 1.02873557e-01 -9.94691193e-01 -2.54217909e-03 1.28810015e+02] [ 9.94496497e-01 1.02903733e-01 -1.96859989e-02 8.81594447e+01] [ 1.98430895e-02 -5.03019476e-04 9.99802980e-01 3.20320503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.612755096 meters 0.02208005989290759 Centerline is valid? [True, True] Translation: X:128.81, Y:88.19, Z:3.20 [[ 1.02695973e-01 -9.94709484e-01 -2.56490536e-03 1.28813093e+02] [ 9.94510169e-01 1.02726755e-01 -1.99182577e-02 8.81851349e+01] [ 2.00763643e-02 -5.05299605e-04 9.99798322e-01 3.20327279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.642755096 meters 0.022312854150780582 Centerline is valid? [True, True] Translation: X:128.82, Y:88.21, Z:3.20 [[ 1.02409766e-01 -9.94739075e-01 -2.53210776e-03 1.28815870e+02] [ 9.94543972e-01 1.02439844e-01 -1.97070244e-02 8.82118777e+01] [ 1.98627360e-02 -5.00100743e-04 9.99802591e-01 3.20372234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.672755096 meters 0.021830930541088832 Centerline is valid? [True, True] Translation: X:128.82, Y:88.24, Z:3.20 [[ 1.02113601e-01 -9.94769598e-01 -2.50206037e-03 1.28817964e+02] [ 9.94578050e-01 1.02143053e-01 -1.95269109e-02 8.82389974e+01] [ 1.96803454e-02 -4.94531133e-04 9.99806201e-01 3.20395779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.702755096 meters 0.02225097677086275 Centerline is valid? [True, True] Translation: X:128.82, Y:88.26, Z:3.20 [[ 1.02213270e-01 -9.94759448e-01 -2.46748814e-03 1.28821462e+02] [ 9.94572111e-01 1.02241921e-01 -1.93107513e-02 8.82649216e+01] [ 1.94618331e-02 -4.80279843e-04 9.99810485e-01 3.20453116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.732755096 meters 0.022615635729852517 Centerline is valid? [True, True] Translation: X:128.83, Y:88.29, Z:3.21 [[ 1.02207495e-01 -9.94760065e-01 -2.45790824e-03 1.28825079e+02] [ 9.94573352e-01 1.02235945e-01 -1.92784546e-02 8.82910043e+01] [ 1.94287233e-02 -4.74167486e-04 9.99811132e-01 3.20501519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.762755096 meters 0.022185605932362143 Centerline is valid? [True, True] Translation: X:128.83, Y:88.32, Z:3.20 [[ 1.03023944e-01 -9.94675854e-01 -2.45185836e-03 1.28826243e+02] [ 9.94488942e-01 1.03052128e-01 -1.92873758e-02 8.83175911e+01] [ 1.94373563e-02 -4.51284496e-04 9.99810975e-01 3.20480367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.792755096 meters 0.021132419755058435 Centerline is valid? [True, True] Translation: X:128.83, Y:88.34, Z:3.20 [[ 1.03253460e-01 -9.94651968e-01 -2.48708954e-03 1.28826687e+02] [ 9.94458441e-01 1.03282442e-01 -1.96251556e-02 8.83446218e+01] [ 1.97770724e-02 -4.46941963e-04 9.99804315e-01 3.20489807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.822755096 meters 0.020855850785188985 Centerline is valid? [True, True] Translation: X:128.83, Y:88.37, Z:3.21 [[ 1.03645249e-01 -9.94611175e-01 -2.50469196e-03 1.28828805e+02] [ 9.94413742e-01 1.03674590e-01 -1.98214456e-02 8.83718704e+01] [ 1.99743043e-02 -4.36301445e-04 9.99800398e-01 3.20508817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.852755096 meters 0.020789630044995223 Centerline is valid? [True, True] Translation: X:128.83, Y:88.40, Z:3.20 [[ 1.04307621e-01 -9.94541579e-01 -2.63963049e-03 1.28830350e+02] [ 9.94320930e-01 1.04340091e-01 -2.09531210e-02 8.83980096e+01] [ 2.11141693e-02 -4.39069646e-04 9.99776975e-01 3.20451025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.882755096 meters 0.020285800526484498 Centerline is valid? [True, True] Translation: X:128.83, Y:88.43, Z:3.20 [[ 1.04542828e-01 -9.94516867e-01 -2.64553697e-03 1.28832131e+02] [ 9.94293870e-01 1.04575419e-01 -2.10637726e-02 8.84256958e+01] [ 2.12249353e-02 -4.28374831e-04 9.99774634e-01 3.20444264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.912755096 meters 0.021393851415444406 Centerline is valid? [True, True] Translation: X:128.84, Y:88.45, Z:3.20 [[ 1.04764499e-01 -9.94493440e-01 -2.68292750e-03 1.28837114e+02] [ 9.94262712e-01 1.04797993e-01 -2.14252289e-02 8.84514277e+01] [ 2.15884150e-02 -4.22931399e-04 9.99766854e-01 3.20445441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.942755096 meters 0.019899586976051528 Centerline is valid? [True, True] Translation: X:128.84, Y:88.48, Z:3.21 [[ 1.05260489e-01 -9.94441148e-01 -2.65198557e-03 1.28837134e+02] [ 9.94214325e-01 1.05293129e-01 -2.12422624e-02 8.84784436e+01] [ 2.14034156e-02 -4.00671131e-04 9.99770840e-01 3.20542994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97275509600001 meters 0.020357159590496075 Centerline is valid? [True, True] Translation: X:128.84, Y:88.50, Z:3.21 [[ 1.05265689e-01 -9.94440748e-01 -2.59489734e-03 1.28841187e+02] [ 9.94222353e-01 1.05296961e-01 -2.08437717e-02 8.85040395e+01] [ 2.10011307e-02 -3.85770941e-04 9.99779378e-01 3.20587397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00275509600002 meters 0.01984859958783875 Centerline is valid? [True, True] Translation: X:128.84, Y:88.53, Z:3.21 [[ 1.05114608e-01 -9.94457138e-01 -2.43314306e-03 1.28842899e+02] [ 9.94264286e-01 1.05142148e-01 -1.95872032e-02 8.85310050e+01] [ 1.97344599e-02 -3.60286056e-04 9.99805192e-01 3.20742586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03275509600002 meters 0.02058186769856523 Centerline is valid? [True, True] Translation: X:128.85, Y:88.56, Z:3.21 [[ 1.04682295e-01 -9.94502881e-01 -2.37410647e-03 1.28847407e+02] [ 9.94318215e-01 1.04708614e-01 -1.91675199e-02 8.85568371e+01] [ 1.93107431e-02 -3.54117342e-04 9.99813468e-01 3.20811683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06275509600002 meters 0.02040532151010653 Centerline is valid? [True, True] Translation: X:128.85, Y:88.58, Z:3.21 [[ 1.04173301e-01 -9.94556559e-01 -2.27470318e-03 1.28850089e+02] [ 9.94386029e-01 1.04197568e-01 -1.84198720e-02 8.85840730e+01] [ 1.85566231e-02 -3.43074191e-04 9.99827752e-01 3.20877753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09275509600002 meters 0.02035916300143301 Centerline is valid? [True, True] Translation: X:128.85, Y:88.61, Z:3.21 [[ 1.04088866e-01 -9.94565483e-01 -2.23797382e-03 1.28853026e+02] [ 9.94399468e-01 1.04112387e-01 -1.81743893e-02 8.86111070e+01] [ 1.83086211e-02 -3.33688410e-04 9.99832327e-01 3.20968849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12275509600002 meters 0.020333178513849314 Centerline is valid? [True, True] Translation: X:128.86, Y:88.64, Z:3.21 [[ 1.04195596e-01 -9.94554443e-01 -2.17659107e-03 1.28855995e+02] [ 9.94396508e-01 1.04217844e-01 -1.77264192e-02 8.86382633e+01] [ 1.78567286e-02 -3.17379752e-04 9.99840506e-01 3.21033997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15275509600002 meters 0.020319040561050467 Centerline is valid? [True, True] Translation: X:128.86, Y:88.66, Z:3.21 [[ 1.04208998e-01 -9.94552993e-01 -2.19765367e-03 1.28858962e+02] [ 9.94391024e-01 1.04231693e-01 -1.79511987e-02 8.86644245e+01] [ 1.80824836e-02 -3.14650657e-04 9.99836449e-01 3.21034703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18275509600002 meters 0.019968077429176327 Centerline is valid? [True, True] Translation: X:128.86, Y:88.69, Z:3.21 [[ 1.04189789e-01 -9.94554951e-01 -2.22204140e-03 1.28861444e+02] [ 9.94388326e-01 1.04213012e-01 -1.82073037e-02 8.86914898e+01] [ 1.83397296e-02 -3.12556901e-04 9.99831764e-01 3.20995125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21275509600002 meters 0.020589425493257322 Centerline is valid? [True, True] Translation: X:128.87, Y:88.72, Z:3.21 [[ 1.03906849e-01 -9.94584490e-01 -2.24930939e-03 1.28866197e+02] [ 9.94412709e-01 1.03930713e-01 -1.84870480e-02 8.87172377e+01] [ 1.86207035e-02 -3.15810933e-04 9.99826570e-01 3.20994910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24275509600002 meters 0.019950327045502727 Centerline is valid? [True, True] Translation: X:128.87, Y:88.74, Z:3.21 [[ 1.03799415e-01 -9.94595691e-01 -2.25661732e-03 1.28868119e+02] [ 9.94421692e-01 1.03823471e-01 -1.86060329e-02 8.87442390e+01] [ 1.87397700e-02 -3.12733870e-04 9.99824346e-01 3.20983214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27275509600003 meters 0.019833979657974336 Centerline is valid? [True, True] Translation: X:128.87, Y:88.77, Z:3.21 [[ 1.03762345e-01 -9.94599480e-01 -2.29112119e-03 1.28871202e+02] [ 9.94419016e-01 1.03787167e-01 -1.89484647e-02 8.87708349e+01] [ 1.90839221e-02 -3.12197343e-04 9.99817837e-01 3.21032524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.302755096 meters 0.01992778521355053 Centerline is valid? [True, True] Translation: X:128.87, Y:88.80, Z:3.21 [[ 1.04106190e-01 -9.94563577e-01 -2.27874041e-03 1.28874769e+02] [ 9.94383975e-01 1.04130699e-01 -1.89026010e-02 8.87969341e+01] [ 1.90371253e-02 -2.98065176e-04 9.99818733e-01 3.21071862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.332755096 meters 0.019582158794194282 Centerline is valid? [True, True] Translation: X:128.88, Y:88.82, Z:3.21 [[ 1.04347568e-01 -9.94538505e-01 -2.17858197e-03 1.28877138e+02] [ 9.94373611e-01 1.04369942e-01 -1.81117945e-02 8.88242370e+01] [ 1.82402555e-02 -2.76402706e-04 9.99833595e-01 3.21197703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.362755096 meters 0.020360186791321407 Centerline is valid? [True, True] Translation: X:128.88, Y:88.85, Z:3.21 [[ 1.04566934e-01 -9.94515526e-01 -2.15054772e-03 1.28882380e+02] [ 9.94353862e-01 1.04588715e-01 -1.79331464e-02 8.88503865e+01] [ 1.80597155e-02 -2.63191300e-04 9.99836875e-01 3.21275290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.392755096 meters 0.019565182383511192 Centerline is valid? [True, True] Translation: X:128.88, Y:88.88, Z:3.21 [[ 1.04698583e-01 -9.94501684e-01 -2.14625568e-03 1.28883396e+02] [ 9.94339907e-01 1.04720266e-01 -1.79392110e-02 8.88773418e+01] [ 1.80653320e-02 -2.55897708e-04 9.99836776e-01 3.21323276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.422755096 meters 0.019304210092756086 Centerline is valid? [True, True] Translation: X:128.89, Y:88.90, Z:3.21 [[ 1.05609605e-01 -9.94405344e-01 -2.15024905e-03 1.28885657e+02] [ 9.94241966e-01 1.05631233e-01 -1.80265401e-02 8.89043964e+01] [ 1.81528213e-02 -2.34092066e-04 9.99835197e-01 3.21349587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.452755096 meters 0.01918902246362557 Centerline is valid? [True, True] Translation: X:128.89, Y:88.93, Z:3.21 [[ 1.05761174e-01 -9.94389185e-01 -2.17319260e-03 1.28888034e+02] [ 9.94221284e-01 1.05783254e-01 -1.82740866e-02 8.89318458e+01] [ 1.84014415e-02 -2.27945479e-04 9.99830653e-01 3.21371317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.482755096 meters 0.019247999558675864 Centerline is valid? [True, True] Translation: X:128.89, Y:88.96, Z:3.21 [[ 1.06136601e-01 -9.94349045e-01 -2.23593688e-03 1.28891321e+02] [ 9.94170191e-01 1.06159919e-01 -1.88600941e-02 8.89581647e+01] [ 1.89908834e-02 -2.21155529e-04 9.99819632e-01 3.21274606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.512755096 meters 0.01885357300497719 Centerline is valid? [True, True] Translation: X:128.89, Y:88.99, Z:3.21 [[ 1.05764604e-01 -9.94388702e-01 -2.22676349e-03 1.28893785e+02] [ 9.94210199e-01 1.05787812e-01 -1.88419530e-02 8.89857710e+01] [ 1.89717896e-02 -2.21059273e-04 9.99819995e-01 3.21295040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.542755096 meters 0.018894243907725136 Centerline is valid? [True, True] Translation: X:128.90, Y:89.01, Z:3.21 [[ 1.05573969e-01 -9.94408875e-01 -2.26398019e-03 1.28897152e+02] [ 9.94223191e-01 1.05598008e-01 -1.92173855e-02 8.90124343e+01] [ 1.93490105e-02 -2.22045950e-04 9.99812766e-01 3.21318616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.572755096 meters 0.019254688189347308 Centerline is valid? [True, True] Translation: X:128.90, Y:89.04, Z:3.21 [[ 1.04750080e-01 -9.94496040e-01 -2.24671219e-03 1.28901245e+02] [ 9.94312062e-01 1.04773919e-01 -1.91298046e-02 8.90380498e+01] [ 1.92599117e-02 -2.30084461e-04 9.99814484e-01 3.21330910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.602755096 meters 0.019197224792628302 Centerline is valid? [True, True] Translation: X:128.91, Y:89.06, Z:3.21 [[ 1.03649018e-01 -9.94611225e-01 -2.32195184e-03 1.28905314e+02] [ 9.94413423e-01 1.03674714e-01 -1.98367989e-02 8.90648825e+01] [ 1.99706306e-02 -2.52915353e-04 9.99800535e-01 3.21354492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.632755096 meters 0.019466944062630432 Centerline is valid? [True, True] Translation: X:128.91, Y:89.09, Z:3.21 [[ 1.02828720e-01 -9.94696428e-01 -2.29598151e-03 1.28909231e+02] [ 9.94501883e-01 1.02854020e-01 -1.96736998e-02 8.90907671e+01] [ 1.98055099e-02 -2.60336571e-04 9.99803818e-01 3.21441360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.662755096 meters 0.019779265004507225 Centerline is valid? [True, True] Translation: X:128.91, Y:89.12, Z:3.21 [[ 1.02234899e-01 -9.94757625e-01 -2.30057524e-03 1.28913123e+02] [ 9.94561360e-01 1.02260430e-01 -1.97612310e-02 8.91159331e+01] [ 1.98928930e-02 -2.67775788e-04 9.99802081e-01 3.21464560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.692755096 meters 0.019725884314653136 Centerline is valid? [True, True] Translation: X:128.92, Y:89.14, Z:3.22 [[ 1.01189031e-01 -9.94864624e-01 -2.27167172e-03 1.28915848e+02] [ 9.94671949e-01 1.01214145e-01 -1.95809016e-02 8.91424176e+01] [ 1.97102716e-02 -2.78195682e-04 9.99805695e-01 3.21531835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72275509600001 meters 0.019960856570421293 Centerline is valid? [True, True] Translation: X:128.92, Y:89.17, Z:3.22 [[ 1.00287436e-01 -9.94955965e-01 -2.24914408e-03 1.28919135e+02] [ 9.94765857e-01 1.00312244e-01 -1.94510618e-02 8.91689513e+01] [ 1.95785667e-02 -2.86674623e-04 9.99808280e-01 3.21597700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75275509600002 meters 0.02011881845320906 Centerline is valid? [True, True] Translation: X:128.92, Y:89.19, Z:3.22 [[ 9.94959998e-02 -9.95035532e-01 -2.19925467e-03 1.28922482e+02] [ 9.94852589e-01 9.95198822e-02 -1.90819245e-02 8.91939854e+01] [ 1.92060625e-02 -2.89359040e-04 9.99815505e-01 3.21712439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78275509600002 meters 0.02088061386113768 Centerline is valid? [True, True] Translation: X:128.93, Y:89.22, Z:3.22 [[ 9.92740939e-02 -9.95057577e-01 -2.25228585e-03 1.28925617e+02] [ 9.94864334e-01 9.92992055e-02 -1.96118526e-02 8.92190202e+01] [ 1.97385727e-02 -2.93769971e-04 9.99805132e-01 3.21681046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81275509600002 meters 0.020307466409151056 Centerline is valid? [True, True] Translation: X:128.93, Y:89.25, Z:3.22 [[ 9.86750207e-02 -9.95117277e-01 -2.20117134e-03 1.28928246e+02] [ 9.94931469e-01 9.86991358e-02 -1.92315494e-02 8.92450835e+01] [ 1.93549008e-02 -2.92341095e-04 9.99812634e-01 3.21816443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84275509600002 meters 0.019915385281261837 Centerline is valid? [True, True] Translation: X:128.93, Y:89.27, Z:3.22 [[ 9.97517390e-02 -9.95009862e-01 -2.22834966e-03 1.28928577e+02] [ 9.94818134e-01 9.97762648e-02 -1.95340000e-02 8.92705465e+01] [ 1.96588590e-02 -2.68252185e-04 9.99806710e-01 3.21819672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87275509600002 meters 0.01982330041831902 Centerline is valid? [True, True] Translation: X:128.93, Y:89.30, Z:3.22 [[ 9.97300899e-02 -9.95011945e-01 -2.26696053e-03 1.28930110e+02] [ 9.94812123e-01 9.97554960e-02 -1.99419316e-02 8.92957955e+01] [ 2.00686019e-02 -2.66389185e-04 9.99798570e-01 3.21838218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90275509600002 meters 0.019135033648719994 Centerline is valid? [True, True] Translation: X:128.93, Y:89.32, Z:3.22 [[ 1.00163143e-01 -9.94968423e-01 -2.27661412e-03 1.28930107e+02] [ 9.94765498e-01 1.00188696e-01 -2.00954855e-02 8.93223130e+01] [ 2.02224645e-02 -2.51870189e-04 9.99795473e-01 3.21894921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93275509600002 meters 0.019135033648719994 Centerline is valid? [True, True] Translation: X:128.93, Y:89.35, Z:3.22 [[ 9.97793827e-02 -9.95006999e-01 -2.26886151e-03 1.28932759e+02] [ 9.94804065e-01 9.98048572e-02 -2.00963609e-02 8.93480974e+01] [ 2.02224631e-02 -2.51870171e-04 9.99795473e-01 3.21943259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96275509600002 meters 0.018657934186902796 Centerline is valid? [True, True] Translation: X:128.93, Y:89.37, Z:3.22 [[ 1.01055927e-01 -9.94878055e-01 -2.31423304e-03 1.28933121e+02] [ 9.94665387e-01 1.01082176e-01 -2.05709021e-02 8.93747284e+01] [ 2.06994668e-02 -2.23075924e-04 9.99785718e-01 3.21983034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99275509600002 meters 0.018441012527159427 Centerline is valid? [True, True] Translation: X:128.93, Y:89.40, Z:3.22 [[ 1.01190974e-01 -9.94864252e-01 -2.34648681e-03 1.28934490e+02] [ 9.94644066e-01 1.01217946e-01 -2.09310760e-02 8.94015908e+01] [ 2.10610859e-02 -2.15883215e-04 9.99778167e-01 3.22032623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02275509600003 meters 0.01830640824709958 Centerline is valid? [True, True] Translation: X:128.93, Y:89.43, Z:3.22 [[ 1.01696044e-01 -9.94812585e-01 -2.41580376e-03 1.28934886e+02] [ 9.94577495e-01 1.01724531e-01 -2.16269795e-02 8.94283680e+01] [ 2.17605378e-02 -2.03325795e-04 9.99763191e-01 3.22050787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.052755096 meters 0.01815365918452134 Centerline is valid? [True, True] Translation: X:128.94, Y:89.46, Z:3.22 [[ 1.01777403e-01 -9.94804276e-01 -2.41082876e-03 1.28935863e+02] [ 9.94568525e-01 1.01805768e-01 -2.16572328e-02 8.94558834e+01] [ 2.17901441e-02 -1.93517496e-04 9.99762548e-01 3.22089120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.082755096 meters 0.018199223096578128 Centerline is valid? [True, True] Translation: X:128.94, Y:89.48, Z:3.22 [[ 1.01652967e-01 -9.94816980e-01 -2.41888745e-03 1.28937848e+02] [ 9.94578098e-01 1.01681565e-01 -2.18005966e-02 8.94823993e+01] [ 2.19335599e-02 -1.89677160e-04 9.99759413e-01 3.22086510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.112755096 meters 0.017991408214902103 Centerline is valid? [True, True] Translation: X:128.94, Y:89.51, Z:3.22 [[ 1.01773576e-01 -9.94804517e-01 -2.47227689e-03 1.28937971e+02] [ 9.94553254e-01 1.01803435e-01 -2.23581110e-02 8.95100699e+01] [ 2.24936361e-02 -1.83346117e-04 9.99746969e-01 3.22096331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.142755096 meters 0.018070294497115075 Centerline is valid? [True, True] Translation: X:128.94, Y:89.54, Z:3.22 [[ 1.01364024e-01 -9.94846335e-01 -2.47074896e-03 1.28940168e+02] [ 9.94593814e-01 1.01393963e-01 -2.24144759e-02 8.95353571e+01] [ 2.25494782e-02 -1.85370155e-04 9.99745711e-01 3.22144345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.172755096 meters 0.018357417733424912 Centerline is valid? [True, True] Translation: X:128.94, Y:89.56, Z:3.22 [[ 1.00801034e-01 -9.94903579e-01 -2.45367822e-03 1.28942845e+02] [ 9.94653074e-01 1.00830714e-01 -2.23255382e-02 8.95611112e+01] [ 2.24591640e-02 -1.90121258e-04 9.99747743e-01 3.22155303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.202755096 meters 0.018468947783775752 Centerline is valid? [True, True] Translation: X:128.94, Y:89.59, Z:3.22 [[ 9.93746310e-02 -9.95046772e-01 -2.56986189e-03 1.28944962e+02] [ 9.94769938e-01 9.94076019e-02 -2.34712454e-02 8.95873262e+01] [ 2.36104508e-02 -2.23975002e-04 9.99721209e-01 3.22141037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.232755096 meters 0.018785086524493975 Centerline is valid? [True, True] Translation: X:128.95, Y:89.61, Z:3.22 [[ 9.77369692e-02 -9.95208969e-01 -2.56766932e-03 1.28948162e+02] [ 9.94930706e-01 9.77703600e-02 -2.35339567e-02 8.96121749e+01] [ 2.36722467e-02 -2.54515453e-04 9.99719741e-01 3.22178194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.262755096 meters 0.018937362440845398 Centerline is valid? [True, True] Translation: X:128.95, Y:89.64, Z:3.22 [[ 9.62499511e-02 -9.95353980e-01 -2.53012874e-03 1.28950794e+02] [ 9.95081898e-01 9.62827999e-02 -2.32731458e-02 8.96386792e+01] [ 2.34086262e-02 -2.77646166e-04 9.99725942e-01 3.22283497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.292755096 meters 0.019553598530801727 Centerline is valid? [True, True] Translation: X:128.95, Y:89.67, Z:3.22 [[ 9.24189659e-02 -9.95717301e-01 -2.40633414e-03 1.28953919e+02] [ 9.95469681e-01 9.24496514e-02 -2.22075636e-02 8.96669642e+01] [ 2.23349200e-02 -3.43032622e-04 9.99750486e-01 3.22475419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.322755096 meters 0.02000172245530003 Centerline is valid? [True, True] Translation: X:128.96, Y:89.69, Z:3.23 [[ 9.01369893e-02 -9.95926641e-01 -2.33411230e-03 1.28956855e+02] [ 9.95692383e-01 9.01664180e-02 -2.16031204e-02 8.96944773e+01] [ 2.17255817e-02 -3.76817609e-04 9.99763901e-01 3.22580892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.352755096 meters 0.02075322471945343 Centerline is valid? [True, True] Translation: X:128.96, Y:89.72, Z:3.23 [[ 8.77835105e-02 -9.96136918e-01 -2.30140722e-03 1.28960771e+02] [ 9.95907886e-01 8.78126850e-02 -2.13638868e-02 8.97214730e+01] [ 2.14834491e-02 -4.16592608e-04 9.99769117e-01 3.22701061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.382755096 meters 0.022496284926405475 Centerline is valid? [True, True] Translation: X:128.97, Y:89.75, Z:3.23 [[ 8.33261300e-02 -9.96519910e-01 -2.19651170e-03 1.28966101e+02] [ 9.96310121e-01 8.33536693e-02 -2.04526029e-02 8.97470633e+01] [ 2.05645133e-02 -4.84170589e-04 9.99788411e-01 3.22857602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.412755096 meters 0.022977535092699918 Centerline is valid? [True, True] Translation: X:128.97, Y:89.77, Z:3.23 [[ 8.09654545e-02 -9.96714527e-01 -2.17866916e-03 1.28969566e+02] [ 9.96506764e-01 8.09930739e-02 -2.03566228e-02 8.97743715e+01] [ 2.04661988e-02 -5.22875334e-04 9.99790409e-01 3.22952806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.442755096 meters 0.023181717960498747 Centerline is valid? [True, True] Translation: X:128.97, Y:89.80, Z:3.23 [[ 7.89619114e-02 -9.96875207e-01 -2.19978569e-03 1.28972495e+02] [ 9.96662094e-01 7.89905316e-02 -2.06195739e-02 8.98021765e+01] [ 2.07289042e-02 -5.64282047e-04 9.99784974e-01 3.23042303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47275509600001 meters 0.024970324516029485 Centerline is valid? [True, True] Translation: X:128.98, Y:89.83, Z:3.23 [[ 7.65011781e-02 -9.97067127e-01 -2.17110499e-03 1.28976544e+02] [ 9.96858339e-01 7.65296067e-02 -2.04125059e-02 8.98286619e+01] [ 2.05187924e-02 -6.02703363e-04 9.99789286e-01 3.23128858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50275509600002 meters 0.02534983834650533 Centerline is valid? [True, True] Translation: X:128.98, Y:89.85, Z:3.23 [[ 7.59888624e-02 -9.97106349e-01 -2.14999514e-03 1.28978682e+02] [ 9.96900275e-01 7.60168859e-02 -2.02798899e-02 8.98544584e+01] [ 2.03846429e-02 -6.02284986e-04 9.99792030e-01 3.23197075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53275509600002 meters 0.025062320560680265 Centerline is valid? [True, True] Translation: X:128.98, Y:89.88, Z:3.23 [[ 7.67852461e-02 -9.97045266e-01 -2.18276539e-03 1.28977828e+02] [ 9.96831194e-01 7.68140076e-02 -2.06683244e-02 8.98798356e+01] [ 2.07749220e-02 -5.88826252e-04 9.99784005e-01 3.23267705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56275509600002 meters 0.02496237783077192 Centerline is valid? [True, True] Translation: X:128.98, Y:89.91, Z:3.23 [[ 7.72277193e-02 -9.97011111e-01 -2.17363352e-03 1.28978698e+02] [ 9.96797524e-01 7.72561823e-02 -2.06441113e-02 8.99051027e+01] [ 2.07503350e-02 -5.72374877e-04 9.99784525e-01 3.23344999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59275509600002 meters 0.02459424004293121 Centerline is valid? [True, True] Translation: X:128.98, Y:89.93, Z:3.23 [[ 7.78725050e-02 -9.96960968e-01 -2.16806138e-03 1.28979180e+02] [ 9.96746839e-01 7.79007281e-02 -2.06692105e-02 8.99313824e+01] [ 2.07752897e-02 -5.51445121e-04 9.99784018e-01 3.23397120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62275509600002 meters 0.02274138128395054 Centerline is valid? [True, True] Translation: X:128.98, Y:89.96, Z:3.23 [[ 7.86225352e-02 -9.96902005e-01 -2.21133005e-03 1.28977608e+02] [ 9.96677580e-01 7.86517703e-02 -2.11589339e-02 8.99586299e+01] [ 2.12673086e-02 -5.40414064e-04 9.99773679e-01 3.23484092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65275509600002 meters 0.022505227484831917 Centerline is valid? [True, True] Translation: X:128.98, Y:89.99, Z:3.24 [[ 7.95108153e-02 -9.96831377e-01 -2.28824646e-03 1.28978232e+02] [ 9.96589312e-01 7.95419473e-02 -2.19732281e-02 8.99852159e+01] [ 2.20856148e-02 -5.33332685e-04 9.99755941e-01 3.23501560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68275509600002 meters 0.022443942785686916 Centerline is valid? [True, True] Translation: X:128.98, Y:90.01, Z:3.24 [[ 7.96545454e-02 -9.96819956e-01 -2.26459957e-03 1.28979795e+02] [ 9.96581144e-01 7.96850441e-02 -2.18247075e-02 9.00114798e+01] [ 2.19357587e-02 -5.18420077e-04 9.99759248e-01 3.23580044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71275509600002 meters 0.022688900340979944 Centerline is valid? [True, True] Translation: X:128.98, Y:90.04, Z:3.24 [[ 7.95084909e-02 -9.96831668e-01 -2.24179991e-03 1.28981166e+02] [ 9.96595866e-01 7.95384549e-02 -2.16867161e-02 9.00370292e+01] [ 2.17963147e-02 -5.09890459e-04 9.99762302e-01 3.23673608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74275509600002 meters 0.021863175289404166 Centerline is valid? [True, True] Translation: X:128.98, Y:90.06, Z:3.24 [[ 7.90688437e-02 -9.96866615e-01 -2.25179861e-03 1.28981594e+02] [ 9.96626850e-01 7.90992246e-02 -2.18685626e-02 9.00639726e+01] [ 2.19781555e-02 -5.15080999e-04 9.99758318e-01 3.23761538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77275509600003 meters 0.02228187695127026 Centerline is valid? [True, True] Translation: X:128.98, Y:90.09, Z:3.24 [[ 7.85050025e-02 -9.96911220e-01 -2.23258021e-03 1.28983284e+02] [ 9.96673883e-01 7.85350401e-02 -2.17582026e-02 9.00900449e+01] [ 2.18663320e-02 -5.17026636e-04 9.99760769e-01 3.23876630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.802755096 meters 0.02276371040164544 Centerline is valid? [True, True] Translation: X:128.99, Y:90.12, Z:3.24 [[ 7.79811710e-02 -9.96952409e-01 -2.19794911e-03 1.28985759e+02] [ 9.96720717e-01 7.80104450e-02 -2.14984374e-02 9.01163398e+01] [ 2.16043820e-02 -5.14268086e-04 9.99766466e-01 3.23979236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.832755096 meters 0.02195629035535452 Centerline is valid? [True, True] Translation: X:128.99, Y:90.14, Z:3.24 [[ 7.80309517e-02 -9.96948503e-01 -2.20293835e-03 1.28986272e+02] [ 9.96714058e-01 7.80603872e-02 -2.16255113e-02 9.01441233e+01] [ 2.17314833e-02 -5.08240399e-04 9.99763714e-01 3.24088997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.862755096 meters 0.02223376374735761 Centerline is valid? [True, True] Translation: X:128.99, Y:90.17, Z:3.24 [[ 7.79293635e-02 -9.96956632e-01 -2.11847104e-03 1.28987898e+02] [ 9.96738331e-01 7.79566421e-02 -2.08677199e-02 9.01708194e+01] [ 2.09693606e-02 -4.85353165e-04 9.99780001e-01 3.24243193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.892755096 meters 0.022685201746612805 Centerline is valid? [True, True] Translation: X:128.99, Y:90.20, Z:3.24 [[ 7.75732042e-02 -9.96984454e-01 -2.09682602e-03 1.28990300e+02] [ 9.96769074e-01 7.76000403e-02 -2.07279417e-02 9.01959924e+01] [ 2.08281494e-02 -4.82118474e-04 9.99782954e-01 3.24366498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.922755096 meters 0.02228778111476783 Centerline is valid? [True, True] Translation: X:128.99, Y:90.22, Z:3.25 [[ 7.74159902e-02 -9.96996798e-01 -2.03706423e-03 1.28991212e+02] [ 9.96791949e-01 7.74413869e-02 -2.02148967e-02 9.02229024e+01] [ 2.03119404e-02 -4.65572978e-04 9.99793583e-01 3.24508202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.952755096 meters 0.023907331790124556 Centerline is valid? [True, True] Translation: X:129.00, Y:90.25, Z:3.25 [[ 7.70992940e-02 -9.97021473e-01 -1.97007077e-03 1.28995251e+02] [ 9.96828716e-01 7.71231357e-02 -1.96095102e-02 9.02495239e+01] [ 1.97030408e-02 -4.51943727e-04 9.99805774e-01 3.24617667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.982755096 meters 0.022891630551324916 Centerline is valid? [True, True] Translation: X:128.99, Y:90.28, Z:3.25 [[ 7.69689529e-02 -9.97031596e-01 -1.94334692e-03 1.28993316e+02] [ 9.96842732e-01 7.69922066e-02 -1.94105312e-02 9.02756150e+01] [ 1.95025355e-02 -4.43202992e-04 9.99809709e-01 3.24715131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.012755096 meters 0.02349398606020801 Centerline is valid? [True, True] Translation: X:128.99, Y:90.30, Z:3.25 [[ 7.62516740e-02 -9.97086752e-01 -1.92121344e-03 1.28994498e+02] [ 9.96900955e-01 7.62745624e-02 -1.92529836e-02 9.03014397e+01] [ 1.93434346e-02 -4.47187286e-04 9.99812798e-01 3.24785307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.042755096 meters 0.023704767644299976 Centerline is valid? [True, True] Translation: X:129.00, Y:90.33, Z:3.25 [[ 7.54620544e-02 -9.97146898e-01 -1.88206795e-03 1.28996393e+02] [ 9.96967233e-01 7.54841936e-02 -1.89333546e-02 9.03281729e+01] [ 1.90214022e-02 -4.47610245e-04 9.99818977e-01 3.24855945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.072755096 meters 0.02387258690761779 Centerline is valid? [True, True] Translation: X:129.00, Y:90.35, Z:3.25 [[ 7.52410231e-02 -9.97163554e-01 -1.90655533e-03 1.28998757e+02] [ 9.96977792e-01 7.52638158e-02 -1.92519973e-02 9.03548725e+01] [ 1.93408846e-02 -4.52253352e-04 9.99812845e-01 3.24900995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.102755096 meters 0.02285947098148235 Centerline is valid? [True, True] Translation: X:129.00, Y:90.38, Z:3.25 [[ 7.44075761e-02 -9.97226179e-01 -1.86011816e-03 1.28998715e+02] [ 9.97048082e-01 7.44294510e-02 -1.88514813e-02 9.03817230e+01] [ 1.89376383e-02 -4.51934211e-04 9.99820565e-01 3.24991993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.132755096 meters 0.024407143825151717 Centerline is valid? [True, True] Translation: X:129.00, Y:90.41, Z:3.25 [[ 7.44961596e-02 -9.97219616e-01 -1.83285954e-03 1.29001966e+02] [ 9.97045355e-01 7.45174144e-02 -1.86471173e-02 9.04065433e+01] [ 1.87318511e-02 -4.38305463e-04 9.99824447e-01 3.25105427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.162755096 meters 0.021642397460430098 Centerline is valid? [True, True] Translation: X:129.00, Y:90.43, Z:3.25 [[ 7.44965163e-02 -9.97219553e-01 -1.85243530e-03 1.28998641e+02] [ 9.97040428e-01 7.45182536e-02 -1.89054128e-02 9.04342032e+01] [ 1.89908876e-02 -4.38565493e-04 9.99819561e-01 3.25142068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.192755096 meters 0.020811134245437114 Centerline is valid? [True, True] Translation: X:129.00, Y:90.46, Z:3.25 [[ 7.45165509e-02 -9.97218045e-01 -1.85856712e-03 1.28998778e+02] [ 9.97036393e-01 7.45384594e-02 -1.90381130e-02 9.04616323e+01] [ 1.91236845e-02 -4.34404538e-04 9.99817031e-01 3.25175797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22275509600001 meters 0.020950105808799704 Centerline is valid? [True, True] Translation: X:129.00, Y:90.49, Z:3.25 [[ 7.54664606e-02 -9.97146462e-01 -1.93578325e-03 1.29000368e+02] [ 9.96947796e-01 7.54900735e-02 -1.99083069e-02 9.04878714e+01] [ 1.99976302e-02 -4.27465390e-04 9.99799936e-01 3.25132499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25275509600002 meters 0.020759027463419302 Centerline is valid? [True, True] Translation: X:129.00, Y:90.51, Z:3.25 [[ 7.59601799e-02 -9.97108950e-01 -1.94748324e-03 1.29001902e+02] [ 9.96906305e-01 7.59840119e-02 -2.01059320e-02 9.05141862e+01] [ 2.01957823e-02 -4.14208109e-04 9.99795959e-01 3.25154621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28275509600002 meters 0.020349075932989808 Centerline is valid? [True, True] Translation: X:129.00, Y:90.54, Z:3.25 [[ 7.74646871e-02 -9.96993065e-01 -2.01280727e-03 1.29002086e+02] [ 9.96774787e-01 7.74898511e-02 -2.08649537e-02 9.05410594e+01] [ 2.09581862e-02 -3.90018434e-04 9.99780277e-01 3.25116619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31275509600002 meters 0.019992124835946708 Centerline is valid? [True, True] Translation: X:129.00, Y:90.57, Z:3.25 [[ 7.82300546e-02 -9.96933302e-01 -2.01224785e-03 1.29002923e+02] [ 9.96713499e-01 7.82550659e-02 -2.09366953e-02 9.05676309e+01] [ 2.10299574e-02 -3.67755785e-04 9.99778778e-01 3.25149316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34275509600002 meters 0.01955338208125273 Centerline is valid? [True, True] Translation: X:129.00, Y:90.59, Z:3.25 [[ 7.89686733e-02 -9.96875103e-01 -1.99456864e-03 1.29003749e+02] [ 9.96657385e-01 7.89931159e-02 -2.08361288e-02 9.05939478e+01] [ 2.09285753e-02 -3.42500115e-04 9.99780915e-01 3.25198667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37275509600002 meters 0.019194877387184086 Centerline is valid? [True, True] Translation: X:129.00, Y:90.62, Z:3.25 [[ 8.01788934e-02 -9.96778565e-01 -1.95915920e-03 1.29003739e+02] [ 9.96566782e-01 8.02022463e-02 -2.05486863e-02 9.06191714e+01] [ 2.06396190e-02 -3.04862056e-04 9.99786934e-01 3.25249857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40275509600002 meters 0.01852683751956564 Centerline is valid? [True, True] Translation: X:129.00, Y:90.65, Z:3.25 [[ 8.04394774e-02 -9.96757598e-01 -1.94461037e-03 1.29003920e+02] [ 9.96547180e-01 8.04624555e-02 -2.04819905e-02 9.06460651e+01] [ 2.05720477e-02 -2.90335373e-04 9.99788331e-01 3.25341852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43275509600002 meters 0.01818648172048263 Centerline is valid? [True, True] Translation: X:129.01, Y:90.67, Z:3.25 [[ 8.02232520e-02 -9.96775090e-01 -1.91027221e-03 1.29005889e+02] [ 9.96570503e-01 8.02454917e-02 -2.01963557e-02 9.06728588e+01] [ 2.02845150e-02 -2.83503601e-04 9.99794208e-01 3.25467368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46275509600002 meters 0.018603921207616756 Centerline is valid? [True, True] Translation: X:129.01, Y:90.70, Z:3.26 [[ 7.98081675e-02 -9.96808452e-01 -1.88869485e-03 1.29009201e+02] [ 9.96606955e-01 7.98300124e-02 -2.00435966e-02 9.06984265e+01] [ 2.01304010e-02 -2.82643709e-04 9.99797323e-01 3.25535568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49275509600002 meters 0.018951621257164725 Centerline is valid? [True, True] Translation: X:129.01, Y:90.72, Z:3.26 [[ 7.85992867e-02 -9.96904577e-01 -1.84821104e-03 1.29012571e+02] [ 9.96710514e-01 7.86204564e-02 -1.96716859e-02 9.07239277e+01] [ 1.97561009e-02 -2.95950898e-04 9.99804785e-01 3.25608234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52275509600003 meters 0.01906086247876259 Centerline is valid? [True, True] Translation: X:129.02, Y:90.75, Z:3.26 [[ 7.74548922e-02 -9.96994234e-01 -1.79910307e-03 1.29015214e+02] [ 9.96809241e-01 7.74751810e-02 -1.92076269e-02 9.07505812e+01] [ 1.92892791e-02 -3.05637899e-04 9.99813898e-01 3.25674874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.552755096 meters 0.019805094919100603 Centerline is valid? [True, True] Translation: X:129.02, Y:90.78, Z:3.26 [[ 7.61529777e-02 -9.97094613e-01 -1.74857554e-03 1.29019631e+02] [ 9.96918598e-01 7.61723932e-02 -1.87370213e-02 9.07765742e+01] [ 1.88157762e-02 -3.16307515e-04 9.99822918e-01 3.25733748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.582755096 meters 0.020112750428398985 Centerline is valid? [True, True] Translation: X:129.02, Y:90.80, Z:3.26 [[ 7.46136705e-02 -9.97211060e-01 -1.70352569e-03 1.29023007e+02] [ 9.97042726e-01 7.46323800e-02 -1.83251358e-02 9.08038912e+01] [ 1.84011663e-02 -3.31182256e-04 9.99830629e-01 3.25815048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.612755096 meters 0.020704626031539008 Centerline is valid? [True, True] Translation: X:129.03, Y:90.83, Z:3.26 [[ 7.21099577e-02 -9.97395293e-01 -1.66817428e-03 1.29026842e+02] [ 9.97232744e-01 7.21283278e-02 -1.80099674e-02 9.08310808e+01] [ 1.80833794e-02 -3.64860026e-04 9.99836416e-01 3.25865358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.642755096 meters 0.02081802411155553 Centerline is valid? [True, True] Translation: X:129.03, Y:90.86, Z:3.26 [[ 7.05771534e-02 -9.97504917e-01 -1.67534339e-03 1.29029640e+02] [ 9.97339742e-01 7.05959607e-02 -1.81562660e-02 9.08580257e+01] [ 1.82292371e-02 -3.89468971e-04 9.99833758e-01 3.25901120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.672755096 meters 0.02338460544446055 Centerline is valid? [True, True] Translation: X:129.04, Y:90.88, Z:3.26 [[ 6.84230932e-02 -9.97654923e-01 -1.71329009e-03 1.29037355e+02] [ 9.97480850e-01 6.84431671e-02 -1.86409768e-02 9.08835060e+01] [ 1.87145253e-02 -4.33500762e-04 9.99824774e-01 3.25856333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.702755096 meters 0.02268070334415208 Centerline is valid? [True, True] Translation: X:129.04, Y:90.91, Z:3.26 [[ 6.73269483e-02 -9.97729480e-01 -1.72236085e-03 1.29038707e+02] [ 9.97552124e-01 6.73474637e-02 -1.88170107e-02 9.09103288e+01] [ 1.88902830e-02 -4.51252815e-04 9.99821461e-01 3.25859802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.732755096 meters 0.02321081886310777 Centerline is valid? [True, True] Translation: X:129.04, Y:90.94, Z:3.26 [[ 6.63733769e-02 -9.97793334e-01 -1.74306140e-03 1.29041804e+02] [ 9.97609927e-01 6.63946058e-02 -1.91360810e-02 9.09361295e+01] [ 1.92095840e-02 -4.68769037e-04 9.99815369e-01 3.25875065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.762755096 meters 0.021813129897967246 Centerline is valid? [True, True] Translation: X:129.04, Y:90.96, Z:3.26 [[ 6.54142928e-02 -9.97856708e-01 -1.72089548e-03 1.29041392e+02] [ 9.97676252e-01 6.54351999e-02 -1.89823938e-02 9.09629106e+01] [ 1.90543161e-02 -4.75176686e-04 9.99818337e-01 3.25900850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.792755096 meters 0.022004291990055772 Centerline is valid? [True, True] Translation: X:129.04, Y:90.99, Z:3.26 [[ 6.51384933e-02 -9.97874737e-01 -1.72803000e-03 1.29044287e+02] [ 9.97691024e-01 6.51596685e-02 -1.91530404e-02 9.09892191e+01] [ 1.92249330e-02 -4.76439832e-04 9.99815070e-01 3.25931584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.822755096 meters 0.02392011448047897 Centerline is valid? [True, True] Translation: X:129.05, Y:91.02, Z:3.26 [[ 6.49478290e-02 -9.97887186e-01 -1.71567657e-03 1.29049502e+02] [ 9.97704578e-01 6.49687748e-02 -1.90953541e-02 9.10151645e+01] [ 1.91664745e-02 -4.71536578e-04 9.99816195e-01 3.25924966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.852755096 meters 0.02392011448047897 Centerline is valid? [True, True] Translation: X:129.05, Y:91.04, Z:3.26 [[ 6.45291100e-02 -9.97914361e-01 -1.70921737e-03 1.29051486e+02] [ 9.97731748e-01 6.45500088e-02 -1.90959322e-02 9.10410105e+01] [ 1.91664350e-02 -4.73096923e-04 9.99816195e-01 3.25973354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.882755096 meters 0.02161879939117099 Centerline is valid? [True, True] Translation: X:129.05, Y:91.07, Z:3.26 [[ 6.51681938e-02 -9.97872722e-01 -1.77141711e-03 1.29049772e+02] [ 9.97674614e-01 6.51905620e-02 -1.98885539e-02 9.10676184e+01] [ 1.99617251e-02 -4.71196744e-04 9.99800634e-01 3.25974863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.912755096 meters 0.02140335538683428 Centerline is valid? [True, True] Translation: X:129.05, Y:91.09, Z:3.26 [[ 6.56929620e-02 -9.97838287e-01 -1.78521516e-03 1.29052071e+02] [ 9.97635118e-01 6.57156188e-02 -2.01402272e-02 9.10938559e+01] [ 2.02140064e-02 -4.57922152e-04 9.99795571e-01 3.25995960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.942755096 meters 0.022963008767512783 Centerline is valid? [True, True] Translation: X:129.06, Y:91.12, Z:3.26 [[ 6.59779047e-02 -9.97819488e-01 -1.78483966e-03 1.29056603e+02] [ 9.97614657e-01 6.60005326e-02 -2.02219383e-02 9.11186005e+01] [ 2.02956445e-02 -4.46381083e-04 9.99793923e-01 3.25983794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97275509600001 meters 0.02187180333131839 Centerline is valid? [True, True] Translation: X:129.06, Y:91.15, Z:3.26 [[ 6.78331013e-02 -9.97695000e-01 -1.83221397e-03 1.29057211e+02] [ 9.97477028e-01 6.78565863e-02 -2.08581242e-02 9.11458388e+01] [ 2.09343740e-02 -4.12720098e-04 9.99780767e-01 3.25994939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00275509600002 meters 0.020854216179196937 Centerline is valid? [True, True] Translation: X:129.06, Y:91.17, Z:3.26 [[ 6.84903509e-02 -9.97650056e-01 -1.85431106e-03 1.29057679e+02] [ 9.97424814e-01 6.85142957e-02 -2.12021528e-02 9.11719465e+01] [ 2.12793758e-02 -3.97392983e-04 9.99773489e-01 3.26041630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03275509600002 meters 0.019471267122759848 Centerline is valid? [True, True] Translation: X:129.06, Y:91.20, Z:3.26 [[ 7.07871474e-02 -9.97489737e-01 -1.84508435e-03 1.29057975e+02] [ 9.97264574e-01 7.08103750e-02 -2.11957753e-02 9.11985128e+01] [ 2.12732195e-02 -3.39648788e-04 9.99773642e-01 3.26184346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06275509600002 meters 0.01913624565839704 Centerline is valid? [True, True] Translation: X:129.06, Y:91.23, Z:3.26 [[ 7.13803972e-02 -9.97447568e-01 -1.78551397e-03 1.29059689e+02] [ 9.97235261e-01 7.14020458e-02 -2.05811151e-02 9.12250030e+01] [ 2.06560726e-02 -3.11489311e-04 9.99786592e-01 3.26296272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09275509600002 meters 0.0181966717282664 Centerline is valid? [True, True] Translation: X:129.06, Y:91.25, Z:3.26 [[ 7.20402527e-02 -9.97400243e-01 -1.71939342e-03 1.29060115e+02] [ 9.97201718e-01 7.20602208e-02 -1.99012216e-02 9.12524788e+01] [ 1.99733831e-02 -2.80893043e-04 9.99800473e-01 3.26425977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12275509600002 meters 0.01766992953060723 Centerline is valid? [True, True] Translation: X:129.06, Y:91.28, Z:3.27 [[ 7.39868961e-02 -9.97257902e-01 -1.61758941e-03 1.29061656e+02] [ 9.97080797e-01 7.40042430e-02 -1.87951050e-02 9.12778282e+01] [ 1.88632754e-02 -2.22275856e-04 9.99822048e-01 3.26561709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15275509600002 meters 0.01720949847023134 Centerline is valid? [True, True] Translation: X:129.06, Y:91.31, Z:3.27 [[ 7.44504403e-02 -9.97223418e-01 -1.60811387e-03 1.29062611e+02] [ 9.97046712e-01 7.44675217e-02 -1.87734363e-02 9.13051160e+01] [ 1.88410626e-02 -2.05674044e-04 9.99822470e-01 3.26647066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18275509600002 meters 0.016978144611081398 Centerline is valid? [True, True] Translation: X:129.06, Y:91.33, Z:3.27 [[ 7.47894436e-02 -9.97198097e-01 -1.57963300e-03 1.29064541e+02] [ 9.97026164e-01 7.48058823e-02 -1.85177780e-02 9.13326504e+01] [ 1.85840588e-02 -1.90001114e-04 9.99827283e-01 3.26717219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21275509600002 meters 0.016842692576878347 Centerline is valid? [True, True] Translation: X:129.07, Y:91.36, Z:3.27 [[ 7.54735441e-02 -9.97146616e-01 -1.53966201e-03 1.29066589e+02] [ 9.96981903e-01 7.54890621e-02 -1.81241913e-02 9.13586473e+01] [ 1.81887037e-02 -1.67118212e-04 9.99834558e-01 3.26828172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24275509600002 meters 0.017179130783437177 Centerline is valid? [True, True] Translation: X:129.07, Y:91.38, Z:3.27 [[ 7.52828556e-02 -9.97161129e-01 -1.47449210e-03 1.29069887e+02] [ 9.97008768e-01 7.52971286e-02 -1.74315415e-02 9.13849737e+01] [ 1.74930806e-02 -1.57785327e-04 9.99846972e-01 3.26896990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27275509600003 meters 0.01697285421569602 Centerline is valid? [True, True] Translation: X:129.07, Y:91.41, Z:3.27 [[ 7.43556937e-02 -9.97230779e-01 -1.41561001e-03 1.29072365e+02] [ 9.97089160e-01 7.43689919e-02 -1.68065739e-02 9.14122204e+01] [ 1.68653103e-02 -1.61824934e-04 9.99857757e-01 3.26935625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.302755096 meters 0.0171239009613207 Centerline is valid? [True, True] Translation: X:129.08, Y:91.44, Z:3.27 [[ 7.33615352e-02 -9.97304450e-01 -1.38565724e-03 1.29075657e+02] [ 9.97167638e-01 7.33744236e-02 -1.65195530e-02 9.14397525e+01] [ 1.65766955e-02 -1.69832791e-04 9.99862583e-01 3.26993845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.332755096 meters 0.01796538271831662 Centerline is valid? [True, True] Translation: X:129.08, Y:91.47, Z:3.27 [[ 7.08352193e-02 -9.97487181e-01 -1.30194743e-03 1.29081689e+02] [ 9.97365481e-01 7.08469156e-02 -1.55824026e-02 9.14658250e+01] [ 1.56354858e-02 -1.94734521e-04 9.99877739e-01 3.27062383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.362755096 meters 0.01832227575421755 Centerline is valid? [True, True] Translation: X:129.09, Y:91.49, Z:3.27 [[ 6.90507512e-02 -9.97612310e-01 -1.29354400e-03 1.29086024e+02] [ 9.97491121e-01 6.90625269e-02 -1.55509159e-02 9.14920888e+01] [ 1.56031205e-02 -2.16496228e-04 9.99878240e-01 3.27104963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.392755096 meters 0.018641381844760795 Centerline is valid? [True, True] Translation: X:129.09, Y:91.52, Z:3.27 [[ 6.75746875e-02 -9.97713391e-01 -1.28491839e-03 1.29089814e+02] [ 9.97592760e-01 6.75864999e-02 -1.55161091e-02 9.15191100e+01] [ 1.55674730e-02 -2.33329057e-04 9.99878792e-01 3.27146735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.422755096 meters 0.01922687681332803 Centerline is valid? [True, True] Translation: X:129.09, Y:91.54, Z:3.27 [[ 6.60004291e-02 -9.97818767e-01 -1.28493641e-03 1.29093966e+02] [ 9.97697129e-01 6.60124488e-02 -1.55819056e-02 9.15446936e+01] [ 1.56327396e-02 -2.53564911e-04 9.99877769e-01 3.27170362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.452755096 meters 0.019480321808062716 Centerline is valid? [True, True] Translation: X:129.10, Y:91.57, Z:3.27 [[ 6.30031417e-02 -9.98012520e-01 -1.27046292e-03 1.29098565e+02] [ 9.97892562e-01 6.30152700e-02 -1.54761029e-02 9.15722144e+01] [ 1.55254030e-02 -2.92742388e-04 9.99879431e-01 3.27100110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.482755096 meters 0.021061103240847447 Centerline is valid? [True, True] Translation: X:129.11, Y:91.60, Z:3.27 [[ 6.17885824e-02 -9.98088434e-01 -1.28424130e-03 1.29105019e+02] [ 9.97964860e-01 6.18011445e-02 -1.57085020e-02 9.15978839e+01] [ 1.57578418e-02 -3.11021612e-04 9.99875789e-01 3.27144954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.512755096 meters 0.020480220210661232 Centerline is valid? [True, True] Translation: X:129.11, Y:91.63, Z:3.27 [[ 5.96053127e-02 -9.98221150e-01 -1.32014593e-03 1.29108139e+02] [ 9.98089685e-01 5.96188925e-02 -1.62039331e-02 9.16257819e+01] [ 1.62538143e-02 -3.51783536e-04 9.99867836e-01 3.27037590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.542755096 meters 0.022624064258610466 Centerline is valid? [True, True] Translation: X:129.12, Y:91.65, Z:3.27 [[ 5.86126994e-02 -9.98279862e-01 -1.36671778e-03 1.29115421e+02] [ 9.98137816e-01 5.86274202e-02 -1.68441732e-02 9.16515835e+01] [ 1.68953261e-02 -3.76890241e-04 9.99857193e-01 3.27044303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.572755096 meters 0.02309457071652439 Centerline is valid? [True, True] Translation: X:129.12, Y:91.68, Z:3.27 [[ 5.76182102e-02 -9.98337698e-01 -1.40771427e-03 1.29119235e+02] [ 9.98185535e-01 5.76340117e-02 -1.74343928e-02 9.16775890e+01] [ 1.74865438e-02 -4.00621514e-04 9.99847018e-01 3.27031959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.602755096 meters 0.02095615015203142 Centerline is valid? [True, True] Translation: X:129.12, Y:91.71, Z:3.27 [[ 5.68708565e-02 -9.98380432e-01 -1.48934321e-03 1.29119811e+02] [ 9.98208466e-01 5.68887100e-02 -1.85346211e-02 9.17050404e+01] [ 1.85893298e-02 -4.32595226e-04 9.99827110e-01 3.26955588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.632755096 meters 0.02106784611777319 Centerline is valid? [True, True] Translation: X:129.12, Y:91.73, Z:3.27 [[ 5.65696145e-02 -9.98397500e-01 -1.52038860e-03 1.29122893e+02] [ 9.98216600e-01 5.65883137e-02 -1.90100464e-02 9.17320000e+01] [ 1.90656190e-02 -4.42286139e-04 9.99818137e-01 3.26976638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.662755096 meters 0.021043458875881473 Centerline is valid? [True, True] Translation: X:129.13, Y:91.76, Z:3.27 [[ 5.67011315e-02 -9.98390072e-01 -1.49884947e-03 1.29126095e+02] [ 9.98212658e-01 5.67193181e-02 -1.88257172e-02 9.17591374e+01] [ 1.88804229e-02 -4.28731047e-04 9.99821657e-01 3.27017730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.692755096 meters 0.020863778153851514 Centerline is valid? [True, True] Translation: X:129.13, Y:91.79, Z:3.27 [[ 5.72378469e-02 -9.98359489e-01 -1.46946002e-03 1.29129788e+02] [ 9.98187416e-01 5.72552696e-02 -1.85396112e-02 9.17865232e+01] [ 1.85933311e-02 -4.05629073e-04 9.99827047e-01 3.27081351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72275509600001 meters 0.020818459785058335 Centerline is valid? [True, True] Translation: X:129.13, Y:91.81, Z:3.27 [[ 5.72165153e-02 -9.98360721e-01 -1.46358230e-03 1.29132913e+02] [ 9.98188449e-01 5.72338366e-02 -1.85501464e-02 9.18140889e+01] [ 1.86035039e-02 -3.99556207e-04 9.99826860e-01 3.27142086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75275509600002 meters 0.02240362715366917 Centerline is valid? [True, True] Translation: X:129.14, Y:91.84, Z:3.27 [[ 5.74935694e-02 -9.98344761e-01 -1.49261667e-03 1.29137808e+02] [ 9.98163987e-01 5.75115686e-02 -1.90019773e-02 9.18400689e+01] [ 1.90563672e-02 -3.97384708e-04 9.99818332e-01 3.27002305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78275509600002 meters 0.0208873103776969 Centerline is valid? [True, True] Translation: X:129.14, Y:91.87, Z:3.27 [[ 5.74641107e-02 -9.98346505e-01 -1.46038249e-03 1.29140799e+02] [ 9.98171816e-01 5.74813799e-02 -1.86792875e-02 9.18671089e+01] [ 1.87323462e-02 -3.84323994e-04 9.99824460e-01 3.27235649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81275509600002 meters 0.020752296292440058 Centerline is valid? [True, True] Translation: X:129.15, Y:91.89, Z:3.27 [[ 5.77784572e-02 -9.98328424e-01 -1.41689253e-03 1.29145441e+02] [ 9.98162529e-01 5.77946905e-02 -1.82027172e-02 9.18926139e+01] [ 1.82541789e-02 -3.62564116e-04 9.99833313e-01 3.27345231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84275509600002 meters 0.02102253908765202 Centerline is valid? [True, True] Translation: X:129.15, Y:91.92, Z:3.27 [[ 5.79640090e-02 -9.98317704e-01 -1.39091048e-03 1.29149476e+02] [ 9.98156147e-01 5.79796556e-02 -1.79628912e-02 9.19179229e+01] [ 1.80133168e-02 -3.47144656e-04 9.99837687e-01 3.27421228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87275509600002 meters 0.02065646266488599 Centerline is valid? [True, True] Translation: X:129.15, Y:91.94, Z:3.27 [[ 5.81575323e-02 -9.98306423e-01 -1.40968073e-03 1.29152353e+02] [ 9.98139125e-01 5.81735974e-02 -1.82789575e-02 9.19437748e+01] [ 1.83300069e-02 -3.43998428e-04 9.99831932e-01 3.27494397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90275509600002 meters 0.0203439606044054 Centerline is valid? [True, True] Translation: X:129.16, Y:91.97, Z:3.28 [[ 5.89213914e-02 -9.98261718e-01 -1.34649278e-03 1.29156944e+02] [ 9.98107615e-01 5.89359577e-02 -1.75425790e-02 9.19702142e+01] [ 1.75914419e-02 -3.10311535e-04 9.99845210e-01 3.27617928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93275509600002 meters 0.019813644936048078 Centerline is valid? [True, True] Translation: X:129.16, Y:92.00, Z:3.28 [[ 5.91470090e-02 -9.98248360e-01 -1.35736200e-03 1.29159383e+02] [ 9.98090177e-01 5.91618032e-02 -1.77730268e-02 9.19970286e+01] [ 1.78221988e-02 -3.03548302e-04 9.99841126e-01 3.27674312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96275509600002 meters 0.019801767808042332 Centerline is valid? [True, True] Translation: X:129.16, Y:92.02, Z:3.28 [[ 5.95054179e-02 -9.98227112e-01 -1.31817930e-03 1.29164782e+02] [ 9.98076491e-01 5.95193404e-02 -1.73426210e-02 9.20220100e+01] [ 1.73903316e-02 -2.83663858e-04 9.99848737e-01 3.27776918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99275509600002 meters 0.020347948796439773 Centerline is valid? [True, True] Translation: X:129.17, Y:92.05, Z:3.28 [[ 5.92894296e-02 -9.98239982e-01 -1.30434716e-03 1.29169673e+02] [ 9.98091341e-01 5.93031126e-02 -1.72283513e-02 9.20475401e+01] [ 1.72753810e-02 -2.80398481e-04 9.99850730e-01 3.27878450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02275509600003 meters 0.019814369776759596 Centerline is valid? [True, True] Translation: X:129.17, Y:92.07, Z:3.28 [[ 5.90375318e-02 -9.98254932e-01 -1.28842618e-03 1.29171980e+02] [ 9.98108368e-01 5.90509444e-02 -1.71076464e-02 9.20741056e+01] [ 1.71538752e-02 -2.75995737e-04 9.99852823e-01 3.27969870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.052755096 meters 0.019913185044698918 Centerline is valid? [True, True] Translation: X:129.18, Y:92.10, Z:3.28 [[ 5.88019400e-02 -9.98268869e-01 -1.26408475e-03 1.29175588e+02] [ 9.98126378e-01 5.88149067e-02 -1.68683503e-02 9.21002928e+01] [ 1.69134960e-02 -2.69824610e-04 9.99856920e-01 3.28048082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.082755096 meters 0.01988848821567148 Centerline is valid? [True, True] Translation: X:129.18, Y:92.13, Z:3.28 [[ 5.90068120e-02 -9.98256802e-01 -1.24658928e-03 1.29179635e+02] [ 9.98116838e-01 5.90194155e-02 -1.67178157e-02 9.21255338e+01] [ 1.67622462e-02 -2.57776746e-04 9.99859470e-01 3.28128364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.112755096 meters 0.01904948814809074 Centerline is valid? [True, True] Translation: X:129.18, Y:92.15, Z:3.28 [[ 6.21228839e-02 -9.98067863e-01 -1.13485741e-03 1.29178036e+02] [ 9.97950635e-01 6.21329817e-02 -1.52977818e-02 9.21520266e+01] [ 1.53387364e-02 -1.82189350e-04 9.99882338e-01 3.28289185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.142755096 meters 0.018098758930824937 Centerline is valid? [True, True] Translation: X:129.18, Y:92.18, Z:3.28 [[ 6.40886252e-02 -9.97943516e-01 -1.17786125e-03 1.29176275e+02] [ 9.97816341e-01 6.40992625e-02 -1.59321449e-02 9.21793220e+01] [ 1.59748808e-02 -1.54219939e-04 9.99872382e-01 3.28269826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.172755096 meters 0.01792470807523098 Centerline is valid? [True, True] Translation: X:129.18, Y:92.21, Z:3.28 [[ 6.55022607e-02 -9.97851679e-01 -1.21677288e-03 1.29176700e+02] [ 9.97714581e-01 6.55134311e-02 -1.65410178e-02 9.22052589e+01] [ 1.65851974e-02 -1.30517982e-04 9.99862448e-01 3.28270354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.202755096 meters 0.017515645231606362 Centerline is valid? [True, True] Translation: X:129.18, Y:92.23, Z:3.28 [[ 6.70398092e-02 -9.97749472e-01 -1.28656231e-03 1.29176974e+02] [ 9.97594511e-01 6.70520717e-02 -1.75844177e-02 9.22314153e+01] [ 1.76311101e-02 -1.04611495e-04 9.99844554e-01 3.28189996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.232755096 meters 0.017274831592910538 Centerline is valid? [True, True] Translation: X:129.18, Y:92.26, Z:3.28 [[ 6.87871869e-02 -9.97630347e-01 -1.41877235e-03 1.29177800e+02] [ 9.97439638e-01 6.88017777e-02 -1.95060127e-02 9.22587086e+01] [ 1.95574043e-02 -7.33760341e-05 9.99808733e-01 3.28120719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.262755096 meters 0.017336348339580657 Centerline is valid? [True, True] Translation: X:129.18, Y:92.28, Z:3.28 [[ 6.86912872e-02 -9.97636925e-01 -1.43945020e-03 1.29179720e+02] [ 9.97438585e-01 6.87063327e-02 -1.98924342e-02 9.22849608e+01] [ 1.99443262e-02 -6.93262627e-05 9.99801090e-01 3.28129411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.292755096 meters 0.017248670801992244 Centerline is valid? [True, True] Translation: X:129.18, Y:92.31, Z:3.28 [[ 6.83520173e-02 -9.97660142e-01 -1.49786316e-03 1.29180653e+02] [ 9.97443016e-01 6.83683901e-02 -2.08132867e-02 9.23120231e+01] [ 2.08669930e-02 -7.14030155e-05 9.99782258e-01 3.28120493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.322755096 meters 0.017251810568033595 Centerline is valid? [True, True] Translation: X:129.18, Y:92.34, Z:3.28 [[ 6.75923929e-02 -9.97711859e-01 -1.52172877e-03 1.29181646e+02] [ 9.97485509e-01 6.76094712e-02 -2.12513274e-02 9.23391544e+01] [ 2.13055847e-02 -8.14743250e-05 9.99773007e-01 3.28133200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.352755096 meters 0.017371309528683387 Centerline is valid? [True, True] Translation: X:129.18, Y:92.36, Z:3.28 [[ 6.66147808e-02 -9.97777617e-01 -1.51602944e-03 1.29182927e+02] [ 9.97550766e-01 6.66319617e-02 -2.12755774e-02 9.23644742e+01] [ 2.13293109e-02 -9.50484094e-05 9.99772500e-01 3.28144467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.382755096 meters 0.017568124265042527 Centerline is valid? [True, True] Translation: X:129.19, Y:92.39, Z:3.28 [[ 6.40887370e-02 -9.97943034e-01 -1.52768872e-03 1.29185517e+02] [ 9.97710603e-01 6.41067808e-02 -2.15377399e-02 9.23910511e+01] [ 2.15913728e-02 -1.43864686e-04 9.99766869e-01 3.28190939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.412755096 meters 0.01782913008833291 Centerline is valid? [True, True] Translation: X:129.19, Y:92.42, Z:3.28 [[ 6.20219336e-02 -9.98073648e-01 -1.50783138e-03 1.29188317e+02] [ 9.97844783e-01 6.20400014e-02 -2.13735316e-02 9.24175184e+01] [ 2.14259046e-02 -1.78953912e-04 9.99770423e-01 3.28292773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.442755096 meters 0.018080913201079202 Centerline is valid? [True, True] Translation: X:129.19, Y:92.44, Z:3.28 [[ 6.02135472e-02 -9.98184379e-01 -1.50802081e-03 1.29191056e+02] [ 9.97952962e-01 6.02320596e-02 -2.14938373e-02 9.24440288e+01] [ 2.15456438e-02 -2.10713652e-04 9.99767843e-01 3.28392112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47275509600001 meters 0.018412782965743304 Centerline is valid? [True, True] Translation: X:129.19, Y:92.47, Z:3.28 [[ 5.84572652e-02 -9.98288800e-01 -1.49017037e-03 1.29193998e+02] [ 9.98060361e-01 5.84757678e-02 -2.13565141e-02 9.24702513e+01] [ 2.14071077e-02 -2.38836570e-04 9.99770813e-01 3.28475993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50275509600002 meters 0.01934208737269604 Centerline is valid? [True, True] Translation: X:129.20, Y:92.50, Z:3.29 [[ 5.57428383e-02 -9.98444083e-01 -1.46572377e-03 1.29198621e+02] [ 9.98220783e-01 5.57613718e-02 -2.11172463e-02 9.24966197e+01] [ 2.11661204e-02 -2.85980687e-04 9.99775932e-01 3.28618457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53275509600002 meters 0.01992062525674974 Centerline is valid? [True, True] Translation: X:129.20, Y:92.52, Z:3.29 [[ 5.33970893e-02 -9.98572283e-01 -1.46533111e-03 1.29201159e+02] [ 9.98347355e-01 5.34161653e-02 -2.11960573e-02 9.25235944e+01] [ 2.12440677e-02 -3.31101671e-04 9.99774265e-01 3.28716664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56275509600002 meters 0.020495542507534728 Centerline is valid? [True, True] Translation: X:129.20, Y:92.55, Z:3.29 [[ 5.18745963e-02 -9.98652571e-01 -1.43812532e-03 1.29203792e+02] [ 9.98433786e-01 5.18933374e-02 -2.09059016e-02 9.25495060e+01] [ 2.09523615e-02 -3.51387706e-04 9.99780413e-01 3.28766268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59275509600002 meters 0.02094628282144765 Centerline is valid? [True, True] Translation: X:129.21, Y:92.58, Z:3.29 [[ 5.06822107e-02 -9.98713784e-01 -1.44595952e-03 1.29205427e+02] [ 9.98490151e-01 5.07014647e-02 -2.11371747e-02 9.25754929e+01] [ 2.11833000e-02 -3.72497598e-04 9.99775539e-01 3.28742190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62275509600002 meters 0.02061753248664149 Centerline is valid? [True, True] Translation: X:129.21, Y:92.60, Z:3.29 [[ 4.94131136e-02 -9.98777382e-01 -1.44440284e-03 1.29207064e+02] [ 9.98551736e-01 4.94326568e-02 -2.12330535e-02 9.26018996e+01] [ 2.12784942e-02 -3.93119676e-04 9.99773510e-01 3.28873488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65275509600002 meters 0.021864520080180614 Centerline is valid? [True, True] Translation: X:129.21, Y:92.63, Z:3.29 [[ 4.75703934e-02 -9.98866841e-01 -1.44629560e-03 1.29211207e+02] [ 9.98638072e-01 4.75904568e-02 -2.13810497e-02 9.26274033e+01] [ 2.14256515e-02 -4.27220906e-04 9.99770353e-01 3.28902064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68275509600002 meters 0.022415952830128236 Centerline is valid? [True, True] Translation: X:129.21, Y:92.65, Z:3.29 [[ 4.67468468e-02 -9.98905725e-01 -1.44404617e-03 1.29213835e+02] [ 9.98675373e-01 4.67670835e-02 -2.14555352e-02 9.26522791e+01] [ 2.14995908e-02 -4.39154732e-04 9.99768761e-01 3.28972399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71275509600002 meters 0.022318732953651284 Centerline is valid? [True, True] Translation: X:129.22, Y:92.68, Z:3.29 [[ 4.54605137e-02 -9.98965153e-01 -1.40171696e-03 1.29215294e+02] [ 9.98745736e-01 4.54799125e-02 -2.09411633e-02 9.26780997e+01] [ 2.09832424e-02 -4.47962797e-04 9.99779727e-01 3.29094258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74275509600002 meters 0.022318732953651284 Centerline is valid? [True, True] Translation: X:129.22, Y:92.70, Z:3.29 [[ 4.50912035e-02 -9.98981900e-01 -1.39534672e-03 1.29216751e+02] [ 9.98762478e-01 4.51105500e-02 -2.09415878e-02 9.27039844e+01] [ 2.09832121e-02 -4.49338550e-04 9.99779727e-01 3.29142645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77275509600003 meters 0.02142964429572993 Centerline is valid? [True, True] Translation: X:129.22, Y:92.73, Z:3.29 [[ 4.39059704e-02 -9.99034709e-01 -1.38414097e-03 1.29216629e+02] [ 9.98816406e-01 4.39253177e-02 -2.08890692e-02 9.27314981e+01] [ 2.09297040e-02 -4.65347861e-04 9.99780841e-01 3.29220335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.802755096 meters 0.024468754834053613 Centerline is valid? [True, True] Translation: X:129.22, Y:92.76, Z:3.29 [[ 4.31442172e-02 -9.99067853e-01 -1.41510757e-03 1.29223232e+02] [ 9.98837226e-01 4.31646700e-02 -2.14710970e-02 9.27576017e+01] [ 2.15121654e-02 -4.87108443e-04 9.99768468e-01 3.29153537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.832755096 meters 0.022560316124152192 Centerline is valid? [True, True] Translation: X:129.22, Y:92.78, Z:3.29 [[ 4.12783541e-02 -9.99146736e-01 -1.37716073e-03 1.29222624e+02] [ 9.98926499e-01 4.12981777e-02 -2.09835678e-02 9.27847613e+01] [ 2.10225375e-02 -5.09515211e-04 9.99778872e-01 3.29384858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.862755096 meters 0.025444436481530136 Centerline is valid? [True, True] Translation: X:129.23, Y:92.81, Z:3.29 [[ 3.99856375e-02 -9.99199259e-01 -1.41087744e-03 1.29225226e+02] [ 9.98965588e-01 4.00068072e-02 -2.16150257e-02 9.28122740e+01] [ 2.16541624e-02 -5.45127431e-04 9.99765373e-01 3.29127339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.892755096 meters 0.0231161634717647 Centerline is valid? [True, True] Translation: X:129.23, Y:92.84, Z:3.30 [[ 3.89019890e-02 -9.99242131e-01 -1.34121369e-03 1.29226512e+02] [ 9.99028801e-01 3.89214059e-02 -2.06537817e-02 9.28389713e+01] [ 2.06903307e-02 -5.36437921e-04 9.99785788e-01 3.29542089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.922755096 meters 0.023873573583350877 Centerline is valid? [True, True] Translation: X:129.23, Y:92.87, Z:3.30 [[ 3.68609344e-02 -9.99319477e-01 -1.36174049e-03 1.29228550e+02] [ 9.99097169e-01 3.68814671e-02 -2.10856540e-02 9.28660536e+01] [ 2.11215277e-02 -5.83274155e-04 9.99776746e-01 3.29560302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.952755096 meters 0.02425706477605488 Centerline is valid? [True, True] Translation: X:129.23, Y:92.89, Z:3.30 [[ 3.58396430e-02 -9.99356643e-01 -1.34892796e-03 1.29230289e+02] [ 9.99136207e-01 3.58600798e-02 -2.09974710e-02 9.28927285e+01] [ 2.10323348e-02 -5.95220906e-04 9.99778619e-01 3.29603643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.982755096 meters 0.025152410657408763 Centerline is valid? [True, True] Translation: X:129.23, Y:92.92, Z:3.30 [[ 3.44888986e-02 -9.99404152e-01 -1.36281707e-03 1.29232535e+02] [ 9.99177161e-01 3.45101222e-02 -2.13084891e-02 9.29192924e+01] [ 2.13428235e-02 -6.26789375e-04 9.99772020e-01 3.29655363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.012755096 meters 0.025612525365204503 Centerline is valid? [True, True] Translation: X:129.23, Y:92.94, Z:3.30 [[ 3.38728091e-02 -9.99425231e-01 -1.35629441e-03 1.29234325e+02] [ 9.99197804e-01 3.38940466e-02 -2.13293537e-02 9.29448409e+01] [ 2.13630645e-02 -6.32721274e-04 9.99771583e-01 3.29696472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.042755096 meters 0.02539469362150685 Centerline is valid? [True, True] Translation: X:129.24, Y:92.97, Z:3.30 [[ 3.38604908e-02 -9.99425674e-01 -1.33775851e-03 1.29235198e+02] [ 9.99201661e-01 3.38812357e-02 -2.11684457e-02 9.29712932e+01] [ 2.12016130e-02 -6.19916563e-04 9.99775028e-01 3.29736024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.072755096 meters 0.023368643621104884 Centerline is valid? [True, True] Translation: X:129.23, Y:93.00, Z:3.30 [[ 3.50074604e-02 -9.99386130e-01 -1.35714254e-03 1.29232053e+02] [ 9.99152738e-01 3.50286248e-02 -2.16055986e-02 9.29987793e+01] [ 2.16398744e-02 -5.99635550e-04 9.99765651e-01 3.29823306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.102755096 meters 0.022752819135701652 Centerline is valid? [True, True] Translation: X:129.23, Y:93.03, Z:3.30 [[ 3.59388571e-02 -9.99353102e-01 -1.33238599e-03 1.29231638e+02] [ 9.99125580e-01 3.59591147e-02 -2.13311413e-02 9.30256771e+01] [ 2.13652537e-02 -5.64604083e-04 9.99771577e-01 3.29894384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.132755096 meters 0.02283609293672865 Centerline is valid? [True, True] Translation: X:129.23, Y:93.05, Z:3.30 [[ 3.70879329e-02 -9.99311107e-01 -1.34041469e-03 1.29231418e+02] [ 9.99078123e-01 3.71082380e-02 -2.15843137e-02 9.30527286e+01] [ 2.16191848e-02 -5.38661419e-04 9.99766133e-01 3.29831203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.162755096 meters 0.02302366251692123 Centerline is valid? [True, True] Translation: X:129.23, Y:93.08, Z:3.30 [[ 3.96593496e-02 -9.99212373e-01 -1.33004463e-03 1.29233353e+02] [ 9.98980355e-01 3.96788084e-02 -2.15370097e-02 9.30785380e+01] [ 2.15728212e-02 -4.74544655e-04 9.99767167e-01 3.29925695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.192755096 meters 0.021089453037929223 Centerline is valid? [True, True] Translation: X:129.23, Y:93.11, Z:3.30 [[ 4.04254709e-02 -9.99181658e-01 -1.34030489e-03 1.29230887e+02] [ 9.98943805e-01 4.04450974e-02 -2.18052633e-02 9.31063541e+01] [ 2.18416279e-02 -4.57401226e-04 9.99761339e-01 3.30003316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22275509600001 meters 0.020986151526887122 Centerline is valid? [True, True] Translation: X:129.23, Y:93.13, Z:3.30 [[ 4.08037827e-02 -9.99166303e-01 -1.32331264e-03 1.29231727e+02] [ 9.98931710e-01 4.08228825e-02 -2.16548377e-02 9.31321863e+01] [ 2.16908056e-02 -4.38299669e-04 9.99764631e-01 3.30061865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25275509600002 meters 0.022612103378223464 Centerline is valid? [True, True] Translation: X:129.23, Y:93.16, Z:3.30 [[ 4.15869532e-02 -9.99133952e-01 -1.36805266e-03 1.29232760e+02] [ 9.98879741e-01 4.16072363e-02 -2.25411158e-02 9.31589699e+01] [ 2.25785150e-02 -4.29103757e-04 9.99744981e-01 3.29858750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28275509600002 meters 0.020666362447269274 Centerline is valid? [True, True] Translation: X:129.23, Y:93.18, Z:3.30 [[ 4.20286348e-02 -9.99115482e-01 -1.35902725e-03 1.29233838e+02] [ 9.98861505e-01 4.20485973e-02 -2.25301854e-02 9.31844601e+01] [ 2.25674022e-02 -4.10567068e-04 9.99745239e-01 3.30146963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31275509600002 meters 0.02088150270388217 Centerline is valid? [True, True] Translation: X:129.23, Y:93.21, Z:3.30 [[ 4.15875354e-02 -9.99133939e-01 -1.36003220e-03 1.29233788e+02] [ 9.98876901e-01 4.16076894e-02 -2.26657799e-02 9.32115547e+01] [ 2.27027378e-02 -4.15890824e-04 9.99742173e-01 3.30115056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34275509600002 meters 0.02002014066814083 Centerline is valid? [True, True] Translation: X:129.24, Y:93.24, Z:3.30 [[ 4.13678035e-02 -9.99143129e-01 -1.30843249e-03 1.29235078e+02] [ 9.98902435e-01 4.13865611e-02 -2.19334914e-02 9.32383444e+01] [ 2.19688488e-02 -3.99656039e-04 9.99758576e-01 3.30338126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37275509600002 meters 0.021126700853632958 Centerline is valid? [True, True] Translation: X:129.24, Y:93.26, Z:3.30 [[ 4.07260544e-02 -9.99169529e-01 -1.28125414e-03 1.29238755e+02] [ 9.98935970e-01 4.07442409e-02 -2.16063684e-02 9.32641576e+01] [ 2.16406287e-02 -3.99948714e-04 9.99765734e-01 3.30385422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40275509600002 meters 0.020450017801411653 Centerline is valid? [True, True] Translation: X:129.24, Y:93.29, Z:3.30 [[ 4.01261532e-02 -9.99193833e-01 -1.25567490e-03 1.29238640e+02] [ 9.98966679e-01 4.01438091e-02 -2.13084341e-02 9.32903720e+01] [ 2.13416635e-02 -3.99351892e-04 9.99772161e-01 3.30477374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43275509600002 meters 0.020576140134282585 Centerline is valid? [True, True] Translation: X:129.24, Y:93.32, Z:3.31 [[ 3.92556677e-02 -9.99228438e-01 -1.23381082e-03 1.29240400e+02] [ 9.99006261e-01 3.92729610e-02 -2.10742814e-02 9.33179522e+01] [ 2.11064766e-02 -4.05299745e-04 9.99777151e-01 3.30536160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46275509600002 meters 0.02051416313398442 Centerline is valid? [True, True] Translation: X:129.24, Y:93.35, Z:3.31 [[ 3.87651611e-02 -9.99247593e-01 -1.22851471e-03 1.29241927e+02] [ 9.99024631e-01 3.87824671e-02 -2.11117757e-02 9.33452263e+01] [ 2.11435359e-02 -4.08915068e-04 9.99776367e-01 3.30547888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49275509600002 meters 0.022016020931869492 Centerline is valid? [True, True] Translation: X:129.24, Y:93.37, Z:3.30 [[ 3.80164065e-02 -9.99276331e-01 -1.25192757e-03 1.29244117e+02] [ 9.99041878e-01 3.80346100e-02 -2.16493467e-02 9.33725251e+01] [ 2.16812963e-02 -4.27697708e-04 9.99764842e-01 3.30414028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52275509600003 meters 0.020784388547162056 Centerline is valid? [True, True] Translation: X:129.25, Y:93.40, Z:3.31 [[ 3.77496626e-02 -9.99286430e-01 -1.26272068e-03 1.29245501e+02] [ 9.99044906e-01 3.77683047e-02 -2.19734375e-02 9.34001740e+01] [ 2.20054487e-02 -4.32024815e-04 9.99757757e-01 3.30615670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.552755096 meters 0.02167810038101696 Centerline is valid? [True, True] Translation: X:129.25, Y:93.43, Z:3.31 [[ 3.73500998e-02 -9.99301467e-01 -1.24447974e-03 1.29249004e+02] [ 9.99063940e-01 3.73683595e-02 -2.17910470e-02 9.34260258e+01] [ 2.18223294e-02 -4.29417057e-04 9.99761772e-01 3.30655720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.582755096 meters 0.022224396218066635 Centerline is valid? [True, True] Translation: X:129.25, Y:93.45, Z:3.31 [[ 3.63379526e-02 -9.99338769e-01 -1.25623344e-03 1.29251381e+02] [ 9.99093618e-01 3.63568682e-02 -2.21386696e-02 9.34516843e+01] [ 2.21697035e-02 -4.50620884e-04 9.99754120e-01 3.30686820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.612755096 meters 0.02292872937589707 Centerline is valid? [True, True] Translation: X:129.25, Y:93.48, Z:3.31 [[ 3.58582485e-02 -9.99356080e-01 -1.26922366e-03 1.29251874e+02] [ 9.99103031e-01 3.58777355e-02 -2.24927052e-02 9.34782046e+01] [ 2.25237586e-02 -4.61536194e-04 9.99746201e-01 3.30573211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.642755096 meters 0.022404845045447083 Centerline is valid? [True, True] Translation: X:129.25, Y:93.50, Z:3.31 [[ 3.53690214e-02 -9.99373537e-01 -1.25114739e-03 1.29253091e+02] [ 9.99124303e-01 3.53881473e-02 -2.23227860e-02 9.35044048e+01] [ 2.23530774e-02 -4.60516671e-04 9.99750033e-01 3.30666795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.672755096 meters 0.022138217913608673 Centerline is valid? [True, True] Translation: X:129.26, Y:93.53, Z:3.31 [[ 3.46905861e-02 -9.99397330e-01 -1.24088508e-03 1.29255024e+02] [ 9.99148920e-01 3.47096348e-02 -2.22862594e-02 9.35300059e+01] [ 2.23158988e-02 -4.66705582e-04 9.99750860e-01 3.30785022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.702755096 meters 0.022255657163800843 Centerline is valid? [True, True] Translation: X:129.26, Y:93.56, Z:3.31 [[ 3.40765087e-02 -9.99418478e-01 -1.22359373e-03 1.29256833e+02] [ 9.99174218e-01 3.40952371e-02 -2.20997065e-02 9.35559399e+01] [ 2.21285737e-02 -4.69502472e-04 9.99755023e-01 3.30840182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.732755096 meters 0.02243048949485231 Centerline is valid? [True, True] Translation: X:129.26, Y:93.58, Z:3.31 [[ 3.37820033e-02 -9.99428522e-01 -1.18562617e-03 1.29259873e+02] [ 9.99196083e-01 3.37997215e-02 -2.15584493e-02 9.35811634e+01] [ 2.15862030e-02 -4.56385416e-04 9.99766887e-01 3.30933840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.762755096 meters 0.021747784834559185 Centerline is valid? [True, True] Translation: X:129.26, Y:93.61, Z:3.31 [[ 3.37160117e-02 -9.99430761e-01 -1.17663548e-03 1.29260024e+02] [ 9.99198543e-01 3.37335464e-02 -2.15480816e-02 9.36071881e+01] [ 2.15755077e-02 -4.49177085e-04 9.99767121e-01 3.30968942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.792755096 meters 0.022191237081697356 Centerline is valid? [True, True] Translation: X:129.26, Y:93.63, Z:3.31 [[ 3.38104022e-02 -9.99427537e-01 -1.20609193e-03 1.29262424e+02] [ 9.99179971e-01 3.38288762e-02 -2.22484283e-02 9.36325132e+01] [ 2.22764927e-02 -4.52874589e-04 9.99751746e-01 3.30945610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.822755096 meters 0.021923708145425307 Centerline is valid? [True, True] Translation: X:129.26, Y:93.66, Z:3.31 [[ 3.46300628e-02 -9.99399449e-01 -1.22516933e-03 1.29264202e+02] [ 9.99140285e-01 3.46489874e-02 -2.27626498e-02 9.36574988e+01] [ 2.27914305e-02 -4.35844046e-04 9.99740147e-01 3.30875644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.852755096 meters 0.023357936860467554 Centerline is valid? [True, True] Translation: X:129.27, Y:93.68, Z:3.31 [[ 3.44780986e-02 -9.99404658e-01 -1.26107918e-03 1.29265986e+02] [ 9.99126792e-01 3.44982534e-02 -2.35695687e-02 9.36825504e+01] [ 2.35990418e-02 -4.47344078e-04 9.99721404e-01 3.30689643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.882755096 meters 0.023715246151073247 Centerline is valid? [True, True] Translation: X:129.27, Y:93.71, Z:3.31 [[ 3.47272422e-02 -9.99396006e-01 -1.28122741e-03 1.29267457e+02] [ 9.99105038e-01 3.47480513e-02 -2.41183781e-02 9.37091478e+01] [ 2.41483309e-02 -4.42516004e-04 9.99708289e-01 3.30635994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.912755096 meters 0.02303722542477907 Centerline is valid? [True, True] Translation: X:129.27, Y:93.73, Z:3.31 [[ 3.65871384e-02 -9.99329717e-01 -1.22399980e-03 1.29266763e+02] [ 9.99060748e-01 3.66056911e-02 -2.31871774e-02 9.37348131e+01] [ 2.32164408e-02 -3.74497689e-04 9.99730392e-01 3.30720417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.942755096 meters 0.020197566357250597 Centerline is valid? [True, True] Translation: X:129.26, Y:93.76, Z:3.31 [[ 3.80157765e-02 -9.99276442e-01 -1.18014205e-03 1.29264439e+02] [ 9.99023579e-01 3.80327069e-02 -2.24811532e-02 9.37614506e+01] [ 2.25097708e-02 -3.24351236e-04 9.99746570e-01 3.31028459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97275509600001 meters 0.018848481336542367 Centerline is valid? [True, True] Translation: X:129.26, Y:93.79, Z:3.31 [[ 4.10148803e-02 -9.99157849e-01 -1.17115735e-03 1.29262125e+02] [ 9.98905283e-01 4.10308456e-02 -2.24656368e-02 9.37885754e+01] [ 2.24947709e-02 -2.48449856e-04 9.99746930e-01 3.31127236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00275509600002 meters 0.01854844379441829 Centerline is valid? [True, True] Translation: X:129.26, Y:93.81, Z:3.31 [[ 4.21287007e-02 -9.99111493e-01 -1.18231326e-03 1.29262002e+02] [ 9.98850617e-01 4.21447183e-02 -2.28312691e-02 9.38142045e+01] [ 2.28608117e-02 -2.19102621e-04 9.99738633e-01 3.31158775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03275509600002 meters 0.01829159170303811 Centerline is valid? [True, True] Translation: X:129.26, Y:93.84, Z:3.31 [[ 4.31956194e-02 -9.99065933e-01 -1.18303945e-03 1.29261531e+02] [ 9.98800810e-01 4.32114103e-02 -2.30155663e-02 9.38403731e+01] [ 2.30451890e-02 -1.87449121e-04 9.99734407e-01 3.31157728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06275509600002 meters 0.020564022856078473 Centerline is valid? [True, True] Translation: X:129.26, Y:93.87, Z:3.31 [[ 4.44091956e-02 -9.99012667e-01 -1.23031536e-03 1.29260613e+02] [ 9.98721620e-01 4.44259541e-02 -2.41134999e-02 9.38669004e+01] [ 2.41443498e-02 -1.57881422e-04 9.99708470e-01 3.30960145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09275509600002 meters 0.017918914792207627 Centerline is valid? [True, True] Translation: X:129.26, Y:93.89, Z:3.31 [[ 4.43921812e-02 -9.99013496e-01 -1.16998641e-03 1.29260965e+02] [ 9.98746462e-01 4.44073656e-02 -2.30974187e-02 9.38927795e+01] [ 2.31265890e-02 -1.43174989e-04 9.99732534e-01 3.31268019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12275509600002 meters 0.01792319142217974 Centerline is valid? [True, True] Translation: X:129.26, Y:93.92, Z:3.31 [[ 4.39199980e-02 -9.99034364e-01 -1.17155151e-03 1.29261479e+02] [ 9.98762560e-01 4.39353759e-02 -2.33030270e-02 9.39178836e+01] [ 2.33319973e-02 -1.46632894e-04 9.99727761e-01 3.31290341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15275509600002 meters 0.018548923964749952 Centerline is valid? [True, True] Translation: X:129.26, Y:93.94, Z:3.31 [[ 4.11007036e-02 -9.99154343e-01 -1.15356985e-03 1.29263047e+02] [ 9.98886927e-01 4.11163918e-02 -2.31159866e-02 9.39429250e+01] [ 2.31438690e-02 -2.02202530e-04 9.99732124e-01 3.31329401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18275509600002 meters 0.02110309465747602 Centerline is valid? [True, True] Translation: X:129.27, Y:93.97, Z:3.31 [[ 3.92079416e-02 -9.99230335e-01 -1.21459742e-03 1.29265044e+02] [ 9.98929361e-01 3.92259425e-02 -2.45246222e-02 9.39697345e+01] [ 2.45533902e-02 -2.51737066e-04 9.99698488e-01 3.31121027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21275509600002 meters 0.019178976900514344 Centerline is valid? [True, True] Translation: X:129.27, Y:94.00, Z:3.32 [[ 3.49829569e-02 -9.99387232e-01 -1.16329492e-03 1.29268036e+02] [ 9.99107555e-01 3.50006890e-02 -2.36441586e-02 9.39968456e+01] [ 2.36703864e-02 -3.35114163e-04 9.99719761e-01 3.31548448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24275509600002 meters 0.020115782922245022 Centerline is valid? [True, True] Translation: X:129.27, Y:94.02, Z:3.32 [[ 3.25184915e-02 -9.99470485e-01 -1.13868603e-03 1.29271717e+02] [ 9.99198901e-01 3.25362022e-02 -2.33013075e-02 9.40227390e+01] [ 2.33260177e-02 -3.80050458e-04 9.99727839e-01 3.31609171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27275509600003 meters 0.02172702371190907 Centerline is valid? [True, True] Translation: X:129.27, Y:94.05, Z:3.32 [[ 2.99912816e-02 -9.99549504e-01 -1.14560649e-03 1.29274904e+02] [ 9.99271358e-01 3.00099649e-02 -2.35829482e-02 9.40495530e+01] [ 2.36067038e-02 -4.37488916e-04 9.99721227e-01 3.31549561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.302755096 meters 0.022467033461638728 Centerline is valid? [True, True] Translation: X:129.28, Y:94.08, Z:3.32 [[ 2.51187924e-02 -9.99683863e-01 -1.10494373e-03 1.29280175e+02] [ 9.99421539e-01 2.51375191e-02 -2.29061491e-02 9.40769081e+01] [ 2.29266831e-02 -5.28929762e-04 9.99737009e-01 3.31741777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.332755096 meters 0.024463720031955603 Centerline is valid? [True, True] Translation: X:129.29, Y:94.10, Z:3.32 [[ 2.27142187e-02 -9.99741403e-01 -1.09110222e-03 1.29285424e+02] [ 9.99482116e-01 2.27331839e-02 -2.27750307e-02 9.41032740e+01] [ 2.27939454e-02 -5.73220126e-04 9.99740020e-01 3.31764629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.362755096 meters 0.022880412058538614 Centerline is valid? [True, True] Translation: X:129.28, Y:94.13, Z:3.32 [[ 2.06462195e-02 -9.99786266e-01 -1.07527877e-03 1.29284657e+02] [ 9.99531574e-01 2.06652384e-02 -2.25739087e-02 9.41318014e+01] [ 2.25913048e-02 -6.08709207e-04 9.99744599e-01 3.31927731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.392755096 meters 0.025154975604132067 Centerline is valid? [True, True] Translation: X:129.29, Y:94.16, Z:3.32 [[ 1.71340243e-02 -9.99852667e-01 -1.03374606e-03 1.29290495e+02] [ 9.99614177e-01 1.71525249e-02 -2.18469121e-02 9.41584721e+01] [ 2.18614247e-02 -6.59021695e-04 9.99760793e-01 3.32050812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.422755096 meters 0.026659313491030193 Centerline is valid? [True, True] Translation: X:129.29, Y:94.18, Z:3.32 [[ 1.58295663e-02 -9.99874190e-01 -1.01453262e-03 1.29294622e+02] [ 9.99641170e-01 1.58477897e-02 -2.15958255e-02 9.41848943e+01] [ 2.16091866e-02 -6.72316023e-04 9.99766268e-01 3.32133090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.452755096 meters 0.02563503141357472 Centerline is valid? [True, True] Translation: X:129.30, Y:94.21, Z:3.32 [[ 1.52038550e-02 -9.99883878e-01 -1.03607650e-03 1.29295069e+02] [ 9.99636967e-01 1.52231356e-02 -2.22303951e-02 9.42121446e+01] [ 2.22435860e-02 -6.97712668e-04 9.99752337e-01 3.32233588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.482755096 meters 0.02489271524799853 Centerline is valid? [True, True] Translation: X:129.30, Y:94.24, Z:3.32 [[ 1.51799534e-02 -9.99884225e-01 -1.05132844e-03 1.29295191e+02] [ 9.99626043e-01 1.51999351e-02 -2.27318383e-02 9.42397313e+01] [ 2.27451867e-02 -7.05867048e-04 9.99741046e-01 3.32268963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.512755096 meters 0.024248148214841943 Centerline is valid? [True, True] Translation: X:129.30, Y:94.27, Z:3.32 [[ 1.55956198e-02 -9.99877801e-01 -1.07729592e-03 1.29295521e+02] [ 9.99602340e-01 1.56166207e-02 -2.34794158e-02 9.42669436e+01] [ 2.34933704e-02 -7.10691478e-04 9.99723740e-01 3.32318830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.542755096 meters 0.023746467905800976 Centerline is valid? [True, True] Translation: X:129.30, Y:94.29, Z:3.32 [[ 1.63551428e-02 -9.99865653e-01 -1.08915396e-03 1.29295995e+02] [ 9.99579528e-01 1.63765280e-02 -2.39285537e-02 9.42940068e+01] [ 2.39431755e-02 -6.97341085e-04 9.99713078e-01 3.32363728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.572755096 meters 0.023863408012897665 Centerline is valid? [True, True] Translation: X:129.30, Y:94.32, Z:3.32 [[ 1.92074979e-02 -9.99814875e-01 -1.13516127e-03 1.29296283e+02] [ 9.99499122e-01 1.92299683e-02 -2.51339066e-02 9.43200772e+01] [ 2.51510827e-02 -6.51833232e-04 9.99683449e-01 3.32333848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.602755096 meters 0.021729264667398204 Centerline is valid? [True, True] Translation: X:129.29, Y:94.35, Z:3.32 [[ 2.08378340e-02 -9.99782258e-01 -1.10483003e-03 1.29294392e+02] [ 9.99479323e-01 2.08587236e-02 -2.46169896e-02 9.43483690e+01] [ 2.46346748e-02 -5.91290025e-04 9.99696345e-01 3.32485196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.632755096 meters 0.02304162292026275 Centerline is valid? [True, True] Translation: X:129.30, Y:94.37, Z:3.32 [[ 2.25122855e-02 -9.99745954e-01 -1.10640615e-03 1.29297575e+02] [ 9.99437837e-01 2.25328208e-02 -2.48250365e-02 9.43742784e+01] [ 2.48436603e-02 -5.46915860e-04 9.99691199e-01 3.32448500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.662755096 meters 0.02304162292026275 Centerline is valid? [True, True] Translation: X:129.30, Y:94.40, Z:3.32 [[ 2.21492722e-02 -9.99754071e-01 -1.09897577e-03 1.29298449e+02] [ 9.99445949e-01 2.21697351e-02 -2.48253657e-02 9.44001893e+01] [ 2.48436245e-02 -5.48503102e-04 9.99691199e-01 3.32496894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.692755096 meters 0.019709808906787717 Centerline is valid? [True, True] Translation: X:129.29, Y:94.43, Z:3.33 [[ 2.55821711e-02 -9.99672151e-01 -1.06920079e-03 1.29293038e+02] [ 9.99375663e-01 2.56006267e-02 -2.43493942e-02 9.44278354e+01] [ 2.43687835e-02 -4.45622876e-04 9.99702938e-01 3.32743073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72275509600001 meters 0.01903653599453254 Centerline is valid? [True, True] Translation: X:129.29, Y:94.45, Z:3.33 [[ 2.68340102e-02 -9.99639360e-01 -1.04189307e-03 1.29292550e+02] [ 9.99353195e-01 2.68512603e-02 -2.39207170e-02 9.44547962e+01] [ 2.39400664e-02 -3.99330403e-04 9.99713316e-01 3.32867584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75275509600002 meters 0.01835356098655771 Centerline is valid? [True, True] Translation: X:129.29, Y:94.48, Z:3.33 [[ 2.88294096e-02 -9.99583854e-01 -9.92435677e-04 1.29291854e+02] [ 9.99320060e-01 2.88446026e-02 -2.29653354e-02 9.44829777e+01] [ 2.29844049e-02 -3.29683818e-04 9.99735769e-01 3.32999354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78275509600002 meters 0.018029920160491993 Centerline is valid? [True, True] Translation: X:129.29, Y:94.51, Z:3.33 [[ 2.90773083e-02 -9.99576685e-01 -9.79797542e-04 1.29292459e+02] [ 9.99315624e-01 2.90921079e-02 -2.28458710e-02 9.45103503e+01] [ 2.28647044e-02 -3.14830557e-04 9.99738519e-01 3.33056283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81275509600002 meters 0.018156724166285595 Centerline is valid? [True, True] Translation: X:129.29, Y:94.54, Z:3.33 [[ 2.85814538e-02 -9.99590994e-01 -9.72264293e-04 1.29293674e+02] [ 9.99329478e-01 2.85962170e-02 -2.28659178e-02 9.45365086e+01] [ 2.28843686e-02 -3.18071196e-04 9.99738068e-01 3.33094891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84275509600002 meters 0.0182608550546421 Centerline is valid? [True, True] Translation: X:129.30, Y:94.56, Z:3.33 [[ 2.80259089e-02 -9.99606738e-01 -9.58223995e-04 1.29295344e+02] [ 9.99348193e-01 2.80404547e-02 -2.27359369e-02 9.45635877e+01] [ 2.27538647e-02 -3.20404123e-04 9.99741046e-01 3.33118851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87275509600002 meters 0.019050210899824 Centerline is valid? [True, True] Translation: X:129.30, Y:94.59, Z:3.33 [[ 2.63147211e-02 -9.99653267e-01 -9.39200244e-04 1.29298926e+02] [ 9.99400866e-01 2.63291835e-02 -2.24651325e-02 9.45901325e+01] [ 2.24820714e-02 -3.47473842e-04 9.99747186e-01 3.33169774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90275509600002 meters 0.019076708467714476 Centerline is valid? [True, True] Translation: X:129.30, Y:94.62, Z:3.33 [[ 2.48566434e-02 -9.99690601e-01 -9.21302893e-04 1.29299836e+02] [ 9.99444414e-01 2.48709701e-02 -2.21878126e-02 9.46174557e+01] [ 2.22038615e-02 -3.69276483e-04 9.99753396e-01 3.33252245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93275509600002 meters 0.019511941599009406 Centerline is valid? [True, True] Translation: X:129.30, Y:94.65, Z:3.33 [[ 2.20954680e-02 -9.99755486e-01 -8.71043077e-04 1.29301632e+02] [ 9.99531895e-01 2.21089507e-02 -2.11467479e-02 9.46457806e+01] [ 2.11608350e-02 -4.03388046e-04 9.99776003e-01 3.33411161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96275509600002 meters 0.020460686758175244 Centerline is valid? [True, True] Translation: X:129.30, Y:94.67, Z:3.33 [[ 2.04936790e-02 -9.99789621e-01 -8.50412614e-04 1.29304186e+02] [ 9.99573152e-01 2.05069411e-02 -2.08081420e-02 9.46715200e+01] [ 2.08212038e-02 -4.23614233e-04 9.99783126e-01 3.33445501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99275509600002 meters 0.0202161236130902 Centerline is valid? [True, True] Translation: X:129.30, Y:94.70, Z:3.34 [[ 1.93355835e-02 -9.99812712e-01 -8.22534131e-04 1.29304924e+02] [ 9.99606530e-01 1.93483035e-02 -2.03083134e-02 9.46984997e+01] [ 2.03204246e-02 -4.29537399e-04 9.99793427e-01 3.33525156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02275509600003 meters 0.02061675359612041 Centerline is valid? [True, True] Translation: X:129.31, Y:94.73, Z:3.34 [[ 1.77274140e-02 -9.99842538e-01 -7.98157104e-04 1.29307156e+02] [ 9.99645012e-01 1.77397804e-02 -1.98783809e-02 9.47267059e+01] [ 1.98894099e-02 -4.45481481e-04 9.99802087e-01 3.33544852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.052755096 meters 0.02099391966210347 Centerline is valid? [True, True] Translation: X:129.31, Y:94.75, Z:3.34 [[ 1.69832462e-02 -9.99855454e-01 -8.00643586e-04 1.29309081e+02] [ 9.99653390e-01 1.69959138e-02 -2.01057154e-02 9.47526410e+01] [ 2.01164169e-02 -4.58905760e-04 9.99797539e-01 3.33548617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.082755096 meters 0.021661838888953667 Centerline is valid? [True, True] Translation: X:129.31, Y:94.78, Z:3.33 [[ 1.70791612e-02 -9.99853809e-01 -8.14591995e-04 1.29311638e+02] [ 9.99640490e-01 1.70923475e-02 -2.06577577e-02 9.47790483e+01] [ 2.06686610e-02 -4.61481966e-04 9.99786274e-01 3.33401223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.112755096 meters 0.020726827904732945 Centerline is valid? [True, True] Translation: X:129.31, Y:94.81, Z:3.33 [[ 1.72856172e-02 -9.99850250e-01 -8.27645431e-04 1.29310612e+02] [ 9.99625705e-01 1.72992790e-02 -2.11939944e-02 9.48064505e+01] [ 2.12051383e-02 -4.60984373e-04 9.99775040e-01 3.33357785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.142755096 meters 0.021391642014973993 Centerline is valid? [True, True] Translation: X:129.31, Y:94.83, Z:3.33 [[ 1.79337714e-02 -9.99838826e-01 -8.38330341e-04 1.29312492e+02] [ 9.99604019e-01 1.79477312e-02 -2.16721994e-02 9.48329552e+01] [ 2.16837525e-02 -4.49334108e-04 9.99764779e-01 3.33295266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.172755096 meters 0.020460942870954037 Centerline is valid? [True, True] Translation: X:129.31, Y:94.86, Z:3.33 [[ 1.87482982e-02 -9.99823882e-01 -8.40765846e-04 1.29311049e+02] [ 9.99582954e-01 1.87622403e-02 -2.19521333e-02 9.48590060e+01] [ 2.19640418e-02 -4.28850066e-04 9.99758669e-01 3.33261119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.202755096 meters 0.019896987178320582 Centerline is valid? [True, True] Translation: X:129.31, Y:94.89, Z:3.33 [[ 2.08420589e-02 -9.99782411e-01 -8.60367889e-04 1.29310328e+02] [ 9.99524792e-01 2.08562215e-02 -2.26982067e-02 9.48863852e+01] [ 2.27112118e-02 -3.86881674e-04 9.99741992e-01 3.33195736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.232755096 meters 0.019304597237713904 Centerline is valid? [True, True] Translation: X:129.31, Y:94.91, Z:3.33 [[ 2.16344517e-02 -9.99765579e-01 -8.59185920e-04 1.29309889e+02] [ 9.99503771e-01 2.16484502e-02 -2.28813559e-02 9.49138540e+01] [ 2.28945920e-02 -3.63733980e-04 9.99737818e-01 3.33238992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.262755096 meters 0.01907214025729987 Centerline is valid? [True, True] Translation: X:129.31, Y:94.94, Z:3.33 [[ 2.34492950e-02 -9.99724656e-01 -8.61743781e-04 1.29310437e+02] [ 9.99456069e-01 2.34629710e-02 -2.31744329e-02 9.49398766e+01] [ 2.31882710e-02 -3.17850939e-04 9.99731065e-01 3.33241137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.292755096 meters 0.018666944842134423 Centerline is valid? [True, True] Translation: X:129.31, Y:94.97, Z:3.33 [[ 2.40131464e-02 -9.99711271e-01 -8.62188021e-04 1.29310748e+02] [ 9.99436810e-01 2.40267572e-02 -2.34260096e-02 9.49665812e+01] [ 2.34399614e-02 -2.99170247e-04 9.99725202e-01 3.33306354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.322755096 meters 0.018256367289722828 Centerline is valid? [True, True] Translation: X:129.31, Y:94.99, Z:3.33 [[ 2.43075140e-02 -9.99704156e-01 -8.63359123e-04 1.29310964e+02] [ 9.99423061e-01 2.43211530e-02 -2.37070957e-02 9.49937333e+01] [ 2.37210800e-02 -2.86600456e-04 9.99718575e-01 3.33364818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.352755096 meters 0.018204311631989007 Centerline is valid? [True, True] Translation: X:129.31, Y:95.02, Z:3.33 [[ 2.44331719e-02 -9.99701080e-01 -8.77640542e-04 1.29312282e+02] [ 9.99404542e-01 2.44473007e-02 -2.43493559e-02 9.50200825e+01] [ 2.43635333e-02 -2.82185945e-04 9.99703125e-01 3.33398953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.382755096 meters 0.01886565807509785 Centerline is valid? [True, True] Translation: X:129.31, Y:95.05, Z:3.33 [[ 2.40419206e-02 -9.99710584e-01 -8.56571891e-04 1.29314843e+02] [ 9.99422160e-01 2.40555601e-02 -2.40140978e-02 9.50465214e+01] [ 2.40277531e-02 -2.78731896e-04 9.99711253e-01 3.33367314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.412755096 meters 0.019011474798965932 Centerline is valid? [True, True] Translation: X:129.32, Y:95.07, Z:3.33 [[ 2.32073348e-02 -9.99730314e-01 -8.47989051e-04 1.29315779e+02] [ 9.99441658e-01 2.32210118e-02 -2.40240928e-02 9.50732544e+01] [ 2.40373050e-02 -2.89980417e-04 9.99711020e-01 3.33437389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.442755096 meters 0.01875448972468377 Centerline is valid? [True, True] Translation: X:129.32, Y:95.10, Z:3.34 [[ 2.18192021e-02 -9.99761589e-01 -8.29575444e-04 1.29315571e+02] [ 9.99479577e-01 2.18327518e-02 -2.37466930e-02 9.51000099e+01] [ 2.37591434e-02 -3.11009821e-04 9.99717663e-01 3.33588525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47275509600001 meters 0.019198941875746844 Centerline is valid? [True, True] Translation: X:129.32, Y:95.13, Z:3.34 [[ 2.05931907e-02 -9.99787608e-01 -8.11471102e-04 1.29317191e+02] [ 9.99511875e-01 2.06065699e-02 -2.34815105e-02 9.51251090e+01] [ 2.34932448e-02 -3.27515779e-04 9.99723942e-01 3.33639168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50275509600002 meters 0.018942447937174457 Centerline is valid? [True, True] Translation: X:129.32, Y:95.15, Z:3.34 [[ 1.93407980e-02 -9.99812638e-01 -7.89514632e-04 1.29317637e+02] [ 9.99545591e-01 1.93538806e-02 -2.31092673e-02 9.51525508e+01] [ 2.31202177e-02 -3.42204199e-04 9.99732633e-01 3.33754495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53275509600002 meters 0.019790538550924993 Centerline is valid? [True, True] Translation: X:129.32, Y:95.18, Z:3.34 [[ 1.60240881e-02 -9.99871297e-01 -7.85905404e-04 1.29321364e+02] [ 9.99601005e-01 1.60380318e-02 -2.32510876e-02 9.51792125e+01] [ 2.32606995e-02 -4.13014356e-04 9.99729348e-01 3.33822699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56275509600002 meters 0.020129621523140847 Centerline is valid? [True, True] Translation: X:129.32, Y:95.21, Z:3.34 [[ 1.43075900e-02 -9.99897318e-01 -8.04317109e-04 1.29323436e+02] [ 9.99607706e-01 1.43228066e-02 -2.40684640e-02 9.52068516e+01] [ 2.40775127e-02 -4.59639865e-04 9.99709989e-01 3.33858778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59275509600002 meters 0.02050580168603527 Centerline is valid? [True, True] Translation: X:129.33, Y:95.23, Z:3.34 [[ 1.23497197e-02 -9.99923424e-01 -7.93841570e-04 1.29325176e+02] [ 9.99635250e-01 1.23652220e-02 -2.40097549e-02 9.52344296e+01] [ 2.40177324e-02 -4.97038273e-04 9.99711409e-01 3.33917808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62275509600002 meters 0.022436500466845574 Centerline is valid? [True, True] Translation: X:129.33, Y:95.26, Z:3.34 [[ 9.23751340e-03 -9.99957021e-01 -7.90859071e-04 1.29329389e+02] [ 9.99664855e-01 9.25393607e-03 -2.41773012e-02 9.52606200e+01] [ 2.41835806e-02 -5.67255875e-04 9.99707374e-01 3.33873639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65275509600002 meters 0.022233124552518514 Centerline is valid? [True, True] Translation: X:129.33, Y:95.29, Z:3.34 [[ 7.46280269e-03 -9.99971854e-01 -7.73745837e-04 1.29329398e+02] [ 9.99685777e-01 7.47918014e-03 -2.39250799e-02 9.52879925e+01] [ 2.39301935e-02 -5.94954557e-04 9.99713455e-01 3.33944284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68275509600002 meters 0.023243750094067792 Centerline is valid? [True, True] Translation: X:129.33, Y:95.31, Z:3.34 [[ 4.82384636e-03 -9.99988077e-01 -7.59085194e-04 1.29330654e+02] [ 9.99706612e-01 4.84050423e-03 -2.37330719e-02 9.53148264e+01] [ 2.37364632e-02 -6.44377795e-04 9.99718043e-01 3.34022661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71275509600002 meters 0.023358836724455958 Centerline is valid? [True, True] Translation: X:129.33, Y:95.34, Z:3.34 [[ 3.40971748e-03 -9.99993904e-01 -7.52841063e-04 1.29330486e+02] [ 9.99710550e-01 3.42667907e-03 -2.38133113e-02 9.53420260e+01] [ 2.38157459e-02 -6.71426490e-04 9.99716139e-01 3.34093502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74275509600002 meters 0.023585794687852855 Centerline is valid? [True, True] Translation: X:129.33, Y:95.37, Z:3.34 [[ 2.19357161e-03 -9.99997306e-01 -7.58823790e-04 1.29330467e+02] [ 9.99702730e-01 2.21135040e-03 -2.42808858e-02 9.53688597e+01] [ 2.42824985e-02 -7.05336353e-04 9.99704888e-01 3.34116597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77275509600003 meters 0.024494608911225308 Centerline is valid? [True, True] Translation: X:129.33, Y:95.40, Z:3.34 [[ 6.23353342e-04 -9.99999521e-01 -7.54059679e-04 1.29331260e+02] [ 9.99701770e-01 6.41576075e-04 -2.44122979e-02 9.53951504e+01] [ 2.44127701e-02 -7.38617308e-04 9.99701691e-01 3.34137808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.802755096 meters 0.02476902332109792 Centerline is valid? [True, True] Translation: X:129.33, Y:95.42, Z:3.34 [[-1.00964973e-04 -9.99999713e-01 -7.51184342e-04 1.29331580e+02] [ 9.99696994e-01 -8.24437581e-05 -2.46153250e-02 9.54223988e+01] [ 2.46152560e-02 -7.53442014e-04 9.99696715e-01 3.34172302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.832755096 meters 0.02497632285007856 Centerline is valid? [True, True] Translation: X:129.33, Y:95.45, Z:3.34 [[-5.48727317e-04 -9.99999569e-01 -7.48311034e-04 1.29331901e+02] [ 9.99691885e-01 -5.29988090e-04 -2.48163985e-02 9.54483852e+01] [ 2.48159912e-02 -7.61697904e-04 9.99691746e-01 3.34188728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.862755096 meters 0.02381224336845563 Centerline is valid? [True, True] Translation: X:129.33, Y:95.48, Z:3.34 [[-7.87256151e-04 -9.99999415e-01 -7.41240974e-04 1.29328988e+02] [ 9.99689682e-01 -7.68556296e-04 -2.48987921e-02 9.54754832e+01] [ 2.48982079e-02 -7.60612681e-04 9.99689702e-01 3.34222306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.892755096 meters 0.02478957895179296 Centerline is valid? [True, True] Translation: X:129.33, Y:95.50, Z:3.34 [[-1.17409587e-03 -9.99999054e-01 -7.16237440e-04 1.29328454e+02] [ 9.99702767e-01 -1.15630586e-03 -2.43524276e-02 9.55032747e+01] [ 2.43515764e-02 -7.44616635e-04 9.99703179e-01 3.34108384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.922755096 meters 0.023470401240780744 Centerline is valid? [True, True] Translation: X:129.33, Y:95.53, Z:3.34 [[-7.65851631e-04 -9.99999451e-01 -7.15080289e-04 1.29327558e+02] [ 9.99696669e-01 -7.48016401e-04 -2.46172841e-02 9.55310077e+01] [ 2.46167357e-02 -7.33716570e-04 9.99696693e-01 3.34285991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.952755096 meters 0.024384740229375448 Centerline is valid? [True, True] Translation: X:129.33, Y:95.56, Z:3.34 [[-9.10728512e-04 -9.99999360e-01 -6.71966950e-04 1.29326395e+02] [ 9.99725769e-01 -8.94754925e-04 -2.34005721e-02 9.55581230e+01] [ 2.33999559e-02 -6.93094244e-04 9.99725943e-01 3.34270051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.982755096 meters 0.023431810373015824 Centerline is valid? [True, True] Translation: X:129.33, Y:95.59, Z:3.34 [[-4.45703800e-04 -9.99999689e-01 -6.50656850e-04 1.29326243e+02] [ 9.99736737e-01 -4.30660145e-04 -2.29405904e-02 9.55850700e+01] [ 2.29403030e-02 -6.60710265e-04 9.99736618e-01 3.34433793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.012755096 meters 0.023576218400940287 Centerline is valid? [True, True] Translation: X:129.32, Y:95.61, Z:3.34 [[ 9.79218968e-05 -9.99999812e-01 -6.05106851e-04 1.29324279e+02] [ 9.99766845e-01 1.10964954e-04 -2.15926620e-02 9.56124443e+01] [ 2.15927251e-02 -6.02851373e-04 9.99766668e-01 3.34485313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.042755096 meters 0.022621947894225742 Centerline is valid? [True, True] Translation: X:129.32, Y:95.64, Z:3.35 [[ 6.60440349e-04 -9.99999608e-01 -5.90381379e-04 1.29323757e+02] [ 9.99772019e-01 6.72889628e-04 -2.13414312e-02 9.56387783e+01] [ 2.13418200e-02 -5.76152041e-04 9.99772071e-01 3.34629254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.072755096 meters 0.022607484018575125 Centerline is valid? [True, True] Translation: X:129.32, Y:95.67, Z:3.35 [[ 1.02837100e-03 -9.99999307e-01 -5.72653165e-04 1.29323269e+02] [ 9.99779285e-01 1.04016089e-03 -2.09832904e-02 9.56652865e+01] [ 2.09838716e-02 -5.50948164e-04 9.99779663e-01 3.34693366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.102755096 meters 0.02510722420950086 Centerline is valid? [True, True] Translation: X:129.32, Y:95.69, Z:3.35 [[ 7.82303078e-04 -9.99999547e-01 -5.41445397e-04 1.29323795e+02] [ 9.99797538e-01 7.93031395e-04 -2.01060840e-02 9.56908676e+01] [ 2.01065043e-02 -5.25606724e-04 9.99797706e-01 3.34581991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.132755096 meters 0.02396604639410265 Centerline is valid? [True, True] Translation: X:129.32, Y:95.72, Z:3.35 [[ 4.62502526e-04 -9.99999757e-01 -5.21245206e-04 1.29321774e+02] [ 9.99806872e-01 4.72654100e-04 -1.96467648e-02 9.57175766e+01] [ 1.96470064e-02 -5.12057860e-04 9.99806848e-01 3.34639739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.162755096 meters 0.02291375182184398 Centerline is valid? [True, True] Translation: X:129.32, Y:95.74, Z:3.35 [[ 8.28890601e-05 -9.99999873e-01 -4.96168988e-04 1.29321660e+02] [ 9.99820067e-01 9.22860172e-05 -1.89690628e-02 9.57439678e+01] [ 1.89691062e-02 -4.94507383e-04 9.99819948e-01 3.34817341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.192755096 meters 0.023765150339233668 Centerline is valid? [True, True] Translation: X:129.32, Y:95.77, Z:3.35 [[-2.11287772e-03 -9.99997666e-01 -4.52370827e-04 1.29322607e+02] [ 9.99844051e-01 -2.10462121e-03 -1.75341172e-02 9.57711166e+01] [ 1.75331242e-02 -4.89347726e-04 9.99846163e-01 3.34937813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22275509600001 meters 0.023437239764023638 Centerline is valid? [True, True] Translation: X:129.32, Y:95.80, Z:3.35 [[-3.65095223e-03 -9.99993247e-01 -4.21081275e-04 1.29322429e+02] [ 9.99856761e-01 -3.64349415e-03 -1.65282174e-02 9.57985442e+01] [ 1.65265716e-02 -4.81364692e-04 9.99863311e-01 3.35021183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25275509600002 meters 0.025344870854410475 Centerline is valid? [True, True] Translation: X:129.33, Y:95.82, Z:3.35 [[-6.95454988e-03 -9.99975743e-01 -3.83246061e-04 1.29325873e+02] [ 9.99859807e-01 -6.94790485e-03 -1.52345722e-02 9.58241320e+01] [ 1.52315399e-02 -4.89141925e-04 9.99883874e-01 3.35116153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28275509600002 meters 0.025926789619195905 Centerline is valid? [True, True] Translation: X:129.33, Y:95.85, Z:3.35 [[-9.17198738e-03 -9.99957868e-01 -3.69745099e-04 1.29327048e+02] [ 9.99846800e-01 -9.16545471e-03 -1.49120997e-02 9.58508232e+01] [ 1.49080825e-02 -5.06462044e-04 9.99888740e-01 3.35159339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31275509600002 meters 0.02782995350093688 Centerline is valid? [True, True] Translation: X:129.33, Y:95.88, Z:3.35 [[-1.11824770e-02 -9.99937413e-01 -3.50554886e-04 1.29330475e+02] [ 9.99834653e-01 -1.11762991e-02 -1.43442505e-02 9.58770193e+01] [ 1.43394348e-02 -5.10901175e-04 9.99897055e-01 3.35229814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34275509600002 meters 0.02870784908122239 Centerline is valid? [True, True] Translation: X:129.33, Y:95.90, Z:3.35 [[-1.39479272e-02 -9.99902663e-01 -3.46472019e-04 1.29332091e+02] [ 9.99799110e-01 -1.39414929e-02 -1.44005086e-02 9.59041321e+01] [ 1.43942766e-02 -5.47259663e-04 9.99896247e-01 3.35238947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37275509600002 meters 0.0267251351510523 Centerline is valid? [True, True] Translation: X:129.33, Y:95.93, Z:3.35 [[-1.49129980e-02 -9.99888738e-01 -3.38153638e-04 1.29329719e+02] [ 9.99787170e-01 -1.49066598e-02 -1.42620542e-02 9.59323788e+01] [ 1.42554266e-02 -5.50771654e-04 9.99898235e-01 3.35222249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40275509600002 meters 0.028809551935013698 Centerline is valid? [True, True] Translation: X:129.33, Y:95.96, Z:3.35 [[-1.57518839e-02 -9.99875874e-01 -3.39257312e-04 1.29333222e+02] [ 9.99770870e-01 -1.57453093e-02 -1.45014646e-02 9.59587485e+01] [ 1.44943229e-02 -5.67604964e-04 9.99894791e-01 3.35251417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43275509600002 meters 0.02998474313128679 Centerline is valid? [True, True] Translation: X:129.34, Y:95.98, Z:3.35 [[-1.54817313e-02 -9.99880093e-01 -3.40315196e-04 1.29335470e+02] [ 9.99770861e-01 -1.54750061e-02 -1.47902192e-02 9.59841322e+01] [ 1.47831794e-02 -5.69215416e-04 9.99890561e-01 3.35231512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46275509600002 meters 0.02883002295147166 Centerline is valid? [True, True] Translation: X:129.33, Y:96.01, Z:3.35 [[-1.53413713e-02 -9.99882258e-01 -3.34526225e-04 1.29334041e+02] [ 9.99772847e-01 -1.53347404e-02 -1.48020102e-02 9.60104528e+01] [ 1.47951375e-02 -5.61533372e-04 9.99890388e-01 3.35219453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49275509600002 meters 0.026329232400127283 Centerline is valid? [True, True] Translation: X:129.33, Y:96.04, Z:3.35 [[-1.34010446e-02 -9.99910139e-01 -3.56097152e-04 1.29331535e+02] [ 9.99781353e-01 -1.33935999e-02 -1.60579255e-02 9.60375308e+01] [ 1.60517131e-02 -5.71212269e-04 9.99871000e-01 3.35168452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52275509600003 meters 0.026333490429205676 Centerline is valid? [True, True] Translation: X:129.33, Y:96.06, Z:3.35 [[-1.23281534e-02 -9.99923939e-01 -3.65159109e-04 1.29332276e+02] [ 9.99783704e-01 -1.23203054e-02 -1.67557536e-02 9.60634290e+01] [ 1.67499803e-02 -5.71647628e-04 9.99859546e-01 3.35126295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.552755096 meters 0.026333490429205676 Centerline is valid? [True, True] Translation: X:129.33, Y:96.09, Z:3.35 [[-1.27166994e-02 -9.99919074e-01 -3.60773322e-04 1.29332583e+02] [ 9.99778839e-01 -1.27088703e-02 -1.67558480e-02 9.60893646e+01] [ 1.67499070e-02 -5.73772615e-04 9.99859546e-01 3.35174718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.582755096 meters 0.027794647703133692 Centerline is valid? [True, True] Translation: X:129.34, Y:96.12, Z:3.35 [[-1.17006516e-02 -9.99931482e-01 -3.56406561e-04 1.29335162e+02] [ 9.99789458e-01 -1.16929797e-02 -1.68616220e-02 9.61154702e+01] [ 1.68562992e-02 -5.53623486e-04 9.99857769e-01 3.35186448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.612755096 meters 0.02449286072824712 Centerline is valid? [True, True] Translation: X:129.33, Y:96.14, Z:3.35 [[-1.06795958e-02 -9.99942907e-01 -3.58448187e-04 1.29330859e+02] [ 9.99793982e-01 -1.06718160e-02 -1.72657402e-02 9.61430032e+01] [ 1.72609292e-02 -5.42765468e-04 9.99850872e-01 3.35209839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.642755096 meters 0.025818646093418628 Centerline is valid? [True, True] Translation: X:129.33, Y:96.17, Z:3.35 [[-8.68974386e-03 -9.99962181e-01 -3.52720822e-04 1.29333883e+02] [ 9.99812914e-01 -8.68234989e-03 -1.72844881e-02 9.61692141e+01] [ 1.72807720e-02 -5.02852607e-04 9.99850550e-01 3.35277620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.672755096 meters 0.023508018191816426 Centerline is valid? [True, True] Translation: X:129.33, Y:96.20, Z:3.35 [[-8.30456253e-03 -9.99965459e-01 -3.38627679e-04 1.29330679e+02] [ 9.99822898e-01 -8.29765849e-03 -1.68914347e-02 9.61955096e+01] [ 1.68880415e-02 -4.78843683e-04 9.99857272e-01 3.35348350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.702755096 meters 0.022736709841154952 Centerline is valid? [True, True] Translation: X:129.33, Y:96.22, Z:3.36 [[-7.37559181e-03 -9.99972750e-01 -3.15129534e-04 1.29330838e+02] [ 9.99844634e-01 -7.36960072e-03 -1.60124162e-02 9.62222784e+01] [ 1.60096575e-02 -4.33181620e-04 9.99871743e-01 3.35509682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.732755096 meters 0.02289058784833364 Centerline is valid? [True, True] Translation: X:129.33, Y:96.25, Z:3.36 [[-7.61171073e-03 -9.99970983e-01 -3.08867125e-04 1.29331989e+02] [ 9.99842958e-01 -7.60579217e-03 -1.60065792e-02 9.62479383e+01] [ 1.60037656e-02 -4.30656071e-04 9.99871839e-01 3.35629920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.762755096 meters 0.023208771683650143 Centerline is valid? [True, True] Translation: X:129.33, Y:96.27, Z:3.36 [[-7.97459789e-03 -9.99968159e-01 -2.94683174e-04 1.29333537e+02] [ 9.99847926e-01 -7.96906780e-03 -1.55119226e-02 9.62733613e+01] [ 1.55090803e-02 -4.18339705e-04 9.99879639e-01 3.35737446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.792755096 meters 0.023679043439102505 Centerline is valid? [True, True] Translation: X:129.33, Y:96.30, Z:3.36 [[-8.99869963e-03 -9.99959471e-01 -2.80784207e-04 1.29334957e+02] [ 9.99846989e-01 -8.99347437e-03 -1.50038736e-02 9.63002064e+01] [ 1.50007402e-02 -4.15756595e-04 9.99887396e-01 3.35720694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.822755096 meters 0.022635711721250985 Centerline is valid? [True, True] Translation: X:129.34, Y:96.33, Z:3.36 [[-9.38170610e-03 -9.99955953e-01 -2.75705776e-04 1.29335825e+02] [ 9.99843309e-01 -9.37650948e-03 -1.50145870e-02 9.63271329e+01] [ 1.50113405e-02 -4.16525018e-04 9.99887237e-01 3.35905026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.852755096 meters 0.025370653536153635 Centerline is valid? [True, True] Translation: X:129.34, Y:96.35, Z:3.36 [[-1.01963998e-02 -9.99947979e-01 -2.70002100e-04 1.29341185e+02] [ 9.99835721e-01 -1.01912078e-02 -1.49889889e-02 9.63533949e+01] [ 1.49854575e-02 -4.22791467e-04 9.99887622e-01 3.35994016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.882755096 meters 0.02389657401588442 Centerline is valid? [True, True] Translation: X:129.34, Y:96.38, Z:3.36 [[-1.09647888e-02 -9.99939849e-01 -2.69339517e-04 1.29341269e+02] [ 9.99823331e-01 -1.09593978e-02 -1.52708581e-02 9.63798765e+01] [ 1.52669878e-02 -4.36733667e-04 9.99883357e-01 3.35959496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.912755096 meters 0.0231755095986591 Centerline is valid? [True, True] Translation: X:129.34, Y:96.41, Z:3.36 [[-1.13603637e-02 -9.99935433e-01 -2.68002503e-04 1.29341276e+02] [ 9.99814830e-01 -1.13548295e-02 -1.55362342e-02 9.64067264e+01] [ 1.55321879e-02 -4.44450148e-04 9.99879270e-01 3.36005509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.942755096 meters 0.023255721397819937 Centerline is valid? [True, True] Translation: X:129.34, Y:96.43, Z:3.36 [[-1.18950919e-02 -9.99929216e-01 -2.63467360e-04 1.29342347e+02] [ 9.99807161e-01 -1.18895218e-02 -1.56294634e-02 9.64334843e+01] [ 1.56252245e-02 -4.49330456e-04 9.99877818e-01 3.36059375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97275509600001 meters 0.023088997010049715 Centerline is valid? [True, True] Translation: X:129.34, Y:96.46, Z:3.36 [[-1.19354897e-02 -9.99928737e-01 -2.54972098e-04 1.29343187e+02] [ 9.99809016e-01 -1.19301136e-02 -1.54791727e-02 9.64596307e+01] [ 1.54750277e-02 -4.39674909e-04 9.99880158e-01 3.36125005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00275509600002 meters 0.022356259462863844 Centerline is valid? [True, True] Translation: X:129.34, Y:96.49, Z:3.36 [[-1.08557108e-02 -9.99941044e-01 -2.50341827e-04 1.29343955e+02] [ 9.99819813e-01 -1.08504952e-02 -1.55758958e-02 9.64872827e+01] [ 1.55722611e-02 -4.19384139e-04 9.99878657e-01 3.36168678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03275509600002 meters 0.022687413976372292 Centerline is valid? [True, True] Translation: X:129.35, Y:96.51, Z:3.36 [[-1.05553460e-02 -9.99944260e-01 -2.47969167e-04 1.29345323e+02] [ 9.99820024e-01 -1.05501245e-02 -1.57675411e-02 9.65128211e+01] [ 1.57640461e-02 -4.14356389e-04 9.99875654e-01 3.36190071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06275509600002 meters 0.021833785582442436 Centerline is valid? [True, True] Translation: X:129.35, Y:96.54, Z:3.36 [[-8.72401804e-03 -9.99961913e-01 -2.52597540e-04 1.29345225e+02] [ 9.99825552e-01 -8.71865577e-03 -1.65181720e-02 9.65389715e+01] [ 1.65153406e-02 -3.96658306e-04 9.99863534e-01 3.36121092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09275509600002 meters 0.02206825921281482 Centerline is valid? [True, True] Translation: X:129.34, Y:96.57, Z:3.36 [[-7.90494304e-03 -9.99968723e-01 -2.56508820e-04 1.29344636e+02] [ 9.99820966e-01 -7.89936443e-03 -1.71940702e-02 9.65659687e+01] [ 1.71915062e-02 -3.92381042e-04 9.99852138e-01 3.35991388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12275509600002 meters 0.02039001680257483 Centerline is valid? [True, True] Translation: X:129.34, Y:96.59, Z:3.36 [[-6.99483329e-03 -9.99975507e-01 -2.42139441e-04 1.29344789e+02] [ 9.99837458e-01 -6.98984337e-03 -1.66192297e-02 9.65928606e+01] [ 1.66171301e-02 -3.58348824e-04 9.99861862e-01 3.36181442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15275509600002 meters 0.019043384640458735 Centerline is valid? [True, True] Translation: X:129.34, Y:96.62, Z:3.36 [[-3.79392264e-03 -9.99992776e-01 -2.31258089e-04 1.29342328e+02] [ 9.99860537e-01 -3.78965953e-03 -1.62648454e-02 9.66188726e+01] [ 1.62638515e-02 -2.92933402e-04 9.99867692e-01 3.36316734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18275509600002 meters 0.018525177878371917 Centerline is valid? [True, True] Translation: X:129.34, Y:96.65, Z:3.36 [[-2.98398462e-03 -9.99995522e-01 -2.26584193e-04 1.29341922e+02] [ 9.99861966e-01 -2.97988249e-03 -1.63452864e-02 9.66455348e+01] [ 1.63445380e-02 -2.75327000e-04 9.99866381e-01 3.36335379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21275509600002 meters 0.01813611537802908 Centerline is valid? [True, True] Translation: X:129.34, Y:96.67, Z:3.36 [[-2.39043174e-03 -9.99997117e-01 -2.28385452e-04 1.29341684e+02] [ 9.99853455e-01 -2.38621670e-03 -1.69521094e-02 9.66723579e+01] [ 1.69515156e-02 -2.68874844e-04 9.99856277e-01 3.36330048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24275509600002 meters 0.017590164654041646 Centerline is valid? [True, True] Translation: X:129.34, Y:96.70, Z:3.36 [[-1.07330293e-03 -9.99999398e-01 -2.30178234e-04 1.29340578e+02] [ 9.99844729e-01 -1.06908830e-03 -1.75890413e-02 9.66974630e+01] [ 1.75887846e-02 -2.49020863e-04 9.99845274e-01 3.36294094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27275509600003 meters 0.01750718109471889 Centerline is valid? [True, True] Translation: X:129.34, Y:96.72, Z:3.36 [[-1.04109975e-03 -9.99999433e-01 -2.22601642e-04 1.29340383e+02] [ 9.99845691e-01 -1.03703609e-03 -1.75362417e-02 9.67223975e+01] [ 1.75360009e-02 -2.40824270e-04 9.99846204e-01 3.36329980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.302755096 meters 0.01675542331864265 Centerline is valid? [True, True] Translation: X:129.34, Y:96.75, Z:3.36 [[-1.10878064e-03 -9.99999361e-01 -2.21106066e-04 1.29338730e+02] [ 9.99840479e-01 -1.10466285e-03 -1.78268312e-02 9.67490327e+01] [ 1.78265756e-02 -2.40836840e-04 9.99841065e-01 3.36328639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.332755096 meters 0.016885567206617578 Centerline is valid? [True, True] Translation: X:129.34, Y:96.77, Z:3.36 [[-1.55102300e-03 -9.99998774e-01 -2.15724795e-04 1.29338917e+02] [ 9.99837599e-01 -1.54689966e-03 -1.79550450e-02 9.67742760e+01] [ 1.79546893e-02 -2.43538448e-04 9.99838772e-01 3.36349324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.362755096 meters 0.01714743052667398 Centerline is valid? [True, True] Translation: X:129.34, Y:96.80, Z:3.36 [[-2.29390425e-03 -9.99997345e-01 -2.17518019e-04 1.29339511e+02] [ 9.99821391e-01 -2.28941994e-03 -1.87601646e-02 9.68000510e+01] [ 1.87596168e-02 -2.60513190e-04 9.99823989e-01 3.36344992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.392755096 meters 0.017975038647408927 Centerline is valid? [True, True] Translation: X:129.34, Y:96.83, Z:3.36 [[-3.32877090e-03 -9.99994437e-01 -2.13279789e-04 1.29341053e+02] [ 9.99812923e-01 -3.32410274e-03 -1.90543649e-02 9.68252806e+01] [ 1.90535499e-02 -2.76667505e-04 9.99818426e-01 3.36356970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.422755096 meters 0.018225086810222457 Centerline is valid? [True, True] Translation: X:129.34, Y:96.85, Z:3.36 [[-4.22726692e-03 -9.99991044e-01 -2.04639553e-04 1.29341291e+02] [ 9.99811739e-01 -4.22263340e-03 -1.89382024e-02 9.68505558e+01] [ 1.89371687e-02 -2.84657864e-04 9.99820635e-01 3.36409355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.452755096 meters 0.01743222572990744 Centerline is valid? [True, True] Translation: X:129.34, Y:96.88, Z:3.36 [[-6.28269501e-03 -9.99980244e-01 -1.98378231e-04 1.29338387e+02] [ 9.99798933e-01 -6.27777783e-03 -1.90442497e-02 9.68773903e+01] [ 1.90426281e-02 -3.17987556e-04 9.99818622e-01 3.36441086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.482755096 meters 0.017910569919949756 Centerline is valid? [True, True] Translation: X:129.34, Y:96.90, Z:3.36 [[-8.12972783e-03 -9.99966935e-01 -1.92083114e-04 1.29339148e+02] [ 9.99784037e-01 -8.12456663e-03 -1.91277359e-02 9.69046852e+01] [ 1.91255428e-02 -3.47544918e-04 9.99817030e-01 3.36473442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.512755096 meters 0.019929941562203853 Centerline is valid? [True, True] Translation: X:129.34, Y:96.93, Z:3.37 [[-1.10763377e-02 -9.99938639e-01 -1.81947952e-04 1.29342514e+02] [ 9.99762570e-01 -1.10709723e-02 -1.87679807e-02 9.69309985e+01] [ 1.87648147e-02 -3.89785243e-04 9.99823849e-01 3.36549040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.542755096 meters 0.019461523193891342 Centerline is valid? [True, True] Translation: X:129.34, Y:96.96, Z:3.37 [[-1.27311627e-02 -9.99918940e-01 -1.76164021e-04 1.29341708e+02] [ 9.99740417e-01 -1.27255602e-02 -1.88986249e-02 9.69585450e+01] [ 1.88948512e-02 -4.16719760e-04 9.99821390e-01 3.36612920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.572755096 meters 0.020042575567692126 Centerline is valid? [True, True] Translation: X:129.34, Y:96.99, Z:3.37 [[-1.45410551e-02 -9.99894259e-01 -1.69512295e-04 1.29342851e+02] [ 9.99715667e-01 -1.45352533e-02 -1.89026870e-02 9.69853833e+01] [ 1.88982243e-02 -4.44329110e-04 9.99821314e-01 3.36701067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.602755096 meters 0.021082401671074835 Centerline is valid? [True, True] Translation: X:129.34, Y:97.01, Z:3.37 [[-1.74472750e-02 -9.99847772e-01 -1.61575571e-04 1.29343958e+02] [ 9.99672020e-01 -1.74411777e-02 -1.87525247e-02 9.70128663e+01] [ 1.87468519e-02 -4.88703033e-04 9.99824143e-01 3.36834342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.632755096 meters 0.021739719461669815 Centerline is valid? [True, True] Translation: X:129.34, Y:97.04, Z:3.37 [[-1.91079307e-02 -9.99817415e-01 -1.56346309e-04 1.29343887e+02] [ 9.99638250e-01 -1.91015458e-02 -1.89340915e-02 9.70399630e+01] [ 1.89276480e-02 -5.18081059e-04 9.99820722e-01 3.36834644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.662755096 meters 0.02185039055181696 Centerline is valid? [True, True] Translation: X:129.34, Y:97.07, Z:3.37 [[-2.02560297e-02 -9.99794814e-01 -1.50672828e-04 1.29343352e+02] [ 9.99613036e-01 -2.02494726e-02 -1.90718719e-02 9.70676598e+01] [ 1.90649076e-02 -5.36934926e-04 9.99818104e-01 3.36859619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.692755096 meters 0.023135219861195596 Centerline is valid? [True, True] Translation: X:129.34, Y:97.09, Z:3.37 [[-2.18731803e-02 -9.99760742e-01 -1.52194371e-04 1.29343748e+02] [ 9.99556267e-01 -2.18656275e-02 -2.02277726e-02 9.70933892e+01] [ 2.02196051e-02 -5.94572555e-04 9.99795386e-01 3.36830041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72275509600001 meters 0.022386963831319658 Centerline is valid? [True, True] Translation: X:129.34, Y:97.12, Z:3.37 [[-2.23807256e-02 -9.99749510e-01 -1.45663200e-04 1.29341869e+02] [ 9.99543675e-01 -2.23731607e-02 -2.02949164e-02 9.71202123e+01] [ 2.02865738e-02 -5.99811685e-04 9.99794026e-01 3.36871316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75275509600002 meters 0.02342765314127063 Centerline is valid? [True, True] Translation: X:129.34, Y:97.15, Z:3.37 [[-2.27854491e-02 -9.99740368e-01 -1.42496057e-04 1.29342885e+02] [ 9.99521389e-01 -2.27774747e-02 -2.09327192e-02 9.71466705e+01] [ 2.09240387e-02 -6.19389264e-04 9.99780876e-01 3.36868833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78275509600002 meters 0.023201823385561746 Centerline is valid? [True, True] Translation: X:129.34, Y:97.17, Z:3.37 [[-2.30553065e-02 -9.99734182e-01 -1.36181647e-04 1.29341837e+02] [ 9.99509840e-01 -2.30472468e-02 -2.11873623e-02 9.71729709e+01] [ 2.11785917e-02 -6.24596029e-04 9.99775513e-01 3.36922415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81275509600002 meters 0.022942451614302264 Centerline is valid? [True, True] Translation: X:129.34, Y:97.20, Z:3.37 [[-2.20893699e-02 -9.99755992e-01 -1.30002397e-04 1.29340268e+02] [ 9.99524522e-01 -2.20814572e-02 -2.15206487e-02 9.72003724e+01] [ 2.15125268e-02 -6.05318152e-04 9.99768396e-01 3.36893219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84275509600002 meters 0.024002237363232506 Centerline is valid? [True, True] Translation: X:129.34, Y:97.23, Z:3.37 [[-2.17935378e-02 -9.99762485e-01 -1.21602206e-04 1.29340805e+02] [ 9.99534323e-01 -2.17859654e-02 -2.13660575e-02 9.72262038e+01] [ 2.13583335e-02 -5.87187560e-04 9.99771712e-01 3.36871385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87275509600002 meters 0.02199196645995388 Centerline is valid? [True, True] Translation: X:129.34, Y:97.25, Z:3.37 [[-1.98089384e-02 -9.99803777e-01 -1.18383432e-04 1.29335512e+02] [ 9.99553343e-01 -1.98013262e-02 -2.23835277e-02 9.72539348e+01] [ 2.23767914e-02 -5.61724476e-04 9.99749450e-01 3.36868264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90275509600002 meters 0.02172938325832141 Centerline is valid? [True, True] Translation: X:129.33, Y:97.28, Z:3.37 [[-1.88726169e-02 -9.99821890e-01 -1.11422281e-04 1.29334144e+02] [ 9.99569011e-01 -1.88653370e-02 -2.24920309e-02 9.72795129e+01] [ 2.24859228e-02 -5.35857742e-04 9.99747016e-01 3.36872322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93275509600002 meters 0.020614708213925158 Centerline is valid? [True, True] Translation: X:129.33, Y:97.31, Z:3.37 [[-1.79352374e-02 -9.99839145e-01 -1.03452513e-04 1.29331259e+02] [ 9.99581786e-01 -1.79282731e-02 -2.26898841e-02 9.73062727e+01] [ 2.26843796e-02 -5.10357704e-04 9.99742546e-01 3.36922626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96275509600002 meters 0.019912044775634012 Centerline is valid? [True, True] Translation: X:129.33, Y:97.33, Z:3.37 [[-1.60512218e-02 -9.99871167e-01 -9.12762706e-05 1.29327739e+02] [ 9.99634880e-01 -1.60454440e-02 -2.17405138e-02 9.73338403e+01] [ 2.17362483e-02 -4.40204753e-04 9.99763643e-01 3.37022612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99275509600002 meters 0.020322640358704656 Centerline is valid? [True, True] Translation: X:129.33, Y:97.36, Z:3.37 [[-1.56631917e-02 -9.99877321e-01 -8.17988573e-05 1.29327300e+02] [ 9.99653178e-01 -1.56579482e-02 -2.11743426e-02 9.73597541e+01] [ 2.11704642e-02 -4.13428275e-04 9.99775795e-01 3.37068198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02275509600003 meters 0.019569167413641734 Centerline is valid? [True, True] Translation: X:129.33, Y:97.39, Z:3.37 [[-1.56033343e-02 -9.99878258e-01 -7.16587498e-05 1.29325065e+02] [ 9.99669563e-01 -1.55986133e-02 -2.04315361e-02 9.73866486e+01] [ 2.04279310e-02 -3.90435159e-04 9.99791252e-01 3.37156919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.052755096 meters 0.020031977959040284 Centerline is valid? [True, True] Translation: X:129.32, Y:97.41, Z:3.37 [[-1.65609889e-02 -9.99862855e-01 -6.34679336e-05 1.29324421e+02] [ 9.99667385e-01 -1.65564961e-02 -1.97737695e-02 9.74127732e+01] [ 1.97700068e-02 -3.90920000e-04 9.99804478e-01 3.37205717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.082755096 meters 0.020353239339768067 Centerline is valid? [True, True] Translation: X:129.32, Y:97.44, Z:3.37 [[-1.76169048e-02 -9.99844809e-01 -5.52952730e-05 1.29324437e+02] [ 9.99655649e-01 -1.76124961e-02 -1.94520807e-02 9.74395553e+01] [ 1.94480880e-02 -3.97961686e-04 9.99810789e-01 3.37229931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.112755096 meters 0.0211892266410829 Centerline is valid? [True, True] Translation: X:129.33, Y:97.47, Z:3.37 [[-1.89579599e-02 -9.99820281e-01 -4.84344320e-05 1.29325382e+02] [ 9.99627803e-01 -1.89533598e-02 -1.96220460e-02 9.74657135e+01] [ 1.96176016e-02 -4.20410367e-04 9.99807468e-01 3.37236319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.142755096 meters 0.022830521983662214 Centerline is valid? [True, True] Translation: X:129.33, Y:97.49, Z:3.37 [[-2.15940803e-02 -9.99766820e-01 -4.09172578e-05 1.29328297e+02] [ 9.99581433e-01 -2.15892880e-02 -1.92577522e-02 9.74921648e+01] [ 1.92523783e-02 -4.56753580e-04 9.99814551e-01 3.37238967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.172755096 meters 0.023582588803368332 Centerline is valid? [True, True] Translation: X:129.33, Y:97.52, Z:3.37 [[-2.31311765e-02 -9.99732438e-01 -3.47787668e-05 1.29329358e+02] [ 9.99540106e-01 -2.31260441e-02 -1.96153739e-02 9.75186342e+01] [ 1.96093213e-02 -4.88489448e-04 9.99807599e-01 3.37253695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.202755096 meters 0.025160680600782234 Centerline is valid? [True, True] Translation: X:129.33, Y:97.55, Z:3.37 [[-2.62508426e-02 -9.99655387e-01 -2.72129638e-05 1.29331893e+02] [ 9.99472630e-01 -2.62455229e-02 -1.91215773e-02 9.75453030e+01] [ 1.91142735e-02 -5.29156129e-04 9.99817166e-01 3.37319607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.232755096 meters 0.026457678699233874 Centerline is valid? [True, True] Translation: X:129.33, Y:97.57, Z:3.37 [[-2.77818816e-02 -9.99614009e-01 -2.04195297e-05 1.29333890e+02] [ 9.99429394e-01 -2.77763581e-02 -1.92187249e-02 9.75708582e+01] [ 1.92107395e-02 -5.54340218e-04 9.99815303e-01 3.37371720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.262755096 meters 0.027399632549994255 Centerline is valid? [True, True] Translation: X:129.34, Y:97.60, Z:3.37 [[-2.94504273e-02 -9.99566242e-01 -1.31772937e-05 1.29335199e+02] [ 9.99386171e-01 -2.94448716e-02 -1.89810863e-02 9.75975847e+01] [ 1.89724651e-02 -5.72170309e-04 9.99819843e-01 3.37417937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.292755096 meters 0.028068981495254414 Centerline is valid? [True, True] Translation: X:129.34, Y:97.62, Z:3.37 [[-3.06431814e-02 -9.99530387e-01 -6.50877645e-06 1.29336227e+02] [ 9.99345352e-01 -3.06373834e-02 -1.92410792e-02 9.76239474e+01] [ 1.92318439e-02 -5.96112397e-04 9.99814873e-01 3.37481311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.322755096 meters 0.02958587760855605 Centerline is valid? [True, True] Translation: X:129.34, Y:97.65, Z:3.37 [[-3.25630073e-02 -9.99469685e-01 5.39650922e-08 1.29338405e+02] [ 9.99294019e-01 -3.25572850e-02 -1.87480010e-02 9.76490782e+01] [ 1.87380604e-02 -6.10437367e-04 9.99824241e-01 3.37498511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.352755096 meters 0.026457923959491605 Centerline is valid? [True, True] Translation: X:129.33, Y:97.68, Z:3.38 [[-3.28126704e-02 -9.99461519e-01 7.37120286e-06 1.29334062e+02] [ 9.99273735e-01 -3.28066483e-02 -1.93836886e-02 9.76752949e+01] [ 1.93734927e-02 -6.28664736e-04 9.99812119e-01 3.37503177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.382755096 meters 0.024433856847865636 Centerline is valid? [True, True] Translation: X:129.33, Y:97.70, Z:3.38 [[-3.33381205e-02 -9.99444130e-01 1.51153018e-05 1.29331270e+02] [ 9.99247023e-01 -3.33318460e-02 -1.98588740e-02 9.77021273e+01] [ 1.98483389e-02 -6.46953615e-04 9.99802793e-01 3.37505564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.412755096 meters 0.029524753357830773 Centerline is valid? [True, True] Translation: X:129.34, Y:97.73, Z:3.37 [[-3.20693076e-02 -9.99485647e-01 2.38706315e-05 1.29339268e+02] [ 9.99261810e-01 -3.20626310e-02 -2.11618094e-02 9.77287901e+01] [ 2.11516901e-02 -6.54791563e-04 9.99776064e-01 3.37368303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.442755096 meters 0.02890937749526073 Centerline is valid? [True, True] Translation: X:129.34, Y:97.76, Z:3.37 [[-3.11894195e-02 -9.99513491e-01 3.05593392e-05 1.29338312e+02] [ 9.99280509e-01 -3.11828095e-02 -2.15892714e-02 9.77550933e+01] [ 2.15797209e-02 -6.42819490e-04 9.99766924e-01 3.37327476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47275509600001 meters 0.02890937749526073 Centerline is valid? [True, True] Translation: X:129.34, Y:97.78, Z:3.37 [[-3.15606822e-02 -9.99501837e-01 3.79497438e-05 1.29337926e+02] [ 9.99268853e-01 -3.15541451e-02 -2.15892586e-02 9.77801874e+01] [ 2.15797011e-02 -6.43449732e-04 9.99766924e-01 3.37374286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50275509600002 meters 0.022782879443430652 Centerline is valid? [True, True] Translation: X:129.33, Y:97.81, Z:3.37 [[-3.03245884e-02 -9.99540103e-01 4.72575300e-05 1.29328640e+02] [ 9.99295088e-01 -3.03182017e-02 -2.21389734e-02 9.78073371e+01] [ 2.21302245e-02 -6.24131039e-04 9.99754902e-01 3.37454293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53275509600002 meters 0.021837073074155357 Centerline is valid? [True, True] Translation: X:129.33, Y:97.83, Z:3.37 [[-2.71482250e-02 -9.99631417e-01 5.64772472e-05 1.29326728e+02] [ 9.99375747e-01 -2.71425591e-02 -2.26141082e-02 9.78338116e+01] [ 2.26073059e-02 -5.57490905e-04 9.99744267e-01 3.37436838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56275509600002 meters 0.02118894391254019 Centerline is valid? [True, True] Translation: X:129.33, Y:97.86, Z:3.37 [[-2.56459186e-02 -9.99671087e-01 6.55676768e-05 1.29325353e+02] [ 9.99409506e-01 -2.56407081e-02 -2.28734405e-02 9.78609509e+01] [ 2.28675984e-02 -5.21081434e-04 9.99738366e-01 3.37473231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59275509600002 meters 0.019071393329447232 Centerline is valid? [True, True] Translation: X:129.32, Y:97.89, Z:3.38 [[-2.22515973e-02 -9.99752400e-01 7.29707818e-05 1.29321685e+02] [ 9.99494092e-01 -2.22475071e-02 -2.27290156e-02 9.78882017e+01] [ 2.27250113e-02 -4.32823037e-04 9.99741660e-01 3.37551756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62275509600002 meters 0.020007106892541576 Centerline is valid? [True, True] Translation: X:129.32, Y:97.91, Z:3.38 [[-2.12480878e-02 -9.99774231e-01 8.22250156e-05 1.29323117e+02] [ 9.99510207e-01 -2.12443663e-02 -2.29787613e-02 9.79134260e+01] [ 2.29753203e-02 -4.06069995e-04 9.99735950e-01 3.37532138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65275509600002 meters 0.01845642876155726 Centerline is valid? [True, True] Translation: X:129.32, Y:97.94, Z:3.38 [[-2.05556261e-02 -9.99788707e-01 8.90830223e-05 1.29319634e+02] [ 9.99537754e-01 -2.05524626e-02 -2.24025604e-02 9.79397911e+01] [ 2.23996577e-02 -3.71456811e-04 9.99749027e-01 3.37670359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68275509600002 meters 0.018049732256743695 Centerline is valid? [True, True] Translation: X:129.32, Y:97.97, Z:3.38 [[-2.00642422e-02 -9.99798688e-01 9.70993510e-05 1.29318687e+02] [ 9.99551108e-01 -2.00614347e-02 -2.22513406e-02 9.79663669e+01] [ 2.22488091e-02 -3.49400524e-04 9.99752404e-01 3.37740105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71275509600002 meters 0.01807375326403229 Centerline is valid? [True, True] Translation: X:129.32, Y:97.99, Z:3.38 [[-2.00837466e-02 -9.99798296e-01 1.02755852e-04 1.29318538e+02] [ 9.99563942e-01 -2.00812639e-02 -2.16487530e-02 9.79916962e+01] [ 2.16464498e-02 -3.32077025e-04 9.99765633e-01 3.37822477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74275509600002 meters 0.01780909874249175 Centerline is valid? [True, True] Translation: X:129.32, Y:98.02, Z:3.38 [[-2.06199382e-02 -9.99787381e-01 1.09391109e-04 1.29318195e+02] [ 9.99561280e-01 -2.06176016e-02 -2.12641097e-02 9.80185617e+01] [ 2.12618439e-02 -3.29121512e-04 9.99773887e-01 3.37935364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77275509600003 meters 0.01784580038469247 Centerline is valid? [True, True] Translation: X:129.32, Y:98.05, Z:3.38 [[-2.13464476e-02 -9.99772132e-01 1.14662172e-04 1.29318454e+02] [ 9.99556778e-01 -2.13442296e-02 -2.07526248e-02 9.80453995e+01] [ 2.07503433e-02 -3.28383467e-04 9.99784635e-01 3.38055396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80275509600003 meters 0.019139896051252082 Centerline is valid? [True, True] Translation: X:129.32, Y:98.07, Z:3.38 [[-2.20307824e-02 -9.99757285e-01 1.21545032e-04 1.29321298e+02] [ 9.99543389e-01 -2.20285834e-02 -2.06822236e-02 9.80704759e+01] [ 2.06798812e-02 -3.34156036e-04 9.99786093e-01 3.38131443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.832755096 meters 0.018840469760593677 Centerline is valid? [True, True] Translation: X:129.32, Y:98.10, Z:3.38 [[-2.38209250e-02 -9.99716234e-01 1.23238545e-04 1.29321325e+02] [ 9.99517551e-01 -2.38186481e-02 -1.99333285e-02 9.80979765e+01] [ 1.99306075e-02 -3.51651234e-04 9.99801304e-01 3.38315101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.862755096 meters 0.01847828747442973 Centerline is valid? [True, True] Translation: X:129.32, Y:98.13, Z:3.38 [[-2.48892393e-02 -9.99690206e-01 1.30012426e-04 1.29321228e+02] [ 9.99491948e-01 -2.48868928e-02 -1.99120186e-02 9.81250386e+01] [ 1.99090856e-02 -3.65648623e-04 9.99801728e-01 3.38408868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.892755096 meters 0.019928468241495 Centerline is valid? [True, True] Translation: X:129.33, Y:98.15, Z:3.38 [[-2.65583289e-02 -9.99647256e-01 1.37141576e-04 1.29325059e+02] [ 9.99449099e-01 -2.65557953e-02 -1.99069952e-02 9.81512026e+01] [ 1.99036150e-02 -3.91630500e-04 9.99801827e-01 3.38479208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.922755096 meters 0.020397331318417915 Centerline is valid? [True, True] Translation: X:129.33, Y:98.18, Z:3.39 [[-2.74884209e-02 -9.99622111e-01 1.48467458e-04 1.29325983e+02] [ 9.99413839e-01 -2.74857249e-02 -2.04086547e-02 9.81767722e+01] [ 2.04050232e-02 -4.12621257e-04 9.99791711e-01 3.38540087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.952755096 meters 0.019345534673975675 Centerline is valid? [True, True] Translation: X:129.32, Y:98.20, Z:3.39 [[-2.85040684e-02 -9.99593663e-01 1.62047738e-04 1.29324485e+02] [ 9.99370797e-01 -2.85011357e-02 -2.11115072e-02 9.82044878e+01] [ 2.11075473e-02 -4.39818067e-04 9.99777114e-01 3.38571633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.982755096 meters 0.019685591406164406 Centerline is valid? [True, True] Translation: X:129.33, Y:98.23, Z:3.39 [[-2.89024660e-02 -9.99582222e-01 1.70426835e-04 1.29325068e+02] [ 9.99357454e-01 -2.88995817e-02 -2.12012354e-02 9.82310059e+01] [ 2.11973032e-02 -4.42450657e-04 9.99775214e-01 3.38598384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.012755096 meters 0.019588845339231113 Centerline is valid? [True, True] Translation: X:129.32, Y:98.26, Z:3.39 [[-2.90946878e-02 -9.99576644e-01 1.79569631e-04 1.29324764e+02] [ 9.99349105e-01 -2.90918969e-02 -2.13314064e-02 9.82576720e+01] [ 2.13275996e-02 -4.41177860e-04 9.99772444e-01 3.38610791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.042755096 meters 0.01962220639074799 Centerline is valid? [True, True] Translation: X:129.32, Y:98.28, Z:3.39 [[-2.83680426e-02 -9.99597527e-01 1.95169147e-04 1.29324940e+02] [ 9.99352977e-01 -2.83654201e-02 -2.21140456e-02 9.82835310e+01] [ 2.21106814e-02 -4.32289319e-04 9.99755436e-01 3.38610126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.072755096 meters 0.019070010611923913 Centerline is valid? [True, True] Translation: X:129.32, Y:98.31, Z:3.39 [[-2.80823420e-02 -9.99605592e-01 2.07641427e-04 1.29323443e+02] [ 9.99352876e-01 -2.80799120e-02 -2.24799448e-02 9.83101571e+01] [ 2.24769091e-02 -4.23782443e-04 9.99747273e-01 3.38646381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.102755096 meters 0.018696354461356354 Centerline is valid? [True, True] Translation: X:129.32, Y:98.34, Z:3.39 [[-2.74493202e-02 -9.99623173e-01 2.18618753e-04 1.29322607e+02] [ 9.99365445e-01 -2.74472079e-02 -2.27015096e-02 9.83368220e+01] [ 2.26989555e-02 -4.04660978e-04 9.99742264e-01 3.38674519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.132755096 meters 0.018428155706496953 Centerline is valid? [True, True] Translation: X:129.32, Y:98.36, Z:3.39 [[-2.69305872e-02 -9.99637280e-01 2.28157622e-04 1.29321916e+02] [ 9.99378204e-01 -2.69288024e-02 -2.27606109e-02 9.83622800e+01] [ 2.27584992e-02 -3.84940861e-04 9.99740918e-01 3.38716742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.162755096 meters 0.017602220406995835 Centerline is valid? [True, True] Translation: X:129.32, Y:98.39, Z:3.39 [[-2.57124565e-02 -9.99669351e-01 2.39940563e-04 1.29319820e+02] [ 9.99404760e-01 -2.57111717e-02 -2.30013272e-02 9.83883233e+01] [ 2.29998910e-02 -3.51622883e-04 9.99735406e-01 3.38793233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.192755096 meters 0.017379513089985026 Centerline is valid? [True, True] Translation: X:129.32, Y:98.41, Z:3.39 [[-2.51796755e-02 -9.99682910e-01 2.53769385e-04 1.29319064e+02] [ 9.99408303e-01 -2.51787071e-02 -2.34323927e-02 9.84144447e+01] [ 2.34313521e-02 -3.36400814e-04 9.99725392e-01 3.38870450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22275509600001 meters 0.017242023447051526 Centerline is valid? [True, True] Translation: X:129.32, Y:98.44, Z:3.39 [[-2.47190304e-02 -9.99694404e-01 2.61610671e-04 1.29318486e+02] [ 9.99421730e-01 -2.47183985e-02 -2.33496488e-02 9.84393554e+01] [ 2.33489799e-02 -3.15721291e-04 9.99727326e-01 3.38943108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25275509600002 meters 0.016907314183567477 Centerline is valid? [True, True] Translation: X:129.32, Y:98.47, Z:3.39 [[-2.48903993e-02 -9.99690150e-01 2.70095077e-04 1.29317150e+02] [ 9.99415460e-01 -2.48898918e-02 -2.34356974e-02 9.84666461e+01] [ 2.34351585e-02 -3.13386670e-04 9.99725310e-01 3.39081440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28275509600002 meters 0.016852012429834164 Centerline is valid? [True, True] Translation: X:129.32, Y:98.49, Z:3.39 [[-2.53019712e-02 -9.99679816e-01 2.74230430e-04 1.29316914e+02] [ 9.99413202e-01 -2.53015567e-02 -2.30886001e-02 9.84942778e+01] [ 2.30881460e-02 -3.10117581e-04 9.99733385e-01 3.39189777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31275509600002 meters 0.01713411233498943 Centerline is valid? [True, True] Translation: X:129.32, Y:98.52, Z:3.39 [[-2.65276817e-02 -9.99648041e-01 2.75262739e-04 1.29317480e+02] [ 9.99394567e-01 -2.65271542e-02 -2.25124438e-02 9.85215862e+01] [ 2.25118223e-02 -3.22106857e-04 9.99746525e-01 3.39357431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34275509600002 meters 0.017288325545141564 Centerline is valid? [True, True] Translation: X:129.32, Y:98.55, Z:3.39 [[-2.72603880e-02 -9.99628328e-01 2.76620336e-04 1.29317415e+02] [ 9.99386321e-01 -2.72598755e-02 -2.19973093e-02 9.85492066e+01] [ 2.19966742e-02 -3.23204606e-04 9.99757992e-01 3.39463475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37275509600002 meters 0.017635803384931495 Centerline is valid? [True, True] Translation: X:129.32, Y:98.57, Z:3.40 [[-2.83654376e-02 -9.99597581e-01 2.79879445e-04 1.29317317e+02] [ 9.99362866e-01 -2.83648426e-02 -2.16632942e-02 9.85744568e+01] [ 2.16625152e-02 -3.34787694e-04 9.99765284e-01 3.39574431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40275509600002 meters 0.017981839108888478 Centerline is valid? [True, True] Translation: X:129.32, Y:98.60, Z:3.40 [[-2.94739126e-02 -9.99565511e-01 2.80601750e-04 1.29317264e+02] [ 9.99340769e-01 -2.94732365e-02 -2.11980213e-02 9.85997061e+01] [ 2.11970812e-02 -3.44371858e-04 9.99775257e-01 3.39674786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43275509600002 meters 0.018736699453723193 Centerline is valid? [True, True] Translation: X:129.32, Y:98.63, Z:3.40 [[-3.14240280e-02 -9.99506101e-01 2.91252251e-04 1.29317131e+02] [ 9.99278009e-01 -3.14230798e-02 -2.13553412e-02 9.86267283e+01] [ 2.13539458e-02 -3.80028870e-04 9.99771906e-01 3.39766987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46275509600002 meters 0.019189754898894556 Centerline is valid? [True, True] Translation: X:129.32, Y:98.65, Z:3.40 [[-3.26002079e-02 -9.99468428e-01 2.94879465e-04 1.29316643e+02] [ 9.99246111e-01 -3.25991767e-02 -2.10832280e-02 9.86517438e+01] [ 2.10816336e-02 -3.92660456e-04 9.99777681e-01 3.39807843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49275509600002 meters 0.019990182532357594 Centerline is valid? [True, True] Translation: X:129.32, Y:98.68, Z:3.40 [[-3.47105787e-02 -9.99397361e-01 3.01335661e-04 1.29315868e+02] [ 9.99177689e-01 -3.47092682e-02 -2.09573762e-02 9.86793203e+01] [ 2.09552056e-02 -4.26354788e-04 9.99780325e-01 3.39876476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52275509600003 meters 0.020479358224318015 Centerline is valid? [True, True] Translation: X:129.32, Y:98.70, Z:3.40 [[-3.58156312e-02 -9.99358367e-01 3.09072467e-04 1.29315563e+02] [ 9.99138037e-01 -3.58142260e-02 -2.09886693e-02 9.87045748e+01] [ 2.09862714e-02 -4.42916379e-04 9.99779666e-01 3.39930600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55275509600003 meters 0.021046221855762205 Centerline is valid? [True, True] Translation: X:129.32, Y:98.73, Z:3.40 [[-3.69985550e-02 -9.99315270e-01 3.12889782e-04 1.29315226e+02] [ 9.99100892e-01 -3.69971001e-02 -2.07031816e-02 9.87309151e+01] [ 2.07005816e-02 -4.53379344e-04 9.99785617e-01 3.39986549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.582755096 meters 0.02040495858214455 Centerline is valid? [True, True] Translation: X:129.31, Y:98.76, Z:3.40 [[-3.84134793e-02 -9.99261879e-01 3.17877293e-04 1.29311796e+02] [ 9.99051016e-01 -3.84119050e-02 -2.05327066e-02 9.87584058e+01] [ 2.05297613e-02 -4.71157068e-04 9.99789131e-01 3.40069738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.612755096 meters 0.022086784763240896 Centerline is valid? [True, True] Translation: X:129.31, Y:98.78, Z:3.40 [[-3.89086227e-02 -9.99242723e-01 3.16606674e-04 1.29313273e+02] [ 9.99042673e-01 -3.89071698e-02 -1.99992335e-02 9.87836824e+01] [ 1.99964068e-02 -4.61839051e-04 9.99799945e-01 3.40086434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.642755096 meters 0.022630525048156283 Centerline is valid? [True, True] Translation: X:129.31, Y:98.81, Z:3.40 [[-3.95714571e-02 -9.99216690e-01 3.24755585e-04 1.29312416e+02] [ 9.99016653e-01 -3.95700348e-02 -1.99984845e-02 9.88089873e+01] [ 1.99956701e-02 -4.66932934e-04 9.99799958e-01 3.40114032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.672755096 meters 0.022235334442662926 Centerline is valid? [True, True] Translation: X:129.31, Y:98.84, Z:3.40 [[-3.89763717e-02 -9.99240081e-01 3.20786377e-04 1.29308871e+02] [ 9.99053458e-01 -3.89752934e-02 -1.93161803e-02 9.88357204e+01] [ 1.93140043e-02 -4.32391884e-04 9.99813374e-01 3.40142630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.702755096 meters 0.021935600313521805 Centerline is valid? [True, True] Translation: X:129.31, Y:98.86, Z:3.40 [[-3.83828806e-02 -9.99263053e-01 3.25200977e-04 1.29306547e+02] [ 9.99079265e-01 -3.83820594e-02 -1.91687113e-02 9.88625450e+01] [ 1.91670668e-02 -4.10848804e-04 9.99816210e-01 3.40167896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.732755096 meters 0.019416336432190227 Centerline is valid? [True, True] Translation: X:129.30, Y:98.89, Z:3.40 [[-3.75239897e-02 -9.99295671e-01 3.34524158e-04 1.29300460e+02] [ 9.99109210e-01 -3.75234513e-02 -1.93074173e-02 9.88897235e+01] [ 1.93063711e-02 -3.90265161e-04 9.99813538e-01 3.40193328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.762755096 meters 0.02038733024386613 Centerline is valid? [True, True] Translation: X:129.30, Y:98.92, Z:3.40 [[-3.52090001e-02 -9.99379913e-01 3.40055413e-04 1.29300028e+02] [ 9.99194916e-01 -3.52090263e-02 -1.92313158e-02 9.89155639e+01] [ 1.92313637e-02 -3.37333759e-04 9.99815003e-01 3.40205837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.792755096 meters 0.01771164358557136 Centerline is valid? [True, True] Translation: X:129.29, Y:98.94, Z:3.40 [[-3.40863508e-02 -9.99418833e-01 3.41574329e-04 1.29292733e+02] [ 9.99239702e-01 -3.40867090e-02 -1.89239085e-02 9.89429788e+01] [ 1.89245537e-02 -3.03732352e-04 9.99820868e-01 3.40268962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.822755096 meters 0.01735877305942093 Centerline is valid? [True, True] Translation: X:129.29, Y:98.97, Z:3.40 [[-3.14699576e-02 -9.99504636e-01 3.54065068e-04 1.29289559e+02] [ 9.99319876e-01 -3.14709484e-02 -1.92188571e-02 9.89695837e+01] [ 1.92204795e-02 -2.50992356e-04 9.99815238e-01 3.40270791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.852755096 meters 0.01701775416802832 Centerline is valid? [True, True] Translation: X:129.29, Y:99.00, Z:3.40 [[-3.07437353e-02 -9.99527237e-01 3.53576480e-04 1.29286939e+02] [ 9.99349246e-01 -3.07449335e-02 -1.88635566e-02 9.89970231e+01] [ 1.88655093e-02 -2.26589802e-04 9.99822005e-01 3.40353362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.882755096 meters 0.0169401388937303 Centerline is valid? [True, True] Translation: X:129.28, Y:99.02, Z:3.40 [[-3.02582323e-02 -9.99542049e-01 3.62624125e-04 1.29284835e+02] [ 9.99361915e-01 -3.02596638e-02 -1.89767197e-02 9.90233771e+01] [ 1.89790022e-02 -2.11809254e-04 9.99819860e-01 3.40397954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.912755096 meters 0.01692996457937199 Centerline is valid? [True, True] Translation: X:129.28, Y:99.05, Z:3.40 [[-2.98113552e-02 -9.99555474e-01 3.72048957e-04 1.29281720e+02] [ 9.99373198e-01 -2.98130242e-02 -1.90891507e-02 9.90504126e+01] [ 1.90917570e-02 -1.97257697e-04 9.99817716e-01 3.40448869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.942755096 meters 0.016967242065988628 Centerline is valid? [True, True] Translation: X:129.28, Y:99.08, Z:3.41 [[-3.02737558e-02 -9.99541573e-01 3.78036080e-04 1.29280537e+02] [ 9.99360095e-01 -3.02754631e-02 -1.90472281e-02 9.90765260e+01] [ 1.90499416e-02 -1.98836960e-04 9.99818514e-01 3.40524666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97275509600001 meters 0.017098490959043738 Centerline is valid? [True, True] Translation: X:129.28, Y:99.10, Z:3.41 [[-3.13675595e-02 -9.99507845e-01 3.78916062e-04 1.29279483e+02] [ 9.99332443e-01 -3.13691538e-02 -1.87255163e-02 9.91039718e+01] [ 1.87281867e-02 -2.08710634e-04 9.99824590e-01 3.40578658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00275509600002 meters 0.017594572890061163 Centerline is valid? [True, True] Translation: X:129.28, Y:99.13, Z:3.41 [[-3.26683186e-02 -9.99466173e-01 3.86888540e-04 1.29279738e+02] [ 9.99289688e-01 -3.26698209e-02 -1.87830443e-02 9.91306329e+01] [ 1.87856570e-02 -2.26996747e-04 9.99823508e-01 3.40642456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03275509600002 meters 0.01866179450449645 Centerline is valid? [True, True] Translation: X:129.28, Y:99.16, Z:3.41 [[-3.62244298e-02 -9.99343603e-01 3.91977313e-04 1.29281160e+02] [ 9.99167250e-01 -3.62254018e-02 -1.87756895e-02 9.91566069e+01] [ 1.87775648e-02 -2.88487753e-04 9.99823644e-01 3.40656424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06275509600002 meters 0.019167402159429175 Centerline is valid? [True, True] Translation: X:129.28, Y:99.18, Z:3.41 [[-3.85865266e-02 -9.99255184e-01 3.95775661e-04 1.29281242e+02] [ 9.99081508e-01 -3.85871998e-02 -1.86324626e-02 9.91836840e+01] [ 1.86338568e-02 -3.23549870e-04 9.99826322e-01 3.40706606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09275509600002 meters 0.021370587807607994 Centerline is valid? [True, True] Translation: X:129.28, Y:99.21, Z:3.41 [[-4.36628468e-02 -9.99046241e-01 4.05622608e-04 1.29284485e+02] [ 9.98869780e-01 -4.36627599e-02 -1.87810200e-02 9.92097888e+01] [ 1.87808180e-02 -4.14868634e-04 9.99823539e-01 3.40758622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12275509600002 meters 0.021425544100635824 Centerline is valid? [True, True] Translation: X:129.28, Y:99.24, Z:3.41 [[-4.62417139e-02 -9.98930193e-01 4.15684157e-04 1.29283837e+02] [ 9.98751085e-01 -4.62412965e-02 -1.89212333e-02 9.92365529e+01] [ 1.89202130e-02 -4.59785254e-04 9.99820891e-01 3.40757452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15275509600002 meters 0.02369399983421738 Centerline is valid? [True, True] Translation: X:129.29, Y:99.26, Z:3.41 [[-4.88884124e-02 -9.98804156e-01 4.26242666e-04 1.29287221e+02] [ 9.98620644e-01 -4.88876033e-02 -1.91523339e-02 9.92632381e+01] [ 1.91502687e-02 -5.10672473e-04 9.99816486e-01 3.40799659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18275509600002 meters 0.025810734136198176 Centerline is valid? [True, True] Translation: X:129.29, Y:99.29, Z:3.41 [[-5.30684988e-02 -9.98590783e-01 4.27126173e-04 1.29290809e+02] [ 9.98412502e-01 -5.30670988e-02 -1.88774945e-02 9.92901017e+01] [ 1.88735584e-02 -5.75352186e-04 9.99821713e-01 3.40887605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21275509600002 meters 0.027085716023139948 Centerline is valid? [True, True] Translation: X:129.29, Y:99.32, Z:3.41 [[-5.49156165e-02 -9.98490907e-01 4.29744163e-04 1.29292491e+02] [ 9.98314584e-01 -5.49139990e-02 -1.87735188e-02 9.93158160e+01] [ 1.87687868e-02 -6.01939492e-04 9.99823670e-01 3.40976152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24275509600002 meters 0.028061603542903827 Centerline is valid? [True, True] Translation: X:129.29, Y:99.34, Z:3.41 [[-5.69184325e-02 -9.98378742e-01 4.24827333e-04 1.29293579e+02] [ 9.98211269e-01 -5.69166702e-02 -1.82962958e-02 9.93427092e+01] [ 1.82908125e-02 -6.17329045e-04 9.99832519e-01 3.41057375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27275509600003 meters 0.02687011387084234 Centerline is valid? [True, True] Translation: X:129.29, Y:99.37, Z:3.41 [[-5.95264561e-02 -9.98226638e-01 4.23937126e-04 1.29291448e+02] [ 9.98064497e-01 -5.95244329e-02 -1.80028368e-02 9.93701129e+01] [ 1.79961459e-02 -6.48528479e-04 9.99837846e-01 3.41140339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30275509600003 meters 0.02824018828415963 Centerline is valid? [True, True] Translation: X:129.29, Y:99.40, Z:3.41 [[-6.12228989e-02 -9.98124028e-01 4.26540843e-04 1.29293425e+02] [ 9.97964686e-01 -6.12207518e-02 -1.78467339e-02 9.93962465e+01] [ 1.78393670e-02 -6.66956085e-04 9.99840643e-01 3.41148800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.332755096 meters 0.02824018828415963 Centerline is valid? [True, True] Translation: X:129.29, Y:99.42, Z:3.41 [[-6.16128353e-02 -9.98100031e-01 4.33162864e-04 1.29292543e+02] [ 9.97940688e-01 -6.16107442e-02 -1.78465731e-02 9.94221712e+01] [ 1.78393526e-02 -6.67307121e-04 9.99840643e-01 3.41197178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.362755096 meters 0.03165231020292743 Centerline is valid? [True, True] Translation: X:129.30, Y:99.45, Z:3.41 [[-6.23164996e-02 -9.98056336e-01 4.52517639e-04 1.29296682e+02] [ 9.97888047e-01 -6.23143075e-02 -1.83404713e-02 9.94472614e+01] [ 1.83330219e-02 -6.91352026e-04 9.99831697e-01 3.41194667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.392755096 meters 0.02897463590086854 Centerline is valid? [True, True] Translation: X:129.29, Y:99.47, Z:3.41 [[-6.25907827e-02 -9.98039166e-01 4.65165089e-04 1.29292043e+02] [ 9.97867125e-01 -6.25886361e-02 -1.85435817e-02 9.94738441e+01] [ 1.85363349e-02 -6.96484342e-04 9.99827945e-01 3.41182301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.422755096 meters 0.032007982988586585 Centerline is valid? [True, True] Translation: X:129.30, Y:99.50, Z:3.41 [[-6.26918724e-02 -9.98032821e-01 4.66531108e-04 1.29295483e+02] [ 9.97864874e-01 -6.26898871e-02 -1.83213394e-02 9.94996610e+01] [ 1.83145449e-02 -6.83064070e-04 9.99832041e-01 3.41199589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.452755096 meters 0.027637364671126003 Centerline is valid? [True, True] Translation: X:129.29, Y:99.53, Z:3.41 [[-6.26145860e-02 -9.98037661e-01 4.91372396e-04 1.29288310e+02] [ 9.97857245e-01 -6.26126161e-02 -1.89889208e-02 9.95264176e+01] [ 1.89824242e-02 -6.98663910e-04 9.99819573e-01 3.41216825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.482755096 meters 0.028521536976791037 Centerline is valid? [True, True] Translation: X:129.29, Y:99.55, Z:3.41 [[-6.25159538e-02 -9.98043838e-01 5.02751060e-04 1.29289436e+02] [ 9.97860147e-01 -6.25140993e-02 -1.91602335e-02 9.95517235e+01] [ 1.91541820e-02 -6.96145027e-04 9.99816299e-01 3.41199648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.512755096 meters 0.02997395462155858 Centerline is valid? [True, True] Translation: X:129.29, Y:99.58, Z:3.41 [[-6.27201301e-02 -9.98031021e-01 5.15888703e-04 1.29290946e+02] [ 9.97843637e-01 -6.27183571e-02 -1.93515841e-02 9.95771984e+01] [ 1.93458369e-02 -6.98957613e-04 9.99812607e-01 3.41218148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.542755096 meters 0.02715513386191157 Centerline is valid? [True, True] Translation: X:129.29, Y:99.60, Z:3.41 [[-6.20077257e-02 -9.98075531e-01 5.25988227e-04 1.29286247e+02] [ 9.97886413e-01 -6.20062215e-02 -1.94405817e-02 9.96046106e+01] [ 1.94357835e-02 -6.80589753e-04 9.99810876e-01 3.41254463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.572755096 meters 0.027530622634047614 Centerline is valid? [True, True] Translation: X:129.29, Y:99.63, Z:3.41 [[-6.17975715e-02 -9.98088565e-01 5.25244909e-04 1.29286213e+02] [ 9.97904708e-01 -6.17962751e-02 -1.91680263e-02 9.96297603e+01] [ 1.91638460e-02 -6.60393107e-04 9.99816139e-01 3.41290283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.602755096 meters 0.02719242876454427 Centerline is valid? [True, True] Translation: X:129.28, Y:99.66, Z:3.41 [[-6.13231931e-02 -9.98117809e-01 5.52074047e-04 1.29284903e+02] [ 9.97919434e-01 -6.13220177e-02 -1.99101363e-02 9.96564825e+01] [ 1.99065160e-02 -6.70027715e-04 9.99801621e-01 3.41344143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.632755096 meters 0.02568840136432528 Centerline is valid? [True, True] Translation: X:129.28, Y:99.68, Z:3.41 [[-6.07722222e-02 -9.98151509e-01 5.49490432e-04 1.29282076e+02] [ 9.97960208e-01 -6.07713383e-02 -1.95516616e-02 9.96828848e+01] [ 1.95489138e-02 -6.39828340e-04 9.99808697e-01 3.41400342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.662755096 meters 0.026007464098653142 Centerline is valid? [True, True] Translation: X:129.28, Y:99.71, Z:3.41 [[-6.05222734e-02 -9.98166695e-01 5.50638599e-04 1.29281815e+02] [ 9.97979797e-01 -6.05216018e-02 -1.93251225e-02 9.97088215e+01] [ 1.93230192e-02 -6.20074150e-04 9.99813101e-01 3.41464033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.692755096 meters 0.02489458483072233 Centerline is valid? [True, True] Translation: X:129.28, Y:99.74, Z:3.42 [[-6.02295448e-02 -9.98184401e-01 5.50546787e-04 1.29279257e+02] [ 9.98002496e-01 -6.02290841e-02 -1.90650349e-02 9.97364111e+01] [ 1.90635794e-02 -5.98831307e-04 9.99818094e-01 3.41591354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72275509600001 meters 0.025946733380589344 Centerline is valid? [True, True] Translation: X:129.28, Y:99.76, Z:3.42 [[-6.03420711e-02 -9.98177603e-01 5.53711402e-04 1.29280497e+02] [ 9.97998033e-01 -6.03417232e-02 -1.89420791e-02 9.97619632e+01] [ 1.89409710e-02 -5.90401394e-04 9.99820429e-01 3.41685156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75275509600002 meters 0.02531192878799835 Centerline is valid? [True, True] Translation: X:129.28, Y:99.79, Z:3.42 [[-6.06047967e-02 -9.98161689e-01 5.49222967e-04 1.29278904e+02] [ 9.97989790e-01 -6.06045570e-02 -1.85328815e-02 9.97887742e+01] [ 1.85320977e-02 -5.75062601e-04 9.99828101e-01 3.41804238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78275509600002 meters 0.025866028454516302 Centerline is valid? [True, True] Translation: X:129.28, Y:99.81, Z:3.42 [[-6.08617490e-02 -9.98146055e-01 5.47287154e-04 1.29279588e+02] [ 9.97979683e-01 -6.08616013e-02 -1.82323359e-02 9.98137810e+01] [ 1.82318429e-02 -5.63470389e-04 9.99833627e-01 3.41907475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81275509600002 meters 0.025435909842722502 Centerline is valid? [True, True] Translation: X:129.28, Y:99.84, Z:3.42 [[-6.11822581e-02 -9.98126462e-01 5.45847720e-04 1.29278500e+02] [ 9.97965272e-01 -6.11821917e-02 -1.79458913e-02 9.98398643e+01] [ 1.79456652e-02 -5.53233086e-04 9.99838811e-01 3.41984043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84275509600002 meters 0.02573681052401517 Centerline is valid? [True, True] Translation: X:129.28, Y:99.87, Z:3.42 [[-6.15764341e-02 -9.98102215e-01 5.57007444e-04 1.29278577e+02] [ 9.97938572e-01 -6.15764292e-02 -1.80817602e-02 9.98656102e+01] [ 1.80817434e-02 -5.57551100e-04 9.99836356e-01 3.42057169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87275509600002 meters 0.025133920299664995 Centerline is valid? [True, True] Translation: X:129.28, Y:99.89, Z:3.42 [[-6.21199140e-02 -9.98068513e-01 5.99193514e-04 1.29275843e+02] [ 9.97884250e-01 -6.21199643e-02 -1.91868261e-02 9.98931931e+01] [ 1.91869889e-02 -5.93958216e-04 9.99815736e-01 3.41998307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90275509600002 meters 0.02627040706761681 Centerline is valid? [True, True] Translation: X:129.28, Y:99.92, Z:3.42 [[-6.25554706e-02 -9.98041309e-01 5.98631601e-04 1.29278287e+02] [ 9.97861557e-01 -6.25555705e-02 -1.89502744e-02 9.99197747e+01] [ 1.89506044e-02 -5.88091869e-04 9.99820248e-01 3.42143158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93275509600002 meters 0.02739039031686516 Centerline is valid? [True, True] Translation: X:129.28, Y:99.95, Z:3.42 [[-6.28157448e-02 -9.98024951e-01 6.15477822e-04 1.29279105e+02] [ 9.97838385e-01 -6.28159082e-02 -1.93059128e-02 9.99457015e+01] [ 1.93064444e-02 -5.98567893e-04 9.99813434e-01 3.42174320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96275509600002 meters 0.0251602247184349 Centerline is valid? [True, True] Translation: X:129.27, Y:99.97, Z:3.42 [[-6.27129943e-02 -9.98031406e-01 6.26862302e-04 1.29274807e+02] [ 9.97842592e-01 -6.27133286e-02 -1.94216378e-02 9.99719941e+01] [ 1.94227171e-02 -5.92479155e-04 9.99811186e-01 3.42267438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99275509600002 meters 0.024142730547397146 Centerline is valid? [True, True] Translation: X:129.27, Y:100.00, Z:3.42 [[-6.28099666e-02 -9.98025304e-01 6.33157299e-04 1.29272354e+02] [ 9.97837219e-01 -6.28104269e-02 -1.93838996e-02 9.99995619e+01] [ 1.93853912e-02 -5.85714167e-04 9.99811914e-01 3.42312685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02275509600003 meters 0.023677352408133727 Centerline is valid? [True, True] Translation: X:129.27, Y:100.03, Z:3.42 [[-6.25377303e-02 -9.98042387e-01 6.52592665e-04 1.29270606e+02] [ 9.97847000e-01 -6.25384054e-02 -1.97563193e-02 1.00027023e+02] [ 1.97584562e-02 -5.84327733e-04 9.99804612e-01 3.42346015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05275509600003 meters 0.023622699375282743 Centerline is valid? [True, True] Translation: X:129.27, Y:100.05, Z:3.42 [[-6.09927145e-02 -9.98137988e-01 6.68097628e-04 1.29270027e+02] [ 9.97937698e-01 -6.09938640e-02 -2.00024742e-02 1.00053039e+02] [ 2.00059792e-02 -5.53285390e-04 9.99799707e-01 3.42381982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.082755096 meters 0.02329051457243639 Centerline is valid? [True, True] Translation: X:129.27, Y:100.08, Z:3.42 [[-5.99000995e-02 -9.98204150e-01 6.73362997e-04 1.29268593e+02] [ 9.98005206e-01 -5.99016090e-02 -1.99350691e-02 1.00080173e+02] [ 1.99396042e-02 -5.22092847e-04 9.99801050e-01 3.42454135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.112755096 meters 0.02150828225524284 Centerline is valid? [True, True] Translation: X:129.26, Y:100.11, Z:3.43 [[-5.70269203e-02 -9.98372409e-01 6.80153329e-04 1.29264774e+02] [ 9.98173595e-01 -5.70291407e-02 -1.99286634e-02 1.00106969e+02] [ 1.99350162e-02 -4.57559203e-04 9.99801173e-01 3.42560084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.142755096 meters 0.02091964808506896 Centerline is valid? [True, True] Translation: X:129.26, Y:100.13, Z:3.43 [[-5.56671484e-02 -9.98449142e-01 6.92045873e-04 1.29262974e+02] [ 9.98247636e-01 -5.56698199e-02 -2.00631290e-02 1.00133873e+02] [ 2.00705400e-02 -4.26024023e-04 9.99798476e-01 3.42648678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.172755096 meters 0.0206026593541187 Centerline is valid? [True, True] Translation: X:129.26, Y:100.16, Z:3.43 [[-5.43244327e-02 -9.98523105e-01 6.82107058e-04 1.29261452e+02] [ 9.98331293e-01 -5.43273689e-02 -1.95746367e-02 1.00160294e+02] [ 1.95827841e-02 -3.82412210e-04 9.99808166e-01 3.42762338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.202755096 meters 0.019788736381666946 Centerline is valid? [True, True] Translation: X:129.26, Y:100.19, Z:3.43 [[-5.13871868e-02 -9.98678604e-01 6.35517315e-04 1.29258977e+02] [ 9.98515378e-01 -5.13902792e-02 -1.80576672e-02 1.00186388e+02] [ 1.80664652e-02 -2.93358905e-04 9.99836745e-01 3.42980938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.232755096 meters 0.018973481707898678 Centerline is valid? [True, True] Translation: X:129.26, Y:100.21, Z:3.43 [[-4.97866376e-02 -9.98759674e-01 6.36158468e-04 1.29256133e+02] [ 9.98599512e-01 -4.97900472e-02 -1.78875886e-02 1.00214046e+02] [ 1.78970765e-02 -2.55295356e-04 9.99839802e-01 3.43105175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.262755096 meters 0.01874557663406391 Centerline is valid? [True, True] Translation: X:129.25, Y:100.24, Z:3.43 [[-4.86714604e-02 -9.98814651e-01 6.17513027e-04 1.29254929e+02] [ 9.98666407e-01 -4.86748762e-02 -1.72093908e-02 1.00239127e+02] [ 1.72190490e-02 -2.20916666e-04 9.99851717e-01 3.43233340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.292755096 meters 0.018324145020781245 Centerline is valid? [True, True] Translation: X:129.25, Y:100.26, Z:3.43 [[-4.68668580e-02 -9.98900973e-01 5.86661164e-04 1.29253704e+02] [ 9.98770021e-01 -4.68702136e-02 -1.61749138e-02 1.00264206e+02] [ 1.61846341e-02 -1.72127807e-04 9.99869005e-01 3.43434043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.322755096 meters 0.01815068362588872 Centerline is valid? [True, True] Translation: X:129.25, Y:100.29, Z:3.44 [[-4.65718020e-02 -9.98914784e-01 5.67317710e-04 1.29252883e+02] [ 9.98794921e-01 -4.65750024e-02 -1.54750080e-02 1.00290136e+02] [ 1.54846371e-02 -1.54064963e-04 9.99880094e-01 3.43569089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.352755096 meters 0.018100147522389556 Centerline is valid? [True, True] Translation: X:129.25, Y:100.32, Z:3.44 [[-4.65569873e-02 -9.98915488e-01 5.43806601e-04 1.29253601e+02] [ 9.98807547e-01 -4.65599511e-02 -1.46851907e-02 1.00317183e+02] [ 1.46945840e-02 -1.40540100e-04 9.99892019e-01 3.43726908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.382755096 meters 0.018264845529788225 Centerline is valid? [True, True] Translation: X:129.25, Y:100.34, Z:3.44 [[-4.76471237e-02 -9.98864085e-01 5.39820797e-04 1.29254198e+02] [ 9.98759760e-01 -4.76499495e-02 -1.44369123e-02 1.00342425e+02] [ 1.44462356e-02 -1.48726055e-04 9.99895637e-01 3.43842426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.412755096 meters 0.018446823731377928 Centerline is valid? [True, True] Translation: X:129.26, Y:100.37, Z:3.44 [[-4.90137490e-02 -9.98797973e-01 5.11169398e-04 1.29255014e+02] [ 9.98705714e-01 -4.90161696e-02 -1.35761233e-02 1.00368828e+02] [ 1.35848600e-02 -1.54908902e-04 9.99907710e-01 3.43979706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.442755096 meters 0.01949417661564114 Centerline is valid? [True, True] Translation: X:129.26, Y:100.39, Z:3.44 [[-5.25770989e-02 -9.98616762e-01 4.59441584e-04 1.29258241e+02] [ 9.98543536e-01 -5.25788080e-02 -1.20944405e-02 1.00394813e+02] [ 1.21018679e-02 -1.77118170e-04 9.99926754e-01 3.44182332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47275509600001 meters 0.020094488880586812 Centerline is valid? [True, True] Translation: X:129.26, Y:100.42, Z:3.44 [[-5.45582276e-02 -9.98510506e-01 4.12013478e-04 1.29258352e+02] [ 9.98452573e-01 -5.45595010e-02 -1.07573347e-02 1.00422043e+02] [ 1.07637910e-02 -1.75525199e-04 9.99942053e-01 3.44384792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50275509600002 meters 0.020296737162705265 Centerline is valid? [True, True] Translation: X:129.26, Y:100.45, Z:3.45 [[-5.64196040e-02 -9.98407083e-01 3.53311702e-04 1.29256635e+02] [ 9.98364989e-01 -5.64204701e-02 -9.16945418e-03 1.00449126e+02] [ 9.17478202e-03 -1.64602940e-04 9.99957897e-01 3.44514664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53275509600002 meters 0.02049296615168383 Centerline is valid? [True, True] Translation: X:129.26, Y:100.48, Z:3.45 [[-5.80743897e-02 -9.98312206e-01 3.23386062e-04 1.29255734e+02] [ 9.98277433e-01 -5.80750665e-02 -8.33387824e-03 1.00476055e+02] [ 8.33859304e-03 -1.61155885e-04 9.99965220e-01 3.44605651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56275509600002 meters 0.021450126872565117 Centerline is valid? [True, True] Translation: X:129.26, Y:100.50, Z:3.45 [[-6.08637028e-02 -9.98146045e-01 2.88839827e-04 1.29256360e+02] [ 9.98118798e-01 -6.08641760e-02 -7.37676313e-03 1.00501917e+02] [ 7.38066694e-03 -1.60680658e-04 9.99972750e-01 3.44741809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59275509600002 meters 0.0217856510186979 Centerline is valid? [True, True] Translation: X:129.25, Y:100.53, Z:3.45 [[-6.24232183e-02 -9.98049735e-01 2.62619973e-04 1.29254400e+02] [ 9.98027340e-01 -6.24235774e-02 -6.68766312e-03 1.00528683e+02] [ 6.69101408e-03 -1.55363541e-04 9.99977603e-01 3.44827028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62275509600002 meters 0.021940842763880197 Centerline is valid? [True, True] Translation: X:129.25, Y:100.56, Z:3.45 [[-6.36600545e-02 -9.97971603e-01 2.75990681e-04 1.29253954e+02] [ 9.97947359e-01 -6.36604323e-02 -6.95833017e-03 1.00556268e+02] [ 6.96178560e-03 -1.67543506e-04 9.99975752e-01 3.44811338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65275509600002 meters 0.02222898733282682 Centerline is valid? [True, True] Translation: X:129.25, Y:100.58, Z:3.45 [[-6.39901254e-02 -9.97950498e-01 2.59749396e-04 1.29252318e+02] [ 9.97929303e-01 -6.39904597e-02 -6.50596670e-03 1.00582884e+02] [ 6.50925419e-03 -1.57106091e-04 9.99978802e-01 3.44930610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68275509600002 meters 0.02232503429206911 Centerline is valid? [True, True] Translation: X:129.25, Y:100.61, Z:3.45 [[-6.49061574e-02 -9.97891319e-01 3.25111442e-04 1.29249928e+02] [ 9.97859030e-01 -6.49066733e-02 -8.02997696e-03 1.00609497e+02] [ 8.03414620e-03 -1.96779560e-04 9.99967706e-01 3.44724852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71275509600002 meters 0.022673355687727516 Centerline is valid? [True, True] Translation: X:129.25, Y:100.63, Z:3.45 [[-6.57778485e-02 -9.97834220e-01 3.80068139e-04 1.29249266e+02] [ 9.97791369e-01 -6.57785471e-02 -9.25022278e-03 1.00634795e+02] [ 9.25518916e-03 -2.29231044e-04 9.99957144e-01 3.44610578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74275509600002 meters 0.02270256079594916 Centerline is valid? [True, True] Translation: X:129.25, Y:100.66, Z:3.44 [[-6.68214403e-02 -9.97764857e-01 4.31590584e-04 1.29247479e+02] [ 9.97710453e-01 -6.68223053e-02 -1.04226014e-02 1.00661643e+02] [ 1.04281453e-02 -2.65850800e-04 9.99945590e-01 3.44492278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77275509600003 meters 0.022644911152767854 Centerline is valid? [True, True] Translation: X:129.24, Y:100.69, Z:3.44 [[-6.70591819e-02 -9.97748890e-01 4.67121884e-04 1.29244724e+02] [ 9.97686492e-01 -6.70602139e-02 -1.11620343e-02 1.00688084e+02] [ 1.11682326e-02 -2.82475691e-04 9.99937593e-01 3.44397089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80275509600003 meters 0.02394583307786746 Centerline is valid? [True, True] Translation: X:129.24, Y:100.71, Z:3.44 [[-6.81917893e-02 -9.97672075e-01 5.56875752e-04 1.29243406e+02] [ 9.97585582e-01 -6.81932125e-02 -1.31412702e-02 1.00713319e+02] [ 1.31486535e-02 -3.40595511e-04 9.99913495e-01 3.44142869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.832755096 meters 0.025314371624881038 Centerline is valid? [True, True] Translation: X:129.24, Y:100.74, Z:3.44 [[-6.92234832e-02 -9.97601001e-01 5.94219599e-04 1.29243870e+02] [ 9.97503937e-01 -6.92250398e-02 -1.39208497e-02 1.00739163e+02] [ 1.39285884e-02 -3.70913314e-04 9.99902924e-01 3.44104854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.862755096 meters 0.023278743426130795 Centerline is valid? [True, True] Translation: X:129.24, Y:100.77, Z:3.44 [[-7.13986471e-02 -9.97447638e-01 6.65229426e-04 1.29237559e+02] [ 9.97328510e-01 -7.14004049e-02 -1.54215951e-02 1.00766432e+02] [ 1.54297313e-02 -4.37628756e-04 9.99880859e-01 3.43825128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.892755096 meters 0.024594792863735743 Centerline is valid? [True, True] Translation: X:129.24, Y:100.79, Z:3.44 [[-7.24047826e-02 -9.97375087e-01 6.94778530e-04 1.29237450e+02] [ 9.97247362e-01 -7.24066337e-02 -1.59680687e-02 1.00792272e+02] [ 1.59764605e-02 -4.63298489e-04 9.99872261e-01 3.43817247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.922755096 meters 0.02525972512785659 Centerline is valid? [True, True] Translation: X:129.24, Y:100.82, Z:3.44 [[-7.35619935e-02 -9.97290373e-01 7.38105513e-04 1.29236161e+02] [ 9.97148844e-01 -7.35639941e-02 -1.68083900e-02 1.00818707e+02] [ 1.68171436e-02 -5.00457620e-04 9.99858457e-01 3.43793713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.952755096 meters 0.025309082742132016 Centerline is valid? [True, True] Translation: X:129.23, Y:100.85, Z:3.44 [[-7.54514325e-02 -9.97149160e-01 7.96839619e-04 1.29233061e+02] [ 9.96987099e-01 -7.54535426e-02 -1.79857368e-02 1.00845567e+02] [ 1.79945867e-02 -5.62610784e-04 9.99837926e-01 3.43618808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.982755096 meters 0.025848554948859716 Centerline is valid? [True, True] Translation: X:129.23, Y:100.87, Z:3.44 [[-7.58544112e-02 -9.97118546e-01 8.44811647e-04 1.29230843e+02] [ 9.96939380e-01 -7.58568036e-02 -1.89107789e-02 1.00870691e+02] [ 1.89203731e-02 -5.92240001e-04 9.99820818e-01 3.43567100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.012755096 meters 0.0261788651383256 Centerline is valid? [True, True] Translation: X:129.23, Y:100.90, Z:3.43 [[-7.73864046e-02 -9.97000764e-01 9.05640294e-04 1.29228887e+02] [ 9.96798724e-01 -7.73889633e-02 -2.00811438e-02 1.00897622e+02] [ 2.00910022e-02 -6.51266426e-04 9.99797943e-01 3.43416416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.042755096 meters 0.026122879950313187 Centerline is valid? [True, True] Translation: X:129.23, Y:100.92, Z:3.43 [[-7.79264171e-02 -9.96958698e-01 9.10021621e-04 1.29225870e+02] [ 9.96757809e-01 -7.79289923e-02 -2.00235333e-02 1.00923555e+02] [ 2.00335527e-02 -6.53291050e-04 9.99799095e-01 3.43462332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.072755096 meters 0.026150597594255875 Centerline is valid? [True, True] Translation: X:129.22, Y:100.95, Z:3.43 [[-7.87356337e-02 -9.96895073e-01 9.55632614e-04 1.29222757e+02] [ 9.96677386e-01 -7.87384213e-02 -2.08434339e-02 1.00950252e+02] [ 2.08539616e-02 -6.88663560e-04 9.99782295e-01 3.43372487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.102755096 meters 0.027431966313244478 Centerline is valid? [True, True] Translation: X:129.22, Y:100.98, Z:3.43 [[-8.08099730e-02 -9.96728982e-01 1.04123626e-03 1.29220597e+02] [ 9.96475094e-01 -8.08129032e-02 -2.25091325e-02 1.00976439e+02] [ 2.25196500e-02 -7.81396385e-04 9.99746095e-01 3.43123511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.132755096 meters 0.028086399177817738 Centerline is valid? [True, True] Translation: X:129.22, Y:101.00, Z:3.43 [[-8.18924009e-02 -9.96640603e-01 1.06903070e-03 1.29218631e+02] [ 9.96377169e-01 -8.18953481e-02 -2.29279193e-02 1.01003989e+02] [ 2.29384439e-02 -8.12464576e-04 9.99736549e-01 3.43042617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.162755096 meters 0.027434393947586178 Centerline is valid? [True, True] Translation: X:129.21, Y:101.03, Z:3.43 [[-8.28111558e-02 -9.96564642e-01 1.10720611e-03 1.29214533e+02] [ 9.96286262e-01 -8.28142089e-02 -2.35688381e-02 1.01031447e+02] [ 2.35795631e-02 -8.48668492e-04 9.99721603e-01 3.42997367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.192755096 meters 0.028238064045879654 Centerline is valid? [True, True] Translation: X:129.21, Y:101.06, Z:3.43 [[-8.36657294e-02 -9.96493145e-01 1.20723638e-03 1.29211081e+02] [ 9.96167402e-01 -8.36692660e-02 -2.54943213e-02 1.01057424e+02] [ 2.55059250e-02 -9.30391452e-04 9.99674238e-01 3.42804970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22275509600001 meters 0.028358736264903234 Centerline is valid? [True, True] Translation: X:129.21, Y:101.08, Z:3.43 [[-8.38289954e-02 -9.96479379e-01 1.24390897e-03 1.29208303e+02] [ 9.96138971e-01 -8.38328911e-02 -2.60613981e-02 1.01083360e+02] [ 2.60739262e-02 -9.45594615e-04 9.99659570e-01 3.42735611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25275509600002 meters 0.028759196023633242 Centerline is valid? [True, True] Translation: X:129.20, Y:101.11, Z:3.43 [[-8.28574032e-02 -9.96560512e-01 1.34033473e-03 1.29203768e+02] [ 9.96171402e-01 -8.28625257e-02 -2.78628630e-02 1.01108304e+02] [ 2.78780926e-02 -9.73441349e-04 9.99610856e-01 3.42554569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28275509600002 meters 0.028759196023633242 Centerline is valid? [True, True] Translation: X:129.20, Y:101.13, Z:3.43 [[-8.32356905e-02 -9.96528975e-01 1.34949055e-03 1.29202250e+02] [ 9.96139867e-01 -8.32409210e-02 -2.78624201e-02 1.01134190e+02] [ 2.78780418e-02 -9.74866436e-04 9.99610857e-01 3.42602972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31275509600002 meters 0.02817460526442458 Centerline is valid? [True, True] Translation: X:129.20, Y:101.16, Z:3.43 [[-8.28267016e-02 -9.96562977e-01 1.40374724e-03 1.29197519e+02] [ 9.96148604e-01 -8.28327622e-02 -2.87522538e-02 1.01160497e+02] [ 2.87697079e-02 -9.83113495e-04 9.99585583e-01 3.42531913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34275509600002 meters 0.028075385902973638 Centerline is valid? [True, True] Translation: X:129.19, Y:101.19, Z:3.42 [[-8.20555914e-02 -9.96626695e-01 1.45312438e-03 1.29193601e+02] [ 9.96189546e-01 -8.20626576e-02 -2.95314980e-02 1.01186720e+02] [ 2.95511265e-02 -9.75637218e-04 9.99562794e-01 3.42455828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37275509600002 meters 0.027663013911237246 Centerline is valid? [True, True] Translation: X:129.19, Y:101.21, Z:3.42 [[-8.00950932e-02 -9.96786045e-01 1.53506124e-03 1.29187554e+02] [ 9.96304873e-01 -8.01041431e-02 -3.09826931e-02 1.01212973e+02] [ 3.10060809e-02 -9.52172692e-04 9.99518742e-01 3.42248240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40275509600002 meters 0.029965693230200874 Centerline is valid? [True, True] Translation: X:129.19, Y:101.24, Z:3.42 [[-7.94147864e-02 -9.96840394e-01 1.58761224e-03 1.29187456e+02] [ 9.96332292e-01 -7.94250136e-02 -3.18375602e-02 1.01239140e+02] [ 3.18630622e-02 -9.46583694e-04 9.99491795e-01 3.42021058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43275509600002 meters 0.026480733989516166 Centerline is valid? [True, True] Translation: X:129.18, Y:101.26, Z:3.42 [[-7.76043383e-02 -9.96982888e-01 1.63951969e-03 1.29178357e+02] [ 9.96449803e-01 -7.76164714e-02 -3.26109516e-02 1.01264040e+02] [ 3.26398144e-02 -8.97052244e-04 9.99466777e-01 3.42113831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46275509600002 meters 0.02613194733333684 Centerline is valid? [True, True] Translation: X:129.18, Y:101.29, Z:3.42 [[-7.68375955e-02 -9.97042238e-01 1.66102696e-03 1.29175245e+02] [ 9.96503520e-01 -7.68506933e-02 -3.27827170e-02 1.01289915e+02] [ 3.28134046e-02 -8.63725935e-04 9.99461122e-01 3.42158671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49275509600002 meters 0.025693471291686653 Centerline is valid? [True, True] Translation: X:129.17, Y:101.32, Z:3.42 [[-7.60927032e-02 -9.97099358e-01 1.66432737e-03 1.29172030e+02] [ 9.96565909e-01 -7.61064452e-02 -3.26220636e-02 1.01316687e+02] [ 3.26541047e-02 -8.23689081e-04 9.99466373e-01 3.42244682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52275509600003 meters 0.024971706910588604 Centerline is valid? [True, True] Translation: X:129.17, Y:101.34, Z:3.42 [[-7.49667300e-02 -9.97184638e-01 1.66967612e-03 1.29168538e+02] [ 9.96655006e-01 -7.49813397e-02 -3.25053515e-02 1.01343056e+02] [ 3.25390317e-02 -7.72728849e-04 9.99470167e-01 3.42371573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55275509600003 meters 0.02395252407952943 Centerline is valid? [True, True] Translation: X:129.16, Y:101.37, Z:3.43 [[-7.32493486e-02 -9.97312392e-01 1.58946312e-03 1.29163725e+02] [ 9.96838988e-01 -7.32635584e-02 -3.07324496e-02 1.01368525e+02] [ 3.07663026e-02 -6.66693112e-04 9.99526383e-01 3.42684213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.582755096 meters 0.023679940988584808 Centerline is valid? [True, True] Translation: X:129.16, Y:101.40, Z:3.43 [[-7.23633672e-02 -9.97377131e-01 1.54959625e-03 1.29161200e+02] [ 9.96933099e-01 -7.23773949e-02 -2.97642378e-02 1.01395065e+02] [ 2.97983258e-02 -6.08996675e-04 9.99555746e-01 3.42861322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.612755096 meters 0.022591607290393646 Centerline is valid? [True, True] Translation: X:129.16, Y:101.42, Z:3.43 [[-7.09937655e-02 -9.97475618e-01 1.50882153e-03 1.29157690e+02] [ 9.97059390e-01 -7.10077323e-02 -2.88179546e-02 1.01419987e+02] [ 2.88523451e-02 -5.41510437e-04 9.99583538e-01 3.43173376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.642755096 meters 0.022336467821821096 Centerline is valid? [True, True] Translation: X:129.16, Y:101.45, Z:3.43 [[-7.07545819e-02 -9.97492620e-01 1.50430931e-03 1.29156100e+02] [ 9.97083838e-01 -7.07686556e-02 -2.85590176e-02 1.01445141e+02] [ 2.85938672e-02 -5.20758851e-04 9.99590976e-01 3.43307864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.672755096 meters 0.022368108436135677 Centerline is valid? [True, True] Translation: X:129.16, Y:101.47, Z:3.43 [[-7.10632057e-02 -9.97470711e-01 1.48405129e-03 1.29155096e+02] [ 9.97078461e-01 -7.10768827e-02 -2.79753445e-02 1.01470676e+02] [ 2.80100685e-02 -5.08302085e-04 9.99607512e-01 3.43420575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.702755096 meters 0.02266503939408475 Centerline is valid? [True, True] Translation: X:129.16, Y:101.50, Z:3.44 [[-7.18174989e-02 -9.97416708e-01 1.46896696e-03 1.29155645e+02] [ 9.97037804e-01 -7.18307101e-02 -2.74948395e-02 1.01495614e+02] [ 2.75293292e-02 -5.09995015e-04 9.99620866e-01 3.43594589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.732755096 meters 0.023085940787758923 Centerline is valid? [True, True] Translation: X:129.16, Y:101.52, Z:3.44 [[-7.27834880e-02 -9.97346700e-01 1.45748382e-03 1.29155275e+02] [ 9.96978968e-01 -7.27962342e-02 -2.70859003e-02 1.01521267e+02] [ 2.71201326e-02 -5.18325583e-04 9.99632047e-01 3.43711003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.762755096 meters 0.023964330969784352 Centerline is valid? [True, True] Translation: X:129.16, Y:101.55, Z:3.44 [[-7.44151425e-02 -9.97226292e-01 1.45230140e-03 1.29156662e+02] [ 9.96866045e-01 -7.44273016e-02 -2.68079250e-02 1.01547180e+02] [ 2.68416585e-02 -5.47165609e-04 9.99639548e-01 3.43904701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.792755096 meters 0.02084182254705935 Centerline is valid? [True, True] Translation: X:129.15, Y:101.57, Z:3.44 [[-7.51980888e-02 -9.97167591e-01 1.42918800e-03 1.29151245e+02] [ 9.96823275e-01 -7.52096860e-02 -2.62080486e-02 1.01572930e+02] [ 2.62413055e-02 -5.46147304e-04 9.99655488e-01 3.44276244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.822755096 meters 0.020844751678638494 Centerline is valid? [True, True] Translation: X:129.15, Y:101.60, Z:3.44 [[-7.64464475e-02 -9.97072705e-01 1.40076171e-03 1.29151167e+02] [ 9.96746535e-01 -7.64572746e-02 -2.55074495e-02 1.01598942e+02] [ 2.55398801e-02 -5.53749522e-04 9.99673651e-01 3.44462087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.852755096 meters 0.021560858632064427 Centerline is valid? [True, True] Translation: X:129.15, Y:101.62, Z:3.45 [[-7.76371676e-02 -9.96980740e-01 1.36934955e-03 1.29152567e+02] [ 9.96673405e-01 -7.76472418e-02 -2.47594360e-02 1.01623933e+02] [ 2.47910070e-02 -5.57458207e-04 9.99692500e-01 3.44608413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.882755096 meters 0.022317931043854308 Centerline is valid? [True, True] Translation: X:129.16, Y:101.65, Z:3.45 [[-7.95109926e-02 -9.96833113e-01 1.32171038e-03 1.29155270e+02] [ 9.96550719e-01 -7.95199354e-02 -2.37327908e-02 1.01651397e+02] [ 2.37627341e-02 -5.69866325e-04 9.99717464e-01 3.44828112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.912755096 meters 0.022982666302739114 Centerline is valid? [True, True] Translation: X:129.16, Y:101.68, Z:3.45 [[-8.03019951e-02 -9.96769695e-01 1.32827951e-03 1.29156549e+02] [ 9.96488091e-01 -8.03108894e-02 -2.36990775e-02 1.01677392e+02] [ 2.37291975e-02 -5.79468492e-04 9.99718255e-01 3.44874258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.942755096 meters 0.022017823153186605 Centerline is valid? [True, True] Translation: X:129.16, Y:101.70, Z:3.45 [[-8.13822868e-02 -9.96682038e-01 1.35562348e-03 1.29156607e+02] [ 9.96392871e-01 -8.13913384e-02 -2.40145243e-02 1.01703660e+02] [ 2.40451810e-02 -6.03623336e-04 9.99710691e-01 3.44990890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97275509600001 meters 0.02195615827221205 Centerline is valid? [True, True] Translation: X:129.16, Y:101.73, Z:3.45 [[-8.16920635e-02 -9.96656631e-01 1.40211792e-03 1.29156162e+02] [ 9.96351642e-01 -8.17017601e-02 -2.46622593e-02 1.01730258e+02] [ 2.46943597e-02 -6.17708360e-04 9.99694857e-01 3.45006481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00275509600002 meters 0.021791915280981136 Centerline is valid? [True, True] Translation: X:129.16, Y:101.76, Z:3.45 [[-8.11347486e-02 -9.96702138e-01 1.41424264e-03 1.29155307e+02] [ 9.96396044e-01 -8.11448887e-02 -2.47068749e-02 1.01757147e+02] [ 2.47401536e-02 -5.95440303e-04 9.99693738e-01 3.45040147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03275509600002 meters 0.020592939991925244 Centerline is valid? [True, True] Translation: X:129.15, Y:101.78, Z:3.45 [[-7.89813916e-02 -9.96875061e-01 1.43252681e-03 1.29153742e+02] [ 9.96564974e-01 -7.89925598e-02 -2.48682338e-02 1.01784847e+02] [ 2.49036811e-02 -5.36521675e-04 9.99689711e-01 3.45150847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06275509600002 meters 0.020679434729082465 Centerline is valid? [True, True] Translation: X:129.15, Y:101.81, Z:3.45 [[-7.82253365e-02 -9.96934623e-01 1.46804874e-03 1.29152979e+02] [ 9.96613008e-01 -7.82373954e-02 -2.53263052e-02 1.01810501e+02] [ 2.53635268e-02 -5.18082271e-04 9.99678160e-01 3.45155191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09275509600002 meters 0.020879173147297453 Centerline is valid? [True, True] Translation: X:129.15, Y:101.84, Z:3.45 [[-7.72355377e-02 -9.97011761e-01 1.49004086e-03 1.29152860e+02] [ 9.96685110e-01 -7.72483789e-02 -2.55240802e-02 1.01836168e+02] [ 2.55629114e-02 -4.86264524e-04 9.99673097e-01 3.45147783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12275509600002 meters 0.019268581024477403 Centerline is valid? [True, True] Translation: X:129.15, Y:101.86, Z:3.45 [[-7.64905562e-02 -9.97069144e-01 1.52186780e-03 1.29149251e+02] [ 9.96733027e-01 -7.65042900e-02 -2.58914294e-02 1.01862176e+02] [ 2.59319748e-02 -4.63553941e-04 9.99663602e-01 3.45297022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15275509600002 meters 0.01885927206367588 Centerline is valid? [True, True] Translation: X:129.15, Y:101.89, Z:3.45 [[-7.51127944e-02 -9.97173767e-01 1.59555699e-03 1.29149035e+02] [ 9.96809323e-01 -7.51284818e-02 -2.69608049e-02 1.01888973e+02] [ 2.70044792e-02 -4.34635316e-04 9.99635218e-01 3.45312984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18275509600002 meters 0.018834254295979288 Centerline is valid? [True, True] Translation: X:129.15, Y:101.91, Z:3.45 [[-7.45143152e-02 -9.97218625e-01 1.62185608e-03 1.29148942e+02] [ 9.96847076e-01 -7.45308263e-02 -2.72224636e-02 1.01914109e+02] [ 2.72676260e-02 -4.11720744e-04 9.99628084e-01 3.45353731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21275509600002 meters 0.01769005187947739 Centerline is valid? [True, True] Translation: X:129.15, Y:101.94, Z:3.46 [[-7.35965183e-02 -9.97286732e-01 1.65119583e-03 1.29147506e+02] [ 9.96906697e-01 -7.36140573e-02 -2.75319595e-02 1.01941381e+02] [ 2.75788092e-02 -3.80168181e-04 9.99619560e-01 3.45598220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24275509600002 meters 0.01801053898169919 Centerline is valid? [True, True] Translation: X:129.15, Y:101.97, Z:3.46 [[-7.38911547e-02 -9.97264971e-01 1.63568830e-03 1.29146977e+02] [ 9.96896542e-01 -7.39083183e-02 -2.71080123e-02 1.01968120e+02] [ 2.71547621e-02 -3.72430323e-04 9.99631172e-01 3.45631992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27275509600003 meters 0.017826451634459978 Centerline is valid? [True, True] Translation: X:129.15, Y:101.99, Z:3.46 [[-7.42168783e-02 -9.97240805e-01 1.62221703e-03 1.29146845e+02] [ 9.96882935e-01 -7.42337047e-02 -2.67164935e-02 1.01994434e+02] [ 2.67632006e-02 -3.65654267e-04 9.99641735e-01 3.45833738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30275509600003 meters 0.018678332541336898 Centerline is valid? [True, True] Translation: X:129.15, Y:102.02, Z:3.46 [[-7.50332940e-02 -9.97179762e-01 1.58948832e-03 1.29148277e+02] [ 9.96840248e-01 -7.50492254e-02 -2.60217932e-02 1.02020237e+02] [ 2.60676955e-02 -3.68034935e-04 9.99660112e-01 3.45838186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.332755096 meters 0.01805324925967065 Centerline is valid? [True, True] Translation: X:129.15, Y:102.05, Z:3.46 [[-7.64611242e-02 -9.97071338e-01 1.56343989e-03 1.29146365e+02] [ 9.96746248e-01 -7.64761200e-02 -2.54621244e-02 1.02047861e+02] [ 2.55071202e-02 -3.88509809e-04 9.99674565e-01 3.46070067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.362755096 meters 0.018762087856151414 Centerline is valid? [True, True] Translation: X:129.15, Y:102.08, Z:3.46 [[-7.97999825e-02 -9.96809749e-01 1.51243226e-03 1.29149514e+02] [ 9.96508902e-01 -7.98130599e-02 -2.44925139e-02 1.02075303e+02] [ 2.45350885e-02 -4.47349971e-04 9.99698869e-01 3.46320735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.392755096 meters 0.019524171213164083 Centerline is valid? [True, True] Translation: X:129.15, Y:102.10, Z:3.46 [[-8.15918263e-02 -9.96664677e-01 1.51516583e-03 1.29151482e+02] [ 9.96366237e-01 -8.16044781e-02 -2.43932681e-02 1.02101355e+02] [ 2.44355530e-02 -4.80631211e-04 9.99701292e-01 3.46425376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.422755096 meters 0.020234264810026697 Centerline is valid? [True, True] Translation: X:129.15, Y:102.13, Z:3.47 [[-8.36205873e-02 -9.96496533e-01 1.50239530e-03 1.29152721e+02] [ 9.96206515e-01 -8.36325033e-02 -2.40454650e-02 1.02128835e+02] [ 2.40868716e-02 -5.13999920e-04 9.99709737e-01 3.46515965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.452755096 meters 0.021850725910611872 Centerline is valid? [True, True] Translation: X:129.16, Y:102.16, Z:3.47 [[-8.72108757e-02 -9.96188779e-01 1.47654398e-03 1.29156401e+02] [ 9.95911719e-01 -8.72214526e-02 -2.35003477e-02 1.02155419e+02] [ 2.35395690e-02 -5.78978449e-04 9.99722738e-01 3.46646939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.482755096 meters 0.021625782738042613 Centerline is valid? [True, True] Translation: X:129.15, Y:102.18, Z:3.47 [[-8.90071660e-02 -9.96029883e-01 1.48222401e-03 1.29154735e+02] [ 9.95753890e-01 -8.90174055e-02 -2.34540545e-02 1.02182703e+02] [ 2.34928829e-02 -6.11648603e-04 9.99723817e-01 3.46733609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.512755096 meters 0.021979470358889114 Centerline is valid? [True, True] Translation: X:129.15, Y:102.21, Z:3.47 [[-9.06485577e-02 -9.95881852e-01 1.47542288e-03 1.29153934e+02] [ 9.95611420e-01 -9.06583367e-02 -2.32156519e-02 1.02210092e+02] [ 2.32538058e-02 -6.35517499e-04 9.99729392e-01 3.46795635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.542755096 meters 0.02293112493956098 Centerline is valid? [True, True] Translation: X:129.15, Y:102.24, Z:3.47 [[-9.33997128e-02 -9.95627694e-01 1.41016103e-03 1.29154699e+02] [ 9.95383304e-01 -9.34080433e-02 -2.20684487e-02 1.02237740e+02] [ 2.21036790e-02 -6.57536026e-04 9.99755468e-01 3.46957214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.572755096 meters 0.02370906255389444 Centerline is valid? [True, True] Translation: X:129.15, Y:102.26, Z:3.47 [[-9.47950617e-02 -9.95495802e-01 1.41579710e-03 1.29154316e+02] [ 9.95252221e-01 -9.48031997e-02 -2.20311223e-02 1.02264344e+02] [ 2.20661119e-02 -6.79366387e-04 9.99756283e-01 3.47038800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.602755096 meters 0.024277301560907114 Centerline is valid? [True, True] Translation: X:129.15, Y:102.29, Z:3.47 [[-9.59526769e-02 -9.95384888e-01 1.41711831e-03 1.29153523e+02] [ 9.95143649e-01 -9.59606354e-02 -2.19242674e-02 1.02291868e+02] [ 2.19590720e-02 -6.93455863e-04 9.99758630e-01 3.47103746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.632755096 meters 0.02477142737113948 Centerline is valid? [True, True] Translation: X:129.15, Y:102.32, Z:3.47 [[-9.74556026e-02 -9.95238781e-01 1.47448010e-03 1.29152625e+02] [ 9.94980515e-01 -9.74639197e-02 -2.26838747e-02 1.02318721e+02] [ 2.27195804e-02 -7.43591708e-04 9.99741600e-01 3.47068312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.662755096 meters 0.02532069140858099 Centerline is valid? [True, True] Translation: X:129.15, Y:102.34, Z:3.47 [[-9.74952642e-02 -9.95234824e-01 1.52287014e-03 1.29151756e+02] [ 9.94962450e-01 -9.75042267e-02 -2.32948083e-02 1.02343926e+02] [ 2.33322907e-02 -7.55934882e-04 9.99727479e-01 3.47048917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.692755096 meters 0.02418358516963951 Centerline is valid? [True, True] Translation: X:129.15, Y:102.37, Z:3.47 [[-9.73581774e-02 -9.95248136e-01 1.59155696e-03 1.29147425e+02] [ 9.94954404e-01 -9.73681281e-02 -2.41905127e-02 1.02370522e+02] [ 2.42305296e-02 -7.71617619e-04 9.99706100e-01 3.47073206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72275509600001 meters 0.02328870135790706 Centerline is valid? [True, True] Translation: X:129.14, Y:102.40, Z:3.47 [[-9.55758843e-02 -9.95420731e-01 1.67884165e-03 1.29141864e+02] [ 9.95097801e-01 -9.55876571e-02 -2.53646856e-02 1.02397875e+02] [ 2.54090104e-02 -7.53640618e-04 9.99676855e-01 3.47014114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75275509600002 meters 0.022914860588145333 Centerline is valid? [True, True] Translation: X:129.14, Y:102.42, Z:3.47 [[-9.41359246e-02 -9.95557904e-01 1.69900130e-03 1.29138165e+02] [ 9.95230590e-01 -9.41485555e-02 -2.55367033e-02 1.02424475e+02] [ 2.55832254e-02 -7.13023116e-04 9.99672441e-01 3.47073074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78275509600002 meters 0.02154142555469713 Centerline is valid? [True, True] Translation: X:129.13, Y:102.45, Z:3.47 [[-9.09835549e-02 -9.95850950e-01 1.69668110e-03 1.29131316e+02] [ 9.95527735e-01 -9.09972624e-02 -2.53777042e-02 1.02451814e+02] [ 2.54268042e-02 -6.19860649e-04 9.99676494e-01 3.47178481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81275509600002 meters 0.020939435062067427 Centerline is valid? [True, True] Translation: X:129.13, Y:102.48, Z:3.47 [[-8.93250021e-02 -9.96001046e-01 1.72079000e-03 1.29126806e+02] [ 9.95671414e-01 -8.93397189e-02 -2.56290766e-02 1.02477402e+02] [ 2.56803220e-02 -5.75975901e-04 9.99670040e-01 3.47215107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84275509600002 meters 0.020156172730319107 Centerline is valid? [True, True] Translation: X:129.12, Y:102.50, Z:3.47 [[-8.78190802e-02 -9.96134947e-01 1.72552340e-03 1.29121640e+02] [ 9.95807070e-01 -8.78344527e-02 -2.55614474e-02 1.02504187e+02] [ 2.56142114e-02 -5.26494402e-04 9.99671764e-01 3.47283054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87275509600002 meters 0.019184154608229132 Centerline is valid? [True, True] Translation: X:129.12, Y:102.53, Z:3.47 [[-8.62976860e-02 -9.96267848e-01 1.75640395e-03 1.29115622e+02] [ 9.95931690e-01 -8.63141989e-02 -2.58829782e-02 1.02531370e+02] [ 2.59379816e-02 -4.84382769e-04 9.99663437e-01 3.47355777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90275509600002 meters 0.0181894853880216 Centerline is valid? [True, True] Translation: X:129.11, Y:102.56, Z:3.47 [[-8.37646810e-02 -9.96483952e-01 1.79237817e-03 1.29107717e+02] [ 9.96137617e-01 -8.37828259e-02 -2.62732961e-02 1.02558263e+02] [ 2.63310885e-02 -4.15318946e-04 9.99653191e-01 3.47399832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93275509600002 meters 0.018429064525436724 Centerline is valid? [True, True] Translation: X:129.10, Y:102.58, Z:3.47 [[-8.32476895e-02 -9.96527219e-01 1.82342836e-03 1.29104690e+02] [ 9.96172740e-01 -8.32667138e-02 -2.65805496e-02 1.02583810e+02] [ 2.66400721e-02 -3.96319714e-04 9.99645012e-01 3.47374556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96275509600002 meters 0.018319993866623974 Centerline is valid? [True, True] Translation: X:129.10, Y:102.61, Z:3.47 [[-8.37756139e-02 -9.96482993e-01 1.81407743e-03 1.29099384e+02] [ 9.96136253e-01 -8.37943204e-02 -2.62883479e-02 1.02610205e+02] [ 2.63479010e-02 -3.95254189e-04 9.99652756e-01 3.47442260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99275509600002 meters 0.01885011034182816 Centerline is valid? [True, True] Translation: X:129.10, Y:102.64, Z:3.48 [[-8.52814531e-02 -9.96355250e-01 1.81398659e-03 1.29096934e+02] [ 9.96012472e-01 -8.52996983e-02 -2.61365282e-02 1.02635543e+02] [ 2.61959996e-02 -4.22207831e-04 9.99656737e-01 3.47502867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02275509600003 meters 0.019351011847106903 Centerline is valid? [True, True] Translation: X:129.09, Y:102.66, Z:3.48 [[-8.69343175e-02 -9.96212446e-01 1.78508295e-03 1.29094810e+02] [ 9.95884251e-01 -8.69515017e-02 -2.55733258e-02 1.02661917e+02] [ 2.56316811e-02 -4.45463626e-04 9.99671355e-01 3.47615466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05275509600003 meters 0.021302844622955206 Centerline is valid? [True, True] Translation: X:129.09, Y:102.69, Z:3.48 [[-9.10299176e-02 -9.95846852e-01 1.61312900e-03 1.29094613e+02] [ 9.95581479e-01 -9.10429064e-02 -2.29936620e-02 1.02688130e+02] [ 2.30450299e-02 -4.87109802e-04 9.99734309e-01 3.47882961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.082755096 meters 0.02098088126260662 Centerline is valid? [True, True] Translation: X:129.09, Y:102.71, Z:3.48 [[-9.37571373e-02 -9.95593979e-01 1.49279832e-03 1.29090898e+02] [ 9.95368880e-01 -9.37676903e-02 -2.11757423e-02 1.02714989e+02] [ 2.12224178e-02 -4.99491989e-04 9.99774654e-01 3.48125818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.112755096 meters 0.021932003896104578 Centerline is valid? [True, True] Translation: X:129.09, Y:102.74, Z:3.48 [[-9.66506838e-02 -9.95317385e-01 1.39620912e-03 1.29089403e+02] [ 9.95122325e-01 -9.66593925e-02 -1.97109098e-02 1.02741755e+02] [ 1.97535679e-02 -5.15674050e-04 9.99804746e-01 3.48316654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.142755096 meters 0.021932003896104578 Centerline is valid? [True, True] Translation: X:129.09, Y:102.77, Z:3.48 [[-9.70073401e-02 -9.95282676e-01 1.40365793e-03 1.29087302e+02] [ 9.95087620e-01 -9.70161263e-02 -1.97103794e-02 1.02768423e+02] [ 1.97535767e-02 -5.15288856e-04 9.99804746e-01 3.48366556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.172755096 meters 0.025472745747856317 Centerline is valid? [True, True] Translation: X:129.09, Y:102.79, Z:3.48 [[-1.02597358e-01 -9.94722061e-01 1.34315059e-03 1.29087736e+02] [ 9.94545122e-01 -1.02604454e-01 -1.87703623e-02 1.02794323e+02] [ 1.88091067e-02 -5.89965715e-04 9.99822919e-01 3.48383633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.202755096 meters 0.025812418622686857 Centerline is valid? [True, True] Translation: X:129.09, Y:102.82, Z:3.49 [[-1.05228522e-01 -9.94447226e-01 1.29331234e-03 1.29085915e+02] [ 9.94284447e-01 -1.05234711e-01 -1.80026294e-02 1.02821469e+02] [ 1.80387663e-02 -6.08469745e-04 9.99837103e-01 3.48541999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.232755096 meters 0.02881162469693617 Centerline is valid? [True, True] Translation: X:129.09, Y:102.85, Z:3.49 [[-1.09042535e-01 -9.94036289e-01 1.25804285e-03 1.29085529e+02] [ 9.93883725e-01 -1.09047855e-01 -1.74271615e-02 1.02847900e+02] [ 1.74604178e-02 -6.49953554e-04 9.99847344e-01 3.48576853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.262755096 meters 0.02761534467457637 Centerline is valid? [True, True] Translation: X:129.08, Y:102.88, Z:3.49 [[-1.10660239e-01 -9.93857516e-01 1.24462539e-03 1.29079908e+02] [ 9.93709256e-01 -1.10665245e-01 -1.71790186e-02 1.02875133e+02] [ 1.72112336e-02 -6.64238533e-04 9.99851655e-01 3.48612764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.292755096 meters 0.02874725988136389 Centerline is valid? [True, True] Translation: X:129.08, Y:102.90, Z:3.49 [[-1.11555306e-01 -9.93757438e-01 1.25210778e-03 1.29077991e+02] [ 9.93608900e-01 -1.11560296e-01 -1.71946012e-02 1.02901037e+02] [ 1.72269483e-02 -6.74043560e-04 9.99851378e-01 3.48609363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.322755096 meters 0.027989650847359188 Centerline is valid? [True, True] Translation: X:129.07, Y:102.93, Z:3.49 [[-1.11949444e-01 -9.93713070e-01 1.28667605e-03 1.29071591e+02] [ 9.93557419e-01 -1.11954699e-01 -1.76011717e-02 1.02927972e+02] [ 1.76345638e-02 -6.92054855e-04 9.99844259e-01 3.48598937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.352755096 meters 0.029639160750528814 Centerline is valid? [True, True] Translation: X:129.07, Y:102.95, Z:3.49 [[-1.11548159e-01 -9.93758203e-01 1.28154390e-03 1.29070314e+02] [ 9.93605304e-01 -1.11553493e-01 -1.74446893e-02 1.02953733e+02] [ 1.74787638e-02 -6.72574166e-04 9.99847009e-01 3.48651847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.382755096 meters 0.02812852729957935 Centerline is valid? [True, True] Translation: X:129.06, Y:102.98, Z:3.49 [[-1.10852516e-01 -9.93835982e-01 1.32685937e-03 1.29063940e+02] [ 9.93673534e-01 -1.10858403e-01 -1.79811616e-02 1.02980222e+02] [ 1.80174189e-02 -6.74791969e-04 9.99837445e-01 3.48659076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.412755096 meters 0.02760316408037226 Centerline is valid? [True, True] Translation: X:129.06, Y:103.01, Z:3.49 [[-1.08514584e-01 -9.94093962e-01 1.33414654e-03 1.29056745e+02] [ 9.93931307e-01 -1.08520977e-01 -1.79931855e-02 1.03006281e+02] [ 1.80317000e-02 -6.26473031e-04 9.99837219e-01 3.48689892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.442755096 meters 0.026814870750180828 Centerline is valid? [True, True] Translation: X:129.05, Y:103.03, Z:3.49 [[-1.07280132e-01 -9.94227918e-01 1.34927465e-03 1.29051549e+02] [ 9.94063242e-01 -1.07286933e-01 -1.81048086e-02 1.03033083e+02] [ 1.81450657e-02 -6.01021914e-04 9.99835184e-01 3.48698303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47275509600001 meters 0.025951665948903493 Centerline is valid? [True, True] Translation: X:129.04, Y:103.06, Z:3.49 [[-1.05374002e-01 -9.94431656e-01 1.41434545e-03 1.29044376e+02] [ 9.94252473e-01 -1.05381876e-01 -1.88859849e-02 1.03059626e+02] [ 1.89298676e-02 -5.83875351e-04 9.99820644e-01 3.48747762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50275509600002 meters 0.02507889646802425 Centerline is valid? [True, True] Translation: X:129.04, Y:103.09, Z:3.49 [[-1.05114439e-01 -9.94459073e-01 1.45141180e-03 1.29038353e+02] [ 9.94272143e-01 -1.05122834e-01 -1.92897662e-02 1.03086340e+02] [ 1.93354596e-02 -5.84534626e-04 9.99812882e-01 3.48720306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53275509600002 meters 0.028077339019949882 Centerline is valid? [True, True] Translation: X:129.04, Y:103.11, Z:3.49 [[-1.05234453e-01 -9.94446345e-01 1.47564275e-03 1.29040104e+02] [ 9.94254991e-01 -1.05243163e-01 -1.95163812e-02 1.03111796e+02] [ 1.95632953e-02 -5.86630524e-04 9.99808448e-01 3.48820771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56275509600002 meters 0.023854071879962687 Centerline is valid? [True, True] Translation: X:129.03, Y:103.14, Z:3.49 [[-1.05285907e-01 -9.94440910e-01 1.46764326e-03 1.29027361e+02] [ 9.94253729e-01 -1.05294576e-01 -1.93021962e-02 1.03137766e+02] [ 1.93494285e-02 -5.73039454e-04 9.99812618e-01 3.48968727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59275509600002 meters 0.027479262507110754 Centerline is valid? [True, True] Translation: X:129.03, Y:103.16, Z:3.49 [[-1.05606838e-01 -9.94406901e-01 1.45305085e-03 1.29029412e+02] [ 9.94225513e-01 -1.05615339e-01 -1.90007661e-02 1.03164189e+02] [ 1.90479574e-02 -5.61950607e-04 9.99818413e-01 3.49049213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62275509600002 meters 0.024983119109029953 Centerline is valid? [True, True] Translation: X:129.02, Y:103.19, Z:3.49 [[-1.05999789e-01 -9.94365116e-01 1.43565480e-03 1.29021541e+02] [ 9.94189780e-01 -1.06008069e-01 -1.86807592e-02 1.03190355e+02] [ 1.87276862e-02 -5.52843191e-04 9.99824469e-01 3.49163490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65275509600002 meters 0.024459719930378314 Centerline is valid? [True, True] Translation: X:129.02, Y:103.22, Z:3.49 [[-1.06263360e-01 -9.94337030e-01 1.40295961e-03 1.29017032e+02] [ 9.94171243e-01 -1.06271272e-01 -1.81646774e-02 1.03217208e+02] [ 1.82109057e-02 -5.35457559e-04 9.99834024e-01 3.49284380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68275509600002 meters 0.026939119750066295 Centerline is valid? [True, True] Translation: X:129.02, Y:103.24, Z:3.50 [[-1.07193783e-01 -9.94237264e-01 1.32510356e-03 1.29015954e+02] [ 9.94090622e-01 -1.07200741e-01 -1.70832328e-02 1.03243595e+02] [ 1.71268388e-02 -5.13943333e-04 9.99853193e-01 3.49555103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71275509600002 meters 0.02479007217045799 Centerline is valid? [True, True] Translation: X:129.01, Y:103.27, Z:3.50 [[-1.07800745e-01 -9.94171672e-01 1.29811128e-03 1.29008697e+02] [ 9.94032360e-01 -1.07807380e-01 -1.66504163e-02 1.03269185e+02] [ 1.66933182e-02 -5.04562673e-04 9.99860530e-01 3.49687983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74275509600002 meters 0.02819883223339413 Centerline is valid? [True, True] Translation: X:129.01, Y:103.30, Z:3.50 [[-1.08985665e-01 -9.94042613e-01 1.18709032e-03 1.29008570e+02] [ 9.93927305e-01 -1.08991112e-01 -1.51476025e-02 1.03295202e+02] [ 1.51867447e-02 -4.70990047e-04 9.99884564e-01 3.49877945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77275509600003 meters 0.02815715163669101 Centerline is valid? [True, True] Translation: X:129.00, Y:103.32, Z:3.50 [[-1.09901426e-01 -9.93941780e-01 1.18899253e-03 1.29004528e+02] [ 9.93827204e-01 -1.09906819e-01 -1.50989976e-02 1.03321441e+02] [ 1.51382029e-02 -4.77748234e-04 9.99885297e-01 3.49932275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80275509600003 meters 0.0297783700916952 Centerline is valid? [True, True] Translation: X:129.00, Y:103.35, Z:3.50 [[-1.11734936e-01 -9.93737328e-01 1.19437627e-03 1.29002300e+02] [ 9.93623050e-01 -1.11740210e-01 -1.50784834e-02 1.03347690e+02] [ 1.51175117e-02 -4.98033586e-04 9.99885600e-01 3.49951690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.832755096 meters 0.03010617498189198 Centerline is valid? [True, True] Translation: X:129.00, Y:103.37, Z:3.50 [[-1.13026423e-01 -9.93591260e-01 1.19828473e-03 1.28999233e+02] [ 9.93477037e-01 -1.13031609e-01 -1.50742091e-02 1.03374909e+02] [ 1.51130465e-02 -5.13315567e-04 9.99885660e-01 3.49959348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.862755096 meters 0.03136809652970624 Centerline is valid? [True, True] Translation: X:129.00, Y:103.40, Z:3.50 [[-1.14100388e-01 -9.93468479e-01 1.21726526e-03 1.28997889e+02] [ 9.93351738e-01 -1.14105652e-01 -1.52389108e-02 1.03401197e+02] [ 1.52782744e-02 -5.29593080e-04 9.99883140e-01 3.49997073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.892755096 meters 0.03331203151936993 Centerline is valid? [True, True] Translation: X:129.00, Y:103.43, Z:3.50 [[-1.15089527e-01 -9.93354290e-01 1.28699222e-03 1.28996474e+02] [ 9.93225147e-01 -1.15095329e-01 -1.60272240e-02 1.03426958e+02] [ 1.60688385e-02 -5.66292585e-04 9.99870728e-01 3.49883265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.922755096 meters 0.03288281674880078 Centerline is valid? [True, True] Translation: X:128.99, Y:103.45, Z:3.50 [[-1.15280328e-01 -9.93332058e-01 1.36713741e-03 1.28989723e+02] [ 9.93187974e-01 -1.15286905e-01 -1.69286277e-02 1.03453114e+02] [ 1.69733616e-02 -5.93713311e-04 9.99855766e-01 3.49639694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.952755096 meters 0.030353867035907735 Centerline is valid? [True, True] Translation: X:128.98, Y:103.48, Z:3.50 [[-1.14943609e-01 -9.93371118e-01 1.33764455e-03 1.28984576e+02] [ 9.93234585e-01 -1.14950001e-01 -1.64789657e-02 1.03478938e+02] [ 1.65234908e-02 -5.65556962e-04 9.99863318e-01 3.49900898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.982755096 meters 0.029553603926266558 Centerline is valid? [True, True] Translation: X:128.98, Y:103.51, Z:3.50 [[-1.12319038e-01 -9.93671151e-01 1.44109483e-03 1.28977640e+02] [ 9.93514501e-01 -1.12326931e-01 -1.76521350e-02 1.03505873e+02] [ 1.77022911e-02 -5.50922197e-04 9.99843150e-01 3.49717304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.012755096 meters 0.027677438160620252 Centerline is valid? [True, True] Translation: X:128.97, Y:103.53, Z:3.50 [[-1.11103424e-01 -9.93807747e-01 1.48042790e-03 1.28971227e+02] [ 9.93644011e-01 -1.11112003e-01 -1.80472277e-02 1.03532984e+02] [ 1.80999681e-02 -5.34090478e-04 9.99836040e-01 3.49725936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.042755096 meters 0.026160167616318487 Centerline is valid? [True, True] Translation: X:128.96, Y:103.56, Z:3.50 [[-1.07480670e-01 -9.94205966e-01 1.55023876e-03 1.28964103e+02] [ 9.94028223e-01 -1.07490777e-01 -1.88049093e-02 1.03558436e+02] [ 1.88625894e-02 -4.80183163e-04 9.99821970e-01 3.49683855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.072755096 meters 0.025608724138461596 Centerline is valid? [True, True] Translation: X:128.96, Y:103.58, Z:3.50 [[-1.06432423e-01 -9.94318687e-01 1.57767625e-03 1.28959633e+02] [ 9.94136430e-01 -1.06443128e-01 -1.90425335e-02 1.03584529e+02] [ 1.91022797e-02 -4.58317536e-04 9.99817430e-01 3.49694815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.102755096 meters 0.02467222465519574 Centerline is valid? [True, True] Translation: X:128.95, Y:103.61, Z:3.50 [[-1.04993169e-01 -9.94471701e-01 1.57175672e-03 1.28954985e+02] [ 9.94292593e-01 -1.05004096e-01 -1.88780099e-02 1.03610220e+02] [ 1.89386875e-02 -4.19276012e-04 9.99820559e-01 3.49737751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.132755096 meters 0.023977004137751067 Centerline is valid? [True, True] Translation: X:128.95, Y:103.64, Z:3.50 [[-1.03965967e-01 -9.94579569e-01 1.59976758e-03 1.28950810e+02] [ 9.94395867e-01 -1.03977516e-01 -1.91189768e-02 1.03635612e+02] [ 1.91816835e-02 -3.96920625e-04 9.99815936e-01 3.49750328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.162755096 meters 0.02522167643645592 Centerline is valid? [True, True] Translation: X:128.95, Y:103.66, Z:3.50 [[-1.01439172e-01 -9.94840339e-01 1.67180038e-03 1.28945814e+02] [ 9.94641851e-01 -1.01452332e-01 -1.98749212e-02 1.03661120e+02] [ 1.99419814e-02 -3.53252932e-04 9.99801077e-01 3.49509584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.192755096 meters 0.02251362428104986 Centerline is valid? [True, True] Translation: X:128.94, Y:103.69, Z:3.50 [[-1.01401684e-01 -9.94844330e-01 1.56780861e-03 1.28942066e+02] [ 9.94671385e-01 -1.01413293e-01 -1.85520954e-02 1.03686603e+02] [ 1.86154436e-02 -3.21759350e-04 9.99826666e-01 3.49883639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22275509600001 meters 0.021737032275787757 Centerline is valid? [True, True] Translation: X:128.94, Y:103.71, Z:3.50 [[-1.01543312e-01 -9.94830004e-01 1.48976554e-03 1.28938046e+02] [ 9.94675362e-01 -1.01553798e-01 -1.75428357e-02 1.03712924e+02] [ 1.76034307e-02 -2.99524554e-04 9.99845003e-01 3.50011001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25275509600002 meters 0.021893508134661965 Centerline is valid? [True, True] Translation: X:128.94, Y:103.74, Z:3.50 [[-1.02145337e-01 -9.94768405e-01 1.46630310e-03 1.28936090e+02] [ 9.94620023e-01 -1.02155430e-01 -1.71836611e-02 1.03739604e+02] [ 1.72435540e-02 -2.96816437e-04 9.99851275e-01 3.50099750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28275509600002 meters 0.02208351507983402 Centerline is valid? [True, True] Translation: X:128.93, Y:103.77, Z:3.50 [[-1.03166913e-01 -9.94663014e-01 1.44133030e-03 1.28934643e+02] [ 9.94520979e-01 -1.03176542e-01 -1.68114036e-02 1.03766013e+02] [ 1.68703928e-02 -3.00947392e-04 9.99857640e-01 3.50216484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31275509600002 meters 0.022270858710172734 Centerline is valid? [True, True] Translation: X:128.93, Y:103.79, Z:3.50 [[-1.03930779e-01 -9.94583521e-01 1.41869288e-03 1.28932029e+02] [ 9.94447188e-01 -1.03940026e-01 -1.64699874e-02 1.03792169e+02] [ 1.65282370e-02 -3.00923469e-04 9.99863354e-01 3.50231670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34275509600002 meters 0.02307786560270424 Centerline is valid? [True, True] Translation: X:128.93, Y:103.82, Z:3.50 [[-1.05848258e-01 -9.94381492e-01 1.26308431e-03 1.28934069e+02] [ 9.94274366e-01 -1.05855399e-01 -1.45986261e-02 1.03818803e+02] [ 1.46503079e-02 -2.89386796e-04 9.99892637e-01 3.50491856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37275509600002 meters 0.024640375151100617 Centerline is valid? [True, True] Translation: X:128.93, Y:103.84, Z:3.50 [[-1.06815668e-01 -9.94278011e-01 1.28457544e-03 1.28933860e+02] [ 9.94168249e-01 -1.06822967e-01 -1.47765216e-02 1.03844113e+02] [ 1.48291927e-02 -3.01279904e-04 9.99889996e-01 3.50424551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40275509600002 meters 0.023473605299296218 Centerline is valid? [True, True] Translation: X:128.93, Y:103.87, Z:3.51 [[-1.08133945e-01 -9.94135594e-01 1.21263949e-03 1.28931513e+02] [ 9.94038670e-01 -1.08140339e-01 -1.38848624e-02 1.03870468e+02] [ 1.39345712e-02 -2.96014404e-04 9.99902865e-01 3.50549367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43275509600002 meters 0.023706760601981472 Centerline is valid? [True, True] Translation: X:128.93, Y:103.90, Z:3.51 [[-1.08933060e-01 -9.94048310e-01 1.24296412e-03 1.28929988e+02] [ 9.93947489e-01 -1.08939718e-01 -1.41607709e-02 1.03897252e+02] [ 1.42118985e-02 -3.07135032e-04 9.99898959e-01 3.50547947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46275509600002 meters 0.023935037433398837 Centerline is valid? [True, True] Translation: X:128.93, Y:103.92, Z:3.51 [[-1.09591043e-01 -9.93975965e-01 1.25871328e-03 1.28928422e+02] [ 9.93873573e-01 -1.09597824e-01 -1.42701373e-02 1.03923278e+02] [ 1.43221257e-02 -3.12877364e-04 9.99897384e-01 3.50570067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49275509600002 meters 0.02390124160454874 Centerline is valid? [True, True] Translation: X:128.93, Y:103.95, Z:3.50 [[-1.10726235e-01 -9.93850069e-01 1.31966446e-03 1.28927664e+02] [ 9.93738628e-01 -1.10733586e-01 -1.48866449e-02 1.03950029e+02] [ 1.49412242e-02 -3.36940593e-04 9.99888317e-01 3.50445284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52275509600003 meters 0.024064706838293773 Centerline is valid? [True, True] Translation: X:128.93, Y:103.98, Z:3.50 [[-1.11248557e-01 -9.93791698e-01 1.34883568e-03 1.28926814e+02] [ 9.93676420e-01 -1.11256202e-01 -1.51403106e-02 1.03976438e+02] [ 1.51963813e-02 -3.44031504e-04 9.99884469e-01 3.50421525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55275509600003 meters 0.025197279116628026 Centerline is valid? [True, True] Translation: X:128.93, Y:104.00, Z:3.50 [[-1.12513405e-01 -9.93649220e-01 1.40064560e-03 1.28929417e+02] [ 9.93526135e-01 -1.12521519e-01 -1.56437685e-02 1.04002085e+02] [ 1.57020212e-02 -3.68555647e-04 9.99876648e-01 3.50338416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.582755096 meters 0.02406665364746321 Centerline is valid? [True, True] Translation: X:128.93, Y:104.03, Z:3.50 [[-1.13206640e-01 -9.93570430e-01 1.43454380e-03 1.28925944e+02] [ 9.93442618e-01 -1.13215093e-01 -1.59407389e-02 1.04028534e+02] [ 1.60006588e-02 -3.79460532e-04 9.99871909e-01 3.50305417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.612755096 meters 0.024514274225167804 Centerline is valid? [True, True] Translation: X:128.93, Y:104.06, Z:3.50 [[-1.14879839e-01 -9.93378355e-01 1.43762549e-03 1.28926870e+02] [ 9.93251250e-01 -1.14888145e-01 -1.58955683e-02 1.04055885e+02] [ 1.59554796e-02 -3.98157024e-04 9.99872624e-01 3.50310244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.642755096 meters 0.02598575983194629 Centerline is valid? [True, True] Translation: X:128.93, Y:104.08, Z:3.50 [[-1.17080989e-01 -9.93121256e-01 1.48729984e-03 1.28929133e+02] [ 9.92986419e-01 -1.17089609e-01 -1.63705346e-02 1.04082249e+02] [ 1.64320732e-02 -4.39809837e-04 9.99864888e-01 3.50203123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.672755096 meters 0.026072713434637868 Centerline is valid? [True, True] Translation: X:128.93, Y:104.11, Z:3.50 [[-1.18568694e-01 -9.92944681e-01 1.52517240e-03 1.28928790e+02] [ 9.92804204e-01 -1.18577584e-01 -1.67083315e-02 1.04109274e+02] [ 1.67713001e-02 -4.66887466e-04 9.99859243e-01 3.50266073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.702755096 meters 0.028446675994542175 Centerline is valid? [True, True] Translation: X:128.93, Y:104.14, Z:3.50 [[-1.20088318e-01 -9.92761932e-01 1.59439750e-03 1.28930403e+02] [ 9.92609761e-01 -1.20097838e-01 -1.73888665e-02 1.04135477e+02] [ 1.74544884e-02 -5.05585208e-04 9.99847531e-01 3.50084682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.732755096 meters 0.0290832605184014 Centerline is valid? [True, True] Translation: X:128.93, Y:104.16, Z:3.50 [[-1.21354561e-01 -9.92607959e-01 1.58452954e-03 1.28931097e+02] [ 9.92458975e-01 -1.21363812e-01 -1.72048968e-02 1.04161701e+02] [ 1.72700220e-02 -5.15312139e-04 9.99850729e-01 3.50179891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.762755096 meters 0.02814813489627112 Centerline is valid? [True, True] Translation: X:128.93, Y:104.19, Z:3.50 [[-1.22441994e-01 -9.92474475e-01 1.54123146e-03 1.28929049e+02] [ 9.92334689e-01 -1.22450627e-01 -1.66646273e-02 1.04187801e+02] [ 1.67279420e-02 -5.11032752e-04 9.99859948e-01 3.50348049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.792755096 meters 0.025309602516647 Centerline is valid? [True, True] Translation: X:128.92, Y:104.21, Z:3.50 [[-1.23270620e-01 -9.92371870e-01 1.55764956e-03 1.28922757e+02] [ 9.92230399e-01 -1.23279360e-01 -1.67640892e-02 1.04213443e+02] [ 1.68282365e-02 -5.20972423e-04 9.99858259e-01 3.50374906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.822755096 meters 0.02838561711276735 Centerline is valid? [True, True] Translation: X:128.93, Y:104.24, Z:3.50 [[-1.24147224e-01 -9.92262639e-01 1.52404241e-03 1.28927690e+02] [ 9.92128436e-01 -1.24155511e-01 -1.63271177e-02 1.04239324e+02] [ 1.63900071e-02 -5.14920521e-04 9.99865542e-01 3.50498602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.852755096 meters 0.02653115832283007 Centerline is valid? [True, True] Translation: X:128.92, Y:104.26, Z:3.51 [[-1.24600494e-01 -9.92205881e-01 1.48547954e-03 1.28923013e+02] [ 9.92079553e-01 -1.24608345e-01 -1.58404917e-02 1.04264496e+02] [ 1.59021322e-02 -5.00019204e-04 9.99873428e-01 3.50570593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.882755096 meters 0.026105224405852463 Centerline is valid? [True, True] Translation: X:128.92, Y:104.29, Z:3.51 [[-1.24675179e-01 -9.92196513e-01 1.47627404e-03 1.28920845e+02] [ 9.92072617e-01 -1.24682951e-01 -1.56870451e-02 1.04290626e+02] [ 1.57486977e-02 -4.91214108e-04 9.99875861e-01 3.50643027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.912755096 meters 0.02725175506156909 Centerline is valid? [True, True] Translation: X:128.92, Y:104.32, Z:3.51 [[-1.23455861e-01 -9.92348902e-01 1.51860647e-03 1.28922170e+02] [ 9.92218955e-01 -1.23464281e-01 -1.60660208e-02 1.04318608e+02] [ 1.61305918e-02 -4.76654314e-04 9.99869780e-01 3.50696903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.942755096 meters 0.027325972598929504 Centerline is valid? [True, True] Translation: X:128.92, Y:104.34, Z:3.51 [[-1.22450896e-01 -9.92473355e-01 1.55514764e-03 1.28920674e+02] [ 9.92338070e-01 -1.22459892e-01 -1.63929769e-02 1.04344455e+02] [ 1.64600359e-02 -4.64102507e-04 9.99864417e-01 3.50769022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97275509600001 meters 0.024292791725368395 Centerline is valid? [True, True] Translation: X:128.91, Y:104.37, Z:3.51 [[-1.19654728e-01 -9.92814378e-01 1.53516690e-03 1.28913841e+02] [ 9.92683676e-01 -1.19663893e-01 -1.61143395e-02 1.04369907e+02] [ 1.61822520e-02 -4.04221790e-04 9.99868977e-01 3.50865504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00275509600002 meters 0.025006900504761065 Centerline is valid? [True, True] Translation: X:128.91, Y:104.40, Z:3.51 [[-1.18250693e-01 -9.92982527e-01 1.57305901e-03 1.28912721e+02] [ 9.92846551e-01 -1.18260539e-01 -1.64369084e-02 1.04396855e+02] [ 1.65075936e-02 -3.81869589e-04 9.99863667e-01 3.50953863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03275509600002 meters 0.023594712598137103 Centerline is valid? [True, True] Translation: X:128.91, Y:104.42, Z:3.51 [[-1.17248754e-01 -9.93101311e-01 1.58584615e-03 1.28906827e+02] [ 9.92964088e-01 -1.17258921e-01 -1.65125842e-02 1.04423181e+02] [ 1.65846237e-02 -3.61391646e-04 9.99862400e-01 3.50922786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06275509600002 meters 0.0223727306014483 Centerline is valid? [True, True] Translation: X:128.90, Y:104.45, Z:3.51 [[-1.15252382e-01 -9.93334968e-01 1.59039028e-03 1.28904201e+02] [ 9.93198172e-01 -1.15262908e-01 -1.64879745e-02 1.04448923e+02] [ 1.65613946e-02 -3.20705612e-04 9.99862799e-01 3.51101864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09275509600002 meters 0.0223727306014483 Centerline is valid? [True, True] Translation: X:128.90, Y:104.47, Z:3.51 [[-1.15622655e-01 -9.93291928e-01 1.59625079e-03 1.28901435e+02] [ 9.93155135e-01 -1.15633227e-01 -1.64874070e-02 1.04474683e+02] [ 1.65613879e-02 -3.20993086e-04 9.99862799e-01 3.51150213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12275509600002 meters 0.021070588310093976 Centerline is valid? [True, True] Translation: X:128.90, Y:104.50, Z:3.51 [[-1.15113173e-01 -9.93351074e-01 1.61296611e-03 1.28896869e+02] [ 9.93212496e-01 -1.15124060e-01 -1.65948251e-02 1.04501125e+02] [ 1.66701786e-02 -3.08264881e-04 9.99860995e-01 3.51209952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15275509600002 meters 0.021111185749554822 Centerline is valid? [True, True] Translation: X:128.90, Y:104.53, Z:3.51 [[-1.15521501e-01 -9.93303678e-01 1.60811911e-03 1.28895304e+02] [ 9.93166924e-01 -1.15532285e-01 -1.64849007e-02 1.04526704e+02] [ 1.65603022e-02 -3.07229768e-04 9.99862822e-01 3.51303724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18275509600002 meters 0.020982109326416885 Centerline is valid? [True, True] Translation: X:128.89, Y:104.55, Z:3.51 [[-1.15848928e-01 -9.93265600e-01 1.57265174e-03 1.28893385e+02] [ 9.93135908e-01 -1.15859219e-01 -1.60533657e-02 1.04553217e+02] [ 1.61274621e-02 -2.97908295e-04 9.99869900e-01 3.51431358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21275509600002 meters 0.020651234147420063 Centerline is valid? [True, True] Translation: X:128.89, Y:104.58, Z:3.52 [[-1.15979556e-01 -9.93250475e-01 1.49572414e-03 1.28891872e+02] [ 9.93134066e-01 -1.15988866e-01 -1.52088535e-02 1.04580392e+02] [ 1.52796884e-02 -2.78461482e-04 9.99883220e-01 3.51590680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24275509600002 meters 0.02138000294687306 Centerline is valid? [True, True] Translation: X:128.89, Y:104.61, Z:3.52 [[-1.16667866e-01 -9.93169871e-01 1.48896740e-03 1.28891610e+02] [ 9.93055349e-01 -1.16677028e-01 -1.50846192e-02 1.04606835e+02] [ 1.51553176e-02 -2.81263290e-04 9.99885112e-01 3.51696035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27275509600003 meters 0.021478040939600783 Centerline is valid? [True, True] Translation: X:128.89, Y:104.63, Z:3.52 [[-1.17365537e-01 -9.93087695e-01 1.47017482e-03 1.28890019e+02] [ 9.92976886e-01 -1.17374407e-01 -1.48375718e-02 1.04633605e+02] [ 1.49075709e-02 -2.81569963e-04 9.99888836e-01 3.51777081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30275509600003 meters 0.021736639643200543 Centerline is valid? [True, True] Translation: X:128.89, Y:104.66, Z:3.52 [[-1.18249892e-01 -9.92982719e-01 1.51062218e-03 1.28890720e+02] [ 9.92866656e-01 -1.18259171e-01 -1.51845714e-02 1.04659598e+02] [ 1.52566619e-02 -2.95727537e-04 9.99883567e-01 3.51875504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.332755096 meters 0.02237332355360837 Centerline is valid? [True, True] Translation: X:128.89, Y:104.69, Z:3.52 [[-1.19008295e-01 -9.92892035e-01 1.55984132e-03 1.28888867e+02] [ 9.92769324e-01 -1.19018115e-01 -1.56127502e-02 1.04686084e+02] [ 1.56874247e-02 -3.09484174e-04 9.99876897e-01 3.51791267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.362755096 meters 0.021092885071365454 Centerline is valid? [True, True] Translation: X:128.89, Y:104.71, Z:3.52 [[-1.19448746e-01 -9.92839018e-01 1.63732209e-03 1.28886627e+02] [ 9.92704932e-01 -1.19459528e-01 -1.63198979e-02 1.04713159e+02] [ 1.63986251e-02 -3.24013628e-04 9.99865481e-01 3.51803407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.392755096 meters 0.022286781206391194 Centerline is valid? [True, True] Translation: X:128.89, Y:104.74, Z:3.52 [[-1.20317693e-01 -9.92733912e-01 1.74142592e-03 1.28885847e+02] [ 9.92583389e-01 -1.20329780e-01 -1.72904757e-02 1.04739674e+02] [ 1.73743870e-02 -3.51839708e-04 9.99848992e-01 3.51687067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.422755096 meters 0.02251352921881641 Centerline is valid? [True, True] Translation: X:128.89, Y:104.77, Z:3.52 [[-1.20305896e-01 -9.92735279e-01 1.77677493e-03 1.28885556e+02] [ 9.92579801e-01 -1.20318505e-01 -1.75726155e-02 1.04765121e+02] [ 1.76587342e-02 -3.50498344e-04 9.99844011e-01 3.51797268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.452755096 meters 0.02163702837296755 Centerline is valid? [True, True] Translation: X:128.88, Y:104.79, Z:3.52 [[-1.21357948e-01 -9.92607032e-01 1.87850198e-03 1.28882620e+02] [ 9.92434360e-01 -1.21371882e-01 -1.85177399e-02 1.04790917e+02] [ 1.86088361e-02 -3.82985012e-04 9.99826767e-01 3.51765325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.482755096 meters 0.022550929201646183 Centerline is valid? [True, True] Translation: X:128.88, Y:104.82, Z:3.52 [[-1.22453750e-01 -9.92472340e-01 1.93207845e-03 1.28883002e+02] [ 9.92291124e-01 -1.22468319e-01 -1.89693252e-02 1.04816647e+02] [ 1.90631490e-02 -4.05680703e-04 9.99818199e-01 3.51818798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.512755096 meters 0.02455867320628757 Centerline is valid? [True, True] Translation: X:128.88, Y:104.84, Z:3.52 [[-1.23880151e-01 -9.92295147e-01 2.01213030e-03 1.28883273e+02] [ 9.92100212e-01 -1.23895707e-01 -1.96728794e-02 1.04843392e+02] [ 1.97705971e-02 -4.40844381e-04 9.99804445e-01 3.51686695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.542755096 meters 0.022984621817891408 Centerline is valid? [True, True] Translation: X:128.88, Y:104.87, Z:3.52 [[-1.25471224e-01 -9.92095292e-01 1.97557279e-03 1.28881753e+02] [ 9.91908642e-01 -1.25485948e-01 -1.92489904e-02 1.04870368e+02] [ 1.93447394e-02 -4.55606648e-04 9.99812769e-01 3.51975027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.572755096 meters 0.023486835477063515 Centerline is valid? [True, True] Translation: X:128.88, Y:104.90, Z:3.52 [[-1.26685727e-01 -9.91940893e-01 1.99787415e-03 1.28880786e+02] [ 9.91751302e-01 -1.26700585e-01 -1.93988809e-02 1.04896561e+02] [ 1.94956751e-02 -4.76167043e-04 9.99809828e-01 3.52033351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.602755096 meters 0.024110828773270553 Centerline is valid? [True, True] Translation: X:128.88, Y:104.92, Z:3.52 [[-1.28777929e-01 -9.91671408e-01 2.01572200e-03 1.28880807e+02] [ 9.91479763e-01 -1.28792683e-01 -1.95019160e-02 1.04923646e+02] [ 1.95991027e-02 -5.12868781e-04 9.99807788e-01 3.52118439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.632755096 meters 0.024637121312669315 Centerline is valid? [True, True] Translation: X:128.88, Y:104.95, Z:3.52 [[-1.30307711e-01 -9.91471542e-01 2.02044233e-03 1.28879714e+02] [ 9.91280275e-01 -1.30322273e-01 -1.94813385e-02 1.04950783e+02] [ 1.95785013e-02 -5.35744005e-04 9.99808179e-01 3.52161866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.662755096 meters 0.025296253584353653 Centerline is valid? [True, True] Translation: X:128.88, Y:104.98, Z:3.52 [[-1.31430422e-01 -9.91323268e-01 2.05507541e-03 1.28879212e+02] [ 9.91126697e-01 -1.31445300e-01 -1.97485107e-02 1.04977009e+02] [ 1.98472882e-02 -5.58714991e-04 9.99802867e-01 3.52207128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.692755096 meters 0.02671772667182355 Centerline is valid? [True, True] Translation: X:128.88, Y:105.00, Z:3.52 [[-1.34128824e-01 -9.90961709e-01 2.08542111e-03 1.28881635e+02] [ 9.90760328e-01 -1.34143627e-01 -1.99865105e-02 1.05003201e+02] [ 2.00856126e-02 -6.14614656e-04 9.99798075e-01 3.52267025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72275509600001 meters 0.026139118157193553 Centerline is valid? [True, True] Translation: X:128.88, Y:105.03, Z:3.52 [[-1.35577714e-01 -9.90764475e-01 2.10660458e-03 1.28879069e+02] [ 9.90560353e-01 -1.35592564e-01 -2.01207119e-02 1.05030269e+02] [ 2.02205265e-02 -6.41201156e-04 9.99795339e-01 3.52319115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75275509600002 meters 0.027026841064731102 Centerline is valid? [True, True] Translation: X:128.88, Y:105.06, Z:3.52 [[-1.37351933e-01 -9.90520039e-01 2.12118033e-03 1.28878704e+02] [ 9.90314455e-01 -1.37366664e-01 -2.01910594e-02 1.05057119e+02] [ 2.02910284e-02 -6.72645493e-04 9.99793890e-01 3.52370467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78275509600002 meters 0.028843792101719994 Centerline is valid? [True, True] Translation: X:128.88, Y:105.08, Z:3.52 [[-1.38197682e-01 -9.90402291e-01 2.16840467e-03 1.28880254e+02] [ 9.90188986e-01 -1.38212945e-01 -2.05658506e-02 1.05082884e+02] [ 2.06681671e-02 -6.95022453e-04 9.99786149e-01 3.52394839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81275509600002 meters 0.030269857892201456 Centerline is valid? [True, True] Translation: X:128.88, Y:105.11, Z:3.52 [[-1.40166123e-01 -9.90125249e-01 2.33455943e-03 1.28879774e+02] [ 9.89879922e-01 -1.40183392e-01 -2.20534718e-02 1.05110639e+02] [ 2.21629658e-02 -7.80216139e-04 9.99754067e-01 3.52188663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84275509600002 meters 0.027218314947048163 Centerline is valid? [True, True] Translation: X:128.88, Y:105.14, Z:3.52 [[-1.39734380e-01 -9.90186341e-01 2.30501403e-03 1.28875100e+02] [ 9.89948736e-01 -1.39751373e-01 -2.17037681e-02 1.05137147e+02] [ 2.18129036e-02 -7.50916850e-04 9.99761788e-01 3.52437347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87275509600002 meters 0.026511635085149268 Centerline is valid? [True, True] Translation: X:128.87, Y:105.16, Z:3.52 [[-1.39501563e-01 -9.90219135e-01 2.31913657e-03 1.28872663e+02] [ 9.89980320e-01 -1.39518880e-01 -2.17588693e-02 1.05163402e+02] [ 2.18696121e-02 -7.39496719e-04 9.99760558e-01 3.52481405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90275509600002 meters 0.02712455045298854 Centerline is valid? [True, True] Translation: X:128.87, Y:105.19, Z:3.52 [[-1.39276794e-01 -9.90250682e-01 2.35829750e-03 1.28870889e+02] [ 9.90005537e-01 -1.39294815e-01 -2.20452111e-02 1.05189128e+02] [ 2.21587840e-02 -7.35658735e-04 9.99754193e-01 3.52480281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93275509600002 meters 0.025959497887357914 Centerline is valid? [True, True] Translation: X:128.87, Y:105.22, Z:3.52 [[-1.38899478e-01 -9.90303578e-01 2.39987770e-03 1.28866216e+02] [ 9.90051298e-01 -1.38918289e-01 -2.23637274e-02 1.05215600e+02] [ 2.24802662e-02 -7.30308026e-04 9.99747020e-01 3.52484407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96275509600002 meters 0.025365396991826515 Centerline is valid? [True, True] Translation: X:128.86, Y:105.24, Z:3.52 [[-1.37131650e-01 -9.90549615e-01 2.52386793e-03 1.28863205e+02] [ 9.90272744e-01 -1.37153017e-01 -2.34295184e-02 1.05241369e+02] [ 2.35542565e-02 -7.13610895e-04 9.99722305e-01 3.52443236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99275509600002 meters 0.0279179178124877 Centerline is valid? [True, True] Translation: X:128.86, Y:105.27, Z:3.52 [[-1.37978941e-01 -9.90431596e-01 2.65824688e-03 1.28861522e+02] [ 9.90126612e-01 -1.38002448e-01 -2.45889687e-02 1.05268565e+02] [ 2.47205361e-02 -7.60758882e-04 9.99694111e-01 3.52174209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02275509600003 meters 0.025253141707535155 Centerline is valid? [True, True] Translation: X:128.86, Y:105.30, Z:3.52 [[-1.36754772e-01 -9.90601434e-01 2.63283724e-03 1.28858041e+02] [ 9.90304197e-01 -1.36778258e-01 -2.42756274e-02 1.05295842e+02] [ 2.44075862e-02 -7.12498120e-04 9.99701837e-01 3.52444493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05275509600003 meters 0.02502874593029617 Centerline is valid? [True, True] Translation: X:128.86, Y:105.32, Z:3.52 [[-1.36138695e-01 -9.90685987e-01 2.74428651e-03 1.28856203e+02] [ 9.90365250e-01 -1.36164474e-01 -2.52171942e-02 1.05322117e+02] [ 2.53559952e-02 -7.15189908e-04 9.99678229e-01 3.52411514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.082755096 meters 0.02526341795348277 Centerline is valid? [True, True] Translation: X:128.85, Y:105.35, Z:3.52 [[-1.36092945e-01 -9.90692164e-01 2.78336303e-03 1.28854469e+02] [ 9.90364597e-01 -1.36119545e-01 -2.54840060e-02 1.05347674e+02] [ 2.56256752e-02 -7.11649231e-04 9.99671355e-01 3.52428067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.112755096 meters 0.02487596855065841 Centerline is valid? [True, True] Translation: X:128.85, Y:105.37, Z:3.53 [[-1.35720962e-01 -9.90743135e-01 2.80379261e-03 1.28852342e+02] [ 9.90413154e-01 -1.35748143e-01 -2.55778307e-02 1.05374050e+02] [ 2.57216698e-02 -6.94534697e-04 9.99668902e-01 3.52528382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.142755096 meters 0.02477772280684045 Centerline is valid? [True, True] Translation: X:128.85, Y:105.40, Z:3.53 [[-1.35739155e-01 -9.90740792e-01 2.75028661e-03 1.28849696e+02] [ 9.90425443e-01 -1.35765361e-01 -2.50041597e-02 1.05400047e+02] [ 2.51460347e-02 -6.70089683e-04 9.99683564e-01 3.52602903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.172755096 meters 0.024899451053242747 Centerline is valid? [True, True] Translation: X:128.85, Y:105.43, Z:3.53 [[-1.35590176e-01 -9.90761194e-01 2.74983298e-03 1.28847455e+02] [ 9.90448129e-01 -1.35616478e-01 -2.49133641e-02 1.05425135e+02] [ 2.50561170e-02 -6.54440489e-04 9.99685832e-01 3.52671755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.202755096 meters 0.02463189122208262 Centerline is valid? [True, True] Translation: X:128.85, Y:105.45, Z:3.53 [[-1.34965641e-01 -9.90846559e-01 2.71515165e-03 1.28845575e+02] [ 9.90543473e-01 -1.34991529e-01 -2.45135889e-02 1.05451612e+02] [ 2.46557277e-02 -6.19016482e-04 9.99695810e-01 3.52784010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.232755096 meters 0.022594375552411828 Centerline is valid? [True, True] Translation: X:128.84, Y:105.48, Z:3.53 [[-1.34882692e-01 -9.90857759e-01 2.74967145e-03 1.28840074e+02] [ 9.90549043e-01 -1.34909322e-01 -2.47399991e-02 1.05477740e+02] [ 2.48847764e-02 -6.13313274e-04 9.99690138e-01 3.52916213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.262755096 meters 0.024185833500785358 Centerline is valid? [True, True] Translation: X:128.84, Y:105.50, Z:3.53 [[-1.34654793e-01 -9.90888778e-01 2.74143333e-03 1.28840708e+02] [ 9.90584114e-01 -1.34681387e-01 -2.45771570e-02 1.05503283e+02] [ 2.47224491e-02 -5.93811677e-04 9.99694177e-01 3.52879971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.292755096 meters 0.02171698971996145 Centerline is valid? [True, True] Translation: X:128.83, Y:105.53, Z:3.53 [[-1.32455202e-01 -9.91185241e-01 2.72729495e-03 1.28833291e+02] [ 9.90885904e-01 -1.32482238e-01 -2.43635190e-02 1.05529847e+02] [ 2.45100786e-02 -5.24636702e-04 9.99699445e-01 3.53017035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.322755096 meters 0.02135931214878923 Centerline is valid? [True, True] Translation: X:128.83, Y:105.56, Z:3.53 [[-1.31437512e-01 -9.91320699e-01 2.73003981e-03 1.28830161e+02] [ 9.91022729e-01 -1.31464949e-01 -2.43087906e-02 1.05555206e+02] [ 2.44567119e-02 -4.89555449e-04 9.99700770e-01 3.53053727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.352755096 meters 0.0215529557190384 Centerline is valid? [True, True] Translation: X:128.83, Y:105.58, Z:3.53 [[-1.30552637e-01 -9.91437568e-01 2.74928035e-03 1.28828011e+02] [ 9.91137586e-01 -1.30580773e-01 -2.43915259e-02 1.05580328e+02] [ 2.45416783e-02 -4.59462929e-04 9.99698702e-01 3.53075594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.382755096 meters 0.020992419911852127 Centerline is valid? [True, True] Translation: X:128.82, Y:105.61, Z:3.53 [[-1.28488376e-01 -9.91707085e-01 2.79207675e-03 1.28823789e+02] [ 9.91399919e-01 -1.28518075e-01 -2.46840907e-02 1.05605896e+02] [ 2.48382199e-02 -4.03554050e-04 9.99691402e-01 3.53100331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.412755096 meters 0.020777274045949024 Centerline is valid? [True, True] Translation: X:128.82, Y:105.63, Z:3.53 [[-1.28023849e-01 -9.91767003e-01 2.84701191e-03 1.28817217e+02] [ 9.91449778e-01 -1.28054911e-01 -2.50854050e-02 1.05631601e+02] [ 2.52434508e-02 -3.88860773e-04 9.99681258e-01 3.53075359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.442755096 meters 0.01925733292463931 Centerline is valid? [True, True] Translation: X:128.81, Y:105.66, Z:3.53 [[-1.27364901e-01 -9.91851904e-01 2.82533311e-03 1.28814132e+02] [ 9.91541704e-01 -1.27395731e-01 -2.48068120e-02 1.05656654e+02] [ 2.49646191e-02 -3.58081552e-04 9.99688271e-01 3.53291569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47275509600001 meters 0.019365793058781344 Centerline is valid? [True, True] Translation: X:128.81, Y:105.68, Z:3.53 [[-1.26737084e-01 -9.91932395e-01 2.79928738e-03 1.28811330e+02] [ 9.91630083e-01 -1.26767570e-01 -2.44900372e-02 1.05682351e+02] [ 2.46473201e-02 -3.27938316e-04 9.99696155e-01 3.53308810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50275509600002 meters 0.018986342468277326 Centerline is valid? [True, True] Translation: X:128.81, Y:105.71, Z:3.53 [[-1.27596902e-01 -9.91822095e-01 2.82185324e-03 1.28807082e+02] [ 9.91517019e-01 -1.27627646e-01 -2.46004916e-02 1.05708182e+02] [ 2.47594576e-02 -3.41030991e-04 9.99693379e-01 3.53382634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53275509600002 meters 0.018800190095809216 Centerline is valid? [True, True] Translation: X:128.80, Y:105.74, Z:3.53 [[-1.28389324e-01 -9.91719673e-01 2.87616426e-03 1.28803263e+02] [ 9.91404853e-01 -1.28421040e-01 -2.49890598e-02 1.05735447e+02] [ 2.51515022e-02 -3.56885287e-04 9.99683587e-01 3.53397491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56275509600002 meters 0.019405537602140338 Centerline is valid? [True, True] Translation: X:128.80, Y:105.76, Z:3.53 [[-1.31723372e-01 -9.91282261e-01 2.90401217e-03 1.28801203e+02] [ 9.90963241e-01 -1.31754661e-01 -2.51508380e-02 1.05762832e+02] [ 2.53141967e-02 -4.35183875e-04 9.99679450e-01 3.53369006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59275509600002 meters 0.02006842961898242 Centerline is valid? [True, True] Translation: X:128.80, Y:105.79, Z:3.53 [[-1.33471414e-01 -9.91048458e-01 2.88713588e-03 1.28799300e+02] [ 9.90734942e-01 -1.33501819e-01 -2.49306892e-02 1.05789382e+02] [ 2.50929590e-02 -4.67147962e-04 9.99685013e-01 3.53401916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62275509600002 meters 0.022891399245594697 Centerline is valid? [True, True] Translation: X:128.80, Y:105.82, Z:3.53 [[-1.38164362e-01 -9.90404984e-01 2.92863078e-03 1.28799538e+02] [ 9.90083961e-01 -1.38194158e-01 -2.52215109e-02 1.05815596e+02] [ 2.53842297e-02 -5.85123581e-04 9.99677597e-01 3.53263437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65275509600002 meters 0.02184727636458077 Centerline is valid? [True, True] Translation: X:128.80, Y:105.84, Z:3.53 [[-1.40131567e-01 -9.90128596e-01 2.91679234e-03 1.28795616e+02] [ 9.89812132e-01 -1.40160540e-01 -2.50393116e-02 1.05842825e+02] [ 2.52009576e-02 -6.21721514e-04 9.99682212e-01 3.53479622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68275509600002 meters 0.024234762742188044 Centerline is valid? [True, True] Translation: X:128.80, Y:105.87, Z:3.53 [[-1.42704222e-01 -9.89761191e-01 2.87927827e-03 1.28795569e+02] [ 9.89454660e-01 -1.42731706e-01 -2.46401252e-02 1.05869633e+02] [ 2.47988040e-02 -6.67334599e-04 9.99692240e-01 3.53441572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71275509600002 meters 0.027732283928365402 Centerline is valid? [True, True] Translation: X:128.80, Y:105.90, Z:3.53 [[-1.47143697e-01 -9.89110935e-01 2.87941560e-03 1.28797063e+02] [ 9.88806228e-01 -1.47169869e-01 -2.45616189e-02 1.05895933e+02] [ 2.47179290e-02 -7.66903319e-04 9.99694171e-01 3.53442371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74275509600002 meters 0.025398810009701248 Centerline is valid? [True, True] Translation: X:128.79, Y:105.92, Z:3.54 [[-1.48778376e-01 -9.88866512e-01 2.83127206e-03 1.28791638e+02] [ 9.88573688e-01 -1.48803253e-01 -2.40760489e-02 1.05922825e+02] [ 2.42293010e-02 -7.83074393e-04 9.99706121e-01 3.53721002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77275509600003 meters 0.026735379109963937 Centerline is valid? [True, True] Translation: X:128.79, Y:105.95, Z:3.54 [[-1.50708102e-01 -9.88574237e-01 2.83658237e-03 1.28790217e+02] [ 9.88282055e-01 -1.50732560e-01 -2.40473737e-02 1.05949045e+02] [ 2.42001795e-02 -8.20790604e-04 9.99706796e-01 3.53758073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80275509600003 meters 0.028601319710719268 Centerline is valid? [True, True] Translation: X:128.79, Y:105.98, Z:3.54 [[-1.53022779e-01 -9.88218639e-01 2.81967940e-03 1.28789122e+02] [ 9.87931651e-01 -1.53046334e-01 -2.38300807e-02 1.05975472e+02] [ 2.39808715e-02 -8.60894651e-04 9.99712047e-01 3.53727485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.832755096 meters 0.028771987918998477 Centerline is valid? [True, True] Translation: X:128.79, Y:106.00, Z:3.54 [[-1.53790912e-01 -9.88099207e-01 2.88331388e-03 1.28785479e+02] [ 9.87800901e-01 -1.53815374e-01 -2.42942668e-02 1.06001969e+02] [ 2.44486438e-02 -8.88097411e-04 9.99700693e-01 3.53751786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.862755096 meters 0.028728473816895805 Centerline is valid? [True, True] Translation: X:128.78, Y:106.03, Z:3.54 [[-1.53581703e-01 -9.88131622e-01 2.92535769e-03 1.28781684e+02] [ 9.87826477e-01 -1.53607018e-01 -2.45710110e-02 1.06028417e+02] [ 2.47287485e-02 -8.83911933e-04 9.99693807e-01 3.53746814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.892755096 meters 0.027053116321359073 Centerline is valid? [True, True] Translation: X:128.77, Y:106.05, Z:3.54 [[-1.51851504e-01 -9.88399030e-01 2.91169055e-03 1.28774727e+02] [ 9.88098642e-01 -1.51877175e-01 -2.43802544e-02 1.06054971e+02] [ 2.45396391e-02 -8.25140813e-04 9.99698517e-01 3.53767390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.922755096 meters 0.025049244840908837 Centerline is valid? [True, True] Translation: X:128.77, Y:106.08, Z:3.54 [[-1.50694397e-01 -9.88576035e-01 2.93628565e-03 1.28767934e+02] [ 9.88272345e-01 -1.50720919e-01 -2.45148459e-02 1.06082104e+02] [ 2.46773489e-02 -7.92400035e-04 9.99695154e-01 3.53847504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.952755096 meters 0.02390662449117077 Centerline is valid? [True, True] Translation: X:128.76, Y:106.11, Z:3.54 [[-1.48092801e-01 -9.88968959e-01 2.98671974e-03 1.28762017e+02] [ 9.88656664e-01 -1.48121121e-01 -2.48623149e-02 1.06107653e+02] [ 2.50304540e-02 -7.29089483e-04 9.99686423e-01 3.53919607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.982755096 meters 0.02390662449117077 Centerline is valid? [True, True] Translation: X:128.76, Y:106.13, Z:3.54 [[-1.48480132e-01 -9.88910852e-01 2.99613386e-03 1.28758670e+02] [ 9.88598567e-01 -1.48508567e-01 -2.48611809e-02 1.06133376e+02] [ 2.50304431e-02 -7.29417774e-04 9.99686423e-01 3.53967971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.012755096 meters 0.0229240552032334 Centerline is valid? [True, True] Translation: X:128.75, Y:106.16, Z:3.54 [[-1.47413436e-01 -9.89070455e-01 2.98560473e-03 1.28753205e+02] [ 9.88762367e-01 -1.47442061e-01 -2.46945427e-02 1.06159880e+02] [ 2.48648463e-02 -6.88253777e-04 9.99690585e-01 3.54044915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.042755096 meters 0.02268038072866218 Centerline is valid? [True, True] Translation: X:128.75, Y:106.19, Z:3.54 [[-1.46301640e-01 -9.89235582e-01 2.96551396e-03 1.28749312e+02] [ 9.88933475e-01 -1.46330270e-01 -2.44547437e-02 1.06185911e+02] [ 2.46254471e-02 -6.45073088e-04 9.99696540e-01 3.54116135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.072755096 meters 0.022664060378124806 Centerline is valid? [True, True] Translation: X:128.75, Y:106.21, Z:3.54 [[-1.45588723e-01 -9.89340728e-01 2.97442376e-03 1.28745808e+02] [ 9.89038753e-01 -1.45617794e-01 -2.44500196e-02 1.06211212e+02] [ 2.46225292e-02 -6.17826764e-04 9.99696629e-01 3.54171141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.102755096 meters 0.02094680834908688 Centerline is valid? [True, True] Translation: X:128.74, Y:106.24, Z:3.54 [[-1.44576871e-01 -9.89489541e-01 2.82420178e-03 1.28738596e+02] [ 9.89219046e-01 -1.44603399e-01 -2.31416303e-02 1.06237763e+02] [ 2.33067903e-02 -5.51990311e-04 9.99728207e-01 3.54435009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.132755096 meters 0.02068239694231255 Centerline is valid? [True, True] Translation: X:128.73, Y:106.26, Z:3.55 [[-1.44728580e-01 -9.89467455e-01 2.79188589e-03 1.28734203e+02] [ 9.89204667e-01 -1.44754501e-01 -2.28092413e-02 1.06264641e+02] [ 2.29731399e-02 -5.39402550e-04 9.99735937e-01 3.54524835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.162755096 meters 0.021546774375432405 Centerline is valid? [True, True] Translation: X:128.73, Y:106.29, Z:3.55 [[-1.45346591e-01 -9.89377193e-01 2.67165448e-03 1.28731780e+02] [ 9.89137932e-01 -1.45370211e-01 -2.17635742e-02 1.06290624e+02] [ 2.19207630e-02 -5.20626526e-04 9.99759576e-01 3.54661379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.192755096 meters 0.021005358555613512 Centerline is valid? [True, True] Translation: X:128.73, Y:106.32, Z:3.55 [[-1.46368833e-01 -9.89226475e-01 2.67338586e-03 1.28727005e+02] [ 9.88988358e-01 -1.46392272e-01 -2.17101543e-02 1.06317027e+02] [ 2.18676225e-02 -5.33742450e-04 9.99760732e-01 3.54724134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22275509600001 meters 0.0213278914104158 Centerline is valid? [True, True] Translation: X:128.72, Y:106.34, Z:3.55 [[-1.47538732e-01 -9.89052607e-01 2.69516775e-03 1.28723986e+02] [ 9.88812001e-01 -1.47562305e-01 -2.18218623e-02 1.06344354e+02] [ 2.19806750e-02 -5.54555684e-04 9.99758242e-01 3.54783013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25275509600002 meters 0.02312842521279411 Centerline is valid? [True, True] Translation: X:128.72, Y:106.37, Z:3.55 [[-1.49490284e-01 -9.88759455e-01 2.71937053e-03 1.28723769e+02] [ 9.88515917e-01 -1.49513838e-01 -2.19520827e-02 1.06371133e+02] [ 2.21119128e-02 -5.93482011e-04 9.99755326e-01 3.54794950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28275509600002 meters 0.024640462151703735 Centerline is valid? [True, True] Translation: X:128.72, Y:106.40, Z:3.55 [[-1.50514343e-01 -9.88604000e-01 2.75029410e-03 1.28722567e+02] [ 9.88356391e-01 -1.50538220e-01 -2.21334394e-02 1.06397473e+02] [ 2.22952311e-02 -6.13129337e-04 9.99751242e-01 3.54811089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31275509600002 meters 0.025153016721278284 Centerline is valid? [True, True] Translation: X:128.72, Y:106.42, Z:3.55 [[-1.51410848e-01 -9.88466988e-01 2.78709610e-03 1.28719753e+02] [ 9.88214185e-01 -1.51435180e-01 -2.23631705e-02 1.06423384e+02] [ 2.25273202e-02 -6.31778703e-04 9.99746028e-01 3.54852429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34275509600002 meters 0.023584232476557023 Centerline is valid? [True, True] Translation: X:128.71, Y:106.45, Z:3.55 [[-1.52194963e-01 -9.88346663e-01 2.75076920e-03 1.28713411e+02] [ 9.88101833e-01 -1.52218510e-01 -2.20066714e-02 1.06448959e+02] [ 2.21689383e-02 -6.31264453e-04 9.99754040e-01 3.54963542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37275509600002 meters 0.023837336841644102 Centerline is valid? [True, True] Translation: X:128.71, Y:106.48, Z:3.55 [[-1.52638726e-01 -9.88278219e-01 2.75339662e-03 1.28710107e+02] [ 9.88034426e-01 -1.52662253e-01 -2.19592942e-02 1.06475362e+02] [ 2.21222319e-02 -6.31388048e-04 9.99755074e-01 3.55020588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40275509600002 meters 0.024985368679123043 Centerline is valid? [True, True] Translation: X:128.71, Y:106.50, Z:3.55 [[-1.52593408e-01 -9.88285017e-01 2.82420428e-03 1.28708329e+02] [ 9.88030134e-01 -1.52618217e-01 -2.24529176e-02 1.06500751e+02] [ 2.26209071e-02 -6.35768286e-04 9.99743912e-01 3.54993215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43275509600002 meters 0.023652237921665764 Centerline is valid? [True, True] Translation: X:128.70, Y:106.53, Z:3.55 [[-1.52414010e-01 -9.88312675e-01 2.83308648e-03 1.28702708e+02] [ 9.88057792e-01 -1.52439066e-01 -2.24528562e-02 1.06527165e+02] [ 2.26223154e-02 -6.22876674e-04 9.99743889e-01 3.55042589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46275509600002 meters 0.024724112223713415 Centerline is valid? [True, True] Translation: X:128.70, Y:106.55, Z:3.55 [[-1.52355884e-01 -9.88321401e-01 2.91416966e-03 1.28698827e+02] [ 9.88053305e-01 -1.52382454e-01 -2.30272480e-02 1.06553334e+02] [ 2.32023903e-02 -6.28981761e-04 9.99730590e-01 3.54907737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49275509600002 meters 0.02275433255379434 Centerline is valid? [True, True] Translation: X:128.69, Y:106.58, Z:3.55 [[-1.50456414e-01 -9.88612331e-01 2.91986232e-03 1.28693414e+02] [ 9.88344826e-01 -1.50483644e-01 -2.30038754e-02 1.06578890e+02] [ 2.31813064e-02 -5.75249786e-04 9.99731112e-01 3.55041941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52275509600003 meters 0.020862591852678778 Centerline is valid? [True, True] Translation: X:128.69, Y:106.60, Z:3.55 [[-1.49679265e-01 -9.88730190e-01 2.95441371e-03 1.28687059e+02] [ 9.88457915e-01 -1.49707396e-01 -2.32087476e-02 1.06604559e+02] [ 2.33894870e-02 -5.53554669e-04 9.99726275e-01 3.55127480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55275509600003 meters 0.021899916437254318 Centerline is valid? [True, True] Translation: X:128.69, Y:106.63, Z:3.55 [[-1.49173786e-01 -9.88806542e-01 2.96716076e-03 1.28685687e+02] [ 9.88533636e-01 -1.49202341e-01 -2.32360240e-02 1.06630462e+02] [ 2.34186398e-02 -5.33067467e-04 9.99725604e-01 3.55131649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.582755096 meters 0.019358796504111868 Centerline is valid? [True, True] Translation: X:128.68, Y:106.66, Z:3.55 [[-1.48132703e-01 -9.88962664e-01 3.09052104e-03 1.28678722e+02] [ 9.88668528e-01 -1.48164033e-01 -2.41238780e-02 1.06656794e+02] [ 2.43155187e-02 -5.18034372e-04 9.99704200e-01 3.55250907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.612755096 meters 0.0190457471002355 Centerline is valid? [True, True] Translation: X:128.68, Y:106.68, Z:3.55 [[-1.48021006e-01 -9.88979251e-01 3.13418919e-03 1.28675251e+02] [ 9.88678485e-01 -1.48053298e-01 -2.43941268e-02 1.06684160e+02] [ 2.45893123e-02 -5.12137756e-04 9.99697506e-01 3.55295005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.642755096 meters 0.018876099753669464 Centerline is valid? [True, True] Translation: X:128.67, Y:106.71, Z:3.55 [[-1.47866921e-01 -9.89002374e-01 3.11107607e-03 1.28671987e+02] [ 9.88707711e-01 -1.47898820e-01 -2.41454227e-02 1.06711194e+02] [ 2.43400049e-02 -4.94364426e-04 9.99703616e-01 3.55337890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.672755096 meters 0.01882976142229695 Centerline is valid? [True, True] Translation: X:128.67, Y:106.74, Z:3.55 [[-1.47776335e-01 -9.89015804e-01 3.14550125e-03 1.28669398e+02] [ 9.88716370e-01 -1.47809007e-01 -2.43400394e-02 1.06736493e+02] [ 2.45376171e-02 -4.86873245e-04 9.99698789e-01 3.55399674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.702755096 meters 0.01886816956899375 Centerline is valid? [True, True] Translation: X:128.67, Y:106.76, Z:3.55 [[-1.48145547e-01 -9.88960503e-01 3.16561388e-03 1.28666266e+02] [ 9.88659177e-01 -1.48178564e-01 -2.44160898e-02 1.06763026e+02] [ 2.46156246e-02 -4.87421776e-04 9.99696871e-01 3.55456491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.732755096 meters 0.018910848359509444 Centerline is valid? [True, True] Translation: X:128.66, Y:106.79, Z:3.56 [[-1.48718858e-01 -9.88874456e-01 3.16402283e-03 1.28663982e+02] [ 9.88575264e-01 -1.48751704e-01 -2.43285527e-02 1.06789785e+02] [ 2.45285381e-02 -4.90239881e-04 9.99699010e-01 3.55523671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.762755096 meters 0.019121240576151288 Centerline is valid? [True, True] Translation: X:128.66, Y:106.82, Z:3.56 [[-1.49277441e-01 -9.88790397e-01 3.13005203e-03 1.28661601e+02] [ 9.88499350e-01 -1.49309456e-01 -2.39941877e-02 1.06816344e+02] [ 2.41925688e-02 -4.87736544e-04 9.99707198e-01 3.55627637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.792755096 meters 0.019113723676051603 Centerline is valid? [True, True] Translation: X:128.66, Y:106.84, Z:3.56 [[-1.50016571e-01 -9.88678506e-01 3.13698170e-03 1.28658895e+02] [ 9.88387921e-01 -1.50048546e-01 -2.39739782e-02 1.06842835e+02] [ 2.41732565e-02 -4.95939180e-04 9.99707661e-01 3.55711406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.822755096 meters 0.019709434018315285 Centerline is valid? [True, True] Translation: X:128.66, Y:106.87, Z:3.56 [[-1.50729377e-01 -9.88570147e-01 3.11758082e-03 1.28658739e+02] [ 9.88284868e-01 -1.50760788e-01 -2.37529860e-02 1.06868626e+02] [ 2.39515018e-02 -4.99214840e-04 9.99712997e-01 3.55810623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.852755096 meters 0.019524408888236932 Centerline is valid? [True, True] Translation: X:128.66, Y:106.89, Z:3.56 [[-1.51030487e-01 -9.88524278e-01 3.08935090e-03 1.28655592e+02] [ 9.88245860e-01 -1.51061283e-01 -2.34650571e-02 1.06894591e+02] [ 2.36624599e-02 -4.90900763e-04 9.99719884e-01 3.55909875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.882755096 meters 0.020267929429429034 Centerline is valid? [True, True] Translation: X:128.65, Y:106.92, Z:3.56 [[-1.51766774e-01 -9.88411444e-01 3.10860413e-03 1.28654510e+02] [ 9.88131214e-01 -1.51797781e-01 -2.35401284e-02 1.06920579e+02] [ 2.37392115e-02 -5.00900586e-04 9.99718060e-01 3.55949247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.912755096 meters 0.02107104702394647 Centerline is valid? [True, True] Translation: X:128.65, Y:106.95, Z:3.56 [[-1.52299181e-01 -9.88329469e-01 3.13373364e-03 1.28651508e+02] [ 9.88046408e-01 -1.52330575e-01 -2.36578222e-02 1.06947060e+02] [ 2.38590863e-02 -5.06792687e-04 9.99715203e-01 3.55889212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.942755096 meters 0.020430351055698705 Centerline is valid? [True, True] Translation: X:128.65, Y:106.97, Z:3.56 [[-1.52580452e-01 -9.88286273e-01 3.07368006e-03 1.28648074e+02] [ 9.88015479e-01 -1.52610610e-01 -2.31390422e-02 1.06972848e+02] [ 2.33370739e-02 -4.93722045e-04 9.99727531e-01 3.56054636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97275509600001 meters 0.0200094731154232 Centerline is valid? [True, True] Translation: X:128.64, Y:107.00, Z:3.56 [[-1.52668320e-01 -9.88272512e-01 3.13477608e-03 1.28642700e+02] [ 9.87992474e-01 -1.52699697e-01 -2.35302852e-02 1.06998697e+02] [ 2.37330134e-02 -4.95193937e-04 9.99718210e-01 3.56045879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00275509600002 meters 0.018413431202395088 Centerline is valid? [True, True] Translation: X:128.64, Y:107.02, Z:3.56 [[-1.51865770e-01 -9.88396373e-01 3.06562228e-03 1.28637948e+02] [ 9.88130144e-01 -1.51896027e-01 -2.29437430e-02 1.07024276e+02] [ 2.31431682e-02 -4.55135414e-04 9.99732057e-01 3.56248569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03275509600002 meters 0.019287642415336773 Centerline is valid? [True, True] Translation: X:128.63, Y:107.05, Z:3.56 [[-1.50979055e-01 -9.88531954e-01 3.14652211e-03 1.28633964e+02] [ 9.88253257e-01 -1.51011214e-01 -2.34758126e-02 1.07049806e+02] [ 2.36817511e-02 -4.34795295e-04 9.99719453e-01 3.56161390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06275509600002 meters 0.019201974547541016 Centerline is valid? [True, True] Translation: X:128.63, Y:107.08, Z:3.56 [[-1.50071029e-01 -9.88670184e-01 3.15483222e-03 1.28631720e+02] [ 9.88391796e-01 -1.50103645e-01 -2.34638703e-02 1.07075559e+02] [ 2.36715808e-02 -4.03036876e-04 9.99719708e-01 3.56241105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09275509600002 meters 0.01742115391836237 Centerline is valid? [True, True] Translation: X:128.62, Y:107.10, Z:3.56 [[-1.49454366e-01 -9.88763472e-01 3.19214737e-03 1.28624020e+02] [ 9.88480242e-01 -1.49487965e-01 -2.36676827e-02 1.07101626e+02] [ 2.38789278e-02 -3.81863922e-04 9.99714785e-01 3.56343573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12275509600002 meters 0.017051062772413174 Centerline is valid? [True, True] Translation: X:128.62, Y:107.13, Z:3.56 [[-1.48739540e-01 -9.88871121e-01 3.23335014e-03 1.28619163e+02] [ 9.88582295e-01 -1.48774248e-01 -2.39012267e-02 1.07127336e+02] [ 2.41162721e-02 -3.58624769e-04 9.99709096e-01 3.56393912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15275509600002 meters 0.01640582371686665 Centerline is valid? [True, True] Translation: X:128.61, Y:107.15, Z:3.56 [[-1.46563657e-01 -9.89196091e-01 3.19187328e-03 1.28612403e+02] [ 9.88916315e-01 -1.46598119e-01 -2.35268840e-02 1.07153942e+02] [ 2.37406243e-02 -2.91690587e-04 9.99718109e-01 3.56438116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18275509600002 meters 0.016154941485953127 Centerline is valid? [True, True] Translation: X:128.61, Y:107.18, Z:3.56 [[-1.45981620e-01 -9.89282230e-01 3.16792021e-03 1.28607384e+02] [ 9.89008150e-01 -1.46015746e-01 -2.32869173e-02 1.07179708e+02] [ 2.34998997e-02 -2.66363006e-04 9.99723804e-01 3.56495796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21275509600002 meters 0.01592966115640512 Centerline is valid? [True, True] Translation: X:128.60, Y:107.21, Z:3.57 [[-1.45509714e-01 -9.89351966e-01 3.10005912e-03 1.28602440e+02] [ 9.89091034e-01 -1.45542536e-01 -2.27221427e-02 1.07205243e+02] [ 2.29313870e-02 -2.40051818e-04 9.99737012e-01 3.56617775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24275509600002 meters 0.01588941253125946 Centerline is valid? [True, True] Translation: X:128.60, Y:107.23, Z:3.57 [[-1.44850580e-01 -9.89448735e-01 3.08385174e-03 1.28597459e+02] [ 9.89192066e-01 -1.44883246e-01 -2.25366513e-02 1.07230192e+02] [ 2.27456596e-02 -2.13925351e-04 9.99741261e-01 3.56691103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27275509600003 meters 0.015608605241129817 Centerline is valid? [True, True] Translation: X:128.59, Y:107.26, Z:3.57 [[-1.44076857e-01 -9.89561727e-01 3.07357737e-03 1.28591634e+02] [ 9.89308337e-01 -1.44109518e-01 -2.23933093e-02 1.07255121e+02] [ 2.26024936e-02 -1.85641906e-04 9.99744514e-01 3.56722081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30275509600003 meters 0.015575651987801274 Centerline is valid? [True, True] Translation: X:128.59, Y:107.28, Z:3.57 [[-1.44113486e-01 -9.89556074e-01 3.17490692e-03 1.28586964e+02] [ 9.89287349e-01 -1.44148339e-01 -2.30607528e-02 1.07281280e+02] [ 2.32775656e-02 -1.82470223e-04 9.99729024e-01 3.56709431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.332755096 meters 0.015666930773986645 Centerline is valid? [True, True] Translation: X:128.58, Y:107.31, Z:3.57 [[-1.44561904e-01 -9.89490732e-01 3.15396055e-03 1.28582570e+02] [ 9.89227034e-01 -1.44596191e-01 -2.28433069e-02 1.07305883e+02] [ 2.30592912e-02 -1.82288912e-04 9.99734083e-01 3.56738892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.362755096 meters 0.016905127080448043 Centerline is valid? [True, True] Translation: X:128.58, Y:107.33, Z:3.57 [[-1.45721259e-01 -9.89320514e-01 3.19942207e-03 1.28578462e+02] [ 9.89050728e-01 -1.45756237e-01 -2.31036046e-02 1.07332027e+02] [ 2.33232057e-02 -2.02295609e-04 9.99727957e-01 3.56658631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.392755096 meters 0.0156785950474242 Centerline is valid? [True, True] Translation: X:128.57, Y:107.36, Z:3.57 [[-1.46344985e-01 -9.89228637e-01 3.13828839e-03 1.28574614e+02] [ 9.88970516e-01 -1.46378489e-01 -2.25977010e-02 1.07357829e+02] [ 2.28136708e-02 -2.03385521e-04 9.99739714e-01 3.56873126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.422755096 meters 0.016141990895206234 Centerline is valid? [True, True] Translation: X:128.57, Y:107.38, Z:3.57 [[-1.48866174e-01 -9.88852504e-01 3.09650989e-03 1.28572333e+02] [ 9.88602540e-01 -1.48898168e-01 -2.22340477e-02 1.07384760e+02] [ 2.24472584e-02 -2.48680070e-04 9.99747998e-01 3.57007663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.452755096 meters 0.018963800861042573 Centerline is valid? [True, True] Translation: X:128.57, Y:107.41, Z:3.57 [[-1.50769555e-01 -9.88564107e-01 3.08995521e-03 1.28571794e+02] [ 9.88316413e-01 -1.50800950e-01 -2.21301199e-02 1.07410817e+02] [ 2.23430104e-02 -2.82694881e-04 9.99750324e-01 3.56843766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.482755096 meters 0.01729622274522302 Centerline is valid? [True, True] Translation: X:128.57, Y:107.44, Z:3.57 [[-1.53362252e-01 -9.88165621e-01 2.95399740e-03 1.28567742e+02] [ 9.87940187e-01 -1.53390367e-01 -2.11088072e-02 1.07437613e+02] [ 2.13121123e-02 -3.18921469e-04 9.99772820e-01 3.57217180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.512755096 meters 0.02016632308740532 Centerline is valid? [True, True] Translation: X:128.57, Y:107.46, Z:3.57 [[-1.55615157e-01 -9.87813155e-01 3.01556908e-03 1.28565624e+02] [ 9.87579388e-01 -1.55643941e-01 -2.14922557e-02 1.07464652e+02] [ 2.16996879e-02 -3.66406866e-04 9.99764467e-01 3.57042133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.542755096 meters 0.018746183752113996 Centerline is valid? [True, True] Translation: X:128.56, Y:107.49, Z:3.57 [[-1.57164157e-01 -9.87568309e-01 2.87457494e-03 1.28563154e+02] [ 9.87356895e-01 -1.57189999e-01 -2.04368620e-02 1.07490695e+02] [ 2.06346516e-02 -3.73710787e-04 9.99787013e-01 3.57399419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.572755096 meters 0.021784898886895464 Centerline is valid? [True, True] Translation: X:128.56, Y:107.52, Z:3.57 [[-1.58611441e-01 -9.87336739e-01 2.92839290e-03 1.28560010e+02] [ 9.87118489e-01 -1.58637961e-01 -2.07625936e-02 1.07516901e+02] [ 2.09642258e-02 -4.02514131e-04 9.99780145e-01 3.57195417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.602755096 meters 0.019092081740941753 Centerline is valid? [True, True] Translation: X:128.56, Y:107.54, Z:3.58 [[-1.58478026e-01 -9.87358474e-01 2.82110196e-03 1.28555377e+02] [ 9.87157011e-01 -1.58502687e-01 -1.99482818e-02 1.07543314e+02] [ 2.01432573e-02 -3.76493745e-04 9.99797033e-01 3.57583263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.632755096 meters 0.01868225566998154 Centerline is valid? [True, True] Translation: X:128.55, Y:107.57, Z:3.58 [[-1.58550095e-01 -9.87347008e-01 2.78459172e-03 1.28550214e+02] [ 9.87151786e-01 -1.58574127e-01 -1.96366312e-02 1.07568827e+02] [ 1.98297333e-02 -3.64575063e-04 9.99803305e-01 3.57605344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.662755096 meters 0.018681671025855582 Centerline is valid? [True, True] Translation: X:128.55, Y:107.59, Z:3.58 [[-1.57491313e-01 -9.87516347e-01 2.81955385e-03 1.28545367e+02] [ 9.87317352e-01 -1.57516186e-01 -1.98266788e-02 1.07594006e+02] [ 2.00232948e-02 -3.38735233e-04 9.99799456e-01 3.57593038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.692755096 meters 0.017928847658939075 Centerline is valid? [True, True] Translation: X:128.54, Y:107.62, Z:3.58 [[-1.56802122e-01 -9.87626027e-01 2.81526316e-03 1.28539397e+02] [ 9.87428798e-01 -1.56827076e-01 -1.97392484e-02 1.07619757e+02] [ 1.99365050e-02 -3.15284121e-04 9.99801198e-01 3.57646094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72275509600001 meters 0.01731911061218954 Centerline is valid? [True, True] Translation: X:128.53, Y:107.65, Z:3.58 [[-1.56341113e-01 -9.87699144e-01 2.80311369e-03 1.28533766e+02] [ 9.87504694e-01 -1.56365960e-01 -1.96001315e-02 1.07645435e+02] [ 1.97973446e-02 -2.96218452e-04 9.99803969e-01 3.57652960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75275509600002 meters 0.01663963687251623 Centerline is valid? [True, True] Translation: X:128.53, Y:107.67, Z:3.58 [[-1.54815094e-01 -9.87939068e-01 2.94696314e-03 1.28527578e+02] [ 9.87725452e-01 -1.54842905e-01 -2.05452050e-02 1.07670959e+02] [ 2.07537270e-02 -2.69917349e-04 9.99784582e-01 3.57621664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78275509600002 meters 0.017058042801155637 Centerline is valid? [True, True] Translation: X:128.52, Y:107.70, Z:3.58 [[-1.54258318e-01 -9.88025954e-01 3.01412109e-03 1.28524266e+02] [ 9.87803795e-01 -1.54287552e-01 -2.09526536e-02 1.07696449e+02] [ 2.11668069e-02 -2.54760843e-04 9.99775926e-01 3.57565914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81275509600002 meters 0.016133479485015357 Centerline is valid? [True, True] Translation: X:128.52, Y:107.72, Z:3.58 [[-1.53793281e-01 -9.88098270e-01 3.07166290e-03 1.28517053e+02] [ 9.87868925e-01 -1.53823765e-01 -2.12893602e-02 1.07722548e+02] [ 2.15084748e-02 -2.39760228e-04 9.99768637e-01 3.57609502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84275509600002 meters 0.019703412218376137 Centerline is valid? [True, True] Translation: X:128.51, Y:107.75, Z:3.57 [[-1.54570911e-01 -9.87976361e-01 3.24711041e-03 1.28513182e+02] [ 9.87721496e-01 -1.54604792e-01 -2.24411307e-02 1.07747317e+02] [ 2.26733255e-02 -2.61505253e-04 9.99742893e-01 3.57251993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87275509600002 meters 0.018471984178060615 Centerline is valid? [True, True] Translation: X:128.51, Y:107.77, Z:3.57 [[-1.55092543e-01 -9.87894795e-01 3.19012093e-03 1.28508293e+02] [ 9.87649906e-01 -1.55125130e-01 -2.19967653e-02 1.07772923e+02] [ 2.22253579e-02 -2.60811637e-04 9.99752952e-01 3.57391271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90275509600002 meters 0.018471984178060615 Centerline is valid? [True, True] Translation: X:128.50, Y:107.80, Z:3.57 [[-1.55484412e-01 -9.87833167e-01 3.19884836e-03 1.28504318e+02] [ 9.87588290e-01 -1.55517095e-01 -2.19954963e-02 1.07798541e+02] [ 2.22253564e-02 -2.60811620e-04 9.99752952e-01 3.57439609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93275509600002 meters 0.016381591686234754 Centerline is valid? [True, True] Translation: X:128.50, Y:107.82, Z:3.58 [[-1.56480212e-01 -9.87676108e-01 3.13824651e-03 1.28500407e+02] [ 9.87441673e-01 -1.56511447e-01 -2.15199971e-02 1.07824853e+02] [ 2.17459585e-02 -2.68618326e-04 9.99763493e-01 3.57682026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96275509600002 meters 0.01638373048057898 Centerline is valid? [True, True] Translation: X:128.50, Y:107.85, Z:3.58 [[-1.57696348e-01 -9.87482489e-01 3.19324374e-03 1.28496464e+02] [ 9.87241057e-01 -1.57728406e-01 -2.18368033e-02 1.07852246e+02] [ 2.20671261e-02 -2.91082795e-04 9.99756449e-01 3.57712380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99275509600002 meters 0.01675818956992401 Centerline is valid? [True, True] Translation: X:128.49, Y:107.88, Z:3.58 [[-1.59212893e-01 -9.87239161e-01 3.17701560e-03 1.28492961e+02] [ 9.87001322e-01 -1.59244277e-01 -2.16714329e-02 1.07879221e+02] [ 2.19008088e-02 -3.14652941e-04 9.99760099e-01 3.57743943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02275509600003 meters 0.0174824592962058 Centerline is valid? [True, True] Translation: X:128.49, Y:107.91, Z:3.58 [[-1.60738309e-01 -9.86992049e-01 3.14516348e-03 1.28490514e+02] [ 9.86760070e-01 -1.60768724e-01 -2.14005182e-02 1.07905088e+02] [ 2.16277852e-02 -3.36361360e-04 9.99766036e-01 3.57744545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05275509600003 meters 0.018431780330194145 Centerline is valid? [True, True] Translation: X:128.49, Y:107.93, Z:3.58 [[-1.63681213e-01 -9.86508016e-01 3.22427148e-03 1.28488162e+02] [ 9.86265406e-01 -1.63712474e-01 -2.18809200e-02 1.07932284e+02] [ 2.21135564e-02 -4.01508103e-04 9.99755385e-01 3.57763957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.082755096 meters 0.020346331256777758 Centerline is valid? [True, True] Translation: X:128.48, Y:107.96, Z:3.58 [[-1.66453442e-01 -9.86043926e-01 3.25998564e-03 1.28484179e+02] [ 9.85797029e-01 -1.66484727e-01 -2.20692780e-02 1.07959288e+02] [ 2.23040153e-02 -4.59823114e-04 9.99751129e-01 3.57622151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.112755096 meters 0.019142973753216067 Centerline is valid? [True, True] Translation: X:128.48, Y:107.99, Z:3.58 [[-1.68132594e-01 -9.85759324e-01 3.15999204e-03 1.28479517e+02] [ 9.85528421e-01 -1.68161620e-01 -2.13401224e-02 1.07986277e+02] [ 2.15676140e-02 -4.73708175e-04 9.99767280e-01 3.57872629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.142755096 meters 0.019957818879436092 Centerline is valid? [True, True] Translation: X:128.48, Y:108.01, Z:3.58 [[-1.69607831e-01 -9.85506467e-01 3.19165245e-03 1.28476947e+02] [ 9.85272056e-01 -1.69637116e-01 -2.14994064e-02 1.08012602e+02] [ 2.17292267e-02 -5.01821713e-04 9.99763767e-01 3.57880687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.172755096 meters 0.020464778659510355 Centerline is valid? [True, True] Translation: X:128.47, Y:108.04, Z:3.58 [[-1.70885634e-01 -9.85285619e-01 3.21705085e-03 1.28473540e+02] [ 9.85048653e-01 -1.70915108e-01 -2.16142896e-02 1.08039439e+02] [ 2.18460913e-02 -5.24619966e-04 9.99761208e-01 3.57913654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.202755096 meters 0.023125206863346508 Centerline is valid? [True, True] Translation: X:128.47, Y:108.07, Z:3.58 [[-1.73272894e-01 -9.84868379e-01 3.28331011e-03 1.28471232e+02] [ 9.84622700e-01 -1.73303028e-01 -2.20045438e-02 1.08065738e+02] [ 2.22405870e-02 -5.79969314e-04 9.99752479e-01 3.57771431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.232755096 meters 0.022057852542200912 Centerline is valid? [True, True] Translation: X:128.47, Y:108.09, Z:3.58 [[-1.73658549e-01 -9.84800504e-01 3.26738086e-03 1.28466991e+02] [ 9.84558423e-01 -1.73688328e-01 -2.18420911e-02 1.08091634e+02] [ 2.20776083e-02 -5.76138498e-04 9.99756094e-01 3.57957308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.262755096 meters 0.021886393412412455 Centerline is valid? [True, True] Translation: X:128.46, Y:108.12, Z:3.58 [[-1.74448242e-01 -9.84660901e-01 3.27417574e-03 1.28461991e+02] [ 9.84419064e-01 -1.74477985e-01 -2.18297741e-02 1.08117892e+02] [ 2.20661966e-02 -5.85004699e-04 9.99756341e-01 3.58027104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.292755096 meters 0.021850493372834786 Centerline is valid? [True, True] Translation: X:128.46, Y:108.14, Z:3.58 [[-1.75165499e-01 -9.84533433e-01 3.31160561e-03 1.28456953e+02] [ 9.84287342e-01 -1.75195781e-01 -2.20196951e-02 1.08143558e+02] [ 2.22593053e-02 -5.97519398e-04 9.99752052e-01 3.58088262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.322755096 meters 0.022114364955083583 Centerline is valid? [True, True] Translation: X:128.45, Y:108.17, Z:3.58 [[-1.75578118e-01 -9.84459823e-01 3.34369701e-03 1.28452793e+02] [ 9.84210291e-01 -1.75608922e-01 -2.21722674e-02 1.08168911e+02] [ 2.24148895e-02 -6.02063985e-04 9.99748574e-01 3.58150156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.352755096 meters 0.022707355863916857 Centerline is valid? [True, True] Translation: X:128.45, Y:108.19, Z:3.58 [[-1.75577417e-01 -9.84460150e-01 3.28391779e-03 1.28449296e+02] [ 9.84220776e-01 -1.75607164e-01 -2.17160993e-02 1.08193793e+02] [ 2.19553139e-02 -5.80756497e-04 9.99758784e-01 3.58245264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.382755096 meters 0.022170265315447347 Centerline is valid? [True, True] Translation: X:128.44, Y:108.22, Z:3.58 [[-1.75511656e-01 -9.84472225e-01 3.17743294e-03 1.28444400e+02] [ 9.84249310e-01 -1.75539552e-01 -2.09561905e-02 1.08219286e+02] [ 2.11885527e-02 -5.50669534e-04 9.99775346e-01 3.58367192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.412755096 meters 0.021999998210662865 Centerline is valid? [True, True] Translation: X:128.44, Y:108.25, Z:3.58 [[-1.75169062e-01 -9.84533463e-01 3.10807027e-03 1.28439715e+02] [ 9.84321264e-01 -1.75195855e-01 -2.04465627e-02 1.08245530e+02] [ 2.06748462e-02 -5.22265548e-04 9.99786116e-01 3.58489263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.442755096 meters 0.021705830445814128 Centerline is valid? [True, True] Translation: X:128.43, Y:108.27, Z:3.59 [[-1.73797748e-01 -9.84776913e-01 2.96218852e-03 1.28434439e+02] [ 9.84585145e-01 -1.73822376e-01 -1.94389624e-02 1.08270922e+02] [ 1.96579360e-02 -4.61921062e-04 9.99806657e-01 3.58650509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47275509600001 meters 0.02132840623296634 Centerline is valid? [True, True] Translation: X:128.43, Y:108.30, Z:3.59 [[-1.73364866e-01 -9.84853314e-01 2.92796873e-03 1.28429072e+02] [ 9.84666858e-01 -1.73389032e-01 -1.91682892e-02 1.08296386e+02] [ 1.93856308e-02 -4.40034125e-04 9.99811984e-01 3.58727286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50275509600002 meters 0.021044143296039892 Centerline is valid? [True, True] Translation: X:128.42, Y:108.32, Z:3.59 [[-1.73154265e-01 -9.84890471e-01 2.89164650e-03 1.28423642e+02] [ 9.84709511e-01 -1.73177893e-01 -1.88837628e-02 1.08322356e+02] [ 1.90992073e-02 -4.22372251e-04 9.99817504e-01 3.58786902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53275509600002 meters 0.022211576502260386 Centerline is valid? [True, True] Translation: X:128.42, Y:108.35, Z:3.59 [[-1.73018948e-01 -9.84913977e-01 2.98349602e-03 1.28417991e+02] [ 9.84722329e-01 -1.73044149e-01 -1.94334208e-02 1.08348595e+02] [ 1.96565243e-02 -4.24434873e-04 9.99806702e-01 3.58551056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56275509600002 meters 0.021020983182224087 Centerline is valid? [True, True] Translation: X:128.41, Y:108.37, Z:3.59 [[-1.72936553e-01 -9.84928356e-01 3.01363152e-03 1.28413575e+02] [ 9.84733797e-01 -1.72962303e-01 -1.95803820e-02 1.08374090e+02] [ 1.98065181e-02 -4.18538957e-04 9.99803744e-01 3.58699549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59275509600002 meters 0.02153725008645649 Centerline is valid? [True, True] Translation: X:128.41, Y:108.40, Z:3.59 [[-1.73686077e-01 -9.84796319e-01 3.05875341e-03 1.28410407e+02] [ 9.84596913e-01 -1.73712473e-01 -1.98215729e-02 1.08399057e+02] [ 2.00515556e-02 -4.31092056e-04 9.99798854e-01 3.58671315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62275509600002 meters 0.020022106035384585 Centerline is valid? [True, True] Translation: X:128.40, Y:108.43, Z:3.59 [[-1.74388297e-01 -9.84672202e-01 3.06211834e-03 1.28403619e+02] [ 9.84473358e-01 -1.74414632e-01 -1.97925272e-02 1.08425115e+02] [ 2.00232296e-02 -4.37011189e-04 9.99799420e-01 3.58711733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65275509600002 meters 0.020231884544500908 Centerline is valid? [True, True] Translation: X:128.40, Y:108.45, Z:3.59 [[-1.75242999e-01 -9.84520547e-01 3.03062884e-03 1.28399663e+02] [ 9.84326750e-01 -1.75268648e-01 -1.95384195e-02 1.08451142e+02] [ 1.97671497e-02 -4.40842193e-04 9.99804514e-01 3.58730112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68275509600002 meters 0.023829584314517524 Centerline is valid? [True, True] Translation: X:128.40, Y:108.48, Z:3.59 [[-1.76795101e-01 -9.84243113e-01 2.99774759e-03 1.28399011e+02] [ 9.84054427e-01 -1.76819921e-01 -1.92769388e-02 1.08477137e+02] [ 1.95032558e-02 -4.58121552e-04 9.99809688e-01 3.58538053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71275509600002 meters 0.02215564671081333 Centerline is valid? [True, True] Translation: X:128.39, Y:108.50, Z:3.59 [[-1.77535945e-01 -9.84109958e-01 2.92897384e-03 1.28394599e+02] [ 9.83930592e-01 -1.77559522e-01 -1.87937585e-02 1.08502654e+02] [ 1.90151921e-02 -4.54660715e-04 9.99819092e-01 3.58861627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74275509600002 meters 0.020809509934335918 Centerline is valid? [True, True] Translation: X:128.39, Y:108.53, Z:3.59 [[-1.78641894e-01 -9.83910068e-01 2.83763217e-03 1.28388176e+02] [ 9.83742487e-01 -1.78663855e-01 -1.81644092e-02 1.08529009e+02] [ 1.83791274e-02 -4.53425141e-04 9.99830987e-01 3.58953613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77275509600003 meters 0.021935541195836898 Centerline is valid? [True, True] Translation: X:128.39, Y:108.56, Z:3.59 [[-1.80787126e-01 -9.83518455e-01 2.73212642e-03 1.28386600e+02] [ 9.83363774e-01 -1.80807164e-01 -1.74487214e-02 1.08555339e+02] [ 1.76551276e-02 -4.67830046e-04 9.99844027e-01 3.59102229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80275509600003 meters 0.023994730286616445 Centerline is valid? [True, True] Translation: X:128.38, Y:108.58, Z:3.59 [[-1.81940417e-01 -9.83305646e-01 2.77319662e-03 1.28383804e+02] [ 9.83146836e-01 -1.81960891e-01 -1.76786261e-02 1.08582201e+02] [ 1.78881062e-02 -4.89997119e-04 9.99839875e-01 3.58938744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.832755096 meters 0.02318445575425654 Centerline is valid? [True, True] Translation: X:128.38, Y:108.61, Z:3.59 [[-1.82868850e-01 -9.83133713e-01 2.66207056e-03 1.28381608e+02] [ 9.82987993e-01 -1.82887596e-01 -1.69332115e-02 1.08607063e+02] [ 1.71344708e-02 -4.79773525e-04 9.99853079e-01 3.59292112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.862755096 meters 0.022973227909212652 Centerline is valid? [True, True] Translation: X:128.38, Y:108.63, Z:3.59 [[-1.83212121e-01 -9.83069900e-01 2.62516367e-03 1.28376742e+02] [ 9.82928932e-01 -1.83230322e-01 -1.66542701e-02 1.08633190e+02] [ 1.68533213e-02 -4.70914832e-04 9.99857862e-01 3.59347411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.892755096 meters 0.023315101168672928 Centerline is valid? [True, True] Translation: X:128.37, Y:108.66, Z:3.59 [[-1.83782395e-01 -9.82963700e-01 2.52895693e-03 1.28372294e+02] [ 9.82833497e-01 -1.83799229e-01 -1.60050315e-02 1.08659650e+02] [ 1.61971853e-02 -4.55899441e-04 9.99868713e-01 3.59423686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.922755096 meters 0.02335740774273594 Centerline is valid? [True, True] Translation: X:128.37, Y:108.69, Z:3.59 [[-1.83952019e-01 -9.82931886e-01 2.56155078e-03 1.28367379e+02] [ 9.82798978e-01 -1.83969286e-01 -1.61700527e-02 1.08685885e+02] [ 1.63653071e-02 -4.57024352e-04 9.99865975e-01 3.59416815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.952755096 meters 0.024582312881733254 Centerline is valid? [True, True] Translation: X:128.36, Y:108.71, Z:3.59 [[-1.84027980e-01 -9.82917539e-01 2.61054294e-03 1.28363480e+02] [ 9.82780196e-01 -1.84045921e-01 -1.64372915e-02 1.08712389e+02] [ 1.66369619e-02 -4.59331633e-04 9.99861491e-01 3.59277718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.982755096 meters 0.023521386376157905 Centerline is valid? [True, True] Translation: X:128.36, Y:108.74, Z:3.59 [[-1.83820057e-01 -9.82956301e-01 2.66413547e-03 1.28359335e+02] [ 9.82813980e-01 -1.83838792e-01 -1.67325776e-02 1.08737102e+02] [ 1.69371640e-02 -4.57433766e-04 9.99856451e-01 3.59493624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.012755096 meters 0.022887186228464813 Centerline is valid? [True, True] Translation: X:128.35, Y:108.76, Z:3.59 [[-1.82788243e-01 -9.83148349e-01 2.78960588e-03 1.28352176e+02] [ 9.82993168e-01 -1.82808970e-01 -1.74731971e-02 1.08763406e+02] [ 1.76887099e-02 -4.51731480e-04 9.99843440e-01 3.59313148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.042755096 meters 0.0214418254904246 Centerline is valid? [True, True] Translation: X:128.35, Y:108.79, Z:3.60 [[-1.82150656e-01 -9.83266498e-01 2.85181133e-03 1.28346861e+02] [ 9.83105088e-01 -1.82172441e-01 -1.78209621e-02 1.08789131e+02] [ 1.80422764e-02 -4.42469699e-04 9.99837127e-01 3.59512796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.072755096 meters 0.022052959276588836 Centerline is valid? [True, True] Translation: X:128.34, Y:108.82, Z:3.59 [[-1.80058673e-01 -9.83651349e-01 2.98279252e-03 1.28342751e+02] [ 9.83475754e-01 -1.80082902e-01 -1.85900482e-02 1.08815638e+02] [ 1.88232759e-02 -4.13795289e-04 9.99822741e-01 3.59446554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.102755096 meters 0.02053435298498315 Centerline is valid? [True, True] Translation: X:128.34, Y:108.84, Z:3.59 [[-1.79534333e-01 -9.83747180e-01 2.98466705e-03 1.28335333e+02] [ 9.83572168e-01 -1.79558703e-01 -1.85596998e-02 1.08841035e+02] [ 1.87939753e-02 -3.96467890e-04 9.99823299e-01 3.59472425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.132755096 meters 0.020558326710091727 Centerline is valid? [True, True] Translation: X:128.33, Y:108.87, Z:3.60 [[-1.78901350e-01 -9.83862392e-01 3.01675686e-03 1.28330954e+02] [ 9.83684503e-01 -1.78926380e-01 -1.87122659e-02 1.08866090e+02] [ 1.89500721e-02 -3.80112658e-04 9.99820359e-01 3.59505056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.162755096 meters 0.019711298226078193 Centerline is valid? [True, True] Translation: X:128.33, Y:108.89, Z:3.60 [[-1.78453205e-01 -9.83943831e-01 2.99846394e-03 1.28325356e+02] [ 9.83768791e-01 -1.78478026e-01 -1.85623342e-02 1.08892212e+02] [ 1.87994541e-02 -3.62712780e-04 9.99823209e-01 3.59567007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.192755096 meters 0.021576848275910426 Centerline is valid? [True, True] Translation: X:128.32, Y:108.92, Z:3.59 [[-1.77729498e-01 -9.84074694e-01 3.03666867e-03 1.28321671e+02] [ 9.83896092e-01 -1.77755104e-01 -1.87510637e-02 1.08917483e+02] [ 1.89922307e-02 -3.44850709e-04 9.99819572e-01 3.59340723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22275509600001 meters 0.020358885297270056 Centerline is valid? [True, True] Translation: X:128.32, Y:108.94, Z:3.60 [[-1.78043714e-01 -9.84018018e-01 2.99593712e-03 1.28318832e+02] [ 9.83845059e-01 -1.78068598e-01 -1.84519239e-02 1.08942838e+02] [ 1.86905079e-02 -3.37711124e-04 9.99825260e-01 3.59680184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25275509600002 meters 0.020608280711071392 Centerline is valid? [True, True] Translation: X:128.31, Y:108.97, Z:3.60 [[-1.78609177e-01 -9.83915515e-01 3.00359658e-03 1.28314926e+02] [ 9.83742336e-01 -1.78634102e-01 -1.84627568e-02 1.08968937e+02] [ 1.87023376e-02 -3.42852680e-04 9.99825037e-01 3.59761452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28275509600002 meters 0.022124381320338234 Centerline is valid? [True, True] Translation: X:128.31, Y:108.99, Z:3.60 [[-1.79751723e-01 -9.83707463e-01 2.99073267e-03 1.28310889e+02] [ 9.83536532e-01 -1.79776250e-01 -1.83409488e-02 1.08994745e+02] [ 1.85797909e-02 -3.55322305e-04 9.99827318e-01 3.59575338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31275509600002 meters 0.021461600522882478 Centerline is valid? [True, True] Translation: X:128.31, Y:109.02, Z:3.60 [[-1.80923363e-01 -9.83492785e-01 2.94611095e-03 1.28308141e+02] [ 9.83327687e-01 -1.80946982e-01 -1.80235956e-02 1.09020374e+02] [ 1.82591661e-02 -3.63897059e-04 9.99833221e-01 3.59807130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34275509600002 meters 0.021457790131976816 Centerline is valid? [True, True] Translation: X:128.31, Y:109.05, Z:3.60 [[-1.83602448e-01 -9.82996007e-01 2.99869477e-03 1.28306006e+02] [ 9.82825782e-01 -1.83626472e-01 -1.82975547e-02 1.09047407e+02] [ 1.85370630e-02 -4.12281315e-04 9.99828089e-01 3.59997334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37275509600002 meters 0.022477541476024973 Centerline is valid? [True, True] Translation: X:128.30, Y:109.07, Z:3.60 [[-1.85223940e-01 -9.82691679e-01 3.02600919e-03 1.28302209e+02] [ 9.82519060e-01 -1.85248135e-01 -1.84234812e-02 1.09074054e+02] [ 1.86651642e-02 -4.39358052e-04 9.99825694e-01 3.59844076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40275509600002 meters 0.022123968447860444 Centerline is valid? [True, True] Translation: X:128.30, Y:109.10, Z:3.60 [[-1.87362402e-01 -9.82286203e-01 3.02405060e-03 1.28299564e+02] [ 9.82114536e-01 -1.87386211e-01 -1.83697010e-02 1.09101580e+02] [ 1.86109692e-02 -4.71827253e-04 9.99826690e-01 3.60136227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43275509600002 meters 0.02384613610209599 Centerline is valid? [True, True] Translation: X:128.30, Y:109.13, Z:3.60 [[-1.90606356e-01 -9.81661764e-01 3.06573940e-03 1.28299790e+02] [ 9.81486051e-01 -1.90630266e-01 -1.85804872e-02 1.09128619e+02] [ 1.88241766e-02 -5.32578514e-04 9.99822668e-01 3.60178770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46275509600002 meters 0.023920133334842157 Centerline is valid? [True, True] Translation: X:128.30, Y:109.16, Z:3.60 [[-1.92305639e-01 -9.81330333e-01 3.05274656e-03 1.28295757e+02] [ 9.81156876e-01 -1.92329069e-01 -1.84584284e-02 1.09155212e+02] [ 1.87009476e-02 -5.54436585e-04 9.99824968e-01 3.60188369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49275509600002 meters 0.024506763138021036 Centerline is valid? [True, True] Translation: X:128.29, Y:109.18, Z:3.60 [[-1.94053195e-01 -9.80986218e-01 3.06569788e-03 1.28292731e+02] [ 9.80812020e-01 -1.94076536e-01 -1.84953718e-02 1.09182224e+02] [ 1.87386848e-02 -5.82212654e-04 9.99824246e-01 3.60243564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52275509600003 meters 0.024483372819245997 Centerline is valid? [True, True] Translation: X:128.29, Y:109.21, Z:3.60 [[-1.95646578e-01 -9.80669676e-01 3.06659803e-03 1.28289256e+02] [ 9.80496109e-01 -1.95669675e-01 -1.84596369e-02 1.09209727e+02] [ 1.87028464e-02 -6.04777357e-04 9.99824904e-01 3.60299175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55275509600003 meters 0.02769219531917442 Centerline is valid? [True, True] Translation: X:128.29, Y:109.24, Z:3.60 [[-1.98544217e-01 -9.80087150e-01 3.06152385e-03 1.28289987e+02] [ 9.79914778e-01 -1.98566751e-01 -1.83922079e-02 1.09236666e+02] [ 1.86338835e-02 -6.51634067e-04 9.99826162e-01 3.60025527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.582755096 meters 0.02755652806501021 Centerline is valid? [True, True] Translation: X:128.29, Y:109.26, Z:3.60 [[-2.00197360e-01 -9.79750323e-01 3.21279125e-03 1.28287984e+02] [ 9.79561383e-01 -2.00221888e-01 -1.92533740e-02 1.09262951e+02] [ 1.95067705e-02 -7.07348404e-04 9.99809475e-01 3.60333451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.612755096 meters 0.02658788322306098 Centerline is valid? [True, True] Translation: X:128.28, Y:109.29, Z:3.60 [[-1.98835125e-01 -9.80027975e-01 3.12446388e-03 1.28279372e+02] [ 9.79850114e-01 -1.98858600e-01 -1.86818490e-02 1.09289085e+02] [ 1.89300611e-02 -6.53101479e-04 9.99820597e-01 3.60416006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.642755096 meters 0.028006633343686364 Centerline is valid? [True, True] Translation: X:128.28, Y:109.32, Z:3.60 [[-1.98078715e-01 -9.80180655e-01 3.27198673e-03 1.28275713e+02] [ 9.79986499e-01 -1.98104638e-01 -1.95195792e-02 1.09316364e+02] [ 1.97809096e-02 -6.59910329e-04 9.99804121e-01 3.60094576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.672755096 meters 0.02555072993711655 Centerline is valid? [True, True] Translation: X:128.27, Y:109.34, Z:3.60 [[-1.95976424e-01 -9.80602480e-01 3.46671124e-03 1.28269920e+02] [ 9.80385567e-01 -1.96006022e-01 -2.06344423e-02 1.09343005e+02] [ 2.09136816e-02 -6.45150556e-04 9.99781077e-01 3.60371076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.702755096 meters 0.02486904256896395 Centerline is valid? [True, True] Translation: X:128.26, Y:109.37, Z:3.60 [[-1.94416760e-01 -9.80912610e-01 3.54624780e-03 1.28263785e+02] [ 9.80686658e-01 -1.94448121e-01 -2.10619865e-02 1.09369513e+02] [ 2.13495294e-02 -6.17045280e-04 9.99771882e-01 3.60353835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.732755096 meters 0.024463451111065723 Centerline is valid? [True, True] Translation: X:128.26, Y:109.40, Z:3.60 [[-1.93038508e-01 -9.81184423e-01 3.64171561e-03 1.28258262e+02] [ 9.80947180e-01 -1.93071941e-01 -2.15836734e-02 1.09395491e+02] [ 2.18806772e-02 -5.94149439e-04 9.99760413e-01 3.60358274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.762755096 meters 0.02638762269785689 Centerline is valid? [True, True] Translation: X:128.25, Y:109.42, Z:3.60 [[-1.91839129e-01 -9.81419214e-01 3.75165724e-03 1.28252558e+02] [ 9.81168350e-01 -1.91874942e-01 -2.21962949e-02 1.09422571e+02] [ 2.25037193e-02 -5.77110532e-04 9.99746593e-01 3.59975258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.792755096 meters 0.02638762269785689 Centerline is valid? [True, True] Translation: X:128.25, Y:109.45, Z:3.60 [[-1.92217415e-01 -9.81345164e-01 3.75949567e-03 1.28247977e+02] [ 9.81094312e-01 -1.92253308e-01 -2.21949674e-02 1.09448098e+02] [ 2.25036994e-02 -5.77839445e-04 9.99746593e-01 3.60023629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.822755096 meters 0.022420471088538705 Centerline is valid? [True, True] Translation: X:128.24, Y:109.47, Z:3.61 [[-1.88974417e-01 -9.81974856e-01 3.74872741e-03 1.28238688e+02] [ 9.81726701e-01 -1.89010954e-01 -2.20804062e-02 1.09473048e+02] [ 2.23909542e-02 -4.92406087e-04 9.99749170e-01 3.60502373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.852755096 meters 0.024539795453933675 Centerline is valid? [True, True] Translation: X:128.23, Y:109.50, Z:3.60 [[-1.86890477e-01 -9.82373434e-01 3.79273335e-03 1.28231457e+02] [ 9.82120615e-01 -1.86928438e-01 -2.22902730e-02 1.09498567e+02] [ 2.26063417e-02 -4.40918144e-04 9.99744347e-01 3.60195085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.882755096 meters 0.020866254478794418 Centerline is valid? [True, True] Translation: X:128.22, Y:109.52, Z:3.61 [[-1.85816915e-01 -9.82577406e-01 3.70331804e-03 1.28224446e+02] [ 9.82337437e-01 -1.85853389e-01 -2.17181599e-02 1.09524095e+02] [ 2.20280475e-02 -3.97693520e-04 9.99757274e-01 3.60756386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.912755096 meters 0.020952876775745814 Centerline is valid? [True, True] Translation: X:128.22, Y:109.55, Z:3.61 [[-1.85268113e-01 -9.82681234e-01 3.64944834e-03 1.28220386e+02] [ 9.82449277e-01 -1.85303682e-01 -2.13533229e-02 1.09549503e+02] [ 2.16597659e-02 -3.70691958e-04 9.99765331e-01 3.60873183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.942755096 meters 0.023268183712825682 Centerline is valid? [True, True] Translation: X:128.21, Y:109.58, Z:3.61 [[-1.84285550e-01 -9.82865640e-01 3.73763409e-03 1.28214602e+02] [ 9.82623548e-01 -1.84323121e-01 -2.18162822e-02 1.09575462e+02] [ 2.21314066e-02 -3.47738286e-04 9.99755010e-01 3.60576284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97275509600001 meters 0.021273488532446736 Centerline is valid? [True, True] Translation: X:128.21, Y:109.60, Z:3.61 [[-1.83934683e-01 -9.82931780e-01 3.62611670e-03 1.28208668e+02] [ 9.82704944e-01 -1.83970143e-01 -2.11182232e-02 1.09601367e+02] [ 2.14248699e-02 -3.20970888e-04 9.99770410e-01 3.60888267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00275509600002 meters 0.020653828260236883 Centerline is valid? [True, True] Translation: X:128.20, Y:109.63, Z:3.61 [[-1.83606737e-01 -9.82993487e-01 3.51715603e-03 1.28204690e+02] [ 9.82781043e-01 -1.83640183e-01 -2.04378067e-02 1.09626170e+02] [ 2.07361221e-02 -2.95924726e-04 9.99784940e-01 3.61141284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03275509600002 meters 0.019663313477669902 Centerline is valid? [True, True] Translation: X:128.20, Y:109.65, Z:3.61 [[-1.83849641e-01 -9.82948304e-01 3.45549731e-03 1.28197311e+02] [ 9.82744192e-01 -1.83881888e-01 -2.00325777e-02 1.09651860e+02] [ 2.03263916e-02 -2.87112309e-04 9.99793356e-01 3.61297726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06275509600002 meters 0.02025671249199094 Centerline is valid? [True, True] Translation: X:128.19, Y:109.68, Z:3.61 [[-1.84630252e-01 -9.82801778e-01 3.51224437e-03 1.28192437e+02] [ 9.82591870e-01 -1.84663413e-01 -2.03135424e-02 1.09676440e+02] [ 2.06127686e-02 -2.99391684e-04 9.99787489e-01 3.61241140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09275509600002 meters 0.02010296546228383 Centerline is valid? [True, True] Translation: X:128.19, Y:109.70, Z:3.61 [[-1.85609687e-01 -9.82617366e-01 3.48648248e-03 1.28188099e+02] [ 9.82411475e-01 -1.85642172e-01 -2.01166247e-02 1.09702358e+02] [ 2.04141830e-02 -3.08680016e-04 9.99791561e-01 3.61338686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12275509600002 meters 0.02246145205499112 Centerline is valid? [True, True] Translation: X:128.19, Y:109.73, Z:3.61 [[-1.88329975e-01 -9.82099791e-01 3.43817790e-03 1.28187479e+02] [ 9.81900362e-01 -1.88361028e-01 -1.97940167e-02 1.09728657e+02] [ 2.00873184e-02 -3.51858558e-04 9.99798168e-01 3.61219439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15275509600002 meters 0.022519766982995636 Centerline is valid? [True, True] Translation: X:128.18, Y:109.76, Z:3.61 [[-1.89842242e-01 -9.81808402e-01 3.49058472e-03 1.28184038e+02] [ 9.81603671e-01 -1.89873948e-01 -2.00528326e-02 1.09755486e+02] [ 2.03508106e-02 -3.80503912e-04 9.99792828e-01 3.61337139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18275509600002 meters 0.021148204286315697 Centerline is valid? [True, True] Translation: X:128.18, Y:109.78, Z:3.62 [[-1.91430904e-01 -9.81499908e-01 3.48413909e-03 1.28178090e+02] [ 9.81296692e-01 -1.91462180e-01 -1.99759106e-02 1.09781957e+02] [ 2.02734353e-02 -4.05032470e-04 9.99794391e-01 3.61567124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21275509600002 meters 0.023669021228961792 Centerline is valid? [True, True] Translation: X:128.18, Y:109.81, Z:3.62 [[-1.94757336e-01 -9.80845185e-01 3.50750813e-03 1.28179565e+02] [ 9.80640015e-01 -1.94788354e-01 -2.00663460e-02 1.09808838e+02] [ 2.03652006e-02 -4.68465256e-04 9.99792498e-01 3.61694065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24275509600002 meters 0.024075854779488145 Centerline is valid? [True, True] Translation: X:128.17, Y:109.84, Z:3.62 [[-1.96845545e-01 -9.80427964e-01 3.58322657e-03 1.28173300e+02] [ 9.80214737e-01 -1.96877485e-01 -2.04530083e-02 1.09835306e+02] [ 2.07581579e-02 -5.13752063e-04 9.99784394e-01 3.61552032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27275509600003 meters 0.023076491925637488 Centerline is valid? [True, True] Translation: X:128.17, Y:109.86, Z:3.62 [[-1.98237231e-01 -9.80147414e-01 3.61204998e-03 1.28168531e+02] [ 9.79931605e-01 -1.98269403e-01 -2.05740814e-02 1.09862124e+02] [ 2.08817917e-02 -5.38986996e-04 9.99781806e-01 3.61834974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30275509600003 meters 0.025181842194602164 Centerline is valid? [True, True] Translation: X:128.16, Y:109.89, Z:3.62 [[-2.00347998e-01 -9.79717451e-01 3.79419509e-03 1.28164360e+02] [ 9.79480291e-01 -2.00383012e-01 -2.15640395e-02 1.09889293e+02] [ 2.18869581e-02 -6.03972842e-04 9.99760269e-01 3.61552245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.332755096 meters 0.02593931349021687 Centerline is valid? [True, True] Translation: X:128.16, Y:109.92, Z:3.62 [[-2.03128856e-01 -9.79143446e-01 4.09639795e-03 1.28161244e+02] [ 9.78868119e-01 -2.03168921e-01 -2.32291712e-02 1.09916342e+02] [ 2.35769514e-02 -7.08681610e-04 9.99721774e-01 3.61520878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.362755096 meters 0.027042564515023498 Centerline is valid? [True, True] Translation: X:128.16, Y:109.94, Z:3.62 [[-2.05660588e-01 -9.78613515e-01 4.39435320e-03 1.28159340e+02] [ 9.78297966e-01 -2.05705918e-01 -2.48629372e-02 1.09942091e+02] [ 2.52351508e-02 -8.14339490e-04 9.99681211e-01 3.61544029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.392755096 meters 0.026098175481431004 Centerline is valid? [True, True] Translation: X:128.15, Y:109.97, Z:3.62 [[-2.06680283e-01 -9.78398622e-01 4.40419701e-03 1.28154099e+02] [ 9.78082959e-01 -2.06725531e-01 -2.48652496e-02 1.09968345e+02] [ 2.52385859e-02 -8.31486789e-04 9.99681110e-01 3.61753493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.422755096 meters 0.026453255195935 Centerline is valid? [True, True] Translation: X:128.15, Y:109.99, Z:3.62 [[-2.07592531e-01 -9.78205237e-01 4.45599953e-03 1.28149365e+02] [ 9.77883402e-01 -2.07638592e-01 -2.51051105e-02 1.09994836e+02] [ 2.54831881e-02 -8.54185449e-04 9.99674886e-01 3.61790177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.452755096 meters 0.027977984206597306 Centerline is valid? [True, True] Translation: X:128.15, Y:110.02, Z:3.62 [[-2.08302109e-01 -9.78053658e-01 4.61233895e-03 1.28146087e+02] [ 9.77710274e-01 -2.08351258e-01 -2.59301765e-02 1.10021045e+02] [ 2.63220906e-02 -8.91779260e-04 9.99653116e-01 3.61777800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.482755096 meters 0.027685589107805435 Centerline is valid? [True, True] Translation: X:128.14, Y:110.05, Z:3.62 [[-2.09067327e-01 -9.77889735e-01 4.74537038e-03 1.28138014e+02] [ 9.77527789e-01 -2.09119122e-01 -2.66198143e-02 1.10046954e+02] [ 2.70235909e-02 -9.26602021e-04 9.99634367e-01 3.61698197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.512755096 meters 0.027755913071023933 Centerline is valid? [True, True] Translation: X:128.13, Y:110.07, Z:3.62 [[-2.09220894e-01 -9.77857131e-01 4.69564726e-03 1.28133856e+02] [ 9.77504212e-01 -2.09271605e-01 -2.62851815e-02 1.10072978e+02] [ 2.66858178e-02 -9.09394219e-04 9.99643457e-01 3.61855120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.542755096 meters 0.028640044598061895 Centerline is valid? [True, True] Translation: X:128.13, Y:110.10, Z:3.62 [[-2.08318571e-01 -9.78049269e-01 4.79593350e-03 1.28127702e+02] [ 9.77682756e-01 -2.08371863e-01 -2.67879587e-02 1.10099492e+02] [ 2.71992811e-02 -8.91527798e-04 9.99629634e-01 3.61813704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.572755096 meters 0.025291442032232814 Centerline is valid? [True, True] Translation: X:128.12, Y:110.13, Z:3.62 [[-2.07098899e-01 -9.78309145e-01 4.61110680e-03 1.28120490e+02] [ 9.77971750e-01 -2.07148628e-01 -2.57041212e-02 1.10125750e+02] [ 2.61017613e-02 -8.13763023e-04 9.99658960e-01 3.62286332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.602755096 meters 0.024630648284838446 Centerline is valid? [True, True] Translation: X:128.11, Y:110.15, Z:3.62 [[-2.05516142e-01 -9.78643396e-01 4.49658541e-03 1.28113667e+02] [ 9.78323936e-01 -2.05563989e-01 -2.50144356e-02 1.10150782e+02] [ 2.54045482e-02 -7.41753164e-04 9.99676977e-01 3.62403468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.632755096 meters 0.024831293216259424 Centerline is valid? [True, True] Translation: X:128.11, Y:110.18, Z:3.62 [[-2.04691775e-01 -9.78816251e-01 4.47475987e-03 1.28108877e+02] [ 9.78501252e-01 -2.04739463e-01 -2.48405414e-02 1.10177115e+02] [ 2.52304856e-02 -7.06096394e-04 9.99681411e-01 3.62482099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.662755096 meters 0.024494928166257115 Centerline is valid? [True, True] Translation: X:128.10, Y:110.20, Z:3.62 [[-2.04017214e-01 -9.78956938e-01 4.50448836e-03 1.28101867e+02] [ 9.78639099e-01 -2.04065793e-01 -2.49532873e-02 1.10202389e+02] [ 2.53474057e-02 -6.82631707e-04 9.99678470e-01 3.62454364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.692755096 meters 0.024770707631495817 Centerline is valid? [True, True] Translation: X:128.10, Y:110.23, Z:3.62 [[-2.03196191e-01 -9.79127556e-01 4.53170873e-03 1.28097106e+02] [ 9.78807378e-01 -2.03245667e-01 -2.50462738e-02 1.10226994e+02] [ 2.54445471e-02 -6.53637499e-04 9.99676021e-01 3.62457090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72275509600001 meters 0.02459953048328161 Centerline is valid? [True, True] Translation: X:128.09, Y:110.25, Z:3.62 [[-2.00968334e-01 -9.79586962e-01 4.59489644e-03 1.28090035e+02] [ 9.79259398e-01 -2.01019983e-01 -2.53376639e-02 1.10253600e+02] [ 2.57441112e-02 -5.92472588e-04 9.99668390e-01 3.62408605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75275509600002 meters 0.025368582942220396 Centerline is valid? [True, True] Translation: X:128.08, Y:110.28, Z:3.62 [[-2.00295898e-01 -9.79724466e-01 4.63947935e-03 1.28084029e+02] [ 9.79391920e-01 -2.00348813e-01 -2.55307881e-02 1.10279170e+02] [ 2.59426519e-02 -5.69843531e-04 9.99663270e-01 3.62342130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78275509600002 meters 0.021099832577816155 Centerline is valid? [True, True] Translation: X:128.08, Y:110.31, Z:3.63 [[-1.98221489e-01 -9.80147043e-01 4.47397736e-03 1.28076862e+02] [ 9.79839200e-01 -1.98271376e-01 -2.45683592e-02 1.10305153e+02] [ 2.49676663e-02 -4.86198342e-04 9.99688141e-01 3.62887308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81275509600002 meters 0.022574212009618386 Centerline is valid? [True, True] Translation: X:128.07, Y:110.33, Z:3.63 [[-1.96437058e-01 -9.80506762e-01 4.35559729e-03 1.28070804e+02] [ 9.80216234e-01 -1.96484892e-01 -2.38709278e-02 1.10330950e+02] [ 2.42614152e-02 -4.19707670e-04 9.99705560e-01 3.62668187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84275509600002 meters 0.019989099962642944 Centerline is valid? [True, True] Translation: X:128.06, Y:110.36, Z:3.63 [[-1.95079634e-01 -9.80778118e-01 4.26846920e-03 1.28063991e+02] [ 9.80500314e-01 -1.95125978e-01 -2.33449536e-02 1.10356307e+02] [ 2.37291089e-02 -3.68889608e-04 9.99718357e-01 3.63037981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87275509600002 meters 0.021097074320812245 Centerline is valid? [True, True] Translation: X:128.06, Y:110.38, Z:3.63 [[-1.94215467e-01 -9.80950043e-01 4.16725589e-03 1.28058423e+02] [ 9.80686373e-01 -1.94259889e-01 -2.27449636e-02 1.10381290e+02] [ 2.31212037e-02 -3.30652666e-04 9.99732615e-01 3.62882592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90275509600002 meters 0.022160973869802897 Centerline is valid? [True, True] Translation: X:128.05, Y:110.41, Z:3.63 [[-1.94721059e-01 -9.80849717e-01 4.18820222e-03 1.28053639e+02] [ 9.80584331e-01 -1.94765805e-01 -2.28177723e-02 1.10406663e+02] [ 2.31965241e-02 -3.36215317e-04 9.99730868e-01 3.62779378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93275509600002 meters 0.021948206498861797 Centerline is valid? [True, True] Translation: X:128.05, Y:110.43, Z:3.63 [[-1.95200568e-01 -9.80754762e-01 4.10307541e-03 1.28048557e+02] [ 9.80501120e-01 -1.95243405e-01 -2.23061979e-02 1.10432195e+02] [ 2.26780082e-02 -3.31112462e-04 9.99742766e-01 3.62856348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96275509600002 meters 0.020705673973587913 Centerline is valid? [True, True] Translation: X:128.04, Y:110.46, Z:3.63 [[-1.95874533e-01 -9.80620488e-01 4.07758196e-03 1.28042943e+02] [ 9.80371012e-01 -1.95916683e-01 -2.21208544e-02 1.10457658e+02] [ 2.24910293e-02 -3.35368857e-04 9.99746989e-01 3.63008224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99275509600002 meters 0.020357995059247982 Centerline is valid? [True, True] Translation: X:128.04, Y:110.48, Z:3.63 [[-1.97221420e-01 -9.80349905e-01 4.21597771e-03 1.28041258e+02] [ 9.80084355e-01 -1.97266133e-01 -2.28194844e-02 1.10483562e+02] [ 2.32027490e-02 -3.68477321e-04 9.99730712e-01 3.63152527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02275509600003 meters 0.02008232121090676 Centerline is valid? [True, True] Translation: X:128.04, Y:110.51, Z:3.63 [[-1.98648749e-01 -9.80061572e-01 4.24135994e-03 1.28036175e+02] [ 9.79793966e-01 -1.98693632e-01 -2.29046728e-02 1.10509509e+02] [ 2.32907209e-02 -3.94325738e-04 9.99728657e-01 3.63205187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05275509600003 meters 0.022592230738065107 Centerline is valid? [True, True] Translation: X:128.04, Y:110.54, Z:3.63 [[-2.02378972e-01 -9.79297064e-01 4.47343130e-03 1.28035147e+02] [ 9.79000497e-01 -2.02427793e-01 -2.41042818e-02 1.10535775e+02] [ 2.45107992e-02 -4.98708307e-04 9.99699441e-01 3.62949240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08275509600003 meters 0.022469068331790208 Centerline is valid? [True, True] Translation: X:128.03, Y:110.56, Z:3.63 [[-2.04124678e-01 -9.78934283e-01 4.55915919e-03 1.28031406e+02] [ 9.78627392e-01 -2.04174866e-01 -2.45163595e-02 1.10563035e+02] [ 2.49307705e-02 -5.42675929e-04 9.99689033e-01 3.63053716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.112755096 meters 0.022115878713411134 Centerline is valid? [True, True] Translation: X:128.03, Y:110.59, Z:3.63 [[-2.07636939e-01 -9.78194468e-01 4.74167723e-03 1.28027407e+02] [ 9.77863631e-01 -2.07690065e-01 -2.54471063e-02 1.10589795e+02] [ 2.58770179e-02 -6.47045550e-04 9.99664925e-01 3.63160981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.142755096 meters 0.02277283882906307 Centerline is valid? [True, True] Translation: X:128.02, Y:110.62, Z:3.63 [[-2.09642768e-01 -9.77766163e-01 4.82080741e-03 1.28024051e+02] [ 9.77425467e-01 -2.09697017e-01 -2.58189306e-02 1.10616920e+02] [ 2.62557857e-02 -7.00772137e-04 9.99655012e-01 3.63186854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.172755096 meters 0.024525905625365843 Centerline is valid? [True, True] Translation: X:128.02, Y:110.64, Z:3.63 [[-2.11850755e-01 -9.77289872e-01 4.87482173e-03 1.28021603e+02] [ 9.76942707e-01 -2.11905478e-01 -2.60579277e-02 1.10642670e+02] [ 2.64991502e-02 -7.57970114e-04 9.99648549e-01 3.63063569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.202755096 meters 0.025612848881822692 Centerline is valid? [True, True] Translation: X:128.02, Y:110.67, Z:3.63 [[-2.15402399e-01 -9.76512077e-01 5.09602810e-03 1.28020036e+02] [ 9.76133865e-01 -2.15460865e-01 -2.71899671e-02 1.10668967e+02] [ 2.76493259e-02 -8.82378540e-04 9.99617295e-01 3.63146210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.232755096 meters 0.027529641429607805 Centerline is valid? [True, True] Translation: X:128.02, Y:110.70, Z:3.63 [[-2.17916575e-01 -9.75953497e-01 5.20942358e-03 1.28017371e+02] [ 9.75559754e-01 -2.17976710e-01 -2.77366116e-02 1.10695309e+02] [ 2.82051761e-02 -9.62163422e-04 9.99601692e-01 3.63051931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.262755096 meters 0.028964209617140604 Centerline is valid? [True, True] Translation: X:128.02, Y:110.72, Z:3.63 [[-2.21471183e-01 -9.75152211e-01 5.35547682e-03 1.28015693e+02] [ 9.74737530e-01 -2.21533282e-01 -2.84561606e-02 1.10722757e+02] [ 2.89355043e-02 -1.08203532e-03 9.99580695e-01 3.63208805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.292755096 meters 0.027805875953174276 Centerline is valid? [True, True] Translation: X:128.01, Y:110.75, Z:3.63 [[-2.23303196e-01 -9.74734361e-01 5.34857677e-03 1.28009038e+02] [ 9.74322220e-01 -2.23364421e-01 -2.83645284e-02 1.10749258e+02] [ 2.88425623e-02 -1.12265267e-03 9.99583336e-01 3.63367022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.322755096 meters 0.028826904759691716 Centerline is valid? [True, True] Translation: X:128.01, Y:110.78, Z:3.63 [[-2.25001447e-01 -9.74344195e-01 5.26677369e-03 1.28005425e+02] [ 9.73946045e-01 -2.25060181e-01 -2.78749981e-02 1.10775559e+02] [ 2.83451836e-02 -1.14236151e-03 9.99597542e-01 3.63465291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.352755096 meters 0.030443970286032095 Centerline is valid? [True, True] Translation: X:128.00, Y:110.80, Z:3.64 [[-2.26660042e-01 -9.73960842e-01 5.05004153e-03 1.28002706e+02] [ 9.73596158e-01 -2.26713480e-01 -2.66743148e-02 1.10801895e+02] [ 2.71246506e-02 -1.12930028e-03 9.99631421e-01 3.63577344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.382755096 meters 0.031442850817428224 Centerline is valid? [True, True] Translation: X:128.00, Y:110.83, Z:3.64 [[-2.27510880e-01 -9.73763213e-01 4.89953510e-03 1.27997697e+02] [ 9.73421302e-01 -2.27560941e-01 -2.58260892e-02 1.10827367e+02] [ 2.62634384e-02 -1.10640443e-03 9.99654444e-01 3.63550358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.412755096 meters 0.030194903380453556 Centerline is valid? [True, True] Translation: X:127.99, Y:110.85, Z:3.64 [[-2.26843610e-01 -9.73919340e-01 4.80576388e-03 1.27991827e+02] [ 9.73591785e-01 -2.26892055e-01 -2.52790585e-02 1.10854448e+02] [ 2.57101536e-02 -1.05554065e-03 9.99668882e-01 3.63901856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.442755096 meters 0.030160738548907405 Centerline is valid? [True, True] Translation: X:127.99, Y:110.88, Z:3.64 [[-2.26397567e-01 -9.74023972e-01 4.63077308e-03 1.27986368e+02] [ 9.73720941e-01 -2.26442732e-01 -2.43149649e-02 1.10879944e+02] [ 2.47319636e-02 -9.95768179e-04 9.99693622e-01 3.64026547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47275509600001 meters 0.028057407053474967 Centerline is valid? [True, True] Translation: X:127.98, Y:110.91, Z:3.64 [[-2.23995515e-01 -9.74579832e-01 4.49000960e-03 1.27977336e+02] [ 9.74296138e-01 -2.24038719e-01 -2.35305792e-02 1.10905877e+02] [ 2.39383640e-02 -8.96145201e-04 9.99713035e-01 3.64124312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50275509600002 meters 0.026823271857368602 Centerline is valid? [True, True] Translation: X:127.97, Y:110.93, Z:3.64 [[-2.22028788e-01 -9.75029754e-01 4.49403074e-03 1.27970229e+02] [ 9.74746718e-01 -2.22072682e-01 -2.35066073e-02 1.10931994e+02] [ 2.39176430e-02 -8.38601820e-04 9.99713581e-01 3.64260736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53275509600002 meters 0.02335771001241121 Centerline is valid? [True, True] Translation: X:127.96, Y:110.96, Z:3.64 [[-2.16935537e-01 -9.76175518e-01 4.50899391e-03 1.27958639e+02] [ 9.75891917e-01 -2.16981242e-01 -2.35394869e-02 1.10957383e+02] [ 2.39570379e-02 -7.06260501e-04 9.99712740e-01 3.64298626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56275509600002 meters 0.02260283070179018 Centerline is valid? [True, True] Translation: X:127.95, Y:110.98, Z:3.64 [[-2.14532609e-01 -9.76706468e-01 4.49838730e-03 1.27951602e+02] [ 9.76425413e-01 -2.14578824e-01 -2.34380310e-02 1.10983317e+02] [ 2.38573352e-02 -6.35882272e-04 9.99715171e-01 3.64324201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59275509600002 meters 0.023114970470614365 Centerline is valid? [True, True] Translation: X:127.95, Y:111.01, Z:3.64 [[-2.12100987e-01 -9.77237491e-01 4.47851779e-03 1.27946673e+02] [ 9.76960049e-01 -2.12147511e-01 -2.32915398e-02 1.11008815e+02] [ 2.37114723e-02 -5.64825602e-04 9.99718684e-01 3.64310290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62275509600002 meters 0.0203012059261057 Centerline is valid? [True, True] Translation: X:127.93, Y:111.03, Z:3.64 [[-2.08054165e-01 -9.78107364e-01 4.41007494e-03 1.27934470e+02] [ 9.77839365e-01 -2.08100409e-01 -2.28996931e-02 1.11034168e+02] [ 2.33160968e-02 -4.52031654e-04 9.99728041e-01 3.64362988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65275509600002 meters 0.019332046216249413 Centerline is valid? [True, True] Translation: X:127.93, Y:111.06, Z:3.65 [[-2.06863018e-01 -9.78360296e-01 4.33846966e-03 1.27928291e+02] [ 9.78102007e-01 -2.06908107e-01 -2.24833311e-02 1.11058916e+02] [ 2.28944630e-02 -4.07503851e-04 9.99737804e-01 3.64527692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68275509600002 meters 0.01910389290266807 Centerline is valid? [True, True] Translation: X:127.92, Y:111.08, Z:3.65 [[-2.05994055e-01 -9.78543521e-01 4.36206598e-03 1.27922715e+02] [ 9.78283575e-01 -2.06039886e-01 -2.25568569e-02 1.11083808e+02] [ 2.29716257e-02 -3.79240921e-04 9.99736045e-01 3.64597478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71275509600002 meters 0.01910389290266807 Centerline is valid? [True, True] Translation: X:127.92, Y:111.11, Z:3.65 [[-2.06379290e-01 -9.78462312e-01 4.36953441e-03 1.27917539e+02] [ 9.78202379e-01 -2.06425191e-01 -2.25554103e-02 1.11109213e+02] [ 2.29716009e-02 -3.80680620e-04 9.99736045e-01 3.64645860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74275509600002 meters 0.01861774011863658 Centerline is valid? [True, True] Translation: X:127.91, Y:111.13, Z:3.65 [[-2.05064606e-01 -9.78739157e-01 4.26260483e-03 1.27911363e+02] [ 9.78492830e-01 -2.05108635e-01 -2.19597030e-02 1.11134150e+02] [ 2.23671183e-02 -3.32229597e-04 9.99749770e-01 3.64696229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77275509600003 meters 0.01841704935225533 Centerline is valid? [True, True] Translation: X:127.91, Y:111.16, Z:3.65 [[-2.05045814e-01 -9.78742922e-01 4.30201723e-03 1.27905814e+02] [ 9.78492893e-01 -2.05090678e-01 -2.21240232e-02 1.11159775e+02] [ 2.25360347e-02 -3.26945051e-04 9.99745978e-01 3.64758911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80275509600003 meters 0.018150781355275408 Centerline is valid? [True, True] Translation: X:127.90, Y:111.19, Z:3.65 [[-2.05779828e-01 -9.78588799e-01 4.31568025e-03 1.27900038e+02] [ 9.78338171e-01 -2.05824804e-01 -2.21488822e-02 1.11186798e+02] [ 2.25629221e-02 -3.35598446e-04 9.99745369e-01 3.64851026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83275509600003 meters 0.019724863174738077 Centerline is valid? [True, True] Translation: X:127.90, Y:111.21, Z:3.65 [[-2.06565467e-01 -9.78422902e-01 4.39693742e-03 1.27896165e+02] [ 9.78163728e-01 -2.06611959e-01 -2.25215314e-02 1.11212788e+02] [ 2.29440420e-02 -3.51245936e-04 9.99736689e-01 3.64731227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.862755096 meters 0.018198251839204517 Centerline is valid? [True, True] Translation: X:127.89, Y:111.24, Z:3.65 [[-2.06748640e-01 -9.78384086e-01 4.42494194e-03 1.27889976e+02] [ 9.78122638e-01 -2.06795694e-01 -2.26196121e-02 1.11239781e+02] [ 2.30457274e-02 -3.48438155e-04 9.99734351e-01 3.64956812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.892755096 meters 0.020479080544825803 Centerline is valid? [True, True] Translation: X:127.89, Y:111.27, Z:3.65 [[-2.07919858e-01 -9.78134899e-01 4.63151712e-03 1.27886475e+02] [ 9.77849556e-01 -2.07971083e-01 -2.36278241e-02 1.11265462e+02] [ 2.40744210e-02 -3.83766886e-04 9.99710095e-01 3.64790239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.922755096 meters 0.01865752457991343 Centerline is valid? [True, True] Translation: X:127.88, Y:111.29, Z:3.65 [[-2.08331823e-01 -9.78047462e-01 4.58401142e-03 1.27880662e+02] [ 9.77769045e-01 -2.08381903e-01 -2.33383231e-02 1.11291612e+02] [ 2.37812127e-02 -3.80010935e-04 9.99717115e-01 3.65034271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.952755096 meters 0.01972235060312577 Centerline is valid? [True, True] Translation: X:127.87, Y:111.32, Z:3.65 [[-2.09247766e-01 -9.77851331e-01 4.70612009e-03 1.27874434e+02] [ 9.77559048e-01 -2.09300294e-01 -2.39101435e-02 1.11318439e+02] [ 2.43655580e-02 -4.02633841e-04 9.99703035e-01 3.64920083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.982755096 meters 0.021564097992828737 Centerline is valid? [True, True] Translation: X:127.87, Y:111.34, Z:3.65 [[-2.11051849e-01 -9.77461876e-01 5.03959931e-03 1.27870497e+02] [ 9.77127957e-01 -2.11111490e-01 -2.55517954e-02 1.11344195e+02] [ 2.60398232e-02 -4.68420274e-04 9.99660797e-01 3.64762470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.012755096 meters 0.01955334906152278 Centerline is valid? [True, True] Translation: X:127.87, Y:111.37, Z:3.65 [[-2.11575652e-01 -9.77349563e-01 4.85541574e-03 1.27867071e+02] [ 9.77040820e-01 -2.11630870e-01 -2.45684819e-02 1.11369056e+02] [ 2.50395509e-02 -4.54153192e-04 9.99686358e-01 3.65051896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.042755096 meters 0.01915795836733188 Centerline is valid? [True, True] Translation: X:127.86, Y:111.40, Z:3.65 [[-2.12621630e-01 -9.77122142e-01 4.93581255e-03 1.27861116e+02] [ 9.76804392e-01 -2.12678376e-01 -2.49216383e-02 1.11395653e+02] [ 2.54012252e-02 -4.77555982e-04 9.99677223e-01 3.65138405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.072755096 meters 0.021758943355051186 Centerline is valid? [True, True] Translation: X:127.86, Y:111.42, Z:3.65 [[-2.14982709e-01 -9.76605417e-01 4.92893634e-03 1.27857416e+02] [ 9.76289540e-01 -2.15038555e-01 -2.48425662e-02 1.11421308e+02] [ 2.53212960e-02 -5.28653180e-04 9.99679225e-01 3.65031704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.102755096 meters 0.021606547143806946 Centerline is valid? [True, True] Translation: X:127.85, Y:111.45, Z:3.65 [[-2.16162662e-01 -9.76345026e-01 4.90855769e-03 1.27852204e+02] [ 9.76032694e-01 -2.16217691e-01 -2.47000063e-02 1.11447648e+02] [ 2.51770453e-02 -5.48306335e-04 9.99682858e-01 3.65128531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.132755096 meters 0.02068681199573418 Centerline is valid? [True, True] Translation: X:127.85, Y:111.47, Z:3.65 [[-2.17094542e-01 -9.76139058e-01 4.74335158e-03 1.27847502e+02] [ 9.75848512e-01 -2.17145677e-01 -2.38209462e-02 1.11473252e+02] [ 2.42825543e-02 -5.42604819e-04 9.99704988e-01 3.65353091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.162755096 meters 0.023249063681748484 Centerline is valid? [True, True] Translation: X:127.84, Y:111.50, Z:3.65 [[-2.19710368e-01 -9.75553234e-01 4.82091305e-03 1.27842021e+02] [ 9.75254177e-01 -2.19762414e-01 -2.41613825e-02 1.11500083e+02] [ 2.46301704e-02 -6.06890663e-04 9.99696447e-01 3.65304834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.192755096 meters 0.02074393909540117 Centerline is valid? [True, True] Translation: X:127.84, Y:111.53, Z:3.66 [[-2.20349970e-01 -9.75410434e-01 4.51388676e-03 1.27836448e+02] [ 9.75149162e-01 -2.20395451e-01 -2.25822206e-02 1.11526760e+02] [ 2.30217737e-02 -5.74278732e-04 9.99734799e-01 3.65666371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22275509600001 meters 0.02228007839192454 Centerline is valid? [True, True] Translation: X:127.83, Y:111.55, Z:3.66 [[-2.21297640e-01 -9.75196604e-01 4.35173791e-03 1.27833367e+02] [ 9.74954621e-01 -2.21339699e-01 -2.17307202e-02 1.11552609e+02] [ 2.21549369e-02 -5.66210114e-04 9.99754389e-01 3.65724937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25275509600002 meters 0.022751829761200288 Centerline is valid? [True, True] Translation: X:127.83, Y:111.58, Z:3.66 [[-2.22680175e-01 -9.74882349e-01 4.23618562e-03 1.27827690e+02] [ 9.74653861e-01 -2.22719729e-01 -2.11133476e-02 1.11579539e+02] [ 2.15265121e-02 -5.72709278e-04 9.99768114e-01 3.65814930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28275509600002 meters 0.023681534608366347 Centerline is valid? [True, True] Translation: X:127.82, Y:111.61, Z:3.66 [[-2.23598364e-01 -9.74671244e-01 4.44270244e-03 1.27820124e+02] [ 9.74420841e-01 -2.23641657e-01 -2.21005270e-02 1.11605468e+02] [ 2.25343215e-02 -6.12579841e-04 9.99745882e-01 3.65691054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31275509600002 meters 0.021482476519067685 Centerline is valid? [True, True] Translation: X:127.81, Y:111.63, Z:3.66 [[-2.23543038e-01 -9.74685196e-01 4.15681575e-03 1.27813478e+02] [ 9.74466829e-01 -2.23580974e-01 -2.06385005e-02 1.11630810e+02] [ 2.10454258e-02 -5.62914030e-04 9.99778362e-01 3.65950048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34275509600002 meters 0.022766096180838902 Centerline is valid? [True, True] Translation: X:127.81, Y:111.66, Z:3.66 [[-2.24361528e-01 -9.74497137e-01 4.15140566e-03 1.27807123e+02] [ 9.74280202e-01 -2.24399207e-01 -2.05690095e-02 1.11655877e+02] [ 2.09760130e-02 -5.70262055e-04 9.99779817e-01 3.65873667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37275509600002 meters 0.023112730619125745 Centerline is valid? [True, True] Translation: X:127.80, Y:111.68, Z:3.66 [[-2.24478540e-01 -9.74470276e-01 4.13110898e-03 1.27802879e+02] [ 9.74256340e-01 -2.24515850e-01 -2.04258891e-02 1.11680543e+02] [ 2.08319212e-02 -5.60414631e-04 9.99782835e-01 3.65988191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40275509600002 meters 0.024036253778167756 Centerline is valid? [True, True] Translation: X:127.80, Y:111.71, Z:3.66 [[-2.25471831e-01 -9.74240018e-01 4.34071194e-03 1.27795359e+02] [ 9.74004591e-01 -2.25512804e-01 -2.14250388e-02 1.11706359e+02] [ 2.18520163e-02 -6.02869357e-04 9.99761034e-01 3.65808671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43275509600002 meters 0.022502514309754067 Centerline is valid? [True, True] Translation: X:127.79, Y:111.73, Z:3.66 [[-2.25881388e-01 -9.74145593e-01 4.23810903e-03 1.27788532e+02] [ 9.73922008e-01 -2.25920377e-01 -2.08783622e-02 1.11732021e+02] [ 2.12960398e-02 -5.88445791e-04 9.99773040e-01 3.65952009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46275509600002 meters 0.023364325355009957 Centerline is valid? [True, True] Translation: X:127.78, Y:111.76, Z:3.66 [[-2.27093536e-01 -9.73863536e-01 4.28235899e-03 1.27783819e+02] [ 9.73636118e-01 -2.27133085e-01 -2.10540083e-02 1.11757661e+02] [ 2.14763964e-02 -6.11769813e-04 9.99769168e-01 3.65965553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49275509600002 meters 0.023868497011464665 Centerline is valid? [True, True] Translation: X:127.78, Y:111.78, Z:3.66 [[-2.29450737e-01 -9.73310900e-01 4.27210894e-03 1.27777507e+02] [ 9.73085318e-01 -2.29489575e-01 -2.09642465e-02 1.11784415e+02] [ 2.13851341e-02 -6.53135341e-04 9.99771099e-01 3.66021017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52275509600003 meters 0.02526994722214437 Centerline is valid? [True, True] Translation: X:127.77, Y:111.81, Z:3.66 [[-2.31285653e-01 -9.72876673e-01 4.23395100e-03 1.27773155e+02] [ 9.72655827e-01 -2.31323408e-01 -2.07393953e-02 1.11810071e+02] [ 2.11562858e-02 -6.78547463e-04 9.99775950e-01 3.66041444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55275509600003 meters 0.027218298241832386 Centerline is valid? [True, True] Translation: X:127.77, Y:111.84, Z:3.66 [[-2.35090111e-01 -9.71964541e-01 4.19164041e-03 1.27767748e+02] [ 9.71748747e-01 -2.35126297e-01 -2.04938217e-02 1.11836314e+02] [ 2.09048329e-02 -7.44673505e-04 9.99781193e-01 3.66066014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58275509600003 meters 0.02898623118278892 Centerline is valid? [True, True] Translation: X:127.76, Y:111.86, Z:3.66 [[-2.37130876e-01 -9.71469175e-01 4.07295888e-03 1.27763610e+02] [ 9.71266081e-01 -2.37164641e-01 -1.98779701e-02 1.11862888e+02] [ 2.02767970e-02 -7.57753643e-04 9.99794117e-01 3.66109837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.612755096 meters 0.027958633031486574 Centerline is valid? [True, True] Translation: X:127.75, Y:111.89, Z:3.66 [[-2.39468863e-01 -9.70894335e-01 4.34211877e-03 1.27753811e+02] [ 9.70664262e-01 -2.39506715e-01 -2.11523793e-02 1.11888820e+02] [ 2.15766919e-02 -8.50596714e-04 9.99766834e-01 3.66008303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.642755096 meters 0.027562443568178007 Centerline is valid? [True, True] Translation: X:127.75, Y:111.92, Z:3.66 [[-2.41177964e-01 -9.70472626e-01 4.00899812e-03 1.27748430e+02] [ 9.70277119e-01 -2.41209914e-01 -1.94958971e-02 1.11915376e+02] [ 1.98872445e-02 -8.12141616e-04 9.99801899e-01 3.66194829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.672755096 meters 0.029858888505126593 Centerline is valid? [True, True] Translation: X:127.74, Y:111.94, Z:3.66 [[-2.43907785e-01 -9.69790080e-01 4.02414602e-03 1.27743961e+02] [ 9.69593718e-01 -2.43939454e-01 -1.95336677e-02 1.11941202e+02] [ 1.99252051e-02 -8.62626901e-04 9.99801101e-01 3.66250287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.702755096 meters 0.035103746714356746 Centerline is valid? [True, True] Translation: X:127.74, Y:111.97, Z:3.66 [[-2.45262710e-01 -9.69448341e-01 4.01459593e-03 1.27743849e+02] [ 9.69253599e-01 -2.45293989e-01 -1.94504271e-02 1.11969409e+02] [ 1.98409405e-02 -8.79302914e-04 9.99802763e-01 3.66303107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.732755096 meters 0.03565063815507869 Centerline is valid? [True, True] Translation: X:127.74, Y:112.00, Z:3.66 [[-2.46439846e-01 -9.69149346e-01 4.11675732e-03 1.27736769e+02] [ 9.68945287e-01 -2.46472522e-01 -1.99079492e-02 1.11996135e+02] [ 2.03084436e-02 -9.17199338e-04 9.99793342e-01 3.66350662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.762755096 meters 0.03551382032916898 Centerline is valid? [True, True] Translation: X:127.73, Y:112.02, Z:3.66 [[-2.47309794e-01 -9.68927203e-01 4.23567279e-03 1.27729462e+02] [ 9.68712018e-01 -2.47344231e-01 -2.04415672e-02 1.12021642e+02] [ 2.08540598e-02 -9.52252649e-04 9.99782077e-01 3.66369971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.792755096 meters 0.036293716995251454 Centerline is valid? [True, True] Translation: X:127.72, Y:112.05, Z:3.66 [[-2.47730261e-01 -9.68818707e-01 4.47563882e-03 1.27721985e+02] [ 9.68579513e-01 -2.47768655e-01 -2.15503993e-02 1.12046589e+02] [ 2.19873530e-02 -1.00367398e-03 9.99757745e-01 3.66367699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.822755096 meters 0.036851398775008586 Centerline is valid? [True, True] Translation: X:127.72, Y:112.07, Z:3.66 [[-2.48147103e-01 -9.68711704e-01 4.54419035e-03 1.27715396e+02] [ 9.68466182e-01 -2.48186625e-01 -2.18323952e-02 1.12071650e+02] [ 2.22771040e-02 -1.01675095e-03 9.99751318e-01 3.66368281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.852755096 meters 0.03873534183554 Centerline is valid? [True, True] Translation: X:127.71, Y:112.10, Z:3.66 [[-2.48037700e-01 -9.68737450e-01 5.00520210e-03 1.27707532e+02] [ 9.68440988e-01 -2.48085743e-01 -2.39899255e-02 1.12097359e+02] [ 2.44816586e-02 -1.10316309e-03 9.99699671e-01 3.66120598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.882755096 meters 0.03639548049057993 Centerline is valid? [True, True] Translation: X:127.70, Y:112.12, Z:3.66 [[-2.48297853e-01 -9.68672679e-01 4.62787454e-03 1.27699722e+02] [ 9.68420215e-01 -2.48338903e-01 -2.21376565e-02 1.12122277e+02] [ 2.25934243e-02 -1.01500531e-03 9.99744221e-01 3.66425140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.912755096 meters 0.034895718991635696 Centerline is valid? [True, True] Translation: X:127.69, Y:112.15, Z:3.67 [[-2.48156953e-01 -9.68708586e-01 4.66919612e-03 1.27691162e+02] [ 9.68452686e-01 -2.48198825e-01 -2.22876171e-02 1.12147493e+02] [ 2.27490951e-02 -1.00893164e-03 9.99740697e-01 3.66508344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.942755096 meters 0.0332717417119937 Centerline is valid? [True, True] Translation: X:127.68, Y:112.17, Z:3.67 [[-2.47876952e-01 -9.68780491e-01 4.62358554e-03 1.27682334e+02] [ 9.68530641e-01 -2.47918129e-01 -2.20227011e-02 1.12173026e+02] [ 2.24814339e-02 -9.80835747e-04 9.99746779e-01 3.66612033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97275509600001 meters 0.03833332837375334 Centerline is valid? [True, True] Translation: X:127.68, Y:112.20, Z:3.66 [[-2.47152018e-01 -9.68964204e-01 4.92464998e-03 1.27681089e+02] [ 9.68682061e-01 -2.47198998e-01 -2.34034037e-02 1.12199341e+02] [ 2.38944290e-02 -1.01377837e-03 9.99713973e-01 3.66402975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00275509600002 meters 0.027777898915394558 Centerline is valid? [True, True] Translation: X:127.66, Y:112.22, Z:3.67 [[-2.45652113e-01 -9.69346914e-01 4.64760061e-03 1.27661224e+02] [ 9.69096663e-01 -2.45694384e-01 -2.20437559e-02 1.12222889e+02] [ 2.25099362e-02 -9.11120974e-04 9.99746204e-01 3.66742074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03275509600002 meters 0.03316083394122838 Centerline is valid? [True, True] Translation: X:127.66, Y:112.25, Z:3.67 [[-2.44635658e-01 -9.69605046e-01 4.41016742e-03 1.27662258e+02] [ 9.69380562e-01 -2.44673990e-01 -2.08797546e-02 1.12250483e+02] [ 2.13241687e-02 -8.32801948e-04 9.99772267e-01 3.66825458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06275509600002 meters 0.03060047725084088 Centerline is valid? [True, True] Translation: X:127.65, Y:112.28, Z:3.67 [[-2.44506039e-01 -9.69637932e-01 4.36789273e-03 1.27652994e+02] [ 9.69418376e-01 -2.44543694e-01 -2.06493207e-02 1.12275661e+02] [ 2.10905053e-02 -8.14568156e-04 9.99777239e-01 3.66933928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09275509600002 meters 0.028164027763208675 Centerline is valid? [True, True] Translation: X:127.64, Y:112.30, Z:3.67 [[-2.44711674e-01 -9.69585619e-01 4.46367506e-03 1.27643914e+02] [ 9.69357324e-01 -2.44750989e-01 -2.10554587e-02 1.12299806e+02] [ 2.15075588e-02 -8.25620448e-04 9.99768345e-01 3.66976727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12275509600002 meters 0.027220721345814467 Centerline is valid? [True, True] Translation: X:127.64, Y:112.33, Z:3.67 [[-2.44568837e-01 -9.69620782e-01 4.65005427e-03 1.27636455e+02] [ 9.69374135e-01 -2.44611581e-01 -2.18851607e-02 1.12325703e+02] [ 2.23577637e-02 -8.44785955e-04 9.99749677e-01 3.67001650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15275509600002 meters 0.026601237321752604 Centerline is valid? [True, True] Translation: X:127.63, Y:112.35, Z:3.67 [[-2.45269815e-01 -9.69443867e-01 4.61586420e-03 1.27629360e+02] [ 9.69201681e-01 -2.45311791e-01 -2.16847247e-02 1.12352045e+02] [ 2.21544493e-02 -8.44905081e-04 9.99754203e-01 3.67067451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18275509600002 meters 0.027268732914444625 Centerline is valid? [True, True] Translation: X:127.62, Y:112.38, Z:3.67 [[-2.45822398e-01 -9.69303955e-01 4.60344999e-03 1.27624554e+02] [ 9.69063890e-01 -2.45864043e-01 -2.15881911e-02 1.12378630e+02] [ 2.20573418e-02 -8.45823752e-04 9.99756349e-01 3.67132297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21275509600002 meters 0.028524764981471884 Centerline is valid? [True, True] Translation: X:127.62, Y:112.40, Z:3.67 [[-2.46700826e-01 -9.69080808e-01 4.59240959e-03 1.27620778e+02] [ 9.68842693e-01 -2.46742087e-01 -2.14983343e-02 1.12404480e+02] [ 2.19667639e-02 -8.54334339e-04 9.99758337e-01 3.67202929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24275509600002 meters 0.03190907831363859 Centerline is valid? [True, True] Translation: X:127.62, Y:112.43, Z:3.67 [[-2.47143609e-01 -9.68968253e-01 4.53445564e-03 1.27619980e+02] [ 9.68736941e-01 -2.47183763e-01 -2.11879025e-02 1.12431673e+02] [ 2.16512487e-02 -8.43760009e-04 9.99765228e-01 3.67220839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27275509600003 meters 0.03131283335850369 Centerline is valid? [True, True] Translation: X:127.61, Y:112.46, Z:3.67 [[-2.48068080e-01 -9.68732039e-01 4.52383733e-03 1.27613604e+02] [ 9.68502666e-01 -2.48107862e-01 -2.10967714e-02 1.12456859e+02] [ 2.15595180e-02 -8.52087060e-04 9.99767203e-01 3.67316515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30275509600003 meters 0.032683949841116756 Centerline is valid? [True, True] Translation: X:127.61, Y:112.48, Z:3.67 [[-2.48615886e-01 -9.68591243e-01 4.59845115e-03 1.27609590e+02] [ 9.68355230e-01 -2.48656898e-01 -2.13984908e-02 1.12481997e+02] [ 2.18698274e-02 -8.67070527e-04 9.99760451e-01 3.67280176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33275509600003 meters 0.03026839884967719 Centerline is valid? [True, True] Translation: X:127.60, Y:112.51, Z:3.67 [[-2.49210869e-01 -9.68438543e-01 4.55327686e-03 1.27601975e+02] [ 9.68208119e-01 -2.49250977e-01 -2.11421324e-02 1.12507361e+02] [ 2.16097646e-02 -8.60329560e-04 9.99766112e-01 3.67419545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.362755096 meters 0.027577702194407694 Centerline is valid? [True, True] Translation: X:127.59, Y:112.53, Z:3.67 [[-2.49908725e-01 -9.68258156e-01 4.66611708e-03 1.27592135e+02] [ 9.68017204e-01 -2.49950713e-01 -2.16178938e-02 1.12530864e+02] [ 2.20980013e-02 -8.85618659e-04 9.99755417e-01 3.67423538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.392755096 meters 0.03137145302807476 Centerline is valid? [True, True] Translation: X:127.59, Y:112.56, Z:3.68 [[-2.50516976e-01 -9.68101220e-01 4.61214915e-03 1.27592142e+02] [ 9.67866804e-01 -2.50557892e-01 -2.13211922e-02 1.12557844e+02] [ 2.17966825e-02 -8.77374516e-04 9.99762039e-01 3.67512267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.422755096 meters 0.03228924205535377 Centerline is valid? [True, True] Translation: X:127.59, Y:112.58, Z:3.68 [[-2.50885975e-01 -9.68005789e-01 4.58484346e-03 1.27588481e+02] [ 9.67775047e-01 -2.50926358e-01 -2.11523285e-02 1.12583122e+02] [ 2.16260345e-02 -8.69725468e-04 9.99765752e-01 3.67583268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.452755096 meters 0.03152740566440174 Centerline is valid? [True, True] Translation: X:127.58, Y:112.61, Z:3.68 [[-2.51427592e-01 -9.67864699e-01 4.70012271e-03 1.27581631e+02] [ 9.67623255e-01 -2.51469938e-01 -2.16357796e-02 1.12608923e+02] [ 2.21224469e-02 -8.91883934e-04 9.99754871e-01 3.67620952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.482755096 meters 0.028306726264223193 Centerline is valid? [True, True] Translation: X:127.57, Y:112.63, Z:3.68 [[-2.51708715e-01 -9.67790766e-01 4.87396610e-03 1.27571491e+02] [ 9.67532240e-01 -2.51754221e-01 -2.23869922e-02 1.12633141e+02] [ 2.28929658e-02 -9.19281692e-04 9.99737499e-01 3.67653021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.512755096 meters 0.03148488821047078 Centerline is valid? [True, True] Translation: X:127.57, Y:112.66, Z:3.68 [[-2.52020466e-01 -9.67708897e-01 5.01750311e-03 1.27570003e+02] [ 9.67436096e-01 -2.52068650e-01 -2.29955740e-02 1.12659471e+02] [ 2.35177768e-02 -9.41241644e-04 9.99722976e-01 3.67623342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.542755096 meters 0.02780785093967094 Centerline is valid? [True, True] Translation: X:127.56, Y:112.68, Z:3.68 [[-2.52525854e-01 -9.67577147e-01 5.01572681e-03 1.27559536e+02] [ 9.67305598e-01 -2.52573906e-01 -2.29412630e-02 1.12682719e+02] [ 2.34642835e-02 -9.41521398e-04 9.99724232e-01 3.67746423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.572755096 meters 0.031708493109206766 Centerline is valid? [True, True] Translation: X:127.56, Y:112.71, Z:3.68 [[-2.52586726e-01 -9.67560822e-01 5.09923563e-03 1.27559170e+02] [ 9.67281347e-01 -2.52636421e-01 -2.32730469e-02 1.12710126e+02] [ 2.38063411e-02 -9.46067215e-04 9.99716141e-01 3.67706185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.602755096 meters 0.031708493109206766 Centerline is valid? [True, True] Translation: X:127.55, Y:112.74, Z:3.68 [[-2.53006500e-01 -9.67451090e-01 5.10886403e-03 1.27553279e+02] [ 9.67171634e-01 -2.53056305e-01 -2.32709336e-02 1.12735400e+02] [ 2.38063203e-02 -9.46549081e-04 9.99716141e-01 3.67754570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.632755096 meters 0.03195794385735985 Centerline is valid? [True, True] Translation: X:127.55, Y:112.76, Z:3.68 [[-2.52397710e-01 -9.67609509e-01 5.21871649e-03 1.27548571e+02] [ 9.67319161e-01 -2.52449911e-01 -2.37209674e-02 1.12760780e+02] [ 2.42700981e-02 -9.38953387e-04 9.99704997e-01 3.67724481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.662755096 meters 0.02720362293233635 Centerline is valid? [True, True] Translation: X:127.54, Y:112.79, Z:3.68 [[-2.52077944e-01 -9.67692397e-01 5.30415679e-03 1.27536541e+02] [ 9.67393754e-01 -2.52132015e-01 -2.40576530e-02 1.12785097e+02] [ 2.46177556e-02 -9.33195560e-04 9.99696502e-01 3.67849247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.692755096 meters 0.028052845120600706 Centerline is valid? [True, True] Translation: X:127.53, Y:112.81, Z:3.68 [[-2.51488864e-01 -9.67844792e-01 5.45979084e-03 1.27532239e+02] [ 9.67529607e-01 -2.51546391e-01 -2.47158259e-02 1.12810412e+02] [ 2.52944741e-02 -9.33245694e-04 9.99679608e-01 3.67843419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72275509600001 meters 0.030912898547380253 Centerline is valid? [True, True] Translation: X:127.53, Y:112.84, Z:3.68 [[-2.50793098e-01 -9.68025097e-01 5.49854056e-03 1.27530850e+02] [ 9.67706418e-01 -2.50851709e-01 -2.48537625e-02 1.12836733e+02] [ 2.54383842e-02 -9.12179113e-04 9.99675976e-01 3.67796663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75275509600002 meters 0.026751201873953002 Centerline is valid? [True, True] Translation: X:127.52, Y:112.86, Z:3.68 [[-2.48946362e-01 -9.68502061e-01 5.42840866e-03 1.27520758e+02] [ 9.68192531e-01 -2.49004112e-01 -2.44984593e-02 1.12860677e+02] [ 2.50785044e-02 -8.43057595e-04 9.99685129e-01 3.67995846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78275509600002 meters 0.024609146981329277 Centerline is valid? [True, True] Translation: X:127.51, Y:112.89, Z:3.68 [[-2.48022045e-01 -9.68739195e-01 5.42562912e-03 1.27512648e+02] [ 9.68431011e-01 -2.48080063e-01 -2.44470900e-02 1.12887027e+02] [ 2.50288447e-02 -8.09069765e-04 9.99686402e-01 3.68122559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81275509600002 meters 0.02339106551444401 Centerline is valid? [True, True] Translation: X:127.51, Y:112.91, Z:3.68 [[-2.47287285e-01 -9.68927497e-01 5.33895897e-03 1.27505749e+02] [ 9.68630100e-01 -2.47343721e-01 -2.40169431e-02 1.12913422e+02] [ 2.45912346e-02 -7.67608294e-04 9.99697295e-01 3.68245717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84275509600002 meters 0.025557458092297723 Centerline is valid? [True, True] Translation: X:127.51, Y:112.94, Z:3.68 [[-2.44968529e-01 -9.69517769e-01 5.07115267e-03 1.27505337e+02] [ 9.69250445e-01 -2.45020113e-01 -2.27754019e-02 1.12940758e+02] [ 2.33236912e-02 -6.64039715e-04 9.99727745e-01 3.68331538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87275509600002 meters 0.021698772951079807 Centerline is valid? [True, True] Translation: X:127.49, Y:112.97, Z:3.69 [[-2.43818863e-01 -9.69807877e-01 5.00441860e-03 1.27494425e+02] [ 9.69548458e-01 -2.43869431e-01 -2.24385329e-02 1.12966070e+02] [ 2.29814907e-02 -6.18911250e-04 9.99735699e-01 3.68554621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90275509600002 meters 0.022121407281391295 Centerline is valid? [True, True] Translation: X:127.49, Y:112.99, Z:3.69 [[-2.43197048e-01 -9.69964415e-01 4.92238597e-03 1.27489950e+02] [ 9.69714269e-01 -2.43246153e-01 -2.20350918e-02 1.12991044e+02] [ 2.25706064e-02 -5.85561372e-04 9.99745080e-01 3.68597038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93275509600002 meters 0.020705140803527488 Centerline is valid? [True, True] Translation: X:127.48, Y:113.02, Z:3.69 [[-2.41627955e-01 -9.70357108e-01 4.79730098e-03 1.27483033e+02] [ 9.70120283e-01 -2.41674997e-01 -2.14437111e-02 1.13017736e+02] [ 2.19674452e-02 -5.27441086e-04 9.99758547e-01 3.68718165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96275509600002 meters 0.02064350542976687 Centerline is valid? [True, True] Translation: X:127.48, Y:113.04, Z:3.69 [[-2.41261381e-01 -9.70448100e-01 4.84064144e-03 1.27477902e+02] [ 9.70207805e-01 -2.41309388e-01 -2.16007854e-02 1.13042516e+02] [ 2.21305334e-02 -5.15007216e-04 9.99754957e-01 3.68756786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99275509600002 meters 0.019634893193005598 Centerline is valid? [True, True] Translation: X:127.47, Y:113.07, Z:3.69 [[-2.40409539e-01 -9.70658351e-01 5.06154243e-03 1.27472665e+02] [ 9.70396691e-01 -2.40462280e-01 -2.25422880e-02 1.13068612e+02] [ 2.30979701e-02 -5.07677042e-04 9.99733077e-01 3.68755967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02275509600003 meters 0.019695435309823383 Centerline is valid? [True, True] Translation: X:127.47, Y:113.09, Z:3.69 [[-2.40562767e-01 -9.70619757e-01 5.18103280e-03 1.27468077e+02] [ 9.70346610e-01 -2.40618006e-01 -2.30311195e-02 1.13094716e+02] [ 2.36011094e-02 -5.13032221e-04 9.99721323e-01 3.68761081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05275509600003 meters 0.020605232686081446 Centerline is valid? [True, True] Translation: X:127.47, Y:113.12, Z:3.69 [[-2.40807273e-01 -9.70558221e-01 5.34766621e-03 1.27465259e+02] [ 9.70268241e-01 -2.40866071e-01 -2.37292370e-02 1.13119675e+02] [ 2.43186774e-02 -5.25502187e-04 9.99704119e-01 3.68726524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08275509600003 meters 0.019996592188424252 Centerline is valid? [True, True] Translation: X:127.46, Y:113.15, Z:3.69 [[-2.41059570e-01 -9.70494833e-01 5.48295839e-03 1.27460361e+02] [ 9.70190929e-01 -2.41121322e-01 -2.42913433e-02 1.13145928e+02] [ 2.48966814e-02 -5.36144302e-04 9.99689886e-01 3.68758991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.112755096 meters 0.01998035415850485 Centerline is valid? [True, True] Translation: X:127.46, Y:113.17, Z:3.69 [[-2.41645043e-01 -9.70348933e-01 5.53363218e-03 1.27455322e+02] [ 9.70040472e-01 -2.41707779e-01 -2.44710577e-02 1.13171775e+02] [ 2.50829867e-02 -5.45462615e-04 9.99685224e-01 3.68815515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.142755096 meters 0.0204598260888941 Centerline is valid? [True, True] Translation: X:127.45, Y:113.20, Z:3.69 [[-2.42338770e-01 -9.70175795e-01 5.55396138e-03 1.27451280e+02] [ 9.69866085e-01 -2.42401770e-01 -2.45185349e-02 1.13197127e+02] [ 2.51335792e-02 -5.55192830e-04 9.99683948e-01 3.68851184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.172755096 meters 0.02004761661229822 Centerline is valid? [True, True] Translation: X:127.45, Y:113.22, Z:3.69 [[-2.43419981e-01 -9.69905230e-01 5.52796721e-03 1.27445857e+02] [ 9.69599266e-01 -2.43482071e-01 -2.43668688e-02 1.13223327e+02] [ 2.49795144e-02 -5.71469799e-04 9.99687800e-01 3.68957013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.202755096 meters 0.021523185211649004 Centerline is valid? [True, True] Translation: X:127.45, Y:113.25, Z:3.69 [[-2.46063870e-01 -9.69237824e-01 5.53281659e-03 1.27445454e+02] [ 9.68932168e-01 -2.46125259e-01 -2.43476970e-02 1.13249656e+02] [ 2.49604747e-02 -6.30164556e-04 9.99688240e-01 3.68986966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.232755096 meters 0.022396470509415345 Centerline is valid? [True, True] Translation: X:127.44, Y:113.28, Z:3.69 [[-2.47908037e-01 -9.68767426e-01 5.59278447e-03 1.27442005e+02] [ 9.68455888e-01 -2.47970194e-01 -2.45759374e-02 1.13276430e+02] [ 2.51952114e-02 -6.76207347e-04 9.99682322e-01 3.69044222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.262755096 meters 0.02283634573922011 Centerline is valid? [True, True] Translation: X:127.44, Y:113.30, Z:3.69 [[-2.49668106e-01 -9.68315214e-01 5.61097243e-03 1.27438342e+02] [ 9.68002543e-01 -2.49730127e-01 -2.46158469e-02 1.13303192e+02] [ 2.52371279e-02 -7.14356295e-04 9.99681238e-01 3.69126281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.292755096 meters 0.02400972635047253 Centerline is valid? [True, True] Translation: X:127.44, Y:113.33, Z:3.69 [[-2.52611973e-01 -9.67550623e-01 5.74311907e-03 1.27436501e+02] [ 9.67223945e-01 -2.52675985e-01 -2.51532835e-02 1.13330153e+02] [ 2.57882234e-02 -7.99138270e-04 9.99667109e-01 3.69143233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.322755096 meters 0.024965529606769458 Centerline is valid? [True, True] Translation: X:127.43, Y:113.36, Z:3.69 [[-2.54030448e-01 -9.67178706e-01 5.82080939e-03 1.27432883e+02] [ 9.66844185e-01 -2.54095749e-01 -2.54494237e-02 1.13356635e+02] [ 2.60931836e-02 -8.37112775e-04 9.99659164e-01 3.69156649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.352755096 meters 0.02537289963313227 Centerline is valid? [True, True] Translation: X:127.43, Y:113.38, Z:3.69 [[-2.55167152e-01 -9.66877762e-01 6.09250072e-03 1.27429777e+02] [ 9.66512364e-01 -2.55238298e-01 -2.65943911e-02 1.13383323e+02] [ 2.72685648e-02 -8.97537770e-04 9.99627741e-01 3.69192413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.382755096 meters 0.024226377433920702 Centerline is valid? [True, True] Translation: X:127.42, Y:113.41, Z:3.69 [[-2.55299375e-01 -9.66842897e-01 6.08618734e-03 1.27423267e+02] [ 9.66479279e-01 -2.55370358e-01 -2.65289210e-02 1.13408656e+02] [ 2.72035307e-02 -8.90643014e-04 9.99629519e-01 3.69294432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.412755096 meters 0.025478027777636063 Centerline is valid? [True, True] Translation: X:127.42, Y:113.43, Z:3.69 [[-2.54891470e-01 -9.66950009e-01 6.16590030e-03 1.27420090e+02] [ 9.66578214e-01 -2.54964525e-01 -2.68262510e-02 1.13434326e+02] [ 2.75117295e-02 -8.77957648e-04 9.99621095e-01 3.69267920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.442755096 meters 0.025152261466526056 Centerline is valid? [True, True] Translation: X:127.41, Y:113.46, Z:3.69 [[-2.53855121e-01 -9.67221365e-01 6.35674937e-03 1.27413164e+02] [ 9.66827709e-01 -2.53933234e-01 -2.76060484e-02 1.13461058e+02] [ 2.83153498e-02 -8.62055323e-04 9.99598668e-01 3.69297016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47275509600001 meters 0.022531312522146338 Centerline is valid? [True, True] Translation: X:127.41, Y:113.49, Z:3.69 [[-2.50352859e-01 -9.68133851e-01 6.34762355e-03 1.27405073e+02] [ 9.67742838e-01 -2.50432201e-01 -2.75229448e-02 1.13487399e+02] [ 2.82355439e-02 -7.47580675e-04 9.99601018e-01 3.69418561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50275509600002 meters 0.02233860996930005 Centerline is valid? [True, True] Translation: X:127.40, Y:113.51, Z:3.69 [[-2.49002571e-01 -9.68482418e-01 6.28695767e-03 1.27398773e+02] [ 9.68100060e-01 -2.49080967e-01 -2.72203184e-02 1.13513121e+02] [ 2.79283613e-02 -6.91525176e-04 9.99609688e-01 3.69436337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53275509600002 meters 0.02148755348612375 Centerline is valid? [True, True] Translation: X:127.39, Y:113.54, Z:3.69 [[-2.46393132e-01 -9.69149012e-01 6.37311646e-03 1.27390713e+02] [ 9.68757370e-01 -2.46474772e-01 -2.75562097e-02 1.13539526e+02] [ 2.82768859e-02 -6.15657282e-04 9.99599939e-01 3.69449946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56275509600002 meters 0.02092315166093873 Centerline is valid? [True, True] Translation: X:127.39, Y:113.56, Z:3.70 [[-2.45752028e-01 -9.69313144e-01 6.16191864e-03 1.27385568e+02] [ 9.68948229e-01 -2.45828614e-01 -2.66011631e-02 1.13564891e+02] [ 2.72996330e-02 -5.66709620e-04 9.99627135e-01 3.69541561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59275509600002 meters 0.020285443355827187 Centerline is valid? [True, True] Translation: X:127.38, Y:113.59, Z:3.70 [[-2.45729456e-01 -9.69319793e-01 6.01435658e-03 1.27379343e+02] [ 9.68973317e-01 -2.45802451e-01 -2.59203834e-02 1.13590888e+02] [ 2.66034842e-02 -5.41650671e-04 9.99645918e-01 3.69632272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62275509600002 meters 0.021500657121648815 Centerline is valid? [True, True] Translation: X:127.38, Y:113.62, Z:3.70 [[-2.46842154e-01 -9.69038926e-01 5.70179239e-03 1.27377046e+02] [ 9.68728489e-01 -2.46907425e-01 -2.45323947e-02 1.13616406e+02] [ 2.51806603e-02 -5.32140423e-04 9.99682775e-01 3.69714506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65275509600002 meters 0.021858772934653103 Centerline is valid? [True, True] Translation: X:127.37, Y:113.64, Z:3.70 [[-2.48237515e-01 -9.68684521e-01 5.33243880e-03 1.27373184e+02] [ 9.68413823e-01 -2.48294234e-01 -2.29050424e-02 1.13642975e+02] [ 2.35117738e-02 -5.21883376e-04 9.99723424e-01 3.69891172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68275509600002 meters 0.022509983179408468 Centerline is valid? [True, True] Translation: X:127.37, Y:113.67, Z:3.70 [[-2.49060798e-01 -9.68473805e-01 5.21617994e-03 1.27369162e+02] [ 9.68215597e-01 -2.49114871e-01 -2.23682491e-02 1.13666972e+02] [ 2.29624913e-02 -5.20667195e-04 9.99736192e-01 3.69957088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71275509600002 meters 0.022666705816569137 Centerline is valid? [True, True] Translation: X:127.36, Y:113.69, Z:3.70 [[-2.49696565e-01 -9.68310961e-01 5.05066176e-03 1.27363889e+02] [ 9.68069725e-01 -2.49747122e-01 -2.16190340e-02 1.13691531e+02] [ 2.21953358e-02 -5.08805787e-04 9.99753524e-01 3.70044817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74275509600002 meters 0.023129514162619415 Centerline is valid? [True, True] Translation: X:127.36, Y:113.72, Z:3.70 [[-2.50140388e-01 -9.68198321e-01 4.66882041e-03 1.27359844e+02] [ 9.67992851e-01 -2.50183512e-01 -1.99512025e-02 1.13716124e+02] [ 2.04847826e-02 -4.71216745e-04 9.99790054e-01 3.70150403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77275509600003 meters 0.022241961213951486 Centerline is valid? [True, True] Translation: X:127.35, Y:113.74, Z:3.70 [[-2.50622388e-01 -9.68073525e-01 4.69782345e-03 1.27351633e+02] [ 9.67866237e-01 -2.50665963e-01 -2.00380389e-02 1.13741380e+02] [ 2.05758794e-02 -4.75116456e-04 9.99788181e-01 3.70148233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80275509600003 meters 0.021791297172485027 Centerline is valid? [True, True] Translation: X:127.35, Y:113.77, Z:3.70 [[-2.50705446e-01 -9.68052761e-01 4.54213962e-03 1.27347103e+02] [ 9.67859621e-01 -2.50746179e-01 -1.93418605e-02 1.13766204e+02] [ 1.98628656e-02 -4.52956220e-04 9.99802611e-01 3.70139376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83275509600003 meters 0.02375899426376408 Centerline is valid? [True, True] Translation: X:127.34, Y:113.79, Z:3.70 [[-2.51354779e-01 -9.67883877e-01 4.64493713e-03 1.27344899e+02] [ 9.67682593e-01 -2.51397258e-01 -1.97438136e-02 1.13791769e+02] [ 2.02774433e-02 -4.67877094e-04 9.99794282e-01 3.70115645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.862755096 meters 0.022191534274560807 Centerline is valid? [True, True] Translation: X:127.34, Y:113.82, Z:3.70 [[-2.52035610e-01 -9.67706060e-01 4.79925900e-03 1.27336564e+02] [ 9.67491913e-01 -2.52080825e-01 -2.03631014e-02 1.13817446e+02] [ 2.09152978e-02 -4.88982403e-04 9.99781132e-01 3.70145425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.892755096 meters 0.021221360965849326 Centerline is valid? [True, True] Translation: X:127.33, Y:113.84, Z:3.70 [[-2.52705881e-01 -9.67531588e-01 4.72898135e-03 1.27329045e+02] [ 9.67324326e-01 -2.52749655e-01 -2.00314774e-02 1.13843214e+02] [ 2.05763355e-02 -4.87613445e-04 9.99788166e-01 3.70176354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.922755096 meters 0.02313917782205886 Centerline is valid? [True, True] Translation: X:127.32, Y:113.87, Z:3.70 [[-2.53619124e-01 -9.67291430e-01 4.96273958e-03 1.27324152e+02] [ 9.67063954e-01 -2.53667136e-01 -2.09831768e-02 1.13869334e+02] [ 2.15557310e-02 -5.22448357e-04 9.99767512e-01 3.70055555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.952755096 meters 0.02377812933628288 Centerline is valid? [True, True] Translation: X:127.32, Y:113.89, Z:3.70 [[-2.53966200e-01 -9.67199836e-01 5.06424412e-03 1.27319138e+02] [ 9.66963781e-01 -2.54016132e-01 -2.13740665e-02 1.13893942e+02] [ 2.19593933e-02 -5.31349804e-04 9.99758722e-01 3.70051226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.982755096 meters 0.0238103893549913 Centerline is valid? [True, True] Translation: X:127.31, Y:113.92, Z:3.70 [[-2.54380395e-01 -9.67091451e-01 4.97397468e-03 1.27313919e+02] [ 9.66864524e-01 -2.54428484e-01 -2.09556285e-02 1.13918920e+02] [ 2.15315300e-02 -5.21541389e-04 9.99768034e-01 3.70081529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.012755096 meters 0.021670236488049825 Centerline is valid? [True, True] Translation: X:127.31, Y:113.94, Z:3.70 [[-2.53845355e-01 -9.67233154e-01 4.74980324e-03 1.27307176e+02] [ 9.67026947e-01 -2.53889339e-01 -1.99771774e-02 1.13944186e+02] [ 2.05285127e-02 -4.77925965e-04 9.99789154e-01 3.70202571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.042755096 meters 0.023118223757283677 Centerline is valid? [True, True] Translation: X:127.30, Y:113.97, Z:3.70 [[-2.53790170e-01 -9.67246115e-01 5.05008764e-03 1.27299563e+02] [ 9.67013843e-01 -2.53839923e-01 -2.12019340e-02 1.13969599e+02] [ 2.17894022e-02 -4.97337791e-04 9.99762459e-01 3.70128668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.072755096 meters 0.020039111528209246 Centerline is valid? [True, True] Translation: X:127.29, Y:114.00, Z:3.70 [[-2.52102153e-01 -9.67689449e-01 4.65131268e-03 1.27291244e+02] [ 9.67493122e-01 -2.52144716e-01 -1.94961895e-02 1.13995478e+02] [ 2.00390608e-02 -4.14918308e-04 9.99799112e-01 3.70328534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.102755096 meters 0.019011064563786484 Centerline is valid? [True, True] Translation: X:127.28, Y:114.02, Z:3.70 [[-2.48792561e-01 -9.68544972e-01 4.78532972e-03 1.27282635e+02] [ 9.68337991e-01 -2.48838334e-01 -2.00254638e-02 1.14020691e+02] [ 2.05863358e-02 -3.48369858e-04 9.99788018e-01 3.70314774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.132755096 meters 0.01835598295264581 Centerline is valid? [True, True] Translation: X:127.27, Y:114.05, Z:3.70 [[-2.47105394e-01 -9.68976725e-01 4.79900515e-03 1.27274735e+02] [ 9.68769318e-01 -2.47151801e-01 -2.00498285e-02 1.14047165e+02] [ 2.06138999e-02 -3.05291830e-04 9.99787464e-01 3.70361476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.162755096 meters 0.017526600387928828 Centerline is valid? [True, True] Translation: X:127.27, Y:114.07, Z:3.70 [[-2.44123101e-01 -9.69733241e-01 4.62091904e-03 1.27266087e+02] [ 9.69541647e-01 -2.44166727e-01 -1.92770277e-02 1.14071898e+02] [ 1.98218493e-02 -2.25794344e-04 9.99803502e-01 3.70449496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.192755096 meters 0.017097979107108675 Centerline is valid? [True, True] Translation: X:127.26, Y:114.10, Z:3.71 [[-2.42680756e-01 -9.70095702e-01 4.51449555e-03 1.27258111e+02] [ 9.69913469e-01 -2.42722673e-01 -1.88033868e-02 1.14096950e+02] [ 1.93368551e-02 -1.84550071e-04 9.99813009e-01 3.70541729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22275509600001 meters 0.01702530081312293 Centerline is valid? [True, True] Translation: X:127.25, Y:114.12, Z:3.71 [[-2.41587055e-01 -9.70369409e-01 4.34805511e-03 1.27250739e+02] [ 9.70200957e-01 -2.41626133e-01 -1.80808078e-02 1.14121315e+02] [ 1.85956665e-02 -1.49601882e-04 9.99827074e-01 3.70637474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25275509600002 meters 0.01665162250413965 Centerline is valid? [True, True] Translation: X:127.24, Y:114.15, Z:3.71 [[-2.40727256e-01 -9.70583335e-01 4.28698488e-03 1.27242869e+02] [ 9.70420043e-01 -2.40765393e-01 -1.78035515e-02 1.14146404e+02] [ 1.83119880e-02 -1.25624063e-04 9.99832314e-01 3.70682636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28275509600002 meters 0.016496035976197747 Centerline is valid? [True, True] Translation: X:127.23, Y:114.17, Z:3.71 [[-2.39628198e-01 -9.70854868e-01 4.37628367e-03 1.27234493e+02] [ 9.70685324e-01 -2.39668135e-01 -1.81434960e-02 1.14170825e+02] [ 1.86635571e-02 -9.96989071e-05 9.99825816e-01 3.70722494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31275509600002 meters 0.01639727926834243 Centerline is valid? [True, True] Translation: X:127.23, Y:114.20, Z:3.71 [[-2.39567211e-01 -9.70870435e-01 4.26027384e-03 1.27227512e+02] [ 9.70710305e-01 -2.39605072e-01 -1.76327179e-02 1.14196502e+02] [ 1.81398677e-02 -8.87293257e-05 9.99835455e-01 3.70784014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34275509600002 meters 0.016349054609505986 Centerline is valid? [True, True] Translation: X:127.22, Y:114.22, Z:3.71 [[-2.39578478e-01 -9.70867256e-01 4.35007868e-03 1.27220792e+02] [ 9.70700856e-01 -2.39617953e-01 -1.79745749e-02 1.14221896e+02] [ 1.84932832e-02 -8.36962036e-05 9.99828981e-01 3.70831705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37275509600002 meters 0.016380773568515354 Centerline is valid? [True, True] Translation: X:127.22, Y:114.25, Z:3.71 [[-2.40163763e-01 -9.70722560e-01 4.36790631e-03 1.27215011e+02] [ 9.70555313e-01 -2.40203464e-01 -1.80188724e-02 1.14246776e+02] [ 1.85405122e-02 -8.81855335e-05 9.99828106e-01 3.70909611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40275509600002 meters 0.01635062387508867 Centerline is valid? [True, True] Translation: X:127.21, Y:114.27, Z:3.71 [[-2.40867837e-01 -9.70547698e-01 4.45543921e-03 1.27209049e+02] [ 9.70374248e-01 -2.40909021e-01 -1.83483639e-02 1.14271450e+02] [ 1.88813179e-02 -9.60872631e-05 9.99821727e-01 3.70917232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43275509600002 meters 0.01641939519490805 Centerline is valid? [True, True] Translation: X:127.20, Y:114.30, Z:3.71 [[-2.41750798e-01 -9.70327342e-01 4.62606695e-03 1.27203375e+02] [ 9.70140988e-01 -2.41795030e-01 -1.90164747e-02 1.14295939e+02] [ 1.95707654e-02 -1.09310779e-04 9.99808468e-01 3.70974572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46275509600002 meters 0.01652676968211416 Centerline is valid? [True, True] Translation: X:127.20, Y:114.32, Z:3.71 [[-2.44239690e-01 -9.69703998e-01 4.59671460e-03 1.27197670e+02] [ 9.69520523e-01 -2.44282896e-01 -1.88632269e-02 1.14321894e+02] [ 1.94146453e-02 -1.50539547e-04 9.99811507e-01 3.71044315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49275509600002 meters 0.016863964758371246 Centerline is valid? [True, True] Translation: X:127.19, Y:114.35, Z:3.71 [[-2.45808493e-01 -9.69307448e-01 4.61044427e-03 1.27193078e+02] [ 9.69123432e-01 -2.45851664e-01 -1.88873530e-02 1.14347153e+02] [ 1.94411373e-02 -1.74582190e-04 9.99810988e-01 3.71075541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52275509600003 meters 0.016863964758371246 Centerline is valid? [True, True] Translation: X:127.19, Y:114.37, Z:3.71 [[-2.46165921e-01 -9.69216700e-01 4.61810841e-03 1.27186653e+02] [ 9.69032704e-01 -2.46209174e-01 -1.88854789e-02 1.14372268e+02] [ 1.94411422e-02 -1.73863235e-04 9.99810988e-01 3.71123854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55275509600003 meters 0.01712153716914501 Centerline is valid? [True, True] Translation: X:127.18, Y:114.40, Z:3.71 [[-2.47990793e-01 -9.68751028e-01 4.69168874e-03 1.27180986e+02] [ 9.68561650e-01 -2.48035084e-01 -1.91553177e-02 1.14398056e+02] [ 1.97204372e-02 -2.06152657e-04 9.99805512e-01 3.71157195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58275509600003 meters 0.017608480048898936 Centerline is valid? [True, True] Translation: X:127.18, Y:114.42, Z:3.71 [[-2.51685512e-01 -9.67796990e-01 4.83630083e-03 1.27176546e+02] [ 9.67596242e-01 -2.51731816e-01 -1.97130795e-02 1.14424779e+02] [ 2.02957098e-02 -2.81909993e-04 9.99793981e-01 3.71174589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.612755096 meters 0.018207213097501392 Centerline is valid? [True, True] Translation: X:127.17, Y:114.45, Z:3.71 [[-2.54085085e-01 -9.67168977e-01 4.99396843e-03 1.27171971e+02] [ 9.66955475e-01 -2.54133937e-01 -2.03236583e-02 1.14451697e+02] [ 2.09255487e-02 -3.34993337e-04 9.99780981e-01 3.71205429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.642755096 meters 0.019243488969283372 Centerline is valid? [True, True] Translation: X:127.17, Y:114.48, Z:3.71 [[-2.58073084e-01 -9.66112632e-01 4.96655641e-03 1.27168235e+02] [ 9.65901912e-01 -2.58120542e-01 -2.01812138e-02 1.14478343e+02] [ 2.07792958e-02 -4.11021732e-04 9.99784003e-01 3.71256245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.672755096 meters 0.019243488969283372 Centerline is valid? [True, True] Translation: X:127.16, Y:114.50, Z:3.71 [[-2.58455954e-01 -9.66010237e-01 4.97420158e-03 1.27161789e+02] [ 9.65799535e-01 -2.58503488e-01 -2.01793294e-02 1.14503468e+02] [ 2.07792872e-02 -4.11386260e-04 9.99784003e-01 3.71304598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.702755096 meters 0.020558489140724147 Centerline is valid? [True, True] Translation: X:127.16, Y:114.53, Z:3.71 [[-2.61622943e-01 -9.65156664e-01 5.10381910e-03 1.27156837e+02] [ 9.64935432e-01 -2.61672276e-01 -2.06695993e-02 1.14530618e+02] [ 2.12849295e-02 -4.82785511e-04 9.99773334e-01 3.71340986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.732755096 meters 0.020983221625988015 Centerline is valid? [True, True] Translation: X:127.15, Y:114.56, Z:3.71 [[-2.62878027e-01 -9.64815677e-01 5.08449420e-03 1.27150775e+02] [ 9.64596712e-01 -2.62926718e-01 -2.05602525e-02 1.14556986e+02] [ 2.11737033e-02 -5.00352236e-04 9.99775687e-01 3.71397008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.762755096 meters 0.02122394223466841 Centerline is valid? [True, True] Translation: X:127.14, Y:114.58, Z:3.71 [[-2.63660710e-01 -9.64602083e-01 5.08449229e-03 1.27144052e+02] [ 9.64383740e-01 -2.63709239e-01 -2.05289824e-02 1.14582570e+02] [ 2.11431268e-02 -5.09284386e-04 9.99776329e-01 3.71438442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.792755096 meters 0.021657022555426765 Centerline is valid? [True, True] Translation: X:127.14, Y:114.61, Z:3.71 [[-2.64081765e-01 -9.64486410e-01 5.17566765e-03 1.27136627e+02] [ 9.64260882e-01 -2.64131968e-01 -2.08627567e-02 1.14606441e+02] [ 2.14889046e-02 -5.18779741e-04 9.99768952e-01 3.71478859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.822755096 meters 0.021451620918556666 Centerline is valid? [True, True] Translation: X:127.13, Y:114.63, Z:3.72 [[-2.63713032e-01 -9.64587063e-01 5.21866696e-03 1.27129221e+02] [ 9.64358416e-01 -2.63764175e-01 -2.10072784e-02 1.14631671e+02] [ 2.16398464e-02 -5.07227684e-04 9.99765702e-01 3.71545303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.852755096 meters 0.021315989989745335 Centerline is valid? [True, True] Translation: X:127.12, Y:114.66, Z:3.72 [[-2.63312692e-01 -9.64695899e-01 5.31488412e-03 1.27121834e+02] [ 9.64459539e-01 -2.63365855e-01 -2.13594223e-02 1.14657494e+02] [ 2.20051061e-02 -4.98216293e-04 9.99757734e-01 3.71576384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.882755096 meters 0.02100838510046115 Centerline is valid? [True, True] Translation: X:127.11, Y:114.68, Z:3.72 [[-2.62585990e-01 -9.64893921e-01 5.32153522e-03 1.27113693e+02] [ 9.64657743e-01 -2.62639480e-01 -2.13528100e-02 1.14681721e+02] [ 2.20008418e-02 -4.73488603e-04 9.99757840e-01 3.71666449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.912755096 meters 0.020899136693890465 Centerline is valid? [True, True] Translation: X:127.11, Y:114.71, Z:3.72 [[-2.62357741e-01 -9.64955709e-01 5.37535176e-03 1.27106346e+02] [ 9.64715381e-01 -2.62412390e-01 -2.15400001e-02 1.14707440e+02] [ 2.21957050e-02 -4.65501262e-04 9.99753537e-01 3.71701709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.942755096 meters 0.020241059892042924 Centerline is valid? [True, True] Translation: X:127.10, Y:114.73, Z:3.72 [[-2.62169846e-01 -9.65006776e-01 5.37532658e-03 1.27098305e+02] [ 9.64767217e-01 -2.62224556e-01 -2.15058110e-02 1.14732923e+02] [ 2.21627960e-02 -4.52236294e-04 9.99754273e-01 3.71766029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97275509600001 meters 0.020010318266533555 Centerline is valid? [True, True] Translation: X:127.09, Y:114.76, Z:3.72 [[-2.61634654e-01 -9.65152164e-01 5.34871523e-03 1.27091471e+02] [ 9.64915760e-01 -2.61688970e-01 -2.13648959e-02 1.14757826e+02] [ 2.20200753e-02 -4.28737521e-04 9.99757437e-01 3.71839430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00275509600002 meters 0.019511304439980406 Centerline is valid? [True, True] Translation: X:127.08, Y:114.78, Z:3.72 [[-2.61942301e-01 -9.65068363e-01 5.41169371e-03 1.27083734e+02] [ 9.64827148e-01 -2.61997842e-01 -2.15801842e-02 1.14782770e+02] [ 2.22442051e-02 -4.31414097e-04 9.99752474e-01 3.71931627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03275509600002 meters 0.01944111014203901 Centerline is valid? [True, True] Translation: X:127.08, Y:114.81, Z:3.72 [[-2.62163953e-01 -9.65008393e-01 5.37242555e-03 1.27076780e+02] [ 9.64771416e-01 -2.62218651e-01 -2.13890866e-02 1.14807810e+02] [ 2.20493982e-02 -4.24284876e-04 9.99756792e-01 3.72020153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06275509600002 meters 0.018814919942124204 Centerline is valid? [True, True] Translation: X:127.07, Y:114.83, Z:3.72 [[-2.62716238e-01 -9.64858404e-01 5.33283564e-03 1.27068604e+02] [ 9.64625626e-01 -2.62770015e-01 -2.11971863e-02 1.14833161e+02] [ 2.18535927e-02 -4.24655135e-04 9.99761092e-01 3.72124999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09275509600002 meters 0.018737226626353368 Centerline is valid? [True, True] Translation: X:127.06, Y:114.86, Z:3.72 [[-2.63263301e-01 -9.64709520e-01 5.28920357e-03 1.27061940e+02] [ 9.64481262e-01 -2.63316087e-01 -2.09889076e-02 1.14859089e+02] [ 2.16409313e-02 -4.24271364e-04 9.99765718e-01 3.72158336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12275509600002 meters 0.019948528731534326 Centerline is valid? [True, True] Translation: X:127.06, Y:114.88, Z:3.72 [[-2.64199585e-01 -9.64452464e-01 5.47940174e-03 1.27058625e+02] [ 9.64208283e-01 -2.64256013e-01 -2.17058908e-02 1.14884669e+02] [ 2.23822648e-02 -4.51402803e-04 9.99749384e-01 3.72170425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15275509600002 meters 0.019410955062793587 Centerline is valid? [True, True] Translation: X:127.05, Y:114.91, Z:3.72 [[-2.64803429e-01 -9.64286362e-01 5.56388326e-03 1.27051576e+02] [ 9.64035429e-01 -2.64861471e-01 -2.20020988e-02 1.14909739e+02] [ 2.26899821e-02 -4.62450619e-04 9.99742442e-01 3.72239929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18275509600002 meters 0.020347364056334877 Centerline is valid? [True, True] Translation: X:127.05, Y:114.94, Z:3.72 [[-2.65725199e-01 -9.64032604e-01 5.59080115e-03 1.27047062e+02] [ 9.63779977e-01 -2.65783579e-01 -2.20736369e-02 1.14935014e+02] [ 2.27656488e-02 -4.77219374e-04 9.99740715e-01 3.72245076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21275509600002 meters 0.020215208989502298 Centerline is valid? [True, True] Translation: X:127.04, Y:114.96, Z:3.72 [[-2.64791894e-01 -9.64290683e-01 5.36014361e-03 1.27036450e+02] [ 9.64059120e-01 -2.64845793e-01 -2.11357296e-02 1.14958990e+02] [ 2.18005986e-02 -4.29074543e-04 9.99762247e-01 3.72347672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24275509600002 meters 0.018736130768592547 Centerline is valid? [True, True] Translation: X:127.03, Y:114.98, Z:3.72 [[-2.64924959e-01 -9.64253886e-01 5.40457177e-03 1.27026279e+02] [ 9.64019199e-01 -2.64979737e-01 -2.12772629e-02 1.14983477e+02] [ 2.19487854e-02 -4.26767056e-04 9.99759005e-01 3.72426956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27275509600003 meters 0.01930365492632019 Centerline is valid? [True, True] Translation: X:127.02, Y:115.01, Z:3.72 [[-2.64817160e-01 -9.64283730e-01 5.36284126e-03 1.27019782e+02] [ 9.64053413e-01 -2.64871136e-01 -2.10783910e-02 1.15008344e+02] [ 2.17460114e-02 -4.11854230e-04 9.99763443e-01 3.72441666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30275509600003 meters 0.019134901700685533 Centerline is valid? [True, True] Translation: X:127.01, Y:115.03, Z:3.72 [[-2.64918012e-01 -9.64254606e-01 5.61260904e-03 1.27011284e+02] [ 9.64003204e-01 -2.64977123e-01 -2.20215338e-02 1.15033251e+02] [ 2.27215784e-02 -4.23327859e-04 9.99741742e-01 3.72422056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33275509600003 meters 0.02188286431201828 Centerline is valid? [True, True] Translation: X:127.01, Y:115.06, Z:3.72 [[-2.66662877e-01 -9.63771076e-01 6.01857785e-03 1.27009404e+02] [ 9.63482801e-01 -2.66730342e-01 -2.35757601e-02 1.15060353e+02] [ 2.43269730e-02 -4.87983764e-04 9.99703936e-01 3.72243067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.362755096 meters 0.019355672030143215 Centerline is valid? [True, True] Translation: X:127.00, Y:115.08, Z:3.72 [[-2.67667263e-01 -9.63492538e-01 6.03036713e-03 1.26999457e+02] [ 9.63203934e-01 -2.67734709e-01 -2.35861709e-02 1.15084987e+02] [ 2.43396383e-02 -5.04772485e-04 9.99703620e-01 3.72395691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.392755096 meters 0.0216924472745493 Centerline is valid? [True, True] Translation: X:127.00, Y:115.11, Z:3.72 [[-2.68861375e-01 -9.63159306e-01 6.14099471e-03 1.26995458e+02] [ 9.62860848e-01 -2.68930966e-01 -2.39817107e-02 1.15110532e+02] [ 2.47497115e-02 -5.34832344e-04 9.99693536e-01 3.72298503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.422755096 meters 0.020270910707825784 Centerline is valid? [True, True] Translation: X:126.98, Y:115.14, Z:3.72 [[-2.69703840e-01 -9.62923315e-01 6.20707688e-03 1.26984882e+02] [ 9.62619134e-01 -2.69774688e-01 -2.42078488e-02 1.15135404e+02] [ 2.49848143e-02 -5.53898799e-04 9.99687677e-01 3.72336531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.452755096 meters 0.021557769237637303 Centerline is valid? [True, True] Translation: X:126.98, Y:115.16, Z:3.72 [[-2.70399150e-01 -9.62728586e-01 6.16195546e-03 1.26978834e+02] [ 9.62429663e-01 -2.70468776e-01 -2.39955228e-02 1.15159937e+02] [ 2.47677923e-02 -5.57920253e-04 9.99693076e-01 3.72309690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.482755096 meters 0.021449027047605606 Centerline is valid? [True, True] Translation: X:126.97, Y:115.19, Z:3.72 [[-2.70415755e-01 -9.62723953e-01 6.15703489e-03 1.26971756e+02] [ 9.62426296e-01 -2.70485283e-01 -2.39444382e-02 1.15185509e+02] [ 2.47172716e-02 -5.49261063e-04 9.99694331e-01 3.72349701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.512755096 meters 0.020511670931594398 Centerline is valid? [True, True] Translation: X:126.96, Y:115.21, Z:3.72 [[-2.70531998e-01 -9.62690598e-01 6.26498169e-03 1.26963691e+02] [ 9.62383356e-01 -2.70603968e-01 -2.43262924e-02 1.15210765e+02] [ 2.51140219e-02 -5.51726371e-04 9.99684441e-01 3.72425199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.542755096 meters 0.021123196201596323 Centerline is valid? [True, True] Translation: X:126.96, Y:115.24, Z:3.72 [[-2.69586848e-01 -9.62954719e-01 6.41415914e-03 1.26958583e+02] [ 9.62633767e-01 -2.69662623e-01 -2.48656628e-02 1.15236218e+02] [ 2.56741663e-02 -5.28969480e-04 9.99670224e-01 3.72425340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.572755096 meters 0.021045508817011522 Centerline is valid? [True, True] Translation: X:126.95, Y:115.26, Z:3.72 [[-2.69473895e-01 -9.62986391e-01 6.40552232e-03 1.26951902e+02] [ 9.62667329e-01 -2.69549524e-01 -2.47925009e-02 1.15259615e+02] [ 2.56014465e-02 -5.14544734e-04 9.99672097e-01 3.72468679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.602755096 meters 0.01950367332639929 Centerline is valid? [True, True] Translation: X:126.94, Y:115.28, Z:3.73 [[-2.68536069e-01 -9.63248301e-01 6.41009192e-03 1.26941269e+02] [ 9.62929900e-01 -2.68612137e-01 -2.47694948e-02 1.15284655e+02] [ 2.55810023e-02 -4.79033599e-04 9.99672638e-01 3.72584895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.632755096 meters 0.019331147065328673 Centerline is valid? [True, True] Translation: X:126.93, Y:115.31, Z:3.73 [[-2.68595965e-01 -9.63232132e-01 6.32997876e-03 1.26933347e+02] [ 9.62922547e-01 -2.68670141e-01 -2.44238423e-02 1.15310110e+02] [ 2.52265060e-02 -4.64866224e-04 9.99681653e-01 3.72674885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.662755096 meters 0.019010007920851786 Centerline is valid? [True, True] Translation: X:126.93, Y:115.34, Z:3.73 [[-2.68571279e-01 -9.63240709e-01 6.06673904e-03 1.26926146e+02] [ 9.62957189e-01 -2.68639438e-01 -2.33731410e-02 1.15335583e+02] [ 2.41437262e-02 -4.35344400e-04 9.99708403e-01 3.72820371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.692755096 meters 0.019321410845323343 Centerline is valid? [True, True] Translation: X:126.92, Y:115.36, Z:3.73 [[-2.68842669e-01 -9.63166952e-01 5.74822260e-03 1.26920177e+02] [ 9.62913162e-01 -2.68903802e-01 -2.21130524e-02 1.15360027e+02] [ 2.28442802e-02 -4.09892816e-04 9.99738951e-01 3.72997798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72275509600001 meters 0.019118029946677027 Centerline is valid? [True, True] Translation: X:126.91, Y:115.39, Z:3.73 [[-2.68973883e-01 -9.63132919e-01 5.29445421e-03 1.26913683e+02] [ 9.62918248e-01 -2.69025728e-01 -2.03372996e-02 1.15385628e+02] [ 2.10118672e-02 -3.72075884e-04 9.99779157e-01 3.73270665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75275509600002 meters 0.019869547902906202 Centerline is valid? [True, True] Translation: X:126.91, Y:115.41, Z:3.73 [[-2.69727758e-01 -9.62923263e-01 5.07204051e-03 1.26908318e+02] [ 9.62726785e-01 -2.69775195e-01 -1.94546032e-02 1.15409265e+02] [ 2.01016007e-02 -3.64457246e-04 9.99797876e-01 3.73344918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78275509600002 meters 0.018123902429469478 Centerline is valid? [True, True] Translation: X:126.90, Y:115.43, Z:3.74 [[-2.70813695e-01 -9.62619734e-01 4.81555391e-03 1.26899840e+02] [ 9.62443151e-01 -2.70856268e-01 -1.84408157e-02 1.15434121e+02] [ 1.90558161e-02 -3.59328561e-04 9.99818357e-01 3.73528343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81275509600002 meters 0.020043679443389105 Centerline is valid? [True, True] Translation: X:126.90, Y:115.46, Z:3.74 [[-2.71664131e-01 -9.62380787e-01 4.67132093e-03 1.26896862e+02] [ 9.62215107e-01 -2.71704055e-01 -1.78604091e-02 1.15459821e+02] [ 1.84577314e-02 -3.57216951e-04 9.99829578e-01 3.73581245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84275509600002 meters 0.018558257544476507 Centerline is valid? [True, True] Translation: X:126.89, Y:115.48, Z:3.74 [[-2.72346033e-01 -9.62188348e-01 4.60678549e-03 1.26887346e+02] [ 9.62027720e-01 -2.72384758e-01 -1.75843802e-02 1.15484386e+02] [ 1.81743039e-02 -3.57180857e-04 9.99834770e-01 3.73664777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87275509600002 meters 0.018915395578424133 Centerline is valid? [True, True] Translation: X:126.88, Y:115.51, Z:3.74 [[-2.73710195e-01 -9.61802023e-01 4.42692955e-03 1.26881653e+02] [ 9.61654097e-01 -2.73745755e-01 -1.68718787e-02 1.15510657e+02] [ 1.74392603e-02 -3.60830287e-04 9.99847859e-01 3.73696369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90275509600002 meters 0.019325382788511754 Centerline is valid? [True, True] Translation: X:126.88, Y:115.54, Z:3.74 [[-2.74669126e-01 -9.61528879e-01 4.36871977e-03 1.26876153e+02] [ 9.61385181e-01 -2.74703622e-01 -1.66269100e-02 1.15535130e+02] [ 1.71873572e-02 -3.66876384e-04 9.99852219e-01 3.73750240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93275509600002 meters 0.01995138259980278 Centerline is valid? [True, True] Translation: X:126.87, Y:115.56, Z:3.74 [[-2.75816146e-01 -9.61200817e-01 4.29459393e-03 1.26870616e+02] [ 9.61062366e-01 -2.75849325e-01 -1.63180101e-02 1.15560828e+02] [ 1.68695455e-02 -3.73398057e-04 9.99857629e-01 3.73801834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96275509600002 meters 0.02027275420151562 Centerline is valid? [True, True] Translation: X:126.87, Y:115.59, Z:3.74 [[-2.77571848e-01 -9.60695828e-01 4.17076620e-03 1.26865060e+02] [ 9.60565576e-01 -2.77602912e-01 -1.58239729e-02 1.15587071e+02] [ 1.63598416e-02 -3.85994956e-04 9.99866094e-01 3.73876598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99275509600002 meters 0.023638145231725402 Centerline is valid? [True, True] Translation: X:126.86, Y:115.61, Z:3.74 [[-2.78398385e-01 -9.60457322e-01 4.00889609e-03 1.26863933e+02] [ 9.60337186e-01 -2.78426987e-01 -1.51954870e-02 1.15613421e+02] [ 1.57108016e-02 -3.80507051e-04 9.99876505e-01 3.74004754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02275509600003 meters 0.020593215501008885 Centerline is valid? [True, True] Translation: X:126.85, Y:115.64, Z:3.74 [[-2.80392954e-01 -9.59877607e-01 3.84325097e-03 1.26852609e+02] [ 9.59767487e-01 -2.80419022e-01 -1.45445100e-02 1.15638252e+02] [ 1.50386701e-02 -3.89550806e-04 9.99886837e-01 3.74002887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05275509600003 meters 0.0212094414090826 Centerline is valid? [True, True] Translation: X:126.85, Y:115.66, Z:3.74 [[-2.81608670e-01 -9.59521952e-01 3.76579948e-03 1.26846611e+02] [ 9.59416488e-01 -2.81633572e-01 -1.42314306e-02 1.15664436e+02] [ 1.47159456e-02 -3.94724131e-04 9.99891637e-01 3.74064472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08275509600003 meters 0.021807935487304676 Centerline is valid? [True, True] Translation: X:126.84, Y:115.69, Z:3.74 [[-2.82364593e-01 -9.59299684e-01 3.78851701e-03 1.26841225e+02] [ 9.59193237e-01 -2.82389720e-01 -1.42961319e-02 1.15689242e+02] [ 1.47841130e-02 -4.02801552e-04 9.99890628e-01 3.74113359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.112755096 meters 0.023331940648727206 Centerline is valid? [True, True] Translation: X:126.84, Y:115.72, Z:3.74 [[-2.84694624e-01 -9.58611346e-01 3.64124515e-03 1.26836693e+02] [ 9.58513178e-01 -2.84717603e-01 -1.37249764e-02 1.15715615e+02] [ 1.41936447e-02 -4.17245544e-04 9.99899178e-01 3.74131290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.142755096 meters 0.022745183395805762 Centerline is valid? [True, True] Translation: X:126.83, Y:115.74, Z:3.74 [[-2.85770103e-01 -9.58291029e-01 3.70847048e-03 1.26828895e+02] [ 9.58189471e-01 -2.85793833e-01 -1.39578876e-02 1.15740561e+02] [ 1.44355764e-02 -4.35329591e-04 9.99895707e-01 3.74125681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.172755096 meters 0.02412656748947704 Centerline is valid? [True, True] Translation: X:126.82, Y:115.77, Z:3.74 [[-2.87051009e-01 -9.57908458e-01 3.62000888e-03 1.26823876e+02] [ 9.57811955e-01 -2.87073501e-01 -1.36038038e-02 1.15766473e+02] [ 1.40704074e-02 -4.37697839e-04 9.99900911e-01 3.74177837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.202755096 meters 0.024712678525962605 Centerline is valid? [True, True] Translation: X:126.82, Y:115.79, Z:3.74 [[-2.88842443e-01 -9.57369860e-01 3.60485584e-03 1.26817254e+02] [ 9.57274406e-01 -2.88864577e-01 -1.35265558e-02 1.15792828e+02] [ 1.39912320e-02 -4.56207188e-04 9.99902014e-01 3.74176987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.232755096 meters 0.025381130682182576 Centerline is valid? [True, True] Translation: X:126.81, Y:115.82, Z:3.74 [[-2.89510776e-01 -9.57167572e-01 3.70812002e-03 1.26811073e+02] [ 9.57066832e-01 -2.89534135e-01 -1.38947439e-02 1.15818174e+02] [ 1.43732256e-02 -4.73759403e-04 9.99896588e-01 3.74145118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.262755096 meters 0.02577072129572487 Centerline is valid? [True, True] Translation: X:126.81, Y:115.84, Z:3.74 [[-2.89795794e-01 -9.57080954e-01 3.80067560e-03 1.26805313e+02] [ 9.56975461e-01 -2.89820313e-01 -1.42180393e-02 1.15842510e+02] [ 1.47093276e-02 -4.83174705e-04 9.99891695e-01 3.74127683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.292755096 meters 0.026622719575665605 Centerline is valid? [True, True] Translation: X:126.80, Y:115.87, Z:3.74 [[-2.89783303e-01 -9.57084751e-01 3.79688359e-03 1.26799799e+02] [ 9.56979722e-01 -2.89807783e-01 -1.41866567e-02 1.15866899e+02] [ 1.46781992e-02 -4.77515629e-04 9.99892155e-01 3.74188330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.322755096 meters 0.023621291247315494 Centerline is valid? [True, True] Translation: X:126.79, Y:115.89, Z:3.74 [[-2.89697908e-01 -9.57110892e-01 3.72333864e-03 1.26787985e+02] [ 9.57010102e-01 -2.89721465e-01 -1.38973905e-02 1.15891299e+02] [ 1.43800749e-02 -4.62772269e-04 9.99896494e-01 3.74179955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.352755096 meters 0.024304745275133037 Centerline is valid? [True, True] Translation: X:126.78, Y:115.92, Z:3.74 [[-2.88088745e-01 -9.57596778e-01 3.64505046e-03 1.26781240e+02] [ 9.57500518e-01 -2.88111492e-01 -1.35840711e-02 1.15916305e+02] [ 1.40582436e-02 -4.23280278e-04 9.99901088e-01 3.74280573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.382755096 meters 0.022970890840138068 Centerline is valid? [True, True] Translation: X:126.77, Y:115.94, Z:3.74 [[-2.87382138e-01 -9.57809403e-01 3.55738326e-03 1.26771590e+02] [ 9.57717988e-01 -2.87403880e-01 -1.32388057e-02 1.15941379e+02] [ 1.37026583e-02 -3.97626346e-04 9.99906035e-01 3.74346216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.412755096 meters 0.022970890840138068 Centerline is valid? [True, True] Translation: X:126.76, Y:115.97, Z:3.74 [[-2.87745796e-01 -9.57700196e-01 3.56242192e-03 1.26764597e+02] [ 9.57608790e-01 -2.87767572e-01 -1.32374493e-02 1.15966356e+02] [ 1.37026573e-02 -3.97613838e-04 9.99906035e-01 3.74394567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.442755096 meters 0.02140463074504962 Centerline is valid? [True, True] Translation: X:126.75, Y:115.99, Z:3.74 [[-2.86799388e-01 -9.57984178e-01 3.52508460e-03 1.26754362e+02] [ 9.57894970e-01 -2.86820806e-01 -1.30786886e-02 1.15991436e+02] [ 1.35402443e-02 -3.74299071e-04 9.99908257e-01 3.74422353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47275509600001 meters 0.020403665647201478 Centerline is valid? [True, True] Translation: X:126.74, Y:116.02, Z:3.74 [[-2.84160257e-01 -9.58770360e-01 3.51360662e-03 1.26744435e+02] [ 9.58682031e-01 -2.84181787e-01 -1.30183162e-02 1.16015971e+02] [ 1.34800788e-02 -3.30856559e-04 9.99909085e-01 3.74493101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50275509600002 meters 0.019595737879843162 Centerline is valid? [True, True] Translation: X:126.74, Y:116.04, Z:3.75 [[-2.82994956e-01 -9.59114717e-01 3.57971610e-03 1.26735445e+02] [ 9.59023350e-01 -2.83017421e-01 -1.32421279e-02 1.16041369e+02] [ 1.37138418e-02 -3.14424086e-04 9.99905911e-01 3.74536684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53275509600002 meters 0.018801765585006305 Centerline is valid? [True, True] Translation: X:126.73, Y:116.07, Z:3.75 [[-2.81150958e-01 -9.59657107e-01 3.51804438e-03 1.26726029e+02] [ 9.59569096e-01 -2.81172829e-01 -1.29996333e-02 1.16066862e+02] [ 1.34643689e-02 -2.79052678e-04 9.99909312e-01 3.74615594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56275509600002 meters 0.0185660892630175 Centerline is valid? [True, True] Translation: X:126.72, Y:116.09, Z:3.75 [[-2.80631475e-01 -9.59809302e-01 3.47545322e-03 1.26717903e+02] [ 9.59723646e-01 -2.80652871e-01 -1.28253195e-02 1.16092539e+02] [ 1.32852569e-02 -2.63713697e-04 9.99911712e-01 3.74689648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59275509600002 meters 0.018613451487889645 Centerline is valid? [True, True] Translation: X:126.71, Y:116.12, Z:3.75 [[-2.80573072e-01 -9.59826235e-01 3.51423440e-03 1.26710684e+02] [ 9.59738903e-01 -2.80594958e-01 -1.29502355e-02 1.16116747e+02] [ 1.34160522e-02 -2.60739889e-04 9.99909967e-01 3.74742999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62275509600002 meters 0.01890292889888742 Centerline is valid? [True, True] Translation: X:126.70, Y:116.14, Z:3.75 [[-2.80779876e-01 -9.59764785e-01 3.77087517e-03 1.26703946e+02] [ 9.59664569e-01 -2.80805061e-01 -1.38720292e-02 1.16141384e+02] [ 1.43727660e-02 -2.76211359e-04 9.99896668e-01 3.74717887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65275509600002 meters 0.019095250611865247 Centerline is valid? [True, True] Translation: X:126.70, Y:116.17, Z:3.75 [[-2.81224354e-01 -9.59634320e-01 3.85168024e-03 1.26697155e+02] [ 9.59530088e-01 -2.81250588e-01 -1.41462558e-02 1.16166642e+02] [ 1.46585199e-02 -2.82468558e-04 9.99892518e-01 3.74711969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68275509600002 meters 0.018205266981804306 Centerline is valid? [True, True] Translation: X:126.69, Y:116.19, Z:3.75 [[-2.81811977e-01 -9.59461676e-01 3.91184700e-03 1.26688357e+02] [ 9.59354460e-01 -2.81838976e-01 -1.43461551e-02 1.16191256e+02] [ 1.48670969e-02 -2.90070446e-04 9.99889437e-01 3.74690948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71275509600002 meters 0.01856750851359376 Centerline is valid? [True, True] Translation: X:126.68, Y:116.22, Z:3.75 [[-2.82449298e-01 -9.59273813e-01 4.01804409e-03 1.26681981e+02] [ 9.59161033e-01 -2.82477716e-01 -1.47123340e-02 1.16215480e+02] [ 1.52481647e-02 -3.01537100e-04 9.99883695e-01 3.74717600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74275509600002 meters 0.01917750939666565 Centerline is valid? [True, True] Translation: X:126.68, Y:116.24, Z:3.75 [[-2.83980282e-01 -9.58821123e-01 4.15370393e-03 1.26675550e+02] [ 9.58700961e-01 -2.84010467e-01 -1.51829819e-02 1.16242358e+02] [ 1.57374592e-02 -3.29507549e-04 9.99876104e-01 3.74688179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77275509600003 meters 0.019759098181335352 Centerline is valid? [True, True] Translation: X:126.67, Y:116.27, Z:3.75 [[-2.85121456e-01 -9.58481842e-01 4.27944882e-03 1.26669770e+02] [ 9.58354604e-01 -2.85153352e-01 -1.56210924e-02 1.16267423e+02] [ 1.61928326e-02 -3.52679131e-04 9.99868825e-01 3.74680164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80275509600003 meters 0.02102763227236201 Centerline is valid? [True, True] Translation: X:126.66, Y:116.29, Z:3.75 [[-2.87438593e-01 -9.57787564e-01 4.69447033e-03 1.26664683e+02] [ 9.57634885e-01 -2.87476617e-01 -1.71061656e-02 1.16293332e+02] [ 1.77336231e-02 -4.21383621e-04 9.99842658e-01 3.74543597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83275509600003 meters 0.021178628314844163 Centerline is valid? [True, True] Translation: X:126.66, Y:116.32, Z:3.75 [[-2.88881348e-01 -9.57352781e-01 4.81864079e-03 1.26657503e+02] [ 9.57192319e-01 -2.88921179e-01 -1.75333148e-02 1.16320063e+02] [ 1.81777750e-02 -4.52681650e-04 9.99834668e-01 3.74511861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.862755096 meters 0.023164166685852312 Centerline is valid? [True, True] Translation: X:126.65, Y:116.35, Z:3.74 [[-2.91084779e-01 -9.56683441e-01 5.14252630e-03 1.26653280e+02] [ 9.56501093e-01 -2.91129737e-01 -1.86851495e-02 1.16345661e+02] [ 1.93729154e-02 -5.20130580e-04 9.99812192e-01 3.74402790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.892755096 meters 0.022487777533678817 Centerline is valid? [True, True] Translation: X:126.64, Y:116.37, Z:3.74 [[-2.92285354e-01 -9.56316586e-01 5.27812733e-03 1.26644741e+02] [ 9.56124875e-01 -2.92332484e-01 -1.91557148e-02 1.16371294e+02] [ 1.98618959e-02 -5.52386043e-04 9.99802581e-01 3.74389400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.922755096 meters 0.02234708887123075 Centerline is valid? [True, True] Translation: X:126.64, Y:116.40, Z:3.74 [[-2.93969514e-01 -9.55799244e-01 5.45248613e-03 1.26637327e+02] [ 9.55595135e-01 -2.94019466e-01 -1.97608702e-02 1.16397601e+02] [ 2.04905619e-02 -5.98724189e-04 9.99789867e-01 3.74391308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.952755096 meters 0.025249623726019146 Centerline is valid? [True, True] Translation: X:126.63, Y:116.42, Z:3.74 [[-2.95122556e-01 -9.55443753e-01 5.46923535e-03 1.26634206e+02] [ 9.55238897e-01 -2.95172585e-01 -1.97938225e-02 1.16424273e+02] [ 2.05262523e-02 -6.17177137e-04 9.99789124e-01 3.74417942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.982755096 meters 0.02426100220397673 Centerline is valid? [True, True] Translation: X:126.63, Y:116.45, Z:3.74 [[-2.96030598e-01 -9.55162794e-01 5.47012207e-03 1.26625355e+02] [ 9.54958415e-01 -2.96080466e-01 -1.97682296e-02 1.16449158e+02] [ 2.05014737e-02 -6.28261734e-04 9.99789625e-01 3.74471428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.012755096 meters 0.02652361886423096 Centerline is valid? [True, True] Translation: X:126.62, Y:116.47, Z:3.75 [[-2.96799872e-01 -9.54924410e-01 5.40428906e-03 1.26621318e+02] [ 9.54725466e-01 -2.96848405e-01 -1.95015227e-02 1.16474192e+02] [ 2.02267346e-02 -6.28437053e-04 9.99795221e-01 3.74506926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.042755096 meters 0.024285428986891632 Centerline is valid? [True, True] Translation: X:126.61, Y:116.50, Z:3.75 [[-2.97674206e-01 -9.54652571e-01 5.34192194e-03 1.26610492e+02] [ 9.54458736e-01 -2.97721466e-01 -1.92470519e-02 1.16498976e+02] [ 1.99646524e-02 -6.30706831e-04 9.99800488e-01 3.74596019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.072755096 meters 0.027067019346780418 Centerline is valid? [True, True] Translation: X:126.61, Y:116.52, Z:3.75 [[-2.98491361e-01 -9.54398648e-01 5.11160830e-03 1.26606891e+02] [ 9.54221640e-01 -2.98534498e-01 -1.83906208e-02 1.16524290e+02] [ 1.90779750e-02 -6.11834156e-04 9.99817812e-01 3.74738058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.102755096 meters 0.023576433582348833 Centerline is valid? [True, True] Translation: X:126.59, Y:116.55, Z:3.75 [[-2.98682583e-01 -9.54339038e-01 5.07095088e-03 1.26594187e+02] [ 9.54165362e-01 -2.98725019e-01 -1.82160595e-02 1.16548541e+02] [ 1.88991166e-02 -6.02294033e-04 9.99821214e-01 3.74826942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.132755096 meters 0.025262199315963293 Centerline is valid? [True, True] Translation: X:126.59, Y:116.57, Z:3.75 [[-2.97946084e-01 -9.54569981e-01 4.92778977e-03 1.26589144e+02] [ 9.54406491e-01 -2.97986300e-01 -1.76752941e-02 1.16574412e+02] [ 1.83407190e-02 -5.63170121e-04 9.99831636e-01 3.74931529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.162755096 meters 0.022444671663979794 Centerline is valid? [True, True] Translation: X:126.58, Y:116.60, Z:3.75 [[-2.97638432e-01 -9.54665618e-01 4.99220958e-03 1.26577259e+02] [ 9.54498326e-01 -2.97679775e-01 -1.78800810e-02 1.16599654e+02] [ 1.85555784e-02 -5.56743587e-04 9.99827675e-01 3.75017688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.192755096 meters 0.022747663724513447 Centerline is valid? [True, True] Translation: X:126.57, Y:116.62, Z:3.75 [[-2.96974055e-01 -9.54873119e-01 4.87200754e-03 1.26570660e+02] [ 9.54714241e-01 -2.97013555e-01 -1.74260201e-02 1.16623824e+02] [ 1.80866905e-02 -5.23700875e-04 9.99836285e-01 3.75106729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22275509600001 meters 0.021994339976253788 Centerline is valid? [True, True] Translation: X:126.56, Y:116.65, Z:3.75 [[-2.96102033e-01 -9.55143655e-01 4.91771848e-03 1.26561831e+02] [ 9.54982342e-01 -2.96142439e-01 -1.75608261e-02 1.16649492e+02] [ 1.82294568e-02 -5.03461993e-04 9.99833703e-01 3.75160160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25275509600002 meters 0.022873333027903977 Centerline is valid? [True, True] Translation: X:126.55, Y:116.68, Z:3.75 [[-2.93534514e-01 -9.55935528e-01 4.97540342e-03 1.26554627e+02] [ 9.55770970e-01 -2.93576329e-01 -1.77423647e-02 1.16675004e+02] [ 1.84212175e-02 -4.52650261e-04 9.99830213e-01 3.75197261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28275509600002 meters 0.021736327938425344 Centerline is valid? [True, True] Translation: X:126.54, Y:116.70, Z:3.75 [[-2.92260150e-01 -9.56326091e-01 4.94100633e-03 1.26542305e+02] [ 9.56164311e-01 -2.92301615e-01 -1.75947850e-02 1.16700303e+02] [ 1.82706161e-02 -4.17840577e-04 9.99832991e-01 3.75032991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31275509600002 meters 0.01844471781537443 Centerline is valid? [True, True] Translation: X:126.53, Y:116.72, Z:3.75 [[-2.87606659e-01 -9.57735579e-01 4.99700443e-03 1.26531299e+02] [ 9.57570766e-01 -2.87649881e-01 -1.77700564e-02 1.16724879e+02] [ 1.84564030e-02 -3.25801194e-04 9.99829613e-01 3.75299180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34275509600002 meters 0.019138317415733443 Centerline is valid? [True, True] Translation: X:126.52, Y:116.75, Z:3.75 [[-2.86209983e-01 -9.58153956e-01 4.98428561e-03 1.26522572e+02] [ 9.57990474e-01 -2.86253231e-01 -1.77014021e-02 1.16749574e+02] [ 1.83874363e-02 -2.91419863e-04 9.99830894e-01 3.75162730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37275509600002 meters 0.018121387784450806 Centerline is valid? [True, True] Translation: X:126.51, Y:116.78, Z:3.75 [[-2.84340523e-01 -9.58710226e-01 5.01685281e-03 1.26513328e+02] [ 9.58545174e-01 -2.84384668e-01 -1.77907526e-02 1.16775158e+02] [ 1.84828925e-02 -2.49751842e-04 9.99829146e-01 3.75262716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40275509600002 meters 0.018220785861341574 Centerline is valid? [True, True] Translation: X:126.50, Y:116.80, Z:3.75 [[-2.80983228e-01 -9.59699701e-01 4.99098923e-03 1.26502913e+02] [ 9.59536927e-01 -2.81027495e-01 -1.76757561e-02 1.16800222e+02] [ 1.83660231e-02 -1.77552544e-04 9.99831315e-01 3.75230606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43275509600002 meters 0.015686151307860708 Centerline is valid? [True, True] Translation: X:126.49, Y:116.82, Z:3.76 [[-2.79203994e-01 -9.60218550e-01 5.04629373e-03 1.26494215e+02] [ 9.60052675e-01 -2.79249559e-01 -1.78478384e-02 1.16824582e+02] [ 1.85470008e-02 -1.38479980e-04 9.99827980e-01 3.75534811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46275509600002 meters 0.01541023634453049 Centerline is valid? [True, True] Translation: X:126.49, Y:116.85, Z:3.76 [[-2.78289864e-01 -9.60484061e-01 5.01207100e-03 1.26485551e+02] [ 9.60320965e-01 -2.78334972e-01 -1.76999581e-02 1.16849389e+02] [ 1.83955622e-02 -1.12522064e-04 9.99830781e-01 3.75546153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49275509600002 meters 0.01532793762453104 Centerline is valid? [True, True] Translation: X:126.48, Y:116.87, Z:3.76 [[-2.77814161e-01 -9.60621398e-01 5.08148697e-03 1.26477529e+02] [ 9.60454261e-01 -2.77860613e-01 -1.79190421e-02 1.16874573e+02] [ 1.86253604e-02 -9.76278473e-05 9.99826528e-01 3.75562972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52275509600003 meters 0.015372526938014884 Centerline is valid? [True, True] Translation: X:126.47, Y:116.90, Z:3.76 [[-2.78252849e-01 -9.60494630e-01 5.04158368e-03 1.26471097e+02] [ 9.60330561e-01 -2.78298501e-01 -1.77526664e-02 1.16899171e+02] [ 1.84544059e-02 -9.81430979e-05 9.99829698e-01 3.75632588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55275509600003 meters 0.01772864805401638 Centerline is valid? [True, True] Translation: X:126.46, Y:116.92, Z:3.75 [[-2.79865053e-01 -9.60026644e-01 4.93906886e-03 1.26464868e+02] [ 9.59869573e-01 -2.79908607e-01 -1.73659207e-02 1.16924911e+02] [ 1.80542345e-02 -1.19252405e-04 9.99837002e-01 3.75455613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58275509600003 meters 0.016139853256098683 Centerline is valid? [True, True] Translation: X:126.46, Y:116.95, Z:3.76 [[-2.81608496e-01 -9.59517057e-01 4.86544700e-03 1.26461688e+02] [ 9.59365011e-01 -2.81650488e-01 -1.70815128e-02 1.16950854e+02] [ 1.77603584e-02 -1.42559514e-04 9.99842262e-01 3.75831104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.612755096 meters 0.016169522022256338 Centerline is valid? [True, True] Translation: X:126.45, Y:116.98, Z:3.76 [[-2.83617615e-01 -9.58925407e-01 4.80755942e-03 1.26454960e+02] [ 9.58777217e-01 -2.83658306e-01 -1.68586410e-02 1.16977296e+02] [ 1.75298834e-02 -1.72029123e-04 9.99846325e-01 3.75874728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.642755096 meters 0.017325578948277576 Centerline is valid? [True, True] Translation: X:126.45, Y:117.00, Z:3.76 [[-2.87250949e-01 -9.57843184e-01 4.82982656e-03 1.26451899e+02] [ 9.57693872e-01 -2.87291456e-01 -1.69134950e-02 1.17004151e+02] [ 1.75880438e-02 -2.32922193e-04 9.99845291e-01 3.75927480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.672755096 meters 0.018009175360401634 Centerline is valid? [True, True] Translation: X:126.45, Y:117.03, Z:3.76 [[-2.89277916e-01 -9.57232784e-01 4.86659437e-03 1.26446671e+02] [ 9.57081540e-01 -2.89318728e-01 -1.70176422e-02 1.17030127e+02] [ 1.76978419e-02 -2.65100437e-04 9.99843346e-01 3.75926749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.702755096 meters 0.017932212411389512 Centerline is valid? [True, True] Translation: X:126.44, Y:117.06, Z:3.76 [[-2.91365381e-01 -9.56598833e-01 4.98870931e-03 1.26439651e+02] [ 9.56440253e-01 -2.91407927e-01 -1.74202032e-02 1.17056331e+02] [ 1.81178955e-02 -3.04241758e-04 9.99835811e-01 3.75935227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.732755096 meters 0.018463508789315724 Centerline is valid? [True, True] Translation: X:126.43, Y:117.08, Z:3.76 [[-2.93239111e-01 -9.56026028e-01 5.00569508e-03 1.26434092e+02] [ 9.55866721e-01 -2.93281643e-01 -1.74553899e-02 1.17083503e+02] [ 1.81558856e-02 -3.33825688e-04 9.99835113e-01 3.75978160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.762755096 meters 0.019594829671435422 Centerline is valid? [True, True] Translation: X:126.43, Y:117.11, Z:3.76 [[-2.95990022e-01 -9.55177209e-01 5.13874303e-03 1.26431260e+02] [ 9.55009661e-01 -2.96034371e-01 -1.78940751e-02 1.17110078e+02] [ 1.86132573e-02 -3.88918453e-04 9.99826683e-01 3.76034540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.792755096 meters 0.022364386180015457 Centerline is valid? [True, True] Translation: X:126.43, Y:117.14, Z:3.76 [[-2.97860020e-01 -9.54595270e-01 5.22288760e-03 1.26426302e+02] [ 9.54422472e-01 -2.97905502e-01 -1.81674855e-02 1.17136020e+02] [ 1.88985227e-02 -4.26526297e-04 9.99821316e-01 3.75792514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.822755096 meters 0.021089773072744032 Centerline is valid? [True, True] Translation: X:126.42, Y:117.16, Z:3.76 [[-2.99702545e-01 -9.54018672e-01 5.17289881e-03 1.26421663e+02] [ 9.53849551e-01 -2.99746845e-01 -1.79683978e-02 1.17163085e+02] [ 1.86927471e-02 -4.51007352e-04 9.99825174e-01 3.76113151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.852755096 meters 0.021900149261192985 Centerline is valid? [True, True] Translation: X:126.42, Y:117.19, Z:3.76 [[-3.01169572e-01 -9.53556043e-01 5.26890273e-03 1.26416470e+02] [ 9.53380989e-01 -3.01215274e-01 -1.82769833e-02 1.17188583e+02] [ 1.90152019e-02 -4.81199557e-04 9.99819079e-01 3.76126229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.882755096 meters 0.022838514107742895 Centerline is valid? [True, True] Translation: X:126.41, Y:117.21, Z:3.76 [[-3.02587144e-01 -9.53106360e-01 5.41174394e-03 1.26409457e+02] [ 9.52922137e-01 -3.02635096e-01 -1.87456548e-02 1.17214559e+02] [ 1.95043865e-02 -5.15223548e-04 9.99809639e-01 3.75981790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.912755096 meters 0.02389407133310985 Centerline is valid? [True, True] Translation: X:126.41, Y:117.24, Z:3.76 [[-3.03953868e-01 -9.52671046e-01 5.47031919e-03 1.26405008e+02] [ 9.52483249e-01 -3.04002607e-01 -1.89228657e-02 1.17240082e+02] [ 1.96902576e-02 -5.41290827e-04 9.99805982e-01 3.75958553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.942755096 meters 0.022092247753880023 Centerline is valid? [True, True] Translation: X:126.40, Y:117.27, Z:3.76 [[-3.03455553e-01 -9.52830425e-01 5.37658472e-03 1.26396601e+02] [ 9.52649489e-01 -3.03502744e-01 -1.85751470e-02 1.17265592e+02] [ 1.93307734e-02 -5.14730811e-04 9.99813011e-01 3.76285420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97275509600001 meters 0.02129824319289627 Centerline is valid? [True, True] Translation: X:126.39, Y:117.29, Z:3.76 [[-3.02189401e-01 -9.53233638e-01 5.21506073e-03 1.26386792e+02] [ 9.53063930e-01 -3.02234037e-01 -1.79925755e-02 1.17290782e+02] [ 1.87272970e-02 -4.66879326e-04 9.99824520e-01 3.76361147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00275509600002 meters 0.020672438615407785 Centerline is valid? [True, True] Translation: X:126.38, Y:117.32, Z:3.76 [[-2.99924281e-01 -9.53948163e-01 5.32236452e-03 1.26377337e+02] [ 9.53771987e-01 -2.99971203e-01 -1.83377685e-02 1.17315445e+02] [ 1.90898366e-02 -4.23619846e-04 9.99817683e-01 3.76445413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03275509600002 meters 0.019529881877344252 Centerline is valid? [True, True] Translation: X:126.37, Y:117.34, Z:3.76 [[-2.98541893e-01 -9.54381874e-01 5.28933747e-03 1.26366409e+02] [ 9.54208424e-01 -2.98588496e-01 -1.81987223e-02 1.17340981e+02] [ 1.89478660e-02 -3.85950641e-04 9.99820399e-01 3.76480376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06275509600002 meters 0.021023649162521463 Centerline is valid? [True, True] Translation: X:126.36, Y:117.37, Z:3.76 [[-2.96034537e-01 -9.55160403e-01 5.67069800e-03 1.26357196e+02] [ 9.54961738e-01 -2.96088635e-01 -1.94833207e-02 1.17365482e+02] [ 2.02887257e-02 -3.52436211e-04 9.99794101e-01 3.76134067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09275509600002 meters 0.02113614716681231 Centerline is valid? [True, True] Translation: X:126.35, Y:117.39, Z:3.76 [[-2.95132437e-01 -9.55439124e-01 5.73808496e-03 1.26349202e+02] [ 9.55236203e-01 -2.95188027e-01 -1.96932884e-02 1.17389568e+02] [ 2.05095522e-02 -3.30901702e-04 9.99789602e-01 3.76136345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12275509600002 meters 0.01818873054743611 Centerline is valid? [True, True] Translation: X:126.34, Y:117.41, Z:3.77 [[-2.93561748e-01 -9.55923898e-01 5.56791528e-03 1.26339558e+02] [ 9.55733488e-01 -2.93614412e-01 -1.90808243e-02 1.17414421e+02] [ 1.98746361e-02 -2.79957048e-04 9.99802441e-01 3.76519115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15275509600002 meters 0.017595626301634464 Centerline is valid? [True, True] Translation: X:126.33, Y:117.44, Z:3.77 [[-2.92468071e-01 -9.56258771e-01 5.62046895e-03 1.26331024e+02] [ 9.56065370e-01 -2.92521963e-01 -1.92330135e-02 1.17438402e+02] [ 2.00358484e-02 -2.51506628e-04 9.99799231e-01 3.76583255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18275509600002 meters 0.019032815046582743 Centerline is valid? [True, True] Translation: X:126.32, Y:117.46, Z:3.76 [[-2.92771631e-01 -9.56165642e-01 5.66011081e-03 1.26323505e+02] [ 9.55969949e-01 -2.92826230e-01 -1.93456718e-02 1.17463085e+02] [ 2.01550956e-02 -2.52968035e-04 9.99796833e-01 3.76406616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21275509600002 meters 0.01760567722435616 Centerline is valid? [True, True] Translation: X:126.32, Y:117.49, Z:3.77 [[-2.93254916e-01 -9.56017941e-01 5.59027884e-03 1.26315285e+02] [ 9.55827581e-01 -2.93308087e-01 -1.90788231e-02 1.17488031e+02] [ 1.98793711e-02 -2.51615954e-04 9.99802354e-01 3.76678767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24275509600002 meters 0.018251500295632942 Centerline is valid? [True, True] Translation: X:126.31, Y:117.51, Z:3.77 [[-2.94819961e-01 -9.55537068e-01 5.48658328e-03 1.26308851e+02] [ 9.55354130e-01 -2.94870885e-01 -1.86988675e-02 1.17512923e+02] [ 1.94852946e-02 -2.71169380e-04 9.99810107e-01 3.76794103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27275509600003 meters 0.018639288238226928 Centerline is valid? [True, True] Translation: X:126.30, Y:117.54, Z:3.77 [[-2.96019370e-01 -9.55166971e-01 5.34692986e-03 1.26302440e+02] [ 9.54993552e-01 -2.96067522e-01 -1.82026982e-02 1.17538535e+02] [ 1.89696684e-02 -2.82067716e-04 9.99820020e-01 3.76885389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30275509600003 meters 0.019073026261660898 Centerline is valid? [True, True] Translation: X:126.30, Y:117.56, Z:3.77 [[-2.97478477e-01 -9.54714194e-01 5.23110149e-03 1.26296179e+02] [ 9.54548585e-01 -2.97524319e-01 -1.77841967e-02 1.17563678e+02] [ 1.85352049e-02 -2.97075220e-04 9.99828164e-01 3.76963937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33275509600003 meters 0.019073026261660898 Centerline is valid? [True, True] Translation: X:126.29, Y:117.59, Z:3.77 [[-2.97835239e-01 -9.54602928e-01 5.23641693e-03 1.26288600e+02] [ 9.54437330e-01 -2.97881118e-01 -1.77826315e-02 1.17588473e+02] [ 1.85351818e-02 -2.98462495e-04 9.99828164e-01 3.77012316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.362755096 meters 0.020552099568605185 Centerline is valid? [True, True] Translation: X:126.28, Y:117.61, Z:3.77 [[-2.99464492e-01 -9.54092641e-01 5.31510313e-03 1.26282052e+02] [ 9.53922422e-01 -2.99511478e-01 -1.80246448e-02 1.17614486e+02] [ 1.87891153e-02 -3.27545048e-04 9.99823415e-01 3.76888514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.392755096 meters 0.020603703550248643 Centerline is valid? [True, True] Translation: X:126.28, Y:117.64, Z:3.77 [[-3.01486339e-01 -9.53456207e-01 5.21998785e-03 1.26276406e+02] [ 9.53292353e-01 -3.01531317e-01 -1.76791960e-02 1.17638870e+02] [ 1.84303290e-02 -3.53861574e-04 9.99830084e-01 3.77137184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.422755096 meters 0.021613090151513362 Centerline is valid? [True, True] Translation: X:126.27, Y:117.66, Z:3.77 [[-3.03095194e-01 -9.52946033e-01 5.21164174e-03 1.26270620e+02] [ 9.52782981e-01 -3.03139761e-01 -1.76316845e-02 1.17663969e+02] [ 1.83818996e-02 -3.78515285e-04 9.99830967e-01 3.77183044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.452755096 meters 0.022493700892586416 Centerline is valid? [True, True] Translation: X:126.26, Y:117.69, Z:3.77 [[-3.04790524e-01 -9.52404949e-01 5.24874806e-03 1.26264844e+02] [ 9.52239956e-01 -3.04835444e-01 -1.77318566e-02 1.17689922e+02] [ 1.84879125e-02 -4.06434254e-04 9.99829001e-01 3.77148637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.482755096 meters 0.023480083760715573 Centerline is valid? [True, True] Translation: X:126.26, Y:117.71, Z:3.77 [[-3.05772340e-01 -9.52089648e-01 5.34595170e-03 1.26257858e+02] [ 9.51918896e-01 -3.05818772e-01 -1.80359274e-02 1.17714076e+02] [ 1.88067122e-02 -4.25975289e-04 9.99823047e-01 3.77017294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.512755096 meters 0.022281613160295647 Centerline is valid? [True, True] Translation: X:126.25, Y:117.74, Z:3.77 [[-3.06552224e-01 -9.51838283e-01 5.44210239e-03 1.26245773e+02] [ 9.51661832e-01 -3.06600209e-01 -1.83321720e-02 1.17738986e+02] [ 1.91178129e-02 -4.40726978e-04 9.99817141e-01 3.76890147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.542755096 meters 0.024262387257168946 Centerline is valid? [True, True] Translation: X:126.24, Y:117.76, Z:3.77 [[-3.07644333e-01 -9.51485482e-01 5.50842107e-03 1.26240750e+02] [ 9.51305130e-01 -3.07693299e-01 -1.85306124e-02 1.17764784e+02] [ 1.93265129e-02 -4.60648682e-04 9.99813119e-01 3.76848368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.572755096 meters 0.02134490290478499 Centerline is valid? [True, True] Translation: X:126.23, Y:117.79, Z:3.77 [[-3.08423500e-01 -9.51233401e-01 5.47372511e-03 1.26230369e+02] [ 9.51055763e-01 -3.08471717e-01 -1.83884792e-02 1.17788719e+02] [ 1.91802250e-02 -4.65621314e-04 9.99815934e-01 3.77191082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.602755096 meters 0.02105361497793228 Centerline is valid? [True, True] Translation: X:126.22, Y:117.81, Z:3.77 [[-3.09103582e-01 -9.51012242e-01 5.54003395e-03 1.26220960e+02] [ 9.50830765e-01 -3.09152857e-01 -1.85840788e-02 1.17814645e+02] [ 1.93864037e-02 -4.76770588e-04 9.99811952e-01 3.77215137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.632755096 meters 0.021219238342604117 Centerline is valid? [True, True] Translation: X:126.21, Y:117.84, Z:3.77 [[-3.09844757e-01 -9.50771335e-01 5.48587614e-03 1.26212641e+02] [ 9.50593817e-01 -3.09892946e-01 -1.83781599e-02 1.17840264e+02] [ 1.91734619e-02 -4.79536530e-04 9.99816057e-01 3.77328670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.662755096 meters 0.0219481470187801 Centerline is valid? [True, True] Translation: X:126.21, Y:117.87, Z:3.77 [[-3.10319709e-01 -9.50616116e-01 5.53878053e-03 1.26205971e+02] [ 9.50435614e-01 -3.10368754e-01 -1.85305027e-02 1.17865982e+02] [ 1.93344589e-02 -4.86125947e-04 9.99812954e-01 3.77415402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.692755096 meters 0.021597633020871587 Centerline is valid? [True, True] Translation: X:126.20, Y:117.89, Z:3.77 [[-3.10370222e-01 -9.50599715e-01 5.52327568e-03 1.26196027e+02] [ 9.50420713e-01 -3.10418996e-01 -1.84530494e-02 1.17890554e+02] [ 1.92559932e-02 -4.77841417e-04 9.99814472e-01 3.77481129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72275509600001 meters 0.02170952029028278 Centerline is valid? [True, True] Translation: X:126.19, Y:117.91, Z:3.77 [[-3.10145224e-01 -9.50672006e-01 5.71640646e-03 1.26188147e+02] [ 9.50480839e-01 -3.10197527e-01 -1.90701013e-02 1.17914271e+02] [ 1.99026266e-02 -4.81166025e-04 9.99801807e-01 3.77462926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75275509600002 meters 0.02059369646226102 Centerline is valid? [True, True] Translation: X:126.18, Y:117.94, Z:3.77 [[-3.10006503e-01 -9.50716946e-01 5.76692066e-03 1.26177338e+02] [ 9.50522845e-01 -3.10059774e-01 -1.92161058e-02 1.17939867e+02] [ 2.00571676e-02 -4.75527945e-04 9.99798722e-01 3.77471716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78275509600002 meters 0.020792195851432934 Centerline is valid? [True, True] Translation: X:126.17, Y:117.96, Z:3.77 [[-3.09187360e-01 -9.50981756e-01 6.07259533e-03 1.26169024e+02] [ 9.50767182e-01 -3.09246626e-01 -2.02061976e-02 1.17964372e+02] [ 2.10936549e-02 -4.73876539e-04 9.99777392e-01 3.77457129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81275509600002 meters 0.02044139805520643 Centerline is valid? [True, True] Translation: X:126.16, Y:117.99, Z:3.77 [[-3.08844624e-01 -9.51092616e-01 6.15095481e-03 1.26159901e+02] [ 9.50873110e-01 -3.08905522e-01 -2.04379086e-02 1.17988789e+02] [ 2.13384079e-02 -4.63360685e-04 9.99772203e-01 3.77484780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84275509600002 meters 0.019969944317855537 Centerline is valid? [True, True] Translation: X:126.15, Y:118.01, Z:3.78 [[-3.08669512e-01 -9.51149992e-01 6.06843574e-03 1.26150571e+02] [ 9.50936948e-01 -3.08728839e-01 -2.01351863e-02 1.18014804e+02] [ 2.10250834e-02 -4.44418378e-04 9.99778850e-01 3.77600920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87275509600002 meters 0.02097113156550543 Centerline is valid? [True, True] Translation: X:126.14, Y:118.04, Z:3.78 [[-3.08348201e-01 -9.51253055e-01 6.24601747e-03 1.26143649e+02] [ 9.51027977e-01 -3.08411139e-01 -2.06967790e-02 1.18039690e+02] [ 2.16142156e-02 -4.41677199e-04 9.99766288e-01 3.77539039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90275509600002 meters 0.021516232830898322 Centerline is valid? [True, True] Translation: X:126.14, Y:118.06, Z:3.78 [[-3.08067286e-01 -9.51343985e-01 6.25846556e-03 1.26136081e+02] [ 9.51118549e-01 -3.08130553e-01 -2.07139520e-02 1.18063726e+02] [ 2.16345181e-02 -4.28748294e-04 9.99765854e-01 3.77569350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93275509600002 meters 0.019711620274999567 Centerline is valid? [True, True] Translation: X:126.13, Y:118.09, Z:3.78 [[-3.08404269e-01 -9.51235662e-01 6.12560391e-03 1.26126477e+02] [ 9.51020164e-01 -3.08464811e-01 -2.02511470e-02 1.18088856e+02] [ 2.11531465e-02 -4.19967347e-04 9.99776159e-01 3.77888146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96275509600002 meters 0.019755260465948356 Centerline is valid? [True, True] Translation: X:126.12, Y:118.11, Z:3.78 [[-3.08596097e-01 -9.51174121e-01 6.02003438e-03 1.26119083e+02] [ 9.50966550e-01 -3.08654541e-01 -1.98745048e-02 1.18113007e+02] [ 2.07622256e-02 -4.08343308e-04 9.99784358e-01 3.78004816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99275509600002 meters 0.019828639178660644 Centerline is valid? [True, True] Translation: X:126.11, Y:118.14, Z:3.78 [[-3.08929317e-01 -9.51066226e-01 5.97585335e-03 1.26111168e+02] [ 9.50862142e-01 -3.08986843e-01 -1.97057892e-02 1.18138543e+02] [ 2.05879707e-02 -4.05483296e-04 9.99787963e-01 3.78049667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02275509600003 meters 0.01958910092177883 Centerline is valid? [True, True] Translation: X:126.10, Y:118.16, Z:3.78 [[-3.09775037e-01 -9.50790298e-01 6.10205909e-03 1.26102155e+02] [ 9.50578051e-01 -3.09834842e-01 -2.00932799e-02 1.18164558e+02] [ 2.09951261e-02 -4.23913075e-04 9.99779488e-01 3.78091907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05275509600003 meters 0.02095194876183568 Centerline is valid? [True, True] Translation: X:126.10, Y:118.19, Z:3.78 [[-3.11204703e-01 -9.50323825e-01 6.02175544e-03 1.26096892e+02] [ 9.50117559e-01 -3.11262644e-01 -1.98037898e-02 1.18189865e+02] [ 2.06943608e-02 -4.41656949e-04 9.99785751e-01 3.78171514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08275509600003 meters 0.02119514393366596 Centerline is valid? [True, True] Translation: X:126.09, Y:118.22, Z:3.78 [[-3.12153010e-01 -9.50013198e-01 5.95163547e-03 1.26089382e+02] [ 9.49812088e-01 -3.12209419e-01 -1.95518799e-02 1.18215583e+02] [ 2.04327006e-02 -4.50242858e-04 9.99791129e-01 3.78231703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.112755096 meters 0.021210981958907672 Centerline is valid? [True, True] Translation: X:126.08, Y:118.24, Z:3.78 [[-3.13283157e-01 -9.49640712e-01 6.01508086e-03 1.26081467e+02] [ 9.49435789e-01 -3.13340543e-01 -1.97328688e-02 1.18240639e+02] [ 2.06239043e-02 -4.71042383e-04 9.99787194e-01 3.78278375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.142755096 meters 0.021511850348418134 Centerline is valid? [True, True] Translation: X:126.07, Y:118.27, Z:3.78 [[-3.15086988e-01 -9.49044956e-01 5.81907172e-03 1.26073713e+02] [ 9.48853582e-01 -3.15140343e-01 -1.90642252e-02 1.18267034e+02] [ 1.99266310e-02 -4.85442252e-04 9.99801327e-01 3.78404411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.172755096 meters 0.022260983462046594 Centerline is valid? [True, True] Translation: X:126.07, Y:118.29, Z:3.78 [[-3.16121033e-01 -9.48701354e-01 5.76486176e-03 1.26067111e+02] [ 9.48513943e-01 -3.16173206e-01 -1.88627771e-02 1.18291709e+02] [ 1.97178370e-02 -4.94868831e-04 9.99805462e-01 3.78488886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.202755096 meters 0.02350515979756059 Centerline is valid? [True, True] Translation: X:126.06, Y:118.32, Z:3.79 [[-3.18469248e-01 -9.47916013e-01 5.70695457e-03 1.26060967e+02] [ 9.47732746e-01 -3.18519938e-01 -1.86464836e-02 1.18316676e+02] [ 1.94930792e-02 -5.29663892e-04 9.99809852e-01 3.78570403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.232755096 meters 0.02419421766225805 Centerline is valid? [True, True] Translation: X:126.05, Y:118.34, Z:3.79 [[-3.19849694e-01 -9.47451229e-01 5.68694942e-03 1.26053606e+02] [ 9.47269615e-01 -3.19899777e-01 -1.85582616e-02 1.18343315e+02] [ 1.94023016e-02 -5.48779907e-04 9.99811607e-01 3.78644926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.262755096 meters 0.025348339357427814 Centerline is valid? [True, True] Translation: X:126.05, Y:118.37, Z:3.79 [[-3.22711183e-01 -9.46479674e-01 5.80685809e-03 1.26047330e+02] [ 9.46290628e-01 -3.22762841e-01 -1.89260384e-02 1.18370276e+02] [ 1.97873487e-02 -6.12668857e-04 9.99804024e-01 3.78664736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.292755096 meters 0.027203966199727064 Centerline is valid? [True, True] Translation: X:126.04, Y:118.40, Z:3.79 [[-3.24722570e-01 -9.45790848e-01 5.90970419e-03 1.26042458e+02] [ 9.45595409e-01 -3.24775673e-01 -1.92375981e-02 1.18395662e+02] [ 2.01140724e-02 -6.58693134e-04 9.99797475e-01 3.78666252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.322755096 meters 0.02692501402367668 Centerline is valid? [True, True] Translation: X:126.03, Y:118.42, Z:3.79 [[-3.26491352e-01 -9.45180906e-01 6.03751792e-03 1.26033988e+02] [ 9.44977243e-01 -3.26546410e-01 -1.96329495e-02 1.18421019e+02] [ 2.05282188e-02 -7.04671173e-04 9.99789026e-01 3.78689123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.352755096 meters 0.02727772570373055 Centerline is valid? [True, True] Translation: X:126.03, Y:118.45, Z:3.79 [[-3.29212888e-01 -9.44235206e-01 6.22489792e-03 1.26025667e+02] [ 9.44019102e-01 -3.29270814e-01 -2.02154809e-02 1.18447017e+02] [ 2.11378460e-02 -7.78774311e-04 9.99776267e-01 3.78669518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.382755096 meters 0.031269674156968075 Centerline is valid? [True, True] Translation: X:126.02, Y:118.47, Z:3.79 [[-3.30511699e-01 -9.43780628e-01 6.33586074e-03 1.26023092e+02] [ 9.43557232e-01 -3.30571421e-01 -2.05495798e-02 1.18473277e+02] [ 2.14887498e-02 -8.13629307e-04 9.99768759e-01 3.78637373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.412755096 meters 0.032589358157561615 Centerline is valid? [True, True] Translation: X:126.02, Y:118.50, Z:3.79 [[-3.31536746e-01 -9.43418644e-01 6.68196757e-03 1.26017213e+02] [ 9.43170771e-01 -3.31602926e-01 -2.16424742e-02 1.18497944e+02] [ 2.26336737e-02 -8.73038981e-04 9.99743444e-01 3.78557576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.442755096 meters 0.02739788020947208 Centerline is valid? [True, True] Translation: X:126.00, Y:118.52, Z:3.79 [[-3.31785206e-01 -9.43330817e-01 6.74888153e-03 1.26001896e+02] [ 9.43078616e-01 -3.31852677e-01 -2.18294285e-02 1.18521150e+02] [ 2.28320070e-02 -8.77955577e-04 9.99738930e-01 3.78629813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47275509600001 meters 0.026365815875268206 Centerline is valid? [True, True] Translation: X:125.99, Y:118.55, Z:3.79 [[-3.31878240e-01 -9.43297217e-01 6.86977476e-03 1.25991957e+02] [ 9.43036618e-01 -3.31948152e-01 -2.21892251e-02 1.18546964e+02] [ 2.32114433e-02 -8.85671816e-04 9.99730186e-01 3.78666434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50275509600002 meters 0.02628496409645709 Centerline is valid? [True, True] Translation: X:125.98, Y:118.57, Z:3.79 [[-3.31703650e-01 -9.43358530e-01 6.88275375e-03 1.25983480e+02] [ 9.43097627e-01 -3.31773900e-01 -2.22023830e-02 1.18573172e+02] [ 2.32283254e-02 -8.73502751e-04 9.99729804e-01 3.78699415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53275509600002 meters 0.02608097713103642 Centerline is valid? [True, True] Translation: X:125.98, Y:118.60, Z:3.79 [[-3.30511480e-01 -9.43778192e-01 6.69970856e-03 1.25975172e+02] [ 9.43531658e-01 -3.30578377e-01 -2.15857924e-02 1.18598016e+02] [ 2.25869789e-02 -8.12965078e-04 9.99744551e-01 3.78840869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56275509600002 meters 0.026476506408416596 Centerline is valid? [True, True] Translation: X:125.97, Y:118.62, Z:3.79 [[-3.29825190e-01 -9.44018873e-01 6.61150190e-03 1.25967506e+02] [ 9.43779329e-01 -3.29890530e-01 -2.12795087e-02 1.18622689e+02] [ 2.22693297e-02 -7.78719182e-04 9.99751704e-01 3.78934382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59275509600002 meters 0.02476497414263418 Centerline is valid? [True, True] Translation: X:125.96, Y:118.65, Z:3.79 [[-3.27491897e-01 -9.44832476e-01 6.37568340e-03 1.25955296e+02] [ 9.44610429e-01 -3.27553228e-01 -2.04944174e-02 1.18648028e+02] [ 2.14521669e-02 -6.89218629e-04 9.99769638e-01 3.79089855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62275509600002 meters 0.02396240743282626 Centerline is valid? [True, True] Translation: X:125.95, Y:118.67, Z:3.79 [[-3.26172796e-01 -9.45289030e-01 6.32114624e-03 1.25945741e+02] [ 9.45071362e-01 -3.26233402e-01 -2.02950187e-02 1.18673171e+02] [ 2.12468276e-02 -6.45748720e-04 9.99774052e-01 3.79180243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65275509600002 meters 0.02371552428383761 Centerline is valid? [True, True] Translation: X:125.94, Y:118.70, Z:3.79 [[-3.24846550e-01 -9.45746863e-01 6.13104421e-03 1.25936527e+02] [ 9.45542667e-01 -3.24903868e-01 -1.96606593e-02 1.18698483e+02] [ 2.05860068e-02 -5.89533439e-04 9.99787912e-01 3.79162142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68275509600002 meters 0.022263631891497142 Centerline is valid? [True, True] Translation: X:125.93, Y:118.72, Z:3.79 [[-3.23389056e-01 -9.46246075e-01 6.15507240e-03 1.25925915e+02] [ 9.46040875e-01 -3.23447154e-01 -1.97129516e-02 1.18724059e+02] [ 2.06441437e-02 -5.52002721e-04 9.99786735e-01 3.79348739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71275509600002 meters 0.021463974982992847 Centerline is valid? [True, True] Translation: X:125.92, Y:118.75, Z:3.79 [[-3.20708512e-01 -9.47158907e-01 6.00453175e-03 1.25915809e+02] [ 9.46964261e-01 -3.20764368e-01 -1.92070197e-02 1.18748947e+02] [ 2.01181396e-02 -4.73777745e-04 9.99797498e-01 3.79474950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74275509600002 meters 0.020605433546605368 Centerline is valid? [True, True] Translation: X:125.91, Y:118.77, Z:3.80 [[-3.19833283e-01 -9.47455448e-01 5.90305968e-03 1.25905416e+02] [ 9.47267837e-01 -3.19887451e-01 -1.88590476e-02 1.18773726e+02] [ 1.97564221e-02 -4.39972519e-04 9.99804726e-01 3.79515991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77275509600003 meters 0.020693032991779072 Centerline is valid? [True, True] Translation: X:125.90, Y:118.80, Z:3.79 [[-3.18000063e-01 -9.48071576e-01 6.02054556e-03 1.25896157e+02] [ 9.47877078e-01 -3.18056796e-01 -1.92072506e-02 1.18798414e+02] [ 2.01247238e-02 -4.01169767e-04 9.99797397e-01 3.79478466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80275509600003 meters 0.020484123018707785 Centerline is valid? [True, True] Translation: X:125.89, Y:118.82, Z:3.80 [[-3.17590922e-01 -9.48209146e-01 5.95163662e-03 1.25887717e+02] [ 9.48019590e-01 -3.17646457e-01 -1.89627403e-02 1.18822172e+02] [ 1.98711601e-02 -3.80126069e-04 9.99802477e-01 3.79548272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83275509600003 meters 0.02052004595493757 Centerline is valid? [True, True] Translation: X:125.88, Y:118.85, Z:3.80 [[-3.17714270e-01 -9.48168159e-01 5.89789476e-03 1.25879802e+02] [ 9.47982506e-01 -3.17768792e-01 -1.87660292e-02 1.18847519e+02] [ 1.96675183e-02 -3.71134233e-04 9.99806507e-01 3.79565870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.862755096 meters 0.019305774127398454 Centerline is valid? [True, True] Translation: X:125.87, Y:118.87, Z:3.80 [[-3.18312412e-01 -9.47967001e-01 5.98108645e-03 1.25869941e+02] [ 9.47776534e-01 -3.18368372e-01 -1.90058272e-02 1.18872668e+02] [ 1.99210858e-02 -3.81057323e-04 9.99801483e-01 3.79601024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.892755096 meters 0.02050822569561229 Centerline is valid? [True, True] Translation: X:125.86, Y:118.90, Z:3.79 [[-3.19701501e-01 -9.47498107e-01 6.18767165e-03 1.25863973e+02] [ 9.47294685e-01 -3.19761104e-01 -1.96371300e-02 1.18898826e+02] [ 2.05847202e-02 -4.16471483e-04 9.99788025e-01 3.79446335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.922755096 meters 0.02050822569561229 Centerline is valid? [True, True] Translation: X:125.86, Y:118.92, Z:3.79 [[-3.20045507e-01 -9.47381927e-01 6.19335789e-03 1.25855733e+02] [ 9.47178518e-01 -3.20105154e-01 -1.96353366e-02 1.18924282e+02] [ 2.05846888e-02 -4.17985693e-04 9.99788025e-01 3.79496283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.952755096 meters 0.020195754981354008 Centerline is valid? [True, True] Translation: X:125.85, Y:118.95, Z:3.80 [[-3.22025870e-01 -9.46708875e-01 6.45327361e-03 1.25848937e+02] [ 9.46488472e-01 -3.22090178e-01 -2.04325690e-02 1.18950713e+02] [ 2.14222304e-02 -4.71866710e-04 9.99770406e-01 3.79638475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.982755096 meters 0.02075363503429927 Centerline is valid? [True, True] Translation: X:125.84, Y:118.98, Z:3.80 [[-3.23609899e-01 -9.46168084e-01 6.52616650e-03 1.25841464e+02] [ 9.45943134e-01 -3.23675304e-01 -2.06369667e-02 1.18977403e+02] [ 2.16383982e-02 -5.04944313e-04 9.99765735e-01 3.79629034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.012755096 meters 0.02207907844824213 Centerline is valid? [True, True] Translation: X:125.84, Y:119.00, Z:3.80 [[-3.24923597e-01 -9.45716691e-01 6.67812044e-03 1.25835951e+02] [ 9.45481651e-01 -3.24991771e-01 -2.10902042e-02 1.19003333e+02] [ 2.21156923e-02 -5.38664668e-04 9.99755273e-01 3.79620835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.042755096 meters 0.023160750353467992 Centerline is valid? [True, True] Translation: X:125.83, Y:119.03, Z:3.80 [[-3.27457793e-01 -9.44841650e-01 6.75643319e-03 1.25830369e+02] [ 9.44601503e-01 -3.27526946e-01 -2.13096028e-02 1.19030469e+02] [ 2.23471142e-02 -5.95858554e-04 9.99750095e-01 3.79640032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.072755096 meters 0.023328009477120375 Centerline is valid? [True, True] Translation: X:125.82, Y:119.06, Z:3.80 [[-3.29030868e-01 -9.44295721e-01 6.65425764e-03 1.25823056e+02] [ 9.44063222e-01 -3.29097573e-01 -2.09623571e-02 1.19056854e+02] [ 2.19845641e-02 -6.15222635e-04 9.99758121e-01 3.79704042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.102755096 meters 0.025853069301223303 Centerline is valid? [True, True] Translation: X:125.82, Y:119.08, Z:3.80 [[-3.30820121e-01 -9.43669835e-01 6.72973724e-03 1.25819469e+02] [ 9.43432486e-01 -3.30887914e-01 -2.11738458e-02 1.19083470e+02] [ 2.22079083e-02 -6.55681493e-04 9.99753159e-01 3.79734183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.132755096 meters 0.025207835781773814 Centerline is valid? [True, True] Translation: X:125.81, Y:119.11, Z:3.80 [[-3.33511797e-01 -9.42721914e-01 6.72856400e-03 1.25811648e+02] [ 9.42485055e-01 -3.33578908e-01 -2.11431585e-02 1.19109070e+02] [ 2.21766259e-02 -7.09921756e-04 9.99753816e-01 3.79777555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.162755096 meters 0.025303251890766022 Centerline is valid? [True, True] Translation: X:125.80, Y:119.13, Z:3.80 [[-3.34759046e-01 -9.42279405e-01 6.77531642e-03 1.25804148e+02] [ 9.42039759e-01 -3.34826795e-01 -2.12628616e-02 1.19134938e+02] [ 2.23041141e-02 -7.35317807e-04 9.99750962e-01 3.79856432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.192755096 meters 0.02620995695368753 Centerline is valid? [True, True] Translation: X:125.80, Y:119.16, Z:3.80 [[-3.36698337e-01 -9.41587260e-01 6.90381296e-03 1.25798395e+02] [ 9.41338909e-01 -3.36768189e-01 -2.16389722e-02 1.19161239e+02] [ 2.26999651e-02 -7.86978180e-04 9.99742013e-01 3.79877358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22275509600001 meters 0.02620995695368753 Centerline is valid? [True, True] Translation: X:125.79, Y:119.19, Z:3.80 [[-3.37067552e-01 -9.41455092e-01 6.91196406e-03 1.25790266e+02] [ 9.41206767e-01 -3.37137494e-01 -2.16363685e-02 1.19185881e+02] [ 2.26999515e-02 -7.87330426e-04 9.99742013e-01 3.79925729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25275509600002 meters 0.027892620544565157 Centerline is valid? [True, True] Translation: X:125.79, Y:119.21, Z:3.80 [[-3.37916264e-01 -9.41150157e-01 6.99852754e-03 1.25785121e+02] [ 9.40896187e-01 -3.37987764e-01 -2.18777773e-02 1.19211865e+02] [ 2.29556902e-02 -8.07968909e-04 9.99736157e-01 3.79928638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28275509600002 meters 0.030570855902258557 Centerline is valid? [True, True] Translation: X:125.78, Y:119.24, Z:3.80 [[-3.38205148e-01 -9.41044295e-01 7.27412108e-03 1.25780405e+02] [ 9.40770621e-01 -3.38282329e-01 -2.27091284e-02 1.19237238e+02] [ 2.38310024e-02 -8.37064735e-04 9.99715651e-01 3.79723446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31275509600002 meters 0.02582725040440528 Centerline is valid? [True, True] Translation: X:125.77, Y:119.26, Z:3.80 [[-3.37961312e-01 -9.41129737e-01 7.54782057e-03 1.25767323e+02] [ 9.40835909e-01 -3.38044514e-01 -2.35308053e-02 1.19261174e+02] [ 2.46970400e-02 -8.51241211e-04 9.99694619e-01 3.80036407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34275509600002 meters 0.02647719507070732 Centerline is valid? [True, True] Translation: X:125.76, Y:119.29, Z:3.80 [[-3.37720817e-01 -9.41215786e-01 7.58240256e-03 1.25760660e+02] [ 9.40920087e-01 -3.37804887e-01 -2.36061007e-02 1.19285466e+02] [ 2.47798073e-02 -8.37836758e-04 9.99692582e-01 3.80091468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37275509600002 meters 0.02460196751370662 Centerline is valid? [True, True] Translation: X:125.75, Y:119.31, Z:3.80 [[-3.35983184e-01 -9.41837452e-01 7.58380069e-03 1.25749733e+02] [ 9.41542588e-01 -3.36067855e-01 -2.35786296e-02 1.19311140e+02] [ 2.47559080e-02 -7.81551702e-04 9.99693220e-01 3.80207937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40275509600002 meters 0.024136028597476746 Centerline is valid? [True, True] Translation: X:125.74, Y:119.34, Z:3.80 [[-3.35281639e-01 -9.42087598e-01 7.56176463e-03 1.25740477e+02] [ 9.41795183e-01 -3.35366058e-01 -2.34827745e-02 1.19336993e+02] [ 2.46587898e-02 -7.51709618e-04 9.99695643e-01 3.80304093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43275509600002 meters 0.023727272591317603 Centerline is valid? [True, True] Translation: X:125.73, Y:119.36, Z:3.80 [[-3.34385708e-01 -9.42406700e-01 7.47062912e-03 1.25731387e+02] [ 9.42122050e-01 -3.34468396e-01 -2.31718552e-02 1.19362737e+02] [ 2.43360009e-02 -7.10092789e-04 9.99703583e-01 3.80394559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46275509600002 meters 0.02298336972321175 Centerline is valid? [True, True] Translation: X:125.72, Y:119.39, Z:3.81 [[-3.32469195e-01 -9.43085541e-01 7.34150402e-03 1.25722045e+02] [ 9.42811427e-01 -3.32549625e-01 -2.27455645e-02 1.19387233e+02] [ 2.38924274e-02 -6.40545656e-04 9.99714330e-01 3.80547568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49275509600002 meters 0.022868623138093597 Centerline is valid? [True, True] Translation: X:125.71, Y:119.41, Z:3.81 [[-3.32125891e-01 -9.43206859e-01 7.29476637e-03 1.25713709e+02] [ 9.42936796e-01 -3.32205413e-01 -2.25779190e-02 1.19411869e+02] [ 2.37190089e-02 -6.20207827e-04 9.99718472e-01 3.80618884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52275509600003 meters 0.021270110545486498 Centerline is valid? [True, True] Translation: X:125.70, Y:119.44, Z:3.81 [[-3.31137431e-01 -9.43556593e-01 6.99704050e-03 1.25703440e+02] [ 9.43308828e-01 -3.31210871e-01 -2.16290233e-02 1.19437215e+02] [ 2.27257034e-02 -5.61809124e-04 9.99741580e-01 3.80815581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55275509600003 meters 0.021399321587527827 Centerline is valid? [True, True] Translation: X:125.70, Y:119.46, Z:3.81 [[-3.31088100e-01 -9.43574889e-01 6.86285645e-03 1.25695846e+02] [ 9.43337124e-01 -3.31158778e-01 -2.11880476e-02 1.19462268e+02] [ 2.22652048e-02 -5.41123166e-04 9.99751953e-01 3.80916140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58275509600003 meters 0.02256418172668147 Centerline is valid? [True, True] Translation: X:125.69, Y:119.49, Z:3.81 [[-3.30763431e-01 -9.43687447e-01 7.03950327e-03 1.25689105e+02] [ 9.43437978e-01 -3.30837895e-01 -2.17041030e-02 1.19486540e+02] [ 2.28108240e-02 -5.37588852e-04 9.99739655e-01 3.80870080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.612755096 meters 0.021084547798672196 Centerline is valid? [True, True] Translation: X:125.68, Y:119.51, Z:3.81 [[-3.30630923e-01 -9.43734065e-01 7.01474808e-03 1.25679337e+02] [ 9.43487046e-01 -3.30704915e-01 -2.15975485e-02 1.19511102e+02] [ 2.27021539e-02 -5.22493438e-04 9.99742136e-01 3.81076098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.642755096 meters 0.02185079059755806 Centerline is valid? [True, True] Translation: X:125.67, Y:119.54, Z:3.81 [[-3.31422386e-01 -9.43454395e-01 7.28056496e-03 1.25670163e+02] [ 9.43188948e-01 -3.31501885e-01 -2.23854749e-02 1.19536815e+02] [ 2.35331957e-02 -5.52099099e-04 9.99722904e-01 3.80972254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.672755096 meters 0.02099584667408662 Centerline is valid? [True, True] Translation: X:125.66, Y:119.56, Z:3.81 [[-3.31661146e-01 -9.43371929e-01 7.09136500e-03 1.25661710e+02] [ 9.43120692e-01 -3.31736518e-01 -2.17771367e-02 1.19561318e+02] [ 2.28964041e-02 -5.34617031e-04 9.99737700e-01 3.81206460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.702755096 meters 0.02137839374513571 Centerline is valid? [True, True] Translation: X:125.65, Y:119.59, Z:3.81 [[-3.32618421e-01 -9.43034434e-01 7.14439002e-03 1.25653806e+02] [ 9.42780031e-01 -3.32694681e-01 -2.19103023e-02 1.19586448e+02] [ 2.30390701e-02 -5.52181907e-04 9.99734413e-01 3.81258103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.732755096 meters 0.024674631121189835 Centerline is valid? [True, True] Translation: X:125.65, Y:119.61, Z:3.81 [[-3.35320825e-01 -9.42072875e-01 7.65785489e-03 1.25646593e+02] [ 9.41781131e-01 -3.35407622e-01 -2.34526689e-02 1.19612907e+02] [ 2.46626261e-02 -6.52145023e-04 9.99695618e-01 3.80978062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.762755096 meters 0.022367603800640838 Centerline is valid? [True, True] Translation: X:125.64, Y:119.64, Z:3.81 [[-3.36266810e-01 -9.41738108e-01 7.34635082e-03 1.25638778e+02] [ 9.41470177e-01 -3.36346438e-01 -2.24717299e-02 1.19638381e+02] [ 2.36334033e-02 -6.40126713e-04 9.99720487e-01 3.81396705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.792755096 meters 0.023256859333598365 Centerline is valid? [True, True] Translation: X:125.63, Y:119.66, Z:3.81 [[-3.38188595e-01 -9.41049175e-01 7.41106418e-03 1.25631687e+02] [ 9.40777052e-01 -3.38269096e-01 -2.26397453e-02 1.19664902e+02] [ 2.38120476e-02 -6.84344536e-04 9.99716219e-01 3.81466456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.822755096 meters 0.026215333375509072 Centerline is valid? [True, True] Translation: X:125.62, Y:119.69, Z:3.81 [[-3.40885575e-01 -9.40073080e-01 7.72201379e-03 1.25624968e+02] [ 9.39778110e-01 -3.40972147e-01 -2.35605396e-02 1.19691449e+02] [ 2.47816207e-02 -7.74468574e-04 9.99692588e-01 3.81248472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.852755096 meters 0.025674538775790953 Centerline is valid? [True, True] Translation: X:125.62, Y:119.72, Z:3.82 [[-3.43618574e-01 -9.39079793e-01 7.44437088e-03 1.25618678e+02] [ 9.38806052e-01 -3.43698257e-01 -2.26870941e-02 1.19718222e+02] [ 2.38636089e-02 -8.06886477e-04 9.99714898e-01 3.81697359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.882755096 meters 0.027400542244834368 Centerline is valid? [True, True] Translation: X:125.61, Y:119.74, Z:3.82 [[-3.44962854e-01 -9.38587321e-01 7.38038612e-03 1.25612796e+02] [ 9.38318754e-01 -3.45040809e-01 -2.24667885e-02 1.19743548e+02] [ 2.36335772e-02 -8.25052769e-04 9.99720348e-01 3.81736127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.912755096 meters 0.028135001686613665 Centerline is valid? [True, True] Translation: X:125.60, Y:119.77, Z:3.82 [[-3.46883798e-01 -9.37877969e-01 7.51971541e-03 1.25604699e+02] [ 9.37599541e-01 -3.46964173e-01 -2.28683989e-02 1.19769663e+02] [ 2.40568393e-02 -8.82195347e-04 9.99710203e-01 3.81783867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.942755096 meters 0.027521732011760208 Centerline is valid? [True, True] Translation: X:125.60, Y:119.79, Z:3.82 [[-3.47721631e-01 -9.37567578e-01 7.53020394e-03 1.25595173e+02] [ 9.37288959e-01 -3.47802005e-01 -2.28729524e-02 1.19794159e+02] [ 2.40639586e-02 -8.95443280e-04 9.99710020e-01 3.81847940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97275509600001 meters 0.02647909956591431 Centerline is valid? [True, True] Translation: X:125.59, Y:119.82, Z:3.82 [[-3.47916437e-01 -9.37494134e-01 7.67475026e-03 1.25585148e+02] [ 9.37205444e-01 -3.47999894e-01 -2.32815315e-02 1.19819214e+02] [ 2.44971115e-02 -9.07209786e-04 9.99699489e-01 3.81945847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00275509600002 meters 0.02815642275429389 Centerline is valid? [True, True] Translation: X:125.58, Y:119.84, Z:3.82 [[-3.48376311e-01 -9.37321960e-01 7.84158033e-03 1.25577524e+02] [ 9.37021276e-01 -3.48463314e-01 -2.37580829e-02 1.19844236e+02] [ 2.50014759e-02 -9.29025660e-04 9.99686983e-01 3.81796140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03275509600002 meters 0.026392421041464213 Centerline is valid? [True, True] Translation: X:125.57, Y:119.87, Z:3.82 [[-3.47127223e-01 -9.37785537e-01 7.80885162e-03 1.25567870e+02] [ 9.37488204e-01 -3.47213925e-01 -2.36295882e-02 1.19869597e+02] [ 2.48708281e-02 -8.81767046e-04 9.99690284e-01 3.82038895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06275509600002 meters 0.025660772507884375 Centerline is valid? [True, True] Translation: X:125.56, Y:119.89, Z:3.82 [[-3.44461902e-01 -9.38765446e-01 8.08916753e-03 1.25555892e+02] [ 9.38447414e-01 -3.44555870e-01 -2.44479778e-02 1.19894656e+02] [ 2.57380870e-02 -8.30138598e-04 9.99668376e-01 3.81911468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09275509600002 meters 0.025298761401781885 Centerline is valid? [True, True] Translation: X:125.55, Y:119.92, Z:3.82 [[-3.42781324e-01 -9.39380078e-01 8.12612698e-03 1.25545080e+02] [ 9.39060059e-01 -3.42876749e-01 -2.45304178e-02 1.19919996e+02] [ 2.58296458e-02 -7.77647795e-04 9.99666057e-01 3.81903949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12275509600002 meters 0.024560324929410658 Centerline is valid? [True, True] Translation: X:125.54, Y:119.95, Z:3.82 [[-3.39827570e-01 -9.40453436e-01 8.03474371e-03 1.25536092e+02] [ 9.40141594e-01 -3.39921863e-01 -2.42262315e-02 1.19945154e+02] [ 2.55148277e-02 -6.78944620e-04 9.99674213e-01 3.82065435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15275509600002 meters 0.02071331959825274 Centerline is valid? [True, True] Translation: X:125.52, Y:119.97, Z:3.82 [[-3.34632538e-01 -9.42315968e-01 7.85375949e-03 1.25519167e+02] [ 9.42019201e-01 -3.34724289e-01 -2.36532325e-02 1.19968154e+02] [ 2.49176627e-02 -5.16748980e-04 9.99689373e-01 3.82195323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18275509600002 meters 0.019846885326648384 Centerline is valid? [True, True] Translation: X:125.51, Y:119.99, Z:3.82 [[-3.32678878e-01 -9.43006832e-01 7.92960575e-03 1.25507990e+02] [ 9.42705210e-01 -3.32773050e-01 -2.38533924e-02 1.19992910e+02] [ 2.51326711e-02 -4.60239178e-04 9.99684019e-01 3.82236386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21275509600002 meters 0.018382460936432966 Centerline is valid? [True, True] Translation: X:125.49, Y:120.02, Z:3.82 [[-3.29756009e-01 -9.44034065e-01 7.78840822e-03 1.25494794e+02] [ 9.43744033e-01 -3.29847769e-01 -2.34019232e-02 1.20017554e+02] [ 2.46612017e-02 -3.66661015e-04 9.99695799e-01 3.82298523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24275509600002 meters 0.018374830329946294 Centerline is valid? [True, True] Translation: X:125.49, Y:120.04, Z:3.82 [[-3.29366340e-01 -9.44170851e-01 7.69537104e-03 1.25485763e+02] [ 9.43888383e-01 -3.29456047e-01 -2.30961819e-02 1.20041038e+02] [ 2.43420283e-02 -3.43533589e-04 9.99703630e-01 3.82337588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27275509600003 meters 0.01809982987675563 Centerline is valid? [True, True] Translation: X:125.48, Y:120.07, Z:3.82 [[-3.29185713e-01 -9.44235485e-01 7.49107067e-03 1.25476038e+02] [ 9.43968406e-01 -3.29270779e-01 -2.24589159e-02 1.20065536e+02] [ 2.36730960e-02 -3.21820199e-04 9.99719701e-01 3.82428264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30275509600003 meters 0.018414802080556746 Centerline is valid? [True, True] Translation: X:125.47, Y:120.09, Z:3.82 [[-3.29616508e-01 -9.44086244e-01 7.35677363e-03 1.25467971e+02] [ 9.43829252e-01 -3.29698443e-01 -2.20290841e-02 1.20089386e+02] [ 2.32228721e-02 -3.17611627e-04 9.99730262e-01 3.82470340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33275509600003 meters 0.0186814042076287 Centerline is valid? [True, True] Translation: X:125.46, Y:120.11, Z:3.82 [[-3.31105167e-01 -9.43565655e-01 7.29540061e-03 1.25458587e+02] [ 9.43313347e-01 -3.31185351e-01 -2.18218185e-02 1.20113866e+02] [ 2.30064483e-02 -3.43468102e-04 9.99735258e-01 3.82491204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.362755096 meters 0.021428842169160422 Centerline is valid? [True, True] Translation: X:125.45, Y:120.14, Z:3.82 [[-3.33188489e-01 -9.42831944e-01 7.30451646e-03 1.25450232e+02] [ 9.42579464e-01 -3.33268325e-01 -2.18214918e-02 1.20139385e+02] [ 2.30083635e-02 -3.85582674e-04 9.99735198e-01 3.82298160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.392755096 meters 0.0205887217296782 Centerline is valid? [True, True] Translation: X:125.44, Y:120.17, Z:3.83 [[-3.36565796e-01 -9.41635554e-01 6.77848911e-03 1.25442920e+02] [ 9.41418360e-01 -3.36633778e-01 -2.02279742e-02 1.20165821e+02] [ 2.13292481e-02 -4.26650140e-04 9.99772415e-01 3.82542494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.422755096 meters 0.02351681544924611 Centerline is valid? [True, True] Translation: X:125.44, Y:120.19, Z:3.83 [[-3.39025102e-01 -9.40754082e-01 6.61341743e-03 1.25438778e+02] [ 9.40547648e-01 -3.39089285e-01 -1.97123874e-02 1.20192087e+02] [ 2.07870479e-02 -4.62759965e-04 9.99783819e-01 3.82545145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.452755096 meters 0.024056352748089444 Centerline is valid? [True, True] Translation: X:125.43, Y:120.22, Z:3.83 [[-3.42825244e-01 -9.39377897e-01 6.32603146e-03 1.25432688e+02] [ 9.39189226e-01 -3.42883218e-01 -1.88334048e-02 1.20217844e+02] [ 1.98607742e-02 -5.15226013e-04 9.99802623e-01 3.82798804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.482755096 meters 0.024237408166187115 Centerline is valid? [True, True] Translation: X:125.42, Y:120.24, Z:3.83 [[-3.45923437e-01 -9.38241335e-01 6.33823240e-03 1.25421496e+02] [ 9.38052204e-01 -3.45981022e-01 -1.88465902e-02 1.20242966e+02] [ 1.98755581e-02 -5.73884365e-04 9.99802297e-01 3.82639909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.512755096 meters 0.0242121717190277 Centerline is valid? [True, True] Translation: X:125.41, Y:120.27, Z:3.83 [[-3.47812127e-01 -9.37543509e-01 6.23648288e-03 1.25414869e+02] [ 9.37360717e-01 -3.47867523e-01 -1.85222218e-02 1.20267959e+02] [ 1.95348587e-02 -5.96419295e-04 9.99808999e-01 3.82834585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.542755096 meters 0.02542806104481521 Centerline is valid? [True, True] Translation: X:125.41, Y:120.29, Z:3.83 [[-3.50512941e-01 -9.36536893e-01 6.27111488e-03 1.25405866e+02] [ 9.36352275e-01 -3.50568433e-01 -1.86062222e-02 1.20293099e+02] [ 1.96238685e-02 -6.49748993e-04 9.99807222e-01 3.82683462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.572755096 meters 0.026471162151700825 Centerline is valid? [True, True] Translation: X:125.40, Y:120.32, Z:3.83 [[-3.52699184e-01 -9.35716200e-01 6.20315289e-03 1.25399744e+02] [ 9.35535890e-01 -3.52753074e-01 -1.83811824e-02 1.20319013e+02] [ 1.93877514e-02 -6.79755885e-04 9.99811809e-01 3.82817050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.602755096 meters 0.026131023962240665 Centerline is valid? [True, True] Translation: X:125.39, Y:120.34, Z:3.83 [[-3.53510446e-01 -9.35409349e-01 6.30189762e-03 1.25389851e+02] [ 9.35223675e-01 -3.53565921e-01 -1.86498630e-02 1.20344476e+02] [ 1.96733925e-02 -6.99237544e-04 9.99806216e-01 3.82852538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.632755096 meters 0.02681034987878271 Centerline is valid? [True, True] Translation: X:125.38, Y:120.37, Z:3.83 [[-3.53638929e-01 -9.35360452e-01 6.35072899e-03 1.25382258e+02] [ 9.35172331e-01 -3.53695257e-01 -1.87716768e-02 1.20368960e+02] [ 1.98045068e-02 -6.99369655e-04 9.99803627e-01 3.82864804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.662755096 meters 0.02724957904000129 Centerline is valid? [True, True] Translation: X:125.37, Y:120.39, Z:3.83 [[-3.53452503e-01 -9.35430265e-01 6.44566258e-03 1.25370715e+02] [ 9.35237021e-01 -3.53510585e-01 -1.90258210e-02 1.20393064e+02] [ 2.00759387e-02 -6.96501792e-04 9.99798215e-01 3.82552095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.692755096 meters 0.026767594812426906 Centerline is valid? [True, True] Translation: X:125.36, Y:120.42, Z:3.83 [[-3.51975296e-01 -9.35986173e-01 6.57829494e-03 1.25363140e+02] [ 9.35785519e-01 -3.52036128e-01 -1.93914167e-02 1.20418785e+02] [ 2.04658954e-02 -6.69426498e-04 9.99790328e-01 3.82772770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72275509600001 meters 0.025846305301013634 Centerline is valid? [True, True] Translation: X:125.35, Y:120.44, Z:3.83 [[-3.51692949e-01 -9.36091904e-01 6.63459235e-03 1.25351065e+02] [ 9.35888301e-01 -3.51754903e-01 -1.95339816e-02 1.20442427e+02] [ 2.06193524e-02 -6.60726217e-04 9.99787180e-01 3.82602115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75275509600002 meters 0.025442948579137637 Centerline is valid? [True, True] Translation: X:125.34, Y:120.47, Z:3.82 [[-3.49921916e-01 -9.36755315e-01 6.64322657e-03 1.25338907e+02] [ 9.36551821e-01 -3.49984432e-01 -1.95341706e-02 1.20467252e+02] [ 2.06237640e-02 -6.13708437e-04 9.99787119e-01 3.82463475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78275509600002 meters 0.023527283109043992 Centerline is valid? [True, True] Translation: X:125.33, Y:120.49, Z:3.83 [[-3.48624469e-01 -9.37239896e-01 6.50823077e-03 1.25329229e+02] [ 9.37045116e-01 -3.48684754e-01 -1.91152423e-02 1.20492514e+02] [ 2.01848886e-02 -5.65535347e-04 9.99796104e-01 3.82722706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81275509600002 meters 0.02323513993820835 Centerline is valid? [True, True] Translation: X:125.32, Y:120.52, Z:3.83 [[-3.48316785e-01 -9.37354219e-01 6.51809360e-03 1.25319898e+02] [ 9.37159324e-01 -3.48377329e-01 -1.91216418e-02 1.20517399e+02] [ 2.01945076e-02 -5.51896588e-04 9.99795918e-01 3.82769252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84275509600002 meters 0.02324354503949047 Centerline is valid? [True, True] Translation: X:125.31, Y:120.54, Z:3.83 [[-3.47313427e-01 -9.37728484e-01 6.21877334e-03 1.25311019e+02] [ 9.37551574e-01 -3.47368740e-01 -1.82210010e-02 1.20542448e+02] [ 1.92465591e-02 -4.97977581e-04 9.99814644e-01 3.82927677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87275509600002 meters 0.0229546189889482 Centerline is valid? [True, True] Translation: X:125.30, Y:120.57, Z:3.83 [[-3.47266966e-01 -9.37746860e-01 6.03994535e-03 1.25301076e+02] [ 9.37580371e-01 -3.47319162e-01 -1.76761726e-02 1.20567133e+02] [ 1.86735641e-02 -4.75416617e-04 9.99825521e-01 3.83000456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90275509600002 meters 0.022830783655920447 Centerline is valid? [True, True] Translation: X:125.29, Y:120.59, Z:3.83 [[-3.47007771e-01 -9.37843635e-01 5.90958487e-03 1.25291754e+02] [ 9.37684660e-01 -3.47057793e-01 -1.72732981e-02 1.20592173e+02] [ 1.82506201e-02 -4.52641582e-04 9.99833341e-01 3.83076163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93275509600002 meters 0.024708008535947797 Centerline is valid? [True, True] Translation: X:125.28, Y:120.62, Z:3.83 [[-3.47254511e-01 -9.37753571e-01 5.70487573e-03 1.25282771e+02] [ 9.37605760e-01 -3.47301097e-01 -1.66549119e-02 1.20615870e+02] [ 1.75995127e-02 -4.34568938e-04 9.99845022e-01 3.82860355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96275509600002 meters 0.02301732822695283 Centerline is valid? [True, True] Translation: X:125.27, Y:120.64, Z:3.83 [[-3.47137957e-01 -9.37797310e-01 5.60754659e-03 1.25273974e+02] [ 9.37654870e-01 -3.47182994e-01 -1.63497539e-02 1.20640935e+02] [ 1.72796001e-02 -4.17676806e-04 9.99850609e-01 3.83217499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99275509600002 meters 0.022442854965683542 Centerline is valid? [True, True] Translation: X:125.26, Y:120.67, Z:3.83 [[-3.47315780e-01 -9.37732587e-01 5.41710499e-03 1.25264343e+02] [ 9.37599959e-01 -3.47357793e-01 -1.57759485e-02 1.20665292e+02] [ 1.66752946e-02 -4.00158438e-04 9.99860878e-01 3.83291180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02275509600003 meters 0.022319783346382436 Centerline is valid? [True, True] Translation: X:125.26, Y:120.69, Z:3.83 [[-3.47681208e-01 -9.37597605e-01 5.33941680e-03 1.25255256e+02] [ 9.37469052e-01 -3.47721981e-01 -1.55306294e-02 1.20690442e+02] [ 1.64181135e-02 -3.94169985e-04 9.99865136e-01 3.83403046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05275509600003 meters 0.02186663395659413 Centerline is valid? [True, True] Translation: X:125.25, Y:120.72, Z:3.84 [[-3.48251339e-01 -9.37388364e-01 4.90514049e-03 1.25245382e+02] [ 9.37280093e-01 -3.48285690e-01 -1.42515000e-02 1.20715321e+02] [ 1.50675805e-02 -3.65613407e-04 9.99886411e-01 3.83577170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08275509600003 meters 0.023726525175528628 Centerline is valid? [True, True] Translation: X:125.24, Y:120.74, Z:3.84 [[-3.48691221e-01 -9.37225735e-01 4.72797292e-03 1.25239507e+02] [ 9.37125371e-01 -3.48723094e-01 -1.37201259e-02 1.20740608e+02] [ 1.45076084e-02 -3.53384086e-04 9.99894697e-01 3.83719845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.112755096 meters 0.023726525175528628 Centerline is valid? [True, True] Translation: X:125.23, Y:120.76, Z:3.84 [[-3.49068802e-01 -9.37085142e-01 4.73366924e-03 1.25231016e+02] [ 9.36984792e-01 -3.49100718e-01 -1.37181599e-02 1.20764231e+02] [ 1.45076112e-02 -3.53205553e-04 9.99894697e-01 3.83766623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.142755096 meters 0.022144132313214996 Centerline is valid? [True, True] Translation: X:125.22, Y:120.79, Z:3.84 [[-3.50115483e-01 -9.36695379e-01 4.57329012e-03 1.25218197e+02] [ 9.36601913e-01 -3.50145174e-01 -1.32368013e-02 1.20787496e+02] [ 1.40001661e-02 -3.51056806e-04 9.99901931e-01 3.83697782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.172755096 meters 0.02238966539985602 Centerline is valid? [True, True] Translation: X:125.21, Y:120.81, Z:3.84 [[-3.50891965e-01 -9.36403593e-01 4.81035507e-03 1.25208906e+02] [ 9.36300438e-01 -3.50924736e-01 -1.39039129e-02 1.20812715e+02] [ 1.47077466e-02 -3.74833758e-04 9.99891765e-01 3.83673645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.202755096 meters 0.022773299430386498 Centerline is valid? [True, True] Translation: X:125.20, Y:120.84, Z:3.84 [[-3.52004106e-01 -9.35986043e-01 4.82040431e-03 1.25200683e+02] [ 9.35882681e-01 -3.52036898e-01 -1.39151072e-02 1.20837815e+02] [ 1.47213063e-02 -3.86841961e-04 9.99891561e-01 3.83699235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.232755096 meters 0.02357395721554906 Centerline is valid? [True, True] Translation: X:125.19, Y:120.86, Z:3.84 [[-3.53725434e-01 -9.35336789e-01 4.83814526e-03 1.25193907e+02] [ 9.35232872e-01 -3.53758283e-01 -1.39482180e-02 1.20862859e+02] [ 1.47578154e-02 -4.09046982e-04 9.99891014e-01 3.83740408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.262755096 meters 0.024391202449403723 Centerline is valid? [True, True] Translation: X:125.19, Y:120.89, Z:3.84 [[-3.55153690e-01 -9.34796317e-01 4.65853021e-03 1.25186261e+02] [ 9.34700144e-01 -3.55184005e-01 -1.34150688e-02 1.20888088e+02] [ 1.41949923e-02 -4.10082327e-04 9.99899162e-01 3.83817063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.292755096 meters 0.02510960888884134 Centerline is valid? [True, True] Translation: X:125.18, Y:120.91, Z:3.84 [[-3.56343091e-01 -9.34343080e-01 4.75506450e-03 1.25178160e+02] [ 9.34243083e-01 -3.56374555e-01 -1.36762064e-02 1.20914217e+02] [ 1.44728528e-02 -4.31035547e-04 9.99895170e-01 3.83868523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.322755096 meters 0.026085078632602614 Centerline is valid? [True, True] Translation: X:125.17, Y:120.94, Z:3.84 [[-3.58259858e-01 -9.33609890e-01 4.73780263e-03 1.25170055e+02] [ 9.33510771e-01 -3.58290897e-01 -1.36115052e-02 1.20940365e+02] [ 1.44053475e-02 -4.53666149e-04 9.99896135e-01 3.83926815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.352755096 meters 0.02650867389765997 Centerline is valid? [True, True] Translation: X:125.16, Y:120.96, Z:3.84 [[-3.58739882e-01 -9.33425127e-01 4.81974875e-03 1.25161555e+02] [ 9.33322754e-01 -3.58771958e-01 -1.38318240e-02 1.20964945e+02] [ 1.46401627e-02 -4.63645720e-04 9.99892720e-01 3.83944081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.382755096 meters 0.02724453700677376 Centerline is valid? [True, True] Translation: X:125.15, Y:120.99, Z:3.84 [[-3.59418402e-01 -9.33162557e-01 5.10434332e-03 1.25153887e+02] [ 9.33048002e-01 -3.59454304e-01 -1.46297625e-02 1.20989653e+02] [ 1.54867248e-02 -4.95608539e-04 9.99879951e-01 3.83939217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.412755096 meters 0.02744542881564588 Centerline is valid? [True, True] Translation: X:125.15, Y:121.01, Z:3.84 [[-3.59654197e-01 -9.33071699e-01 5.10515885e-03 1.25145621e+02] [ 9.32957386e-01 -3.59690091e-01 -1.46134785e-02 1.21014654e+02] [ 1.54716983e-02 -4.92903242e-04 9.99880185e-01 3.83993755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.442755096 meters 0.027571022174425596 Centerline is valid? [True, True] Translation: X:125.14, Y:121.04, Z:3.84 [[-3.60128776e-01 -9.32887902e-01 5.23707881e-03 1.25137227e+02] [ 9.32767874e-01 -3.60166497e-01 -1.49728930e-02 1.21039514e+02] [ 1.58542510e-02 -5.07190748e-04 9.99874185e-01 3.84027898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47275509600001 meters 0.02439249089202097 Centerline is valid? [True, True] Translation: X:125.12, Y:121.06, Z:3.84 [[-3.59950439e-01 -9.32957093e-01 5.17154629e-03 1.25123316e+02] [ 9.32840320e-01 -3.59987252e-01 -1.47687498e-02 1.21062583e+02] [ 1.56403006e-02 -4.91791084e-04 9.99877562e-01 3.84058641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50275509600002 meters 0.023999892367201826 Centerline is valid? [True, True] Translation: X:125.11, Y:121.09, Z:3.84 [[-3.59880348e-01 -9.32985027e-01 5.00754092e-03 1.25113174e+02] [ 9.32875811e-01 -3.59914880e-01 -1.42828863e-02 1.21086863e+02] [ 1.51280075e-02 -4.68716285e-04 9.99885455e-01 3.84101612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53275509600002 meters 0.02711707062017587 Centerline is valid? [True, True] Translation: X:125.11, Y:121.11, Z:3.84 [[-3.59606312e-01 -9.33091240e-01 4.90289271e-03 1.25109018e+02] [ 9.32986807e-01 -3.59639454e-01 -1.39671338e-02 1.21112028e+02] [ 1.47958839e-02 -4.48335272e-04 9.99890434e-01 3.84236685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56275509600002 meters 0.023608658839795005 Centerline is valid? [True, True] Translation: X:125.09, Y:121.14, Z:3.84 [[-3.59191719e-01 -9.33252062e-01 4.67954593e-03 1.25094386e+02] [ 9.33157181e-01 -3.59221960e-01 -1.33138564e-02 1.21135022e+02] [ 1.41061796e-02 -4.15475068e-04 9.99900417e-01 3.84281335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59275509600002 meters 0.02345725790242947 Centerline is valid? [True, True] Translation: X:125.09, Y:121.16, Z:3.84 [[-3.59593688e-01 -9.33098258e-01 4.47447967e-03 1.25085204e+02] [ 9.33011703e-01 -3.59621305e-01 -1.27153258e-02 1.21159824e+02] [ 1.34737666e-02 -3.97609000e-04 9.99909146e-01 3.84388470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62275509600002 meters 0.02329878411397881 Centerline is valid? [True, True] Translation: X:125.08, Y:121.18, Z:3.84 [[-3.59785724e-01 -9.33024429e-01 4.43257034e-03 1.25076030e+02] [ 9.32939692e-01 -3.59812816e-01 -1.25804596e-02 1.21184790e+02] [ 1.33327718e-02 -3.90948968e-04 9.99911038e-01 3.84426516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65275509600002 meters 0.02379464897589213 Centerline is valid? [True, True] Translation: X:125.07, Y:121.21, Z:3.85 [[-3.60351812e-01 -9.32805842e-01 4.45328226e-03 1.25068803e+02] [ 9.32720509e-01 -3.60379112e-01 -1.26233043e-02 1.21209333e+02] [ 1.33799619e-02 -3.95162876e-04 9.99910406e-01 3.84516286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68275509600002 meters 0.023972978179016242 Centerline is valid? [True, True] Translation: X:125.06, Y:121.23, Z:3.85 [[-3.60957679e-01 -9.32571945e-01 4.37289681e-03 1.25060256e+02] [ 9.32489862e-01 -3.60983955e-01 -1.23790941e-02 1.21234453e+02] [ 1.31229414e-02 -3.90647134e-04 9.99913814e-01 3.84571524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71275509600002 meters 0.02346784918515717 Centerline is valid? [True, True] Translation: X:125.05, Y:121.26, Z:3.85 [[-3.61686275e-01 -9.32290436e-01 4.19312598e-03 1.25050039e+02] [ 9.32215127e-01 -3.61710381e-01 -1.18557154e-02 1.21259578e+02] [ 1.25696673e-02 -3.79154067e-04 9.99920927e-01 3.84650684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74275509600002 meters 0.02415524394639792 Centerline is valid? [True, True] Translation: X:125.04, Y:121.28, Z:3.85 [[-3.62532743e-01 -9.31961827e-01 4.14292843e-03 1.25041587e+02] [ 9.31888462e-01 -3.62556215e-01 -1.16997802e-02 1.21283956e+02] [ 1.24057930e-02 -3.80806209e-04 9.99922973e-01 3.84708180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77275509600003 meters 0.024383433636418643 Centerline is valid? [True, True] Translation: X:125.03, Y:121.31, Z:3.85 [[-3.63369719e-01 -9.31636351e-01 4.01955538e-03 1.25032187e+02] [ 9.31567385e-01 -3.63391755e-01 -1.13419178e-02 1.21308925e+02] [ 1.20272162e-02 -3.76822774e-04 9.99927599e-01 3.84718306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80275509600003 meters 0.024774744482199372 Centerline is valid? [True, True] Translation: X:125.02, Y:121.33, Z:3.85 [[-3.63999224e-01 -9.31390508e-01 4.03576022e-03 1.25023854e+02] [ 9.31321139e-01 -3.64021396e-01 -1.13736012e-02 1.21332794e+02] [ 1.20623672e-02 -3.81393189e-04 9.99927174e-01 3.84755123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83275509600003 meters 0.025365959749086685 Centerline is valid? [True, True] Translation: X:125.02, Y:121.36, Z:3.85 [[-3.64768284e-01 -9.31089686e-01 4.01190530e-03 1.25015734e+02] [ 9.31021298e-01 -3.64790144e-01 -1.12912728e-02 1.21358106e+02] [ 1.19766912e-02 -3.83528924e-04 9.99928203e-01 3.84798955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.862755096 meters 0.025723014596489856 Centerline is valid? [True, True] Translation: X:125.01, Y:121.38, Z:3.85 [[-3.65239072e-01 -9.30904804e-01 4.08255830e-03 1.25007831e+02] [ 9.30834147e-01 -3.65261678e-01 -1.14759573e-02 1.21382262e+02] [ 1.21742259e-02 -3.91283333e-04 9.99925815e-01 3.84821237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.892755096 meters 0.025883844183803347 Centerline is valid? [True, True] Translation: X:125.00, Y:121.41, Z:3.85 [[-3.65957473e-01 -9.30622661e-01 4.07322423e-03 1.24999413e+02] [ 9.30552511e-01 -3.65979929e-01 -1.14330887e-02 1.21406752e+02] [ 1.21306097e-02 -3.93675212e-04 9.99926344e-01 3.84894587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.922755096 meters 0.026647742439687157 Centerline is valid? [True, True] Translation: X:124.99, Y:121.43, Z:3.85 [[-3.66950085e-01 -9.30232093e-01 3.98603768e-03 1.24992510e+02] [ 9.30165026e-01 -3.66971522e-01 -1.11770447e-02 1.21432152e+02] [ 1.18600080e-02 -3.93744674e-04 9.99929590e-01 3.84825567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.952755096 meters 0.02738957101710632 Centerline is valid? [True, True] Translation: X:124.99, Y:121.46, Z:3.85 [[-3.67802597e-01 -9.29894747e-01 4.12430552e-03 1.24985423e+02] [ 9.29823021e-01 -3.67825485e-01 -1.15569553e-02 1.21456836e+02] [ 1.22637767e-02 -4.15803941e-04 9.99924711e-01 3.84843587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.982755096 meters 0.027276051333614 Centerline is valid? [True, True] Translation: X:124.98, Y:121.48, Z:3.85 [[-3.68601763e-01 -9.29578957e-01 3.96276028e-03 1.24976939e+02] [ 9.29512878e-01 -3.68622841e-01 -1.10909744e-02 1.21481577e+02] [ 1.17707003e-02 -4.04715986e-04 9.99930641e-01 3.84865735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.012755096 meters 0.026283276717102913 Centerline is valid? [True, True] Translation: X:124.97, Y:121.51, Z:3.85 [[-3.69230156e-01 -9.29329893e-01 3.87844966e-03 1.24967842e+02] [ 9.29266724e-01 -3.69250310e-01 -1.08427176e-02 1.21506663e+02] [ 1.15085803e-02 -3.99344119e-04 9.99933694e-01 3.84852729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.042755096 meters 0.027611562418816987 Centerline is valid? [True, True] Translation: X:124.96, Y:121.53, Z:3.85 [[-3.69170623e-01 -9.29354469e-01 3.64983537e-03 1.24961378e+02] [ 9.29298647e-01 -3.69188478e-01 -1.01927759e-02 1.21531723e+02] [ 1.08201790e-02 -3.71086344e-04 9.99941391e-01 3.84938381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.072755096 meters 0.026678593563135043 Centerline is valid? [True, True] Translation: X:124.95, Y:121.56, Z:3.85 [[-3.68630792e-01 -9.29568648e-01 3.66999002e-03 1.24951542e+02] [ 9.29512367e-01 -3.68648883e-01 -1.02352554e-02 1.21556128e+02] [ 1.08673103e-02 -3.61729203e-04 9.99940884e-01 3.84945525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.102755096 meters 0.02509552046713705 Centerline is valid? [True, True] Translation: X:124.94, Y:121.58, Z:3.85 [[-3.67362499e-01 -9.30070937e-01 3.58422426e-03 1.24940496e+02] [ 9.30017408e-01 -3.67379832e-01 -9.98396123e-03 1.21581122e+02] [ 1.06025639e-02 -3.34341996e-04 9.99943735e-01 3.84905431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.132755096 meters 0.025534639967707436 Centerline is valid? [True, True] Translation: X:124.93, Y:121.61, Z:3.85 [[-3.66341638e-01 -9.30473453e-01 3.59974347e-03 1.24932593e+02] [ 9.30419591e-01 -3.66359184e-01 -1.00166332e-02 1.21606381e+02] [ 1.06390104e-02 -3.20237971e-04 9.99943353e-01 3.84957409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.162755096 meters 0.022986080160612883 Centerline is valid? [True, True] Translation: X:124.92, Y:121.63, Z:3.85 [[-3.64643728e-01 -9.31139507e-01 3.76433234e-03 1.24920054e+02] [ 9.31080787e-01 -3.64663026e-01 -1.04615844e-02 1.21630716e+02] [ 1.11139074e-02 -3.09853612e-04 9.99938191e-01 3.84831292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.192755096 meters 0.022634957132878223 Centerline is valid? [True, True] Translation: X:124.91, Y:121.65, Z:3.85 [[-3.64030317e-01 -9.31379014e-01 3.88082418e-03 1.24910519e+02] [ 9.31316750e-01 -3.64050872e-01 -1.07737726e-02 1.21654926e+02] [ 1.14472831e-02 -3.07703279e-04 9.99934430e-01 3.84814203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22275509600001 meters 0.023594161488957186 Centerline is valid? [True, True] Translation: X:124.90, Y:121.68, Z:3.85 [[-3.63673807e-01 -9.31519096e-01 3.67904122e-03 1.24903372e+02] [ 9.31463263e-01 -3.63692305e-01 -1.02027782e-02 1.21678912e+02] [ 1.08421218e-02 -2.83591460e-04 9.99941182e-01 3.84897276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25275509600002 meters 0.022315560329356787 Centerline is valid? [True, True] Translation: X:124.89, Y:121.70, Z:3.85 [[-3.62614512e-01 -9.31931802e-01 3.71930237e-03 1.24892377e+02] [ 9.31874921e-01 -3.62633486e-01 -1.02998547e-02 1.21703684e+02] [ 1.09475057e-02 -2.68952184e-04 9.99940038e-01 3.84883436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28275509600002 meters 0.022924192169341898 Centerline is valid? [True, True] Translation: X:124.88, Y:121.73, Z:3.85 [[-3.62848645e-01 -9.31841090e-01 3.61156506e-03 1.24884950e+02] [ 9.31787545e-01 -3.62866525e-01 -9.99276530e-03 1.21727567e+02] [ 1.06221854e-02 -2.60650011e-04 9.99943549e-01 3.84990144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31275509600002 meters 0.02260191686352282 Centerline is valid? [True, True] Translation: X:124.88, Y:121.75, Z:3.85 [[-3.63368700e-01 -9.31639938e-01 3.19604824e-03 1.24875556e+02] [ 9.31598081e-01 -3.63382681e-01 -8.83415675e-03 1.21752336e+02] [ 9.39164182e-03 -2.32623646e-04 9.99955871e-01 3.85071508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34275509600002 meters 0.023062727702207526 Centerline is valid? [True, True] Translation: X:124.87, Y:121.78, Z:3.85 [[-3.64019451e-01 -9.31386396e-01 3.03648450e-03 1.24867871e+02] [ 9.31348670e-01 -3.64032046e-01 -8.38592819e-03 1.21775725e+02] [ 8.91591710e-03 -2.24615172e-04 9.99960227e-01 3.85176200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37275509600002 meters 0.023384764828846254 Centerline is valid? [True, True] Translation: X:124.86, Y:121.80, Z:3.85 [[-3.64836540e-01 -9.31067248e-01 2.84240626e-03 1.24859548e+02] [ 9.31034259e-01 -3.64847550e-01 -7.84051850e-03 1.21799616e+02] [ 8.33709493e-03 -2.14130036e-04 9.99965223e-01 3.85260750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40275509600002 meters 0.02382388054829617 Centerline is valid? [True, True] Translation: X:124.85, Y:121.82, Z:3.85 [[-3.65743550e-01 -9.30711678e-01 2.72559838e-03 1.24851054e+02] [ 9.30681403e-01 -3.65753645e-01 -7.50974960e-03 1.21824175e+02] [ 7.98630919e-03 -2.09978752e-04 9.99968087e-01 3.85313015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43275509600002 meters 0.02445151601052756 Centerline is valid? [True, True] Translation: X:124.84, Y:121.85, Z:3.85 [[-3.66474770e-01 -9.30425084e-01 2.32501328e-03 1.24843086e+02] [ 9.30403087e-01 -3.66482100e-01 -6.40053289e-03 1.21848393e+02] [ 6.80729210e-03 -1.82434289e-04 9.99976813e-01 3.85417620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46275509600002 meters 0.02449845710124586 Centerline is valid? [True, True] Translation: X:124.83, Y:121.87, Z:3.85 [[-3.66840520e-01 -9.30281006e-01 2.29853755e-03 1.24834336e+02] [ 9.30259548e-01 -3.66847677e-01 -6.32104189e-03 1.21871962e+02] [ 6.72355836e-03 -1.80577794e-04 9.99977380e-01 3.85479115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49275509600002 meters 0.02449017544635616 Centerline is valid? [True, True] Translation: X:124.83, Y:121.89, Z:3.86 [[-3.66381527e-01 -9.30462171e-01 2.17362338e-03 1.24825945e+02] [ 9.30443021e-01 -3.66387937e-01 -5.97191027e-03 1.21894654e+02] [ 6.35302599e-03 -1.65564897e-04 9.99979806e-01 3.85542700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52275509600003 meters 0.02409167812775958 Centerline is valid? [True, True] Translation: X:124.82, Y:121.92, Z:3.86 [[-3.65870543e-01 -9.30662951e-01 2.28433024e-03 1.24816124e+02] [ 9.30641870e-01 -3.65877636e-01 -6.26614234e-03 1.21918070e+02] [ 6.66745186e-03 -1.66703536e-04 9.99977758e-01 3.85540265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55275509600003 meters 0.023469495346605727 Centerline is valid? [True, True] Translation: X:124.81, Y:121.94, Z:3.86 [[-3.64818317e-01 -9.31075543e-01 2.43471863e-03 1.24805962e+02] [ 9.31051677e-01 -3.64826404e-01 -6.66861849e-03 1.21941670e+02] [ 7.09723722e-03 -1.65985314e-04 9.99974801e-01 3.85549932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58275509600003 meters 0.021632677218070346 Centerline is valid? [True, True] Translation: X:124.79, Y:121.97, Z:3.85 [[-3.61943207e-01 -9.32195712e-01 2.87587109e-03 1.24793327e+02] [ 9.32162572e-01 -3.61954594e-01 -7.86205712e-03 1.21965662e+02] [ 8.36991069e-03 -1.64838771e-04 9.99964958e-01 3.85398513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.612755096 meters 0.020498804517886313 Centerline is valid? [True, True] Translation: X:124.78, Y:121.99, Z:3.85 [[-3.60265709e-01 -9.32844562e-01 3.10535800e-03 1.24782462e+02] [ 9.32806011e-01 -3.60279057e-01 -8.48220249e-03 1.21989495e+02] [ 9.03137191e-03 -1.59150086e-04 9.99959204e-01 3.85374136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.642755096 meters 0.017783950114288738 Centerline is valid? [True, True] Translation: X:124.77, Y:122.01, Z:3.85 [[-3.59096659e-01 -9.33295028e-01 3.15915436e-03 1.24768017e+02] [ 9.33255222e-01 -3.59110525e-01 -8.62096962e-03 1.22012774e+02] [ 9.18039366e-03 -1.47464082e-04 9.99957848e-01 3.85136574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.672755096 meters 0.018322414217874717 Centerline is valid? [True, True] Translation: X:124.76, Y:122.04, Z:3.85 [[-3.56702016e-01 -9.34211739e-01 3.47829308e-03 1.24759809e+02] [ 9.34163670e-01 -3.56718950e-01 -9.47774634e-03 1.22037533e+02] [ 1.00949949e-02 -1.31436191e-04 9.99949036e-01 3.85288465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.702755096 meters 0.016658572139651134 Centerline is valid? [True, True] Translation: X:124.75, Y:122.06, Z:3.85 [[-3.56017564e-01 -9.34472214e-01 3.62973969e-03 1.24747184e+02] [ 9.34420005e-01 -3.56036044e-01 -9.87870357e-03 1.22060769e+02] [ 1.05236922e-02 -1.25290593e-04 9.99944617e-01 3.85077091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.732755096 meters 0.016132208336972792 Centerline is valid? [True, True] Translation: X:124.74, Y:122.08, Z:3.85 [[-3.55771803e-01 -9.34565566e-01 3.69140078e-03 1.24736737e+02] [ 9.34511699e-01 -3.55790932e-01 -1.00347582e-02 1.22084656e+02] [ 1.06915064e-02 -1.20426809e-04 9.99942837e-01 3.84992972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.762755096 meters 0.016419495088154004 Centerline is valid? [True, True] Translation: X:124.73, Y:122.11, Z:3.85 [[-3.56411301e-01 -9.34322032e-01 3.65030611e-03 1.24728809e+02] [ 9.34269468e-01 -3.56429972e-01 -9.91146018e-03 1.22108603e+02] [ 1.05615741e-02 -1.22186870e-04 9.99944218e-01 3.85068366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.792755096 meters 0.01649023974531082 Centerline is valid? [True, True] Translation: X:124.72, Y:122.13, Z:3.85 [[-3.57207640e-01 -9.34018305e-01 3.53666049e-03 1.24720006e+02] [ 9.33969073e-01 -3.57225127e-01 -9.59062257e-03 1.22133800e+02] [ 1.02212010e-02 -1.22712138e-04 9.99947755e-01 3.85131877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.822755096 meters 0.017167581713838906 Centerline is valid? [True, True] Translation: X:124.71, Y:122.16, Z:3.85 [[-3.59111214e-01 -9.33289439e-01 3.15584857e-03 1.24712835e+02] [ 9.33250293e-01 -3.59125059e-01 -8.54886702e-03 1.22159757e+02] [ 9.11191160e-03 -1.24797412e-04 9.99958478e-01 3.85264652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.852755096 meters 0.017172379329787383 Centerline is valid? [True, True] Translation: X:124.70, Y:122.18, Z:3.85 [[-3.60451538e-01 -9.32773021e-01 3.02983104e-03 1.24703931e+02] [ 9.32736978e-01 -3.60464249e-01 -8.20090086e-03 1.22184994e+02] [ 8.74172483e-03 -1.29991883e-04 9.99961782e-01 3.85312582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.882755096 meters 0.01803380491104655 Centerline is valid? [True, True] Translation: X:124.70, Y:122.21, Z:3.86 [[-3.61785734e-01 -9.32256895e-01 2.85747504e-03 1.24696928e+02] [ 9.32224893e-01 -3.61796994e-01 -7.72547484e-03 1.22210289e+02] [ 8.23595307e-03 -1.31157217e-04 9.99966075e-01 3.85504395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.912755096 meters 0.018142742022808963 Centerline is valid? [True, True] Translation: X:124.69, Y:122.24, Z:3.86 [[-3.63278041e-01 -9.31677094e-01 2.61880483e-03 1.24687545e+02] [ 9.31650253e-01 -3.63287457e-01 -7.07314642e-03 1.22236235e+02] [ 7.54126744e-03 -1.29708594e-04 9.99971556e-01 3.85534963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.942755096 meters 0.018921732112556024 Centerline is valid? [True, True] Translation: X:124.68, Y:122.26, Z:3.86 [[-3.65839352e-01 -9.30674803e-01 2.44535333e-03 1.24679304e+02] [ 9.30651413e-01 -3.65847499e-01 -6.59958826e-03 1.22261656e+02] [ 7.03669690e-03 -1.38617560e-04 9.99975233e-01 3.85593015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97275509600001 meters 0.019435838008062912 Centerline is valid? [True, True] Translation: X:124.67, Y:122.29, Z:3.86 [[-3.67134343e-01 -9.30164777e-01 2.42123073e-03 1.24670344e+02] [ 9.30141882e-01 -3.67142298e-01 -6.52775498e-03 1.22286454e+02] [ 6.96082397e-03 -1.44474931e-04 9.99975763e-01 3.85665562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00275509600002 meters 0.0199030040592039 Centerline is valid? [True, True] Translation: X:124.66, Y:122.31, Z:3.86 [[-3.68895476e-01 -9.29467927e-01 2.34516706e-03 1.24660561e+02] [ 9.29446490e-01 -3.68902900e-01 -6.31451260e-03 1.22311712e+02] [ 6.73427587e-03 -1.49687838e-04 9.99977313e-01 3.85678334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03275509600002 meters 0.0199030040592039 Centerline is valid? [True, True] Translation: X:124.65, Y:122.34, Z:3.86 [[-3.69260675e-01 -9.29322896e-01 2.34696613e-03 1.24651275e+02] [ 9.29301460e-01 -3.69268103e-01 -6.31384341e-03 1.22335926e+02] [ 6.73425897e-03 -1.50415029e-04 9.99977313e-01 3.85726701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06275509600002 meters 0.01998058201133838 Centerline is valid? [True, True] Translation: X:124.64, Y:122.36, Z:3.86 [[-3.70584231e-01 -9.28795708e-01 2.42075842e-03 1.24641574e+02] [ 9.28772949e-01 -3.70592102e-01 -6.50410838e-03 1.22360901e+02] [ 6.93810190e-03 -1.61985062e-04 9.99975918e-01 3.85722418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09275509600002 meters 0.01995347338340709 Centerline is valid? [True, True] Translation: X:124.63, Y:122.39, Z:3.86 [[-3.71366787e-01 -9.28482857e-01 2.50852773e-03 1.24632267e+02] [ 9.28458484e-01 -3.71375221e-01 -6.72973318e-03 1.22386490e+02] [ 7.18004693e-03 -1.70135539e-04 9.99974209e-01 3.85733723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12275509600002 meters 0.021242180065853544 Centerline is valid? [True, True] Translation: X:124.63, Y:122.41, Z:3.86 [[-3.73148311e-01 -9.27768054e-01 2.60317972e-03 1.24625473e+02] [ 9.27741847e-01 -3.73157344e-01 -6.97574746e-03 1.22411873e+02] [ 7.44327128e-03 -1.87909625e-04 9.99972281e-01 3.85798403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15275509600002 meters 0.021583708800698275 Centerline is valid? [True, True] Translation: X:124.62, Y:122.44, Z:3.86 [[-3.74180651e-01 -9.27352286e-01 2.56485247e-03 1.24616747e+02] [ 9.27326889e-01 -3.74189393e-01 -6.86586311e-03 1.22436990e+02] [ 7.32681444e-03 -1.90616469e-04 9.99973140e-01 3.85804296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18275509600002 meters 0.021801437010988883 Centerline is valid? [True, True] Translation: X:124.61, Y:122.46, Z:3.86 [[-3.74971614e-01 -9.27032325e-01 2.71245939e-03 1.24608070e+02] [ 9.27003989e-01 -3.74981368e-01 -7.25110579e-03 1.22461510e+02] [ 7.73913119e-03 -2.04498165e-04 9.99970032e-01 3.85784572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21275509600002 meters 0.022443324107303632 Centerline is valid? [True, True] Translation: X:124.60, Y:122.49, Z:3.86 [[-3.76401732e-01 -9.26451563e-01 3.03949303e-03 1.24599575e+02] [ 9.26416078e-01 -3.76413929e-01 -8.11201664e-03 1.22486980e+02] [ 8.65949801e-03 -2.37541908e-04 9.99962478e-01 3.85700484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24275509600002 meters 0.022116397916124717 Centerline is valid? [True, True] Translation: X:124.59, Y:122.51, Z:3.86 [[-3.77036387e-01 -9.26192862e-01 3.21645887e-03 1.24589249e+02] [ 9.26153197e-01 -3.77050021e-01 -8.57539978e-03 1.22511148e+02] [ 9.15523995e-03 -2.54304087e-04 9.99958058e-01 3.85699843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27275509600003 meters 0.023257603762156225 Centerline is valid? [True, True] Translation: X:124.58, Y:122.54, Z:3.86 [[-3.77495321e-01 -9.26005351e-01 3.37241476e-03 1.24581680e+02] [ 9.25961848e-01 -3.77510291e-01 -8.97980521e-03 1.22535723e+02] [ 9.58846895e-03 -2.67107055e-04 9.99953994e-01 3.85747525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30275509600003 meters 0.022718909568139014 Centerline is valid? [True, True] Translation: X:124.57, Y:122.56, Z:3.86 [[-3.77826011e-01 -9.25870123e-01 3.46698463e-03 1.24571150e+02] [ 9.25824266e-01 -3.77841819e-01 -9.21890241e-03 1.22560014e+02] [ 9.84547809e-03 -2.73322624e-04 9.99951495e-01 3.85720845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33275509600003 meters 0.022424086697890602 Centerline is valid? [True, True] Translation: X:124.56, Y:122.58, Z:3.86 [[-3.77935118e-01 -9.25825738e-01 3.42769576e-03 1.24561114e+02] [ 9.25781014e-01 -3.77950567e-01 -9.10404968e-03 1.22584697e+02] [ 9.72426307e-03 -2.67444442e-04 9.99952682e-01 3.85746299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36275509600003 meters 0.023519544370531945 Centerline is valid? [True, True] Translation: X:124.55, Y:122.61, Z:3.86 [[-3.77701021e-01 -9.25921516e-01 3.35943046e-03 1.24553724e+02] [ 9.25878651e-01 -3.77715874e-01 -8.91297725e-03 1.22608968e+02] [ 9.52162762e-03 -2.56015668e-04 9.99954636e-01 3.85854869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.392755096 meters 0.02286230592059563 Centerline is valid? [True, True] Translation: X:124.54, Y:122.63, Z:3.86 [[-3.77479864e-01 -9.26011377e-01 3.44691675e-03 1.24542913e+02] [ 9.25966379e-01 -3.77495515e-01 -9.13242921e-03 1.22632836e+02] [ 9.75792897e-03 -2.55579118e-04 9.99952358e-01 3.85846953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.422755096 meters 0.021651422871723985 Centerline is valid? [True, True] Translation: X:124.53, Y:122.66, Z:3.86 [[-3.76924610e-01 -9.26237427e-01 3.47371554e-03 1.24530715e+02] [ 9.26191837e-01 -3.76940535e-01 -9.19309960e-03 1.22656638e+02] [ 9.82437711e-03 -2.47778501e-04 9.99951709e-01 3.85798102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.452755096 meters 0.020660209716666652 Centerline is valid? [True, True] Translation: X:124.52, Y:122.68, Z:3.86 [[-3.76191079e-01 -9.26535173e-01 3.58403966e-03 1.24518802e+02] [ 9.26486773e-01 -3.76208073e-01 -9.47343574e-03 1.22680582e+02] [ 1.01258161e-02 -2.43256679e-04 9.99948703e-01 3.85765847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.482755096 meters 0.020030575062658432 Centerline is valid? [True, True] Translation: X:124.51, Y:122.70, Z:3.86 [[-3.74602125e-01 -9.27177458e-01 3.90004583e-03 1.24506145e+02] [ 9.27120348e-01 -3.74622349e-01 -1.02935293e-02 1.22704866e+02] [ 1.10049727e-02 -2.40166112e-04 9.99939415e-01 3.85702818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.512755096 meters 0.020230557627471023 Centerline is valid? [True, True] Translation: X:124.50, Y:122.73, Z:3.86 [[-3.74003849e-01 -9.27418343e-01 4.04195007e-03 1.24496891e+02] [ 9.27357142e-01 -3.74025614e-01 -1.06569755e-02 1.22728147e+02] [ 1.13952675e-02 -2.37418607e-04 9.99935044e-01 3.85764075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.542755096 meters 0.01973212122464768 Centerline is valid? [True, True] Translation: X:124.48, Y:122.75, Z:3.86 [[-3.72420304e-01 -9.28053475e-01 4.45699346e-03 1.24484918e+02] [ 9.27979350e-01 -3.72446900e-01 -1.17316957e-02 1.22752029e+02] [ 1.25476344e-02 -2.33123787e-04 9.99921248e-01 3.85725819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.572755096 meters 0.019523559235081724 Centerline is valid? [True, True] Translation: X:124.47, Y:122.78, Z:3.86 [[-3.72180297e-01 -9.28148711e-01 4.66867414e-03 1.24473578e+02] [ 9.28067516e-01 -3.72209503e-01 -1.22789189e-02 1.22776520e+02] [ 1.31343876e-02 -2.37126866e-04 9.99913712e-01 3.85728033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.602755096 meters 0.019386405743246963 Centerline is valid? [True, True] Translation: X:124.46, Y:122.80, Z:3.86 [[-3.71734828e-01 -9.28326085e-01 4.88855274e-03 1.24462251e+02] [ 9.28237234e-01 -3.71766895e-01 -1.28457685e-02 1.22799565e+02] [ 1.37424640e-02 -2.37482869e-04 9.99905540e-01 3.85672113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.632755096 meters 0.019567296046170277 Centerline is valid? [True, True] Translation: X:124.45, Y:122.82, Z:3.86 [[-3.71916181e-01 -9.28252275e-01 5.10569155e-03 1.24452221e+02] [ 9.28155593e-01 -3.71951145e-01 -1.33993051e-02 1.22823266e+02] [ 1.43370032e-02 -2.44542211e-04 9.99897190e-01 3.85643446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.662755096 meters 0.02091672304003292 Centerline is valid? [True, True] Translation: X:124.44, Y:122.85, Z:3.86 [[-3.72453330e-01 -9.28036254e-01 5.21816290e-03 1.24444642e+02] [ 9.27935488e-01 -3.72489797e-01 -1.36778046e-02 1.22847320e+02] [ 1.46372110e-02 -2.52225332e-04 9.99892838e-01 3.85722732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.692755096 meters 0.019777340242020106 Centerline is valid? [True, True] Translation: X:124.43, Y:122.87, Z:3.86 [[-3.73376546e-01 -9.27664887e-01 5.27378408e-03 1.24432050e+02] [ 9.27562167e-01 -3.73413696e-01 -1.38071359e-02 1.22871032e+02] [ 1.47776984e-02 -2.63498129e-04 9.99890769e-01 3.85706708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72275509600001 meters 0.01985692150060279 Centerline is valid? [True, True] Translation: X:124.42, Y:122.90, Z:3.86 [[-3.75426445e-01 -9.26835198e-01 5.61253802e-03 1.24421071e+02] [ 9.26719050e-01 -3.75468269e-01 -1.46759012e-02 1.22896061e+02] [ 1.57094717e-02 -3.08475518e-04 9.99876551e-01 3.85635583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75275509600002 meters 0.020561300519789747 Centerline is valid? [True, True] Translation: X:124.41, Y:122.92, Z:3.86 [[-3.76803839e-01 -9.26275546e-01 5.69914524e-03 1.24412700e+02] [ 9.26155979e-01 -3.76846791e-01 -1.48862248e-02 1.22920542e+02] [ 1.59364506e-02 -3.30889214e-04 9.99872952e-01 3.85652859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78275509600002 meters 0.021338555821876576 Centerline is valid? [True, True] Translation: X:124.40, Y:122.95, Z:3.86 [[-3.79058811e-01 -9.25352741e-01 6.05991997e-03 1.24403846e+02] [ 9.25217760e-01 -3.79107050e-01 -1.58094969e-02 1.22946005e+02] [ 1.69267197e-02 -3.85983530e-04 9.99856658e-01 3.85610496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81275509600002 meters 0.020843165870966494 Centerline is valid? [True, True] Translation: X:124.39, Y:122.97, Z:3.86 [[-3.79859570e-01 -9.25023637e-01 6.16261991e-03 1.24392853e+02] [ 9.24884293e-01 -3.79909344e-01 -1.60603746e-02 1.22970942e+02] [ 1.71974630e-02 -4.00976627e-04 9.99852032e-01 3.85643067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84275509600002 meters 0.02113383386112536 Centerline is valid? [True, True] Translation: X:124.38, Y:123.00, Z:3.86 [[-3.80568672e-01 -9.24731816e-01 6.20926714e-03 1.24383130e+02] [ 9.24590621e-01 -3.80619101e-01 -1.61642459e-02 1.22996160e+02] [ 1.73109581e-02 -4.10575426e-04 9.99850070e-01 3.85651810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87275509600002 meters 0.021630329057137604 Centerline is valid? [True, True] Translation: X:124.37, Y:123.02, Z:3.86 [[-3.81088288e-01 -9.24515753e-01 6.50680862e-03 1.24373690e+02] [ 9.24361016e-01 -3.81143587e-01 -1.69197365e-02 1.23020266e+02] [ 1.81225913e-02 -4.33273170e-04 9.99835678e-01 3.85640487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90275509600002 meters 0.022253870414576105 Centerline is valid? [True, True] Translation: X:124.36, Y:123.04, Z:3.86 [[-3.81346450e-01 -9.24408024e-01 6.68505464e-03 1.24364777e+02] [ 9.24245091e-01 -3.81404784e-01 -1.73609640e-02 1.23044356e+02] [ 1.85983262e-02 -4.41913036e-04 9.99826939e-01 3.85647964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93275509600002 meters 0.022182044011035334 Centerline is valid? [True, True] Translation: X:124.35, Y:123.07, Z:3.86 [[-3.81200121e-01 -9.24466090e-01 6.99407415e-03 1.24354672e+02] [ 9.24288202e-01 -3.81264011e-01 -1.81403813e-02 1.23068942e+02] [ 1.94367562e-02 -4.50575340e-04 9.99810987e-01 3.85626051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96275509600002 meters 0.02106146790824261 Centerline is valid? [True, True] Translation: X:124.34, Y:123.09, Z:3.86 [[-3.80246607e-01 -9.24854559e-01 7.52083016e-03 1.24342362e+02] [ 9.24649433e-01 -3.80320705e-01 -1.94830111e-02 1.23092584e+02] [ 2.08792791e-02 -4.54217537e-04 9.99781901e-01 3.85531149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99275509600002 meters 0.02077189684360235 Centerline is valid? [True, True] Translation: X:124.33, Y:123.12, Z:3.86 [[-3.80032576e-01 -9.24941971e-01 7.58888575e-03 1.24331873e+02] [ 9.24733621e-01 -3.80108080e-01 -1.96361385e-02 1.23116747e+02] [ 2.10468855e-02 -4.44674506e-04 9.99778391e-01 3.85528335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02275509600003 meters 0.020527687147942363 Centerline is valid? [True, True] Translation: X:124.32, Y:123.14, Z:3.86 [[-3.79973337e-01 -9.24963832e-01 7.88501300e-03 1.24321432e+02] [ 9.24739448e-01 -3.80054873e-01 -2.03776126e-02 1.23140680e+02] [ 2.18452922e-02 -4.51366886e-04 9.99761261e-01 3.85546673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05275509600003 meters 0.02195996045367263 Centerline is valid? [True, True] Translation: X:124.31, Y:123.17, Z:3.85 [[-3.79236493e-01 -9.25264755e-01 8.05084587e-03 1.24314167e+02] [ 9.25031439e-01 -3.79321691e-01 -2.07819907e-02 1.23165098e+02] [ 2.22827040e-02 -4.34003735e-04 9.99751616e-01 3.85446034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08275509600003 meters 0.0208419873606183 Centerline is valid? [True, True] Translation: X:124.30, Y:123.19, Z:3.86 [[-3.79518272e-01 -9.25148412e-01 8.14222689e-03 1.24302690e+02] [ 9.24910207e-01 -3.79605352e-01 -2.09972650e-02 1.23189159e+02] [ 2.25164193e-02 -4.38016968e-04 9.99746377e-01 3.85562447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11275509600003 meters 0.0216498409604875 Centerline is valid? [True, True] Translation: X:124.29, Y:123.21, Z:3.85 [[-3.79877704e-01 -9.24998368e-01 8.42307782e-03 1.24292718e+02] [ 9.24744002e-01 -3.79970806e-01 -2.16960055e-02 1.23213364e+02] [ 2.32692934e-02 -4.52638079e-04 9.99729131e-01 3.85428283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.142755096 meters 0.020526076226039497 Centerline is valid? [True, True] Translation: X:124.28, Y:123.24, Z:3.86 [[-3.81042938e-01 -9.24519656e-01 8.34771899e-03 1.24282352e+02] [ 9.24270282e-01 -3.81134079e-01 -2.14769689e-02 1.23238152e+02] [ 2.30374801e-02 -4.68098776e-04 9.99734492e-01 3.85659268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.172755096 meters 0.021281659694298672 Centerline is valid? [True, True] Translation: X:124.27, Y:123.26, Z:3.86 [[-3.82161294e-01 -9.24058189e-01 8.31923333e-03 1.24274384e+02] [ 9.23810988e-01 -3.82251526e-01 -2.13782638e-02 1.23262755e+02] [ 2.29347994e-02 -4.84545795e-04 9.99736845e-01 3.85719716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.202755096 meters 0.021960055684770784 Centerline is valid? [True, True] Translation: X:124.27, Y:123.29, Z:3.86 [[-3.84691043e-01 -9.23008765e-01 8.22321946e-03 1.24266709e+02] [ 9.22767565e-01 -3.84778557e-01 -2.11064746e-02 1.23289011e+02] [ 2.26455796e-02 -5.31351550e-04 9.99743415e-01 3.85872220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.232755096 meters 0.022374792380991403 Centerline is valid? [True, True] Translation: X:124.26, Y:123.32, Z:3.86 [[-3.86095898e-01 -9.22423246e-01 8.08163324e-03 1.24258090e+02] [ 9.22190629e-01 -3.86180082e-01 -2.07217063e-02 1.23315079e+02] [ 2.22351494e-02 -5.47759365e-04 9.99752618e-01 3.85963772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.262755096 meters 0.023479836979357637 Centerline is valid? [True, True] Translation: X:124.25, Y:123.34, Z:3.86 [[-3.88182535e-01 -9.21546906e-01 8.10063539e-03 1.24251881e+02] [ 9.21313492e-01 -3.88266598e-01 -2.07484531e-02 1.23340824e+02] [ 2.22658789e-02 -5.90962462e-04 9.99751910e-01 3.86092024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.292755096 meters 0.023507286553998284 Centerline is valid? [True, True] Translation: X:124.24, Y:123.37, Z:3.86 [[-3.88690956e-01 -9.21332988e-01 8.05391412e-03 1.24242314e+02] [ 9.21102717e-01 -3.88773939e-01 -2.06060665e-02 1.23365512e+02] [ 2.21162007e-02 -5.90909501e-04 9.99755232e-01 3.86184225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.322755096 meters 0.02275723516577147 Centerline is valid? [True, True] Translation: X:124.23, Y:123.39, Z:3.86 [[-3.88335034e-01 -9.21484852e-01 7.84665143e-03 1.24230577e+02] [ 9.21266799e-01 -3.88413898e-01 -2.00531429e-02 1.23388883e+02] [ 2.15264159e-02 -5.58478477e-04 9.99768124e-01 3.86301929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.352755096 meters 0.022583319768069123 Centerline is valid? [True, True] Translation: X:124.22, Y:123.41, Z:3.86 [[-3.86165046e-01 -9.22397407e-01 7.71882197e-03 1.24219676e+02] [ 9.22187059e-01 -3.86241870e-01 -1.97039365e-02 1.23412585e+02] [ 2.11561922e-02 -4.90773837e-04 9.99776062e-01 3.86404666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.382755096 meters 0.022138089765064973 Centerline is valid? [True, True] Translation: X:124.21, Y:123.44, Z:3.86 [[-3.85078163e-01 -9.22851103e-01 7.78782196e-03 1.24209195e+02] [ 9.22637542e-01 -3.85156629e-01 -1.98579182e-02 1.23435699e+02] [ 2.13254330e-02 -4.61513764e-04 9.99772481e-01 3.86475893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.412755096 meters 0.02125559930668237 Centerline is valid? [True, True] Translation: X:124.20, Y:123.46, Z:3.87 [[-3.84018934e-01 -9.23292715e-01 7.74731200e-03 1.24196934e+02] [ 9.23081946e-01 -3.84096838e-01 -1.97317126e-02 1.23459128e+02] [ 2.11938645e-02 -4.25947392e-04 9.99775294e-01 3.86518039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.442755096 meters 0.02007204931060781 Centerline is valid? [True, True] Translation: X:124.18, Y:123.48, Z:3.87 [[-3.82372771e-01 -9.23977218e-01 7.56072653e-03 1.24184726e+02] [ 9.23777059e-01 -3.82447334e-01 -1.92348963e-02 1.23483443e+02] [ 2.06641857e-02 -3.70474900e-04 9.99786404e-01 3.86685829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47275509600001 meters 0.020437183965676314 Centerline is valid? [True, True] Translation: X:124.18, Y:123.51, Z:3.87 [[-3.82267726e-01 -9.24020413e-01 7.59355591e-03 1.24176088e+02] [ 9.23818952e-01 -3.82342968e-01 -1.92976557e-02 1.23507680e+02] [ 2.07347705e-02 -3.61800110e-04 9.99784946e-01 3.86726111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50275509600002 meters 0.020391331035896864 Centerline is valid? [True, True] Translation: X:124.17, Y:123.53, Z:3.87 [[-3.83156526e-01 -9.23652386e-01 7.57272063e-03 1.24165801e+02] [ 9.23452438e-01 -3.83231172e-01 -1.92214371e-02 1.23531742e+02] [ 2.06560289e-02 -3.71771746e-04 9.99786572e-01 3.86806704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53275509600002 meters 0.020578378974024886 Centerline is valid? [True, True] Translation: X:124.16, Y:123.56, Z:3.87 [[-3.84470942e-01 -9.23105014e-01 7.69598275e-03 1.24156162e+02] [ 9.22898869e-01 -3.84547753e-01 -1.95116167e-02 1.23556240e+02] [ 2.09707441e-02 -3.99035889e-04 9.99780010e-01 3.86839773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56275509600002 meters 0.021067706661470446 Centerline is valid? [True, True] Translation: X:124.15, Y:123.58, Z:3.87 [[-3.85759800e-01 -9.22568554e-01 7.52591217e-03 1.24147594e+02] [ 9.22371757e-01 -3.85832988e-01 -1.90590498e-02 1.23581456e+02] [ 2.04870252e-02 -4.10526423e-04 9.99790035e-01 3.86900437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59275509600002 meters 0.021475504418803817 Centerline is valid? [True, True] Translation: X:124.14, Y:123.61, Z:3.87 [[-3.87174919e-01 -9.21974713e-01 7.62956267e-03 1.24138803e+02] [ 9.21772778e-01 -3.87249835e-01 -1.93005424e-02 1.23606875e+02] [ 2.07491589e-02 -4.39962744e-04 9.99784616e-01 3.86952182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62275509600002 meters 0.022036741884042612 Centerline is valid? [True, True] Translation: X:124.13, Y:123.63, Z:3.87 [[-3.90266757e-01 -9.20670672e-01 7.57442257e-03 1.24129978e+02] [ 9.20471798e-01 -3.90339935e-01 -1.91416881e-02 1.23632327e+02] [ 2.05797905e-02 -4.98322171e-04 9.99788090e-01 3.87054242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65275509600002 meters 0.02308689990094976 Centerline is valid? [True, True] Translation: X:124.12, Y:123.66, Z:3.87 [[-3.91936076e-01 -9.19961128e-01 7.59184895e-03 1.24122134e+02] [ 9.19761618e-01 -3.92009239e-01 -1.91656649e-02 1.23657332e+02] [ 2.06077417e-02 -5.29024229e-04 9.99787498e-01 3.87102030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68275509600002 meters 0.023403945484535425 Centerline is valid? [True, True] Translation: X:124.11, Y:123.68, Z:3.87 [[-3.93768768e-01 -9.19179356e-01 7.44779126e-03 1.24112489e+02] [ 9.18987610e-01 -3.93838810e-01 -1.87820124e-02 1.23683152e+02] [ 2.01972673e-02 -5.51341991e-04 9.99795862e-01 3.87215794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71275509600002 meters 0.025452815306475564 Centerline is valid? [True, True] Translation: X:124.11, Y:123.71, Z:3.87 [[-3.97794966e-01 -9.17445631e-01 7.25803633e-03 1.24106722e+02] [ 9.17263606e-01 -3.97860697e-01 -1.82850697e-02 1.23708792e+02] [ 1.96632447e-02 -6.16176077e-04 9.99806470e-01 3.87334024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74275509600002 meters 0.027823248088205417 Centerline is valid? [True, True] Translation: X:124.10, Y:123.73, Z:3.87 [[-3.99908833e-01 -9.16525384e-01 7.35840166e-03 1.24099040e+02] [ 9.16338534e-01 -3.99975976e-01 -1.85177972e-02 1.23734636e+02] [ 1.99152150e-02 -6.62643654e-04 9.99801453e-01 3.87194597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77275509600003 meters 0.02831270549643831 Centerline is valid? [True, True] Translation: X:124.09, Y:123.76, Z:3.87 [[-4.02376776e-01 -9.15448336e-01 6.87565411e-03 1.24090996e+02] [ 9.15285279e-01 -4.02434968e-01 -1.72902968e-02 1.23759905e+02] [ 1.85953771e-02 -6.64028914e-04 9.99826871e-01 3.87498524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80275509600003 meters 0.028629740677261956 Centerline is valid? [True, True] Translation: X:124.08, Y:123.78, Z:3.88 [[-4.03003286e-01 -9.15173416e-01 6.78011007e-03 1.24081490e+02] [ 9.15015145e-01 -4.03059776e-01 -1.70323522e-02 1.23784520e+02] [ 1.83203456e-02 -6.60190510e-04 9.99831950e-01 3.87555054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83275509600003 meters 0.029544738294413363 Centerline is valid? [True, True] Translation: X:124.07, Y:123.81, Z:3.87 [[-4.03541023e-01 -9.14934879e-01 6.98645952e-03 1.24070592e+02] [ 9.14767164e-01 -4.03600918e-01 -1.75309560e-02 1.23808534e+02] [ 1.88594246e-02 -6.83476172e-04 9.99821912e-01 3.87360789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86275509600003 meters 0.02663148385603393 Centerline is valid? [True, True] Translation: X:124.06, Y:123.83, Z:3.88 [[-4.01991094e-01 -9.15618661e-01 6.75489014e-03 1.24057196e+02] [ 9.15462311e-01 -4.02047361e-01 -1.69315303e-02 1.23832834e+02] [ 1.82186108e-02 -6.22477042e-04 9.99833834e-01 3.87669876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.892755096 meters 0.02634215171382991 Centerline is valid? [True, True] Translation: X:124.05, Y:123.86, Z:3.88 [[-4.01142474e-01 -9.15992376e-01 6.53320721e-03 1.24046309e+02] [ 9.15846451e-01 -4.01195254e-01 -1.63599194e-02 1.23857415e+02] [ 1.76066532e-02 -5.79243922e-04 9.99844823e-01 3.87750790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.922755096 meters 0.02634215171382991 Centerline is valid? [True, True] Translation: X:124.04, Y:123.88, Z:3.88 [[-4.01497123e-01 -9.15836942e-01 6.53882971e-03 1.24036440e+02] [ 9.15691033e-01 -4.01549946e-01 -1.63576718e-02 1.23881402e+02] [ 1.76066268e-02 -5.80010429e-04 9.99844823e-01 3.87799169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.952755096 meters 0.025264342939670635 Centerline is valid? [True, True] Translation: X:124.02, Y:123.91, Z:3.88 [[-4.00305246e-01 -9.16358465e-01 6.54782635e-03 1.24024240e+02] [ 9.16212550e-01 -4.00358416e-01 -1.63616119e-02 1.23906355e+02] [ 1.76145789e-02 -5.50438385e-04 9.99844700e-01 3.87853701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.982755096 meters 0.0243642464395433 Centerline is valid? [True, True] Translation: X:124.01, Y:123.93, Z:3.88 [[-3.96909224e-01 -9.17833725e-01 6.65743485e-03 1.24012374e+02] [ 9.17683376e-01 -3.96964754e-01 -1.66193972e-02 1.23930445e+02] [ 1.78966102e-02 -4.86974734e-04 9.99839724e-01 3.87893103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.012755096 meters 0.02403452334634606 Centerline is valid? [True, True] Translation: X:124.00, Y:123.95, Z:3.88 [[-3.95571870e-01 -9.18409755e-01 6.81300754e-03 1.24001414e+02] [ 9.18252698e-01 -3.95630263e-01 -1.69904959e-02 1.23953702e+02] [ 1.82996692e-02 -4.64899694e-04 9.99832439e-01 3.87920068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.042755096 meters 0.02202763716119047 Centerline is valid? [True, True] Translation: X:123.99, Y:123.98, Z:3.88 [[-3.92603204e-01 -9.19680184e-01 7.14732632e-03 1.23987241e+02] [ 9.19507942e-01 -3.92668035e-01 -1.78033265e-02 1.23976399e+02] [ 1.91798932e-02 -4.17619715e-04 9.99815962e-01 3.87868135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.072755096 meters 0.02208399077265378 Centerline is valid? [True, True] Translation: X:123.98, Y:124.00, Z:3.88 [[-3.92086820e-01 -9.19898608e-01 7.38081958e-03 1.23977595e+02] [ 9.19715369e-01 -3.92156068e-01 -1.83646010e-02 1.23998864e+02] [ 1.97880041e-02 -4.12264827e-04 9.99804113e-01 3.87834762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.102755096 meters 0.021427853736263575 Centerline is valid? [True, True] Translation: X:123.97, Y:124.02, Z:3.88 [[-3.91903095e-01 -9.19975333e-01 7.57302358e-03 1.23966574e+02] [ 9.19782913e-01 -3.91976044e-01 -1.88194948e-02 1.24021788e+02] [ 2.02819148e-02 -4.09880569e-04 9.99794217e-01 3.87830106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.132755096 meters 0.02027577700138336 Centerline is valid? [True, True] Translation: X:123.96, Y:124.05, Z:3.88 [[-3.92191250e-01 -9.19849176e-01 7.96981717e-03 1.23955684e+02] [ 9.19636546e-01 -3.92271985e-01 -1.97816485e-02 1.24045484e+02] [ 2.13224691e-02 -4.28854317e-04 9.99772558e-01 3.87872793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.162755096 meters 0.022071418791846924 Centerline is valid? [True, True] Translation: X:123.95, Y:124.07, Z:3.88 [[-3.93289994e-01 -9.19378867e-01 8.09202224e-03 1.23949435e+02] [ 9.19160055e-01 -3.93372972e-01 -2.00623506e-02 1.24071748e+02] [ 2.16280840e-02 -4.52458146e-04 9.99765983e-01 3.87881618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.192755096 meters 0.022741665284914024 Centerline is valid? [True, True] Translation: X:123.94, Y:124.10, Z:3.88 [[-3.94358508e-01 -9.18920076e-01 8.20124247e-03 1.23941179e+02] [ 9.18695695e-01 -3.94443491e-01 -2.03113891e-02 1.24096249e+02] [ 2.18994699e-02 -4.75522965e-04 9.99760065e-01 3.87900863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22275509600001 meters 0.024491813941586626 Centerline is valid? [True, True] Translation: X:123.94, Y:124.12, Z:3.88 [[-3.96345623e-01 -9.18063067e-01 8.38760047e-03 1.23935179e+02] [ 9.17828690e-01 -3.96434015e-01 -2.07500976e-02 1.24121504e+02] [ 2.23750284e-02 -5.25830023e-04 9.99749509e-01 3.87931223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25275509600002 meters 0.024397968916983266 Centerline is valid? [True, True] Translation: X:123.93, Y:124.15, Z:3.88 [[-3.97454118e-01 -9.17584189e-01 8.33548594e-03 1.23925138e+02] [ 9.17353099e-01 -3.97541148e-01 -2.05992168e-02 1.24145839e+02] [ 2.22152143e-02 -5.40659694e-04 9.99753065e-01 3.88014282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28275509600002 meters 0.021825413756144992 Centerline is valid? [True, True] Translation: X:123.91, Y:124.17, Z:3.88 [[-3.98252605e-01 -9.17240859e-01 8.00436714e-03 1.23910574e+02] [ 9.17028135e-01 -3.98332683e-01 -1.97604031e-02 1.24168337e+02] [ 2.13134502e-02 -5.29402139e-04 9.99772702e-01 3.88256144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31275509600002 meters 0.021367207992966927 Centerline is valid? [True, True] Translation: X:123.90, Y:124.19, Z:3.88 [[-3.98617395e-01 -9.17082728e-01 7.96512378e-03 1.23899334e+02] [ 9.16872522e-01 -3.98696618e-01 -1.96414325e-02 1.24192173e+02] [ 2.11884864e-02 -5.26413518e-04 9.99775360e-01 3.88338140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34275509600002 meters 0.02130608523373184 Centerline is valid? [True, True] Translation: X:123.89, Y:124.22, Z:3.88 [[-3.99125583e-01 -9.16860097e-01 8.14444552e-03 1.23889080e+02] [ 9.16640773e-01 -3.99208305e-01 -2.00604718e-02 1.24217268e+02] [ 2.16439764e-02 -5.41116678e-04 9.99765595e-01 3.88385723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37275509600002 meters 0.022094372893824005 Centerline is valid? [True, True] Translation: X:123.88, Y:124.24, Z:3.88 [[-3.99596377e-01 -9.16653882e-01 8.27024691e-03 1.23881002e+02] [ 9.16428166e-01 -3.99681569e-01 -2.03484859e-02 1.24241116e+02] [ 2.19579839e-02 -5.52094044e-04 9.99758742e-01 3.88455949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40275509600002 meters 0.022078885535204245 Centerline is valid? [True, True] Translation: X:123.87, Y:124.27, Z:3.88 [[-4.00548829e-01 -9.16237261e-01 8.36169986e-03 1.23870597e+02] [ 9.16006980e-01 -4.00635690e-01 -2.05488863e-02 1.24265820e+02] [ 2.21776507e-02 -5.71456919e-04 9.99753882e-01 3.88488481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43275509600002 meters 0.023653493828489497 Centerline is valid? [True, True] Translation: X:123.86, Y:124.29, Z:3.88 [[-4.01074008e-01 -9.16004685e-01 8.66353001e-03 1.23862288e+02] [ 9.15757969e-01 -4.01167124e-01 -2.12669049e-02 1.24290039e+02] [ 2.29561079e-02 -5.95906137e-04 9.99736296e-01 3.88437176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46275509600002 meters 0.02206468900751376 Centerline is valid? [True, True] Translation: X:123.85, Y:124.31, Z:3.88 [[-4.01589687e-01 -9.15778590e-01 8.67737335e-03 1.23848830e+02] [ 9.15531492e-01 -4.01682974e-01 -2.12809022e-02 1.24312958e+02] [ 2.29741477e-02 -6.01782273e-04 9.99735878e-01 3.88471097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49275509600002 meters 0.022449749009052816 Centerline is valid? [True, True] Translation: X:123.84, Y:124.34, Z:3.88 [[-4.02174050e-01 -9.15519842e-01 8.91360616e-03 1.23838591e+02] [ 9.15259640e-01 -4.02272334e-01 -2.18348574e-02 1.24335831e+02] [ 2.35759423e-02 -6.23149038e-04 9.99721855e-01 3.88433494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52275509600003 meters 0.022309617928316015 Centerline is valid? [True, True] Translation: X:123.83, Y:124.36, Z:3.88 [[-4.02624041e-01 -9.15316957e-01 9.42072602e-03 1.23826670e+02] [ 9.15026942e-01 -4.02733700e-01 -2.30491392e-02 1.24359929e+02] [ 2.48913118e-02 -6.59919451e-04 9.99689945e-01 3.88367259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55275509600003 meters 0.021712036106383597 Centerline is valid? [True, True] Translation: X:123.82, Y:124.39, Z:3.88 [[-4.02994336e-01 -9.15152521e-01 9.56184239e-03 1.23815082e+02] [ 9.14854360e-01 -4.03107201e-01 -2.33684308e-02 1.24385004e+02] [ 2.52401259e-02 -6.69652075e-04 9.99681193e-01 3.88406512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58275509600003 meters 0.022086158048290293 Centerline is valid? [True, True] Translation: X:123.81, Y:124.41, Z:3.88 [[-4.03496886e-01 -9.14931334e-01 9.53500232e-03 1.23805783e+02] [ 9.14635413e-01 -4.03608973e-01 -2.32778584e-02 1.24408627e+02] [ 2.51460545e-02 -6.71492591e-04 9.99683562e-01 3.88444471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61275509600003 meters 0.02323776418593241 Centerline is valid? [True, True] Translation: X:123.80, Y:124.43, Z:3.88 [[-4.03863950e-01 -9.14767569e-01 9.70591039e-03 1.23797284e+02] [ 9.14461580e-01 -4.03979985e-01 -2.36683350e-02 1.24433088e+02] [ 2.55720188e-02 -6.83105133e-04 9.99672749e-01 3.88469653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.642755096 meters 0.02264786361694873 Centerline is valid? [True, True] Translation: X:123.79, Y:124.46, Z:3.89 [[-4.04667032e-01 -9.14414174e-01 9.55567859e-03 1.23785695e+02] [ 9.14118039e-01 -4.04779258e-01 -2.32801250e-02 1.24457276e+02] [ 2.51556168e-02 -6.85680923e-04 9.99683312e-01 3.88572638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.672755096 meters 0.023489729202562554 Centerline is valid? [True, True] Translation: X:123.78, Y:124.48, Z:3.89 [[-4.05511625e-01 -9.14038483e-01 9.69398624e-03 1.23775083e+02] [ 9.13734279e-01 -4.05626860e-01 -2.35906232e-02 1.24481774e+02] [ 2.54948786e-02 -7.08544407e-04 9.99674702e-01 3.88584373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.702755096 meters 0.02261068863060738 Centerline is valid? [True, True] Translation: X:123.76, Y:124.51, Z:3.89 [[-4.05937765e-01 -9.13852618e-01 9.37680168e-03 1.23762888e+02] [ 9.13568558e-01 -4.06045468e-01 -2.27940285e-02 1.24505350e+02] [ 2.46377904e-02 -6.86605779e-04 9.99696208e-01 3.88809446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.732755096 meters 0.02293862721594212 Centerline is valid? [True, True] Translation: X:123.75, Y:124.53, Z:3.89 [[-4.06743569e-01 -9.13496161e-01 9.18879406e-03 1.23752446e+02] [ 9.13223880e-01 -4.06846773e-01 -2.23125308e-02 1.24529703e+02] [ 2.41208425e-02 -6.84052261e-04 9.99708816e-01 3.88886269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.762755096 meters 0.023922101264721676 Centerline is valid? [True, True] Translation: X:123.74, Y:124.55, Z:3.89 [[-4.07216067e-01 -9.13285676e-01 9.18413320e-03 1.23743401e+02] [ 9.13014185e-01 -4.07319043e-01 -2.22776742e-02 1.24553516e+02] [ 2.40867531e-02 -6.86582972e-04 9.99709636e-01 3.88934619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.792755096 meters 0.02369816972469775 Centerline is valid? [True, True] Translation: X:123.73, Y:124.58, Z:3.89 [[-4.07731297e-01 -9.13054882e-01 9.27211984e-03 1.23732464e+02] [ 9.12778615e-01 -4.07836112e-01 -2.24701064e-02 1.24577838e+02] [ 2.42979456e-02 -6.98372903e-04 9.99704517e-01 3.88968514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.822755096 meters 0.02361377307748039 Centerline is valid? [True, True] Translation: X:123.72, Y:124.60, Z:3.89 [[-4.08151957e-01 -9.12865444e-01 9.41604321e-03 1.23722222e+02] [ 9.12581103e-01 -4.08259938e-01 -2.27937321e-02 1.24601696e+02] [ 2.46518035e-02 -7.10403247e-04 9.99695846e-01 3.89026664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.852755096 meters 0.024968520713412077 Centerline is valid? [True, True] Translation: X:123.71, Y:124.63, Z:3.89 [[-4.08337415e-01 -9.12781888e-01 9.47522964e-03 1.23714155e+02] [ 9.12494530e-01 -4.08446716e-01 -2.29131615e-02 1.24625929e+02] [ 2.47848452e-02 -7.10205910e-04 9.99692556e-01 3.89016866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.882755096 meters 0.02316862948463722 Centerline is valid? [True, True] Translation: X:123.70, Y:124.65, Z:3.89 [[-4.08544119e-01 -9.12690079e-01 9.40868804e-03 1.23701440e+02] [ 9.12407232e-01 -4.08651841e-01 -2.27313719e-02 1.24648711e+02] [ 2.45915753e-02 -7.02213278e-04 9.99697335e-01 3.89157851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.912755096 meters 0.02305699632124911 Centerline is valid? [True, True] Translation: X:123.69, Y:124.67, Z:3.89 [[-4.08385391e-01 -9.12759542e-01 9.55986517e-03 1.23690175e+02] [ 9.12468192e-01 -4.08496671e-01 -2.30709381e-02 1.24672906e+02] [ 2.49633920e-02 -6.98761171e-04 9.99688122e-01 3.89202779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.942755096 meters 0.022745999745654888 Centerline is valid? [True, True] Translation: X:123.68, Y:124.70, Z:3.89 [[-4.08292057e-01 -9.12799327e-01 9.74604289e-03 1.23678693e+02] [ 9.12497192e-01 -4.08407762e-01 -2.34941559e-02 1.24696573e+02] [ 2.54258092e-02 -6.99240464e-04 9.99676467e-01 3.89253636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97275509600001 meters 0.02219633619722235 Centerline is valid? [True, True] Translation: X:123.67, Y:124.72, Z:3.89 [[-4.07830943e-01 -9.13005857e-01 9.70702200e-03 1.23666052e+02] [ 9.12706844e-01 -4.07945893e-01 -2.33744841e-02 1.24720262e+02] [ 2.53009806e-02 -6.73172474e-04 9.99679652e-01 3.89292855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00275509600002 meters 0.02235580751082388 Centerline is valid? [True, True] Translation: X:123.66, Y:124.74, Z:3.89 [[-4.07781802e-01 -9.13027243e-01 9.75990088e-03 1.23655795e+02] [ 9.12725636e-01 -4.07898040e-01 -2.34755654e-02 1.24743931e+02] [ 2.54148752e-02 -6.64796616e-04 9.99676769e-01 3.89320116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03275509600002 meters 0.021561898121735056 Centerline is valid? [True, True] Translation: X:123.64, Y:124.77, Z:3.89 [[-4.08057107e-01 -9.12905501e-01 9.64074196e-03 1.23644259e+02] [ 9.12611836e-01 -4.08170453e-01 -2.31628413e-02 1.24767247e+02] [ 2.50805512e-02 -6.53506763e-04 9.99685220e-01 3.89402525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06275509600002 meters 0.02117240922043214 Centerline is valid? [True, True] Translation: X:123.63, Y:124.79, Z:3.89 [[-4.08132152e-01 -9.12871740e-01 9.66088442e-03 1.23632947e+02] [ 9.12577490e-01 -4.08245965e-01 -2.31852808e-02 1.24791519e+02] [ 2.51092047e-02 -6.46352902e-04 9.99684505e-01 3.89496173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09275509600002 meters 0.02131954844089267 Centerline is valid? [True, True] Translation: X:123.62, Y:124.81, Z:3.90 [[-4.08306308e-01 -9.12792516e-01 9.78680903e-03 1.23623420e+02] [ 9.12491206e-01 -4.08423067e-01 -2.34605560e-02 1.24814708e+02] [ 2.54117785e-02 -6.48715834e-04 9.99676858e-01 3.89533309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12275509600002 meters 0.021316082196506863 Centerline is valid? [True, True] Translation: X:123.61, Y:124.84, Z:3.90 [[-4.08728501e-01 -9.12601880e-01 9.94087691e-03 1.23612808e+02] [ 9.12291668e-01 -4.08848839e-01 -2.38020941e-02 1.24838862e+02] [ 2.57861518e-02 -6.59615073e-04 9.99667264e-01 3.89553417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15275509600002 meters 0.021678601564249465 Centerline is valid? [True, True] Translation: X:123.60, Y:124.86, Z:3.90 [[-4.09501659e-01 -9.12256207e-01 9.84909230e-03 1.23602697e+02] [ 9.11952262e-01 -4.09619546e-01 -2.35563135e-02 1.24863430e+02] [ 2.55237739e-02 -6.64447488e-04 9.99673995e-01 3.89590917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18275509600002 meters 0.02234771168026046 Centerline is valid? [True, True] Translation: X:123.59, Y:124.89, Z:3.90 [[-4.10294586e-01 -9.11900925e-01 9.74970281e-03 1.23593402e+02] [ 9.11603637e-01 -4.10409864e-01 -2.32927471e-02 1.24886941e+02] [ 2.52420518e-02 -6.69023478e-04 9.99681145e-01 3.89630099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21275509600002 meters 0.02239133552573648 Centerline is valid? [True, True] Translation: X:123.58, Y:124.91, Z:3.90 [[-4.11086632e-01 -9.11545401e-01 9.63135161e-03 1.23582760e+02] [ 9.11255838e-01 -4.11198894e-01 -2.29840702e-02 1.24911186e+02] [ 2.49114246e-02 -6.71818618e-04 9.99689437e-01 3.89724838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24275509600002 meters 0.02337940763062519 Centerline is valid? [True, True] Translation: X:123.57, Y:124.94, Z:3.90 [[-4.12643973e-01 -9.10844530e-01 9.33774580e-03 1.23573572e+02] [ 9.10572742e-01 -4.12749048e-01 -2.22599624e-02 1.24935937e+02] [ 2.41295107e-02 -6.82742538e-04 9.99708608e-01 3.89816167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27275509600003 meters 0.02395907759680671 Centerline is valid? [True, True] Translation: X:123.56, Y:124.96, Z:3.90 [[-4.13406550e-01 -9.10499744e-01 9.23259880e-03 1.23564417e+02] [ 9.10234500e-01 -4.13509065e-01 -2.19865524e-02 1.24959962e+02] [ 2.38365136e-02 -6.85554819e-04 9.99715635e-01 3.89875385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30275509600003 meters 0.024793618789793897 Centerline is valid? [True, True] Translation: X:123.55, Y:124.99, Z:3.90 [[-4.14882391e-01 -9.09829528e-01 9.10119913e-03 1.23554545e+02] [ 9.09572164e-01 -4.14981607e-01 -2.16504945e-02 1.24985698e+02] [ 2.34750894e-02 -7.04211541e-04 9.99724174e-01 3.89906121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33275509600003 meters 0.02496515308690701 Centerline is valid? [True, True] Translation: X:123.54, Y:125.01, Z:3.90 [[-4.15634977e-01 -9.09485195e-01 9.17854086e-03 1.23544052e+02] [ 9.09223859e-01 -4.15735686e-01 -2.18131474e-02 1.25010232e+02] [ 2.36545816e-02 -7.20958703e-04 9.99719931e-01 3.89933927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36275509600003 meters 0.02579611263911768 Centerline is valid? [True, True] Translation: X:123.54, Y:125.03, Z:3.90 [[-4.16136029e-01 -9.09254870e-01 9.29447256e-03 1.23535047e+02] [ 9.08987400e-01 -4.16239167e-01 -2.20649525e-02 1.25033628e+02] [ 2.39313891e-02 -7.33463268e-04 9.99713334e-01 3.89940559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.392755096 meters 0.026044817352781715 Centerline is valid? [True, True] Translation: X:123.52, Y:125.06, Z:3.90 [[-4.16277120e-01 -9.09187447e-01 9.56791690e-03 1.23524408e+02] [ 9.08904625e-01 -4.16386390e-01 -2.26882402e-02 1.25055563e+02] [ 2.46118136e-02 -7.48271358e-04 9.99696803e-01 3.89901579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.422755096 meters 0.026171606789234702 Centerline is valid? [True, True] Translation: X:123.51, Y:125.08, Z:3.90 [[-4.16420469e-01 -9.09120789e-01 9.66358437e-03 1.23513417e+02] [ 9.08832929e-01 -4.16531909e-01 -2.28883180e-02 1.25078924e+02] [ 2.48334369e-02 -7.48580419e-04 9.99691322e-01 3.89891484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.452755096 meters 0.02623162942057683 Centerline is valid? [True, True] Translation: X:123.50, Y:125.10, Z:3.90 [[-4.16373974e-01 -9.09142690e-01 9.60640252e-03 1.23503187e+02] [ 9.08858863e-01 -4.16484133e-01 -2.27273813e-02 1.25100986e+02] [ 2.46633468e-02 -7.32226002e-04 9.99695545e-01 3.89895032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.482755096 meters 0.026004012533896163 Centerline is valid? [True, True] Translation: X:123.49, Y:125.12, Z:3.90 [[-4.15692014e-01 -9.09454612e-01 9.61552177e-03 1.23492035e+02] [ 9.09170970e-01 -4.15802614e-01 -2.27229713e-02 1.25123049e+02] [ 2.46636701e-02 -7.03604448e-04 9.99695558e-01 3.89902948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.512755096 meters 0.02596731271212572 Centerline is valid? [True, True] Translation: X:123.48, Y:125.15, Z:3.90 [[-4.15646871e-01 -9.09475819e-01 9.56099019e-03 1.23481062e+02] [ 9.09195993e-01 -4.15756251e-01 -2.25695574e-02 1.25146325e+02] [ 2.45015081e-02 -6.88151937e-04 9.99699556e-01 3.89955184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.542755096 meters 0.025780028360914652 Centerline is valid? [True, True] Translation: X:123.47, Y:125.17, Z:3.90 [[-4.15807639e-01 -9.09403159e-01 9.48167753e-03 1.23469694e+02] [ 9.09128524e-01 -4.15915180e-01 -2.23582289e-02 1.25169423e+02] [ 2.42762176e-02 -6.76658878e-04 9.99705060e-01 3.90012971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.572755096 meters 0.02585403725302776 Centerline is valid? [True, True] Translation: X:123.46, Y:125.19, Z:3.90 [[-4.16033410e-01 -9.09302302e-01 9.24801305e-03 1.23458558e+02] [ 9.09041561e-01 -4.16135667e-01 -2.17841152e-02 1.25192894e+02] [ 2.36567741e-02 -6.56091504e-04 9.99719924e-01 3.90103724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.602755096 meters 0.02199108036935794 Centerline is valid? [True, True] Translation: X:123.44, Y:125.21, Z:3.90 [[-4.16105070e-01 -9.09273896e-01 8.80639729e-03 1.23441205e+02] [ 9.09037944e-01 -4.16197790e-01 -2.07223506e-02 1.25213701e+02] [ 2.25074956e-02 -6.17325869e-04 9.99746484e-01 3.90349490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.632755096 meters 0.025743530719637368 Centerline is valid? [True, True] Translation: X:123.44, Y:125.24, Z:3.90 [[-4.15892420e-01 -9.09370798e-01 8.84576686e-03 1.23436006e+02] [ 9.09133275e-01 -4.15986041e-01 -2.07918906e-02 1.25238632e+02] [ 2.25872537e-02 -6.05208696e-04 9.99744692e-01 3.90341799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.662755096 meters 0.025787957741949072 Centerline is valid? [True, True] Translation: X:123.43, Y:125.26, Z:3.90 [[-4.15960416e-01 -9.09340321e-01 8.78144418e-03 1.23425235e+02] [ 9.09106751e-01 -4.16052677e-01 -2.06175951e-02 1.25261382e+02] [ 2.24019539e-02 -5.92833221e-04 9.99748869e-01 3.90403810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.692755096 meters 0.02264743495346489 Centerline is valid? [True, True] Translation: X:123.41, Y:125.28, Z:3.90 [[-4.15435867e-01 -9.09580962e-01 8.68988864e-03 1.23408054e+02] [ 9.09352761e-01 -4.15526359e-01 -2.03814006e-02 1.25282296e+02] [ 2.21494117e-02 -5.64990599e-04 9.99754512e-01 3.90447335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72275509600001 meters 0.021278661635735267 Centerline is valid? [True, True] Translation: X:123.40, Y:125.31, Z:3.91 [[-4.14795617e-01 -9.09873514e-01 8.64780583e-03 1.23396374e+02] [ 9.09648058e-01 -4.14885405e-01 -2.02610876e-02 1.25305534e+02] [ 2.20228754e-02 -5.37750589e-04 9.99757322e-01 3.90627603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75275509600002 meters 0.020986297353151183 Centerline is valid? [True, True] Translation: X:123.39, Y:125.33, Z:3.91 [[-4.14199152e-01 -9.10144380e-01 8.73329983e-03 1.23385257e+02] [ 9.09914995e-01 -4.14290886e-01 -2.04392514e-02 1.25328351e+02] [ 2.22207963e-02 -5.19360104e-04 9.99752953e-01 3.90629244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78275509600002 meters 0.019541726299777372 Centerline is valid? [True, True] Translation: X:123.37, Y:125.35, Z:3.91 [[-4.12657884e-01 -9.10842993e-01 8.86072029e-03 1.23370902e+02] [ 9.10607542e-01 -4.12752725e-01 -2.07145347e-02 1.25351633e+02] [ 2.25249753e-02 -4.79377345e-04 9.99746166e-01 3.90627404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81275509600002 meters 0.019380618814807002 Centerline is valid? [True, True] Translation: X:123.36, Y:125.37, Z:3.91 [[-4.12032560e-01 -9.11126565e-01 8.80632893e-03 1.23359836e+02] [ 9.10894534e-01 -4.12126410e-01 -2.05662439e-02 1.25374422e+02] [ 2.23677719e-02 -4.52325233e-04 9.99749708e-01 3.90633945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84275509600002 meters 0.019380618814807002 Centerline is valid? [True, True] Translation: X:123.35, Y:125.40, Z:3.91 [[-4.12389291e-01 -9.10965078e-01 8.81475383e-03 1.23349393e+02] [ 9.10733087e-01 -4.12483239e-01 -2.05626326e-02 1.25398140e+02] [ 2.23677784e-02 -4.51921513e-04 9.99749708e-01 3.90682275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87275509600002 meters 0.018957895850407854 Centerline is valid? [True, True] Translation: X:123.34, Y:125.42, Z:3.91 [[-4.11687785e-01 -9.11281014e-01 8.94875918e-03 1.23337877e+02] [ 9.11042507e-01 -4.11784806e-01 -2.08524292e-02 1.25422118e+02] [ 2.26873859e-02 -4.31990390e-04 9.99742515e-01 3.90706707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90275509600002 meters 0.018060822962637047 Centerline is valid? [True, True] Translation: X:123.33, Y:125.45, Z:3.91 [[-4.10272317e-01 -9.11917359e-01 9.13000240e-03 1.23325137e+02] [ 9.11669777e-01 -4.10373701e-01 -2.12519078e-02 1.25446119e+02] [ 2.31266965e-02 -3.95522179e-04 9.99732464e-01 3.90752325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93275509600002 meters 0.01782871935805488 Centerline is valid? [True, True] Translation: X:123.31, Y:125.47, Z:3.91 [[-4.09964314e-01 -9.12056083e-01 9.10843529e-03 1.23314329e+02] [ 9.11810192e-01 -4.10065311e-01 -2.11805123e-02 1.25469814e+02] [ 2.30528685e-02 -3.78090071e-04 9.99734176e-01 3.90801509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96275509600002 meters 0.017714851928515348 Centerline is valid? [True, True] Translation: X:123.30, Y:125.49, Z:3.91 [[-4.09796772e-01 -9.12130340e-01 9.21138244e-03 1.23303519e+02] [ 9.11879424e-01 -4.09900120e-01 -2.13964637e-02 1.25494102e+02] [ 2.32921105e-02 -3.68531653e-04 9.99728634e-01 3.90852657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99275509600002 meters 0.017805229080516845 Centerline is valid? [True, True] Translation: X:123.29, Y:125.52, Z:3.91 [[-4.09942764e-01 -9.12065761e-01 9.10919759e-03 1.23294129e+02] [ 9.11820892e-01 -4.10043801e-01 -2.11362813e-02 1.25517448e+02] [ 2.30128485e-02 -3.58708916e-04 9.99735105e-01 3.90896519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02275509600003 meters 0.017529480946582902 Centerline is valid? [True, True] Translation: X:123.28, Y:125.54, Z:3.91 [[-4.10399552e-01 -9.11860711e-01 9.06926176e-03 1.23283093e+02] [ 9.11618471e-01 -4.10499592e-01 -2.10202022e-02 1.25541525e+02] [ 2.28904247e-02 -3.58975020e-04 9.99737915e-01 3.91036053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05275509600003 meters 0.017713972301804503 Centerline is valid? [True, True] Translation: X:123.27, Y:125.56, Z:3.91 [[-4.10987780e-01 -9.11598659e-01 8.77094630e-03 1.23273893e+02] [ 9.11372497e-01 -4.11081209e-01 -2.03079247e-02 1.25564862e+02] [ 2.21182481e-02 -3.52709649e-04 9.99755299e-01 3.91131488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08275509600003 meters 0.01785493760270232 Centerline is valid? [True, True] Translation: X:123.26, Y:125.59, Z:3.91 [[-4.11568025e-01 -9.11338731e-01 8.57201348e-03 1.23263960e+02] [ 9.11123031e-01 -4.11657133e-01 -1.98299582e-02 1.25589720e+02] [ 2.16005394e-02 -3.51217816e-04 9.99766619e-01 3.91200735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11275509600003 meters 0.018301235489044318 Centerline is valid? [True, True] Translation: X:123.26, Y:125.61, Z:3.91 [[-4.12722263e-01 -9.10817001e-01 8.52788753e-03 1.23255762e+02] [ 9.10603860e-01 -4.12810194e-01 -1.97067262e-02 1.25613884e+02] [ 2.14696201e-02 -3.67877330e-04 9.99769433e-01 3.91291054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.142755096 meters 0.018062014493483138 Centerline is valid? [True, True] Translation: X:123.24, Y:125.64, Z:3.91 [[-4.13783424e-01 -9.10335970e-01 8.46752054e-03 1.23244941e+02] [ 9.10126197e-01 -4.13869878e-01 -1.95455824e-02 1.25638158e+02] [ 2.12974984e-02 -3.81125758e-04 9.99773110e-01 3.91334138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.172755096 meters 0.019382787069016756 Centerline is valid? [True, True] Translation: X:123.24, Y:125.66, Z:3.91 [[-4.15143696e-01 -9.09714786e-01 8.64403239e-03 1.23237195e+02] [ 9.09496504e-01 -4.15233473e-01 -1.99316869e-02 1.25663705e+02] [ 2.17214419e-02 -4.12796931e-04 9.99763976e-01 3.91297210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.202755096 meters 0.018858406125042266 Centerline is valid? [True, True] Translation: X:123.23, Y:125.69, Z:3.91 [[-4.15798543e-01 -9.09415594e-01 8.65155886e-03 1.23225490e+02] [ 9.09197216e-01 -4.15888326e-01 -1.99329715e-02 1.25687916e+02] [ 2.17254374e-02 -4.22127275e-04 9.99763886e-01 3.91359879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.232755096 meters 0.018669188911446914 Centerline is valid? [True, True] Translation: X:123.21, Y:125.71, Z:3.91 [[-4.16513731e-01 -9.09089695e-01 8.49930687e-03 1.23214710e+02] [ 9.08879311e-01 -4.16600225e-01 -1.95614569e-02 1.25712019e+02] [ 2.13239321e-02 -4.22771234e-04 9.99772530e-01 3.91439947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.262755096 meters 0.01916957566612313 Centerline is valid? [True, True] Translation: X:123.21, Y:125.74, Z:3.91 [[-4.16624234e-01 -9.09040643e-01 8.32804371e-03 1.23205676e+02] [ 9.08839073e-01 -4.16707262e-01 -1.91467109e-02 1.25736216e+02] [ 2.08754947e-02 -4.08132244e-04 9.99782000e-01 3.91449029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.292755096 meters 0.019786272301025816 Centerline is valid? [True, True] Translation: X:123.20, Y:125.76, Z:3.91 [[-4.16924422e-01 -9.08901718e-01 8.46716764e-03 1.23195064e+02] [ 9.08693800e-01 -4.17010187e-01 -1.94443356e-02 1.25760929e+02] [ 2.12038852e-02 -4.12755654e-04 9.99775087e-01 3.91443161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.322755096 meters 0.01866776243693485 Centerline is valid? [True, True] Translation: X:123.18, Y:125.79, Z:3.92 [[-4.16904289e-01 -9.08910615e-01 8.50343470e-03 1.23184662e+02] [ 9.08701361e-01 -4.16990804e-01 -1.95065713e-02 1.25785223e+02] [ 2.12755838e-02 -4.05290552e-04 9.99773567e-01 3.91576866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.352755096 meters 0.018387821241055573 Centerline is valid? [True, True] Translation: X:123.17, Y:125.81, Z:3.92 [[-4.17258799e-01 -9.08747672e-01 8.53011522e-03 1.23174204e+02] [ 9.08537516e-01 -4.17345784e-01 -1.95468281e-02 1.25809158e+02] [ 2.13231422e-02 -4.06156340e-04 9.99772553e-01 3.91610622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.382755096 meters 0.01926959853896783 Centerline is valid? [True, True] Translation: X:123.17, Y:125.83, Z:3.92 [[-4.17788512e-01 -9.08503301e-01 8.63196746e-03 1.23166655e+02] [ 9.08288513e-01 -4.17877470e-01 -1.97584921e-02 1.25834060e+02] [ 2.15577601e-02 -4.14554148e-04 9.99767519e-01 3.91589191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.412755096 meters 0.018954841159680783 Centerline is valid? [True, True] Translation: X:123.16, Y:125.86, Z:3.92 [[-4.18494701e-01 -9.08178581e-01 8.59365614e-03 1.23156309e+02] [ 9.07966095e-01 -4.18582714e-01 -1.96489557e-02 1.25858147e+02] [ 2.14419166e-02 -4.20235437e-04 9.99770007e-01 3.91614560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.442755096 meters 0.020043001349775918 Centerline is valid? [True, True] Translation: X:123.15, Y:125.88, Z:3.92 [[-4.20131533e-01 -9.07417719e-01 9.08724705e-03 1.23149422e+02] [ 9.07180457e-01 -4.20229528e-01 -2.07548104e-02 1.25884146e+02] [ 2.26520123e-02 -4.75977382e-04 9.99743297e-01 3.91513967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47275509600001 meters 0.021675652668319497 Centerline is valid? [True, True] Translation: X:123.14, Y:125.91, Z:3.91 [[-4.21157536e-01 -9.06939921e-01 9.29026494e-03 1.23142932e+02] [ 9.06692316e-01 -4.21259688e-01 -2.11971381e-02 1.25909557e+02] [ 2.31381449e-02 -5.03922619e-04 9.99732150e-01 3.91429771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50275509600002 meters 0.020543551475614385 Centerline is valid? [True, True] Translation: X:123.13, Y:125.94, Z:3.92 [[-4.23380920e-01 -9.05901103e-01 9.58065868e-03 1.23132929e+02] [ 9.05638027e-01 -4.23488924e-01 -2.18379469e-02 1.25935179e+02] [ 2.38403230e-02 -5.69161227e-04 9.99715617e-01 3.91533437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53275509600002 meters 0.021389916397043556 Centerline is valid? [True, True] Translation: X:123.13, Y:125.96, Z:3.92 [[-4.24838896e-01 -9.05219152e-01 9.49736845e-03 1.23125093e+02] [ 9.04960954e-01 -4.24944627e-01 -2.16272203e-02 1.25960363e+02] [ 2.36132297e-02 -5.93336794e-04 9.99720993e-01 3.91572095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56275509600002 meters 0.02179829919640645 Centerline is valid? [True, True] Translation: X:123.12, Y:125.99, Z:3.92 [[-4.26443183e-01 -9.04466970e-01 9.25810828e-03 1.23115846e+02] [ 9.04221915e-01 -4.26543232e-01 -2.10618299e-02 1.25986424e+02] [ 2.29987128e-02 -6.10289368e-04 9.99735308e-01 3.91666764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59275509600002 meters 0.023425057356553904 Centerline is valid? [True, True] Translation: X:123.11, Y:126.01, Z:3.92 [[-4.28446844e-01 -9.03523816e-01 8.83266520e-03 1.23110131e+02] [ 9.03300971e-01 -4.28537427e-01 -2.00755995e-02 1.26011961e+02] [ 2.19239099e-02 -6.22772185e-04 9.99759448e-01 3.91839658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62275509600002 meters 0.025059492580310712 Centerline is valid? [True, True] Translation: X:123.10, Y:126.04, Z:3.92 [[-4.29225840e-01 -9.03157564e-01 8.46121664e-03 1.23102832e+02] [ 9.02953358e-01 -4.29308799e-01 -1.92142879e-02 1.26036438e+02] [ 2.09860042e-02 -6.07184875e-04 9.99779585e-01 3.91946478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65275509600002 meters 0.023561365212824703 Centerline is valid? [True, True] Translation: X:123.09, Y:126.06, Z:3.92 [[-4.29620265e-01 -9.02972073e-01 8.23790978e-03 1.23091043e+02] [ 9.02778781e-01 -4.29698829e-01 -1.86919563e-02 1.26059554e+02] [ 2.04181347e-02 -5.93433093e-04 9.99791352e-01 3.92076966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68275509600002 meters 0.025566743852458156 Centerline is valid? [True, True] Translation: X:123.08, Y:126.08, Z:3.92 [[-4.29961134e-01 -9.02809911e-01 8.22722089e-03 1.23084206e+02] [ 9.02617476e-01 -4.30039432e-01 -1.86488260e-02 1.26083916e+02] [ 2.03743744e-02 -5.92237029e-04 9.99792245e-01 3.92128245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71275509600002 meters 0.025729272879188428 Centerline is valid? [True, True] Translation: X:123.08, Y:126.11, Z:3.92 [[-4.29717232e-01 -9.02925618e-01 8.27216265e-03 1.23075908e+02] [ 9.02731421e-01 -4.29796449e-01 -1.87348246e-02 1.26106654e+02] [ 2.04714993e-02 -5.83135833e-04 9.99790267e-01 3.92167821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74275509600002 meters 0.022486297162329732 Centerline is valid? [True, True] Translation: X:123.06, Y:126.13, Z:3.92 [[-4.29499728e-01 -9.03029108e-01 8.27120962e-03 1.23060793e+02] [ 9.02835398e-01 -4.29578986e-01 -1.87120097e-02 1.26128723e+02] [ 2.04506273e-02 -5.69262260e-04 9.99790702e-01 3.92239933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77275509600003 meters 0.025287487481150464 Centerline is valid? [True, True] Translation: X:123.05, Y:126.15, Z:3.92 [[-4.29232622e-01 -9.03155637e-01 8.32172767e-03 1.23054335e+02] [ 9.02959986e-01 -4.29312921e-01 -1.88063983e-02 1.26153190e+02] [ 2.05577299e-02 -5.58132577e-04 9.99788512e-01 3.92226650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80275509600003 meters 0.021203092611598626 Centerline is valid? [True, True] Translation: X:123.04, Y:126.18, Z:3.92 [[-4.27949371e-01 -9.03764126e-01 8.35112454e-03 1.23037413e+02] [ 9.03567625e-01 -4.28030528e-01 -1.88524184e-02 1.26175829e+02] [ 2.06126757e-02 -5.22074830e-04 9.99787400e-01 3.92251635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83275509600003 meters 0.020482487253465135 Centerline is valid? [True, True] Translation: X:123.03, Y:126.20, Z:3.92 [[-4.27593613e-01 -9.03933263e-01 8.26791217e-03 1.23025470e+02] [ 9.03741052e-01 -4.27673245e-01 -1.86468812e-02 1.26199778e+02] [ 2.03915010e-02 -5.01235672e-04 9.99791946e-01 3.92280847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86275509600003 meters 0.020083981503005718 Centerline is valid? [True, True] Translation: X:123.01, Y:126.22, Z:3.92 [[-4.25855190e-01 -9.04753347e-01 8.29084865e-03 1.23014713e+02] [ 9.04560627e-01 -4.25935645e-01 -1.86788337e-02 1.26224259e+02] [ 2.04311053e-02 -4.54903039e-04 9.99791160e-01 3.92350076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.892755096 meters 0.019343984120680283 Centerline is valid? [True, True] Translation: X:123.00, Y:126.25, Z:3.92 [[-4.25155803e-01 -9.05082046e-01 8.30861224e-03 1.23002667e+02] [ 9.04888929e-01 -4.25236760e-01 -1.87009258e-02 1.26247532e+02] [ 2.04589995e-02 -4.32435873e-04 9.99790599e-01 3.92360648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.922755096 meters 0.019381239641360806 Centerline is valid? [True, True] Translation: X:122.99, Y:126.27, Z:3.92 [[-4.24454864e-01 -9.05410733e-01 8.33504093e-03 1.22991962e+02] [ 9.05216853e-01 -4.24536497e-01 -1.87406706e-02 1.26270787e+02] [ 2.05065334e-02 -4.09549290e-04 9.99789635e-01 3.92379269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.952755096 meters 0.01863029089641819 Centerline is valid? [True, True] Translation: X:122.98, Y:126.29, Z:3.92 [[-4.23630736e-01 -9.05795671e-01 8.43814555e-03 1.22979799e+02] [ 9.05597471e-01 -4.23714589e-01 -1.89517281e-02 1.26294260e+02] [ 2.07417587e-02 -3.86971264e-04 9.99784792e-01 3.92384418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.982755096 meters 0.017172606634163166 Centerline is valid? [True, True] Translation: X:122.97, Y:126.32, Z:3.92 [[-4.22083622e-01 -9.06515416e-01 8.67270251e-03 1.22966063e+02] [ 9.06306628e-01 -4.22172566e-01 -1.94581990e-02 1.26318347e+02] [ 2.13005344e-02 -3.52859356e-04 9.99773056e-01 3.92371787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.012755096 meters 0.017855447162137984 Centerline is valid? [True, True] Translation: X:122.96, Y:126.34, Z:3.92 [[-4.21808852e-01 -9.06643285e-01 8.67445342e-03 1.22957333e+02] [ 9.06434836e-01 -4.21897901e-01 -1.94434866e-02 1.26341830e+02] [ 2.12880403e-02 -3.38608007e-04 9.99773327e-01 3.92383747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.042755096 meters 0.017048501174756703 Centerline is valid? [True, True] Translation: X:122.95, Y:126.37, Z:3.92 [[-4.21724682e-01 -9.06682360e-01 8.68277529e-03 1.22945432e+02] [ 9.06473884e-01 -4.21813927e-01 -1.94449965e-02 1.26365171e+02] [ 2.12929509e-02 -3.29725920e-04 9.99773225e-01 3.92469767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.072755096 meters 0.017947312985337017 Centerline is valid? [True, True] Translation: X:122.94, Y:126.39, Z:3.93 [[-4.22043839e-01 -9.06535852e-01 8.47031152e-03 1.22938157e+02] [ 9.06337835e-01 -4.22128708e-01 -1.89494944e-02 1.26389683e+02] [ 2.07539577e-02 -3.20553555e-04 9.99784562e-01 3.92509893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.102755096 meters 0.01804945587777608 Centerline is valid? [True, True] Translation: X:122.93, Y:126.41, Z:3.93 [[-4.22717383e-01 -9.06222867e-01 8.37426717e-03 1.22928376e+02] [ 9.06029671e-01 -4.22800201e-01 -1.87142942e-02 1.26413743e+02] [ 2.04999632e-02 -3.23522959e-04 9.99789801e-01 3.92580461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.132755096 meters 0.017631361176679735 Centerline is valid? [True, True] Translation: X:122.92, Y:126.44, Z:3.93 [[-4.24460462e-01 -9.05408961e-01 8.24195299e-03 1.22917749e+02] [ 9.05222058e-01 -4.24540330e-01 -1.83992709e-02 1.26439305e+02] [ 2.01579062e-02 -3.48965374e-04 9.99796748e-01 3.92669577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.162755096 meters 0.01795175586967197 Centerline is valid? [True, True] Translation: X:122.91, Y:126.46, Z:3.93 [[-4.24894358e-01 -9.05205879e-01 8.19157400e-03 1.22907048e+02] [ 9.05021556e-01 -4.24973170e-01 -1.82698693e-02 1.26462412e+02] [ 2.00191923e-02 -3.49213354e-04 9.99799535e-01 3.92764147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.192755096 meters 0.01735474048888534 Centerline is valid? [True, True] Translation: X:122.89, Y:126.49, Z:3.93 [[-4.25263777e-01 -9.05033812e-01 8.03239504e-03 1.22894720e+02] [ 9.04856843e-01 -4.25339489e-01 -1.79001009e-02 1.26485741e+02] [ 1.96166914e-02 -3.44096909e-04 9.99807515e-01 3.92809227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22275509600001 meters 0.017614949643748084 Centerline is valid? [True, True] Translation: X:122.88, Y:126.51, Z:3.93 [[-4.24677176e-01 -9.05310596e-01 7.87540326e-03 1.22883312e+02] [ 9.05140877e-01 -4.24750074e-01 -1.75318918e-02 1.26508871e+02] [ 1.92168855e-02 -3.17044885e-04 9.99815288e-01 3.92854736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25275509600002 meters 0.0172731720572852 Centerline is valid? [True, True] Translation: X:122.87, Y:126.53, Z:3.93 [[-4.24289872e-01 -9.05492704e-01 7.81458613e-03 1.22870448e+02] [ 9.05325992e-01 -4.24361725e-01 -1.73773871e-02 1.26531975e+02] [ 1.90513085e-02 -2.98301411e-04 9.99818463e-01 3.92874388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28275509600002 meters 0.017255119578886577 Centerline is valid? [True, True] Translation: X:122.86, Y:126.55, Z:3.93 [[-4.24178216e-01 -9.05544354e-01 7.89079358e-03 1.22859987e+02] [ 9.05374727e-01 -4.24251504e-01 -1.75289775e-02 1.26554720e+02] [ 1.92209476e-02 -2.91285308e-04 9.99815218e-01 3.92854866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31275509600002 meters 0.016719849904756078 Centerline is valid? [True, True] Translation: X:122.85, Y:126.58, Z:3.93 [[-4.23840261e-01 -9.05704771e-01 7.63548948e-03 1.22845895e+02] [ 9.05546216e-01 -4.23908946e-01 -1.69486451e-02 1.26577151e+02] [ 1.85872211e-02 -2.69229574e-04 9.99827206e-01 3.92886759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34275509600002 meters 0.017377151926662802 Centerline is valid? [True, True] Translation: X:122.84, Y:126.60, Z:3.93 [[-4.24419017e-01 -9.05431299e-01 7.91578585e-03 1.22835899e+02] [ 9.05261198e-01 -4.24492734e-01 -1.75522818e-02 1.26600652e+02] [ 1.92525789e-02 -2.83668409e-04 9.99814612e-01 3.92863641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37275509600002 meters 0.01731759957499825 Centerline is valid? [True, True] Translation: X:122.82, Y:126.62, Z:3.93 [[-4.25567325e-01 -9.04890969e-01 8.04898266e-03 1.22824780e+02] [ 9.04715372e-01 -4.25643326e-01 -1.78284715e-02 1.26624419e+02] [ 1.95588186e-02 -3.05176554e-04 9.99808661e-01 3.92834449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40275509600002 meters 0.01729033902416933 Centerline is valid? [True, True] Translation: X:122.81, Y:126.65, Z:3.93 [[-4.27202948e-01 -9.04119574e-01 8.08935486e-03 1.22813103e+02] [ 9.03942425e-01 -4.27279399e-01 -1.78999537e-02 1.26648512e+02] [ 1.96401131e-02 -3.34601927e-04 9.99807058e-01 3.92842502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43275509600002 meters 0.01880514133720399 Centerline is valid? [True, True] Translation: X:122.80, Y:126.67, Z:3.93 [[-4.30666595e-01 -9.02474342e-01 8.14537626e-03 1.22803314e+02] [ 9.02294789e-01 -4.30743426e-01 -1.80059632e-02 1.26673680e+02] [ 1.97584871e-02 -4.05036316e-04 9.99804700e-01 3.92784055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46275509600002 meters 0.019806956783745118 Centerline is valid? [True, True] Translation: X:122.79, Y:126.70, Z:3.93 [[-4.32444584e-01 -9.01623197e-01 8.20323821e-03 1.22794044e+02] [ 9.01441271e-01 -4.32522159e-01 -1.81167760e-02 1.26698202e+02] [ 1.98825878e-02 -4.39764194e-04 9.99802225e-01 3.92803909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49275509600002 meters 0.021052970734755892 Centerline is valid? [True, True] Translation: X:122.78, Y:126.72, Z:3.93 [[-4.35770917e-01 -9.00020125e-01 8.21481198e-03 1.22784853e+02] [ 8.99837752e-01 -4.35848045e-01 -1.81245920e-02 1.26723420e+02] [ 1.98929073e-02 -5.06172120e-04 9.99801988e-01 3.92800615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52275509600003 meters 0.02123343361696831 Centerline is valid? [True, True] Translation: X:122.77, Y:126.75, Z:3.93 [[-4.36980888e-01 -8.99431602e-01 8.39629106e-03 1.22773517e+02] [ 8.99241349e-01 -4.37061215e-01 -1.85065101e-02 1.26748690e+02] [ 2.03150332e-02 -5.36699111e-04 9.99793484e-01 3.92828357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55275509600003 meters 0.02162013387058758 Centerline is valid? [True, True] Translation: X:122.76, Y:126.77, Z:3.93 [[-4.38384420e-01 -8.98749199e-01 8.30527969e-03 1.22762610e+02] [ 8.98563267e-01 -4.38462735e-01 -1.82889130e-02 1.26773382e+02] [ 2.00787016e-02 -5.54755286e-04 9.99798249e-01 3.92855288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58275509600003 meters 0.02244226071695418 Centerline is valid? [True, True] Translation: X:122.75, Y:126.80, Z:3.93 [[-4.39334571e-01 -8.98284003e-01 8.42526557e-03 1.22752539e+02] [ 8.98092936e-01 -4.39414972e-01 -1.85354056e-02 1.26797578e+02] [ 2.03522462e-02 -5.76572973e-04 9.99792705e-01 3.92896780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61275509600003 meters 0.02259889664023832 Centerline is valid? [True, True] Translation: X:122.74, Y:126.82, Z:3.93 [[-4.39575443e-01 -8.98166137e-01 8.42736951e-03 1.22741594e+02] [ 8.97975325e-01 -4.39655844e-01 -1.85217492e-02 1.26821342e+02] [ 2.03407501e-02 -5.74136212e-04 9.99792941e-01 3.92886938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.642755096 meters 0.021498757113999113 Centerline is valid? [True, True] Translation: X:122.73, Y:126.84, Z:3.93 [[-4.39602417e-01 -8.98149610e-01 8.77458983e-03 1.22728904e+02] [ 8.97943180e-01 -4.39689585e-01 -1.92643442e-02 1.26844325e+02] [ 2.11603590e-02 -5.89569160e-04 9.99775921e-01 3.92921152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.672755096 meters 0.021954516671714865 Centerline is valid? [True, True] Translation: X:122.72, Y:126.87, Z:3.93 [[-4.39305262e-01 -8.98295814e-01 8.69006101e-03 1.22718447e+02] [ 8.98093791e-01 -4.39390837e-01 -1.90587294e-02 1.26867096e+02] [ 2.09387100e-02 -5.68110275e-04 9.99780600e-01 3.92931661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.702755096 meters 0.020855747499176937 Centerline is valid? [True, True] Translation: X:122.71, Y:126.89, Z:3.93 [[-4.38642037e-01 -8.98620917e-01 8.57968058e-03 1.22705602e+02] [ 8.98424474e-01 -4.38725609e-01 -1.87963913e-02 1.26890127e+02] [ 2.06549560e-02 -5.36692376e-04 9.99786520e-01 3.92950869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.732755096 meters 0.021802769570436455 Centerline is valid? [True, True] Translation: X:122.70, Y:126.91, Z:3.93 [[-4.38664733e-01 -8.98610364e-01 8.52437908e-03 1.22696495e+02] [ 8.98416842e-01 -4.38747236e-01 -1.86558691e-02 1.26914397e+02] [ 2.05044051e-02 -5.25226103e-04 9.99789625e-01 3.92993970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.762755096 meters 0.021802769570436455 Centerline is valid? [True, True] Translation: X:122.69, Y:126.94, Z:3.93 [[-4.39004281e-01 -8.98444460e-01 8.53196448e-03 1.22685472e+02] [ 8.98250973e-01 -4.39086868e-01 -1.86523995e-02 1.26937864e+02] [ 2.05044186e-02 -5.24637844e-04 9.99789625e-01 3.93042298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.792755096 meters 0.021080771823665176 Centerline is valid? [True, True] Translation: X:122.67, Y:126.96, Z:3.93 [[-4.38991057e-01 -8.98451729e-01 8.44641740e-03 1.22673186e+02] [ 8.98262476e-01 -4.39072009e-01 -1.84470975e-02 1.26961276e+02] [ 2.02824121e-02 -5.11011048e-04 9.99794160e-01 3.93167869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.822755096 meters 0.020413385875010563 Centerline is valid? [True, True] Translation: X:122.66, Y:126.98, Z:3.93 [[-4.39203142e-01 -8.98348919e-01 8.35586138e-03 1.22661069e+02] [ 8.98164053e-01 -4.39282333e-01 -1.82309107e-02 1.26984391e+02] [ 2.00483012e-02 -5.02138947e-04 9.99798887e-01 3.93253153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.852755096 meters 0.021033375705614508 Centerline is valid? [True, True] Translation: X:122.65, Y:127.01, Z:3.93 [[-4.39380155e-01 -8.98264021e-01 8.17485652e-03 1.22650925e+02] [ 8.98087420e-01 -4.39455927e-01 -1.78177960e-02 1.27007864e+02] [ 1.95975742e-02 -4.87050182e-04 9.99807830e-01 3.93325587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.882755096 meters 0.020754958922927093 Centerline is valid? [True, True] Translation: X:122.64, Y:127.03, Z:3.93 [[-4.40343958e-01 -8.97796300e-01 7.68131385e-03 1.22638694e+02] [ 8.97640623e-01 -4.40410699e-01 -1.67250688e-02 1.27031568e+02] [ 1.83986376e-02 -4.69723630e-04 9.99830620e-01 3.93457345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.912755096 meters 0.02020035233000559 Centerline is valid? [True, True] Translation: X:122.63, Y:127.06, Z:3.94 [[-4.40959155e-01 -8.97494452e-01 7.66373306e-03 1.22626102e+02] [ 8.97339758e-01 -4.41025493e-01 -1.66695321e-02 1.27055942e+02] [ 1.83407142e-02 -4.73610432e-04 9.99831683e-01 3.93522454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.942755096 meters 0.021052483704297954 Centerline is valid? [True, True] Translation: X:122.62, Y:127.08, Z:3.94 [[-4.42290534e-01 -8.96840286e-01 7.52232337e-03 1.22615933e+02] [ 8.96691430e-01 -4.42354233e-01 -1.63466468e-02 1.27080328e+02] [ 1.79878630e-02 -4.84764267e-04 9.99838088e-01 3.93633203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97275509600001 meters 0.021227280807237302 Centerline is valid? [True, True] Translation: X:122.61, Y:127.10, Z:3.94 [[-4.43001094e-01 -8.96490431e-01 7.41198249e-03 1.22605171e+02] [ 8.96346142e-01 -4.43062831e-01 -1.60910621e-02 1.27104028e+02] [ 1.77094572e-02 -4.84656233e-04 9.99843058e-01 3.93695886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00275509600002 meters 0.021583095704168297 Centerline is valid? [True, True] Translation: X:122.59, Y:127.13, Z:3.94 [[-4.43668715e-01 -8.96160912e-01 7.32746692e-03 1.22594306e+02] [ 8.96020136e-01 -4.43728955e-01 -1.58912124e-02 1.27127785e+02] [ 1.74924926e-02 -4.84875862e-04 9.99846877e-01 3.93749517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03275509600002 meters 0.021244577461731372 Centerline is valid? [True, True] Translation: X:122.58, Y:127.15, Z:3.94 [[-4.44339738e-01 -8.95828141e-01 7.35788625e-03 1.22581628e+02] [ 8.95686441e-01 -4.44400381e-01 -1.59405179e-02 1.27152270e+02] [ 1.75498120e-02 -4.92646622e-04 9.99845869e-01 3.93798214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06275509600002 meters 0.02213809751413581 Centerline is valid? [True, True] Translation: X:122.57, Y:127.18, Z:3.94 [[-4.45056863e-01 -8.95469802e-01 7.63034340e-03 1.22570880e+02] [ 8.95317655e-01 -4.45121966e-01 -1.65146077e-02 1.27175707e+02] [ 1.81847659e-02 -5.18358332e-04 9.99834509e-01 3.93818370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09275509600002 meters 0.022294203257686215 Centerline is valid? [True, True] Translation: X:122.56, Y:127.20, Z:3.94 [[-4.45520202e-01 -8.95237544e-01 7.84147843e-03 1.22559509e+02] [ 8.95077180e-01 -4.45588885e-01 -1.69525211e-02 1.27199479e+02] [ 1.86706090e-02 -5.33962213e-04 9.99825546e-01 3.93837500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12275509600002 meters 0.02227294050764256 Centerline is valid? [True, True] Translation: X:122.55, Y:127.22, Z:3.94 [[-4.45915097e-01 -8.95039467e-01 8.00495707e-03 1.22547974e+02] [ 8.94872657e-01 -4.45986609e-01 -1.72879042e-02 1.27223368e+02] [ 1.90434602e-02 -5.45520263e-04 9.99818508e-01 3.93856319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15275509600002 meters 0.0216323100595429 Centerline is valid? [True, True] Translation: X:122.54, Y:127.25, Z:3.94 [[-4.46336347e-01 -8.94827879e-01 8.18116914e-03 1.22535753e+02] [ 8.94653969e-01 -4.46410970e-01 -1.76499905e-02 1.27246958e+02] [ 1.94458673e-02 -5.58516872e-04 9.99810755e-01 3.93878683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18275509600002 meters 0.02163590968189716 Centerline is valid? [True, True] Translation: X:122.52, Y:127.27, Z:3.94 [[-4.46634267e-01 -8.94678044e-01 8.30837172e-03 1.22524735e+02] [ 8.94499033e-01 -4.46711180e-01 -1.79053631e-02 1.27270963e+02] [ 1.97309777e-02 -5.65318250e-04 9.99805165e-01 3.93954714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21275509600002 meters 0.022490725967867234 Centerline is valid? [True, True] Translation: X:122.51, Y:127.30, Z:3.94 [[-4.45812786e-01 -8.95089453e-01 8.11361489e-03 1.22514495e+02] [ 8.94919148e-01 -4.45886301e-01 -1.74678331e-02 1.27295433e+02] [ 1.92530229e-02 -5.26354011e-04 9.99814505e-01 3.94086957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24275509600002 meters 0.020772236524095516 Centerline is valid? [True, True] Translation: X:122.50, Y:127.32, Z:3.94 [[-4.45483104e-01 -8.95254992e-01 7.95630057e-03 1.22500248e+02] [ 8.95091565e-01 -4.45553866e-01 -1.71126813e-02 1.27318474e+02] [ 1.88651738e-02 -5.01792844e-04 9.99821911e-01 3.94171664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27275509600003 meters 0.020710747829084122 Centerline is valid? [True, True] Translation: X:122.49, Y:127.34, Z:3.94 [[-4.45036988e-01 -8.95478196e-01 7.80253093e-03 1.22489129e+02] [ 8.95321360e-01 -4.45105126e-01 -1.67657025e-02 1.27340845e+02] [ 1.84862676e-02 -4.75585135e-04 9.99829001e-01 3.94264868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30275509600003 meters 0.021347693268309553 Centerline is valid? [True, True] Translation: X:122.48, Y:127.36, Z:3.94 [[-4.44649020e-01 -8.95671840e-01 7.69436243e-03 1.22478800e+02] [ 8.95519674e-01 -4.44715357e-01 -1.65155977e-02 1.27364573e+02] [ 1.82143569e-02 -4.53191384e-04 9.99834002e-01 3.94372652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33275509600003 meters 0.019812011319396257 Centerline is valid? [True, True] Translation: X:122.46, Y:127.39, Z:3.94 [[-4.44036376e-01 -8.95976807e-01 7.56696151e-03 1.22464788e+02] [ 8.95829973e-01 -4.44100642e-01 -1.62258998e-02 1.27386959e+02] [ 1.78985224e-02 -4.26178836e-04 9.99839718e-01 3.94484966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36275509600003 meters 0.020201997942399966 Centerline is valid? [True, True] Translation: X:122.45, Y:127.41, Z:3.95 [[-4.43830457e-01 -8.96078899e-01 7.55857478e-03 1.22454621e+02] [ 8.95932702e-01 -4.43894622e-01 -1.61913132e-02 1.27410322e+02] [ 1.78639048e-02 -4.14223624e-04 9.99840342e-01 3.94573952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.392755096 meters 0.019258900270552527 Centerline is valid? [True, True] Translation: X:122.44, Y:127.43, Z:3.95 [[-4.43660125e-01 -8.96165288e-01 7.31229941e-03 1.22441918e+02] [ 8.96028755e-01 -4.43720209e-01 -1.56475735e-02 1.27433163e+02] [ 1.72674273e-02 -3.90173889e-04 9.99850831e-01 3.94691131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.422755096 meters 0.01905802159168308 Centerline is valid? [True, True] Translation: X:122.43, Y:127.46, Z:3.95 [[-4.42695102e-01 -8.96644722e-01 7.02063149e-03 1.22429909e+02] [ 8.96519167e-01 -4.42750629e-01 -1.50088039e-02 1.27455382e+02] [ 1.65659538e-02 -3.50193257e-04 9.99862714e-01 3.94865674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.452755096 meters 0.018343692561636888 Centerline is valid? [True, True] Translation: X:122.42, Y:127.48, Z:3.95 [[-4.42191464e-01 -8.96894840e-01 6.80851985e-03 1.22416914e+02] [ 8.96777029e-01 -4.42243758e-01 -1.45402534e-02 1.27478027e+02] [ 1.60521037e-02 -3.23851741e-04 9.99871104e-01 3.94945057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.482755096 meters 0.018015901479002602 Centerline is valid? [True, True] Translation: X:122.40, Y:127.50, Z:3.95 [[-4.41539624e-01 -8.97216670e-01 6.70884772e-03 1.22403808e+02] [ 8.97102545e-01 -4.41590486e-01 -1.43131404e-02 1.27500138e+02] [ 1.58045515e-02 -3.01294246e-04 9.99875055e-01 3.94990063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.512755096 meters 0.017365194206524652 Centerline is valid? [True, True] Translation: X:122.39, Y:127.52, Z:3.95 [[-4.41384755e-01 -8.97293383e-01 6.63952110e-03 1.22390253e+02] [ 8.97181848e-01 -4.41434595e-01 -1.41502896e-02 1.27523402e+02] [ 1.56278755e-02 -2.88864278e-04 9.99877836e-01 3.95015040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.542755096 meters 0.017132157726662246 Centerline is valid? [True, True] Translation: X:122.38, Y:127.55, Z:3.95 [[-4.41216742e-01 -8.97375196e-01 6.74867217e-03 1.22377801e+02] [ 8.97260213e-01 -4.41268260e-01 -1.43677520e-02 1.27546572e+02] [ 1.58712391e-02 -2.83977702e-04 9.99874004e-01 3.95037723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.572755096 meters 0.01746085823857581 Centerline is valid? [True, True] Translation: X:122.37, Y:127.57, Z:3.95 [[-4.40923248e-01 -8.97517312e-01 7.02593547e-03 1.22366382e+02] [ 8.97392972e-01 -4.40979132e-01 -1.49418706e-02 1.27568918e+02] [ 1.65088784e-02 -2.83192990e-04 9.99863679e-01 3.95050916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.602755096 meters 0.01705904274772057 Centerline is valid? [True, True] Translation: X:122.35, Y:127.59, Z:3.95 [[-4.41129362e-01 -8.97415045e-01 7.15004895e-03 1.22353387e+02] [ 8.97286542e-01 -4.41187212e-01 -1.51889954e-02 1.27592097e+02] [ 1.67853431e-02 -2.84669135e-04 9.99859076e-01 3.95073599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.632755096 meters 0.016880997961459646 Centerline is valid? [True, True] Translation: X:122.34, Y:127.62, Z:3.95 [[-4.41226234e-01 -8.97366630e-01 7.24862570e-03 1.22341053e+02] [ 8.97234821e-01 -4.41285680e-01 -1.53826090e-02 1.27615327e+02] [ 1.70025547e-02 -2.83491238e-04 9.99855406e-01 3.95116452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.662755096 meters 0.01655133916615803 Centerline is valid? [True, True] Translation: X:122.33, Y:127.64, Z:3.95 [[-4.41525097e-01 -8.97217650e-01 7.48850931e-03 1.22327599e+02] [ 8.97077243e-01 -4.41588501e-01 -1.58750405e-02 1.27637868e+02] [ 1.75502061e-02 -2.91457514e-04 9.99845941e-01 3.95101589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.692755096 meters 0.01686349049543331 Centerline is valid? [True, True] Translation: X:122.32, Y:127.66, Z:3.95 [[-4.41858531e-01 -8.97052814e-01 7.56879400e-03 1.22316797e+02] [ 8.96909654e-01 -4.41923253e-01 -1.60284453e-02 1.27660750e+02] [ 1.77231880e-02 -2.93780887e-04 9.99842889e-01 3.95152288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72275509600001 meters 0.017117564479223944 Centerline is valid? [True, True] Translation: X:122.31, Y:127.68, Z:3.95 [[-4.42935024e-01 -8.96519982e-01 7.77726701e-03 1.22305114e+02] [ 8.96369077e-01 -4.43003185e-01 -1.64516379e-02 1.27684707e+02] [ 1.81945762e-02 -3.15705007e-04 9.99834415e-01 3.95158763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75275509600002 meters 0.017432262466104007 Centerline is valid? [True, True] Translation: X:122.29, Y:127.71, Z:3.95 [[-4.43831903e-01 -8.96074939e-01 7.93389238e-03 1.22293977e+02] [ 8.95918146e-01 -4.43902685e-01 -1.67654904e-02 1.27708835e+02] [ 1.85450119e-02 -3.32941348e-04 9.99827971e-01 3.95204333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78275509600002 meters 0.017844578325483303 Centerline is valid? [True, True] Translation: X:122.28, Y:127.73, Z:3.95 [[-4.45037813e-01 -8.95476779e-01 7.91731183e-03 1.22283208e+02] [ 8.95320860e-01 -4.45108096e-01 -1.67134971e-02 1.27732866e+02] [ 1.84906081e-02 -3.49603764e-04 9.99828973e-01 3.95233269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81275509600002 meters 0.018791518139162428 Centerline is valid? [True, True] Translation: X:122.27, Y:127.76, Z:3.95 [[-4.46785508e-01 -8.94605325e-01 8.00142620e-03 1.22272949e+02] [ 8.94446256e-01 -4.46856988e-01 -1.68738689e-02 1.27757228e+02] [ 1.86709461e-02 -3.82154368e-04 9.99825610e-01 3.95210938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84275509600002 meters 0.01910070324590269 Centerline is valid? [True, True] Translation: X:122.26, Y:127.78, Z:3.95 [[-4.47769244e-01 -8.94113072e-01 8.03239591e-03 1.22261998e+02] [ 8.93952992e-01 -4.47841107e-01 -1.69230718e-02 1.27780920e+02] [ 1.87283768e-02 -3.97046717e-04 9.99824530e-01 3.95225602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87275509600002 meters 0.018968148866506725 Centerline is valid? [True, True] Translation: X:122.25, Y:127.80, Z:3.95 [[-4.48635683e-01 -8.93677767e-01 8.12853294e-03 1.22250527e+02] [ 8.93514087e-01 -4.48709125e-01 -1.71084158e-02 1.27804450e+02] [ 1.89367577e-02 -4.12487124e-04 9.99820598e-01 3.95266923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90275509600002 meters 0.019242835661411134 Centerline is valid? [True, True] Translation: X:122.24, Y:127.83, Z:3.95 [[-4.49956848e-01 -8.93010644e-01 8.41580877e-03 1.22239477e+02] [ 8.92835433e-01 -4.50035321e-01 -1.76946297e-02 1.27829216e+02] [ 1.95889039e-02 -4.47887560e-04 9.99808019e-01 3.95265004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93275509600002 meters 0.02009777552326575 Centerline is valid? [True, True] Translation: X:122.23, Y:127.85, Z:3.95 [[-4.50385649e-01 -8.92792449e-01 8.62611885e-03 1.22230129e+02] [ 8.92608676e-01 -4.50468012e-01 -1.81196250e-02 1.27852779e+02] [ 2.00628550e-02 -4.61070519e-04 9.99798614e-01 3.95293054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96275509600002 meters 0.01944096466586459 Centerline is valid? [True, True] Translation: X:122.22, Y:127.88, Z:3.95 [[-4.50348674e-01 -8.92807965e-01 8.94478312e-03 1.22217726e+02] [ 8.92610792e-01 -4.50437252e-01 -1.87685121e-02 1.27875797e+02] [ 2.07857406e-02 -4.68164569e-04 9.99783844e-01 3.95340699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99275509600002 meters 0.018834884247390826 Centerline is valid? [True, True] Translation: X:122.20, Y:127.90, Z:3.95 [[-4.50166328e-01 -8.92898955e-01 9.04066328e-03 1.22204805e+02] [ 8.92697954e-01 -4.50256865e-01 -1.89504142e-02 1.27899307e+02] [ 2.09914257e-02 -4.60256754e-04 9.99779550e-01 3.95419292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02275509600003 meters 0.018741613870839172 Centerline is valid? [True, True] Translation: X:122.19, Y:127.92, Z:3.95 [[-4.49905925e-01 -8.93028631e-01 9.19362660e-03 1.22192853e+02] [ 8.92821223e-01 -4.49999621e-01 -1.92510750e-02 1.27922493e+02] [ 2.13288896e-02 -4.52907753e-04 9.99772411e-01 3.95480786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05275509600003 meters 0.018713425386832423 Centerline is valid? [True, True] Translation: X:122.18, Y:127.95, Z:3.96 [[-4.49736431e-01 -8.93113873e-01 9.20610838e-03 1.22180731e+02] [ 8.92906338e-01 -4.49830430e-01 -1.92576329e-02 1.27946299e+02] [ 2.13404468e-02 -4.40666569e-04 9.99772170e-01 3.95511439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08275509600003 meters 0.018448196223651982 Centerline is valid? [True, True] Translation: X:122.17, Y:127.97, Z:3.96 [[-4.48927830e-01 -8.93517953e-01 9.45888234e-03 1.22168900e+02] [ 8.93299399e-01 -4.49027268e-01 -1.97660261e-02 1.27969336e+02] [ 2.19085953e-02 -4.23905301e-04 9.99759888e-01 3.95545489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11275509600003 meters 0.017971324395491 Centerline is valid? [True, True] Translation: X:122.16, Y:127.99, Z:3.96 [[-4.48625519e-01 -8.93668832e-01 9.54791488e-03 1.22156532e+02] [ 8.93446622e-01 -4.48726921e-01 -1.99320014e-02 1.27993013e+02] [ 2.20970148e-02 -4.11452167e-04 9.99755747e-01 3.95594587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.142755096 meters 0.017514198761977844 Centerline is valid? [True, True] Translation: X:122.14, Y:128.02, Z:3.96 [[-4.48381166e-01 -8.93788482e-01 9.82238394e-03 1.22144915e+02] [ 8.93553820e-01 -4.48488553e-01 -2.04838591e-02 1.28016321e+02] [ 2.27134641e-02 -4.07747941e-04 9.99741933e-01 3.95582072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.172755096 meters 0.01827108265482065 Centerline is valid? [True, True] Translation: X:122.14, Y:128.04, Z:3.96 [[-4.48734332e-01 -8.93607957e-01 1.01152387e-02 1.22135350e+02] [ 8.93359565e-01 -4.48848129e-01 -2.10723611e-02 1.28040206e+02] [ 2.33706355e-02 -4.19346658e-04 9.99726781e-01 3.95576875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.202755096 meters 0.018082666025915756 Centerline is valid? [True, True] Translation: X:122.12, Y:128.06, Z:3.96 [[-4.49752745e-01 -8.93093341e-01 1.03320898e-02 1.22123987e+02] [ 8.92834596e-01 -4.49871188e-01 -2.15011328e-02 1.28064285e+02] [ 2.38506280e-02 -4.45346329e-04 9.99715434e-01 3.95620325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.232755096 meters 0.01818733060482952 Centerline is valid? [True, True] Translation: X:122.11, Y:128.09, Z:3.96 [[-4.50647829e-01 -8.92640230e-01 1.04859261e-02 1.22113008e+02] [ 8.92374135e-01 -4.50769567e-01 -2.17990849e-02 1.28088520e+02] [ 2.41854766e-02 -4.66341070e-04 9.99707380e-01 3.95693260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.262755096 meters 0.01876295670256418 Centerline is valid? [True, True] Translation: X:122.10, Y:128.11, Z:3.96 [[-4.51961557e-01 -8.91975906e-01 1.04754179e-02 1.22102493e+02] [ 8.91710685e-01 -4.52082672e-01 -2.17557584e-02 1.28113600e+02] [ 2.41413672e-02 -4.91724387e-04 9.99708434e-01 3.95772839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.292755096 meters 0.019561636646794143 Centerline is valid? [True, True] Translation: X:122.09, Y:128.14, Z:3.96 [[-4.53285890e-01 -8.91302844e-01 1.05424006e-02 1.22092843e+02] [ 8.91034526e-01 -4.53408170e-01 -2.18747791e-02 1.28137924e+02] [ 2.42770634e-02 -5.21885823e-04 9.99705132e-01 3.95845226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.322755096 meters 0.021074803416081582 Centerline is valid? [True, True] Translation: X:122.09, Y:128.16, Z:3.96 [[-4.55703318e-01 -8.90069370e-01 1.05357483e-02 1.22085092e+02] [ 8.89801559e-01 -4.55824727e-01 -2.18404281e-02 1.28163125e+02] [ 2.42419507e-02 -5.78030309e-04 9.99705954e-01 3.95932888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.352755096 meters 0.02051680600502013 Centerline is valid? [True, True] Translation: X:122.07, Y:128.19, Z:3.96 [[-4.56978808e-01 -8.89416919e-01 1.03881175e-02 1.22072847e+02] [ 8.89156863e-01 -4.57096477e-01 -2.15147248e-02 1.28187879e+02] [ 2.38839322e-02 -5.95107368e-04 9.99714561e-01 3.96051741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.382755096 meters 0.02294359915672935 Centerline is valid? [True, True] Translation: X:122.07, Y:128.21, Z:3.96 [[-4.59007302e-01 -8.88374485e-01 1.01524003e-02 1.22065951e+02] [ 8.88126278e-01 -4.59119138e-01 -2.10078814e-02 1.28213169e+02] [ 2.33240271e-02 -6.26157417e-04 9.99727762e-01 3.96088611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.412755096 meters 0.02362355775391929 Centerline is valid? [True, True] Translation: X:122.06, Y:128.24, Z:3.96 [[-4.59548776e-01 -8.88092370e-01 1.03375177e-02 1.22056052e+02] [ 8.87835401e-01 -4.59664582e-01 -2.13722414e-02 1.28236661e+02] [ 2.37323152e-02 -6.43573175e-04 9.99718142e-01 3.96103166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.442755096 meters 0.023834472509283625 Centerline is valid? [True, True] Translation: X:122.04, Y:128.26, Z:3.96 [[-4.60255716e-01 -8.87724505e-01 1.04822865e-02 1.22044727e+02] [ 8.87460612e-01 -4.60374589e-01 -2.16540927e-02 1.28260736e+02] [ 2.40486471e-02 -6.63803553e-04 9.99710569e-01 3.96102883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47275509600001 meters 0.021763208510776042 Centerline is valid? [True, True] Translation: X:122.03, Y:128.28, Z:3.96 [[-4.60819291e-01 -8.87432175e-01 1.04745301e-02 1.22030559e+02] [ 8.87169093e-01 -4.60937835e-01 -2.16174110e-02 1.28283481e+02] [ 2.40120932e-02 -6.69040626e-04 9.99711444e-01 3.96152827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50275509600002 meters 0.022455884847157243 Centerline is valid? [True, True] Translation: X:122.02, Y:128.31, Z:3.96 [[-4.61056083e-01 -8.87304593e-01 1.08558174e-02 1.22021455e+02] [ 8.87022520e-01 -4.61183352e-01 -2.23822506e-02 1.28307845e+02] [ 2.48663961e-02 -6.90118248e-04 9.99690545e-01 3.96130812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53275509600002 meters 0.022244587368840156 Centerline is valid? [True, True] Translation: X:122.01, Y:128.33, Z:3.96 [[-4.60977681e-01 -8.87344715e-01 1.09056902e-02 1.22010345e+02] [ 8.87060533e-01 -4.61106160e-01 -2.24659782e-02 1.28331409e+02] [ 2.49637479e-02 -6.82307118e-04 9.99688124e-01 3.96145603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56275509600002 meters 0.021464894038601946 Centerline is valid? [True, True] Translation: X:122.00, Y:128.36, Z:3.96 [[-4.59923069e-01 -8.87887662e-01 1.12370376e-02 1.21997761e+02] [ 8.87586691e-01 -4.60059846e-01 -2.31258357e-02 1.28356034e+02] [ 2.57028540e-02 -6.62260346e-04 9.99669408e-01 3.96156598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59275509600002 meters 0.0214036825009481 Centerline is valid? [True, True] Translation: X:121.99, Y:128.38, Z:3.96 [[-4.59163009e-01 -8.88281048e-01 1.12299016e-02 1.21986622e+02] [ 8.87981128e-01 -4.59299883e-01 -2.30896941e-02 1.28378797e+02] [ 2.56680301e-02 -6.29992749e-04 9.99670323e-01 3.96151118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62275509600002 meters 0.020912640405141947 Centerline is valid? [True, True] Translation: X:121.97, Y:128.40, Z:3.96 [[-4.58036275e-01 -8.88860958e-01 1.13564297e-02 1.21974389e+02] [ 8.88555019e-01 -4.58176653e-01 -2.33266621e-02 1.28402591e+02] [ 2.59374101e-02 -5.93644821e-04 9.99663393e-01 3.96197927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65275509600002 meters 0.020912640405141947 Centerline is valid? [True, True] Translation: X:121.96, Y:128.43, Z:3.96 [[-4.58372402e-01 -8.88687564e-01 1.13646283e-02 1.21962800e+02] [ 8.88381671e-01 -4.58512879e-01 -2.33226676e-02 1.28425782e+02] [ 2.59373931e-02 -5.94339674e-04 9.99663393e-01 3.96246291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68275509600002 meters 0.019731245353697555 Centerline is valid? [True, True] Translation: X:121.95, Y:128.45, Z:3.96 [[-4.55649708e-01 -8.90088595e-01 1.12087360e-02 1.21950151e+02] [ 8.89792008e-01 -4.55787280e-01 -2.29812393e-02 1.28448487e+02] [ 2.55641383e-02 -4.97951273e-04 9.99673060e-01 3.96322774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71275509600002 meters 0.018825076631457726 Centerline is valid? [True, True] Translation: X:121.94, Y:128.47, Z:3.96 [[-4.54834784e-01 -8.90505160e-01 1.12196318e-02 1.21937296e+02] [ 8.90208663e-01 -4.54972905e-01 -2.29824304e-02 1.28472056e+02] [ 2.55706013e-02 -4.65395290e-04 9.99672910e-01 3.96443486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74275509600002 meters 0.018554943399169858 Centerline is valid? [True, True] Translation: X:121.93, Y:128.50, Z:3.97 [[-4.53146055e-01 -8.91369663e-01 1.08984788e-02 1.21927066e+02] [ 8.91090663e-01 -4.53276921e-01 -2.23038906e-02 1.28495835e+02] [ 2.48210403e-02 -3.95387361e-04 9.99691832e-01 3.96537707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77275509600003 meters 0.01783608875027224 Centerline is valid? [True, True] Translation: X:121.92, Y:128.52, Z:3.97 [[-4.52803473e-01 -8.91545336e-01 1.07669953e-02 1.21915098e+02] [ 8.91273566e-01 -4.52931314e-01 -2.20148733e-02 1.28518868e+02] [ 2.45039669e-02 -3.72072809e-04 9.99699663e-01 3.96643642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80275509600003 meters 0.017679605380957142 Centerline is valid? [True, True] Translation: X:121.90, Y:128.54, Z:3.97 [[-4.52523159e-01 -8.91685721e-01 1.09254856e-02 1.21903308e+02] [ 8.91406458e-01 -4.52654886e-01 -2.23177253e-02 1.28542937e+02] [ 2.48458714e-02 -3.60239151e-04 9.99691229e-01 3.96691251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83275509600003 meters 0.017496334645661703 Centerline is valid? [True, True] Translation: X:121.89, Y:128.57, Z:3.97 [[-4.52295165e-01 -8.91803035e-01 1.07902774e-02 1.21892117e+02] [ 8.91531188e-01 -4.52423730e-01 -2.20206493e-02 1.28565718e+02] [ 2.45198594e-02 -3.39964404e-04 9.99699285e-01 3.96725415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86275509600003 meters 0.01714512377635787 Centerline is valid? [True, True] Translation: X:121.88, Y:128.59, Z:3.97 [[-4.51632497e-01 -8.92140347e-01 1.06624593e-02 1.21881216e+02] [ 8.91875531e-01 -4.51758238e-01 -2.17377795e-02 1.28588941e+02] [ 2.42100040e-02 -3.07901052e-04 9.99706847e-01 3.96864886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.892755096 meters 0.016757662331341096 Centerline is valid? [True, True] Translation: X:121.87, Y:128.61, Z:3.97 [[-4.51665721e-01 -8.92125427e-01 1.05023256e-02 1.21869492e+02] [ 8.91869007e-01 -4.51787711e-01 -2.13901454e-02 1.28612552e+02] [ 2.38275143e-02 -2.94496725e-04 9.99716041e-01 3.96981287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.922755096 meters 0.016733146329053743 Centerline is valid? [True, True] Translation: X:121.86, Y:128.64, Z:3.97 [[-4.51823987e-01 -8.92051413e-01 9.96799665e-03 1.21858937e+02] [ 8.91820823e-01 -4.51933846e-01 -2.02834750e-02 1.28637147e+02] [ 2.25987776e-02 -2.74893578e-04 9.99744577e-01 3.97092756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.952755096 meters 0.01687868346347592 Centerline is valid? [True, True] Translation: X:121.85, Y:128.66, Z:3.97 [[-4.52081357e-01 -8.91921321e-01 9.93999233e-03 1.21848294e+02] [ 8.91692423e-01 -4.52190538e-01 -2.02074070e-02 1.28660297e+02] [ 2.25181876e-02 -2.71976116e-04 9.99746396e-01 3.97161168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.982755096 meters 0.017015713573965103 Centerline is valid? [True, True] Translation: X:121.84, Y:128.68, Z:3.97 [[-4.52610705e-01 -8.91653027e-01 9.92115292e-03 1.21837793e+02] [ 8.91425377e-01 -4.52719342e-01 -2.01493081e-02 1.28683599e+02] [ 2.24576894e-02 -2.75825038e-04 9.99747756e-01 3.97227491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.012755096 meters 0.016657514165479278 Centerline is valid? [True, True] Translation: X:121.83, Y:128.71, Z:3.97 [[-4.53785690e-01 -8.91059313e-01 9.58369393e-03 1.21826544e+02] [ 8.90847170e-01 -4.53886790e-01 -1.94448449e-02 1.28707144e+02] [ 2.16764223e-02 -2.86185767e-04 9.99764998e-01 3.97341100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.042755096 meters 0.01677106269935439 Centerline is valid? [True, True] Translation: X:121.82, Y:128.73, Z:3.97 [[-4.54669429e-01 -8.90609825e-01 9.47892188e-03 1.21815469e+02] [ 8.90402602e-01 -4.54768131e-01 -1.92133543e-02 1.28731481e+02] [ 2.14223137e-02 -2.95668120e-04 9.99770472e-01 3.97359454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.072755096 meters 0.01710290498306413 Centerline is valid? [True, True] Translation: X:121.81, Y:128.75, Z:3.97 [[-4.55401454e-01 -8.90236267e-01 9.42890388e-03 1.21805153e+02] [ 8.90031540e-01 -4.55498954e-01 -1.90934711e-02 1.28754852e+02] [ 2.12925563e-02 -3.03172637e-04 9.99773242e-01 3.97363182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.102755096 meters 0.017572602205896872 Centerline is valid? [True, True] Translation: X:121.80, Y:128.78, Z:3.97 [[-4.56703212e-01 -8.89568879e-01 9.45436840e-03 1.21795883e+02] [ 8.89363238e-01 -4.56800943e-01 -1.91292819e-02 1.28779071e+02] [ 2.13355782e-02 -3.28036771e-04 9.99772317e-01 3.97333675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.132755096 meters 0.018352519189484346 Centerline is valid? [True, True] Translation: X:121.79, Y:128.80, Z:3.97 [[-4.57744574e-01 -8.89032784e-01 9.51916557e-03 1.21786498e+02] [ 8.88824624e-01 -4.57843411e-01 -1.92405502e-02 1.28802686e+02] [ 2.14637671e-02 -3.46388685e-04 9.99769567e-01 3.97330905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.162755096 meters 0.017604298722514407 Centerline is valid? [True, True] Translation: X:121.77, Y:128.83, Z:3.97 [[-4.57826977e-01 -8.88992794e-01 9.28823215e-03 1.21772650e+02] [ 8.88794993e-01 -4.57921066e-01 -1.87551973e-02 1.28825056e+02] [ 2.09265124e-02 -3.31301063e-04 9.99780962e-01 3.97403667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.192755096 meters 0.01752224366919583 Centerline is valid? [True, True] Translation: X:121.76, Y:128.85, Z:3.97 [[-4.58140423e-01 -8.88830724e-01 9.34328336e-03 1.21760348e+02] [ 8.88630934e-01 -4.58235566e-01 -1.88475402e-02 1.28848878e+02] [ 2.10336975e-02 -3.32089430e-04 9.99778712e-01 3.97404756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22275509600001 meters 0.017802390928361007 Centerline is valid? [True, True] Translation: X:121.75, Y:128.87, Z:3.97 [[-4.58638537e-01 -8.88571118e-01 9.59488734e-03 1.21749963e+02] [ 8.88360795e-01 -4.58738761e-01 -1.93351449e-02 1.28872104e+02] [ 2.15821980e-02 -3.44120813e-04 9.99767018e-01 3.97378155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25275509600002 meters 0.017656522167321276 Centerline is valid? [True, True] Translation: X:121.74, Y:128.90, Z:3.97 [[-4.58812782e-01 -8.88481764e-01 9.53860806e-03 1.21737584e+02] [ 8.88274307e-01 -4.58911800e-01 -1.92019296e-02 1.28895849e+02] [ 2.14379441e-02 -3.37190266e-04 9.99770124e-01 3.97397546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28275509600002 meters 0.018173624540740757 Centerline is valid? [True, True] Translation: X:121.73, Y:128.92, Z:3.97 [[-4.59787145e-01 -8.87976769e-01 9.64562483e-03 1.21727304e+02] [ 8.87764945e-01 -4.59888172e-01 -1.93977578e-02 1.28919480e+02] [ 2.16606671e-02 -3.55792104e-04 9.99765317e-01 3.97421532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31275509600002 meters 0.018166862615051987 Centerline is valid? [True, True] Translation: X:121.72, Y:128.94, Z:3.97 [[-4.60343563e-01 -8.87687550e-01 9.72720933e-03 1.21716307e+02] [ 8.87472503e-01 -4.60446178e-01 -1.95416061e-02 1.28943138e+02] [ 2.18256968e-02 -3.63221748e-04 9.99761725e-01 3.97479477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34275509600002 meters 0.018056151800157263 Centerline is valid? [True, True] Translation: X:121.70, Y:128.97, Z:3.98 [[-4.60657457e-01 -8.87527677e-01 9.45145288e-03 1.21703231e+02] [ 8.87325000e-01 -4.60754271e-01 -1.89696194e-02 1.28966338e+02] [ 2.11908595e-02 -3.51986201e-04 9.99775387e-01 3.97587402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37275509600002 meters 0.01847598371294173 Centerline is valid? [True, True] Translation: X:121.69, Y:128.99, Z:3.98 [[-4.61111007e-01 -8.87292547e-01 9.41138709e-03 1.21691811e+02] [ 8.87091927e-01 -4.61206907e-01 -1.88706830e-02 1.28989587e+02] [ 2.10844131e-02 -3.52714115e-04 9.99777637e-01 3.97574991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40275509600002 meters 0.01868958770764509 Centerline is valid? [True, True] Translation: X:121.68, Y:129.01, Z:3.98 [[-4.61673860e-01 -8.86996551e-01 9.71417015e-03 1.21679703e+02] [ 8.86783187e-01 -4.61775900e-01 -1.94575982e-02 1.29012983e+02] [ 2.17445922e-02 -3.68701716e-04 9.99763490e-01 3.97570205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43275509600002 meters 0.0186979265617095 Centerline is valid? [True, True] Translation: X:121.67, Y:129.04, Z:3.98 [[-4.61919990e-01 -8.86869618e-01 9.60229228e-03 1.21667357e+02] [ 8.86661498e-01 -4.62019643e-01 -1.92155388e-02 1.29036099e+02] [ 2.14781252e-02 -3.62058612e-04 9.99769253e-01 3.97605270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46275509600002 meters 0.018679183436185104 Centerline is valid? [True, True] Translation: X:121.66, Y:129.06, Z:3.98 [[-4.62453355e-01 -8.86592792e-01 9.49290629e-03 1.21655019e+02] [ 8.86389708e-01 -4.62550634e-01 -1.89788425e-02 1.29059391e+02] [ 2.12174548e-02 -3.62414951e-04 9.99774819e-01 3.97701840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49275509600002 meters 0.018768763898495237 Centerline is valid? [True, True] Translation: X:121.64, Y:129.08, Z:3.98 [[-4.62622825e-01 -8.86506150e-01 9.32564796e-03 1.21643287e+02] [ 8.86310506e-01 -4.62716676e-01 -1.86270096e-02 1.29081823e+02] [ 2.08280914e-02 -3.51860063e-04 9.99783010e-01 3.97798398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52275509600003 meters 0.018737628710232396 Centerline is valid? [True, True] Translation: X:121.63, Y:129.11, Z:3.98 [[-4.62607873e-01 -8.86514508e-01 9.27263809e-03 1.21630465e+02] [ 8.86321458e-01 -4.62700670e-01 -1.85030814e-02 1.29105040e+02] [ 2.06937060e-02 -3.41133026e-04 9.99785804e-01 3.97898054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55275509600003 meters 0.018758381411639637 Centerline is valid? [True, True] Translation: X:121.62, Y:129.13, Z:3.98 [[-4.62746500e-01 -8.86442307e-01 9.25813742e-03 1.21617806e+02] [ 8.86250199e-01 -4.62838982e-01 -1.84569933e-02 1.29128391e+02] [ 2.06460866e-02 -3.35882894e-04 9.99786790e-01 3.97975631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58275509600003 meters 0.01872652261184133 Centerline is valid? [True, True] Translation: X:121.60, Y:129.15, Z:3.98 [[-4.62743650e-01 -8.86446422e-01 9.00304507e-03 1.21604631e+02] [ 8.86265084e-01 -4.62831112e-01 -1.79321543e-02 1.29149378e+02] [ 2.00627833e-02 -3.18906012e-04 9.99798671e-01 3.98044438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61275509600003 meters 0.018963155925531553 Centerline is valid? [True, True] Translation: X:121.59, Y:129.17, Z:3.98 [[-4.63228045e-01 -8.86195233e-01 8.81976460e-03 1.21592873e+02] [ 8.86021511e-01 -4.63311894e-01 -1.75491235e-02 1.29171029e+02] [ 1.96382514e-02 -3.14745007e-04 9.99807101e-01 3.98111314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.642755096 meters 0.017841411818477662 Centerline is valid? [True, True] Translation: X:121.58, Y:129.19, Z:3.98 [[-4.63782964e-01 -8.85906404e-01 8.67205764e-03 1.21578329e+02] [ 8.85738684e-01 -4.63863928e-01 -1.72406659e-02 1.29193173e+02] [ 1.92962710e-02 -3.14750210e-04 9.99813760e-01 3.98217777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.672755096 meters 0.020016671975891413 Centerline is valid? [True, True] Translation: X:121.57, Y:129.22, Z:3.98 [[-4.65497970e-01 -8.85010156e-01 8.28632766e-03 1.21569999e+02] [ 8.84857170e-01 -4.65571600e-01 -1.64582495e-02 1.29218178e+02] [ 1.84235968e-02 -3.29065318e-04 9.99830217e-01 3.98354583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.702755096 meters 0.01876846403036089 Centerline is valid? [True, True] Translation: X:121.56, Y:129.24, Z:3.98 [[-4.66827324e-01 -8.84309886e-01 8.26292996e-03 1.21555521e+02] [ 8.84157931e-01 -4.66900315e-01 -1.63966065e-02 1.29240857e+02] [ 1.83576458e-02 -3.48648868e-04 9.99831423e-01 3.98429894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.732755096 meters 0.020119184239426526 Centerline is valid? [True, True] Translation: X:121.55, Y:129.27, Z:3.98 [[-4.68332902e-01 -8.83514322e-01 8.16916044e-03 1.21545805e+02] [ 8.83365962e-01 -4.68404000e-01 -1.61947786e-02 1.29265483e+02] [ 1.81347863e-02 -3.68189403e-04 9.99835483e-01 3.98472334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.762755096 meters 0.02079047533243959 Centerline is valid? [True, True] Translation: X:121.53, Y:129.29, Z:3.99 [[-4.71485723e-01 -8.81834807e-01 8.28169927e-03 1.21534371e+02] [ 8.81682352e-01 -4.71558254e-01 -1.64025245e-02 1.29289749e+02] [ 1.83696207e-02 -4.31728035e-04 9.99831171e-01 3.98537294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.792755096 meters 0.021983443265654462 Centerline is valid? [True, True] Translation: X:121.52, Y:129.31, Z:3.99 [[-4.73269388e-01 -8.80879741e-01 8.18340114e-03 1.21524127e+02] [ 8.80731011e-01 -4.73339913e-01 -1.61930190e-02 1.29314025e+02] [ 1.81376327e-02 -4.56285010e-04 9.99835396e-01 3.98587324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.822755096 meters 0.023806250509713436 Centerline is valid? [True, True] Translation: X:121.51, Y:129.34, Z:3.99 [[-4.76376738e-01 -8.79203300e-01 8.17075212e-03 1.21514867e+02] [ 8.79055049e-01 -4.76446529e-01 -1.61531842e-02 1.29338528e+02] [ 1.80948593e-02 -5.12460273e-04 9.99836143e-01 3.98662298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.852755096 meters 0.02480799369238751 Centerline is valid? [True, True] Translation: X:121.50, Y:129.36, Z:3.99 [[-4.78068282e-01 -8.78284309e-01 8.20917171e-03 1.21503913e+02] [ 8.78134791e-01 -4.78138450e-01 -1.62145344e-02 1.29363421e+02] [ 1.81660918e-02 -5.42895299e-04 9.99834836e-01 3.98714484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.882755096 meters 0.026925379952819427 Centerline is valid? [True, True] Translation: X:121.49, Y:129.39, Z:3.99 [[-4.80997016e-01 -8.76684178e-01 8.16847258e-03 1.21494982e+02] [ 8.76536150e-01 -4.81066004e-01 -1.61207154e-02 1.29388111e+02] [ 1.80623506e-02 -5.94054481e-04 9.99836686e-01 3.98786897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.912755096 meters 0.02507028945827965 Centerline is valid? [True, True] Translation: X:121.48, Y:129.41, Z:3.99 [[-4.82147787e-01 -8.76052900e-01 8.05154704e-03 1.21479996e+02] [ 8.75909237e-01 -4.82214634e-01 -1.58762239e-02 1.29411348e+02] [ 1.77909858e-02 -6.02261810e-04 9.99841547e-01 3.98820283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.942755096 meters 0.025280339649545628 Centerline is valid? [True, True] Translation: X:121.47, Y:129.44, Z:3.99 [[-4.83369909e-01 -8.75377968e-01 8.18191492e-03 1.21467626e+02] [ 8.75229779e-01 -4.83438740e-01 -1.61188816e-02 1.29435815e+02] [ 1.80655685e-02 -6.30326752e-04 9.99836606e-01 3.98858446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97275509600001 meters 0.024856730343613104 Centerline is valid? [True, True] Translation: X:121.45, Y:129.46, Z:3.99 [[-4.84228416e-01 -8.74902847e-01 8.23704040e-03 1.21454301e+02] [ 8.74752849e-01 -4.84298039e-01 -1.62130181e-02 1.29459805e+02] [ 1.81739982e-02 -6.45429503e-04 9.99834631e-01 3.98904922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00275509600002 meters 0.026505182904766115 Centerline is valid? [True, True] Translation: X:121.44, Y:129.48, Z:3.99 [[-4.84350467e-01 -8.74834448e-01 8.32552405e-03 1.21444066e+02] [ 8.74681473e-01 -4.84421582e-01 -1.63722660e-02 1.29483740e+02] [ 1.83560858e-02 -6.47733023e-04 9.99831303e-01 3.98935295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03275509600002 meters 0.024543358433617928 Centerline is valid? [True, True] Translation: X:121.43, Y:129.51, Z:3.99 [[-4.82978269e-01 -8.75589145e-01 8.69719015e-03 1.21428299e+02] [ 8.75422648e-01 -4.83056148e-01 -1.70863964e-02 1.29506530e+02] [ 1.91618944e-02 -6.38640918e-04 9.99816190e-01 3.98884647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06275509600002 meters 0.02477329231916671 Centerline is valid? [True, True] Translation: X:121.42, Y:129.53, Z:3.99 [[-4.82419265e-01 -8.75894766e-01 8.94491343e-03 1.21416629e+02] [ 8.75719018e-01 -4.82501765e-01 -1.75570235e-02 1.29528754e+02] [ 1.96940415e-02 -6.36615577e-04 9.99805851e-01 3.98851124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09275509600002 meters 0.023642896427029533 Centerline is valid? [True, True] Translation: X:121.40, Y:129.55, Z:3.99 [[-4.81377938e-01 -8.76464299e-01 9.25273221e-03 1.21402443e+02] [ 8.76276735e-01 -4.81466449e-01 -1.81423009e-02 1.29551703e+02] [ 2.03559592e-02 -6.25349447e-04 9.99792600e-01 3.98871672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12275509600002 meters 0.023370154357099174 Centerline is valid? [True, True] Translation: X:121.39, Y:129.57, Z:3.99 [[-4.80110858e-01 -8.77157665e-01 9.38052636e-03 1.21389413e+02] [ 8.76965345e-01 -4.80202118e-01 -1.83768763e-02 1.29574556e+02] [ 2.06239665e-02 -5.96541302e-04 9.99787125e-01 3.98888820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15275509600002 meters 0.020678357156915645 Centerline is valid? [True, True] Translation: X:121.37, Y:129.60, Z:3.99 [[-4.76967511e-01 -8.78870584e-01 9.40692418e-03 1.21371976e+02] [ 8.78677775e-01 -4.77059984e-01 -1.84157371e-02 1.29595956e+02] [ 2.06727167e-02 -5.18053087e-04 9.99786162e-01 3.98954877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18275509600002 meters 0.020005228126249146 Centerline is valid? [True, True] Translation: X:121.36, Y:129.62, Z:3.99 [[-4.75415695e-01 -8.79710045e-01 9.49493062e-03 1.21357859e+02] [ 8.79514125e-01 -4.75510261e-01 -1.85713732e-02 1.29619418e+02] [ 2.08523605e-02 -4.78196694e-04 9.99782452e-01 3.99008814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21275509600002 meters 0.01828057068876854 Centerline is valid? [True, True] Translation: X:121.34, Y:129.64, Z:3.99 [[-4.72417199e-01 -8.81323030e-01 9.57631291e-03 1.21341813e+02] [ 8.81124417e-01 -4.72514078e-01 -1.87138496e-02 1.29641590e+02] [ 2.10178893e-02 -4.02821310e-04 9.99779019e-01 3.99061659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24275509600002 meters 0.018639682085337315 Centerline is valid? [True, True] Translation: X:121.33, Y:129.66, Z:3.99 [[-4.71537975e-01 -8.81794222e-01 9.53355047e-03 1.21330105e+02] [ 8.81597827e-01 -4.71634193e-01 -1.86134176e-02 1.29664751e+02] [ 2.09095525e-02 -3.72175866e-04 9.99781302e-01 3.99123286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27275509600003 meters 0.017961714834866645 Centerline is valid? [True, True] Translation: X:121.32, Y:129.69, Z:3.99 [[-4.70855494e-01 -8.82158096e-01 9.60197327e-03 1.21316532e+02] [ 8.81959339e-01 -4.70953258e-01 -1.87283731e-02 1.29687647e+02] [ 2.10434666e-02 -3.49807383e-04 9.99778501e-01 3.99196176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30275509600003 meters 0.017954447668647625 Centerline is valid? [True, True] Translation: X:121.30, Y:129.71, Z:3.99 [[-4.70808508e-01 -8.82182933e-01 9.62400545e-03 1.21304239e+02] [ 8.81983653e-01 -4.70906738e-01 -1.87531328e-02 1.29709901e+02] [ 2.10757027e-02 -3.40918982e-04 9.99777825e-01 3.99239904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33275509600003 meters 0.01765645255985234 Centerline is valid? [True, True] Translation: X:121.29, Y:129.73, Z:3.99 [[-4.71331258e-01 -8.81902115e-01 9.77267212e-03 1.21290510e+02] [ 8.81696977e-01 -4.71432431e-01 -1.90237539e-02 1.29733848e+02] [ 2.13842433e-02 -3.49954370e-04 9.99771270e-01 3.99261348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36275509600003 meters 0.018757543317421046 Centerline is valid? [True, True] Translation: X:121.28, Y:129.76, Z:3.99 [[-4.72951622e-01 -8.81035608e-01 9.64473958e-03 1.21280830e+02] [ 8.80835974e-01 -4.73049803e-01 -1.87582342e-02 1.29758772e+02] [ 2.10891145e-02 -3.76303719e-04 9.99777529e-01 3.99273392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.392755096 meters 0.01941090352164177 Centerline is valid? [True, True] Translation: X:121.27, Y:129.78, Z:3.99 [[-4.74277154e-01 -8.80322966e-01 9.62580013e-03 1.21270342e+02] [ 8.80124330e-01 -4.74374658e-01 -1.87042180e-02 1.29782649e+02] [ 2.10319883e-02 -3.99082383e-04 9.99778724e-01 3.99334890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.422755096 meters 0.01922254566332464 Centerline is valid? [True, True] Translation: X:121.26, Y:129.81, Z:3.99 [[-4.75793928e-01 -8.79503735e-01 9.66014788e-03 1.21257892e+02] [ 8.79303860e-01 -4.75891790e-01 -1.87543704e-02 1.29806861e+02] [ 2.10917239e-02 -4.29010219e-04 9.99777453e-01 3.99427314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.452755096 meters 0.019520348113585897 Centerline is valid? [True, True] Translation: X:121.25, Y:129.83, Z:4.00 [[-4.78430143e-01 -8.78071450e-01 9.75332708e-03 1.21246105e+02] [ 8.77867754e-01 -4.78529299e-01 -1.89186795e-02 1.29831894e+02] [ 2.12792051e-02 -4.89135196e-04 9.99773452e-01 3.99515412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.482755096 meters 0.02048678485700319 Centerline is valid? [True, True] Translation: X:121.24, Y:129.86, Z:4.00 [[-4.79879872e-01 -8.77280024e-01 9.75031922e-03 1.21235680e+02] [ 8.77076652e-01 -4.79978639e-01 -1.88958175e-02 1.29856237e+02] [ 2.12568682e-02 -5.15945140e-04 9.99773914e-01 3.99562106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.512755096 meters 0.02316263635335761 Centerline is valid? [True, True] Translation: X:121.23, Y:129.88, Z:4.00 [[-4.81365575e-01 -8.76464534e-01 9.85418309e-03 1.21227122e+02] [ 8.76257021e-01 -4.81466115e-01 -1.90791207e-02 1.29881808e+02] [ 2.14666279e-02 -5.49234779e-04 9.99769415e-01 3.99550044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.542755096 meters 0.022643076051028384 Centerline is valid? [True, True] Translation: X:121.21, Y:129.91, Z:4.00 [[-4.83777713e-01 -8.75126617e-01 1.06079216e-02 1.21213506e+02] [ 8.74886275e-01 -4.83893570e-01 -2.05187588e-02 1.29905603e+02] [ 2.30896170e-02 -6.45793205e-04 9.99733191e-01 3.99509189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.572755096 meters 0.022643076051028384 Centerline is valid? [True, True] Translation: X:121.20, Y:129.93, Z:4.00 [[-4.84118197e-01 -8.74938220e-01 1.06152562e-02 1.21201366e+02] [ 8.74697915e-01 -4.84234131e-01 -2.05149639e-02 1.29928521e+02] [ 2.30895953e-02 -6.46524857e-04 9.99733191e-01 3.99557558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.602755096 meters 0.02588059455628938 Centerline is valid? [True, True] Translation: X:121.19, Y:129.95, Z:4.00 [[-4.85524543e-01 -8.74159093e-01 1.05734374e-02 1.21193382e+02] [ 8.73920935e-01 -4.85639196e-01 -2.04149599e-02 1.29954119e+02] [ 2.29807984e-02 -6.71615794e-04 9.99735681e-01 3.99544519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.632755096 meters 0.02659237467455133 Centerline is valid? [True, True] Translation: X:121.18, Y:129.98, Z:4.00 [[-4.86649075e-01 -8.73530859e-01 1.07942736e-02 1.21181977e+02] [ 8.73282936e-01 -4.86768260e-01 -2.08224501e-02 1.29978295e+02] [ 2.34433625e-02 -7.06771140e-04 9.99724917e-01 3.99554549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.662755096 meters 0.0252949730533899 Centerline is valid? [True, True] Translation: X:121.17, Y:130.00, Z:4.00 [[-4.88302891e-01 -8.72604298e-01 1.10465020e-02 1.21167332e+02] [ 8.72344866e-01 -4.88427233e-01 -2.12902339e-02 1.30001838e+02] [ 2.39733620e-02 -7.59723483e-04 9.99712309e-01 3.99614376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.692755096 meters 0.023674511234704487 Centerline is valid? [True, True] Translation: X:121.15, Y:130.02, Z:4.00 [[-4.88688052e-01 -8.72384507e-01 1.13693022e-02 1.21152081e+02] [ 8.72110094e-01 -4.88819658e-01 -2.18934873e-02 1.30024963e+02] [ 2.46570775e-02 -7.83802449e-04 9.99695661e-01 3.99656097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72275509600001 meters 0.023611252893696106 Centerline is valid? [True, True] Translation: X:121.14, Y:130.05, Z:4.00 [[-4.88853190e-01 -8.72280977e-01 1.21842498e-02 1.21138209e+02] [ 8.71966365e-01 -4.89004295e-01 -2.34405022e-02 1.30047567e+02] [ 2.64048546e-02 -8.34708266e-04 9.99650983e-01 3.99565327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75275509600002 meters 0.024001334656989986 Centerline is valid? [True, True] Translation: X:121.13, Y:130.07, Z:4.00 [[-4.89032704e-01 -8.72174818e-01 1.25738333e-02 1.21125954e+02] [ 8.71840391e-01 -4.89193576e-01 -2.41656370e-02 1.30069376e+02] [ 2.72276986e-02 -8.55411053e-04 9.99628892e-01 3.99518098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78275509600002 meters 0.024008082230154944 Centerline is valid? [True, True] Translation: X:121.11, Y:130.09, Z:3.99 [[-4.88703579e-01 -8.72355186e-01 1.28546146e-02 1.21113360e+02] [ 8.72006406e-01 -4.88871868e-01 -2.46804486e-02 1.30092054e+02] [ 2.78143768e-02 -8.52117325e-04 9.99612742e-01 3.99496145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81275509600002 meters 0.02336536932986731 Centerline is valid? [True, True] Translation: X:121.10, Y:130.12, Z:3.99 [[-4.87647296e-01 -8.72937621e-01 1.34173128e-02 1.21099318e+02] [ 8.72558556e-01 -4.87831117e-01 -2.57365181e-02 1.30115466e+02] [ 2.90117576e-02 -8.42952436e-04 9.99578715e-01 3.99497627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84275509600002 meters 0.02399705374318764 Centerline is valid? [True, True] Translation: X:121.09, Y:130.14, Z:3.99 [[-4.87258613e-01 -8.73153119e-01 1.35157130e-02 1.21088182e+02] [ 8.72769240e-01 -4.87445330e-01 -2.59018067e-02 1.30138698e+02] [ 2.92044145e-02 -8.24779801e-04 9.99573120e-01 3.99477954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87275509600002 meters 0.022196404440886806 Centerline is valid? [True, True] Translation: X:121.07, Y:130.16, Z:4.00 [[-4.86319188e-01 -8.73672938e-01 1.37566065e-02 1.21073006e+02] [ 8.73276201e-01 -4.86513067e-01 -2.63384178e-02 1.30161011e+02] [ 2.97039317e-02 -7.95560869e-04 9.99558424e-01 3.99610147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90275509600002 meters 0.02168240967246825 Centerline is valid? [True, True] Translation: X:121.06, Y:130.18, Z:4.00 [[-4.86283390e-01 -8.73694510e-01 1.36516831e-02 1.21059380e+02] [ 8.73304486e-01 -4.86474357e-01 -2.61146622e-02 1.30184261e+02] [ 2.94574307e-02 -7.77050390e-04 9.99565734e-01 3.99736156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93275509600002 meters 0.023659300452181887 Centerline is valid? [True, True] Translation: X:121.05, Y:130.21, Z:4.00 [[-4.86057900e-01 -8.73821270e-01 1.35685609e-02 1.21049622e+02] [ 8.73436683e-01 -4.86246666e-01 -2.59334032e-02 1.30208207e+02] [ 2.92588268e-02 -7.53856719e-04 9.99571585e-01 3.99671684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96275509600002 meters 0.02164761183918181 Centerline is valid? [True, True] Translation: X:121.03, Y:130.23, Z:4.00 [[-4.86226198e-01 -8.73728704e-01 1.34994679e-02 1.21034330e+02] [ 8.73348612e-01 -4.86412990e-01 -2.57799344e-02 1.30229641e+02] [ 2.90909852e-02 -7.45137919e-04 9.99576490e-01 3.99897634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99275509600002 meters 0.021774735223282268 Centerline is valid? [True, True] Translation: X:121.02, Y:130.25, Z:4.00 [[-4.86151258e-01 -8.73770683e-01 1.34814272e-02 1.21022197e+02] [ 8.73392344e-01 -4.86337601e-01 -2.57206381e-02 1.30251501e+02] [ 2.90304644e-02 -7.29545271e-04 9.99578261e-01 4.00026438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02275509600003 meters 0.021115383910105257 Centerline is valid? [True, True] Translation: X:121.01, Y:130.27, Z:4.00 [[-4.86123597e-01 -8.73786685e-01 1.34416563e-02 1.21008850e+02] [ 8.73411304e-01 -4.86308872e-01 -2.56198192e-02 1.30274573e+02] [ 2.89230536e-02 -7.14304089e-04 9.99581386e-01 4.00119477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05275509600003 meters 0.02085277863720618 Centerline is valid? [True, True] Translation: X:121.00, Y:130.30, Z:4.00 [[-4.86450968e-01 -8.73607573e-01 1.32387571e-02 1.20995638e+02] [ 8.73244054e-01 -4.86630574e-01 -2.52092678e-02 1.30297854e+02] [ 2.84653912e-02 -7.02406788e-04 9.99594532e-01 4.00252484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08275509600003 meters 0.021017266260864854 Centerline is valid? [True, True] Translation: X:120.98, Y:130.32, Z:4.00 [[-4.86907164e-01 -8.73355233e-01 1.31168465e-02 1.20983124e+02] [ 8.72998959e-01 -4.87083308e-01 -2.49533448e-02 1.30321227e+02] [ 2.81821312e-02 -6.98969007e-04 9.99602560e-01 4.00369475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11275509600003 meters 0.020826098632553657 Centerline is valid? [True, True] Translation: X:120.97, Y:130.34, Z:4.00 [[-4.87287726e-01 -8.73145179e-01 1.29679726e-02 1.20970083e+02] [ 8.72797526e-01 -4.87459760e-01 -2.46467241e-02 1.30344480e+02] [ 2.78415331e-02 -6.91631703e-04 9.99612110e-01 4.00450234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.142755096 meters 0.022309744568152406 Centerline is valid? [True, True] Translation: X:120.96, Y:130.37, Z:4.01 [[-4.88337321e-01 -8.72558208e-01 1.29936485e-02 1.20959171e+02] [ 8.72209617e-01 -4.88509634e-01 -2.46722758e-02 1.30368134e+02] [ 2.78755193e-02 -7.15207887e-04 9.99611146e-01 4.00511471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.172755096 meters 0.0220946357418787 Centerline is valid? [True, True] Translation: X:120.95, Y:130.39, Z:4.01 [[-4.88942926e-01 -8.72217194e-01 1.31142127e-02 1.20946344e+02] [ 8.71862624e-01 -4.89118221e-01 -2.48783313e-02 1.30390987e+02] [ 2.81137087e-02 -7.30292217e-04 9.99604465e-01 4.00592012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.202755096 meters 0.0233680818096791 Centerline is valid? [True, True] Translation: X:120.94, Y:130.42, Z:4.01 [[-4.90080005e-01 -8.71578626e-01 1.31258482e-02 1.20935148e+02] [ 8.71223840e-01 -4.90255165e-01 -2.48775642e-02 1.30415177e+02] [ 2.81177681e-02 -7.56444896e-04 9.99604331e-01 4.00620198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.232755096 meters 0.022705774931055887 Centerline is valid? [True, True] Translation: X:120.92, Y:130.44, Z:4.01 [[-4.92029368e-01 -8.70477158e-01 1.32898146e-02 1.20921403e+02] [ 8.70113681e-01 -4.92208134e-01 -2.51661408e-02 1.30438315e+02] [ 2.84479055e-02 -8.18830872e-04 9.99594941e-01 4.00789610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.262755096 meters 0.02300535931009477 Centerline is valid? [True, True] Translation: X:120.91, Y:130.46, Z:4.01 [[-4.93125870e-01 -8.69855290e-01 1.33659902e-02 1.20909182e+02] [ 8.69488033e-01 -4.93306247e-01 -2.52884652e-02 1.30462282e+02] [ 2.85908317e-02 -8.48827839e-04 9.99590838e-01 4.00898013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.292755096 meters 0.023395290206250995 Centerline is valid? [True, True] Translation: X:120.90, Y:130.49, Z:4.01 [[-4.94902062e-01 -8.68848668e-01 1.31886967e-02 1.20896352e+02] [ 8.68491350e-01 -4.95076975e-01 -2.49311897e-02 1.30485754e+02] [ 2.81908510e-02 -8.84228167e-04 9.99602168e-01 4.01029405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.322755096 meters 0.024460359475310552 Centerline is valid? [True, True] Translation: X:120.88, Y:130.51, Z:4.01 [[-4.95768052e-01 -8.68353915e-01 1.32482516e-02 1.20884698e+02] [ 8.67993838e-01 -4.95944209e-01 -2.50207716e-02 1.30509481e+02] [ 2.82972786e-02 -9.05098418e-04 9.99599142e-01 4.01096696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.352755096 meters 0.025362534913676148 Centerline is valid? [True, True] Translation: X:120.87, Y:130.53, Z:4.01 [[-4.96442103e-01 -8.67965286e-01 1.34722307e-02 1.20872469e+02] [ 8.67593452e-01 -4.96623997e-01 -2.54206029e-02 1.30532810e+02] [ 2.87548339e-02 -9.31438405e-04 9.99586060e-01 4.01126077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.382755096 meters 0.02458423636389128 Centerline is valid? [True, True] Translation: X:120.86, Y:130.56, Z:4.01 [[-4.96639817e-01 -8.67851191e-01 1.35351961e-02 1.20857990e+02] [ 8.67476502e-01 -4.96823352e-01 -2.55161645e-02 1.30555330e+02] [ 2.88688353e-02 -9.30878688e-04 9.99582775e-01 4.01216314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.412755096 meters 0.025283247527259686 Centerline is valid? [True, True] Translation: X:120.85, Y:130.58, Z:4.01 [[-4.96448483e-01 -8.67958982e-01 1.36421622e-02 1.20846014e+02] [ 8.67579107e-01 -4.96635036e-01 -2.56930631e-02 1.30577625e+02] [ 2.90757006e-02 -9.19627310e-04 9.99576789e-01 4.01251137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.442755096 meters 0.023635076101523537 Centerline is valid? [True, True] Translation: X:120.83, Y:130.60, Z:4.01 [[-4.96212782e-01 -8.68092310e-01 1.37337520e-02 1.20830480e+02] [ 8.67708106e-01 -4.96401976e-01 -2.58402990e-02 1.30599113e+02] [ 2.92492265e-02 -9.05398714e-04 9.99571740e-01 4.01356988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47275509600001 meters 0.023997505065237644 Centerline is valid? [True, True] Translation: X:120.82, Y:130.62, Z:4.01 [[-4.95172999e-01 -8.68686216e-01 1.37098151e-02 1.20816754e+02] [ 8.68304282e-01 -4.95362012e-01 -2.57711316e-02 1.30621254e+02] [ 2.91783484e-02 -8.56877351e-04 9.99573854e-01 4.01401643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50275509600002 meters 0.022232846153363784 Centerline is valid? [True, True] Translation: X:120.80, Y:130.64, Z:4.02 [[-4.94759991e-01 -8.68920908e-01 1.37479398e-02 1.20800752e+02] [ 8.68537637e-01 -4.94950260e-01 -2.58188596e-02 1.30642699e+02] [ 2.92390934e-02 -8.33535589e-04 9.99572099e-01 4.01553143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53275509600002 meters 0.021790000798288137 Centerline is valid? [True, True] Translation: X:120.79, Y:130.67, Z:4.02 [[-4.94171173e-01 -8.69252790e-01 1.39441617e-02 1.20786094e+02] [ 8.68859357e-01 -4.94367198e-01 -2.61627775e-02 1.30665852e+02] [ 2.96356034e-02 -8.13375094e-04 9.99560438e-01 4.01607438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56275509600002 meters 0.021855190000874037 Centerline is valid? [True, True] Translation: X:120.77, Y:130.69, Z:4.02 [[-4.92926237e-01 -8.69961110e-01 1.38344362e-02 1.20772158e+02] [ 8.69574795e-01 -4.93119762e-01 -2.59340809e-02 1.30687943e+02] [ 2.93836757e-02 -7.53511901e-04 9.99567923e-01 4.01676927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59275509600002 meters 0.022143400657450518 Centerline is valid? [True, True] Translation: X:120.76, Y:130.71, Z:4.02 [[-4.92563437e-01 -8.70168410e-01 1.37185641e-02 1.20759414e+02] [ 8.69789304e-01 -4.92753909e-01 -2.56934236e-02 1.30710487e+02] [ 2.91174816e-02 -7.23380694e-04 9.99575735e-01 4.01711186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62275509600002 meters 0.020755373272819316 Centerline is valid? [True, True] Translation: X:120.74, Y:130.73, Z:4.02 [[-4.91817645e-01 -8.70589867e-01 1.37363394e-02 1.20742788e+02] [ 8.70210645e-01 -4.92008953e-01 -2.57025743e-02 1.30731182e+02] [ 2.91348028e-02 -6.87470761e-04 9.99575255e-01 4.01912985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65275509600002 meters 0.021921206575604556 Centerline is valid? [True, True] Translation: X:120.73, Y:130.75, Z:4.02 [[-4.92450607e-01 -8.70230634e-01 1.38218363e-02 1.20727494e+02] [ 8.69847238e-01 -4.92644042e-01 -2.58385485e-02 1.30754396e+02] [ 2.92947418e-02 -7.01322733e-04 9.99570571e-01 4.01819693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68275509600002 meters 0.020475085679918913 Centerline is valid? [True, True] Translation: X:120.71, Y:130.78, Z:4.02 [[-4.92404883e-01 -8.70262813e-01 1.34189449e-02 1.20714613e+02] [ 8.69902105e-01 -4.92587242e-01 -2.50626515e-02 1.30775752e+02] [ 2.84210946e-02 -6.67803503e-04 9.99595816e-01 4.02104247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71275509600002 meters 0.021564551299076456 Centerline is valid? [True, True] Translation: X:120.70, Y:130.80, Z:4.02 [[-4.93017712e-01 -8.69915934e-01 1.34091291e-02 1.20702812e+02] [ 8.69556339e-01 -4.93199567e-01 -2.50192071e-02 1.30798339e+02] [ 2.83779836e-02 -6.74919005e-04 9.99597036e-01 4.02146734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74275509600002 meters 0.02076637499327454 Centerline is valid? [True, True] Translation: X:120.69, Y:130.82, Z:4.02 [[-4.94388543e-01 -8.69146344e-01 1.28296929e-02 1.20687820e+02] [ 8.68817520e-01 -4.94554522e-01 -2.39152978e-02 1.30819828e+02] [ 2.71308763e-02 -6.76787321e-04 9.99631661e-01 4.02441658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77275509600003 meters 0.02130015192371884 Centerline is valid? [True, True] Translation: X:120.67, Y:130.84, Z:4.03 [[-4.95631809e-01 -8.68442634e-01 1.25101042e-02 1.20674637e+02] [ 8.68130331e-01 -4.95789190e-01 -2.32982225e-02 1.30844169e+02] [ 2.64355441e-02 -6.86939188e-04 9.99650284e-01 4.02565956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80275509600003 meters 0.02279363177097462 Centerline is valid? [True, True] Translation: X:120.66, Y:130.87, Z:4.03 [[-4.98007077e-01 -8.67089349e-01 1.20420850e-02 1.20662663e+02] [ 8.66800069e-01 -4.98152126e-01 -2.24075969e-02 1.30867854e+02] [ 2.54281788e-02 -7.21061769e-04 9.99676392e-01 4.02732502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83275509600003 meters 0.02590892075096123 Centerline is valid? [True, True] Translation: X:120.65, Y:130.89, Z:4.03 [[-4.99636578e-01 -8.66152567e-01 1.19591385e-02 1.20652502e+02] [ 8.65867488e-01 -4.99779114e-01 -2.22335373e-02 1.30893639e+02] [ 2.52345631e-02 -7.53659337e-04 9.99681274e-01 4.02754079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86275509600003 meters 0.02667386164720442 Centerline is valid? [True, True] Translation: X:120.64, Y:130.92, Z:4.03 [[-5.02735892e-01 -8.64357854e-01 1.19215451e-02 1.20637833e+02] [ 8.64074550e-01 -5.02876534e-01 -2.21441401e-02 1.30916818e+02] [ 2.51355267e-02 -8.31550338e-04 9.99683707e-01 4.02854235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.892755096 meters 0.02949217792198378 Centerline is valid? [True, True] Translation: X:120.63, Y:130.94, Z:4.03 [[-5.04590358e-01 -8.63275453e-01 1.20026106e-02 1.20627487e+02] [ 8.62988484e-01 -5.04732320e-01 -2.22746946e-02 1.30941456e+02] [ 2.52873025e-02 -8.81481417e-04 9.99679836e-01 4.02836056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.922755096 meters 0.02612761184393416 Centerline is valid? [True, True] Translation: X:120.61, Y:130.96, Z:4.03 [[-5.06434623e-01 -8.62192174e-01 1.21912607e-02 1.20609490e+02] [ 8.61896261e-01 -5.06580466e-01 -2.26067995e-02 1.30962250e+02] [ 2.56672601e-02 -9.41264005e-04 9.99670098e-01 4.03001026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.952755096 meters 0.02699248792609762 Centerline is valid? [True, True] Translation: X:120.60, Y:130.99, Z:4.03 [[-5.08050626e-01 -8.61238620e-01 1.23531858e-02 1.20597301e+02] [ 8.60935058e-01 -5.08199818e-01 -2.28860138e-02 1.30986498e+02] [ 2.59882057e-02 -9.91962897e-04 9.99661757e-01 4.03059831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.982755096 meters 0.03227233093867233 Centerline is valid? [True, True] Translation: X:120.59, Y:131.01, Z:4.03 [[-5.10465382e-01 -8.59803155e-01 1.27917589e-02 1.20589526e+02] [ 8.59477773e-01 -5.10624463e-01 -2.36773118e-02 1.31012743e+02] [ 2.68896124e-02 -1.09221556e-03 9.99637812e-01 4.03002737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.012755096 meters 0.032800917777493624 Centerline is valid? [True, True] Translation: X:120.58, Y:131.04, Z:4.03 [[-5.11198255e-01 -8.59363588e-01 1.30601622e-02 1.20576510e+02] [ 8.59024908e-01 -5.11363818e-01 -2.41506187e-02 1.31035506e+02] [ 2.74326567e-02 -1.12674953e-03 9.99623019e-01 4.03017209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.042755096 meters 0.032276772923431084 Centerline is valid? [True, True] Translation: X:120.56, Y:131.06, Z:4.03 [[-5.11581391e-01 -8.59124452e-01 1.37715733e-02 1.20560384e+02] [ 8.58748569e-01 -5.11765342e-01 -2.54387441e-02 1.31057209e+02] [ 2.89028611e-02 -1.18766924e-03 9.99581519e-01 4.02995603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.072755096 meters 0.03514158091972544 Centerline is valid? [True, True] Translation: X:120.55, Y:131.08, Z:4.03 [[-5.11707191e-01 -8.59040195e-01 1.43420421e-02 1.20549517e+02] [ 8.58633356e-01 -5.11906669e-01 -2.64636024e-02 1.31080618e+02] [ 3.00750852e-02 -1.22705994e-03 9.99546889e-01 4.02879684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.102755096 meters 0.027657147656815408 Centerline is valid? [True, True] Translation: X:120.53, Y:131.10, Z:4.03 [[-5.10980604e-01 -8.59466014e-01 1.47306709e-02 1.20525240e+02] [ 8.59037876e-01 -5.11191434e-01 -2.71522760e-02 1.31098602e+02] [ 3.08666512e-02 -1.22008216e-03 9.99522767e-01 4.03187462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.132755096 meters 0.028406233134423 Centerline is valid? [True, True] Translation: X:120.51, Y:131.12, Z:4.03 [[-5.10949484e-01 -8.59479432e-01 1.50243200e-02 1.20512708e+02] [ 8.59034898e-01 -5.11168849e-01 -2.76667909e-02 1.31120920e+02] [ 3.14590021e-02 -1.22991731e-03 9.99504286e-01 4.03243126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.162755096 meters 0.02903470161428669 Centerline is valid? [True, True] Translation: X:120.50, Y:131.14, Z:4.03 [[-5.10629429e-01 -8.59666354e-01 1.52100850e-02 1.20500152e+02] [ 8.59211632e-01 -5.10854451e-01 -2.79839397e-02 1.31143164e+02] [ 3.18269911e-02 -1.22074117e-03 9.99492648e-01 4.03327463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.192755096 meters 0.028034237485109526 Centerline is valid? [True, True] Translation: X:120.48, Y:131.17, Z:4.03 [[-5.10354676e-01 -8.59830660e-01 1.51440168e-02 1.20484618e+02] [ 8.59380653e-01 -5.10577919e-01 -2.78403147e-02 1.31165341e+02] [ 3.16701567e-02 -1.19395976e-03 9.99497662e-01 4.03452217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22275509600001 meters 0.03154687058633452 Centerline is valid? [True, True] Translation: X:120.47, Y:131.19, Z:4.03 [[-5.09270872e-01 -8.60467352e-01 1.54633823e-02 1.20473441e+02] [ 8.59999309e-01 -5.09504248e-01 -2.84008653e-02 1.31188156e+02] [ 3.23166763e-02 -1.16523532e-03 9.99477001e-01 4.03415726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25275509600002 meters 0.03138300318003753 Centerline is valid? [True, True] Translation: X:120.46, Y:131.21, Z:4.04 [[-5.09004130e-01 -8.60626125e-01 1.54100297e-02 1.20459354e+02] [ 8.60162316e-01 -5.09236077e-01 -2.82737927e-02 1.31209381e+02] [ 3.21805077e-02 -1.13635045e-03 9.99481427e-01 4.03504653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28275509600002 meters 0.02889482777056679 Centerline is valid? [True, True] Translation: X:120.44, Y:131.23, Z:4.04 [[-5.07547190e-01 -8.61484108e-01 1.55235926e-02 1.20441189e+02] [ 8.61014795e-01 -5.07783395e-01 -2.84525184e-02 1.31229995e+02] [ 3.23940150e-02 -1.07495284e-03 9.99474598e-01 4.03768452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31275509600002 meters 0.02836940548252597 Centerline is valid? [True, True] Translation: X:120.43, Y:131.25, Z:4.04 [[-5.07202401e-01 -8.61690344e-01 1.53452058e-02 1.20427037e+02] [ 8.61232772e-01 -5.07433424e-01 -2.80968605e-02 1.31251901e+02] [ 3.19974638e-02 -1.03500097e-03 9.99487414e-01 4.03903292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34275509600002 meters 0.027075124675469003 Centerline is valid? [True, True] Translation: X:120.41, Y:131.27, Z:4.04 [[-5.06921988e-01 -8.61860925e-01 1.50281127e-02 1.20411718e+02] [ 8.61423066e-01 -5.07143737e-01 -2.74869464e-02 1.31273441e+02] [ 3.13113383e-02 -9.88174555e-04 9.99509191e-01 4.04075781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37275509600002 meters 0.027585343315870234 Centerline is valid? [True, True] Translation: X:120.40, Y:131.29, Z:4.04 [[-5.06267685e-01 -8.62247241e-01 1.49240545e-02 1.20397305e+02] [ 8.61816479e-01 -5.06486729e-01 -2.72681037e-02 1.31294956e+02] [ 3.10706827e-02 -9.43163621e-04 9.99516745e-01 4.04150385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40275509600002 meters 0.028216400912170956 Centerline is valid? [True, True] Translation: X:120.38, Y:131.32, Z:4.04 [[-5.06505892e-01 -8.62112271e-01 1.46360710e-02 1.20384641e+02] [ 8.61698805e-01 -5.06716478e-01 -2.67129082e-02 1.31316267e+02] [ 3.04458642e-02 -9.18360508e-04 9.99535995e-01 4.04199190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43275509600002 meters 0.02710478171291461 Centerline is valid? [True, True] Translation: X:120.37, Y:131.34, Z:4.04 [[-5.07004643e-01 -8.61820534e-01 1.45485074e-02 1.20369437e+02] [ 8.61412751e-01 -5.07212508e-01 -2.65243961e-02 1.31337684e+02] [ 3.02384541e-02 -9.15722222e-04 9.99542294e-01 4.04335624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46275509600002 meters 0.02710478171291461 Centerline is valid? [True, True] Translation: X:120.36, Y:131.36, Z:4.04 [[-5.07370437e-01 -8.61605044e-01 1.45597677e-02 1.20356667e+02] [ 8.61197350e-01 -5.07578476e-01 -2.65182148e-02 1.31360247e+02] [ 3.02384524e-02 -9.15724847e-04 9.99542294e-01 4.04383979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49275509600002 meters 0.027705307873580432 Centerline is valid? [True, True] Translation: X:120.34, Y:131.38, Z:4.05 [[-5.08158583e-01 -8.61149274e-01 1.40279360e-02 1.20344289e+02] [ 8.60771394e-01 -5.08351381e-01 -2.55241165e-02 1.31381908e+02] [ 2.91111951e-02 -8.95452830e-04 9.99575778e-01 4.04540346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52275509600003 meters 0.02950440139895834 Centerline is valid? [True, True] Translation: X:120.33, Y:131.40, Z:4.05 [[-5.08967721e-01 -8.60674976e-01 1.38001654e-02 1.20334015e+02] [ 8.60309863e-01 -5.09153991e-01 -2.50829345e-02 1.31404643e+02] [ 2.86146633e-02 -8.93985570e-04 9.99590117e-01 4.04580866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55275509600003 meters 0.02841232489228285 Centerline is valid? [True, True] Translation: X:120.32, Y:131.43, Z:4.05 [[-5.09828513e-01 -8.60166697e-01 1.37164169e-02 1.20320248e+02] [ 8.59806620e-01 -5.10012194e-01 -2.49025827e-02 1.31425699e+02] [ 2.84159122e-02 -9.02580647e-04 9.99595779e-01 4.04727172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58275509600003 meters 0.029543630385283404 Centerline is valid? [True, True] Translation: X:120.31, Y:131.45, Z:4.05 [[-5.11021299e-01 -8.59463244e-01 1.34225590e-02 1.20308520e+02] [ 8.59118922e-01 -5.11196741e-01 -2.43427706e-02 1.31447891e+02] [ 2.77832850e-02 -9.08099850e-04 9.99613558e-01 4.04794952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61275509600003 meters 0.03017841954496917 Centerline is valid? [True, True] Translation: X:120.30, Y:131.47, Z:4.05 [[-5.11826869e-01 -8.58986312e-01 1.32578631e-02 1.20295815e+02] [ 8.58650909e-01 -5.11997742e-01 -2.40193594e-02 1.31470376e+02] [ 2.74202969e-02 -9.09877344e-04 9.99623579e-01 4.04836069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.642755096 meters 0.029993766766205954 Centerline is valid? [True, True] Translation: X:120.28, Y:131.49, Z:4.05 [[-5.12141603e-01 -8.58795860e-01 1.34406034e-02 1.20281769e+02] [ 8.58451805e-01 -5.12317115e-01 -2.43243243e-02 1.31492132e+02] [ 2.77754801e-02 -9.19388170e-04 9.99613764e-01 4.04865749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.672755096 meters 0.02745499666643558 Centerline is valid? [True, True] Translation: X:120.27, Y:131.51, Z:4.05 [[-5.12352528e-01 -8.58669766e-01 1.34580861e-02 1.20265266e+02] [ 8.58325487e-01 -5.12528435e-01 -2.43302460e-02 1.31513263e+02] [ 2.77892985e-02 -9.14244727e-04 9.99613385e-01 4.04991705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.702755096 meters 0.027463343757739258 Centerline is valid? [True, True] Translation: X:120.25, Y:131.54, Z:4.05 [[-5.12119516e-01 -8.58808136e-01 1.34976738e-02 1.20252689e+02] [ 8.58462531e-01 -5.12296575e-01 -2.43782998e-02 1.31535405e+02] [ 2.78510943e-02 -8.97355870e-04 9.99611680e-01 4.04997396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.732755096 meters 0.027617458886971778 Centerline is valid? [True, True] Translation: X:120.24, Y:131.56, Z:4.05 [[-5.12084514e-01 -8.58827169e-01 1.36141273e-02 1.20239555e+02] [ 8.58476192e-01 -5.12264674e-01 -2.45668772e-02 1.31558561e+02] [ 2.80727381e-02 -8.92913225e-04 9.99605484e-01 4.05008275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.762755096 meters 0.02710137720925921 Centerline is valid? [True, True] Translation: X:120.23, Y:131.58, Z:4.05 [[-5.10579635e-01 -8.59718941e-01 1.38484320e-02 1.20226354e+02] [ 8.59356837e-01 -5.10766706e-01 -2.49639512e-02 1.31580449e+02] [ 2.85352997e-02 -8.45340368e-04 9.99592428e-01 4.04960297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.792755096 meters 0.027725576937628584 Centerline is valid? [True, True] Translation: X:120.21, Y:131.60, Z:4.05 [[-5.08144632e-01 -8.61153647e-01 1.42628622e-02 1.20213468e+02] [ 8.60770901e-01 -5.08344171e-01 -2.56838429e-02 1.31602654e+02] [ 2.93681778e-02 -7.74050131e-04 9.99568362e-01 4.04736548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.822755096 meters 0.023891556850488542 Centerline is valid? [True, True] Translation: X:120.20, Y:131.62, Z:4.05 [[-5.07003872e-01 -8.61826083e-01 1.42434759e-02 1.20195016e+02] [ 8.61445402e-01 -5.07203394e-01 -2.56229714e-02 1.31622860e+02] [ 2.93068844e-02 -7.20968932e-04 9.99570201e-01 4.04897920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.852755096 meters 0.02256174916067989 Centerline is valid? [True, True] Translation: X:120.18, Y:131.64, Z:4.05 [[-5.05828269e-01 -8.62518981e-01 1.40985921e-02 1.20180020e+02] [ 8.62147004e-01 -5.06024279e-01 -2.53371644e-02 1.31644451e+02] [ 2.89880152e-02 -6.61195050e-04 9.99579541e-01 4.04932309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.882755096 meters 0.02217516728727017 Centerline is valid? [True, True] Translation: X:120.17, Y:131.67, Z:4.05 [[-5.04634976e-01 -8.63219577e-01 1.39822439e-02 1.20166520e+02] [ 8.62854655e-01 -5.04828285e-01 -2.51047232e-02 1.31666240e+02] [ 2.87295207e-02 -6.04077131e-04 9.99587040e-01 4.04930501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.912755096 meters 0.02049860923684856 Centerline is valid? [True, True] Translation: X:120.15, Y:131.69, Z:4.05 [[-5.02238046e-01 -8.64625665e-01 1.33941916e-02 1.20150884e+02] [ 8.64291848e-01 -5.02416378e-01 -2.40288109e-02 1.31687413e+02] [ 2.75053878e-02 -4.91692409e-04 9.99621534e-01 4.05033792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.942755096 meters 0.019968758827571594 Centerline is valid? [True, True] Translation: X:120.14, Y:131.71, Z:4.05 [[-5.01260762e-01 -8.65195525e-01 1.32042035e-02 1.20138164e+02] [ 8.64871918e-01 -5.01434449e-01 -2.36655755e-02 1.31708012e+02] [ 2.70963925e-02 -4.42679618e-04 9.99632727e-01 4.05100079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97275509600001 meters 0.018466630390875993 Centerline is valid? [True, True] Translation: X:120.12, Y:131.73, Z:4.05 [[-4.99992943e-01 -8.65937308e-01 1.26346585e-02 1.20122905e+02] [ 8.65641785e-01 -5.00152414e-01 -2.26243947e-02 1.31729257e+02] [ 2.59105624e-02 -3.74949357e-04 9.99664195e-01 4.05227407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00275509600002 meters 0.01875641980935486 Centerline is valid? [True, True] Translation: X:120.11, Y:131.75, Z:4.05 [[-5.00081748e-01 -8.65888903e-01 1.24359702e-02 1.20110581e+02] [ 8.65603156e-01 -5.00236223e-01 -2.22463156e-02 1.31751853e+02] [ 2.54837606e-02 -3.60361337e-04 9.99675171e-01 4.05259946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03275509600002 meters 0.02035154083715529 Centerline is valid? [True, True] Translation: X:120.10, Y:131.77, Z:4.05 [[-5.00564390e-01 -8.65606567e-01 1.26713577e-02 1.20098087e+02] [ 8.65310428e-01 -5.00724610e-01 -2.26435046e-02 1.31774453e+02] [ 2.59452269e-02 -3.69874135e-04 9.99663298e-01 4.05210327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06275509600002 meters 0.019012495647238746 Centerline is valid? [True, True] Translation: X:120.09, Y:131.80, Z:4.06 [[-5.01606464e-01 -8.65021414e-01 1.13538176e-02 1.20087366e+02] [ 8.64783966e-01 -5.01734823e-01 -2.02696782e-02 1.31797321e+02] [ 2.32303113e-02 -3.48802187e-04 9.99730079e-01 4.05540808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09275509600002 meters 0.01892356430032798 Centerline is valid? [True, True] Translation: X:120.07, Y:131.82, Z:4.06 [[-5.02879410e-01 -8.64283367e-01 1.12499037e-02 1.20074985e+02] [ 8.64050536e-01 -5.03005095e-01 -2.00635675e-02 1.31820317e+02] [ 2.29993666e-02 -3.69069642e-04 9.99735411e-01 4.05648175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12275509600002 meters 0.02022934595773086 Centerline is valid? [True, True] Translation: X:120.07, Y:131.84, Z:4.06 [[-5.04392935e-01 -8.63400574e-01 1.12790515e-02 1.20065030e+02] [ 8.63166777e-01 -5.04518869e-01 -2.00954316e-02 1.31843996e+02] [ 2.30409015e-02 -4.00291185e-04 9.99734443e-01 4.05655324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15275509600002 meters 0.020337164389410373 Centerline is valid? [True, True] Translation: X:120.05, Y:131.87, Z:4.06 [[-5.06928613e-01 -8.61918586e-01 1.09422449e-02 1.20052815e+02] [ 8.61698628e-01 -5.07046501e-01 -1.94761265e-02 1.31868082e+02] [ 2.23350624e-02 -4.44088349e-04 9.99750443e-01 4.05759966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18275509600002 meters 0.021697635117185907 Centerline is valid? [True, True] Translation: X:120.04, Y:131.89, Z:4.06 [[-5.08309845e-01 -8.61105928e-01 1.08481880e-02 1.20042342e+02] [ 8.60889948e-01 -5.08425377e-01 -1.92907558e-02 1.31891805e+02] [ 2.21268782e-02 -4.66585027e-04 9.99755062e-01 4.05788078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21275509600002 meters 0.022702703542447522 Centerline is valid? [True, True] Translation: X:120.03, Y:131.92, Z:4.06 [[-5.09956176e-01 -8.60132037e-01 1.08432885e-02 1.20030849e+02] [ 8.59916481e-01 -5.10071201e-01 -1.92617628e-02 1.31915114e+02] [ 2.20985085e-02 -4.98332429e-04 9.99755674e-01 4.05776788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24275509600002 meters 0.023343791832778824 Centerline is valid? [True, True] Translation: X:120.02, Y:131.94, Z:4.06 [[-5.12228590e-01 -8.58781699e-01 1.07640390e-02 1.20019028e+02] [ 8.58569406e-01 -5.12341389e-01 -1.91017187e-02 1.31939260e+02] [ 2.19190691e-02 -5.42771826e-04 9.99759601e-01 4.05779003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27275509600003 meters 0.02413082019925658 Centerline is valid? [True, True] Translation: X:120.01, Y:131.96, Z:4.06 [[-5.13257132e-01 -8.58166196e-01 1.08580154e-02 1.20008327e+02] [ 8.57950471e-01 -5.13371660e-01 -1.92490775e-02 1.31962023e+02] [ 2.20931051e-02 -5.64086865e-04 9.99755758e-01 4.05745302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30275509600003 meters 0.023768711445173674 Centerline is valid? [True, True] Translation: X:120.00, Y:131.99, Z:4.06 [[-5.14368507e-01 -8.57497837e-01 1.10679404e-02 1.19996079e+02] [ 8.57273996e-01 -5.14487228e-01 -1.96007155e-02 1.31985468e+02] [ 2.25018851e-02 -5.93733278e-04 9.99746624e-01 4.05714763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33275509600003 meters 0.02512767138711265 Centerline is valid? [True, True] Translation: X:119.99, Y:132.01, Z:4.06 [[-5.14685047e-01 -8.57305918e-01 1.12189431e-02 1.19985829e+02] [ 8.57076351e-01 -5.14806957e-01 -1.98475732e-02 1.32008710e+02] [ 2.27910319e-02 -5.99758329e-04 9.99740071e-01 4.05665790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36275509600003 meters 0.024049054272673318 Centerline is valid? [True, True] Translation: X:119.97, Y:132.03, Z:4.06 [[-5.14666088e-01 -8.57316767e-01 1.12596127e-02 1.19971723e+02] [ 8.57086013e-01 -5.14788900e-01 -1.98986284e-02 1.32030876e+02] [ 2.28557514e-02 -5.90692641e-04 9.99738599e-01 4.05674930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.392755096 meters 0.024899652854724154 Centerline is valid? [True, True] Translation: X:119.96, Y:132.05, Z:4.06 [[-5.14676732e-01 -8.57305327e-01 1.16378222e-02 1.19960365e+02] [ 8.57059304e-01 -5.14807942e-01 -2.05458725e-02 1.32053407e+02] [ 2.36053293e-02 -6.00178727e-04 9.99721175e-01 4.05607050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.422755096 meters 0.023160096553252334 Centerline is valid? [True, True] Translation: X:119.95, Y:132.08, Z:4.06 [[-5.13665220e-01 -8.57912237e-01 1.16032368e-02 1.19945897e+02] [ 8.57668317e-01 -5.13795951e-01 -2.04640735e-02 1.32076063e+02] [ 2.35180752e-02 -5.59954260e-04 9.99723255e-01 4.05675589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.452755096 meters 0.02217230308160236 Centerline is valid? [True, True] Translation: X:119.93, Y:132.10, Z:4.06 [[-5.13177789e-01 -8.58202435e-01 1.17105546e-02 1.19931752e+02] [ 8.57954506e-01 -5.13311101e-01 -2.06343927e-02 1.32098941e+02] [ 2.37196437e-02 -5.41988898e-04 9.99718503e-01 4.05734250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.482755096 meters 0.02202067988233851 Centerline is valid? [True, True] Translation: X:119.92, Y:132.12, Z:4.06 [[-5.12275833e-01 -8.58747054e-01 1.12680235e-02 1.19920732e+02] [ 8.58518000e-01 -5.12399510e-01 -1.98390014e-02 1.32122012e+02] [ 2.28104137e-02 -4.89239926e-04 9.99739689e-01 4.05837000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.512755096 meters 0.021778652834533486 Centerline is valid? [True, True] Translation: X:119.91, Y:132.14, Z:4.06 [[-5.11982155e-01 -8.58921395e-01 1.13273866e-02 1.19909087e+02] [ 8.58690340e-01 -5.12107225e-01 -1.99271019e-02 1.32143803e+02] [ 2.29166507e-02 -4.75603119e-04 9.99737266e-01 4.05896650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.542755096 meters 0.019510948824505873 Centerline is valid? [True, True] Translation: X:119.89, Y:132.16, Z:4.06 [[-5.11678528e-01 -8.59106587e-01 1.09980092e-02 1.19893376e+02] [ 8.58889207e-01 -5.11796516e-01 -1.93301723e-02 1.32164907e+02] [ 2.22354212e-02 -4.44762765e-04 9.99752664e-01 4.06065255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.572755096 meters 0.019764902660224876 Centerline is valid? [True, True] Translation: X:119.88, Y:132.19, Z:4.06 [[-5.11022534e-01 -8.59503184e-01 1.04998603e-02 1.19883053e+02] [ 8.59305509e-01 -5.11130235e-01 -1.84370462e-02 1.32188045e+02] [ 2.12134960e-02 -3.99158253e-04 9.99774889e-01 4.06175181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.602755096 meters 0.019654539468438738 Centerline is valid? [True, True] Translation: X:119.87, Y:132.21, Z:4.06 [[-5.10803797e-01 -8.59631231e-01 1.06596498e-02 1.19870721e+02] [ 8.59427908e-01 -5.10914860e-01 -1.86996185e-02 1.32211224e+02] [ 2.15209496e-02 -3.90635586e-04 9.99768321e-01 4.06231728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.632755096 meters 0.018993512798628022 Centerline is valid? [True, True] Translation: X:119.86, Y:132.24, Z:4.06 [[-5.11309099e-01 -8.59338126e-01 1.00494060e-02 1.19858679e+02] [ 8.59157660e-01 -5.11407711e-01 -1.76144128e-02 1.32235242e+02] [ 2.02760802e-02 -3.72385450e-04 9.99794350e-01 4.06410240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.662755096 meters 0.019276137839917627 Centerline is valid? [True, True] Translation: X:119.85, Y:132.26, Z:4.06 [[-5.11913778e-01 -8.58979558e-01 9.91980800e-03 1.19848279e+02] [ 8.58803967e-01 -5.12009746e-01 -1.73714229e-02 1.32258119e+02] [ 2.00007356e-02 -3.73500287e-04 9.99799896e-01 4.06499332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.692755096 meters 0.019843263431980708 Centerline is valid? [True, True] Translation: X:119.84, Y:132.28, Z:4.07 [[-5.12776258e-01 -8.58466573e-01 9.78023253e-03 1.19838121e+02] [ 8.58296110e-01 -5.12869378e-01 -1.71110798e-02 1.32281916e+02] [ 1.97052718e-02 -3.79819925e-04 9.99805760e-01 4.06580839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72275509600001 meters 0.0198523463652194 Centerline is valid? [True, True] Translation: X:119.83, Y:132.31, Z:4.07 [[-5.13789677e-01 -8.57863757e-01 9.48377750e-03 1.19826692e+02] [ 8.57703592e-01 -5.13877054e-01 -1.65807533e-02 1.32306030e+02] [ 1.90975230e-02 -3.84749849e-04 9.99817552e-01 4.06688363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75275509600002 meters 0.01973364300509533 Centerline is valid? [True, True] Translation: X:119.82, Y:132.33, Z:4.07 [[-5.15604177e-01 -8.56777072e-01 9.24025814e-03 1.19816056e+02] [ 8.56625117e-01 -5.15686808e-01 -1.61407764e-02 1.32331120e+02] [ 1.85941264e-02 -4.06814512e-04 9.99827032e-01 4.06807510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78275509600002 meters 0.020211420424386103 Centerline is valid? [True, True] Translation: X:119.80, Y:132.36, Z:4.07 [[-5.16713839e-01 -8.56110514e-01 9.03303401e-03 1.19804576e+02] [ 8.55965434e-01 -5.16792623e-01 -1.57657687e-02 1.32355748e+02] [ 1.81654457e-02 -4.14426007e-04 9.99834909e-01 4.06885742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81275509600002 meters 0.021640658125136637 Centerline is valid? [True, True] Translation: X:119.79, Y:132.38, Z:4.07 [[-5.17734823e-01 -8.55496939e-01 8.69717306e-03 1.19794782e+02] [ 8.55362573e-01 -5.17807703e-01 -1.51674264e-02 1.32380483e+02] [ 1.74791500e-02 -4.13468479e-04 9.99847143e-01 4.06973188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84275509600002 meters 0.0210069435802661 Centerline is valid? [True, True] Translation: X:119.78, Y:132.40, Z:4.07 [[-5.18637402e-01 -8.54948460e-01 8.85296830e-03 1.19783135e+02] [ 8.54809401e-01 -5.18712775e-01 -1.54254387e-02 1.32404786e+02] [ 1.77801028e-02 -4.32608915e-04 9.99841828e-01 4.06999010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87275509600002 meters 0.021014192468764088 Centerline is valid? [True, True] Translation: X:119.77, Y:132.43, Z:4.07 [[-5.18938611e-01 -8.54765781e-01 8.84174479e-03 1.19771304e+02] [ 8.54627299e-01 -5.19013750e-01 -1.53917923e-02 1.32428394e+02] [ 1.77453645e-02 -4.30998875e-04 9.99842446e-01 4.07029273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90275509600002 meters 0.02272656229325655 Centerline is valid? [True, True] Translation: X:119.76, Y:132.45, Z:4.07 [[-5.18797034e-01 -8.54849917e-01 9.01430867e-03 1.19763845e+02] [ 8.54706252e-01 -5.18875164e-01 -1.56775691e-02 1.32453683e+02] [ 1.80792695e-02 -4.28890358e-04 9.99836465e-01 4.07064986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93275509600002 meters 0.021144371182101537 Centerline is valid? [True, True] Translation: X:119.75, Y:132.48, Z:4.07 [[-5.18366882e-01 -8.55108528e-01 9.22934008e-03 1.19749475e+02] [ 8.54958258e-01 -5.18448866e-01 -1.60358747e-02 1.32475680e+02] [ 1.84973541e-02 -4.21765851e-04 9.99828820e-01 4.07070610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96275509600002 meters 0.020081971543066526 Centerline is valid? [True, True] Translation: X:119.74, Y:132.50, Z:4.07 [[-5.17948116e-01 -8.55360649e-01 9.37600438e-03 1.19735405e+02] [ 8.55205879e-01 -5.18032809e-01 -1.62761687e-02 1.32498629e+02] [ 1.87790721e-02 -4.11796846e-04 9.99823573e-01 4.07065336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99275509600002 meters 0.019920733942118712 Centerline is valid? [True, True] Translation: X:119.72, Y:132.52, Z:4.07 [[-5.17716544e-01 -8.55497319e-01 9.69111661e-03 1.19723073e+02] [ 8.55332243e-01 -5.17807075e-01 -1.68103503e-02 1.32521420e+02] [ 1.93993384e-02 -4.13871979e-04 9.99811729e-01 4.07047427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02275509600003 meters 0.019635133219878514 Centerline is valid? [True, True] Translation: X:119.71, Y:132.54, Z:4.07 [[-5.17050326e-01 -8.55892323e-01 1.03581429e-02 1.19711904e+02] [ 8.55704176e-01 -5.17153900e-01 -1.79501383e-02 1.32544553e+02] [ 2.07201396e-02 -4.17618697e-04 9.99785228e-01 4.06954172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05275509600003 meters 0.01931163641737726 Centerline is valid? [True, True] Translation: X:119.70, Y:132.57, Z:4.07 [[-5.16622666e-01 -8.56147656e-01 1.05929933e-02 1.19699407e+02] [ 8.55951301e-01 -5.16731095e-01 -1.83397232e-02 1.32567566e+02] [ 2.11752400e-02 -4.07630309e-04 9.99775696e-01 4.06963581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08275509600003 meters 0.01904259796542974 Centerline is valid? [True, True] Translation: X:119.69, Y:132.59, Z:4.07 [[-5.16253537e-01 -8.56368603e-01 1.07285662e-02 1.19686973e+02] [ 8.56167593e-01 -5.16364852e-01 -1.85578337e-02 1.32590772e+02] [ 2.14322006e-02 -3.95096577e-04 9.99770226e-01 4.06995916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11275509600003 meters 0.018374666451983605 Centerline is valid? [True, True] Translation: X:119.68, Y:132.61, Z:4.07 [[-5.14705826e-01 -8.57297568e-01 1.08992010e-02 1.19675286e+02] [ 8.57090687e-01 -5.14821090e-01 -1.88361170e-02 1.32614769e+02] [ 2.17592959e-02 -3.53455510e-04 9.99763176e-01 4.07075212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.142755096 meters 0.01790881276948847 Centerline is valid? [True, True] Translation: X:119.66, Y:132.64, Z:4.07 [[-5.14100953e-01 -8.57659469e-01 1.09747615e-02 1.19662311e+02] [ 8.57450144e-01 -5.14217974e-01 -1.89505970e-02 1.32637423e+02] [ 2.18965786e-02 -3.32209125e-04 9.99760186e-01 4.07138318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.172755096 meters 0.017840805066099658 Centerline is valid? [True, True] Translation: X:119.65, Y:132.66, Z:4.07 [[-5.13671534e-01 -8.57918000e-01 1.08747447e-02 1.19650097e+02] [ 8.57712889e-01 -5.13786540e-01 -1.87614428e-02 1.32660094e+02] [ 2.16830769e-02 -3.09810397e-04 9.99764846e-01 4.07188454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.202755096 meters 0.016669478588334143 Centerline is valid? [True, True] Translation: X:119.64, Y:132.68, Z:4.07 [[-5.12755991e-01 -8.58464459e-01 1.09574756e-02 1.19636647e+02] [ 8.58256719e-01 -5.12872980e-01 -1.88867795e-02 1.32682887e+02] [ 2.18334221e-02 -2.79982245e-04 9.99761583e-01 4.07314333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.232755096 meters 0.016855869660572332 Centerline is valid? [True, True] Translation: X:119.62, Y:132.71, Z:4.07 [[-5.12991144e-01 -8.58324803e-01 1.08912092e-02 1.19624940e+02] [ 8.58119908e-01 -5.13106671e-01 -1.87554690e-02 1.32705634e+02] [ 2.16866363e-02 -2.75426078e-04 9.99764779e-01 4.07369766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.262755096 meters 0.016751873322668726 Centerline is valid? [True, True] Translation: X:119.61, Y:132.73, Z:4.07 [[-5.13565967e-01 -8.57984375e-01 1.06211630e-02 1.19613238e+02] [ 8.57789796e-01 -5.13675711e-01 -1.82737419e-02 1.32730209e+02] [ 2.11344185e-02 -2.74046625e-04 9.99776606e-01 4.07448558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.292755096 meters 0.017807062432342844 Centerline is valid? [True, True] Translation: X:119.60, Y:132.75, Z:4.07 [[-5.14262603e-01 -8.57565739e-01 1.07227832e-02 1.19603164e+02] [ 8.57367659e-01 -5.14374301e-01 -1.84330047e-02 1.32754623e+02] [ 2.13230374e-02 -2.86037437e-04 9.99772597e-01 4.07455751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.322755096 meters 0.017301442587335545 Centerline is valid? [True, True] Translation: X:119.59, Y:132.78, Z:4.08 [[-5.15081819e-01 -8.57075701e-01 1.05812391e-02 1.19589811e+02] [ 8.56883043e-01 -5.15190408e-01 -1.81739785e-02 1.32776963e+02] [ 2.10278282e-02 -2.94201495e-04 9.99778848e-01 4.07561769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.352755096 meters 0.018631579917032313 Centerline is valid? [True, True] Translation: X:119.58, Y:132.80, Z:4.08 [[-5.16971707e-01 -8.55939343e-01 1.03968778e-02 1.19580492e+02] [ 8.55753429e-01 -5.17076140e-01 -1.78419509e-02 1.32802002e+02] [ 2.06476052e-02 -3.26619926e-04 9.99786762e-01 4.07586983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.382755096 meters 0.018631579917032313 Centerline is valid? [True, True] Translation: X:119.57, Y:132.82, Z:4.08 [[-5.17291625e-01 -8.55745976e-01 1.04019030e-02 1.19567205e+02] [ 8.55560081e-01 -5.17396093e-01 -1.78390208e-02 1.32824261e+02] [ 2.06475742e-02 -3.28523073e-04 9.99786762e-01 4.07635373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.412755096 meters 0.01840686297313361 Centerline is valid? [True, True] Translation: X:119.55, Y:132.85, Z:4.08 [[-5.18556024e-01 -8.54979990e-01 1.04339128e-02 1.19554563e+02] [ 8.54793114e-01 -5.18660865e-01 -1.78784486e-02 1.32846964e+02] [ 2.06973781e-02 -3.52140367e-04 9.99785724e-01 4.07709109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.442755096 meters 0.019120555529172682 Centerline is valid? [True, True] Translation: X:119.54, Y:132.87, Z:4.08 [[-5.19921472e-01 -8.54151374e-01 1.03486207e-02 1.19543029e+02] [ 8.53967700e-01 -5.20024318e-01 -1.77165687e-02 1.32870926e+02] [ 2.05141659e-02 -3.73836688e-04 9.99789492e-01 4.07784945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47275509600001 meters 0.01908737728972138 Centerline is valid? [True, True] Translation: X:119.53, Y:132.90, Z:4.08 [[-5.21173289e-01 -8.53391402e-01 1.00756238e-02 1.19530253e+02] [ 8.53217433e-01 -5.21270531e-01 -1.72350079e-02 1.32895065e+02] [ 1.99603333e-02 -3.85727890e-04 9.99800698e-01 4.07861290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50275509600002 meters 0.020327634270804085 Centerline is valid? [True, True] Translation: X:119.52, Y:132.92, Z:4.08 [[-5.23668683e-01 -8.51858969e-01 1.03637587e-02 1.19520967e+02] [ 8.51674915e-01 -5.23771033e-01 -1.77128342e-02 1.32920396e+02] [ 2.05170732e-02 -4.49103251e-04 9.99789402e-01 4.07908201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53275509600002 meters 0.020826449761516517 Centerline is valid? [True, True] Translation: X:119.51, Y:132.94, Z:4.08 [[-5.24889772e-01 -8.51105849e-01 1.04671402e-02 1.19508788e+02] [ 8.50918275e-01 -5.24993912e-01 -1.78740518e-02 1.32944726e+02] [ 2.07078949e-02 -4.75226056e-04 9.99785456e-01 4.07935753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56275509600002 meters 0.021761942444459084 Centerline is valid? [True, True] Translation: X:119.50, Y:132.97, Z:4.08 [[-5.26570668e-01 -8.50067352e-01 1.04320744e-02 1.19497661e+02] [ 8.49881126e-01 -5.26673751e-01 -1.77997656e-02 1.32968507e+02] [ 2.06252994e-02 -5.06811368e-04 9.99787147e-01 4.07991181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59275509600002 meters 0.021409655123165956 Centerline is valid? [True, True] Translation: X:119.48, Y:132.99, Z:4.08 [[-5.26596029e-01 -8.50054504e-01 1.01962024e-02 1.19482885e+02] [ 8.49876894e-01 -5.26694505e-01 -1.73828610e-02 1.32990089e+02] [ 2.01466630e-02 -4.88228723e-04 9.99796916e-01 4.08076680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62275509600002 meters 0.021775013315960275 Centerline is valid? [True, True] Translation: X:119.47, Y:133.01, Z:4.08 [[-5.27154578e-01 -8.49704797e-01 1.04789335e-02 1.19470348e+02] [ 8.49517469e-01 -5.27258476e-01 -1.78485168e-02 1.33012999e+02] [ 2.06910768e-02 -5.06890309e-04 9.99785788e-01 4.08062264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65275509600002 meters 0.02172307580386088 Centerline is valid? [True, True] Translation: X:119.46, Y:133.03, Z:4.08 [[-5.26891136e-01 -8.49865511e-01 1.06932078e-02 1.19456059e+02] [ 8.49670822e-01 -5.26999395e-01 -1.81970453e-02 1.33034789e+02] [ 2.11003552e-02 -5.02155190e-04 9.99777237e-01 4.08080976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68275509600002 meters 0.02168429979177412 Centerline is valid? [True, True] Translation: X:119.44, Y:133.06, Z:4.08 [[-5.27183495e-01 -8.49680508e-01 1.09816357e-02 1.19442581e+02] [ 8.49475499e-01 -5.27297610e-01 -1.86710168e-02 1.33057915e+02] [ 2.16549893e-02 -5.14421435e-04 9.99765371e-01 4.08079931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71275509600002 meters 0.02152553131849742 Centerline is valid? [True, True] Translation: X:119.43, Y:133.08, Z:4.08 [[-5.27295361e-01 -8.49606570e-01 1.13260357e-02 1.19428764e+02] [ 8.49388872e-01 -5.27416725e-01 -1.92390828e-02 1.33080450e+02] [ 2.23191918e-02 -5.24470351e-04 9.99750758e-01 4.08122501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74275509600002 meters 0.020493639237835225 Centerline is valid? [True, True] Translation: X:119.41, Y:133.10, Z:4.08 [[-5.25543698e-01 -8.50686911e-01 1.16447965e-02 1.19411601e+02] [ 8.50457454e-01 -5.25672471e-01 -1.97628866e-02 1.33101921e+02] [ 2.29333779e-02 -4.82856556e-04 9.99736879e-01 4.08126311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77275509600003 meters 0.020736793212132 Centerline is valid? [True, True] Translation: X:119.40, Y:133.12, Z:4.08 [[-5.25661199e-01 -8.50607546e-01 1.21287411e-02 1.19398394e+02] [ 8.50358996e-01 -5.25800870e-01 -2.05675166e-02 1.33124154e+02] [ 2.38721875e-02 -4.97761383e-04 9.99714895e-01 4.08082330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80275509600003 meters 0.02029160231515038 Centerline is valid? [True, True] Translation: X:119.38, Y:133.15, Z:4.08 [[-5.24619735e-01 -8.51246977e-01 1.23579069e-02 1.19382413e+02] [ 8.50989508e-01 -5.24765056e-01 -2.09402184e-02 1.33145466e+02] [ 2.43102953e-02 -4.69202694e-04 9.99704351e-01 4.08084859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83275509600003 meters 0.019659117798983793 Centerline is valid? [True, True] Translation: X:119.37, Y:133.17, Z:4.08 [[-5.23911510e-01 -8.51676047e-01 1.28312491e-02 1.19366370e+02] [ 8.51399098e-01 -5.24068414e-01 -2.17226281e-02 1.33166583e+02] [ 2.52250944e-02 -4.56220921e-04 9.99681693e-01 4.08013919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86275509600003 meters 0.01965611001174656 Centerline is valid? [True, True] Translation: X:119.35, Y:133.19, Z:4.08 [[-5.23772076e-01 -8.51761380e-01 1.28594355e-02 1.19353395e+02] [ 8.51483701e-01 -5.23929724e-01 -2.17520317e-02 1.33188392e+02] [ 2.52649810e-02 -4.43507064e-04 9.99680691e-01 4.08075976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.892755096 meters 0.019620780190257942 Centerline is valid? [True, True] Translation: X:119.34, Y:133.21, Z:4.08 [[-5.23733207e-01 -8.51792192e-01 1.23931261e-02 1.19339086e+02] [ 8.51534668e-01 -5.23879649e-01 -2.09480913e-02 1.33210232e+02] [ 2.43359271e-02 -4.18034523e-04 9.99703750e-01 4.08215667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.922755096 meters 0.019590480193157206 Centerline is valid? [True, True] Translation: X:119.32, Y:133.23, Z:4.08 [[-5.23799089e-01 -8.51754555e-01 1.21939643e-02 1.19324990e+02] [ 8.51505656e-01 -5.23940851e-01 -2.05937355e-02 1.33232331e+02] [ 2.39297240e-02 -4.03750304e-04 9.99713562e-01 4.08340345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.952755096 meters 0.019719709480321954 Centerline is valid? [True, True] Translation: X:119.31, Y:133.25, Z:4.08 [[-5.24065297e-01 -8.51594590e-01 1.19255111e-02 1.19311415e+02] [ 8.51356895e-01 -5.24200819e-01 -2.01230798e-02 1.33254173e+02] [ 2.33880685e-02 -3.92941713e-04 9.99726385e-01 4.08456188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.982755096 meters 0.019365855515630657 Centerline is valid? [True, True] Translation: X:119.30, Y:133.28, Z:4.09 [[-5.24443951e-01 -8.51367245e-01 1.15046520e-02 1.19296542e+02] [ 8.51146359e-01 -5.24569986e-01 -1.93960149e-02 1.33275787e+02] [ 2.25481270e-02 -3.79979995e-04 9.99745686e-01 4.08592450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.012755096 meters 0.020242130402493973 Centerline is valid? [True, True] Translation: X:119.28, Y:133.30, Z:4.09 [[-5.25102413e-01 -8.50968299e-01 1.09731230e-02 1.19283763e+02] [ 8.50767594e-01 -5.25216923e-01 -1.84847160e-02 1.33297415e+02] [ 2.14931772e-02 -3.70791491e-04 9.99768926e-01 4.08703510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.042755096 meters 0.019637161285103316 Centerline is valid? [True, True] Translation: X:119.27, Y:133.32, Z:4.09 [[-5.25250739e-01 -8.50878102e-01 1.08681102e-02 1.19268693e+02] [ 8.50681479e-01 -5.25363039e-01 -1.82947767e-02 1.33319609e+02] [ 2.12763283e-02 -3.64044901e-04 9.99773567e-01 4.08788560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.072755096 meters 0.020735537761787565 Centerline is valid? [True, True] Translation: X:119.26, Y:133.34, Z:4.09 [[-5.26211037e-01 -8.50286207e-01 1.07382759e-02 1.19256766e+02] [ 8.50094458e-01 -5.26320459e-01 -1.80606722e-02 1.33341916e+02] [ 2.10085147e-02 -3.75176219e-04 9.99779226e-01 4.08881670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.102755096 meters 0.020447447296600228 Centerline is valid? [True, True] Translation: X:119.24, Y:133.36, Z:4.09 [[-5.26583968e-01 -8.50056094e-01 1.06753099e-02 1.19242133e+02] [ 8.49866873e-01 -5.26692033e-01 -1.79387963e-02 1.33363550e+02] [ 2.08715838e-02 -3.73690310e-04 9.99782095e-01 4.08934905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.132755096 meters 0.020946541377786645 Centerline is valid? [True, True] Translation: X:119.23, Y:133.39, Z:4.09 [[-5.27672370e-01 -8.49378777e-01 1.08426013e-02 1.19227927e+02] [ 8.49183766e-01 -5.27783605e-01 -1.82043523e-02 1.33386095e+02] [ 2.11849377e-02 -3.98572749e-04 9.99775495e-01 4.08970364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.162755096 meters 0.02009141231363709 Centerline is valid? [True, True] Translation: X:119.21, Y:133.41, Z:4.09 [[-5.28587466e-01 -8.48811181e-01 1.07177410e-02 1.19212368e+02] [ 8.48620834e-01 -5.28695955e-01 -1.79796597e-02 1.33407814e+02] [ 2.09277625e-02 -4.08524471e-04 9.99780907e-01 4.09066934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.192755096 meters 0.02130542241650095 Centerline is valid? [True, True] Translation: X:119.20, Y:133.43, Z:4.09 [[-5.29433099e-01 -8.48282848e-01 1.08075628e-02 1.19201237e+02] [ 8.48089525e-01 -5.29543228e-01 -1.81142891e-02 1.33430544e+02] [ 2.10891124e-02 -4.24523403e-04 9.99777510e-01 4.09099773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22275509600001 meters 0.021710080806782453 Centerline is valid? [True, True] Translation: X:119.19, Y:133.45, Z:4.09 [[-5.30370889e-01 -8.47696924e-01 1.08002393e-02 1.19188343e+02] [ 8.47504019e-01 -5.30480660e-01 -1.80888487e-02 1.33453190e+02] [ 2.10631795e-02 -4.40552534e-04 9.99778050e-01 4.09156382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25275509600002 meters 0.022660158664829608 Centerline is valid? [True, True] Translation: X:119.18, Y:133.48, Z:4.09 [[-5.31952780e-01 -8.46707085e-01 1.06467016e-02 1.19176802e+02] [ 8.46519730e-01 -5.32059110e-01 -1.78171227e-02 1.33475785e+02] [ 2.07505586e-02 -4.65224986e-04 9.99784576e-01 4.09284337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28275509600002 meters 0.021864045463950637 Centerline is valid? [True, True] Translation: X:119.16, Y:133.50, Z:4.09 [[-5.32764143e-01 -8.46199027e-01 1.04677916e-02 1.19161732e+02] [ 8.46018062e-01 -5.32866761e-01 -1.75058450e-02 1.33497892e+02] [ 2.03913672e-02 -4.70545712e-04 9.99791964e-01 4.09391235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31275509600002 meters 0.02347459654737084 Centerline is valid? [True, True] Translation: X:119.15, Y:133.52, Z:4.09 [[-5.33647895e-01 -8.45641879e-01 1.04755806e-02 1.19150935e+02] [ 8.45460845e-01 -5.33750484e-01 -1.75037547e-02 1.33520704e+02] [ 2.03932543e-02 -4.84148606e-04 9.99791919e-01 4.09420742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34275509600002 meters 0.021780779501100828 Centerline is valid? [True, True] Translation: X:119.13, Y:133.54, Z:4.09 [[-5.34565339e-01 -8.45062708e-01 1.04363543e-02 1.19133683e+02] [ 8.44883166e-01 -5.34666973e-01 -1.74259511e-02 1.33541671e+02] [ 2.03059954e-02 -4.97809422e-04 9.99793688e-01 4.09463461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37275509600002 meters 0.023337133766965716 Centerline is valid? [True, True] Translation: X:119.12, Y:133.56, Z:4.09 [[-5.35025457e-01 -8.44769570e-01 1.05893433e-02 1.19122586e+02] [ 8.44584972e-01 -5.35129999e-01 -1.76666336e-02 1.33564137e+02] [ 2.05909097e-02 -5.08498542e-04 9.99787855e-01 4.09438748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40275509600002 meters 0.022112777153210857 Centerline is valid? [True, True] Translation: X:119.11, Y:133.59, Z:4.09 [[-5.35082550e-01 -8.44729132e-01 1.09250776e-02 1.19106291e+02] [ 8.44533005e-01 -5.35193821e-01 -1.82092766e-02 1.33585352e+02] [ 2.12289405e-02 -5.16877572e-04 9.99774507e-01 4.09419491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43275509600002 meters 0.02214571011905284 Centerline is valid? [True, True] Translation: X:119.09, Y:133.61, Z:4.09 [[-5.35231509e-01 -8.44630145e-01 1.12760529e-02 1.19092536e+02] [ 8.44421564e-01 -5.35350015e-01 -1.87771977e-02 1.33607661e+02] [ 2.18964223e-02 -5.28405668e-04 9.99760105e-01 4.09425009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46275509600002 meters 0.02140355820289519 Centerline is valid? [True, True] Translation: X:119.08, Y:133.63, Z:4.09 [[-5.35145425e-01 -8.44681299e-01 1.15272442e-02 1.19077380e+02] [ 8.44463718e-01 -5.35269300e-01 -1.91782549e-02 1.33629720e+02] [ 2.23696932e-02 -5.28815831e-04 9.99749627e-01 4.09450733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49275509600002 meters 0.021469547599547122 Centerline is valid? [True, True] Translation: X:119.06, Y:133.65, Z:4.10 [[-5.35399892e-01 -8.44519558e-01 1.15616349e-02 1.19063523e+02] [ 8.44301028e-01 -5.35524451e-01 -1.92181273e-02 1.33652139e+02] [ 2.24216226e-02 -5.27883077e-04 9.99748464e-01 4.09502430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52275509600003 meters 0.02219202394164082 Centerline is valid? [True, True] Translation: X:119.05, Y:133.67, Z:4.10 [[-5.35548791e-01 -8.44424970e-01 1.15742259e-02 1.19051103e+02] [ 8.44206331e-01 -5.35673591e-01 -1.92217061e-02 1.33674097e+02] [ 2.24312957e-02 -5.23126700e-04 9.99748250e-01 4.09539567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55275509600003 meters 0.0221183973796702 Centerline is valid? [True, True] Translation: X:119.04, Y:133.70, Z:4.10 [[-5.35796207e-01 -8.44270624e-01 1.13815149e-02 1.19036969e+02] [ 8.44059549e-01 -5.35916833e-01 -1.88845205e-02 1.33696817e+02] [ 2.20431913e-02 -5.11578104e-04 9.99756888e-01 4.09641030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58275509600003 meters 0.021959680583438192 Centerline is valid? [True, True] Translation: X:119.02, Y:133.72, Z:4.10 [[-5.36267562e-01 -8.43971461e-01 1.13698825e-02 1.19022945e+02] [ 8.43761108e-01 -5.36387833e-01 -1.88490155e-02 1.33718733e+02] [ 2.20066978e-02 -5.14650923e-04 9.99757691e-01 4.09760986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61275509600003 meters 0.02249974892657004 Centerline is valid? [True, True] Translation: X:119.01, Y:133.74, Z:4.10 [[-5.37245176e-01 -8.43355324e-01 1.09278382e-02 1.19010541e+02] [ 8.43161207e-01 -5.37356061e-01 -1.81009329e-02 1.33740936e+02] [ 2.11376582e-02 -5.10709663e-04 9.99776444e-01 4.09973021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64275509600003 meters 0.022954170689868405 Centerline is valid? [True, True] Translation: X:119.00, Y:133.76, Z:4.10 [[-5.38219021e-01 -8.42736891e-01 1.07153477e-02 1.18997246e+02] [ 8.42550452e-01 -5.38325428e-01 -1.77332725e-02 1.33763512e+02] [ 2.07128271e-02 -5.16163493e-04 9.99785333e-01 4.10088405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.672755096 meters 0.023034693826287245 Centerline is valid? [True, True] Translation: X:118.98, Y:133.79, Z:4.10 [[-5.39942634e-01 -8.41638793e-01 1.03001969e-02 1.18982920e+02] [ 8.41466599e-01 -5.40040612e-01 -1.70323437e-02 1.33786238e+02] [ 1.98976058e-02 -5.29216874e-04 9.99801883e-01 4.10191535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.702755096 meters 0.02522336344515973 Centerline is valid? [True, True] Translation: X:118.97, Y:133.81, Z:4.10 [[-5.41104539e-01 -8.40892303e-01 1.02962806e-02 1.18972293e+02] [ 8.40720366e-01 -5.41202211e-01 -1.70127265e-02 1.33810396e+02] [ 1.98782406e-02 -5.49370692e-04 9.99802257e-01 4.10247268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.732755096 meters 0.02373598267720812 Centerline is valid? [True, True] Translation: X:118.96, Y:133.83, Z:4.10 [[-5.43720594e-01 -8.39208590e-01 9.84165281e-03 1.18956153e+02] [ 8.39051406e-01 -5.43809349e-01 -1.62520918e-02 1.33832278e+02] [ 1.89908778e-02 -5.78944368e-04 9.99819489e-01 4.10400044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.762755096 meters 0.02619425912096842 Centerline is valid? [True, True] Translation: X:118.95, Y:133.86, Z:4.10 [[-5.45196929e-01 -8.38249128e-01 9.93516499e-03 1.18945867e+02] [ 8.38089041e-01 -5.45287104e-01 -1.63931053e-02 1.33857148e+02] [ 1.91590236e-02 -6.10917791e-04 9.99816262e-01 4.10475685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.792755096 meters 0.026197815215225913 Centerline is valid? [True, True] Translation: X:118.93, Y:133.88, Z:4.11 [[-5.46636995e-01 -8.37311382e-01 9.88158787e-03 1.18931677e+02] [ 8.37153124e-01 -5.46725937e-01 -1.62910036e-02 1.33880080e+02] [ 1.90431631e-02 -6.32863107e-04 9.99818462e-01 4.10541469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.822755096 meters 0.02740473710893861 Centerline is valid? [True, True] Translation: X:118.92, Y:133.90, Z:4.11 [[-5.47919745e-01 -8.36471311e-01 9.98489997e-03 1.18919901e+02] [ 8.36309839e-01 -5.48010317e-01 -1.64482848e-02 1.33903183e+02] [ 1.92303465e-02 -6.61869905e-04 9.99814861e-01 4.10561440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.852755096 meters 0.027263420769124802 Centerline is valid? [True, True] Translation: X:118.91, Y:133.93, Z:4.11 [[-5.49254115e-01 -8.35594232e-01 1.01092022e-02 1.18905463e+02] [ 8.35428834e-01 -5.49346701e-01 -1.66392688e-02 1.33925887e+02] [ 1.94571339e-02 -6.93667835e-04 9.99810451e-01 4.10569275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.882755096 meters 0.028814308446052074 Centerline is valid? [True, True] Translation: X:118.89, Y:133.95, Z:4.10 [[-5.50950843e-01 -8.34471074e-01 1.05449278e-02 1.18893272e+02] [ 8.34291190e-01 -5.51051226e-01 -1.73423377e-02 1.33949456e+02] [ 2.02824746e-02 -7.57235253e-04 9.99794003e-01 4.10485775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.912755096 meters 0.029721811194133474 Centerline is valid? [True, True] Translation: X:118.88, Y:133.97, Z:4.10 [[-5.51784355e-01 -8.33916311e-01 1.08449189e-02 1.18880329e+02] [ 8.33726249e-01 -5.51890351e-01 -1.78208274e-02 1.33972345e+02] [ 2.08462847e-02 -7.91560215e-04 9.99782379e-01 4.10493426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.942755096 meters 0.027959023270022774 Centerline is valid? [True, True] Translation: X:118.86, Y:133.99, Z:4.11 [[-5.52831669e-01 -8.33219242e-01 1.10833015e-02 1.18863486e+02] [ 8.33020910e-01 -5.52942139e-01 -1.81976448e-02 1.33994391e+02] [ 2.12910522e-02 -8.27612437e-04 9.99772977e-01 4.10516983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97275509600001 meters 0.02883651962334201 Centerline is valid? [True, True] Translation: X:118.85, Y:134.02, Z:4.11 [[-5.53607976e-01 -8.32703432e-01 1.10996686e-02 1.18849867e+02] [ 8.32504719e-01 -5.53718599e-01 -1.82100564e-02 1.34017932e+02] [ 2.13096694e-02 -8.40706037e-04 9.99772570e-01 4.10530838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00275509600002 meters 0.028777929587259797 Centerline is valid? [True, True] Translation: X:118.83, Y:134.04, Z:4.11 [[-5.54535500e-01 -8.32088270e-01 1.09311755e-02 1.18834830e+02] [ 8.31895717e-01 -5.54642587e-01 -1.79197060e-02 1.34040752e+02] [ 2.09736727e-02 -8.43515044e-04 9.99779673e-01 4.10552452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03275509600002 meters 0.03067806014712647 Centerline is valid? [True, True] Translation: X:118.82, Y:134.06, Z:4.11 [[-5.55782275e-01 -8.31257233e-01 1.08386472e-02 1.18822614e+02] [ 8.31068062e-01 -5.55887285e-01 -1.77539567e-02 1.34064563e+02] [ 2.07831710e-02 -8.59680933e-04 9.99783637e-01 4.10559732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06275509600002 meters 0.030136300512864617 Centerline is valid? [True, True] Translation: X:118.81, Y:134.09, Z:4.11 [[-5.56418224e-01 -8.30829246e-01 1.10238485e-02 1.18808145e+02] [ 8.30633793e-01 -5.56526717e-01 -1.80420504e-02 1.34086750e+02] [ 2.11249293e-02 -8.82144562e-04 9.99776455e-01 4.10579934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09275509600002 meters 0.031167077855472985 Centerline is valid? [True, True] Translation: X:118.80, Y:134.11, Z:4.11 [[-5.57221431e-01 -8.30291285e-01 1.09845119e-02 1.18795677e+02] [ 8.30097446e-01 -5.57328977e-01 -1.79622340e-02 1.34109540e+02] [ 2.10358732e-02 -8.90726447e-04 9.99778325e-01 4.10591895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12275509600002 meters 0.031588722798981325 Centerline is valid? [True, True] Translation: X:118.78, Y:134.13, Z:4.11 [[-5.57378015e-01 -8.30182627e-01 1.12496584e-02 1.18782596e+02] [ 8.29979618e-01 -5.57490790e-01 -1.83807806e-02 1.34131614e+02] [ 2.15309857e-02 -9.08055797e-04 9.99767769e-01 4.10605298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15275509600002 meters 0.031926681178966666 Centerline is valid? [True, True] Translation: X:118.77, Y:134.15, Z:4.11 [[-5.57656253e-01 -8.29995326e-01 1.12810522e-02 1.18768400e+02] [ 8.29791425e-01 -5.57769603e-01 -1.84190699e-02 1.34154003e+02] [ 2.15799699e-02 -9.10589165e-04 9.99766711e-01 4.10639748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18275509600002 meters 0.02965507944641997 Centerline is valid? [True, True] Translation: X:118.75, Y:134.17, Z:4.11 [[-5.57373816e-01 -8.30185254e-01 1.12637771e-02 1.18751103e+02] [ 8.29982349e-01 -5.57486902e-01 -1.83753808e-02 1.34174382e+02] [ 2.15343784e-02 -8.93219952e-04 9.99767709e-01 4.10708074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21275509600002 meters 0.028575260991905608 Centerline is valid? [True, True] Translation: X:118.73, Y:134.20, Z:4.11 [[-5.56725818e-01 -8.30622145e-01 1.11002599e-02 1.18733899e+02] [ 8.30425502e-01 -5.56835811e-01 -1.80932197e-02 1.34196150e+02] [ 2.12096512e-02 -8.55023652e-04 9.99774684e-01 4.10761264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24275509600002 meters 0.028756952006263742 Centerline is valid? [True, True] Translation: X:118.72, Y:134.22, Z:4.11 [[-5.56279897e-01 -8.30922337e-01 1.09884550e-02 1.18720019e+02] [ 8.30729991e-01 -5.56387801e-01 -1.78968335e-02 1.34218340e+02] [ 2.09847210e-02 -8.27209563e-04 9.99779454e-01 4.10816213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27275509600003 meters 0.028756952006263742 Centerline is valid? [True, True] Translation: X:118.71, Y:134.24, Z:4.11 [[-5.56601374e-01 -8.30706939e-01 1.09951168e-02 1.18706224e+02] [ 8.30514631e-01 -5.56709347e-01 -1.78927399e-02 1.34240314e+02] [ 2.09847075e-02 -8.27518250e-04 9.99779454e-01 4.10864589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30275509600003 meters 0.02757135844538201 Centerline is valid? [True, True] Translation: X:118.69, Y:134.26, Z:4.11 [[-5.55118229e-01 -8.31700945e-01 1.08300948e-02 1.18690245e+02] [ 8.31514863e-01 -5.55223330e-01 -1.76092706e-02 1.34262219e+02] [ 2.06587683e-02 -7.69842275e-04 9.99786288e-01 4.10991664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33275509600003 meters 0.02811507347382133 Centerline is valid? [True, True] Translation: X:118.68, Y:134.29, Z:4.11 [[-5.54384411e-01 -8.32190381e-01 1.08209739e-02 1.18676435e+02] [ 8.32004982e-01 -5.54489509e-01 -1.75810671e-02 1.34285004e+02] [ 2.06309114e-02 -7.43565316e-04 9.99786884e-01 4.11042055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36275509600003 meters 0.027200082581807762 Centerline is valid? [True, True] Translation: X:118.66, Y:134.31, Z:4.11 [[-5.53590407e-01 -8.32718770e-01 1.08218050e-02 1.18660640e+02] [ 8.32533650e-01 -5.53695705e-01 -1.75723754e-02 1.34306227e+02] [ 2.06248338e-02 -7.18381578e-04 9.99787027e-01 4.11088301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39275509600003 meters 0.025613717637045754 Centerline is valid? [True, True] Translation: X:118.64, Y:134.33, Z:4.11 [[-5.51938926e-01 -8.33819155e-01 1.04421995e-02 1.18642977e+02] [ 8.33647191e-01 -5.52037315e-01 -1.69458903e-02 1.34327182e+02] [ 1.98942916e-02 -6.47986222e-04 9.99801879e-01 4.11188969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.422755096 meters 0.024088856916951763 Centerline is valid? [True, True] Translation: X:118.63, Y:134.35, Z:4.11 [[-5.51511148e-01 -8.34100325e-01 1.05877620e-02 1.18626217e+02] [ 8.33923858e-01 -5.51612399e-01 -1.71685671e-02 1.34348504e+02] [ 2.01606482e-02 -6.39268803e-04 9.99796549e-01 4.11254605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.452755096 meters 0.025902550315601434 Centerline is valid? [True, True] Translation: X:118.61, Y:134.37, Z:4.11 [[-5.51308965e-01 -8.34236695e-01 1.03712426e-02 1.18614598e+02] [ 8.34067673e-01 -5.51406167e-01 -1.68034555e-02 1.34371104e+02] [ 1.97368263e-02 -6.13577466e-04 9.99805022e-01 4.11310928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.482755096 meters 0.023367775725662822 Centerline is valid? [True, True] Translation: X:118.60, Y:134.39, Z:4.11 [[-5.50912162e-01 -8.34500845e-01 1.02043963e-02 1.18596823e+02] [ 8.34337556e-01 -5.51006349e-01 -1.65180611e-02 1.34390693e+02] [ 1.94070230e-02 -5.86089694e-04 9.99811494e-01 4.11422224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.512755096 meters 0.022264831507687793 Centerline is valid? [True, True] Translation: X:118.58, Y:134.41, Z:4.12 [[-5.51066588e-01 -8.34402126e-01 9.93522199e-03 1.18580860e+02] [ 8.34247585e-01 -5.51155851e-01 -1.60684212e-02 1.34412406e+02] [ 1.88833805e-02 -5.66335088e-04 9.99821533e-01 4.11528928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.542755096 meters 0.02362636866118763 Centerline is valid? [True, True] Translation: X:118.57, Y:134.43, Z:4.12 [[-5.51866637e-01 -8.33878277e-01 9.49918319e-03 1.18567620e+02] [ 8.33737146e-01 -5.51948108e-01 -1.53511103e-02 1.34434993e+02] [ 1.80440136e-02 -5.51943738e-04 9.99837041e-01 4.11607252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.572755096 meters 0.026686341980944727 Centerline is valid? [True, True] Translation: X:118.56, Y:134.46, Z:4.12 [[-5.52498366e-01 -8.33460915e-01 9.40521166e-03 1.18557335e+02] [ 8.33322733e-01 -5.52578137e-01 -1.51863730e-02 1.34458170e+02] [ 1.78543627e-02 -5.52869588e-04 9.99840445e-01 4.11646649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.602755096 meters 0.02370182084033978 Centerline is valid? [True, True] Translation: X:118.54, Y:134.48, Z:4.12 [[-5.53302118e-01 -8.32929147e-01 9.26293118e-03 1.18538393e+02] [ 8.32795279e-01 -5.53379371e-01 -1.49430232e-02 1.34477987e+02] [ 1.75723946e-02 -5.53881004e-04 9.99845440e-01 4.11650281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.632755096 meters 0.025394845650848163 Centerline is valid? [True, True] Translation: X:118.53, Y:134.50, Z:4.12 [[-5.54865367e-01 -8.31885975e-01 9.49467379e-03 1.18525913e+02] [ 8.31745398e-01 -5.54946278e-01 -1.53042887e-02 1.34501171e+02] [ 1.80004570e-02 -5.94668551e-04 9.99837802e-01 4.11670120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.662755096 meters 0.025524503576446086 Centerline is valid? [True, True] Translation: X:118.51, Y:134.52, Z:4.12 [[-5.55901106e-01 -8.31193773e-01 9.53270858e-03 1.18511606e+02] [ 8.31052202e-01 -5.55982497e-01 -1.53525327e-02 1.34523898e+02] [ 1.80609487e-02 -6.12311462e-04 9.99836700e-01 4.11693162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.692755096 meters 0.0251980036472418 Centerline is valid? [True, True] Translation: X:118.50, Y:134.55, Z:4.12 [[-5.56678783e-01 -8.30674295e-01 9.43116808e-03 1.18496627e+02] [ 8.30535860e-01 -5.56758328e-01 -1.51772913e-02 1.34546081e+02] [ 1.78582671e-02 -6.15952786e-04 9.99840339e-01 4.11709898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72275509600001 meters 0.026672240485730726 Centerline is valid? [True, True] Translation: X:118.48, Y:134.57, Z:4.12 [[-5.57848498e-01 -8.29887012e-01 9.62293328e-03 1.18483446e+02] [ 8.29743014e-01 -5.57931115e-01 -1.54726020e-02 1.34568894e+02] [ 1.82094454e-02 -6.46806136e-04 9.99833985e-01 4.11723227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75275509600002 meters 0.026523713907830086 Centerline is valid? [True, True] Translation: X:118.47, Y:134.59, Z:4.12 [[-5.58555030e-01 -8.29412921e-01 9.51230277e-03 1.18468840e+02] [ 8.29272374e-01 -5.58635647e-01 -1.52821116e-02 1.34590508e+02] [ 1.79890922e-02 -6.47610398e-04 9.99837973e-01 4.11781350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78275509600002 meters 0.027904340153746023 Centerline is valid? [True, True] Translation: X:118.46, Y:134.61, Z:4.12 [[-5.59122543e-01 -8.29033679e-01 9.22720077e-03 1.18456381e+02] [ 8.28901596e-01 -5.59198318e-01 -1.48116439e-02 1.34612212e+02] [ 1.74391868e-02 -6.33082580e-04 9.99847725e-01 4.11809289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81275509600002 meters 0.027310123912696754 Centerline is valid? [True, True] Translation: X:118.44, Y:134.63, Z:4.12 [[-5.59518056e-01 -8.28766070e-01 9.29225898e-03 1.18441322e+02] [ 8.28632320e-01 -5.59594847e-01 -1.49025319e-02 1.34633551e+02] [ 1.75506131e-02 -6.38369573e-04 9.99845772e-01 4.11857030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84275509600002 meters 0.027504465475773867 Centerline is valid? [True, True] Translation: X:118.43, Y:134.66, Z:4.12 [[-5.59695989e-01 -8.28643967e-01 9.46446316e-03 1.18427340e+02] [ 8.28505431e-01 -5.59775632e-01 -1.51655321e-02 1.34655380e+02] [ 1.78648025e-02 -6.46728330e-04 9.99840203e-01 4.11922005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87275509600002 meters 0.026321665669198486 Centerline is valid? [True, True] Translation: X:118.41, Y:134.68, Z:4.12 [[-5.59668230e-01 -8.28664260e-01 9.32822186e-03 1.18411321e+02] [ 8.28529906e-01 -5.59745609e-01 -1.49348007e-02 1.34676616e+02] [ 1.75973668e-02 -6.29822676e-04 9.99844956e-01 4.11990065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90275509600002 meters 0.026425781588098263 Centerline is valid? [True, True] Translation: X:118.40, Y:134.70, Z:4.12 [[-5.58993958e-01 -8.29120300e-01 9.23487637e-03 1.18395724e+02] [ 8.28988905e-01 -5.59069911e-01 -1.47725823e-02 1.34698393e+02] [ 1.74111893e-02 -6.02174173e-04 9.99848232e-01 4.12078609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93275509600002 meters 0.02658009199116846 Centerline is valid? [True, True] Translation: X:118.38, Y:134.72, Z:4.12 [[-5.58365976e-01 -8.29544294e-01 9.14888729e-03 1.18381420e+02] [ 8.29415586e-01 -5.58440625e-01 -1.46237268e-02 1.34719132e+02] [ 1.72401395e-02 -5.77161795e-04 9.99851211e-01 4.12182849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96275509600002 meters 0.026746022761743843 Centerline is valid? [True, True] Translation: X:118.37, Y:134.74, Z:4.12 [[-5.57116522e-01 -8.30389192e-01 8.65860473e-03 1.18365910e+02] [ 8.30274150e-01 -5.57183563e-01 -1.38316023e-02 1.34739924e+02] [ 1.63100453e-02 -5.16798479e-04 9.99866849e-01 4.12313831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99275509600002 meters 0.0240419397913979 Centerline is valid? [True, True] Translation: X:118.35, Y:134.76, Z:4.12 [[-5.56635835e-01 -8.30711287e-01 8.67785459e-03 1.18347634e+02] [ 8.30595959e-01 -5.56703247e-01 -1.38509354e-02 1.34759418e+02] [ 1.63371182e-02 -5.02136036e-04 9.99866414e-01 4.12345616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02275509600003 meters 0.024373649163459955 Centerline is valid? [True, True] Translation: X:118.33, Y:134.78, Z:4.12 [[-5.56171329e-01 -8.31023147e-01 8.60125489e-03 1.18334009e+02] [ 8.30910079e-01 -5.56237626e-01 -1.37165509e-02 1.34780499e+02] [ 1.61831129e-02 -4.81882951e-04 9.99868929e-01 4.12426243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05275509600003 meters 0.02347293772259578 Centerline is valid? [True, True] Translation: X:118.32, Y:134.80, Z:4.13 [[-5.55381728e-01 -8.31552924e-01 8.41848280e-03 1.18316517e+02] [ 8.31444810e-01 -5.55445344e-01 -1.34162986e-02 1.34802016e+02] [ 1.58323694e-02 -4.51663272e-04 9.99874558e-01 4.12501411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08275509600003 meters 0.022831520950540085 Centerline is valid? [True, True] Translation: X:118.30, Y:134.82, Z:4.13 [[-5.55320297e-01 -8.31594075e-01 8.40606548e-03 1.18300316e+02] [ 8.31486442e-01 -5.55383739e-01 -1.33865408e-02 1.34823454e+02] [ 1.58007601e-02 -4.44288324e-04 9.99875062e-01 4.12576422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11275509600003 meters 0.021567257629079836 Centerline is valid? [True, True] Translation: X:118.28, Y:134.84, Z:4.13 [[-5.55215257e-01 -8.31666851e-01 8.14045710e-03 1.18283275e+02] [ 8.31566088e-01 -5.55274770e-01 -1.29526705e-02 1.34844386e+02] [ 1.52924971e-02 -4.22192193e-04 9.99882974e-01 4.12612914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14275509600003 meters 0.0255290446031699 Centerline is valid? [True, True] Translation: X:118.27, Y:134.87, Z:4.13 [[-5.54938907e-01 -8.31853047e-01 7.95725804e-03 1.18273291e+02] [ 8.31756929e-01 -5.54995807e-01 -1.26516618e-02 1.34868352e+02] [ 1.49405683e-02 -4.02394855e-04 9.99888303e-01 4.12762788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.172755096 meters 0.021138576826682295 Centerline is valid? [True, True] Translation: X:118.25, Y:134.89, Z:4.13 [[-5.54740545e-01 -8.31987285e-01 7.75149104e-03 1.18252068e+02] [ 8.31896255e-01 -5.54794568e-01 -1.23129192e-02 1.34886906e+02] [ 1.45446773e-02 -3.82039148e-04 9.99894148e-01 4.12729260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.202755096 meters 0.020800552868132285 Centerline is valid? [True, True] Translation: X:118.24, Y:134.91, Z:4.13 [[-5.54044064e-01 -8.32450113e-01 7.87303860e-03 1.18236653e+02] [ 8.32356400e-01 -5.54099876e-01 -1.24960221e-02 1.34908193e+02] [ 1.47647647e-02 -3.70172799e-04 9.99890926e-01 4.12774351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.232755096 meters 0.02076937260578244 Centerline is valid? [True, True] Translation: X:118.22, Y:134.93, Z:4.13 [[-5.53865667e-01 -8.32567823e-01 7.97768225e-03 1.18221975e+02] [ 8.32471786e-01 -5.53922997e-01 -1.26506331e-02 1.34930035e+02] [ 1.49515317e-02 -3.65555950e-04 9.99888153e-01 4.12818545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.262755096 meters 0.020218277370566497 Centerline is valid? [True, True] Translation: X:118.21, Y:134.95, Z:4.13 [[-5.53592405e-01 -8.32748096e-01 8.12758679e-03 1.18205875e+02] [ 8.32648615e-01 -5.53651947e-01 -1.28765260e-02 1.34952550e+02] [ 1.52227567e-02 -3.60923101e-04 9.99884062e-01 4.12833039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.292755096 meters 0.01997434471015863 Centerline is valid? [True, True] Translation: X:118.19, Y:134.98, Z:4.13 [[-5.53852993e-01 -8.32572399e-01 8.37037024e-03 1.18189804e+02] [ 8.32467040e-01 -5.53916116e-01 -1.32500747e-02 1.34975134e+02] [ 1.56681295e-02 -3.70536196e-04 9.99877179e-01 4.12839716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.322755096 meters 0.020933470389439227 Centerline is valid? [True, True] Translation: X:118.18, Y:135.00, Z:4.13 [[-5.53657561e-01 -8.32697574e-01 8.83486129e-03 1.18176387e+02] [ 8.32580415e-01 -5.53727916e-01 -1.39730857e-02 1.34997148e+02] [ 1.65274639e-02 -3.80572041e-04 9.99863340e-01 4.12860913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.352755096 meters 0.0195966453157385 Centerline is valid? [True, True] Translation: X:118.16, Y:135.02, Z:4.13 [[-5.54157398e-01 -8.32362836e-01 9.03811936e-03 1.18159501e+02] [ 8.32240353e-01 -5.54230958e-01 -1.42842755e-02 1.35018701e+02] [ 1.68989056e-02 -3.93849301e-04 9.99857126e-01 4.12884405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.382755096 meters 0.019962216861840548 Centerline is valid? [True, True] Translation: X:118.15, Y:135.04, Z:4.13 [[-5.54891522e-01 -8.31875641e-01 8.84972990e-03 1.18145623e+02] [ 8.31758335e-01 -5.54961948e-01 -1.39753208e-02 1.35042592e+02] [ 1.65369922e-02 -3.93950398e-04 9.99863177e-01 4.12989169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.412755096 meters 0.020959438336403503 Centerline is valid? [True, True] Translation: X:118.13, Y:135.07, Z:4.13 [[-5.55725167e-01 -8.31318895e-01 8.85623328e-03 1.18133060e+02] [ 8.31201533e-01 -5.55795583e-01 -1.39742918e-02 1.35065224e+02] [ 1.65393482e-02 -4.04550989e-04 9.99863134e-01 4.13095257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.442755096 meters 0.020383331969529784 Centerline is valid? [True, True] Translation: X:118.12, Y:135.09, Z:4.13 [[-5.56543888e-01 -8.30771796e-01 8.78202149e-03 1.18117636e+02] [ 8.30656518e-01 -5.56613020e-01 -1.38454234e-02 1.35087330e+02] [ 1.63905748e-02 -4.10742404e-04 9.99865581e-01 4.13112868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47275509600001 meters 0.02326226933448499 Centerline is valid? [True, True] Translation: X:118.11, Y:135.11, Z:4.13 [[-5.58092433e-01 -8.29727920e-01 9.18776584e-03 1.18108116e+02] [ 8.29601818e-01 -5.58167871e-01 -1.44724548e-02 1.35112149e+02] [ 1.71365156e-02 -4.54780283e-04 9.99853056e-01 4.13127264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50275509600002 meters 0.022411548868240847 Centerline is valid? [True, True] Translation: X:118.09, Y:135.13, Z:4.13 [[-5.59104878e-01 -8.29045363e-01 9.24781003e-03 1.18092324e+02] [ 8.28917670e-01 -5.59181153e-01 -1.45579862e-02 1.35134878e+02] [ 1.72404320e-02 -4.73767961e-04 9.99851260e-01 4.13152433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53275509600002 meters 0.02492608265077965 Centerline is valid? [True, True] Translation: X:118.08, Y:135.16, Z:4.13 [[-5.61115350e-01 -8.27685031e-01 9.33023525e-03 1.18081652e+02] [ 8.27555065e-01 -5.61192681e-01 -1.46761368e-02 1.35160585e+02] [ 1.73832785e-02 -5.13722232e-04 9.99848767e-01 4.13189908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56275509600002 meters 0.02465911884150108 Centerline is valid? [True, True] Translation: X:118.07, Y:135.18, Z:4.13 [[-5.62316038e-01 -8.26867867e-01 9.49762202e-03 1.18067427e+02] [ 8.26733296e-01 -5.62395979e-01 -1.49271741e-02 1.35182455e+02] [ 1.76842250e-02 -5.41789041e-04 9.99843475e-01 4.13249269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59275509600002 meters 0.02491303687659989 Centerline is valid? [True, True] Translation: X:118.05, Y:135.21, Z:4.13 [[-5.63320105e-01 -8.26184423e-01 9.47409764e-03 1.18053298e+02] [ 8.26050661e-01 -5.63399496e-01 -1.48766203e-02 1.35205746e+02] [ 1.76285338e-02 -5.54214702e-04 9.99844452e-01 4.13269313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62275509600002 meters 0.025600386727075344 Centerline is valid? [True, True] Translation: X:118.04, Y:135.23, Z:4.13 [[-5.64079985e-01 -8.25665173e-01 9.52850259e-03 1.18040501e+02] [ 8.25529999e-01 -5.64160173e-01 -1.49506178e-02 1.35228110e+02] [ 1.77198061e-02 -5.67279549e-04 9.99842831e-01 4.13307431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65275509600002 meters 0.025277013022922942 Centerline is valid? [True, True] Translation: X:118.02, Y:135.25, Z:4.13 [[-5.65170579e-01 -8.24917423e-01 9.66755145e-03 1.18024409e+02] [ 8.24778412e-01 -5.65252948e-01 -1.51550806e-02 1.35249887e+02] [ 1.79663020e-02 -5.91617979e-04 9.99838418e-01 4.13177340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68275509600002 meters 0.02528866047700338 Centerline is valid? [True, True] Translation: X:118.01, Y:135.27, Z:4.13 [[-5.65341782e-01 -8.24801530e-01 9.54496554e-03 1.18012252e+02] [ 8.24666213e-01 -5.65422054e-01 -1.49511904e-02 1.35272456e+02] [ 1.77286988e-02 -5.81122054e-04 9.99842665e-01 4.13424880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71275509600002 meters 0.024080099479181282 Centerline is valid? [True, True] Translation: X:118.00, Y:135.29, Z:4.13 [[-5.64878977e-01 -8.25115275e-01 9.82465826e-03 1.17996673e+02] [ 8.24972227e-01 -5.64964111e-01 -1.53746083e-02 1.35294230e+02] [ 1.82364035e-02 -5.79722817e-04 9.99833535e-01 4.13451950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74275509600002 meters 0.024583604361249792 Centerline is valid? [True, True] Translation: X:117.98, Y:135.32, Z:4.14 [[-5.64338451e-01 -8.25483785e-01 9.93148003e-03 1.17983765e+02] [ 8.25337921e-01 -5.64425549e-01 -1.55278892e-02 1.35316014e+02] [ 1.84236018e-02 -5.66157848e-04 9.99830111e-01 4.13509103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77275509600003 meters 0.024070066861750887 Centerline is valid? [True, True] Translation: X:117.97, Y:135.34, Z:4.14 [[-5.63780870e-01 -8.25865197e-01 9.88973471e-03 1.17969304e+02] [ 8.25720874e-01 -5.63867343e-01 -1.54485334e-02 1.35337645e+02] [ 1.83349046e-02 -5.43427229e-04 9.99831754e-01 4.13549663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80275509600003 meters 0.02326042081252341 Centerline is valid? [True, True] Translation: X:117.95, Y:135.36, Z:4.14 [[-5.62408431e-01 -8.26799484e-01 9.96844876e-03 1.17954010e+02] [ 8.26653247e-01 -5.62496537e-01 -1.55581492e-02 1.35360253e+02] [ 1.84706877e-02 -5.09583776e-04 9.99829272e-01 4.13600782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83275509600003 meters 0.021605929233710137 Centerline is valid? [True, True] Translation: X:117.94, Y:135.38, Z:4.14 [[-5.61845449e-01 -8.27180180e-01 1.01312559e-02 1.17937225e+02] [ 8.27029417e-01 -5.61936564e-01 -1.58000312e-02 1.35381705e+02] [ 1.87625958e-02 -4.98328960e-04 9.99823843e-01 4.13631948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86275509600003 meters 0.021192501237882494 Centerline is valid? [True, True] Translation: X:117.92, Y:135.40, Z:4.14 [[-5.61276849e-01 -8.27562865e-01 1.03925168e-02 1.17921915e+02] [ 8.27404545e-01 -5.61372839e-01 -1.61942647e-02 1.35404299e+02] [ 1.92358487e-02 -4.90650225e-04 9.99814854e-01 4.13693843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89275509600003 meters 0.02145207535899978 Centerline is valid? [True, True] Translation: X:117.91, Y:135.43, Z:4.14 [[-5.59755058e-01 -8.28592091e-01 1.04605054e-02 1.17909297e+02] [ 8.28432123e-01 -5.59852609e-01 -1.62872234e-02 1.35427190e+02] [ 1.93518057e-02 -4.51036951e-04 9.99812635e-01 4.13743012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.922755096 meters 0.021269557971920622 Centerline is valid? [True, True] Translation: X:117.90, Y:135.45, Z:4.14 [[-5.59314003e-01 -8.28890567e-01 1.04054220e-02 1.17895053e+02] [ 8.28732525e-01 -5.59410618e-01 -1.61914395e-02 1.35449094e+02] [ 1.92418350e-02 -4.32787164e-04 9.99814765e-01 4.13821618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.952755096 meters 0.020001986243764362 Centerline is valid? [True, True] Translation: X:117.88, Y:135.47, Z:4.14 [[-5.58850476e-01 -8.29203085e-01 1.04110692e-02 1.17878599e+02] [ 8.29045185e-01 -5.58947290e-01 -1.61866767e-02 1.35470447e+02] [ 1.92412812e-02 -4.14685170e-04 9.99814783e-01 4.13888356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.982755096 meters 0.019383287739201956 Centerline is valid? [True, True] Translation: X:117.86, Y:135.49, Z:4.14 [[-5.58244426e-01 -8.29611562e-01 1.03835573e-02 1.17863084e+02] [ 8.29454835e-01 -5.58340849e-01 -1.61298635e-02 1.35492929e+02] [ 1.91790854e-02 -3.91714619e-04 9.99815988e-01 4.13944326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.012755096 meters 0.019240818080268562 Centerline is valid? [True, True] Translation: X:117.85, Y:135.51, Z:4.14 [[-5.57489627e-01 -8.30116228e-01 1.06001966e-02 1.17849850e+02] [ 8.29953248e-01 -5.57590269e-01 -1.64529105e-02 1.35514239e+02] [ 1.95683944e-02 -3.74659335e-04 9.99808450e-01 4.13972714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.042755096 meters 0.019444157542552146 Centerline is valid? [True, True] Translation: X:117.84, Y:135.54, Z:4.14 [[-5.57513103e-01 -8.30098660e-01 1.07403219e-02 1.17836859e+02] [ 8.29931648e-01 -5.57616424e-01 -1.66548155e-02 1.35536334e+02] [ 1.98141199e-02 -3.71544817e-04 9.99803612e-01 4.14030226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.072755096 meters 0.01956069398712114 Centerline is valid? [True, True] Translation: X:117.82, Y:135.56, Z:4.14 [[-5.57422687e-01 -8.30159419e-01 1.07372049e-02 1.17824749e+02] [ 8.29992814e-01 -5.57525972e-01 -1.66349109e-02 1.35558596e+02] [ 1.97958986e-02 -3.60873855e-04 9.99803977e-01 4.14117967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.102755096 meters 0.019174944223048707 Centerline is valid? [True, True] Translation: X:117.81, Y:135.58, Z:4.14 [[-5.57667545e-01 -8.29994841e-01 1.07458801e-02 1.17810392e+02] [ 8.29828230e-01 -5.57770953e-01 -1.66335090e-02 1.35580319e+02] [ 1.97994664e-02 -3.58733472e-04 9.99803907e-01 4.14161260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.132755096 meters 0.019302443692536208 Centerline is valid? [True, True] Translation: X:117.80, Y:135.60, Z:4.14 [[-5.58094440e-01 -8.29703796e-01 1.10547484e-02 1.17797716e+02] [ 8.29527721e-01 -5.58203792e-01 -1.70963974e-02 1.35602019e+02] [ 2.03557483e-02 -3.71184081e-04 9.99792731e-01 4.14201409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.162755096 meters 0.02029503821368661 Centerline is valid? [True, True] Translation: X:117.79, Y:135.63, Z:4.14 [[-5.59365706e-01 -8.28846032e-01 1.11472761e-02 1.17786351e+02] [ 8.28667144e-01 -5.59476628e-01 -1.72240476e-02 1.35625936e+02] [ 2.05127240e-02 -3.97160108e-04 9.99789513e-01 4.14255954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.192755096 meters 0.02029503821368661 Centerline is valid? [True, True] Translation: X:117.77, Y:135.65, Z:4.14 [[-5.59677812e-01 -8.28635230e-01 1.11536029e-02 1.17772038e+02] [ 8.28456381e-01 -5.59788798e-01 -1.72199498e-02 1.35647543e+02] [ 2.05127191e-02 -3.97350330e-04 9.99789513e-01 4.14304297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22275509600001 meters 0.020734689817927837 Centerline is valid? [True, True] Translation: X:117.76, Y:135.67, Z:4.14 [[-5.60455134e-01 -8.28105208e-01 1.14807671e-02 1.17757983e+02] [ 8.27915918e-01 -5.60572554e-01 -1.77100011e-02 1.35669610e+02] [ 2.11015471e-02 -4.20551247e-04 9.99777249e-01 4.14201473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25275509600002 meters 0.020391100708601572 Centerline is valid? [True, True] Translation: X:117.74, Y:135.69, Z:4.14 [[-5.61707927e-01 -8.27252898e-01 1.16981641e-02 1.17744057e+02] [ 8.27056519e-01 -5.61829545e-01 -1.80298960e-02 1.35693555e+02] [ 2.14876579e-02 -4.52492663e-04 9.99769011e-01 4.14359625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28275509600002 meters 0.022372846206420292 Centerline is valid? [True, True] Translation: X:117.74, Y:135.72, Z:4.14 [[-5.64282302e-01 -8.25498526e-01 1.17331784e-02 1.17735497e+02] [ 8.25300889e-01 -5.64404041e-01 -1.80698933e-02 1.35718715e+02] [ 2.15389236e-02 -5.13118418e-04 9.99767879e-01 4.14351921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31275509600002 meters 0.022445970020871262 Centerline is valid? [True, True] Translation: X:117.72, Y:135.74, Z:4.14 [[-5.65887714e-01 -8.24395942e-01 1.19342503e-02 1.17722147e+02] [ 8.24191533e-01 -5.66013270e-01 -1.83655921e-02 1.35741931e+02] [ 2.18954636e-02 -5.56754897e-04 9.99760111e-01 4.14402457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34275509600002 meters 0.02322766629120942 Centerline is valid? [True, True] Translation: X:117.71, Y:135.77, Z:4.14 [[-5.69536668e-01 -8.21876996e-01 1.20908132e-02 1.17710606e+02] [ 8.21666877e-01 -5.69664615e-01 -1.85948725e-02 1.35766839e+02] [ 2.21704064e-02 -6.55841009e-04 9.99753991e-01 4.14436857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37275509600002 meters 0.026207977728822014 Centerline is valid? [True, True] Translation: X:117.70, Y:135.79, Z:4.14 [[-5.71214954e-01 -8.20711231e-01 1.21058288e-02 1.17701439e+02] [ 8.20500642e-01 -5.71342798e-01 -1.86038545e-02 1.35792506e+02] [ 2.21849704e-02 -6.93959552e-04 9.99753642e-01 4.14468898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40275509600002 meters 0.025745020877205208 Centerline is valid? [True, True] Translation: X:117.69, Y:135.82, Z:4.15 [[-5.73361558e-01 -8.19211746e-01 1.21917546e-02 1.17687139e+02] [ 8.18998083e-01 -5.73490672e-01 -1.87240110e-02 1.35815319e+02] [ 2.23307873e-02 -7.50604498e-04 9.99750355e-01 4.14525422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43275509600002 meters 0.027743415473023003 Centerline is valid? [True, True] Translation: X:117.68, Y:135.84, Z:4.15 [[-5.76805959e-01 -8.16789525e-01 1.22375235e-02 1.17677056e+02] [ 8.16574032e-01 -5.76935149e-01 -1.87798597e-02 1.35841263e+02] [ 2.23994501e-02 -8.39491050e-04 9.99748748e-01 4.14571882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46275509600002 meters 0.028737947580580455 Centerline is valid? [True, True] Translation: X:117.66, Y:135.87, Z:4.15 [[-5.78293465e-01 -8.15737628e-01 1.21980064e-02 1.17664652e+02] [ 8.15523609e-01 -5.78421444e-01 -1.87049783e-02 1.35865731e+02] [ 2.23139432e-02 -8.69204499e-04 9.99750635e-01 4.14621453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49275509600002 meters 0.030528818369729933 Centerline is valid? [True, True] Translation: X:117.65, Y:135.89, Z:4.15 [[-5.79759626e-01 -8.14695092e-01 1.22753440e-02 1.17653517e+02] [ 8.14478439e-01 -5.79888856e-01 -1.88092384e-02 1.35889207e+02] [ 2.24421294e-02 -9.06834036e-04 9.99747732e-01 4.14634016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52275509600003 meters 0.03161181798791923 Centerline is valid? [True, True] Translation: X:117.64, Y:135.91, Z:4.14 [[-5.81739231e-01 -8.13279191e-01 1.25069838e-02 1.17640504e+02] [ 8.13054294e-01 -5.81872851e-01 -1.91494042e-02 1.35912953e+02] [ 2.28512863e-02 -9.71102776e-04 9.99738404e-01 4.14487115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55275509600003 meters 0.030040320744252922 Centerline is valid? [True, True] Translation: X:117.62, Y:135.94, Z:4.15 [[-5.82598975e-01 -8.12668384e-01 1.21873934e-02 1.17624932e+02] [ 8.12455012e-01 -5.82725642e-01 -1.86461877e-02 1.35935346e+02] [ 2.22550739e-02 -9.61540971e-04 9.99751863e-01 4.14679166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58275509600003 meters 0.030582260210299927 Centerline is valid? [True, True] Translation: X:117.61, Y:135.96, Z:4.15 [[-5.83501519e-01 -8.12020443e-01 1.21974257e-02 1.17611933e+02] [ 8.11806904e-01 -5.83628171e-01 -1.86469207e-02 1.35957953e+02] [ 2.22604421e-02 -9.78552192e-04 9.99751727e-01 4.14796281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61275509600003 meters 0.03015624147245825 Centerline is valid? [True, True] Translation: X:117.60, Y:135.98, Z:4.15 [[-5.84339768e-01 -8.11421542e-01 1.19212924e-02 1.17597193e+02] [ 8.11217753e-01 -5.84460555e-01 -1.82103540e-02 1.35981112e+02] [ 2.17437987e-02 -9.70270042e-04 9.99763105e-01 4.14932397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64275509600003 meters 0.03192510369101091 Centerline is valid? [True, True] Translation: X:117.58, Y:136.00, Z:4.15 [[-5.84445368e-01 -8.11341506e-01 1.21889967e-02 1.17584363e+02] [ 8.11128761e-01 -5.84571626e-01 -1.86050080e-02 1.36003992e+02] [ 2.22203568e-02 -9.86764980e-04 9.99752610e-01 4.14804980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.672755096 meters 0.030468037982107198 Centerline is valid? [True, True] Translation: X:117.57, Y:136.03, Z:4.15 [[-5.83675345e-01 -8.11895810e-01 1.21772533e-02 1.17569719e+02] [ 8.11683853e-01 -5.83801573e-01 -1.85754388e-02 1.36027134e+02] [ 2.21904206e-02 -9.57945752e-04 9.99753303e-01 4.15074394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.702755096 meters 0.030576912956608547 Centerline is valid? [True, True] Translation: X:117.56, Y:136.05, Z:4.15 [[-5.83121979e-01 -8.12291747e-01 1.22831092e-02 1.17555472e+02] [ 8.12076498e-01 -5.83250571e-01 -1.87225167e-02 1.36049736e+02] [ 2.23722763e-02 -9.42686715e-04 9.99749265e-01 4.15124994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.732755096 meters 0.029033306442244868 Centerline is valid? [True, True] Translation: X:117.54, Y:136.07, Z:4.15 [[-5.82383669e-01 -8.12815624e-01 1.26500503e-02 1.17538675e+02] [ 8.12587788e-01 -5.82520279e-01 -1.92668375e-02 1.36071551e+02] [ 2.30292974e-02 -9.41415124e-04 9.99734347e-01 4.15198756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.762755096 meters 0.02960310668071109 Centerline is valid? [True, True] Translation: X:117.52, Y:136.09, Z:4.15 [[-5.81621772e-01 -8.13358158e-01 1.28304343e-02 1.17524968e+02] [ 8.13124267e-01 -5.81762539e-01 -1.95262455e-02 1.36093610e+02] [ 2.33460971e-02 -9.24152022e-04 9.99727016e-01 4.15198413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.792755096 meters 0.028738749191939 Centerline is valid? [True, True] Translation: X:117.51, Y:136.12, Z:4.15 [[-5.80641491e-01 -8.14056760e-01 1.29248259e-02 1.17508855e+02] [ 8.13819955e-01 -5.80784636e-01 -1.96542032e-02 1.36115996e+02] [ 2.35061773e-02 -8.93564624e-04 9.99723292e-01 4.15244881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.822755096 meters 0.02610606777320402 Centerline is valid? [True, True] Translation: X:117.49, Y:136.14, Z:4.15 [[-5.77814158e-01 -8.16065725e-01 1.29433872e-02 1.17491323e+02] [ 8.15829090e-01 -5.77958549e-01 -1.96675419e-02 1.36136738e+02] [ 2.35307481e-02 -8.04592343e-04 9.99722790e-01 4.15312742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.852755096 meters 0.02570740357474511 Centerline is valid? [True, True] Translation: X:117.48, Y:136.16, Z:4.15 [[-5.76584350e-01 -8.16933390e-01 1.30508204e-02 1.17475529e+02] [ 8.16693396e-01 -5.76731522e-01 -1.98153679e-02 1.36159022e+02] [ 2.37146552e-02 -7.66712194e-04 9.99718474e-01 4.15284200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.882755096 meters 0.023438015169034102 Centerline is valid? [True, True] Translation: X:117.46, Y:136.18, Z:4.16 [[-5.73904269e-01 -8.18823849e-01 1.27040959e-02 1.17459208e+02] [ 8.18597233e-01 -5.74044481e-01 -1.92744332e-02 1.36181113e+02] [ 2.30750817e-02 -6.62141702e-04 9.99733516e-01 4.15562437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.912755096 meters 0.022822306553733733 Centerline is valid? [True, True] Translation: X:117.44, Y:136.20, Z:4.16 [[-5.72676990e-01 -8.19685584e-01 1.25143375e-02 1.17443399e+02] [ 8.19466216e-01 -5.72813383e-01 -1.89723014e-02 1.36203851e+02] [ 2.27197020e-02 -6.09923629e-04 9.99741688e-01 4.15665084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.942755096 meters 0.02212796188286285 Centerline is valid? [True, True] Translation: X:117.43, Y:136.23, Z:4.16 [[-5.70376897e-01 -8.21289794e-01 1.23802591e-02 1.17428050e+02] [ 8.21075781e-01 -5.70510991e-01 -1.87555394e-02 1.36225728e+02] [ 2.24668070e-02 -5.32595403e-04 9.99747448e-01 4.15750121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97275509600001 meters 0.02109153844189863 Centerline is valid? [True, True] Translation: X:117.41, Y:136.25, Z:4.16 [[-5.69491536e-01 -8.21903112e-01 1.24364562e-02 1.17411843e+02] [ 8.21687622e-01 -5.69627091e-01 -1.88262687e-02 1.36247251e+02] [ 2.25575112e-02 -5.02518618e-04 9.99745421e-01 4.15814630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00275509600002 meters 0.021931549917223476 Centerline is valid? [True, True] Translation: X:117.40, Y:136.27, Z:4.16 [[-5.69059600e-01 -8.22199094e-01 1.26420415e-02 1.17395574e+02] [ 8.21976846e-01 -5.69199797e-01 -1.91221015e-02 1.36268985e+02] [ 2.29180220e-02 -4.90150065e-04 9.99737227e-01 4.15623404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03275509600002 meters 0.02024375645246681 Centerline is valid? [True, True] Translation: X:117.38, Y:136.29, Z:4.16 [[-5.68156249e-01 -8.22827879e-01 1.23595425e-02 1.17381999e+02] [ 8.22615927e-01 -5.68290491e-01 -1.86803198e-02 1.36291345e+02] [ 2.23944984e-02 -4.46183911e-04 9.99749112e-01 4.15928014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06275509600002 meters 0.019830241298384413 Centerline is valid? [True, True] Translation: X:117.37, Y:136.31, Z:4.16 [[-5.68227392e-01 -8.22776651e-01 1.24985105e-02 1.17367365e+02] [ 8.22560248e-01 -5.68364658e-01 -1.88746812e-02 1.36312802e+02] [ 2.26333586e-02 -4.44332979e-04 9.99743734e-01 4.16018287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09275509600002 meters 0.023051494665198718 Centerline is valid? [True, True] Translation: X:117.36, Y:136.34, Z:4.16 [[-5.68810996e-01 -8.22369809e-01 1.27259285e-02 1.17356452e+02] [ 8.22145736e-01 -5.68953150e-01 -1.92016210e-02 1.36336322e+02] [ 2.30312905e-02 -4.59525244e-04 9.99734639e-01 4.15774008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12275509600002 meters 0.020052026512176847 Centerline is valid? [True, True] Translation: X:117.34, Y:136.36, Z:4.16 [[-5.69650546e-01 -8.21790052e-01 1.26240345e-02 1.17339735e+02] [ 8.21569786e-01 -5.69790216e-01 -1.90314527e-02 1.36356998e+02] [ 2.28329098e-02 -4.69752100e-04 9.99739185e-01 4.16076443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15275509600002 meters 0.020397622735964505 Centerline is valid? [True, True] Translation: X:117.33, Y:136.38, Z:4.16 [[-5.70452626e-01 -8.21233103e-01 1.26488084e-02 1.17326235e+02] [ 8.21012203e-01 -5.70592637e-01 -1.90527048e-02 1.36379200e+02] [ 2.28640288e-02 -4.83839458e-04 9.99738467e-01 4.16094215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18275509600002 meters 0.022798235404988203 Centerline is valid? [True, True] Translation: X:117.31, Y:136.40, Z:4.16 [[-5.72109562e-01 -8.20071219e-01 1.31850422e-02 1.17314235e+02] [ 8.19831286e-01 -5.72261218e-01 -1.98434162e-02 1.36403086e+02] [ 2.38183028e-02 -5.43098057e-04 9.99716156e-01 4.15830046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21275509600002 meters 0.022575404455547562 Centerline is valid? [True, True] Translation: X:117.30, Y:136.43, Z:4.16 [[-5.73132502e-01 -8.19357471e-01 1.31327485e-02 1.17301407e+02] [ 8.19119619e-01 -5.73282669e-01 -1.97492030e-02 1.36426166e+02] [ 2.37104342e-02 -5.61618171e-04 9.99718710e-01 4.16029948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24275509600002 meters 0.021814897720037085 Centerline is valid? [True, True] Translation: X:117.29, Y:136.45, Z:4.16 [[-5.74469014e-01 -8.18423415e-01 1.29794172e-02 1.17285697e+02] [ 8.18191196e-01 -5.74615325e-01 -1.95037154e-02 1.36448416e+02] [ 2.34204694e-02 -5.84635278e-04 9.99725532e-01 4.16114411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27275509600003 meters 0.024955891613756213 Centerline is valid? [True, True] Translation: X:117.27, Y:136.47, Z:4.16 [[-5.76341596e-01 -8.17097018e-01 1.35214040e-02 1.17271646e+02] [ 8.16845021e-01 -5.76499812e-01 -2.03021721e-02 1.36471533e+02] [ 2.43839311e-02 -6.56094762e-04 9.99702452e-01 4.15802140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30275509600003 meters 0.02499072278790979 Centerline is valid? [True, True] Translation: X:117.26, Y:136.50, Z:4.16 [[-5.79014481e-01 -8.15216200e-01 1.28366303e-02 1.17261935e+02] [ 8.14988939e-01 -5.79156344e-01 -1.92602516e-02 1.36496612e+02] [ 2.31356850e-02 -6.90252880e-04 9.99732096e-01 4.16143133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33275509600003 meters 0.025100330992838565 Centerline is valid? [True, True] Translation: X:117.25, Y:136.52, Z:4.16 [[-5.80353877e-01 -8.14265412e-01 1.26971236e-02 1.17246941e+02] [ 8.14043109e-01 -5.80492317e-01 -1.90390844e-02 1.36519385e+02] [ 2.28734506e-02 -7.13400488e-04 9.99738114e-01 4.16244679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36275509600003 meters 0.024816694433962328 Centerline is valid? [True, True] Translation: X:117.23, Y:136.54, Z:4.16 [[-5.80837884e-01 -8.13930775e-01 1.20019088e-02 1.17230560e+02] [ 8.13732362e-01 -5.80961472e-01 -1.79836226e-02 1.36540322e+02] [ 2.16100705e-02 -6.79227698e-04 9.99766244e-01 4.16374865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39275509600003 meters 0.02558796836634456 Centerline is valid? [True, True] Translation: X:117.22, Y:136.56, Z:4.16 [[-5.81634387e-01 -8.13359525e-01 1.21541352e-02 1.17216994e+02] [ 8.13156256e-01 -5.81760941e-01 -1.81964552e-02 1.36563207e+02] [ 2.18710613e-02 -7.00472998e-04 9.99760554e-01 4.16399728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.422755096 meters 0.025323243296751893 Centerline is valid? [True, True] Translation: X:117.20, Y:136.59, Z:4.16 [[-5.81986186e-01 -8.13105340e-01 1.23200939e-02 1.17201952e+02] [ 8.12896753e-01 -5.82116139e-01 -1.84301060e-02 1.36585119e+02] [ 2.21573431e-02 -7.11102760e-04 9.99754243e-01 4.16446139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.452755096 meters 0.02751228547446104 Centerline is valid? [True, True] Translation: X:117.19, Y:136.61, Z:4.16 [[-5.81929368e-01 -8.13140091e-01 1.27044554e-02 1.17188907e+02] [ 8.12918666e-01 -5.82067582e-01 -1.89887508e-02 1.36607425e+02] [ 2.28353662e-02 -7.22422794e-04 9.99738978e-01 4.16386492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.482755096 meters 0.02566925009819527 Centerline is valid? [True, True] Translation: X:117.17, Y:136.63, Z:4.16 [[-5.81810318e-01 -8.13221577e-01 1.29391447e-02 1.17171140e+02] [ 8.12992304e-01 -5.81953731e-01 -1.93227305e-02 1.36627861e+02] [ 2.32436449e-02 -7.22738867e-04 9.99729569e-01 4.16356872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.512755096 meters 0.025644020981091822 Centerline is valid? [True, True] Translation: X:117.16, Y:136.65, Z:4.16 [[-5.81459903e-01 -8.13458754e-01 1.37563432e-02 1.17155569e+02] [ 8.13200105e-01 -5.81622125e-01 -2.05254322e-02 1.36648391e+02] [ 2.46975860e-02 -7.48056074e-04 9.99694688e-01 4.16215402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.542755096 meters 0.025488408982177625 Centerline is valid? [True, True] Translation: X:117.14, Y:136.67, Z:4.16 [[-5.81259615e-01 -8.13602054e-01 1.37461847e-02 1.17139448e+02] [ 8.13344249e-01 -5.81421673e-01 -2.04931593e-02 1.36669845e+02] [ 2.46656062e-02 -7.31465647e-04 9.99695490e-01 4.16207523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.572755096 meters 0.025636901937274574 Centerline is valid? [True, True] Translation: X:117.12, Y:136.69, Z:4.16 [[-5.81223073e-01 -8.13625234e-01 1.39182626e-02 1.17124800e+02] [ 8.13361363e-01 -5.81389238e-01 -2.07327571e-02 1.36690331e+02] [ 2.49606224e-02 -7.29779753e-04 9.99688169e-01 4.16197089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.602755096 meters 0.024800127147152087 Centerline is valid? [True, True] Translation: X:117.11, Y:136.71, Z:4.16 [[-5.80716508e-01 -8.13989997e-01 1.37339671e-02 1.17108922e+02] [ 8.13733582e-01 -5.80878474e-01 -2.04415251e-02 1.36711130e+02] [ 2.46169628e-02 -6.94940834e-04 9.99696715e-01 4.16343876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.632755096 meters 0.02521289587509994 Centerline is valid? [True, True] Translation: X:117.09, Y:136.73, Z:4.16 [[-5.80897639e-01 -8.13864571e-01 1.35052981e-02 1.17094969e+02] [ 8.13616955e-01 -5.81054213e-01 -2.00861126e-02 1.36732044e+02] [ 2.41946857e-02 -6.79835888e-04 9.99707035e-01 4.16440497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.662755096 meters 0.02494032418588093 Centerline is valid? [True, True] Translation: X:117.08, Y:136.75, Z:4.17 [[-5.80628173e-01 -8.14062585e-01 1.31541952e-02 1.17078227e+02] [ 8.13828029e-01 -5.80776799e-01 -1.95511747e-02 1.36753150e+02] [ 2.35555312e-02 -6.46710044e-04 9.99722321e-01 4.16556860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.692755096 meters 0.024963176166328337 Centerline is valid? [True, True] Translation: X:117.06, Y:136.77, Z:4.17 [[-5.80462945e-01 -8.14186290e-01 1.27849436e-02 1.17064289e+02] [ 8.13965072e-01 -5.80603398e-01 -1.89882971e-02 1.36774403e+02] [ 2.28829929e-02 -6.15505309e-04 9.99737961e-01 4.16700318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72275509600001 meters 0.025232237985121572 Centerline is valid? [True, True] Translation: X:117.05, Y:136.80, Z:4.17 [[-5.80727058e-01 -8.14006375e-01 1.22353997e-02 1.17050360e+02] [ 8.13803983e-01 -5.80855639e-01 -1.81605029e-02 1.36795041e+02] [ 2.18897661e-02 -5.89078376e-04 9.99760217e-01 4.16798545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75275509600002 meters 0.025139982303956632 Centerline is valid? [True, True] Translation: X:117.04, Y:136.82, Z:4.17 [[-5.80837347e-01 -8.13928343e-01 1.21913658e-02 1.17035739e+02] [ 8.13727731e-01 -5.80964987e-01 -1.80794059e-02 1.36816163e+02] [ 2.17980975e-02 -5.80741705e-04 9.99762225e-01 4.16888956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78275509600002 meters 0.022170929839167026 Centerline is valid? [True, True] Translation: X:117.02, Y:136.83, Z:4.17 [[-5.81147328e-01 -8.13709084e-01 1.20544199e-02 1.17016709e+02] [ 8.13513226e-01 -5.81272051e-01 -1.78615191e-02 1.36834996e+02] [ 2.15409777e-02 -5.73744049e-04 9.99767802e-01 4.16982017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81275509600002 meters 0.02246126016827486 Centerline is valid? [True, True] Translation: X:117.00, Y:136.86, Z:4.17 [[-5.81270110e-01 -8.13622131e-01 1.20036095e-02 1.17002101e+02] [ 8.13428223e-01 -5.81393763e-01 -1.77712857e-02 1.36856002e+02] [ 2.14379350e-02 -5.65842456e-04 9.99770021e-01 4.17023702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84275509600002 meters 0.023329697118560398 Centerline is valid? [True, True] Translation: X:116.99, Y:136.88, Z:4.17 [[-5.81733496e-01 -8.13293804e-01 1.18037671e-02 1.16988846e+02] [ 8.13106548e-01 -5.81852968e-01 -1.74604175e-02 1.36877354e+02] [ 2.10685063e-02 -5.59589375e-04 9.99777878e-01 4.17061854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87275509600002 meters 0.02245884375808347 Centerline is valid? [True, True] Translation: X:116.97, Y:136.90, Z:4.17 [[-5.82370235e-01 -8.12839120e-01 1.17249837e-02 1.16972363e+02] [ 8.12654572e-01 -5.82487981e-01 -1.73291464e-02 1.36898320e+02] [ 2.09154702e-02 -5.63617505e-04 9.99781089e-01 4.17094202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90275509600002 meters 0.023281199210628108 Centerline is valid? [True, True] Translation: X:116.96, Y:136.92, Z:4.17 [[-5.82765844e-01 -8.12553551e-01 1.18616216e-02 1.16958990e+02] [ 8.12364929e-01 -5.82886267e-01 -1.75163225e-02 1.36920144e+02] [ 2.11469264e-02 -5.71949096e-04 9.99776215e-01 4.17120723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93275509600002 meters 0.02363298238618235 Centerline is valid? [True, True] Translation: X:116.94, Y:136.94, Z:4.17 [[-5.83404396e-01 -8.12097609e-01 1.16954464e-02 1.16944317e+02] [ 8.11914450e-01 -5.83521333e-01 -1.72563056e-02 1.36942448e+02] [ 2.08383470e-02 -5.71702597e-04 9.99782695e-01 4.17197777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96275509600002 meters 0.02297053328470955 Centerline is valid? [True, True] Translation: X:116.93, Y:136.96, Z:4.17 [[-5.83792528e-01 -8.11820995e-01 1.15306737e-02 1.16929014e+02] [ 8.11643185e-01 -5.83906116e-01 -1.69996707e-02 1.36964164e+02] [ 2.05335205e-02 -5.65487978e-04 9.99789005e-01 4.17254735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99275509600002 meters 0.02227186230999422 Centerline is valid? [True, True] Translation: X:116.91, Y:136.99, Z:4.17 [[-5.84211229e-01 -8.11519549e-01 1.15438413e-02 1.16913279e+02] [ 8.11341563e-01 -5.84324993e-01 -1.70050358e-02 1.36985118e+02] [ 2.05452740e-02 -5.68534609e-04 9.99788762e-01 4.17288951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02275509600003 meters 0.024464367576791417 Centerline is valid? [True, True] Translation: X:116.90, Y:137.01, Z:4.17 [[-5.84872276e-01 -8.11043473e-01 1.15285077e-02 1.16901683e+02] [ 8.10866160e-01 -5.84985601e-01 -1.69680993e-02 1.37007763e+02] [ 2.05058772e-02 -5.76094073e-04 9.99789566e-01 4.17287726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05275509600003 meters 0.023457889464424023 Centerline is valid? [True, True] Translation: X:116.89, Y:137.03, Z:4.17 [[-5.85670277e-01 -8.10467475e-01 1.15238589e-02 1.16885606e+02] [ 8.10290497e-01 -5.85783345e-01 -1.69464613e-02 1.37028647e+02] [ 2.04850403e-02 -5.87365289e-04 9.99789987e-01 4.17265993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08275509600003 meters 0.023457889464424023 Centerline is valid? [True, True] Translation: X:116.87, Y:137.05, Z:4.17 [[-5.85980177e-01 -8.10243349e-01 1.15303431e-02 1.16870800e+02] [ 8.10066414e-01 -5.86093313e-01 -1.69420485e-02 1.37049947e+02] [ 2.04850391e-02 -5.87360901e-04 9.99789987e-01 4.17314340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11275509600003 meters 0.025577440065972585 Centerline is valid? [True, True] Translation: X:116.86, Y:137.07, Z:4.17 [[-5.86577979e-01 -8.09808101e-01 1.17095952e-02 1.16858938e+02] [ 8.09625835e-01 -5.86694534e-01 -1.71910419e-02 1.37072397e+02] [ 2.07914005e-02 -6.03495855e-04 9.99783653e-01 4.17262211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14275509600003 meters 0.024595243307993654 Centerline is valid? [True, True] Translation: X:116.84, Y:137.09, Z:4.17 [[-5.87363256e-01 -8.09237323e-01 1.18051126e-02 1.16842438e+02] [ 8.09052267e-01 -5.87481549e-01 -1.73164371e-02 1.37092868e+02] [ 2.09483930e-02 -6.20085792e-04 9.99780366e-01 4.17257687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.172755096 meters 0.024899692079608026 Centerline is valid? [True, True] Translation: X:116.83, Y:137.11, Z:4.17 [[-5.87779917e-01 -8.08932797e-01 1.19372857e-02 1.16827979e+02] [ 8.08743814e-01 -5.87900785e-01 -1.74960063e-02 1.37114230e+02] [ 2.11710329e-02 -6.29595215e-04 9.99775670e-01 4.17268295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.202755096 meters 0.02562675070859174 Centerline is valid? [True, True] Translation: X:116.81, Y:137.14, Z:4.17 [[-5.87998843e-01 -8.08771082e-01 1.21119223e-02 1.16814447e+02] [ 8.08576817e-01 -5.88123230e-01 -1.77369148e-02 1.37135416e+02] [ 2.14684067e-02 -6.35865824e-04 9.99769325e-01 4.17268556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.232755096 meters 0.025208176059818795 Centerline is valid? [True, True] Translation: X:116.80, Y:137.16, Z:4.17 [[-5.87943695e-01 -8.08806839e-01 1.23979507e-02 1.16798616e+02] [ 8.08603632e-01 -5.88074049e-01 -1.81405318e-02 1.37157150e+02] [ 2.19630993e-02 -6.40583371e-04 9.99758577e-01 4.17252601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.262755096 meters 0.02435746921742048 Centerline is valid? [True, True] Translation: X:116.78, Y:137.18, Z:4.17 [[-5.87888948e-01 -8.08845979e-01 1.24405509e-02 1.16782286e+02] [ 8.08641697e-01 -5.88020223e-01 -1.81885498e-02 1.37178313e+02] [ 2.20270309e-02 -6.32899273e-04 9.99757175e-01 4.17298405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.292755096 meters 0.02426412307697402 Centerline is valid? [True, True] Translation: X:116.77, Y:137.20, Z:4.17 [[-5.87747512e-01 -8.08952280e-01 1.22094191e-02 1.16767073e+02] [ 8.08755844e-01 -5.87873998e-01 -1.78366794e-02 1.37199601e+02] [ 2.16066225e-02 -6.09024844e-04 9.99766364e-01 4.17353860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.322755096 meters 0.021735834071940116 Centerline is valid? [True, True] Translation: X:116.75, Y:137.22, Z:4.17 [[-5.86494821e-01 -8.09864674e-01 1.19597096e-02 1.16748021e+02] [ 8.09676664e-01 -5.86616485e-01 -1.74585007e-02 1.37220193e+02] [ 2.11547858e-02 -5.55822461e-04 9.99776058e-01 4.17466842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.352755096 meters 0.021568197242581695 Centerline is valid? [True, True] Translation: X:116.73, Y:137.24, Z:4.18 [[-5.86135355e-01 -8.10124305e-01 1.19981327e-02 1.16732468e+02] [ 8.09935407e-01 -5.86257893e-01 -1.75019609e-02 1.37241647e+02] [ 2.12127639e-02 -5.40805591e-04 9.99774838e-01 4.17524109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.382755096 meters 0.021072167054576627 Centerline is valid? [True, True] Translation: X:116.72, Y:137.26, Z:4.18 [[-5.85550374e-01 -8.10551122e-01 1.17319233e-02 1.16716642e+02] [ 8.10370885e-01 -5.85667673e-01 -1.70998836e-02 1.37263413e+02] [ 2.07313381e-02 -5.05634198e-04 9.99784955e-01 4.17601497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.412755096 meters 0.019592713985085473 Centerline is valid? [True, True] Translation: X:116.70, Y:137.28, Z:4.18 [[-5.84283394e-01 -8.11465020e-01 1.17233393e-02 1.16698881e+02] [ 8.11285505e-01 -5.84400808e-01 -1.70740952e-02 1.37284613e+02] [ 2.07061599e-02 -4.65135050e-04 9.99785496e-01 4.17693778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.442755096 meters 0.01933708641821233 Centerline is valid? [True, True] Translation: X:116.68, Y:137.31, Z:4.18 [[-5.83867427e-01 -8.11768942e-01 1.14023439e-02 1.16683454e+02] [ 8.11599431e-01 -5.83978593e-01 -1.65941927e-02 1.37305884e+02] [ 2.01293750e-02 -4.34672802e-04 9.99797289e-01 4.17716438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47275509600001 meters 0.01873430796090741 Centerline is valid? [True, True] Translation: X:116.67, Y:137.33, Z:4.18 [[-5.82704768e-01 -8.12610069e-01 1.09557298e-02 1.16667877e+02] [ 8.12453976e-01 -5.82807626e-01 -1.59313695e-02 1.37327299e+02] [ 1.93310742e-02 -3.82258799e-04 9.99813064e-01 4.17753751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50275509600002 meters 0.018556806450040188 Centerline is valid? [True, True] Translation: X:116.65, Y:137.35, Z:4.18 [[-5.82529821e-01 -8.12738831e-01 1.07051585e-02 1.16652930e+02] [ 8.12590045e-01 -5.82628065e-01 -1.55549965e-02 1.37348700e+02] [ 1.88792754e-02 -3.62344126e-04 9.99821705e-01 4.17827633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53275509600002 meters 0.017899796536260178 Centerline is valid? [True, True] Translation: X:116.64, Y:137.37, Z:4.18 [[-5.82334112e-01 -8.12884760e-01 1.02639690e-02 1.16637302e+02] [ 8.12748221e-01 -5.82424462e-01 -1.49021918e-02 1.37369497e+02] [ 1.80917513e-02 -3.36032126e-04 9.99836274e-01 4.17925879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56275509600002 meters 0.017265936994353075 Centerline is valid? [True, True] Translation: X:116.62, Y:137.39, Z:4.18 [[-5.81774311e-01 -8.13287429e-01 1.01098571e-02 1.16621191e+02] [ 8.13155239e-01 -5.81862063e-01 -1.46662042e-02 1.37391957e+02] [ 1.78103818e-02 -3.11537585e-04 9.99841334e-01 4.18026411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59275509600002 meters 0.01780259349403652 Centerline is valid? [True, True] Translation: X:116.61, Y:137.41, Z:4.18 [[-5.81865498e-01 -8.13225123e-01 9.87125632e-03 1.16607575e+02] [ 8.13099276e-01 -5.81949147e-01 -1.43093671e-02 1.37413903e+02] [ 1.73813060e-02 -2.99815669e-04 9.99848889e-01 4.18119091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62275509600002 meters 0.01771341920927417 Centerline is valid? [True, True] Translation: X:116.59, Y:137.44, Z:4.18 [[-5.82041363e-01 -8.13101162e-01 9.71345686e-03 1.16592479e+02] [ 8.12979480e-01 -5.82122336e-01 -1.40695001e-02 1.37435490e+02] [ 1.70943471e-02 -2.92189918e-04 9.99853838e-01 4.18168295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65275509600002 meters 0.017434750615324877 Centerline is valid? [True, True] Translation: X:116.58, Y:137.46, Z:4.18 [[-5.82425646e-01 -8.12830136e-01 9.35608127e-03 1.16577005e+02] [ 8.12717383e-01 -5.82500720e-01 -1.35412810e-02 1.37456421e+02] [ 1.64566853e-02 -2.82939421e-04 9.99864540e-01 4.18195401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68275509600002 meters 0.01743654925848453 Centerline is valid? [True, True] Translation: X:116.56, Y:137.48, Z:4.18 [[-5.83055691e-01 -8.12376027e-01 9.55263363e-03 1.16561664e+02] [ 8.12258623e-01 -5.83133865e-01 -1.38139138e-02 1.37478311e+02] [ 1.67925566e-02 -2.95072030e-04 9.99858952e-01 4.18180392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71275509600002 meters 0.01804509113189508 Centerline is valid? [True, True] Translation: X:116.55, Y:137.50, Z:4.18 [[-5.84129041e-01 -8.11605126e-01 9.50699368e-03 1.16548520e+02] [ 8.11488931e-01 -5.84206320e-01 -1.37364868e-02 1.37499697e+02] [ 1.67026489e-02 -3.09060731e-04 9.99860453e-01 4.18143347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74275509600002 meters 0.018481004406696203 Centerline is valid? [True, True] Translation: X:116.53, Y:137.52, Z:4.18 [[-5.85259380e-01 -8.10792025e-01 9.36751248e-03 1.16533976e+02] [ 8.10679303e-01 -5.85334255e-01 -1.35232543e-02 1.37522107e+02] [ 1.64476727e-02 -3.20562965e-04 9.99864677e-01 4.18156751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77275509600003 meters 0.020528670798334172 Centerline is valid? [True, True] Translation: X:116.52, Y:137.55, Z:4.18 [[-5.86299112e-01 -8.10037486e-01 9.62410240e-03 1.16522636e+02] [ 8.09918601e-01 -5.86377995e-01 -1.38819011e-02 1.37545380e+02] [ 1.68882221e-02 -3.44206726e-04 9.99857325e-01 4.18208587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80275509600003 meters 0.019441560102389222 Centerline is valid? [True, True] Translation: X:116.51, Y:137.57, Z:4.18 [[-5.87564992e-01 -8.09117807e-01 9.78541632e-03 1.16505870e+02] [ 8.08994990e-01 -5.87646354e-01 -1.41020753e-02 1.37566543e+02] [ 1.71606045e-02 -3.69532995e-04 9.99852678e-01 4.18183619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83275509600003 meters 0.01994148531404215 Centerline is valid? [True, True] Translation: X:116.49, Y:137.59, Z:4.18 [[-5.90103638e-01 -8.07266408e-01 9.93190314e-03 1.16491384e+02] [ 8.07139810e-01 -5.90187061e-01 -1.43024520e-02 1.37589300e+02] [ 1.74075698e-02 -4.23494559e-04 9.99848387e-01 4.18139321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86275509600003 meters 0.02097354944728654 Centerline is valid? [True, True] Translation: X:116.48, Y:137.61, Z:4.18 [[-5.91614197e-01 -8.06159522e-01 9.97329541e-03 1.16477905e+02] [ 8.06031900e-01 -5.91698083e-01 -1.43511072e-02 1.37611561e+02] [ 1.74704615e-02 -4.51524483e-04 9.99847278e-01 4.18195343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89275509600003 meters 0.02282142143357445 Centerline is valid? [True, True] Translation: X:116.47, Y:137.63, Z:4.18 [[-5.94262090e-01 -8.04205375e-01 1.03093685e-02 1.16465315e+02] [ 8.04068933e-01 -5.94351281e-01 -1.48224656e-02 1.37634517e+02] [ 1.80476929e-02 -5.18986521e-04 9.99836992e-01 4.18231657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.922755096 meters 0.022824669179014767 Centerline is valid? [True, True] Translation: X:116.45, Y:137.66, Z:4.18 [[-5.95506931e-01 -8.03282822e-01 1.04021089e-02 1.16448980e+02] [ 8.03143989e-01 -5.95597525e-01 -1.49439506e-02 1.37656566e+02] [ 1.81996891e-02 -5.44834883e-04 9.99834224e-01 4.18275097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.952755096 meters 0.02339907902169227 Centerline is valid? [True, True] Translation: X:116.43, Y:137.68, Z:4.18 [[-5.96292614e-01 -8.02702293e-01 1.02052527e-02 1.16433155e+02] [ 8.02568773e-01 -5.96379687e-01 -1.46503315e-02 1.37679268e+02] [ 1.78460601e-02 -5.45467356e-04 9.99840598e-01 4.18334768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.982755096 meters 0.02398595326246365 Centerline is valid? [True, True] Translation: X:116.42, Y:137.70, Z:4.18 [[-5.97527971e-01 -8.01778196e-01 1.05853008e-02 1.16418123e+02] [ 8.01634619e-01 -5.97621435e-01 -1.51841615e-02 1.37701742e+02] [ 1.85003323e-02 -5.87417685e-04 9.99828682e-01 4.18332856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.012755096 meters 0.023796774428678984 Centerline is valid? [True, True] Translation: X:116.40, Y:137.72, Z:4.18 [[-5.97910861e-01 -8.01492898e-01 1.05705764e-02 1.16401421e+02] [ 8.01349884e-01 -5.98004003e-01 -1.51517525e-02 1.37723456e+02] [ 1.84652690e-02 -5.88667188e-04 9.99829329e-01 4.18365389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.042755096 meters 0.02331889707817116 Centerline is valid? [True, True] Translation: X:116.38, Y:137.74, Z:4.18 [[-5.98214509e-01 -8.01264947e-01 1.06717124e-02 1.16384708e+02] [ 8.01119363e-01 -5.98309394e-01 -1.52851308e-02 1.37744739e+02] [ 1.86324253e-02 -5.94471539e-04 9.99826225e-01 4.18387376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.072755096 meters 0.02372381433769647 Centerline is valid? [True, True] Translation: X:116.37, Y:137.77, Z:4.18 [[-5.98612888e-01 -8.00962542e-01 1.10279734e-02 1.16369401e+02] [ 8.00807263e-01 -5.98714144e-01 -1.57829647e-02 1.37766628e+02] [ 1.92441671e-02 -6.16604921e-04 9.99814624e-01 4.18376969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.102755096 meters 0.02327519646552982 Centerline is valid? [True, True] Translation: X:116.35, Y:137.79, Z:4.18 [[-5.98353529e-01 -8.01148687e-01 1.15687081e-02 1.16351861e+02] [ 8.00978118e-01 -5.98465021e-01 -1.65431092e-02 1.37787594e+02] [ 2.01769573e-02 -6.32345666e-04 9.99796225e-01 4.18373473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.132755096 meters 0.02342437453159772 Centerline is valid? [True, True] Translation: X:116.34, Y:137.81, Z:4.18 [[-5.98193867e-01 -8.01264305e-01 1.18157335e-02 1.16335947e+02] [ 8.01086666e-01 -5.98310214e-01 -1.68831514e-02 1.37808070e+02] [ 2.05973406e-02 -6.33971069e-04 9.99787651e-01 4.18362530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.162755096 meters 0.022348793621423665 Centerline is valid? [True, True] Translation: X:116.32, Y:137.83, Z:4.18 [[-5.96974612e-01 -8.02170698e-01 1.19784923e-02 1.16316251e+02] [ 8.01988624e-01 -5.97094472e-01 -1.71008523e-02 1.37828178e+02] [ 2.08700942e-02 -6.02160155e-04 9.99782015e-01 4.18427695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.192755096 meters 0.021929886878821015 Centerline is valid? [True, True] Translation: X:116.30, Y:137.85, Z:4.19 [[-5.96295018e-01 -8.02681169e-01 1.16271972e-02 1.16299843e+02] [ 8.02509949e-01 -5.96408104e-01 -1.65877753e-02 1.37848350e+02] [ 2.02492495e-02 -5.60266362e-04 9.99794806e-01 4.18533890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22275509600001 meters 0.021501016799980423 Centerline is valid? [True, True] Translation: X:116.28, Y:137.87, Z:4.19 [[-5.95882817e-01 -8.02989052e-01 1.15000158e-02 1.16283240e+02] [ 8.02821873e-01 -5.95993535e-01 -1.63934992e-02 1.37868431e+02] [ 2.00177354e-02 -5.36140290e-04 9.99799481e-01 4.18660054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25275509600002 meters 0.019654502771571943 Centerline is valid? [True, True] Translation: X:116.26, Y:137.89, Z:4.19 [[-5.94201618e-01 -8.04241008e-01 1.09926096e-02 1.16262923e+02] [ 8.04088707e-01 -5.94303108e-01 -1.56578132e-02 1.37888021e+02] [ 1.91255976e-02 -4.64864697e-04 9.99816981e-01 4.18811813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28275509600002 meters 0.019934421348933647 Centerline is valid? [True, True] Translation: X:116.25, Y:137.91, Z:4.19 [[-5.93513656e-01 -8.04749045e-01 1.09779166e-02 1.16247357e+02] [ 8.04597452e-01 -5.93615010e-01 -1.56256336e-02 1.37909076e+02] [ 1.90913698e-02 -4.41223230e-04 9.99817646e-01 4.18891597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31275509600002 meters 0.01921010689645764 Centerline is valid? [True, True] Translation: X:116.23, Y:137.93, Z:4.19 [[-5.92670849e-01 -8.05372740e-01 1.07709857e-02 1.16229323e+02] [ 8.05227078e-01 -5.92768574e-01 -1.53222106e-02 1.37928849e+02] [ 1.87247926e-02 -4.07938192e-04 9.99824592e-01 4.18974487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34275509600002 meters 0.019443894543088387 Centerline is valid? [True, True] Translation: X:116.21, Y:137.95, Z:4.19 [[-5.92625784e-01 -8.05403503e-01 1.09488799e-02 1.16213715e+02] [ 8.05253242e-01 -5.92726777e-01 -1.55622360e-02 1.37949406e+02] [ 1.90235737e-02 -4.05961224e-04 9.99818953e-01 4.19008027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37275509600002 meters 0.018055504844591834 Centerline is valid? [True, True] Translation: X:116.19, Y:137.97, Z:4.19 [[-5.92543649e-01 -8.05465314e-01 1.08467720e-02 1.16194601e+02] [ 8.05318043e-01 -5.92642787e-01 -1.54070742e-02 1.37969684e+02] [ 1.88381250e-02 -3.94262769e-04 9.99822469e-01 4.19031792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40275509600002 meters 0.018792812637937216 Centerline is valid? [True, True] Translation: X:116.18, Y:137.99, Z:4.19 [[-5.92871337e-01 -8.05224851e-01 1.07943369e-02 1.16180075e+02] [ 8.05079183e-01 -5.92969464e-01 -1.53207234e-02 1.37991431e+02] [ 1.87373394e-02 -3.92921812e-04 9.99824363e-01 4.19072537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43275509600002 meters 0.02080307367222979 Centerline is valid? [True, True] Translation: X:116.17, Y:138.01, Z:4.19 [[-5.93464252e-01 -8.04783541e-01 1.11190799e-02 1.16167771e+02] [ 8.04629153e-01 -5.93568264e-01 -1.57684074e-02 1.38013411e+02] [ 1.92900877e-02 -4.11250247e-04 9.99813844e-01 4.19084995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46275509600002 meters 0.01931457890579454 Centerline is valid? [True, True] Translation: X:116.15, Y:138.03, Z:4.19 [[-5.94588192e-01 -8.03953309e-01 1.11336844e-02 1.16149256e+02] [ 8.03798633e-01 -5.94692266e-01 -1.57755217e-02 1.38034053e+02] [ 1.93038989e-02 -4.30698637e-04 9.99813570e-01 4.19116215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49275509600002 meters 0.01943426160546138 Centerline is valid? [True, True] Translation: X:116.13, Y:138.06, Z:4.19 [[-5.95531080e-01 -8.03256458e-01 1.10360977e-02 1.16133243e+02] [ 8.03104585e-01 -5.95633165e-01 -1.56255875e-02 1.38056300e+02] [ 1.91248199e-02 -4.42382373e-04 9.99817006e-01 4.19160447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52275509600003 meters 0.01999161181783179 Centerline is valid? [True, True] Translation: X:116.12, Y:138.08, Z:4.19 [[-5.96696773e-01 -8.02396391e-01 1.06298163e-02 1.16117856e+02] [ 8.02255562e-01 -5.96791281e-01 -1.50393292e-02 1.38079298e+02] [ 1.84112852e-02 -4.46090016e-04 9.99830398e-01 4.19247449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55275509600003 meters 0.02073290287406692 Centerline is valid? [True, True] Translation: X:116.10, Y:138.10, Z:4.19 [[-5.97894810e-01 -8.01507075e-01 1.04022077e-02 1.16103080e+02] [ 8.01372272e-01 -5.97985118e-01 -1.47064837e-02 1.38101476e+02] [ 1.80077162e-02 -4.56889464e-04 9.99837744e-01 4.19331655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58275509600003 meters 0.02213959600310753 Centerline is valid? [True, True] Translation: X:116.09, Y:138.12, Z:4.19 [[-6.00086411e-01 -7.99870432e-01 1.01780120e-02 1.16089142e+02] [ 7.99741337e-01 -6.00172520e-01 -1.43784444e-02 1.38124433e+02] [ 1.76094556e-02 -4.88532178e-04 9.99844822e-01 4.19398610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61275509600003 meters 0.02295338338352093 Centerline is valid? [True, True] Translation: X:116.07, Y:138.15, Z:4.19 [[-6.01342595e-01 -7.98927629e-01 1.00859853e-02 1.16074268e+02] [ 7.98800919e-01 -6.01426960e-01 -1.42373745e-02 1.38147338e+02] [ 1.74406154e-02 -5.04845358e-04 9.99847773e-01 4.19458141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64275509600003 meters 0.02385526875276073 Centerline is valid? [True, True] Translation: X:116.06, Y:138.17, Z:4.19 [[-6.03801847e-01 -7.97067319e-01 1.03449993e-02 1.16059361e+02] [ 7.96933940e-01 -6.03890196e-01 -1.45919973e-02 1.38169907e+02] [ 1.78780478e-02 -5.66393919e-04 9.99840015e-01 4.19486607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.672755096 meters 0.024165450570144097 Centerline is valid? [True, True] Translation: X:116.04, Y:138.19, Z:4.19 [[-6.05079704e-01 -7.96100410e-01 1.01335537e-02 1.16043454e+02] [ 7.95972475e-01 -6.05164280e-01 -1.42833598e-02 1.38191982e+02] [ 1.75034534e-02 -5.76541317e-04 9.99846637e-01 4.19492906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.702755096 meters 0.0245950640155894 Centerline is valid? [True, True] Translation: X:116.03, Y:138.21, Z:4.20 [[-6.06439964e-01 -7.95063272e-01 1.02451333e-02 1.16027735e+02] [ 7.94932549e-01 -6.06526195e-01 -1.44297273e-02 1.38213668e+02] [ 1.76864879e-02 -6.06573413e-04 9.99843398e-01 4.19517882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.732755096 meters 0.024448030814773425 Centerline is valid? [True, True] Translation: X:116.01, Y:138.24, Z:4.20 [[-6.07969096e-01 -7.93894884e-01 1.02221055e-02 1.16009543e+02] [ 7.93764786e-01 -6.08054696e-01 -1.43857798e-02 1.38235108e+02] [ 1.76363962e-02 -6.32162211e-04 9.99844267e-01 4.19558363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.762755096 meters 0.025412545662353455 Centerline is valid? [True, True] Translation: X:115.99, Y:138.26, Z:4.20 [[-6.08601449e-01 -7.93409091e-01 1.03097081e-02 1.15994419e+02] [ 7.93276861e-01 -6.08688424e-01 -1.44991204e-02 1.38256958e+02] [ 1.77791339e-02 -6.45732825e-04 9.99841730e-01 4.19573484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.792755096 meters 0.0251320868021649 Centerline is valid? [True, True] Translation: X:115.98, Y:138.28, Z:4.20 [[-6.09302868e-01 -7.92867388e-01 1.05508542e-02 1.15977234e+02] [ 7.92729041e-01 -6.09393844e-01 -1.48259853e-02 1.38278298e+02] [ 1.81846658e-02 -6.69546818e-04 9.99834421e-01 4.19581836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.822755096 meters 0.025943039805883247 Centerline is valid? [True, True] Translation: X:115.96, Y:138.30, Z:4.20 [[-6.09603813e-01 -7.92635592e-01 1.05834247e-02 1.15962508e+02] [ 7.92496565e-01 -6.09695307e-01 -1.48602948e-02 1.38299997e+02] [ 1.82314629e-02 -6.71564618e-04 9.99833568e-01 4.19610051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.852755096 meters 0.02564789350617753 Centerline is valid? [True, True] Translation: X:115.94, Y:138.32, Z:4.20 [[-6.09928887e-01 -7.92380673e-01 1.09371854e-02 1.15944651e+02] [ 7.92232394e-01 -6.10026546e-01 -1.53442920e-02 1.38321024e+02] [ 1.88304939e-02 -6.94134420e-04 9.99822450e-01 4.19611797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.882755096 meters 0.02578984019170789 Centerline is valid? [True, True] Translation: X:115.93, Y:138.34, Z:4.20 [[-6.09907271e-01 -7.92400931e-01 1.06717201e-02 1.15928628e+02] [ 7.92259971e-01 -6.10000259e-01 -1.49606870e-02 1.38341936e+02] [ 1.83646143e-02 -6.69855091e-04 9.99831132e-01 4.19691197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.912755096 meters 0.026713033796068274 Centerline is valid? [True, True] Translation: X:115.91, Y:138.36, Z:4.20 [[-6.10127154e-01 -7.92235739e-01 1.03628946e-02 1.15913205e+02] [ 7.92102996e-01 -6.10214809e-01 -1.45165611e-02 1.38361673e+02] [ 1.78241303e-02 -6.48468292e-04 9.99840927e-01 4.19748436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.942755096 meters 0.026572945318797583 Centerline is valid? [True, True] Translation: X:115.90, Y:138.38, Z:4.20 [[-6.10339719e-01 -7.92074964e-01 1.01330535e-02 1.15896620e+02] [ 7.91948234e-01 -6.10423503e-01 -1.41824526e-02 1.38382820e+02] [ 1.74190196e-02 -6.31260311e-04 9.99848078e-01 4.19838820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97275509600001 meters 0.02600164638048367 Centerline is valid? [True, True] Translation: X:115.88, Y:138.40, Z:4.20 [[-6.10325194e-01 -7.92090359e-01 9.79904552e-03 1.15880039e+02] [ 7.91972030e-01 -6.10403554e-01 -1.37041945e-02 1.38403237e+02] [ 1.68363325e-02 -6.03445174e-04 9.99858077e-01 4.19928195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00275509600002 meters 0.02600164638048367 Centerline is valid? [True, True] Translation: X:115.86, Y:138.42, Z:4.20 [[-6.10634870e-01 -7.91851583e-01 9.80439815e-03 1.15864741e+02] [ 7.91733285e-01 -6.10713276e-01 -1.37003638e-02 1.38424185e+02] [ 1.68363309e-02 -6.03451503e-04 9.99858077e-01 4.19976554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03275509600002 meters 0.02553633726115954 Centerline is valid? [True, True] Translation: X:115.85, Y:138.45, Z:4.20 [[-6.10107643e-01 -7.92266490e-01 9.08148123e-03 1.15847122e+02] [ 7.92165192e-01 -6.10174987e-01 -1.26804194e-02 1.38445566e+02] [ 1.55875640e-02 -5.42387456e-04 9.99878359e-01 4.20184936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06275509600002 meters 0.026020182353042577 Centerline is valid? [True, True] Translation: X:115.83, Y:138.47, Z:4.20 [[-6.09793400e-01 -7.92513448e-01 8.62809123e-03 1.15831955e+02] [ 7.92422158e-01 -6.09854228e-01 -1.20392297e-02 1.38466559e+02] [ 1.48031294e-02 -5.04352134e-04 9.99890300e-01 4.20294358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09275509600002 meters 0.02569412820518775 Centerline is valid? [True, True] Translation: X:115.82, Y:138.49, Z:4.20 [[-6.09647378e-01 -7.92629094e-01 8.31832006e-03 1.15815237e+02] [ 7.92544381e-01 -6.09703937e-01 -1.15979454e-02 1.38487369e+02] [ 1.42645814e-02 -4.78019152e-04 9.99898141e-01 4.20405105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12275509600002 meters 0.02517061167542843 Centerline is valid? [True, True] Translation: X:115.80, Y:138.51, Z:4.21 [[-6.08697461e-01 -7.93366794e-01 7.51871680e-03 1.15797412e+02] [ 7.93297741e-01 -6.08743756e-01 -1.04754185e-02 1.38508197e+02] [ 1.28878211e-02 -4.11779614e-04 9.99916864e-01 4.20571235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15275509600002 meters 0.023330103641787968 Centerline is valid? [True, True] Translation: X:115.78, Y:138.53, Z:4.21 [[-6.08531832e-01 -7.93496315e-01 7.25311412e-03 1.15778183e+02] [ 7.93432147e-01 -6.08574930e-01 -1.00986200e-02 1.38528241e+02] [ 1.24272812e-02 -3.90477808e-04 9.99922702e-01 4.20601897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18275509600002 meters 0.023059201233239533 Centerline is valid? [True, True] Translation: X:115.76, Y:138.55, Z:4.21 [[-6.08165087e-01 -7.93778701e-01 7.11346096e-03 1.15761006e+02] [ 7.93717092e-01 -6.08206573e-01 -9.89657203e-03 1.38550010e+02] [ 1.21821418e-02 -3.72674036e-04 9.99925726e-01 4.20663622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21275509600002 meters 0.023681277077099955 Centerline is valid? [True, True] Translation: X:115.75, Y:138.57, Z:4.21 [[-6.07256116e-01 -7.94475206e-01 7.01110979e-03 1.15745526e+02] [ 7.94415482e-01 -6.07296488e-01 -9.74775343e-03 1.38570951e+02] [ 1.20021708e-02 -3.49648729e-04 9.99927910e-01 4.20785850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24275509600002 meters 0.024463509770132227 Centerline is valid? [True, True] Translation: X:115.73, Y:138.59, Z:4.21 [[-6.06953748e-01 -7.94708377e-01 6.76337815e-03 1.15730877e+02] [ 7.94652903e-01 -6.06991341e-01 -9.39547571e-03 1.38591872e+02] [ 1.15719752e-02 -3.28081111e-04 9.99932989e-01 4.20869494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27275509600003 meters 0.02463859326379257 Centerline is valid? [True, True] Translation: X:115.71, Y:138.61, Z:4.21 [[-6.06452185e-01 -7.95092025e-01 6.66470908e-03 1.15714780e+02] [ 7.95038237e-01 -6.06488725e-01 -9.25354337e-03 1.38611762e+02] [ 1.13994895e-02 -3.13133047e-04 9.99934975e-01 4.20892709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30275509600003 meters 0.024529393252211065 Centerline is valid? [True, True] Translation: X:115.70, Y:138.63, Z:4.21 [[-6.06407271e-01 -7.95126112e-01 6.68492733e-03 1.15699194e+02] [ 7.95072084e-01 -6.06444038e-01 -9.27419482e-03 1.38631568e+02] [ 1.14281888e-02 -3.08940065e-04 9.99934648e-01 4.20880438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33275509600003 meters 0.022627409095400036 Centerline is valid? [True, True] Translation: X:115.68, Y:138.65, Z:4.21 [[-6.06561311e-01 -7.95006244e-01 6.96050092e-03 1.15680728e+02] [ 7.94947766e-01 -6.06601163e-01 -9.64773268e-03 1.38650685e+02] [ 1.18922557e-02 -3.18706722e-04 9.99929234e-01 4.20773480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36275509600003 meters 0.022336968870491903 Centerline is valid? [True, True] Translation: X:115.66, Y:138.67, Z:4.21 [[-6.06346727e-01 -7.95169020e-01 7.06228397e-03 1.15664545e+02] [ 7.95108928e-01 -6.06387772e-01 -9.78073992e-03 1.38671522e+02] [ 1.20598240e-02 -3.15234610e-04 9.99927228e-01 4.20702396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39275509600003 meters 0.022038286794028927 Centerline is valid? [True, True] Translation: X:115.65, Y:138.69, Z:4.21 [[-6.06647698e-01 -7.94938151e-01 7.20466563e-03 1.15648665e+02] [ 7.94875697e-01 -6.06690394e-01 -9.96961042e-03 1.38692104e+02] [ 1.22962251e-02 -3.21227597e-04 9.99924347e-01 4.20690912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.422755096 meters 0.022629422140784474 Centerline is valid? [True, True] Translation: X:115.63, Y:138.71, Z:4.21 [[-6.06977126e-01 -7.94687034e-01 7.16149916e-03 1.15634569e+02] [ 7.94625406e-01 -6.07019288e-01 -9.90193454e-03 1.38712727e+02] [ 1.22161071e-02 -3.19538583e-04 9.99925330e-01 4.20723788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.452755096 meters 0.02276074681435437 Centerline is valid? [True, True] Translation: X:115.62, Y:138.73, Z:4.21 [[-6.07068219e-01 -7.94616062e-01 7.31375760e-03 1.15619331e+02] [ 7.94551896e-01 -6.07112189e-01 -1.01032026e-02 1.38733948e+02] [ 1.24684384e-02 -3.22173208e-04 9.99922214e-01 4.20746662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.482755096 meters 0.022596483432440202 Centerline is valid? [True, True] Translation: X:115.60, Y:138.75, Z:4.21 [[-6.06886898e-01 -7.94754874e-01 7.27894926e-03 1.15602986e+02] [ 7.94691426e-01 -6.06930468e-01 -1.00471202e-02 1.38754161e+02] [ 1.24028139e-02 -3.12947071e-04 9.99923033e-01 4.20725629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.512755096 meters 0.022780717529120833 Centerline is valid? [True, True] Translation: X:115.59, Y:138.77, Z:4.21 [[-6.06295492e-01 -7.95205561e-01 7.34114858e-03 1.15588151e+02] [ 7.95141158e-01 -6.06339860e-01 -1.01248942e-02 1.38774541e+02] [ 1.25026032e-02 -3.01428345e-04 9.99921794e-01 4.20784447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.542755096 meters 0.022030732393102596 Centerline is valid? [True, True] Translation: X:115.57, Y:138.79, Z:4.21 [[-6.05309444e-01 -7.95953482e-01 7.65059557e-03 1.15571009e+02] [ 7.95883721e-01 -6.05357720e-01 -1.05420371e-02 1.38794491e+02] [ 1.30223182e-02 -2.92210154e-04 9.99915163e-01 4.20801215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.572755096 meters 0.021653460416135126 Centerline is valid? [True, True] Translation: X:115.55, Y:138.82, Z:4.21 [[-6.04783053e-01 -7.96352565e-01 7.74920299e-03 1.15554583e+02] [ 7.96281138e-01 -6.04832631e-01 -1.06694488e-02 1.38815424e+02] [ 1.31836138e-02 -2.82157661e-04 9.99913053e-01 4.20818666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.602755096 meters 0.021312135908556948 Centerline is valid? [True, True] Translation: X:115.54, Y:138.84, Z:4.21 [[-6.04359528e-01 -7.96669780e-01 8.17453101e-03 1.15538439e+02] [ 7.96590455e-01 -6.04414743e-01 -1.12456947e-02 1.38836224e+02] [ 1.38999122e-02 -2.84689364e-04 9.99903351e-01 4.20819250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.632755096 meters 0.020605832842419677 Centerline is valid? [True, True] Translation: X:115.52, Y:138.86, Z:4.21 [[-6.03015627e-01 -7.97682037e-01 8.69028907e-03 1.15522256e+02] [ 7.97592637e-01 -6.03078182e-01 -1.19454110e-02 1.38855428e+02] [ 1.47695635e-02 -2.71958921e-04 9.99890887e-01 4.20771737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.662755096 meters 0.019142384247895796 Centerline is valid? [True, True] Translation: X:115.50, Y:138.87, Z:4.21 [[-6.02803636e-01 -7.97841927e-01 8.71982913e-03 1.15503654e+02] [ 7.97752076e-01 -6.02866643e-01 -1.19764435e-02 1.38874976e+02] [ 1.48122029e-02 -2.63181895e-04 9.99890259e-01 4.20753670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.692755096 meters 0.018686782854135615 Centerline is valid? [True, True] Translation: X:115.49, Y:138.90, Z:4.21 [[-6.02778220e-01 -7.97861354e-01 8.69932182e-03 1.15485837e+02] [ 7.97772074e-01 -6.02840936e-01 -1.19383012e-02 1.38896302e+02] [ 1.47694165e-02 -2.56071944e-04 9.99890893e-01 4.20767262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72275509600001 meters 0.0192546796059516 Centerline is valid? [True, True] Translation: X:115.47, Y:138.92, Z:4.21 [[-6.02962779e-01 -7.97722326e-01 8.65901694e-03 1.15471195e+02] [ 7.97633988e-01 -6.03024897e-01 -1.18740856e-02 1.38917893e+02] [ 1.46938260e-02 -2.52905415e-04 9.99892008e-01 4.20859552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75275509600002 meters 0.01970350804544054 Centerline is valid? [True, True] Translation: X:115.46, Y:138.94, Z:4.21 [[-6.03878963e-01 -7.97030334e-01 8.53489186e-03 1.15456257e+02] [ 7.96944575e-01 -6.03939218e-01 -1.16947098e-02 1.38939641e+02] [ 1.44755944e-02 -2.60353457e-04 9.99895189e-01 4.20917518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78275509600002 meters 0.019718096791811534 Centerline is valid? [True, True] Translation: X:115.44, Y:138.96, Z:4.21 [[-6.04849310e-01 -7.96292095e-01 8.72992621e-03 1.15440908e+02] [ 7.96202439e-01 -6.04912243e-01 -1.19521315e-02 1.38961416e+02] [ 1.47982271e-02 -2.78449980e-04 9.99890461e-01 4.20964554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81275509600002 meters 0.021086995368732167 Centerline is valid? [True, True] Translation: X:115.43, Y:138.99, Z:4.21 [[-6.07963189e-01 -7.93915167e-01 8.91456087e-03 1.15428413e+02] [ 7.93821579e-01 -6.08028449e-01 -1.21945092e-02 1.38985462e+02] [ 1.51017124e-02 -3.37241936e-04 9.99885906e-01 4.21043324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84275509600002 meters 0.021826690592202994 Centerline is valid? [True, True] Translation: X:115.41, Y:139.01, Z:4.21 [[-6.09922471e-01 -7.92413565e-01 8.67873835e-03 1.15413890e+02] [ 7.92324845e-01 -6.09984108e-01 -1.18628664e-02 1.39008821e+02] [ 1.46941887e-02 -3.59048780e-04 9.99891970e-01 4.21095769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87275509600002 meters 0.02408033404433872 Centerline is valid? [True, True] Translation: X:115.40, Y:139.03, Z:4.21 [[-6.13678161e-01 -7.89507888e-01 8.74126633e-03 1.15402048e+02] [ 7.89417719e-01 -6.13740265e-01 -1.19395349e-02 1.39032944e+02] [ 1.47912241e-02 -4.26521290e-04 9.99890513e-01 4.21194161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90275509600002 meters 0.024561045429360877 Centerline is valid? [True, True] Translation: X:115.39, Y:139.06, Z:4.21 [[-6.15572058e-01 -7.88030493e-01 8.88725278e-03 1.15386954e+02] [ 7.87937275e-01 -6.15636035e-01 -1.21294198e-02 1.39055012e+02] [ 1.50296657e-02 -4.63934156e-04 9.99886941e-01 4.21248326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93275509600002 meters 0.025798675495665693 Centerline is valid? [True, True] Translation: X:115.37, Y:139.08, Z:4.21 [[-6.17488268e-01 -7.86527390e-01 9.10517534e-03 1.15372384e+02] [ 7.86429536e-01 -6.17555187e-01 -1.24167473e-02 1.39078293e+02] [ 1.53890601e-02 -5.06616939e-04 9.99881453e-01 4.21316156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96275509600002 meters 0.026103881570263554 Centerline is valid? [True, True] Translation: X:115.36, Y:139.10, Z:4.21 [[-6.20403821e-01 -7.84233091e-01 8.80668728e-03 1.15357072e+02] [ 7.84141454e-01 -6.20466089e-01 -1.20005586e-02 1.39101025e+02] [ 1.48754860e-02 -5.39503871e-04 9.99889208e-01 4.21366400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99275509600002 meters 0.027177342032900106 Centerline is valid? [True, True] Translation: X:115.34, Y:139.12, Z:4.21 [[-6.21625765e-01 -7.83263169e-01 8.95639374e-03 1.15343034e+02] [ 7.83168369e-01 -6.21690023e-01 -1.21992446e-02 1.39123240e+02] [ 1.51233196e-02 -5.69000453e-04 9.99885474e-01 4.21442348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02275509600003 meters 0.027589021366501123 Centerline is valid? [True, True] Translation: X:115.33, Y:139.15, Z:4.21 [[-6.22671249e-01 -7.82431741e-01 9.00477738e-03 1.15327473e+02] [ 7.82335979e-01 -6.22736082e-01 -1.22551587e-02 1.39145935e+02] [ 1.51964249e-02 -5.86173636e-04 9.99884356e-01 4.21492009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05275509600003 meters 0.027474497056526638 Centerline is valid? [True, True] Translation: X:115.31, Y:139.17, Z:4.21 [[-6.23476394e-01 -7.81784972e-01 9.45743421e-03 1.15311660e+02] [ 7.81679429e-01 -6.23547806e-01 -1.28609900e-02 1.39167852e+02] [ 1.59516911e-02 -6.25841903e-04 9.99872568e-01 4.21485549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08275509600003 meters 0.02764852827381823 Centerline is valid? [True, True] Translation: X:115.30, Y:139.19, Z:4.21 [[-6.23464117e-01 -7.81789954e-01 9.84702437e-03 1.15295861e+02] [ 7.81675711e-01 -6.23541540e-01 -1.33802283e-02 1.39190294e+02] [ 1.66005568e-02 -6.44912454e-04 9.99861993e-01 4.21478207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11275509600003 meters 0.0271930932600687 Centerline is valid? [True, True] Translation: X:115.28, Y:139.21, Z:4.21 [[-6.22421914e-01 -7.82609084e-01 1.06763160e-02 1.15279171e+02] [ 7.82475118e-01 -6.22513113e-01 -1.44953121e-02 1.39211643e+02] [ 1.79903097e-02 -6.68248269e-04 9.99837938e-01 4.21386305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14275509600003 meters 0.02695782952793476 Centerline is valid? [True, True] Translation: X:115.26, Y:139.23, Z:4.21 [[-6.21868498e-01 -7.83045452e-01 1.09266212e-02 1.15262443e+02] [ 7.82905406e-01 -6.21964130e-01 -1.48238473e-02 1.39233225e+02] [ 1.84037126e-02 -6.63972875e-04 9.99830417e-01 4.21387448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.172755096 meters 0.02601431420842461 Centerline is valid? [True, True] Translation: X:115.25, Y:139.25, Z:4.21 [[-6.20988199e-01 -7.83742007e-01 1.10509093e-02 1.15245025e+02] [ 7.83599077e-01 -6.21086187e-01 -1.49811319e-02 1.39254653e+02] [ 1.86049095e-02 -6.43623781e-04 9.99826707e-01 4.21395896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.202755096 meters 0.025097736320173335 Centerline is valid? [True, True] Translation: X:115.23, Y:139.28, Z:4.21 [[-6.19942367e-01 -7.84568967e-01 1.10904257e-02 1.15228031e+02] [ 7.84425355e-01 -6.20041256e-01 -1.50234066e-02 1.39275707e+02] [ 1.86634201e-02 -6.14035092e-04 9.99825635e-01 4.21471999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.232755096 meters 0.024000301031897823 Centerline is valid? [True, True] Translation: X:115.21, Y:139.30, Z:4.22 [[-6.17647791e-01 -7.86375925e-01 1.11404706e-02 1.15211671e+02] [ 7.86231519e-01 -6.17748004e-01 -1.50798665e-02 1.39296732e+02] [ 1.87404474e-02 -5.55057075e-04 9.99824228e-01 4.21586662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.262755096 meters 0.023557342176048296 Centerline is valid? [True, True] Translation: X:115.20, Y:139.32, Z:4.22 [[-6.16737258e-01 -7.87092046e-01 1.10120625e-02 1.15195165e+02] [ 7.86951267e-01 -6.16835343e-01 -1.48950784e-02 1.39318053e+02] [ 1.85164271e-02 -5.20393211e-04 9.99828421e-01 4.21664333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.292755096 meters 0.023018990965037147 Centerline is valid? [True, True] Translation: X:115.18, Y:139.34, Z:4.22 [[-6.14761047e-01 -7.88634092e-01 1.11858589e-02 1.15179109e+02] [ 7.88489299e-01 -6.14862621e-01 -1.51189574e-02 1.39338864e+02] [ 1.88010917e-02 -4.74616071e-04 9.99823131e-01 4.21746064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.322755096 meters 0.022030280767858297 Centerline is valid? [True, True] Translation: X:115.16, Y:139.36, Z:4.22 [[-6.14142390e-01 -7.89117516e-01 1.10756862e-02 1.15162017e+02] [ 7.88975850e-01 -6.14242090e-01 -1.49587426e-02 1.39359194e+02] [ 1.86073584e-02 -4.48348989e-04 9.99826768e-01 4.21809612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.352755096 meters 0.021087818785661627 Centerline is valid? [True, True] Translation: X:115.14, Y:139.38, Z:4.22 [[-6.12588999e-01 -7.90324858e-01 1.10153029e-02 1.15144869e+02] [ 7.90185147e-01 -6.12687895e-01 -1.48653057e-02 1.39379852e+02] [ 1.84973633e-02 -4.02193955e-04 9.99828828e-01 4.21921240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.382755096 meters 0.02018642422063296 Centerline is valid? [True, True] Translation: X:115.13, Y:139.40, Z:4.22 [[-6.11964118e-01 -7.90808841e-01 1.10134379e-02 1.15127812e+02] [ 7.90669453e-01 -6.12063095e-01 -1.48520662e-02 1.39400151e+02] [ 1.84860642e-02 -3.80942716e-04 9.99829046e-01 4.21979540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.412755096 meters 0.02053447058649568 Centerline is valid? [True, True] Translation: X:115.11, Y:139.42, Z:4.22 [[-6.11247826e-01 -7.91363717e-01 1.09345287e-02 1.15113507e+02] [ 7.91226629e-01 -6.11345518e-01 -1.47335821e-02 1.39421349e+02] [ 1.83443974e-02 -3.54179743e-04 9.99831665e-01 4.22053105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.442755096 meters 0.019430905026949257 Centerline is valid? [True, True] Translation: X:115.10, Y:139.44, Z:4.22 [[-6.10762916e-01 -7.91737536e-01 1.09697452e-02 1.15095919e+02] [ 7.91599859e-01 -6.10861327e-01 -1.47682884e-02 1.39440970e+02] [ 1.83936014e-02 -3.36274116e-04 9.99830767e-01 4.22133833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47275509600001 meters 0.019707478886910757 Centerline is valid? [True, True] Translation: X:115.08, Y:139.46, Z:4.22 [[-6.10044354e-01 -7.92292698e-01 1.08704424e-02 1.15080598e+02] [ 7.92157811e-01 -6.10141118e-01 -1.46225477e-02 1.39461781e+02] [ 1.82178416e-02 -3.09296800e-04 9.99833994e-01 4.22177678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50275509600002 meters 0.01954208720233565 Centerline is valid? [True, True] Translation: X:115.06, Y:139.48, Z:4.22 [[-6.10081065e-01 -7.92263456e-01 1.09412115e-02 1.15064493e+02] [ 7.92126979e-01 -6.10179090e-01 -1.47080776e-02 1.39482854e+02] [ 1.83287709e-02 -3.06290847e-04 9.99831967e-01 4.22207976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53275509600002 meters 0.01957252428137136 Centerline is valid? [True, True] Translation: X:115.05, Y:139.50, Z:4.22 [[-6.10353553e-01 -7.92047102e-01 1.13986287e-02 1.15049524e+02] [ 7.91899176e-01 -6.10459898e-01 -1.53103614e-02 1.39504951e+02] [ 1.90849331e-02 -3.18168760e-04 9.99817815e-01 4.22284596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56275509600002 meters 0.019645090682719565 Centerline is valid? [True, True] Translation: X:115.03, Y:139.53, Z:4.22 [[-6.10961409e-01 -7.91578388e-01 1.13935367e-02 1.15034375e+02] [ 7.91430745e-01 -6.11067550e-01 -1.52913777e-02 1.39526475e+02] [ 1.90665447e-02 -3.25246477e-04 9.99818164e-01 4.22335485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59275509600002 meters 0.019896235251537272 Centerline is valid? [True, True] Translation: X:115.02, Y:139.55, Z:4.22 [[-6.11551783e-01 -7.91119439e-01 1.15952909e-02 1.15019628e+02] [ 7.90966682e-01 -6.11661605e-01 -1.55495361e-02 1.39548206e+02] [ 1.93939345e-02 -3.37857751e-04 9.99811863e-01 4.22383480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62275509600002 meters 0.020016348558909148 Centerline is valid? [True, True] Translation: X:115.00, Y:139.57, Z:4.22 [[-6.12801826e-01 -7.90149429e-01 1.17389103e-02 1.15004833e+02] [ 7.89992934e-01 -6.12914143e-01 -1.57295392e-02 1.39570647e+02] [ 1.96236306e-02 -3.65434123e-04 9.99807371e-01 4.22424095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65275509600002 meters 0.021426095581667876 Centerline is valid? [True, True] Translation: X:114.99, Y:139.59, Z:4.22 [[-6.13848644e-01 -7.89337264e-01 1.16844042e-02 1.14990228e+02] [ 7.89182296e-01 -6.13959719e-01 -1.56450447e-02 1.39592725e+02] [ 1.95229703e-02 -3.82564565e-04 9.99809335e-01 4.22316165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68275509600002 meters 0.0214182564242943 Centerline is valid? [True, True] Translation: X:114.98, Y:139.61, Z:4.22 [[-6.14566736e-01 -7.88780327e-01 1.15465550e-02 1.14975666e+02] [ 7.88629136e-01 -6.14675073e-01 -1.54479884e-02 1.39614007e+02] [ 1.92824489e-02 -3.87870075e-04 9.99814001e-01 4.22443674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71275509600002 meters 0.021041818899996362 Centerline is valid? [True, True] Translation: X:114.96, Y:139.64, Z:4.23 [[-6.15363563e-01 -7.88157751e-01 1.16209056e-02 1.14962221e+02] [ 7.88004753e-01 -6.15473150e-01 -1.55341940e-02 1.39635369e+02] [ 1.93957508e-02 -4.01848075e-04 9.99811804e-01 4.22582520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74275509600002 meters 0.020865659938977228 Centerline is valid? [True, True] Translation: X:114.95, Y:139.66, Z:4.23 [[-6.15559071e-01 -7.88002444e-01 1.17974304e-02 1.14946642e+02] [ 7.87844998e-01 -6.15671978e-01 -1.57567397e-02 1.39656567e+02] [ 1.96796967e-02 -4.04657489e-04 9.99806254e-01 4.22615400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77275509600003 meters 0.020940410327699555 Centerline is valid? [True, True] Translation: X:114.93, Y:139.68, Z:4.23 [[-6.15176906e-01 -7.88290361e-01 1.24772235e-02 1.14932863e+02] [ 7.88114600e-01 -6.15303290e-01 -1.66504750e-02 1.39677928e+02] [ 2.08026857e-02 -4.09505679e-04 9.99783517e-01 4.22572381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80275509600003 meters 0.020850255441543356 Centerline is valid? [True, True] Translation: X:114.92, Y:139.70, Z:4.23 [[-6.14817776e-01 -7.88563277e-01 1.29251535e-02 1.14917406e+02] [ 7.88375048e-01 -6.14953489e-01 -1.72334153e-02 1.39698992e+02] [ 2.15380067e-02 -4.05541608e-04 9.99767948e-01 4.22555781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83275509600003 meters 0.01969322319480639 Centerline is valid? [True, True] Translation: X:114.90, Y:139.72, Z:4.23 [[-6.14301747e-01 -7.88957581e-01 1.33902588e-02 1.14899014e+02] [ 7.88755969e-01 -6.14447539e-01 -1.78393639e-02 1.39719892e+02] [ 2.23021129e-02 -3.97105809e-04 9.99751198e-01 4.22600264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86275509600003 meters 0.019470246396250036 Centerline is valid? [True, True] Translation: X:114.88, Y:139.74, Z:4.23 [[-6.12918459e-01 -7.90022090e-01 1.40021103e-02 1.14883492e+02] [ 7.89802229e-01 -6.13078268e-01 -1.86406984e-02 1.39741686e+02] [ 2.33109531e-02 -3.66330274e-04 9.99728196e-01 4.22558919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89275509600003 meters 0.019470246396250036 Centerline is valid? [True, True] Translation: X:114.87, Y:139.76, Z:4.23 [[-6.13223736e-01 -7.89785035e-01 1.40088687e-02 1.14867711e+02] [ 7.89565228e-01 -6.13383619e-01 -1.86356183e-02 1.39762256e+02] [ 2.33109431e-02 -3.66887896e-04 9.99728196e-01 4.22607270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.922755096 meters 0.0196716495569206 Centerline is valid? [True, True] Translation: X:114.85, Y:139.78, Z:4.23 [[-6.12861189e-01 -7.90062299e-01 1.42382286e-02 1.14853138e+02] [ 7.89835678e-01 -6.13026459e-01 -1.89251710e-02 1.39782939e+02] [ 2.36804749e-02 -3.52641858e-04 9.99719516e-01 4.22623697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.952755096 meters 0.018698525305908282 Centerline is valid? [True, True] Translation: X:114.84, Y:139.80, Z:4.23 [[-6.11838114e-01 -7.90848249e-01 1.46002837e-02 1.14835196e+02] [ 7.90610571e-01 -6.12012209e-01 -1.93902308e-02 1.39803703e+02] [ 2.42702820e-02 -3.20543676e-04 9.99705382e-01 4.22752860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.982755096 meters 0.018810748273020823 Centerline is valid? [True, True] Translation: X:114.82, Y:139.83, Z:4.23 [[-6.11649077e-01 -7.90986555e-01 1.50225035e-02 1.14820051e+02] [ 7.90735357e-01 -6.11833450e-01 -1.99355007e-02 1.39825726e+02] [ 2.49599832e-02 -3.14705898e-04 9.99688402e-01 4.22717210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.012755096 meters 0.0195012275693596 Centerline is valid? [True, True] Translation: X:114.80, Y:139.85, Z:4.23 [[-6.11854779e-01 -7.90827065e-01 1.50427336e-02 1.14804382e+02] [ 7.90575536e-01 -6.12039587e-01 -1.99465513e-02 1.39847526e+02] [ 2.49810210e-02 -3.11975580e-04 9.99687877e-01 4.22639432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.042755096 meters 0.01850699839093353 Centerline is valid? [True, True] Translation: X:114.79, Y:139.87, Z:4.23 [[-6.11884826e-01 -7.90801913e-01 1.51424874e-02 1.14787574e+02] [ 7.90547430e-01 -6.12072088e-01 -2.00628849e-02 1.39869282e+02] [ 2.51340616e-02 -3.05320332e-04 9.99684043e-01 4.22828494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.072755096 meters 0.01862053680735935 Centerline is valid? [True, True] Translation: X:114.77, Y:139.89, Z:4.23 [[-6.11276803e-01 -7.91286902e-01 1.43425508e-02 1.14770313e+02] [ 7.91059057e-01 -6.11444985e-01 -1.89894495e-02 1.39889933e+02] [ 2.37957834e-02 -2.62005235e-04 9.99716806e-01 4.22995390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.102755096 meters 0.018111871697409673 Centerline is valid? [True, True] Translation: X:114.75, Y:139.91, Z:4.23 [[-6.11068071e-01 -7.91452462e-01 1.41001451e-02 1.14753790e+02] [ 7.91232624e-01 -6.11230678e-01 -1.86545502e-02 1.39910914e+02] [ 2.33826309e-02 -2.42705187e-04 9.99726559e-01 4.23146596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.132755096 meters 0.0208359931348789 Centerline is valid? [True, True] Translation: X:114.74, Y:139.93, Z:4.23 [[-6.10654737e-01 -7.91776983e-01 1.37841348e-02 1.14736047e+02] [ 7.91567291e-01 -6.10810251e-01 -1.82225396e-02 1.39932138e+02] [ 2.28476783e-02 -2.16609912e-04 9.99738934e-01 4.22920777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.162755096 meters 0.017900594122797354 Centerline is valid? [True, True] Translation: X:114.72, Y:139.95, Z:4.23 [[-6.10541077e-01 -7.91868216e-01 1.35765016e-02 1.14718615e+02] [ 7.91665116e-01 -6.10691974e-01 -1.79348186e-02 1.39953135e+02] [ 2.24930734e-02 -2.01900777e-04 9.99746978e-01 4.23380536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.192755096 meters 0.017893840667282356 Centerline is valid? [True, True] Translation: X:114.70, Y:139.97, Z:4.23 [[-6.10914570e-01 -7.91579693e-01 1.36006640e-02 1.14702151e+02] [ 7.91376103e-01 -6.11065911e-01 -1.79531742e-02 1.39974484e+02] [ 2.25222702e-02 -2.04615182e-04 9.99746321e-01 4.23481812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22275509600001 meters 0.020551906398021926 Centerline is valid? [True, True] Translation: X:114.69, Y:140.00, Z:4.23 [[-6.11892288e-01 -7.90821936e-01 1.37292599e-02 1.14688079e+02] [ 7.90614606e-01 -6.12046251e-01 -1.81088756e-02 1.39996696e+02] [ 2.27238381e-02 -2.26127912e-04 9.99741755e-01 4.23172684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25275509600002 meters 0.018469390056365782 Centerline is valid? [True, True] Translation: X:114.67, Y:140.02, Z:4.24 [[-6.11595205e-01 -7.91069693e-01 1.26509303e-02 1.14670769e+02] [ 7.90893970e-01 -6.11726004e-01 -1.66740669e-02 1.40015330e+02] [ 2.09292521e-02 -1.92234862e-04 9.99780941e-01 4.23615534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28275509600002 meters 0.019622830483823326 Centerline is valid? [True, True] Translation: X:114.66, Y:140.04, Z:4.23 [[-6.12195335e-01 -7.90601511e-01 1.28888507e-02 1.14655389e+02] [ 7.90419327e-01 -6.12330964e-01 -1.69728687e-02 1.40036507e+02] [ 2.13110180e-02 -2.03114406e-04 9.99772874e-01 4.23486081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31275509600002 meters 0.01946418219992548 Centerline is valid? [True, True] Translation: X:114.64, Y:140.06, Z:4.24 [[-6.13054327e-01 -7.89929784e-01 1.32411812e-02 1.14639461e+02] [ 7.89737663e-01 -6.13197265e-01 -1.74223290e-02 1.40057937e+02] [ 2.18818727e-02 -2.23774635e-04 9.99760538e-01 4.23500250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34275509600002 meters 0.021462327072595468 Centerline is valid? [True, True] Translation: X:114.62, Y:140.08, Z:4.23 [[-6.14620204e-01 -7.88703624e-01 1.37330963e-02 1.14623740e+02] [ 7.88496999e-01 -6.14773553e-01 -1.80544065e-02 1.40079014e+02] [ 2.26823202e-02 -2.68097795e-04 9.99742687e-01 4.23295869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37275509600002 meters 0.018712662064633262 Centerline is valid? [True, True] Translation: X:114.61, Y:140.10, Z:4.24 [[-6.14834471e-01 -7.88538766e-01 1.36083411e-02 1.14605946e+02] [ 7.88336160e-01 -6.14984996e-01 -1.78760827e-02 1.40099207e+02] [ 2.24649098e-02 -2.62884524e-04 9.99747598e-01 4.23725643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40275509600002 meters 0.020426654207721103 Centerline is valid? [True, True] Translation: X:114.59, Y:140.12, Z:4.24 [[-6.17366630e-01 -7.86545715e-01 1.42927310e-02 1.14592175e+02] [ 7.86322032e-01 -6.17531959e-01 -1.87600940e-02 1.40122617e+02] [ 2.35818897e-02 -3.43166714e-04 9.99721850e-01 4.23565797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43275509600002 meters 0.019429242031647087 Centerline is valid? [True, True] Translation: X:114.57, Y:140.14, Z:4.24 [[-6.18338532e-01 -7.85783160e-01 1.42226759e-02 1.14574900e+02] [ 7.85561788e-01 -6.18501976e-01 -1.86543139e-02 1.40143149e+02] [ 2.34549988e-02 -3.61890374e-04 9.99724828e-01 4.23850435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46275509600002 meters 0.022008620478134407 Centerline is valid? [True, True] Translation: X:114.56, Y:140.16, Z:4.24 [[-6.19647800e-01 -7.84756615e-01 1.39161736e-02 1.14558943e+02] [ 7.84544733e-01 -6.19803928e-01 -1.82388052e-02 1.40163801e+02] [ 2.29383221e-02 -3.83774807e-04 9.99736808e-01 4.23596890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49275509600002 meters 0.02005048307837576 Centerline is valid? [True, True] Translation: X:114.54, Y:140.18, Z:4.24 [[-6.20401494e-01 -7.84158605e-01 1.40452206e-02 1.14542383e+02] [ 7.83942953e-01 -6.20560328e-01 -1.83936069e-02 1.40184788e+02] [ 2.31394118e-02 -4.00769466e-04 9.99732168e-01 4.23962020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52275509600003 meters 0.020832290649338534 Centerline is valid? [True, True] Translation: X:114.53, Y:140.21, Z:4.24 [[-6.22593204e-01 -7.82414498e-01 1.43267268e-02 1.14528657e+02] [ 7.82189982e-01 -6.22757847e-01 -1.87482315e-02 1.40208146e+02] [ 2.35909697e-02 -4.66299363e-04 9.99721586e-01 4.23992766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55275509600003 meters 0.02404455633007085 Centerline is valid? [True, True] Translation: X:114.51, Y:140.23, Z:4.24 [[-6.24528386e-01 -7.80869629e-01 1.43846609e-02 1.14514376e+02] [ 7.80643214e-01 -6.24693809e-01 -1.88100570e-02 1.40229869e+02] [ 2.36742108e-02 -5.18126659e-04 9.99719592e-01 4.23674677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58275509600003 meters 0.024067924810036875 Centerline is valid? [True, True] Translation: X:114.50, Y:140.25, Z:4.24 [[-6.25356143e-01 -7.80203597e-01 1.45616993e-02 1.14500537e+02] [ 7.79971734e-01 -6.25525423e-01 -1.90273354e-02 1.40250869e+02] [ 2.39539086e-02 -5.41147205e-04 9.99712918e-01 4.23821630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61275509600003 meters 0.023236886150161607 Centerline is valid? [True, True] Translation: X:114.48, Y:140.27, Z:4.24 [[-6.26945164e-01 -7.78923384e-01 1.47690159e-02 1.14483045e+02] [ 7.78684826e-01 -6.27118819e-01 -1.92854432e-02 1.40271895e+02] [ 2.42838105e-02 -5.90506779e-04 9.99704930e-01 4.23980203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64275509600003 meters 0.02494262844485102 Centerline is valid? [True, True] Translation: X:114.47, Y:140.29, Z:4.24 [[-6.27719857e-01 -7.78299742e-01 1.47408440e-02 1.14468758e+02] [ 7.78062264e-01 -6.27892623e-01 -1.92345386e-02 1.40293557e+02] [ 2.42259037e-02 -6.04607362e-04 9.99706327e-01 4.23990159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.672755096 meters 0.02272685450587072 Centerline is valid? [True, True] Translation: X:114.45, Y:140.31, Z:4.24 [[-6.28556991e-01 -7.77623132e-01 1.47774932e-02 1.14446720e+02] [ 7.77384661e-01 -6.28730369e-01 -1.92668479e-02 1.40311117e+02] [ 2.42734053e-02 -6.22515424e-04 9.99705164e-01 4.24117940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.702755096 meters 0.02236883578629472 Centerline is valid? [True, True] Translation: X:114.43, Y:140.33, Z:4.24 [[-6.29062297e-01 -7.77217871e-01 1.45947801e-02 1.14429102e+02] [ 7.76985489e-01 -6.29231273e-01 -1.90145957e-02 1.40331482e+02] [ 2.39619756e-02 -6.21432892e-04 9.99712678e-01 4.24215996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.732755096 meters 0.023742949015958085 Centerline is valid? [True, True] Translation: X:114.41, Y:140.35, Z:4.24 [[-6.29933908e-01 -7.76518208e-01 1.42388211e-02 1.14413836e+02] [ 7.76297171e-01 -6.30094503e-01 -1.85369809e-02 1.40353319e+02] [ 2.33661061e-02 -6.23516249e-04 9.99726781e-01 4.24217719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.762755096 meters 0.023137930199589218 Centerline is valid? [True, True] Translation: X:114.40, Y:140.37, Z:4.25 [[-6.30834137e-01 -7.75800125e-01 1.35077280e-02 1.14396418e+02] [ 7.75601332e-01 -6.30978444e-01 -1.75720440e-02 1.40374802e+02] [ 2.21554791e-02 -6.08433345e-04 9.99754352e-01 4.24569761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.792755096 meters 0.023179418146316837 Centerline is valid? [True, True] Translation: X:114.38, Y:140.40, Z:4.25 [[-6.31384128e-01 -7.75355321e-01 1.33495107e-02 1.14379652e+02] [ 7.75161340e-01 -6.31524945e-01 -1.73534214e-02 1.40395809e+02] [ 2.18856166e-02 -6.08650230e-04 9.99760296e-01 4.24689872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.822755096 meters 0.0236750991065262 Centerline is valid? [True, True] Translation: X:114.36, Y:140.42, Z:4.25 [[-6.31877988e-01 -7.74961031e-01 1.28688941e-02 1.14364205e+02] [ 7.74780942e-01 -6.32008742e-01 -1.67165386e-02 1.40416894e+02] [ 2.10879196e-02 -5.92238909e-04 9.99777450e-01 4.24791335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.852755096 meters 0.02484184952863769 Centerline is valid? [True, True] Translation: X:114.35, Y:140.44, Z:4.25 [[-6.32298175e-01 -7.74630117e-01 1.21325742e-02 1.14349155e+02] [ 7.74470220e-01 -6.32414316e-01 -1.57484065e-02 1.40437081e+02] [ 1.98720036e-02 -5.61371282e-04 9.99802375e-01 4.24888794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.882755096 meters 0.023982309441324796 Centerline is valid? [True, True] Translation: X:114.33, Y:140.46, Z:4.25 [[-6.32618536e-01 -7.74368109e-01 1.21581300e-02 1.14329993e+02] [ 7.74207752e-01 -6.32735107e-01 -1.57683241e-02 1.40456132e+02] [ 1.99033630e-02 -5.62415553e-04 9.99801750e-01 4.24790801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.912755096 meters 0.024545076640227367 Centerline is valid? [True, True] Translation: X:114.31, Y:140.48, Z:4.25 [[-6.32559487e-01 -7.74416561e-01 1.21443775e-02 1.14312019e+02] [ 7.74256808e-01 -6.32675814e-01 -1.57387942e-02 1.40476982e+02] [ 1.98718368e-02 -5.52856592e-04 9.99802383e-01 4.24638201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.942755096 meters 0.023744140513109233 Centerline is valid? [True, True] Translation: X:114.30, Y:140.50, Z:4.25 [[-6.32137519e-01 -7.74760192e-01 1.21984009e-02 1.14296866e+02] [ 7.74599317e-01 -6.32254977e-01 -1.57969189e-02 1.40498637e+02] [ 1.99513236e-02 -5.36952101e-04 9.99800808e-01 4.24950710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97275509600001 meters 0.02275934196930991 Centerline is valid? [True, True] Translation: X:114.28, Y:140.52, Z:4.25 [[-6.32093834e-01 -7.74799299e-01 1.19762613e-02 1.14279367e+02] [ 7.74644471e-01 -6.32207068e-01 -1.54973225e-02 1.40518473e+02] [ 1.95787917e-02 -5.18417394e-04 9.99808183e-01 4.25010172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00275509600002 meters 0.02186043397947912 Centerline is valid? [True, True] Translation: X:114.26, Y:140.54, Z:4.25 [[-6.31489414e-01 -7.75289204e-01 1.21560730e-02 1.14261481e+02] [ 7.75130038e-01 -6.31606204e-01 -1.57170905e-02 1.40539373e+02] [ 1.98631417e-02 -5.02638964e-04 9.99802582e-01 4.25010630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03275509600002 meters 0.02332026396851901 Centerline is valid? [True, True] Translation: X:114.25, Y:140.56, Z:4.25 [[-6.31131771e-01 -7.75579732e-01 1.21970354e-02 1.14247888e+02] [ 7.75419780e-01 -6.31249430e-01 -1.57582346e-02 1.40561686e+02] [ 1.99211390e-02 -4.87699970e-04 9.99801435e-01 4.25042487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06275509600002 meters 0.021368235618373144 Centerline is valid? [True, True] Translation: X:114.23, Y:140.58, Z:4.25 [[-6.30895635e-01 -7.75775980e-01 1.19301046e-02 1.14228387e+02] [ 7.75623218e-01 -6.31008252e-01 -1.54016301e-02 1.40581353e+02] [ 1.94762091e-02 -4.63555057e-04 9.99810213e-01 4.25103879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09275509600002 meters 0.022821431337328592 Centerline is valid? [True, True] Translation: X:114.21, Y:140.60, Z:4.25 [[-6.30312895e-01 -7.76249693e-01 1.19192670e-02 1.14214689e+02] [ 7.76097515e-01 -6.30425427e-01 -1.53762169e-02 1.40603221e+02] [ 1.94499926e-02 -4.41314246e-04 9.99810734e-01 4.25127104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12275509600002 meters 0.022041052831535225 Centerline is valid? [True, True] Translation: X:114.20, Y:140.62, Z:4.25 [[-6.29077584e-01 -7.77248289e-01 1.21033837e-02 1.14198953e+02] [ 7.77091823e-01 -6.29193874e-01 -1.56002507e-02 1.40623099e+02] [ 1.97406430e-02 -4.08327464e-04 9.99805051e-01 4.25091859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15275509600002 meters 0.020254567361498943 Centerline is valid? [True, True] Translation: X:114.18, Y:140.64, Z:4.25 [[-6.28780405e-01 -7.77492780e-01 1.18397477e-02 1.14180772e+02] [ 7.77343326e-01 -6.28891747e-01 -1.52487747e-02 1.40642121e+02] [ 1.93017318e-02 -3.84581866e-04 9.99813630e-01 4.25162952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18275509600002 meters 0.019922212748505926 Centerline is valid? [True, True] Translation: X:114.16, Y:140.66, Z:4.25 [[-6.28293211e-01 -7.77888081e-01 1.17376824e-02 1.14164889e+02] [ 7.77741491e-01 -6.28402739e-01 -1.51053511e-02 1.40663696e+02] [ 1.91262643e-02 -3.61706962e-04 9.99817011e-01 4.25205924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21275509600002 meters 0.019914343497552976 Centerline is valid? [True, True] Translation: X:114.15, Y:140.68, Z:4.25 [[-6.28367977e-01 -7.77827358e-01 1.17595432e-02 1.14149360e+02] [ 7.77680441e-01 -6.28477903e-01 -1.51214411e-02 1.40684354e+02] [ 1.91524836e-02 -3.56662630e-04 9.99816511e-01 4.25211783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24275509600002 meters 0.02025117332365885 Centerline is valid? [True, True] Translation: X:114.13, Y:140.71, Z:4.25 [[-6.28465817e-01 -7.77752182e-01 1.15004602e-02 1.14134299e+02] [ 7.77611879e-01 -6.28570940e-01 -1.47763395e-02 1.40705383e+02] [ 1.87211853e-02 -3.43529860e-04 9.99824684e-01 4.25279444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27275509600003 meters 0.020080408001783578 Centerline is valid? [True, True] Translation: X:114.12, Y:140.73, Z:4.25 [[-6.28769895e-01 -7.77508958e-01 1.13242712e-02 1.14118992e+02] [ 7.77373046e-01 -6.28871771e-01 -1.45410725e-02 1.40726691e+02] [ 1.84273286e-02 -3.39805408e-04 9.99830145e-01 4.25323687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30275509600003 meters 0.01938339681803977 Centerline is valid? [True, True] Translation: X:114.10, Y:140.75, Z:4.25 [[-6.29246734e-01 -7.77125531e-01 1.11559935e-02 1.14101230e+02] [ 7.76993766e-01 -6.29345528e-01 -1.43141091e-02 1.40747972e+02] [ 1.81448343e-02 -3.38969031e-04 9.99835311e-01 4.25406150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33275509600003 meters 0.020087315976472103 Centerline is valid? [True, True] Translation: X:114.09, Y:140.77, Z:4.25 [[-6.29790748e-01 -7.76686272e-01 1.10475633e-02 1.14087971e+02] [ 7.76557174e-01 -6.29887544e-01 -1.41646817e-02 1.40770957e+02] [ 1.79602363e-02 -3.41720981e-04 9.99838644e-01 4.25487324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36275509600003 meters 0.02067744087262079 Centerline is valid? [True, True] Translation: X:114.07, Y:140.79, Z:4.26 [[-6.30370557e-01 -7.76214585e-01 1.11300520e-02 1.14073687e+02] [ 7.76083678e-01 -6.30468710e-01 -1.42594143e-02 1.40791610e+02] [ 1.80855149e-02 -3.50863291e-04 9.99836382e-01 4.25558192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39275509600003 meters 0.020402333083089832 Centerline is valid? [True, True] Translation: X:114.06, Y:140.81, Z:4.26 [[-6.29894428e-01 -7.76611812e-01 1.03490783e-02 1.14056555e+02] [ 7.76498854e-01 -6.29979364e-01 -1.32488220e-02 1.40812084e+02] [ 1.68088975e-02 -3.09311733e-04 9.99858673e-01 4.25701461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.422755096 meters 0.019211509973682026 Centerline is valid? [True, True] Translation: X:114.04, Y:140.83, Z:4.26 [[-6.29807650e-01 -7.76685701e-01 1.00819496e-02 1.14037048e+02] [ 7.76578667e-01 -6.29888272e-01 -1.28972663e-02 1.40831835e+02] [ 1.63676241e-02 -2.93370008e-04 9.99865998e-01 4.25725872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.452755096 meters 0.020297162644034115 Centerline is valid? [True, True] Translation: X:114.02, Y:140.85, Z:4.26 [[-6.29626928e-01 -7.76827997e-01 1.04016889e-02 1.14023723e+02] [ 7.76714253e-01 -6.29712774e-01 -1.32963025e-02 1.40853130e+02] [ 1.68790163e-02 -2.92570077e-04 9.99857496e-01 4.25779860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.482755096 meters 0.019719955737089415 Centerline is valid? [True, True] Translation: X:114.01, Y:140.87, Z:4.26 [[-6.29017438e-01 -7.77325505e-01 1.01055866e-02 1.14005964e+02] [ 7.77218387e-01 -6.29098553e-01 -1.29069593e-02 1.40872407e+02] [ 1.63903186e-02 -2.64454712e-04 9.99865635e-01 4.25853213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.512755096 meters 0.019497865332952447 Centerline is valid? [True, True] Translation: X:113.99, Y:140.89, Z:4.26 [[-6.28504690e-01 -7.77739566e-01 1.01499498e-02 1.13989270e+02] [ 7.77631717e-01 -6.28586593e-01 -1.29540366e-02 1.40890799e+02] [ 1.64549892e-02 -2.48749808e-04 9.99864577e-01 4.25883606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.542755096 meters 0.01837913355282295 Centerline is valid? [True, True] Translation: X:113.97, Y:140.91, Z:4.26 [[-6.28217835e-01 -7.77959875e-01 1.09901985e-02 1.13971459e+02] [ 7.77833696e-01 -6.28313909e-01 -1.40133502e-02 1.40910515e+02] [ 1.78071188e-02 -2.54889782e-04 9.99841408e-01 4.25787167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.572755096 meters 0.01821919846673998 Centerline is valid? [True, True] Translation: X:113.95, Y:140.93, Z:4.26 [[-6.28479519e-01 -7.77749048e-01 1.09504479e-02 1.13954279e+02] [ 7.77623948e-01 -6.28574859e-01 -1.39514052e-02 1.40931748e+02] [ 1.77338683e-02 -2.52841874e-04 9.99842711e-01 4.25828152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.602755096 meters 0.018173803365014046 Centerline is valid? [True, True] Translation: X:113.94, Y:140.95, Z:4.26 [[-6.28863664e-01 -7.77434018e-01 1.12623293e-02 1.13936035e+02] [ 7.77301838e-01 -6.28964449e-01 -1.43378631e-02 1.40951895e+02] [ 1.82303473e-02 -2.62331882e-04 9.99833779e-01 4.25860715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.632755096 meters 0.018681604264992737 Centerline is valid? [True, True] Translation: X:113.92, Y:140.97, Z:4.26 [[-6.29197255e-01 -7.77162740e-01 1.13529565e-02 1.13920748e+02] [ 7.77028579e-01 -6.29299615e-01 -1.44423515e-02 1.40973330e+02] [ 1.83684686e-02 -2.65516220e-04 9.99831250e-01 4.25867479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.662755096 meters 0.01831809815664604 Centerline is valid? [True, True] Translation: X:113.90, Y:140.99, Z:4.26 [[-6.29804271e-01 -7.76670114e-01 1.14067584e-02 1.13902411e+02] [ 7.76534809e-01 -6.29907500e-01 -1.44993767e-02 1.40994034e+02] [ 1.84464352e-02 -2.74024406e-04 9.99829812e-01 4.25857847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.692755096 meters 0.01943983923297685 Centerline is valid? [True, True] Translation: X:113.89, Y:141.02, Z:4.26 [[-6.31172098e-01 -7.75557665e-01 1.14930631e-02 1.13887087e+02] [ 7.75420323e-01 -6.31276657e-01 -1.45981641e-02 1.41015227e+02] [ 1.85770205e-02 -3.01999137e-04 9.99827387e-01 4.25859730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72275509600001 meters 0.018960225237176543 Centerline is valid? [True, True] Translation: X:113.87, Y:141.04, Z:4.26 [[-6.32093571e-01 -7.74803633e-01 1.17067379e-02 1.13869283e+02] [ 7.74661229e-01 -6.32201887e-01 -1.48578219e-02 1.41035292e+02] [ 1.89129162e-02 -3.22777780e-04 9.99821083e-01 4.25906107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75275509600002 meters 0.02007116179901169 Centerline is valid? [True, True] Translation: X:113.85, Y:141.06, Z:4.26 [[-6.33913413e-01 -7.73319498e-01 1.14341304e-02 1.13854877e+02] [ 7.73183601e-01 -6.34016428e-01 -1.45013490e-02 1.41057639e+02] [ 1.84636025e-02 -3.51917537e-04 9.99829471e-01 4.25959335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78275509600002 meters 0.019830160777314445 Centerline is valid? [True, True] Translation: X:113.84, Y:141.08, Z:4.26 [[-6.35125317e-01 -7.72324755e-01 1.14150981e-02 1.13836792e+02] [ 7.72189356e-01 -6.35227780e-01 -1.44659905e-02 1.41079333e+02] [ 1.84236300e-02 -3.73099576e-04 9.99830201e-01 4.26006042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81275509600002 meters 0.019830160777314445 Centerline is valid? [True, True] Translation: X:113.82, Y:141.10, Z:4.26 [[-6.35404501e-01 -7.72095014e-01 1.14197414e-02 1.13820054e+02] [ 7.71959643e-01 -6.35507003e-01 -1.44623241e-02 1.41100207e+02] [ 1.84236139e-02 -3.73846364e-04 9.99830201e-01 4.26055964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84275509600002 meters 0.021504529195631273 Centerline is valid? [True, True] Translation: X:113.81, Y:141.12, Z:4.26 [[-6.36256302e-01 -7.71391629e-01 1.15270257e-02 1.13806462e+02] [ 7.71253791e-01 -6.36360591e-01 -1.45872501e-02 1.41123074e+02] [ 1.85878275e-02 -3.90967474e-04 9.99827155e-01 4.26061495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87275509600002 meters 0.021032010824468584 Centerline is valid? [True, True] Translation: X:113.79, Y:141.14, Z:4.26 [[-6.37960018e-01 -7.69984171e-01 1.14626019e-02 1.13788837e+02] [ 7.69847850e-01 -6.38062848e-01 -1.44945144e-02 1.41143281e+02] [ 1.84744071e-02 -4.22461210e-04 9.99829244e-01 4.26113254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90275509600002 meters 0.021121336783382624 Centerline is valid? [True, True] Translation: X:113.77, Y:141.16, Z:4.26 [[-6.38582616e-01 -7.69470456e-01 1.12898226e-02 1.13771467e+02] [ 7.69338330e-01 -6.38682267e-01 -1.42651954e-02 1.41164866e+02] [ 1.81872559e-02 -4.23812502e-04 9.99834508e-01 4.26183498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93275509600002 meters 0.021519101726352154 Centerline is valid? [True, True] Translation: X:113.76, Y:141.19, Z:4.26 [[-6.39114954e-01 -7.69030013e-01 1.11765351e-02 1.13755044e+02] [ 7.68900643e-01 -6.39212530e-01 -1.41118340e-02 1.41185845e+02] [ 1.79966051e-02 -4.25439096e-04 9.99837957e-01 4.26255221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96275509600002 meters 0.021595792450140403 Centerline is valid? [True, True] Translation: X:113.74, Y:141.21, Z:4.26 [[-6.39388304e-01 -7.68804329e-01 1.10680036e-02 1.13738747e+02] [ 7.68677613e-01 -6.39483954e-01 -1.39642527e-02 1.41205070e+02] [ 1.78135887e-02 -4.20853279e-04 9.99841237e-01 4.26259965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99275509600002 meters 0.020663407196195607 Centerline is valid? [True, True] Translation: X:113.72, Y:141.22, Z:4.26 [[-6.39361786e-01 -7.68827123e-01 1.10164429e-02 1.13720259e+02] [ 7.68701795e-01 -6.39456555e-01 -1.38875420e-02 1.41225000e+02] [ 1.77216556e-02 -4.10804165e-04 9.99842875e-01 4.26331741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02275509600003 meters 0.02175232684093095 Centerline is valid? [True, True] Translation: X:113.70, Y:141.25, Z:4.26 [[-6.39528224e-01 -7.68688926e-01 1.09993555e-02 1.13704843e+02] [ 7.68564149e-01 -6.39622677e-01 -1.38556503e-02 1.41246393e+02] [ 1.76861221e-02 -4.07369112e-04 9.99843505e-01 4.26394766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05275509600003 meters 0.02195037711883971 Centerline is valid? [True, True] Translation: X:113.69, Y:141.27, Z:4.26 [[-6.39462455e-01 -7.68744829e-01 1.09158809e-02 1.13688313e+02] [ 7.68622135e-01 -6.39555495e-01 -1.37398153e-02 1.41265609e+02] [ 1.75437236e-02 -3.95908358e-04 9.99846019e-01 4.26462749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08275509600003 meters 0.021806793011065053 Centerline is valid? [True, True] Translation: X:113.67, Y:141.29, Z:4.27 [[-6.39675498e-01 -7.68565829e-01 1.10374134e-02 1.13671124e+02] [ 7.68440565e-01 -6.39770591e-01 -1.38812675e-02 1.41285800e+02] [ 1.77300804e-02 -3.97910527e-04 9.99842731e-01 4.26542159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11275509600003 meters 0.021027164349861762 Centerline is valid? [True, True] Translation: X:113.65, Y:141.31, Z:4.27 [[-6.39890407e-01 -7.68390151e-01 1.08094218e-02 1.13652813e+02] [ 7.68270164e-01 -6.39981583e-01 -1.35841658e-02 1.41305847e+02] [ 1.73557701e-02 -3.87821122e-04 9.99849302e-01 4.26575791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14275509600003 meters 0.021265444146479084 Centerline is valid? [True, True] Translation: X:113.64, Y:141.33, Z:4.27 [[-6.40375196e-01 -7.67973047e-01 1.17050111e-02 1.13635879e+02] [ 7.67832500e-01 -6.40482021e-01 -1.46980600e-02 1.41327005e+02] [ 1.87845631e-02 -4.24785167e-04 9.99823464e-01 4.26533512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.172755096 meters 0.022831420308596955 Centerline is valid? [True, True] Translation: X:113.62, Y:141.35, Z:4.27 [[-6.40770598e-01 -7.67638431e-01 1.20116707e-02 1.13621812e+02] [ 7.67490581e-01 -6.40883022e-01 -1.50718605e-02 1.41349796e+02] [ 1.92678151e-02 -4.38760953e-04 9.99814262e-01 4.26542096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.202755096 meters 0.02162150509822823 Centerline is valid? [True, True] Translation: X:113.60, Y:141.37, Z:4.27 [[-6.41154569e-01 -7.67314409e-01 1.22236396e-02 1.13602683e+02] [ 7.67161469e-01 -6.41270923e-01 -1.53259255e-02 1.41368745e+02] [ 1.95984681e-02 -4.48781828e-04 9.99807831e-01 4.26609491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.232755096 meters 0.021093181551030064 Centerline is valid? [True, True] Translation: X:113.58, Y:141.39, Z:4.27 [[-6.40477410e-01 -7.67880516e-01 1.21737570e-02 1.13582790e+02] [ 7.67729160e-01 -6.40592956e-01 -1.52513016e-02 1.41388094e+02] [ 1.95096003e-02 -4.21965943e-04 9.99809581e-01 4.26694617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.262755096 meters 0.021752385392541974 Centerline is valid? [True, True] Translation: X:113.57, Y:141.41, Z:4.27 [[-6.40323551e-01 -7.67999405e-01 1.27540072e-02 1.13567307e+02] [ 7.67833544e-01 -6.40450411e-01 -1.59662140e-02 1.41408159e+02] [ 2.04303520e-02 -4.30588264e-04 9.99791186e-01 4.26664813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.292755096 meters 0.02079149637774941 Centerline is valid? [True, True] Translation: X:113.55, Y:141.43, Z:4.27 [[-6.40136299e-01 -7.68147733e-01 1.32128411e-02 1.13548861e+02] [ 7.67969992e-01 -6.40272498e-01 -1.65293295e-02 1.41427595e+02] [ 2.11567858e-02 -4.33958333e-04 9.99776076e-01 4.26669884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.322755096 meters 0.020515840354647593 Centerline is valid? [True, True] Translation: X:113.53, Y:141.45, Z:4.27 [[-6.39122740e-01 -7.68980938e-01 1.37999949e-02 1.13530363e+02] [ 7.68787563e-01 -6.39271573e-01 -1.72493218e-02 1.41445763e+02] [ 2.20863440e-02 -4.15169360e-04 9.99755981e-01 4.26650304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.352755096 meters 0.020645192450209956 Centerline is valid? [True, True] Translation: X:113.51, Y:141.47, Z:4.27 [[-6.39000760e-01 -7.69070188e-01 1.44594178e-02 1.13514949e+02] [ 7.68858274e-01 -6.39164195e-01 -1.80578624e-02 1.41465418e+02] [ 2.31297057e-02 -4.21744797e-04 9.99732384e-01 4.26632158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.382755096 meters 0.020757573830708233 Centerline is valid? [True, True] Translation: X:113.50, Y:141.49, Z:4.27 [[-6.39043967e-01 -7.69010114e-01 1.56924532e-02 1.13498652e+02] [ 7.68760919e-01 -6.39236453e-01 -1.95807912e-02 1.41485929e+02] [ 2.50890146e-02 -4.49241730e-04 9.99685120e-01 4.26526997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.412755096 meters 0.021334738192761587 Centerline is valid? [True, True] Translation: X:113.48, Y:141.51, Z:4.26 [[-6.39568231e-01 -7.68559622e-01 1.63885685e-02 1.13482499e+02] [ 7.68288111e-01 -6.39777993e-01 -2.04327694e-02 1.41505679e+02] [ 2.61888470e-02 -4.77007868e-04 9.99656900e-01 4.26458830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.442755096 meters 0.02156155375546415 Centerline is valid? [True, True] Translation: X:113.46, Y:141.53, Z:4.26 [[-6.40359140e-01 -7.67887749e-01 1.69875504e-02 1.13464624e+02] [ 7.67596245e-01 -6.40584220e-01 -2.11627359e-02 1.41526260e+02] [ 2.71325624e-02 -5.12171491e-04 9.99631713e-01 4.26430922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47275509600001 meters 0.022279332297443222 Centerline is valid? [True, True] Translation: X:113.45, Y:141.55, Z:4.26 [[-6.40862765e-01 -7.67465371e-01 1.70827545e-02 1.13449459e+02] [ 7.67170829e-01 -6.41090189e-01 -2.12671041e-02 1.41546755e+02] [ 2.72733522e-02 -5.23904239e-04 9.99627876e-01 4.26457801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50275509600002 meters 0.02199472846792841 Centerline is valid? [True, True] Translation: X:113.43, Y:141.57, Z:4.27 [[-6.41701362e-01 -7.66771572e-01 1.67546348e-02 1.13432593e+02] [ 7.66488364e-01 -6.41919832e-01 -2.08450837e-02 1.41566724e+02] [ 2.67385500e-02 -5.34085987e-04 9.99642318e-01 4.26598572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53275509600002 meters 0.023023862085839966 Centerline is valid? [True, True] Translation: X:113.42, Y:141.59, Z:4.27 [[-6.43030970e-01 -7.65651845e-01 1.69830264e-02 1.13417257e+02] [ 7.65360906e-01 -6.43254940e-01 -2.11131836e-02 1.41588385e+02] [ 2.70897636e-02 -5.78286542e-04 9.99632838e-01 4.26698320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56275509600002 meters 0.022660396868688978 Centerline is valid? [True, True] Translation: X:113.40, Y:141.61, Z:4.27 [[-6.43738296e-01 -7.65062040e-01 1.67654634e-02 1.13400692e+02] [ 7.64778716e-01 -6.43956312e-01 -2.08274899e-02 1.41608895e+02] [ 2.67305479e-02 -5.85583304e-04 9.99642504e-01 4.26828962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59275509600002 meters 0.023103762332108195 Centerline is valid? [True, True] Translation: X:113.38, Y:141.63, Z:4.27 [[-6.44351649e-01 -7.64540432e-01 1.69964708e-02 1.13384864e+02] [ 7.64249507e-01 -6.44575490e-01 -2.10980641e-02 1.41630511e+02] [ 2.70858315e-02 -6.05027943e-04 9.99632928e-01 4.26906150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62275509600002 meters 0.023290460102378042 Centerline is valid? [True, True] Translation: X:113.37, Y:141.65, Z:4.27 [[-6.44854667e-01 -7.64113918e-01 1.70991113e-02 1.13368813e+02] [ 7.63819762e-01 -6.45081035e-01 -2.12092032e-02 1.41651474e+02] [ 2.72365598e-02 -6.16214579e-04 9.99628826e-01 4.26966818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65275509600002 meters 0.02241339144346805 Centerline is valid? [True, True] Translation: X:113.35, Y:141.67, Z:4.27 [[-6.45658155e-01 -7.63430588e-01 1.72998260e-02 1.13350594e+02] [ 7.63129687e-01 -6.45889561e-01 -2.14419381e-02 1.41671632e+02] [ 2.75432084e-02 -6.42151426e-04 9.99620408e-01 4.27106116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68275509600002 meters 0.022791970673006614 Centerline is valid? [True, True] Translation: X:113.33, Y:141.69, Z:4.27 [[-6.46140721e-01 -7.63020522e-01 1.73738694e-02 1.13334818e+02] [ 7.62717330e-01 -6.46373930e-01 -2.15178169e-02 1.41692665e+02] [ 2.76485522e-02 -6.52186464e-04 9.99617493e-01 4.27171593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71275509600002 meters 0.024589610353751346 Centerline is valid? [True, True] Translation: X:113.32, Y:141.71, Z:4.27 [[-6.46624732e-01 -7.62614992e-01 1.71705995e-02 1.13322038e+02] [ 7.62319162e-01 -6.46852340e-01 -2.12496008e-02 1.41714708e+02] [ 2.73121066e-02 -6.51040405e-04 9.99626743e-01 4.27202151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74275509600002 meters 0.023315547163896375 Centerline is valid? [True, True] Translation: X:113.30, Y:141.73, Z:4.27 [[-6.46813740e-01 -7.62455394e-01 1.71393813e-02 1.13304321e+02] [ 7.62161052e-01 -6.47040459e-01 -2.11937660e-02 1.41733876e+02] [ 2.72491744e-02 -6.45450168e-04 9.99628464e-01 4.27369190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77275509600003 meters 0.023046033738792552 Centerline is valid? [True, True] Translation: X:113.29, Y:141.75, Z:4.27 [[-6.47036786e-01 -7.62262963e-01 1.72792639e-02 1.13287362e+02] [ 7.61964188e-01 -6.47267144e-01 -2.13499698e-02 1.41754747e+02] [ 2.74585910e-02 -6.48035514e-04 9.99622732e-01 4.27475393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80275509600003 meters 0.022915213500397887 Centerline is valid? [True, True] Translation: X:113.27, Y:141.78, Z:4.28 [[-6.46750182e-01 -7.62510568e-01 1.70831893e-02 1.13272031e+02] [ 7.62219069e-01 -6.46975463e-01 -2.10912514e-02 1.41775821e+02] [ 2.71347064e-02 -6.19638088e-04 9.99631594e-01 4.27597732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83275509600003 meters 0.022281383634901022 Centerline is valid? [True, True] Translation: X:113.25, Y:141.80, Z:4.28 [[-6.46718732e-01 -7.62542059e-01 1.68668333e-02 1.13253851e+02] [ 7.62258326e-01 -6.46938365e-01 -2.08085684e-02 1.41796775e+02] [ 2.67792102e-02 -6.00406853e-04 9.99641192e-01 4.27709255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86275509600003 meters 0.022884175264440733 Centerline is valid? [True, True] Translation: X:113.24, Y:141.82, Z:4.28 [[-6.46577414e-01 -7.62658747e-01 1.70083710e-02 1.13239167e+02] [ 7.62370688e-01 -6.46800810e-01 -2.09677515e-02 1.41817302e+02] [ 2.69922672e-02 -5.90591031e-04 9.99635468e-01 4.27683496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89275509600003 meters 0.021369706008710708 Centerline is valid? [True, True] Translation: X:113.22, Y:141.84, Z:4.28 [[-6.45234714e-01 -7.63798757e-01 1.68411084e-02 1.13219620e+02] [ 7.63517167e-01 -6.45454244e-01 -2.07449836e-02 1.41836459e+02] [ 2.67151576e-02 -5.26908178e-04 9.99642948e-01 4.27891229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.922755096 meters 0.0207629079120003 Centerline is valid? [True, True] Translation: X:113.20, Y:141.86, Z:4.28 [[-6.44373341e-01 -7.64523882e-01 1.69183519e-02 1.13201137e+02] [ 7.64240352e-01 -6.44595217e-01 -2.08252226e-02 1.41857123e+02] [ 2.68268687e-02 -4.89531102e-04 9.99639975e-01 4.27944196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.952755096 meters 0.021164155385401055 Centerline is valid? [True, True] Translation: X:113.19, Y:141.88, Z:4.28 [[-6.43999522e-01 -7.64837026e-01 1.69981892e-02 1.13185557e+02] [ 7.64551326e-01 -6.44223644e-01 -2.09085458e-02 1.41877883e+02] [ 2.69422654e-02 -4.69105431e-04 9.99636881e-01 4.27915854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.982755096 meters 0.019855761550263164 Centerline is valid? [True, True] Translation: X:113.17, Y:141.90, Z:4.28 [[-6.42115853e-01 -7.66418594e-01 1.70226170e-02 1.13165476e+02] [ 7.66133050e-01 -6.42341329e-01 -2.09228507e-02 1.41896821e+02] [ 2.69699922e-02 -3.93304597e-04 9.99636166e-01 4.28014746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.012755096 meters 0.01961392278421315 Centerline is valid? [True, True] Translation: X:113.15, Y:141.92, Z:4.28 [[-6.41965207e-01 -7.66536828e-01 1.73771127e-02 1.13148899e+02] [ 7.66239753e-01 -6.42200235e-01 -2.13424228e-02 1.41916998e+02] [ 2.75193389e-02 -3.86058278e-04 9.99621197e-01 4.28037205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.042755096 meters 0.02088529296412974 Centerline is valid? [True, True] Translation: X:113.13, Y:141.94, Z:4.28 [[-6.42142630e-01 -7.66382835e-01 1.76122671e-02 1.13133479e+02] [ 7.66078098e-01 -6.42383997e-01 -2.16136124e-02 1.41937048e+02] [ 2.78781401e-02 -3.86649814e-04 9.99611254e-01 4.27914882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.072755096 meters 0.019554061843443497 Centerline is valid? [True, True] Translation: X:113.12, Y:141.96, Z:4.28 [[-6.42164346e-01 -7.66359688e-01 1.78264314e-02 1.13115841e+02] [ 7.66047993e-01 -6.42411615e-01 -2.18583812e-02 1.41956576e+02] [ 2.82032888e-02 -3.80771076e-04 9.99602136e-01 4.28036606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.102755096 meters 0.01984262204590786 Centerline is valid? [True, True] Translation: X:113.10, Y:141.98, Z:4.28 [[-6.42544130e-01 -7.66042660e-01 1.77674986e-02 1.13099921e+02] [ 7.65733355e-01 -6.42789620e-01 -2.17700039e-02 1.41975955e+02] [ 2.80975154e-02 -3.83021915e-04 9.99605114e-01 4.28022453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.132755096 meters 0.019623137603918567 Centerline is valid? [True, True] Translation: X:113.08, Y:142.00, Z:4.28 [[-6.43371721e-01 -7.65352729e-01 1.75507345e-02 1.13081294e+02] [ 7.65051063e-01 -6.43610939e-01 -2.14902517e-02 1.41996389e+02] [ 2.77434675e-02 -3.99012150e-04 9.99614996e-01 4.28140105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.162755096 meters 0.020492682261512712 Centerline is valid? [True, True] Translation: X:113.06, Y:142.02, Z:4.28 [[-6.45088527e-01 -7.63924053e-01 1.67581038e-02 1.13064353e+02] [ 7.63648930e-01 -6.45306018e-01 -2.05050200e-02 1.42017022e+02] [ 2.64783832e-02 -4.30245124e-04 9.99649294e-01 4.28246147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.192755096 meters 0.020392175048357015 Centerline is valid? [True, True] Translation: X:113.05, Y:142.04, Z:4.28 [[-6.46175489e-01 -7.63021082e-01 1.60020840e-02 1.13046395e+02] [ 7.62770310e-01 -6.46373451e-01 -1.95656878e-02 1.42036904e+02] [ 2.52723546e-02 -4.36953304e-04 9.99680508e-01 4.28389636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22275509600001 meters 0.020991799805584865 Centerline is valid? [True, True] Translation: X:113.03, Y:142.06, Z:4.28 [[-6.47764629e-01 -7.61673625e-01 1.59459674e-02 1.13029383e+02] [ 7.61424557e-01 -6.47960693e-01 -1.94829203e-02 1.42058070e+02] [ 2.51719866e-02 -4.78695521e-04 9.99683021e-01 4.28490162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25275509600002 meters 0.023459054121930747 Centerline is valid? [True, True] Translation: X:113.01, Y:142.08, Z:4.29 [[-6.50835665e-01 -7.59062548e-01 1.53943531e-02 1.13014906e+02] [ 7.58830009e-01 -6.51017469e-01 -1.87955628e-02 1.42079887e+02] [ 2.42890006e-02 -5.51125551e-04 9.99704827e-01 4.28547323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28275509600002 meters 0.02275014595161949 Centerline is valid? [True, True] Translation: X:113.00, Y:142.10, Z:4.29 [[-6.52264771e-01 -7.57843117e-01 1.49825773e-02 1.12996768e+02] [ 7.57622849e-01 -6.52436574e-01 -1.82793815e-02 1.42100698e+02] [ 2.36280848e-02 -5.71853653e-04 9.99720654e-01 4.28776413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31275509600002 meters 0.02377213702329876 Centerline is valid? [True, True] Translation: X:112.98, Y:142.12, Z:4.29 [[-6.54087620e-01 -7.56273176e-01 1.48414611e-02 1.12981012e+02] [ 7.56056928e-01 -6.54255689e-01 -1.80946228e-02 1.42121079e+02] [ 2.33945882e-02 -6.14479229e-04 9.99726120e-01 4.28821742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34275509600002 meters 0.024767372862106157 Centerline is valid? [True, True] Translation: X:112.96, Y:142.14, Z:4.29 [[-6.57453192e-01 -7.53349410e-01 1.48312811e-02 1.12963101e+02] [ 7.53132975e-01 -6.57620074e-01 -1.80710160e-02 1.42142004e+02] [ 2.33671375e-02 -7.10920296e-04 9.99726698e-01 4.28870851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37275509600002 meters 0.026156866483589263 Centerline is valid? [True, True] Translation: X:112.95, Y:142.16, Z:4.29 [[-6.59048228e-01 -7.51953897e-01 1.48583717e-02 1.12946791e+02] [ 7.51736611e-01 -6.59215268e-01 -1.80913975e-02 1.42163708e+02] [ 2.33987623e-02 -7.53521455e-04 9.99725928e-01 4.28901392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40275509600002 meters 0.02754778832933892 Centerline is valid? [True, True] Translation: X:112.93, Y:142.19, Z:4.29 [[-6.61668623e-01 -7.49652182e-01 1.47050945e-02 1.12929901e+02] [ 7.49439073e-01 -6.61831502e-01 -1.78924102e-02 1.42185179e+02] [ 2.31453792e-02 -8.18274024e-04 9.99731775e-01 4.28926021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43275509600002 meters 0.028482184813800458 Centerline is valid? [True, True] Translation: X:112.91, Y:142.21, Z:4.29 [[-6.62935327e-01 -7.48527984e-01 1.49200800e-02 1.12913137e+02] [ 7.48308625e-01 -6.63102643e-01 -1.81407299e-02 1.42206504e+02] [ 2.34723885e-02 -8.61306111e-04 9.99724115e-01 4.28988694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46275509600002 meters 0.029696616435881954 Centerline is valid? [True, True] Translation: X:112.90, Y:142.23, Z:4.29 [[-6.64045257e-01 -7.47547169e-01 1.47352165e-02 1.12897783e+02] [ 7.47333270e-01 -6.64208147e-01 -1.79031279e-02 1.42227366e+02] [ 2.31706835e-02 -8.76369631e-04 9.99731140e-01 4.29007351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49275509600002 meters 0.0318929596933192 Centerline is valid? [True, True] Translation: X:112.88, Y:142.25, Z:4.29 [[-6.64994040e-01 -7.46710847e-01 1.43470114e-02 1.12882886e+02] [ 7.46508165e-01 -6.65148215e-01 -1.74187114e-02 1.42249608e+02] [ 2.25496298e-02 -8.73178152e-04 9.99745343e-01 4.29030401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52275509600003 meters 0.03097337232892403 Centerline is valid? [True, True] Translation: X:112.86, Y:142.27, Z:4.29 [[-6.65882616e-01 -7.45918863e-01 1.43314945e-02 1.12862917e+02] [ 7.45716722e-01 -6.66036228e-01 -1.73871700e-02 1.42268437e+02] [ 2.25147127e-02 -8.90579158e-04 9.99746115e-01 4.29119521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55275509600003 meters 0.030961459792523054 Centerline is valid? [True, True] Translation: X:112.84, Y:142.29, Z:4.29 [[-6.66294848e-01 -7.45550411e-01 1.43443684e-02 1.12844936e+02] [ 7.45348101e-01 -6.66448635e-01 -1.73903624e-02 1.42288476e+02] [ 2.25251766e-02 -8.95561097e-04 9.99745875e-01 4.29166800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58275509600003 meters 0.030916285390557206 Centerline is valid? [True, True] Translation: X:112.83, Y:142.31, Z:4.29 [[-6.65958665e-01 -7.45865642e-01 1.35461958e-02 1.12827013e+02] [ 7.45685546e-01 -6.66095908e-01 -1.64106063e-02 1.42308166e+02] [ 2.12631730e-02 -8.27583079e-04 9.99773571e-01 4.29254971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61275509600003 meters 0.027695525177292336 Centerline is valid? [True, True] Translation: X:112.81, Y:142.33, Z:4.29 [[-6.65693186e-01 -7.46108804e-01 1.31997716e-02 1.12805078e+02] [ 7.45938088e-01 -6.65823570e-01 -1.59794656e-02 1.42325769e+02] [ 2.07111390e-02 -7.91208976e-04 9.99785188e-01 4.29368645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64275509600003 meters 0.02844347523831559 Centerline is valid? [True, True] Translation: X:112.79, Y:142.35, Z:4.29 [[-6.65097361e-01 -7.46643568e-01 1.29954858e-02 1.12788081e+02] [ 7.46478428e-01 -6.65223882e-01 -1.57208053e-02 1.42347337e+02] [ 2.03827457e-02 -7.55016295e-04 9.99791965e-01 4.29423520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.672755096 meters 0.02844347523831559 Centerline is valid? [True, True] Translation: X:112.77, Y:142.37, Z:4.29 [[-6.65360072e-01 -7.46409378e-01 1.30005771e-02 1.12770865e+02] [ 7.46244276e-01 -6.65486641e-01 -1.57165940e-02 1.42367829e+02] [ 2.03827235e-02 -7.55587922e-04 9.99791965e-01 4.29473461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.702755096 meters 0.027084841540009688 Centerline is valid? [True, True] Translation: X:112.75, Y:142.39, Z:4.30 [[-6.64009033e-01 -7.47614220e-01 1.28445437e-02 1.12750934e+02] [ 7.47453504e-01 -6.64132881e-01 -1.55169599e-02 1.42386536e+02] [ 2.01311837e-02 -7.02702297e-04 9.99797100e-01 4.29517769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.732755096 meters 0.02617247654560384 Centerline is valid? [True, True] Translation: X:112.73, Y:142.41, Z:4.30 [[-6.63063451e-01 -7.48455706e-01 1.26852933e-02 1.12731892e+02] [ 7.48299321e-01 -6.63184453e-01 -1.53136232e-02 1.42405780e+02] [ 1.98742579e-02 -6.61507483e-04 9.99802269e-01 4.29529360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.762755096 meters 0.0251711147162012 Centerline is valid? [True, True] Translation: X:112.71, Y:142.43, Z:4.30 [[-6.62100706e-01 -7.49308125e-01 1.26486862e-02 1.12711582e+02] [ 7.49153015e-01 -6.62221217e-01 -1.52584227e-02 1.42425897e+02] [ 1.98094885e-02 -6.26811037e-04 9.99803576e-01 4.29554510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.792755096 meters 0.02480097622805563 Centerline is valid? [True, True] Translation: X:112.69, Y:142.44, Z:4.30 [[-6.60322805e-01 -7.50869785e-01 1.29752866e-02 1.12692491e+02] [ 7.50707077e-01 -6.60450013e-01 -1.56417814e-02 1.42443949e+02] [ 2.03144693e-02 -5.87985478e-04 9.99793467e-01 4.29513142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.822755096 meters 0.024316188640948217 Centerline is valid? [True, True] Translation: X:112.67, Y:142.46, Z:4.30 [[-6.59565468e-01 -7.51535995e-01 1.29244516e-02 1.12673617e+02] [ 7.51374927e-01 -6.59691850e-01 -1.55685991e-02 1.42463475e+02] [ 2.02265180e-02 -5.57401465e-04 9.99795268e-01 4.29570782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.852755096 meters 0.024146460331904287 Centerline is valid? [True, True] Translation: X:112.66, Y:142.48, Z:4.30 [[-6.59160792e-01 -7.51892677e-01 1.28239169e-02 1.12656322e+02] [ 7.51734396e-01 -6.59285308e-01 -1.54363521e-02 1.42482080e+02] [ 2.00611001e-02 -5.34858662e-04 9.99798613e-01 4.29582817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.882755096 meters 0.02327987478887153 Centerline is valid? [True, True] Translation: X:112.64, Y:142.50, Z:4.30 [[-6.58301638e-01 -7.52645593e-01 1.27892476e-02 1.12636515e+02] [ 7.52488562e-01 -6.58425667e-01 -1.53819570e-02 1.42501441e+02] [ 1.99979311e-02 -5.02204939e-04 9.99799895e-01 4.29624493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.912755096 meters 0.022930141215811734 Centerline is valid? [True, True] Translation: X:112.62, Y:142.52, Z:4.30 [[-6.58357895e-01 -7.52595830e-01 1.28217928e-02 1.12618105e+02] [ 7.52438212e-01 -6.58482550e-01 -1.54100276e-02 1.42521683e+02] [ 2.00404494e-02 -4.97706479e-04 9.99799046e-01 4.29681066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.942755096 meters 0.0229697830369794 Centerline is valid? [True, True] Translation: X:112.60, Y:142.54, Z:4.30 [[-6.58604526e-01 -7.52378531e-01 1.29082839e-02 1.12600325e+02] [ 7.52218966e-01 -6.58730822e-01 -1.55026498e-02 1.42541786e+02] [ 2.01669453e-02 -5.00259385e-04 9.99796501e-01 4.29752306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97275509600001 meters 0.023577945729290856 Centerline is valid? [True, True] Translation: X:112.58, Y:142.56, Z:4.30 [[-6.59140956e-01 -7.51913383e-01 1.26279315e-02 1.12584461e+02] [ 7.51760799e-01 -6.59261722e-01 -1.51552862e-02 1.42562039e+02] [ 1.97205744e-02 -4.96285999e-04 9.99805407e-01 4.29827374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00275509600002 meters 0.022902344592522578 Centerline is valid? [True, True] Translation: X:112.57, Y:142.58, Z:4.30 [[-6.59720859e-01 -7.51407490e-01 1.24568194e-02 1.12566041e+02] [ 7.51259097e-01 -6.59838264e-01 -1.49410180e-02 1.42581679e+02] [ 1.94462789e-02 -4.98602300e-04 9.99810779e-01 4.29902885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03275509600002 meters 0.02388179254340319 Centerline is valid? [True, True] Translation: X:112.55, Y:142.60, Z:4.30 [[-6.61155055e-01 -7.50151862e-01 1.20903536e-02 1.12550173e+02] [ 7.50012057e-01 -6.61265393e-01 -1.44911543e-02 1.42602473e+02] [ 1.88654988e-02 -5.12988958e-04 9.99821899e-01 4.30004373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06275509600002 meters 0.023484085820904787 Centerline is valid? [True, True] Translation: X:112.53, Y:142.62, Z:4.30 [[-6.62264779e-01 -7.49171301e-01 1.21541875e-02 1.12531037e+02] [ 7.49030052e-01 -6.62376082e-01 -1.45570404e-02 1.42622981e+02] [ 1.89563600e-02 -5.36763514e-04 9.99820168e-01 4.30064141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09275509600002 meters 0.025858786855421773 Centerline is valid? [True, True] Translation: X:112.52, Y:142.64, Z:4.30 [[-6.63935128e-01 -7.47691445e-01 1.21511085e-02 1.12515864e+02] [ 7.47550202e-01 -6.64046065e-01 -1.45436946e-02 1.42644815e+02] [ 1.89430918e-02 -5.72506118e-04 9.99820400e-01 4.30067688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12275509600002 meters 0.02552152473543485 Centerline is valid? [True, True] Translation: X:112.50, Y:142.67, Z:4.30 [[-6.65152537e-01 -7.46605373e-01 1.23498853e-02 1.12497229e+02] [ 7.46459439e-01 -6.65266899e-01 -1.47735809e-02 1.42665021e+02] [ 1.92460048e-02 -6.07996363e-04 9.99814594e-01 4.30126570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15275509600002 meters 0.027436333889641097 Centerline is valid? [True, True] Translation: X:112.48, Y:142.69, Z:4.30 [[-6.66342090e-01 -7.45541637e-01 1.24854363e-02 1.12482346e+02] [ 7.45392508e-01 -6.66458746e-01 -1.49248204e-02 1.42686783e+02] [ 1.94481033e-02 -6.38485296e-04 9.99810664e-01 4.30146302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18275509600002 meters 0.026524809845916517 Centerline is valid? [True, True] Translation: X:112.46, Y:142.71, Z:4.30 [[-6.68273662e-01 -7.43799930e-01 1.31140010e-02 1.12462674e+02] [ 7.43635320e-01 -6.68401939e-01 -1.56639433e-02 1.42707071e+02] [ 2.04162636e-02 -7.15766447e-04 9.99791310e-01 4.30137642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21275509600002 meters 0.026801621013758794 Centerline is valid? [True, True] Translation: X:112.44, Y:142.73, Z:4.30 [[-6.69115763e-01 -7.43039902e-01 1.32589363e-02 1.12444556e+02] [ 7.42871699e-01 -6.69246708e-01 -1.58266332e-02 1.42729108e+02] [ 2.06333194e-02 -7.40161227e-04 9.99786836e-01 4.30176450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24275509600002 meters 0.0273976579259471 Centerline is valid? [True, True] Translation: X:112.43, Y:142.75, Z:4.30 [[-6.70001694e-01 -7.42226198e-01 1.40713232e-02 1.12427365e+02] [ 7.42036826e-01 -6.70148957e-01 -1.67846445e-02 1.42749968e+02] [ 2.18878855e-02 -8.04300195e-04 9.99760108e-01 4.30158486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27275509600003 meters 0.0273976579259471 Centerline is valid? [True, True] Translation: X:112.41, Y:142.77, Z:4.30 [[-6.70267366e-01 -7.41986177e-01 1.40773366e-02 1.12410014e+02] [ 7.41796858e-01 -6.70414698e-01 -1.67795998e-02 1.42770340e+02] [ 2.18878845e-02 -8.04294134e-04 9.99760108e-01 4.30208409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30275509600003 meters 0.02711725207875255 Centerline is valid? [True, True] Translation: X:112.39, Y:142.79, Z:4.30 [[-6.70158687e-01 -7.42074322e-01 1.45956954e-02 1.12390899e+02] [ 7.41871119e-01 -6.70317107e-01 -1.73844284e-02 1.42789915e+02] [ 2.26842822e-02 -8.22200884e-04 9.99742340e-01 4.30158667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33275509600003 meters 0.026915478845676497 Centerline is valid? [True, True] Translation: X:112.37, Y:142.81, Z:4.30 [[-6.69897514e-01 -7.42300244e-01 1.50886706e-02 1.12372895e+02] [ 7.42083453e-01 -6.70066902e-01 -1.79581491e-02 1.42809765e+02] [ 2.34407572e-02 -8.33066692e-04 9.99724881e-01 4.30191124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36275509600003 meters 0.026915170118520786 Centerline is valid? [True, True] Translation: X:112.36, Y:142.83, Z:4.30 [[-6.69142772e-01 -7.42983345e-01 1.49565803e-02 1.12355217e+02] [ 7.42770801e-01 -6.69309435e-01 -1.77881294e-02 1.42829918e+02] [ 2.32268642e-02 -7.93487118e-04 9.99729905e-01 4.30250570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39275509600003 meters 0.026515387302483127 Centerline is valid? [True, True] Translation: X:112.34, Y:142.85, Z:4.30 [[-6.68849864e-01 -7.43252660e-01 1.46745845e-02 1.12338054e+02] [ 7.43048407e-01 -6.69010392e-01 -1.74401776e-02 1.42849440e+02] [ 2.27799079e-02 -7.60933837e-04 9.99740215e-01 4.30354720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.422755096 meters 0.02651577828974269 Centerline is valid? [True, True] Translation: X:112.32, Y:142.87, Z:4.30 [[-6.68647425e-01 -7.43442091e-01 1.42996254e-02 1.12321150e+02] [ 7.43248479e-01 -6.68799918e-01 -1.69813952e-02 1.42869501e+02] [ 2.21882723e-02 -7.26391334e-04 9.99753546e-01 4.30438676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.452755096 meters 0.02692330285144355 Centerline is valid? [True, True] Translation: X:112.31, Y:142.89, Z:4.31 [[-6.68312981e-01 -7.43750103e-01 1.39119740e-02 1.12305359e+02] [ 7.43567191e-01 -6.68457411e-01 -1.65082385e-02 1.42889293e+02] [ 2.15775663e-02 -6.88182647e-04 9.99766940e-01 4.30629026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.482755096 meters 0.026294729785756258 Centerline is valid? [True, True] Translation: X:112.29, Y:142.91, Z:4.31 [[-6.68362633e-01 -7.43714332e-01 1.34306885e-02 1.12287578e+02] [ 7.43544114e-01 -6.68497241e-01 -1.59244790e-02 1.42908427e+02] [ 2.08216415e-02 -6.57017336e-04 9.99782990e-01 4.30755309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.512755096 meters 0.0267814868912735 Centerline is valid? [True, True] Translation: X:112.27, Y:142.93, Z:4.31 [[-6.68390805e-01 -7.43695677e-01 1.30564852e-02 1.12271511e+02] [ 7.43535048e-01 -6.68518019e-01 -1.54690325e-02 1.42928369e+02] [ 2.02327483e-02 -6.31404720e-04 9.99795098e-01 4.30936786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.542755096 meters 0.0267631083868193 Centerline is valid? [True, True] Translation: X:112.25, Y:142.95, Z:4.31 [[-6.68576292e-01 -7.43534233e-01 1.27509318e-02 1.12254157e+02] [ 7.43381240e-01 -6.68697591e-01 -1.50951658e-02 1.42948815e+02] [ 1.97502899e-02 -6.13466473e-04 9.99804756e-01 4.31030344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.572755096 meters 0.026686189899650426 Centerline is valid? [True, True] Translation: X:112.24, Y:142.97, Z:4.31 [[-6.68658192e-01 -7.43460604e-01 1.27495901e-02 1.12237107e+02] [ 7.43307856e-01 -6.68779456e-01 -1.50821356e-02 1.42968836e+02] [ 1.97396376e-02 -6.07923046e-04 9.99804970e-01 4.31122405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.602755096 meters 0.026768127585682387 Centerline is valid? [True, True] Translation: X:112.22, Y:142.99, Z:4.31 [[-6.68809580e-01 -7.43324172e-01 1.27640325e-02 1.12219877e+02] [ 7.43171279e-01 -6.68931094e-01 -1.50877936e-02 1.42989187e+02] [ 1.97533799e-02 -6.04998541e-04 9.99804700e-01 4.31170677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.632755096 meters 0.027174080871903213 Centerline is valid? [True, True] Translation: X:112.20, Y:143.01, Z:4.31 [[-6.68723901e-01 -7.43400983e-01 1.27798165e-02 1.12204011e+02] [ 7.43247950e-01 -6.68845740e-01 -1.50950493e-02 1.43009236e+02] [ 1.97694003e-02 -5.95847873e-04 9.99804389e-01 4.31226613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.662755096 meters 0.026816279475128563 Centerline is valid? [True, True] Translation: X:112.19, Y:143.03, Z:4.31 [[-6.69016331e-01 -7.43135103e-01 1.29370707e-02 1.12186095e+02] [ 7.42978473e-01 -6.69141132e-01 -1.52687240e-02 1.43029199e+02] [ 2.00034509e-02 -6.03060709e-04 9.99799729e-01 4.31240330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.692755096 meters 0.02567509337237843 Centerline is valid? [True, True] Translation: X:112.17, Y:143.05, Z:4.31 [[-6.69539236e-01 -7.42652387e-01 1.35883790e-02 1.12167866e+02] [ 7.42479752e-01 -6.69676804e-01 -1.60248453e-02 1.43048484e+02] [ 2.10007119e-02 -6.40166363e-04 9.99779256e-01 4.31227677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72275509600001 meters 0.024849321360671903 Centerline is valid? [True, True] Translation: X:112.15, Y:143.07, Z:4.31 [[-6.70082589e-01 -7.42159329e-01 1.37424383e-02 1.12149569e+02] [ 7.41982921e-01 -6.70223173e-01 -1.61939177e-02 1.43068791e+02] [ 2.12289677e-02 -6.54607764e-04 9.99774426e-01 4.31273518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75275509600002 meters 0.028582851168534297 Centerline is valid? [True, True] Translation: X:112.14, Y:143.09, Z:4.31 [[-6.70652283e-01 -7.41642278e-01 1.38653161e-02 1.12137552e+02] [ 7.41462846e-01 -6.70795262e-01 -1.63267848e-02 1.43092750e+02] [ 2.14094222e-02 -6.68978713e-04 9.99770568e-01 4.31269438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78275509600002 meters 0.029388890506587332 Centerline is valid? [True, True] Translation: X:112.12, Y:143.11, Z:4.31 [[-6.71450965e-01 -7.40918845e-01 1.38876684e-02 1.12122482e+02] [ 7.40738936e-01 -6.71594220e-01 -1.63411101e-02 1.43112846e+02] [ 2.14343142e-02 -6.85117404e-04 9.99770024e-01 4.31322211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81275509600002 meters 0.02643414772651979 Centerline is valid? [True, True] Translation: X:112.10, Y:143.13, Z:4.31 [[-6.72897829e-01 -7.39590618e-01 1.46365416e-02 1.12101773e+02] [ 7.39390716e-01 -6.73056566e-01 -1.72112954e-02 1.43131270e+02] [ 2.25805331e-02 -7.59320351e-04 9.99744739e-01 4.31366758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84275509600002 meters 0.02576120256508745 Centerline is valid? [True, True] Translation: X:112.08, Y:143.15, Z:4.31 [[-6.73625153e-01 -7.38929409e-01 1.45767994e-02 1.12083528e+02] [ 7.38731253e-01 -6.73782410e-01 -1.71289177e-02 1.43151934e+02] [ 2.24786520e-02 -7.70132496e-04 9.99747027e-01 4.31461628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87275509600002 meters 0.0270404734949329 Centerline is valid? [True, True] Translation: X:112.07, Y:143.17, Z:4.32 [[-6.74588123e-01 -7.38049481e-01 1.46228928e-02 1.12068530e+02] [ 7.37850132e-01 -6.74746126e-01 -1.71711456e-02 1.43173015e+02] [ 2.25398953e-02 -7.93947447e-04 9.99745629e-01 4.31517907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90275509600002 meters 0.02728323392529833 Centerline is valid? [True, True] Translation: X:112.05, Y:143.19, Z:4.32 [[-6.76071732e-01 -7.36693126e-01 1.45000843e-02 1.12051914e+02] [ 7.36497066e-01 -6.76226707e-01 -1.70150510e-02 1.43194711e+02] [ 2.23402153e-02 -8.24125450e-04 9.99750087e-01 4.31642257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93275509600002 meters 0.029786645892549538 Centerline is valid? [True, True] Translation: X:112.04, Y:143.22, Z:4.32 [[-6.76723537e-01 -7.36086797e-01 1.48822860e-02 1.12037965e+02] [ 7.35880400e-01 -6.76886617e-01 -1.74512080e-02 1.43217469e+02] [ 2.29192240e-02 -8.58060622e-04 9.99736952e-01 4.31659098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96275509600002 meters 0.02847417513159407 Centerline is valid? [True, True] Translation: X:112.02, Y:143.24, Z:4.32 [[-6.76837074e-01 -7.35975076e-01 1.52401836e-02 1.12019620e+02] [ 7.35758861e-01 -6.77008066e-01 -1.78599268e-02 1.43237185e+02] [ 2.34621882e-02 -8.75160437e-04 9.99724342e-01 4.31692090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99275509600002 meters 0.026921507455820008 Centerline is valid? [True, True] Translation: X:112.00, Y:143.26, Z:4.32 [[-6.76675634e-01 -7.36110446e-01 1.58586682e-02 1.12000296e+02] [ 7.35876719e-01 -6.76860849e-01 -1.85700483e-02 1.43256422e+02] [ 2.44037181e-02 -8.95874449e-04 9.99701784e-01 4.31729378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02275509600003 meters 0.02640708333252547 Centerline is valid? [True, True] Translation: X:111.98, Y:143.28, Z:4.32 [[-6.76223152e-01 -7.36516502e-01 1.63000235e-02 1.11981962e+02] [ 7.36270053e-01 -6.76418982e-01 -1.90727779e-02 1.43276882e+02] [ 2.50730610e-02 -8.96234867e-04 9.99685220e-01 4.31718236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05275509600003 meters 0.02478758922270955 Centerline is valid? [True, True] Translation: X:111.96, Y:143.30, Z:4.32 [[-6.74590759e-01 -7.38000039e-01 1.68300205e-02 1.11962240e+02] [ 7.37738127e-01 -6.74800122e-01 -1.96787034e-02 1.43297110e+02] [ 2.58797838e-02 -8.58923667e-04 9.99664693e-01 4.31743694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08275509600003 meters 0.024674968416844998 Centerline is valid? [True, True] Translation: X:111.94, Y:143.32, Z:4.32 [[-6.73811568e-01 -7.38705773e-01 1.70807469e-02 1.11944990e+02] [ 7.38436570e-01 -6.74027509e-01 -1.99586855e-02 1.43317655e+02] [ 2.62564895e-02 -8.35345021e-04 9.99654890e-01 4.31767389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11275509600003 meters 0.02421923346001047 Centerline is valid? [True, True] Translation: X:111.93, Y:143.34, Z:4.32 [[-6.73075086e-01 -7.39373518e-01 1.72258360e-02 1.11926830e+02] [ 7.39100299e-01 -6.73294994e-01 -2.01146281e-02 1.43337963e+02] [ 2.64702925e-02 -8.07034468e-04 9.99649275e-01 4.31820386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14275509600003 meters 0.024143606912509434 Centerline is valid? [True, True] Translation: X:111.91, Y:143.36, Z:4.32 [[-6.71291311e-01 -7.40996823e-01 1.70787646e-02 1.11909901e+02] [ 7.40729153e-01 -6.71508139e-01 -1.99284254e-02 1.43357866e+02] [ 2.62354294e-02 -7.27039999e-04 9.99655528e-01 4.31817669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.172755096 meters 0.02257332680588619 Centerline is valid? [True, True] Translation: X:111.89, Y:143.38, Z:4.32 [[-6.70331220e-01 -7.41860487e-01 1.72937274e-02 1.11891115e+02] [ 7.41586722e-01 -6.70553905e-01 -2.01641819e-02 1.43378020e+02] [ 2.65553863e-02 -6.91882038e-04 9.99647104e-01 4.31978761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.202755096 meters 0.021506424871738223 Centerline is valid? [True, True] Translation: X:111.87, Y:143.40, Z:4.32 [[-6.69572455e-01 -7.42551290e-01 1.70384631e-02 1.11872355e+02] [ 7.42286139e-01 -6.69788896e-01 -1.98524961e-02 1.43397611e+02] [ 2.61536700e-02 -6.45269538e-04 9.99657726e-01 4.32099723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.232755096 meters 0.02058559980905613 Centerline is valid? [True, True] Translation: X:111.85, Y:143.42, Z:4.32 [[-6.68242247e-01 -7.43750769e-01 1.69438439e-02 1.11854044e+02] [ 7.43489300e-01 -6.68456768e-01 -1.97284177e-02 1.43418783e+02] [ 2.59992530e-02 -5.85795577e-04 9.99661791e-01 4.32197267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.262755096 meters 0.02026778107169525 Centerline is valid? [True, True] Translation: X:111.84, Y:143.44, Z:4.32 [[-6.68115352e-01 -7.43869920e-01 1.67158119e-02 1.11836717e+02] [ 7.43615810e-01 -6.68324190e-01 -1.94500153e-02 1.43439210e+02] [ 2.56398628e-02 -5.64711823e-04 9.99671085e-01 4.32264461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.292755096 meters 0.019954629300025624 Centerline is valid? [True, True] Translation: X:111.82, Y:143.46, Z:4.32 [[-6.68155421e-01 -7.43830504e-01 1.68675751e-02 1.11819674e+02] [ 7.43572119e-01 -6.68368062e-01 -1.96121904e-02 1.43460985e+02] [ 2.58618939e-02 -5.61732793e-04 9.99665367e-01 4.32369709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.322755096 meters 0.020263538717121988 Centerline is valid? [True, True] Translation: X:111.80, Y:143.48, Z:4.32 [[-6.68511228e-01 -7.43516185e-01 1.66259154e-02 1.11803980e+02] [ 7.43265416e-01 -6.68717708e-01 -1.93170355e-02 1.43481470e+02] [ 2.54805726e-02 -5.56187162e-04 9.99675163e-01 4.32403935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.352755096 meters 0.020486770639927866 Centerline is valid? [True, True] Translation: X:111.79, Y:143.50, Z:4.32 [[-6.69171877e-01 -7.42926779e-01 1.63951403e-02 1.11787290e+02] [ 7.42683104e-01 -6.69372457e-01 -1.90347071e-02 1.43502733e+02] [ 2.51158490e-02 -5.61096994e-04 9.99684390e-01 4.32492395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.382755096 meters 0.02115417654022671 Centerline is valid? [True, True] Translation: X:111.77, Y:143.52, Z:4.33 [[-6.70328121e-01 -7.41890811e-01 1.60696912e-02 1.11772748e+02] [ 7.41656747e-01 -6.70520461e-01 -1.86435178e-02 1.43524492e+02] [ 2.46065113e-02 -5.79079359e-04 9.99697046e-01 4.32613680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.412755096 meters 0.02134869753620617 Centerline is valid? [True, True] Translation: X:111.76, Y:143.55, Z:4.33 [[-6.71327592e-01 -7.40998038e-01 1.55297479e-02 1.11756012e+02] [ 7.40779512e-01 -6.71506939e-01 -1.80040585e-02 1.43545627e+02] [ 2.37693055e-02 -5.82502161e-04 9.99717300e-01 4.32697185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.442755096 meters 0.021611167335487895 Centerline is valid? [True, True] Translation: X:111.74, Y:143.57, Z:4.33 [[-6.72185649e-01 -7.40218502e-01 1.55892083e-02 1.11739311e+02] [ 7.39998399e-01 -6.72366124e-01 -1.80600297e-02 1.43567035e+02] [ 2.38500237e-02 -6.03703601e-04 9.99715365e-01 4.32770530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47275509600001 meters 0.023020161260399314 Centerline is valid? [True, True] Translation: X:111.73, Y:143.59, Z:4.33 [[-6.73875051e-01 -7.38684730e-01 1.54040691e-02 1.11725473e+02] [ 7.38469711e-01 -6.74050783e-01 -1.78333545e-02 1.43589215e+02] [ 2.35563515e-02 -6.42014277e-04 9.99722305e-01 4.32776791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50275509600002 meters 0.023132124113361362 Centerline is valid? [True, True] Translation: X:111.71, Y:143.61, Z:4.33 [[-6.74781196e-01 -7.37850398e-01 1.57203054e-02 1.11708171e+02] [ 7.37626507e-01 -6.74963948e-01 -1.81880527e-02 1.43610026e+02] [ 2.40307014e-02 -6.77242005e-04 9.99710992e-01 4.32794758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53275509600002 meters 0.02561968873869319 Centerline is valid? [True, True] Translation: X:111.69, Y:143.63, Z:4.33 [[-6.75730138e-01 -7.36974621e-01 1.60370952e-02 1.11693910e+02] [ 7.36741698e-01 -6.75920038e-01 -1.85410876e-02 1.43632207e+02] [ 2.45041050e-02 -7.13574903e-04 9.99699475e-01 4.32584283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56275509600002 meters 0.02348143775897107 Centerline is valid? [True, True] Translation: X:111.67, Y:143.65, Z:4.33 [[-6.75752835e-01 -7.36949808e-01 1.62199612e-02 1.11674875e+02] [ 7.36711878e-01 -6.75947093e-01 -1.87386431e-02 1.43652329e+02] [ 2.47732750e-02 -7.13253108e-04 9.99692841e-01 4.32771973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59275509600002 meters 0.02258755986674276 Centerline is valid? [True, True] Translation: X:111.66, Y:143.67, Z:4.33 [[-6.75677615e-01 -7.37014523e-01 1.64119582e-02 1.11656371e+02] [ 7.36771287e-01 -6.75876533e-01 -1.89468426e-02 1.43672024e+02] [ 2.50565555e-02 -7.10097824e-04 9.99685783e-01 4.32808058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62275509600002 meters 0.02258755986674276 Centerline is valid? [True, True] Translation: X:111.64, Y:143.69, Z:4.33 [[-6.75941560e-01 -7.36772307e-01 1.64187481e-02 1.11638693e+02] [ 7.36529142e-01 -6.76140565e-01 -1.89409573e-02 1.43692114e+02] [ 2.50565545e-02 -7.10093774e-04 9.99685783e-01 4.32857969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65275509600002 meters 0.022582604969572775 Centerline is valid? [True, True] Translation: X:111.62, Y:143.71, Z:4.33 [[-6.75659298e-01 -7.37031710e-01 1.63942854e-02 1.11621515e+02] [ 7.36789691e-01 -6.75857813e-01 -1.88989106e-02 1.43712106e+02] [ 2.50093022e-02 -6.90084172e-04 9.99686980e-01 4.32846117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68275509600002 meters 0.022956134861143347 Centerline is valid? [True, True] Translation: X:111.60, Y:143.73, Z:4.33 [[-6.74367163e-01 -7.38194307e-01 1.72654015e-02 1.11604901e+02] [ 7.37926671e-01 -6.74587811e-01 -1.98875263e-02 1.43732860e+02] [ 2.63278881e-02 -6.70894481e-04 9.99653136e-01 4.32699750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71275509600002 meters 0.021770564713653028 Centerline is valid? [True, True] Translation: X:111.59, Y:143.75, Z:4.33 [[-6.73570817e-01 -7.38911992e-01 1.76471826e-02 1.11586039e+02] [ 7.38633045e-01 -6.73801640e-01 -2.03119139e-02 1.43752113e+02] [ 2.68994173e-02 -6.46720218e-04 9.99637936e-01 4.32708638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74275509600002 meters 0.02229829826512808 Centerline is valid? [True, True] Translation: X:111.57, Y:143.77, Z:4.33 [[-6.72494635e-01 -7.39881531e-01 1.80634113e-02 1.11570336e+02] [ 7.39590024e-01 -6.72736906e-01 -2.07762324e-02 1.43771859e+02] [ 2.75238741e-02 -6.12386021e-04 9.99620959e-01 4.32630023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77275509600003 meters 0.020442241745360922 Centerline is valid? [True, True] Translation: X:111.55, Y:143.79, Z:4.33 [[-6.70131373e-01 -7.42011135e-01 1.85315565e-02 1.11550541e+02] [ 7.41705510e-01 -6.70387347e-01 -2.13012114e-02 1.43791439e+02] [ 2.82290570e-02 -5.29652480e-04 9.99601340e-01 4.32651512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80275509600003 meters 0.0191677923311667 Centerline is valid? [True, True] Translation: X:111.53, Y:143.81, Z:4.33 [[-6.69287343e-01 -7.42775005e-01 1.84321827e-02 1.11531929e+02] [ 7.42473340e-01 -6.69540930e-01 -2.11726833e-02 1.43810200e+02] [ 2.80676407e-02 -4.85204684e-04 9.99605908e-01 4.32768754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83275509600003 meters 0.018167650778216474 Centerline is valid? [True, True] Translation: X:111.51, Y:143.83, Z:4.33 [[-6.67482320e-01 -7.44400903e-01 1.82933850e-02 1.11513210e+02] [ 7.44104805e-01 -6.67732831e-01 -2.09977485e-02 1.43829698e+02] [ 2.78458367e-02 -4.03430168e-04 9.99612148e-01 4.32836946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86275509600003 meters 0.018894332749270357 Centerline is valid? [True, True] Translation: X:111.50, Y:143.85, Z:4.33 [[-6.66909606e-01 -7.44909563e-01 1.84748381e-02 1.11496353e+02] [ 7.44608153e-01 -6.67165348e-01 -2.11919354e-02 1.43849129e+02] [ 2.81118471e-02 -3.76590218e-04 9.99604713e-01 4.32742864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89275509600003 meters 0.017353584735945792 Centerline is valid? [True, True] Translation: X:111.48, Y:143.87, Z:4.33 [[-6.66448576e-01 -7.45324599e-01 1.83721987e-02 1.11478250e+02] [ 7.45027075e-01 -6.66701673e-01 -2.10603116e-02 1.43868207e+02] [ 2.79455439e-02 -3.47829202e-04 9.99609387e-01 4.32955271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.922755096 meters 0.01720290992749928 Centerline is valid? [True, True] Translation: X:111.46, Y:143.89, Z:4.33 [[-6.66508066e-01 -7.45280394e-01 1.80036824e-02 1.11460743e+02] [ 7.44995103e-01 -6.66751096e-01 -2.06221253e-02 1.43888493e+02] [ 2.73732407e-02 -3.32157611e-04 9.99625227e-01 4.33033816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.952755096 meters 0.016692177059363985 Centerline is valid? [True, True] Translation: X:111.44, Y:143.91, Z:4.33 [[-6.66733776e-01 -7.45083666e-01 1.77877006e-02 1.11443647e+02] [ 7.44805526e-01 -6.66970932e-01 -2.03593809e-02 1.43909289e+02] [ 2.70333214e-02 -3.25909234e-04 9.99634480e-01 4.33232841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.982755096 meters 0.016728594803317533 Centerline is valid? [True, True] Translation: X:111.43, Y:143.93, Z:4.33 [[-6.66981923e-01 -7.44871520e-01 1.73647230e-02 1.11426636e+02] [ 7.44606753e-01 -6.67207852e-01 -1.98611463e-02 1.43930203e+02] [ 2.63798818e-02 -3.17135526e-04 9.99651940e-01 4.33331226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.012755096 meters 0.016938458863747365 Centerline is valid? [True, True] Translation: X:111.41, Y:143.95, Z:4.34 [[-6.67745260e-01 -7.44203026e-01 1.66770508e-02 1.11410982e+02] [ 7.43958950e-01 -6.67953406e-01 -1.90611459e-02 1.43951414e+02] [ 2.53248554e-02 -3.20948631e-04 9.99679223e-01 4.33528146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.042755096 meters 0.017129592715828108 Centerline is valid? [True, True] Translation: X:111.39, Y:143.97, Z:4.34 [[-6.68441791e-01 -7.43578637e-01 1.66247571e-02 1.11393419e+02] [ 7.43336251e-01 -6.68648412e-01 -1.89873283e-02 1.43972479e+02] [ 2.52346892e-02 -3.34139135e-04 9.99681499e-01 4.33608554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.072755096 meters 0.01698290256661177 Centerline is valid? [True, True] Translation: X:111.38, Y:143.99, Z:4.34 [[-6.68818270e-01 -7.43236435e-01 1.67846127e-02 1.11375617e+02] [ 7.42989608e-01 -6.69028762e-01 -1.91561235e-02 1.43993482e+02] [ 2.54669176e-02 -3.41172525e-04 9.99675607e-01 4.33681094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.102755096 meters 0.019921709185475516 Centerline is valid? [True, True] Translation: X:111.36, Y:144.02, Z:4.33 [[-6.70316783e-01 -7.41874270e-01 1.72620135e-02 1.11359170e+02] [ 7.41613116e-01 -6.70538896e-01 -1.96869198e-02 1.44016140e+02] [ 2.61800708e-02 -3.94737157e-04 9.99657165e-01 4.33471830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.132755096 meters 0.017599182824573796 Centerline is valid? [True, True] Translation: X:111.34, Y:144.04, Z:4.34 [[-6.70870950e-01 -7.41383568e-01 1.68099345e-02 1.11341243e+02] [ 7.41136078e-01 -6.71081403e-01 -1.91589022e-02 1.44037235e+02] [ 2.54849297e-02 -3.94702006e-04 9.99675129e-01 4.33742958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.162755096 meters 0.018162250444840294 Centerline is valid? [True, True] Translation: X:111.32, Y:144.06, Z:4.34 [[-6.71949179e-01 -7.40409648e-01 1.66689860e-02 1.11324513e+02] [ 7.40166339e-01 -6.72155770e-01 -1.89845187e-02 1.44057449e+02] [ 2.52604759e-02 -4.18809412e-04 9.99680816e-01 4.33780882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.192755096 meters 0.018175843573934626 Centerline is valid? [True, True] Translation: X:111.31, Y:144.08, Z:4.34 [[-6.72159694e-01 -7.40226656e-01 1.63046940e-02 1.11307180e+02] [ 7.39994161e-01 -6.72357295e-01 -1.85555909e-02 1.44076111e+02] [ 2.46979230e-02 -4.06942009e-04 9.99694877e-01 4.33877005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22275509600001 meters 0.018296383450699463 Centerline is valid? [True, True] Translation: X:111.29, Y:144.10, Z:4.34 [[-6.72400673e-01 -7.40004915e-01 1.64335271e-02 1.11289130e+02] [ 7.39769041e-01 -6.72601337e-01 -1.86870620e-02 1.44095888e+02] [ 2.48817301e-02 -4.08178429e-04 9.99690319e-01 4.33933674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25275509600002 meters 0.01824362748373993 Centerline is valid? [True, True] Translation: X:111.27, Y:144.12, Z:4.34 [[-6.72615812e-01 -7.39803395e-01 1.67005224e-02 1.11270902e+02] [ 7.39560105e-01 -6.72822984e-01 -1.89758732e-02 1.44115097e+02] [ 2.52749107e-02 -4.12432279e-04 9.99680453e-01 4.33954989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28275509600002 meters 0.01964459189685138 Centerline is valid? [True, True] Translation: X:111.25, Y:144.13, Z:4.34 [[-6.72593865e-01 -7.39808045e-01 1.73651724e-02 1.11252281e+02] [ 7.39545415e-01 -6.72817867e-01 -1.97154365e-02 1.44134217e+02] [ 2.62692368e-02 -4.18148035e-04 9.99654817e-01 4.33790841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31275509600002 meters 0.02031834644034607 Centerline is valid? [True, True] Translation: X:111.23, Y:144.15, Z:4.34 [[-6.72959135e-01 -7.39470155e-01 1.76037403e-02 1.11233651e+02] [ 7.39200547e-01 -6.73189206e-01 -1.99710706e-02 1.44153816e+02] [ 2.66186587e-02 -4.27019978e-04 9.99645570e-01 4.33772848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34275509600002 meters 0.018374559879003032 Centerline is valid? [True, True] Translation: X:111.22, Y:144.17, Z:4.34 [[-6.73005445e-01 -7.39430930e-01 1.74805838e-02 1.11217428e+02] [ 7.39165458e-01 -6.73232298e-01 -1.98166239e-02 1.44173357e+02] [ 2.64215182e-02 -4.15652109e-04 9.99650804e-01 4.33999875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37275509600002 meters 0.02033363054322775 Centerline is valid? [True, True] Translation: X:111.20, Y:144.19, Z:4.34 [[-6.73667266e-01 -7.38805146e-01 1.84220287e-02 1.11200034e+02] [ 7.38510545e-01 -6.73918950e-01 -2.08668004e-02 1.44192838e+02] [ 2.78314537e-02 -4.52417898e-04 9.99612528e-01 4.33731438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40275509600002 meters 0.019062625213001592 Centerline is valid? [True, True] Translation: X:111.18, Y:144.21, Z:4.34 [[-6.73870812e-01 -7.38623221e-01 1.82720139e-02 1.11182553e+02] [ 7.38333715e-01 -6.74118341e-01 -2.06830259e-02 1.44211491e+02] [ 2.75944629e-02 -4.46843537e-04 9.99619100e-01 4.33860956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43275509600002 meters 0.018364951210796728 Centerline is valid? [True, True] Translation: X:111.16, Y:144.23, Z:4.34 [[-6.74898954e-01 -7.37677582e-01 1.85253137e-02 1.11162109e+02] [ 7.37380010e-01 -6.75152984e-01 -2.09563800e-02 1.44230121e+02] [ 2.79664726e-02 -4.83242926e-04 9.99608745e-01 4.34000546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46275509600002 meters 0.020110858198639062 Centerline is valid? [True, True] Translation: X:111.15, Y:144.25, Z:4.34 [[-6.75716276e-01 -7.36933069e-01 1.83620936e-02 1.11146368e+02] [ 7.36640856e-01 -6.75965533e-01 -2.07568537e-02 1.44250884e+02] [ 2.77085543e-02 -4.99475553e-04 9.99615920e-01 4.33933335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49275509600002 meters 0.020589581411029487 Centerline is valid? [True, True] Translation: X:111.13, Y:144.27, Z:4.34 [[-6.76612479e-01 -7.36111221e-01 1.83254795e-02 1.11128480e+02] [ 7.35820292e-01 -6.76860398e-01 -2.07002265e-02 1.44270609e+02] [ 2.76414603e-02 -5.21771932e-04 9.99617766e-01 4.33973716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52275509600003 meters 0.020775649521934673 Centerline is valid? [True, True] Translation: X:111.11, Y:144.29, Z:4.34 [[-6.77606963e-01 -7.35195131e-01 1.83554604e-02 1.11108285e+02] [ 7.34903326e-01 -6.77855306e-01 -2.07191829e-02 1.44288951e+02] [ 2.76749886e-02 -5.49973662e-04 9.99616823e-01 4.34040802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55275509600003 meters 0.019660867913023333 Centerline is valid? [True, True] Translation: X:111.09, Y:144.31, Z:4.34 [[-6.79160692e-01 -7.33785506e-01 1.73085234e-02 1.11088811e+02] [ 7.33525923e-01 -6.79380978e-01 -1.95245191e-02 1.44309057e+02] [ 2.60858906e-02 -5.64035296e-04 9.99659546e-01 4.34377016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58275509600003 meters 0.022106026263753846 Centerline is valid? [True, True] Translation: X:111.07, Y:144.33, Z:4.34 [[-6.79893583e-01 -7.33110471e-01 1.71392429e-02 1.11073748e+02] [ 7.32856060e-01 -6.80109334e-01 -1.93206903e-02 1.44330692e+02] [ 2.58207595e-02 -5.75415322e-04 9.99666423e-01 4.34324623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61275509600003 meters 0.02272411909649737 Centerline is valid? [True, True] Translation: X:111.05, Y:144.35, Z:4.34 [[-6.81451637e-01 -7.31655298e-01 1.74410676e-02 1.11053767e+02] [ 7.31391755e-01 -6.81674501e-01 -1.96462614e-02 1.44349066e+02] [ 2.62634223e-02 -6.31723930e-04 9.99654857e-01 4.34307523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64275509600003 meters 0.02107830626212857 Centerline is valid? [True, True] Translation: X:111.03, Y:144.37, Z:4.35 [[-6.81705762e-01 -7.31431106e-01 1.69053372e-02 1.11034905e+02] [ 7.31183780e-01 -6.81915070e-01 -1.90293837e-02 1.44367449e+02] [ 2.54466874e-02 -6.11532139e-04 9.99675994e-01 4.34508135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67275509600003 meters 0.021197681328851387 Centerline is valid? [True, True] Translation: X:111.02, Y:144.39, Z:4.35 [[-6.82308463e-01 -7.30870874e-01 1.68204153e-02 1.11015695e+02] [ 7.30626221e-01 -6.82515481e-01 -1.89193872e-02 1.44387303e+02] [ 2.53078229e-02 -6.19421538e-04 9.99679514e-01 4.34547897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.702755096 meters 0.02190129937557762 Centerline is valid? [True, True] Translation: X:111.00, Y:144.41, Z:4.35 [[-6.82903416e-01 -7.30318586e-01 1.66639821e-02 1.10997764e+02] [ 7.30078642e-01 -6.83106414e-01 -1.87297463e-02 1.44405130e+02] [ 2.50619549e-02 -6.24590332e-04 9.99685705e-01 4.34552602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.732755096 meters 0.021674510155931866 Centerline is valid? [True, True] Translation: X:110.98, Y:144.42, Z:4.35 [[-6.83261705e-01 -7.29987413e-01 1.64869489e-02 1.10978799e+02] [ 7.29752814e-01 -6.83460308e-01 -1.85158932e-02 1.44423853e+02] [ 2.47845442e-02 -6.19803366e-04 9.99692624e-01 4.34612027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.762755096 meters 0.025272689092753674 Centerline is valid? [True, True] Translation: X:110.96, Y:144.44, Z:4.34 [[-6.84030813e-01 -7.29246843e-01 1.73461393e-02 1.10961614e+02] [ 7.28987317e-01 -6.84250388e-01 -1.94653215e-02 1.44444280e+02] [ 2.60641268e-02 -6.69764156e-04 9.99660049e-01 4.34412788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.792755096 meters 0.022320897537254192 Centerline is valid? [True, True] Translation: X:110.94, Y:144.46, Z:4.35 [[-6.83872677e-01 -7.29429572e-01 1.58323095e-02 1.10941920e+02] [ 7.29213714e-01 -6.84055659e-01 -1.77543157e-02 1.44462084e+02] [ 2.37807038e-02 -5.96554233e-04 9.99717021e-01 4.34827763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.822755096 meters 0.02137706341175119 Centerline is valid? [True, True] Translation: X:110.92, Y:144.48, Z:4.35 [[-6.84228184e-01 -7.29103064e-01 1.55085238e-02 1.10922248e+02] [ 7.28896161e-01 -6.84403666e-01 -1.73783935e-02 1.44480386e+02] [ 2.32847305e-02 -5.86683153e-04 9.99728702e-01 4.34945785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.852755096 meters 0.021617781169848607 Centerline is valid? [True, True] Translation: X:110.90, Y:144.50, Z:4.35 [[-6.84725406e-01 -7.28639073e-01 1.53694538e-02 1.10903479e+02] [ 7.28436028e-01 -6.84897624e-01 -1.72104068e-02 1.44500141e+02] [ 2.30666773e-02 -5.88738915e-04 9.99733755e-01 4.35045124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.882755096 meters 0.022139193430861688 Centerline is valid? [True, True] Translation: X:110.89, Y:144.52, Z:4.35 [[-6.85169323e-01 -7.28220464e-01 1.54257573e-02 1.10885794e+02] [ 7.28016112e-01 -6.85342688e-01 -1.72609514e-02 1.44519542e+02] [ 2.31417081e-02 -5.96474507e-04 9.99732017e-01 4.35098436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.912755096 meters 0.021377509485676096 Centerline is valid? [True, True] Translation: X:110.87, Y:144.54, Z:4.35 [[-6.85462360e-01 -7.27943377e-01 1.54852474e-02 1.10865541e+02] [ 7.27737686e-01 -6.85636990e-01 -1.73141380e-02 1.44538464e+02] [ 2.32209706e-02 -5.98991792e-04 9.99730177e-01 4.35172730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.942755096 meters 0.023427368106705232 Centerline is valid? [True, True] Translation: X:110.85, Y:144.56, Z:4.35 [[-6.86066345e-01 -7.27353934e-01 1.64080539e-02 1.10846767e+02] [ 7.27123170e-01 -6.86262222e-01 -1.83319148e-02 1.44557130e+02] [ 2.45940179e-02 -6.46233665e-04 9.99697313e-01 4.34991140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97275509600001 meters 0.023264785789392887 Centerline is valid? [True, True] Translation: X:110.83, Y:144.58, Z:4.35 [[-6.86268243e-01 -7.27161836e-01 1.64791790e-02 1.10827920e+02] [ 7.26929349e-01 -6.86465765e-01 -1.83976885e-02 1.44576693e+02] [ 2.46904891e-02 -6.46550523e-04 9.99694934e-01 4.35022317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00275509600002 meters 0.021932732622692255 Centerline is valid? [True, True] Translation: X:110.81, Y:144.60, Z:4.35 [[-6.86275029e-01 -7.27170778e-01 1.57874643e-02 1.10809874e+02] [ 7.26957696e-01 -6.86456326e-01 -1.76131177e-02 1.44595684e+02] [ 2.36451492e-02 -6.10624193e-04 9.99720228e-01 4.35211115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03275509600002 meters 0.02160538442529233 Centerline is valid? [True, True] Translation: X:110.79, Y:144.61, Z:4.35 [[-6.86018527e-01 -7.27403169e-01 1.62237355e-02 1.10791054e+02] [ 7.27178562e-01 -6.86210068e-01 -1.80853918e-02 1.44614406e+02] [ 2.42882619e-02 -6.09361200e-04 9.99704811e-01 4.35199331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06275509600002 meters 0.020928298551158936 Centerline is valid? [True, True] Translation: X:110.77, Y:144.63, Z:4.35 [[-6.85709856e-01 -7.27686771e-01 1.65516165e-02 1.10771429e+02] [ 7.27453431e-01 -6.85909324e-01 -1.84365020e-02 1.44633883e+02] [ 2.47689067e-02 -6.01560958e-04 9.99693023e-01 4.35242785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09275509600002 meters 0.020023692158755865 Centerline is valid? [True, True] Translation: X:110.75, Y:144.65, Z:4.35 [[-6.84523403e-01 -7.28786958e-01 1.72418253e-02 1.10751622e+02] [ 7.28534464e-01 -6.84740271e-01 -1.91910648e-02 1.44652591e+02] [ 2.57923699e-02 -5.75469066e-04 9.99667156e-01 4.35216682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12275509600002 meters 0.021794273056309228 Centerline is valid? [True, True] Translation: X:110.74, Y:144.67, Z:4.35 [[-6.84137454e-01 -7.29140412e-01 1.76126224e-02 1.10735302e+02] [ 7.28877438e-01 -6.84363896e-01 -1.95892698e-02 1.44673864e+02] [ 2.63367712e-02 -5.64310072e-04 9.99652968e-01 4.35109075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15275509600002 meters 0.020447505652734906 Centerline is valid? [True, True] Translation: X:110.71, Y:144.69, Z:4.35 [[-6.83568207e-01 -7.29665355e-01 1.79715335e-02 1.10714873e+02] [ 7.29392142e-01 -6.83804192e-01 -1.99732337e-02 1.44691429e+02] [ 2.68627866e-02 -5.44772248e-04 9.99638982e-01 4.35198398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18275509600002 meters 0.02201590256229774 Centerline is valid? [True, True] Translation: X:110.69, Y:144.71, Z:4.35 [[-6.82726404e-01 -7.30438482e-01 1.85548298e-02 1.10694698e+02] [ 7.30147969e-01 -6.82978297e-01 -2.06055518e-02 1.44708718e+02] [ 2.77236341e-02 -5.20182974e-04 9.99615491e-01 4.35039163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21275509600002 meters 0.01793933143980766 Centerline is valid? [True, True] Translation: X:110.67, Y:144.73, Z:4.35 [[-6.82020128e-01 -7.31126253e-01 1.74053895e-02 1.10673668e+02] [ 7.30871200e-01 -6.82242038e-01 -1.93155588e-02 1.44727603e+02] [ 2.59968005e-02 -4.52501983e-04 9.99661924e-01 4.35486701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24275509600002 meters 0.018492955945679485 Centerline is valid? [True, True] Translation: X:110.66, Y:144.75, Z:4.36 [[-6.81937622e-01 -7.31202963e-01 1.74157177e-02 1.10656315e+02] [ 7.30947974e-01 -6.82159830e-01 -1.93138970e-02 1.44747923e+02] [ 2.60026817e-02 -4.40889401e-04 9.99661776e-01 4.35522709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27275509600003 meters 0.01762630814453852 Centerline is valid? [True, True] Translation: X:110.64, Y:144.77, Z:4.36 [[-6.81696099e-01 -7.31444054e-01 1.67339141e-02 1.10637261e+02] [ 7.31209053e-01 -6.81901335e-01 -1.85442783e-02 1.44767091e+02] [ 2.49749805e-02 -4.05572681e-04 9.99687994e-01 4.35688390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30275509600003 meters 0.018406765753571742 Centerline is valid? [True, True] Translation: X:110.62, Y:144.79, Z:4.36 [[-6.81881017e-01 -7.31275948e-01 1.65458797e-02 1.10621459e+02] [ 7.31046483e-01 -6.82081615e-01 -1.83223999e-02 1.44787004e+02] [ 2.46843706e-02 -3.97889511e-04 9.99695215e-01 4.35740086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33275509600003 meters 0.019540800021654495 Centerline is valid? [True, True] Translation: X:110.60, Y:144.81, Z:4.36 [[-6.82408325e-01 -7.30787806e-01 1.63725787e-02 1.10602518e+02] [ 7.30563335e-01 -6.82604587e-01 -1.81160833e-02 1.44807267e+02] [ 2.44150101e-02 -4.01360412e-04 9.99701829e-01 4.35750017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36275509600003 meters 0.017885566128112908 Centerline is valid? [True, True] Translation: X:110.59, Y:144.83, Z:4.36 [[-6.82460413e-01 -7.30754189e-01 1.56875772e-02 1.10586174e+02] [ 7.30548391e-01 -6.82640588e-01 -1.73457534e-02 1.44826180e+02] [ 2.33844589e-02 -3.77255735e-04 9.99726475e-01 4.35984893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39275509600003 meters 0.01789871497360776 Centerline is valid? [True, True] Translation: X:110.57, Y:144.85, Z:4.36 [[-6.82706720e-01 -7.30527616e-01 1.55221202e-02 1.10567386e+02] [ 7.30326395e-01 -6.82883053e-01 -1.71491484e-02 1.44845845e+02] [ 2.31277193e-02 -3.71624765e-04 9.99732449e-01 4.36040080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42275509600003 meters 0.017599781135709952 Centerline is valid? [True, True] Translation: X:110.55, Y:144.86, Z:4.36 [[-6.82560001e-01 -7.30672725e-01 1.51398359e-02 1.10550571e+02] [ 7.30481601e-01 -6.82727799e-01 -1.67147541e-02 1.44864812e+02] [ 2.25494017e-02 -3.49451026e-04 9.99745669e-01 4.36152697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.452755096 meters 0.017516423797923047 Centerline is valid? [True, True] Translation: X:110.53, Y:144.88, Z:4.36 [[-6.82559363e-01 -7.30684881e-01 1.45712295e-02 1.10533389e+02] [ 7.30508127e-01 -6.82714800e-01 -1.60741723e-02 1.44883614e+02] [ 2.16931487e-02 -3.27175259e-04 9.99764622e-01 4.36223295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.482755096 meters 0.017457967343745624 Centerline is valid? [True, True] Translation: X:110.52, Y:144.90, Z:4.36 [[-6.82694157e-01 -7.30561233e-01 1.44559234e-02 1.10515740e+02] [ 7.30387509e-01 -6.82847115e-01 -1.59343335e-02 1.44903241e+02] [ 2.15121919e-02 -3.19850471e-04 9.99768535e-01 4.36299639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.512755096 meters 0.017457967343745624 Centerline is valid? [True, True] Translation: X:110.50, Y:144.92, Z:4.36 [[-6.82970659e-01 -7.30302630e-01 1.44619579e-02 1.10498126e+02] [ 7.30128965e-01 -6.83123683e-01 -1.59288549e-02 1.44922251e+02] [ 2.15121906e-02 -3.19846189e-04 9.99768535e-01 4.36347971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.542755096 meters 0.020085945424971257 Centerline is valid? [True, True] Translation: X:110.48, Y:144.94, Z:4.36 [[-6.83434000e-01 -7.29855988e-01 1.51064316e-02 1.10481052e+02] [ 7.29666684e-01 -6.83600850e-01 -1.66255389e-02 1.44942074e+02] [ 2.24610186e-02 -3.39798705e-04 9.99747662e-01 4.36182977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.572755096 meters 0.017592677842337274 Centerline is valid? [True, True] Translation: X:110.46, Y:144.96, Z:4.36 [[-6.83190764e-01 -7.30104718e-01 1.40527815e-02 1.10464822e+02] [ 7.29941185e-01 -6.83335211e-01 -1.54549510e-02 1.44961179e+02] [ 2.08864931e-02 -3.00975801e-04 9.99781808e-01 4.36473480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.602755096 meters 0.01685941619797748 Centerline is valid? [True, True] Translation: X:110.45, Y:144.98, Z:4.37 [[-6.83407897e-01 -7.29902189e-01 1.40157239e-02 1.10445790e+02] [ 7.29739679e-01 -6.83551537e-01 -1.54044421e-02 1.44979827e+02] [ 2.08242057e-02 -2.99687566e-04 9.99783108e-01 4.36521003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.632755096 meters 0.017128249516919058 Centerline is valid? [True, True] Translation: X:110.43, Y:145.00, Z:4.36 [[-6.84024316e-01 -7.29314800e-01 1.45140691e-02 1.10430100e+02] [ 7.29140667e-01 -6.84178208e-01 -1.59395050e-02 1.44999493e+02] [ 2.15551267e-02 -3.20211009e-04 9.99767610e-01 4.36462550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.662755096 meters 0.017157604809085066 Centerline is valid? [True, True] Translation: X:110.41, Y:145.02, Z:4.36 [[-6.84593536e-01 -7.28780434e-01 1.45178937e-02 1.10411850e+02] [ 7.28606309e-01 -6.84747377e-01 -1.59335089e-02 1.45020115e+02] [ 2.15531192e-02 -3.30148210e-04 9.99767650e-01 4.36483987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.692755096 meters 0.017846426717510556 Centerline is valid? [True, True] Translation: X:110.40, Y:145.04, Z:4.36 [[-6.85190845e-01 -7.28218270e-01 1.45484785e-02 1.10395719e+02] [ 7.28043523e-01 -6.85345195e-01 -1.59559537e-02 1.45040840e+02] [ 2.15901468e-02 -3.40947820e-04 9.99766847e-01 4.36499286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72275509600001 meters 0.018233785418417574 Centerline is valid? [True, True] Translation: X:110.38, Y:145.06, Z:4.37 [[-6.85755996e-01 -7.27684539e-01 1.46262088e-02 1.10379877e+02] [ 7.27508003e-01 -6.85911866e-01 -1.60317745e-02 1.45060408e+02] [ 2.16983646e-02 -3.53201493e-04 9.99764500e-01 4.36538862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75275509600002 meters 0.01784627429554771 Centerline is valid? [True, True] Translation: X:110.36, Y:145.08, Z:4.37 [[-6.86408160e-01 -7.27070098e-01 1.45914677e-02 1.10361879e+02] [ 7.26894531e-01 -6.86563137e-01 -1.59812253e-02 1.45081245e+02] [ 2.16374349e-02 -3.63185337e-04 9.99765817e-01 4.36661415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78275509600002 meters 0.018172904712008237 Centerline is valid? [True, True] Translation: X:110.35, Y:145.10, Z:4.37 [[-6.86561949e-01 -7.26924791e-01 1.45958626e-02 1.10345779e+02] [ 7.26749335e-01 -6.86716986e-01 -1.59745360e-02 1.45100372e+02] [ 2.16355130e-02 -3.59975167e-04 9.99765860e-01 4.36705941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81275509600002 meters 0.017429769216338185 Centerline is valid? [True, True] Translation: X:110.33, Y:145.12, Z:4.37 [[-6.86426250e-01 -7.27060117e-01 1.42333819e-02 1.10326889e+02] [ 7.26893555e-01 -6.86573719e-01 -1.55655820e-02 1.45119412e+02] [ 2.10893798e-02 -3.38470561e-04 9.99777537e-01 4.36813903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84275509600002 meters 0.018233530280525375 Centerline is valid? [True, True] Translation: X:110.31, Y:145.14, Z:4.37 [[-6.86510783e-01 -7.26983931e-01 1.40466808e-02 1.10311085e+02] [ 7.26821924e-01 -6.86654393e-01 -1.53504003e-02 1.45139293e+02] [ 2.08047094e-02 -3.28779734e-04 9.99783505e-01 4.36849793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87275509600002 meters 0.016872966808312333 Centerline is valid? [True, True] Translation: X:110.29, Y:145.16, Z:4.37 [[-6.86052626e-01 -7.27426522e-01 1.35074096e-02 1.10291324e+02] [ 7.27277036e-01 -6.86185520e-01 -1.47494142e-02 1.45157674e+02] [ 1.99977040e-02 -2.95245563e-04 9.99799982e-01 4.36957051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90275509600002 meters 0.017148528007345946 Centerline is valid? [True, True] Translation: X:110.27, Y:145.18, Z:4.37 [[-6.86069239e-01 -7.27409191e-01 1.35966186e-02 1.10273893e+02] [ 7.27257936e-01 -6.86203894e-01 -1.48361076e-02 1.45177985e+02] [ 2.01219736e-02 -2.90348254e-04 9.99797490e-01 4.36998068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93275509600002 meters 0.016640450701515253 Centerline is valid? [True, True] Translation: X:110.25, Y:145.20, Z:4.37 [[-6.85985968e-01 -7.27486557e-01 1.36587221e-02 1.10254922e+02] [ 7.27334148e-01 -6.86121877e-01 -1.48932161e-02 1.45197489e+02] [ 2.02061625e-02 -2.82082272e-04 9.99795795e-01 4.37051510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96275509600002 meters 0.016663426074329885 Centerline is valid? [True, True] Translation: X:110.24, Y:145.22, Z:4.37 [[-6.85899843e-01 -7.27566847e-01 1.37072593e-02 1.10237975e+02] [ 7.27413587e-01 -6.86036740e-01 -1.49353612e-02 1.45216992e+02] [ 2.02701572e-02 -2.73315280e-04 9.99794502e-01 4.37081200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99275509600002 meters 0.01652383190494579 Centerline is valid? [True, True] Translation: X:110.22, Y:145.24, Z:4.37 [[-6.85932221e-01 -7.27534724e-01 1.37917702e-02 1.10219556e+02] [ 7.27379792e-01 -6.86070808e-01 -1.50161741e-02 1.45236433e+02] [ 2.03869190e-02 -2.68222708e-04 9.99792129e-01 4.37130136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02275509600003 meters 0.01665870495055448 Centerline is valid? [True, True] Translation: X:110.20, Y:145.26, Z:4.37 [[-6.86074024e-01 -7.27399394e-01 1.38764267e-02 1.10202517e+02] [ 7.27242751e-01 -6.86214289e-01 -1.50973661e-02 1.45255664e+02] [ 2.05040172e-02 -2.66379995e-04 9.99789735e-01 4.37164837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05275509600003 meters 0.016620530599998403 Centerline is valid? [True, True] Translation: X:110.18, Y:145.27, Z:4.37 [[-6.86295148e-01 -7.27189113e-01 1.39629401e-02 1.10184868e+02] [ 7.27030726e-01 -6.86437123e-01 -1.51789610e-02 1.45274843e+02] [ 2.06226556e-02 -2.65760817e-04 9.99787295e-01 4.37225478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08275509600003 meters 0.016764033691970364 Centerline is valid? [True, True] Translation: X:110.17, Y:145.29, Z:4.37 [[-6.86680195e-01 -7.26826656e-01 1.39040041e-02 1.10168478e+02] [ 7.26669770e-01 -6.86820894e-01 -1.51031741e-02 1.45293678e+02] [ 2.05269501e-02 -2.67431137e-04 9.99789264e-01 4.37283187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11275509600003 meters 0.01728269125860101 Centerline is valid? [True, True] Translation: X:110.15, Y:145.31, Z:4.37 [[-6.87524807e-01 -7.26030265e-01 1.37729577e-02 1.10152859e+02] [ 7.25876400e-01 -6.87662691e-01 -1.49490897e-02 1.45314056e+02] [ 2.03246407e-02 -2.80405070e-04 9.99793394e-01 4.37398190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14275509600003 meters 0.017495829116406878 Centerline is valid? [True, True] Translation: X:110.14, Y:145.33, Z:4.37 [[-6.88404044e-01 -7.25198738e-01 1.36624927e-02 1.10135877e+02] [ 7.25047353e-01 -6.88539544e-01 -1.48200208e-02 1.45333634e+02] [ 2.01546268e-02 -2.96208078e-04 9.99796831e-01 4.37471120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17275509600003 meters 0.017139527493203327 Centerline is valid? [True, True] Translation: X:110.12, Y:145.35, Z:4.38 [[-6.89341328e-01 -7.24309611e-01 1.35691223e-02 1.10116819e+02] [ 7.24160348e-01 -6.89474793e-01 -1.47071556e-02 1.45353364e+02] [ 2.00081019e-02 -3.12029794e-04 9.99799769e-01 4.37562060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.202755096 meters 0.01792185330784862 Centerline is valid? [True, True] Translation: X:110.10, Y:145.37, Z:4.38 [[-6.90434943e-01 -7.23270340e-01 1.34016997e-02 1.10100165e+02] [ 7.23124749e-01 -6.90564918e-01 -1.45151938e-02 1.45374345e+02] [ 1.97531528e-02 -3.30696222e-04 9.99804833e-01 4.37623771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.232755096 meters 0.018578669536613246 Centerline is valid? [True, True] Translation: X:110.08, Y:145.40, Z:4.38 [[-6.92129947e-01 -7.21649451e-01 1.33493537e-02 1.10082646e+02] [ 7.21504910e-01 -6.92258574e-01 -1.44475525e-02 1.45395849e+02] [ 1.96672729e-02 -3.67959518e-04 9.99806513e-01 4.37645329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.262755096 meters 0.019260813907616 Centerline is valid? [True, True] Translation: X:110.07, Y:145.42, Z:4.38 [[-6.93408988e-01 -7.20414979e-01 1.36467699e-02 1.10065132e+02] [ 7.20263898e-01 -6.93543146e-01 -1.47588003e-02 1.45417145e+02] [ 2.00970845e-02 -4.04609077e-04 9.99797951e-01 4.37688010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.292755096 meters 0.019093816066970703 Centerline is valid? [True, True] Translation: X:110.05, Y:145.44, Z:4.38 [[-6.93960858e-01 -7.19880284e-01 1.38096136e-02 1.10046614e+02] [ 7.19725686e-01 -6.94098122e-01 -1.49242813e-02 1.45437129e+02] [ 2.03289227e-02 -4.17733415e-04 9.99793259e-01 4.37754707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.322755096 meters 0.01918662067416961 Centerline is valid? [True, True] Translation: X:110.03, Y:145.46, Z:4.38 [[-6.94340827e-01 -7.19507821e-01 1.41177578e-02 1.10028598e+02] [ 7.19346401e-01 -6.94484204e-01 -1.52461456e-02 1.45457093e+02] [ 2.07742808e-02 -4.30463089e-04 9.99784099e-01 4.37762919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.352755096 meters 0.01903555280945673 Centerline is valid? [True, True] Translation: X:110.01, Y:145.48, Z:4.38 [[-6.94180303e-01 -7.19657704e-01 1.43699697e-02 1.10010132e+02] [ 7.19490735e-01 -6.94328890e-01 -1.55072542e-02 1.45477041e+02] [ 2.11374001e-02 -4.25770311e-04 9.99776490e-01 4.37791570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.382755096 meters 0.01867475072778616 Centerline is valid? [True, True] Translation: X:109.99, Y:145.50, Z:4.38 [[-6.93844418e-01 -7.19969377e-01 1.49673069e-02 1.09991095e+02] [ 7.19788570e-01 -6.94005703e-01 -1.61399726e-02 1.45496041e+02] [ 2.20076823e-02 -4.25333437e-04 9.99757711e-01 4.37777170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.412755096 meters 0.01825938556400301 Centerline is valid? [True, True] Translation: X:109.97, Y:145.51, Z:4.38 [[-6.92884243e-01 -7.20881164e-01 1.55490431e-02 1.09972743e+02] [ 7.20686529e-01 -6.93058572e-01 -1.67553706e-02 1.45514530e+02] [ 2.28550287e-02 -4.03546427e-04 9.99738708e-01 4.37722942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.442755096 meters 0.018083902627536792 Centerline is valid? [True, True] Translation: X:109.95, Y:145.53, Z:4.38 [[-6.92657877e-01 -7.21095131e-01 1.57123252e-02 1.09954093e+02] [ 7.20896671e-01 -6.92835952e-01 -1.69213624e-02 1.45533943e+02] [ 2.30879759e-02 -3.93752035e-04 9.99733360e-01 4.37722291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47275509600001 meters 0.01772653405532445 Centerline is valid? [True, True] Translation: X:109.93, Y:145.55, Z:4.38 [[-6.92439434e-01 -7.21298388e-01 1.60083076e-02 1.09934986e+02] [ 7.21092726e-01 -6.92624348e-01 -1.72276709e-02 1.45553409e+02] [ 2.35140348e-02 -3.85644574e-04 9.99723432e-01 4.37784289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50275509600002 meters 0.017320255204661114 Centerline is valid? [True, True] Translation: X:109.92, Y:145.57, Z:4.38 [[-6.91609969e-01 -7.22092730e-01 1.60542557e-02 1.09916227e+02] [ 7.21886393e-01 -6.91796188e-01 -1.72646967e-02 1.45572850e+02] [ 2.35729849e-02 -3.51087609e-04 9.99722057e-01 4.37851448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53275509600002 meters 0.017382766075865815 Centerline is valid? [True, True] Translation: X:109.90, Y:145.59, Z:4.38 [[-6.91441335e-01 -7.22253634e-01 1.60800601e-02 1.09898650e+02] [ 7.22046957e-01 -6.91628205e-01 -1.72805724e-02 1.45591864e+02] [ 2.36023794e-02 -3.37943574e-04 9.99721368e-01 4.37919833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56275509600002 meters 0.017684914465021188 Centerline is valid? [True, True] Translation: X:109.88, Y:145.61, Z:4.38 [[-6.91439652e-01 -7.22254688e-01 1.61050691e-02 1.09880130e+02] [ 7.22047608e-01 -6.91627107e-01 -1.72972737e-02 1.45611985e+02] [ 2.36317394e-02 -3.31394258e-04 9.99720677e-01 4.37940993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59275509600002 meters 0.017609515704497126 Centerline is valid? [True, True] Translation: X:109.86, Y:145.63, Z:4.38 [[-6.91451803e-01 -7.22249387e-01 1.58185739e-02 1.09863340e+02] [ 7.22049893e-01 -6.91632650e-01 -1.69773451e-02 1.45631272e+02] [ 2.32025193e-02 -3.17216342e-04 9.99730735e-01 4.38046384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62275509600002 meters 0.017572184496225305 Centerline is valid? [True, True] Translation: X:109.84, Y:145.65, Z:4.38 [[-6.91734383e-01 -7.21982136e-01 1.56632678e-02 1.09844745e+02] [ 7.21786779e-01 -6.91911625e-01 -1.67972935e-02 1.45650757e+02] [ 2.29649429e-02 -3.13725817e-04 9.99736222e-01 4.38170859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65275509600002 meters 0.018876851004814243 Centerline is valid? [True, True] Translation: X:109.83, Y:145.67, Z:4.38 [[-6.92176591e-01 -7.21558367e-01 1.56553166e-02 1.09827157e+02] [ 7.21363382e-01 -6.92353537e-01 -1.67764970e-02 1.45670923e+02] [ 2.29442356e-02 -3.19126424e-04 9.99736695e-01 4.38126808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68275509600002 meters 0.01740006407104704 Centerline is valid? [True, True] Translation: X:109.81, Y:145.69, Z:4.38 [[-6.92472270e-01 -7.21272683e-01 1.57439670e-02 1.09809481e+02] [ 7.21075703e-01 -6.92651149e-01 -1.68587430e-02 1.45691657e+02] [ 2.30648276e-02 -3.21619979e-04 9.99733920e-01 4.38371035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71275509600002 meters 0.01793161132330692 Centerline is valid? [True, True] Translation: X:109.79, Y:145.71, Z:4.38 [[-6.92881156e-01 -7.20877593e-01 1.58492500e-02 1.09792823e+02] [ 7.20678156e-01 -6.93062326e-01 -1.69589875e-02 1.45711891e+02] [ 2.32098722e-02 -3.28354606e-04 9.99730561e-01 4.38416286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74275509600002 meters 0.018084964630863457 Centerline is valid? [True, True] Translation: X:109.78, Y:145.73, Z:4.38 [[-6.93487147e-01 -7.20295678e-01 1.58023032e-02 1.09775065e+02] [ 7.20097562e-01 -6.93667083e-01 -1.68961299e-02 1.45731942e+02] [ 2.31317469e-02 -3.38048940e-04 9.99732368e-01 4.38493498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77275509600003 meters 0.01847505048515888 Centerline is valid? [True, True] Translation: X:109.76, Y:145.75, Z:4.39 [[-6.94849976e-01 -7.18974546e-01 1.60969855e-02 1.09756874e+02] [ 7.18768900e-01 -6.95036299e-01 -1.71991828e-02 1.45753640e+02] [ 2.35537639e-02 -3.80839245e-04 9.99722499e-01 4.38547020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80275509600003 meters 0.01878592519354351 Centerline is valid? [True, True] Translation: X:109.74, Y:145.77, Z:4.39 [[-6.95764414e-01 -7.18084274e-01 1.63357203e-02 1.09739087e+02] [ 7.17872511e-01 -6.95956039e-01 -1.74427678e-02 1.45774554e+02] [ 2.38943205e-02 -4.09092567e-04 9.99714406e-01 4.38567675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83275509600003 meters 0.019547426724195398 Centerline is valid? [True, True] Translation: X:109.72, Y:145.80, Z:4.39 [[-6.97786967e-01 -7.16098011e-01 1.72333085e-02 1.09722187e+02] [ 7.15862062e-01 -6.97999566e-01 -1.83878803e-02 1.45797618e+02] [ 2.51963664e-02 -4.94151467e-04 9.99682399e-01 4.38618806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86275509600003 meters 0.02241816190954544 Centerline is valid? [True, True] Translation: X:109.70, Y:145.82, Z:4.38 [[-6.99287022e-01 -7.14623624e-01 1.76277076e-02 1.09704605e+02] [ 7.14376596e-01 -6.99508950e-01 -1.87964918e-02 1.45819853e+02] [ 2.57631563e-02 -5.51321030e-04 9.99667923e-01 4.38415336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89275509600003 meters 0.025588226263076583 Centerline is valid? [True, True] Translation: X:109.69, Y:145.84, Z:4.38 [[-7.01604908e-01 -7.12335100e-01 1.81454969e-02 1.09690233e+02] [ 7.12072914e-01 -7.01839219e-01 -1.93358689e-02 1.45844078e+02] [ 2.65088395e-02 -6.45223698e-04 9.99648371e-01 4.38285994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92275509600003 meters 0.022160125106726096 Centerline is valid? [True, True] Translation: X:109.67, Y:145.86, Z:4.39 [[-7.02472654e-01 -7.11481384e-01 1.80668254e-02 1.09670607e+02] [ 7.11221530e-01 -7.02704631e-01 -1.92389668e-02 1.45863249e+02] [ 2.63838086e-02 -6.65332834e-04 9.99651665e-01 4.38712392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.952755096 meters 0.022763562234828956 Centerline is valid? [True, True] Translation: X:109.65, Y:145.88, Z:4.39 [[-7.03601866e-01 -7.10368103e-01 1.79324713e-02 1.09652347e+02] [ 7.10112080e-01 -7.03830007e-01 -1.90828501e-02 1.45884800e+02] [ 2.61772594e-02 -6.92664430e-04 9.99657077e-01 4.38762557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.982755096 meters 0.025030594657520402 Centerline is valid? [True, True] Translation: X:109.63, Y:145.91, Z:4.39 [[-7.05002335e-01 -7.08973816e-01 1.81062469e-02 1.09634213e+02] [ 7.08712669e-01 -7.05234412e-01 -1.92555661e-02 1.45906231e+02] [ 2.64208406e-02 -7.43092533e-04 9.99650632e-01 4.38625535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01275509600003 meters 0.024379651792393715 Centerline is valid? [True, True] Translation: X:109.62, Y:145.93, Z:4.39 [[-7.05951414e-01 -7.08028878e-01 1.81027611e-02 1.09616658e+02] [ 7.07767850e-01 -7.06183061e-01 -1.92393810e-02 1.45927390e+02] [ 2.64059006e-02 -7.69515939e-04 9.99651007e-01 4.38882792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04275509600006 meters 0.0243889004853952 Centerline is valid? [True, True] Translation: X:109.60, Y:145.95, Z:4.39 [[-7.06348375e-01 -7.07634325e-01 1.80453551e-02 1.09598090e+02] [ 7.07375175e-01 -7.06578421e-01 -1.91649594e-02 1.45947570e+02] [ 2.63122416e-02 -7.72301703e-04 9.99653475e-01 4.38980523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07275509600004 meters 0.02493423317891664 Centerline is valid? [True, True] Translation: X:109.58, Y:145.97, Z:4.39 [[-7.06412155e-01 -7.07555030e-01 1.86479583e-02 1.09579279e+02] [ 7.07278642e-01 -7.06657805e-01 -1.97906398e-02 1.45966696e+02] [ 2.71806920e-02 -7.91045916e-04 9.99630224e-01 4.38928599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10275509600007 meters 0.023445504224514732 Centerline is valid? [True, True] Translation: X:109.56, Y:145.99, Z:4.39 [[-7.05604324e-01 -7.08351160e-01 1.90045039e-02 1.09559424e+02] [ 7.08064776e-01 -7.05859794e-01 -2.01549938e-02 1.45986288e+02] [ 2.76913284e-02 -7.65030949e-04 9.99616229e-01 4.39099968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13275509600004 meters 0.02437283245037871 Centerline is valid? [True, True] Translation: X:109.54, Y:146.01, Z:4.39 [[-7.05123628e-01 -7.08819197e-01 1.93911174e-02 1.09542082e+02] [ 7.08521610e-01 -7.05389807e-01 -2.05511064e-02 1.46005674e+02] [ 2.82453153e-02 -7.52044941e-04 9.99600739e-01 4.39065181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16275509600007 meters 0.02570202784731853 Centerline is valid? [True, True] Translation: X:109.52, Y:146.02, Z:4.39 [[-7.04379153e-01 -7.09550956e-01 1.96837481e-02 1.09524302e+02] [ 7.09245058e-01 -7.04653759e-01 -2.08453313e-02 1.46024497e+02] [ 2.86610518e-02 -7.22415721e-04 9.99588927e-01 4.38926227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19275509600004 meters 0.023532391783609143 Centerline is valid? [True, True] Translation: X:109.50, Y:146.04, Z:4.39 [[-7.02146474e-01 -7.11735631e-01 2.05601745e-02 1.09499312e+02] [ 7.11403306e-01 -7.02447129e-01 -2.17570036e-02 1.46039203e+02] [ 2.99276702e-02 -6.50027252e-04 9.99551856e-01 4.38889133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22275509600007 meters 0.021591523167812588 Centerline is valid? [True, True] Translation: X:109.48, Y:146.06, Z:4.39 [[-7.00428373e-01 -7.13424713e-01 2.06221247e-02 1.09480335e+02] [ 7.13091551e-01 -7.00731656e-01 -2.18079193e-02 1.46058064e+02] [ 3.00088842e-02 -5.69422507e-04 9.99549470e-01 4.39052987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25275509600004 meters 0.019235962122303725 Centerline is valid? [True, True] Translation: X:109.46, Y:146.07, Z:4.39 [[-6.97946970e-01 -7.15847335e-01 2.07995139e-02 1.09457279e+02] [ 7.15509950e-01 -6.98256673e-01 -2.19801984e-02 1.46074208e+02] [ 3.02578659e-02 -4.58753717e-04 9.99542021e-01 4.39321500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2827550960001 meters 0.021273911739901608 Centerline is valid? [True, True] Translation: X:109.44, Y:146.09, Z:4.39 [[-6.97199885e-01 -7.16572962e-01 2.08688857e-02 1.09440069e+02] [ 7.16234093e-01 -6.97512018e-01 -2.20388063e-02 1.46092383e+02] [ 3.03487113e-02 -4.18445776e-04 9.99539284e-01 4.39087229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31275509600005 meters 0.021660595667723617 Centerline is valid? [True, True] Translation: X:109.42, Y:146.11, Z:4.39 [[-6.96479839e-01 -7.17282062e-01 2.05494173e-02 1.09420048e+02] [ 7.16954230e-01 -6.96782826e-01 -2.16870071e-02 1.46109407e+02] [ 2.98741822e-02 -3.71571568e-04 9.99553598e-01 4.39207609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.342755096 meters 0.01979265674596331 Centerline is valid? [True, True] Translation: X:109.40, Y:146.13, Z:4.39 [[-6.94661697e-01 -7.19059668e-01 1.99579870e-02 1.09399103e+02] [ 7.18751619e-01 -6.94948284e-01 -2.10473822e-02 1.46125974e+02] [ 2.90040925e-02 -2.75974760e-04 9.99579255e-01 4.39468569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37275509600005 meters 0.017204251540970612 Centerline is valid? [True, True] Translation: X:109.38, Y:146.14, Z:4.40 [[-6.93678191e-01 -7.20013536e-01 1.97756477e-02 1.09379082e+02] [ 7.19711915e-01 -6.93959984e-01 -2.08398897e-02 1.46143596e+02] [ 2.87285108e-02 -2.23407737e-04 9.99587226e-01 4.39793900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.402755096 meters 0.016674569399999506 Centerline is valid? [True, True] Translation: X:109.36, Y:146.16, Z:4.40 [[-6.93001162e-01 -7.20664196e-01 1.98117778e-02 1.09358248e+02] [ 7.20362185e-01 -6.93284272e-01 -2.08624120e-02 1.46161916e+02] [ 2.87699873e-02 -1.86020165e-04 9.99586041e-01 4.39976123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43275509600005 meters 0.016674569399999506 Centerline is valid? [True, True] Translation: X:109.34, Y:146.18, Z:4.40 [[-6.93258443e-01 -7.20416497e-01 1.98192341e-02 1.09339672e+02] [ 7.20114587e-01 -6.93541662e-01 -2.08553270e-02 1.46181166e+02] [ 2.87699862e-02 -1.86012007e-04 9.99586041e-01 4.40026015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.462755096 meters 0.016695296293443927 Centerline is valid? [True, True] Translation: X:109.32, Y:146.20, Z:4.40 [[-6.93515924e-01 -7.20165157e-01 1.99451863e-02 1.09320865e+02] [ 7.19859729e-01 -6.93802646e-01 -2.09728183e-02 1.46200529e+02] [ 2.89419160e-02 -1.87247032e-04 9.99581077e-01 4.40113507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49275509600005 meters 0.016626690948336638 Centerline is valid? [True, True] Translation: X:109.30, Y:146.22, Z:4.40 [[-6.93975906e-01 -7.19724909e-01 1.98367591e-02 1.09302195e+02] [ 7.19423043e-01 -6.94259330e-01 -2.08439098e-02 1.46219871e+02] [ 2.87737362e-02 -1.94149576e-04 9.99585931e-01 4.40236332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.522755096 meters 0.01692687849098004 Centerline is valid? [True, True] Translation: X:109.29, Y:146.24, Z:4.40 [[-6.95616904e-01 -7.18145664e-01 1.95940838e-02 1.09285124e+02] [ 7.17850940e-01 -6.95892768e-01 -2.05738734e-02 1.46239690e+02] [ 2.84104192e-02 -2.45902698e-04 9.99596312e-01 4.40325450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55275509600006 meters 0.01999462322487347 Centerline is valid? [True, True] Translation: X:109.27, Y:146.26, Z:4.40 [[-6.97322843e-01 -7.16491801e-01 1.95026057e-02 1.09268574e+02] [ 7.16199609e-01 -6.97595448e-01 -2.04624347e-02 1.46260386e+02] [ 2.82660956e-02 -3.01164581e-04 9.99600389e-01 4.40031718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.582755096 meters 0.0177264312223284 Centerline is valid? [True, True] Translation: X:109.25, Y:146.28, Z:4.40 [[-6.99437112e-01 -7.14424071e-01 1.96462109e-02 1.09249376e+02] [ 7.14127160e-01 -6.99712873e-01 -2.05984260e-02 1.46280187e+02] [ 2.84627181e-02 -3.77410808e-04 9.99594784e-01 4.40465305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61275509600006 meters 0.01909129450317192 Centerline is valid? [True, True] Translation: X:109.23, Y:146.30, Z:4.40 [[-7.01168136e-01 -7.12713591e-01 2.00644411e-02 1.09232398e+02] [ 7.12403558e-01 -7.01455014e-01 -2.10246009e-02 1.46300831e+02] [ 2.90588216e-02 -4.47800995e-04 9.99577603e-01 4.40397726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64275509600003 meters 0.019350060222340763 Centerline is valid? [True, True] Translation: X:109.21, Y:146.32, Z:4.40 [[-7.02625941e-01 -7.11270635e-01 2.02699709e-02 1.09214653e+02] [ 7.10953960e-01 -7.02918082e-01 -2.12282260e-02 1.46321288e+02] [ 2.93471428e-02 -5.04486175e-04 9.99569153e-01 4.40467147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67275509600006 meters 0.02090183277739454 Centerline is valid? [True, True] Translation: X:109.20, Y:146.34, Z:4.41 [[-7.06047730e-01 -7.07856990e-01 2.08587041e-02 1.09198297e+02] [ 7.07520584e-01 -7.06355472e-01 -2.18305053e-02 1.46342589e+02] [ 3.01865356e-02 -6.55416168e-04 9.99544068e-01 4.40510031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70275509600003 meters 0.02127104981376733 Centerline is valid? [True, True] Translation: X:109.18, Y:146.36, Z:4.41 [[-7.07719532e-01 -7.06183575e-01 2.09242348e-02 1.09179016e+02] [ 7.05844706e-01 -7.08028418e-01 -2.18863107e-02 1.46363491e+02] [ 3.02707060e-02 -7.20109170e-04 9.99541478e-01 4.40590719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73275509600006 meters 0.02574334245179873 Centerline is valid? [True, True] Translation: X:109.16, Y:146.39, Z:4.40 [[-7.11092712e-01 -7.02788526e-01 2.08672634e-02 1.09164080e+02] [ 7.02450423e-01 -7.11398313e-01 -2.18138181e-02 1.46386165e+02] [ 3.01754370e-02 -8.53429086e-04 9.99544253e-01 4.40348407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76275509600003 meters 0.025256456868088528 Centerline is valid? [True, True] Translation: X:109.14, Y:146.41, Z:4.40 [[-7.12607721e-01 -7.01247321e-01 2.10340428e-02 1.09144116e+02] [ 7.00903496e-01 -7.12917494e-01 -2.19757841e-02 1.46405566e+02] [ 3.04059968e-02 -9.17279335e-04 9.99537210e-01 4.40481538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79275509600006 meters 0.02511767374860368 Centerline is valid? [True, True] Translation: X:109.12, Y:146.43, Z:4.41 [[-7.13923762e-01 -6.99911060e-01 2.09133982e-02 1.09124959e+02] [ 6.99571012e-01 -7.14229367e-01 -2.18359766e-02 1.46425788e+02] [ 3.02202047e-02 -9.58815351e-04 9.99542805e-01 4.40612638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82275509600004 meters 0.02669872882929929 Centerline is valid? [True, True] Translation: X:109.11, Y:146.45, Z:4.41 [[-7.15109879e-01 -6.98697488e-01 2.09685584e-02 1.09107992e+02] [ 6.98355554e-01 -7.15416532e-01 -2.18793514e-02 1.46447219e+02] [ 3.02883012e-02 -1.00263113e-03 9.99540701e-01 4.40681742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85275509600007 meters 0.027806675214468484 Centerline is valid? [True, True] Translation: X:109.09, Y:146.47, Z:4.41 [[-7.17302126e-01 -6.96435297e-01 2.13433472e-02 1.09087594e+02] [ 6.96080480e-01 -7.17618737e-01 -2.22556556e-02 1.46466878e+02] [ 3.08160099e-02 -1.10734173e-03 9.99524461e-01 4.40558997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88275509600004 meters 0.027831968105984744 Centerline is valid? [True, True] Translation: X:109.07, Y:146.49, Z:4.41 [[-7.18101419e-01 -6.95628779e-01 2.07594330e-02 1.09070125e+02] [ 6.95293211e-01 -7.18400578e-01 -2.16323769e-02 1.46486588e+02] [ 2.99616926e-02 -1.10034773e-03 9.99550442e-01 4.40823979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91275509600007 meters 0.029328053454550494 Centerline is valid? [True, True] Translation: X:109.05, Y:146.51, Z:4.41 [[-7.18583698e-01 -6.95129025e-01 2.08112443e-02 1.09050636e+02] [ 6.94792046e-01 -7.18884136e-01 -2.16705262e-02 1.46505697e+02] [ 3.00246851e-02 -1.11259992e-03 9.99548538e-01 4.40713787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94275509600004 meters 0.02800072700684074 Centerline is valid? [True, True] Translation: X:109.03, Y:146.52, Z:4.41 [[-7.18224998e-01 -6.95521250e-01 2.00759433e-02 1.09032184e+02] [ 6.95208243e-01 -7.18504763e-01 -2.08902770e-02 1.46524147e+02] [ 2.89542925e-02 -1.04695785e-03 9.99580188e-01 4.41023353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97275509600007 meters 0.02562443332176559 Centerline is valid? [True, True] Translation: X:109.01, Y:146.54, Z:4.41 [[-7.16945171e-01 -6.96844050e-01 1.99497536e-02 1.09008743e+02] [ 6.96535883e-01 -7.17222013e-01 -2.07448203e-02 1.46541037e+02] [ 2.87643070e-02 -9.77179454e-04 9.99585744e-01 4.41191904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00275509600004 meters 0.02764486020197879 Centerline is valid? [True, True] Translation: X:108.99, Y:146.56, Z:4.41 [[-7.16528155e-01 -6.97255654e-01 2.05415813e-02 1.08988874e+02] [ 6.96929505e-01 -7.16821871e-01 -2.13464634e-02 1.46560137e+02] [ 2.96085970e-02 -9.79307939e-04 9.99561090e-01 4.40954390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0327550960001 meters 0.02405102395401024 Centerline is valid? [True, True] Translation: X:108.97, Y:146.58, Z:4.41 [[-7.15209763e-01 -6.98619595e-01 2.01409370e-02 1.08966869e+02] [ 6.98306942e-01 -7.15492739e-01 -2.09178339e-02 1.46578562e+02] [ 2.90243028e-02 -8.96082859e-04 9.99578305e-01 4.41285278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06275509600005 meters 0.022897000189592877 Centerline is valid? [True, True] Translation: X:108.95, Y:146.60, Z:4.41 [[-7.12951201e-01 -7.00936578e-01 1.97103828e-02 1.08946334e+02] [ 7.00638328e-01 -7.13223184e-01 -2.04603029e-02 1.46595304e+02] [ 2.83992767e-02 -7.77347880e-04 9.99596357e-01 4.41366028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.092755096 meters 0.021879821443312495 Centerline is valid? [True, True] Translation: X:108.93, Y:146.61, Z:4.41 [[-7.11576052e-01 -7.02337477e-01 1.95343216e-02 1.08925840e+02] [ 7.02045471e-01 -7.11843783e-01 -2.02629119e-02 1.46613056e+02] [ 2.81367878e-02 -7.04620811e-04 9.99603834e-01 4.41440304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12275509600005 meters 0.022389759375426747 Centerline is valid? [True, True] Translation: X:108.91, Y:146.63, Z:4.41 [[-7.10657539e-01 -7.03252657e-01 2.00390044e-02 1.08905745e+02] [ 7.02946157e-01 -7.10939691e-01 -2.07715395e-02 1.46631323e+02] [ 2.88541639e-02 -6.75110065e-04 9.99583404e-01 4.41373560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.152755096 meters 0.02008727675697848 Centerline is valid? [True, True] Translation: X:108.89, Y:146.65, Z:4.42 [[-7.07948354e-01 -7.06003766e-01 1.91784073e-02 1.08885226e+02] [ 7.05724415e-01 -7.08207881e-01 -1.98657509e-02 1.46647605e+02] [ 2.76075941e-02 -5.29255375e-04 9.99618698e-01 4.41571805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18275509600005 meters 0.01853095467314546 Centerline is valid? [True, True] Translation: X:108.86, Y:146.67, Z:4.42 [[-7.06721940e-01 -7.07242875e-01 1.87514020e-02 1.08864568e+02] [ 7.06976635e-01 -7.06970511e-01 -1.94096196e-02 1.46665055e+02] [ 2.69840034e-02 -4.60400966e-04 9.99635759e-01 4.41770352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.212755096 meters 0.017201753646008688 Centerline is valid? [True, True] Translation: X:108.84, Y:146.68, Z:4.42 [[-7.04392947e-01 -7.09580142e-01 1.80720312e-02 1.08841958e+02] [ 7.09333940e-01 -7.04624652e-01 -1.86938660e-02 1.46682280e+02] [ 2.59987948e-02 -3.48722282e-04 9.99661913e-01 4.41927601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24275509600005 meters 0.01703386327521653 Centerline is valid? [True, True] Translation: X:108.82, Y:146.70, Z:4.42 [[-7.03321193e-01 -7.10648321e-01 1.78399547e-02 1.08823148e+02] [ 7.10409036e-01 -7.03547351e-01 -1.84425046e-02 1.46700306e+02] [ 2.56573878e-02 -2.97339285e-04 9.99670751e-01 4.41956710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.272755096 meters 0.016632851907602237 Centerline is valid? [True, True] Translation: X:108.80, Y:146.72, Z:4.42 [[-7.02579358e-01 -7.11380653e-01 1.78833170e-02 1.08803559e+02] [ 7.11140733e-01 -7.02806871e-01 -1.84759224e-02 1.46717968e+02] [ 2.57119318e-02 -2.63246557e-04 9.99669359e-01 4.41993699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30275509600006 meters 0.016253033114932373 Centerline is valid? [True, True] Translation: X:108.78, Y:146.74, Z:4.42 [[-7.02011475e-01 -7.11941899e-01 1.78499989e-02 1.08784013e+02] [ 7.11703419e-01 -7.02238335e-01 -1.84272758e-02 1.46736375e+02] [ 2.56541032e-02 -2.32253791e-04 9.99670852e-01 4.42027382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.332755096 meters 0.01582415202351382 Centerline is valid? [True, True] Translation: X:108.76, Y:146.75, Z:4.42 [[-7.01117626e-01 -7.12833280e-01 1.74008151e-02 1.08764443e+02] [ 7.12607269e-01 -7.01333501e-01 -1.79499256e-02 1.46754796e+02] [ 2.49990789e-02 -1.85061853e-04 9.99687457e-01 4.42097489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36275509600006 meters 0.01575274754886491 Centerline is valid? [True, True] Translation: X:108.75, Y:146.77, Z:4.42 [[-7.01208797e-01 -7.12737303e-01 1.76567287e-02 1.08746074e+02] [ 7.12504928e-01 -7.01431040e-01 -1.81995546e-02 1.46773156e+02] [ 2.53564790e-02 -1.81181606e-04 9.99678456e-01 4.42118405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39275509600003 meters 0.01576728320377677 Centerline is valid? [True, True] Translation: X:108.73, Y:146.79, Z:4.42 [[-7.01875073e-01 -7.12080623e-01 1.76796093e-02 1.08727198e+02] [ 7.11847791e-01 -7.02097677e-01 -1.82091978e-02 1.46792509e+02] [ 2.53792295e-02 -1.95391247e-04 9.99677876e-01 4.42160962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42275509600006 meters 0.016165441704188734 Centerline is valid? [True, True] Translation: X:108.71, Y:146.81, Z:4.42 [[-7.02772049e-01 -7.11196075e-01 1.76518866e-02 1.08709869e+02] [ 7.10964028e-01 -7.02993666e-01 -1.81674526e-02 1.46812330e+02] [ 2.53297855e-02 -2.17721495e-04 9.99679126e-01 4.42160021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45275509600003 meters 0.01644363588268235 Centerline is valid? [True, True] Translation: X:108.69, Y:146.83, Z:4.42 [[-7.03627030e-01 -7.10348631e-01 1.77150953e-02 1.08693085e+02] [ 7.10114980e-01 -7.03849959e-01 -1.82194951e-02 1.46831068e+02] [ 2.54109625e-02 -2.39974674e-04 9.99677061e-01 4.42173589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48275509600006 meters 0.017060491519873752 Centerline is valid? [True, True] Translation: X:108.68, Y:146.85, Z:4.42 [[-7.05854470e-01 -7.08133527e-01 1.77869315e-02 1.08675309e+02] [ 7.07897566e-01 -7.06078473e-01 -1.82818697e-02 1.46852265e+02] [ 2.55049743e-02 -3.13013950e-04 9.99674646e-01 4.42232003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51275509600003 meters 0.018270086190258522 Centerline is valid? [True, True] Translation: X:108.66, Y:146.87, Z:4.42 [[-7.08481743e-01 -7.05506701e-01 1.77176465e-02 1.08659153e+02] [ 7.05272076e-01 -7.08703138e-01 -1.81978348e-02 1.46873832e+02] [ 2.53952461e-02 -3.97072354e-04 9.99677410e-01 4.42236252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54275509600006 meters 0.01904470434765608 Centerline is valid? [True, True] Translation: X:108.64, Y:146.89, Z:4.42 [[-7.09854855e-01 -7.04117194e-01 1.80294773e-02 1.08641296e+02] [ 7.03874136e-01 -7.10083642e-01 -1.85046416e-02 1.46894998e+02] [ 2.58318732e-02 -4.45126875e-04 9.99666202e-01 4.42245748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57275509600004 meters 0.0199525233323176 Centerline is valid? [True, True] Translation: X:108.62, Y:146.92, Z:4.42 [[-7.11495852e-01 -7.02459582e-01 1.80052416e-02 1.08624166e+02] [ 7.02216976e-01 -7.11723465e-01 -1.84669317e-02 1.46915617e+02] [ 2.57870261e-02 -4.95558994e-04 9.99667337e-01 4.42256103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60275509600007 meters 0.020915617532966255 Centerline is valid? [True, True] Translation: X:108.61, Y:146.94, Z:4.42 [[-7.13010754e-01 -7.00920940e-01 1.80416510e-02 1.08606605e+02] [ 7.00677198e-01 -7.13238769e-01 -1.84911650e-02 1.46936753e+02] [ 2.58288497e-02 -5.43026046e-04 9.99666232e-01 4.42277789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63275509600004 meters 0.021549422048374536 Centerline is valid? [True, True] Translation: X:108.59, Y:146.96, Z:4.42 [[-7.15684523e-01 -6.98180054e-01 1.84465638e-02 1.08588607e+02] [ 6.97924670e-01 -7.15921918e-01 -1.88934489e-02 1.46958458e+02] [ 2.63973285e-02 -6.47437002e-04 9.99651320e-01 4.42374310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66275509600007 meters 0.02233029517421213 Centerline is valid? [True, True] Translation: X:108.57, Y:146.98, Z:4.42 [[-7.17262962e-01 -6.96563533e-01 1.82506924e-02 1.08570833e+02] [ 6.96313329e-01 -7.17494786e-01 -1.86809983e-02 1.46979606e+02] [ 2.61072788e-02 -6.90987787e-04 9.99658908e-01 4.42437741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69275509600004 meters 0.025178444077108238 Centerline is valid? [True, True] Translation: X:108.56, Y:147.00, Z:4.42 [[-7.18755122e-01 -6.95027160e-01 1.81196178e-02 1.08556198e+02] [ 6.94780372e-01 -7.18983108e-01 -1.85344149e-02 1.47001455e+02] [ 2.59096209e-02 -7.32550796e-04 9.99664021e-01 4.42411469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72275509600007 meters 0.024258710078244483 Centerline is valid? [True, True] Translation: X:108.54, Y:147.02, Z:4.43 [[-7.20759270e-01 -6.92953013e-01 1.79498124e-02 1.08536371e+02] [ 6.92710502e-01 -7.20982314e-01 -1.83484255e-02 1.47021079e+02] [ 2.56560941e-02 -7.90774236e-04 9.99670515e-01 4.42592370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75275509600004 meters 0.024731947334129603 Centerline is valid? [True, True] Translation: X:108.52, Y:147.04, Z:4.43 [[-7.21575927e-01 -6.92105327e-01 1.78437080e-02 1.08517635e+02] [ 6.91865706e-01 -7.21796068e-01 -1.82285950e-02 1.47041613e+02] [ 2.54956259e-02 -8.07865681e-04 9.99674607e-01 4.42666765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7827550960001 meters 0.0289175305697611 Centerline is valid? [True, True] Translation: X:108.50, Y:147.07, Z:4.43 [[-7.22567461e-01 -6.91083324e-01 1.73235191e-02 1.08503793e+02] [ 6.90857458e-01 -7.22774641e-01 -1.76859027e-02 1.47065173e+02] [ 2.47434327e-02 -8.11175409e-04 9.99693505e-01 4.42691797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81275509600005 meters 0.02569208787733284 Centerline is valid? [True, True] Translation: X:108.48, Y:147.08, Z:4.43 [[-7.22860333e-01 -6.90781983e-01 1.71227893e-02 1.08481631e+02] [ 6.90561545e-01 -7.23062658e-01 -1.74684198e-02 1.47081009e+02] [ 2.44477193e-02 -8.02887925e-04 9.99700787e-01 4.42862650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.842755096 meters 0.026605503984819815 Centerline is valid? [True, True] Translation: X:108.46, Y:147.10, Z:4.43 [[-7.22877828e-01 -6.90764358e-01 1.70952519e-02 1.08464558e+02] [ 6.90544928e-01 -7.23079507e-01 -1.74278280e-02 1.47100234e+02] [ 2.43997487e-02 -7.93150935e-04 9.99701967e-01 4.42916336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87275509600005 meters 0.024429898251962314 Centerline is valid? [True, True] Translation: X:108.44, Y:147.12, Z:4.43 [[-7.22093961e-01 -6.91585516e-01 1.70230848e-02 1.08442878e+02] [ 6.91368490e-01 -7.22294197e-01 -1.73408069e-02 1.47117307e+02] [ 2.42883263e-02 -7.52467449e-04 9.99704712e-01 4.43036878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.902755096 meters 0.024122298445798603 Centerline is valid? [True, True] Translation: X:108.42, Y:147.14, Z:4.43 [[-7.21708374e-01 -6.91988042e-01 1.70168283e-02 1.08423034e+02] [ 6.91771581e-01 -7.21908593e-01 -1.73223263e-02 1.47135669e+02] [ 2.42714373e-02 -7.29909717e-04 9.99705139e-01 4.43096174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93275509600005 meters 0.021770281963224596 Centerline is valid? [True, True] Translation: X:108.40, Y:147.15, Z:4.43 [[-7.19888804e-01 -6.93884814e-01 1.68515220e-02 1.08399996e+02] [ 6.93673337e-01 -7.20085717e-01 -1.71423962e-02 1.47152205e+02] [ 2.40293887e-02 -6.51167667e-04 9.99711040e-01 4.43216104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.962755096 meters 0.0238588277362331 Centerline is valid? [True, True] Translation: X:108.38, Y:147.17, Z:4.43 [[-7.19099441e-01 -6.94700322e-01 1.69545513e-02 1.08382723e+02] [ 6.94486745e-01 -7.19299019e-01 -1.72360676e-02 1.47173087e+02] [ 2.41692938e-02 -6.19735455e-04 9.99707688e-01 4.43165765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99275509600005 meters 0.023702493934108414 Centerline is valid? [True, True] Translation: X:108.36, Y:147.19, Z:4.43 [[-7.18546310e-01 -6.95265821e-01 1.72232063e-02 1.08360083e+02] [ 6.95045846e-01 -7.18752444e-01 -1.74984576e-02 1.47189788e+02] [ 2.45453011e-02 -6.02534148e-04 9.99698537e-01 4.43022387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.022755096 meters 0.01970417695417896 Centerline is valid? [True, True] Translation: X:108.34, Y:147.21, Z:4.43 [[-7.16553706e-01 -6.97339583e-01 1.63796395e-02 1.08337679e+02] [ 6.97141365e-01 -7.16740718e-01 -1.66331181e-02 1.47207102e+02] [ 2.33388862e-02 -4.99598167e-04 9.99727486e-01 4.43447758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05275509600006 meters 0.018918642198810218 Centerline is valid? [True, True] Translation: X:108.32, Y:147.23, Z:4.44 [[-7.16162478e-01 -6.97746731e-01 1.61494783e-02 1.08317121e+02] [ 6.97554390e-01 -7.16344384e-01 -1.63888939e-02 1.47225087e+02] [ 2.30038852e-02 -4.71971388e-04 9.99735264e-01 4.43546251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.082755096 meters 0.01885026003657664 Centerline is valid? [True, True] Translation: X:108.30, Y:147.24, Z:4.44 [[-7.15813534e-01 -6.98110777e-01 1.58848164e-02 1.08298448e+02] [ 6.97925029e-01 -7.15989627e-01 -1.61092553e-02 1.47243097e+02] [ 2.26194086e-02 -4.44812020e-04 9.99744050e-01 4.43611858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11275509600006 meters 0.018285195767211403 Centerline is valid? [True, True] Translation: X:108.28, Y:147.26, Z:4.44 [[-7.15504073e-01 -6.98436652e-01 1.54972724e-02 1.08278194e+02] [ 6.98260133e-01 -7.15671761e-01 -1.57072329e-02 1.47261454e+02] [ 2.20614674e-02 -4.17461591e-04 9.99756529e-01 4.43701957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14275509600003 meters 0.01818914090661498 Centerline is valid? [True, True] Translation: X:108.26, Y:147.28, Z:4.44 [[-7.15723067e-01 -6.98216829e-01 1.52889063e-02 1.08258579e+02] [ 6.98045218e-01 -7.15886228e-01 -1.54849106e-02 1.47280577e+02] [ 2.17569426e-02 -4.10559764e-04 9.99763205e-01 4.43783750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17275509600006 meters 0.01869836198256464 Centerline is valid? [True, True] Translation: X:108.24, Y:147.30, Z:4.44 [[-7.16217121e-01 -6.97716833e-01 1.49751997e-02 1.08241006e+02] [ 6.97552318e-01 -7.16373543e-01 -1.51562083e-02 1.47300257e+02] [ 2.13025785e-02 -4.09150625e-04 9.99772991e-01 4.43802382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20275509600003 meters 0.01915819038561686 Centerline is valid? [True, True] Translation: X:108.22, Y:147.32, Z:4.44 [[-7.16642698e-01 -6.97280869e-01 1.49209176e-02 1.08222920e+02] [ 6.97117694e-01 -7.16797893e-01 -1.50897749e-02 1.47319912e+02] [ 2.12170936e-02 -4.12341356e-04 9.99774807e-01 4.43831028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23275509600006 meters 0.01887114249425462 Centerline is valid? [True, True] Translation: X:108.20, Y:147.34, Z:4.44 [[-7.17236877e-01 -6.96669082e-01 1.49483201e-02 1.08203199e+02] [ 6.96505413e-01 -7.17392508e-01 -1.51062609e-02 1.47339132e+02] [ 2.12478778e-02 -4.23181539e-04 9.99774149e-01 4.43879416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26275509600003 meters 0.019311710219259325 Centerline is valid? [True, True] Translation: X:108.18, Y:147.36, Z:4.44 [[-7.18174421e-01 -6.95697019e-01 1.52039431e-02 1.08184469e+02] [ 6.95527723e-01 -7.18335196e-01 -1.53535600e-02 1.47359797e+02] [ 2.16029534e-02 -4.51770065e-04 9.99766527e-01 4.43835329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29275509600006 meters 0.01938413415537183 Centerline is valid? [True, True] Translation: X:108.17, Y:147.38, Z:4.44 [[-7.18595689e-01 -6.95251040e-01 1.56916218e-02 1.08165481e+02] [ 6.95070839e-01 -7.18766838e-01 -1.58354597e-02 1.47379656e+02] [ 2.22882373e-02 -4.72504350e-04 9.99751475e-01 4.43885705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32275509600004 meters 0.01938413415537183 Centerline is valid? [True, True] Translation: X:108.15, Y:147.40, Z:4.44 [[-7.18845905e-01 -6.94992201e-01 1.56973216e-02 1.08146497e+02] [ 6.94812060e-01 -7.19017119e-01 -1.58298080e-02 1.47398514e+02] [ 2.22882360e-02 -4.72504325e-04 9.99751475e-01 4.43935606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35275509600007 meters 0.02033793188600509 Centerline is valid? [True, True] Translation: X:108.13, Y:147.42, Z:4.44 [[-7.19587729e-01 -6.94215269e-01 1.60829413e-02 1.08128510e+02] [ 6.94026243e-01 -7.19767261e-01 -1.62069091e-02 1.47419282e+02] [ 2.28270584e-02 -5.00309653e-04 9.99739304e-01 4.43857980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38275509600004 meters 0.02018668532836026 Centerline is valid? [True, True] Translation: X:108.11, Y:147.44, Z:4.44 [[-7.19626047e-01 -6.94172212e-01 1.62262948e-02 1.08110382e+02] [ 6.93980037e-01 -7.19808788e-01 -1.63406606e-02 1.47438391e+02] [ 2.30230621e-02 -4.98440289e-04 9.99734810e-01 4.43927219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41275509600007 meters 0.020164708196724508 Centerline is valid? [True, True] Translation: X:108.09, Y:147.46, Z:4.44 [[-7.19707925e-01 -6.94084388e-01 1.63512915e-02 1.08090804e+02] [ 6.93889438e-01 -7.19893474e-01 -1.64570158e-02 1.47457937e+02] [ 2.31937458e-02 -4.98256193e-04 9.99730865e-01 4.43946862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44275509600004 meters 0.01938645579540357 Centerline is valid? [True, True] Translation: X:108.07, Y:147.48, Z:4.44 [[-7.19028625e-01 -6.94783908e-01 1.65274871e-02 1.08070533e+02] [ 6.94585193e-01 -7.19218394e-01 -1.66226256e-02 1.47476826e+02] [ 2.34360055e-02 -4.72395807e-04 9.99725228e-01 4.43992910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47275509600007 meters 0.020918179900758865 Centerline is valid? [True, True] Translation: X:108.05, Y:147.50, Z:4.44 [[-7.18803682e-01 -6.95009053e-01 1.68429231e-02 1.08052241e+02] [ 6.94803017e-01 -7.19000834e-01 -1.69283015e-02 1.47496013e+02] [ 2.38753985e-02 -4.65611622e-04 9.99714834e-01 4.43814012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50275509600004 meters 0.018217775628851216 Centerline is valid? [True, True] Translation: X:108.03, Y:147.51, Z:4.44 [[-7.17293588e-01 -6.96550511e-01 1.75298070e-02 1.08030568e+02] [ 6.96328040e-01 -7.17507635e-01 -1.76083472e-02 1.47513412e+02] [ 2.48428736e-02 -4.23858392e-04 9.99691278e-01 4.43956748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5327550960001 meters 0.018541739083844006 Centerline is valid? [True, True] Translation: X:108.01, Y:147.53, Z:4.44 [[-7.16646482e-01 -6.97208472e-01 1.78372098e-02 1.08012325e+02] [ 6.96978616e-01 -7.16868318e-01 -1.79059470e-02 1.47532502e+02] [ 2.52711086e-02 -4.00080103e-04 9.99680554e-01 4.43877874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56275509600005 meters 0.017425500935799688 Centerline is valid? [True, True] Translation: X:107.99, Y:147.55, Z:4.44 [[-7.15986804e-01 -6.97877279e-01 1.81714306e-02 1.07991566e+02] [ 6.97639227e-01 -7.16217260e-01 -1.82303579e-02 1.47550035e+02] [ 2.57372448e-02 -3.75592930e-04 9.99668672e-01 4.43945858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.592755096 meters 0.019575006614757442 Centerline is valid? [True, True] Translation: X:107.97, Y:147.57, Z:4.44 [[-7.14830905e-01 -6.99050234e-01 1.85889170e-02 1.07973555e+02] [ 6.98801851e-01 -7.15072486e-01 -1.86363369e-02 1.47569264e+02] [ 2.63201587e-02 -3.31859964e-04 9.99653510e-01 4.43634030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62275509600005 meters 0.016779362824463153 Centerline is valid? [True, True] Translation: X:107.95, Y:147.59, Z:4.44 [[-7.14064269e-01 -6.99844450e-01 1.81649604e-02 1.07953234e+02] [ 6.99607811e-01 -7.14295221e-01 -1.82002215e-02 1.47586819e+02] [ 2.57124684e-02 -2.87779667e-04 9.99669338e-01 4.44012981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.652755096 meters 0.015971817131275608 Centerline is valid? [True, True] Translation: X:107.93, Y:147.60, Z:4.44 [[-7.12659374e-01 -7.01285096e-01 1.77716346e-02 1.07932472e+02] [ 7.01059376e-01 -7.12880892e-01 -1.77928599e-02 1.47604399e+02] [ 2.51469262e-02 -2.21277381e-04 9.99683742e-01 4.44150993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68275509600005 meters 0.01572982300394225 Centerline is valid? [True, True] Translation: X:107.91, Y:147.62, Z:4.44 [[-7.12110421e-01 -7.01843081e-01 1.77493414e-02 1.07912759e+02] [ 7.01618420e-01 -7.12331561e-01 -1.77577872e-02 1.47622819e+02] [ 2.51065961e-02 -1.92240475e-04 9.99684761e-01 4.44262724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.712755096 meters 0.017740862036485023 Centerline is valid? [True, True] Translation: X:107.52, Y:147.21, Z:5.59 [[-7.50794644e-01 6.60489086e-01 -7.84661131e-03 1.07523893e+02] [ 6.60434772e-01 7.50834613e-01 8.56132396e-03 1.47214423e+02] [ 1.15461684e-02 1.24562123e-03 -9.99932565e-01 5.58998349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74275509600005 meters 0.015538080126845981 Centerline is valid? [True, True] Translation: X:107.55, Y:147.22, Z:5.59 [[-7.96584877e-01 6.04457537e-01 -9.14433358e-03 1.07547260e+02] [ 6.04398906e-01 7.96636376e-01 8.51160570e-03 1.47220388e+02] [ 1.24296130e-02 1.25339117e-03 -9.99921964e-01 5.58677644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.772755096 meters 0.015512079466676872 Centerline is valid? [True, True] Translation: X:107.56, Y:147.23, Z:5.59 [[-8.37581562e-01 5.46228588e-01 -9.56328979e-03 1.07560827e+02] [ 5.46175240e-01 8.37635213e-01 7.73677061e-03 1.47233603e+02] [ 1.22365936e-02 1.25694432e-03 -9.99924340e-01 5.58715622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80275509600006 meters 0.0155298681608425 Centerline is valid? [True, True] Translation: X:107.57, Y:147.25, Z:5.59 [[-8.73827993e-01 4.86126942e-01 -1.02583646e-02 1.07572582e+02] [ 4.86076248e-01 8.73887321e-01 7.12967872e-03 1.47247421e+02] [ 1.24305837e-02 1.24376546e-03 -9.99921964e-01 5.58724094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.832755096 meters 0.01569752398831401 Centerline is valid? [True, True] Translation: X:107.84, Y:147.75, Z:4.44 [[-8.45355154e-01 -5.33771956e-01 2.14979875e-02 1.07835068e+02] [ 5.33621627e-01 -8.45628136e-01 -1.26891824e-02 1.47750359e+02] [ 2.49524328e-02 7.44925315e-04 9.99688362e-01 4.44454984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86275509600006 meters 0.01574561698957927 Centerline is valid? [True, True] Translation: X:107.55, Y:147.26, Z:5.59 [[-8.75063599e-01 4.83904099e-01 -1.00260038e-02 1.07549066e+02] [ 4.83855759e-01 8.75120169e-01 6.94941925e-03 1.47257389e+02] [ 1.21368106e-02 1.23004413e-03 -9.99925590e-01 5.58736959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89275509600003 meters 0.01624723918452587 Centerline is valid? [True, True] Translation: X:107.56, Y:147.27, Z:5.59 [[-9.06436677e-01 4.22203425e-01 -1.08082548e-02 1.07562751e+02] [ 4.22157229e-01 9.06500316e-01 6.36018845e-03 1.47268881e+02] [ 1.24829797e-02 1.20232519e-03 -9.99921362e-01 5.58762040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92275509600006 meters 0.017870695321422422 Centerline is valid? [True, True] Translation: X:107.57, Y:147.28, Z:5.59 [[-9.33508390e-01 3.58387128e-01 -1.09887139e-02 1.07574255e+02] [ 3.58347119e-01 9.33572317e-01 5.48381631e-03 1.47283191e+02] [ 1.22240883e-02 1.18141456e-03 -9.99924585e-01 5.58960236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95275509600003 meters 0.017589815239303978 Centerline is valid? [True, True] Translation: X:107.76, Y:147.83, Z:4.45 [[-9.15871818e-01 -4.00828972e-01 2.26924701e-02 1.07761998e+02] [ 4.00722914e-01 -9.16152683e-01 -9.24160105e-03 1.47832524e+02] [ 2.44940688e-02 6.29270775e-04 9.99699777e-01 4.44545634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98275509600006 meters 0.018131029504348604 Centerline is valid? [True, True] Translation: X:107.55, Y:147.29, Z:5.59 [[-9.33427788e-01 3.58582267e-01 -1.14595665e-02 1.07545562e+02] [ 3.58540176e-01 9.33497450e-01 5.60825861e-03 1.47287087e+02] [ 1.27084982e-02 1.12618945e-03 -9.99918610e-01 5.58891165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01275509600003 meters 0.018891727130342085 Centerline is valid? [True, True] Translation: X:107.56, Y:147.30, Z:5.59 [[-9.55927612e-01 2.93365013e-01 -1.18055313e-02 1.07556767e+02] [ 2.93328296e-01 9.55999879e-01 4.76887809e-03 1.47301640e+02] [ 1.26851085e-02 1.09580585e-03 -9.99918940e-01 5.58917517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04275509600006 meters 0.021435286300014844 Centerline is valid? [True, True] Translation: X:107.57, Y:147.32, Z:5.59 [[-9.73476134e-01 2.28490871e-01 -1.16678165e-02 1.07566905e+02] [ 2.28461333e-01 9.73545483e-01 3.82246004e-03 1.47315605e+02] [ 1.22325472e-02 1.05542871e-03 -9.99924623e-01 5.59126295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07275509600004 meters 0.022196150870673836 Centerline is valid? [True, True] Translation: X:107.68, Y:147.91, Z:4.45 [[-9.66884886e-01 -2.54136001e-01 2.34202754e-02 1.07681419e+02] [ 2.54072555e-01 -9.67168391e-01 -5.69567627e-03 1.47907744e+02] [ 2.40988264e-02 4.43385886e-04 9.99709483e-01 4.44511645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10275509600007 meters 0.022036778064105395 Centerline is valid? [True, True] Translation: X:107.53, Y:147.32, Z:5.59 [[-9.73698672e-01 2.27516726e-01 -1.21257918e-02 1.07534565e+02] [ 2.27486039e-01 9.73773648e-01 3.87098768e-03 1.47318527e+02] [ 1.26884910e-02 1.01072721e-03 -9.99918987e-01 5.59072995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13275509600004 meters 0.022113816886011623 Centerline is valid? [True, True] Translation: X:107.65, Y:147.92, Z:4.45 [[-9.68955218e-01 -2.46111637e-01 2.35551954e-02 1.07649043e+02] [ 2.46047910e-01 -9.69241422e-01 -5.61180219e-03 1.47915950e+02] [ 2.42118009e-02 3.58121572e-04 9.99706787e-01 4.44672717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16275509600007 meters 0.02399250721497737 Centerline is valid? [True, True] Translation: X:107.50, Y:147.32, Z:5.59 [[-9.73714636e-01 2.27462247e-01 -1.18631122e-02 1.07503148e+02] [ 2.27433201e-01 9.73786423e-01 3.76052395e-03 1.47319679e+02] [ 1.24075149e-02 9.63611623e-04 -9.99922560e-01 5.59109697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19275509600004 meters 0.02475060672680659 Centerline is valid? [True, True] Translation: X:107.62, Y:147.93, Z:4.45 [[-9.70427540e-01 -2.40274687e-01 2.32048533e-02 1.07616099e+02] [ 2.40213534e-01 -9.70704889e-01 -5.42920767e-03 1.47928222e+02] [ 2.38295657e-02 3.05467188e-04 9.99715989e-01 4.44766319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22275509600007 meters 0.02620813650803107 Centerline is valid? [True, True] Translation: X:107.47, Y:147.32, Z:5.59 [[-9.74081478e-01 2.25901749e-01 -1.15617877e-02 1.07469454e+02] [ 2.25874297e-01 9.74149639e-01 3.64465761e-03 1.47323048e+02] [ 1.20862458e-02 9.38682814e-04 -9.99926518e-01 5.59203373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25275509600004 meters 0.025793366531808956 Centerline is valid? [True, True] Translation: X:107.48, Y:147.34, Z:5.59 [[-9.87616100e-01 1.56427802e-01 -1.20325387e-02 1.07478529e+02] [ 1.56404813e-01 9.87688970e-01 2.83429609e-03 1.47342220e+02] [ 1.23277685e-02 9.17249483e-04 -9.99923589e-01 5.59181481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2827550960001 meters 0.022885446728025522 Centerline is valid? [True, True] Translation: X:107.48, Y:147.37, Z:5.59 [[-9.96320101e-01 8.47150020e-02 -1.30240124e-02 1.07483277e+02] [ 8.46958522e-02 9.96404812e-01 2.01593681e-03 1.47365977e+02] [ 1.31479687e-02 9.05438536e-04 -9.99913152e-01 5.59026936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31275509600005 meters 0.02433898907662219 Centerline is valid? [True, True] Translation: X:107.50, Y:147.98, Z:4.45 [[-9.95109328e-01 -9.60871370e-02 2.29060585e-02 1.07503966e+02] [ 9.60714491e-02 -9.95372837e-01 -1.78690349e-03 1.47977396e+02] [ 2.29717668e-02 4.22453894e-04 9.99736025e-01 4.44912913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.342755096 meters 0.02370050734915573 Centerline is valid? [True, True] Translation: X:107.43, Y:147.37, Z:5.59 [[-9.96864992e-01 7.80608994e-02 -1.29106231e-02 1.07432682e+02] [ 7.80419888e-02 9.96948141e-01 1.96287963e-03 1.47372702e+02] [ 1.30244459e-02 9.49155282e-04 -9.99914728e-01 5.59352923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37275509600005 meters 0.02005670075919195 Centerline is valid? [True, True] Translation: X:107.45, Y:147.97, Z:4.45 [[-9.95196630e-01 -9.56830782e-02 2.06982012e-02 1.07448098e+02] [ 9.56717012e-02 -9.95411749e-01 -1.54146620e-03 1.47974688e+02] [ 2.07507249e-02 4.46170158e-04 9.99784581e-01 4.45367197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.402755096 meters 0.022444195412717118 Centerline is valid? [True, True] Translation: X:107.38, Y:147.38, Z:5.59 [[-9.97548490e-01 6.83512750e-02 -1.50037761e-02 1.07380876e+02] [ 6.83290700e-02 9.97660857e-01 1.98823343e-03 1.47378553e+02] [ 1.51045784e-02 9.58165188e-04 -9.99885460e-01 5.59338693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43275509600005 meters 0.02005008783188388 Centerline is valid? [True, True] Translation: X:107.38, Y:147.40, Z:5.59 [[-9.99850547e-01 -6.24028280e-03 -1.61227337e-02 1.07383538e+02] [-6.25509487e-03 9.99980060e-01 8.68441889e-04 1.47403399e+02] [ 1.61169929e-02 9.69161326e-04 -9.99869643e-01 5.59183982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.462755096 meters 0.018522628574759167 Centerline is valid? [True, True] Translation: X:107.38, Y:147.42, Z:5.59 [[-9.96675253e-01 -7.96073492e-02 -1.73525296e-02 1.07383563e+02] [-7.96124186e-02 9.96825814e-01 -3.99551728e-04 1.47423169e+02] [ 1.73292567e-02 9.83253529e-04 -9.99849354e-01 5.58969033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49275509600005 meters 0.01666349207905047 Centerline is valid? [True, True] Translation: X:107.38, Y:147.45, Z:5.59 [[-9.87942200e-01 -1.53718801e-01 -1.84591099e-02 1.07380153e+02] [-1.53711244e-01 9.88114104e-01 -1.83602263e-03 1.47448558e+02] [ 1.85219381e-02 1.02348851e-03 -9.99827930e-01 5.58936039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.522755096 meters 0.016408647457514424 Centerline is valid? [True, True] Translation: X:107.37, Y:147.47, Z:5.59 [[-9.74065153e-01 -2.25481742e-01 -1.88430890e-02 1.07371335e+02] [-2.25460233e-01 9.74246830e-01 -3.28588137e-03 1.47468072e+02] [ 1.90987260e-02 1.04770471e-03 -9.99817054e-01 5.58961574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55275509600006 meters 0.016124532417783007 Centerline is valid? [True, True] Translation: X:107.35, Y:147.48, Z:5.59 [[-9.55013544e-01 -2.95957343e-01 -1.89310042e-02 1.07354012e+02] [-2.95921179e-01 9.55200561e-01 -4.74807123e-03 1.47484772e+02] [ 1.94881323e-02 1.06761274e-03 -9.99809518e-01 5.59015232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.582755096 meters 0.01727766221773906 Centerline is valid? [True, True] Translation: X:107.32, Y:147.49, Z:5.59 [[-9.30139183e-01 -3.66739499e-01 -1.85267643e-02 1.07319132e+02] [-3.66690531e-01 9.30322998e-01 -6.09706868e-03 1.47494731e+02] [ 1.94719109e-02 1.12246658e-03 -9.99809774e-01 5.59267202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61275509600006 meters 0.015816426545473928 Centerline is valid? [True, True] Translation: X:107.27, Y:147.50, Z:5.59 [[-9.00473611e-01 -4.34491799e-01 -1.90827953e-02 1.07274650e+02] [-4.34420260e-01 9.00675094e-01 -7.96328352e-03 1.47496317e+02] [ 2.06473798e-02 1.11922622e-03 -9.99786194e-01 5.59166584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64275509600003 meters 0.01835465329154788 Centerline is valid? [True, True] Translation: X:107.23, Y:147.49, Z:5.60 [[-8.65867273e-01 -4.99946284e-01 -1.80991662e-02 1.07228248e+02] [-4.99863747e-01 8.66055688e-01 -9.15311140e-03 1.47493377e+02] [ 2.02509499e-02 1.12173744e-03 -9.99794299e-01 5.59569033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67275509600006 meters 0.015828185632067754 Centerline is valid? [True, True] Translation: X:107.18, Y:147.48, Z:5.59 [[-8.26185699e-01 -5.63100856e-01 -1.82925388e-02 1.07175685e+02] [-5.62992032e-01 8.26387440e-01 -1.11252444e-02 1.47483515e+02] [ 2.13813589e-02 1.10703576e-03 -9.99770780e-01 5.59389526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70275509600003 meters 0.018909050867765995 Centerline is valid? [True, True] Translation: X:107.12, Y:147.46, Z:5.60 [[-7.81937266e-01 -6.23127786e-01 -1.69078274e-02 1.07118455e+02] [-6.23011947e-01 7.82119270e-01 -1.20648708e-02 1.47463540e+02] [ 2.07418938e-02 1.09980640e-03 -9.99784259e-01 5.59832970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73275509600006 meters 0.01906989107581171 Centerline is valid? [True, True] Translation: X:107.06, Y:147.44, Z:5.60 [[-7.33931625e-01 -6.79041834e-01 -1.57021612e-02 1.07062820e+02] [-6.78916754e-01 7.34098806e-01 -1.30761264e-02 1.47439119e+02] [ 2.04061746e-02 1.06347757e-03 -9.99791207e-01 5.60046277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76275509600003 meters 0.01695968211212099 Centerline is valid? [True, True] Translation: X:107.00, Y:147.40, Z:5.60 [[-6.80903779e-01 -7.32220272e-01 -1.49504804e-02 1.07001979e+02] [-7.32076443e-01 6.81067101e-01 -1.45494284e-02 1.47404435e+02] [ 2.08356668e-02 1.03813366e-03 -9.99782375e-01 5.59949635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79275509600006 meters 0.018081258521206886 Centerline is valid? [True, True] Translation: X:106.95, Y:147.37, Z:5.60 [[-6.24403796e-01 -7.80983225e-01 -1.36052240e-02 1.06947607e+02] [-7.80831994e-01 6.24551191e-01 -1.54015642e-02 1.47365865e+02] [ 2.05255221e-02 1.00659903e-03 -9.99788823e-01 5.60198983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82275509600004 meters 0.01818728379660055 Centerline is valid? [True, True] Translation: X:106.89, Y:147.32, Z:5.60 [[-5.63793314e-01 -8.25828205e-01 -1.20363904e-02 1.06890757e+02] [-8.25676261e-01 5.63920913e-01 -1.58718764e-02 1.47319512e+02] [ 1.98950155e-02 9.89704041e-04 -9.99801585e-01 5.60423188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85275509600007 meters 0.017391074548138187 Centerline is valid? [True, True] Translation: X:106.83, Y:147.27, Z:5.61 [[-4.99843886e-01 -8.66048271e-01 -1.07926691e-02 1.06834279e+02] [-8.65886456e-01 4.99959462e-01 -1.67684715e-02 1.47267651e+02] [ 1.99182028e-02 9.63608038e-04 -9.99801149e-01 5.60665112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88275509600004 meters 0.02010653997631508 Centerline is valid? [True, True] Translation: X:106.79, Y:147.21, Z:5.61 [[-4.34067528e-01 -9.00830243e-01 -9.50019777e-03 1.06787065e+02] [-9.00658465e-01 4.34170524e-01 -1.76149293e-02 1.47207556e+02] [ 1.99927669e-02 9.10364729e-04 -9.99799710e-01 5.60824567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91275509600007 meters 0.0213147463751748 Centerline is valid? [True, True] Translation: X:106.74, Y:147.15, Z:5.61 [[-3.64591311e-01 -9.31132513e-01 -8.08817988e-03 1.06741716e+02] [-9.30954435e-01 3.64679947e-01 -1.82311874e-02 1.47145063e+02] [ 1.99252484e-02 8.82794405e-04 -9.99801083e-01 5.60999563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94275509600004 meters 0.01973546681477123 Centerline is valid? [True, True] Translation: X:106.70, Y:147.08, Z:5.61 [[-2.94242406e-01 -9.55707484e-01 -6.67918589e-03 1.06695400e+02] [-9.55521072e-01 2.94317053e-01 -1.88932186e-02 1.47076710e+02] [ 2.00221887e-02 8.22916771e-04 -9.99799197e-01 5.61305266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97275509600007 meters 0.021275187138729005 Centerline is valid? [True, True] Translation: X:106.66, Y:147.00, Z:5.62 [[-2.20982751e-01 -9.75265034e-01 -4.97357309e-03 1.06659206e+02] [-9.75094896e-01 2.21037192e-01 -1.82347001e-02 1.47003890e+02] [ 1.88830101e-02 8.20151528e-04 -9.99821364e-01 5.61640829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00275509600004 meters 0.025603794820875637 Centerline is valid? [True, True] Translation: X:106.64, Y:146.93, Z:5.62 [[-1.47240509e-01 -9.89094392e-01 -3.53792065e-03 1.06635345e+02] [-9.88921496e-01 1.47280977e-01 -1.85091369e-02 1.46929197e+02] [ 1.88283519e-02 7.73431058e-04 -9.99822432e-01 5.61716504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0327550960001 meters 0.02259874002672833 Centerline is valid? [True, True] Translation: X:106.60, Y:146.85, Z:5.62 [[-7.12677962e-02 -9.97455027e-01 -2.09042314e-03 1.06604775e+02] [-9.97279063e-01 7.12945190e-02 -1.87499929e-02 1.46851973e+02] [ 1.88513103e-02 7.48464561e-04 -9.99822018e-01 5.61960569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06275509600005 meters 0.022843931048661826 Centerline is valid? [True, True] Translation: X:106.58, Y:146.77, Z:5.62 [[ 5.23563335e-03 -9.99986095e-01 -6.31291303e-04 1.06584879e+02] [-9.99810166e-01 -5.22286205e-03 -1.87710860e-02 1.46770870e+02] [ 1.87675278e-02 7.29449986e-04 -9.99823608e-01 5.62155077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.092755096 meters 0.02451101662528806 Centerline is valid? [True, True] Translation: X:106.57, Y:146.69, Z:5.62 [[ 8.13006165e-02 -9.96689255e-01 8.59795937e-04 1.06572829e+02] [-9.96507545e-01 -8.13022224e-02 -1.90436784e-02 1.46691244e+02] [ 1.90505329e-02 6.91469653e-04 -9.99818283e-01 5.62327516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12275509600005 meters 0.024824254319394022 Centerline is valid? [True, True] Translation: X:106.57, Y:146.61, Z:5.62 [[ 1.57680596e-01 -9.87487273e-01 2.39068386e-03 1.06565860e+02] [-9.87300690e-01 -1.57697302e-01 -1.92069909e-02 1.46607849e+02] [ 1.93436635e-02 6.68245944e-04 -9.99812671e-01 5.62494790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.152755096 meters 0.025008369205660883 Centerline is valid? [True, True] Translation: X:106.57, Y:146.52, Z:5.63 [[ 2.32657557e-01 -9.72550079e-01 4.09935444e-03 1.06565746e+02] [-9.72349074e-01 -2.32692852e-01 -1.97817026e-02 1.46522441e+02] [ 2.01925869e-02 6.16359101e-04 -9.99795919e-01 5.62588668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18275509600005 meters 0.0242574748400458 Centerline is valid? [True, True] Translation: X:106.57, Y:146.44, Z:5.63 [[ 3.07019902e-01 -9.51685625e-01 5.76640733e-03 1.06570097e+02] [-9.51479644e-01 -3.07073473e-01 -1.98083322e-02 1.46441099e+02] [ 2.06220158e-02 5.94933029e-04 -9.99787167e-01 5.62734688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.212755096 meters 0.025325162142915896 Centerline is valid? [True, True] Translation: X:106.58, Y:146.36, Z:5.63 [[ 3.79433599e-01 -9.25189755e-01 7.35263513e-03 1.06583192e+02] [-9.24985392e-01 -3.79504388e-01 -1.94536277e-02 1.46361658e+02] [ 2.07886543e-02 5.80279883e-04 -9.99783724e-01 5.62846261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24275509600005 meters 0.025325162142915896 Centerline is valid? [True, True] Translation: X:106.60, Y:146.28, Z:5.63 [[ 4.49676140e-01 -8.93148219e-01 8.81068874e-03 1.06600560e+02] [-8.92950861e-01 -4.49762075e-01 -1.87839458e-02 1.46282703e+02] [ 2.07395614e-02 5.79180157e-04 -9.99784744e-01 5.63015144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.272755096 meters 0.024176050975621973 Centerline is valid? [True, True] Translation: X:106.62, Y:146.21, Z:5.63 [[ 5.17287347e-01 -8.55745940e-01 1.06154133e-02 1.06621242e+02] [-8.55543358e-01 -5.17395960e-01 -1.86274763e-02 1.46206959e+02] [ 2.14327591e-02 5.53811398e-04 -9.99770139e-01 5.63185902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30275509600006 meters 0.02419819018035779 Centerline is valid? [True, True] Translation: X:106.65, Y:146.13, Z:5.63 [[ 5.81608269e-01 -8.13382498e-01 1.18630680e-02 1.06649911e+02] [-8.13193478e-01 -5.81728976e-01 -1.75432449e-02 1.46131010e+02] [ 2.11704587e-02 5.56326798e-04 -9.99775726e-01 5.63407343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.332755096 meters 0.02314976636502496 Centerline is valid? [True, True] Translation: X:106.68, Y:146.06, Z:5.64 [[ 6.43140357e-01 -7.65628170e-01 1.35641695e-02 1.06679903e+02] [-7.65439457e-01 -6.43283139e-01 -1.70070641e-02 1.46060573e+02] [ 2.17466889e-02 5.55378765e-04 -9.99763359e-01 5.63625377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36275509600006 meters 0.02330371853688786 Centerline is valid? [True, True] Translation: X:106.72, Y:146.00, Z:5.64 [[ 7.00199856e-01 -7.13792600e-01 1.48420411e-02 1.06715152e+02] [-7.13615164e-01 -7.00356918e-01 -1.59243484e-02 1.45995814e+02] [ 2.17614082e-02 5.58720816e-04 -9.99763036e-01 5.63807151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39275509600003 meters 0.022733018230887633 Centerline is valid? [True, True] Translation: X:106.73, Y:146.00, Z:5.64 [[ 7.54270453e-01 -6.56372291e-01 1.58587615e-02 1.06729171e+02] [-6.56210252e-01 -7.54436911e-01 -1.45963022e-02 1.45999074e+02] [ 2.15450433e-02 6.02877606e-04 -9.99767697e-01 5.63907065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42275509600006 meters 0.023336206588969222 Centerline is valid? [True, True] Translation: X:106.74, Y:146.01, Z:5.64 [[ 8.03816646e-01 -5.94622780e-01 1.73939415e-02 1.06743384e+02] [-5.94467197e-01 -8.04004593e-01 -1.36149357e-02 1.46006254e+02] [ 2.20805597e-02 6.03784291e-04 -9.99756012e-01 5.63955834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45275509600003 meters 0.022375106629311806 Centerline is valid? [True, True] Translation: X:106.76, Y:146.01, Z:5.64 [[ 8.48281213e-01 -5.29227005e-01 1.83783011e-02 1.06757394e+02] [-5.29086889e-01 -8.48480049e-01 -1.21930038e-02 1.46012285e+02] [ 2.20464887e-02 6.19377928e-04 -9.99756755e-01 5.64033737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48275509600006 meters 0.022297627100630945 Centerline is valid? [True, True] Translation: X:106.77, Y:146.02, Z:5.64 [[ 8.87583176e-01 -4.60261445e-01 1.88549149e-02 1.06770924e+02] [-4.60141887e-01 -8.87783181e-01 -1.05103671e-02 1.46021040e+02] [ 2.15765930e-02 6.52888880e-04 -9.99766985e-01 5.64170081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51275509600003 meters 0.02054533814663454 Centerline is valid? [True, True] Translation: X:106.78, Y:146.03, Z:5.64 [[ 9.21124414e-01 -3.88772300e-01 1.96446589e-02 1.06781814e+02] [-3.88668446e-01 -9.21333630e-01 -9.01004678e-03 1.46025196e+02] [ 2.16021415e-02 6.64115000e-04 -9.99766426e-01 5.64318459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54275509600006 meters 0.02074705943705728 Centerline is valid? [True, True] Translation: X:106.79, Y:146.03, Z:5.64 [[ 9.48842341e-01 -3.15119210e-01 1.99523178e-02 1.06792913e+02] [-3.15034427e-01 -9.49051854e-01 -7.34081525e-03 1.46034074e+02] [ 2.12490161e-02 6.79609318e-04 -9.99773983e-01 5.64412111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57275509600004 meters 0.02038031283674847 Centerline is valid? [True, True] Translation: X:106.80, Y:146.04, Z:5.65 [[ 9.70765470e-01 -2.39159153e-01 2.04279572e-02 1.06804220e+02] [-2.39091122e-01 -9.70980133e-01 -5.74606323e-03 1.46043356e+02] [ 2.12093642e-02 6.93936568e-04 -9.99774815e-01 5.64559730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60275509600007 meters 0.020129166461739116 Centerline is valid? [True, True] Translation: X:106.81, Y:146.05, Z:5.65 [[ 9.86540938e-01 -1.62177634e-01 2.08660726e-02 1.06813381e+02] [-1.62126443e-01 -9.86761335e-01 -4.13328607e-03 1.46054436e+02] [ 2.12601602e-02 6.94713776e-04 -9.99773736e-01 5.64663654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63275509600004 meters 0.02044845620844715 Centerline is valid? [True, True] Translation: X:106.82, Y:146.07, Z:5.65 [[ 9.96192667e-01 -8.46366834e-02 2.08998169e-02 1.06820368e+02] [-8.46034811e-02 -9.96411639e-01 -2.46934739e-03 1.46067830e+02] [ 2.10338182e-02 6.91748502e-04 -9.99778525e-01 5.64737983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66275509600007 meters 0.02004122977247693 Centerline is valid? [True, True] Translation: X:106.83, Y:146.08, Z:5.65 [[ 9.99758506e-01 -6.23092282e-03 2.10737867e-02 1.06825362e+02] [-6.21500073e-03 -9.99980350e-01 -8.20950663e-04 1.46080132e+02] [ 2.10784879e-02 6.89778809e-04 -9.99777586e-01 5.64792672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69275509600004 meters 0.02018838928926162 Centerline is valid? [True, True] Translation: X:106.83, Y:146.09, Z:5.65 [[ 9.97165310e-01 7.22075899e-02 2.11520233e-02 1.06829808e+02] [ 7.22059353e-02 -9.97389389e-01 8.42949076e-04 1.46093828e+02] [ 2.11576709e-02 6.86742050e-04 -9.99775916e-01 5.64859488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72275509600007 meters 0.02005327753968673 Centerline is valid? [True, True] Translation: X:106.83, Y:146.11, Z:5.65 [[ 9.88458630e-01 1.50084862e-01 2.05930058e-02 1.06832894e+02] [ 1.50066890e-01 -9.88672874e-01 2.42408210e-03 1.46107683e+02] [ 2.07235643e-02 6.94223464e-04 -9.99785003e-01 5.64982644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75275509600004 meters 0.020043439472099953 Centerline is valid? [True, True] Translation: X:106.83, Y:146.12, Z:5.65 [[ 9.73659681e-01 2.27097662e-01 2.03341561e-02 1.06834827e+02] [ 2.27062925e-01 -9.73871744e-01 4.03170200e-03 1.46121850e+02] [ 2.07184502e-02 6.91627285e-04 -9.99785111e-01 5.65078600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7827550960001 meters 0.020036616047696028 Centerline is valid? [True, True] Translation: X:106.84, Y:146.14, Z:5.65 [[ 9.52892254e-01 3.02674608e-01 1.96069949e-02 1.06835607e+02] [ 3.02625535e-01 -9.53093697e-01 5.49457561e-03 1.46136622e+02] [ 2.03503717e-02 6.97838782e-04 -9.99792666e-01 5.65160156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81275509600005 meters 0.019941843400731653 Centerline is valid? [True, True] Translation: X:106.83, Y:146.15, Z:5.65 [[ 9.26173979e-01 3.76584325e-01 1.96470539e-02 1.06834691e+02] [ 3.76515188e-01 -9.26382091e-01 7.24812033e-03 1.46152230e+02] [ 2.09302073e-02 6.84393744e-04 -9.99780705e-01 5.65215836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.842755096 meters 0.020756423918434783 Centerline is valid? [True, True] Translation: X:106.83, Y:146.17, Z:5.65 [[ 8.93820923e-01 4.48014907e-01 1.91520440e-02 1.06830768e+02] [ 4.47928210e-01 -8.94025829e-01 8.83939797e-03 1.46167707e+02] [ 2.10826041e-02 6.77901926e-04 -9.99777507e-01 5.65222585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87275509600005 meters 0.019749070005272016 Centerline is valid? [True, True] Translation: X:106.83, Y:146.18, Z:5.65 [[ 8.55858432e-01 5.16875603e-01 1.85998606e-02 1.06828704e+02] [ 5.16770539e-01 -8.56060253e-01 1.04428619e-02 1.46180550e+02] [ 2.13202619e-02 6.74248599e-04 -9.99772470e-01 5.65303807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.902755096 meters 0.020278288240197742 Centerline is valid? [True, True] Translation: X:106.82, Y:146.20, Z:5.65 [[ 8.12913353e-01 5.82117139e-01 1.76498395e-02 1.06822221e+02] [ 5.81997608e-01 -8.13104661e-01 1.18149995e-02 1.46195706e+02] [ 2.12288805e-02 6.67593519e-04 -9.99774419e-01 5.65412898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93275509600005 meters 0.020398912197195012 Centerline is valid? [True, True] Translation: X:106.82, Y:146.21, Z:5.65 [[ 7.64891495e-01 6.43945186e-01 1.66011600e-02 1.06815374e+02] [ 6.43812176e-01 -7.65071341e-01 1.31044028e-02 1.46210403e+02] [ 2.11395888e-02 6.64582726e-04 -9.99776313e-01 5.65467827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.962755096 meters 0.021243233219374692 Centerline is valid? [True, True] Translation: X:106.80, Y:146.23, Z:5.65 [[ 7.12821309e-01 7.01171254e-01 1.56414159e-02 1.06803789e+02] [ 7.01021763e-01 -7.12992615e-01 1.44919908e-02 1.46226203e+02] [ 2.13135814e-02 6.34773077e-04 -9.99772638e-01 5.65491987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99275509600005 meters 0.02143638423828888 Centerline is valid? [True, True] Translation: X:106.79, Y:146.24, Z:5.66 [[ 6.56033377e-01 7.54595681e-01 1.43375911e-02 1.06793077e+02] [ 7.54436070e-01 -6.56189733e-01 1.55322653e-02 1.46239962e+02] [ 2.11287604e-02 6.27111411e-04 -9.99776566e-01 5.65510298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.022755096 meters 0.02195525574614234 Centerline is valid? [True, True] Translation: X:106.78, Y:146.25, Z:5.66 [[ 5.95469602e-01 8.03271527e-01 1.30693013e-02 1.06779506e+02] [ 8.03100150e-01 -5.95612695e-01 1.66032335e-02 1.46252433e+02] [ 2.11211465e-02 6.09237030e-04 -9.99776738e-01 5.65548876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05275509600006 meters 0.022884032619922053 Centerline is valid? [True, True] Translation: X:106.76, Y:146.26, Z:5.66 [[ 5.31639126e-01 8.46888887e-01 1.17920408e-02 1.06763543e+02] [ 8.46704296e-01 -5.31769572e-01 1.76905944e-02 1.46264695e+02] [ 2.12526163e-02 5.79359451e-04 -9.99773970e-01 5.65590426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.082755096 meters 0.022052396821606576 Centerline is valid? [True, True] Translation: X:106.75, Y:146.27, Z:5.66 [[ 4.64255892e-01 8.85641800e-01 1.02503370e-02 1.06752805e+02] [ 8.85452420e-01 -4.64368688e-01 1.83230385e-02 1.46272780e+02] [ 2.09875844e-02 5.69607116e-04 -9.99779574e-01 5.65694326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11275509600006 meters 0.023163077406357088 Centerline is valid? [True, True] Translation: X:106.74, Y:146.28, Z:5.66 [[ 3.94508239e-01 9.18847825e-01 9.05122318e-03 1.06736721e+02] [ 9.18635479e-01 -3.94611715e-01 1.97598254e-02 1.46280679e+02] [ 2.17279913e-02 5.19360835e-04 -9.99763784e-01 5.65700958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14275509600003 meters 0.022447045393244686 Centerline is valid? [True, True] Translation: X:106.73, Y:146.29, Z:5.66 [[ 3.21976455e-01 9.46718464e-01 7.43724732e-03 1.06725071e+02] [ 9.46501010e-01 -3.22061944e-01 2.02963592e-02 1.46286252e+02] [ 2.16101923e-02 5.04412317e-04 -9.99766345e-01 5.65766137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17275509600006 meters 0.022863326860661552 Centerline is valid? [True, True] Translation: X:106.71, Y:146.29, Z:5.66 [[ 2.47507166e-01 9.68868320e-01 5.86353660e-03 1.06711579e+02] [ 9.68640586e-01 -2.47576147e-01 2.10110919e-02 1.46291153e+02] [ 2.18086531e-02 4.79263740e-04 -9.99762048e-01 5.65789836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20275509600003 meters 0.022730936578576538 Centerline is valid? [True, True] Translation: X:106.70, Y:146.29, Z:5.66 [[ 1.70641357e-01 9.85324064e-01 4.24464616e-03 1.06699653e+02] [ 9.85084019e-01 -1.70693496e-01 2.17532901e-02 1.46294665e+02] [ 2.21585737e-02 4.69322151e-04 -9.99754359e-01 5.65801460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23275509600006 meters 0.022932134169869816 Centerline is valid? [True, True] Translation: X:106.69, Y:146.30, Z:5.66 [[ 9.23025481e-02 9.95727912e-01 2.48280807e-03 1.06685961e+02] [ 9.95499119e-01 -9.23345751e-02 2.13501682e-02 1.46295870e+02] [ 2.14882074e-02 5.00958320e-04 -9.99768976e-01 5.65871250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26275509600003 meters 0.02461608203060649 Centerline is valid? [True, True] Translation: X:107.33, Y:146.30, Z:4.50 [[ 3.07116881e-02 -9.99528143e-01 -5.32123986e-04 1.07329444e+02] [ 9.99491201e-01 3.07151303e-02 -8.59772689e-03 1.46298465e+02] [ 8.61001425e-03 -2.67802535e-04 9.99962897e-01 4.50129456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29275509600006 meters 0.02243860734638214 Centerline is valid? [True, True] Translation: X:107.33, Y:146.33, Z:4.50 [[ 3.20392259e-02 -9.99486464e-01 -5.44170648e-04 1.07327491e+02] [ 9.99447224e-01 3.20427920e-02 -8.86038147e-03 1.46325854e+02] [ 8.87326809e-03 -2.59990080e-04 9.99960598e-01 4.50064329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32275509600004 meters 0.022141448509025656 Centerline is valid? [True, True] Translation: X:107.33, Y:146.35, Z:4.50 [[ 3.29334062e-02 -9.99457393e-01 -5.56456021e-04 1.07328447e+02] [ 9.99415861e-01 3.29371125e-02 -9.11498042e-03 1.46353454e+02] [ 9.12836263e-03 -2.55943621e-04 9.99958303e-01 4.50073374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35275509600007 meters 0.021542701553598654 Centerline is valid? [True, True] Translation: X:107.33, Y:146.38, Z:4.50 [[ 3.44259041e-02 -9.99407088e-01 -5.73943505e-04 1.07328971e+02] [ 9.99362375e-01 3.44297948e-02 -9.45688764e-03 1.46380091e+02] [ 9.47104129e-03 -2.48015638e-04 9.99955118e-01 4.50049848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38275509600004 meters 0.020771808523442188 Centerline is valid? [True, True] Translation: X:107.33, Y:146.41, Z:4.50 [[ 3.46510731e-02 -9.99399298e-01 -5.88954067e-04 1.07328386e+02] [ 9.99351637e-01 3.46551742e-02 -9.76341337e-03 1.46406825e+02] [ 9.77795877e-03 -2.50259461e-04 9.99952163e-01 4.50016000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41275509600007 meters 0.019796691555980985 Centerline is valid? [True, True] Translation: X:107.33, Y:146.43, Z:4.50 [[ 3.45840936e-02 -9.99401599e-01 -6.19991607e-04 1.07327280e+02] [ 9.99348015e-01 3.45886615e-02 -1.03523140e-02 1.46434554e+02] [ 1.03675639e-02 -2.61561983e-04 9.99946221e-01 4.49971298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44275509600004 meters 0.021341812530744204 Centerline is valid? [True, True] Translation: X:107.33, Y:146.46, Z:4.50 [[ 3.40597024e-02 -9.99419613e-01 -6.12097167e-04 1.07330852e+02] [ 9.99366769e-01 3.40641979e-02 -1.02805926e-02 1.46460174e+02] [ 1.02954764e-02 -2.61555646e-04 9.99946966e-01 4.50068710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47275509600007 meters 0.020501925288771865 Centerline is valid? [True, True] Translation: X:107.33, Y:146.49, Z:4.50 [[ 3.32734181e-02 -9.99446112e-01 -5.90829752e-04 1.07330756e+02] [ 9.99396255e-01 3.32776617e-02 -9.98615842e-03 1.46487366e+02] [ 1.00002886e-02 -2.58199417e-04 9.99949963e-01 4.50080668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50275509600004 meters 0.02162822045619055 Centerline is valid? [True, True] Translation: X:107.33, Y:146.51, Z:4.50 [[ 3.15345813e-02 -9.99502492e-01 -5.81364789e-04 1.07333553e+02] [ 9.99453667e-01 3.15387892e-02 -9.88292361e-03 1.46513742e+02] [ 9.89634232e-03 -2.69393313e-04 9.99950994e-01 4.50175600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5327550960001 meters 0.02200640857796527 Centerline is valid? [True, True] Translation: X:107.34, Y:146.54, Z:4.50 [[ 3.04287627e-02 -9.99536783e-01 -5.56907606e-04 1.07335326e+02] [ 9.99491445e-01 3.04326889e-02 -9.52383741e-03 1.46540438e+02] [ 9.53637400e-03 -2.66825798e-04 9.99954492e-01 4.50237516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56275509600005 meters 0.02214778687092717 Centerline is valid? [True, True] Translation: X:107.34, Y:146.57, Z:4.50 [[ 2.87368748e-02 -9.99586881e-01 -5.09529813e-04 1.07336330e+02] [ 9.99548505e-01 2.87402382e-02 -8.76266182e-03 1.46567361e+02] [ 8.77368581e-03 -2.57488247e-04 9.99961477e-01 4.50321509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.592755096 meters 0.022034979657235644 Centerline is valid? [True, True] Translation: X:107.34, Y:146.59, Z:4.50 [[ 2.77675196e-02 -9.99614284e-01 -4.98203312e-04 1.07336595e+02] [ 9.99577165e-01 2.77707838e-02 -8.61830081e-03 1.46594552e+02] [ 8.62881209e-03 -2.58683818e-04 9.99962738e-01 4.50339705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62275509600005 meters 0.02308261727489086 Centerline is valid? [True, True] Translation: X:107.34, Y:146.62, Z:4.50 [[ 2.65978026e-02 -9.99646094e-01 -4.93425585e-04 1.07338487e+02] [ 9.99609251e-01 2.66010606e-02 -8.58658748e-03 1.46620666e+02] [ 8.59667428e-03 -2.64848421e-04 9.99963013e-01 4.50379539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.652755096 meters 0.02419852027674501 Centerline is valid? [True, True] Translation: X:107.34, Y:146.65, Z:4.50 [[ 2.43227679e-02 -9.99704048e-01 -4.67726048e-04 1.07339798e+02] [ 9.99670527e-01 2.43257847e-02 -8.19110534e-03 1.46648236e+02] [ 8.20005897e-03 -2.68341591e-04 9.99966343e-01 4.50386593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68275509600005 meters 0.02442615784743686 Centerline is valid? [True, True] Translation: X:107.34, Y:146.68, Z:4.50 [[ 2.23616912e-02 -9.99749837e-01 -4.67749549e-04 1.07340282e+02] [ 9.99715829e-01 2.23647908e-02 -8.25086207e-03 1.46675003e+02] [ 8.25925913e-03 -2.83113398e-04 9.99965852e-01 4.50396748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.712755096 meters 0.024797060502136935 Centerline is valid? [True, True] Translation: X:107.34, Y:146.70, Z:4.50 [[ 2.13573208e-02 -9.99771801e-01 -4.60031750e-04 1.07341545e+02] [ 9.99738669e-01 2.13603605e-02 -8.14427987e-03 1.46702176e+02] [ 8.15224780e-03 -2.85971532e-04 9.99966729e-01 4.50440252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74275509600005 meters 0.024768867180466468 Centerline is valid? [True, True] Translation: X:107.34, Y:146.73, Z:4.50 [[ 2.06706668e-02 -9.99786237e-01 -4.52174963e-04 1.07342313e+02] [ 9.99753833e-01 2.06736396e-02 -8.05442301e-03 1.46729378e+02] [ 8.06204937e-03 -2.85573358e-04 9.99967460e-01 4.50484624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.772755096 meters 0.025182055456360434 Centerline is valid? [True, True] Translation: X:107.34, Y:146.76, Z:4.51 [[ 2.02181391e-02 -9.99795480e-01 -4.73642094e-04 1.07343158e+02] [ 9.99759426e-01 2.02214349e-02 -8.49610157e-03 1.46756747e+02] [ 8.50394167e-03 -3.01752786e-04 9.99963795e-01 4.50536402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80275509600006 meters 0.025349440762729835 Centerline is valid? [True, True] Translation: X:107.34, Y:146.78, Z:4.51 [[ 2.08438329e-02 -9.99782625e-01 -4.86529625e-04 1.07341989e+02] [ 9.99744026e-01 2.08473059e-02 -8.79049006e-03 1.46782307e+02] [ 8.79872206e-03 -3.03177580e-04 9.99961245e-01 4.50508594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.832755096 meters 0.02550955705474044 Centerline is valid? [True, True] Translation: X:107.34, Y:146.81, Z:4.50 [[ 2.21748135e-02 -9.99753972e-01 -5.22970220e-04 1.07340758e+02] [ 9.99708846e-01 2.21787841e-02 -9.50395445e-03 1.46808432e+02] [ 9.51321506e-03 -3.12069538e-04 9.99954700e-01 4.50479334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86275509600006 meters 0.022510838434454863 Centerline is valid? [True, True] Translation: X:107.34, Y:146.84, Z:4.50 [[ 2.28897554e-02 -9.99737853e-01 -5.34057476e-04 1.07336562e+02] [ 9.99690097e-01 2.28938846e-02 -9.77652355e-03 1.46837141e+02] [ 9.78618731e-03 -3.10109737e-04 9.99952066e-01 4.50402686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89275509600003 meters 0.02403477167448649 Centerline is valid? [True, True] Translation: X:107.34, Y:146.86, Z:4.50 [[ 2.36340192e-02 -9.99720513e-01 -5.73713983e-04 1.07339093e+02] [ 9.99664629e-01 2.36387670e-02 -1.05753973e-02 1.46863652e+02] [ 1.05860036e-02 -3.23582432e-04 9.99943914e-01 4.50448502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92275509600006 meters 0.02368900349699753 Centerline is valid? [True, True] Translation: X:107.34, Y:146.89, Z:4.50 [[ 2.41681886e-02 -9.99707728e-01 -5.97027649e-04 1.07338785e+02] [ 9.99646613e-01 2.41733156e-02 -1.10589721e-02 1.46890424e+02] [ 1.10701720e-02 -3.29541343e-04 9.99938669e-01 4.50385449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95275509600003 meters 0.022354848509756185 Centerline is valid? [True, True] Translation: X:107.34, Y:146.92, Z:4.50 [[ 2.57504233e-02 -9.99668183e-01 -6.63467697e-04 1.07336438e+02] [ 9.99591447e-01 2.57566703e-02 -1.23908471e-02 1.46917732e+02] [ 1.24038244e-02 -3.44127077e-04 9.99923010e-01 4.50339152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98275509600006 meters 0.02118025460453213 Centerline is valid? [True, True] Translation: X:107.34, Y:146.95, Z:4.50 [[ 2.59952820e-02 -9.99661840e-01 -6.72305226e-04 1.07335264e+02] [ 9.99581997e-01 2.60017059e-02 -1.26389389e-02 1.46945529e+02] [ 1.26521460e-02 -3.43471419e-04 9.99919899e-01 4.50363213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01275509600003 meters 0.021074189079339486 Centerline is valid? [True, True] Translation: X:107.34, Y:146.97, Z:4.50 [[ 2.61878795e-02 -9.99656823e-01 -6.56329388e-04 1.07335131e+02] [ 9.99579719e-01 2.61940141e-02 -1.24201420e-02 1.46972830e+02] [ 1.24330716e-02 -3.30796363e-04 9.99922652e-01 4.50450015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04275509600006 meters 0.021440399962157696 Centerline is valid? [True, True] Translation: X:107.34, Y:147.00, Z:4.50 [[ 2.55963332e-02 -9.99672147e-01 -6.53267433e-04 1.07336058e+02] [ 9.99594747e-01 2.56024834e-02 -1.24440943e-02 1.46999123e+02] [ 1.24567397e-02 -3.34479511e-04 9.99922356e-01 4.50489456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07275509600004 meters 0.02202988480946961 Centerline is valid? [True, True] Translation: X:107.34, Y:147.03, Z:4.51 [[ 2.43651159e-02 -9.99702924e-01 -6.35770127e-04 1.07337447e+02] [ 9.99628519e-01 2.43710621e-02 -1.22014517e-02 1.47026461e+02] [ 1.22133213e-02 -3.38244166e-04 9.99925357e-01 4.50562512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10275509600007 meters 0.02209960539971483 Centerline is valid? [True, True] Translation: X:107.34, Y:147.05, Z:4.51 [[ 2.35579848e-02 -9.99722271e-01 -6.34975952e-04 1.07338408e+02] [ 9.99647046e-01 2.35640047e-02 -1.22687322e-02 1.47053452e+02] [ 1.22802874e-02 -3.45725228e-04 9.99924535e-01 4.50610899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13275509600004 meters 0.02209960539971483 Centerline is valid? [True, True] Translation: X:107.34, Y:147.08, Z:4.51 [[ 2.31704233e-02 -9.99731331e-01 -6.30794709e-04 1.07339487e+02] [ 9.99656104e-01 2.31764211e-02 -1.22689470e-02 1.47079367e+02] [ 1.22802703e-02 -3.46301084e-04 9.99924535e-01 4.50649206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16275509600007 meters 0.02288302803403928 Centerline is valid? [True, True] Translation: X:107.34, Y:147.11, Z:4.51 [[ 2.21218627e-02 -9.99755091e-01 -6.16977676e-04 1.07341494e+02] [ 9.99682033e-01 2.21277079e-02 -1.20912003e-02 1.47105909e+02] [ 1.21018914e-02 -3.49301624e-04 9.99926708e-01 4.50740756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19275509600004 meters 0.02295972089965601 Centerline is valid? [True, True] Translation: X:107.34, Y:147.13, Z:4.51 [[ 2.04161361e-02 -9.99791389e-01 -5.99709764e-04 1.07341466e+02] [ 9.99721387e-01 2.04218064e-02 -1.18363116e-02 1.47132956e+02] [ 1.18460896e-02 -3.57890929e-04 9.99929769e-01 4.50758684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22275509600007 meters 0.02250761429107131 Centerline is valid? [True, True] Translation: X:107.34, Y:147.16, Z:4.51 [[ 1.96540144e-02 -9.99806666e-01 -5.92532425e-04 1.07341444e+02] [ 9.99737387e-01 1.96596311e-02 -1.17752666e-02 1.47160420e+02] [ 1.17846390e-02 -3.60945559e-04 9.99930494e-01 4.50769776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25275509600004 meters 0.023098855542009925 Centerline is valid? [True, True] Translation: X:107.34, Y:147.19, Z:4.51 [[ 1.83304490e-02 -9.99831790e-01 -6.22384941e-04 1.07342362e+02] [ 9.99754092e-01 1.83367874e-02 -1.24706805e-02 1.47188154e+02] [ 1.24799954e-02 -3.93638719e-04 9.99922044e-01 4.50708806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2827550960001 meters 0.023105600735634616 Centerline is valid? [True, True] Translation: X:107.34, Y:147.22, Z:4.51 [[ 1.76351168e-02 -9.99844274e-01 -6.55453850e-04 1.07343385e+02] [ 9.99757437e-01 1.76422281e-02 -1.31840763e-02 1.47215105e+02] [ 1.31935868e-02 -4.22792136e-04 9.99912871e-01 4.50720220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31275509600005 meters 0.023370688424354143 Centerline is valid? [True, True] Translation: X:107.34, Y:147.24, Z:4.51 [[ 1.67269647e-02 -9.99859864e-01 -6.79588654e-04 1.07344596e+02] [ 9.99765073e-01 1.67347415e-02 -1.37748613e-02 1.47242197e+02] [ 1.37843037e-02 -4.49017380e-04 9.99904891e-01 4.50735786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.342755096 meters 0.02436959607623959 Centerline is valid? [True, True] Translation: X:107.35, Y:147.27, Z:4.51 [[ 1.54934735e-02 -9.99879735e-01 -6.84707287e-04 1.07347210e+02] [ 9.99782082e-01 1.55015349e-02 -1.39818359e-02 1.47268094e+02] [ 1.39907684e-02 -4.67930872e-04 9.99902015e-01 4.50750297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37275509600005 meters 0.02438917074435565 Centerline is valid? [True, True] Translation: X:107.35, Y:147.30, Z:4.51 [[ 1.47514184e-02 -9.99890963e-01 -6.76793497e-04 1.07348343e+02] [ 9.99794077e-01 1.47594158e-02 -1.39270373e-02 1.47295044e+02] [ 1.39355078e-02 -4.71210575e-04 9.99902785e-01 4.50796572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.402755096 meters 0.02499628934752177 Centerline is valid? [True, True] Translation: X:107.35, Y:147.32, Z:4.51 [[ 1.37977547e-02 -9.99904562e-01 -6.98686936e-04 1.07349759e+02] [ 9.99799725e-01 1.38064313e-02 -1.44876728e-02 1.47322283e+02] [ 1.44959365e-02 -4.98649651e-04 9.99894804e-01 4.50794690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43275509600005 meters 0.025363848524021314 Centerline is valid? [True, True] Translation: X:107.35, Y:147.35, Z:4.51 [[ 1.34836826e-02 -9.99908824e-01 -7.31002999e-04 1.07350675e+02] [ 9.99792271e-01 1.34932785e-02 -1.52756564e-02 1.47348015e+02] [ 1.52841272e-02 -5.24879046e-04 9.99883053e-01 4.50759320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.462755096 meters 0.023590233307331218 Centerline is valid? [True, True] Translation: X:107.35, Y:147.38, Z:4.51 [[ 1.35628302e-02 -9.99907744e-01 -7.43434860e-04 1.07348855e+02] [ 9.99785070e-01 1.35728180e-02 -1.56713750e-02 1.47375305e+02] [ 1.56800197e-02 -5.30726876e-04 9.99876920e-01 4.50752120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49275509600005 meters 0.022597724733911823 Centerline is valid? [True, True] Translation: X:107.35, Y:147.40, Z:4.51 [[ 1.46795680e-02 -9.99891938e-01 -7.89226715e-04 1.07348258e+02] [ 9.99751432e-01 1.46907425e-02 -1.67707138e-02 1.47403643e+02] [ 1.67804959e-02 -5.42843705e-04 9.99859050e-01 4.50681657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.522755096 meters 0.024675411521828578 Centerline is valid? [True, True] Translation: X:107.35, Y:147.43, Z:4.51 [[ 1.53689575e-02 -9.99881570e-01 -8.01148095e-04 1.07352222e+02] [ 9.99734688e-01 1.53804382e-02 -1.71463072e-02 1.47430192e+02] [ 1.71565986e-02 -5.37414674e-04 9.99852670e-01 4.50677320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55275509600006 meters 0.02189840314113859 Centerline is valid? [True, True] Translation: X:107.35, Y:147.46, Z:4.51 [[ 1.63340818e-02 -9.99866265e-01 -8.06459113e-04 1.07349228e+02] [ 9.99715092e-01 1.63456417e-02 -1.73941027e-02 1.47458600e+02] [ 1.74049586e-02 -5.22112650e-04 9.99848386e-01 4.50730266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.582755096 meters 0.020828698883971847 Centerline is valid? [True, True] Translation: X:107.35, Y:147.49, Z:4.51 [[ 1.93410155e-02 -9.99812598e-01 -8.33640042e-04 1.07348562e+02] [ 9.99648679e-01 1.93529449e-02 -1.81102860e-02 1.47486138e+02] [ 1.81230255e-02 -4.83075845e-04 9.99835648e-01 4.50727703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61275509600006 meters 0.020697663796189196 Centerline is valid? [True, True] Translation: X:107.35, Y:147.51, Z:4.51 [[ 2.07768716e-02 -9.99783789e-01 -8.34685900e-04 1.07349319e+02] [ 9.99617024e-01 2.07886554e-02 -1.82657297e-02 1.47512248e+02] [ 1.82791325e-02 -4.54861515e-04 9.99832819e-01 4.50729560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64275509600003 meters 0.020701394448704242 Centerline is valid? [True, True] Translation: X:107.35, Y:147.54, Z:4.51 [[ 2.23165842e-02 -9.99750613e-01 -8.25323101e-04 1.07350307e+02] [ 9.99584861e-01 2.23279163e-02 -1.82090522e-02 1.47538572e+02] [ 1.82229389e-02 -4.18616630e-04 9.99833861e-01 4.50772818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67275509600006 meters 0.018212013674423145 Centerline is valid? [True, True] Translation: X:107.35, Y:147.57, Z:4.51 [[ 2.53067676e-02 -9.99679394e-01 -8.23244254e-04 1.07347352e+02] [ 9.99511750e-01 2.53176027e-02 -1.83106856e-02 1.47565959e+02] [ 1.83256576e-02 -3.59458039e-04 9.99832006e-01 4.50878983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70275509600003 meters 0.0170685051284659 Centerline is valid? [True, True] Translation: X:107.35, Y:147.59, Z:4.51 [[ 2.81630028e-02 -9.99603007e-01 -8.21344271e-04 1.07346906e+02] [ 9.99433437e-01 2.81733554e-02 -1.84137767e-02 1.47592815e+02] [ 1.84296066e-02 -3.02291682e-04 9.99830115e-01 4.50962480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73275509600006 meters 0.01647081340228434 Centerline is valid? [True, True] Translation: X:107.35, Y:147.62, Z:4.51 [[ 2.89063638e-02 -9.99581795e-01 -8.11298127e-04 1.07347032e+02] [ 9.99413706e-01 2.89163825e-02 -1.83326923e-02 1.47620108e+02] [ 1.83484852e-02 -2.80890995e-04 9.99831613e-01 4.50985309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76275509600003 meters 0.016202801660875756 Centerline is valid? [True, True] Translation: X:107.35, Y:147.65, Z:4.51 [[ 2.94092576e-02 -9.99567125e-01 -8.11864540e-04 1.07347761e+02] [ 9.99396037e-01 2.94192458e-02 -1.84950988e-02 1.47647382e+02] [ 1.85109772e-02 -2.67447079e-04 9.99828621e-01 4.51034642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79275509600006 meters 0.01628944970559504 Centerline is valid? [True, True] Translation: X:107.35, Y:147.67, Z:4.51 [[ 2.97473682e-02 -9.99557122e-01 -8.08861669e-04 1.07349476e+02] [ 9.99384414e-01 2.97572654e-02 -1.85822089e-02 1.47673199e+02] [ 1.85980487e-02 -2.55591936e-04 9.99827009e-01 4.51019822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82275509600004 meters 0.016595255634959092 Centerline is valid? [True, True] Translation: X:107.35, Y:147.70, Z:4.51 [[ 2.91236495e-02 -9.99575497e-01 -7.99318358e-04 1.07351316e+02] [ 9.99403647e-01 2.91334651e-02 -1.85362356e-02 1.47698977e+02] [ 1.85516538e-02 -2.58998854e-04 9.99827870e-01 4.51055690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85275509600007 meters 0.016630524014140197 Centerline is valid? [True, True] Translation: X:107.35, Y:147.73, Z:4.51 [[ 2.76720297e-02 -9.99616768e-01 -7.59130790e-04 1.07354031e+02] [ 9.99459000e-01 2.76811506e-02 -1.77612271e-02 1.47725276e+02] [ 1.77754341e-02 -2.67230894e-04 9.99841969e-01 4.51201751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88275509600004 meters 0.017674364274083636 Centerline is valid? [True, True] Translation: X:107.36, Y:147.75, Z:4.51 [[ 2.63528875e-02 -9.99652431e-01 -7.36095392e-04 1.07357752e+02] [ 9.99501431e-01 2.63617021e-02 -1.73767099e-02 1.47751032e+02] [ 1.73900751e-02 -2.77801916e-04 9.99848743e-01 4.51288374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91275509600007 meters 0.017148863911035074 Centerline is valid? [True, True] Translation: X:107.36, Y:147.78, Z:4.51 [[ 2.50402199e-02 -9.99686187e-01 -7.17268468e-04 1.07358639e+02] [ 9.99540160e-01 2.50488233e-02 -1.70887655e-02 1.47778046e+02] [ 1.71013696e-02 -2.89032192e-04 9.99853719e-01 4.51393866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94275509600004 meters 0.017870267837250944 Centerline is valid? [True, True] Translation: X:107.36, Y:147.81, Z:4.52 [[ 2.24792534e-02 -9.99747066e-01 -6.98382767e-04 1.07362329e+02] [ 9.99606344e-01 2.24878088e-02 -1.67766478e-02 1.47805077e+02] [ 1.67881095e-02 -3.20981327e-04 9.99859018e-01 4.51518450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97275509600007 meters 0.018249629727803172 Centerline is valid? [True, True] Translation: X:107.36, Y:147.83, Z:4.52 [[ 2.01989038e-02 -9.99795748e-01 -6.83710706e-04 1.07364852e+02] [ 9.99658633e-01 2.02074591e-02 -1.65612942e-02 1.47833332e+02] [ 1.65717276e-02 -3.48957321e-04 9.99862619e-01 4.51587135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00275509600004 meters 0.018693808897183042 Centerline is valid? [True, True] Translation: X:107.37, Y:147.86, Z:4.52 [[ 1.88852706e-02 -9.99821430e-01 -6.74018837e-04 1.07367244e+02] [ 9.99686082e-01 1.88938069e-02 -1.64548295e-02 1.47860798e+02] [ 1.64646259e-02 -3.63053344e-04 9.99864383e-01 4.51615300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0327550960001 meters 0.021969520169715134 Centerline is valid? [True, True] Translation: X:107.37, Y:147.89, Z:4.52 [[ 1.75924319e-02 -9.99845023e-01 -6.60011715e-04 1.07373881e+02] [ 9.99712971e-01 1.76008378e-02 -1.62537997e-02 1.47887203e+02] [ 1.62628975e-02 -3.73878409e-04 9.99867680e-01 4.51617128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06275509600005 meters 0.021760007342470356 Centerline is valid? [True, True] Translation: X:107.37, Y:147.91, Z:4.52 [[ 1.63825112e-02 -9.99865579e-01 -6.60585348e-04 1.07374941e+02] [ 9.99730829e-01 1.63911513e-02 -1.64194683e-02 1.47913930e+02] [ 1.64280889e-02 -3.91415414e-04 9.99864973e-01 4.51666431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.092755096 meters 0.01952292804005841 Centerline is valid? [True, True] Translation: X:107.37, Y:147.94, Z:4.52 [[ 1.42675079e-02 -9.99897973e-01 -6.94115843e-04 1.07373558e+02] [ 9.99746511e-01 1.42774317e-02 -1.74088717e-02 1.47941736e+02] [ 1.74170058e-02 -4.45558677e-04 9.99848213e-01 4.51620358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12275509600005 meters 0.021467756910279075 Centerline is valid? [True, True] Translation: X:107.38, Y:147.97, Z:4.51 [[ 1.30136474e-02 -9.99915041e-01 -7.45136790e-04 1.07378555e+02] [ 9.99737375e-01 1.30253860e-02 -1.88552238e-02 1.47968847e+02] [ 1.88633276e-02 -4.99565865e-04 9.99821947e-01 4.51478597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.152755096 meters 0.0216729406584083 Centerline is valid? [True, True] Translation: X:107.38, Y:147.99, Z:4.51 [[ 1.22321417e-02 -9.99924879e-01 -7.81499923e-04 1.07379576e+02] [ 9.99725737e-01 1.22453075e-02 -1.99625634e-02 1.47994964e+02] [ 1.99706335e-02 -5.37100682e-04 9.99800423e-01 4.51425028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18275509600005 meters 0.020691008490944598 Centerline is valid? [True, True] Translation: X:107.38, Y:148.02, Z:4.51 [[ 1.19100875e-02 -9.99928739e-01 -8.17026924e-04 1.07379088e+02] [ 9.99706616e-01 1.19246683e-02 -2.10827879e-02 1.48022648e+02] [ 2.10910283e-02 -5.65689373e-04 9.99777399e-01 4.51380322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.212755096 meters 0.021347168280815385 Centerline is valid? [True, True] Translation: X:107.38, Y:148.05, Z:4.51 [[ 1.22403962e-02 -9.99924705e-01 -8.70217871e-04 1.07381432e+02] [ 9.99667626e-01 1.22569876e-02 -2.26804722e-02 1.48049339e+02] [ 2.26894307e-02 -5.92310669e-04 9.99742386e-01 4.51226667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24275509600005 meters 0.022894026269889733 Centerline is valid? [True, True] Translation: X:107.38, Y:148.07, Z:4.51 [[ 1.24517013e-02 -9.99922089e-01 -8.78533567e-04 1.07384420e+02] [ 9.99655114e-01 1.24686834e-02 -2.31124394e-02 1.48074243e+02] [ 2.31215929e-02 -5.90441381e-04 9.99732486e-01 4.51140252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.272755096 meters 0.021598359388291837 Centerline is valid? [True, True] Translation: X:107.38, Y:148.10, Z:4.51 [[ 1.34375207e-02 -9.99909328e-01 -8.77153827e-04 1.07384243e+02] [ 9.99638450e-01 1.34543023e-02 -2.32798513e-02 1.48100335e+02] [ 2.32895420e-02 -5.64013209e-04 9.99728603e-01 4.51197213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30275509600006 meters 0.02063617475578239 Centerline is valid? [True, True] Translation: X:107.38, Y:148.13, Z:4.51 [[ 1.35896351e-02 -9.99907290e-01 -8.55824820e-04 1.07383928e+02] [ 9.99644251e-01 1.36056948e-02 -2.29402670e-02 1.48127046e+02] [ 2.29497843e-02 -5.43770503e-04 9.99736471e-01 4.51287735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.332755096 meters 0.019841295126216494 Centerline is valid? [True, True] Translation: X:107.38, Y:148.15, Z:4.51 [[ 1.38996828e-02 -9.99903043e-01 -8.39338552e-04 1.07383671e+02] [ 9.99644745e-01 1.39151740e-02 -2.27321932e-02 1.48153350e+02] [ 2.27416687e-02 -5.23070098e-04 9.99741238e-01 4.51406258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36275509600006 meters 0.01936381873193783 Centerline is valid? [True, True] Translation: X:107.38, Y:148.18, Z:4.52 [[ 1.49744782e-02 -9.99887565e-01 -7.88783921e-04 1.07384316e+02] [ 9.99655025e-01 1.49880102e-02 -2.15682882e-02 1.48178999e+02] [ 2.15776855e-02 -4.65537949e-04 9.99767066e-01 4.51546445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39275509600003 meters 0.01906310902917044 Centerline is valid? [True, True] Translation: X:107.39, Y:148.20, Z:4.52 [[ 1.55689339e-02 -9.99878506e-01 -7.62899621e-04 1.07385358e+02] [ 9.99656962e-01 1.55815466e-02 -2.10516723e-02 1.48204155e+02] [ 2.10610018e-02 -4.34885822e-04 9.99778098e-01 4.51628424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42275509600006 meters 0.018469718797934635 Centerline is valid? [True, True] Translation: X:107.39, Y:148.23, Z:4.52 [[ 1.68499037e-02 -9.99857775e-01 -7.14732023e-04 1.07386568e+02] [ 9.99659211e-01 1.68608036e-02 -1.99292657e-02 1.48230517e+02] [ 1.99384822e-02 -3.78682242e-04 9.99801137e-01 4.51812263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45275509600003 meters 0.01752915471915549 Centerline is valid? [True, True] Translation: X:107.39, Y:148.26, Z:4.52 [[ 1.75176538e-02 -9.99846315e-01 -6.91155389e-04 1.07386260e+02] [ 9.99656835e-01 1.75277913e-02 -1.94676374e-02 1.48257127e+02] [ 1.94767600e-02 -3.49890876e-04 9.99810249e-01 4.51913628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48275509600006 meters 0.0171999497437297 Centerline is valid? [True, True] Translation: X:107.39, Y:148.28, Z:4.52 [[ 1.79244986e-02 -9.99839110e-01 -6.82590848e-04 1.07386748e+02] [ 9.99650199e-01 1.79343823e-02 -1.94380562e-02 1.48283730e+02] [ 1.94471707e-02 -3.33934666e-04 9.99810830e-01 4.51981111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51275509600003 meters 0.016979525698293644 Centerline is valid? [True, True] Translation: X:107.39, Y:148.31, Z:4.52 [[ 1.86543012e-02 -9.99825769e-01 -6.70279606e-04 1.07387415e+02] [ 9.99639518e-01 1.86637650e-02 -1.93002126e-02 1.48308838e+02] [ 1.93093598e-02 -3.10006004e-04 9.99813509e-01 4.52039792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54275509600006 meters 0.016285477208669394 Centerline is valid? [True, True] Translation: X:107.39, Y:148.34, Z:4.52 [[ 2.08311348e-02 -9.99782804e-01 -6.39269157e-04 1.07387160e+02] [ 9.99609590e-01 2.08394261e-02 -1.86114445e-02 1.48335014e+02] [ 1.86207242e-02 -2.51322071e-04 9.99826588e-01 4.52121114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57275509600004 meters 0.014860242395308513 Centerline is valid? [True, True] Translation: X:107.38, Y:148.36, Z:4.52 [[ 2.24915300e-02 -9.99746840e-01 -6.22534165e-04 1.07384789e+02] [ 9.99579134e-01 2.24991601e-02 -1.83123743e-02 1.48361989e+02] [ 1.83217449e-02 -2.10398844e-04 9.99832121e-01 4.52246049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60275509600007 meters 0.015316704487515381 Centerline is valid? [True, True] Translation: X:107.39, Y:148.39, Z:4.52 [[ 2.28251862e-02 -9.99739278e-01 -6.22717468e-04 1.07386942e+02] [ 9.99567752e-01 2.28328055e-02 -1.85194948e-02 1.48387566e+02] [ 1.85288847e-02 -1.99737384e-04 9.99828306e-01 4.52214690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63275509600004 meters 0.015304991829075168 Centerline is valid? [True, True] Translation: X:107.39, Y:148.41, Z:4.52 [[ 2.27032273e-02 -9.99742052e-01 -6.26411473e-04 1.07387783e+02] [ 9.99564170e-01 2.27110046e-02 -1.88594661e-02 1.48412540e+02] [ 1.88688278e-02 -1.97967717e-04 9.99821948e-01 4.52222637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66275509600007 meters 0.015722805832304686 Centerline is valid? [True, True] Translation: X:107.39, Y:148.44, Z:4.52 [[ 2.17066866e-02 -9.99764178e-01 -6.39173430e-04 1.07390368e+02] [ 9.99574606e-01 2.17150180e-02 -1.94696117e-02 1.48437413e+02] [ 1.94789000e-02 -2.16280771e-04 9.99810245e-01 4.52156466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69275509600004 meters 0.01569739827824967 Centerline is valid? [True, True] Translation: X:107.39, Y:148.46, Z:4.52 [[ 2.06759144e-02 -9.99786029e-01 -6.34041065e-04 1.07391861e+02] [ 9.99595179e-01 2.06843565e-02 -1.95354833e-02 1.48463932e+02] [ 1.95444180e-02 -2.29870412e-04 9.99808963e-01 4.52170139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72275509600007 meters 0.01688445931381344 Centerline is valid? [True, True] Translation: X:107.40, Y:148.49, Z:4.52 [[ 1.88622531e-02 -9.99821871e-01 -6.64524018e-04 1.07395468e+02] [ 9.99607334e-01 1.88719725e-02 -2.07129620e-02 1.48489798e+02] [ 2.07218133e-02 -2.73569951e-04 9.99785243e-01 4.52102083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75275509600004 meters 0.016109416860639315 Centerline is valid? [True, True] Translation: X:107.39, Y:148.52, Z:4.52 [[ 1.81652491e-02 -9.99834790e-01 -6.45887647e-04 1.07394149e+02] [ 9.99627669e-01 1.81746334e-02 -2.03520300e-02 1.48516458e+02] [ 2.03604064e-02 -2.75947468e-04 9.99792667e-01 4.52240065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7827550960001 meters 0.015864717858902654 Centerline is valid? [True, True] Translation: X:107.39, Y:148.54, Z:4.52 [[ 1.74041781e-02 -9.99848329e-01 -6.43257334e-04 1.07393950e+02] [ 9.99637892e-01 1.74137132e-02 -2.05145721e-02 1.48543371e+02] [ 2.05226621e-02 -2.85985140e-04 9.99789347e-01 4.52273252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81275509600005 meters 0.016459395986025225 Centerline is valid? [True, True] Translation: X:107.39, Y:148.57, Z:4.52 [[ 1.70578872e-02 -9.99854291e-01 -6.52097062e-04 1.07394024e+02] [ 9.99632443e-01 1.70678398e-02 -2.10634236e-02 1.48568538e+02] [ 2.10714844e-02 -2.92559876e-04 9.99777929e-01 4.52235189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.842755096 meters 0.01588767247777034 Centerline is valid? [True, True] Translation: X:107.39, Y:148.60, Z:4.52 [[ 1.65551134e-02 -9.99862740e-01 -6.55957970e-04 1.07392943e+02] [ 9.99632318e-01 1.65653814e-02 -2.14666587e-02 1.48595116e+02] [ 2.14745783e-02 -3.00333817e-04 9.99769350e-01 4.52292651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87275509600005 meters 0.016570257369335904 Centerline is valid? [True, True] Translation: X:107.39, Y:148.62, Z:4.52 [[ 1.58165562e-02 -9.99874685e-01 -6.71480224e-04 1.07394100e+02] [ 9.99626777e-01 1.58275880e-02 -2.22664565e-02 1.48620872e+02] [ 2.22742941e-02 -3.19050950e-04 9.99751846e-01 4.52218222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.902755096 meters 0.01616552452048363 Centerline is valid? [True, True] Translation: X:107.39, Y:148.65, Z:4.52 [[ 1.59359207e-02 -9.99872795e-01 -6.62830710e-04 1.07393288e+02] [ 9.99624799e-01 1.59467314e-02 -2.22702201e-02 1.48647238e+02] [ 2.22779572e-02 -3.07685554e-04 9.99751768e-01 4.52282809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93275509600005 meters 0.016292935821892604 Centerline is valid? [True, True] Translation: X:107.39, Y:148.67, Z:4.52 [[ 1.53905412e-02 -9.99881337e-01 -6.66312277e-04 1.07393438e+02] [ 9.99624181e-01 1.54016953e-02 -2.26778327e-02 1.48673193e+02] [ 2.26854040e-02 -3.17037745e-04 9.99742603e-01 4.52249964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.962755096 meters 0.017599617412883413 Centerline is valid? [True, True] Translation: X:107.39, Y:148.70, Z:4.52 [[ 1.42130844e-02 -9.99898755e-01 -6.84165283e-04 1.07394551e+02] [ 9.99620550e-01 1.42252696e-02 -2.35880647e-02 1.48699610e+02] [ 2.35954090e-02 -3.48646522e-04 9.99721529e-01 4.52125599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99275509600005 meters 0.01717059797496487 Centerline is valid? [True, True] Translation: X:107.39, Y:148.73, Z:4.52 [[ 1.32291115e-02 -9.99912255e-01 -6.87773930e-04 1.07393407e+02] [ 9.99623912e-01 1.32418145e-02 -2.40143412e-02 1.48726060e+02] [ 2.40213415e-02 -3.69826870e-04 9.99711378e-01 4.52186473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.022755096 meters 0.01636720428710767 Centerline is valid? [True, True] Translation: X:107.39, Y:148.75, Z:4.52 [[ 1.24412941e-02 -9.99922372e-01 -6.80965633e-04 1.07391946e+02] [ 9.99632336e-01 1.24540878e-02 -2.40850440e-02 1.48753821e+02] [ 2.40916552e-02 -3.81066150e-04 9.99709681e-01 4.52319554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05275509600006 meters 0.01636720428710767 Centerline is valid? [True, True] Translation: X:107.39, Y:148.78, Z:4.52 [[ 1.20846647e-02 -9.99926752e-01 -6.72372987e-04 1.07392491e+02] [ 9.99636711e-01 1.20973548e-02 -2.40852845e-02 1.48780572e+02] [ 2.40916542e-02 -3.81066135e-04 9.99709681e-01 4.52359073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.082755096 meters 0.016897909972633365 Centerline is valid? [True, True] Translation: X:107.39, Y:148.81, Z:4.52 [[ 9.86802811e-03 -9.99951098e-01 -6.51348744e-04 1.07392974e+02] [ 9.99671916e-01 9.88066591e-03 -2.36311982e-02 1.48807504e+02] [ 2.36364783e-02 -4.17941719e-04 9.99720532e-01 4.52462649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11275509600006 meters 0.017293388450974504 Centerline is valid? [True, True] Translation: X:107.39, Y:148.84, Z:4.53 [[ 8.56109672e-03 -9.99963152e-01 -6.34567047e-04 1.07393881e+02] [ 9.99691221e-01 8.57356909e-03 -2.33228818e-02 1.48835048e+02] [ 2.33274629e-02 -4.34701659e-04 9.99727783e-01 4.52582426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14275509600003 meters 0.01766575738739165 Centerline is valid? [True, True] Translation: X:107.39, Y:148.86, Z:4.53 [[ 6.32675425e-03 -9.99979803e-01 -6.04193435e-04 1.07394628e+02] [ 9.99727064e-01 6.33874133e-03 -2.24859308e-02 1.48862929e+02] [ 2.24893065e-02 -4.61765571e-04 9.99746977e-01 4.52825954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17275509600006 meters 0.018541100554705925 Centerline is valid? [True, True] Translation: X:107.40, Y:148.89, Z:4.53 [[ 5.10963150e-03 -9.99986772e-01 -5.89706978e-04 1.07396419e+02] [ 9.99739790e-01 5.12147819e-03 -2.22288871e-02 1.48888855e+02] [ 2.22316132e-02 -4.75972108e-04 9.99752734e-01 4.52915608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20275509600003 meters 0.019229192462558192 Centerline is valid? [True, True] Translation: X:107.40, Y:148.91, Z:4.53 [[ 3.96708646e-03 -9.99991967e-01 -5.73330669e-04 1.07397710e+02] [ 9.99751787e-01 3.97870179e-03 -2.19211153e-02 1.48914981e+02] [ 2.19232203e-02 -4.86225401e-04 9.99759539e-01 4.53005387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23275509600006 meters 0.019480817529999438 Centerline is valid? [True, True] Translation: X:107.40, Y:148.94, Z:4.53 [[ 2.11267847e-03 -9.99997624e-01 -5.36847432e-04 1.07397938e+02] [ 9.99781252e-01 2.12339165e-03 -2.08071819e-02 1.48941934e+02] [ 2.08082724e-02 -4.92771112e-04 9.99783363e-01 4.53211778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26275509600003 meters 0.019064159498006838 Centerline is valid? [True, True] Translation: X:107.40, Y:148.97, Z:4.53 [[ 1.20619902e-03 -9.99999135e-01 -5.24119025e-04 1.07397570e+02] [ 9.99787098e-01 1.21673909e-03 -2.05980286e-02 1.48969317e+02] [ 2.05986485e-02 -4.99162117e-04 9.99787701e-01 4.53322046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29275509600006 meters 0.019696594572837765 Centerline is valid? [True, True] Translation: X:107.40, Y:149.00, Z:4.53 [[-1.98903895e-04 -9.99999847e-01 -5.15471055e-04 1.07398485e+02] [ 9.99788859e-01 -1.88270255e-04 -2.05475612e-02 1.48996158e+02] [ 2.05474610e-02 -5.19449207e-04 9.99788744e-01 4.53407630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32275509600004 meters 0.02039104393999059 Centerline is valid? [True, True] Translation: X:107.40, Y:149.02, Z:4.53 [[-7.55739222e-04 -9.99999581e-01 -5.17234363e-04 1.07399434e+02] [ 9.99781481e-01 -7.44768839e-04 -2.08910199e-02 1.49022539e+02] [ 2.08906260e-02 -5.32909501e-04 9.99781625e-01 4.53428407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35275509600007 meters 0.02059336320667021 Centerline is valid? [True, True] Translation: X:107.40, Y:149.05, Z:4.53 [[-7.03492928e-04 -9.99999621e-01 -5.12685090e-04 1.07399899e+02] [ 9.99780233e-01 -6.92596563e-04 -2.09524801e-02 1.49048073e+02] [ 2.09521170e-02 -5.27312340e-04 9.99780341e-01 4.53467531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38275509600004 meters 0.020895568269560554 Centerline is valid? [True, True] Translation: X:107.40, Y:149.07, Z:4.53 [[-7.84711099e-04 -9.99999555e-01 -5.23177348e-04 1.07399664e+02] [ 9.99765018e-01 -7.73193145e-04 -2.16636019e-02 1.49073085e+02] [ 2.16631877e-02 -5.40054079e-04 9.99765180e-01 4.53472849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41275509600007 meters 0.020803252614293024 Centerline is valid? [True, True] Translation: X:107.40, Y:149.10, Z:4.54 [[-7.79795732e-04 -9.99999556e-01 -5.28535094e-04 1.07398948e+02] [ 9.99753286e-01 -7.67870943e-04 -2.21986096e-02 1.49099257e+02] [ 2.21981939e-02 -5.45715077e-04 9.99753441e-01 4.53516646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44275509600004 meters 0.02054560849074737 Centerline is valid? [True, True] Translation: X:107.40, Y:149.13, Z:4.54 [[-1.35379349e-03 -9.99998945e-01 -5.25862128e-04 1.07398543e+02] [ 9.99746898e-01 -1.34164270e-03 -2.24575323e-02 1.49125673e+02] [ 2.24568031e-02 -5.56131892e-04 9.99747660e-01 4.53531534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47275509600007 meters 0.02041643949609383 Centerline is valid? [True, True] Translation: X:107.40, Y:149.15, Z:4.54 [[-1.70880795e-03 -9.99998400e-01 -5.29551083e-04 1.07398786e+02] [ 9.99734187e-01 -1.69618048e-03 -2.29929919e-02 1.49153113e+02] [ 2.29920569e-02 -5.68700929e-04 9.99735486e-01 4.53569937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50275509600004 meters 0.02069655125103212 Centerline is valid? [True, True] Translation: X:107.40, Y:149.18, Z:4.54 [[-2.43377427e-03 -9.99996895e-01 -5.34859001e-04 1.07399611e+02] [ 9.99718811e-01 -2.42048064e-03 -2.35890015e-02 1.49180797e+02] [ 2.35876336e-02 -5.92118909e-04 9.99721598e-01 4.53569142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5327550960001 meters 0.021268420000790142 Centerline is valid? [True, True] Translation: X:107.40, Y:149.21, Z:4.54 [[-4.25057052e-03 -9.99990821e-01 -5.39635001e-04 1.07400645e+02] [ 9.99698646e-01 -4.23628013e-03 -2.41799704e-02 1.49208369e+02] [ 2.41774624e-02 -6.42251049e-04 9.99707476e-01 4.53576303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56275509600005 meters 0.0227106672700181 Centerline is valid? [True, True] Translation: X:107.40, Y:149.23, Z:4.54 [[-6.62620093e-03 -9.99977902e-01 -5.38314658e-04 1.07403527e+02] [ 9.99678575e-01 -6.61104179e-03 -2.44752920e-02 1.49234773e+02] [ 2.44711923e-02 -7.00319833e-04 9.99700290e-01 4.53581167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.592755096 meters 0.023464771109950423 Centerline is valid? [True, True] Translation: X:107.41, Y:149.26, Z:4.54 [[-7.98719209e-03 -9.99967963e-01 -5.27271325e-04 1.07405250e+02] [ 9.99672819e-01 -7.97201923e-03 -2.43043768e-02 1.49261887e+02] [ 2.42993947e-02 -7.21222538e-04 9.99704466e-01 4.53612762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62275509600005 meters 0.024049315215410046 Centerline is valid? [True, True] Translation: X:107.41, Y:149.29, Z:4.54 [[-9.09972013e-03 -9.99958463e-01 -5.16543450e-04 1.07406853e+02] [ 9.99666005e-01 -9.08456097e-03 -2.41939862e-02 1.49289060e+02] [ 2.41882887e-02 -7.36529431e-04 9.99707149e-01 4.53720791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.652755096 meters 0.025203658252590896 Centerline is valid? [True, True] Translation: X:107.41, Y:149.31, Z:4.54 [[-1.04904841e-02 -9.99944847e-01 -5.03170612e-04 1.07409328e+02] [ 9.99658865e-01 -1.04754447e-02 -2.39252916e-02 1.49314800e+02] [ 2.39187011e-02 -7.53986855e-04 9.99713623e-01 4.53787477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68275509600005 meters 0.025273884579407685 Centerline is valid? [True, True] Translation: X:107.41, Y:149.34, Z:4.54 [[-1.08054176e-02 -9.99941502e-01 -4.84621645e-04 1.07410099e+02] [ 9.99668113e-01 -1.07911261e-02 -2.33926331e-02 1.49341525e+02] [ 2.33860351e-02 -7.37227975e-04 9.99726237e-01 4.53881100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.712755096 meters 0.025210990870934247 Centerline is valid? [True, True] Translation: X:107.41, Y:149.37, Z:4.54 [[-9.68425752e-03 -9.99952999e-01 -4.63756332e-04 1.07410416e+02] [ 9.99694480e-01 -9.67120441e-03 -2.27467273e-02 1.49367995e+02] [ 2.27411731e-02 -6.83899810e-04 9.99741152e-01 4.53965465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74275509600005 meters 0.024552583288264887 Centerline is valid? [True, True] Translation: X:107.41, Y:149.40, Z:4.54 [[-8.77971615e-03 -9.99961350e-01 -4.63242644e-04 1.07409779e+02] [ 9.99695938e-01 -8.76670894e-03 -2.30472489e-02 1.49395168e+02] [ 2.30422970e-02 -6.65450093e-04 9.99734270e-01 4.54050829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.772755096 meters 0.021508005422042394 Centerline is valid? [True, True] Translation: X:107.41, Y:149.42, Z:4.54 [[-7.58816699e-03 -9.99971108e-01 -4.49965692e-04 1.07405798e+02] [ 9.99712065e-01 -7.57595604e-03 -2.27682455e-02 1.49422843e+02] [ 2.27641788e-02 -6.22605380e-04 9.99740669e-01 4.54193680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80275509600006 meters 0.019859644590558688 Centerline is valid? [True, True] Translation: X:107.40, Y:149.45, Z:4.54 [[-3.96453279e-03 -9.99992043e-01 -4.42401419e-04 1.07402660e+02] [ 9.99732536e-01 -3.95342308e-03 -2.27865461e-02 1.49450555e+02] [ 2.27846158e-02 -5.32621102e-04 9.99740255e-01 4.54266410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.832755096 meters 0.018896771588993562 Centerline is valid? [True, True] Translation: X:107.40, Y:149.48, Z:4.54 [[-1.94386339e-03 -9.99998015e-01 -4.37107145e-04 1.07400739e+02] [ 9.99735637e-01 -1.93333874e-03 -2.29111138e-02 1.49478353e+02] [ 2.29102232e-02 -4.81527665e-04 9.99737410e-01 4.54290877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86275509600006 meters 0.01909378402293986 Centerline is valid? [True, True] Translation: X:107.40, Y:149.51, Z:4.54 [[ 2.78901246e-03 -9.99996011e-01 -4.47679469e-04 1.07397070e+02] [ 9.99710271e-01 2.79891820e-03 -2.39069261e-02 1.49505576e+02] [ 2.39080837e-02 -3.80873049e-04 9.99714088e-01 4.54134050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89275509600003 meters 0.01639663912388557 Centerline is valid? [True, True] Translation: X:107.40, Y:149.53, Z:4.54 [[ 4.91515821e-03 -9.99987833e-01 -4.19212245e-04 1.07395281e+02] [ 9.99727616e-01 4.92344298e-03 -2.28134593e-02 1.49532160e+02] [ 2.28152457e-02 -3.06966297e-04 9.99739651e-01 4.54383650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92275509600006 meters 0.015552750691377227 Centerline is valid? [True, True] Translation: X:107.39, Y:149.56, Z:4.54 [[ 6.67693989e-03 -9.99977624e-01 -4.11391094e-04 1.07392962e+02] [ 9.99716652e-01 6.68459614e-03 -2.28458382e-02 1.49558983e+02] [ 2.28480770e-02 -2.58734239e-04 9.99738915e-01 4.54480309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95275509600003 meters 0.014763282000297518 Centerline is valid? [True, True] Translation: X:107.39, Y:149.59, Z:4.55 [[ 1.01097862e-02 -9.99948814e-01 -4.00888393e-04 1.07389985e+02] [ 9.99691123e-01 1.01162817e-02 -2.27006389e-02 1.49586656e+02] [ 2.27035324e-02 -1.71265962e-04 9.99742227e-01 4.54568104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98275509600006 meters 0.016292149277546835 Centerline is valid? [True, True] Translation: X:107.39, Y:149.61, Z:4.54 [[ 1.12190641e-02 -9.99936983e-01 -4.03116213e-04 1.07389121e+02] [ 9.99665932e-01 1.12254086e-02 -2.32811966e-02 1.49613533e+02] [ 2.32842546e-02 -1.41788307e-04 9.99728875e-01 4.54451037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01275509600003 meters 0.014326585064316884 Centerline is valid? [True, True] Translation: X:107.39, Y:149.64, Z:4.55 [[ 1.28846542e-02 -9.99916918e-01 -3.79242545e-04 1.07386823e+02] [ 9.99666709e-01 1.28899136e-02 -2.23678702e-02 1.49640166e+02] [ 2.23709002e-02 -9.09138743e-05 9.99749736e-01 4.54643423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04275509600006 meters 0.014312010338256298 Centerline is valid? [True, True] Translation: X:107.39, Y:149.67, Z:4.55 [[ 1.29624388e-02 -9.99915917e-01 -3.67247221e-04 1.07386435e+02] [ 9.99670218e-01 1.29673945e-02 -2.21653186e-02 1.49665714e+02] [ 2.21682171e-02 -7.98095244e-05 9.99754252e-01 4.54646357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07275509600004 meters 0.014232434364792346 Centerline is valid? [True, True] Translation: X:107.39, Y:149.69, Z:4.55 [[ 1.25855334e-02 -9.99920738e-01 -3.50907172e-04 1.07385782e+02] [ 9.99685666e-01 1.25901832e-02 -2.16807768e-02 1.49693234e+02] [ 2.16834763e-02 -7.79327311e-05 9.99764883e-01 4.54757718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10275509600007 meters 0.014259396144303235 Centerline is valid? [True, True] Translation: X:107.39, Y:149.72, Z:4.55 [[ 1.18787708e-02 -9.99929387e-01 -3.39842019e-04 1.07386011e+02] [ 9.99698872e-01 1.18833292e-02 -2.14697969e-02 1.49720522e+02] [ 2.14723193e-02 -8.47048862e-05 9.99769440e-01 4.54788183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13275509600004 meters 0.014513525672628645 Centerline is valid? [True, True] Translation: X:107.39, Y:149.75, Z:4.55 [[ 9.99835612e-03 -9.99949958e-01 -3.37081447e-04 1.07387172e+02] [ 9.99712188e-01 1.00033292e-02 -2.18053578e-02 1.49747061e+02] [ 2.18076386e-02 -1.18966698e-04 9.99762178e-01 4.54767427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16275509600007 meters 0.014729173545904271 Centerline is valid? [True, True] Translation: X:107.39, Y:149.77, Z:4.55 [[ 8.85523362e-03 -9.99960735e-01 -3.36600878e-04 1.07388118e+02] [ 9.99712568e-01 8.86053476e-03 -2.22771494e-02 1.49773263e+02] [ 2.22792571e-02 -1.39234766e-04 9.99751777e-01 4.54744287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19275509600004 meters 0.01537936754315521 Centerline is valid? [True, True] Translation: X:107.39, Y:149.80, Z:4.55 [[ 5.78239626e-03 -9.99983221e-01 -3.47805301e-04 1.07390300e+02] [ 9.99706698e-01 5.78897642e-03 -2.35160893e-02 1.49799527e+02] [ 2.35177082e-02 -2.11723942e-04 9.99723398e-01 4.54603269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22275509600007 meters 0.015834735562781872 Centerline is valid? [True, True] Translation: X:107.39, Y:149.83, Z:4.55 [[ 3.66034012e-03 -9.99993239e-01 -3.51676015e-04 1.07391182e+02] [ 9.99695802e-01 3.66782867e-03 -2.43895773e-02 1.49826686e+02] [ 2.43907023e-02 -2.62294888e-04 9.99702468e-01 4.54604573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25275509600004 meters 0.017259585574414732 Centerline is valid? [True, True] Translation: X:107.39, Y:149.85, Z:4.54 [[ 1.70798259e-03 -9.99998479e-01 -3.54390019e-04 1.07393173e+02] [ 9.99680800e-01 1.71637283e-03 -2.52061759e-02 1.49853486e+02] [ 2.52067458e-02 -3.11225188e-04 9.99682211e-01 4.54484581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2827550960001 meters 0.017878015208582634 Centerline is valid? [True, True] Translation: X:107.40, Y:149.88, Z:4.55 [[-1.85009817e-03 -9.99998228e-01 -3.47558355e-04 1.07396786e+02] [ 9.99676463e-01 -1.84068568e-03 -2.53689104e-02 1.49879751e+02] [ 2.53682257e-02 -3.94380882e-04 9.99678097e-01 4.54509421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31275509600005 meters 0.018322248580759426 Centerline is valid? [True, True] Translation: X:107.40, Y:149.91, Z:4.55 [[-3.86805590e-03 -9.99992462e-01 -3.38782340e-04 1.07398190e+02] [ 9.99670051e-01 -3.85820536e-03 -2.53949590e-02 1.49906775e+02] [ 2.53934605e-02 -4.36899680e-04 9.99677439e-01 4.54588640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.342755096 meters 0.01864240908688327 Centerline is valid? [True, True] Translation: X:107.40, Y:149.93, Z:4.55 [[-6.06436712e-03 -9.99981557e-01 -3.29480843e-04 1.07399175e+02] [ 9.99659946e-01 -6.05405956e-03 -2.53641642e-02 1.49933976e+02] [ 2.53617017e-02 -4.83186405e-04 9.99678224e-01 4.54662795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37275509600005 meters 0.01943906834953444 Centerline is valid? [True, True] Translation: X:107.40, Y:149.96, Z:4.55 [[-8.18947620e-03 -9.99966415e-01 -3.18607380e-04 1.07401346e+02] [ 9.99648264e-01 -8.17883251e-03 -2.52280545e-02 1.49960208e+02] [ 2.52246014e-02 -5.25099866e-04 9.99681671e-01 4.54678257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.402755096 meters 0.02168675504393311 Centerline is valid? [True, True] Translation: X:107.41, Y:149.99, Z:4.55 [[-1.11392187e-02 -9.99937909e-01 -3.10826406e-04 1.07406153e+02] [ 9.99616510e-01 -1.11277561e-02 -2.53575478e-02 1.49986615e+02] [ 2.53525145e-02 -5.93170479e-04 9.99678397e-01 4.54672913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43275509600005 meters 0.022749543490464003 Centerline is valid? [True, True] Translation: X:107.41, Y:150.01, Z:4.55 [[-1.25970374e-02 -9.99920609e-01 -2.99756280e-04 1.07408311e+02] [ 9.99604077e-01 -1.25855057e-02 -2.51653303e-02 1.50012359e+02] [ 2.51595598e-02 -6.16646208e-04 9.99683258e-01 4.54675931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.462755096 meters 0.021819897771396972 Centerline is valid? [True, True] Translation: X:107.41, Y:150.04, Z:4.55 [[-1.39169615e-02 -9.99903110e-01 -2.99134849e-04 1.07406361e+02] [ 9.99569132e-01 -1.39045797e-02 -2.58498328e-02 1.50039544e+02] [ 2.58431689e-02 -6.58757088e-04 9.99665792e-01 4.54835392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49275509600005 meters 0.021362957275741386 Centerline is valid? [True, True] Translation: X:107.41, Y:150.07, Z:4.55 [[-1.46243737e-02 -9.99893018e-01 -2.84242818e-04 1.07407343e+02] [ 9.99572266e-01 -1.46124809e-02 -2.53329727e-02 1.50066498e+02] [ 2.53261090e-02 -6.54600097e-04 9.99679028e-01 4.54981127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.522755096 meters 0.02124957506292645 Centerline is valid? [True, True] Translation: X:107.41, Y:150.09, Z:4.55 [[-1.48994886e-02 -9.99888959e-01 -2.73828104e-04 1.07407697e+02] [ 9.99571486e-01 -1.48878558e-02 -2.52030934e-02 1.50093669e+02] [ 2.51962181e-02 -6.49223967e-04 9.99682314e-01 4.55041730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55275509600006 meters 0.023858851359364545 Centerline is valid? [True, True] Translation: X:107.41, Y:150.12, Z:4.55 [[-1.45210296e-02 -9.99894529e-01 -2.65271246e-04 1.07412186e+02] [ 9.99575502e-01 -1.45096939e-02 -2.52643042e-02 1.50120038e+02] [ 2.52577905e-02 -6.32022347e-04 9.99680771e-01 4.54938328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.582755096 meters 0.02321836684047826 Centerline is valid? [True, True] Translation: X:107.41, Y:150.15, Z:4.55 [[-1.42958644e-02 -9.99897777e-01 -2.53462647e-04 1.07411454e+02] [ 9.99584944e-01 -1.42850500e-02 -2.50175264e-02 1.50146684e+02] [ 2.50113483e-02 -6.11004610e-04 9.99686981e-01 4.55007026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61275509600006 meters 0.020767007305020267 Centerline is valid? [True, True] Translation: X:107.41, Y:150.17, Z:4.55 [[-1.38574148e-02 -9.99903953e-01 -2.39952525e-04 1.07407513e+02] [ 9.99602649e-01 -1.38473473e-02 -2.45518722e-02 1.50173568e+02] [ 2.45461913e-02 -5.80082657e-04 9.99698529e-01 4.55239707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64275509600003 meters 0.020661443794477926 Centerline is valid? [True, True] Translation: X:107.41, Y:150.20, Z:4.55 [[-1.38960634e-02 -9.99903419e-01 -2.30045149e-04 1.07407286e+02] [ 9.99605126e-01 -1.38862976e-02 -2.44287272e-02 1.50200686e+02] [ 2.44231734e-02 -5.69417452e-04 9.99701548e-01 4.55297632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67275509600006 meters 0.02051960714922013 Centerline is valid? [True, True] Translation: X:107.41, Y:150.23, Z:4.55 [[-1.39800204e-02 -9.99902251e-01 -2.19779975e-04 1.07406747e+02] [ 9.99608192e-01 -1.39705779e-02 -2.42545850e-02 1.50227911e+02] [ 2.42491436e-02 -5.58773456e-04 9.99705790e-01 4.55415774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70275509600003 meters 0.020491026985949595 Centerline is valid? [True, True] Translation: X:107.41, Y:150.25, Z:4.55 [[-1.34565924e-02 -9.99909434e-01 -2.11143771e-04 1.07406364e+02] [ 9.99614796e-01 -1.34475006e-02 -2.42780547e-02 1.50254034e+02] [ 2.42730165e-02 -5.37762325e-04 9.99705222e-01 4.55494859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73275509600006 meters 0.020313652084085834 Centerline is valid? [True, True] Translation: X:107.41, Y:150.28, Z:4.56 [[-1.33846969e-02 -9.99910400e-01 -2.03360743e-04 1.07405555e+02] [ 9.99611278e-01 -1.33757178e-02 -2.44618683e-02 1.50280125e+02] [ 2.44569564e-02 -5.30696384e-04 9.99700743e-01 4.55560352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76275509600003 meters 0.020007974571408235 Centerline is valid? [True, True] Translation: X:107.40, Y:150.31, Z:4.56 [[-1.29949754e-02 -9.99915543e-01 -1.93979923e-04 1.07403182e+02] [ 9.99617305e-01 -1.29863611e-02 -2.44253590e-02 1.50307895e+02] [ 2.44207770e-02 -5.11312628e-04 9.99701638e-01 4.55674805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79275509600006 meters 0.019837606554588827 Centerline is valid? [True, True] Translation: X:107.40, Y:150.33, Z:4.56 [[-1.30351919e-02 -9.99915022e-01 -1.80842441e-04 1.07402668e+02] [ 9.99631526e-01 -1.30271892e-02 -2.38139785e-02 1.50334055e+02] [ 2.38095990e-02 -4.91195585e-04 9.99716391e-01 4.55747265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82275509600004 meters 0.01961440465146946 Centerline is valid? [True, True] Translation: X:107.40, Y:150.36, Z:4.56 [[-1.28209296e-02 -9.99917794e-01 -1.70016493e-04 1.07401215e+02] [ 9.99641319e-01 -1.28133861e-02 -2.35170443e-02 1.50361085e+02] [ 2.35129326e-02 -4.71465882e-04 9.99723422e-01 4.55850448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85275509600007 meters 0.01951982688870491 Centerline is valid? [True, True] Translation: X:107.40, Y:150.39, Z:4.56 [[-1.28819264e-02 -9.99917011e-01 -1.62878573e-04 1.07400468e+02] [ 9.99636355e-01 -1.28744511e-02 -2.36939954e-02 1.50388177e+02] [ 2.36899321e-02 -4.68043648e-04 9.99719245e-01 4.55924880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88275509600004 meters 0.020691467621998562 Centerline is valid? [True, True] Translation: X:107.40, Y:150.42, Z:4.56 [[-1.32479173e-02 -9.99912230e-01 -1.56662417e-04 1.07399685e+02] [ 9.99623199e-01 -1.32403206e-02 -2.40448300e-02 1.50415694e+02] [ 2.40406454e-02 -4.75147306e-04 9.99710869e-01 4.55883639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91275509600007 meters 0.020392344594143432 Centerline is valid? [True, True] Translation: X:107.40, Y:150.44, Z:4.56 [[-1.44224276e-02 -9.99895981e-01 -1.46418723e-04 1.07400767e+02] [ 9.99612879e-01 -1.44148594e-02 -2.37971491e-02 1.50441672e+02] [ 2.37925632e-02 -4.89574702e-04 9.99716797e-01 4.55962432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94275509600004 meters 0.020392344594143432 Centerline is valid? [True, True] Translation: X:107.40, Y:150.47, Z:4.56 [[-1.48058827e-02 -9.99890378e-01 -1.37409097e-04 1.07400664e+02] [ 9.99607273e-01 -1.47984203e-02 -2.37972018e-02 1.50467601e+02] [ 2.37925597e-02 -4.89693712e-04 9.99716797e-01 4.56000718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97275509600007 meters 0.02008708327823316 Centerline is valid? [True, True] Translation: X:107.40, Y:150.49, Z:4.56 [[-1.55350652e-02 -9.99879315e-01 -1.31965848e-04 1.07399903e+02] [ 9.99580257e-01 -1.55271907e-02 -2.44584528e-02 1.50494610e+02] [ 2.44534520e-02 -5.11874115e-04 9.99700839e-01 4.56080356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00275509600004 meters 0.02050891472486556 Centerline is valid? [True, True] Translation: X:107.40, Y:150.52, Z:4.56 [[-1.72538728e-02 -9.99851133e-01 -1.26460249e-04 1.07400172e+02] [ 9.99535623e-01 -1.72452507e-02 -2.51224896e-02 1.50521590e+02] [ 2.51165689e-02 -5.59861763e-04 9.99684372e-01 4.56112946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0327550960001 meters 0.02083342065878939 Centerline is valid? [True, True] Translation: X:107.40, Y:150.55, Z:4.56 [[-1.81901068e-02 -9.99834539e-01 -1.18048699e-04 1.07400573e+02] [ 9.99515805e-01 -1.81813267e-02 -2.52506490e-02 1.50549142e+02] [ 2.52443248e-02 -5.77303543e-04 9.99681145e-01 4.56147338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06275509600005 meters 0.021607743875105355 Centerline is valid? [True, True] Translation: X:107.40, Y:150.58, Z:4.56 [[-1.89440094e-02 -9.99820540e-01 -1.07959261e-04 1.07401558e+02] [ 9.99507408e-01 -1.89353739e-02 -2.50278610e-02 1.50575161e+02] [ 2.50213252e-02 -5.82034115e-04 9.99686748e-01 4.56165096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.092755096 meters 0.021500487507170114 Centerline is valid? [True, True] Translation: X:107.40, Y:150.60, Z:4.56 [[-2.01652239e-02 -9.99796657e-01 -9.67305277e-05 1.07400757e+02] [ 9.99497501e-01 -2.01568233e-02 -2.44631900e-02 1.50602571e+02] [ 2.44562657e-02 -5.89987624e-04 9.99700727e-01 4.56335523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12275509600005 meters 0.021576474521238162 Centerline is valid? [True, True] Translation: X:107.40, Y:150.63, Z:4.56 [[-2.08866032e-02 -9.99781847e-01 -8.69608971e-05 1.07400436e+02] [ 9.99491040e-01 -2.08784300e-02 -2.41195406e-02 1.50629675e+02] [ 2.41124632e-02 -5.90691911e-04 9.99709078e-01 4.56430402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.152755096 meters 0.02164789702917108 Centerline is valid? [True, True] Translation: X:107.40, Y:150.66, Z:4.56 [[-2.15348560e-02 -9.99768095e-01 -7.82062790e-05 1.07400069e+02] [ 9.99479279e-01 -2.15267547e-02 -2.40368555e-02 1.50657116e+02] [ 2.40295977e-02 -5.95795777e-04 9.99711070e-01 4.56490916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18275509600005 meters 0.022009671617557826 Centerline is valid? [True, True] Translation: X:107.40, Y:150.68, Z:4.57 [[-2.19219723e-02 -9.99759682e-01 -6.89603888e-05 1.07400011e+02] [ 9.99473074e-01 -2.19140361e-02 -2.39447165e-02 1.50682179e+02] [ 2.39374510e-02 -5.93839464e-04 9.99713282e-01 4.56548437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.212755096 meters 0.02179736093477189 Centerline is valid? [True, True] Translation: X:107.40, Y:150.71, Z:4.57 [[-2.21709409e-02 -9.99754193e-01 -5.87730835e-05 1.07399165e+02] [ 9.99473762e-01 -2.21633296e-02 -2.36851303e-02 1.50708801e+02] [ 2.36780057e-02 -5.83863779e-04 9.99719466e-01 4.56604752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24275509600005 meters 0.020475623655151716 Centerline is valid? [True, True] Translation: X:107.40, Y:150.74, Z:4.57 [[-2.15023646e-02 -9.99768796e-01 -4.96957095e-05 1.07395967e+02] [ 9.99489494e-01 -2.14951826e-02 -2.36370221e-02 1.50736316e+02] [ 2.36304889e-02 -5.57922206e-04 9.99720605e-01 4.56713315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.272755096 meters 0.021635604200131858 Centerline is valid? [True, True] Translation: X:107.40, Y:150.76, Z:4.57 [[-2.13625707e-02 -9.99771793e-01 -4.13923598e-05 1.07397237e+02] [ 9.99498912e-01 -2.13557726e-02 -2.33635645e-02 1.50762735e+02] [ 2.33573488e-02 -5.40477417e-04 9.99727034e-01 4.56652076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30275509600006 meters 0.020690822951849795 Centerline is valid? [True, True] Translation: X:107.39, Y:150.79, Z:4.57 [[-2.04231065e-02 -9.99791426e-01 -3.43686001e-05 1.07394220e+02] [ 9.99522278e-01 -2.04168109e-02 -2.32028040e-02 1.50789662e+02] [ 2.31972628e-02 -5.08225519e-04 9.99730778e-01 4.56721441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.332755096 meters 0.02128879876288835 Centerline is valid? [True, True] Translation: X:107.39, Y:150.81, Z:4.57 [[-2.04247206e-02 -9.99791393e-01 -2.69257319e-05 1.07394560e+02] [ 9.99528148e-01 -2.04187247e-02 -2.29468311e-02 1.50814589e+02] [ 2.29414944e-02 -4.95595639e-04 9.99736686e-01 4.56701824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36275509600006 meters 0.022430248553488005 Centerline is valid? [True, True] Translation: X:107.39, Y:150.84, Z:4.57 [[-2.09161596e-02 -9.99781233e-01 -1.93703178e-05 1.07393220e+02] [ 9.99511092e-01 -2.09100577e-02 -2.32453734e-02 1.50840707e+02] [ 2.32398830e-02 -5.05564786e-04 9.99729790e-01 4.56652016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39275509600003 meters 0.020793222441141197 Centerline is valid? [True, True] Translation: X:107.39, Y:150.87, Z:4.57 [[-2.09438262e-02 -9.99780654e-01 -1.09592058e-05 1.07391891e+02] [ 9.99516032e-01 -2.09380306e-02 -2.30065230e-02 1.50866313e+02] [ 2.30012471e-02 -4.92798520e-04 9.99735315e-01 4.56799576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42275509600006 meters 0.021518510394693373 Centerline is valid? [True, True] Translation: X:107.39, Y:150.89, Z:4.57 [[-2.16750431e-02 -9.99765069e-01 -3.09774429e-06 1.07392480e+02] [ 9.99498791e-01 -2.16691986e-02 -2.30784003e-02 1.50891240e+02] [ 2.30729114e-02 -5.03321513e-04 9.99733658e-01 4.56825952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45275509600003 meters 0.020851110263353175 Centerline is valid? [True, True] Translation: X:107.39, Y:150.92, Z:4.57 [[-2.28452013e-02 -9.99739014e-01 5.55225714e-06 1.07390738e+02] [ 9.99482208e-01 -2.28394589e-02 -2.26643901e-02 1.50918596e+02] [ 2.26586018e-02 -5.12223172e-04 9.99743130e-01 4.56917737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48275509600006 meters 0.021172391258424756 Centerline is valid? [True, True] Translation: X:107.39, Y:150.95, Z:4.57 [[-2.44599656e-02 -9.99700810e-01 1.29151683e-05 1.07389995e+02] [ 9.99460263e-01 -2.44543635e-02 -2.19355122e-02 1.50945469e+02] [ 2.19292651e-02 -5.23633675e-04 9.99759388e-01 4.57045176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51275509600003 meters 0.02170383282799522 Centerline is valid? [True, True] Translation: X:107.39, Y:150.97, Z:4.57 [[-2.53539053e-02 -9.99678538e-01 2.04897953e-05 1.07389695e+02] [ 9.99443467e-01 -2.53483878e-02 -2.16844737e-02 1.50972041e+02] [ 2.16780223e-02 -5.29307699e-04 9.99764864e-01 4.57069281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54275509600006 meters 0.02108267071514823 Centerline is valid? [True, True] Translation: X:107.39, Y:151.00, Z:4.57 [[-2.65186010e-02 -9.99648320e-01 2.79346056e-05 1.07387210e+02] [ 9.99420721e-01 -2.65131595e-02 -2.13371493e-02 1.50999230e+02] [ 2.13303861e-02 -5.37912926e-04 9.99772337e-01 4.57130195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57275509600004 meters 0.02144895575084058 Centerline is valid? [True, True] Translation: X:107.39, Y:151.03, Z:4.57 [[-2.73683562e-02 -9.99625416e-01 3.66761353e-05 1.07386947e+02] [ 9.99388561e-01 -2.73626701e-02 -2.17666622e-02 1.51025675e+02] [ 2.17595123e-02 -5.59064054e-04 9.99763077e-01 4.57144148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60275509600007 meters 0.02138709185393703 Centerline is valid? [True, True] Translation: X:107.39, Y:151.05, Z:4.57 [[-2.85426805e-02 -9.99592574e-01 4.36881362e-05 1.07385985e+02] [ 9.99366996e-01 -2.85371677e-02 -2.12423568e-02 1.51052650e+02] [ 2.12349488e-02 -5.62653322e-04 9.99774355e-01 4.57182912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63275509600004 meters 0.02480289343084223 Centerline is valid? [True, True] Translation: X:107.39, Y:151.08, Z:4.57 [[-2.92799821e-02 -9.99571248e-01 5.12560830e-05 1.07391007e+02] [ 9.99345845e-01 -2.92744683e-02 -2.12341360e-02 1.51078411e+02] [ 2.12265324e-02 -5.70512569e-04 9.99774529e-01 4.57097310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66275509600007 meters 0.02260601756677254 Centerline is valid? [True, True] Translation: X:107.39, Y:151.11, Z:4.57 [[-3.05473149e-02 -9.99533320e-01 5.93163202e-05 1.07386866e+02] [ 9.99302422e-01 -3.05415336e-02 -2.14914814e-02 1.51105572e+02] [ 2.14832633e-02 -5.97232106e-04 9.99769030e-01 4.57237495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69275509600004 meters 0.022615774241532983 Centerline is valid? [True, True] Translation: X:107.39, Y:151.13, Z:4.57 [[-3.14531451e-02 -9.99505225e-01 6.63926644e-05 1.07386282e+02] [ 9.99278124e-01 -3.14474143e-02 -2.13141049e-02 1.51133005e+02] [ 2.13056471e-02 -6.04050895e-04 9.99772826e-01 4.57270309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72275509600007 meters 0.023255319863785963 Centerline is valid? [True, True] Translation: X:107.39, Y:151.16, Z:4.57 [[-3.19642302e-02 -9.99489011e-01 7.41146749e-05 1.07386803e+02] [ 9.99260655e-01 -3.19585122e-02 -2.13727924e-02 1.51160740e+02] [ 2.13642397e-02 -6.09104977e-04 9.99771573e-01 4.57285001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75275509600004 meters 0.02422848604985433 Centerline is valid? [True, True] Translation: X:107.39, Y:151.19, Z:4.57 [[-3.26180293e-02 -9.99467887e-01 8.26123063e-05 1.07386030e+02] [ 9.99233522e-01 -3.26121704e-02 -2.16521313e-02 1.51188313e+02] [ 2.16433041e-02 -6.23700869e-04 9.99765562e-01 4.57178542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7827550960001 meters 0.026025869115214387 Centerline is valid? [True, True] Translation: X:107.39, Y:151.21, Z:4.57 [[-3.34099723e-02 -9.99441727e-01 9.22945668e-05 1.07386822e+02] [ 9.99198714e-01 -3.34038847e-02 -2.20478948e-02 1.51214599e+02] [ 2.20386690e-02 -6.44398941e-04 9.99756911e-01 4.57089876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81275509600005 meters 0.02386375877544252 Centerline is valid? [True, True] Translation: X:107.39, Y:151.24, Z:4.57 [[-3.32242833e-02 -9.99447917e-01 9.62595109e-05 1.07386406e+02] [ 9.99225100e-01 -3.32189097e-02 -2.11116751e-02 1.51240009e+02] [ 2.11032173e-02 -6.05235356e-04 9.99777119e-01 4.57355354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.842755096 meters 0.023622113182732073 Centerline is valid? [True, True] Translation: X:107.39, Y:151.27, Z:4.57 [[-3.33030479e-02 -9.99445294e-01 1.06073306e-04 1.07385794e+02] [ 9.99217017e-01 -3.32977093e-02 -2.13685653e-02 1.51266711e+02] [ 2.13602440e-02 -6.05648101e-04 9.99771661e-01 4.57395108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87275509600005 meters 0.022580321465285217 Centerline is valid? [True, True] Translation: X:107.38, Y:151.29, Z:4.57 [[-3.23250323e-02 -9.99477402e-01 1.20159736e-04 1.07383517e+02] [ 9.99226521e-01 -3.23196114e-02 -2.24009363e-02 1.51293265e+02] [ 2.23931131e-02 -6.04044194e-04 9.99749060e-01 4.57356605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.902755096 meters 0.022057510709174926 Centerline is valid? [True, True] Translation: X:107.38, Y:151.32, Z:4.57 [[-3.16010730e-02 -9.99500553e-01 1.31471424e-04 1.07382152e+02] [ 9.99240180e-01 -3.15958425e-02 -2.28203027e-02 1.51319444e+02] [ 2.28130591e-02 -5.89774522e-04 9.99739574e-01 4.57361223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93275509600005 meters 0.021673348809150592 Centerline is valid? [True, True] Translation: X:107.38, Y:151.35, Z:4.57 [[-3.03695157e-02 -9.99538730e-01 1.41480448e-04 1.07381130e+02] [ 9.99273958e-01 -3.03647282e-02 -2.30117368e-02 1.51346021e+02] [ 2.30054182e-02 -5.57477574e-04 9.99735185e-01 4.57373049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.962755096 meters 0.02239343585765446 Centerline is valid? [True, True] Translation: X:107.38, Y:151.37, Z:4.57 [[-3.01395215e-02 -9.99545690e-01 1.51440212e-04 1.07382034e+02] [ 9.99276975e-01 -3.01349312e-02 -2.31821686e-02 1.51371455e+02] [ 2.31762003e-02 -5.47368752e-04 9.99731246e-01 4.57354357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99275509600005 meters 0.021348136166283574 Centerline is valid? [True, True] Translation: X:107.38, Y:151.40, Z:4.57 [[-2.99844631e-02 -9.99550352e-01 1.60403054e-04 1.07380157e+02] [ 9.99282483e-01 -2.99801419e-02 -2.31454211e-02 1.51397371e+02] [ 2.31398227e-02 -5.33715064e-04 9.99732096e-01 4.57495324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.022755096 meters 0.022427258884953886 Centerline is valid? [True, True] Translation: X:107.38, Y:151.42, Z:4.58 [[-3.00717976e-02 -9.99547727e-01 1.67792114e-04 1.07382570e+02] [ 9.99284975e-01 -3.00677407e-02 -2.29231269e-02 1.51422792e+02] [ 2.29178045e-02 -5.21667494e-04 9.99737217e-01 4.57521005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05275509600006 meters 0.021779494366084125 Centerline is valid? [True, True] Translation: X:107.38, Y:151.45, Z:4.58 [[-3.04100151e-02 -9.99537493e-01 1.78073584e-04 1.07381824e+02] [ 9.99271062e-01 -3.04060215e-02 -2.30828595e-02 1.51449672e+02] [ 2.30775980e-02 -5.24006326e-04 9.99733539e-01 4.57607242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.082755096 meters 0.020621147379296906 Centerline is valid? [True, True] Translation: X:107.38, Y:151.48, Z:4.58 [[-3.11076786e-02 -9.99516022e-01 1.85876004e-04 1.07379548e+02] [ 9.99251604e-01 -3.11037255e-02 -2.29954405e-02 1.51477253e+02] [ 2.29900926e-02 -5.29597876e-04 9.99735553e-01 4.57716998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11275509600006 meters 0.02148792694650059 Centerline is valid? [True, True] Translation: X:107.38, Y:151.50, Z:4.58 [[-3.19949869e-02 -9.99488010e-01 1.94375499e-04 1.07379173e+02] [ 9.99222979e-01 -3.19909801e-02 -2.30220624e-02 1.51504386e+02] [ 2.30164936e-02 -5.42366119e-04 9.99734938e-01 4.57664456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14275509600003 meters 0.0205201157416756 Centerline is valid? [True, True] Translation: X:107.38, Y:151.53, Z:4.58 [[-3.25035661e-02 -9.99471600e-01 1.98845630e-04 1.07379318e+02] [ 9.99216374e-01 -3.24997607e-02 -2.25921219e-02 1.51531290e+02] [ 2.25866466e-02 -5.35634717e-04 9.99744746e-01 4.57827331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17275509600006 meters 0.024001159059267283 Centerline is valid? [True, True] Translation: X:107.38, Y:151.56, Z:4.58 [[-3.34416021e-02 -9.99440651e-01 2.09305148e-04 1.07384684e+02] [ 9.99180194e-01 -3.34376666e-02 -2.28224248e-02 1.51557511e+02] [ 2.28166577e-02 -5.54084890e-04 9.99739513e-01 4.57723756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20275509600003 meters 0.0220602167381651 Centerline is valid? [True, True] Translation: X:107.38, Y:151.58, Z:4.58 [[-3.45551787e-02 -9.99402767e-01 2.21707188e-04 1.07382086e+02] [ 9.99132779e-01 -3.45509984e-02 -2.32361255e-02 1.51584782e+02] [ 2.32299083e-02 -5.81413549e-04 9.99729980e-01 4.57887061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23275509600006 meters 0.02127600286836758 Centerline is valid? [True, True] Translation: X:107.38, Y:151.61, Z:4.58 [[-3.52829732e-02 -9.99377335e-01 2.31681752e-04 1.07380737e+02] [ 9.99103153e-01 -3.52787216e-02 -2.34158380e-02 1.51611763e+02] [ 2.34094312e-02 -5.94706416e-04 9.99725785e-01 4.58001399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26275509600003 meters 0.025729772963332363 Centerline is valid? [True, True] Translation: X:107.39, Y:151.64, Z:4.58 [[-3.58693184e-02 -9.99356459e-01 2.43618519e-04 1.07386166e+02] [ 9.99072744e-01 -3.58649417e-02 -2.38192697e-02 1.51637759e+02] [ 2.38126784e-02 -6.10988348e-04 9.99716251e-01 4.57757502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29275509600006 meters 0.022054399955413796 Centerline is valid? [True, True] Translation: X:107.38, Y:151.66, Z:4.58 [[-3.66016191e-02 -9.99329905e-01 2.50805316e-04 1.07380146e+02] [ 9.99046686e-01 -3.65972187e-02 -2.37983877e-02 1.51664872e+02] [ 2.37916193e-02 -6.20493304e-04 9.99716747e-01 4.58054602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32275509600004 meters 0.02137648057367423 Centerline is valid? [True, True] Translation: X:107.38, Y:151.69, Z:4.58 [[-3.69153559e-02 -9.99318362e-01 2.59059753e-04 1.07379615e+02] [ 9.99035624e-01 -3.69110755e-02 -2.37780132e-02 1.51691768e+02] [ 2.37713674e-02 -6.18963895e-04 9.99717230e-01 4.58232299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35275509600007 meters 0.021191513664254726 Centerline is valid? [True, True] Translation: X:107.38, Y:151.72, Z:4.58 [[-3.70813292e-02 -9.99312218e-01 2.57131084e-04 1.07378487e+02] [ 9.99050738e-01 -3.70775103e-02 -2.28666103e-02 1.51718422e+02] [ 2.28604168e-02 -5.91037305e-04 9.99738492e-01 4.58400255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38275509600004 meters 0.020582697533601257 Centerline is valid? [True, True] Translation: X:107.38, Y:151.75, Z:4.59 [[-3.75484748e-02 -9.99294774e-01 2.59643358e-04 1.07376632e+02] [ 9.99045028e-01 -3.75448971e-02 -2.23475349e-02 1.51745400e+02] [ 2.23415231e-02 -5.79720445e-04 9.99750229e-01 4.58519837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41275509600007 meters 0.02097640430696097 Centerline is valid? [True, True] Translation: X:107.38, Y:151.77, Z:4.59 [[-3.75201532e-02 -9.99295837e-01 2.61509516e-04 1.07376583e+02] [ 9.99057822e-01 -3.75169258e-02 -2.18162466e-02 1.51771630e+02] [ 2.18106954e-02 -5.57285787e-04 9.99761963e-01 4.58581319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44275509600004 meters 0.023231271281532344 Centerline is valid? [True, True] Translation: X:107.38, Y:151.80, Z:4.58 [[-3.70568962e-02 -9.99313122e-01 2.64758315e-04 1.07375171e+02] [ 9.99083660e-01 -3.70540624e-02 -2.14204960e-02 1.51798767e+02] [ 2.14155931e-02 -5.29261391e-04 9.99770520e-01 4.58399150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47275509600007 meters 0.02075194393668774 Centerline is valid? [True, True] Translation: X:107.37, Y:151.82, Z:4.59 [[-3.63520490e-02 -9.99339009e-01 2.72878453e-04 1.07373854e+02] [ 9.99109008e-01 -3.63495383e-02 -2.14453112e-02 1.51824552e+02] [ 2.14410550e-02 -5.06945682e-04 9.99769986e-01 4.58662149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50275509600004 meters 0.020888858134620988 Centerline is valid? [True, True] Translation: X:107.37, Y:151.85, Z:4.59 [[-3.47090972e-02 -9.99397417e-01 2.84303524e-04 1.07370504e+02] [ 9.99161785e-01 -3.47070884e-02 -2.17058638e-02 1.51852046e+02] [ 2.17026515e-02 -4.69325717e-04 9.99764360e-01 4.58542581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5327550960001 meters 0.019520532922920088 Centerline is valid? [True, True] Translation: X:107.37, Y:151.88, Z:4.59 [[-3.36154884e-02 -9.99434796e-01 2.96675891e-04 1.07368633e+02] [ 9.99192489e-01 -3.36138723e-02 -2.20108393e-02 1.51876992e+02] [ 2.20083711e-02 -4.43468792e-04 9.99757688e-01 4.58688570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56275509600005 meters 0.018416389234900993 Centerline is valid? [True, True] Translation: X:107.37, Y:151.90, Z:4.59 [[-3.26078017e-02 -9.99468176e-01 3.09727013e-04 1.07366306e+02] [ 9.99219047e-01 -3.26065900e-02 -2.23182917e-02 1.51904373e+02] [ 2.23165215e-02 -4.18265299e-04 9.99750868e-01 4.58809489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.592755096 meters 0.01750107330855829 Centerline is valid? [True, True] Translation: X:107.36, Y:151.93, Z:4.59 [[-3.03234719e-02 -9.99540087e-01 3.17510142e-04 1.07362646e+02] [ 9.99291076e-01 -3.03230054e-02 -2.23127965e-02 1.51932078e+02] [ 2.23121624e-02 -3.59316406e-04 9.99750988e-01 4.58921008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62275509600005 meters 0.017240985862633215 Centerline is valid? [True, True] Translation: X:107.36, Y:151.96, Z:4.59 [[-2.92305418e-02 -9.99572645e-01 3.20946060e-04 1.07361041e+02] [ 9.99330257e-01 -2.92305219e-02 -2.20139379e-02 1.51958002e+02] [ 2.20139116e-02 -3.22748224e-04 9.99757612e-01 4.58990759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.652755096 meters 0.01814980194333305 Centerline is valid? [True, True] Translation: X:107.36, Y:151.99, Z:4.59 [[-2.83371285e-02 -9.99598372e-01 3.19055969e-04 1.07358404e+02] [ 9.99370407e-01 -2.83374802e-02 -2.13489500e-02 1.51985335e+02] [ 2.13494170e-02 -2.86112846e-04 9.99772034e-01 4.58937725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68275509600005 meters 0.016003686161639018 Centerline is valid? [True, True] Translation: X:107.35, Y:152.01, Z:4.59 [[-2.63275984e-02 -9.99653317e-01 3.20871326e-04 1.07354844e+02] [ 9.99432793e-01 -2.63285303e-02 -2.09976471e-02 1.52011734e+02] [ 2.09988156e-02 -2.32128294e-04 9.99779474e-01 4.59187230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.712755096 meters 0.015944109790474274 Centerline is valid? [True, True] Translation: X:107.35, Y:152.04, Z:4.59 [[-2.61430677e-02 -9.99658159e-01 3.23991991e-04 1.07353375e+02] [ 9.99441950e-01 -2.61441519e-02 -2.07911368e-02 1.52039274e+02] [ 2.07925001e-02 -2.19732910e-04 9.99783788e-01 4.59252349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74275509600005 meters 0.018966776872728547 Centerline is valid? [True, True] Translation: X:107.35, Y:152.07, Z:4.59 [[-2.65871627e-02 -9.99646442e-01 3.36273920e-04 1.07353345e+02] [ 9.99424124e-01 -2.65883419e-02 -2.10827053e-02 1.52065635e+02] [ 2.10841923e-02 -2.24449049e-04 9.99777679e-01 4.59018204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.772755096 meters 0.015986185983009736 Centerline is valid? [True, True] Translation: X:107.35, Y:152.09, Z:4.59 [[-2.69214439e-02 -9.99637495e-01 3.37261714e-04 1.07351670e+02] [ 9.99423763e-01 -2.69226621e-02 -2.06715226e-02 1.52092418e+02] [ 2.06731090e-02 -2.19439864e-04 9.99786264e-01 4.59321879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80275509600006 meters 0.01618119607874861 Centerline is valid? [True, True] Translation: X:107.35, Y:152.12, Z:4.59 [[-2.78984975e-02 -9.99610702e-01 3.45146178e-04 1.07351635e+02] [ 9.99396338e-01 -2.78996627e-02 -2.07018765e-02 1.52119242e+02] [ 2.07034467e-02 -2.32613422e-04 9.99785634e-01 4.59360097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.832755096 meters 0.01707528349359408 Centerline is valid? [True, True] Translation: X:107.35, Y:152.15, Z:4.59 [[-3.02918414e-02 -9.99541039e-01 3.41683598e-04 1.07353401e+02] [ 9.99339529e-01 -3.02925957e-02 -2.00715029e-02 1.52145617e+02] [ 2.00726413e-02 -2.66544855e-04 9.99798489e-01 4.59457421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86275509600006 meters 0.01707528349359408 Centerline is valid? [True, True] Translation: X:107.35, Y:152.17, Z:4.59 [[-3.06750737e-02 -9.99529348e-01 3.49200158e-04 1.07352686e+02] [ 9.99327839e-01 -3.06759017e-02 -2.00713725e-02 1.52171523e+02] [ 2.00726379e-02 -2.66725390e-04 9.99798489e-01 4.59495702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89275509600003 meters 0.017883632464432576 Centerline is valid? [True, True] Translation: X:107.35, Y:152.20, Z:4.60 [[-3.36265723e-02 -9.99434404e-01 3.53620710e-04 1.07354225e+02] [ 9.99236300e-01 -3.36269483e-02 -1.99008918e-02 1.52198640e+02] [ 1.99015271e-02 -3.15848126e-04 9.99801895e-01 4.59553595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92275509600006 meters 0.01836598207385397 Centerline is valid? [True, True] Translation: X:107.35, Y:152.23, Z:4.60 [[-3.53996899e-02 -9.99373170e-01 3.59087957e-04 1.07354882e+02] [ 9.99176556e-01 -3.53998491e-02 -1.98257488e-02 1.52226116e+02] [ 1.98260331e-02 -3.43033091e-04 9.99803386e-01 4.59588876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95275509600003 meters 0.018793434493449262 Centerline is valid? [True, True] Translation: X:107.36, Y:152.25, Z:4.60 [[-3.73015427e-02 -9.99303986e-01 3.73048210e-04 1.07355270e+02] [ 9.99099851e-01 -3.73014642e-02 -2.02012094e-02 1.52252888e+02] [ 2.02010643e-02 -3.80823864e-04 9.99795865e-01 4.59603405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98275509600006 meters 0.02089292005471396 Centerline is valid? [True, True] Translation: X:107.36, Y:152.28, Z:4.60 [[-4.11365651e-02 -9.99153457e-01 3.89754021e-04 1.07359055e+02] [ 9.98939357e-01 -4.11358205e-02 -2.06882900e-02 1.52279080e+02] [ 2.06868093e-02 -4.61704557e-04 9.99785898e-01 4.59543776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01275509600003 meters 0.02230246548198387 Centerline is valid? [True, True] Translation: X:107.36, Y:152.31, Z:4.60 [[-4.29038373e-02 -9.99079124e-01 4.05741342e-04 1.07361059e+02] [ 9.98855893e-01 -4.29028300e-02 -2.11246857e-02 1.52305635e+02] [ 2.11226400e-02 -5.01052949e-04 9.99776767e-01 4.59522639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04275509600006 meters 0.025069905173664565 Centerline is valid? [True, True] Translation: X:107.36, Y:152.33, Z:4.59 [[-4.72147966e-02 -9.98884668e-01 4.27054778e-04 1.07362101e+02] [ 9.98646588e-01 -4.72128701e-02 -2.18160043e-02 1.52332499e+02] [ 2.18118347e-02 -6.03561407e-04 9.99761911e-01 4.59290773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07275509600004 meters 0.023580301523952636 Centerline is valid? [True, True] Translation: X:107.36, Y:152.36, Z:4.60 [[-4.85883535e-02 -9.98818798e-01 4.26025575e-04 1.07362762e+02] [ 9.98590212e-01 -4.85863515e-02 -2.13765109e-02 1.52359906e+02] [ 2.13719600e-02 -6.13224501e-04 9.99771406e-01 4.59557398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10275509600007 meters 0.028882017217929365 Centerline is valid? [True, True] Translation: X:107.37, Y:152.39, Z:4.59 [[-5.11755547e-02 -9.98689578e-01 4.36095577e-04 1.07366821e+02] [ 9.98458277e-01 -5.11730920e-02 -2.15031053e-02 1.52386265e+02] [ 2.14972435e-02 -6.65010101e-04 9.99768686e-01 4.59253189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13275509600004 meters 0.023358708065547424 Centerline is valid? [True, True] Translation: X:107.36, Y:152.41, Z:4.60 [[-5.24076476e-02 -9.98625675e-01 4.46769397e-04 1.07361697e+02] [ 9.98391067e-01 -5.24050241e-02 -2.16562021e-02 1.52413797e+02] [ 2.16498524e-02 -6.88900032e-04 9.99765377e-01 4.59678800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16275509600007 meters 0.024551474660658174 Centerline is valid? [True, True] Translation: X:107.36, Y:152.44, Z:4.60 [[-5.53017534e-02 -9.98469578e-01 4.66855550e-04 1.07363201e+02] [ 9.98221498e-01 -5.52984256e-02 -2.22693784e-02 1.52441535e+02] [ 2.22611133e-02 -7.65510429e-04 9.99751898e-01 4.59662202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19275509600004 meters 0.02921973790303259 Centerline is valid? [True, True] Translation: X:107.37, Y:152.47, Z:4.59 [[-5.71847020e-02 -9.98363504e-01 4.72553014e-04 1.07365832e+02] [ 9.98117659e-01 -5.71811135e-02 -2.21688726e-02 1.52467813e+02] [ 2.21596145e-02 -7.96056867e-04 9.99754129e-01 4.59328108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22275509600007 meters 0.03111830013580227 Centerline is valid? [True, True] Translation: X:107.37, Y:152.49, Z:4.59 [[-5.83747262e-02 -9.98294633e-01 4.66341150e-04 1.07368150e+02] [ 9.98063230e-01 -5.83712422e-02 -2.15078187e-02 1.52494448e+02] [ 2.14983609e-02 -7.90075075e-04 9.99768571e-01 4.59394696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25275509600004 meters 0.02970653880587866 Centerline is valid? [True, True] Translation: X:107.37, Y:152.52, Z:4.60 [[-5.84136798e-02 -9.98292349e-01 4.76530472e-04 1.07366997e+02] [ 9.98058746e-01 -5.84103261e-02 -2.16095823e-02 1.52520622e+02] [ 2.16005150e-02 -7.86689819e-04 9.99766372e-01 4.59593828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2827550960001 meters 0.03214590093804406 Centerline is valid? [True, True] Translation: X:107.37, Y:152.55, Z:4.59 [[-5.86128092e-02 -9.98280674e-01 4.84329429e-04 1.07367689e+02] [ 9.98047407e-01 -5.86095897e-02 -2.15937372e-02 1.52546184e+02] [ 2.15849968e-02 -7.82285865e-04 9.99766711e-01 4.59443228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31275509600005 meters 0.027756265759923394 Centerline is valid? [True, True] Translation: X:107.36, Y:152.57, Z:4.60 [[-5.72724575e-02 -9.98358462e-01 4.96704694e-04 1.07358445e+02] [ 9.98121265e-01 -5.72696835e-02 -2.17744021e-02 1.52572829e+02] [ 2.17671047e-02 -7.51302003e-04 9.99762786e-01 4.59516252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.342755096 meters 0.02593086746937966 Centerline is valid? [True, True] Translation: X:107.36, Y:152.60, Z:4.60 [[-5.59406178e-02 -9.98433975e-01 4.94791628e-04 1.07356223e+02] [ 9.98205650e-01 -5.59384119e-02 -2.13629198e-02 1.52600560e+02] [ 2.13571428e-02 -7.01151134e-04 9.99771664e-01 4.59687039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37275509600005 meters 0.023622544875352695 Centerline is valid? [True, True] Translation: X:107.35, Y:152.63, Z:4.60 [[-5.38578361e-02 -9.98548488e-01 5.01261445e-04 1.07354029e+02] [ 9.98320919e-01 -5.38562679e-02 -2.13270912e-02 1.52627970e+02] [ 2.13231308e-02 -6.48211197e-04 9.99772426e-01 4.59981319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.402755096 meters 0.022563514840245203 Centerline is valid? [True, True] Translation: X:107.35, Y:152.65, Z:4.60 [[-5.03962961e-02 -9.98729175e-01 4.98213265e-04 1.07350521e+02] [ 9.98510903e-01 -5.03957013e-02 -2.08865919e-02 1.52654027e+02] [ 2.08851565e-02 -5.55135494e-04 9.99781727e-01 4.60049547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43275509600005 meters 0.022950850346203137 Centerline is valid? [True, True] Translation: X:107.35, Y:152.68, Z:4.60 [[-4.91467946e-02 -9.98791443e-01 4.96768870e-04 1.07347411e+02] [ 9.98580702e-01 -4.91466323e-02 -2.05229325e-02 1.52681311e+02] [ 2.05225439e-02 -5.12572544e-04 9.99789259e-01 4.59886149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.462755096 meters 0.023668547338539632 Centerline is valid? [True, True] Translation: X:107.35, Y:152.71, Z:4.60 [[-4.77747756e-02 -9.98858006e-01 5.04280645e-04 1.07345396e+02] [ 9.98647175e-01 -4.77750549e-02 -2.05271709e-02 1.52707483e+02] [ 2.05278210e-02 -4.77082542e-04 9.99789168e-01 4.59836474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49275509600005 meters 0.019730400040246135 Centerline is valid? [True, True] Translation: X:107.34, Y:152.73, Z:4.60 [[-4.42641114e-02 -9.99019735e-01 5.07456600e-04 1.07340156e+02] [ 9.98812401e-01 -4.42652650e-02 -2.03561597e-02 1.52734183e+02] [ 2.03586679e-02 -3.94193374e-04 9.99792663e-01 4.60124573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.522755096 meters 0.020853044022721638 Centerline is valid? [True, True] Translation: X:107.34, Y:152.76, Z:4.60 [[-4.33617517e-02 -9.99059312e-01 4.99447414e-04 1.07338077e+02] [ 9.98864064e-01 -4.33631528e-02 -1.97539401e-02 1.52760738e+02] [ 1.97570154e-02 -3.57685370e-04 9.99804747e-01 4.60009717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55275509600006 meters 0.01712024222325333 Centerline is valid? [True, True] Translation: X:107.33, Y:152.79, Z:4.60 [[-4.08610949e-02 -9.99164724e-01 4.75302407e-04 1.07333420e+02] [ 9.98992859e-01 -4.08628828e-02 -1.85335687e-02 1.52787513e+02] [ 1.85375103e-02 -2.82478200e-04 9.99828126e-01 4.60420797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.582755096 meters 0.01828207497682984 Centerline is valid? [True, True] Translation: X:107.33, Y:152.81, Z:4.60 [[-4.08153418e-02 -9.99166594e-01 4.74095764e-04 1.07332941e+02] [ 9.99000344e-01 -4.08171998e-02 -1.82282488e-02 1.52813093e+02] [ 1.82324086e-02 -2.70370377e-04 9.99833739e-01 4.60359179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61275509600006 meters 0.019148951723773396 Centerline is valid? [True, True] Translation: X:107.33, Y:152.84, Z:4.60 [[-4.07242360e-02 -9.99170310e-01 4.77461843e-04 1.07331561e+02] [ 9.99006813e-01 -4.07262102e-02 -1.80765842e-02 1.52839049e+02] [ 1.80810315e-02 -2.59167447e-04 9.99836491e-01 4.60321342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64275509600003 meters 0.0189872573001872 Centerline is valid? [True, True] Translation: X:107.33, Y:152.87, Z:4.60 [[-4.14849880e-02 -9.99139011e-01 4.81972252e-04 1.07330323e+02] [ 9.98977094e-01 -4.14869427e-02 -1.79888735e-02 1.52865510e+02] [ 1.79933808e-02 -2.64788962e-04 9.99838071e-01 4.60373690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67275509600006 meters 0.018946973042574724 Centerline is valid? [True, True] Translation: X:107.33, Y:152.89, Z:4.60 [[-4.26641961e-02 -9.99089353e-01 4.80327552e-04 1.07329845e+02] [ 9.98933035e-01 -4.26660183e-02 -1.76749110e-02 1.52891697e+02] [ 1.76793091e-02 -2.74270812e-04 9.99843671e-01 4.60452351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70275509600003 meters 0.01843547844058248 Centerline is valid? [True, True] Translation: X:107.33, Y:152.92, Z:4.61 [[-4.47421564e-02 -9.98998448e-01 4.89733976e-04 1.07330415e+02] [ 9.98840468e-01 -4.47437914e-02 -1.77683245e-02 1.52918352e+02] [ 1.77724412e-02 -3.05827043e-04 9.99842011e-01 4.60685906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73275509600006 meters 0.02080853014828322 Centerline is valid? [True, True] Translation: X:107.33, Y:152.95, Z:4.60 [[-4.66098381e-02 -9.98913045e-01 5.01736932e-04 1.07330721e+02] [ 9.98751522e-01 -4.66113254e-02 -1.79661086e-02 1.52945664e+02] [ 1.79699668e-02 -3.36286886e-04 9.99838471e-01 4.60481255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76275509600003 meters 0.019579894853445988 Centerline is valid? [True, True] Translation: X:107.33, Y:152.97, Z:4.61 [[-4.76129251e-02 -9.98865735e-01 5.03028431e-04 1.07330826e+02] [ 9.98707290e-01 -4.76143335e-02 -1.77939501e-02 1.52971706e+02] [ 1.77977184e-02 -3.44843851e-04 9.99841549e-01 4.60764823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79275509600006 meters 0.019891402824562626 Centerline is valid? [True, True] Translation: X:107.33, Y:153.00, Z:4.61 [[-5.02382754e-02 -9.98737130e-01 5.11235418e-04 1.07330862e+02] [ 9.98577685e-01 -5.02393920e-02 -1.78496563e-02 1.52998928e+02] [ 1.78527986e-02 -3.86227666e-04 9.99840552e-01 4.60771495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82275509600004 meters 0.02166410992688203 Centerline is valid? [True, True] Translation: X:107.33, Y:153.02, Z:4.61 [[-5.16536465e-02 -9.98664928e-01 5.13108448e-04 1.07333133e+02] [ 9.98508090e-01 -5.16546301e-02 -1.77029481e-02 1.53024767e+02] [ 1.77058178e-02 -4.02078886e-04 9.99843159e-01 4.60744030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85275509600007 meters 0.02402395365581745 Centerline is valid? [True, True] Translation: X:107.33, Y:153.05, Z:4.61 [[-5.46404773e-02 -9.98505960e-01 5.16616399e-04 1.07334428e+02] [ 9.98350494e-01 -5.46410889e-02 -1.76250446e-02 1.53052190e+02] [ 1.76269405e-02 -4.47276611e-04 9.99844533e-01 4.60595547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88275509600004 meters 0.02249539061155427 Centerline is valid? [True, True] Translation: X:107.33, Y:153.08, Z:4.61 [[-5.57849816e-02 -9.98442670e-01 5.20378517e-04 1.07332397e+02] [ 9.98288449e-01 -5.57855140e-02 -1.75541994e-02 1.53078873e+02] [ 1.75558913e-02 -4.59772829e-04 9.99845778e-01 4.60798288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91275509600007 meters 0.023198075976307093 Centerline is valid? [True, True] Translation: X:107.33, Y:153.11, Z:4.61 [[-5.69643707e-02 -9.98376070e-01 5.32197217e-04 1.07332489e+02] [ 9.98218604e-01 -5.69648415e-02 -1.77376607e-02 1.53105740e+02] [ 1.77391725e-02 -4.79165515e-04 9.99842534e-01 4.60820925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94275509600004 meters 0.02434959273993118 Centerline is valid? [True, True] Translation: X:107.33, Y:153.13, Z:4.61 [[-5.89821068e-02 -9.98258886e-01 5.53985766e-04 1.07329470e+02] [ 9.98092230e-01 -5.89823865e-02 -1.82477163e-02 1.53132450e+02] [ 1.82486204e-02 -5.23359864e-04 9.99833343e-01 4.60555512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97275509600007 meters 0.022630174596445857 Centerline is valid? [True, True] Translation: X:107.33, Y:153.16, Z:4.61 [[-5.92761056e-02 -9.98241477e-01 5.44526571e-04 1.07328963e+02] [ 9.98084335e-01 -5.92764399e-02 -1.77190040e-02 1.53158970e+02] [ 1.77201224e-02 -5.06830114e-04 9.99842858e-01 4.60861729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00275509600004 meters 0.027922526267111045 Centerline is valid? [True, True] Translation: X:107.33, Y:153.18, Z:4.61 [[-6.01013753e-02 -9.98192113e-01 5.75305473e-04 1.07332856e+02] [ 9.98021133e-01 -6.01017329e-02 -1.84824018e-02 1.53184717e+02] [ 1.84835645e-02 -5.36650744e-04 9.99829020e-01 4.60533130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0327550960001 meters 0.02439778992158929 Centerline is valid? [True, True] Translation: X:107.33, Y:153.21, Z:4.61 [[-6.01565654e-02 -9.98188796e-01 5.62211176e-04 1.07325751e+02] [ 9.98029570e-01 -6.01570152e-02 -1.78356612e-02 1.53210625e+02] [ 1.78371781e-02 -5.11828744e-04 9.99840774e-01 4.60646671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06275509600005 meters 0.022388291992877094 Centerline is valid? [True, True] Translation: X:107.32, Y:153.24, Z:4.61 [[-5.94765713e-02 -9.98229549e-01 5.52429897e-04 1.07323883e+02] [ 9.98079481e-01 -5.94772122e-02 -1.73150489e-02 1.53236862e+02] [ 1.73172504e-02 -4.78470793e-04 9.99849931e-01 4.60987702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.092755096 meters 0.021922655156588453 Centerline is valid? [True, True] Translation: X:107.32, Y:153.26, Z:4.61 [[-5.82298076e-02 -9.98303069e-01 5.21265559e-04 1.07321675e+02] [ 9.98172460e-01 -5.82306239e-02 -1.61535006e-02 1.53263302e+02] [ 1.61564428e-02 -4.20302307e-04 9.99869388e-01 4.61155478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12275509600005 meters 0.021674944408577795 Centerline is valid? [True, True] Translation: X:107.32, Y:153.29, Z:4.61 [[-5.76706071e-02 -9.98335537e-01 5.06894201e-04 1.07320331e+02] [ 9.98214676e-01 -5.76715150e-02 -1.55388906e-02 1.53288344e+02] [ 1.55422600e-02 -3.90148021e-04 9.99879136e-01 4.61254199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.152755096 meters 0.02190795490056578 Centerline is valid? [True, True] Translation: X:107.32, Y:153.31, Z:4.61 [[-5.73389314e-02 -9.98354650e-01 4.90126944e-04 1.07318222e+02] [ 9.98243665e-01 -5.73398674e-02 -1.48904094e-02 1.53314566e+02] [ 1.48940133e-02 -3.64534046e-04 9.99889012e-01 4.61229201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18275509600005 meters 0.020789993643268098 Centerline is valid? [True, True] Translation: X:107.31, Y:153.34, Z:4.61 [[-5.53006759e-02 -9.98469641e-01 4.60052130e-04 1.07314510e+02] [ 9.98373952e-01 -5.53017467e-02 -1.38263814e-02 1.53341727e+02] [ 1.38306638e-02 -3.05304175e-04 9.99904305e-01 4.61373659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.212755096 meters 0.020856675447609736 Centerline is valid? [True, True] Translation: X:107.31, Y:153.37, Z:4.61 [[-5.45916439e-02 -9.98508661e-01 4.54181589e-04 1.07312626e+02] [ 9.98417235e-01 -5.45927927e-02 -1.35148979e-02 1.53367298e+02] [ 1.35195377e-02 -2.84337769e-04 9.99908566e-01 4.61435371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24275509600005 meters 0.019095992586604008 Centerline is valid? [True, True] Translation: X:107.31, Y:153.39, Z:4.62 [[-5.26261835e-02 -9.98614194e-01 4.20638111e-04 1.07309223e+02] [ 9.98537482e-01 -5.26273555e-02 -1.23797724e-02 1.53394665e+02] [ 1.23847535e-02 -2.31477254e-04 9.99923279e-01 4.61703892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.272755096 meters 0.020890025611451476 Centerline is valid? [True, True] Translation: X:107.31, Y:153.42, Z:4.62 [[-5.21001633e-02 -9.98641770e-01 4.34501447e-04 1.07307108e+02] [ 9.98561533e-01 -5.21014859e-02 -1.26609532e-02 1.53419957e+02] [ 1.26663949e-02 -2.25761298e-04 9.99919753e-01 4.61519374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30275509600006 meters 0.018817366376862578 Centerline is valid? [True, True] Translation: X:107.30, Y:153.45, Z:4.62 [[-5.16530496e-02 -9.98665002e-01 4.19013096e-04 1.07304903e+02] [ 9.98591993e-01 -5.16543407e-02 -1.20772583e-02 1.53445817e+02] [ 1.20827791e-02 -2.05404101e-04 9.99926979e-01 4.61746096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.332755096 meters 0.01849156779419172 Centerline is valid? [True, True] Translation: X:107.30, Y:153.47, Z:4.62 [[-5.16934381e-02 -9.98662913e-01 4.17255499e-04 1.07303300e+02] [ 9.98592032e-01 -5.16947410e-02 -1.18999270e-02 1.53472641e+02] [ 1.19055857e-02 -1.98480125e-04 9.99929106e-01 4.61826052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36275509600006 meters 0.019048847031282793 Centerline is valid? [True, True] Translation: X:107.30, Y:153.50, Z:4.62 [[-5.22671281e-02 -9.98633048e-01 4.27717405e-04 1.07302643e+02] [ 9.98560144e-01 -5.22684813e-02 -1.20683720e-02 1.53498231e+02] [ 1.20742313e-02 -2.03677593e-04 9.99927083e-01 4.61765865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39275509600003 meters 0.01982113788675868 Centerline is valid? [True, True] Translation: X:107.30, Y:153.52, Z:4.62 [[-5.36001825e-02 -9.98562373e-01 4.56722436e-04 1.07300411e+02] [ 9.98481158e-01 -5.36016489e-02 -1.27373990e-02 1.53524600e+02] [ 1.27435684e-02 -2.26698165e-04 9.99918772e-01 4.61560877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42275509600006 meters 0.01876073806148501 Centerline is valid? [True, True] Translation: X:107.30, Y:153.55, Z:4.62 [[-5.52936533e-02 -9.98470032e-01 4.55795638e-04 1.07299516e+02] [ 9.98390822e-01 -5.52950090e-02 -1.25788854e-02 1.53551514e+02] [ 1.25848433e-02 -2.40470344e-04 9.99920779e-01 4.61609322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45275509600003 meters 0.019197974490491067 Centerline is valid? [True, True] Translation: X:107.30, Y:153.58, Z:4.62 [[-5.69318253e-02 -9.98377962e-01 4.60290394e-04 1.07299661e+02] [ 9.98298758e-01 -5.69331078e-02 -1.25782065e-02 1.53578441e+02] [ 1.25840100e-02 -2.56592929e-04 9.99920785e-01 4.61637174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48275509600006 meters 0.02211245342048254 Centerline is valid? [True, True] Translation: X:107.30, Y:153.60, Z:4.62 [[-5.88237637e-02 -9.98268263e-01 4.89733706e-04 1.07302790e+02] [ 9.98180413e-01 -5.88250856e-02 -1.32465872e-02 1.53604833e+02] [ 1.32524562e-02 -2.90371520e-04 9.99912140e-01 4.61610542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51275509600003 meters 0.021328348521515897 Centerline is valid? [True, True] Translation: X:107.30, Y:153.63, Z:4.62 [[-6.20518740e-02 -9.98072811e-01 4.78039892e-04 1.07302595e+02] [ 9.97990722e-01 -6.20529033e-02 -1.28045249e-02 1.53632129e+02] [ 1.28095119e-02 -3.17465390e-04 9.99917904e-01 4.61731972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54275509600006 meters 0.022025641199602985 Centerline is valid? [True, True] Translation: X:107.30, Y:153.66, Z:4.62 [[-6.41116756e-02 -9.97942613e-01 4.83009205e-04 1.07303096e+02] [ 9.97860354e-01 -6.41125947e-02 -1.28175367e-02 1.53659577e+02] [ 1.28221331e-02 -3.39778020e-04 9.99917735e-01 4.61736074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57275509600004 meters 0.023211750584032537 Centerline is valid? [True, True] Translation: X:107.30, Y:153.69, Z:4.62 [[-6.63742867e-02 -9.97794676e-01 4.89002353e-04 1.07304276e+02] [ 9.97711909e-01 -6.63750818e-02 -1.28567031e-02 1.53687140e+02] [ 1.28608075e-02 -3.65471026e-04 9.99917230e-01 4.61742330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60275509600007 meters 0.026523341749379967 Centerline is valid? [True, True] Translation: X:107.31, Y:153.71, Z:4.62 [[-7.07299795e-02 -9.97495344e-01 5.55566190e-04 1.07307966e+02] [ 9.97390669e-01 -7.07306098e-02 -1.44580339e-02 1.53713493e+02] [ 1.44611170e-02 -4.68499907e-04 9.99895323e-01 4.61528387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63275509600004 meters 0.027933159203852125 Centerline is valid? [True, True] Translation: X:107.31, Y:153.74, Z:4.61 [[-7.27536775e-02 -9.97349771e-01 5.80324328e-04 1.07309243e+02] [ 9.97237762e-01 -7.27542090e-02 -1.49556176e-02 1.53741148e+02] [ 1.49582028e-02 -5.09354847e-04 9.99887990e-01 4.61467528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66275509600007 meters 0.02841109797779336 Centerline is valid? [True, True] Translation: X:107.31, Y:153.77, Z:4.62 [[-7.53382367e-02 -9.97157881e-01 5.56977777e-04 1.07312357e+02] [ 9.97056402e-01 -7.53385208e-02 -1.42351386e-02 1.53767528e+02] [ 1.42366425e-02 -5.17111982e-04 9.99898520e-01 4.61717774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69275509600004 meters 0.028716836367887005 Centerline is valid? [True, True] Translation: X:107.31, Y:153.79, Z:4.62 [[-7.64880227e-02 -9.97070342e-01 5.62204310e-04 1.07312301e+02] [ 9.96968816e-01 -7.64882626e-02 -1.42381699e-02 1.53794323e+02] [ 1.42394590e-02 -5.28549297e-04 9.99898474e-01 4.61762844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72275509600007 meters 0.027918652176100123 Centerline is valid? [True, True] Translation: X:107.31, Y:153.82, Z:4.62 [[-7.71817756e-02 -9.97016879e-01 5.63328337e-04 1.07310830e+02] [ 9.96916740e-01 -7.71820131e-02 -1.41403520e-02 1.53820902e+02] [ 1.41416484e-02 -5.29786024e-04 9.99899862e-01 4.61806508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75275509600004 meters 0.027918652176100123 Centerline is valid? [True, True] Translation: X:107.31, Y:153.85, Z:4.62 [[-7.75627482e-02 -9.96987310e-01 5.68733799e-04 1.07309532e+02] [ 9.96887172e-01 -7.75630240e-02 -1.41401345e-02 1.53846809e+02] [ 1.41416474e-02 -5.29784266e-04 9.99899862e-01 4.61844809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7827550960001 meters 0.02805025225355079 Centerline is valid? [True, True] Translation: X:107.31, Y:153.87, Z:4.62 [[-7.73894827e-02 -9.97000768e-01 5.79453519e-04 1.07309893e+02] [ 9.96898783e-01 -7.73898599e-02 -1.42697686e-02 1.53871871e+02] [ 1.42718141e-02 -5.26673501e-04 9.99898014e-01 4.61847427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81275509600005 meters 0.02786145972601629 Centerline is valid? [True, True] Translation: X:107.31, Y:153.90, Z:4.62 [[-7.71388127e-02 -9.97020188e-01 5.90871311e-04 1.07308850e+02] [ 9.96916215e-01 -7.71393070e-02 -1.44079100e-02 1.53898312e+02] [ 1.44105565e-02 -5.22359878e-04 9.99896026e-01 4.61897941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.842755096 meters 0.027048807512145483 Centerline is valid? [True, True] Translation: X:107.31, Y:153.92, Z:4.62 [[-7.45609876e-02 -9.97216272e-01 6.05717290e-04 1.07307277e+02] [ 9.97109026e-01 -7.45618570e-02 -1.46328547e-02 1.53924768e+02] [ 1.46372842e-02 -4.87073921e-04 9.99892751e-01 4.61945548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87275509600005 meters 0.023314532168967516 Centerline is valid? [True, True] Translation: X:107.30, Y:153.95, Z:4.62 [[-7.36914456e-02 -9.97280909e-01 5.99845344e-04 1.07300375e+02] [ 9.97177466e-01 -7.36924458e-02 -1.43709717e-02 1.53951443e+02] [ 1.43760998e-02 -4.60865419e-04 9.99896552e-01 4.62012822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.902755096 meters 0.025429904028578438 Centerline is valid? [True, True] Translation: X:107.30, Y:153.98, Z:4.62 [[-7.08782206e-02 -9.97484767e-01 6.45989623e-04 1.07300816e+02] [ 9.97366998e-01 -7.08797828e-02 -1.53338733e-02 1.53977920e+02] [ 1.53410926e-02 -4.42548921e-04 9.99882221e-01 4.61924042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93275509600005 meters 0.021800115271813084 Centerline is valid? [True, True] Translation: X:107.30, Y:154.00, Z:4.62 [[-6.97059108e-02 -9.97567394e-01 6.16402143e-04 1.07295549e+02] [ 9.97461969e-01 -6.97075088e-02 -1.45080372e-02 1.54004546e+02] [ 1.45157127e-02 -3.96458252e-04 9.99894563e-01 4.62165716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.962755096 meters 0.02080150253881553 Centerline is valid? [True, True] Translation: X:107.29, Y:154.03, Z:4.62 [[-6.78594074e-02 -9.97694694e-01 6.31769367e-04 1.07293431e+02] [ 9.97585912e-01 -6.78613406e-02 -1.47372809e-02 1.54031307e+02] [ 1.47461797e-02 -3.69818930e-04 9.99891201e-01 4.62237398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99275509600005 meters 0.02194778194790919 Centerline is valid? [True, True] Translation: X:107.29, Y:154.06, Z:4.62 [[-6.75892253e-02 -9.97713020e-01 6.53581273e-04 1.07294632e+02] [ 9.97598558e-01 -6.75913740e-02 -1.51169712e-02 1.54056956e+02] [ 1.51265755e-02 -3.69732638e-04 9.99885518e-01 4.62267673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.022755096 meters 0.020633946086714757 Centerline is valid? [True, True] Translation: X:107.29, Y:154.08, Z:4.62 [[-6.78699321e-02 -9.97693953e-01 6.70040672e-04 1.07291492e+02] [ 9.97575941e-01 -6.78722127e-02 -1.53493943e-02 1.54083471e+02] [ 1.53594750e-02 -3.73345895e-04 9.99881967e-01 4.62285666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05275509600006 meters 0.020252629856974177 Centerline is valid? [True, True] Translation: X:107.29, Y:154.11, Z:4.62 [[-6.89872500e-02 -9.97617325e-01 6.56904433e-04 1.07290468e+02] [ 9.97505860e-01 -6.89893646e-02 -1.49173686e-02 1.54110524e+02] [ 1.49271448e-02 -3.73842214e-04 9.99888514e-01 4.62379143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.082755096 meters 0.021423991113900066 Centerline is valid? [True, True] Translation: X:107.29, Y:154.14, Z:4.62 [[-7.00594627e-02 -9.97542594e-01 6.66743939e-04 1.07291464e+02] [ 9.97429652e-01 -7.00615667e-02 -1.50155550e-02 1.54137057e+02] [ 1.50253688e-02 -3.86951542e-04 9.99887038e-01 4.62419965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11275509600006 meters 0.021921877639095436 Centerline is valid? [True, True] Translation: X:107.29, Y:154.16, Z:4.62 [[-7.15853429e-02 -9.97434274e-01 6.39070515e-04 1.07291343e+02] [ 9.97332178e-01 -7.15871624e-02 -1.42760395e-02 1.54163852e+02] [ 1.42851603e-02 -3.84589592e-04 9.99897888e-01 4.62485353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14275509600003 meters 0.02176122080750192 Centerline is valid? [True, True] Translation: X:107.29, Y:154.19, Z:4.63 [[-7.24688872e-02 -9.97370459e-01 6.53586723e-04 1.07290100e+02] [ 9.97265431e-01 -7.24707443e-02 -1.44793370e-02 1.54191081e+02] [ 1.44886289e-02 -3.97501996e-04 9.99894955e-01 4.62500931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17275509600006 meters 0.022574719587892117 Centerline is valid? [True, True] Translation: X:107.29, Y:154.22, Z:4.63 [[-7.34977945e-02 -9.97295155e-01 6.69980917e-04 1.07290617e+02] [ 9.97186525e-01 -7.34996812e-02 -1.47251584e-02 1.54216608e+02] [ 1.47345725e-02 -4.14170722e-04 9.99891355e-01 4.62551180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20275509600003 meters 0.023344346195943895 Centerline is valid? [True, True] Translation: X:107.29, Y:154.24, Z:4.63 [[-7.43739448e-02 -9.97230195e-01 6.73888923e-04 1.07291627e+02] [ 9.97122238e-01 -7.43758130e-02 -1.46792420e-02 1.54241660e+02] [ 1.46887044e-02 -4.19803500e-04 9.99892027e-01 4.62525322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23275509600006 meters 0.022884652007980406 Centerline is valid? [True, True] Translation: X:107.29, Y:154.27, Z:4.63 [[-7.47399441e-02 -9.97202810e-01 7.04402665e-04 1.07289803e+02] [ 9.97086958e-01 -7.47420025e-02 -1.52062807e-02 1.54267600e+02] [ 1.52163943e-02 -4.34165861e-04 9.99884130e-01 4.62538454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26275509600003 meters 0.02298262649420589 Centerline is valid? [True, True] Translation: X:107.29, Y:154.29, Z:4.62 [[-7.42139138e-02 -9.97242056e-01 7.60039911e-04 1.07289129e+02] [ 9.97109544e-01 -7.42164469e-02 -1.62627301e-02 1.54293101e+02] [ 1.62742858e-02 -4.49077798e-04 9.99867464e-01 4.62492307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29275509600006 meters 0.022829491050715314 Centerline is valid? [True, True] Translation: X:107.29, Y:154.32, Z:4.62 [[-7.39836355e-02 -9.97259149e-01 7.81852038e-04 1.07287620e+02] [ 9.97121318e-01 -7.39864135e-02 -1.65857821e-02 1.54319156e+02] [ 1.65981694e-02 -4.47475125e-04 9.99862141e-01 4.62472041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32275509600004 meters 0.02267056259308963 Centerline is valid? [True, True] Translation: X:107.29, Y:154.35, Z:4.62 [[-7.37897546e-02 -9.97273466e-01 8.40542848e-04 1.07286138e+02] [ 9.97116816e-01 -7.37930666e-02 -1.76815774e-02 1.54345618e+02] [ 1.76953942e-02 -4.66599851e-04 9.99843315e-01 4.62434576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35275509600007 meters 0.02207774622728856 Centerline is valid? [True, True] Translation: X:107.28, Y:154.37, Z:4.62 [[-7.26084267e-02 -9.97360116e-01 9.03519714e-04 1.07284936e+02] [ 9.97181955e-01 -7.26125388e-02 -1.88565195e-02 1.54372478e+02] [ 1.88723473e-02 -4.68168656e-04 9.99821792e-01 4.62347872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38275509600004 meters 0.02218182358471999 Centerline is valid? [True, True] Translation: X:107.28, Y:154.40, Z:4.62 [[-7.23514999e-02 -9.97378754e-01 9.38549193e-04 1.07284312e+02] [ 9.97189097e-01 -7.23560496e-02 -1.94552324e-02 1.54398056e+02] [ 1.94721452e-02 -4.71704223e-04 9.99810289e-01 4.62350073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41275509600007 meters 0.02184048640666267 Centerline is valid? [True, True] Translation: X:107.28, Y:154.42, Z:4.62 [[-7.20351222e-02 -9.97401635e-01 9.59320521e-04 1.07283602e+02] [ 9.97206635e-01 -7.20400128e-02 -1.97272137e-02 1.54424745e+02] [ 1.97450647e-02 -4.64411460e-04 9.99804939e-01 4.62360442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44275509600004 meters 0.021544220393055636 Centerline is valid? [True, True] Translation: X:107.28, Y:154.45, Z:4.62 [[-7.20094129e-02 -9.97403484e-01 9.67183996e-04 1.07282269e+02] [ 9.97208245e-01 -7.20144584e-02 -1.97391643e-02 1.54451455e+02] [ 1.97575624e-02 -4.56921774e-04 9.99804696e-01 4.62423111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47275509600007 meters 0.02168550761035861 Centerline is valid? [True, True] Translation: X:107.28, Y:154.48, Z:4.62 [[-7.23264212e-02 -9.97380520e-01 9.93583303e-04 1.07281773e+02] [ 9.97177589e-01 -7.23317527e-02 -2.01239727e-02 1.54477710e+02] [ 2.01431260e-02 -4.64715925e-04 9.99796999e-01 4.62457402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50275509600004 meters 0.0223956504842339 Centerline is valid? [True, True] Translation: X:107.28, Y:154.50, Z:4.63 [[-7.32190408e-02 -9.97315370e-01 1.01235890e-03 1.07283341e+02] [ 9.97107842e-01 -7.32244620e-02 -2.03501841e-02 1.54503079e+02] [ 2.03696808e-02 -4.80589961e-04 9.99792401e-01 4.62514055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5327550960001 meters 0.022832574229546765 Centerline is valid? [True, True] Translation: X:107.28, Y:154.53, Z:4.63 [[-7.41146911e-02 -9.97249203e-01 1.02010471e-03 1.07283469e+02] [ 9.97041625e-01 -7.41200828e-02 -2.03522013e-02 1.54529909e+02] [ 2.03718268e-02 -4.91310254e-04 9.99792352e-01 4.62586105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56275509600005 meters 0.023726776057200114 Centerline is valid? [True, True] Translation: X:107.29, Y:154.56, Z:4.63 [[-7.56516650e-02 -9.97133811e-01 9.94366620e-04 1.07285952e+02] [ 9.96939321e-01 -7.56565542e-02 -1.96996484e-02 1.54555207e+02] [ 1.97184158e-02 -4.98988014e-04 9.99805449e-01 4.62697045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.592755096 meters 0.024079773337218145 Centerline is valid? [True, True] Translation: X:107.29, Y:154.58, Z:4.63 [[-7.63409251e-02 -9.97081270e-01 1.00214567e-03 1.07285920e+02] [ 9.96886640e-01 -7.63458299e-02 -1.97063669e-02 1.54581171e+02] [ 1.97253590e-02 -5.05376649e-04 9.99805308e-01 4.62776190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62275509600005 meters 0.025114500019937504 Centerline is valid? [True, True] Translation: X:107.29, Y:154.61, Z:4.63 [[-7.74887185e-02 -9.96992722e-01 1.00530281e-03 1.07287450e+02] [ 9.96799767e-01 -7.74935061e-02 -1.96209298e-02 1.54606384e+02] [ 1.96398287e-02 -5.18315097e-04 9.99806986e-01 4.62825376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.652755096 meters 0.025191120706565356 Centerline is valid? [True, True] Translation: X:107.29, Y:154.63, Z:4.63 [[-7.77953595e-02 -9.96968833e-01 1.01350215e-03 1.07286757e+02] [ 9.96775523e-01 -7.78002395e-02 -1.96387135e-02 1.54632291e+02] [ 1.96580360e-02 -5.17566639e-04 9.99806628e-01 4.62832237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68275509600005 meters 0.02530029136149874 Centerline is valid? [True, True] Translation: X:107.29, Y:154.66, Z:4.63 [[-7.81659059e-02 -9.96939826e-01 1.03691280e-03 1.07286009e+02] [ 9.96740454e-01 -7.81710176e-02 -1.99438878e-02 1.54657946e+02] [ 1.99639126e-02 -5.25399128e-04 9.99800563e-01 4.62853732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.712755096 meters 0.020025369313417307 Centerline is valid? [True, True] Translation: X:107.28, Y:154.68, Z:4.63 [[-7.80237544e-02 -9.96950948e-01 1.04896885e-03 1.07277706e+02] [ 9.96749835e-01 -7.80290906e-02 -2.00306571e-02 1.54684363e+02] [ 2.00514327e-02 -5.17307539e-04 9.99798816e-01 4.63035338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74275509600005 meters 0.02088759624481528 Centerline is valid? [True, True] Translation: X:107.28, Y:154.71, Z:4.63 [[-7.82066382e-02 -9.96936596e-01 1.07025192e-03 1.07278236e+02] [ 9.96729979e-01 -7.82122254e-02 -2.03026485e-02 1.54710453e+02] [ 2.03241601e-02 -5.21049711e-04 9.99793307e-01 4.63050309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.772755096 meters 0.02045154114425356 Centerline is valid? [True, True] Translation: X:107.28, Y:154.74, Z:4.63 [[-7.81690575e-02 -9.96939535e-01 1.07844349e-03 1.07277297e+02] [ 9.96732210e-01 -7.81748013e-02 -2.03372117e-02 1.54736754e+02] [ 2.03592775e-02 -5.14821312e-04 9.99792596e-01 4.63093708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80275509600006 meters 0.021415874003456233 Centerline is valid? [True, True] Translation: X:107.28, Y:154.76, Z:4.63 [[-7.85168384e-02 -9.96912186e-01 1.09515526e-03 1.07277842e+02] [ 9.96701583e-01 -7.85227683e-02 -2.04970808e-02 1.54762076e+02] [ 2.05197842e-02 -5.17823004e-04 9.99789313e-01 4.63100980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.832755096 meters 0.019977680180442263 Centerline is valid? [True, True] Translation: X:107.27, Y:154.79, Z:4.63 [[-7.89333606e-02 -9.96879291e-01 1.09723206e-03 1.07274628e+02] [ 9.96670981e-01 -7.89393034e-02 -2.03848630e-02 1.54789646e+02] [ 2.04078625e-02 -5.15466382e-04 9.99791605e-01 4.63213482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86275509600006 meters 0.02030080265997439 Centerline is valid? [True, True] Translation: X:107.27, Y:154.82, Z:4.63 [[-7.94063909e-02 -9.96841747e-01 1.07580209e-03 1.07274962e+02] [ 9.96644133e-01 -7.94120765e-02 -1.98543212e-02 1.54816207e+02] [ 1.98770479e-02 -5.04368146e-04 9.99802305e-01 4.63286898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89275509600003 meters 0.020301057757856948 Centerline is valid? [True, True] Translation: X:107.27, Y:154.84, Z:4.63 [[-7.96292222e-02 -9.96823980e-01 1.06776395e-03 1.07274442e+02] [ 9.96631994e-01 -7.96348478e-02 -1.95693314e-02 1.54842765e+02] [ 1.95922101e-02 -4.94122928e-04 9.99807932e-01 4.63380013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92275509600006 meters 0.01978572319859838 Centerline is valid? [True, True] Translation: X:107.27, Y:154.87, Z:4.63 [[-8.01494448e-02 -9.96782287e-01 1.06757961e-03 1.07272731e+02] [ 9.96593042e-01 -8.01550368e-02 -1.94288143e-02 1.54869766e+02] [ 1.94518698e-02 -4.93266272e-04 9.99810673e-01 4.63460473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95275509600003 meters 0.020858981051770177 Centerline is valid? [True, True] Translation: X:107.27, Y:154.90, Z:4.63 [[-8.01082984e-02 -9.96785579e-01 1.08137693e-03 1.07273940e+02] [ 9.96593984e-01 -8.01141085e-02 -1.95489245e-02 1.54896093e+02] [ 1.95727196e-02 -4.88337332e-04 9.99808317e-01 4.63463595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98275509600006 meters 0.020711479992539424 Centerline is valid? [True, True] Translation: X:107.27, Y:154.92, Z:4.63 [[-8.02738700e-02 -9.96772254e-01 1.08591904e-03 1.07272411e+02] [ 9.96581666e-01 -8.02797622e-02 -1.94972388e-02 1.54922800e+02] [ 1.95214840e-02 -4.82911803e-04 9.99809321e-01 4.63486220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01275509600003 meters 0.020325697150542856 Centerline is valid? [True, True] Translation: X:107.27, Y:154.95, Z:4.63 [[-7.90865317e-02 -9.96867105e-01 1.13825715e-03 1.07271141e+02] [ 9.96660654e-01 -7.90933236e-02 -2.02925168e-02 1.54948382e+02] [ 2.03189710e-02 -4.70408657e-04 9.99793438e-01 4.63460034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04275509600006 meters 0.018655498557590373 Centerline is valid? [True, True] Translation: X:107.27, Y:154.98, Z:4.64 [[-7.85637427e-02 -9.96908438e-01 1.14229783e-03 1.07267145e+02] [ 9.96703291e-01 -7.85707541e-02 -2.02283405e-02 1.54975424e+02] [ 2.02555546e-02 -4.50682135e-04 9.99794734e-01 4.63522345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07275509600004 meters 0.01833558886021139 Centerline is valid? [True, True] Translation: X:107.27, Y:155.00, Z:4.63 [[-7.65296947e-02 -9.97066610e-01 1.17558266e-03 1.07265970e+02] [ 9.96852156e-01 -7.65376200e-02 -2.06826353e-02 1.55001368e+02] [ 2.07119414e-02 -4.10953653e-04 9.99785400e-01 4.63484358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10275509600007 meters 0.01747816643836442 Centerline is valid? [True, True] Translation: X:107.26, Y:155.03, Z:4.64 [[-7.60414687e-02 -9.97103914e-01 1.21612558e-03 1.07263177e+02] [ 9.96877520e-01 -7.60501219e-02 -2.12506054e-02 1.55027924e+02] [ 2.12815483e-02 -4.03598994e-04 9.99773441e-01 4.63540820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13275509600004 meters 0.0176005482643365 Centerline is valid? [True, True] Translation: X:107.26, Y:155.05, Z:4.64 [[-7.56460749e-02 -9.97133976e-01 1.22667745e-03 1.07262186e+02] [ 9.96906837e-01 -7.56550289e-02 -2.12855379e-02 1.55053184e+02] [ 2.13173373e-02 -3.87284253e-04 9.99772685e-01 4.63524255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16275509600007 meters 0.01698550685939327 Centerline is valid? [True, True] Translation: X:107.26, Y:155.08, Z:4.64 [[-7.51420674e-02 -9.97172094e-01 1.21887557e-03 1.07260825e+02] [ 9.96950932e-01 -7.51510753e-02 -2.10036740e-02 1.55079311e+02] [ 2.10358774e-02 -3.63100353e-04 9.99778656e-01 4.63580025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19275509600004 meters 0.016868203426387115 Centerline is valid? [True, True] Translation: X:107.26, Y:155.11, Z:4.64 [[-7.52704237e-02 -9.97162434e-01 1.20157256e-03 1.07259684e+02] [ 9.96950311e-01 -7.52791983e-02 -2.05698612e-02 1.55105280e+02] [ 2.06019463e-02 -3.50394032e-04 9.99787696e-01 4.63641787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22275509600007 meters 0.016882890156661324 Centerline is valid? [True, True] Translation: X:107.26, Y:155.13, Z:4.64 [[-7.54209698e-02 -9.97151081e-01 1.18250153e-03 1.07259548e+02] [ 9.96948151e-01 -7.54294797e-02 -2.01191153e-02 1.55130612e+02] [ 2.01509931e-02 -3.38510473e-04 9.99796891e-01 4.63682082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25275509600004 meters 0.017020285846524322 Centerline is valid? [True, True] Translation: X:107.26, Y:155.16, Z:4.64 [[-7.60031682e-02 -9.97106895e-01 1.16570030e-03 1.07258716e+02] [ 9.96911857e-01 -7.60113602e-02 -1.97236689e-02 1.55155889e+02] [ 1.97552127e-02 -3.36960876e-04 9.99804790e-01 4.63727930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2827550960001 meters 0.01721676316904036 Centerline is valid? [True, True] Translation: X:107.26, Y:155.18, Z:4.64 [[-7.65420732e-02 -9.97065670e-01 1.16624536e-03 1.07257842e+02] [ 9.96873013e-01 -7.65502121e-02 -1.96025818e-02 1.55182139e+02] [ 1.96343377e-02 -3.37823721e-04 9.99807171e-01 4.63754155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31275509600005 meters 0.01769987993101872 Centerline is valid? [True, True] Translation: X:107.26, Y:155.21, Z:4.64 [[-7.76260485e-02 -9.96981862e-01 1.16782786e-03 1.07257839e+02] [ 9.96791117e-01 -7.76340438e-02 -1.95044501e-02 1.55207623e+02] [ 1.95362462e-02 -3.49972947e-04 9.99809088e-01 4.63746548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.342755096 meters 0.018013827385631346 Centerline is valid? [True, True] Translation: X:107.26, Y:155.23, Z:4.64 [[-7.85360067e-02 -9.96910588e-01 1.17273220e-03 1.07256926e+02] [ 9.96720695e-01 -7.85439396e-02 -1.94603807e-02 1.55234232e+02] [ 1.94923706e-02 -3.59454138e-04 9.99809941e-01 4.63783983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37275509600005 meters 0.01851873690739657 Centerline is valid? [True, True] Translation: X:107.26, Y:155.26, Z:4.64 [[-7.99342810e-02 -9.96799500e-01 1.12570478e-03 1.07256424e+02] [ 9.96626579e-01 -7.99413855e-02 -1.85697649e-02 1.55260566e+02] [ 1.86003227e-02 -3.62453501e-04 9.99826933e-01 4.63823693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.402755096 meters 0.019052512862258734 Centerline is valid? [True, True] Translation: X:107.26, Y:155.29, Z:4.64 [[-8.07360379e-02 -9.96734888e-01 1.12060479e-03 1.07255542e+02] [ 9.96565595e-01 -8.07429819e-02 -1.83735309e-02 1.55286345e+02] [ 1.84040202e-02 -3.66649911e-04 9.99830564e-01 4.63882376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43275509600005 meters 0.019228009219923035 Centerline is valid? [True, True] Translation: X:107.25, Y:155.31, Z:4.64 [[-8.11141563e-02 -9.96704211e-01 1.09969997e-03 1.07253106e+02] [ 9.96543166e-01 -8.11208220e-02 -1.79201257e-02 1.55311238e+02] [ 1.79502733e-02 -3.57677383e-04 9.99838817e-01 4.63999642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.462755096 meters 0.01821152259553828 Centerline is valid? [True, True] Translation: X:107.25, Y:155.34, Z:4.64 [[-8.18981498e-02 -9.96640111e-01 1.08753385e-03 1.07249031e+02] [ 9.96484511e-01 -8.19045841e-02 -1.76141337e-02 1.55337207e+02] [ 1.76440262e-02 -3.58854328e-04 9.99844268e-01 4.64058165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49275509600005 meters 0.017634112108335796 Centerline is valid? [True, True] Translation: X:107.25, Y:155.36, Z:4.64 [[-8.28127016e-02 -9.96564528e-01 1.09472883e-03 1.07245594e+02] [ 9.96408767e-01 -8.28191168e-02 -1.76227963e-02 1.55364625e+02] [ 1.76529181e-02 -3.68593967e-04 9.99844107e-01 4.64093384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.522755096 meters 0.0175834997054743 Centerline is valid? [True, True] Translation: X:107.24, Y:155.39, Z:4.64 [[-8.35531395e-02 -9.96502713e-01 1.10229213e-03 1.07243000e+02] [ 9.96346596e-01 -8.35595651e-02 -1.76425553e-02 1.55392186e+02] [ 1.76729612e-02 -3.75825872e-04 9.99843750e-01 4.64091176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55275509600006 meters 0.017793355490027755 Centerline is valid? [True, True] Translation: X:107.24, Y:155.42, Z:4.64 [[-8.41595038e-02 -9.96451657e-01 1.12811813e-03 1.07241528e+02] [ 9.96290053e-01 -8.41661761e-02 -1.79495053e-02 1.55418909e+02] [ 1.79807636e-02 -3.86688586e-04 9.99838258e-01 4.64080838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.582755096 meters 0.018468077032341195 Centerline is valid? [True, True] Translation: X:107.24, Y:155.44, Z:4.64 [[-8.49188644e-02 -9.96387182e-01 1.17012634e-03 1.07239697e+02] [ 9.96215438e-01 -8.49259573e-02 -1.85035865e-02 1.55444695e+02] [ 1.85361106e-02 -4.05605636e-04 9.99828109e-01 4.64012714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61275509600006 meters 0.017970900249649015 Centerline is valid? [True, True] Translation: X:107.24, Y:155.47, Z:4.64 [[-8.54243882e-02 -9.96343942e-01 1.19264565e-03 1.07235891e+02] [ 9.96167626e-01 -8.54317128e-02 -1.87478823e-02 1.55471524e+02] [ 1.87812287e-02 -4.13451390e-04 9.99823532e-01 4.64024995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64275509600003 meters 0.01890573938872138 Centerline is valid? [True, True] Translation: X:107.23, Y:155.50, Z:4.64 [[-8.58853110e-02 -9.96304310e-01 1.19773031e-03 1.07234717e+02] [ 9.96128392e-01 -8.58926585e-02 -1.87264031e-02 1.55497494e+02] [ 1.87600723e-02 -4.15229784e-04 9.99823928e-01 4.64030729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67275509600006 meters 0.01890573938872138 Centerline is valid? [True, True] Translation: X:107.23, Y:155.52, Z:4.64 [[-8.62697998e-02 -9.96271084e-01 1.20336619e-03 1.07232802e+02] [ 9.96095168e-01 -8.62771854e-02 -1.87260411e-02 1.55523362e+02] [ 1.87600363e-02 -4.16824562e-04 9.99823928e-01 4.64069061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70275509600003 meters 0.019714748169669026 Centerline is valid? [True, True] Translation: X:107.23, Y:155.55, Z:4.64 [[-8.65753618e-02 -9.96244561e-01 1.21739503e-03 1.07231610e+02] [ 9.96066693e-01 -8.65829139e-02 -1.88292874e-02 1.55548968e+02] [ 1.88639808e-02 -4.17545728e-04 9.99821972e-01 4.64029432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73275509600006 meters 0.018188957642383718 Centerline is valid? [True, True] Translation: X:107.23, Y:155.58, Z:4.64 [[-8.68336807e-02 -9.96222052e-01 1.23908959e-03 1.07227158e+02] [ 9.96040026e-01 -8.68415063e-02 -1.90478141e-02 1.55575966e+02] [ 1.90834568e-02 -4.19808977e-04 9.99817806e-01 4.64100749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76275509600003 meters 0.01886871299319618 Centerline is valid? [True, True] Translation: X:107.23, Y:155.60, Z:4.64 [[-8.68772340e-02 -9.96218217e-01 1.26899236e-03 1.07225746e+02] [ 9.96029491e-01 -8.68854813e-02 -1.93950310e-02 1.55601089e+02] [ 1.94319402e-02 -4.21032836e-04 9.99811093e-01 4.64079062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79275509600006 meters 0.018251205560541238 Centerline is valid? [True, True] Translation: X:107.22, Y:155.63, Z:4.64 [[-8.60524847e-02 -9.96289837e-01 1.23703490e-03 1.07223634e+02] [ 9.96112582e-01 -8.60605132e-02 -1.87966232e-02 1.55626139e+02] [ 1.88333445e-02 -3.85270097e-04 9.99822563e-01 4.64156043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82275509600004 meters 0.017561126181918983 Centerline is valid? [True, True] Translation: X:107.22, Y:155.65, Z:4.64 [[-8.58237188e-02 -9.96309564e-01 1.24186433e-03 1.07220700e+02] [ 9.96132687e-01 -8.58318866e-02 -1.87764823e-02 1.55652131e+02] [ 1.88137805e-02 -3.74405883e-04 9.99822935e-01 4.64201956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85275509600007 meters 0.0174414649151078 Centerline is valid? [True, True] Translation: X:107.22, Y:155.68, Z:4.64 [[-8.51630864e-02 -9.96366299e-01 1.20277753e-03 1.07218012e+02] [ 9.96202301e-01 -8.51708947e-02 -1.80802240e-02 1.55677531e+02] [ 1.81169675e-02 -3.41557935e-04 9.99835816e-01 4.64225500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88275509600004 meters 0.017369347116319978 Centerline is valid? [True, True] Translation: X:107.22, Y:155.70, Z:4.64 [[-8.50802122e-02 -9.96373406e-01 1.18003987e-03 1.07215734e+02] [ 9.96217419e-01 -8.50877759e-02 -1.76330659e-02 1.55704101e+02] [ 1.76695249e-02 -3.24648717e-04 9.99843829e-01 4.64255690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91275509600007 meters 0.017201238152152708 Centerline is valid? [True, True] Translation: X:107.21, Y:155.73, Z:4.64 [[-8.50133084e-02 -9.96379115e-01 1.18162700e-03 1.07213289e+02] [ 9.96224483e-01 -8.50209351e-02 -1.75562136e-02 1.55730362e+02] [ 1.75931076e-02 -3.15346057e-04 9.99845180e-01 4.64260968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94275509600004 meters 0.016135113039603223 Centerline is valid? [True, True] Translation: X:107.21, Y:155.76, Z:4.64 [[-8.49587316e-02 -9.96383791e-01 1.16382724e-03 1.07209928e+02] [ 9.96235442e-01 -8.49661679e-02 -1.71957410e-02 1.55757677e+02] [ 1.72324435e-02 -3.01482395e-04 9.99851465e-01 4.64330777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97275509600007 meters 0.017520609764059666 Centerline is valid? [True, True] Translation: X:107.21, Y:155.78, Z:4.64 [[-8.53754667e-02 -9.96348160e-01 1.17237896e-03 1.07210860e+02] [ 9.96199244e-01 -8.53829785e-02 -1.72282691e-02 1.55784397e+02] [ 1.72654554e-02 -3.02948481e-04 9.99850895e-01 4.64330736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00275509600004 meters 0.01649037050027689 Centerline is valid? [True, True] Translation: X:107.21, Y:155.81, Z:4.64 [[-8.60719822e-02 -9.96288272e-01 1.13716670e-03 1.07208123e+02] [ 9.96149665e-01 -8.60789788e-02 -1.66209034e-02 1.55811241e+02] [ 1.66570973e-02 -2.97805875e-04 9.99861217e-01 4.64398942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0327550960001 meters 0.016806237081386968 Centerline is valid? [True, True] Translation: X:107.21, Y:155.84, Z:4.64 [[-8.65503962e-02 -9.96246816e-01 1.14508342e-03 1.07206919e+02] [ 9.96107765e-01 -8.65574502e-02 -1.66471752e-02 1.55836471e+02] [ 1.66838108e-02 -3.00193119e-04 9.99860770e-01 4.64411622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06275509600005 meters 0.01694451531863244 Centerline is valid? [True, True] Translation: X:107.21, Y:155.86, Z:4.64 [[-8.69903347e-02 -9.96208513e-01 1.13196584e-03 1.07206171e+02] [ 9.96074222e-01 -8.69971972e-02 -1.63594522e-02 1.55862441e+02] [ 1.63959034e-02 -2.95592228e-04 9.99865534e-01 4.64446750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.092755096 meters 0.016534850715784442 Centerline is valid? [True, True] Translation: X:107.20, Y:155.89, Z:4.64 [[-8.72978537e-02 -9.96181645e-01 1.10217781e-03 1.07203519e+02] [ 9.96055712e-01 -8.73043455e-02 -1.58420501e-02 1.55889314e+02] [ 1.58777845e-02 -2.85146472e-04 9.99873899e-01 4.64495279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12275509600005 meters 0.016679641169502015 Centerline is valid? [True, True] Translation: X:107.20, Y:155.91, Z:4.65 [[-8.73955195e-02 -9.96173106e-01 1.08021335e-03 1.07201767e+02] [ 9.96053355e-01 -8.74017650e-02 -1.54481601e-02 1.55914887e+02] [ 1.54834541e-02 -2.74149844e-04 9.99880087e-01 4.64542069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.152755096 meters 0.017452491097863152 Centerline is valid? [True, True] Translation: X:107.20, Y:155.94, Z:4.65 [[-8.79094062e-02 -9.96127873e-01 1.09367678e-03 1.07201475e+02] [ 9.96006254e-01 -8.79157656e-02 -1.55679016e-02 1.55939919e+02] [ 1.56037721e-02 -2.79256070e-04 9.99878215e-01 4.64538140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18275509600005 meters 0.017259464976131816 Centerline is valid? [True, True] Translation: X:107.20, Y:155.97, Z:4.65 [[-8.88126984e-02 -9.96047737e-01 1.10040167e-03 1.07199073e+02] [ 9.95926048e-01 -8.88190513e-02 -1.55718502e-02 1.55966074e+02] [ 1.56080428e-02 -2.87059344e-04 9.99878146e-01 4.64507347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.212755096 meters 0.01766823817360038 Centerline is valid? [True, True] Translation: X:107.20, Y:155.99, Z:4.65 [[-8.98149957e-02 -9.95957869e-01 1.09045080e-03 1.07197508e+02] [ 9.95839659e-01 -8.98211389e-02 -1.53471937e-02 1.55992911e+02] [ 1.53831039e-02 -2.92493980e-04 9.99881630e-01 4.64514468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24275509600005 meters 0.017974565318501428 Centerline is valid? [True, True] Translation: X:107.20, Y:156.02, Z:4.65 [[-9.08130433e-02 -9.95867356e-01 1.09548198e-03 1.07195904e+02] [ 9.95749345e-01 -9.08191494e-02 -1.53337369e-02 1.56019721e+02] [ 1.53698588e-02 -3.01677848e-04 9.99881831e-01 4.64533754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.272755096 meters 0.01779711135389238 Centerline is valid? [True, True] Translation: X:107.19, Y:156.05, Z:4.65 [[-9.15751037e-02 -9.95797570e-01 1.09569956e-03 1.07193674e+02] [ 9.95680774e-01 -9.15811475e-02 -1.52541749e-02 1.56046550e+02] [ 1.52904158e-02 -3.05935667e-04 9.99883048e-01 4.64576558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30275509600006 meters 0.01914204244637864 Centerline is valid? [True, True] Translation: X:107.19, Y:156.07, Z:4.65 [[-9.29739287e-02 -9.95667900e-01 1.13208421e-03 1.07194140e+02] [ 9.95544477e-01 -9.29802322e-02 -1.56802625e-02 1.56072850e+02] [ 1.57175955e-02 -3.30815422e-04 9.99876416e-01 4.64593371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.332755096 meters 0.01892319456601156 Centerline is valid? [True, True] Translation: X:107.19, Y:156.10, Z:4.65 [[-9.43136047e-02 -9.95541851e-01 1.16908205e-03 1.07191057e+02] [ 9.95411600e-01 -9.43201805e-02 -1.61074361e-02 1.56099621e+02] [ 1.61458948e-02 -3.55432530e-04 9.99869583e-01 4.64581705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36275509600006 meters 0.01939062737617941 Centerline is valid? [True, True] Translation: X:107.19, Y:156.13, Z:4.65 [[-9.50055746e-02 -9.95476016e-01 1.20142411e-03 1.07189064e+02] [ 9.95339828e-01 -9.50124546e-02 -1.64699581e-02 1.56125259e+02] [ 1.65095985e-02 -3.68912567e-04 9.99863639e-01 4.64566703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39275509600003 meters 0.019634771987840225 Centerline is valid? [True, True] Translation: X:107.19, Y:156.15, Z:4.65 [[-9.56111923e-02 -9.95418010e-01 1.21851229e-03 1.07186848e+02] [ 9.95279474e-01 -9.56182196e-02 -1.66109708e-02 1.56151209e+02] [ 1.66513714e-02 -3.75434452e-04 9.99861286e-01 4.64579774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42275509600006 meters 0.019572127093811266 Centerline is valid? [True, True] Translation: X:107.18, Y:156.18, Z:4.65 [[-9.61618489e-02 -9.95364957e-01 1.22534407e-03 1.07183903e+02] [ 9.95226319e-01 -9.61689112e-02 -1.66166652e-02 1.56177970e+02] [ 1.66574862e-02 -3.78394576e-04 9.99861183e-01 4.64597093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45275509600003 meters 0.01965802113795263 Centerline is valid? [True, True] Translation: X:107.18, Y:156.20, Z:4.65 [[-9.66754286e-02 -9.95315228e-01 1.20741300e-03 1.07181173e+02] [ 9.95181995e-01 -9.66822480e-02 -1.62892450e-02 1.56204379e+02] [ 1.63296690e-02 -3.73174069e-04 9.99866592e-01 4.64668751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48275509600006 meters 0.019187980237199937 Centerline is valid? [True, True] Translation: X:107.18, Y:156.23, Z:4.65 [[-9.72242350e-02 -9.95261782e-01 1.19717669e-03 1.07177967e+02] [ 9.95132139e-01 -9.72308983e-02 -1.60679534e-02 1.56230591e+02] [ 1.61082225e-02 -3.70845474e-04 9.99870185e-01 4.64733984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51275509600003 meters 0.020438833786740693 Centerline is valid? [True, True] Translation: X:107.18, Y:156.26, Z:4.65 [[-9.77916648e-02 -9.95206213e-01 1.17608625e-03 1.07177521e+02] [ 9.95082386e-01 -9.77980542e-02 -1.57030428e-02 1.56256302e+02] [ 1.57427847e-02 -3.65323987e-04 9.99876008e-01 4.64798347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54275509600006 meters 0.020717672326926437 Centerline is valid? [True, True] Translation: X:107.18, Y:156.28, Z:4.65 [[-9.78436035e-02 -9.95201138e-01 1.15098348e-03 1.07175042e+02] [ 9.95083797e-01 -9.78497460e-02 -1.52860799e-02 1.56281543e+02] [ 1.53253475e-02 -3.50320131e-04 9.99882499e-01 4.64843268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57275509600004 meters 0.018147861001658966 Centerline is valid? [True, True] Translation: X:107.17, Y:156.31, Z:4.65 [[-9.76802659e-02 -9.95217189e-01 1.14538972e-03 1.07167759e+02] [ 9.95102175e-01 -9.76863946e-02 -1.51337583e-02 1.56308422e+02] [ 1.51732654e-02 -3.38489730e-04 9.99884822e-01 4.64900251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60275509600007 meters 0.018344658239992484 Centerline is valid? [True, True] Translation: X:107.16, Y:156.33, Z:4.65 [[-9.64734012e-02 -9.95334928e-01 1.12389264e-03 1.07164623e+02] [ 9.95225248e-01 -9.64794583e-02 -1.47790063e-02 1.56334557e+02] [ 1.48184938e-02 -3.07254676e-04 9.99890153e-01 4.64966612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63275509600004 meters 0.018083291796210755 Centerline is valid? [True, True] Translation: X:107.16, Y:156.36, Z:4.65 [[-9.56456491e-02 -9.95414819e-01 1.11698728e-03 1.07161592e+02] [ 9.95307573e-01 -9.56517434e-02 -1.46143673e-02 1.56359785e+02] [ 1.46541995e-02 -2.86054741e-04 9.99892581e-01 4.65015669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66275509600007 meters 0.01711197667548962 Centerline is valid? [True, True] Translation: X:107.16, Y:156.39, Z:4.65 [[-9.48020975e-02 -9.95495544e-01 1.08860437e-03 1.07156981e+02] [ 9.95394483e-01 -9.48079872e-02 -1.41868901e-02 1.56386711e+02] [ 1.42261942e-02 -2.61356152e-04 9.99898768e-01 4.65103629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69275509600004 meters 0.016259678083267618 Centerline is valid? [True, True] Translation: X:107.15, Y:156.41, Z:4.65 [[-9.23635830e-02 -9.95724797e-01 1.04785507e-03 1.07151920e+02] [ 9.95632010e-01 -9.23692825e-02 -1.35947508e-02 1.56412299e+02] [ 1.36334201e-02 -2.12381841e-04 9.99907038e-01 4.65194715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72275509600007 meters 0.016158120092225125 Centerline is valid? [True, True] Translation: X:107.15, Y:156.44, Z:4.65 [[-9.17252497e-02 -9.95783808e-01 1.04247291e-03 1.07148315e+02] [ 9.95692854e-01 -9.17309627e-02 -1.34599897e-02 1.56437877e+02] [ 1.34988668e-02 -1.96638087e-04 9.99908867e-01 4.65261803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75275509600004 meters 0.015176587032120154 Centerline is valid? [True, True] Translation: X:107.14, Y:156.46, Z:4.65 [[-8.96195960e-02 -9.95975582e-01 9.84328790e-04 1.07142217e+02] [ 9.95895323e-01 -8.96248710e-02 -1.26446651e-02 1.56464631e+02] [ 1.26819980e-02 -1.52921340e-04 9.99919569e-01 4.65334333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7827550960001 meters 0.015059779895298008 Centerline is valid? [True, True] Translation: X:107.14, Y:156.49, Z:4.65 [[-8.89056302e-02 -9.96039574e-01 9.78266326e-04 1.07139261e+02] [ 9.95961006e-01 -8.89109051e-02 -1.25109843e-02 1.56489973e+02] [ 1.25484140e-02 -1.37981831e-04 9.99921256e-01 4.65396251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81275509600005 meters 0.014877546448577307 Centerline is valid? [True, True] Translation: X:107.14, Y:156.52, Z:4.65 [[-8.82013592e-02 -9.96102173e-01 9.90724562e-04 1.07135967e+02] [ 9.96022464e-01 -8.82068350e-02 -1.26018093e-02 1.56515056e+02] [ 1.26400783e-02 -1.24712787e-04 9.99920103e-01 4.65472296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.842755096 meters 0.014389876107061954 Centerline is valid? [True, True] Translation: X:107.13, Y:156.54, Z:4.66 [[-8.69112950e-02 -9.96215574e-01 9.78494113e-04 1.07131684e+02] [ 9.96138627e-01 -8.69167439e-02 -1.23820757e-02 1.56541670e+02] [ 1.24202642e-02 -1.01426456e-04 9.99922860e-01 4.65518596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87275509600005 meters 0.014434794000959091 Centerline is valid? [True, True] Translation: X:107.13, Y:156.57, Z:4.66 [[-8.66747659e-02 -9.96236163e-01 9.96239243e-04 1.07128897e+02] [ 9.96157143e-01 -8.66804388e-02 -1.25478547e-02 1.56568297e+02] [ 1.25869811e-02 -9.51715343e-05 9.99920776e-01 4.65546172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.902755096 meters 0.014477506712075632 Centerline is valid? [True, True] Translation: X:107.13, Y:156.59, Z:4.66 [[-8.67071150e-02 -9.96233342e-01 1.00192703e-03 1.07126393e+02] [ 9.96154129e-01 -8.67128556e-02 -1.25631308e-02 1.56594603e+02] [ 1.26026897e-02 -9.12390753e-05 9.99920579e-01 4.65569791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93275509600005 meters 0.014574255341092862 Centerline is valid? [True, True] Translation: X:107.12, Y:156.62, Z:4.66 [[-8.76234478e-02 -9.96153113e-01 1.05184599e-03 1.07124358e+02] [ 9.96066717e-01 -8.76297015e-02 -1.31198963e-02 1.56621040e+02] [ 1.31615985e-02 -1.01901768e-04 9.99913377e-01 4.65537045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.962755096 meters 0.014823337548299878 Centerline is valid? [True, True] Translation: X:107.12, Y:156.65, Z:4.66 [[-8.84965155e-02 -9.96075878e-01 1.10134918e-03 1.07123144e+02] [ 9.95982137e-01 -8.85032970e-02 -1.36656120e-02 1.56646215e+02] [ 1.37094595e-02 -1.12434935e-04 9.99906015e-01 4.65564738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99275509600005 meters 0.01515943803348932 Centerline is valid? [True, True] Translation: X:107.12, Y:156.67, Z:4.66 [[-9.05379812e-02 -9.95892363e-01 1.12957802e-03 1.07121735e+02] [ 9.95794512e-01 -9.05449205e-02 -1.39609042e-02 1.56672284e+02] [ 1.40058355e-02 -1.39164490e-04 9.99901904e-01 4.65537427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.022755096 meters 0.015510201116156575 Centerline is valid? [True, True] Translation: X:107.12, Y:156.70, Z:4.66 [[-9.24851921e-02 -9.95713371e-01 1.17162019e-03 1.07120317e+02] [ 9.95609130e-01 -9.24924638e-02 -1.44085168e-02 1.56698387e+02] [ 1.44551189e-02 -1.66098689e-04 9.99895506e-01 4.65539009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05275509600006 meters 0.016025711912852392 Centerline is valid? [True, True] Translation: X:107.12, Y:156.72, Z:4.66 [[-9.41694441e-02 -9.95555430e-01 1.22576076e-03 1.07119513e+02] [ 9.95442462e-01 -9.41772252e-02 -1.49984992e-02 1.56723743e+02] [ 1.50472761e-02 -1.92226021e-04 9.99886765e-01 4.65513182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.082755096 meters 0.017151083052652078 Centerline is valid? [True, True] Translation: X:107.12, Y:156.75, Z:4.65 [[-9.78261014e-02 -9.95202703e-01 1.27801161e-03 1.07120240e+02] [ 9.95081129e-01 -9.78341292e-02 -1.55573346e-02 1.56751280e+02] [ 1.56077346e-02 -2.50188155e-04 9.99878161e-01 4.65494318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11275509600006 meters 0.01778751232521875 Centerline is valid? [True, True] Translation: X:107.12, Y:156.78, Z:4.66 [[-9.97942186e-02 -9.95007246e-01 1.30157342e-03 1.07119450e+02] [ 9.94882220e-01 -9.98023151e-02 -1.57755082e-02 1.56778503e+02] [ 1.58266450e-02 -2.79392257e-04 9.99874712e-01 4.65531266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14275509600003 meters 0.017934758158373074 Centerline is valid? [True, True] Translation: X:107.12, Y:156.81, Z:4.66 [[-1.01537226e-01 -9.94830838e-01 1.34018805e-03 1.07117307e+02] [ 9.94699418e-01 -1.01545600e-01 -1.61727612e-02 1.56805942e+02] [ 1.62252518e-02 -3.09053036e-04 9.99868314e-01 4.65574249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17275509600006 meters 0.019678216543193718 Centerline is valid? [True, True] Translation: X:107.12, Y:156.83, Z:4.66 [[-1.04046602e-01 -9.94571477e-01 1.37179495e-03 1.07118093e+02] [ 9.94434983e-01 -1.04055054e-01 -1.64805923e-02 1.56832127e+02] [ 1.65338692e-02 -3.50588734e-04 9.99863245e-01 4.65626251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20275509600003 meters 0.018923867813449888 Centerline is valid? [True, True] Translation: X:107.11, Y:156.86, Z:4.66 [[-1.04971145e-01 -9.94474295e-01 1.39132268e-03 1.07114089e+02] [ 9.94335152e-01 -1.04979737e-01 -1.66391469e-02 1.56858914e+02] [ 1.66932646e-02 -3.63189258e-04 9.99860592e-01 4.65707795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23275509600006 meters 0.01900860117327099 Centerline is valid? [True, True] Translation: X:107.11, Y:156.89, Z:4.66 [[-1.05683820e-01 -9.94398804e-01 1.39596261e-03 1.07111526e+02] [ 9.94259932e-01 -1.05692396e-01 -1.66224292e-02 1.56886377e+02] [ 1.66768664e-02 -3.68772126e-04 9.99860863e-01 4.65799502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26275509600003 meters 0.019001301380883427 Centerline is valid? [True, True] Translation: X:107.11, Y:156.91, Z:4.66 [[-1.05953754e-01 -9.94370048e-01 1.41745111e-03 1.07108940e+02] [ 9.94228114e-01 -1.05962584e-01 -1.68043843e-02 1.56913343e+02] [ 1.68599732e-02 -3.71217848e-04 9.99857792e-01 4.65835240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29275509600006 meters 0.021362460400347744 Centerline is valid? [True, True] Translation: X:107.11, Y:156.94, Z:4.66 [[-1.06120828e-01 -9.94352197e-01 1.44146351e-03 1.07110236e+02] [ 9.94206689e-01 -1.06129964e-01 -1.70144320e-02 1.56939323e+02] [ 1.70713203e-02 -3.72472952e-04 9.99854205e-01 4.65815052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32275509600004 meters 0.018836582580068404 Centerline is valid? [True, True] Translation: X:107.10, Y:156.97, Z:4.66 [[-1.05241090e-01 -9.94445686e-01 1.44580507e-03 1.07102591e+02] [ 9.94300617e-01 -1.05250438e-01 -1.69890705e-02 1.56965559e+02] [ 1.70468795e-02 -3.50383422e-04 9.99854630e-01 4.65886536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35275509600007 meters 0.018823974867295167 Centerline is valid? [True, True] Translation: X:107.10, Y:156.99, Z:4.66 [[-1.04977272e-01 -9.94473589e-01 1.43306811e-03 1.07100086e+02] [ 9.94332335e-01 -1.04986519e-01 -1.67641892e-02 1.56991111e+02] [ 1.68219962e-02 -3.34912897e-04 9.99858444e-01 4.65903153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38275509600004 meters 0.017720708217477125 Centerline is valid? [True, True] Translation: X:107.10, Y:157.02, Z:4.66 [[-1.04611618e-01 -9.94512117e-01 1.43463111e-03 1.07095295e+02] [ 9.94371611e-01 -1.04620958e-01 -1.67198943e-02 1.57018377e+02] [ 1.67782300e-02 -3.22538755e-04 9.99859184e-01 4.65987523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41275509600007 meters 0.01759327828436642 Centerline is valid? [True, True] Translation: X:107.09, Y:157.05, Z:4.66 [[-1.04528938e-01 -9.94520827e-01 1.42337610e-03 1.07092436e+02] [ 9.94383682e-01 -1.04538165e-01 -1.65186333e-02 1.57045296e+02] [ 1.65769220e-02 -3.11293239e-04 9.99862545e-01 4.66038164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44275509600004 meters 0.01790873079463731 Centerline is valid? [True, True] Translation: X:107.09, Y:157.07, Z:4.66 [[-1.04613613e-01 -9.94511962e-01 1.39601147e-03 1.07090494e+02] [ 9.94381136e-01 -1.04622498e-01 -1.61334605e-02 1.57071140e+02] [ 1.61909737e-02 -2.99612120e-04 9.99868873e-01 4.66081952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47275509600007 meters 0.017508290587437327 Centerline is valid? [True, True] Translation: X:107.09, Y:157.10, Z:4.66 [[-1.04550271e-01 -9.94518645e-01 1.38035646e-03 1.07086513e+02] [ 9.94391845e-01 -1.04558986e-01 -1.58832497e-02 1.57097945e+02] [ 1.59405167e-02 -2.87982855e-04 9.99872900e-01 4.66148873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50275509600004 meters 0.019141210625275448 Centerline is valid? [True, True] Translation: X:107.08, Y:157.12, Z:4.66 [[-1.05169256e-01 -9.94453338e-01 1.40932332e-03 1.07084492e+02] [ 9.94322269e-01 -1.05178279e-01 -1.61478987e-02 1.57124377e+02] [ 1.62065620e-02 -2.96940927e-04 9.99868621e-01 4.66029176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5327550960001 meters 0.017845882874986483 Centerline is valid? [True, True] Translation: X:107.08, Y:157.15, Z:4.66 [[-1.05516824e-01 -9.94416599e-01 1.35219580e-03 1.07081972e+02] [ 9.94296937e-01 -1.05525107e-01 -1.54289817e-02 1.57150198e+02] [ 1.54855261e-02 -2.83532997e-04 9.99880052e-01 4.66243787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56275509600005 meters 0.017845882874986483 Centerline is valid? [True, True] Translation: X:107.08, Y:157.18, Z:4.66 [[-1.05905419e-01 -9.94375280e-01 1.35822575e-03 1.07079448e+02] [ 9.94255621e-01 -1.05913749e-01 -1.54284509e-02 1.57176009e+02] [ 1.54855249e-02 -2.83532976e-04 9.99880052e-01 4.66282067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.592755096 meters 0.0190499480540188 Centerline is valid? [True, True] Translation: X:107.08, Y:157.20, Z:4.66 [[-1.06894220e-01 -9.94269437e-01 1.38270844e-03 1.07077766e+02] [ 9.94146519e-01 -1.06902750e-01 -1.56365035e-02 1.57200997e+02] [ 1.56947128e-02 -2.96837054e-04 9.99876786e-01 4.66209757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62275509600005 meters 0.01838806205736803 Centerline is valid? [True, True] Translation: X:107.08, Y:157.23, Z:4.66 [[-1.07373093e-01 -9.94217858e-01 1.36756205e-03 1.07075267e+02] [ 9.94098456e-01 -1.07381396e-01 -1.54109069e-02 1.57226846e+02] [ 1.54686496e-02 -2.95225425e-04 9.99880310e-01 4.66364301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.652755096 meters 0.01902372870577323 Centerline is valid? [True, True] Translation: X:107.07, Y:157.25, Z:4.66 [[-1.08654892e-01 -9.94078573e-01 1.38024175e-03 1.07073506e+02] [ 9.93958004e-01 -1.08663214e-01 -1.54852246e-02 1.57252316e+02] [ 1.55435115e-02 -3.10643075e-04 9.99879144e-01 4.66390229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68275509600005 meters 0.019418336932158515 Centerline is valid? [True, True] Translation: X:107.07, Y:157.28, Z:4.66 [[-1.09475048e-01 -9.93988570e-01 1.39192847e-03 1.07071208e+02] [ 9.93867051e-01 -1.09483434e-01 -1.55455348e-02 1.57279043e+02] [ 1.56044770e-02 -3.18456325e-04 9.99878192e-01 4.66425666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.712755096 meters 0.019790888214944256 Centerline is valid? [True, True] Translation: X:107.07, Y:157.31, Z:4.66 [[-1.10399385e-01 -9.93886280e-01 1.42787697e-03 1.07068897e+02] [ 9.93759497e-01 -1.10408114e-01 -1.58780019e-02 1.57305751e+02] [ 1.59385774e-02 -3.33955353e-04 9.99872917e-01 4.66440219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74275509600005 meters 0.020278874388020122 Centerline is valid? [True, True] Translation: X:107.07, Y:157.33, Z:4.66 [[-1.11292077e-01 -9.93786718e-01 1.42564426e-03 1.07066831e+02] [ 9.93661362e-01 -1.11300687e-01 -1.57878253e-02 1.57331086e+02] [ 1.58484062e-02 -3.40452248e-04 9.99874348e-01 4.66423528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.772755096 meters 0.018859912602229915 Centerline is valid? [True, True] Translation: X:107.06, Y:157.36, Z:4.66 [[-1.11837009e-01 -9.93725563e-01 1.41031395e-03 1.07061257e+02] [ 9.93603694e-01 -1.11845385e-01 -1.55662580e-02 1.57358097e+02] [ 1.56263256e-02 -3.39590577e-04 9.99877844e-01 4.66476117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80275509600006 meters 0.02149669885745677 Centerline is valid? [True, True] Translation: X:107.06, Y:157.38, Z:4.66 [[-1.12826144e-01 -9.93613749e-01 1.40647317e-03 1.07059168e+02] [ 9.93493499e-01 -1.12834376e-01 -1.54619156e-02 1.57384598e+02] [ 1.55218704e-02 -3.47186367e-04 9.99879468e-01 4.66329183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.832755096 meters 0.01874040225833483 Centerline is valid? [True, True] Translation: X:107.05, Y:157.41, Z:4.67 [[-1.12544582e-01 -9.93645767e-01 1.34423168e-03 1.07054293e+02] [ 9.93536797e-01 -1.12552152e-01 -1.47188949e-02 1.57411077e+02] [ 1.47766637e-02 -3.20988230e-04 9.99890768e-01 4.66599995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86275509600006 meters 0.0194068268172974 Centerline is valid? [True, True] Translation: X:107.05, Y:157.44, Z:4.67 [[-1.12958864e-01 -9.93598699e-01 1.38591812e-03 1.07052258e+02] [ 9.93483812e-01 -1.12966883e-01 -1.51128698e-02 1.57437596e+02] [ 1.51726906e-02 -3.30245387e-04 9.99884834e-01 4.66641772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89275509600003 meters 0.019385124465812337 Centerline is valid? [True, True] Translation: X:107.05, Y:157.46, Z:4.67 [[-1.13592261e-01 -9.93526471e-01 1.39632896e-03 1.07047542e+02] [ 9.93410820e-01 -1.13600348e-01 -1.51625486e-02 1.57464144e+02] [ 1.52230169e-02 -3.35219873e-04 9.99884067e-01 4.66638241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92275509600006 meters 0.021277960072348376 Centerline is valid? [True, True] Translation: X:107.05, Y:157.49, Z:4.67 [[-1.14208935e-01 -9.93455739e-01 1.41906199e-03 1.07046952e+02] [ 9.93337324e-01 -1.14217237e-01 -1.53422052e-02 1.57489612e+02] [ 1.54038832e-02 -3.42609680e-04 9.99881294e-01 4.66654743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95275509600003 meters 0.020175964591810498 Centerline is valid? [True, True] Translation: X:107.04, Y:157.52, Z:4.67 [[-1.15323136e-01 -9.93326987e-01 1.43934562e-03 1.07040283e+02] [ 9.93206242e-01 -1.15331565e-01 -1.54916712e-02 1.57515892e+02] [ 1.55542970e-02 -3.56981045e-04 9.99878961e-01 4.66676613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98275509600006 meters 0.020836179266393234 Centerline is valid? [True, True] Translation: X:107.04, Y:157.54, Z:4.67 [[-1.16250231e-01 -9.93218900e-01 1.44913708e-03 1.07037908e+02] [ 9.93097526e-01 -1.16258686e-01 -1.55313145e-02 1.57541138e+02] [ 1.55944699e-02 -3.66384451e-04 9.99878332e-01 4.66724426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01275509600003 meters 0.02131031601957492 Centerline is valid? [True, True] Translation: X:107.04, Y:157.57, Z:4.67 [[-1.17484544e-01 -9.93073677e-01 1.43291699e-03 1.07035374e+02] [ 9.92956002e-01 -1.17492687e-01 -1.52920156e-02 1.57567825e+02] [ 1.53544554e-02 -3.73751951e-04 9.99882044e-01 4.66794663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04275509600006 meters 0.02136705637631197 Centerline is valid? [True, True] Translation: X:107.03, Y:157.59, Z:4.67 [[-1.19600463e-01 -9.92821065e-01 1.43600980e-03 1.07031446e+02] [ 9.92703720e-01 -1.19608412e-01 -1.52693160e-02 1.57594319e+02] [ 1.53314574e-02 -4.00684990e-04 9.99882386e-01 4.66876412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07275509600004 meters 0.021271605116828272 Centerline is valid? [True, True] Translation: X:107.03, Y:157.62, Z:4.67 [[-1.21127541e-01 -9.92635978e-01 1.39059382e-03 1.07027697e+02] [ 9.92526550e-01 -1.21134844e-01 -1.47444090e-02 1.57621119e+02] [ 1.48042803e-02 -4.05752736e-04 9.99890328e-01 4.66954835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10275509600007 meters 0.022052339343523047 Centerline is valid? [True, True] Translation: X:107.03, Y:157.65, Z:4.67 [[-1.22280601e-01 -9.92494574e-01 1.40563441e-03 1.07025326e+02] [ 9.92383617e-01 -1.22287957e-01 -1.48462968e-02 1.57647219e+02] [ 1.49067612e-02 -4.20485545e-04 9.99888800e-01 4.67036515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13275509600004 meters 0.023322288332878128 Centerline is valid? [True, True] Translation: X:107.02, Y:157.67, Z:4.67 [[-1.23441676e-01 -9.92350915e-01 1.34703626e-03 1.07023144e+02] [ 9.92249581e-01 -1.23448329e-01 -1.41872779e-02 1.57672952e+02] [ 1.42450475e-02 -4.14705195e-04 9.99898448e-01 4.67068704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16275509600007 meters 0.025449691530833814 Centerline is valid? [True, True] Translation: X:107.02, Y:157.70, Z:4.67 [[-1.24441994e-01 -9.92226012e-01 1.31577370e-03 1.07021746e+02] [ 9.92129867e-01 -1.24448261e-01 -1.38187521e-02 1.57699207e+02] [ 1.38750710e-02 -4.14214691e-04 9.99903651e-01 4.67221872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19275509600004 meters 0.025289518206143398 Centerline is valid? [True, True] Translation: X:107.01, Y:157.72, Z:4.67 [[-1.24948129e-01 -9.92162432e-01 1.29350635e-03 1.07014893e+02] [ 9.92070007e-01 -1.24954153e-01 -1.35485025e-02 1.57724803e+02] [ 1.36039442e-02 -4.09611183e-04 9.99907378e-01 4.67028289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22275509600007 meters 0.023283497123926786 Centerline is valid? [True, True] Translation: X:107.01, Y:157.75, Z:4.67 [[-1.24765837e-01 -9.92185388e-01 1.28133777e-03 1.07010499e+02] [ 9.92095421e-01 -1.24771786e-01 -1.33669894e-02 1.57751048e+02] [ 1.34224064e-02 -3.96534283e-04 9.99909837e-01 4.67328925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25275509600004 meters 0.022117825670416986 Centerline is valid? [True, True] Translation: X:107.00, Y:157.78, Z:4.67 [[-1.23441668e-01 -9.92351068e-01 1.23012964e-03 1.07003035e+02] [ 9.92268804e-01 -1.23447280e-01 -1.27824216e-02 1.57777797e+02] [ 1.28365058e-02 -3.57264170e-04 9.99917545e-01 4.67435728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2827550960001 meters 0.02369261802786425 Centerline is valid? [True, True] Translation: X:107.00, Y:157.80, Z:4.68 [[-1.22739261e-01 -9.92438271e-01 1.16304096e-03 1.07001720e+02] [ 9.92365228e-01 -1.22744343e-01 -1.20449111e-02 1.57803089e+02] [ 1.20965874e-02 -3.24222079e-04 9.99926781e-01 4.67540757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31275509600005 meters 0.022225911826612755 Centerline is valid? [True, True] Translation: X:106.99, Y:157.83, Z:4.67 [[-1.20355294e-01 -9.92730224e-01 1.14286793e-03 1.06990877e+02] [ 9.92660321e-01 -1.20360386e-01 -1.17840799e-02 1.57829741e+02] [ 1.18359683e-02 -2.83796751e-04 9.99929912e-01 4.67326622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.342755096 meters 0.019267993099595898 Centerline is valid? [True, True] Translation: X:106.98, Y:157.86, Z:4.68 [[-1.18955251e-01 -9.92898993e-01 1.11282878e-03 1.06984480e+02] [ 9.92833189e-01 -1.18960182e-01 -1.14339344e-02 1.57856654e+02] [ 1.14851243e-02 -2.55273191e-04 9.99934011e-01 4.67604573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37275509600005 meters 0.018797139087455193 Centerline is valid? [True, True] Translation: X:106.98, Y:157.88, Z:4.68 [[-1.17775455e-01 -9.93039598e-01 1.13937906e-03 1.06979730e+02] [ 9.92971156e-01 -1.17780718e-01 -1.16613395e-02 1.57883193e+02] [ 1.17143688e-02 -2.42049023e-04 9.99931355e-01 4.67671264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.402755096 meters 0.018172686006159806 Centerline is valid? [True, True] Translation: X:106.97, Y:157.91, Z:4.68 [[-1.15523864e-01 -9.93304085e-01 1.10959083e-03 1.06973338e+02] [ 9.93239650e-01 -1.15529010e-01 -1.13156795e-02 1.57909449e+02] [ 1.13681006e-02 -2.05141415e-04 9.99935360e-01 4.67701615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43275509600005 meters 0.018031995086312754 Centerline is valid? [True, True] Translation: X:106.97, Y:157.94, Z:4.68 [[-1.14938408e-01 -9.93372019e-01 1.09264142e-03 1.06968661e+02] [ 9.93309973e-01 -1.14943442e-01 -1.11041736e-02 1.57935690e+02] [ 1.11561673e-02 -1.90964413e-04 9.99937750e-01 4.67731852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.462755096 meters 0.017508935247545675 Centerline is valid? [True, True] Translation: X:106.96, Y:157.96, Z:4.68 [[-1.14404974e-01 -9.93433588e-01 1.09888458e-03 1.06963632e+02] [ 9.93371335e-01 -1.14410108e-01 -1.11228240e-02 1.57961372e+02] [ 1.11755104e-02 -1.80905942e-04 9.99937536e-01 4.67757309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49275509600005 meters 0.01733224383189366 Centerline is valid? [True, True] Translation: X:106.96, Y:157.99, Z:4.68 [[-1.14073256e-01 -9.93471705e-01 1.12454546e-03 1.06958802e+02] [ 9.93407072e-01 -1.14078664e-01 -1.13335070e-02 1.57988349e+02] [ 1.13878051e-02 -1.75718631e-04 9.99935141e-01 4.67775226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.522755096 meters 0.017255738152131522 Centerline is valid? [True, True] Translation: X:106.95, Y:158.01, Z:4.68 [[-1.13512758e-01 -9.93535866e-01 1.15599291e-03 1.06953490e+02] [ 9.93468064e-01 -1.13518518e-01 -1.16082842e-02 1.58013230e+02] [ 1.16644733e-02 -1.69246318e-04 9.99931953e-01 4.67730874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55275509600006 meters 0.017239766649433788 Centerline is valid? [True, True] Translation: X:106.95, Y:158.04, Z:4.68 [[-1.13702461e-01 -9.93514141e-01 1.18426202e-03 1.06949995e+02] [ 9.93443602e-01 -1.13708501e-01 -1.18400130e-02 1.58039483e+02] [ 1.18978810e-02 -1.69741081e-04 9.99929203e-01 4.67766739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.582755096 meters 0.017674607781882262 Centerline is valid? [True, True] Translation: X:106.95, Y:158.06, Z:4.68 [[-1.14538369e-01 -9.93418091e-01 1.20752765e-03 1.06947156e+02] [ 9.93345363e-01 -1.14544596e-01 -1.20218940e-02 1.58064749e+02] [ 1.20810828e-02 -1.77476143e-04 9.99927005e-01 4.67789203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61275509600006 meters 0.01779003473211301 Centerline is valid? [True, True] Translation: X:106.94, Y:158.09, Z:4.68 [[-1.15394791e-01 -9.93318997e-01 1.18838260e-03 1.06944464e+02] [ 9.93248948e-01 -1.15400768e-01 -1.17979202e-02 1.58090516e+02] [ 1.18562385e-02 -1.81058779e-04 9.99929696e-01 4.67816767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64275509600003 meters 0.01806841845708109 Centerline is valid? [True, True] Translation: X:106.94, Y:158.12, Z:4.68 [[-1.16139549e-01 -9.93232185e-01 1.19637443e-03 1.06942279e+02] [ 9.93161764e-01 -1.16145563e-01 -1.18287718e-02 1.58116094e+02] [ 1.18876704e-02 -1.85594878e-04 9.99929322e-01 4.67833917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67275509600006 meters 0.018511878213125024 Centerline is valid? [True, True] Translation: X:106.94, Y:158.14, Z:4.68 [[-1.18015363e-01 -9.93011075e-01 1.17448193e-03 1.06940183e+02] [ 9.92943743e-01 -1.18021040e-01 -1.15653266e-02 1.58142824e+02] [ 1.16231110e-02 -1.98691725e-04 9.99932430e-01 4.67849168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70275509600003 meters 0.019286898253790197 Centerline is valid? [True, True] Translation: X:106.94, Y:158.17, Z:4.68 [[-1.19116268e-01 -9.92879681e-01 1.11979580e-03 1.06938642e+02] [ 9.92818876e-01 -1.19121368e-01 -1.09899205e-02 1.58167844e+02] [ 1.10450604e-02 -1.97323903e-04 9.99938982e-01 4.67890989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73275509600006 meters 0.018925397110011927 Centerline is valid? [True, True] Translation: X:106.93, Y:158.19, Z:4.68 [[-1.19888864e-01 -9.92786708e-01 1.10113576e-03 1.06934955e+02] [ 9.92728221e-01 -1.19893755e-01 -1.07780317e-02 1.58193573e+02] [ 1.08323059e-02 -1.99037428e-04 9.99941309e-01 4.67913742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76275509600003 meters 0.020154276712202823 Centerline is valid? [True, True] Translation: X:106.93, Y:158.22, Z:4.68 [[-1.20975807e-01 -9.92654874e-01 1.07458579e-03 1.06931461e+02] [ 9.92599588e-01 -1.20980413e-01 -1.04784333e-02 1.58220460e+02] [ 1.05314717e-02 -2.01003520e-04 9.99944522e-01 4.67682577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79275509600006 meters 0.019101384620101698 Centerline is valid? [True, True] Translation: X:106.93, Y:158.25, Z:4.68 [[-1.21828884e-01 -9.92550545e-01 1.06692452e-03 1.06928806e+02] [ 9.92496400e-01 -1.21833384e-01 -1.03692623e-02 1.58246228e+02] [ 1.04220040e-02 -2.04356905e-04 9.99945669e-01 4.67915978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82275509600004 meters 0.020014454841286156 Centerline is valid? [True, True] Translation: X:106.93, Y:158.27, Z:4.68 [[-1.23274416e-01 -9.92372003e-01 1.10718399e-03 1.06926830e+02] [ 9.92314174e-01 -1.23279188e-01 -1.07155188e-02 1.58273759e+02] [ 1.07702736e-02 -2.22274950e-04 9.99941974e-01 4.67769129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85275509600007 meters 0.019270242755731075 Centerline is valid? [True, True] Translation: X:106.92, Y:158.30, Z:4.68 [[-1.24127698e-01 -9.92265586e-01 1.14999968e-03 1.06924265e+02] [ 9.92203645e-01 -1.24132801e-01 -1.10893900e-02 1.58301158e+02] [ 1.11463727e-02 -2.35466578e-04 9.99937850e-01 4.67871582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88275509600004 meters 0.020697784890438387 Centerline is valid? [True, True] Translation: X:106.92, Y:158.33, Z:4.68 [[-1.25194831e-01 -9.92131520e-01 1.14076072e-03 1.06923968e+02] [ 9.92070978e-01 -1.25199797e-01 -1.09628777e-02 1.58327581e+02] [ 1.10194395e-02 -2.40780016e-04 9.99939255e-01 4.67846983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91275509600007 meters 0.020243083100807614 Centerline is valid? [True, True] Translation: X:106.92, Y:158.35, Z:4.68 [[-1.26898337e-01 -9.91915049e-01 1.16117706e-03 1.06921211e+02] [ 9.91852785e-01 -1.26903385e-01 -1.11168322e-02 1.58354848e+02] [ 1.11743104e-02 -2.58990816e-04 9.99937532e-01 4.67858241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94275509600004 meters 0.022420652482869903 Centerline is valid? [True, True] Translation: X:106.92, Y:158.38, Z:4.68 [[-1.27470379e-01 -9.91841637e-01 1.21224037e-03 1.06922338e+02] [ 9.91774281e-01 -1.27475854e-01 -1.15620729e-02 1.58380755e+02] [ 1.16222767e-02 -2.71553001e-04 9.99932422e-01 4.67928015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97275509600007 meters 0.02107142109469727 Centerline is valid? [True, True] Translation: X:106.92, Y:158.41, Z:4.68 [[-1.28267100e-01 -9.91738887e-01 1.23729324e-03 1.06916655e+02] [ 9.91669121e-01 -1.28272757e-01 -1.17666183e-02 1.58406700e+02] [ 1.18281239e-02 -2.82284506e-04 9.99930005e-01 4.67827976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00275509600004 meters 0.02097295451220031 Centerline is valid? [True, True] Translation: X:106.91, Y:158.43, Z:4.68 [[-1.28812261e-01 -9.91668227e-01 1.23656089e-03 1.06914358e+02] [ 9.91599056e-01 -1.28817885e-01 -1.17160147e-02 1.58432111e+02] [ 1.17776907e-02 -2.82993731e-04 9.99930601e-01 4.67902606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0327550960001 meters 0.021233018166427725 Centerline is valid? [True, True] Translation: X:106.91, Y:158.46, Z:4.68 [[-1.29493714e-01 -9.91579501e-01 1.21283933e-03 1.06912760e+02] [ 9.91513466e-01 -1.29499092e-01 -1.14469320e-02 1.58458190e+02] [ 1.15076047e-02 -2.79759208e-04 9.99933746e-01 4.67928344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06275509600005 meters 0.021632433875328278 Centerline is valid? [True, True] Translation: X:106.91, Y:158.48, Z:4.68 [[-1.30058600e-01 -9.91505561e-01 1.21811391e-03 1.06911013e+02] [ 9.91439467e-01 -1.30063999e-01 -1.14516055e-02 1.58483880e+02] [ 1.15127633e-02 -2.81693569e-04 9.99933686e-01 4.67972443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0927550960001 meters 0.021620282873950947 Centerline is valid? [True, True] Translation: X:106.91, Y:158.51, Z:4.68 [[-1.30648771e-01 -9.91427890e-01 1.27971987e-03 1.06908965e+02] [ 9.91355367e-01 -1.30654698e-01 -1.19952369e-02 1.58510061e+02] [ 1.20596138e-02 -2.98505803e-04 9.99927236e-01 4.67977632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12275509600005 meters 0.022337612558438222 Centerline is valid? [True, True] Translation: X:106.91, Y:158.54, Z:4.68 [[-1.31577242e-01 -9.91305024e-01 1.33361663e-03 1.06907614e+02] [ 9.91226852e-01 -1.31583620e-01 -1.24530369e-02 1.58535655e+02] [ 1.25202402e-02 -3.16619640e-04 9.99921569e-01 4.67959548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.152755096 meters 0.023602755071741723 Centerline is valid? [True, True] Translation: X:106.90, Y:158.56, Z:4.68 [[-1.32572285e-01 -9.91172397e-01 1.36701652e-03 1.06904318e+02] [ 9.91090887e-01 -1.32578920e-01 -1.27154931e-02 1.58562195e+02] [ 1.27844834e-02 -3.30884362e-04 9.99918220e-01 4.67649746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18275509600005 meters 0.02304030880932717 Centerline is valid? [True, True] Translation: X:106.90, Y:158.59, Z:4.68 [[-1.33709990e-01 -9.91019487e-01 1.41924493e-03 1.06904614e+02] [ 9.90932307e-01 -1.33717059e-01 -1.31495464e-02 1.58588147e+02] [ 1.32212340e-02 -3.51850072e-04 9.99912534e-01 4.67911414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.212755096 meters 0.023659270470471377 Centerline is valid? [True, True] Translation: X:106.90, Y:158.61, Z:4.68 [[-1.34303101e-01 -9.90939312e-01 1.39910711e-03 1.06903246e+02] [ 9.90854995e-01 -1.34309931e-01 -1.29313972e-02 1.58613733e+02] [ 1.30021439e-02 -3.50414482e-04 9.99915407e-01 4.67953609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24275509600005 meters 0.023899885124574027 Centerline is valid? [True, True] Translation: X:106.90, Y:158.64, Z:4.68 [[-1.34304368e-01 -9.90939206e-01 1.35137461e-03 1.06902418e+02] [ 9.90860941e-01 -1.34310751e-01 -1.24586188e-02 1.58639138e+02] [ 1.25272380e-02 -3.34222605e-04 9.99921475e-01 4.68015523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.272755096 meters 0.02242048179624646 Centerline is valid? [True, True] Translation: X:106.90, Y:158.66, Z:4.68 [[-1.34416642e-01 -9.90924036e-01 1.31177506e-03 1.06897625e+02] [ 9.90850798e-01 -1.34422662e-01 -1.20517390e-02 1.58664794e+02] [ 1.21186902e-02 -3.20180928e-04 9.99926515e-01 4.68066047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30275509600006 meters 0.021285316975681843 Centerline is valid? [True, True] Translation: X:106.89, Y:158.69, Z:4.68 [[-1.34250517e-01 -9.90946572e-01 1.30018147e-03 1.06893301e+02] [ 9.90875119e-01 -1.34256455e-01 -1.19039104e-02 1.58690819e+02] [ 1.19706969e-02 -3.09788648e-04 9.99928301e-01 4.68076953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.332755096 meters 0.02142961056248286 Centerline is valid? [True, True] Translation: X:106.89, Y:158.72, Z:4.68 [[-1.33773947e-01 -9.91011071e-01 1.26038599e-03 1.06891047e+02] [ 9.90944390e-01 -1.33779571e-01 -1.14996726e-02 1.58716464e+02] [ 1.15649167e-02 -2.89384158e-04 9.99933082e-01 4.68153918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36275509600006 meters 0.020585212146733343 Centerline is valid? [True, True] Translation: X:106.89, Y:158.74, Z:4.68 [[-1.31781630e-01 -9.91277979e-01 1.25335769e-03 1.06887432e+02] [ 9.91212559e-01 -1.31787336e-01 -1.13912693e-02 1.58742050e+02] [ 1.14570910e-02 -2.58816140e-04 9.99934332e-01 4.68208218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39275509600003 meters 0.019712470304034894 Centerline is valid? [True, True] Translation: X:106.88, Y:158.77, Z:4.68 [[-1.30484726e-01 -9.91449489e-01 1.28329385e-03 1.06883343e+02] [ 9.91381381e-01 -1.30490807e-01 -1.16234994e-02 1.58768636e+02] [ 1.16915706e-02 -2.44455500e-04 9.99931621e-01 4.68234809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42275509600006 meters 0.018965262835814737 Centerline is valid? [True, True] Translation: X:106.88, Y:158.79, Z:4.68 [[-1.27896073e-01 -9.91786712e-01 1.30837025e-03 1.06880035e+02] [ 9.91716416e-01 -1.27902588e-01 -1.18101333e-02 1.58794274e+02] [ 1.18804772e-02 -2.12937407e-04 9.99929402e-01 4.68279652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45275509600003 meters 0.018654540087055957 Centerline is valid? [True, True] Translation: X:106.88, Y:158.82, Z:4.68 [[-1.26970721e-01 -9.91905606e-01 1.30543168e-03 1.06876978e+02] [ 9.91836080e-01 -1.26977279e-01 -1.17456698e-02 1.58819965e+02] [ 1.18163559e-02 -1.96581922e-04 9.99930165e-01 4.68315081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48275509600006 meters 0.018654540087055957 Centerline is valid? [True, True] Translation: X:106.87, Y:158.85, Z:4.68 [[-1.27335272e-01 -9.91858867e-01 1.31008761e-03 1.06873831e+02] [ 9.91789344e-01 -1.27341860e-01 -1.17451502e-02 1.58845690e+02] [ 1.18163604e-02 -1.96240966e-04 9.99930165e-01 4.68353350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51275509600003 meters 0.017841574991837736 Centerline is valid? [True, True] Translation: X:106.87, Y:158.87, Z:4.68 [[-1.26546971e-01 -9.91959736e-01 1.32131958e-03 1.06869631e+02] [ 9.91889490e-01 -1.26553736e-01 -1.18064280e-02 1.58871343e+02] [ 1.18787192e-02 -1.83464701e-04 9.99929429e-01 4.68384742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54275509600006 meters 0.016815657091494792 Centerline is valid? [True, True] Translation: X:106.87, Y:158.90, Z:4.68 [[-1.24774602e-01 -9.92184151e-01 1.38168166e-03 1.06865210e+02] [ 9.92107895e-01 -1.24782144e-01 -1.23020896e-02 1.58897688e+02] [ 1.23783475e-02 -1.64211043e-04 9.99923372e-01 4.68379293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57275509600004 meters 0.016616316794290185 Centerline is valid? [True, True] Translation: X:106.86, Y:158.92, Z:4.68 [[-1.24490347e-01 -9.92219857e-01 1.38159726e-03 1.06862119e+02] [ 9.92144143e-01 -1.24497917e-01 -1.22584257e-02 1.58923699e+02] [ 1.23350594e-02 -1.55312047e-04 9.99923908e-01 4.68430040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60275509600007 meters 0.016323182444042114 Centerline is valid? [True, True] Translation: X:106.86, Y:158.95, Z:4.68 [[-1.24079053e-01 -9.92271395e-01 1.36684058e-03 1.06858925e+02] [ 9.92197795e-01 -1.24086498e-01 -1.20861806e-02 1.58949654e+02] [ 1.21623777e-02 -1.43465628e-04 9.99926025e-01 4.68490477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63275509600004 meters 0.016766665539439764 Centerline is valid? [True, True] Translation: X:106.86, Y:158.98, Z:4.69 [[-1.23886361e-01 -9.92295415e-01 1.40675084e-03 1.06857321e+02] [ 9.92218006e-01 -1.23894269e-01 -1.23950882e-02 1.58975219e+02] [ 1.24738776e-02 -1.39778863e-04 9.99922188e-01 4.68533290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66275509600007 meters 0.016176408078142305 Centerline is valid? [True, True] Translation: X:106.85, Y:159.00, Z:4.69 [[-1.23522763e-01 -9.92340715e-01 1.42585976e-03 1.06853624e+02] [ 9.92261774e-01 -1.23530922e-01 -1.25173327e-02 1.59001671e+02] [ 1.25975966e-02 -1.31349386e-04 9.99920639e-01 4.68550785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69275509600004 meters 0.016187415048282455 Centerline is valid? [True, True] Translation: X:106.85, Y:159.03, Z:4.69 [[-1.23851483e-01 -9.92299734e-01 1.43093435e-03 1.06850812e+02] [ 9.92220760e-01 -1.23859680e-01 -1.25197183e-02 1.59028034e+02] [ 1.26005482e-02 -1.30782914e-04 9.99920601e-01 4.68569048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72275509600007 meters 0.015982698753490718 Centerline is valid? [True, True] Translation: X:106.85, Y:159.05, Z:4.69 [[-1.24656259e-01 -9.92198938e-01 1.44391179e-03 1.06848757e+02] [ 9.92119055e-01 -1.24664546e-01 -1.25909504e-02 1.59054501e+02] [ 1.26727323e-02 -1.37008379e-04 9.99919688e-01 4.68584929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75275509600004 meters 0.016654199438711232 Centerline is valid? [True, True] Translation: X:106.85, Y:159.08, Z:4.69 [[-1.25764126e-01 -9.92059081e-01 1.47100439e-03 1.06848073e+02] [ 9.91976747e-01 -1.25772641e-01 -1.27818849e-02 1.59080439e+02] [ 1.28653971e-02 -1.48300422e-04 9.99917226e-01 4.68620549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7827550960001 meters 0.016448041441999503 Centerline is valid? [True, True] Translation: X:106.85, Y:159.11, Z:4.69 [[-1.27134211e-01 -9.91884376e-01 1.50874549e-03 1.06845298e+02] [ 9.91798395e-01 -1.27143057e-01 -1.30608818e-02 1.59106361e+02] [ 1.31467111e-02 -1.64113549e-04 9.99913565e-01 4.68619433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81275509600005 meters 0.017421205702437003 Centerline is valid? [True, True] Translation: X:106.85, Y:159.13, Z:4.69 [[-1.28927843e-01 -9.91652795e-01 1.53158943e-03 1.06846349e+02] [ 9.91564785e-01 -1.28936807e-01 -1.32127411e-02 1.59131850e+02] [ 1.32999299e-02 -1.84820062e-04 9.99911535e-01 4.68637175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8427550960001 meters 0.017346639803952384 Centerline is valid? [True, True] Translation: X:106.84, Y:159.16, Z:4.69 [[-1.30469702e-01 -9.91451128e-01 1.52263094e-03 1.06843651e+02] [ 9.91364746e-01 -1.30478436e-01 -1.30888711e-02 1.59158000e+02] [ 1.31756465e-02 -1.98218478e-04 9.99913178e-01 4.68650986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87275509600005 meters 0.018560791662077043 Centerline is valid? [True, True] Translation: X:106.84, Y:159.18, Z:4.69 [[-1.32908493e-01 -9.91127118e-01 1.53871067e-03 1.06844746e+02] [ 9.91039482e-01 -1.32917206e-01 -1.31818798e-02 1.59184787e+02] [ 1.32694397e-02 -2.27060759e-04 9.99911931e-01 4.68698527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.902755096 meters 0.018884388129996318 Centerline is valid? [True, True] Translation: X:106.84, Y:159.21, Z:4.69 [[-1.34353020e-01 -9.90932294e-01 1.56691159e-03 1.06843119e+02] [ 9.90841982e-01 -1.34361934e-01 -1.33804877e-02 1.59211141e+02] [ 1.34696906e-02 -2.45147145e-04 9.99909250e-01 4.68721696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93275509600005 meters 0.019711156443308935 Centerline is valid? [True, True] Translation: X:106.84, Y:159.24, Z:4.69 [[-1.35830887e-01 -9.90730815e-01 1.55634856e-03 1.06842533e+02] [ 9.90642299e-01 -1.35839559e-01 -1.32457436e-02 1.59237365e+02] [ 1.33343800e-02 -2.57396388e-04 9.99911060e-01 4.68762153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.962755096 meters 0.021250790884812763 Centerline is valid? [True, True] Translation: X:106.84, Y:159.26, Z:4.69 [[-1.37404964e-01 -9.90513641e-01 1.61330601e-03 1.06841615e+02] [ 9.90418950e-01 -1.37414140e-01 -1.36988256e-02 1.59264817e+02] [ 1.37905647e-02 -2.84437799e-04 9.99904865e-01 4.68587752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99275509600005 meters 0.01998544396851621 Centerline is valid? [True, True] Translation: X:106.84, Y:159.29, Z:4.69 [[-1.39051919e-01 -9.90283795e-01 1.60290892e-03 1.06837338e+02] [ 9.90190831e-01 -1.39060833e-01 -1.35721054e-02 1.59291519e+02] [ 1.36631379e-02 -3.00041580e-04 9.99906610e-01 4.68667987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.022755096 meters 0.022019577830481946 Centerline is valid? [True, True] Translation: X:106.84, Y:159.32, Z:4.69 [[-1.40871756e-01 -9.90026566e-01 1.59598894e-03 1.06840860e+02] [ 9.89934952e-01 -1.40880438e-01 -1.34719491e-02 1.59318719e+02] [ 1.35624311e-02 -3.17891890e-04 9.99907975e-01 4.68860432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05275509600006 meters 0.022388043674711845 Centerline is valid? [True, True] Translation: X:106.84, Y:159.35, Z:4.69 [[-1.41868835e-01 -9.89884198e-01 1.58376233e-03 1.06838908e+02] [ 9.89794552e-01 -1.41877307e-01 -1.33256792e-02 1.59345119e+02] [ 1.34155792e-02 -3.22899244e-04 9.99909955e-01 4.68900685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.082755096 meters 0.020287996737153195 Centerline is valid? [True, True] Translation: X:106.83, Y:159.37, Z:4.69 [[-1.43242456e-01 -9.89686273e-01 1.63712664e-03 1.06833932e+02] [ 9.89591089e-01 -1.43251391e-01 -1.37301134e-02 1.59372592e+02] [ 1.38230254e-02 -3.46649219e-04 9.99904397e-01 4.68828050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11275509600006 meters 0.020954900727499774 Centerline is valid? [True, True] Translation: X:106.83, Y:159.40, Z:4.69 [[-1.43866117e-01 -9.89595778e-01 1.65457535e-03 1.06832776e+02] [ 9.89499081e-01 -1.43875196e-01 -1.38382233e-02 1.59399023e+02] [ 1.39322997e-02 -3.53650655e-04 9.99902878e-01 4.68833594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14275509600003 meters 0.02098667996689568 Centerline is valid? [True, True] Translation: X:106.83, Y:159.42, Z:4.69 [[-1.43432863e-01 -9.89658694e-01 1.63822978e-03 1.06832445e+02] [ 9.89564501e-01 -1.43441821e-01 -1.36580272e-02 1.59424320e+02] [ 1.37517760e-02 -3.37875906e-04 9.99905383e-01 4.68856233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17275509600006 meters 0.021722092930871892 Centerline is valid? [True, True] Translation: X:106.83, Y:159.45, Z:4.69 [[-1.43152712e-01 -9.89699215e-01 1.66306528e-03 1.06829514e+02] [ 9.89602832e-01 -1.43161987e-01 -1.38159452e-02 1.59450825e+02] [ 1.39117178e-02 -3.32015909e-04 9.99903172e-01 4.68648782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20275509600003 meters 0.02035565271762827 Centerline is valid? [True, True] Translation: X:106.83, Y:159.48, Z:4.69 [[-1.41831688e-01 -9.89889420e-01 1.64545045e-03 1.06825929e+02] [ 9.89795697e-01 -1.41840907e-01 -1.36248123e-02 1.59477016e+02] [ 1.37204498e-02 -3.03770354e-04 9.99905824e-01 4.68966987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23275509600006 meters 0.018831006501094885 Centerline is valid? [True, True] Translation: X:106.82, Y:159.50, Z:4.69 [[-1.39838226e-01 -9.90173171e-01 1.53706983e-03 1.06818451e+02] [ 9.90091873e-01 -1.39846445e-01 -1.26907288e-02 1.59503829e+02] [ 1.27809730e-02 -2.52808664e-04 9.99918288e-01 4.69061541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26275509600003 meters 0.01732176669245625 Centerline is valid? [True, True] Translation: X:106.81, Y:159.53, Z:4.69 [[-1.34939481e-01 -9.90852696e-01 1.50698745e-03 1.06811284e+02] [ 9.90775042e-01 -1.34947774e-01 -1.24062324e-02 1.59529741e+02] [ 1.24961134e-02 -1.81005015e-04 9.99921904e-01 4.69067434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29275509600006 meters 0.016651334710586402 Centerline is valid? [True, True] Translation: X:106.81, Y:159.56, Z:4.69 [[-1.32693101e-01 -9.91155951e-01 1.55595155e-03 1.06806077e+02] [ 9.91073692e-01 -1.32702135e-01 -1.27703031e-02 1.59556156e+02] [ 1.28638400e-02 -1.52468470e-04 9.99917246e-01 4.69089307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32275509600004 meters 0.015596661261592037 Centerline is valid? [True, True] Translation: X:106.80, Y:159.58, Z:4.69 [[-1.28569007e-01 -9.91699403e-01 1.51830794e-03 1.06799027e+02] [ 9.91621546e-01 -1.28577939e-01 -1.24267447e-02 1.59582458e+02] [ 1.25188162e-02 -9.21073601e-05 9.99921632e-01 4.69150898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35275509600007 meters 0.015290182002235544 Centerline is valid? [True, True] Translation: X:106.79, Y:159.61, Z:4.69 [[-1.27274950e-01 -9.91866378e-01 1.47506900e-03 1.06794272e+02] [ 9.91793293e-01 -1.27283479e-01 -1.20407582e-02 1.59608678e+02] [ 1.21305751e-02 -6.95233587e-05 9.99926419e-01 4.69192773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38275509600004 meters 0.015140229754471312 Centerline is valid? [True, True] Translation: X:106.79, Y:159.63, Z:4.69 [[-1.26198224e-01 -9.92003946e-01 1.47635819e-03 1.06790452e+02] [ 9.91931241e-01 -1.26206849e-01 -1.20101982e-02 1.59633619e+02] [ 1.21004905e-02 -5.12198651e-05 9.99926785e-01 4.69267640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41275509600007 meters 0.015049065008119856 Centerline is valid? [True, True] Translation: X:106.78, Y:159.66, Z:4.69 [[-1.24406753e-01 -9.92230231e-01 1.45926634e-03 1.06784829e+02] [ 9.92159551e-01 -1.24415308e-01 -1.18430060e-02 1.59658388e+02] [ 1.19325436e-02 -2.55248857e-05 9.99928804e-01 4.69270362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44275509600004 meters 0.015038991806559564 Centerline is valid? [True, True] Translation: X:106.78, Y:159.68, Z:4.69 [[-1.24431922e-01 -9.92227083e-01 1.45361681e-03 1.06780390e+02] [ 9.92157412e-01 -1.24440411e-01 -1.17581811e-02 1.59684551e+02] [ 1.18476744e-02 -2.08763809e-05 9.99929814e-01 4.69266681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47275509600007 meters 0.014987184010136318 Centerline is valid? [True, True] Translation: X:106.78, Y:159.71, Z:4.69 [[-1.24484188e-01 -9.92220488e-01 1.47983273e-03 1.06776292e+02] [ 9.92148727e-01 -1.24492982e-01 -1.19331725e-02 1.59710567e+02] [ 1.20245671e-02 -1.72771322e-05 9.99927702e-01 4.69251032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50275509600004 meters 0.015040942222150147 Centerline is valid? [True, True] Translation: X:106.77, Y:159.74, Z:4.69 [[-1.25134280e-01 -9.92138741e-01 1.45940434e-03 1.06773073e+02] [ 9.92069375e-01 -1.25142789e-01 -1.17319164e-02 1.59736384e+02] [ 1.18223227e-02 -2.02345658e-05 9.99930114e-01 4.69251252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5327550960001 meters 0.015058188293345076 Centerline is valid? [True, True] Translation: X:106.77, Y:159.76, Z:4.69 [[-1.26022534e-01 -9.92026313e-01 1.45431707e-03 1.06770511e+02] [ 9.91957860e-01 -1.26030922e-01 -1.16537650e-02 1.59761991e+02] [ 1.17441305e-02 -2.60157514e-05 9.99931035e-01 4.69328097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56275509600005 meters 0.015251277949275025 Centerline is valid? [True, True] Translation: X:106.77, Y:159.79, Z:4.69 [[-1.27436754e-01 -9.91845649e-01 1.44278451e-03 1.06767826e+02] [ 9.91778715e-01 -1.27444916e-01 -1.15227382e-02 1.59788291e+02] [ 1.16126533e-02 -3.74973819e-05 9.99932570e-01 4.69374937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5927550960001 meters 0.01533402482954501 Centerline is valid? [True, True] Translation: X:106.77, Y:159.81, Z:4.69 [[-1.28957354e-01 -9.91649128e-01 1.41704306e-03 1.06765613e+02] [ 9.91584946e-01 -1.28965129e-01 -1.12822817e-02 1.59814459e+02] [ 1.13708139e-02 -4.98146250e-05 9.99935349e-01 4.69446482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62275509600005 meters 0.015526064729488167 Centerline is valid? [True, True] Translation: X:106.76, Y:159.84, Z:4.70 [[-1.30819525e-01 -9.91405343e-01 1.30315648e-03 1.06763034e+02] [ 9.91351345e-01 -1.30826001e-01 -1.03474327e-02 1.59839347e+02] [ 1.04289868e-02 -6.17603038e-05 9.99945615e-01 4.69566330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.652755096 meters 0.015633365539385234 Centerline is valid? [True, True] Translation: X:106.76, Y:159.87, Z:4.70 [[-1.32223896e-01 -9.91218994e-01 1.32173786e-03 1.06759792e+02] [ 9.91163809e-01 -1.32230481e-01 -1.04595701e-02 1.59865645e+02] [ 1.05424986e-02 -7.29463808e-05 9.99944424e-01 4.69569368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68275509600005 meters 0.015864633119658664 Centerline is valid? [True, True] Translation: X:106.76, Y:159.89, Z:4.70 [[-1.33611834e-01 -9.91032795e-01 1.36989601e-03 1.06756967e+02] [ 9.90973883e-01 -1.33618829e-01 -1.08061200e-02 1.59891892e+02] [ 1.08922633e-02 -8.62943480e-05 9.99940674e-01 4.69553661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.712755096 meters 0.016283253518203884 Centerline is valid? [True, True] Translation: X:106.76, Y:159.92, Z:4.69 [[-1.36056576e-01 -9.90699940e-01 1.49560760e-03 1.06755501e+02] [ 9.90630168e-01 -1.36064745e-01 -1.17582222e-02 1.59917075e+02] [ 1.18523695e-02 -1.18189442e-04 9.99929751e-01 4.69480563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74275509600005 meters 0.016578357293688544 Centerline is valid? [True, True] Translation: X:106.75, Y:159.94, Z:4.69 [[-1.37599236e-01 -9.90486847e-01 1.50202455e-03 1.06752796e+02] [ 9.90416913e-01 -1.37607370e-01 -1.17707170e-02 1.59943325e+02] [ 1.18654300e-02 -1.32011139e-04 9.99929595e-01 4.69486259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.772755096 meters 0.016821043130620883 Centerline is valid? [True, True] Translation: X:106.75, Y:159.97, Z:4.69 [[-1.40035956e-01 -9.90145132e-01 1.59654403e-03 1.06749522e+02] [ 9.90066598e-01 -1.40044959e-01 -1.24716460e-02 1.59970347e+02] [ 1.25723275e-02 -1.65793953e-04 9.99920951e-01 4.69422072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80275509600006 meters 0.017100092446763773 Centerline is valid? [True, True] Translation: X:106.75, Y:160.00, Z:4.69 [[-1.41394562e-01 -9.89951950e-01 1.64754887e-03 1.06746353e+02] [ 9.89868777e-01 -1.41404041e-01 -1.28336064e-02 1.59996946e+02] [ 1.29376237e-02 -1.83744969e-04 9.99916289e-01 4.69448486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.832755096 meters 0.017254016750184335 Centerline is valid? [True, True] Translation: X:106.74, Y:160.02, Z:4.69 [[-1.42709639e-01 -9.89763188e-01 1.67026008e-03 1.06742314e+02] [ 9.89678233e-01 -1.42719276e-01 -1.29693513e-02 1.60024275e+02] [ 1.30749648e-02 -1.97831405e-04 9.99914499e-01 4.69435308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86275509600006 meters 0.017576394965828097 Centerline is valid? [True, True] Translation: X:106.74, Y:160.05, Z:4.69 [[-1.44428228e-01 -9.89513787e-01 1.71814788e-03 1.06739160e+02] [ 9.89424390e-01 -1.44438278e-01 -1.33026548e-02 1.60050976e+02] [ 1.34113267e-02 -2.21301446e-04 9.99910040e-01 4.69432589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89275509600003 meters 0.017816868740625214 Centerline is valid? [True, True] Translation: X:106.74, Y:160.08, Z:4.70 [[-1.45327735e-01 -9.89382012e-01 1.75594561e-03 1.06736232e+02] [ 9.89289165e-01 -1.45338156e-01 -1.35561441e-02 1.60077587e+02] [ 1.36674110e-02 -2.32945751e-04 9.99906569e-01 4.69511750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92275509600006 meters 0.018221155826943274 Centerline is valid? [True, True] Translation: X:106.73, Y:160.10, Z:4.70 [[-1.46316402e-01 -9.89236194e-01 1.80616352e-03 1.06733637e+02] [ 9.89138518e-01 -1.46327340e-01 -1.39032828e-02 1.60102736e+02] [ 1.40179217e-02 -2.47732417e-04 9.99901713e-01 4.69535053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95275509600003 meters 0.018151725484539714 Centerline is valid? [True, True] Translation: X:106.73, Y:160.13, Z:4.70 [[-1.47046947e-01 -9.89127890e-01 1.79244071e-03 1.06729696e+02] [ 9.89032150e-01 -1.47057657e-01 -1.37641199e-02 1.60129929e+02] [ 1.38780670e-02 -2.51190333e-04 9.99903663e-01 4.69600981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98275509600006 meters 0.018504937770364167 Centerline is valid? [True, True] Translation: X:106.73, Y:160.16, Z:4.70 [[-1.48175440e-01 -9.88959315e-01 1.87410895e-03 1.06726233e+02] [ 9.88855245e-01 -1.48187040e-01 -1.43493829e-02 1.60157199e+02] [ 1.44686745e-02 -2.73003654e-04 9.99895286e-01 4.69623412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01275509600003 meters 0.01874138312365958 Centerline is valid? [True, True] Translation: X:106.72, Y:160.18, Z:4.70 [[-1.48510753e-01 -9.88909069e-01 1.84633517e-03 1.06722943e+02] [ 9.88808608e-01 -1.48521988e-01 -1.40980916e-02 1.60182243e+02] [ 1.42159520e-02 -2.68046088e-04 9.99898912e-01 4.69662707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04275509600006 meters 0.018802750628813095 Centerline is valid? [True, True] Translation: X:106.72, Y:160.21, Z:4.70 [[-1.48547877e-01 -9.88903615e-01 1.77989667e-03 1.06718435e+02] [ 9.88810679e-01 -1.48558322e-01 -1.35597399e-02 1.60207692e+02] [ 1.36736943e-02 -2.54289740e-04 9.99906478e-01 4.69756007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07275509600004 meters 0.018405249111045824 Centerline is valid? [True, True] Translation: X:106.71, Y:160.23, Z:4.70 [[-1.48523915e-01 -9.88907206e-01 1.78481520e-03 1.06713702e+02] [ 9.88814340e-01 -1.48534431e-01 -1.35544589e-02 1.60233437e+02] [ 1.36692086e-02 -2.48310446e-04 9.99906541e-01 4.69840878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10275509600007 meters 0.018103209478484327 Centerline is valid? [True, True] Translation: X:106.71, Y:160.26, Z:4.70 [[-1.48700532e-01 -9.88880756e-01 1.73278862e-03 1.06709001e+02] [ 9.88793728e-01 -1.48710438e-01 -1.31213473e-02 1.60259316e+02] [ 1.32331316e-02 -2.37780798e-04 9.99912410e-01 4.69887818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13275509600004 meters 0.01799109792670902 Centerline is valid? [True, True] Translation: X:106.71, Y:160.29, Z:4.70 [[-1.48791140e-01 -9.88867007e-01 1.79953919e-03 1.06705192e+02] [ 9.88773734e-01 -1.48801825e-01 -1.35837861e-02 1.60285092e+02] [ 1.37003327e-02 -2.41809938e-04 9.99906117e-01 4.69959694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16275509600007 meters 0.0180734046681574 Centerline is valid? [True, True] Translation: X:106.70, Y:160.31, Z:4.70 [[-1.49019760e-01 -9.88832547e-01 1.81797218e-03 1.06701725e+02] [ 9.88737927e-01 -1.49030653e-01 -1.36812033e-02 1.60311208e+02] [ 1.37993527e-02 -2.41271581e-04 9.99904755e-01 4.70003324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19275509600004 meters 0.018075399232667284 Centerline is valid? [True, True] Translation: X:106.70, Y:160.34, Z:4.70 [[-1.49470088e-01 -9.88764529e-01 1.84366976e-03 1.06698157e+02] [ 9.88667796e-01 -1.49481258e-01 -1.38326643e-02 1.60337817e+02] [ 1.39528419e-02 -2.44792631e-04 9.99902624e-01 4.70067677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22275509600007 meters 0.01771701416618188 Centerline is valid? [True, True] Translation: X:106.69, Y:160.36, Z:4.70 [[-1.49387270e-01 -9.88777225e-01 1.74443774e-03 1.06693883e+02] [ 9.88691105e-01 -1.49397285e-01 -1.30518391e-02 1.60364099e+02] [ 1.31659755e-02 -2.25068543e-04 9.99913299e-01 4.70166668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25275509600004 meters 0.017925384228746122 Centerline is valid? [True, True] Translation: X:106.69, Y:160.39, Z:4.70 [[-1.49598950e-01 -9.88745205e-01 1.75312830e-03 1.06690635e+02] [ 9.88658742e-01 -1.49609056e-01 -1.30775728e-02 1.60388874e+02] [ 1.31926712e-02 -2.23145537e-04 9.99912948e-01 4.70216923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2827550960001 meters 0.017999177899324002 Centerline is valid? [True, True] Translation: X:106.69, Y:160.41, Z:4.70 [[-1.49813667e-01 -9.88712627e-01 1.79057652e-03 1.06686696e+02] [ 9.88623000e-01 -1.49824199e-01 -1.33143876e-02 1.60413680e+02] [ 1.34323748e-02 -2.24472086e-04 9.99909756e-01 4.70257655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31275509600005 meters 0.01729636000376465 Centerline is valid? [True, True] Translation: X:106.68, Y:160.44, Z:4.70 [[-1.49985952e-01 -9.88686397e-01 1.84982879e-03 1.06680925e+02] [ 9.88591342e-01 -1.49997186e-01 -1.37113863e-02 1.60440708e+02] [ 1.38337302e-02 -2.27790592e-04 9.99904283e-01 4.70252394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3427550960001 meters 0.017457226713098052 Centerline is valid? [True, True] Translation: X:106.68, Y:160.47, Z:4.70 [[-1.50304612e-01 -9.88637965e-01 1.87031657e-03 1.06676827e+02] [ 9.88541316e-01 -1.50316073e-01 -1.38255270e-02 1.60465808e+02] [ 1.39495795e-02 -2.29155259e-04 9.99902674e-01 4.70221047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37275509600005 meters 0.017457226713098052 Centerline is valid? [True, True] Translation: X:106.67, Y:160.49, Z:4.70 [[-1.50695847e-01 -9.88578395e-01 1.87611802e-03 1.06673094e+02] [ 9.88481750e-01 -1.50707351e-01 -1.38247396e-02 1.60491469e+02] [ 1.39495836e-02 -2.28822417e-04 9.99902674e-01 4.70259315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.402755096 meters 0.017533999862780505 Centerline is valid? [True, True] Translation: X:106.67, Y:160.52, Z:4.70 [[-1.51052773e-01 -9.88523828e-01 1.92403360e-03 1.06669262e+02] [ 9.88422793e-01 -1.51064846e-01 -1.41348420e-02 1.60517770e+02] [ 1.42632820e-02 -2.33348425e-04 9.99898247e-01 4.70271939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43275509600005 meters 0.0175907576405953 Centerline is valid? [True, True] Translation: X:106.67, Y:160.54, Z:4.70 [[-1.51514468e-01 -9.88453162e-01 1.92678201e-03 1.06665737e+02] [ 9.88352424e-01 -1.51526538e-01 -1.41135932e-02 1.60543936e+02] [ 1.42425844e-02 -2.34073899e-04 9.99898542e-01 4.70303558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.462755096 meters 0.017779396704222853 Centerline is valid? [True, True] Translation: X:106.66, Y:160.57, Z:4.70 [[-1.52100950e-01 -9.88362974e-01 1.98294264e-03 1.06662369e+02] [ 9.88256907e-01 -1.52113681e-01 -1.44814795e-02 1.60570594e+02] [ 1.46145909e-02 -2.42990032e-04 9.99893172e-01 4.70321170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49275509600005 meters 0.018006285311971116 Centerline is valid? [True, True] Translation: X:106.66, Y:160.60, Z:4.70 [[-1.52961996e-01 -9.88230150e-01 1.94886085e-03 1.06658913e+02] [ 9.88128263e-01 -1.52974214e-01 -1.41924291e-02 1.60596798e+02] [ 1.43235118e-02 -2.45177791e-04 9.99897383e-01 4.70385261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.522755096 meters 0.01865687078638256 Centerline is valid? [True, True] Translation: X:106.66, Y:160.62, Z:4.70 [[-1.54618490e-01 -9.87972334e-01 1.94696743e-03 1.06655482e+02] [ 9.87871202e-01 -1.54630525e-01 -1.41381908e-02 1.60623221e+02] [ 1.42692020e-02 -2.62672672e-04 9.99898155e-01 4.70437886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55275509600006 meters 0.018113821984460036 Centerline is valid? [True, True] Translation: X:106.65, Y:160.65, Z:4.71 [[-1.55521816e-01 -9.87830501e-01 1.96643089e-03 1.06650103e+02] [ 9.87727882e-01 -1.55534009e-01 -1.42408749e-02 1.60650237e+02] [ 1.43734175e-02 -2.72468117e-04 9.99896660e-01 4.70502577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.582755096 meters 0.0188428463403576 Centerline is valid? [True, True] Translation: X:106.65, Y:160.68, Z:4.71 [[-1.57396621e-01 -9.87533620e-01 1.91148132e-03 1.06647127e+02] [ 9.87437128e-01 -1.57407968e-01 -1.38075655e-02 1.60676482e+02] [ 1.39363176e-02 -2.85796542e-04 9.99902844e-01 4.70594165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61275509600006 meters 0.018854356189615354 Centerline is valid? [True, True] Translation: X:106.64, Y:160.70, Z:4.71 [[-1.58536335e-01 -9.87351323e-01 1.89625283e-03 1.06642916e+02] [ 9.87256868e-01 -1.58547404e-01 -1.36600478e-02 1.60703425e+02] [ 1.37879122e-02 -2.93525285e-04 9.99904899e-01 4.70648671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64275509600003 meters 0.020001332102018203 Centerline is valid? [True, True] Translation: X:106.64, Y:160.73, Z:4.71 [[-1.60756507e-01 -9.86992217e-01 1.92581528e-03 1.06641141e+02] [ 9.86895287e-01 -1.60767716e-01 -1.38359982e-02 1.60729633e+02] [ 1.39656315e-02 -3.23648722e-04 9.99902423e-01 4.70663708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67275509600006 meters 0.02030786233655131 Centerline is valid? [True, True] Translation: X:106.64, Y:160.76, Z:4.71 [[-1.61973304e-01 -9.86793162e-01 1.97567297e-03 1.06637693e+02] [ 9.86691705e-01 -1.61984989e-01 -1.41542122e-02 1.60755617e+02] [ 1.42873092e-02 -3.43224396e-04 9.99897872e-01 4.70674106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70275509600003 meters 0.020936353045737995 Centerline is valid? [True, True] Translation: X:106.64, Y:160.78, Z:4.71 [[-1.62822719e-01 -9.86653186e-01 2.06224690e-03 1.06635104e+02] [ 9.86543285e-01 -1.62835372e-01 -1.47304998e-02 1.60780520e+02] [ 1.48697013e-02 -3.63964216e-04 9.99889374e-01 4.70666437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73275509600006 meters 0.020480487230523623 Centerline is valid? [True, True] Translation: X:106.63, Y:160.81, Z:4.71 [[-1.64080522e-01 -9.86444637e-01 2.13575625e-03 1.06629983e+02] [ 9.86327459e-01 -1.64093960e-01 -1.52090778e-02 1.60807707e+02] [ 1.53533779e-02 -3.88958378e-04 9.99882054e-01 4.70651960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76275509600003 meters 0.021259054355975446 Centerline is valid? [True, True] Translation: X:106.63, Y:160.83, Z:4.71 [[-1.65116991e-01 -9.86271397e-01 2.26076947e-03 1.06626813e+02] [ 9.86140803e-01 -1.65131929e-01 -1.60549760e-02 1.60834172e+02] [ 1.62078889e-02 -4.21512306e-04 9.99868555e-01 4.70611276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79275509600006 meters 0.021561481617218173 Centerline is valid? [True, True] Translation: X:106.62, Y:160.86, Z:4.71 [[-1.65702007e-01 -9.86173107e-01 2.33389584e-03 1.06622863e+02] [ 9.86034695e-01 -1.65717865e-01 -1.65278288e-02 1.60860783e+02] [ 1.66860685e-02 -4.37392132e-04 9.99860682e-01 4.70582976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82275509600004 meters 0.020978443810786212 Centerline is valid? [True, True] Translation: X:106.62, Y:160.89, Z:4.71 [[-1.66212528e-01 -9.86087093e-01 2.37487381e-03 1.06617684e+02] [ 9.85944573e-01 -1.66228895e-01 -1.67705908e-02 1.60887102e+02] [ 1.69320358e-02 -4.45988354e-04 9.99856543e-01 4.70609502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85275509600007 meters 0.02199505521007988 Centerline is valid? [True, True] Translation: X:106.62, Y:160.91, Z:4.71 [[-1.66015841e-01 -9.86119971e-01 2.47881192e-03 1.06615377e+02] [ 9.85965552e-01 -1.66033725e-01 -1.74565777e-02 1.60912348e+02] [ 1.76258463e-02 -4.54045261e-04 9.99844550e-01 4.70626303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88275509600004 meters 0.02001401376232911 Centerline is valid? [True, True] Translation: X:106.61, Y:160.94, Z:4.71 [[-1.65682374e-01 -9.86176125e-01 2.44974287e-03 1.06607993e+02] [ 9.86026177e-01 -1.65699914e-01 -1.72022050e-02 1.60939312e+02] [ 1.73703260e-02 -4.34591574e-04 9.99849030e-01 4.70709751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91275509600007 meters 0.02036315532167543 Centerline is valid? [True, True] Translation: X:106.61, Y:160.96, Z:4.71 [[-1.64709510e-01 -9.86339194e-01 2.40268020e-03 1.06605176e+02] [ 9.86195678e-01 -1.64726541e-01 -1.68300742e-02 1.60964986e+02] [ 1.69959470e-02 -4.02560443e-04 9.99855477e-01 4.70795931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94275509600004 meters 0.020138521752154057 Centerline is valid? [True, True] Translation: X:106.60, Y:160.99, Z:4.71 [[-1.64231346e-01 -9.86418919e-01 2.40438348e-03 1.06601068e+02] [ 9.86275992e-01 -1.64248490e-01 -1.67958533e-02 1.60990896e+02] [ 1.69626638e-02 -3.87019902e-04 9.99856049e-01 4.70873216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97275509600007 meters 0.021097850413271668 Centerline is valid? [True, True] Translation: X:106.60, Y:161.02, Z:4.71 [[-1.63963652e-01 -9.86463685e-01 2.30611739e-03 1.06598844e+02] [ 9.86332909e-01 -1.63979475e-01 -1.60662779e-02 1.61015989e+02] [ 1.62269556e-02 -3.59686135e-04 9.99868270e-01 4.70927217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00275509600004 meters 0.019458542669399465 Centerline is valid? [True, True] Translation: X:106.59, Y:161.04, Z:4.71 [[-1.62461624e-01 -9.86712170e-01 2.30541714e-03 1.06592217e+02] [ 9.86582236e-01 -1.62477650e-01 -1.60157826e-02 1.61042143e+02] [ 1.61775463e-02 -3.27466446e-04 9.99869081e-01 4.71020962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0327550960001 meters 0.018905654257663627 Centerline is valid? [True, True] Translation: X:106.59, Y:161.07, Z:4.71 [[-1.62143934e-01 -9.86764369e-01 2.32909623e-03 1.06587001e+02] [ 9.86632417e-01 -1.62160348e-01 -1.61398634e-02 1.61068075e+02] [ 1.63039292e-02 -3.19019109e-04 9.99867031e-01 4.71080639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06275509600005 meters 0.01861694780499469 Centerline is valid? [True, True] Translation: X:106.58, Y:161.09, Z:4.71 [[-1.61466866e-01 -9.86875351e-01 2.34365966e-03 1.06582544e+02] [ 9.86742493e-01 -1.61483591e-01 -1.61957454e-02 1.61093702e+02] [ 1.63616445e-02 -3.02487671e-04 9.99866094e-01 4.71134343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0927550960001 meters 0.018415641138818297 Centerline is valid? [True, True] Translation: X:106.58, Y:161.12, Z:4.71 [[-1.61013813e-01 -9.86949256e-01 2.39114383e-03 1.06578658e+02] [ 9.86811744e-01 -1.61031300e-01 -1.64773304e-02 1.61118950e+02] [ 1.66473380e-02 -2.93468983e-04 9.99861380e-01 4.71131566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12275509600005 meters 0.018014943548245173 Centerline is valid? [True, True] Translation: X:106.57, Y:161.15, Z:4.71 [[-1.59987275e-01 -9.87115996e-01 2.46615548e-03 1.06574528e+02] [ 9.86970589e-01 -1.60006042e-01 -1.69447136e-02 1.61145026e+02] [ 1.71209976e-02 -2.76915625e-04 9.99853387e-01 4.71142970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.152755096 meters 0.017895709116957953 Centerline is valid? [True, True] Translation: X:106.57, Y:161.17, Z:4.71 [[-1.59942584e-01 -9.87123094e-01 2.52323456e-03 1.06570730e+02] [ 9.86971709e-01 -1.59962250e-01 -1.72894303e-02 1.61171321e+02] [ 1.74704183e-02 -2.74955038e-04 9.99847343e-01 4.71180896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18275509600005 meters 0.01792915882703107 Centerline is valid? [True, True] Translation: X:106.57, Y:161.20, Z:4.71 [[-1.60246105e-01 -9.87073845e-01 2.53196492e-03 1.06567129e+02] [ 9.86922215e-01 -1.60265872e-01 -1.73029274e-02 1.61197452e+02] [ 1.74850546e-02 -2.73874285e-04 9.99847087e-01 4.71213480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.212755096 meters 0.01756478283401046 Centerline is valid? [True, True] Translation: X:106.56, Y:161.22, Z:4.71 [[-1.60569991e-01 -9.87020946e-01 2.63258539e-03 1.06562845e+02] [ 9.86857914e-01 -1.60591321e-01 -1.79411682e-02 1.61223236e+02] [ 1.81310792e-02 -2.82825485e-04 9.99835578e-01 4.71258407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24275509600005 meters 0.018664176698272025 Centerline is valid? [True, True] Translation: X:106.56, Y:161.25, Z:4.71 [[-1.61961876e-01 -9.86793201e-01 2.74411776e-03 1.06562233e+02] [ 9.86617009e-01 -1.61984818e-01 -1.86492747e-02 1.61249242e+02] [ 1.88474829e-02 -3.13078245e-04 9.99822321e-01 4.71168515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.272755096 meters 0.019009783418242016 Centerline is valid? [True, True] Translation: X:106.56, Y:161.27, Z:4.71 [[-1.62908625e-01 -9.86637032e-01 2.85414929e-03 1.06559654e+02] [ 9.86447416e-01 -1.62933279e-01 -1.93453276e-02 1.61274834e+02] [ 1.95518525e-02 -3.36052531e-04 9.99808788e-01 4.71154726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30275509600006 meters 0.01976449555936596 Centerline is valid? [True, True] Translation: X:106.56, Y:161.30, Z:4.71 [[-1.64236357e-01 -9.86416641e-01 2.93774616e-03 1.06557876e+02] [ 9.86216757e-01 -1.64262224e-01 -1.98602583e-02 1.61299753e+02] [ 2.00730500e-02 -3.64521981e-04 9.99798450e-01 4.71167641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.332755096 meters 0.01962373880848976 Centerline is valid? [True, True] Translation: X:106.55, Y:161.33, Z:4.71 [[-1.64380346e-01 -9.86392868e-01 2.86558427e-03 1.06552923e+02] [ 9.86203512e-01 -1.64404946e-01 -1.93299560e-02 1.61325780e+02] [ 1.95380469e-02 -3.51415589e-04 9.99809052e-01 4.71231797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36275509600006 meters 0.018704970505368054 Centerline is valid? [True, True] Translation: X:106.55, Y:161.35, Z:4.71 [[-1.64303910e-01 -9.86405654e-01 2.84812813e-03 1.06546473e+02] [ 9.86219536e-01 -1.64328243e-01 -1.91639176e-02 1.61351104e+02] [ 1.93714246e-02 -3.39826997e-04 9.99812299e-01 4.71309069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39275509600003 meters 0.01851794449448329 Centerline is valid? [True, True] Translation: X:106.54, Y:161.38, Z:4.71 [[-1.63677130e-01 -9.86509766e-01 2.87730254e-03 1.06540464e+02] [ 9.86320835e-01 -1.63702101e-01 -1.93088834e-02 1.61375767e+02] [ 1.95194225e-02 -3.22479173e-04 9.99809426e-01 4.71298423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42275509600006 meters 0.01775277562237341 Centerline is valid? [True, True] Translation: X:106.53, Y:161.40, Z:4.71 [[-1.63692668e-01 -9.86507154e-01 2.88874871e-03 1.06534016e+02] [ 9.86317745e-01 -1.63717852e-01 -1.93331483e-02 1.61401161e+02] [ 1.95452289e-02 -3.15470522e-04 9.99808924e-01 4.71347014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45275509600003 meters 0.01832292370006964 Centerline is valid? [True, True] Translation: X:106.53, Y:161.43, Z:4.71 [[-1.63743432e-01 -9.86498822e-01 2.85699719e-03 1.06530725e+02] [ 9.86314543e-01 -1.63768071e-01 -1.90694008e-02 1.61426766e+02] [ 1.92798264e-02 -3.04591263e-04 9.99814080e-01 4.71313806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48275509600006 meters 0.018473652895418944 Centerline is valid? [True, True] Translation: X:106.53, Y:161.45, Z:4.71 [[-1.64148368e-01 -9.86430810e-01 3.09366034e-03 1.06526298e+02] [ 9.86215954e-01 -1.64177189e-01 -2.05898871e-02 1.61452516e+02] [ 2.08184075e-02 -3.28779190e-04 9.99783219e-01 4.71280923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51275509600003 meters 0.018844518065693826 Centerline is valid? [True, True] Translation: X:106.52, Y:161.48, Z:4.71 [[-1.65025650e-01 -9.86284086e-01 3.19949144e-03 1.06522473e+02] [ 9.86055437e-01 -1.65056292e-01 -2.12390038e-02 1.61477213e+02] [ 2.14757876e-02 -3.50104479e-04 9.99769307e-01 4.71231695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54275509600006 meters 0.018020517275904376 Centerline is valid? [True, True] Translation: X:106.52, Y:161.50, Z:4.71 [[-1.66114262e-01 -9.86101034e-01 3.28684790e-03 1.06515957e+02] [ 9.85860936e-01 -1.66146354e-01 -2.17624280e-02 1.61504135e+02] [ 2.20060505e-02 -3.74674711e-04 9.99757767e-01 4.71284861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57275509600004 meters 0.018745759144452288 Centerline is valid? [True, True] Translation: X:106.51, Y:161.53, Z:4.71 [[-1.68298672e-01 -9.85729981e-01 3.45857700e-03 1.06511108e+02] [ 9.85465376e-01 -1.68333640e-01 -2.28424857e-02 1.61531045e+02] [ 2.30987179e-02 -4.36052122e-04 9.99733094e-01 4.71245252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60275509600007 meters 0.020133035320865533 Centerline is valid? [True, True] Translation: X:106.51, Y:161.56, Z:4.71 [[-1.69557665e-01 -9.85514096e-01 3.48778071e-03 1.06507252e+02] [ 9.85246270e-01 -1.69592910e-01 -2.29789403e-02 1.61557085e+02] [ 2.32375724e-02 -4.59932532e-04 9.99729865e-01 4.71127913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63275509600004 meters 0.020017389077141446 Centerline is valid? [True, True] Translation: X:106.50, Y:161.58, Z:4.71 [[-1.70563351e-01 -9.85340580e-01 3.47645694e-03 1.06503323e+02] [ 9.85075820e-01 -1.70598123e-01 -2.28453250e-02 1.61582546e+02] [ 2.31035028e-02 -4.72001506e-04 9.99732967e-01 4.71267377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66275509600007 meters 0.02031593997598119 Centerline is valid? [True, True] Translation: X:106.50, Y:161.61, Z:4.71 [[-1.71739799e-01 -9.85136299e-01 3.45177292e-03 1.06498729e+02] [ 9.84876625e-01 -1.71773797e-01 -2.26229105e-02 1.61608362e+02] [ 2.28795745e-02 -4.85683644e-04 9.99738110e-01 4.71357351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69275509600004 meters 0.02040221997731447 Centerline is valid? [True, True] Translation: X:106.49, Y:161.63, Z:4.71 [[-1.72275774e-01 -9.85042778e-01 3.43262239e-03 1.06494433e+02] [ 9.84787267e-01 -1.72309284e-01 -2.24399267e-02 1.61634580e+02] [ 2.26957605e-02 -4.85452926e-04 9.99742300e-01 4.71437121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72275509600007 meters 0.020455213916689582 Centerline is valid? [True, True] Translation: X:106.49, Y:161.66, Z:4.72 [[-1.72295127e-01 -9.85039524e-01 3.39479409e-03 1.06489842e+02] [ 9.84790873e-01 -1.72327925e-01 -2.21364485e-02 1.61660269e+02] [ 2.23902945e-02 -4.70839977e-04 9.99749195e-01 4.71577907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75275509600004 meters 0.0197431895857194 Centerline is valid? [True, True] Translation: X:106.48, Y:161.69, Z:4.72 [[-1.72282790e-01 -9.85041839e-01 3.34897200e-03 1.06483931e+02] [ 9.84801079e-01 -1.72314738e-01 -2.17822416e-02 1.61686438e+02] [ 2.20334966e-02 -4.54634130e-04 9.99757130e-01 4.71685331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7827550960001 meters 0.02007116484823825 Centerline is valid? [True, True] Translation: X:106.48, Y:161.71, Z:4.72 [[-1.72165318e-01 -9.85062501e-01 3.31235819e-03 1.06480134e+02] [ 9.84828212e-01 -1.72196623e-01 -2.14875580e-02 1.61711298e+02] [ 2.17369645e-02 -4.37308448e-04 9.99763629e-01 4.71732812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81275509600005 meters 0.020594096141855305 Centerline is valid? [True, True] Translation: X:106.48, Y:161.74, Z:4.72 [[-1.71744874e-01 -9.85136113e-01 3.24605058e-03 1.06476424e+02] [ 9.84912223e-01 -1.71775056e-01 -2.10057778e-02 1.61736447e+02] [ 2.12511408e-02 -4.10559772e-04 9.99774085e-01 4.71779663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8427550960001 meters 0.020132135283942126 Centerline is valid? [True, True] Translation: X:106.47, Y:161.76, Z:4.72 [[-1.70822366e-01 -9.85296540e-01 3.23217187e-03 1.06470270e+02] [ 9.85075550e-01 -1.70852517e-01 -2.08704955e-02 1.61760861e+02] [ 2.11158517e-02 -3.81213943e-04 9.99776963e-01 4.71877597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87275509600005 meters 0.018150683177697885 Centerline is valid? [True, True] Translation: X:106.46, Y:161.79, Z:4.72 [[-1.70691010e-01 -9.85319323e-01 3.22659782e-03 1.06462012e+02] [ 9.85100247e-01 -1.70721106e-01 -2.07799708e-02 1.61786409e+02] [ 2.10257551e-02 -3.68431885e-04 9.99778867e-01 4.72099823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.902755096 meters 0.01766862266878622 Centerline is valid? [True, True] Translation: X:106.46, Y:161.81, Z:4.72 [[-1.70244872e-01 -9.85396862e-01 3.11572622e-03 1.06456360e+02] [ 9.85193616e-01 -1.70273045e-01 -2.00157040e-02 1.61812646e+02] [ 2.02539361e-02 -3.37977390e-04 9.99794811e-01 4.72244246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93275509600005 meters 0.018907518689708358 Centerline is valid? [True, True] Translation: X:106.45, Y:161.84, Z:4.72 [[-1.70141870e-01 -9.85414783e-01 3.07397105e-03 1.06454850e+02] [ 9.85217898e-01 -1.70169330e-01 -1.97000670e-02 1.61838623e+02] [ 1.99358328e-02 -3.23274947e-04 9.99801209e-01 4.72252043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.962755096 meters 0.0177563298491896 Centerline is valid? [True, True] Translation: X:106.45, Y:161.86, Z:4.72 [[-1.70219581e-01 -9.85401399e-01 3.06206855e-03 1.06448131e+02] [ 9.85207012e-01 -1.70246829e-01 -1.95745048e-02 1.61864218e+02] [ 1.98100519e-02 -3.15192596e-04 9.99803712e-01 4.72399153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99275509600005 meters 0.0175639593534153 Centerline is valid? [True, True] Translation: X:106.44, Y:161.89, Z:4.72 [[-1.70087227e-01 -9.85424311e-01 3.04358214e-03 1.06443211e+02] [ 9.85233245e-01 -1.70114187e-01 -1.94066028e-02 1.61890218e+02] [ 1.96414946e-02 -3.02176935e-04 9.99807042e-01 4.72422877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.022755096 meters 0.01727917487021747 Centerline is valid? [True, True] Translation: X:106.44, Y:161.92, Z:4.72 [[-1.70247579e-01 -9.85396652e-01 3.03306627e-03 1.06438004e+02] [ 9.85207869e-01 -1.70274338e-01 -1.92900301e-02 1.61915932e+02] [ 1.95247844e-02 -2.95880179e-04 9.99809329e-01 4.72465188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05275509600006 meters 0.017673396978360015 Centerline is valid? [True, True] Translation: X:106.43, Y:161.94, Z:4.72 [[-1.70681738e-01 -9.85321296e-01 3.11263954e-03 1.06434652e+02] [ 9.85123522e-01 -1.70709848e-01 -1.97432022e-02 1.61941246e+02] [ 1.99847558e-02 -3.03469636e-04 9.99800239e-01 4.72432559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.082755096 meters 0.01736992445310109 Centerline is valid? [True, True] Translation: X:106.43, Y:161.97, Z:4.72 [[-1.71554255e-01 -9.85169863e-01 3.07871201e-03 1.06429806e+02] [ 9.84977373e-01 -1.71581600e-01 -1.94763939e-02 1.61967333e+02] [ 1.97158066e-02 -3.08796575e-04 9.99805577e-01 4.72476621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11275509600006 meters 0.017990193853555998 Centerline is valid? [True, True] Translation: X:106.43, Y:161.99, Z:4.72 [[-1.73940233e-01 -9.84751253e-01 3.12497316e-03 1.06427296e+02] [ 9.84553866e-01 -1.73967943e-01 -1.97190293e-02 1.61994988e+02] [ 1.99619840e-02 -3.53228146e-04 9.99800677e-01 4.72444272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14275509600003 meters 0.018202187751029674 Centerline is valid? [True, True] Translation: X:106.42, Y:162.02, Z:4.73 [[-1.75389238e-01 -9.84494132e-01 3.14948558e-03 1.06423855e+02] [ 9.84294524e-01 -1.75417107e-01 -1.98274541e-02 1.62022501e+02] [ 2.00724859e-02 -3.77500656e-04 9.99798456e-01 4.72536623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17275509600006 meters 0.018684292384999197 Centerline is valid? [True, True] Translation: X:106.42, Y:162.05, Z:4.73 [[-1.76989316e-01 -9.84207874e-01 3.10518107e-03 1.06421057e+02] [ 9.84014690e-01 -1.77016109e-01 -1.95035194e-02 1.62049928e+02] [ 1.97451845e-02 -3.96370766e-04 9.99804966e-01 4.72579061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20275509600003 meters 0.021498201284668065 Centerline is valid? [True, True] Translation: X:106.42, Y:162.08, Z:4.72 [[-1.79210092e-01 -9.83805628e-01 3.19829155e-03 1.06419884e+02] [ 9.83601596e-01 -1.79238075e-01 -2.00402730e-02 1.62076593e+02] [ 2.02889890e-02 -4.45574508e-04 9.99794058e-01 4.72427002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23275509600006 meters 0.021059816357723426 Centerline is valid? [True, True] Translation: X:106.42, Y:162.10, Z:4.73 [[-1.80967013e-01 -9.83484388e-01 3.06576013e-03 1.06418307e+02] [ 9.83297736e-01 -1.80992411e-01 -1.91653282e-02 1.62103204e+02] [ 1.94036804e-02 -4.53737197e-04 9.99811628e-01 4.72705248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26275509600003 meters 0.021587701938152497 Centerline is valid? [True, True] Translation: X:106.41, Y:162.13, Z:4.73 [[-1.82460422e-01 -9.83208434e-01 3.06112712e-03 1.06414828e+02] [ 9.83023155e-01 -1.82485481e-01 -1.90925859e-02 1.62130482e+02] [ 1.93306027e-02 -4.74482427e-04 9.99813034e-01 4.72753841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29275509600006 meters 0.021587701938152497 Centerline is valid? [True, True] Translation: X:106.41, Y:162.16, Z:4.73 [[-1.82835532e-01 -9.83138727e-01 3.06784963e-03 1.06410461e+02] [ 9.82953456e-01 -1.82860651e-01 -1.90915059e-02 1.62156044e+02] [ 1.93305878e-02 -4.75052237e-04 9.99813034e-01 4.72792143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32275509600004 meters 0.020969280534340506 Centerline is valid? [True, True] Translation: X:106.41, Y:162.18, Z:4.73 [[-1.84307609e-01 -9.82863804e-01 3.07366054e-03 1.06405751e+02] [ 9.82678679e-01 -1.84332568e-01 -1.90818642e-02 1.62182669e+02] [ 1.93214493e-02 -4.96512077e-04 9.99813200e-01 4.72806629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35275509600007 meters 0.021743479588855433 Centerline is valid? [True, True] Translation: X:106.40, Y:162.21, Z:4.73 [[-1.84918741e-01 -9.82749030e-01 3.06632271e-03 1.06402837e+02] [ 9.82565634e-01 -1.84943489e-01 -1.89915898e-02 1.62208307e+02] [ 1.92310629e-02 -4.99037569e-04 9.99814941e-01 4.72819944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38275509600004 meters 0.021839648765907046 Centerline is valid? [True, True] Translation: X:106.40, Y:162.23, Z:4.73 [[-1.85221002e-01 -9.82692135e-01 3.05733772e-03 1.06398703e+02] [ 9.82510739e-01 -1.85245574e-01 -1.88871881e-02 1.62234335e+02] [ 1.91266495e-02 -4.94436774e-04 9.99816947e-01 4.72842736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41275509600007 meters 0.02073249599726257 Centerline is valid? [True, True] Translation: X:106.39, Y:162.26, Z:4.73 [[-1.84244267e-01 -9.82875793e-01 3.03741953e-03 1.06392247e+02] [ 9.82697623e-01 -1.84268718e-01 -1.87195257e-02 1.62261230e+02] [ 1.89586700e-02 -4.64100339e-04 9.99820161e-01 4.72880090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44275509600004 meters 0.01968927666575543 Centerline is valid? [True, True] Translation: X:106.39, Y:162.29, Z:4.73 [[-1.83187765e-01 -9.83073052e-01 3.10108798e-03 1.06385767e+02] [ 9.82888202e-01 -1.83213471e-01 -1.90684589e-02 1.62287355e+02] [ 1.93138491e-02 -4.45085567e-04 9.99813371e-01 4.72920088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47275509600007 meters 0.019221792068437854 Centerline is valid? [True, True] Translation: X:106.38, Y:162.31, Z:4.73 [[-1.82170154e-01 -9.83262217e-01 3.07365309e-03 1.06380163e+02] [ 9.83081467e-01 -1.82195613e-01 -1.88570194e-02 1.62314091e+02] [ 1.91014008e-02 -4.13534729e-04 9.99817466e-01 4.72927139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50275509600004 meters 0.018000009068541836 Centerline is valid? [True, True] Translation: X:106.37, Y:162.34, Z:4.73 [[-1.79509832e-01 -9.83751275e-01 3.10635950e-03 1.06373049e+02] [ 9.83567567e-01 -1.79536351e-01 -1.90141854e-02 1.62340717e+02] [ 1.92629335e-02 -3.57918765e-04 9.99814388e-01 4.72963801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5327550960001 meters 0.017513324243632014 Centerline is valid? [True, True] Translation: X:106.37, Y:162.37, Z:4.73 [[-1.78136644e-01 -9.84000995e-01 3.06244648e-03 1.06367530e+02] [ 9.83823286e-01 -1.78162681e-01 -1.87029576e-02 1.62367062e+02] [ 1.89493425e-02 -3.18775935e-04 9.99820394e-01 4.73006850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56275509600005 meters 0.017471230444145665 Centerline is valid? [True, True] Translation: X:106.36, Y:162.39, Z:4.73 [[-1.77159967e-01 -9.84177414e-01 3.02730621e-03 1.06363185e+02] [ 9.84004572e-01 -1.77185595e-01 -1.84463424e-02 1.62392292e+02] [ 1.86908686e-02 -2.89070272e-04 9.99825269e-01 4.73031557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5927550960001 meters 0.016395102505541853 Centerline is valid? [True, True] Translation: X:106.36, Y:162.42, Z:4.73 [[-1.74985293e-01 -9.84567007e-01 2.82071082e-03 1.06356272e+02] [ 9.84417571e-01 -1.75007881e-01 -1.71548290e-02 1.62418430e+02] [ 1.73837253e-02 -2.25085481e-04 9.99848866e-01 4.73187442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62275509600005 meters 0.015999150055513577 Centerline is valid? [True, True] Translation: X:106.35, Y:162.44, Z:4.73 [[-1.74292691e-01 -9.84690095e-01 2.73391916e-03 1.06350839e+02] [ 9.84550338e-01 -1.74314017e-01 -1.65908129e-02 1.62444081e+02] [ 1.68133695e-02 -1.99976391e-04 9.99858625e-01 4.73277097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.652755096 meters 0.01561246131115681 Centerline is valid? [True, True] Translation: X:106.35, Y:162.47, Z:4.73 [[-1.73232519e-01 -9.84877614e-01 2.56501097e-03 1.06345344e+02] [ 9.84755181e-01 -1.73251430e-01 -1.55298505e-02 1.62470114e+02] [ 1.57393940e-02 -1.64367295e-04 9.99876115e-01 4.73378437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68275509600005 meters 0.015664861649060353 Centerline is valid? [True, True] Translation: X:106.34, Y:162.50, Z:4.73 [[-1.73466998e-01 -9.84836467e-01 2.51671288e-03 1.06341196e+02] [ 9.84719163e-01 -1.73485181e-01 -1.52007344e-02 1.62496148e+02] [ 1.54068500e-02 -1.58570358e-04 9.99881295e-01 4.73428379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.712755096 meters 0.015622875524897717 Centerline is valid? [True, True] Translation: X:106.34, Y:162.52, Z:4.73 [[-1.74026216e-01 -9.84737947e-01 2.46026039e-03 1.06337221e+02] [ 9.84626368e-01 -1.74043534e-01 -1.48244138e-02 1.62522196e+02] [ 1.50263552e-02 -1.57399383e-04 9.99887086e-01 4.73472806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74275509600005 meters 0.015560247212421689 Centerline is valid? [True, True] Translation: X:106.33, Y:162.55, Z:4.74 [[-1.74751625e-01 -9.84609411e-01 2.48558959e-03 1.06333303e+02] [ 9.84496066e-01 -1.74769224e-01 -1.49403403e-02 1.62548673e+02] [ 1.51448042e-02 -1.63795559e-04 9.99885297e-01 4.73500813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.772755096 meters 0.016115657522815297 Centerline is valid? [True, True] Translation: X:106.33, Y:162.58, Z:4.74 [[-1.76961368e-01 -9.84214667e-01 2.48283553e-03 1.06331473e+02] [ 9.84102086e-01 -1.76978681e-01 -1.48872857e-02 1.62575155e+02] [ 1.50916939e-02 -1.91110820e-04 9.99886096e-01 4.73570310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80275509600006 meters 0.0164575022998799 Centerline is valid? [True, True] Translation: X:106.33, Y:162.60, Z:4.74 [[-1.78340719e-01 -9.83965631e-01 2.49490257e-03 1.06328208e+02] [ 9.83852453e-01 -1.78358049e-01 -1.49250215e-02 1.62601431e+02] [ 1.51306942e-02 -2.07123059e-04 9.99885503e-01 4.73596466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.832755096 meters 0.017082864896101883 Centerline is valid? [True, True] Translation: X:106.33, Y:162.63, Z:4.74 [[-1.79989973e-01 -9.83665218e-01 2.51983402e-03 1.06325152e+02] [ 9.83550298e-01 -1.80007466e-01 -1.50373990e-02 1.62626766e+02] [ 1.52453553e-02 -2.28197530e-04 9.99883757e-01 4.73614678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86275509600006 meters 0.018015488832294143 Centerline is valid? [True, True] Translation: X:106.32, Y:162.65, Z:4.74 [[-1.82033316e-01 -9.83288975e-01 2.58156708e-03 1.06322647e+02] [ 9.83168929e-01 -1.82051436e-01 -1.53665504e-02 1.62653352e+02] [ 1.55797376e-02 -2.59107581e-04 9.99878595e-01 4.73589808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89275509600003 meters 0.01973811625236886 Centerline is valid? [True, True] Translation: X:106.32, Y:162.68, Z:4.73 [[-1.83623204e-01 -9.82993068e-01 2.67335437e-03 1.06317255e+02] [ 9.82864889e-01 -1.83642438e-01 -1.58765855e-02 1.62680426e+02] [ 1.60975148e-02 -2.87763348e-04 9.99870385e-01 4.73378908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92275509600006 meters 0.018259782989017228 Centerline is valid? [True, True] Translation: X:106.31, Y:162.71, Z:4.74 [[-1.84857677e-01 -9.82761748e-01 2.64297128e-03 1.06314011e+02] [ 9.82636981e-01 -1.84876330e-01 -1.56622709e-02 1.62705135e+02] [ 1.58809035e-02 -2.98209691e-04 9.99873846e-01 4.73645831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95275509600003 meters 0.01883344041732972 Centerline is valid? [True, True] Translation: X:106.31, Y:162.73, Z:4.74 [[-1.87424056e-01 -9.82275415e-01 2.68927227e-03 1.06310727e+02] [ 9.82146726e-01 -1.87443042e-01 -1.59032920e-02 1.62732595e+02] [ 1.61254982e-02 -3.39399554e-04 9.99869918e-01 4.73649301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98275509600006 meters 0.01988199512344046 Centerline is valid? [True, True] Translation: X:106.31, Y:162.76, Z:4.74 [[-1.88937289e-01 -9.81985333e-01 2.73966923e-03 1.06307972e+02] [ 9.81852336e-01 -1.88956800e-01 -1.61653415e-02 1.62758323e+02] [ 1.63918074e-02 -3.64285177e-04 9.99865579e-01 4.73646604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01275509600003 meters 0.02011748273747218 Centerline is valid? [True, True] Translation: X:106.30, Y:162.78, Z:4.74 [[-1.91507355e-01 -9.81486914e-01 2.89319833e-03 1.06303556e+02] [ 9.81339233e-01 -1.91528743e-01 -1.70308848e-02 1.62784929e+02] [ 1.72697212e-02 -4.22330678e-04 9.99850778e-01 4.73604588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04275509600006 meters 0.02087108190765968 Centerline is valid? [True, True] Translation: X:106.30, Y:162.81, Z:4.74 [[-1.92889222e-01 -9.81216116e-01 2.94642774e-03 1.06300108e+02] [ 9.81063594e-01 -1.92911205e-01 -1.73058047e-02 1.62810633e+02] [ 1.75491334e-02 -4.47470207e-04 9.99845902e-01 4.73579449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07275509600004 meters 0.02076451120939185 Centerline is valid? [True, True] Translation: X:106.30, Y:162.84, Z:4.74 [[-1.93991093e-01 -9.80998678e-01 3.00815684e-03 1.06295063e+02] [ 9.80840396e-01 -1.94013847e-01 -1.76279730e-02 1.62837025e+02] [ 1.78766423e-02 -4.69147986e-04 9.99840090e-01 4.73549270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10275509600007 meters 0.021405593382462507 Centerline is valid? [True, True] Translation: X:106.29, Y:162.86, Z:4.74 [[-1.95259214e-01 -9.80746891e-01 3.06173268e-03 1.06291200e+02] [ 9.80583610e-01 -1.95282594e-01 -1.79022868e-02 1.62864447e+02] [ 1.81555153e-02 -4.93301583e-04 9.99835053e-01 4.73556615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13275509600004 meters 0.022896119677436908 Centerline is valid? [True, True] Translation: X:106.29, Y:162.89, Z:4.74 [[-1.96837923e-01 -9.80431392e-01 3.01968149e-03 1.06289056e+02] [ 9.80273209e-01 -1.96860429e-01 -1.76184064e-02 1.62890280e+02] [ 1.78680945e-02 -5.07857647e-04 9.99840224e-01 4.73572864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16275509600007 meters 0.022424333976231645 Centerline is valid? [True, True] Translation: X:106.28, Y:162.92, Z:4.74 [[-1.97673576e-01 -9.80263435e-01 2.95894751e-03 1.06283854e+02] [ 9.80112207e-01 -1.97695076e-01 -1.72255068e-02 1.62915951e+02] [ 1.74705038e-02 -5.04926946e-04 9.99847252e-01 4.73626326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19275509600004 meters 0.026015187346192396 Centerline is valid? [True, True] Translation: X:106.28, Y:162.94, Z:4.74 [[-1.98826410e-01 -9.80030197e-01 2.97843368e-03 1.06284580e+02] [ 9.79877666e-01 -1.98848035e-01 -1.72979613e-02 1.62943021e+02] [ 1.75447801e-02 -5.20790896e-04 9.99845943e-01 4.73679888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22275509600007 meters 0.02266005748748127 Centerline is valid? [True, True] Translation: X:106.27, Y:162.97, Z:4.74 [[-1.99190079e-01 -9.79956326e-01 2.98526520e-03 1.06274724e+02] [ 9.79803773e-01 -1.99211767e-01 -1.72985083e-02 1.62968011e+02] [ 1.75464826e-02 -5.20717118e-04 9.99845913e-01 4.73796397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25275509600004 meters 0.022985091070384253 Centerline is valid? [True, True] Translation: X:106.27, Y:162.99, Z:4.74 [[-1.99511666e-01 -9.79890834e-01 3.00796707e-03 1.06270384e+02] [ 9.79736685e-01 -1.99533657e-01 -1.73881683e-02 1.62993562e+02] [ 1.76386974e-02 -5.22126736e-04 9.99844290e-01 4.73833926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2827550960001 meters 0.02239648623648432 Centerline is valid? [True, True] Translation: X:106.26, Y:163.02, Z:4.74 [[-1.98996876e-01 -9.79995421e-01 3.03623253e-03 1.06264249e+02] [ 9.79839142e-01 -1.99019386e-01 -1.75082881e-02 1.63019724e+02] [ 1.77623113e-02 -5.09075155e-04 9.99842108e-01 4.73920142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31275509600005 meters 0.022387460204376913 Centerline is valid? [True, True] Translation: X:106.26, Y:163.04, Z:4.74 [[-1.98566013e-01 -9.80082855e-01 3.02244095e-03 1.06259410e+02] [ 9.79928727e-01 -1.98588408e-01 -1.73877397e-02 1.63044338e+02] [ 1.76416473e-02 -4.90837429e-04 9.99844254e-01 4.73971947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3427550960001 meters 0.021525175578501494 Centerline is valid? [True, True] Translation: X:106.25, Y:163.07, Z:4.74 [[-1.97955223e-01 -9.80206320e-01 3.04947819e-03 1.06253196e+02] [ 9.80050198e-01 -1.97978139e-01 -1.75004582e-02 1.63070362e+02] [ 1.77577897e-02 -4.75665405e-04 9.99842205e-01 4.74029767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37275509600005 meters 0.020667749846575295 Centerline is valid? [True, True] Translation: X:106.25, Y:163.10, Z:4.74 [[-1.96643167e-01 -9.80470602e-01 2.97717011e-03 1.06246169e+02] [ 9.80322498e-01 -1.96665225e-01 -1.70466655e-02 1.63096644e+02] [ 1.72992602e-02 -4.33523433e-04 9.99850263e-01 4.74076077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.402755096 meters 0.020206775325835518 Centerline is valid? [True, True] Translation: X:106.24, Y:163.12, Z:4.74 [[-1.96068535e-01 -9.80585874e-01 2.91080628e-03 1.06240060e+02] [ 9.80444903e-01 -1.96089718e-01 -1.66317576e-02 1.63123636e+02] [ 1.68796457e-02 -4.07079163e-04 9.99857446e-01 4.74167667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43275509600005 meters 0.02165199899344081 Centerline is valid? [True, True] Translation: X:106.24, Y:163.15, Z:4.74 [[-1.95605331e-01 -9.80678620e-01 2.82823590e-03 1.06235967e+02] [ 9.80546099e-01 -1.95625406e-01 -1.61260158e-02 1.63149395e+02] [ 1.63677137e-02 -3.81118993e-04 9.99865967e-01 4.74110099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.462755096 meters 0.01965290868344105 Centerline is valid? [True, True] Translation: X:106.23, Y:163.18, Z:4.74 [[-1.94098206e-01 -9.80978606e-01 2.61931136e-03 1.06228259e+02] [ 9.80865438e-01 -1.94115609e-01 -1.49037638e-02 1.63175419e+02] [ 1.51287226e-02 -3.23601820e-04 9.99885502e-01 4.74385853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49275509600005 meters 0.019673078501675944 Centerline is valid? [True, True] Translation: X:106.22, Y:163.20, Z:4.74 [[-1.93958904e-01 -9.81006457e-01 2.50480353e-03 1.06222952e+02] [ 9.80903383e-01 -1.93974842e-01 -1.42236864e-02 1.63201053e+02] [ 1.44393970e-02 -3.01840359e-04 9.99895701e-01 4.74444728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.522755096 meters 0.019791451211984216 Centerline is valid? [True, True] Translation: X:106.22, Y:163.23, Z:4.75 [[-1.93363307e-01 -9.81124253e-01 2.41500068e-03 1.06217679e+02] [ 9.81028870e-01 -1.93378190e-01 -1.36832406e-02 1.63226155e+02] [ 1.38919677e-02 -2.76651275e-04 9.99903464e-01 4.74514012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55275509600006 meters 0.019439841295624948 Centerline is valid? [True, True] Translation: X:106.21, Y:163.25, Z:4.75 [[-1.93151197e-01 -9.81166097e-01 2.38839759e-03 1.06211787e+02] [ 9.81073252e-01 -1.93165782e-01 -1.35001610e-02 1.63252295e+02] [ 1.37072569e-02 -2.64379260e-04 9.99906016e-01 4.74556280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.582755096 meters 0.019436764951680036 Centerline is valid? [True, True] Translation: X:106.21, Y:163.28, Z:4.75 [[-1.93118518e-01 -9.81172535e-01 2.38651426e-03 1.06206315e+02] [ 9.81080257e-01 -1.93133092e-01 -1.34587764e-02 1.63277747e+02] [ 1.36662967e-02 -2.57776937e-04 9.99906579e-01 4.74586257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61275509600006 meters 0.018993646858507497 Centerline is valid? [True, True] Translation: X:106.20, Y:163.30, Z:4.75 [[-1.92082362e-01 -9.81375817e-01 2.42308534e-03 1.06199924e+02] [ 9.81281142e-01 -1.92097493e-01 -1.36335229e-02 1.63303843e+02] [ 1.38450783e-02 -2.41031318e-04 9.99904123e-01 4.74590763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64275509600003 meters 0.018907977751676755 Centerline is valid? [True, True] Translation: X:106.19, Y:163.33, Z:4.75 [[-1.91611672e-01 -9.81467789e-01 2.43839167e-03 1.06194420e+02] [ 9.81372353e-01 -1.91627049e-01 -1.36886502e-02 1.63328405e+02] [ 1.39022310e-02 -2.29934985e-04 9.99903333e-01 4.74579211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67275509600006 meters 0.018710244588665687 Centerline is valid? [True, True] Translation: X:106.19, Y:163.35, Z:4.75 [[-1.91230930e-01 -9.81541859e-01 2.51208904e-03 1.06188423e+02] [ 9.81441060e-01 -1.91247297e-01 -1.40682988e-02 1.63354198e+02] [ 1.42890544e-02 -2.24826542e-04 9.99897881e-01 4.74573068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70275509600003 meters 0.017908017307049547 Centerline is valid? [True, True] Translation: X:106.18, Y:163.38, Z:4.75 [[-1.89675694e-01 -9.81843185e-01 2.66284117e-03 1.06180906e+02] [ 9.81730479e-01 -1.89694271e-01 -1.48778780e-02 1.63379995e+02] [ 1.51128689e-02 -2.07779492e-04 9.99885773e-01 4.74538968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73275509600006 meters 0.01756648535541754 Centerline is valid? [True, True] Translation: X:106.17, Y:163.41, Z:4.75 [[-1.89512238e-01 -9.81874687e-01 2.68527189e-03 1.06174736e+02] [ 9.81760592e-01 -1.89531155e-01 -1.49693199e-02 1.63405669e+02] [ 1.52069390e-02 -2.00575193e-04 9.99884348e-01 4.74542227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76275509600003 meters 0.01815213784364977 Centerline is valid? [True, True] Translation: X:106.17, Y:163.43, Z:4.75 [[-1.89251662e-01 -9.81924742e-01 2.75865627e-03 1.06171413e+02] [ 9.81804890e-01 -1.89271666e-01 -1.53425437e-02 1.63430579e+02] [ 1.55873588e-02 -1.95139685e-04 9.99878491e-01 4.74572958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79275509600006 meters 0.01799402444326421 Centerline is valid? [True, True] Translation: X:106.17, Y:163.46, Z:4.75 [[-1.89625313e-01 -9.81852695e-01 2.74337450e-03 1.06165913e+02] [ 9.81734591e-01 -1.89645057e-01 -1.52297435e-02 1.63456160e+02] [ 1.54736321e-02 -1.94679228e-04 9.99880257e-01 4.74593996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82275509600004 meters 0.018352079654213684 Centerline is valid? [True, True] Translation: X:106.16, Y:163.48, Z:4.75 [[-1.90390187e-01 -9.81704648e-01 2.74957262e-03 1.06159840e+02] [ 9.81586504e-01 -1.90409934e-01 -1.52312755e-02 1.63482312e+02] [ 1.54761599e-02 -2.00942009e-04 9.99880217e-01 4.74519284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85275509600007 meters 0.018440721445756137 Centerline is valid? [True, True] Translation: X:106.16, Y:163.51, Z:4.75 [[-1.91148480e-01 -9.81557412e-01 2.70306420e-03 1.06156957e+02] [ 9.81443720e-01 -1.91167483e-01 -1.49404471e-02 1.63507549e+02] [ 1.51816445e-02 -2.02938360e-04 9.99884732e-01 4.74641752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88275509600004 meters 0.01844435321444372 Centerline is valid? [True, True] Translation: X:106.15, Y:163.53, Z:4.75 [[-1.93265586e-01 -9.81142658e-01 2.73830808e-03 1.06151959e+02] [ 9.81026366e-01 -1.93284843e-01 -1.51075936e-02 1.63534042e+02] [ 1.53519780e-02 -2.33425511e-04 9.99882124e-01 4.74680070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91275509600007 meters 0.019695041834991982 Centerline is valid? [True, True] Translation: X:106.15, Y:163.56, Z:4.75 [[-1.94501091e-01 -9.80898600e-01 2.69504184e-03 1.06150246e+02] [ 9.80786376e-01 -1.94519609e-01 -1.48393427e-02 1.63559575e+02] [ 1.50801289e-02 -2.43008014e-04 9.99886259e-01 4.74710951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94275509600004 meters 0.01959857285752254 Centerline is valid? [True, True] Translation: X:106.14, Y:163.59, Z:4.75 [[-1.95970277e-01 -9.80606168e-01 2.68224354e-03 1.06143765e+02] [ 9.80495492e-01 -1.95988463e-01 -1.47347757e-02 1.63585188e+02] [ 1.49747007e-02 -2.57650380e-04 9.99887840e-01 4.74639795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97275509600007 meters 0.019333334248952682 Centerline is valid? [True, True] Translation: X:106.14, Y:163.61, Z:4.75 [[-1.98001951e-01 -9.80197906e-01 2.70055833e-03 1.06139584e+02] [ 9.80086180e-01 -1.98020163e-01 -1.48018770e-02 1.63612182e+02] [ 1.50435338e-02 -2.84020632e-04 9.99886799e-01 4.74770561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00275509600004 meters 0.01973357611174228 Centerline is valid? [True, True] Translation: X:106.14, Y:163.64, Z:4.75 [[-1.99284780e-01 -9.79937844e-01 2.72016791e-03 1.06135257e+02] [ 9.79824928e-01 -1.99303118e-01 -1.48787707e-02 1.63638670e+02] [ 1.51224084e-02 -2.99824213e-04 9.99885605e-01 4.74776616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0327550960001 meters 0.020530557340792666 Centerline is valid? [True, True] Translation: X:106.13, Y:163.66, Z:4.75 [[-2.01060075e-01 -9.79575086e-01 2.73806098e-03 1.06131607e+02] [ 9.79461111e-01 -2.01078458e-01 -1.49461087e-02 1.63664861e+02] [ 1.51914008e-02 -3.23241487e-04 9.99884552e-01 4.74778531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06275509600005 meters 0.020781264164594925 Centerline is valid? [True, True] Translation: X:106.13, Y:163.69, Z:4.75 [[-2.02080891e-01 -9.79365087e-01 2.70917979e-03 1.06126947e+02] [ 9.79253949e-01 -2.02098782e-01 -1.47575298e-02 1.63691128e+02] [ 1.50005314e-02 -3.29239764e-04 9.99887432e-01 4.74823220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0927550960001 meters 0.021085688354132742 Centerline is valid? [True, True] Translation: X:106.12, Y:163.72, Z:4.75 [[-2.02959612e-01 -9.79183393e-01 2.69807900e-03 1.06122184e+02] [ 9.79073626e-01 -2.02977269e-01 -1.46650053e-02 1.63717341e+02] [ 1.49073783e-02 -3.34785783e-04 9.99888823e-01 4.74862831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12275509600005 meters 0.021622889530407353 Centerline is valid? [True, True] Translation: X:106.12, Y:163.74, Z:4.75 [[-2.04102809e-01 -9.78945578e-01 2.75664145e-03 1.06117734e+02] [ 9.78831479e-01 -2.04121119e-01 -1.49500687e-02 1.63743418e+02] [ 1.51979924e-02 -3.53063595e-04 9.99884442e-01 4.74863704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.152755096 meters 0.02181009578586643 Centerline is valid? [True, True] Translation: X:106.11, Y:163.77, Z:4.75 [[-2.04706626e-01 -9.78819419e-01 2.78242547e-03 1.06112624e+02] [ 9.78703642e-01 -2.04725219e-01 -1.50587146e-02 1.63769680e+02] [ 1.53093949e-02 -3.59448712e-04 9.99882740e-01 4.74895871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18275509600005 meters 0.02181009578586643 Centerline is valid? [True, True] Translation: X:106.11, Y:163.80, Z:4.75 [[-2.05081290e-01 -9.78740972e-01 2.78819309e-03 1.06107651e+02] [ 9.78625203e-01 -2.05099927e-01 -1.50576466e-02 1.63795129e+02] [ 1.53093939e-02 -3.59445561e-04 9.99882740e-01 4.74934155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.212755096 meters 0.022292814471851795 Centerline is valid? [True, True] Translation: X:106.10, Y:163.82, Z:4.75 [[-2.05803881e-01 -9.78589596e-01 2.67672315e-03 1.06103533e+02] [ 9.78483321e-01 -2.05820990e-01 -1.44260415e-02 1.63820270e+02] [ 1.46680999e-02 -3.49806361e-04 9.99892356e-01 4.74976283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24275509600005 meters 0.022690412358789096 Centerline is valid? [True, True] Translation: X:106.10, Y:163.85, Z:4.75 [[-2.06544535e-01 -9.78433460e-01 2.70559785e-03 1.06099103e+02] [ 9.78325235e-01 -2.06561942e-01 -1.45567738e-02 1.63845072e+02] [ 1.48017081e-02 -3.59667427e-04 9.99890384e-01 4.75020260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.272755096 meters 0.022905514670849135 Centerline is valid? [True, True] Translation: X:106.09, Y:163.87, Z:4.75 [[-2.07163979e-01 -9.78302623e-01 2.65793451e-03 1.06094278e+02] [ 9.78198612e-01 -2.07180723e-01 -1.42696981e-02 1.63871103e+02] [ 1.45107559e-02 -3.56179585e-04 9.99894650e-01 4.75055951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30275509600006 meters 0.023131311903191478 Centerline is valid? [True, True] Translation: X:106.09, Y:163.90, Z:4.75 [[-2.07330982e-01 -9.78267105e-01 2.70841675e-03 1.06089535e+02] [ 9.78159553e-01 -2.07348360e-01 -1.45102029e-02 1.63895744e+02] [ 1.47564400e-02 -3.59150897e-04 9.99891053e-01 4.75019578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.332755096 meters 0.023244263493601605 Centerline is valid? [True, True] Translation: X:106.08, Y:163.92, Z:4.75 [[-2.07642108e-01 -9.78201106e-01 2.71146455e-03 1.06084335e+02] [ 9.78093656e-01 -2.07659500e-01 -1.45028164e-02 1.63922100e+02] [ 1.47497324e-02 -3.59329079e-04 9.99891152e-01 4.75031692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36275509600006 meters 0.02335622015327476 Centerline is valid? [True, True] Translation: X:106.08, Y:163.95, Z:4.75 [[-2.07891557e-01 -9.78148268e-01 2.65846045e-03 1.06079968e+02] [ 9.78045379e-01 -2.07908259e-01 -1.41912988e-02 1.63946065e+02] [ 1.44339102e-02 -3.50156236e-04 9.99895764e-01 4.75063262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39275509600003 meters 0.02328993810969374 Centerline is valid? [True, True] Translation: X:106.08, Y:163.97, Z:4.75 [[-2.07729456e-01 -9.78182739e-01 2.64623420e-03 1.06075619e+02] [ 9.78081261e-01 -2.07746033e-01 -1.40937300e-02 1.63970745e+02] [ 1.43359880e-02 -3.39450773e-04 9.99897177e-01 4.75122020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42275509600006 meters 0.02315348908683179 Centerline is valid? [True, True] Translation: X:106.07, Y:164.00, Z:4.75 [[-2.07450668e-01 -9.78242123e-01 2.56316357e-03 1.06070573e+02] [ 9.78147338e-01 -2.07466258e-01 -1.36211857e-02 1.63996012e+02] [ 1.38565876e-02 -3.18572446e-04 9.99903942e-01 4.75192985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45275509600003 meters 0.02300647768481863 Centerline is valid? [True, True] Translation: X:106.07, Y:164.02, Z:4.75 [[-2.07338719e-01 -9.78265951e-01 2.52698524e-03 1.06065539e+02] [ 9.78174214e-01 -2.07353891e-01 -1.34004332e-02 1.64021072e+02] [ 1.36331678e-02 -3.06596858e-04 9.99907017e-01 4.75225123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48275509600006 meters 0.020562186453248435 Centerline is valid? [True, True] Translation: X:106.06, Y:164.05, Z:4.75 [[-2.06531199e-01 -9.78436991e-01 2.43265400e-03 1.06056440e+02] [ 9.78352334e-01 -2.06545337e-01 -1.28738284e-02 1.64046498e+02] [ 1.30986832e-02 -2.78854487e-04 9.99914170e-01 4.75270263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51275509600003 meters 0.02226091376361394 Centerline is valid? [True, True] Translation: X:106.05, Y:164.07, Z:4.75 [[-2.06199830e-01 -9.78507053e-01 2.36181450e-03 1.06054770e+02] [ 9.78427579e-01 -2.06213191e-01 -1.24736742e-02 1.64072115e+02] [ 1.26926155e-02 -2.61205053e-04 9.99919411e-01 4.75361010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54275509600006 meters 0.020630905120612705 Centerline is valid? [True, True] Translation: X:106.05, Y:164.10, Z:4.75 [[-2.05482002e-01 -9.78657966e-01 2.39435114e-03 1.06046882e+02] [ 9.78576663e-01 -2.05495800e-01 -1.26170686e-02 1.64097739e+02] [ 1.28398238e-02 -2.49524367e-04 9.99917535e-01 4.75329657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57275509600004 meters 0.020242330939753687 Centerline is valid? [True, True] Translation: X:106.04, Y:164.12, Z:4.75 [[-2.05480751e-01 -9.78658171e-01 2.41765012e-03 1.06041045e+02] [ 9.78575612e-01 -2.05494826e-01 -1.27140807e-02 1.64123451e+02] [ 1.29395536e-02 -2.46645410e-04 9.99916250e-01 4.75334905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60275509600007 meters 0.02005747814461217 Centerline is valid? [True, True] Translation: X:106.04, Y:164.15, Z:4.75 [[-2.05396554e-01 -9.78675764e-01 2.45045370e-03 1.06035657e+02] [ 9.78591299e-01 -2.05411027e-01 -1.28600047e-02 1.64149208e+02] [ 1.30891252e-02 -2.43407987e-04 9.99914304e-01 4.75354122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63275509600004 meters 0.01965923572791295 Centerline is valid? [True, True] Translation: X:106.03, Y:164.17, Z:4.75 [[-2.05211663e-01 -9.78714831e-01 2.33502709e-03 1.06030120e+02] [ 9.78638431e-01 -2.05224824e-01 -1.22308043e-02 1.64174827e+02] [ 1.24496750e-02 -2.24756433e-04 9.99922475e-01 4.75414421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66275509600007 meters 0.019694137740707655 Centerline is valid? [True, True] Translation: X:106.03, Y:164.20, Z:4.75 [[-2.05330696e-01 -9.78689808e-01 2.35911008e-03 1.06025087e+02] [ 9.78612141e-01 -2.05344126e-01 -1.23315767e-02 1.64199422e+02] [ 1.25532178e-02 -2.23397458e-04 9.99921180e-01 4.75436667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69275509600004 meters 0.01986274057618005 Centerline is valid? [True, True] Translation: X:106.02, Y:164.22, Z:4.76 [[-2.05362276e-01 -9.78683234e-01 2.33737741e-03 1.06020163e+02] [ 9.78607325e-01 -2.05375464e-01 -1.21910459e-02 1.64223836e+02] [ 1.24112122e-02 -2.16206278e-04 9.99922955e-01 4.75509251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72275509600007 meters 0.019685968358681007 Centerline is valid? [True, True] Translation: X:106.01, Y:164.25, Z:4.76 [[-2.05417424e-01 -9.78671885e-01 2.24123981e-03 1.06014541e+02] [ 9.78602291e-01 -2.05429548e-01 -1.16729191e-02 1.64249478e+02] [ 1.18843746e-02 -2.04538560e-04 9.99929357e-01 4.75604323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75275509600004 meters 0.018350742416154014 Centerline is valid? [True, True] Translation: X:106.01, Y:164.28, Z:4.76 [[-2.05758042e-01 -9.78600560e-01 2.13811298e-03 1.06006395e+02] [ 9.78537455e-01 -2.05769059e-01 -1.11150399e-02 1.64275282e+02] [ 1.13171417e-02 -1.94785209e-04 9.99935940e-01 4.75611205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7827550960001 meters 0.019094102559527606 Centerline is valid? [True, True] Translation: X:106.00, Y:164.30, Z:4.76 [[-2.06173080e-01 -9.78513251e-01 2.11617166e-03 1.06002892e+02] [ 9.78451666e-01 -2.06183849e-01 -1.09798516e-02 1.64301651e+02] [ 1.11802508e-02 -1.93178146e-04 9.99937480e-01 4.75695050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81275509600005 meters 0.01867016116489162 Centerline is valid? [True, True] Translation: X:106.00, Y:164.33, Z:4.76 [[-2.06752867e-01 -9.78390969e-01 2.08906382e-03 1.05997347e+02] [ 9.78331185e-01 -2.06763331e-01 -1.08174762e-02 1.64327466e+02] [ 1.10156628e-02 -1.92747929e-04 9.99939307e-01 4.75706824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8427550960001 meters 0.020223891403339488 Centerline is valid? [True, True] Translation: X:106.00, Y:164.35, Z:4.76 [[-2.07279303e-01 -9.78279394e-01 2.17222652e-03 1.05995361e+02] [ 9.78215034e-01 -2.07290587e-01 -1.12231740e-02 1.64353383e+02] [ 1.14296820e-02 -2.01427048e-04 9.99934659e-01 4.75802356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87275509600005 meters 0.01936424304608269 Centerline is valid? [True, True] Translation: X:105.99, Y:164.38, Z:4.76 [[-2.07701942e-01 -9.78189696e-01 2.19605319e-03 1.05988427e+02] [ 9.78124212e-01 -2.07713452e-01 -1.13202316e-02 1.64378666e+02] [ 1.15294837e-02 -2.03221283e-04 9.99933513e-01 4.75743884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.902755096 meters 0.018986985235379873 Centerline is valid? [True, True] Translation: X:105.98, Y:164.40, Z:4.76 [[-2.07820338e-01 -9.78164595e-01 2.17538946e-03 1.05982509e+02] [ 9.78100593e-01 -2.07831629e-01 -1.11912604e-02 1.64404226e+02] [ 1.13990094e-02 -1.98021787e-04 9.99935010e-01 4.75732911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93275509600005 meters 0.019046887659236202 Centerline is valid? [True, True] Translation: X:105.98, Y:164.43, Z:4.76 [[-2.07827427e-01 -9.78162785e-01 2.30783376e-03 1.05977647e+02] [ 9.78091068e-01 -2.07840139e-01 -1.18465090e-02 1.64429072e+02] [ 1.20674748e-02 -2.04757897e-04 9.99927164e-01 4.75721417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.962755096 meters 0.01889742682708445 Centerline is valid? [True, True] Translation: X:105.97, Y:164.45, Z:4.76 [[-2.07838313e-01 -9.78160277e-01 2.38936527e-03 1.05972169e+02] [ 9.78083747e-01 -2.07851944e-01 -1.22373844e-02 1.64454885e+02] [ 1.24667575e-02 -2.06397994e-04 9.99922266e-01 4.75730691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99275509600005 meters 0.01872085092507476 Centerline is valid? [True, True] Translation: X:105.97, Y:164.48, Z:4.76 [[-2.07269766e-01 -9.78280887e-01 2.39808246e-03 1.05967054e+02] [ 9.78204130e-01 -2.07283547e-01 -1.22560272e-02 1.64479638e+02] [ 1.24869202e-02 -1.94489721e-04 9.99922016e-01 4.75755057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.022755096 meters 0.018514321542839447 Centerline is valid? [True, True] Translation: X:105.96, Y:164.51, Z:4.76 [[-2.07217247e-01 -9.78291807e-01 2.48073875e-03 1.05961570e+02] [ 9.78209933e-01 -2.07232003e-01 -1.26580025e-02 1.64505924e+02] [ 1.28973086e-02 -1.96273140e-04 9.99916807e-01 4.75773867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05275509600006 meters 0.018413277491037577 Centerline is valid? [True, True] Translation: X:105.96, Y:164.53, Z:4.76 [[-2.07261570e-01 -9.78282313e-01 2.52139653e-03 1.05956422e+02] [ 9.78198077e-01 -2.07276815e-01 -1.28391544e-02 1.64531711e+02] [ 1.30829447e-02 -1.94638066e-04 9.99914396e-01 4.75797756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.082755096 meters 0.01841405234450754 Centerline is valid? [True, True] Translation: X:105.95, Y:164.56, Z:4.76 [[-2.07249446e-01 -9.78284759e-01 2.56877512e-03 1.05951676e+02] [ 9.78197681e-01 -2.07265275e-01 -1.30538164e-02 1.64557680e+02] [ 1.33027675e-02 -1.92626343e-04 9.99911496e-01 4.75793853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11275509600006 meters 0.01855759412091904 Centerline is valid? [True, True] Translation: X:105.95, Y:164.58, Z:4.76 [[-2.07741270e-01 -9.78180379e-01 2.59041302e-03 1.05947178e+02] [ 9.78092171e-01 -2.07757328e-01 -1.31376526e-02 1.64582727e+02] [ 1.33891713e-02 -1.95569940e-04 9.99910342e-01 4.75780846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14275509600003 meters 0.018703130768560665 Centerline is valid? [True, True] Translation: X:105.94, Y:164.61, Z:4.76 [[-2.08615412e-01 -9.77994080e-01 2.68134471e-03 1.05943256e+02] [ 9.77899956e-01 -2.08632539e-01 -1.35698114e-02 1.64609259e+02] [ 1.38306110e-02 -2.08784921e-04 9.99904331e-01 4.75775213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17275509600006 meters 0.01931898485015856 Centerline is valid? [True, True] Translation: X:105.94, Y:164.63, Z:4.76 [[-2.09510700e-01 -9.77802727e-01 2.66350878e-03 1.05940144e+02] [ 9.77710194e-01 -2.09527520e-01 -1.34534198e-02 1.64634155e+02] [ 1.37128689e-02 -2.14495694e-04 9.99905951e-01 4.75833691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20275509600003 meters 0.01970314390453829 Centerline is valid? [True, True] Translation: X:105.94, Y:164.66, Z:4.76 [[-2.10430401e-01 -9.77605224e-01 2.65943574e-03 1.05936281e+02] [ 9.77513331e-01 -2.10447089e-01 -1.34055937e-02 1.64659150e+02] [ 1.36650489e-02 -2.21310570e-04 9.99906604e-01 4.75850780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23275509600006 meters 0.01935787915789407 Centerline is valid? [True, True] Translation: X:105.93, Y:164.68, Z:4.76 [[-2.11351754e-01 -9.77406385e-01 2.68226897e-03 1.05930594e+02] [ 9.77313280e-01 -2.11368648e-01 -1.34924749e-02 1.64684868e+02] [ 1.37545787e-02 -2.30241155e-04 9.99905375e-01 4.75903124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26275509600003 meters 0.02029101346137207 Centerline is valid? [True, True] Translation: X:105.93, Y:164.71, Z:4.76 [[-2.12869424e-01 -9.77077210e-01 2.59510326e-03 1.05928090e+02] [ 9.76990363e-01 -2.12885108e-01 -1.30292334e-02 1.64711224e+02] [ 1.32830259e-02 -2.38134526e-04 9.99911748e-01 4.76023409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29275509600006 meters 0.021166058485513582 Centerline is valid? [True, True] Translation: X:105.93, Y:164.74, Z:4.76 [[-2.13712216e-01 -9.76893140e-01 2.62345922e-03 1.05925091e+02] [ 9.76804694e-01 -2.13728175e-01 -1.31475417e-02 1.64735642e+02] [ 1.34044504e-02 -2.47182983e-04 9.99910126e-01 4.76082454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32275509600004 meters 0.01990796845228886 Centerline is valid? [True, True] Translation: X:105.92, Y:164.76, Z:4.76 [[-2.15019008e-01 -9.76606440e-01 2.58607902e-03 1.05917903e+02] [ 9.76520844e-01 -2.15034407e-01 -1.29323492e-02 1.64761594e+02] [ 1.31859115e-02 -2.55340825e-04 9.99913030e-01 4.76124745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35275509600007 meters 0.021380858928626897 Centerline is valid? [True, True] Translation: X:105.92, Y:164.79, Z:4.76 [[-2.15687555e-01 -9.76458839e-01 2.64832340e-03 1.05915624e+02] [ 9.76369427e-01 -2.15703651e-01 -1.32165514e-02 1.64787334e+02] [ 1.34766715e-02 -2.64903666e-04 9.99909150e-01 4.76181831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38275509600004 meters 0.01992799582418502 Centerline is valid? [True, True] Translation: X:105.91, Y:164.81, Z:4.76 [[-2.16411281e-01 -9.76298710e-01 2.64326168e-03 1.05907628e+02] [ 9.76209996e-01 -2.16427256e-01 -1.31638657e-02 1.64813126e+02] [ 1.34239390e-02 -2.68430567e-04 9.99909859e-01 4.76166235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41275509600007 meters 0.020224165507066207 Centerline is valid? [True, True] Translation: X:105.90, Y:164.84, Z:4.76 [[-2.17346545e-01 -9.76090689e-01 2.72860693e-03 1.05902975e+02] [ 9.75996531e-01 -2.17363487e-01 -1.35604682e-02 1.64839382e+02] [ 1.38293462e-02 -2.84210013e-04 9.99904330e-01 4.76141307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44275509600004 meters 0.020234750336789793 Centerline is valid? [True, True] Translation: X:105.90, Y:164.87, Z:4.76 [[-2.18031730e-01 -9.75937575e-01 2.83085253e-03 1.05897707e+02] [ 9.75836635e-01 -2.18049903e-01 -1.40393203e-02 1.64865037e+02] [ 1.43187673e-02 -2.98567686e-04 9.99897437e-01 4.76141838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47275509600007 meters 0.020377645410061394 Centerline is valid? [True, True] Translation: X:105.89, Y:164.89, Z:4.76 [[-2.18622858e-01 -9.75805287e-01 2.84396671e-03 1.05892823e+02] [ 9.75703806e-01 -2.18641146e-01 -1.40759484e-02 1.64891111e+02] [ 1.43571930e-02 -3.02454932e-04 9.99896884e-01 4.76147782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50275509600004 meters 0.020589533247667827 Centerline is valid? [True, True] Translation: X:105.89, Y:164.92, Z:4.76 [[-2.19951306e-01 -9.75506513e-01 2.90966003e-03 1.05888305e+02] [ 9.75400694e-01 -2.19970313e-01 -1.43717850e-02 1.64917085e+02] [ 1.46598087e-02 -3.23008472e-04 9.99892487e-01 4.76143812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5327550960001 meters 0.020747155737385087 Centerline is valid? [True, True] Translation: X:105.88, Y:164.94, Z:4.76 [[-2.20699747e-01 -9.75337350e-01 2.94536091e-03 1.05883350e+02] [ 9.75229340e-01 -2.20719150e-01 -1.45186441e-02 1.64943500e+02] [ 1.48106734e-02 -3.31858695e-04 9.99890261e-01 4.76195099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56275509600005 meters 0.02099831531338596 Centerline is valid? [True, True] Translation: X:105.88, Y:164.97, Z:4.76 [[-2.21433522e-01 -9.75170358e-01 3.15720734e-03 1.05878769e+02] [ 9.75046758e-01 -2.21455735e-01 -1.55298893e-02 1.64969163e+02] [ 1.58434694e-02 -3.60413293e-04 9.99874419e-01 4.76153026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5927550960001 meters 0.021315457751897998 Centerline is valid? [True, True] Translation: X:105.87, Y:164.99, Z:4.76 [[-2.21531769e-01 -9.75147916e-01 3.19635417e-03 1.05874401e+02] [ 9.75021734e-01 -2.21554535e-01 -1.56909815e-02 1.64993768e+02] [ 1.60091946e-02 -3.59536099e-04 9.99871780e-01 4.76144223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62275509600005 meters 0.020644110874915026 Centerline is valid? [True, True] Translation: X:105.87, Y:165.02, Z:4.76 [[-2.20537834e-01 -9.75372567e-01 3.37919646e-03 1.05867225e+02] [ 9.75232160e-01 -2.20563436e-01 -1.65530970e-02 1.65019581e+02] [ 1.68907639e-02 -3.55083098e-04 9.99857278e-01 4.76153316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.652755096 meters 0.02052416417491841 Centerline is valid? [True, True] Translation: X:105.86, Y:165.04, Z:4.76 [[-2.20160098e-01 -9.75457772e-01 3.41565677e-03 1.05861193e+02] [ 9.75314886e-01 -2.20186322e-01 -1.66990023e-02 1.65044292e+02] [ 1.70412524e-02 -3.45113074e-04 9.99854728e-01 4.76205084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68275509600005 meters 0.02012320552257796 Centerline is valid? [True, True] Translation: X:105.85, Y:165.07, Z:4.76 [[-2.19792482e-01 -9.75540757e-01 3.39051210e-03 1.05854920e+02] [ 9.75400531e-01 -2.19818386e-01 -1.65433108e-02 1.65069558e+02] [ 1.68839709e-02 -3.28988057e-04 9.99857401e-01 4.76242017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.712755096 meters 0.019896825163861164 Centerline is valid? [True, True] Translation: X:105.85, Y:165.09, Z:4.76 [[-2.19498584e-01 -9.75606760e-01 3.43826053e-03 1.05848836e+02] [ 9.75463115e-01 -2.19525276e-01 -1.67440856e-02 1.65094876e+02] [ 1.70904282e-02 -3.21406767e-04 9.99853896e-01 4.76277273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74275509600005 meters 0.019728777026877323 Centerline is valid? [True, True] Translation: X:105.84, Y:165.12, Z:4.76 [[-2.19198327e-01 -9.75674040e-01 3.50174772e-03 1.05842745e+02] [ 9.75525616e-01 -2.19226069e-01 -1.70206882e-02 1.65120848e+02] [ 1.73743180e-02 -3.14861776e-04 9.99849006e-01 4.76342475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.772755096 meters 0.01962651933176134 Centerline is valid? [True, True] Translation: X:105.84, Y:165.15, Z:4.76 [[-2.18310461e-01 -9.75873059e-01 3.50925560e-03 1.05836813e+02] [ 9.75724582e-01 -2.18338468e-01 -1.70250826e-02 1.65145593e+02] [ 1.73805250e-02 -2.92686689e-04 9.99848904e-01 4.76381404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80275509600006 meters 0.019056911670726987 Centerline is valid? [True, True] Translation: X:105.83, Y:165.17, Z:4.76 [[-2.17996886e-01 -9.75943113e-01 3.52112611e-03 1.05829680e+02] [ 9.75794222e-01 -2.18025140e-01 -1.70492007e-02 1.65170487e+02] [ 1.74067441e-02 -2.80778160e-04 9.99848452e-01 4.76438208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.832755096 meters 0.018499737829901507 Centerline is valid? [True, True] Translation: X:105.82, Y:165.19, Z:4.76 [[-2.17061771e-01 -9.76151165e-01 3.61823526e-03 1.05822399e+02] [ 9.75994623e-01 -2.17091765e-01 -1.74831711e-02 1.65194996e+02] [ 1.78517069e-02 -2.63549916e-04 9.99840611e-01 4.76450007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86275509600006 meters 0.018335426662266698 Centerline is valid? [True, True] Translation: X:105.82, Y:165.22, Z:4.76 [[-2.16862947e-01 -9.76195352e-01 3.61885563e-03 1.05816319e+02] [ 9.76039393e-01 -2.16892993e-01 -1.74508561e-02 1.65218807e+02] [ 1.78203491e-02 -2.52298439e-04 9.99841173e-01 4.76492719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89275509600003 meters 0.01776679247559118 Centerline is valid? [True, True] Translation: X:105.81, Y:165.24, Z:4.77 [[-2.16910517e-01 -9.76184660e-01 3.65194363e-03 1.05808920e+02] [ 9.76026485e-01 -2.16941115e-01 -1.75742071e-02 1.65244409e+02] [ 1.79479281e-02 -2.47636634e-04 9.99838892e-01 4.76544307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92275509600006 meters 0.017365036469643456 Centerline is valid? [True, True] Translation: X:105.80, Y:165.27, Z:4.77 [[-2.16422506e-01 -9.76292870e-01 3.67854898e-03 1.05801276e+02] [ 9.76132998e-01 -2.16453641e-01 -1.76689249e-02 1.65270081e+02] [ 1.80462807e-02 -2.33199970e-04 9.99837125e-01 4.76584714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95275509600003 meters 0.017398179534064005 Centerline is valid? [True, True] Translation: X:105.80, Y:165.30, Z:4.77 [[-2.16658164e-01 -9.76240488e-01 3.70800689e-03 1.05795231e+02] [ 9.76078657e-01 -2.16689768e-01 -1.77764107e-02 1.65295244e+02] [ 1.81575390e-02 -2.32098111e-04 9.99835111e-01 4.76610264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98275509600006 meters 0.017492674310430566 Centerline is valid? [True, True] Translation: X:105.79, Y:165.32, Z:4.77 [[-2.17123898e-01 -9.76136765e-01 3.77218259e-03 1.05789214e+02] [ 9.75969922e-01 -2.17156534e-01 -1.80485624e-02 1.65320945e+02] [ 1.84370194e-02 -2.37237477e-04 9.99829996e-01 4.76651238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01275509600003 meters 0.01800562315898122 Centerline is valid? [True, True] Translation: X:105.78, Y:165.35, Z:4.77 [[-2.18681309e-01 -9.75788762e-01 3.84414275e-03 1.05784167e+02] [ 9.75616086e-01 -2.18714935e-01 -1.83583725e-02 1.65346433e+02] [ 1.87546650e-02 -2.64225423e-04 9.99824081e-01 4.76732402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04275509600006 meters 0.018609180507880525 Centerline is valid? [True, True] Translation: X:105.78, Y:165.37, Z:4.77 [[-2.20097091e-01 -9.75470201e-01 3.89326878e-03 1.05779753e+02] [ 9.75293694e-01 -2.20131335e-01 -1.85582008e-02 1.65371002e+02] [ 1.89600023e-02 -2.87525522e-04 9.99820202e-01 4.76760983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07275509600004 meters 0.018100941984673935 Centerline is valid? [True, True] Translation: X:105.77, Y:165.40, Z:4.77 [[-2.22550664e-01 -9.74914008e-01 3.72531282e-03 1.05772822e+02] [ 9.74752915e-01 -2.22581621e-01 -1.77250403e-02 1.65397638e+02] [ 1.81095762e-02 -3.13459956e-04 9.99835959e-01 4.76984039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10275509600007 meters 0.018100941984673935 Centerline is valid? [True, True] Translation: X:105.77, Y:165.42, Z:4.77 [[-2.22904515e-01 -9.74833140e-01 3.73175031e-03 1.05767116e+02] [ 9.74672058e-01 -2.22935530e-01 -1.77236851e-02 1.65423777e+02] [ 1.81095753e-02 -3.13456673e-04 9.99835959e-01 4.77023554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13275509600004 meters 0.018981174493565903 Centerline is valid? [True, True] Translation: X:105.76, Y:165.45, Z:4.77 [[-2.24096648e-01 -9.74559709e-01 3.75059390e-03 1.05763737e+02] [ 9.74397533e-01 -2.24127788e-01 -1.77814897e-02 1.65449386e+02] [ 1.81697357e-02 -3.30202793e-04 9.99834862e-01 4.77066823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16275509600007 meters 0.019322062384715868 Centerline is valid? [True, True] Translation: X:105.76, Y:165.48, Z:4.77 [[-2.25479487e-01 -9.74241048e-01 3.65803776e-03 1.05758723e+02] [ 9.74087250e-01 -2.25508901e-01 -1.73136940e-02 1.65475209e+02] [ 1.76926315e-02 -3.40634905e-04 9.99843415e-01 4.77154686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19275509600004 meters 0.019035903946917884 Centerline is valid? [True, True] Translation: X:105.75, Y:165.50, Z:4.77 [[-2.26868551e-01 -9.73918312e-01 3.71242455e-03 1.05752003e+02] [ 9.73760466e-01 -2.26898632e-01 -1.75375253e-02 1.65501817e+02] [ 1.79224610e-02 -3.63700681e-04 9.99839314e-01 4.77223255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22275509600007 meters 0.020030378321909174 Centerline is valid? [True, True] Translation: X:105.75, Y:165.53, Z:4.77 [[-2.27230618e-01 -9.73833567e-01 3.79857068e-03 1.05747821e+02] [ 9.73668903e-01 -2.27262062e-01 -1.79115209e-02 1.65528023e+02] [ 1.83061113e-02 -3.71495821e-04 9.99832360e-01 4.77198228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25275509600004 meters 0.023457315336597093 Centerline is valid? [True, True] Translation: X:105.75, Y:165.55, Z:4.77 [[-2.27190308e-01 -9.73842556e-01 3.90400112e-03 1.05747553e+02] [ 9.73669290e-01 -2.27223542e-01 -1.83732187e-02 1.65553512e+02] [ 1.87797032e-02 -3.73011213e-04 9.99823576e-01 4.77072047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2827550960001 meters 0.01915616470169072 Centerline is valid? [True, True] Translation: X:105.73, Y:165.58, Z:4.77 [[-2.26334395e-01 -9.74040952e-01 4.11888350e-03 1.05733689e+02] [ 9.73848895e-01 -2.26371572e-01 -1.93453328e-02 1.65577508e+02] [ 1.97755445e-02 -3.67344044e-04 9.99804377e-01 4.77109840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31275509600005 meters 0.019030444313922864 Centerline is valid? [True, True] Translation: X:105.73, Y:165.60, Z:4.77 [[-2.25696900e-01 -9.74188057e-01 4.30561208e-03 1.05727725e+02] [ 9.73979046e-01 -2.25737676e-01 -2.01821820e-02 1.65601863e+02] [ 2.06331795e-02 -3.61479971e-04 9.99787048e-01 4.77078690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3427550960001 meters 0.018171793788213535 Centerline is valid? [True, True] Translation: X:105.72, Y:165.63, Z:4.77 [[-2.25045635e-01 -9.74338459e-01 4.36218696e-03 1.05719955e+02] [ 9.74124794e-01 -2.25087647e-01 -2.04067718e-02 1.65627296e+02] [ 2.08649770e-02 -3.43140454e-04 9.99782244e-01 4.77091464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37275509600005 meters 0.017750116819926092 Centerline is valid? [True, True] Translation: X:105.71, Y:165.65, Z:4.77 [[-2.23443021e-01 -9.74706582e-01 4.50505762e-03 1.05712707e+02] [ 9.74479675e-01 -2.23488218e-01 -2.10328152e-02 1.65651647e+02] [ 2.15076507e-02 -3.09548687e-04 9.99768636e-01 4.77048849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.402755096 meters 0.017784263865555906 Centerline is valid? [True, True] Translation: X:105.71, Y:165.68, Z:4.77 [[-2.22969508e-01 -9.74814873e-01 4.53446061e-03 1.05707004e+02] [ 9.74585941e-01 -2.23015421e-01 -2.11273897e-02 1.65676100e+02] [ 2.16065484e-02 -2.91542142e-04 9.99766509e-01 4.77038668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43275509600005 meters 0.017249966067062215 Centerline is valid? [True, True] Translation: X:105.70, Y:165.70, Z:4.77 [[-2.21944677e-01 -9.75048305e-01 4.62214694e-03 1.05699006e+02] [ 9.74811419e-01 -2.21992644e-01 -2.14933188e-02 1.65701669e+02] [ 2.19831066e-02 -2.64606066e-04 9.99758307e-01 4.77049468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.462755096 meters 0.017186808461829028 Centerline is valid? [True, True] Translation: X:105.69, Y:165.73, Z:4.77 [[-2.21851367e-01 -9.75069545e-01 4.62089036e-03 1.05692149e+02] [ 9.74833680e-01 -2.21899341e-01 -2.14471166e-02 1.65727124e+02] [ 2.19378027e-02 -2.53472575e-04 9.99759305e-01 4.77095895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49275509600005 meters 0.017083404282773367 Centerline is valid? [True, True] Translation: X:105.69, Y:165.75, Z:4.77 [[-2.21857107e-01 -9.75068040e-01 4.66275865e-03 1.05685623e+02] [ 9.74828785e-01 -2.21905963e-01 -2.16005578e-02 1.65752667e+02] [ 2.20967075e-02 -2.46845916e-04 9.99755807e-01 4.77143936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.522755096 meters 0.016816908278866012 Centerline is valid? [True, True] Translation: X:105.68, Y:165.78, Z:4.77 [[-2.22123726e-01 -9.75007760e-01 4.57375531e-03 1.05678663e+02] [ 9.74778395e-01 -2.22170681e-01 -2.11487464e-02 1.65777687e+02] [ 2.16363462e-02 -2.39240494e-04 9.99765878e-01 4.77220812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55275509600006 meters 0.016959792629733596 Centerline is valid? [True, True] Translation: X:105.67, Y:165.80, Z:4.77 [[-2.22572861e-01 -9.74905546e-01 4.52737617e-03 1.05672716e+02] [ 9.74681660e-01 -2.22618775e-01 -2.08936080e-02 1.65802193e+02] [ 2.13771732e-02 -2.37599576e-04 9.99771454e-01 4.77279931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.582755096 meters 0.017011246951941728 Centerline is valid? [True, True] Translation: X:105.67, Y:165.83, Z:4.77 [[-2.23105944e-01 -9.74784019e-01 4.45578945e-03 1.05666969e+02] [ 9.74567977e-01 -2.23150309e-01 -2.05230897e-02 1.65827608e+02] [ 2.09998907e-02 -2.36353606e-04 9.99779450e-01 4.77354155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61275509600006 meters 0.017275423831516475 Centerline is valid? [True, True] Translation: X:105.66, Y:165.85, Z:4.77 [[-2.23880563e-01 -9.74607215e-01 4.27423875e-03 1.05662135e+02] [ 9.74409077e-01 -2.23921237e-01 -1.96527389e-02 1.65852565e+02] [ 2.01107940e-02 -2.35009231e-04 9.99797730e-01 4.77482493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64275509600003 meters 0.017406456003090414 Centerline is valid? [True, True] Translation: X:105.66, Y:165.88, Z:4.78 [[-2.24473823e-01 -9.74470977e-01 4.22103284e-03 1.05656739e+02] [ 9.74278333e-01 -2.24513381e-01 -1.93770904e-02 1.65877540e+02] [ 1.98300906e-02 -2.37188728e-04 9.99803336e-01 4.77540986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67275509600006 meters 0.017973877264453014 Centerline is valid? [True, True] Translation: X:105.65, Y:165.90, Z:4.78 [[-2.25132503e-01 -9.74319822e-01 4.03003325e-03 1.05651944e+02] [ 9.74144846e-01 -2.25168451e-01 -1.84658547e-02 1.65902538e+02] [ 1.88990846e-02 -2.31427961e-04 9.99821370e-01 4.77633215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70275509600003 meters 0.017386338442709433 Centerline is valid? [True, True] Translation: X:105.64, Y:165.93, Z:4.78 [[-2.25696244e-01 -9.74189560e-01 3.98832001e-03 1.05644340e+02] [ 9.74018813e-01 -2.25731361e-01 -1.82402098e-02 1.65928061e+02] [ 1.86697108e-02 -2.32048119e-04 9.99825679e-01 4.77756647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73275509600006 meters 0.017160326069985733 Centerline is valid? [True, True] Translation: X:105.64, Y:165.95, Z:4.78 [[-2.26039286e-01 -9.74109656e-01 4.07666006e-03 1.05637606e+02] [ 9.73931918e-01 -2.26075921e-01 -1.86090706e-02 1.65954414e+02] [ 1.90489101e-02 -2.35991685e-04 9.99818525e-01 4.77827383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76275509600003 meters 0.01739323382563595 Centerline is valid? [True, True] Translation: X:105.63, Y:165.98, Z:4.78 [[-2.26565532e-01 -9.73987760e-01 3.98796768e-03 1.05632366e+02] [ 9.73818207e-01 -2.26600506e-01 -1.81744658e-02 1.65979831e+02] [ 1.86053827e-02 -2.34151976e-04 9.99826877e-01 4.77862616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79275509600006 meters 0.01814388302528042 Centerline is valid? [True, True] Translation: X:105.63, Y:166.01, Z:4.78 [[-2.28370044e-01 -9.73566461e-01 3.93318621e-03 1.05628012e+02] [ 9.73401937e-01 -2.28403765e-01 -1.78994361e-02 1.66005544e+02] [ 1.83246451e-02 -2.59123918e-04 9.99832056e-01 4.77908114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82275509600004 meters 0.01850720594128873 Centerline is valid? [True, True] Translation: X:105.62, Y:166.03, Z:4.78 [[-2.29533840e-01 -9.73292967e-01 3.87509832e-03 1.05622882e+02] [ 9.73133793e-01 -2.29566390e-01 -1.76038117e-02 1.66031115e+02] [ 1.80232584e-02 -2.69681360e-04 9.99837532e-01 4.77939396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85275509600007 meters 0.01948362992745152 Centerline is valid? [True, True] Translation: X:105.62, Y:166.06, Z:4.78 [[-2.31595340e-01 -9.72804652e-01 3.83493503e-03 1.05618587e+02] [ 9.72649248e-01 -2.31626898e-01 -1.73902198e-02 1.66057146e+02] [ 1.78055608e-02 -2.97447182e-04 9.99841424e-01 4.77960123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88275509600004 meters 0.01994897025853048 Centerline is valid? [True, True] Translation: X:105.61, Y:166.08, Z:4.78 [[-2.33048792e-01 -9.72457661e-01 3.78914016e-03 1.05613280e+02] [ 9.72306417e-01 -2.33079383e-01 -1.71532296e-02 1.66083362e+02] [ 1.75639600e-02 -3.13334141e-04 9.99845693e-01 4.78007913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91275509600007 meters 0.019799613926973072 Centerline is valid? [True, True] Translation: X:105.61, Y:166.11, Z:4.78 [[-2.34325306e-01 -9.72151187e-01 3.70405123e-03 1.05607236e+02] [ 9.72007127e-01 -2.34354359e-01 -1.67385595e-02 1.66108612e+02] [ 1.71404711e-02 -3.21903893e-04 9.99853040e-01 4.78074186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94275509600004 meters 0.019924659153205952 Centerline is valid? [True, True] Translation: X:105.60, Y:166.14, Z:4.78 [[-2.36313262e-01 -9.71670216e-01 3.61024289e-03 1.05601947e+02] [ 9.71533792e-01 -2.36340592e-01 -1.62854300e-02 1.66135442e+02] [ 1.66773143e-02 -3.40990120e-04 9.99860866e-01 4.78168203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97275509600007 meters 0.02051249763345814 Centerline is valid? [True, True] Translation: X:105.60, Y:166.16, Z:4.78 [[-2.37162014e-01 -9.71463465e-01 3.59384135e-03 1.05597463e+02] [ 9.71328717e-01 -2.37188987e-01 -1.61835842e-02 1.66161786e+02] [ 1.65741803e-02 -3.47330094e-04 9.99862579e-01 4.78232679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00275509600004 meters 0.020565532476011852 Centerline is valid? [True, True] Translation: X:105.59, Y:166.19, Z:4.78 [[-2.38068426e-01 -9.71242128e-01 3.48617017e-03 1.05591429e+02] [ 9.71115748e-01 -2.38093699e-01 -1.56714442e-02 1.66188791e+02] [ 1.60508020e-02 -3.45401288e-04 9.99871118e-01 4.78265538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0327550960001 meters 0.020690174434655248 Centerline is valid? [True, True] Translation: X:105.59, Y:166.21, Z:4.78 [[-2.38754396e-01 -9.71073705e-01 3.49253130e-03 1.05585727e+02] [ 9.70947277e-01 -2.38779681e-01 -1.56731803e-02 1.66214992e+02] [ 1.60537588e-02 -3.50976947e-04 9.99871069e-01 4.78331193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06275509600005 meters 0.021521921817791664 Centerline is valid? [True, True] Translation: X:105.58, Y:166.24, Z:4.78 [[-2.39485160e-01 -9.70894100e-01 3.39197872e-03 1.05581204e+02] [ 9.70775263e-01 -2.39508931e-01 -1.51941254e-02 1.66239991e+02] [ 1.55642959e-02 -3.45918514e-04 9.99878809e-01 4.78379486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0927550960001 meters 0.021165967933584728 Centerline is valid? [True, True] Translation: X:105.57, Y:166.27, Z:4.78 [[-2.39646942e-01 -9.70854187e-01 3.38991491e-03 1.05574705e+02] [ 9.70735948e-01 -2.39670673e-01 -1.51554257e-02 1.66265566e+02] [ 1.55261717e-02 -3.41239149e-04 9.99879404e-01 4.78410743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12275509600005 meters 0.02132754156461267 Centerline is valid? [True, True] Translation: X:105.57, Y:166.29, Z:4.78 [[-2.39711957e-01 -9.70837858e-01 3.46861899e-03 1.05569749e+02] [ 9.70714527e-01 -2.39736805e-01 -1.54780651e-02 1.66290183e+02] [ 1.58582472e-02 -3.43238425e-04 9.99874191e-01 4.78406228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.152755096 meters 0.020753814924069188 Centerline is valid? [True, True] Translation: X:105.56, Y:166.32, Z:4.78 [[-2.39832326e-01 -9.70807862e-01 3.54256277e-03 1.05562668e+02] [ 9.70679712e-01 -2.39858240e-01 -1.57772754e-02 1.66315895e+02] [ 1.61664159e-02 -3.45206854e-04 9.99869255e-01 4.78421456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18275509600005 meters 0.022098311884147084 Centerline is valid? [True, True] Translation: X:105.56, Y:166.34, Z:4.78 [[-2.39856656e-01 -9.70801217e-01 3.71229518e-03 1.05559896e+02] [ 9.70661036e-01 -2.39885121e-01 -1.65009676e-02 1.66340850e+02] [ 1.69096838e-02 -3.54486637e-04 9.99856958e-01 4.78418506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.212755096 meters 0.021076505411601824 Centerline is valid? [True, True] Translation: X:105.55, Y:166.37, Z:4.78 [[-2.39496270e-01 -9.70889481e-01 3.89251955e-03 1.05552164e+02] [ 9.70735979e-01 -2.39527634e-01 -1.72676460e-02 1.66365789e+02] [ 1.76973419e-02 -3.56928036e-04 9.99843326e-01 4.78387457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24275509600005 meters 0.02040750072133131 Centerline is valid? [True, True] Translation: X:105.54, Y:166.39, Z:4.78 [[-2.39403919e-01 -9.70912234e-01 3.89845602e-03 1.05544498e+02] [ 9.70758814e-01 -2.39435405e-01 -1.72630127e-02 1.66391473e+02] [ 1.76942986e-02 -3.48372357e-04 9.99843383e-01 4.78447538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.272755096 meters 0.020790136460132898 Centerline is valid? [True, True] Translation: X:105.54, Y:166.42, Z:4.79 [[-2.39010985e-01 -9.71009036e-01 3.89885158e-03 1.05539718e+02] [ 9.70856163e-01 -2.39042550e-01 -1.72328445e-02 1.66416034e+02] [ 1.76652391e-02 -3.33615048e-04 9.99843902e-01 4.78527782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30275509600006 meters 0.02068736368428515 Centerline is valid? [True, True] Translation: X:105.53, Y:166.44, Z:4.79 [[-2.39136260e-01 -9.70978149e-01 3.90928796e-03 1.05533730e+02] [ 9.70825029e-01 -2.39167986e-01 -1.72463604e-02 1.66441973e+02] [ 1.76808157e-02 -3.28995545e-04 9.99843628e-01 4.78616064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.332755096 meters 0.019879163887023845 Centerline is valid? [True, True] Translation: X:105.53, Y:166.47, Z:4.79 [[-2.39410259e-01 -9.70910975e-01 3.82179727e-03 1.05526224e+02] [ 9.70765128e-01 -2.39440548e-01 -1.68312049e-02 1.66467689e+02] [ 1.72566948e-02 -3.19495598e-04 9.99851041e-01 4.78726448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36275509600006 meters 0.020008687734926252 Centerline is valid? [True, True] Translation: X:105.52, Y:166.49, Z:4.79 [[-2.40004259e-01 -9.70764535e-01 3.76479023e-03 1.05521115e+02] [ 9.70623502e-01 -2.40033574e-01 -1.65499154e-02 1.66493116e+02] [ 1.69697470e-02 -3.17856304e-04 9.99855953e-01 4.78827084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39275509600003 meters 0.020140898662318024 Centerline is valid? [True, True] Translation: X:105.52, Y:166.52, Z:4.79 [[-2.41152055e-01 -9.70480606e-01 3.61661284e-03 1.05516261e+02] [ 9.70350880e-01 -2.41178964e-01 -1.58706373e-02 1.66520106e+02] [ 1.62743966e-02 -3.17853345e-04 9.99867513e-01 4.78985982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42275509600006 meters 0.020466156645653707 Centerline is valid? [True, True] Translation: X:105.51, Y:166.55, Z:4.79 [[-2.42118086e-01 -9.70240181e-01 3.58105988e-03 1.05511308e+02] [ 9.70113390e-01 -2.42144350e-01 -1.56883417e-02 1.66545354e+02] [ 1.60885929e-02 -3.24397131e-04 9.99870518e-01 4.79032120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45275509600003 meters 0.020631241143541416 Centerline is valid? [True, True] Translation: X:105.51, Y:166.57, Z:4.79 [[-2.43433904e-01 -9.69911057e-01 3.53219419e-03 1.05505372e+02] [ 9.69788131e-01 -2.43459299e-01 -1.54450939e-02 1.66572379e+02] [ 1.58403128e-02 -3.34379505e-04 9.99874478e-01 4.79118571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48275509600006 meters 0.021348127075317854 Centerline is valid? [True, True] Translation: X:105.50, Y:166.60, Z:4.79 [[-2.43907622e-01 -9.69792342e-01 3.44758517e-03 1.05500758e+02] [ 9.69675601e-01 -2.43931766e-01 -1.50506834e-02 1.66597772e+02] [ 1.54370130e-02 -3.27937183e-04 9.99880788e-01 4.79165002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51275509600003 meters 0.021573921091830744 Centerline is valid? [True, True] Translation: X:105.50, Y:166.62, Z:4.79 [[-2.44344237e-01 -9.69682314e-01 3.47900082e-03 1.05495040e+02] [ 9.69563878e-01 -2.44368779e-01 -1.51587222e-02 1.66622751e+02] [ 1.55493040e-02 -3.30832890e-04 9.99879048e-01 4.79175272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54275509600006 meters 0.021676872214983777 Centerline is valid? [True, True] Translation: X:105.49, Y:166.65, Z:4.79 [[-2.43949072e-01 -9.69781544e-01 3.55068096e-03 1.05486664e+02] [ 9.69658645e-01 -2.43974695e-01 -1.54421529e-02 1.66648384e+02] [ 1.58417912e-02 -3.24150370e-04 9.99874458e-01 4.79109341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57275509600004 meters 0.02056925491250764 Centerline is valid? [True, True] Translation: X:105.48, Y:166.67, Z:4.79 [[-2.43434172e-01 -9.69911374e-01 3.42484719e-03 1.05480463e+02] [ 9.69797445e-01 -2.43458081e-01 -1.48686911e-02 1.66673330e+02] [ 1.52551193e-02 -2.98139444e-04 9.99883589e-01 4.79314863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60275509600007 meters 0.0196343834865291 Centerline is valid? [True, True] Translation: X:105.47, Y:166.70, Z:4.79 [[-2.41782202e-01 -9.70324691e-01 3.37061772e-03 1.05471359e+02] [ 9.70214696e-01 -2.41805553e-01 -1.46122913e-02 1.66699478e+02] [ 1.49937011e-02 -2.62769125e-04 9.99887554e-01 4.79338905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63275509600004 meters 0.02076074742201268 Centerline is valid? [True, True] Translation: X:105.46, Y:166.72, Z:4.79 [[-2.40877502e-01 -9.70549055e-01 3.54427194e-03 1.05464510e+02] [ 9.70427875e-01 -2.40903440e-01 -1.53385903e-02 1.66724782e+02] [ 1.57406817e-02 -2.55261031e-04 9.99876075e-01 4.79236170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66275509600007 meters 0.01931123652072274 Centerline is valid? [True, True] Translation: X:105.46, Y:166.75, Z:4.79 [[-2.40279274e-01 -9.70697696e-01 3.44298561e-03 1.05457165e+02] [ 9.70583760e-01 -2.40303828e-01 -1.48739782e-02 1.66749165e+02] [ 1.52654990e-02 -2.32202752e-04 9.99883449e-01 4.79398529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69275509600004 meters 0.018966368590993946 Centerline is valid? [True, True] Translation: X:105.45, Y:166.77, Z:4.79 [[-2.38623505e-01 -9.71105774e-01 3.52102841e-03 1.05449010e+02] [ 9.70987114e-01 -2.38649394e-01 -1.51819119e-02 1.66773139e+02] [ 1.55835336e-02 -2.03887817e-04 9.99878549e-01 4.79319783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72275509600007 meters 0.018689282717242864 Centerline is valid? [True, True] Translation: X:105.44, Y:166.80, Z:4.79 [[-2.38124489e-01 -9.71227826e-01 3.63837513e-03 1.05441534e+02] [ 9.71101616e-01 -2.38152203e-01 -1.56582042e-02 1.66798298e+02] [ 1.60741707e-02 -1.95369898e-04 9.99870783e-01 4.79287504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75275509600004 meters 0.01854721378285573 Centerline is valid? [True, True] Translation: X:105.43, Y:166.82, Z:4.79 [[-2.37921432e-01 -9.71276719e-01 3.86349540e-03 1.05434439e+02] [ 9.71134931e-01 -2.37952717e-01 -1.65966747e-02 1.66823471e+02] [ 1.70392930e-02 -1.96729270e-04 9.99854801e-01 4.79261316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7827550960001 meters 0.018378064892528696 Centerline is valid? [True, True] Translation: X:105.43, Y:166.85, Z:4.79 [[-2.37801964e-01 -9.71305458e-01 3.99155574e-03 1.05427076e+02] [ 9.71154660e-01 -2.37835382e-01 -1.71160131e-02 1.66848751e+02] [ 1.75742101e-02 -1.93803572e-04 9.99845543e-01 4.79205790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81275509600005 meters 0.01849856826864351 Centerline is valid? [True, True] Translation: X:105.42, Y:166.87, Z:4.79 [[-2.38375775e-01 -9.71164437e-01 4.07751634e-03 1.05421801e+02] [ 9.71007622e-01 -2.38410562e-01 -1.74528564e-02 1.66873533e+02] [ 1.79217164e-02 -2.01038735e-04 9.99839373e-01 4.79218216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8427550960001 meters 0.01867803353859436 Centerline is valid? [True, True] Translation: X:105.42, Y:166.90, Z:4.79 [[-2.40117733e-01 -9.70734590e-01 4.22252283e-03 1.05416068e+02] [ 9.70566985e-01 -2.40154744e-01 -1.80395725e-02 1.66899092e+02] [ 1.85256959e-02 -2.33380010e-04 9.99828357e-01 4.79296267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87275509600005 meters 0.019369475367669132 Centerline is valid? [True, True] Translation: X:105.41, Y:166.92, Z:4.79 [[-2.41705382e-01 -9.70340777e-01 4.15756531e-03 1.05412309e+02] [ 9.70178799e-01 -2.41741005e-01 -1.77308877e-02 1.66924684e+02] [ 1.82100573e-02 -2.52069268e-04 9.99834151e-01 4.79315847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.902755096 meters 0.020092082974024546 Centerline is valid? [True, True] Translation: X:105.41, Y:166.95, Z:4.79 [[-2.43510302e-01 -9.69889576e-01 4.11617255e-03 1.05407567e+02] [ 9.69731308e-01 -2.43544933e-01 -1.75230410e-02 1.66951147e+02] [ 1.79978878e-02 -2.75459618e-04 9.99837987e-01 4.79388395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93275509600005 meters 0.021340203929973673 Centerline is valid? [True, True] Translation: X:105.40, Y:166.98, Z:4.80 [[-2.46549012e-01 -9.69121700e-01 4.08834433e-03 1.05404780e+02] [ 9.68965970e-01 -2.46582695e-01 -1.73759299e-02 1.66976213e+02] [ 1.78475057e-02 -3.22551823e-04 9.99840669e-01 4.79516926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.962755096 meters 0.020589029810460083 Centerline is valid? [True, True] Translation: X:105.40, Y:167.00, Z:4.80 [[-2.48191308e-01 -9.68702865e-01 3.97911589e-03 1.05397098e+02] [ 9.68555776e-01 -2.48222976e-01 -1.68838071e-02 1.67002218e+02] [ 1.73431003e-02 -3.36418504e-04 9.99849541e-01 4.79626112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99275509600005 meters 0.020589029810460083 Centerline is valid? [True, True] Translation: X:105.39, Y:167.03, Z:4.80 [[-2.48569716e-01 -9.68605810e-01 3.98514539e-03 1.05390899e+02] [ 9.68458731e-01 -2.48601431e-01 -1.68823840e-02 1.67027395e+02] [ 1.73430881e-02 -3.37000557e-04 9.99849541e-01 4.79664408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.022755096 meters 0.023162632670689572 Centerline is valid? [True, True] Translation: X:105.39, Y:167.05, Z:4.80 [[-2.50994760e-01 -9.67980374e-01 3.95297096e-03 1.05389111e+02] [ 9.67836077e-01 -2.51025613e-01 -1.67173437e-02 1.67054398e+02] [ 1.71743576e-02 -3.70137770e-04 9.99852441e-01 4.79705519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05275509600006 meters 0.022446625473903654 Centerline is valid? [True, True] Translation: X:105.38, Y:167.08, Z:4.80 [[-2.51993730e-01 -9.67721094e-01 3.87878270e-03 1.05381380e+02] [ 9.67582578e-01 -2.52023303e-01 -1.63770931e-02 1.67080032e+02] [ 1.68260020e-02 -3.73882208e-04 9.99858363e-01 4.79773822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.082755096 meters 0.02124575361312539 Centerline is valid? [True, True] Translation: X:105.37, Y:167.11, Z:4.80 [[-2.52945723e-01 -9.67472509e-01 3.92491862e-03 1.05372498e+02] [ 9.67331123e-01 -2.52975875e-01 -1.65440698e-02 1.67105934e+02] [ 1.69988425e-02 -3.88055768e-04 9.99855434e-01 4.79817785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11275509600006 meters 0.02289660426197752 Centerline is valid? [True, True] Translation: X:105.37, Y:167.13, Z:4.80 [[-2.53700997e-01 -9.67274584e-01 3.96031023e-03 1.05368868e+02] [ 9.67131078e-01 -2.53731594e-01 -1.66660137e-02 1.67132388e+02] [ 1.71254673e-02 -3.98045207e-04 9.99853269e-01 4.79806673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14275509600003 meters 0.02210322044228725 Centerline is valid? [True, True] Translation: X:105.36, Y:167.16, Z:4.80 [[-2.54543453e-01 -9.67051664e-01 4.32537949e-03 1.05360719e+02] [ 9.66881066e-01 -2.54579816e-01 -1.81692629e-02 1.67157572e+02] [ 1.86717703e-02 -4.42739396e-04 9.99825569e-01 4.79768343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17275509600006 meters 0.02411998684111 Centerline is valid? [True, True] Translation: X:105.36, Y:167.18, Z:4.80 [[-2.55136449e-01 -9.66895003e-01 4.40976734e-03 1.05357776e+02] [ 9.66718255e-01 -2.55174150e-01 -1.84924131e-02 1.67183288e+02] [ 1.90054805e-02 -4.55086039e-04 9.99819276e-01 4.79694640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20275509600003 meters 0.022208791992340743 Centerline is valid? [True, True] Translation: X:105.35, Y:167.21, Z:4.80 [[-2.55400462e-01 -9.66824782e-01 4.52161835e-03 1.05347531e+02] [ 9.66639494e-01 -2.55440062e-01 -1.89331441e-02 1.67208153e+02] [ 1.94600354e-02 -4.64758887e-04 9.99810528e-01 4.79736666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23275509600006 meters 0.023913255420166233 Centerline is valid? [True, True] Translation: X:105.34, Y:167.23, Z:4.80 [[-2.54755968e-01 -9.66993861e-01 4.71906090e-03 1.05343236e+02] [ 9.66792790e-01 -2.54799253e-01 -1.97241419e-02 1.67233374e+02] [ 2.02755373e-02 -4.62488814e-04 9.99794323e-01 4.79658261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26275509600003 meters 0.021452486832903885 Centerline is valid? [True, True] Translation: X:105.33, Y:167.26, Z:4.80 [[-2.54671295e-01 -9.67016101e-01 4.73193782e-03 1.05332199e+02] [ 9.66814656e-01 -2.54714850e-01 -1.97424987e-02 1.67258065e+02] [ 2.02966090e-02 -4.52940881e-04 9.99793900e-01 4.79807972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29275509600006 meters 0.023353393567667694 Centerline is valid? [True, True] Translation: X:105.33, Y:167.28, Z:4.80 [[-2.53843246e-01 -9.67233173e-01 4.85748823e-03 1.05329022e+02] [ 9.67021695e-01 -2.53889340e-01 -2.02297974e-02 1.67283644e+02] [ 2.08001956e-02 -4.37900928e-04 9.99783557e-01 4.79737922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32275509600004 meters 0.021477972941310177 Centerline is valid? [True, True] Translation: X:105.32, Y:167.31, Z:4.80 [[-2.53688911e-01 -9.67273640e-01 4.86236241e-03 1.05319207e+02] [ 9.67062493e-01 -2.53735147e-01 -2.02141020e-02 1.67308449e+02] [ 2.07863202e-02 -4.25885211e-04 9.99783850e-01 4.79892515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35275509600007 meters 0.02102613166300356 Centerline is valid? [True, True] Translation: X:105.31, Y:167.33, Z:4.80 [[-2.53527429e-01 -9.67316166e-01 4.82472066e-03 1.05311746e+02] [ 9.67108975e-01 -2.53573000e-01 -2.00240889e-02 1.67333457e+02] [ 2.05930438e-02 -4.10625125e-04 9.99787856e-01 4.79981261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38275509600004 meters 0.02057706614284365 Centerline is valid? [True, True] Translation: X:105.30, Y:167.36, Z:4.80 [[-2.52843834e-01 -9.67495153e-01 4.80877649e-03 1.05304122e+02] [ 9.67290057e-01 -2.52889264e-01 -1.99240273e-02 1.67358646e+02] [ 2.04924877e-02 -3.86185761e-04 9.99789932e-01 4.80088174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41275509600007 meters 0.020436510194509375 Centerline is valid? [True, True] Translation: X:105.30, Y:167.38, Z:4.80 [[-2.52445787e-01 -9.67599051e-01 4.81667751e-03 1.05297655e+02] [ 9.67394007e-01 -2.52491463e-01 -1.99222692e-02 1.67383014e+02] [ 2.04929388e-02 -3.69667975e-04 9.99789929e-01 4.80137289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44275509600004 meters 0.01991075801319976 Centerline is valid? [True, True] Translation: X:105.29, Y:167.41, Z:4.80 [[-2.52567104e-01 -9.67567745e-01 4.74516960e-03 1.05289727e+02] [ 9.67369429e-01 -2.52611422e-01 -1.95922696e-02 1.67408596e+02] [ 2.01555321e-02 -3.58030782e-04 9.99796793e-01 4.80239346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47275509600007 meters 0.02008220810141106 Centerline is valid? [True, True] Translation: X:105.28, Y:167.43, Z:4.80 [[-2.51638130e-01 -9.67809955e-01 4.70562810e-03 1.05283493e+02] [ 9.67615604e-01 -2.51681910e-01 -1.93973886e-02 1.67432981e+02] [ 1.99573072e-02 -3.27883414e-04 9.99800779e-01 4.80368847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50275509600004 meters 0.019277245581037272 Centerline is valid? [True, True] Translation: X:105.28, Y:167.46, Z:4.80 [[-2.51229493e-01 -9.67916261e-01 4.67476758e-03 1.05275068e+02] [ 9.67725026e-01 -2.51272791e-01 -1.92421144e-02 1.67458178e+02] [ 1.97993973e-02 -3.10297068e-04 9.99803925e-01 4.80499523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5327550960001 meters 0.018877543257995975 Centerline is valid? [True, True] Translation: X:105.27, Y:167.48, Z:4.81 [[-2.50123892e-01 -9.68202485e-01 4.68897500e-03 1.05266980e+02] [ 9.68010802e-01 -2.50167682e-01 -1.92669992e-02 1.67483006e+02] [ 1.98273865e-02 -2.80158364e-04 9.99803379e-01 4.80643401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56275509600005 meters 0.019414533320559518 Centerline is valid? [True, True] Translation: X:105.26, Y:167.51, Z:4.81 [[-2.49777584e-01 -9.68292000e-01 4.66491944e-03 1.05261604e+02] [ 9.68102958e-01 -2.49821003e-01 -1.91344828e-02 1.67507790e+02] [ 1.96931614e-02 -2.63242558e-04 9.99806036e-01 4.80620713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5927550960001 meters 0.020022522676256472 Centerline is valid? [True, True] Translation: X:105.25, Y:167.53, Z:4.81 [[-2.49728764e-01 -9.68304161e-01 4.75355389e-03 1.05253400e+02] [ 9.68108573e-01 -2.49773867e-01 -1.94629381e-02 1.67533286e+02] [ 2.00333575e-02 -2.58499202e-04 9.99799279e-01 4.80567906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62275509600005 meters 0.018349337632145815 Centerline is valid? [True, True] Translation: X:105.24, Y:167.56, Z:4.81 [[-2.49336824e-01 -9.68405049e-01 4.77586012e-03 1.05244220e+02] [ 9.68208305e-01 -2.49382440e-01 -1.95211683e-02 1.67558596e+02] [ 2.00954136e-02 -2.43318685e-04 9.99798037e-01 4.80712511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.652755096 meters 0.018442806196214603 Centerline is valid? [True, True] Translation: X:105.24, Y:167.58, Z:4.81 [[-2.49894527e-01 -9.68261002e-01 4.83292112e-03 1.05237226e+02] [ 9.68060186e-01 -2.49941132e-01 -1.97207048e-02 1.67584673e+02] [ 2.03027351e-02 -2.49537679e-04 9.99793847e-01 4.80733563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68275509600005 meters 0.019139837353751445 Centerline is valid? [True, True] Translation: X:105.23, Y:167.61, Z:4.81 [[-2.50837946e-01 -9.68016982e-01 4.84223409e-03 1.05232607e+02] [ 9.67815956e-01 -2.50884542e-01 -1.97286875e-02 1.67609712e+02] [ 2.03125463e-02 -2.62312032e-04 9.99793645e-01 4.80697713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.712755096 meters 0.01902839423441814 Centerline is valid? [True, True] Translation: X:105.23, Y:167.64, Z:4.81 [[-2.52601179e-01 -9.67558359e-01 4.84426072e-03 1.05225623e+02] [ 9.67357653e-01 -2.52647456e-01 -1.97087300e-02 1.67635985e+02] [ 2.02932366e-02 -2.92315750e-04 9.99794028e-01 4.80792762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74275509600005 meters 0.019361540446970252 Centerline is valid? [True, True] Translation: X:105.22, Y:167.66, Z:4.81 [[-2.54096761e-01 -9.67166483e-01 4.88166209e-03 1.05220284e+02] [ 9.66963245e-01 -2.54143451e-01 -1.98289873e-02 1.67661448e+02] [ 2.04185744e-02 -3.18093635e-04 9.99791469e-01 4.80860912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.772755096 meters 0.02147651788626141 Centerline is valid? [True, True] Translation: X:105.22, Y:167.69, Z:4.81 [[-2.57340668e-01 -9.66308025e-01 4.95790822e-03 1.05216274e+02] [ 9.66098932e-01 -2.57388136e-01 -2.01047485e-02 1.67688328e+02] [ 2.07034866e-02 -3.83939584e-04 9.99785586e-01 4.80764640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80275509600006 meters 0.021270110474428446 Centerline is valid? [True, True] Translation: X:105.21, Y:167.71, Z:4.81 [[-2.58925252e-01 -9.65884806e-01 4.92502225e-03 1.05212116e+02] [ 9.65679041e-01 -2.58971767e-01 -1.99402391e-02 1.67714681e+02] [ 2.05354157e-02 -4.07040664e-04 9.99789043e-01 4.80925359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.832755096 meters 0.021852664777833018 Centerline is valid? [True, True] Translation: X:105.21, Y:167.74, Z:4.81 [[-2.60801359e-01 -9.65379826e-01 4.94391282e-03 1.05206679e+02] [ 9.65173041e-01 -2.60847843e-01 -1.99850976e-02 1.67741624e+02] [ 2.05828190e-02 -4.40409237e-04 9.99788054e-01 4.80973210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86275509600006 meters 0.02286852240963963 Centerline is valid? [True, True] Translation: X:105.20, Y:167.77, Z:4.81 [[-2.63985351e-01 -9.64514700e-01 4.80924066e-03 1.05201843e+02] [ 9.64319445e-01 -2.64028705e-01 -1.94126316e-02 1.67768443e+02] [ 1.99935462e-02 -4.87006084e-04 9.99799990e-01 4.81069875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89275509600003 meters 0.023142329883490013 Centerline is valid? [True, True] Translation: X:105.20, Y:167.79, Z:4.81 [[-2.65556765e-01 -9.64083779e-01 4.69802587e-03 1.05195457e+02] [ 9.63897926e-01 -2.65597848e-01 -1.89360024e-02 1.67794616e+02] [ 1.95036783e-02 -5.00166166e-04 9.99809660e-01 4.81165564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92275509600006 meters 0.023953602061737415 Centerline is valid? [True, True] Translation: X:105.19, Y:167.82, Z:4.81 [[-2.67869975e-01 -9.63444423e-01 4.52989233e-03 1.05189896e+02] [ 9.63272043e-01 -2.67907769e-01 -1.82317760e-02 1.67820939e+02] [ 1.87788963e-02 -5.20226751e-04 9.99823526e-01 4.81268655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95275509600003 meters 0.023469920654236375 Centerline is valid? [True, True] Translation: X:105.18, Y:167.85, Z:4.81 [[-2.68898081e-01 -9.63158526e-01 4.41308652e-03 1.05181723e+02] [ 9.62995363e-01 -2.68933791e-01 -1.77354980e-02 1.67847064e+02] [ 1.82689242e-02 -5.19259533e-04 9.99832974e-01 4.81334592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98275509600006 meters 0.0251325748039245 Centerline is valid? [True, True] Translation: X:105.17, Y:167.87, Z:4.81 [[-2.69868907e-01 -9.62886927e-01 4.42032434e-03 1.05174952e+02] [ 9.62723692e-01 -2.69904584e-01 -1.77371970e-02 1.67873608e+02] [ 1.82719809e-02 -5.31166989e-04 9.99832912e-01 4.81167609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01275509600003 meters 0.02428579722933437 Centerline is valid? [True, True] Translation: X:105.17, Y:167.90, Z:4.81 [[-2.69705465e-01 -9.62931762e-01 4.62420389e-03 1.05167509e+02] [ 9.62753704e-01 -2.69744555e-01 -1.85251173e-02 1.67898451e+02] [ 1.90857777e-02 -5.44355964e-04 9.99817702e-01 4.81291080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04275509600006 meters 0.02309134634985239 Centerline is valid? [True, True] Translation: X:105.16, Y:167.92, Z:4.81 [[-2.69358934e-01 -9.63028244e-01 4.72935843e-03 1.05157545e+02] [ 9.62842592e-01 -2.69399904e-01 -1.89165138e-02 1.67924553e+02] [ 1.94912258e-02 -5.41704267e-04 9.99809881e-01 4.81289683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07275509600004 meters 0.022581608282064337 Centerline is valid? [True, True] Translation: X:105.15, Y:167.95, Z:4.81 [[-2.68599916e-01 -9.63239860e-01 4.80173835e-03 1.05148822e+02] [ 9.63048979e-01 -2.68642313e-01 -1.91825665e-02 1.67950426e+02] [ 1.97673627e-02 -5.28126520e-04 9.99804467e-01 4.81263613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10275509600007 meters 0.022760743249507553 Centerline is valid? [True, True] Translation: X:105.14, Y:167.98, Z:4.81 [[-2.67564845e-01 -9.63526820e-01 5.01209925e-03 1.05141449e+02] [ 9.63319554e-01 -2.67611278e-01 -1.99909971e-02 1.67976119e+02] [ 2.06031561e-02 -5.20634813e-04 9.99787597e-01 4.81242257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13275509600004 meters 0.0213968863484263 Centerline is valid? [True, True] Translation: X:105.13, Y:168.00, Z:4.81 [[-2.64457249e-01 -9.64382651e-01 5.33528028e-03 1.05130050e+02] [ 9.64148692e-01 -2.64510635e-01 -2.12467287e-02 1.68001967e+02] [ 2.19012149e-02 -4.74847910e-04 9.99760027e-01 4.81181998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16275509600007 meters 0.023101000197753702 Centerline is valid? [True, True] Translation: X:105.12, Y:168.03, Z:4.81 [[-2.63506573e-01 -9.64642369e-01 5.42081469e-03 1.05121958e+02] [ 9.64401636e-01 -2.63561938e-01 -2.15543235e-02 1.68027628e+02] [ 2.22209341e-02 -4.51863365e-04 9.99752982e-01 4.80921265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19275509600004 meters 0.02127014501321499 Centerline is valid? [True, True] Translation: X:105.11, Y:168.05, Z:4.81 [[-2.61884104e-01 -9.65083910e-01 5.45559252e-03 1.05113595e+02] [ 9.64840965e-01 -2.61940606e-01 -2.16571507e-02 1.68053133e+02] [ 2.23300089e-02 -4.07884367e-04 9.99750571e-01 4.81063570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22275509600007 meters 0.01911005577633423 Centerline is valid? [True, True] Translation: X:105.10, Y:168.08, Z:4.81 [[-2.58893357e-01 -9.65890379e-01 5.47774375e-03 1.05102436e+02] [ 9.65646356e-01 -2.58951088e-01 -2.17128867e-02 1.68078874e+02] [ 2.23907361e-02 -3.31758837e-04 9.99749241e-01 4.81232357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25275509600004 meters 0.020500701707398317 Centerline is valid? [True, True] Translation: X:105.10, Y:168.10, Z:4.81 [[-2.58121464e-01 -9.66097855e-01 5.31453192e-03 1.05095758e+02] [ 9.65868823e-01 -2.58175998e-01 -2.10373496e-02 1.68103348e+02] [ 2.16962229e-02 -2.97050784e-04 9.99764565e-01 4.81071938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2827550960001 meters 0.018203244950762486 Centerline is valid? [True, True] Translation: X:105.09, Y:168.13, Z:4.81 [[-2.56395743e-01 -9.66558138e-01 5.15637154e-03 1.05085912e+02] [ 9.66343224e-01 -2.56447472e-01 -2.03830059e-02 1.68128304e+02] [ 2.10236987e-02 -2.43291240e-04 9.99778948e-01 4.81391171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31275509600005 meters 0.01805591637958213 Centerline is valid? [True, True] Translation: X:105.08, Y:168.15, Z:4.81 [[-2.56272365e-01 -9.66591210e-01 5.08991638e-03 1.05078788e+02] [ 9.66382489e-01 -2.56322804e-01 -2.00874608e-02 1.68152794e+02] [ 2.07210247e-02 -2.29055030e-04 9.99785270e-01 4.81462650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3427550960001 meters 0.017928345348584108 Centerline is valid? [True, True] Translation: X:105.07, Y:168.18, Z:4.82 [[-2.56212680e-01 -9.66607875e-01 4.92730410e-03 1.05070535e+02] [ 9.66412911e-01 -2.56259967e-01 -1.94142935e-02 1.68178998e+02] [ 2.00286798e-02 -2.12377877e-04 9.99799383e-01 4.81532926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37275509600005 meters 0.01779564354008113 Centerline is valid? [True, True] Translation: X:105.06, Y:168.20, Z:4.82 [[-2.56266350e-01 -9.66594606e-01 4.73558298e-03 1.05064145e+02] [ 9.66415028e-01 -2.56310025e-01 -1.86323807e-02 1.68204581e+02] [ 1.92237361e-02 -1.98313651e-04 9.99815187e-01 4.81631180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.402755096 meters 0.017648903979044485 Centerline is valid? [True, True] Translation: X:105.06, Y:168.23, Z:4.82 [[-2.56636675e-01 -9.66496716e-01 4.66000481e-03 1.05058542e+02] [ 9.66323259e-01 -2.56678904e-01 -1.83111625e-02 1.68229607e+02] [ 1.88938033e-02 -1.96244804e-04 9.99821477e-01 4.81731273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43275509600005 meters 0.018259455108372447 Centerline is valid? [True, True] Translation: X:105.05, Y:168.26, Z:4.82 [[-2.57280079e-01 -9.66326241e-01 4.53399260e-03 1.05052162e+02] [ 9.66162568e-01 -2.57319953e-01 -1.77857984e-02 1.68255072e+02] [ 1.83535704e-02 -1.95357673e-04 9.99831540e-01 4.81708334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.462755096 meters 0.01799345613170903 Centerline is valid? [True, True] Translation: X:105.05, Y:168.28, Z:4.82 [[-2.58153274e-01 -9.66094543e-01 4.26862795e-03 1.05047294e+02] [ 9.65949885e-01 -2.58188491e-01 -1.67189674e-02 1.68280469e+02] [ 1.72542137e-02 -1.92775477e-04 9.99851116e-01 4.81882023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49275509600005 meters 0.01853402603832867 Centerline is valid? [True, True] Translation: X:105.04, Y:168.31, Z:4.82 [[-2.58852179e-01 -9.65907959e-01 4.16713477e-03 1.05039279e+02] [ 9.65770524e-01 -2.58885647e-01 -1.62946716e-02 1.68305488e+02] [ 1.68179644e-02 -1.93415314e-04 9.99858549e-01 4.81868279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.522755096 meters 0.01740289896970238 Centerline is valid? [True, True] Translation: X:105.03, Y:168.33, Z:4.82 [[-2.59823929e-01 -9.65647693e-01 4.00744411e-03 1.05032345e+02] [ 9.65520961e-01 -2.59854758e-01 -1.56454346e-02 1.68331424e+02] [ 1.61493313e-02 -1.95787001e-04 9.99869572e-01 4.82097413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55275509600006 meters 0.017520666810926146 Centerline is valid? [True, True] Translation: X:105.03, Y:168.36, Z:4.82 [[-2.60731152e-01 -9.65403108e-01 4.01321387e-03 1.05026044e+02] [ 9.65276401e-01 -2.60761956e-01 -1.56419740e-02 1.68357386e+02] [ 1.61473038e-02 -2.04489265e-04 9.99869603e-01 4.82133293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.582755096 meters 0.01775627844895424 Centerline is valid? [True, True] Translation: X:105.02, Y:168.38, Z:4.82 [[-2.61757166e-01 -9.65125423e-01 4.01305071e-03 1.05019875e+02] [ 9.64999110e-01 -2.61787839e-01 -1.56155277e-02 1.68383575e+02] [ 1.61215107e-02 -2.14885919e-04 9.99870017e-01 4.82138474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61275509600006 meters 0.018284367561552054 Centerline is valid? [True, True] Translation: X:105.01, Y:168.41, Z:4.82 [[-2.62766519e-01 -9.64849954e-01 4.28055078e-03 1.05014853e+02] [ 9.64706702e-01 -2.62801274e-01 -1.66273699e-02 1.68408304e+02] [ 1.71678513e-02 -2.39640095e-04 9.99852593e-01 4.82061661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64275509600003 meters 0.018351460811703406 Centerline is valid? [True, True] Translation: X:105.01, Y:168.43, Z:4.82 [[-2.63005703e-01 -9.64784052e-01 4.44217898e-03 1.05008384e+02] [ 9.64630285e-01 -2.63043100e-01 -1.72261712e-02 1.68432997e+02] [ 1.77880197e-02 -2.45520871e-04 9.99841751e-01 4.82025060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67275509600006 meters 0.018188869610253854 Centerline is valid? [True, True] Translation: X:105.00, Y:168.46, Z:4.82 [[-2.63265782e-01 -9.64712596e-01 4.55369985e-03 1.05000914e+02] [ 9.64551432e-01 -2.63305042e-01 -1.76349179e-02 1.68458195e+02] [ 1.82116396e-02 -2.50392740e-04 9.99834123e-01 4.82016722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70275509600003 meters 0.018138794099016777 Centerline is valid? [True, True] Translation: X:104.99, Y:168.48, Z:4.82 [[-2.63405221e-01 -9.64673443e-01 4.77891977e-03 1.04993761e+02] [ 9.64496519e-01 -2.63448443e-01 -1.84765328e-02 1.68483228e+02] [ 1.90828195e-02 -2.57563722e-04 9.99817873e-01 4.81898492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73275509600006 meters 0.01784218091565276 Centerline is valid? [True, True] Translation: X:104.99, Y:168.51, Z:4.82 [[-2.63274492e-01 -9.64708246e-01 4.95401707e-03 1.04986843e+02] [ 9.64518746e-01 -2.63320973e-01 -1.91220712e-02 1.68508520e+02] [ 1.97517164e-02 -2.56111258e-04 9.99804883e-01 4.81887297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76275509600003 meters 0.01775452116431793 Centerline is valid? [True, True] Translation: X:104.98, Y:168.53, Z:4.82 [[-2.62850333e-01 -9.64822568e-01 5.20710601e-03 1.04981261e+02] [ 9.64613935e-01 -2.62901785e-01 -2.00650710e-02 1.68533808e+02] [ 2.07281908e-02 -2.51263586e-04 9.99785116e-01 4.81869982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79275509600006 meters 0.017735732731183593 Centerline is valid? [True, True] Translation: X:104.98, Y:168.56, Z:4.82 [[-2.62737355e-01 -9.64852871e-01 5.29342350e-03 1.04975435e+02] [ 9.64637993e-01 -2.62790560e-01 -2.03632993e-02 1.68558681e+02] [ 2.10386496e-02 -2.43961985e-04 9.99778633e-01 4.81883950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82275509600004 meters 0.017972787036968536 Centerline is valid? [True, True] Translation: X:104.97, Y:168.58, Z:4.82 [[-2.62867630e-01 -9.64817183e-01 5.33041731e-03 1.04970073e+02] [ 9.64600000e-01 -2.62921560e-01 -2.04717609e-02 1.68583202e+02] [ 2.11529883e-02 -2.39642721e-04 9.99776222e-01 4.81881467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85275509600007 meters 0.01777913952318971 Centerline is valid? [True, True] Translation: X:104.96, Y:168.61, Z:4.82 [[-2.62984879e-01 -9.64785020e-01 5.36820084e-03 1.04963325e+02] [ 9.64565447e-01 -2.63039558e-01 -2.05836976e-02 1.68608526e+02] [ 2.12708923e-02 -2.35220194e-04 9.99773721e-01 4.81919051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88275509600004 meters 0.01784119216679967 Centerline is valid? [True, True] Translation: X:104.96, Y:168.63, Z:4.82 [[-2.62853180e-01 -9.64820417e-01 5.45612079e-03 1.04958238e+02] [ 9.64594262e-01 -2.62909702e-01 -2.08901723e-02 1.68633843e+02] [ 2.15897319e-02 -2.28105420e-04 9.99766889e-01 4.81955699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91275509600007 meters 0.01784119216679967 Centerline is valid? [True, True] Translation: X:104.95, Y:168.66, Z:4.82 [[-2.63212145e-01 -9.64722511e-01 5.46287291e-03 1.04951424e+02] [ 9.64496372e-01 -2.63268729e-01 -2.08884068e-02 1.68658845e+02] [ 2.15897199e-02 -2.29161269e-04 9.99766889e-01 4.81994002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94275509600004 meters 0.01769252757857944 Centerline is valid? [True, True] Translation: X:104.95, Y:168.68, Z:4.82 [[-2.63264020e-01 -9.64708413e-01 5.45284274e-03 1.04945213e+02] [ 9.64483780e-01 -2.63320391e-01 -2.08184991e-02 1.68684485e+02] [ 2.15196260e-02 -2.21583397e-04 9.99768401e-01 4.82070227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97275509600007 meters 0.017599218965660197 Centerline is valid? [True, True] Translation: X:104.94, Y:168.71, Z:4.82 [[-2.63245394e-01 -9.64714561e-01 5.26097374e-03 1.04940047e+02] [ 9.64506074e-01 -2.63297879e-01 -2.00564419e-02 1.68709937e+02] [ 2.07339448e-02 -2.05524826e-04 9.99785008e-01 4.82233017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00275509600004 meters 0.01726736717006271 Centerline is valid? [True, True] Translation: X:104.93, Y:168.74, Z:4.82 [[-2.63544739e-01 -9.64633472e-01 5.14142583e-03 1.04933448e+02] [ 9.64434929e-01 -2.63594810e-01 -1.95715169e-02 1.68735162e+02] [ 2.02345935e-02 -1.99399676e-04 9.99795240e-01 4.82413987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0327550960001 meters 0.01741831036090221 Centerline is valid? [True, True] Translation: X:104.93, Y:168.76, Z:4.82 [[-2.63856005e-01 -9.64549384e-01 4.94923593e-03 1.04928139e+02] [ 9.64365951e-01 -2.63902349e-01 -1.88112237e-02 1.68760407e+02] [ 1.94504692e-02 -1.90579710e-04 9.99810804e-01 4.82483702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06275509600005 meters 0.01751325871906865 Centerline is valid? [True, True] Translation: X:104.92, Y:168.78, Z:4.83 [[-2.64375140e-01 -9.64408142e-01 4.76657068e-03 1.04924124e+02] [ 9.64238515e-01 -2.64418041e-01 -1.80882710e-02 1.68784875e+02] [ 1.87048431e-02 -1.85978154e-04 9.99825032e-01 4.82585813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0927550960001 meters 0.01766025537275931 Centerline is valid? [True, True] Translation: X:104.92, Y:168.81, Z:4.83 [[-2.65077148e-01 -9.64215632e-01 4.72446686e-03 1.04918675e+02] [ 9.64049508e-01 -2.65119178e-01 -1.78988011e-02 1.68810251e+02] [ 1.85108506e-02 -1.89943184e-04 9.99828642e-01 4.82677504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12275509600005 meters 0.017292757581991277 Centerline is valid? [True, True] Translation: X:104.91, Y:168.84, Z:4.83 [[-2.66039054e-01 -9.63951204e-01 4.61487629e-03 1.04911577e+02] [ 9.63793151e-01 -2.66079005e-01 -1.74564039e-02 1.68835912e+02] [ 1.80550433e-02 -1.96299025e-04 9.99836975e-01 4.82815726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.152755096 meters 0.01724309459867464 Centerline is valid? [True, True] Translation: X:104.91, Y:168.86, Z:4.83 [[-2.67117222e-01 -9.63654129e-01 4.37144232e-03 1.04906526e+02] [ 9.63512696e-01 -2.67152916e-01 -1.65107390e-02 1.68862291e+02] [ 1.70784854e-02 -1.98362572e-04 9.99854132e-01 4.82979024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18275509600005 meters 0.017411937538902245 Centerline is valid? [True, True] Translation: X:104.90, Y:168.89, Z:4.83 [[-2.67912390e-01 -9.63433551e-01 4.32951972e-03 1.04901412e+02] [ 9.63295229e-01 -2.67947294e-01 -1.63263358e-02 1.68886731e+02] [ 1.68894228e-02 -2.03421960e-04 9.99857343e-01 4.83023711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.212755096 meters 0.01751273776034828 Centerline is valid? [True, True] Translation: X:104.90, Y:168.91, Z:4.83 [[-2.68918159e-01 -9.63154009e-01 4.16865057e-03 1.04896679e+02] [ 9.63026151e-01 -2.68950389e-01 -1.56946010e-02 1.68912390e+02] [ 1.62374781e-02 -2.06043704e-04 9.99868142e-01 4.83085478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24275509600005 meters 0.017682679794472703 Centerline is valid? [True, True] Translation: X:104.89, Y:168.94, Z:4.83 [[-2.69666735e-01 -9.62945025e-01 4.09025854e-03 1.04890855e+02] [ 9.62822286e-01 -2.69697673e-01 -1.53756598e-02 1.68937781e+02] [ 1.59090483e-02 -2.08111886e-04 9.99873421e-01 4.83104107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.272755096 meters 0.017742927294873184 Centerline is valid? [True, True] Translation: X:104.89, Y:168.96, Z:4.83 [[-2.70259218e-01 -9.62779205e-01 4.01969069e-03 1.04885029e+02] [ 9.62661011e-01 -2.70289030e-01 -1.50870463e-02 1.68963302e+02] [ 1.56119728e-02 -2.07813847e-04 9.99878104e-01 4.83147382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30275509600006 meters 0.017888084848920082 Centerline is valid? [True, True] Translation: X:104.88, Y:168.99, Z:4.83 [[-2.70817374e-01 -9.62622221e-01 4.05081076e-03 1.04879397e+02] [ 9.62502548e-01 -2.70847585e-01 -1.51799318e-02 1.68988008e+02] [ 1.57096920e-02 -2.12073601e-04 9.99876573e-01 4.83168373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.332755096 meters 0.01809385562553523 Centerline is valid? [True, True] Translation: X:104.87, Y:169.01, Z:4.83 [[-2.71682496e-01 -9.62378163e-01 4.10995866e-03 1.04874215e+02] [ 9.62255343e-01 -2.71713491e-01 -1.53763971e-02 1.69014307e+02] [ 1.59146400e-02 -2.22668276e-04 9.99873329e-01 4.83098365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36275509600006 meters 0.019922445359640207 Centerline is valid? [True, True] Translation: X:104.87, Y:169.04, Z:4.83 [[-2.72412304e-01 -9.62170684e-01 4.37178387e-03 1.04868566e+02] [ 9.62032135e-01 -2.72447274e-01 -1.63295558e-02 1.69039839e+02] [ 1.69029004e-02 -2.42575327e-04 9.99857106e-01 4.82870092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39275509600003 meters 0.018046019670065958 Centerline is valid? [True, True] Translation: X:104.86, Y:169.07, Z:4.83 [[-2.72133364e-01 -9.62249850e-01 4.31956069e-03 1.04862254e+02] [ 9.62115007e-01 -2.72167548e-01 -1.61101913e-02 1.69065788e+02] [ 1.66776734e-02 -2.28206378e-04 9.99860892e-01 4.83074879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42275509600006 meters 0.017846728829448964 Centerline is valid? [True, True] Translation: X:104.86, Y:169.09, Z:4.83 [[-2.71902746e-01 -9.62314999e-01 4.32880317e-03 1.04855784e+02] [ 9.62179997e-01 -2.71937115e-01 -1.61201183e-02 1.69090343e+02] [ 1.66897939e-02 -2.18016611e-04 9.99860692e-01 4.83080087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45275509600003 meters 0.017607535048796395 Centerline is valid? [True, True] Translation: X:104.85, Y:169.12, Z:4.83 [[-2.71721927e-01 -9.62365916e-01 4.36328322e-03 1.04848424e+02] [ 9.62229191e-01 -2.71756876e-01 -1.62229608e-02 1.69116070e+02] [ 1.67981767e-02 -2.09655684e-04 9.99858879e-01 4.83107875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48275509600006 meters 0.016972794152115882 Centerline is valid? [True, True] Translation: X:104.84, Y:169.14, Z:4.83 [[-2.70001734e-01 -9.62849739e-01 4.40964084e-03 1.04841422e+02] [ 9.62710579e-01 -2.70037683e-01 -1.63703940e-02 1.69140636e+02] [ 1.69529988e-02 -1.74826874e-04 9.99856272e-01 4.83142825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51275509600003 meters 0.017218157820925277 Centerline is valid? [True, True] Translation: X:104.83, Y:169.17, Z:4.83 [[-2.69595236e-01 -9.62963300e-01 4.48228867e-03 1.04834185e+02] [ 9.62819983e-01 -2.69632446e-01 -1.66139859e-02 1.69165734e+02] [ 1.72072291e-02 -1.63414355e-04 9.99851931e-01 4.83097561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54275509600006 meters 0.016124045483524238 Centerline is valid? [True, True] Translation: X:104.83, Y:169.19, Z:4.83 [[-2.67063563e-01 -9.63668451e-01 4.49113745e-03 1.04826218e+02] [ 9.63525083e-01 -2.67101300e-01 -1.66225872e-02 1.69189234e+02] [ 1.72182515e-02 -1.11963789e-04 9.99851749e-01 4.83197205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57275509600004 meters 0.01592124980708406 Centerline is valid? [True, True] Translation: X:104.82, Y:169.21, Z:4.83 [[-2.66492314e-01 -9.63826394e-01 4.53093261e-03 1.04818367e+02] [ 9.63680898e-01 -2.66530812e-01 -1.67467559e-02 1.69214497e+02] [ 1.73485985e-02 -9.65085433e-05 9.99849497e-01 4.83257339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60275509600007 meters 0.017592353489974337 Centerline is valid? [True, True] Translation: X:104.81, Y:169.24, Z:4.83 [[-2.66332768e-01 -9.63870229e-01 4.58673449e-03 1.04811934e+02] [ 9.63721581e-01 -2.66372247e-01 -1.69274858e-02 1.69239008e+02] [ 1.75376784e-02 -8.80091337e-05 9.99846199e-01 4.83073593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63275509600004 meters 0.015621511676159034 Centerline is valid? [True, True] Translation: X:104.81, Y:169.26, Z:4.83 [[-2.65696894e-01 -9.64046627e-01 4.38885269e-03 1.04805440e+02] [ 9.63910959e-01 -2.65733131e-01 -1.61730176e-02 1.69262596e+02] [ 1.67578067e-02 -6.66573473e-05 9.99859576e-01 4.83384711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66275509600007 meters 0.01559891832981485 Centerline is valid? [True, True] Translation: X:104.80, Y:169.29, Z:4.83 [[-2.66324741e-01 -9.63873671e-01 4.32179286e-03 1.04799366e+02] [ 9.63742514e-01 -2.66359796e-01 -1.59005055e-02 1.69287497e+02] [ 1.64772304e-02 -6.96024889e-05 9.99864239e-01 4.83464661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69275509600004 meters 0.015741866672084687 Centerline is valid? [True, True] Translation: X:104.79, Y:169.31, Z:4.84 [[-2.68353351e-01 -9.63311686e-01 4.13208052e-03 1.04794577e+02] [ 9.63192078e-01 -2.68385146e-01 -1.51800892e-02 1.69313149e+02] [ 1.57321463e-02 -9.36405785e-05 9.99876238e-01 4.83577904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72275509600007 meters 0.015851396226329903 Centerline is valid? [True, True] Translation: X:104.79, Y:169.34, Z:4.84 [[-2.70128294e-01 -9.62815980e-01 4.01169088e-03 1.04788113e+02] [ 9.62703510e-01 -2.70158058e-01 -1.47165380e-02 1.69339599e+02] [ 1.52531085e-02 -1.13284406e-04 9.99883658e-01 4.83652958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75275509600004 meters 0.016083985635291485 Centerline is valid? [True, True] Translation: X:104.78, Y:169.37, Z:4.84 [[-2.71979380e-01 -9.62295111e-01 3.91604651e-03 1.04783277e+02] [ 9.62188185e-01 -2.72007538e-01 -1.43455668e-02 1.69365115e+02] [ 1.48698630e-02 -1.33724679e-04 9.99889429e-01 4.83738343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7827550960001 meters 0.01650178588135035 Centerline is valid? [True, True] Translation: X:104.78, Y:169.39, Z:4.84 [[-2.74043986e-01 -9.61709621e-01 3.80776863e-03 1.04778382e+02] [ 9.61608762e-01 -2.74070395e-01 -1.39286748e-02 1.69390515e+02] [ 1.44389372e-02 -1.55485878e-04 9.99895741e-01 4.83816117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81275509600005 meters 0.01744776724363223 Centerline is valid? [True, True] Translation: X:104.77, Y:169.42, Z:4.84 [[-2.78083062e-01 -9.60549714e-01 3.74939442e-03 1.04774640e+02] [ 9.60452130e-01 -2.78108260e-01 -1.36931242e-02 1.69417361e+02] [ 1.41956641e-02 -2.06712037e-04 9.99899215e-01 4.83905014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8427550960001 meters 0.017982795453101278 Centerline is valid? [True, True] Translation: X:104.77, Y:169.44, Z:4.84 [[-2.79862136e-01 -9.60033398e-01 3.61393558e-03 1.04768681e+02] [ 9.59942935e-01 -2.79885382e-01 -1.31808202e-02 1.69442917e+02] [ 1.36655154e-02 -2.19640572e-04 9.99906598e-01 4.84005907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87275509600005 meters 0.018589922619163438 Centerline is valid? [True, True] Translation: X:104.76, Y:169.47, Z:4.84 [[-2.81697706e-01 -9.59496552e-01 3.57333455e-03 1.04762751e+02] [ 9.59408328e-01 -2.81720268e-01 -1.30135114e-02 1.69469009e+02] [ 1.34931001e-02 -2.37589380e-04 9.99908936e-01 4.84028295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.902755096 meters 0.019220745674670407 Centerline is valid? [True, True] Translation: X:104.76, Y:169.50, Z:4.84 [[-2.83847490e-01 -9.58861863e-01 3.81176034e-03 1.04755595e+02] [ 9.58761639e-01 -2.83872944e-01 -1.38662155e-02 1.69495490e+02] [ 1.43778408e-02 -2.81320862e-04 9.99896594e-01 4.84042683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93275509600005 meters 0.019659266403143364 Centerline is valid? [True, True] Translation: X:104.75, Y:169.52, Z:4.84 [[-2.84882340e-01 -9.58554259e-01 3.97310875e-03 1.04748943e+02] [ 9.58445647e-01 -2.84909882e-01 -1.44326123e-02 1.69520280e+02] [ 1.49664199e-02 -3.03587571e-04 9.99887951e-01 4.84029226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.962755096 meters 0.01988839631379034 Centerline is valid? [True, True] Translation: X:104.74, Y:169.55, Z:4.84 [[-2.85913137e-01 -9.58245907e-01 4.29656604e-03 1.04740789e+02] [ 9.58119280e-01 -2.85945218e-01 -1.55813159e-02 1.69545239e+02] [ 1.61593147e-02 -3.38280136e-04 9.99869373e-01 4.83931910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99275509600005 meters 0.020105142990007246 Centerline is valid? [True, True] Translation: X:104.73, Y:169.57, Z:4.84 [[-2.86710744e-01 -9.58006219e-01 4.58630163e-03 1.04733155e+02] [ 9.57862360e-01 -2.86747188e-01 -1.66057251e-02 1.69570588e+02] [ 1.72234970e-02 -3.67994105e-04 9.99851597e-01 4.83897701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.022755096 meters 0.02004311193151367 Centerline is valid? [True, True] Translation: X:104.73, Y:169.60, Z:4.84 [[-2.87742617e-01 -9.57695749e-01 4.79981541e-03 1.04725300e+02] [ 9.57538626e-01 -2.87782373e-01 -1.73518122e-02 1.69595595e+02] [ 1.79990591e-02 -3.96847208e-04 9.99837925e-01 4.83840434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05275509600006 meters 0.022217801953062142 Centerline is valid? [True, True] Translation: X:104.72, Y:169.62, Z:4.84 [[-2.89762126e-01 -9.57084950e-01 5.12913547e-03 1.04720112e+02] [ 9.56905989e-01 -2.89807159e-01 -1.85131967e-02 1.69621805e+02] [ 1.92051621e-02 -4.56322792e-04 9.99815460e-01 4.83697288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.082755096 meters 0.021409039261747146 Centerline is valid? [True, True] Translation: X:104.71, Y:169.65, Z:4.84 [[-2.91147395e-01 -9.56664099e-01 5.19578980e-03 1.04710734e+02] [ 9.56480907e-01 -2.91193354e-01 -1.87271345e-02 1.69647283e+02] [ 1.94285567e-02 -4.82682689e-04 9.99811131e-01 4.83759646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11275509600006 meters 0.022365740367159954 Centerline is valid? [True, True] Translation: X:104.70, Y:169.67, Z:4.84 [[-2.92831184e-01 -9.56150075e-01 5.18952285e-03 1.04704600e+02] [ 9.55967741e-01 -2.92876723e-01 -1.86789421e-02 1.69672771e+02] [ 1.93797623e-02 -5.08760291e-04 9.99812065e-01 4.83757393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14275509600003 meters 0.0226211391220727 Centerline is valid? [True, True] Translation: X:104.70, Y:169.70, Z:4.84 [[-2.95998141e-01 -9.55174891e-01 5.10173506e-03 1.04695982e+02] [ 9.54999016e-01 -2.96041582e-01 -1.83374336e-02 1.69698373e+02] [ 1.90257819e-02 -5.55694301e-04 9.99818839e-01 4.83912343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17275509600006 meters 0.024492528848939103 Centerline is valid? [True, True] Translation: X:104.69, Y:169.72, Z:4.84 [[-2.97422019e-01 -9.54733713e-01 4.86623025e-03 1.04690649e+02] [ 9.54574068e-01 -2.97461317e-01 -1.74674869e-02 1.69724288e+02] [ 1.81243139e-02 -5.50038027e-04 9.99835590e-01 4.83988418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20275509600003 meters 0.024066156857031118 Centerline is valid? [True, True] Translation: X:104.68, Y:169.75, Z:4.84 [[-2.98889968e-01 -9.54276698e-01 4.55756084e-03 1.04681594e+02] [ 9.54136988e-01 -2.98924235e-01 -1.63374010e-02 1.69749788e+02] [ 1.69527664e-02 -5.34547886e-04 9.99856149e-01 4.84129587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23275509600006 meters 0.02694809351838467 Centerline is valid? [True, True] Translation: X:104.68, Y:169.78, Z:4.84 [[-3.00794596e-01 -9.53679766e-01 4.18510331e-03 1.04676708e+02] [ 9.53562194e-01 -3.00823266e-01 -1.49834555e-02 1.69775797e+02] [ 1.55483948e-02 -5.16186153e-04 9.99878983e-01 4.84325617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26275509600003 meters 0.024662053090079666 Centerline is valid? [True, True] Translation: X:104.66, Y:169.80, Z:4.84 [[-3.01639079e-01 -9.53413705e-01 4.02152052e-03 1.04664831e+02] [ 9.53305416e-01 -3.01665466e-01 -1.43781544e-02 1.69799990e+02] [ 1.49214833e-02 -5.03275949e-04 9.99888542e-01 4.84406176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29275509600006 meters 0.02496119906912863 Centerline is valid? [True, True] Translation: X:104.66, Y:169.82, Z:4.84 [[-3.02380816e-01 -9.53179275e-01 3.88738543e-03 1.04656532e+02] [ 9.53078364e-01 -3.02405403e-01 -1.38782180e-02 1.69824820e+02] [ 1.44039962e-02 -4.91523948e-04 9.99896136e-01 4.84468830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32275509600004 meters 0.025281388319801378 Centerline is valid? [True, True] Translation: X:104.65, Y:169.85, Z:4.85 [[-3.02296767e-01 -9.53206458e-01 3.75685279e-03 1.04647165e+02] [ 9.53112482e-01 -3.02319749e-01 -1.33927589e-02 1.69848529e+02] [ 1.39018351e-02 -4.67884441e-04 9.99903255e-01 4.84565868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35275509600007 meters 0.02571478573869857 Centerline is valid? [True, True] Translation: X:104.64, Y:169.87, Z:4.85 [[-3.02196290e-01 -9.53239081e-01 3.55771895e-03 1.04639136e+02] [ 9.53155061e-01 -3.02216917e-01 -1.26635404e-02 1.69872830e+02] [ 1.31465845e-02 -4.35817103e-04 9.99913485e-01 4.84644284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38275509600004 meters 0.025421823886597698 Centerline is valid? [True, True] Translation: X:104.63, Y:169.90, Z:4.85 [[-3.01730647e-01 -9.53387282e-01 3.36278425e-03 1.04629675e+02] [ 9.53312382e-01 -3.01749117e-01 -1.19571213e-02 1.69897998e+02] [ 1.24144846e-02 -4.02046087e-04 9.99922857e-01 4.84779908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41275509600007 meters 0.022039025041139155 Centerline is valid? [True, True] Translation: X:104.61, Y:169.92, Z:4.85 [[-2.99608742e-01 -9.54057112e-01 3.10297608e-03 1.04613927e+02] [ 9.53993541e-01 -2.99624616e-01 -1.10187727e-02 1.69921871e+02] [ 1.14422665e-02 -3.41101489e-04 9.99934477e-01 4.84882732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44275509600004 meters 0.02301072081772724 Centerline is valid? [True, True] Translation: X:104.61, Y:169.95, Z:4.85 [[-2.98416698e-01 -9.54430879e-01 3.02856771e-03 1.04606449e+02] [ 9.54370501e-01 -2.98431900e-01 -1.07400386e-02 1.69947488e+02] [ 1.11544457e-02 -3.14631162e-04 9.99937738e-01 4.85026729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47275509600007 meters 0.022390313481838762 Centerline is valid? [True, True] Translation: X:104.60, Y:169.97, Z:4.85 [[-2.96934225e-01 -9.54893904e-01 2.77447829e-03 1.04596575e+02] [ 9.54843390e-01 -2.96947066e-01 -9.82550203e-03 1.69972013e+02] [ 1.02061852e-02 -2.68335574e-04 9.99947880e-01 4.85088857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50275509600004 meters 0.019332433618620654 Centerline is valid? [True, True] Translation: X:104.58, Y:170.00, Z:4.85 [[-2.93221908e-01 -9.56040586e-01 2.70380899e-03 1.04580561e+02] [ 9.55992741e-01 -2.93234291e-01 -9.56711678e-03 1.69996206e+02] [ 9.93940145e-03 -2.20466464e-04 9.99950579e-01 4.85084580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5327550960001 meters 0.018767408442109362 Centerline is valid? [True, True] Translation: X:104.57, Y:170.02, Z:4.85 [[-2.91550743e-01 -9.56551726e-01 2.63805210e-03 1.04570864e+02] [ 9.56506321e-01 -2.91562613e-01 -9.32201844e-03 1.70020253e+02] [ 9.68615019e-03 -1.94527896e-04 9.99953069e-01 4.85070346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56275509600005 meters 0.01805423780872864 Centerline is valid? [True, True] Translation: X:104.56, Y:170.04, Z:4.85 [[-2.88630038e-01 -9.57436689e-01 2.77259900e-03 1.04559587e+02] [ 9.57386682e-01 -2.88643305e-01 -9.78696710e-03 1.70043992e+02] [ 1.01706935e-02 -1.70363332e-04 9.99948263e-01 4.85075701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5927550960001 meters 0.018072136157050864 Centerline is valid? [True, True] Translation: X:104.55, Y:170.07, Z:4.85 [[-2.87693234e-01 -9.57718197e-01 2.90833585e-03 1.04551107e+02] [ 9.57663349e-01 -2.87707887e-01 -1.02509260e-02 1.70068003e+02] [ 1.06542495e-02 -1.63915398e-04 9.99943228e-01 4.85104323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62275509600005 meters 0.016723206529556268 Centerline is valid? [True, True] Translation: X:104.54, Y:170.09, Z:4.85 [[-2.87096213e-01 -9.57897158e-01 2.96641895e-03 1.04539769e+02] [ 9.57840282e-01 -2.87111495e-01 -1.04395442e-02 1.70092272e+02] [ 1.08517027e-02 -1.55798053e-04 9.99941106e-01 4.85054326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.652755096 meters 0.0167905699711119 Centerline is valid? [True, True] Translation: X:104.53, Y:170.12, Z:4.85 [[-2.86364032e-01 -9.58116246e-01 2.98323177e-03 1.04530870e+02] [ 9.58058905e-01 -2.86379535e-01 -1.04831183e-02 1.70115690e+02] [ 1.08983825e-02 -1.43876266e-04 9.99940601e-01 4.85105690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68275509600005 meters 0.01683556853692994 Centerline is valid? [True, True] Translation: X:104.52, Y:170.14, Z:4.85 [[-2.86563699e-01 -9.58056694e-01 2.93550424e-03 1.04522760e+02] [ 9.58001341e-01 -2.86578700e-01 -1.02994607e-02 1.70140067e+02] [ 1.07087203e-02 -1.39234566e-04 9.99942650e-01 4.85150616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.712755096 meters 0.016535305033064898 Centerline is valid? [True, True] Translation: X:104.51, Y:170.16, Z:4.85 [[-2.86927492e-01 -9.57947719e-01 2.96351718e-03 1.04513716e+02] [ 9.57891469e-01 -2.86942761e-01 -1.03819452e-02 1.70164675e+02] [ 1.07957205e-02 -1.40137659e-04 9.99941715e-01 4.85175935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74275509600005 meters 0.016677825950263066 Centerline is valid? [True, True] Translation: X:104.51, Y:170.19, Z:4.85 [[-2.88397908e-01 -9.57506795e-01 2.71745644e-03 1.04505131e+02] [ 9.57459596e-01 -2.88410677e-01 -9.50807152e-03 1.70189400e+02] [ 9.88778654e-03 -1.40253196e-04 9.99951105e-01 4.85212881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.772755096 meters 0.016847572723567333 Centerline is valid? [True, True] Translation: X:104.50, Y:170.21, Z:4.85 [[-2.89826399e-01 -9.57075100e-01 2.81286331e-03 1.04497663e+02] [ 9.57024667e-01 -2.89840007e-01 -9.82639027e-03 1.70214655e+02] [ 1.02198738e-02 -1.55967740e-04 9.99947764e-01 4.85243510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80275509600006 meters 0.016847572723567333 Centerline is valid? [True, True] Translation: X:104.49, Y:170.24, Z:4.85 [[-2.90211676e-01 -9.56958332e-01 2.81684177e-03 1.04490280e+02] [ 9.56907904e-01 -2.90225304e-01 -9.82524928e-03 1.70239500e+02] [ 1.02198729e-02 -1.55943910e-04 9.99947764e-01 4.85281786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.832755096 meters 0.01725214181823742 Centerline is valid? [True, True] Translation: X:104.48, Y:170.27, Z:4.85 [[-2.91735379e-01 -9.56495129e-01 2.74519791e-03 1.04483316e+02] [ 9.56447354e-01 -2.91748249e-01 -9.56134119e-03 1.70265003e+02] [ 9.94628296e-03 -1.63744222e-04 9.99950521e-01 4.85348404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86275509600006 meters 0.01877839670318223 Centerline is valid? [True, True] Translation: X:104.48, Y:170.29, Z:4.85 [[-2.95862829e-01 -9.55226941e-01 2.58422621e-03 1.04477628e+02] [ 9.55184678e-01 -2.95874053e-01 -8.98757306e-03 1.70291527e+02] [ 9.34977740e-03 -1.90675512e-04 9.99956272e-01 4.85403899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89275509600003 meters 0.019870291979194918 Centerline is valid? [True, True] Translation: X:104.47, Y:170.32, Z:4.85 [[-2.98092473e-01 -9.54533525e-01 2.57454938e-03 1.04471740e+02] [ 9.54491659e-01 -2.98103518e-01 -8.94236059e-03 1.70317559e+02] [ 9.30326520e-03 -2.08264474e-04 9.99956702e-01 4.85472696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92275509600006 meters 0.020532627186059256 Centerline is valid? [True, True] Translation: X:104.46, Y:170.34, Z:4.85 [[-3.00364345e-01 -9.53821143e-01 2.54698074e-03 1.04464630e+02] [ 9.53780259e-01 -3.00375060e-01 -8.83413468e-03 1.70344142e+02] [ 9.19123393e-03 -2.24199125e-04 9.99957735e-01 4.85478250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95275509600003 meters 0.02294461971014597 Centerline is valid? [True, True] Translation: X:104.46, Y:170.37, Z:4.86 [[-3.04266631e-01 -9.52583369e-01 2.59664861e-03 1.04459879e+02] [ 9.52540941e-01 -3.04277597e-01 -8.99444475e-03 1.70370081e+02] [ 9.35806048e-03 -2.63295289e-04 9.99956178e-01 4.85544542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98275509600006 meters 0.023056335884554784 Centerline is valid? [True, True] Translation: X:104.45, Y:170.40, Z:4.86 [[-3.05903660e-01 -9.52059043e-01 2.55539402e-03 1.04452080e+02] [ 9.52018044e-01 -3.05914213e-01 -8.83957147e-03 1.70395698e+02] [ 9.19752531e-03 -2.71276042e-04 9.99957665e-01 4.85629896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01275509600003 meters 0.02442852990563005 Centerline is valid? [True, True] Translation: X:104.45, Y:170.42, Z:4.86 [[-3.07081981e-01 -9.51679587e-01 2.57305363e-03 1.04446350e+02] [ 9.51638122e-01 -3.07092633e-01 -8.88820886e-03 1.70421792e+02] [ 9.24889275e-03 -2.80792866e-04 9.99957189e-01 4.85732093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04275509600006 meters 0.02439396196910729 Centerline is valid? [True, True] Translation: X:104.44, Y:170.45, Z:4.86 [[-3.08211276e-01 -9.51314632e-01 2.50598352e-03 1.04437485e+02] [ 9.51275394e-01 -3.08221336e-01 -8.64481662e-03 1.70447415e+02] [ 8.99633813e-03 -2.80549501e-04 9.99959493e-01 4.85827944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07275509600004 meters 0.022891224959235883 Centerline is valid? [True, True] Translation: X:104.43, Y:170.47, Z:4.86 [[-3.08449697e-01 -9.51237427e-01 2.47844638e-03 1.04426890e+02] [ 9.51199128e-01 -3.08459530e-01 -8.54027231e-03 1.70471957e+02] [ 8.88832706e-03 -2.76748377e-04 9.99960460e-01 4.85882647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10275509600007 meters 0.023697251343427254 Centerline is valid? [True, True] Translation: X:104.42, Y:170.50, Z:4.86 [[-3.06980464e-01 -9.51712891e-01 2.35975509e-03 1.04419616e+02] [ 9.51678289e-01 -3.06989435e-01 -8.11914671e-03 1.70497648e+02] [ 8.45151647e-03 -2.46691737e-04 9.99964255e-01 4.86043234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13275509600004 meters 0.02248522463442275 Centerline is valid? [True, True] Translation: X:104.41, Y:170.52, Z:4.86 [[-3.05787780e-01 -9.52096965e-01 2.28109173e-03 1.04409521e+02] [ 9.52064726e-01 -3.05796205e-01 -7.83831588e-03 1.70522907e+02] [ 8.16038595e-03 -2.25114234e-04 9.99966678e-01 4.86103632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16275509600007 meters 0.021333057961369875 Centerline is valid? [True, True] Translation: X:104.40, Y:170.55, Z:4.86 [[-3.04603661e-01 -9.52476445e-01 2.28707508e-03 1.04399237e+02] [ 9.52444130e-01 -3.04612173e-01 -7.84878611e-03 1.70548510e+02] [ 8.17245480e-03 -2.12457752e-04 9.99966582e-01 4.86148107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19275509600004 meters 0.019642845044514298 Centerline is valid? [True, True] Translation: X:104.39, Y:170.57, Z:4.86 [[-3.01569593e-01 -9.53441380e-01 2.30566268e-03 1.04386922e+02] [ 9.53408654e-01 -3.01578350e-01 -7.90173789e-03 1.70573688e+02] [ 8.22918183e-03 -1.84685126e-04 9.99966123e-01 4.86178271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22275509600007 meters 0.019183440004982615 Centerline is valid? [True, True] Translation: X:104.38, Y:170.60, Z:4.86 [[-3.00055499e-01 -9.53918918e-01 2.32278820e-03 1.04378147e+02] [ 9.53885795e-01 -3.00064441e-01 -7.95120680e-03 1.70598060e+02] [ 8.28179273e-03 -1.70128660e-04 9.99965691e-01 4.86224814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25275509600004 meters 0.01845367086562571 Centerline is valid? [True, True] Translation: X:104.37, Y:170.62, Z:4.86 [[-2.98747119e-01 -9.54329292e-01 2.40034548e-03 1.04368485e+02] [ 9.54294039e-01 -2.98756719e-01 -8.20426853e-03 1.70623836e+02] [ 8.54669312e-03 -1.60366203e-04 9.99963464e-01 4.86238778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2827550960001 meters 0.017972993950480933 Centerline is valid? [True, True] Translation: X:104.36, Y:170.65, Z:4.86 [[-2.96790350e-01 -9.54939930e-01 2.28451882e-03 1.04359418e+02] [ 9.54908088e-01 -2.96799112e-01 -7.79942015e-03 1.70648712e+02] [ 8.12602089e-03 -1.33287133e-04 9.99966974e-01 4.86329993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31275509600005 meters 0.01763858809641699 Centerline is valid? [True, True] Translation: X:104.35, Y:170.67, Z:4.86 [[-2.96186424e-01 -9.55127327e-01 2.32194899e-03 1.04351133e+02] [ 9.55094529e-01 -2.96195498e-01 -7.91634101e-03 1.70673564e+02] [ 8.24886447e-03 -1.27031963e-04 9.99965969e-01 4.86348571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3427550960001 meters 0.01709386080351821 Centerline is valid? [True, True] Translation: X:104.34, Y:170.70, Z:4.86 [[-2.95321463e-01 -9.55394968e-01 2.38520839e-03 1.04341711e+02] [ 9.55360467e-01 -2.95331071e-01 -8.12012063e-03 1.70698721e+02] [ 8.46234854e-03 -1.19312104e-04 9.99964187e-01 4.86341111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37275509600005 meters 0.01730772229186857 Centerline is valid? [True, True] Translation: X:104.33, Y:170.72, Z:4.86 [[-2.95440649e-01 -9.55357781e-01 2.51664373e-03 1.04334627e+02] [ 9.55319488e-01 -2.95451342e-01 -8.55459467e-03 1.70722836e+02] [ 8.91624435e-03 -1.23176204e-04 9.99960242e-01 4.86374677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.402755096 meters 0.017277484596057897 Centerline is valid? [True, True] Translation: X:104.33, Y:170.75, Z:4.86 [[-2.95608229e-01 -9.55305773e-01 2.57977467e-03 1.04326635e+02] [ 9.55265660e-01 -2.95619460e-01 -8.75516900e-03 1.70747684e+02] [ 9.12649509e-03 -1.23729852e-04 9.99958345e-01 4.86335565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43275509600005 meters 0.01695526306431809 Centerline is valid? [True, True] Translation: X:104.32, Y:170.77, Z:4.86 [[-2.96205059e-01 -9.55121119e-01 2.49229692e-03 1.04318179e+02] [ 9.55083769e-01 -2.96215519e-01 -8.44754826e-03 1.70773225e+02] [ 8.80668877e-03 -1.21854202e-04 9.99961213e-01 4.86324958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.462755096 meters 0.017204593543408635 Centerline is valid? [True, True] Translation: X:104.31, Y:170.80, Z:4.86 [[-2.97321980e-01 -9.54773435e-01 2.70719513e-03 1.04311925e+02] [ 9.54729494e-01 -2.97334272e-01 -9.16100401e-03 1.70799170e+02] [ 9.55162515e-03 -1.39128816e-04 9.99954373e-01 4.86266943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49275509600005 meters 0.017630844887398384 Centerline is valid? [True, True] Translation: X:104.31, Y:170.82, Z:4.86 [[-2.98449481e-01 -9.54421610e-01 2.70150683e-03 1.04305999e+02] [ 9.54377961e-01 -2.98461672e-01 -9.12899891e-03 1.70823961e+02] [ 9.51921008e-03 -1.46286416e-04 9.99954681e-01 4.86309017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.522755096 meters 0.018026484257592616 Centerline is valid? [True, True] Translation: X:104.30, Y:170.85, Z:4.86 [[-2.99638213e-01 -9.54048970e-01 2.73955077e-03 1.04299665e+02] [ 9.54004207e-01 -2.99650695e-01 -9.24306894e-03 1.70849471e+02] [ 9.63924869e-03 -1.56033700e-04 9.99953529e-01 4.86326763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55275509600006 meters 0.01849378085106647 Centerline is valid? [True, True] Translation: X:104.29, Y:170.88, Z:4.86 [[-3.01903416e-01 -9.53334195e-01 2.87062511e-03 1.04294136e+02] [ 9.53285166e-01 -3.01917008e-01 -9.67014952e-03 1.70876461e+02] [ 1.00855747e-02 -1.82926839e-04 9.99949123e-01 4.86247488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.582755096 meters 0.018911665468584873 Centerline is valid? [True, True] Translation: X:104.29, Y:170.90, Z:4.86 [[-3.02974534e-01 -9.52993732e-01 3.06260849e-03 1.04287580e+02] [ 9.52938058e-01 -3.02989945e-01 -1.03029706e-02 1.70902534e+02] [ 1.07466060e-02 -2.03061536e-04 9.99942233e-01 4.86232685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61275509600006 meters 0.0199405452918981 Centerline is valid? [True, True] Translation: X:104.28, Y:170.93, Z:4.86 [[-3.04925653e-01 -9.52370623e-01 3.24703607e-03 1.04282717e+02] [ 9.52308199e-01 -3.04942852e-01 -1.09064494e-02 1.70928038e+02] [ 1.13771424e-02 -2.33477122e-04 9.99935251e-01 4.86177902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64275509600003 meters 0.02011326446525008 Centerline is valid? [True, True] Translation: X:104.28, Y:170.95, Z:4.86 [[-3.05585571e-01 -9.52158149e-01 3.50966636e-03 1.04276064e+02] [ 9.52085415e-01 -3.05605618e-01 -1.17715346e-02 1.70954130e+02] [ 1.22809363e-02 -2.55708966e-04 9.99924554e-01 4.86175063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67275509600006 meters 0.020358360463099273 Centerline is valid? [True, True] Translation: X:104.27, Y:170.98, Z:4.86 [[-3.05599104e-01 -9.52152698e-01 3.79826869e-03 1.04270190e+02] [ 9.52067772e-01 -3.05622587e-01 -1.27197471e-02 1.70978642e+02] [ 1.32719783e-02 -2.70934113e-04 9.99911887e-01 4.86106746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70275509600003 meters 0.019821715120429205 Centerline is valid? [True, True] Translation: X:104.26, Y:171.00, Z:4.86 [[-3.05441133e-01 -9.52202707e-01 3.96472265e-03 1.04261970e+02] [ 9.52110387e-01 -3.05466739e-01 -1.32620869e-02 1.71003599e+02] [ 1.38392859e-02 -2.75933232e-04 9.99904194e-01 4.86069691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73275509600006 meters 0.01896125038437356 Centerline is valid? [True, True] Translation: X:104.25, Y:171.03, Z:4.86 [[-3.04851960e-01 -9.52390625e-01 4.16897726e-03 1.04252929e+02] [ 9.52288861e-01 -3.04880341e-01 -1.39249443e-02 1.71028679e+02] [ 1.45330256e-02 -2.74975953e-04 9.99894352e-01 4.86036551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76275509600003 meters 0.018717857617838583 Centerline is valid? [True, True] Translation: X:104.24, Y:171.05, Z:4.86 [[-3.04018300e-01 -9.52656573e-01 4.28096165e-03 1.04244979e+02] [ 9.52549608e-01 -3.04048326e-01 -1.42779724e-02 1.71053654e+02] [ 1.49036235e-02 -2.62936565e-04 9.99888900e-01 4.85968560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79275509600006 meters 0.01863967617003963 Centerline is valid? [True, True] Translation: X:104.24, Y:171.08, Z:4.86 [[-3.02028161e-01 -9.53287444e-01 4.69464801e-03 1.04238131e+02] [ 9.53159276e-01 -3.02064544e-01 -1.56335108e-02 1.71078874e+02] [ 1.63213163e-02 -2.47013234e-04 9.99866768e-01 4.85833790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82275509600004 meters 0.017666223266732083 Centerline is valid? [True, True] Translation: X:104.23, Y:171.10, Z:4.86 [[-3.01128259e-01 -9.53571643e-01 4.78470269e-03 1.04228703e+02] [ 9.53438912e-01 -3.01166182e-01 -1.59114102e-02 1.71103236e+02] [ 1.66136602e-02 -2.29453529e-04 9.99861957e-01 4.85834868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85275509600007 meters 0.016847144306287982 Centerline is valid? [True, True] Translation: X:104.22, Y:171.13, Z:4.86 [[-2.98995021e-01 -9.54241769e-01 4.96227122e-03 1.04220113e+02] [ 9.54099506e-01 -2.99036134e-01 -1.64779786e-02 1.71127931e+02] [ 1.72078738e-02 -1.92333033e-04 9.99851915e-01 4.85772278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88275509600004 meters 0.01686874998746891 Centerline is valid? [True, True] Translation: X:104.21, Y:171.15, Z:4.86 [[-2.98773779e-01 -9.54310432e-01 5.08218084e-03 1.04212932e+02] [ 9.54161660e-01 -2.98816943e-01 -1.68511416e-02 1.71151971e+02] [ 1.75998619e-02 -1.85457151e-04 9.99845093e-01 4.85781924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91275509600007 meters 0.016826499748278215 Centerline is valid? [True, True] Translation: X:104.21, Y:171.18, Z:4.86 [[-2.98195206e-01 -9.54491433e-01 5.07188508e-03 1.04205924e+02] [ 9.54343730e-01 -2.98238289e-01 -1.67918824e-02 1.71176417e+02] [ 1.75403382e-02 -1.66937100e-04 9.99846143e-01 4.85782151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94275509600004 meters 0.016614382359683256 Centerline is valid? [True, True] Translation: X:104.20, Y:171.20, Z:4.86 [[-2.97698946e-01 -9.54645566e-01 5.21355901e-03 1.04199162e+02] [ 9.54489981e-01 -2.97744554e-01 -1.72353194e-02 1.71201995e+02] [ 1.80059301e-02 -1.54646588e-04 9.99837868e-01 4.85769831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97275509600007 meters 0.016564052928163053 Centerline is valid? [True, True] Translation: X:104.19, Y:171.23, Z:4.86 [[-2.98169969e-01 -9.54499276e-01 5.07955326e-03 1.04191772e+02] [ 9.54351965e-01 -2.98213194e-01 -1.67695436e-02 1.71227025e+02] [ 1.75213071e-02 -1.52492661e-04 9.99846479e-01 4.85834199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00275509600004 meters 0.016684251571614996 Centerline is valid? [True, True] Translation: X:104.19, Y:171.25, Z:4.86 [[-2.98477443e-01 -9.54403379e-01 5.04038809e-03 1.04185856e+02] [ 9.54258730e-01 -2.98519961e-01 -1.66165109e-02 1.71251983e+02] [ 1.73635107e-02 -1.49819360e-04 9.99849232e-01 4.85847811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0327550960001 meters 0.01679794966824962 Centerline is valid? [True, True] Translation: X:104.18, Y:171.28, Z:4.86 [[-2.99293492e-01 -9.54147827e-01 5.03286489e-03 1.04180777e+02] [ 9.54003996e-01 -2.99335764e-01 -1.65673289e-02 1.71278161e+02] [ 1.73141973e-02 -1.57120501e-04 9.99850086e-01 4.85916978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06275509600005 meters 0.01675963632946146 Centerline is valid? [True, True] Translation: X:104.17, Y:171.30, Z:4.86 [[-3.00129023e-01 -9.53884973e-01 5.10178594e-03 1.04173910e+02] [ 9.53737554e-01 -3.00172335e-01 -1.67704587e-02 1.71303731e+02] [ 1.75285036e-02 -1.67536556e-04 9.99846350e-01 4.85953345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0927550960001 meters 0.01676810673669891 Centerline is valid? [True, True] Translation: X:104.17, Y:171.33, Z:4.86 [[-3.00251288e-01 -9.53846070e-01 5.18055538e-03 1.04167725e+02] [ 9.53694499e-01 -3.00295932e-01 -1.70045620e-02 1.71329766e+02] [ 1.77754344e-02 -1.64974487e-04 9.99841991e-01 4.85955331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12275509600005 meters 0.01670028103703091 Centerline is valid? [True, True] Translation: X:104.16, Y:171.36, Z:4.86 [[-3.00683229e-01 -9.53710326e-01 5.11965389e-03 1.04160112e+02] [ 9.53562691e-01 -3.00726767e-01 -1.67811390e-02 1.71355900e+02] [ 1.75439625e-02 -1.63896138e-04 9.99846079e-01 4.85992785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.152755096 meters 0.01944073772879738 Centerline is valid? [True, True] Translation: X:104.15, Y:171.38, Z:4.86 [[-3.01027732e-01 -9.53600845e-01 5.26631992e-03 1.04154160e+02] [ 9.53445040e-01 -3.01073747e-01 -1.72381495e-02 1.71381178e+02] [ 1.80238646e-02 -1.68014427e-04 9.99837543e-01 4.85701791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18275509600005 meters 0.01682517729358509 Centerline is valid? [True, True] Translation: X:104.15, Y:171.41, Z:4.86 [[-3.01008741e-01 -9.53607494e-01 5.14642380e-03 1.04146449e+02] [ 9.53459140e-01 -3.01052692e-01 -1.68209747e-02 1.71406703e+02] [ 1.75899522e-02 -1.56355584e-04 9.99845273e-01 4.86016946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.212755096 meters 0.016929180706320754 Centerline is valid? [True, True] Translation: X:104.14, Y:171.43, Z:4.86 [[-3.01714923e-01 -9.53383863e-01 5.22636093e-03 1.04140884e+02] [ 9.53231263e-01 -3.01760141e-01 -1.70580660e-02 1.71433413e+02] [ 1.78399922e-02 -1.64742434e-04 9.99840841e-01 4.86039771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24275509600005 meters 0.017126807644169136 Centerline is valid? [True, True] Translation: X:104.14, Y:171.46, Z:4.86 [[-3.02431008e-01 -9.53156964e-01 5.22375906e-03 1.04135408e+02] [ 9.53004868e-01 -3.02476070e-01 -1.70278957e-02 1.71458342e+02] [ 1.78103194e-02 -1.71495834e-04 9.99841369e-01 4.86054110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.272755096 meters 0.017251422219722118 Centerline is valid? [True, True] Translation: X:104.13, Y:171.48, Z:4.86 [[-3.03548646e-01 -9.52802201e-01 5.11717069e-03 1.04129948e+02] [ 9.52656537e-01 -3.03591720e-01 -1.66610312e-02 1.71483983e+02] [ 1.74281978e-02 -1.82527340e-04 9.99848101e-01 4.86080846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30275509600006 meters 0.017653406637050405 Centerline is valid? [True, True] Translation: X:104.12, Y:171.51, Z:4.86 [[-3.04797889e-01 -9.52402630e-01 5.24181124e-03 1.04124010e+02] [ 9.52250166e-01 -3.04842892e-01 -1.70420864e-02 1.71509005e+02] [ 1.78288568e-02 -2.02876323e-04 9.99841033e-01 4.86084437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.332755096 meters 0.017588980593981594 Centerline is valid? [True, True] Translation: X:104.12, Y:171.53, Z:4.86 [[-3.05681249e-01 -9.52119897e-01 5.16478182e-03 1.04116617e+02] [ 9.51972266e-01 -3.05724807e-01 -1.67674343e-02 1.71534329e+02] [ 1.75436098e-02 -2.08761212e-04 9.99846077e-01 4.86158226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36275509600006 meters 0.017965367828939753 Centerline is valid? [True, True] Translation: X:104.11, Y:171.56, Z:4.86 [[-3.07166625e-01 -9.51641427e-01 5.22107799e-03 1.04112846e+02] [ 9.51490923e-01 -3.07210908e-01 -1.69257893e-02 1.71559962e+02] [ 1.77112543e-02 -2.31229248e-04 9.99843117e-01 4.86213796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39275509600003 meters 0.01794800946989167 Centerline is valid? [True, True] Translation: X:104.11, Y:171.59, Z:4.86 [[-3.08166092e-01 -9.51317985e-01 5.26801269e-03 1.04106105e+02] [ 9.51165166e-01 -3.08211020e-01 -1.70527177e-02 1.71585980e+02] [ 1.78462166e-02 -2.44319216e-04 9.99840714e-01 4.86292397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42275509600006 meters 0.018684106970860516 Centerline is valid? [True, True] Translation: X:104.10, Y:171.61, Z:4.86 [[-3.09190273e-01 -9.50984618e-01 5.44343258e-03 1.04103107e+02] [ 9.50821856e-01 -3.09238073e-01 -1.75958093e-02 1.71611491e+02] [ 1.84166606e-02 -2.64718423e-04 9.99830364e-01 4.86304702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45275509600003 meters 0.019930502325582817 Centerline is valid? [True, True] Translation: X:104.10, Y:171.64, Z:4.86 [[-3.09740638e-01 -9.50805187e-01 5.49857150e-03 1.04096365e+02] [ 9.50639476e-01 -3.09789321e-01 -1.77528540e-02 1.71637034e+02] [ 1.85829044e-02 -2.71621204e-04 9.99827286e-01 4.86142199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48275509600006 meters 0.018587700345415112 Centerline is valid? [True, True] Translation: X:104.09, Y:171.66, Z:4.86 [[-3.10302560e-01 -9.50621575e-01 5.56270114e-03 1.04089108e+02] [ 9.50452419e-01 -3.10352291e-01 -1.79347323e-02 1.71662687e+02] [ 1.87755405e-02 -2.78110579e-04 9.99823685e-01 4.86343388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51275509600003 meters 0.019212877703041142 Centerline is valid? [True, True] Translation: X:104.08, Y:171.69, Z:4.86 [[-3.11013592e-01 -9.50388231e-01 5.72333787e-03 1.04084817e+02] [ 9.50209633e-01 -3.11066111e-01 -1.84262671e-02 1.71688311e+02] [ 1.92924438e-02 -2.92448733e-04 9.99813841e-01 4.86284884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54275509600006 meters 0.018650359950370097 Centerline is valid? [True, True] Translation: X:104.08, Y:171.71, Z:4.86 [[-3.11350760e-01 -9.50277399e-01 5.79395790e-03 1.04076639e+02] [ 9.50094872e-01 -3.11404526e-01 -1.86267251e-02 1.71713053e+02] [ 1.95048206e-02 -2.94635320e-04 9.99809719e-01 4.86410288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57275509600004 meters 0.018485186770570854 Centerline is valid? [True, True] Translation: X:104.07, Y:171.74, Z:4.87 [[-3.10361554e-01 -9.50602720e-01 5.49313317e-03 1.04069202e+02] [ 9.50439124e-01 -3.10410059e-01 -1.76370708e-02 1.71737414e+02] [ 1.84709712e-02 -2.52980014e-04 9.99829365e-01 4.86522121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60275509600007 meters 0.018355654125188855 Centerline is valid? [True, True] Translation: X:104.06, Y:171.76, Z:4.87 [[-3.10124536e-01 -9.50680857e-01 5.35547501e-03 1.04060916e+02] [ 9.50525719e-01 -3.10170684e-01 -1.71756884e-02 1.71762879e+02] [ 1.79897095e-02 -2.36085659e-04 9.99838144e-01 4.86646371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63275509600004 meters 0.020227501672702132 Centerline is valid? [True, True] Translation: X:104.05, Y:171.79, Z:4.86 [[-3.09801484e-01 -9.50786208e-01 5.35052892e-03 1.04052999e+02] [ 9.50631794e-01 -3.09847605e-01 -1.71363392e-02 1.71788015e+02] [ 1.79508435e-02 -2.22480393e-04 9.99838846e-01 4.86477561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66275509600007 meters 0.017742165966491977 Centerline is valid? [True, True] Translation: X:104.04, Y:171.81, Z:4.87 [[-3.09445667e-01 -9.50902475e-01 5.27853504e-03 1.04043808e+02] [ 9.50752614e-01 -3.09490616e-01 -1.68827293e-02 1.71812831e+02] [ 1.76874862e-02 -2.05706446e-04 9.99843543e-01 4.86822849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69275509600004 meters 0.017752014155671358 Centerline is valid? [True, True] Translation: X:104.04, Y:171.84, Z:4.87 [[-3.09029441e-01 -9.51038733e-01 5.11197690e-03 1.04036422e+02] [ 9.50898581e-01 -3.09071665e-01 -1.63277089e-02 1.71837657e+02] [ 1.71082508e-02 -1.84771181e-04 9.99853626e-01 4.86875525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72275509600007 meters 0.017752014155671358 Centerline is valid? [True, True] Translation: X:104.03, Y:171.86, Z:4.87 [[-3.09396020e-01 -9.50919503e-01 5.11867824e-03 1.04028421e+02] [ 9.50779370e-01 -3.09438304e-01 -1.63256080e-02 1.71862320e+02] [ 1.71082542e-02 -1.84344468e-04 9.99853626e-01 4.86913786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75275509600004 meters 0.017714089337289875 Centerline is valid? [True, True] Translation: X:104.02, Y:171.89, Z:4.87 [[-3.09372872e-01 -9.50927128e-01 5.10127582e-03 1.04021160e+02] [ 9.50788322e-01 -3.09414876e-01 -1.62481300e-02 1.71886403e+02] [ 1.70291982e-02 -1.76497176e-04 9.99854977e-01 4.86970643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7827550960001 meters 0.017723609121897074 Centerline is valid? [True, True] Translation: X:104.01, Y:171.91, Z:4.87 [[-3.10088571e-01 -9.50695192e-01 4.87134902e-03 1.04012335e+02] [ 9.50568927e-01 -3.10126783e-01 -1.54949410e-02 1.71911766e+02] [ 1.62417017e-02 -1.74251086e-04 9.99868080e-01 4.87107813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81275509600005 meters 0.017691918781950616 Centerline is valid? [True, True] Translation: X:104.00, Y:171.94, Z:4.87 [[-3.10997904e-01 -9.50398717e-01 4.75207506e-03 1.04003714e+02] [ 9.50278851e-01 -3.11034157e-01 -1.50950096e-02 1.71937930e+02] [ 1.58243355e-02 -1.78719932e-04 9.99874771e-01 4.87122923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8427550960001 meters 0.017877154652503148 Centerline is valid? [True, True] Translation: X:104.00, Y:171.96, Z:4.87 [[-3.12169376e-01 -9.50014774e-01 4.71279563e-03 1.03995993e+02] [ 9.49897134e-01 -3.12204890e-01 -1.49513003e-02 1.71962438e+02] [ 1.56753140e-02 -1.90667005e-04 9.99877117e-01 4.87205709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87275509600005 meters 0.018324583817775176 Centerline is valid? [True, True] Translation: X:103.99, Y:171.99, Z:4.87 [[-3.14180393e-01 -9.49352839e-01 4.45742553e-03 1.03987928e+02] [ 9.49247826e-01 -3.14211944e-01 -1.41216211e-02 1.71987790e+02] [ 1.48069774e-02 -2.05534962e-04 9.99890350e-01 4.87307548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.902755096 meters 0.01852837005138556 Centerline is valid? [True, True] Translation: X:103.98, Y:172.01, Z:4.87 [[-3.15338000e-01 -9.48969407e-01 4.36010536e-03 1.03979970e+02] [ 9.48869164e-01 -3.15368070e-01 -1.37945680e-02 1.72012717e+02] [ 1.44656610e-02 -2.12781953e-04 9.99895344e-01 4.87357662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93275509600005 meters 0.018891414806870455 Centerline is valid? [True, True] Translation: X:103.97, Y:172.04, Z:4.87 [[-3.16340144e-01 -9.48636154e-01 4.28504790e-03 1.03972394e+02] [ 9.48539564e-01 -3.16369089e-01 -1.35386643e-02 1.72037499e+02] [ 1.41989231e-02 -2.18285538e-04 9.99899166e-01 4.87391022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.962755096 meters 0.01958343287885432 Centerline is valid? [True, True] Translation: X:103.96, Y:172.06, Z:4.87 [[-3.17577282e-01 -9.48222731e-01 4.28054530e-03 1.03964840e+02] [ 9.48126583e-01 -3.17606046e-01 -1.35049206e-02 1.72063100e+02] [ 1.41651998e-02 -2.30357207e-04 9.99899642e-01 4.87419120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99275509600005 meters 0.019173949999571283 Centerline is valid? [True, True] Translation: X:103.96, Y:172.09, Z:4.88 [[-3.17977586e-01 -9.48088314e-01 4.33638804e-03 1.03956306e+02] [ 9.47989899e-01 -3.18007068e-01 -1.36622093e-02 1.72088253e+02] [ 1.43319830e-02 -2.33424272e-04 9.99897265e-01 4.87539247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.022755096 meters 0.019171534847156717 Centerline is valid? [True, True] Translation: X:103.95, Y:172.11, Z:4.87 [[-3.18446650e-01 -9.47930194e-01 4.48079621e-03 1.03946622e+02] [ 9.47825393e-01 -3.18478081e-01 -1.40973998e-02 1.72112791e+02] [ 1.47903863e-02 -2.42257317e-04 9.99890587e-01 4.87494022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05275509600006 meters 0.020919902894928885 Centerline is valid? [True, True] Translation: X:103.94, Y:172.14, Z:4.87 [[-3.19154941e-01 -9.47691724e-01 4.52979278e-03 1.03939337e+02] [ 9.47584889e-01 -3.19186988e-01 -1.42318502e-02 1.72136770e+02] [ 1.49332576e-02 -2.49802131e-04 9.99888462e-01 4.87268892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.082755096 meters 0.019476444495839913 Centerline is valid? [True, True] Translation: X:103.93, Y:172.16, Z:4.87 [[-3.19220237e-01 -9.47669084e-01 4.66346772e-03 1.03930061e+02] [ 9.47556100e-01 -3.19254199e-01 -1.46353461e-02 1.72161333e+02] [ 1.53582967e-02 -2.53001369e-04 9.99882022e-01 4.87488030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11275509600006 meters 0.019406682123517732 Centerline is valid? [True, True] Translation: X:103.92, Y:172.19, Z:4.88 [[-3.19657526e-01 -9.47521588e-01 4.68037109e-03 1.03921078e+02] [ 9.47408070e-01 -3.19691687e-01 -1.46688248e-02 1.72186479e+02] [ 1.53953039e-02 -2.54778904e-04 9.99881453e-01 4.87512646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14275509600003 meters 0.019661021029979565 Centerline is valid? [True, True] Translation: X:103.91, Y:172.21, Z:4.88 [[-3.20785726e-01 -9.47140107e-01 4.70484671e-03 1.03913469e+02] [ 9.47025663e-01 -3.20820115e-01 -1.47257302e-02 1.72211623e+02] [ 1.54567391e-02 -2.68193478e-04 9.99880502e-01 4.87512718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17275509600006 meters 0.020277893663751278 Centerline is valid? [True, True] Translation: X:103.91, Y:172.24, Z:4.88 [[-3.21724818e-01 -9.46821805e-01 4.64878315e-03 1.03906970e+02] [ 9.46710329e-01 -3.21758286e-01 -1.45313046e-02 1.72235725e+02] [ 1.52543406e-02 -2.74030319e-04 9.99883608e-01 4.87549985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20275509600003 meters 0.020651557599149696 Centerline is valid? [True, True] Translation: X:103.90, Y:172.26, Z:4.88 [[-3.22948687e-01 -9.46405882e-01 4.47800864e-03 1.03899797e+02] [ 9.46302614e-01 -3.22979612e-01 -1.39833315e-02 1.72261525e+02] [ 1.46802127e-02 -2.78347278e-04 9.99892201e-01 4.87612313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23275509600006 meters 0.020605823498851525 Centerline is valid? [True, True] Translation: X:103.89, Y:172.29, Z:4.88 [[-3.23799870e-01 -9.46115496e-01 4.37166162e-03 1.03891317e+02] [ 9.46017296e-01 -3.23829260e-01 -1.36339754e-02 1.72286402e+02] [ 1.43149873e-02 -2.79011948e-04 9.99897496e-01 4.87642649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26275509600003 meters 0.02076872364255284 Centerline is valid? [True, True] Translation: X:103.88, Y:172.31, Z:4.88 [[-3.25107809e-01 -9.45667275e-01 4.27988620e-03 1.03883125e+02] [ 9.45573358e-01 -3.25135852e-01 -1.33305105e-02 1.72311615e+02] [ 1.39977720e-02 -2.86906695e-04 9.99901985e-01 4.87687331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29275509600006 meters 0.020831901860592583 Centerline is valid? [True, True] Translation: X:103.87, Y:172.34, Z:4.88 [[-3.25713660e-01 -9.45458704e-01 4.29540449e-03 1.03874687e+02] [ 9.45364338e-01 -3.25741852e-01 -1.33609424e-02 1.72337173e+02] [ 1.40314123e-02 -2.91119249e-04 9.99901513e-01 4.87720464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32275509600004 meters 0.020311467889808834 Centerline is valid? [True, True] Translation: X:103.87, Y:172.36, Z:4.88 [[-3.26126542e-01 -9.45316606e-01 4.24180917e-03 1.03865351e+02] [ 9.45224808e-01 -3.26153999e-01 -1.31769262e-02 1.72362120e+02] [ 1.38398502e-02 -2.87882129e-04 9.99904183e-01 4.87739355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35275509600007 meters 0.02068028358106073 Centerline is valid? [True, True] Translation: X:103.86, Y:172.39, Z:4.88 [[-3.26497641e-01 -9.45188705e-01 4.19560425e-03 1.03858384e+02] [ 9.45099126e-01 -3.26524474e-01 -1.30157887e-02 1.72386097e+02] [ 1.36723439e-02 -2.84362401e-04 9.99906489e-01 4.87760294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38275509600004 meters 0.0208091931406558 Centerline is valid? [True, True] Translation: X:103.85, Y:172.41, Z:4.88 [[-3.26880143e-01 -9.45056132e-01 4.27541332e-03 1.03850590e+02] [ 9.44963371e-01 -3.26907974e-01 -1.32440037e-02 1.72411236e+02] [ 1.39139936e-02 -2.89092822e-04 9.99903154e-01 4.87775940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41275509600007 meters 0.02098546757127776 Centerline is valid? [True, True] Translation: X:103.84, Y:172.44, Z:4.88 [[-3.27286366e-01 -9.44915983e-01 4.17370210e-03 1.03842878e+02] [ 9.44827799e-01 -3.27312856e-01 -1.29122019e-02 1.72435742e+02] [ 1.35670523e-02 -2.82557871e-04 9.99907923e-01 4.87817798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44275509600004 meters 0.020805378820158586 Centerline is valid? [True, True] Translation: X:103.83, Y:172.46, Z:4.88 [[-3.27252995e-01 -9.44927695e-01 4.13876162e-03 1.03834285e+02] [ 9.44841219e-01 -3.27279050e-01 -1.27864476e-02 1.72460720e+02] [ 1.34367984e-02 -2.73930683e-04 9.99909685e-01 4.87846096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47275509600007 meters 0.020148433049707457 Centerline is valid? [True, True] Translation: X:103.82, Y:172.48, Z:4.88 [[-3.27389532e-01 -9.44880195e-01 4.18478225e-03 1.03824541e+02] [ 9.44792015e-01 -3.27416162e-01 -1.29114148e-02 1.72484954e+02] [ 1.35699054e-02 -2.73313175e-04 9.99907887e-01 4.87906510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50275509600004 meters 0.020502475763504845 Centerline is valid? [True, True] Translation: X:103.82, Y:172.51, Z:4.88 [[-3.27260196e-01 -9.44925352e-01 4.10402404e-03 1.03816938e+02] [ 9.44840771e-01 -3.27285824e-01 -1.26454198e-02 1.72509473e+02] [ 1.32921667e-02 -2.60693332e-04 9.99911621e-01 4.87961931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5327550960001 meters 0.019828110147814652 Centerline is valid? [True, True] Translation: X:103.81, Y:172.53, Z:4.88 [[-3.26716381e-01 -9.45112364e-01 4.36192218e-03 1.03806369e+02] [ 9.45017122e-01 -3.26745392e-01 -1.34196819e-02 1.72534092e+02] [ 1.41083452e-02 -2.62338748e-04 9.99900438e-01 4.87953868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56275509600005 meters 0.019930872394904046 Centerline is valid? [True, True] Translation: X:103.80, Y:172.56, Z:4.88 [[-3.26451504e-01 -9.45203553e-01 4.43376976e-03 1.03797542e+02] [ 9.45105424e-01 -3.26481511e-01 -1.36220358e-02 1.72558194e+02] [ 1.43231405e-02 -2.56554232e-04 9.99897386e-01 4.87945895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5927550960001 meters 0.01993997694335428 Centerline is valid? [True, True] Translation: X:103.79, Y:172.58, Z:4.88 [[-3.26023099e-01 -9.45350603e-01 4.60176890e-03 1.03788895e+02] [ 9.45245217e-01 -3.26055476e-01 -1.41176085e-02 1.72582176e+02] [ 1.48465216e-02 -2.52866417e-04 9.99889752e-01 4.87938438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62275509600005 meters 0.020770753029951128 Centerline is valid? [True, True] Translation: X:103.78, Y:172.61, Z:4.88 [[-3.25842846e-01 -9.45411845e-01 4.78368059e-03 1.03779277e+02] [ 9.45298292e-01 -3.25877860e-01 -1.46546791e-02 1.72606942e+02] [ 1.54136028e-02 -2.53117262e-04 9.99881171e-01 4.87753852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.652755096 meters 0.019359122396528768 Centerline is valid? [True, True] Translation: X:103.77, Y:172.63, Z:4.88 [[-3.25280652e-01 -9.45605453e-01 4.77751144e-03 1.03769359e+02] [ 9.45492506e-01 -3.25315648e-01 -1.46168027e-02 1.72631982e+02] [ 1.53759276e-02 -2.37461852e-04 9.99881755e-01 4.87961760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68275509600005 meters 0.019021506467390384 Centerline is valid? [True, True] Translation: X:103.76, Y:172.66, Z:4.88 [[-3.25351490e-01 -9.45580150e-01 4.95851614e-03 1.03759502e+02] [ 9.45458794e-01 -3.25389184e-01 -1.51508688e-02 1.72657037e+02] [ 1.59398084e-02 -2.41285065e-04 9.99872924e-01 4.87985281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.712755096 meters 0.019253819339050498 Centerline is valid? [True, True] Translation: X:103.75, Y:172.68, Z:4.88 [[-3.25597186e-01 -9.45494916e-01 5.08285626e-03 1.03751605e+02] [ 9.45367739e-01 -3.25636766e-01 -1.55091728e-02 1.72681421e+02] [ 1.63190089e-02 -2.44574683e-04 9.99866806e-01 4.87998086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74275509600005 meters 0.019682105009357652 Centerline is valid? [True, True] Translation: X:103.74, Y:172.71, Z:4.88 [[-3.26018813e-01 -9.45347865e-01 5.39881734e-03 1.03743630e+02] [ 9.45204786e-01 -3.26063408e-01 -1.64488936e-02 1.72705662e+02] [ 1.73102833e-02 -2.59660786e-04 9.99850132e-01 4.87931131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.772755096 meters 0.019659550193641295 Centerline is valid? [True, True] Translation: X:103.73, Y:172.73, Z:4.88 [[-3.26221467e-01 -9.45277597e-01 5.46070221e-03 1.03734789e+02] [ 9.45131606e-01 -3.26267065e-01 -1.66147478e-02 1.72730603e+02] [ 1.74871962e-02 -2.59005160e-04 9.99847054e-01 4.87948611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80275509600006 meters 0.01916990815811334 Centerline is valid? [True, True] Translation: X:103.72, Y:172.75, Z:4.88 [[-3.26669960e-01 -9.45122066e-01 5.56935751e-03 1.03724711e+02] [ 9.44970573e-01 -3.26717324e-01 -1.69235153e-02 1.72754977e+02] [ 1.78143933e-02 -2.65525103e-04 9.99841276e-01 4.88002623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.832755096 meters 0.018942815547218703 Centerline is valid? [True, True] Translation: X:103.72, Y:172.78, Z:4.88 [[-3.26577072e-01 -9.45154724e-01 5.47391198e-03 1.03715071e+02] [ 9.45008765e-01 -3.26622847e-01 -1.66117554e-02 1.72779666e+02] [ 1.74885838e-02 -2.52123616e-04 9.99847031e-01 4.88044483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86275509600006 meters 0.020845958585577546 Centerline is valid? [True, True] Translation: X:103.71, Y:172.80, Z:4.88 [[-3.27259813e-01 -9.44917819e-01 5.59742368e-03 1.03707579e+02] [ 9.44765581e-01 -3.27307572e-01 -1.69631911e-02 1.72803867e+02] [ 1.78609006e-02 -2.63117490e-04 9.99840447e-01 4.87845590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89275509600003 meters 0.01883142481285612 Centerline is valid? [True, True] Translation: X:103.70, Y:172.83, Z:4.88 [[-3.27003049e-01 -9.45007418e-01 5.47595784e-03 1.03697435e+02] [ 9.44862123e-01 -3.27048804e-01 -1.65724921e-02 1.72827998e+02] [ 1.74520334e-02 -2.45230285e-04 9.99847672e-01 4.88182918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92275509600006 meters 0.018874371165758623 Centerline is valid? [True, True] Translation: X:103.69, Y:172.85, Z:4.88 [[-3.27614804e-01 -9.44795765e-01 5.43171863e-03 1.03688447e+02] [ 9.44653157e-01 -3.27659736e-01 -1.64167805e-02 1.72853024e+02] [ 1.72902602e-02 -2.47290187e-04 9.99850482e-01 4.88230691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95275509600003 meters 0.01894142261325578 Centerline is valid? [True, True] Translation: X:103.68, Y:172.88, Z:4.88 [[-3.28040482e-01 -9.44648713e-01 5.31520000e-03 1.03680060e+02] [ 9.44512487e-01 -3.28083451e-01 -1.60440335e-02 1.72877468e+02] [ 1.68998048e-02 -2.42819736e-04 9.99857159e-01 4.88287756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98275509600006 meters 0.01913032251691481 Centerline is valid? [True, True] Translation: X:103.67, Y:172.90, Z:4.88 [[-3.28564687e-01 -9.44467216e-01 5.18895812e-03 1.03672066e+02] [ 9.44337630e-01 -3.28605570e-01 -1.56466975e-02 1.72901685e+02] [ 1.64829134e-02 -2.40823865e-04 9.99864119e-01 4.88355010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01275509600003 meters 0.02080377066444776 Centerline is valid? [True, True] Translation: X:103.66, Y:172.93, Z:4.88 [[-3.30158815e-01 -9.43911428e-01 5.13547750e-03 1.03664704e+02] [ 9.43784702e-01 -3.30198650e-01 -1.54689602e-02 1.72927502e+02] [ 1.62970560e-02 -2.60428464e-04 9.99867160e-01 4.88275566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04275509600006 meters 0.0194482747052471 Centerline is valid? [True, True] Translation: X:103.66, Y:172.95, Z:4.89 [[-3.30855976e-01 -9.43668310e-01 4.94408405e-03 1.03656345e+02] [ 9.43551121e-01 -3.30892816e-01 -1.48737169e-02 1.72952031e+02] [ 1.56718171e-02 -2.56062068e-04 9.99877157e-01 4.88594055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07275509600004 meters 0.01993897589660049 Centerline is valid? [True, True] Translation: X:103.65, Y:172.98, Z:4.89 [[-3.32863009e-01 -9.42963412e-01 4.71394425e-03 1.03649181e+02] [ 9.42857074e-01 -3.32896277e-01 -1.41635572e-02 1.72977966e+02] [ 1.49249707e-02 -2.69948593e-04 9.99888580e-01 4.88738855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10275509600007 meters 0.01990058617250647 Centerline is valid? [True, True] Translation: X:103.64, Y:173.00, Z:4.89 [[-3.34254848e-01 -9.42471383e-01 4.62476779e-03 1.03640373e+02] [ 9.42369221e-01 -3.34286722e-01 -1.38794092e-02 1.73003776e+02] [ 1.46269445e-02 -2.81020998e-04 9.99892981e-01 4.88810354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13275509600004 meters 0.023607920163275457 Centerline is valid? [True, True] Translation: X:103.64, Y:173.03, Z:4.89 [[-3.35960429e-01 -9.41864115e-01 4.75180502e-03 1.03635709e+02] [ 9.41756469e-01 -3.35993889e-01 -1.42428671e-02 1.73030039e+02] [ 1.50114228e-02 -3.09996615e-04 9.99887274e-01 4.88543223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16275509600007 meters 0.021421798319665886 Centerline is valid? [True, True] Translation: X:103.63, Y:173.06, Z:4.89 [[-3.38337571e-01 -9.41013728e-01 4.56643824e-03 1.03625762e+02] [ 9.40914416e-01 -3.38368224e-01 -1.36750255e-02 1.73055256e+02] [ 1.44135243e-02 -3.30147344e-04 9.99896065e-01 4.88868699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19275509600004 meters 0.02198987869809922 Centerline is valid? [True, True] Translation: X:103.62, Y:173.08, Z:4.89 [[-3.39814738e-01 -9.40481040e-01 4.62149909e-03 1.03618227e+02] [ 9.40379514e-01 -3.39845981e-01 -1.38231452e-02 1.73081436e+02] [ 1.45710039e-02 -3.51345402e-04 9.99893776e-01 4.88891539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22275509600007 meters 0.02295605689986749 Centerline is valid? [True, True] Translation: X:103.61, Y:173.11, Z:4.89 [[-3.41709417e-01 -9.39792786e-01 4.91869047e-03 1.03612133e+02] [ 9.39677999e-01 -3.41744583e-01 -1.46934938e-02 1.73106887e+02] [ 1.54897753e-02 -3.98919969e-04 9.99879947e-01 4.88879914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25275509600004 meters 0.022917303099214435 Centerline is valid? [True, True] Translation: X:103.60, Y:173.13, Z:4.89 [[-3.42721731e-01 -9.39422839e-01 5.15214053e-03 1.03603503e+02] [ 9.39297179e-01 -3.42760187e-01 -1.53708617e-02 1.73131854e+02] [ 1.62056872e-02 -4.28537279e-04 9.99868587e-01 4.88888426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2827550960001 meters 0.023307304857109003 Centerline is valid? [True, True] Translation: X:103.60, Y:173.16, Z:4.89 [[-3.43498554e-01 -9.39137833e-01 5.37341581e-03 1.03595496e+02] [ 9.39001483e-01 -3.43540281e-01 -1.60090495e-02 1.73156189e+02] [ 1.68806889e-02 -4.53439954e-04 9.99857408e-01 4.88880328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31275509600005 meters 0.024352221968249346 Centerline is valid? [True, True] Translation: X:103.59, Y:173.18, Z:4.89 [[-3.43910304e-01 -9.38984071e-01 5.88363702e-03 1.03588136e+02] [ 9.38821049e-01 -3.43960272e-01 -1.75034297e-02 1.73180547e+02] [ 1.84591791e-02 -4.95927565e-04 9.99829492e-01 4.88766938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3427550960001 meters 0.023226031486193125 Centerline is valid? [True, True] Translation: X:103.58, Y:173.20, Z:4.89 [[-3.44093276e-01 -9.38916318e-01 5.99709543e-03 1.03577327e+02] [ 9.38747394e-01 -3.44145168e-01 -1.78166721e-02 1.73204664e+02] [ 1.87922355e-02 -5.00839337e-04 9.99823285e-01 4.88753366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37275509600005 meters 0.023062337345171234 Centerline is valid? [True, True] Translation: X:103.57, Y:173.23, Z:4.89 [[-3.43839727e-01 -9.39007172e-01 6.30665230e-03 1.03568280e+02] [ 9.38820871e-01 -3.43897178e-01 -1.87110414e-02 1.73229249e+02] [ 1.97386420e-02 -5.12782569e-04 9.99805043e-01 4.88776471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.402755096 meters 0.02303011405862391 Centerline is valid? [True, True] Translation: X:103.56, Y:173.25, Z:4.89 [[-3.43526679e-01 -9.39121401e-01 6.35735479e-03 1.03559559e+02] [ 9.38932605e-01 -3.43585132e-01 -1.88366456e-02 1.73253333e+02] [ 1.98741895e-02 -5.01762588e-04 9.99802363e-01 4.88766342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43275509600005 meters 0.021830729565693943 Centerline is valid? [True, True] Translation: X:103.55, Y:173.28, Z:4.89 [[-3.41969082e-01 -9.39688050e-01 6.59658936e-03 1.03547847e+02] [ 9.39485420e-01 -3.42032367e-01 -1.95193902e-02 1.73278169e+02] [ 2.05983848e-02 -4.77628420e-04 9.99787717e-01 4.88861168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.462755096 meters 0.021580017303126437 Centerline is valid? [True, True] Translation: X:103.54, Y:173.30, Z:4.89 [[-3.41418202e-01 -9.39889194e-01 6.47404214e-03 1.03538340e+02] [ 9.39694521e-01 -3.41479283e-01 -1.91339273e-02 1.73302386e+02] [ 2.01945228e-02 -4.49049146e-04 9.99795969e-01 4.88912779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49275509600005 meters 0.020689257154256045 Centerline is valid? [True, True] Translation: X:103.53, Y:173.33, Z:4.89 [[-3.39387197e-01 -9.40624193e-01 6.51606233e-03 1.03526559e+02] [ 9.40427614e-01 -3.39449508e-01 -1.92336706e-02 1.73327325e+02] [ 2.03035301e-02 -3.99776607e-04 9.99793782e-01 4.88999735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.522755096 meters 0.020229209448118197 Centerline is valid? [True, True] Translation: X:103.52, Y:173.35, Z:4.89 [[-3.38734980e-01 -9.40859431e-01 6.49184674e-03 1.03516150e+02] [ 9.40664820e-01 -3.38796973e-01 -1.91391842e-02 1.73351750e+02] [ 2.02067000e-02 -3.76459330e-04 9.99795753e-01 4.89062374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55275509600006 meters 0.020743166583821214 Centerline is valid? [True, True] Translation: X:103.51, Y:173.38, Z:4.89 [[-3.38098795e-01 -9.41087931e-01 6.53539460e-03 1.03507075e+02] [ 9.40891262e-01 -3.38161765e-01 -1.92419681e-02 1.73375962e+02] [ 2.03184045e-02 -3.56590545e-04 9.99793496e-01 4.89053016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.582755096 meters 0.019562079192944448 Centerline is valid? [True, True] Translation: X:103.50, Y:173.40, Z:4.89 [[-3.36172668e-01 -9.41777841e-01 6.51420168e-03 1.03495468e+02] [ 9.41583080e-01 -3.36235638e-01 -1.91546283e-02 1.73400860e+02] [ 2.02297113e-02 -3.05600421e-04 9.99795312e-01 4.89219258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61275509600006 meters 0.019562079192944448 Centerline is valid? [True, True] Translation: X:103.49, Y:173.43, Z:4.89 [[-3.36540853e-01 -9.41646287e-01 6.52113538e-03 1.03486876e+02] [ 9.41451546e-01 -3.36603888e-01 -1.91522678e-02 1.73425321e+02] [ 2.02297014e-02 -3.06187565e-04 9.99795312e-01 4.89257551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64275509600003 meters 0.019378026933400416 Centerline is valid? [True, True] Translation: X:103.48, Y:173.45, Z:4.89 [[-3.35997820e-01 -9.41839979e-01 6.55124475e-03 1.03476967e+02] [ 9.41643974e-01 -3.36061558e-01 -1.92160195e-02 1.73449919e+02] [ 2.03000369e-02 -2.87600519e-04 9.99793892e-01 4.89284350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67275509600006 meters 0.019357366819203966 Centerline is valid? [True, True] Translation: X:103.47, Y:173.47, Z:4.89 [[-3.35381577e-01 -9.42058518e-01 6.70418308e-03 1.03467944e+02] [ 9.41853796e-01 -3.35448467e-01 -1.96406022e-02 1.73473550e+02] [ 2.07515046e-02 -2.72735858e-04 9.99784627e-01 4.89345673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70275509600003 meters 0.018949505020159796 Centerline is valid? [True, True] Translation: X:103.46, Y:173.50, Z:4.89 [[-3.34381771e-01 -9.42414458e-01 6.61964895e-03 1.03456964e+02] [ 9.42215361e-01 -3.34447202e-01 -1.93722426e-02 1.73497721e+02] [ 2.04706046e-02 -2.40589860e-04 9.99790426e-01 4.89425723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73275509600006 meters 0.018946639278957338 Centerline is valid? [True, True] Translation: X:103.45, Y:173.52, Z:4.89 [[-3.34468759e-01 -9.42384816e-01 6.44263479e-03 1.03447780e+02] [ 9.42196683e-01 -3.34530725e-01 -1.88309245e-02 1.73521169e+02] [ 1.99012366e-02 -2.28126810e-04 9.99801925e-01 4.89496692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76275509600003 meters 0.019510026101694763 Centerline is valid? [True, True] Translation: X:103.44, Y:173.55, Z:4.89 [[-3.35348880e-01 -9.42071649e-01 6.49124693e-03 1.03439108e+02] [ 9.41881097e-01 -3.35411612e-01 -1.89486300e-02 1.73546567e+02] [ 2.00282068e-02 -2.40419077e-04 9.99799386e-01 4.89470986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79275509600006 meters 0.01937447056582572 Centerline is valid? [True, True] Translation: X:103.43, Y:173.57, Z:4.90 [[-3.36451845e-01 -9.41677833e-01 6.55865791e-03 1.03430578e+02] [ 9.41483702e-01 -3.36515665e-01 -1.91218552e-02 1.73571900e+02] [ 2.02137183e-02 -2.58713923e-04 9.99795648e-01 4.89603645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82275509600004 meters 0.019724117975093148 Centerline is valid? [True, True] Translation: X:103.42, Y:173.60, Z:4.90 [[-3.37508805e-01 -9.41300187e-01 6.46253457e-03 1.03423031e+02] [ 9.41112065e-01 -3.37570563e-01 -1.88200950e-02 1.73596184e+02] [ 1.98969204e-02 -2.69978511e-04 9.99802000e-01 4.89643766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85275509600007 meters 0.022257693219392374 Centerline is valid? [True, True] Translation: X:103.42, Y:173.62, Z:4.90 [[-3.40027192e-01 -9.40392820e-01 6.54616110e-03 1.03418122e+02] [ 9.40200009e-01 -3.40090048e-01 -1.90447599e-02 1.73620827e+02] [ 2.01358397e-02 -3.21035516e-04 9.99797202e-01 4.89513177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88275509600004 meters 0.021238327706479834 Centerline is valid? [True, True] Translation: X:103.41, Y:173.65, Z:4.90 [[-3.41264401e-01 -9.39944858e-01 6.50176419e-03 1.03409958e+02] [ 9.39754982e-01 -3.41326163e-01 -1.88950873e-02 1.73645357e+02] [ 1.99795624e-02 -3.38155355e-04 9.99800331e-01 4.89787419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91275509600007 meters 0.022379953824007006 Centerline is valid? [True, True] Translation: X:103.40, Y:173.67, Z:4.90 [[-3.43400290e-01 -9.39166920e-01 6.46040893e-03 1.03403451e+02] [ 9.38979787e-01 -3.43460852e-01 -1.87510620e-02 1.73670385e+02] [ 1.98292747e-02 -3.72926719e-04 9.99803311e-01 4.89832666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94275509600004 meters 0.022682283316985737 Centerline is valid? [True, True] Translation: X:103.40, Y:173.69, Z:4.90 [[-3.44329499e-01 -9.38827846e-01 6.28268478e-03 1.03395185e+02] [ 9.38651237e-01 -3.44386608e-01 -1.82131809e-02 1.73694790e+02] [ 1.92627139e-02 -3.74085607e-04 9.99814387e-01 4.89900573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97275509600007 meters 0.024379664507378593 Centerline is valid? [True, True] Translation: X:103.39, Y:173.72, Z:4.90 [[-3.45391966e-01 -9.38437393e-01 6.29679119e-03 1.03387442e+02] [ 9.38260373e-01 -3.45449140e-01 -1.82308312e-02 1.73719375e+02] [ 1.92837148e-02 -3.88752973e-04 9.99813976e-01 4.89756118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00275509600004 meters 0.02448089945469363 Centerline is valid? [True, True] Translation: X:103.38, Y:173.74, Z:4.90 [[-3.45660233e-01 -9.38339124e-01 6.22032716e-03 1.03379105e+02] [ 9.38166795e-01 -3.45715987e-01 -1.79867150e-02 1.73742516e+02] [ 1.90281049e-02 -3.81587701e-04 9.99818876e-01 4.89792615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0327550960001 meters 0.022992801388867456 Centerline is valid? [True, True] Translation: X:103.37, Y:173.77, Z:4.90 [[-3.45297239e-01 -9.38472419e-01 6.27177204e-03 1.03369530e+02] [ 9.38297703e-01 -3.45353995e-01 -1.81118547e-02 1.73766253e+02] [ 1.91634577e-02 -3.69184128e-04 9.99816296e-01 4.89996398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06275509600005 meters 0.022142714129763135 Centerline is valid? [True, True] Translation: X:103.36, Y:173.79, Z:4.90 [[-3.43551219e-01 -9.39111398e-01 6.50702858e-03 1.03358640e+02] [ 9.38923905e-01 -3.43612670e-01 -1.87678641e-02 1.73790566e+02] [ 1.98610126e-02 -3.38117899e-04 9.99802693e-01 4.89945153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0927550960001 meters 0.02199652247220384 Centerline is valid? [True, True] Translation: X:103.35, Y:173.81, Z:4.90 [[-3.42872308e-01 -9.39357563e-01 6.77865490e-03 1.03348995e+02] [ 9.39154614e-01 -3.42939151e-01 -1.95281955e-02 1.73814016e+02] [ 2.06686243e-02 -3.29472439e-04 9.99786327e-01 4.89827048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12275509600005 meters 0.021224223924683202 Centerline is valid? [True, True] Translation: X:103.34, Y:173.84, Z:4.90 [[-3.41919424e-01 -9.39703464e-01 6.96476730e-03 1.03338833e+02] [ 9.39489817e-01 -3.41990212e-01 -2.00394335e-02 1.73837957e+02] [ 2.12130073e-02 -3.08543581e-04 9.99774931e-01 4.89825069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.152755096 meters 0.02284762784854189 Centerline is valid? [True, True] Translation: X:103.33, Y:173.86, Z:4.89 [[-3.39751778e-01 -9.40484255e-01 7.62204402e-03 1.03327522e+02] [ 9.40229233e-01 -3.39837153e-01 -2.19020459e-02 1.73859995e+02] [ 2.31887831e-02 -2.74790442e-04 9.99731066e-01 4.89340588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18275509600005 meters 0.020884708062756056 Centerline is valid? [True, True] Translation: X:103.31, Y:173.88, Z:4.90 [[-3.38497965e-01 -9.40935009e-01 7.77411045e-03 1.03314372e+02] [ 9.40670502e-01 -3.38587140e-01 -2.23104339e-02 1.73883419e+02] [ 2.36248822e-02 -2.39160097e-04 9.99720865e-01 4.89594187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.212755096 meters 0.018038435105732848 Centerline is valid? [True, True] Translation: X:103.30, Y:173.91, Z:4.90 [[-3.36138766e-01 -9.41779626e-01 7.86551985e-03 1.03304091e+02] [ 9.41509793e-01 -3.36230734e-01 -2.25433776e-02 1.73906566e+02] [ 2.38755233e-02 -1.72239173e-04 9.99714924e-01 4.89858627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24275509600005 meters 0.019367558256602295 Centerline is valid? [True, True] Translation: X:103.30, Y:173.93, Z:4.90 [[-3.36024281e-01 -9.41820764e-01 7.83143094e-03 1.03297038e+02] [ 9.41553974e-01 -3.36115492e-01 -2.24162881e-02 1.73931197e+02] [ 2.37443909e-02 -1.58702178e-04 9.99718050e-01 4.89578147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.272755096 meters 0.01793462494015646 Centerline is valid? [True, True] Translation: X:103.29, Y:173.96, Z:4.90 [[-3.35970487e-01 -9.41840996e-01 7.70522800e-03 1.03286320e+02] [ 9.41583391e-01 -3.36058801e-01 -2.20272452e-02 1.73955107e+02] [ 2.33355722e-02 -1.45389578e-04 9.99727678e-01 4.90037135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30275509600006 meters 0.01763188264046602 Centerline is valid? [True, True] Translation: X:103.28, Y:173.98, Z:4.90 [[-3.36535136e-01 -9.41642624e-01 7.29871198e-03 1.03277927e+02] [ 9.41411995e-01 -3.36614243e-01 -2.08400264e-02 1.73980477e+02] [ 2.20807075e-02 -1.42306088e-04 9.99756181e-01 4.90268311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.332755096 meters 0.019101399302429004 Centerline is valid? [True, True] Translation: X:103.27, Y:174.01, Z:4.90 [[-3.37940309e-01 -9.41140224e-01 7.17117210e-03 1.03270493e+02] [ 9.40918027e-01 -3.38016348e-01 -2.04503036e-02 1.74005976e+02] [ 2.16705767e-02 -1.63496799e-04 9.99765152e-01 4.90203605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36275509600006 meters 0.018484812699841847 Centerline is valid? [True, True] Translation: X:103.27, Y:174.03, Z:4.91 [[-3.40420295e-01 -9.40249941e-01 6.63864440e-03 1.03265197e+02] [ 9.40059812e-01 -3.40484964e-01 -1.89087123e-02 1.74030925e+02] [ 2.00392742e-02 -1.96186617e-04 9.99799174e-01 4.90520493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39275509600003 meters 0.019517871655784766 Centerline is valid? [True, True] Translation: X:103.26, Y:174.06, Z:4.91 [[-3.42076463e-01 -9.39649201e-01 6.56293932e-03 1.03258230e+02] [ 9.39463749e-01 -3.42139343e-01 -1.86690617e-02 1.74056611e+02] [ 1.97878087e-02 -2.20603014e-04 9.99804178e-01 4.90524445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42275509600006 meters 0.01887035905312571 Centerline is valid? [True, True] Translation: X:103.25, Y:174.08, Z:4.91 [[-3.43879701e-01 -9.38993081e-01 6.22450819e-03 1.03251295e+02] [ 9.38826547e-01 -3.43935949e-01 -1.76855401e-02 1.74081887e+02] [ 1.87474319e-02 -2.37964723e-04 9.99824223e-01 4.90776266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45275509600003 meters 0.020605796180308274 Centerline is valid? [True, True] Translation: X:103.24, Y:174.11, Z:4.91 [[-3.46263944e-01 -9.38116381e-01 6.23996103e-03 1.03244917e+02] [ 9.37949275e-01 -3.46320052e-01 -1.77081721e-02 1.74108919e+02] [ 1.87733499e-02 -2.78934595e-04 9.99823726e-01 4.90728501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48275509600006 meters 0.021523927831737216 Centerline is valid? [True, True] Translation: X:103.24, Y:174.13, Z:4.91 [[-3.47653880e-01 -9.37602038e-01 6.26089369e-03 1.03237634e+02] [ 9.37434111e-01 -3.47710122e-01 -1.77470581e-02 1.74133990e+02] [ 1.88166540e-02 -3.00658315e-04 9.99822906e-01 4.90735139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51275509600003 meters 0.023122815437119828 Centerline is valid? [True, True] Translation: X:103.23, Y:174.16, Z:4.91 [[-3.49764040e-01 -9.36815077e-01 6.52898060e-03 1.03231763e+02] [ 9.36632783e-01 -3.49824798e-01 -1.84835305e-02 1.74159633e+02] [ 1.95996493e-02 -3.49617024e-04 9.99807847e-01 4.90721858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54275509600006 meters 0.021166355727437507 Centerline is valid? [True, True] Translation: X:103.22, Y:174.18, Z:4.91 [[-3.50636061e-01 -9.36491762e-01 6.12644747e-03 1.03224459e+02] [ 9.36331566e-01 -3.50689416e-01 -1.73243302e-02 1.74184127e+02] [ 1.83725728e-02 -3.38148746e-04 9.99831153e-01 4.91040270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57275509600004 meters 0.021659552525843555 Centerline is valid? [True, True] Translation: X:103.21, Y:174.21, Z:4.91 [[-3.51766137e-01 -9.36066611e-01 6.31548045e-03 1.03214914e+02] [ 9.35896747e-01 -3.51822638e-01 -1.78356477e-02 1.74208777e+02] [ 1.89172833e-02 -3.63339296e-04 9.99820986e-01 4.91009901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60275509600007 meters 0.021196267026008735 Centerline is valid? [True, True] Translation: X:103.21, Y:174.23, Z:4.91 [[-3.52977201e-01 -9.35611428e-01 6.19291566e-03 1.03207887e+02] [ 9.35448430e-01 -3.53031327e-01 -1.74675976e-02 1.74233717e+02] [ 1.85291771e-02 -3.72510474e-04 9.99828251e-01 4.91214538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63275509600004 meters 0.020994394564717193 Centerline is valid? [True, True] Translation: X:103.20, Y:174.26, Z:4.91 [[-3.54320847e-01 -9.35103546e-01 6.17215426e-03 1.03199475e+02] [ 9.34941979e-01 -3.54374387e-01 -1.73864555e-02 1.74258802e+02] [ 1.84453896e-02 -3.89777522e-04 9.99829793e-01 4.91293006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66275509600007 meters 0.02360269785576392 Centerline is valid? [True, True] Translation: X:103.19, Y:174.28, Z:4.91 [[-3.54833673e-01 -9.34905194e-01 6.73363996e-03 1.03192333e+02] [ 9.34713372e-01 -3.54897302e-01 -1.89424971e-02 1.74283743e+02] [ 2.00991896e-02 -4.27412512e-04 9.99797900e-01 4.91010685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69275509600004 meters 0.02111466254038635 Centerline is valid? [True, True] Translation: X:103.18, Y:174.31, Z:4.91 [[-3.55429414e-01 -9.34682749e-01 6.17182187e-03 1.03182348e+02] [ 9.34521954e-01 -3.55482774e-01 -1.73411219e-02 1.74308509e+02] [ 1.84024238e-02 -3.95841755e-04 9.99830583e-01 4.91339411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72275509600007 meters 0.020748837991348152 Centerline is valid? [True, True] Translation: X:103.17, Y:174.33, Z:4.91 [[-3.55653605e-01 -9.34597507e-01 6.16542705e-03 1.03172482e+02] [ 9.34437424e-01 -3.55706825e-01 -1.73019116e-02 1.74333602e+02] [ 1.83634079e-02 -3.92281452e-04 9.99831301e-01 4.91390112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75275509600004 meters 0.02085193824014576 Centerline is valid? [True, True] Translation: X:103.16, Y:174.36, Z:4.91 [[-3.55975750e-01 -9.34474701e-01 6.18865328e-03 1.03163824e+02] [ 9.34313767e-01 -3.56029324e-01 -1.73465910e-02 1.74357354e+02] [ 1.84132924e-02 -3.92821763e-04 9.99830384e-01 4.91408226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7827550960001 meters 0.020236864400527955 Centerline is valid? [True, True] Translation: X:103.15, Y:174.38, Z:4.91 [[-3.55124876e-01 -9.34797537e-01 6.31560671e-03 1.03153970e+02] [ 9.34630421e-01 -3.55180832e-01 -1.76791556e-02 1.74382424e+02] [ 1.87696135e-02 -3.75549772e-04 9.99823765e-01 4.91370287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81275509600005 meters 0.0201647977667806 Centerline is valid? [True, True] Translation: X:103.15, Y:174.41, Z:4.91 [[-3.54361840e-01 -9.35087510e-01 6.24784537e-03 1.03145196e+02] [ 9.34924395e-01 -3.54416742e-01 -1.74685216e-02 1.74406837e+02] [ 1.85489373e-02 -3.48914387e-04 9.99827893e-01 4.91365974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8427550960001 meters 0.0204131774234895 Centerline is valid? [True, True] Translation: X:103.14, Y:174.43, Z:4.91 [[-3.53601723e-01 -9.35374250e-01 6.39015402e-03 1.03136995e+02] [ 9.35204076e-01 -3.53659301e-01 -1.78447583e-02 1.74430775e+02] [ 1.89514648e-02 -3.33839194e-04 9.99820349e-01 4.91322408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87275509600005 meters 0.018819194859139424 Centerline is valid? [True, True] Translation: X:103.12, Y:174.45, Z:4.91 [[-3.51413146e-01 -9.36198001e-01 6.48876873e-03 1.03122914e+02] [ 9.36023027e-01 -3.51472931e-01 -1.81016972e-02 1.74454862e+02] [ 1.92273993e-02 -2.87537423e-04 9.99815095e-01 4.91353789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.902755096 meters 0.0190050385522201 Centerline is valid? [True, True] Translation: X:103.11, Y:174.48, Z:4.91 [[-3.50120295e-01 -9.36682400e-01 6.46996988e-03 1.03113614e+02] [ 9.36508919e-01 -3.50179979e-01 -1.80285078e-02 1.74478343e+02] [ 1.91526399e-02 -2.52961967e-04 9.99816539e-01 4.91319493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93275509600005 meters 0.01775652415125036 Centerline is valid? [True, True] Translation: X:103.10, Y:174.50, Z:4.91 [[-3.48211976e-01 -9.37394673e-01 6.29652076e-03 1.03100243e+02] [ 9.37230893e-01 -3.48268842e-01 -1.75233404e-02 1.74501471e+02] [ 1.86191679e-02 -2.00543209e-04 9.99826628e-01 4.91413839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.962755096 meters 0.017563315185059006 Centerline is valid? [True, True] Translation: X:103.09, Y:174.52, Z:4.91 [[-3.47641507e-01 -9.37606408e-01 6.29344451e-03 1.03090651e+02] [ 9.37443223e-01 -3.47698421e-01 -1.74932169e-02 1.74524878e+02] [ 1.85899730e-02 -1.81621376e-04 9.99827175e-01 4.91431644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99275509600005 meters 0.01730876476060088 Centerline is valid? [True, True] Translation: X:103.08, Y:174.55, Z:4.91 [[-3.47468560e-01 -9.37672394e-01 6.00679236e-03 1.03080608e+02] [ 9.37524106e-01 -3.47520439e-01 -1.66762088e-02 1.74549560e+02] [ 1.77243038e-02 -1.62945633e-04 9.99842899e-01 4.91488687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.022755096 meters 0.017390532263601332 Centerline is valid? [True, True] Translation: X:103.07, Y:174.57, Z:4.92 [[-3.47747794e-01 -9.37569997e-01 5.82855224e-03 1.03071541e+02] [ 9.37430694e-01 -3.47796601e-01 -1.61622643e-02 1.74573125e+02] [ 1.71804048e-02 -1.56527991e-04 9.99852394e-01 4.91568729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05275509600006 meters 0.017069185122762353 Centerline is valid? [True, True] Translation: X:103.06, Y:174.60, Z:4.92 [[-3.48097645e-01 -9.37441560e-01 5.59925331e-03 1.03060565e+02] [ 9.37313294e-01 -3.48142643e-01 -1.55077096e-02 1.74597212e+02] [ 1.64869103e-02 -1.49942618e-04 9.99864070e-01 4.91665498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.082755096 meters 0.01745015374544552 Centerline is valid? [True, True] Translation: X:103.05, Y:174.62, Z:4.92 [[-3.49098584e-01 -9.37071220e-01 5.26368827e-03 1.03051061e+02] [ 9.36958089e-01 -3.49138232e-01 -1.45613877e-02 1.74620273e+02] [ 1.54828121e-02 -1.51504517e-04 9.99880123e-01 4.91699059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11275509600006 meters 0.01724248514629497 Centerline is valid? [True, True] Translation: X:103.04, Y:174.64, Z:4.92 [[-3.49708189e-01 -9.36844360e-01 5.17959927e-03 1.03040195e+02] [ 9.36735015e-01 -3.49746511e-01 -1.43139354e-02 1.74644296e+02] [ 1.52214764e-02 -1.53788438e-04 9.99884135e-01 4.91743692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14275509600003 meters 0.01711965768804856 Centerline is valid? [True, True] Translation: X:103.03, Y:174.67, Z:4.92 [[-3.50652172e-01 -9.36491980e-01 5.08199569e-03 1.03030539e+02] [ 9.36386932e-01 -3.50688960e-01 -1.40273516e-02 1.74668626e+02] [ 1.49187020e-02 -1.60006943e-04 9.99888697e-01 4.91810959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17275509600006 meters 0.01780133293847444 Centerline is valid? [True, True] Translation: X:103.02, Y:174.69, Z:4.92 [[-3.52719934e-01 -9.35715668e-01 4.98376351e-03 1.03022351e+02] [ 9.35614810e-01 -3.52755093e-01 -1.37394292e-02 1.74693826e+02] [ 1.46142471e-02 -1.83287613e-04 9.99893189e-01 4.91852205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20275509600003 meters 0.01816620133419447 Centerline is valid? [True, True] Translation: X:103.01, Y:174.72, Z:4.92 [[-3.54165746e-01 -9.35169523e-01 4.95855719e-03 1.03013693e+02] [ 9.35069798e-01 -3.54200399e-01 -1.36583437e-02 1.74718270e+02] [ 1.45291897e-02 -2.00720405e-04 9.99894426e-01 4.91905857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23275509600006 meters 0.018711987984758052 Centerline is valid? [True, True] Translation: X:103.01, Y:174.74, Z:4.92 [[-3.55639443e-01 -9.34610002e-01 4.97294304e-03 1.03005321e+02] [ 9.34509893e-01 -3.55674143e-01 -1.36808192e-02 1.74742833e+02] [ 1.45549777e-02 -2.18174461e-04 9.99894047e-01 4.91944636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26275509600003 meters 0.019723144386664195 Centerline is valid? [True, True] Translation: X:103.00, Y:174.77, Z:4.92 [[-3.58501774e-01 -9.33515507e-01 5.02745532e-03 1.02996916e+02] [ 9.33413312e-01 -3.58536930e-01 -1.38151526e-02 1.74768400e+02] [ 1.46991876e-02 -2.60063002e-04 9.99891927e-01 4.91940231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29275509600006 meters 0.020310699016869268 Centerline is valid? [True, True] Translation: X:102.99, Y:174.79, Z:4.92 [[-3.59903729e-01 -9.32975686e-01 5.06705160e-03 1.02988537e+02] [ 9.32872039e-01 -3.59939289e-01 -1.39092552e-02 1.74791963e+02] [ 1.48008278e-02 -2.79082051e-04 9.99890423e-01 4.91935926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32275509600004 meters 0.020672038745570026 Centerline is valid? [True, True] Translation: X:102.98, Y:174.82, Z:4.92 [[-3.62692435e-01 -9.31894569e-01 5.16813517e-03 1.02977823e+02] [ 9.31786899e-01 -3.62729110e-01 -1.41692425e-02 1.74816969e+02] [ 1.50788732e-02 -3.23476427e-04 9.99886255e-01 4.91866976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35275509600007 meters 0.02138829707408213 Centerline is valid? [True, True] Translation: X:102.97, Y:174.84, Z:4.92 [[-3.64207116e-01 -9.31303349e-01 5.22006516e-03 1.02969278e+02] [ 9.31193681e-01 -3.64244359e-01 -1.42960002e-02 1.74842199e+02] [ 1.52152921e-02 -3.45813291e-04 9.99884181e-01 4.91837977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38275509600004 meters 0.023292936838174662 Centerline is valid? [True, True] Translation: X:102.96, Y:174.87, Z:4.92 [[-3.65538494e-01 -9.30780908e-01 5.33955757e-03 1.02962776e+02] [ 9.30666368e-01 -3.65577303e-01 -1.46064107e-02 1.74867531e+02] [ 1.55473893e-02 -3.69858713e-04 9.99879064e-01 4.91813428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41275509600007 meters 0.022250442355465767 Centerline is valid? [True, True] Translation: X:102.95, Y:174.89, Z:4.92 [[-3.67511597e-01 -9.30002706e-01 5.49484262e-03 1.02950962e+02] [ 9.29881596e-01 -3.67552446e-01 -1.50139001e-02 1.74891649e+02] [ 1.59826105e-02 -4.08229370e-04 9.99872187e-01 4.91772271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44275509600004 meters 0.02202959953450525 Centerline is valid? [True, True] Translation: X:102.94, Y:174.92, Z:4.92 [[-3.68451281e-01 -9.29630032e-01 5.62653268e-03 1.02940634e+02] [ 9.29503300e-01 -3.68493991e-01 -1.53555735e-02 1.74916346e+02] [ 1.63483457e-02 -4.27900011e-04 9.99866265e-01 4.91767681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47275509600007 meters 0.022865326148335495 Centerline is valid? [True, True] Translation: X:102.93, Y:174.94, Z:4.92 [[-3.68724175e-01 -9.29521728e-01 5.64271742e-03 1.02932070e+02] [ 9.29394566e-01 -3.68767101e-01 -1.53807015e-02 1.74940262e+02] [ 1.63775447e-02 -4.26925539e-04 9.99865788e-01 4.91711688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50275509600004 meters 0.023307055549607616 Centerline is valid? [True, True] Translation: X:102.92, Y:174.96, Z:4.92 [[-3.68718035e-01 -9.29523367e-01 5.77243493e-03 1.02923102e+02] [ 9.29390623e-01 -3.68762967e-01 -1.57144314e-02 1.74964007e+02] [ 1.67355914e-02 -4.29347380e-04 9.99859858e-01 4.91669897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5327550960001 meters 0.023307055549607616 Centerline is valid? [True, True] Translation: X:102.91, Y:174.99, Z:4.92 [[-3.69068683e-01 -9.29384167e-01 5.77735545e-03 1.02913909e+02] [ 9.29251434e-01 -3.69113648e-01 -1.57126223e-02 1.74988250e+02] [ 1.67355631e-02 -4.30420980e-04 9.99859858e-01 4.91708212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56275509600005 meters 0.02216889018485783 Centerline is valid? [True, True] Translation: X:102.90, Y:175.01, Z:4.92 [[-3.69212002e-01 -9.29326776e-01 5.85163596e-03 1.02902310e+02] [ 9.29190919e-01 -3.69258118e-01 -1.58958370e-02 1.75012314e+02] [ 1.69331910e-02 -4.31646795e-04 9.99856530e-01 4.91702988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5927550960001 meters 0.021737571285442837 Centerline is valid? [True, True] Translation: X:102.89, Y:175.04, Z:4.92 [[-3.68915955e-01 -9.29442736e-01 6.10062722e-03 1.02891993e+02] [ 9.29295454e-01 -3.68966135e-01 -1.65514396e-02 1.75037042e+02] [ 1.76345401e-02 -4.36804996e-04 9.99844404e-01 4.91697167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62275509600005 meters 0.02186960344041531 Centerline is valid? [True, True] Translation: X:102.88, Y:175.06, Z:4.92 [[-3.67998690e-01 -9.29804449e-01 6.37580906e-03 1.02883005e+02] [ 9.29644019e-01 -3.68053666e-01 -1.72770390e-02 1.75061165e+02] [ 1.84109076e-02 -4.30694948e-04 9.99830412e-01 4.91621236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.652755096 meters 0.022460423599525055 Centerline is valid? [True, True] Translation: X:102.87, Y:175.09, Z:4.92 [[-3.67596541e-01 -9.29963223e-01 6.41774639e-03 1.02874800e+02] [ 9.29801030e-01 -3.67652321e-01 -1.73728594e-02 1.75085315e+02] [ 1.85156196e-02 -4.18975815e-04 9.99828483e-01 4.91597677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68275509600005 meters 0.020862057888535554 Centerline is valid? [True, True] Translation: X:102.86, Y:175.11, Z:4.92 [[-3.66137853e-01 -9.30538171e-01 6.46407032e-03 1.02861937e+02] [ 9.30374109e-01 -3.66194707e-01 -1.74772121e-02 1.75109588e+02] [ 1.86303213e-02 -3.85065261e-04 9.99826366e-01 4.91627440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.712755096 meters 0.02049262358871191 Centerline is valid? [True, True] Translation: X:102.85, Y:175.13, Z:4.92 [[-3.65445017e-01 -9.30812094e-01 6.22788015e-03 1.02851906e+02] [ 9.30660159e-01 -3.65497912e-01 -1.68210005e-02 1.75133816e+02] [ 1.79334679e-02 -3.51110896e-04 9.99839121e-01 4.91697718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74275509600005 meters 0.020525072567701336 Centerline is valid? [True, True] Translation: X:102.84, Y:175.16, Z:4.92 [[-3.64857784e-01 -9.31043615e-01 6.04851555e-03 1.02842885e+02] [ 9.30900664e-01 -3.64907773e-01 -1.63178233e-02 1.75157196e+02] [ 1.73997555e-02 -3.23117705e-04 9.99848561e-01 4.91753811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.772755096 meters 0.019788801938630838 Centerline is valid? [True, True] Translation: X:102.83, Y:175.18, Z:4.92 [[-3.63579578e-01 -9.31544784e-01 5.84862326e-03 1.02832302e+02] [ 9.31411499e-01 -3.63626506e-01 -1.57601931e-02 1.75181974e+02] [ 1.68080401e-02 -2.82609404e-04 9.99858695e-01 4.91890587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80275509600006 meters 0.019029085126132817 Centerline is valid? [True, True] Translation: X:102.82, Y:175.21, Z:4.92 [[-3.63380760e-01 -9.31623831e-01 5.60905747e-03 1.02821863e+02] [ 9.31501507e-01 -3.63423953e-01 -1.50987519e-02 1.75206659e+02] [ 1.61048229e-02 -2.61750444e-04 9.99870275e-01 4.91991392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.832755096 meters 0.01898080283333124 Centerline is valid? [True, True] Translation: X:102.81, Y:175.23, Z:4.92 [[-3.63125503e-01 -9.31725959e-01 5.15816349e-03 1.02813238e+02] [ 9.31622746e-01 -3.63162063e-01 -1.38699278e-02 1.75231488e+02] [ 1.47962211e-02 -2.31062075e-04 9.99890503e-01 4.92124424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86275509600006 meters 0.019427042168428336 Centerline is valid? [True, True] Translation: X:102.81, Y:175.26, Z:4.92 [[-3.63538175e-01 -9.31566247e-01 4.93178644e-03 1.02805405e+02] [ 9.31472091e-01 -3.63571558e-01 -1.32463632e-02 1.75255982e+02] [ 1.41329222e-02 -2.21737282e-04 9.99900101e-01 4.92198237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89275509600003 meters 0.019116418231968198 Centerline is valid? [True, True] Translation: X:102.80, Y:175.28, Z:4.92 [[-3.63913125e-01 -9.31421035e-01 4.70035719e-03 1.02795798e+02] [ 9.31335695e-01 -3.63943418e-01 -1.26100254e-02 1.75280237e+02] [ 1.34559069e-02 -2.11343312e-04 9.99909443e-01 4.92272660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92275509600006 meters 0.019521775294027686 Centerline is valid? [True, True] Translation: X:102.79, Y:175.30, Z:4.92 [[-3.65049226e-01 -9.30978259e-01 4.30632253e-03 1.02787853e+02] [ 9.30906744e-01 -3.65074567e-01 -1.15410044e-02 1.75304910e+02] [ 1.23165530e-02 -2.04250037e-04 9.99924128e-01 4.92371647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95275509600003 meters 0.0197535598365893 Centerline is valid? [True, True] Translation: X:102.78, Y:175.33, Z:4.92 [[-3.65785553e-01 -9.30689324e-01 4.27930076e-03 1.02779521e+02] [ 9.30618854e-01 -3.65810525e-01 -1.14546385e-02 1.75329766e+02] [ 1.22261230e-02 -2.07543287e-04 9.99925237e-01 4.92405475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98275509600006 meters 0.02028283486042516 Centerline is valid? [True, True] Translation: X:102.77, Y:175.35, Z:4.92 [[-3.66781796e-01 -9.30297374e-01 4.23212866e-03 1.02772805e+02] [ 9.30228584e-01 -3.66806150e-01 -1.13150022e-02 1.75354076e+02] [ 1.20786876e-02 -2.13289766e-04 9.99927027e-01 4.92434845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01275509600003 meters 0.020634416841547914 Centerline is valid? [True, True] Translation: X:102.76, Y:175.38, Z:4.92 [[-3.67591535e-01 -9.29977910e-01 4.18939517e-03 1.02764544e+02] [ 9.29910595e-01 -3.67615343e-01 -1.11913052e-02 1.75379396e+02] [ 1.19477525e-02 -2.18066092e-04 9.99928599e-01 4.92454678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04275509600006 meters 0.01985227615766223 Centerline is valid? [True, True] Translation: X:102.75, Y:175.40, Z:4.92 [[-3.68336688e-01 -9.29682946e-01 4.20758918e-03 1.02754199e+02] [ 9.29615176e-01 -3.68360651e-01 -1.12274377e-02 1.75404076e+02] [ 1.19878677e-02 -2.24038477e-04 9.99928118e-01 4.92435002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07275509600004 meters 0.02044471813119563 Centerline is valid? [True, True] Translation: X:102.75, Y:175.43, Z:4.92 [[-3.69982993e-01 -9.29029542e-01 4.08587143e-03 1.02746282e+02] [ 9.28965746e-01 -3.70005480e-01 -1.08897780e-02 1.75430648e+02] [ 1.16287203e-02 -2.33398075e-04 9.99932357e-01 4.92427982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10275509600007 meters 0.0223655516918578 Centerline is valid? [True, True] Translation: X:102.74, Y:175.46, Z:4.93 [[-3.70835542e-01 -9.28689420e-01 4.11839902e-03 1.02741088e+02] [ 9.28624717e-01 -3.70858332e-01 -1.09650845e-02 1.75455853e+02] [ 1.17105006e-02 -2.41795939e-04 9.99931401e-01 4.92520030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13275509600004 meters 0.020950980614407776 Centerline is valid? [True, True] Translation: X:102.73, Y:175.48, Z:4.92 [[-3.71771247e-01 -9.28314677e-01 4.24264242e-03 1.02730177e+02] [ 9.28246163e-01 -3.71795366e-01 -1.12812316e-02 1.75480054e+02] [ 1.20499277e-02 -2.55820993e-04 9.99927364e-01 4.92477940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16275509600007 meters 0.021132675221317728 Centerline is valid? [True, True] Translation: X:102.72, Y:175.50, Z:4.92 [[-3.71972466e-01 -9.28232980e-01 4.47427791e-03 1.02721825e+02] [ 9.28156962e-01 -3.71999279e-01 -1.18823644e-02 1.75503842e+02] [ 1.26940306e-02 -2.67080186e-04 9.99919392e-01 4.92466201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19275509600004 meters 0.021021523998037802 Centerline is valid? [True, True] Translation: X:102.71, Y:175.53, Z:4.92 [[-3.72213800e-01 -9.28135800e-01 4.56335469e-03 1.02712547e+02] [ 9.28056915e-01 -3.72241674e-01 -1.21036679e-02 1.75528784e+02] [ 1.29325183e-02 -2.70099357e-04 9.99916335e-01 4.92449514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22275509600007 meters 0.020444876507949516 Centerline is valid? [True, True] Translation: X:102.70, Y:175.55, Z:4.92 [[-3.72408600e-01 -9.28056850e-01 4.72420466e-03 1.02702408e+02] [ 9.27972501e-01 -3.72438461e-01 -1.25152225e-02 1.75553451e+02] [ 1.33743135e-02 -2.76844492e-04 9.99910522e-01 4.92448236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25275509600004 meters 0.020905324868460126 Centerline is valid? [True, True] Translation: X:102.70, Y:175.58, Z:4.92 [[-3.72313918e-01 -9.28092512e-01 5.16094412e-03 1.02695203e+02] [ 9.27992111e-01 -3.72349570e-01 -1.36543178e-02 1.75577773e+02] [ 1.45941454e-02 -2.94377123e-04 9.99893456e-01 4.92399929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2827550960001 meters 0.02019113532532024 Centerline is valid? [True, True] Translation: X:102.68, Y:175.60, Z:4.92 [[-3.72309704e-01 -9.28092474e-01 5.46292959e-03 1.02684683e+02] [ 9.27980272e-01 -3.72349656e-01 -1.44342930e-02 1.75601570e+02] [ 1.54304786e-02 -3.04536464e-04 9.99880897e-01 4.92386557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31275509600005 meters 0.01981927789677896 Centerline is valid? [True, True] Translation: X:102.67, Y:175.63, Z:4.92 [[-3.71558193e-01 -9.28391524e-01 5.80413754e-03 1.02674748e+02] [ 9.28265216e-01 -3.71603400e-01 -1.53166873e-02 1.75625964e+02] [ 1.63767199e-02 -3.03261684e-04 9.99865847e-01 4.92354817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3427550960001 meters 0.020073542335400235 Centerline is valid? [True, True] Translation: X:102.67, Y:175.65, Z:4.92 [[-3.71517482e-01 -9.28407787e-01 5.80872927e-03 1.02665663e+02] [ 9.28281579e-01 -3.71562771e-01 -1.53106978e-02 1.75649995e+02] [ 1.63728786e-02 -2.96055534e-04 9.99865912e-01 4.92389552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37275509600005 meters 0.019276415112437807 Centerline is valid? [True, True] Translation: X:102.65, Y:175.67, Z:4.92 [[-3.70972902e-01 -9.28625228e-01 5.85593695e-03 1.02654213e+02] [ 9.28497300e-01 -3.71019011e-01 -1.54161673e-02 1.75674403e+02] [ 1.64885058e-02 -2.81758666e-04 9.99864016e-01 4.92436092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.402755096 meters 0.01889021143022399 Centerline is valid? [True, True] Translation: X:102.64, Y:175.70, Z:4.93 [[-3.70167115e-01 -9.28946845e-01 5.83663794e-03 1.02643769e+02] [ 9.28820095e-01 -3.70213036e-01 -1.53473109e-02 1.75698688e+02] [ 1.64176355e-02 -2.59883196e-04 9.99865188e-01 4.92518280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43275509600005 meters 0.01886523699583527 Centerline is valid? [True, True] Translation: X:102.63, Y:175.72, Z:4.93 [[-3.70194159e-01 -9.28935872e-01 5.86779753e-03 1.02634723e+02] [ 9.28808063e-01 -3.70240572e-01 -1.54110585e-02 1.75722423e+02] [ 1.64883818e-02 -2.55026181e-04 9.99864025e-01 4.92626591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.462755096 meters 0.018981711528759698 Centerline is valid? [True, True] Translation: X:102.63, Y:175.75, Z:4.93 [[-3.70071789e-01 -9.28985791e-01 5.68066849e-03 1.02626083e+02] [ 9.28866287e-01 -3.70115310e-01 -1.49022939e-02 1.75745852e+02] [ 1.59465217e-02 -2.38337119e-04 9.99872818e-01 4.92718562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49275509600005 meters 0.018474417440842616 Centerline is valid? [True, True] Translation: X:102.62, Y:175.77, Z:4.93 [[-3.70270227e-01 -9.28907321e-01 5.58104216e-03 1.02616215e+02] [ 9.28792172e-01 -3.70312212e-01 -1.46275831e-02 1.75769881e+02] [ 1.56543971e-02 -2.32530254e-04 9.99877435e-01 4.92895850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.522755096 meters 0.01845389721460065 Centerline is valid? [True, True] Translation: X:102.61, Y:175.79, Z:4.93 [[-3.70541839e-01 -9.28800764e-01 5.28072433e-03 1.02606485e+02] [ 9.28697889e-01 -3.70579401e-01 -1.38253087e-02 1.75794510e+02] [ 1.47978849e-02 -2.18657765e-04 9.99890481e-01 4.93004864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55275509600006 meters 0.018143831784190247 Centerline is valid? [True, True] Translation: X:102.60, Y:175.82, Z:4.93 [[-3.71269604e-01 -9.28512082e-01 4.91874154e-03 1.02595862e+02] [ 9.28422993e-01 -3.71302126e-01 -1.28637903e-02 1.75819130e+02] [ 1.37705239e-02 -2.09261577e-04 9.99905160e-01 4.93152105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.582755096 meters 0.018267062258787693 Centerline is valid? [True, True] Translation: X:102.59, Y:175.84, Z:4.93 [[-3.71878543e-01 -9.28269018e-01 4.79362265e-03 1.02585968e+02] [ 9.28184580e-01 -3.71909380e-01 -1.25219310e-02 1.75844151e+02] [ 1.34065138e-02 -2.07270817e-04 9.99910107e-01 4.93248541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61275509600006 meters 0.01858903340658659 Centerline is valid? [True, True] Translation: X:102.58, Y:175.87, Z:4.93 [[-3.72242535e-01 -9.28123277e-01 4.76220842e-03 1.02577288e+02] [ 9.28040132e-01 -3.72272939e-01 -1.24246932e-02 1.75867870e+02] [ 1.33044883e-02 -2.05478779e-04 9.99911470e-01 4.93311857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64275509600003 meters 0.01873706424124045 Centerline is valid? [True, True] Translation: X:102.57, Y:175.89, Z:4.93 [[-3.73430158e-01 -9.27646461e-01 4.68627062e-03 1.02567029e+02] [ 9.27566054e-01 -3.73459500e-01 -1.22154958e-02 1.75892585e+02] [ 1.30817937e-02 -2.14808960e-04 9.99914407e-01 4.93373711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67275509600006 meters 0.01935939204947001 Centerline is valid? [True, True] Translation: X:102.56, Y:175.92, Z:4.93 [[-3.74374000e-01 -9.27265990e-01 4.67880032e-03 1.02558476e+02] [ 9.27185995e-01 -3.74403170e-01 -1.21818460e-02 1.75916983e+02] [ 1.30475692e-02 -2.22448298e-04 9.99914852e-01 4.93409025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70275509600003 meters 0.01920275804366039 Centerline is valid? [True, True] Translation: X:102.55, Y:175.94, Z:4.93 [[-3.75398420e-01 -9.26851883e-01 4.64899999e-03 1.02548058e+02] [ 9.26773062e-01 -3.75427135e-01 -1.20895414e-02 1.75941151e+02] [ 1.29505750e-02 -2.29826779e-04 9.99916111e-01 4.93409558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73275509600006 meters 0.019455284901690642 Centerline is valid? [True, True] Translation: X:102.54, Y:175.97, Z:4.93 [[-3.77559686e-01 -9.25972898e-01 4.78285389e-03 1.02537738e+02] [ 9.25889604e-01 -3.77589888e-01 -1.24225077e-02 1.75966008e+02] [ 1.33088627e-02 -2.61843398e-04 9.99911399e-01 4.93373124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76275509600003 meters 0.020008422718174806 Centerline is valid? [True, True] Translation: X:102.53, Y:175.99, Z:4.93 [[-3.79024939e-01 -9.25373832e-01 4.83387008e-03 1.02528609e+02] [ 9.25288886e-01 -3.79055658e-01 -1.25413871e-02 1.75991252e+02] [ 1.34377773e-02 -2.80772233e-04 9.99909670e-01 4.93367638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79275509600006 meters 0.02138525336054574 Centerline is valid? [True, True] Translation: X:102.52, Y:176.02, Z:4.93 [[-3.81990756e-01 -9.24151344e-01 5.23033719e-03 1.02521240e+02] [ 9.24052004e-01 -3.82026407e-01 -1.35542392e-02 1.76016212e+02] [ 1.45242953e-02 -3.44490504e-04 9.99894458e-01 4.93309596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82275509600004 meters 0.022089433827905305 Centerline is valid? [True, True] Translation: X:102.51, Y:176.04, Z:4.93 [[-3.83713712e-01 -9.23437158e-01 5.25389088e-03 1.02512207e+02] [ 9.23337019e-01 -3.83749501e-01 -1.36040595e-02 1.76042399e+02] [ 1.45786720e-02 -3.68952219e-04 9.99893657e-01 4.93287118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85275509600007 meters 0.022782633719336837 Centerline is valid? [True, True] Translation: X:102.50, Y:176.07, Z:4.93 [[-3.85525240e-01 -9.22681844e-01 5.33895935e-03 1.02503070e+02] [ 9.22578581e-01 -3.85562001e-01 -1.38096354e-02 1.76068428e+02] [ 1.48003997e-02 -3.98353475e-04 9.99890389e-01 4.93266060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88275509600004 meters 0.02340400183083087 Centerline is valid? [True, True] Translation: X:102.49, Y:176.09, Z:4.93 [[-3.87069996e-01 -9.22034979e-01 5.32131584e-03 1.02494048e+02] [ 9.21932547e-01 -3.87106348e-01 -1.37496607e-02 1.76093769e+02] [ 1.47375832e-02 -4.16186831e-04 9.99891309e-01 4.93280430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91275509600007 meters 0.023851620657632636 Centerline is valid? [True, True] Translation: X:102.48, Y:176.12, Z:4.93 [[-3.89334047e-01 -9.21081552e-01 5.27010520e-03 1.02484258e+02] [ 9.20981200e-01 -3.89369463e-01 -1.36033112e-02 1.76118676e+02] [ 1.45817770e-02 -4.42564385e-04 9.99893582e-01 4.93265067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94275509600004 meters 0.025256565663766214 Centerline is valid? [True, True] Translation: X:102.48, Y:176.14, Z:4.93 [[-3.90380677e-01 -9.20638776e-01 5.21262147e-03 1.02476292e+02] [ 9.20540777e-01 -3.90415219e-01 -1.34400141e-02 1.76143724e+02] [ 1.44084849e-02 -4.48291167e-04 9.99896092e-01 4.93297214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97275509600007 meters 0.024977168315912276 Centerline is valid? [True, True] Translation: X:102.47, Y:176.17, Z:4.93 [[-3.91158256e-01 -9.20307866e-01 5.35267306e-03 1.02465629e+02] [ 9.20204732e-01 -3.91194600e-01 -1.37853759e-02 1.76168081e+02] [ 1.47807267e-02 -4.66708521e-04 9.99890650e-01 4.93252786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00275509600004 meters 0.025203424702846196 Centerline is valid? [True, True] Translation: X:102.46, Y:176.19, Z:4.93 [[-3.91482927e-01 -9.20169633e-01 5.38180889e-03 1.02455801e+02] [ 9.20065600e-01 -3.91519638e-01 -1.38443237e-02 1.76193024e+02] [ 1.48462101e-02 -4.68199138e-04 9.99889679e-01 4.93252874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0327550960001 meters 0.02487363369683764 Centerline is valid? [True, True] Translation: X:102.45, Y:176.22, Z:4.93 [[-3.91053978e-01 -9.20351617e-01 5.44865226e-03 1.02445398e+02] [ 9.20245244e-01 -3.91091664e-01 -1.40000321e-02 1.76217148e+02] [ 1.50158746e-02 -4.60671910e-04 9.99887149e-01 4.93260777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06275509600005 meters 0.02510642747526681 Centerline is valid? [True, True] Translation: X:102.44, Y:176.24, Z:4.93 [[-3.89317987e-01 -9.21086908e-01 5.51480745e-03 1.02435697e+02] [ 9.20978258e-01 -3.89356805e-01 -1.41536670e-02 1.76241857e+02] [ 1.51839852e-02 -4.31259369e-04 9.99884624e-01 4.93228948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0927550960001 meters 0.023465575132974703 Centerline is valid? [True, True] Translation: X:102.42, Y:176.27, Z:4.93 [[-3.88122652e-01 -9.21591603e-01 5.45199241e-03 1.02423162e+02] [ 9.21485686e-01 -3.88160735e-01 -1.39776108e-02 1.76265833e+02] [ 1.49978981e-02 -4.01094390e-04 9.99887445e-01 4.93230016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12275509600005 meters 0.022378709233062 Centerline is valid? [True, True] Translation: X:102.41, Y:176.29, Z:4.93 [[-3.86827102e-01 -9.22135516e-01 5.55735240e-03 1.02410858e+02] [ 9.22025746e-01 -3.86866832e-01 -1.42329887e-02 1.76290547e+02] [ 1.52746997e-02 -3.81683771e-04 9.99883262e-01 4.93258296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.152755096 meters 0.021646465169636954 Centerline is valid? [True, True] Translation: X:102.40, Y:176.31, Z:4.93 [[-3.84585130e-01 -9.23072424e-01 5.61941617e-03 1.02398585e+02] [ 9.22960520e-01 -3.84626030e-01 -1.43769315e-02 1.76313656e+02] [ 1.54323227e-02 -3.42654792e-04 9.99880856e-01 4.93255826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18275509600005 meters 0.02123425573294832 Centerline is valid? [True, True] Translation: X:102.39, Y:176.34, Z:4.93 [[-3.83772720e-01 -9.23411448e-01 5.45868760e-03 1.02387374e+02] [ 9.23306107e-01 -3.83811411e-01 -1.39510993e-02 1.76338140e+02] [ 1.49777114e-02 -3.14011738e-04 9.99887778e-01 4.93317874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.212755096 meters 0.021297040230675326 Centerline is valid? [True, True] Translation: X:102.38, Y:176.36, Z:4.93 [[-3.83121756e-01 -9.23682840e-01 5.26595364e-03 1.02377418e+02] [ 9.23585031e-01 -3.83157837e-01 -1.34447940e-02 1.76361165e+02] [ 1.44364169e-02 -2.87437129e-04 9.99895748e-01 4.93434761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24275509600005 meters 0.021382278847604085 Centerline is valid? [True, True] Translation: X:102.37, Y:176.38, Z:4.94 [[-3.83412950e-01 -9.23562557e-01 5.16855768e-03 1.02367522e+02] [ 9.23468534e-01 -3.83447683e-01 -1.31811205e-02 1.76384836e+02] [ 1.41554608e-02 -2.80811896e-04 9.99899767e-01 4.93527641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.272755096 meters 0.021299031851554538 Centerline is valid? [True, True] Translation: X:102.36, Y:176.41, Z:4.94 [[-3.83486977e-01 -9.23532305e-01 5.08135607e-03 1.02357907e+02] [ 9.23441634e-01 -3.83520545e-01 -1.29437102e-02 1.76408748e+02] [ 1.39027390e-02 -2.71408554e-04 9.99903315e-01 4.93634562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30275509600006 meters 0.020205859430392076 Centerline is valid? [True, True] Translation: X:102.35, Y:176.43, Z:4.94 [[-3.84175684e-01 -9.23248061e-01 4.69697434e-03 1.02345715e+02] [ 9.23170734e-01 -3.84204311e-01 -1.19516849e-02 1.76432576e+02] [ 1.28389677e-02 -2.55437488e-04 9.99917544e-01 4.93791631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.332755096 meters 0.020360687956750292 Centerline is valid? [True, True] Translation: X:102.34, Y:176.46, Z:4.94 [[-3.84575961e-01 -9.23082260e-01 4.52445214e-03 1.02336521e+02] [ 9.23010653e-01 -3.84602496e-01 -1.15002251e-02 1.76456333e+02] [ 1.23557694e-02 -2.46592620e-04 9.99923634e-01 4.93893769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36275509600006 meters 0.02061716882826801 Centerline is valid? [True, True] Translation: X:102.33, Y:176.48, Z:4.94 [[-3.85402082e-01 -9.22739362e-01 4.15998197e-03 1.02326724e+02] [ 9.22678936e-01 -3.85424462e-01 -1.05623998e-02 1.76480417e+02] [ 1.13497009e-02 -2.32443142e-04 9.99935563e-01 4.94004325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39275509600003 meters 0.021089127351999953 Centerline is valid? [True, True] Translation: X:102.32, Y:176.51, Z:4.94 [[-3.86576965e-01 -9.22248344e-01 4.03005059e-03 1.02317541e+02] [ 9.22191732e-01 -3.86597900e-01 -1.02212404e-02 1.76505055e+02] [ 1.09845311e-02 -2.34816747e-04 9.99939641e-01 4.94111286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42275509600006 meters 0.021089127351999953 Centerline is valid? [True, True] Translation: X:102.31, Y:176.53, Z:4.94 [[-3.86926489e-01 -9.22101742e-01 4.03368651e-03 1.02307778e+02] [ 9.22045136e-01 -3.86947442e-01 -1.02198050e-02 1.76529071e+02] [ 1.09845247e-02 -2.35072253e-04 9.99939641e-01 4.94149572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45275509600003 meters 0.021472094717221047 Centerline is valid? [True, True] Translation: X:102.30, Y:176.55, Z:4.94 [[-3.87812002e-01 -9.21729217e-01 4.13550210e-03 1.02298552e+02] [ 9.21669831e-01 -3.87833972e-01 -1.04657508e-02 1.76553680e+02] [ 1.12504765e-02 -2.47176243e-04 9.99936681e-01 4.94187420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48275509600006 meters 0.021685616774903726 Centerline is valid? [True, True] Translation: X:102.29, Y:176.58, Z:4.94 [[-3.89059723e-01 -9.21202657e-01 4.26566191e-03 1.02288876e+02] [ 9.21139586e-01 -3.89083016e-01 -1.07828539e-02 1.76578011e+02] [ 1.15928903e-02 -2.65904111e-04 9.99932765e-01 4.94189363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51275509600003 meters 0.022017258533531044 Centerline is valid? [True, True] Translation: X:102.28, Y:176.60, Z:4.94 [[-3.89739178e-01 -9.20913853e-01 4.58798579e-03 1.02280063e+02] [ 9.20841043e-01 -3.89766074e-01 -1.15836846e-02 1.76601353e+02] [ 1.24558168e-02 -2.89810096e-04 9.99922381e-01 4.94157026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54275509600006 meters 0.022311479716827416 Centerline is valid? [True, True] Translation: X:102.27, Y:176.63, Z:4.94 [[-3.90280767e-01 -9.20684860e-01 4.50677770e-03 1.02270761e+02] [ 9.20614757e-01 -3.90306682e-01 -1.13650413e-02 1.76625251e+02] [ 1.22226470e-02 -2.86550996e-04 9.99925260e-01 4.94189970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57275509600004 meters 0.022486957338447293 Centerline is valid? [True, True] Translation: X:102.26, Y:176.65, Z:4.94 [[-3.90676468e-01 -9.20517517e-01 4.40432599e-03 1.02260622e+02] [ 9.20450660e-01 -3.90701192e-01 -1.10978006e-02 1.76650003e+02] [ 1.19364953e-02 -2.81684792e-04 9.99928718e-01 4.94242128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60275509600007 meters 0.02157166555853431 Centerline is valid? [True, True] Translation: X:102.25, Y:176.67, Z:4.94 [[-3.91137496e-01 -9.20321283e-01 4.49384516e-03 1.02249037e+02] [ 9.20251819e-01 -3.91163204e-01 -1.13109420e-02 1.76673632e+02] [ 1.21675275e-02 -2.88664350e-04 9.99925931e-01 4.94247681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63275509600004 meters 0.02238195018707581 Centerline is valid? [True, True] Translation: X:102.24, Y:176.70, Z:4.94 [[-3.91281500e-01 -9.20260077e-01 4.49208991e-03 1.02240623e+02] [ 9.20190815e-01 -3.91307181e-01 -1.12939675e-02 1.76697327e+02] [ 1.21511744e-02 -2.85540664e-04 9.99926131e-01 4.94298853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66275509600007 meters 0.020997204673229443 Centerline is valid? [True, True] Translation: X:102.23, Y:176.72, Z:4.94 [[-3.91264677e-01 -9.20265371e-01 4.85796631e-03 1.02227907e+02] [ 9.20184572e-01 -3.91294717e-01 -1.21982483e-02 1.76720552e+02] [ 1.31265220e-02 -3.02518020e-04 9.99913798e-01 4.94277636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69275509600004 meters 0.021740965326379064 Centerline is valid? [True, True] Translation: X:102.22, Y:176.74, Z:4.94 [[-3.91289067e-01 -9.20254879e-01 4.88097623e-03 1.02219579e+02] [ 9.20173495e-01 -3.91319394e-01 -1.22421659e-02 1.76744156e+02] [ 1.31759336e-02 -2.98880715e-04 9.99913149e-01 4.94324304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72275509600007 meters 0.022650857137068863 Centerline is valid? [True, True] Translation: X:102.21, Y:176.77, Z:4.94 [[-3.91281484e-01 -9.20257765e-01 4.94420498e-03 1.02211157e+02] [ 9.20174463e-01 -3.91312608e-01 -1.23855322e-02 1.76768470e+02] [ 1.33326120e-02 -2.96698279e-04 9.99911073e-01 4.94358611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75275509600004 meters 0.019884641225818935 Centerline is valid? [True, True] Translation: X:102.20, Y:176.79, Z:4.94 [[-3.90888926e-01 -9.20422811e-01 5.26274005e-03 1.02196413e+02] [ 9.20328612e-01 -3.90924233e-01 -1.31715235e-02 1.76791283e+02] [ 1.41807033e-02 -3.05152421e-04 9.99899402e-01 4.94308780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7827550960001 meters 0.020888952326598008 Centerline is valid? [True, True] Translation: X:102.19, Y:176.82, Z:4.94 [[-3.90893989e-01 -9.20420023e-01 5.37321696e-03 1.02188207e+02] [ 9.20322058e-01 -3.90930798e-01 -1.34320597e-02 1.76815658e+02] [ 1.44636927e-02 -3.05421311e-04 9.99895349e-01 4.94353900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81275509600005 meters 0.01998969902950821 Centerline is valid? [True, True] Translation: X:102.18, Y:176.84, Z:4.94 [[-3.89857520e-01 -9.20859582e-01 5.36132911e-03 1.02176199e+02] [ 9.20762326e-01 -3.89894280e-01 -1.33861344e-02 1.76838946e+02] [ 1.44171017e-02 -2.82175298e-04 9.99896028e-01 4.94451148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8427550960001 meters 0.018969004167770517 Centerline is valid? [True, True] Translation: X:102.16, Y:176.86, Z:4.94 [[-3.89434556e-01 -9.21038491e-01 5.36887088e-03 1.02163846e+02] [ 9.20941192e-01 -3.89471469e-01 -1.33901375e-02 1.76862348e+02] [ 1.44238541e-02 -2.70167905e-04 9.99895934e-01 4.94487300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87275509600005 meters 0.019213872056168424 Centerline is valid? [True, True] Translation: X:102.15, Y:176.89, Z:4.95 [[-3.89080393e-01 -9.21188057e-01 5.38625429e-03 1.02154049e+02] [ 9.21090367e-01 -3.89117587e-01 -1.34178695e-02 1.76886242e+02] [ 1.44562674e-02 -2.59402997e-04 9.99895469e-01 4.94574434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.902755096 meters 0.018671283514490745 Centerline is valid? [True, True] Translation: X:102.14, Y:176.91, Z:4.95 [[-3.87852665e-01 -9.21707945e-01 4.97735107e-03 1.02142747e+02] [ 9.21624752e-01 -3.87884541e-01 -1.23854656e-02 1.76908972e+02] [ 1.33464196e-02 -2.16485915e-04 9.99910909e-01 4.94726365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93275509600005 meters 0.018412034144932428 Centerline is valid? [True, True] Translation: X:102.13, Y:176.93, Z:4.95 [[-3.87485918e-01 -9.21864663e-01 4.49514466e-03 1.02131673e+02] [ 9.21796959e-01 -3.87511946e-01 -1.11740001e-02 1.76933465e+02] [ 1.20428381e-02 -1.86157018e-04 9.99927465e-01 4.94850626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.962755096 meters 0.01789504138332165 Centerline is valid? [True, True] Translation: X:102.12, Y:176.96, Z:4.95 [[-3.86366118e-01 -9.22336319e-01 4.11548656e-03 1.02120461e+02] [ 9.22279706e-01 -3.86388005e-01 -1.02202151e-02 1.76957025e+02] [ 1.10166502e-02 -1.53115107e-04 9.99939303e-01 4.94973040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99275509600005 meters 0.017671148896013577 Centerline is valid? [True, True] Translation: X:102.11, Y:176.98, Z:4.95 [[-3.85942951e-01 -9.22513160e-01 4.18418580e-03 1.02109797e+02] [ 9.22454783e-01 -3.85965604e-01 -1.03790857e-02 1.76980977e+02] [ 1.11897949e-02 -1.46012758e-04 9.99937382e-01 4.95015014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.022755096 meters 0.017665856001278426 Centerline is valid? [True, True] Translation: X:102.10, Y:177.01, Z:4.95 [[-3.86029478e-01 -9.22476943e-01 4.18716059e-03 1.02099036e+02] [ 9.22418608e-01 -3.86052159e-01 -1.03751147e-02 1.77005476e+02] [ 1.11872665e-02 -1.42785270e-04 9.99937410e-01 4.95021989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05275509600006 meters 0.017503680263992124 Centerline is valid? [True, True] Translation: X:102.09, Y:177.03, Z:4.95 [[-3.85815572e-01 -9.22566303e-01 4.21435989e-03 1.02089035e+02] [ 9.22507352e-01 -3.85838564e-01 -1.04301807e-02 1.77029118e+02] [ 1.12485958e-02 -1.36348144e-04 9.99936723e-01 4.95037620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.082755096 meters 0.01753576462767481 Centerline is valid? [True, True] Translation: X:102.08, Y:177.05, Z:4.95 [[-3.86239724e-01 -9.22388856e-01 4.20416357e-03 1.02078447e+02] [ 9.22330272e-01 -3.86262579e-01 -1.03966170e-02 1.77053517e+02] [ 1.12136347e-02 -1.37959156e-04 9.99937116e-01 4.94986931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11275509600006 meters 0.017434457848019728 Centerline is valid? [True, True] Translation: X:102.07, Y:177.08, Z:4.95 [[-3.86431624e-01 -9.22308321e-01 4.23809979e-03 1.02068280e+02] [ 9.22248913e-01 -3.86454839e-01 -1.04690243e-02 1.77077617e+02] [ 1.12935024e-02 -1.36979133e-04 9.99936217e-01 4.94995278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14275509600003 meters 0.01744290274053518 Centerline is valid? [True, True] Translation: X:102.06, Y:177.10, Z:4.95 [[-3.87643285e-01 -9.21798696e-01 4.45501402e-03 1.02058469e+02] [ 9.21733167e-01 -3.87668853e-01 -1.09922770e-02 1.77101976e+02] [ 1.18597368e-02 -1.54748195e-04 9.99929659e-01 4.94935145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17275509600006 meters 0.01744091425885238 Centerline is valid? [True, True] Translation: X:102.05, Y:177.13, Z:4.95 [[-3.88811357e-01 -9.21305664e-01 4.64776392e-03 1.02049093e+02] [ 9.21234471e-01 -3.88839097e-01 -1.14544807e-02 1.77126190e+02] [ 1.23603102e-02 -1.71951835e-04 9.99923594e-01 4.94931030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20275509600003 meters 0.017879694224395483 Centerline is valid? [True, True] Translation: X:102.04, Y:177.15, Z:4.95 [[-3.90455479e-01 -9.20609983e-01 4.66665035e-03 1.02040490e+02] [ 9.20538324e-01 -3.90483320e-01 -1.14878301e-02 1.77151001e+02] [ 1.23980602e-02 -1.89655733e-04 9.99923123e-01 4.94951656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23275509600006 meters 0.02043635250492437 Centerline is valid? [True, True] Translation: X:102.04, Y:177.18, Z:4.95 [[-3.93697088e-01 -9.19227190e-01 4.89664141e-03 1.02036410e+02] [ 9.19148376e-01 -3.93727465e-01 -1.20393847e-02 1.77177844e+02] [ 1.29948719e-02 -2.39130687e-04 9.99915535e-01 4.94939782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26275509600003 meters 0.01952818321362722 Centerline is valid? [True, True] Translation: X:102.02, Y:177.20, Z:4.95 [[-3.95836592e-01 -9.18307794e-01 4.91822146e-03 1.02024385e+02] [ 9.18228383e-01 -3.95867056e-01 -1.20793514e-02 1.77202491e+02] [ 1.30395244e-02 -2.65398750e-04 9.99914947e-01 4.94913248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29275509600006 meters 0.020269356203064685 Centerline is valid? [True, True] Translation: X:102.02, Y:177.23, Z:4.95 [[-3.97641021e-01 -9.17527578e-01 4.97616609e-03 1.02015837e+02] [ 9.17446392e-01 -3.97672051e-01 -1.22088942e-02 1.77228689e+02] [ 1.31808793e-02 -2.89391547e-04 9.99913087e-01 4.94926723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32275509600004 meters 0.02211821737969068 Centerline is valid? [True, True] Translation: X:102.01, Y:177.26, Z:4.95 [[-4.01620899e-01 -9.15792558e-01 4.96429791e-03 1.02010111e+02] [ 9.15711793e-01 -4.01651434e-01 -1.21670634e-02 1.77255376e+02] [ 1.31364235e-02 -3.40680779e-04 9.99913655e-01 4.94978958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35275509600007 meters 0.023061408831929572 Centerline is valid? [True, True] Translation: X:102.00, Y:177.28, Z:4.95 [[-4.03883424e-01 -9.14796985e-01 4.96549390e-03 1.02001805e+02] [ 9.14716227e-01 -4.03913777e-01 -1.21607652e-02 1.77281452e+02] [ 1.31302627e-02 -3.69513628e-04 9.99913726e-01 4.95024057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38275509600004 meters 0.02432415546107738 Centerline is valid? [True, True] Translation: X:101.99, Y:177.31, Z:4.95 [[-4.06071891e-01 -9.13827988e-01 4.90188613e-03 1.01993570e+02] [ 9.13749369e-01 -4.06101288e-01 -1.19930787e-02 1.77307846e+02] [ 1.29502733e-02 -3.90956795e-04 9.99916065e-01 4.95072251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41275509600007 meters 0.024855282691091975 Centerline is valid? [True, True] Translation: X:101.98, Y:177.33, Z:4.95 [[-4.08905228e-01 -9.12561347e-01 5.31994238e-03 1.01984951e+02] [ 9.12468837e-01 -4.08939572e-01 -1.30018607e-02 1.77333433e+02] [ 1.40405305e-02 -4.62247177e-04 9.99901320e-01 4.95094276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44275509600004 meters 0.025380794032105004 Centerline is valid? [True, True] Translation: X:101.98, Y:177.36, Z:4.95 [[-4.10213054e-01 -9.11973951e-01 5.36311205e-03 1.01975579e+02] [ 9.11880073e-01 -4.10247830e-01 -1.30939418e-02 1.77358585e+02] [ 1.41415390e-02 -4.80790874e-04 9.99899888e-01 4.95094797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47275509600007 meters 0.02656077927159699 Centerline is valid? [True, True] Translation: X:101.97, Y:177.38, Z:4.95 [[-4.10701606e-01 -9.11751944e-01 5.70812511e-03 1.01967989e+02] [ 9.11645803e-01 -4.10740950e-01 -1.39212749e-02 1.77382568e+02] [ 1.50373102e-02 -5.13701656e-04 9.99886801e-01 4.95077286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50275509600004 meters 0.025382864258910204 Centerline is valid? [True, True] Translation: X:101.96, Y:177.41, Z:4.95 [[-4.10811333e-01 -9.11701036e-01 5.93884529e-03 1.01956268e+02] [ 9.11586409e-01 -4.10853917e-01 -1.44664628e-02 1.77405985e+02] [ 1.56290870e-02 -5.29216215e-04 9.99877718e-01 4.95097037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5327550960001 meters 0.025772334347364406 Centerline is valid? [True, True] Translation: X:101.95, Y:177.43, Z:4.95 [[-4.10481784e-01 -9.11848380e-01 6.10219378e-03 1.01947121e+02] [ 9.11727652e-01 -4.10526795e-01 -1.48471875e-02 1.77429654e+02] [ 1.60434980e-02 -5.30961216e-04 9.99871154e-01 4.95117059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56275509600005 meters 0.024293634707804584 Centerline is valid? [True, True] Translation: X:101.93, Y:177.45, Z:4.95 [[-4.08939233e-01 -9.12541272e-01 6.09351706e-03 1.01933965e+02] [ 9.12421236e-01 -4.08984329e-01 -1.48090067e-02 1.77454120e+02] [ 1.60059828e-02 -4.96129456e-04 9.99871773e-01 4.95101819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5927550960001 meters 0.023996822468860264 Centerline is valid? [True, True] Translation: X:101.92, Y:177.48, Z:4.95 [[-4.08492872e-01 -9.12740766e-01 6.15361727e-03 1.01922725e+02] [ 9.12618607e-01 -4.08538928e-01 -1.49405938e-02 1.77478230e+02] [ 1.61508812e-02 -4.87220437e-04 9.99869447e-01 4.95137537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62275509600005 meters 0.023023615693937502 Centerline is valid? [True, True] Translation: X:101.91, Y:177.50, Z:4.95 [[-4.07741631e-01 -9.13076979e-01 6.09858652e-03 1.01910178e+02] [ 9.12957292e-01 -4.07786973e-01 -1.47907911e-02 1.77502984e+02] [ 1.59920550e-02 -4.63072255e-04 9.99872012e-01 4.95227862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.652755096 meters 0.02294726925894391 Centerline is valid? [True, True] Translation: X:101.90, Y:177.53, Z:4.95 [[-4.05770214e-01 -9.13956208e-01 5.88080349e-03 1.01899212e+02] [ 9.13845224e-01 -4.05812622e-01 -1.42486233e-02 1.77527327e+02] [ 1.54091220e-02 -4.07522764e-04 9.99881189e-01 4.95327882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68275509600005 meters 0.02179757285543092 Centerline is valid? [True, True] Translation: X:101.89, Y:177.55, Z:4.95 [[-4.04946664e-01 -9.14321161e-01 5.91730239e-03 1.01887221e+02] [ 9.14209059e-01 -4.04989707e-01 -1.43224879e-02 1.77550759e+02] [ 1.54918003e-02 -3.90192249e-04 9.99879919e-01 4.95396412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.712755096 meters 0.021098567005985096 Centerline is valid? [True, True] Translation: X:101.88, Y:177.58, Z:4.96 [[-4.03439245e-01 -9.14987408e-01 5.90066074e-03 1.01875524e+02] [ 9.14876250e-01 -4.03482236e-01 -1.42664705e-02 1.77575204e+02] [ 1.54344527e-02 -3.57279732e-04 9.99880818e-01 4.95516047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74275509600005 meters 0.021308502993427535 Centerline is valid? [True, True] Translation: X:101.87, Y:177.60, Z:4.96 [[-4.02743104e-01 -9.15294486e-01 5.83055083e-03 1.01866036e+02] [ 9.15186199e-01 -4.02785167e-01 -1.40830212e-02 1.77598599e+02] [ 1.52385710e-02 -3.35800020e-04 9.99883830e-01 4.95553474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.772755096 meters 0.02050119741792793 Centerline is valid? [True, True] Translation: X:101.85, Y:177.62, Z:4.96 [[-4.02496930e-01 -9.15403003e-01 5.79340274e-03 1.01854039e+02] [ 9.15296344e-01 -4.02538492e-01 -1.39773127e-02 1.77622095e+02] [ 1.51269416e-02 -3.23145086e-04 9.99885529e-01 4.95593251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80275509600006 meters 0.01983484087692725 Centerline is valid? [True, True] Translation: X:101.84, Y:177.65, Z:4.96 [[-4.00862626e-01 -9.16121225e-01 5.57287736e-03 1.01841337e+02] [ 9.16022807e-01 -4.00901265e-01 -1.34310477e-02 1.77646003e+02] [ 1.45386415e-02 -2.79122296e-04 9.99894269e-01 4.95722065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.832755096 meters 0.019422060316853652 Centerline is valid? [True, True] Translation: X:101.83, Y:177.67, Z:4.96 [[-4.00359861e-01 -9.16342965e-01 5.24907023e-03 1.01829305e+02] [ 9.16255829e-01 -4.00394191e-01 -1.26391080e-02 1.77669889e+02] [ 1.36834549e-02 -2.50700310e-04 9.99906346e-01 4.95789997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86275509600006 meters 0.019305026418685728 Centerline is valid? [True, True] Translation: X:101.82, Y:177.69, Z:4.96 [[-3.99178151e-01 -9.16859616e-01 5.02471523e-03 1.01817854e+02] [ 9.16779982e-01 -3.99209715e-01 -1.20858308e-02 1.77692352e+02] [ 1.30869253e-02 -2.17841262e-04 9.99914339e-01 4.95891406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89275509600003 meters 0.019208001007897234 Centerline is valid? [True, True] Translation: X:101.81, Y:177.72, Z:4.96 [[-3.99055331e-01 -9.16913938e-01 4.86546053e-03 1.01806489e+02] [ 9.16839396e-01 -3.99084938e-01 -1.16933187e-02 1.77716659e+02] [ 1.26634989e-02 -2.05435269e-04 9.99919794e-01 4.95953900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92275509600006 meters 0.01941336342613024 Centerline is valid? [True, True] Translation: X:101.80, Y:177.74, Z:4.96 [[-3.99235887e-01 -9.16835203e-01 4.89060098e-03 1.01796344e+02] [ 9.16760043e-01 -3.99265789e-01 -1.17411044e-02 1.77740153e+02] [ 1.27173075e-02 -2.03962668e-04 9.99919111e-01 4.95997349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95275509600003 meters 0.01969926903290761 Centerline is valid? [True, True] Translation: X:101.79, Y:177.76, Z:4.96 [[-3.99601344e-01 -9.16676790e-01 4.73585781e-03 1.01786390e+02] [ 9.16606452e-01 -3.99629358e-01 -1.13573219e-02 1.77763944e+02] [ 1.23035812e-02 -1.97483275e-04 9.99924289e-01 4.96101658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98275509600006 meters 0.01984823288771899 Centerline is valid? [True, True] Translation: X:101.78, Y:177.79, Z:4.96 [[-4.00237693e-01 -9.16398729e-01 4.81225026e-03 1.01775399e+02] [ 9.16326247e-01 -4.00266570e-01 -1.15274184e-02 1.77788193e+02] [ 1.24898945e-02 -2.04116135e-04 9.99921977e-01 4.96109556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01275509600003 meters 0.01964712344183855 Centerline is valid? [True, True] Translation: X:101.76, Y:177.81, Z:4.96 [[-4.00909521e-01 -9.16104707e-01 4.87056473e-03 1.01764048e+02] [ 9.16030590e-01 -4.00939050e-01 -1.16548772e-02 1.77812577e+02] [ 1.26298875e-02 -2.10964952e-04 9.99920218e-01 4.96114919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04275509600006 meters 0.019423311697039685 Centerline is valid? [True, True] Translation: X:101.75, Y:177.84, Z:4.96 [[-4.01450895e-01 -9.15867997e-01 4.79484138e-03 1.01752307e+02] [ 9.15796298e-01 -4.01479473e-01 -1.14618077e-02 1.77836587e+02] [ 1.24225333e-02 -2.10254972e-04 9.99922815e-01 4.96134368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07275509600004 meters 0.01953087629725054 Centerline is valid? [True, True] Translation: X:101.74, Y:177.86, Z:4.96 [[-4.02696961e-01 -9.15320668e-01 4.82001103e-03 1.01740942e+02] [ 9.15248336e-01 -4.02725745e-01 -1.15090519e-02 1.77861164e+02] [ 1.24756156e-02 -2.23153150e-04 9.99922152e-01 4.96142790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10275509600007 meters 0.02033212745444383 Centerline is valid? [True, True] Translation: X:101.73, Y:177.89, Z:4.96 [[-4.03368465e-01 -9.15024565e-01 4.89147739e-03 1.01732242e+02] [ 9.14950199e-01 -4.03398056e-01 -1.16679882e-02 1.77885455e+02] [ 1.26497083e-02 -2.31040264e-04 9.99919963e-01 4.96185790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13275509600004 meters 0.01958382339594694 Centerline is valid? [True, True] Translation: X:101.72, Y:177.91, Z:4.96 [[-4.04755119e-01 -9.14413018e-01 4.70394819e-03 1.01719531e+02] [ 9.14344361e-01 -4.04782383e-01 -1.12076964e-02 1.77909776e+02] [ 1.21525389e-02 -2.35343996e-04 9.99926127e-01 4.96224148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16275509600007 meters 0.020164001072589532 Centerline is valid? [True, True] Translation: X:101.71, Y:177.93, Z:4.96 [[-4.05333045e-01 -9.14157261e-01 4.65024963e-03 1.01710279e+02] [ 9.14090280e-01 -4.05359651e-01 -1.10685736e-02 1.77934504e+02] [ 1.20034405e-02 -2.35710670e-04 9.99927928e-01 4.96310565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19275509600004 meters 0.02033610360150906 Centerline is valid? [True, True] Translation: X:101.70, Y:177.96, Z:4.96 [[-4.05900766e-01 -9.13905264e-01 4.66217857e-03 1.01699611e+02] [ 9.13838067e-01 -4.05927470e-01 -1.10849729e-02 1.77959123e+02] [ 1.20231215e-02 -2.38922753e-04 9.99927691e-01 4.96368733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22275509600007 meters 0.020344979144746957 Centerline is valid? [True, True] Translation: X:101.69, Y:177.98, Z:4.96 [[-4.05692444e-01 -9.13997600e-01 4.69341898e-03 1.01688929e+02] [ 9.13929653e-01 -4.05719525e-01 -1.11470060e-02 1.77982355e+02] [ 1.20925485e-02 -2.32801347e-04 9.99926855e-01 4.96422250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25275509600004 meters 0.019810381095451326 Centerline is valid? [True, True] Translation: X:101.68, Y:178.01, Z:4.96 [[-4.05398716e-01 -9.14127372e-01 4.79875816e-03 1.01676763e+02] [ 9.14056517e-01 -4.05427052e-01 -1.13837212e-02 1.78006351e+02] [ 1.23517176e-02 -2.28609807e-04 9.99923689e-01 4.96449842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2827550960001 meters 0.01940909823943045 Centerline is valid? [True, True] Translation: X:101.66, Y:178.03, Z:4.97 [[-4.04976678e-01 -9.14314782e-01 4.72969448e-03 1.01664879e+02] [ 9.14246112e-01 -4.05004239e-01 -1.12077663e-02 1.78029959e+02] [ 1.21629727e-02 -2.14779173e-04 9.99926005e-01 4.96503608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31275509600005 meters 0.019408391704240344 Centerline is valid? [True, True] Translation: X:101.65, Y:178.05, Z:4.97 [[-4.03925449e-01 -9.14779851e-01 4.69640881e-03 1.01654299e+02] [ 9.14712330e-01 -4.03952704e-01 -1.11160501e-02 1.78053188e+02] [ 1.20658657e-02 -1.94192472e-04 9.99927186e-01 4.96570242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3427550960001 meters 0.019408391704240344 Centerline is valid? [True, True] Translation: X:101.64, Y:178.08, Z:4.97 [[-4.04276004e-01 -9.14624964e-01 4.69975526e-03 1.01643965e+02] [ 9.14557449e-01 -4.04303273e-01 -1.11146349e-02 1.78076957e+02] [ 1.20658490e-02 -1.95184004e-04 9.99927186e-01 4.96608545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37275509600005 meters 0.018501410573328273 Centerline is valid? [True, True] Translation: X:101.63, Y:178.10, Z:4.97 [[-4.02097201e-01 -9.15584443e-01 4.79255923e-03 1.01629688e+02] [ 9.15514458e-01 -4.02125728e-01 -1.13215058e-02 1.78100767e+02] [ 1.22930060e-02 -1.64688539e-04 9.99924425e-01 4.96678786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.402755096 meters 0.018240128724718786 Centerline is valid? [True, True] Translation: X:101.62, Y:178.12, Z:4.97 [[-4.01270647e-01 -9.15947557e-01 4.68410298e-03 1.01617540e+02] [ 9.15880850e-01 -4.01297959e-01 -1.10551874e-02 1.78124216e+02] [ 1.20056928e-02 -1.46041967e-04 9.99927918e-01 4.96718998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43275509600005 meters 0.017475738675228208 Centerline is valid? [True, True] Translation: X:101.60, Y:178.15, Z:4.97 [[-3.99616050e-01 -9.16671313e-01 4.55165379e-03 1.01603340e+02] [ 9.16608503e-01 -3.99641954e-01 -1.07312986e-02 1.78148271e+02] [ 1.16561054e-02 -1.16314567e-04 9.99932059e-01 4.96774363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.462755096 meters 0.01765772105512555 Centerline is valid? [True, True] Translation: X:101.59, Y:178.17, Z:4.97 [[-3.99119615e-01 -9.16887418e-01 4.58211214e-03 1.01592830e+02] [ 9.16823908e-01 -3.99145903e-01 -1.07920992e-02 1.78172557e+02] [ 1.17240713e-02 -1.06348530e-04 9.99931265e-01 4.96906072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49275509600005 meters 0.01749836364910931 Centerline is valid? [True, True] Translation: X:101.58, Y:178.20, Z:4.97 [[-3.98915314e-01 -9.16976896e-01 4.46592651e-03 1.01581728e+02] [ 9.16916697e-01 -3.98940300e-01 -1.05075496e-02 1.78196154e+02] [ 1.14168183e-02 -9.67398791e-05 9.99934821e-01 4.97007975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.522755096 meters 0.017338836394729232 Centerline is valid? [True, True] Translation: X:101.57, Y:178.22, Z:4.97 [[-3.98632277e-01 -9.17101629e-01 4.11220220e-03 1.01569469e+02] [ 9.17050689e-01 -3.98653478e-01 -9.66633482e-03 1.78219402e+02] [ 1.05043551e-02 -8.22151926e-05 9.99944824e-01 4.97101157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55275509600006 meters 0.017597987802750126 Centerline is valid? [True, True] Translation: X:101.56, Y:178.24, Z:4.97 [[-3.99267041e-01 -9.16825758e-01 4.04478965e-03 1.01559726e+02] [ 9.16776566e-01 -3.99287519e-01 -9.49764572e-03 1.78243082e+02] [ 1.03227203e-02 -8.39285333e-05 9.99946716e-01 4.97186770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.582755096 meters 0.017837784353190212 Centerline is valid? [True, True] Translation: X:101.55, Y:178.27, Z:4.97 [[-4.00446778e-01 -9.16311663e-01 3.91332665e-03 1.01548994e+02] [ 9.16265699e-01 -4.00465889e-01 -9.17826570e-03 1.78267705e+02] [ 9.97730574e-03 -8.97599520e-05 9.99950221e-01 4.97218361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61275509600006 meters 0.017912492809831128 Centerline is valid? [True, True] Translation: X:101.54, Y:178.29, Z:4.97 [[-4.01495993e-01 -9.15852860e-01 3.80888364e-03 1.01538358e+02] [ 9.15809382e-01 -4.01514048e-01 -8.92447001e-03 1.78292267e+02] [ 9.70282166e-03 -9.49275716e-05 9.99952922e-01 4.97244581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64275509600003 meters 0.01815833612956467 Centerline is valid? [True, True] Translation: X:101.53, Y:178.32, Z:4.97 [[-4.03063561e-01 -9.15164479e-01 3.70703195e-03 1.01528814e+02] [ 9.15123352e-01 -4.03080594e-01 -8.67670908e-03 1.78316620e+02] [ 9.43484859e-03 -1.04873756e-04 9.99955485e-01 4.97301562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67275509600006 meters 0.01848792899393252 Centerline is valid? [True, True] Translation: X:101.52, Y:178.34, Z:4.97 [[-4.04610259e-01 -9.14481088e-01 3.85731458e-03 1.01520019e+02] [ 9.14436629e-01 -4.04628627e-01 -9.01814865e-03 1.78340607e+02] [ 9.80770629e-03 -1.21565718e-04 9.99951896e-01 4.97341188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70275509600003 meters 0.01967835812057838 Centerline is valid? [True, True] Translation: X:101.51, Y:178.37, Z:4.97 [[-4.08377038e-01 -9.12804631e-01 3.98762212e-03 1.01513320e+02] [ 9.12757157e-01 -4.08396474e-01 -9.31087379e-03 1.78365784e+02] [ 1.01275395e-02 -1.62616436e-04 9.99948702e-01 4.97302421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73275509600006 meters 0.020378310047417556 Centerline is valid? [True, True] Translation: X:101.50, Y:178.39, Z:4.97 [[-4.10574158e-01 -9.11818238e-01 4.04495579e-03 1.01504752e+02] [ 9.11769437e-01 -4.10594041e-01 -9.43540437e-03 1.78391797e+02] [ 1.02642085e-02 -1.85866146e-04 9.99947304e-01 4.97329307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76275509600003 meters 0.02065844269661614 Centerline is valid? [True, True] Translation: X:101.50, Y:178.42, Z:4.97 [[-4.12743299e-01 -9.10838731e-01 3.97190379e-03 1.01495381e+02] [ 9.10791717e-01 -4.12762360e-01 -9.25651606e-03 1.78417073e+02] [ 1.00706457e-02 -2.02987905e-04 9.99949269e-01 4.97362217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79275509600006 meters 0.023154326453542984 Centerline is valid? [True, True] Translation: X:101.49, Y:178.44, Z:4.97 [[-4.16789674e-01 -9.08994182e-01 3.99314200e-03 1.01490901e+02] [ 9.08946670e-01 -4.16808730e-01 -9.29695800e-03 1.78443844e+02] [ 1.01152572e-02 -2.45322964e-04 9.99948809e-01 4.97411799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82275509600004 meters 0.024649100945007472 Centerline is valid? [True, True] Translation: X:101.48, Y:178.47, Z:4.97 [[-4.18395535e-01 -9.08253884e-01 4.47873629e-03 1.01481090e+02] [ 9.08194215e-01 -4.18419405e-01 -1.04148179e-02 1.78469739e+02] [ 1.13332890e-02 -2.89950932e-04 9.99935734e-01 4.97141862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85275509600007 meters 0.024832869055390762 Centerline is valid? [True, True] Translation: X:101.47, Y:178.50, Z:4.97 [[-4.20738297e-01 -9.07171786e-01 4.31695383e-03 1.01473718e+02] [ 9.07116392e-01 -4.20760333e-01 -1.00296436e-02 1.78495361e+02] [ 1.09150126e-02 -3.03875589e-04 9.99940383e-01 4.97366126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88275509600004 meters 0.02447465463226419 Centerline is valid? [True, True] Translation: X:101.46, Y:178.52, Z:4.97 [[-4.21405223e-01 -9.06862633e-01 4.21928587e-03 1.01462761e+02] [ 9.06809800e-01 -4.21426237e-01 -9.79348391e-03 1.78519686e+02] [ 1.06594624e-02 -3.00935489e-04 9.99943141e-01 4.97410635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91275509600007 meters 0.02521153660657383 Centerline is valid? [True, True] Translation: X:101.45, Y:178.54, Z:4.97 [[-4.21665588e-01 -9.06741141e-01 4.31677649e-03 1.01453499e+02] [ 9.06685950e-01 -4.21687572e-01 -1.00089635e-02 1.78543709e+02] [ 1.08958700e-02 -3.06474882e-04 9.99940591e-01 4.97441810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94275509600004 meters 0.023650920178914 Centerline is valid? [True, True] Translation: X:101.44, Y:178.57, Z:4.97 [[-4.21733475e-01 -9.06709587e-01 4.31284155e-03 1.01440307e+02] [ 9.06654615e-01 -4.21755419e-01 -9.98878741e-03 1.78566564e+02] [ 1.08758936e-02 -3.02348336e-04 9.99940810e-01 4.97436650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97275509600007 meters 0.02453730877139114 Centerline is valid? [True, True] Translation: X:101.43, Y:178.59, Z:4.97 [[-4.20468317e-01 -9.07296016e-01 4.50936747e-03 1.01430520e+02] [ 9.07236091e-01 -4.20492394e-01 -1.04317590e-02 1.78591187e+02] [ 1.13608481e-02 -2.95163244e-04 9.99935420e-01 4.97489436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00275509600004 meters 0.023092423997218222 Centerline is valid? [True, True] Translation: X:101.42, Y:178.61, Z:4.97 [[-4.19708613e-01 -9.07647089e-01 4.63045715e-03 1.01417084e+02] [ 9.07584055e-01 -4.19734056e-01 -1.07007110e-02 1.78614610e+02] [ 1.16560297e-02 -2.88651490e-04 9.99932025e-01 4.97490323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0327550960001 meters 0.0223376417013437 Centerline is valid? [True, True] Translation: X:101.40, Y:178.64, Z:4.98 [[-4.18607494e-01 -9.08154904e-01 4.73681635e-03 1.01404716e+02] [ 9.08089117e-01 -4.18634202e-01 -1.09343440e-02 1.78638532e+02] [ 1.19130715e-02 -2.75746969e-04 9.99928999e-01 4.97512845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06275509600005 meters 0.022428269658018914 Centerline is valid? [True, True] Translation: X:101.39, Y:178.66, Z:4.98 [[-4.15910091e-01 -9.09391898e-01 5.01716693e-03 1.01393062e+02] [ 9.09318332e-01 -4.15940277e-01 -1.15696845e-02 1.78662708e+02] [ 1.26082191e-02 -2.49746652e-04 9.99920482e-01 4.97512976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0927550960001 meters 0.020548081848902427 Centerline is valid? [True, True] Translation: X:101.38, Y:178.68, Z:4.98 [[-4.14988087e-01 -9.09813203e-01 4.98233645e-03 1.01378196e+02] [ 9.09740816e-01 -4.15017931e-01 -1.14789061e-02 1.78684558e+02] [ 1.25114193e-02 -2.30974464e-04 9.99921702e-01 4.97509232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12275509600005 meters 0.01909859565257393 Centerline is valid? [True, True] Translation: X:101.36, Y:178.71, Z:4.97 [[-4.12677129e-01 -9.10862175e-01 5.26163411e-03 1.01362677e+02] [ 9.10781710e-01 -4.12710620e-01 -1.21086953e-02 1.78707387e+02] [ 1.32008848e-02 -2.04781508e-04 9.99912844e-01 4.97451340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.152755096 meters 0.01913484922031033 Centerline is valid? [True, True] Translation: X:101.35, Y:178.73, Z:4.97 [[-4.12048979e-01 -9.11145953e-01 5.35636773e-03 1.01352110e+02] [ 9.11062759e-01 -4.12083746e-01 -1.23140400e-02 1.78730410e+02] [ 1.34271598e-02 -1.94000434e-04 9.99909833e-01 4.97498268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18275509600005 meters 0.019610358797885162 Centerline is valid? [True, True] Translation: X:101.34, Y:178.75, Z:4.98 [[-4.12117672e-01 -9.11114333e-01 5.44953069e-03 1.01342439e+02] [ 9.11028366e-01 -4.12153655e-01 -1.25172566e-02 1.78753822e+02] [ 1.36506959e-02 -1.93905611e-04 9.99906806e-01 4.97514540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.212755096 meters 0.019189177830141967 Centerline is valid? [True, True] Translation: X:101.33, Y:178.78, Z:4.98 [[-4.12436899e-01 -9.10968889e-01 5.61133411e-03 1.01330546e+02] [ 9.10877936e-01 -4.12475021e-01 -1.28741237e-02 1.78777022e+02] [ 1.40424613e-02 -1.98523203e-04 9.99901380e-01 4.97544385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24275509600005 meters 0.019264983903691985 Centerline is valid? [True, True] Translation: X:101.32, Y:178.80, Z:4.98 [[-4.13191103e-01 -9.10627700e-01 5.50488309e-03 1.01319913e+02] [ 9.10540312e-01 -4.13227723e-01 -1.26169943e-02 1.78801527e+02] [ 1.37641548e-02 -2.00811837e-04 9.99905249e-01 4.97584805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.272755096 meters 0.01940502612861822 Centerline is valid? [True, True] Translation: X:101.31, Y:178.83, Z:4.98 [[-4.14097724e-01 -9.10215312e-01 5.58215477e-03 1.01309611e+02] [ 9.10125605e-01 -4.14135292e-01 -1.27805443e-02 1.78825583e+02] [ 1.39448145e-02 -2.11932323e-04 9.99902744e-01 4.97649500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30275509600006 meters 0.020166757988980898 Centerline is valid? [True, True] Translation: X:101.30, Y:178.85, Z:4.98 [[-4.16532388e-01 -9.09102816e-01 5.73062526e-03 1.01300336e+02] [ 9.09008370e-01 -4.16571732e-01 -1.31063220e-02 1.78850775e+02] [ 1.43022107e-02 -2.50021254e-04 9.99897687e-01 4.97679793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.332755096 meters 0.020816443704563658 Centerline is valid? [True, True] Translation: X:101.29, Y:178.88, Z:4.98 [[-4.18226660e-01 -9.08324781e-01 5.70551038e-03 1.01290546e+02] [ 9.08231272e-01 -4.18265489e-01 -1.30360124e-02 1.78875645e+02] [ 1.42273512e-02 -2.70084990e-04 9.99898750e-01 4.97752069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36275509600006 meters 0.021497179309526073 Centerline is valid? [True, True] Translation: X:101.28, Y:178.90, Z:4.98 [[-4.19537518e-01 -9.07719846e-01 5.74035839e-03 1.01281380e+02] [ 9.07625322e-01 -4.19576690e-01 -1.31025300e-02 1.78899687e+02] [ 1.43019471e-02 -2.86908278e-04 9.99897681e-01 4.97784783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39275509600003 meters 0.022567496390635763 Centerline is valid? [True, True] Translation: X:101.27, Y:178.92, Z:4.98 [[-4.21068206e-01 -9.07012106e-01 5.53224991e-03 1.01272864e+02] [ 9.06924376e-01 -4.21104443e-01 -1.26184467e-02 1.78923757e+02] [ 1.37747389e-02 -2.95894402e-04 9.99905080e-01 4.97856257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42275509600006 meters 0.02327575958043834 Centerline is valid? [True, True] Translation: X:101.26, Y:178.95, Z:4.98 [[-4.23256670e-01 -9.05992579e-01 5.58921878e-03 1.01262770e+02] [ 9.05903134e-01 -4.23293445e-01 -1.27346109e-02 1.78948605e+02] [ 1.39033426e-02 -3.26718179e-04 9.99903290e-01 4.97895458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45275509600003 meters 0.023339032624472837 Centerline is valid? [True, True] Translation: X:101.25, Y:178.97, Z:4.98 [[-4.24447131e-01 -9.05435544e-01 5.57748012e-03 1.01251682e+02] [ 9.05346606e-01 -4.24483640e-01 -1.26950033e-02 1.78973114e+02] [ 1.38620563e-02 -3.38805040e-04 9.99903860e-01 4.97905533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48275509600006 meters 0.022676485895706994 Centerline is valid? [True, True] Translation: X:101.24, Y:179.00, Z:4.98 [[-4.25446514e-01 -9.04966492e-01 5.55989110e-03 1.01239547e+02] [ 9.04878232e-01 -4.25482699e-01 -1.26434944e-02 1.78996290e+02] [ 1.38075763e-02 -3.48106205e-04 9.99904610e-01 4.97924408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51275509600003 meters 0.02321625239952985 Centerline is valid? [True, True] Translation: X:101.23, Y:179.02, Z:4.98 [[-4.26959487e-01 -9.04252324e-01 5.77331530e-03 1.01229302e+02] [ 9.04157302e-01 -4.26998350e-01 -1.31142298e-02 1.79021038e+02] [ 1.43237689e-02 -3.79259643e-04 9.99897338e-01 4.97908143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54275509600006 meters 0.023099496092963166 Centerline is valid? [True, True] Translation: X:101.22, Y:179.04, Z:4.98 [[-4.27603133e-01 -9.03948418e-01 5.72870920e-03 1.01218501e+02] [ 9.03855016e-01 -4.27641336e-01 -1.29999084e-02 1.79044974e+02] [ 1.42010795e-02 -3.80879017e-04 9.99899087e-01 4.97897714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57275509600004 meters 0.023348594911750068 Centerline is valid? [True, True] Translation: X:101.21, Y:179.07, Z:4.98 [[-4.28186719e-01 -9.03668644e-01 6.25434593e-03 1.01209105e+02] [ 9.03557541e-01 -4.28232189e-01 -1.41761428e-02 1.79068915e+02] [ 1.54888480e-02 -4.18874636e-04 9.99879953e-01 4.97860845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60275509600007 meters 0.02400567378216672 Centerline is valid? [True, True] Translation: X:101.20, Y:179.09, Z:4.98 [[-4.28385820e-01 -9.03571823e-01 6.59919285e-03 1.01199556e+02] [ 9.03448405e-01 -4.28436423e-01 -1.49402736e-02 1.79092467e+02] [ 1.63269448e-02 -4.38171087e-04 9.99866611e-01 4.97853928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63275509600004 meters 0.023249440171529155 Centerline is valid? [True, True] Translation: X:101.19, Y:179.12, Z:4.98 [[-4.27788314e-01 -9.03853553e-01 6.77595920e-03 1.01187289e+02] [ 9.03723757e-01 -4.27841757e-01 -1.53232515e-02 1.79116187e+02] [ 1.67490136e-02 -4.31512629e-04 9.99859632e-01 4.97847012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66275509600007 meters 0.02309674261624631 Centerline is valid? [True, True] Translation: X:101.18, Y:179.14, Z:4.98 [[-4.27442113e-01 -9.04015568e-01 7.00670020e-03 1.01175955e+02] [ 9.03877099e-01 -4.27499318e-01 -1.58279096e-02 1.79139806e+02] [ 1.73040362e-02 -4.32319248e-04 9.99850181e-01 4.97837707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69275509600004 meters 0.02268873191874951 Centerline is valid? [True, True] Translation: X:101.16, Y:179.16, Z:4.98 [[-4.25965472e-01 -9.04709627e-01 7.34218926e-03 1.01164651e+02] [ 9.04557990e-01 -4.26028541e-01 -1.65688099e-02 1.79163304e+02] [ 1.81179440e-02 -4.16304958e-04 9.99835770e-01 4.97797575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72275509600007 meters 0.022319825974283353 Centerline is valid? [True, True] Translation: X:101.15, Y:179.19, Z:4.98 [[-4.25666674e-01 -9.04849220e-01 7.46809782e-03 1.01153124e+02] [ 9.04692603e-01 -4.25731982e-01 -1.68396408e-02 1.79187275e+02] [ 1.84167439e-02 -4.11741039e-04 9.99830313e-01 4.97827773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75275509600004 meters 0.021976959948821324 Centerline is valid? [True, True] Translation: X:101.14, Y:179.21, Z:4.98 [[-4.25203792e-01 -9.05066273e-01 7.53507082e-03 1.01142174e+02] [ 9.04907193e-01 -4.25270365e-01 -1.69731751e-02 1.79211485e+02] [ 1.85662906e-02 -3.98518633e-04 9.99827552e-01 4.97896500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7827550960001 meters 0.02184588131231788 Centerline is valid? [True, True] Translation: X:101.13, Y:179.23, Z:4.98 [[-4.24413654e-01 -9.05439013e-01 7.29680922e-03 1.01132350e+02] [ 9.05290185e-01 -4.24476220e-01 -1.64200901e-02 1.79234534e+02] [ 1.79647122e-02 -3.63180671e-04 9.99838556e-01 4.97990817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81275509600005 meters 0.020491220682523115 Centerline is valid? [True, True] Translation: X:101.12, Y:179.26, Z:4.98 [[-4.24448221e-01 -9.05424682e-01 7.06072356e-03 1.01119323e+02] [ 9.05285611e-01 -4.24506804e-01 -1.58724743e-02 1.79257222e+02] [ 1.73686552e-02 -3.45072017e-04 9.99849094e-01 4.98130247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8427550960001 meters 0.021373975956365237 Centerline is valid? [True, True] Translation: X:101.11, Y:179.28, Z:4.98 [[-4.24632847e-01 -9.05341271e-01 6.64292204e-03 1.01111451e+02] [ 9.05218405e-01 -4.24684683e-01 -1.49184530e-02 1.79281036e+02] [ 1.63274385e-02 -3.21569891e-04 9.99866647e-01 4.98245733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87275509600005 meters 0.02098038267514971 Centerline is valid? [True, True] Translation: X:101.10, Y:179.30, Z:4.98 [[-4.24998037e-01 -9.05169765e-01 6.66071713e-03 1.01100453e+02] [ 9.05046431e-01 -4.25050105e-01 -1.49454533e-02 1.79304825e+02] [ 1.63593110e-02 -3.23530064e-04 9.99866125e-01 4.98345473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.902755096 meters 0.02126581822776832 Centerline is valid? [True, True] Translation: X:101.09, Y:179.33, Z:4.98 [[-4.25395847e-01 -9.04984137e-01 6.48731143e-03 1.01091390e+02] [ 9.04867353e-01 -4.25445193e-01 -1.45417367e-02 1.79328118e+02] [ 1.59200365e-02 -3.15838094e-04 9.99873218e-01 4.98440604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93275509600005 meters 0.021170651136488937 Centerline is valid? [True, True] Translation: X:101.08, Y:179.35, Z:4.99 [[-4.26519739e-01 -9.04457597e-01 6.11288077e-03 1.01081907e+02] [ 9.04354058e-01 -4.26563429e-01 -1.36886291e-02 1.79352951e+02] [ 1.49883160e-02 -3.10261999e-04 9.99887621e-01 4.98575339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.962755096 meters 0.021502020224285243 Centerline is valid? [True, True] Translation: X:101.07, Y:179.38, Z:4.99 [[-4.27496317e-01 -9.03996618e-01 6.08394826e-03 1.01071983e+02] [ 9.03894219e-01 -4.27539488e-01 -1.36098398e-02 1.79377798e+02] [ 1.49043773e-02 -3.18910742e-04 9.99888873e-01 4.98643604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99275509600005 meters 0.021871117215019574 Centerline is valid? [True, True] Translation: X:101.06, Y:179.40, Z:4.99 [[-4.28406308e-01 -9.03566293e-01 5.99908408e-03 1.01062156e+02] [ 9.03466889e-01 -4.28448187e-01 -1.34063850e-02 1.79402651e+02] [ 1.46838543e-02 -3.23406080e-04 9.99892134e-01 4.98725587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.022755096 meters 0.021499820091400168 Centerline is valid? [True, True] Translation: X:101.05, Y:179.43, Z:4.99 [[-4.29337049e-01 -9.03125613e-01 5.81594189e-03 1.01051304e+02] [ 9.03032328e-01 -4.29376319e-01 -1.29843087e-02 1.79426190e+02] [ 1.42236895e-02 -3.22661259e-04 9.99898786e-01 4.98779037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05275509600006 meters 0.022431392861048137 Centerline is valid? [True, True] Translation: X:101.04, Y:179.45, Z:4.99 [[-4.30899097e-01 -9.02380909e-01 5.88754770e-03 1.01043207e+02] [ 9.02285455e-01 -4.30939179e-01 -1.31294503e-02 1.79451187e+02] [ 1.43849403e-02 -3.45219622e-04 9.99896472e-01 4.98820524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.082755096 meters 0.02260337060621671 Centerline is valid? [True, True] Translation: X:101.03, Y:179.48, Z:4.99 [[-4.31714670e-01 -9.01990794e-01 5.92046849e-03 1.01033199e+02] [ 9.01894422e-01 -4.31755118e-01 -1.31897621e-02 1.79475560e+02] [ 1.44532366e-02 -3.54576281e-04 9.99895484e-01 4.98867486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11275509600006 meters 0.023736396790649577 Centerline is valid? [True, True] Translation: X:101.02, Y:179.50, Z:4.99 [[-4.32711726e-01 -9.01512734e-01 5.94575815e-03 1.01024677e+02] [ 9.01415691e-01 -4.32752419e-01 -1.32323729e-02 1.79500912e+02] [ 1.45021939e-02 -3.66203236e-04 9.99894771e-01 4.98880872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14275509600003 meters 0.023376445226146667 Centerline is valid? [True, True] Translation: X:101.01, Y:179.53, Z:4.99 [[-4.33622665e-01 -9.01073881e-01 6.10286631e-03 1.01013742e+02] [ 9.00971800e-01 -4.33665438e-01 -1.35684900e-02 1.79525164e+02] [ 1.48728142e-02 -3.85094364e-04 9.99889319e-01 4.98854865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17275509600006 meters 0.0238871818266828 Centerline is valid? [True, True] Translation: X:101.00, Y:179.55, Z:4.99 [[-4.34658068e-01 -9.00574274e-01 6.19197308e-03 1.01004849e+02] [ 9.00469354e-01 -4.34701984e-01 -1.37523776e-02 1.79550358e+02] [ 1.50767005e-02 -4.01899872e-04 9.99886259e-01 4.98851697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20275509600003 meters 0.02419114134585304 Centerline is valid? [True, True] Translation: X:101.00, Y:179.57, Z:4.99 [[-4.34830860e-01 -9.00491181e-01 6.14453320e-03 1.00995539e+02] [ 9.00388060e-01 -4.34874092e-01 -1.36332706e-02 1.79573907e+02] [ 1.49487383e-02 -3.95702473e-04 9.99888183e-01 4.98872262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23275509600006 meters 0.02419114134585304 Centerline is valid? [True, True] Translation: X:100.98, Y:179.60, Z:4.99 [[-4.35167728e-01 -9.00328400e-01 6.14992331e-03 1.00984636e+02] [ 9.00225296e-01 -4.35211002e-01 -1.36308388e-02 1.79597431e+02] [ 1.49487455e-02 -3.95384595e-04 9.99888183e-01 4.98910536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26275509600003 meters 0.021968359630428914 Centerline is valid? [True, True] Translation: X:100.97, Y:179.62, Z:4.99 [[-4.35091986e-01 -9.00364467e-01 6.22828553e-03 1.00970824e+02] [ 9.00258933e-01 -4.35136384e-01 -1.37906138e-02 1.79621118e+02] [ 1.51267322e-02 -3.93115838e-04 9.99885507e-01 4.98898602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29275509600006 meters 0.02423138660279333 Centerline is valid? [True, True] Translation: X:100.96, Y:179.65, Z:4.99 [[-4.35073784e-01 -9.00373466e-01 6.19877065e-03 1.00963854e+02] [ 9.00269122e-01 -4.35117770e-01 -1.37125501e-02 1.79646356e+02] [ 1.50436115e-02 -3.85409251e-04 9.99886764e-01 4.98905237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32275509600004 meters 0.02427131947108391 Centerline is valid? [True, True] Translation: X:100.95, Y:179.67, Z:4.99 [[-4.34832945e-01 -9.00489183e-01 6.28824344e-03 1.00953923e+02] [ 9.00382040e-01 -4.34878244e-01 -1.38958892e-02 1.79668762e+02] [ 1.52477181e-02 -3.80568952e-04 9.99883674e-01 4.98917508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35275509600007 meters 0.02128704975432485 Centerline is valid? [True, True] Translation: X:100.94, Y:179.69, Z:4.99 [[-4.33698625e-01 -9.01037145e-01 6.12908321e-03 1.00938531e+02] [ 9.00935590e-01 -4.33741792e-01 -1.35321919e-02 1.79691234e+02] [ 1.48514471e-02 -3.46983839e-04 9.99889651e-01 4.98940728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38275509600004 meters 0.023115679773945127 Centerline is valid? [True, True] Translation: X:100.93, Y:179.72, Z:4.99 [[-4.33202108e-01 -9.01275066e-01 6.26010684e-03 1.00931096e+02] [ 9.01169351e-01 -4.33247204e-01 -1.38080293e-02 1.79715741e+02] [ 1.51570063e-02 -3.40250982e-04 9.99885068e-01 4.98958512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41275509600007 meters 0.020212995007705487 Centerline is valid? [True, True] Translation: X:100.91, Y:179.74, Z:4.99 [[-4.32011734e-01 -9.01849027e-01 5.84762181e-03 1.00914965e+02] [ 9.01756979e-01 -4.32051208e-01 -1.28881398e-02 1.79738533e+02] [ 1.41496284e-02 -2.94693827e-04 9.99899846e-01 4.98998810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44275509600004 meters 0.01982306893836078 Centerline is valid? [True, True] Translation: X:100.90, Y:179.76, Z:4.99 [[-4.31404013e-01 -9.02140231e-01 5.79486306e-03 1.00903105e+02] [ 9.02050034e-01 -4.31442842e-01 -1.27597425e-02 1.79762927e+02] [ 1.40112293e-02 -2.77347727e-04 9.99901799e-01 4.99033119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47275509600007 meters 0.01986164069220435 Centerline is valid? [True, True] Translation: X:100.89, Y:179.79, Z:4.99 [[-4.31114225e-01 -9.02277367e-01 6.00656721e-03 1.00892322e+02] [ 9.02180662e-01 -4.31155977e-01 -1.32127156e-02 1.79786180e+02] [ 1.45113016e-02 -2.77180874e-04 9.99894667e-01 4.99040516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50275509600004 meters 0.01932625510966312 Centerline is valid? [True, True] Translation: X:100.88, Y:179.81, Z:4.99 [[-4.30793110e-01 -9.02431438e-01 5.89879758e-03 1.00880148e+02] [ 9.02338390e-01 -4.30833415e-01 -1.29614320e-02 1.79809252e+02] [ 1.42382029e-02 -2.60984118e-04 9.99898598e-01 4.99088867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5327550960001 meters 0.01885841551335384 Centerline is valid? [True, True] Translation: X:100.87, Y:179.83, Z:4.99 [[-4.29670737e-01 -9.02966647e-01 5.85596436e-03 1.00868089e+02] [ 9.02875187e-01 -4.29710576e-01 -1.28537012e-02 1.79832597e+02] [ 1.41228332e-02 -2.35654327e-04 9.99900240e-01 4.99121894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56275509600005 meters 0.018763082666773116 Centerline is valid? [True, True] Translation: X:100.86, Y:179.86, Z:4.99 [[-4.29379827e-01 -9.03106196e-01 5.67123096e-03 1.00856762e+02] [ 9.03020602e-01 -4.29417223e-01 -1.24354407e-02 1.79856444e+02] [ 1.36658478e-02 -2.18289001e-04 9.99906594e-01 4.99183477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5927550960001 meters 0.0187680044623317 Centerline is valid? [True, True] Translation: X:100.85, Y:179.88, Z:4.99 [[-4.29359899e-01 -9.03116950e-01 5.46365692e-03 1.00845785e+02] [ 9.03037668e-01 -4.29394611e-01 -1.19681721e-02 1.79880151e+02] [ 1.31547239e-02 -2.04765151e-04 9.99913452e-01 4.99222401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62275509600005 meters 0.018472285490639756 Centerline is valid? [True, True] Translation: X:100.83, Y:179.90, Z:4.99 [[-4.29227127e-01 -9.03181977e-01 5.13711696e-03 1.00834586e+02] [ 9.03112028e-01 -4.29257827e-01 -1.12419776e-02 1.79903729e+02] [ 1.23586993e-02 -1.85969656e-04 9.99923611e-01 4.99313143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.652755096 meters 0.018882489136530817 Centerline is valid? [True, True] Translation: X:100.82, Y:179.93, Z:4.99 [[-4.29477021e-01 -9.03062306e-01 5.28778891e-03 1.00824735e+02] [ 9.02988344e-01 -4.29509530e-01 -1.15592094e-02 1.79927162e+02] [ 1.27098420e-02 -1.89603068e-04 9.99919209e-01 4.99337733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68275509600005 meters 0.018958209802566007 Centerline is valid? [True, True] Translation: X:100.81, Y:179.95, Z:4.99 [[-4.29713212e-01 -9.02950377e-01 5.21262781e-03 1.00813698e+02] [ 9.02878650e-01 -4.29744787e-01 -1.13825031e-02 1.79951253e+02] [ 1.25179351e-02 -1.84841604e-04 9.99921631e-01 4.99326705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.712755096 meters 0.019156871405027292 Centerline is valid? [True, True] Translation: X:100.80, Y:179.97, Z:4.99 [[-4.30236122e-01 -9.02701662e-01 5.15652188e-03 1.00803785e+02] [ 9.02631591e-01 -4.30266982e-01 -1.12488062e-02 1.79974455e+02] [ 1.23729972e-02 -1.85203221e-04 9.99923434e-01 4.99343718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74275509600005 meters 0.01876717604508257 Centerline is valid? [True, True] Translation: X:100.79, Y:180.00, Z:4.99 [[-4.30811817e-01 -9.02427458e-01 5.08547664e-03 1.00792295e+02] [ 9.02359426e-01 -4.30841792e-01 -1.10822783e-02 1.79998127e+02] [ 1.21919881e-02 -1.85448689e-04 9.99925658e-01 4.99376568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.772755096 meters 0.018877315085884906 Centerline is valid? [True, True] Translation: X:100.78, Y:180.02, Z:4.99 [[-4.31632229e-01 -9.02036171e-01 4.93604248e-03 1.00781319e+02] [ 9.01972180e-01 -4.31660412e-01 -1.07459480e-02 1.80022561e+02] [ 1.18239279e-02 -1.86124498e-04 9.99930078e-01 4.99416934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80275509600006 meters 0.01945623742858381 Centerline is valid? [True, True] Translation: X:100.77, Y:180.05, Z:4.99 [[-4.33162914e-01 -9.01302528e-01 4.86239641e-03 1.00772519e+02] [ 9.01240522e-01 -4.33190159e-01 -1.05739153e-02 1.80047835e+02] [ 1.16366389e-02 -1.98039282e-04 9.99932272e-01 4.99464071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.832755096 meters 0.019786140234052587 Centerline is valid? [True, True] Translation: X:100.76, Y:180.07, Z:4.99 [[-4.34152715e-01 -9.00826493e-01 4.80099090e-03 1.00762633e+02] [ 9.00766089e-01 -4.34179211e-01 -1.04338737e-02 1.80072779e+02] [ 1.14836003e-02 -2.05324795e-04 9.99934040e-01 4.99462472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86275509600006 meters 0.020205538119149002 Centerline is valid? [True, True] Translation: X:100.75, Y:180.10, Z:5.00 [[-4.35490323e-01 -9.00181197e-01 4.68956315e-03 1.00752647e+02] [ 9.00123641e-01 -4.35515520e-01 -1.01815106e-02 1.80097777e+02] [ 1.12075819e-02 -2.12762679e-04 9.99937170e-01 4.99519362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89275509600003 meters 0.020521872053949154 Centerline is valid? [True, True] Translation: X:100.74, Y:180.12, Z:5.00 [[-4.36644983e-01 -8.99621613e-01 4.70245956e-03 1.00742717e+02] [ 8.99563817e-01 -4.36670247e-01 -1.01997475e-02 1.80122638e+02] [ 1.12293375e-02 -2.23506118e-04 9.99936924e-01 4.99551580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92275509600006 meters 0.020146694718626224 Centerline is valid? [True, True] Translation: X:100.73, Y:180.15, Z:5.00 [[-4.37196029e-01 -8.99354896e-01 4.51693440e-03 1.00730325e+02] [ 8.99301649e-01 -4.37219308e-01 -9.78878685e-03 1.80146503e+02] [ 1.07784843e-02 -2.17532185e-04 9.99941887e-01 4.99585384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95275509600003 meters 0.020091083191460003 Centerline is valid? [True, True] Translation: X:100.72, Y:180.17, Z:5.00 [[-4.37463214e-01 -8.99225897e-01 4.32701762e-03 1.00718173e+02] [ 8.99177122e-01 -4.37484564e-01 -9.36805513e-03 1.80170517e+02] [ 1.03170012e-02 -2.07424259e-04 9.99946757e-01 4.99630945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98275509600006 meters 0.020278523169822718 Centerline is valid? [True, True] Translation: X:100.71, Y:180.19, Z:5.00 [[-4.37364237e-01 -8.99274191e-01 4.29590506e-03 1.00707509e+02] [ 8.99226214e-01 -4.37385288e-01 -9.29122213e-03 1.80193361e+02] [ 1.02343219e-02 -2.00657836e-04 9.99947608e-01 4.99683246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01275509600003 meters 0.02055699670110042 Centerline is valid? [True, True] Translation: X:100.70, Y:180.22, Z:5.00 [[-4.37547863e-01 -8.99185756e-01 4.10422683e-03 1.00696961e+02] [ 8.99142061e-01 -4.37567071e-01 -8.86636969e-03 1.80216048e+02] [ 9.76838784e-03 -1.89178142e-04 9.99952270e-01 4.99710622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04275509600006 meters 0.02050562780958587 Centerline is valid? [True, True] Translation: X:100.69, Y:180.24, Z:5.00 [[-4.38024664e-01 -8.98952105e-01 4.41653912e-03 1.00685262e+02] [ 8.98901578e-01 -4.38046881e-01 -9.53325541e-03 1.80239929e+02] [ 1.05045912e-02 -2.05767019e-04 9.99944804e-01 4.99634632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07275509600004 meters 0.0200889642465817 Centerline is valid? [True, True] Translation: X:100.67, Y:180.26, Z:5.00 [[-4.38517621e-01 -8.98711407e-01 4.48357358e-03 1.00672992e+02] [ 8.98659427e-01 -4.38540491e-01 -9.66811884e-03 1.80263799e+02] [ 1.06550772e-02 -2.10434808e-04 9.99943211e-01 4.99571364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10275509600007 meters 0.02061575735124103 Centerline is valid? [True, True] Translation: X:100.66, Y:180.29, Z:5.00 [[-4.39263230e-01 -8.98346808e-01 4.56378093e-03 1.00662542e+02] [ 8.98293043e-01 -4.39286883e-01 -9.83077424e-03 1.80287506e+02] [ 1.08362538e-02 -2.18684983e-04 9.99941262e-01 4.99581150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13275509600004 meters 0.02036920708463053 Centerline is valid? [True, True] Translation: X:100.65, Y:180.31, Z:5.00 [[-4.40222942e-01 -8.97877751e-01 4.39392921e-03 1.00649864e+02] [ 8.97827992e-01 -4.40244816e-01 -9.45511494e-03 1.80310284e+02] [ 1.04239419e-02 -2.17365876e-04 9.99945646e-01 4.99594311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16275509600007 meters 0.020545145497124214 Centerline is valid? [True, True] Translation: X:100.64, Y:180.33, Z:5.00 [[-4.40763031e-01 -8.97613735e-01 4.18727640e-03 1.00638323e+02] [ 8.97568622e-01 -4.40782870e-01 -9.00165245e-03 1.80333890e+02] [ 9.92568659e-03 -2.09227711e-04 9.99950717e-01 4.99646842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19275509600004 meters 0.020791443667887426 Centerline is valid? [True, True] Translation: X:100.63, Y:180.36, Z:5.00 [[-4.41039883e-01 -8.97477860e-01 4.16078921e-03 1.00627183e+02] [ 8.97433399e-01 -4.41059461e-01 -8.93570345e-03 1.80356711e+02] [ 9.85475145e-03 -2.06970407e-04 9.99951419e-01 4.99702443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22275509600007 meters 0.02103608649140066 Centerline is valid? [True, True] Translation: X:100.62, Y:180.38, Z:5.00 [[-4.41396891e-01 -8.97302489e-01 4.12654935e-03 1.00615053e+02] [ 8.97258841e-01 -4.41416133e-01 -8.85266214e-03 1.80379354e+02] [ 9.76504122e-03 -2.04954658e-04 9.99952300e-01 4.99707212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25275509600004 meters 0.020864566634307975 Centerline is valid? [True, True] Translation: X:100.60, Y:180.40, Z:5.00 [[-4.41499795e-01 -8.97251235e-01 4.26051410e-03 1.00603023e+02] [ 8.97204810e-01 -4.41520303e-01 -9.12970021e-03 1.80402536e+02] [ 1.00727383e-02 -2.08207036e-04 9.99949247e-01 4.99701927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2827550960001 meters 0.0203740752024707 Centerline is valid? [True, True] Translation: X:100.59, Y:180.43, Z:5.00 [[-4.40772400e-01 -8.97608013e-01 4.42115033e-03 1.00589718e+02] [ 8.97558144e-01 -4.40794526e-01 -9.46386888e-03 1.80425989e+02] [ 1.04436634e-02 -2.03172715e-04 9.99945443e-01 4.99671351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31275509600005 meters 0.020801517318644984 Centerline is valid? [True, True] Translation: X:100.58, Y:180.45, Z:5.00 [[-4.40770075e-01 -8.97609332e-01 4.38501771e-03 1.00579155e+02] [ 8.97560370e-01 -4.40791843e-01 -9.37725815e-03 1.80448920e+02] [ 1.03499945e-02 -1.97396663e-04 9.99946418e-01 4.99716789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3427550960001 meters 0.020590691746698017 Centerline is valid? [True, True] Translation: X:100.57, Y:180.47, Z:5.00 [[-4.40509658e-01 -8.97736687e-01 4.48121173e-03 1.00567164e+02] [ 8.97685674e-01 -4.40532408e-01 -9.57220701e-03 1.80472282e+02] [ 1.05674404e-02 -1.93930065e-04 9.99944144e-01 4.99758547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37275509600005 meters 0.02046146340197074 Centerline is valid? [True, True] Translation: X:100.56, Y:180.50, Z:5.00 [[-4.40299208e-01 -8.97839612e-01 4.54296414e-03 1.00555075e+02] [ 8.97787293e-01 -4.40322603e-01 -9.69442965e-03 1.80495819e+02] [ 1.07044127e-02 -1.89834214e-04 9.99942688e-01 4.99821015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.402755096 meters 0.019906475742485493 Centerline is valid? [True, True] Translation: X:100.54, Y:180.52, Z:5.00 [[-4.40091650e-01 -8.97941951e-01 4.42639272e-03 1.00541703e+02] [ 8.97892379e-01 -4.40113873e-01 -9.43691700e-03 1.80519180e+02] [ 1.04219205e-02 -1.78684080e-04 9.99945674e-01 4.99865329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43275509600005 meters 0.01981740391914789 Centerline is valid? [True, True] Translation: X:100.53, Y:180.54, Z:5.00 [[-4.40301665e-01 -8.97839084e-01 4.40711035e-03 1.00529660e+02] [ 8.97790035e-01 -4.40323685e-01 -9.38642697e-03 1.80543254e+02] [ 1.03680561e-02 -1.76199664e-04 9.99946235e-01 4.99923767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.462755096 meters 0.01973982411518043 Centerline is valid? [True, True] Translation: X:100.52, Y:180.57, Z:5.00 [[-4.40034563e-01 -8.97969989e-01 4.41381537e-03 1.00517717e+02] [ 8.97920896e-01 -4.40056666e-01 -9.39122359e-03 1.80566691e+02] [ 1.03753658e-02 -1.69205912e-04 9.99946160e-01 4.99996513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49275509600005 meters 0.020386835405850477 Centerline is valid? [True, True] Translation: X:100.51, Y:180.59, Z:5.00 [[-4.39972761e-01 -8.98000165e-01 4.43535002e-03 1.00508173e+02] [ 8.97950691e-01 -4.39995086e-01 -9.42770357e-03 1.80589951e+02] [ 1.04176116e-02 -1.65207156e-04 9.99945722e-01 5.00087023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.522755096 meters 0.019516818323730558 Centerline is valid? [True, True] Translation: X:100.49, Y:180.61, Z:5.00 [[-4.40196811e-01 -8.97889915e-01 4.52419896e-03 1.00494767e+02] [ 8.97838543e-01 -4.40220028e-01 -9.60612913e-03 1.80613108e+02] [ 1.06168895e-02 -1.66587204e-04 9.99943625e-01 5.00073090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55275509600006 meters 0.01908576415970784 Centerline is valid? [True, True] Translation: X:100.48, Y:180.64, Z:5.00 [[-4.40238914e-01 -8.97869347e-01 4.50938507e-03 1.00482348e+02] [ 8.97818410e-01 -4.40261978e-01 -9.56525396e-03 1.80636641e+02] [ 1.05736591e-02 -1.62388082e-04 9.99944084e-01 5.00057755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.582755096 meters 0.0199110132606926 Centerline is valid? [True, True] Translation: X:100.47, Y:180.66, Z:5.00 [[-4.40379818e-01 -8.97799719e-01 4.61310995e-03 1.00472822e+02] [ 8.97746518e-01 -4.40403949e-01 -9.77499308e-03 1.80660692e+02] [ 1.08076179e-02 -1.63306275e-04 9.99941583e-01 5.00123012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61275509600006 meters 0.019087762791667545 Centerline is valid? [True, True] Translation: X:100.46, Y:180.68, Z:5.00 [[-4.40535219e-01 -8.97723321e-01 4.64327883e-03 1.00459705e+02] [ 8.97669536e-01 -4.40559659e-01 -9.82808277e-03 1.80683449e+02] [ 1.08685404e-02 -1.61486644e-04 9.99940923e-01 5.00116552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64275509600003 meters 0.019252939363838466 Centerline is valid? [True, True] Translation: X:100.45, Y:180.71, Z:5.00 [[-4.40997740e-01 -8.97496059e-01 4.67098683e-03 1.00448664e+02] [ 8.97441729e-01 -4.41022446e-01 -9.87645595e-03 1.80706926e+02] [ 1.09240903e-02 -1.63556253e-04 9.99940317e-01 5.00117478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67275509600006 meters 0.020442029421490683 Centerline is valid? [True, True] Translation: X:100.44, Y:180.73, Z:5.00 [[-4.41720346e-01 -8.97139742e-01 4.83935325e-03 1.00440675e+02] [ 8.97081526e-01 -4.41746820e-01 -1.02216490e-02 1.80730719e+02] [ 1.13080164e-02 -1.73815913e-04 9.99936047e-01 5.00160804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70275509600003 meters 0.01957569016641484 Centerline is valid? [True, True] Translation: X:100.43, Y:180.75, Z:5.00 [[-4.42314796e-01 -8.96847109e-01 4.78381554e-03 1.00427471e+02] [ 8.96790325e-01 -4.42340630e-01 -1.00936071e-02 1.80753686e+02] [ 1.11684983e-02 -1.74472281e-04 9.99937615e-01 5.00163843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73275509600006 meters 0.020205731084221336 Centerline is valid? [True, True] Translation: X:100.42, Y:180.78, Z:5.00 [[-4.43328965e-01 -8.96347142e-01 4.60765075e-03 1.00417448e+02] [ 8.96294535e-01 -4.43352874e-01 -9.71263694e-03 1.80776792e+02] [ 1.07487096e-02 -1.76081096e-04 9.99942215e-01 5.00245082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76275509600003 meters 0.020271537069267705 Centerline is valid? [True, True] Translation: X:100.41, Y:180.80, Z:5.00 [[-4.43726083e-01 -8.96150734e-01 4.58530196e-03 1.00405910e+02] [ 8.96098738e-01 -4.43749739e-01 -9.65506021e-03 1.80800420e+02] [ 1.06871158e-02 -1.75318746e-04 9.99942876e-01 5.00301985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79275509600006 meters 0.02123125990354198 Centerline is valid? [True, True] Translation: X:100.40, Y:180.82, Z:5.00 [[-4.43898451e-01 -8.96065942e-01 4.47131637e-03 1.00396595e+02] [ 8.96016587e-01 -4.43920938e-01 -9.40621521e-03 1.80824212e+02] [ 1.04135000e-02 -1.69030729e-04 9.99945764e-01 5.00402281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82275509600004 meters 0.020350240330751234 Centerline is valid? [True, True] Translation: X:100.38, Y:180.85, Z:5.00 [[-4.44163640e-01 -8.95936000e-01 4.16485707e-03 1.00382366e+02] [ 8.95893253e-01 -4.44183138e-01 -8.75323024e-03 1.80847080e+02] [ 9.69229337e-03 -1.56599248e-04 9.99953016e-01 5.00399916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85275509600007 meters 0.020313144851236586 Centerline is valid? [True, True] Translation: X:100.37, Y:180.87, Z:5.00 [[-4.44054151e-01 -8.95989749e-01 4.27569339e-03 1.00370030e+02] [ 8.95944791e-01 -4.44074708e-01 -8.97696391e-03 1.80870793e+02] [ 9.94199493e-03 -1.55472861e-04 9.99950565e-01 5.00451302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88275509600004 meters 0.019632765686416663 Centerline is valid? [True, True] Translation: X:100.36, Y:180.89, Z:5.00 [[-4.43338268e-01 -8.96343709e-01 4.37441738e-03 1.00355911e+02] [ 8.96296761e-01 -4.43359824e-01 -9.17511560e-03 1.80893791e+02] [ 1.01634981e-02 -1.46903729e-04 9.99948340e-01 5.00380701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91275509600007 meters 0.019803463311209107 Centerline is valid? [True, True] Translation: X:100.34, Y:180.92, Z:5.00 [[-4.43448589e-01 -8.96288102e-01 4.58120684e-03 1.00344383e+02] [ 8.96236715e-01 -4.43472227e-01 -9.59867678e-03 1.80915976e+02] [ 1.06348178e-02 -1.50673907e-04 9.99943437e-01 5.00383043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94275509600004 meters 0.019490925606220066 Centerline is valid? [True, True] Translation: X:100.33, Y:180.94, Z:5.00 [[-4.43130225e-01 -8.96444397e-01 4.80077217e-03 1.00331264e+02] [ 8.96388102e-01 -4.43156205e-01 -1.00473195e-02 1.80939256e+02] [ 1.11343553e-02 -1.48915906e-04 9.99938000e-01 5.00377451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97275509600007 meters 0.019240546678389717 Centerline is valid? [True, True] Translation: X:100.32, Y:180.96, Z:5.00 [[-4.42618364e-01 -8.96694934e-01 5.21330885e-03 1.00317379e+02] [ 8.96628711e-01 -4.42649040e-01 -1.08987519e-02 1.80961821e+02] [ 1.20805218e-02 -1.49585353e-04 9.99927017e-01 5.00273125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00275509600004 meters 0.019337217037078816 Centerline is valid? [True, True] Translation: X:100.31, Y:180.98, Z:5.00 [[-4.42908382e-01 -8.96550681e-01 5.38909124e-03 1.00305700e+02] [ 8.96480056e-01 -4.42941140e-01 -1.12541187e-02 1.80984398e+02] [ 1.24769380e-02 -1.53330702e-04 9.99922148e-01 5.00258978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0327550960001 meters 0.01928715451156116 Centerline is valid? [True, True] Translation: X:100.29, Y:181.01, Z:5.00 [[-4.43120574e-01 -8.96444089e-01 5.67021554e-03 1.00292531e+02] [ 8.96366022e-01 -4.43156822e-01 -1.18315584e-02 1.81007293e+02] [ 1.31191253e-02 -1.60218396e-04 9.99913928e-01 5.00202458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06275509600005 meters 0.019385705984088578 Centerline is valid? [True, True] Translation: X:100.28, Y:181.03, Z:5.00 [[-4.43709914e-01 -8.96151335e-01 5.85641818e-03 1.00281305e+02] [ 8.96068198e-01 -4.43748529e-01 -1.22077100e-02 1.81029826e+02] [ 1.35387325e-02 -1.68931860e-04 9.99908333e-01 5.00219945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0927550960001 meters 0.020133158641681935 Centerline is valid? [True, True] Translation: X:100.27, Y:181.05, Z:5.00 [[-4.44527708e-01 -8.95745586e-01 5.91287194e-03 1.00271399e+02] [ 8.95660977e-01 -4.44566996e-01 -1.23126582e-02 1.81053043e+02] [ 1.36576769e-02 -1.77389059e-04 9.99906714e-01 5.00241727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12275509600005 meters 0.019746466102897268 Centerline is valid? [True, True] Translation: X:100.26, Y:181.08, Z:5.00 [[-4.45093657e-01 -8.95465222e-01 5.80281728e-03 1.00258325e+02] [ 8.95383870e-01 -4.45131447e-01 -1.20714742e-02 1.81076450e+02] [ 1.33926018e-02 -1.77187608e-04 9.99910299e-01 5.00281548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.152755096 meters 0.019746466102897268 Centerline is valid? [True, True] Translation: X:100.25, Y:181.10, Z:5.00 [[-4.45429812e-01 -8.95298027e-01 5.80735305e-03 1.00246849e+02] [ 8.95216689e-01 -4.45467632e-01 -1.20692916e-02 1.81099686e+02] [ 1.33926008e-02 -1.77182927e-04 9.99910299e-01 5.00319821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18275509600005 meters 0.019997096483981402 Centerline is valid? [True, True] Translation: X:100.23, Y:181.12, Z:5.00 [[-4.46431722e-01 -8.94800101e-01 5.61220134e-03 1.00234616e+02] [ 8.94724238e-01 -4.46466960e-01 -1.16529597e-02 1.81123241e+02] [ 1.29327320e-02 -1.80878298e-04 9.99916352e-01 5.00378792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.212755096 meters 0.02042972987828842 Centerline is valid? [True, True] Translation: X:100.22, Y:181.15, Z:5.00 [[-4.47243842e-01 -8.94395409e-01 5.45880301e-03 1.00223942e+02] [ 8.94323738e-01 -4.47277117e-01 -1.13239699e-02 1.81145855e+02] [ 1.25697044e-02 -1.82638699e-04 9.99920981e-01 5.00463344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24275509600005 meters 0.020550547582948844 Centerline is valid? [True, True] Translation: X:100.21, Y:181.17, Z:5.01 [[-4.47965924e-01 -8.94034585e-01 5.35653669e-03 1.00212645e+02] [ 8.93965682e-01 -4.47997910e-01 -1.11009834e-02 1.81168860e+02] [ 1.23243803e-02 -1.84302285e-04 9.99924035e-01 5.00501539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.272755096 meters 0.021450052165013618 Centerline is valid? [True, True] Translation: X:100.20, Y:181.19, Z:5.01 [[-4.49831157e-01 -8.93097419e-01 5.37870078e-03 1.00202272e+02] [ 8.93028022e-01 -4.49863266e-01 -1.11352648e-02 1.81192014e+02] [ 1.23645562e-02 -2.05658553e-04 9.99923535e-01 5.00523506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30275509600006 meters 0.020746804978039133 Centerline is valid? [True, True] Translation: X:100.19, Y:181.21, Z:5.01 [[-4.50683116e-01 -8.92667318e-01 5.45794749e-03 1.00188983e+02] [ 8.92595968e-01 -4.50716112e-01 -1.12881991e-02 1.81214693e+02] [ 1.25365913e-02 -2.15658837e-04 9.99921391e-01 5.00526751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.332755096 meters 0.020887904063385164 Centerline is valid? [True, True] Translation: X:100.18, Y:181.24, Z:5.01 [[-4.52378018e-01 -8.91809042e-01 5.54635358e-03 1.00177417e+02] [ 8.91735448e-01 -4.52411954e-01 -1.14592666e-02 1.81239136e+02] [ 1.27287142e-02 -2.38040192e-04 9.99918958e-01 5.00570002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36275509600006 meters 0.02101467189542395 Centerline is valid? [True, True] Translation: X:100.17, Y:181.26, Z:5.01 [[-4.53207154e-01 -8.91387095e-01 5.68528683e-03 1.00165951e+02] [ 8.91309877e-01 -4.53242742e-01 -1.17354387e-02 1.81263441e+02] [ 1.30376336e-02 -2.51232482e-04 9.99914975e-01 5.00595962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39275509600003 meters 0.02111415444632382 Centerline is valid? [True, True] Translation: X:100.15, Y:181.29, Z:5.01 [[-4.53883595e-01 -8.91042041e-01 5.81066545e-03 1.00154248e+02] [ 8.90961519e-01 -4.53920712e-01 -1.19816102e-02 1.81287780e+02] [ 1.33136998e-02 -2.61176973e-04 9.99911335e-01 5.00615762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42275509600006 meters 0.024084909330274396 Centerline is valid? [True, True] Translation: X:100.15, Y:181.31, Z:5.01 [[-4.55123985e-01 -8.90406915e-01 6.13876833e-03 1.00148099e+02] [ 8.90317158e-01 -4.55165291e-01 -1.26458035e-02 1.81312483e+02] [ 1.40540651e-02 -2.89957692e-04 9.99901195e-01 5.00604977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45275509600003 meters 0.02167945048239672 Centerline is valid? [True, True] Translation: X:100.13, Y:181.33, Z:5.01 [[-4.55773640e-01 -8.90072254e-01 6.46308880e-03 1.00131882e+02] [ 8.89972907e-01 -4.55819357e-01 -1.33018385e-02 1.81333559e+02] [ 1.47855983e-02 -3.10653415e-04 9.99890639e-01 5.00562826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48275509600006 meters 0.0219414861981998 Centerline is valid? [True, True] Translation: X:100.12, Y:181.36, Z:5.01 [[-4.56421318e-01 -8.89739028e-01 6.63645924e-03 1.00120357e+02] [ 8.89634460e-01 -4.56469448e-01 -1.36444405e-02 1.81357684e+02] [ 1.51693321e-02 -3.23590688e-04 9.99884887e-01 5.00577237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51275509600003 meters 0.022722315392536843 Centerline is valid? [True, True] Translation: X:100.11, Y:181.38, Z:5.01 [[-4.57145691e-01 -8.89365030e-01 6.90370141e-03 1.00110241e+02] [ 8.89252061e-01 -4.57197689e-01 -1.41790370e-02 1.81381154e+02] [ 1.57666960e-02 -3.42754980e-04 9.99875639e-01 5.00554636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54275509600006 meters 0.025597407296023944 Centerline is valid? [True, True] Translation: X:100.10, Y:181.41, Z:5.01 [[-4.57362335e-01 -8.89251940e-01 7.11911020e-03 1.00103284e+02] [ 8.89132048e-01 -4.57417604e-01 -1.46060550e-02 1.81406547e+02] [ 1.62448691e-02 -3.50430381e-04 9.99867982e-01 5.00540055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57275509600004 meters 0.022205677883498982 Centerline is valid? [True, True] Translation: X:100.08, Y:181.43, Z:5.01 [[-4.56738792e-01 -8.89572833e-01 7.06045513e-03 1.00083040e+02] [ 8.89455130e-01 -4.56793241e-01 -1.44743734e-02 1.81425667e+02] [ 1.61011775e-02 -3.31049793e-04 9.99870313e-01 5.00715391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60275509600007 meters 0.021672384011020458 Centerline is valid? [True, True] Translation: X:100.07, Y:181.45, Z:5.01 [[-4.56251088e-01 -8.89823237e-01 7.03937357e-03 1.00068752e+02] [ 8.89706492e-01 -4.56305280e-01 -1.44170109e-02 1.81447740e+02] [ 1.60406947e-02 -3.14800563e-04 9.99871290e-01 5.00748175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63275509600004 meters 0.021433535484923844 Centerline is valid? [True, True] Translation: X:100.06, Y:181.47, Z:5.01 [[-4.55899372e-01 -8.90001702e-01 7.26180744e-03 1.00055482e+02] [ 8.89877736e-01 -4.55957097e-01 -1.48573607e-02 1.81470135e+02] [ 1.65341490e-02 -3.11340649e-04 9.99863253e-01 5.00736126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66275509600007 meters 0.02130623247304912 Centerline is valid? [True, True] Translation: X:100.04, Y:181.49, Z:5.01 [[-4.55234636e-01 -8.90338454e-01 7.67231277e-03 1.00043072e+02] [ 8.90200410e-01 -4.55299179e-01 -1.56807722e-02 1.81492025e+02] [ 1.74543922e-02 -3.08534637e-04 9.99847613e-01 5.00718495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69275509600004 meters 0.020946473813352125 Centerline is valid? [True, True] Translation: X:100.03, Y:181.52, Z:5.01 [[-4.55080018e-01 -8.90415932e-01 7.85147139e-03 1.00030324e+02] [ 8.90271677e-01 -4.55147642e-01 -1.60301275e-02 1.81515486e+02] [ 1.78470596e-02 -3.05048118e-04 9.99840682e-01 5.00732292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72275509600007 meters 0.02095045147656172 Centerline is valid? [True, True] Translation: X:100.02, Y:181.54, Z:5.01 [[-4.55293195e-01 -8.90307313e-01 7.80995942e-03 1.00018052e+02] [ 8.90164840e-01 -4.55360075e-01 -1.59298137e-02 1.81539322e+02] [ 1.77387734e-02 -3.00584509e-04 9.99842610e-01 5.00785391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75275509600004 meters 0.020641624164307735 Centerline is valid? [True, True] Translation: X:100.01, Y:181.56, Z:5.01 [[-4.55495805e-01 -8.90203966e-01 7.77632489e-03 1.00005236e+02] [ 8.90062976e-01 -4.55562083e-01 -1.58457355e-02 1.81561899e+02] [ 1.76485353e-02 -2.96247158e-04 9.99844209e-01 5.00852706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7827550960001 meters 0.020604704172471205 Centerline is valid? [True, True] Translation: X:99.99, Y:181.58, Z:5.01 [[-4.55396091e-01 -8.90254939e-01 7.78103148e-03 9.99914572e+01] [ 8.90114066e-01 -4.55462471e-01 -1.58394333e-02 1.81582961e+02] [ 1.76451015e-02 -2.87210432e-04 9.99844272e-01 5.00857984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81275509600005 meters 0.020587492310323908 Centerline is valid? [True, True] Translation: X:99.98, Y:181.61, Z:5.01 [[-4.55526106e-01 -8.90187919e-01 7.83816614e-03 9.99778997e+01] [ 8.90045252e-01 -4.55593447e-01 -1.59392729e-02 1.81606210e+02] [ 1.77599653e-02 -2.84432374e-04 9.99842239e-01 5.00884418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8427550960001 meters 0.020146820115999636 Centerline is valid? [True, True] Translation: X:99.96, Y:181.63, Z:5.01 [[-4.55606660e-01 -8.90146287e-01 7.88409992e-03 9.99643851e+01] [ 8.90002220e-01 -4.55674784e-01 -1.60168556e-02 1.81628716e+02] [ 1.78499301e-02 -2.80519659e-04 9.99840638e-01 5.00919290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87275509600005 meters 0.02041164223450857 Centerline is valid? [True, True] Translation: X:99.95, Y:181.65, Z:5.01 [[-4.55760757e-01 -8.90065838e-01 8.05837825e-03 9.99537876e+01] [ 8.89915614e-01 -4.55831904e-01 -1.63546599e-02 1.81651560e+02] [ 1.82299900e-02 -2.82535545e-04 9.99833780e-01 5.01018281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.902755096 meters 0.020196780410037855 Centerline is valid? [True, True] Translation: X:99.94, Y:181.68, Z:5.01 [[-4.56255870e-01 -8.89813420e-01 7.91580765e-03 9.99415334e+01] [ 8.89668665e-01 -4.56324445e-01 -1.60520374e-02 1.81675169e+02] [ 1.78954948e-02 -2.81390266e-04 9.99839823e-01 5.01111545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93275509600005 meters 0.020301439178461514 Centerline is valid? [True, True] Translation: X:99.93, Y:181.70, Z:5.01 [[-4.57016490e-01 -8.89423593e-01 7.84858226e-03 9.99297940e+01] [ 8.89281509e-01 -4.57083789e-01 -1.58999172e-02 1.81699256e+02] [ 1.77292212e-02 -2.86925256e-04 9.99842784e-01 5.01215214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.962755096 meters 0.020691933523093658 Centerline is valid? [True, True] Translation: X:99.92, Y:181.72, Z:5.01 [[-4.57952876e-01 -8.88942960e-01 7.71864160e-03 9.99184631e+01] [ 8.88805735e-01 -4.58017825e-01 -1.56217299e-02 1.81722418e+02] [ 1.74221022e-02 -2.93643208e-04 9.99848181e-01 5.01291847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99275509600005 meters 0.02080609773306559 Centerline is valid? [True, True] Translation: X:99.91, Y:181.75, Z:5.01 [[-4.58690141e-01 -8.88565243e-01 7.42716836e-03 9.99060293e+01] [ 8.88438336e-01 -4.58750176e-01 -1.50199446e-02 1.81746152e+02] [ 1.67534156e-02 -2.90919424e-04 9.99859609e-01 5.01363067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.022755096 meters 0.021052701342844884 Centerline is valid? [True, True] Translation: X:99.89, Y:181.77, Z:5.02 [[-4.60461954e-01 -8.87649354e-01 7.30847064e-03 9.98927755e+01] [ 8.87526590e-01 -4.60519844e-01 -1.47656855e-02 1.81770364e+02] [ 1.64724470e-02 -3.12574393e-04 9.99864271e-01 5.01526492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05275509600006 meters 0.021624948638668946 Centerline is valid? [True, True] Translation: X:99.88, Y:181.79, Z:5.02 [[-4.61281854e-01 -8.87225193e-01 7.10687944e-03 9.98820362e+01] [ 8.87109259e-01 -4.61336492e-01 -1.43458868e-02 1.81793861e+02] [ 1.60066950e-02 -3.12918703e-04 9.99871836e-01 5.01628862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.082755096 meters 0.02196191576532471 Centerline is valid? [True, True] Translation: X:99.87, Y:181.82, Z:5.02 [[-4.62275659e-01 -8.86709783e-01 6.85391140e-03 9.98705638e+01] [ 8.86602064e-01 -4.62326359e-01 -1.38245235e-02 1.81817792e+02] [ 1.54270841e-02 -3.14048687e-04 9.99880946e-01 5.01729190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11275509600006 meters 0.021940676678045088 Centerline is valid? [True, True] Translation: X:99.86, Y:181.84, Z:5.02 [[-4.64007189e-01 -8.85806884e-01 6.59490995e-03 9.98581950e+01] [ 8.85707246e-01 -4.64053939e-01 -1.32897372e-02 1.81842306e+02] [ 1.48325346e-02 -3.25374068e-04 9.99889939e-01 5.01906775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14275509600003 meters 0.0236562080963185 Centerline is valid? [True, True] Translation: X:99.85, Y:181.87, Z:5.02 [[-4.65139491e-01 -8.85213581e-01 6.49385168e-03 9.98491203e+01] [ 8.85117084e-01 -4.65184700e-01 -1.30744596e-02 1.81867044e+02] [ 1.45945297e-02 -3.33628434e-04 9.99893439e-01 5.02016149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17275509600006 meters 0.02279135059263512 Centerline is valid? [True, True] Translation: X:99.83, Y:181.89, Z:5.02 [[-4.66277594e-01 -8.84615446e-01 6.38104614e-03 9.98343777e+01] [ 8.84522389e-01 -4.66321130e-01 -1.28353985e-02 1.81889889e+02] [ 1.43300085e-02 -3.40680571e-04 9.99897262e-01 5.02057419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20275509600003 meters 0.022990374691090387 Centerline is valid? [True, True] Translation: X:99.82, Y:181.91, Z:5.02 [[-4.67136262e-01 -8.84163423e-01 6.22532760e-03 9.98230609e+01] [ 8.84074965e-01 -4.67177617e-01 -1.25112290e-02 1.81912328e+02] [ 1.39703047e-02 -3.40792455e-04 9.99902352e-01 5.02134447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23275509600006 meters 0.023485840764707416 Centerline is valid? [True, True] Translation: X:99.81, Y:181.94, Z:5.02 [[-4.67607824e-01 -8.83913029e-01 6.37807060e-03 9.98119773e+01] [ 8.83820352e-01 -4.67651188e-01 -1.28043703e-02 1.81935109e+02] [ 1.43006620e-02 -3.50355120e-04 9.99897679e-01 5.02180172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26275509600003 meters 0.02340739363932656 Centerline is valid? [True, True] Translation: X:99.80, Y:181.96, Z:5.02 [[-4.68018967e-01 -8.83694674e-01 6.47845961e-03 9.97992849e+01] [ 8.83599233e-01 -4.68063667e-01 -1.29922436e-02 1.81958388e+02] [ 1.45135080e-02 -3.56254479e-04 9.99894610e-01 5.02190002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29275509600006 meters 0.02479112566618466 Centerline is valid? [True, True] Translation: X:99.79, Y:181.98, Z:5.02 [[-4.68261465e-01 -8.83562930e-01 6.91007166e-03 9.97887345e+01] [ 8.83454556e-01 -4.68312295e-01 -1.38434773e-02 1.81982129e+02] [ 1.54676549e-02 -3.77632654e-04 9.99880297e-01 5.02157135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32275509600004 meters 0.022846682698081457 Centerline is valid? [True, True] Translation: X:99.77, Y:182.00, Z:5.02 [[-4.68085857e-01 -8.83655689e-01 6.94650075e-03 9.97732549e+01] [ 8.83546397e-01 -4.68137252e-01 -1.39024314e-02 1.82003942e+02] [ 1.55368783e-02 -3.69975798e-04 9.99879227e-01 5.02180046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35275509600007 meters 0.02287517472295866 Centerline is valid? [True, True] Translation: X:99.76, Y:182.03, Z:5.02 [[-4.67515467e-01 -8.83953701e-01 7.42580310e-03 9.97613017e+01] [ 8.83829121e-01 -4.67574285e-01 -1.48449559e-02 1.82026095e+02] [ 1.65943683e-02 -3.77105472e-04 9.99862233e-01 5.02186966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38275509600004 meters 0.022314445861978546 Centerline is valid? [True, True] Translation: X:99.75, Y:182.05, Z:5.02 [[-4.66853667e-01 -8.84301971e-01 7.59462622e-03 9.97482520e+01] [ 8.84171974e-01 -4.66915293e-01 -1.51667099e-02 1.82048918e+02] [ 1.69579986e-02 -3.65678474e-04 9.99856136e-01 5.02235132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41275509600007 meters 0.021500683442888035 Centerline is valid? [True, True] Translation: X:99.73, Y:182.07, Z:5.02 [[-4.64853633e-01 -8.85353279e-01 7.78919149e-03 9.97344320e+01] [ 8.85216938e-01 -4.64918770e-01 -1.55405891e-02 1.82071295e+02] [ 1.73802529e-02 -3.28975066e-04 9.99848898e-01 5.02263166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44275509600004 meters 0.021124035176868946 Centerline is valid? [True, True] Translation: X:99.72, Y:182.09, Z:5.02 [[-4.64017562e-01 -8.85790459e-01 7.93505135e-03 9.97217543e+01] [ 8.85649234e-01 -4.64085299e-01 -1.58199480e-02 1.82093356e+02] [ 1.76956996e-02 -3.13061535e-04 9.99843370e-01 5.02315064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47275509600007 meters 0.019990786200864558 Centerline is valid? [True, True] Translation: X:99.71, Y:182.12, Z:5.02 [[-4.63075986e-01 -8.86282336e-01 8.01572610e-03 9.97071373e+01] [ 8.86138584e-01 -4.63145266e-01 -1.59647208e-02 1.82115325e+02] [ 1.78616957e-02 -2.89834670e-04 9.99840425e-01 5.02380997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50275509600004 meters 0.020306634341210453 Centerline is valid? [True, True] Translation: X:99.70, Y:182.14, Z:5.02 [[-4.62182177e-01 -8.86748724e-01 8.02096569e-03 9.96960224e+01] [ 8.86605129e-01 -4.62251696e-01 -1.59597822e-02 1.82137748e+02] [ 1.78600215e-02 -2.64897551e-04 9.99840462e-01 5.02383147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5327550960001 meters 0.01969944430837602 Centerline is valid? [True, True] Translation: X:99.68, Y:182.16, Z:5.02 [[-4.60573735e-01 -8.87588205e-01 7.68206501e-03 9.96825002e+01] [ 8.87456802e-01 -4.60637745e-01 -1.52739014e-02 1.82159193e+02] [ 1.70955838e-02 -2.17256958e-04 9.99853836e-01 5.02460832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56275509600005 meters 0.01894391323750925 Centerline is valid? [True, True] Translation: X:99.67, Y:182.18, Z:5.03 [[-4.60309987e-01 -8.87726252e-01 7.53775546e-03 9.96684962e+01] [ 8.87599949e-01 -4.60371655e-01 -1.49756464e-02 1.82182025e+02] [ 1.67644434e-02 -2.02928259e-04 9.99859446e-01 5.02596574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5927550960001 meters 0.018648725633269834 Centerline is valid? [True, True] Translation: X:99.66, Y:182.21, Z:5.03 [[-4.60432108e-01 -8.87669148e-01 6.76449990e-03 9.96559146e+01] [ 8.87567601e-01 -4.60481761e-01 -1.34276146e-02 1.82205733e+02] [ 1.50342080e-02 -1.78553935e-04 9.99886964e-01 5.02744918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62275509600005 meters 0.01867669445501275 Centerline is valid? [True, True] Translation: X:99.64, Y:182.23, Z:5.03 [[-4.60854220e-01 -8.87452412e-01 6.45016122e-03 9.96441762e+01] [ 8.87360234e-01 -4.60899325e-01 -1.27917193e-02 1.82228873e+02] [ 1.43249171e-02 -1.71501249e-04 9.99897378e-01 5.02849741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6527550960001 meters 0.01883453188744048 Centerline is valid? [True, True] Translation: X:99.63, Y:182.25, Z:5.03 [[-4.61494439e-01 -8.87121216e-01 6.23140115e-03 9.96327645e+01] [ 8.87035318e-01 -4.61536476e-01 -1.23461219e-02 1.82252245e+02] [ 1.38285256e-02 -1.70193680e-04 9.99904367e-01 5.02939279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68275509600005 meters 0.019013177081822694 Centerline is valid? [True, True] Translation: X:99.62, Y:182.28, Z:5.03 [[-4.63006694e-01 -8.86334103e-01 6.05466273e-03 9.96215735e+01] [ 8.86253094e-01 -4.63046244e-01 -1.19845595e-02 1.82276234e+02] [ 1.34259127e-02 -1.82967716e-04 9.99909852e-01 5.02982018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.712755096 meters 0.01907127856749613 Centerline is valid? [True, True] Translation: X:99.61, Y:182.30, Z:5.03 [[-4.63934047e-01 -8.85849213e-01 6.03086956e-03 9.96099928e+01] [ 8.85768953e-01 -4.63973205e-01 -1.19258893e-02 1.82299474e+02] [ 1.33627015e-02 -1.90869078e-04 9.99910697e-01 5.03025820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74275509600005 meters 0.01949234504770123 Centerline is valid? [True, True] Translation: X:99.60, Y:182.32, Z:5.03 [[-4.65067073e-01 -8.85256328e-01 5.81822256e-03 9.95987900e+01] [ 8.85181719e-01 -4.65103425e-01 -1.14947069e-02 1.82322531e+02] [ 1.28818372e-02 -1.95625431e-04 9.99917007e-01 5.03051642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.772755096 meters 0.019807356692317785 Centerline is valid? [True, True] Translation: X:99.59, Y:182.35, Z:5.03 [[-4.66528202e-01 -8.84489426e-01 5.46748132e-03 9.95871187e+01] [ 8.84423616e-01 -4.66560196e-01 -1.07912743e-02 1.82347487e+02] [ 1.20956772e-02 -1.98864202e-04 9.99926825e-01 5.03124609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80275509600006 meters 0.01999203395424792 Centerline is valid? [True, True] Translation: X:99.58, Y:182.37, Z:5.03 [[-4.67213703e-01 -8.84127806e-01 5.42020581e-03 9.95756158e+01] [ 8.84063211e-01 -4.67245099e-01 -1.06890859e-02 1.82370925e+02] [ 1.19830826e-02 -2.02282840e-04 9.99928180e-01 5.03179250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.832755096 meters 0.019987183490857895 Centerline is valid? [True, True] Translation: X:99.56, Y:182.39, Z:5.03 [[-4.68180558e-01 -8.83615958e-01 5.45935410e-03 9.95639602e+01] [ 8.83550516e-01 -4.68212339e-01 -1.07559934e-02 1.82394481e+02] [ 1.20603044e-02 -2.12131863e-04 9.99927249e-01 5.03145953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86275509600006 meters 0.019716637820489023 Centerline is valid? [True, True] Translation: X:99.55, Y:182.42, Z:5.03 [[-4.68745828e-01 -8.83314009e-01 5.80601101e-03 9.95515078e+01] [ 8.83240120e-01 -4.68781728e-01 -1.14272262e-02 1.82417446e+02] [ 1.28155809e-02 -2.28362739e-04 9.99917851e-01 5.03126462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89275509600003 meters 0.020307745120004068 Centerline is valid? [True, True] Translation: X:99.54, Y:182.44, Z:5.03 [[-4.69136150e-01 -8.83103066e-01 6.34414257e-03 9.95413156e+01] [ 8.83015013e-01 -4.69178977e-01 -1.24729316e-02 1.82440423e+02] [ 1.39914225e-02 -2.49529994e-04 9.99902084e-01 5.03078712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92275509600006 meters 0.01948779805902005 Centerline is valid? [True, True] Translation: X:99.53, Y:182.46, Z:5.03 [[-4.69351364e-01 -8.82982821e-01 7.11585202e-03 9.95282643e+01] [ 8.82872278e-01 -4.69405221e-01 -1.39742350e-02 1.82463215e+02] [ 1.56792275e-02 -2.76437759e-04 9.99877035e-01 5.02946280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95275509600003 meters 0.019501101891831792 Centerline is valid? [True, True] Translation: X:99.52, Y:182.49, Z:5.03 [[-4.69616344e-01 -8.82841452e-01 7.17348572e-03 9.95165581e+01] [ 8.82729318e-01 -4.69671048e-01 -1.40733368e-02 1.82486575e+02] [ 1.57937036e-02 -2.76822817e-04 9.99875233e-01 5.02943207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98275509600006 meters 0.01969211487133724 Centerline is valid? [True, True] Translation: X:99.51, Y:182.51, Z:5.03 [[-4.69881586e-01 -8.82697052e-01 7.56376470e-03 9.95060910e+01] [ 8.82572618e-01 -4.69942370e-01 -1.48237461e-02 1.82509519e+02] [ 1.66394105e-02 -2.89833698e-04 9.99861513e-01 5.02915978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01275509600003 meters 0.01977444852199372 Centerline is valid? [True, True] Translation: X:99.49, Y:182.53, Z:5.03 [[-4.70290779e-01 -8.82477895e-01 7.70376507e-03 9.94943857e+01] [ 8.82349044e-01 -4.70353779e-01 -1.50826591e-02 1.82533480e+02] [ 1.69336083e-02 -2.95825754e-04 9.99856572e-01 5.02929861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04275509600006 meters 0.01977444852199372 Centerline is valid? [True, True] Translation: X:99.48, Y:182.56, Z:5.03 [[-4.70629030e-01 -8.82297500e-01 7.70954658e-03 9.94823614e+01] [ 8.82168674e-01 -4.70692080e-01 -1.50797035e-02 1.82556433e+02] [ 1.69336072e-02 -2.95825735e-04 9.99856572e-01 5.02968138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07275509600004 meters 0.019993637818372757 Centerline is valid? [True, True] Translation: X:99.47, Y:182.58, Z:5.03 [[-4.71193910e-01 -8.81997718e-01 7.50494919e-03 9.94710688e+01] [ 8.81875824e-01 -4.71253583e-01 -1.46659856e-02 1.82579803e+02] [ 1.64721000e-02 -2.92089832e-04 9.99864283e-01 5.03021330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10275509600007 meters 0.021310156501225523 Centerline is valid? [True, True] Translation: X:99.46, Y:182.60, Z:5.03 [[-4.72328346e-01 -8.81393554e-01 7.16500053e-03 9.94630828e+01] [ 8.81282582e-01 -4.72382596e-01 -1.39890212e-02 1.82603718e+02] [ 1.57144547e-02 -2.93021086e-04 9.99876477e-01 5.03120872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13275509600004 meters 0.020460375448415884 Centerline is valid? [True, True] Translation: X:99.45, Y:182.63, Z:5.03 [[-4.72942175e-01 -8.81064911e-01 7.09377950e-03 9.94500693e+01] [ 8.80956308e-01 -4.72995281e-01 -1.38364338e-02 1.82627142e+02] [ 1.55461206e-02 -2.94523317e-04 9.99879108e-01 5.03155227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16275509600007 meters 0.020917160213781948 Centerline is valid? [True, True] Translation: X:99.44, Y:182.65, Z:5.03 [[-4.73779258e-01 -8.80615703e-01 7.01417221e-03 9.94401099e+01] [ 8.80509668e-01 -4.73831082e-01 -1.36685747e-02 1.82650089e+02] [ 1.53602943e-02 -2.99840755e-04 9.99881979e-01 5.03229192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19275509600004 meters 0.02140620287593564 Centerline is valid? [True, True] Translation: X:99.43, Y:182.67, Z:5.03 [[-4.74792587e-01 -8.80070350e-01 6.94106636e-03 9.94304523e+01] [ 8.79966653e-01 -4.74843220e-01 -1.35131476e-02 1.82673134e+02] [ 1.51884389e-02 -3.08035383e-04 9.99884602e-01 5.03217942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22275509600007 meters 0.02149681921768298 Centerline is valid? [True, True] Translation: X:99.42, Y:182.70, Z:5.03 [[-4.75360727e-01 -8.79763347e-01 6.97368377e-03 9.94192091e+01] [ 8.79658856e-01 -4.75411775e-01 -1.35625229e-02 1.82695818e+02] [ 1.52471819e-02 -3.12628054e-04 9.99883706e-01 5.03211600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25275509600004 meters 0.020390735222032764 Centerline is valid? [True, True] Translation: X:99.41, Y:182.72, Z:5.03 [[-4.75998640e-01 -8.79419446e-01 6.83615815e-03 9.94056032e+01] [ 8.79319193e-01 -4.76047625e-01 -1.32821689e-02 1.82718106e+02] [ 1.49349345e-02 -3.11129273e-04 9.99888419e-01 5.03256399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2827550960001 meters 0.0222366698871198 Centerline is valid? [True, True] Translation: X:99.40, Y:182.74, Z:5.03 [[-4.76368647e-01 -8.79219592e-01 6.76918063e-03 9.93977442e+01] [ 8.79121458e-01 -4.76416640e-01 -1.31395186e-02 1.82742443e+02] [ 1.47774724e-02 -3.08322747e-04 9.99890760e-01 5.03260609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31275509600005 meters 0.022029312773418217 Centerline is valid? [True, True] Translation: X:99.39, Y:182.76, Z:5.03 [[-4.76390516e-01 -8.79208142e-01 6.71709963e-03 9.93860787e+01] [ 8.79111701e-01 -4.76437775e-01 -1.30254769e-02 1.82764823e+02] [ 1.46523854e-02 -3.00132787e-04 9.99892603e-01 5.03309700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3427550960001 meters 0.019861434241874688 Centerline is valid? [True, True] Translation: X:99.37, Y:182.79, Z:5.03 [[-4.75297254e-01 -8.79802109e-01 6.38512762e-03 9.93705885e+01] [ 8.79715177e-01 -4.75340068e-01 -1.23703888e-02 1.82787131e+02] [ 1.39186011e-02 -2.62518125e-04 9.99903097e-01 5.03371094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37275509600005 meters 0.01926238225114341 Centerline is valid? [True, True] Translation: X:99.36, Y:182.81, Z:5.03 [[-4.74512666e-01 -8.80226144e-01 6.29802670e-03 9.93571593e+01] [ 8.80141754e-01 -4.74554398e-01 -1.21908398e-02 1.82810488e+02] [ 1.37194522e-02 -2.41551644e-04 9.99905855e-01 5.03454256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.4027550960001 meters 0.018740627217737796 Centerline is valid? [True, True] Translation: X:99.34, Y:182.83, Z:5.04 [[-4.73771490e-01 -8.80627863e-01 5.92811815e-03 9.93438838e+01] [ 8.80553255e-01 -4.73808530e-01 -1.14648186e-02 1.82833878e+02] [ 1.29050316e-02 -2.11680456e-04 9.99916704e-01 5.03527839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43275509600005 meters 0.01845508376906345 Centerline is valid? [True, True] Translation: X:99.33, Y:182.86, Z:5.04 [[-4.72983694e-01 -8.81052497e-01 5.73787704e-03 9.93317254e+01] [ 8.80982730e-01 -4.73018458e-01 -1.10890564e-02 1.82856192e+02] [ 1.24841625e-02 -1.89972266e-04 9.99922052e-01 5.03580511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.462755096 meters 0.017592151346658976 Centerline is valid? [True, True] Translation: X:99.32, Y:182.88, Z:5.04 [[-4.70778139e-01 -8.82232806e-01 5.76366877e-03 9.93175323e+01] [ 8.82162643e-01 -4.70813394e-01 -1.11273788e-02 1.82879213e+02] [ 1.25305511e-02 -1.54033423e-04 9.99921478e-01 5.03570743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49275509600005 meters 0.017383217303874 Centerline is valid? [True, True] Translation: X:99.31, Y:182.90, Z:5.04 [[-4.70093630e-01 -8.82598235e-01 5.68630890e-03 9.93050885e+01] [ 8.82530085e-01 -4.70128000e-01 -1.09687034e-02 1.82902338e+02] [ 1.23542513e-02 -1.37978919e-04 9.99923674e-01 5.03604458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.522755096 meters 0.017211722068447108 Centerline is valid? [True, True] Translation: X:99.29, Y:182.93, Z:5.04 [[-4.69397197e-01 -8.82968452e-01 5.74325445e-03 9.92941106e+01] [ 8.82899093e-01 -4.69432314e-01 -1.10677245e-02 1.82925251e+02] [ 1.24685208e-02 -1.24444701e-04 9.99922257e-01 5.03572402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55275509600006 meters 0.017248081945423398 Centerline is valid? [True, True] Translation: X:99.28, Y:182.95, Z:5.04 [[-4.69561710e-01 -8.82880934e-01 5.74952011e-03 9.92829269e+01] [ 8.82811558e-01 -4.69596893e-01 -1.10684611e-02 1.82948670e+02] [ 1.24720901e-02 -1.21582720e-04 9.99922213e-01 5.03617327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.582755096 meters 0.017178717265481317 Centerline is valid? [True, True] Translation: X:99.27, Y:182.97, Z:5.04 [[-4.70093361e-01 -8.82599118e-01 5.57035721e-03 9.92709816e+01] [ 8.82534100e-01 -4.70126348e-01 -1.07135602e-02 1.82972837e+02] [ 1.20745505e-02 -1.20343340e-04 9.99927093e-01 5.03690854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61275509600006 meters 0.017404656125045458 Centerline is valid? [True, True] Translation: X:99.26, Y:183.00, Z:5.04 [[-4.71457773e-01 -8.81873337e-01 5.19469590e-03 9.92613393e+01] [ 8.81816836e-01 -4.71486374e-01 -9.98328771e-03 1.82997727e+02] [ 1.12532236e-02 -1.25928288e-04 9.99936673e-01 5.03795189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64275509600003 meters 0.017818475044119424 Centerline is valid? [True, True] Translation: X:99.25, Y:183.02, Z:5.04 [[-4.72572935e-01 -8.81276490e-01 5.15450988e-03 9.92517405e+01] [ 8.81220930e-01 -4.72601026e-01 -9.89657530e-03 1.83020863e+02] [ 1.11576458e-02 -1.34591646e-04 9.99937742e-01 5.03875990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67275509600006 meters 0.018202649241042066 Centerline is valid? [True, True] Translation: X:99.24, Y:183.05, Z:5.04 [[-4.74821484e-01 -8.80070835e-01 4.45919111e-03 9.92420811e+01] [ 8.80029271e-01 -4.74842403e-01 -8.55427437e-03 1.83046056e+02] [ 9.64578040e-03 -1.37534548e-04 9.99953469e-01 5.03949148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70275509600003 meters 0.01979457050234704 Centerline is valid? [True, True] Translation: X:99.23, Y:183.07, Z:5.04 [[-4.76001395e-01 -8.79432356e-01 4.62638833e-03 9.92334091e+01] [ 8.79387670e-01 -4.76023853e-01 -8.86662291e-03 1.83070644e+02] [ 9.99986627e-03 -1.52136022e-04 9.99949989e-01 5.03963445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73275509600006 meters 0.018941871194044568 Centerline is valid? [True, True] Translation: X:99.22, Y:183.09, Z:5.04 [[-4.77348841e-01 -8.78702366e-01 4.49839428e-03 9.92212667e+01] [ 8.78660171e-01 -4.77370010e-01 -8.61263086e-03 1.83094194e+02] [ 9.71533764e-03 -1.58669471e-04 9.99952792e-01 5.04020996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76275509600003 meters 0.0198125437332402 Centerline is valid? [True, True] Translation: X:99.21, Y:183.12, Z:5.04 [[-4.78734604e-01 -8.77947416e-01 4.63823608e-03 9.92119431e+01] [ 8.77902614e-01 -4.78757040e-01 -8.87114362e-03 1.83118719e+02] [ 1.00089858e-02 -1.75003847e-04 9.99949894e-01 5.03985170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79275509600006 meters 0.019891425473150173 Centerline is valid? [True, True] Translation: X:99.20, Y:183.14, Z:5.04 [[-4.79102154e-01 -8.77745867e-01 4.82898549e-03 9.92004876e+01] [ 8.77697385e-01 -4.79126455e-01 -9.22716345e-03 1.83142048e+02] [ 1.04127993e-02 -1.82365944e-04 9.99945769e-01 5.03964437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82275509600004 meters 0.020028385136373256 Centerline is valid? [True, True] Translation: X:99.19, Y:183.17, Z:5.04 [[-4.79465621e-01 -8.77547033e-01 4.89105363e-03 9.91887644e+01] [ 8.77497380e-01 -4.79490532e-01 -9.33690535e-03 1.83165226e+02] [ 1.05387875e-02 -1.84838380e-04 9.99944448e-01 5.03927456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85275509600007 meters 0.019888524334307066 Centerline is valid? [True, True] Translation: X:99.18, Y:183.19, Z:5.04 [[-4.79414343e-01 -8.77573795e-01 5.11093410e-03 9.91765732e+01] [ 8.77519683e-01 -4.79441549e-01 -9.74714926e-03 1.83188996e+02] [ 1.10042369e-02 -1.87977886e-04 9.99939434e-01 5.03841996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88275509600004 meters 0.019961433105365668 Centerline is valid? [True, True] Translation: X:99.17, Y:183.21, Z:5.04 [[-4.79548627e-01 -8.77499112e-01 5.33124486e-03 9.91650813e+01] [ 8.77440343e-01 -4.79578222e-01 -1.01574869e-02 1.83212173e+02] [ 1.14699347e-02 -1.93159592e-04 9.99934199e-01 5.03836028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91275509600007 meters 0.02029808036859046 Centerline is valid? [True, True] Translation: X:99.16, Y:183.24, Z:5.04 [[-4.79759510e-01 -8.77382764e-01 5.50445693e-03 9.91553109e+01] [ 8.77320230e-01 -4.79791046e-01 -1.04769556e-02 1.83235564e+02] [ 1.18332894e-02 -1.97247680e-04 9.99929965e-01 5.03788359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94275509600004 meters 0.019311333628641736 Centerline is valid? [True, True] Translation: X:99.14, Y:183.26, Z:5.04 [[-4.79949456e-01 -8.77278006e-01 5.64094224e-03 9.91416625e+01] [ 8.77212453e-01 -4.79982563e-01 -1.07262010e-02 1.83258385e+02] [ 1.21174141e-02 -1.99729561e-04 9.99926562e-01 5.03753564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97275509600007 meters 0.01930151605548906 Centerline is valid? [True, True] Translation: X:99.13, Y:183.28, Z:5.04 [[-4.79952909e-01 -8.77275673e-01 5.70947741e-03 9.91297584e+01] [ 8.77208647e-01 -4.79986827e-01 -1.08460035e-02 1.83281828e+02] [ 1.22554089e-02 -1.97167966e-04 9.99924880e-01 5.03767157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00275509600004 meters 0.01967582300470238 Centerline is valid? [True, True] Translation: X:99.12, Y:183.30, Z:5.04 [[-4.78835604e-01 -8.77886525e-01 5.63145494e-03 9.91188111e+01] [ 8.77821487e-01 -4.78868687e-01 -1.06872668e-02 1.83304312e+02] [ 1.20789349e-02 -1.74031688e-04 9.99927032e-01 5.03837028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0327550960001 meters 0.0185943977858973 Centerline is valid? [True, True] Translation: X:99.10, Y:183.33, Z:5.04 [[-4.77961129e-01 -8.78365687e-01 5.18445580e-03 9.91025551e+01] [ 8.78310661e-01 -4.77989224e-01 -9.83285661e-03 1.83325664e+02] [ 1.11149579e-02 -1.46160446e-04 9.99938216e-01 5.03858056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06275509600005 meters 0.018261205027618535 Centerline is valid? [True, True] Translation: X:99.09, Y:183.35, Z:5.04 [[-4.77201819e-01 -8.78778712e-01 5.13809748e-03 9.90885658e+01] [ 8.78724787e-01 -4.77229462e-01 -9.73598904e-03 1.83348360e+02] [ 1.10078314e-02 -1.31058071e-04 9.99939403e-01 5.03880200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0927550960001 meters 0.017777297747447712 Centerline is valid? [True, True] Translation: X:99.07, Y:183.37, Z:5.04 [[-4.76037131e-01 -8.79408146e-01 5.47375327e-03 9.90737879e+01] [ 8.79347116e-01 -4.76068585e-01 -1.03610603e-02 1.83370961e+02] [ 1.17174828e-02 -1.18920268e-04 9.99931341e-01 5.03857670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12275509600005 meters 0.01755325159485996 Centerline is valid? [True, True] Translation: X:99.06, Y:183.39, Z:5.04 [[-4.75145511e-01 -8.79890552e-01 5.41856356e-03 9.90594291e+01] [ 8.79830858e-01 -4.75176395e-01 -1.02495861e-02 1.83392036e+02] [ 1.15932875e-02 -1.02625401e-04 9.99932790e-01 5.03960684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1527550960001 meters 0.01729696489594275 Centerline is valid? [True, True] Translation: X:99.04, Y:183.41, Z:5.04 [[-4.74073640e-01 -8.80469352e-01 5.28241968e-03 9.90437141e+01] [ 8.80412764e-01 -4.74103062e-01 -9.98252375e-03 1.83414010e+02] [ 1.12937176e-02 -8.17416648e-05 9.99936221e-01 5.04065225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18275509600005 meters 0.017131736915788096 Centerline is valid? [True, True] Translation: X:99.03, Y:183.44, Z:5.04 [[-4.73854645e-01 -8.80587253e-01 5.27874000e-03 9.90299331e+01] [ 8.80530856e-01 -4.73884041e-01 -9.96629743e-03 1.83436768e+02] [ 1.12777051e-02 -7.44828782e-05 9.99936402e-01 5.04106997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.212755096 meters 0.017072258526393054 Centerline is valid? [True, True] Translation: X:99.02, Y:183.46, Z:5.04 [[-4.74209153e-01 -8.80395994e-01 5.34544273e-03 9.90172179e+01] [ 8.80338260e-01 -4.74239273e-01 -1.00826052e-02 1.83459449e+02] [ 1.14117041e-02 -7.54659191e-05 9.99934882e-01 5.04156832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24275509600005 meters 0.01724469984624744 Centerline is valid? [True, True] Translation: X:99.00, Y:183.48, Z:5.04 [[-4.75387524e-01 -8.79760286e-01 5.34241308e-03 9.90041955e+01] [ 8.79702684e-01 -4.75417535e-01 -1.00675504e-02 1.83482650e+02] [ 1.13969079e-02 -8.62527542e-05 9.99935049e-01 5.04205461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.272755096 meters 0.017461665639880688 Centerline is valid? [True, True] Translation: X:98.99, Y:183.50, Z:5.04 [[-4.76537463e-01 -8.79139338e-01 5.10594857e-03 9.89927912e+01] [ 8.79086781e-01 -4.76564807e-01 -9.61333952e-03 1.83504886e+02] [ 1.08847803e-02 -9.25445267e-05 9.99940755e-01 5.04309293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30275509600006 meters 0.01767786795045794 Centerline is valid? [True, True] Translation: X:98.98, Y:183.53, Z:5.04 [[-4.77793511e-01 -8.78458794e-01 4.84853392e-03 9.89811774e+01] [ 8.78411456e-01 -4.77818101e-01 -9.12008882e-03 1.83527152e+02] [ 1.03283395e-02 -9.85115177e-05 9.99946656e-01 5.04428444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.332755096 meters 0.018458054347763483 Centerline is valid? [True, True] Translation: X:98.97, Y:183.55, Z:5.04 [[-4.80442241e-01 -8.77013037e-01 4.83596591e-03 9.89681359e+01] [ 8.76965968e-01 -4.80466563e-01 -9.08698646e-03 1.83551305e+02] [ 1.02929255e-02 -1.24794611e-04 9.99947019e-01 5.04477935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36275509600006 meters 0.019048650434233688 Centerline is valid? [True, True] Translation: X:98.96, Y:183.58, Z:5.05 [[-4.82401192e-01 -8.75937176e-01 4.81187261e-03 9.89563871e+01] [ 8.75890596e-01 -4.82425168e-01 -9.03441025e-03 1.83575244e+02] [ 1.02349443e-02 -1.43536297e-04 9.99947611e-01 5.04506208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39275509600003 meters 0.019323276153808022 Centerline is valid? [True, True] Translation: X:98.94, Y:183.60, Z:5.05 [[-4.84293416e-01 -8.74893120e-01 4.68149175e-03 9.89442556e+01] [ 8.74849055e-01 -4.84316017e-01 -8.78220876e-03 1.83599543e+02] [ 9.95081546e-03 -1.57567250e-04 9.99950477e-01 5.04517786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42275509600006 meters 0.02043765860295426 Centerline is valid? [True, True] Translation: X:98.93, Y:183.63, Z:5.04 [[-4.87737423e-01 -8.72974737e-01 5.22641544e-03 9.89349250e+01] [ 8.72919812e-01 -4.87765377e-01 -9.79484696e-03 1.83625108e+02] [ 1.10999184e-02 -2.15071830e-04 9.99938371e-01 5.04466527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45275509600003 meters 0.02209494286365547 Centerline is valid? [True, True] Translation: X:98.93, Y:183.65, Z:5.05 [[-4.89153139e-01 -8.72181099e-01 5.41636623e-03 9.89260815e+01] [ 8.72122172e-01 -4.89183068e-01 -1.01411736e-02 1.83650297e+02] [ 1.14945346e-02 -2.36853835e-04 9.99933908e-01 5.04501808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48275509600006 meters 0.021304408161240396 Centerline is valid? [True, True] Translation: X:98.91, Y:183.67, Z:5.05 [[-4.89495299e-01 -8.71989583e-01 5.34029753e-03 9.89113016e+01] [ 8.71932352e-01 -4.89524372e-01 -9.99310003e-03 1.83672394e+02] [ 1.13280849e-02 -2.35197303e-04 9.99935808e-01 5.04515114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51275509600003 meters 0.021356809529407536 Centerline is valid? [True, True] Translation: X:98.90, Y:183.69, Z:5.05 [[-4.89392205e-01 -8.72046209e-01 5.53890915e-03 9.88990655e+01] [ 8.71984762e-01 -4.89423490e-01 -1.03548256e-02 1.83694576e+02] [ 1.17407586e-02 -2.37726542e-04 9.99931047e-01 5.04553248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54275509600006 meters 0.02114708577484051 Centerline is valid? [True, True] Translation: X:98.89, Y:183.72, Z:5.05 [[-4.88964565e-01 -8.72285563e-01 5.61708419e-03 9.88856722e+01] [ 8.72222508e-01 -4.88996774e-01 -1.04905437e-02 1.83717263e+02] [ 1.18974859e-02 -2.30156895e-04 9.99929196e-01 5.04533381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57275509600004 meters 0.020559537324692054 Centerline is valid? [True, True] Translation: X:98.87, Y:183.74, Z:5.05 [[-4.88697133e-01 -8.72432978e-01 5.98421455e-03 9.88715028e+01] [ 8.72361560e-01 -4.88733714e-01 -1.11653538e-02 1.83739719e+02] [ 1.26657102e-02 -2.36077622e-04 9.99919759e-01 5.04505529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60275509600007 meters 0.01977219837072613 Centerline is valid? [True, True] Translation: X:98.86, Y:183.76, Z:5.05 [[-4.87651842e-01 -8.73017599e-01 5.99611190e-03 9.88571690e+01] [ 8.72946071e-01 -4.87688656e-01 -1.11772639e-02 1.83762440e+02] [ 1.26821839e-02 -2.16330999e-04 9.99919554e-01 5.04526727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63275509600004 meters 0.01961159070074256 Centerline is valid? [True, True] Translation: X:98.84, Y:183.79, Z:5.05 [[-4.87274145e-01 -8.73228877e-01 5.93594734e-03 9.88433931e+01] [ 8.73158923e-01 -4.87310257e-01 -1.10547762e-02 1.83785358e+02] [ 1.25459978e-02 -2.03681238e-04 9.99921275e-01 5.04575518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66275509600007 meters 0.019272270677715 Centerline is valid? [True, True] Translation: X:98.83, Y:183.81, Z:5.05 [[-4.86604474e-01 -8.73600271e-01 6.21704972e-03 9.88295914e+01] [ 8.73523716e-01 -4.86644148e-01 -1.15667680e-02 1.83807738e+02] [ 1.31302226e-02 -1.97700702e-04 9.99913775e-01 5.04589500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69275509600004 meters 0.019320330522914056 Centerline is valid? [True, True] Translation: X:98.82, Y:183.83, Z:5.05 [[-4.86973509e-01 -8.73392288e-01 6.53552004e-03 9.88164178e+01] [ 8.73307836e-01 -4.87017319e-01 -1.21471944e-02 1.83831147e+02] [ 1.37921773e-02 -2.07841017e-04 9.99904862e-01 5.04565569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72275509600007 meters 0.019375975326073637 Centerline is valid? [True, True] Translation: X:98.80, Y:183.85, Z:5.05 [[-4.87234931e-01 -8.73245063e-01 6.72176771e-03 9.88035025e+01] [ 8.73155887e-01 -4.87281248e-01 -1.24812789e-02 1.83854307e+02] [ 1.41746065e-02 -2.12164017e-04 9.99899513e-01 5.04580802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75275509600004 meters 0.019466932838933654 Centerline is valid? [True, True] Translation: X:98.79, Y:183.88, Z:5.05 [[-4.88339202e-01 -8.72629402e-01 6.53839454e-03 9.87911839e+01] [ 8.72545125e-01 -4.88382923e-01 -1.21295635e-02 1.83877085e+02] [ 1.37778539e-02 -2.18297062e-04 9.99905057e-01 5.04655599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7827550960001 meters 0.019642728077539598 Centerline is valid? [True, True] Translation: X:98.78, Y:183.90, Z:5.05 [[-4.88982949e-01 -8.72269474e-01 6.45292056e-03 9.87788019e+01] [ 8.72187475e-01 -4.89025475e-01 -1.19621859e-02 1.83900756e+02] [ 1.35898922e-02 -2.21148460e-04 9.99907629e-01 5.04712998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81275509600005 meters 0.01979681458901502 Centerline is valid? [True, True] Translation: X:98.77, Y:183.92, Z:5.05 [[-4.89799105e-01 -8.71811309e-01 6.47138888e-03 9.87661176e+01] [ 8.71728954e-01 -4.89841801e-01 -1.19850612e-02 1.83924119e+02] [ 1.36186687e-02 -2.28975191e-04 9.99907235e-01 5.04786604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8427550960001 meters 0.020065367099857623 Centerline is valid? [True, True] Translation: X:98.75, Y:183.95, Z:5.05 [[-4.90636093e-01 -8.71340449e-01 6.48433774e-03 9.87537685e+01] [ 8.71257878e-01 -4.90678883e-01 -1.19976865e-02 1.83946946e+02] [ 1.36357971e-02 -2.36967673e-04 9.99907000e-01 5.04834163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87275509600005 meters 0.02062528969919653 Centerline is valid? [True, True] Translation: X:98.74, Y:183.97, Z:5.05 [[-4.91844905e-01 -8.70658485e-01 6.51098174e-03 9.87414488e+01] [ 8.70575329e-01 -4.91887934e-01 -1.20356062e-02 1.83969764e+02] [ 1.36815760e-02 -2.51351485e-04 9.99906371e-01 5.04838809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.9027550960001 meters 0.020662224266977298 Centerline is valid? [True, True] Translation: X:98.73, Y:183.99, Z:5.05 [[-4.92877984e-01 -8.70071158e-01 6.89007879e-03 9.87276081e+01] [ 8.69978151e-01 -4.92926063e-01 -1.27245108e-02 1.83992534e+02] [ 1.44675293e-02 -2.77413237e-04 9.99895301e-01 5.04798711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93275509600005 meters 0.02071998179048837 Centerline is valid? [True, True] Translation: X:98.71, Y:184.02, Z:5.05 [[-4.93551786e-01 -8.69688253e-01 6.99834719e-03 9.87147294e+01] [ 8.69592443e-01 -4.93601317e-01 -1.29120969e-02 1.84015738e+02] [ 1.46838924e-02 -2.87078661e-04 9.99892145e-01 5.04816907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.962755096 meters 0.02071998179048837 Centerline is valid? [True, True] Translation: X:98.70, Y:184.04, Z:5.05 [[-4.93894062e-01 -8.69493880e-01 7.00343183e-03 9.87021508e+01] [ 8.69398090e-01 -4.93943630e-01 -1.29093384e-02 1.84038403e+02] [ 1.46838913e-02 -2.87075332e-04 9.99892145e-01 5.04855185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99275509600005 meters 0.02169449536439098 Centerline is valid? [True, True] Translation: X:98.69, Y:184.06, Z:5.05 [[-4.94642899e-01 -8.69067581e-01 7.06704187e-03 9.86915757e+01] [ 8.68970182e-01 -4.94693291e-01 -1.30142633e-02 1.84061154e+02] [ 1.48062925e-02 -2.96364244e-04 9.99890337e-01 5.04937301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.022755096 meters 0.021111683488220685 Centerline is valid? [True, True] Translation: X:98.68, Y:184.08, Z:5.05 [[-4.95451709e-01 -8.68607674e-01 6.95071855e-03 9.86777196e+01] [ 8.68513589e-01 -4.95500372e-01 -1.27877599e-02 1.84083345e+02] [ 1.45516300e-02 -2.98923976e-04 9.99894075e-01 5.05022435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05275509600006 meters 0.02144805356236969 Centerline is valid? [True, True] Translation: X:98.67, Y:184.11, Z:5.05 [[-4.96156717e-01 -8.68204882e-01 6.98540915e-03 9.86652548e+01] [ 8.68109991e-01 -4.96205794e-01 -1.28395148e-02 1.84106637e+02] [ 1.46135299e-02 -3.06308050e-04 9.99893170e-01 5.05090958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.082755096 meters 0.022157484410544496 Centerline is valid? [True, True] Translation: X:98.65, Y:184.13, Z:5.05 [[-4.96518984e-01 -8.67996138e-01 7.18353042e-03 9.86535916e+01] [ 8.67895957e-01 -4.96570846e-01 -1.31910220e-02 1.84129461e+02] [ 1.50168879e-02 -3.15035812e-04 9.99887191e-01 5.05089902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11275509600006 meters 0.02109977591833867 Centerline is valid? [True, True] Translation: X:98.64, Y:184.15, Z:5.05 [[-4.96507623e-01 -8.68003460e-01 7.08340077e-03 9.86388662e+01] [ 8.67906194e-01 -4.96558054e-01 -1.29976388e-02 1.84151028e+02] [ 1.47993151e-02 -3.05699326e-04 9.99890437e-01 5.05157459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14275509600003 meters 0.021086414485582378 Centerline is valid? [True, True] Translation: X:98.63, Y:184.17, Z:5.05 [[-4.96444506e-01 -8.68037033e-01 7.38658424e-03 9.86262316e+01] [ 8.67931470e-01 -4.96499358e-01 -1.35406802e-02 1.84173380e+02] [ 1.54212462e-02 -3.11147357e-04 9.99881037e-01 5.05166580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17275509600006 meters 0.02132659339472774 Centerline is valid? [True, True] Translation: X:98.61, Y:184.20, Z:5.05 [[-4.96129761e-01 -8.68215656e-01 7.53889443e-03 9.86140787e+01] [ 8.68105885e-01 -4.96186941e-01 -1.38091020e-02 1.84195565e+02] [ 1.57299795e-02 -3.06547859e-04 9.99876229e-01 5.05119581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20275509600003 meters 0.020492329154515602 Centerline is valid? [True, True] Translation: X:98.60, Y:184.22, Z:5.05 [[-4.94780499e-01 -8.68981862e-01 7.92344509e-03 9.86004207e+01] [ 8.68860947e-01 -4.94843854e-01 -1.44988193e-02 1.84218816e+02] [ 1.65200791e-02 -2.89361024e-04 9.99863492e-01 5.05141850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23275509600006 meters 0.020362943473207922 Centerline is valid? [True, True] Translation: X:98.59, Y:184.24, Z:5.05 [[-4.94326466e-01 -8.69239227e-01 8.03184689e-03 9.85882271e+01] [ 8.69115229e-01 -4.94391634e-01 -1.46843794e-02 1.84240884e+02] [ 1.67351166e-02 -2.78276949e-04 9.99859919e-01 5.05170296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26275509600003 meters 0.01976279967521353 Centerline is valid? [True, True] Translation: X:98.58, Y:184.26, Z:5.05 [[-4.93503679e-01 -8.69706905e-01 8.00110758e-03 9.85756241e+01] [ 8.69584099e-01 -4.93568469e-01 -1.46171844e-02 1.84263664e+02] [ 1.66617607e-02 -2.55998367e-04 9.99861150e-01 5.05227391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29275509600006 meters 0.019588718861998873 Centerline is valid? [True, True] Translation: X:98.56, Y:184.29, Z:5.05 [[-4.93662788e-01 -8.69616414e-01 8.02150256e-03 9.85625360e+01] [ 8.69493196e-01 -4.93727889e-01 -1.46408345e-02 1.84287152e+02] [ 1.66923495e-02 -2.52993287e-04 9.99860641e-01 5.05271135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32275509600004 meters 0.019752201184692307 Centerline is valid? [True, True] Translation: X:98.55, Y:184.31, Z:5.05 [[-4.93547266e-01 -8.69682135e-01 8.00497716e-03 9.85512297e+01] [ 8.69559663e-01 -4.93612119e-01 -1.45968577e-02 1.84310171e+02] [ 1.66459801e-02 -2.43433955e-04 9.99861416e-01 5.05310681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35275509600007 meters 0.019397003192771163 Centerline is valid? [True, True] Translation: X:98.54, Y:184.33, Z:5.05 [[-4.93596563e-01 -8.69656469e-01 7.74974171e-03 9.85388040e+01] [ 8.69541896e-01 -4.93657344e-01 -1.41180344e-02 1.84332995e+02] [ 1.61035569e-02 -2.29888183e-04 9.99870303e-01 5.05416959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38275509600004 meters 0.019185590273572525 Centerline is valid? [True, True] Translation: X:98.52, Y:184.36, Z:5.06 [[-4.92648864e-01 -8.70196177e-01 7.46394906e-03 9.85245377e+01] [ 8.70090152e-01 -4.92705363e-01 -1.35850179e-02 1.84355311e+02] [ 1.54991583e-02 -1.98335040e-04 9.99879861e-01 5.05567047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41275509600007 meters 0.0188293518337408 Centerline is valid? [True, True] Translation: X:98.51, Y:184.38, Z:5.06 [[-4.91153988e-01 -8.71043146e-01 7.18320860e-03 9.85120199e+01] [ 8.70945213e-01 -4.91206487e-01 -1.30622755e-02 1.84377073e+02] [ 1.49062442e-02 -1.59407538e-04 9.99888883e-01 5.05680312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44275509600004 meters 0.018421487297434955 Centerline is valid? [True, True] Translation: X:98.50, Y:184.40, Z:5.06 [[-4.90930940e-01 -8.71168771e-01 7.19620268e-03 9.84980077e+01] [ 8.71070687e-01 -4.90983656e-01 -1.30731497e-02 1.84399898e+02] [ 1.49221377e-02 -1.49612459e-04 9.99888648e-01 5.05703957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47275509600007 meters 0.01849558322827552 Centerline is valid? [True, True] Translation: X:98.49, Y:184.42, Z:5.06 [[-4.90976428e-01 -8.71141740e-01 7.36314698e-03 9.84857432e+01] [ 8.71039249e-01 -4.91031615e-01 -1.33634023e-02 1.84422449e+02] [ 1.52569555e-02 -1.47525520e-04 9.99883595e-01 5.05713972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50275509600004 meters 0.018523450594647578 Centerline is valid? [True, True] Translation: X:98.47, Y:184.45, Z:5.06 [[-4.90904129e-01 -8.71182774e-01 7.32870424e-03 9.84729032e+01] [ 8.71081443e-01 -4.90958811e-01 -1.32878148e-02 1.84445173e+02] [ 1.51742073e-02 -1.39144893e-04 9.99884855e-01 5.05743447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5327550960001 meters 0.018490128780935453 Centerline is valid? [True, True] Translation: X:98.46, Y:184.47, Z:5.06 [[-4.91222030e-01 -8.71004253e-01 7.24624420e-03 9.84607336e+01] [ 8.70905347e-01 -4.91275454e-01 -1.31264750e-02 1.84467698e+02] [ 1.49931174e-02 -1.37220864e-04 9.99887587e-01 5.05786208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56275509600005 meters 0.01847008910157727 Centerline is valid? [True, True] Translation: X:98.45, Y:184.49, Z:5.06 [[-4.91876850e-01 -8.70634050e-01 7.31540333e-03 9.84471588e+01] [ 8.70533398e-01 -4.91931224e-01 -1.32390980e-02 1.84490423e+02] [ 1.51250848e-02 -1.43702894e-04 9.99885599e-01 5.05790635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5927550960001 meters 0.01862059369450108 Centerline is valid? [True, True] Translation: X:98.43, Y:184.51, Z:5.06 [[-4.92570193e-01 -8.70240078e-01 7.53732046e-03 9.84336698e+01] [ 8.70133383e-01 -4.92627833e-01 -1.36277037e-02 1.84512435e+02] [ 1.55724678e-02 -1.54126508e-04 9.99878730e-01 5.05752487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62275509600005 meters 0.018495619649574177 Centerline is valid? [True, True] Translation: X:98.42, Y:184.53, Z:5.06 [[-4.92921822e-01 -8.70042996e-01 7.29815738e-03 9.84195725e+01] [ 8.69943128e-01 -4.92975825e-01 -1.31829908e-02 1.84534870e+02] [ 1.50675839e-02 -1.49201977e-04 9.99886466e-01 5.05799482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6527550960001 meters 0.01867841952693016 Centerline is valid? [True, True] Translation: X:98.41, Y:184.56, Z:5.06 [[-4.93086755e-01 -8.69948796e-01 7.38538227e-03 9.84074648e+01] [ 8.69846706e-01 -4.93142039e-01 -1.33280946e-02 1.84557589e+02] [ 1.52368023e-02 -1.47756457e-04 9.99883902e-01 5.05819257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68275509600005 meters 0.018575497141144506 Centerline is valid? [True, True] Translation: X:98.39, Y:184.58, Z:5.06 [[-4.93774627e-01 -8.69558545e-01 7.38618470e-03 9.83938109e+01] [ 8.69456539e-01 -4.93829843e-01 -1.33196638e-02 1.84579714e+02] [ 1.52297459e-02 -1.54945415e-04 9.99884009e-01 5.05819255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.712755096 meters 0.020031225299474056 Centerline is valid? [True, True] Translation: X:98.38, Y:184.60, Z:5.06 [[-4.94448232e-01 -8.69171278e-01 7.88897155e-03 9.83812223e+01] [ 8.69055084e-01 -4.94511133e-01 -1.42126686e-02 1.84603264e+02] [ 1.62544276e-02 -1.71478045e-04 9.99867873e-01 5.05589546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74275509600005 meters 0.019034297067162358 Centerline is valid? [True, True] Translation: X:98.37, Y:184.63, Z:5.06 [[-4.95261580e-01 -8.68708878e-01 7.80082938e-03 9.83689875e+01] [ 8.68595412e-01 -4.95322979e-01 -1.40412617e-02 1.84626007e+02] [ 1.60616988e-02 -1.78332850e-04 9.99870987e-01 5.05763868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.772755096 meters 0.018700351589562667 Centerline is valid? [True, True] Translation: X:98.36, Y:184.65, Z:5.06 [[-4.96273451e-01 -8.68129445e-01 7.99556370e-03 9.83550213e+01] [ 8.68010395e-01 -4.96337817e-01 -1.43779653e-02 1.84648118e+02] [ 1.64504356e-02 -1.95170031e-04 9.99864663e-01 5.05783903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80275509600006 meters 0.019458285068814897 Centerline is valid? [True, True] Translation: X:98.34, Y:184.67, Z:5.06 [[-4.97782393e-01 -8.67261682e-01 8.35853203e-03 9.83431424e+01] [ 8.67131702e-01 -4.97852512e-01 -1.50162531e-02 1.84671342e+02] [ 1.71843371e-02 -2.26878306e-04 9.99852313e-01 5.05657523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.832755096 meters 0.01940337775181886 Centerline is valid? [True, True] Translation: X:98.33, Y:184.69, Z:5.06 [[-4.99014147e-01 -8.66553473e-01 8.36420140e-03 9.83300850e+01] [ 8.66423444e-01 -4.99084180e-01 -1.50132223e-02 1.84694328e+02] [ 1.71842005e-02 -2.44870148e-04 9.99852311e-01 5.05695379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86275509600006 meters 0.019794923722333515 Centerline is valid? [True, True] Translation: X:98.32, Y:184.72, Z:5.06 [[-5.00729291e-01 -8.65563615e-01 8.35499123e-03 9.83179222e+01] [ 8.65433962e-01 -5.00798917e-01 -1.49833804e-02 1.84718337e+02] [ 1.71532394e-02 -2.71924263e-04 9.99852835e-01 5.05740997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89275509600003 meters 0.02079899259948961 Centerline is valid? [True, True] Translation: X:98.31, Y:184.74, Z:5.06 [[-5.01879605e-01 -8.64895799e-01 8.49231062e-03 9.83076246e+01] [ 8.64761977e-01 -5.01951363e-01 -1.52168082e-02 1.84741225e+02] [ 1.74236804e-02 -2.93178370e-04 9.99848153e-01 5.05758067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92275509600006 meters 0.020464864804868525 Centerline is valid? [True, True] Translation: X:98.29, Y:184.76, Z:5.06 [[-5.03646231e-01 -8.63867451e-01 8.57325295e-03 9.82933692e+01] [ 8.63731168e-01 -5.03719089e-01 -1.53475848e-02 1.84764784e+02] [ 1.75767901e-02 -3.24767449e-04 9.99845464e-01 5.05838211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95275509600003 meters 0.02121574036544787 Centerline is valid? [True, True] Translation: X:98.28, Y:184.79, Z:5.06 [[-5.04637394e-01 -8.63288179e-01 8.63826737e-03 9.82820587e+01] [ 8.63149967e-01 -5.04711208e-01 -1.54509290e-02 1.84787783e+02] [ 1.76984347e-02 -3.40996352e-04 9.99843312e-01 5.05862051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98275509600006 meters 0.021381284229751055 Centerline is valid? [True, True] Translation: X:98.27, Y:184.81, Z:5.06 [[-5.05331406e-01 -8.62882437e-01 8.60639074e-03 9.82694295e+01] [ 8.62745437e-01 -5.05404571e-01 -1.53795804e-02 1.84810756e+02] [ 1.76204790e-02 -3.46660645e-04 9.99844687e-01 5.05904273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01275509600003 meters 0.020542377268098187 Centerline is valid? [True, True] Translation: X:98.25, Y:184.83, Z:5.06 [[-5.05858256e-01 -8.62575582e-01 8.41368772e-03 9.82542914e+01] [ 8.62444830e-01 -5.05928106e-01 -1.50222211e-02 1.84832445e+02] [ 1.72145222e-02 -3.42773083e-04 9.99851760e-01 5.06017691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04275509600006 meters 0.020818948787148808 Centerline is valid? [True, True] Translation: X:98.24, Y:184.85, Z:5.06 [[-5.05850340e-01 -8.62580179e-01 8.41832778e-03 9.82420856e+01] [ 8.62449523e-01 -5.05920272e-01 -1.50165938e-02 1.84854559e+02] [ 1.72120189e-02 -3.35766315e-04 9.99851806e-01 5.06068243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07275509600004 meters 0.020035748580086297 Centerline is valid? [True, True] Translation: X:98.23, Y:184.88, Z:5.06 [[-5.05758241e-01 -8.62637270e-01 8.09582459e-03 9.82273959e+01] [ 8.62516661e-01 -5.05822936e-01 -1.44280094e-02 1.84876284e+02] [ 1.65411924e-02 -3.14301053e-04 9.99863136e-01 5.06133371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10275509600007 meters 0.02008267144417135 Centerline is valid? [True, True] Translation: X:98.21, Y:184.90, Z:5.06 [[-5.05217489e-01 -8.62952468e-01 8.26600589e-03 9.82142611e+01] [ 8.62827013e-01 -5.05285014e-01 -1.47173427e-02 1.84897833e+02] [ 1.68770561e-02 -3.03325760e-04 9.99857526e-01 5.06156683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13275509600004 meters 0.01977137871324888 Centerline is valid? [True, True] Translation: X:98.20, Y:184.92, Z:5.06 [[-5.04874316e-01 -8.63150707e-01 8.53127638e-03 9.82000966e+01] [ 8.63017357e-01 -5.04946303e-01 -1.51747591e-02 1.84919766e+02] [ 1.74059405e-02 -2.98706540e-04 9.99848461e-01 5.06170402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16275509600007 meters 0.019574774543910347 Centerline is valid? [True, True] Translation: X:98.19, Y:184.94, Z:5.06 [[-5.04487584e-01 -8.63377589e-01 8.45078036e-03 9.81861039e+01] [ 8.63247007e-01 -5.04558281e-01 -1.50181811e-02 1.84942021e+02] [ 1.72302722e-02 -2.81375074e-04 9.99851508e-01 5.06181708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19275509600004 meters 0.01935260369695246 Centerline is valid? [True, True] Translation: X:98.17, Y:184.96, Z:5.06 [[-5.03666330e-01 -8.63852164e-01 8.92561636e-03 9.81717659e+01] [ 8.63706839e-01 -5.03745336e-01 -1.58471378e-02 1.84963420e+02] [ 1.81858219e-02 -2.72553841e-04 9.99834587e-01 5.06142793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22275509600007 meters 0.01855064456417769 Centerline is valid? [True, True] Translation: X:98.16, Y:184.98, Z:5.06 [[-5.03456492e-01 -8.63972825e-01 9.08402598e-03 9.81566208e+01] [ 8.63822595e-01 -5.03538368e-01 -1.61132421e-02 1.84984855e+02] [ 1.84955589e-02 -2.65329463e-04 9.99828907e-01 5.06179642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25275509600004 meters 0.018378925700831935 Centerline is valid? [True, True] Translation: X:98.14, Y:185.01, Z:5.06 [[-5.03456701e-01 -8.63969370e-01 9.39564078e-03 9.81431978e+01] [ 8.63808956e-01 -5.03544295e-01 -1.66502268e-02 1.85007218e+02] [ 1.91164073e-02 -2.66629591e-04 9.99817229e-01 5.06170107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2827550960001 meters 0.01810101308189379 Centerline is valid? [True, True] Translation: X:98.13, Y:185.03, Z:5.06 [[-5.03014308e-01 -8.64222041e-01 9.84226046e-03 9.81297361e+01] [ 8.64046396e-01 -5.03110521e-01 -1.74249844e-02 1.85029919e+02] [ 2.00108004e-02 -2.60846819e-04 9.99799730e-01 5.06182269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31275509600005 meters 0.018350830652295147 Centerline is valid? [True, True] Translation: X:98.12, Y:185.05, Z:5.06 [[-5.03137188e-01 -8.64149527e-01 9.92802076e-03 9.81174546e+01] [ 8.63971125e-01 -5.03235063e-01 -1.75603439e-02 1.85052440e+02] [ 2.01708911e-02 -2.57738786e-04 9.99796514e-01 5.06154702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3427550960001 meters 0.017882515011209164 Centerline is valid? [True, True] Translation: X:98.10, Y:185.08, Z:5.06 [[-5.03161102e-01 -8.64133175e-01 1.01371469e-02 9.81028643e+01] [ 8.63947530e-01 -5.03263143e-01 -1.79129597e-02 1.85075075e+02] [ 2.05808351e-02 -2.55141532e-04 9.99788160e-01 5.06114989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37275509600005 meters 0.018344843506272974 Centerline is valid? [True, True] Translation: X:98.09, Y:185.10, Z:5.06 [[-5.03451258e-01 -8.63960696e-01 1.04281312e-02 9.80913083e+01] [ 8.63764574e-01 -5.03559179e-01 -1.84096116e-02 1.85097570e+02] [ 2.11563620e-02 -2.60891793e-04 9.99776145e-01 5.06050159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.4027550960001 meters 0.018312367874268855 Centerline is valid? [True, True] Translation: X:98.08, Y:185.12, Z:5.06 [[-5.04053059e-01 -8.63609329e-01 1.04614196e-02 9.80780506e+01] [ 8.63412244e-01 -5.04161537e-01 -1.84510358e-02 1.85120642e+02] [ 2.12087320e-02 -2.67783200e-04 9.99775034e-01 5.06055594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43275509600005 meters 0.01813562940479555 Centerline is valid? [True, True] Translation: X:98.07, Y:185.14, Z:5.06 [[-5.04861890e-01 -8.63134059e-01 1.06802547e-02 9.80656132e+01] [ 8.62928905e-01 -5.04974767e-01 -1.88199209e-02 1.85144402e+02] [ 2.16373738e-02 -2.85160314e-04 9.99765844e-01 5.06070877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.462755096 meters 0.018602016017160886 Centerline is valid? [True, True] Translation: X:98.05, Y:185.17, Z:5.06 [[-5.04796741e-01 -8.63174362e-01 1.05009955e-02 9.80536680e+01] [ 8.62976406e-01 -5.04905880e-01 -1.84871804e-02 1.85166433e+02] [ 2.12596745e-02 -2.70157067e-04 9.99773951e-01 5.06071433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49275509600005 meters 0.0181794626849169 Centerline is valid? [True, True] Translation: X:98.04, Y:185.19, Z:5.06 [[-5.04008600e-01 -8.63643729e-01 9.73860559e-03 9.80387876e+01] [ 8.63473861e-01 -5.04102627e-01 -1.71299011e-02 1.85187937e+02] [ 1.97033883e-02 -2.24586100e-04 9.99805844e-01 5.06184377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.522755096 meters 0.01777948786970308 Centerline is valid? [True, True] Translation: X:98.02, Y:185.21, Z:5.06 [[-5.04394745e-01 -8.63418873e-01 9.68459570e-03 9.80249712e+01] [ 8.63251135e-01 -5.04487661e-01 -1.70199312e-02 1.85210675e+02] [ 1.95810888e-02 -2.24525621e-04 9.99808247e-01 5.06303600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55275509600006 meters 0.017659713538263056 Centerline is valid? [True, True] Translation: X:98.01, Y:185.23, Z:5.06 [[-5.05332624e-01 -8.62875799e-01 9.18124818e-03 9.80120171e+01] [ 8.62725211e-01 -5.05415973e-01 -1.61215571e-02 1.85233857e+02] [ 1.85512509e-02 -2.25854483e-04 9.99827885e-01 5.06418538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.582755096 meters 0.018169585781320937 Centerline is valid? [True, True] Translation: X:98.00, Y:185.26, Z:5.06 [[-5.06261769e-01 -8.62332179e-01 9.06831940e-03 9.80006319e+01] [ 8.62185453e-01 -5.06342926e-01 -1.59086908e-02 1.85256246e+02] [ 1.83102554e-02 -2.35388900e-04 9.99832326e-01 5.06466808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61275509600006 meters 0.018086797952814686 Centerline is valid? [True, True] Translation: X:97.99, Y:185.28, Z:5.07 [[-5.07104339e-01 -8.61840544e-01 8.72155124e-03 9.79873752e+01] [ 8.61705001e-01 -5.07179279e-01 -1.52863166e-02 1.85279043e+02] [ 1.75977575e-02 -2.36353180e-04 9.99845120e-01 5.06541414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64275509600003 meters 0.018362067867720634 Centerline is valid? [True, True] Translation: X:97.97, Y:185.30, Z:5.07 [[-5.07847707e-01 -8.61402344e-01 8.75836526e-03 9.79749859e+01] [ 8.61265840e-01 -5.07923165e-01 -1.53366115e-02 1.85301420e+02] [ 1.76595697e-02 -2.45382193e-04 9.99844028e-01 5.06570169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67275509600006 meters 0.018425543585796948 Centerline is valid? [True, True] Translation: X:97.96, Y:185.32, Z:5.07 [[-5.08573576e-01 -8.60976846e-01 8.47284967e-03 9.79612339e+01] [ 8.60849271e-01 -5.08644091e-01 -1.48229801e-02 1.85323713e+02] [ 1.70719076e-02 -2.44729551e-04 9.99854234e-01 5.06598901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70275509600003 meters 0.018829885528544723 Centerline is valid? [True, True] Translation: X:97.95, Y:185.35, Z:5.07 [[-5.09338355e-01 -8.60525913e-01 8.34227664e-03 9.79471675e+01] [ 8.60402402e-01 -5.09406607e-01 -1.45813649e-02 1.85345051e+02] [ 1.67972532e-02 -2.49133575e-04 9.99858885e-01 5.06528679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73275509600006 meters 0.019854794794820833 Centerline is valid? [True, True] Translation: X:97.94, Y:185.37, Z:5.06 [[-5.09584228e-01 -8.60378218e-01 8.55780785e-03 9.79360406e+01] [ 8.60248470e-01 -5.09656019e-01 -1.49436204e-02 1.85368219e+02] [ 1.72187037e-02 -2.53192146e-04 9.99851715e-01 5.06451058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76275509600003 meters 0.0199285080935909 Centerline is valid? [True, True] Translation: X:97.92, Y:185.39, Z:5.06 [[-5.09491676e-01 -8.60432957e-01 8.56497398e-03 9.79238188e+01] [ 8.60303240e-01 -5.09563604e-01 -1.49421920e-02 1.85388993e+02] [ 1.72211535e-02 -2.44447611e-04 9.99851675e-01 5.06440951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79275509600006 meters 0.018914770460706387 Centerline is valid? [True, True] Translation: X:97.91, Y:185.41, Z:5.07 [[-5.09521089e-01 -8.60415173e-01 8.60178965e-03 9.79084727e+01] [ 8.60284576e-01 -5.09593636e-01 -1.49925203e-02 1.85410310e+02] [ 1.72832092e-02 -2.39018317e-04 9.99850606e-01 5.06502118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82275509600004 meters 0.01895134132519348 Centerline is valid? [True, True] Translation: X:97.90, Y:185.43, Z:5.07 [[-5.09646422e-01 -8.60342529e-01 8.44138522e-03 9.78957991e+01] [ 8.60216963e-01 -5.09716274e-01 -1.47002269e-02 1.85432948e+02] [ 1.69499418e-02 -2.30495289e-04 9.99856313e-01 5.06523768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85275509600007 meters 0.01895134132519348 Centerline is valid? [True, True] Translation: X:97.88, Y:185.46, Z:5.07 [[-5.09968906e-01 -8.60151361e-01 8.44689851e-03 9.78826585e+01] [ 8.60025822e-01 -5.10038805e-01 -1.46970584e-02 1.85455279e+02] [ 1.69499408e-02 -2.30491966e-04 9.99856313e-01 5.06562042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88275509600004 meters 0.019099650110197295 Centerline is valid? [True, True] Translation: X:97.87, Y:185.48, Z:5.07 [[-5.10390716e-01 -8.59902039e-01 8.35470404e-03 9.78691895e+01] [ 8.59779400e-01 -5.10459039e-01 -1.45241738e-02 1.85478366e+02] [ 1.67541008e-02 -2.29801015e-04 9.99859614e-01 5.06577105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91275509600007 meters 0.019384567552265707 Centerline is valid? [True, True] Translation: X:97.86, Y:185.50, Z:5.07 [[-5.11009076e-01 -8.59533762e-01 8.45205306e-03 9.78568095e+01] [ 8.59408416e-01 -5.11078914e-01 -1.46805394e-02 1.85500078e+02] [ 1.69380853e-02 -2.38123310e-04 9.99856512e-01 5.06589168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94275509600004 meters 0.018769501840306232 Centerline is valid? [True, True] Translation: X:97.84, Y:185.52, Z:5.07 [[-5.11560929e-01 -8.59205853e-01 8.40938839e-03 9.78420455e+01] [ 8.59081947e-01 -5.11629987e-01 -1.45933483e-02 1.85522438e+02] [ 1.68411856e-02 -2.41033068e-04 9.99858148e-01 5.06595792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97275509600007 meters 0.019130221700659707 Centerline is valid? [True, True] Translation: X:97.83, Y:185.55, Z:5.07 [[-5.12757478e-01 -8.58495886e-01 8.03633738e-03 9.78302320e+01] [ 8.58382839e-01 -5.12820391e-01 -1.39337269e-02 1.85545734e+02] [ 1.60832449e-02 -2.46368605e-04 9.99870626e-01 5.06676256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00275509600004 meters 0.019757225641935564 Centerline is valid? [True, True] Translation: X:97.82, Y:185.57, Z:5.07 [[-5.13612271e-01 -8.57986174e-01 7.88414732e-03 9.78192521e+01] [ 8.57877499e-01 -5.13672719e-01 -1.36577494e-02 1.85568962e+02] [ 1.57680315e-02 -2.51155091e-04 9.99875645e-01 5.06743118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0327550960001 meters 0.02036655331444437 Centerline is valid? [True, True] Translation: X:97.81, Y:185.59, Z:5.07 [[-5.15386321e-01 -8.56924683e-01 7.55167866e-03 9.78082274e+01] [ 8.56825004e-01 -5.15441574e-01 -1.30727123e-02 1.85593638e+02] [ 1.50947789e-02 -2.67029976e-04 9.99886032e-01 5.06870623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06275509600005 meters 0.020823690086762377 Centerline is valid? [True, True] Translation: X:97.80, Y:185.62, Z:5.07 [[-5.16346193e-01 -8.56349242e-01 7.25149822e-03 9.77967755e+01] [ 8.56257412e-01 -5.16397041e-01 -1.25435573e-02 1.85616501e+02] [ 1.44863180e-02 -2.67668938e-04 9.99895032e-01 5.06984327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0927550960001 meters 0.021437289869040373 Centerline is valid? [True, True] Translation: X:97.78, Y:185.64, Z:5.07 [[-5.17788771e-01 -8.55482313e-01 6.69337173e-03 9.77844780e+01] [ 8.55404098e-01 -5.17831963e-01 -1.15709660e-02 1.85640350e+02] [ 1.33647985e-02 -2.65778636e-04 9.99910652e-01 5.07096035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12275509600005 meters 0.02147583553655407 Centerline is valid? [True, True] Translation: X:97.77, Y:185.66, Z:5.07 [[-5.18914130e-01 -8.54804704e-01 6.08639194e-03 9.77709560e+01] [ 8.54740085e-01 -5.18949761e-01 -1.05134813e-02 1.85664438e+02] [ 1.21455049e-02 -2.53310848e-04 9.99926209e-01 5.07281922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1527550960001 meters 0.021244571243949305 Centerline is valid? [True, True] Translation: X:97.76, Y:185.69, Z:5.07 [[-5.19280261e-01 -8.54583530e-01 5.91611150e-03 9.77568396e+01] [ 8.54522551e-01 -5.19313902e-01 -1.02118102e-02 1.85687277e+02] [ 1.17991637e-02 -2.47340757e-04 9.99930357e-01 5.07356425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18275509600005 meters 0.02089901253507791 Centerline is valid? [True, True] Translation: X:97.74, Y:185.71, Z:5.07 [[-5.19267253e-01 -8.54591359e-01 5.92697653e-03 9.77428095e+01] [ 8.54530265e-01 -5.19301021e-01 -1.02213874e-02 1.85710097e+02] [ 1.18129943e-02 -2.42850953e-04 9.99930195e-01 5.07415694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.212755096 meters 0.0210251878418574 Centerline is valid? [True, True] Translation: X:97.73, Y:185.73, Z:5.07 [[-5.18986957e-01 -8.54763836e-01 5.59679723e-03 9.77304008e+01] [ 8.54709466e-01 -5.19017087e-01 -9.64329722e-03 1.85731702e+02] [ 1.11475751e-02 -2.21109906e-04 9.99937839e-01 5.07498625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24275509600005 meters 0.02089973563646424 Centerline is valid? [True, True] Translation: X:97.72, Y:185.75, Z:5.08 [[-5.18929956e-01 -8.54798050e-01 5.65633299e-03 9.77167025e+01] [ 8.54742594e-01 -5.18960736e-01 -9.73928710e-03 1.85753882e+02] [ 1.12605384e-02 -2.19299095e-04 9.99936574e-01 5.07546350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.272755096 meters 0.020119129601367605 Centerline is valid? [True, True] Translation: X:97.70, Y:185.78, Z:5.08 [[-5.18395734e-01 -8.55120955e-01 5.83232403e-03 9.77016311e+01] [ 8.55062119e-01 -5.18428498e-01 -1.00331835e-02 1.85775235e+02] [ 1.16032284e-02 -2.14160167e-04 9.99932657e-01 5.07526145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30275509600006 meters 0.020340090434046457 Centerline is valid? [True, True] Translation: X:97.69, Y:185.80, Z:5.08 [[-5.18226261e-01 -8.55224000e-01 5.78385542e-03 9.76888531e+01] [ 8.55166246e-01 -5.18258496e-01 -9.94097065e-03 1.85797620e+02] [ 1.14992889e-02 -2.05514122e-04 9.99933860e-01 5.07564901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.332755096 meters 0.020298199145848034 Centerline is valid? [True, True] Translation: X:97.68, Y:185.82, Z:5.08 [[-5.18223469e-01 -8.55225230e-01 5.85161487e-03 9.76757098e+01] [ 8.55166229e-01 -5.18256466e-01 -1.00477128e-02 1.85819260e+02] [ 1.16256947e-02 -2.02857163e-04 9.99932399e-01 5.07600806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36275509600006 meters 0.019677791188947195 Centerline is valid? [True, True] Translation: X:97.66, Y:185.84, Z:5.08 [[-5.17982253e-01 -8.55370923e-01 5.91353810e-03 9.76610733e+01] [ 8.55310786e-01 -5.18015970e-01 -1.01446253e-02 1.85841264e+02] [ 1.17407246e-02 -1.96822918e-04 9.99931056e-01 5.07680536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39275509600003 meters 0.01971511380196848 Centerline is valid? [True, True] Translation: X:97.65, Y:185.86, Z:5.08 [[-5.18160834e-01 -8.55261727e-01 6.06036299e-03 9.76473353e+01] [ 8.55198674e-01 -5.18196235e-01 -1.03869882e-02 1.85864328e+02] [ 1.20240507e-02 -1.99316064e-04 9.99927689e-01 5.07710160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42275509600006 meters 0.019755122769394288 Centerline is valid? [True, True] Translation: X:97.63, Y:185.89, Z:5.08 [[-5.18639108e-01 -8.54971718e-01 6.06927113e-03 9.76333845e+01] [ 8.54908571e-01 -5.18674580e-01 -1.03930424e-02 1.85887325e+02] [ 1.20337340e-02 -2.01566349e-04 9.99927572e-01 5.07750190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45275509600003 meters 0.020035175097971338 Centerline is valid? [True, True] Translation: X:97.62, Y:185.91, Z:5.08 [[-5.19628154e-01 -8.54372179e-01 5.89579641e-03 9.76199763e+01] [ 8.54312650e-01 -5.19661560e-01 -1.00875611e-02 1.85909523e+02] [ 1.16823503e-02 -2.04927280e-04 9.99931738e-01 5.07837709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48275509600006 meters 0.020542252442029566 Centerline is valid? [True, True] Translation: X:97.61, Y:185.93, Z:5.08 [[-5.20479685e-01 -8.53853335e-01 5.94811453e-03 9.76078064e+01] [ 8.53792822e-01 -5.20513628e-01 -1.01675516e-02 1.85931964e+02] [ 1.17776726e-02 -2.13546591e-04 9.99930618e-01 5.07908836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51275509600003 meters 0.02130158819765728 Centerline is valid? [True, True] Translation: X:97.60, Y:185.96, Z:5.08 [[-5.22479525e-01 -8.52633191e-01 5.63807857e-03 9.75956918e+01] [ 8.52578848e-01 -5.22509896e-01 -9.62893706e-03 1.85955999e+02] [ 1.11559032e-02 -2.24015930e-04 9.99937746e-01 5.08044614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54275509600006 meters 0.0218989979877652 Centerline is valid? [True, True] Translation: X:97.58, Y:185.98, Z:5.08 [[-5.24027257e-01 -8.51684855e-01 5.32371317e-03 9.75827608e+01] [ 8.51636422e-01 -5.24054250e-01 -9.08556969e-03 1.85980423e+02] [ 1.05279566e-02 -2.27218129e-04 9.99944554e-01 5.08136291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57275509600004 meters 0.022598923768807847 Centerline is valid? [True, True] Translation: X:97.57, Y:186.00, Z:5.08 [[-5.25456599e-01 -8.50804277e-01 5.23882322e-03 9.75701099e+01] [ 8.50757403e-01 -5.25482661e-01 -8.93388584e-03 1.86004993e+02] [ 1.03538990e-02 -2.37401637e-04 9.99946369e-01 5.08236952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60275509600007 meters 0.02380628128383662 Centerline is valid? [True, True] Translation: X:97.56, Y:186.03, Z:5.08 [[-5.28118746e-01 -8.49153786e-01 5.33266818e-03 9.75583744e+01] [ 8.49105210e-01 -5.28145599e-01 -9.08671258e-03 1.86029457e+02] [ 1.05324416e-02 -2.70866924e-04 9.99944496e-01 5.08272910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63275509600004 meters 0.024208106779833087 Centerline is valid? [True, True] Translation: X:97.54, Y:186.05, Z:5.08 [[-5.29384997e-01 -8.48364977e-01 5.32826237e-03 9.75448544e+01] [ 8.48316515e-01 -5.29411735e-01 -9.07221393e-03 1.86053594e+02] [ 1.05173932e-02 -2.82640975e-04 9.99944651e-01 5.08307636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66275509600007 meters 0.02445660430219089 Centerline is valid? [True, True] Translation: X:97.53, Y:186.08, Z:5.08 [[-5.30344811e-01 -8.47765323e-01 5.32338326e-03 9.75316606e+01] [ 8.47716990e-01 -5.30371448e-01 -9.05713570e-03 1.86076459e+02] [ 1.05016961e-02 -2.90682483e-04 9.99944813e-01 5.08361952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69275509600004 meters 0.02522177721129895 Centerline is valid? [True, True] Translation: X:97.52, Y:186.10, Z:5.08 [[-5.31485859e-01 -8.47048952e-01 5.55468954e-03 9.75187279e+01] [ 8.46996381e-01 -5.31514793e-01 -9.44224827e-03 1.86099693e+02] [ 1.09504462e-02 -3.13619502e-04 9.99939993e-01 5.08370400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72275509600007 meters 0.023724538799763592 Centerline is valid? [True, True] Translation: X:97.50, Y:186.12, Z:5.08 [[-5.32054008e-01 -8.46691770e-01 5.61954582e-03 9.75027804e+01] [ 8.46638028e-01 -5.32083588e-01 -9.54490346e-03 1.86120432e+02] [ 1.10716593e-02 -3.20682952e-04 9.99938656e-01 5.08330826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75275509600004 meters 0.023621366911617394 Centerline is valid? [True, True] Translation: X:97.49, Y:186.14, Z:5.08 [[-5.31604014e-01 -8.46972007e-01 5.96591453e-03 9.74889849e+01] [ 8.46911570e-01 -5.31637387e-01 -1.01233463e-02 1.86142621e+02] [ 1.17458942e-02 -3.29009514e-04 9.99930960e-01 5.08330762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7827550960001 meters 0.02372071690909497 Centerline is valid? [True, True] Translation: X:97.48, Y:186.16, Z:5.08 [[-5.31294157e-01 -8.47165822e-01 6.04890854e-03 9.74759487e+01] [ 8.47103813e-01 -5.31328491e-01 -1.02549365e-02 1.86164625e+02] [ 1.19015892e-02 -3.24334368e-04 9.99929121e-01 5.08347089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81275509600005 meters 0.02537673215555274 Centerline is valid? [True, True] Translation: X:97.46, Y:186.19, Z:5.08 [[-5.30499328e-01 -8.47662236e-01 6.26077354e-03 9.74648442e+01] [ 8.47595972e-01 -5.30536174e-01 -1.06036041e-02 1.86188682e+02] [ 1.23098416e-02 -3.18598427e-04 9.99924180e-01 5.08388781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8427550960001 meters 0.02293763690048608 Centerline is valid? [True, True] Translation: X:97.45, Y:186.21, Z:5.08 [[-5.29976253e-01 -8.47987455e-01 6.51513887e-03 9.74472888e+01] [ 8.47915843e-01 -5.30016202e-01 -1.10249464e-02 1.86209453e+02] [ 1.28021454e-02 -3.18670343e-04 9.99917998e-01 5.08357481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87275509600005 meters 0.021732679511725656 Centerline is valid? [True, True] Translation: X:97.43, Y:186.23, Z:5.08 [[-5.27747894e-01 -8.49373666e-01 6.82174777e-03 9.74313587e+01] [ 8.49295412e-01 -5.27791900e-01 -1.15331402e-02 1.86231808e+02] [ 1.33964088e-02 -2.92911370e-04 9.99910221e-01 5.08384871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.9027550960001 meters 0.020143237223437083 Centerline is valid? [True, True] Translation: X:97.41, Y:186.25, Z:5.08 [[-5.26040078e-01 -8.50429759e-01 7.14566516e-03 9.74146216e+01] [ 8.50344132e-01 -5.26088538e-01 -1.20709460e-02 1.86253762e+02] [ 1.40247442e-02 -2.73526923e-04 9.99901611e-01 5.08372612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93275509600005 meters 0.01972704325676835 Centerline is valid? [True, True] Translation: X:97.40, Y:186.28, Z:5.08 [[-5.25676351e-01 -8.50653532e-01 7.27616457e-03 9.74001313e+01] [ 8.50564913e-01 -5.25726637e-01 -1.22813668e-02 1.86276371e+02] [ 1.42724616e-02 -2.67173822e-04 9.99898108e-01 5.08418604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.962755096 meters 0.020013958268800376 Centerline is valid? [True, True] Translation: X:97.39, Y:186.30, Z:5.08 [[-5.25757728e-01 -8.50604065e-01 7.17889243e-03 9.73877336e+01] [ 8.50517946e-01 -5.25806674e-01 -1.21064385e-02 1.86298796e+02] [ 1.40724954e-02 -2.59276766e-04 9.99900944e-01 5.08474528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99275509600005 meters 0.019809307774540003 Centerline is valid? [True, True] Translation: X:97.37, Y:186.32, Z:5.09 [[-5.25983704e-01 -8.50464467e-01 7.16477427e-03 9.73749921e+01] [ 8.50378833e-01 -5.26032438e-01 -1.20712848e-02 1.86322177e+02] [ 1.40351025e-02 -2.56526718e-04 9.99901470e-01 5.08536245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.022755096 meters 0.019563308252146396 Centerline is valid? [True, True] Translation: X:97.36, Y:186.35, Z:5.09 [[-5.26470852e-01 -8.50165295e-01 6.88565293e-03 9.73614112e+01] [ 8.50086310e-01 -5.26515820e-01 -1.15912679e-02 1.86345303e+02] [ 1.34798989e-02 -2.49065422e-04 9.99909111e-01 5.08634093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05275509600006 meters 0.020396298580455944 Centerline is valid? [True, True] Translation: X:97.35, Y:186.37, Z:5.09 [[-5.27543456e-01 -8.49504993e-01 6.25846077e-03 9.73511919e+01] [ 8.49439806e-01 -5.27580525e-01 -1.05263985e-02 1.86369750e+02] [ 1.22440701e-02 -2.36946950e-04 9.99925011e-01 5.08900138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.082755096 meters 0.020251234235803908 Centerline is valid? [True, True] Translation: X:97.34, Y:186.39, Z:5.09 [[-5.28181670e-01 -8.49111017e-01 5.88259781e-03 9.73378045e+01] [ 8.49053457e-01 -5.28214378e-01 -9.88924151e-03 1.86392744e+02] [ 1.15043367e-02 -2.28676089e-04 9.99933797e-01 5.09010998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11275509600006 meters 0.020553291802349983 Centerline is valid? [True, True] Translation: X:97.33, Y:186.42, Z:5.09 [[-5.28663005e-01 -8.48814847e-01 5.36502986e-03 9.73259674e+01] [ 8.48767028e-01 -5.28690185e-01 -9.01229769e-03 1.86415153e+02] [ 1.04862107e-02 -2.10807925e-04 9.99944996e-01 5.09151080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14275509600003 meters 0.02109876516442804 Centerline is valid? [True, True] Translation: X:97.31, Y:186.44, Z:5.09 [[-5.29399323e-01 -8.48357791e-01 5.04142788e-03 9.73143972e+01] [ 8.48315616e-01 -5.29423288e-01 -8.46155013e-03 1.86438096e+02] [ 9.84747130e-03 -2.02816914e-04 9.99951492e-01 5.09291379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17275509600006 meters 0.02044043829802425 Centerline is valid? [True, True] Translation: X:97.30, Y:186.46, Z:5.09 [[-5.29904199e-01 -8.48042350e-01 5.07066157e-03 9.72999639e+01] [ 8.47999748e-01 -5.29928420e-01 -8.50278310e-03 1.86460349e+02] [ 9.89780783e-03 -2.05740733e-04 9.99950994e-01 5.09288150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20275509600003 meters 0.021095098244036162 Centerline is valid? [True, True] Translation: X:97.29, Y:186.48, Z:5.09 [[-5.30276052e-01 -8.47810202e-01 5.01708281e-03 9.72883056e+01] [ 8.47768555e-01 -5.30299746e-01 -8.40575234e-03 1.86482926e+02] [ 9.78704032e-03 -2.04044117e-04 9.99952085e-01 5.09377182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23275509600006 meters 0.020226938214228638 Centerline is valid? [True, True] Translation: X:97.27, Y:186.50, Z:5.09 [[-5.30274208e-01 -8.47811703e-01 4.95793153e-03 9.72731972e+01] [ 8.47771107e-01 -5.30297348e-01 -8.29898091e-03 1.86504726e+02] [ 9.66515108e-03 -1.97544421e-04 9.99953272e-01 5.09414626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26275509600003 meters 0.02075795033256323 Centerline is valid? [True, True] Translation: X:97.26, Y:186.53, Z:5.09 [[-5.29339260e-01 -8.48395930e-01 4.92889276e-03 9.72605181e+01] [ 8.48355911e-01 -5.29362176e-01 -8.24227287e-03 1.86527124e+02] [ 9.60188015e-03 -1.81503314e-04 9.99953884e-01 5.09455321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29275509600006 meters 0.019492701365722242 Centerline is valid? [True, True] Translation: X:97.24, Y:186.55, Z:5.09 [[-5.28595843e-01 -8.48858387e-01 5.08661473e-03 9.72442869e+01] [ 8.48815844e-01 -5.28620287e-01 -8.50026818e-03 1.86548747e+02] [ 9.90441167e-03 -1.75607248e-04 9.99950935e-01 5.09421670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32275509600004 meters 0.01898804081931636 Centerline is valid? [True, True] Translation: X:97.23, Y:186.57, Z:5.09 [[-5.27043713e-01 -8.49821509e-01 5.32235232e-03 9.72294476e+01] [ 8.49775063e-01 -5.27070562e-01 -8.88626236e-03 1.86570922e+02] [ 1.03569921e-02 -1.60646435e-04 9.99946352e-01 5.09398305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35275509600007 meters 0.018634017162213017 Centerline is valid? [True, True] Translation: X:97.22, Y:186.59, Z:5.09 [[-5.26583472e-01 -8.50105120e-01 5.57954561e-03 9.72151684e+01] [ 8.50054181e-01 -5.26613007e-01 -9.30756707e-03 1.86592668e+02] [ 1.08506717e-02 -1.58294916e-04 9.99941117e-01 5.09373611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38275509600004 meters 0.01835271815203772 Centerline is valid? [True, True] Translation: X:97.20, Y:186.61, Z:5.09 [[-5.26112033e-01 -8.50395400e-01 5.81312349e-03 9.72013082e+01] [ 8.50340223e-01 -5.26144125e-01 -9.68837258e-03 1.86614905e+02] [ 1.12974882e-02 -1.54036670e-04 9.99936169e-01 5.09347349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41275509600007 meters 0.018296206696796817 Centerline is valid? [True, True] Translation: X:97.19, Y:186.64, Z:5.09 [[-5.25953476e-01 -8.50493096e-01 5.86805416e-03 9.71891624e+01] [ 8.50436973e-01 -5.25986189e-01 -9.77157041e-03 1.86636814e+02] [ 1.13971686e-02 -1.48981204e-04 9.99935039e-01 5.09309027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44275509600004 meters 0.018049372572716833 Centerline is valid? [True, True] Translation: X:97.18, Y:186.66, Z:5.09 [[-5.26497816e-01 -8.50154399e-01 6.12766928e-03 9.71754218e+01] [ 8.50093292e-01 -5.26533449e-01 -1.01942387e-02 1.86659550e+02] [ 1.18930998e-02 -1.58153882e-04 9.99929262e-01 5.09290944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47275509600007 meters 0.0185140438369951 Centerline is valid? [True, True] Translation: X:97.16, Y:186.68, Z:5.09 [[-5.27182416e-01 -8.49729923e-01 6.14478846e-03 9.71638857e+01] [ 8.49668550e-01 -5.27218201e-01 -1.02139088e-02 1.86682140e+02] [ 1.19187082e-02 -1.63559612e-04 9.99928956e-01 5.09326948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50275509600004 meters 0.01923146334020877 Centerline is valid? [True, True] Translation: X:97.15, Y:186.71, Z:5.09 [[-5.28642742e-01 -8.48824287e-01 5.84644501e-03 9.71532914e+01] [ 8.48768768e-01 -5.28675043e-01 -9.70969738e-03 1.86705953e+02] [ 1.13326965e-02 -1.70681124e-04 9.99935768e-01 5.09446365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5327550960001 meters 0.0195394387976809 Centerline is valid? [True, True] Translation: X:97.14, Y:186.73, Z:5.09 [[-5.29851686e-01 -8.48071269e-01 5.68445293e-03 9.71411480e+01] [ 8.48018826e-01 -5.29882148e-01 -9.43288013e-03 1.86728574e+02] [ 1.10118448e-02 -1.77504340e-04 9.99939352e-01 5.09497239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56275509600005 meters 0.019447153905383287 Centerline is valid? [True, True] Translation: X:97.13, Y:186.75, Z:5.09 [[-5.32203599e-01 -8.46597847e-01 5.60492561e-03 9.71282534e+01] [ 8.46546872e-01 -5.32233075e-01 -9.29230877e-03 1.86752688e+02] [ 1.08499754e-02 -2.00567926e-04 9.99941117e-01 5.09492899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5927550960001 meters 0.019567042151220283 Centerline is valid? [True, True] Translation: X:97.12, Y:186.78, Z:5.10 [[-5.33599124e-01 -8.45719296e-01 5.55415053e-03 9.71150884e+01] [ 8.45669268e-01 -5.33627987e-01 -9.20116040e-03 1.86775974e+02] [ 1.07454491e-02 -2.12756710e-04 9.99942243e-01 5.09524270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62275509600005 meters 0.02009579632072338 Centerline is valid? [True, True] Translation: X:97.10, Y:186.80, Z:5.10 [[-5.34449488e-01 -8.45183286e-01 5.38122732e-03 9.71029906e+01] [ 8.45136371e-01 -5.34476536e-01 -8.90772745e-03 1.86798085e+02] [ 1.04048021e-02 -2.12859445e-04 9.99945846e-01 5.09585183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6527550960001 meters 0.020849650675788676 Centerline is valid? [True, True] Translation: X:97.09, Y:186.82, Z:5.10 [[-5.35492810e-01 -8.44524590e-01 5.06622694e-03 9.70901849e+01] [ 8.44483052e-01 -5.35516735e-01 -8.37870953e-03 1.86821083e+02] [ 9.78907553e-03 -2.08395926e-04 9.99952064e-01 5.09651791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68275509600005 meters 0.020868424390447848 Centerline is valid? [True, True] Translation: X:97.08, Y:186.84, Z:5.10 [[-5.35858797e-01 -8.44292986e-01 4.97025986e-03 9.70759736e+01] [ 8.44253058e-01 -5.35881808e-01 -8.21352486e-03 1.86843513e+02] [ 9.59809326e-03 -2.05132470e-04 9.99953916e-01 5.09694164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.712755096 meters 0.020023304113904166 Centerline is valid? [True, True] Translation: X:97.06, Y:186.86, Z:5.10 [[-5.35712880e-01 -8.44386932e-01 4.73480774e-03 9.70600109e+01] [ 8.44350758e-01 -5.35733770e-01 -7.81830311e-03 1.86864631e+02] [ 9.13826938e-03 -1.90527174e-04 9.99958227e-01 5.09665637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74275509600005 meters 0.01996358966582445 Centerline is valid? [True, True] Translation: X:97.05, Y:186.89, Z:5.10 [[-5.35871933e-01 -8.44285704e-01 4.78768799e-03 9.70450634e+01] [ 8.44248779e-01 -5.35893286e-01 -7.89842859e-03 1.86886506e+02] [ 9.23422019e-03 -1.90546461e-04 9.99957346e-01 5.09674774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.772755096 meters 0.01996358966582445 Centerline is valid? [True, True] Translation: X:97.03, Y:186.91, Z:5.10 [[-5.36208467e-01 -8.44071992e-01 4.79083296e-03 9.70314005e+01] [ 8.44035076e-01 -5.36229835e-01 -7.89652001e-03 1.86908543e+02] [ 9.23421895e-03 -1.90549824e-04 9.99957346e-01 5.09713052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80275509600006 meters 0.019499903340441008 Centerline is valid? [True, True] Translation: X:97.02, Y:186.93, Z:5.10 [[-5.35359716e-01 -8.44608916e-01 5.07475565e-03 9.70153361e+01] [ 8.44567599e-01 -5.35383735e-01 -8.35632370e-03 1.86929419e+02] [ 9.77476714e-03 -1.87664891e-04 9.99952208e-01 5.09635928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.832755096 meters 0.019277606091893683 Centerline is valid? [True, True] Translation: X:97.00, Y:186.95, Z:5.10 [[-5.35107107e-01 -8.44767806e-01 5.26660111e-03 9.70002731e+01] [ 8.44723397e-01 -5.35132991e-01 -8.66398529e-03 1.86951224e+02] [ 1.01373879e-02 -1.87338923e-04 9.99948598e-01 5.09598967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86275509600006 meters 0.020207317673677314 Centerline is valid? [True, True] Translation: X:96.99, Y:186.97, Z:5.10 [[-5.34752194e-01 -8.44990481e-01 5.58372095e-03 9.69874277e+01] [ 8.44940668e-01 -5.34781312e-01 -9.17690094e-03 1.86973683e+02] [ 1.07404636e-02 -1.89455007e-04 9.99942302e-01 5.09588839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89275509600003 meters 0.01838986787424063 Centerline is valid? [True, True] Translation: X:96.97, Y:186.99, Z:5.09 [[-5.33641428e-01 -8.45690029e-01 5.93310947e-03 9.69680534e+01] [ 8.45633943e-01 -5.33674379e-01 -9.74120782e-03 1.86993208e+02] [ 1.14043908e-02 -1.81073295e-04 9.99934951e-01 5.09402891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92275509600006 meters 0.019066563057746486 Centerline is valid? [True, True] Translation: X:96.95, Y:187.02, Z:5.09 [[-5.33236759e-01 -8.45940565e-01 6.56652458e-03 9.69548840e+01] [ 8.45872020e-01 -5.33277155e-01 -1.07703845e-02 1.87015208e+02] [ 1.26128827e-02 -1.88725526e-04 9.99920437e-01 5.09365895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95275509600003 meters 0.01837611435798787 Centerline is valid? [True, True] Translation: X:96.94, Y:187.04, Z:5.09 [[-5.33219605e-01 -8.45951612e-01 6.53634925e-03 9.69385546e+01] [ 8.45883822e-01 -5.33259634e-01 -1.07108192e-02 1.87036235e+02] [ 1.25464060e-02 -1.82226709e-04 9.99921274e-01 5.09302030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98275509600006 meters 0.018162288233181313 Centerline is valid? [True, True] Translation: X:96.92, Y:187.06, Z:5.09 [[-5.33006059e-01 -8.46080396e-01 7.24598758e-03 9.69226266e+01] [ 8.45997257e-01 -5.33055275e-01 -1.18622985e-02 1.87057393e+02] [ 1.38989701e-02 -1.92591331e-04 9.99903386e-01 5.09134236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01275509600003 meters 0.017775422148956173 Centerline is valid? [True, True] Translation: X:96.91, Y:187.08, Z:5.09 [[-5.33431944e-01 -8.45810954e-01 7.36147054e-03 9.69066350e+01] [ 8.45725268e-01 -5.33482700e-01 -1.20407560e-02 1.87079536e+02] [ 1.41114205e-02 -1.97142237e-04 9.99900410e-01 5.09083638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04275509600006 meters 0.017777191503516903 Centerline is valid? [True, True] Translation: X:96.89, Y:187.10, Z:5.09 [[-5.33416769e-01 -8.45817788e-01 7.66948166e-03 9.68928379e+01] [ 8.45724938e-01 -5.33471865e-01 -1.25339449e-02 1.87100789e+02] [ 1.46928862e-02 -1.99544494e-04 9.99892034e-01 5.09052314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07275509600004 meters 0.018089740752727058 Centerline is valid? [True, True] Translation: X:96.88, Y:187.12, Z:5.09 [[-5.34468361e-01 -8.45155613e-01 7.45399103e-03 9.68798043e+01] [ 8.45068001e-01 -5.34520297e-01 -1.21706554e-02 1.87122821e+02] [ 1.42704072e-02 -2.05700932e-04 9.99898151e-01 5.09080627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10275509600007 meters 0.017860529322726443 Centerline is valid? [True, True] Translation: X:96.87, Y:187.15, Z:5.09 [[-5.34781877e-01 -8.44958009e-01 7.36931150e-03 9.68650715e+01] [ 8.44872515e-01 -5.34832611e-01 -1.20213054e-02 1.87145541e+02] [ 1.40988464e-02 -2.02647530e-04 9.99900586e-01 5.09120718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13275509600004 meters 0.018381446085569176 Centerline is valid? [True, True] Translation: X:96.85, Y:187.17, Z:5.09 [[-5.35592006e-01 -8.44447102e-01 7.09188953e-03 9.68522743e+01] [ 8.44368000e-01 -5.35638918e-01 -1.15598658e-02 1.87167672e+02] [ 1.35603872e-02 -2.03207137e-04 9.99908033e-01 5.09187912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16275509600007 meters 0.019191790565615725 Centerline is valid? [True, True] Translation: X:96.84, Y:187.19, Z:5.09 [[-5.36339136e-01 -8.43973895e-01 6.95668606e-03 9.68401163e+01] [ 8.43897880e-01 -5.36384211e-01 -1.13290091e-02 1.87190331e+02] [ 1.32928445e-02 -2.05458359e-04 9.99911625e-01 5.09292612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19275509600004 meters 0.019186656552302415 Centerline is valid? [True, True] Translation: X:96.83, Y:187.21, Z:5.09 [[-5.37712516e-01 -8.43102381e-01 6.60494877e-03 9.68258910e+01] [ 8.43033909e-01 -5.37753039e-01 -1.07469268e-02 1.87212560e+02] [ 1.26125909e-02 -2.10561281e-04 9.99920436e-01 5.09377844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22275509600007 meters 0.019685401257938055 Centerline is valid? [True, True] Translation: X:96.81, Y:187.23, Z:5.09 [[-5.38806588e-01 -8.42407276e-01 6.11896368e-03 9.68129980e+01] [ 8.42348559e-01 -5.38841292e-01 -9.94820952e-03 1.87234828e+02] [ 1.16775944e-02 -2.05860584e-04 9.99931793e-01 5.09484546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.25275509600004 meters 0.020688884222047465 Centerline is valid? [True, True] Translation: X:96.80, Y:187.26, Z:5.10 [[-5.40476432e-01 -8.41339741e-01 5.71552217e-03 9.68013554e+01] [ 8.41288524e-01 -5.40506611e-01 -9.28565503e-03 1.87257793e+02] [ 1.09016681e-02 -2.10274486e-04 9.99940553e-01 5.09608610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2827550960001 meters 0.019981403116511292 Centerline is valid? [True, True] Translation: X:96.79, Y:187.28, Z:5.10 [[-5.41495377e-01 -8.40685164e-01 5.58673072e-03 9.67862971e+01] [ 8.40636249e-01 -5.41524153e-01 -9.07128750e-03 1.87280067e+02] [ 1.06514464e-02 -2.15651891e-04 9.99943248e-01 5.09634571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.31275509600005 meters 0.021011678490054014 Centerline is valid? [True, True] Translation: X:96.77, Y:187.30, Z:5.10 [[-5.42669498e-01 -8.39929028e-01 5.38927060e-03 9.67743368e+01] [ 8.39883549e-01 -5.42696214e-01 -8.74313614e-03 1.87303612e+02] [ 1.02683506e-02 -2.18273576e-04 9.99947255e-01 5.09717226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3427550960001 meters 0.02112926111741756 Centerline is valid? [True, True] Translation: X:96.76, Y:187.33, Z:5.10 [[-5.43793030e-01 -8.39201800e-01 5.42951485e-03 9.67615201e+01] [ 8.39155679e-01 -5.43820086e-01 -8.80115850e-03 1.87326598e+02] [ 1.03386273e-02 -2.29800426e-04 9.99946529e-01 5.09717171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.37275509600005 meters 0.02142317354086455 Centerline is valid? [True, True] Translation: X:96.75, Y:187.35, Z:5.10 [[-5.44389200e-01 -8.38813350e-01 5.70636308e-03 9.67484182e+01] [ 8.38762477e-01 -5.44419052e-01 -9.24139533e-03 1.87349742e+02] [ 1.08584586e-02 -2.44632581e-04 9.99941015e-01 5.09690328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.4027550960001 meters 0.02059950473144562 Centerline is valid? [True, True] Translation: X:96.73, Y:187.37, Z:5.10 [[-5.44371470e-01 -8.38820327e-01 6.33723345e-03 9.67347012e+01] [ 8.38757703e-01 -5.44408291e-01 -1.02531917e-02 1.87372286e+02] [ 1.20506280e-02 -2.66141658e-04 9.99927353e-01 5.09612687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.43275509600005 meters 0.021392096913115805 Centerline is valid? [True, True] Translation: X:96.72, Y:187.40, Z:5.10 [[-5.44192121e-01 -8.38933590e-01 6.73554895e-03 9.67229029e+01] [ 8.38862985e-01 -5.44233733e-01 -1.08873959e-02 1.87395381e+02] [ 1.27995151e-02 -2.74632388e-04 9.99918045e-01 5.09610047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.462755096 meters 0.019226914133208796 Centerline is valid? [True, True] Translation: X:96.70, Y:187.42, Z:5.10 [[-5.41626291e-01 -8.40585888e-01 7.50506859e-03 9.67049189e+01] [ 8.40498564e-01 -5.41678225e-01 -1.21187565e-02 1.87416338e+02] [ 1.42521880e-02 -2.55837780e-04 9.99898400e-01 5.09522813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.49275509600005 meters 0.018791304318613214 Centerline is valid? [True, True] Translation: X:96.69, Y:187.44, Z:5.09 [[-5.40074477e-01 -8.41580095e-01 7.90586352e-03 9.66902764e+01] [ 8.41483461e-01 -5.40132287e-01 -1.27552782e-02 1.87438138e+02] [ 1.50048004e-02 -2.36146803e-04 9.99887394e-01 5.09456577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.522755096 meters 0.01774170746843787 Centerline is valid? [True, True] Translation: X:96.67, Y:187.46, Z:5.09 [[-5.37919808e-01 -8.42958112e-01 7.99379025e-03 9.66733095e+01] [ 8.42859632e-01 -5.37979166e-01 -1.28863339e-02 1.87459264e+02] [ 1.51631323e-02 -1.94171173e-04 9.99885014e-01 5.09454197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.55275509600006 meters 0.016436006019928808 Centerline is valid? [True, True] Translation: X:96.65, Y:187.48, Z:5.09 [[-5.33399271e-01 -8.45818473e-01 8.73657336e-03 9.66547213e+01] [ 8.45701420e-01 -5.33470802e-01 -1.40716770e-02 1.87478776e+02] [ 1.65627911e-02 -1.17289755e-04 9.99862821e-01 5.09361619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.582755096 meters 0.016043441528814803 Centerline is valid? [True, True] Translation: X:96.64, Y:187.50, Z:5.09 [[-5.31686934e-01 -8.46892559e-01 9.05530579e-03 9.66383100e+01] [ 8.46767177e-01 -5.31764034e-01 -1.45725674e-02 1.87499669e+02] [ 1.71566849e-02 -8.03079809e-05 9.99852810e-01 5.09372293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.61275509600006 meters 0.015908668386631044 Centerline is valid? [True, True] Translation: X:96.62, Y:187.52, Z:5.09 [[-5.30234788e-01 -8.47803350e-01 8.97492438e-03 9.66217756e+01] [ 8.47680526e-01 -5.30310737e-01 -1.44308154e-02 1.87521081e+02] [ 1.69939924e-02 -4.38517387e-05 9.99855591e-01 5.09357949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64275509600003 meters 0.015874174006715803 Centerline is valid? [True, True] Translation: X:96.61, Y:187.54, Z:5.09 [[-5.29346347e-01 -8.48358172e-01 8.99204875e-03 9.66066503e+01] [ 8.48235164e-01 -5.29422715e-01 -1.44462569e-02 1.87541551e+02] [ 1.70161950e-02 -1.97013611e-05 9.99855214e-01 5.09387398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.67275509600006 meters 0.01592424329485621 Centerline is valid? [True, True] Translation: X:96.59, Y:187.56, Z:5.09 [[-5.30102756e-01 -8.47885436e-01 9.01975785e-03 9.65928785e+01] [ 8.47761823e-01 -5.30179486e-01 -1.44777213e-02 1.87564107e+02] [ 1.70575396e-02 -2.80736254e-05 9.99854509e-01 5.09458322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70275509600003 meters 0.016007013298254456 Centerline is valid? [True, True] Translation: X:96.58, Y:187.59, Z:5.10 [[-5.31406962e-01 -8.47068798e-01 9.00509376e-03 9.65803749e+01] [ 8.46945675e-01 -5.31483253e-01 -1.44421171e-02 1.87585663e+02] [ 1.70195233e-02 -4.78163705e-05 9.99855156e-01 5.09510976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.73275509600006 meters 0.016216580517701504 Centerline is valid? [True, True] Translation: X:96.57, Y:187.61, Z:5.10 [[-5.33292907e-01 -8.45883869e-01 8.89693113e-03 9.65681669e+01] [ 8.45763688e-01 -5.33367110e-01 -1.42586877e-02 1.87607778e+02] [ 1.68065243e-02 -7.93557088e-05 9.99858757e-01 5.09572332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76275509600003 meters 0.016910143253876398 Centerline is valid? [True, True] Translation: X:96.56, Y:187.63, Z:5.10 [[-5.36733797e-01 -8.43706728e-01 8.70567719e-03 9.65578369e+01] [ 8.43591567e-01 -5.36804376e-01 -1.39402404e-02 1.87632059e+02] [ 1.64347202e-02 -1.38162269e-04 9.99864931e-01 5.09706401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.79275509600006 meters 0.017343902246271956 Centerline is valid? [True, True] Translation: X:96.55, Y:187.66, Z:5.10 [[-5.38482080e-01 -8.42594258e-01 8.48327184e-03 9.65455146e+01] [ 8.42484944e-01 -5.38548874e-01 -1.35730883e-02 1.87655317e+02] [ 1.60052628e-02 -1.61836039e-04 9.99871894e-01 5.09796135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82275509600004 meters 0.018462792014996215 Centerline is valid? [True, True] Translation: X:96.53, Y:187.68, Z:5.10 [[-5.41387212e-01 -8.40730152e-01 8.52634617e-03 9.65349333e+01] [ 8.40619676e-01 -5.41454308e-01 -1.36306149e-02 1.87678778e+02] [ 1.60762958e-02 -2.12026271e-04 9.99870746e-01 5.09890340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.85275509600007 meters 0.018861172049267225 Centerline is valid? [True, True] Translation: X:96.52, Y:187.70, Z:5.10 [[-5.42333788e-01 -8.40118760e-01 8.63317214e-03 9.65220143e+01] [ 8.40005617e-01 -5.42402450e-01 -1.37893179e-02 1.87701134e+02] [ 1.62673184e-02 -2.26499928e-04 9.99867653e-01 5.09900374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88275509600004 meters 0.019075584506568124 Centerline is valid? [True, True] Translation: X:96.51, Y:187.72, Z:5.10 [[-5.42984673e-01 -8.39696235e-01 8.82485527e-03 9.65088798e+01] [ 8.39578169e-01 -5.43056329e-01 -1.40826484e-02 1.87723137e+02] [ 1.66175404e-02 -2.37506409e-04 9.99861891e-01 5.09924936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.91275509600007 meters 0.018587419649261697 Centerline is valid? [True, True] Translation: X:96.49, Y:187.75, Z:5.10 [[-5.43205622e-01 -8.39551766e-01 8.97130468e-03 9.64938960e+01] [ 8.39429946e-01 -5.43279647e-01 -1.43034989e-02 1.87745147e+02] [ 1.68824550e-02 -2.38959217e-04 9.99857453e-01 5.09968748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94275509600004 meters 0.018116748218957746 Centerline is valid? [True, True] Translation: X:96.48, Y:187.77, Z:5.10 [[-5.42308019e-01 -8.40125765e-01 9.52425803e-03 9.64787532e+01] [ 8.39988795e-01 -5.42391600e-01 -1.51715536e-02 1.87767333e+02] [ 1.79118906e-02 -2.27385139e-04 9.99839543e-01 5.09950416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.97275509600007 meters 0.01773844081642851 Centerline is valid? [True, True] Translation: X:96.46, Y:187.79, Z:5.10 [[-5.41665178e-01 -8.40538057e-01 9.72678681e-03 9.64637259e+01] [ 8.40395516e-01 -5.41752463e-01 -1.54804920e-02 1.87789190e+02] [ 1.82814533e-02 -2.10895409e-04 9.99832858e-01 5.09970146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00275509600004 meters 0.01902035866705983 Centerline is valid? [True, True] Translation: X:96.45, Y:187.81, Z:5.10 [[-5.40858671e-01 -8.41052334e-01 1.01424213e-02 9.64500406e+01] [ 8.40897725e-01 -5.40953726e-01 -1.61271020e-02 1.87810907e+02] [ 1.90503173e-02 -1.93743973e-04 9.99818507e-01 5.09787863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0327550960001 meters 0.017479555744922624 Centerline is valid? [True, True] Translation: X:96.44, Y:187.83, Z:5.10 [[-5.40018754e-01 -8.41589817e-01 1.03114337e-02 9.64353370e+01] [ 8.41430403e-01 -5.40117165e-01 -1.63806359e-02 1.87831537e+02] [ 1.93551587e-02 -1.69496763e-04 9.99812657e-01 5.09987686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06275509600005 meters 0.017196045840043257 Centerline is valid? [True, True] Translation: X:96.42, Y:187.85, Z:5.10 [[-5.38092059e-01 -8.42817641e-01 1.07406083e-02 9.64200074e+01] [ 8.42645241e-01 -5.38199229e-01 -1.70466383e-02 1.87852069e+02] [ 2.01477946e-02 -1.22138210e-04 9.99797005e-01 5.09910104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0927550960001 meters 0.0170338576560317 Centerline is valid? [True, True] Translation: X:96.40, Y:187.87, Z:5.10 [[-5.37553482e-01 -8.43159257e-01 1.08958826e-02 9.64043306e+01] [ 8.42982221e-01 -5.37663888e-01 -1.72776812e-02 1.87873441e+02] [ 2.04261595e-02 -1.02642408e-04 9.99791359e-01 5.09972304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12275509600005 meters 0.016989868594802247 Centerline is valid? [True, True] Translation: X:96.39, Y:187.89, Z:5.10 [[-5.36791974e-01 -8.43642321e-01 1.10458935e-02 9.63887011e+01] [ 8.43460796e-01 -5.36905605e-01 -1.75002088e-02 1.87894965e+02] [ 2.06945189e-02 -7.71934991e-05 9.99785843e-01 5.10019886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1527550960001 meters 0.016991952182129934 Centerline is valid? [True, True] Translation: X:96.37, Y:187.92, Z:5.10 [[-5.37454140e-01 -8.43218169e-01 1.12324344e-02 9.63749366e+01] [ 8.43030700e-01 -5.37571495e-01 -1.77799211e-02 1.87917282e+02] [ 2.10305891e-02 -8.66051540e-05 9.99778829e-01 5.10106538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18275509600005 meters 0.018744466104324148 Centerline is valid? [True, True] Translation: X:96.36, Y:187.94, Z:5.10 [[-5.38328526e-01 -8.42659725e-01 1.12688036e-02 9.63628023e+01] [ 8.42471254e-01 -5.38446448e-01 -1.78216033e-02 1.87939217e+02] [ 2.10851946e-02 -1.00234291e-04 9.99777678e-01 5.09957048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.212755096 meters 0.017775475439097008 Centerline is valid? [True, True] Translation: X:96.35, Y:187.96, Z:5.10 [[-5.41434906e-01 -8.40671706e-01 1.09235682e-02 9.63498621e+01] [ 8.40494504e-01 -5.41545063e-01 -1.72607512e-02 1.87963337e+02] [ 2.04262296e-02 -1.64374168e-04 9.99791349e-01 5.10329471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24275509600005 meters 0.018259995324545215 Centerline is valid? [True, True] Translation: X:96.34, Y:187.99, Z:5.10 [[-5.43456645e-01 -8.39367326e-01 1.08336094e-02 9.63375471e+01] [ 8.39193056e-01 -5.43564578e-01 -1.71045114e-02 1.87985412e+02] [ 2.02457343e-02 -2.04070546e-04 9.99795013e-01 5.10399076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.272755096 meters 0.018822228407932906 Centerline is valid? [True, True] Translation: X:96.32, Y:188.01, Z:5.10 [[-5.45377960e-01 -8.38123226e-01 1.05990170e-02 9.63247043e+01] [ 8.37956477e-01 -5.45480891e-01 -1.67194601e-02 1.88008441e+02] [ 1.97945291e-02 -2.36910071e-04 9.99804041e-01 5.10478527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30275509600006 meters 0.01970016102217518 Centerline is valid? [True, True] Translation: X:96.31, Y:188.03, Z:5.11 [[-5.48588310e-01 -8.36028666e-01 1.03409583e-02 9.63114592e+01] [ 8.35869816e-01 -5.48685685e-01 -1.62993974e-02 1.88031765e+02] [ 1.93006993e-02 -2.97964010e-04 9.99813680e-01 5.10594062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.332755096 meters 0.021362495474051894 Centerline is valid? [True, True] Translation: X:96.30, Y:188.05, Z:5.10 [[-5.49820521e-01 -8.35219408e-01 1.02925017e-02 9.62988787e+01] [ 8.35062159e-01 -5.49916757e-01 -1.62095675e-02 1.88053905e+02] [ 1.91985645e-02 -3.17474210e-04 9.99815640e-01 5.10484522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36275509600006 meters 0.020378719356672206 Centerline is valid? [True, True] Translation: X:96.28, Y:188.08, Z:5.11 [[-5.51657498e-01 -8.34009506e-01 1.01068576e-02 9.62823860e+01] [ 8.33857933e-01 -5.51749965e-01 -1.59035470e-02 1.88075396e+02] [ 1.88401677e-02 -3.45627606e-04 9.99822449e-01 5.10795372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.39275509600003 meters 0.0206666816510327 Centerline is valid? [True, True] Translation: X:96.27, Y:188.10, Z:5.11 [[-5.52118932e-01 -8.33702291e-01 1.02554551e-02 9.62680133e+01] [ 8.33546432e-01 -5.52214057e-01 -1.61239513e-02 1.88096179e+02] [ 1.91057816e-02 -3.53940759e-04 9.99817405e-01 5.10837023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42275509600006 meters 0.020846084674624888 Centerline is valid? [True, True] Translation: X:96.25, Y:188.12, Z:5.11 [[-5.52505260e-01 -8.33445951e-01 1.02851775e-02 9.62531821e+01] [ 8.33289427e-01 -5.52600869e-01 -1.61558417e-02 1.88116745e+02] [ 1.91486189e-02 -3.55657863e-04 9.99816585e-01 5.10841296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.45275509600003 meters 0.020152516642145273 Centerline is valid? [True, True] Translation: X:96.23, Y:188.14, Z:5.11 [[-5.51997333e-01 -8.33782721e-01 1.02625041e-02 9.62347124e+01] [ 8.33627215e-01 -5.52092621e-01 -1.61060220e-02 1.88137225e+02] [ 1.90947756e-02 -3.35378468e-04 9.99817622e-01 5.10877688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48275509600006 meters 0.02087751372527166 Centerline is valid? [True, True] Translation: X:96.22, Y:188.16, Z:5.11 [[-5.51871172e-01 -8.33862171e-01 1.05872295e-02 9.62215071e+01] [ 8.33696961e-01 -5.51972614e-01 -1.66015070e-02 1.88158753e+02] [ 1.96872295e-02 -3.35352042e-04 9.99806131e-01 5.10855708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51275509600003 meters 0.020848444070907135 Centerline is valid? [True, True] Translation: X:96.21, Y:188.18, Z:5.11 [[-5.51766146e-01 -8.33927856e-01 1.08835527e-02 9.62060649e+01] [ 8.33753597e-01 -5.51873374e-01 -1.70505021e-02 1.88180346e+02] [ 2.02252316e-02 -3.33688614e-04 9.99795393e-01 5.10875868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54275509600006 meters 0.023788991629317077 Centerline is valid? [True, True] Translation: X:96.19, Y:188.20, Z:5.10 [[-5.51866009e-01 -8.33852410e-01 1.15786760e-02 9.61920703e+01] [ 8.33655477e-01 -5.51987351e-01 -1.81248692e-02 1.88201820e+02] [ 2.15047485e-02 -3.49872543e-04 9.99768685e-01 5.10431363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57275509600004 meters 0.020070017083799085 Centerline is valid? [True, True] Translation: X:96.17, Y:188.22, Z:5.11 [[-5.52212423e-01 -8.33625784e-01 1.13794697e-02 9.61737880e+01] [ 8.33435790e-01 -5.52329551e-01 -1.78003238e-02 1.88221454e+02] [ 2.11240263e-02 -3.45502647e-04 9.99776803e-01 5.10996158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60275509600007 meters 0.02074540825064543 Centerline is valid? [True, True] Translation: X:96.16, Y:188.24, Z:5.11 [[-5.52915169e-01 -8.33159017e-01 1.14398113e-02 9.61605596e+01] [ 8.32967217e-01 -5.53033385e-01 -1.78798574e-02 1.88242697e+02] [ 2.12233620e-02 -3.57056570e-04 9.99774695e-01 5.11008114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63275509600004 meters 0.020820766948469745 Centerline is valid? [True, True] Translation: X:96.15, Y:188.26, Z:5.11 [[-5.54548939e-01 -8.32074442e-01 1.12958879e-02 9.61451165e+01] [ 8.31887480e-01 -5.54663839e-01 -1.76422121e-02 1.88264983e+02] [ 2.09450543e-02 -3.86562311e-04 9.99780554e-01 5.11148065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66275509600007 meters 0.020820766948469745 Centerline is valid? [True, True] Translation: X:96.13, Y:188.29, Z:5.11 [[-5.54880147e-01 -8.31853520e-01 1.13024146e-02 9.61309295e+01] [ 8.31666596e-01 -5.54995110e-01 -1.76380303e-02 1.88286676e+02] [ 2.09450424e-02 -3.87152179e-04 9.99780554e-01 5.11186357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69275509600004 meters 0.021746466690094862 Centerline is valid? [True, True] Translation: X:96.12, Y:188.31, Z:5.11 [[-5.56044741e-01 -8.31078548e-01 1.10767268e-02 9.61188005e+01] [ 8.30899173e-01 -5.56154914e-01 -1.72706986e-02 1.88308495e+02] [ 2.05136832e-02 -3.99638025e-04 9.99789492e-01 5.11212103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72275509600007 meters 0.021602413063874507 Centerline is valid? [True, True] Translation: X:96.10, Y:188.33, Z:5.11 [[-5.57012701e-01 -8.30428238e-01 1.12157122e-02 9.61043172e+01] [ 8.30244533e-01 -5.57125448e-01 -1.74714249e-02 1.88330185e+02] [ 2.07573233e-02 -4.20021837e-04 9.99784455e-01 5.11327578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.75275509600004 meters 0.0222950356474579 Centerline is valid? [True, True] Translation: X:96.09, Y:188.35, Z:5.11 [[-5.58768478e-01 -8.29246107e-01 1.13438392e-02 9.60905927e+01] [ 8.29058250e-01 -5.58883424e-01 -1.76560350e-02 1.88354103e+02] [ 2.09810820e-02 -4.60932323e-04 9.99779767e-01 5.11418081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7827550960001 meters 0.022422762105674305 Centerline is valid? [True, True] Translation: X:96.08, Y:188.38, Z:5.11 [[-5.59411235e-01 -8.28811447e-01 1.14304339e-02 9.60760051e+01] [ 8.28620924e-01 -5.59527802e-01 -1.77764727e-02 1.88376534e+02] [ 2.11289896e-02 -4.72861863e-04 9.99776646e-01 5.11447125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.81275509600005 meters 0.022386644989347483 Centerline is valid? [True, True] Translation: X:96.06, Y:188.40, Z:5.11 [[-5.60000016e-01 -8.28415744e-01 1.12843889e-02 9.60616601e+01] [ 8.28230293e-01 -5.60113499e-01 -1.75342538e-02 1.88398464e+02] [ 2.08461904e-02 -4.73109696e-04 9.99782583e-01 5.11492409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8427550960001 meters 0.02217144335936558 Centerline is valid? [True, True] Translation: X:96.05, Y:188.42, Z:5.12 [[-5.59974707e-01 -8.28436107e-01 1.10428299e-02 9.60471295e+01] [ 8.28258817e-01 -5.60083396e-01 -1.71441606e-02 1.88419966e+02] [ 2.03877474e-02 -4.53975070e-04 9.99792045e-01 5.11594457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.87275509600005 meters 0.024235171444351812 Centerline is valid? [True, True] Translation: X:96.03, Y:188.44, Z:5.11 [[-5.60035676e-01 -8.28396417e-01 1.09278487e-02 9.60345582e+01] [ 8.28223072e-01 -5.60142107e-01 -1.69517834e-02 1.88442436e+02] [ 2.01639449e-02 -4.42907074e-04 9.99796589e-01 5.11373592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.9027550960001 meters 0.021873054697331876 Centerline is valid? [True, True] Translation: X:96.02, Y:188.46, Z:5.12 [[-5.58741872e-01 -8.29272906e-01 1.06755659e-02 9.60180296e+01] [ 8.29107860e-01 -5.58843709e-01 -1.65488743e-02 1.88463659e+02] [ 1.96895059e-02 -3.95353427e-04 9.99806065e-01 5.11724805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.93275509600005 meters 0.02324701687168223 Centerline is valid? [True, True] Translation: X:96.00, Y:188.49, Z:5.11 [[-5.57156440e-01 -8.30337428e-01 1.07915733e-02 9.60015190e+01] [ 8.30169233e-01 -5.57260828e-01 -1.67156699e-02 1.88485080e+02] [ 1.98933674e-02 -3.54411049e-04 9.99802045e-01 5.11427280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.962755096 meters 0.02018998202582548 Centerline is valid? [True, True] Translation: X:95.99, Y:188.51, Z:5.12 [[-5.55507207e-01 -8.31445282e-01 1.05112496e-02 9.59851904e+01] [ 8.31286157e-01 -5.55606564e-01 -1.62687076e-02 1.88506173e+02] [ 1.93666594e-02 -2.99528092e-04 9.99812404e-01 5.11864339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.99275509600005 meters 0.019588138494060024 Centerline is valid? [True, True] Translation: X:95.97, Y:188.53, Z:5.12 [[-5.53315401e-01 -8.32901811e-01 1.07999721e-02 9.59673599e+01] [ 8.32734377e-01 -5.53420736e-01 -1.67016995e-02 1.88527363e+02] [ 1.98878043e-02 -2.47799542e-04 9.99802187e-01 5.11869981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.022755096 meters 0.019443984534383552 Centerline is valid? [True, True] Translation: X:95.95, Y:188.55, Z:5.12 [[-5.52385628e-01 -8.33515691e-01 1.10322583e-02 9.59527248e+01] [ 8.33341362e-01 -5.52495740e-01 -1.70479147e-02 1.88547759e+02] [ 2.03049802e-02 -2.23385908e-04 9.99793808e-01 5.11831106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.05275509600006 meters 0.01893907567581047 Centerline is valid? [True, True] Translation: X:95.94, Y:188.57, Z:5.12 [[-5.51581855e-01 -8.34045854e-01 1.11790050e-02 9.59359647e+01] [ 8.33867222e-01 -5.51695091e-01 -1.72622039e-02 1.88569208e+02] [ 2.05648718e-02 -1.99712642e-04 9.99788501e-01 5.11899424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.082755096 meters 0.019075059798731635 Centerline is valid? [True, True] Translation: X:95.92, Y:188.59, Z:5.12 [[-5.51155320e-01 -8.34326369e-01 1.12837959e-02 9.59219520e+01] [ 8.34144733e-01 -5.51270784e-01 -1.74094053e-02 1.88590801e+02] [ 2.07455529e-02 -1.82967430e-04 9.99784771e-01 5.11835159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.11275509600006 meters 0.019579133204411094 Centerline is valid? [True, True] Translation: X:95.91, Y:188.61, Z:5.12 [[-5.49960256e-01 -8.35109009e-01 1.16901794e-02 9.59062006e+01] [ 8.34914586e-01 -5.50084467e-01 -1.80197854e-02 1.88611592e+02] [ 2.14790712e-02 -1.49864514e-04 9.99769287e-01 5.11727548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14275509600003 meters 0.01865434691817049 Centerline is valid? [True, True] Translation: X:95.89, Y:188.63, Z:5.12 [[-5.49642536e-01 -8.35321005e-01 1.14848500e-02 9.58906761e+01] [ 8.35133714e-01 -5.49762496e-01 -1.76883293e-02 1.88632911e+02] [ 2.10893728e-02 -1.30872736e-04 9.99777586e-01 5.11968148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.17275509600006 meters 0.018766314148979824 Centerline is valid? [True, True] Translation: X:95.88, Y:188.65, Z:5.12 [[-5.49628098e-01 -8.35328487e-01 1.16306800e-02 9.58760400e+01] [ 8.35136755e-01 -5.49751129e-01 -1.78968398e-02 1.88653918e+02] [ 2.13437196e-02 -1.23397648e-04 9.99772189e-01 5.11959033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20275509600003 meters 0.018721020331633968 Centerline is valid? [True, True] Translation: X:95.86, Y:188.68, Z:5.12 [[-5.50073780e-01 -8.35036235e-01 1.15465310e-02 9.58609811e+01] [ 8.34847539e-01 -5.50194939e-01 -1.77514973e-02 1.88676006e+02] [ 2.11759864e-02 -1.25040228e-04 9.99775756e-01 5.12065579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.23275509600006 meters 0.0188612076551023 Centerline is valid? [True, True] Translation: X:95.85, Y:188.70, Z:5.12 [[-5.50799879e-01 -8.34558161e-01 1.14964887e-02 9.58470618e+01] [ 8.34371315e-01 -5.50919829e-01 -1.76593043e-02 1.88697733e+02] [ 2.10713601e-02 -1.34402229e-04 9.99777965e-01 5.12077960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26275509600003 meters 0.018699571768860335 Centerline is valid? [True, True] Translation: X:95.83, Y:188.72, Z:5.12 [[-5.51680826e-01 -8.33976823e-01 1.14422534e-02 9.58317808e+01] [ 8.33791928e-01 -5.51799454e-01 -1.75608516e-02 1.88719899e+02] [ 2.09591724e-02 -1.47526617e-04 9.99780322e-01 5.12222144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.29275509600006 meters 0.019057574930016166 Centerline is valid? [True, True] Translation: X:95.82, Y:188.74, Z:5.12 [[-5.53190042e-01 -8.32977410e-01 1.13759048e-02 9.58193273e+01] [ 8.32794713e-01 -5.53306970e-01 -1.74460254e-02 1.88742843e+02] [ 2.08265124e-02 -1.77174169e-04 9.99783089e-01 5.12285842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32275509600004 meters 0.018985264672346656 Centerline is valid? [True, True] Translation: X:95.80, Y:188.77, Z:5.12 [[-5.54416323e-01 -8.32163063e-01 1.12772578e-02 9.58046435e+01] [ 8.31983589e-01 -5.54530970e-01 -1.72832578e-02 1.88765647e+02] [ 2.06360775e-02 -1.99626790e-04 9.99787034e-01 5.12438453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.35275509600007 meters 0.01960440251591479 Centerline is valid? [True, True] Translation: X:95.79, Y:188.79, Z:5.13 [[-5.56422434e-01 -8.30825841e-01 1.10678113e-02 9.57926336e+01] [ 8.30652972e-01 -5.56532447e-01 -1.69491760e-02 1.88788567e+02] [ 2.02414096e-02 -2.37391442e-04 9.99795094e-01 5.12515894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38275509600004 meters 0.019646850707612733 Centerline is valid? [True, True] Translation: X:95.78, Y:188.81, Z:5.13 [[-5.57849577e-01 -8.29869269e-01 1.09930022e-02 9.57779974e+01] [ 8.29698798e-01 -5.57957819e-01 -1.68219242e-02 1.88811070e+02] [ 2.00936295e-02 -2.63222618e-04 9.99798068e-01 5.12588262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.41275509600007 meters 0.019742310244640616 Centerline is valid? [True, True] Translation: X:95.76, Y:188.83, Z:5.13 [[-5.58972870e-01 -8.29113301e-01 1.09756655e-02 9.57635088e+01] [ 8.28943489e-01 -5.59080544e-01 -1.67820577e-02 1.88834008e+02] [ 2.00505083e-02 -2.82508522e-04 9.99798928e-01 5.12710548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44275509600004 meters 0.02073333930314711 Centerline is valid? [True, True] Translation: X:95.75, Y:188.86, Z:5.13 [[-5.60798889e-01 -8.27880493e-01 1.08856052e-02 9.57515134e+01] [ 8.27713490e-01 -5.60904439e-01 -1.66309530e-02 1.88857941e+02] [ 1.98742259e-02 -3.16457708e-04 9.99802438e-01 5.12762893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.47275509600007 meters 0.020513362310479098 Centerline is valid? [True, True] Translation: X:95.74, Y:188.88, Z:5.13 [[-5.61635055e-01 -8.27314824e-01 1.07817593e-02 9.57363579e+01] [ 8.27151154e-01 -5.61738440e-01 -1.64588231e-02 1.88880647e+02] [ 1.96731570e-02 -3.25707388e-04 9.99806412e-01 5.12847962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50275509600004 meters 0.02118547051395434 Centerline is valid? [True, True] Translation: X:95.72, Y:188.90, Z:5.13 [[-5.62769937e-01 -8.26539875e-01 1.10378396e-02 9.57241316e+01] [ 8.26368442e-01 -5.62878060e-01 -1.68371014e-02 1.88903588e+02] [ 2.01294934e-02 -3.54092120e-04 9.99797319e-01 5.12868209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5327550960001 meters 0.021244558855448983 Centerline is valid? [True, True] Translation: X:95.71, Y:188.93, Z:5.13 [[-5.63487113e-01 -8.26052121e-01 1.09620995e-02 9.57104408e+01] [ 8.25883149e-01 -5.63593614e-01 -1.67111529e-02 1.88925559e+02] [ 1.99824526e-02 -3.63106044e-04 9.99800265e-01 5.12933270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56275509600005 meters 0.021583844011406204 Centerline is valid? [True, True] Translation: X:95.70, Y:188.95, Z:5.13 [[-5.64066862e-01 -8.25654597e-01 1.10932797e-02 9.56973752e+01] [ 8.25481736e-01 -5.64175811e-01 -1.68984845e-02 1.88947950e+02] [ 2.02108715e-02 -3.74575337e-04 9.99795669e-01 5.12964810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5927550960001 meters 0.021346549730676914 Centerline is valid? [True, True] Translation: X:95.68, Y:188.97, Z:5.13 [[-5.64416739e-01 -8.25416668e-01 1.10031161e-02 9.56826889e+01] [ 8.25246855e-01 -5.64523858e-01 -1.67464318e-02 1.88970309e+02] [ 2.00343054e-02 -3.71679481e-04 9.99799224e-01 5.13127027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62275509600005 meters 0.020964683810647554 Centerline is valid? [True, True] Translation: X:95.67, Y:188.99, Z:5.13 [[-5.64229939e-01 -8.25545345e-01 1.09296902e-02 9.56680361e+01] [ 8.25378095e-01 -5.64335676e-01 -1.66206020e-02 1.88991826e+02] [ 1.98890747e-02 -3.56714368e-04 9.99802129e-01 5.13215567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6527550960001 meters 0.020721831446566672 Centerline is valid? [True, True] Translation: X:95.65, Y:189.01, Z:5.13 [[-5.64051344e-01 -8.25667955e-01 1.08862433e-02 9.56530384e+01] [ 8.25502334e-01 -5.64156283e-01 -1.65404149e-02 1.89013705e+02] [ 1.97984331e-02 -3.43023933e-04 9.99803933e-01 5.13341692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68275509600005 meters 0.020181042134891386 Centerline is valid? [True, True] Translation: X:95.64, Y:189.04, Z:5.13 [[-5.63046619e-01 -8.26354415e-01 1.08113505e-02 9.56383738e+01] [ 8.26191469e-01 -5.63150322e-01 -1.64125669e-02 1.89035466e+02] [ 1.96510127e-02 -3.08794774e-04 9.99806853e-01 5.13496376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.712755096 meters 0.02020224074596295 Centerline is valid? [True, True] Translation: X:95.62, Y:189.06, Z:5.14 [[-5.62610206e-01 -8.26649746e-01 1.09523546e-02 9.56247657e+01] [ 8.26482848e-01 -5.62716724e-01 -1.66129995e-02 1.89056536e+02] [ 1.98962050e-02 -2.94709849e-04 9.99802008e-01 5.13547678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74275509600005 meters 0.01995627811774422 Centerline is valid? [True, True] Translation: X:95.61, Y:189.08, Z:5.14 [[-5.62460519e-01 -8.26752324e-01 1.08977302e-02 9.56100113e+01] [ 8.26587339e-01 -5.62566010e-01 -1.65183197e-02 1.89078012e+02] [ 1.97872518e-02 -2.82976830e-04 9.99804173e-01 5.13655267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.772755096 meters 0.019670175961812336 Centerline is valid? [True, True] Translation: X:95.60, Y:189.10, Z:5.14 [[-5.61910856e-01 -8.27124808e-01 1.09883060e-02 9.55953340e+01] [ 8.26957418e-01 -5.62018223e-01 -1.66416998e-02 1.89099577e+02] [ 1.99403910e-02 -2.64290613e-04 9.99801136e-01 5.13672911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80275509600006 meters 0.019109728935945265 Centerline is valid? [True, True] Translation: X:95.58, Y:189.12, Z:5.14 [[-5.61192480e-01 -8.27608133e-01 1.13039454e-02 9.55797023e+01] [ 8.27431383e-01 -5.61306261e-01 -1.71051948e-02 1.89121125e+02] [ 2.05013737e-02 -2.46067565e-04 9.99789794e-01 5.13725081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.832755096 meters 0.018970431664063026 Centerline is valid? [True, True] Translation: X:95.57, Y:189.14, Z:5.14 [[-5.60888145e-01 -8.27811473e-01 1.15175601e-02 9.55653586e+01] [ 8.27628338e-01 -5.61006338e-01 -1.74133112e-02 1.89142528e+02] [ 2.08763630e-02 -2.34660706e-04 9.99782037e-01 5.13782330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86275509600006 meters 0.01859452585832293 Centerline is valid? [True, True] Translation: X:95.55, Y:189.16, Z:5.14 [[-5.59999349e-01 -8.28409084e-01 1.17949025e-02 9.55509589e+01] [ 8.28217490e-01 -5.60123510e-01 -1.78169061e-02 1.89164366e+02] [ 2.13662890e-02 -2.08711284e-04 9.99771693e-01 5.13845596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.89275509600003 meters 0.018319216979192483 Centerline is valid? [True, True] Translation: X:95.54, Y:189.19, Z:5.14 [[-5.59884440e-01 -8.28484311e-01 1.19649374e-02 9.55360811e+01] [ 8.28287503e-01 -5.60012237e-01 -1.80584133e-02 1.89186386e+02] [ 2.16616235e-02 -2.00216515e-04 9.99765339e-01 5.13965176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92275509600006 meters 0.01810113981481865 Centerline is valid? [True, True] Translation: X:95.52, Y:189.21, Z:5.14 [[-5.59381444e-01 -8.28826145e-01 1.18161418e-02 9.55222250e+01] [ 8.28634606e-01 -5.59506202e-01 -1.78185446e-02 1.89208020e+02] [ 2.13796802e-02 -1.76099209e-04 9.99771413e-01 5.14073178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.95275509600003 meters 0.017980589528003677 Centerline is valid? [True, True] Translation: X:95.51, Y:189.23, Z:5.14 [[-5.59244572e-01 -8.28919057e-01 1.17773205e-02 9.55073700e+01] [ 8.28729126e-01 -5.59368546e-01 -1.77444753e-02 1.89229906e+02] [ 2.12965964e-02 -1.63292988e-04 9.99773188e-01 5.14161835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98275509600006 meters 0.017641658977628434 Centerline is valid? [True, True] Translation: X:95.49, Y:189.25, Z:5.14 [[-5.58584748e-01 -8.29361445e-01 1.19446147e-02 9.54924906e+01] [ 8.29166513e-01 -5.58712426e-01 -1.79810636e-02 1.89251914e+02] [ 2.15864055e-02 -1.39873328e-04 9.99766977e-01 5.14192439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01275509600003 meters 0.017523406196418647 Centerline is valid? [True, True] Translation: X:95.48, Y:189.27, Z:5.14 [[-5.58668348e-01 -8.29305863e-01 1.18937937e-02 9.54779812e+01] [ 8.29112904e-01 -5.58794924e-01 -1.78892364e-02 1.89274024e+02] [ 2.14818402e-02 -1.32852303e-04 9.99769230e-01 5.14248955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04275509600006 meters 0.01771413865054295 Centerline is valid? [True, True] Translation: X:95.46, Y:189.30, Z:5.14 [[-5.58944364e-01 -8.29114221e-01 1.22803111e-02 9.54641770e+01] [ 8.28908832e-01 -5.59079234e-01 -1.84542080e-02 1.89295960e+02] [ 2.21663132e-02 -1.35617201e-04 9.99754288e-01 5.14198379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07275509600004 meters 0.01780953255426279 Centerline is valid? [True, True] Translation: X:95.45, Y:189.32, Z:5.14 [[-5.59444795e-01 -8.28777855e-01 1.21978655e-02 9.54511627e+01] [ 8.28575487e-01 -5.59577740e-01 -1.83143296e-02 1.89318035e+02] [ 2.20041648e-02 -1.39003968e-04 9.99757869e-01 5.14264596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10275509600007 meters 0.017622638199875067 Centerline is valid? [True, True] Translation: X:95.44, Y:189.34, Z:5.14 [[-5.59889787e-01 -8.28479869e-01 1.20222107e-02 9.54368781e+01] [ 8.28283544e-01 -5.60018828e-01 -1.80355973e-02 1.89339988e+02] [ 2.16747936e-02 -1.40147399e-04 9.99765064e-01 5.14357486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13275509600004 meters 0.01764491171860781 Centerline is valid? [True, True] Translation: X:95.42, Y:189.36, Z:5.14 [[-5.60620759e-01 -8.27983391e-01 1.21601764e-02 9.54228491e+01] [ 8.27782752e-01 -5.60752603e-01 -1.82272768e-02 1.89361944e+02] [ 2.19107329e-02 -1.52605472e-04 9.99759919e-01 5.14437040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16275509600007 meters 0.017822058453316823 Centerline is valid? [True, True] Translation: X:95.41, Y:189.38, Z:5.14 [[-5.61260276e-01 -8.27547795e-01 1.23105521e-02 9.54095151e+01] [ 8.27342410e-01 -5.61395244e-01 -1.84368367e-02 1.89383524e+02] [ 2.21684490e-02 -1.62822196e-04 9.99754236e-01 5.14441169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19275509600004 meters 0.017660043616797474 Centerline is valid? [True, True] Translation: X:95.39, Y:189.41, Z:5.15 [[-5.62143245e-01 -8.26940429e-01 1.28257087e-02 9.53948063e+01] [ 8.26717718e-01 -5.62289509e-01 -1.91917216e-02 1.89406583e+02] [ 2.30821720e-02 -1.85256061e-04 9.99733554e-01 5.14516627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22275509600007 meters 0.0177781023148184 Centerline is valid? [True, True] Translation: X:95.38, Y:189.43, Z:5.14 [[-5.62534962e-01 -8.26669614e-01 1.31059728e-02 9.53812318e+01] [ 8.26437325e-01 -5.62687580e-01 -1.95967944e-02 1.89428662e+02] [ 2.35746425e-02 -1.92616924e-04 9.99722061e-01 5.14465716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.25275509600004 meters 0.017762972176830608 Centerline is valid? [True, True] Translation: X:95.37, Y:189.45, Z:5.15 [[-5.62869868e-01 -8.26433958e-01 1.35803016e-02 9.53669706e+01] [ 8.26184836e-01 -5.63033633e-01 -2.02914912e-02 1.89451476e+02] [ 2.44157440e-02 -2.01629694e-04 9.99701871e-01 5.14502622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2827550960001 meters 0.017783240943307136 Centerline is valid? [True, True] Translation: X:95.35, Y:189.47, Z:5.15 [[-5.63427617e-01 -8.26053646e-01 1.35902558e-02 9.53525677e+01] [ 8.25804474e-01 -5.63591458e-01 -2.02889246e-02 1.89473053e+02] [ 2.44190922e-02 -2.08446353e-04 9.99701788e-01 5.14559289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.31275509600005 meters 0.01774460780999669 Centerline is valid? [True, True] Translation: X:95.34, Y:189.49, Z:5.15 [[-5.63810953e-01 -8.25787911e-01 1.38396391e-02 9.53380359e+01] [ 8.25529877e-01 -5.63980745e-01 -2.06431997e-02 1.89494731e+02] [ 2.48521947e-02 -2.13826536e-04 9.99691114e-01 5.14581173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3427550960001 meters 0.017905652676947548 Centerline is valid? [True, True] Translation: X:95.32, Y:189.52, Z:5.15 [[-5.64362239e-01 -8.25406600e-01 1.41140659e-02 9.53244242e+01] [ 8.25138585e-01 -5.64538656e-01 -2.10338449e-02 1.89515630e+02] [ 2.53294102e-02 -2.24647426e-04 9.99679134e-01 5.14543164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.37275509600005 meters 0.017984148738627078 Centerline is valid? [True, True] Translation: X:95.31, Y:189.54, Z:5.15 [[-5.64770405e-01 -8.25122837e-01 1.43768331e-02 9.53095935e+01] [ 8.24845142e-01 -5.64953317e-01 -2.14065595e-02 1.89537942e+02] [ 2.57852806e-02 -2.31130367e-04 9.99667478e-01 5.14557839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.4027550960001 meters 0.018024538586493558 Centerline is valid? [True, True] Translation: X:95.29, Y:189.56, Z:5.15 [[-5.65164080e-01 -8.24851096e-01 1.44994119e-02 9.52949668e+01] [ 8.24569023e-01 -5.65349993e-01 -2.15710712e-02 1.89559798e+02] [ 2.59901641e-02 -2.35428699e-04 9.99662171e-01 5.14587930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.43275509600005 meters 0.017854982352609548 Centerline is valid? [True, True] Translation: X:95.28, Y:189.58, Z:5.15 [[-5.65723814e-01 -8.24470002e-01 1.43450948e-02 9.52796258e+01] [ 8.24194238e-01 -5.65905609e-01 -2.13236995e-02 1.89581723e+02] [ 2.56987202e-02 -2.40180200e-04 9.99669705e-01 5.14761233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.462755096 meters 0.017929960240987742 Centerline is valid? [True, True] Translation: X:95.27, Y:189.60, Z:5.15 [[-5.66291752e-01 -8.24080101e-01 1.43401188e-02 9.52652794e+01] [ 8.23804880e-01 -5.66473235e-01 -2.12977453e-02 1.89602907e+02] [ 2.56743416e-02 -2.47277672e-04 9.99670329e-01 5.14764203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.49275509600005 meters 0.0182942197638218 Centerline is valid? [True, True] Translation: X:95.25, Y:189.63, Z:5.15 [[-5.67276146e-01 -8.23394858e-01 1.47879234e-02 9.52506007e+01] [ 8.23102445e-01 -5.67468794e-01 -2.19438553e-02 1.89625130e+02] [ 2.64601427e-02 -2.76249763e-04 9.99649831e-01 5.14743783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.522755096 meters 0.018302876301381055 Centerline is valid? [True, True] Translation: X:95.24, Y:189.65, Z:5.15 [[-5.68106588e-01 -8.22819561e-01 1.49290032e-02 9.52354863e+01] [ 8.22521825e-01 -5.68302634e-01 -2.21351170e-02 1.89646612e+02] [ 2.66973991e-02 -2.95674822e-04 9.99643517e-01 5.14810412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.55275509600006 meters 0.01859793333255384 Centerline is valid? [True, True] Translation: X:95.22, Y:189.67, Z:5.15 [[-5.68862835e-01 -8.22291355e-01 1.52316138e-02 9.52218187e+01] [ 8.21981766e-01 -5.69066628e-01 -2.25643545e-02 1.89667703e+02] [ 2.72222767e-02 -3.15913884e-04 9.99629355e-01 5.14774729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.582755096 meters 0.01859793333255384 Centerline is valid? [True, True] Translation: X:95.21, Y:189.69, Z:5.15 [[-5.69176363e-01 -8.22074203e-01 1.52404935e-02 9.52070954e+01] [ 8.21764696e-01 -5.69380282e-01 -2.25583565e-02 1.89689037e+02] [ 2.72222794e-02 -3.15583783e-04 9.99629355e-01 5.14812995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.61275509600006 meters 0.018911339443234917 Centerline is valid? [True, True] Translation: X:95.19, Y:189.71, Z:5.15 [[-5.70280121e-01 -8.21300845e-01 1.56686200e-02 9.51919297e+01] [ 8.20973925e-01 -5.70495222e-01 -2.31736280e-02 1.89712036e+02] [ 2.79713931e-02 -3.51930898e-04 9.99608662e-01 5.14804991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64275509600003 meters 0.018865415375729132 Centerline is valid? [True, True] Translation: X:95.18, Y:189.73, Z:5.15 [[-5.70864020e-01 -8.20887787e-01 1.60471774e-02 9.51767342e+01] [ 8.20545251e-01 -5.71089401e-01 -2.37147060e-02 1.89733258e+02] [ 2.86314855e-02 -3.70437236e-04 9.99589966e-01 5.14832903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.67275509600006 meters 0.019264702173600646 Centerline is valid? [True, True] Translation: X:95.16, Y:189.75, Z:5.15 [[-5.71102310e-01 -8.20716333e-01 1.63356141e-02 9.51622687e+01] [ 8.20361902e-01 -5.71335769e-01 -2.41202939e-02 1.89754771e+02] [ 2.91290398e-02 -3.74040092e-04 9.99575590e-01 5.14778581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70275509600003 meters 0.019025941045009608 Centerline is valid? [True, True] Translation: X:95.15, Y:189.78, Z:5.15 [[-5.71310310e-01 -8.20563326e-01 1.67438795e-02 9.51458600e+01] [ 8.20191519e-01 -5.71555495e-01 -2.47019749e-02 1.89776107e+02] [ 2.98395910e-02 -3.79304995e-04 9.99554628e-01 5.14843971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.73275509600006 meters 0.01925772141892034 Centerline is valid? [True, True] Translation: X:95.13, Y:189.80, Z:5.15 [[-5.71203466e-01 -8.20635751e-01 1.68393904e-02 9.51302403e+01] [ 8.20260349e-01 -5.71451513e-01 -2.48219525e-02 1.89796741e+02] [ 2.99926768e-02 -3.65701098e-04 9.99550052e-01 5.14750465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76275509600003 meters 0.019206451874520847 Centerline is valid? [True, True] Translation: X:95.11, Y:189.82, Z:5.15 [[-5.71122346e-01 -8.20688518e-01 1.70182893e-02 9.51148443e+01] [ 8.20305778e-01 -5.71375735e-01 -2.50639321e-02 1.89817632e+02] [ 3.02935188e-02 -3.54370629e-04 9.99540983e-01 5.14797176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.79275509600006 meters 0.01843495011580304 Centerline is valid? [True, True] Translation: X:95.10, Y:189.84, Z:5.15 [[-5.70537936e-01 -8.21096557e-01 1.69383459e-02 9.50988929e+01] [ 8.20718210e-01 -5.70789227e-01 -2.49254559e-02 1.89838328e+02] [ 3.01344314e-02 -3.19309205e-04 9.99545804e-01 5.14979072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82275509600004 meters 0.017513287545681856 Centerline is valid? [True, True] Translation: X:95.08, Y:189.86, Z:5.15 [[-5.70401442e-01 -8.21194149e-01 1.68036806e-02 9.50827157e+01] [ 8.20822450e-01 -5.70648823e-01 -2.47068141e-02 1.89859135e+02] [ 2.98780917e-02 -2.99964100e-04 9.99553505e-01 5.15292690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.85275509600007 meters 0.01749536283382177 Centerline is valid? [True, True] Translation: X:95.07, Y:189.88, Z:5.15 [[-5.70193074e-01 -8.21345061e-01 1.64969439e-02 9.50686125e+01] [ 8.20987492e-01 -5.70431605e-01 -2.42347185e-02 1.89880028e+02] [ 2.93154446e-02 -2.74684028e-04 9.99570172e-01 5.15316608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88275509600004 meters 0.01752822163716499 Centerline is valid? [True, True] Translation: X:95.05, Y:189.90, Z:5.15 [[-5.69290863e-01 -8.21974162e-01 1.63214347e-02 9.50537062e+01] [ 8.21625030e-01 -5.69524736e-01 -2.39558983e-02 1.89900450e+02] [ 2.89865903e-02 -2.27774741e-04 9.99579775e-01 5.15319610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.91275509600007 meters 0.016725532318928323 Centerline is valid? [True, True] Translation: X:95.04, Y:189.92, Z:5.16 [[-5.69097228e-01 -8.22113376e-01 1.60605676e-02 9.50370496e+01] [ 8.21775941e-01 -5.69323770e-01 -2.35530903e-02 1.89920968e+02] [ 2.85069735e-02 -2.05810411e-04 9.99593572e-01 5.15571873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94275509600004 meters 0.01651886687577799 Centerline is valid? [True, True] Translation: X:95.02, Y:189.94, Z:5.16 [[-5.69080122e-01 -8.22123308e-01 1.61580424e-02 9.50212431e+01] [ 8.21782345e-01 -5.69309432e-01 -2.36759019e-02 1.89942225e+02] [ 2.86634367e-02 -1.95091120e-04 9.99589100e-01 5.15683976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.97275509600007 meters 0.016601689136145223 Centerline is valid? [True, True] Translation: X:95.01, Y:189.96, Z:5.16 [[-5.69567066e-01 -8.21790872e-01 1.59097318e-02 9.50070175e+01] [ 8.21460751e-01 -5.69789192e-01 -2.32918637e-02 1.89963818e+02] [ 2.82062343e-02 -1.97058234e-04 9.99602106e-01 5.15737843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00275509600004 meters 0.016698948083653797 Centerline is valid? [True, True] Translation: X:94.99, Y:189.99, Z:5.16 [[-5.70497447e-01 -8.21149858e-01 1.56707789e-02 9.49934048e+01] [ 8.20829893e-01 -5.70712594e-01 -2.29220826e-02 1.89985044e+02] [ 2.77659757e-02 -2.13945890e-04 9.99614428e-01 5.15780963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0327550960001 meters 0.016777670545743962 Centerline is valid? [True, True] Translation: X:94.98, Y:190.01, Z:5.16 [[-5.71330141e-01 -8.20571260e-01 1.56421474e-02 9.49794067e+01] [ 8.20252778e-01 -5.71544184e-01 -2.28610109e-02 1.90007037e+02] [ 2.76992669e-02 -2.30669706e-04 9.99616275e-01 5.15875108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06275509600005 meters 0.017099739264077405 Centerline is valid? [True, True] Translation: X:94.97, Y:190.03, Z:5.16 [[-5.73055451e-01 -8.19375178e-01 1.52239168e-02 9.49674591e+01] [ 8.19073571e-01 -5.73257573e-01 -2.22315439e-02 1.90029437e+02] [ 2.69432008e-02 -2.70399562e-04 9.99636930e-01 5.15977205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0927550960001 meters 0.016976288691479036 Centerline is valid? [True, True] Translation: X:94.95, Y:190.05, Z:5.16 [[-5.74035092e-01 -8.18686703e-01 1.53555971e-02 9.49528200e+01] [ 8.18380123e-01 -5.74240364e-01 -2.24048774e-02 1.90051788e+02] [ 2.71603789e-02 -2.94470393e-04 9.99631046e-01 5.16110147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12275509600005 meters 0.01748404181875187 Centerline is valid? [True, True] Translation: X:94.94, Y:190.07, Z:5.16 [[-5.74911435e-01 -8.18071648e-01 1.53499684e-02 9.49394460e+01] [ 8.17765588e-01 -5.75116233e-01 -2.23776864e-02 1.90073427e+02] [ 2.71345668e-02 -3.12511900e-04 9.99631741e-01 5.16093903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1527550960001 meters 0.017609466518074535 Centerline is valid? [True, True] Translation: X:94.92, Y:190.10, Z:5.16 [[-5.75650354e-01 -8.17555086e-01 1.51773493e-02 9.49248036e+01] [ 8.17256186e-01 -5.75850309e-01 -2.21076630e-02 1.90095288e+02] [ 2.68141137e-02 -3.22501427e-04 9.99640385e-01 5.16132307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18275509600005 meters 0.01706206435495984 Centerline is valid? [True, True] Translation: X:94.91, Y:190.12, Z:5.16 [[-5.76782843e-01 -8.16762510e-01 1.48510841e-02 9.49094195e+01] [ 8.16476522e-01 -5.76973904e-01 -2.16148740e-02 1.90116461e+02] [ 2.62229067e-02 -3.41526918e-04 9.99656062e-01 5.16344471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.212755096 meters 0.01746409560182042 Centerline is valid? [True, True] Translation: X:94.90, Y:190.14, Z:5.16 [[-5.77659631e-01 -8.16142637e-01 1.48508410e-02 9.48958594e+01] [ 8.15856943e-01 -5.77850385e-01 -2.15958427e-02 1.90137752e+02] [ 2.62068522e-02 -3.58884768e-04 9.99656477e-01 5.16371058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24275509600005 meters 0.01817892212001702 Centerline is valid? [True, True] Translation: X:94.88, Y:190.16, Z:5.16 [[-5.79258566e-01 -8.15018099e-01 1.43182169e-02 9.48833141e+01] [ 8.14752642e-01 -5.79435372e-01 -2.08034281e-02 1.90159384e+02] [ 2.52516518e-02 -3.84758934e-04 9.99681052e-01 5.16448656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.272755096 meters 0.017814350198940624 Centerline is valid? [True, True] Translation: X:94.87, Y:190.18, Z:5.17 [[-5.80263722e-01 -8.14305160e-01 1.41816751e-02 9.48677567e+01] [ 8.14044970e-01 -5.80436857e-01 -2.05874168e-02 1.90181250e+02] [ 2.49960066e-02 -4.01609825e-04 9.99687470e-01 5.16607102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30275509600006 meters 0.0182224906485948 Centerline is valid? [True, True] Translation: X:94.85, Y:190.20, Z:5.17 [[-5.81657846e-01 -8.13313920e-01 1.39505183e-02 9.48542250e+01] [ 8.13062276e-01 -5.81824960e-01 -2.02349021e-02 1.90204223e+02] [ 2.45740873e-02 -4.27149405e-04 9.99697920e-01 5.16698050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.332755096 meters 0.01914972316987555 Centerline is valid? [True, True] Translation: X:94.84, Y:190.23, Z:5.17 [[-5.82695603e-01 -8.12570986e-01 1.39365682e-02 9.48413686e+01] [ 8.12320055e-01 -5.82862070e-01 -2.01973950e-02 1.90226053e+02] [ 2.45349142e-02 -4.47979465e-04 9.99698873e-01 5.16707586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36275509600006 meters 0.0193259477236303 Centerline is valid? [True, True] Translation: X:94.83, Y:190.25, Z:5.17 [[-5.83939704e-01 -8.11678099e-01 1.38955162e-02 9.48268668e+01] [ 8.11428813e-01 -5.84104818e-01 -2.01207162e-02 1.90247588e+02] [ 2.44479826e-02 -4.74062833e-04 9.99700991e-01 5.16762705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.39275509600003 meters 0.019927275518248362 Centerline is valid? [True, True] Translation: X:94.81, Y:190.27, Z:5.17 [[-5.85798445e-01 -8.10341489e-01 1.36694202e-02 9.48125082e+01] [ 8.10100259e-01 -5.85957685e-01 -1.97778146e-02 1.90270653e+02] [ 2.40364855e-02 -5.12212212e-04 9.99710951e-01 5.16868543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42275509600006 meters 0.019695785439082986 Centerline is valid? [True, True] Translation: X:94.80, Y:190.29, Z:5.17 [[-5.86504586e-01 -8.09834041e-01 1.34609289e-02 9.47967470e+01] [ 8.09600322e-01 -5.86658810e-01 -1.94617345e-02 1.90292497e+02] [ 2.36577476e-02 -5.16424113e-04 9.99719983e-01 5.16976603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.45275509600003 meters 0.01979305166038031 Centerline is valid? [True, True] Translation: X:94.78, Y:190.31, Z:5.17 [[-5.87398681e-01 -8.09191611e-01 1.31044275e-02 9.47814672e+01] [ 8.08970275e-01 -5.87544608e-01 -1.89322011e-02 1.90314714e+02] [ 2.30192140e-02 -5.19657618e-04 9.99734888e-01 5.17055957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48275509600006 meters 0.02036859458634438 Centerline is valid? [True, True] Translation: X:94.77, Y:190.34, Z:5.17 [[-5.88705475e-01 -8.08246159e-01 1.28066552e-02 9.47670358e+01] [ 8.08034855e-01 -5.88844512e-01 -1.84882051e-02 1.90337552e+02] [ 2.24841494e-02 -5.35883723e-04 9.99747056e-01 5.17124229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51275509600003 meters 0.020526894321516654 Centerline is valid? [True, True] Translation: X:94.75, Y:190.36, Z:5.17 [[-5.89481347e-01 -8.07683636e-01 1.26049457e-02 9.47521187e+01] [ 8.07479120e-01 -5.89615851e-01 -1.81829319e-02 1.90359593e+02] [ 2.21181323e-02 -5.40268764e-04 9.99755218e-01 5.17206768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54275509600006 meters 0.020372380765881916 Centerline is valid? [True, True] Translation: X:94.74, Y:190.38, Z:5.17 [[-5.90187407e-01 -8.07171347e-01 1.23790417e-02 9.47361387e+01] [ 8.06974296e-01 -5.90316969e-01 -1.78426960e-02 1.90381864e+02] [ 2.17096714e-02 -5.40966051e-04 9.99764171e-01 5.17313524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57275509600004 meters 0.02105338555435279 Centerline is valid? [True, True] Translation: X:94.72, Y:190.40, Z:5.17 [[-5.90998014e-01 -8.06584944e-01 1.19195837e-02 9.47218068e+01] [ 8.06402380e-01 -5.91117960e-01 -1.71685386e-02 1.90403763e+02] [ 2.08937647e-02 -5.34591549e-04 9.99781559e-01 5.17397710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60275509600007 meters 0.023138246588734167 Centerline is valid? [True, True] Translation: X:94.71, Y:190.43, Z:5.17 [[-5.91372629e-01 -8.06312066e-01 1.18011077e-02 9.47098952e+01] [ 8.06133293e-01 -5.91490127e-01 -1.69865749e-02 1.90425901e+02] [ 2.06767190e-02 -5.32129595e-04 9.99786072e-01 5.17360543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63275509600004 meters 0.02106427697108216 Centerline is valid? [True, True] Translation: X:94.69, Y:190.45, Z:5.17 [[-5.91871092e-01 -8.05942990e-01 1.20211057e-02 9.46922801e+01] [ 8.05757731e-01 -5.91992904e-01 -1.72881577e-02 1.90445354e+02] [ 2.10496788e-02 -5.46261860e-04 9.99778282e-01 5.17478040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66275509600007 meters 0.02049578382340681 Centerline is valid? [True, True] Translation: X:94.68, Y:190.47, Z:5.18 [[-5.92324162e-01 -8.05611339e-01 1.19355270e-02 9.46758087e+01] [ 8.05428933e-01 -5.92444151e-01 -1.71511641e-02 1.90467146e+02] [ 2.08883055e-02 -5.45830122e-04 9.99781667e-01 5.17522385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69275509600004 meters 0.021832774397535875 Centerline is valid? [True, True] Translation: X:94.66, Y:190.49, Z:5.18 [[-5.92692054e-01 -8.05347085e-01 1.14979051e-02 9.46627081e+01] [ 8.05178012e-01 -5.92803335e-01 -1.65098182e-02 1.90489700e+02] [ 2.01121305e-02 -5.27377692e-04 9.99797592e-01 5.17531727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72275509600007 meters 0.020113006350853103 Centerline is valid? [True, True] Translation: X:94.64, Y:190.51, Z:5.18 [[-5.92571857e-01 -8.05442066e-01 1.10305014e-02 9.46444170e+01] [ 8.05286713e-01 -5.92674306e-01 -1.58264917e-02 1.90510655e+02] [ 1.92848169e-02 -4.95617359e-04 9.99813908e-01 5.17691641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.75275509600004 meters 0.020301537421435655 Centerline is valid? [True, True] Translation: X:94.63, Y:190.53, Z:5.18 [[-5.92112208e-01 -8.05782611e-01 1.08405364e-02 9.46296134e+01] [ 8.05632837e-01 -5.92211249e-01 -1.55424635e-02 1.90531509e+02] [ 1.89437344e-02 -4.69390308e-04 9.99820441e-01 5.17728299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7827550960001 meters 0.02024962673481264 Centerline is valid? [True, True] Translation: X:94.61, Y:190.55, Z:5.18 [[-5.91790705e-01 -8.06018489e-01 1.08608531e-02 9.46142545e+01] [ 8.05868405e-01 -5.91890183e-01 -1.55603935e-02 1.90551907e+02] [ 1.89703972e-02 -4.56077860e-04 9.99819942e-01 5.17774806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.81275509600005 meters 0.019019026574951203 Centerline is valid? [True, True] Translation: X:94.60, Y:190.57, Z:5.18 [[-5.91172890e-01 -8.06480709e-01 1.01725399e-02 9.45968398e+01] [ 8.06349319e-01 -5.91260265e-01 -1.45627570e-02 1.90572607e+02] [ 1.77592012e-02 -4.06486492e-04 9.99842210e-01 5.17829402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8427550960001 meters 0.01877372901663133 Centerline is valid? [True, True] Translation: X:94.58, Y:190.59, Z:5.18 [[-5.89257361e-01 -8.07885628e-01 9.82723022e-03 9.45811160e+01] [ 8.07763363e-01 -5.89339200e-01 -1.40590743e-02 1.90594335e+02] [ 1.71496960e-02 -3.46336463e-04 9.99852873e-01 5.17870890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.87275509600005 meters 0.017227793517062134 Centerline is valid? [True, True] Translation: X:94.56, Y:190.61, Z:5.18 [[-5.88480496e-01 -8.08450295e-01 9.94115028e-03 9.45633799e+01] [ 8.08325448e-01 -5.88564366e-01 -1.42111547e-02 1.90614731e+02] [ 1.73400190e-02 -3.27302616e-04 9.99849597e-01 5.17940993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.9027550960001 meters 0.016184335549708585 Centerline is valid? [True, True] Translation: X:94.55, Y:190.64, Z:5.18 [[-5.86390998e-01 -8.09965366e-01 1.00848213e-02 9.45465261e+01] [ 8.09837312e-01 -5.86477644e-01 -1.44048691e-02 1.90635383e+02] [ 1.75819673e-02 -2.79820980e-04 9.99845386e-01 5.17909806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.93275509600005 meters 0.015731977346448968 Centerline is valid? [True, True] Translation: X:94.53, Y:190.66, Z:5.18 [[-5.85415095e-01 -8.10668478e-01 1.02851812e-02 9.45308144e+01] [ 8.10535607e-01 -5.85505382e-01 -1.46791335e-02 1.90656026e+02] [ 1.79219398e-02 -2.56880758e-04 9.99839356e-01 5.17899097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.962755096 meters 0.014971337676712475 Centerline is valid? [True, True] Translation: X:94.51, Y:190.68, Z:5.18 [[-5.84512657e-01 -8.11321610e-01 1.01093733e-02 9.45141234e+01] [ 8.11193547e-01 -5.84600030e-01 -1.44164741e-02 1.90676878e+02] [ 1.76063369e-02 -2.25953192e-04 9.99844971e-01 5.17940173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.99275509600005 meters 0.014138666337768458 Centerline is valid? [True, True] Translation: X:94.50, Y:190.70, Z:5.18 [[-5.82217130e-01 -8.12971225e-01 1.00499019e-02 9.44973984e+01] [ 8.12845117e-01 -5.82303837e-01 -1.43198306e-02 1.90696711e+02] [ 1.74937067e-02 -1.68237035e-04 9.99846959e-01 5.17929413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.022755096 meters 0.013302079143609409 Centerline is valid? [True, True] Translation: X:94.48, Y:190.72, Z:5.18 [[-5.80361361e-01 -8.14299275e-01 9.86818487e-03 9.44796627e+01] [ 8.14178067e-01 -5.80445240e-01 -1.40498892e-02 1.90716721e+02] [ 1.71687555e-02 -1.19553134e-04 9.99852599e-01 5.17938796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.05275509600006 meters 0.01322693070189058 Centerline is valid? [True, True] Translation: X:94.46, Y:190.74, Z:5.18 [[-5.79939864e-01 -8.14597573e-01 1.00273817e-02 9.44648709e+01] [ 8.14472680e-01 -5.80026536e-01 -1.42643112e-02 1.90737646e+02] [ 1.74358208e-02 -1.05414191e-04 9.99847979e-01 5.17932183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.082755096 meters 0.012901227974754887 Centerline is valid? [True, True] Translation: X:94.45, Y:190.76, Z:5.18 [[-5.79668716e-01 -8.14794174e-01 9.72799778e-03 9.44487361e+01] [ 8.14676854e-01 -5.79750331e-01 -1.38267006e-02 1.90758259e+02] [ 1.69057250e-02 -8.97311564e-05 9.99857084e-01 5.18007666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.11275509600006 meters 0.012820647657454961 Centerline is valid? [True, True] Translation: X:94.43, Y:190.78, Z:5.18 [[-5.79264577e-01 -8.15082927e-01 9.61101238e-03 9.44328417e+01] [ 8.14968641e-01 -5.79344298e-01 -1.36490982e-02 1.90779188e+02] [ 1.66932322e-02 -7.37653993e-05 9.99860656e-01 5.18041772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14275509600003 meters 0.012574858368224452 Centerline is valid? [True, True] Translation: X:94.42, Y:190.80, Z:5.18 [[-5.78371860e-01 -8.15723697e-01 8.99122479e-03 9.44168247e+01] [ 8.15623910e-01 -5.78441741e-01 -1.27588760e-02 1.90800015e+02] [ 1.56086172e-02 -4.59169183e-05 9.99878177e-01 5.18144715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.17275509600006 meters 0.012457567155455504 Centerline is valid? [True, True] Translation: X:94.40, Y:190.82, Z:5.18 [[-5.78007906e-01 -8.15983581e-01 8.81222730e-03 9.44014716e+01] [ 8.15887916e-01 -5.78075077e-01 -1.24945402e-02 1.90821177e+02] [ 1.52894686e-02 -3.21532472e-05 9.99883109e-01 5.18224808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20275509600003 meters 0.01241521061037595 Centerline is valid? [True, True] Translation: X:94.39, Y:190.84, Z:5.18 [[-5.77827795e-01 -8.16116705e-01 8.28024737e-03 9.43866037e+01] [ 8.16032389e-01 -5.77887119e-01 -1.17310791e-02 1.90842266e+02] [ 1.43589779e-02 -2.15935056e-05 9.99896904e-01 5.18321673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.23275509600006 meters 0.012421411357253638 Centerline is valid? [True, True] Translation: X:94.37, Y:190.86, Z:5.18 [[-5.77765863e-01 -8.16161553e-01 8.18085362e-03 9.43713525e+01] [ 8.16079394e-01 -5.77823778e-01 -1.15802968e-02 1.90863766e+02] [ 1.41784847e-02 -1.44740854e-05 9.99899480e-01 5.18407778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26275509600003 meters 0.012431249333315401 Centerline is valid? [True, True] Translation: X:94.36, Y:190.89, Z:5.19 [[-5.78160852e-01 -8.15886601e-01 7.68663588e-03 9.43576152e+01] [ 8.15814158e-01 -5.78211946e-01 -1.08722092e-02 1.90885675e+02] [ 1.33149945e-02 -1.50193291e-05 9.99911351e-01 5.18529046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.29275509600006 meters 0.012502261989242964 Centerline is valid? [True, True] Translation: X:94.34, Y:190.91, Z:5.19 [[-5.78564012e-01 -8.15603153e-01 7.42837645e-03 9.43429081e+01] [ 8.15535588e-01 -5.78611697e-01 -1.04980033e-02 1.90908079e+02] [ 1.28603501e-02 -1.56615676e-05 9.99917302e-01 5.18614047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32275509600004 meters 0.012534282253606411 Centerline is valid? [True, True] Translation: X:94.33, Y:190.93, Z:5.19 [[-5.79672358e-01 -8.14822166e-01 6.69294659e-03 9.43302651e+01] [ 8.14767343e-01 -5.79710994e-01 -9.45195154e-03 1.90930365e+02] [ 1.15816344e-02 -2.58407256e-05 9.99932930e-01 5.18781563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.35275509600007 meters 0.012600266192962577 Centerline is valid? [True, True] Translation: X:94.32, Y:190.95, Z:5.19 [[-5.80785660e-01 -8.14032998e-01 6.18833704e-03 9.43161819e+01] [ 8.13986158e-01 -5.80818627e-01 -8.73254552e-03 1.90952679e+02] [ 1.07028816e-02 -3.45165271e-05 9.99942722e-01 5.18866491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38275509600004 meters 0.012638906724669309 Centerline is valid? [True, True] Translation: X:94.30, Y:190.98, Z:5.19 [[-5.81726558e-01 -8.13361734e-01 6.07474654e-03 9.43017588e+01] [ 8.13316637e-01 -5.81758273e-01 -8.56504926e-03 1.90975917e+02] [ 1.05005174e-02 -4.18241995e-05 9.99944867e-01 5.18929806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.41275509600007 meters 0.012871410694891101 Centerline is valid? [True, True] Translation: X:94.29, Y:191.00, Z:5.19 [[-5.82724856e-01 -8.12650545e-01 5.55285095e-03 9.42887603e+01] [ 8.12612889e-01 -5.82751311e-01 -7.82323538e-03 1.90998283e+02] [ 9.59348766e-03 -4.64754601e-05 9.99953980e-01 5.19098826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44275509600004 meters 0.013090256728755209 Centerline is valid? [True, True] Translation: X:94.28, Y:191.02, Z:5.19 [[-5.84206775e-01 -8.11590693e-01 4.79497821e-03 9.42765006e+01] [ 8.11562593e-01 -5.84226450e-01 -6.75375346e-03 1.91022146e+02] [ 8.28263654e-03 -5.41635805e-05 9.99965697e-01 5.19250031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.47275509600007 meters 0.013090256728755209 Centerline is valid? [True, True] Translation: X:94.26, Y:191.04, Z:5.19 [[-5.84527063e-01 -8.11360028e-01 4.79764594e-03 9.42612736e+01] [ 8.11331936e-01 -5.84546749e-01 -6.75185723e-03 1.91043129e+02] [ 8.28263541e-03 -5.41599055e-05 9.99965697e-01 5.19288302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50275509600004 meters 0.013193936494885136 Centerline is valid? [True, True] Translation: X:94.25, Y:191.07, Z:5.19 [[-5.85399612e-01 -8.10732211e-01 4.53618344e-03 9.42470811e+01] [ 8.10707116e-01 -5.85417184e-01 -6.37910238e-03 1.91066039e+02] [ 7.82730351e-03 -5.68078654e-05 9.99969365e-01 5.19408137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5327550960001 meters 0.013314472777524474 Centerline is valid? [True, True] Translation: X:94.23, Y:191.09, Z:5.19 [[-5.86123572e-01 -8.10211141e-01 4.13111691e-03 9.42322232e+01] [ 8.10190346e-01 -5.86138127e-01 -5.80509967e-03 1.91089407e+02] [ 7.12476156e-03 -5.55147129e-05 9.99974617e-01 5.19483719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56275509600005 meters 0.013503187915716069 Centerline is valid? [True, True] Translation: X:94.22, Y:191.11, Z:5.20 [[-5.86669926e-01 -8.09817719e-01 3.69593660e-03 9.42180144e+01] [ 8.09801084e-01 -5.86681565e-01 -5.19082972e-03 1.91111140e+02] [ 6.37196376e-03 -5.23302189e-05 9.99979697e-01 5.19600740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5927550960001 meters 0.013516991016009092 Centerline is valid? [True, True] Translation: X:94.20, Y:191.13, Z:5.20 [[-5.86526933e-01 -8.09923736e-01 3.11429201e-03 9.42026487e+01] [ 8.09911934e-01 -5.86535200e-01 -4.37252073e-03 1.91131352e+02] [ 5.36805021e-03 -4.22989072e-05 9.99985591e-01 5.19767463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62275509600005 meters 0.01351106499671663 Centerline is valid? [True, True] Translation: X:94.19, Y:191.15, Z:5.20 [[-5.86895005e-01 -8.09657844e-01 2.90333140e-03 9.41863607e+01] [ 8.09647599e-01 -5.86902185e-01 -4.07318331e-03 1.91152781e+02] [ 5.00185636e-03 -3.98556352e-05 9.99987490e-01 5.19809852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6527550960001 meters 0.013682008091642344 Centerline is valid? [True, True] Translation: X:94.17, Y:191.17, Z:5.20 [[-5.87197647e-01 -8.09439777e-01 2.48390647e-03 9.41711305e+01] [ 8.09432282e-01 -5.87202900e-01 -3.48360284e-03 1.91172965e+02] [ 4.27832379e-03 -3.50093099e-05 9.99990847e-01 5.19902256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68275509600005 meters 0.014104744628014544 Centerline is valid? [True, True] Translation: X:94.16, Y:191.19, Z:5.20 [[-5.87889813e-01 -8.08939365e-01 1.63422438e-03 9.41553170e+01] [ 8.08936117e-01 -5.87892084e-01 -2.29255598e-03 1.91193568e+02] [ 2.81528636e-03 -2.57871846e-05 9.99996037e-01 5.20046824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.712755096 meters 0.013767070509018424 Centerline is valid? [True, True] Translation: X:94.14, Y:191.21, Z:5.20 [[-5.88603165e-01 -8.08420728e-01 1.49718460e-03 9.41388415e+01] [ 8.08418002e-01 -5.88605068e-01 -2.09958422e-03 1.91214886e+02] [ 2.57859785e-03 -2.54709343e-05 9.99996675e-01 5.19954512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74275509600005 meters 0.014814390129136136 Centerline is valid? [True, True] Translation: X:94.12, Y:191.24, Z:5.20 [[-5.90481228e-01 -8.07050733e-01 1.01733138e-03 9.41247245e+01] [ 8.07049468e-01 -5.90482104e-01 -1.42893722e-03 1.91237408e+02] [ 1.75394080e-03 -2.27238584e-05 9.99998462e-01 5.20099272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.772755096 meters 0.014817535834935305 Centerline is valid? [True, True] Translation: X:94.11, Y:191.26, Z:5.20 [[-5.91836464e-01 -8.06057038e-01 1.28509655e-03 9.41085941e+01] [ 8.06055028e-01 -5.91837859e-01 -1.80043823e-03 1.91259305e+02] [ 2.21182470e-03 -2.97064636e-05 9.99997553e-01 5.19982479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80275509600006 meters 0.015149862129517131 Centerline is valid? [True, True] Translation: X:94.09, Y:191.28, Z:5.20 [[-5.93155780e-01 -8.05086759e-01 1.23778795e-03 9.40930350e+01] [ 8.05084894e-01 -5.93157071e-01 -1.73316766e-03 1.91281588e+02] [ 2.12955300e-03 -3.15140365e-05 9.99997732e-01 5.19942249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.832755096 meters 0.01604653726003734 Centerline is valid? [True, True] Translation: X:94.08, Y:191.30, Z:5.20 [[-5.95319936e-01 -8.03487564e-01 1.38123489e-03 9.40782020e+01] [ 8.03485248e-01 -5.95321537e-01 -1.92975984e-03 1.91303407e+02] [ 2.37281691e-03 -3.90226456e-05 9.99997184e-01 5.19839039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86275509600006 meters 0.01654369551724283 Centerline is valid? [True, True] Translation: X:94.06, Y:191.33, Z:5.20 [[-5.96731603e-01 -8.02439275e-01 1.61370509e-03 9.40626355e+01] [ 8.02436109e-01 -5.96733783e-01 -2.25444587e-03 1.91325216e+02] [ 2.77200825e-03 -5.04038584e-05 9.99996157e-01 5.19759886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.89275509600003 meters 0.017272320763031954 Centerline is valid? [True, True] Translation: X:94.05, Y:191.35, Z:5.19 [[-6.00074879e-01 -7.99939180e-01 2.72899273e-03 9.40460869e+01] [ 7.99930154e-01 -6.00081076e-01 -3.80134788e-03 1.91348261e+02] [ 4.67846400e-03 -9.80897919e-05 9.99989051e-01 5.19430243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92275509600006 meters 0.01802425324188484 Centerline is valid? [True, True] Translation: X:94.03, Y:191.37, Z:5.19 [[-6.01881516e-01 -7.98579740e-01 3.00651319e-03 9.40302427e+01] [ 7.98568785e-01 -6.01889013e-01 -4.18456207e-03 1.91370863e+02] [ 5.15129375e-03 -1.17702974e-04 9.99986725e-01 5.19311127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.95275509600003 meters 0.01949164650519024 Centerline is valid? [True, True] Translation: X:94.02, Y:191.39, Z:5.19 [[-6.03909066e-01 -7.97045793e-01 3.44142698e-03 9.40166547e+01] [ 7.97031442e-01 -6.03918854e-01 -4.78529492e-03 1.91392847e+02] [ 5.89244182e-03 -1.46957483e-04 9.99982629e-01 5.19238435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98275509600006 meters 0.02032987323528696 Centerline is valid? [True, True] Translation: X:94.00, Y:191.42, Z:5.19 [[-6.05971224e-01 -7.95476408e-01 4.01989116e-03 9.40010083e+01] [ 7.95456831e-01 -6.05984529e-01 -5.58400075e-03 1.91415283e+02] [ 6.87793271e-03 -1.86093891e-04 9.99976329e-01 5.19116440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01275509600003 meters 0.02290604106345952 Centerline is valid? [True, True] Translation: X:93.99, Y:191.44, Z:5.19 [[-6.08819637e-01 -7.93292532e-01 5.06048215e-03 9.39874415e+01] [ 7.93261496e-01 -6.08840612e-01 -7.02201006e-03 1.91437795e+02] [ 8.65153519e-03 -2.60851980e-04 9.99962541e-01 5.18836639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04275509600006 meters 0.022512532698560538 Centerline is valid? [True, True] Translation: X:93.97, Y:191.46, Z:5.19 [[-6.09922738e-01 -7.92438610e-01 5.94165179e-03 9.39698028e+01] [ 7.92395868e-01 -6.09951597e-01 -8.23644446e-03 1.91458984e+02] [ 1.01509966e-02 -3.15454435e-04 9.99948428e-01 5.18642995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07275509600004 meters 0.023561166468709215 Centerline is valid? [True, True] Translation: X:93.95, Y:191.48, Z:5.18 [[-6.10588282e-01 -7.91912314e-01 7.53902387e-03 9.39531541e+01] [ 7.91843588e-01 -6.10634689e-01 -1.04407300e-02 1.91478810e+02] [ 1.28717321e-02 -4.05259679e-04 9.99917074e-01 5.18246182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10275509600007 meters 0.02252591278525623 Centerline is valid? [True, True] Translation: X:93.93, Y:191.50, Z:5.18 [[-6.10559827e-01 -7.91925931e-01 8.36769736e-03 9.39345733e+01] [ 7.91841426e-01 -6.10617003e-01 -1.15771930e-02 1.91498442e+02] [ 1.42777376e-02 -4.42679555e-04 9.99897970e-01 5.17997387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13275509600004 meters 0.02357998246253857 Centerline is valid? [True, True] Translation: X:93.92, Y:191.52, Z:5.18 [[-6.10168484e-01 -7.92214006e-01 9.55979752e-03 9.39187059e+01] [ 7.92103945e-01 -6.10243171e-01 -1.32140965e-02 1.91518278e+02] [ 1.63021935e-02 -4.90471908e-04 9.99866990e-01 5.17787571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16275509600007 meters 0.020473632170436597 Centerline is valid? [True, True] Translation: X:93.89, Y:191.53, Z:5.17 [[-6.06957999e-01 -7.94652472e-01 1.13769995e-02 9.38941603e+01] [ 7.94497305e-01 -6.07064413e-01 -1.57108410e-02 1.91533984e+02] [ 1.93912302e-02 -4.96825158e-04 9.99811849e-01 5.17337076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19275509600004 meters 0.020065517922927704 Centerline is valid? [True, True] Translation: X:93.88, Y:191.55, Z:5.17 [[-6.05539695e-01 -7.95716129e-01 1.25507093e-02 9.38769700e+01] [ 7.95527816e-01 -6.05669539e-01 -1.73177275e-02 1.91553677e+02] [ 2.13815774e-02 -5.02133066e-04 9.99771262e-01 5.17115450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22275509600007 meters 0.018885326525540196 Centerline is valid? [True, True] Translation: X:93.86, Y:191.57, Z:5.17 [[-6.03871846e-01 -7.96963141e-01 1.37312237e-02 9.38579041e+01] [ 7.96738410e-01 -6.04027740e-01 -1.89313531e-02 1.91573029e+02] [ 2.33816306e-02 -4.91917802e-04 9.99726491e-01 5.16922623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.25275509600004 meters 0.017862552886633246 Centerline is valid? [True, True] Translation: X:93.84, Y:191.59, Z:5.17 [[-6.00720375e-01 -7.99309848e-01 1.54530846e-02 9.38355616e+01] [ 7.99026432e-01 -6.00918940e-01 -2.12882318e-02 1.91589589e+02] [ 2.63019445e-02 -4.40851512e-04 9.99653947e-01 5.16534097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2827550960001 meters 0.016931974475310533 Centerline is valid? [True, True] Translation: X:93.82, Y:191.61, Z:5.16 [[-5.99240542e-01 -8.00410005e-01 1.59560970e-02 9.38156912e+01] [ 8.00108700e-01 -5.99452807e-01 -2.19636083e-02 1.91607879e+02] [ 2.71448190e-02 -3.94872524e-04 9.99631434e-01 5.16444474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.31275509600005 meters 0.016059273163662013 Centerline is valid? [True, True] Translation: X:93.80, Y:191.63, Z:5.16 [[-5.97742826e-01 -8.01519313e-01 1.64409774e-02 9.37953023e+01] [ 8.01200355e-01 -5.97968790e-01 -2.26123382e-02 1.91626231e+02] [ 2.79554171e-02 -3.43845949e-04 9.99609112e-01 5.16386616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3427550960001 meters 0.015162409797719201 Centerline is valid? [True, True] Translation: X:93.77, Y:191.64, Z:5.16 [[-5.95316227e-01 -8.03319643e-01 1.66175081e-02 9.37711364e+01] [ 8.02995030e-01 -5.95548057e-01 -2.28362363e-02 1.91641217e+02] [ 2.82413218e-02 -2.51005541e-04 9.99601103e-01 5.16300778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.37275509600005 meters 0.015023261837444124 Centerline is valid? [True, True] Translation: X:93.75, Y:191.66, Z:5.16 [[-5.94556830e-01 -8.03886003e-01 1.64155838e-02 9.37531310e+01] [ 8.03569973e-01 -5.94783365e-01 -2.25399243e-02 1.91659213e+02] [ 2.78832458e-02 -2.10195746e-04 9.99611165e-01 5.16274952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.4027550960001 meters 0.014764141549255106 Centerline is valid? [True, True] Translation: X:93.74, Y:191.68, Z:5.16 [[-5.93983978e-01 -8.04310644e-01 1.63530228e-02 9.37350282e+01] [ 8.03997702e-01 -5.94209017e-01 -2.24352221e-02 1.91678394e+02] [ 2.77620015e-02 -1.78369720e-04 9.99614545e-01 5.16319557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.43275509600005 meters 0.014562674498995119 Centerline is valid? [True, True] Translation: X:93.71, Y:191.70, Z:5.16 [[-5.93182005e-01 -8.04906945e-01 1.61220217e-02 9.37146425e+01] [ 8.04603494e-01 -5.93401038e-01 -2.21003519e-02 1.91696168e+02] [ 2.73555511e-02 -1.37696105e-04 9.99625757e-01 5.16360749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.462755096 meters 0.01436147945790376 Centerline is valid? [True, True] Translation: X:93.70, Y:191.72, Z:5.16 [[-5.93282030e-01 -8.04838874e-01 1.58372672e-02 9.36960895e+01] [ 8.04546505e-01 -5.93493361e-01 -2.16921814e-02 1.91715845e+02] [ 2.68580238e-02 -1.27763436e-04 9.99639250e-01 5.16454124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.49275509600005 meters 0.014465274084963028 Centerline is valid? [True, True] Translation: X:93.68, Y:191.73, Z:5.16 [[-5.94121165e-01 -8.04222083e-01 1.57124732e-02 9.36760431e+01] [ 8.03934570e-01 -5.94328882e-01 -2.15031838e-02 1.91733671e+02] [ 2.66317119e-02 -1.43696260e-04 9.99645303e-01 5.16468364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.522755096 meters 0.015039615160081702 Centerline is valid? [True, True] Translation: X:93.66, Y:191.75, Z:5.16 [[-5.95162705e-01 -8.03449526e-01 1.58181334e-02 9.36587722e+01] [ 8.03158323e-01 -5.95372850e-01 -2.16305023e-02 1.91754189e+02] [ 2.67967040e-02 -1.69202783e-04 9.99640890e-01 5.16383335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.55275509600006 meters 0.015366696865634603 Centerline is valid? [True, True] Translation: X:93.64, Y:191.77, Z:5.17 [[-5.97964198e-01 -8.01371933e-01 1.55513043e-02 9.36398912e+01] [ 8.01090216e-01 -5.98166335e-01 -2.12485815e-02 1.91773572e+02] [ 2.63302835e-02 -2.47893238e-04 9.99653267e-01 5.16530685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.582755096 meters 0.0163851002176941 Centerline is valid? [True, True] Translation: X:93.62, Y:191.80, Z:5.16 [[-5.99679354e-01 -8.00088893e-01 1.55703187e-02 9.36242799e+01] [ 7.99806550e-01 -5.99881386e-01 -2.12557081e-02 1.91795091e+02] [ 2.63468003e-02 -2.93366456e-04 9.99652820e-01 5.16482517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.61275509600006 meters 0.017360132253640897 Centerline is valid? [True, True] Translation: X:93.61, Y:191.82, Z:5.17 [[-6.01434350e-01 -7.98768663e-01 1.56634852e-02 9.36088512e+01] [ 7.98482972e-01 -6.01638185e-01 -2.13644014e-02 1.91816207e+02] [ 2.64889651e-02 -3.42258615e-04 9.99649047e-01 5.16504293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64275509600003 meters 0.020112415874370404 Centerline is valid? [True, True] Translation: X:93.60, Y:191.84, Z:5.16 [[-6.03090099e-01 -7.97517831e-01 1.57366537e-02 9.35961378e+01] [ 7.97229545e-01 -6.03295250e-01 -2.14451150e-02 1.91838185e+02] [ 2.65967101e-02 -3.87611223e-04 9.99646170e-01 5.16340805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.67275509600006 meters 0.018673605880660048 Centerline is valid? [True, True] Translation: X:93.58, Y:191.86, Z:5.17 [[-6.04831609e-01 -7.96200237e-01 1.56175558e-02 9.35781130e+01] [ 7.95916357e-01 -6.05033055e-01 -2.12639393e-02 1.91858024e+02] [ 2.63794910e-02 -4.30834469e-04 9.99651908e-01 5.16682923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70275509600003 meters 0.02131339199712536 Centerline is valid? [True, True] Translation: X:93.57, Y:191.88, Z:5.17 [[-6.07955070e-01 -7.93813695e-01 1.58256126e-02 9.35651883e+01] [ 7.93521906e-01 -6.08160781e-01 -2.15278594e-02 1.91879985e+02] [ 2.67136265e-02 -5.30001043e-04 9.99642987e-01 5.16701359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.73275509600006 meters 0.02167682884815339 Centerline is valid? [True, True] Translation: X:93.55, Y:191.90, Z:5.17 [[-6.09334978e-01 -7.92752068e-01 1.59700835e-02 9.35489689e+01] [ 7.92455098e-01 -6.09543956e-01 -2.17044507e-02 1.91900549e+02] [ 2.69407160e-02 -5.69706945e-04 9.99636871e-01 5.16803978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76275509600003 meters 0.02207093431608886 Centerline is valid? [True, True] Translation: X:93.53, Y:191.92, Z:5.17 [[-6.10512235e-01 -7.91848457e-01 1.58376581e-02 9.35324680e+01] [ 7.91556596e-01 -6.10717340e-01 -2.15055044e-02 1.91921128e+02] [ 2.67014329e-02 -5.92970824e-04 9.99643277e-01 5.16897406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.79275509600006 meters 0.02258455331790006 Centerline is valid? [True, True] Translation: X:93.52, Y:191.94, Z:5.17 [[-6.12029095e-01 -7.90675605e-01 1.58894724e-02 9.35160486e+01] [ 7.90381942e-01 -6.12234992e-01 -2.15569232e-02 1.91942170e+02] [ 2.67726243e-02 -6.34712118e-04 9.99641348e-01 5.17058444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82275509600004 meters 0.022754195703815625 Centerline is valid? [True, True] Translation: X:93.50, Y:191.96, Z:5.17 [[-6.12600194e-01 -7.90229331e-01 1.60812621e-02 9.35002804e+01] [ 7.89928906e-01 -6.12810885e-01 -2.17977570e-02 1.91963361e+02] [ 2.70799994e-02 -6.50256370e-04 9.99633058e-01 5.17121409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.85275509600007 meters 0.02317406106979642 Centerline is valid? [True, True] Translation: X:93.49, Y:191.98, Z:5.17 [[-6.12298857e-01 -7.90458877e-01 1.62749188e-02 9.34859990e+01] [ 7.90151815e-01 -6.12514784e-01 -2.20397046e-02 1.91983952e+02] [ 2.73901085e-02 -6.35229340e-04 9.99624619e-01 5.17146757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88275509600004 meters 0.021978711431485685 Centerline is valid? [True, True] Translation: X:93.47, Y:192.00, Z:5.17 [[-6.12245778e-01 -7.90495932e-01 1.64708601e-02 9.34689186e+01] [ 7.90182024e-01 -6.12466968e-01 -2.22841188e-02 1.92003844e+02] [ 2.77033630e-02 -6.28380119e-04 9.99615991e-01 5.17304136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.91275509600007 meters 0.021443791897919826 Centerline is valid? [True, True] Translation: X:93.45, Y:192.02, Z:5.17 [[-6.11739535e-01 -7.90887036e-01 1.65056887e-02 9.34528987e+01] [ 7.90572509e-01 -6.11961876e-01 -2.23107813e-02 1.92024358e+02] [ 2.77461599e-02 -5.99443283e-04 9.99614821e-01 5.17361946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94275509600004 meters 0.020458181702928957 Centerline is valid? [True, True] Translation: X:93.44, Y:192.04, Z:5.18 [[-6.09849061e-01 -7.92353115e-01 1.61450812e-02 9.34372419e+01] [ 7.92053225e-01 -6.10062523e-01 -2.18038185e-02 1.92044893e+02] [ 2.71258325e-02 -5.09274643e-04 9.99631897e-01 5.17527038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.97275509600007 meters 0.01902702506679299 Centerline is valid? [True, True] Translation: X:93.42, Y:192.07, Z:5.18 [[-6.08769075e-01 -7.93191265e-01 1.57426396e-02 9.34201974e+01] [ 7.92906901e-01 -6.08972426e-01 -2.12421844e-02 1.92066430e+02] [ 2.64359485e-02 -4.49137333e-04 9.99650408e-01 5.17811075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00275509600004 meters 0.018200498693894732 Centerline is valid? [True, True] Translation: X:93.40, Y:192.09, Z:5.18 [[-6.07765846e-01 -7.93973791e-01 1.50431018e-02 9.34040131e+01] [ 7.93714793e-01 -6.07951864e-01 -2.02819539e-02 1.92088549e+02] [ 2.52488216e-02 -3.86746431e-04 9.99681123e-01 5.18013704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0327550960001 meters 0.01731241762237381 Centerline is valid? [True, True] Translation: X:93.39, Y:192.11, Z:5.18 [[-6.05514281e-01 -7.95709060e-01 1.41261351e-02 9.33889368e+01] [ 7.95481514e-01 -6.05678966e-01 -1.90302632e-02 1.92110343e+02] [ 2.36984557e-02 -2.86016821e-04 9.99719111e-01 5.18281653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06275509600005 meters 0.016345302228247458 Centerline is valid? [True, True] Translation: X:93.37, Y:192.13, Z:5.18 [[-6.04491210e-01 -7.96491493e-01 1.38448032e-02 9.33720509e+01] [ 7.96273501e-01 -6.04649687e-01 -1.86351362e-02 1.92131237e+02] [ 2.32139834e-02 -2.40526164e-04 9.99730490e-01 5.18454292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0927550960001 meters 0.015441285889657569 Centerline is valid? [True, True] Translation: X:93.36, Y:192.15, Z:5.19 [[-6.01684989e-01 -7.98617502e-01 1.36110051e-02 9.33559537e+01] [ 7.98407723e-01 -6.01838902e-01 -1.83041868e-02 1.92152544e+02] [ 2.28096763e-02 -1.46222824e-04 9.99739815e-01 5.18599675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12275509600005 meters 0.015048310992116466 Centerline is valid? [True, True] Translation: X:93.34, Y:192.17, Z:5.19 [[-6.00318457e-01 -7.99647405e-01 1.34824812e-02 9.33403076e+01] [ 7.99442166e-01 -6.00469831e-01 -1.81164342e-02 1.92172709e+02] [ 2.25825828e-02 -9.71658339e-05 9.99744976e-01 5.18760903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1527550960001 meters 0.014784114177220944 Centerline is valid? [True, True] Translation: X:93.32, Y:192.19, Z:5.19 [[-5.98818064e-01 -8.00775797e-01 1.32306387e-02 9.33247556e+01] [ 8.00578718e-01 -5.98964207e-01 -1.77649690e-02 1.92193641e+02] [ 2.21504362e-02 -4.58166303e-05 9.99754648e-01 5.18894835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18275509600005 meters 0.014874514285610728 Centerline is valid? [True, True] Translation: X:93.31, Y:192.22, Z:5.19 [[-5.96013474e-01 -8.02872077e-01 1.28205716e-02 9.33100453e+01] [ 8.02687805e-01 -5.96151346e-01 -1.72005888e-02 1.92215738e+02] [ 2.14528735e-02 3.91337902e-05 9.99769860e-01 5.19126915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.212755096 meters 0.014925404443681536 Centerline is valid? [True, True] Translation: X:93.30, Y:192.24, Z:5.19 [[-5.95211833e-01 -8.03470048e-01 1.25998274e-02 9.32954895e+01] [ 8.03292492e-01 -5.95345175e-01 -1.68906738e-02 1.92236924e+02] [ 2.10723969e-02 6.78177938e-05 9.99777950e-01 5.19199991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24275509600005 meters 0.015135926519883108 Centerline is valid? [True, True] Translation: X:93.28, Y:192.26, Z:5.19 [[-5.94292299e-01 -8.04154792e-01 1.23180532e-02 9.32824656e+01] [ 8.03985516e-01 -5.94419937e-01 -1.64993370e-02 1.92260085e+02] [ 2.05901173e-02 9.81074422e-05 9.99787996e-01 5.19386413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.272755096 meters 0.01527550466888568 Centerline is valid? [True, True] Translation: X:93.27, Y:192.28, Z:5.20 [[-5.94394019e-01 -8.04087248e-01 1.18088128e-02 9.32684896e+01] [ 8.03931914e-01 -5.94511302e-01 -1.58047078e-02 1.92282874e+02] [ 1.97288366e-02 9.92577120e-05 9.99805363e-01 5.19528656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30275509600006 meters 0.015218285102838552 Centerline is valid? [True, True] Translation: X:93.26, Y:192.31, Z:5.20 [[-5.94909651e-01 -8.03711131e-01 1.14422576e-02 9.32551931e+01] [ 8.03565463e-01 -5.95019672e-01 -1.53015447e-02 1.92305006e+02] [ 1.91063901e-02 9.15664511e-05 9.99817452e-01 5.19655737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.332755096 meters 0.015187099352044233 Centerline is valid? [True, True] Translation: X:93.24, Y:192.33, Z:5.20 [[-5.96181557e-01 -8.02778548e-01 1.06843172e-02 9.32449701e+01] [ 8.02651597e-01 -5.96277284e-01 -1.42763590e-02 1.92329972e+02] [ 1.78315704e-02 6.44823107e-05 9.99841003e-01 5.19942612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36275509600006 meters 0.015110338347480065 Centerline is valid? [True, True] Translation: X:93.23, Y:192.35, Z:5.20 [[-5.97216987e-01 -8.02013093e-01 1.03377759e-02 9.32320090e+01] [ 8.01894320e-01 -5.97306452e-01 -1.38022683e-02 1.92353147e+02] [ 1.72444202e-02 4.68546654e-05 9.99851303e-01 5.20078972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.39275509600003 meters 0.015110338347480065 Centerline is valid? [True, True] Translation: X:93.22, Y:192.37, Z:5.20 [[-5.97535660e-01 -8.01775624e-01 1.03432746e-02 9.32162702e+01] [ 8.01656887e-01 -5.97625172e-01 -1.37981467e-02 1.92373726e+02] [ 1.72444189e-02 4.68726048e-05 9.99851303e-01 5.20117241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42275509600006 meters 0.014964087660640965 Centerline is valid? [True, True] Translation: X:93.20, Y:192.40, Z:5.20 [[-5.98654306e-01 -8.00944156e-01 1.00738293e-02 9.32038328e+01] [ 8.00831590e-01 -5.98739057e-01 -1.34277852e-02 1.92395895e+02] [ 1.67865011e-02 2.88393141e-05 9.99859096e-01 5.20215080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.45275509600003 meters 0.015048974290842636 Centerline is valid? [True, True] Translation: X:93.19, Y:192.42, Z:5.20 [[-6.00339766e-01 -7.99683394e-01 9.93146635e-03 9.31937630e+01] [ 7.99574000e-01 -6.00421909e-01 -1.32268265e-02 1.92421129e+02] [ 1.65403435e-02 3.52345148e-07 9.99863199e-01 5.20339162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48275509600006 meters 0.015043621231916176 Centerline is valid? [True, True] Translation: X:93.18, Y:192.44, Z:5.20 [[-6.00904108e-01 -7.99257955e-01 1.00485890e-02 9.31809633e+01] [ 7.99146092e-01 -6.00988121e-01 -1.33716598e-02 1.92442985e+02] [ 1.67264881e-02 -4.79471682e-06 9.99860103e-01 5.20399922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51275509600003 meters 0.015143383174729004 Centerline is valid? [True, True] Translation: X:93.17, Y:192.47, Z:5.20 [[-6.00900900e-01 -7.99258434e-01 1.02012309e-02 9.31688372e+01] [ 7.99143345e-01 -6.00987484e-01 -1.35630973e-02 1.92466670e+02] [ 1.69712320e-02 2.16846718e-06 9.99855978e-01 5.20488421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54275509600006 meters 0.01516882710225918 Centerline is valid? [True, True] Translation: X:93.15, Y:192.49, Z:5.21 [[-6.00492302e-01 -7.99564173e-01 1.03018455e-02 9.31543753e+01] [ 7.99447042e-01 -6.00580663e-01 -1.36855546e-02 1.92488944e+02] [ 1.71295683e-02 1.77097412e-05 9.99853278e-01 5.20550886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57275509600004 meters 0.015253238967808188 Centerline is valid? [True, True] Translation: X:93.14, Y:192.51, Z:5.21 [[-6.00061304e-01 -7.99883681e-01 1.06079522e-02 9.31399458e+01] [ 7.99759742e-01 -6.00155060e-01 -1.40804265e-02 1.92510879e+02] [ 1.76291196e-02 3.46940173e-05 9.99844594e-01 5.20628986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60275509600007 meters 0.015368826710772833 Centerline is valid? [True, True] Translation: X:93.13, Y:192.53, Z:5.21 [[-5.99616521e-01 -8.00217089e-01 1.06130880e-02 9.31267545e+01] [ 8.00093285e-01 -5.99710436e-01 -1.40757995e-02 1.92533980e+02] [ 1.76284749e-02 5.13785551e-05 9.99844605e-01 5.20741293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63275509600004 meters 0.015508847845849862 Centerline is valid? [True, True] Translation: X:93.11, Y:192.56, Z:5.21 [[-5.99651833e-01 -8.00187547e-01 1.08429292e-02 9.31120597e+01] [ 8.00058531e-01 -5.99749853e-01 -1.43687480e-02 1.92555304e+02] [ 1.80007384e-02 5.87319741e-05 9.99837972e-01 5.20808507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66275509600007 meters 0.015477307718557475 Centerline is valid? [True, True] Translation: X:93.10, Y:192.58, Z:5.21 [[-5.99911789e-01 -7.99994684e-01 1.06934920e-02 9.30974747e+01] [ 7.99869377e-01 -6.00007085e-01 -1.41590505e-02 1.92577811e+02] [ 1.77433361e-02 5.92155147e-05 9.99842573e-01 5.20896164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69275509600004 meters 0.015435700332913842 Centerline is valid? [True, True] Translation: X:93.09, Y:192.60, Z:5.21 [[-6.00371011e-01 -7.99645412e-01 1.10392313e-02 9.30854104e+01] [ 7.99512030e-01 -6.00472491e-01 -1.46048417e-02 1.92602358e+02] [ 1.83074494e-02 5.76746348e-05 9.99832403e-01 5.20969777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72275509600007 meters 0.01538809072821476 Centerline is valid? [True, True] Translation: X:93.07, Y:192.62, Z:5.21 [[-6.01133841e-01 -7.99071581e-01 1.10776060e-02 9.30719318e+01] [ 7.98937388e-01 -6.01235899e-01 -1.46439275e-02 1.92624777e+02] [ 1.83618007e-02 4.73531613e-05 9.99831407e-01 5.21051003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.75275509600004 meters 0.015350027497633692 Centerline is valid? [True, True] Translation: X:93.06, Y:192.65, Z:5.21 [[-6.02189483e-01 -7.98272951e-01 1.13191351e-02 9.30587847e+01] [ 7.98132928e-01 -6.02295854e-01 -1.49510527e-02 1.92646754e+02] [ 1.87524891e-02 3.08077680e-05 9.99824156e-01 5.21148783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7827550960001 meters 0.015235154391280863 Centerline is valid? [True, True] Translation: X:93.05, Y:192.67, Z:5.21 [[-6.04158265e-01 -7.96788631e-01 1.09848948e-02 9.30479085e+01] [ 7.96656722e-01 -6.04258121e-01 -1.44979206e-02 1.92669856e+02] [ 1.81894902e-02 -7.84828757e-06 9.99834558e-01 5.21250212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.81275509600005 meters 0.015278829742499443 Centerline is valid? [True, True] Translation: X:93.03, Y:192.69, Z:5.21 [[-6.05543229e-01 -7.95736129e-01 1.10186754e-02 9.30340184e+01] [ 7.95603449e-01 -6.05643470e-01 -1.45306462e-02 1.92692139e+02] [ 1.82359490e-02 -3.24382339e-05 9.99833711e-01 5.21350017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8427550960001 meters 0.01535150039889106 Centerline is valid? [True, True] Translation: X:93.02, Y:192.71, Z:5.21 [[-6.07016680e-01 -7.94613907e-01 1.09311303e-02 9.30210946e+01] [ 7.94483357e-01 -6.07115093e-01 -1.44034950e-02 1.92714327e+02] [ 1.80816717e-02 -5.85606180e-05 9.99836512e-01 5.21398778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.87275509600005 meters 0.016005249489806087 Centerline is valid? [True, True] Translation: X:93.01, Y:192.74, Z:5.22 [[-6.10417737e-01 -7.92002515e-01 1.10545268e-02 9.30103596e+01] [ 7.91868792e-01 -6.10517813e-01 -1.45539333e-02 1.92739879e+02] [ 1.82757373e-02 -1.30244275e-04 9.99832976e-01 5.21583696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.9027550960001 meters 0.016428741526935662 Centerline is valid? [True, True] Translation: X:93.00, Y:192.76, Z:5.22 [[-6.11854754e-01 -7.90892546e-01 1.10788498e-02 9.29963595e+01] [ 7.90758257e-01 -6.11955028e-01 -1.45747474e-02 1.92761937e+02] [ 1.83068169e-02 -1.56936538e-04 9.99832404e-01 5.21743174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.93275509600005 meters 0.01646492287392519 Centerline is valid? [True, True] Translation: X:92.98, Y:192.78, Z:5.22 [[-6.12053413e-01 -7.90747404e-01 1.04480950e-02 9.29812600e+01] [ 7.90628133e-01 -6.12142566e-01 -1.37344317e-02 1.92781350e+02] [ 1.72561899e-02 -1.45647931e-04 9.99851090e-01 5.21988188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.962755096 meters 0.016232709419285448 Centerline is valid? [True, True] Translation: X:92.97, Y:192.80, Z:5.22 [[-6.13200184e-01 -7.89853425e-01 1.08213375e-02 9.29652367e+01] [ 7.89725524e-01 -6.13295636e-01 -1.42147415e-02 1.92803409e+02] [ 1.78642414e-02 -1.70595646e-04 9.99840407e-01 5.22108637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.99275509600005 meters 0.01668893887982531 Centerline is valid? [True, True] Translation: X:92.95, Y:192.83, Z:5.22 [[-6.14662450e-01 -7.88712665e-01 1.10636742e-02 9.29508703e+01] [ 7.88578986e-01 -6.14761980e-01 -1.45220840e-02 1.92825373e+02] [ 1.82552778e-02 -2.01598729e-04 9.99833338e-01 5.22154462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.022755096 meters 0.017370661772287323 Centerline is valid? [True, True] Translation: X:92.94, Y:192.85, Z:5.22 [[-6.16650976e-01 -7.87162477e-01 1.08077852e-02 9.29363262e+01] [ 7.87034861e-01 -6.16745636e-01 -1.41756132e-02 1.92848500e+02] [ 1.78241651e-02 -2.35302005e-04 9.99841109e-01 5.22251028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.05275509600006 meters 0.017761457913713443 Centerline is valid? [True, True] Translation: X:92.92, Y:192.87, Z:5.22 [[-6.18024705e-01 -7.86086655e-01 1.06412107e-02 9.29215474e+01] [ 7.85962960e-01 -6.18116256e-01 -1.39470521e-02 1.92870132e+02] [ 1.75410968e-02 -2.56025321e-04 9.99846110e-01 5.22334665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.082755096 meters 0.017840362103323657 Centerline is valid? [True, True] Translation: X:92.91, Y:192.89, Z:5.22 [[-6.19326468e-01 -7.85064137e-01 1.04415799e-02 9.29050421e+01] [ 7.84945078e-01 -6.19414422e-01 -1.36747589e-02 1.92892086e+02] [ 1.72032280e-02 -2.73073340e-04 9.99851976e-01 5.22432129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.11275509600006 meters 0.01885352109821562 Centerline is valid? [True, True] Translation: X:92.89, Y:192.91, Z:5.22 [[-6.21573229e-01 -7.83286427e-01 1.04448449e-02 9.28892795e+01] [ 7.83167217e-01 -6.21660900e-01 -1.36688175e-02 1.92912707e+02] [ 1.71997509e-02 -3.16110908e-04 9.99852023e-01 5.22426924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14275509600003 meters 0.018818966555247126 Centerline is valid? [True, True] Translation: X:92.87, Y:192.93, Z:5.22 [[-6.22537097e-01 -7.82516185e-01 1.07695557e-02 9.28714682e+01] [ 7.82389529e-01 -6.22630151e-01 -1.40826071e-02 1.92933790e+02] [ 1.77253180e-02 -3.40957742e-04 9.99842836e-01 5.22410427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.17275509600006 meters 0.019560510696934756 Centerline is valid? [True, True] Translation: X:92.86, Y:192.95, Z:5.22 [[-6.23831067e-01 -7.81476818e-01 1.13482598e-02 9.28560251e+01] [ 7.81336230e-01 -6.23934160e-01 -1.48276506e-02 1.92954549e+02] [ 1.86680321e-02 -3.83142556e-04 9.99825664e-01 5.22379733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20275509600003 meters 0.019762787151548597 Centerline is valid? [True, True] Translation: X:92.84, Y:192.98, Z:5.22 [[-6.24100077e-01 -7.81255950e-01 1.17573565e-02 9.28399816e+01] [ 7.81105241e-01 -6.24210689e-01 -1.53498491e-02 1.92975180e+02] [ 1.93312285e-02 -3.96109173e-04 9.99813056e-01 5.22390647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.23275509600006 meters 0.020273232320905794 Centerline is valid? [True, True] Translation: X:92.82, Y:192.99, Z:5.22 [[-6.24248103e-01 -7.81133895e-01 1.20059869e-02 9.28240464e+01] [ 7.80976971e-01 -6.24363418e-01 -1.56618227e-02 1.92994761e+02] [ 1.97300796e-02 -4.00463781e-04 9.99805263e-01 5.22396162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26275509600003 meters 0.01994189374821112 Centerline is valid? [True, True] Translation: X:92.81, Y:193.01, Z:5.22 [[-6.24403698e-01 -7.81002252e-01 1.24701685e-02 9.28065668e+01] [ 7.80833218e-01 -6.24528073e-01 -1.62533562e-02 1.93014228e+02] [ 2.04818780e-02 -4.11533904e-04 9.99790140e-01 5.22410262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.29275509600006 meters 0.019791613251747588 Centerline is valid? [True, True] Translation: X:92.79, Y:193.03, Z:5.22 [[-6.24033511e-01 -7.81291431e-01 1.28792962e-02 9.27879605e+01] [ 7.81111476e-01 -6.24166271e-01 -1.67728302e-02 1.93033783e+02] [ 2.11432908e-02 -4.06642007e-04 9.99776373e-01 5.22352768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32275509600004 meters 0.01997658056968195 Centerline is valid? [True, True] Translation: X:92.77, Y:193.05, Z:5.22 [[-6.24083381e-01 -7.81248437e-01 1.30695382e-02 9.27714897e+01] [ 7.81063415e-01 -6.24220085e-01 -1.70066799e-02 1.93053024e+02] [ 2.14447104e-02 -4.05448150e-04 9.99769954e-01 5.22301622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.35275509600007 meters 0.01993717206335985 Centerline is valid? [True, True] Translation: X:92.75, Y:193.07, Z:5.22 [[-6.23939245e-01 -7.81358742e-01 1.33541907e-02 9.27526735e+01] [ 7.81165912e-01 -6.24082010e-01 -1.73627026e-02 1.93071823e+02] [ 2.19006097e-02 -4.01432990e-04 9.99760072e-01 5.22245419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38275509600004 meters 0.01996529912118956 Centerline is valid? [True, True] Translation: X:92.74, Y:193.09, Z:5.22 [[-6.24351202e-01 -7.81025666e-01 1.35825395e-02 9.27356271e+01] [ 7.80826417e-01 -6.24498791e-01 -1.76456011e-02 1.93092112e+02] [ 2.22639468e-02 -4.11446636e-04 9.99752043e-01 5.22266099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.41275509600007 meters 0.020732577094857454 Centerline is valid? [True, True] Translation: X:92.72, Y:193.11, Z:5.22 [[-6.25228581e-01 -7.80322069e-01 1.36634602e-02 9.27203055e+01] [ 7.80120588e-01 -6.25377713e-01 -1.77365150e-02 1.93112467e+02] [ 2.23850175e-02 -4.30229483e-04 9.99749332e-01 5.22290541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44275509600004 meters 0.020285410828039165 Centerline is valid? [True, True] Translation: X:92.70, Y:193.13, Z:5.22 [[-6.26113728e-01 -7.79606161e-01 1.39940520e-02 9.27027138e+01] [ 7.79394976e-01 -6.26269930e-01 -1.81506644e-02 1.93131810e+02] [ 2.29144237e-02 -4.57486271e-04 9.99737325e-01 5.22367052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.47275509600007 meters 0.022473600374728484 Centerline is valid? [True, True] Translation: X:92.69, Y:193.15, Z:5.22 [[-6.28667952e-01 -7.77541615e-01 1.43402276e-02 9.26886012e+01] [ 7.77319635e-01 -6.28831255e-01 -1.85859277e-02 1.93153321e+02] [ 2.34689155e-02 -5.37436645e-04 9.99724423e-01 5.22312056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50275509600004 meters 0.021678783841741316 Centerline is valid? [True, True] Translation: X:92.67, Y:193.17, Z:5.23 [[-6.30274103e-01 -7.76242900e-01 1.41955936e-02 9.26706765e+01] [ 7.76025321e-01 -6.30433686e-01 -1.83866325e-02 1.93173563e+02] [ 2.32218734e-02 -5.72478243e-04 9.99730172e-01 5.22505245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5327550960001 meters 0.023178316089814865 Centerline is valid? [True, True] Translation: X:92.66, Y:193.20, Z:5.23 [[-6.33326421e-01 -7.73764658e-01 1.36344405e-02 9.26556665e+01] [ 7.73563650e-01 -6.33472855e-01 -1.76471308e-02 1.93196107e+02] [ 2.22917741e-02 -6.29286619e-04 9.99751309e-01 5.22696151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56275509600005 meters 0.025277595291194457 Centerline is valid? [True, True] Translation: X:92.64, Y:193.22, Z:5.23 [[-6.34891075e-01 -7.72481985e-01 1.35980305e-02 9.26417378e+01] [ 7.72282021e-01 -6.35036330e-01 -1.75880471e-02 1.93218577e+02] [ 2.22216929e-02 -6.64979628e-04 9.99752847e-01 5.22726498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5927550960001 meters 0.028741201921734735 Centerline is valid? [True, True] Translation: X:92.63, Y:193.24, Z:5.23 [[-6.36339679e-01 -7.71290633e-01 1.35119107e-02 9.26296873e+01] [ 7.71093141e-01 -6.36482737e-01 -1.74669082e-02 1.93242178e+02] [ 2.20721606e-02 -6.95945054e-04 9.99756138e-01 5.22729636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62275509600005 meters 0.025405541140585908 Centerline is valid? [True, True] Translation: X:92.61, Y:193.26, Z:5.23 [[-6.38578538e-01 -7.69442371e-01 1.32622842e-02 9.26083480e+01] [ 7.69251924e-01 -6.38715814e-01 -1.71343792e-02 1.93260999e+02] [ 2.16547480e-02 -7.39609161e-04 9.99765235e-01 5.22928814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6527550960001 meters 0.026006154212498397 Centerline is valid? [True, True] Translation: X:92.59, Y:193.28, Z:5.23 [[-6.39464441e-01 -7.68704048e-01 1.33909006e-02 9.25916669e+01] [ 7.68509977e-01 -6.39604176e-01 -1.72890896e-02 1.93283256e+02] [ 2.18550691e-02 -7.64717312e-04 9.99760857e-01 5.22969994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68275509600005 meters 0.026596257393981554 Centerline is valid? [True, True] Translation: X:92.57, Y:193.31, Z:5.23 [[-6.40300449e-01 -7.68006979e-01 1.34392935e-02 9.25749691e+01] [ 7.67811610e-01 -6.40440993e-01 -1.73397416e-02 1.93305128e+02] [ 2.19241170e-02 -7.83798799e-04 9.99759330e-01 5.22957153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.712755096 meters 0.02749693612092974 Centerline is valid? [True, True] Translation: X:92.56, Y:193.33, Z:5.23 [[-6.41060699e-01 -7.67365200e-01 1.38502733e-02 9.25592867e+01] [ 7.67157854e-01 -6.41209774e-01 -1.78564597e-02 1.93326629e+02] [ 2.25833564e-02 -8.21728617e-04 9.99744626e-01 5.22906590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74275509600005 meters 0.026356689960203055 Centerline is valid? [True, True] Translation: X:92.54, Y:193.35, Z:5.23 [[-6.41307071e-01 -7.67152607e-01 1.42168519e-02 9.25413605e+01] [ 7.66934413e-01 -6.41464082e-01 -1.83149559e-02 1.93346613e+02] [ 2.31699661e-02 -8.42117782e-04 9.99731186e-01 5.22919905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.772755096 meters 0.026072749973649938 Centerline is valid? [True, True] Translation: X:92.52, Y:193.37, Z:5.23 [[-6.41338182e-01 -7.67119859e-01 1.45759667e-02 9.25242264e+01] [ 7.66890830e-01 -6.41503227e-01 -1.87634002e-02 1.93367758e+02] [ 2.37443066e-02 -8.55509756e-04 9.99717698e-01 5.22922802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80275509600006 meters 0.0259808170429779 Centerline is valid? [True, True] Translation: X:92.51, Y:193.39, Z:5.23 [[-6.40726300e-01 -7.67616606e-01 1.53151563e-02 9.25070093e+01] [ 7.67364272e-01 -6.40908721e-01 -1.96998666e-02 1.93388996e+02] [ 2.49375619e-02 -8.69918869e-04 9.99688632e-01 5.22870639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.832755096 meters 0.02646547825187333 Centerline is valid? [True, True] Translation: X:92.49, Y:193.41, Z:5.23 [[-6.40518547e-01 -7.67790958e-01 1.52654912e-02 9.24911256e+01] [ 7.67540674e-01 -6.40699868e-01 -1.96212310e-02 1.93409776e+02] [ 2.48456019e-02 -8.50876983e-04 9.99690938e-01 5.22827900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86275509600006 meters 0.0265200263547541 Centerline is valid? [True, True] Translation: X:92.47, Y:193.43, Z:5.23 [[-6.40469708e-01 -7.67828755e-01 1.54128920e-02 9.24744608e+01] [ 7.67574016e-01 -6.40654575e-01 -1.97950689e-02 1.93430688e+02] [ 2.50735629e-02 -8.47606535e-04 9.99685249e-01 5.22840833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.89275509600003 meters 0.02649383578112953 Centerline is valid? [True, True] Translation: X:92.46, Y:193.45, Z:5.23 [[-6.39629295e-01 -7.68527610e-01 1.54815241e-02 9.24584151e+01] [ 7.68271152e-01 -6.39816105e-01 -1.98692663e-02 1.93451143e+02] [ 2.51754082e-02 -8.14956428e-04 9.99682717e-01 5.22837364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92275509600006 meters 0.024905831067071713 Centerline is valid? [True, True] Translation: X:92.44, Y:193.47, Z:5.23 [[-6.39082999e-01 -7.68977597e-01 1.56963586e-02 9.24396541e+01] [ 7.68714432e-01 -6.39275227e-01 -2.01322096e-02 1.93471112e+02] [ 2.55155114e-02 -8.00135512e-04 9.99674106e-01 5.22869924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.95275509600003 meters 0.02463165649141855 Centerline is valid? [True, True] Translation: X:92.42, Y:193.49, Z:5.23 [[-6.38683850e-01 -7.69298808e-01 1.61951934e-02 9.24221057e+01] [ 7.69019158e-01 -6.38888645e-01 -2.07565310e-02 1.93492483e+02] [ 2.63148997e-02 -8.02447172e-04 9.99653381e-01 5.22857910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98275509600006 meters 0.024860999591011557 Centerline is valid? [True, True] Translation: X:92.41, Y:193.51, Z:5.23 [[-6.37332776e-01 -7.70410869e-01 1.65537148e-02 9.24052362e+01] [ 7.70119504e-01 -6.37547261e-01 -2.12000047e-02 1.93512966e+02] [ 2.68864896e-02 -7.63119252e-04 9.99638202e-01 5.22691159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01275509600003 meters 0.02338599217509489 Centerline is valid? [True, True] Translation: X:92.39, Y:193.53, Z:5.23 [[-6.36632142e-01 -7.70991797e-01 1.64670470e-02 9.23873928e+01] [ 7.70704091e-01 -6.36844662e-01 -2.10732367e-02 1.93533155e+02] [ 2.67342436e-02 -7.24679362e-04 9.99642314e-01 5.22789685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04275509600006 meters 0.023062622396622066 Centerline is valid? [True, True] Translation: X:92.37, Y:193.55, Z:5.23 [[-6.36009074e-01 -7.71503745e-01 1.65658961e-02 9.23704690e+01] [ 7.71213164e-01 -6.36224398e-01 -2.11841898e-02 1.93554254e+02] [ 2.68833091e-02 -6.97499849e-04 9.99638335e-01 5.22814995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07275509600004 meters 0.022853282234907263 Centerline is valid? [True, True] Translation: X:92.35, Y:193.57, Z:5.23 [[-6.34636904e-01 -7.72633735e-01 1.65261135e-02 9.23542978e+01] [ 7.72345351e-01 -6.34851719e-01 -2.11176140e-02 1.93574836e+02] [ 2.68078126e-02 -6.38150248e-04 9.99640402e-01 5.22809001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10275509600007 meters 0.022037833930183947 Centerline is valid? [True, True] Translation: X:92.34, Y:193.60, Z:5.23 [[-6.34278458e-01 -7.72925748e-01 1.66321015e-02 9.23367292e+01] [ 7.72634203e-01 -6.34496182e-01 -2.12363677e-02 1.93595104e+02] [ 2.69671403e-02 -6.19240064e-04 9.99636129e-01 5.22915149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13275509600004 meters 0.02275937828719212 Centerline is valid? [True, True] Translation: X:92.32, Y:193.62, Z:5.23 [[-6.33769105e-01 -7.73335172e-01 1.70127184e-02 9.23197142e+01] [ 7.73030765e-01 -6.33997118e-01 -2.17046041e-02 1.93615677e+02] [ 2.75709482e-02 -6.04352809e-04 9.99619666e-01 5.22864889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16275509600007 meters 0.021542702922832634 Centerline is valid? [True, True] Translation: X:92.30, Y:193.64, Z:5.23 [[-6.33747885e-01 -7.73365613e-01 1.64087329e-02 9.23027154e+01] [ 7.73082892e-01 -6.33960016e-01 -2.09174639e-02 1.93635948e+02] [ 2.65793278e-02 -5.71087831e-04 9.99646544e-01 5.23041245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19275509600004 meters 0.02118974223157153 Centerline is valid? [True, True] Translation: X:92.29, Y:193.66, Z:5.23 [[-6.34242254e-01 -7.72964758e-01 1.61940072e-02 9.22855932e+01] [ 7.72689678e-01 -6.34448704e-01 -2.06277531e-02 1.93656595e+02] [ 2.62187930e-02 -5.70050408e-04 9.99656066e-01 5.23179748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22275509600007 meters 0.022121961402533752 Centerline is valid? [True, True] Translation: X:92.27, Y:193.68, Z:5.23 [[-6.35629570e-01 -7.71847279e-01 1.50607599e-02 9.22717672e+01] [ 7.71609367e-01 -6.35807721e-01 -1.91709966e-02 1.93678462e+02] [ 2.43728290e-02 -5.64628998e-04 9.99702779e-01 5.23376459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.25275509600004 meters 0.02256197246425869 Centerline is valid? [True, True] Translation: X:92.26, Y:193.70, Z:5.23 [[-6.36778535e-01 -7.70901071e-01 1.49878524e-02 9.22556797e+01] [ 7.70665519e-01 -6.36954622e-01 -1.90648005e-02 1.93700979e+02] [ 2.42436570e-02 -5.89434634e-04 9.99705906e-01 5.23452605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2827550960001 meters 0.02256197246425869 Centerline is valid? [True, True] Translation: X:92.24, Y:193.72, Z:5.23 [[-6.37051701e-01 -7.70675218e-01 1.49946133e-02 9.22389739e+01] [ 7.70439728e-01 -6.37227872e-01 -1.90594823e-02 1.93721887e+02] [ 2.42436562e-02 -5.89429816e-04 9.99705906e-01 5.23492124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.31275509600005 meters 0.02469150335435249 Centerline is valid? [True, True] Translation: X:92.23, Y:193.75, Z:5.23 [[-6.38463751e-01 -7.69510896e-01 1.47316050e-02 9.22259384e+01] [ 7.69283613e-01 -6.38633388e-01 -1.87114348e-02 1.93745040e+02] [ 2.38067477e-02 -6.13790521e-04 9.99716391e-01 5.23471797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3427550960001 meters 0.024716565040429097 Centerline is valid? [True, True] Translation: X:92.21, Y:193.77, Z:5.24 [[-6.41216285e-01 -7.67228372e-01 1.42232676e-02 9.22100198e+01] [ 7.67016253e-01 -6.41373668e-01 -1.80522839e-02 1.93766539e+02] [ 2.29726537e-02 -6.65940955e-04 9.99735872e-01 5.23687997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.37275509600005 meters 0.02558448256783332 Centerline is valid? [True, True] Translation: X:92.19, Y:193.79, Z:5.24 [[-6.42598718e-01 -7.66075669e-01 1.39627276e-02 9.21940092e+01] [ 7.65871275e-01 -6.42750029e-01 -1.77085019e-02 1.93788918e+02] [ 2.25405960e-02 -6.85808651e-04 9.99745693e-01 5.23726291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.4027550960001 meters 0.026599063848280147 Centerline is valid? [True, True] Translation: X:92.18, Y:193.81, Z:5.24 [[-6.44110414e-01 -7.64809830e-01 1.37003344e-02 9.21786624e+01] [ 7.64613037e-01 -6.44255712e-01 -1.73631979e-02 1.93810424e+02] [ 2.21060632e-02 -7.08362300e-04 9.99755380e-01 5.23844672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.43275509600005 meters 0.02727423146681998 Centerline is valid? [True, True] Translation: X:92.16, Y:193.83, Z:5.24 [[-6.45189325e-01 -7.63904376e-01 1.34476261e-02 9.21626110e+01] [ 7.63714851e-01 -6.45329055e-01 -1.70305042e-02 1.93832433e+02] [ 2.16878205e-02 -7.17747800e-04 9.99764534e-01 5.23923617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.462755096 meters 0.027902242562013548 Centerline is valid? [True, True] Translation: X:92.15, Y:193.85, Z:5.24 [[-6.46062166e-01 -7.63170424e-01 1.32129174e-02 9.21463316e+01] [ 7.62987553e-01 -6.46196860e-01 -1.67215755e-02 1.93854342e+02] [ 2.12995576e-02 -7.21885719e-04 9.99772878e-01 5.24004719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.49275509600005 meters 0.029226010368752567 Centerline is valid? [True, True] Translation: X:92.13, Y:193.88, Z:5.24 [[-6.47368537e-01 -7.62052712e-01 1.37710754e-02 9.21316244e+01] [ 7.61854094e-01 -6.47514519e-01 -1.74151404e-02 1.93876295e+02] [ 2.21882262e-02 -7.82463792e-04 9.99753505e-01 5.23987404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.522755096 meters 0.029567297179277002 Centerline is valid? [True, True] Translation: X:92.12, Y:193.90, Z:5.24 [[-6.47748253e-01 -7.61720200e-01 1.43016760e-02 9.21156015e+01] [ 7.61506218e-01 -6.47905604e-01 -1.80722913e-02 1.93897060e+02] [ 2.30321654e-02 -8.15479922e-04 9.99734392e-01 5.23950741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.55275509600006 meters 0.027856491351293342 Centerline is valid? [True, True] Translation: X:92.10, Y:193.92, Z:5.24 [[-6.48184063e-01 -7.61340394e-01 1.47724645e-02 9.20966203e+01] [ 7.61112339e-01 -6.48351824e-01 -1.86526235e-02 1.93916165e+02] [ 2.37787500e-02 -8.46828346e-04 9.99716887e-01 5.24008904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.582755096 meters 0.030314761373282824 Centerline is valid? [True, True] Translation: X:92.08, Y:193.94, Z:5.24 [[-6.47958165e-01 -7.61524058e-01 1.52093923e-02 9.20824413e+01] [ 7.61282702e-01 -6.48136079e-01 -1.91903751e-02 1.93937855e+02] [ 2.44716883e-02 -8.55912945e-04 9.99700157e-01 5.23870417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.61275509600006 meters 0.031733906418547286 Centerline is valid? [True, True] Translation: X:92.07, Y:193.96, Z:5.24 [[-6.48011858e-01 -7.61470200e-01 1.56130056e-02 9.20654047e+01] [ 7.61216190e-01 -6.48199332e-01 -1.96860145e-02 1.93958466e+02] [ 2.51106532e-02 -8.71898204e-04 9.99684298e-01 5.23735293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64275509600003 meters 0.030154337235350305 Centerline is valid? [True, True] Translation: X:92.05, Y:193.98, Z:5.24 [[-6.47117564e-01 -7.62236494e-01 1.53096833e-02 9.20478567e+01] [ 7.61992828e-01 -6.47298124e-01 -1.92890883e-02 1.93976838e+02] [ 2.46127763e-02 -8.16438921e-04 9.99696726e-01 5.23880946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.67275509600006 meters 0.03069286166302548 Centerline is valid? [True, True] Translation: X:92.03, Y:194.00, Z:5.24 [[-6.46698308e-01 -7.62585471e-01 1.56428026e-02 9.20307162e+01] [ 7.62331568e-01 -6.46886962e-01 -1.96936231e-02 1.93997214e+02] [ 2.51371959e-02 -8.10830540e-04 9.99683682e-01 5.23829636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70275509600003 meters 0.03053200768883082 Centerline is valid? [True, True] Translation: X:92.02, Y:194.02, Z:5.24 [[-6.46692191e-01 -7.62592421e-01 1.55566499e-02 9.20152532e+01] [ 7.62341689e-01 -6.46878787e-01 -1.95699906e-02 1.94016277e+02] [ 2.49871933e-02 -7.96277340e-04 9.99687454e-01 5.23910317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.73275509600006 meters 0.028255462027820588 Centerline is valid? [True, True] Translation: X:92.00, Y:194.04, Z:5.24 [[-6.46162374e-01 -7.63046945e-01 1.52822309e-02 9.19951117e+01] [ 7.62805473e-01 -6.46342625e-01 -1.92099431e-02 1.94035166e+02] [ 2.45356456e-02 -7.55373076e-04 9.99698670e-01 5.24129969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76275509600003 meters 0.028952118419348378 Centerline is valid? [True, True] Translation: X:91.98, Y:194.06, Z:5.24 [[-6.46146597e-01 -7.63070273e-01 1.47761359e-02 9.19804820e+01] [ 7.62844854e-01 -6.46315124e-01 -1.85604201e-02 1.94056487e+02] [ 2.37129449e-02 -7.20853069e-04 9.99718549e-01 5.24271485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.79275509600006 meters 0.028813435143079335 Centerline is valid? [True, True] Translation: X:91.96, Y:194.08, Z:5.24 [[-6.46026459e-01 -7.63184678e-01 1.41054088e-02 9.19640011e+01] [ 7.62979600e-01 -6.46180077e-01 -1.77041863e-02 1.94076146e+02] [ 2.26261978e-02 -6.75233613e-04 9.99743767e-01 5.24394115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82275509600004 meters 0.02863673162536818 Centerline is valid? [True, True] Translation: X:91.95, Y:194.10, Z:5.25 [[-6.45451406e-01 -7.63687768e-01 1.31710224e-02 9.19469159e+01] [ 7.63509309e-01 -6.45585490e-01 -1.65199734e-02 1.94095100e+02] [ 2.11191226e-02 -6.06641852e-04 9.99776782e-01 5.24651105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.85275509600007 meters 0.023331543282496005 Centerline is valid? [True, True] Translation: X:91.92, Y:194.11, Z:5.25 [[-6.45145750e-01 -7.63957343e-01 1.24956046e-02 9.19224857e+01] [ 7.63796959e-01 -6.45266506e-01 -1.56634124e-02 1.94110918e+02] [ 2.00291740e-02 -5.61079148e-04 9.99799239e-01 5.24931012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88275509600004 meters 0.028379583381310025 Centerline is valid? [True, True] Translation: X:91.91, Y:194.14, Z:5.25 [[-6.44978598e-01 -7.64103864e-01 1.21611698e-02 9.19122837e+01] [ 7.63952198e-01 -6.45093017e-01 -1.52328385e-02 1.94136336e+02] [ 1.94845565e-02 -5.34302418e-04 9.99810015e-01 5.24879586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.91275509600007 meters 0.024945712089679706 Centerline is valid? [True, True] Translation: X:91.89, Y:194.15, Z:5.25 [[-6.44572635e-01 -7.64444086e-01 1.23027566e-02 9.18894227e+01] [ 7.64289167e-01 -6.44689822e-01 -1.53981612e-02 1.94152403e+02] [ 1.97024952e-02 -5.22369748e-04 9.99805751e-01 5.24944162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94275509600004 meters 0.02448592785243301 Centerline is valid? [True, True] Translation: X:91.87, Y:194.17, Z:5.25 [[-6.44274480e-01 -7.64697790e-01 1.21525162e-02 9.18722938e+01] [ 7.64546893e-01 -6.44388887e-01 -1.51990209e-02 1.94173071e+02] [ 1.94536041e-02 -5.01172720e-04 9.99810635e-01 5.25006170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.97275509600007 meters 0.022777532496471492 Centerline is valid? [True, True] Translation: X:91.86, Y:194.19, Z:5.25 [[-6.44190592e-01 -7.64771202e-01 1.19787342e-02 9.18555647e+01] [ 7.64624815e-01 -6.44301772e-01 -1.49705643e-02 1.94193259e+02] [ 1.91669761e-02 -4.84659276e-04 9.99816179e-01 5.25231053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00275509600004 meters 0.028304228285870356 Centerline is valid? [True, True] Translation: X:91.85, Y:194.22, Z:5.25 [[-6.44174814e-01 -7.64781748e-01 1.21526694e-02 9.18459046e+01] [ 7.64631312e-01 -6.44289255e-01 -1.51760602e-02 1.94218946e+02] [ 1.94362081e-02 -4.83724179e-04 9.99810982e-01 5.25042895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0327550960001 meters 0.02260361918338078 Centerline is valid? [True, True] Translation: X:91.82, Y:194.23, Z:5.25 [[-6.44251771e-01 -7.64726639e-01 1.15248832e-02 9.18217121e+01] [ 7.64591530e-01 -6.44354686e-01 -1.43816061e-02 1.94233830e+02] [ 1.84241098e-02 -4.53547157e-04 9.99830159e-01 5.25363748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06275509600005 meters 0.023005137399326064 Centerline is valid? [True, True] Translation: X:91.81, Y:194.25, Z:5.25 [[-6.44691685e-01 -7.64358371e-01 1.13539674e-02 9.18056882e+01] [ 7.64227370e-01 -6.44791500e-01 -1.41580172e-02 1.94254390e+02] [ 1.81427406e-02 -4.50543275e-04 9.99835305e-01 5.25421771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0927550960001 meters 0.023161361297002955 Centerline is valid? [True, True] Translation: X:91.79, Y:194.28, Z:5.25 [[-6.45272134e-01 -7.63870507e-01 1.12125710e-02 9.17886674e+01] [ 7.63742863e-01 -6.45369386e-01 -1.39712424e-02 1.94275305e+02] [ 1.79084701e-02 -4.51732271e-04 9.99839528e-01 5.25473736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12275509600005 meters 0.023587775157675336 Centerline is valid? [True, True] Translation: X:91.77, Y:194.30, Z:5.26 [[-6.46324734e-01 -7.62979439e-01 1.12566816e-02 9.17719211e+01] [ 7.62850834e-01 -6.46422581e-01 -1.40161367e-02 1.94297011e+02] [ 1.79705973e-02 -4.71806869e-04 9.99838404e-01 5.25506165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1527550960001 meters 0.02485981184291139 Centerline is valid? [True, True] Translation: X:91.76, Y:194.32, Z:5.26 [[-6.48425840e-01 -7.61193208e-01 1.13503435e-02 9.17569606e+01] [ 7.61062363e-01 -6.48524966e-01 -1.41225940e-02 1.94320319e+02] [ 1.81110038e-02 -5.19135665e-04 9.99835848e-01 5.25544065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18275509600005 meters 0.02497515207846899 Centerline is valid? [True, True] Translation: X:91.74, Y:194.34, Z:5.26 [[-6.49990239e-01 -7.59858022e-01 1.13346687e-02 9.17406114e+01] [ 7.59727520e-01 -6.50088828e-01 -1.40929585e-02 1.94341574e+02] [ 1.80771891e-02 -5.49025777e-04 9.99836444e-01 5.25615948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.212755096 meters 0.02726482449768039 Centerline is valid? [True, True] Translation: X:91.73, Y:194.36, Z:5.26 [[-6.52436821e-01 -7.57752268e-01 1.17343721e-02 9.17278662e+01] [ 7.57612271e-01 -6.52542040e-01 -1.45784963e-02 1.94364669e+02] [ 1.87040597e-02 -6.21443492e-04 9.99824871e-01 5.25612885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24275509600005 meters 0.028794060962662616 Centerline is valid? [True, True] Translation: X:91.71, Y:194.39, Z:5.26 [[-6.53469707e-01 -7.56857613e-01 1.19956407e-02 9.17129224e+01] [ 7.56711379e-01 -6.53579472e-01 -1.48916918e-02 1.94386039e+02] [ 1.91109948e-02 -6.54031638e-04 9.99817154e-01 5.25582782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.272755096 meters 0.027893654636953955 Centerline is valid? [True, True] Translation: X:91.70, Y:194.41, Z:5.26 [[-6.54217867e-01 -7.56208630e-01 1.21445673e-02 9.16955456e+01] [ 7.56058844e-01 -6.54330233e-01 -1.50655101e-02 1.94406598e+02] [ 1.93392263e-02 -6.74118363e-04 9.99812752e-01 5.25654070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30275509600006 meters 0.028379188605971786 Centerline is valid? [True, True] Translation: X:91.68, Y:194.43, Z:5.26 [[-6.54650882e-01 -7.55815876e-01 1.32130061e-02 9.16802252e+01] [ 7.55638763e-01 -6.54783794e-01 -1.63781269e-02 1.94426578e+02] [ 2.10305106e-02 -7.37695649e-04 9.99778562e-01 5.25570520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.332755096 meters 0.03080767999726416 Centerline is valid? [True, True] Translation: X:91.66, Y:194.45, Z:5.25 [[-6.55039920e-01 -7.55456264e-01 1.44408005e-02 9.16632150e+01] [ 7.55244951e-01 -6.55198579e-01 -1.78853484e-02 1.94448201e+02] [ 2.29731905e-02 -8.09275502e-04 9.99735754e-01 5.25313598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36275509600006 meters 0.02971637071956818 Centerline is valid? [True, True] Translation: X:91.65, Y:194.47, Z:5.25 [[-6.54745508e-01 -7.55718118e-01 1.40870971e-02 9.16470673e+01] [ 7.55517368e-01 -6.54896579e-01 -1.74349630e-02 1.94468445e+02] [ 2.24015091e-02 -7.72417154e-04 9.99748756e-01 5.25499137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.39275509600003 meters 0.029295538847225515 Centerline is valid? [True, True] Translation: X:91.63, Y:194.49, Z:5.26 [[-6.54737873e-01 -7.55714210e-01 1.46407167e-02 9.16289576e+01] [ 7.55497696e-01 -6.54901063e-01 -1.81060641e-02 1.94488303e+02] [ 2.32712309e-02 -7.93698114e-04 9.99728873e-01 5.25519514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42275509600006 meters 0.027430550169093893 Centerline is valid? [True, True] Translation: X:91.61, Y:194.51, Z:5.26 [[-6.55054608e-01 -7.55436822e-01 1.47874382e-02 9.16089499e+01] [ 7.55216194e-01 -6.55221004e-01 -1.82739538e-02 1.94507778e+02] [ 2.34938577e-02 -8.02724801e-04 9.99723659e-01 5.25631085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.45275509600003 meters 0.027094799180453384 Centerline is valid? [True, True] Translation: X:91.59, Y:194.53, Z:5.26 [[-6.55534871e-01 -7.55018465e-01 1.48711447e-02 9.15914664e+01] [ 7.54795536e-01 -6.55703024e-01 -1.83641836e-02 1.94528126e+02] [ 2.36163523e-02 -8.13689116e-04 9.99720764e-01 5.25716938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48275509600006 meters 0.029796315386717488 Centerline is valid? [True, True] Translation: X:91.58, Y:194.55, Z:5.26 [[-6.56088385e-01 -7.54528640e-01 1.53154224e-02 9.15778343e+01] [ 7.54292400e-01 -6.56266573e-01 -1.88987264e-02 1.94551043e+02] [ 2.43106301e-02 -8.46928178e-04 9.99704094e-01 5.25674715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51275509600003 meters 0.03019512543529863 Centerline is valid? [True, True] Translation: X:91.56, Y:194.57, Z:5.26 [[-6.56744629e-01 -7.53957853e-01 1.52986506e-02 9.15612101e+01] [ 7.53722317e-01 -6.56922233e-01 -1.88639336e-02 1.94571596e+02] [ 2.42726346e-02 -8.57852652e-04 9.99705008e-01 5.25730950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54275509600006 meters 0.031083265216390054 Centerline is valid? [True, True] Translation: X:91.55, Y:194.59, Z:5.26 [[-6.57259744e-01 -7.53512760e-01 1.51046362e-02 9.15458594e+01] [ 7.53283348e-01 -6.57432727e-01 -1.86120388e-02 1.94591928e+02] [ 2.39546909e-02 -8.54872959e-04 9.99712680e-01 5.25787286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57275509600004 meters 0.03208785971598991 Centerline is valid? [True, True] Translation: X:91.53, Y:194.61, Z:5.26 [[-6.58363549e-01 -7.52556958e-01 1.46786220e-02 9.15294130e+01] [ 7.52340335e-01 -6.58526605e-01 -1.80757003e-02 1.94612702e+02] [ 2.32692571e-02 -8.57062770e-04 9.99728867e-01 5.25913116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60275509600007 meters 0.027676967048677042 Centerline is valid? [True, True] Translation: X:91.51, Y:194.63, Z:5.26 [[-6.59034054e-01 -7.51977221e-01 1.42959753e-02 9.15073153e+01] [ 7.51771895e-01 -6.59188549e-01 -1.75918912e-02 1.94629559e+02] [ 2.26524447e-02 -8.46342938e-04 9.99743042e-01 5.26171598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63275509600004 meters 0.027718699205936108 Centerline is valid? [True, True] Translation: X:91.49, Y:194.65, Z:5.26 [[-6.59831840e-01 -7.51280918e-01 1.41040804e-02 9.14897021e+01] [ 7.51081179e-01 -6.59982014e-01 -1.73436721e-02 1.94650883e+02] [ 2.23384093e-02 -8.50597733e-04 9.99750105e-01 5.26268802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66275509600007 meters 0.030053713487934595 Centerline is valid? [True, True] Translation: X:91.47, Y:194.67, Z:5.26 [[-6.60568141e-01 -7.50633385e-01 1.41157246e-02 9.14745011e+01] [ 7.50433426e-01 -6.60718376e-01 -1.73464769e-02 1.94672888e+02] [ 2.23473633e-02 -8.65618414e-04 9.99749892e-01 5.26250778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69275509600004 meters 0.02914245373066393 Centerline is valid? [True, True] Translation: X:91.46, Y:194.69, Z:5.26 [[-6.61068130e-01 -7.50201811e-01 1.36444449e-02 9.14572788e+01] [ 7.50015137e-01 -6.61208388e-01 -1.67559735e-02 1.94693654e+02] [ 2.15921831e-02 -8.43299898e-04 9.99766506e-01 5.26401075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72275509600007 meters 0.02872872939310439 Centerline is valid? [True, True] Translation: X:91.44, Y:194.71, Z:5.26 [[-6.61502300e-01 -7.49818712e-01 1.36603953e-02 9.14392495e+01] [ 7.49631779e-01 -6.61642788e-01 -1.67635626e-02 1.94714308e+02] [ 2.16079350e-02 -8.48868786e-04 9.99766161e-01 5.26468614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.75275509600004 meters 0.029206744850550997 Centerline is valid? [True, True] Translation: X:91.42, Y:194.73, Z:5.26 [[-6.61913203e-01 -7.49457756e-01 1.35640672e-02 9.14224753e+01] [ 7.49273634e-01 -6.62051626e-01 -1.66332462e-02 1.94734472e+02] [ 2.14460281e-02 -8.46567365e-04 9.99769649e-01 5.26470501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7827550960001 meters 0.029377986473437895 Centerline is valid? [True, True] Translation: X:91.40, Y:194.75, Z:5.26 [[-6.62060078e-01 -7.49330237e-01 1.34405891e-02 9.14049737e+01] [ 7.49149688e-01 -6.62195968e-01 -1.64695141e-02 1.94754957e+02] [ 2.12414088e-02 -8.34794630e-04 9.99774027e-01 5.26491407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.81275509600005 meters 0.027158875769674202 Centerline is valid? [True, True] Translation: X:91.39, Y:194.77, Z:5.27 [[-6.61895031e-01 -7.49475634e-01 1.34625859e-02 9.13852378e+01] [ 7.49294787e-01 -6.62031416e-01 -1.64841415e-02 1.94773521e+02] [ 2.12671172e-02 -8.23325904e-04 9.99773490e-01 5.26559610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8427550960001 meters 0.028626949321505953 Centerline is valid? [True, True] Translation: X:91.37, Y:194.80, Z:5.27 [[-6.61802413e-01 -7.49559093e-01 1.33691069e-02 9.13703802e+01] [ 7.49381024e-01 -6.61936942e-01 -1.63574316e-02 1.94795085e+02] [ 2.11103673e-02 -8.06832640e-04 9.99776826e-01 5.26544153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.87275509600005 meters 0.029934901912179207 Centerline is valid? [True, True] Translation: X:91.36, Y:194.82, Z:5.26 [[-6.61898201e-01 -7.49464134e-01 1.39385749e-02 9.13554957e+01] [ 7.49270854e-01 -6.62044420e-01 -1.70403096e-02 1.94815417e+02] [ 2.19990566e-02 -8.35182324e-04 9.99757643e-01 5.26495571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.9027550960001 meters 0.027816072747654307 Centerline is valid? [True, True] Translation: X:91.33, Y:194.83, Z:5.27 [[-6.61299271e-01 -7.49992272e-01 1.39594099e-02 9.13347975e+01] [ 7.49798829e-01 -6.61446094e-01 -1.70522844e-02 1.94833764e+02] [ 2.20224786e-02 -8.09914061e-04 9.99757148e-01 5.26559678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.93275509600005 meters 0.027469835220454028 Centerline is valid? [True, True] Translation: X:91.32, Y:194.85, Z:5.27 [[-6.61356290e-01 -7.49946842e-01 1.36964487e-02 9.13166817e+01] [ 7.49760865e-01 -6.61497629e-01 -1.67192063e-02 1.94853695e+02] [ 2.15986843e-02 -7.88290983e-04 9.99766410e-01 5.26577947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.962755096 meters 0.02753678050534153 Centerline is valid? [True, True] Translation: X:91.30, Y:194.87, Z:5.27 [[-6.60871010e-01 -7.50375394e-01 1.36483064e-02 9.12993913e+01] [ 7.50191074e-01 -6.61011487e-01 -1.66483237e-02 1.94873940e+02] [ 2.15141797e-02 -7.63556891e-04 9.99768252e-01 5.26583950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.99275509600005 meters 0.026403201208963428 Centerline is valid? [True, True] Translation: X:91.28, Y:194.89, Z:5.27 [[-6.59901800e-01 -7.51223864e-01 1.38679515e-02 9.12805171e+01] [ 7.51034027e-01 -6.60047089e-01 -1.69035852e-02 1.94893663e+02] [ 2.18518776e-02 -7.39402819e-04 9.99760946e-01 5.26639142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.022755096 meters 0.027203471246854183 Centerline is valid? [True, True] Translation: X:91.27, Y:194.91, Z:5.27 [[-6.59187513e-01 -7.51850841e-01 1.38613030e-02 9.12652485e+01] [ 7.51661592e-01 -6.59332852e-01 -1.68831835e-02 1.94914760e+02] [ 2.18328482e-02 -7.10174690e-04 9.99761383e-01 5.26657878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.05275509600006 meters 0.02681071863210349 Centerline is valid? [True, True] Translation: X:91.25, Y:194.94, Z:5.27 [[-6.58587628e-01 -7.52374182e-01 1.39795313e-02 9.12474221e+01] [ 7.52182083e-01 -6.58735618e-01 -1.70146763e-02 1.94935493e+02] [ 2.20102184e-02 -6.90502310e-04 9.99757507e-01 5.26675735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.082755096 meters 0.025312903117936904 Centerline is valid? [True, True] Translation: X:91.23, Y:194.96, Z:5.27 [[-6.57578265e-01 -7.53254889e-01 1.40675939e-02 9.12281048e+01] [ 7.53060828e-01 -6.57728394e-01 -1.71099372e-02 1.94955339e+02] [ 2.21407998e-02 -6.57368927e-04 9.99754646e-01 5.26726665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.11275509600006 meters 0.024019849404268163 Centerline is valid? [True, True] Translation: X:91.21, Y:194.97, Z:5.27 [[-6.55175579e-01 -7.55329372e-01 1.49164416e-02 9.12096580e+01] [ 7.55112002e-01 -6.55345071e-01 -1.81301793e-02 1.94973908e+02] [ 2.34696734e-02 -6.14866632e-04 9.99724360e-01 5.26634087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14275509600003 meters 0.023668085519857482 Centerline is valid? [True, True] Translation: X:91.19, Y:194.99, Z:5.27 [[-6.54442049e-01 -7.55960607e-01 1.51382085e-02 9.11919163e+01] [ 7.55737170e-01 -6.54616841e-01 -1.83880796e-02 1.94993844e+02] [ 2.38103901e-02 -5.93425657e-04 9.99716316e-01 5.26612150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.17275509600006 meters 0.02273522853367716 Centerline is valid? [True, True] Translation: X:91.17, Y:195.01, Z:5.27 [[-6.52696225e-01 -7.57471854e-01 1.49675705e-02 9.11745526e+01] [ 7.57254141e-01 -6.52867610e-01 -1.81672563e-02 1.95013028e+02] [ 2.35330273e-02 -5.23444826e-04 9.99722923e-01 5.26630304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20275509600003 meters 0.02273522853367716 Centerline is valid? [True, True] Translation: X:91.16, Y:195.03, Z:5.27 [[-6.52977913e-01 -7.57228909e-01 1.49741316e-02 9.11578549e+01] [ 7.57011257e-01 -6.53149374e-01 -1.81618475e-02 1.95032866e+02] [ 2.35330206e-02 -5.23699097e-04 9.99722923e-01 5.26668590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.23275509600006 meters 0.02222686419601036 Centerline is valid? [True, True] Translation: X:91.14, Y:195.05, Z:5.27 [[-6.52415601e-01 -7.57719031e-01 1.46885855e-02 9.11407082e+01] [ 7.57510032e-01 -6.52580748e-01 -1.78021959e-02 1.95053462e+02] [ 2.30745507e-02 -4.87679515e-04 9.99733628e-01 5.26765463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26275509600003 meters 0.02212901896300685 Centerline is valid? [True, True] Translation: X:91.13, Y:195.07, Z:5.27 [[-6.52448547e-01 -7.57697265e-01 1.43439445e-02 9.11252418e+01] [ 7.57498251e-01 -6.52606034e-01 -1.73713831e-02 1.95073461e+02] [ 2.25231942e-02 -4.68420784e-04 9.99746211e-01 5.26878351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.29275509600006 meters 0.02201117498296568 Centerline is valid? [True, True] Translation: X:91.11, Y:195.09, Z:5.27 [[-6.52236705e-01 -7.57896560e-01 1.34195669e-02 9.11105620e+01] [ 7.57722667e-01 -6.52374605e-01 -1.62399163e-02 1.95094859e+02] [ 2.10627613e-02 -4.23959446e-04 9.99778066e-01 5.27103694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32275509600004 meters 0.02212653435767565 Centerline is valid? [True, True] Translation: X:91.10, Y:195.11, Z:5.27 [[-6.52408032e-01 -7.57752673e-01 1.32153667e-02 9.10951946e+01] [ 7.57584249e-01 -6.52541734e-01 -1.59809285e-02 1.95114953e+02] [ 2.07331695e-02 -4.14332462e-04 9.99784959e-01 5.27187514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.35275509600007 meters 0.02222372697571463 Centerline is valid? [True, True] Translation: X:91.08, Y:195.14, Z:5.27 [[-6.53013914e-01 -7.57232418e-01 1.31107872e-02 9.10788936e+01] [ 7.57066792e-01 -6.53145381e-01 -1.58424922e-02 1.95136084e+02] [ 2.05596988e-02 -4.19626195e-04 9.99788539e-01 5.27302368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38275509600004 meters 0.02137206275978401 Centerline is valid? [True, True] Translation: X:91.06, Y:195.16, Z:5.28 [[-6.53921278e-01 -7.56455387e-01 1.27361355e-02 9.10623714e+01] [ 7.56299168e-01 -6.54045157e-01 -1.53785734e-02 1.95156257e+02] [ 1.99632124e-02 -4.24047672e-04 9.99800625e-01 5.27507184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.41275509600007 meters 0.020997293467487608 Centerline is valid? [True, True] Translation: X:91.05, Y:195.18, Z:5.28 [[-6.54720461e-01 -7.55770747e-01 1.23164894e-02 9.10450233e+01] [ 7.55624746e-01 -6.54836162e-01 -1.48608034e-02 1.95176971e+02] [ 1.92966432e-02 -4.23027902e-04 9.99813713e-01 5.27634396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44275509600004 meters 0.020946829901410856 Centerline is valid? [True, True] Translation: X:91.03, Y:195.20, Z:5.28 [[-6.55371434e-01 -7.55209319e-01 1.21312939e-02 9.10285002e+01] [ 7.55067779e-01 -6.55483564e-01 -1.46268913e-02 1.95198348e+02] [ 1.89982284e-02 -4.26097556e-04 9.99819427e-01 5.27712797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.47275509600007 meters 0.022346852890692753 Centerline is valid? [True, True] Translation: X:91.01, Y:195.22, Z:5.28 [[-6.57018040e-01 -7.53773736e-01 1.23470364e-02 9.10143721e+01] [ 7.53627078e-01 -6.57133879e-01 -1.48759010e-02 1.95221210e+02] [ 1.93267194e-02 -4.68674377e-04 9.99813112e-01 5.27741377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50275509600004 meters 0.022858729134452437 Centerline is valid? [True, True] Translation: X:91.00, Y:195.24, Z:5.28 [[-6.57715714e-01 -7.53157722e-01 1.27861584e-02 9.09997613e+01] [ 7.53000575e-01 -6.57839798e-01 -1.53926885e-02 1.95241716e+02] [ 2.00043661e-02 -4.96028507e-04 9.99799770e-01 5.27718686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5327550960001 meters 0.02325840669537393 Centerline is valid? [True, True] Translation: X:90.98, Y:195.26, Z:5.28 [[-6.59652990e-01 -7.51453927e-01 1.32260465e-02 9.09835399e+01] [ 7.51285702e-01 -6.59785332e-01 -1.59094177e-02 1.95263969e+02] [ 2.06815458e-02 -5.58155336e-04 9.99785958e-01 5.27714826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56275509600005 meters 0.024385875947309146 Centerline is valid? [True, True] Translation: X:90.97, Y:195.28, Z:5.28 [[-6.60823396e-01 -7.50416293e-01 1.37049783e-02 9.09682597e+01] [ 7.50235701e-01 -6.60965220e-01 -1.64733262e-02 1.95284892e+02] [ 2.14203664e-02 -6.03995338e-04 9.99770375e-01 5.27685512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5927550960001 meters 0.024137514581755275 Centerline is valid? [True, True] Translation: X:90.95, Y:195.31, Z:5.28 [[-6.61681577e-01 -7.49653872e-01 1.40201052e-02 9.09502328e+01] [ 7.49464983e-01 -6.61829789e-01 -1.68395384e-02 1.95305238e+02] [ 2.19027484e-02 -6.34834454e-04 9.99759904e-01 5.27727799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62275509600005 meters 0.025212105526553872 Centerline is valid? [True, True] Translation: X:90.93, Y:195.33, Z:5.28 [[-6.62847759e-01 -7.48613912e-01 1.44934033e-02 9.09342110e+01] [ 7.48412096e-01 -6.63005840e-01 -1.73951219e-02 1.95326175e+02] [ 2.26314413e-02 -6.83279203e-04 9.99743643e-01 5.27697767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6527550960001 meters 0.024914797619481753 Centerline is valid? [True, True] Translation: X:90.92, Y:195.35, Z:5.28 [[-6.63779496e-01 -7.47780282e-01 1.48805824e-02 9.09168059e+01] [ 7.47567639e-01 -6.63945878e-01 -1.78464509e-02 1.95346775e+02] [ 2.32251255e-02 -7.21866334e-04 9.99730000e-01 5.27754295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68275509600005 meters 0.025356506283162165 Centerline is valid? [True, True] Translation: X:90.90, Y:195.37, Z:5.28 [[-6.64526410e-01 -7.47116547e-01 1.48834411e-02 9.08991860e+01] [ 7.46903953e-01 -6.64692653e-01 -1.78371147e-02 1.95367494e+02] [ 2.32193175e-02 -7.36732795e-04 9.99730124e-01 5.27805518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.712755096 meters 0.025741286390602795 Centerline is valid? [True, True] Translation: X:90.88, Y:195.39, Z:5.28 [[-6.64721869e-01 -7.46942176e-01 1.49071322e-02 9.08826363e+01] [ 7.46729163e-01 -6.64888596e-01 -1.78525360e-02 1.95387399e+02] [ 2.32463943e-02 -7.35380712e-04 9.99729496e-01 5.27847872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74275509600005 meters 0.024528637631100997 Centerline is valid? [True, True] Translation: X:90.86, Y:195.41, Z:5.28 [[-6.64788894e-01 -7.46877673e-01 1.51481768e-02 9.08630337e+01] [ 7.46658018e-01 -6.64961046e-01 -1.81276495e-02 1.95407087e+02] [ 2.36120841e-02 -7.40552411e-04 9.99720922e-01 5.27915727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.772755096 meters 0.025600822270074812 Centerline is valid? [True, True] Translation: X:90.85, Y:195.43, Z:5.28 [[-6.65014301e-01 -7.46677681e-01 1.51135515e-02 9.08465481e+01] [ 7.46459293e-01 -6.65185611e-01 -1.80728302e-02 1.95428008e+02] [ 2.35478960e-02 -7.37039577e-04 9.99722438e-01 5.27907487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80275509600006 meters 0.024052850929464513 Centerline is valid? [True, True] Translation: X:90.83, Y:195.45, Z:5.28 [[-6.65013543e-01 -7.46676935e-01 1.51836180e-02 9.08258728e+01] [ 7.46456840e-01 -6.65186455e-01 -1.81429207e-02 1.95445754e+02] [ 2.36468374e-02 -7.31372464e-04 9.99720107e-01 5.28029283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.832755096 meters 0.024636378608647966 Centerline is valid? [True, True] Translation: X:90.81, Y:195.47, Z:5.28 [[-6.65144306e-01 -7.46560180e-01 1.51970652e-02 9.08088777e+01] [ 7.46339986e-01 -6.65317495e-01 -1.81454031e-02 1.95466015e+02] [ 2.36575087e-02 -7.27134132e-04 9.99719858e-01 5.28073313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86275509600006 meters 0.02437143745702814 Centerline is valid? [True, True] Translation: X:90.79, Y:195.49, Z:5.28 [[-6.65034076e-01 -7.46661682e-01 1.50336379e-02 9.07897936e+01] [ 7.46446539e-01 -6.65203603e-01 -1.79368697e-02 1.95485641e+02] [ 2.33932034e-02 -7.06822628e-04 9.99726092e-01 5.28222787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.89275509600003 meters 0.024067027901489024 Centerline is valid? [True, True] Translation: X:90.77, Y:195.51, Z:5.28 [[-6.65142625e-01 -7.46563435e-01 1.51105033e-02 9.07713637e+01] [ 7.46346368e-01 -6.65313867e-01 -1.80154828e-02 1.95505479e+02] [ 2.35029281e-02 -7.05196243e-04 9.99723519e-01 5.28303848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92275509600006 meters 0.024617854494982827 Centerline is valid? [True, True] Translation: X:90.75, Y:195.53, Z:5.28 [[-6.65258897e-01 -7.46465482e-01 1.48285117e-02 9.07542912e+01] [ 7.46256716e-01 -6.65423785e-01 -1.76663550e-02 1.95525906e+02] [ 2.30545685e-02 -6.86823406e-04 9.99733972e-01 5.28354238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.95275509600003 meters 0.023762816547839617 Centerline is valid? [True, True] Translation: X:90.74, Y:195.55, Z:5.29 [[-6.65573313e-01 -7.46192447e-01 1.44567284e-02 9.07353790e+01] [ 7.45994242e-01 -6.65729963e-01 -1.72106933e-02 1.95545251e+02] [ 2.24667666e-02 -6.70342044e-04 9.99747366e-01 5.28501648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98275509600006 meters 0.02749430748715032 Centerline is valid? [True, True] Translation: X:90.72, Y:195.57, Z:5.28 [[-6.66073067e-01 -7.45752130e-01 1.41573326e-02 9.07225654e+01] [ 7.45562224e-01 -6.66223176e-01 -1.68419106e-02 1.95568300e+02] [ 2.19918338e-02 -6.62770666e-04 9.99757931e-01 5.28413390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01275509600003 meters 0.024487014012923056 Centerline is valid? [True, True] Translation: X:90.70, Y:195.59, Z:5.29 [[-6.66857534e-01 -7.45050163e-01 1.41874790e-02 9.06999057e+01] [ 7.44859559e-01 -6.67008091e-01 -1.68654675e-02 1.95585600e+02] [ 2.20287826e-02 -6.79184684e-04 9.99757106e-01 5.28513914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04275509600006 meters 0.023993777649704045 Centerline is valid? [True, True] Translation: X:90.68, Y:195.61, Z:5.29 [[-6.67391841e-01 -7.44568986e-01 1.43232791e-02 9.06816691e+01] [ 7.44374864e-01 -6.67545163e-01 -1.70152335e-02 1.95606118e+02] [ 2.22304509e-02 -6.93939092e-04 9.99752632e-01 5.28566972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07275509600004 meters 0.02431433788223905 Centerline is valid? [True, True] Translation: X:90.66, Y:195.63, Z:5.29 [[-6.68058578e-01 -7.43969029e-01 1.44159774e-02 9.06638861e+01] [ 7.43772531e-01 -6.68213724e-01 -1.71126366e-02 1.95627399e+02] [ 2.23642256e-02 -7.10035735e-04 9.99749637e-01 5.28562140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10275509600007 meters 0.026148735821871924 Centerline is valid? [True, True] Translation: X:90.65, Y:195.65, Z:5.29 [[-6.69666176e-01 -7.42516650e-01 1.47050291e-02 9.06483804e+01] [ 7.42312133e-01 -6.69827171e-01 -1.74430222e-02 1.95649822e+02] [ 2.28015624e-02 -7.65280413e-04 9.99739718e-01 5.28555626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13275509600004 meters 0.025680348687111654 Centerline is valid? [True, True] Translation: X:90.63, Y:195.67, Z:5.29 [[-6.70637271e-01 -7.41637251e-01 1.48269514e-02 9.06297404e+01] [ 7.41429388e-01 -6.70800684e-01 -1.75756958e-02 1.95670789e+02] [ 2.29807199e-02 -7.93779209e-04 9.99735593e-01 5.28616520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16275509600007 meters 0.028991616194610412 Centerline is valid? [True, True] Translation: X:90.62, Y:195.69, Z:5.28 [[-6.71825309e-01 -7.40552798e-01 1.52416581e-02 9.06158361e+01] [ 7.40333152e-01 -6.71997648e-01 -1.80550636e-02 1.95694027e+02] [ 2.36130863e-02 -8.45943923e-04 9.99720814e-01 5.28440787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19275509600004 meters 0.02660236022767037 Centerline is valid? [True, True] Translation: X:90.59, Y:195.71, Z:5.29 [[-6.71967591e-01 -7.40421589e-01 1.53436121e-02 9.05949803e+01] [ 7.40199265e-01 -6.72142211e-01 -1.81630449e-02 1.95712559e+02] [ 2.37613999e-02 -8.47647142e-04 9.99717299e-01 5.28547773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22275509600007 meters 0.02769717285836473 Centerline is valid? [True, True] Translation: X:90.58, Y:195.73, Z:5.29 [[-6.72157725e-01 -7.40247272e-01 1.54262486e-02 9.05785304e+01] [ 7.40022824e-01 -6.72334184e-01 -1.82473497e-02 1.95733591e+02] [ 2.38791451e-02 -8.49320983e-04 9.99714492e-01 5.28534698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.25275509600004 meters 0.02754367675776846 Centerline is valid? [True, True] Translation: X:90.56, Y:195.75, Z:5.29 [[-6.72140660e-01 -7.40261493e-01 1.54872972e-02 9.05605683e+01] [ 7.40035606e-01 -6.72318535e-01 -1.83054552e-02 1.95753336e+02] [ 2.39632206e-02 -8.42689428e-04 9.99712486e-01 5.28545342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2827550960001 meters 0.027106353589085756 Centerline is valid? [True, True] Translation: X:90.54, Y:195.77, Z:5.28 [[-6.72156064e-01 -7.40249599e-01 1.53868788e-02 9.05415654e+01] [ 7.40026956e-01 -6.72331648e-01 -1.81730733e-02 1.95772750e+02] [ 2.37976959e-02 -8.28436336e-04 9.99716452e-01 5.28499400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.31275509600005 meters 0.027300630715225444 Centerline is valid? [True, True] Translation: X:90.53, Y:195.79, Z:5.29 [[-6.72173006e-01 -7.40232097e-01 1.54884996e-02 9.05251495e+01] [ 7.40006828e-01 -6.72350922e-01 -1.82792959e-02 1.95792121e+02] [ 2.39446286e-02 -8.25253808e-04 9.99712946e-01 5.28520776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3427550960001 meters 0.02709378618181808 Centerline is valid? [True, True] Translation: X:90.51, Y:195.81, Z:5.28 [[-6.71927277e-01 -7.40455835e-01 1.54561125e-02 9.05071933e+01] [ 7.40231916e-01 -6.72104536e-01 -1.82264279e-02 1.95811029e+02] [ 2.38839883e-02 -8.05726263e-04 9.99714412e-01 5.28495344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.37275509600005 meters 0.027140319400522927 Centerline is valid? [True, True] Translation: X:90.49, Y:195.83, Z:5.28 [[-6.71766445e-01 -7.40595850e-01 1.57363031e-02 9.04893749e+01] [ 7.40364130e-01 -6.71950250e-01 -1.85422790e-02 1.95831007e+02] [ 2.43063477e-02 -8.05486524e-04 9.99704233e-01 5.28486725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.4027550960001 meters 0.027217561983526994 Centerline is valid? [True, True] Translation: X:90.47, Y:195.85, Z:5.29 [[-6.72024501e-01 -7.40370660e-01 1.53086878e-02 9.04715835e+01] [ 7.40151624e-01 -6.72198388e-01 -1.80249859e-02 1.95851214e+02] [ 2.36356460e-02 -7.82481972e-04 9.99720333e-01 5.28529216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.43275509600005 meters 0.026969500814039434 Centerline is valid? [True, True] Translation: X:90.45, Y:195.87, Z:5.29 [[-6.72003376e-01 -7.40403075e-01 1.46543023e-02 9.04540471e+01] [ 7.40202658e-01 -6.72162733e-01 -1.72419853e-02 1.95871553e+02] [ 2.26160949e-02 -7.39518793e-04 9.99743950e-01 5.28673725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.462755096 meters 0.02739524213216806 Centerline is valid? [True, True] Translation: X:90.44, Y:195.89, Z:5.29 [[-6.72108945e-01 -7.40311033e-01 1.44617269e-02 9.04380523e+01] [ 7.40116122e-01 -6.72264123e-01 -1.70022145e-02 1.95891465e+02] [ 2.23090271e-02 -7.23983271e-04 9.99750861e-01 5.28753762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.49275509600005 meters 0.025825058742638688 Centerline is valid? [True, True] Translation: X:90.42, Y:195.91, Z:5.29 [[-6.71904224e-01 -7.40503005e-01 1.41425917e-02 9.04182794e+01] [ 7.40316921e-01 -6.72052691e-01 -1.66143679e-02 1.95910801e+02] [ 2.18075562e-02 -6.93264024e-04 9.99761947e-01 5.28875429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.522755096 meters 0.024910330942754258 Centerline is valid? [True, True] Translation: X:90.40, Y:195.93, Z:5.29 [[-6.70883649e-01 -7.41434971e-01 1.37591111e-02 9.03986859e+01] [ 7.41259277e-01 -6.71024424e-01 -1.61526158e-02 1.95929950e+02] [ 2.12088138e-02 -6.37457059e-04 9.99774865e-01 5.28930841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.55275509600006 meters 0.02658027976705145 Centerline is valid? [True, True] Translation: X:90.38, Y:195.95, Z:5.29 [[-6.70148069e-01 -7.42099930e-01 1.37571438e-02 9.03837110e+01] [ 7.41924661e-01 -6.70288985e-01 -1.61392360e-02 1.95950957e+02] [ 2.11981878e-02 -6.08913570e-04 9.99775108e-01 5.28878582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.582755096 meters 0.023759407871124932 Centerline is valid? [True, True] Translation: X:90.36, Y:195.97, Z:5.29 [[-6.68629873e-01 -7.43477853e-01 1.32202770e-02 9.03618714e+01] [ 7.43316464e-01 -6.68760341e-01 -1.54996590e-02 1.95968050e+02] [ 2.03648501e-02 -5.36685474e-04 9.99792471e-01 5.29030242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.61275509600006 meters 0.023263457498571515 Centerline is valid? [True, True] Translation: X:90.34, Y:195.99, Z:5.29 [[-6.67873515e-01 -7.44165811e-01 1.27362907e-02 9.03431283e+01] [ 7.44016349e-01 -6.67994764e-01 -1.49220695e-02 1.95987637e+02] [ 1.96122695e-02 -4.90046557e-04 9.99807541e-01 5.29088512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64275509600003 meters 0.02182973466001051 Centerline is valid? [True, True] Translation: X:90.32, Y:196.01, Z:5.29 [[-6.66988229e-01 -7.44966351e-01 1.23222351e-02 9.03232803e+01] [ 7.44826773e-01 -6.67101895e-01 -1.44270800e-02 1.96006815e+02] [ 1.89678755e-02 -4.44761939e-04 9.99819995e-01 5.29226806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.67275509600006 meters 0.02133541407162928 Centerline is valid? [True, True] Translation: X:90.30, Y:196.03, Z:5.29 [[-6.66315638e-01 -7.45575076e-01 1.18859728e-02 9.03049130e+01] [ 7.45445481e-01 -6.66421519e-01 -1.39066030e-02 1.96027057e+02] [ 1.82894846e-02 -4.05842293e-04 9.99832651e-01 5.29368485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70275509600003 meters 0.020557502896294176 Centerline is valid? [True, True] Translation: X:90.29, Y:196.05, Z:5.30 [[-6.64867880e-01 -7.46882235e-01 1.08456998e-02 9.02854791e+01] [ 7.46774645e-01 -6.64956252e-01 -1.26811565e-02 1.96046876e+02] [ 1.66832464e-02 -3.32000053e-04 9.99860770e-01 5.29609662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.73275509600006 meters 0.020150623794804697 Centerline is valid? [True, True] Translation: X:90.27, Y:196.07, Z:5.30 [[-6.64128519e-01 -7.47547844e-01 1.02728369e-02 9.02671286e+01] [ 7.47451523e-01 -6.64207901e-01 -1.20035532e-02 1.96065514e+02] [ 1.57965297e-02 -2.93454426e-04 9.99875184e-01 5.29721003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76275509600003 meters 0.021823630788595057 Centerline is valid? [True, True] Translation: X:90.25, Y:196.09, Z:5.30 [[-6.64382170e-01 -7.47324498e-01 1.01206490e-02 9.02517512e+01] [ 7.47231127e-01 -6.64459188e-01 -1.18165187e-02 1.96085629e+02] [ 1.55555321e-02 -2.88220386e-04 9.99878964e-01 5.29681682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.79275509600006 meters 0.020392084818159937 Centerline is valid? [True, True] Translation: X:90.23, Y:196.10, Z:5.30 [[-6.64559868e-01 -7.47173327e-01 9.60215773e-03 9.02335158e+01] [ 7.47089393e-01 -6.64629179e-01 -1.12024152e-02 1.96104809e+02] [ 1.47520201e-02 -2.71005392e-04 9.99891146e-01 5.29882418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82275509600004 meters 0.020159497086452576 Centerline is valid? [True, True] Translation: X:90.22, Y:196.12, Z:5.30 [[-6.65082050e-01 -7.46719345e-01 8.72271676e-03 9.02158723e+01] [ 7.46650137e-01 -6.65139201e-01 -1.01693890e-02 1.96124835e+02] [ 1.33955003e-02 -2.50660418e-04 9.99910245e-01 5.30051176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.85275509600007 meters 0.020282865660530433 Centerline is valid? [True, True] Translation: X:90.20, Y:196.15, Z:5.30 [[-6.65626686e-01 -7.46237255e-01 8.43050401e-03 9.01984514e+01] [ 7.46172664e-01 -6.65680027e-01 -9.82131189e-03 1.96145243e+02] [ 1.29410470e-02 -2.46715650e-04 9.99916231e-01 5.30117839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88275509600004 meters 0.020880368711598353 Centerline is valid? [True, True] Translation: X:90.18, Y:196.17, Z:5.30 [[-6.66631593e-01 -7.45341178e-01 8.29748299e-03 9.01819410e+01] [ 7.45278634e-01 -6.66683181e-01 -9.65883546e-03 1.96165868e+02] [ 1.27309202e-02 -2.54948074e-04 9.99918926e-01 5.30179384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.91275509600007 meters 0.021720760196421003 Centerline is valid? [True, True] Translation: X:90.16, Y:196.19, Z:5.30 [[-6.68321022e-01 -7.43834243e-01 7.59148352e-03 9.01649827e+01] [ 7.43781862e-01 -6.68364088e-01 -8.83106778e-03 1.96187625e+02] [ 1.16427256e-02 -2.55580495e-04 9.99932189e-01 5.30274408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94275509600004 meters 0.021577454841992496 Centerline is valid? [True, True] Translation: X:90.15, Y:196.21, Z:5.30 [[-6.69626363e-01 -7.42663640e-01 7.15906102e-03 9.01466901e+01] [ 7.42617047e-01 -6.69664582e-01 -8.32279824e-03 1.96207493e+02] [ 1.09752092e-02 -2.56724361e-04 9.99939738e-01 5.30333264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.97275509600007 meters 0.022955094972322718 Centerline is valid? [True, True] Translation: X:90.13, Y:196.23, Z:5.30 [[-6.71757881e-01 -7.40739658e-01 6.79033182e-03 9.01312789e+01] [ 7.40697696e-01 -6.71792145e-01 -7.88901581e-03 1.96228968e+02] [ 1.04053985e-02 -2.69925403e-04 9.99945826e-01 5.30408689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00275509600004 meters 0.02468384591359041 Centerline is valid? [True, True] Translation: X:90.12, Y:196.25, Z:5.30 [[-6.72645975e-01 -7.39931098e-01 7.02585932e-03 9.01162715e+01] [ 7.39886200e-01 -6.72682605e-01 -8.15622600e-03 1.96251218e+02] [ 1.07612186e-02 -2.87916230e-04 9.99942055e-01 5.30472466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0327550960001 meters 0.02426647586500885 Centerline is valid? [True, True] Translation: X:90.10, Y:196.27, Z:5.30 [[-6.73228396e-01 -7.39398426e-01 7.31397599e-03 9.00985794e+01] [ 7.39349812e-01 -6.73268056e-01 -8.48415269e-03 1.96271115e+02] [ 1.11974355e-02 -3.04185734e-04 9.99937261e-01 5.30434303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06275509600005 meters 0.026337537217331626 Centerline is valid? [True, True] Translation: X:90.08, Y:196.29, Z:5.30 [[-6.74251196e-01 -7.38459697e-01 7.91208273e-03 9.00835445e+01] [ 7.38402840e-01 -6.74297531e-01 -9.16982503e-03 1.96293092e+02] [ 1.21066441e-02 -3.40461134e-04 9.99926654e-01 5.30423770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0927550960001 meters 0.026337537217331626 Centerline is valid? [True, True] Translation: X:90.07, Y:196.31, Z:5.30 [[-6.74541175e-01 -7.38194804e-01 7.91420007e-03 9.00668933e+01] [ 7.38137950e-01 -6.74587514e-01 -9.16799720e-03 1.96311883e+02] [ 1.21065884e-02 -3.42420188e-04 9.99926654e-01 5.30460875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12275509600005 meters 0.02392271053800037 Centerline is valid? [True, True] Translation: X:90.05, Y:196.33, Z:5.30 [[-6.74904904e-01 -7.37858813e-01 8.23054773e-03 9.00458872e+01] [ 7.37797398e-01 -6.74954994e-01 -9.52652040e-03 1.96328998e+02] [ 1.25844763e-02 -3.57018641e-04 9.99920749e-01 5.30414461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.1527550960001 meters 0.02427101711559375 Centerline is valid? [True, True] Translation: X:90.03, Y:196.35, Z:5.30 [[-6.75396510e-01 -7.37409784e-01 8.14647862e-03 9.00276205e+01] [ 7.37349675e-01 -6.75445545e-01 -9.42193648e-03 1.96348069e+02] [ 1.24503308e-02 -3.56739659e-04 9.99922428e-01 5.30349442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18275509600005 meters 0.02479994297525336 Centerline is valid? [True, True] Translation: X:90.01, Y:196.37, Z:5.30 [[-6.75949746e-01 -7.36900936e-01 8.30368263e-03 9.00107537e+01] [ 7.36838542e-01 -6.76000647e-01 -9.59620118e-03 1.96367363e+02] [ 1.26847445e-02 -3.68076346e-04 9.99919478e-01 5.30361567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.212755096 meters 0.023338994177666668 Centerline is valid? [True, True] Translation: X:89.99, Y:196.39, Z:5.30 [[-6.76512106e-01 -7.36387570e-01 8.04472922e-03 8.99909367e+01] [ 7.36329061e-01 -6.76559840e-01 -9.28959157e-03 1.96386219e+02] [ 1.22834805e-02 -3.60953241e-04 9.99924490e-01 5.30382669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24275509600005 meters 0.025487516111453314 Centerline is valid? [True, True] Translation: X:89.98, Y:196.41, Z:5.30 [[-6.77019095e-01 -7.35921112e-01 8.07853567e-03 8.99766296e+01] [ 7.35862161e-01 -6.77067192e-01 -9.32185095e-03 1.96408086e+02] [ 1.23298584e-02 -3.66382379e-04 9.99923917e-01 5.30488875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.272755096 meters 0.023751592873979 Centerline is valid? [True, True] Translation: X:89.96, Y:196.43, Z:5.31 [[-6.77881780e-01 -7.35134890e-01 7.27909416e-03 8.99561157e+01] [ 7.35087050e-01 -6.77920776e-01 -8.39347020e-03 1.96426936e+02] [ 1.11049820e-02 -3.39012667e-04 9.99938280e-01 5.30603902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30275509600006 meters 0.024884772325902145 Centerline is valid? [True, True] Translation: X:89.94, Y:196.45, Z:5.31 [[-6.78608543e-01 -7.34468239e-01 6.84481390e-03 8.99395089e+01] [ 7.34425951e-01 -6.78642984e-01 -7.88813360e-03 1.96448496e+02] [ 1.04387685e-02 -3.25945886e-04 9.99945461e-01 5.30743172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.332755096 meters 0.025006491261337895 Centerline is valid? [True, True] Translation: X:89.92, Y:196.47, Z:5.31 [[-6.80051825e-01 -7.33135941e-01 6.41934653e-03 8.99205858e+01] [ 7.33098734e-01 -6.80082046e-01 -7.39308039e-03 1.96469290e+02] [ 9.78581526e-03 -3.21663002e-04 9.99952066e-01 5.30834899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36275509600006 meters 0.025808230298665868 Centerline is valid? [True, True] Translation: X:89.90, Y:196.49, Z:5.31 [[-6.80481935e-01 -7.32739197e-01 6.13227836e-03 8.99035350e+01] [ 7.32705270e-01 -6.80509495e-01 -7.05790134e-03 1.96489851e+02] [ 9.34467461e-03 -3.09621687e-04 9.99956290e-01 5.30888288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.39275509600003 meters 0.025367180752298383 Centerline is valid? [True, True] Translation: X:89.88, Y:196.51, Z:5.31 [[-6.81110890e-01 -7.32154542e-01 6.13858681e-03 8.98848481e+01] [ 7.32120551e-01 -6.81138479e-01 -7.06190407e-03 1.96509469e+02] [ 9.35163283e-03 -3.15754208e-04 9.99956223e-01 5.30919431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42275509600006 meters 0.025926259655576548 Centerline is valid? [True, True] Translation: X:89.87, Y:196.53, Z:5.31 [[-6.82194596e-01 -7.31145805e-01 6.02869305e-03 8.98664572e+01] [ 7.31113029e-01 -6.82221159e-01 -6.93026961e-03 1.96530964e+02] [ 9.17993951e-03 -3.20136443e-04 9.99957812e-01 5.30993646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.45275509600003 meters 0.03093526769070667 Centerline is valid? [True, True] Translation: X:89.85, Y:196.56, Z:5.31 [[-6.82787068e-01 -7.30596097e-01 5.58238624e-03 8.98540676e+01] [ 7.30568010e-01 -6.82809822e-01 -6.41324152e-03 1.96555469e+02] [ 8.49719738e-03 -3.00565564e-04 9.99963853e-01 5.31199212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48275509600006 meters 0.026981266532731602 Centerline is valid? [True, True] Translation: X:89.83, Y:196.57, Z:5.31 [[-6.84041907e-01 -7.29422583e-01 5.41889673e-03 8.98294451e+01] [ 7.29396105e-01 -6.84063303e-01 -6.22255841e-03 1.96571150e+02] [ 8.24574303e-03 -3.03968556e-04 9.99965957e-01 5.31104248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51275509600003 meters 0.028431704216067166 Centerline is valid? [True, True] Translation: X:89.81, Y:196.59, Z:5.31 [[-6.84429212e-01 -7.29054638e-01 5.99909069e-03 8.98129148e+01] [ 7.29022222e-01 -6.84455419e-01 -6.88328819e-03 1.96591687e+02] [ 9.12440332e-03 -3.37653089e-04 9.99958315e-01 5.31088459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54275509600006 meters 0.02804604993644424 Centerline is valid? [True, True] Translation: X:89.79, Y:196.61, Z:5.31 [[-6.84730993e-01 -7.28766584e-01 6.53708618e-03 8.97943503e+01] [ 7.28728118e-01 -6.84762097e-01 -7.49666583e-03 1.96610836e+02] [ 9.93966839e-03 -3.69440929e-04 9.99950532e-01 5.31021943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57275509600004 meters 0.02796517463497108 Centerline is valid? [True, True] Translation: X:89.78, Y:196.63, Z:5.31 [[-6.85155288e-01 -7.28356722e-01 7.66274913e-03 8.97760011e+01] [ 7.28303939e-01 -6.85197999e-01 -8.77925560e-03 1.96630250e+02] [ 1.16449302e-02 -4.34343018e-04 9.99932101e-01 5.30966007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60275509600007 meters 0.02814507986946612 Centerline is valid? [True, True] Translation: X:89.76, Y:196.65, Z:5.31 [[-6.85523236e-01 -7.28008634e-01 7.83077986e-03 8.97585473e+01] [ 7.27953574e-01 -6.85567816e-01 -8.96458773e-03 1.96649595e+02] [ 1.18948279e-02 -4.44989009e-04 9.99929155e-01 5.30954816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63275509600004 meters 0.028568015858970976 Centerline is valid? [True, True] Translation: X:89.74, Y:196.67, Z:5.31 [[-6.85510117e-01 -7.28017078e-01 8.18620323e-03 8.97406822e+01] [ 7.27957002e-01 -6.85558840e-01 -9.36378359e-03 1.96668428e+02] [ 1.24291184e-02 -4.59764434e-04 9.99922650e-01 5.30944408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66275509600007 meters 0.030011922212000768 Centerline is valid? [True, True] Translation: X:89.72, Y:196.69, Z:5.31 [[-6.85519605e-01 -7.28007533e-01 8.24032505e-03 8.97246973e+01] [ 7.27946750e-01 -6.85568977e-01 -9.41842140e-03 1.96688401e+02] [ 1.25059929e-02 -4.57994676e-04 9.99921692e-01 5.31013090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69275509600004 meters 0.02926310765278286 Centerline is valid? [True, True] Translation: X:89.71, Y:196.71, Z:5.31 [[-6.85319987e-01 -7.28194224e-01 8.34788299e-03 8.97057177e+01] [ 7.28131957e-01 -6.85370677e-01 -9.53354648e-03 1.96706746e+02] [ 1.26636677e-02 -4.55169570e-04 9.99919709e-01 5.31048012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72275509600007 meters 0.025657125584395025 Centerline is valid? [True, True] Translation: X:89.68, Y:196.72, Z:5.31 [[-6.85140379e-01 -7.28363781e-01 8.29843457e-03 8.96832529e+01] [ 7.28302350e-01 -6.85190488e-01 -9.47003318e-03 1.96722853e+02] [ 1.25836376e-02 -4.44532724e-04 9.99920724e-01 5.31065296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.75275509600004 meters 0.028564748212608956 Centerline is valid? [True, True] Translation: X:89.67, Y:196.74, Z:5.31 [[-6.84824585e-01 -7.28658613e-01 8.48018038e-03 8.96685883e+01] [ 7.28594577e-01 -6.84876944e-01 -9.67025327e-03 1.96744780e+02] [ 1.28541934e-02 -4.43813742e-04 9.99917283e-01 5.31124845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7827550960001 meters 0.02869340335384775 Centerline is valid? [True, True] Translation: X:89.65, Y:196.76, Z:5.31 [[-6.84665311e-01 -7.28805133e-01 8.74581035e-03 8.96517972e+01] [ 7.28737138e-01 -6.84721020e-01 -9.96531325e-03 1.96763434e+02] [ 1.32512116e-02 -4.49507497e-04 9.99912098e-01 5.31140176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.81275509600005 meters 0.028246790154800458 Centerline is valid? [True, True] Translation: X:89.63, Y:196.78, Z:5.31 [[-6.83888300e-01 -7.29531519e-01 8.97535528e-03 8.96342528e+01] [ 7.29460081e-01 -6.83947051e-01 -1.02187289e-02 1.96781325e+02] [ 1.35935526e-02 -4.41305780e-04 9.99907506e-01 5.31157257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8427550960001 meters 0.02658846694793463 Centerline is valid? [True, True] Translation: X:89.61, Y:196.80, Z:5.31 [[-6.83730003e-01 -7.29680474e-01 8.92689694e-03 8.96142680e+01] [ 7.29609922e-01 -6.83788141e-01 -1.01558226e-02 1.96799007e+02] [ 1.35146117e-02 -4.30688021e-04 9.99908581e-01 5.31144197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.87275509600005 meters 0.028243929736179695 Centerline is valid? [True, True] Translation: X:89.60, Y:196.82, Z:5.31 [[-6.83769909e-01 -7.29640624e-01 9.12532061e-03 8.95987602e+01] [ 7.29567008e-01 -6.83830659e-01 -1.03735699e-02 1.96818929e+02] [ 1.38091520e-02 -4.35602079e-04 9.99904554e-01 5.31161165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.9027550960001 meters 0.023857186294101673 Centerline is valid? [True, True] Translation: X:89.58, Y:196.83, Z:5.31 [[-6.83455463e-01 -7.29935716e-01 9.08190583e-03 8.95755164e+01] [ 7.29862936e-01 -6.83515671e-01 -1.03161075e-02 1.96834992e+02] [ 1.37377203e-02 -4.22053595e-04 9.99905544e-01 5.31149213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.93275509600005 meters 0.02557316271414805 Centerline is valid? [True, True] Translation: X:89.56, Y:196.86, Z:5.31 [[-6.83714980e-01 -7.29691215e-01 9.19547174e-03 8.95609611e+01] [ 7.29616689e-01 -6.83776680e-01 -1.04373421e-02 1.96856534e+02] [ 1.39036860e-02 -4.26997489e-04 9.99903248e-01 5.31223514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.962755096 meters 0.024211451167533857 Centerline is valid? [True, True] Translation: X:89.54, Y:196.88, Z:5.31 [[-6.84100705e-01 -7.29331600e-01 9.03567308e-03 8.95418046e+01] [ 7.29259685e-01 -6.84160243e-01 -1.02504929e-02 1.96875613e+02] [ 1.36578567e-02 -4.23017292e-04 9.99906638e-01 5.31290198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.99275509600005 meters 0.0288676689199729 Centerline is valid? [True, True] Translation: X:89.53, Y:196.90, Z:5.31 [[-6.84043410e-01 -7.29384748e-01 9.08308953e-03 8.95298898e+01] [ 7.29312183e-01 -6.84103584e-01 -1.02968670e-02 1.96899591e+02] [ 1.37241518e-02 -4.19096151e-04 9.99905732e-01 5.31392330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.022755096 meters 0.023695284629780506 Centerline is valid? [True, True] Translation: X:89.51, Y:196.91, Z:5.31 [[-6.83789496e-01 -7.29622653e-01 9.09443653e-03 8.95051283e+01] [ 7.29550035e-01 -6.83849849e-01 -1.03019149e-02 1.96914429e+02] [ 1.37357396e-02 -4.09494735e-04 9.99905576e-01 5.31390856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.05275509600006 meters 0.023572433013355782 Centerline is valid? [True, True] Translation: X:89.49, Y:196.93, Z:5.31 [[-6.82997823e-01 -7.30362794e-01 9.17403024e-03 8.94861757e+01] [ 7.30289071e-01 -6.83059320e-01 -1.03845538e-02 1.96933308e+02] [ 1.38508986e-02 -3.92933612e-04 9.99903995e-01 5.31387762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.082755096 meters 0.023299827498298977 Centerline is valid? [True, True] Translation: X:89.47, Y:196.95, Z:5.31 [[-6.83021153e-01 -7.30344050e-01 8.92606359e-03 8.94672596e+01] [ 7.30274349e-01 -6.83079371e-01 -1.00969390e-02 1.96952396e+02] [ 1.34714492e-02 -3.77947629e-04 9.99909185e-01 5.31415500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.11275509600006 meters 0.023064945144461627 Centerline is valid? [True, True] Translation: X:89.45, Y:196.97, Z:5.31 [[-6.83220878e-01 -7.30157179e-01 8.92888587e-03 8.94483670e+01] [ 7.30087526e-01 -6.83279117e-01 -1.00922245e-02 1.96971522e+02] [ 1.34698314e-02 -3.76350282e-04 9.99909207e-01 5.31436794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14275509600003 meters 0.023801591230366202 Centerline is valid? [True, True] Translation: X:89.43, Y:196.99, Z:5.31 [[-6.83423557e-01 -7.29969571e-01 8.75599882e-03 8.94324755e+01] [ 7.29902676e-01 -6.83479547e-01 -9.88900872e-03 1.96990831e+02] [ 1.32032216e-02 -3.67354539e-04 9.99912766e-01 5.31489287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.17275509600006 meters 0.024498093497950256 Centerline is valid? [True, True] Translation: X:89.42, Y:197.01, Z:5.32 [[-6.84163778e-01 -7.29274297e-01 8.88393624e-03 8.94168180e+01] [ 7.29205461e-01 -6.84221348e-01 -1.00271134e-02 1.97010604e+02] [ 1.33910949e-02 -3.81972984e-04 9.99910262e-01 5.31548336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20275509600003 meters 0.024979948393485798 Centerline is valid? [True, True] Translation: X:89.40, Y:197.03, Z:5.32 [[-6.84734143e-01 -7.28738131e-01 8.93807267e-03 8.94001775e+01] [ 7.28668488e-01 -6.84792365e-01 -1.00822302e-02 1.97029613e+02] [ 1.34680295e-02 -3.90755341e-04 9.99909226e-01 5.31596318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.23275509600006 meters 0.023452818171600075 Centerline is valid? [True, True] Translation: X:89.38, Y:197.05, Z:5.32 [[-6.85754522e-01 -7.27778831e-01 8.87178883e-03 8.93788594e+01] [ 7.27710244e-01 -6.85811791e-01 -9.99945963e-03 1.97048623e+02] [ 1.33617724e-02 -4.01083054e-04 9.99910647e-01 5.31589136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26275509600003 meters 0.02448942576880217 Centerline is valid? [True, True] Translation: X:89.36, Y:197.07, Z:5.32 [[-6.86059907e-01 -7.27488173e-01 9.09731899e-03 8.93624085e+01] [ 7.27416122e-01 -6.86120097e-01 -1.02468336e-02 1.97069534e+02] [ 1.36963036e-02 -4.12405189e-04 9.99906116e-01 5.31622019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.29275509600006 meters 0.025935172602919877 Centerline is valid? [True, True] Translation: X:89.35, Y:197.09, Z:5.32 [[-6.86369688e-01 -7.27193925e-01 9.25459304e-03 8.93470793e+01] [ 7.27119416e-01 -6.86431947e-01 -1.04181169e-02 1.97089824e+02] [ 1.39286396e-02 -4.21485342e-04 9.99902903e-01 5.31650812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32275509600004 meters 0.023790605112770067 Centerline is valid? [True, True] Translation: X:89.33, Y:197.11, Z:5.32 [[-6.86122534e-01 -7.27426506e-01 9.30306683e-03 8.93260668e+01] [ 7.27351326e-01 -6.86185475e-01 -1.04662530e-02 1.97108013e+02] [ 1.39970592e-02 -4.14534012e-04 9.99901950e-01 5.31615545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.35275509600007 meters 0.026116136406469138 Centerline is valid? [True, True] Translation: X:89.31, Y:197.13, Z:5.32 [[-6.85679911e-01 -7.27842358e-01 9.41075615e-03 8.93118989e+01] [ 7.27765573e-01 -6.85744368e-01 -1.05798521e-02 1.97129240e+02] [ 1.41538375e-02 -4.05567709e-04 9.99899747e-01 5.31644880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38275509600004 meters 0.024661630531437058 Centerline is valid? [True, True] Translation: X:89.29, Y:197.15, Z:5.32 [[-6.85151003e-01 -7.28336647e-01 9.68668484e-03 8.92928073e+01] [ 7.28255477e-01 -6.85219357e-01 -1.08808439e-02 1.97147240e+02] [ 1.45624213e-02 -4.00639798e-04 9.99893882e-01 5.31659975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.41275509600007 meters 0.02397487268378473 Centerline is valid? [True, True] Translation: X:89.27, Y:197.17, Z:5.32 [[-6.84158775e-01 -7.29267759e-01 9.76250237e-03 8.92749068e+01] [ 7.29185528e-01 -6.84228320e-01 -1.09577555e-02 1.97165488e+02] [ 1.46709184e-02 -3.78169136e-04 9.99892305e-01 5.31666063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44275509600004 meters 0.02259320295295068 Centerline is valid? [True, True] Translation: X:89.26, Y:197.18, Z:5.32 [[-6.83698468e-01 -7.29692432e-01 1.02645393e-02 8.92557276e+01] [ 7.29601719e-01 -6.83775409e-01 -1.15117907e-02 1.97183362e+02] [ 1.54187061e-02 -3.81568138e-04 9.99881052e-01 5.31647174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.47275509600007 meters 0.02239038213044316 Centerline is valid? [True, True] Translation: X:89.24, Y:197.20, Z:5.32 [[-6.83081775e-01 -7.30260933e-01 1.08747179e-02 8.92394542e+01] [ 7.30159347e-01 -6.83168224e-01 -1.21862647e-02 1.97202504e+02] [ 1.63284147e-02 -3.83938378e-04 9.99866609e-01 5.31625836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50275509600004 meters 0.022094172199003035 Centerline is valid? [True, True] Translation: X:89.22, Y:197.22, Z:5.32 [[-6.83160130e-01 -7.30190430e-01 1.06851873e-02 8.92217658e+01] [ 7.30092496e-01 -6.83243586e-01 -1.19645421e-02 1.97222233e+02] [ 1.60369798e-02 -3.72523039e-04 9.99871330e-01 5.31702640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5327550960001 meters 0.02247038621159091 Centerline is valid? [True, True] Translation: X:89.21, Y:197.24, Z:5.32 [[-6.83374220e-01 -7.29986566e-01 1.09219842e-02 8.92056611e+01] [ 7.29884372e-01 -6.83461389e-01 -1.22201793e-02 1.97241991e+02] [ 1.63853212e-02 -3.79169960e-04 9.99865680e-01 5.31735258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56275509600005 meters 0.023010770578826407 Centerline is valid? [True, True] Translation: X:89.19, Y:197.26, Z:5.32 [[-6.84427873e-01 -7.29011272e-01 1.00524831e-02 8.91889503e+01] [ 7.28924721e-01 -6.84501594e-01 -1.12391698e-02 1.97263033e+02] [ 1.50744222e-02 -3.64897701e-04 9.99886308e-01 5.31859771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5927550960001 meters 0.023219289198278623 Centerline is valid? [True, True] Translation: X:89.17, Y:197.28, Z:5.32 [[-6.85226837e-01 -7.28265171e-01 9.69652005e-03 8.91717114e+01] [ 7.28184669e-01 -6.85295344e-01 -1.08342092e-02 1.97282888e+02] [ 1.45351573e-02 -3.63033673e-04 9.99894293e-01 5.31965570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62275509600005 meters 0.02256356991669882 Centerline is valid? [True, True] Translation: X:89.15, Y:197.30, Z:5.32 [[-6.86157480e-01 -7.27390677e-01 9.52450559e-03 8.91527598e+01] [ 7.27313033e-01 -6.86223482e-01 -1.06341796e-02 1.97302672e+02] [ 1.42711424e-02 -3.69424793e-04 9.99898094e-01 5.32050234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.6527550960001 meters 0.023335515516245103 Centerline is valid? [True, True] Translation: X:89.14, Y:197.32, Z:5.32 [[-6.88225707e-01 -7.25439968e-01 9.06805250e-03 8.91362403e+01] [ 7.25369510e-01 -6.88285336e-01 -1.01178162e-02 1.97324108e+02] [ 1.35812758e-02 -3.85652381e-04 9.99907696e-01 5.32122108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68275509600005 meters 0.023565342095734326 Centerline is valid? [True, True] Translation: X:89.12, Y:197.35, Z:5.32 [[-6.89518584e-01 -7.24211964e-01 9.00850441e-03 8.91177356e+01] [ 7.24142420e-01 -6.89577312e-01 -1.00442158e-02 1.97345772e+02] [ 1.34862015e-02 -4.02233265e-04 9.99908976e-01 5.32140015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.712755096 meters 0.0253313217243368 Centerline is valid? [True, True] Translation: X:89.10, Y:197.37, Z:5.32 [[-6.92049807e-01 -7.21793663e-01 8.99846992e-03 8.91030235e+01] [ 7.21724157e-01 -6.92108163e-01 -1.00265344e-02 1.97368070e+02] [ 1.34650035e-02 -4.44448108e-04 9.99909244e-01 5.32147881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74275509600005 meters 0.03112318000664218 Centerline is valid? [True, True] Translation: X:89.09, Y:197.39, Z:5.32 [[-6.93548661e-01 -7.20352275e-01 9.10239967e-03 8.90928166e+01] [ 7.20281106e-01 -6.93608229e-01 -1.01367812e-02 1.97393570e+02] [ 1.36155527e-02 -4.74064522e-04 9.99907192e-01 5.32187225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.772755096 meters 0.02780301994226884 Centerline is valid? [True, True] Translation: X:89.07, Y:197.41, Z:5.32 [[-6.95129984e-01 -7.18826310e-01 9.11273501e-03 8.90715197e+01] [ 7.18754946e-01 -6.95189533e-01 -1.01410675e-02 1.97411132e+02] [ 1.36247441e-02 -4.99536708e-04 9.99907054e-01 5.32207971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80275509600006 meters 0.029990489884396367 Centerline is valid? [True, True] Translation: X:89.06, Y:197.43, Z:5.32 [[-6.97855735e-01 -7.16179599e-01 9.17358359e-03 8.90569084e+01] [ 7.16107148e-01 -6.97915811e-01 -1.02016476e-02 1.97433396e+02] [ 1.37086009e-02 -5.50009536e-04 9.99905881e-01 5.32173638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.832755096 meters 0.03063634432718523 Centerline is valid? [True, True] Translation: X:89.04, Y:197.45, Z:5.32 [[-6.98585817e-01 -7.15460053e-01 9.73493060e-03 8.90393503e+01] [ 7.15378515e-01 -6.98653392e-01 -1.08174998e-02 1.97454793e+02] [ 1.45408313e-02 -5.92791741e-04 9.99894101e-01 5.32166325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86275509600006 meters 0.03135279794808996 Centerline is valid? [True, True] Translation: X:89.02, Y:197.48, Z:5.32 [[-6.99476632e-01 -7.14586470e-01 9.93070420e-03 8.90217650e+01] [ 7.14501647e-01 -6.99546850e-01 -1.10273045e-02 1.97476089e+02] [ 1.48269554e-02 -6.17837283e-04 9.99889884e-01 5.32128498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.89275509600003 meters 0.02925235459089213 Centerline is valid? [True, True] Translation: X:89.00, Y:197.50, Z:5.32 [[-6.99545396e-01 -7.14515731e-01 1.01739782e-02 8.90020155e+01] [ 7.14426813e-01 -6.99619093e-01 -1.12895367e-02 1.97495233e+02] [ 1.51844609e-02 -6.28980578e-04 9.99884512e-01 5.32137743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92275509600006 meters 0.02992344370287332 Centerline is valid? [True, True] Translation: X:88.99, Y:197.52, Z:5.32 [[-6.99414978e-01 -7.14640255e-01 1.03920165e-02 8.89858706e+01] [ 7.14547629e-01 -6.99491890e-01 -1.15231167e-02 1.97516147e+02] [ 1.55040144e-02 -6.33849655e-04 9.99879605e-01 5.32196428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.95275509600003 meters 0.029732366477656584 Centerline is valid? [True, True] Translation: X:88.97, Y:197.54, Z:5.32 [[-6.99163629e-01 -7.14885754e-01 1.04201101e-02 8.89685417e+01] [ 7.14792787e-01 -6.99240995e-01 -1.15456630e-02 1.97536192e+02] [ 1.55399981e-02 -6.24088072e-04 9.99879052e-01 5.32276921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98275509600006 meters 0.029355033190114142 Centerline is valid? [True, True] Translation: X:88.95, Y:197.56, Z:5.32 [[-6.97740436e-01 -7.16274325e-01 1.04582931e-02 8.89515509e+01] [ 7.16180969e-01 -6.97818562e-01 -1.15790760e-02 1.97556874e+02] [ 1.55917859e-02 -5.89159080e-04 9.99878267e-01 5.32324308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01275509600003 meters 0.029355033190114142 Centerline is valid? [True, True] Translation: X:88.93, Y:197.58, Z:5.32 [[-6.98009755e-01 -7.16011817e-01 1.04622613e-02 8.89339617e+01] [ 7.15918486e-01 -6.98087910e-01 -1.15754894e-02 1.97575947e+02] [ 1.55917654e-02 -5.89678258e-04 9.99878267e-01 5.32362620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04275509600006 meters 0.028566280070732693 Centerline is valid? [True, True] Translation: X:88.91, Y:197.60, Z:5.32 [[-6.96962828e-01 -7.17028393e-01 1.06348454e-02 8.89148121e+01] [ 7.16932216e-01 -6.97043728e-01 -1.17574992e-02 1.97596001e+02] [ 1.58434131e-02 -5.70076566e-04 9.99874323e-01 5.32390435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07275509600004 meters 0.027301965577090276 Centerline is valid? [True, True] Translation: X:88.90, Y:197.61, Z:5.32 [[-6.94289835e-01 -7.19615722e-01 1.07162354e-02 8.88967748e+01] [ 7.19518496e-01 -6.94372345e-01 -1.18397926e-02 1.97614811e+02] [ 1.59611584e-02 -5.09718069e-04 9.99872483e-01 5.32404662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10275509600007 meters 0.025501926691370875 Centerline is valid? [True, True] Translation: X:88.88, Y:197.63, Z:5.32 [[-6.92895624e-01 -7.20959490e-01 1.06333321e-02 8.88770957e+01] [ 7.20864050e-01 -6.92977051e-01 -1.17400349e-02 1.97633553e+02] [ 1.58327447e-02 -4.69431998e-04 9.99874544e-01 5.32469848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13275509600004 meters 0.02456203860807836 Centerline is valid? [True, True] Translation: X:88.86, Y:197.65, Z:5.32 [[-6.91544850e-01 -7.22254116e-01 1.07104089e-02 8.88586721e+01] [ 7.22157569e-01 -6.91627646e-01 -1.18171357e-02 1.97653343e+02] [ 1.59425898e-02 -4.37476464e-04 9.99872813e-01 5.32491881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16275509600007 meters 0.023712846555785982 Centerline is valid? [True, True] Translation: X:88.84, Y:197.67, Z:5.33 [[-6.90218671e-01 -7.23520821e-01 1.07614053e-02 8.88410289e+01] [ 7.23423634e-01 -6.90302439e-01 -1.18654099e-02 1.97672418e+02] [ 1.60134954e-02 -4.04672527e-04 9.99871694e-01 5.32554358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19275509600004 meters 0.021449048183875236 Centerline is valid? [True, True] Translation: X:88.82, Y:197.69, Z:5.33 [[-6.87002351e-01 -7.26577095e-01 1.06533485e-02 8.88219305e+01] [ 7.26482345e-01 -6.87084870e-01 -1.17380977e-02 1.97690504e+02] [ 1.58483875e-02 -3.24631068e-04 9.99874354e-01 5.32617351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22275509600007 meters 0.020546431109975272 Centerline is valid? [True, True] Translation: X:88.80, Y:197.71, Z:5.33 [[-6.85455647e-01 -7.28036748e-01 1.06324979e-02 8.88035658e+01] [ 7.27942680e-01 -6.85538046e-01 -1.17065100e-02 1.97708554e+02] [ 1.58117513e-02 -2.84444381e-04 9.99874946e-01 5.32688778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.25275509600004 meters 0.01859999343235115 Centerline is valid? [True, True] Translation: X:88.78, Y:197.73, Z:5.33 [[-6.81991521e-01 -7.31282485e-01 1.06533147e-02 8.87836380e+01] [ 7.31188582e-01 -6.82074692e-01 -1.17205747e-02 1.97725172e+02] [ 1.58374074e-02 -2.03750493e-04 9.99874560e-01 5.32700776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2827550960001 meters 0.018075383455449293 Centerline is valid? [True, True] Translation: X:88.77, Y:197.74, Z:5.33 [[-6.81182150e-01 -7.32035519e-01 1.07181239e-02 8.87653213e+01] [ 7.31940674e-01 -6.81266443e-01 -1.17848888e-02 1.97743791e+02] [ 1.59288553e-02 -1.82625062e-04 9.99873111e-01 5.32671177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.31275509600005 meters 0.017811345811266817 Centerline is valid? [True, True] Translation: X:88.75, Y:197.76, Z:5.33 [[-6.80531206e-01 -7.32636779e-01 1.09831140e-02 8.87485485e+01] [ 7.32537418e-01 -6.80619808e-01 -1.20668436e-02 1.97762320e+02] [ 1.63159384e-02 -1.66321598e-04 9.99866872e-01 5.32644994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3427550960001 meters 0.01769108429221518 Centerline is valid? [True, True] Translation: X:88.73, Y:197.78, Z:5.33 [[-6.80174133e-01 -7.32969685e-01 1.08898903e-02 8.87337547e+01] [ 7.32872204e-01 -6.80261287e-01 -1.19547077e-02 1.97783219e+02] [ 1.61704092e-02 -1.50385076e-04 9.99869239e-01 5.32751536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.37275509600005 meters 0.0176961945654201 Centerline is valid? [True, True] Translation: X:88.72, Y:197.80, Z:5.33 [[-6.80458933e-01 -7.32707464e-01 1.07430025e-02 8.87186550e+01] [ 7.32612707e-01 -6.80543716e-01 -1.17843797e-02 1.97803055e+02] [ 1.59455858e-02 -1.48326305e-04 9.99872850e-01 5.32801824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.4027550960001 meters 0.017884816495902536 Centerline is valid? [True, True] Translation: X:88.70, Y:197.82, Z:5.33 [[-6.80815843e-01 -7.32375850e-01 1.07425747e-02 8.87031572e+01] [ 7.32281210e-01 -6.80900575e-01 -1.17744387e-02 1.97823051e+02] [ 1.59379399e-02 -1.49638785e-04 9.99872972e-01 5.32806633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.43275509600005 meters 0.018039393565330485 Centerline is valid? [True, True] Translation: X:88.69, Y:197.84, Z:5.33 [[-6.80882676e-01 -7.32323977e-01 1.00186710e-02 8.86868004e+01] [ 7.32241774e-01 -6.80956368e-01 -1.09731640e-02 1.97841373e+02] [ 1.48581889e-02 -1.35347886e-04 9.99889602e-01 5.32940888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.462755096 meters 0.01796731056420713 Centerline is valid? [True, True] Translation: X:88.67, Y:197.86, Z:5.33 [[-6.81129767e-01 -7.32099960e-01 9.58589240e-03 8.86690403e+01] [ 7.32024797e-01 -6.81197205e-01 -1.04911773e-02 1.97859842e+02] [ 1.42104736e-02 -1.28742192e-04 9.99899018e-01 5.33034894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.49275509600005 meters 0.01769196569319097 Centerline is valid? [True, True] Translation: X:88.65, Y:197.88, Z:5.33 [[-6.81353226e-01 -7.31896826e-01 9.20960241e-03 8.86499736e+01] [ 7.31827529e-01 -6.81415454e-01 -1.00720894e-02 1.97878382e+02] [ 1.36472957e-02 -1.22810046e-04 9.99906864e-01 5.33121649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.522755096 meters 0.017717988622179624 Centerline is valid? [True, True] Translation: X:88.63, Y:197.90, Z:5.33 [[-6.81517789e-01 -7.31740738e-01 9.43380142e-03 8.86314992e+01] [ 7.31668120e-01 -6.81583067e-01 -1.03094407e-02 1.97897956e+02] [ 1.39737571e-02 -1.23655489e-04 9.99902355e-01 5.33125841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.55275509600006 meters 0.01770559057668091 Centerline is valid? [True, True] Translation: X:88.61, Y:197.92, Z:5.33 [[-6.81752460e-01 -7.31520024e-01 9.59361191e-03 8.86141102e+01] [ 7.31444993e-01 -6.81819946e-01 -1.04777839e-02 1.97916529e+02] [ 1.42058247e-02 -1.26055537e-04 9.99899084e-01 5.33107774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.582755096 meters 0.017998694000917602 Centerline is valid? [True, True] Translation: X:88.60, Y:197.94, Z:5.33 [[-6.82239463e-01 -7.31061664e-01 9.90749710e-03 8.85977162e+01] [ 7.30981719e-01 -6.82311385e-01 -1.08120742e-02 1.97935517e+02] [ 1.46642910e-02 -1.34224419e-04 9.99892465e-01 5.33098215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.61275509600006 meters 0.01826055292429238 Centerline is valid? [True, True] Translation: X:88.58, Y:197.96, Z:5.33 [[-6.83188342e-01 -7.30173021e-01 1.00523498e-02 8.85801369e+01] [ 7.30090737e-01 -6.83262276e-01 -1.09625882e-02 1.97955069e+02] [ 1.48729775e-02 -1.50384958e-04 9.99889380e-01 5.33118662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64275509600003 meters 0.01875885804009264 Centerline is valid? [True, True] Translation: X:88.56, Y:197.97, Z:5.33 [[-6.84312923e-01 -7.29115177e-01 1.03383856e-02 8.85640827e+01] [ 7.29028150e-01 -6.84390991e-01 -1.12662114e-02 1.97973370e+02] [ 1.52898636e-02 -1.72639931e-04 9.99883088e-01 5.33107223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.67275509600006 meters 0.018872057198716256 Centerline is valid? [True, True] Translation: X:88.54, Y:197.99, Z:5.33 [[-6.86619353e-01 -7.26935570e-01 1.08877009e-02 8.85447850e+01] [ 7.26838907e-01 -6.86705633e-01 -1.18564972e-02 1.97992009e+02] [ 1.60955551e-02 -2.27295779e-04 9.99870432e-01 5.33078535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70275509600003 meters 0.019506753703736873 Centerline is valid? [True, True] Translation: X:88.53, Y:198.01, Z:5.33 [[-6.88264713e-01 -7.25372755e-01 1.12272798e-02 8.85266299e+01] [ 7.25269878e-01 -6.88356227e-01 -1.22191762e-02 1.98012247e+02] [ 1.65918255e-02 -2.67219923e-04 9.99862310e-01 5.33031199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.73275509600006 meters 0.020411813816594772 Centerline is valid? [True, True] Translation: X:88.51, Y:198.03, Z:5.33 [[-6.91201385e-01 -7.22564074e-01 1.19081494e-02 8.85076612e+01] [ 7.22448089e-01 -6.91303868e-01 -1.29507108e-02 1.98033032e+02] [ 1.75898681e-02 -3.48529424e-04 9.99845226e-01 5.32987247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76275509600003 meters 0.02130636657097313 Centerline is valid? [True, True] Translation: X:88.49, Y:198.05, Z:5.33 [[-6.92836858e-01 -7.20993879e-01 1.20380255e-02 8.84903370e+01] [ 7.20875266e-01 -6.92941323e-01 -1.30833605e-02 1.98053875e+02] [ 1.77746682e-02 -3.86719550e-04 9.99841943e-01 5.33058267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.79275509600006 meters 0.022508576169982336 Centerline is valid? [True, True] Translation: X:88.47, Y:198.07, Z:5.33 [[-6.94424246e-01 -7.19468890e-01 1.18102889e-02 8.84734243e+01] [ 7.19354653e-01 -6.94524548e-01 -1.28271499e-02 1.98074578e+02] [ 1.74312708e-02 -4.11697645e-04 9.99847979e-01 5.33171038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82275509600004 meters 0.02282520952164522 Centerline is valid? [True, True] Translation: X:88.45, Y:198.09, Z:5.33 [[-6.96506722e-01 -7.17459204e-01 1.14313990e-02 8.84537397e+01] [ 7.17352059e-01 -6.96600384e-01 -1.24067655e-02 1.98094084e+02] [ 1.68644650e-02 -4.41057961e-04 9.99857688e-01 5.33321909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.85275509600007 meters 0.02376080643661896 Centerline is valid? [True, True] Translation: X:88.44, Y:198.11, Z:5.33 [[-6.97119260e-01 -7.16862982e-01 1.14978912e-02 8.84360985e+01] [ 7.16754652e-01 -6.97213927e-01 -1.24703332e-02 1.98113999e+02] [ 1.69560101e-02 -4.52142429e-04 9.99856134e-01 5.33338878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88275509600004 meters 0.022606611710804775 Centerline is valid? [True, True] Translation: X:88.42, Y:198.13, Z:5.33 [[-6.97656501e-01 -7.16336496e-01 1.17231299e-02 8.84152052e+01] [ 7.16223971e-01 -6.97754832e-01 -1.27049820e-02 1.98132196e+02] [ 1.72809128e-02 -4.67326576e-04 9.99850565e-01 5.33411846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.91275509600007 meters 0.02303844441379591 Centerline is valid? [True, True] Translation: X:88.40, Y:198.15, Z:5.33 [[-6.97729096e-01 -7.16265466e-01 1.17426806e-02 8.83973030e+01] [ 7.16152711e-01 -6.97827749e-01 -1.27171812e-02 1.98151174e+02] [ 1.73032461e-02 -4.63594815e-04 9.99850180e-01 5.33477661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94275509600004 meters 0.023315693991537222 Centerline is valid? [True, True] Translation: X:88.38, Y:198.17, Z:5.34 [[-6.97726264e-01 -7.16269101e-01 1.16891311e-02 8.83790026e+01] [ 7.16157500e-01 -6.97824023e-01 -1.26517700e-02 1.98169869e+02] [ 1.72190283e-02 -4.56213304e-04 9.99851637e-01 5.33514604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.97275509600007 meters 0.02198743585446666 Centerline is valid? [True, True] Translation: X:88.36, Y:198.19, Z:5.34 [[-6.96333746e-01 -7.17623896e-01 1.16300720e-02 8.83568918e+01] [ 7.17513766e-01 -6.96430738e-01 -1.25786816e-02 1.98188128e+02] [ 1.71263021e-02 -4.14223709e-04 9.99853248e-01 5.33609224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00275509600004 meters 0.021349522218712724 Centerline is valid? [True, True] Translation: X:88.34, Y:198.21, Z:5.34 [[-6.95499777e-01 -7.18428580e-01 1.18505776e-02 8.83369602e+01] [ 7.18314497e-01 -6.95600618e-01 -1.28087629e-02 1.98207110e+02] [ 1.74454504e-02 -3.96050057e-04 9.99847738e-01 5.33677751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0327550960001 meters 0.021189120518091673 Centerline is valid? [True, True] Translation: X:88.32, Y:198.23, Z:5.34 [[-6.94910036e-01 -7.19003232e-01 1.15928681e-02 8.83180329e+01] [ 7.18894287e-01 -6.95006631e-01 -1.25214308e-02 1.98225984e+02] [ 1.70600694e-02 -3.67221234e-04 9.99854399e-01 5.33749611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06275509600005 meters 0.02068342170938182 Centerline is valid? [True, True] Translation: X:88.30, Y:198.24, Z:5.34 [[-6.94135509e-01 -7.19757425e-01 1.11867691e-02 8.82983329e+01] [ 7.19656216e-01 -6.94225568e-01 -1.20744309e-02 1.98244146e+02] [ 1.64568024e-02 -3.30663367e-04 9.99864523e-01 5.33849297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0927550960001 meters 0.019678276858611343 Centerline is valid? [True, True] Translation: X:88.28, Y:198.26, Z:5.34 [[-6.92494230e-01 -7.21352597e-01 1.01079891e-02 8.82775420e+01] [ 7.21270251e-01 -6.92567949e-01 -1.09023699e-02 1.98261495e+02] [ 1.48649221e-02 -2.59236402e-04 9.99889477e-01 5.34062015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12275509600005 meters 0.019505335781668017 Centerline is valid? [True, True] Translation: X:88.26, Y:198.28, Z:5.34 [[-6.91982683e-01 -7.21846125e-01 9.90641546e-03 8.82599023e+01] [ 7.21767189e-01 -6.92053549e-01 -1.06775701e-02 1.98279255e+02] [ 1.45633326e-02 -2.38567962e-04 9.99893921e-01 5.34126350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1527550960001 meters 0.018814491339079014 Centerline is valid? [True, True] Translation: X:88.24, Y:198.30, Z:5.34 [[-6.91132679e-01 -7.22655390e-01 1.02375771e-02 8.82398053e+01] [ 7.22571283e-01 -6.91208462e-01 -1.10274145e-02 1.98298407e+02] [ 1.50453204e-02 -2.24027359e-04 9.99886788e-01 5.34196470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18275509600005 meters 0.018938910719080236 Centerline is valid? [True, True] Translation: X:88.22, Y:198.32, Z:5.34 [[-6.91376789e-01 -7.22424426e-01 1.00540874e-02 8.82220546e+01] [ 7.22343388e-01 -6.91449854e-01 -1.08226477e-02 1.98317355e+02] [ 1.47704423e-02 -2.20023854e-04 9.99890887e-01 5.34233272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.212755096 meters 0.019046727047073293 Centerline is valid? [True, True] Translation: X:88.20, Y:198.34, Z:5.34 [[-6.92132158e-01 -7.21701901e-01 9.97203451e-03 8.82036417e+01] [ 7.21622227e-01 -6.92203954e-01 -1.07259866e-02 1.98337393e+02] [ 1.46436467e-02 -2.27758528e-04 9.99892750e-01 5.34248295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24275509600005 meters 0.019359125974066162 Centerline is valid? [True, True] Translation: X:88.19, Y:198.36, Z:5.34 [[-6.92877781e-01 -7.20982785e-01 1.02080951e-02 8.81853495e+01] [ 7.20899336e-01 -6.92952931e-01 -1.09718991e-02 1.98358257e+02] [ 1.49842798e-02 -2.43176095e-04 9.99887700e-01 5.34272876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.272755096 meters 0.019560151834273284 Centerline is valid? [True, True] Translation: X:88.17, Y:198.38, Z:5.34 [[-6.93685209e-01 -7.20203365e-01 1.03896309e-02 8.81670012e+01] [ 7.20116956e-01 -6.93762961e-01 -1.11589969e-02 1.98378908e+02] [ 1.52446882e-02 -2.59081698e-04 9.99883759e-01 5.34222665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30275509600006 meters 0.020297292982072182 Centerline is valid? [True, True] Translation: X:88.15, Y:198.40, Z:5.34 [[-6.94490186e-01 -7.19413869e-01 1.12724390e-02 8.81503510e+01] [ 7.19312200e-01 -6.94581600e-01 -1.20979351e-02 1.98399917e+02] [ 1.65330511e-02 -2.93494295e-04 9.99863277e-01 5.34151425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.332755096 meters 0.02002037268066614 Centerline is valid? [True, True] Translation: X:88.13, Y:198.42, Z:5.34 [[-6.95297087e-01 -7.18624690e-01 1.18539625e-02 8.81319695e+01] [ 7.18512314e-01 -6.95398053e-01 -1.27122819e-02 1.98420060e+02] [ 1.73785821e-02 -3.21594545e-04 9.99848929e-01 5.34100789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36275509600006 meters 0.020012875637628453 Centerline is valid? [True, True] Translation: X:88.12, Y:198.44, Z:5.34 [[-6.96438101e-01 -7.17498881e-01 1.30125747e-02 8.81154837e+01] [ 7.17363466e-01 -6.96559555e-01 -1.39443189e-02 1.98442533e+02] [ 1.90690665e-02 -3.76609290e-04 9.99818098e-01 5.34101588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.39275509600003 meters 0.02171580719468618 Centerline is valid? [True, True] Translation: X:88.10, Y:198.47, Z:5.34 [[-6.97355789e-01 -7.16599820e-01 1.34015597e-02 8.80998462e+01] [ 7.16456209e-01 -6.97484432e-01 -1.43515455e-02 1.98465169e+02] [ 1.96316942e-02 -4.06502683e-04 9.99807197e-01 5.34058989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42275509600006 meters 0.022624796014997058 Centerline is valid? [True, True] Translation: X:88.08, Y:198.49, Z:5.34 [[-6.98566716e-01 -7.15397304e-01 1.45341008e-02 8.80833238e+01] [ 7.15228374e-01 -6.98717737e-01 -1.55530281e-02 1.98485829e+02] [ 2.12818284e-02 -4.69626521e-04 9.99773406e-01 5.33897764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.45275509600003 meters 0.021812158012163154 Centerline is valid? [True, True] Translation: X:88.06, Y:198.51, Z:5.34 [[-6.99258636e-01 -7.14712517e-01 1.49458470e-02 8.80637168e+01] [ 7.14533974e-01 -6.99418166e-01 -1.59821177e-02 1.98505153e+02] [ 2.18760165e-02 -4.96318377e-04 9.99760568e-01 5.33914939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48275509600006 meters 0.021875753057370575 Centerline is valid? [True, True] Translation: X:88.05, Y:198.53, Z:5.34 [[-7.00149874e-01 -7.13838142e-01 1.50086565e-02 8.80459947e+01] [ 7.13658146e-01 -7.00310530e-01 -1.60378658e-02 1.98525655e+02] [ 2.19591605e-02 -5.17859796e-04 9.99758734e-01 5.33933732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51275509600003 meters 0.023067674060877626 Centerline is valid? [True, True] Translation: X:88.03, Y:198.55, Z:5.34 [[-7.02130793e-01 -7.11889796e-01 1.50089277e-02 8.80310404e+01] [ 7.11709576e-01 -7.02290960e-01 -1.60277229e-02 1.98547963e+02] [ 2.19506066e-02 -5.71560241e-04 9.99758893e-01 5.34040434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54275509600006 meters 0.02382684722523879 Centerline is valid? [True, True] Translation: X:88.01, Y:198.57, Z:5.34 [[-7.03184705e-01 -7.10853780e-01 1.47707084e-02 8.80138350e+01] [ 7.10679201e-01 -7.03339575e-01 -1.57643896e-02 1.98569557e+02] [ 2.15949997e-02 -5.88042455e-04 9.99766628e-01 5.34125469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57275509600004 meters 0.025035353929891715 Centerline is valid? [True, True] Translation: X:88.00, Y:198.59, Z:5.34 [[-7.04716808e-01 -7.09337097e-01 1.46664134e-02 8.79993034e+01] [ 7.09164884e-01 -7.04869134e-01 -1.56419929e-02 1.98591724e+02] [ 2.14333479e-02 -6.22269953e-04 9.99770086e-01 5.34204918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60275509600007 meters 0.02522347493992904 Centerline is valid? [True, True] Translation: X:87.98, Y:198.61, Z:5.34 [[-7.05382998e-01 -7.08668449e-01 1.49618236e-02 8.79812682e+01] [ 7.08489332e-01 -7.05541360e-01 -1.59453869e-02 1.98612536e+02] [ 2.18561780e-02 -6.47312438e-04 9.99760916e-01 5.34273448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63275509600004 meters 0.025668769704661323 Centerline is valid? [True, True] Translation: X:87.96, Y:198.63, Z:5.34 [[-7.05839463e-01 -7.08213760e-01 1.49640551e-02 8.79641022e+01] [ 7.08034734e-01 -7.05997764e-01 -1.59365333e-02 1.98632982e+02] [ 2.18510616e-02 -6.53563294e-04 9.99761023e-01 5.34310715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66275509600007 meters 0.025310891126137106 Centerline is valid? [True, True] Translation: X:87.95, Y:198.65, Z:5.34 [[-7.06236763e-01 -7.07823518e-01 1.46799650e-02 8.79451926e+01] [ 7.07651378e-01 -7.06389022e-01 -1.56229272e-02 1.98653103e+02] [ 2.14280414e-02 -6.45188052e-04 9.99770185e-01 5.34424364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69275509600004 meters 0.025541100623217353 Centerline is valid? [True, True] Translation: X:87.93, Y:198.67, Z:5.35 [[-7.05994217e-01 -7.08085148e-01 1.36963128e-02 8.79282873e+01] [ 7.07935551e-01 -7.06126814e-01 -1.45663304e-02 1.98672611e+02] [ 1.99855359e-02 -5.87638277e-04 9.99800097e-01 5.34629654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72275509600007 meters 0.02612327206817333 Centerline is valid? [True, True] Translation: X:87.91, Y:198.69, Z:5.35 [[-7.06029879e-01 -7.08064051e-01 1.29270784e-02 8.79091235e+01] [ 7.07930962e-01 -7.06148001e-01 -1.37387685e-02 1.98691580e+02] [ 1.88563586e-02 -5.48502040e-04 9.99822053e-01 5.34592655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.75275509600004 meters 0.02470509033959854 Centerline is valid? [True, True] Translation: X:87.89, Y:198.71, Z:5.35 [[-7.04030417e-01 -7.10063315e-01 1.22988428e-02 8.78903238e+01] [ 7.09943308e-01 -7.04137680e-01 -1.30624173e-02 1.98710755e+02] [ 1.79352219e-02 -4.64857945e-04 9.99839043e-01 5.34871247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7827550960001 meters 0.022724878978608115 Centerline is valid? [True, True] Translation: X:87.87, Y:198.73, Z:5.35 [[-7.03282199e-01 -7.10806359e-01 1.21847793e-02 8.78695223e+01] [ 7.10688836e-01 -7.03387610e-01 -1.29324408e-02 1.98728108e+02] [ 1.77630840e-02 -4.35568781e-04 9.99842129e-01 5.34942919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.81275509600005 meters 0.023310862695305693 Centerline is valid? [True, True] Translation: X:87.85, Y:198.75, Z:5.35 [[-7.02690158e-01 -7.11386371e-01 1.24888960e-02 8.78527313e+01] [ 7.11263174e-01 -7.02801004e-01 -1.32456460e-02 1.98747963e+02] [ 1.81999807e-02 -4.24693296e-04 9.99834276e-01 5.34956184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8427550960001 meters 0.021441579906934443 Centerline is valid? [True, True] Translation: X:87.83, Y:198.77, Z:5.35 [[-7.01480510e-01 -7.12577094e-01 1.26087036e-02 8.78318760e+01] [ 7.12451900e-01 -7.01593709e-01 -1.33625806e-02 1.98765419e+02] [ 1.83680560e-02 -3.90495006e-04 9.99831217e-01 5.34951094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.87275509600005 meters 0.02112915051022967 Centerline is valid? [True, True] Translation: X:87.81, Y:198.78, Z:5.35 [[-7.01034096e-01 -7.13011627e-01 1.28691889e-02 8.78128730e+01] [ 7.12881462e-01 -7.01152105e-01 -1.36288981e-02 1.98784499e+02] [ 1.87408217e-02 -3.80116008e-04 9.99824303e-01 5.34964383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.9027550960001 meters 0.02112915051022967 Centerline is valid? [True, True] Translation: X:87.79, Y:198.80, Z:5.35 [[-7.01308396e-01 -7.12741740e-01 1.28742250e-02 8.77948729e+01] [ 7.12611616e-01 -7.01426452e-01 -1.36241396e-02 1.98803177e+02] [ 1.87408149e-02 -3.80401217e-04 9.99824303e-01 5.35002668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.93275509600005 meters 0.020762804360975197 Centerline is valid? [True, True] Translation: X:87.78, Y:198.82, Z:5.35 [[-7.00636828e-01 -7.13403616e-01 1.27794971e-02 8.77762335e+01] [ 7.13275702e-01 -7.00753278e-01 -1.35135532e-02 1.98821876e+02] [ 1.85958922e-02 -3.52788328e-04 9.99827019e-01 5.35054567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.962755096 meters 0.019968738028022986 Centerline is valid? [True, True] Translation: X:87.76, Y:198.84, Z:5.35 [[-6.98995020e-01 -7.15017735e-01 1.24740369e-02 8.77566918e+01] [ 7.14896297e-01 -6.99106252e-01 -1.31807721e-02 1.98839364e+02] [ 1.81451630e-02 -2.95651213e-04 9.99835319e-01 5.35161064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.99275509600005 meters 0.019488556921336112 Centerline is valid? [True, True] Translation: X:87.74, Y:198.86, Z:5.35 [[-6.98311513e-01 -7.15688732e-01 1.22747455e-02 8.77373642e+01] [ 7.15571413e-01 -6.98419335e-01 -1.29609073e-02 1.98856891e+02] [ 1.78488949e-02 -2.67293866e-04 9.99840660e-01 5.35190116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.022755096 meters 0.01860457340623513 Centerline is valid? [True, True] Translation: X:87.72, Y:198.87, Z:5.35 [[-6.97090387e-01 -7.16886124e-01 1.18016105e-02 8.77159054e+01] [ 7.16778001e-01 -6.97190244e-01 -1.24523037e-02 1.98874138e+02] [ 1.71548514e-02 -2.21246376e-04 9.99852820e-01 5.35295553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.05275509600006 meters 0.018713249297887646 Centerline is valid? [True, True] Translation: X:87.70, Y:198.89, Z:5.35 [[-6.97003347e-01 -7.16971831e-01 1.17357853e-02 8.76980146e+01] [ 7.16865074e-01 -6.97102108e-01 -1.23739972e-02 1.98892925e+02] [ 1.70528481e-02 -2.11742874e-04 9.99854567e-01 5.35344944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.082755096 meters 0.01858289082055932 Centerline is valid? [True, True] Translation: X:87.68, Y:198.91, Z:5.35 [[-6.96900999e-01 -7.17071583e-01 1.17193083e-02 8.76792082e+01] [ 7.16965299e-01 -6.96999500e-01 -1.23473610e-02 1.98911863e+02] [ 1.70222937e-02 -2.02550805e-04 9.99855090e-01 5.35388739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.11275509600006 meters 0.018353598740758776 Centerline is valid? [True, True] Translation: X:87.66, Y:198.93, Z:5.35 [[-6.97043449e-01 -7.16930421e-01 1.18828079e-02 8.76596076e+01] [ 7.16821296e-01 -6.97144698e-01 -1.25099770e-02 1.98931097e+02] [ 1.72528196e-02 -2.02147734e-04 9.99851139e-01 5.35414132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14275509600003 meters 0.018719046074235763 Centerline is valid? [True, True] Translation: X:87.64, Y:198.95, Z:5.35 [[-6.97482082e-01 -7.16498650e-01 1.21831791e-02 8.76433202e+01] [ 7.16384036e-01 -6.97588446e-01 -1.28168729e-02 1.98951145e+02] [ 1.76821171e-02 -2.11704153e-04 9.99843637e-01 5.35430375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.17275509600006 meters 0.01857681946123239 Centerline is valid? [True, True] Translation: X:87.62, Y:198.97, Z:5.35 [[-6.97846488e-01 -7.16143529e-01 1.21952968e-02 8.76243256e+01] [ 7.16028785e-01 -6.97953007e-01 -1.28210601e-02 1.98970973e+02] [ 1.76934633e-02 -2.14948236e-04 9.99843435e-01 5.35440480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20275509600003 meters 0.01878221945417485 Centerline is valid? [True, True] Translation: X:87.61, Y:198.99, Z:5.35 [[-6.98680243e-01 -7.15327342e-01 1.23576382e-02 8.76059152e+01] [ 7.15209560e-01 -6.98789481e-01 -1.29825296e-02 1.98990592e+02] [ 1.79221460e-02 -2.32335975e-04 9.99839358e-01 5.35472643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.23275509600006 meters 0.0191135477133368 Centerline is valid? [True, True] Translation: X:87.59, Y:199.01, Z:5.36 [[-6.99489974e-01 -7.14537088e-01 1.22688946e-02 8.75879576e+01] [ 7.14421030e-01 -6.99597520e-01 -1.28803031e-02 1.99010253e+02] [ 1.77867425e-02 -2.44486565e-04 9.99841774e-01 5.35501246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26275509600003 meters 0.01928791954634036 Centerline is valid? [True, True] Translation: X:87.57, Y:199.03, Z:5.36 [[-7.00425215e-01 -7.13617318e-01 1.24435284e-02 8.75692932e+01] [ 7.13497959e-01 -7.00535690e-01 -1.30540926e-02 1.99030093e+02] [ 1.80327623e-02 -2.64983470e-04 9.99837361e-01 5.35535471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.29275509600006 meters 0.0208963993408718 Centerline is valid? [True, True] Translation: X:87.55, Y:199.05, Z:5.35 [[-7.02214722e-01 -7.11857260e-01 1.23986018e-02 8.75527985e+01] [ 7.11738648e-01 -7.02324106e-01 -1.29979401e-02 1.99050905e+02] [ 1.79605150e-02 -3.02780850e-04 9.99838651e-01 5.35468215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32275509600004 meters 0.019994664922863767 Centerline is valid? [True, True] Translation: X:87.53, Y:199.07, Z:5.36 [[-7.02777250e-01 -7.11305758e-01 1.21760615e-02 8.75339800e+01] [ 7.11191443e-01 -7.02882655e-01 -1.27556093e-02 1.99070875e+02] [ 1.76314808e-02 -3.04841296e-04 9.99844507e-01 5.35700295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.35275509600007 meters 0.020235417682681046 Centerline is valid? [True, True] Translation: X:87.52, Y:199.09, Z:5.36 [[-7.04064723e-01 -7.10028836e-01 1.23254703e-02 8.75153827e+01] [ 7.09911663e-01 -7.04172522e-01 -1.29031225e-02 1.99092399e+02] [ 1.78408465e-02 -3.34638272e-04 9.99840783e-01 5.35819261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38275509600004 meters 0.02087694928359223 Centerline is valid? [True, True] Translation: X:87.50, Y:199.11, Z:5.36 [[-7.05230191e-01 -7.08870925e-01 1.23445794e-02 8.74974327e+01] [ 7.08753361e-01 -7.05338134e-01 -1.29147430e-02 1.99112719e+02] [ 1.78619883e-02 -3.58604539e-04 9.99840398e-01 5.35818451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.41275509600007 meters 0.021155744760277508 Centerline is valid? [True, True] Translation: X:87.48, Y:199.13, Z:5.36 [[-7.06490032e-01 -7.07613517e-01 1.24476858e-02 8.74781677e+01] [ 7.07493943e-01 -7.06599576e-01 -1.30138391e-02 1.99133540e+02] [ 1.80042980e-02 -3.87485313e-04 9.99837834e-01 5.35839300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44275509600004 meters 0.0217315141967574 Centerline is valid? [True, True] Translation: X:87.46, Y:199.15, Z:5.36 [[-7.07689844e-01 -7.06418451e-01 1.21678681e-02 8.74592180e+01] [ 7.06304156e-01 -7.07794327e-01 -1.27133318e-02 1.99154461e+02] [ 1.75932802e-02 -4.02879996e-04 9.99845145e-01 5.35880943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.47275509600007 meters 0.023035004366239852 Centerline is valid? [True, True] Translation: X:87.44, Y:199.18, Z:5.36 [[-7.09598194e-01 -7.04519235e-01 1.10928767e-02 8.74419197e+01] [ 7.04424121e-01 -7.09684778e-01 -1.15833586e-02 1.99175017e+02] [ 1.60331447e-02 -4.05440394e-04 9.99871379e-01 5.36078303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50275509600004 meters 0.02320359894944334 Centerline is valid? [True, True] Translation: X:87.42, Y:199.20, Z:5.36 [[-7.10536181e-01 -7.03585574e-01 1.02798668e-02 8.74229323e+01] [ 7.03503893e-01 -7.10610433e-01 -1.07277553e-02 1.99195261e+02] [ 1.48528745e-02 -3.90532006e-04 9.99889614e-01 5.36212904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5327550960001 meters 0.023935661127040007 Centerline is valid? [True, True] Translation: X:87.41, Y:199.22, Z:5.36 [[-7.11462592e-01 -7.02658069e-01 9.62385649e-03 8.74050661e+01] [ 7.02586480e-01 -7.11527578e-01 -1.00371433e-02 1.99215656e+02] [ 1.39003190e-02 -3.79460520e-04 9.99903314e-01 5.36350180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56275509600005 meters 0.023997957600036982 Centerline is valid? [True, True] Translation: X:87.39, Y:199.24, Z:5.36 [[-7.12568513e-01 -7.01542150e-01 9.20467112e-03 8.73855215e+01] [ 7.01476622e-01 -7.12627860e-01 -9.59596051e-03 1.99235622e+02] [ 1.32914758e-02 -3.80917704e-04 9.99911592e-01 5.36483586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5927550960001 meters 0.025338820632533204 Centerline is valid? [True, True] Translation: X:87.37, Y:199.26, Z:5.36 [[-7.13477738e-01 -7.00620006e-01 9.00696520e-03 8.73659589e+01] [ 7.00557264e-01 -7.13534484e-01 -9.38403781e-03 1.99255764e+02] [ 1.30014249e-02 -3.85407170e-04 9.99915404e-01 5.36342008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62275509600005 meters 0.024719424228855355 Centerline is valid? [True, True] Translation: X:87.35, Y:199.27, Z:5.37 [[-7.13925142e-01 -7.00171019e-01 8.45199212e-03 8.73472292e+01] [ 7.00115801e-01 -7.13975077e-01 -8.80084850e-03 1.99274084e+02] [ 1.21966108e-02 -3.65773780e-04 9.99925552e-01 5.36608475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6527550960001 meters 0.024755632456589682 Centerline is valid? [True, True] Translation: X:87.33, Y:199.29, Z:5.37 [[-7.14225787e-01 -6.99868638e-01 8.08794694e-03 8.73276914e+01] [ 6.99818126e-01 -7.14271494e-01 -8.41570696e-03 1.99292812e+02] [ 1.16668793e-02 -3.50623051e-04 9.99931878e-01 5.36653490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68275509600005 meters 0.02493754266398225 Centerline is valid? [True, True] Translation: X:87.31, Y:199.31, Z:5.37 [[-7.14472310e-01 -6.99616634e-01 8.11695331e-03 8.73087938e+01] [ 6.99565812e-01 -7.14518329e-01 -8.43994587e-03 1.99311464e+02] [ 1.17044384e-02 -3.51764588e-04 9.99931439e-01 5.36684444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.712755096 meters 0.025423669232314317 Centerline is valid? [True, True] Translation: X:87.29, Y:199.33, Z:5.37 [[-7.14274807e-01 -6.99820734e-01 7.90198057e-03 8.72900347e+01] [ 6.99772648e-01 -7.14318437e-01 -8.21051198e-03 1.99329260e+02] [ 1.13904169e-02 -3.34971990e-04 9.99935071e-01 5.36701794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74275509600005 meters 0.02371118467553149 Centerline is valid? [True, True] Translation: X:87.27, Y:199.35, Z:5.37 [[-7.13974332e-01 -7.00129509e-01 7.70217899e-03 8.72683908e+01] [ 7.00083906e-01 -7.14015805e-01 -7.99720382e-03 1.99346181e+02] [ 1.10985559e-02 -3.17626709e-04 9.99938359e-01 5.36744058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.772755096 meters 0.02364230403470092 Centerline is valid? [True, True] Translation: X:87.25, Y:199.37, Z:5.37 [[-7.13841654e-01 -7.00270962e-01 7.11841772e-03 8.72484382e+01] [ 7.00232066e-01 -7.13877088e-01 -7.38631220e-03 1.99365128e+02] [ 1.02540953e-02 -2.88112973e-04 9.99947384e-01 5.36807595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80275509600006 meters 0.0249327963544161 Centerline is valid? [True, True] Translation: X:87.23, Y:199.39, Z:5.37 [[-7.12843943e-01 -7.01284400e-01 7.32823548e-03 8.72296335e+01] [ 7.01243293e-01 -7.12881556e-01 -7.59804245e-03 1.99385236e+02] [ 1.05525526e-02 -2.77342556e-04 9.99944282e-01 5.36803144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.832755096 meters 0.023323825363635947 Centerline is valid? [True, True] Translation: X:87.21, Y:199.40, Z:5.37 [[-7.12359055e-01 -7.01775487e-01 7.46603770e-03 8.72073646e+01] [ 7.01732906e-01 -7.12398127e-01 -7.73546602e-03 1.99402304e+02] [ 1.07473517e-02 -2.71264941e-04 9.99942209e-01 5.36776355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86275509600006 meters 0.02233481024318801 Centerline is valid? [True, True] Translation: X:87.19, Y:199.42, Z:5.37 [[-7.11394644e-01 -7.02756702e-01 7.11883233e-03 8.71853600e+01] [ 7.02718068e-01 -7.11430220e-01 -7.37279832e-03 1.99420204e+02] [ 1.02458359e-02 -2.42437131e-04 9.99947481e-01 5.36847637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.89275509600003 meters 0.02250181203266683 Centerline is valid? [True, True] Translation: X:87.17, Y:199.44, Z:5.37 [[-7.11226578e-01 -7.02930332e-01 6.76043179e-03 8.71665991e+01] [ 7.02895533e-01 -7.11258672e-01 -6.99794925e-03 1.99438912e+02] [ 9.72748653e-03 -2.25250184e-04 9.99952662e-01 5.36978312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92275509600006 meters 0.022387754237693624 Centerline is valid? [True, True] Translation: X:87.15, Y:199.46, Z:5.37 [[-7.11348077e-01 -7.02808330e-01 6.66073615e-03 8.71467166e+01] [ 7.02774594e-01 -7.11379226e-01 -6.88958388e-03 1.99457945e+02] [ 9.58036627e-03 -2.19896100e-04 9.99954083e-01 5.37056439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.95275509600003 meters 0.022466986162640437 Centerline is valid? [True, True] Translation: X:87.13, Y:199.48, Z:5.37 [[-7.11574358e-01 -7.02581879e-01 6.37461958e-03 8.71289916e+01] [ 7.02551006e-01 -7.11602880e-01 -6.58980135e-03 1.99475716e+02] [ 9.16607267e-03 -2.10638274e-04 9.99957969e-01 5.37125815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98275509600006 meters 0.02176654258966568 Centerline is valid? [True, True] Translation: X:87.11, Y:199.49, Z:5.37 [[-7.11962162e-01 -7.02187177e-01 6.56102916e-03 8.71091745e+01] [ 7.02154512e-01 -7.11992360e-01 -6.77645056e-03 1.99494017e+02] [ 9.42973933e-03 -2.17720163e-04 9.99955515e-01 5.37118484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01275509600003 meters 0.02170763722521252 Centerline is valid? [True, True] Translation: X:87.09, Y:199.51, Z:5.37 [[-7.12176088e-01 -7.01971267e-01 6.44666906e-03 8.70898090e+01] [ 7.01939765e-01 -7.12205234e-01 -6.65369205e-03 1.99513524e+02] [ 9.26205208e-03 -2.13427009e-04 9.99957084e-01 5.37159495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04275509600006 meters 0.021489111030606203 Centerline is valid? [True, True] Translation: X:87.07, Y:199.53, Z:5.37 [[-7.12172388e-01 -7.01974346e-01 6.51968579e-03 8.70698845e+01] [ 7.01942173e-01 -7.12202199e-01 -6.72409510e-03 1.99531780e+02] [ 9.36347682e-03 -2.12272451e-04 9.99956139e-01 5.37193830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07275509600004 meters 0.021655996768350748 Centerline is valid? [True, True] Translation: X:87.05, Y:199.55, Z:5.37 [[-7.12087127e-01 -7.02060088e-01 6.59974647e-03 8.70511277e+01] [ 7.02027177e-01 -7.12117679e-01 -6.80104312e-03 1.99550398e+02] [ 9.47453707e-03 -2.09733873e-04 9.99955094e-01 5.37194499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10275509600007 meters 0.02090879632812378 Centerline is valid? [True, True] Translation: X:87.03, Y:199.57, Z:5.37 [[-7.12375950e-01 -7.01764958e-01 6.81546651e-03 8.70304667e+01] [ 7.01729880e-01 -7.12408518e-01 -7.01990584e-03 1.99568485e+02] [ 9.78172032e-03 -2.18195599e-04 9.99952134e-01 5.37143360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13275509600004 meters 0.02127331530436428 Centerline is valid? [True, True] Translation: X:87.01, Y:199.59, Z:5.37 [[-7.12991589e-01 -7.01135656e-01 7.19619041e-03 8.70121107e+01] [ 7.01096585e-01 -7.13027865e-01 -7.40559813e-03 1.99587165e+02] [ 1.03234132e-02 -2.34904656e-04 9.99946685e-01 5.37145882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16275509600007 meters 0.02157632704272797 Centerline is valid? [True, True] Translation: X:86.99, Y:199.61, Z:5.37 [[-7.13438107e-01 -7.00681574e-01 7.16932488e-03 8.69942771e+01] [ 7.00642814e-01 -7.13474089e-01 -7.37375120e-03 1.99606286e+02] [ 1.02817791e-02 -2.37579139e-04 9.99947113e-01 5.37204868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19275509600004 meters 0.022649801858472273 Centerline is valid? [True, True] Translation: X:86.98, Y:199.63, Z:5.37 [[-7.14223168e-01 -6.99881241e-01 7.17738212e-03 8.69779403e+01] [ 6.99842390e-01 -7.14259188e-01 -7.37849077e-03 1.99626550e+02] [ 1.02905784e-02 -2.46852792e-04 9.99947020e-01 5.37271283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22275509600007 meters 0.022484476142980332 Centerline is valid? [True, True] Translation: X:86.96, Y:199.65, Z:5.37 [[-7.15719832e-01 -6.98351169e-01 7.12500123e-03 8.69582253e+01] [ 6.98312867e-01 -7.15755248e-01 -7.31879505e-03 1.99646826e+02] [ 1.02108461e-02 -2.62726735e-04 9.99947833e-01 5.37287246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.25275509600004 meters 0.022704724440646175 Centerline is valid? [True, True] Translation: X:86.94, Y:199.67, Z:5.37 [[-7.16446632e-01 -6.97605041e-01 7.17150461e-03 8.69388566e+01] [ 6.97566246e-01 -7.16482472e-01 -7.36208764e-03 1.99666410e+02] [ 1.02740868e-02 -2.71943352e-04 9.99947183e-01 5.37320378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2827550960001 meters 0.023294854297274268 Centerline is valid? [True, True] Translation: X:86.92, Y:199.69, Z:5.37 [[-7.17109344e-01 -6.96924689e-01 7.08282038e-03 8.69208913e+01] [ 6.96886865e-01 -7.17144269e-01 -7.26603173e-03 1.99685510e+02] [ 1.01432809e-02 -2.74614754e-04 9.99948518e-01 5.37337464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.31275509600005 meters 0.023593180600836865 Centerline is valid? [True, True] Translation: X:86.90, Y:199.70, Z:5.37 [[-7.17766572e-01 -6.96242985e-01 7.54018650e-03 8.69019317e+01] [ 6.96200150e-01 -7.17806114e-01 -7.72877644e-03 1.99704818e+02] [ 1.07934983e-02 -2.97978401e-04 9.99941704e-01 5.37297853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3427550960001 meters 0.024333388426085605 Centerline is valid? [True, True] Translation: X:86.88, Y:199.72, Z:5.37 [[-7.18167403e-01 -6.95825430e-01 7.90902063e-03 8.68844780e+01] [ 6.95778344e-01 -7.18210883e-01 -8.10084794e-03 1.99724161e+02] [ 1.13171207e-02 -3.14839650e-04 9.99935910e-01 5.37311791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.37275509600005 meters 0.023908031404361436 Centerline is valid? [True, True] Translation: X:86.86, Y:199.74, Z:5.37 [[-7.19185221e-01 -6.94764699e-01 8.63891463e-03 8.68640050e+01] [ 6.94708537e-01 -7.19237016e-01 -8.84102687e-03 1.99743657e+02] [ 1.23558606e-02 -3.56808118e-04 9.99923600e-01 5.37265183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.4027550960001 meters 0.024679310830113366 Centerline is valid? [True, True] Translation: X:86.85, Y:199.76, Z:5.37 [[-7.19868219e-01 -6.94051434e-01 9.07499559e-03 8.68468265e+01] [ 6.93989479e-01 -7.19925316e-01 -9.28127099e-03 1.99763131e+02] [ 1.29749985e-02 -3.83340553e-04 9.99915748e-01 5.37310769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.43275509600005 meters 0.024293676510674846 Centerline is valid? [True, True] Translation: X:86.83, Y:199.78, Z:5.37 [[-7.20440313e-01 -6.93462511e-01 8.68918594e-03 8.68270617e+01] [ 6.93405748e-01 -7.20492614e-01 -8.88038310e-03 1.99782415e+02] [ 1.24187071e-02 -3.72654506e-04 9.99922815e-01 5.37362811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.462755096 meters 0.02415081099114438 Centerline is valid? [True, True] Translation: X:86.81, Y:199.80, Z:5.37 [[-7.21067038e-01 -6.92811151e-01 8.66232923e-03 8.68078158e+01] [ 6.92754769e-01 -7.21118968e-01 -8.84670565e-03 1.99801289e+02] [ 1.23756662e-02 -3.78197958e-04 9.99923347e-01 5.37420366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.49275509600005 meters 0.024901441489884452 Centerline is valid? [True, True] Translation: X:86.79, Y:199.82, Z:5.37 [[-7.21914713e-01 -6.91930955e-01 8.40837149e-03 8.67888665e+01] [ 6.91877844e-01 -7.21963580e-01 -8.58132108e-03 1.99820630e+02] [ 1.20082197e-02 -3.77416006e-04 9.99927828e-01 5.37475038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.522755096 meters 0.024684149618093506 Centerline is valid? [True, True] Translation: X:86.77, Y:199.84, Z:5.38 [[-7.22264715e-01 -6.91564656e-01 8.48575144e-03 8.67689938e+01] [ 6.91510607e-01 -7.22314461e-01 -8.65449965e-03 1.99839915e+02] [ 1.21145270e-02 -3.82852595e-04 9.99926543e-01 5.37518550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.55275509600006 meters 0.02475316554824893 Centerline is valid? [True, True] Translation: X:86.75, Y:199.86, Z:5.38 [[-7.22393331e-01 -6.91430816e-01 8.44408645e-03 8.67501427e+01] [ 6.91377361e-01 -7.22442582e-01 -8.60591196e-03 1.99859927e+02] [ 1.20507603e-02 -3.78803204e-04 9.99927315e-01 5.37549113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.582755096 meters 0.025150501993351716 Centerline is valid? [True, True] Translation: X:86.73, Y:199.88, Z:5.38 [[-7.22726171e-01 -6.91088438e-01 7.97820507e-03 8.67320044e+01] [ 6.91040758e-01 -7.22770116e-01 -8.12584319e-03 1.99879116e+02] [ 1.13820845e-02 -3.59494658e-04 9.99935157e-01 5.37640375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.61275509600006 meters 0.02499227422643839 Centerline is valid? [True, True] Translation: X:86.71, Y:199.90, Z:5.38 [[-7.22752262e-01 -6.91060391e-01 8.04383166e-03 8.67125995e+01] [ 6.91011993e-01 -7.22796934e-01 -8.18644801e-03 1.99898696e+02] [ 1.14713868e-02 -3.58389673e-04 9.99934137e-01 5.37685268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64275509600003 meters 0.023439846088802688 Centerline is valid? [True, True] Translation: X:86.69, Y:199.92, Z:5.38 [[-7.22127208e-01 -6.91713251e-01 8.06688716e-03 8.66910713e+01] [ 6.91664684e-01 -7.22172181e-01 -8.20400597e-03 1.99917046e+02] [ 1.15005011e-02 -3.44754961e-04 9.99933808e-01 5.37719224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.67275509600006 meters 0.023581341724225515 Centerline is valid? [True, True] Translation: X:86.67, Y:199.94, Z:5.38 [[-7.21884007e-01 -6.91971556e-01 7.67114154e-03 8.66723693e+01] [ 6.91927705e-01 -7.21924694e-01 -7.79663718e-03 1.99935159e+02] [ 1.09330377e-02 -3.20392324e-04 9.99940181e-01 5.37790378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70275509600003 meters 0.024451045189962432 Centerline is valid? [True, True] Translation: X:86.65, Y:199.95, Z:5.38 [[-7.21737963e-01 -6.92122726e-01 7.77460254e-03 8.66541691e+01] [ 6.92077739e-01 -7.21779766e-01 -7.89771460e-03 1.99954800e+02] [ 1.10777386e-02 -3.19451109e-04 9.99938589e-01 5.37854411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.73275509600006 meters 0.02203323815516769 Centerline is valid? [True, True] Translation: X:86.63, Y:199.97, Z:5.38 [[-7.21058331e-01 -6.92832025e-01 7.65960623e-03 8.66314647e+01] [ 6.92788459e-01 -7.21098950e-01 -7.77535906e-03 1.99971696e+02] [ 1.09103518e-02 -3.00000631e-04 9.99940435e-01 5.37884323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76275509600003 meters 0.02235293238190441 Centerline is valid? [True, True] Translation: X:86.61, Y:199.99, Z:5.38 [[-7.20877432e-01 -6.93020409e-01 7.64460475e-03 8.66131246e+01] [ 6.92977076e-01 -7.20917905e-01 -7.75541210e-03 1.99990946e+02] [ 1.08857913e-02 -2.93165713e-04 9.99940705e-01 5.37884677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.79275509600006 meters 0.021593293470418145 Centerline is valid? [True, True] Translation: X:86.59, Y:200.01, Z:5.38 [[-7.19990977e-01 -6.93931945e-01 8.45277551e-03 8.65924355e+01] [ 6.93879119e-01 -7.20040530e-01 -8.56760179e-03 2.00009422e+02] [ 1.20316735e-02 -3.03391563e-04 9.99927571e-01 5.37787741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82275509600004 meters 0.021593293470418145 Centerline is valid? [True, True] Translation: X:86.57, Y:200.03, Z:5.38 [[-7.20241204e-01 -6.93672194e-01 8.45543331e-03 8.65734887e+01] [ 6.93619382e-01 -7.20290771e-01 -8.56497780e-03 2.00028325e+02] [ 1.20316575e-02 -3.03997506e-04 9.99927571e-01 5.37827277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.85275509600007 meters 0.021715602379001497 Centerline is valid? [True, True] Translation: X:86.56, Y:200.05, Z:5.38 [[-7.19944062e-01 -6.93975715e-01 8.84621449e-03 8.65554310e+01] [ 6.93918020e-01 -7.19998342e-01 -8.95374893e-03 2.00047123e+02] [ 1.25829441e-02 -3.07650731e-04 9.99920784e-01 5.37814980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88275509600004 meters 0.023016553499050886 Centerline is valid? [True, True] Translation: X:86.54, Y:200.07, Z:5.38 [[-7.19727658e-01 -6.94193537e-01 9.35044227e-03 8.65387138e+01] [ 6.94129167e-01 -7.19788325e-01 -9.45870089e-03 2.00067276e+02] [ 1.32965082e-02 -3.17273939e-04 9.99911547e-01 5.37763209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.91275509600007 meters 0.02114933324457034 Centerline is valid? [True, True] Translation: X:86.52, Y:200.08, Z:5.38 [[-7.20101928e-01 -6.93807627e-01 9.17553812e-03 8.65167172e+01] [ 6.93745699e-01 -7.20160315e-01 -9.27504811e-03 2.00083883e+02] [ 1.30429575e-02 -3.13489918e-04 9.99914888e-01 5.37776583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94275509600004 meters 0.021330600547383685 Centerline is valid? [True, True] Translation: X:86.50, Y:200.10, Z:5.38 [[-7.20284713e-01 -6.93620999e-01 8.93549823e-03 8.64983503e+01] [ 6.93562333e-01 -7.20340071e-01 -9.02621127e-03 2.00103113e+02] [ 1.26973671e-02 -3.04116985e-04 9.99919339e-01 5.37835212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.97275509600007 meters 0.021677690046897638 Centerline is valid? [True, True] Translation: X:86.48, Y:200.12, Z:5.38 [[-7.20916614e-01 -6.92966917e-01 8.72279186e-03 8.64799844e+01] [ 6.92911044e-01 -7.20969320e-01 -8.80488144e-03 2.00122809e+02] [ 1.23903569e-02 -3.03466510e-04 9.99923191e-01 5.37915947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00275509600004 meters 0.021868785628544735 Centerline is valid? [True, True] Translation: X:86.46, Y:200.14, Z:5.38 [[-7.21495915e-01 -6.92367226e-01 8.44210158e-03 8.64618169e+01] [ 6.92314918e-01 -7.21545241e-01 -8.51580928e-03 2.00143047e+02] [ 1.19874255e-02 -2.99528748e-04 9.99928103e-01 5.38051091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0327550960001 meters 0.0222576563845756 Centerline is valid? [True, True] Translation: X:86.44, Y:200.16, Z:5.38 [[-7.21939705e-01 -6.91906872e-01 8.24276760e-03 8.64439104e+01] [ 6.91857040e-01 -7.21986699e-01 -8.30915667e-03 2.00162464e+02] [ 1.17003312e-02 -2.95893321e-04 9.99931505e-01 5.38122534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06275509600005 meters 0.022438662797682554 Centerline is valid? [True, True] Translation: X:86.43, Y:200.18, Z:5.38 [[-7.22254313e-01 -6.91573431e-01 8.65430792e-03 8.64260457e+01] [ 6.91518558e-01 -7.22306094e-01 -8.71728813e-03 2.00182299e+02] [ 1.22797042e-02 -3.11484422e-04 9.99924553e-01 5.38133467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0927550960001 meters 0.022380393268597903 Centerline is valid? [True, True] Translation: X:86.41, Y:200.20, Z:5.38 [[-7.22306394e-01 -6.91520132e-01 8.56624335e-03 8.64071777e+01] [ 6.91466446e-01 -7.22357124e-01 -8.62207213e-03 2.00201019e+02] [ 1.21502234e-02 -3.04507985e-04 9.99926137e-01 5.38184538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12275509600005 meters 0.022183163262289564 Centerline is valid? [True, True] Translation: X:86.39, Y:200.22, Z:5.38 [[-7.22205519e-01 -6.91625445e-01 8.56926887e-03 8.63884311e+01] [ 6.91571808e-01 -7.22256294e-01 -8.61855534e-03 2.00219020e+02] [ 1.21500206e-02 -2.98103466e-04 9.99926141e-01 5.38209320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1527550960001 meters 0.021896264433661817 Centerline is valid? [True, True] Translation: X:86.37, Y:200.24, Z:5.38 [[-7.21599141e-01 -6.92255511e-01 8.77427528e-03 8.63702740e+01] [ 6.92199408e-01 -7.21652426e-01 -8.81793243e-03 2.00236456e+02] [ 1.24362394e-02 -2.89464315e-04 9.99922625e-01 5.38196050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18275509600005 meters 0.021622389026000558 Centerline is valid? [True, True] Translation: X:86.35, Y:200.26, Z:5.38 [[-7.21355544e-01 -6.92507397e-01 8.92657917e-03 8.63515375e+01] [ 6.92449441e-01 -7.21410718e-01 -8.96372127e-03 2.00255241e+02] [ 1.26471732e-02 -2.84825277e-04 9.99919981e-01 5.38236464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.212755096 meters 0.021299388002838957 Centerline is valid? [True, True] Translation: X:86.33, Y:200.27, Z:5.38 [[-7.20374805e-01 -6.93524306e-01 9.17484931e-03 8.63337007e+01] [ 6.93463257e-01 -7.20433178e-01 -9.20575999e-03 2.00273586e+02] [ 1.29942842e-02 -2.69176663e-04 9.99915535e-01 5.38236137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24275509600005 meters 0.020977540333497944 Centerline is valid? [True, True] Translation: X:86.31, Y:200.29, Z:5.38 [[-7.20019815e-01 -6.93888064e-01 9.52999319e-03 8.63146533e+01] [ 6.93822307e-01 -7.20082831e-01 -9.55634596e-03 2.00292076e+02] [ 1.34934189e-02 -2.68636595e-04 9.99908924e-01 5.38227079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.272755096 meters 0.02056943616186736 Centerline is valid? [True, True] Translation: X:86.30, Y:200.31, Z:5.38 [[-7.19737918e-01 -6.94177936e-01 9.71199274e-03 8.62953709e+01] [ 6.94109768e-01 -7.19803393e-01 -9.73168920e-03 2.00310479e+02] [ 1.37462492e-02 -2.63076701e-04 9.99905481e-01 5.38232429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30275509600006 meters 0.020089078488782074 Centerline is valid? [True, True] Translation: X:86.28, Y:200.33, Z:5.38 [[-7.18935188e-01 -6.94999288e-01 1.04012293e-02 8.62767834e+01] [ 6.94921305e-01 -7.19010378e-01 -1.04142699e-02 2.00328189e+02] [ 1.47165020e-02 -2.59149273e-04 9.99891673e-01 5.38148309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.332755096 meters 0.01964826906164222 Centerline is valid? [True, True] Translation: X:86.26, Y:200.35, Z:5.38 [[-7.18661739e-01 -6.95283661e-01 1.02924727e-02 8.62574382e+01] [ 6.95207442e-01 -7.18735397e-01 -1.02977105e-02 2.00346307e+02] [ 1.45573943e-02 -2.45166945e-04 9.99894005e-01 5.38192358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36275509600006 meters 0.01828177059474524 Centerline is valid? [True, True] Translation: X:85.86, Y:199.92, Z:6.55 [[-7.44669216e-01 6.67350741e-01 -1.05236594e-02 8.58572433e+01] [ 6.67268371e-01 7.44743133e-01 1.05160280e-02 1.99915314e+02] [ 1.48553021e-02 8.08857305e-04 -9.99889327e-01 6.54556242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.39275509600003 meters 0.01835969484748128 Centerline is valid? [True, True] Translation: X:85.87, Y:199.92, Z:6.55 [[-7.90248815e-01 6.12683476e-01 -1.12146990e-02 8.58737023e+01] [ 6.12606903e-01 7.90327970e-01 9.72020567e-03 1.99924559e+02] [ 1.48186997e-02 8.11178960e-04 -9.99889868e-01 6.54549431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42275509600006 meters 0.018158610313327536 Centerline is valid? [True, True] Translation: X:85.89, Y:199.94, Z:6.55 [[-8.31281111e-01 5.55724493e-01 -1.19164955e-02 8.58889484e+01] [ 5.55653364e-01 8.31366134e-01 8.92691509e-03 1.99937250e+02] [ 1.48678762e-02 7.99335066e-04 -9.99889148e-01 6.54532843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.45275509600003 meters 0.019068508483847158 Centerline is valid? [True, True] Translation: X:85.90, Y:199.95, Z:6.55 [[-8.67807967e-01 4.96731080e-01 -1.29447791e-02 8.59020342e+01] [ 4.96662455e-01 8.67904169e-01 8.29214151e-03 1.99947429e+02] [ 1.53537922e-02 7.66800700e-04 -9.99881830e-01 6.54519917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48275509600006 meters 0.020492254843650377 Centerline is valid? [True, True] Translation: X:85.91, Y:199.96, Z:6.55 [[-9.00384142e-01 4.34877270e-01 -1.37897775e-02 8.59146572e+01] [ 4.34813472e-01 9.00489426e-01 7.48583702e-03 1.99960158e+02] [ 1.56729692e-02 7.44147901e-04 -9.99876895e-01 6.54598291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51275509600003 meters 0.020108074363218584 Centerline is valid? [True, True] Translation: X:85.93, Y:199.97, Z:6.55 [[-9.28868942e-01 3.70136468e-01 -1.41945090e-02 8.59263298e+01] [ 3.70080936e-01 9.28977096e-01 6.45414050e-03 1.99974710e+02] [ 1.55752865e-02 7.41933495e-04 -9.99878423e-01 6.54548885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54275509600006 meters 0.020185041453345254 Centerline is valid? [True, True] Translation: X:85.94, Y:199.99, Z:6.55 [[-9.52587405e-01 3.03879152e-01 -1.53198269e-02 8.59368200e+01] [ 3.03827670e-01 9.52710316e-01 5.63915187e-03 1.99990513e+02] [ 1.63089779e-02 7.17197716e-04 -9.99866743e-01 6.54574842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57275509600004 meters 0.02014052625689439 Centerline is valid? [True, True] Translation: X:85.95, Y:200.01, Z:6.55 [[-9.71487242e-01 2.36534205e-01 -1.62514097e-02 8.59482234e+01] [ 2.36489229e-01 9.71622919e-01 4.66335475e-03 2.00006193e+02] [ 1.68932850e-02 6.87106297e-04 -9.99857062e-01 6.54578086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60275509600007 meters 0.020420687451452195 Centerline is valid? [True, True] Translation: X:85.96, Y:200.02, Z:6.55 [[-9.85746993e-01 1.67429001e-01 -1.64437025e-02 8.59576200e+01] [ 1.67394145e-01 9.85883901e-01 3.48350699e-03 2.00022846e+02] [ 1.67948217e-02 6.81277017e-04 -9.99858725e-01 6.54611274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63275509600004 meters 0.020860314280830832 Centerline is valid? [True, True] Translation: X:85.96, Y:200.04, Z:6.55 [[-9.95090276e-01 9.76163986e-02 -1.63211993e-02 8.59632879e+01] [ 9.75921089e-02 9.95223885e-01 2.28003370e-03 2.00039498e+02] [ 1.64658161e-02 6.76019107e-04 -9.99864201e-01 6.54701163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66275509600007 meters 0.021021961727540006 Centerline is valid? [True, True] Translation: X:85.97, Y:200.06, Z:6.55 [[-9.99504202e-01 2.68080916e-02 -1.65129093e-02 8.59679532e+01] [ 2.67933397e-02 9.99640373e-01 1.11398184e-03 2.00057692e+02] [ 1.65368345e-02 6.70993546e-04 -9.99863032e-01 6.54752145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69275509600004 meters 0.0207415809603945 Centerline is valid? [True, True] Translation: X:85.97, Y:200.08, Z:6.55 [[-9.98841562e-01 -4.52695481e-02 -1.63157233e-02 8.59701077e+01] [-4.52747780e-02 9.98974570e-01 -4.88707571e-05 2.00076912e+02] [ 1.63012050e-02 6.89876606e-04 -9.99866889e-01 6.54851049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72275509600007 meters 0.02100855206814562 Centerline is valid? [True, True] Translation: X:85.96, Y:200.10, Z:6.55 [[-9.92955941e-01 -1.17362787e-01 -1.62626867e-02 8.59649541e+01] [-1.17358670e-01 9.93088857e-01 -1.21057040e-03 2.00096385e+02] [ 1.62923689e-02 7.06524217e-04 -9.99867021e-01 6.54905864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.75275509600004 meters 0.020274869523989568 Centerline is valid? [True, True] Translation: X:85.96, Y:200.12, Z:6.55 [[-9.81900430e-01 -1.88734312e-01 -1.58399959e-02 8.59598195e+01] [-1.88721610e-01 9.82027919e-01 -2.30640346e-03 2.00116954e+02] [ 1.59906157e-02 7.24690978e-04 -9.99871879e-01 6.54992147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7827550960001 meters 0.019579071526857793 Centerline is valid? [True, True] Translation: X:85.95, Y:200.13, Z:6.55 [[-9.65334218e-01 -2.60570473e-01 -1.52602939e-02 8.59451550e+01] [-2.60550325e-01 9.65454529e-01 -3.32882053e-03 2.00134720e+02] [ 1.56005122e-02 7.62650163e-04 -9.99878014e-01 6.55063171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.81275509600005 meters 0.018233214713691735 Centerline is valid? [True, True] Translation: X:85.91, Y:200.15, Z:6.55 [[-9.43501250e-01 -3.31014454e-01 -1.53239336e-02 8.59093054e+01] [-3.30984056e-01 9.43625364e-01 -4.55263047e-03 2.00146011e+02] [ 1.59670389e-02 7.76565172e-04 -9.99872217e-01 6.55106164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8427550960001 meters 0.017551095492387682 Centerline is valid? [True, True] Translation: X:85.87, Y:200.15, Z:6.55 [[-9.15971461e-01 -4.00961131e-01 -1.50483841e-02 8.58690214e+01] [-4.00921262e-01 9.16094716e-01 -5.71082962e-03 2.00152384e+02] [ 1.60755659e-02 8.02260215e-04 -9.99870458e-01 6.55202813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.87275509600005 meters 0.018550575804825133 Centerline is valid? [True, True] Translation: X:85.82, Y:200.15, Z:6.55 [[-8.83146334e-01 -4.68871169e-01 -1.45732474e-02 8.58201646e+01] [-4.68822488e-01 8.83266184e-01 -6.80606588e-03 2.00147826e+02] [ 1.60632247e-02 8.21514002e-04 -9.99870641e-01 6.55335303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.9027550960001 meters 0.01671206402421636 Centerline is valid? [True, True] Translation: X:85.76, Y:200.14, Z:6.55 [[-8.45325253e-01 -5.34066930e-01 -1.40616986e-02 8.57644507e+01] [-5.34009144e-01 8.45441792e-01 -7.89999827e-03 2.00141768e+02] [ 1.61074755e-02 8.31007601e-04 -9.99869921e-01 6.55494028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.93275509600005 meters 0.01671206402421636 Centerline is valid? [True, True] Translation: X:85.71, Y:200.12, Z:6.56 [[-8.02600701e-01 -5.96366230e-01 -1.33952894e-02 8.57070962e+01] [-5.96300224e-01 8.02712042e-01 -8.91180004e-03 2.00124842e+02] [ 1.60672567e-02 8.34997138e-04 -9.99870565e-01 6.55607500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.962755096 meters 0.0168252618017062 Centerline is valid? [True, True] Translation: X:85.65, Y:200.10, Z:6.56 [[-7.54844799e-01 -6.55779253e-01 -1.27632590e-02 8.56463378e+01] [-6.55703951e-01 7.54952227e-01 -9.97317879e-03 2.00099470e+02] [ 1.61758545e-02 8.40717184e-04 -9.99868809e-01 6.55716229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.99275509600005 meters 0.016702517138633678 Centerline is valid? [True, True] Translation: X:85.59, Y:200.07, Z:6.56 [[-7.02765089e-01 -7.11310460e-01 -1.25960342e-02 8.55879022e+01] [-7.11216843e-01 7.02877475e-01 -1.15696502e-02 2.00071128e+02] [ 1.70830819e-02 8.27765380e-04 -9.99853731e-01 6.55803114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.022755096 meters 0.01680071089613887 Centerline is valid? [True, True] Translation: X:85.53, Y:200.03, Z:6.56 [[-6.46333063e-01 -7.62961074e-01 -1.19987941e-02 8.55273199e+01] [-7.62852605e-01 6.46443907e-01 -1.28910098e-02 2.00031703e+02] [ 1.75918860e-02 8.21425505e-04 -9.99844913e-01 6.55904435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.05275509600006 meters 0.01690115631700612 Centerline is valid? [True, True] Translation: X:85.47, Y:199.99, Z:6.56 [[-5.86287764e-01 -8.10019157e-01 -1.16457427e-02 8.54711473e+01] [-8.09885714e-01 5.86402871e-01 -1.47242258e-02 1.99989735e+02] [ 1.87560019e-02 7.99087267e-04 -9.99823771e-01 6.55945818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.082755096 meters 0.017132188009910038 Centerline is valid? [True, True] Translation: X:85.42, Y:199.94, Z:6.56 [[-5.22587593e-01 -8.52519747e-01 -1.05966614e-02 8.54151029e+01] [-8.52374230e-01 5.22694420e-01 -1.57707461e-02 1.99938678e+02] [ 1.89836882e-02 7.90724810e-04 -9.99819481e-01 6.56104644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.11275509600006 meters 0.017333982499348206 Centerline is valid? [True, True] Translation: X:85.36, Y:199.88, Z:6.56 [[-4.55619521e-01 -8.90128276e-01 -9.08314368e-03 8.53621908e+01] [-8.89984860e-01 4.55709359e-01 -1.59977887e-02 1.99881627e+02] [ 1.83793577e-02 7.94955521e-04 -9.99830769e-01 6.56322261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14275509600003 meters 0.017334944472763784 Centerline is valid? [True, True] Translation: X:85.31, Y:199.82, Z:6.57 [[-3.86115490e-01 -9.22418587e-01 -7.66672355e-03 8.53142546e+01] [-9.22275534e-01 3.86190788e-01 -1.62639035e-02 1.99821053e+02] [ 1.79629449e-02 7.91086485e-04 -9.99838340e-01 6.56559593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.17275509600006 meters 0.017653698634037245 Centerline is valid? [True, True] Translation: X:85.27, Y:199.76, Z:6.57 [[-3.14311451e-01 -9.49299234e-01 -6.26714902e-03 8.52715061e+01] [-9.49157501e-01 3.14372941e-01 -1.64223280e-02 1.99755375e+02] [ 1.75599254e-02 7.86785773e-04 -9.99845503e-01 6.56775576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20275509600003 meters 0.01779382244372627 Centerline is valid? [True, True] Translation: X:85.23, Y:199.68, Z:6.57 [[-2.40068087e-01 -9.70743052e-01 -5.02405042e-03 8.52315603e+01] [-9.70593339e-01 2.40119387e-01 -1.70660750e-02 1.99683222e+02] [ 1.77731456e-02 7.79289907e-04 -9.99841741e-01 6.56936822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.23275509600006 meters 0.018186151265151426 Centerline is valid? [True, True] Translation: X:85.20, Y:199.61, Z:6.57 [[-1.64830190e-01 -9.86315081e-01 -3.68374493e-03 8.51989409e+01] [-9.86162027e-01 1.64869569e-01 -1.73920066e-02 1.99609893e+02] [ 1.77613358e-02 7.66041624e-04 -9.99841962e-01 6.57129492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26275509600003 meters 0.01746685992140188 Centerline is valid? [True, True] Translation: X:85.17, Y:199.54, Z:6.57 [[-8.93308791e-02 -9.95999231e-01 -2.35060486e-03 8.51694302e+01] [-9.95838285e-01 8.93587360e-02 -1.79200206e-02 1.99536116e+02] [ 1.80583738e-02 7.40011116e-04 -9.99836660e-01 6.57256454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.29275509600006 meters 0.01908440668739041 Centerline is valid? [True, True] Translation: X:85.15, Y:199.46, Z:6.57 [[-1.30430988e-02 -9.99914465e-01 -9.70221435e-04 8.51496122e+01] [-9.99746424e-01 1.30587076e-02 -1.83455188e-02 1.99459011e+02] [ 1.83566194e-02 7.30692995e-04 -9.99831236e-01 6.57370093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32275509600004 meters 0.018359996022198025 Centerline is valid? [True, True] Translation: X:85.13, Y:199.38, Z:6.58 [[ 6.36324427e-02 -9.97973309e-01 4.32172703e-04 8.51321329e+01] [-9.97810517e-01 -6.36298747e-02 -1.80391656e-02 1.99377183e+02] [ 1.80301049e-02 7.16649703e-04 -9.99837188e-01 6.57620815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.35275509600007 meters 0.01805724454966404 Centerline is valid? [True, True] Translation: X:85.12, Y:199.29, Z:6.58 [[ 1.39622763e-01 -9.90203160e-01 1.78509575e-03 8.51221767e+01] [-9.90046002e-01 -1.39632431e-01 -1.76550045e-02 1.99293094e+02] [ 1.77312985e-02 6.97713609e-04 -9.99842545e-01 6.57858125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38275509600004 meters 0.018673509621615392 Centerline is valid? [True, True] Translation: X:85.12, Y:199.21, Z:6.58 [[ 2.14805450e-01 -9.76651346e-01 3.28128700e-03 8.51199766e+01] [-9.76485633e-01 -2.14829488e-01 -1.80027492e-02 1.99212061e+02] [ 1.82873264e-02 6.62959027e-04 -9.99832553e-01 6.58007441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.41275509600007 meters 0.02088614024670641 Centerline is valid? [True, True] Translation: X:85.13, Y:199.13, Z:6.58 [[ 2.87388369e-01 -9.57800498e-01 5.11183217e-03 8.51274638e+01] [-9.57611284e-01 -2.87433246e-01 -1.90462097e-02 1.99129702e+02] [ 1.97117796e-02 5.78510976e-04 -9.99805537e-01 6.57983177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44275509600004 meters 0.020348248193775523 Centerline is valid? [True, True] Translation: X:85.14, Y:199.05, Z:6.58 [[ 3.59504950e-01 -9.33117286e-01 6.95142597e-03 8.51354786e+01] [-9.32913643e-01 -3.59571767e-01 -1.95007461e-02 1.99049872e+02] [ 2.06960198e-02 5.25534639e-04 -9.99785676e-01 6.58144314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.47275509600007 meters 0.02197985549721839 Centerline is valid? [True, True] Translation: X:85.15, Y:198.97, Z:6.58 [[ 4.28827546e-01 -9.03346870e-01 8.44798171e-03 8.51535742e+01] [-9.03148979e-01 -4.28910482e-01 -1.89134971e-02 1.98970998e+02] [ 2.07088764e-02 4.80842509e-04 -9.99785433e-01 6.58333626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50275509600004 meters 0.021971780450171608 Centerline is valid? [True, True] Translation: X:85.18, Y:198.89, Z:6.59 [[ 4.96665338e-01 -8.67887476e-01 9.74017242e-03 8.51754044e+01] [-8.67701784e-01 -4.96760617e-01 -1.79583759e-02 1.98892512e+02] [ 2.04243836e-02 4.67737841e-04 -9.99791291e-01 6.58550711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5327550960001 meters 0.022297971047894452 Centerline is valid? [True, True] Translation: X:85.20, Y:198.82, Z:6.59 [[ 5.61563422e-01 -8.27356367e-01 1.13121680e-02 8.52014162e+01] [-8.27172571e-01 -5.61677176e-01 -1.74438258e-02 1.98819440e+02] [ 2.07860469e-02 4.38699422e-04 -9.99783851e-01 6.58716222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56275509600005 meters 0.022948425887971798 Centerline is valid? [True, True] Translation: X:85.23, Y:198.75, Z:6.59 [[ 6.24352485e-01 -7.81016693e-01 1.40320846e-02 8.52308840e+01] [-7.80805138e-01 -6.24510023e-01 -1.81815004e-02 1.98746641e+02] [ 2.29632328e-02 3.95341225e-04 -9.99736232e-01 6.58662205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5927550960001 meters 0.022121254172002534 Centerline is valid? [True, True] Translation: X:85.26, Y:198.68, Z:6.59 [[ 6.82943333e-01 -7.30311314e-01 1.52901430e-02 8.52645571e+01] [-7.30114856e-01 -6.83114352e-01 -1.69434080e-02 1.98679219e+02] [ 2.28188786e-02 4.07826994e-04 -9.99739532e-01 6.58850208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62275509600005 meters 0.021474599111650474 Centerline is valid? [True, True] Translation: X:85.30, Y:198.61, Z:6.59 [[ 7.37369805e-01 -6.75292953e-01 1.62848920e-02 8.53049349e+01] [-6.75115431e-01 -7.37549487e-01 -1.54890333e-02 1.98614270e+02] [ 2.24705488e-02 4.26963623e-04 -9.99747414e-01 6.59040568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.6527550960001 meters 0.020895310489279163 Centerline is valid? [True, True] Translation: X:85.32, Y:198.62, Z:6.59 [[ 7.88965697e-01 -6.14212891e-01 1.66028095e-02 8.53198027e+01] [-6.14063254e-01 -7.89140207e-01 -1.35666643e-02 1.98620632e+02] [ 2.14347646e-02 5.08457522e-04 -9.99770120e-01 6.59181335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68275509600005 meters 0.02102703581678542 Centerline is valid? [True, True] Translation: X:85.33, Y:198.63, Z:6.59 [[ 8.35194106e-01 -5.49683695e-01 1.72812055e-02 8.53341488e+01] [-5.49552597e-01 -8.35372698e-01 -1.20165889e-02 1.98630197e+02] [ 2.10415703e-02 5.39252833e-04 -9.99778456e-01 6.59260510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.712755096 meters 0.02102703581678542 Centerline is valid? [True, True] Translation: X:85.35, Y:198.64, Z:6.59 [[ 8.75602007e-01 -4.82692757e-01 1.81335888e-02 8.53487985e+01] [-4.82576481e-01 -8.75789594e-01 -1.06078507e-02 1.98641745e+02] [ 2.10015411e-02 5.37411897e-04 -9.99779299e-01 6.59300510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74275509600005 meters 0.01921984999132251 Centerline is valid? [True, True] Translation: X:85.36, Y:198.65, Z:6.60 [[ 9.11572364e-01 -4.10727089e-01 1.84142301e-02 8.53594126e+01] [-4.10630117e-01 -9.11758141e-01 -8.94418648e-03 1.98647712e+02] [ 2.04629439e-02 5.91835759e-04 -9.99790437e-01 6.59502726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.772755096 meters 0.01887813123826308 Centerline is valid? [True, True] Translation: X:85.37, Y:198.66, Z:6.60 [[ 9.41423932e-01 -3.36691491e-01 1.89689160e-02 8.53711190e+01] [-3.36609772e-01 -9.41614811e-01 -7.44371691e-03 1.98655865e+02] [ 2.03676484e-02 6.22570752e-04 -9.99792364e-01 6.59602613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80275509600006 meters 0.018667985693900897 Centerline is valid? [True, True] Translation: X:85.38, Y:198.67, Z:6.60 [[ 9.65199495e-01 -2.60773075e-01 1.96809298e-02 8.53817080e+01] [-2.60705258e-01 -9.65399913e-01 -5.98142790e-03 1.98666425e+02] [ 2.05597633e-02 6.42349302e-04 -9.99788419e-01 6.59684833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.832755096 meters 0.017716443967675573 Centerline is valid? [True, True] Translation: X:85.39, Y:198.67, Z:6.60 [[ 9.82921082e-01 -1.82847424e-01 2.08078328e-02 8.53919138e+01] [-1.82792179e-01 -9.83141079e-01 -4.54286322e-03 1.98674787e+02] [ 2.12876860e-02 6.61766931e-04 -9.99773173e-01 6.59710604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86275509600006 meters 0.0178053261434588 Centerline is valid? [True, True] Translation: X:85.40, Y:198.69, Z:6.60 [[ 9.94265187e-01 -1.04734781e-01 2.16185854e-02 8.53974921e+01] [-1.04695484e-01 -9.94499967e-01 -2.94473928e-03 1.98688547e+02] [ 2.18080991e-02 6.64483483e-04 -9.99761954e-01 6.59669468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.89275509600003 meters 0.019112029989161172 Centerline is valid? [True, True] Translation: X:85.40, Y:198.71, Z:6.59 [[ 9.99403502e-01 -2.63746151e-02 2.22939612e-02 8.54020346e+01] [-2.63533982e-02 -9.99651914e-01 -1.24499931e-03 1.98706385e+02] [ 2.23190373e-02 6.56735037e-04 -9.99750684e-01 6.59492464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92275509600006 meters 0.018439594571395334 Centerline is valid? [True, True] Translation: X:85.41, Y:198.72, Z:6.60 [[ 9.98395431e-01 5.18806620e-02 2.26927293e-02 8.54061335e+01] [ 5.18819336e-02 -9.98653083e-01 5.33106552e-04 1.98723065e+02] [ 2.26898220e-02 6.45091528e-04 -9.99742345e-01 6.59620158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.95275509600003 meters 0.018685763840352334 Centerline is valid? [True, True] Translation: X:85.41, Y:198.74, Z:6.60 [[ 9.91261794e-01 1.29822729e-01 2.33691114e-02 8.54083960e+01] [ 1.29801538e-01 -9.91537022e-01 2.42785145e-03 1.98741507e+02] [ 2.34865295e-02 6.26710209e-04 -9.99723957e-01 6.59615108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98275509600006 meters 0.01848810968296055 Centerline is valid? [True, True] Translation: X:85.41, Y:198.76, Z:6.60 [[ 9.78049547e-01 2.07058527e-01 2.33634377e-02 8.54105242e+01] [ 2.07014539e-01 -9.78328362e-01 4.31244728e-03 1.98756828e+02] [ 2.37500428e-02 6.18784182e-04 -9.99717736e-01 6.59706406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01275509600003 meters 0.01860767293090718 Centerline is valid? [True, True] Translation: X:85.41, Y:198.77, Z:6.60 [[ 9.58830263e-01 2.83063084e-01 2.27994968e-02 8.54111801e+01] [ 2.82998373e-01 -9.59101093e-01 6.08388505e-03 1.98773381e+02] [ 2.35891456e-02 6.18807398e-04 -9.99721546e-01 6.59841034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04275509600006 meters 0.01855222820132457 Centerline is valid? [True, True] Translation: X:85.41, Y:198.79, Z:6.60 [[ 9.33429644e-01 3.58048073e-01 2.25981532e-02 8.54097137e+01] [ 3.57959425e-01 -9.33702941e-01 7.99182422e-03 1.98789640e+02] [ 2.39614194e-02 6.29416281e-04 -9.99712686e-01 6.59840008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07275509600004 meters 0.01839653424924536 Centerline is valid? [True, True] Translation: X:85.41, Y:198.81, Z:6.60 [[ 9.01944822e-01 4.31272843e-01 2.23444206e-02 8.54064018e+01] [ 4.31158343e-01 -9.02221320e-01 9.95858455e-03 1.98807005e+02] [ 2.44544797e-02 6.51889593e-04 -9.99700732e-01 6.59820410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10275509600007 meters 0.018241565087806617 Centerline is valid? [True, True] Translation: X:85.40, Y:198.82, Z:6.60 [[ 8.65017303e-01 5.01290044e-01 2.12921837e-02 8.54017896e+01] [ 5.01157198e-01 -8.65279054e-01 1.15595002e-02 1.98824685e+02] [ 2.42183429e-02 6.71563378e-04 -9.99706467e-01 6.59906331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13275509600004 meters 0.01759056910111775 Centerline is valid? [True, True] Translation: X:85.40, Y:198.84, Z:6.60 [[ 8.22976769e-01 5.67731436e-01 1.97548520e-02 8.53992353e+01] [ 5.67587676e-01 -8.23213550e-01 1.27937941e-02 1.98837228e+02] [ 2.35259010e-02 6.83615230e-04 -9.99722994e-01 6.60167599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16275509600007 meters 0.018379557186362756 Centerline is valid? [True, True] Translation: X:85.39, Y:198.85, Z:6.60 [[ 7.75956025e-01 6.30532982e-01 1.78998844e-02 8.53927144e+01] [ 6.30385686e-01 -7.76162145e-01 1.36459354e-02 1.98852276e+02] [ 2.24974250e-02 6.95185143e-04 -9.99746659e-01 6.60148677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19275509600004 meters 0.01747214296421854 Centerline is valid? [True, True] Translation: X:85.39, Y:198.86, Z:6.61 [[ 7.24676745e-01 6.88907754e-01 1.58026063e-02 8.53895237e+01] [ 6.88764609e-01 -7.24848690e-01 1.40602007e-02 1.98863046e+02] [ 2.11406797e-02 6.95175473e-04 -9.99776269e-01 6.60599829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22275509600007 meters 0.017819936158860992 Centerline is valid? [True, True] Translation: X:85.38, Y:198.87, Z:6.61 [[ 6.69101683e-01 7.43032806e-01 1.43243382e-02 8.53820304e+01] [ 7.42884024e-01 -6.69254648e-01 1.48843356e-02 1.98874817e+02] [ 2.06461796e-02 6.82188026e-04 -9.99786612e-01 6.60694820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.25275509600004 meters 0.01833540266061072 Centerline is valid? [True, True] Translation: X:85.37, Y:198.89, Z:6.61 [[ 6.10071290e-01 7.92242571e-01 1.28347456e-02 8.53730931e+01] [ 7.92089422e-01 -6.10205933e-01 1.55906271e-02 1.98887112e+02] [ 2.01833964e-02 6.54872291e-04 -9.99796080e-01 6.60803605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2827550960001 meters 0.018700331899520136 Centerline is valid? [True, True] Translation: X:85.36, Y:198.90, Z:6.61 [[ 5.46871681e-01 8.37139924e-01 1.13186668e-02 8.53621464e+01] [ 8.36984407e-01 -5.46988423e-01 1.61483210e-02 1.98899344e+02] [ 1.97095839e-02 6.42488196e-04 -9.99805541e-01 6.60887934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.31275509600005 meters 0.01905730389285762 Centerline is valid? [True, True] Translation: X:85.35, Y:198.91, Z:6.61 [[ 4.80516534e-01 8.76932912e-01 9.61912007e-03 8.53503878e+01] [ 8.76782896e-01 -4.80612386e-01 1.62323080e-02 1.98910820e+02] [ 1.88577134e-02 6.33987542e-04 -9.99821977e-01 6.60982397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3427550960001 meters 0.019357278175134433 Centerline is valid? [True, True] Translation: X:85.34, Y:198.92, Z:6.61 [[ 4.12280501e-01 9.11021634e-01 8.02321244e-03 8.53411096e+01] [ 9.10876745e-01 -4.12358118e-01 1.62584636e-02 1.98919660e+02] [ 1.81202488e-02 6.05110138e-04 -9.99835632e-01 6.61176680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.37275509600005 meters 0.02051891822185438 Centerline is valid? [True, True] Translation: X:85.33, Y:198.93, Z:6.61 [[ 3.40636433e-01 9.40171159e-01 6.70908639e-03 8.53283931e+01] [ 9.40021223e-01 -3.40701997e-01 1.68003017e-02 1.98927402e+02] [ 1.80809582e-02 5.83888755e-04 -9.99836356e-01 6.61205048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.4027550960001 meters 0.021015365080035053 Centerline is valid? [True, True] Translation: X:85.31, Y:198.93, Z:6.61 [[ 2.66661310e-01 9.63776178e-01 5.21765182e-03 8.53122972e+01] [ 9.63632026e-01 -2.66711720e-01 1.66786381e-02 1.98934037e+02] [ 1.74660830e-02 5.80348907e-04 -9.99847288e-01 6.61277009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.43275509600005 meters 0.020377507621198204 Centerline is valid? [True, True] Translation: X:85.30, Y:198.94, Z:6.62 [[ 1.90967857e-01 9.81589318e-01 3.69983364e-03 8.53025535e+01] [ 9.81460412e-01 -1.91002779e-01 1.59184746e-02 1.98938992e+02] [ 1.63320831e-02 5.91323278e-04 -9.99866448e-01 6.61513683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.462755096 meters 0.02049819613224143 Centerline is valid? [True, True] Translation: X:85.29, Y:198.94, Z:6.62 [[ 1.13597360e-01 9.93524046e-01 2.36846294e-03 8.52902847e+01] [ 9.93404883e-01 -1.13620445e-01 1.53991466e-02 1.98944375e+02] [ 1.55685283e-02 6.03540239e-04 -9.99878621e-01 6.61638470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.49275509600005 meters 0.021712288468965345 Centerline is valid? [True, True] Translation: X:85.27, Y:198.95, Z:6.62 [[ 3.60499597e-02 9.99349340e-01 1.13856257e-03 8.52746307e+01] [ 9.99243564e-01 -3.60627239e-02 1.45526430e-02 1.98947165e+02] [ 1.45842338e-02 6.13079123e-04 -9.99893456e-01 6.61739096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.522755096 meters 0.020770790753269704 Centerline is valid? [True, True] Translation: X:85.26, Y:198.95, Z:6.62 [[-4.22454538e-02 9.99107262e-01 -2.70263256e-06 8.52629756e+01] [ 9.99001948e-01 4.22410400e-02 1.45190556e-02 1.98949919e+02] [ 1.45062080e-02 6.10664156e-04 -9.99894593e-01 6.61805030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.55275509600006 meters 0.020777584889531527 Centerline is valid? [True, True] Translation: X:85.25, Y:198.95, Z:6.62 [[-1.20400351e-01 9.92724775e-01 -1.12956643e-03 8.52499472e+01] [ 9.92620844e-01 1.20404105e-01 1.43774387e-02 1.98951226e+02] [ 1.44088441e-02 6.09817483e-04 -9.99896001e-01 6.61881693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.582755096 meters 0.021283278352928002 Centerline is valid? [True, True] Translation: X:85.83, Y:199.08, Z:5.41 [[-1.66424865e-01 -9.86053018e-01 1.48683861e-03 8.58286076e+01] [ 9.85999403e-01 -1.66431325e-01 -1.02854899e-02 1.99075222e+02] [ 1.03894948e-02 -2.45739276e-04 9.99945998e-01 5.40969788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.61275509600006 meters 0.021109866954540465 Centerline is valid? [True, True] Translation: X:85.82, Y:199.10, Z:5.41 [[-1.66560531e-01 -9.86030070e-01 1.51385052e-03 8.58229916e+01] [ 9.85974819e-01 -1.66567228e-01 -1.04410473e-02 1.99100732e+02] [ 1.05473445e-02 -2.46447885e-04 9.99944345e-01 5.40995910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64275509600003 meters 0.020984815228437332 Centerline is valid? [True, True] Translation: X:85.82, Y:199.13, Z:5.41 [[-1.66794394e-01 -9.85990515e-01 1.52814365e-03 8.58175968e+01] [ 9.85934522e-01 -1.66801213e-01 -1.05106112e-02 1.99126194e+02] [ 1.06182592e-02 -2.46461448e-04 9.99943594e-01 5.40996348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.67275509600006 meters 0.02110217100460691 Centerline is valid? [True, True] Translation: X:85.81, Y:199.15, Z:5.41 [[-1.66455245e-01 -9.86047833e-01 1.52418636e-03 8.58119432e+01] [ 9.85992443e-01 -1.66462054e-01 -1.04540692e-02 1.99150720e+02] [ 1.05619315e-02 -2.37298419e-04 9.99944193e-01 5.41003438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70275509600003 meters 0.02058336074145127 Centerline is valid? [True, True] Translation: X:85.81, Y:199.18, Z:5.41 [[-1.66840262e-01 -9.85982799e-01 1.49878825e-03 8.58060263e+01] [ 9.85929455e-01 -1.66846830e-01 -1.02589108e-02 1.99176253e+02] [ 1.03651777e-02 -2.33899884e-04 9.99946253e-01 5.41072582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.73275509600006 meters 0.021107591311024916 Centerline is valid? [True, True] Translation: X:85.80, Y:199.20, Z:5.41 [[-1.66095435e-01 -9.86108693e-01 1.39737481e-03 8.57991316e+01] [ 9.86062570e-01 -1.66101185e-01 -9.53958483e-03 1.99200671e+02] [ 9.63917314e-03 -2.06582492e-04 9.99953521e-01 5.41174010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76275509600003 meters 0.020959913676181035 Centerline is valid? [True, True] Translation: X:85.79, Y:199.23, Z:5.41 [[-1.66462880e-01 -9.86046614e-01 1.47804005e-03 8.57944568e+01] [ 9.85995239e-01 -1.66469298e-01 -1.00678041e-02 1.99227139e+02] [ 1.01733724e-02 -2.18575214e-04 9.99948226e-01 5.41179836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.79275509600006 meters 0.020579453776815297 Centerline is valid? [True, True] Translation: X:85.79, Y:199.25, Z:5.41 [[-1.66434812e-01 -9.86051261e-01 1.53759404e-03 8.57878962e+01] [ 9.85995965e-01 -1.66441766e-01 -1.04449116e-02 1.99252748e+02] [ 1.05551381e-02 -2.22335375e-04 9.99944268e-01 5.41192994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82275509600004 meters 0.02152556315408525 Centerline is valid? [True, True] Translation: X:85.78, Y:199.28, Z:5.41 [[-1.67133382e-01 -9.85933052e-01 1.56497763e-03 8.57831339e+01] [ 9.85876066e-01 -1.67140552e-01 -1.06027531e-02 1.99277921e+02] [ 1.07151759e-02 -2.29199992e-04 9.99942565e-01 5.41126653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.85275509600007 meters 0.021506898535705945 Centerline is valid? [True, True] Translation: X:85.78, Y:199.30, Z:5.41 [[-1.68255513e-01 -9.85742161e-01 1.57312046e-03 8.57792276e+01] [ 9.85684887e-01 -1.68262699e-01 -1.06286716e-02 1.99303942e+02] [ 1.07418272e-02 -2.37731535e-04 9.99942277e-01 5.41162848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88275509600004 meters 0.021184623404060885 Centerline is valid? [True, True] Translation: X:85.77, Y:199.33, Z:5.41 [[-1.69631532e-01 -9.85506274e-01 1.58988210e-03 8.57742839e+01] [ 9.85448065e-01 -1.69638797e-01 -1.07140020e-02 1.99331109e+02] [ 1.08284219e-02 -2.50686346e-04 9.99941340e-01 5.41164475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.91275509600007 meters 0.022189950441166655 Centerline is valid? [True, True] Translation: X:85.77, Y:199.36, Z:5.41 [[-1.71969384e-01 -9.85100916e-01 1.64836250e-03 8.57702488e+01] [ 9.85038635e-01 -1.71977052e-01 -1.10806626e-02 1.99357428e+02] [ 1.11990514e-02 -2.81833968e-04 9.99937249e-01 5.41119491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94275509600004 meters 0.021696786707101845 Centerline is valid? [True, True] Translation: X:85.76, Y:199.38, Z:5.41 [[-1.73203522e-01 -9.84884725e-01 1.61847343e-03 8.57641185e+01] [ 9.84824965e-01 -1.73210848e-01 -1.08531491e-02 1.99384198e+02] [ 1.09694380e-02 -2.85890618e-04 9.99939793e-01 5.41148963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.97275509600007 meters 0.022190293663398034 Centerline is valid? [True, True] Translation: X:85.76, Y:199.41, Z:5.41 [[-1.74082894e-01 -9.84729713e-01 1.59344049e-03 8.57602169e+01] [ 9.84672052e-01 -1.74089950e-01 -1.06601396e-02 1.99409554e+02] [ 1.07747581e-02 -2.86731628e-04 9.99941910e-01 5.41243044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00275509600004 meters 0.02237355182873554 Centerline is valid? [True, True] Translation: X:85.76, Y:199.44, Z:5.41 [[-1.74555388e-01 -9.84645935e-01 1.67293415e-03 8.57556092e+01] [ 9.84582749e-01 -1.74563146e-01 -1.11587505e-02 1.99435760e+02] [ 1.12794509e-02 -3.00677915e-04 9.99936340e-01 5.41247428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0327550960001 meters 0.021475777422734006 Centerline is valid? [True, True] Translation: X:85.75, Y:199.46, Z:5.41 [[-1.74503352e-01 -9.84655133e-01 1.68774479e-03 8.57499712e+01] [ 9.84591168e-01 -1.74511260e-01 -1.12273103e-02 1.99462835e+02] [ 1.13495592e-02 -2.97464659e-04 9.99935547e-01 5.41217003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06275509600005 meters 0.021387024432011542 Centerline is valid? [True, True] Translation: X:85.75, Y:199.49, Z:5.41 [[-1.74609185e-01 -9.84636245e-01 1.75999809e-03 8.57464306e+01] [ 9.84567038e-01 -1.74617787e-01 -1.16780458e-02 1.99489396e+02] [ 1.18059542e-02 -3.06257958e-04 9.99930260e-01 5.41263701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0927550960001 meters 0.020969933363151776 Centerline is valid? [True, True] Translation: X:85.74, Y:199.52, Z:5.41 [[-1.73900783e-01 -9.84761638e-01 1.74176233e-03 8.57434115e+01] [ 9.84694189e-01 -1.73909264e-01 -1.15291507e-02 1.99516132e+02] [ 1.16563739e-02 -2.89825084e-04 9.99932020e-01 5.41367864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12275509600005 meters 0.021193890295870974 Centerline is valid? [True, True] Translation: X:85.74, Y:199.54, Z:5.41 [[-1.73458586e-01 -9.84839606e-01 1.75222467e-03 8.57390776e+01] [ 9.84771681e-01 -1.73467208e-01 -1.15699749e-02 1.99541187e+02] [ 1.16985231e-02 -2.81370261e-04 9.99931530e-01 5.41425580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1527550960001 meters 0.02021662917139881 Centerline is valid? [True, True] Translation: X:85.73, Y:199.57, Z:5.41 [[-1.72281789e-01 -9.85046168e-01 1.74125188e-03 8.57313484e+01] [ 9.84979384e-01 -1.72290389e-01 -1.14732060e-02 1.99567214e+02] [ 1.16016386e-02 -2.61527247e-04 9.99932665e-01 5.41492023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18275509600005 meters 0.019950961569874373 Centerline is valid? [True, True] Translation: X:85.73, Y:199.59, Z:5.42 [[-1.72068731e-01 -9.85083536e-01 1.66674131e-03 8.57264520e+01] [ 9.85022644e-01 -1.72076631e-01 -1.09555094e-02 1.99593650e+02] [ 1.10788992e-02 -2.43322670e-04 9.99938598e-01 5.41581032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.212755096 meters 0.019852490475906384 Centerline is valid? [True, True] Translation: X:85.72, Y:199.62, Z:5.42 [[-1.71905337e-01 -9.85112009e-01 1.69844182e-03 8.57224598e+01] [ 9.85049087e-01 -1.71913558e-01 -1.11366558e-02 1.99618435e+02] [ 1.12628386e-02 -2.41402005e-04 9.99936543e-01 5.41660905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24275509600005 meters 0.020689088482328824 Centerline is valid? [True, True] Translation: X:85.72, Y:199.64, Z:5.42 [[-1.71666198e-01 -9.85153633e-01 1.74249382e-03 8.57202813e+01] [ 9.85087787e-01 -1.71674875e-01 -1.13925180e-02 1.99643418e+02] [ 1.15225229e-02 -2.39200873e-04 9.99933585e-01 5.41795720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.272755096 meters 0.020130125156274215 Centerline is valid? [True, True] Translation: X:85.72, Y:199.67, Z:5.42 [[-1.72566971e-01 -9.84996268e-01 1.73015724e-03 8.57153886e+01] [ 9.84931609e-01 -1.72575471e-01 -1.12886030e-02 1.99669619e+02] [ 1.14178146e-02 -2.43953478e-04 9.99934785e-01 5.41908540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30275509600006 meters 0.02046414342608619 Centerline is valid? [True, True] Translation: X:85.71, Y:199.70, Z:5.42 [[-1.73413297e-01 -9.84847576e-01 1.75505755e-03 8.57124760e+01] [ 9.84781385e-01 -1.73421995e-01 -1.14208348e-02 1.99696318e+02] [ 1.15521471e-02 -2.52176614e-04 9.99933240e-01 5.42029344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.332755096 meters 0.02064873119407381 Centerline is valid? [True, True] Translation: X:85.71, Y:199.72, Z:5.42 [[-1.74861269e-01 -9.84591613e-01 1.70056963e-03 8.57087130e+01] [ 9.84529766e-01 -1.74869351e-01 -1.10385677e-02 1.99723584e+02] [ 1.11658587e-02 -2.55956537e-04 9.99937627e-01 5.42128418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36275509600006 meters 0.021833371352933516 Centerline is valid? [True, True] Translation: X:85.71, Y:199.75, Z:5.42 [[-1.78048217e-01 -9.84020069e-01 1.82640838e-03 8.57073930e+01] [ 9.83949056e-01 -1.78057317e-01 -1.18256977e-02 1.99750612e+02] [ 1.19619293e-02 -3.08451584e-04 9.99928406e-01 5.42169826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.39275509600003 meters 0.02295387601970482 Centerline is valid? [True, True] Translation: X:85.71, Y:199.78, Z:5.42 [[-1.80172463e-01 -9.83633220e-01 1.88998268e-03 8.57064616e+01] [ 9.83557518e-01 -1.80182054e-01 -1.22080785e-02 1.99776800e+02] [ 1.23488126e-02 -3.40652913e-04 9.99923692e-01 5.42211971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42275509600006 meters 0.025837654683924308 Centerline is valid? [True, True] Translation: X:85.71, Y:199.80, Z:5.42 [[-1.85119434e-01 -9.82713826e-01 2.08132949e-03 8.57097253e+01] [ 9.82622331e-01 -1.85130614e-01 -1.34168057e-02 1.99803747e+02] [ 1.35701982e-02 -4.38550633e-04 9.99907824e-01 5.42303105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.45275509600003 meters 0.02649392734447654 Centerline is valid? [True, True] Translation: X:85.71, Y:199.83, Z:5.42 [[-1.87772685e-01 -9.82210129e-01 2.16385219e-03 8.57074674e+01] [ 9.82111690e-01 -1.87784520e-01 -1.39141280e-02 1.99830586e+02] [ 1.40729354e-02 -4.87548641e-04 9.99900852e-01 5.42401331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48275509600006 meters 0.028296771222206793 Centerline is valid? [True, True] Translation: X:85.71, Y:199.86, Z:5.42 [[-1.89894128e-01 -9.81801966e-01 2.26264981e-03 8.57067673e+01] [ 9.81694813e-01 -1.89906854e-01 -1.45148823e-02 1.99856901e+02] [ 1.46804327e-02 -5.35059342e-04 9.99892094e-01 5.42475730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51275509600003 meters 0.028903746096727634 Centerline is valid? [True, True] Translation: X:85.70, Y:199.88, Z:5.43 [[-1.91512541e-01 -9.81487351e-01 2.35109290e-03 8.57039284e+01] [ 9.81372073e-01 -1.91526107e-01 -1.50534051e-02 1.99883817e+02] [ 1.52250224e-02 -5.75618950e-04 9.99883927e-01 5.42510714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54275509600006 meters 0.029786641487348556 Centerline is valid? [True, True] Translation: X:85.70, Y:199.91, Z:5.43 [[-1.92105261e-01 -9.81371130e-01 2.50498068e-03 8.57023224e+01] [ 9.81240848e-01 -1.92120604e-01 -1.60022543e-02 1.99909544e+02] [ 1.61854088e-02 -6.16127870e-04 9.99868818e-01 5.42510205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57275509600004 meters 0.028901903088072257 Centerline is valid? [True, True] Translation: X:85.70, Y:199.94, Z:5.43 [[-1.91879403e-01 -9.81415079e-01 2.59567848e-03 8.56973063e+01] [ 9.81275797e-01 -1.91895932e-01 -1.65457221e-02 1.99935095e+02] [ 1.67363213e-02 -6.27706809e-04 9.99859741e-01 5.42611393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60275509600007 meters 0.02891508652853282 Centerline is valid? [True, True] Translation: X:85.69, Y:199.96, Z:5.43 [[-1.89315567e-01 -9.81912115e-01 2.86610652e-03 8.56936900e+01] [ 9.81743208e-01 -1.89336193e-01 -1.82230715e-02 1.99961661e+02] [ 1.84361124e-02 -6.36130518e-04 9.99829838e-01 5.42615564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63275509600004 meters 0.02891508652853282 Centerline is valid? [True, True] Translation: X:85.69, Y:199.99, Z:5.43 [[-1.89678130e-01 -9.81842124e-01 2.87247597e-03 8.56893850e+01] [ 9.81673223e-01 -1.89698812e-01 -1.82220679e-02 1.99987243e+02] [ 1.84360991e-02 -6.36495019e-04 9.99829838e-01 5.42646444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66275509600007 meters 0.027977276547041185 Centerline is valid? [True, True] Translation: X:85.68, Y:200.01, Z:5.43 [[-1.88127209e-01 -9.82140255e-01 2.94490421e-03 8.56838443e+01] [ 9.81963618e-01 -1.88149255e-01 -1.86362634e-02 2.00012881e+02] [ 1.88575060e-02 -6.14199435e-04 9.99821993e-01 5.42676255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69275509600004 meters 0.027804996219779173 Centerline is valid? [True, True] Translation: X:85.68, Y:200.04, Z:5.43 [[-1.86463093e-01 -9.82457373e-01 3.00403335e-03 8.56792623e+01] [ 9.82274482e-01 -1.86486371e-01 -1.89650899e-02 2.00038419e+02] [ 1.91926037e-02 -5.85504015e-04 9.99815634e-01 5.42705481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72275509600007 meters 0.022762597071689823 Centerline is valid? [True, True] Translation: X:85.67, Y:200.06, Z:5.43 [[-1.82496896e-01 -9.83201374e-01 3.15288400e-03 8.56671140e+01] [ 9.83000960e-01 -1.82523375e-01 -1.98577508e-02 2.00064169e+02] [ 2.00996429e-02 -5.24689897e-04 9.99797844e-01 5.42886582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.75275509600004 meters 0.021691829392887524 Centerline is valid? [True, True] Translation: X:85.66, Y:200.09, Z:5.43 [[-1.80659514e-01 -9.83540432e-01 3.21841732e-03 8.56610407e+01] [ 9.83332593e-01 -1.80687518e-01 -2.02245398e-02 2.00090400e+02] [ 2.04731805e-02 -4.88980886e-04 9.99790283e-01 5.42949430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7827550960001 meters 0.020859729500701345 Centerline is valid? [True, True] Translation: X:85.66, Y:200.12, Z:5.43 [[-1.79275790e-01 -9.83793442e-01 3.26418592e-03 8.56552048e+01] [ 9.83580653e-01 -1.79304918e-01 -2.04656965e-02 2.00116707e+02] [ 2.07193026e-02 -4.58413777e-04 9.99785227e-01 5.43043687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.81275509600005 meters 0.019595094393145468 Centerline is valid? [True, True] Translation: X:85.65, Y:200.14, Z:5.43 [[-1.77582570e-01 -9.84100497e-01 3.26236920e-03 8.56484304e+01] [ 9.83888937e-01 -1.77612050e-01 -2.04088210e-02 2.00143640e+02] [ 2.06637670e-02 -4.14441910e-04 9.99786396e-01 5.43151891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8427550960001 meters 0.018949295755823707 Centerline is valid? [True, True] Translation: X:85.64, Y:200.17, Z:5.43 [[-1.74593297e-01 -9.84635127e-01 3.29344227e-03 8.56431557e+01] [ 9.84420597e-01 -1.74624013e-01 -2.05558529e-02 2.00169307e+02] [ 2.08151290e-02 -3.46781727e-04 9.99783282e-01 5.43214999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.87275509600005 meters 0.01832329518232112 Centerline is valid? [True, True] Translation: X:85.64, Y:200.20, Z:5.43 [[-1.73281199e-01 -9.84866352e-01 3.44874160e-03 8.56378952e+01] [ 9.84632332e-01 -1.73315211e-01 -2.14711127e-02 2.00195128e+02] [ 2.17438958e-02 -3.24797678e-04 9.99763521e-01 5.43262736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9027550960001 meters 0.017290850512097833 Centerline is valid? [True, True] Translation: X:85.63, Y:200.22, Z:5.43 [[-1.71427383e-01 -9.85190402e-01 3.53901682e-03 8.56320488e+01] [ 9.84945231e-01 -1.71463677e-01 -2.19795186e-02 2.00221717e+02] [ 2.22608236e-02 -2.82153617e-04 9.99752157e-01 5.43277106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.93275509600005 meters 0.017174428482357965 Centerline is valid? [True, True] Translation: X:85.63, Y:200.25, Z:5.43 [[-1.71139155e-01 -9.85240612e-01 3.51088952e-03 8.56275763e+01] [ 9.85000436e-01 -1.71174959e-01 -2.17548770e-02 2.00248300e+02] [ 2.20347647e-02 -2.64883567e-04 9.99757170e-01 5.43353580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9627550960001 meters 0.017283136321415496 Centerline is valid? [True, True] Translation: X:85.62, Y:200.27, Z:5.43 [[-1.71309584e-01 -9.85211113e-01 3.47696517e-03 8.56242986e+01] [ 9.84976699e-01 -1.71344672e-01 -2.14920136e-02 2.00273845e+02] [ 2.17699301e-02 -2.57058245e-04 9.99762974e-01 5.43402225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.99275509600005 meters 0.017477930054956344 Centerline is valid? [True, True] Translation: X:85.62, Y:200.30, Z:5.43 [[-1.72413696e-01 -9.85018439e-01 3.49170774e-03 8.56220728e+01] [ 9.84783206e-01 -1.72448833e-01 -2.15276086e-02 2.00300245e+02] [ 2.18072323e-02 -2.73079421e-04 9.99762157e-01 5.43471475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.022755096 meters 0.017783096659983857 Centerline is valid? [True, True] Translation: X:85.62, Y:200.33, Z:5.43 [[-1.73586674e-01 -9.84812199e-01 3.54961315e-03 8.56191380e+01] [ 9.84570258e-01 -1.73622713e-01 -2.18302716e-02 2.00326562e+02] [ 2.21150112e-02 -2.94600706e-04 9.99755390e-01 5.43456920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.05275509600006 meters 0.017938861414914752 Centerline is valid? [True, True] Translation: X:85.62, Y:200.35, Z:5.43 [[-1.75188819e-01 -9.84528062e-01 3.65684528e-03 8.56157799e+01] [ 9.84272440e-01 -1.75226668e-01 -2.24361057e-02 2.00353922e+02] [ 2.27297524e-02 -3.31222828e-04 9.99741591e-01 5.43455206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.082755096 meters 0.019714502265534502 Centerline is valid? [True, True] Translation: X:85.62, Y:200.38, Z:5.43 [[-1.77646069e-01 -9.84087937e-01 3.57856863e-03 8.56174305e+01] [ 9.83844013e-01 -1.77681720e-01 -2.19126550e-02 2.00380444e+02] [ 2.21998257e-02 -3.71943692e-04 9.99753484e-01 5.43458640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.11275509600006 meters 0.019482429825989467 Centerline is valid? [True, True] Translation: X:85.61, Y:200.41, Z:5.44 [[-1.79174046e-01 -9.83811362e-01 3.44466460e-03 8.56136503e+01] [ 9.83586191e-01 -1.79206745e-01 -2.10510537e-02 2.00406120e+02] [ 2.13275729e-02 -3.83677935e-04 9.99772468e-01 5.43609726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14275509600003 meters 0.019506032825607426 Centerline is valid? [True, True] Translation: X:85.61, Y:200.43, Z:5.44 [[-1.81259848e-01 -9.83428768e-01 3.56738922e-03 8.56106493e+01] [ 9.83188326e-01 -1.81294428e-01 -2.17496281e-02 2.00433229e+02] [ 2.20359578e-02 -4.34918846e-04 9.99757084e-01 5.43708719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.17275509600006 meters 0.019754355635803078 Centerline is valid? [True, True] Translation: X:85.61, Y:200.46, Z:5.44 [[-1.81868874e-01 -9.83315819e-01 3.70295305e-03 8.56076682e+01] [ 9.83057989e-01 -1.81905997e-01 -2.25210653e-02 2.00458496e+02] [ 2.28189091e-02 -4.55663216e-04 9.99739511e-01 5.43661711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20275509600003 meters 0.019585081686482392 Centerline is valid? [True, True] Translation: X:85.60, Y:200.49, Z:5.44 [[-1.82697966e-01 -9.83162087e-01 3.70998606e-03 8.56030373e+01] [ 9.82904492e-01 -1.82735037e-01 -2.25092222e-02 2.00485267e+02] [ 2.28081583e-02 -4.65827133e-04 9.99739752e-01 5.43716398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.23275509600006 meters 0.02008721720019069 Centerline is valid? [True, True] Translation: X:85.60, Y:200.51, Z:5.44 [[-1.83574547e-01 -9.82999065e-01 3.63639929e-03 8.55998474e+01] [ 9.82752591e-01 -1.83609964e-01 -2.20164841e-02 2.00510629e+02] [ 2.23098625e-02 -4.67985276e-04 9.99750995e-01 5.43672283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26275509600003 meters 0.020546928129114253 Centerline is valid? [True, True] Translation: X:85.60, Y:200.54, Z:5.44 [[-1.84237273e-01 -9.82874790e-01 3.71135578e-03 8.55965615e+01] [ 9.82619183e-01 -1.84274016e-01 -2.24193682e-02 2.00536299e+02] [ 2.27193382e-02 -4.83633879e-04 9.99741766e-01 5.43600878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.29275509600006 meters 0.02085806796843267 Centerline is valid? [True, True] Translation: X:85.59, Y:200.56, Z:5.44 [[-1.84826604e-01 -9.82763920e-01 3.76884410e-03 8.55931708e+01] [ 9.82501642e-01 -1.84864365e-01 -2.27088283e-02 2.00561868e+02] [ 2.30141421e-02 -4.94300098e-04 9.99735017e-01 5.43560698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32275509600004 meters 0.021223210448094956 Centerline is valid? [True, True] Translation: X:85.59, Y:200.59, Z:5.43 [[-1.85898088e-01 -9.82561578e-01 3.82701834e-03 8.55907752e+01] [ 9.82292418e-01 -1.85936758e-01 -2.30027659e-02 2.00588296e+02] [ 2.33132174e-02 -5.16919089e-04 9.99728076e-01 5.43467182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.35275509600007 meters 0.020716233755854595 Centerline is valid? [True, True] Translation: X:85.59, Y:200.61, Z:5.44 [[-1.86223534e-01 -9.82499629e-01 3.90837398e-03 8.55862471e+01] [ 9.82220241e-01 -1.86263802e-01 -2.34348997e-02 2.00614084e+02] [ 2.37527689e-02 -5.25245818e-04 9.99717725e-01 5.43508195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38275509600004 meters 0.021243624510960284 Centerline is valid? [True, True] Translation: X:85.58, Y:200.64, Z:5.43 [[-1.86952501e-01 -9.82361006e-01 3.95176473e-03 8.55831038e+01] [ 9.82076759e-01 -1.86993488e-01 -2.36362985e-02 2.00638908e+02] [ 2.39583323e-02 -5.37928812e-04 9.99712813e-01 5.43485057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.41275509600007 meters 0.02118647395195219 Centerline is valid? [True, True] Translation: X:85.58, Y:200.67, Z:5.43 [[-1.87169662e-01 -9.82318963e-01 4.11967903e-03 8.55791480e+01] [ 9.82011571e-01 -1.87214173e-01 -2.45790134e-02 2.00665109e+02] [ 2.49156933e-02 -5.54873165e-04 9.99689402e-01 5.43418241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44275509600004 meters 0.021519516079244187 Centerline is valid? [True, True] Translation: X:85.58, Y:200.69, Z:5.43 [[-1.87305114e-01 -9.82293369e-01 4.06585496e-03 8.55752665e+01] [ 9.81995395e-01 -1.87348460e-01 -2.41991503e-02 2.00690087e+02] [ 2.45323965e-02 -5.39973760e-04 9.99698890e-01 5.43398544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.47275509600007 meters 0.02071708449472931 Centerline is valid? [True, True] Translation: X:85.57, Y:200.72, Z:5.43 [[-1.85808329e-01 -9.82578084e-01 3.94647800e-03 8.55682624e+01] [ 9.82298673e-01 -1.85849620e-01 -2.34357792e-02 2.00716391e+02] [ 2.37609344e-02 -4.77942856e-04 9.99717555e-01 5.43447688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50275509600004 meters 0.020246107596677557 Centerline is valid? [True, True] Translation: X:85.56, Y:200.74, Z:5.43 [[-1.85051664e-01 -9.82720752e-01 3.97564047e-03 8.55626015e+01] [ 9.82438479e-01 -1.85093810e-01 -2.35566876e-02 2.00742275e+02] [ 2.38855122e-02 -4.53382064e-04 9.99714598e-01 5.43456847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5327550960001 meters 0.01944528377680189 Centerline is valid? [True, True] Translation: X:85.56, Y:200.77, Z:5.44 [[-1.84737403e-01 -9.82779614e-01 4.04008827e-03 8.55563354e+01] [ 9.82489503e-01 -1.84781045e-01 -2.38818195e-02 2.00768190e+02] [ 2.42170970e-02 -4.42520995e-04 9.99706625e-01 5.43502913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56275509600005 meters 0.018786464491087965 Centerline is valid? [True, True] Translation: X:85.55, Y:200.79, Z:5.44 [[-1.83746847e-01 -9.82965143e-01 4.07715576e-03 8.55507572e+01] [ 9.82671140e-01 -1.83791615e-01 -2.40431452e-02 2.00794486e+02] [ 2.43829207e-02 -4.11348827e-04 9.99702608e-01 5.43570889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5927550960001 meters 0.01884256162999359 Centerline is valid? [True, True] Translation: X:85.55, Y:200.82, Z:5.44 [[-1.83440826e-01 -9.83022232e-01 4.09328908e-03 8.55464223e+01] [ 9.82727352e-01 -1.83486065e-01 -2.40793543e-02 2.00819896e+02] [ 2.44216021e-02 -3.94549512e-04 9.99701670e-01 5.43586323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62275509600005 meters 0.018564049745166775 Centerline is valid? [True, True] Translation: X:85.54, Y:200.85, Z:5.44 [[-1.83900042e-01 -9.82936932e-01 3.97028916e-03 8.55410765e+01] [ 9.82660808e-01 -1.83942495e-01 -2.33001146e-02 2.00846138e+02] [ 2.36328480e-02 -3.83444486e-04 9.99720632e-01 5.43717329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6527550960001 meters 0.018555652737951327 Centerline is valid? [True, True] Translation: X:85.54, Y:200.87, Z:5.44 [[-1.84162768e-01 -9.82887970e-01 3.91334657e-03 8.55361330e+01] [ 9.82620946e-01 -1.84203961e-01 -2.29123733e-02 2.00871716e+02] [ 2.32411500e-02 -3.74269777e-04 9.99729818e-01 5.43793688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68275509600005 meters 0.01875457494099823 Centerline is valid? [True, True] Translation: X:85.53, Y:200.90, Z:5.44 [[-1.84704982e-01 -9.82786642e-01 3.80607155e-03 8.55304071e+01] [ 9.82535220e-01 -1.84743828e-01 -2.22319583e-02 2.00896635e+02] [ 2.25524199e-02 -3.66754104e-04 9.99745595e-01 5.43864919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7127550960001 meters 0.018830464017692013 Centerline is valid? [True, True] Translation: X:85.52, Y:200.92, Z:5.44 [[-1.85187279e-01 -9.82696096e-01 3.74893046e-03 8.55249993e+01] [ 9.82453287e-01 -1.85224867e-01 -2.18469131e-02 2.00922430e+02] [ 2.21632713e-02 -3.62621339e-04 9.99754299e-01 5.43918859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74275509600005 meters 0.018187133696360984 Centerline is valid? [True, True] Translation: X:85.52, Y:200.95, Z:5.44 [[-1.85265452e-01 -9.82682097e-01 3.55094170e-03 8.55183801e+01] [ 9.82465228e-01 -1.85299173e-01 -2.06468544e-02 2.00947869e+02] [ 2.09472808e-02 -3.36472063e-04 9.99780525e-01 5.44078250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.772755096 meters 0.01884315323919708 Centerline is valid? [True, True] Translation: X:85.51, Y:200.97, Z:5.44 [[-1.85599492e-01 -9.82619263e-01 3.49479020e-03 8.55142946e+01] [ 9.82410072e-01 -1.85632098e-01 -2.02774387e-02 2.00972566e+02] [ 2.05737471e-02 -3.30165234e-04 9.99788284e-01 5.44087582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80275509600006 meters 0.018404602624065236 Centerline is valid? [True, True] Translation: X:85.51, Y:201.00, Z:5.44 [[-1.85956883e-01 -9.82552315e-01 3.31441169e-03 8.55075531e+01] [ 9.82364891e-01 -1.85986154e-01 -1.91929833e-02 2.00998384e+02] [ 1.94745449e-02 -3.13105681e-04 9.99810304e-01 5.44202693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.832755096 meters 0.01864493732275409 Centerline is valid? [True, True] Translation: X:85.50, Y:201.02, Z:5.44 [[-1.86453283e-01 -9.82458320e-01 3.28984836e-03 8.55020207e+01] [ 9.82274506e-01 -1.86482043e-01 -1.90063910e-02 2.01023118e+02] [ 1.92864846e-02 -3.12269823e-04 9.99813950e-01 5.44212345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86275509600006 meters 0.018375627163625508 Centerline is valid? [True, True] Translation: X:85.49, Y:201.05, Z:5.44 [[-1.87032682e-01 -9.82348589e-01 3.16638728e-03 8.54942288e+01] [ 9.82179083e-01 -1.87059237e-01 -1.82507801e-02 2.01048936e+02] [ 1.85209300e-02 -3.03532996e-04 9.99828427e-01 5.44216563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.89275509600003 meters 0.01845352949244618 Centerline is valid? [True, True] Translation: X:85.49, Y:201.07, Z:5.44 [[-1.87421576e-01 -9.82274354e-01 3.20090465e-03 8.54893984e+01] [ 9.82101943e-01 -1.87448658e-01 -1.84058060e-02 2.01073847e+02] [ 1.86795565e-02 -3.06030491e-04 9.99825475e-01 5.44206097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92275509600006 meters 0.018254002554380845 Centerline is valid? [True, True] Translation: X:85.48, Y:201.10, Z:5.44 [[-1.87555636e-01 -9.82248854e-01 3.17364856e-03 8.54831359e+01] [ 9.82080166e-01 -1.87582249e-01 -1.82056856e-02 2.01099772e+02] [ 1.84778340e-02 -2.97801645e-04 9.99829226e-01 5.44185768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.95275509600003 meters 0.018421071636834076 Centerline is valid? [True, True] Translation: X:85.48, Y:201.13, Z:5.44 [[-1.88092914e-01 -9.82145859e-01 3.25085439e-03 8.54781615e+01] [ 9.81969681e-01 -1.88120753e-01 -1.86045125e-02 2.01125373e+02] [ 1.88838981e-02 -3.07136520e-04 9.99821636e-01 5.44197223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98275509600006 meters 0.018157509032719673 Centerline is valid? [True, True] Translation: X:85.47, Y:201.15, Z:5.44 [[-1.88820317e-01 -9.82006558e-01 3.16338003e-03 8.54722412e+01] [ 9.81840450e-01 -1.88846568e-01 -1.80638905e-02 2.01152463e+02] [ 1.83362524e-02 -3.04895072e-04 9.99831830e-01 5.44244778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01275509600003 meters 0.0193596232003469 Centerline is valid? [True, True] Translation: X:85.47, Y:201.18, Z:5.44 [[-1.89781006e-01 -9.81820639e-01 3.37667812e-03 8.54689356e+01] [ 9.81632160e-01 -1.89810745e-01 -1.92401693e-02 2.01178067e+02] [ 1.95313251e-02 -3.36762860e-04 9.99809189e-01 5.44091808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04275509600006 meters 0.018583275141818085 Centerline is valid? [True, True] Translation: X:85.46, Y:201.20, Z:5.44 [[-1.90255220e-01 -9.81728742e-01 3.40999018e-03 8.54621608e+01] [ 9.81537295e-01 -1.90285469e-01 -1.93901587e-02 2.01204587e+02] [ 1.96847477e-02 -3.42046367e-04 9.99806178e-01 5.44159202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07275509600004 meters 0.01871088513770799 Centerline is valid? [True, True] Translation: X:85.46, Y:201.23, Z:5.44 [[-1.92260849e-01 -9.81338686e-01 3.18563814e-03 8.54573667e+01] [ 9.81172229e-01 -1.92286921e-01 -1.80775441e-02 2.01231247e+02] [ 1.83527499e-02 -3.49944316e-04 9.99831513e-01 5.44283980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10275509600007 meters 0.02000408263713404 Centerline is valid? [True, True] Translation: X:85.46, Y:201.26, Z:5.44 [[-1.93670139e-01 -9.81061886e-01 3.07450981e-03 8.54552307e+01] [ 9.80907463e-01 -1.93694214e-01 -1.74097835e-02 2.01257412e+02] [ 1.76755898e-02 -3.55945574e-04 9.99843711e-01 5.44321782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13275509600004 meters 0.02051303778374216 Centerline is valid? [True, True] Translation: X:85.45, Y:201.28, Z:5.44 [[-1.95156696e-01 -9.80767674e-01 2.93841933e-03 8.54515791e+01] [ 9.80627196e-01 -1.95178487e-01 -1.66030241e-02 2.01283565e+02] [ 1.68572255e-02 -3.58697417e-04 9.99857843e-01 5.44417824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16275509600007 meters 0.02080732977326141 Centerline is valid? [True, True] Translation: X:85.45, Y:201.31, Z:5.44 [[-1.96992989e-01 -9.80401170e-01 2.70329015e-03 8.54475380e+01] [ 9.80282729e-01 -1.97011221e-01 -1.52430059e-02 2.01310569e+02] [ 1.54768393e-02 -3.52776656e-04 9.99880164e-01 5.44494052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19275509600004 meters 0.021332956700411607 Centerline is valid? [True, True] Translation: X:85.44, Y:201.34, Z:5.45 [[-2.00004917e-01 -9.79791376e-01 2.62556957e-03 8.54440829e+01] [ 9.79680042e-01 -2.00021783e-01 -1.47750472e-02 2.01337715e+02] [ 1.50016349e-02 -3.82863971e-04 9.99887396e-01 5.44547661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22275509600007 meters 0.022299267257907287 Centerline is valid? [True, True] Translation: X:85.44, Y:201.36, Z:5.45 [[-2.01484033e-01 -9.79488384e-01 2.58655676e-03 8.54409553e+01] [ 9.79380758e-01 -2.01500251e-01 -1.45251442e-02 2.01363634e+02] [ 1.47484019e-02 -3.93360721e-04 9.99891159e-01 5.44567865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.25275509600004 meters 0.022503895749479495 Centerline is valid? [True, True] Translation: X:85.44, Y:201.39, Z:5.45 [[-2.03027763e-01 -9.79169826e-01 2.48572659e-03 8.54361922e+01] [ 9.79070819e-01 -2.03042596e-01 -1.39297033e-02 2.01390261e+02] [ 1.41442535e-02 -3.94414129e-04 9.99899887e-01 5.44605759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2827550960001 meters 0.023380974429502453 Centerline is valid? [True, True] Translation: X:85.43, Y:201.42, Z:5.45 [[-2.04559286e-01 -9.78850995e-01 2.49557284e-03 8.54329312e+01] [ 9.78751591e-01 -2.04574093e-01 -1.39557743e-02 2.01416742e+02] [ 1.41711531e-02 -4.12237348e-04 9.99899499e-01 5.44609261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.31275509600005 meters 0.023493331890734017 Centerline is valid? [True, True] Translation: X:85.43, Y:201.44, Z:5.45 [[-2.05446333e-01 -9.78665569e-01 2.34714203e-03 8.54284832e+01] [ 9.78577976e-01 -2.05459361e-01 -1.30994631e-02 2.01442272e+02] [ 1.33022358e-02 -3.94375162e-04 9.99911444e-01 5.44648582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3427550960001 meters 0.02351630814648111 Centerline is valid? [True, True] Translation: X:85.42, Y:201.47, Z:5.45 [[-2.06320973e-01 -9.78481564e-01 2.34214581e-03 8.54243351e+01] [ 9.78394653e-01 -2.06333879e-01 -1.30473927e-02 2.01468514e+02] [ 1.32498972e-02 -4.00407824e-04 9.99912136e-01 5.44746007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.37275509600005 meters 0.022865361436188305 Centerline is valid? [True, True] Translation: X:85.42, Y:201.50, Z:5.45 [[-2.06834319e-01 -9.78373532e-01 2.18991440e-03 8.54184736e+01] [ 9.78297866e-01 -2.06845571e-01 -1.21735095e-02 2.01495491e+02] [ 1.23632136e-02 -3.75510981e-04 9.99923502e-01 5.44836844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4027550960001 meters 0.024573036910517425 Centerline is valid? [True, True] Translation: X:85.42, Y:201.52, Z:5.45 [[-2.06562437e-01 -9.78430829e-01 2.25235075e-03 8.54161852e+01] [ 9.78351125e-01 -2.06574372e-01 -1.24941692e-02 2.01522097e+02] [ 1.26899583e-02 -3.77236156e-04 9.99919408e-01 5.44835198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.43275509600005 meters 0.02283087328259944 Centerline is valid? [True, True] Translation: X:85.41, Y:201.55, Z:5.45 [[-2.06362200e-01 -9.78473312e-01 2.14948698e-03 8.54079347e+01] [ 9.78400947e-01 -2.06373092e-01 -1.19052032e-02 2.01547913e+02] [ 1.20925199e-02 -3.53723832e-04 9.99926820e-01 5.44890766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4627550960001 meters 0.022249281701675543 Centerline is valid? [True, True] Translation: X:85.40, Y:201.57, Z:5.45 [[-2.04444550e-01 -9.78876011e-01 2.04475487e-03 8.54010358e+01] [ 9.78810827e-01 -2.04454542e-01 -1.13006391e-02 2.01573710e+02] [ 1.14799840e-02 -3.08925881e-04 9.99934055e-01 5.44944656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.49275509600005 meters 0.02191718490753937 Centerline is valid? [True, True] Translation: X:85.40, Y:201.60, Z:5.45 [[-2.03432826e-01 -9.79086702e-01 2.07732401e-03 8.53950367e+01] [ 9.79019726e-01 -2.03443215e-01 -1.14557303e-02 2.01599477e+02] [ 1.16387707e-02 -2.96730404e-04 9.99932223e-01 5.44956850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.522755096 meters 0.02191718490753937 Centerline is valid? [True, True] Translation: X:85.39, Y:201.62, Z:5.45 [[-2.03813935e-01 -9.79007429e-01 2.08155617e-03 8.53901536e+01] [ 9.78940457e-01 -2.03824348e-01 -1.14549613e-02 2.01624950e+02] [ 1.16387640e-02 -2.96961187e-04 9.99932223e-01 5.44987716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.55275509600006 meters 0.02013954025519852 Centerline is valid? [True, True] Translation: X:85.38, Y:201.65, Z:5.45 [[-2.01033448e-01 -9.79582049e-01 2.13610903e-03 8.53804480e+01] [ 9.79511869e-01 -2.01044621e-01 -1.17285836e-02 2.01651031e+02] [ 1.19185632e-02 -2.65493459e-04 9.99928936e-01 5.44986787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.582755096 meters 0.020439360262966944 Centerline is valid? [True, True] Translation: X:85.38, Y:201.68, Z:5.45 [[-2.00213436e-01 -9.79749982e-01 2.13383476e-03 8.53755835e+01] [ 9.79680243e-01 -2.00224650e-01 -1.16923743e-02 2.01676212e+02] [ 1.18828498e-02 -2.50494668e-04 9.99929365e-01 5.45008699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.61275509600006 meters 0.01949971467690878 Centerline is valid? [True, True] Translation: X:85.37, Y:201.70, Z:5.45 [[-1.99558726e-01 -9.79883384e-01 2.20642765e-03 8.53683377e+01] [ 9.79809186e-01 -1.99570773e-01 -1.20609071e-02 2.01701813e+02] [ 1.22586209e-02 -2.44981181e-04 9.99924830e-01 5.45000356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64275509600003 meters 0.019075456880003092 Centerline is valid? [True, True] Translation: X:85.36, Y:201.73, Z:5.45 [[-1.97990309e-01 -9.80201281e-01 2.29934828e-03 8.53625702e+01] [ 9.80121093e-01 -1.98003527e-01 -1.25397514e-02 2.01727039e+02] [ 1.27467594e-02 -2.29109498e-04 9.99918731e-01 5.44954878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.67275509600006 meters 0.019459275980217135 Centerline is valid? [True, True] Translation: X:85.36, Y:201.75, Z:5.45 [[-1.97889058e-01 -9.80221608e-01 2.34928327e-03 8.53586814e+01] [ 9.80138253e-01 -1.97902872e-01 -1.27850581e-02 2.01751735e+02] [ 1.29971202e-02 -2.27400708e-04 9.99915508e-01 5.44949067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70275509600003 meters 0.019128934614148954 Centerline is valid? [True, True] Translation: X:85.35, Y:201.78, Z:5.45 [[-1.97953095e-01 -9.80208647e-01 2.36232226e-03 8.53531515e+01] [ 9.80124662e-01 -1.97967063e-01 -1.28331565e-02 2.01777818e+02] [ 1.30468329e-02 -2.24992740e-04 9.99914861e-01 5.44983637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.73275509600006 meters 0.018682940295147176 Centerline is valid? [True, True] Translation: X:85.35, Y:201.80, Z:5.45 [[-1.98373713e-01 -9.80123239e-01 2.51111672e-03 8.53475977e+01] [ 9.80028762e-01 -1.98389462e-01 -1.36105304e-02 2.01803841e+02] [ 1.38381762e-02 -2.39004830e-04 9.99904219e-01 5.44978094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76275509600003 meters 0.018741549377038445 Centerline is valid? [True, True] Translation: X:85.34, Y:201.83, Z:5.45 [[-1.98914165e-01 -9.80013628e-01 2.53871157e-03 8.53430018e+01] [ 9.79917483e-01 -1.98930216e-01 -1.37293974e-02 2.01829457e+02] [ 1.39600230e-02 -2.43243762e-04 9.99902525e-01 5.45040283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.79275509600006 meters 0.018911484994056725 Centerline is valid? [True, True] Translation: X:85.34, Y:201.86, Z:5.45 [[-1.99937297e-01 -9.79805780e-01 2.38956522e-03 8.53383398e+01] [ 9.79720941e-01 -1.99951436e-01 -1.28957952e-02 2.01855289e+02] [ 1.31131716e-02 -2.37243338e-04 9.99913991e-01 5.45155611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82275509600004 meters 0.019466578473041965 Centerline is valid? [True, True] Translation: X:85.34, Y:201.88, Z:5.45 [[-2.01126312e-01 -9.79562518e-01 2.34080323e-03 8.53351012e+01] [ 9.79481442e-01 -2.01139787e-01 -1.26051906e-02 2.01880802e+02] [ 1.28184009e-02 -2.42462165e-04 9.99917812e-01 5.45230640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.85275509600007 meters 0.019451584748349335 Centerline is valid? [True, True] Translation: X:85.33, Y:201.91, Z:5.45 [[-2.01636922e-01 -9.79457862e-01 2.20198184e-03 8.53301351e+01] [ 9.79386419e-01 -2.01648815e-01 -1.18320706e-02 2.01906288e+02] [ 1.20330416e-02 -2.29191195e-04 9.99927574e-01 5.45342604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88275509600004 meters 0.019319055506331922 Centerline is valid? [True, True] Translation: X:85.32, Y:201.93, Z:5.45 [[-2.01149866e-01 -9.79558146e-01 2.13763598e-03 8.53246082e+01] [ 9.79491104e-01 -2.01161113e-01 -1.14622747e-02 2.01931492e+02] [ 1.16579738e-02 -2.11839597e-04 9.99932021e-01 5.45455746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.91275509600007 meters 0.01896011970241243 Centerline is valid? [True, True] Translation: X:85.32, Y:201.96, Z:5.45 [[-2.01073773e-01 -9.79573605e-01 2.21142578e-03 8.53190277e+01] [ 9.79502186e-01 -2.01085821e-01 -1.18304483e-02 2.01957461e+02] [ 1.20334812e-02 -2.12696487e-04 9.99927572e-01 5.45471918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94275509600004 meters 0.018953432026053058 Centerline is valid? [True, True] Translation: X:85.31, Y:201.98, Z:5.45 [[-2.01501379e-01 -9.79485460e-01 2.32962977e-03 8.53146767e+01] [ 9.79406551e-01 -2.01514721e-01 -1.24347958e-02 2.01983639e+02] [ 1.26491564e-02 -2.23973846e-04 9.99919971e-01 5.45479335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.97275509600007 meters 0.019154809053168596 Centerline is valid? [True, True] Translation: X:85.31, Y:202.01, Z:5.45 [[-2.02194105e-01 -9.79342440e-01 2.43488535e-03 8.53097748e+01] [ 9.79256611e-01 -2.02208625e-01 -1.29677289e-02 2.02009214e+02] [ 1.31922021e-02 -2.37620767e-04 9.99912951e-01 5.45455345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00275509600004 meters 0.020007990077069 Centerline is valid? [True, True] Translation: X:85.31, Y:202.03, Z:5.45 [[-2.03140866e-01 -9.79146337e-01 2.49769074e-03 8.53063524e+01] [ 9.79056401e-01 -2.03156065e-01 -1.32731543e-02 2.02034816e+02] [ 1.35037814e-02 -2.50939950e-04 9.99908788e-01 5.45458077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0327550960001 meters 0.020148445206316642 Centerline is valid? [True, True] Translation: X:85.30, Y:202.06, Z:5.45 [[-2.04708071e-01 -9.78820074e-01 2.42247270e-03 8.53010570e+01] [ 9.78735807e-01 -2.04722241e-01 -1.28461599e-02 2.02061936e+02] [ 1.30700132e-02 -2.58751842e-04 9.99914550e-01 5.45469194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06275509600005 meters 0.021058247330345944 Centerline is valid? [True, True] Translation: X:85.30, Y:202.09, Z:5.45 [[-2.05551030e-01 -9.78643398e-01 2.42374456e-03 8.52970610e+01] [ 9.78559342e-01 -2.05565148e-01 -1.28290086e-02 2.02086728e+02] [ 1.30532619e-02 -2.65238039e-04 9.99914767e-01 5.45478465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0927550960001 meters 0.021217496203375354 Centerline is valid? [True, True] Translation: X:85.29, Y:202.11, Z:5.45 [[-2.06193938e-01 -9.78507940e-01 2.50413780e-03 8.52913564e+01] [ 9.78418518e-01 -2.06208956e-01 -1.32313930e-02 2.02112175e+02] [ 1.34633988e-02 -2.78138235e-04 9.99909326e-01 5.45457450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12275509600005 meters 0.020791019037942966 Centerline is valid? [True, True] Translation: X:85.28, Y:202.14, Z:5.45 [[-2.07681173e-01 -9.78193295e-01 2.53150066e-03 8.52840518e+01] [ 9.78102254e-01 -2.07696390e-01 -1.33487685e-02 2.02137990e+02] [ 1.35834594e-02 -2.96221391e-04 9.99907697e-01 5.45457484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1527550960001 meters 0.02237306047057036 Centerline is valid? [True, True] Translation: X:85.28, Y:202.16, Z:5.45 [[-2.08150300e-01 -9.78093435e-01 2.58539485e-03 8.52814519e+01] [ 9.77998861e-01 -2.08166135e-01 -1.36047233e-02 2.02163592e+02] [ 1.38448822e-02 -3.03314019e-04 9.99904109e-01 5.45443525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18275509600005 meters 0.021327863285911415 Centerline is valid? [True, True] Translation: X:85.27, Y:202.19, Z:5.45 [[-2.08769886e-01 -9.77961109e-01 2.68416324e-03 8.52741232e+01] [ 9.77859615e-01 -2.08786899e-01 -1.40927315e-02 2.02188655e+02] [ 1.43425615e-02 -3.17403120e-04 9.99897090e-01 5.45453865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2127550960001 meters 0.021815594940577047 Centerline is valid? [True, True] Translation: X:85.27, Y:202.21, Z:5.45 [[-2.09179087e-01 -9.77873177e-01 2.85638382e-03 8.52693262e+01] [ 9.77758735e-01 -2.09198316e-01 -1.49639709e-02 2.02214087e+02] [ 1.52304165e-02 -3.37295544e-04 9.99883954e-01 5.45370340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24275509600005 meters 0.02165871709267404 Centerline is valid? [True, True] Translation: X:85.26, Y:202.24, Z:5.45 [[-2.09384400e-01 -9.77829324e-01 2.82600201e-03 8.52641001e+01] [ 9.77717771e-01 -2.09403210e-01 -1.47734633e-02 2.02239787e+02] [ 1.50376995e-02 -3.30300352e-04 9.99886873e-01 5.45378810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.272755096 meters 0.023167420936666124 Centerline is valid? [True, True] Translation: X:85.26, Y:202.27, Z:5.45 [[-2.10135169e-01 -9.77668005e-01 2.91267807e-03 8.52591755e+01] [ 9.77549981e-01 -2.10155070e-01 -1.51947726e-02 2.02265764e+02] [ 1.54675571e-02 -3.45667719e-04 9.99880310e-01 5.45219500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30275509600006 meters 0.02075737262475874 Centerline is valid? [True, True] Translation: X:85.25, Y:202.29, Z:5.45 [[-2.10200348e-01 -9.77654293e-01 2.81018212e-03 8.52512482e+01] [ 9.77544866e-01 -2.10218875e-01 -1.46307774e-02 2.02291582e+02] [ 1.48945956e-02 -3.28315385e-04 9.99889015e-01 5.45478911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.332755096 meters 0.02092210383530935 Centerline is valid? [True, True] Translation: X:85.25, Y:202.32, Z:5.46 [[-2.10322712e-01 -9.77628083e-01 2.77293619e-03 8.52464899e+01] [ 9.77521987e-01 -2.10340748e-01 -1.44060722e-02 2.02316760e+02] [ 1.46670422e-02 -3.19318075e-04 9.99892382e-01 5.45527779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36275509600006 meters 0.02140605965341892 Centerline is valid? [True, True] Translation: X:85.24, Y:202.34, Z:5.46 [[-2.09667416e-01 -9.77769201e-01 2.63905723e-03 8.52424737e+01] [ 9.77673507e-01 -2.09683825e-01 -1.36824004e-02 2.02342067e+02] [ 1.39315973e-02 -2.88617201e-04 9.99902909e-01 5.45608783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.39275509600003 meters 0.021655543941241053 Centerline is valid? [True, True] Translation: X:85.24, Y:202.37, Z:5.46 [[-2.09510705e-01 -9.77803130e-01 2.51058742e-03 8.52375852e+01] [ 9.77716811e-01 -2.09525575e-01 -1.29950140e-02 2.02367371e+02] [ 1.32325976e-02 -2.67951015e-04 9.99912409e-01 5.45698892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42275509600006 meters 0.021573108954546998 Centerline is valid? [True, True] Translation: X:85.23, Y:202.39, Z:5.46 [[-2.09473052e-01 -9.77811563e-01 2.36396627e-03 8.52318596e+01] [ 9.77735332e-01 -2.09486245e-01 -1.22120602e-02 2.02393215e+02] [ 1.24363121e-02 -2.46764183e-04 9.99922636e-01 5.45801896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.45275509600003 meters 0.02154601714098111 Centerline is valid? [True, True] Translation: X:85.23, Y:202.42, Z:5.46 [[-2.09485555e-01 -9.77809174e-01 2.24083058e-03 8.52264674e+01] [ 9.77740929e-01 -2.09497414e-01 -1.15546205e-02 2.02418412e+02] [ 1.17676621e-02 -2.29574303e-04 9.99930732e-01 5.45906694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48275509600006 meters 0.020154811046519238 Centerline is valid? [True, True] Translation: X:85.22, Y:202.44, Z:5.46 [[-2.09322811e-01 -9.77844560e-01 1.99446642e-03 8.52190451e+01] [ 9.77790699e-01 -2.09332219e-01 -1.02650714e-02 2.02443890e+02] [ 1.04551503e-02 -1.98542879e-04 9.99945324e-01 5.46063898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51275509600003 meters 0.020281489319454796 Centerline is valid? [True, True] Translation: X:85.22, Y:202.47, Z:5.46 [[-2.09627660e-01 -9.77779223e-01 2.00857846e-03 8.52150401e+01] [ 9.77724822e-01 -2.09637188e-01 -1.03160776e-02 2.02469413e+02] [ 1.05079190e-02 -1.98698178e-04 9.99944771e-01 5.46117555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54275509600006 meters 0.020655419602411036 Centerline is valid? [True, True] Translation: X:85.21, Y:202.50, Z:5.46 [[-2.10370584e-01 -9.77619704e-01 1.98302580e-03 8.52114591e+01] [ 9.77566899e-01 -2.10379835e-01 -1.01628643e-02 2.02495682e+02] [ 1.03526050e-02 -1.99427312e-04 9.99946390e-01 5.46169162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57275509600004 meters 0.020862441577310605 Centerline is valid? [True, True] Translation: X:85.21, Y:202.52, Z:5.46 [[-2.11190355e-01 -9.77442984e-01 1.96141253e-03 8.52066379e+01] [ 9.77391523e-01 -2.11199367e-01 -1.00318532e-02 2.02521848e+02] [ 1.02198136e-02 -2.01562661e-04 9.99947756e-01 5.46206569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60275509600007 meters 0.022849038987756178 Centerline is valid? [True, True] Translation: X:85.21, Y:202.55, Z:5.46 [[-2.11877164e-01 -9.77294557e-01 1.84818035e-03 8.52051901e+01] [ 9.77249031e-01 -2.11885137e-01 -9.43503645e-03 2.02547546e+02] [ 9.61241172e-03 -1.92936314e-04 9.99953781e-01 5.46271284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63275509600004 meters 0.021681068256978096 Centerline is valid? [True, True] Translation: X:85.20, Y:202.57, Z:5.46 [[-2.13068634e-01 -9.77035461e-01 1.86148115e-03 8.51975570e+01] [ 9.76989466e-01 -2.13076670e-01 -9.48241692e-03 2.02572599e+02] [ 9.66129579e-03 -2.01758150e-04 9.99953308e-01 5.46208205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66275509600007 meters 0.021360414921937347 Centerline is valid? [True, True] Translation: X:85.19, Y:202.60, Z:5.46 [[-2.13892975e-01 -9.76855388e-01 1.82929547e-03 8.51918008e+01] [ 9.76811135e-01 -2.13900701e-01 -9.30037320e-03 2.02598703e+02] [ 9.47640726e-03 -2.02408301e-04 9.99955077e-01 5.46216379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69275509600004 meters 0.021950778529777497 Centerline is valid? [True, True] Translation: X:85.19, Y:202.63, Z:5.46 [[-2.15496398e-01 -9.76503130e-01 1.71474149e-03 8.51879869e+01] [ 9.76464385e-01 -2.15503127e-01 -8.70096599e-03 2.02625831e+02] [ 8.86605268e-03 -2.00642839e-04 9.99960676e-01 5.46283265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72275509600007 meters 0.021381600593742073 Centerline is valid? [True, True] Translation: X:85.18, Y:202.65, Z:5.46 [[-2.16521784e-01 -9.76276242e-01 1.73679988e-03 8.51814454e+01] [ 9.76236630e-01 -2.16528648e-01 -8.79697957e-03 2.02651808e+02] [ 8.96434909e-03 -2.09210040e-04 9.99959798e-01 5.46286221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.75275509600004 meters 0.023271147918137662 Centerline is valid? [True, True] Translation: X:85.18, Y:202.68, Z:5.46 [[-2.17566065e-01 -9.76044169e-01 1.66947439e-03 8.51794540e+01] [ 9.76007702e-01 -2.17572372e-01 -8.43976044e-03 2.02678167e+02] [ 8.60081047e-03 -2.06785607e-04 9.99962991e-01 5.46341942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7827550960001 meters 0.024369938466334035 Centerline is valid? [True, True] Translation: X:85.18, Y:202.70, Z:5.46 [[-2.19199209e-01 -9.75678768e-01 1.62751598e-03 8.51754405e+01] [ 9.75644237e-01 -2.19205149e-01 -8.21125397e-03 2.02703819e+02] [ 8.36830603e-03 -2.12023790e-04 9.99964963e-01 5.46370712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.81275509600005 meters 0.02459507905253047 Centerline is valid? [True, True] Translation: X:85.17, Y:202.73, Z:5.46 [[-2.20060385e-01 -9.75484863e-01 1.64581598e-03 8.51704291e+01] [ 9.75449676e-01 -2.20066430e-01 -8.28833237e-03 2.02729731e+02] [ 8.44733161e-03 -2.18522944e-04 9.99964297e-01 5.46387769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8427550960001 meters 0.023608628913066934 Centerline is valid? [True, True] Translation: X:85.16, Y:202.76, Z:5.46 [[-2.20738333e-01 -9.75331616e-01 1.68133885e-03 8.51634369e+01] [ 9.75295031e-01 -2.20744621e-01 -8.45070501e-03 2.02755594e+02] [ 8.61338628e-03 -2.25593111e-04 9.99962879e-01 5.46391292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.87275509600005 meters 0.02418796904441774 Centerline is valid? [True, True] Translation: X:85.16, Y:202.78, Z:5.46 [[-2.21000895e-01 -9.75271882e-01 1.83327578e-03 8.51590582e+01] [ 9.75228576e-01 -2.21008364e-01 -9.19393617e-03 2.02781078e+02] [ 9.37175671e-03 -2.44005197e-04 9.99956054e-01 5.46356415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9027550960001 meters 0.023314447273135093 Centerline is valid? [True, True] Translation: X:85.15, Y:202.81, Z:5.46 [[-2.20821580e-01 -9.75312110e-01 2.02936287e-03 8.51520611e+01] [ 9.75259295e-01 -2.20830748e-01 -1.01532119e-02 2.02807155e+02] [ 1.03506962e-02 -2.62893290e-04 9.99946396e-01 5.46330372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.93275509600005 meters 0.02245907279223026 Centerline is valid? [True, True] Translation: X:85.14, Y:202.83, Z:5.46 [[-2.19758680e-01 -9.75551642e-01 2.26205738e-03 8.51445230e+01] [ 9.75486312e-01 -2.19770149e-01 -1.12932054e-02 2.02833070e+02] [ 1.15142378e-02 -2.75173892e-04 9.99933671e-01 5.46216987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9627550960001 meters 0.022485567388468863 Centerline is valid? [True, True] Translation: X:85.14, Y:202.86, Z:5.46 [[-2.19275175e-01 -9.75659915e-01 2.47570066e-03 8.51390922e+01] [ 9.75581996e-01 -2.19288959e-01 -1.23337260e-02 2.02857943e+02] [ 1.25764158e-02 -2.89230921e-04 9.99920872e-01 5.46194455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.99275509600005 meters 0.02176985500926247 Centerline is valid? [True, True] Translation: X:85.13, Y:202.88, Z:5.46 [[-2.18574033e-01 -9.75817115e-01 2.51992304e-03 8.51317868e+01] [ 9.75736665e-01 -2.18588379e-01 -1.25331926e-02 2.02883906e+02] [ 1.27809297e-02 -2.80649142e-04 9.99918281e-01 5.46201811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.022755096 meters 0.02128628792685935 Centerline is valid? [True, True] Translation: X:85.12, Y:202.91, Z:5.46 [[-2.16900942e-01 -9.76190283e-01 2.55183748e-03 8.51246082e+01] [ 9.76108084e-01 -2.16915800e-01 -1.26705956e-02 2.02910605e+02] [ 1.29224462e-02 -2.57394928e-04 9.99916469e-01 5.46251093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.05275509600006 meters 0.021357504959611983 Centerline is valid? [True, True] Translation: X:85.12, Y:202.94, Z:5.46 [[-2.16608826e-01 -9.76255338e-01 2.47630055e-03 8.51200234e+01] [ 9.76178214e-01 -2.16622846e-01 -1.22734565e-02 2.02935449e+02] [ 1.25184507e-02 -2.41228366e-04 9.99921612e-01 5.46328925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.082755096 meters 0.021238099441442167 Centerline is valid? [True, True] Translation: X:85.11, Y:202.96, Z:5.46 [[-2.16411926e-01 -9.76298866e-01 2.53031665e-03 8.51144909e+01] [ 9.76218688e-01 -2.16426587e-01 -1.25141972e-02 2.02961427e+02] [ 1.27652244e-02 -2.38079122e-04 9.99918493e-01 5.46462650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.11275509600006 meters 0.02128914558818822 Centerline is valid? [True, True] Translation: X:85.11, Y:202.99, Z:5.47 [[-2.16981363e-01 -9.76172514e-01 2.51217324e-03 8.51091828e+01] [ 9.76093783e-01 -2.16995774e-01 -1.24000668e-02 2.02986948e+02] [ 1.26497353e-02 -2.38466708e-04 9.99919960e-01 5.46505674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14275509600003 meters 0.021051774505611718 Centerline is valid? [True, True] Translation: X:85.10, Y:203.01, Z:5.47 [[-2.17677102e-01 -9.76017563e-01 2.52916691e-03 8.51038089e+01] [ 9.75938067e-01 -2.17691658e-01 -1.24591606e-02 2.03012458e+02] [ 1.27109381e-02 -2.43763699e-04 9.99919183e-01 5.46560770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.17275509600006 meters 0.022195725707951943 Centerline is valid? [True, True] Translation: X:85.10, Y:203.04, Z:5.47 [[-2.19378562e-01 -9.75636872e-01 2.39605131e-03 8.51009574e+01] [ 9.75565772e-01 -2.19391507e-01 -1.17809361e-02 2.03038535e+02] [ 1.20195889e-02 -2.46979172e-04 9.99927732e-01 5.46668021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20275509600003 meters 0.022155825160667254 Centerline is valid? [True, True] Translation: X:85.10, Y:203.06, Z:5.47 [[-2.20655752e-01 -9.75348817e-01 2.39238367e-03 8.50954678e+01] [ 9.75278116e-01 -2.20668569e-01 -1.17464851e-02 2.03064308e+02] [ 1.19848442e-02 -2.58690070e-04 9.99928146e-01 5.46734987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.23275509600006 meters 0.02322957305427073 Centerline is valid? [True, True] Translation: X:85.09, Y:203.09, Z:5.47 [[-2.22026272e-01 -9.75037642e-01 2.43536817e-03 8.50925108e+01] [ 9.74964649e-01 -2.22039457e-01 -1.19336411e-02 2.03090334e+02] [ 1.21764971e-02 -2.75183968e-04 9.99925826e-01 5.46770479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26275509600003 meters 0.023116511760851784 Centerline is valid? [True, True] Translation: X:85.09, Y:203.12, Z:5.47 [[-2.22977250e-01 -9.74820665e-01 2.41174093e-03 8.50867848e+01] [ 9.74749263e-01 -2.22990116e-01 -1.18017614e-02 2.03116064e+02] [ 1.20423953e-02 -2.80681610e-04 9.99927448e-01 5.46823574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.29275509600006 meters 0.02343920526531906 Centerline is valid? [True, True] Translation: X:85.08, Y:203.14, Z:5.47 [[-2.23760169e-01 -9.74641164e-01 2.44724173e-03 8.50816169e+01] [ 9.74567920e-01 -2.23773364e-01 -1.19520380e-02 2.03142096e+02] [ 1.21965758e-02 -2.89386762e-04 9.99925577e-01 5.46886666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32275509600004 meters 0.024091535543312437 Centerline is valid? [True, True] Translation: X:85.08, Y:203.17, Z:5.47 [[-2.24910193e-01 -9.74376616e-01 2.36983313e-03 8.50756254e+01] [ 9.74308171e-01 -2.24922492e-01 -1.15525034e-02 2.03167204e+02] [ 1.17895180e-02 -2.89327988e-04 9.99930459e-01 5.46921943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.35275509600007 meters 0.02431779576678098 Centerline is valid? [True, True] Translation: X:85.07, Y:203.19, Z:5.47 [[-2.25446411e-01 -9.74252469e-01 2.45818312e-03 8.50699475e+01] [ 9.74179092e-01 -2.25459610e-01 -1.19607988e-02 2.03192909e+02] [ 1.22070588e-02 -3.01808554e-04 9.99925446e-01 5.46946594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38275509600004 meters 0.022759815645851045 Centerline is valid? [True, True] Translation: X:85.06, Y:203.22, Z:5.47 [[-2.26000706e-01 -9.74123577e-01 2.63392059e-03 8.50612881e+01] [ 9.74039661e-01 -2.26015821e-01 -1.27901349e-02 2.03218285e+02] [ 1.30544797e-02 -3.25036401e-04 9.99914734e-01 5.46970128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.41275509600007 meters 0.024864488987071026 Centerline is valid? [True, True] Translation: X:85.06, Y:203.24, Z:5.47 [[-2.26367469e-01 -9.74037716e-01 2.88060884e-03 8.50598282e+01] [ 9.73937772e-01 -2.26385520e-01 -1.39575389e-02 2.03243681e+02] [ 1.42472974e-02 -3.53998993e-04 9.99898439e-01 5.46943839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44275509600004 meters 0.024864488987071026 Centerline is valid? [True, True] Translation: X:85.05, Y:203.27, Z:5.47 [[-2.26756351e-01 -9.73947240e-01 2.88636456e-03 8.50544342e+01] [ 9.73847304e-01 -2.26774444e-01 -1.39563487e-02 2.03268200e+02] [ 1.42473010e-02 -3.53812356e-04 9.99898439e-01 5.46973695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.47275509600007 meters 0.024925420705164097 Centerline is valid? [True, True] Translation: X:85.05, Y:203.29, Z:5.47 [[-2.26777067e-01 -9.73942164e-01 2.97031258e-03 8.50489440e+01] [ 9.73836762e-01 -2.26796236e-01 -1.43327965e-02 2.03293267e+02] [ 1.46329705e-02 -3.57749965e-04 9.99892868e-01 5.46933498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50275509600004 meters 0.02460290088900761 Centerline is valid? [True, True] Translation: X:85.04, Y:203.32, Z:5.47 [[-2.26302686e-01 -9.74052040e-01 3.11725983e-03 8.50418826e+01] [ 9.73936437e-01 -2.26323867e-01 -1.50108251e-02 2.03318344e+02] [ 1.53268351e-02 -3.60977115e-04 9.99882472e-01 5.46871244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5327550960001 meters 0.02195072148222566 Centerline is valid? [True, True] Translation: X:85.03, Y:203.34, Z:5.47 [[-2.25948393e-01 -9.74134172e-01 3.15267078e-03 8.50309430e+01] [ 9.74016404e-01 -2.25970111e-01 -1.51510336e-02 2.03342574e+02] [ 1.54715490e-02 -3.52598642e-04 9.99880246e-01 5.46924288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56275509600005 meters 0.02403579010258711 Centerline is valid? [True, True] Translation: X:85.03, Y:203.37, Z:5.47 [[-2.25320406e-01 -9.74279430e-01 3.21046007e-03 8.50291260e+01] [ 9.74157786e-01 -2.25343017e-01 -1.53990846e-02 2.03368322e+02] [ 1.57264661e-02 -3.42233307e-04 9.99876273e-01 5.46865667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5927550960001 meters 0.021661519829652597 Centerline is valid? [True, True] Translation: X:85.02, Y:203.39, Z:5.47 [[-2.23528759e-01 -9.74691337e-01 3.41939668e-03 8.50196589e+01] [ 9.74553855e-01 -2.23554671e-01 -1.63735124e-02 2.03393985e+02] [ 1.67235428e-02 -3.27564691e-04 9.99860098e-01 5.46933641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62275509600005 meters 0.020718853203870107 Centerline is valid? [True, True] Translation: X:85.01, Y:203.42, Z:5.47 [[-2.23229366e-01 -9.74759825e-01 3.45438325e-03 8.50120909e+01] [ 9.74620027e-01 -2.23255864e-01 -1.65112483e-02 2.03419443e+02] [ 1.68657128e-02 -3.19084395e-04 9.99857713e-01 5.47007040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6527550960001 meters 0.020574360071364994 Centerline is valid? [True, True] Translation: X:85.01, Y:203.44, Z:5.47 [[-2.21969084e-01 -9.75047737e-01 3.41117574e-03 8.50063763e+01] [ 9.74911988e-01 -2.21995109e-01 -1.62723113e-02 2.03444254e+02] [ 1.66235446e-02 -2.86353915e-04 9.99861778e-01 5.47003113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68275509600005 meters 0.020454199271082572 Centerline is valid? [True, True] Translation: X:85.00, Y:203.47, Z:5.47 [[-2.21570535e-01 -9.75138174e-01 3.46990644e-03 8.50008451e+01] [ 9.74998297e-01 -2.21597531e-01 -1.65183400e-02 2.03469235e+02] [ 1.68765866e-02 -2.76824581e-04 9.99857542e-01 5.47063277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7127550960001 meters 0.02066068549004314 Centerline is valid? [True, True] Translation: X:85.00, Y:203.49, Z:5.47 [[-2.20977965e-01 -9.75272770e-01 3.42963234e-03 8.49960432e+01] [ 9.75136672e-01 -2.21004429e-01 -1.62945806e-02 2.03494248e+02] [ 1.66496247e-02 -2.56382982e-04 9.99861353e-01 5.47098110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74275509600005 meters 0.01950605493056484 Centerline is valid? [True, True] Translation: X:84.99, Y:203.52, Z:5.47 [[-2.20816771e-01 -9.75309727e-01 3.29991613e-03 8.49873962e+01] [ 9.75184206e-01 -2.20841299e-01 -1.56488270e-02 2.03519902e+02] [ 1.59912110e-02 -2.37497359e-04 9.99872104e-01 5.47286081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.772755096 meters 0.019550093096391517 Centerline is valid? [True, True] Translation: X:84.98, Y:203.54, Z:5.47 [[-2.21179504e-01 -9.75227841e-01 3.20704931e-03 8.49822380e+01] [ 9.75109716e-01 -2.21202633e-01 -1.51801200e-02 2.03544681e+02] [ 1.55134835e-02 -2.30306470e-04 9.99879632e-01 5.47325841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80275509600006 meters 0.019565719905768313 Centerline is valid? [True, True] Translation: X:84.98, Y:203.57, Z:5.47 [[-2.22418384e-01 -9.74945971e-01 3.22733710e-03 8.49777422e+01] [ 9.74826796e-01 -2.22441662e-01 -1.52454547e-02 2.03571076e+02] [ 1.55813888e-02 -2.44774699e-04 9.99878573e-01 5.47453244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.832755096 meters 0.019826134637771914 Centerline is valid? [True, True] Translation: X:84.97, Y:203.60, Z:5.48 [[-2.23455702e-01 -9.74709059e-01 3.13036026e-03 8.49734959e+01] [ 9.74597325e-01 -2.23477491e-01 -1.47602346e-02 2.03597002e+02] [ 1.50864994e-02 -2.47417855e-04 9.99886162e-01 5.47528142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86275509600006 meters 0.020426061956073972 Centerline is valid? [True, True] Translation: X:84.97, Y:203.62, Z:5.48 [[-2.24976871e-01 -9.74359188e-01 3.09523327e-03 8.49692341e+01] [ 9.74250315e-01 -2.24998010e-01 -1.45677302e-02 2.03623385e+02] [ 1.48906231e-02 -2.61870357e-04 9.99889094e-01 5.47564222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.89275509600003 meters 0.0209181968017646 Centerline is valid? [True, True] Translation: X:84.96, Y:203.65, Z:5.48 [[-2.27026678e-01 -9.73884035e-01 2.96209123e-03 8.49647043e+01] [ 9.73784635e-01 -2.27045835e-01 -1.39166704e-02 2.03650120e+02] [ 1.42257536e-02 -2.75016519e-04 9.99898771e-01 5.47678010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92275509600006 meters 0.021679722267005694 Centerline is valid? [True, True] Translation: X:84.96, Y:203.68, Z:5.48 [[-2.28132873e-01 -9.73625634e-01 2.91852694e-03 8.49610026e+01] [ 9.73529448e-01 -2.28151367e-01 -1.36881994e-02 2.03675651e+02] [ 1.39930477e-02 -2.81456326e-04 9.99902053e-01 5.47747847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.95275509600003 meters 0.021587639738616902 Centerline is valid? [True, True] Translation: X:84.95, Y:203.70, Z:5.48 [[-2.29229073e-01 -9.73368562e-01 2.77039344e-03 8.49549042e+01] [ 9.73282199e-01 -2.29245647e-01 -1.29689803e-02 2.03701561e+02] [ 1.32586984e-02 -2.76492725e-04 9.99912061e-01 5.47879926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98275509600006 meters 0.021406991619444617 Centerline is valid? [True, True] Translation: X:84.95, Y:203.73, Z:5.48 [[-2.29705025e-01 -9.73256216e-01 2.81762805e-03 8.49484176e+01] [ 9.73167215e-01 -2.29722132e-01 -1.31648852e-02 2.03727358e+02] [ 1.34600778e-02 -2.82017031e-04 9.99909369e-01 5.47920089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01275509600003 meters 0.021966953907976944 Centerline is valid? [True, True] Translation: X:84.94, Y:203.75, Z:5.48 [[-2.30354234e-01 -9.73102572e-01 2.88299857e-03 8.49426842e+01] [ 9.73009739e-01 -2.30372090e-01 -1.34442877e-02 2.03752821e+02] [ 1.37468333e-02 -2.91762902e-04 9.99905465e-01 5.47892746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04275509600006 meters 0.021315239818501835 Centerline is valid? [True, True] Translation: X:84.94, Y:203.78, Z:5.48 [[-2.30435002e-01 -9.73083805e-01 2.76021590e-03 8.49361648e+01] [ 9.72999017e-01 -2.30451369e-01 -1.28483669e-02 2.03778893e+02] [ 1.31386333e-02 -2.75026100e-04 9.99913647e-01 5.48039131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07275509600004 meters 0.02159989230098108 Centerline is valid? [True, True] Translation: X:84.93, Y:203.80, Z:5.48 [[-2.30396800e-01 -9.73092572e-01 2.85677284e-03 8.49312759e+01] [ 9.73002104e-01 -2.30414342e-01 -1.32716672e-02 2.03803396e+02] [ 1.35728022e-02 -2.78103681e-04 9.99907847e-01 5.48062770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10275509600007 meters 0.021594400406512396 Centerline is valid? [True, True] Translation: X:84.92, Y:203.83, Z:5.48 [[-2.29383757e-01 -9.73331503e-01 2.97957911e-03 8.49247468e+01] [ 9.73233505e-01 -2.29402950e-01 -1.38142035e-02 2.03828491e+02] [ 1.41293237e-02 -2.68927673e-04 9.99900140e-01 5.48015654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13275509600004 meters 0.02017990716241305 Centerline is valid? [True, True] Translation: X:84.92, Y:203.85, Z:5.48 [[-2.28859397e-01 -9.73454647e-01 3.07019855e-03 8.49158842e+01] [ 9.73350998e-01 -2.28879839e-01 -1.42075103e-02 2.03853799e+02] [ 1.45330734e-02 -2.63141409e-04 9.99894355e-01 5.48047614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16275509600007 meters 0.019896051718614756 Centerline is valid? [True, True] Translation: X:84.91, Y:203.88, Z:5.48 [[-2.28023514e-01 -9.73650115e-01 3.27589518e-03 8.49097856e+01] [ 9.73532610e-01 -2.28046896e-01 -1.51284888e-02 2.03878543e+02] [ 1.54769126e-02 -2.60460405e-04 9.99880192e-01 5.48033120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19275509600004 meters 0.020490696446946684 Centerline is valid? [True, True] Translation: X:84.91, Y:203.90, Z:5.48 [[-2.27825996e-01 -9.73696571e-01 3.20982351e-03 8.49054258e+01] [ 9.73584203e-01 -2.27848474e-01 -1.47943637e-02 2.03903271e+02] [ 1.51365746e-02 -2.45507181e-04 9.99885405e-01 5.48020025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22275509600007 meters 0.01992063739732789 Centerline is valid? [True, True] Translation: X:84.90, Y:203.93, Z:5.48 [[-2.27593391e-01 -9.73750927e-01 3.22191714e-03 8.48982557e+01] [ 9.73638153e-01 -2.27616073e-01 -1.48213056e-02 2.03928831e+02] [ 1.51656202e-02 -2.36249756e-04 9.99884967e-01 5.48092210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.25275509600004 meters 0.018966188006424682 Centerline is valid? [True, True] Translation: X:84.89, Y:203.95, Z:5.48 [[-2.26688588e-01 -9.73962357e-01 3.10022672e-03 8.48907122e+01] [ 9.73858330e-01 -2.26709692e-01 -1.42361786e-02 2.03954616e+02] [ 1.45683535e-02 -2.07997623e-04 9.99893854e-01 5.48216454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2827550960001 meters 0.018971243227373962 Centerline is valid? [True, True] Translation: X:84.89, Y:203.98, Z:5.48 [[-2.26568114e-01 -9.73990588e-01 3.03713089e-03 8.48855708e+01] [ 9.73891130e-01 -2.26588385e-01 -1.39201390e-02 2.03979045e+02] [ 1.42462630e-02 -1.96024802e-04 9.99898498e-01 5.48306279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.31275509600005 meters 0.019003792456309947 Centerline is valid? [True, True] Translation: X:84.88, Y:204.00, Z:5.48 [[-2.27045432e-01 -9.73880005e-01 2.84741649e-03 8.48806710e+01] [ 9.73792901e-01 -2.27063211e-01 -1.30262625e-02 2.04004263e+02] [ 1.33325601e-02 -1.84759431e-04 9.99911100e-01 5.48443552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3427550960001 meters 0.019022274368907865 Centerline is valid? [True, True] Translation: X:84.88, Y:204.03, Z:5.49 [[-2.27773072e-01 -9.73710267e-01 2.78288616e-03 8.48750579e+01] [ 9.73627367e-01 -2.27789996e-01 -1.27069965e-02 2.04030581e+02] [ 1.30068465e-02 -1.84817487e-04 9.99915390e-01 5.48519707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.37275509600005 meters 0.01934484190538674 Centerline is valid? [True, True] Translation: X:84.87, Y:204.06, Z:5.49 [[-2.28558310e-01 -9.73526633e-01 2.64467918e-03 8.48710598e+01] [ 9.73452015e-01 -2.28573539e-01 -1.20545430e-02 2.04055583e+02] [ 1.23399223e-02 -1.80697693e-04 9.99923844e-01 5.48619657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4027550960001 meters 0.019328929389084783 Centerline is valid? [True, True] Translation: X:84.87, Y:204.08, Z:5.49 [[-2.29963592e-01 -9.73196284e-01 2.39567082e-03 8.48663096e+01] [ 9.73135250e-01 -2.29976004e-01 -1.09005661e-02 2.04081939e+02] [ 1.11593372e-02 -1.75421612e-04 9.99937717e-01 5.48827119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.43275509600005 meters 0.01932284439943269 Centerline is valid? [True, True] Translation: X:84.86, Y:204.11, Z:5.49 [[-2.30642468e-01 -9.73035495e-01 2.44476523e-03 8.48608535e+01] [ 9.72972164e-01 -2.30655353e-01 -1.11029526e-02 2.04107662e+02] [ 1.13674652e-02 -1.82123877e-04 9.99935372e-01 5.48869129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4627550960001 meters 0.01960817037057587 Centerline is valid? [True, True] Translation: X:84.86, Y:204.13, Z:5.49 [[-2.31685771e-01 -9.72787343e-01 2.54735287e-03 8.48562491e+01] [ 9.72718835e-01 -2.31699691e-01 -1.15464688e-02 2.04133591e+02] [ 1.18224796e-02 -1.97294408e-04 9.99930093e-01 5.48822196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.49275509600005 meters 0.01984749634225367 Centerline is valid? [True, True] Translation: X:84.85, Y:204.16, Z:5.49 [[-2.32569843e-01 -9.72576168e-01 2.62011782e-03 8.48511108e+01] [ 9.72503950e-01 -2.32584508e-01 -1.18538876e-02 2.04159196e+02] [ 1.21382074e-02 -2.08781863e-04 9.99926307e-01 5.48874943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.522755096 meters 0.020212282536879837 Centerline is valid? [True, True] Translation: X:84.85, Y:204.18, Z:5.49 [[-2.33712796e-01 -9.72302509e-01 2.48192120e-03 8.48467104e+01] [ 9.72237915e-01 -2.33725883e-01 -1.12093464e-02 2.04184211e+02] [ 1.14789649e-02 -2.06749812e-04 9.99934093e-01 5.49011139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.55275509600006 meters 0.02054407877494384 Centerline is valid? [True, True] Translation: X:84.84, Y:204.21, Z:5.49 [[-2.34363782e-01 -9.72146037e-01 2.38761763e-03 8.48416736e+01] [ 9.72086466e-01 -2.34375858e-01 -1.07638262e-02 2.04208752e+02] [ 1.10236109e-02 -2.01680231e-04 9.99939218e-01 5.49069583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.582755096 meters 0.020426086591741482 Centerline is valid? [True, True] Translation: X:84.84, Y:204.23, Z:5.49 [[-2.34499531e-01 -9.72113010e-01 2.50306371e-03 8.48358679e+01] [ 9.72047792e-01 -2.34512798e-01 -1.12622196e-02 2.04234097e+02] [ 1.15351506e-02 -2.07887660e-04 9.99933446e-01 5.49051663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.61275509600006 meters 0.019563378374832494 Centerline is valid? [True, True] Translation: X:84.83, Y:204.26, Z:5.49 [[-2.34062803e-01 -9.72217787e-01 2.67946075e-03 8.48280182e+01] [ 9.72143338e-01 -2.34078044e-01 -1.20332510e-02 2.04259810e+02] [ 1.23261436e-02 -2.11716533e-04 9.99924008e-01 5.48984529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64275509600003 meters 0.019779374858039524 Centerline is valid? [True, True] Translation: X:84.82, Y:204.29, Z:5.49 [[-2.34124451e-01 -9.72202912e-01 2.69065494e-03 8.48229332e+01] [ 9.72128114e-01 -2.34139819e-01 -1.20612847e-02 2.04285245e+02] [ 1.23560055e-02 -2.08180341e-04 9.99923640e-01 5.48980821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.67275509600006 meters 0.01929418335961269 Centerline is valid? [True, True] Translation: X:84.82, Y:204.31, Z:5.49 [[-2.34191011e-01 -9.72186700e-01 2.75514992e-03 8.48158515e+01] [ 9.72108562e-01 -2.34207124e-01 -1.23274725e-02 2.04310799e+02] [ 1.26298806e-02 -2.08678426e-04 9.99920218e-01 5.48995085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70275509600003 meters 0.01945417190353622 Centerline is valid? [True, True] Translation: X:84.81, Y:204.34, Z:5.49 [[-2.33842061e-01 -9.72270658e-01 2.76725528e-03 8.48101179e+01] [ 9.72192126e-01 -2.33858349e-01 -1.23589472e-02 2.04335130e+02] [ 1.26633875e-02 -1.99737893e-04 9.99919796e-01 5.49001270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.73275509600006 meters 0.018629205542326867 Centerline is valid? [True, True] Translation: X:84.80, Y:204.36, Z:5.49 [[-2.33193436e-01 -9.72426796e-01 2.63579571e-03 8.48016656e+01] [ 9.72355814e-01 -2.33208264e-01 -1.17505740e-02 2.04360572e+02] [ 1.20412623e-02 -1.77225431e-04 9.99927486e-01 5.49050238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76275509600003 meters 0.018743125581273515 Centerline is valid? [True, True] Translation: X:84.80, Y:204.39, Z:5.49 [[-2.33282475e-01 -9.72405282e-01 2.69335205e-03 8.47962280e+01] [ 9.72331443e-01 -2.33297955e-01 -1.19845095e-02 2.04385409e+02] [ 1.22821538e-02 -1.76945145e-04 9.99924556e-01 5.49132441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.79275509600006 meters 0.01830607447611546 Centerline is valid? [True, True] Translation: X:84.79, Y:204.41, Z:5.49 [[-2.33237664e-01 -9.72416244e-01 2.61545392e-03 8.47892578e+01] [ 9.72346874e-01 -2.33252269e-01 -1.16162104e-02 2.04411091e+02] [ 1.19058522e-02 -1.66209342e-04 9.99929109e-01 5.49193059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82275509600004 meters 0.018210111542531465 Centerline is valid? [True, True] Translation: X:84.78, Y:204.44, Z:5.49 [[-2.32687609e-01 -9.72548556e-01 2.40473638e-03 8.47828442e+01] [ 9.72490121e-01 -2.32699991e-01 -1.06620037e-02 2.04436029e+02] [ 1.09288984e-02 -1.42333766e-04 9.99940268e-01 5.49266410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.85275509600007 meters 0.01788912821765965 Centerline is valid? [True, True] Translation: X:84.78, Y:204.46, Z:5.49 [[-2.32825717e-01 -9.72515512e-01 2.40094335e-03 8.47759384e+01] [ 9.72457427e-01 -2.32838054e-01 -1.06298584e-02 2.04462828e+02] [ 1.08967332e-02 -1.40089217e-04 9.99940619e-01 5.49252386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88275509600004 meters 0.01800133255637438 Centerline is valid? [True, True] Translation: X:84.77, Y:204.49, Z:5.49 [[-2.32949279e-01 -9.72485594e-01 2.53053213e-03 8.47707591e+01] [ 9.72421295e-01 -2.32962979e-01 -1.11836858e-02 2.04487469e+02] [ 1.14654936e-02 -1.44488214e-04 9.99934259e-01 5.49237258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91275509600007 meters 0.01786716795007541 Centerline is valid? [True, True] Translation: X:84.76, Y:204.51, Z:5.49 [[-2.33738576e-01 -9.72295717e-01 2.70504388e-03 8.47640976e+01] [ 9.72222463e-01 -2.33754173e-01 -1.19360431e-02 2.04514187e+02] [ 1.22376789e-02 -1.60009290e-04 9.99925104e-01 5.49183843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94275509600004 meters 0.01813810191893422 Centerline is valid? [True, True] Translation: X:84.76, Y:204.54, Z:5.49 [[-2.34661470e-01 -9.72073440e-01 2.68718181e-03 8.47589803e+01] [ 9.72001376e-01 -2.34676797e-01 -1.18374507e-02 2.04539605e+02] [ 1.21374906e-02 -1.65849162e-04 9.99926324e-01 5.49195827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.97275509600007 meters 0.018678452864285752 Centerline is valid? [True, True] Translation: X:84.75, Y:204.57, Z:5.49 [[-2.37158140e-01 -9.71468016e-01 2.43121193e-03 8.47548384e+01] [ 9.71409202e-01 -2.37170538e-01 -1.06910366e-02 2.04566739e+02] [ 1.09626120e-02 -1.73764719e-04 9.99939894e-01 5.49337916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00275509600004 meters 0.018922071143640206 Centerline is valid? [True, True] Translation: X:84.75, Y:204.59, Z:5.49 [[-2.38608037e-01 -9.71113085e-01 2.36237650e-03 8.47494888e+01] [ 9.71057713e-01 -2.38619662e-01 -1.03718222e-02 2.04593221e+02] [ 1.06359217e-02 -1.80796207e-04 9.99943421e-01 5.49398384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0327550960001 meters 0.019644806721896536 Centerline is valid? [True, True] Translation: X:84.75, Y:204.62, Z:5.49 [[-2.40099197e-01 -9.70745435e-01 2.38249155e-03 8.47453836e+01] [ 9.70689284e-01 -2.40110939e-01 -1.04427349e-02 2.04619433e+02] [ 1.07092995e-02 -1.94633242e-04 9.99942635e-01 5.49435438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06275509600005 meters 0.02028969650863837 Centerline is valid? [True, True] Translation: X:84.74, Y:204.65, Z:5.49 [[-2.42691339e-01 -9.70100706e-01 2.35260483e-03 8.47419763e+01] [ 9.70046112e-01 -2.42702645e-01 -1.02940107e-02 2.04646691e+02] [ 1.05572105e-02 -2.16132070e-04 9.99944248e-01 5.49448078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0927550960001 meters 0.021079637887061214 Centerline is valid? [True, True] Translation: X:84.74, Y:204.67, Z:5.49 [[-2.44007148e-01 -9.69770265e-01 2.47869029e-03 8.47382409e+01] [ 9.69709856e-01 -2.44019621e-01 -1.08268335e-02 2.04672474e+02] [ 1.11043903e-02 -2.38214376e-04 9.99938316e-01 5.49480246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12275509600005 meters 0.02080358184419724 Centerline is valid? [True, True] Translation: X:84.73, Y:204.70, Z:5.50 [[-2.45410769e-01 -9.69416348e-01 2.34508500e-03 8.47318265e+01] [ 9.69362379e-01 -2.45421858e-01 -1.02318148e-02 2.04698826e+02] [ 1.04944236e-02 -2.37760352e-04 9.99944904e-01 5.49519832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1527550960001 meters 0.022206595532812422 Centerline is valid? [True, True] Translation: X:84.73, Y:204.73, Z:5.50 [[-2.47916950e-01 -9.68778671e-01 2.25234634e-03 8.47289879e+01] [ 9.68729022e-01 -2.47927055e-01 -9.81110161e-03 2.04725234e+02] [ 1.00632036e-02 -2.50425126e-04 9.99949333e-01 5.49547693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18275509600005 meters 0.022496487926079754 Centerline is valid? [True, True] Translation: X:84.72, Y:204.75, Z:5.50 [[-2.48996968e-01 -9.68501874e-01 2.15170582e-03 8.47244329e+01] [ 9.68456649e-01 -2.49006142e-01 -9.36267479e-03 2.04751301e+02] [ 9.60355605e-03 -2.47443824e-04 9.99953854e-01 5.49626816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2127550960001 meters 0.02185892874693571 Centerline is valid? [True, True] Translation: X:84.72, Y:204.78, Z:5.50 [[-2.49473191e-01 -9.68379380e-01 2.12213087e-03 8.47171426e+01] [ 9.68335541e-01 -2.49482097e-01 -9.21752860e-03 2.04778095e+02] [ 9.45549829e-03 -2.44591535e-04 9.99955266e-01 5.49613402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24275509600005 meters 0.02270975382396117 Centerline is valid? [True, True] Translation: X:84.71, Y:204.80, Z:5.50 [[-2.49392650e-01 -9.68400111e-01 2.12870283e-03 8.47131289e+01] [ 9.68356140e-01 -2.49401619e-01 -9.23141836e-03 2.04803128e+02] [ 9.47060849e-03 -2.40905430e-04 9.99955124e-01 5.49647746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.272755096 meters 0.021483944608588365 Centerline is valid? [True, True] Translation: X:84.70, Y:204.83, Z:5.50 [[-2.49414645e-01 -9.68394204e-01 2.23631860e-03 8.47049793e+01] [ 9.68345873e-01 -2.49424547e-01 -9.67807434e-03 2.04829102e+02] [ 9.92998384e-03 -2.48323587e-04 9.99950666e-01 5.49622104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30275509600006 meters 0.02094978961863446 Centerline is valid? [True, True] Translation: X:84.70, Y:204.86, Z:5.50 [[-2.48298894e-01 -9.68680562e-01 2.37222445e-03 8.46990275e+01] [ 9.68626382e-01 -2.48310103e-01 -1.02481774e-02 2.04855531e+02] [ 1.05162575e-02 -2.46811926e-04 9.99944672e-01 5.49540087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.332755096 meters 0.02094978961863446 Centerline is valid? [True, True] Translation: X:84.69, Y:204.88, Z:5.50 [[-2.48648668e-01 -9.68590829e-01 2.37593532e-03 8.46927874e+01] [ 9.68536653e-01 -2.48659897e-01 -1.02473169e-02 2.04881559e+02] [ 1.05162570e-02 -2.46801261e-04 9.99944672e-01 5.49571942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36275509600006 meters 0.02088645270342338 Centerline is valid? [True, True] Translation: X:84.69, Y:204.91, Z:5.50 [[-2.48010880e-01 -9.68753780e-01 2.59176411e-03 8.46873654e+01] [ 9.68689550e-01 -2.48024289e-01 -1.11582871e-02 2.04906559e+02] [ 1.14524532e-02 -2.56761798e-04 9.99934386e-01 5.49545571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.39275509600003 meters 0.020341245622061153 Centerline is valid? [True, True] Translation: X:84.68, Y:204.93, Z:5.49 [[-2.46482611e-01 -9.69142570e-01 3.00042401e-03 8.46807169e+01] [ 9.69056880e-01 -2.46500724e-01 -1.28901776e-02 2.04932653e+02] [ 1.32320266e-02 -2.69623111e-04 9.99912417e-01 5.49404402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42275509600006 meters 0.020002261851782343 Centerline is valid? [True, True] Translation: X:84.67, Y:204.96, Z:5.49 [[-2.46005222e-01 -9.69263568e-01 3.09293999e-03 8.46742417e+01] [ 9.69172823e-01 -2.46024520e-01 -1.32655562e-02 2.04958457e+02] [ 1.36187594e-02 -2.65802708e-04 9.99907225e-01 5.49340213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.45275509600003 meters 0.019768028323913077 Centerline is valid? [True, True] Translation: X:84.67, Y:204.98, Z:5.49 [[-2.45453694e-01 -9.69402535e-01 3.34813138e-03 8.46673056e+01] [ 9.69296608e-01 -2.45476376e-01 -1.43330067e-02 2.04984180e+02] [ 1.47163401e-02 -2.72757040e-04 9.99891672e-01 5.49297269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48275509600006 meters 0.01873652620743669 Centerline is valid? [True, True] Translation: X:84.66, Y:205.01, Z:5.49 [[-2.42892133e-01 -9.70048588e-01 3.02462100e-03 8.46581213e+01] [ 9.69962466e-01 -2.42910877e-01 -1.29275308e-02 2.05009881e+02] [ 1.32750463e-02 -2.06226678e-04 9.99911861e-01 5.49401193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51275509600003 meters 0.018651144449980582 Centerline is valid? [True, True] Translation: X:84.65, Y:205.04, Z:5.49 [[-2.42488703e-01 -9.70149716e-01 2.95929748e-03 8.46517690e+01] [ 9.70067535e-01 -2.42506684e-01 -1.26287530e-02 2.05035377e+02] [ 1.29694306e-02 -1.91611525e-04 9.99915875e-01 5.49497737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54275509600006 meters 0.018608382753994134 Centerline is valid? [True, True] Translation: X:84.65, Y:205.06, Z:5.49 [[-2.42279024e-01 -9.70201446e-01 3.16689299e-03 8.46465020e+01] [ 9.70107680e-01 -2.42299641e-01 -1.34897156e-02 2.05060617e+02] [ 1.38550786e-02 -1.96047916e-04 9.99903995e-01 5.49484260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57275509600004 meters 0.018715372217357508 Centerline is valid? [True, True] Translation: X:84.64, Y:205.09, Z:5.50 [[-2.43064783e-01 -9.70004909e-01 3.16031681e-03 8.46414688e+01] [ 9.69911848e-01 -2.43085244e-01 -1.34376922e-02 2.05086597e+02] [ 1.38028538e-02 -2.01001028e-04 9.99904716e-01 5.49529917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60275509600007 meters 0.018657395586796806 Centerline is valid? [True, True] Translation: X:84.64, Y:205.11, Z:5.50 [[-2.44690498e-01 -9.69597007e-01 2.86446597e-03 8.46358380e+01] [ 9.69520761e-01 -2.44707183e-01 -1.21609443e-02 2.05113082e+02] [ 1.24921706e-02 -1.98508300e-04 9.99921950e-01 5.49723803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63275509600004 meters 0.019278048739123428 Centerline is valid? [True, True] Translation: X:84.63, Y:205.14, Z:5.50 [[-2.45817824e-01 -9.69311960e-01 2.81460748e-03 8.46305626e+01] [ 9.69238560e-01 -2.45833852e-01 -1.19302910e-02 2.05138146e+02] [ 1.22560996e-02 -2.04652082e-04 9.99924870e-01 5.49801915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66275509600007 meters 0.01929803151572402 Centerline is valid? [True, True] Translation: X:84.62, Y:205.16, Z:5.50 [[-2.46842602e-01 -9.69051688e-01 2.74881307e-03 8.46242055e+01] [ 9.68981916e-01 -2.46857820e-01 -1.16302443e-02 2.05164081e+02] [ 1.19488738e-02 -2.07289606e-04 9.99928588e-01 5.49814889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.69275509600004 meters 0.021249603157847703 Centerline is valid? [True, True] Translation: X:84.62, Y:205.19, Z:5.50 [[-2.48303020e-01 -9.68678371e-01 2.79713234e-03 8.46183604e+01] [ 9.68606357e-01 -2.48318674e-01 -1.18136372e-02 2.05190287e+02] [ 1.21381950e-02 -2.24041624e-04 9.99926304e-01 5.49611871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72275509600007 meters 0.020171779434562154 Centerline is valid? [True, True] Translation: X:84.61, Y:205.22, Z:5.50 [[-2.49380975e-01 -9.68401843e-01 2.64591161e-03 8.46126287e+01] [ 9.68337602e-01 -2.49394914e-01 -1.11564613e-02 2.05215494e+02] [ 1.14638146e-02 -2.20073490e-04 9.99934264e-01 5.49979465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.75275509600004 meters 0.01989454634027115 Centerline is valid? [True, True] Translation: X:84.60, Y:205.24, Z:5.50 [[-2.50290980e-01 -9.68167692e-01 2.39696092e-03 8.46041210e+01] [ 9.68115135e-01 -2.50302373e-01 -1.00899332e-02 2.05241179e+02] [ 1.03687124e-02 -2.04885133e-04 9.99946222e-01 5.50099844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7827550960001 meters 0.01965145197971012 Centerline is valid? [True, True] Translation: X:84.60, Y:205.27, Z:5.50 [[-2.50319394e-01 -9.68160390e-01 2.37901394e-03 8.45966241e+01] [ 9.68108780e-01 -2.50330619e-01 -9.99855166e-03 2.05267525e+02] [ 1.02757417e-02 -1.99687108e-04 9.99947183e-01 5.50123788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.81275509600005 meters 0.01959349195690629 Centerline is valid? [True, True] Translation: X:84.59, Y:205.29, Z:5.50 [[-2.50284249e-01 -9.68169194e-01 2.49115386e-03 8.45893651e+01] [ 9.68112792e-01 -2.50296563e-01 -1.04523720e-02 2.05293291e+02] [ 1.07431919e-02 -2.04346172e-04 9.99942269e-01 5.50143049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8427550960001 meters 0.020268308979161227 Centerline is valid? [True, True] Translation: X:84.58, Y:205.32, Z:5.50 [[-2.49116299e-01 -9.68470363e-01 2.49502969e-03 8.45830135e+01] [ 9.68414005e-01 -2.49128723e-01 -1.04495802e-02 2.05317842e+02] [ 1.07416923e-02 -1.86939043e-04 9.99942289e-01 5.50130039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.87275509600005 meters 0.019241279653397468 Centerline is valid? [True, True] Translation: X:84.57, Y:205.34, Z:5.50 [[-2.48680553e-01 -9.68582156e-01 2.56710845e-03 8.45737596e+01] [ 9.68522670e-01 -2.48693735e-01 -1.07361071e-02 2.05343193e+02] [ 1.10372256e-02 -1.83558315e-04 9.99939071e-01 5.50103264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9027550960001 meters 0.019692937833513547 Centerline is valid? [True, True] Translation: X:84.57, Y:205.37, Z:5.50 [[-2.47386849e-01 -9.68913053e-01 2.69128465e-03 8.45673663e+01] [ 9.68847927e-01 -2.47401428e-01 -1.12351379e-02 2.05368337e+02] [ 1.15516994e-02 -1.71979797e-04 9.99933262e-01 5.50036984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.93275509600005 meters 0.019472796014003892 Centerline is valid? [True, True] Translation: X:84.56, Y:205.39, Z:5.50 [[-2.47104557e-01 -9.68984621e-01 2.85347080e-03 8.45599957e+01] [ 9.68911675e-01 -2.47120971e-01 -1.18907964e-02 2.05393428e+02] [ 1.22271514e-02 -1.73508816e-04 9.99925231e-01 5.49940633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9627550960001 meters 0.018445459474240956 Centerline is valid? [True, True] Translation: X:84.55, Y:205.42, Z:5.50 [[-2.47189701e-01 -9.68962552e-01 2.97051487e-03 8.45507216e+01] [ 9.68883767e-01 -2.47207486e-01 -1.23573836e-02 2.05418122e+02] [ 1.27081754e-02 -1.76534300e-04 9.99919232e-01 5.49875029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.99275509600005 meters 0.018328259603162443 Centerline is valid? [True, True] Translation: X:84.54, Y:205.44, Z:5.50 [[-2.47593295e-01 -9.68859259e-01 3.04910322e-03 8.45443531e+01] [ 9.68776532e-01 -2.47612003e-01 -1.26620219e-02 2.05443668e+02] [ 1.30227117e-02 -1.81132075e-04 9.99915185e-01 5.49828675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.022755096 meters 0.018384224763081485 Centerline is valid? [True, True] Translation: X:84.54, Y:205.47, Z:5.50 [[-2.48105103e-01 -9.68728575e-01 2.96731789e-03 8.45385763e+01] [ 9.68650482e-01 -2.48122784e-01 -1.23015580e-02 2.05469406e+02] [ 1.26531299e-02 -1.77785421e-04 9.99919930e-01 5.49870175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.05275509600006 meters 0.018726854020819403 Centerline is valid? [True, True] Translation: X:84.53, Y:205.49, Z:5.50 [[-2.49352874e-01 -9.68408355e-01 2.89863278e-03 8.45336205e+01] [ 9.68334064e-01 -2.49369653e-01 -1.19965141e-02 2.05494318e+02] [ 1.23403556e-02 -1.84520416e-04 9.99923838e-01 5.49929582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.082755096 meters 0.018614225020315203 Centerline is valid? [True, True] Translation: X:84.53, Y:205.52, Z:5.50 [[-2.50085764e-01 -9.68219100e-01 2.98082255e-03 8.45271698e+01] [ 9.68140810e-01 -2.50103453e-01 -1.23140208e-02 2.05519900e+02] [ 1.26681842e-02 -1.93705341e-04 9.99919737e-01 5.49969139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.11275509600006 meters 0.019488928939139994 Centerline is valid? [True, True] Translation: X:84.52, Y:205.54, Z:5.50 [[-2.51093727e-01 -9.67958239e-01 2.96444841e-03 8.45229276e+01] [ 9.67881052e-01 -2.51111146e-01 -1.22254626e-02 2.05544861e+02] [ 1.25781433e-02 -2.00503534e-04 9.99920872e-01 5.49960661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14275509600003 meters 0.019544772494108333 Centerline is valid? [True, True] Translation: X:84.52, Y:205.57, Z:5.50 [[-2.52979107e-01 -9.67467438e-01 2.88600732e-03 8.45173084e+01] [ 9.67394501e-01 -2.52995478e-01 -1.18814282e-02 2.05571197e+02] [ 1.22250417e-02 -2.13845483e-04 9.99925249e-01 5.50024738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.17275509600006 meters 0.020487788193014785 Centerline is valid? [True, True] Translation: X:84.51, Y:205.60, Z:5.50 [[-2.54006413e-01 -9.67198373e-01 2.83721779e-03 8.45134899e+01] [ 9.67128072e-01 -2.54022164e-01 -1.16633366e-02 2.05596089e+02] [ 1.20014764e-02 -2.18609328e-04 9.99927956e-01 5.50078895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20275509600003 meters 0.020132351086619402 Centerline is valid? [True, True] Translation: X:84.51, Y:205.62, Z:5.50 [[-2.55262498e-01 -9.66867340e-01 2.93325645e-03 8.45064171e+01] [ 9.66792444e-01 -2.55279241e-01 -1.20365989e-02 2.05621087e+02] [ 1.23865938e-02 -2.36642126e-04 9.99923255e-01 5.50027749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.23275509600006 meters 0.02144451725080913 Centerline is valid? [True, True] Translation: X:84.50, Y:205.65, Z:5.50 [[-2.55940943e-01 -9.66687781e-01 2.99475299e-03 8.45026236e+01] [ 9.66609974e-01 -2.55958346e-01 -1.22671828e-02 2.05646484e+02] [ 1.26250677e-02 -2.44916220e-04 9.99920271e-01 5.50030368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26275509600003 meters 0.02195081412127332 Centerline is valid? [True, True] Translation: X:84.50, Y:205.67, Z:5.50 [[-2.57012662e-01 -9.66404031e-01 2.78206698e-03 8.44976022e+01] [ 9.66337080e-01 -2.57027611e-01 -1.13778011e-02 2.05670497e+02] [ 1.17106209e-02 -2.35824479e-04 9.99931401e-01 5.50138163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.29275509600006 meters 0.019751831654507113 Centerline is valid? [True, True] Translation: X:84.49, Y:205.70, Z:5.50 [[-2.57757844e-01 -9.66205876e-01 2.66426933e-03 8.44866122e+01] [ 9.66144672e-01 -2.57771511e-01 -1.08775599e-02 2.05695406e+02] [ 1.11967350e-02 -2.29706774e-04 9.99937288e-01 5.50204385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32275509600004 meters 0.021425727772314274 Centerline is valid? [True, True] Translation: X:84.48, Y:205.72, Z:5.50 [[-2.59006418e-01 -9.65872156e-01 2.57937179e-03 8.44830099e+01] [ 9.65814946e-01 -2.59019158e-01 -1.05150554e-02 2.05721700e+02] [ 1.08243059e-02 -2.32271009e-04 9.99941389e-01 5.50285677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.35275509600007 meters 0.021196967085423447 Centerline is valid? [True, True] Translation: X:84.48, Y:205.75, Z:5.50 [[-2.59912807e-01 -9.65628658e-01 2.57450306e-03 8.44768451e+01] [ 9.65571837e-01 -2.59925448e-01 -1.04780289e-02 2.05746998e+02] [ 1.07870638e-02 -2.37506240e-04 9.99941790e-01 5.50289636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38275509600004 meters 0.02112183958044817 Centerline is valid? [True, True] Translation: X:84.47, Y:205.77, Z:5.50 [[-2.60583158e-01 -9.65447980e-01 2.57213482e-03 8.44708707e+01] [ 9.65391441e-01 -2.60595742e-01 -1.04510871e-02 2.05772767e+02] [ 1.07602683e-02 -2.40260344e-04 9.99942078e-01 5.50338193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41275509600007 meters 0.020813343213354644 Centerline is valid? [True, True] Translation: X:84.46, Y:205.80, Z:5.50 [[-2.60743269e-01 -9.65404273e-01 2.74537579e-03 8.44639238e+01] [ 9.65340089e-01 -2.60757598e-01 -1.11349665e-02 2.05798513e+02] [ 1.14656218e-02 -2.53146249e-04 9.99934236e-01 5.50320979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44275509600004 meters 0.020764128812396934 Centerline is valid? [True, True] Translation: X:84.46, Y:205.82, Z:5.50 [[-2.60329711e-01 -9.65515486e-01 2.87882233e-03 8.44566840e+01] [ 9.65445166e-01 -2.60345503e-01 -1.16554721e-02 2.05822645e+02] [ 1.20030273e-02 -2.54920587e-04 9.99927929e-01 5.50260163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.47275509600007 meters 0.019932477323405914 Centerline is valid? [True, True] Translation: X:84.45, Y:205.85, Z:5.50 [[-2.58081863e-01 -9.66118122e-01 3.08650862e-03 8.44471041e+01] [ 9.66037629e-01 -2.58100210e-01 -1.24731742e-02 2.05848834e+02] [ 1.28471882e-02 -2.37416566e-04 9.99917443e-01 5.50150954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50275509600004 meters 0.01958681799005669 Centerline is valid? [True, True] Translation: X:84.44, Y:205.87, Z:5.50 [[-2.57398249e-01 -9.66300290e-01 3.14511168e-03 8.44392223e+01] [ 9.66216967e-01 -2.57417362e-01 -1.26915192e-02 2.05874587e+02] [ 1.30734250e-02 -2.27914554e-04 9.99914513e-01 5.50145523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5327550960001 meters 0.01930391725454654 Centerline is valid? [True, True] Translation: X:84.43, Y:205.90, Z:5.50 [[-2.57040937e-01 -9.66395326e-01 3.16722460e-03 8.44321262e+01] [ 9.66311113e-01 -2.57060355e-01 -1.27595480e-02 2.05900068e+02] [ 1.31449355e-02 -2.19201846e-04 9.99913578e-01 5.50157094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56275509600005 meters 0.019226185866330254 Centerline is valid? [True, True] Translation: X:84.43, Y:205.93, Z:5.50 [[-2.56756697e-01 -9.66470788e-01 3.19588086e-03 8.44260513e+01] [ 9.66385333e-01 -2.56776499e-01 -1.28536726e-02 2.05925254e+02] [ 1.32433262e-02 -2.11814146e-04 9.99912281e-01 5.50199299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5927550960001 meters 0.018711618450849937 Centerline is valid? [True, True] Translation: X:84.42, Y:205.95, Z:5.50 [[-2.57245266e-01 -9.66340626e-01 3.26623258e-03 8.44181121e+01] [ 9.66251649e-01 -2.57265909e-01 -1.31149623e-02 2.05950992e+02] [ 1.35138112e-02 -2.17759369e-04 9.99908661e-01 5.50277790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62275509600005 meters 0.0186809007675747 Centerline is valid? [True, True] Translation: X:84.41, Y:205.98, Z:5.50 [[-2.57405601e-01 -9.66298645e-01 3.04726749e-03 8.44108375e+01] [ 9.66221418e-01 -2.57423559e-01 -1.22181490e-02 2.05977739e+02] [ 1.25908192e-02 -2.00684857e-04 9.99920712e-01 5.50428418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6527550960001 meters 0.018943458982815572 Centerline is valid? [True, True] Translation: X:84.40, Y:206.00, Z:5.51 [[-2.57795431e-01 -9.66195024e-01 2.94826075e-03 8.44044095e+01] [ 9.66122941e-01 -2.57812216e-01 -1.18035429e-02 2.06002586e+02] [ 1.21646221e-02 -1.94517082e-04 9.99925989e-01 5.50530882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68275509600005 meters 0.018816934277850774 Centerline is valid? [True, True] Translation: X:84.40, Y:206.03, Z:5.51 [[-2.58246374e-01 -9.66074722e-01 2.90542063e-03 8.43965470e+01] [ 9.66004955e-01 -2.58262646e-01 -1.16117071e-02 2.06028319e+02] [ 1.19681383e-02 -1.92030519e-04 9.99928361e-01 5.50593012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7127550960001 meters 0.019156024031030495 Centerline is valid? [True, True] Translation: X:84.39, Y:206.05, Z:5.51 [[-2.59072146e-01 -9.65854032e-01 2.75906025e-03 8.43891895e+01] [ 9.65791305e-01 -2.59086769e-01 -1.10091141e-02 2.06052791e+02] [ 1.13480332e-02 -1.87478410e-04 9.99935591e-01 5.50618953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74275509600005 meters 0.0194214626867062 Centerline is valid? [True, True] Translation: X:84.38, Y:206.08, Z:5.51 [[-2.59658184e-01 -9.65696669e-01 2.75161518e-03 8.43831542e+01] [ 9.65634489e-01 -2.59672695e-01 -1.09601257e-02 2.06077153e+02] [ 1.12986762e-02 -1.88831833e-04 9.99936150e-01 5.50681827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.772755096 meters 0.01950633083829946 Centerline is valid? [True, True] Translation: X:84.38, Y:206.10, Z:5.51 [[-2.60125751e-01 -9.65571308e-01 2.57736688e-03 8.43756539e+01] [ 9.65516926e-01 -2.60138458e-01 -1.02493430e-02 2.06102262e+02] [ 1.05669438e-02 -1.77626694e-04 9.99944153e-01 5.50797149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80275509600006 meters 0.019292669718798023 Centerline is valid? [True, True] Translation: X:84.37, Y:206.13, Z:5.51 [[-2.60172085e-01 -9.65558891e-01 2.55235069e-03 8.43679531e+01] [ 9.65505729e-01 -2.60184548e-01 -1.01335434e-02 2.06127130e+02] [ 1.04486151e-02 -1.72155897e-04 9.99945397e-01 5.50815524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.832755096 meters 0.019212635177258318 Centerline is valid? [True, True] Translation: X:84.36, Y:206.15, Z:5.51 [[-2.59922717e-01 -9.65625495e-01 2.75411815e-03 8.43600777e+01] [ 9.65563816e-01 -2.59937247e-01 -1.09153433e-02 2.06150945e+02] [ 1.12560317e-02 -1.77868856e-04 9.99936633e-01 5.50792255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86275509600006 meters 0.02017245774482486 Centerline is valid? [True, True] Translation: X:84.35, Y:206.18, Z:5.51 [[-2.59741286e-01 -9.65674067e-01 2.83898327e-03 8.43534121e+01] [ 9.65608762e-01 -2.59756741e-01 -1.12318814e-02 2.06175616e+02] [ 1.15837816e-02 -1.76036196e-04 9.99932890e-01 5.50630061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.89275509600003 meters 0.01855372312982348 Centerline is valid? [True, True] Translation: X:84.34, Y:206.20, Z:5.51 [[-2.58882024e-01 -9.65904460e-01 2.94474731e-03 8.43441640e+01] [ 9.65834397e-01 -2.58898717e-01 -1.16349011e-02 2.06200477e+02] [ 1.20005941e-02 -1.67928498e-04 9.99927976e-01 5.50771517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92275509600006 meters 0.018615457897966824 Centerline is valid? [True, True] Translation: X:84.34, Y:206.23, Z:5.51 [[-2.58886699e-01 -9.65902781e-01 3.08135623e-03 8.43370346e+01] [ 9.65826324e-01 -2.58904980e-01 -1.21541492e-02 2.06225939e+02] [ 1.25375050e-02 -1.70492601e-04 9.99921388e-01 5.50762636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.95275509600003 meters 0.019611749475163646 Centerline is valid? [True, True] Translation: X:84.33, Y:206.25, Z:5.51 [[-2.59115142e-01 -9.65841260e-01 3.16286448e-03 8.43293875e+01] [ 9.65760963e-01 -2.59134387e-01 -1.24551779e-02 2.06251773e+02] [ 1.28493317e-02 -1.72754153e-04 9.99917429e-01 5.50536827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98275509600006 meters 0.019520641650179926 Centerline is valid? [True, True] Translation: X:84.32, Y:206.28, Z:5.50 [[-2.58919771e-01 -9.65892778e-01 3.41962916e-03 8.43225492e+01] [ 9.65799250e-01 -2.58942291e-01 -1.34424651e-02 2.06277541e+02] [ 1.38694666e-02 -1.77844706e-04 9.99903799e-01 5.50489092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01275509600003 meters 0.018020934144442013 Centerline is valid? [True, True] Translation: X:84.32, Y:206.30, Z:5.51 [[-2.59240037e-01 -9.65806565e-01 3.50460833e-03 8.43161149e+01] [ 9.65708652e-01 -2.59263662e-01 -1.37533193e-02 2.06303287e+02] [ 1.41916637e-02 -1.80980418e-04 9.99899277e-01 5.50711444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04275509600006 meters 0.018606196880037187 Centerline is valid? [True, True] Translation: X:84.31, Y:206.33, Z:5.51 [[-2.60796083e-01 -9.65386856e-01 3.69083848e-03 8.43115914e+01] [ 9.65278574e-01 -2.60822115e-01 -1.44602544e-02 2.06328349e+02] [ 1.49223918e-02 -2.08490402e-04 9.99888633e-01 5.50685073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07275509600004 meters 0.018741792815471673 Centerline is valid? [True, True] Translation: X:84.31, Y:206.35, Z:5.51 [[-2.61718400e-01 -9.65136790e-01 3.80202990e-03 8.43060888e+01] [ 9.65022180e-01 -2.61745920e-01 -1.48749846e-02 2.06354146e+02] [ 1.53515607e-02 -2.24013979e-04 9.99882133e-01 5.50660002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10275509600007 meters 0.019260236864016376 Centerline is valid? [True, True] Translation: X:84.30, Y:206.38, Z:5.51 [[-2.63291290e-01 -9.64708879e-01 3.80453452e-03 8.43018312e+01] [ 9.64594425e-01 -2.63318664e-01 -1.48619400e-02 2.06379263e+02] [ 1.53392504e-02 -2.43186575e-04 9.99882317e-01 5.50629517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13275509600004 meters 0.019565200132735373 Centerline is valid? [True, True] Translation: X:84.30, Y:206.40, Z:5.51 [[-2.64229906e-01 -9.64452190e-01 3.81190535e-03 8.42961551e+01] [ 9.64337572e-01 -2.64257279e-01 -1.48707179e-02 2.06404783e+02] [ 1.53494202e-02 -2.53324836e-04 9.99882159e-01 5.50620989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16275509600007 meters 0.019410149689144916 Centerline is valid? [True, True] Translation: X:84.29, Y:206.43, Z:5.51 [[-2.65329754e-01 -9.64150324e-01 3.77819468e-03 8.42900830e+01] [ 9.64038046e-01 -2.65356523e-01 -1.47160342e-02 2.06430190e+02] [ 1.51910377e-02 -2.62278307e-04 9.99884575e-01 5.50684198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.19275509600004 meters 0.02060941790948202 Centerline is valid? [True, True] Translation: X:84.29, Y:206.46, Z:5.51 [[-2.66951951e-01 -9.63703146e-01 3.59202998e-03 8.42881871e+01] [ 9.63601929e-01 -2.66975982e-01 -1.39695009e-02 2.06456373e+02] [ 1.44214377e-02 -2.67898493e-04 9.99895970e-01 5.50781078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22275509600007 meters 0.021997445923069483 Centerline is valid? [True, True] Translation: X:84.28, Y:206.48, Z:5.51 [[-2.68100332e-01 -9.63384424e-01 3.55864167e-03 8.42826843e+01] [ 9.63285350e-01 -2.68123806e-01 -1.38188080e-02 2.06481981e+02] [ 1.42669810e-02 -2.76839646e-04 9.99898183e-01 5.50678459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.25275509600004 meters 0.021997445923069483 Centerline is valid? [True, True] Translation: X:84.28, Y:206.51, Z:5.51 [[-2.68456658e-01 -9.63285172e-01 3.56374837e-03 8.42759487e+01] [ 9.63186107e-01 -2.68480169e-01 -1.38174911e-02 2.06507021e+02] [ 1.42669801e-02 -2.76844571e-04 9.99898183e-01 5.50709313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2827550960001 meters 0.020186566682558513 Centerline is valid? [True, True] Translation: X:84.27, Y:206.53, Z:5.51 [[-2.68316487e-01 -9.63324551e-01 3.47457110e-03 8.42666418e+01] [ 9.63230664e-01 -2.68338854e-01 -1.34516559e-02 2.06532385e+02] [ 1.38906728e-02 -2.62487632e-04 9.99903486e-01 5.50942862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.31275509600005 meters 0.020517423966268936 Centerline is valid? [True, True] Translation: X:84.26, Y:206.56, Z:5.51 [[-2.67703266e-01 -9.63494608e-01 3.61977280e-03 8.42606966e+01] [ 9.63393045e-01 -2.67727613e-01 -1.39916547e-02 2.06557140e+02] [ 1.44499969e-02 -2.58347710e-04 9.99895560e-01 5.50829811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3427550960001 meters 0.020520915434354327 Centerline is valid? [True, True] Translation: X:84.25, Y:206.58, Z:5.51 [[-2.67667706e-01 -9.63504075e-01 3.72777766e-03 8.42531402e+01] [ 9.63396722e-01 -2.67693538e-01 -1.43848959e-02 2.06581910e+02] [ 1.48578078e-02 -2.59043304e-04 9.99889583e-01 5.50810267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.37275509600005 meters 0.0200066355275992 Centerline is valid? [True, True] Translation: X:84.24, Y:206.61, Z:5.51 [[-2.66668795e-01 -9.63780750e-01 3.79737359e-03 8.42448742e+01] [ 9.63669749e-01 -2.66695722e-01 -1.46289424e-02 2.06605402e+02] [ 1.51118364e-02 -2.41668395e-04 9.99885780e-01 5.50786372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4027550960001 meters 0.01964939343385182 Centerline is valid? [True, True] Translation: X:84.24, Y:206.63, Z:5.51 [[-2.66123385e-01 -9.63931136e-01 3.88710142e-03 8.42374268e+01] [ 9.63815238e-01 -2.66151671e-01 -1.49490771e-02 2.06629620e+02] [ 1.54444394e-02 -2.31851432e-04 9.99880701e-01 5.50805344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.43275509600005 meters 0.019460457905177274 Centerline is valid? [True, True] Translation: X:84.23, Y:206.65, Z:5.51 [[-2.65643212e-01 -9.64063288e-01 3.95749075e-03 8.42301798e+01] [ 9.63943557e-01 -2.65672597e-01 -1.51950525e-02 2.06654018e+02] [ 1.57003891e-02 -2.21664841e-04 9.99876717e-01 5.50822753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4627550960001 meters 0.01821079460089391 Centerline is valid? [True, True] Translation: X:84.22, Y:206.68, Z:5.51 [[-2.62966323e-01 -9.64796145e-01 4.13654393e-03 8.42184585e+01] [ 9.64665843e-01 -2.62998794e-01 -1.58570609e-02 2.06677947e+02] [ 1.63867373e-02 -1.79490349e-04 9.99865712e-01 5.50759930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.49275509600005 meters 0.018039295030581423 Centerline is valid? [True, True] Translation: X:84.21, Y:206.70, Z:5.51 [[-2.62415566e-01 -9.64945434e-01 4.28729771e-03 8.42104714e+01] [ 9.64805909e-01 -2.62450532e-01 -1.64096247e-02 2.06701537e+02] [ 1.69595960e-02 -1.69730787e-04 9.99856161e-01 5.50697351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.522755096 meters 0.017090800576093967 Centerline is valid? [True, True] Translation: X:84.20, Y:206.73, Z:5.51 [[-2.61018138e-01 -9.65324145e-01 4.33893641e-03 8.41992286e+01] [ 9.65181758e-01 -2.61054162e-01 -1.65801002e-02 2.06725513e+02] [ 1.71378685e-02 -1.39844623e-04 9.99853126e-01 5.50794887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.55275509600006 meters 0.01685996717781458 Centerline is valid? [True, True] Translation: X:84.19, Y:206.75, Z:5.51 [[-2.60554844e-01 -9.65449602e-01 4.27088321e-03 8.41907519e+01] [ 9.65312091e-01 -2.60589816e-01 -1.62946626e-02 2.06750357e+02] [ 1.68446242e-02 -1.22918077e-04 9.99858112e-01 5.50894086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.582755096 meters 0.017682322590958036 Centerline is valid? [True, True] Translation: X:84.18, Y:206.77, Z:5.51 [[-2.60736657e-01 -9.65400837e-01 4.19745436e-03 8.41830399e+01] [ 9.65268429e-01 -2.60770415e-01 -1.59890961e-02 2.06774765e+02] [ 1.65304587e-02 -1.17273303e-04 9.99863356e-01 5.50810096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.61275509600006 meters 0.01669888261396567 Centerline is valid? [True, True] Translation: X:84.17, Y:206.80, Z:5.51 [[-2.61381888e-01 -9.65226750e-01 4.10248902e-03 8.41741850e+01] [ 9.65100651e-01 -2.61414054e-01 -1.56021255e-02 2.06799699e+02] [ 1.61320371e-02 -1.18798191e-04 9.99869863e-01 5.50985905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64275509600003 meters 0.017294477994387037 Centerline is valid? [True, True] Translation: X:84.17, Y:206.82, Z:5.51 [[-2.63793901e-01 -9.64571135e-01 3.91201343e-03 8.41698535e+01] [ 9.64456760e-01 -2.63822866e-01 -1.48544058e-02 2.06824416e+02] [ 1.53602097e-02 -1.45533848e-04 9.99882014e-01 5.50996992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.67275509600006 meters 0.017679571334750833 Centerline is valid? [True, True] Translation: X:84.16, Y:206.85, Z:5.51 [[-2.65654866e-01 -9.64060300e-01 3.90257809e-03 8.41647907e+01] [ 9.63946792e-01 -2.65683476e-01 -1.47943434e-02 2.06850864e+02] [ 1.52994896e-02 -1.68311672e-04 9.99882942e-01 5.51044689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70275509600003 meters 0.017997220382594367 Centerline is valid? [True, True] Translation: X:84.16, Y:206.88, Z:5.51 [[-2.67926789e-01 -9.63431562e-01 3.85496776e-03 8.41593773e+01] [ 9.63321070e-01 -2.67954449e-01 -1.45920806e-02 2.06877103e+02] [ 1.50914268e-02 -1.96037642e-04 9.99886099e-01 5.51133734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.73275509600006 meters 0.01873197474565906 Centerline is valid? [True, True] Translation: X:84.16, Y:206.90, Z:5.51 [[-2.72189369e-01 -9.62236656e-01 3.68316040e-03 8.41553101e+01] [ 9.62135969e-01 -2.72214177e-01 -1.39218898e-02 2.06904514e+02] [ 1.43987612e-02 -2.45689294e-04 9.99896302e-01 5.51244051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76275509600003 meters 0.019985058994575457 Centerline is valid? [True, True] Translation: X:84.15, Y:206.93, Z:5.51 [[-2.74397511e-01 -9.61609288e-01 3.68556649e-03 8.41503492e+01] [ 9.61508694e-01 -2.74422125e-01 -1.39114655e-02 2.06930322e+02] [ 1.43887954e-02 -2.73567281e-04 9.99896439e-01 5.51185847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.79275509600006 meters 0.023027835836414406 Centerline is valid? [True, True] Translation: X:84.15, Y:206.96, Z:5.51 [[-2.77398912e-01 -9.60747299e-01 3.80409803e-03 8.41453256e+01] [ 9.60640310e-01 -2.77424806e-01 -1.43412723e-02 2.06956800e+02] [ 1.48336898e-02 -3.23883432e-04 9.99889922e-01 5.50902961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82275509600004 meters 0.0212219768430811 Centerline is valid? [True, True] Translation: X:84.14, Y:206.98, Z:5.51 [[-2.78360398e-01 -9.60470152e-01 3.54620287e-03 8.41389745e+01] [ 9.60377411e-01 -2.78382812e-01 -1.33505572e-02 2.06981240e+02] [ 1.38100137e-02 -3.10573286e-04 9.99904589e-01 5.51216664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.85275509600007 meters 0.020460993470380138 Centerline is valid? [True, True] Translation: X:84.13, Y:207.01, Z:5.51 [[-2.79308563e-01 -9.60195192e-01 3.45244694e-03 8.41306987e+01] [ 9.60107488e-01 -2.79329726e-01 -1.29813653e-02 2.07007246e+02] [ 1.34290156e-02 -3.11086311e-04 9.99909778e-01 5.51302326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88275509600004 meters 0.02099650019818779 Centerline is valid? [True, True] Translation: X:84.12, Y:207.03, Z:5.51 [[-2.80639041e-01 -9.59807096e-01 3.47387507e-03 8.41249376e+01] [ 9.59718532e-01 -2.80660352e-01 -1.30424997e-02 2.07033208e+02] [ 1.34932628e-02 -3.26292337e-04 9.99908909e-01 5.51321708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91275509600007 meters 0.02179733733061641 Centerline is valid? [True, True] Translation: X:84.12, Y:207.06, Z:5.51 [[-2.80682170e-01 -9.59793762e-01 3.66788632e-03 8.41195005e+01] [ 9.59695348e-01 -2.80705930e-01 -1.37484351e-02 2.07057648e+02] [ 1.42252597e-02 -3.38887164e-04 9.99898758e-01 5.51279659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94275509600004 meters 0.02040586446886798 Centerline is valid? [True, True] Translation: X:84.11, Y:207.08, Z:5.51 [[-2.80002817e-01 -9.59990942e-01 3.97675868e-03 8.41094709e+01] [ 9.59875672e-01 -2.80030838e-01 -1.48803154e-02 2.07083009e+02] [ 1.53985831e-02 -3.49336318e-04 9.99881374e-01 5.51179943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.97275509600007 meters 0.020466793755400482 Centerline is valid? [True, True] Translation: X:84.10, Y:207.11, Z:5.51 [[-2.79917252e-01 -9.60015355e-01 4.10478400e-03 8.41025925e+01] [ 9.59892926e-01 -2.79947126e-01 -1.53354961e-02 2.07107332e+02] [ 1.58714342e-02 -3.52516796e-04 9.99873979e-01 5.51162631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00275509600004 meters 0.021223714458587596 Centerline is valid? [True, True] Translation: X:84.10, Y:207.13, Z:5.51 [[-2.79027316e-01 -9.60273878e-01 4.22330345e-03 8.40955034e+01] [ 9.60144743e-01 -2.79059068e-01 -1.57514847e-02 2.07132244e+02] [ 1.63042904e-02 -3.40111893e-04 9.99867018e-01 5.51050967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0327550960001 meters 0.01954365801577959 Centerline is valid? [True, True] Translation: X:84.08, Y:207.16, Z:5.51 [[-2.78165218e-01 -9.60523446e-01 4.33833207e-03 8.40831310e+01] [ 9.60387637e-01 -2.78198854e-01 -1.61549946e-02 2.07157213e+02] [ 1.67241701e-02 -3.27277101e-04 9.99860088e-01 5.51035994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06275509600005 meters 0.020042537617923344 Centerline is valid? [True, True] Translation: X:84.08, Y:207.18, Z:5.51 [[-2.78561575e-01 -9.60408336e-01 4.39068306e-03 8.40766102e+01] [ 9.60269636e-01 -2.78595979e-01 -1.63250351e-02 2.07182154e+02] [ 1.69019264e-02 -3.31287856e-04 9.99857097e-01 5.51037823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0927550960001 meters 0.01982685102459728 Centerline is valid? [True, True] Translation: X:84.07, Y:207.21, Z:5.51 [[-2.79045623e-01 -9.60266870e-01 4.59108286e-03 8.40684962e+01] [ 9.60115712e-01 -2.79083172e-01 -1.70412324e-02 2.07207123e+02] [ 1.76454249e-02 -3.47310513e-04 9.99844247e-01 5.51065254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12275509600005 meters 0.02000003734557684 Centerline is valid? [True, True] Translation: X:84.06, Y:207.23, Z:5.51 [[-2.79818893e-01 -9.60041568e-01 4.64497476e-03 8.40614769e+01] [ 9.59887307e-01 -2.79857214e-01 -1.72133175e-02 2.07232090e+02] [ 1.78254300e-02 -3.57959124e-04 9.99841050e-01 5.51103453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1527550960001 meters 0.02090149780467736 Centerline is valid? [True, True] Translation: X:84.05, Y:207.26, Z:5.51 [[-2.81936495e-01 -9.59421983e-01 4.61205423e-03 8.40549627e+01] [ 9.59270291e-01 -2.81973950e-01 -1.70645809e-02 2.07258584e+02] [ 1.76726132e-02 -3.86921527e-04 9.99843752e-01 5.51108284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18275509600005 meters 0.021876150017933495 Centerline is valid? [True, True] Translation: X:84.05, Y:207.28, Z:5.51 [[-2.83148265e-01 -9.59064204e-01 4.78667750e-03 8.40491724e+01] [ 9.58901230e-01 -2.83188414e-01 -1.76848486e-02 2.07283862e+02] [ 1.83164369e-02 -4.17483273e-04 9.99832153e-01 5.51090034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2127550960001 meters 0.023795076348174696 Centerline is valid? [True, True] Translation: X:84.04, Y:207.31, Z:5.51 [[-2.85284220e-01 -9.58431302e-01 4.72789835e-03 8.40436605e+01] [ 9.58272668e-01 -2.85323047e-01 -1.74428242e-02 2.07310221e+02] [ 1.80667271e-02 -4.45546743e-04 9.99836684e-01 5.51019616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24275509600005 meters 0.02270265298794014 Centerline is valid? [True, True] Translation: X:84.04, Y:207.34, Z:5.51 [[-2.86142047e-01 -9.58176103e-01 4.61342988e-03 8.40366547e+01] [ 9.58025446e-01 -2.86178892e-01 -1.69966528e-02 2.07335219e+02] [ 1.76060528e-02 -4.43673811e-04 9.99844903e-01 5.51250516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.272755096 meters 0.02479104683161237 Centerline is valid? [True, True] Translation: X:84.03, Y:207.36, Z:5.51 [[-2.87145137e-01 -9.57875615e-01 4.68794137e-03 8.40302946e+01] [ 9.57720488e-01 -2.87183030e-01 -1.72445270e-02 2.07361067e+02] [ 1.78644091e-02 -4.61944559e-04 9.99840312e-01 5.51071696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30275509600006 meters 0.024506514969734678 Centerline is valid? [True, True] Translation: X:84.02, Y:207.39, Z:5.51 [[-2.87929153e-01 -9.57641181e-01 4.49128604e-03 8.40238128e+01] [ 9.57499187e-01 -2.87963828e-01 -1.64966950e-02 2.07386594e+02] [ 1.70912424e-02 -4.49476673e-04 9.99853833e-01 5.51262479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.332755096 meters 0.02251193689924437 Centerline is valid? [True, True] Translation: X:84.02, Y:207.41, Z:5.52 [[-2.88307401e-01 -9.57527616e-01 4.43936785e-03 8.40152870e+01] [ 9.57389290e-01 -2.88341236e-01 -1.62812667e-02 2.07411566e+02] [ 1.68698153e-02 -4.43806446e-04 9.99857596e-01 5.51507750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36275509600006 meters 0.02177999141961831 Centerline is valid? [True, True] Translation: X:84.01, Y:207.44, Z:5.52 [[-2.87610141e-01 -9.57737608e-01 4.36824200e-03 8.40068594e+01] [ 9.57604102e-01 -2.87643008e-01 -1.59963578e-02 2.07437876e+02] [ 1.65768077e-02 -4.17668262e-04 9.99862508e-01 5.51604074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.39275509600003 meters 0.022290935578532883 Centerline is valid? [True, True] Translation: X:84.00, Y:207.46, Z:5.52 [[-2.87093146e-01 -9.57892896e-01 4.32737469e-03 8.40011960e+01] [ 9.57762278e-01 -2.87125481e-01 -1.58233337e-02 2.07462801e+02] [ 1.63995585e-02 -3.98174416e-04 9.99865439e-01 5.51634713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42275509600006 meters 0.02285677041625845 Centerline is valid? [True, True] Translation: X:84.00, Y:207.49, Z:5.52 [[-2.86246273e-01 -9.58146656e-01 4.24934079e-03 8.39953797e+01] [ 9.58021131e-01 -2.86277573e-01 -1.55133409e-02 2.07488091e+02] [ 1.60805467e-02 -3.69677751e-04 9.99870631e-01 5.51671797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.45275509600003 meters 0.021546242728799975 Centerline is valid? [True, True] Translation: X:83.99, Y:207.51, Z:5.52 [[-2.83675340e-01 -9.58911328e-01 4.16739073e-03 8.39866065e+01] [ 9.58791033e-01 -2.83705775e-01 -1.51917420e-02 2.07511996e+02] [ 1.57498463e-02 -3.13865714e-04 9.99875914e-01 5.51788588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48275509600006 meters 0.020870763558888946 Centerline is valid? [True, True] Translation: X:83.98, Y:207.54, Z:5.52 [[-2.82266198e-01 -9.59327290e-01 4.11632721e-03 8.39782936e+01] [ 9.59210315e-01 -2.82296071e-01 -1.49833289e-02 2.07536191e+02] [ 1.55359393e-02 -2.80863749e-04 9.99879271e-01 5.51822470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51275509600003 meters 0.020415981026805308 Centerline is valid? [True, True] Translation: X:83.97, Y:207.56, Z:5.52 [[-2.79134765e-01 -9.60242151e-01 4.33516904e-03 8.39663565e+01] [ 9.60112905e-01 -2.79168328e-01 -1.57560918e-02 2.07561683e+02] [ 1.63399054e-02 -2.35821239e-04 9.99866467e-01 5.51636204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54275509600006 meters 0.018528501994383974 Centerline is valid? [True, True] Translation: X:83.96, Y:207.59, Z:5.52 [[-2.77866358e-01 -9.60610656e-01 4.17798790e-03 8.39598511e+01] [ 9.60490976e-01 -2.77897693e-01 -1.51643582e-02 2.07586142e+02] [ 1.57280973e-02 -2.00745311e-04 9.99876286e-01 5.51890351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57275509600004 meters 0.01986772877405061 Centerline is valid? [True, True] Translation: X:83.95, Y:207.61, Z:5.52 [[-2.75989144e-01 -9.61151224e-01 4.27978697e-03 8.39510411e+01] [ 9.61026108e-01 -2.76022274e-01 -1.55088322e-02 2.07611545e+02] [ 1.60876496e-02 -1.67282294e-04 9.99870571e-01 5.51688473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60275509600007 meters 0.01915430752207603 Centerline is valid? [True, True] Translation: X:83.94, Y:207.64, Z:5.52 [[-2.74726139e-01 -9.61512282e-01 4.43625627e-03 8.39434360e+01] [ 9.61378309e-01 -2.74761917e-01 -1.60510239e-02 2.07637126e+02] [ 1.66521709e-02 -1.44715288e-04 9.99861333e-01 5.51680775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63275509600004 meters 0.017126346590288093 Centerline is valid? [True, True] Translation: X:83.94, Y:207.66, Z:5.52 [[-2.74547980e-01 -9.61563424e-01 4.38037789e-03 8.39356528e+01] [ 9.61433201e-01 -2.74582889e-01 -1.58251760e-02 2.07662078e+02] [ 1.64196872e-02 -1.33329353e-04 9.99865179e-01 5.51909654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66275509600007 meters 0.016743108730682743 Centerline is valid? [True, True] Translation: X:83.93, Y:207.69, Z:5.52 [[-2.74743368e-01 -9.61507242e-01 4.46158357e-03 8.39287146e+01] [ 9.61372557e-01 -2.74779560e-01 -1.60934717e-02 2.07687599e+02] [ 1.66999415e-02 -1.32330604e-04 9.99860538e-01 5.51925608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.69275509600004 meters 0.019508137983557754 Centerline is valid? [True, True] Translation: X:83.92, Y:207.71, Z:5.52 [[-2.75435575e-01 -9.61307708e-01 4.76799034e-03 8.39225268e+01] [ 9.61154353e-01 -2.75476802e-01 -1.71709307e-02 2.07711819e+02] [ 1.78200188e-02 -1.46710504e-04 9.99841200e-01 5.51644377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72275509600007 meters 0.018378089774286534 Centerline is valid? [True, True] Translation: X:83.92, Y:207.74, Z:5.52 [[-2.75734272e-01 -9.61223383e-01 4.49661758e-03 8.39150293e+01] [ 9.61087384e-01 -2.75770901e-01 -1.61694184e-02 2.07737511e+02] [ 1.67824593e-02 -1.36820391e-04 9.99859155e-01 5.51815672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.75275509600004 meters 0.016986872834524557 Centerline is valid? [True, True] Translation: X:83.91, Y:207.76, Z:5.52 [[-2.76575832e-01 -9.60981771e-01 4.45481900e-03 8.39089631e+01] [ 9.60848658e-01 -2.76611670e-01 -1.59950276e-02 2.07761786e+02] [ 1.66031849e-02 -1.43431220e-04 9.99862147e-01 5.52090990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7827550960001 meters 0.019767363640170735 Centerline is valid? [True, True] Translation: X:83.90, Y:207.79, Z:5.52 [[-2.77723556e-01 -9.60649981e-01 4.60873539e-03 8.39024834e+01] [ 9.60507884e-01 -2.77761747e-01 -1.65232235e-02 2.07786161e+02] [ 1.71531647e-02 -1.62161719e-04 9.99852861e-01 5.51870409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.81275509600005 meters 0.0215233170563606 Centerline is valid? [True, True] Translation: X:83.90, Y:207.81, Z:5.52 [[-2.78928733e-01 -9.60299452e-01 4.87072456e-03 8.38956756e+01] [ 9.60141101e-01 -2.78971193e-01 -1.74396086e-02 2.07812068e+02] [ 1.81060385e-02 -1.87825098e-04 9.99836055e-01 5.51720728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8427550960001 meters 0.01764245574954313 Centerline is valid? [True, True] Translation: X:83.89, Y:207.84, Z:5.52 [[-2.79235853e-01 -9.60212058e-01 4.48804578e-03 8.38873244e+01] [ 9.60077967e-01 -2.79271865e-01 -1.60475030e-02 2.07837293e+02] [ 1.66623908e-02 -1.72164319e-04 9.99861158e-01 5.52126010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.87275509600005 meters 0.017761865206903666 Centerline is valid? [True, True] Translation: X:83.88, Y:207.86, Z:5.52 [[-2.80145500e-01 -9.59946090e-01 4.69085165e-03 8.38795797e+01] [ 9.59800007e-01 -2.80184706e-01 -1.67474604e-02 2.07862741e+02] [ 1.73909640e-02 -1.89446218e-04 9.99848748e-01 5.52105896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9027550960001 meters 0.020557876610927926 Centerline is valid? [True, True] Translation: X:83.87, Y:207.89, Z:5.52 [[-2.82446112e-01 -9.59270126e-01 5.00193697e-03 8.38742835e+01] [ 9.59104426e-01 -2.82490298e-01 -1.78306455e-02 2.07888277e+02] [ 1.85174042e-02 -2.38816617e-04 9.99828510e-01 5.51845705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.93275509600005 meters 0.020557876610927926 Centerline is valid? [True, True] Translation: X:83.87, Y:207.91, Z:5.52 [[-2.82798897e-01 -9.59166148e-01 5.00850089e-03 8.38670144e+01] [ 9.59000464e-01 -2.82843144e-01 -1.78288020e-02 2.07913159e+02] [ 1.85174035e-02 -2.38810859e-04 9.99828510e-01 5.51876557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9627550960001 meters 0.01930283302348315 Centerline is valid? [True, True] Translation: X:83.86, Y:207.94, Z:5.52 [[-2.84676444e-01 -9.58610994e-01 4.92790638e-03 8.38589111e+01] [ 9.58450970e-01 -2.84718972e-01 -1.75169891e-02 2.07938352e+02] [ 1.81950468e-02 -2.63517516e-04 9.99834422e-01 5.52078465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.99275509600005 meters 0.0193839282320306 Centerline is valid? [True, True] Translation: X:83.85, Y:207.96, Z:5.52 [[-2.86815588e-01 -9.57973650e-01 4.82756088e-03 8.38520631e+01] [ 9.57820425e-01 -2.86856065e-01 -1.71356932e-02 2.07963963e+02] [ 1.78003576e-02 -2.90847496e-04 9.99841519e-01 5.52238659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.022755096 meters 0.020187000131060936 Centerline is valid? [True, True] Translation: X:83.84, Y:207.99, Z:5.52 [[-2.88894213e-01 -9.57348604e-01 4.87691225e-03 8.38441282e+01] [ 9.57192577e-01 -2.88935191e-01 -1.72865904e-02 2.07989753e+02] [ 1.79584048e-02 -3.25851723e-04 9.99838682e-01 5.52209828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.05275509600006 meters 0.019940913833844873 Centerline is valid? [True, True] Translation: X:83.84, Y:208.02, Z:5.52 [[-2.90333758e-01 -9.56913607e-01 4.76008418e-03 8.38383875e+01] [ 9.56765282e-01 -2.90372580e-01 -1.68511025e-02 2.08015184e+02] [ 1.75072472e-02 -3.38160636e-04 9.99846679e-01 5.52388830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.082755096 meters 0.020586393272019072 Centerline is valid? [True, True] Translation: X:83.83, Y:208.04, Z:5.52 [[-2.91963661e-01 -9.56416910e-01 4.89032889e-03 8.38321259e+01] [ 9.56260663e-01 -2.92004377e-01 -1.72912922e-02 2.08040821e+02] [ 1.79656817e-02 -3.71999805e-04 9.99838535e-01 5.52402346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.11275509600006 meters 0.021666285766850778 Centerline is valid? [True, True] Translation: X:83.83, Y:208.07, Z:5.52 [[-2.94741645e-01 -9.55563147e-01 5.14153714e-03 8.38256134e+01] [ 9.55390804e-01 -2.94786161e-01 -1.81529786e-02 2.08066878e+02] [ 1.88619714e-02 -4.38261470e-04 9.99822001e-01 5.52308871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14275509600003 meters 0.021666285766850778 Centerline is valid? [True, True] Translation: X:83.82, Y:208.09, Z:5.52 [[-2.95114451e-01 -9.55448039e-01 5.14840233e-03 8.38182993e+01] [ 9.55275713e-01 -2.95159030e-01 -1.81510319e-02 2.08091760e+02] [ 1.88619652e-02 -4.38488088e-04 9.99822001e-01 5.52339736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.17275509600006 meters 0.02546199227923755 Centerline is valid? [True, True] Translation: X:83.81, Y:208.12, Z:5.52 [[-2.98085195e-01 -9.54524927e-01 5.23261752e-03 8.38119820e+01] [ 9.54347294e-01 -2.98130704e-01 -1.84207799e-02 2.08117735e+02] [ 1.91430975e-02 -4.97227384e-04 9.99816630e-01 5.52063494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20275509600003 meters 0.022595734469333974 Centerline is valid? [True, True] Translation: X:83.80, Y:208.14, Z:5.53 [[-2.98390532e-01 -9.54431831e-01 4.79276678e-03 8.38041420e+01] [ 9.54283197e-01 -2.98428675e-01 -1.68494807e-02 2.08143003e+02] [ 1.75119797e-02 -4.54068697e-04 9.99846550e-01 5.52523294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.23275509600006 meters 0.022869630738468164 Centerline is valid? [True, True] Translation: X:83.80, Y:208.17, Z:5.53 [[-2.99101091e-01 -9.54210016e-01 4.66717221e-03 8.37971051e+01] [ 9.54069451e-01 -2.99137167e-01 -1.63840792e-02 2.08168626e+02] [ 1.70299771e-02 -4.47689529e-04 9.99854879e-01 5.52617299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26275509600003 meters 0.023297980768683356 Centerline is valid? [True, True] Translation: X:83.79, Y:208.19, Z:5.53 [[-2.99539418e-01 -9.54072906e-01 4.58545087e-03 8.37901985e+01] [ 9.53937601e-01 -2.99574190e-01 -1.60735229e-02 2.08193499e+02] [ 1.67089954e-02 -4.40419677e-04 9.99860298e-01 5.52725775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.29275509600006 meters 0.025790159284749307 Centerline is valid? [True, True] Translation: X:83.78, Y:208.22, Z:5.52 [[-3.00439305e-01 -9.53789174e-01 4.73665186e-03 8.37825977e+01] [ 9.53645204e-01 -3.00476284e-01 -1.65779530e-02 2.08218494e+02] [ 1.72351237e-02 -4.63583362e-04 9.99851357e-01 5.52463037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32275509600004 meters 0.02283992913693618 Centerline is valid? [True, True] Translation: X:83.77, Y:208.24, Z:5.53 [[-2.98733689e-01 -9.54326133e-01 4.45139439e-03 8.37720599e+01] [ 9.54199380e-01 -2.98766583e-01 -1.55586378e-02 2.08243262e+02] [ 1.61779425e-02 -4.00371491e-04 9.99869048e-01 5.52798633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.35275509600007 meters 0.02369312724606748 Centerline is valid? [True, True] Translation: X:83.76, Y:208.27, Z:5.53 [[-2.98551283e-01 -9.54383275e-01 4.43796930e-03 8.37645173e+01] [ 9.54257604e-01 -2.98584012e-01 -1.54923315e-02 2.08267239e+02] [ 1.61107287e-02 -3.90289488e-04 9.99870138e-01 5.52710459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38275509600004 meters 0.022396429031432557 Centerline is valid? [True, True] Translation: X:83.76, Y:208.29, Z:5.53 [[-2.97673955e-01 -9.54657544e-01 4.38053373e-03 8.37554904e+01] [ 9.54535425e-01 -2.97705961e-01 -1.52735759e-02 2.08292509e+02] [ 1.58851455e-02 -3.65171125e-04 9.99873756e-01 5.52925195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41275509600007 meters 0.020793175560767842 Centerline is valid? [True, True] Translation: X:83.74, Y:208.32, Z:5.53 [[-2.96808232e-01 -9.54927590e-01 4.26288294e-03 8.37445076e+01] [ 9.54812291e-01 -2.96838653e-01 -1.48425754e-02 2.08316867e+02] [ 1.54389732e-02 -3.35145538e-04 9.99880756e-01 5.53072477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44275509600004 meters 0.021575871742100305 Centerline is valid? [True, True] Translation: X:83.74, Y:208.34, Z:5.53 [[-2.96769441e-01 -9.54939751e-01 4.23927739e-03 8.37365030e+01] [ 9.54826062e-01 -2.96799538e-01 -1.47385777e-02 2.08341775e+02] [ 1.53326693e-02 -3.26186927e-04 9.99882395e-01 5.52984719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.47275509600007 meters 0.021716478871143426 Centerline is valid? [True, True] Translation: X:83.73, Y:208.37, Z:5.53 [[-2.95803765e-01 -9.55239939e-01 4.09783921e-03 8.37305536e+01] [ 9.55134031e-01 -2.95832001e-01 -1.42270623e-02 2.08366100e+02] [ 1.48025301e-02 -2.94432907e-04 9.99890393e-01 5.53154551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50275509600004 meters 0.021724416556108628 Centerline is valid? [True, True] Translation: X:83.72, Y:208.39, Z:5.53 [[-2.95901375e-01 -9.55209630e-01 4.11577003e-03 8.37226833e+01] [ 9.55103055e-01 -2.95929853e-01 -1.42715280e-02 2.08390426e+02] [ 1.48502802e-02 -2.91980228e-04 9.99889686e-01 5.53179543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5327550960001 meters 0.020431418365658968 Centerline is valid? [True, True] Translation: X:83.71, Y:208.42, Z:5.53 [[-2.96077581e-01 -9.55155050e-01 4.11053984e-03 8.37119228e+01] [ 9.55049054e-01 -2.96105973e-01 -1.42322867e-02 2.08415014e+02] [ 1.48111959e-02 -2.88093834e-04 9.99890267e-01 5.53206228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56275509600005 meters 0.02186490492588694 Centerline is valid? [True, True] Translation: X:83.71, Y:208.44, Z:5.53 [[-2.96422483e-01 -9.55048475e-01 4.01526679e-03 8.37074431e+01] [ 9.54947614e-01 -2.96449544e-01 -1.38824264e-02 2.08440313e+02] [ 1.44487142e-02 -2.80693873e-04 9.99895573e-01 5.53200042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5927550960001 meters 0.022002134278549364 Centerline is valid? [True, True] Translation: X:83.70, Y:208.46, Z:5.53 [[-2.96831417e-01 -9.54921193e-01 4.07741636e-03 8.37007057e+01] [ 9.54817489e-01 -2.96859284e-01 -1.40758127e-02 2.08464965e+02] [ 1.46517108e-02 -2.84954985e-04 9.99892617e-01 5.53215728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62275509600005 meters 0.022490030221468196 Centerline is valid? [True, True] Translation: X:83.69, Y:208.49, Z:5.53 [[-2.97551376e-01 -9.54696699e-01 4.17024896e-03 8.36948892e+01] [ 9.54588524e-01 -2.97580450e-01 -1.43745065e-02 2.08488860e+02] [ 1.49642785e-02 -2.96282396e-04 9.99887985e-01 5.53192733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6527550960001 meters 0.023092913335662355 Centerline is valid? [True, True] Translation: X:83.69, Y:208.51, Z:5.53 [[-2.98479919e-01 -9.54405875e-01 4.37765650e-03 8.36856620e+01] [ 9.54287008e-01 -2.98511849e-01 -1.50659167e-02 2.08514031e+02] [ 1.56857817e-02 -3.19332882e-04 9.99876920e-01 5.53014187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68275509600005 meters 0.020704944118437967 Centerline is valid? [True, True] Translation: X:83.68, Y:208.54, Z:5.53 [[-2.98374735e-01 -9.54439073e-01 4.30973006e-03 8.36772418e+01] [ 9.54324193e-01 -2.98405701e-01 -1.48112346e-02 2.08538628e+02] [ 1.54224691e-02 -3.06418542e-04 9.99881020e-01 5.53324768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7127550960001 meters 0.021020673385921278 Centerline is valid? [True, True] Translation: X:83.67, Y:208.56, Z:5.53 [[-2.98797280e-01 -9.54306541e-01 4.38312236e-03 8.36704829e+01] [ 9.54188057e-01 -2.98829264e-01 -1.50406799e-02 2.08563533e+02] [ 1.56632244e-02 -3.11791232e-04 9.99877276e-01 5.53302313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74275509600005 meters 0.020909817424881225 Centerline is valid? [True, True] Translation: X:83.66, Y:208.59, Z:5.53 [[-2.99377470e-01 -9.54124765e-01 4.36615743e-03 8.36626587e+01] [ 9.54007532e-01 -2.99409143e-01 -1.49597431e-02 2.08588473e+02] [ 1.55807288e-02 -3.13262985e-04 9.99878564e-01 5.53302283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.772755096 meters 0.022075707897849885 Centerline is valid? [True, True] Translation: X:83.66, Y:208.61, Z:5.53 [[-3.00474638e-01 -9.53778528e-01 4.63807594e-03 8.36569654e+01] [ 9.53646592e-01 -3.00510235e-01 -1.58674502e-02 2.08614455e+02] [ 1.65278226e-02 -3.44681043e-04 9.99863347e-01 5.53206982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80275509600006 meters 0.021612148078676577 Centerline is valid? [True, True] Translation: X:83.65, Y:208.64, Z:5.53 [[-3.01181472e-01 -9.53555693e-01 4.61107422e-03 8.36503902e+01] [ 9.53425623e-01 -3.01216566e-01 -1.57531262e-02 2.08639782e+02] [ 1.64104151e-02 -3.48233411e-04 9.99865279e-01 5.53342911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.832755096 meters 0.025393137336251908 Centerline is valid? [True, True] Translation: X:83.65, Y:208.67, Z:5.53 [[-3.03210488e-01 -9.52910815e-01 4.93745730e-03 8.36457576e+01] [ 9.52762035e-01 -3.03250418e-01 -1.68430438e-02 2.08666073e+02] [ 1.75472046e-02 -4.02765664e-04 9.99845955e-01 5.53018798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86275509600006 meters 0.02220603243677016 Centerline is valid? [True, True] Translation: X:83.64, Y:208.69, Z:5.53 [[-3.03037086e-01 -9.52967420e-01 4.64988826e-03 8.36375242e+01] [ 9.52835820e-01 -3.03072533e-01 -1.58410674e-02 2.08690761e+02] [ 1.65052745e-02 -3.69850811e-04 9.99863710e-01 5.53411624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.89275509600003 meters 0.022117644116006963 Centerline is valid? [True, True] Translation: X:83.63, Y:208.72, Z:5.53 [[-3.02779876e-01 -9.53049737e-01 4.53278070e-03 8.36284343e+01] [ 9.52925041e-01 -3.02813602e-01 -1.54204238e-02 2.08715814e+02] [ 1.60690185e-02 -3.49593777e-04 9.99870824e-01 5.53431128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92275509600006 meters 0.021716562268379265 Centerline is valid? [True, True] Translation: X:83.62, Y:208.74, Z:5.53 [[-3.00868408e-01 -9.53654070e-01 4.70279507e-03 8.36183789e+01] [ 9.53520300e-01 -3.00904987e-01 -1.59757904e-02 2.08740098e+02] [ 1.66504721e-02 -3.22400074e-04 9.99861319e-01 5.53384328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.95275509600003 meters 0.021140825589402022 Centerline is valid? [True, True] Translation: X:83.61, Y:208.76, Z:5.53 [[-3.00326240e-01 -9.53823965e-01 4.89837575e-03 8.36096628e+01] [ 9.53679261e-01 -3.00366015e-01 -1.66169845e-02 2.08764952e+02] [ 1.73209836e-02 -3.19037107e-04 9.99849930e-01 5.53336047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98275509600006 meters 0.02040907803250709 Centerline is valid? [True, True] Translation: X:83.60, Y:208.79, Z:5.53 [[-3.00161537e-01 -9.53875134e-01 5.02793627e-03 8.36008232e+01] [ 9.53723116e-01 -3.00203477e-01 -1.70320146e-02 2.08789598e+02] [ 1.77558192e-02 -3.17096633e-04 9.99842303e-01 5.53360463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01275509600003 meters 0.021083206364045665 Centerline is valid? [True, True] Translation: X:83.60, Y:208.81, Z:5.53 [[-3.00006429e-01 -9.53922756e-01 5.24581697e-03 8.35953367e+01] [ 9.53757779e-01 -3.00052118e-01 -1.77433272e-02 2.08814987e+02] [ 1.84997821e-02 -3.19873494e-04 9.99828813e-01 5.53280025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04275509600006 meters 0.02073272760900321 Centerline is valid? [True, True] Translation: X:83.59, Y:208.84, Z:5.53 [[-2.99761043e-01 -9.54000052e-01 5.21708000e-03 8.35861552e+01] [ 9.53837360e-01 -2.99806284e-01 -1.76205265e-02 2.08839988e+02] [ 1.83740966e-02 -3.05701603e-04 9.99831135e-01 5.53359796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07275509600004 meters 0.020774911048384442 Centerline is valid? [True, True] Translation: X:83.58, Y:208.86, Z:5.53 [[-2.99667671e-01 -9.54029530e-01 5.19066651e-03 8.35779065e+01] [ 9.53868929e-01 -2.99712477e-01 -1.75070485e-02 2.08864199e+02] [ 1.82579488e-02 -2.95080951e-04 9.99833266e-01 5.53366779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10275509600007 meters 0.021002732751583344 Centerline is valid? [True, True] Translation: X:83.57, Y:208.89, Z:5.53 [[-3.00200951e-01 -9.53860905e-01 5.36315811e-03 8.35693596e+01] [ 9.53689935e-01 -3.00248697e-01 -1.80617952e-02 2.08887289e+02] [ 1.88387216e-02 -3.07378210e-04 9.99822488e-01 5.53353977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13275509600004 meters 0.022588204747170583 Centerline is valid? [True, True] Translation: X:83.56, Y:208.91, Z:5.53 [[-3.01245343e-01 -9.53531151e-01 5.43941519e-03 8.35617856e+01] [ 9.53355761e-01 -3.01294273e-01 -1.82908440e-02 2.08912110e+02] [ 1.90797542e-02 -3.24333788e-04 9.99817912e-01 5.53246642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16275509600007 meters 0.022116014253573516 Centerline is valid? [True, True] Translation: X:83.56, Y:208.94, Z:5.54 [[-3.02761850e-01 -9.53052493e-01 5.11946627e-03 8.35555288e+01] [ 9.52897498e-01 -3.02804954e-01 -1.71906577e-02 2.08936069e+02] [ 1.79337989e-02 -3.26348718e-04 9.99839123e-01 5.53561260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.19275509600004 meters 0.022652008445237883 Centerline is valid? [True, True] Translation: X:83.55, Y:208.96, Z:5.54 [[-3.03992072e-01 -9.52660599e-01 5.15780593e-03 8.35487877e+01] [ 9.52503682e-01 -3.04035629e-01 -1.72937131e-02 2.08960990e+02] [ 1.80431958e-02 -3.44322525e-04 9.99837149e-01 5.53604797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22275509600007 meters 0.023264321758416362 Centerline is valid? [True, True] Translation: X:83.54, Y:208.99, Z:5.54 [[-3.05295846e-01 -9.52243731e-01 5.13055215e-03 8.35419144e+01] [ 9.52088845e-01 -3.05338741e-01 -1.71780273e-02 2.08985682e+02] [ 1.79242251e-02 -3.59638897e-04 9.99839284e-01 5.53642622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.25275509600004 meters 0.025191525077374717 Centerline is valid? [True, True] Translation: X:83.54, Y:209.01, Z:5.54 [[-3.08423989e-01 -9.51235014e-01 5.15666651e-03 8.35371333e+01] [ 9.51078811e-01 -3.08466817e-01 -1.72429376e-02 2.09010235e+02] [ 1.79927465e-02 -4.13739335e-04 9.99838032e-01 5.53639470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2827550960001 meters 0.022687661185418102 Centerline is valid? [True, True] Translation: X:83.53, Y:209.03, Z:5.54 [[-3.10177189e-01 -9.50665011e-01 5.11345507e-03 8.35250091e+01] [ 9.50511687e-01 -3.10219028e-01 -1.70788728e-02 2.09034893e+02] [ 1.78225779e-02 -4.37077972e-04 9.99841070e-01 5.53820538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.31275509600005 meters 0.02449205343790972 Centerline is valid? [True, True] Translation: X:83.52, Y:209.06, Z:5.54 [[-3.11872864e-01 -9.50110107e-01 5.10895885e-03 8.35200846e+01] [ 9.49957376e-01 -3.11914366e-01 -1.70414820e-02 2.09060450e+02] [ 1.77848419e-02 -4.61482655e-04 9.99841731e-01 5.53809046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3427550960001 meters 0.025669378983696707 Centerline is valid? [True, True] Translation: X:83.51, Y:209.09, Z:5.54 [[-3.14750724e-01 -9.49160377e-01 5.15368826e-03 8.35137422e+01] [ 9.49005247e-01 -3.14792497e-01 -1.71675799e-02 2.09086378e+02] [ 1.79171290e-02 -5.12631018e-04 9.99839344e-01 5.53890538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.37275509600005 meters 0.030331327044300554 Centerline is valid? [True, True] Translation: X:83.51, Y:209.11, Z:5.54 [[-3.16170214e-01 -9.48688544e-01 5.14216881e-03 8.35129518e+01] [ 9.48534443e-01 -3.16211581e-01 -1.71069373e-02 2.09113777e+02] [ 1.78551688e-02 -5.31179804e-04 9.99840443e-01 5.53806286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4027550960001 meters 0.026887257059733865 Centerline is valid? [True, True] Translation: X:83.50, Y:209.14, Z:5.54 [[-3.18080067e-01 -9.48048906e-01 5.32384946e-03 8.34997786e+01] [ 9.47884060e-01 -3.18124090e-01 -1.76882165e-02 2.09138542e+02] [ 1.84629391e-02 -5.79877061e-04 9.99829377e-01 5.53957894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.43275509600005 meters 0.026969642947924394 Centerline is valid? [True, True] Translation: X:83.49, Y:209.16, Z:5.54 [[-3.18971142e-01 -9.47749354e-01 5.34536880e-03 8.34923016e+01] [ 9.47583559e-01 -3.19015379e-01 -1.77366144e-02 2.09163879e+02] [ 1.85151197e-02 -5.92284564e-04 9.99828405e-01 5.54072711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4627550960001 meters 0.028980167112095164 Centerline is valid? [True, True] Translation: X:83.48, Y:209.19, Z:5.54 [[-3.19892960e-01 -9.47437906e-01 5.46889257e-03 8.34846980e+01] [ 9.47264777e-01 -3.19939110e-01 -1.81220267e-02 2.09190162e+02] [ 1.89192076e-02 -6.16619435e-04 9.99820826e-01 5.53920877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.49275509600005 meters 0.02807678493983143 Centerline is valid? [True, True] Translation: X:83.48, Y:209.22, Z:5.54 [[-3.19573351e-01 -9.47544954e-01 5.60654860e-03 8.34751726e+01] [ 9.47363475e-01 -3.19621930e-01 -1.85544557e-02 2.09215413e+02] [ 1.93731568e-02 -6.18070220e-04 9.99812132e-01 5.54019946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.522755096 meters 0.026906237303697185 Centerline is valid? [True, True] Translation: X:83.47, Y:209.24, Z:5.54 [[-3.19206105e-01 -9.47667527e-01 5.80697010e-03 8.34666014e+01] [ 9.47473382e-01 -3.19258311e-01 -1.91917114e-02 2.09240502e+02] [ 2.00412851e-02 -6.24161845e-04 9.99798958e-01 5.54152951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.55275509600006 meters 0.029177378288972287 Centerline is valid? [True, True] Translation: X:83.46, Y:209.26, Z:5.54 [[-3.18753709e-01 -9.47817957e-01 6.09858260e-03 8.34597208e+01] [ 9.47604455e-01 -3.18811409e-01 -2.01266433e-02 2.09264836e+02] [ 2.10206916e-02 -6.36398147e-04 9.99778838e-01 5.53906359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.582755096 meters 0.027143031321545875 Centerline is valid? [True, True] Translation: X:83.45, Y:209.29, Z:5.54 [[-3.17655657e-01 -9.48187687e-01 5.91556490e-03 8.34522102e+01] [ 9.47987425e-01 -3.17710195e-01 -1.94955153e-02 2.09289463e+02] [ 2.03648428e-02 -5.84979572e-04 9.99792444e-01 5.54230588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.61275509600006 meters 0.028309510726565495 Centerline is valid? [True, True] Translation: X:83.44, Y:209.31, Z:5.54 [[-3.17467838e-01 -9.48249263e-01 6.12431478e-03 8.34437397e+01] [ 9.48035240e-01 -3.17526353e-01 -2.01543585e-02 2.09314057e+02] [ 2.10559869e-02 -5.92294382e-04 9.99778123e-01 5.54036628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64275509600003 meters 0.025417528613881107 Centerline is valid? [True, True] Translation: X:83.43, Y:209.34, Z:5.54 [[-3.15505369e-01 -9.48905100e-01 5.95598097e-03 8.34332204e+01] [ 9.48703342e-01 -3.15561144e-01 -1.95737776e-02 2.09338076e+02] [ 2.04531336e-02 -5.25172867e-04 9.99790675e-01 5.54295887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.67275509600006 meters 0.025232222987941116 Centerline is valid? [True, True] Translation: X:83.43, Y:209.36, Z:5.54 [[-3.15106867e-01 -9.49037327e-01 5.98443999e-03 8.34251603e+01] [ 9.48834223e-01 -3.15163277e-01 -1.96399175e-02 2.09361742e+02] [ 2.05250905e-02 -5.10431406e-04 9.99789208e-01 5.54342637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70275509600003 meters 0.02553950263859173 Centerline is valid? [True, True] Translation: X:83.42, Y:209.39, Z:5.54 [[-3.13364160e-01 -9.49613243e-01 6.13128304e-03 8.34160495e+01] [ 9.49400760e-01 -3.13423776e-01 -2.00931124e-02 2.09386159e+02] [ 2.10023755e-02 -4.75416530e-04 9.99779313e-01 5.54288184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.73275509600006 meters 0.023847029285744864 Centerline is valid? [True, True] Translation: X:83.41, Y:209.41, Z:5.55 [[-3.12590292e-01 -9.49870444e-01 5.78351128e-03 8.34072810e+01] [ 9.49681894e-01 -3.12643502e-01 -1.89299028e-02 2.09410597e+02] [ 1.97891324e-02 -4.24807896e-04 9.99804086e-01 5.54541183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76275509600003 meters 0.023509267606338723 Centerline is valid? [True, True] Translation: X:83.40, Y:209.43, Z:5.55 [[-3.12227322e-01 -9.49990088e-01 5.73859445e-03 8.33989921e+01] [ 9.49804962e-01 -3.12279790e-01 -1.87581106e-02 2.09434435e+02] [ 1.96120662e-02 -4.06249168e-04 9.99807582e-01 5.54558307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.79275509600006 meters 0.024133781726824215 Centerline is valid? [True, True] Translation: X:83.39, Y:209.46, Z:5.55 [[-3.12298203e-01 -9.49967249e-01 5.66200555e-03 8.33911076e+01] [ 9.49787522e-01 -3.12349277e-01 -1.84822290e-02 2.09458333e+02] [ 1.93260356e-02 -3.94264691e-04 9.99813157e-01 5.54521752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82275509600004 meters 0.022362926580718808 Centerline is valid? [True, True] Translation: X:83.38, Y:209.48, Z:5.55 [[-3.12410709e-01 -9.49931548e-01 5.44080798e-03 8.33813177e+01] [ 9.49766022e-01 -3.12457860e-01 -1.77366555e-02 2.09483180e+02] [ 1.85486319e-02 -3.73626580e-04 9.99827890e-01 5.54750834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.85275509600007 meters 0.022171921601667494 Centerline is valid? [True, True] Translation: X:83.37, Y:209.51, Z:5.55 [[-3.13324685e-01 -9.49629964e-01 5.52939657e-03 8.33732999e+01] [ 9.49459411e-01 -3.13373228e-01 -1.80013221e-02 2.09508105e+02] [ 1.88273597e-02 -3.90320967e-04 9.99822673e-01 5.54774707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88275509600004 meters 0.024153172619325376 Centerline is valid? [True, True] Translation: X:83.37, Y:209.53, Z:5.55 [[-3.15025112e-01 -9.49066432e-01 5.66441385e-03 8.33671223e+01] [ 9.48887786e-01 -3.15075744e-01 -1.84186304e-02 2.09533811e+02] [ 1.92652233e-02 -4.27437995e-04 9.99814317e-01 5.54628460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91275509600007 meters 0.02476733067380342 Centerline is valid? [True, True] Translation: X:83.36, Y:209.56, Z:5.55 [[-3.17576208e-01 -9.48216285e-01 5.58835923e-03 8.33639885e+01] [ 9.48042648e-01 -3.17625030e-01 -1.81515014e-02 2.09559238e+02] [ 1.89865520e-02 -4.66482105e-04 9.99819630e-01 5.54739485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94275509600004 meters 0.022736506937107985 Centerline is valid? [True, True] Translation: X:83.35, Y:209.58, Z:5.55 [[-3.19373662e-01 -9.47612469e-01 5.57431734e-03 8.33534417e+01] [ 9.47440073e-01 -3.19421924e-01 -1.80815366e-02 2.09584710e+02] [ 1.89148487e-02 -4.93434920e-04 9.99820977e-01 5.54930550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.97275509600007 meters 0.023250993472514334 Centerline is valid? [True, True] Translation: X:83.35, Y:209.61, Z:5.55 [[-3.20683350e-01 -9.47170395e-01 5.51650561e-03 8.33470434e+01] [ 9.47001919e-01 -3.20730395e-01 -1.78712091e-02 2.09611050e+02] [ 1.86963912e-02 -5.06857826e-04 9.99825079e-01 5.54984218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00275509600004 meters 0.026201475420996267 Centerline is valid? [True, True] Translation: X:83.34, Y:209.64, Z:5.55 [[-3.22139429e-01 -9.46675382e-01 5.64883869e-03 8.33442651e+01] [ 9.46499110e-01 -3.22188498e-01 -1.82758591e-02 2.09637332e+02] [ 1.91212968e-02 -5.40754025e-04 9.99817025e-01 5.54932987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0327550960001 meters 0.02465195163179818 Centerline is valid? [True, True] Translation: X:83.33, Y:209.66, Z:5.55 [[-3.22406491e-01 -9.46583478e-01 5.81159029e-03 8.33338220e+01] [ 9.46397392e-01 -3.22458390e-01 -1.87766823e-02 2.09661598e+02] [ 1.96476933e-02 -5.53650353e-04 9.99806812e-01 5.54961240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06275509600005 meters 0.02465195163179818 Centerline is valid? [True, True] Translation: X:83.33, Y:209.69, Z:5.55 [[-3.22773686e-01 -9.46458287e-01 5.81886110e-03 8.33259044e+01] [ 9.46272221e-01 -3.22825658e-01 -1.87744294e-02 2.09686297e+02] [ 1.96476920e-02 -5.53665177e-04 9.99806812e-01 5.54992102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0927550960001 meters 0.026069407447088862 Centerline is valid? [True, True] Translation: X:83.32, Y:209.71, Z:5.55 [[-3.21594343e-01 -9.46858038e-01 6.07731813e-03 8.33198572e+01] [ 9.46655685e-01 -3.21651300e-01 -1.95820014e-02 2.09712465e+02] [ 2.04961527e-02 -5.44333103e-04 9.99789784e-01 5.54798267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12275509600005 meters 0.02253308108139284 Centerline is valid? [True, True] Translation: X:83.31, Y:209.74, Z:5.55 [[-3.20797366e-01 -9.47126711e-01 6.32801370e-03 8.33064492e+01] [ 9.46907948e-01 -3.20859318e-01 -2.03626120e-02 2.09735490e+02] [ 2.13163758e-02 -5.40225807e-04 9.99772634e-01 5.54936760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1527550960001 meters 0.02348896286342985 Centerline is valid? [True, True] Translation: X:83.30, Y:209.76, Z:5.55 [[-3.19436839e-01 -9.47585301e-01 6.49642183e-03 8.33004556e+01] [ 9.47355426e-01 -3.19502477e-01 -2.08773750e-02 2.09760275e+02] [ 2.18587166e-02 -5.14582217e-04 9.99760937e-01 5.54835057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18275509600005 meters 0.02138921873574182 Centerline is valid? [True, True] Translation: X:83.29, Y:209.79, Z:5.55 [[-3.16474664e-01 -9.48577492e-01 6.67305014e-03 8.32886487e+01] [ 9.48335657e-01 -3.16544687e-01 -2.14229416e-02 2.09785633e+02] [ 2.24336387e-02 -4.51526841e-04 9.99748232e-01 5.54859661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2127550960001 meters 0.0208388474459943 Centerline is valid? [True, True] Translation: X:83.28, Y:209.81, Z:5.55 [[-3.15124641e-01 -9.49026978e-01 6.65253803e-03 8.32796053e+01] [ 9.48787229e-01 -3.15194585e-01 -2.13346656e-02 2.09811219e+02] [ 2.23440172e-02 -4.11235717e-04 9.99750257e-01 5.54905288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24275509600005 meters 0.020052844838451184 Centerline is valid? [True, True] Translation: X:83.27, Y:209.84, Z:5.55 [[-3.12193373e-01 -9.49995680e-01 6.59589505e-03 8.32688035e+01] [ 9.49760785e-01 -3.12262867e-01 -2.11270548e-02 2.09836382e+02] [ 2.21302639e-02 -3.31204017e-04 9.99755041e-01 5.54959746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.272755096 meters 0.019151655578132063 Centerline is valid? [True, True] Translation: X:83.26, Y:209.86, Z:5.55 [[-3.10677057e-01 -9.50492794e-01 6.57378654e-03 8.32599364e+01] [ 9.50260193e-01 -3.10746467e-01 -2.10285273e-02 2.09859786e+02] [ 2.20302446e-02 -2.86273323e-04 9.99757264e-01 5.55062091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30275509600006 meters 0.01805668444425505 Centerline is valid? [True, True] Translation: X:83.25, Y:209.88, Z:5.55 [[-3.09129970e-01 -9.50998314e-01 6.39284814e-03 8.32496144e+01] [ 9.50779001e-01 -3.09195975e-01 -2.04240000e-02 2.09884768e+02] [ 2.13998325e-02 -2.35484722e-04 9.99770970e-01 5.55208174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.332755096 meters 0.01744554525447465 Centerline is valid? [True, True] Translation: X:83.24, Y:209.91, Z:5.55 [[-3.06154748e-01 -9.51959861e-01 6.45711386e-03 8.32395049e+01] [ 9.51736886e-01 -3.06222791e-01 -2.06034430e-02 2.09908362e+02] [ 2.15909662e-02 -1.62368474e-04 9.99766875e-01 5.55212102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36275509600006 meters 0.017874226126029735 Centerline is valid? [True, True] Translation: X:83.23, Y:209.93, Z:5.55 [[-3.05192476e-01 -9.52268892e-01 6.44289228e-03 8.32304818e+01] [ 9.52047580e-01 -3.05260448e-01 -2.05295793e-02 2.09932847e+02] [ 2.15164399e-02 -1.31533136e-04 9.99768486e-01 5.55213540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.39275509600003 meters 0.01672927599851463 Centerline is valid? [True, True] Translation: X:83.22, Y:209.96, Z:5.55 [[-3.03934448e-01 -9.52670825e-01 6.49226279e-03 8.32212900e+01] [ 9.52446805e-01 -3.04003765e-01 -2.06590060e-02 2.09957697e+02] [ 2.16549046e-02 -9.54486439e-05 9.99765501e-01 5.55400916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42275509600006 meters 0.016620399818592684 Centerline is valid? [True, True] Translation: X:83.21, Y:209.98, Z:5.55 [[-3.02695203e-01 -9.53064877e-01 6.55401415e-03 8.32120846e+01] [ 9.52837297e-01 -3.02766144e-01 -2.08266187e-02 2.09981386e+02] [ 2.18334524e-02 -5.92084711e-05 9.99761620e-01 5.55415441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.45275509600003 meters 0.01655878177293648 Centerline is valid? [True, True] Translation: X:83.20, Y:210.01, Z:5.56 [[-3.02880551e-01 -9.53006312e-01 6.50699197e-03 8.32034603e+01] [ 9.52782593e-01 -3.02950435e-01 -2.06486144e-02 2.10006438e+02] [ 2.16495559e-02 -5.43150103e-05 9.99765619e-01 5.55510506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48275509600006 meters 0.016713171654973092 Centerline is valid? [True, True] Translation: X:83.20, Y:210.03, Z:5.55 [[-3.03518501e-01 -9.52802631e-01 6.60798774e-03 8.31963609e+01] [ 9.52572509e-01 -3.03590418e-01 -2.09397423e-02 2.10030509e+02] [ 2.19575634e-02 -6.10117441e-05 9.99758902e-01 5.55487879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51275509600003 meters 0.017379794550310905 Centerline is valid? [True, True] Translation: X:83.19, Y:210.06, Z:5.56 [[-3.04568591e-01 -9.52467056e-01 6.66945566e-03 8.31892857e+01] [ 9.52233206e-01 -3.04641596e-01 -2.11049665e-02 2.10055503e+02] [ 2.21335789e-02 -7.70327542e-05 9.99755019e-01 5.55559240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54275509600006 meters 0.01943109505394912 Centerline is valid? [True, True] Translation: X:83.18, Y:210.08, Z:5.56 [[-3.06633819e-01 -9.51802455e-01 6.91287844e-03 8.31839100e+01] [ 9.51551746e-01 -3.06711708e-01 -2.18449765e-02 2.10081388e+02] [ 2.29123630e-02 -1.20447015e-04 9.99737470e-01 5.55509407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57275509600004 meters 0.019507975177948417 Centerline is valid? [True, True] Translation: X:83.18, Y:210.11, Z:5.56 [[-3.08038323e-01 -9.51348168e-01 7.00390392e-03 8.31774193e+01] [ 9.51091326e-01 -3.08117901e-01 -2.21053974e-02 2.10106243e+02] [ 2.31879575e-02 -1.47957270e-04 9.99731112e-01 5.55554615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60275509600007 meters 0.01721902479565199 Centerline is valid? [True, True] Translation: X:83.17, Y:210.13, Z:5.56 [[-3.09958472e-01 -9.50727231e-01 6.59378734e-03 8.31712920e+01] [ 9.50499976e-01 -3.10028550e-01 -2.07868799e-02 2.10131843e+02] [ 2.18069151e-02 -1.75674825e-04 9.99762186e-01 5.55948005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63275509600004 meters 0.01745774565986704 Centerline is valid? [True, True] Translation: X:83.16, Y:210.16, Z:5.56 [[-3.11326588e-01 -9.50279970e-01 6.61312339e-03 8.31637091e+01] [ 9.50051889e-01 -3.11396754e-01 -2.08199615e-02 2.10157188e+02] [ 2.18440976e-02 -1.98997219e-04 9.99761369e-01 5.56018605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66275509600007 meters 0.017771355156706723 Centerline is valid? [True, True] Translation: X:83.16, Y:210.18, Z:5.56 [[-3.12504597e-01 -9.49893569e-01 6.56392974e-03 8.31566235e+01] [ 9.49669388e-01 -3.12573451e-01 -2.06371397e-02 2.10181546e+02] [ 2.16547965e-02 -2.15637908e-04 9.99765484e-01 5.56018688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.69275509600004 meters 0.019979452836228876 Centerline is valid? [True, True] Translation: X:83.15, Y:210.21, Z:5.56 [[-3.14936600e-01 -9.49088191e-01 6.82235769e-03 8.31505832e+01] [ 9.48846466e-01 -3.15010369e-01 -2.14208376e-02 2.10207070e+02] [ 2.24793774e-02 -2.72835791e-04 9.99747270e-01 5.55875750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72275509600007 meters 0.01975149536328614 Centerline is valid? [True, True] Translation: X:83.14, Y:210.23, Z:5.56 [[-3.16297782e-01 -9.48636742e-01 6.63660040e-03 8.31434570e+01] [ 9.48408468e-01 -3.16367267e-01 -2.08117645e-02 2.10232960e+02] [ 2.18424076e-02 -2.88506922e-04 9.99761385e-01 5.55998020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.75275509600004 meters 0.02064037725547191 Centerline is valid? [True, True] Translation: X:83.14, Y:210.26, Z:5.56 [[-3.17918297e-01 -9.48094377e-01 6.70888628e-03 8.31373038e+01] [ 9.47861595e-01 -3.17988915e-01 -2.10106406e-02 2.10257510e+02] [ 2.20534217e-02 -3.20571444e-04 9.99756742e-01 5.56012740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7827550960001 meters 0.020127071560580134 Centerline is valid? [True, True] Translation: X:83.13, Y:210.28, Z:5.56 [[-3.20258105e-01 -9.47307347e-01 6.59829028e-03 8.31321708e+01] [ 9.47082539e-01 -3.20325867e-01 -2.06398684e-02 2.10282229e+02] [ 2.16659020e-02 -3.60959617e-04 9.99765202e-01 5.56291698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.81275509600005 meters 0.022165144313431993 Centerline is valid? [True, True] Translation: X:83.12, Y:210.31, Z:5.56 [[-3.21913825e-01 -9.46744061e-01 6.86815706e-03 8.31225636e+01] [ 9.46500908e-01 -3.21986826e-01 -2.14595955e-02 2.10307873e+02] [ 2.25282007e-02 -4.07423579e-04 9.99746125e-01 5.56188344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8427550960001 meters 0.019514994842046007 Centerline is valid? [True, True] Translation: X:83.11, Y:210.33, Z:5.57 [[-3.22590276e-01 -9.46516206e-01 6.52575860e-03 8.31146990e+01] [ 9.46297196e-01 -3.22656034e-01 -2.03641870e-02 2.10332895e+02] [ 2.13806084e-02 -3.93981629e-04 9.99771331e-01 5.56533215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.87275509600005 meters 0.020190977264797166 Centerline is valid? [True, True] Translation: X:83.11, Y:210.36, Z:5.57 [[-3.23674147e-01 -9.46146207e-01 6.51164097e-03 8.31071426e+01] [ 9.45928656e-01 -3.23739383e-01 -2.02925943e-02 2.10358108e+02] [ 2.13078357e-02 -4.08640352e-04 9.99772879e-01 5.56556847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9027550960001 meters 0.01964018615022029 Centerline is valid? [True, True] Translation: X:83.10, Y:210.38, Z:5.57 [[-3.24593333e-01 -9.45832859e-01 6.27458521e-03 8.30983113e+01] [ 9.45631338e-01 -3.24653720e-01 -1.95277975e-02 2.10383328e+02] [ 2.05070999e-02 -4.05148459e-04 9.99789625e-01 5.56782109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.93275509600005 meters 0.022965984527211075 Centerline is valid? [True, True] Translation: X:83.09, Y:210.41, Z:5.57 [[-3.25091234e-01 -9.45661899e-01 6.26598194e-03 8.30912240e+01] [ 9.45461455e-01 -3.25151361e-01 -1.94738418e-02 2.10407463e+02] [ 2.04530628e-02 -4.06530853e-04 9.99790732e-01 5.56550107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9627550960001 meters 0.020680344703555457 Centerline is valid? [True, True] Translation: X:83.08, Y:210.43, Z:5.57 [[-3.24659600e-01 -9.45813908e-01 5.67416457e-03 8.30834504e+01] [ 9.45650000e-01 -3.24708990e-01 -1.76110881e-02 2.10431310e+02] [ 1.84992643e-02 -3.51835082e-04 9.99828812e-01 5.56911451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.99275509600005 meters 0.021820013008271306 Centerline is valid? [True, True] Translation: X:83.07, Y:210.46, Z:5.57 [[-3.25169633e-01 -9.45637730e-01 5.83036672e-03 8.30732055e+01] [ 9.45465115e-01 -3.25221695e-01 -1.80711090e-02 2.10456243e+02] [ 1.89848842e-02 -3.63767542e-04 9.99819705e-01 5.56855162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.022755096 meters 0.01934032100282843 Centerline is valid? [True, True] Translation: X:83.07, Y:210.48, Z:5.57 [[-3.24920848e-01 -9.45725946e-01 5.37382898e-03 8.30660920e+01] [ 9.45579682e-01 -3.24965123e-01 -1.66353534e-02 2.10480826e+02] [ 1.74787923e-02 -3.23789637e-04 9.99847182e-01 5.57210726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.05275509600006 meters 0.01917063845382575 Centerline is valid? [True, True] Translation: X:83.06, Y:210.51, Z:5.57 [[-3.25139841e-01 -9.45651606e-01 5.20810279e-03 8.30577640e+01] [ 9.45514591e-01 -3.25181402e-01 -1.61001080e-02 2.10505405e+02] [ 1.69186711e-02 -3.10449368e-04 9.99856821e-01 5.57353799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.082755096 meters 0.019278491869103697 Centerline is valid? [True, True] Translation: X:83.05, Y:210.53, Z:5.57 [[-3.25577643e-01 -9.45501398e-01 5.12875917e-03 8.30500132e+01] [ 9.45368858e-01 -3.25617892e-01 -1.58338227e-02 2.10529795e+02] [ 1.66409172e-02 -3.06569461e-04 9.99861483e-01 5.57406241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.11275509600006 meters 0.01869097038952223 Centerline is valid? [True, True] Translation: X:83.04, Y:210.56, Z:5.57 [[-3.26038656e-01 -9.45343296e-01 4.98463063e-03 8.30400705e+01] [ 9.45218409e-01 -3.26076620e-01 -1.53686993e-02 2.10555638e+02] [ 1.61540684e-02 -2.99225437e-04 9.99869470e-01 5.57499658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14275509600003 meters 0.020707783972313286 Centerline is valid? [True, True] Translation: X:83.03, Y:210.58, Z:5.57 [[-3.26900398e-01 -9.45045959e-01 4.92591251e-03 8.30318409e+01] [ 9.44924258e-01 -3.26937368e-01 -1.51691789e-02 2.10582019e+02] [ 1.59460361e-02 -3.04196411e-04 9.99872808e-01 5.57395350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.17275509600006 meters 0.019078759151445267 Centerline is valid? [True, True] Translation: X:83.02, Y:210.61, Z:5.58 [[-3.27316746e-01 -9.44903189e-01 4.65949831e-03 8.30236850e+01] [ 9.44794545e-01 -3.27349782e-01 -1.43313919e-02 2.10606117e+02] [ 1.50670636e-02 -2.88635967e-04 9.99886444e-01 5.57726446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20275509600003 meters 0.01960718416045783 Centerline is valid? [True, True] Translation: X:83.02, Y:210.63, Z:5.58 [[-3.28298987e-01 -9.44563307e-01 4.46470985e-03 8.30153738e+01] [ 9.44463793e-01 -3.28329221e-01 -1.37137338e-02 2.10631032e+02] [ 1.44193845e-02 -2.85448123e-04 9.99895995e-01 5.57718846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.23275509600006 meters 0.01941671442018273 Centerline is valid? [True, True] Translation: X:83.01, Y:210.66, Z:5.58 [[-3.29516567e-01 -9.44139023e-01 4.50968469e-03 8.30066005e+01] [ 9.44037724e-01 -3.29547287e-01 -1.38333209e-02 2.10655524e+02] [ 1.45467325e-02 -3.00995962e-04 9.99894145e-01 5.57813350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26275509600003 meters 0.022362487373213537 Centerline is valid? [True, True] Translation: X:83.00, Y:210.68, Z:5.58 [[-3.31142546e-01 -9.43569510e-01 4.60366802e-03 8.29985409e+01] [ 9.43464168e-01 -3.31174385e-01 -1.41028497e-02 2.10681174e+02] [ 1.48316359e-02 -3.26657742e-04 9.99889952e-01 5.57553249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.29275509600006 meters 0.020413744669491828 Centerline is valid? [True, True] Translation: X:82.99, Y:210.71, Z:5.58 [[-3.31998941e-01 -9.43270079e-01 4.27324407e-03 8.29906175e+01] [ 9.43179491e-01 -3.32026296e-01 -1.30762032e-02 2.10705408e+02] [ 1.37532206e-02 -3.10849444e-04 9.99905372e-01 5.57878040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32275509600004 meters 0.02101684877262654 Centerline is valid? [True, True] Translation: X:82.98, Y:210.73, Z:5.58 [[-3.34235274e-01 -9.42479777e-01 4.31885475e-03 8.29825081e+01] [ 9.42387377e-01 -3.34263000e-01 -1.32014702e-02 2.10731143e+02] [ 1.38857521e-02 -3.42362814e-04 9.99903530e-01 5.57913144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.35275509600007 meters 0.022497471196583175 Centerline is valid? [True, True] Translation: X:82.97, Y:210.76, Z:5.58 [[-3.35605800e-01 -9.41992249e-01 4.39890514e-03 8.29748116e+01] [ 9.41896581e-01 -3.35634430e-01 -1.34298260e-02 2.10756298e+02] [ 1.41272160e-02 -3.63813789e-04 9.99900140e-01 5.57831982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38275509600004 meters 0.024184519720466712 Centerline is valid? [True, True] Translation: X:82.97, Y:210.78, Z:5.58 [[-3.37122785e-01 -9.41451118e-01 4.24505422e-03 8.29654266e+01] [ 9.41362193e-01 -3.37149310e-01 -1.29446286e-02 2.10781470e+02] [ 1.36179521e-02 -3.67795682e-04 9.99907204e-01 5.57743534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41275509600007 meters 0.024770556186116975 Centerline is valid? [True, True] Translation: X:82.96, Y:210.81, Z:5.58 [[-3.37703095e-01 -9.41243072e-01 4.25423554e-03 8.29569735e+01] [ 9.41153953e-01 -3.37729685e-01 -1.29575166e-02 2.10805347e+02] [ 1.36329543e-02 -3.71902860e-04 9.99906998e-01 5.57760852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44275509600004 meters 0.02296407022482366 Centerline is valid? [True, True] Translation: X:82.95, Y:210.83, Z:5.58 [[-3.37573001e-01 -9.41290964e-01 3.97362532e-03 8.29482423e+01] [ 9.41213370e-01 -3.37596215e-01 -1.20907948e-02 2.10829148e+02] [ 1.27224368e-02 -3.41496617e-04 9.99919008e-01 5.58084939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.47275509600007 meters 0.0224061861450307 Centerline is valid? [True, True] Translation: X:82.94, Y:210.85, Z:5.58 [[-3.37602215e-01 -9.41280502e-01 3.97012078e-03 8.29378282e+01] [ 9.41203250e-01 -3.37625391e-01 -1.20639104e-02 2.10853835e+02] [ 1.26959373e-02 -3.36112306e-04 9.99919347e-01 5.58115307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50275509600004 meters 0.020953066380405446 Centerline is valid? [True, True] Translation: X:82.92, Y:210.88, Z:5.58 [[-3.36253253e-01 -9.41762443e-01 4.15337681e-03 8.29237354e+01] [ 9.41678153e-01 -3.36278744e-01 -1.26040717e-02 2.10877663e+02] [ 1.32667337e-02 -3.27015920e-04 9.99911940e-01 5.57971760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5327550960001 meters 0.02431615599971491 Centerline is valid? [True, True] Translation: X:82.92, Y:210.90, Z:5.58 [[-3.35932428e-01 -9.41876070e-01 4.34420382e-03 8.29165761e+01] [ 9.41784100e-01 -3.35960353e-01 -1.31662353e-02 2.10902178e+02] [ 1.38604422e-02 -3.31663293e-04 9.99903884e-01 5.57741017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56275509600005 meters 0.020792665604267083 Centerline is valid? [True, True] Translation: X:82.90, Y:210.93, Z:5.58 [[-3.34720266e-01 -9.42308285e-01 4.17605315e-03 8.29024957e+01] [ 9.42223555e-01 -3.34746185e-01 -1.26397596e-02 2.10925799e+02] [ 1.33084681e-02 -2.96008057e-04 9.99911395e-01 5.57915924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5927550960001 meters 0.019021258856078055 Centerline is valid? [True, True] Translation: X:82.89, Y:210.95, Z:5.58 [[-3.34406278e-01 -9.42420679e-01 3.96308602e-03 8.28927596e+01] [ 9.42344555e-01 -3.34429650e-01 -1.19812373e-02 2.10950511e+02] [ 1.26167392e-02 -2.72008421e-04 9.99920369e-01 5.58153079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62275509600005 meters 0.02067023061593856 Centerline is valid? [True, True] Translation: X:82.88, Y:210.98, Z:5.58 [[-3.34478220e-01 -9.42394297e-01 4.16055091e-03 8.28835808e+01] [ 9.42310628e-01 -3.34503977e-01 -1.25606482e-02 2.10975543e+02] [ 1.32288041e-02 -2.80731917e-04 9.99912456e-01 5.57919016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6527550960001 meters 0.020977219706884747 Centerline is valid? [True, True] Translation: X:82.88, Y:211.00, Z:5.58 [[-3.34649331e-01 -9.42332870e-01 4.31136902e-03 8.28769414e+01] [ 9.42243266e-01 -3.34676979e-01 -1.29979865e-02 2.11000356e+02] [ 1.36913458e-02 -2.87409052e-04 9.99906228e-01 5.58026154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68275509600005 meters 0.018787039462664926 Centerline is valid? [True, True] Translation: X:82.86, Y:211.02, Z:5.58 [[-3.35270820e-01 -9.42111610e-01 4.38075041e-03 8.28642434e+01] [ 9.42019334e-01 -3.35299309e-01 -1.31889191e-02 2.11024570e+02] [ 1.38942964e-02 -2.95108126e-04 9.99903426e-01 5.58041382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7127550960001 meters 0.021654134882469814 Centerline is valid? [True, True] Translation: X:82.86, Y:211.05, Z:5.58 [[-3.36370695e-01 -9.41717603e-01 4.76568355e-03 8.28562910e+01] [ 9.41608638e-01 -3.36404289e-01 -1.43292254e-02 2.11050217e+02] [ 1.50972802e-02 -3.32522707e-04 9.99885974e-01 5.57771283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74275509600005 meters 0.01915889052648741 Centerline is valid? [True, True] Translation: X:82.85, Y:211.08, Z:5.58 [[-3.37234079e-01 -9.41411103e-01 4.27906994e-03 8.28478343e+01] [ 9.41323423e-01 -3.37261087e-01 -1.28519134e-02 2.11075667e+02] [ 1.35420977e-02 -3.06114408e-04 9.99908255e-01 5.58129433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.772755096 meters 0.021815762684530456 Centerline is valid? [True, True] Translation: X:82.84, Y:211.10, Z:5.58 [[-3.39505316e-01 -9.40594229e-01 4.31705986e-03 8.28416728e+01] [ 9.40505136e-01 -3.39532596e-01 -1.29501485e-02 2.11101202e+02] [ 1.36466175e-02 -3.36427294e-04 9.99906824e-01 5.57920633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80275509600006 meters 0.0210005738745628 Centerline is valid? [True, True] Translation: X:82.83, Y:211.13, Z:5.58 [[-3.40539805e-01 -9.40221509e-01 4.01926335e-03 8.28346856e+01] [ 9.40144437e-01 -3.40563371e-01 -1.20427462e-02 2.11125734e+02] [ 1.26916629e-02 -3.22346370e-04 9.99919406e-01 5.58177512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.832755096 meters 0.021892470492868667 Centerline is valid? [True, True] Translation: X:82.83, Y:211.15, Z:5.58 [[-3.42342966e-01 -9.39567053e-01 3.87895696e-03 8.28283389e+01] [ 9.39495371e-01 -3.42364781e-01 -1.16105313e-02 2.11152252e+02] [ 1.22368909e-02 -3.30521609e-04 9.99925072e-01 5.58207617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86275509600006 meters 0.02221905913481081 Centerline is valid? [True, True] Translation: X:82.82, Y:211.18, Z:5.58 [[-3.43417851e-01 -9.39175060e-01 3.79293834e-03 8.28208691e+01] [ 9.39106645e-01 -3.43438635e-01 -1.13407782e-02 2.11177702e+02] [ 1.19536176e-02 -3.32652058e-04 9.99928498e-01 5.58232177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.89275509600003 meters 0.023301625094128597 Centerline is valid? [True, True] Translation: X:82.81, Y:211.20, Z:5.58 [[-3.44544188e-01 -9.38761721e-01 3.96647591e-03 8.28135680e+01] [ 9.38687076e-01 -3.44566834e-01 -1.18436079e-02 2.11203747e+02] [ 1.24850418e-02 -3.57366599e-04 9.99921995e-01 5.58049593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92275509600006 meters 0.023073314374860755 Centerline is valid? [True, True] Translation: X:82.81, Y:211.23, Z:5.58 [[-3.44338640e-01 -9.38838010e-01 3.75401544e-03 8.28065776e+01] [ 9.38771298e-01 -3.44358943e-01 -1.11967819e-02 2.11228344e+02] [ 1.18046933e-02 -3.31322713e-04 9.99930267e-01 5.58122687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.95275509600003 meters 0.023073314374860755 Centerline is valid? [True, True] Translation: X:82.80, Y:211.25, Z:5.58 [[-3.44700638e-01 -9.38705142e-01 3.75860849e-03 8.27980844e+01] [ 9.38638439e-01 -3.44720971e-01 -1.11952399e-02 2.11252847e+02] [ 1.18047004e-02 -3.31031935e-04 9.99930267e-01 5.58153540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98275509600006 meters 0.023632506741363492 Centerline is valid? [True, True] Translation: X:82.79, Y:211.28, Z:5.58 [[-3.44407548e-01 -9.38810720e-01 4.22756189e-03 8.27889885e+01] [ 9.38726579e-01 -3.44433303e-01 -1.25741504e-02 2.11277803e+02] [ 1.32608603e-02 -3.62107580e-04 9.99912005e-01 5.57954095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01275509600003 meters 0.020342939461748814 Centerline is valid? [True, True] Translation: X:82.78, Y:211.30, Z:5.58 [[-3.40940729e-01 -9.40077232e-01 3.77056287e-03 8.27805957e+01] [ 9.40010530e-01 -3.40961467e-01 -1.12018621e-02 2.11302441e+02] [ 1.18162322e-02 -2.74802224e-04 9.99930148e-01 5.58218139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04275509600006 meters 0.019839132695252427 Centerline is valid? [True, True] Translation: X:82.77, Y:211.33, Z:5.58 [[-3.39075811e-01 -9.40751751e-01 3.70647904e-03 8.27719014e+01] [ 9.40687489e-01 -3.39095982e-01 -1.09982866e-02 2.11326898e+02] [ 1.16035096e-02 -2.42614499e-04 9.99932648e-01 5.58205798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07275509600004 meters 0.018276194087708347 Centerline is valid? [True, True] Translation: X:82.76, Y:211.35, Z:5.58 [[-3.36705950e-01 -9.41602394e-01 3.74639060e-03 8.27611580e+01] [ 9.41536950e-01 -3.36726726e-01 -1.11033120e-02 2.11351830e+02] [ 1.17164150e-02 -2.11186036e-04 9.99931338e-01 5.58224791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10275509600007 meters 0.01570179339519003 Centerline is valid? [True, True] Translation: X:82.75, Y:211.38, Z:5.58 [[-3.30193885e-01 -9.43905896e-01 3.69560796e-03 8.27492241e+01] [ 9.43842498e-01 -3.30214542e-01 -1.09405147e-02 2.11377030e+02] [ 1.15471599e-02 -1.24419217e-04 9.99933322e-01 5.58285951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13275509600004 meters 0.015145350878461441 Centerline is valid? [True, True] Translation: X:82.74, Y:211.40, Z:5.58 [[-3.26928644e-01 -9.45041601e-01 3.74615304e-03 8.27386734e+01] [ 9.44976636e-01 -3.26950096e-01 -1.10811728e-02 2.11401730e+02] [ 1.16969744e-02 -8.27257142e-05 9.99931585e-01 5.58280437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16275509600007 meters 0.01417716780437507 Centerline is valid? [True, True] Translation: X:82.73, Y:211.42, Z:5.58 [[-3.23249790e-01 -9.46306685e-01 3.63756779e-03 8.27287364e+01] [ 9.46245651e-01 -3.23270254e-01 -1.07476100e-02 2.11424781e+02] [ 1.13464526e-02 -3.21299649e-05 9.99935626e-01 5.58347701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.19275509600004 meters 0.01463299378251322 Centerline is valid? [True, True] Translation: X:82.72, Y:211.45, Z:5.58 [[-3.15976236e-01 -9.48760632e-01 3.50454886e-03 8.27174774e+01] [ 9.48704273e-01 -3.15995665e-01 -1.03412968e-02 2.11449010e+02] [ 1.09188376e-02 5.71764314e-05 9.99940386e-01 5.58388980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22275509600007 meters 0.015367766148658833 Centerline is valid? [True, True] Translation: X:82.71, Y:211.47, Z:5.58 [[-3.12996113e-01 -9.49748485e-01 3.35377546e-03 8.27082986e+01] [ 9.49697058e-01 -3.13014067e-01 -9.88392888e-03 2.11473644e+02] [ 1.04370254e-02 9.14393627e-05 9.99945529e-01 5.58493611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.25275509600004 meters 0.01592621254436368 Centerline is valid? [True, True] Translation: X:82.70, Y:211.50, Z:5.59 [[-3.11077738e-01 -9.50379023e-01 3.21760676e-03 8.27000153e+01] [ 9.50331833e-01 -3.11094358e-01 -9.47137507e-03 2.11499679e+02] [ 1.00023755e-02 1.11460201e-04 9.99949969e-01 5.58553163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2827550960001 meters 0.017344808813112594 Centerline is valid? [True, True] Translation: X:82.69, Y:211.53, Z:5.59 [[-3.08860094e-01 -9.51103802e-01 2.64572608e-03 8.26937682e+01] [ 9.51071977e-01 -3.08871405e-01 -7.78132387e-03 2.11525235e+02] [ 8.21803585e-03 1.12935516e-04 9.99966225e-01 5.58783019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.31275509600005 meters 0.01694296718047924 Centerline is valid? [True, True] Translation: X:82.69, Y:211.55, Z:5.59 [[-3.08979604e-01 -9.51065372e-01 2.50272219e-03 8.26891561e+01] [ 9.51036960e-01 -3.08989720e-01 -7.35215004e-03 2.11552276e+02] [ 7.76569074e-03 1.08516898e-04 9.99969841e-01 5.58895665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3427550960001 meters 0.01919297917689584 Centerline is valid? [True, True] Translation: X:82.68, Y:211.58, Z:5.59 [[-3.10644425e-01 -9.50522363e-01 2.69807782e-03 8.26838078e+01] [ 9.50489404e-01 -3.10656123e-01 -7.91617777e-03 2.11577729e+02] [ 8.36267839e-03 1.05377896e-04 9.99965027e-01 5.58836412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.37275509600005 meters 0.018508244583765664 Centerline is valid? [True, True] Translation: X:82.67, Y:211.60, Z:5.59 [[-3.12111788e-01 -9.50044122e-01 1.54862291e-03 8.26746442e+01] [ 9.50033261e-01 -3.12115626e-01 -4.54311292e-03 2.11602865e+02] [ 4.79950713e-03 5.32841721e-05 9.99988481e-01 5.59219340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4027550960001 meters 0.01636669479290691 Centerline is valid? [True, True] Translation: X:82.67, Y:211.63, Z:5.59 [[-3.13789353e-01 -9.49492371e-01 6.92923410e-04 8.26690952e+01] [ 9.49490183e-01 -3.13790117e-01 -2.03853224e-03 2.11628359e+02] [ 2.15300333e-03 1.82542628e-05 9.99997682e-01 5.59447961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.43275509600005 meters 0.015883973772554474 Centerline is valid? [True, True] Translation: X:82.66, Y:211.65, Z:5.60 [[-3.16452971e-01 -9.48608139e-01 3.39821594e-04 8.26628213e+01] [ 9.48607606e-01 -3.16453154e-01 -1.00590742e-03 2.11653647e+02] [ 1.06174958e-03 4.03495825e-06 9.99999436e-01 5.59562496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4627550960001 meters 0.01523481376768713 Centerline is valid? [True, True] Translation: X:82.66, Y:211.68, Z:5.60 [[-3.22707698e-01 -9.46498664e-01 -1.46463710e-04 8.26581842e+01] [ 9.46498574e-01 -3.22707731e-01 4.11457966e-04 2.11679122e+02] [-4.36709387e-04 -5.84703981e-06 9.99999905e-01 5.59730933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.49275509600005 meters 0.01768141549078672 Centerline is valid? [True, True] Translation: X:82.65, Y:211.70, Z:5.60 [[-3.26673835e-01 -9.45137134e-01 -6.10277725e-05 8.26524554e+01] [ 9.45137120e-01 -3.26673841e-01 1.63192039e-04 2.11704594e+02] [-1.74175033e-04 -4.36904377e-06 9.99999985e-01 5.59646164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.522755096 meters 0.016537056987315526 Centerline is valid? [True, True] Translation: X:82.65, Y:211.73, Z:5.60 [[-3.28918855e-01 -9.44357693e-01 -9.66604365e-04 8.26456822e+01] [ 9.44353553e-01 -3.28920275e-01 2.79627075e-03 2.11731403e+02] [-2.95861557e-03 6.92990592e-06 9.99995623e-01 5.60062352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.55275509600006 meters 0.016448972256990838 Centerline is valid? [True, True] Translation: X:82.64, Y:211.76, Z:5.60 [[-3.33203827e-01 -9.42852117e-01 -2.25711176e-03 8.26410585e+01] [ 9.42829444e-01 -3.33211468e-01 6.53886300e-03 2.11758934e+02] [-6.91727635e-03 5.07027493e-05 9.99976074e-01 5.60430066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.582755096 meters 0.01729830570518975 Centerline is valid? [True, True] Translation: X:82.63, Y:211.78, Z:5.61 [[-3.35418473e-01 -9.42066216e-01 -2.38604991e-03 8.26344594e+01] [ 9.42040918e-01 -3.35426953e-01 6.90424613e-03 2.11784200e+02] [-7.30460248e-03 6.80550484e-05 9.99973319e-01 5.60654212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.61275509600006 meters 0.018897054960953966 Centerline is valid? [True, True] Translation: X:82.63, Y:211.81, Z:5.61 [[-3.37994951e-01 -9.41144881e-01 -2.39279300e-03 8.26268585e+01] [ 9.41119464e-01 -3.38003410e-01 6.91737673e-03 2.11810651e+02] [-7.31902590e-03 8.61343407e-05 9.99973212e-01 5.60599687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64275509600003 meters 0.018678916988107745 Centerline is valid? [True, True] Translation: X:82.62, Y:211.84, Z:5.61 [[-3.39047795e-01 -9.40764154e-01 -3.06574213e-03 8.26184264e+01] [ 9.40722506e-01 -3.39061635e-01 8.85297358e-03 2.11835091e+02] [-9.36803574e-03 1.17568552e-04 9.99956112e-01 5.60800262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.67275509600006 meters 0.018973071484296677 Centerline is valid? [True, True] Translation: X:82.61, Y:211.86, Z:5.61 [[-3.40023166e-01 -9.40409561e-01 -3.75569225e-03 8.26082904e+01] [ 9.40347132e-01 -3.40043872e-01 1.08368427e-02 2.11859838e+02] [-1.14681706e-02 1.53123126e-04 9.99934227e-01 5.60791915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70275509600003 meters 0.018626241958538594 Centerline is valid? [True, True] Translation: X:82.60, Y:211.88, Z:5.61 [[-3.41386990e-01 -9.39915356e-01 -3.74790732e-03 8.25990154e+01] [ 9.39853328e-01 -3.41407523e-01 1.07992791e-02 2.11884539e+02] [-1.14299720e-02 1.64250197e-04 9.99934662e-01 5.60585791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.73275509600006 meters 0.01985066539344078 Centerline is valid? [True, True] Translation: X:82.59, Y:211.91, Z:5.60 [[-3.44483013e-01 -9.38785005e-01 -3.76414826e-03 8.25915348e+01] [ 9.38722430e-01 -3.44503519e-01 1.08409039e-02 2.11909875e+02] [-1.14740404e-02 2.01016845e-04 9.99934151e-01 5.60498908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76275509600003 meters 0.02147565751424622 Centerline is valid? [True, True] Translation: X:82.58, Y:211.94, Z:5.60 [[-3.46779209e-01 -9.37939528e-01 -3.69089036e-03 8.25831768e+01] [ 9.37879487e-01 -3.46798781e-01 1.06147526e-02 2.11935811e+02] [-1.12359923e-02 2.19365158e-04 9.99936850e-01 5.60341379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.79275509600006 meters 0.02211476575594762 Centerline is valid? [True, True] Translation: X:82.58, Y:211.96, Z:5.60 [[-3.49507333e-01 -9.36924234e-01 -4.19585265e-03 8.25760645e+01] [ 9.36846732e-01 -3.49532403e-01 1.20540198e-02 2.11960465e+02] [-1.27602897e-02 2.82097470e-04 9.99918544e-01 5.60489956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82275509600004 meters 0.022634581219429708 Centerline is valid? [True, True] Translation: X:82.57, Y:211.99, Z:5.60 [[-3.50984278e-01 -9.36371709e-01 -4.24958548e-03 8.25673417e+01] [ 9.36292333e-01 -3.51009874e-01 1.21957122e-02 2.11986542e+02] [-1.29113663e-02 3.01648935e-04 9.99916599e-01 5.60477785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.85275509600007 meters 0.023378432728533058 Centerline is valid? [True, True] Translation: X:82.56, Y:212.01, Z:5.60 [[-3.52655251e-01 -9.35743817e-01 -4.21706030e-03 8.25590549e+01] [ 9.35665778e-01 -3.52680321e-01 1.20889475e-02 2.12012645e+02] [-1.27994321e-02 3.17471809e-04 9.99918034e-01 5.60470305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88275509600004 meters 0.025089114170908897 Centerline is valid? [True, True] Translation: X:82.55, Y:212.04, Z:5.60 [[-3.55480832e-01 -9.34674417e-01 -4.13672139e-03 8.25530558e+01] [ 9.34599433e-01 -3.55504735e-01 1.18441131e-02 2.12038226e+02] [-1.25410136e-02 3.44177735e-04 9.99921299e-01 5.60399711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91275509600007 meters 0.023702538628893613 Centerline is valid? [True, True] Translation: X:82.54, Y:212.06, Z:5.60 [[-3.56909803e-01 -9.34130154e-01 -4.03087322e-03 8.25415172e+01] [ 9.34059089e-01 -3.56932394e-01 1.15275707e-02 2.12063564e+02] [-1.22070006e-02 3.49229231e-04 9.99925431e-01 5.60088540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94275509600004 meters 0.02557056765342217 Centerline is valid? [True, True] Translation: X:82.54, Y:212.09, Z:5.60 [[-3.58348451e-01 -9.33579627e-01 -3.93277377e-03 8.25350422e+01] [ 9.33512118e-01 -3.58369857e-01 1.12326356e-02 2.12089059e+02] [-1.18959473e-02 3.53905601e-04 9.99929178e-01 5.60128713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.97275509600007 meters 0.025521018747783685 Centerline is valid? [True, True] Translation: X:82.52, Y:212.11, Z:5.60 [[-3.61239075e-01 -9.32466727e-01 -3.48331117e-03 8.25247321e+01] [ 9.32413843e-01 -3.61255707e-01 9.93678400e-03 2.12114577e+02] [-1.05240865e-02 3.41667109e-04 9.99944562e-01 5.59699839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00275509600004 meters 0.029108991991781758 Centerline is valid? [True, True] Translation: X:82.52, Y:212.14, Z:5.60 [[-3.62477757e-01 -9.31986343e-01 -3.36628245e-03 8.25196520e+01] [ 9.31937058e-01 -3.62493229e-01 9.59055632e-03 2.12140150e+02] [-1.01585221e-02 3.39199986e-04 9.99948343e-01 5.59876395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0327550960001 meters 0.03069416183109458 Centerline is valid? [True, True] Translation: X:82.51, Y:212.16, Z:5.60 [[-3.64166147e-01 -9.31329571e-01 -2.87189312e-03 8.25112648e+01] [ 9.31293765e-01 -3.64177346e-01 8.17216176e-03 2.12163612e+02] [-8.65685432e-03 3.01448506e-04 9.99962483e-01 5.59641437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06275509600005 meters 0.030454056827769697 Centerline is valid? [True, True] Translation: X:82.50, Y:212.19, Z:5.59 [[-3.64725454e-01 -9.31112291e-01 -2.29005354e-03 8.25018362e+01] [ 9.31089607e-01 -3.64732565e-01 6.50379100e-03 2.12187117e+02] [-6.89101684e-03 2.39853081e-04 9.99976228e-01 5.59417398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0927550960001 meters 0.02599034132439339 Centerline is valid? [True, True] Translation: X:82.49, Y:212.21, Z:5.59 [[-3.65577551e-01 -9.30779644e-01 -1.51951421e-03 8.24865680e+01] [ 9.30769702e-01 -3.65580674e-01 4.30501758e-03 2.12210023e+02] [-4.56252776e-03 1.59499998e-04 9.99989579e-01 5.58870640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12275509600005 meters 0.02616459444995729 Centerline is valid? [True, True] Translation: X:82.48, Y:212.24, Z:5.59 [[-3.66174054e-01 -9.30546150e-01 -6.51640075e-04 8.24773248e+01] [ 9.30544342e-01 -3.66174628e-01 1.83569888e-03 2.12235142e+02] [-1.94681658e-03 6.58053138e-05 9.99998103e-01 5.58616920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1527550960001 meters 0.026132763249779326 Centerline is valid? [True, True] Translation: X:82.47, Y:212.26, Z:5.58 [[-3.66634761e-01 -9.30364833e-01 4.79158307e-04 8.24667724e+01] [ 9.30363824e-01 -3.66635070e-01 -1.37165686e-03 2.12259926e+02] [ 1.45181754e-03 -5.71055296e-05 9.99998945e-01 5.58215080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18275509600005 meters 0.02659183398249479 Centerline is valid? [True, True] Translation: X:82.46, Y:212.28, Z:5.58 [[-3.67329498e-01 -9.30090409e-01 9.33346043e-04 8.24568044e+01] [ 9.30086618e-01 -3.67330668e-01 -2.65760163e-03 2.12284745e+02] [ 2.81465641e-03 -1.08122809e-04 9.99996033e-01 5.58104268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2127550960001 meters 0.02731859336641243 Centerline is valid? [True, True] Translation: X:82.44, Y:212.31, Z:5.58 [[-3.67818094e-01 -9.29896048e-01 1.78600885e-03 8.24446378e+01] [ 9.29882268e-01 -3.67822374e-01 -5.06645041e-03 2.12306970e+02] [ 5.36820623e-03 -2.02754179e-04 9.99985571e-01 5.57743639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24275509600005 meters 0.026808082649640783 Centerline is valid? [True, True] Translation: X:82.43, Y:212.33, Z:5.58 [[-3.68200871e-01 -9.29743688e-01 2.18948858e-03 8.24317922e+01] [ 9.29723053e-01 -3.68207298e-01 -6.19927600e-03 2.12330574e+02] [ 6.56992340e-03 -2.46960817e-04 9.99978387e-01 5.57542466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.272755096 meters 0.026958094150202363 Centerline is valid? [True, True] Translation: X:82.42, Y:212.35, Z:5.57 [[-3.67898330e-01 -9.29862404e-01 2.59381572e-03 8.24204513e+01] [ 9.29833537e-01 -3.67907363e-01 -7.33253709e-03 2.12353260e+02] [ 7.77253447e-03 -2.85811309e-04 9.99969753e-01 5.57339177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30275509600006 meters 0.024777038290782885 Centerline is valid? [True, True] Translation: X:82.40, Y:212.38, Z:5.57 [[-3.65973900e-01 -9.30619594e-01 3.20550396e-03 8.24030400e+01] [ 9.30575684e-01 -3.65987791e-01 -9.04620200e-03 2.12376160e+02] [ 9.59174815e-03 -3.27709788e-04 9.99953944e-01 5.57013786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.332755096 meters 0.024289429311934032 Centerline is valid? [True, True] Translation: X:82.39, Y:212.40, Z:5.57 [[-3.65128175e-01 -9.30950811e-01 3.46443253e-03 8.23902122e+01] [ 9.30899660e-01 -3.65144452e-01 -9.76480656e-03 2.12400315e+02] [ 1.03555729e-02 -3.40366940e-04 9.99946322e-01 5.56905752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36275509600006 meters 0.023096821557581353 Centerline is valid? [True, True] Translation: X:82.38, Y:212.42, Z:5.57 [[-3.63681715e-01 -9.31515533e-01 3.79770907e-03 8.23761382e+01] [ 9.31454248e-01 -3.63701374e-01 -1.06908104e-02 2.12424696e+02] [ 1.13398880e-02 -3.50660035e-04 9.99935640e-01 5.56774989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.39275509600003 meters 0.02180739515409899 Centerline is valid? [True, True] Translation: X:82.36, Y:212.45, Z:5.56 [[-3.60403108e-01 -9.32786110e-01 4.43553775e-03 8.23580663e+01] [ 9.32702807e-01 -3.60430224e-01 -1.24710659e-02 2.12445939e+02] [ 1.32315389e-02 -3.57572403e-04 9.99912395e-01 5.56448839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42275509600006 meters 0.02158747525053145 Centerline is valid? [True, True] Translation: X:82.34, Y:212.47, Z:5.56 [[-3.59285774e-01 -9.33214649e-01 4.91444628e-03 8.23443933e+01] [ 9.33112629e-01 -3.59319189e-01 -1.38037123e-02 2.12469437e+02] [ 1.46476814e-02 -3.73745586e-04 9.99892647e-01 5.56292690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.45275509600003 meters 0.020931041339817307 Centerline is valid? [True, True] Translation: X:82.33, Y:212.49, Z:5.56 [[-3.58436368e-01 -9.33538736e-01 5.36632974e-03 8.23298339e+01] [ 9.33417420e-01 -3.58476328e-01 -1.50546573e-02 2.12492840e+02] [ 1.59778079e-02 -3.87111028e-04 9.99872272e-01 5.56141139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48275509600006 meters 0.020186069311363877 Centerline is valid? [True, True] Translation: X:82.31, Y:212.51, Z:5.56 [[-3.57294966e-01 -9.33971934e-01 6.06090318e-03 8.23125509e+01] [ 9.33817643e-01 -3.57346137e-01 -1.69808299e-02 2.12514615e+02] [ 1.80254589e-02 -4.07386737e-04 9.99837445e-01 5.55911697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51275509600003 meters 0.02077343515983298 Centerline is valid? [True, True] Translation: X:82.30, Y:212.54, Z:5.56 [[-3.57222380e-01 -9.33998634e-01 6.22269843e-03 8.23021913e+01] [ 9.33836420e-01 -3.57276341e-01 -1.74114209e-02 2.12537460e+02] [ 1.84854663e-02 -4.08766796e-04 9.99829046e-01 5.55881205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54275509600006 meters 0.02031062971745499 Centerline is valid? [True, True] Translation: X:82.29, Y:212.56, Z:5.56 [[-3.57075366e-01 -9.34055198e-01 6.17017927e-03 8.22874745e+01] [ 9.33896124e-01 -3.57128453e-01 -1.72423366e-02 2.12560142e+02] [ 1.83088407e-02 -3.94507155e-04 9.99832301e-01 5.55980135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57275509600004 meters 0.019670568822698214 Centerline is valid? [True, True] Translation: X:82.28, Y:212.58, Z:5.56 [[-3.56934373e-01 -9.34108274e-01 6.29178015e-03 8.22750156e+01] [ 9.33943292e-01 -3.56989607e-01 -1.75598185e-02 2.12583212e+02] [ 1.86488719e-02 -3.91536939e-04 9.99826018e-01 5.56034577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60275509600007 meters 0.02178449219411753 Centerline is valid? [True, True] Translation: X:82.27, Y:212.61, Z:5.56 [[-3.57003332e-01 -9.34082105e-01 6.26432544e-03 8.22663832e+01] [ 9.33918977e-01 -3.57058082e-01 -1.74605391e-02 2.12607518e+02] [ 1.85463052e-02 -3.83098226e-04 9.99827929e-01 5.55952682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63275509600004 meters 0.020191780625973193 Centerline is valid? [True, True] Translation: X:82.25, Y:212.63, Z:5.56 [[-3.57042455e-01 -9.34068349e-01 6.08316947e-03 8.22512160e+01] [ 9.33914911e-01 -3.57094087e-01 -1.69337635e-02 2.12630658e+02] [ 1.79895564e-02 -3.64909832e-04 9.99838108e-01 5.56085345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66275509600007 meters 0.021590348377450524 Centerline is valid? [True, True] Translation: X:82.24, Y:212.65, Z:5.56 [[-3.57366733e-01 -9.33945070e-01 5.96856880e-03 8.22388347e+01] [ 9.33797688e-01 -3.57416393e-01 -1.65951755e-02 2.12654576e+02] [ 1.76322467e-02 -3.57127903e-04 9.99844476e-01 5.56100983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.69275509600004 meters 0.021807072762311787 Centerline is valid? [True, True] Translation: X:82.23, Y:212.68, Z:5.56 [[-3.58103211e-01 -9.33664533e-01 5.71222542e-03 8.22285468e+01] [ 9.33529801e-01 -3.58148597e-01 -1.58648196e-02 2.12678615e+02] [ 1.68582449e-02 -3.48710167e-04 9.99857829e-01 5.56204098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72275509600007 meters 0.020258824367775832 Centerline is valid? [True, True] Translation: X:82.22, Y:212.70, Z:5.56 [[-3.59130582e-01 -9.33270843e-01 5.54610791e-03 8.22157464e+01] [ 9.33144113e-01 -3.59173234e-01 -1.53834723e-02 2.12701842e+02] [ 1.63489597e-02 -3.49357417e-04 9.99866286e-01 5.56400687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.75275509600004 meters 0.020648098085717277 Centerline is valid? [True, True] Translation: X:82.21, Y:212.73, Z:5.57 [[-3.60422886e-01 -9.32775800e-01 4.96484931e-03 8.22061694e+01] [ 9.32674441e-01 -3.60456932e-01 -1.37545224e-02 2.12726328e+02] [ 1.46195000e-02 -3.26856610e-04 9.99893076e-01 5.56670952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7827550960001 meters 0.022665551240980682 Centerline is valid? [True, True] Translation: X:82.20, Y:212.75, Z:5.57 [[-3.61027082e-01 -9.32543831e-01 4.63126124e-03 8.22007658e+01] [ 9.32455823e-01 -3.61056654e-01 -1.28152162e-02 2.12751210e+02] [ 1.36228985e-02 -3.08193597e-04 9.99907157e-01 5.56817177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.81275509600005 meters 0.021950906863946917 Centerline is valid? [True, True] Translation: X:82.19, Y:212.77, Z:5.57 [[-3.62392485e-01 -9.32016041e-01 4.21730259e-03 8.21919702e+01] [ 9.31943203e-01 -3.62416904e-01 -1.16556640e-02 2.12774887e+02] [ 1.23916876e-02 -2.93638567e-04 9.99923177e-01 5.57166746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8427550960001 meters 0.022136119481832413 Centerline is valid? [True, True] Translation: X:82.18, Y:212.80, Z:5.57 [[-3.63379146e-01 -9.31632637e-01 4.02813222e-03 8.21837416e+01] [ 9.31566335e-01 -3.63401358e-01 -1.11182794e-02 2.12800315e+02] [ 1.18219807e-02 -2.87678510e-04 9.99930077e-01 5.57315524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.87275509600005 meters 0.022136119481832413 Centerline is valid? [True, True] Translation: X:82.17, Y:212.82, Z:5.57 [[-3.63741567e-01 -9.31491176e-01 4.03243537e-03 8.21746646e+01] [ 9.31424883e-01 -3.63763805e-01 -1.11167185e-02 2.12824584e+02] [ 1.18219792e-02 -2.87701961e-04 9.99930077e-01 5.57346382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9027550960001 meters 0.02325559413855917 Centerline is valid? [True, True] Translation: X:82.17, Y:212.85, Z:5.57 [[-3.64512894e-01 -9.31190037e-01 3.93252489e-03 8.21685445e+01] [ 9.31127120e-01 -3.64533994e-01 -1.08283888e-02 2.12849109e+02] [ 1.15168268e-02 -2.85406778e-04 9.99933638e-01 5.57454408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.93275509600005 meters 0.02324720105457026 Centerline is valid? [True, True] Translation: X:82.16, Y:212.88, Z:5.58 [[-3.65782761e-01 -9.30693101e-01 3.65019201e-03 8.21625048e+01] [ 9.30638962e-01 -3.65800869e-01 -1.00422129e-02 2.12876108e+02] [ 1.06814617e-02 -2.76257461e-04 9.99942913e-01 5.57685155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9627550960001 meters 0.02239435455711609 Centerline is valid? [True, True] Translation: X:82.15, Y:212.90, Z:5.58 [[-3.66252548e-01 -9.30508786e-01 3.53121580e-03 8.21537065e+01] [ 9.30458211e-01 -3.66269472e-01 -9.70519840e-03 2.12901441e+02] [ 1.03241489e-02 -2.68904915e-04 9.99946668e-01 5.57795867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.99275509600005 meters 0.023116592523460117 Centerline is valid? [True, True] Translation: X:82.15, Y:212.93, Z:5.58 [[-3.66538749e-01 -9.30396349e-01 3.46109824e-03 8.21479401e+01] [ 9.30347873e-01 -3.66554996e-01 -9.50105734e-03 2.12926311e+02] [ 1.01084319e-02 -2.62480281e-04 9.99948874e-01 5.57892247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.022755096 meters 0.0223627051494399 Centerline is valid? [True, True] Translation: X:82.14, Y:212.95, Z:5.58 [[-3.65906882e-01 -9.30644031e-01 3.72052346e-03 8.21414382e+01] [ 9.30588184e-01 -3.65925697e-01 -1.01987864e-02 2.12951868e+02] [ 1.08528749e-02 -2.69530974e-04 9.99941070e-01 5.57914191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.05275509600006 meters 0.022195532865604668 Centerline is valid? [True, True] Translation: X:82.14, Y:212.98, Z:5.58 [[-3.65486493e-01 -9.30808585e-01 3.87315406e-03 8.21351214e+01] [ 9.30748222e-01 -3.65506914e-01 -1.06039037e-02 2.12976304e+02] [ 1.12858692e-02 -2.70652307e-04 9.99936276e-01 5.57930206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.082755096 meters 0.020670801246981185 Centerline is valid? [True, True] Translation: X:82.13, Y:213.00, Z:5.58 [[-3.65128886e-01 -9.30948696e-01 3.92700297e-03 8.21263003e+01] [ 9.30886806e-01 -3.65149907e-01 -1.07377531e-02 2.13001227e+02] [ 1.14302420e-02 -2.65068574e-04 9.99934638e-01 5.57989727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.11275509600006 meters 0.022130983388682156 Centerline is valid? [True, True] Translation: X:82.13, Y:213.03, Z:5.58 [[-3.63536294e-01 -9.31571723e-01 3.93539435e-03 8.21259866e+01] [ 9.31509760e-01 -3.63557514e-01 -1.07471367e-02 2.13029492e+02] [ 1.14424708e-02 -2.41115980e-04 9.99934504e-01 5.58160293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14275509600003 meters 0.02003449231596765 Centerline is valid? [True, True] Translation: X:82.12, Y:213.05, Z:5.58 [[-3.62852036e-01 -9.31838495e-01 3.92687428e-03 8.21162829e+01] [ 9.31776950e-01 -3.62873212e-01 -1.07120209e-02 2.13053636e+02] [ 1.14068309e-02 -2.27907629e-04 9.99934914e-01 5.58218504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.17275509600006 meters 0.01943156655497538 Centerline is valid? [True, True] Translation: X:82.11, Y:213.08, Z:5.58 [[-3.60814848e-01 -9.32628313e-01 4.13230857e-03 8.21129126e+01] [ 9.32560385e-01 -3.60838451e-01 -1.12578948e-02 2.13080062e+02] [ 1.19905272e-02 -2.08388326e-04 9.99928089e-01 5.58348308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20275509600003 meters 0.019143219939669713 Centerline is valid? [True, True] Translation: X:82.11, Y:213.11, Z:5.58 [[-3.59948006e-01 -9.32963079e-01 4.16255173e-03 8.21064134e+01] [ 9.32894336e-01 -3.59972022e-01 -1.13270147e-02 2.13106186e+02] [ 1.20660887e-02 -1.93915442e-04 9.99927183e-01 5.58437552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.23275509600006 meters 0.0186394465412041 Centerline is valid? [True, True] Translation: X:82.10, Y:213.13, Z:5.59 [[-3.59046020e-01 -9.33310165e-01 4.25349437e-03 8.20996830e+01] [ 9.33238583e-01 -3.59071168e-01 -1.15604543e-02 2.13131498e+02] [ 1.23167967e-02 -1.81210032e-04 9.99924129e-01 5.58533857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26275509600003 meters 0.01887260087396755 Centerline is valid? [True, True] Translation: X:82.09, Y:213.16, Z:5.59 [[-3.58110264e-01 -9.33669093e-01 4.36612170e-03 8.20942864e+01] [ 9.33593881e-01 -3.58136840e-01 -1.18520119e-02 2.13156830e+02] [ 1.26295262e-02 -1.68142614e-04 9.99920230e-01 5.58595879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.29275509600006 meters 0.017658555303318547 Centerline is valid? [True, True] Translation: X:82.09, Y:213.18, Z:5.59 [[-3.55631350e-01 -9.34616477e-01 4.28760336e-03 8.20876820e+01] [ 9.34544189e-01 -3.55657173e-01 -1.16247173e-02 2.13183628e+02] [ 1.23895693e-02 -1.27159117e-04 9.99923238e-01 5.58800474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32275509600004 meters 0.01756256498102546 Centerline is valid? [True, True] Translation: X:82.08, Y:213.21, Z:5.59 [[-3.55112722e-01 -9.34814179e-01 4.17195008e-03 8.20815008e+01] [ 9.34745898e-01 -3.55137209e-01 -1.12990585e-02 2.13208250e+02] [ 1.20441348e-02 -1.12726182e-04 9.99927460e-01 5.58915176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.35275509600007 meters 0.01734554272147358 Centerline is valid? [True, True] Translation: X:82.08, Y:213.23, Z:5.59 [[-3.53318067e-01 -9.35493047e-01 4.37067205e-03 8.20764786e+01] [ 9.35418352e-01 -3.53345089e-01 -1.18218180e-02 2.13234487e+02] [ 1.26035841e-02 -8.84550530e-05 9.99920568e-01 5.58997163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38275509600004 meters 0.017378472277787663 Centerline is valid? [True, True] Translation: X:82.07, Y:213.26, Z:5.59 [[-3.52972910e-01 -9.35622190e-01 4.60903083e-03 8.20693976e+01] [ 9.35539342e-01 -3.53002990e-01 -1.24510400e-02 2.13260012e+02] [ 1.32764710e-02 -8.29501419e-05 9.99911860e-01 5.59016665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41275509600007 meters 0.01743697529409492 Centerline is valid? [True, True] Translation: X:82.06, Y:213.29, Z:5.59 [[-3.53083552e-01 -9.35579264e-01 4.84203507e-03 8.20628440e+01] [ 9.35488050e-01 -3.53116742e-01 -1.30642936e-02 2.13285040e+02] [ 1.39324858e-02 -8.31212425e-05 9.99902935e-01 5.59027422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44275509600004 meters 0.017681631754993574 Centerline is valid? [True, True] Translation: X:82.06, Y:213.31, Z:5.59 [[-3.53114383e-01 -9.35566020e-01 5.14342765e-03 8.20593211e+01] [ 9.35463358e-01 -3.53151830e-01 -1.38596439e-02 2.13310788e+02] [ 1.47830228e-02 -8.25514936e-05 9.99890722e-01 5.59061985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.47275509600007 meters 0.017895393805440193 Centerline is valid? [True, True] Translation: X:82.05, Y:213.34, Z:5.59 [[-3.54126326e-01 -9.35183849e-01 5.07088631e-03 8.20527359e+01] [ 9.35084262e-01 -3.54162618e-01 -1.36478065e-02 2.13335815e+02] [ 1.45591266e-02 -9.13416011e-05 9.99894006e-01 5.59156688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50275509600004 meters 0.017777112650953355 Centerline is valid? [True, True] Translation: X:82.04, Y:213.36, Z:5.59 [[-3.53508123e-01 -9.35419315e-01 4.76568374e-03 8.20424317e+01] [ 9.35331579e-01 -3.53540238e-01 -1.28116153e-02 2.13360409e+02] [ 1.36690934e-02 -7.15155818e-05 9.99906571e-01 5.59373015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5327550960001 meters 0.018046015175902288 Centerline is valid? [True, True] Translation: X:82.04, Y:213.38, Z:5.60 [[-3.54071657e-01 -9.35208414e-01 4.29938099e-03 8.20355614e+01] [ 9.35137139e-01 -3.54097753e-01 -1.15461418e-02 2.13384638e+02] [ 1.23204501e-02 -6.76507184e-05 9.99924098e-01 5.59604944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56275509600005 meters 0.018086393685509388 Centerline is valid? [True, True] Translation: X:82.03, Y:213.41, Z:5.60 [[-3.54691334e-01 -9.34974253e-01 4.14768179e-03 8.20253525e+01] [ 9.34908055e-01 -3.54715577e-01 -1.11260360e-02 2.13409254e+02] [ 1.18738046e-02 -6.86074488e-05 9.99929502e-01 5.59771974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5927550960001 meters 0.018496171502203056 Centerline is valid? [True, True] Translation: X:82.02, Y:213.43, Z:5.60 [[-3.55976257e-01 -9.34486537e-01 3.97708317e-03 8.20177292e+01] [ 9.34425783e-01 -3.55998465e-01 -1.06559400e-02 2.13433426e+02] [ 1.13736680e-02 -7.69725869e-05 9.99935315e-01 5.59894820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62275509600005 meters 0.01885939063401318 Centerline is valid? [True, True] Translation: X:82.01, Y:213.46, Z:5.60 [[-3.57769877e-01 -9.33802121e-01 3.78333186e-03 8.20103874e+01] [ 9.33747201e-01 -3.57789869e-01 -1.01278850e-02 2.13457535e+02] [ 1.08110783e-02 -9.07766388e-05 9.99941554e-01 5.59993252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6527550960001 meters 0.01923863065096317 Centerline is valid? [True, True] Translation: X:82.00, Y:213.48, Z:5.60 [[-3.61025807e-01 -9.32548667e-01 3.65370828e-03 8.20026686e+01] [ 9.32497501e-01 -3.61044275e-01 -9.76941616e-03 2.13483891e+02] [ 1.04296065e-02 -1.19937515e-04 9.99945603e-01 5.60148863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68275509600005 meters 0.01954170320137034 Centerline is valid? [True, True] Translation: X:81.99, Y:213.51, Z:5.60 [[-3.62915560e-01 -9.31815662e-01 3.44498939e-03 8.19938939e+01] [ 9.31770230e-01 -3.62931887e-01 -9.20239708e-03 2.13508907e+02] [ 9.82523423e-03 -1.29754533e-04 9.99951723e-01 5.60217478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7127550960001 meters 0.02087030091539517 Centerline is valid? [True, True] Translation: X:81.99, Y:213.53, Z:5.60 [[-3.66906987e-01 -9.30250544e-01 3.63146613e-03 8.19869192e+01] [ 9.30200113e-01 -3.66924915e-01 -9.68791999e-03 2.13534777e+02] [ 1.03446682e-02 -1.76575328e-04 9.99946477e-01 5.60228503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74275509600005 meters 0.02139592754440998 Centerline is valid? [True, True] Translation: X:81.98, Y:213.56, Z:5.60 [[-3.68941382e-01 -9.29444720e-01 3.84303483e-03 8.19779033e+01] [ 9.29388334e-01 -3.68961340e-01 -1.02398295e-02 2.13560162e+02] [ 1.09352867e-02 -2.06225105e-04 9.99940187e-01 5.60193965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.772755096 meters 0.02202290048376849 Centerline is valid? [True, True] Translation: X:81.97, Y:213.59, Z:5.60 [[-3.71185114e-01 -9.28551218e-01 3.77444215e-03 8.19687939e+01] [ 9.28496895e-01 -3.71204236e-01 -1.00464870e-02 2.13585742e+02] [ 1.07297667e-02 -2.24548603e-04 9.99942409e-01 5.60223890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80275509600006 meters 0.02367776327764692 Centerline is valid? [True, True] Translation: X:81.96, Y:213.61, Z:5.60 [[-3.76007873e-01 -9.26609142e-01 3.68476290e-03 8.19614355e+01] [ 9.26557381e-01 -3.76025831e-01 -9.79765039e-03 2.13611529e+02] [ 1.04641584e-02 -2.69849421e-04 9.99945213e-01 5.60254439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.832755096 meters 0.024636494172074693 Centerline is valid? [True, True] Translation: X:81.95, Y:213.64, Z:5.60 [[-3.78370101e-01 -9.25647459e-01 3.58458377e-03 8.19531564e+01] [ 9.25598539e-01 -3.78386973e-01 -9.52069162e-03 2.13637338e+02] [ 1.01691638e-02 -2.84459547e-04 9.99948252e-01 5.60299942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86275509600006 meters 0.025910431727712638 Centerline is valid? [True, True] Translation: X:81.95, Y:213.66, Z:5.60 [[-3.80760749e-01 -9.24666550e-01 3.60881615e-03 8.19461416e+01] [ 9.24617032e-01 -3.80777725e-01 -9.57432501e-03 2.13662710e+02] [ 1.02272149e-02 -3.08754280e-04 9.99947653e-01 5.60377186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.89275509600003 meters 0.02853995066306001 Centerline is valid? [True, True] Translation: X:81.94, Y:213.69, Z:5.60 [[-3.84438451e-01 -9.23143032e-01 3.74424564e-03 8.19398160e+01] [ 9.23089742e-01 -3.84456516e-01 -9.92544042e-03 2.13687958e+02] [ 1.06021008e-02 -3.59446197e-04 9.99943732e-01 5.60396025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92275509600006 meters 0.027094128204491693 Centerline is valid? [True, True] Translation: X:81.93, Y:213.71, Z:5.60 [[-3.85747651e-01 -9.22595756e-01 3.97750796e-03 8.19269644e+01] [ 9.22535732e-01 -3.85767956e-01 -1.05312188e-02 2.13712399e+02] [ 1.12504529e-02 -3.92999684e-04 9.99936634e-01 5.60351097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.95275509600003 meters 0.02762300168101657 Centerline is valid? [True, True] Translation: X:81.92, Y:213.74, Z:5.60 [[-3.86373706e-01 -9.22331667e-01 4.43347989e-03 8.19167661e+01] [ 9.22257252e-01 -3.86398889e-01 -1.17243320e-02 2.13735277e+02] [ 1.25268144e-02 -4.41164629e-04 9.99921439e-01 5.60227982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98275509600006 meters 0.02735022587239947 Centerline is valid? [True, True] Translation: X:81.91, Y:213.76, Z:5.60 [[-3.86134527e-01 -9.22431486e-01 4.50346098e-03 8.19056358e+01] [ 9.22354900e-01 -3.86160538e-01 -1.18943967e-02 2.13759831e+02] [ 1.27108249e-02 -4.39047936e-04 9.99919118e-01 5.60228129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01275509600003 meters 0.02651946239036568 Centerline is valid? [True, True] Translation: X:81.89, Y:213.78, Z:5.60 [[-3.85654275e-01 -9.22631978e-01 4.58409865e-03 8.18933438e+01] [ 9.22552819e-01 -3.85681274e-01 -1.20934820e-02 2.13783736e+02] [ 1.29258342e-02 -4.34829904e-04 9.99916363e-01 5.60218827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04275509600006 meters 0.02823180240193006 Centerline is valid? [True, True] Translation: X:81.88, Y:213.81, Z:5.60 [[-3.83457733e-01 -9.23546500e-01 4.69351488e-03 8.18840269e+01] [ 9.23463779e-01 -3.83486239e-01 -1.23674628e-02 2.13808125e+02] [ 1.32218253e-02 -4.08108258e-04 9.99912505e-01 5.60162039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07275509600004 meters 0.02527434620300197 Centerline is valid? [True, True] Translation: X:81.87, Y:213.83, Z:5.60 [[-3.82055431e-01 -9.24126774e-01 4.83252217e-03 8.18686911e+01] [ 9.24039278e-01 -3.82085788e-01 -1.27225685e-02 2.13831438e+02] [ 1.36037043e-02 -3.95286113e-04 9.99907387e-01 5.60195667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10275509600007 meters 0.02429473852682995 Centerline is valid? [True, True] Translation: X:81.86, Y:213.86, Z:5.60 [[-3.80554310e-01 -9.24744706e-01 5.06425386e-03 8.18561717e+01] [ 9.24648877e-01 -3.80587809e-01 -1.33181736e-02 2.13856275e+02] [ 1.42433038e-02 -3.85631703e-04 9.99898485e-01 5.60207775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13275509600004 meters 0.02351071981036302 Centerline is valid? [True, True] Translation: X:81.84, Y:213.88, Z:5.60 [[-3.79405159e-01 -9.25217022e-01 5.01876138e-03 8.18439018e+01] [ 9.25123134e-01 -3.79438181e-01 -1.31853300e-02 2.13881108e+02] [ 1.41036015e-02 -3.59609979e-04 9.99900475e-01 5.60209815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16275509600007 meters 0.02219351728564082 Centerline is valid? [True, True] Translation: X:81.83, Y:213.90, Z:5.60 [[-3.76897400e-01 -9.26240864e-01 5.11976081e-03 8.18303809e+01] [ 9.26143462e-01 -3.76932034e-01 -1.34361592e-02 2.13904980e+02] [ 1.43749216e-02 -3.22420475e-04 9.99896624e-01 5.60314234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.19275509600004 meters 0.021567455943750417 Centerline is valid? [True, True] Translation: X:81.82, Y:213.93, Z:5.60 [[-3.76065540e-01 -9.26579381e-01 5.03582263e-03 8.18189455e+01] [ 9.26485378e-01 -3.76099137e-01 -1.32016758e-02 2.13928608e+02] [ 1.41263692e-02 -2.99079326e-04 9.99900173e-01 5.60387530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22275509600007 meters 0.021108921562439733 Centerline is valid? [True, True] Translation: X:81.81, Y:213.95, Z:5.60 [[-3.74865315e-01 -9.27065762e-01 5.00683701e-03 8.18074882e+01] [ 9.26973098e-01 -3.74898651e-01 -1.31102286e-02 2.13953449e+02] [ 1.40311005e-02 -2.73366786e-04 9.99901522e-01 5.60424409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.25275509600004 meters 0.021282672755553192 Centerline is valid? [True, True] Translation: X:81.80, Y:213.98, Z:5.60 [[-3.75399370e-01 -9.26848606e-01 5.19374032e-03 8.17981444e+01] [ 9.26749100e-01 -3.75435188e-01 -1.35839799e-02 2.13977495e+02] [ 1.45402057e-02 -2.86123324e-04 9.99894245e-01 5.60451316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2827550960001 meters 0.021036430292316624 Centerline is valid? [True, True] Translation: X:81.79, Y:214.00, Z:5.61 [[-3.75754934e-01 -9.26704824e-01 5.13805869e-03 8.17876155e+01] [ 9.26607661e-01 -3.75789955e-01 -1.34221163e-02 2.14003102e+02] [ 1.43691708e-02 -2.82461882e-04 9.99896718e-01 5.60513677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.31275509600005 meters 0.02203483675523633 Centerline is valid? [True, True] Translation: X:81.78, Y:214.03, Z:5.61 [[-3.77488376e-01 -9.26000962e-01 4.97443263e-03 8.17800514e+01] [ 9.25910020e-01 -3.77521035e-01 -1.29808297e-02 2.14027950e+02] [ 1.38982137e-02 -2.94235298e-04 9.99903372e-01 5.60609747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3427550960001 meters 0.022338080259980797 Centerline is valid? [True, True] Translation: X:81.77, Y:214.05, Z:5.61 [[-3.78563317e-01 -9.25562456e-01 4.89442478e-03 8.17707908e+01] [ 9.25474576e-01 -3.78594837e-01 -1.27576966e-02 2.14052324e+02] [ 1.36610490e-02 -2.99930266e-04 9.99906639e-01 5.60657036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.37275509600005 meters 0.022393928151883836 Centerline is valid? [True, True] Translation: X:81.76, Y:214.08, Z:5.61 [[-3.79768820e-01 -9.25067813e-01 5.01848858e-03 8.17611866e+01] [ 9.24975595e-01 -3.79801842e-01 -1.30656127e-02 2.14076681e+02] [ 1.39926090e-02 -3.19932866e-04 9.99902047e-01 5.60680374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4027550960001 meters 0.02302868109546137 Centerline is valid? [True, True] Translation: X:81.75, Y:214.10, Z:5.61 [[-3.81509829e-01 -9.24350472e-01 5.14343673e-03 8.17526602e+01] [ 9.24253765e-01 -3.81544339e-01 -1.33751953e-02 2.14102658e+02] [ 1.43258172e-02 -3.48927701e-04 9.99897319e-01 5.60666331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.43275509600005 meters 0.022861614704776205 Centerline is valid? [True, True] Translation: X:81.74, Y:214.13, Z:5.61 [[-3.82100113e-01 -9.24105649e-01 5.31539437e-03 8.17431189e+01] [ 9.24002568e-01 -3.82136909e-01 -1.38071606e-02 2.14126957e+02] [ 1.47904834e-02 -3.64279564e-04 9.99890548e-01 5.60706536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4627550960001 meters 0.02304401483849054 Centerline is valid? [True, True] Translation: X:81.73, Y:214.15, Z:5.61 [[-3.82673843e-01 -9.23867946e-01 5.36170360e-03 8.17337504e+01] [ 9.23763283e-01 -3.82711224e-01 -1.39110038e-02 2.14152153e+02] [ 1.49039147e-02 -3.70432378e-04 9.99888862e-01 5.60735900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.49275509600005 meters 0.022674624606470576 Centerline is valid? [True, True] Translation: X:81.72, Y:214.18, Z:5.61 [[-3.83143272e-01 -9.23671407e-01 5.68909769e-03 8.17233244e+01] [ 9.23553829e-01 -3.83185304e-01 -1.47427049e-02 2.14177175e+02] [ 1.57973936e-02 -3.94380240e-04 9.99875136e-01 5.60769746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.522755096 meters 0.023896824769210356 Centerline is valid? [True, True] Translation: X:81.72, Y:214.20, Z:5.61 [[-3.83288501e-01 -9.23610133e-01 5.85218178e-03 8.17163363e+01] [ 9.23485991e-01 -3.83332965e-01 -1.51480099e-02 2.14201683e+02] [ 1.62341896e-02 -4.01650128e-04 9.99868136e-01 5.60741533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.55275509600006 meters 0.023345781079054845 Centerline is valid? [True, True] Translation: X:81.71, Y:214.23, Z:5.61 [[-3.83359711e-01 -9.23580070e-01 5.93186327e-03 8.17058875e+01] [ 9.23452831e-01 -3.83405391e-01 -1.53354240e-02 2.14226241e+02] [ 1.64378004e-02 -4.01187801e-04 9.99864810e-01 5.60766588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.582755096 meters 0.023035939889288776 Centerline is valid? [True, True] Translation: X:81.70, Y:214.25, Z:5.61 [[-3.82621329e-01 -9.23881740e-01 6.59159047e-03 8.16963619e+01] [ 9.23725047e-01 -3.82677869e-01 -1.70201486e-02 2.14250871e+02] [ 1.82470603e-02 -4.23454668e-04 9.99833419e-01 5.60668127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.61275509600006 meters 0.02233244156717308 Centerline is valid? [True, True] Translation: X:81.69, Y:214.27, Z:5.61 [[-3.82024837e-01 -9.24126564e-01 6.86425835e-03 8.16857347e+01] [ 9.23957072e-01 -3.82086269e-01 -1.77034303e-02 2.14274818e+02] [ 1.89829490e-02 -4.20870019e-04 9.99819719e-01 5.60657853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64275509600003 meters 0.022410090101002467 Centerline is valid? [True, True] Translation: X:81.68, Y:214.30, Z:5.60 [[-3.80199445e-01 -9.24874793e-01 7.41608993e-03 8.16770006e+01] [ 9.24677556e-01 -3.80271550e-01 -1.91040657e-02 2.14299530e+02] [ 2.04889969e-02 -4.05863280e-04 9.99789996e-01 5.60488781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.67275509600006 meters 0.02125989467143003 Centerline is valid? [True, True] Translation: X:81.67, Y:214.32, Z:5.61 [[-3.79562042e-01 -9.25135824e-01 7.50760232e-03 8.16656717e+01] [ 9.24934188e-01 -3.79636085e-01 -1.93181314e-02 2.14323600e+02] [ 2.07220522e-02 -3.88391363e-04 9.99785200e-01 5.60548473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70275509600003 meters 0.021928404187012973 Centerline is valid? [True, True] Translation: X:81.66, Y:214.35, Z:5.60 [[-3.78761546e-01 -9.25462027e-01 7.72833003e-03 8.16583714e+01] [ 9.25248931e-01 -3.78840200e-01 -1.98624906e-02 2.14347748e+02] [ 2.13097829e-02 -3.72518558e-04 9.99772851e-01 5.60425564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.73275509600006 meters 0.021216929644366233 Centerline is valid? [True, True] Translation: X:81.65, Y:214.37, Z:5.60 [[-3.78472449e-01 -9.25579386e-01 7.83621950e-03 8.16484045e+01] [ 9.25360828e-01 -3.78553391e-01 -2.01163823e-02 2.14371881e+02] [ 2.15857363e-02 -3.62165920e-04 9.99766935e-01 5.60495168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76275509600003 meters 0.021216929644366233 Centerline is valid? [True, True] Translation: X:81.64, Y:214.40, Z:5.61 [[-3.78817377e-01 -9.25438205e-01 7.84371761e-03 8.16387398e+01] [ 9.25219677e-01 -3.78898400e-01 -2.01134590e-02 2.14395941e+02] [ 2.15857354e-02 -3.62165906e-04 9.99766935e-01 5.60526022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.79275509600006 meters 0.020863989801411582 Centerline is valid? [True, True] Translation: X:81.63, Y:214.42, Z:5.61 [[-3.79064413e-01 -9.25335071e-01 8.07323822e-03 8.16302882e+01] [ 9.25104062e-01 -3.79150194e-01 -2.06786171e-02 2.14421437e+02] [ 2.21956194e-02 -3.69942375e-04 9.99753578e-01 5.60598471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82275509600004 meters 0.020486713977716897 Centerline is valid? [True, True] Translation: X:81.62, Y:214.45, Z:5.61 [[-3.79169480e-01 -9.25291350e-01 8.15008790e-03 8.16205657e+01] [ 9.25056446e-01 -3.79256884e-01 -2.08515609e-02 2.14446358e+02] [ 2.23847459e-02 -3.66984156e-04 9.99749363e-01 5.60670258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.85275509600007 meters 0.020833160157823702 Centerline is valid? [True, True] Translation: X:81.61, Y:214.47, Z:5.61 [[-3.78978030e-01 -9.25369595e-01 8.17096183e-03 8.16128873e+01] [ 9.25134056e-01 -3.79065940e-01 -2.08803961e-02 2.14470723e+02] [ 2.24194170e-02 -3.53976335e-04 9.99748591e-01 5.60630357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88275509600004 meters 0.020676588207299517 Centerline is valid? [True, True] Translation: X:81.60, Y:214.50, Z:5.61 [[-3.78772234e-01 -9.25454204e-01 8.13089919e-03 8.16028919e+01] [ 9.25221519e-01 -3.78859344e-01 -2.07542148e-02 2.14495399e+02] [ 2.22875425e-02 -3.38237416e-04 9.99751545e-01 5.60675788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91275509600007 meters 0.02024714564503393 Centerline is valid? [True, True] Translation: X:81.59, Y:214.52, Z:5.61 [[-3.78520649e-01 -9.25558290e-01 7.99812213e-03 8.15919103e+01] [ 9.25333657e-01 -3.78605006e-01 -2.03929573e-02 2.14519390e+02] [ 2.19029998e-02 -3.18223840e-04 9.99760050e-01 5.60805895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94275509600004 meters 0.019954396945553045 Centerline is valid? [True, True] Translation: X:81.58, Y:214.54, Z:5.61 [[-3.77467499e-01 -9.25989442e-01 7.86389723e-03 8.15816706e+01] [ 9.25772867e-01 -3.77549302e-01 -2.00280809e-02 2.14542277e+02] [ 2.15148003e-02 -2.79766909e-04 9.99768491e-01 5.60853263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.97275509600007 meters 0.019373272873665085 Centerline is valid? [True, True] Translation: X:81.57, Y:214.57, Z:5.61 [[-3.76976179e-01 -9.26190717e-01 7.72761012e-03 8.15707366e+01] [ 9.25982098e-01 -3.77055288e-01 -1.96586953e-02 2.14565856e+02] [ 2.11214373e-02 -2.55231192e-04 9.99776885e-01 5.60962149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00275509600004 meters 0.01952170311665597 Centerline is valid? [True, True] Translation: X:81.56, Y:214.59, Z:5.61 [[-3.77120894e-01 -9.26131666e-01 7.74389023e-03 8.15613019e+01] [ 9.25922628e-01 -3.77200310e-01 -1.96777242e-02 2.14589872e+02] [ 2.11451613e-02 -2.50637745e-04 9.99776385e-01 5.60981779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0327550960001 meters 0.019671011381103602 Centerline is valid? [True, True] Translation: X:81.55, Y:214.61, Z:5.61 [[-3.77934977e-01 -9.25802422e-01 7.41807428e-03 8.15525967e+01] [ 9.25610971e-01 -3.78007689e-01 -1.88286454e-02 2.14613532e+02] [ 2.02356946e-02 -2.49752735e-04 9.99795206e-01 5.61081636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06275509600005 meters 0.019440253141559508 Centerline is valid? [True, True] Translation: X:81.54, Y:214.64, Z:5.61 [[-3.78688092e-01 -9.25496816e-01 7.13948022e-03 8.15421956e+01] [ 9.25319810e-01 -3.78755306e-01 -1.81015940e-02 2.14637663e+02] [ 1.94570836e-02 -2.48555611e-04 9.99810662e-01 5.61200063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0927550960001 meters 0.02001146307399837 Centerline is valid? [True, True] Translation: X:81.53, Y:214.66, Z:5.61 [[-3.80767887e-01 -9.24644016e-01 7.01847717e-03 8.15343646e+01] [ 9.24473192e-01 -3.80832463e-01 -1.77750803e-02 2.14662197e+02] [ 1.91084856e-02 -2.79785765e-04 9.99817377e-01 5.61224033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12275509600005 meters 0.020717912754660586 Centerline is valid? [True, True] Translation: X:81.53, Y:214.69, Z:5.61 [[-3.82450168e-01 -9.23949265e-01 7.04445344e-03 8.15259608e+01] [ 9.23777446e-01 -3.82514915e-01 -1.78204858e-02 2.14686661e+02] [ 1.91598333e-02 -3.07940565e-04 9.99816386e-01 5.61250816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1527550960001 meters 0.020977523466065802 Centerline is valid? [True, True] Translation: X:81.52, Y:214.71, Z:5.61 [[-3.84114906e-01 -9.23257991e-01 7.10084156e-03 8.15162875e+01] [ 9.23083678e-01 -3.84180386e-01 -1.79430718e-02 2.14711397e+02] [ 1.92940885e-02 -3.37530399e-04 9.99813795e-01 5.61300901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18275509600005 meters 0.022346425977170455 Centerline is valid? [True, True] Translation: X:81.51, Y:214.74, Z:5.61 [[-3.86673537e-01 -9.22188499e-01 7.20750421e-03 8.15075140e+01] [ 9.22009120e-01 -3.86740508e-01 -1.81923472e-02 2.14735617e+02] [ 1.95642072e-02 -3.89114626e-04 9.99808527e-01 5.61236731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2127550960001 meters 0.022235426033586473 Centerline is valid? [True, True] Translation: X:81.50, Y:214.76, Z:5.61 [[-3.87923908e-01 -9.21661856e-01 7.38001955e-03 8.14964237e+01] [ 9.21474096e-01 -3.87993877e-01 -1.86075781e-02 2.14760302e+02] [ 2.00132974e-02 -4.17827575e-04 9.99799627e-01 5.61281261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24275509600005 meters 0.023107609881218374 Centerline is valid? [True, True] Translation: X:81.49, Y:214.78, Z:5.61 [[-3.88767118e-01 -9.21306356e-01 7.39776102e-03 8.14880711e+01] [ 9.21118018e-01 -3.88837259e-01 -1.86328451e-02 2.14784462e+02] [ 2.00430837e-02 -4.29626501e-04 9.99799025e-01 5.61247126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.272755096 meters 0.021703807721084094 Centerline is valid? [True, True] Translation: X:81.47, Y:214.81, Z:5.61 [[-3.90122001e-01 -9.20728708e-01 7.96688085e-03 8.14744922e+01] [ 9.20510646e-01 -3.90203038e-01 -2.00434480e-02 2.14808482e+02] [ 2.15632791e-02 -4.85791404e-04 9.99767367e-01 5.61355657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30275509600006 meters 0.02256293759497301 Centerline is valid? [True, True] Translation: X:81.47, Y:214.83, Z:5.61 [[-3.90849047e-01 -9.20420366e-01 7.96064708e-03 8.14656119e+01] [ 9.20203060e-01 -3.90929797e-01 -2.00055484e-02 2.14832255e+02] [ 2.15255683e-02 -4.93737723e-04 9.99768176e-01 5.61291696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.332755096 meters 0.02197097058900038 Centerline is valid? [True, True] Translation: X:81.45, Y:214.86, Z:5.61 [[-3.91592630e-01 -9.20102937e-01 8.11152643e-03 8.14539866e+01] [ 9.19877779e-01 -3.91676299e-01 -2.03604632e-02 2.14855560e+02] [ 2.19108147e-02 -5.11394419e-04 9.99759799e-01 5.61414971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36275509600006 meters 0.023411522393221695 Centerline is valid? [True, True] Translation: X:81.45, Y:214.88, Z:5.61 [[-3.92041786e-01 -9.19913071e-01 7.94852756e-03 8.14454844e+01] [ 9.19697329e-01 -3.92122033e-01 -1.99282162e-02 2.14880008e+02] [ 2.14490194e-02 -5.02453911e-04 9.99769817e-01 5.61345948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.39275509600003 meters 0.022227609216960976 Centerline is valid? [True, True] Translation: X:81.43, Y:214.90, Z:5.61 [[-3.92285573e-01 -9.19807693e-01 8.11403057e-03 8.14327104e+01] [ 9.19583376e-01 -3.92369149e-01 -2.03191114e-02 2.14903139e+02] [ 2.18733702e-02 -5.09366640e-04 9.99760619e-01 5.61464304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42275509600006 meters 0.02367071153482483 Centerline is valid? [True, True] Translation: X:81.42, Y:214.93, Z:5.61 [[-3.92589964e-01 -9.19677897e-01 8.10467285e-03 8.14246685e+01] [ 9.19454525e-01 -3.92673283e-01 -2.02748333e-02 2.14926873e+02] [ 2.18288046e-02 -5.07817942e-04 9.99761594e-01 5.61377922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.45275509600003 meters 0.02296417499945479 Centerline is valid? [True, True] Translation: X:81.41, Y:214.95, Z:5.61 [[-3.93687703e-01 -9.19207447e-01 8.22574060e-03 8.14117471e+01] [ 9.18977682e-01 -3.93773266e-01 -2.05580830e-02 2.14950601e+02] [ 2.21362197e-02 -5.34192434e-04 9.99754821e-01 5.61476652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48275509600006 meters 0.024570032527531947 Centerline is valid? [True, True] Translation: X:81.40, Y:214.97, Z:5.61 [[-3.94648256e-01 -9.18795766e-01 8.19113608e-03 8.14037608e+01] [ 9.18568268e-01 -3.94732873e-01 -2.04522681e-02 2.14974930e+02] [ 2.20247681e-02 -5.47334279e-04 9.99757276e-01 5.61442018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51275509600003 meters 0.02499687208141022 Centerline is valid? [True, True] Translation: X:81.39, Y:215.00, Z:5.61 [[-3.95629403e-01 -9.18373553e-01 8.20928505e-03 8.13940056e+01] [ 9.18145412e-01 -3.95714163e-01 -2.04769007e-02 2.14998817e+02] [ 2.20539745e-02 -5.63946601e-04 9.99756622e-01 5.61462714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54275509600006 meters 0.02639242692832005 Centerline is valid? [True, True] Translation: X:81.39, Y:215.02, Z:5.61 [[-3.97779713e-01 -9.17443580e-01 8.28108722e-03 8.13853518e+01] [ 9.17211749e-01 -3.97865433e-01 -2.06326058e-02 2.15023073e+02] [ 2.22240101e-02 -6.11721513e-04 9.99752829e-01 5.61433764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57275509600004 meters 0.027099133961638003 Centerline is valid? [True, True] Translation: X:81.38, Y:215.05, Z:5.61 [[-3.98808645e-01 -9.16995609e-01 8.40944902e-03 8.13760834e+01] [ 9.16756941e-01 -3.98896788e-01 -2.09299655e-02 2.15048185e+02] [ 2.25471886e-02 -6.37630406e-04 9.99745577e-01 5.61413235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60275509600007 meters 0.024395625187757307 Centerline is valid? [True, True] Translation: X:81.36, Y:215.07, Z:5.62 [[-4.00016975e-01 -9.16469042e-01 8.42105930e-03 8.13620894e+01] [ 9.16230096e-01 -4.00105061e-01 -2.09368391e-02 2.15071419e+02] [ 2.25572733e-02 -6.59463046e-04 9.99745335e-01 5.61632820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63275509600004 meters 0.025573730047765423 Centerline is valid? [True, True] Translation: X:81.35, Y:215.10, Z:5.62 [[-4.02070935e-01 -9.15573999e-01 7.95079969e-03 8.13544645e+01] [ 9.15361246e-01 -4.02148994e-01 -1.97477857e-02 2.15096176e+02] [ 2.12779652e-02 -6.62156736e-04 9.99773379e-01 5.61715690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66275509600007 meters 0.02525320948994301 Centerline is valid? [True, True] Translation: X:81.34, Y:215.12, Z:5.62 [[-4.03462336e-01 -9.14961632e-01 7.95968717e-03 8.13439002e+01] [ 9.14748709e-01 -4.03540259e-01 -1.97499008e-02 2.15121703e+02] [ 2.12824557e-02 -6.87227559e-04 9.99773267e-01 5.61796380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.69275509600004 meters 0.028195490808450865 Centerline is valid? [True, True] Translation: X:81.34, Y:215.15, Z:5.62 [[-4.06283180e-01 -9.13714522e-01 7.72981849e-03 8.13387734e+01] [ 9.13513905e-01 -4.06356063e-01 -1.91597602e-02 2.15148335e+02] [ 2.06476097e-02 -7.22991617e-04 9.99786554e-01 5.61772075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72275509600007 meters 0.026641365867364087 Centerline is valid? [True, True] Translation: X:81.33, Y:215.17, Z:5.62 [[-4.07995897e-01 -9.12951533e-01 7.67116253e-03 8.13265906e+01] [ 9.12754226e-01 -4.08067322e-01 -1.89943086e-02 2.15172524e+02] [ 2.04712339e-02 -7.47713951e-04 9.99790163e-01 5.61938188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.75275509600004 meters 0.029689664170114587 Centerline is valid? [True, True] Translation: X:81.32, Y:215.20, Z:5.62 [[-4.09033828e-01 -9.12489819e-01 7.32509515e-03 8.13211894e+01] [ 9.12310205e-01 -4.09098764e-01 -1.81187957e-02 2.15198731e+02] [ 1.95299040e-02 -7.28441293e-04 9.99809008e-01 5.61958049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7827550960001 meters 0.027525018066629693 Centerline is valid? [True, True] Translation: X:81.31, Y:215.22, Z:5.62 [[-4.10344436e-01 -9.11902670e-01 7.13886802e-03 8.13084503e+01] [ 9.11732337e-01 -4.10405882e-01 -1.76396510e-02 2.15222737e+02] [ 1.90154782e-02 -7.29595810e-04 9.99818923e-01 5.62152909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.81275509600005 meters 0.028667948087969467 Centerline is valid? [True, True] Translation: X:81.30, Y:215.25, Z:5.62 [[-4.11652587e-01 -9.11314685e-01 6.90598042e-03 8.13014675e+01] [ 9.11155526e-01 -4.11709873e-01 -1.70466306e-02 2.15247955e+02] [ 1.83781052e-02 -7.24867380e-04 9.99830846e-01 5.62266413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8427550960001 meters 0.0325998626865175 Centerline is valid? [True, True] Translation: X:81.30, Y:215.27, Z:5.62 [[-4.12450900e-01 -9.10954304e-01 6.81985363e-03 8.12972343e+01] [ 9.10799379e-01 -4.12506644e-01 -1.68154571e-02 2.15273682e+02] [ 1.81313480e-02 -7.24031980e-04 9.99835351e-01 5.62224499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.87275509600005 meters 0.028867463479678227 Centerline is valid? [True, True] Translation: X:81.28, Y:215.30, Z:5.62 [[-4.12893533e-01 -9.10754153e-01 6.76785567e-03 8.12825047e+01] [ 9.10601899e-01 -4.12948370e-01 -1.66680880e-02 2.15295907e+02] [ 1.79753053e-02 -7.19323523e-04 9.99838172e-01 5.62348993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9027550960001 meters 0.029014786288581507 Centerline is valid? [True, True] Translation: X:81.27, Y:215.32, Z:5.62 [[-4.12420266e-01 -9.10968926e-01 6.71869161e-03 8.12730228e+01] [ 9.10819227e-01 -4.12474400e-01 -1.65289057e-02 2.15320596e+02] [ 1.78286077e-02 -6.97342171e-04 9.99840815e-01 5.62366919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.93275509600005 meters 0.028505516062774097 Centerline is valid? [True, True] Translation: X:81.26, Y:215.35, Z:5.62 [[-4.11670069e-01 -9.11307494e-01 6.81217124e-03 8.12619819e+01] [ 9.11153962e-01 -4.11725858e-01 -1.67413962e-02 2.15345719e+02] [ 1.80613069e-02 -6.84994936e-04 9.99836647e-01 5.62349636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9627550960001 meters 0.025829541200791718 Centerline is valid? [True, True] Translation: X:81.25, Y:215.37, Z:5.62 [[-4.09116393e-01 -9.12453167e-01 7.27982624e-03 8.12483905e+01] [ 9.12278369e-01 -4.09180607e-01 -1.78719859e-02 2.15369625e+02] [ 1.92861138e-02 -6.70494391e-04 9.99813781e-01 5.62344855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.99275509600005 meters 0.025755217465941026 Centerline is valid? [True, True] Translation: X:81.24, Y:215.39, Z:5.62 [[-4.07876894e-01 -9.13007237e-01 7.36373496e-03 8.12385464e+01] [ 9.12828806e-01 -4.07942851e-01 -1.80610219e-02 2.15394121e+02] [ 1.94938267e-02 -6.44844118e-04 9.99809769e-01 5.62354175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.022755096 meters 0.02679037539615349 Centerline is valid? [True, True] Translation: X:81.23, Y:215.42, Z:5.62 [[-4.06702704e-01 -9.13527073e-01 7.82286880e-03 8.12290455e+01] [ 9.13326160e-01 -4.06777411e-01 -1.91693499e-02 2.15418860e+02] [ 2.06938864e-02 -6.51395702e-04 9.99785646e-01 5.62242157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.05275509600006 meters 0.023768858462224353 Centerline is valid? [True, True] Translation: X:81.21, Y:215.44, Z:5.62 [[-4.03598020e-01 -9.14900440e-01 8.11313300e-03 8.12148246e+01] [ 9.14685048e-01 -4.03679119e-01 -1.98603093e-02 2.15442979e+02] [ 2.14453081e-02 -5.94620057e-04 9.99769846e-01 5.62348582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.082755096 meters 0.02444719934351862 Centerline is valid? [True, True] Translation: X:81.21, Y:215.47, Z:5.62 [[-4.02433721e-01 -9.15412399e-01 8.20000100e-03 8.12060084e+01] [ 9.15192905e-01 -4.02516857e-01 -2.00530940e-02 2.15467561e+02] [ 2.16574895e-02 -5.65458521e-04 9.99765289e-01 5.62272430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.11275509600006 meters 0.022091460692461064 Centerline is valid? [True, True] Translation: X:81.19, Y:215.49, Z:5.62 [[-4.01716033e-01 -9.15727599e-01 8.19719335e-03 8.11928434e+01] [ 9.15508787e-01 -4.01799296e-01 -2.00246422e-02 2.15490411e+02] [ 2.16307441e-02 -5.39617306e-04 9.99765882e-01 5.62440396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14275509600003 meters 0.021451707803204264 Centerline is valid? [True, True] Translation: X:81.18, Y:215.51, Z:5.63 [[-4.00027949e-01 -9.16467393e-01 8.07198212e-03 8.11830166e+01] [ 9.16255821e-01 -4.00109089e-01 -1.96974043e-02 2.15514555e+02] [ 2.12817022e-02 -4.83511654e-04 9.99773402e-01 5.62548384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.17275509600006 meters 0.02081371347136347 Centerline is valid? [True, True] Translation: X:81.17, Y:215.54, Z:5.63 [[-3.99493090e-01 -9.16698725e-01 8.28969062e-03 8.11723216e+01] [ 9.16476120e-01 -3.99578806e-01 -2.02064155e-02 2.15539178e+02] [ 2.18355800e-02 -4.75019896e-04 9.99761462e-01 5.62601384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20275509600003 meters 0.02262873752606395 Centerline is valid? [True, True] Translation: X:81.17, Y:215.56, Z:5.62 [[-3.99325192e-01 -9.16769265e-01 8.57350916e-03 8.11659940e+01] [ 9.16531657e-01 -3.99416932e-01 -2.08767068e-02 2.15564383e+02] [ 2.25635279e-02 -4.78702426e-04 9.99745297e-01 5.62464214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.23275509600006 meters 0.020431465792087662 Centerline is valid? [True, True] Translation: X:81.15, Y:215.59, Z:5.63 [[-3.99499452e-01 -9.16691797e-01 8.73706712e-03 8.11522786e+01] [ 9.16445511e-01 -3.99594688e-01 -2.12534870e-02 2.15587310e+02] [ 2.29741828e-02 -4.83710471e-04 9.99735942e-01 5.62659419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26275509600003 meters 0.020633111128106046 Centerline is valid? [True, True] Translation: X:81.14, Y:215.61, Z:5.63 [[-3.99212806e-01 -9.16816783e-01 8.72479401e-03 8.11423262e+01] [ 9.16571775e-01 -3.99307862e-01 -2.11993284e-02 2.15610718e+02] [ 2.29197789e-02 -4.66143419e-04 9.99737199e-01 5.62675226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.29275509600006 meters 0.020478062345932673 Centerline is valid? [True, True] Translation: X:81.13, Y:215.63, Z:5.63 [[-3.99730847e-01 -9.16593520e-01 8.45979440e-03 8.11325932e+01] [ 9.16363632e-01 -3.99820099e-01 -2.05324955e-02 2.15634835e+02] [ 2.22023481e-02 -4.55223883e-04 9.99753394e-01 5.62896924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32275509600004 meters 0.020232481871127927 Centerline is valid? [True, True] Translation: X:81.12, Y:215.66, Z:5.63 [[-4.00218543e-01 -9.16383256e-01 8.17594405e-03 8.11218017e+01] [ 9.16168952e-01 -4.00301802e-01 -1.98221883e-02 2.15659257e+02] [ 2.14375666e-02 -4.42661247e-04 9.99770091e-01 5.63062280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.35275509600007 meters 0.020922217795374405 Centerline is valid? [True, True] Translation: X:81.11, Y:215.68, Z:5.63 [[-4.01227952e-01 -9.15942382e-01 8.10447095e-03 8.11129349e+01] [ 9.15732185e-01 -4.01309540e-01 -1.96269988e-02 2.15682641e+02] [ 2.12296015e-02 -4.53375647e-04 9.99774524e-01 5.63072735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38275509600004 meters 0.02131643629880457 Centerline is valid? [True, True] Translation: X:81.10, Y:215.71, Z:5.63 [[-4.03448837e-01 -9.14963125e-01 8.45675548e-03 8.11032697e+01] [ 9.14734547e-01 -4.03537127e-01 -2.04571905e-02 2.15707527e+02] [ 2.21301898e-02 -5.17743333e-04 9.99754963e-01 5.63129177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41275509600007 meters 0.02216754063147432 Centerline is valid? [True, True] Translation: X:81.09, Y:215.73, Z:5.63 [[-4.04813967e-01 -9.14357025e-01 8.76830293e-03 8.10941857e+01] [ 9.14111662e-01 -4.04908526e-01 -2.11885736e-02 2.15732342e+02] [ 2.29242818e-02 -5.62222576e-04 9.99737046e-01 5.63083467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44275509600004 meters 0.02338528415206498 Centerline is valid? [True, True] Translation: X:81.08, Y:215.76, Z:5.63 [[-4.07397779e-01 -9.13206030e-01 9.04414892e-03 8.10842685e+01] [ 9.12945222e-01 -4.07497656e-01 -2.18330358e-02 2.15757606e+02] [ 2.36235294e-02 -6.37917729e-04 9.99720722e-01 5.63093278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.47275509600007 meters 0.022089253242069423 Centerline is valid? [True, True] Translation: X:81.07, Y:215.78, Z:5.63 [[-4.08945522e-01 -9.12513387e-01 9.10376414e-03 8.10709475e+01] [ 9.12249480e-01 -4.09046287e-01 -2.19549820e-02 2.15781873e+02] [ 2.37580759e-02 -6.73487479e-04 9.99717510e-01 5.63265841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50275509600004 meters 0.023724017149638177 Centerline is valid? [True, True] Translation: X:81.06, Y:215.81, Z:5.63 [[-4.10080939e-01 -9.12002419e-01 9.23099259e-03 8.10620809e+01] [ 9.11731520e-01 -4.10184219e-01 -2.22382904e-02 2.15807039e+02] [ 2.40677821e-02 -7.03312097e-04 9.99710082e-01 5.63230169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5327550960001 meters 0.023681660707311154 Centerline is valid? [True, True] Translation: X:81.05, Y:215.83, Z:5.63 [[-4.11558502e-01 -9.11332618e-01 9.61559489e-03 8.10491692e+01] [ 9.11039103e-01 -4.11670107e-01 -2.31403277e-02 2.15831637e+02] [ 2.50469884e-02 -7.63415669e-04 9.99685984e-01 5.63205468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56275509600005 meters 0.023215797036509108 Centerline is valid? [True, True] Translation: X:81.04, Y:215.86, Z:5.63 [[-4.12244844e-01 -9.11019880e-01 9.84719638e-03 8.10369487e+01] [ 9.10712588e-01 -4.12361677e-01 -2.36734043e-02 2.15856135e+02] [ 2.56275483e-02 -7.91273171e-04 9.99671247e-01 5.63236466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5927550960001 meters 0.025498778550894937 Centerline is valid? [True, True] Translation: X:81.03, Y:215.88, Z:5.63 [[-4.12982673e-01 -9.10683411e-01 1.00516716e-02 8.10287026e+01] [ 9.10363792e-01 -4.13104169e-01 -2.41394445e-02 2.15881217e+02] [ 2.61357791e-02 -8.18494480e-04 9.99658067e-01 5.63107425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62275509600005 meters 0.02408074269764346 Centerline is valid? [True, True] Translation: X:81.02, Y:215.90, Z:5.63 [[-4.13332116e-01 -9.10525385e-01 1.00042356e-02 8.10151129e+01] [ 9.10209411e-01 -4.13452368e-01 -2.39993296e-02 2.15904555e+02] [ 2.59882737e-02 -8.13744298e-04 9.99661917e-01 5.63238293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6527550960001 meters 0.024281500264006366 Centerline is valid? [True, True] Translation: X:81.00, Y:215.93, Z:5.63 [[-4.13542234e-01 -9.10429060e-01 1.00869957e-02 8.10049022e+01] [ 9.10108531e-01 -4.13664433e-01 -2.41702081e-02 2.15928319e+02] [ 2.61778912e-02 -8.15141064e-04 9.99656968e-01 5.63283591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68275509600005 meters 0.024281500264006366 Centerline is valid? [True, True] Translation: X:80.99, Y:215.95, Z:5.63 [[-4.13898729e-01 -9.10266938e-01 1.00966941e-02 8.09946778e+01] [ 9.09946460e-01 -4.14021058e-01 -2.41661573e-02 2.15952164e+02] [ 2.61778980e-02 -8.14890729e-04 9.99656968e-01 5.63314450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7127550960001 meters 0.024780125153314996 Centerline is valid? [True, True] Translation: X:80.98, Y:215.98, Z:5.63 [[-4.13792913e-01 -9.10315289e-01 1.00746818e-02 8.09849362e+01] [ 9.09996928e-01 -4.13914769e-01 -2.40863888e-02 2.15975826e+02] [ 2.60962676e-02 -7.98847538e-04 9.99659115e-01 5.63389706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74275509600005 meters 0.02307027229655036 Centerline is valid? [True, True] Translation: X:80.97, Y:216.00, Z:5.64 [[-4.13976780e-01 -9.10234209e-01 9.84432120e-03 8.09714731e+01] [ 9.09930857e-01 -4.14093087e-01 -2.35106554e-02 2.15999574e+02] [ 2.54766681e-02 -7.75213783e-04 9.99675116e-01 5.63579913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.772755096 meters 0.023928970950622 Centerline is valid? [True, True] Translation: X:80.96, Y:216.02, Z:5.64 [[-4.14094800e-01 -9.10182026e-01 9.70441251e-03 8.09619219e+01] [ 9.09887856e-01 -4.14207805e-01 -2.31513006e-02 2.16023623e+02] [ 2.50915411e-02 -7.56906078e-04 9.99684871e-01 5.63573710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80275509600006 meters 0.023566276179762244 Centerline is valid? [True, True] Translation: X:80.95, Y:216.05, Z:5.64 [[-4.14223002e-01 -9.10125676e-01 9.51628241e-03 8.09504038e+01] [ 9.09843414e-01 -4.14331648e-01 -2.26770081e-02 2.16047520e+02] [ 2.45818243e-02 -7.35011474e-04 9.99697551e-01 5.63659970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.832755096 meters 0.023651800284012408 Centerline is valid? [True, True] Translation: X:80.94, Y:216.07, Z:5.64 [[-4.14368904e-01 -9.10065188e-01 8.93109057e-03 8.09398856e+01] [ 9.09817098e-01 -4.14464577e-01 -2.12594148e-02 2.16070191e+02] [ 2.30490740e-02 -6.83581518e-04 9.99734101e-01 5.63794821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86275509600006 meters 0.02345253054034593 Centerline is valid? [True, True] Translation: X:80.93, Y:216.09, Z:5.64 [[-4.14348059e-01 -9.10078171e-01 8.56786596e-03 8.09295655e+01] [ 9.09850347e-01 -4.14436130e-01 -2.03725318e-02 2.16094837e+02] [ 2.20914297e-02 -6.45843179e-04 9.99755746e-01 5.63908695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.89275509600003 meters 0.023446160832523908 Centerline is valid? [True, True] Translation: X:80.92, Y:216.12, Z:5.64 [[-4.13964890e-01 -9.10257103e-01 8.06701527e-03 8.09204891e+01] [ 9.10055554e-01 -4.14043062e-01 -1.91633160e-02 2.16118748e+02] [ 2.07836362e-02 -5.91507961e-04 9.99783822e-01 5.64074941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92275509600006 meters 0.023562527262793558 Centerline is valid? [True, True] Translation: X:80.91, Y:216.14, Z:5.64 [[-4.14047442e-01 -9.10222844e-01 7.68696702e-03 8.09099818e+01] [ 9.10040165e-01 -4.14118416e-01 -1.82437696e-02 2.16142500e+02] [ 1.97892104e-02 -5.58337394e-04 9.99804019e-01 5.64128319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.95275509600003 meters 0.023038349465915497 Centerline is valid? [True, True] Translation: X:80.90, Y:216.17, Z:5.64 [[-4.12886118e-01 -9.10755502e-01 7.03341826e-03 8.08978671e+01] [ 9.10602915e-01 -4.12945739e-01 -1.66777857e-02 2.16166074e+02] [ 1.80938052e-02 -4.81375012e-04 9.99836178e-01 5.64230264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98275509600006 meters 0.02296824430983309 Centerline is valid? [True, True] Translation: X:80.89, Y:216.19, Z:5.64 [[-4.12835391e-01 -9.10780055e-01 6.82874848e-03 8.08868370e+01] [ 9.10636456e-01 -4.12891607e-01 -1.61791535e-02 2.16189873e+02] [ 1.75551833e-02 -4.60819843e-04 9.99845790e-01 5.64274760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01275509600003 meters 0.022670999504638627 Centerline is valid? [True, True] Translation: X:80.88, Y:216.21, Z:5.64 [[-4.12543567e-01 -9.10913130e-01 6.71371078e-03 8.08758997e+01] [ 9.10774631e-01 -4.12597958e-01 -1.58901766e-02 2.16213567e+02] [ 1.72446338e-02 -4.40712673e-04 9.99851203e-01 5.64307576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04275509600006 meters 0.022722795956707294 Centerline is valid? [True, True] Translation: X:80.86, Y:216.24, Z:5.64 [[-4.12108220e-01 -9.11111375e-01 6.54805638e-03 8.08649716e+01] [ 9.10979921e-01 -4.12160029e-01 -1.54820567e-02 2.16237020e+02] [ 1.68047251e-02 -4.15134955e-04 9.99858704e-01 5.64277554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07275509600004 meters 0.022926843185930443 Centerline is valid? [True, True] Translation: X:80.85, Y:216.26, Z:5.64 [[-4.12344383e-01 -9.11005427e-01 6.42044985e-03 8.08548173e+01] [ 9.10879303e-01 -4.12394166e-01 -1.51640168e-02 2.16259978e+02] [ 1.64622576e-02 -4.04542259e-04 9.99864406e-01 5.64303783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10275509600007 meters 0.02198170194159285 Centerline is valid? [True, True] Translation: X:80.84, Y:216.28, Z:5.64 [[-4.12493636e-01 -9.10939065e-01 6.24657031e-03 8.08428579e+01] [ 9.10819926e-01 -4.12540746e-01 -1.47375325e-02 2.16283389e+02] [ 1.60019588e-02 -3.89637638e-04 9.99871885e-01 5.64382859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13275509600004 meters 0.02359351724064183 Centerline is valid? [True, True] Translation: X:80.83, Y:216.31, Z:5.64 [[-4.13384371e-01 -9.10537025e-01 5.97389579e-03 8.08336570e+01] [ 9.10428225e-01 -4.13427357e-01 -1.40807575e-02 2.16306671e+02] [ 1.52908230e-02 -3.81961752e-04 9.99883016e-01 5.64361214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16275509600007 meters 0.023211491683199262 Centerline is valid? [True, True] Translation: X:80.82, Y:216.33, Z:5.64 [[-4.14155414e-01 -9.10186199e-01 6.03131973e-03 8.08220433e+01] [ 9.10075456e-01 -4.14199141e-01 -1.42033619e-02 2.16329498e+02] [ 1.54258714e-02 -3.93443165e-04 9.99880937e-01 5.64350470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.19275509600004 meters 0.022753489149960622 Centerline is valid? [True, True] Translation: X:80.81, Y:216.35, Z:5.64 [[-4.15085424e-01 -9.09761946e-01 6.10680969e-03 8.08102508e+01] [ 9.09648615e-01 -4.15130143e-01 -1.43652809e-02 2.16353557e+02] [ 1.56041067e-02 -4.07767737e-04 9.99878165e-01 5.64333619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22275509600007 meters 0.023107437675516675 Centerline is valid? [True, True] Translation: X:80.80, Y:216.38, Z:5.64 [[-4.17308748e-01 -9.08743857e-01 6.16539939e-03 8.07989444e+01] [ 9.08628456e-01 -4.17354054e-01 -1.44887138e-02 2.16378764e+02] [ 1.57396841e-02 -4.44209680e-04 9.99876025e-01 5.64332373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.25275509600004 meters 0.026682896205648454 Centerline is valid? [True, True] Translation: X:80.79, Y:216.40, Z:5.64 [[-4.18604515e-01 -9.08148678e-01 6.01988466e-03 8.07925164e+01] [ 9.08038793e-01 -4.18647556e-01 -1.41341311e-02 2.16404935e+02] [ 1.53561024e-02 -4.50322268e-04 9.99881987e-01 5.64303262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2827550960001 meters 0.027045168991716505 Centerline is valid? [True, True] Translation: X:80.78, Y:216.43, Z:5.64 [[-4.19662761e-01 -9.07661543e-01 5.80435181e-03 8.07817045e+01] [ 9.07559494e-01 -4.19702661e-01 -1.36176384e-02 2.16429524e+02] [ 1.47963086e-02 -4.47021153e-04 9.99890429e-01 5.64361093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.31275509600005 meters 0.024893258522158873 Centerline is valid? [True, True] Translation: X:80.77, Y:216.45, Z:5.64 [[-4.21108919e-01 -9.06992198e-01 5.69486103e-03 8.07669788e+01] [ 9.06894090e-01 -4.21147177e-01 -1.33478549e-02 2.16452643e+02] [ 1.45047749e-02 -4.56264913e-04 9.99894696e-01 5.64468953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3427550960001 meters 0.02468261417380197 Centerline is valid? [True, True] Translation: X:80.76, Y:216.48, Z:5.65 [[-4.21758313e-01 -9.06690808e-01 5.63066654e-03 8.07552238e+01] [ 9.06595055e-01 -4.21795651e-01 -1.31846483e-02 2.16476394e+02] [ 1.43293901e-02 -4.56000572e-04 9.99897225e-01 5.64513227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.37275509600005 meters 0.027702055478201933 Centerline is valid? [True, True] Translation: X:80.75, Y:216.50, Z:5.64 [[-4.21963006e-01 -9.06596321e-01 5.50754518e-03 8.07479662e+01] [ 9.06504892e-01 -4.21998714e-01 -1.28827422e-02 2.16500657e+02] [ 1.40036236e-02 -4.43423960e-04 9.99901846e-01 5.64479789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4027550960001 meters 0.02323025386550994 Centerline is valid? [True, True] Translation: X:80.73, Y:216.52, Z:5.65 [[-4.20586536e-01 -9.07236825e-01 5.32066803e-03 8.07284286e+01] [ 9.07151726e-01 -4.20619997e-01 -1.24324203e-02 2.16521487e+02] [ 1.35171288e-02 -4.02255381e-04 9.99908559e-01 5.64538608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.43275509600005 meters 0.022776626102490944 Centerline is valid? [True, True] Translation: X:80.72, Y:216.55, Z:5.65 [[-4.19472922e-01 -9.07753002e-01 5.19182399e-03 8.07156517e+01] [ 9.07672166e-01 -4.19504886e-01 -1.21198050e-02 2.16545685e+02] [ 1.31797849e-02 -3.71455906e-04 9.99913074e-01 5.64602362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4627550960001 meters 0.02138581099495677 Centerline is valid? [True, True] Translation: X:80.70, Y:216.57, Z:5.65 [[-4.17144250e-01 -9.08828171e-01 4.69370416e-03 8.07000396e+01] [ 9.08762284e-01 -4.17170547e-01 -1.09474104e-02 2.16568587e+02] [ 1.19073901e-02 -3.01187993e-04 9.99929059e-01 5.64724624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.49275509600005 meters 0.020708424996055286 Centerline is valid? [True, True] Translation: X:80.69, Y:216.59, Z:5.65 [[-4.16337791e-01 -9.09199766e-01 4.31630137e-03 8.06872529e+01] [ 9.09144165e-01 -4.16360081e-01 -1.00583180e-02 2.16591813e+02] [ 1.09421560e-02 -2.63517691e-04 9.99940098e-01 5.64795958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.522755096 meters 0.020164434554206176 Centerline is valid? [True, True] Translation: X:80.67, Y:216.62, Z:5.65 [[-4.15412383e-01 -9.09623381e-01 4.22577306e-03 8.06745100e+01] [ 9.09570223e-01 -4.15433805e-01 -9.83685124e-03 2.16615341e+02] [ 1.07033589e-02 -2.42712472e-04 9.99942688e-01 5.64834765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.55275509600006 meters 0.02031890297313901 Centerline is valid? [True, True] Translation: X:80.66, Y:216.64, Z:5.65 [[-4.15007608e-01 -9.09807710e-01 4.31465568e-03 8.06633496e+01] [ 9.09752416e-01 -4.15029968e-01 -1.00333302e-02 2.16638554e+02] [ 1.09191126e-02 -2.38639937e-04 9.99940356e-01 5.64861949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.582755096 meters 0.01966403213894917 Centerline is valid? [True, True] Translation: X:80.65, Y:216.66, Z:5.65 [[-4.14685685e-01 -9.09955740e-01 4.04147217e-03 8.06489840e+01] [ 9.09907335e-01 -4.14705322e-01 -9.38818460e-03 2.16661495e+02] [ 1.02188525e-02 -2.15780593e-04 9.99947763e-01 5.64950170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.61275509600006 meters 0.019386479305143412 Centerline is valid? [True, True] Translation: X:80.64, Y:216.68, Z:5.65 [[-4.15102402e-01 -9.09766027e-01 3.97131203e-03 8.06367703e+01] [ 9.09719377e-01 -4.15121344e-01 -9.21545016e-03 2.16684650e+02] [ 1.00324799e-02 -2.12575997e-04 9.99949651e-01 5.64967836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64275509600003 meters 0.02027877165882876 Centerline is valid? [True, True] Translation: X:80.63, Y:216.71, Z:5.65 [[-4.16530648e-01 -9.09112189e-01 4.15300421e-03 8.06256460e+01] [ 9.09061257e-01 -4.16551285e-01 -9.62589634e-03 2.16708536e+02] [ 1.04809589e-02 -2.34145611e-04 9.99945046e-01 5.64950125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.67275509600006 meters 0.020793392329308755 Centerline is valid? [True, True] Translation: X:80.61, Y:216.73, Z:5.65 [[-4.17639726e-01 -9.08602380e-01 4.33286517e-03 8.06148906e+01] [ 9.08547031e-01 -4.17662125e-01 -1.00320234e-02 2.16732722e+02] [ 1.09247941e-02 -2.53159734e-04 9.99940291e-01 5.64915239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70275509600003 meters 0.02120238700839464 Centerline is valid? [True, True] Translation: X:80.60, Y:216.76, Z:5.65 [[-4.19055763e-01 -9.07949690e-01 4.43037430e-03 8.06038788e+01] [ 9.07891910e-01 -4.19079094e-01 -1.02465698e-02 2.16757418e+02] [ 1.11600471e-02 -2.71583128e-04 9.99937688e-01 5.64901356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.73275509600006 meters 0.022397595545532847 Centerline is valid? [True, True] Translation: X:80.59, Y:216.78, Z:5.65 [[-4.21591848e-01 -9.06775037e-01 4.39827875e-03 8.05938846e+01] [ 9.06718135e-01 -4.21614686e-01 -1.01626982e-02 2.16782776e+02] [ 1.10696600e-02 -2.96511637e-04 9.99938685e-01 5.64889569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76275509600003 meters 0.023854730515988846 Centerline is valid? [True, True] Translation: X:80.59, Y:216.81, Z:5.65 [[-4.23273626e-01 -9.05990774e-01 4.48953349e-03 8.05851067e+01] [ 9.05931555e-01 -4.23297314e-01 -1.03634690e-02 2.16807733e+02] [ 1.12896147e-02 -3.19373027e-04 9.99936219e-01 5.64929412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.79275509600006 meters 0.02900632208263383 Centerline is valid? [True, True] Translation: X:80.58, Y:216.83, Z:5.65 [[-4.26761036e-01 -9.04353285e-01 4.48931211e-03 8.05802532e+01] [ 9.04294098e-01 -4.26784497e-01 -1.03526822e-02 2.16833135e+02] [ 1.12784510e-02 -3.58462940e-04 9.99936332e-01 5.64959377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82275509600004 meters 0.029111283711365253 Centerline is valid? [True, True] Translation: X:80.57, Y:216.86, Z:5.65 [[-4.28524366e-01 -9.03518361e-01 4.63017049e-03 8.05688770e+01] [ 9.03455493e-01 -4.28549205e-01 -1.06654588e-02 2.16856898e+02] [ 1.16206937e-02 -3.87255986e-04 9.99932402e-01 5.64914599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.85275509600007 meters 0.02782866162284055 Centerline is valid? [True, True] Translation: X:80.56, Y:216.88, Z:5.65 [[-4.30511829e-01 -9.02571555e-01 4.91464042e-03 8.05561357e+01] [ 9.02500829e-01 -4.30539663e-01 -1.13071972e-02 2.16879231e+02] [ 1.23215022e-02 -4.32415103e-04 9.99923994e-01 5.64868659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88275509600004 meters 0.029438457766049482 Centerline is valid? [True, True] Translation: X:80.55, Y:216.91, Z:5.65 [[-4.33947983e-01 -9.00921595e-01 5.42467955e-03 8.05473328e+01] [ 9.00835510e-01 -4.33981574e-01 -1.24650841e-02 2.16905331e+02] [ 1.35842744e-02 -5.22454119e-04 9.99907593e-01 5.64830537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91275509600007 meters 0.030508068709190154 Centerline is valid? [True, True] Translation: X:80.54, Y:216.93, Z:5.65 [[-4.35766944e-01 -9.00040930e-01 5.78745344e-03 8.05379902e+01] [ 8.99943056e-01 -4.35804987e-01 -1.32856994e-02 2.16931265e+02] [ 1.44798743e-02 -5.81090105e-04 9.99894992e-01 5.64838006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94275509600004 meters 0.03695499321453999 Centerline is valid? [True, True] Translation: X:80.54, Y:216.96, Z:5.65 [[-4.37539868e-01 -8.99179657e-01 5.89989988e-03 8.05355678e+01] [ 8.99078058e-01 -4.37579211e-01 -1.35307130e-02 2.16957898e+02] [ 1.47482154e-02 -6.15755858e-04 9.99891050e-01 5.64804689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.97275509600007 meters 0.03238689999483266 Centerline is valid? [True, True] Translation: X:80.52, Y:216.98, Z:5.65 [[-4.39020910e-01 -8.98454605e-01 6.32156991e-03 8.05181015e+01] [ 8.98338155e-01 -4.39065897e-01 -1.44809412e-02 2.16979435e+02] [ 1.57860540e-02 -6.78528519e-04 9.99875162e-01 5.64819355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00275509600004 meters 0.0365547961296215 Centerline is valid? [True, True] Translation: X:80.51, Y:217.00, Z:5.65 [[-4.39270800e-01 -8.98330718e-01 6.56398298e-03 8.05122919e+01] [ 8.98205436e-01 -4.39319280e-01 -1.50187994e-02 2.17004674e+02] [ 1.63755332e-02 -7.01514851e-04 9.99865666e-01 5.64761417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0327550960001 meters 0.033034095251014195 Centerline is valid? [True, True] Translation: X:80.50, Y:217.03, Z:5.65 [[-4.37788592e-01 -8.99052743e-01 6.73150737e-03 8.04966698e+01] [ 8.98921376e-01 -4.37839807e-01 -1.53838697e-02 2.17026931e+02] [ 1.67782322e-02 -6.83786807e-04 9.99859002e-01 5.64852602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06275509600005 meters 0.03792208559645666 Centerline is valid? [True, True] Translation: X:80.49, Y:217.05, Z:5.65 [[-4.37096182e-01 -8.99388727e-01 6.84436677e-03 8.04913202e+01] [ 8.99253270e-01 -4.37149246e-01 -1.56234554e-02 2.17052923e+02] [ 1.70435695e-02 -6.74133528e-04 9.99854521e-01 5.64764979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0927550960001 meters 0.033143963935466904 Centerline is valid? [True, True] Translation: X:80.47, Y:217.07, Z:5.65 [[-4.36036824e-01 -8.99902132e-01 6.93109654e-03 8.04746210e+01] [ 8.99763599e-01 -4.36091417e-01 -1.58032109e-02 2.17073344e+02] [ 1.72439349e-02 -6.54433514e-04 9.99851098e-01 5.64867443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12275509600005 meters 0.03400687038606523 Centerline is valid? [True, True] Translation: X:80.46, Y:217.10, Z:5.65 [[-4.32550303e-01 -9.01584614e-01 6.73934117e-03 8.04649944e+01] [ 9.01454122e-01 -4.32602433e-01 -1.53493247e-02 2.17096278e+02] [ 1.67541704e-02 -5.64148171e-04 9.99859480e-01 5.64956359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1527550960001 meters 0.024918053436668124 Centerline is valid? [True, True] Translation: X:80.44, Y:217.12, Z:5.65 [[-4.30901565e-01 -9.02375537e-01 6.49859554e-03 8.04414501e+01] [ 9.02254537e-01 -4.30950267e-01 -1.47857400e-02 2.17115331e+02] [ 1.61428615e-02 -5.07811175e-04 9.99869567e-01 5.65221205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18275509600005 meters 0.029048220549141916 Centerline is valid? [True, True] Translation: X:80.44, Y:217.14, Z:5.65 [[-4.28970597e-01 -9.03294449e-01 6.58528003e-03 8.04354581e+01] [ 9.03170571e-01 -4.29020880e-01 -1.49667729e-02 2.17140964e+02] [ 1.63446255e-02 -4.72674364e-04 9.99866306e-01 5.65150081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2127550960001 meters 0.022023020991171975 Centerline is valid? [True, True] Translation: X:80.41, Y:217.16, Z:5.65 [[-4.25304350e-01 -9.05027472e-01 6.44081025e-03 8.04144129e+01] [ 9.04909410e-01 -4.25352938e-01 -1.46232105e-02 2.17161244e+02] [ 1.59740248e-02 -3.90965248e-04 9.99872331e-01 5.65358760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24275509600005 meters 0.021656999244335073 Centerline is valid? [True, True] Translation: X:80.40, Y:217.18, Z:5.65 [[-4.23737036e-01 -9.05764543e-01 6.12520741e-03 8.04033508e+01] [ 9.05658061e-01 -4.23781168e-01 -1.38924158e-02 2.17184409e+02] [ 1.51790051e-02 -3.39387606e-04 9.99884735e-01 5.65408164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.272755096 meters 0.019374071882855535 Centerline is valid? [True, True] Translation: X:80.39, Y:217.21, Z:5.65 [[-4.21252283e-01 -9.06922346e-01 6.19455642e-03 8.03874696e+01] [ 9.06813791e-01 -4.21297724e-01 -1.40348432e-02 2.17207241e+02] [ 1.53382654e-02 -2.94900550e-04 9.99882318e-01 5.65472595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30275509600006 meters 0.01973148932333106 Centerline is valid? [True, True] Translation: X:80.38, Y:217.23, Z:5.65 [[-4.20129789e-01 -9.07443343e-01 6.12701019e-03 8.03774353e+01] [ 9.07337399e-01 -4.20174378e-01 -1.38685330e-02 2.17230210e+02] [ 1.51593207e-02 -2.67318368e-04 9.99885055e-01 5.65455385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.332755096 meters 0.018373430972827218 Centerline is valid? [True, True] Translation: X:80.36, Y:217.25, Z:5.66 [[-4.19458601e-01 -9.07754497e-01 6.02119525e-03 8.03636673e+01] [ 9.07652428e-01 -4.19501743e-01 -1.36146468e-02 2.17252803e+02] [ 1.48846588e-02 -2.45628223e-04 9.99889187e-01 5.65512581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36275509600006 meters 0.019022979373482685 Centerline is valid? [True, True] Translation: X:80.35, Y:217.28, Z:5.66 [[-4.19115081e-01 -9.07914406e-01 5.82920915e-03 8.03536713e+01] [ 9.07818949e-01 -4.19155555e-01 -1.31672713e-02 2.17276065e+02] [ 1.43981007e-02 -2.26735440e-04 9.99896316e-01 5.65551419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.39275509600003 meters 0.017789629393940763 Centerline is valid? [True, True] Translation: X:80.34, Y:217.30, Z:5.66 [[-4.19334563e-01 -9.07816025e-01 5.34683259e-03 8.03397565e+01] [ 9.07735862e-01 -4.19368599e-01 -1.20657369e-02 2.17299226e+02] [ 1.31957630e-02 -2.06068831e-04 9.99912911e-01 5.65700184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42275509600006 meters 0.018101780535606137 Centerline is valid? [True, True] Translation: X:80.33, Y:217.32, Z:5.66 [[-4.20264735e-01 -9.07386601e-01 5.20659474e-03 8.03303435e+01] [ 9.07310710e-01 -4.20296934e-01 -1.17372670e-02 2.17322500e+02] [ 1.28385547e-02 -2.08760259e-04 9.99917561e-01 5.65750369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.45275509600003 meters 0.019311135438392593 Centerline is valid? [True, True] Translation: X:80.32, Y:217.35, Z:5.66 [[-4.22908499e-01 -9.06158225e-01 5.06688097e-03 8.03228033e+01] [ 9.06086414e-01 -4.22938786e-01 -1.14102488e-02 2.17347660e+02] [ 1.24824713e-02 -2.34459187e-04 9.99922063e-01 5.65728993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48275509600006 meters 0.019865906194732736 Centerline is valid? [True, True] Translation: X:80.31, Y:217.37, Z:5.66 [[-4.24547491e-01 -9.05391100e-01 5.13654971e-03 8.03130684e+01] [ 9.05317388e-01 -4.24578486e-01 -1.15558194e-02 2.17372794e+02] [ 1.26434045e-02 -2.55786351e-04 9.99920036e-01 5.65723197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51275509600003 meters 0.020772750332679474 Centerline is valid? [True, True] Translation: X:80.30, Y:217.40, Z:5.66 [[-4.26203236e-01 -9.04612569e-01 5.18665412e-03 8.03041726e+01] [ 9.04537493e-01 -4.26234705e-01 -1.16576244e-02 2.17396908e+02] [ 1.27563655e-02 -2.76994118e-04 9.99918596e-01 5.65691649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54275509600006 meters 0.020961776448670845 Centerline is valid? [True, True] Translation: X:80.29, Y:217.42, Z:5.66 [[-4.29114669e-01 -9.03234817e-01 5.24074588e-03 8.02938521e+01] [ 9.03158226e-01 -4.29146554e-01 -1.17666813e-02 2.17421929e+02] [ 1.28771243e-02 -3.16032796e-04 9.99917036e-01 5.65666634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57275509600004 meters 0.020961776448670845 Centerline is valid? [True, True] Translation: X:80.28, Y:217.45, Z:5.66 [[-4.29468753e-01 -9.03066488e-01 5.24492877e-03 8.02830733e+01] [ 9.02989906e-01 -4.29500662e-01 -1.17648166e-02 2.17445500e+02] [ 1.28771119e-02 -3.16503356e-04 9.99917036e-01 5.65697503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60275509600007 meters 0.021557733826738208 Centerline is valid? [True, True] Translation: X:80.27, Y:217.47, Z:5.66 [[-4.30784928e-01 -9.02438101e-01 5.46074554e-03 8.02732323e+01] [ 9.02355214e-01 -4.30819400e-01 -1.22356904e-02 2.17470988e+02] [ 1.33945484e-02 -3.43418804e-04 9.99910230e-01 5.65730250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63275509600004 meters 0.025437320387228603 Centerline is valid? [True, True] Translation: X:80.27, Y:217.50, Z:5.66 [[-4.33447486e-01 -9.01161248e-01 5.62868471e-03 8.02686088e+01] [ 9.01073249e-01 -4.33483857e-01 -1.25994711e-02 2.17496828e+02] [ 1.37940991e-02 -3.89351879e-04 9.99904781e-01 5.65722891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66275509600007 meters 0.02644745228282938 Centerline is valid? [True, True] Translation: X:80.26, Y:217.52, Z:5.66 [[-4.34728786e-01 -9.00542371e-01 5.85835682e-03 8.02594090e+01] [ 9.00447207e-01 -4.34768055e-01 -1.30983017e-02 2.17520672e+02] [ 1.43426021e-02 -4.19067749e-04 9.99897052e-01 5.65690794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.69275509600004 meters 0.026659323021181718 Centerline is valid? [True, True] Translation: X:80.25, Y:217.54, Z:5.66 [[-4.35546781e-01 -9.00147296e-01 5.81775288e-03 8.02490209e+01] [ 9.00053629e-01 -4.35585430e-01 -1.29922543e-02 2.17544389e+02] [ 1.42290710e-02 -4.22444952e-04 9.99898672e-01 5.65714273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72275509600007 meters 0.02716377959426598 Centerline is valid? [True, True] Translation: X:80.24, Y:217.57, Z:5.66 [[-4.36482973e-01 -8.99691129e-01 6.20383885e-03 8.02392356e+01] [ 8.99584837e-01 -4.36526818e-01 -1.38368697e-02 2.17568433e+02] [ 1.51570509e-02 -4.58678662e-04 9.99885020e-01 5.65658924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.75275509600004 meters 0.02477730658164117 Centerline is valid? [True, True] Translation: X:80.23, Y:217.59, Z:5.66 [[-4.36962853e-01 -8.99458012e-01 6.22495759e-03 8.02256758e+01] [ 8.99351219e-01 -4.37006947e-01 -1.38677283e-02 2.17590310e+02] [ 1.51937891e-02 -4.61258946e-04 9.99884461e-01 5.65746530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7827550960001 meters 0.024452490946831267 Centerline is valid? [True, True] Translation: X:80.22, Y:217.61, Z:5.66 [[-4.36238369e-01 -8.99809537e-01 6.23559286e-03 8.02163862e+01] [ 8.99702650e-01 -4.36282708e-01 -1.38758747e-02 2.17613626e+02] [ 1.52061258e-02 -4.43009549e-04 9.99884282e-01 5.65788135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.81275509600005 meters 0.02207872899160662 Centerline is valid? [True, True] Translation: X:80.20, Y:217.64, Z:5.66 [[-4.35714636e-01 -9.00063858e-01 6.14885765e-03 8.02020602e+01] [ 8.99960123e-01 -4.35757815e-01 -1.36712870e-02 2.17636498e+02] [ 1.49844441e-02 -4.23053140e-04 9.99887637e-01 5.65899852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8427550960001 meters 0.025055862693299024 Centerline is valid? [True, True] Translation: X:80.20, Y:217.66, Z:5.66 [[-4.34984530e-01 -9.00418175e-01 5.96406515e-03 8.01956722e+01] [ 9.00320816e-01 -4.35025237e-01 -1.32465587e-02 2.17661262e+02] [ 1.45219611e-02 -3.92476118e-04 9.99894474e-01 5.65925269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.87275509600005 meters 0.02165828240379642 Centerline is valid? [True, True] Translation: X:80.18, Y:217.68, Z:5.66 [[-4.33535593e-01 -9.01118397e-01 5.70301212e-03 8.01799845e+01] [ 9.01029625e-01 -4.33572963e-01 -1.26530782e-02 2.17683256e+02] [ 1.38745934e-02 -3.46976909e-04 9.99903683e-01 5.66051573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9027550960001 meters 0.020350850020048886 Centerline is valid? [True, True] Translation: X:80.17, Y:217.71, Z:5.66 [[-4.29756107e-01 -9.02928874e-01 5.39783698e-03 8.01682242e+01] [ 9.02849654e-01 -4.29789922e-01 -1.19634749e-02 2.17705902e+02] [ 1.31221029e-02 -2.67941175e-04 9.99913866e-01 5.66152035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.93275509600005 meters 0.01873596024672307 Centerline is valid? [True, True] Translation: X:80.15, Y:217.73, Z:5.66 [[-4.27351741e-01 -9.04069457e-01 5.37641987e-03 8.01545191e+01] [ 9.03991119e-01 -4.27385499e-01 -1.19034630e-02 2.17729281e+02] [ 1.30593612e-02 -2.26729800e-04 9.99914697e-01 5.66204320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9627550960001 meters 0.015961378923063877 Centerline is valid? [True, True] Translation: X:80.14, Y:217.75, Z:5.66 [[-4.21969745e-01 -9.06593591e-01 5.44017970e-03 8.01383859e+01] [ 9.06513742e-01 -4.22004787e-01 -1.20331023e-02 2.17751468e+02] [ 1.32049153e-02 -1.46007461e-04 9.99912801e-01 5.66220119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.99275509600005 meters 0.01519983529912976 Centerline is valid? [True, True] Translation: X:80.13, Y:217.78, Z:5.66 [[-4.19388514e-01 -9.07789923e-01 5.54347636e-03 8.01254518e+01] [ 9.07707275e-01 -4.19425136e-01 -1.22498479e-02 2.17775101e+02] [ 1.34453618e-02 -1.05591694e-04 9.99909601e-01 5.66211510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.022755096 meters 0.01462954444871853 Centerline is valid? [True, True] Translation: X:80.11, Y:217.80, Z:5.66 [[-4.17105691e-01 -9.08841472e-01 5.47910855e-03 8.01125476e+01] [ 9.08760979e-01 -4.17141671e-01 -1.20958198e-02 2.17797993e+02] [ 1.32787472e-02 -6.60352398e-05 9.99911831e-01 5.66249086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.05275509600006 meters 0.014390825652076373 Centerline is valid? [True, True] Translation: X:80.10, Y:217.82, Z:5.66 [[-4.12909438e-01 -9.10756881e-01 5.26309339e-03 8.00998687e+01] [ 9.10682916e-01 -4.12942980e-01 -1.16069819e-02 2.17820364e+02] [ 1.27444961e-02 3.76844286e-07 9.99918786e-01 5.66269412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.082755096 meters 0.014457157130517487 Centerline is valid? [True, True] Translation: X:80.09, Y:217.84, Z:5.66 [[-4.11397027e-01 -9.11441656e-01 5.15699012e-03 8.00881386e+01] [ 9.11370850e-01 -4.11429348e-01 -1.13607049e-02 2.17844431e+02] [ 1.24763568e-02 2.61702366e-05 9.99922167e-01 5.66299707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.11275509600006 meters 0.014823700961799977 Centerline is valid? [True, True] Translation: X:80.08, Y:217.87, Z:5.66 [[-4.08669498e-01 -9.12667417e-01 5.23710509e-03 8.00771875e+01] [ 9.12594647e-01 -4.08703047e-01 -1.15252006e-02 2.17868686e+02] [ 1.26590959e-02 6.93561274e-05 9.99919868e-01 5.66327911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14275509600003 meters 0.015139878855116369 Centerline is valid? [True, True] Translation: X:80.07, Y:217.89, Z:5.66 [[-4.07824652e-01 -9.13045248e-01 5.23724762e-03 8.00664323e+01] [ 9.12972655e-01 -4.07858270e-01 -1.15135975e-02 2.17893045e+02] [ 1.26484902e-02 8.59349817e-05 9.99920001e-01 5.66357766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.17275509600006 meters 0.015391787306335857 Centerline is valid? [True, True] Translation: X:80.06, Y:217.92, Z:5.66 [[-4.07370403e-01 -9.13246960e-01 5.41714670e-03 8.00569667e+01] [ 9.13169477e-01 -4.07406407e-01 -1.18964495e-02 2.17916795e+02] [ 1.30713766e-02 1.00511581e-04 9.99914561e-01 5.66327815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20275509600003 meters 0.015436507681740404 Centerline is valid? [True, True] Translation: X:80.05, Y:217.94, Z:5.66 [[-4.07796330e-01 -9.13056615e-01 5.45638559e-03 8.00473807e+01] [ 9.12978157e-01 -4.07832820e-01 -1.19698125e-02 2.17941036e+02] [ 1.31544096e-02 1.00315240e-04 9.99913472e-01 5.66279636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.23275509600006 meters 0.015336930051370582 Centerline is valid? [True, True] Translation: X:80.04, Y:217.97, Z:5.66 [[-4.08617639e-01 -9.12689471e-01 5.43645130e-03 8.00384387e+01] [ 9.12611709e-01 -4.08653791e-01 -1.19141745e-02 2.17966166e+02] [ 1.30955681e-02 9.30272393e-05 9.99914245e-01 5.66265548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26275509600003 meters 0.01517163094471303 Centerline is valid? [True, True] Translation: X:80.03, Y:217.99, Z:5.66 [[-4.09774551e-01 -9.12169938e-01 5.55171324e-03 8.00305662e+01] [ 9.12088964e-01 -4.09812149e-01 -1.21541676e-02 2.17990078e+02] [ 1.33618259e-02 8.31877942e-05 9.99910723e-01 5.66266255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.29275509600006 meters 0.014708705405864478 Centerline is valid? [True, True] Translation: X:80.03, Y:218.02, Z:5.66 [[-4.12575531e-01 -9.10907134e-01 5.44289828e-03 8.00257116e+01] [ 9.10829353e-01 -4.12611429e-01 -1.19036931e-02 2.18017436e+02] [ 1.30889610e-02 4.63790203e-05 9.99914335e-01 5.66301159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32275509600004 meters 0.014659091550537448 Centerline is valid? [True, True] Translation: X:80.02, Y:218.04, Z:5.66 [[-4.14553008e-01 -9.10008824e-01 5.45374144e-03 8.00178238e+01] [ 9.09930808e-01 -4.14588880e-01 -1.19157192e-02 2.18042171e+02] [ 1.31044702e-02 2.28301006e-05 9.99914133e-01 5.66327931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.35275509600007 meters 0.01475245602707241 Centerline is valid? [True, True] Translation: X:80.01, Y:218.07, Z:5.66 [[-4.17822926e-01 -9.08511925e-01 5.48490874e-03 8.00129049e+01] [ 9.08433053e-01 -4.17858925e-01 -1.19710753e-02 2.18068713e+02] [ 1.31677827e-02 -1.91172956e-05 9.99913301e-01 5.66268093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38275509600004 meters 0.014946092127602813 Centerline is valid? [True, True] Translation: X:80.00, Y:218.09, Z:5.66 [[-4.20047132e-01 -9.07485150e-01 5.57756434e-03 8.00047384e+01] [ 9.07403665e-01 -4.20084158e-01 -1.21609689e-02 2.18093967e+02] [ 1.33789451e-02 -4.70777716e-05 9.99910497e-01 5.66285881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41275509600007 meters 0.015162976531704054 Centerline is valid? [True, True] Translation: X:80.00, Y:218.12, Z:5.66 [[-4.21844539e-01 -9.06652438e-01 5.34253058e-03 7.99968042e+01] [ 9.06577757e-01 -4.21878363e-01 -1.16369224e-02 2.18119388e+02] [ 1.28045421e-02 -6.55527562e-05 9.99918016e-01 5.66329021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44275509600004 meters 0.01576996381229008 Centerline is valid? [True, True] Translation: X:79.99, Y:218.15, Z:5.66 [[-4.24979654e-01 -9.05188918e-01 5.03153490e-03 7.99926755e+01] [ 9.05122704e-01 -4.25009427e-01 -1.09488926e-02 2.18146171e+02] [ 1.20492660e-02 -9.89001226e-05 9.99927400e-01 5.66420240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.47275509600007 meters 0.016329159036515713 Centerline is valid? [True, True] Translation: X:79.99, Y:218.17, Z:5.67 [[-4.26556965e-01 -9.04447433e-01 4.89873118e-03 7.99851605e+01] [ 9.04384744e-01 -4.26585079e-01 -1.06492097e-02 2.18170391e+02] [ 1.17213760e-02 -1.12156827e-04 9.99931296e-01 5.66508218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50275509600004 meters 0.016969147685516692 Centerline is valid? [True, True] Translation: X:79.98, Y:218.20, Z:5.66 [[-4.28304741e-01 -9.03621074e-01 4.89928027e-03 7.99790943e+01] [ 9.03558419e-01 -4.28332741e-01 -1.06417745e-02 2.18196010e+02] [ 1.17146539e-02 -1.31136552e-04 9.99931373e-01 5.66491507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5327550960001 meters 0.017088070210838115 Centerline is valid? [True, True] Translation: X:79.97, Y:218.22, Z:5.66 [[-4.28755720e-01 -9.03407210e-01 4.89332728e-03 7.99694738e+01] [ 9.03344824e-01 -4.28783622e-01 -1.06176364e-02 2.18220771e+02] [ 1.16902279e-02 -1.32010480e-04 9.99931658e-01 5.66467320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56275509600005 meters 0.017162305823475454 Centerline is valid? [True, True] Translation: X:79.96, Y:218.25, Z:5.66 [[-4.28874829e-01 -9.03349708e-01 5.06811452e-03 7.99594700e+01] [ 9.03282918e-01 -4.28904752e-01 -1.09855704e-02 2.18245709e+02] [ 1.20975502e-02 -1.33493341e-04 9.99926813e-01 5.66444301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5927550960001 meters 0.01725495280836537 Centerline is valid? [True, True] Translation: X:79.95, Y:218.27, Z:5.66 [[-4.28782243e-01 -9.03391804e-01 5.38858026e-03 7.99503215e+01] [ 9.03316461e-01 -4.28816080e-01 -1.16679245e-02 2.18269720e+02] [ 1.28514173e-02 -1.35405598e-04 9.99917408e-01 5.66361747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62275509600005 meters 0.017339936487926703 Centerline is valid? [True, True] Translation: X:79.94, Y:218.29, Z:5.66 [[-4.29029896e-01 -9.03274000e-01 5.42481060e-03 7.99403050e+01] [ 9.03197789e-01 -4.29064170e-01 -1.17342423e-02 2.18294556e+02] [ 1.29268279e-02 -1.34663829e-04 9.99916436e-01 5.66338929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6527550960001 meters 0.01724265084906308 Centerline is valid? [True, True] Translation: X:79.93, Y:218.32, Z:5.66 [[-4.28888401e-01 -9.03339991e-01 5.62141568e-03 7.99304401e+01] [ 9.03258324e-01 -4.28925219e-01 -1.21472982e-02 2.18319204e+02] [ 1.33843072e-02 -1.32244785e-04 9.99910417e-01 5.66365553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68275509600005 meters 0.01680875009109855 Centerline is valid? [True, True] Translation: X:79.92, Y:218.34, Z:5.66 [[-4.27218617e-01 -9.04130889e-01 5.62040873e-03 7.99203863e+01] [ 9.04049474e-01 -4.27255574e-01 -1.21335424e-02 2.18344220e+02] [ 1.33716614e-02 -1.02547628e-04 9.99910590e-01 5.66432445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7127550960001 meters 0.016677266814413956 Centerline is valid? [True, True] Translation: X:79.91, Y:218.37, Z:5.67 [[-4.26338817e-01 -9.04547767e-01 5.34320049e-03 7.99085288e+01] [ 9.04474334e-01 -4.26372291e-01 -1.15260260e-02 2.18367671e+02] [ 1.27040337e-02 -8.12045917e-05 9.99919297e-01 5.66562641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74275509600005 meters 0.01652623900459022 Centerline is valid? [True, True] Translation: X:79.89, Y:218.39, Z:5.67 [[-4.23642427e-01 -9.05818646e-01 4.43561311e-03 7.98949099e+01] [ 9.05768193e-01 -4.23665646e-01 -9.56042886e-03 2.18389848e+02] [ 1.05392316e-02 -3.25660117e-05 9.99944460e-01 5.66777903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.772755096 meters 0.016531894069127036 Centerline is valid? [True, True] Translation: X:79.88, Y:218.41, Z:5.67 [[-4.22417440e-01 -9.06391866e-01 4.15824978e-03 7.98819607e+01] [ 9.06347641e-01 -4.22437906e-01 -8.95376854e-03 2.18412810e+02] [ 9.87222531e-03 -1.34081074e-05 9.99951268e-01 5.66875491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80275509600006 meters 0.016722268545806513 Centerline is valid? [True, True] Translation: X:79.87, Y:218.43, Z:5.67 [[-4.21112167e-01 -9.07000100e-01 3.91934722e-03 7.98694394e+01] [ 9.06960910e-01 -4.21130406e-01 -8.43148372e-03 2.18434963e+02] [ 9.29791287e-03 4.09433977e-06 9.99956773e-01 5.66975521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.832755096 meters 0.01678949527378204 Centerline is valid? [True, True] Translation: X:79.86, Y:218.46, Z:5.67 [[-4.20216633e-01 -9.07416274e-01 3.69971304e-03 7.98569252e+01] [ 9.07381437e-01 -4.20232919e-01 -7.95115851e-03 2.18458003e+02] [ 8.76975184e-03 1.58418812e-05 9.99961545e-01 5.67040480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86275509600006 meters 0.017248900652634635 Centerline is valid? [True, True] Translation: X:79.84, Y:218.48, Z:5.67 [[-4.18932588e-01 -9.08010212e-01 3.59743839e-03 7.98446897e+01] [ 9.07977362e-01 -4.18948032e-01 -7.72372508e-03 2.18480283e+02] [ 8.52036098e-03 3.06724867e-05 9.99963701e-01 5.67144970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.89275509600003 meters 0.01730667940937161 Centerline is valid? [True, True] Translation: X:79.83, Y:218.50, Z:5.67 [[-4.18985716e-01 -9.07985554e-01 3.63366122e-03 7.98334722e+01] [ 9.07952114e-01 -4.19001471e-01 -7.79269413e-03 2.18504348e+02] [ 8.59816310e-03 3.41628560e-05 9.99963035e-01 5.67195498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92275509600006 meters 0.017321795756479335 Centerline is valid? [True, True] Translation: X:79.82, Y:218.53, Z:5.67 [[-4.20005360e-01 -9.07513764e-01 3.77708224e-03 7.98231302e+01] [ 9.07477691e-01 -4.20022342e-01 -8.09155233e-03 2.18528127e+02] [ 8.92965404e-03 2.91225198e-05 9.99960129e-01 5.67241263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.95275509600003 meters 0.01735104807436929 Centerline is valid? [True, True] Translation: X:79.81, Y:218.55, Z:5.67 [[-4.20995018e-01 -9.07054111e-01 4.00430417e-03 7.98126842e+01] [ 9.07013639e-01 -4.21014060e-01 -8.56851924e-03 2.18551215e+02] [ 9.45797896e-03 2.46545910e-05 9.99955272e-01 5.67207359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98275509600006 meters 0.017368176030797117 Centerline is valid? [True, True] Translation: X:79.80, Y:218.58, Z:5.67 [[-4.22227062e-01 -9.06480744e-01 4.11940809e-03 7.98022242e+01] [ 9.06437951e-01 -4.22247156e-01 -8.80793784e-03 2.18575630e+02] [ 9.72363440e-03 1.50381171e-05 9.99952724e-01 5.67135948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01275509600003 meters 0.017349360745022576 Centerline is valid? [True, True] Translation: X:79.79, Y:218.60, Z:5.67 [[-4.24742141e-01 -9.05300581e-01 4.99716984e-03 7.97929948e+01] [ 9.05237680e-01 -4.24771536e-01 -1.06717086e-02 2.18599198e+02] [ 1.17837595e-02 -9.09791553e-06 9.99930569e-01 5.66976632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04275509600006 meters 0.017355755826062146 Centerline is valid? [True, True] Translation: X:79.78, Y:218.62, Z:5.67 [[-4.26355721e-01 -9.04540245e-01 5.26734989e-03 7.97828770e+01] [ 9.04470452e-01 -4.26388257e-01 -1.12363845e-02 2.18623284e+02] [ 1.24096982e-02 -2.65344973e-05 9.99922996e-01 5.66942427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07275509600004 meters 0.01776500112959394 Centerline is valid? [True, True] Translation: X:79.77, Y:218.65, Z:5.67 [[-4.29680490e-01 -9.02965584e-01 5.27554573e-03 7.97739824e+01] [ 9.02895591e-01 -4.29712869e-01 -1.12428734e-02 2.18648537e+02] [ 1.24188976e-02 -6.75763670e-05 9.99922880e-01 5.66977546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10275509600007 meters 0.018184052358780237 Centerline is valid? [True, True] Translation: X:79.76, Y:218.67, Z:5.67 [[-4.31624868e-01 -9.02039472e-01 4.97645169e-03 7.97636133e+01] [ 9.01977244e-01 -4.31653547e-01 -1.05956188e-02 2.18673371e+02] [ 1.17057694e-02 -8.46864012e-05 9.99931482e-01 5.67106698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13275509600004 meters 0.01866507315380633 Centerline is valid? [True, True] Translation: X:79.75, Y:218.70, Z:5.67 [[-4.34102588e-01 -9.00851198e-01 4.69696721e-03 7.97535033e+01] [ 9.00795796e-01 -4.34127985e-01 -9.99137213e-03 2.18697454e+02] [ 1.10398245e-02 -1.06272191e-04 9.99939054e-01 5.67213961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16275509600007 meters 0.019050967842569627 Centerline is valid? [True, True] Translation: X:79.74, Y:218.72, Z:5.67 [[-4.36274815e-01 -8.99802401e-01 4.46375954e-03 7.97422945e+01] [ 8.99752399e-01 -4.36297633e-01 -9.48662147e-03 2.18721598e+02] [ 1.04836125e-02 -1.22495668e-04 9.99945038e-01 5.67310033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.19275509600004 meters 0.021178339031201147 Centerline is valid? [True, True] Translation: X:79.73, Y:218.75, Z:5.67 [[-4.40337234e-01 -8.97821653e-01 4.40445897e-03 7.97344021e+01] [ 8.97772968e-01 -4.40359231e-01 -9.35119695e-03 2.18747330e+02] [ 1.03352513e-02 -1.63476006e-04 9.99946577e-01 5.67432114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22275509600007 meters 0.02200872627806859 Centerline is valid? [True, True] Translation: X:79.72, Y:218.77, Z:5.68 [[-4.43990570e-01 -8.96021324e-01 4.26145287e-03 7.97227794e+01] [ 8.95975750e-01 -4.44010977e-01 -9.03919065e-03 2.18771991e+02] [ 9.99143943e-03 -1.95156979e-04 9.99950065e-01 5.67501396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.25275509600004 meters 0.022491764134882963 Centerline is valid? [True, True] Translation: X:79.71, Y:218.80, Z:5.68 [[-4.45712418e-01 -8.95166153e-01 4.24243762e-03 7.97106165e+01] [ 8.95121024e-01 -4.45732559e-01 -8.99102421e-03 2.18796754e+02] [ 9.93945313e-03 -2.09916041e-04 9.99950580e-01 5.67557124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2827550960001 meters 0.02272333931247576 Centerline is valid? [True, True] Translation: X:79.70, Y:218.82, Z:5.68 [[-4.46926666e-01 -8.94560720e-01 4.20409473e-03 7.96980961e+01] [ 8.94516452e-01 -4.46946386e-01 -8.90201979e-03 2.18821043e+02] [ 9.84240217e-03 -2.17918124e-04 9.99951539e-01 5.67601808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.31275509600005 meters 0.022933538900787826 Centerline is valid? [True, True] Translation: X:79.69, Y:218.84, Z:5.68 [[-4.47716262e-01 -8.94165106e-01 4.34881534e-03 7.96856319e+01] [ 8.94117805e-01 -4.47737323e-01 -9.20005164e-03 2.18844793e+02] [ 1.01734921e-02 -2.30659503e-04 9.99948222e-01 5.67584979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3427550960001 meters 0.023008828098959242 Centerline is valid? [True, True] Translation: X:79.67, Y:218.87, Z:5.68 [[-4.47586495e-01 -8.94228127e-01 4.73131112e-03 7.96717929e+01] [ 8.94172263e-01 -4.47611435e-01 -9.99843221e-03 2.18866702e+02] [ 1.10586683e-02 -2.44556062e-04 9.99938821e-01 5.67541415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.37275509600005 meters 0.02443630215206397 Centerline is valid? [True, True] Translation: X:79.66, Y:218.89, Z:5.68 [[-4.47256976e-01 -8.94391759e-01 4.95765782e-03 7.96621581e+01] [ 8.94330562e-01 -4.47284384e-01 -1.04654567e-02 2.18890313e+02] [ 1.15777012e-02 -2.46963624e-04 9.99932946e-01 5.67548558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4027550960001 meters 0.022339747900861958 Centerline is valid? [True, True] Translation: X:79.64, Y:218.91, Z:5.68 [[-4.46102937e-01 -8.94967477e-01 5.03832299e-03 7.96449513e+01] [ 8.94904439e-01 -4.46131328e-01 -1.06246919e-02 2.18911108e+02] [ 1.17565074e-02 -2.30888627e-04 9.99930863e-01 5.67623328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.43275509600005 meters 0.021211322091757568 Centerline is valid? [True, True] Translation: X:79.63, Y:218.93, Z:5.68 [[-4.45407767e-01 -8.95312795e-01 5.18837594e-03 7.96297619e+01] [ 8.95246100e-01 -4.45437929e-01 -1.09303245e-02 2.18933650e+02] [ 1.20971588e-02 -2.23578104e-04 9.99926802e-01 5.67674759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4627550960001 meters 0.020846460039946366 Centerline is valid? [True, True] Translation: X:79.62, Y:218.96, Z:5.68 [[-4.44416725e-01 -8.95805215e-01 5.17598700e-03 7.96161684e+01] [ 8.95738978e-01 -4.44446818e-01 -1.08953704e-02 2.18956137e+02] [ 1.20605805e-02 -2.05751512e-04 9.99927247e-01 5.67728064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.49275509600005 meters 0.020846460039946366 Centerline is valid? [True, True] Translation: X:79.60, Y:218.98, Z:5.68 [[-4.44768117e-01 -8.95630776e-01 5.18025577e-03 7.96048060e+01] [ 8.95564551e-01 -4.44798236e-01 -1.08933404e-02 2.18979448e+02] [ 1.20605795e-02 -2.05757055e-04 9.99927247e-01 5.67758917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.522755096 meters 0.020337391304888642 Centerline is valid? [True, True] Translation: X:79.59, Y:219.00, Z:5.68 [[-4.41240081e-01 -8.97371836e-01 5.56587264e-03 7.95908709e+01] [ 8.97295684e-01 -4.41275154e-01 -1.16916594e-02 2.19002242e+02] [ 1.29478472e-02 -1.64595275e-04 9.99916160e-01 5.67903435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.55275509600006 meters 0.019496955551872846 Centerline is valid? [True, True] Translation: X:79.58, Y:219.02, Z:5.68 [[-4.40098559e-01 -8.97931234e-01 5.72338702e-03 7.95761589e+01] [ 8.97850914e-01 -4.40135748e-01 -1.20107837e-02 2.19024655e+02] [ 1.33039251e-02 -1.47180332e-04 9.99911488e-01 5.68005735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.582755096 meters 0.01901716752819195 Centerline is valid? [True, True] Translation: X:79.56, Y:219.05, Z:5.68 [[-4.38735345e-01 -8.98597693e-01 5.78641097e-03 7.95621225e+01] [ 8.98515814e-01 -4.38773484e-01 -1.21309981e-02 2.19046741e+02] [ 1.34398106e-02 -1.23115879e-04 9.99909674e-01 5.68061211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.61275509600006 meters 0.01875848421202122 Centerline is valid? [True, True] Translation: X:79.55, Y:219.07, Z:5.68 [[-4.37737678e-01 -8.99083342e-01 5.90498315e-03 7.95480360e+01] [ 8.98998291e-01 -4.37777492e-01 -1.23669078e-02 2.19069811e+02] [ 1.37039495e-02 -1.04891734e-04 9.99906091e-01 5.68098571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64275509600003 meters 0.018572795369705155 Centerline is valid? [True, True] Translation: X:79.53, Y:219.09, Z:5.68 [[-4.36397423e-01 -8.99734137e-01 5.98094742e-03 7.95336378e+01] [ 8.99647123e-01 -4.36438399e-01 -1.25131183e-02 2.19091338e+02] [ 1.38687948e-02 -7.99504392e-05 9.99903820e-01 5.68184932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.67275509600006 meters 0.018528409508296987 Centerline is valid? [True, True] Translation: X:79.52, Y:219.11, Z:5.68 [[-4.35813073e-01 -9.00016096e-01 6.16386431e-03 7.95208382e+01] [ 8.99923903e-01 -4.35856654e-01 -1.28819919e-02 2.19114680e+02] [ 1.42805614e-02 -6.71316590e-05 9.99898025e-01 5.68251991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70275509600003 meters 0.018539780296275652 Centerline is valid? [True, True] Translation: X:79.51, Y:219.14, Z:5.68 [[-4.35536438e-01 -9.00150562e-01 6.08084326e-03 7.95090263e+01] [ 9.00061029e-01 -4.35578882e-01 -1.26957260e-02 2.19136691e+02] [ 1.40767518e-02 -5.63212446e-05 9.99900916e-01 5.68391231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.73275509600006 meters 0.018630292672004577 Centerline is valid? [True, True] Translation: X:79.50, Y:219.16, Z:5.68 [[-4.36099644e-01 -8.99877469e-01 6.13520169e-03 7.94970799e+01] [ 8.99786493e-01 -4.36142794e-01 -1.27957227e-02 2.19160065e+02] [ 1.41904066e-02 -5.98385206e-05 9.99899309e-01 5.68473732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76275509600003 meters 0.018738435252548348 Centerline is valid? [True, True] Translation: X:79.49, Y:219.18, Z:5.69 [[-4.36796222e-01 -8.99539804e-01 6.09940259e-03 7.94860724e+01] [ 8.99450036e-01 -4.36838801e-01 -1.27080589e-02 2.19182718e+02] [ 1.40958605e-02 -6.47242408e-05 9.99900646e-01 5.68531221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.79275509600006 meters 0.018744401205391933 Centerline is valid? [True, True] Translation: X:79.47, Y:219.21, Z:5.69 [[-4.37605057e-01 -8.99147320e-01 5.99264192e-03 7.94747344e+01] [ 8.99060810e-01 -4.37646081e-01 -1.24726628e-02 2.19206056e+02] [ 1.38374176e-02 -7.03508256e-05 9.99904256e-01 5.68650534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82275509600004 meters 0.018940637670250313 Centerline is valid? [True, True] Translation: X:79.46, Y:219.23, Z:5.69 [[-4.38518557e-01 -8.98700817e-01 6.19005146e-03 7.94641335e+01] [ 8.98608661e-01 -4.38562236e-01 -1.28700843e-02 2.19229232e+02] [ 1.42810781e-02 -8.13369512e-05 9.99898017e-01 5.68698998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.85275509600007 meters 0.01905455014268681 Centerline is valid? [True, True] Translation: X:79.45, Y:219.25, Z:5.69 [[-4.39505529e-01 -8.98215335e-01 6.64092560e-03 7.94524802e+01] [ 8.98109441e-01 -4.39555687e-01 -1.37923866e-02 2.19253008e+02] [ 1.53075898e-02 -9.75521760e-05 9.99882827e-01 5.68728478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88275509600004 meters 0.0191491502639735 Centerline is valid? [True, True] Translation: X:79.44, Y:219.28, Z:5.69 [[-4.40161952e-01 -8.97890166e-01 7.12078765e-03 7.94410346e+01] [ 8.97768627e-01 -4.40219533e-01 -1.47734325e-02 2.19276288e+02] [ 1.63996296e-02 -1.09883157e-04 9.99865511e-01 5.68724944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91275509600007 meters 0.01923243901911795 Centerline is valid? [True, True] Translation: X:79.43, Y:219.30, Z:5.69 [[-4.40753137e-01 -8.97597638e-01 7.42646128e-03 7.94293082e+01] [ 8.97465676e-01 -4.40815683e-01 -1.53913700e-02 2.19300014e+02] [ 1.70889579e-02 -1.18800513e-04 9.99853966e-01 5.68704714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94275509600004 meters 0.019313501010255894 Centerline is valid? [True, True] Translation: X:79.42, Y:219.32, Z:5.69 [[-4.41799923e-01 -8.97076101e-01 8.20349846e-03 7.94178674e+01] [ 8.96915325e-01 -4.41876055e-01 -1.69838664e-02 2.19323871e+02] [ 1.88607501e-02 -1.45627362e-04 9.99822110e-01 5.68669199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.97275509600007 meters 0.019651128171355402 Centerline is valid? [True, True] Translation: X:79.41, Y:219.35, Z:5.69 [[-4.42794521e-01 -8.96583118e-01 8.46901763e-03 7.94069637e+01] [ 8.96412028e-01 -4.42875473e-01 -1.75154581e-02 2.19347039e+02] [ 1.94547843e-02 -1.64019629e-04 9.99810724e-01 5.68678728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00275509600004 meters 0.020185034827330833 Centerline is valid? [True, True] Translation: X:79.40, Y:219.37, Z:5.69 [[-4.44699835e-01 -8.95634639e-01 8.98060460e-03 7.93965626e+01] [ 8.95442450e-01 -4.44790457e-01 -1.85544566e-02 2.19371374e+02] [ 2.06125012e-02 -2.09549180e-04 9.99787518e-01 5.68676352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0327550960001 meters 0.020139933169058488 Centerline is valid? [True, True] Translation: X:79.38, Y:219.40, Z:5.69 [[-4.46207125e-01 -8.94883473e-01 9.09783792e-03 7.93846751e+01] [ 8.94686456e-01 -4.46299800e-01 -1.87785351e-02 2.19395301e+02] [ 2.08649639e-02 -2.39403782e-04 9.99782274e-01 5.68795238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06275509600005 meters 0.020891896713267504 Centerline is valid? [True, True] Translation: X:79.38, Y:219.42, Z:5.69 [[-4.47657586e-01 -8.94157683e-01 9.20454344e-03 7.93751136e+01] [ 8.93956232e-01 -4.47752125e-01 -1.89813125e-02 2.19418749e+02] [ 2.10936403e-02 -2.68669548e-04 9.99777468e-01 5.68768124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0927550960001 meters 0.021366806925095745 Centerline is valid? [True, True] Translation: X:79.37, Y:219.44, Z:5.69 [[-4.50086810e-01 -8.92936600e-01 9.27853637e-03 7.93650196e+01] [ 8.92731976e-01 -4.50182323e-01 -1.91179108e-02 2.19443648e+02] [ 2.12481153e-02 -3.21473367e-04 9.99774182e-01 5.68948575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12275509600005 meters 0.021425373145209488 Centerline is valid? [True, True] Translation: X:79.35, Y:219.47, Z:5.69 [[-4.51679110e-01 -8.92133545e-01 9.14982926e-03 7.93539008e+01] [ 8.91934759e-01 -4.51771643e-01 -1.88352735e-02 2.19467192e+02] [ 2.09372127e-02 -3.46448811e-04 9.99780733e-01 5.69115389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1527550960001 meters 0.022289807483654823 Centerline is valid? [True, True] Translation: X:79.34, Y:219.49, Z:5.69 [[-4.54099651e-01 -8.90907198e-01 8.82448814e-03 7.93442614e+01] [ 8.90722417e-01 -4.54185226e-01 -1.81481570e-02 2.19491243e+02] [ 2.01762758e-02 -3.80902358e-04 9.99796366e-01 5.69219604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18275509600005 meters 0.02257278512531769 Centerline is valid? [True, True] Translation: X:79.33, Y:219.51, Z:5.69 [[-4.54964604e-01 -8.90468990e-01 8.49636453e-03 7.93332254e+01] [ 8.90297944e-01 -4.55043774e-01 -1.74566857e-02 2.19513880e+02] [ 1.94108551e-02 -3.77878227e-04 9.99811520e-01 5.69276095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2127550960001 meters 0.022771841679599194 Centerline is valid? [True, True] Translation: X:79.32, Y:219.54, Z:5.69 [[-4.55516228e-01 -8.90185676e-01 8.62717476e-03 7.93212907e+01] [ 8.90009626e-01 -4.55597752e-01 -1.77074598e-02 2.19537139e+02] [ 1.96934485e-02 -3.87766731e-04 9.99805990e-01 5.69309075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24275509600005 meters 0.02255281196603787 Centerline is valid? [True, True] Translation: X:79.31, Y:219.56, Z:5.69 [[-4.55517571e-01 -8.90185167e-01 8.60879192e-03 7.93089960e+01] [ 8.90010202e-01 -4.55598754e-01 -1.76526297e-02 2.19560805e+02] [ 1.96362640e-02 -3.79170350e-04 9.99807118e-01 5.69376391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.272755096 meters 0.02204474618620026 Centerline is valid? [True, True] Translation: X:79.29, Y:219.58, Z:5.69 [[-4.55375385e-01 -8.90261049e-01 8.27788202e-03 7.92948347e+01] [ 8.90099595e-01 -4.55450479e-01 -1.69579227e-02 2.19582815e+02] [ 1.88671434e-02 -3.54081133e-04 9.99821937e-01 5.69496258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30275509600006 meters 0.0224198239212983 Centerline is valid? [True, True] Translation: X:79.28, Y:219.61, Z:5.69 [[-4.55110922e-01 -8.90396708e-01 8.23110037e-03 7.92837193e+01] [ 8.90237414e-01 -4.55185223e-01 -1.68451509e-02 2.19606078e+02] [ 1.87455422e-02 -3.38778645e-04 9.99824230e-01 5.69498093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.332755096 meters 0.02191430312241112 Centerline is valid? [True, True] Translation: X:79.27, Y:219.63, Z:5.70 [[-4.54069518e-01 -8.90930971e-01 7.92954580e-03 7.92700077e+01] [ 8.90783503e-01 -4.54138653e-01 -1.62121600e-02 2.19628779e+02] [ 1.80450287e-02 -2.97939085e-04 9.99837131e-01 5.69628620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36275509600006 meters 0.021292179842471757 Centerline is valid? [True, True] Translation: X:79.26, Y:219.65, Z:5.70 [[-4.53204970e-01 -8.91371487e-01 7.88211469e-03 7.92567631e+01] [ 8.91226116e-01 -4.53273426e-01 -1.61000141e-02 2.19651242e+02] [ 1.79238466e-02 -2.71859939e-04 9.99839318e-01 5.69671990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.39275509600003 meters 0.02097634854346536 Centerline is valid? [True, True] Translation: X:79.24, Y:219.67, Z:5.70 [[-4.51631457e-01 -8.92168999e-01 7.96891168e-03 7.92433206e+01] [ 8.92020822e-01 -4.51701695e-01 -1.62613718e-02 2.19673456e+02] [ 1.81074627e-02 -2.35711884e-04 9.99836019e-01 5.69644694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42275509600006 meters 0.020638865946870925 Centerline is valid? [True, True] Translation: X:79.23, Y:219.70, Z:5.70 [[-4.51061835e-01 -8.92457509e-01 7.92566818e-03 7.92304622e+01] [ 8.92311271e-01 -4.51131409e-01 -1.61569727e-02 2.19695215e+02] [ 1.79949294e-02 -2.15630692e-04 9.99838055e-01 5.69660165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.45275509600003 meters 0.020409706245375903 Centerline is valid? [True, True] Translation: X:79.22, Y:219.72, Z:5.70 [[-4.50521961e-01 -8.92732624e-01 7.64359865e-03 7.92174671e+01] [ 8.92596916e-01 -4.50586757e-01 -1.55666373e-02 2.19717321e+02] [ 1.73409493e-02 -1.90459387e-04 9.99849616e-01 5.69714896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48275509600006 meters 0.019654622720362117 Centerline is valid? [True, True] Translation: X:79.20, Y:219.74, Z:5.70 [[-4.49223393e-01 -8.93390363e-01 7.21131041e-03 7.92020676e+01] [ 8.93269884e-01 -4.49281245e-01 -1.46723416e-02 2.19738803e+02] [ 1.63480351e-02 -1.49512661e-04 9.99866351e-01 5.69915814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51275509600003 meters 0.019494552132877874 Centerline is valid? [True, True] Translation: X:79.19, Y:219.76, Z:5.70 [[-4.48784212e-01 -8.93613426e-01 6.91210086e-03 7.91886478e+01] [ 8.93502967e-01 -4.48837419e-01 -1.40505645e-02 2.19761910e+02] [ 1.56581826e-02 -1.29688895e-04 9.99877395e-01 5.69953625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54275509600006 meters 0.01929453663720932 Centerline is valid? [True, True] Translation: X:79.17, Y:219.78, Z:5.70 [[-4.48717358e-01 -8.93649799e-01 6.53985167e-03 7.91748474e+01] [ 8.93551105e-01 -4.48764998e-01 -1.32815829e-02 2.19783134e+02] [ 1.48039404e-02 -1.15985113e-04 9.99890409e-01 5.69989709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57275509600004 meters 0.01936153023026123 Centerline is valid? [True, True] Translation: X:79.16, Y:219.81, Z:5.70 [[-4.49373487e-01 -8.93322555e-01 6.18726883e-03 7.91621255e+01] [ 8.93234351e-01 -4.49416065e-01 -1.25536519e-02 2.19806524e+02] [ 1.39951184e-02 -1.14597274e-04 9.99902057e-01 5.70056601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60275509600007 meters 0.01941486637573764 Centerline is valid? [True, True] Translation: X:79.15, Y:219.83, Z:5.70 [[-4.50442337e-01 -8.92785306e-01 6.00822146e-03 7.91507278e+01] [ 8.92702240e-01 -4.50482389e-01 -1.21789621e-02 2.19830058e+02] [ 1.35797964e-02 -1.22367410e-04 9.99907783e-01 5.70104051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63275509600004 meters 0.019596979999453885 Centerline is valid? [True, True] Translation: X:79.14, Y:219.85, Z:5.70 [[-4.51769942e-01 -8.92115045e-01 5.88785948e-03 7.91394911e+01] [ 8.92035366e-01 -4.51808288e-01 -1.19237849e-02 2.19853996e+02] [ 1.32975716e-02 -1.34628740e-04 9.99911574e-01 5.70159714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66275509600007 meters 0.020471809039370056 Centerline is valid? [True, True] Translation: X:79.13, Y:219.88, Z:5.70 [[-4.55146980e-01 -8.90397854e-01 5.73488761e-03 7.91288865e+01] [ 8.90322264e-01 -4.55183075e-01 -1.16032370e-02 2.19878642e+02] [ 1.29419211e-02 -1.75280170e-04 9.99916234e-01 5.70188584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.69275509600004 meters 0.02069481544463782 Centerline is valid? [True, True] Translation: X:79.12, Y:219.90, Z:5.70 [[-4.56919900e-01 -8.89490742e-01 5.51581741e-03 7.91164657e+01] [ 8.89420871e-01 -4.56953153e-01 -1.11503368e-02 2.19902700e+02] [ 1.24385915e-02 -1.88927634e-04 9.99922620e-01 5.70234189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72275509600007 meters 0.021989027718853187 Centerline is valid? [True, True] Translation: X:79.11, Y:219.93, Z:5.70 [[-4.60398686e-01 -8.87697151e-01 5.17871703e-03 7.91063875e+01] [ 8.87635545e-01 -4.60427759e-01 -1.04603426e-02 2.19927184e+02] [ 1.16700414e-02 -2.19114666e-04 9.99931879e-01 5.70253331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.75275509600004 meters 0.02323577673207795 Centerline is valid? [True, True] Translation: X:79.10, Y:219.95, Z:5.70 [[-4.62406213e-01 -8.86654834e-01 4.86824654e-03 7.90965664e+01] [ 8.86600427e-01 -4.62431783e-01 -9.82492728e-03 2.19951117e+02] [ 1.09625512e-02 -2.26917947e-04 9.99939884e-01 5.70323510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7827550960001 meters 0.023376874727867154 Centerline is valid? [True, True] Translation: X:79.08, Y:219.98, Z:5.70 [[-4.64526080e-01 -8.85545999e-01 4.87896022e-03 7.90836092e+01] [ 8.85491400e-01 -4.64551635e-01 -9.83661684e-03 2.19975101e+02] [ 1.09773056e-02 -2.49087748e-04 9.99939717e-01 5.70326803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.81275509600005 meters 0.025361071735191323 Centerline is valid? [True, True] Translation: X:79.07, Y:220.00, Z:5.70 [[-4.67835829e-01 -8.83802881e-01 4.70152347e-03 7.90732994e+01] [ 8.83752176e-01 -4.67859371e-01 -9.47104371e-03 2.19999351e+02] [ 1.05701875e-02 -2.75911983e-04 9.99944096e-01 5.70292126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8427550960001 meters 0.0259273293087196 Centerline is valid? [True, True] Translation: X:79.06, Y:220.02, Z:5.70 [[-4.69658633e-01 -8.82836080e-01 4.60688361e-03 7.90614993e+01] [ 8.82787433e-01 -4.69681139e-01 -9.27233371e-03 2.20023030e+02] [ 1.03497171e-02 -2.87932627e-04 9.99946399e-01 5.70284871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.87275509600005 meters 0.027796139548456562 Centerline is valid? [True, True] Translation: X:79.05, Y:220.05, Z:5.70 [[-4.71830138e-01 -8.81677913e-01 4.51427147e-03 7.90520639e+01] [ 8.81631233e-01 -4.71851636e-01 -9.07763393e-03 2.20047067e+02] [ 1.01336157e-02 -3.03178551e-04 9.99948608e-01 5.70315938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9027550960001 meters 0.030525174914710518 Centerline is valid? [True, True] Translation: X:79.04, Y:220.07, Z:5.70 [[-4.75021217e-01 -8.79962998e-01 4.46828366e-03 7.90437624e+01] [ 8.79917270e-01 -4.75042116e-01 -8.97694042e-03 2.20071617e+02] [ 1.00219983e-02 -3.32517208e-04 9.99949723e-01 5.70368945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.93275509600005 meters 0.030746259894186417 Centerline is valid? [True, True] Translation: X:79.03, Y:220.09, Z:5.70 [[-4.76752300e-01 -8.79027819e-01 4.16397134e-03 7.90314399e+01] [ 8.78988137e-01 -4.76770373e-01 -8.35863694e-03 2.20094408e+02] [ 9.33273257e-03 -3.24917975e-04 9.99956396e-01 5.70385972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9627550960001 meters 0.03413802074624167 Centerline is valid? [True, True] Translation: X:79.02, Y:220.12, Z:5.71 [[-4.78702908e-01 -8.77968266e-01 3.90510797e-03 7.90222909e+01] [ 8.77933392e-01 -4.78718729e-01 -7.83186364e-03 2.20119020e+02] [ 8.74557607e-03 -3.20711214e-04 9.99961705e-01 5.70507241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.99275509600005 meters 0.03458753115635945 Centerline is valid? [True, True] Translation: X:79.01, Y:220.14, Z:5.71 [[-4.79569145e-01 -8.77496377e-01 3.68024972e-03 7.90098372e+01] [ 8.77465440e-01 -4.79583167e-01 -7.37479979e-03 2.20142724e+02] [ 8.23634592e-03 -3.07434486e-04 9.99966033e-01 5.70545591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.022755096 meters 0.03484535296057954 Centerline is valid? [True, True] Translation: X:79.00, Y:220.16, Z:5.71 [[-4.79927152e-01 -8.77301249e-01 3.52820446e-03 7.89983012e+01] [ 8.77272858e-01 -4.79940030e-01 -7.06407038e-03 2.20164652e+02] [ 7.89064432e-03 -2.95041169e-04 9.99968825e-01 5.70618472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.05275509600006 meters 0.03318878631164678 Centerline is valid? [True, True] Translation: X:78.98, Y:220.19, Z:5.71 [[-4.79967607e-01 -8.77279716e-01 3.37587939e-03 7.89839523e+01] [ 8.77253778e-01 -4.79979398e-01 -6.75174632e-03 2.20185528e+02] [ 7.54352265e-03 -2.79116575e-04 9.99971508e-01 5.70698885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.082755096 meters 0.028807025569423612 Centerline is valid? [True, True] Translation: X:78.96, Y:220.21, Z:5.71 [[-4.78973597e-01 -8.77825465e-01 2.59741179e-03 7.89644582e+01] [ 8.77810142e-01 -4.78980595e-01 -5.19075024e-03 2.20206484e+02] [ 5.80068259e-03 -2.06197901e-04 9.99983155e-01 5.70714484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.11275509600006 meters 0.03161595727788494 Centerline is valid? [True, True] Translation: X:78.96, Y:220.23, Z:5.71 [[-4.78186818e-01 -8.78254333e-01 2.58729520e-03 7.89558787e+01] [ 8.78239155e-01 -4.78193777e-01 -5.16699383e-03 2.20230393e+02] [ 5.77516317e-03 -1.98524391e-04 9.99983304e-01 5.70818221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14275509600003 meters 0.02742972568584197 Centerline is valid? [True, True] Translation: X:78.94, Y:220.25, Z:5.71 [[-4.75991505e-01 -8.79445524e-01 2.76716569e-03 7.89354458e+01] [ 8.79428224e-01 -4.75999509e-01 -5.51965095e-03 2.20250157e+02] [ 6.17140184e-03 -1.93783354e-04 9.99980938e-01 5.70682753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.17275509600006 meters 0.028901565646046085 Centerline is valid? [True, True] Translation: X:78.92, Y:220.27, Z:5.71 [[-4.74997454e-01 -8.79983245e-01 2.62834174e-03 7.89247824e+01] [ 8.79967669e-01 -4.75004693e-01 -5.23852523e-03 2.20273899e+02] [ 5.85828909e-03 -1.75430385e-04 9.99982825e-01 5.70775082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20275509600003 meters 0.026260798963798418 Centerline is valid? [True, True] Translation: X:78.91, Y:220.29, Z:5.71 [[-4.74049207e-01 -8.80495057e-01 2.40926760e-03 7.89090214e+01] [ 8.80481996e-01 -4.74055304e-01 -4.79829265e-03 2.20294262e+02] [ 5.36699904e-03 -1.53310074e-04 9.99985586e-01 5.70772349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.23275509600006 meters 0.024902657925082783 Centerline is valid? [True, True] Translation: X:78.89, Y:220.32, Z:5.71 [[-4.72402240e-01 -8.81379310e-01 2.57589045e-03 7.88948121e+01] [ 8.81364432e-01 -4.72409239e-01 -5.12332759e-03 2.20318022e+02] [ 5.73246938e-03 -1.49973210e-04 9.99983558e-01 5.70807466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26275509600003 meters 0.022965139108310984 Centerline is valid? [True, True] Translation: X:78.88, Y:220.34, Z:5.71 [[-4.71639244e-01 -8.81788079e-01 2.49145200e-03 7.88796173e+01] [ 8.81774184e-01 -4.71645804e-01 -4.95216421e-03 2.20340286e+02] [ 5.54184224e-03 -1.38736934e-04 9.99984634e-01 5.70777877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.29275509600006 meters 0.024877046207965575 Centerline is valid? [True, True] Translation: X:78.87, Y:220.36, Z:5.71 [[-4.70017151e-01 -8.82653652e-01 2.53142331e-03 7.88698366e+01] [ 8.82639352e-01 -4.70023950e-01 -5.02598160e-03 2.20364222e+02] [ 5.62603060e-03 -1.27963718e-04 9.99984166e-01 5.70943927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32275509600004 meters 0.021269705656090463 Centerline is valid? [True, True] Translation: X:78.85, Y:220.38, Z:5.71 [[-4.69416275e-01 -8.82973369e-01 2.52789237e-03 7.88501833e+01] [ 8.82959141e-01 -4.69423066e-01 -5.01411873e-03 2.20383766e+02] [ 5.61398430e-03 -1.21683260e-04 9.99984234e-01 5.70742104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.35275509600007 meters 0.022775216682806115 Centerline is valid? [True, True] Translation: X:78.84, Y:220.41, Z:5.71 [[-4.68691601e-01 -8.83358695e-01 2.36631538e-03 7.88392884e+01] [ 8.83346256e-01 -4.68697562e-01 -4.68903964e-03 2.20406770e+02] [ 5.25119019e-03 -1.07437661e-04 9.99986207e-01 5.70629826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38275509600004 meters 0.022775216682806115 Centerline is valid? [True, True] Translation: X:78.83, Y:220.43, Z:5.71 [[-4.69028151e-01 -8.83180040e-01 2.36856281e-03 7.88273597e+01] [ 8.83167605e-01 -4.69034120e-01 -4.68790330e-03 2.20429777e+02] [ 5.25119940e-03 -1.06920669e-04 9.99986207e-01 5.70660667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41275509600007 meters 0.020951733200923688 Centerline is valid? [True, True] Translation: X:78.81, Y:220.45, Z:5.71 [[-4.68753945e-01 -8.83326909e-01 1.81935899e-03 7.88131879e+01] [ 8.83319577e-01 -4.68757469e-01 -3.60016121e-03 2.20451704e+02] [ 4.03295739e-03 -8.05143608e-05 9.99991864e-01 5.70941378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44275509600004 meters 0.02179101431427477 Centerline is valid? [True, True] Translation: X:78.80, Y:220.48, Z:5.71 [[-4.69150670e-01 -8.83116734e-01 1.57584425e-03 7.88035697e+01] [ 8.83111242e-01 -4.69153312e-01 -3.11508216e-03 2.20475281e+02] [ 3.49029373e-03 -6.97971092e-05 9.99993906e-01 5.71076014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.47275509600007 meters 0.021744496646556057 Centerline is valid? [True, True] Translation: X:78.79, Y:220.50, Z:5.71 [[-4.70311216e-01 -8.82499033e-01 1.67854513e-03 7.87925392e+01] [ 8.82492804e-01 -4.70314205e-01 -3.31660683e-03 2.20498751e+02] [ 3.71634594e-03 -7.85333993e-05 9.99993091e-01 5.71038368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50275509600004 meters 0.02140325929833153 Centerline is valid? [True, True] Translation: X:78.78, Y:220.52, Z:5.71 [[-4.71208907e-01 -8.82019676e-01 1.85931944e-03 7.87799108e+01] [ 8.82012050e-01 -4.71212567e-01 -3.66881829e-03 2.20522501e+02] [ 4.11210461e-03 -8.88377024e-05 9.99991541e-01 5.70965956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5327550960001 meters 0.02228124052401947 Centerline is valid? [True, True] Translation: X:78.77, Y:220.55, Z:5.71 [[-4.72254860e-01 -8.81459609e-01 2.07493025e-03 7.87701116e+01] [ 8.81450129e-01 -4.72259408e-01 -4.08922739e-03 2.20545560e+02] [ 4.58439411e-03 -1.02209974e-04 9.99989486e-01 5.70998652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56275509600005 meters 0.022373412554763435 Centerline is valid? [True, True] Translation: X:78.76, Y:220.57, Z:5.71 [[-4.73007708e-01 -8.81055076e-01 2.37945209e-03 7.87586491e+01] [ 8.81042641e-01 -4.73013678e-01 -4.68245992e-03 2.20568919e+02] [ 5.25101846e-03 -1.18440879e-04 9.99986206e-01 5.70990595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5927550960001 meters 0.022286350763820788 Centerline is valid? [True, True] Translation: X:78.75, Y:220.59, Z:5.71 [[-4.74862792e-01 -8.80055396e-01 2.79794047e-03 7.87464593e+01] [ 8.80038231e-01 -4.74871012e-01 -5.49862033e-03 2.20592957e+02] [ 6.16775132e-03 -1.48795623e-04 9.99980968e-01 5.70902249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62275509600005 meters 0.022870741985344507 Centerline is valid? [True, True] Translation: X:78.74, Y:220.62, Z:5.71 [[-4.75849893e-01 -8.79521481e-01 2.97395055e-03 7.87362225e+01] [ 8.79502111e-01 -4.75859158e-01 -5.83942350e-03 2.20616174e+02] [ 6.55108001e-03 -1.63093267e-04 9.99978528e-01 5.70895123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6527550960001 meters 0.02407835912506522 Centerline is valid? [True, True] Translation: X:78.73, Y:220.64, Z:5.71 [[-4.77808071e-01 -8.78457449e-01 3.45805657e-03 7.87275924e+01] [ 8.78431307e-01 -4.77820542e-01 -6.78007152e-03 2.20640750e+02] [ 7.60833480e-03 -2.01907743e-04 9.99971036e-01 5.70877486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68275509600005 meters 0.02568062752952247 Centerline is valid? [True, True] Translation: X:78.72, Y:220.67, Z:5.71 [[-4.78577820e-01 -8.78037238e-01 3.72541419e-03 7.87187344e+01] [ 8.78006926e-01 -4.78592269e-01 -7.29925959e-03 2.20665696e+02] [ 8.19197616e-03 -2.22324284e-04 9.99966421e-01 5.70927808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7127550960001 meters 0.026086044763610653 Centerline is valid? [True, True] Translation: X:78.71, Y:220.69, Z:5.71 [[-4.79731767e-01 -8.77407276e-01 3.72878231e-03 7.87073052e+01] [ 8.77376946e-01 -4.79746203e-01 -7.29897066e-03 2.20689595e+02] [ 8.19303912e-03 -2.30000451e-04 9.99966410e-01 5.70987371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74275509600005 meters 0.027212808852985087 Centerline is valid? [True, True] Translation: X:78.70, Y:220.71, Z:5.71 [[-4.81311128e-01 -8.76540309e-01 4.08479785e-03 7.86972430e+01] [ 8.76503963e-01 -4.81328389e-01 -7.98660948e-03 2.20712740e+02] [ 8.96671430e-03 -2.63702516e-04 9.99959763e-01 5.70972895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.772755096 meters 0.027894576928616566 Centerline is valid? [True, True] Translation: X:78.69, Y:220.74, Z:5.71 [[-4.81789834e-01 -8.76275615e-01 4.42733286e-03 7.86867526e+01] [ 8.76233007e-01 -4.81810091e-01 -8.64599130e-03 2.20736379e+02] [ 9.70940499e-03 -2.86175529e-04 9.99952822e-01 5.70971108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80275509600006 meters 0.026795879314679413 Centerline is valid? [True, True] Translation: X:78.67, Y:220.76, Z:5.71 [[-4.82408314e-01 -8.75934541e-01 4.57144610e-03 7.86733690e+01] [ 8.75889198e-01 -4.82429882e-01 -8.91748401e-03 2.20759437e+02] [ 1.00165345e-02 -2.97788165e-04 9.99949789e-01 5.70945103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.832755096 meters 0.02568279350937613 Centerline is valid? [True, True] Translation: X:78.66, Y:220.78, Z:5.71 [[-4.82537534e-01 -8.75862171e-01 4.79447937e-03 7.86613086e+01] [ 8.75812400e-01 -4.82561253e-01 -9.34224483e-03 2.20781685e+02] [ 1.04961488e-02 -3.08919297e-04 9.99944866e-01 5.70983507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86275509600006 meters 0.023998395980258515 Centerline is valid? [True, True] Translation: X:78.65, Y:220.80, Z:5.71 [[-4.81820746e-01 -8.76256778e-01 4.77788831e-03 7.86466677e+01] [ 8.76207479e-01 -4.81844345e-01 -9.29948608e-03 2.20804509e+02] [ 1.04509362e-02 -2.94263853e-04 9.99945344e-01 5.71076868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.89275509600003 meters 0.02511098453784498 Centerline is valid? [True, True] Translation: X:78.64, Y:220.83, Z:5.71 [[-4.81463241e-01 -8.76454017e-01 4.63721224e-03 7.86365533e+01] [ 8.76407662e-01 -4.81485492e-01 -9.01832291e-03 2.20827821e+02] [ 1.01368958e-02 -2.77902635e-04 9.99948582e-01 5.71146997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92275509600006 meters 0.024134705526933493 Centerline is valid? [True, True] Translation: X:78.62, Y:220.85, Z:5.71 [[-4.79528036e-01 -8.77515860e-01 4.33350964e-03 7.86225278e+01] [ 8.77475497e-01 -4.79547559e-01 -8.41969150e-03 2.20850439e+02] [ 9.46653679e-03 -2.34929602e-04 9.99955164e-01 5.71261225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.95275509600003 meters 0.023808492088388946 Centerline is valid? [True, True] Translation: X:78.61, Y:220.87, Z:5.71 [[-4.78531228e-01 -8.78060965e-01 4.09945015e-03 7.86099564e+01] [ 8.78024925e-01 -4.78548741e-01 -7.95823885e-03 2.20873014e+02] [ 8.94960560e-03 -2.08846400e-04 9.99959930e-01 5.71331539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98275509600006 meters 0.02120055003722947 Centerline is valid? [True, True] Translation: X:78.59, Y:220.90, Z:5.71 [[-4.76177189e-01 -8.79339981e-01 4.05985966e-03 7.85941755e+01] [ 8.79304744e-01 -4.76194462e-01 -7.87415536e-03 2.20895237e+02] [ 8.85734232e-03 -1.79639305e-04 9.99960757e-01 5.71358361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01275509600003 meters 0.02089626038793079 Centerline is valid? [True, True] Translation: X:78.58, Y:220.92, Z:5.71 [[-4.75211031e-01 -8.79862450e-01 4.06744237e-03 7.85822921e+01] [ 8.79827159e-01 -4.75228409e-01 -7.88229586e-03 2.20918602e+02] [ 8.86830032e-03 -1.67107681e-04 9.99960662e-01 5.71421589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04275509600006 meters 0.02134305990569074 Centerline is valid? [True, True] Translation: X:78.57, Y:220.94, Z:5.72 [[-4.74375752e-01 -8.80313215e-01 4.03593201e-03 7.85723208e+01] [ 8.80278554e-01 -4.74392896e-01 -7.81333269e-03 2.20941506e+02] [ 8.79279750e-03 -1.53711176e-04 9.99961331e-01 5.71547958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07275509600004 meters 0.020111067474504318 Centerline is valid? [True, True] Translation: X:78.56, Y:220.96, Z:5.72 [[-4.73865242e-01 -8.80588549e-01 3.94198703e-03 7.85578063e+01] [ 8.80555535e-01 -4.73881617e-01 -7.62644547e-03 2.20963907e+02] [ 8.58379574e-03 -1.42768931e-04 9.99963148e-01 5.71526481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10275509600007 meters 0.01968462898647345 Centerline is valid? [True, True] Translation: X:78.55, Y:220.99, Z:5.71 [[-4.72499841e-01 -8.81320532e-01 4.24515811e-03 7.85451868e+01] [ 8.81282353e-01 -4.72518891e-01 -8.20438092e-03 2.20986939e+02] [ 9.23660676e-03 -1.35385745e-04 9.99957332e-01 5.71484584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13275509600004 meters 0.019387385949340544 Centerline is valid? [True, True] Translation: X:78.53, Y:221.01, Z:5.71 [[-4.71816429e-01 -8.81686097e-01 4.34556495e-03 7.85326549e+01] [ 8.81646183e-01 -4.71836424e-01 -8.39026086e-03 2.21010182e+02] [ 9.44797217e-03 -1.27412168e-04 9.99955359e-01 5.71499842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16275509600007 meters 0.019029265688515148 Centerline is valid? [True, True] Translation: X:78.52, Y:221.03, Z:5.72 [[-4.70142766e-01 -8.82581527e-01 3.95323116e-03 7.85198511e+01] [ 8.82548580e-01 -4.70159377e-01 -7.62661593e-03 2.21032657e+02] [ 8.58975903e-03 -9.66797705e-05 9.99963103e-01 5.71609468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.19275509600004 meters 0.018488885050598942 Centerline is valid? [True, True] Translation: X:78.51, Y:221.06, Z:5.72 [[-4.69432833e-01 -8.82959644e-01 3.88353477e-03 7.85053238e+01] [ 8.82927926e-01 -4.69448889e-01 -7.48458599e-03 2.21056361e+02] [ 8.43170847e-03 -8.46291065e-05 9.99964449e-01 5.71615924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22275509600007 meters 0.01857407979476085 Centerline is valid? [True, True] Translation: X:78.49, Y:221.08, Z:5.72 [[-4.68834945e-01 -8.83276768e-01 3.99325448e-03 7.84945856e+01] [ 8.83243296e-01 -4.68851944e-01 -7.68987041e-03 2.21078993e+02] [ 8.66452901e-03 -7.82647239e-05 9.99962459e-01 5.71713940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.25275509600004 meters 0.01836710634192235 Centerline is valid? [True, True] Translation: X:78.48, Y:221.10, Z:5.72 [[-4.67838651e-01 -8.83804000e-01 4.18170611e-03 7.84818328e+01] [ 8.83767398e-01 -4.67857335e-01 -8.04362891e-03 2.21102363e+02] [ 9.06543328e-03 -6.74649778e-05 9.99958906e-01 5.71627748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2827550960001 meters 0.018257074486432864 Centerline is valid? [True, True] Translation: X:78.47, Y:221.13, Z:5.72 [[-4.67567689e-01 -8.83946047e-01 4.45439343e-03 7.84687658e+01] [ 8.83904606e-01 -4.67588902e-01 -8.55959159e-03 2.21125811e+02] [ 9.64904208e-03 -6.49295913e-05 9.99953445e-01 5.71642474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.31275509600005 meters 0.018228093892544844 Centerline is valid? [True, True] Translation: X:78.46, Y:221.15, Z:5.72 [[-4.67702989e-01 -8.83874544e-01 4.43897523e-03 7.84558182e+01] [ 8.83833461e-01 -4.67724050e-01 -8.52210495e-03 2.21149331e+02] [ 9.60868709e-03 -6.24991174e-05 9.99953834e-01 5.71608169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3427550960001 meters 0.018191015848565077 Centerline is valid? [True, True] Translation: X:78.44, Y:221.17, Z:5.72 [[-4.68311445e-01 -8.83550946e-01 4.70281654e-03 7.84448107e+01] [ 8.83504912e-01 -4.68335052e-01 -9.01936427e-03 2.21173343e+02] [ 1.01715617e-02 -6.89099997e-05 9.99948266e-01 5.71541476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.37275509600005 meters 0.018292391537564456 Centerline is valid? [True, True] Translation: X:78.43, Y:221.20, Z:5.72 [[-4.69553701e-01 -8.82890259e-01 4.91052058e-03 7.84337212e+01] [ 8.82840134e-01 -4.69579370e-01 -9.40814731e-03 2.21197583e+02] [ 1.06122408e-02 -8.24257339e-05 9.99943685e-01 5.71526330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4027550960001 meters 0.018776753785405217 Centerline is valid? [True, True] Translation: X:78.42, Y:221.22, Z:5.71 [[-4.72077369e-01 -8.81540677e-01 5.38442828e-03 7.84247472e+01] [ 8.81480449e-01 -4.72108060e-01 -1.03052087e-02 2.21222812e+02] [ 1.16264927e-02 -1.18587569e-04 9.99932403e-01 5.71481825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.43275509600005 meters 0.019652645564906358 Centerline is valid? [True, True] Translation: X:78.42, Y:221.25, Z:5.72 [[-4.73873617e-01 -8.80575863e-01 5.47214256e-03 7.84166039e+01] [ 8.80513713e-01 -4.73905191e-01 -1.04628766e-02 2.21246784e+02] [ 1.18066334e-02 -1.39784621e-04 9.99930290e-01 5.71515424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4627550960001 meters 0.01956557956580635 Centerline is valid? [True, True] Translation: X:78.41, Y:221.27, Z:5.72 [[-4.75617446e-01 -8.79635066e-01 5.49507931e-03 7.84051014e+01] [ 8.79572455e-01 -4.75649162e-01 -1.04962078e-02 2.21270062e+02] [ 1.18465623e-02 -1.58859151e-04 9.99929814e-01 5.71552150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.49275509600005 meters 0.020506300658958483 Centerline is valid? [True, True] Translation: X:78.40, Y:221.29, Z:5.72 [[-4.78381546e-01 -8.78134647e-01 5.53515107e-03 7.83969048e+01] [ 8.78071139e-01 -4.78413529e-01 -1.05626539e-02 2.21294895e+02] [ 1.19235235e-02 -1.92722299e-04 9.99928894e-01 5.71572963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.522755096 meters 0.021121190721328606 Centerline is valid? [True, True] Translation: X:78.39, Y:221.32, Z:5.72 [[-4.80159059e-01 -8.77163813e-01 5.56092995e-03 7.83859107e+01] [ 8.77099752e-01 -4.80191212e-01 -1.06030121e-02 2.21320252e+02] [ 1.19708882e-02 -2.13642044e-04 9.99928324e-01 5.71595726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.55275509600006 meters 0.02109625263748242 Centerline is valid? [True, True] Translation: X:78.37, Y:221.34, Z:5.72 [[-4.81593300e-01 -8.76378217e-01 5.39572406e-03 7.83739009e+01] [ 8.76317954e-01 -4.81623475e-01 -1.02796727e-02 2.21344969e+02] [ 1.16075886e-02 -2.22251654e-04 9.99932605e-01 5.71666988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.582755096 meters 0.022719417818467324 Centerline is valid? [True, True] Translation: X:78.37, Y:221.37, Z:5.72 [[-4.83997287e-01 -8.75052079e-01 5.52135275e-03 7.83666726e+01] [ 8.74989002e-01 -4.84028712e-01 -1.05096752e-02 2.21370826e+02] [ 1.18690064e-02 -2.55531363e-04 9.99929528e-01 5.71749944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.61275509600006 meters 0.0228165557657528 Centerline is valid? [True, True] Translation: X:78.35, Y:221.40, Z:5.72 [[-4.85356483e-01 -8.74299377e-01 5.44823520e-03 7.83548771e+01] [ 8.74237992e-01 -4.85386987e-01 -1.03637102e-02 2.21395083e+02] [ 1.17054879e-02 -2.67039746e-04 9.99931453e-01 5.71805776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64275509600003 meters 0.023477548605064274 Centerline is valid? [True, True] Translation: X:78.34, Y:221.42, Z:5.72 [[-4.86973904e-01 -8.73400617e-01 5.27063982e-03 7.83447974e+01] [ 8.73343208e-01 -4.87002348e-01 -1.00177295e-02 2.21419486e+02] [ 1.13163051e-02 -2.75295352e-04 9.99935931e-01 5.71858108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.67275509600006 meters 0.023588323878604364 Centerline is valid? [True, True] Translation: X:78.33, Y:221.44, Z:5.72 [[-4.87640416e-01 -8.73027871e-01 5.40011710e-03 7.83327822e+01] [ 8.72967691e-01 -4.87670232e-01 -1.02545367e-02 2.21443285e+02] [ 1.15859727e-02 -2.86398814e-04 9.99932839e-01 5.71906894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70275509600003 meters 0.023255091596592635 Centerline is valid? [True, True] Translation: X:78.32, Y:221.47, Z:5.72 [[-4.87884976e-01 -8.72890123e-01 5.57525439e-03 7.83203982e+01] [ 8.72826089e-01 -4.87916742e-01 -1.05768989e-02 2.21466388e+02] [ 1.19527305e-02 -2.94082584e-04 9.99928520e-01 5.71911138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.73275509600006 meters 0.02295438227053589 Centerline is valid? [True, True] Translation: X:78.31, Y:221.49, Z:5.72 [[-4.88164047e-01 -8.72733619e-01 5.64748463e-03 7.83075404e+01] [ 8.72668029e-01 -4.88196623e-01 -1.07036580e-02 2.21490039e+02] [ 1.20985251e-02 -2.96761752e-04 9.99926766e-01 5.71944067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76275509600003 meters 0.022662022335147258 Centerline is valid? [True, True] Translation: X:78.30, Y:221.51, Z:5.72 [[-4.87825446e-01 -8.72922229e-01 5.75466654e-03 7.82959560e+01] [ 8.72854271e-01 -4.87859300e-01 -1.08961237e-02 2.21513491e+02] [ 1.23189362e-02 -2.92421136e-04 9.99924076e-01 5.71941899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.79275509600006 meters 0.023227105189277186 Centerline is valid? [True, True] Translation: X:78.29, Y:221.54, Z:5.72 [[-4.87898971e-01 -8.72880829e-01 5.80108921e-03 7.82852725e+01] [ 8.72811898e-01 -4.87933371e-01 -1.09734224e-02 2.21536517e+02] [ 1.24090350e-02 -2.90661792e-04 9.99922963e-01 5.71996181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82275509600004 meters 0.022254364993479565 Centerline is valid? [True, True] Translation: X:78.27, Y:221.56, Z:5.72 [[-4.87025113e-01 -8.73367711e-01 5.94820041e-03 7.82716392e+01] [ 8.73295421e-01 -4.87061355e-01 -1.12402691e-02 2.21559676e+02] [ 1.27140266e-02 -2.79757125e-04 9.99919134e-01 5.72039533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.85275509600007 meters 0.023128070993797954 Centerline is valid? [True, True] Translation: X:78.26, Y:221.58, Z:5.72 [[-4.86990592e-01 -8.73385113e-01 6.21349320e-03 7.82611989e+01] [ 8.73306386e-01 -4.87030146e-01 -1.17300580e-02 2.21583074e+02] [ 1.32710165e-02 -2.86144622e-04 9.99911895e-01 5.72031096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88275509600004 meters 0.022135032361533667 Centerline is valid? [True, True] Translation: X:78.25, Y:221.61, Z:5.72 [[-4.86756250e-01 -8.73514010e-01 6.45198021e-03 7.82479727e+01] [ 8.73429303e-01 -4.86798924e-01 -1.21680549e-02 2.21606284e+02] [ 1.37697834e-02 -2.87528191e-04 9.99905151e-01 5.71993870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91275509600007 meters 0.02358412912489344 Centerline is valid? [True, True] Translation: X:78.24, Y:221.63, Z:5.72 [[-4.86551630e-01 -8.73627620e-01 6.50339872e-03 7.82392820e+01] [ 8.73541725e-01 -4.86595010e-01 -1.22535909e-02 2.21630180e+02] [ 1.38695969e-02 -2.81014507e-04 9.99903773e-01 5.72006917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94275509600004 meters 0.022225231615041967 Centerline is valid? [True, True] Translation: X:78.22, Y:221.65, Z:5.72 [[-4.86848685e-01 -8.73461542e-01 6.57976041e-03 7.82246676e+01] [ 8.73373770e-01 -4.86893063e-01 -1.23855639e-02 2.21652847e+02] [ 1.40219534e-02 -2.83305321e-04 9.99901647e-01 5.72080341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.97275509600007 meters 0.021255364112389444 Centerline is valid? [True, True] Translation: X:78.21, Y:221.68, Z:5.72 [[-4.86745075e-01 -8.73521574e-01 6.26829087e-03 7.82119939e+01] [ 8.73442058e-01 -4.86785364e-01 -1.17889974e-02 2.21676037e+02] [ 1.33492559e-02 -2.63247566e-04 9.99910860e-01 5.72176820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00275509600004 meters 0.021715228400719298 Centerline is valid? [True, True] Translation: X:78.20, Y:221.70, Z:5.72 [[-4.87179574e-01 -8.73279051e-01 6.30573017e-03 7.82009281e+01] [ 8.73198714e-01 -4.87220309e-01 -1.18480589e-02 2.21699415e+02] [ 1.34189414e-02 -2.65976797e-04 9.99909927e-01 5.72206767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0327550960001 meters 0.021183713534381143 Centerline is valid? [True, True] Translation: X:78.19, Y:221.72, Z:5.72 [[-4.87445981e-01 -8.73130375e-01 6.30591214e-03 7.81877797e+01] [ 8.73050177e-01 -4.87486696e-01 -1.18367655e-02 2.21722559e+02] [ 1.34090878e-02 -2.64406052e-04 9.99910059e-01 5.72235687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06275509600005 meters 0.021145197552270255 Centerline is valid? [True, True] Translation: X:78.18, Y:221.75, Z:5.72 [[-4.87806278e-01 -8.72928053e-01 6.45362871e-03 7.81756144e+01] [ 8.72844198e-01 -4.87848892e-01 -1.21022760e-02 2.21746492e+02] [ 1.37128119e-02 -2.70553860e-04 9.99905938e-01 5.72257733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0927550960001 meters 0.020882874040641028 Centerline is valid? [True, True] Translation: X:78.16, Y:221.77, Z:5.72 [[-4.87864772e-01 -8.72897279e-01 6.18908070e-03 7.81641367e+01] [ 8.72820294e-01 -4.87903961e-01 -1.15956305e-02 2.21770720e+02] [ 1.31414713e-02 -2.55144392e-04 9.99913615e-01 5.72344255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12275509600005 meters 0.021457019784661045 Centerline is valid? [True, True] Translation: X:78.15, Y:221.79, Z:5.72 [[-4.88036531e-01 -8.72801472e-01 6.15913679e-03 7.81540359e+01] [ 8.72725352e-01 -4.88075329e-01 -1.15296674e-02 2.21794486e+02] [ 1.30692334e-02 -2.51664068e-04 9.99914562e-01 5.72413359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1527550960001 meters 0.021181167790223027 Centerline is valid? [True, True] Translation: X:78.14, Y:221.82, Z:5.72 [[-4.88099149e-01 -8.72765333e-01 6.31625508e-03 7.81425972e+01] [ 8.72685403e-01 -4.88139948e-01 -1.18143247e-02 2.21818052e+02] [ 1.33943494e-02 -2.54458205e-04 9.99910259e-01 5.72416901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18275509600005 meters 0.020962282865353208 Centerline is valid? [True, True] Translation: X:78.13, Y:221.84, Z:5.72 [[-4.88239666e-01 -8.72684958e-01 6.55692728e-03 7.81301762e+01] [ 8.72598977e-01 -4.88283623e-01 -1.22527013e-02 2.21841368e+02] [ 1.38943884e-02 -2.60686772e-04 9.99903434e-01 5.72377811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2127550960001 meters 0.021129417038962685 Centerline is valid? [True, True] Translation: X:78.12, Y:221.86, Z:5.72 [[-4.88641561e-01 -8.72458814e-01 6.71143624e-03 7.81191288e+01] [ 8.72368883e-01 -4.88687576e-01 -1.25293739e-02 2.21864017e+02] [ 1.42111582e-02 -2.67524705e-04 9.99898981e-01 5.72364019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24275509600005 meters 0.02141695769875971 Centerline is valid? [True, True] Translation: X:78.11, Y:221.89, Z:5.72 [[-4.89714592e-01 -8.71856063e-01 6.82819693e-03 7.81096202e+01] [ 8.71763097e-01 -4.89762111e-01 -1.27348739e-02 2.21888668e+02] [ 1.44471691e-02 -2.83883458e-04 9.99895594e-01 5.72358544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.272755096 meters 0.021130479421146015 Centerline is valid? [True, True] Translation: X:78.10, Y:221.91, Z:5.72 [[-4.90664126e-01 -8.71322210e-01 6.80601018e-03 7.80972804e+01] [ 8.71229963e-01 -4.90711239e-01 -1.26819666e-02 2.21913141e+02] [ 1.43898649e-02 -2.92986077e-04 9.99896418e-01 5.72446344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30275509600006 meters 0.021130479421146015 Centerline is valid? [True, True] Translation: X:78.08, Y:221.94, Z:5.72 [[-4.90975753e-01 -8.71146616e-01 6.81054489e-03 7.80844394e+01] [ 8.71054385e-01 -4.91022899e-01 -1.26795311e-02 2.21936622e+02] [ 1.43898641e-02 -2.92987339e-04 9.99896418e-01 5.72478195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.332755096 meters 0.0213412167543202 Centerline is valid? [True, True] Translation: X:78.07, Y:221.96, Z:5.73 [[-4.91483570e-01 -8.70859683e-01 6.87843244e-03 7.80734677e+01] [ 8.70765740e-01 -4.91531609e-01 -1.27946525e-02 2.21960683e+02] [ 1.45233140e-02 -2.98858190e-04 9.99894486e-01 5.72512357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36275509600006 meters 0.021420600234808407 Centerline is valid? [True, True] Translation: X:78.06, Y:221.99, Z:5.73 [[-4.92435870e-01 -8.70323791e-01 6.58882303e-03 7.80625294e+01] [ 8.70237698e-01 -4.92479858e-01 -1.22449244e-02 2.21985883e+02] [ 1.39019117e-02 -2.95997808e-04 9.99903320e-01 5.72529412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.39275509600003 meters 0.021466961327915132 Centerline is valid? [True, True] Translation: X:78.05, Y:222.01, Z:5.73 [[-4.92862128e-01 -8.70083952e-01 6.39051763e-03 7.80503540e+01] [ 8.70003077e-01 -4.92903472e-01 -1.18664588e-02 2.22010587e+02] [ 1.34747237e-02 -2.88758119e-04 9.99909170e-01 5.72551053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42275509600006 meters 0.023530529491076622 Centerline is valid? [True, True] Translation: X:78.04, Y:222.04, Z:5.73 [[-4.93381200e-01 -8.69790133e-01 6.33378683e-03 7.80431381e+01] [ 8.69710799e-01 -4.93421768e-01 -1.17509409e-02 2.22036047e+02] [ 1.33460807e-02 -2.89130508e-04 9.99910895e-01 5.72555051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.45275509600003 meters 0.02311183523447684 Centerline is valid? [True, True] Translation: X:78.03, Y:222.06, Z:5.73 [[-4.93667510e-01 -8.69628795e-01 6.17649194e-03 7.80304822e+01] [ 8.69553483e-01 -4.93706067e-01 -1.14481211e-02 2.22059411e+02] [ 1.30049873e-02 -2.80775370e-04 9.99915392e-01 5.72609987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48275509600006 meters 0.02125476740091401 Centerline is valid? [True, True] Translation: X:78.02, Y:222.08, Z:5.73 [[-4.94119140e-01 -8.69373593e-01 5.98594618e-03 7.80151561e+01] [ 8.69302956e-01 -4.94155321e-01 -1.10855234e-02 2.22082332e+02] [ 1.25954485e-02 -2.73968594e-04 9.99920637e-01 5.72677755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51275509600003 meters 0.021396784990756826 Centerline is valid? [True, True] Translation: X:78.01, Y:222.11, Z:5.73 [[-4.94375808e-01 -8.69226157e-01 6.20072304e-03 7.80051331e+01] [ 8.69150484e-01 -4.94414612e-01 -1.14728615e-02 2.22106875e+02] [ 1.30382394e-02 -2.82543755e-04 9.99914959e-01 5.72712196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54275509600006 meters 0.0215563723408058 Centerline is valid? [True, True] Translation: X:77.99, Y:222.13, Z:5.73 [[-4.94639045e-01 -8.69076096e-01 6.24128424e-03 7.79935684e+01] [ 8.68999559e-01 -4.94678339e-01 -1.15372070e-02 2.22130038e+02] [ 1.31141389e-02 -2.83079799e-04 9.99913966e-01 5.72702840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57275509600004 meters 0.02112330113216589 Centerline is valid? [True, True] Translation: X:77.98, Y:222.15, Z:5.73 [[-4.94682042e-01 -8.69050661e-01 6.37385450e-03 7.79800425e+01] [ 8.68970994e-01 -4.94723022e-01 -1.17704717e-02 2.22154232e+02] [ 1.33824288e-02 -2.83946307e-04 9.99910411e-01 5.72741498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60275509600007 meters 0.02112004151847821 Centerline is valid? [True, True] Translation: X:77.97, Y:222.18, Z:5.73 [[-4.93917667e-01 -8.69486516e-01 6.20788368e-03 7.79680680e+01] [ 8.69411105e-01 -4.93956609e-01 -1.14542340e-02 2.22177862e+02] [ 1.30257272e-02 -2.60245508e-04 9.99915128e-01 5.72767501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63275509600004 meters 0.020877760907767468 Centerline is valid? [True, True] Translation: X:77.96, Y:222.20, Z:5.73 [[-4.93652568e-01 -8.69636516e-01 6.28271173e-03 7.79551271e+01] [ 8.69559429e-01 -4.93692481e-01 -1.15816271e-02 2.22201247e+02] [ 1.31735334e-02 -2.54108726e-04 9.99913193e-01 5.72806618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66275509600007 meters 0.020793772164388487 Centerline is valid? [True, True] Translation: X:77.94, Y:222.22, Z:5.73 [[-4.92406831e-01 -8.70344303e-01 6.02556202e-03 7.79438338e+01] [ 8.70273577e-01 -4.92443648e-01 -1.10974930e-02 2.22224352e+02] [ 1.26258895e-02 -2.20593932e-04 9.99920266e-01 5.72892190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.69275509600004 meters 0.020069805975569722 Centerline is valid? [True, True] Translation: X:77.93, Y:222.25, Z:5.73 [[-4.91878177e-01 -8.70644743e-01 5.79570701e-03 7.79303194e+01] [ 8.70579454e-01 -4.91912280e-01 -1.06640757e-02 2.22247171e+02] [ 1.21356009e-02 -1.99802675e-04 9.99926341e-01 5.72941815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72275509600007 meters 0.020153028470334407 Centerline is valid? [True, True] Translation: X:77.92, Y:222.27, Z:5.73 [[-4.91342469e-01 -8.70946477e-01 5.90027570e-03 7.79192980e+01] [ 8.70878959e-01 -4.91377857e-01 -1.08462194e-02 2.22269938e+02] [ 1.23457414e-02 -1.90782238e-04 9.99923770e-01 5.73004256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.75275509600004 meters 0.019609839047338932 Centerline is valid? [True, True] Translation: X:77.91, Y:222.29, Z:5.73 [[-4.90243622e-01 -8.71566038e-01 5.81664707e-03 7.79064479e+01] [ 8.71500560e-01 -4.90278098e-01 -1.06846369e-02 2.22293395e+02] [ 1.21641413e-02 -1.68863908e-04 9.99926000e-01 5.73055999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7827550960001 meters 0.01918648554782588 Centerline is valid? [True, True] Translation: X:77.89, Y:222.32, Z:5.73 [[-4.89692423e-01 -8.71876549e-01 5.71088074e-03 7.78930234e+01] [ 8.71813563e-01 -4.89725699e-01 -1.04809675e-02 2.22315640e+02] [ 1.19348748e-02 -1.53627074e-04 9.99928765e-01 5.73099832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.81275509600005 meters 0.01879577025209408 Centerline is valid? [True, True] Translation: X:77.88, Y:222.34, Z:5.73 [[-4.88633993e-01 -8.72471796e-01 5.45768447e-03 7.78791512e+01] [ 8.72414411e-01 -4.88664455e-01 -1.00073245e-02 2.22338842e+02] [ 1.13980848e-02 -1.28556364e-04 9.99935031e-01 5.73155153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8427550960001 meters 0.018367516659498987 Centerline is valid? [True, True] Translation: X:77.87, Y:222.36, Z:5.73 [[-4.86519281e-01 -8.73653638e-01 5.32065645e-03 7.78656402e+01] [ 8.73599259e-01 -4.86548365e-01 -9.74801269e-03 2.22360890e+02] [ 1.11051434e-02 -9.44745990e-05 9.99938332e-01 5.73278257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.87275509600005 meters 0.018165181353841348 Centerline is valid? [True, True] Translation: X:77.85, Y:222.38, Z:5.73 [[-4.85699881e-01 -8.74110058e-01 5.21839205e-03 7.78524380e+01] [ 8.74057877e-01 -4.85727907e-01 -9.55134914e-03 2.22383119e+02] [ 1.08836490e-02 -7.79124720e-05 9.99940768e-01 5.73328152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9027550960001 meters 0.01800484798409124 Centerline is valid? [True, True] Translation: X:77.84, Y:222.41, Z:5.73 [[-4.84337491e-01 -8.74865131e-01 5.31011660e-03 7.78380917e+01] [ 8.74811253e-01 -4.84366596e-01 -9.70934725e-03 2.22405934e+02] [ 1.10664125e-02 -5.72511307e-05 9.99938764e-01 5.73329590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.93275509600005 meters 0.017858511408768048 Centerline is valid? [True, True] Translation: X:77.83, Y:222.43, Z:5.73 [[-4.83969320e-01 -8.75067189e-01 5.57783918e-03 7.78256946e+01] [ 8.75007848e-01 -4.84001459e-01 -1.01908506e-02 2.22428621e+02] [ 1.16173613e-02 -5.14059878e-05 9.99932515e-01 5.73310352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9627550960001 meters 0.017771258247485603 Centerline is valid? [True, True] Translation: X:77.81, Y:222.45, Z:5.73 [[-4.83743585e-01 -8.75191133e-01 5.71179918e-03 7.78126459e+01] [ 8.75129010e-01 -4.83777302e-01 -1.04277556e-02 2.22451275e+02] [ 1.18895181e-02 -4.57987228e-05 9.99929316e-01 5.73323972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.99275509600005 meters 0.017704452340567035 Centerline is valid? [True, True] Translation: X:77.80, Y:222.47, Z:5.73 [[-4.83813249e-01 -8.75152771e-01 5.68926192e-03 7.77997959e+01] [ 8.75091246e-01 -4.83846697e-01 -1.03771604e-02 2.22474230e+02] [ 1.18343313e-02 -4.19843890e-05 9.99929971e-01 5.73330713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.022755096 meters 0.017643616954112634 Centerline is valid? [True, True] Translation: X:77.79, Y:222.50, Z:5.73 [[-4.83675742e-01 -8.75229448e-01 5.58489197e-03 7.77861730e+01] [ 8.75170270e-01 -4.83707983e-01 -1.01777226e-02 2.22495995e+02] [ 1.16092993e-02 -3.49861020e-05 9.99932609e-01 5.73399468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.05275509600006 meters 0.017655418080443817 Centerline is valid? [True, True] Translation: X:77.77, Y:222.52, Z:5.73 [[-4.84343306e-01 -8.74858437e-01 5.85462436e-03 7.77738754e+01] [ 8.74793506e-01 -4.84378688e-01 -1.06587114e-02 2.22519251e+02] [ 1.21607189e-02 -4.08881702e-05 9.99926055e-01 5.73416709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.082755096 meters 0.017833207981477642 Centerline is valid? [True, True] Translation: X:77.76, Y:222.54, Z:5.73 [[-4.86310341e-01 -8.73763976e-01 6.22630648e-03 7.77624243e+01] [ 8.73690594e-01 -4.86350193e-01 -1.13241312e-02 2.22543501e+02] [ 1.29227833e-02 -6.71767026e-05 9.99916495e-01 5.73407646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.11275509600006 meters 0.018084936634632478 Centerline is valid? [True, True] Translation: X:77.75, Y:222.57, Z:5.73 [[-4.87531134e-01 -8.73083878e-01 6.15921968e-03 7.77511343e+01] [ 8.73012147e-01 -4.87570032e-01 -1.11917185e-02 2.22566028e+02] [ 1.27743599e-02 -7.92375998e-05 9.99918401e-01 5.73389863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14275509600003 meters 0.018411358529767604 Centerline is valid? [True, True] Translation: X:77.74, Y:222.59, Z:5.73 [[-4.89870753e-01 -8.71772624e-01 6.25601017e-03 7.77394490e+01] [ 8.71698658e-01 -4.89910686e-01 -1.13564462e-02 2.22589743e+02] [ 1.29651251e-02 -1.09835159e-04 9.99915943e-01 5.73386906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.17275509600006 meters 0.018876335098498467 Centerline is valid? [True, True] Translation: X:77.73, Y:222.61, Z:5.73 [[-4.91362315e-01 -8.70932551e-01 6.29030615e-03 7.77284713e+01] [ 8.70857839e-01 -4.91402560e-01 -1.14082573e-02 2.22612231e+02] [ 1.30268952e-02 -1.27625299e-04 9.99915138e-01 5.73404958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20275509600003 meters 0.018763216982227608 Centerline is valid? [True, True] Translation: X:77.72, Y:222.63, Z:5.73 [[-4.92644500e-01 -8.70207746e-01 6.31468665e-03 7.77150962e+01] [ 8.70132536e-01 -4.92684948e-01 -1.14416488e-02 2.22634546e+02] [ 1.30677625e-02 -1.42051030e-04 9.99914603e-01 5.73426752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.23275509600006 meters 0.01915207608635596 Centerline is valid? [True, True] Translation: X:77.70, Y:222.66, Z:5.73 [[-4.94145843e-01 -8.69355829e-01 6.35054975e-03 7.77034783e+01] [ 8.69279833e-01 -4.94186622e-01 -1.14958180e-02 2.22656645e+02] [ 1.31323131e-02 -1.60205863e-04 9.99913755e-01 5.73445887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26275509600003 meters 0.01950538379095995 Centerline is valid? [True, True] Translation: X:77.69, Y:222.68, Z:5.73 [[-4.96474567e-01 -8.68026337e-01 6.57890934e-03 7.76907488e+01] [ 8.67944821e-01 -4.96518116e-01 -1.18974021e-02 2.22680914e+02] [ 1.35938061e-02 -1.96627280e-04 9.99907581e-01 5.73491404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.29275509600006 meters 0.019987590513317974 Centerline is valid? [True, True] Translation: X:77.68, Y:222.70, Z:5.73 [[-4.97820923e-01 -8.67252966e-01 6.82798339e-03 7.76789417e+01] [ 8.67165242e-01 -4.97867697e-01 -1.23369276e-02 2.22703666e+02] [ 1.40986695e-02 -2.20590828e-04 9.99900585e-01 5.73484910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32275509600004 meters 0.020243947140048135 Centerline is valid? [True, True] Translation: X:77.67, Y:222.73, Z:5.74 [[-4.98925528e-01 -8.66617161e-01 6.92923798e-03 7.76658482e+01] [ 8.66526927e-01 -4.98973587e-01 -1.25077333e-02 2.22727088e+02] [ 1.42969230e-02 -2.36056118e-04 9.99897766e-01 5.73504905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.35275509600007 meters 0.020953006348663573 Centerline is valid? [True, True] Translation: X:77.65, Y:222.75, Z:5.73 [[-5.00921748e-01 -8.65459921e-01 7.51842642e-03 7.76534227e+01] [ 8.65353761e-01 -5.00978086e-01 -1.35581935e-02 2.22749814e+02] [ 1.55006400e-02 -2.85495407e-04 9.99879817e-01 5.73461898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38275509600004 meters 0.0215624554818387 Centerline is valid? [True, True] Translation: X:77.64, Y:222.77, Z:5.73 [[-5.02193133e-01 -8.64720850e-01 7.74003732e-03 7.76413467e+01] [ 8.64608447e-01 -5.02252679e-01 -1.39455840e-02 2.22773223e+02] [ 1.59464918e-02 -3.11274891e-04 9.99872798e-01 5.73469178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41275509600007 meters 0.022634105245698685 Centerline is valid? [True, True] Translation: X:77.63, Y:222.80, Z:5.74 [[-5.04429777e-01 -8.63419422e-01 7.58302266e-03 7.76291934e+01] [ 8.63311561e-01 -5.04486657e-01 -1.36514599e-02 2.22797440e+02] [ 1.56124694e-02 -3.39691758e-04 9.99878060e-01 5.73592142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44275509600004 meters 0.0229099904752663 Centerline is valid? [True, True] Translation: X:77.62, Y:222.82, Z:5.74 [[-5.05422179e-01 -8.62838755e-01 7.59636332e-03 7.76162735e+01] [ 8.62730622e-01 -5.05479138e-01 -1.36643458e-02 2.22820540e+02] [ 1.56299303e-02 -3.52648187e-04 9.99877783e-01 5.73677915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.47275509600007 meters 0.023475792059018098 Centerline is valid? [True, True] Translation: X:77.60, Y:222.84, Z:5.74 [[-5.06623359e-01 -8.62133942e-01 7.60515617e-03 7.76031902e+01] [ 8.62025664e-01 -5.06680304e-01 -1.36683886e-02 2.22844217e+02] [ 1.56373646e-02 -3.68885150e-04 9.99877661e-01 5.73706394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50275509600004 meters 0.023664518745358194 Centerline is valid? [True, True] Translation: X:77.59, Y:222.87, Z:5.74 [[-5.07727402e-01 -8.61484760e-01 7.54277771e-03 7.75890490e+01] [ 8.61378345e-01 -5.07783284e-01 -1.35456201e-02 2.22867483e+02] [ 1.54994417e-02 -3.80297119e-04 9.99879804e-01 5.73725937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5327550960001 meters 0.02445000663692645 Centerline is valid? [True, True] Translation: X:77.57, Y:222.89, Z:5.74 [[-5.08850232e-01 -8.60820112e-01 7.75727564e-03 7.75746121e+01] [ 8.60707664e-01 -5.08909196e-01 -1.39193632e-02 2.22889660e+02] [ 1.59298167e-02 -4.06124622e-04 9.99873030e-01 5.73666701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56275509600005 meters 0.025182856412745667 Centerline is valid? [True, True] Translation: X:77.56, Y:222.91, Z:5.74 [[-5.09315966e-01 -8.60543555e-01 7.87635963e-03 7.75618094e+01] [ 8.60427778e-01 -5.09376695e-01 -1.41216593e-02 2.22912032e+02] [ 1.61643369e-02 -4.15347922e-04 9.99869262e-01 5.73647887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5927550960001 meters 0.023428114710277077 Centerline is valid? [True, True] Translation: X:77.55, Y:222.93, Z:5.74 [[-5.09182264e-01 -8.60622564e-01 7.88821703e-03 7.75452378e+01] [ 8.60506619e-01 -5.09243199e-01 -1.41323404e-02 2.22932718e+02] [ 1.61796319e-02 -4.08074103e-04 9.99869018e-01 5.73764830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62275509600005 meters 0.023433807133160182 Centerline is valid? [True, True] Translation: X:77.53, Y:222.96, Z:5.74 [[-5.09194599e-01 -8.60616021e-01 7.80544314e-03 7.75317316e+01] [ 8.60502696e-01 -5.09254265e-01 -1.39715679e-02 2.22955094e+02] [ 1.59991104e-02 -3.97642044e-04 9.99871927e-01 5.73825103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6527550960001 meters 0.02280036115798762 Centerline is valid? [True, True] Translation: X:77.52, Y:222.98, Z:5.74 [[-5.09017987e-01 -8.60720875e-01 7.76301982e-03 7.75172031e+01] [ 8.60608988e-01 -5.09077035e-01 -1.38831833e-02 2.22977234e+02] [ 1.59015208e-02 -3.85865388e-04 9.99873488e-01 5.73881309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68275509600005 meters 0.024567794414061556 Centerline is valid? [True, True] Translation: X:77.51, Y:223.00, Z:5.74 [[-5.08026643e-01 -8.61304197e-01 8.00062747e-03 7.75059252e+01] [ 8.61185634e-01 -5.08089502e-01 -1.42955328e-02 2.22999569e+02] [ 1.63778372e-02 -3.72486112e-04 9.99865805e-01 5.73877388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7127550960001 meters 0.023695662836688648 Centerline is valid? [True, True] Translation: X:77.49, Y:223.02, Z:5.74 [[-5.07205069e-01 -8.61788384e-01 7.98745003e-03 7.74909541e+01] [ 8.61670451e-01 -5.07267837e-01 -1.42610047e-02 2.23020514e+02] [ 1.63417447e-02 -3.50704229e-04 9.99866403e-01 5.73904534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74275509600005 meters 0.020388611956696806 Centerline is valid? [True, True] Translation: X:77.47, Y:223.04, Z:5.74 [[-5.05260619e-01 -8.62930342e-01 7.93291033e-03 7.74697331e+01] [ 8.62814356e-01 -5.05322799e-01 -1.41512039e-02 2.23040218e+02] [ 1.62201837e-02 -3.05417136e-04 9.99868398e-01 5.74043566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.772755096 meters 0.019952490060519038 Centerline is valid? [True, True] Translation: X:77.46, Y:223.06, Z:5.74 [[-5.04291482e-01 -8.63495167e-01 8.13618424e-03 7.74551687e+01] [ 8.63373442e-01 -5.04357029e-01 -1.45012530e-02 2.23062703e+02] [ 1.66253036e-02 -2.88292958e-04 9.99861749e-01 5.74052047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80275509600006 meters 0.01928465961193446 Centerline is valid? [True, True] Translation: X:77.44, Y:223.09, Z:5.74 [[-5.03522385e-01 -8.63942455e-01 8.28509273e-03 7.74400850e+01] [ 8.63816512e-01 -5.03590469e-01 -1.47537473e-02 2.23085093e+02] [ 1.69186824e-02 -2.72042101e-04 9.99856832e-01 5.74087776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.832755096 meters 0.02057374789789553 Centerline is valid? [True, True] Translation: X:77.43, Y:223.11, Z:5.74 [[-5.02391132e-01 -8.64598868e-01 8.48220113e-03 7.74295959e+01] [ 8.64467151e-01 -5.02462670e-01 -1.50933779e-02 2.23108444e+02] [ 1.73117069e-02 -2.50194989e-04 9.99850110e-01 5.73928235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86275509600006 meters 0.018553790319692072 Centerline is valid? [True, True] Translation: X:77.41, Y:223.13, Z:5.74 [[-5.02180383e-01 -8.64720302e-01 8.58263844e-03 7.74121027e+01] [ 8.64585672e-01 -5.02253661e-01 -1.52602645e-02 2.23130306e+02] [ 1.75065221e-02 -2.42979267e-04 9.99846720e-01 5.74132453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.89275509600003 meters 0.018527691890893965 Centerline is valid? [True, True] Translation: X:77.40, Y:223.15, Z:5.74 [[-5.01934545e-01 -8.64859332e-01 8.94700860e-03 7.73999844e+01] [ 8.64713314e-01 -5.02014221e-01 -1.58936304e-02 2.23152340e+02] [ 1.82372801e-02 -2.40964674e-04 9.99833658e-01 5.74121430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92275509600006 meters 0.01867170921378394 Centerline is valid? [True, True] Translation: X:77.39, Y:223.17, Z:5.74 [[-5.02444387e-01 -8.64560843e-01 9.17537857e-03 7.73876832e+01] [ 8.64407523e-01 -5.02528096e-01 -1.62833369e-02 2.23174870e+02] [ 1.86888210e-02 -2.50204973e-04 9.99825317e-01 5.74088084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.95275509600003 meters 0.018866423130662214 Centerline is valid? [True, True] Translation: X:77.38, Y:223.20, Z:5.74 [[-5.03079435e-01 -8.64189857e-01 9.32598484e-03 7.73752603e+01] [ 8.64031693e-01 -5.03165802e-01 -1.65351207e-02 2.23198201e+02] [ 1.89820002e-02 -2.60532718e-04 9.99819792e-01 5.74133580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98275509600006 meters 0.019678329903832247 Centerline is valid? [True, True] Translation: X:77.37, Y:223.22, Z:5.74 [[-5.04518422e-01 -8.63351939e-01 9.19739401e-03 7.73655658e+01] [ 8.63198241e-01 -5.04602171e-01 -1.62924940e-02 2.23222057e+02] [ 1.87071812e-02 -2.80689009e-04 9.99824966e-01 5.74145769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01275509600003 meters 0.019612037602913385 Centerline is valid? [True, True] Translation: X:77.35, Y:223.25, Z:5.74 [[-5.05629611e-01 -8.62701527e-01 9.20714031e-03 7.73535623e+01] [ 8.62547674e-01 -5.05713344e-01 -1.62949123e-02 2.23245205e+02] [ 1.87138194e-02 -2.97592705e-04 9.99824837e-01 5.74248249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04275509600006 meters 0.020241952769013156 Centerline is valid? [True, True] Translation: X:77.34, Y:223.27, Z:5.74 [[-5.07450961e-01 -8.61634496e-01 8.91721125e-03 7.73434008e+01] [ 8.61490252e-01 -5.07529204e-01 -1.57687399e-02 2.23270524e+02] [ 1.81126354e-02 -3.19771641e-04 9.99835902e-01 5.74358838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07275509600004 meters 0.020173569619432643 Centerline is valid? [True, True] Translation: X:77.33, Y:223.29, Z:5.74 [[-5.08269924e-01 -8.61151301e-01 8.95101655e-03 7.73306241e+01] [ 8.61006123e-01 -5.08348627e-01 -1.58155021e-02 2.23293295e+02] [ 1.81697772e-02 -3.31663981e-04 9.99834861e-01 5.74421236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10275509600007 meters 0.02032877412751394 Centerline is valid? [True, True] Translation: X:77.32, Y:223.32, Z:5.74 [[-5.08684639e-01 -8.60905024e-01 9.08176145e-03 7.73184043e+01] [ 8.60755802e-01 -5.08765591e-01 -1.60319243e-02 2.23315673e+02] [ 1.84224519e-02 -3.38014782e-04 9.99830235e-01 5.74419770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13275509600004 meters 0.019676222729560027 Centerline is valid? [True, True] Translation: X:77.30, Y:223.34, Z:5.74 [[-5.08908190e-01 -8.60771347e-01 9.22727452e-03 7.73042984e+01] [ 8.60617567e-01 -5.08991721e-01 -1.62736563e-02 2.23337973e+02] [ 1.87045034e-02 -3.40642419e-04 9.99824997e-01 5.74483344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16275509600007 meters 0.019344101958907903 Centerline is valid? [True, True] Translation: X:77.29, Y:223.36, Z:5.74 [[-5.08390220e-01 -8.61076075e-01 9.34757680e-03 7.72910329e+01] [ 8.60918597e-01 -5.08476043e-01 -1.64706489e-02 2.23361001e+02] [ 1.89355006e-02 -3.26014100e-04 9.99820654e-01 5.74491770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.19275509600004 meters 0.019344101958907903 Centerline is valid? [True, True] Translation: X:77.28, Y:223.38, Z:5.75 [[-5.08727946e-01 -8.60876518e-01 9.35403757e-03 7.72780065e+01] [ 8.60719074e-01 -5.08813831e-01 -1.64669795e-02 2.23383436e+02] [ 1.89354996e-02 -3.26014085e-04 9.99820654e-01 5.74522623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22275509600007 meters 0.01907313741990879 Centerline is valid? [True, True] Translation: X:77.27, Y:223.41, Z:5.75 [[-5.08042802e-01 -8.61277750e-01 9.65134806e-03 7.72651989e+01] [ 8.61110517e-01 -5.08134372e-01 -1.69746138e-02 2.23406240e+02] [ 1.95240389e-02 -3.12953069e-04 9.99809339e-01 5.74523426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.25275509600004 meters 0.018540904013098124 Centerline is valid? [True, True] Translation: X:77.25, Y:223.43, Z:5.75 [[-5.07396735e-01 -8.61656416e-01 9.83736929e-03 7.72516205e+01] [ 8.61483062e-01 -5.07492003e-01 -1.72858579e-02 2.23428462e+02] [ 1.98868566e-02 -2.96060824e-04 9.99802193e-01 5.74570885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2827550960001 meters 0.018627507754632493 Centerline is valid? [True, True] Translation: X:77.24, Y:223.45, Z:5.75 [[-5.07034887e-01 -8.61868993e-01 9.87228729e-03 7.72391340e+01] [ 8.61694770e-01 -5.07130910e-01 -1.73310014e-02 2.23450505e+02] [ 1.99435948e-02 -2.80523998e-04 9.99801067e-01 5.74593487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.31275509600005 meters 0.018044231028770296 Centerline is valid? [True, True] Translation: X:77.22, Y:223.47, Z:5.75 [[-5.06738185e-01 -8.62044745e-01 9.76065343e-03 7.72248597e+01] [ 8.61874788e-01 -5.06832112e-01 -1.71189863e-02 2.23472791e+02] [ 1.97043447e-02 -2.62382918e-04 9.99805816e-01 5.74716699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3427550960001 meters 0.0177997179393367 Centerline is valid? [True, True] Translation: X:77.21, Y:223.49, Z:5.75 [[-5.05730557e-01 -8.62640027e-01 9.42272614e-03 7.72112529e+01] [ 8.62482028e-01 -5.05818282e-01 -1.65111282e-02 2.23494687e+02] [ 1.90093472e-02 -2.23250102e-04 9.99819281e-01 5.74862531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.37275509600005 meters 0.017478245085451913 Centerline is valid? [True, True] Translation: X:77.20, Y:223.52, Z:5.75 [[-5.05523284e-01 -8.62763607e-01 9.22863321e-03 7.71968273e+01] [ 8.62612343e-01 -5.05607472e-01 -1.61564115e-02 2.23517279e+02] [ 1.86052298e-02 -2.06709277e-04 9.99826886e-01 5.74958293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4027550960001 meters 0.017439153136579018 Centerline is valid? [True, True] Translation: X:77.18, Y:223.54, Z:5.75 [[-5.05180579e-01 -8.62969345e-01 8.74594065e-03 7.71834620e+01] [ 8.62833752e-01 -5.05256248e-01 -1.52983868e-02 2.23538676e+02] [ 1.76209800e-02 -1.82155121e-04 9.99844722e-01 5.75063643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.43275509600005 meters 0.0173017675355926 Centerline is valid? [True, True] Translation: X:77.17, Y:223.56, Z:5.75 [[-5.05135201e-01 -8.62996750e-01 8.66244266e-03 7.71700715e+01] [ 8.62863988e-01 -5.05209441e-01 -1.51380172e-02 2.23561277e+02] [ 1.74404074e-02 -1.72235530e-04 9.99847890e-01 5.75147394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4627550960001 meters 0.017424006901945534 Centerline is valid? [True, True] Translation: X:77.16, Y:223.58, Z:5.75 [[-5.05549447e-01 -8.62755924e-01 8.48368345e-03 7.71581571e+01] [ 8.62628765e-01 -5.05620596e-01 -1.48130702e-02 2.23583637e+02] [ 1.70695892e-02 -1.70470083e-04 9.99854289e-01 5.75198409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.49275509600005 meters 0.017615525488206028 Centerline is valid? [True, True] Translation: X:77.15, Y:223.61, Z:5.75 [[-5.06777252e-01 -8.62034216e-01 8.59227932e-03 7.71453635e+01] [ 8.61903875e-01 -5.06850051e-01 -1.49912124e-02 2.23607694e+02] [ 1.72779352e-02 -1.91486552e-04 9.99850707e-01 5.75271048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5227550960001 meters 0.017993296264501808 Centerline is valid? [True, True] Translation: X:77.13, Y:223.63, Z:5.75 [[-5.07899123e-01 -8.61373750e-01 8.58739144e-03 7.71333653e+01] [ 8.61243687e-01 -5.07971672e-01 -1.49696849e-02 2.23630116e+02] [ 1.72566452e-02 -2.07253170e-04 9.99851072e-01 5.75289133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.55275509600006 meters 0.01798633116214848 Centerline is valid? [True, True] Translation: X:77.12, Y:223.65, Z:5.75 [[-5.09111926e-01 -8.60657858e-01 8.54982004e-03 7.71199861e+01] [ 8.60529065e-01 -5.09183662e-01 -1.48904940e-02 2.23653429e+02] [ 1.71690493e-02 -2.23559407e-04 9.99852576e-01 5.75379497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.582755096 meters 0.01885530684682267 Centerline is valid? [True, True] Translation: X:77.11, Y:223.68, Z:5.75 [[-5.11376718e-01 -8.59318572e-01 8.08979497e-03 7.71089312e+01] [ 8.59203284e-01 -5.11440643e-01 -1.40778464e-02 2.23676943e+02] [ 1.62348048e-02 -2.48304473e-04 9.99868176e-01 5.75459379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.61275509600006 meters 0.0192393521899715 Centerline is valid? [True, True] Translation: X:77.10, Y:223.70, Z:5.76 [[-5.12553634e-01 -8.58615823e-01 8.22438976e-03 7.70963498e+01] [ 8.58496787e-01 -5.12619543e-01 -1.42993209e-02 2.23699718e+02] [ 1.64936061e-02 -2.68556709e-04 9.99863935e-01 5.75502594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64275509600003 meters 0.01953501325178857 Centerline is valid? [True, True] Translation: X:77.08, Y:223.72, Z:5.76 [[-5.14766411e-01 -8.57292218e-01 8.09907734e-03 7.70835392e+01] [ 8.57176816e-01 -5.14830033e-01 -1.40692129e-02 2.23723988e+02] [ 1.62310750e-02 -3.00016894e-04 9.99868222e-01 5.75589162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.67275509600006 meters 0.019932905045954734 Centerline is valid? [True, True] Translation: X:77.07, Y:223.75, Z:5.76 [[-5.16065320e-01 -8.56512321e-01 7.95171050e-03 7.70709175e+01] [ 8.56401169e-01 -5.16126483e-01 -1.38018608e-02 2.23748116e+02] [ 1.59255522e-02 -3.12807522e-04 9.99873131e-01 5.75658017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70275509600003 meters 0.021440620325095746 Centerline is valid? [True, True] Translation: X:77.06, Y:223.77, Z:5.76 [[-5.17027676e-01 -8.55932143e-01 7.90877979e-03 7.70601385e+01] [ 8.55822302e-01 -5.17088060e-01 -1.37158626e-02 2.23772515e+02] [ 1.58293833e-02 -3.22970440e-04 9.99874655e-01 5.75639183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.73275509600006 meters 0.020645241700139053 Centerline is valid? [True, True] Translation: X:77.04, Y:223.79, Z:5.76 [[-5.18129910e-01 -8.55264815e-01 7.96821324e-03 7.70445889e+01] [ 8.55153428e-01 -5.18191066e-01 -1.38070272e-02 2.23794589e+02] [ 1.59377215e-02 -3.39788898e-04 9.99872929e-01 5.75648583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76275509600003 meters 0.02069890966520919 Centerline is valid? [True, True] Translation: X:77.03, Y:223.82, Z:5.76 [[-5.18210788e-01 -8.55213601e-01 8.20216884e-03 7.70309321e+01] [ 8.55095772e-01 -5.18275580e-01 -1.42001288e-02 2.23816910e+02] [ 1.63951271e-02 -3.45020045e-04 9.99865531e-01 5.75651986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.79275509600006 meters 0.020848106126808694 Centerline is valid? [True, True] Translation: X:77.02, Y:223.84, Z:5.76 [[-5.18719205e-01 -8.54908863e-01 7.82446250e-03 7.70166711e+01] [ 8.54801788e-01 -5.18778108e-01 -1.35343376e-02 2.23839059e+02] [ 1.56297850e-02 -3.32156282e-04 9.99877792e-01 5.75664069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82275509600004 meters 0.02083438236133066 Centerline is valid? [True, True] Translation: X:77.00, Y:223.86, Z:5.76 [[-5.18657487e-01 -8.54946124e-01 7.84454310e-03 7.70032570e+01] [ 8.54838697e-01 -5.18716705e-01 -1.35566359e-02 2.23860691e+02] [ 1.56592888e-02 -3.25431692e-04 9.99877333e-01 5.75698411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.85275509600007 meters 0.02112020854748783 Centerline is valid? [True, True] Translation: X:76.99, Y:223.88, Z:5.76 [[-5.19054862e-01 -8.54707807e-01 7.52428563e-03 7.69893071e+01] [ 8.54609124e-01 -5.19109301e-01 -1.29914707e-02 2.23883713e+02] [ 1.50098381e-02 -3.12962870e-04 9.99887297e-01 5.75736284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88275509600004 meters 0.020827521438888757 Centerline is valid? [True, True] Translation: X:76.98, Y:223.91, Z:5.76 [[-5.18823225e-01 -8.54850380e-01 7.29992299e-03 7.69750706e+01] [ 8.54757668e-01 -5.18874494e-01 -1.25931694e-02 2.23906520e+02] [ 1.45530195e-02 -2.93963578e-04 9.99894056e-01 5.75785869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91275509600007 meters 0.020547490558638436 Centerline is valid? [True, True] Translation: X:76.96, Y:223.93, Z:5.76 [[-5.18785102e-01 -8.54874389e-01 7.19706226e-03 7.69610495e+01] [ 8.54784431e-01 -5.18834944e-01 -1.24047515e-02 2.23928793e+02] [ 1.43385917e-02 -2.83463488e-04 9.99897157e-01 5.75813879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94275509600004 meters 0.020714427317944605 Centerline is valid? [True, True] Translation: X:76.95, Y:223.95, Z:5.76 [[-5.18789612e-01 -8.54872922e-01 7.04452575e-03 7.69478489e+01] [ 8.54786889e-01 -5.18837367e-01 -1.21310299e-02 2.23951092e+02] [ 1.40254521e-02 -2.71884035e-04 9.99901602e-01 5.75830399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.97275509600007 meters 0.020200041786358102 Centerline is valid? [True, True] Translation: X:76.93, Y:223.97, Z:5.76 [[-5.17921546e-01 -8.55399861e-01 6.95339722e-03 7.69326282e+01] [ 8.55316239e-01 -5.17968161e-01 -1.19630818e-02 2.23972754e+02] [ 1.38348569e-02 -2.48584240e-04 9.99904263e-01 5.75789282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00275509600004 meters 0.01948229798659631 Centerline is valid? [True, True] Translation: X:76.92, Y:223.99, Z:5.76 [[-5.17944098e-01 -8.55386943e-01 6.86212783e-03 7.69165464e+01] [ 8.55305641e-01 -5.17989497e-01 -1.17958284e-02 2.23994947e+02] [ 1.36445077e-02 -2.40363056e-04 9.99906881e-01 5.75789336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0327550960001 meters 0.0196073598733243 Centerline is valid? [True, True] Translation: X:76.90, Y:224.02, Z:5.76 [[-5.17443428e-01 -8.55692246e-01 6.56353162e-03 7.69033119e+01] [ 8.55618007e-01 -5.17485008e-01 -1.12735757e-02 2.24017755e+02] [ 1.30432405e-02 -2.17561829e-04 9.99914910e-01 5.75733171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06275509600005 meters 0.0196136526877574 Centerline is valid? [True, True] Translation: X:76.89, Y:224.04, Z:5.76 [[-5.17785228e-01 -8.55487321e-01 6.31679282e-03 7.68894801e+01] [ 8.55418630e-01 -5.17823715e-01 -1.08428613e-02 2.24040862e+02] [ 1.25469155e-02 -2.10771153e-04 9.99921262e-01 5.75751706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0927550960001 meters 0.01956165738136306 Centerline is valid? [True, True] Translation: X:76.88, Y:224.06, Z:5.76 [[-5.18012527e-01 -8.55351080e-01 6.12802181e-03 7.68753259e+01] [ 8.55286526e-01 -5.18048732e-01 -1.05104409e-02 2.24063743e+02] [ 1.21647309e-02 -2.03325543e-04 9.99925986e-01 5.75792691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12275509600005 meters 0.01965065932685311 Centerline is valid? [True, True] Translation: X:76.86, Y:224.09, Z:5.76 [[-5.17972332e-01 -8.55377899e-01 5.77169263e-03 7.68621447e+01] [ 8.55320725e-01 -5.18004454e-01 -9.89153186e-03 2.24086544e+02] [ 1.14507602e-02 -1.86891499e-04 9.99934420e-01 5.75813191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1527550960001 meters 0.020643475742311002 Centerline is valid? [True, True] Translation: X:76.85, Y:224.11, Z:5.76 [[-5.17906989e-01 -8.55419803e-01 5.41397029e-03 7.68508085e+01] [ 8.55369580e-01 -5.17935257e-01 -9.27099526e-03 2.24109241e+02] [ 1.07346790e-02 -1.70567745e-04 9.99942367e-01 5.75787003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18275509600005 meters 0.019373646548498356 Centerline is valid? [True, True] Translation: X:76.83, Y:224.13, Z:5.76 [[-5.18121739e-01 -8.55288313e-01 5.63608883e-03 7.68339531e+01] [ 8.55233984e-01 -5.18152362e-01 -9.64172090e-03 2.24130506e+02] [ 1.11668039e-02 -1.75410497e-04 9.99937634e-01 5.75741248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2127550960001 meters 0.019398244954981284 Centerline is valid? [True, True] Translation: X:76.82, Y:224.15, Z:5.76 [[-5.17813243e-01 -8.55476498e-01 5.42272062e-03 7.68203952e+01] [ 8.55426294e-01 -5.17841612e-01 -9.26935564e-03 2.24152807e+02] [ 1.07378263e-02 -1.61057308e-04 9.99942335e-01 5.75748100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24275509600005 meters 0.01956186010609338 Centerline is valid? [True, True] Translation: X:76.81, Y:224.18, Z:5.76 [[-5.18124082e-01 -8.55291253e-01 4.93021808e-03 7.68069340e+01] [ 8.55249811e-01 -5.18147518e-01 -8.42087467e-03 2.24176017e+02] [ 9.75688071e-03 -1.46489883e-04 9.99952390e-01 5.75830903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2727550960001 meters 0.019509659735187552 Centerline is valid? [True, True] Translation: X:76.79, Y:224.20, Z:5.76 [[-5.18648776e-01 -8.54974659e-01 4.66698111e-03 7.67931648e+01] [ 8.54937567e-01 -5.18669753e-01 -7.96518271e-03 2.24199797e+02] [ 9.23065131e-03 -1.41154779e-04 9.99957387e-01 5.75915821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30275509600006 meters 0.020077246953447554 Centerline is valid? [True, True] Translation: X:76.78, Y:224.22, Z:5.76 [[-5.19933530e-01 -8.54195739e-01 4.33176357e-03 7.67802488e+01] [ 8.54163803e-01 -5.19951555e-01 -7.38772552e-03 2.24222813e+02] [ 8.56287087e-03 -1.41090560e-04 9.99963328e-01 5.75963499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.332755096 meters 0.02025230346439172 Centerline is valid? [True, True] Translation: X:76.77, Y:224.25, Z:5.76 [[-5.21072849e-01 -8.53501784e-01 4.21785146e-03 7.67661044e+01] [ 8.53471533e-01 -5.21089900e-01 -7.18739731e-03 2.24246431e+02] [ 8.33233623e-03 -1.45341443e-04 9.99965275e-01 5.75964151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36275509600006 meters 0.020793878580137294 Centerline is valid? [True, True] Translation: X:76.75, Y:224.27, Z:5.76 [[-5.23464733e-01 -8.52038450e-01 3.89264227e-03 7.67534338e+01] [ 8.52012685e-01 -5.23479184e-01 -6.62782941e-03 2.24269996e+02] [ 7.68488270e-03 -1.52854353e-04 9.99970459e-01 5.76022353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.39275509600003 meters 0.02147486261619642 Centerline is valid? [True, True] Translation: X:76.74, Y:224.29, Z:5.76 [[-5.25103848e-01 -8.51030511e-01 3.60794595e-03 7.67405838e+01] [ 8.51008373e-01 -5.25116221e-01 -6.14035676e-03 2.24294343e+02] [ 7.12022189e-03 -1.53932754e-04 9.99974639e-01 5.76058860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42275509600006 meters 0.022375220017632272 Centerline is valid? [True, True] Translation: X:76.73, Y:224.32, Z:5.76 [[-5.26802304e-01 -8.49980058e-01 3.63771598e-03 7.67291352e+01] [ 8.49957569e-01 -5.26814837e-01 -6.18530893e-03 2.24317436e+02] [ 7.17379200e-03 -1.66530760e-04 9.99974254e-01 5.76088966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.45275509600003 meters 0.024414985861740113 Centerline is valid? [True, True] Translation: X:76.72, Y:224.34, Z:5.76 [[-5.29845839e-01 -8.48083787e-01 4.15657924e-03 7.67196814e+01] [ 8.48054409e-01 -5.29862098e-01 -7.06230692e-03 2.24342268e+02] [ 8.19184180e-03 -2.16928583e-04 9.99966423e-01 5.76080355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48275509600006 meters 0.024060997042421584 Centerline is valid? [True, True] Translation: X:76.71, Y:224.37, Z:5.76 [[-5.31322057e-01 -8.47158507e-01 4.39720148e-03 7.67055911e+01] [ 8.47125657e-01 -5.31340198e-01 -7.46427578e-03 2.24365400e+02] [ 8.65983463e-03 -2.40952162e-04 9.99962474e-01 5.76035626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51275509600003 meters 0.02480170365041262 Centerline is valid? [True, True] Translation: X:76.69, Y:224.39, Z:5.76 [[-5.33452054e-01 -8.45817037e-01 4.73770765e-03 7.66925688e+01] [ 8.45778916e-01 -5.33473018e-01 -8.03520999e-03 2.24389392e+02] [ 9.32375671e-03 -2.79346031e-04 9.99956494e-01 5.76003965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54275509600006 meters 0.02585668513799751 Centerline is valid? [True, True] Translation: X:76.68, Y:224.41, Z:5.76 [[-5.34411549e-01 -8.45209625e-01 4.99863783e-03 7.66803632e+01] [ 8.45167236e-01 -5.34434841e-01 -8.47019863e-03 2.24412092e+02] [ 9.83053962e-03 -3.01887047e-04 9.99951634e-01 5.75970766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57275509600004 meters 0.027031355235612526 Centerline is valid? [True, True] Translation: X:76.67, Y:224.43, Z:5.76 [[-5.35029539e-01 -8.44817680e-01 5.14576976e-03 7.66680002e+01] [ 8.44772802e-01 -5.35054191e-01 -8.71353308e-03 2.24434866e+02] [ 1.01146125e-02 -3.14991258e-04 9.99948796e-01 5.75917062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60275509600007 meters 0.024905014492029108 Centerline is valid? [True, True] Translation: X:76.65, Y:224.46, Z:5.76 [[-5.35528688e-01 -8.44500962e-01 5.21062300e-03 7.66503560e+01] [ 8.44454991e-01 -5.35553940e-01 -8.81732286e-03 2.24456273e+02] [ 1.02368073e-02 -3.21792736e-04 9.99947551e-01 5.75873788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63275509600004 meters 0.027072529739001604 Centerline is valid? [True, True] Translation: X:76.64, Y:224.48, Z:5.76 [[-5.35262172e-01 -8.44669191e-01 5.32577571e-03 7.66405720e+01] [ 8.44621254e-01 -5.35288571e-01 -9.00463221e-03 2.24481414e+02] [ 1.04567623e-02 -3.21575641e-04 9.99945275e-01 5.75946730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66275509600007 meters 0.024596473307695297 Centerline is valid? [True, True] Translation: X:76.62, Y:224.50, Z:5.76 [[-5.34995342e-01 -8.44837716e-01 5.40526962e-03 7.66235085e+01] [ 8.44788431e-01 -5.35022552e-01 -9.13099950e-03 2.24502506e+02] [ 1.06061539e-02 -3.18732958e-04 9.99943702e-01 5.75977068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.69275509600004 meters 0.026224704808830122 Centerline is valid? [True, True] Translation: X:76.61, Y:224.53, Z:5.76 [[-5.33821853e-01 -8.45575270e-01 6.05737980e-03 7.66121694e+01] [ 8.45513534e-01 -5.33856114e-01 -1.02232146e-02 2.24526616e+02] [ 1.18782667e-02 -3.35778777e-04 9.99929395e-01 5.75884739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72275509600007 meters 0.025650836427797363 Centerline is valid? [True, True] Translation: X:76.60, Y:224.55, Z:5.76 [[-5.33063019e-01 -8.46054122e-01 6.01999542e-03 7.65977472e+01] [ 8.45993278e-01 -5.33096915e-01 -1.01514897e-02 2.24548850e+02] [ 1.17979507e-02 -3.18508087e-04 9.99930351e-01 5.75933859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.75275509600004 meters 0.02350754350685715 Centerline is valid? [True, True] Translation: X:76.58, Y:224.57, Z:5.76 [[-5.32265918e-01 -8.46557548e-01 5.77160847e-03 7.65801357e+01] [ 8.46501738e-01 -5.32297130e-01 -9.72486362e-03 2.24570208e+02] [ 1.13048673e-02 -2.90536860e-04 9.99936056e-01 5.76020989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7827550960001 meters 0.022389541858580695 Centerline is valid? [True, True] Translation: X:76.56, Y:224.59, Z:5.76 [[-5.30146596e-01 -8.47890868e-01 5.06583087e-03 7.65640349e+01] [ 8.47847992e-01 -5.30170750e-01 -8.52985703e-03 2.24592458e+02] [ 9.91814323e-03 -2.27020133e-04 9.99950788e-01 5.76289635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.81275509600005 meters 0.021964055969829848 Centerline is valid? [True, True] Translation: X:76.55, Y:224.61, Z:5.76 [[-5.29202881e-01 -8.48482128e-01 4.73170742e-03 7.65502617e+01] [ 8.48444796e-01 -5.29223997e-01 -7.96170317e-03 2.24614284e+02] [ 9.25949596e-03 -1.98763721e-04 9.99957110e-01 5.76395492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8427550960001 meters 0.021488406683817202 Centerline is valid? [True, True] Translation: X:76.54, Y:224.64, Z:5.77 [[-5.28513884e-01 -8.48913291e-01 4.39300864e-03 7.65359216e+01] [ 8.48881182e-01 -5.28532112e-01 -7.38551536e-03 2.24636417e+02] [ 8.59150829e-03 -1.74205043e-04 9.99963077e-01 5.76537897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.87275509600005 meters 0.020901984604154288 Centerline is valid? [True, True] Translation: X:76.52, Y:224.66, Z:5.77 [[-5.26468816e-01 -8.50187171e-01 3.51567966e-03 7.65216662e+01] [ 8.50166660e-01 -5.26480540e-01 -5.90687860e-03 2.24658521e+02] [ 6.87288933e-03 -1.20873749e-04 9.99976374e-01 5.76777480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9027550960001 meters 0.020374238770371814 Centerline is valid? [True, True] Translation: X:76.51, Y:224.68, Z:5.77 [[-5.25753506e-01 -8.50630067e-01 3.42645920e-03 7.65064807e+01] [ 8.50610622e-01 -5.25764660e-01 -5.75264033e-03 2.24679923e+02] [ 6.69487999e-03 -1.09888234e-04 9.99977583e-01 5.76837883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.93275509600005 meters 0.020119601002049646 Centerline is valid? [True, True] Translation: X:76.49, Y:224.70, Z:5.77 [[-5.23849102e-01 -8.51804674e-01 3.30398242e-03 7.64919580e+01] [ 8.51786649e-01 -5.23859513e-01 -5.54212920e-03 2.24702151e+02] [ 6.45163418e-03 -8.89512938e-05 9.99979184e-01 5.76857768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9627550960001 meters 0.019861002240474657 Centerline is valid? [True, True] Translation: X:76.48, Y:224.72, Z:5.77 [[-5.23427498e-01 -8.52063959e-01 3.26556061e-03 7.64776370e+01] [ 8.52046384e-01 -5.23437678e-01 -5.47324724e-03 2.24724665e+02] [ 6.37287418e-03 -8.24389999e-05 9.99979690e-01 5.76904706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.99275509600005 meters 0.01948752758491832 Centerline is valid? [True, True] Translation: X:76.46, Y:224.75, Z:5.77 [[-5.23181106e-01 -8.52215923e-01 3.09041022e-03 7.64628511e+01] [ 8.52200209e-01 -5.23190228e-01 -5.17586665e-03 2.24746807e+02] [ 6.02782840e-03 -7.42673955e-05 9.99981830e-01 5.76899644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0227550960001 meters 0.01977539223211061 Centerline is valid? [True, True] Translation: X:76.45, Y:224.77, Z:5.77 [[-5.22848352e-01 -8.52420322e-01 3.03251731e-03 7.64502961e+01] [ 8.52405219e-01 -5.22857142e-01 -5.07470898e-03 2.24769417e+02] [ 5.91135840e-03 -6.83696450e-05 9.99982525e-01 5.76993750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.05275509600006 meters 0.01931237510304168 Centerline is valid? [True, True] Translation: X:76.43, Y:224.79, Z:5.77 [[-5.22728267e-01 -8.52493156e-01 3.25221035e-03 7.64348239e+01] [ 8.52475827e-01 -5.22738380e-01 -5.43602879e-03 2.24792265e+02] [ 6.33423251e-03 -6.91352020e-05 9.99979936e-01 5.76817809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.082755096 meters 0.01944386333466723 Centerline is valid? [True, True] Translation: X:76.42, Y:224.82, Z:5.77 [[-5.23056058e-01 -8.52290213e-01 3.70853912e-03 7.64217706e+01] [ 8.52267719e-01 -5.23069199e-01 -6.19264683e-03 2.24815471e+02] [ 7.21775487e-03 -7.84332639e-05 9.99973949e-01 5.76816344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.11275509600006 meters 0.01944386333466723 Centerline is valid? [True, True] Translation: X:76.41, Y:224.84, Z:5.77 [[-5.23385553e-01 -8.52087902e-01 3.71086020e-03 7.64082119e+01] [ 8.52065412e-01 -5.23398702e-01 -6.19125525e-03 2.24837581e+02] [ 7.21775311e-03 -7.85179260e-05 9.99973949e-01 5.76847197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14275509600003 meters 0.01949554136808838 Centerline is valid? [True, True] Translation: X:76.39, Y:224.86, Z:5.77 [[-5.24095401e-01 -8.51649671e-01 4.10470728e-03 7.63949786e+01] [ 8.51622197e-01 -5.24111467e-01 -6.84141663e-03 2.24861017e+02] [ 7.97781438e-03 -8.98951632e-05 9.99968173e-01 5.76761721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.17275509600006 meters 0.01952654733163574 Centerline is valid? [True, True] Translation: X:76.38, Y:224.88, Z:5.77 [[-5.24688703e-01 -8.51283819e-01 4.19823499e-03 7.63816368e+01] [ 8.51255118e-01 -5.24705490e-01 -6.99097291e-03 2.24883771e+02] [ 8.15413907e-03 -9.43154867e-05 9.99966750e-01 5.76712344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20275509600003 meters 0.01955878148315854 Centerline is valid? [True, True] Translation: X:76.37, Y:224.91, Z:5.77 [[-5.25863977e-01 -8.50556739e-01 4.50691869e-03 7.63681359e+01] [ 8.50523700e-01 -5.25883278e-01 -7.49751509e-03 2.24907059e+02] [ 8.74717516e-03 -1.09431937e-04 9.99961737e-01 5.76691545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.23275509600006 meters 0.02022583060774014 Centerline is valid? [True, True] Translation: X:76.36, Y:224.93, Z:5.77 [[-5.28511419e-01 -8.48913412e-01 4.65814148e-03 7.63571939e+01] [ 8.48878114e-01 -5.28531929e-01 -7.74263936e-03 2.24930729e+02] [ 9.03480690e-03 -1.37878967e-04 9.99959176e-01 5.76691732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26275509600003 meters 0.020303641394756124 Centerline is valid? [True, True] Translation: X:76.34, Y:224.95, Z:5.77 [[-5.29384892e-01 -8.48369986e-01 4.47248613e-03 7.63424983e+01] [ 8.48337478e-01 -5.29403767e-01 -7.42799363e-03 2.24953747e+02] [ 8.66943786e-03 -1.38090009e-04 9.99962410e-01 5.76748165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.29275509600006 meters 0.020703386228412782 Centerline is valid? [True, True] Translation: X:76.33, Y:224.98, Z:5.77 [[-5.31866744e-01 -8.46817208e-01 4.28761682e-03 7.63285737e+01] [ 8.46787328e-01 -5.31884003e-01 -7.11536642e-03 2.24978023e+02] [ 8.30592953e-03 -1.53727176e-04 9.99965493e-01 5.76734093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32275509600004 meters 0.021513657713612144 Centerline is valid? [True, True] Translation: X:76.32, Y:225.00, Z:5.77 [[-5.33196958e-01 -8.45977949e-01 4.72363629e-03 7.63171585e+01] [ 8.45941712e-01 -5.33217851e-01 -7.83220926e-03 2.25001347e+02] [ 9.14460352e-03 -1.80189183e-04 9.99958171e-01 5.76757685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.35275509600007 meters 0.021669663337313 Centerline is valid? [True, True] Translation: X:76.30, Y:225.02, Z:5.77 [[-5.35122561e-01 -8.44760553e-01 4.84275469e-03 7.63019523e+01] [ 8.44722463e-01 -5.35144435e-01 -8.02466251e-03 2.25024951e+02] [ 9.37049156e-03 -2.03394287e-04 9.99956075e-01 5.76713384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38275509600004 meters 0.022759386580228615 Centerline is valid? [True, True] Translation: X:76.29, Y:225.05, Z:5.77 [[-5.35760368e-01 -8.44354395e-01 5.14617250e-03 7.62903447e+01] [ 8.44311431e-01 -5.35785038e-01 -8.52057338e-03 2.25049009e+02] [ 9.95162581e-03 -2.20013263e-04 9.99950457e-01 5.76753435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41275509600007 meters 0.02215623321956956 Centerline is valid? [True, True] Translation: X:76.28, Y:225.07, Z:5.77 [[-5.36669173e-01 -8.43775797e-01 5.34828571e-03 7.62754021e+01] [ 8.43729421e-01 -5.36695770e-01 -8.84957315e-03 2.25071388e+02] [ 1.03374580e-02 -2.36787094e-04 9.99946539e-01 5.76803790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44275509600004 meters 0.022309948666288944 Centerline is valid? [True, True] Translation: X:76.26, Y:225.09, Z:5.77 [[-5.37540362e-01 -8.43222463e-01 5.12220674e-03 7.62610967e+01] [ 8.43179965e-01 -5.37564715e-01 -8.46900057e-03 2.25094819e+02] [ 9.89476913e-03 -2.33487528e-04 9.99951018e-01 5.76846396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.47275509600007 meters 0.02258366807928972 Centerline is valid? [True, True] Translation: X:76.25, Y:225.12, Z:5.77 [[-5.37875374e-01 -8.43008653e-01 5.14717375e-03 7.62464993e+01] [ 8.42965798e-01 -5.37899950e-01 -8.50340826e-03 2.25116145e+02] [ 9.93711124e-03 -2.34882469e-04 9.99950598e-01 5.76896396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50275509600004 meters 0.02282957032943574 Centerline is valid? [True, True] Translation: X:76.23, Y:225.14, Z:5.77 [[-5.38268478e-01 -8.42759026e-01 4.92648582e-03 7.62322875e+01] [ 8.42719818e-01 -5.38290975e-01 -8.13235598e-03 2.25138434e+02] [ 9.50549926e-03 -2.25743647e-04 9.99954796e-01 5.76956134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5327550960001 meters 0.0228668334546449 Centerline is valid? [True, True] Translation: X:76.22, Y:225.16, Z:5.77 [[-5.38512824e-01 -8.42603631e-01 4.80208076e-03 7.62176446e+01] [ 8.42566434e-01 -5.38534190e-01 -7.92024666e-03 2.25160641e+02] [ 9.25971327e-03 -2.19082328e-04 9.99957104e-01 5.77046696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56275509600005 meters 0.022807668005118333 Centerline is valid? [True, True] Translation: X:76.20, Y:225.18, Z:5.77 [[-5.38803113e-01 -8.42418062e-01 4.79734920e-03 7.62028388e+01] [ 8.42380995e-01 -5.38824426e-01 -7.90554877e-03 2.25182177e+02] [ 9.24470600e-03 -2.18338496e-04 9.99957243e-01 5.77123031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5927550960001 meters 0.02237728664020674 Centerline is valid? [True, True] Translation: X:76.19, Y:225.20, Z:5.77 [[-5.38863136e-01 -8.42380023e-01 4.73462951e-03 7.61874626e+01] [ 8.42343979e-01 -5.38883894e-01 -7.79546952e-03 2.25203932e+02] [ 9.11816338e-03 -2.12504484e-04 9.99958406e-01 5.77178855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62275509600005 meters 0.02253160323129082 Centerline is valid? [True, True] Translation: X:76.17, Y:225.22, Z:5.77 [[-5.38762204e-01 -8.42446421e-01 4.39498749e-03 7.61733984e+01] [ 8.42415413e-01 -5.38780095e-01 -7.23057148e-03 2.25224822e+02] [ 8.45930084e-03 -1.93153425e-04 9.99964201e-01 5.77316641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6527550960001 meters 0.021884331421822504 Centerline is valid? [True, True] Translation: X:76.16, Y:225.25, Z:5.77 [[-5.38735378e-01 -8.42463819e-01 4.34814285e-03 7.61575222e+01] [ 8.42433527e-01 -5.38752892e-01 -7.14662357e-03 2.25246736e+02] [ 8.36334632e-03 -1.87117640e-04 9.99965009e-01 5.77381397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68275509600005 meters 0.021626282544713857 Centerline is valid? [True, True] Translation: X:76.14, Y:225.27, Z:5.77 [[-5.38210295e-01 -8.42799396e-01 4.34245727e-03 7.61420923e+01] [ 8.42769240e-01 -5.38227783e-01 -7.13178512e-03 2.25268222e+02] [ 8.34789534e-03 -1.78710755e-04 9.99965140e-01 5.77440513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7127550960001 meters 0.021922672598757062 Centerline is valid? [True, True] Translation: X:76.13, Y:225.29, Z:5.77 [[-5.38153418e-01 -8.42834956e-01 4.48733380e-03 7.61287907e+01] [ 8.42802814e-01 -5.38172096e-01 -7.36294350e-03 2.25290100e+02] [ 8.62070400e-03 -1.80455658e-04 9.99962825e-01 5.77467016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74275509600005 meters 0.0214720949024645 Centerline is valid? [True, True] Translation: X:76.11, Y:225.31, Z:5.78 [[-5.38396965e-01 -8.42679003e-01 4.56139321e-03 7.61129280e+01] [ 8.42645848e-01 -5.38416256e-01 -7.47726027e-03 2.25311857e+02] [ 8.75685848e-03 -1.82095181e-04 9.99961641e-01 5.77502468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7727550960001 meters 0.021440487441520783 Centerline is valid? [True, True] Translation: X:76.10, Y:225.33, Z:5.77 [[-5.37997759e-01 -8.42930822e-01 5.10301005e-03 7.60979868e+01] [ 8.42889421e-01 -5.38021924e-01 -8.35661824e-03 2.25332374e+02] [ 9.78958237e-03 -1.94568692e-04 9.99952062e-01 5.77467951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80275509600006 meters 0.021162665329964716 Centerline is valid? [True, True] Translation: X:76.08, Y:225.35, Z:5.77 [[-5.38356373e-01 -8.42700706e-01 5.28547664e-03 7.60826013e+01] [ 8.42656366e-01 -5.38382281e-01 -8.64685905e-03 2.25354403e+02] [ 1.01323212e-02 -2.01251139e-04 9.99948646e-01 5.77416150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.832755096 meters 0.022235387218911478 Centerline is valid? [True, True] Translation: X:76.07, Y:225.38, Z:5.77 [[-5.39194487e-01 -8.42161757e-01 5.73421575e-03 7.60705051e+01] [ 8.42109629e-01 -5.39224930e-01 -9.37273709e-03 2.25377541e+02] [ 1.09853928e-02 -2.24889866e-04 9.99939633e-01 5.77371366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86275509600006 meters 0.021754894156522837 Centerline is valid? [True, True] Translation: X:76.06, Y:225.40, Z:5.77 [[-5.39958415e-01 -8.41671051e-01 5.89506863e-03 7.60555605e+01] [ 8.41616023e-01 -5.39990542e-01 -9.62729946e-03 2.25399368e+02] [ 1.12863006e-02 -2.36957149e-04 9.99936280e-01 5.77387382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.89275509600003 meters 0.02186133091767377 Centerline is valid? [True, True] Translation: X:76.04, Y:225.42, Z:5.77 [[-5.40594823e-01 -8.41262233e-01 5.92397254e-03 7.60411175e+01] [ 8.41206736e-01 -5.40627226e-01 -9.66589230e-03 2.25423009e+02] [ 1.13342110e-02 -2.42045724e-04 9.99935736e-01 5.77395110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92275509600006 meters 0.022566880939171315 Centerline is valid? [True, True] Translation: X:76.03, Y:225.45, Z:5.77 [[-5.41938460e-01 -8.40394220e-01 6.34518683e-03 7.60280499e+01] [ 8.40330598e-01 -5.41975535e-01 -1.03443575e-02 2.25445866e+02] [ 1.21322743e-02 -2.73950517e-04 9.99926364e-01 5.77405415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.95275509600003 meters 0.02309632075714365 Centerline is valid? [True, True] Translation: X:76.02, Y:225.47, Z:5.77 [[-5.42802054e-01 -8.39834335e-01 6.64987731e-03 7.60152602e+01] [ 8.39764534e-01 -5.42842706e-01 -1.08316149e-02 2.25467356e+02] [ 1.27065995e-02 -2.95091700e-04 9.99919224e-01 5.77400556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98275509600006 meters 0.024023559748595293 Centerline is valid? [True, True] Translation: X:76.00, Y:225.49, Z:5.77 [[-5.44419820e-01 -8.38782566e-01 7.13212165e-03 7.60021494e+01] [ 8.38702334e-01 -5.44466430e-01 -1.16060745e-02 2.25490303e+02] [ 1.36181737e-02 -3.36849888e-04 9.99907212e-01 5.77337194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01275509600003 meters 0.02421790559544293 Centerline is valid? [True, True] Translation: X:75.99, Y:225.51, Z:5.77 [[-5.45366128e-01 -8.38166401e-01 7.27128106e-03 7.59884059e+01] [ 8.38083087e-01 -5.45414484e-01 -1.18228428e-02 2.25513255e+02] [ 1.38753716e-02 -3.53840314e-04 9.99903670e-01 5.77345706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04275509600006 meters 0.02484953691908718 Centerline is valid? [True, True] Translation: X:75.98, Y:225.54, Z:5.77 [[-5.46638048e-01 -8.37338809e-01 7.11079686e-03 7.59750686e+01] [ 8.37259185e-01 -5.46684176e-01 -1.15528727e-02 2.25537144e+02] [ 1.35610288e-02 -3.61659813e-04 9.99907980e-01 5.77427209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07275509600004 meters 0.026008211654826068 Centerline is valid? [True, True] Translation: X:75.96, Y:225.56, Z:5.78 [[-5.48632590e-01 -8.36033487e-01 7.09153175e-03 7.59637196e+01] [ 8.35954303e-01 -5.48678282e-01 -1.15128191e-02 2.25561006e+02] [ 1.35160718e-02 -3.88111269e-04 9.99908578e-01 5.77518273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10275509600007 meters 0.026580297875558285 Centerline is valid? [True, True] Translation: X:75.95, Y:225.58, Z:5.78 [[-5.49603616e-01 -8.35395655e-01 7.06858887e-03 7.59504438e+01] [ 8.35317052e-01 -5.49648925e-01 -1.14665526e-02 2.25584647e+02] [ 1.34643505e-02 -3.97545979e-04 9.99909273e-01 5.77566160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13275509600004 meters 0.027127898620591534 Centerline is valid? [True, True] Translation: X:75.94, Y:225.61, Z:5.78 [[-5.50414944e-01 -8.34860606e-01 7.15251864e-03 7.59375746e+01] [ 8.34780200e-01 -5.50461261e-01 -1.15938636e-02 2.25607252e+02] [ 1.36164445e-02 -4.10654856e-04 9.99907208e-01 5.77608458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16275509600007 meters 0.027947582145938957 Centerline is valid? [True, True] Translation: X:75.92, Y:225.63, Z:5.78 [[-5.50443496e-01 -8.34843378e-01 6.96358118e-03 7.59248598e+01] [ 8.34767280e-01 -5.50487400e-01 -1.12787476e-02 2.25629089e+02] [ 1.32493515e-02 -3.95343574e-04 9.99912145e-01 5.77614696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.19275509600004 meters 0.027265355582550596 Centerline is valid? [True, True] Translation: X:75.91, Y:225.65, Z:5.78 [[-5.50368535e-01 -8.34894376e-01 6.77175418e-03 7.59094917e+01] [ 8.34822508e-01 -5.50410063e-01 -1.09609564e-02 2.25650684e+02] [ 1.28784825e-02 -3.79352696e-04 9.99916997e-01 5.77654663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22275509600007 meters 0.02501607266280163 Centerline is valid? [True, True] Translation: X:75.89, Y:225.67, Z:5.78 [[-5.49218679e-01 -8.35651549e-01 6.73286783e-03 7.58912604e+01] [ 8.35580673e-01 -5.49259832e-01 -1.08892716e-02 2.25671251e+02] [ 1.27977306e-02 -3.54737159e-04 9.99918043e-01 5.77744478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.25275509600004 meters 0.026726268107602206 Centerline is valid? [True, True] Translation: X:75.88, Y:225.69, Z:5.78 [[-5.48837753e-01 -8.35901871e-01 6.72187375e-03 7.58797302e+01] [ 8.35831352e-01 -5.48878807e-01 -1.08631025e-02 2.25693872e+02] [ 1.27699817e-02 -3.43727953e-04 9.99918401e-01 5.77782246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2827550960001 meters 0.023232872444576128 Centerline is valid? [True, True] Translation: X:75.86, Y:225.71, Z:5.78 [[-5.46899113e-01 -8.37171078e-01 6.77836355e-03 7.58603769e+01] [ 8.37099590e-01 -5.46941029e-01 -1.09447116e-02 2.25713515e+02] [ 1.28699612e-02 -3.11487729e-04 9.99917130e-01 5.77828061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.31275509600005 meters 0.023472368913774303 Centerline is valid? [True, True] Translation: X:75.85, Y:225.74, Z:5.78 [[-5.46125605e-01 -8.37676034e-01 6.75911415e-03 7.58473291e+01] [ 8.37605100e-01 -5.46167351e-01 -1.09050810e-02 2.25735138e+02] [ 1.28265325e-02 -2.94075462e-04 9.99917693e-01 5.77879432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3427550960001 meters 0.02427576232345943 Centerline is valid? [True, True] Translation: X:75.84, Y:225.76, Z:5.78 [[-5.45247446e-01 -8.38245076e-01 7.10030855e-03 7.58350029e+01] [ 8.38166992e-01 -5.45293598e-01 -1.14448459e-02 2.25757863e+02] [ 1.34653385e-02 -2.89028739e-04 9.99909296e-01 5.77887660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.37275509600005 meters 0.023842385434926356 Centerline is valid? [True, True] Translation: X:75.82, Y:225.78, Z:5.78 [[-5.44696974e-01 -8.38604195e-01 6.94342446e-03 7.58202100e+01] [ 8.38529677e-01 -5.44741161e-01 -1.11825027e-02 2.25779057e+02] [ 1.31600627e-02 -2.68807892e-04 9.99913367e-01 5.77954891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4027550960001 meters 0.02155501854406105 Centerline is valid? [True, True] Translation: X:75.80, Y:225.80, Z:5.78 [[-5.43369881e-01 -8.39468333e-01 6.48764314e-03 7.58017489e+01] [ 8.39403441e-01 -5.43408562e-01 -1.04401903e-02 2.25799265e+02] [ 1.22896500e-02 -2.27135005e-04 9.99924454e-01 5.78103155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.43275509600005 meters 0.021099910852725973 Centerline is valid? [True, True] Translation: X:75.79, Y:225.82, Z:5.78 [[-5.42421812e-01 -8.40082316e-01 6.34663020e-03 7.57866361e+01] [ 8.40020352e-01 -5.42458902e-01 -1.02053091e-02 2.25820947e+02] [ 1.20160857e-02 -2.04283695e-04 9.99927783e-01 5.78200151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4627550960001 meters 0.021113273028122673 Centerline is valid? [True, True] Translation: X:75.77, Y:225.84, Z:5.78 [[-5.42281891e-01 -8.40173428e-01 6.24200245e-03 7.57730484e+01] [ 8.40113593e-01 -5.42317779e-01 -1.00288168e-02 2.25842504e+02] [ 1.18110943e-02 -1.94454652e-04 9.99930228e-01 5.78235492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.49275509600005 meters 0.021167032221558333 Centerline is valid? [True, True] Translation: X:75.76, Y:225.87, Z:5.78 [[-5.42532166e-01 -8.40011164e-01 6.33187256e-03 7.57590145e+01] [ 8.39949665e-01 -5.42569079e-01 -1.01663681e-02 2.25865078e+02] [ 1.19753409e-02 -1.97127461e-04 9.99928274e-01 5.78252372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5227550960001 meters 0.021183981812491978 Centerline is valid? [True, True] Translation: X:75.75, Y:225.89, Z:5.78 [[-5.42600739e-01 -8.39966570e-01 6.37176196e-03 7.57453765e+01] [ 8.39904392e-01 -5.42638115e-01 -1.02220062e-02 2.25887321e+02] [ 1.20437044e-02 -1.94797261e-04 9.99927453e-01 5.78294070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.55275509600006 meters 0.020740702954886923 Centerline is valid? [True, True] Translation: X:75.73, Y:225.91, Z:5.78 [[-5.43190284e-01 -8.39584508e-01 6.49378710e-03 7.57293864e+01] [ 8.39520009e-01 -5.43229061e-01 -1.04087421e-02 2.25909667e+02] [ 1.22666325e-02 -2.02263399e-04 9.99924742e-01 5.78286118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.582755096 meters 0.021528620766767627 Centerline is valid? [True, True] Translation: X:75.72, Y:225.93, Z:5.78 [[-5.43446394e-01 -8.39418405e-01 6.53900685e-03 7.57180414e+01] [ 8.39353095e-01 -5.43485695e-01 -1.04728419e-02 2.25932175e+02] [ 1.23449530e-02 -2.02892551e-04 9.99923778e-01 5.78379246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.61275509600006 meters 0.021199879560063303 Centerline is valid? [True, True] Translation: X:75.70, Y:225.95, Z:5.78 [[-5.43799615e-01 -8.39188698e-01 6.65643447e-03 7.57027462e+01] [ 8.39121101e-01 -5.43840313e-01 -1.06532195e-02 2.25954130e+02] [ 1.25600988e-02 -2.07662019e-04 9.99921097e-01 5.78363576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64275509600003 meters 0.021522792250466934 Centerline is valid? [True, True] Translation: X:75.69, Y:225.98, Z:5.78 [[-5.44194383e-01 -8.38931716e-01 6.78602209e-03 7.56899693e+01] [ 8.38861559e-01 -5.44236650e-01 -1.08514176e-02 2.25975760e+02] [ 1.27968003e-02 -2.12747456e-04 9.99918095e-01 5.78349743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.67275509600006 meters 0.020986617989691342 Centerline is valid? [True, True] Translation: X:75.68, Y:226.00, Z:5.78 [[-5.45246224e-01 -8.38247774e-01 6.87198223e-03 7.56756589e+01] [ 8.38175899e-01 -5.45289481e-01 -1.09792794e-02 2.25998317e+02] [ 1.29505761e-02 -2.26480723e-04 9.99916112e-01 5.78419849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70275509600003 meters 0.021044893999143086 Centerline is valid? [True, True] Translation: X:75.66, Y:226.02, Z:5.78 [[-5.45683132e-01 -8.37963425e-01 6.87158101e-03 7.56612109e+01] [ 8.37891659e-01 -5.45726348e-01 -1.09691204e-02 2.26021760e+02] [ 1.29417245e-02 -2.28023581e-04 9.99916226e-01 5.78463618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.73275509600006 meters 0.022351567157408256 Centerline is valid? [True, True] Translation: X:75.65, Y:226.04, Z:5.78 [[-5.46263603e-01 -8.37584136e-01 6.99214966e-03 7.56500749e+01] [ 8.37509919e-01 -5.46308300e-01 -1.11524725e-02 2.26044545e+02] [ 1.31610035e-02 -2.36195134e-04 9.99913362e-01 5.78443868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76275509600003 meters 0.022016031717579494 Centerline is valid? [True, True] Translation: X:75.63, Y:226.07, Z:5.78 [[-5.47464053e-01 -8.36794413e-01 7.63029628e-03 7.56344061e+01] [ 8.36706120e-01 -5.47517157e-01 -1.21586338e-02 2.26067159e+02] [ 1.43519949e-02 -2.72099332e-04 9.99896968e-01 5.78311952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.79275509600006 meters 0.02232955079215768 Centerline is valid? [True, True] Translation: X:75.62, Y:226.09, Z:5.78 [[-5.48282391e-01 -8.36256213e-01 7.87184103e-03 7.56203479e+01] [ 8.36162334e-01 -5.48338821e-01 -1.25335185e-02 2.26090005e+02] [ 1.47976688e-02 -2.89770546e-04 9.99890467e-01 5.78302154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82275509600004 meters 0.02281013503389345 Centerline is valid? [True, True] Translation: X:75.61, Y:226.11, Z:5.78 [[-5.49220648e-01 -8.35639652e-01 7.94054748e-03 7.56070607e+01] [ 8.35544222e-01 -5.49277963e-01 -1.26322197e-02 2.26112912e+02] [ 1.49175514e-02 -3.03197310e-04 9.99888681e-01 5.78306011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.85275509600007 meters 0.02235157210395775 Centerline is valid? [True, True] Translation: X:75.59, Y:226.13, Z:5.78 [[-5.50095495e-01 -8.35064007e-01 7.94039679e-03 7.55923627e+01] [ 8.34968679e-01 -5.50152711e-01 -1.26213612e-02 2.26134358e+02] [ 1.49080753e-02 -3.12971343e-04 9.99888820e-01 5.78382896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88275509600004 meters 0.022610063876505247 Centerline is valid? [True, True] Translation: X:75.58, Y:226.16, Z:5.78 [[-5.50643253e-01 -8.34703305e-01 7.89939875e-03 7.55792249e+01] [ 8.34609076e-01 -5.50699822e-01 -1.25457680e-02 2.26156273e+02] [ 1.48221915e-02 -3.15332600e-04 9.99890096e-01 5.78444546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91275509600007 meters 0.02266120000586024 Centerline is valid? [True, True] Translation: X:75.56, Y:226.18, Z:5.79 [[-5.51602652e-01 -8.34073759e-01 7.44834630e-03 7.55647785e+01] [ 8.33990040e-01 -5.51652852e-01 -1.18213417e-02 2.26178321e+02] [ 1.39687724e-02 -3.08836816e-04 9.99902384e-01 5.78522284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94275509600004 meters 0.02332773226488302 Centerline is valid? [True, True] Translation: X:75.55, Y:226.20, Z:5.79 [[-5.51958997e-01 -8.33839290e-01 7.30096368e-03 7.55520168e+01] [ 8.33758967e-01 -5.52007198e-01 -1.15774742e-02 2.26200719e+02] [ 1.36839374e-02 -3.03047114e-04 9.99906325e-01 5.78593726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.97275509600007 meters 0.025467498742065966 Centerline is valid? [True, True] Translation: X:75.54, Y:226.22, Z:5.78 [[-5.52331441e-01 -8.33595684e-01 6.94368974e-03 7.55383215e+01] [ 8.33523134e-01 -5.52375010e-01 -1.10014780e-02 2.26223383e+02] [ 1.30063052e-02 -2.88736138e-04 9.99915373e-01 5.78336786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00275509600004 meters 0.025467498742065966 Centerline is valid? [True, True] Translation: X:75.52, Y:226.25, Z:5.78 [[-5.52644799e-01 -8.33387937e-01 6.94782412e-03 7.55242482e+01] [ 8.33315404e-01 -5.52688396e-01 -1.09988664e-02 2.26245171e+02] [ 1.30063044e-02 -2.88737460e-04 9.99915373e-01 5.78367641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0327550960001 meters 0.02299509448355898 Centerline is valid? [True, True] Translation: X:75.51, Y:226.27, Z:5.79 [[-5.51862310e-01 -8.33908475e-01 6.68176175e-03 7.55083490e+01] [ 8.33841535e-01 -5.51902697e-01 -1.05692152e-02 2.26266901e+02] [ 1.25014405e-02 -2.61221040e-04 9.99921820e-01 5.78742111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06275509600005 meters 0.02266874902228745 Centerline is valid? [True, True] Translation: X:75.49, Y:226.29, Z:5.79 [[-5.51603835e-01 -8.34076983e-01 6.98548649e-03 7.54936522e+01] [ 8.34003951e-01 -5.51648002e-01 -1.10405147e-02 2.26288378e+02] [ 1.30621688e-02 -2.64066901e-04 9.99914651e-01 5.78736902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0927550960001 meters 0.02184714471539526 Centerline is valid? [True, True] Translation: X:75.48, Y:226.31, Z:5.79 [[-5.50689788e-01 -8.34681669e-01 6.87531781e-03 7.54772967e+01] [ 8.34611084e-01 -5.50732652e-01 -1.08574176e-02 2.26309684e+02] [ 1.28489495e-02 -2.40852549e-04 9.99917420e-01 5.78663420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12275509600005 meters 0.022575571200376905 Centerline is valid? [True, True] Translation: X:75.46, Y:226.33, Z:5.79 [[-5.50417124e-01 -8.34861645e-01 6.85736167e-03 7.54648581e+01] [ 8.34791562e-01 -5.50459790e-01 -1.08198089e-02 2.26331374e+02] [ 1.28077453e-02 -2.30940453e-04 9.99917951e-01 5.78638693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1527550960001 meters 0.023421404298490784 Centerline is valid? [True, True] Translation: X:75.45, Y:226.35, Z:5.78 [[-5.49833615e-01 -8.35245899e-01 6.87630033e-03 7.54488974e+01] [ 8.35175556e-01 -5.49876568e-01 -1.08420605e-02 2.26352258e+02] [ 1.28369030e-02 -2.18411348e-04 9.99917580e-01 5.78355432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18275509600005 meters 0.021287341681339025 Centerline is valid? [True, True] Translation: X:75.43, Y:226.37, Z:5.79 [[-5.48638640e-01 -8.36032270e-01 6.75916643e-03 7.54336585e+01] [ 8.35964477e-01 -5.48680241e-01 -1.06483243e-02 2.26372647e+02] [ 1.26109638e-02 -1.91659140e-04 9.99920460e-01 5.78628719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2127550960001 meters 0.021896512653001503 Centerline is valid? [True, True] Translation: X:75.42, Y:226.40, Z:5.79 [[-5.48532508e-01 -8.36104755e-01 6.39738592e-03 7.54211355e+01] [ 8.36044132e-01 -5.48569784e-01 -1.00698277e-02 2.26395225e+02] [ 1.19288434e-02 -1.75130874e-04 9.99928834e-01 5.78689282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24275509600005 meters 0.021448097533727846 Centerline is valid? [True, True] Translation: X:75.41, Y:226.42, Z:5.79 [[-5.48655698e-01 -8.36027614e-01 5.89514902e-03 7.54060919e+01] [ 8.35976215e-01 -5.48687345e-01 -9.27173407e-03 2.26416407e+02] [ 1.09860194e-02 -1.58785366e-04 9.99939639e-01 5.78841083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2727550960001 meters 0.02162037707080053 Centerline is valid? [True, True] Translation: X:75.39, Y:226.44, Z:5.79 [[-5.49263974e-01 -8.35629803e-01 5.64976961e-03 7.53924232e+01] [ 8.35582646e-01 -5.49293008e-01 -8.87881033e-03 2.26438536e+02] [ 1.05227775e-02 -1.55961206e-04 9.99944622e-01 5.78940016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30275509600006 meters 0.02140119402471403 Centerline is valid? [True, True] Translation: X:75.38, Y:226.46, Z:5.79 [[-5.50127986e-01 -8.35064951e-01 5.07221897e-03 7.53769448e+01] [ 8.35026971e-01 -5.50151349e-01 -7.96556685e-03 2.26459911e+02] [ 9.44225380e-03 -1.46641602e-04 9.99955410e-01 5.78963678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.332755096 meters 0.022396182733867603 Centerline is valid? [True, True] Translation: X:75.37, Y:226.48, Z:5.79 [[-5.51581750e-01 -8.34104415e-01 5.23429892e-03 7.53650478e+01] [ 8.34064000e-01 -5.51606560e-01 -8.21262359e-03 2.26483133e+02] [ 9.73745922e-03 -1.64192997e-04 9.99952576e-01 5.78983663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36275509600006 meters 0.022759168606699336 Centerline is valid? [True, True] Translation: X:75.35, Y:226.51, Z:5.79 [[-5.52732293e-01 -8.33343279e-01 5.09825316e-03 7.53514480e+01] [ 8.33304963e-01 -5.52755779e-01 -7.99297215e-03 2.26505241e+02] [ 9.47897851e-03 -1.69574159e-04 9.99955059e-01 5.78984788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.39275509600003 meters 0.02340190063000707 Centerline is valid? [True, True] Translation: X:75.34, Y:226.53, Z:5.79 [[-5.54656080e-01 -8.32066171e-01 4.74555393e-03 7.53368949e+01] [ 8.32032980e-01 -5.54676353e-01 -7.43400641e-03 2.26528612e+02] [ 8.81783179e-03 -1.74859476e-04 9.99961107e-01 5.78836420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42275509600006 meters 0.024288474195523768 Centerline is valid? [True, True] Translation: X:75.33, Y:226.55, Z:5.79 [[-5.55799064e-01 -8.31302419e-01 4.86717984e-03 7.53251216e+01] [ 8.31267528e-01 -5.55820342e-01 -7.61860737e-03 2.26552395e+02] [ 9.03864430e-03 -1.88486283e-04 9.99959133e-01 5.79031636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.45275509600003 meters 0.02357627729110757 Centerline is valid? [True, True] Translation: X:75.31, Y:226.57, Z:5.79 [[-5.56584481e-01 -8.30775159e-01 5.13336520e-03 7.53100104e+01] [ 8.30736389e-01 -5.56608115e-01 -8.02858708e-03 2.26573524e+02] [ 9.52722343e-03 -2.04113700e-04 9.99954594e-01 5.78979176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48275509600006 meters 0.023960270374960284 Centerline is valid? [True, True] Translation: X:75.30, Y:226.59, Z:5.79 [[-5.57229108e-01 -8.30340940e-01 5.44462503e-03 7.52972115e+01] [ 8.30297389e-01 -5.57255664e-01 -8.50710688e-03 2.26594944e+02] [ 1.00978473e-02 -2.19749636e-04 9.99948991e-01 5.78900244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51275509600003 meters 0.02603667234007201 Centerline is valid? [True, True] Translation: X:75.28, Y:226.62, Z:5.79 [[-5.57246841e-01 -8.30327528e-01 5.67054325e-03 7.52825630e+01] [ 8.30280354e-01 -5.57275646e-01 -8.85368626e-03 2.26616565e+02] [ 1.05115151e-02 -2.25548039e-04 9.99944727e-01 5.78513799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54275509600006 meters 0.022941881993079564 Centerline is valid? [True, True] Translation: X:75.27, Y:226.64, Z:5.79 [[-5.56506179e-01 -8.30823823e-01 5.71386349e-03 7.52651614e+01] [ 8.30776029e-01 -5.56535471e-01 -8.91395184e-03 2.26636417e+02] [ 1.05858912e-02 -2.13728457e-04 9.99943945e-01 5.78779639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57275509600004 meters 0.022140142108856092 Centerline is valid? [True, True] Translation: X:75.25, Y:226.66, Z:5.79 [[-5.55857718e-01 -8.31255561e-01 6.03236316e-03 7.52486612e+01] [ 8.31202410e-01 -5.55890409e-01 -9.40243647e-03 2.26657312e+02] [ 1.11691604e-02 -2.12302085e-04 9.99937600e-01 5.78743036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60275509600007 meters 0.02174689891731009 Centerline is valid? [True, True] Translation: X:75.23, Y:226.68, Z:5.79 [[-5.55248831e-01 -8.31660206e-01 6.32754074e-03 7.52326670e+01] [ 8.31601859e-01 -5.55284844e-01 -9.85344552e-03 2.26679632e+02] [ 1.17083060e-02 -2.09119461e-04 9.99931434e-01 5.78720083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63275509600004 meters 0.02378025569156659 Centerline is valid? [True, True] Translation: X:75.22, Y:226.70, Z:5.78 [[-5.54533579e-01 -8.32133048e-01 6.86289788e-03 7.52193983e+01] [ 8.32064561e-01 -5.54576005e-01 -1.06780675e-02 2.26701093e+02] [ 1.26915713e-02 -2.10972856e-04 9.99919437e-01 5.78394062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66275509600007 meters 0.02164618009990107 Centerline is valid? [True, True] Translation: X:75.20, Y:226.72, Z:5.79 [[-5.52435598e-01 -8.33526100e-01 7.01076148e-03 7.52029047e+01] [ 8.33454842e-01 -5.52480053e-01 -1.09003081e-02 2.26722163e+02] [ 1.29589972e-02 -1.78565136e-04 9.99916013e-01 5.78601947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.69275509600004 meters 0.02083231848240306 Centerline is valid? [True, True] Translation: X:75.19, Y:226.74, Z:5.79 [[-5.51085604e-01 -8.34420870e-01 6.81683502e-03 7.51861177e+01] [ 8.34353671e-01 -5.51127744e-01 -1.05906207e-02 2.26742378e+02] [ 1.25939819e-02 -1.48687290e-04 9.99920682e-01 5.78632473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72275509600007 meters 0.02038783400442009 Centerline is valid? [True, True] Translation: X:75.17, Y:226.76, Z:5.79 [[-5.51265255e-01 -8.34304637e-01 6.51093502e-03 7.51696518e+01] [ 8.34243422e-01 -5.51303686e-01 -1.01073420e-02 2.26763035e+02] [ 1.20221048e-02 -1.40121766e-04 9.99927722e-01 5.78705466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.75275509600004 meters 0.020291299841704958 Centerline is valid? [True, True] Translation: X:75.15, Y:226.79, Z:5.79 [[-5.51555149e-01 -8.34112914e-01 6.52415085e-03 7.51547721e+01] [ 8.34051542e-01 -5.51593716e-01 -1.01191670e-02 2.26785192e+02] [ 1.20392085e-02 -1.39800572e-04 9.99927516e-01 5.78733071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7827550960001 meters 0.02035213182001257 Centerline is valid? [True, True] Translation: X:75.14, Y:226.81, Z:5.79 [[-5.52051468e-01 -8.33786833e-01 6.22043601e-03 7.51410043e+01] [ 8.33731112e-01 -5.52086496e-01 -9.64018680e-03 2.26807717e+02] [ 1.14720795e-02 -1.35708245e-04 9.99934184e-01 5.78815297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.81275509600005 meters 0.020693430414342563 Centerline is valid? [True, True] Translation: X:75.13, Y:226.83, Z:5.79 [[-5.53039385e-01 -8.33133016e-01 6.06770193e-03 7.51294227e+01] [ 8.33080046e-01 -5.53072652e-01 -9.39568591e-03 2.26830477e+02] [ 1.11837361e-02 -1.41302959e-04 9.99937450e-01 5.78930868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8427550960001 meters 0.020470835696802313 Centerline is valid? [True, True] Translation: X:75.11, Y:226.85, Z:5.79 [[-5.53871476e-01 -8.32581180e-01 5.91329918e-03 7.51142388e+01] [ 8.32530928e-01 -5.53903022e-01 -9.14858649e-03 2.26852762e+02] [ 1.08923352e-02 -1.44136645e-04 9.99940666e-01 5.79015086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.87275509600005 meters 0.020794644419421453 Centerline is valid? [True, True] Translation: X:75.10, Y:226.88, Z:5.79 [[-5.55678442e-01 -8.31377640e-01 5.71742686e-03 7.51016397e+01] [ 8.31330667e-01 -5.55707832e-01 -8.83894640e-03 2.26876466e+02] [ 1.05257213e-02 -1.58539675e-04 9.99944591e-01 5.79081510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9027550960001 meters 0.020776764132504132 Centerline is valid? [True, True] Translation: X:75.09, Y:226.90, Z:5.79 [[-5.56853795e-01 -8.30591272e-01 5.65602828e-03 7.50872000e+01] [ 8.30545336e-01 -5.56882493e-01 -8.73694155e-03 2.26899651e+02] [ 1.04065705e-02 -1.67611153e-04 9.99945836e-01 5.79136647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.93275509600005 meters 0.021350708815048806 Centerline is valid? [True, True] Translation: X:75.07, Y:226.92, Z:5.79 [[-5.58790066e-01 -8.29289449e-01 5.71600297e-03 7.50748801e+01] [ 8.29242539e-01 -5.58819268e-01 -8.82252418e-03 2.26923358e+02] [ 1.05106388e-02 -1.89986050e-04 9.99944744e-01 5.79212802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9627550960001 meters 0.021778849883351298 Centerline is valid? [True, True] Translation: X:75.06, Y:226.95, Z:5.79 [[-5.59866894e-01 -8.28562946e-01 5.70138952e-03 7.50623237e+01] [ 8.28516313e-01 -5.59895888e-01 -8.79276859e-03 2.26945120e+02] [ 1.04775468e-02 -1.99085816e-04 9.99945089e-01 5.79183478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.99275509600005 meters 0.02207027836796628 Centerline is valid? [True, True] Translation: X:75.05, Y:226.97, Z:5.79 [[-5.60872359e-01 -8.27882151e-01 5.77418063e-03 7.50487990e+01] [ 8.27834371e-01 -5.60902042e-01 -8.89682309e-03 2.26968303e+02] [ 1.06042707e-02 -2.09916959e-04 9.99943751e-01 5.79188661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0227550960001 meters 0.022274753824887115 Centerline is valid? [True, True] Translation: X:75.04, Y:226.99, Z:5.79 [[-5.62046888e-01 -8.27084268e-01 5.90835602e-03 7.50357722e+01] [ 8.27034285e-01 -5.62077897e-01 -9.09556936e-03 2.26991155e+02] [ 1.08437587e-02 -2.25723457e-04 9.99941179e-01 5.79163089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.05275509600006 meters 0.022637444647352643 Centerline is valid? [True, True] Translation: X:75.02, Y:227.01, Z:5.79 [[-5.62627794e-01 -8.26689146e-01 5.91784159e-03 7.50228234e+01] [ 8.26639065e-01 -5.62658869e-01 -9.10238161e-03 2.27012482e+02] [ 1.08545661e-02 -2.29333849e-04 9.99941061e-01 5.79228458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.082755096 meters 0.022346462928948884 Centerline is valid? [True, True] Translation: X:75.01, Y:227.03, Z:5.79 [[-5.62532189e-01 -8.26755969e-01 5.66597880e-03 7.50073753e+01] [ 8.26710141e-01 -5.62560683e-01 -8.70749679e-03 2.27034212e+02] [ 1.03864318e-02 -2.14125092e-04 9.99946037e-01 5.79248852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.11275509600006 meters 0.02217009241697406 Centerline is valid? [True, True] Translation: X:74.99, Y:227.06, Z:5.79 [[-5.62524303e-01 -8.26761982e-01 5.57079402e-03 7.49924182e+01] [ 8.26717754e-01 -5.62551848e-01 -8.55411689e-03 2.27056254e+02] [ 1.02060791e-02 -2.06424313e-04 9.99947895e-01 5.79292270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14275509600003 meters 0.02170519646356867 Centerline is valid? [True, True] Translation: X:74.98, Y:227.08, Z:5.79 [[-5.62452758e-01 -8.26810484e-01 5.59624842e-03 7.49768868e+01] [ 8.26765928e-01 -5.62480562e-01 -8.58595382e-03 2.27077722e+02] [ 1.02467376e-02 -2.02405895e-04 9.99947480e-01 5.79352330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.17275509600006 meters 0.021185177481862483 Centerline is valid? [True, True] Translation: X:74.96, Y:227.10, Z:5.79 [[-5.61636417e-01 -8.27365219e-01 5.59726045e-03 7.49605134e+01] [ 8.27320751e-01 -5.61664276e-01 -8.57997268e-03 2.27099046e+02] [ 1.02425522e-02 -1.88095392e-04 9.99947526e-01 5.79357746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20275509600003 meters 0.020889163274062497 Centerline is valid? [True, True] Translation: X:74.95, Y:227.12, Z:5.79 [[-5.61239549e-01 -8.27634849e-01 5.54303596e-03 7.49450159e+01] [ 8.27591319e-01 -5.61266893e-01 -8.49025402e-03 2.27120952e+02] [ 1.01379527e-02 -1.77697896e-04 9.99948594e-01 5.79369136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.23275509600006 meters 0.020927032917998734 Centerline is valid? [True, True] Translation: X:74.93, Y:227.14, Z:5.79 [[-5.61014778e-01 -8.27787347e-01 5.52508859e-03 7.49308578e+01] [ 8.27744170e-01 -5.61041958e-01 -8.45635976e-03 2.27142109e+02] [ 1.00998741e-02 -1.70782926e-04 9.99948980e-01 5.79398454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26275509600003 meters 0.02130560233989795 Centerline is valid? [True, True] Translation: X:74.92, Y:227.16, Z:5.79 [[-5.60262938e-01 -8.28296035e-01 5.57843678e-03 7.49172889e+01] [ 8.28252126e-01 -5.60290686e-01 -8.53010976e-03 2.27164204e+02] [ 1.01910023e-02 -1.58752234e-04 9.99948058e-01 5.79499824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.29275509600006 meters 0.020333601852256255 Centerline is valid? [True, True] Translation: X:74.90, Y:227.18, Z:5.80 [[-5.59889954e-01 -8.28548780e-01 5.49159313e-03 7.49002074e+01] [ 8.28506310e-01 -5.59916866e-01 -8.39037531e-03 2.27184807e+02] [ 1.00266708e-02 -1.47867288e-04 9.99949721e-01 5.79520959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32275509600004 meters 0.02040553785970869 Centerline is valid? [True, True] Translation: X:74.89, Y:227.21, Z:5.80 [[-5.59304874e-01 -8.28941262e-01 5.86867130e-03 7.48855890e+01] [ 8.28892867e-01 -5.59335644e-01 -8.95843888e-03 2.27206045e+02] [ 1.07085767e-02 -1.45998751e-04 9.99942651e-01 5.79517149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.35275509600007 meters 0.019744503409563737 Centerline is valid? [True, True] Translation: X:74.87, Y:227.23, Z:5.80 [[-5.59207111e-01 -8.29006950e-01 5.90629436e-03 7.48694182e+01] [ 8.28958021e-01 -5.59238283e-01 -9.00790085e-03 2.27227210e+02] [ 1.07706383e-02 -1.41212129e-04 9.99941985e-01 5.79529272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38275509600004 meters 0.021067214797132548 Centerline is valid? [True, True] Translation: X:74.85, Y:227.25, Z:5.79 [[-5.59395846e-01 -8.28875303e-01 6.48222708e-03 7.48545396e+01] [ 8.28816464e-01 -5.59433382e-01 -9.87729986e-03 2.27248648e+02] [ 1.18134241e-02 -1.52743991e-04 9.99930207e-01 5.79349828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41275509600007 meters 0.019299747583693197 Centerline is valid? [True, True] Translation: X:74.84, Y:227.27, Z:5.80 [[-5.59176682e-01 -8.29026272e-01 6.07270071e-03 7.48389298e+01] [ 8.28974723e-01 -5.59209640e-01 -9.24593363e-03 2.27270451e+02] [ 1.10610347e-02 -1.35995105e-04 9.99938816e-01 5.79657075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44275509600004 meters 0.01925654194555162 Centerline is valid? [True, True] Translation: X:74.82, Y:227.29, Z:5.80 [[-5.59700435e-01 -8.28671887e-01 6.19088696e-03 7.48241853e+01] [ 8.28618382e-01 -5.59734655e-01 -9.41773589e-03 2.27292637e+02] [ 1.12694669e-02 -1.41228137e-04 9.99936488e-01 5.79727644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.47275509600007 meters 0.019364686803680937 Centerline is valid? [True, True] Translation: X:74.81, Y:227.31, Z:5.80 [[-5.60198188e-01 -8.28334018e-01 6.38318539e-03 7.48107956e+01] [ 8.28277213e-01 -5.60234534e-01 -9.70176585e-03 2.27313693e+02] [ 1.16123836e-02 -1.47864649e-04 9.99932563e-01 5.79756057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50275509600004 meters 0.019738540737189173 Centerline is valid? [True, True] Translation: X:74.80, Y:227.34, Z:5.80 [[-5.61810371e-01 -8.27243870e-01 6.05688912e-03 7.47970173e+01] [ 8.27192725e-01 -5.61842998e-01 -9.20007633e-03 2.27337673e+02] [ 1.10137275e-02 -1.58483680e-04 9.99939335e-01 5.79859063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5327550960001 meters 0.020197887083621056 Centerline is valid? [True, True] Translation: X:74.78, Y:227.36, Z:5.80 [[-5.63167460e-01 -8.26322061e-01 5.85352359e-03 7.47835250e+01] [ 8.26274311e-01 -5.63197855e-01 -8.88478167e-03 2.27360604e+02] [ 1.06383830e-02 -1.67003767e-04 9.99943397e-01 5.79965304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56275509600005 meters 0.020204302337639448 Centerline is valid? [True, True] Translation: X:74.77, Y:227.38, Z:5.80 [[-5.64122366e-01 -8.25671542e-01 5.69739928e-03 7.47692971e+01] [ 8.25626340e-01 -5.64151110e-01 -8.64128475e-03 2.27382695e+02] [ 1.03490570e-02 -1.70819082e-04 9.99946433e-01 5.80050453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5927550960001 meters 0.021034130682265038 Centerline is valid? [True, True] Translation: X:74.76, Y:227.41, Z:5.80 [[-5.66176580e-01 -8.24267372e-01 5.23253632e-03 7.47560455e+01] [ 8.24229243e-01 -5.66200731e-01 -7.93015296e-03 2.27405919e+02] [ 9.49923223e-03 -1.77057430e-04 9.99954866e-01 5.80152493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62275509600005 meters 0.021595256334572138 Centerline is valid? [True, True] Translation: X:74.74, Y:227.43, Z:5.80 [[-5.67456193e-01 -8.23386409e-01 5.31880037e-03 7.47423727e+01] [ 8.23347037e-01 -5.67481087e-01 -8.05438050e-03 2.27428583e+02] [ 9.65018606e-03 -1.91289580e-04 9.99953418e-01 5.80210003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6527550960001 meters 0.022565215298246906 Centerline is valid? [True, True] Translation: X:74.73, Y:227.45, Z:5.80 [[-5.69210299e-01 -8.22173810e-01 5.46459249e-03 7.47293862e+01] [ 8.22132259e-01 -5.69236489e-01 -8.26848466e-03 2.27451909e+02] [ 9.90877698e-03 -2.13888863e-04 9.99950884e-01 5.80292104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68275509600005 meters 0.021468645861768783 Centerline is valid? [True, True] Translation: X:74.71, Y:227.47, Z:5.80 [[-5.70201465e-01 -8.21487428e-01 5.35683843e-03 7.47122684e+01] [ 8.21447528e-01 -5.70226585e-01 -8.09938355e-03 2.27473353e+02] [ 9.70815344e-03 -2.17918683e-04 9.99952851e-01 5.80304285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7127550960001 meters 0.023203909881434483 Centerline is valid? [True, True] Translation: X:74.70, Y:227.50, Z:5.80 [[-5.71110584e-01 -8.20856086e-01 5.29022954e-03 7.47004917e+01] [ 8.20817204e-01 -5.71135042e-01 -7.99260738e-03 2.27497501e+02] [ 9.58221589e-03 -2.22351254e-04 9.99954065e-01 5.80387898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74275509600005 meters 0.021736341718468 Centerline is valid? [True, True] Translation: X:74.68, Y:227.52, Z:5.80 [[-5.71914290e-01 -8.20295423e-01 5.42815297e-03 7.46835878e+01] [ 8.20254529e-01 -5.71940001e-01 -8.19409646e-03 2.27518392e+02] [ 9.82615763e-03 -2.33853795e-04 9.99951695e-01 5.80411499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7727550960001 meters 0.023008207110317033 Centerline is valid? [True, True] Translation: X:74.67, Y:227.54, Z:5.80 [[-5.72430645e-01 -8.19934418e-01 5.54139468e-03 7.46702420e+01] [ 8.19891854e-01 -5.72457415e-01 -8.35799188e-03 2.27540917e+02] [ 1.00252177e-02 -2.41026326e-04 9.99949717e-01 5.80462007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80275509600006 meters 0.022097594669598642 Centerline is valid? [True, True] Translation: X:74.65, Y:227.56, Z:5.80 [[-5.72630489e-01 -8.19793030e-01 5.80603103e-03 7.46532595e+01] [ 8.19746375e-01 -5.72659868e-01 -8.74966986e-03 2.27561781e+02] [ 1.04977993e-02 -2.50854842e-04 9.99944865e-01 5.80450216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.832755096 meters 0.021275350490534528 Centerline is valid? [True, True] Translation: X:74.64, Y:227.58, Z:5.80 [[-5.71984984e-01 -8.20242154e-01 5.99894666e-03 7.46353963e+01] [ 8.20192457e-01 -5.72016388e-01 -9.03240325e-03 2.27582893e+02] [ 1.08402537e-02 -2.46108229e-04 9.99941212e-01 5.80435310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86275509600006 meters 0.021011230659438874 Centerline is valid? [True, True] Translation: X:74.62, Y:227.60, Z:5.80 [[-5.71959943e-01 -8.20256589e-01 6.39945042e-03 7.46196134e+01] [ 8.20200128e-01 -5.71995684e-01 -9.62744033e-03 2.27604828e+02] [ 1.15574294e-02 -2.57680162e-04 9.99933178e-01 5.80400997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.89275509600003 meters 0.021445091018469174 Centerline is valid? [True, True] Translation: X:74.61, Y:227.63, Z:5.80 [[-5.71071982e-01 -8.20870017e-01 7.01472352e-03 7.46060164e+01] [ 8.20802336e-01 -5.71115002e-01 -1.05441713e-02 2.27626190e+02] [ 1.26616079e-02 -2.63779340e-04 9.99919804e-01 5.80379474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92275509600006 meters 0.021445091018469174 Centerline is valid? [True, True] Translation: X:74.59, Y:227.65, Z:5.80 [[-5.71380816e-01 -8.20655049e-01 7.01809431e-03 7.45914265e+01] [ 8.20587380e-01 -5.71423853e-01 -1.05419273e-02 2.27647632e+02] [ 1.26615923e-02 -2.64495384e-04 9.99919804e-01 5.80410350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.95275509600003 meters 0.020475449010979464 Centerline is valid? [True, True] Translation: X:74.58, Y:227.67, Z:5.80 [[-5.71221354e-01 -8.20765475e-01 7.08522729e-03 7.45750750e+01] [ 8.20696625e-01 -5.71265234e-01 -1.06339955e-02 2.27668420e+02] [ 1.27755604e-02 -2.59543209e-04 9.99918356e-01 5.80419660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98275509600006 meters 0.020500938491998764 Centerline is valid? [True, True] Translation: X:74.56, Y:227.69, Z:5.80 [[-5.71124024e-01 -8.20831082e-01 7.32697514e-03 7.45602905e+01] [ 8.20757586e-01 -5.71170961e-01 -1.09871869e-02 2.27689693e+02] [ 1.32035799e-02 -2.61375955e-04 9.99912795e-01 5.80437547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01275509600003 meters 0.019775829737923422 Centerline is valid? [True, True] Translation: X:74.54, Y:227.71, Z:5.80 [[-5.70410635e-01 -8.21321888e-01 7.87805266e-03 7.45435376e+01] [ 8.21237123e-01 -5.70464975e-01 -1.18025565e-02 2.27709913e+02] [ 1.41878511e-02 -2.62554479e-04 9.99899313e-01 5.80415545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04275509600006 meters 0.0194385508321758 Centerline is valid? [True, True] Translation: X:74.53, Y:227.73, Z:5.80 [[-5.70377397e-01 -8.21344922e-01 7.88314125e-03 7.45275005e+01] [ 8.21260192e-01 -5.70431813e-01 -1.18001825e-02 2.27730973e+02] [ 1.41888145e-02 -2.56447256e-04 9.99899301e-01 5.80469113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07275509600004 meters 0.01930378034415769 Centerline is valid? [True, True] Translation: X:74.51, Y:227.75, Z:5.80 [[-5.70260412e-01 -8.21426900e-01 7.80459246e-03 7.45122198e+01] [ 8.21343996e-01 -5.70313763e-01 -1.16727107e-02 2.27752272e+02] [ 1.40393451e-02 -2.46229682e-04 9.99901413e-01 5.80472221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10275509600007 meters 0.018959874416820538 Centerline is valid? [True, True] Translation: X:74.50, Y:227.77, Z:5.81 [[-5.70927289e-01 -8.20963116e-01 7.84811404e-03 7.44962074e+01] [ 8.20879381e-01 -5.70981172e-01 -1.17278909e-02 2.27774831e+02] [ 1.41092912e-02 -2.53417966e-04 9.99900427e-01 5.80531845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13275509600004 meters 0.019090659064684604 Centerline is valid? [True, True] Translation: X:74.48, Y:227.80, Z:5.81 [[-5.71500811e-01 -8.20565199e-01 7.71858469e-03 7.44815199e+01] [ 8.20484293e-01 -5.71552875e-01 -1.15254263e-02 2.27797945e+02] [ 1.38689430e-02 -2.53812988e-04 9.99903789e-01 5.80613428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16275509600007 meters 0.019323233170314473 Centerline is valid? [True, True] Translation: X:74.47, Y:227.82, Z:5.81 [[-5.72294687e-01 -8.20014841e-01 7.37906314e-03 7.44679859e+01] [ 8.19940960e-01 -5.72342203e-01 -1.10101926e-02 2.27821231e+02] [ 1.32518706e-02 -2.50678626e-04 9.99912159e-01 5.80724782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.19275509600004 meters 0.019337056067085457 Centerline is valid? [True, True] Translation: X:74.45, Y:227.84, Z:5.81 [[-5.72672676e-01 -8.19751609e-01 7.30103757e-03 7.44526523e+01] [ 8.19679371e-01 -5.72719161e-01 -1.08853831e-02 2.27844074e+02] [ 1.31047544e-02 -2.49251587e-04 9.99914098e-01 5.80808680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22275509600007 meters 0.019846066895657734 Centerline is valid? [True, True] Translation: X:74.44, Y:227.87, Z:5.81 [[-5.73180620e-01 -8.19398643e-01 7.05987876e-03 7.44384006e+01] [ 8.19331172e-01 -5.73224044e-01 -1.05178702e-02 2.27865708e+02] [ 1.26652208e-02 -2.44260631e-04 9.99919763e-01 5.80827786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.25275509600004 meters 0.019770972084416732 Centerline is valid? [True, True] Translation: X:74.42, Y:227.89, Z:5.81 [[-5.73883284e-01 -8.18908458e-01 6.84938465e-03 7.44226201e+01] [ 8.18845015e-01 -5.73924106e-01 -1.01961848e-02 2.27886916e+02] [ 1.22807689e-02 -2.42835537e-04 9.99924559e-01 5.80870375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2827550960001 meters 0.019965750963528782 Centerline is valid? [True, True] Translation: X:74.41, Y:227.91, Z:5.81 [[-5.74408490e-01 -8.18540338e-01 6.82660820e-03 7.44080077e+01] [ 8.18477395e-01 -5.74449002e-01 -1.01537382e-02 2.27908563e+02] [ 1.22327826e-02 -2.44968929e-04 9.99925147e-01 5.80908976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.31275509600005 meters 0.02000208655923936 Centerline is valid? [True, True] Translation: X:74.39, Y:227.93, Z:5.81 [[-5.74830668e-01 -8.18246680e-01 6.48648046e-03 7.43928586e+01] [ 8.18189923e-01 -5.74867216e-01 -9.64018431e-03 2.27930647e+02] [ 1.16169138e-02 -2.34300639e-04 9.99932494e-01 5.80985326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3427550960001 meters 0.019911669894869578 Centerline is valid? [True, True] Translation: X:74.38, Y:227.95, Z:5.81 [[-5.75179634e-01 -8.18001162e-01 6.51828453e-03 7.43777272e+01] [ 8.17943927e-01 -5.75216519e-01 -9.67932176e-03 2.27952214e+02] [ 1.16671214e-02 -2.35757509e-04 9.99931909e-01 5.81043197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.37275509600005 meters 0.02001093281679219 Centerline is valid? [True, True] Translation: X:74.36, Y:227.97, Z:5.81 [[-5.74897473e-01 -8.18199471e-01 6.52080974e-03 7.43633014e+01] [ 8.18142299e-01 -5.74934409e-01 -9.67491587e-03 2.27972575e+02] [ 1.16650489e-02 -2.27134416e-04 9.99931935e-01 5.81038509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4027550960001 meters 0.01988691126304149 Centerline is valid? [True, True] Translation: X:74.35, Y:227.99, Z:5.81 [[-5.74732550e-01 -8.18315949e-01 6.44239109e-03 7.43473642e+01] [ 8.18260223e-01 -5.74768615e-01 -9.55234283e-03 2.27994187e+02] [ 1.15197187e-02 -2.18489982e-04 9.99933622e-01 5.81013912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.43275509600005 meters 0.019482025884172343 Centerline is valid? [True, True] Translation: X:74.33, Y:228.01, Z:5.81 [[-5.74315436e-01 -8.18607216e-01 6.63361186e-03 7.43312257e+01] [ 8.18548251e-01 -5.74353706e-01 -9.82762703e-03 2.28014831e+02] [ 1.18550060e-02 -2.14226528e-04 9.99929704e-01 5.80943099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4627550960001 meters 0.019277945409722077 Centerline is valid? [True, True] Translation: X:74.32, Y:228.04, Z:5.81 [[-5.74179948e-01 -8.18703383e-01 6.49290361e-03 7.43155101e+01] [ 8.18646987e-01 -5.74216622e-01 -9.61155089e-03 2.28036240e+02] [ 1.15973424e-02 -2.03363814e-04 9.99932728e-01 5.80947829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.49275509600005 meters 0.019222269624106038 Centerline is valid? [True, True] Translation: X:74.30, Y:228.06, Z:5.81 [[-5.74096182e-01 -8.18761343e-01 6.59064939e-03 7.43007029e+01] [ 8.18703334e-01 -5.74133976e-01 -9.74823535e-03 2.28057032e+02] [ 1.17653940e-02 -2.00638069e-04 9.99930765e-01 5.80962010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5227550960001 meters 0.01899013572002445 Centerline is valid? [True, True] Translation: X:74.29, Y:228.08, Z:5.81 [[-5.73504701e-01 -8.19175309e-01 6.64609796e-03 7.42855675e+01] [ 8.19116447e-01 -5.73543178e-01 -9.82188741e-03 2.28077283e+02] [ 1.18576718e-02 -1.88970452e-04 9.99929678e-01 5.80904734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.55275509600006 meters 0.019298185561228018 Centerline is valid? [True, True] Translation: X:74.27, Y:228.10, Z:5.81 [[-5.73954653e-01 -8.18861124e-01 6.52044786e-03 7.42718783e+01] [ 8.18804515e-01 -5.73991658e-01 -9.63028441e-03 2.28097617e+02] [ 1.16285482e-02 -1.88374398e-04 9.99932368e-01 5.80874848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.582755096 meters 0.019190710643719282 Centerline is valid? [True, True] Translation: X:74.26, Y:228.12, Z:5.81 [[-5.74128451e-01 -8.18740180e-01 6.40624672e-03 7.42570646e+01] [ 8.18685625e-01 -5.74164161e-01 -9.45322071e-03 2.28118791e+02] [ 1.14179689e-02 -1.82660859e-04 9.99934796e-01 5.80886877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.61275509600006 meters 0.017864675911386338 Centerline is valid? [True, True] Translation: X:74.24, Y:228.14, Z:5.81 [[-5.74684249e-01 -8.18350663e-01 6.34082994e-03 7.42389244e+01] [ 8.18297283e-01 -5.74719199e-01 -9.34871662e-03 2.28139807e+02] [ 1.12947252e-02 -1.83876278e-04 9.99936196e-01 5.80905995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64275509600003 meters 0.018170275557926722 Centerline is valid? [True, True] Translation: X:74.22, Y:228.16, Z:5.81 [[-5.75073072e-01 -8.18078269e-01 6.23758748e-03 7.42239668e+01] [ 8.18026676e-01 -5.75106870e-01 -9.18944088e-03 2.28161181e+02] [ 1.11049613e-02 -1.82087042e-04 9.99938321e-01 5.80876339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.67275509600006 meters 0.019696010648883704 Centerline is valid? [True, True] Translation: X:74.21, Y:228.18, Z:5.81 [[-5.75517965e-01 -8.17765096e-01 6.27049821e-03 7.42116112e+01] [ 8.17713023e-01 -5.75552094e-01 -9.23030367e-03 2.28184213e+02] [ 1.11572185e-02 -1.84737534e-04 9.99937739e-01 5.80906260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70275509600003 meters 0.01837246332850745 Centerline is valid? [True, True] Translation: X:74.19, Y:228.21, Z:5.81 [[-5.76719456e-01 -8.16920947e-01 5.90218417e-03 7.41942620e+01] [ 8.16874836e-01 -5.76749627e-01 -8.68158782e-03 2.28205283e+02] [ 1.04962535e-02 -1.85494887e-04 9.99944896e-01 5.80881914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.73275509600006 meters 0.018853198335056578 Centerline is valid? [True, True] Translation: X:74.18, Y:228.23, Z:5.81 [[-5.77655202e-01 -8.16259547e-01 5.90082011e-03 7.41803847e+01] [ 8.16213493e-01 -5.77685307e-01 -8.67291765e-03 2.28227627e+02] [ 1.04881689e-02 -1.93626996e-04 9.99944979e-01 5.80937263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76275509600003 meters 0.01884978848426402 Centerline is valid? [True, True] Translation: X:74.17, Y:228.25, Z:5.81 [[-5.78714337e-01 -8.15511868e-01 5.48723683e-03 7.41651998e+01] [ 8.15472068e-01 -5.78740320e-01 -8.05909869e-03 2.28249647e+02] [ 9.74797583e-03 -1.89227592e-04 9.99952469e-01 5.80962114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.79275509600006 meters 0.020952203629107654 Centerline is valid? [True, True] Translation: X:74.15, Y:228.27, Z:5.81 [[-5.81147079e-01 -8.13784847e-01 4.72182755e-03 7.41520259e+01] [ 8.13755357e-01 -5.81166232e-01 -6.93036575e-03 2.28272508e+02] [ 8.38399336e-03 -1.85149346e-04 9.99964837e-01 5.80899092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82275509600004 meters 0.020266320641016182 Centerline is valid? [True, True] Translation: X:74.14, Y:228.29, Z:5.81 [[-5.81573219e-01 -8.13481446e-01 4.53084724e-03 7.41374330e+01] [ 8.13454324e-01 -5.81590840e-01 -6.64507435e-03 2.28294191e+02] [ 8.04074395e-03 -1.78960003e-04 9.99967657e-01 5.81111795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.85275509600007 meters 0.020527783579601833 Centerline is valid? [True, True] Translation: X:74.12, Y:228.32, Z:5.81 [[-5.82638511e-01 -8.12719678e-01 4.36929879e-03 7.41217288e+01] [ 8.12694476e-01 -5.82654866e-01 -6.40277235e-03 2.28316756e+02] [ 7.74945228e-03 -1.79596753e-04 9.99969956e-01 5.81125415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88275509600004 meters 0.021102373827852315 Centerline is valid? [True, True] Translation: X:74.11, Y:228.34, Z:5.81 [[-5.84007469e-01 -8.11736038e-01 4.45882473e-03 7.41070543e+01] [ 8.11709805e-01 -5.84024458e-01 -6.52881242e-03 2.28339390e+02] [ 7.90373502e-03 -1.93603468e-04 9.99968746e-01 5.81042457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91275509600007 meters 0.022066227263214343 Centerline is valid? [True, True] Translation: X:74.09, Y:228.36, Z:5.81 [[-5.84574071e-01 -8.11329158e-01 4.26071670e-03 7.40936546e+01] [ 8.11305229e-01 -5.84589568e-01 -6.23400881e-03 2.28361534e+02] [ 7.54860365e-03 -1.87498177e-04 9.99971491e-01 5.81064644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94275509600004 meters 0.02143087311986463 Centerline is valid? [True, True] Translation: X:74.08, Y:228.38, Z:5.81 [[-5.85111430e-01 -8.10941518e-01 4.29755800e-03 7.40772870e+01] [ 8.10917193e-01 -5.85127181e-01 -6.28395396e-03 2.28383144e+02] [ 7.61053716e-03 -1.91849618e-04 9.99971021e-01 5.81063243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.97275509600007 meters 0.020744705271527324 Centerline is valid? [True, True] Translation: X:74.06, Y:228.40, Z:5.81 [[-5.84728807e-01 -8.11217783e-01 4.23443376e-03 7.40601129e+01] [ 8.11194209e-01 -5.84744110e-01 -6.18712726e-03 2.28404339e+02] [ 7.49516786e-03 -1.82843391e-04 9.99971894e-01 5.81011591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00275509600004 meters 0.021263438446225073 Centerline is valid? [True, True] Translation: X:74.05, Y:228.43, Z:5.81 [[-5.84455500e-01 -8.11414999e-01 4.17947199e-03 7.40457381e+01] [ 8.11392077e-01 -5.84470418e-01 -6.10154508e-03 2.28425762e+02] [ 7.39366294e-03 -1.74891122e-04 9.99972651e-01 5.80998111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0327550960001 meters 0.02096310504284946 Centerline is valid? [True, True] Translation: X:74.03, Y:228.45, Z:5.81 [[-5.84198002e-01 -8.11600455e-01 4.17080968e-03 7.40300441e+01] [ 8.11577653e-01 -5.84212866e-01 -6.08616916e-03 2.28447029e+02] [ 7.37617834e-03 -1.70591936e-04 9.99972781e-01 5.80973426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06275509600005 meters 0.020277308719887383 Centerline is valid? [True, True] Translation: X:74.01, Y:228.47, Z:5.81 [[-5.83948227e-01 -8.11779317e-01 4.33676257e-03 7.40140783e+01] [ 8.11754712e-01 -5.83964306e-01 -6.32282283e-03 2.28467577e+02] [ 7.66525134e-03 -1.71813735e-04 9.99970607e-01 5.80930315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0927550960001 meters 0.020300526710435658 Centerline is valid? [True, True] Translation: X:74.00, Y:228.49, Z:5.81 [[-5.82845419e-01 -8.12572855e-01 4.07091092e-03 7.39997179e+01] [ 8.12551230e-01 -5.82859617e-01 -5.93002022e-03 2.28488499e+02] [ 7.19134304e-03 -1.48461446e-04 9.99974131e-01 5.80971404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12275509600005 meters 0.01898724071065314 Centerline is valid? [True, True] Translation: X:73.98, Y:228.51, Z:5.81 [[-5.82251351e-01 -8.12998510e-01 4.09716571e-03 7.39821754e+01] [ 8.12976643e-01 -5.82265749e-01 -5.96459201e-03 2.28509229e+02] [ 7.23484368e-03 -1.41991734e-04 9.99973818e-01 5.80986891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1527550960001 meters 0.01914669166684037 Centerline is valid? [True, True] Translation: X:73.97, Y:228.53, Z:5.81 [[-5.80652579e-01 -8.14142366e-01 3.84587409e-03 7.39679838e+01] [ 8.14123152e-01 -5.80665304e-01 -5.59451842e-03 2.28529906e+02] [ 6.78790011e-03 -1.17456416e-04 9.99976955e-01 5.81016060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18275509600005 meters 0.01863039357466383 Centerline is valid? [True, True] Translation: X:73.95, Y:228.55, Z:5.81 [[-5.80183472e-01 -8.14477162e-01 3.75378835e-03 7.39521621e+01] [ 8.14458885e-01 -5.80195605e-01 -5.45758808e-03 2.28550934e+02] [ 6.62301236e-03 -1.09096125e-04 9.99978062e-01 5.81023833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2127550960001 meters 0.018472418240379346 Centerline is valid? [True, True] Translation: X:73.94, Y:228.57, Z:5.81 [[-5.79958942e-01 -8.14638229e-01 3.49012405e-03 7.39364791e+01] [ 8.14622454e-01 -5.79969435e-01 -5.07068049e-03 2.28572320e+02] [ 6.15493545e-03 -9.76530769e-05 9.99981053e-01 5.81076045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24275509600005 meters 0.01835194245759158 Centerline is valid? [True, True] Translation: X:73.92, Y:228.59, Z:5.81 [[-5.79764523e-01 -8.14778584e-01 2.99293332e-03 7.39207744e+01] [ 8.14766997e-01 -5.79772242e-01 -4.34594301e-03 2.28593768e+02] [ 5.27620095e-03 -8.10802794e-05 9.99986077e-01 5.81137209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2727550960001 meters 0.01783010316342362 Centerline is valid? [True, True] Translation: X:73.90, Y:228.62, Z:5.81 [[-5.80037045e-01 -8.14585271e-01 2.80429396e-03 7.39047133e+01] [ 8.14575112e-01 -5.80043819e-01 -4.06891478e-03 2.28615707e+02] [ 4.94109142e-03 -7.58132354e-05 9.99987790e-01 5.81125255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30275509600006 meters 0.01850566128604563 Centerline is valid? [True, True] Translation: X:73.89, Y:228.64, Z:5.81 [[-5.80795595e-01 -8.14045205e-01 2.62343333e-03 7.38915952e+01] [ 8.14036316e-01 -5.80801515e-01 -3.80480833e-03 2.28637626e+02] [ 4.62098003e-03 -7.42459175e-05 9.99989320e-01 5.81174746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.332755096 meters 0.018204554437103254 Centerline is valid? [True, True] Translation: X:73.88, Y:228.66, Z:5.81 [[-5.82049022e-01 -8.13148760e-01 2.83380115e-03 7.38761768e+01] [ 8.13138403e-01 -5.82055914e-01 -4.10496614e-03 2.28660116e+02] [ 4.98737884e-03 -8.50189883e-05 9.99987559e-01 5.81085954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36275509600006 meters 0.01852492257491296 Centerline is valid? [True, True] Translation: X:73.86, Y:228.68, Z:5.81 [[-5.82922950e-01 -8.12523979e-01 2.37015191e-03 7.38614368e+01] [ 8.12516735e-01 -5.82927764e-01 -3.43191145e-03 2.28682997e+02] [ 4.17013770e-03 -7.47518549e-05 9.99991302e-01 5.81115049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.39275509600003 meters 0.0190345375663865 Centerline is valid? [True, True] Translation: X:73.85, Y:228.71, Z:5.81 [[-5.83939318e-01 -8.11794506e-01 2.13374346e-03 7.38482752e+01] [ 8.11788635e-01 -5.83943212e-01 -3.08821464e-03 2.28705327e+02] [ 3.75298068e-03 -7.11812606e-05 9.99992955e-01 5.81177674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42275509600006 meters 0.01903644012550792 Centerline is valid? [True, True] Translation: X:73.83, Y:228.73, Z:5.81 [[-5.84379704e-01 -8.11477897e-01 1.99599674e-03 7.38332757e+01] [ 8.11472763e-01 -5.84383109e-01 -2.88733553e-03 2.28727099e+02] [ 3.50943575e-03 -6.76032927e-05 9.99993840e-01 5.81177753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.45275509600003 meters 0.020943930655232097 Centerline is valid? [True, True] Translation: X:73.82, Y:228.75, Z:5.81 [[-5.84848138e-01 -8.11139702e-01 2.24500184e-03 7.38215978e+01] [ 8.11133218e-01 -5.84852442e-01 -3.24400066e-03 2.28749741e+02] [ 3.94433253e-03 -7.62521776e-05 9.99992218e-01 5.81313400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48275509600006 meters 0.019732908458239856 Centerline is valid? [True, True] Translation: X:73.80, Y:228.77, Z:5.81 [[-5.85018950e-01 -8.11017532e-01 1.84133646e-03 7.38043312e+01] [ 8.11013174e-01 -5.85021845e-01 -2.65943941e-03 2.28770404e+02] [ 3.23407404e-03 -6.24743202e-05 9.99994768e-01 5.81184470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51275509600003 meters 0.01915252711704615 Centerline is valid? [True, True] Translation: X:73.79, Y:228.79, Z:5.81 [[-5.85118996e-01 -8.10945482e-01 1.78506099e-03 7.37880113e+01] [ 8.10941392e-01 -5.85121716e-01 -2.57625385e-03 2.28791859e+02] [ 3.13367937e-03 -5.98352234e-05 9.99995088e-01 5.81143050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54275509600006 meters 0.018805266428434858 Centerline is valid? [True, True] Translation: X:73.77, Y:228.81, Z:5.81 [[-5.85227035e-01 -8.10867448e-01 1.81633022e-03 7.37718544e+01] [ 8.10863221e-01 -5.85229851e-01 -2.61895473e-03 2.28814142e+02] [ 3.18659580e-03 -5.98877428e-05 9.99994921e-01 5.81101957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57275509600004 meters 0.018663223290654098 Centerline is valid? [True, True] Translation: X:73.76, Y:228.84, Z:5.81 [[-5.84674215e-01 -8.11264857e-01 2.32255117e-03 7.37575424e+01] [ 8.11257966e-01 -5.84678824e-01 -3.34441474e-03 2.28835846e+02] [ 4.07115263e-03 -7.12049299e-05 9.99991710e-01 5.81024283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60275509600007 meters 0.018451323005525714 Centerline is valid? [True, True] Translation: X:73.74, Y:228.86, Z:5.81 [[-5.84666026e-01 -8.11270439e-01 2.43140908e-03 7.37424648e+01] [ 8.11262900e-01 -5.84671077e-01 -3.49823221e-03 2.28857235e+02] [ 4.25958694e-03 -7.27855430e-05 9.99990925e-01 5.80971707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63275509600004 meters 0.018307678072122628 Centerline is valid? [True, True] Translation: X:73.73, Y:228.88, Z:5.81 [[-5.84497235e-01 -8.11391198e-01 2.70304268e-03 7.37273527e+01] [ 8.11381902e-01 -5.84503480e-01 -3.88481695e-03 2.28879425e+02] [ 4.73204413e-03 -7.74648536e-05 9.99988801e-01 5.80962102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66275509600007 meters 0.01822597030352464 Centerline is valid? [True, True] Translation: X:73.71, Y:228.90, Z:5.81 [[-5.84585274e-01 -8.11327458e-01 2.79506705e-03 7.37122068e+01] [ 8.11317536e-01 -5.84591951e-01 -4.01338795e-03 2.28901275e+02] [ 4.89014554e-03 -7.84805881e-05 9.99988040e-01 5.80951898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.69275509600004 meters 0.01800929181989242 Centerline is valid? [True, True] Translation: X:73.70, Y:228.92, Z:5.81 [[-5.83867609e-01 -8.11843305e-01 3.01058651e-03 7.36952213e+01] [ 8.11831822e-01 -5.83875365e-01 -4.31858000e-03 2.28922168e+02] [ 5.26381756e-03 -7.73890478e-05 9.99986143e-01 5.80889548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72275509600007 meters 0.018040430403203408 Centerline is valid? [True, True] Translation: X:73.68, Y:228.94, Z:5.81 [[-5.83869455e-01 -8.11842149e-01 2.96386609e-03 7.36805643e+01] [ 8.11831036e-01 -5.83876973e-01 -4.24836786e-03 2.28942661e+02] [ 5.17953726e-03 -7.43337488e-05 9.99986583e-01 5.80888919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.75275509600004 meters 0.017866120976595633 Centerline is valid? [True, True] Translation: X:73.66, Y:228.96, Z:5.81 [[-5.83472493e-01 -8.12126354e-01 3.26114403e-03 7.36641081e+01] [ 8.12112934e-01 -5.83481602e-01 -4.66937191e-03 2.28963681e+02] [ 5.69493752e-03 -7.60328269e-05 9.99983781e-01 5.80847972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7827550960001 meters 0.01794122956286621 Centerline is valid? [True, True] Translation: X:73.65, Y:228.98, Z:5.81 [[-5.83512603e-01 -8.12096425e-01 3.52696189e-03 7.36495808e+01] [ 8.12080756e-01 -5.83523256e-01 -5.04540632e-03 2.28984227e+02] [ 6.15542072e-03 -7.98803013e-05 9.99981052e-01 5.80856129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.81275509600005 meters 0.01794122956286621 Centerline is valid? [True, True] Translation: X:73.63, Y:229.01, Z:5.81 [[-5.83814681e-01 -8.11879279e-01 3.52907651e-03 7.36344905e+01] [ 8.11863615e-01 -5.83825342e-01 -5.04392617e-03 2.29005310e+02] [ 6.15542344e-03 -7.95893363e-05 9.99981052e-01 5.80886969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8427550960001 meters 0.01738252352897813 Centerline is valid? [True, True] Translation: X:73.62, Y:229.03, Z:5.81 [[-5.83904188e-01 -8.11814678e-01 3.58154405e-03 7.36181896e+01] [ 8.11798568e-01 -5.83915167e-01 -5.11496227e-03 2.29025914e+02] [ 6.24371934e-03 -7.91555612e-05 9.99980505e-01 5.80846702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.87275509600005 meters 0.01802102160402194 Centerline is valid? [True, True] Translation: X:73.60, Y:229.05, Z:5.81 [[-5.84480564e-01 -8.11399978e-01 3.54197285e-03 7.36046214e+01] [ 8.11384239e-01 -5.84491291e-01 -5.05447397e-03 2.29047018e+02] [ 6.17145235e-03 -8.03408538e-05 9.99980953e-01 5.80943971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9027550960001 meters 0.017343061830010817 Centerline is valid? [True, True] Translation: X:73.59, Y:229.07, Z:5.81 [[-5.84558067e-01 -8.11345425e-01 3.23541759e-03 7.35865258e+01] [ 8.11332313e-01 -5.84567017e-01 -4.61316184e-03 2.29068225e+02] [ 5.63418616e-03 -7.16621358e-05 9.99984125e-01 5.80897452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.93275509600005 meters 0.017793103276508113 Centerline is valid? [True, True] Translation: X:73.57, Y:229.09, Z:5.81 [[-5.84981072e-01 -8.11040884e-01 3.13522480e-03 7.35714658e+01] [ 8.11028581e-01 -5.84989470e-01 -4.46777424e-03 2.29088772e+02] [ 5.45762106e-03 -7.08064497e-05 9.99985105e-01 5.80950366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9627550960001 meters 0.017533101250643807 Centerline is valid? [True, True] Translation: X:73.55, Y:229.11, Z:5.81 [[-5.85300820e-01 -8.10810732e-01 2.98435067e-03 7.35547848e+01] [ 8.10799600e-01 -5.85308425e-01 -4.24919598e-03 2.29109492e+02] [ 5.19205929e-03 -6.73475616e-05 9.99986519e-01 5.80922158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.99275509600005 meters 0.018059227571399876 Centerline is valid? [True, True] Translation: X:73.54, Y:229.13, Z:5.81 [[-5.86428409e-01 -8.09995857e-01 2.90392743e-03 7.35397688e+01] [ 8.09985322e-01 -5.86435595e-01 -4.13167740e-03 2.29130074e+02] [ 5.04960798e-03 -7.07944114e-05 9.99987248e-01 5.80977368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0227550960001 meters 0.01871402169673594 Centerline is valid? [True, True] Translation: X:73.53, Y:229.15, Z:5.81 [[-5.87148987e-01 -8.09474881e-01 2.54648611e-03 7.35255569e+01] [ 8.09466790e-01 -5.87154505e-01 -3.61969709e-03 2.29151396e+02] [ 4.42523466e-03 -6.40055347e-05 9.99990207e-01 5.81095602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.05275509600006 meters 0.018190438572253727 Centerline is valid? [True, True] Translation: X:73.51, Y:229.17, Z:5.81 [[-5.88190409e-01 -8.08718602e-01 2.50301507e-03 7.35075362e+01] [ 8.08710785e-01 -5.88195731e-01 -3.55645029e-03 2.29172326e+02] [ 4.34843029e-03 -6.76546691e-05 9.99990543e-01 5.81006918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.082755096 meters 0.018343801496932828 Centerline is valid? [True, True] Translation: X:73.49, Y:229.19, Z:5.81 [[-5.88719704e-01 -8.08332735e-01 2.70185186e-03 7.34919786e+01] [ 8.08323637e-01 -5.88725899e-01 -3.83591709e-03 2.29193263e+02] [ 4.69134751e-03 -7.43092502e-05 9.99988993e-01 5.80994233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.11275509600006 meters 0.018628230989718993 Centerline is valid? [True, True] Translation: X:73.48, Y:229.21, Z:5.81 [[-5.89409227e-01 -8.07830031e-01 2.72091112e-03 7.34764693e+01] [ 8.07820814e-01 -5.89415502e-01 -3.85988155e-03 2.29214035e+02] [ 4.72187543e-03 -7.70411681e-05 9.99988849e-01 5.80980772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14275509600003 meters 0.018552642500693276 Centerline is valid? [True, True] Translation: X:73.46, Y:229.24, Z:5.81 [[-5.89988206e-01 -8.07406254e-01 3.00950467e-03 7.34590393e+01] [ 8.07394999e-01 -5.89995876e-01 -4.26400148e-03 2.29235386e+02] [ 5.21837680e-03 -8.58515647e-05 9.99986381e-01 5.80919463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.17275509600006 meters 0.01858265997461322 Centerline is valid? [True, True] Translation: X:73.44, Y:229.26, Z:5.81 [[-5.90579454e-01 -8.06973228e-01 3.18076602e-03 7.34429862e+01] [ 8.06960671e-01 -5.90588012e-01 -4.50282624e-03 2.29257433e+02] [ 5.51218251e-03 -9.25235795e-05 9.99984804e-01 5.80898844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20275509600003 meters 0.018724885370439235 Centerline is valid? [True, True] Translation: X:73.43, Y:229.28, Z:5.81 [[-5.91685096e-01 -8.06162729e-01 3.22520956e-03 7.34268606e+01] [ 8.06149826e-01 -5.91693877e-01 -4.56220191e-03 2.29279803e+02] [ 5.58621389e-03 -9.93847452e-05 9.99984392e-01 5.80851928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.23275509600006 meters 0.019084675485104997 Centerline is valid? [True, True] Translation: X:73.41, Y:229.30, Z:5.81 [[-5.92322316e-01 -8.05693682e-01 3.45901287e-03 7.34120375e+01] [ 8.05678857e-01 -5.92332406e-01 -4.88877101e-03 2.29301895e+02] [ 5.98773733e-03 -1.08874625e-04 9.99982067e-01 5.80864077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26275509600003 meters 0.0192386865071824 Centerline is valid? [True, True] Translation: X:73.40, Y:229.32, Z:5.81 [[-5.93121754e-01 -8.05104895e-01 3.56268040e-03 7.33965164e+01] [ 8.05089186e-01 -5.93132442e-01 -5.03076168e-03 2.29324535e+02] [ 6.16343219e-03 -1.15578726e-04 9.99980999e-01 5.80845370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.29275509600006 meters 0.019929816512245714 Centerline is valid? [True, True] Translation: X:73.38, Y:229.35, Z:5.81 [[-5.93803294e-01 -8.04601345e-01 3.78464951e-03 7.33822752e+01] [ 8.04583635e-01 -5.93815342e-01 -5.33981423e-03 2.29347088e+02] [ 6.54380465e-03 -1.25732218e-04 9.99978581e-01 5.80878896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32275509600004 meters 0.02031469081448029 Centerline is valid? [True, True] Translation: X:73.37, Y:229.37, Z:5.81 [[-5.94561518e-01 -8.04041127e-01 3.80368400e-03 7.33678385e+01] [ 8.04023255e-01 -5.94573670e-01 -5.36242361e-03 2.29368964e+02] [ 6.57317948e-03 -1.30040328e-04 9.99978388e-01 5.80867259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.35275509600007 meters 0.020171478243454576 Centerline is valid? [True, True] Translation: X:73.35, Y:229.39, Z:5.81 [[-5.94875312e-01 -8.03808210e-01 3.96547649e-03 7.33519564e+01] [ 8.03788813e-01 -5.94888514e-01 -5.58567928e-03 2.29390609e+02] [ 6.84883128e-03 -1.35377071e-04 9.99976537e-01 5.80885531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38275509600004 meters 0.020516349425462287 Centerline is valid? [True, True] Translation: X:73.34, Y:229.41, Z:5.81 [[-5.94914350e-01 -8.03779414e-01 3.94580584e-03 7.33379302e+01] [ 8.03760239e-01 -5.94927421e-01 -5.55359274e-03 2.29411564e+02] [ 6.81133161e-03 -1.32430177e-04 9.99976794e-01 5.80974271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41275509600007 meters 0.020711844712358 Centerline is valid? [True, True] Translation: X:73.32, Y:229.43, Z:5.81 [[-5.94564398e-01 -8.04040332e-01 3.51031040e-03 7.33201664e+01] [ 8.04025181e-01 -5.94574749e-01 -4.93724308e-03 2.29431900e+02] [ 6.05688449e-03 -1.13131004e-04 9.99981651e-01 5.80762517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44275509600004 meters 0.019361484136370496 Centerline is valid? [True, True] Translation: X:73.30, Y:229.45, Z:5.81 [[-5.94063908e-01 -8.04410460e-01 3.44740441e-03 7.33037263e+01] [ 8.04395877e-01 -5.94073902e-01 -4.84485301e-03 2.29453143e+02] [ 5.94526343e-03 -1.05074423e-04 9.99982321e-01 5.81043868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.47275509600007 meters 0.019113157598789742 Centerline is valid? [True, True] Translation: X:73.29, Y:229.47, Z:5.81 [[-5.93457525e-01 -8.04857638e-01 3.51422299e-03 7.32878086e+01] [ 8.04842517e-01 -5.93467921e-01 -4.93450958e-03 2.29473879e+02] [ 6.05715634e-03 -1.00025765e-04 9.99981650e-01 5.81067143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50275509600004 meters 0.018387976911735642 Centerline is valid? [True, True] Translation: X:73.27, Y:229.49, Z:5.81 [[-5.91547504e-01 -8.06261729e-01 3.68440932e-03 7.32700308e+01] [ 8.06245167e-01 -5.91558972e-01 -5.16848126e-03 2.29494843e+02] [ 6.34669403e-03 -8.68649850e-05 9.99979856e-01 5.81091632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5327550960001 meters 0.018440408049486743 Centerline is valid? [True, True] Translation: X:73.26, Y:229.51, Z:5.81 [[-5.90963156e-01 -8.06690782e-01 3.53988735e-03 7.32550691e+01] [ 8.06675519e-01 -5.90973753e-01 -4.96295012e-03 2.29514894e+02] [ 6.09554662e-03 -7.73802051e-05 9.99981419e-01 5.81164589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56275509600005 meters 0.018067431416461874 Centerline is valid? [True, True] Translation: X:73.24, Y:229.54, Z:5.81 [[-5.90555558e-01 -8.06989675e-01 3.43483273e-03 7.32384819e+01] [ 8.06975333e-01 -5.90565542e-01 -4.81160582e-03 2.29535201e+02] [ 5.91141007e-03 -6.96952738e-05 9.99982525e-01 5.81161516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5927550960001 meters 0.01764646103878832 Centerline is valid? [True, True] Translation: X:73.22, Y:229.56, Z:5.81 [[-5.89679212e-01 -8.07629193e-01 3.67624628e-03 7.32213711e+01] [ 8.07612806e-01 -5.89690667e-01 -5.14519747e-03 2.29555865e+02] [ 6.32325980e-03 -6.50324143e-05 9.99980006e-01 5.81112580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62275509600005 meters 0.017373779064104332 Centerline is valid? [True, True] Translation: X:73.21, Y:229.58, Z:5.81 [[-5.89622601e-01 -8.07669343e-01 3.92691384e-03 7.32051167e+01] [ 8.07650679e-01 -5.89635674e-01 -5.49120538e-03 2.29576346e+02] [ 6.75052673e-03 -6.61641726e-05 9.99977213e-01 5.81081860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6527550960001 meters 0.01736377422403016 Centerline is valid? [True, True] Translation: X:73.19, Y:229.60, Z:5.81 [[-5.89887435e-01 -8.07474242e-01 4.26180934e-03 7.31888641e+01] [ 8.07452297e-01 -5.89902826e-01 -5.95346079e-03 2.29598667e+02] [ 7.32131961e-03 -7.06639785e-05 9.99973196e-01 5.81059419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68275509600005 meters 0.018094244067643653 Centerline is valid? [True, True] Translation: X:73.18, Y:229.62, Z:5.81 [[-5.91036453e-01 -8.06631179e-01 4.69599781e-03 7.31756767e+01] [ 8.06604552e-01 -5.91055102e-01 -6.55465702e-03 2.29619973e+02] [ 8.06278418e-03 -8.62280219e-05 9.99967492e-01 5.81037104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7127550960001 meters 0.017775663172118004 Centerline is valid? [True, True] Translation: X:73.16, Y:229.64, Z:5.81 [[-5.92048251e-01 -8.05888288e-01 4.78909635e-03 7.31587426e+01] [ 8.05860623e-01 -5.92067613e-01 -6.67821331e-03 2.29641689e+02] [ 8.21736273e-03 -9.44803435e-05 9.99966232e-01 5.80974452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74275509600005 meters 0.018006475529488197 Centerline is valid? [True, True] Translation: X:73.14, Y:229.66, Z:5.81 [[-5.93121602e-01 -8.05099248e-01 4.68679739e-03 7.31428938e+01] [ 8.05072766e-01 -5.93140110e-01 -6.53081304e-03 2.29664398e+02] [ 8.03788018e-03 -1.00353354e-04 9.99967691e-01 5.81023825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7727550960001 meters 0.01915210021308996 Centerline is valid? [True, True] Translation: X:73.13, Y:229.69, Z:5.81 [[-5.95552106e-01 -8.03305638e-01 4.21202639e-03 7.31290685e+01] [ 8.03284230e-01 -5.95566990e-01 -5.86570104e-03 2.29686954e+02] [ 7.22049459e-03 -1.09876230e-04 9.99973926e-01 5.81190187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80275509600006 meters 0.01933174433236612 Centerline is valid? [True, True] Translation: X:73.11, Y:229.71, Z:5.81 [[-5.96701270e-01 -8.02453254e-01 4.04591181e-03 7.31135455e+01] [ 8.02433509e-01 -5.96714976e-01 -5.63036147e-03 2.29708381e+02] [ 6.93235805e-03 -1.13068630e-04 9.99975965e-01 5.81241557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.832755096 meters 0.019841932910780027 Centerline is valid? [True, True] Translation: X:73.10, Y:229.73, Z:5.81 [[-5.98589488e-01 -8.01043599e-01 4.44726260e-03 7.30975933e+01] [ 8.01019750e-01 -5.98605992e-01 -6.18278419e-03 2.29730108e+02] [ 7.61483773e-03 -1.38604444e-04 9.99970997e-01 5.81203172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86275509600006 meters 0.020109081291748484 Centerline is valid? [True, True] Translation: X:73.08, Y:229.75, Z:5.81 [[-5.99448347e-01 -8.00400354e-01 4.57743142e-03 7.30817421e+01] [ 8.00375106e-01 -5.99465805e-01 -6.35910309e-03 2.29751608e+02] [ 7.83384197e-03 -1.48291678e-04 9.99969304e-01 5.81211748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.89275509600003 meters 0.020390387947594818 Centerline is valid? [True, True] Translation: X:73.07, Y:229.77, Z:5.81 [[-6.00219739e-01 -7.99821989e-01 4.58813633e-03 7.30661881e+01] [ 7.99796647e-01 -6.00237255e-01 -6.36870267e-03 2.29773512e+02] [ 7.84779879e-03 -1.53045003e-04 9.99969194e-01 5.81188917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92275509600006 meters 0.02083375630506027 Centerline is valid? [True, True] Translation: X:73.05, Y:229.79, Z:5.81 [[-6.01074688e-01 -7.99179151e-01 4.68019146e-03 7.30516148e+01] [ 7.99152806e-01 -6.01092887e-01 -6.49112552e-03 2.29794085e+02] [ 8.00080198e-03 -1.61463113e-04 9.99967980e-01 5.81149017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.95275509600003 meters 0.021199063801563663 Centerline is valid? [True, True] Translation: X:73.04, Y:229.82, Z:5.81 [[-6.01822025e-01 -7.98615037e-01 4.92667553e-03 7.30358652e+01] [ 7.98585879e-01 -6.01842165e-01 -6.82660530e-03 2.29815535e+02] [ 8.41691071e-03 -1.74027920e-04 9.99964562e-01 5.81136450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98275509600006 meters 0.02144435357652297 Centerline is valid? [True, True] Translation: X:73.02, Y:229.84, Z:5.81 [[-6.02235778e-01 -7.98302094e-01 5.08287368e-03 7.30208198e+01] [ 7.98271100e-01 -6.02257200e-01 -7.03671507e-03 2.29836051e+02] [ 8.67862164e-03 -1.80250405e-04 9.99962324e-01 5.81102732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01275509600003 meters 0.021562214940977445 Centerline is valid? [True, True] Translation: X:73.01, Y:229.86, Z:5.81 [[-6.02654673e-01 -7.97985314e-01 5.17531884e-03 7.30051971e+01] [ 7.97953209e-01 -6.02676866e-01 -7.16041132e-03 2.29857035e+02] [ 8.83294801e-03 -1.85593068e-04 9.99960972e-01 5.81098864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04275509600006 meters 0.021770050723060718 Centerline is valid? [True, True] Translation: X:72.99, Y:229.88, Z:5.81 [[-6.02788029e-01 -7.97882001e-01 5.55924419e-03 7.29896685e+01] [ 7.97845014e-01 -6.02813631e-01 -7.68503553e-03 2.29877246e+02] [ 9.48293970e-03 -1.97032162e-04 9.99955017e-01 5.81026809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07275509600004 meters 0.021622401769424236 Centerline is valid? [True, True] Translation: X:72.97, Y:229.90, Z:5.81 [[-6.02704445e-01 -7.97943530e-01 5.78575914e-03 7.29732098e+01] [ 7.97903539e-01 -6.02732182e-01 -7.99120761e-03 2.29897810e+02] [ 9.86379564e-03 -1.99858657e-04 9.99951332e-01 5.81013063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.10275509600007 meters 0.01991905756594081 Centerline is valid? [True, True] Translation: X:72.95, Y:229.92, Z:5.81 [[-6.02247382e-01 -7.98286411e-01 6.07419374e-03 7.29527708e+01] [ 7.98242422e-01 -6.02277980e-01 -8.38269093e-03 2.29916588e+02] [ 1.03501414e-02 -1.99774548e-04 9.99946416e-01 5.80975561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13275509600004 meters 0.02130025541188735 Centerline is valid? [True, True] Translation: X:72.94, Y:229.94, Z:5.81 [[-6.01982062e-01 -7.98486702e-01 6.04851193e-03 7.29387440e+01] [ 7.98443159e-01 -6.02012417e-01 -8.34098629e-03 2.29939410e+02] [ 1.03014459e-02 -1.91731151e-04 9.99946920e-01 5.81003334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16275509600007 meters 0.021098244254716573 Centerline is valid? [True, True] Translation: X:72.92, Y:229.96, Z:5.81 [[-6.01908046e-01 -7.98541125e-01 6.22704927e-03 7.29223822e+01] [ 7.98495050e-01 -6.01940226e-01 -8.58017807e-03 2.29959272e+02] [ 1.05999365e-02 -1.92210191e-04 9.99943801e-01 5.80996805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.19275509600004 meters 0.019495595904330518 Centerline is valid? [True, True] Translation: X:72.90, Y:229.98, Z:5.81 [[-6.01740974e-01 -7.98664587e-01 6.53288028e-03 7.29021225e+01] [ 7.98613971e-01 -6.01776404e-01 -8.99362037e-03 2.29978831e+02] [ 1.11142193e-02 -1.94580415e-04 9.99938216e-01 5.80935667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.22275509600007 meters 0.019576670365453786 Centerline is valid? [True, True] Translation: X:72.89, Y:230.00, Z:5.81 [[-6.01888454e-01 -7.98552849e-01 6.60579406e-03 7.28862567e+01] [ 7.98501170e-01 -6.01924671e-01 -9.08688855e-03 2.30000270e+02] [ 1.12325512e-02 -1.94559015e-04 9.99936894e-01 5.80940816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.25275509600004 meters 0.019750934417234554 Centerline is valid? [True, True] Translation: X:72.87, Y:230.02, Z:5.81 [[-6.02458487e-01 -7.98122620e-01 6.63737041e-03 7.28700344e+01] [ 7.98070480e-01 -6.02495015e-01 -9.12502240e-03 2.30022393e+02] [ 1.12818694e-02 -2.00357806e-04 9.99936338e-01 5.80979438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2827550960001 meters 0.020049543999686864 Centerline is valid? [True, True] Translation: X:72.85, Y:230.04, Z:5.81 [[-6.03366264e-01 -7.97439632e-01 6.25975080e-03 7.28539271e+01] [ 7.97393284e-01 -6.03398703e-01 -8.59980917e-03 2.30044661e+02] [ 1.06349542e-02 -1.97351485e-04 9.99943428e-01 5.81032238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.31275509600005 meters 0.02042381467568241 Centerline is valid? [True, True] Translation: X:72.84, Y:230.07, Z:5.81 [[-6.04138205e-01 -7.96856207e-01 6.10034946e-03 7.28389443e+01] [ 7.96812221e-01 -6.04168971e-01 -8.37488500e-03 2.30065642e+02] [ 1.03592210e-02 -1.98754985e-04 9.99946322e-01 5.81120210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3427550960001 meters 0.020604751218172835 Centerline is valid? [True, True] Translation: X:72.82, Y:230.09, Z:5.81 [[-6.04814050e-01 -7.96345109e-01 5.86799783e-03 7.28242461e+01] [ 7.96304452e-01 -6.04842484e-01 -8.04925832e-03 2.30087005e+02] [ 9.95920187e-03 -1.95591729e-04 9.99950387e-01 5.81196708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.37275509600005 meters 0.021207925228178902 Centerline is valid? [True, True] Translation: X:72.81, Y:230.11, Z:5.81 [[-6.05186060e-01 -7.96060380e-01 6.14039014e-03 7.28101994e+01] [ 7.96015926e-01 -6.05217175e-01 -8.41523943e-03 2.30108485e+02] [ 1.04153083e-02 -2.04937251e-04 9.99945738e-01 5.81270304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4027550960001 meters 0.02044946605121602 Centerline is valid? [True, True] Translation: X:72.79, Y:230.13, Z:5.81 [[-6.05532816e-01 -7.95796214e-01 6.19630946e-03 7.27922609e+01] [ 7.95751011e-01 -6.05564483e-01 -8.48441569e-03 2.30129706e+02] [ 1.05041308e-02 -2.06872609e-04 9.99944809e-01 5.81243974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.43275509600005 meters 0.020766411453884984 Centerline is valid? [True, True] Translation: X:72.78, Y:230.15, Z:5.81 [[-6.05287970e-01 -7.95985353e-01 5.81302087e-03 7.27772587e+01] [ 7.95945631e-01 -6.05315854e-01 -7.95425614e-03 2.30149954e+02] [ 9.85018507e-03 -1.87766990e-04 9.99951468e-01 5.81292773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4627550960001 meters 0.02057272437234099 Centerline is valid? [True, True] Translation: X:72.76, Y:230.17, Z:5.81 [[-6.04962127e-01 -7.96232434e-01 5.89381531e-03 7.27612408e+01] [ 7.96191684e-01 -6.04990809e-01 -8.05755640e-03 2.30170649e+02] [ 9.98139183e-03 -1.81909720e-04 9.99950168e-01 5.81329562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.49275509600005 meters 0.020565172842225764 Centerline is valid? [True, True] Translation: X:72.75, Y:230.19, Z:5.81 [[-6.04930976e-01 -7.96255701e-01 5.94746222e-03 7.27457372e+01] [ 7.96214273e-01 -6.04960186e-01 -8.12434086e-03 2.30191387e+02] [ 1.00670306e-02 -1.79211141e-04 9.99949310e-01 5.81345396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5227550960001 meters 0.020514379227364044 Centerline is valid? [True, True] Translation: X:72.73, Y:230.21, Z:5.81 [[-6.05090249e-01 -7.96135730e-01 5.80436276e-03 7.27296038e+01] [ 7.96096330e-01 -6.05118063e-01 -7.92235013e-03 2.30212886e+02] [ 9.81959075e-03 -1.72904918e-04 9.99951772e-01 5.81389403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.55275509600006 meters 0.02048092413469579 Centerline is valid? [True, True] Translation: X:72.71, Y:230.23, Z:5.81 [[-6.05145308e-01 -7.96093024e-01 5.92058421e-03 7.27149547e+01] [ 7.96052094e-01 -6.05174246e-01 -8.07438194e-03 2.30234715e+02] [ 1.00109442e-02 -1.73080890e-04 9.99949874e-01 5.81418163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.582755096 meters 0.019866236438041262 Centerline is valid? [True, True] Translation: X:72.70, Y:230.26, Z:5.81 [[-6.05387224e-01 -7.95910791e-01 5.68525621e-03 7.26976474e+01] [ 7.95873099e-01 -6.05413897e-01 -7.74749909e-03 2.30256394e+02] [ 9.60825124e-03 -1.65494496e-04 9.99953826e-01 5.81471273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.61275509600006 meters 0.020360206002289733 Centerline is valid? [True, True] Translation: X:72.68, Y:230.28, Z:5.81 [[-6.05239003e-01 -7.96020052e-01 6.15034042e-03 7.26837378e+01] [ 7.95976020e-01 -6.05270227e-01 -8.37423111e-03 2.30278192e+02] [ 1.03886738e-02 -1.72887802e-04 9.99946021e-01 5.81453646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64275509600003 meters 0.02016995510828213 Centerline is valid? [True, True] Translation: X:72.67, Y:230.30, Z:5.81 [[-6.05021030e-01 -7.96182432e-01 6.56413868e-03 7.26674980e+01] [ 7.96132356e-01 -6.05056611e-01 -8.93132415e-03 2.30299664e+02] [ 1.10826389e-02 -1.77715748e-04 9.99938570e-01 5.81427178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.67275509600006 meters 0.02003340938346542 Centerline is valid? [True, True] Translation: X:72.65, Y:230.32, Z:5.81 [[-6.04742401e-01 -7.96394446e-01 6.52036056e-03 7.26511164e+01] [ 7.96345121e-01 -6.04777527e-01 -8.86517152e-03 2.30320761e+02] [ 1.10035409e-02 -1.68687786e-04 9.99939445e-01 5.81439877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70275509600003 meters 0.018965657765906863 Centerline is valid? [True, True] Translation: X:72.63, Y:230.34, Z:5.81 [[-6.02869925e-01 -7.97816319e-01 6.08068930e-03 7.26302438e+01] [ 7.97773556e-01 -6.02900576e-01 -8.26131467e-03 2.30339364e+02] [ 1.02570627e-02 -1.29485031e-04 9.99947387e-01 5.81494755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.73275509600006 meters 0.018965657765906863 Centerline is valid? [True, True] Translation: X:72.61, Y:230.36, Z:5.82 [[-6.03154143e-01 -7.97601447e-01 6.08363105e-03 7.26142133e+01] [ 7.97558695e-01 -6.03184809e-01 -8.25914766e-03 2.30360777e+02] [ 1.02570620e-02 -1.29486289e-04 9.99947387e-01 5.81526602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76275509600003 meters 0.018817142665051405 Centerline is valid? [True, True] Translation: X:72.60, Y:230.38, Z:5.82 [[-6.02249436e-01 -7.98284226e-01 6.15727611e-03 7.25975054e+01] [ 7.98240534e-01 -6.02280900e-01 -8.35269970e-03 2.30379855e+02] [ 1.03762382e-02 -1.15421312e-04 9.99946159e-01 5.81539419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.79275509600006 meters 0.01864285499339687 Centerline is valid? [True, True] Translation: X:72.58, Y:230.40, Z:5.82 [[-6.01391710e-01 -7.98929356e-01 6.31629551e-03 7.25813203e+01] [ 7.98883473e-01 -6.01424870e-01 -8.56281575e-03 2.30399217e+02] [ 1.06398621e-02 -1.03622307e-04 9.99943390e-01 5.81519683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82275509600004 meters 0.01806563798102899 Centerline is valid? [True, True] Translation: X:72.56, Y:230.42, Z:5.82 [[-5.99789552e-01 -8.00131885e-01 6.43889760e-03 7.25621037e+01] [ 8.00084355e-01 -5.99824108e-01 -8.72148346e-03 2.30417699e+02] [ 1.08405430e-02 -7.93934211e-05 9.99941236e-01 5.81526570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.85275509600007 meters 0.017885540837832517 Centerline is valid? [True, True] Translation: X:72.54, Y:230.44, Z:5.82 [[-5.99273496e-01 -8.00515964e-01 6.74299331e-03 7.25446245e+01] [ 8.00463954e-01 -5.99311427e-01 -9.12540353e-03 2.30439152e+02] [ 1.13461841e-02 -7.10893941e-05 9.99935627e-01 5.81562080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88275509600004 meters 0.01805781339814056 Centerline is valid? [True, True] Translation: X:72.53, Y:230.46, Z:5.82 [[-5.99214714e-01 -8.00561130e-01 6.60327760e-03 7.25289583e+01] [ 8.00511328e-01 -5.99251093e-01 -8.92981655e-03 2.30459741e+02] [ 1.11058854e-02 -6.48789524e-05 9.99938326e-01 5.81590070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91275509600007 meters 0.017927065093504474 Centerline is valid? [True, True] Translation: X:72.51, Y:230.48, Z:5.82 [[-5.99297257e-01 -8.00498296e-01 6.72878981e-03 7.25121530e+01] [ 8.00446670e-01 -5.99335027e-01 -9.09141405e-03 2.30481113e+02] [ 1.13104609e-02 -6.24221093e-05 9.99936033e-01 5.81634599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94275509600004 meters 0.01801841183405784 Centerline is valid? [True, True] Translation: X:72.49, Y:230.50, Z:5.82 [[-5.99607262e-01 -8.00262309e-01 7.16716513e-03 7.24948063e+01] [ 8.00203815e-01 -5.99650091e-01 -9.67589154e-03 2.30502433e+02] [ 1.20410425e-02 -6.65419537e-05 9.99927502e-01 5.81576339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.97275509600007 meters 0.018050042235872872 Centerline is valid? [True, True] Translation: X:72.48, Y:230.52, Z:5.82 [[-6.00155008e-01 -7.99849917e-01 7.35375012e-03 7.24783872e+01] [ 7.99788401e-01 -6.00200055e-01 -9.92007811e-03 2.30523766e+02] [ 1.23482949e-02 -7.21404984e-05 9.99923754e-01 5.81570119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00275509600004 meters 0.018246441406451312 Centerline is valid? [True, True] Translation: X:72.46, Y:230.55, Z:5.82 [[-6.01676823e-01 -7.98706941e-01 7.22650600e-03 7.24629814e+01] [ 7.98647541e-01 -6.01720212e-01 -9.74120447e-03 2.30545769e+02] [ 1.21287023e-02 -8.96257067e-05 9.99926441e-01 5.81584905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0327550960001 meters 0.01855180923201935 Centerline is valid? [True, True] Translation: X:72.45, Y:230.57, Z:5.82 [[-6.03343800e-01 -7.97446419e-01 7.44767631e-03 7.24482471e+01] [ 7.97383328e-01 -6.03389755e-01 -1.00315320e-02 2.30566841e+02] [ 1.24934608e-02 -1.13809704e-04 9.99921947e-01 5.81620222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06275509600005 meters 0.019335019425216614 Centerline is valid? [True, True] Translation: X:72.43, Y:230.59, Z:5.82 [[-6.04919172e-01 -7.96249374e-01 7.72858203e-03 7.24327729e+01] [ 7.96181456e-01 -6.04968525e-01 -1.04006385e-02 2.30588802e+02] [ 1.29570508e-02 -1.38191951e-04 9.99916044e-01 5.81547487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0927550960001 meters 0.01967294882233711 Centerline is valid? [True, True] Translation: X:72.42, Y:230.61, Z:5.82 [[-6.08649268e-01 -7.93402776e-01 7.62261937e-03 7.24198776e+01] [ 7.93336582e-01 -6.08696968e-01 -1.02503268e-02 2.30611940e+02] [ 1.27725030e-02 -1.91551104e-04 9.99918410e-01 5.81684373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12275509600005 meters 0.02023302249069649 Centerline is valid? [True, True] Translation: X:72.41, Y:230.63, Z:5.82 [[-6.10733078e-01 -7.91797980e-01 7.81444820e-03 7.24055511e+01] [ 7.91728393e-01 -6.10783028e-01 -1.04997455e-02 2.30634676e+02] [ 1.30866096e-02 -2.25621401e-04 9.99914341e-01 5.81740737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1527550960001 meters 0.020702165902191497 Centerline is valid? [True, True] Translation: X:72.39, Y:230.66, Z:5.82 [[-6.12840338e-01 -7.90167089e-01 7.91779959e-03 7.23899550e+01] [ 7.90095623e-01 -6.12891429e-01 -1.06302356e-02 2.30658590e+02] [ 1.32524138e-02 -2.58818370e-04 9.99912149e-01 5.81822053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18275509600005 meters 0.022712454412823158 Centerline is valid? [True, True] Translation: X:72.38, Y:230.68, Z:5.82 [[-6.16114047e-01 -7.87614707e-01 8.15811341e-03 7.23788685e+01] [ 7.87538715e-01 -6.16167974e-01 -1.09453658e-02 2.30682501e+02] [ 1.36474993e-02 -3.18763477e-04 9.99906818e-01 5.81823176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2127550960001 meters 0.023092831915256223 Centerline is valid? [True, True] Translation: X:72.36, Y:230.70, Z:5.82 [[-6.17235991e-01 -7.86733921e-01 8.33483499e-03 7.23624977e+01] [ 7.86654622e-01 -6.17292169e-01 -1.11751726e-02 2.30704762e+02] [ 1.39369157e-02 -3.41082284e-04 9.99902818e-01 5.81924384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24275509600005 meters 0.022766673252142405 Centerline is valid? [True, True] Translation: X:72.34, Y:230.73, Z:5.82 [[-6.17839412e-01 -7.86262986e-01 8.06083506e-03 7.23449956e+01] [ 7.86188879e-01 -6.17891903e-01 -1.08001370e-02 2.30725883e+02] [ 1.34724727e-02 -3.35411388e-04 9.99909186e-01 5.82026107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2727550960001 meters 0.023821828067287155 Centerline is valid? [True, True] Translation: X:72.33, Y:230.75, Z:5.82 [[-6.18505471e-01 -7.85736871e-01 8.27959714e-03 7.23302633e+01] [ 7.85658758e-01 -6.18560786e-01 -1.10846925e-02 2.30747763e+02] [ 1.38310857e-02 -3.51004962e-04 9.99904284e-01 5.82061533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30275509600006 meters 0.02331262166364126 Centerline is valid? [True, True] Translation: X:72.31, Y:230.77, Z:5.82 [[-6.18473235e-01 -7.85761699e-01 8.33126389e-03 7.23131757e+01] [ 7.85682733e-01 -6.18529249e-01 -1.11450203e-02 2.30768194e+02] [ 1.39104604e-02 -3.47166546e-04 9.99903185e-01 5.82128951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.332755096 meters 0.02269244010341693 Centerline is valid? [True, True] Translation: X:72.30, Y:230.79, Z:5.82 [[-6.17909893e-01 -7.86202101e-01 8.58023160e-03 7.22953165e+01] [ 7.86118523e-01 -6.17969368e-01 -1.14685687e-02 2.30788336e+02] [ 1.43189331e-02 -3.41463069e-04 9.99897421e-01 5.82178325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36275509600006 meters 0.022793165451101296 Centerline is valid? [True, True] Translation: X:72.28, Y:230.81, Z:5.82 [[-6.17768389e-01 -7.86312891e-01 8.61713290e-03 7.22797415e+01] [ 7.86228740e-01 -6.17828395e-01 -1.15084167e-02 2.30808646e+02] [ 1.43731258e-02 -3.34498521e-04 9.99896645e-01 5.82198165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.39275509600003 meters 0.022017416373458693 Centerline is valid? [True, True] Translation: X:72.26, Y:230.83, Z:5.82 [[-6.17326774e-01 -7.86659329e-01 8.64599386e-03 7.22624152e+01] [ 7.86574788e-01 -6.17387234e-01 -1.15372126e-02 2.30828424e+02] [ 1.44137822e-02 -3.21509464e-04 9.99896064e-01 5.82234436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42275509600006 meters 0.021875753990552964 Centerline is valid? [True, True] Translation: X:72.25, Y:230.85, Z:5.82 [[-6.17013784e-01 -7.86902344e-01 8.87081222e-03 7.22461526e+01] [ 7.86813519e-01 -6.17077467e-01 -1.18273127e-02 2.30848418e+02] [ 1.47809185e-02 -3.17940014e-04 9.99890706e-01 5.82279908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.45275509600003 meters 0.02059048800252676 Centerline is valid? [True, True] Translation: X:72.23, Y:230.87, Z:5.82 [[-6.16133986e-01 -7.87589460e-01 9.04176283e-03 7.22261680e+01] [ 7.87497406e-01 -6.16200253e-01 -1.20451253e-02 2.30867568e+02] [ 1.50581503e-02 -3.01046298e-04 9.99886574e-01 5.82274226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48275509600006 meters 0.020780737407037463 Centerline is valid? [True, True] Translation: X:72.21, Y:230.89, Z:5.82 [[-6.16232741e-01 -7.87512037e-01 9.05543591e-03 7.22096554e+01] [ 7.87419825e-01 -6.16299199e-01 -1.20546768e-02 2.30888396e+02] [ 1.50740609e-02 -2.98056742e-04 9.99886335e-01 5.82299462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51275509600003 meters 0.020553234127799004 Centerline is valid? [True, True] Translation: X:72.19, Y:230.91, Z:5.82 [[-6.16586912e-01 -7.87240196e-01 8.57053867e-03 7.21914630e+01] [ 7.87157665e-01 -6.16646409e-01 -1.14025305e-02 2.30908867e+02] [ 1.42615222e-02 -2.84285872e-04 9.99898259e-01 5.82399097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54275509600006 meters 0.020603299383459506 Centerline is valid? [True, True] Translation: X:72.17, Y:230.93, Z:5.82 [[-6.16993327e-01 -7.86924511e-01 8.30959046e-03 7.21747579e+01] [ 7.86847012e-01 -6.17049218e-01 -1.10472812e-02 2.30930131e+02] [ 1.38208027e-02 -2.77722383e-04 9.99904450e-01 5.82488351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57275509600004 meters 0.02089242310413278 Centerline is valid? [True, True] Translation: X:72.16, Y:230.95, Z:5.83 [[-6.17672025e-01 -7.86394823e-01 8.02820085e-03 7.21589453e+01] [ 7.86322543e-01 -6.17724135e-01 -1.06654223e-02 2.30951570e+02] [ 1.33464463e-02 -2.74977666e-04 9.99910894e-01 5.82572250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60275509600007 meters 0.0206414377302389 Centerline is valid? [True, True] Translation: X:72.14, Y:230.97, Z:5.83 [[-6.18288742e-01 -7.85912104e-01 7.82280096e-03 7.21416285e+01] [ 7.85843540e-01 -6.18338168e-01 -1.03846404e-02 2.30973020e+02] [ 1.29985510e-02 -2.73208644e-04 9.99915478e-01 5.82640594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63275509600004 meters 0.02125511701265989 Centerline is valid? [True, True] Translation: X:72.13, Y:230.99, Z:5.83 [[-6.18794467e-01 -7.85516565e-01 7.55875998e-03 7.21266798e+01] [ 7.85452614e-01 -6.18840573e-01 -1.00267844e-02 2.30994639e+02] [ 1.25538726e-02 -2.67470910e-04 9.99921161e-01 5.82678377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66275509600007 meters 0.0215157741125914 Centerline is valid? [True, True] Translation: X:72.11, Y:231.02, Z:5.83 [[-6.19348211e-01 -7.85081555e-01 7.39904386e-03 7.21112748e+01] [ 7.85020318e-01 -6.19392349e-01 -9.80915531e-03 2.31015256e+02] [ 1.22838981e-02 -2.66883032e-04 9.99924514e-01 5.82703585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.69275509600004 meters 0.021242534253040957 Centerline is valid? [True, True] Translation: X:72.09, Y:231.04, Z:5.83 [[-6.19757349e-01 -7.84756372e-01 7.63321758e-03 7.20944650e+01] [ 7.84691284e-01 -6.19804292e-01 -1.01107575e-02 2.31037273e+02] [ 1.26655824e-02 -2.76496983e-04 9.99919750e-01 5.82717663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.72275509600007 meters 0.021054844292723286 Centerline is valid? [True, True] Translation: X:72.08, Y:231.06, Z:5.83 [[-6.19910724e-01 -7.84638304e-01 7.30933673e-03 7.20785372e+01] [ 7.84578699e-01 -6.19953758e-01 -9.67483948e-03 2.31058783e+02] [ 1.21227004e-02 -2.62786839e-04 9.99926483e-01 5.82775669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.75275509600004 meters 0.020864712326817948 Centerline is valid? [True, True] Translation: X:72.06, Y:231.08, Z:5.83 [[-6.19187662e-01 -7.85205777e-01 7.65025301e-03 7.20631903e+01] [ 7.85140626e-01 -6.19234867e-01 -1.01181410e-02 2.31079622e+02] [ 1.26821262e-02 -2.58503655e-04 9.99919545e-01 5.82869043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7827550960001 meters 0.020347372850957352 Centerline is valid? [True, True] Translation: X:72.05, Y:231.10, Z:5.83 [[-6.18713726e-01 -7.85580220e-01 7.55272114e-03 7.20461994e+01] [ 7.85516849e-01 -6.18759775e-01 -9.98102602e-03 2.31100221e+02] [ 1.25142167e-02 -2.42608083e-04 9.99921665e-01 5.82926555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.81275509600005 meters 0.020306281648986124 Centerline is valid? [True, True] Translation: X:72.03, Y:231.12, Z:5.83 [[-6.17946713e-01 -7.86184334e-01 7.48690525e-03 7.20309074e+01] [ 7.86122206e-01 -6.17992026e-01 -9.88601540e-03 2.31121070e+02] [ 1.23990782e-02 -2.23408247e-04 9.99923104e-01 5.82970958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8427550960001 meters 0.019633495492695996 Centerline is valid? [True, True] Translation: X:72.01, Y:231.14, Z:5.83 [[-6.16362108e-01 -7.87424875e-01 7.73426185e-03 7.20142095e+01] [ 7.87358761e-01 -6.16410599e-01 -1.02056735e-02 2.31140886e+02] [ 1.28036822e-02 -2.00751637e-04 9.99918009e-01 5.82962392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.87275509600005 meters 0.019185971308350633 Centerline is valid? [True, True] Translation: X:72.00, Y:231.16, Z:5.83 [[-6.15737955e-01 -7.87908100e-01 8.22172135e-03 7.19975423e+01] [ 7.87833550e-01 -6.15792812e-01 -1.08402061e-02 2.31161388e+02] [ 1.36039631e-02 -1.97378417e-04 9.99907442e-01 5.82944072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9027550960001 meters 0.01857886604380297 Centerline is valid? [True, True] Translation: X:71.98, Y:231.18, Z:5.83 [[-6.15156398e-01 -7.88360161e-01 8.41800868e-03 7.19806690e+01] [ 7.88282177e-01 -6.15213965e-01 -1.10899596e-02 2.31181548e+02] [ 1.39217588e-02 -1.86293386e-04 9.99903070e-01 5.82945976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.93275509600005 meters 0.018084146199780323 Centerline is valid? [True, True] Translation: X:71.97, Y:231.20, Z:5.83 [[-6.13393984e-01 -7.89732351e-01 8.40441215e-03 7.19657947e+01] [ 7.89654871e-01 -6.13451540e-01 -1.10631700e-02 2.31202354e+02] [ 1.38926428e-02 -1.49496931e-04 9.99903481e-01 5.83027341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9627550960001 meters 0.01783690007828827 Centerline is valid? [True, True] Translation: X:71.95, Y:231.22, Z:5.83 [[-6.13008065e-01 -7.90028079e-01 8.76054735e-03 7.19495581e+01] [ 7.89944041e-01 -6.13070644e-01 -1.15238104e-02 2.31222834e+02] [ 1.44749682e-02 -1.43846516e-04 9.99895222e-01 5.83022587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.99275509600005 meters 0.01792420341972963 Centerline is valid? [True, True] Translation: X:71.93, Y:231.24, Z:5.83 [[-6.12451790e-01 -7.90455595e-01 9.09709906e-03 7.19348696e+01] [ 7.90365176e-01 -6.12519334e-01 -1.19563430e-02 2.31243125e+02] [ 1.50231073e-02 -1.32653401e-04 9.99887138e-01 5.82965524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0227550960001 meters 0.01770180545513465 Centerline is valid? [True, True] Translation: X:71.92, Y:231.26, Z:5.83 [[-6.11791083e-01 -7.90956872e-01 9.94473929e-03 7.19192676e+01] [ 7.90849075e-01 -6.11871891e-01 -1.30586914e-02 2.31263604e+02] [ 1.64137681e-02 -1.24403091e-04 9.99865277e-01 5.82813136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.05275509600006 meters 0.017702148495387968 Centerline is valid? [True, True] Translation: X:71.90, Y:231.28, Z:5.83 [[-6.12076658e-01 -7.90730000e-01 1.04034394e-02 7.19036049e+01] [ 7.90612192e-01 -6.12165052e-01 -1.36496217e-02 2.31284430e+02] [ 1.71617874e-02 -1.29528828e-04 9.99852717e-01 5.82752773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.082755096 meters 0.019077020840553807 Centerline is valid? [True, True] Translation: X:71.89, Y:231.30, Z:5.83 [[-6.12620741e-01 -7.90295833e-01 1.13279911e-02 7.18894244e+01] [ 7.90156326e-01 -6.12725448e-01 -1.48494347e-02 2.31304412e+02] [ 1.86763948e-02 -1.46187830e-04 9.99825570e-01 5.82557531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.11275509600006 meters 0.017382509502875114 Centerline is valid? [True, True] Translation: X:71.87, Y:231.32, Z:5.83 [[-6.12069993e-01 -7.90724510e-01 1.11836237e-02 7.18714720e+01] [ 7.90588832e-01 -6.12172145e-01 -1.46480148e-02 2.31323300e+02] [ 1.84288472e-02 -1.23962336e-04 9.99830167e-01 5.82835391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.14275509600003 meters 0.017441322469254512 Centerline is valid? [True, True] Translation: X:71.86, Y:231.34, Z:5.83 [[-6.12160729e-01 -7.90652937e-01 1.12771835e-02 7.18556342e+01] [ 7.90515189e-01 -6.12264582e-01 -1.47586144e-02 2.31343794e+02] [ 1.85735619e-02 -1.19859297e-04 9.99827489e-01 5.82779036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.17275509600006 meters 0.017145165394789982 Centerline is valid? [True, True] Translation: X:71.84, Y:231.36, Z:5.83 [[-6.11929703e-01 -7.90823585e-01 1.18362070e-02 7.18378666e+01] [ 7.90672128e-01 -6.12044153e-01 -1.54771093e-02 2.31362960e+02] [ 1.94839444e-02 -1.12343950e-04 9.99810164e-01 5.82885788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.20275509600003 meters 0.017656740536158073 Centerline is valid? [True, True] Translation: X:71.82, Y:231.38, Z:5.83 [[-6.12829324e-01 -7.90118695e-01 1.23558693e-02 7.18233632e+01] [ 7.89953754e-01 -6.12953857e-01 -1.61442333e-02 2.31384133e+02] [ 2.03294383e-02 -1.33094214e-04 9.99793327e-01 5.82642686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.23275509600006 meters 0.01795367619531715 Centerline is valid? [True, True] Translation: X:71.81, Y:231.40, Z:5.83 [[-6.14096569e-01 -7.89130975e-01 1.25581494e-02 7.18086795e+01] [ 7.88960609e-01 -6.14224941e-01 -1.63975550e-02 2.31404458e+02] [ 2.06533471e-02 -1.61797042e-04 9.99786684e-01 5.82621052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26275509600003 meters 0.01764400236328001 Centerline is valid? [True, True] Translation: X:71.79, Y:231.43, Z:5.83 [[-6.15583300e-01 -7.87972175e-01 1.25320216e-02 7.17920776e+01] [ 7.87802523e-01 -6.15710820e-01 -1.63514811e-02 2.31425073e+02] [ 2.06006135e-02 -1.92940429e-04 9.99787766e-01 5.82818337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.29275509600006 meters 0.01893398799136172 Centerline is valid? [True, True] Translation: X:71.78, Y:231.45, Z:5.83 [[-6.19200741e-01 -7.85134299e-01 1.24327827e-02 7.17788714e+01] [ 7.84966978e-01 -6.19325484e-01 -1.62107472e-02 2.31448330e+02] [ 2.04275528e-02 -2.78382817e-04 9.99791297e-01 5.82855741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32275509600004 meters 0.01939991083113019 Centerline is valid? [True, True] Translation: X:71.76, Y:231.47, Z:5.83 [[-6.21282919e-01 -7.83493973e-01 1.20303215e-02 7.17632014e+01] [ 7.83337190e-01 -6.21399304e-01 -1.56764580e-02 2.31470194e+02] [ 1.97580438e-02 -3.15717334e-04 9.99804741e-01 5.82955698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.35275509600007 meters 0.022014176467098644 Centerline is valid? [True, True] Translation: X:71.75, Y:231.49, Z:5.83 [[-6.24989694e-01 -7.80552529e-01 1.12085304e-02 7.17505827e+01] [ 7.80416149e-01 -6.25090080e-01 -1.45954247e-02 2.31494011e+02] [ 1.83988368e-02 -3.74671923e-04 9.99830657e-01 5.83086304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38275509600004 meters 0.02091214002628484 Centerline is valid? [True, True] Translation: X:71.73, Y:231.51, Z:5.83 [[-6.26398378e-01 -7.79430307e-01 1.06521718e-02 7.17325576e+01] [ 7.79307145e-01 -6.26488828e-01 -1.38607872e-02 2.31513896e+02] [ 1.74769842e-02 -3.81061032e-04 9.99847193e-01 5.83295232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.41275509600007 meters 0.021358966384552616 Centerline is valid? [True, True] Translation: X:71.72, Y:231.54, Z:5.83 [[-6.27683533e-01 -7.78399566e-01 1.03681119e-02 7.17158676e+01] [ 7.78282917e-01 -6.27769035e-01 -1.34810610e-02 2.31535928e+02] [ 1.70024316e-02 -3.92515671e-04 9.99855371e-01 5.83385325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.44275509600004 meters 0.022140103977693875 Centerline is valid? [True, True] Translation: X:71.70, Y:231.56, Z:5.83 [[-6.29146883e-01 -7.77220979e-01 1.00870774e-02 7.17000859e+01] [ 7.77110576e-01 -6.29227609e-01 -1.31060838e-02 2.31556720e+02] [ 1.65333909e-02 -4.06877195e-04 9.99863231e-01 5.83409233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.47275509600007 meters 0.022057241785369705 Centerline is valid? [True, True] Translation: X:71.68, Y:231.58, Z:5.83 [[-6.29550835e-01 -7.76893563e-01 1.01063677e-02 7.16834732e+01] [ 7.76782864e-01 -6.29631816e-01 -1.31208966e-02 2.31577757e+02] [ 1.65568308e-02 -4.09818153e-04 9.99862842e-01 5.83418808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.50275509600004 meters 0.02213373329468809 Centerline is valid? [True, True] Translation: X:71.67, Y:231.60, Z:5.83 [[-6.29900522e-01 -7.76607781e-01 1.02803527e-02 7.16669520e+01] [ 7.76493380e-01 -6.29984269e-01 -1.33361284e-02 2.31598939e+02] [ 1.68334016e-02 -4.17808414e-04 9.99858221e-01 5.83429065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5327550960001 meters 0.021574232331425067 Centerline is valid? [True, True] Translation: X:71.65, Y:231.62, Z:5.83 [[-6.29596815e-01 -7.76851797e-01 1.04468037e-02 7.16492111e+01] [ 7.76733866e-01 -6.29683345e-01 -1.35420236e-02 2.31620020e+02] [ 1.70983237e-02 -4.11628749e-04 9.99853728e-01 5.83406581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.56275509600005 meters 0.02238260430250019 Centerline is valid? [True, True] Translation: X:71.64, Y:231.64, Z:5.83 [[-6.29239691e-01 -7.77141153e-01 1.04421653e-02 7.16350651e+01] [ 7.77023530e-01 -6.29326203e-01 -1.35263864e-02 2.31640637e+02] [ 1.70834397e-02 -3.97531090e-04 9.99853988e-01 5.83374867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5927550960001 meters 0.020682743801574942 Centerline is valid? [True, True] Translation: X:71.62, Y:231.66, Z:5.83 [[-6.27943470e-01 -7.78190008e-01 1.03590432e-02 7.16165623e+01] [ 7.78074546e-01 -6.28028807e-01 -1.34096732e-02 2.31660630e+02] [ 1.69410512e-02 -3.60408849e-04 9.99856425e-01 5.83440390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.62275509600005 meters 0.020682743801574942 Centerline is valid? [True, True] Translation: X:71.60, Y:231.68, Z:5.83 [[-6.28247774e-01 -7.77944292e-01 1.03639814e-02 7.16005096e+01] [ 7.77828860e-01 -6.28333150e-01 -1.34058559e-02 2.31680991e+02] [ 1.69410422e-02 -3.60795296e-04 9.99856425e-01 5.83471254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6527550960001 meters 0.020386909665973185 Centerline is valid? [True, True] Translation: X:71.58, Y:231.70, Z:5.83 [[-6.27885577e-01 -7.78235326e-01 1.04632803e-02 7.15835493e+01] [ 7.78117899e-01 -6.27972655e-01 -1.35233038e-02 2.31701810e+02] [ 1.70949666e-02 -3.49421742e-04 9.99853809e-01 5.83481288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.68275509600005 meters 0.019533904791706972 Centerline is valid? [True, True] Translation: X:71.57, Y:231.72, Z:5.84 [[-6.27430868e-01 -7.78606746e-01 1.01014944e-02 7.15655844e+01] [ 7.78497514e-01 -6.27512097e-01 -1.30456789e-02 2.31721831e+02] [ 1.64962636e-02 -3.21273368e-04 9.99863876e-01 5.83561222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7127550960001 meters 0.019502327916225293 Centerline is valid? [True, True] Translation: X:71.55, Y:231.74, Z:5.84 [[-6.26837163e-01 -7.79087503e-01 9.89111885e-03 7.15491774e+01] [ 7.78982984e-01 -6.26915126e-01 -1.27646470e-02 2.31742933e+02] [ 1.61456689e-02 -2.96341806e-04 9.99869606e-01 5.83609843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.74275509600005 meters 0.01893459871192494 Centerline is valid? [True, True] Translation: X:71.53, Y:231.76, Z:5.84 [[-6.26177317e-01 -7.79626048e-01 9.23003690e-03 7.15326129e+01] [ 7.79535220e-01 -6.26245287e-01 -1.19030025e-02 2.31763240e+02] [ 1.50601579e-02 -2.58251306e-04 9.99886556e-01 5.83704696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7727550960001 meters 0.018931965254025976 Centerline is valid? [True, True] Translation: X:71.52, Y:231.78, Z:5.84 [[-6.26144941e-01 -7.79657834e-01 8.72780059e-03 7.15172154e+01] [ 7.79576751e-01 -6.26205721e-01 -1.12464881e-02 2.31783759e+02] [ 1.42338112e-02 -2.37941221e-04 9.99898666e-01 5.83804099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.80275509600006 meters 0.018718593839151903 Centerline is valid? [True, True] Translation: X:71.50, Y:231.80, Z:5.84 [[-6.26055795e-01 -7.79741031e-01 7.62013981e-03 7.15011806e+01] [ 7.79679321e-01 -6.26102136e-01 -9.81186614e-03 2.31804450e+02] [ 1.24217004e-02 -2.01510226e-04 9.99922827e-01 5.83958871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.832755096 meters 0.01904001123633368 Centerline is valid? [True, True] Translation: X:71.49, Y:231.83, Z:5.84 [[-6.26456166e-01 -7.79423688e-01 7.16849519e-03 7.14860957e+01] [ 7.79369138e-01 -6.26497149e-01 -9.22326986e-03 2.31825253e+02] [ 1.16798768e-02 -1.91070355e-04 9.99931770e-01 5.84024382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.86275509600006 meters 0.019175400879134476 Centerline is valid? [True, True] Translation: X:71.47, Y:231.85, Z:5.84 [[-6.26809300e-01 -7.79140503e-01 7.08370547e-03 7.14704412e+01] [ 7.79087284e-01 -6.26849297e-01 -9.10843700e-03 2.31845988e+02] [ 1.15371680e-02 -1.90428168e-04 9.99933427e-01 5.84055384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.89275509600003 meters 0.019393358328293725 Centerline is valid? [True, True] Translation: X:71.46, Y:231.87, Z:5.84 [[-6.27259505e-01 -7.78780298e-01 6.83816414e-03 7.14555445e+01] [ 7.78730757e-01 -6.27296750e-01 -8.78607089e-03 2.31867208e+02] [ 1.11319771e-02 -1.86057743e-04 9.99938020e-01 5.84038502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.92275509600006 meters 0.01880403623580807 Centerline is valid? [True, True] Translation: X:71.44, Y:231.89, Z:5.84 [[-6.27502390e-01 -7.78586046e-01 6.67231569e-03 7.14377742e+01] [ 7.78538943e-01 -6.27537837e-01 -8.56606306e-03 2.31888240e+02] [ 1.08565477e-02 -1.80567435e-04 9.99941050e-01 5.84043562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.95275509600003 meters 0.019208460894631393 Centerline is valid? [True, True] Translation: X:71.42, Y:231.91, Z:5.84 [[-6.27332611e-01 -7.78723515e-01 6.59413185e-03 7.14234124e+01] [ 7.78677582e-01 -6.27367243e-01 -8.45968298e-03 2.31909356e+02] [ 1.07246964e-02 -1.72332367e-04 9.99942474e-01 5.84080029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.98275509600006 meters 0.018439447832008925 Centerline is valid? [True, True] Translation: X:71.41, Y:231.93, Z:5.84 [[-6.27236936e-01 -7.78801051e-01 6.53825737e-03 7.14055272e+01] [ 7.78755972e-01 -6.27270991e-01 -8.38093442e-03 2.31928831e+02] [ 1.06283397e-02 -1.65124656e-04 9.99943504e-01 5.84061439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.01275509600003 meters 0.018047623347980303 Centerline is valid? [True, True] Translation: X:71.39, Y:231.95, Z:5.84 [[-6.27090206e-01 -7.78918187e-01 6.65817266e-03 7.13875528e+01] [ 7.78871523e-01 -6.27125531e-01 -8.52750833e-03 2.31949499e+02] [ 1.08177414e-02 -1.61655873e-04 9.99941473e-01 5.84050172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.04275509600006 meters 0.018286315619163402 Centerline is valid? [True, True] Translation: X:71.37, Y:231.97, Z:5.84 [[-6.26370861e-01 -7.79491463e-01 7.25288788e-03 7.13703452e+01] [ 7.79436218e-01 -6.26412830e-01 -9.28161953e-03 2.31969996e+02] [ 1.17782452e-02 -1.60572516e-04 9.99930621e-01 5.83974690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.07275509600004 meters 0.01797969103505932 Centerline is valid? [True, True] Translation: X:71.35, Y:231.99, Z:5.84 [[-6.26500206e-01 -7.79387353e-01 7.26952557e-03 7.13524689e+01] [ 7.79331929e-01 -6.26542360e-01 -9.29602720e-03 2.31990029e+02] [ 1.17998717e-02 -1.58589572e-04 9.99930367e-01 5.83961992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.10275509600007 meters 0.01847133422647989 Centerline is valid? [True, True] Translation: X:71.34, Y:232.01, Z:5.84 [[-6.26989301e-01 -7.78991298e-01 7.54811434e-03 7.13374379e+01] [ 7.78931615e-01 -6.27034712e-01 -9.64419174e-03 2.32010697e+02] [ 1.22456711e-02 -1.67340150e-04 9.99925005e-01 5.83926188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.13275509600004 meters 0.0180310767458132 Centerline is valid? [True, True] Translation: X:71.32, Y:232.03, Z:5.84 [[-6.27884776e-01 -7.78269714e-01 7.54714418e-03 7.13197010e+01] [ 7.78210093e-01 -6.27930108e-01 -9.63488189e-03 2.32031308e+02] [ 1.22376158e-02 -1.76331892e-04 9.99925102e-01 5.83971491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.16275509600007 meters 0.01874940594945169 Centerline is valid? [True, True] Translation: X:71.31, Y:232.05, Z:5.84 [[-6.28803597e-01 -7.77527759e-01 7.52460182e-03 7.13051896e+01] [ 7.77468527e-01 -6.28848590e-01 -9.59900681e-03 2.32052740e+02] [ 1.21953295e-02 -1.85748923e-04 9.99925617e-01 5.84014703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.19275509600004 meters 0.019303752080914043 Centerline is valid? [True, True] Translation: X:71.29, Y:232.07, Z:5.84 [[-6.30105566e-01 -7.76472547e-01 7.57354990e-03 7.12898161e+01] [ 7.76412558e-01 -6.30151047e-01 -9.65392323e-03 2.32074067e+02] [ 1.22684868e-02 -2.02791512e-04 9.99924719e-01 5.84046552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.22275509600007 meters 0.020600602498518906 Centerline is valid? [True, True] Translation: X:71.27, Y:232.10, Z:5.84 [[-6.32854151e-01 -7.74234933e-01 7.47612326e-03 7.12746631e+01] [ 7.74176408e-01 -6.32898264e-01 -9.52241831e-03 2.32097063e+02] [ 1.21042143e-02 -2.38463700e-04 9.99926713e-01 5.84096324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.25275509600004 meters 0.020738299142930974 Centerline is valid? [True, True] Translation: X:71.26, Y:232.12, Z:5.84 [[-6.34255965e-01 -7.73089252e-01 7.23740911e-03 7.12578880e+01] [ 7.73034404e-01 -6.34297207e-01 -9.21212692e-03 2.32118351e+02] [ 1.17124647e-02 -2.48080208e-04 9.99931376e-01 5.84162456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2827550960001 meters 0.02171341482084798 Centerline is valid? [True, True] Translation: X:71.24, Y:232.14, Z:5.84 [[-6.36715479e-01 -7.71066777e-01 7.03033561e-03 7.12415848e+01] [ 7.71014970e-01 -6.36754232e-01 -8.94231499e-03 2.32139763e+02] [ 1.13717179e-02 -2.73216366e-04 9.99935303e-01 5.84197818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.31275509600005 meters 0.021968851241272316 Centerline is valid? [True, True] Translation: X:71.22, Y:232.16, Z:5.84 [[-6.37674682e-01 -7.70272709e-01 7.13817849e-03 7.12243362e+01] [ 7.70219328e-01 -6.37714568e-01 -9.07279473e-03 2.32161233e+02] [ 1.15406466e-02 -2.87528448e-04 9.99933363e-01 5.84193172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3427550960001 meters 0.022539689078912187 Centerline is valid? [True, True] Translation: X:71.21, Y:232.18, Z:5.84 [[-6.38508618e-01 -7.69579577e-01 7.34974008e-03 7.12093146e+01] [ 7.69523023e-01 -6.38550845e-01 -9.33468510e-03 2.32181116e+02] [ 1.18769657e-02 -3.04482682e-04 9.99929420e-01 5.84204162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.37275509600005 meters 0.023754194176563413 Centerline is valid? [True, True] Translation: X:71.19, Y:232.20, Z:5.84 [[-6.39182085e-01 -7.69018583e-01 7.52870930e-03 7.11949991e+01] [ 7.68959283e-01 -6.39226343e-01 -9.55527970e-03 2.32201967e+02] [ 1.21607370e-02 -3.18292687e-04 9.99926005e-01 5.84265134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4027550960001 meters 0.02381400717069355 Centerline is valid? [True, True] Translation: X:71.18, Y:232.22, Z:5.84 [[-6.39437971e-01 -7.68807849e-01 7.31933295e-03 7.11781668e+01] [ 7.68751877e-01 -6.39479786e-01 -9.28202390e-03 2.32222096e+02] [ 1.18166583e-02 -3.08527587e-04 9.99930133e-01 5.84331948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.43275509600005 meters 0.023759221246644972 Centerline is valid? [True, True] Translation: X:71.16, Y:232.24, Z:5.84 [[-6.39359897e-01 -7.68874479e-01 7.13854868e-03 7.11610846e+01] [ 7.68821319e-01 -6.39399679e-01 -9.04602075e-03 2.32242072e+02] [ 1.15196402e-02 -2.95394481e-04 9.99933603e-01 5.84389965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4627550960001 meters 0.021683156002661262 Centerline is valid? [True, True] Translation: X:71.14, Y:232.26, Z:5.84 [[-6.38346002e-01 -7.69716679e-01 7.11453592e-03 7.11397568e+01] [ 7.69664007e-01 -6.38385588e-01 -9.00876569e-03 2.32259698e+02] [ 1.14760144e-02 -2.74907336e-04 9.99934111e-01 5.84457175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.49275509600005 meters 0.020955250808204394 Centerline is valid? [True, True] Translation: X:71.12, Y:232.28, Z:5.84 [[-6.37780973e-01 -7.70185036e-01 7.10223311e-03 7.11216453e+01] [ 7.70132648e-01 -6.37820462e-01 -8.98674577e-03 2.32278505e+02] [ 1.14514067e-02 -2.61913868e-04 9.99934396e-01 5.84483104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5227550960001 meters 0.019882164472749594 Centerline is valid? [True, True] Translation: X:71.10, Y:232.30, Z:5.84 [[-6.35821127e-01 -7.71801246e-01 7.37090071e-03 7.11022090e+01] [ 7.71745022e-01 -6.35863806e-01 -9.31884566e-03 2.32297658e+02] [ 1.18791857e-02 -2.36663023e-04 9.99929412e-01 5.84461039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.55275509600006 meters 0.019564243197355363 Centerline is valid? [True, True] Translation: X:71.09, Y:232.32, Z:5.84 [[-6.34577231e-01 -7.72821499e-01 7.65958857e-03 7.10857223e+01] [ 7.72760948e-01 -6.34623417e-01 -9.67651236e-03 2.32316769e+02] [ 1.23391711e-02 -2.21463493e-04 9.99923845e-01 5.84487341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.582755096 meters 0.018711533646191374 Centerline is valid? [True, True] Translation: X:71.07, Y:232.34, Z:5.84 [[-6.33441215e-01 -7.73752101e-01 7.74031089e-03 7.10678745e+01] [ 7.73690417e-01 -6.33488473e-01 -9.77205960e-03 2.32335839e+02] [ 1.24645494e-02 -2.01420948e-04 9.99922294e-01 5.84467787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.61275509600006 meters 0.01803818492053905 Centerline is valid? [True, True] Translation: X:71.05, Y:232.35, Z:5.84 [[-6.31169687e-01 -7.75602730e-01 8.07659653e-03 7.10494928e+01] [ 7.75535830e-01 -6.31221338e-01 -1.01881768e-02 2.32354315e+02] [ 1.30000978e-02 -1.66778344e-04 9.99915481e-01 5.84415988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.64275509600003 meters 0.0175212412662645 Centerline is valid? [True, True] Translation: X:71.03, Y:232.37, Z:5.84 [[-6.30166445e-01 -7.76415449e-01 8.32477024e-03 7.10313950e+01] [ 7.76344555e-01 -6.30221412e-01 -1.04930760e-02 2.32374027e+02] [ 1.33934348e-02 -1.49494381e-04 9.99910293e-01 5.84388467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.67275509600006 meters 0.017321969597190207 Centerline is valid? [True, True] Translation: X:71.01, Y:232.39, Z:5.84 [[-6.29541927e-01 -7.76921014e-01 8.40836897e-03 7.10145275e+01] [ 7.76848847e-01 -6.29598062e-01 -1.05900418e-02 2.32392980e+02] [ 1.35215188e-02 -1.34843592e-04 9.99908571e-01 5.84364624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.70275509600003 meters 0.01692098351626104 Centerline is valid? [True, True] Translation: X:71.00, Y:232.41, Z:5.84 [[-6.28774998e-01 -7.77536944e-01 8.84883492e-03 7.09977293e+01] [ 7.77457213e-01 -6.28837249e-01 -1.11353804e-02 2.32413212e+02] [ 1.42226466e-02 -1.22058233e-04 9.99898846e-01 5.84324537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.73275509600006 meters 0.01683339149518218 Centerline is valid? [True, True] Translation: X:70.98, Y:232.43, Z:5.84 [[-6.28684812e-01 -7.77612104e-01 8.65000800e-03 7.09816717e+01] [ 7.77536038e-01 -6.28744306e-01 -1.08769058e-02 2.32434228e+02] [ 1.38966569e-02 -1.12452531e-04 9.99903431e-01 5.84363772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76275509600003 meters 0.016838363677422075 Centerline is valid? [True, True] Translation: X:70.97, Y:232.46, Z:5.85 [[-6.29212209e-01 -7.77193916e-01 7.84939454e-03 7.09663054e+01] [ 7.77131335e-01 -6.29261159e-01 -9.86321316e-03 2.32456074e+02] [ 1.26049484e-02 -1.06043689e-04 9.99920549e-01 5.84518794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.79275509600006 meters 0.01709126708933573 Centerline is valid? [True, True] Translation: X:70.95, Y:232.48, Z:5.85 [[-6.29735304e-01 -7.76773508e-01 7.50761338e-03 7.09516157e+01] [ 7.76716313e-01 -6.29780046e-01 -9.42665972e-03 2.32476933e+02] [ 1.20505246e-02 -1.05014644e-04 9.99927384e-01 5.84624112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82275509600004 meters 0.017293111429481776 Centerline is valid? [True, True] Translation: X:70.94, Y:232.50, Z:5.85 [[-6.30373493e-01 -7.76258407e-01 7.22115788e-03 7.09373292e+01] [ 7.76205543e-01 -6.30414844e-01 -9.05980886e-03 2.32497572e+02] [ 1.15850779e-02 -1.05960587e-04 9.99932885e-01 5.84736518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.85275509600007 meters 0.017387825296927343 Centerline is valid? [True, True] Translation: X:70.92, Y:232.52, Z:5.85 [[-6.31244617e-01 -7.75553332e-01 6.87473885e-03 7.09223026e+01] [ 7.75505430e-01 -6.31282042e-01 -8.62038543e-03 2.32518737e+02] [ 1.10254678e-02 -1.10174596e-04 9.99939212e-01 5.84834301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88275509600004 meters 0.017840018473877037 Centerline is valid? [True, True] Translation: X:70.91, Y:232.54, Z:5.85 [[-6.33086412e-01 -7.74052628e-01 6.64261332e-03 7.09076801e+01] [ 7.74007892e-01 -6.33121247e-01 -8.32284849e-03 2.32542081e+02] [ 1.06479024e-02 -1.27647161e-04 9.99943301e-01 5.84852407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.91275509600007 meters 0.018247923745863225 Centerline is valid? [True, True] Translation: X:70.89, Y:232.56, Z:5.85 [[-6.34234483e-01 -7.73112243e-01 6.63928007e-03 7.08921360e+01] [ 7.73067562e-01 -6.34269217e-01 -8.31288809e-03 2.32564082e+02] [ 1.06378865e-02 -1.39708218e-04 9.99943406e-01 5.84832157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.94275509600004 meters 0.018354542757370564 Centerline is valid? [True, True] Translation: X:70.88, Y:232.58, Z:5.85 [[-6.33766486e-01 -7.73499803e-01 6.17222981e-03 7.08750449e+01] [ 7.73461260e-01 -6.33796529e-01 -7.72261443e-03 2.32583018e+02] [ 9.88537857e-03 -1.20353563e-04 9.99951131e-01 5.84907444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.97275509600007 meters 0.017835709957626872 Centerline is valid? [True, True] Translation: X:70.86, Y:232.60, Z:5.85 [[-6.33601900e-01 -7.73635325e-01 6.08408278e-03 7.08573205e+01] [ 7.73597941e-01 -6.33631101e-01 -7.60618218e-03 2.32602278e+02] [ 9.73947529e-03 -1.12657579e-04 9.99952564e-01 5.84894067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.00275509600004 meters 0.01763180075355949 Centerline is valid? [True, True] Translation: X:70.84, Y:232.62, Z:5.85 [[-6.33298449e-01 -7.73881246e-01 6.39462841e-03 7.08403130e+01] [ 7.73840030e-01 -6.33330723e-01 -7.98768114e-03 2.32622989e+02] [ 1.02314313e-02 -1.10166635e-04 9.99947651e-01 5.84874835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0327550960001 meters 0.01780933702746793 Centerline is valid? [True, True] Translation: X:70.82, Y:232.64, Z:5.85 [[-6.33409114e-01 -7.73788941e-01 6.60072325e-03 7.08247613e+01] [ 7.73745094e-01 -6.33443497e-01 -8.23807600e-03 2.32643059e+02] [ 1.05557173e-02 -1.10795185e-04 9.99944281e-01 5.84863108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.06275509600005 meters 0.0177484536763644 Centerline is valid? [True, True] Translation: X:70.81, Y:232.66, Z:5.85 [[-6.33839892e-01 -7.73435397e-01 6.68417029e-03 7.08078308e+01] [ 7.73390471e-01 -6.33875125e-01 -8.33698211e-03 2.32663227e+02] [ 1.06850463e-02 -1.14838230e-04 9.99942907e-01 5.84874628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0927550960001 meters 0.01757528412475431 Centerline is valid? [True, True] Translation: X:70.79, Y:232.68, Z:5.85 [[-6.34366599e-01 -7.73000896e-01 6.97367203e-03 7.07903074e+01] [ 7.72952049e-01 -6.34404917e-01 -8.69084924e-03 2.32684482e+02] [ 1.11421661e-02 -1.22870393e-04 9.99937917e-01 5.84848166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.12275509600005 meters 0.017870812694144048 Centerline is valid? [True, True] Translation: X:70.77, Y:232.71, Z:5.85 [[-6.35490905e-01 -7.72073768e-01 7.30798198e-03 7.07731137e+01] [ 7.72020145e-01 -6.35532908e-01 -9.10047845e-03 2.32705185e+02] [ 1.16707037e-02 -1.41361981e-04 9.99931885e-01 5.84745923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1527550960001 meters 0.01804025615292141 Centerline is valid? [True, True] Translation: X:70.76, Y:232.73, Z:5.85 [[-6.36228612e-01 -7.71463356e-01 7.57910905e-03 7.07555428e+01] [ 7.71405724e-01 -6.36273735e-01 -9.43097275e-03 2.32725570e+02] [ 1.20980379e-02 -1.53686604e-04 9.99926804e-01 5.84687227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.18275509600005 meters 0.018319673858051198 Centerline is valid? [True, True] Translation: X:70.74, Y:232.75, Z:5.85 [[-6.37113774e-01 -7.70726336e-01 8.18250548e-03 7.07377919e+01] [ 7.70659205e-01 -6.37166292e-01 -1.01737970e-02 2.32746000e+02] [ 1.30548300e-02 -1.75943027e-04 9.99914767e-01 5.84619447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2127550960001 meters 0.018474278730956036 Centerline is valid? [True, True] Translation: X:70.72, Y:232.77, Z:5.85 [[-6.37727213e-01 -7.70217639e-01 8.29400215e-03 7.07213251e+01] [ 7.70148725e-01 -6.37781119e-01 -1.03047095e-02 2.32766190e+02] [ 1.32266270e-02 -1.83978518e-04 9.99912507e-01 5.84646846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.24275509600005 meters 0.01867948893416771 Centerline is valid? [True, True] Translation: X:70.70, Y:232.79, Z:5.85 [[-6.38069167e-01 -7.69935267e-01 8.21116705e-03 7.07041436e+01] [ 7.69867805e-01 -6.38121972e-01 -1.01936552e-02 2.32786265e+02] [ 1.30881807e-02 -1.82743900e-04 9.99914329e-01 5.84691004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2727550960001 meters 0.018859561639076292 Centerline is valid? [True, True] Translation: X:70.69, Y:232.81, Z:5.85 [[-6.38683721e-01 -7.69425959e-01 8.17301736e-03 7.06865942e+01] [ 7.69359186e-01 -6.38735985e-01 -1.01382308e-02 2.32806314e+02] [ 1.30210182e-02 -1.87136985e-04 9.99915205e-01 5.84735339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.30275509600006 meters 0.019051161767743595 Centerline is valid? [True, True] Translation: X:70.67, Y:232.83, Z:5.85 [[-6.39106473e-01 -7.69074059e-01 8.24670880e-03 7.06704247e+01] [ 7.69006155e-01 -6.39159648e-01 -1.02214480e-02 2.32825926e+02] [ 1.31320140e-02 -1.90823720e-04 9.99913753e-01 5.84776339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.332755096 meters 0.019160256444946407 Centerline is valid? [True, True] Translation: X:70.65, Y:232.85, Z:5.85 [[-6.39865652e-01 -7.68445098e-01 8.00485235e-03 7.06532557e+01] [ 7.68381171e-01 -6.39915693e-01 -9.91375270e-03 2.32846439e+02] [ 1.27406053e-02 -1.92692014e-04 9.99918817e-01 5.84860530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.36275509600006 meters 0.019309470131853867 Centerline is valid? [True, True] Translation: X:70.64, Y:232.87, Z:5.85 [[-6.40218586e-01 -7.68152925e-01 7.82597610e-03 7.06362914e+01] [ 7.68091894e-01 -6.40266388e-01 -9.68478425e-03 2.32865870e+02] [ 1.24501048e-02 -1.89310077e-04 9.99922477e-01 5.84987909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.39275509600003 meters 0.01916772389393088 Centerline is valid? [True, True] Translation: X:70.62, Y:232.89, Z:5.85 [[-6.40611834e-01 -7.67827272e-01 7.59989258e-03 7.06184734e+01] [ 7.67769783e-01 -6.40656887e-01 -9.39756087e-03 2.32885845e+02] [ 1.20846270e-02 -1.85220832e-04 9.99926961e-01 5.85042026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.42275509600006 meters 0.019212208163060112 Centerline is valid? [True, True] Translation: X:70.60, Y:232.91, Z:5.85 [[-6.40756690e-01 -7.67709394e-01 7.29041475e-03 7.06014140e+01] [ 7.67656564e-01 -6.40798139e-01 -9.00808099e-03 2.32906013e+02] [ 1.15872726e-02 -1.75453419e-04 9.99932850e-01 5.85165162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.45275509600003 meters 0.019641513366295747 Centerline is valid? [True, True] Translation: X:70.59, Y:232.93, Z:5.85 [[-6.40805692e-01 -7.67674261e-01 6.65528915e-03 7.05851901e+01] [ 7.67630294e-01 -6.40840233e-01 -8.21755688e-03 2.32925441e+02] [ 1.05733840e-02 -1.57055659e-04 9.99944088e-01 5.85336404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.48275509600006 meters 0.019260978334624212 Centerline is valid? [True, True] Translation: X:70.57, Y:232.95, Z:5.85 [[-6.41073776e-01 -7.67454505e-01 6.16411211e-03 7.05673037e+01] [ 7.67416834e-01 -6.41103394e-01 -7.60536882e-03 2.32945000e+02] [ 9.78860776e-03 -1.45159109e-04 9.99952080e-01 5.85411022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.51275509600003 meters 0.0195196217539364 Centerline is valid? [True, True] Translation: X:70.55, Y:232.96, Z:5.86 [[-6.41227616e-01 -7.67329931e-01 5.64987783e-03 7.05510075e+01] [ 7.67298324e-01 -6.41252493e-01 -6.96579272e-03 2.32964869e+02] [ 8.96805949e-03 -1.31516868e-04 9.99959778e-01 5.85586453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.54275509600006 meters 0.0195196217539364 Centerline is valid? [True, True] Translation: X:70.53, Y:232.98, Z:5.86 [[-6.41510614e-01 -7.67093338e-01 5.65178438e-03 7.05344648e+01] [ 7.67061735e-01 -6.41535497e-01 -6.96424535e-03 2.32984818e+02] [ 8.96804651e-03 -1.32369780e-04 9.99959778e-01 5.85617325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.57275509600004 meters 0.019896801738004406 Centerline is valid? [True, True] Translation: X:70.52, Y:233.01, Z:5.86 [[-6.41866580e-01 -7.66798203e-01 5.27335134e-03 7.05186921e+01] [ 7.66770718e-01 -6.41888230e-01 -6.49359353e-03 2.33005180e+02] [ 8.36417802e-03 -1.24569282e-04 9.99965012e-01 5.85740620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.60275509600007 meters 0.019547688379516436 Centerline is valid? [True, True] Translation: X:70.50, Y:233.02, Z:5.86 [[-6.42096911e-01 -7.66605451e-01 5.25742645e-03 7.05010995e+01] [ 7.66578167e-01 -6.42118422e-01 -6.46883519e-03 2.33024392e+02] [ 8.33493469e-03 -1.23390758e-04 9.99965256e-01 5.85787926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.63275509600004 meters 0.019537358813073617 Centerline is valid? [True, True] Translation: X:70.48, Y:233.04, Z:5.86 [[-6.42247501e-01 -7.66478825e-01 5.32525742e-03 7.04835592e+01] [ 7.66450871e-01 -6.42269566e-01 -6.54727489e-03 2.33044646e+02] [ 8.43859834e-03 -1.23422744e-04 9.99964387e-01 5.85808362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.66275509600007 meters 0.01890377224512341 Centerline is valid? [True, True] Translation: X:70.46, Y:233.06, Z:5.86 [[-6.41817334e-01 -7.66840245e-01 5.15250718e-03 7.04646836e+01] [ 7.66814123e-01 -6.41838006e-01 -6.33046345e-03 2.33062734e+02] [ 8.16152908e-03 -1.11985891e-04 9.99966688e-01 5.85849277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.69275509600004 meters 0.018644639049067793 Centerline is valid? [True, True] Translation: X:70.45, Y:233.08, Z:5.86 [[-6.41572505e-01 -7.67046837e-01 4.88564355e-03 7.04468440e+01] [ 7.67023390e-01 -6.41591100e-01 -5.99835526e-03 2.33081707e+02] [ 7.73560484e-03 -1.00976937e-04 9.99970075e-01 5.85877404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.72275509600007 meters 0.0187607428876848 Centerline is valid? [True, True] Translation: X:70.43, Y:233.10, Z:5.86 [[-6.40671647e-01 -7.67799617e-01 4.85685518e-03 7.04301698e+01] [ 7.67776501e-01 -6.40690051e-01 -5.95846204e-03 2.33100593e+02] [ 7.68664367e-03 -8.84384123e-05 9.99970453e-01 5.85928195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.75275509600004 meters 0.01834880916348958 Centerline is valid? [True, True] Translation: X:70.41, Y:233.12, Z:5.86 [[-6.40497959e-01 -7.67941380e-01 5.32933181e-03 7.04120732e+01] [ 7.67913606e-01 -6.40520124e-01 -6.53181880e-03 2.33120354e+02] [ 8.42959821e-03 -9.11501963e-05 9.99964466e-01 5.85907841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7827550960001 meters 0.01784875909495297 Centerline is valid? [True, True] Translation: X:70.39, Y:233.14, Z:5.86 [[-6.40434418e-01 -7.67991601e-01 5.71466209e-03 7.03937395e+01] [ 7.67959719e-01 -6.40459907e-01 -6.99846118e-03 2.33138966e+02] [ 9.03477136e-03 -9.34251180e-05 9.99959181e-01 5.85806029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.81275509600005 meters 0.018124151358508298 Centerline is valid? [True, True] Translation: X:70.38, Y:233.16, Z:5.86 [[-6.40834521e-01 -7.67655608e-01 5.99863050e-03 7.03779781e+01] [ 7.67620523e-01 -6.40862588e-01 -7.33995635e-03 2.33158867e+02] [ 9.47885653e-03 -9.90255247e-05 9.99955070e-01 5.85802997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8427550960001 meters 0.01785918485128375 Centerline is valid? [True, True] Translation: X:70.36, Y:233.18, Z:5.86 [[-6.41211949e-01 -7.67338163e-01 6.27543429e-03 7.03599807e+01] [ 7.67299818e-01 -6.41242648e-01 -7.67175821e-03 2.33178472e+02] [ 9.91090895e-03 -1.04083442e-04 9.99950880e-01 5.85741760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.87275509600005 meters 0.017903070155579966 Centerline is valid? [True, True] Translation: X:70.34, Y:233.20, Z:5.86 [[-6.41652993e-01 -7.66966867e-01 6.57737028e-03 7.03430045e+01] [ 7.66924794e-01 -6.41686694e-01 -8.03410003e-03 2.33198776e+02] [ 1.03824995e-02 -1.10755990e-04 9.99946094e-01 5.85715608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9027550960001 meters 0.01811835221951448 Centerline is valid? [True, True] Translation: X:70.33, Y:233.22, Z:5.86 [[-6.42428224e-01 -7.66316436e-01 6.71540430e-03 7.03258912e+01] [ 7.66272614e-01 -6.42463311e-01 -8.19601995e-03 2.33219525e+02] [ 1.05951457e-02 -1.19524129e-04 9.99943863e-01 5.85687889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.93275509600005 meters 0.018626445400618065 Centerline is valid? [True, True] Translation: X:70.31, Y:233.24, Z:5.86 [[-6.42868715e-01 -7.65947273e-01 6.67764092e-03 7.03102691e+01] [ 7.65903990e-01 -6.42903384e-01 -8.14354941e-03 2.33240141e+02] [ 1.05306074e-02 -1.20801319e-04 9.99944544e-01 5.85687253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9627550960001 meters 0.018389138766745257 Centerline is valid? [True, True] Translation: X:70.29, Y:233.26, Z:5.86 [[-6.43485463e-01 -7.65428445e-01 6.76418569e-03 7.02923220e+01] [ 7.65384079e-01 -6.43521001e-01 -8.24215372e-03 2.33259887e+02] [ 1.06616745e-02 -1.26506069e-04 9.99943155e-01 5.85701078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.99275509600005 meters 0.019990749494403964 Centerline is valid? [True, True] Translation: X:70.28, Y:233.28, Z:5.86 [[-6.44324508e-01 -7.64724835e-01 6.46954879e-03 7.02792662e+01] [ 7.64684276e-01 -6.44356974e-01 -7.87704871e-03 2.33282307e+02] [ 1.01924737e-02 -1.28213301e-04 9.99948047e-01 5.85766373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0227550960001 meters 0.018523008768183684 Centerline is valid? [True, True] Translation: X:70.26, Y:233.30, Z:5.86 [[-6.44866738e-01 -7.64265716e-01 6.69371890e-03 7.02590060e+01] [ 7.64222329e-01 -6.44901463e-01 -8.14464468e-03 2.33300246e+02] [ 1.05414618e-02 -1.36720999e-04 9.99944428e-01 5.85754668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.05275509600006 meters 0.018648426695289724 Centerline is valid? [True, True] Translation: X:70.24, Y:233.32, Z:5.86 [[-6.45393644e-01 -7.63818912e-01 6.90749191e-03 7.02432576e+01] [ 7.63772735e-01 -6.45430591e-01 -8.40004317e-03 2.33319737e+02] [ 1.08744184e-02 -1.45580481e-04 9.99940861e-01 5.85784925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.082755096 meters 0.019058981223892907 Centerline is valid? [True, True] Translation: X:70.23, Y:233.34, Z:5.86 [[-6.46767442e-01 -7.62653256e-01 7.20326939e-03 7.02273704e+01] [ 7.62603056e-01 -6.46807532e-01 -8.75193314e-03 2.33339966e+02] [ 1.13338192e-02 -1.67230161e-04 9.99935756e-01 5.85792456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.11275509600006 meters 0.019494187628373204 Centerline is valid? [True, True] Translation: X:70.21, Y:233.36, Z:5.86 [[-6.47412215e-01 -7.62107637e-01 7.02666367e-03 7.02116947e+01] [ 7.62059898e-01 -6.47450324e-01 -8.53175721e-03 2.33360002e+02] [ 1.10515330e-02 -1.68825233e-04 9.99938916e-01 5.85792381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.14275509600003 meters 0.019318693828306796 Centerline is valid? [True, True] Translation: X:70.19, Y:233.38, Z:5.86 [[-6.48307552e-01 -7.61345073e-01 7.14128378e-03 7.01936711e+01] [ 7.61295800e-01 -6.48346857e-01 -8.66358701e-03 2.33380997e+02] [ 1.12260082e-02 -1.80039539e-04 9.99936970e-01 5.85794633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.17275509600006 meters 0.019727892395036476 Centerline is valid? [True, True] Translation: X:70.18, Y:233.40, Z:5.86 [[-6.49583245e-01 -7.60257553e-01 7.07533253e-03 7.01777811e+01] [ 7.60209189e-01 -6.49621748e-01 -8.57745194e-03 2.33401932e+02] [ 1.11173625e-02 -1.93036264e-04 9.99938182e-01 5.85863083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.20275509600003 meters 0.019981048675051988 Centerline is valid? [True, True] Translation: X:70.16, Y:233.42, Z:5.86 [[-6.50272146e-01 -7.59668583e-01 7.05547499e-03 7.01610096e+01] [ 7.59620532e-01 -6.50310391e-01 -8.54653841e-03 2.33422955e+02] [ 1.10807854e-02 -1.98092203e-04 9.99938587e-01 5.85920085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.23275509600006 meters 0.02011454357601822 Centerline is valid? [True, True] Translation: X:70.14, Y:233.44, Z:5.86 [[-6.50656026e-01 -7.59338631e-01 7.18183247e-03 7.01444364e+01] [ 7.59288903e-01 -6.50695630e-01 -8.69252738e-03 2.33443142e+02] [ 1.12737588e-02 -2.02759636e-04 9.99936429e-01 5.85928547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26275509600003 meters 0.02067706288426043 Centerline is valid? [True, True] Translation: X:70.13, Y:233.46, Z:5.86 [[-6.50655906e-01 -7.59334999e-01 7.56645488e-03 7.01289429e+01] [ 7.59279892e-01 -6.50699866e-01 -9.15038494e-03 2.33463413e+02] [ 1.18716987e-02 -2.08694954e-04 9.99929507e-01 5.85913138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.29275509600006 meters 0.019808376195616456 Centerline is valid? [True, True] Translation: X:70.11, Y:233.48, Z:5.86 [[-6.50709111e-01 -7.59285603e-01 7.93887067e-03 7.01101794e+01] [ 7.59225038e-01 -6.50757503e-01 -9.59245148e-03 2.33482169e+02] [ 1.24496900e-02 -2.14506197e-04 9.99922477e-01 5.85867135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32275509600004 meters 0.019756193207998415 Centerline is valid? [True, True] Translation: X:70.09, Y:233.50, Z:5.86 [[-6.50764246e-01 -7.59230571e-01 8.65077207e-03 7.00926527e+01] [ 7.59158774e-01 -6.50821702e-01 -1.04435795e-02 2.33502505e+02] [ 1.35591950e-02 -2.28998608e-04 9.99908044e-01 5.85791718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.35275509600007 meters 0.019763989323418114 Centerline is valid? [True, True] Translation: X:70.08, Y:233.52, Z:5.86 [[-6.51053182e-01 -7.58976391e-01 9.19741353e-03 7.00757659e+01] [ 7.58895342e-01 -6.51118099e-01 -1.10941863e-02 2.33522339e+02] [ 1.44088279e-02 -2.43031028e-04 9.99896158e-01 5.85762740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38275509600004 meters 0.020007433895963704 Centerline is valid? [True, True] Translation: X:70.06, Y:233.54, Z:5.86 [[-6.51674736e-01 -7.58439138e-01 9.49276246e-03 7.00589550e+01] [ 7.58352882e-01 -6.51743821e-01 -1.14410684e-02 2.33542947e+02] [ 1.48642034e-02 -2.56991478e-04 9.99889489e-01 5.85746146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.41275509600007 meters 0.02026272639014101 Centerline is valid? [True, True] Translation: X:70.04, Y:233.56, Z:5.86 [[-6.52837230e-01 -7.57436677e-01 9.65569138e-03 7.00427707e+01] [ 7.57347466e-01 -6.52908572e-01 -1.16280870e-02 2.33564189e+02] [ 1.51118232e-02 -2.78534680e-04 9.99885771e-01 5.85798755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.44275509600004 meters 0.020311756649285178 Centerline is valid? [True, True] Translation: X:70.03, Y:233.59, Z:5.86 [[-6.53553926e-01 -7.56820862e-01 9.45776606e-03 7.00256490e+01] [ 7.56735336e-01 -6.53622295e-01 -1.13810165e-02 2.33585110e+02] [ 1.47951975e-02 -2.81082252e-04 9.99890506e-01 5.85847237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.47275509600007 meters 0.020579072841793694 Centerline is valid? [True, True] Translation: X:70.01, Y:233.61, Z:5.86 [[-6.54492175e-01 -7.56009041e-01 9.50380359e-03 7.00088291e+01] [ 7.55922718e-01 -6.54561107e-01 -1.14281290e-02 2.33606586e+02] [ 1.48605890e-02 -2.95479947e-04 9.99889532e-01 5.85915302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.50275509600004 meters 0.021356987107013392 Centerline is valid? [True, True] Translation: X:69.99, Y:233.63, Z:5.86 [[-6.55376279e-01 -7.55243051e-01 9.47982928e-03 6.99940600e+01] [ 7.55157208e-01 -6.55444765e-01 -1.13908336e-02 2.33627076e+02] [ 1.48163524e-02 -3.06520740e-04 9.99890185e-01 5.85963751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5327550960001 meters 0.022144600055255856 Centerline is valid? [True, True] Translation: X:69.98, Y:233.65, Z:5.86 [[-6.57011367e-01 -7.53829726e-01 8.76406780e-03 6.99793180e+01] [ 7.53756342e-01 -6.57069745e-01 -1.05226928e-02 2.33648949e+02] [ 1.36909225e-02 -3.07557129e-04 9.99906228e-01 5.86073303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.56275509600005 meters 0.022271002889759535 Centerline is valid? [True, True] Translation: X:69.96, Y:233.67, Z:5.86 [[-6.57760402e-01 -7.53178255e-01 8.58891928e-03 6.99630556e+01] [ 7.53107820e-01 -6.57816403e-01 -1.03049038e-02 2.33669156e+02] [ 1.34113615e-02 -3.09775420e-04 9.99910016e-01 5.86177749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5927550960001 meters 0.022266783257312097 Centerline is valid? [True, True] Translation: X:69.95, Y:233.69, Z:5.86 [[-6.58571627e-01 -7.52475822e-01 7.97178619e-03 6.99469402e+01] [ 7.52415181e-01 -6.58619806e-01 -9.55752456e-03 2.33689768e+02] [ 1.24421824e-02 -2.96221545e-04 9.99922549e-01 5.86311725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.62275509600005 meters 0.022497893157830982 Centerline is valid? [True, True] Translation: X:69.93, Y:233.71, Z:5.86 [[-6.58769607e-01 -7.52304811e-01 7.75091561e-03 6.99305236e+01] [ 7.52247558e-01 -6.58815140e-01 -9.28559383e-03 2.33710091e+02] [ 1.20920175e-02 -2.86459652e-04 9.99926848e-01 5.86400183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6527550960001 meters 0.021999739188720394 Centerline is valid? [True, True] Translation: X:69.91, Y:233.73, Z:5.87 [[-6.57976452e-01 -7.53006269e-01 6.96760917e-03 6.99124057e+01] [ 7.52960106e-01 -6.58013298e-01 -8.34136158e-03 2.33729923e+02] [ 1.08658770e-02 -2.42087755e-04 9.99940935e-01 5.86576563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.68275509600005 meters 0.022151634446159717 Centerline is valid? [True, True] Translation: X:69.90, Y:233.75, Z:5.87 [[-6.57382466e-01 -7.53527202e-01 6.71186689e-03 6.98956249e+01] [ 7.53484452e-01 -6.57416692e-01 -8.02959675e-03 2.33749238e+02] [ 1.04630129e-02 -2.21228766e-04 9.99945237e-01 5.86673221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7127550960001 meters 0.02120246901777511 Centerline is valid? [True, True] Translation: X:69.88, Y:233.77, Z:5.87 [[-6.56575858e-01 -7.54230649e-01 6.65366756e-03 6.98769374e+01] [ 7.54188739e-01 -6.56609539e-01 -7.95355256e-03 2.33767798e+02] [ 1.03676747e-02 -2.03989439e-04 9.99946233e-01 5.86724893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.74275509600005 meters 0.02068815772815724 Centerline is valid? [True, True] Translation: X:69.86, Y:233.79, Z:5.87 [[-6.55496938e-01 -7.55168912e-01 6.60897486e-03 6.98590405e+01] [ 7.55127673e-01 -6.55530229e-01 -7.89415646e-03 2.33785868e+02] [ 1.02938043e-02 -1.83975585e-04 9.99947000e-01 5.86773435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7727550960001 meters 0.01929994846277219 Centerline is valid? [True, True] Translation: X:69.84, Y:233.80, Z:5.87 [[-6.52798721e-01 -7.57501404e-01 6.74187551e-03 6.98374686e+01] [ 7.57458684e-01 -6.52833518e-01 -8.04614038e-03 2.33804073e+02] [ 1.04962849e-02 -1.45817997e-04 9.99944902e-01 5.86819783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.80275509600006 meters 0.018646900476095088 Centerline is valid? [True, True] Translation: X:69.82, Y:233.82, Z:5.87 [[-6.51341171e-01 -7.58754791e-01 6.77088615e-03 6.98187086e+01] [ 7.58711825e-01 -6.51376352e-01 -8.07563980e-03 2.33822696e+02] [ 1.05378255e-02 -1.22845304e-04 9.99944468e-01 5.86869952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.832755096 meters 0.018311703685202636 Centerline is valid? [True, True] Translation: X:69.80, Y:233.84, Z:5.87 [[-6.50094955e-01 -7.59823068e-01 6.74201801e-03 6.98010421e+01] [ 7.59780589e-01 -6.50129906e-01 -8.03499533e-03 2.33840803e+02] [ 1.04883623e-02 -1.01055508e-04 9.99944991e-01 5.86896173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.86275509600006 meters 0.017543448547537865 Centerline is valid? [True, True] Translation: X:69.78, Y:233.86, Z:5.87 [[-6.47606581e-01 -7.61941403e-01 7.14243483e-03 6.97807639e+01] [ 7.61893916e-01 -6.47645964e-01 -8.50689034e-03 2.33857976e+02] [ 1.11075211e-02 -6.73405302e-05 9.99938307e-01 5.86866849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.89275509600003 meters 0.01744902206214296 Centerline is valid? [True, True] Translation: X:69.76, Y:233.88, Z:5.87 [[-6.46901753e-01 -7.62535349e-01 7.61340655e-03 6.97621951e+01] [ 7.62481523e-01 -6.46946550e-01 -9.06030734e-03 2.33877537e+02] [ 1.18342717e-02 -5.60468809e-05 9.99929971e-01 5.86819588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.92275509600006 meters 0.017245203105470598 Centerline is valid? [True, True] Translation: X:69.74, Y:233.90, Z:5.87 [[-6.46233872e-01 -7.63099614e-01 7.79502742e-03 6.97440104e+01] [ 7.63043315e-01 -6.46280882e-01 -9.26937776e-03 2.33896505e+02] [ 1.21112358e-02 -4.22423179e-05 9.99926655e-01 5.86768407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.95275509600003 meters 0.017180675089128225 Centerline is valid? [True, True] Translation: X:69.73, Y:233.92, Z:5.87 [[-6.46313218e-01 -7.63031994e-01 7.83587758e-03 6.97269867e+01] [ 7.62975188e-01 -6.46360716e-01 -9.31063477e-03 2.33916268e+02] [ 1.21691156e-02 -3.90061492e-05 9.99925953e-01 5.86802610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.98275509600006 meters 0.017317638624192142 Centerline is valid? [True, True] Translation: X:69.71, Y:233.94, Z:5.87 [[-6.46927149e-01 -7.62515438e-01 7.44786416e-03 6.97100055e+01] [ 7.62464163e-01 -6.46970018e-01 -8.84280286e-03 2.33936755e+02] [ 1.15613185e-02 -4.19197242e-05 9.99933165e-01 5.86901435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.01275509600003 meters 0.017504869253603676 Centerline is valid? [True, True] Translation: X:69.70, Y:233.96, Z:5.87 [[-6.49056028e-01 -7.60707512e-01 7.09596305e-03 6.96954740e+01] [ 7.60660930e-01 -6.49094813e-01 -8.41859804e-03 2.33957867e+02] [ 1.10100436e-02 -6.65199520e-05 9.99939385e-01 5.87061042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.04275509600006 meters 0.01778270736452286 Centerline is valid? [True, True] Translation: X:69.68, Y:233.98, Z:5.87 [[-6.51002726e-01 -7.59044445e-01 6.85435211e-03 6.96800020e+01] [ 7.59000958e-01 -6.51038804e-01 -8.12541170e-03 2.33978720e+02] [ 1.06299978e-02 -8.72053461e-05 9.99943496e-01 5.87129171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.07275509600004 meters 0.018300748097109725 Centerline is valid? [True, True] Translation: X:69.66, Y:234.00, Z:5.87 [[-6.53255387e-01 -7.57108734e-01 6.61547743e-03 6.96643063e+01] [ 7.57068192e-01 -6.53288874e-01 -7.83585027e-03 2.34000606e+02] [ 1.02544085e-02 -1.10443859e-04 9.99947416e-01 5.87178887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.10275509600007 meters 0.02005378797034704 Centerline is valid? [True, True] Translation: X:69.65, Y:234.02, Z:5.87 [[-6.57756566e-01 -7.53206353e-01 6.04078004e-03 6.96515253e+01] [ 7.53172427e-01 -6.57784286e-01 -7.15034716e-03 2.34023893e+02] [ 9.35921709e-03 -1.53438828e-04 9.99956190e-01 5.87331616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.13275509600004 meters 0.0211933623299211 Centerline is valid? [True, True] Translation: X:69.64, Y:234.05, Z:5.87 [[-6.60213977e-01 -7.51055646e-01 5.73770991e-03 6.96354642e+01] [ 7.51024986e-01 -6.60238886e-01 -6.78850948e-03 2.34045585e+02] [ 8.88680758e-03 -1.72705337e-04 9.99960497e-01 5.87371030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.16275509600007 meters 0.022578035064015168 Centerline is valid? [True, True] Translation: X:69.62, Y:234.07, Z:5.87 [[-6.64152339e-01 -7.47576700e-01 5.54506865e-03 6.96191530e+01] [ 7.47547979e-01 -6.64175454e-01 -6.55636602e-03 2.34067496e+02] [ 8.58428496e-03 -2.09220963e-04 9.99963132e-01 5.87377443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.19275509600004 meters 0.02301400315626534 Centerline is valid? [True, True] Translation: X:69.60, Y:234.09, Z:5.87 [[-6.66001842e-01 -7.45930788e-01 5.36713913e-03 6.96019635e+01] [ 7.45903862e-01 -6.66023431e-01 -6.34173878e-03 2.34088255e+02] [ 8.30513862e-03 -2.20239903e-04 9.99965488e-01 5.87424636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.22275509600007 meters 0.02593921000504657 Centerline is valid? [True, True] Translation: X:69.59, Y:234.11, Z:5.88 [[-6.67774211e-01 -7.44345076e-01 5.29246576e-03 6.95884538e+01] [ 7.44318880e-01 -6.67795143e-01 -6.24920219e-03 2.34110888e+02] [ 8.18584581e-03 -2.33773875e-04 9.99966468e-01 5.87514640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.25275509600004 meters 0.026919781415377573 Centerline is valid? [True, True] Translation: X:69.57, Y:234.13, Z:5.88 [[-6.70596191e-01 -7.41801841e-01 5.54768483e-03 6.95709959e+01] [ 7.41773017e-01 -6.70619082e-01 -6.54512052e-03 2.34131559e+02] [ 8.57556576e-03 -2.74009977e-04 9.99963192e-01 5.87513117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2827550960001 meters 0.026261272337211684 Centerline is valid? [True, True] Translation: X:69.55, Y:234.15, Z:5.88 [[-6.72048778e-01 -7.40485192e-01 5.66746114e-03 6.95523031e+01] [ 7.40455103e-01 -6.72072610e-01 -6.68190054e-03 2.34150819e+02] [ 8.75679381e-03 -2.94062567e-04 9.99961615e-01 5.87509291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.31275509600005 meters 0.030163336307264182 Centerline is valid? [True, True] Translation: X:69.54, Y:234.17, Z:5.88 [[-6.73336736e-01 -7.39315763e-01 5.46278561e-03 6.95397498e+01] [ 7.39287808e-01 -6.73358831e-01 -6.43598064e-03 2.34174121e+02] [ 8.43663687e-03 -2.95011402e-04 9.99964367e-01 5.87564724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3427550960001 meters 0.02668723553705838 Centerline is valid? [True, True] Translation: X:69.52, Y:234.19, Z:5.88 [[-6.74929306e-01 -7.37858980e-01 5.87855687e-03 6.95171949e+01] [ 7.37826605e-01 -6.74954824e-01 -6.92004707e-03 2.34191052e+02] [ 9.07377919e-03 -3.33186910e-04 9.99958777e-01 5.87565897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.37275509600005 meters 0.027221920276354457 Centerline is valid? [True, True] Translation: X:69.50, Y:234.21, Z:5.88 [[-6.75530351e-01 -7.37307835e-01 5.99186412e-03 6.94994558e+01] [ 7.37274223e-01 -6.75556836e-01 -7.04850426e-03 2.34211829e+02] [ 9.24476217e-03 -3.43831591e-04 9.99957207e-01 5.87626246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4027550960001 meters 0.026314660249214392 Centerline is valid? [True, True] Translation: X:69.48, Y:234.23, Z:5.88 [[-6.75489088e-01 -7.37342496e-01 6.36670343e-03 6.94791245e+01] [ 7.37304606e-01 -6.75518995e-01 -7.48364106e-03 2.34230629e+02] [ 9.81883569e-03 -3.60918113e-04 9.99951729e-01 5.87623985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.43275509600005 meters 0.026314660249214392 Centerline is valid? [True, True] Translation: X:69.46, Y:234.25, Z:5.88 [[-6.75758022e-01 -7.37096008e-01 6.36943465e-03 6.94616263e+01] [ 7.37058129e-01 -6.75787943e-01 -7.48131557e-03 2.34250879e+02] [ 9.81883499e-03 -3.60915427e-04 9.99951729e-01 5.87655849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4627550960001 meters 0.02621236358931812 Centerline is valid? [True, True] Translation: X:69.44, Y:234.27, Z:5.88 [[-6.75369470e-01 -7.37447993e-01 6.82177412e-03 6.94429298e+01] [ 7.37404628e-01 -6.75403817e-01 -8.00617290e-03 2.34271368e+02] [ 1.05115884e-02 -3.76716950e-04 9.99944681e-01 5.87697017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.49275509600005 meters 0.028771568050922448 Centerline is valid? [True, True] Translation: X:69.43, Y:234.29, Z:5.88 [[-6.75156976e-01 -7.37642069e-01 6.87282109e-03 6.94283903e+01] [ 7.37598122e-01 -6.75191853e-01 -8.06053595e-03 2.34293039e+02] [ 1.05862632e-02 -3.72747145e-04 9.99943894e-01 5.87719160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5227550960001 meters 0.02762532976925579 Centerline is valid? [True, True] Translation: X:69.41, Y:234.31, Z:5.88 [[-6.75047416e-01 -7.37742938e-01 6.80767371e-03 6.94092622e+01] [ 7.37699888e-01 -6.75081644e-01 -7.97809283e-03 2.34311286e+02] [ 1.04815172e-02 -3.63570817e-04 9.99945001e-01 5.87745563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.55275509600006 meters 0.02610613586811344 Centerline is valid? [True, True] Translation: X:69.39, Y:234.33, Z:5.88 [[-6.74742619e-01 -7.38017587e-01 7.24157160e-03 6.93883893e+01] [ 7.37968968e-01 -6.74781372e-01 -8.47956725e-03 2.34329562e+02] [ 1.11445474e-02 -3.77470296e-04 9.99937826e-01 5.87757904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.582755096 meters 0.02567898515009265 Centerline is valid? [True, True] Translation: X:69.37, Y:234.35, Z:5.88 [[-6.74899989e-01 -7.37869266e-01 7.67792683e-03 6.93687006e+01] [ 7.37814683e-01 -6.74943544e-01 -8.98364750e-03 2.34348780e+02] [ 1.18109245e-02 -3.98176449e-04 9.99930169e-01 5.87738096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.61275509600006 meters 0.025932385305387776 Centerline is valid? [True, True] Translation: X:69.35, Y:234.37, Z:5.88 [[-6.75107424e-01 -7.37679116e-01 7.71286001e-03 6.93513835e+01] [ 7.37624101e-01 -6.75151363e-01 -9.01789645e-03 2.34368053e+02] [ 1.18596618e-02 -3.98857407e-04 9.99929592e-01 5.87764781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.64275509600003 meters 0.02525777970129029 Centerline is valid? [True, True] Translation: X:69.33, Y:234.39, Z:5.88 [[-6.74983929e-01 -7.37791301e-01 7.79049313e-03 6.93318747e+01] [ 7.37735265e-01 -6.75028769e-01 -9.10162871e-03 2.34387758e+02] [ 1.19739095e-02 -3.96131592e-04 9.99928232e-01 5.87802512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.67275509600006 meters 0.025939422640721237 Centerline is valid? [True, True] Translation: X:69.31, Y:234.41, Z:5.88 [[-6.74980198e-01 -7.37796469e-01 7.62256695e-03 6.93148371e+01] [ 7.37742897e-01 -6.75023128e-01 -8.89913904e-03 2.34407709e+02] [ 1.17111623e-02 -3.83248010e-04 9.99931349e-01 5.87822761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.70275509600003 meters 0.02481399053656611 Centerline is valid? [True, True] Translation: X:69.29, Y:234.43, Z:5.88 [[-6.74140339e-01 -7.38565284e-01 7.49166898e-03 6.92948905e+01] [ 7.38513658e-01 -6.74181869e-01 -8.73980142e-03 2.34426146e+02] [ 1.15056613e-02 -3.59152829e-04 9.99933743e-01 5.87900493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.73275509600006 meters 0.024727587145912704 Centerline is valid? [True, True] Translation: X:69.28, Y:234.45, Z:5.88 [[-6.73790675e-01 -7.38885956e-01 7.32605543e-03 6.92774056e+01] [ 7.38836673e-01 -6.73830414e-01 -8.54064944e-03 2.34445289e+02] [ 1.12470849e-02 -3.41851525e-04 9.99936691e-01 5.87958571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76275509600003 meters 0.02423151948410099 Centerline is valid? [True, True] Translation: X:69.26, Y:234.46, Z:5.88 [[-6.73118117e-01 -7.39500488e-01 7.14349493e-03 6.92584810e+01] [ 7.39453737e-01 -6.73155945e-01 -8.32134823e-03 2.34464984e+02] [ 1.09623272e-02 -3.18966229e-04 9.99939861e-01 5.88014477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.79275509600006 meters 0.023121505117505062 Centerline is valid? [True, True] Translation: X:69.24, Y:234.48, Z:5.88 [[-6.70832816e-01 -7.41573865e-01 7.17880359e-03 6.92381936e+01] [ 7.41526834e-01 -6.70871167e-01 -8.35651129e-03 2.34482564e+02] [ 1.10130227e-02 -2.82546502e-04 9.99939315e-01 5.88016544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82275509600004 meters 0.02236696403171231 Centerline is valid? [True, True] Translation: X:69.22, Y:234.50, Z:5.88 [[-6.69676016e-01 -7.42615772e-01 7.47327121e-03 6.92186278e+01] [ 7.42564941e-01 -6.69717658e-01 -8.69291977e-03 2.34501517e+02] [ 1.14604810e-02 -2.72050681e-04 9.99934290e-01 5.87981992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.85275509600007 meters 0.021089278098179107 Centerline is valid? [True, True] Translation: X:69.20, Y:234.52, Z:5.88 [[-6.67161900e-01 -7.44873787e-01 7.61849147e-03 6.91996449e+01] [ 7.44821181e-01 -6.67205356e-01 -8.85554172e-03 2.34519309e+02] [ 1.16793592e-02 -2.33666220e-04 9.99931767e-01 5.87959850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88275509600004 meters 0.020637744610544947 Centerline is valid? [True, True] Translation: X:69.18, Y:234.54, Z:5.88 [[-6.66109882e-01 -7.45813657e-01 7.72100032e-03 6.91821847e+01] [ 7.45759768e-01 -6.66154594e-01 -8.96804361e-03 2.34538294e+02] [ 1.18318692e-02 -2.15691068e-04 9.99929978e-01 5.87977934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.91275509600007 meters 0.020267485722295635 Centerline is valid? [True, True] Translation: X:69.17, Y:234.56, Z:5.88 [[-6.65417509e-01 -7.46428270e-01 8.02351920e-03 6.91651552e+01] [ 7.46370193e-01 -6.65465848e-01 -9.31345889e-03 2.34556825e+02] [ 1.22912070e-02 -2.08823044e-04 9.99924438e-01 5.87979702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.94275509600004 meters 0.019485839880045597 Centerline is valid? [True, True] Translation: X:69.15, Y:234.58, Z:5.88 [[-6.63811560e-01 -7.47849798e-01 8.65404493e-03 6.91469308e+01] [ 7.47782467e-01 -6.63867941e-01 -1.00368824e-02 2.34576094e+02] [ 1.32512235e-02 -1.91255490e-04 9.99912180e-01 5.87918710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.97275509600007 meters 0.01929320472449683 Centerline is valid? [True, True] Translation: X:69.13, Y:234.60, Z:5.88 [[-6.63434405e-01 -7.48183026e-01 8.77209731e-03 6.91298816e+01] [ 7.48113978e-01 -6.63492371e-01 -1.01661168e-02 2.34595693e+02] [ 1.34263357e-02 -1.82023049e-04 9.99909846e-01 5.87894548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.00275509600004 meters 0.018794846151993314 Centerline is valid? [True, True] Translation: X:69.11, Y:234.62, Z:5.88 [[-6.63010672e-01 -7.48551485e-01 9.35536307e-03 6.91124465e+01] [ 7.48473107e-01 -6.63076649e-01 -1.08335386e-02 2.34615844e+02] [ 1.43127842e-02 -1.80514052e-04 9.99897551e-01 5.87865600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0327550960001 meters 0.019105306784264697 Centerline is valid? [True, True] Translation: X:69.10, Y:234.64, Z:5.88 [[-6.63361436e-01 -7.48242184e-01 9.23251962e-03 6.90973007e+01] [ 7.48165935e-01 -6.63425657e-01 -1.06832019e-02 2.34636139e+02] [ 1.41187127e-02 -1.79367468e-04 9.99900310e-01 5.87912574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.06275509600005 meters 0.018429871292502408 Centerline is valid? [True, True] Translation: X:69.08, Y:234.66, Z:5.88 [[-6.63980106e-01 -7.47693117e-01 9.24239430e-03 6.90789870e+01] [ 7.47616770e-01 -6.64044403e-01 -1.06862667e-02 2.34656679e+02] [ 1.41274082e-02 -1.85699495e-04 9.99900186e-01 5.87992538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0927550960001 meters 0.019083963461826715 Centerline is valid? [True, True] Translation: X:69.07, Y:234.68, Z:5.88 [[-6.65081179e-01 -7.46716334e-01 9.04109223e-03 6.90660378e+01] [ 7.46643287e-01 -6.65142599e-01 -1.04462964e-02 2.34680070e+02] [ 1.38140357e-02 -1.97164272e-04 9.99904562e-01 5.88100121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.12275509600005 meters 0.019412366776469802 Centerline is valid? [True, True] Translation: X:69.05, Y:234.70, Z:5.88 [[-6.66178952e-01 -7.45738683e-01 8.91179670e-03 6.90504041e+01] [ 7.45667704e-01 -6.66238525e-01 -1.02909376e-02 2.34701274e+02] [ 1.36117325e-02 -2.10367017e-04 9.99907334e-01 5.88142741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1527550960001 meters 0.019724433409676834 Centerline is valid? [True, True] Translation: X:69.03, Y:234.72, Z:5.88 [[-6.67219275e-01 -7.44808614e-01 8.86384108e-03 6.90348016e+01] [ 7.44738421e-01 -6.67278112e-01 -1.02276814e-02 2.34722407e+02] [ 1.35323123e-02 -2.22863154e-04 9.99908409e-01 5.88161114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.18275509600005 meters 0.02000351051814422 Centerline is valid? [True, True] Translation: X:69.02, Y:234.75, Z:5.88 [[-6.68890009e-01 -7.43309843e-01 8.75410147e-03 6.90199760e+01] [ 7.43241351e-01 -6.68947246e-01 -1.00934083e-02 2.34745227e+02] [ 1.33585618e-02 -2.44969747e-04 9.99910740e-01 5.88179658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2127550960001 meters 0.02158539431400314 Centerline is valid? [True, True] Translation: X:69.01, Y:234.77, Z:5.88 [[-6.69811756e-01 -7.42479521e-01 8.73918030e-03 6.90065998e+01] [ 7.42411285e-01 -6.69868715e-01 -1.00691545e-02 2.34767871e+02] [ 1.33302445e-02 -2.56371996e-04 9.99911116e-01 5.88186931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.24275509600005 meters 0.020962986346480725 Centerline is valid? [True, True] Translation: X:68.99, Y:234.79, Z:5.88 [[-6.70920533e-01 -7.41476011e-01 8.88612752e-03 6.89904999e+01] [ 7.41405463e-01 -6.70979321e-01 -1.02318760e-02 2.34789891e+02] [ 1.35490984e-02 -2.76552235e-04 9.99908169e-01 5.88252842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2727550960001 meters 0.020637728639319244 Centerline is valid? [True, True] Translation: X:68.97, Y:234.81, Z:5.88 [[-6.71547477e-01 -7.40908187e-01 8.89069572e-03 6.89739775e+01] [ 7.40837611e-01 -6.71606267e-01 -1.02301340e-02 2.34810962e+02] [ 1.35506370e-02 -2.83458924e-04 9.99908146e-01 5.88264997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.30275509600006 meters 0.021440430607816748 Centerline is valid? [True, True] Translation: X:68.96, Y:234.83, Z:5.88 [[-6.72186847e-01 -7.40326958e-01 8.99103238e-03 6.89593133e+01] [ 7.40254812e-01 -6.72246911e-01 -1.03394719e-02 2.34832516e+02] [ 1.36987835e-02 -2.94402040e-04 9.99906124e-01 5.88262243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.332755096 meters 0.021259316339418376 Centerline is valid? [True, True] Translation: X:68.94, Y:234.86, Z:5.88 [[-6.72768301e-01 -7.39790823e-01 9.60995363e-03 6.89431473e+01] [ 7.39708475e-01 -6.72836856e-01 -1.10425090e-02 2.34855001e+02] [ 1.46350778e-02 -3.20485872e-04 9.99892850e-01 5.88205802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.36275509600006 meters 0.02162023433764757 Centerline is valid? [True, True] Translation: X:68.93, Y:234.88, Z:5.88 [[-6.72886026e-01 -7.39679178e-01 9.95540266e-03 6.89283270e+01] [ 7.39590922e-01 -6.72959587e-01 -1.14307776e-02 2.34875782e+02] [ 1.51546918e-02 -3.28685052e-04 9.99885107e-01 5.88127022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.39275509600003 meters 0.021229385660931143 Centerline is valid? [True, True] Translation: X:68.91, Y:234.90, Z:5.88 [[-6.72860442e-01 -7.39698297e-01 1.02593943e-02 6.89114948e+01] [ 7.39604724e-01 -6.72938571e-01 -1.17699814e-02 2.34896497e+02] [ 1.56101774e-02 -3.31658432e-04 9.99878099e-01 5.88084756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.42275509600006 meters 0.02093799715037318 Centerline is valid? [True, True] Translation: X:68.90, Y:234.92, Z:5.88 [[-6.71828520e-01 -7.40627672e-01 1.08208869e-02 6.88965365e+01] [ 7.40523864e-01 -6.71915582e-01 -1.24039285e-02 2.34917519e+02] [ 1.64574152e-02 -3.20187965e-04 9.99864516e-01 5.87973237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.45275509600003 meters 0.020354017208378053 Centerline is valid? [True, True] Translation: X:68.88, Y:234.94, Z:5.88 [[-6.70827664e-01 -7.41534922e-01 1.07798492e-02 6.88779056e+01] [ 7.41432177e-01 -6.70914209e-01 -1.23471414e-02 2.34937023e+02] [ 1.63881906e-02 -2.90276997e-04 9.99865662e-01 5.88043718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.48275509600006 meters 0.01847513392811968 Centerline is valid? [True, True] Translation: X:68.86, Y:234.96, Z:5.88 [[-6.67878700e-01 -7.44194794e-01 1.05901800e-02 6.88560647e+01] [ 7.44096101e-01 -6.67962621e-01 -1.21214447e-02 2.34955060e+02] [ 1.60945604e-02 -2.15543075e-04 9.99870451e-01 5.88153018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.51275509600003 meters 0.018005661731030582 Centerline is valid? [True, True] Translation: X:68.84, Y:234.98, Z:5.88 [[-6.66842680e-01 -7.45117032e-01 1.10203948e-02 6.88375869e+01] [ 7.45010429e-01 -6.66933708e-01 -1.26051392e-02 2.34975328e+02] [ 1.67421767e-02 -1.95335686e-04 9.99859821e-01 5.88159719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.54275509600006 meters 0.018255004605194053 Centerline is valid? [True, True] Translation: X:68.82, Y:235.00, Z:5.88 [[-6.66125744e-01 -7.45750995e-01 1.14867910e-02 6.88212510e+01] [ 7.45635433e-01 -6.66224753e-01 -1.31293295e-02 2.34996311e+02] [ 1.74439950e-02 -1.80826000e-04 9.99847826e-01 5.88075610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.57275509600004 meters 0.017921578559190243 Centerline is valid? [True, True] Translation: X:68.80, Y:235.02, Z:5.88 [[-6.65362800e-01 -7.46423004e-01 1.20434188e-02 6.88042835e+01] [ 7.46296244e-01 -6.65471767e-01 -1.37566138e-02 2.35017055e+02] [ 1.82828082e-02 -1.65180899e-04 9.99832842e-01 5.88080161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.60275509600007 meters 0.017635701004983607 Centerline is valid? [True, True] Translation: X:68.79, Y:235.04, Z:5.88 [[-6.65598381e-01 -7.46215681e-01 1.18723133e-02 6.87864607e+01] [ 7.46092643e-01 -6.65704237e-01 -1.35512620e-02 2.35037745e+02] [ 1.80156135e-02 -1.61852448e-04 9.99837693e-01 5.88248971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.63275509600004 meters 0.01774550901256826 Centerline is valid? [True, True] Translation: X:68.77, Y:235.06, Z:5.88 [[-6.65793016e-01 -7.46043795e-01 1.17607351e-02 6.87694819e+01] [ 7.45923209e-01 -6.65896862e-01 -1.34140257e-02 2.35058367e+02] [ 1.78388872e-02 -1.58359380e-04 9.99840862e-01 5.88364186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.66275509600007 meters 0.01782877513834533 Centerline is valid? [True, True] Translation: X:68.75, Y:235.08, Z:5.89 [[-6.66705931e-01 -7.45239436e-01 1.10174399e-02 6.87510130e+01] [ 7.45133656e-01 -6.66796938e-01 -1.25570156e-02 2.35078309e+02] [ 1.67043784e-02 -1.62371493e-04 9.99860459e-01 5.88533237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.69275509600004 meters 0.017854158377850062 Centerline is valid? [True, True] Translation: X:68.73, Y:235.10, Z:5.89 [[-6.67270688e-01 -7.44735962e-01 1.08709107e-02 6.87323822e+01] [ 7.44633055e-01 -6.67359214e-01 -1.23811554e-02 2.35098785e+02] [ 1.64754941e-02 -1.66742608e-04 9.99864256e-01 5.88583791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.72275509600007 meters 0.01833907037096058 Centerline is valid? [True, True] Translation: X:68.72, Y:235.12, Z:5.89 [[-6.68572287e-01 -7.43577984e-01 1.01429390e-02 6.87164580e+01] [ 7.43488389e-01 -6.68649199e-01 -1.15440523e-02 2.35119504e+02] [ 1.53659712e-02 -1.76876072e-04 9.99881921e-01 5.88710483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.75275509600004 meters 0.018614472008547055 Centerline is valid? [True, True] Translation: X:68.70, Y:235.14, Z:5.89 [[-6.69523852e-01 -7.42724250e-01 9.92472331e-03 6.86998973e+01] [ 7.42638501e-01 -6.69597382e-01 -1.12872595e-02 2.35139584e+02] [ 1.50288901e-02 -1.86607836e-04 9.99887042e-01 5.88822097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7827550960001 meters 0.01846698138441527 Centerline is valid? [True, True] Translation: X:68.68, Y:235.16, Z:5.89 [[-6.70176105e-01 -7.42138925e-01 9.68525834e-03 6.86818893e+01] [ 7.42057325e-01 -6.70246060e-01 -1.10066695e-02 2.35160402e+02] [ 1.46599841e-02 -1.89390030e-04 9.99892519e-01 5.88912632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.81275509600005 meters 0.01904951090289388 Centerline is valid? [True, True] Translation: X:68.67, Y:235.18, Z:5.89 [[-6.71327471e-01 -7.41099836e-01 9.51100681e-03 6.86668358e+01] [ 7.41021152e-01 -6.71394811e-01 -1.08009237e-02 2.35181617e+02] [ 1.43902034e-02 -2.03099535e-04 9.99896435e-01 5.88988721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8427550960001 meters 0.01909814336883105 Centerline is valid? [True, True] Translation: X:68.65, Y:235.20, Z:5.89 [[-6.71915881e-01 -7.40567877e-01 9.39518271e-03 6.86493226e+01] [ 7.40491159e-01 -6.71981531e-01 -1.06614093e-02 2.35201889e+02] [ 1.42088865e-02 -2.06520451e-04 9.99899027e-01 5.89039364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.87275509600005 meters 0.019613242990134134 Centerline is valid? [True, True] Translation: X:68.63, Y:235.22, Z:5.89 [[-6.72981156e-01 -7.39599395e-01 9.43921445e-03 6.86328111e+01] [ 7.39521981e-01 -6.73047313e-01 -1.07029816e-02 2.35220962e+02] [ 1.42689566e-02 -2.22398334e-04 9.99898169e-01 5.89013402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9027550960001 meters 0.019587978916940748 Centerline is valid? [True, True] Translation: X:68.62, Y:235.24, Z:5.89 [[-6.73741060e-01 -7.38902961e-01 9.76726657e-03 6.86151211e+01] [ 7.38820133e-01 -6.73811812e-01 -1.10658423e-02 2.35239995e+02] [ 1.47578832e-02 -2.39259116e-04 9.99891068e-01 5.89012036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.93275509600005 meters 0.020143036977286533 Centerline is valid? [True, True] Translation: X:68.60, Y:235.26, Z:5.89 [[-6.74419625e-01 -7.38280033e-01 1.00380978e-02 6.85987342e+01] [ 7.38192616e-01 -6.74494277e-01 -1.13636474e-02 2.35259476e+02] [ 1.51601935e-02 -2.53817098e-04 9.99885045e-01 5.88987735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9627550960001 meters 0.020565597323169028 Centerline is valid? [True, True] Translation: X:68.58, Y:235.28, Z:5.89 [[-6.75553109e-01 -7.37236578e-01 1.04987948e-02 6.85812483e+01] [ 7.37140978e-01 -6.75634626e-01 -1.18756880e-02 2.35280396e+02] [ 1.58485409e-02 -2.83566111e-04 9.99874364e-01 5.88973784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.99275509600005 meters 0.020730438203569394 Centerline is valid? [True, True] Translation: X:68.56, Y:235.30, Z:5.89 [[-6.75723779e-01 -7.37076602e-01 1.07450662e-02 6.85645533e+01] [ 7.36976584e-01 -6.75809144e-01 -1.21455811e-02 2.35300114e+02] [ 1.62138377e-02 -2.88195758e-04 9.99868506e-01 5.88987102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0227550960001 meters 0.020740958766340627 Centerline is valid? [True, True] Translation: X:68.55, Y:235.32, Z:5.89 [[-6.76184723e-01 -7.36651378e-01 1.09072277e-02 6.85471176e+01] [ 7.36548421e-01 -6.76272622e-01 -1.23192968e-02 2.35319762e+02] [ 1.64512864e-02 -2.96418998e-04 9.99864625e-01 5.89034311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.05275509600006 meters 0.02095122247130641 Centerline is valid? [True, True] Translation: X:68.53, Y:235.34, Z:5.89 [[-6.76607195e-01 -7.36269075e-01 1.05143991e-02 6.85309723e+01] [ 7.36173491e-01 -6.76688825e-01 -1.18669978e-02 2.35338772e+02] [ 1.58522799e-02 -2.88874207e-04 9.99874303e-01 5.89122886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.082755096 meters 0.020177454772830134 Centerline is valid? [True, True] Translation: X:68.51, Y:235.36, Z:5.89 [[-6.76864362e-01 -7.36033003e-01 1.04907041e-02 6.85119586e+01] [ 7.35937964e-01 -6.76945593e-01 -1.18311856e-02 2.35357705e+02] [ 1.58097790e-02 -2.87600513e-04 9.99874976e-01 5.89184483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.11275509600006 meters 0.021180398391513342 Centerline is valid? [True, True] Translation: X:68.50, Y:235.38, Z:5.89 [[-6.77248361e-01 -7.35676252e-01 1.07289600e-02 6.84963745e+01] [ 7.35576956e-01 -6.77333275e-01 -1.20903559e-02 2.35378069e+02] [ 1.61616693e-02 -2.96197961e-04 9.99869348e-01 5.89129175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.14275509600003 meters 0.02050328445086017 Centerline is valid? [True, True] Translation: X:68.48, Y:235.40, Z:5.89 [[-6.77441064e-01 -7.35498752e-01 1.07327007e-02 6.84781084e+01] [ 7.35399518e-01 -6.77526014e-01 -1.20850801e-02 2.35397070e+02] [ 1.61602453e-02 -2.94106607e-04 9.99869371e-01 5.89190987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.17275509600006 meters 0.020043625995433544 Centerline is valid? [True, True] Translation: X:68.46, Y:235.42, Z:5.89 [[-6.77939982e-01 -7.35039455e-01 1.06948385e-02 6.84596895e+01] [ 7.34941009e-01 -6.78024270e-01 -1.20333872e-02 2.35415821e+02] [ 1.60963744e-02 -2.97838906e-04 9.99870401e-01 5.89217370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.20275509600003 meters 0.01967033316292144 Centerline is valid? [True, True] Translation: X:68.44, Y:235.44, Z:5.89 [[-6.78350492e-01 -7.34657228e-01 1.09255467e-02 6.84406711e+01] [ 7.34554595e-01 -6.78438401e-01 -1.22834752e-02 2.35435569e+02] [ 1.64364543e-02 -3.07090941e-04 9.99864865e-01 5.89219924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.23275509600006 meters 0.021914405848230834 Centerline is valid? [True, True] Translation: X:68.43, Y:235.46, Z:5.89 [[-6.78667204e-01 -7.34361568e-01 1.11316696e-02 6.84262725e+01] [ 7.34255129e-01 -6.78758417e-01 -1.25066806e-02 2.35457677e+02] [ 1.67401400e-02 -3.14388427e-04 9.99859825e-01 5.89109675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26275509600003 meters 0.021145648290974 Centerline is valid? [True, True] Translation: X:68.41, Y:235.48, Z:5.89 [[-6.78780382e-01 -7.34255395e-01 1.12342677e-02 6.84068073e+01] [ 7.34147100e-01 -6.78873270e-01 -1.26142732e-02 2.35476099e+02] [ 1.68887421e-02 -3.14716133e-04 9.99857326e-01 5.89149817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.29275509600006 meters 0.019476038338028242 Centerline is valid? [True, True] Translation: X:68.39, Y:235.49, Z:5.89 [[-6.78412663e-01 -7.34586562e-01 1.17831194e-02 6.83856326e+01] [ 7.34467650e-01 -6.78514910e-01 -1.32207035e-02 2.35493199e+02] [ 1.77067734e-02 -3.14772629e-04 9.99843173e-01 5.89211689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32275509600004 meters 0.020659031726933827 Centerline is valid? [True, True] Translation: X:68.37, Y:235.51, Z:5.89 [[-6.78323455e-01 -7.34667751e-01 1.18568722e-02 6.83698299e+01] [ 7.34547536e-01 -6.78427005e-01 -1.32934756e-02 2.35513691e+02] [ 1.78103101e-02 -3.07840025e-04 9.99841336e-01 5.89144272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.35275509600007 meters 0.020659031726933827 Centerline is valid? [True, True] Translation: X:68.35, Y:235.53, Z:5.89 [[-6.78612700e-01 -7.34400497e-01 1.18622349e-02 6.83528776e+01] [ 7.34280325e-01 -6.78716299e-01 -1.32886892e-02 2.35532199e+02] [ 1.78103121e-02 -3.07667567e-04 9.99841336e-01 5.89174121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38275509600004 meters 0.01933292285289325 Centerline is valid? [True, True] Translation: X:68.33, Y:235.55, Z:5.89 [[-6.78702591e-01 -7.34314231e-01 1.20583565e-02 6.83327848e+01] [ 7.34190233e-01 -6.78809631e-01 -1.34976367e-02 2.35549703e+02] [ 1.80968353e-02 -3.07753445e-04 9.99836192e-01 5.89266056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.41275509600007 meters 0.019501521913211712 Centerline is valid? [True, True] Translation: X:68.32, Y:235.57, Z:5.89 [[-6.78760216e-01 -7.34259742e-01 1.21326096e-02 6.83154368e+01] [ 7.34134400e-01 -6.78868573e-01 -1.35699794e-02 2.35568313e+02] [ 1.82003370e-02 -3.03796090e-04 9.99834314e-01 5.89237638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.44275509600004 meters 0.018839681048550185 Centerline is valid? [True, True] Translation: X:68.30, Y:235.59, Z:5.89 [[-6.78665181e-01 -7.34341706e-01 1.24832672e-02 6.82951148e+01] [ 7.34209233e-01 -6.78779911e-01 -1.39511489e-02 2.35586867e+02] [ 1.87183015e-02 -3.02828993e-04 9.99824751e-01 5.89251926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.47275509600007 meters 0.01867465252780404 Centerline is valid? [True, True] Translation: X:68.28, Y:235.61, Z:5.89 [[-6.78916831e-01 -7.34109460e-01 1.24594479e-02 6.82758713e+01] [ 7.33977639e-01 -6.79031082e-01 -1.39145792e-02 2.35606507e+02] [ 1.86751766e-02 -3.01885885e-04 9.99825558e-01 5.89311185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.50275509600004 meters 0.01897566689039911 Centerline is valid? [True, True] Translation: X:68.26, Y:235.63, Z:5.89 [[-6.79501487e-01 -7.33573356e-01 1.21598133e-02 6.82578457e+01] [ 7.33447892e-01 -6.79610212e-01 -1.35701384e-02 2.35625357e+02] [ 1.82186253e-02 -3.02339797e-04 9.99833981e-01 5.89319210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5327550960001 meters 0.0189660157274769 Centerline is valid? [True, True] Translation: X:68.24, Y:235.65, Z:5.89 [[-6.80128669e-01 -7.32994131e-01 1.20248602e-02 6.82391951e+01] [ 7.32871525e-01 -6.80234893e-01 -1.34096343e-02 2.35645384e+02] [ 1.80089128e-02 -3.07599072e-04 9.99837779e-01 5.89335918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.56275509600005 meters 0.020223134160556835 Centerline is valid? [True, True] Translation: X:68.22, Y:235.67, Z:5.89 [[-6.81588596e-01 -7.31635774e-01 1.20863867e-02 6.82239153e+01] [ 7.31511875e-01 -6.81695665e-01 -1.34683747e-02 2.35667063e+02] [ 1.80931822e-02 -3.38555182e-04 9.99836248e-01 5.89347944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5927550960001 meters 0.01974407470436989 Centerline is valid? [True, True] Translation: X:68.21, Y:235.69, Z:5.89 [[-6.82390220e-01 -7.30887122e-01 1.21491857e-02 6.82052587e+01] [ 7.30761997e-01 -6.82498271e-01 -1.35282898e-02 2.35686518e+02] [ 1.81794510e-02 -3.53409402e-04 9.99834678e-01 5.89455704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.62275509600005 meters 0.01982825295461562 Centerline is valid? [True, True] Translation: X:68.19, Y:235.71, Z:5.89 [[-6.83123021e-01 -7.30200748e-01 1.22395284e-02 6.81868438e+01] [ 7.30073825e-01 -6.83232562e-01 -1.36189854e-02 2.35706843e+02] [ 1.83070376e-02 -3.67683132e-04 9.99832345e-01 5.89478423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6527550960001 meters 0.019928003823707113 Centerline is valid? [True, True] Translation: X:68.17, Y:235.73, Z:5.89 [[-6.84015551e-01 -7.29366126e-01 1.21564705e-02 6.81684930e+01] [ 7.29240968e-01 -6.84123461e-01 -1.35167004e-02 2.35727522e+02] [ 1.81751501e-02 -3.80637000e-04 9.99834746e-01 5.89466722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.68275509600005 meters 0.02040241275736989 Centerline is valid? [True, True] Translation: X:68.15, Y:235.75, Z:5.89 [[-6.84465862e-01 -7.28941590e-01 1.22736745e-02 6.81513925e+01] [ 7.28814126e-01 -6.84575787e-01 -1.36367769e-02 2.35747724e+02] [ 1.83426742e-02 -3.88680961e-04 9.99831683e-01 5.89462773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7127550960001 meters 0.02056962822246615 Centerline is valid? [True, True] Translation: X:68.13, Y:235.77, Z:5.90 [[-6.85017510e-01 -7.28422894e-01 1.22922206e-02 6.81330555e+01] [ 7.28295150e-01 -6.85127675e-01 -1.36471357e-02 2.35768291e+02] [ 1.83626266e-02 -3.96162286e-04 9.99831314e-01 5.89504519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.74275509600005 meters 0.020355245246390315 Centerline is valid? [True, True] Translation: X:68.11, Y:235.79, Z:5.90 [[-6.85338624e-01 -7.28121390e-01 1.22561035e-02 6.81141065e+01] [ 7.27994526e-01 -6.85448090e-01 -1.35972727e-02 2.35788299e+02] [ 1.83013878e-02 -3.96359939e-04 9.99832437e-01 5.89569269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7727550960001 meters 0.02089146034075891 Centerline is valid? [True, True] Translation: X:68.10, Y:235.81, Z:5.90 [[-6.85250255e-01 -7.28203083e-01 1.23433222e-02 6.80970288e+01] [ 7.28074607e-01 -6.85361304e-01 -1.36839177e-02 2.35808242e+02] [ 1.84243065e-02 -3.90048648e-04 9.99830182e-01 5.89609546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.80275509600006 meters 0.02026703710490288 Centerline is valid? [True, True] Translation: X:68.08, Y:235.83, Z:5.90 [[-6.85083501e-01 -7.28363316e-01 1.21439656e-02 6.80779249e+01] [ 7.28239160e-01 -6.85191025e-01 -1.34530432e-02 2.35827531e+02] [ 1.81196394e-02 -3.72746604e-04 9.99835756e-01 5.89655591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.832755096 meters 0.020057940361942143 Centerline is valid? [True, True] Translation: X:68.06, Y:235.85, Z:5.90 [[-6.84763917e-01 -7.28667045e-01 1.19463718e-02 6.80601178e+01] [ 7.28547118e-01 -6.84868026e-01 -1.32243809e-02 2.35845398e+02] [ 1.78178586e-02 -3.52084124e-04 9.99841187e-01 5.89705445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.86275509600006 meters 0.02087962752640037 Centerline is valid? [True, True] Translation: X:68.04, Y:235.87, Z:5.90 [[-6.84646873e-01 -7.28779559e-01 1.17904264e-02 6.80437202e+01] [ 7.28662930e-01 -6.84748305e-01 -1.30419805e-02 2.35865438e+02] [ 1.75782033e-02 -3.37904533e-04 9.99845434e-01 5.89670218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.89275509600003 meters 0.01949460490643224 Centerline is valid? [True, True] Translation: X:68.02, Y:235.88, Z:5.90 [[-6.84555412e-01 -7.28863851e-01 1.18901127e-02 6.80233489e+01] [ 7.28745407e-01 -6.84658583e-01 -1.31436591e-02 2.35883795e+02] [ 1.77206057e-02 -3.32697992e-04 9.99842922e-01 5.89771940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.92275509600006 meters 0.019926683021647625 Centerline is valid? [True, True] Translation: X:68.01, Y:235.90, Z:5.90 [[-6.84624024e-01 -7.28796394e-01 1.20731834e-02 6.80059524e+01] [ 7.28674440e-01 -6.84730388e-01 -1.33362671e-02 2.35903697e+02] [ 1.79862989e-02 -3.32908682e-04 9.99838178e-01 5.89745816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.95275509600003 meters 0.0194233432466222 Centerline is valid? [True, True] Translation: X:67.99, Y:235.92, Z:5.90 [[-6.85037105e-01 -7.28414633e-01 1.16742304e-02 6.79870708e+01] [ 7.28300711e-01 -6.85136495e-01 -1.28863182e-02 2.35922761e+02] [ 1.73850241e-02 -3.25255813e-04 9.99848816e-01 5.89794821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.98275509600006 meters 0.019832642633242966 Centerline is valid? [True, True] Translation: X:67.97, Y:235.94, Z:5.90 [[-6.85364823e-01 -7.28104005e-01 1.18159462e-02 6.79702961e+01] [ 7.27987427e-01 -6.85466592e-01 -1.30329484e-02 2.35941817e+02] [ 1.75887783e-02 -3.30464126e-04 9.99845251e-01 5.89800945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.01275509600003 meters 0.020118288600081857 Centerline is valid? [True, True] Translation: X:67.95, Y:235.96, Z:5.90 [[-6.85873749e-01 -7.27623374e-01 1.18922963e-02 6.79535827e+01] [ 7.27505402e-01 -6.85976758e-01 -1.31064026e-02 2.35960707e+02] [ 1.76943638e-02 -3.37627666e-04 9.99843386e-01 5.89801052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.04275509600006 meters 0.0207074745209585 Centerline is valid? [True, True] Translation: X:67.94, Y:235.98, Z:5.90 [[-6.87197906e-01 -7.26377890e-01 1.15844102e-02 6.79356400e+01] [ 7.26265938e-01 -6.87295450e-01 -1.27574306e-02 2.35981222e+02] [ 1.72286280e-02 -3.53517088e-04 9.99851514e-01 5.89837318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.07275509600004 meters 0.02045319079770724 Centerline is valid? [True, True] Translation: X:67.92, Y:236.00, Z:5.90 [[-6.87857506e-01 -7.25752088e-01 1.16600968e-02 6.79167362e+01] [ 7.25638732e-01 -6.87956229e-01 -1.28318657e-02 2.36001034e+02] [ 1.73343895e-02 -3.65477302e-04 9.99849681e-01 5.89885899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.10275509600007 meters 0.020981876563665413 Centerline is valid? [True, True] Translation: X:67.90, Y:236.02, Z:5.90 [[-6.89314696e-01 -7.24365827e-01 1.18067211e-02 6.78992563e+01] [ 7.24249560e-01 -6.89415687e-01 -1.29840007e-02 2.36021841e+02] [ 1.75449051e-02 -3.99049910e-04 9.99845997e-01 5.89919471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.13275509600004 meters 0.022110192097720405 Centerline is valid? [True, True] Translation: X:67.88, Y:236.04, Z:5.90 [[-6.89984906e-01 -7.23725195e-01 1.19445505e-02 6.78830699e+01] [ 7.23606271e-01 -6.90088162e-01 -1.31260935e-02 2.36042521e+02] [ 1.77424775e-02 -4.13654759e-04 9.99842504e-01 5.89935619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.16275509600007 meters 0.021572549009147155 Centerline is valid? [True, True] Translation: X:67.86, Y:236.06, Z:5.90 [[-6.90709496e-01 -7.23031264e-01 1.20906501e-02 6.78634581e+01] [ 7.22909480e-01 -6.90815176e-01 -1.32769320e-02 2.36061608e+02] [ 1.79520415e-02 -4.30057458e-04 9.99838757e-01 5.89995409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.19275509600004 meters 0.02163901259429576 Centerline is valid? [True, True] Translation: X:67.85, Y:236.08, Z:5.90 [[-6.91040836e-01 -7.22715430e-01 1.20403763e-02 6.78453107e+01] [ 7.22594780e-01 -6.91145587e-01 -1.32121682e-02 2.36080631e+02] [ 1.78702908e-02 -4.29834717e-04 9.99840221e-01 5.89994395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.22275509600007 meters 0.021722201595401905 Centerline is valid? [True, True] Translation: X:67.83, Y:236.10, Z:5.90 [[-6.91027639e-01 -7.22734669e-01 1.16361361e-02 6.78278069e+01] [ 7.22622157e-01 -6.91125482e-01 -1.27587856e-02 2.36099575e+02] [ 1.72632468e-02 -4.08143717e-04 9.99850896e-01 5.90030998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.25275509600004 meters 0.021411430533392176 Centerline is valid? [True, True] Translation: X:67.81, Y:236.12, Z:5.90 [[-6.91138575e-01 -7.22631225e-01 1.14709735e-02 6.78088112e+01] [ 7.22522039e-01 -6.91233647e-01 -1.25677540e-02 2.36118253e+02] [ 1.70109743e-02 -3.98028486e-04 9.99855224e-01 5.90078928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2827550960001 meters 0.02080959009112646 Centerline is valid? [True, True] Translation: X:67.79, Y:236.14, Z:5.90 [[-6.90547368e-01 -7.23197919e-01 1.13623512e-02 6.77890402e+01] [ 7.23091030e-01 -6.90640739e-01 -1.24391489e-02 2.36136553e+02] [ 1.68432692e-02 -3.73807246e-04 9.99858072e-01 5.90116705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.31275509600005 meters 0.02070107350253811 Centerline is valid? [True, True] Translation: X:67.77, Y:236.16, Z:5.90 [[-6.90297372e-01 -7.23434848e-01 1.14699314e-02 6.77703465e+01] [ 7.23326125e-01 -6.90392561e-01 -1.25471009e-02 2.36155716e+02] [ 1.69957653e-02 -3.64729754e-04 9.99855495e-01 5.90109065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3427550960001 meters 0.021023479934566394 Centerline is valid? [True, True] Translation: X:67.75, Y:236.17, Z:5.90 [[-6.89755538e-01 -7.23952740e-01 1.13898080e-02 6.77532295e+01] [ 7.23845754e-01 -6.89849485e-01 -1.24504296e-02 2.36173941e+02] [ 1.68707758e-02 -3.43288586e-04 9.99857619e-01 5.90036500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.37275509600005 meters 0.0205155480339292 Centerline is valid? [True, True] Translation: X:67.73, Y:236.19, Z:5.90 [[-6.89812696e-01 -7.23890811e-01 1.18548496e-02 6.77342333e+01] [ 7.23775054e-01 -6.89914465e-01 -1.29499871e-02 2.36192611e+02] [ 1.75532089e-02 -3.52821159e-04 9.99845868e-01 5.90081737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4027550960001 meters 0.01970106875881392 Centerline is valid? [True, True] Translation: X:67.71, Y:236.21, Z:5.90 [[-6.89808199e-01 -7.23894124e-01 1.19140663e-02 6.77146049e+01] [ 7.23777379e-01 -6.89910991e-01 -1.30049699e-02 2.36211563e+02] [ 1.76338666e-02 -3.47803189e-04 9.99844451e-01 5.90137502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.43275509600005 meters 0.021012299583199303 Centerline is valid? [True, True] Translation: X:67.70, Y:236.23, Z:5.90 [[-6.89688242e-01 -7.24008955e-01 1.18811837e-02 6.76995051e+01] [ 7.23893026e-01 -6.89790489e-01 -1.29602283e-02 2.36232431e+02] [ 1.75788488e-02 -3.37811037e-04 9.99845423e-01 5.90122779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4627550960001 meters 0.01988057653608764 Centerline is valid? [True, True] Translation: X:67.68, Y:236.25, Z:5.90 [[-6.89836933e-01 -7.23870763e-01 1.16672486e-02 6.76801935e+01] [ 7.23759097e-01 -6.89935512e-01 -1.27184342e-02 2.36250573e+02] [ 1.72561518e-02 -3.29368295e-04 9.99851047e-01 5.90250260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.49275509600005 meters 0.018968964409253383 Centerline is valid? [True, True] Translation: X:67.66, Y:236.27, Z:5.90 [[-6.89836966e-01 -7.23869561e-01 1.17396425e-02 6.76608820e+01] [ 7.23756673e-01 -6.89936775e-01 -1.27876483e-02 2.36269369e+02] [ 1.73562004e-02 -3.24747922e-04 9.99849317e-01 5.90352051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5227550960001 meters 0.01869699502660844 Centerline is valid? [True, True] Translation: X:67.64, Y:236.29, Z:5.90 [[-6.89839877e-01 -7.23875922e-01 1.11621154e-02 6.76417482e+01] [ 7.23774011e-01 -6.89930111e-01 -1.21500483e-02 2.36288961e+02] [ 1.64962069e-02 -3.02738824e-04 9.99863883e-01 5.90440020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.55275509600006 meters 0.018607980481630843 Centerline is valid? [True, True] Translation: X:67.62, Y:236.31, Z:5.90 [[-6.89694284e-01 -7.24021947e-01 1.06777218e-02 6.76230017e+01] [ 7.23928837e-01 -6.89776878e-01 -1.16145612e-02 2.36308730e+02] [ 1.57744428e-02 -2.80585734e-04 9.99875536e-01 5.90476842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.582755096 meters 0.01977176483990154 Centerline is valid? [True, True] Translation: X:67.61, Y:236.33, Z:5.91 [[-6.89664397e-01 -7.24056418e-01 1.02627308e-02 6.76068029e+01] [ 7.23970522e-01 -6.89740701e-01 -1.11556663e-02 2.36329874e+02] [ 1.51559549e-02 -2.63751265e-04 9.99885107e-01 5.90531947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.61275509600006 meters 0.01872850976516061 Centerline is valid? [True, True] Translation: X:67.59, Y:236.35, Z:5.91 [[-6.89996450e-01 -7.23744652e-01 9.92863996e-03 6.75868706e+01] [ 7.23664317e-01 -6.90067831e-01 -1.07862823e-02 2.36348766e+02] [ 1.46579492e-02 -2.57494011e-04 9.99892533e-01 5.90621900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.64275509600003 meters 0.019881839853697354 Centerline is valid? [True, True] Translation: X:67.57, Y:236.37, Z:5.91 [[-6.90970767e-01 -7.22816796e-01 9.76109560e-03 6.75719914e+01] [ 7.22739161e-01 -6.91039658e-01 -1.05970378e-02 2.36370412e+02] [ 1.44050211e-02 -2.67517319e-04 9.99896207e-01 5.90680092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.67275509600006 meters 0.01929842654071051 Centerline is valid? [True, True] Translation: X:67.55, Y:236.39, Z:5.91 [[-6.91713990e-01 -7.22111794e-01 9.29048355e-03 6.75532597e+01] [ 7.22041478e-01 -6.91776327e-01 -1.00805442e-02 2.36390081e+02] [ 1.37062164e-02 -2.64738966e-04 9.99906030e-01 5.90757638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.70275509600003 meters 0.01930814470161715 Centerline is valid? [True, True] Translation: X:67.54, Y:236.41, Z:5.91 [[-6.92181474e-01 -7.21660492e-01 9.53633148e-03 6.75354154e+01] [ 7.21586469e-01 -6.92247108e-01 -1.03397165e-02 2.36410594e+02] [ 1.40632628e-02 -2.75672442e-04 9.99901069e-01 5.90795866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.73275509600006 meters 0.019515052527598414 Centerline is valid? [True, True] Translation: X:67.52, Y:236.43, Z:5.91 [[-6.92975209e-01 -7.20899253e-01 9.46713278e-03 6.75178896e+01] [ 7.20826333e-01 -6.93039816e-01 -1.02572976e-02 2.36430804e+02] [ 1.39555781e-02 -2.83894349e-04 9.99902576e-01 5.90813236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76275509600003 meters 0.01965311867253772 Centerline is valid? [True, True] Translation: X:67.50, Y:236.45, Z:5.91 [[-6.93181454e-01 -7.20701649e-01 9.41301368e-03 6.75007179e+01] [ 7.20629645e-01 -6.93245305e-01 -1.01912197e-02 2.36450601e+02] [ 1.38703564e-02 -2.81067772e-04 9.99903763e-01 5.90824500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.79275509600006 meters 0.019186248130450428 Centerline is valid? [True, True] Translation: X:67.48, Y:236.47, Z:5.91 [[-6.93186595e-01 -7.20694458e-01 9.58350135e-03 6.74817209e+01] [ 7.20619907e-01 -6.93252782e-01 -1.03696623e-02 2.36470454e+02] [ 1.41171471e-02 -2.82049051e-04 9.99900308e-01 5.90848094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82275509600004 meters 0.01941664885618561 Centerline is valid? [True, True] Translation: X:67.46, Y:236.49, Z:5.91 [[-6.93020144e-01 -7.20855440e-01 9.51392206e-03 6.74645063e+01] [ 7.20782089e-01 -6.93085392e-01 -1.02868533e-02 2.36489840e+02] [ 1.40092946e-02 -2.71531968e-04 9.99901828e-01 5.90864084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.85275509600007 meters 0.01905377479479888 Centerline is valid? [True, True] Translation: X:67.44, Y:236.51, Z:5.91 [[-6.92736838e-01 -7.21128400e-01 9.46068862e-03 6.74448968e+01] [ 7.21056000e-01 -6.92801389e-01 -1.02215846e-02 2.36509439e+02] [ 1.39254531e-02 -2.59181864e-04 9.99903003e-01 5.90869507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88275509600004 meters 0.018647337844945065 Centerline is valid? [True, True] Translation: X:67.43, Y:236.53, Z:5.91 [[-6.92388099e-01 -7.21460091e-01 9.69832441e-03 6.74252314e+01] [ 7.21384151e-01 -6.92455972e-01 -1.04706392e-02 2.36528941e+02] [ 1.42698110e-02 -2.53528458e-04 9.99898149e-01 5.90884964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.91275509600007 meters 0.018142410941655553 Centerline is valid? [True, True] Translation: X:67.41, Y:236.55, Z:5.91 [[-6.91047538e-01 -7.22734759e-01 1.03811895e-02 6.74054873e+01] [ 7.22648019e-01 -6.91125468e-01 -1.11994440e-02 2.36548449e+02] [ 1.52689319e-02 -2.37402133e-04 9.99883395e-01 5.90816442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.94275509600004 meters 0.017746701126719406 Centerline is valid? [True, True] Translation: X:67.39, Y:236.57, Z:5.91 [[-6.90579841e-01 -7.23178713e-01 1.05845308e-02 6.73865833e+01] [ 7.23088719e-01 -6.90660914e-01 -1.14108409e-02 2.36567543e+02] [ 1.55623990e-02 -2.26541935e-04 9.99878873e-01 5.90835734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.97275509600007 meters 0.01772609338720674 Centerline is valid? [True, True] Translation: X:67.37, Y:236.59, Z:5.91 [[-6.90005630e-01 -7.23722583e-01 1.08559989e-02 6.73681993e+01] [ 7.23628119e-01 -6.90090992e-01 -1.16948060e-02 2.36586895e+02] [ 1.59554223e-02 -2.13775905e-04 9.99872681e-01 5.90824397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.00275509600004 meters 0.017168553782911707 Centerline is valid? [True, True] Translation: X:67.35, Y:236.60, Z:5.91 [[-6.88565890e-01 -7.25087368e-01 1.11948322e-02 6.73488081e+01] [ 7.24987248e-01 -6.88656864e-01 -1.20504601e-02 2.36604233e+02] [ 1.64470345e-02 -1.81425217e-04 9.99864722e-01 5.90848263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0327550960001 meters 0.01684695118146499 Centerline is valid? [True, True] Translation: X:67.33, Y:236.62, Z:5.91 [[-6.87987349e-01 -7.25634302e-01 1.13255157e-02 6.73295006e+01] [ 7.25532063e-01 -6.88080542e-01 -1.21816423e-02 2.36621990e+02] [ 1.66322845e-02 -1.63791061e-04 9.99861661e-01 5.90868951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.06275509600005 meters 0.016573732880233324 Centerline is valid? [True, True] Translation: X:67.31, Y:236.64, Z:5.91 [[-6.87049010e-01 -7.26518806e-01 1.15793845e-02 6.73096257e+01] [ 7.26412224e-01 -6.87146567e-01 -1.24449192e-02 2.36639145e+02] [ 1.69982022e-02 -1.38862976e-04 9.99855511e-01 5.90870351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0927550960001 meters 0.01637945739517462 Centerline is valid? [True, True] Translation: X:67.29, Y:236.66, Z:5.91 [[-6.86956236e-01 -7.26605282e-01 1.16573462e-02 6.72907507e+01] [ 7.26497439e-01 -6.87055126e-01 -1.25189518e-02 2.36657248e+02] [ 1.71055760e-02 -1.30939836e-04 9.99853680e-01 5.90965267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.12275509600005 meters 0.01641536357407812 Centerline is valid? [True, True] Translation: X:67.27, Y:236.68, Z:5.91 [[-6.86930266e-01 -7.26625833e-01 1.19041517e-02 6.72722730e+01] [ 7.26513555e-01 -6.87033393e-01 -1.27738393e-02 2.36676009e+02] [ 1.74603514e-02 -1.26209255e-04 9.99847549e-01 5.91024111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1527550960001 meters 0.016511710119833007 Centerline is valid? [True, True] Translation: X:67.25, Y:236.69, Z:5.91 [[-6.87399855e-01 -7.26181722e-01 1.18972817e-02 6.72543634e+01] [ 7.26069683e-01 -6.87502792e-01 -1.27563990e-02 2.36694491e+02] [ 1.74428782e-02 -1.30491305e-04 9.99847853e-01 5.91030256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.18275509600005 meters 0.016722151587211357 Centerline is valid? [True, True] Translation: X:67.24, Y:236.71, Z:5.91 [[-6.88318094e-01 -7.25312520e-01 1.18300479e-02 6.72356536e+01] [ 7.25201790e-01 -6.88419733e-01 -1.26742415e-02 2.36713795e+02] [ 1.73368244e-02 -1.44737876e-04 9.99849696e-01 5.91121425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2127550960001 meters 0.016847256637158064 Centerline is valid? [True, True] Translation: X:67.22, Y:236.73, Z:5.91 [[-6.89038900e-01 -7.24632115e-01 1.15625195e-02 6.72175830e+01] [ 7.24526399e-01 -6.89135890e-01 -1.23783122e-02 2.36733183e+02] [ 1.69378697e-02 -1.51788000e-04 9.99856532e-01 5.91180352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.24275509600005 meters 0.016847256637158064 Centerline is valid? [True, True] Translation: X:67.20, Y:236.75, Z:5.91 [[-6.89313949e-01 -7.24370402e-01 1.15672105e-02 6.71996912e+01] [ 7.24264722e-01 -6.89410979e-01 -1.23739276e-02 2.36751937e+02] [ 1.69378688e-02 -1.51798393e-04 9.99856533e-01 5.91211200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2727550960001 meters 0.0172669471990606 Centerline is valid? [True, True] Translation: X:67.18, Y:236.77, Z:5.91 [[-6.90951897e-01 -7.22812172e-01 1.13154691e-02 6.71826903e+01] [ 7.22710985e-01 -6.91044522e-01 -1.20954498e-02 2.36771536e+02] [ 1.65622312e-02 -1.79560169e-04 9.99862821e-01 5.91342567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.30275509600006 meters 0.01765358964944479 Centerline is valid? [True, True] Translation: X:67.17, Y:236.79, Z:5.91 [[-6.91841825e-01 -7.21961624e-01 1.12384405e-02 6.71660946e+01] [ 7.21861854e-01 -6.91933072e-01 -1.20036334e-02 2.36790172e+02] [ 1.64424113e-02 -1.92014155e-04 9.99864796e-01 5.91393210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.332755096 meters 0.01800068513405791 Centerline is valid? [True, True] Translation: X:67.15, Y:236.81, Z:5.91 [[-6.92781262e-01 -7.21062869e-01 1.10662537e-02 6.71483120e+01] [ 7.20966164e-01 -6.92869611e-01 -1.18106725e-02 2.36809863e+02] [ 1.61837083e-02 -2.03818130e-04 9.99869014e-01 5.91451520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.36275509600006 meters 0.018963124022870124 Centerline is valid? [True, True] Translation: X:67.13, Y:236.83, Z:5.92 [[-6.94734170e-01 -7.19187451e-01 1.06697338e-02 6.71314655e+01] [ 7.19097458e-01 -6.94816059e-01 -1.13793848e-02 2.36829832e+02] [ 1.55974131e-02 -2.33068987e-04 9.99878326e-01 5.91536209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.39275509600003 meters 0.019520103218921683 Centerline is valid? [True, True] Translation: X:67.11, Y:236.85, Z:5.92 [[-6.95685705e-01 -7.18266734e-01 1.06910459e-02 6.71138635e+01] [ 7.18176398e-01 -6.95767804e-01 -1.13940571e-02 2.36849474e+02] [ 1.56224577e-02 -2.48625764e-04 9.99877931e-01 5.91566510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.42275509600006 meters 0.020966125825688662 Centerline is valid? [True, True] Translation: X:67.10, Y:236.87, Z:5.92 [[-6.97898961e-01 -7.16109319e-01 1.11572430e-02 6.70979508e+01] [ 7.16010803e-01 -6.97988074e-01 -1.18818665e-02 2.36869657e+02] [ 1.62963378e-02 -3.03635786e-04 9.99867160e-01 5.91565880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.45275509600003 meters 0.019881208737898254 Centerline is valid? [True, True] Translation: X:67.08, Y:236.89, Z:5.92 [[-6.98961586e-01 -7.15067728e-01 1.14388034e-02 6.70781339e+01] [ 7.14964192e-01 -6.99055102e-01 -1.21724762e-02 2.36888060e+02] [ 1.67004988e-02 -3.29758436e-04 9.99860483e-01 5.91652745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.48275509600006 meters 0.019916185179824755 Centerline is valid? [True, True] Translation: X:67.06, Y:236.91, Z:5.92 [[-6.99997854e-01 -7.14054031e-01 1.13949448e-02 6.70589006e+01] [ 7.13951291e-01 -7.00090509e-01 -1.21174866e-02 2.36909009e+02] [ 1.66300329e-02 -3.46779097e-04 9.99861651e-01 5.91741914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.51275509600003 meters 0.02043132006866637 Centerline is valid? [True, True] Translation: X:67.04, Y:236.93, Z:5.92 [[-7.00957464e-01 -7.13110480e-01 1.14924797e-02 6.70404805e+01] [ 7.13005979e-01 -7.01051574e-01 -1.22133210e-02 2.36930287e+02] [ 1.67662682e-02 -3.66811778e-04 9.99859369e-01 5.91829841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.54275509600006 meters 0.0212226905112565 Centerline is valid? [True, True] Translation: X:67.02, Y:236.95, Z:5.92 [[-7.02450286e-01 -7.11649068e-01 1.09178929e-02 6.70230671e+01] [ 7.11554696e-01 -7.02535026e-01 -1.15953565e-02 2.36951140e+02] [ 1.59220268e-02 -3.76483506e-04 9.99873166e-01 5.91965106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.57275509600004 meters 0.02157885758798033 Centerline is valid? [True, True] Translation: X:67.00, Y:236.97, Z:5.92 [[-7.03060044e-01 -7.11047467e-01 1.08662232e-02 6.70046896e+01] [ 7.10954044e-01 -7.03143907e-01 -1.15323096e-02 2.36971394e+02] [ 1.58405381e-02 -3.82520719e-04 9.99874458e-01 5.92011240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.60275509600007 meters 0.021747353106429782 Centerline is valid? [True, True] Translation: X:66.99, Y:236.99, Z:5.92 [[-7.03641220e-01 -7.10472936e-01 1.08277632e-02 6.69864114e+01] [ 7.10380233e-01 -7.03724418e-01 -1.14833826e-02 2.36991030e+02] [ 1.57783939e-02 -3.88352440e-04 9.99875438e-01 5.92076939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.63275509600004 meters 0.021627183379388123 Centerline is valid? [True, True] Translation: X:66.97, Y:237.01, Z:5.92 [[-7.04388801e-01 -7.09733161e-01 1.07357739e-02 6.69676829e+01] [ 7.09642067e-01 -7.04470499e-01 -1.13777693e-02 2.37010367e+02] [ 1.56382162e-02 -3.95816504e-04 9.99877637e-01 5.92231424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.66275509600007 meters 0.022125576979529268 Centerline is valid? [True, True] Translation: X:66.95, Y:237.03, Z:5.92 [[-7.04562229e-01 -7.09561959e-01 1.06720271e-02 6.69502049e+01] [ 7.09472051e-01 -7.04642940e-01 -1.13020191e-02 2.37029768e+02] [ 1.55394514e-02 -3.91470849e-04 9.99879179e-01 5.92261971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.69275509600004 meters 0.02205078634181102 Centerline is valid? [True, True] Translation: X:66.93, Y:237.05, Z:5.92 [[-7.04460062e-01 -7.09654053e-01 1.12758782e-02 6.69305129e+01] [ 7.09553845e-01 -7.04550183e-01 -1.19323421e-02 2.37049189e+02] [ 1.64122570e-02 -4.05015719e-04 9.99865228e-01 5.92271735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.72275509600007 meters 0.02218237049955612 Centerline is valid? [True, True] Translation: X:66.91, Y:237.07, Z:5.92 [[-7.04365276e-01 -7.09745596e-01 1.14344476e-02 6.69130192e+01] [ 7.09642700e-01 -7.04457966e-01 -1.20918464e-02 2.37067188e+02] [ 1.66372224e-02 -4.02704460e-04 9.99861511e-01 5.92300243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.75275509600004 meters 0.021379977544933582 Centerline is valid? [True, True] Translation: X:66.89, Y:237.09, Z:5.92 [[-7.03999601e-01 -7.10108909e-01 1.13973304e-02 6.68927821e+01] [ 7.10006855e-01 -7.04091746e-01 -1.20448560e-02 2.37085804e+02] [ 1.65779258e-02 -3.87391127e-04 9.99862502e-01 5.92372396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7827550960001 meters 0.020358612817862602 Centerline is valid? [True, True] Translation: X:66.87, Y:237.10, Z:5.92 [[-7.02597488e-01 -7.11489710e-01 1.17967152e-02 6.68721508e+01] [ 7.11380727e-01 -7.02696423e-01 -1.24578948e-02 2.37104264e+02] [ 1.71531735e-02 -3.60929724e-04 9.99852808e-01 5.92383876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.81275509600005 meters 0.020508847114320834 Centerline is valid? [True, True] Translation: X:66.85, Y:237.12, Z:5.92 [[-7.01898054e-01 -7.12177130e-01 1.19523104e-02 6.68543140e+01] [ 7.12065512e-01 -7.01999729e-01 -1.26130200e-02 2.37123268e+02] [ 1.73732230e-02 -3.42226170e-04 9.99849016e-01 5.92402418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8427550960001 meters 0.020174188668454468 Centerline is valid? [True, True] Translation: X:66.84, Y:237.14, Z:5.92 [[-7.01018363e-01 -7.13040283e-01 1.21164977e-02 6.68360388e+01] [ 7.12925878e-01 -7.01122995e-01 -1.27764791e-02 2.37140965e+02] [ 1.76052995e-02 -3.18381710e-04 9.99844964e-01 5.92422988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.87275509600005 meters 0.01817200931869422 Centerline is valid? [True, True] Translation: X:66.81, Y:237.16, Z:5.93 [[-6.98492379e-01 -7.15516706e-01 1.20100208e-02 6.68128589e+01] [ 7.15404833e-01 -6.98595579e-01 -1.26547176e-02 2.37157201e+02] [ 1.74448093e-02 -2.47196935e-04 9.99847797e-01 5.92574684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9027550960001 meters 0.01780444014269549 Centerline is valid? [True, True] Translation: X:66.79, Y:237.17, Z:5.93 [[-6.97484083e-01 -7.16503326e-01 1.17871783e-02 6.67938655e+01] [ 7.16395845e-01 -6.97583643e-01 -1.24118613e-02 2.37174365e+02] [ 1.71156827e-02 -2.12790170e-04 9.99853493e-01 5.92665889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.93275509600005 meters 0.01732905700720693 Centerline is valid? [True, True] Translation: X:66.77, Y:237.19, Z:5.93 [[-6.96045471e-01 -7.17919269e-01 1.06125516e-02 6.67744460e+01] [ 7.17832407e-01 -6.96126353e-01 -1.11685383e-02 2.37190953e+02] [ 1.54057857e-02 -1.55777030e-04 9.99881312e-01 5.92854447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9627550960001 meters 0.01706690863845602 Centerline is valid? [True, True] Translation: X:66.76, Y:237.21, Z:5.93 [[-6.96161200e-01 -7.17813448e-01 1.01703819e-02 6.67556243e+01] [ 7.17733763e-01 -6.96235472e-01 -1.06964521e-02 2.37209061e+02] [ 1.47590379e-02 -1.46828469e-04 9.99891069e-01 5.92973502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.99275509600005 meters 0.01732183468376397 Centerline is valid? [True, True] Translation: X:66.74, Y:237.23, Z:5.93 [[-6.96414543e-01 -7.17572528e-01 9.82101523e-03 6.67385581e+01] [ 7.17498307e-01 -6.96483774e-01 -1.03213998e-02 2.37228504e+02] [ 1.42465307e-02 -1.41411088e-04 9.99898503e-01 5.93044346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0227550960001 meters 0.017211600920446598 Centerline is valid? [True, True] Translation: X:66.72, Y:237.25, Z:5.93 [[-6.97220139e-01 -7.16788832e-01 9.89182512e-03 6.67195155e+01] [ 7.16713554e-01 -6.97290289e-01 -1.03891461e-02 2.37248142e+02] [ 1.43442975e-02 -1.53916739e-04 9.99897103e-01 5.93158906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.05275509600006 meters 0.01784899024962845 Centerline is valid? [True, True] Translation: X:66.70, Y:237.27, Z:5.93 [[-6.98955742e-01 -7.15101783e-01 9.50322750e-03 6.67032608e+01] [ 7.15032242e-01 -6.99020321e-01 -9.97413114e-03 2.37268804e+02] [ 1.37754681e-02 -1.76362169e-04 9.99905098e-01 5.93283467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.082755096 meters 0.01806074505068978 Centerline is valid? [True, True] Translation: X:66.68, Y:237.29, Z:5.93 [[-7.00168117e-01 -7.13920521e-01 9.06077050e-03 6.66849283e+01] [ 7.13857295e-01 -7.00226717e-01 -9.50302136e-03 2.37288438e+02] [ 1.31289955e-02 -1.85615458e-04 9.99913794e-01 5.93345502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.11275509600006 meters 0.02051674982835212 Centerline is valid? [True, True] Translation: X:66.67, Y:237.31, Z:5.93 [[-7.03070516e-01 -7.11074359e-01 8.06877968e-03 6.66698243e+01] [ 7.11024094e-01 -7.03116784e-01 -8.45727786e-03 2.37309733e+02] [ 1.16870479e-02 -2.08965949e-04 9.99931682e-01 5.93442188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.14275509600003 meters 0.021619611806422055 Centerline is valid? [True, True] Translation: X:66.65, Y:237.33, Z:5.94 [[-7.04707490e-01 -7.09458479e-01 7.48464376e-03 6.66522068e+01] [ 7.09415193e-01 -7.04747203e-01 -7.83990591e-03 2.37329597e+02] [ 1.08368695e-02 -2.15120424e-04 9.99941256e-01 5.93549161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.17275509600006 meters 0.020438899330686006 Centerline is valid? [True, True] Translation: X:66.63, Y:237.35, Z:5.94 [[-7.06260949e-01 -7.07915542e-01 7.14546357e-03 6.66317537e+01] [ 7.07876065e-01 -7.06297059e-01 -7.47936384e-03 2.37347101e+02] [ 1.03415778e-02 -2.24279974e-04 9.99946499e-01 5.93615922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.20275509600003 meters 0.02207371528710467 Centerline is valid? [True, True] Translation: X:66.61, Y:237.37, Z:5.94 [[-7.09127451e-01 -7.05051034e-01 6.42637604e-03 6.66146743e+01] [ 7.05019013e-01 -7.09156530e-01 -6.72371242e-03 2.37368524e+02] [ 9.29786692e-03 -2.37251754e-04 9.99956746e-01 5.93702884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.23275509600006 meters 0.022707133088775817 Centerline is valid? [True, True] Translation: X:66.60, Y:237.39, Z:5.94 [[-7.10515543e-01 -7.03653685e-01 6.25740731e-03 6.65962037e+01] [ 7.03623312e-01 -7.10543054e-01 -6.54243559e-03 2.37388861e+02] [ 9.04976621e-03 -2.45644517e-04 9.99959020e-01 5.93760996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26275509600003 meters 0.023993018564018625 Centerline is valid? [True, True] Translation: X:66.58, Y:237.41, Z:5.94 [[-7.12328563e-01 -7.01821969e-01 5.82604156e-03 6.65788368e+01] [ 7.01795610e-01 -7.12352344e-01 -6.08760218e-03 2.37408620e+02] [ 8.42260731e-03 -2.47682517e-04 9.99964499e-01 5.93851490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.29275509600006 meters 0.023639089670043925 Centerline is valid? [True, True] Translation: X:66.56, Y:237.43, Z:5.94 [[-7.13034866e-01 -7.01105397e-01 5.70109308e-03 6.65590739e+01] [ 7.01080169e-01 -7.13057615e-01 -5.95268513e-03 2.37426981e+02] [ 8.23866750e-03 -2.47548740e-04 9.99966031e-01 5.93840527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32275509600004 meters 0.024048385315182986 Centerline is valid? [True, True] Translation: X:66.54, Y:237.45, Z:5.94 [[-7.13371462e-01 -7.00760322e-01 6.01069573e-03 6.65397011e+01] [ 7.00732310e-01 -7.13396736e-01 -6.27111295e-03 2.37445773e+02] [ 8.68255784e-03 -2.61744310e-04 9.99962272e-01 5.93814006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.35275509600007 meters 0.024483331025571674 Centerline is valid? [True, True] Translation: X:66.52, Y:237.46, Z:5.94 [[-7.13492585e-01 -7.00634946e-01 6.24526857e-03 6.65205404e+01] [ 7.00604747e-01 -7.13519866e-01 -6.51064724e-03 2.37464394e+02] [ 9.01771018e-03 -2.69833719e-04 9.99959303e-01 5.93753462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38275509600004 meters 0.02470273105631274 Centerline is valid? [True, True] Translation: X:66.50, Y:237.48, Z:5.94 [[-7.13056494e-01 -7.01069977e-01 7.16413908e-03 6.65010706e+01] [ 7.01030306e-01 -7.13092419e-01 -7.46407141e-03 2.37481555e+02] [ 1.03415296e-02 -3.00025974e-04 9.99946480e-01 5.93629519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.41275509600007 meters 0.02449766983468482 Centerline is valid? [True, True] Translation: X:66.48, Y:237.50, Z:5.94 [[-7.12894716e-01 -7.01235008e-01 7.11253648e-03 6.64819872e+01] [ 7.01195976e-01 -7.12930136e-01 -7.40430550e-03 2.37499295e+02] [ 1.02628998e-02 -2.91208308e-04 9.99947293e-01 5.93597703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.44275509600004 meters 0.023077347527264733 Centerline is valid? [True, True] Translation: X:66.46, Y:237.52, Z:5.94 [[-7.11711940e-01 -7.02428217e-01 7.79190743e-03 6.64597452e+01] [ 7.02381521e-01 -7.11754531e-01 -8.10475247e-03 2.37515281e+02] [ 1.12389322e-02 -2.95357317e-04 9.99936798e-01 5.93524505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.47275509600007 meters 0.022839567268121225 Centerline is valid? [True, True] Translation: X:66.44, Y:237.53, Z:5.94 [[-7.11166362e-01 -7.02977964e-01 8.02419977e-03 6.64404476e+01] [ 7.02928545e-01 -7.11211570e-01 -8.34046225e-03 2.37532111e+02] [ 1.15700649e-02 -2.91017126e-04 9.99933022e-01 5.93528906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.50275509600004 meters 0.02285071570810224 Centerline is valid? [True, True] Translation: X:66.42, Y:237.55, Z:5.93 [[-7.09636792e-01 -7.04519480e-01 8.24170507e-03 6.64198670e+01] [ 7.04467533e-01 -7.09684599e-01 -8.55948403e-03 2.37548748e+02] [ 1.18793344e-02 -2.68111152e-04 9.99929402e-01 5.93463020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5327550960001 meters 0.021657179505367916 Centerline is valid? [True, True] Translation: X:66.40, Y:237.57, Z:5.93 [[-7.09157944e-01 -7.04998995e-01 8.45152404e-03 6.63986121e+01] [ 7.04944461e-01 -7.09208254e-01 -8.77262011e-03 2.37565574e+02] [ 1.21785790e-02 -2.63318174e-04 9.99925804e-01 5.93481216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.56275509600005 meters 0.021423264844082725 Centerline is valid? [True, True] Translation: X:66.38, Y:237.58, Z:5.94 [[-7.08794867e-01 -7.05365377e-01 8.33788904e-03 6.63796960e+01] [ 7.05312402e-01 -7.08843863e-01 -8.64829525e-03 2.37582396e+02] [ 1.20104695e-02 -2.49050738e-04 9.99927841e-01 5.93500280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5927550960001 meters 0.020944851718400295 Centerline is valid? [True, True] Translation: X:66.36, Y:237.60, Z:5.94 [[-7.07959437e-01 -7.06203406e-01 8.37763804e-03 6.63593979e+01] [ 7.06150065e-01 -7.08008966e-01 -8.68274132e-03 2.37598538e+02] [ 1.20632243e-02 -2.31159011e-04 9.99927210e-01 5.93544974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.62275509600005 meters 0.020895187394548927 Centerline is valid? [True, True] Translation: X:66.34, Y:237.62, Z:5.94 [[-7.08222739e-01 -7.05941912e-01 8.15905233e-03 6.63400632e+01] [ 7.05891375e-01 -7.08269699e-01 -8.44985629e-03 2.37616430e+02] [ 1.17439172e-02 -2.24975694e-04 9.99931013e-01 5.93634465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6527550960001 meters 0.019438124588698445 Centerline is valid? [True, True] Translation: X:66.32, Y:237.63, Z:5.94 [[-7.08337908e-01 -7.05832550e-01 7.60389686e-03 6.63178260e+01] [ 7.05788709e-01 -7.08378690e-01 -7.86957630e-03 2.37633444e+02] [ 1.09410416e-02 -2.07574661e-04 9.99940123e-01 5.93713491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.68275509600005 meters 0.01965573547033705 Centerline is valid? [True, True] Translation: X:66.30, Y:237.65, Z:5.94 [[-7.08625280e-01 -7.05549592e-01 7.07013548e-03 6.62979391e+01] [ 7.05511724e-01 -7.08660523e-01 -7.31237315e-03 2.37650693e+02] [ 1.01695678e-02 -1.93669003e-04 9.99948270e-01 5.93845621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7127550960001 meters 0.019598889609144375 Centerline is valid? [True, True] Translation: X:66.28, Y:237.67, Z:5.94 [[-7.08882317e-01 -7.05293137e-01 6.88851702e-03 6.62775771e+01] [ 7.05257230e-01 -7.08915761e-01 -7.11927780e-03 2.37669325e+02] [ 9.90455605e-03 -1.88553712e-04 9.99950931e-01 5.93886060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.74275509600005 meters 0.019788782607188943 Centerline is valid? [True, True] Translation: X:66.26, Y:237.69, Z:5.94 [[-7.09317219e-01 -7.04862232e-01 6.18997304e-03 6.62569325e+01] [ 7.04833257e-01 -7.09344207e-01 -6.39340504e-03 2.37687902e+02] [ 8.89729126e-03 -1.72053420e-04 9.99960404e-01 5.93967340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7727550960001 meters 0.01980168682534427 Centerline is valid? [True, True] Translation: X:66.24, Y:237.71, Z:5.94 [[-7.09605366e-01 -7.04572516e-01 6.14765644e-03 6.62378287e+01] [ 7.04543963e-01 -7.09631975e-01 -6.34542246e-03 2.37706806e+02] [ 8.83338385e-03 -1.71451601e-04 9.99960970e-01 5.94042563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.80275509600006 meters 0.019577499799483766 Centerline is valid? [True, True] Translation: X:66.22, Y:237.73, Z:5.94 [[-7.09909646e-01 -7.04268556e-01 5.83912028e-03 6.62180690e+01] [ 7.04242825e-01 -7.09933641e-01 -6.02240013e-03 2.37725324e+02] [ 8.38677496e-03 -1.63201382e-04 9.99964817e-01 5.94104398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.832755096 meters 0.0195712121684965 Centerline is valid? [True, True] Translation: X:66.20, Y:237.74, Z:5.94 [[-7.10008638e-01 -7.04169884e-01 5.70159867e-03 6.61977594e+01] [ 7.04145381e-01 -7.10031513e-01 -5.87651890e-03 2.37743216e+02] [ 8.18638236e-03 -1.57624812e-04 9.99966479e-01 5.94166844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.86275509600006 meters 0.02017098435681064 Centerline is valid? [True, True] Translation: X:66.18, Y:237.76, Z:5.94 [[-7.10228963e-01 -7.03949544e-01 5.46435865e-03 6.61801287e+01] [ 7.03927060e-01 -7.10249968e-01 -5.62830885e-03 2.37762075e+02] [ 7.84310600e-03 -1.50878041e-04 9.99969231e-01 5.94232465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.89275509600003 meters 0.0196248559923327 Centerline is valid? [True, True] Translation: X:66.16, Y:237.78, Z:5.94 [[-7.10615463e-01 -7.03560759e-01 5.28413714e-03 6.61594291e+01] [ 7.03539753e-01 -7.10635094e-01 -5.43868037e-03 2.37780607e+02] [ 7.58153538e-03 -1.47209831e-04 9.99971249e-01 5.94272183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.92275509600006 meters 0.020074630463502344 Centerline is valid? [True, True] Translation: X:66.14, Y:237.80, Z:5.94 [[-7.10915210e-01 -7.03257181e-01 5.37601492e-03 6.61416879e+01] [ 7.03235463e-01 -7.10935521e-01 -5.52890521e-03 2.37799074e+02] [ 7.71024226e-03 -1.49978465e-04 9.99970264e-01 5.94264180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.95275509600003 meters 0.019694735557857557 Centerline is valid? [True, True] Translation: X:66.12, Y:237.82, Z:5.94 [[-7.11048383e-01 -7.03121298e-01 5.53502044e-03 6.61222355e+01] [ 7.03098300e-01 -7.11069910e-01 -5.68891972e-03 2.37817674e+02] [ 7.93578711e-03 -1.53433709e-04 9.99968499e-01 5.94198123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.98275509600006 meters 0.019758730833659602 Centerline is valid? [True, True] Translation: X:66.10, Y:237.84, Z:5.94 [[-7.11291634e-01 -7.02870313e-01 6.12657519e-03 6.61031486e+01] [ 7.02842172e-01 -7.11317998e-01 -6.29175683e-03 2.37837572e+02] [ 8.78023229e-03 -1.69258580e-04 9.99961439e-01 5.94124156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.01275509600003 meters 0.01998528022269458 Centerline is valid? [True, True] Translation: X:66.09, Y:237.86, Z:5.94 [[-7.11693917e-01 -7.02451854e-01 7.29116194e-03 6.60864384e+01] [ 7.02412043e-01 -7.11731235e-01 -7.48136682e-03 2.37857242e+02] [ 1.04446477e-02 -2.03043306e-04 9.99945433e-01 5.93954586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.04275509600006 meters 0.020288317865857438 Centerline is valid? [True, True] Translation: X:66.07, Y:237.88, Z:5.94 [[-7.11950682e-01 -7.02189607e-01 7.48212668e-03 6.60696892e+01] [ 7.02147738e-01 -7.11989967e-01 -7.67075032e-03 2.37876341e+02] [ 1.07135203e-02 -2.07637603e-04 9.99942587e-01 5.93893124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.07275509600004 meters 0.020252716090125047 Centerline is valid? [True, True] Translation: X:66.05, Y:237.90, Z:5.94 [[-7.12191294e-01 -7.01934213e-01 8.48062842e-03 6.60518971e+01] [ 7.01880502e-01 -7.12241747e-01 -8.68645073e-03 2.37896086e+02] [ 1.21375746e-02 -2.34026853e-04 9.99926310e-01 5.93810464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.10275509600007 meters 0.02020847894337228 Centerline is valid? [True, True] Translation: X:66.03, Y:237.91, Z:5.94 [[-7.12672133e-01 -7.01445005e-01 8.56357866e-03 6.60338312e+01] [ 7.01390287e-01 -7.12723542e-01 -8.76463083e-03 2.37914852e+02] [ 1.22513706e-02 -2.39897262e-04 9.99924920e-01 5.93800155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.13275509600004 meters 0.020206422999730727 Centerline is valid? [True, True] Translation: X:66.02, Y:237.93, Z:5.94 [[-7.12876841e-01 -7.01233447e-01 8.84661128e-03 6.60155773e+01] [ 7.01175126e-01 -7.12931688e-01 -9.04710881e-03 2.37934145e+02] [ 1.26511648e-02 -2.46450567e-04 9.99919940e-01 5.93829095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.16275509600007 meters 0.020206422999730727 Centerline is valid? [True, True] Translation: X:66.00, Y:237.95, Z:5.94 [[-7.13147336e-01 -7.00958310e-01 8.85010184e-03 6.59972701e+01] [ 7.00900011e-01 -7.13202206e-01 -9.04369305e-03 2.37952487e+02] [ 1.26511639e-02 -2.46449138e-04 9.99919940e-01 5.93859947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.19275509600004 meters 0.02081687837125691 Centerline is valid? [True, True] Translation: X:65.98, Y:237.97, Z:5.94 [[-7.13856174e-01 -7.00234211e-01 9.02287122e-03 6.59811985e+01] [ 7.00173649e-01 -7.13913148e-01 -9.21298015e-03 2.37972845e+02] [ 1.28927903e-02 -2.59166097e-04 9.99916851e-01 5.93881622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.22275509600007 meters 0.02079262783256594 Centerline is valid? [True, True] Translation: X:65.96, Y:237.99, Z:5.94 [[-7.14338631e-01 -6.99743720e-01 8.89086809e-03 6.59634458e+01] [ 6.99684970e-01 -7.14393911e-01 -9.07103037e-03 2.37992261e+02] [ 1.26989786e-02 -2.58980642e-04 9.99919331e-01 5.93951579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.25275509600004 meters 0.021288671617319007 Centerline is valid? [True, True] Translation: X:65.95, Y:238.01, Z:5.94 [[-7.14772127e-01 -6.99303823e-01 8.65852778e-03 6.59477289e+01] [ 6.99248152e-01 -7.14824523e-01 -8.82744021e-03 2.38012383e+02] [ 1.23623907e-02 -2.55148669e-04 9.99923550e-01 5.94081172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2827550960001 meters 0.021179012442616132 Centerline is valid? [True, True] Translation: X:65.93, Y:238.03, Z:5.94 [[-7.14857273e-01 -6.99220788e-01 8.32881034e-03 6.59290482e+01] [ 6.99169347e-01 -7.14905750e-01 -8.48482378e-03 2.38031517e+02] [ 1.18870796e-02 -2.42189103e-04 9.99929317e-01 5.94157698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.31275509600005 meters 0.021231013252031833 Centerline is valid? [True, True] Translation: X:65.91, Y:238.05, Z:5.94 [[-7.14933991e-01 -6.99142607e-01 8.30682983e-03 6.59113774e+01] [ 6.99091507e-01 -7.14982208e-01 -8.45615553e-03 2.38049537e+02] [ 1.18512942e-02 -2.38358834e-04 9.99929743e-01 5.94201974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3427550960001 meters 0.01968923825328107 Centerline is valid? [True, True] Translation: X:65.89, Y:238.07, Z:5.94 [[-7.14891057e-01 -6.99189251e-01 8.07266876e-03 6.58902451e+01] [ 6.99141065e-01 -7.14936599e-01 -8.21160600e-03 2.38066786e+02] [ 1.15129130e-02 -2.26469455e-04 9.99933699e-01 5.94275350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.37275509600005 meters 0.020657599345650212 Centerline is valid? [True, True] Translation: X:65.87, Y:238.09, Z:5.94 [[-7.14153886e-01 -6.99945165e-01 7.80984746e-03 6.58735089e+01] [ 6.99900172e-01 -7.14196559e-01 -7.93877862e-03 2.38087126e+02] [ 1.11344759e-02 -2.03396025e-04 9.99937989e-01 5.94364637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4027550960001 meters 0.019067836793996335 Centerline is valid? [True, True] Translation: X:65.85, Y:238.11, Z:5.94 [[-7.13610302e-01 -7.00503631e-01 7.41624401e-03 6.58524854e+01] [ 7.00463146e-01 -7.13648814e-01 -7.53327327e-03 2.38105279e+02] [ 1.05696790e-02 -1.81015799e-04 9.99944123e-01 5.94427078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.43275509600005 meters 0.019398162699476855 Centerline is valid? [True, True] Translation: X:65.84, Y:238.12, Z:5.94 [[-7.13351766e-01 -7.00766783e-01 7.42792703e-03 6.58356788e+01] [ 7.00726240e-01 -7.13390416e-01 -7.53988231e-03 2.38124802e+02] [ 1.05827110e-02 -1.73644985e-04 9.99943986e-01 5.94471367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4627550960001 meters 0.019055177442230523 Centerline is valid? [True, True] Translation: X:65.82, Y:238.14, Z:5.95 [[-7.12952277e-01 -7.01171126e-01 7.62251978e-03 6.58172749e+01] [ 7.01128526e-01 -7.12993005e-01 -7.73081839e-03 2.38144013e+02] [ 1.08554299e-02 -1.67338520e-04 9.99941064e-01 5.94509917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.49275509600005 meters 0.017941683087876418 Centerline is valid? [True, True] Translation: X:65.80, Y:238.16, Z:5.95 [[-7.11324232e-01 -7.02823844e-01 7.51535238e-03 6.57976355e+01] [ 7.02782587e-01 -7.11363919e-01 -7.61641567e-03 2.38162625e+02] [ 1.06991491e-02 -1.36082245e-04 9.99942753e-01 5.94555008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5227550960001 meters 0.01768623880899827 Centerline is valid? [True, True] Translation: X:65.78, Y:238.18, Z:5.95 [[-7.10483595e-01 -7.03673876e-01 7.49245568e-03 6.57784461e+01] [ 7.03632973e-01 -7.10523090e-01 -7.58796989e-03 2.38181403e+02] [ 1.06630189e-02 -1.19189260e-04 9.99943141e-01 5.94601629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.55275509600006 meters 0.017379814757108276 Centerline is valid? [True, True] Translation: X:65.76, Y:238.20, Z:5.95 [[-7.09857133e-01 -7.04303710e-01 7.68995657e-03 6.57595584e+01] [ 7.04260727e-01 -7.09898777e-01 -7.78173000e-03 2.38199787e+02] [ 1.09397921e-02 -1.08182138e-04 9.99940153e-01 5.94629484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.582755096 meters 0.017012278699899103 Centerline is valid? [True, True] Translation: X:65.74, Y:238.22, Z:5.95 [[-7.08312673e-01 -7.05861203e-01 7.28838621e-03 6.57420797e+01] [ 7.05822730e-01 -7.08350165e-01 -7.36998006e-03 2.38218096e+02] [ 1.03649126e-02 -7.59416169e-05 9.99946280e-01 5.94694547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.61275509600006 meters 0.01687769449660922 Centerline is valid? [True, True] Translation: X:65.72, Y:238.24, Z:5.95 [[-7.07943117e-01 -7.06230822e-01 7.38706211e-03 6.57241889e+01] [ 7.06191386e-01 -7.07981653e-01 -7.46353414e-03 2.38237011e+02] [ 1.05008823e-02 -6.70779894e-05 9.99944862e-01 5.94769453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.64275509600003 meters 0.016826454879186485 Centerline is valid? [True, True] Translation: X:65.71, Y:238.26, Z:5.95 [[-7.07757985e-01 -7.06417659e-01 7.26127378e-03 6.57070913e+01] [ 7.06379621e-01 -7.07795230e-01 -7.33096735e-03 2.38255921e+02] [ 1.03182197e-02 -5.93348636e-05 9.99946764e-01 5.94858109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.67275509600006 meters 0.016918158385660877 Centerline is valid? [True, True] Translation: X:65.69, Y:238.28, Z:5.95 [[-7.07991282e-01 -7.06180666e-01 7.56385654e-03 6.56909657e+01] [ 7.06139447e-01 -7.08031683e-01 -7.63003634e-03 2.38276603e+02] [ 1.07436342e-02 -6.08617367e-05 9.99942284e-01 5.94904662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.70275509600003 meters 0.016837818047617543 Centerline is valid? [True, True] Translation: X:65.67, Y:238.30, Z:5.95 [[-7.08556288e-01 -7.05611125e-01 7.80552208e-03 6.56727496e+01] [ 7.05567265e-01 -7.08599277e-01 -7.86766353e-03 2.38296692e+02] [ 1.10824982e-02 -6.73616021e-05 9.99938585e-01 5.94893393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.73275509600006 meters 0.017128792873239936 Centerline is valid? [True, True] Translation: X:65.66, Y:238.32, Z:5.95 [[-7.09452744e-01 -7.04711051e-01 7.69014429e-03 6.56560227e+01] [ 7.04668484e-01 -7.09494418e-01 -7.74589976e-03 2.38317214e+02] [ 1.09147356e-02 -7.63475194e-05 9.99940430e-01 5.94920796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76275509600003 meters 0.01754523022998681 Centerline is valid? [True, True] Translation: X:65.64, Y:238.34, Z:5.95 [[-7.10951636e-01 -7.03198305e-01 7.74050174e-03 6.56408248e+01] [ 7.03155153e-01 -7.10993766e-01 -7.79069394e-03 2.38338892e+02] [ 1.09818513e-02 -9.60329167e-05 9.99939693e-01 5.94925796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.79275509600006 meters 0.01779212938722152 Centerline is valid? [True, True] Translation: X:65.62, Y:238.36, Z:5.95 [[-7.11798793e-01 -7.02336840e-01 8.08966536e-03 6.56238143e+01] [ 7.02289724e-01 -7.11844753e-01 -8.13582214e-03 2.38358613e+02] [ 1.14726734e-02 -1.09779520e-04 9.99934181e-01 5.94922057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82275509600004 meters 0.018243677910119244 Centerline is valid? [True, True] Translation: X:65.61, Y:238.38, Z:5.95 [[-7.13221724e-01 -7.00890012e-01 8.24398551e-03 6.56082411e+01] [ 7.00841058e-01 -7.13269356e-01 -8.28475425e-03 2.38379490e+02] [ 1.16868837e-02 -1.31143181e-04 9.99931697e-01 5.94925704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.85275509600007 meters 0.01868867414444828 Centerline is valid? [True, True] Translation: X:65.59, Y:238.40, Z:5.95 [[-7.14156545e-01 -6.99933988e-01 8.53474423e-03 6.55920917e+01] [ 6.99881534e-01 -7.14207527e-01 -8.57009446e-03 2.38399106e+02] [ 1.20940790e-02 -1.47079170e-04 9.99926853e-01 5.94924560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88275509600004 meters 0.01889545202656882 Centerline is valid? [True, True] Translation: X:65.57, Y:238.42, Z:5.95 [[-7.14847689e-01 -6.99227666e-01 8.57042947e-03 6.55748644e+01] [ 6.99174803e-01 -7.14899047e-01 -8.59931789e-03 2.38418920e+02] [ 1.21398728e-02 -1.54974187e-04 9.99926297e-01 5.94942730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.91275509600007 meters 0.018445578436613874 Centerline is valid? [True, True] Translation: X:65.56, Y:238.44, Z:5.95 [[-7.15908654e-01 -6.98135007e-01 9.07254946e-03 6.55562515e+01] [ 6.98075768e-01 -7.15966117e-01 -9.09626218e-03 2.38439377e+02] [ 1.28460571e-02 -1.78765883e-04 9.99917470e-01 5.94932506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.94275509600004 meters 0.018560854090480288 Centerline is valid? [True, True] Translation: X:65.54, Y:238.46, Z:5.95 [[-7.16254064e-01 -6.97776513e-01 9.38366912e-03 6.55369198e+01] [ 6.97713202e-01 -7.16315505e-01 -9.40132896e-03 2.38459041e+02] [ 1.32816942e-02 -1.86630248e-04 9.99911777e-01 5.95005312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.97275509600007 meters 0.01804691471980476 Centerline is valid? [True, True] Translation: X:65.52, Y:238.48, Z:5.95 [[-7.14968092e-01 -6.99100415e-01 8.90155743e-03 6.55161401e+01] [ 6.99043621e-01 -7.15023487e-01 -8.91228003e-03 2.38475516e+02] [ 1.25954013e-02 -1.49418910e-04 9.99920664e-01 5.95079864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.00275509600004 meters 0.01792717260011418 Centerline is valid? [True, True] Translation: X:65.50, Y:238.49, Z:5.95 [[-7.14469086e-01 -6.99604382e-01 9.36130102e-03 6.54975878e+01] [ 6.99541710e-01 -7.14530397e-01 -9.36523987e-03 2.38493055e+02] [ 1.32408970e-02 -1.42553838e-04 9.99912325e-01 5.95034277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0327550960001 meters 0.017347158710166302 Centerline is valid? [True, True] Translation: X:65.12, Y:238.10, Z:7.16 [[-7.49634489e-01 6.61823369e-01 -6.16125884e-03 6.51228683e+01] [ 6.61792257e-01 7.49659416e-01 6.46288340e-03 2.38098288e+02] [ 8.89613297e-03 7.67326897e-04 -9.99960134e-01 7.15503676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.06275509600005 meters 0.017062255642710182 Centerline is valid? [True, True] Translation: X:65.47, Y:238.51, Z:5.95 [[-7.15082712e-01 -6.98949486e-01 1.12396944e-02 6.54711820e+01] [ 6.98872817e-01 -7.15170901e-01 -1.03618912e-02 2.38512124e+02] [ 1.52807409e-02 4.45507574e-04 9.99883143e-01 5.94890869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0927550960001 meters 0.01697913397035995 Centerline is valid? [True, True] Translation: X:65.46, Y:238.49, Z:5.95 [[-6.66065891e-01 -7.45819552e-01 1.04606569e-02 6.54621258e+01] [ 7.45740476e-01 -6.66147795e-01 -1.08745938e-02 2.38492215e+02] [ 1.50788282e-02 5.57739235e-04 9.99886152e-01 5.94921157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.12275509600005 meters 0.016844469161557483 Centerline is valid? [True, True] Translation: X:65.44, Y:238.51, Z:5.95 [[-6.65804561e-01 -7.46060775e-01 9.87956800e-03 6.54441815e+01] [ 7.45976370e-01 -6.65877848e-01 -1.12225764e-02 2.38511169e+02] [ 1.49513095e-02 -1.02118286e-04 9.99888218e-01 5.94986422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1527550960001 meters 0.016834205034006875 Centerline is valid? [True, True] Translation: X:65.42, Y:238.53, Z:5.95 [[-6.66266752e-01 -7.45643518e-01 1.02156430e-02 6.54246881e+01] [ 7.45553366e-01 -6.66345055e-01 -1.15950633e-02 2.38529288e+02] [ 1.54529270e-02 -1.09098082e-04 9.99880590e-01 5.94922043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.18275509600005 meters 0.017054604035585192 Centerline is valid? [True, True] Translation: X:65.41, Y:238.55, Z:5.95 [[-6.66985094e-01 -7.45000137e-01 1.02801202e-02 6.54074592e+01] [ 7.44908911e-01 -6.67064302e-01 -1.16589906e-02 2.38548302e+02] [ 1.55434508e-02 -1.18619797e-04 9.99879186e-01 5.94930896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2127550960001 meters 0.017019965017347826 Centerline is valid? [True, True] Translation: X:65.39, Y:238.57, Z:5.95 [[-6.68022307e-01 -7.44070938e-01 1.02292337e-02 6.53889973e+01] [ 7.43980646e-01 -6.68100608e-01 -1.15921148e-02 2.38568411e+02] [ 1.54595130e-02 -1.33439320e-04 9.99880486e-01 5.94979368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.24275509600005 meters 0.017741439404612216 Centerline is valid? [True, True] Translation: X:65.37, Y:238.59, Z:5.95 [[-6.70677942e-01 -7.41681089e-01 1.00130436e-02 6.53740314e+01] [ 7.41594429e-01 -6.70752660e-01 -1.13389778e-02 2.38590377e+02] [ 1.51261810e-02 -1.79184945e-04 9.99885577e-01 5.95019089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2727550960001 meters 0.01864507116281993 Centerline is valid? [True, True] Translation: X:65.36, Y:238.61, Z:5.95 [[-6.72331175e-01 -7.40180492e-01 1.01799432e-02 6.53581882e+01] [ 7.40090881e-01 -6.72408206e-01 -1.15192080e-02 2.38612026e+02] [ 1.53713704e-02 -2.10639567e-04 9.99881831e-01 5.95020990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.30275509600006 meters 0.01870338523618745 Centerline is valid? [True, True] Translation: X:65.34, Y:238.63, Z:5.95 [[-6.73934504e-01 -7.38723911e-01 9.96333558e-03 6.53403279e+01] [ 7.38638035e-01 -6.74008108e-01 -1.12660300e-02 2.38632134e+02] [ 1.50378547e-02 -2.33267760e-04 9.99886898e-01 5.95053586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.332755096 meters 0.020902425626333095 Centerline is valid? [True, True] Translation: X:65.33, Y:238.65, Z:5.95 [[-6.76621753e-01 -7.36266125e-01 9.75692763e-03 6.53253483e+01] [ 7.36183628e-01 -6.76692040e-01 -1.10249374e-02 2.38654227e+02] [ 1.47197232e-02 -2.76822093e-04 9.99891621e-01 5.95094400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.36275509600006 meters 0.019806243193054057 Centerline is valid? [True, True] Translation: X:65.30, Y:238.67, Z:5.95 [[-6.77907764e-01 -7.35082245e-01 9.75479321e-03 6.53044186e+01] [ 7.34999779e-01 -6.77977879e-01 -1.10145978e-02 2.38673683e+02] [ 1.47101693e-02 -2.97110526e-04 9.99891755e-01 5.95149377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.39275509600003 meters 0.020463740922062542 Centerline is valid? [True, True] Translation: X:65.29, Y:238.69, Z:5.95 [[-6.79519814e-01 -7.33593763e-01 9.64433772e-03 6.52858569e+01] [ 7.33513105e-01 -6.79588175e-01 -1.08828829e-02 2.38694648e+02] [ 1.45377929e-02 -3.20886461e-04 9.99894269e-01 5.95117718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.42275509600006 meters 0.021243113280584782 Centerline is valid? [True, True] Translation: X:65.27, Y:238.71, Z:5.95 [[-6.79962270e-01 -7.33180289e-01 9.89826144e-03 6.52686829e+01] [ 7.33095397e-01 -6.80034230e-01 -1.11617970e-02 2.38714932e+02] [ 1.49147661e-02 -3.33230925e-04 9.99888713e-01 5.95158679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.45275509600003 meters 0.02114919805470056 Centerline is valid? [True, True] Translation: X:65.25, Y:238.73, Z:5.95 [[-6.80295325e-01 -7.32875773e-01 9.55894209e-03 6.52504409e+01] [ 7.32796687e-01 -6.80362402e-01 -1.07711653e-02 2.38734705e+02] [ 1.43974709e-02 -3.22812314e-04 9.99896299e-01 5.95201107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.48275509600006 meters 0.021007544395140295 Centerline is valid? [True, True] Translation: X:65.23, Y:238.75, Z:5.95 [[-6.80483707e-01 -7.32704480e-01 9.27733453e-03 6.52326670e+01] [ 7.32630081e-01 -6.80546874e-01 -1.04458650e-02 2.38754220e+02] [ 1.39673931e-02 -3.11386606e-04 9.99902403e-01 5.95258626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.51275509600003 meters 0.020426148040406274 Centerline is valid? [True, True] Translation: X:65.21, Y:238.77, Z:5.95 [[-6.80382096e-01 -7.32801251e-01 9.08465058e-03 6.52130999e+01] [ 7.32730026e-01 -6.80442678e-01 -1.02210950e-02 2.38773277e+02] [ 1.36716152e-02 -2.97653780e-04 9.99906495e-01 5.95314689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.54275509600006 meters 0.02081531244156184 Centerline is valid? [True, True] Translation: X:65.20, Y:238.79, Z:5.95 [[-6.80271887e-01 -7.32904161e-01 9.03609969e-03 6.51958741e+01] [ 7.32833801e-01 -6.80331836e-01 -1.01593678e-02 2.38793049e+02] [ 1.35933893e-02 -2.89173051e-04 9.99907564e-01 5.95319946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.57275509600004 meters 0.020446832201733153 Centerline is valid? [True, True] Translation: X:65.18, Y:238.81, Z:5.95 [[-6.80187877e-01 -7.32982239e-01 9.02712195e-03 6.51769957e+01] [ 7.32912106e-01 -6.80247717e-01 -1.01434261e-02 2.38812392e+02] [ 1.35756303e-02 -2.83348497e-04 9.99907807e-01 5.95304722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.60275509600007 meters 0.02003241426032945 Centerline is valid? [True, True] Translation: X:65.16, Y:238.83, Z:5.95 [[-6.80366983e-01 -7.32814429e-01 9.15319528e-03 6.51580086e+01] [ 7.32742409e-01 -6.80428491e-01 -1.02776760e-02 2.38831820e+02] [ 1.37597241e-02 -2.85657027e-04 9.99905290e-01 5.95326855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.63275509600004 meters 0.02059906102123935 Centerline is valid? [True, True] Translation: X:65.14, Y:238.85, Z:5.95 [[-6.80699114e-01 -7.32508426e-01 8.95105297e-03 6.51410652e+01] [ 7.32439623e-01 -6.80757906e-01 -1.00435178e-02 2.38852042e+02] [ 1.34504615e-02 -2.80507832e-04 9.99909499e-01 5.95351367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.66275509600007 meters 0.021220243126162767 Centerline is valid? [True, True] Translation: X:65.12, Y:238.87, Z:5.95 [[-6.80967395e-01 -7.32263023e-01 8.61810179e-03 6.51247868e+01] [ 7.32199316e-01 -6.81021873e-01 -9.66280026e-03 2.38871947e+02] [ 1.29448272e-02 -2.69883679e-04 9.99916176e-01 5.95426323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.69275509600004 meters 0.020336476704599083 Centerline is valid? [True, True] Translation: X:65.11, Y:238.89, Z:5.96 [[-6.81007494e-01 -7.32229863e-01 8.25957719e-03 6.51059890e+01] [ 7.32171433e-01 -6.81057533e-01 -9.25360777e-03 2.38890222e+02] [ 1.24010152e-02 -2.54349769e-04 9.99923072e-01 5.95504448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.72275509600007 meters 0.02005914795473453 Centerline is valid? [True, True] Translation: X:65.09, Y:238.91, Z:5.96 [[-6.80893445e-01 -7.32339750e-01 7.91248378e-03 6.50871067e+01] [ 7.32286214e-01 -6.80939377e-01 -8.85809839e-03 2.38909865e+02] [ 1.18750593e-02 -2.37218339e-04 9.99929461e-01 5.95554429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.75275509600004 meters 0.020218214494269002 Centerline is valid? [True, True] Translation: X:65.07, Y:238.93, Z:5.96 [[-6.80916494e-01 -7.32319843e-01 7.77016101e-03 6.50704356e+01] [ 7.32268286e-01 -6.80960788e-01 -8.69270360e-03 2.38928711e+02] [ 1.16570143e-02 -2.29162771e-04 9.99932028e-01 5.95608573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7827550960001 meters 0.019467700583222523 Centerline is valid? [True, True] Translation: X:65.05, Y:238.95, Z:5.96 [[-6.80285047e-01 -7.32902644e-01 8.12215462e-03 6.50515350e+01] [ 7.32846445e-01 -6.80333495e-01 -9.07869147e-03 2.38947889e+02] [ 1.21795708e-02 -2.23805910e-04 9.99925801e-01 5.95641786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.81275509600005 meters 0.01903694537207112 Centerline is valid? [True, True] Translation: X:65.03, Y:238.97, Z:5.96 [[-6.79232111e-01 -7.33878839e-01 8.09870859e-03 6.50327901e+01] [ 7.33823112e-01 -6.79280362e-01 -9.04604020e-03 2.38967841e+02] [ 1.21399912e-02 -2.01341441e-04 9.99926287e-01 5.95581151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8427550960001 meters 0.018843080657934 Centerline is valid? [True, True] Translation: X:65.02, Y:238.99, Z:5.96 [[-6.78620604e-01 -7.34439649e-01 8.51340556e-03 6.50155777e+01] [ 7.34378204e-01 -6.78673975e-01 -9.50207614e-03 2.38987114e+02] [ 1.27565282e-02 -1.96245166e-04 9.99918613e-01 5.95552074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.87275509600005 meters 0.017971097517187177 Centerline is valid? [True, True] Translation: X:65.00, Y:239.01, Z:5.96 [[-6.77751589e-01 -7.35236766e-01 8.92645925e-03 6.49959717e+01] [ 7.35169396e-01 -6.77810346e-01 -9.95462700e-03 2.39006684e+02] [ 1.33694542e-02 -1.84304618e-04 9.99910608e-01 5.95558456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9027550960001 meters 0.01804609743074864 Centerline is valid? [True, True] Translation: X:64.98, Y:239.03, Z:5.96 [[-6.77175215e-01 -7.35766824e-01 8.99490591e-03 6.49783658e+01] [ 7.35698565e-01 -6.77234931e-01 -1.00234574e-02 2.39026555e+02] [ 1.34665919e-02 -1.70097554e-04 9.99909307e-01 5.95515852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.93275509600005 meters 0.017426468874346537 Centerline is valid? [True, True] Translation: X:64.96, Y:239.05, Z:5.95 [[-6.75392456e-01 -7.37397012e-01 9.52240971e-03 6.49596116e+01] [ 7.37320797e-01 -6.75459567e-01 -1.06026406e-02 2.39045624e+02] [ 1.42503582e-02 -1.39872741e-04 9.99898449e-01 5.95448804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9627550960001 meters 0.017229305881257446 Centerline is valid? [True, True] Translation: X:64.94, Y:239.07, Z:5.95 [[-6.74740272e-01 -7.37994179e-01 9.49514135e-03 6.49405781e+01] [ 7.37918575e-01 -6.74807067e-01 -1.05640482e-02 2.39065744e+02] [ 1.42035946e-02 -1.21347604e-04 9.99899117e-01 5.95468197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.99275509600005 meters 0.016895108682623575 Centerline is valid? [True, True] Translation: X:64.92, Y:239.09, Z:5.96 [[-6.73529924e-01 -7.39103469e-01 9.13800076e-03 6.49222343e+01] [ 7.39033646e-01 -6.73591905e-01 -1.01595526e-02 2.39085202e+02] [ 1.36642439e-02 -8.94726676e-05 9.99906636e-01 5.95595362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0227550960001 meters 0.0168891057352341 Centerline is valid? [True, True] Translation: X:64.91, Y:239.10, Z:5.96 [[-6.73210460e-01 -7.39398546e-01 8.80151202e-03 6.49056028e+01] [ 7.39333892e-01 -6.73267989e-01 -9.77808413e-03 2.39104079e+02] [ 1.31556775e-02 -7.54523771e-05 9.99913458e-01 5.95664621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.05275509600006 meters 0.0168891057352341 Centerline is valid? [True, True] Translation: X:64.89, Y:239.12, Z:5.96 [[-6.73495525e-01 -7.39138861e-01 8.80464882e-03 6.48880652e+01] [ 7.39074223e-01 -6.73553070e-01 -9.77525888e-03 2.39123167e+02] [ 1.31556720e-02 -7.63041280e-05 9.99913458e-01 5.95695339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.082755096 meters 0.016808852611643627 Centerline is valid? [True, True] Translation: X:64.87, Y:239.14, Z:5.96 [[-6.73396197e-01 -7.39230865e-01 8.67698151e-03 6.48694960e+01] [ 7.39168190e-01 -6.73452094e-01 -9.62618723e-03 2.39143715e+02] [ 1.29595061e-02 -6.84891529e-05 9.99916020e-01 5.95776247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.11275509600006 meters 0.016764822393375234 Centerline is valid? [True, True] Translation: X:64.85, Y:239.17, Z:5.96 [[-6.73662825e-01 -7.38995087e-01 8.04111457e-03 6.48530312e+01] [ 7.38941317e-01 -6.73710812e-01 -8.91471273e-03 2.39166078e+02] [ 1.20053147e-02 -6.35987780e-05 9.99927932e-01 5.95970020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.14275509600003 meters 0.016944678541923944 Centerline is valid? [True, True] Translation: X:64.84, Y:239.19, Z:5.96 [[-6.74191518e-01 -7.38511766e-01 8.13442030e-03 6.48371196e+01] [ 7.38456787e-01 -6.74240586e-01 -9.01145829e-03 2.39186534e+02] [ 1.21396243e-02 -6.85308722e-05 9.99926310e-01 5.96033604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.17275509600006 meters 0.016868521373816996 Centerline is valid? [True, True] Translation: X:64.82, Y:239.21, Z:5.96 [[-6.74644417e-01 -7.38100508e-01 7.90892309e-03 6.48194186e+01] [ 7.38048584e-01 -6.74690770e-01 -8.75511169e-03 2.39206954e+02] [ 1.17982298e-02 -6.94177364e-05 9.99930396e-01 5.96144168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.20275509600003 meters 0.016807941169945113 Centerline is valid? [True, True] Translation: X:64.80, Y:239.23, Z:5.96 [[-6.74684094e-01 -7.38070824e-01 7.26860433e-03 6.48002602e+01] [ 7.38027023e-01 -6.74723244e-01 -8.04098228e-03 2.39225482e+02] [ 1.08391107e-02 -6.06964302e-05 9.99941253e-01 5.96214769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.23275509600006 meters 0.01680957626604101 Centerline is valid? [True, True] Translation: X:64.78, Y:239.24, Z:5.96 [[-6.74701805e-01 -7.38054489e-01 7.28323750e-03 6.47814230e+01] [ 7.38010578e-01 -6.74741111e-01 -8.05100261e-03 2.39244881e+02] [ 1.08563784e-02 -5.69196732e-05 9.99941066e-01 5.96231959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26275509600003 meters 0.016805000484823588 Centerline is valid? [True, True] Translation: X:64.76, Y:239.26, Z:5.96 [[-6.74923855e-01 -7.37848500e-01 7.57510818e-03 6.47637070e+01] [ 7.37801057e-01 -6.74966361e-01 -8.36732649e-03 2.39264628e+02] [ 1.12867625e-02 -5.83854297e-05 9.99936301e-01 5.96187429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.29275509600006 meters 0.01682850135202496 Centerline is valid? [True, True] Translation: X:64.75, Y:239.28, Z:5.96 [[-6.75327908e-01 -7.37478656e-01 7.57944206e-03 6.47451472e+01] [ 7.37431208e-01 -6.75370438e-01 -8.36574044e-03 2.39284407e+02] [ 1.12884861e-02 -6.03008814e-05 9.99936281e-01 5.96201474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32275509600004 meters 0.016965344965788384 Centerline is valid? [True, True] Translation: X:64.73, Y:239.30, Z:5.96 [[-6.76187757e-01 -7.36692294e-01 7.38788448e-03 6.47276361e+01] [ 7.36647229e-01 -6.76228112e-01 -8.14865002e-03 2.39304369e+02] [ 1.09989429e-02 -6.77527487e-05 9.99939508e-01 5.96289475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.35275509600007 meters 0.016954584678374005 Centerline is valid? [True, True] Translation: X:64.71, Y:239.32, Z:5.96 [[-6.76726497e-01 -7.36198971e-01 7.23347870e-03 6.47090069e+01] [ 7.36155805e-01 -6.76765152e-01 -7.97248457e-03 2.39324165e+02] [ 1.07647012e-02 -7.02242229e-05 9.99942056e-01 5.96362509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38275509600004 meters 0.017140122591177386 Centerline is valid? [True, True] Translation: X:64.69, Y:239.34, Z:5.96 [[-6.77512687e-01 -7.35477192e-01 7.06103933e-03 6.46916496e+01] [ 7.35436078e-01 -6.77549477e-01 -7.77698149e-03 2.39343304e+02] [ 1.05039960e-02 -7.60605550e-05 9.99944829e-01 5.96432332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.41275509600007 meters 0.017188558282247957 Centerline is valid? [True, True] Translation: X:64.67, Y:239.36, Z:5.96 [[-6.78579218e-01 -7.34492533e-01 7.13892357e-03 6.46727787e+01] [ 7.34450516e-01 -6.78616763e-01 -7.85669205e-03 2.39363383e+02] [ 1.06152748e-02 -8.82018456e-05 9.99943653e-01 5.96414442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.44275509600004 meters 0.017723294771078153 Centerline is valid? [True, True] Translation: X:64.66, Y:239.38, Z:5.96 [[-6.80874390e-01 -7.32362354e-01 7.44624472e-03 6.46561796e+01] [ 7.32316581e-01 -6.80915095e-01 -8.18887615e-03 2.39383593e+02] [ 1.10674850e-02 -1.22587583e-04 9.99938746e-01 5.96391836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.47275509600007 meters 0.01820913444321491 Centerline is valid? [True, True] Translation: X:64.64, Y:239.40, Z:5.96 [[-6.82291063e-01 -7.31043529e-01 7.36648388e-03 6.46400017e+01] [ 7.30998720e-01 -6.82330814e-01 -8.09515276e-03 2.39403058e+02] [ 1.09442880e-02 -1.38360092e-04 9.99940100e-01 5.96423063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.50275509600004 meters 0.01886283363454474 Centerline is valid? [True, True] Translation: X:64.62, Y:239.42, Z:5.96 [[-6.85484572e-01 -7.28047832e-01 7.56674284e-03 6.46216377e+01] [ 7.28000429e-01 -6.85526308e-01 -8.31000851e-03 2.39424613e+02] [ 1.12372850e-02 -1.87790590e-04 9.99936842e-01 5.96365612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5327550960001 meters 0.01961839848355961 Centerline is valid? [True, True] Translation: X:64.61, Y:239.44, Z:5.96 [[-6.87354729e-01 -7.26280434e-01 7.75938241e-03 6.46052270e+01] [ 7.26230538e-01 -6.87398490e-01 -8.51597795e-03 2.39444819e+02] [ 1.15187759e-02 -2.18397252e-04 9.99933633e-01 5.96351239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.56275509600005 meters 0.02046615778491318 Centerline is valid? [True, True] Translation: X:64.59, Y:239.47, Z:5.96 [[-6.89042465e-01 -7.24680179e-01 7.68893403e-03 6.45881195e+01] [ 7.24631158e-01 -6.89085322e-01 -8.43233820e-03 2.39466059e+02] [ 1.14090799e-02 -2.38597928e-04 9.99934886e-01 5.96355703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5927550960001 meters 0.021267090801298665 Centerline is valid? [True, True] Translation: X:64.57, Y:239.49, Z:5.96 [[-6.91581092e-01 -7.22256335e-01 7.83453409e-03 6.45698428e+01] [ 7.22205355e-01 -6.91625411e-01 -8.58579355e-03 2.39487399e+02] [ 1.16197066e-02 -2.79630007e-04 9.99932450e-01 5.96376160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.62275509600005 meters 0.02164954228648076 Centerline is valid? [True, True] Translation: X:64.55, Y:239.51, Z:5.96 [[-6.92436040e-01 -7.21433802e-01 8.09931534e-03 6.45514019e+01] [ 7.21379333e-01 -6.92483342e-01 -8.87007256e-03 2.39507303e+02] [ 1.20078111e-02 -2.99279227e-04 9.99927859e-01 5.96387476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6527550960001 meters 0.02180843045951657 Centerline is valid? [True, True] Translation: X:64.53, Y:239.53, Z:5.96 [[-6.92925229e-01 -7.20964005e-01 8.09510841e-03 6.45325348e+01] [ 7.20909637e-01 -6.92972447e-01 -8.85910832e-03 2.39527102e+02] [ 1.19967853e-02 -3.02858005e-04 9.99927990e-01 5.96402237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.68275509600005 meters 0.021887657191064013 Centerline is valid? [True, True] Translation: X:64.51, Y:239.55, Z:5.96 [[-6.92537827e-01 -7.21334987e-01 8.19728333e-03 6.45148547e+01] [ 7.21279342e-01 -6.92586276e-01 -8.96444058e-03 2.39546899e+02] [ 1.21436906e-02 -2.95683067e-04 9.99926219e-01 5.96443477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7127550960001 meters 0.02140399897113307 Centerline is valid? [True, True] Translation: X:64.50, Y:239.57, Z:5.96 [[-6.92323828e-01 -7.21535309e-01 8.63222497e-03 6.44952566e+01] [ 7.21473689e-01 -6.92377575e-01 -9.43449879e-03 2.39566528e+02] [ 1.27840830e-02 -3.03805125e-04 9.99918234e-01 5.96444785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.74275509600005 meters 0.02158843843106979 Centerline is valid? [True, True] Translation: X:64.48, Y:239.59, Z:5.97 [[-6.91543673e-01 -7.22285707e-01 8.40872478e-03 6.44775329e+01] [ 7.22227372e-01 -6.91594737e-01 -9.18383823e-03 2.39586171e+02] [ 1.24487849e-02 -2.78014025e-04 9.99922472e-01 5.96516943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7727550960001 meters 0.02056983101116692 Centerline is valid? [True, True] Translation: X:64.46, Y:239.61, Z:5.97 [[-6.91167238e-01 -7.22651802e-01 7.88807682e-03 6.44573184e+01] [ 7.22600562e-01 -6.91212204e-01 -8.60919085e-03 2.39605055e+02] [ 1.16737822e-02 -2.50461926e-04 9.99931828e-01 5.96586310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.80275509600006 meters 0.020132868713153503 Centerline is valid? [True, True] Translation: X:64.44, Y:239.62, Z:5.97 [[-6.90728882e-01 -7.23071760e-01 7.80005365e-03 6.44380134e+01] [ 7.23021752e-01 -6.90772881e-01 -8.50717949e-03 2.39624308e+02] [ 1.15393668e-02 -2.36546121e-04 9.99933391e-01 5.96663842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.832755096 meters 0.019696557994331374 Centerline is valid? [True, True] Translation: X:64.42, Y:239.64, Z:5.97 [[-6.90337275e-01 -7.23447582e-01 7.61859906e-03 6.44183524e+01] [ 7.23399961e-01 -6.90379278e-01 -8.30354444e-03 2.39643218e+02] [ 1.12669021e-02 -2.20951977e-04 9.99936502e-01 5.96710031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.86275509600006 meters 0.0193017424143622 Centerline is valid? [True, True] Translation: X:64.40, Y:239.66, Z:5.97 [[-6.88892271e-01 -7.24825858e-01 7.41045947e-03 6.43995820e+01] [ 7.24780944e-01 -6.88932101e-01 -8.07113362e-03 2.39661337e+02] [ 1.09554698e-02 -1.89181757e-04 9.99939969e-01 5.96775012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.89275509600003 meters 0.01922306303693675 Centerline is valid? [True, True] Translation: X:64.38, Y:239.68, Z:5.97 [[-6.88437499e-01 -7.25260932e-01 7.09870368e-03 6.43820104e+01] [ 7.25219797e-01 -6.88474075e-01 -7.72615652e-03 2.39680236e+02] [ 1.04907529e-02 -1.70855425e-04 9.99944956e-01 5.96862574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.92275509600006 meters 0.01846551955428795 Centerline is valid? [True, True] Translation: X:64.36, Y:239.70, Z:5.97 [[-6.87303251e-01 -7.26331544e-01 7.53197338e-03 6.43631880e+01] [ 7.26285377e-01 -6.87344501e-01 -8.19069989e-03 2.39698823e+02] [ 1.11262242e-02 -1.59132528e-04 9.99938089e-01 5.96908011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.95275509600003 meters 0.018259632402662276 Centerline is valid? [True, True] Translation: X:64.35, Y:239.72, Z:5.97 [[-6.86962574e-01 -7.26651714e-01 7.72716470e-03 6.43451685e+01] [ 7.26603217e-01 -6.87006014e-01 -8.39651466e-03 2.39717324e+02] [ 1.14099504e-02 -1.53508584e-04 9.99934893e-01 5.96915529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.98275509600006 meters 0.017879195855077527 Centerline is valid? [True, True] Translation: X:64.33, Y:239.74, Z:5.97 [[-6.86432314e-01 -7.27149158e-01 8.04854940e-03 6.43269417e+01] [ 7.27096662e-01 -6.86479483e-01 -8.73863692e-03 2.39735905e+02] [ 1.18794565e-02 -1.46409363e-04 9.99929426e-01 5.96928220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.01275509600003 meters 0.017671213637959145 Centerline is valid? [True, True] Translation: X:64.31, Y:239.76, Z:5.97 [[-6.86566579e-01 -7.27021821e-01 8.09968164e-03 6.43083420e+01] [ 7.26968725e-01 -6.86614339e-01 -8.78760496e-03 2.39755294e+02] [ 1.19501381e-02 -1.45060640e-04 9.99928584e-01 5.96953363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.04275509600006 meters 0.017634128644250492 Centerline is valid? [True, True] Translation: X:64.29, Y:239.77, Z:5.97 [[-6.87038679e-01 -7.26574203e-01 8.23295656e-03 6.42905010e+01] [ 7.26519396e-01 -6.87087989e-01 -8.92538072e-03 2.39774784e+02] [ 1.21417170e-02 -1.50679158e-04 9.99926275e-01 5.96960409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.07275509600004 meters 0.01840971954743006 Centerline is valid? [True, True] Translation: X:64.27, Y:239.80, Z:5.97 [[-6.88094669e-01 -7.25571633e-01 8.45764073e-03 6.42749229e+01] [ 7.25513806e-01 -6.88146625e-01 -9.16188319e-03 2.39795616e+02] [ 1.24676995e-02 -1.68107867e-04 9.99922261e-01 5.96927601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.10275509600007 meters 0.018290902602311136 Centerline is valid? [True, True] Translation: X:64.26, Y:239.82, Z:5.97 [[-6.89069512e-01 -7.24641761e-01 8.80486741e-03 6.42570340e+01] [ 7.24579113e-01 -6.89125738e-01 -9.53030442e-03 2.39815326e+02] [ 1.29737173e-02 -1.87219200e-04 9.99915820e-01 5.96897611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.13275509600004 meters 0.019797709415087888 Centerline is valid? [True, True] Translation: X:64.24, Y:239.84, Z:5.97 [[-6.91128114e-01 -7.22673172e-01 9.24210808e-03 6.42423822e+01] [ 7.22604077e-01 -6.91189868e-01 -9.99572226e-03 2.39837824e+02] [ 1.36116918e-02 -2.29939700e-04 9.99907330e-01 5.96838576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.16275509600007 meters 0.01919754207993648 Centerline is valid? [True, True] Translation: X:64.22, Y:239.86, Z:5.97 [[-6.92388583e-01 -7.21466537e-01 9.16984459e-03 6.42233796e+01] [ 7.21398507e-01 -6.92449258e-01 -9.91055446e-03 2.39856977e+02] [ 1.34997855e-02 -2.46842563e-04 9.99908843e-01 5.96848537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.19275509600004 meters 0.021028887722468425 Centerline is valid? [True, True] Translation: X:64.21, Y:239.88, Z:5.97 [[-6.93426846e-01 -7.20463035e-01 9.60336063e-03 6.42084669e+01] [ 7.20388432e-01 -6.93493288e-01 -1.03714255e-02 2.39878882e+02] [ 1.41320949e-02 -2.73674995e-04 9.99900100e-01 5.96820979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.22275509600007 meters 0.0200216090170151 Centerline is valid? [True, True] Translation: X:64.19, Y:239.90, Z:5.97 [[-6.94353947e-01 -7.19567448e-01 9.76142454e-03 6.41890045e+01] [ 7.19490392e-01 -6.94422497e-01 -1.05343146e-02 2.39897394e+02] [ 1.43587027e-02 -2.91291760e-04 9.99896866e-01 5.96857867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.25275509600004 meters 0.02089108763603319 Centerline is valid? [True, True] Translation: X:64.17, Y:239.92, Z:5.97 [[-6.95577267e-01 -7.18378818e-01 1.02049106e-02 6.41726612e+01] [ 7.18294595e-01 -6.95652046e-01 -1.10048375e-02 2.39917839e+02] [ 1.50047091e-02 -3.24582693e-04 9.99887370e-01 5.96869753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2827550960001 meters 0.020702079137254425 Centerline is valid? [True, True] Translation: X:64.15, Y:239.94, Z:5.97 [[-6.95959338e-01 -7.18009602e-01 1.01395525e-02 6.41543493e+01] [ 7.17926536e-01 -6.96033121e-01 -1.09262924e-02 2.39936629e+02] [ 1.49026473e-02 -3.24801437e-04 9.99888897e-01 5.96895976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.31275509600005 meters 0.021747667487235656 Centerline is valid? [True, True] Translation: X:64.14, Y:239.96, Z:5.97 [[-6.96284969e-01 -7.17697165e-01 9.90057778e-03 6.41379949e+01] [ 7.17618054e-01 -6.96355282e-01 -1.06606551e-02 2.39956422e+02] [ 1.45454416e-02 -3.18020569e-04 9.99894159e-01 5.96918805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3427550960001 meters 0.020876826492672255 Centerline is valid? [True, True] Translation: X:64.12, Y:239.97, Z:5.97 [[-6.96231565e-01 -7.17749668e-01 9.85001149e-03 6.41183905e+01] [ 7.17671490e-01 -6.96301170e-01 -1.05978286e-02 2.39974843e+02] [ 1.44651625e-02 -3.09470382e-04 9.99895326e-01 5.96996532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.37275509600005 meters 0.020670958975626017 Centerline is valid? [True, True] Translation: X:64.10, Y:239.99, Z:5.97 [[-6.96104032e-01 -7.17872197e-01 9.93402687e-03 6.41004163e+01] [ 7.17792811e-01 -6.96174846e-01 -1.06801198e-02 2.39993651e+02] [ 1.45827807e-02 -3.03901393e-04 9.99893619e-01 5.97013899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4027550960001 meters 0.020400771269780592 Centerline is valid? [True, True] Translation: X:64.08, Y:240.01, Z:5.97 [[-6.95196544e-01 -7.18745421e-01 1.03337221e-02 6.40829308e+01] [ 7.18659745e-01 -6.95273281e-01 -1.11011501e-02 2.40012091e+02] [ 1.51636616e-02 -2.91051103e-04 9.99884983e-01 5.97025829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.43275509600005 meters 0.01996268779891027 Centerline is valid? [True, True] Translation: X:64.06, Y:240.03, Z:5.97 [[-6.94711404e-01 -7.19209600e-01 1.06591295e-02 6.40640882e+01] [ 7.19118639e-01 -6.94793114e-01 -1.14416860e-02 2.40030910e+02] [ 1.56348602e-02 -2.83491003e-04 9.99877728e-01 5.97017913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4627550960001 meters 0.018040332707057405 Centerline is valid? [True, True] Translation: X:64.04, Y:240.05, Z:5.97 [[-6.93088560e-01 -7.20768999e-01 1.09680809e-02 6.40420521e+01] [ 7.20673023e-01 -6.93175294e-01 -1.17645871e-02 2.40048153e+02] [ 1.60823524e-02 -2.49500745e-04 9.99870640e-01 5.97047343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.49275509600005 meters 0.017467691498117773 Centerline is valid? [True, True] Translation: X:64.02, Y:240.07, Z:5.97 [[-6.92297294e-01 -7.21529583e-01 1.09324659e-02 6.40219412e+01] [ 7.21434456e-01 -6.92383572e-01 -1.17181212e-02 2.40066917e+02] [ 1.60244309e-02 -2.25366007e-04 9.99871575e-01 5.97087766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5227550960001 meters 0.017405755394104504 Centerline is valid? [True, True] Translation: X:64.00, Y:240.08, Z:5.97 [[-6.91676986e-01 -7.22126478e-01 1.07841444e-02 6.40043105e+01] [ 7.22034121e-01 -6.91761020e-01 -1.15506961e-02 2.40084966e+02] [ 1.58011142e-02 -2.02830438e-04 9.99875134e-01 5.97118192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.55275509600006 meters 0.01669523728765078 Centerline is valid? [True, True] Translation: X:63.98, Y:240.10, Z:5.97 [[-6.90984403e-01 -7.22796950e-01 1.02529724e-02 6.39843999e+01] [ 7.22713669e-01 -6.91060445e-01 -1.09733385e-02 2.40103251e+02] [ 1.50169192e-02 -1.72442486e-04 9.99887225e-01 5.97319390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.582755096 meters 0.016806690985254984 Centerline is valid? [True, True] Translation: X:63.97, Y:240.12, Z:5.97 [[-6.90880999e-01 -7.22896341e-01 1.02139599e-02 6.39673923e+01] [ 7.22813815e-01 -6.90956477e-01 -1.09241461e-02 2.40122947e+02] [ 1.49544270e-02 -1.64493696e-04 9.99888163e-01 5.97388023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.61275509600006 meters 0.01675612050564276 Centerline is valid? [True, True] Translation: X:63.95, Y:240.14, Z:5.98 [[-6.91397571e-01 -7.22412221e-01 9.48582414e-03 6.39496027e+01] [ 7.22341074e-01 -6.91462622e-01 -1.01397935e-02 2.40142981e+02] [ 1.38842036e-02 -1.58628210e-04 9.99903597e-01 5.97577742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.64275509600003 meters 0.0167875772665856 Centerline is valid? [True, True] Translation: X:63.93, Y:240.16, Z:5.98 [[-6.92022955e-01 -7.21812403e-01 9.54384877e-03 6.39312124e+01] [ 7.21740435e-01 -6.92088743e-01 -1.01939734e-02 2.40163541e+02] [ 1.39633267e-02 -1.66282019e-04 9.99902494e-01 5.97695461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.67275509600006 meters 0.016842270297783332 Centerline is valid? [True, True] Translation: X:63.91, Y:240.18, Z:5.98 [[-6.92673400e-01 -7.21189041e-01 9.48306734e-03 6.39132142e+01] [ 7.21118027e-01 -6.92738290e-01 -1.01219206e-02 2.40183977e+02] [ 1.38691021e-02 -1.72774372e-04 9.99903804e-01 5.97756593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.70275509600003 meters 0.01699073751779308 Centerline is valid? [True, True] Translation: X:63.90, Y:240.20, Z:5.98 [[-6.93891037e-01 -7.20019955e-01 9.30010780e-03 6.38955800e+01] [ 7.19951645e-01 -6.93953333e-01 -9.91972147e-03 2.40204281e+02] [ 1.35962382e-02 -1.87577915e-04 9.99907549e-01 5.97905944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.73275509600006 meters 0.017328663827334743 Centerline is valid? [True, True] Translation: X:63.88, Y:240.22, Z:5.98 [[-6.94431274e-01 -7.19497383e-01 9.41921911e-03 6.38784360e+01] [ 7.19427360e-01 -6.94495125e-01 -1.00396547e-02 2.40223974e+02] [ 1.37651070e-02 -1.95406281e-04 9.99905237e-01 5.97946608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76275509600003 meters 0.018585577894035796 Centerline is valid? [True, True] Translation: X:63.86, Y:240.25, Z:5.98 [[-6.95597538e-01 -7.18368013e-01 9.56367617e-03 6.38627654e+01] [ 7.18295804e-01 -6.95663246e-01 -1.01875982e-02 2.40245260e+02] [ 1.39715427e-02 -2.16919775e-04 9.99902370e-01 5.98004422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.79275509600006 meters 0.019288760011717556 Centerline is valid? [True, True] Translation: X:63.85, Y:240.27, Z:5.98 [[-6.96237800e-01 -7.17744461e-01 9.78849070e-03 6.38463222e+01] [ 7.17668868e-01 -6.96306568e-01 -1.04192047e-02 2.40265209e+02] [ 1.42941168e-02 -2.29349091e-04 9.99897808e-01 5.98057264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82275509600004 meters 0.017678971332267555 Centerline is valid? [True, True] Translation: X:63.83, Y:240.28, Z:5.98 [[-6.96728132e-01 -7.17262715e-01 1.02033495e-02 6.38251368e+01] [ 7.17180653e-01 -6.96802798e-01 -1.08522802e-02 2.40282414e+02] [ 1.48936584e-02 -2.43444063e-04 9.99889054e-01 5.98196866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.85275509600007 meters 0.017929408457375312 Centerline is valid? [True, True] Translation: X:63.81, Y:240.30, Z:5.98 [[-6.97248276e-01 -7.16750121e-01 1.06820337e-02 6.38064405e+01] [ 7.16660252e-01 -6.97330049e-01 -1.13528527e-02 2.40302658e+02] [ 1.55860616e-02 -2.60367996e-04 9.99878496e-01 5.98244352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88275509600004 meters 0.018060240940074274 Centerline is valid? [True, True] Translation: X:63.79, Y:240.32, Z:5.98 [[-6.97610157e-01 -7.16388040e-01 1.13245405e-02 6.37879637e+01] [ 7.16287136e-01 -6.97702013e-01 -1.20266374e-02 2.40322928e+02] [ 1.65168939e-02 -2.78281751e-04 9.99863548e-01 5.98281488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.91275509600007 meters 0.0182052747723921 Centerline is valid? [True, True] Translation: X:63.77, Y:240.34, Z:5.98 [[-6.97854957e-01 -7.16139197e-01 1.19628805e-02 6.37699969e+01] [ 7.16026714e-01 -6.97957423e-01 -1.26956628e-02 2.40342642e+02] [ 1.74414430e-02 -2.93989204e-04 9.99847843e-01 5.98287038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.94275509600004 meters 0.017980011142671073 Centerline is valid? [True, True] Translation: X:63.75, Y:240.36, Z:5.98 [[-6.97413549e-01 -7.16537390e-01 1.37299408e-02 6.37508814e+01] [ 7.16389493e-01 -6.97548613e-01 -1.45611215e-02 2.40362235e+02] [ 2.00108891e-02 -3.19138082e-04 9.99799711e-01 5.98263408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.97275509600007 meters 0.017980011142671073 Centerline is valid? [True, True] Translation: X:63.73, Y:240.38, Z:5.98 [[-6.97672844e-01 -7.16284822e-01 1.37352106e-02 6.37323750e+01] [ 7.16136975e-01 -6.97807962e-01 -1.45561496e-02 2.40381561e+02] [ 2.00108883e-02 -3.19138070e-04 9.99799711e-01 5.98295099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.00275509600004 meters 0.018032018656744735 Centerline is valid? [True, True] Translation: X:63.71, Y:240.40, Z:5.98 [[-6.97499318e-01 -7.16443671e-01 1.42537192e-02 6.37145188e+01] [ 7.16284719e-01 -6.97644870e-01 -1.50942473e-02 2.40400254e+02] [ 2.07582120e-02 -3.18505931e-04 9.99784474e-01 5.98269461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0327550960001 meters 0.01779471908649666 Centerline is valid? [True, True] Translation: X:63.69, Y:240.42, Z:5.98 [[-6.97060846e-01 -7.16856339e-01 1.49387835e-02 6.36947567e+01] [ 7.16682094e-01 -6.97220835e-01 -1.58077080e-02 2.40419733e+02] [ 2.17474868e-02 -3.12575638e-04 9.99763447e-01 5.98281886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.06275509600005 meters 0.01758014814737346 Centerline is valid? [True, True] Translation: X:63.67, Y:240.44, Z:5.98 [[-6.95951230e-01 -7.17908745e-01 1.60910033e-02 6.36745814e+01] [ 7.17707150e-01 -6.96137162e-01 -1.70146569e-02 2.40438844e+02] [ 2.34165164e-02 -2.92743299e-04 9.99725753e-01 5.98274649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0927550960001 meters 0.01734898985383585 Centerline is valid? [True, True] Translation: X:63.65, Y:240.46, Z:5.98 [[-6.95637728e-01 -7.18202361e-01 1.65384195e-02 6.36549045e+01] [ 7.17989777e-01 -6.95834239e-01 -1.74754412e-02 2.40458344e+02] [ 2.40589017e-02 -2.82160055e-04 9.99710503e-01 5.98342488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.12275509600005 meters 0.017180242520949345 Centerline is valid? [True, True] Translation: X:63.64, Y:240.48, Z:5.98 [[-6.95497787e-01 -7.18325718e-01 1.70584708e-02 6.36359498e+01] [ 7.18099915e-01 -6.95706897e-01 -1.80118101e-02 2.40477522e+02] [ 2.48060422e-02 -2.77487635e-04 9.99692244e-01 5.98384231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1527550960001 meters 0.01722779900621176 Centerline is valid? [True, True] Translation: X:63.62, Y:240.50, Z:5.98 [[-6.95396825e-01 -7.18415404e-01 1.73943446e-02 6.36186604e+01] [ 7.18180946e-01 -6.95614285e-01 -1.83547117e-02 2.40496807e+02] [ 2.52860622e-02 -2.71521396e-04 9.99680220e-01 5.98430377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.18275509600005 meters 0.017245656451553106 Centerline is valid? [True, True] Translation: X:63.60, Y:240.52, Z:5.99 [[-6.95642753e-01 -7.18175704e-01 1.74590686e-02 6.36006318e+01] [ 7.17939720e-01 -6.95861756e-01 -1.84112576e-02 2.40516774e+02] [ 2.53716161e-02 -2.73099090e-04 9.99678051e-01 5.98501096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2127550960001 meters 0.01743231686929952 Centerline is valid? [True, True] Translation: X:63.58, Y:240.54, Z:5.99 [[-6.96528660e-01 -7.17324432e-01 1.71313886e-02 6.35829316e+01] [ 7.17097283e-01 -6.96739245e-01 -1.80530010e-02 2.40537005e+02] [ 2.48859694e-02 -2.89560350e-04 9.99690254e-01 5.98581226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.24275509600005 meters 0.017791533515820267 Centerline is valid? [True, True] Translation: X:63.56, Y:240.56, Z:5.99 [[-6.97426424e-01 -7.16459734e-01 1.67878553e-02 6.35649385e+01] [ 7.16241666e-01 -6.97628380e-01 -1.76782307e-02 2.40556614e+02] [ 2.43774247e-02 -3.05103769e-04 9.99702780e-01 5.98609901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2727550960001 meters 0.017982914011294156 Centerline is valid? [True, True] Translation: X:63.55, Y:240.58, Z:5.99 [[-6.98055576e-01 -7.15847155e-01 1.67709154e-02 6.35460093e+01] [ 7.15629660e-01 -6.98256938e-01 -1.76476279e-02 2.40576262e+02] [ 2.43434122e-02 -3.17260542e-04 9.99703605e-01 5.98688063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.30275509600006 meters 0.018451955328160883 Centerline is valid? [True, True] Translation: X:63.53, Y:240.60, Z:5.99 [[-6.99586826e-01 -7.14370133e-01 1.59243613e-02 6.35266822e+01] [ 7.14173929e-01 -6.99767959e-01 -1.67452401e-02 2.40595810e+02] [ 2.31056572e-02 -3.41985659e-04 9.99732970e-01 5.98780285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.332755096 meters 0.019083853830701745 Centerline is valid? [True, True] Translation: X:63.51, Y:240.62, Z:5.99 [[-7.00582580e-01 -7.13399333e-01 1.56665482e-02 6.35092235e+01] [ 7.13209460e-01 -7.00757635e-01 -1.64621781e-02 2.40615215e+02] [ 2.27225601e-02 -3.59584803e-04 9.99741745e-01 5.98786270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.36275509600006 meters 0.019484929821993076 Centerline is valid? [True, True] Translation: X:63.49, Y:240.64, Z:5.99 [[-7.02366590e-01 -7.11642954e-01 1.56677760e-02 6.34893085e+01] [ 7.11452876e-01 -7.02541201e-01 -1.64519313e-02 2.40635207e+02] [ 2.27151591e-02 -4.08402557e-04 9.99741894e-01 5.98903977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.39275509600003 meters 0.020719962087343165 Centerline is valid? [True, True] Translation: X:63.47, Y:240.66, Z:5.99 [[-7.03315368e-01 -7.10708308e-01 1.55304134e-02 6.34720778e+01] [ 7.10521577e-01 -7.03486687e-01 -1.62963076e-02 2.40655043e+02] [ 2.25073602e-02 -4.26749765e-04 9.99746586e-01 5.98798803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.42275509600006 meters 0.02125185567180605 Centerline is valid? [True, True] Translation: X:63.45, Y:240.67, Z:5.99 [[-7.04052712e-01 -7.09979188e-01 1.54703836e-02 6.34539891e+01] [ 7.09793998e-01 -7.04222522e-01 -1.62209727e-02 2.40673752e+02] [ 2.24111456e-02 -4.39634353e-04 9.99748742e-01 5.98783967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.45275509600003 meters 0.021286471619188726 Centerline is valid? [True, True] Translation: X:63.43, Y:240.69, Z:5.99 [[-7.04871141e-01 -7.09159585e-01 1.57910719e-02 6.34347052e+01] [ 7.08966712e-01 -7.05047847e-01 -1.65449733e-02 2.40692843e+02] [ 2.28664876e-02 -4.66729941e-04 9.99738419e-01 5.98814430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.48275509600006 meters 0.021575638674881884 Centerline is valid? [True, True] Translation: X:63.41, Y:240.71, Z:5.99 [[-7.06254161e-01 -7.07774076e-01 1.61529304e-02 6.34144773e+01] [ 7.07572166e-01 -7.06438668e-01 -1.69126672e-02 2.40711794e+02] [ 2.33814020e-02 -5.15277686e-04 9.99726485e-01 5.98787565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.51275509600003 meters 0.02210562404958082 Centerline is valid? [True, True] Translation: X:63.40, Y:240.73, Z:5.99 [[-7.07162318e-01 -7.06868549e-01 1.60720521e-02 6.33953805e+01] [ 7.06668685e-01 -7.07344731e-01 -1.68166687e-02 2.40731827e+02] [ 2.32556556e-02 -5.34498478e-04 9.99729408e-01 5.98780954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.54275509600006 meters 0.022550859938645147 Centerline is valid? [True, True] Translation: X:63.38, Y:240.75, Z:5.99 [[-7.08116827e-01 -7.05914783e-01 1.59649086e-02 6.33760756e+01] [ 7.05717607e-01 -7.08296557e-01 -1.66926873e-02 2.40750566e+02] [ 2.30915045e-02 -5.53655662e-04 9.99733202e-01 5.98785301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.57275509600004 meters 0.02248469625406796 Centerline is valid? [True, True] Translation: X:63.36, Y:240.77, Z:5.99 [[-7.08382056e-01 -7.05646655e-01 1.60518096e-02 6.33562080e+01] [ 7.05447538e-01 -7.08563680e-01 -1.67714953e-02 2.40769110e+02] [ 2.32084788e-02 -5.56916763e-04 9.99730492e-01 5.98820918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.60275509600007 meters 0.02308766086522246 Centerline is valid? [True, True] Translation: X:63.34, Y:240.79, Z:5.99 [[-7.08907580e-01 -7.05112508e-01 1.63215707e-02 6.33378343e+01] [ 7.04906798e-01 -7.09095212e-01 -1.70407081e-02 2.40788424e+02] [ 2.35891641e-02 -5.75100955e-04 9.99721572e-01 5.98742780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.63275509600004 meters 0.022839216413529845 Centerline is valid? [True, True] Translation: X:63.32, Y:240.81, Z:5.99 [[-7.09527123e-01 -7.04484544e-01 1.65163499e-02 6.33181371e+01] [ 7.04274029e-01 -7.09719082e-01 -1.72312969e-02 2.40807822e+02] [ 2.38611510e-02 -5.94036204e-04 9.99715106e-01 5.98781910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.66275509600007 meters 0.024377046221967513 Centerline is valid? [True, True] Translation: X:63.30, Y:240.83, Z:5.99 [[-7.10616252e-01 -7.03385413e-01 1.65379560e-02 6.33009676e+01] [ 7.03174337e-01 -7.10808394e-01 -1.72417977e-02 2.40828636e+02] [ 2.38829469e-02 -6.23235444e-04 9.99714568e-01 5.98691034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.69275509600004 meters 0.02446726239447369 Centerline is valid? [True, True] Translation: X:63.28, Y:240.85, Z:5.99 [[-7.11488198e-01 -7.02502638e-01 1.65706839e-02 6.32819613e+01] [ 7.02290770e-01 -7.11680846e-01 -1.72640622e-02 2.40848435e+02] [ 2.39210876e-02 -6.45738193e-04 9.99713641e-01 5.98748280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.72275509600007 meters 0.023807950389596537 Centerline is valid? [True, True] Translation: X:63.26, Y:240.87, Z:5.99 [[-7.12504796e-01 -7.01485269e-01 1.59791668e-02 6.32620057e+01] [ 7.01288270e-01 -7.12683660e-01 -1.66362089e-02 2.40867215e+02] [ 2.30581466e-02 -6.47376383e-04 9.99733916e-01 5.98874713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.75275509600004 meters 0.024658344338963443 Centerline is valid? [True, True] Translation: X:63.24, Y:240.89, Z:5.99 [[-7.13259136e-01 -7.00730325e-01 1.54407390e-02 6.32441700e+01] [ 7.00546463e-01 -7.13425961e-01 -1.60639990e-02 2.40886520e+02] [ 2.22723553e-02 -6.40838994e-04 9.99751735e-01 5.98955887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7827550960001 meters 0.025146686784976335 Centerline is valid? [True, True] Translation: X:63.23, Y:240.91, Z:5.99 [[-7.13409656e-01 -7.00586078e-01 1.50269465e-02 6.32263362e+01] [ 7.00412158e-01 -7.13567630e-01 -1.56219784e-02 2.40905786e+02] [ 2.16672832e-02 -6.19814238e-04 9.99765045e-01 5.99031930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.81275509600005 meters 0.02491956554844918 Centerline is valid? [True, True] Translation: X:63.21, Y:240.92, Z:5.99 [[-7.13415441e-01 -7.00587153e-01 1.46986154e-02 6.32068150e+01] [ 7.00420982e-01 -7.13566593e-01 -1.52697626e-02 2.40924991e+02] [ 2.11862404e-02 -5.98465784e-04 9.99775367e-01 5.99130799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8427550960001 meters 0.024163212451072266 Centerline is valid? [True, True] Translation: X:63.19, Y:240.94, Z:5.99 [[-7.13131789e-01 -7.00884490e-01 1.42822637e-02 6.31864379e+01] [ 7.00727871e-01 -7.13274570e-01 -1.48269907e-02 2.40943488e+02] [ 2.05791833e-02 -5.65618214e-04 9.99788066e-01 5.99229599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.87275509600005 meters 0.023232905627374914 Centerline is valid? [True, True] Translation: X:63.16, Y:240.96, Z:5.99 [[-7.12160503e-01 -7.01875421e-01 1.40823333e-02 6.31647192e+01] [ 7.01723548e-01 -7.12299530e-01 -1.46096168e-02 2.40961136e+02] [ 2.02849703e-02 -5.22487163e-04 9.99794102e-01 5.99282554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9027550960001 meters 0.02293710043291152 Centerline is valid? [True, True] Translation: X:63.14, Y:240.98, Z:5.99 [[-7.10867519e-01 -7.03185100e-01 1.40742957e-02 6.31445379e+01] [ 7.03033859e-01 -7.11006671e-01 -1.45913329e-02 2.40977611e+02] [ 2.02673261e-02 -4.77798179e-04 9.99794483e-01 5.99217391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.93275509600005 meters 0.02216616588340697 Centerline is valid? [True, True] Translation: X:63.12, Y:241.00, Z:5.99 [[-7.10260251e-01 -7.03790674e-01 1.44590149e-02 6.31236116e+01] [ 7.03631408e-01 -7.10407257e-01 -1.49790358e-02 2.40995879e+02] [ 2.08138948e-02 -4.65196730e-04 9.99783259e-01 5.99237002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9627550960001 meters 0.022339473060241147 Centerline is valid? [True, True] Translation: X:63.10, Y:241.01, Z:5.99 [[-7.09910310e-01 -7.04140798e-01 1.45975331e-02 6.31044735e+01] [ 7.03978771e-01 -7.10060231e-01 -1.51114968e-02 2.41014424e+02] [ 2.10057492e-02 -4.51453990e-04 9.99779253e-01 5.99173195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.99275509600005 meters 0.021641380316628274 Centerline is valid? [True, True] Translation: X:63.08, Y:241.03, Z:5.99 [[-7.09584841e-01 -7.04463537e-01 1.48484990e-02 6.30837967e+01] [ 7.04296203e-01 -7.09740044e-01 -1.53599786e-02 2.41032613e+02] [ 2.13591192e-02 -4.41466486e-04 9.99771771e-01 5.99210180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0227550960001 meters 0.021500377343555213 Centerline is valid? [True, True] Translation: X:63.06, Y:241.05, Z:5.99 [[-7.08773108e-01 -7.05282867e-01 1.47227314e-02 6.30640425e+01] [ 7.05118737e-01 -7.08925886e-01 -1.52202044e-02 2.41049474e+02] [ 2.11718748e-02 -4.06397764e-04 9.99775768e-01 5.99182646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.05275509600006 meters 0.02267287210977711 Centerline is valid? [True, True] Translation: X:63.05, Y:241.07, Z:5.99 [[-7.08853796e-01 -7.05191965e-01 1.51851564e-02 6.30451503e+01] [ 7.05017567e-01 -7.09016305e-01 -1.56878608e-02 2.41067372e+02] [ 2.18294769e-02 -4.14597659e-04 9.99761623e-01 5.99113930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.082755096 meters 0.021250586127331217 Centerline is valid? [True, True] Translation: X:63.03, Y:241.08, Z:5.99 [[-7.08690682e-01 -7.05371923e-01 1.44210791e-02 6.30258033e+01] [ 7.05214911e-01 -7.08837292e-01 -1.48870254e-02 2.41084284e+02] [ 2.07230884e-02 -3.80336203e-04 9.99785181e-01 5.99276227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.11275509600006 meters 0.021235865026420546 Centerline is valid? [True, True] Translation: X:63.01, Y:241.10, Z:5.99 [[-7.09023137e-01 -7.05040997e-01 1.42612801e-02 6.30068512e+01] [ 7.04887616e-01 -7.09166448e-01 -1.47104760e-02 2.41103155e+02] [ 2.04851100e-02 -3.77468143e-04 9.99790087e-01 5.99335782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.14275509600003 meters 0.021163174189218748 Centerline is valid? [True, True] Translation: X:62.99, Y:241.12, Z:5.99 [[-7.09378954e-01 -7.04690098e-01 1.39056140e-02 6.29884595e+01] [ 7.04544423e-01 -7.09515137e-01 -1.43327328e-02 2.41121809e+02] [ 1.99663785e-02 -3.70216216e-04 9.99800583e-01 5.99427362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.17275509600006 meters 0.020609690829190026 Centerline is valid? [True, True] Translation: X:62.97, Y:241.14, Z:6.00 [[-7.09790726e-01 -7.04284464e-01 1.34357687e-02 6.29696884e+01] [ 7.04148591e-01 -7.09917787e-01 -1.38382662e-02 2.41141094e+02] [ 1.92843671e-02 -3.61495379e-04 9.99813974e-01 5.99591099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.20275509600003 meters 0.021733268169077825 Centerline is valid? [True, True] Translation: X:62.95, Y:241.16, Z:6.00 [[-7.10037701e-01 -7.04039677e-01 1.32134870e-02 6.29534754e+01] [ 7.03908408e-01 -7.10160551e-01 -1.35994765e-02 2.41161496e+02] [ 1.89582682e-02 -3.55056450e-04 9.99820213e-01 5.99546126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.23275509600006 meters 0.021085293721860496 Centerline is valid? [True, True] Translation: X:62.93, Y:241.18, Z:6.00 [[-7.10669400e-01 -7.03405480e-01 1.30282363e-02 6.29344247e+01] [ 7.03277946e-01 -7.10788718e-01 -1.33988568e-02 2.41180279e+02] [ 1.86851527e-02 -3.59686208e-04 9.99825353e-01 5.99641868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26275509600003 meters 0.02221522755477803 Centerline is valid? [True, True] Translation: X:62.92, Y:241.20, Z:6.00 [[-7.11040437e-01 -7.03036692e-01 1.26849319e-02 6.29179359e+01] [ 7.02915905e-01 -7.11153490e-01 -1.30362642e-02 2.41200271e+02] [ 1.81859056e-02 -3.52870583e-04 9.99834560e-01 5.99610289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.29275509600006 meters 0.021543229951885026 Centerline is valid? [True, True] Translation: X:62.90, Y:241.22, Z:6.00 [[-7.11537930e-01 -7.02532389e-01 1.27285781e-02 6.28986806e+01] [ 7.02410868e-01 -7.11651680e-01 -1.30712978e-02 2.41217862e+02] [ 1.82413241e-02 -3.60032577e-04 9.99833548e-01 5.99709176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32275509600004 meters 0.02181709095465186 Centerline is valid? [True, True] Translation: X:62.88, Y:241.24, Z:6.00 [[-7.12187761e-01 -7.01872303e-01 1.28008983e-02 6.28810313e+01] [ 7.01749477e-01 -7.12302697e-01 -1.31354501e-02 2.41236909e+02] [ 1.83375230e-02 -3.71883082e-04 9.99831784e-01 5.99725870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.35275509600007 meters 0.022377557263336723 Centerline is valid? [True, True] Translation: X:62.86, Y:241.26, Z:6.00 [[-7.13751494e-01 -7.00285056e-01 1.26350795e-02 6.28639412e+01] [ 7.00165314e-01 -7.13863208e-01 -1.29558176e-02 2.41258381e+02] [ 1.80924838e-02 -4.00589808e-04 9.99836237e-01 5.99832172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38275509600004 meters 0.023829167587195867 Centerline is valid? [True, True] Translation: X:62.85, Y:241.28, Z:6.00 [[-7.15343418e-01 -6.98664480e-01 1.23181946e-02 6.28487873e+01] [ 6.98550583e-01 -7.15449344e-01 -1.26221896e-02 2.41280793e+02] [ 1.76317198e-02 -4.24318212e-04 9.99844459e-01 5.99930009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.41275509600007 meters 0.022897141572254323 Centerline is valid? [True, True] Translation: X:62.83, Y:241.30, Z:6.00 [[-7.16063301e-01 -6.97922283e-01 1.25633270e-02 6.28288224e+01] [ 6.97803860e-01 -7.16173366e-01 -1.28640334e-02 2.41299849e+02] [ 1.79756158e-02 -4.44724149e-04 9.99838327e-01 6.00039779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.44275509600004 meters 0.023554701406473817 Centerline is valid? [True, True] Translation: X:62.81, Y:241.32, Z:6.00 [[-7.16475929e-01 -6.97502703e-01 1.23378170e-02 6.28115011e+01] [ 6.97388589e-01 -7.16582015e-01 -1.26242183e-02 2.41319843e+02] [ 1.76464842e-02 -4.40695738e-04 9.99844192e-01 6.00035254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.47275509600007 meters 0.02489461983740644 Centerline is valid? [True, True] Translation: X:62.80, Y:241.34, Z:6.00 [[-7.16995337e-01 -6.96968117e-01 1.23745851e-02 6.27950231e+01] [ 6.96853411e-01 -7.17101976e-01 -1.26522630e-02 2.41339952e+02] [ 1.76920633e-02 -4.48341757e-04 9.99843383e-01 5.99991419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.50275509600004 meters 0.022984983629175674 Centerline is valid? [True, True] Translation: X:62.77, Y:241.36, Z:6.00 [[-7.17354037e-01 -6.96601699e-01 1.22171246e-02 6.27739853e+01] [ 6.96490007e-01 -7.17457926e-01 -1.24817784e-02 2.41356809e+02] [ 1.74601009e-02 -4.44748950e-04 9.99847462e-01 6.00057425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5327550960001 meters 0.025058498008811082 Centerline is valid? [True, True] Translation: X:62.76, Y:241.38, Z:6.00 [[-7.17292050e-01 -6.96660766e-01 1.24856711e-02 6.27577826e+01] [ 6.96544284e-01 -7.17400570e-01 -1.27468590e-02 2.41377695e+02] [ 1.78374641e-02 -4.46397791e-04 9.99840800e-01 5.99993940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.56275509600005 meters 0.02313848454456157 Centerline is valid? [True, True] Translation: X:62.74, Y:241.39, Z:6.00 [[-7.17654414e-01 -6.96291751e-01 1.22450370e-02 6.27363086e+01] [ 6.96179819e-01 -7.17758737e-01 -1.24922361e-02 2.41394239e+02] [ 1.74872232e-02 -4.40360740e-04 9.99846990e-01 6.00084957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5927550960001 meters 0.022648606657062077 Centerline is valid? [True, True] Translation: X:62.72, Y:241.41, Z:6.00 [[-7.18136619e-01 -6.95789965e-01 1.24948423e-02 6.27171593e+01] [ 6.95673505e-01 -7.18245165e-01 -1.27379985e-02 2.41413093e+02] [ 1.78373316e-02 -4.55292493e-04 9.99840799e-01 6.00139676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.62275509600005 meters 0.023506783633009704 Centerline is valid? [True, True] Translation: X:62.70, Y:241.43, Z:6.00 [[-7.18421730e-01 -6.95504159e-01 1.20076577e-02 6.26991267e+01] [ 6.95396712e-01 -7.18521937e-01 -1.22326964e-02 2.41432864e+02] [ 1.71356567e-02 -4.38149188e-04 9.99853078e-01 6.00212554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6527550960001 meters 0.022576694174316465 Centerline is valid? [True, True] Translation: X:62.68, Y:241.45, Z:6.00 [[-7.18884610e-01 -6.95030856e-01 1.17058326e-02 6.26787512e+01] [ 6.94928826e-01 -7.18979779e-01 -1.19165657e-02 2.41451191e+02] [ 1.66986378e-02 -4.31915188e-04 9.99860475e-01 6.00328813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.68275509600005 meters 0.023136214478109082 Centerline is valid? [True, True] Translation: X:62.66, Y:241.47, Z:6.00 [[-7.19593517e-01 -6.94295985e-01 1.17582180e-02 6.26612608e+01] [ 6.94193087e-01 -7.19689439e-01 -1.19611771e-02 2.41470909e+02] [ 1.67668626e-02 -4.44711886e-04 9.99859327e-01 6.00369929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7127550960001 meters 0.024034318395226604 Centerline is valid? [True, True] Translation: X:62.64, Y:241.49, Z:6.00 [[-7.20432366e-01 -6.93430808e-01 1.14421023e-02 6.26440635e+01] [ 6.93333389e-01 -7.20523085e-01 -1.16316940e-02 2.41490458e+02] [ 1.63100738e-02 -4.46657263e-04 9.99866882e-01 6.00410219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.74275509600005 meters 0.02407364875325578 Centerline is valid? [True, True] Translation: X:62.62, Y:241.51, Z:6.00 [[-7.22250843e-01 -6.91546069e-01 1.08514822e-02 6.26236411e+01] [ 6.91458328e-01 -7.22332211e-01 -1.10252946e-02 2.41509416e+02] [ 1.54628743e-02 -4.59680572e-04 9.99880337e-01 6.00464603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7727550960001 meters 0.024717843963946683 Centerline is valid? [True, True] Translation: X:62.60, Y:241.53, Z:6.01 [[-7.23417602e-01 -6.90329240e-01 1.06072117e-02 6.26042864e+01] [ 6.90245376e-01 -7.23495210e-01 -1.07704079e-02 2.41529216e+02] [ 1.51093944e-02 -4.69923832e-04 9.99885736e-01 6.00553162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.80275509600006 meters 0.02553400456845156 Centerline is valid? [True, True] Translation: X:62.58, Y:241.55, Z:6.01 [[-7.24666953e-01 -6.89029838e-01 9.78210844e-03 6.25849544e+01] [ 6.88958477e-01 -7.24732831e-01 -9.92675519e-03 2.41549444e+02] [ 1.39292457e-02 -4.54124908e-04 9.99902880e-01 6.00660245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.832755096 meters 0.02669312718870612 Centerline is valid? [True, True] Translation: X:62.57, Y:241.57, Z:6.01 [[-7.26471283e-01 -6.87138942e-01 8.91903770e-03 6.25657109e+01] [ 6.87079541e-01 -7.26525896e-01 -9.04580737e-03 2.41569292e+02] [ 1.26956384e-02 -4.43430965e-04 9.99919309e-01 6.00762700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.86275509600006 meters 0.02669312718870612 Centerline is valid? [True, True] Translation: X:62.55, Y:241.59, Z:6.01 [[-7.26712844e-01 -6.86883436e-01 8.92118007e-03 6.25467688e+01] [ 6.86824042e-01 -7.26767464e-01 -9.04369405e-03 2.41588203e+02] [ 1.26955871e-02 -4.44887670e-04 9.99919309e-01 6.00794448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.89275509600003 meters 0.02851807169628411 Centerline is valid? [True, True] Translation: X:62.53, Y:241.61, Z:6.01 [[-7.27689545e-01 -6.85846862e-01 9.05583833e-03 6.25295021e+01] [ 6.85785665e-01 -7.27745742e-01 -9.17367604e-03 2.41607393e+02] [ 1.28820847e-02 -4.65224030e-04 9.99916914e-01 6.00743333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.92275509600006 meters 0.02782890469038592 Centerline is valid? [True, True] Translation: X:62.51, Y:241.63, Z:6.01 [[-7.27877959e-01 -6.85649177e-01 8.88154375e-03 6.25104643e+01] [ 6.85590375e-01 -7.27932001e-01 -8.99106451e-03 2.41625230e+02] [ 1.26298759e-02 -4.55296775e-04 9.99920136e-01 6.00915628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.95275509600003 meters 0.02529912166004322 Centerline is valid? [True, True] Translation: X:62.49, Y:241.64, Z:6.01 [[-7.27737839e-01 -6.85799866e-01 8.72823105e-03 6.24881848e+01] [ 6.85743170e-01 -7.27790045e-01 -8.82921206e-03 2.41641042e+02] [ 1.24073921e-02 -4.40026874e-04 9.99922929e-01 6.00963355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.98275509600006 meters 0.02785548669581095 Centerline is valid? [True, True] Translation: X:62.47, Y:241.66, Z:6.01 [[-7.27565277e-01 -6.85980939e-01 8.88368535e-03 6.24715282e+01] [ 6.85922302e-01 -7.27619377e-01 -8.97986394e-03 2.41661713e+02] [ 1.26239571e-02 -4.39919283e-04 9.99920218e-01 6.00953952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.01275509600003 meters 0.024286695342465758 Centerline is valid? [True, True] Translation: X:62.45, Y:241.68, Z:6.01 [[-7.26412568e-01 -6.87204552e-01 8.64208659e-03 6.24460332e+01] [ 6.87149206e-01 -7.26463861e-01 -8.73082067e-03 2.41675857e+02] [ 1.22780233e-02 -4.03774919e-04 9.99924541e-01 6.00949894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.04275509600006 meters 0.0237009277209124 Centerline is valid? [True, True] Translation: X:62.42, Y:241.69, Z:6.01 [[-7.25836575e-01 -6.87817214e-01 8.29140803e-03 6.24246128e+01] [ 6.87766370e-01 -7.25883834e-01 -8.37135267e-03 2.41694365e+02] [ 1.17765595e-02 -3.73682343e-04 9.99930584e-01 6.00985953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.07275509600004 meters 0.023022458231560936 Centerline is valid? [True, True] Translation: X:62.40, Y:241.71, Z:6.01 [[-7.24590673e-01 -6.89134389e-01 7.88353626e-03 6.24021893e+01] [ 6.89088558e-01 -7.24633482e-01 -7.95462961e-03 2.41712284e+02] [ 1.11944832e-02 -3.31395796e-04 9.99937285e-01 6.01010457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.10275509600007 meters 0.02346137254393339 Centerline is valid? [True, True] Translation: X:62.38, Y:241.73, Z:6.01 [[-7.24158215e-01 -6.89585704e-01 8.15089770e-03 6.23833452e+01] [ 6.89536798e-01 -7.24204009e-01 -8.21929312e-03 2.41730852e+02] [ 1.15708198e-02 -3.31724733e-04 9.99933001e-01 6.01010182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.13275509600004 meters 0.02282865435913017 Centerline is valid? [True, True] Translation: X:62.36, Y:241.75, Z:6.01 [[-7.23878663e-01 -6.89880105e-01 8.06979343e-03 6.23628967e+01] [ 6.89832257e-01 -7.23923572e-01 -8.13136522e-03 2.41748557e+02] [ 1.14515808e-02 -3.19317973e-04 9.99934378e-01 6.01017473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.16275509600007 meters 0.024392531246950674 Centerline is valid? [True, True] Translation: X:62.35, Y:241.77, Z:6.01 [[-7.23132949e-01 -6.90664208e-01 7.85425613e-03 6.23461188e+01] [ 6.90618989e-01 -7.23175542e-01 -7.90872932e-03 2.41768642e+02] [ 1.11422822e-02 -2.94764327e-04 9.99937879e-01 6.01111696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.19275509600004 meters 0.022339521243904988 Centerline is valid? [True, True] Translation: X:62.32, Y:241.79, Z:6.01 [[-7.22876573e-01 -6.90934740e-01 7.65802755e-03 6.23242301e+01] [ 6.90891828e-01 -7.22917082e-01 -7.70551208e-03 2.41785808e+02] [ 1.08601249e-02 -2.79265511e-04 9.99940988e-01 6.01167085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.22275509600007 meters 0.021596338793143974 Centerline is valid? [True, True] Translation: X:62.30, Y:241.80, Z:6.01 [[-7.22468748e-01 -6.91362423e-01 7.54381442e-03 6.23039221e+01] [ 6.91320860e-01 -7.22508083e-01 -7.58537882e-03 2.41804537e+02] [ 1.06947128e-02 -2.65002859e-04 9.99942775e-01 6.01182637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.25275509600004 meters 0.021405448518118653 Centerline is valid? [True, True] Translation: X:62.28, Y:241.82, Z:6.01 [[-7.22487639e-01 -6.91340644e-01 7.72819555e-03 6.22843323e+01] [ 6.91297086e-01 -7.22528921e-01 -7.76511170e-03 2.41823455e+02] [ 1.09521821e-02 -2.67718160e-04 9.99939987e-01 6.01163586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2827550960001 meters 0.021839577303557935 Centerline is valid? [True, True] Translation: X:62.27, Y:241.84, Z:6.01 [[-7.22452560e-01 -6.91371684e-01 8.21544080e-03 6.22661296e+01] [ 6.91322534e-01 -7.22499216e-01 -8.24843933e-03 2.41842473e+02] [ 1.16383869e-02 -2.79586755e-04 9.99932233e-01 6.01069607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.31275509600005 meters 0.021839577303557935 Centerline is valid? [True, True] Translation: X:62.25, Y:241.86, Z:6.01 [[-7.22719253e-01 -6.91092857e-01 8.21851095e-03 6.22476473e+01] [ 6.91043725e-01 -7.22765927e-01 -8.24537917e-03 2.41860655e+02] [ 1.16383823e-02 -2.79743857e-04 9.99932233e-01 6.01100313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3427550960001 meters 0.021902068962874364 Centerline is valid? [True, True] Translation: X:62.23, Y:241.88, Z:6.01 [[-7.23028244e-01 -6.90761628e-01 8.86181838e-03 6.22295425e+01] [ 6.90704570e-01 -7.23082486e-01 -8.88342690e-03 2.41880136e+02] [ 1.25441561e-02 -3.02070095e-04 9.99921273e-01 6.00968968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.37275509600005 meters 0.021052187458345778 Centerline is valid? [True, True] Translation: X:62.21, Y:241.90, Z:6.01 [[-7.23471710e-01 -6.90293893e-01 9.11189433e-03 6.22092590e+01] [ 6.90233624e-01 -7.23529020e-01 -9.12694138e-03 2.41898937e+02] [ 1.28929919e-02 -3.13748041e-04 9.99916833e-01 6.00934102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4027550960001 meters 0.022097023556558765 Centerline is valid? [True, True] Translation: X:62.19, Y:241.92, Z:6.01 [[-7.24438557e-01 -6.89276066e-01 9.34248009e-03 6.21923180e+01] [ 6.89212712e-01 -7.24498718e-01 -9.35122109e-03 2.41920230e+02] [ 1.32141877e-02 -3.35429067e-04 9.99912633e-01 6.00901641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.43275509600005 meters 0.02228051626653722 Centerline is valid? [True, True] Translation: X:62.17, Y:241.94, Z:6.01 [[-7.24976906e-01 -6.88707694e-01 9.49728199e-03 6.21738368e+01] [ 6.88642239e-01 -7.25039027e-01 -9.50138689e-03 2.41940283e+02] [ 1.34295783e-02 -3.48056536e-04 9.99909759e-01 6.00942299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4627550960001 meters 0.02200921110288698 Centerline is valid? [True, True] Translation: X:61.80, Y:241.55, Z:7.21 [[-7.38362044e-01 6.74364552e-01 -7.34458079e-03 6.18030479e+01] [ 6.74323265e-01 7.38398349e-01 7.48415571e-03 2.41546417e+02] [ 1.04702756e-02 5.73394813e-04 -9.99945021e-01 7.20846986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.49275509600005 meters 0.02277944515782242 Centerline is valid? [True, True] Translation: X:61.82, Y:241.56, Z:7.21 [[-7.84211913e-01 6.20445133e-01 -7.71439841e-03 6.18155101e+01] [ 6.20407737e-01 7.84249645e-01 6.83619730e-03 2.41558036e+02] [ 1.02914996e-02 5.74954900e-04 -9.99946876e-01 7.20917166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5227550960001 meters 0.0230467395779307 Centerline is valid? [True, True] Translation: X:61.83, Y:241.57, Z:7.21 [[-8.26246686e-01 5.63248634e-01 -8.20908618e-03 6.18310558e+01] [ 5.63213803e-01 8.26287267e-01 6.29009471e-03 2.41569494e+02] [ 1.03259506e-02 5.73699263e-04 -9.99946521e-01 7.20971858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.55275509600006 meters 0.022361815469767277 Centerline is valid? [True, True] Translation: X:61.84, Y:241.58, Z:7.21 [[-8.64352837e-01 5.02811641e-01 -8.63869012e-03 6.18449319e+01] [ 5.02779729e-01 8.64395812e-01 5.69430848e-03 2.41584087e+02] [ 1.03304121e-02 5.78533409e-04 -9.99946473e-01 7.21002291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.582755096 meters 0.021797177625061448 Centerline is valid? [True, True] Translation: X:62.10, Y:242.07, Z:6.01 [[-8.54588313e-01 -5.19169888e-01 1.18929310e-02 6.21000858e+01] [ 5.19124419e-01 -8.54671012e-01 -6.87737524e-03 2.42066840e+02] [ 1.37350695e-02 2.96586386e-04 9.99905626e-01 6.00864545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.61275509600006 meters 0.0214075989460704 Centerline is valid? [True, True] Translation: X:61.82, Y:241.60, Z:7.21 [[-8.67531611e-01 4.97320214e-01 -7.84277894e-03 6.18165836e+01] [ 4.97293249e-01 8.67566836e-01 5.21638014e-03 2.41599182e+02] [ 9.39834619e-03 6.25213646e-04 -9.99955639e-01 7.21155233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.64275509600003 meters 0.02127930921810174 Centerline is valid? [True, True] Translation: X:62.07, Y:242.08, Z:6.01 [[-8.55016126e-01 -5.18455551e-01 1.22990276e-02 6.20712787e+01] [ 5.18406925e-01 -8.55104527e-01 -7.10694311e-03 2.42082021e+02] [ 1.42015883e-02 2.99350127e-04 9.99899108e-01 6.00803049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.67275509600006 meters 0.019707347940699387 Centerline is valid? [True, True] Translation: X:62.06, Y:242.06, Z:6.01 [[-8.16442054e-01 -5.77292437e-01 1.24825898e-02 6.20627599e+01] [ 5.77234032e-01 -8.16537325e-01 -8.22613301e-03 2.42061110e+02] [ 1.49413849e-02 4.89214725e-04 9.99888252e-01 6.00731270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.70275509600003 meters 0.019498792080539618 Centerline is valid? [True, True] Translation: X:61.75, Y:241.62, Z:7.21 [[-8.37421194e-01 5.46514637e-01 -6.89167388e-03 6.17515141e+01] [ 5.46489169e-01 8.37449268e-01 5.32094512e-03 2.41615902e+02] [ 8.67940164e-03 6.89647084e-04 -9.99962095e-01 7.21346133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.73275509600006 meters 0.018515403140241825 Centerline is valid? [True, True] Translation: X:61.77, Y:241.63, Z:7.21 [[-8.74678646e-01 4.84646871e-01 -7.39430438e-03 6.17657309e+01] [ 4.84622675e-01 8.74709624e-01 4.89251563e-03 2.41631684e+02] [ 8.83901159e-03 6.95931383e-04 -9.99960693e-01 7.21310527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76275509600003 meters 0.01817545566528367 Centerline is valid? [True, True] Translation: X:61.77, Y:241.65, Z:7.21 [[-9.07743819e-01 4.19443347e-01 -8.27268747e-03 6.17736190e+01] [ 4.19418706e-01 9.07781240e-01 4.60115332e-03 2.41648626e+02] [ 9.43971363e-03 7.06948619e-04 -9.99955195e-01 7.21301763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.79275509600006 meters 0.017405134235362316 Centerline is valid? [True, True] Translation: X:61.99, Y:242.14, Z:6.01 [[-8.88588418e-01 -4.58530190e-01 1.26763151e-02 6.19870202e+01] [ 4.58490629e-01 -8.88678720e-01 -6.03960005e-03 2.42143270e+02] [ 1.40345104e-02 4.45253019e-04 9.99901412e-01 6.00945183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82275509600004 meters 0.017149160630075704 Centerline is valid? [True, True] Translation: X:61.75, Y:241.66, Z:7.21 [[-9.10193674e-01 4.14091879e-01 -8.68289232e-03 6.17481410e+01] [ 4.14065342e-01 9.10234802e-01 4.74312442e-03 2.41660216e+02] [ 9.86756007e-03 7.21877055e-04 -9.99951054e-01 7.21223681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.85275509600007 meters 0.01705390318022203 Centerline is valid? [True, True] Translation: X:61.76, Y:241.68, Z:7.21 [[-9.37184751e-01 3.48695901e-01 -9.79340010e-03 6.17582527e+01] [ 3.48668868e-01 9.37235652e-01 4.39932737e-03 2.41676527e+02] [ 1.07127511e-02 7.08328803e-04 -9.99942366e-01 7.21202914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88275509600004 meters 0.01707569554923629 Centerline is valid? [True, True] Translation: X:61.77, Y:241.69, Z:7.21 [[-9.59482795e-01 2.81576262e-01 -1.03718142e-02 6.17659719e+01] [ 2.81551827e-01 9.59538595e-01 3.77531115e-03 2.41693407e+02] [ 1.10151940e-02 7.02142872e-04 -9.99939084e-01 7.21217446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.91275509600007 meters 0.01740910456275802 Centerline is valid? [True, True] Translation: X:61.91, Y:242.22, Z:6.01 [[-9.45653548e-01 -3.24987118e-01 1.10788622e-02 6.19060731e+01] [ 3.24970227e-01 -9.45718341e-01 -3.34242824e-03 2.42215887e+02] [ 1.15637293e-02 4.39521238e-04 9.99933041e-01 6.01191387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.94275509600004 meters 0.017419276659607928 Centerline is valid? [True, True] Translation: X:61.74, Y:241.70, Z:7.21 [[-9.60207075e-01 2.79047651e-01 -1.16095811e-02 6.17367331e+01] [ 2.79018694e-01 9.60277019e-01 4.07613541e-03 2.41700885e+02] [ 1.22858499e-02 6.74643901e-04 -9.99924299e-01 7.21136475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.97275509600007 meters 0.017707487999723652 Centerline is valid? [True, True] Translation: X:61.87, Y:242.22, Z:6.01 [[-9.47155177e-01 -3.20639675e-01 9.34183741e-03 6.18738326e+01] [ 3.20628425e-01 -9.47201152e-01 -2.71863418e-03 2.42223342e+02] [ 9.72030114e-03 4.20290179e-04 9.99952668e-01 6.01369086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.00275509600004 meters 0.01774483844009448 Centerline is valid? [True, True] Translation: X:61.71, Y:241.71, Z:7.21 [[-9.61005831e-01 2.76256858e-01 -1.22450797e-02 6.17063002e+01] [ 2.76225717e-01 9.61083619e-01 4.19892022e-03 2.41708699e+02] [ 1.29285260e-02 6.52780886e-04 -9.99916210e-01 7.21062084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0327550960001 meters 0.017960090561833703 Centerline is valid? [True, True] Translation: X:61.71, Y:241.73, Z:7.21 [[-9.78070213e-01 2.07880260e-01 -1.28240440e-02 6.17145021e+01] [ 2.07853796e-01 9.78154073e-01 3.37771481e-03 2.41726211e+02] [ 1.32460511e-02 6.38116025e-04 -9.99912064e-01 7.21057009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.06275509600005 meters 0.018183503124211024 Centerline is valid? [True, True] Translation: X:61.72, Y:241.74, Z:7.21 [[-9.90256801e-01 1.38663439e-01 -1.28031159e-02 6.17196990e+01] [ 1.38643602e-01 9.90339363e-01 2.42843922e-03 2.41744645e+02] [ 1.30161654e-02 6.29708343e-04 -9.99915088e-01 7.21121185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0927550960001 meters 0.018637826471566147 Centerline is valid? [True, True] Translation: X:61.78, Y:242.28, Z:6.01 [[-9.84157887e-01 -1.77009647e-01 1.00418539e-02 6.17788686e+01] [ 1.77005592e-01 -9.84208990e-01 -1.29812663e-03 2.42282796e+02] [ 1.01130638e-02 4.99902739e-04 9.99948737e-01 6.01387353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.12275509600005 meters 0.01869056078540626 Centerline is valid? [True, True] Translation: X:61.68, Y:241.75, Z:7.21 [[-9.90665614e-01 1.35720281e-01 -1.27140255e-02 6.16811075e+01] [ 1.35701061e-01 9.90747002e-01 2.36637724e-03 2.41749749e+02] [ 1.29175481e-02 6.18981800e-04 -9.99916373e-01 7.21273379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1527550960001 meters 0.01875028160848342 Centerline is valid? [True, True] Translation: X:61.74, Y:242.28, Z:6.01 [[-9.84866555e-01 -1.72980940e-01 1.07453999e-02 6.17386270e+01] [ 1.72976628e-01 -9.84925023e-01 -1.33644467e-03 2.42284669e+02] [ 1.08145927e-02 5.42483386e-04 9.99941373e-01 6.01206459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.18275509600005 meters 0.018965398513854356 Centerline is valid? [True, True] Translation: X:61.65, Y:241.76, Z:7.22 [[-9.91227098e-01 1.31715709e-01 -1.09459139e-02 6.16480679e+01] [ 1.31700502e-01 9.91287325e-01 2.10182921e-03 2.41755617e+02] [ 1.11273896e-02 6.41807709e-04 -9.99937883e-01 7.21592636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2127550960001 meters 0.019119489007927905 Centerline is valid? [True, True] Translation: X:61.70, Y:242.29, Z:6.01 [[-9.85692105e-01 -1.68123759e-01 1.20613360e-02 6.17024135e+01] [ 1.68117171e-01 -9.85765777e-01 -1.56531754e-03 2.42286418e+02] [ 1.21528193e-02 4.84796553e-04 9.99926034e-01 6.01045327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.24275509600005 meters 0.019119489007927905 Centerline is valid? [True, True] Translation: X:61.61, Y:241.76, Z:7.22 [[-9.91716499e-01 1.28043693e-01 -1.01586352e-02 6.16119279e+01] [ 1.28030294e-01 9.91768319e-01 1.96115854e-03 2.41761066e+02] [ 1.03261265e-02 6.44300225e-04 -9.99946477e-01 7.21741848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2727550960001 meters 0.01996067560763494 Centerline is valid? [True, True] Translation: X:61.62, Y:241.78, Z:7.22 [[-9.98249145e-01 5.84112813e-02 -9.31482783e-03 6.16171127e+01] [ 5.84027447e-02 9.98292398e-01 1.18607683e-03 2.41779621e+02] [ 9.36820208e-03 6.39988669e-04 -9.99955913e-01 7.21819182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.30275509600006 meters 0.02023955830197505 Centerline is valid? [True, True] Translation: X:61.63, Y:242.31, Z:6.01 [[-9.95661751e-01 -9.20416452e-02 1.36386378e-02 6.16264217e+01] [ 9.20392280e-02 -9.95755056e-01 -8.06135028e-04 2.42312281e+02] [ 1.36549405e-02 4.52651878e-04 9.99906665e-01 6.01033464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.332755096 meters 0.020876191932074257 Centerline is valid? [True, True] Translation: X:61.57, Y:241.78, Z:7.22 [[-9.98436865e-01 5.52692924e-02 -8.31454786e-03 6.15699041e+01] [ 5.52619086e-02 9.98471270e-01 1.11536600e-03 2.41781425e+02] [ 8.36348266e-03 6.54144752e-04 -9.99964812e-01 7.21865469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.36275509600006 meters 0.021220227776170407 Centerline is valid? [True, True] Translation: X:61.57, Y:242.32, Z:6.01 [[-9.96250531e-01 -8.54543026e-02 1.35071156e-02 6.15737179e+01] [ 8.54511504e-02 -9.96342031e-01 -8.11379488e-04 2.42315015e+02] [ 1.35270429e-02 3.45861324e-04 9.99908446e-01 6.01156972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.39275509600003 meters 0.021531554468027476 Centerline is valid? [True, True] Translation: X:61.52, Y:241.78, Z:7.22 [[-9.98670309e-01 5.08463338e-02 -8.50079297e-03 6.15188693e+01] [ 5.08389900e-02 9.98706281e-01 1.07790093e-03 2.41782989e+02] [ 8.54460264e-03 6.44295927e-04 -9.99963287e-01 7.21896249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.42275509600006 meters 0.021693638500633376 Centerline is valid? [True, True] Translation: X:61.52, Y:241.80, Z:7.22 [[-9.99760876e-01 -2.02273421e-02 -8.30938179e-03 6.15192221e+01] [-2.02318769e-02 9.99795208e-01 4.62041565e-04 2.41802547e+02] [ 8.29833422e-03 6.30045469e-04 -9.99965370e-01 7.21911980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.45275509600003 meters 0.020005667646764525 Centerline is valid? [True, True] Translation: X:61.49, Y:242.33, Z:6.01 [[-9.99870255e-01 -8.94701578e-03 1.33949661e-02 6.14875719e+01] [ 8.95133687e-03 -9.99959902e-01 2.62669625e-04 2.42330957e+02] [ 1.33920789e-02 3.82538399e-04 9.99910249e-01 6.01303138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.48275509600006 meters 0.02003459544457935 Centerline is valid? [True, True] Translation: X:61.46, Y:241.81, Z:7.22 [[-9.99606463e-01 -2.65632730e-02 -9.01725953e-03 6.14573928e+01] [-2.65679602e-02 9.99646929e-01 4.00393320e-04 2.41805018e+02] [ 9.00344004e-03 6.39805943e-04 -9.99959264e-01 7.21859171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.51275509600003 meters 0.020156581220461208 Centerline is valid? [True, True] Translation: X:61.46, Y:241.82, Z:7.22 [[-9.95130782e-01 -9.80923076e-02 -9.62427743e-03 6.14567411e+01] [-9.80936200e-02 9.95177134e-01 -3.36726741e-04 2.41823958e+02] [ 9.61089113e-03 6.08993068e-04 -9.99953629e-01 7.21846899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.54275509600006 meters 0.019674906386515773 Centerline is valid? [True, True] Translation: X:61.38, Y:242.34, Z:6.02 [[-9.97667498e-01 6.71981548e-02 1.19988058e-02 6.13840191e+01] [-6.71879796e-02 -9.97739552e-01 1.24957197e-03 2.42342174e+02] [ 1.20556520e-02 4.40481818e-04 9.99927231e-01 6.01541688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.57275509600004 meters 0.01903962254839141 Centerline is valid? [True, True] Translation: X:61.39, Y:241.82, Z:7.22 [[-9.94468553e-01 -1.04586290e-01 -9.69564559e-03 6.13878555e+01] [-1.04587510e-01 9.94515614e-01 -3.82465207e-04 2.41818950e+02] [ 9.68247155e-03 6.33693814e-04 -9.99952923e-01 7.21851261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.60275509600007 meters 0.020597245947777072 Centerline is valid? [True, True] Translation: X:61.38, Y:241.83, Z:7.22 [[-9.84486518e-01 -1.75208909e-01 -9.38794067e-03 6.13819007e+01] [-1.75206811e-01 9.84531090e-01 -1.05188084e-03 2.41834077e+02] [ 9.42701835e-03 6.09268636e-04 -9.99955379e-01 7.21903169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.63275509600004 meters 0.020657886302724766 Centerline is valid? [True, True] Translation: X:61.37, Y:241.85, Z:7.22 [[-9.69519748e-01 -2.44831531e-01 -9.43296733e-03 6.13697205e+01] [-2.44825944e-01 9.69565448e-01 -1.76039242e-03 2.41850815e+02] [ 9.57687877e-03 6.02699916e-04 -9.99953959e-01 7.21890602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.66275509600007 meters 0.02273538495921439 Centerline is valid? [True, True] Translation: X:61.34, Y:241.86, Z:7.22 [[-9.49367487e-01 -3.14028652e-01 -9.34769357e-03 6.13414890e+01] [-3.14019620e-01 9.49413315e-01 -2.45686233e-03 2.41858378e+02] [ 9.64634991e-03 6.02893962e-04 -9.99953291e-01 7.21957035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.69275509600004 meters 0.019260141396605226 Centerline is valid? [True, True] Translation: X:61.31, Y:241.87, Z:7.22 [[-9.23673109e-01 -3.83076226e-01 -8.97729414e-03 6.13069190e+01] [-3.83064571e-01 9.23716526e-01 -3.05185070e-03 2.41872160e+02] [ 9.46156640e-03 6.19970901e-04 -9.99955046e-01 7.21974979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.72275509600007 meters 0.01985319189277745 Centerline is valid? [True, True] Translation: X:61.26, Y:241.87, Z:7.22 [[-8.92949482e-01 -4.50077594e-01 -8.44884858e-03 6.12601408e+01] [-4.50063943e-01 8.92989234e-01 -3.56038503e-03 2.41869562e+02] [ 9.14718034e-03 6.23278136e-04 -9.99957969e-01 7.22060200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.75275509600004 meters 0.019947527405639594 Centerline is valid? [True, True] Translation: X:61.21, Y:241.86, Z:7.22 [[-8.57029343e-01 -5.15208398e-01 -7.81100028e-03 6.12101460e+01] [-5.15193592e-01 8.57064704e-01 -3.95681713e-03 2.41862542e+02] [ 8.73311806e-03 6.33068910e-04 -9.99961665e-01 7.22173128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7827550960001 meters 0.019947527405639594 Centerline is valid? [True, True] Translation: X:61.15, Y:241.85, Z:7.22 [[-8.15984594e-01 -5.78025406e-01 -7.46806984e-03 6.11543052e+01] [-5.78008134e-01 8.16018522e-01 -4.51319231e-03 2.41847812e+02] [ 8.70282313e-03 6.33909718e-04 -9.99961929e-01 7.22254422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.81275509600005 meters 0.020424513429259824 Centerline is valid? [True, True] Translation: X:61.09, Y:241.82, Z:7.22 [[-7.70623533e-01 -6.37253836e-01 -6.84972879e-03 6.10946774e+01] [-6.37235780e-01 7.70653713e-01 -4.83902781e-03 2.41823701e+02] [ 8.36245796e-03 6.35823559e-04 -9.99964832e-01 7.22411769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8427550960001 meters 0.021375671814013883 Centerline is valid? [True, True] Translation: X:61.04, Y:241.79, Z:7.23 [[-7.21192800e-01 -6.92709301e-01 -5.89660375e-03 6.10383932e+01] [-6.92693161e-01 7.21216619e-01 -4.77216761e-03 2.41794638e+02] [ 7.55845351e-03 6.42884175e-04 -9.99971228e-01 7.22597190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.87275509600005 meters 0.022026335861642894 Centerline is valid? [True, True] Translation: X:60.98, Y:241.75, Z:7.23 [[-6.67247866e-01 -7.44817984e-01 -5.14351177e-03 6.09756779e+01] [-7.44802980e-01 6.67267377e-01 -4.77161789e-03 2.41753040e+02] [ 6.98608443e-03 6.47051034e-04 -9.99975388e-01 7.22763130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9027550960001 meters 0.021508282448374397 Centerline is valid? [True, True] Translation: X:60.92, Y:241.72, Z:7.23 [[-6.10121958e-01 -7.92297274e-01 -4.02815560e-03 6.09210472e+01] [-7.92286742e-01 6.10134891e-01 -4.13911208e-03 2.41715554e+02] [ 5.73712550e-03 6.66091117e-04 -9.99983321e-01 7.22902525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.93275509600005 meters 0.02412513448232816 Centerline is valid? [True, True] Translation: X:60.87, Y:241.66, Z:7.23 [[-5.48444535e-01 -8.36179667e-01 -3.48660779e-03 6.08673832e+01] [-8.36169915e-01 5.48455208e-01 -4.09363544e-03 2.41661940e+02] [ 5.33526292e-03 6.70264553e-04 -9.99985543e-01 7.23096369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9627550960001 meters 0.021998826301512776 Centerline is valid? [True, True] Translation: X:60.81, Y:241.61, Z:7.23 [[-4.82832087e-01 -8.75707646e-01 -3.04863207e-03 6.08131060e+01] [-8.75698169e-01 4.82841239e-01 -4.12975968e-03 2.41611574e+02] [ 5.08846742e-03 6.75701040e-04 -9.99986825e-01 7.23116541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.99275509600005 meters 0.02241738513478235 Centerline is valid? [True, True] Translation: X:60.76, Y:241.55, Z:7.23 [[-4.13262774e-01 -9.10607566e-01 -2.78220444e-03 6.07609848e+01] [-9.10596710e-01 4.13271589e-01 -4.49722685e-03 2.41549328e+02] [ 5.24501484e-03 6.74929769e-04 -9.99986017e-01 7.23193584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0227550960001 meters 0.02174172926802611 Centerline is valid? [True, True] Translation: X:60.71, Y:241.49, Z:7.23 [[-3.40562791e-01 -9.40218632e-01 -2.43092015e-03 6.07133708e+01] [-9.40207085e-01 3.40570785e-01 -4.70938984e-03 2.41485488e+02] [ 5.25575645e-03 6.81725395e-04 -9.99985956e-01 7.23302686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.05275509600006 meters 0.02065831379511588 Centerline is valid? [True, True] Translation: X:60.66, Y:241.39, Z:7.23 [[-2.66036997e-01 -9.63960916e-01 -1.91533235e-03 6.06630176e+01] [-9.63951521e-01 2.66042974e-01 -4.31295518e-03 2.41390329e+02] [ 4.66708094e-03 6.98881881e-04 -9.99988865e-01 7.23458815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.082755096 meters 0.02031469561298362 Centerline is valid? [True, True] Translation: X:60.63, Y:241.31, Z:7.24 [[-1.89538204e-01 -9.81872243e-01 -1.47255719e-03 6.06268571e+01] [-9.81865031e-01 1.89542558e-01 -3.83152054e-03 2.41313168e+02] [ 4.04117592e-03 7.19632892e-04 -9.99991576e-01 7.23586589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.11275509600006 meters 0.019263995357932297 Centerline is valid? [True, True] Translation: X:60.60, Y:241.27, Z:7.24 [[-1.10949650e-01 -9.93825340e-01 -1.16995713e-03 6.05990011e+01] [-9.93817901e-01 1.10953426e-01 -3.91357071e-03 2.41271253e+02] [ 4.01921649e-03 7.28515044e-04 -9.99991658e-01 7.23615614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.14275509600003 meters 0.019586032199034133 Centerline is valid? [True, True] Translation: X:60.58, Y:241.19, Z:7.24 [[-3.35301710e-02 -9.99437338e-01 -8.57614072e-04 6.05758304e+01] [-9.99430208e-01 3.35332310e-02 -3.84474651e-03 2.41192031e+02] [ 3.87134179e-03 7.28210402e-04 -9.99992241e-01 7.23762444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.17275509600006 meters 0.019166428446780934 Centerline is valid? [True, True] Translation: X:60.56, Y:241.11, Z:7.24 [[ 4.35271597e-02 -9.99052093e-01 -5.49697133e-04 6.05558458e+01] [-9.99044412e-01 -4.35246332e-02 -3.98371117e-03 2.41113683e+02] [ 3.95600961e-03 7.22571481e-04 -9.99991914e-01 7.23829801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.20275509600003 meters 0.019605842140584497 Centerline is valid? [True, True] Translation: X:60.55, Y:241.02, Z:7.24 [[ 1.20225136e-01 -9.92746628e-01 -2.22804970e-04 6.05452446e+01] [-9.92738248e-01 -1.20223191e-01 -4.14190716e-03 2.41023779e+02] [ 4.08507804e-03 7.19148366e-04 -9.99991397e-01 7.23950240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.23275509600006 meters 0.01932480451105862 Centerline is valid? [True, True] Translation: X:60.54, Y:240.96, Z:7.24 [[ 1.95836384e-01 -9.80636578e-01 1.13892250e-04 6.05361570e+01] [-9.80627765e-01 -1.95835113e-01 -4.21850815e-03 2.40955912e+02] [ 4.15912750e-03 7.14451478e-04 -9.99991096e-01 7.24021567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26275509600003 meters 0.021584630594236986 Centerline is valid? [True, True] Translation: X:60.54, Y:240.87, Z:7.24 [[ 2.69420418e-01 -9.63022545e-01 4.63998602e-04 6.05419554e+01] [-9.63013355e-01 -2.69419903e-01 -4.26549807e-03 2.40873852e+02] [ 4.23278127e-03 7.02375425e-04 -9.99990795e-01 7.24162952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.29275509600006 meters 0.020313148923355527 Centerline is valid? [True, True] Translation: X:60.55, Y:240.79, Z:7.24 [[ 3.41999338e-01 -9.39699902e-01 7.39027145e-04 6.05480914e+01] [-9.39691302e-01 -3.41999418e-01 -4.08111943e-03 2.40792627e+02] [ 4.08777438e-03 7.01282763e-04 -9.99991399e-01 7.24164962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32275509600004 meters 0.02085515335783914 Centerline is valid? [True, True] Translation: X:60.56, Y:240.72, Z:7.24 [[ 4.12426588e-01 -9.10990347e-01 9.47696611e-04 6.05603151e+01] [-9.10982733e-01 -4.12427084e-01 -3.78962046e-03 2.40719849e+02] [ 3.84316340e-03 6.99604987e-04 -9.99992370e-01 7.24264835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.35275509600007 meters 0.02177650822619466 Centerline is valid? [True, True] Translation: X:60.58, Y:240.64, Z:7.24 [[ 4.79588476e-01 -8.77492596e-01 1.27983869e-03 6.05806357e+01] [-8.77484745e-01 -4.79589691e-01 -3.77494694e-03 2.40643061e+02] [ 3.92628544e-03 6.87382121e-04 -9.99992056e-01 7.24306403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38275509600004 meters 0.022426357042461754 Centerline is valid? [True, True] Translation: X:60.61, Y:240.57, Z:7.24 [[ 5.44714709e-01 -8.38619139e-01 1.95597281e-03 6.06062420e+01] [-8.38608734e-01 -5.44717816e-01 -4.22990690e-03 2.40567270e+02] [ 4.61273412e-03 6.63796622e-04 -9.99989141e-01 7.24394850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.41275509600007 meters 0.02292109000682634 Centerline is valid? [True, True] Translation: X:60.63, Y:240.50, Z:7.24 [[ 6.06590542e-01 -7.95010362e-01 2.53753197e-03 6.06311671e+01] [-7.94998513e-01 -6.06595507e-01 -4.38799883e-03 2.40501120e+02] [ 5.02776003e-03 6.44384446e-04 -9.99987153e-01 7.24451437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.44275509600004 meters 0.024003936109080252 Centerline is valid? [True, True] Translation: X:60.66, Y:240.43, Z:7.24 [[ 6.64305968e-01 -7.47452067e-01 3.60393727e-03 6.06642323e+01] [-7.47435842e-01 -6.64315471e-01 -4.96156946e-03 2.40434162e+02] [ 6.10268663e-03 6.02288315e-04 -9.99981197e-01 7.24449060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.47275509600007 meters 0.024753057384784182 Centerline is valid? [True, True] Translation: X:60.71, Y:240.36, Z:7.24 [[ 7.18869431e-01 -6.95132723e-01 4.15189665e-03 6.07119163e+01] [-6.95116177e-01 -7.18881181e-01 -4.83205838e-03 2.40362292e+02] [ 6.34364227e-03 5.87568536e-04 -9.99979706e-01 7.24477167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.50275509600004 meters 0.025051956235332067 Centerline is valid? [True, True] Translation: X:60.38, Y:239.94, Z:6.05 [[ 7.57109437e-01 6.53222579e-01 -9.24998481e-03 6.03757739e+01] [-6.53167991e-01 7.57165857e-01 8.45232043e-03 2.39937167e+02] [ 1.25250192e-02 -3.57537569e-04 9.99921495e-01 6.04641759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5327550960001 meters 0.02349737413377623 Centerline is valid? [True, True] Translation: X:60.40, Y:239.92, Z:6.05 [[ 7.56993748e-01 6.53362723e-01 -8.81013090e-03 6.03985773e+01] [-6.53313234e-01 7.57044939e-01 8.04853379e-03 2.39919821e+02] [ 1.19282770e-02 -3.36914645e-04 9.99928799e-01 6.04744623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.56275509600005 meters 0.022811923954080902 Centerline is valid? [True, True] Translation: X:60.42, Y:239.90, Z:6.05 [[ 7.56418832e-01 6.54030628e-01 -8.63065964e-03 6.04208846e+01] [-6.53983192e-01 7.56468001e-01 7.88339017e-03 2.39901757e+02] [ 1.16847965e-02 -3.18838447e-04 9.99931680e-01 6.04844228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5927550960001 meters 0.021619479201453844 Centerline is valid? [True, True] Translation: X:60.44, Y:239.88, Z:6.05 [[ 7.55786634e-01 6.54760637e-01 -8.66442102e-03 6.04437247e+01] [-6.54712892e-01 7.55836235e-01 7.91299539e-03 2.39884452e+02] [ 1.17300013e-02 -3.07828008e-04 9.99931154e-01 6.04875482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.62275509600005 meters 0.022999472249788783 Centerline is valid? [True, True] Translation: X:60.47, Y:239.87, Z:6.05 [[ 7.53966045e-01 6.56856865e-01 -8.61752207e-03 6.04663360e+01] [-6.56809787e-01 7.54015241e-01 7.86892412e-03 2.39867221e+02] [ 1.16664998e-02 -2.72828764e-04 9.99931907e-01 6.04731251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6527550960001 meters 0.01865989046691653 Centerline is valid? [True, True] Translation: X:60.49, Y:239.85, Z:6.05 [[ 7.50545177e-01 6.60773299e-01 -7.78360731e-03 6.04908106e+01] [-6.60735111e-01 7.50585512e-01 7.10643930e-03 2.39851758e+02] [ 1.05380082e-02 -1.90801102e-04 9.99944455e-01 6.04985148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.68275509600005 meters 0.018430561791651853 Centerline is valid? [True, True] Translation: X:60.51, Y:239.83, Z:6.05 [[ 7.49266881e-01 6.62221520e-01 -7.86126402e-03 6.05120302e+01] [-6.62182658e-01 7.49308100e-01 7.17620623e-03 2.39833824e+02] [ 1.06427470e-02 -1.71300957e-04 9.99943350e-01 6.04974454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7127550960001 meters 0.0170082825153888 Centerline is valid? [True, True] Translation: X:60.54, Y:239.82, Z:6.05 [[ 7.48172893e-01 6.63452497e-01 -8.25267390e-03 6.05353499e+01] [-6.63409760e-01 7.48218390e-01 7.53202598e-03 2.39817054e+02] [ 1.11719438e-02 -1.60353257e-04 9.99937579e-01 6.04976839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.74275509600005 meters 0.01666236802038309 Centerline is valid? [True, True] Translation: X:60.56, Y:239.80, Z:6.05 [[ 7.47400702e-01 6.64319743e-01 -8.45400703e-03 6.05575115e+01] [-6.64274965e-01 7.47448498e-01 7.71452513e-03 2.39798086e+02] [ 1.14438462e-02 -1.50056268e-04 9.99934506e-01 6.04966279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7727550960001 meters 0.016534013951243688 Centerline is valid? [True, True] Translation: X:60.58, Y:239.78, Z:6.05 [[ 7.46480011e-01 6.65350791e-01 -8.71308065e-03 6.05787289e+01] [-6.65303313e-01 7.46530847e-01 7.94959827e-03 2.39779628e+02] [ 1.17938550e-02 -1.37374781e-04 9.99930441e-01 6.04936801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.80275509600006 meters 0.016405944837839442 Centerline is valid? [True, True] Translation: X:60.60, Y:239.76, Z:6.05 [[ 7.46633551e-01 6.65177997e-01 -8.75063281e-03 6.06000339e+01] [-6.65130116e-01 7.46684815e-01 7.98223792e-03 2.39760901e+02] [ 1.18435737e-02 -1.39497224e-04 9.99929853e-01 6.04987756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8327550960001 meters 0.01690511241656122 Centerline is valid? [True, True] Translation: X:60.62, Y:239.74, Z:6.05 [[ 7.47494552e-01 6.64206471e-01 -9.03651976e-03 6.06199116e+01] [-6.64155363e-01 7.47549155e-01 8.24109982e-03 2.39741012e+02] [ 1.22290345e-02 -1.58524159e-04 9.99925210e-01 6.04988394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.86275509600006 meters 0.016982180765474798 Centerline is valid? [True, True] Translation: X:60.64, Y:239.72, Z:6.05 [[ 7.48173491e-01 6.63440641e-01 -9.10732999e-03 6.06413492e+01] [-6.63388691e-01 7.48228900e-01 8.30411663e-03 2.39721126e+02] [ 1.23236560e-02 -1.71220221e-04 9.99924046e-01 6.05061726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.89275509600003 meters 0.017627479844900703 Centerline is valid? [True, True] Translation: X:60.66, Y:239.70, Z:6.05 [[ 7.49307621e-01 6.62165317e-01 -8.67075881e-03 6.06609094e+01] [-6.62118157e-01 7.49357765e-01 7.90481967e-03 2.39701294e+02] [ 1.17317979e-02 -1.82074772e-04 9.99931164e-01 6.05106469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.92275509600006 meters 0.018638830244652984 Centerline is valid? [True, True] Translation: X:60.68, Y:239.68, Z:6.05 [[ 7.51633166e-01 6.59538971e-01 -7.47854791e-03 6.06811474e+01] [-6.59503770e-01 7.51670346e-01 6.81678389e-03 2.39680261e+02] [ 1.01173373e-02 -1.91590319e-04 9.99948800e-01 6.05251934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.95275509600003 meters 0.01868035194589448 Centerline is valid? [True, True] Translation: X:60.70, Y:239.66, Z:6.05 [[ 7.52937882e-01 6.58058931e-01 -6.55656990e-03 6.07023523e+01] [-6.58031825e-01 7.52966406e-01 5.97558988e-03 2.39661211e+02] [ 8.86916717e-03 -1.84816330e-04 9.99960651e-01 6.05338892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.98275509600006 meters 0.020853004747801735 Centerline is valid? [True, True] Translation: X:60.72, Y:239.64, Z:6.06 [[ 7.55592295e-01 6.55018105e-01 -5.61833755e-03 6.07205589e+01] [-6.54998124e-01 7.55613159e-01 5.11974812e-03 2.39638868e+02] [ 7.59881750e-03 -1.88441682e-04 9.99971111e-01 6.05514181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.01275509600003 meters 0.021949237930644117 Centerline is valid? [True, True] Translation: X:60.74, Y:239.62, Z:6.06 [[ 7.56571224e-01 6.53888006e-01 -5.51889293e-03 6.07399070e+01] [-6.53868699e-01 7.56591328e-01 5.02866035e-03 2.39618305e+02] [ 7.46372722e-03 -1.95908385e-04 9.99972127e-01 6.05589005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.04275509600006 meters 0.022502633115243732 Centerline is valid? [True, True] Translation: X:60.76, Y:239.60, Z:6.06 [[ 7.57694682e-01 6.52589645e-01 -5.05222411e-03 6.07603739e+01] [-6.52573442e-01 7.57711502e-01 4.60257127e-03 2.39598193e+02] [ 6.83171866e-03 -1.90396495e-04 9.99976645e-01 6.05641517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.07275509600004 meters 0.021819090443232426 Centerline is valid? [True, True] Translation: X:60.78, Y:239.58, Z:6.06 [[ 7.57646735e-01 6.52645572e-01 -5.01828214e-03 6.07826414e+01] [-6.52629592e-01 7.57663330e-01 4.57094900e-03 2.39579723e+02] [ 6.78537798e-03 -1.88085162e-04 9.99976961e-01 6.05662069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.10275509600007 meters 0.022106698100546933 Centerline is valid? [True, True] Translation: X:60.80, Y:239.56, Z:6.06 [[ 7.57396130e-01 6.52938006e-01 -4.80232085e-03 6.08035946e+01] [-6.52923382e-01 7.57411334e-01 4.37357773e-03 2.39560605e+02] [ 6.49300736e-03 -1.76983279e-04 9.99978905e-01 6.05672437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.13275509600004 meters 0.02039582391178195 Centerline is valid? [True, True] Translation: X:60.83, Y:239.54, Z:6.06 [[ 7.55937493e-01 6.54623579e-01 -5.14547515e-03 6.08271330e+01] [-6.54606835e-01 7.55954985e-01 4.68528726e-03 2.39543952e+02] [ 6.95684710e-03 -1.73521102e-04 9.99975786e-01 6.05627200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.16275509600007 meters 0.019844689755270352 Centerline is valid? [True, True] Translation: X:60.85, Y:239.53, Z:6.06 [[ 7.55073078e-01 6.55618792e-01 -5.35225297e-03 6.08494143e+01] [-6.55600706e-01 7.55092028e-01 4.87274407e-03 2.39525633e+02] [ 7.23610613e-03 -1.70337031e-04 9.99973805e-01 6.05607821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.19275509600004 meters 0.019824177325625837 Centerline is valid? [True, True] Translation: X:60.87, Y:239.51, Z:6.06 [[ 7.54055007e-01 6.56785096e-01 -5.86375987e-03 6.08706140e+01] [-6.56763431e-01 7.54077786e-01 5.33745341e-03 2.39506890e+02] [ 7.92729092e-03 -1.73630421e-04 9.99968563e-01 6.05616665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.22275509600007 meters 0.018920546105892753 Centerline is valid? [True, True] Translation: X:60.89, Y:239.49, Z:6.06 [[ 7.52981746e-01 6.58013198e-01 -6.09268600e-03 6.08937112e+01] [-6.57989857e-01 7.53006377e-01 5.54484189e-03 2.39488652e+02] [ 8.23641056e-03 -1.66239143e-04 9.99966066e-01 6.05585726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.25275509600004 meters 0.01825038352336815 Centerline is valid? [True, True] Translation: X:60.92, Y:239.47, Z:6.06 [[ 7.52004087e-01 6.59127270e-01 -6.41051874e-03 6.09161150e+01] [-6.59101476e-01 7.52031393e-01 5.83338772e-03 2.39470802e+02] [ 8.66585627e-03 -1.61549040e-04 9.99962438e-01 6.05560810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2827550960001 meters 0.017978414111115643 Centerline is valid? [True, True] Translation: X:60.94, Y:239.45, Z:6.05 [[ 7.50222182e-01 6.61147414e-01 -7.12558391e-03 6.09376292e+01] [-6.61115647e-01 7.50256005e-01 6.48291821e-03 2.39453305e+02] [ 9.63217673e-03 -1.52794027e-04 9.99953598e-01 6.05478633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.31275509600005 meters 0.017153876993855694 Centerline is valid? [True, True] Translation: X:60.96, Y:239.44, Z:6.05 [[ 7.49662097e-01 6.61785373e-01 -6.84554088e-03 6.09606092e+01] [-6.61756091e-01 7.49693338e-01 6.22692557e-03 2.39435078e+02] [ 9.25294465e-03 -1.38011705e-04 9.99957181e-01 6.05496019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3427550960001 meters 0.017086047440107888 Centerline is valid? [True, True] Translation: X:60.98, Y:239.42, Z:6.05 [[ 7.49258446e-01 6.62239545e-01 -7.11102252e-03 6.09812986e+01] [-6.62207978e-01 7.49292177e-01 6.46733775e-03 2.39416066e+02] [ 9.61116035e-03 -1.36731583e-04 9.99953802e-01 6.05474388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.37275509600005 meters 0.016910907506503526 Centerline is valid? [True, True] Translation: X:61.00, Y:239.40, Z:6.05 [[ 7.49164276e-01 6.62332970e-01 -8.24167193e-03 6.10025376e+01] [-6.62290593e-01 7.49209592e-01 7.49389341e-03 2.39397159e+02] [ 1.11381923e-02 -1.55775442e-04 9.99937956e-01 6.05371981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4027550960001 meters 0.017426694822743467 Centerline is valid? [True, True] Translation: X:61.02, Y:239.38, Z:6.05 [[ 7.49388246e-01 6.62077710e-01 -8.38822580e-03 6.10218755e+01] [-6.62033817e-01 7.49435174e-01 7.62531110e-03 2.39377582e+02] [ 1.13349800e-02 -1.61029375e-04 9.99935744e-01 6.05344331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.43275509600005 meters 0.017731362475492913 Centerline is valid? [True, True] Translation: X:61.04, Y:239.36, Z:6.05 [[ 7.49961378e-01 6.61426740e-01 -8.52054269e-03 6.10420566e+01] [-6.61381432e-01 7.50009759e-01 7.74360807e-03 2.39358164e+02] [ 1.15123196e-02 -1.72078256e-04 9.99933716e-01 6.05353065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4627550960001 meters 0.01856257426681699 Centerline is valid? [True, True] Translation: X:61.06, Y:239.34, Z:6.05 [[ 7.50809957e-01 6.60471723e-01 -7.84295136e-03 6.10606196e+01] [-6.60433324e-01 7.50850901e-01 7.12390103e-03 2.39337262e+02] [ 1.05940223e-02 -1.68949394e-04 9.99943868e-01 6.05466308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.49275509600005 meters 0.01864171570477173 Centerline is valid? [True, True] Translation: X:61.08, Y:239.32, Z:6.06 [[ 7.51675678e-01 6.59490848e-01 -7.44958803e-03 6.10819321e+01] [-6.59456168e-01 7.51712573e-01 6.76536881e-03 2.39317312e+02] [ 1.00616478e-02 -1.72686409e-04 9.99949365e-01 6.05536029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5227550960001 meters 0.019894189759261438 Centerline is valid? [True, True] Translation: X:61.10, Y:239.30, Z:6.06 [[ 7.52725694e-01 6.58297610e-01 -6.94888983e-03 6.11002066e+01] [-6.58267415e-01 7.52757748e-01 6.30735206e-03 2.39296675e+02] [ 9.38294544e-03 -1.73478213e-04 9.99955964e-01 6.05635817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.55275509600006 meters 0.01948580048894229 Centerline is valid? [True, True] Translation: X:61.12, Y:239.28, Z:6.06 [[ 7.53384359e-01 6.57542429e-01 -7.06840117e-03 6.11217243e+01] [-6.57511166e-01 7.53417494e-01 6.41457409e-03 2.39277668e+02] [ 9.54331172e-03 -1.85087097e-04 9.99954444e-01 6.05627128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5827550960001 meters 0.020705247006253598 Centerline is valid? [True, True] Translation: X:61.14, Y:239.26, Z:6.06 [[ 7.53824057e-01 6.57038307e-01 -7.06789562e-03 6.11404985e+01] [-6.57007035e-01 7.53857167e-01 6.41313570e-03 2.39256674e+02] [ 9.54185958e-03 -1.90718823e-04 9.99954457e-01 6.05634447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.61275509600006 meters 0.020585108148864165 Centerline is valid? [True, True] Translation: X:61.16, Y:239.24, Z:6.06 [[ 7.54493541e-01 6.56268715e-01 -7.13236188e-03 6.11611031e+01] [-6.56236849e-01 7.54527225e-01 6.47037896e-03 2.39237215e+02] [ 9.62786850e-03 -2.01340449e-04 9.99953631e-01 6.05626749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.64275509600003 meters 0.020102889089710637 Centerline is valid? [True, True] Translation: X:61.18, Y:239.22, Z:6.06 [[ 7.54531359e-01 6.56223774e-01 -7.26548980e-03 6.11821827e+01] [-6.56190717e-01 7.54566310e-01 6.58988709e-03 2.39218496e+02] [ 9.80673440e-03 -2.04729502e-04 9.99951892e-01 6.05598675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.67275509600006 meters 0.020102889089710637 Centerline is valid? [True, True] Translation: X:61.20, Y:239.20, Z:6.06 [[ 7.54607622e-01 6.56136066e-01 -7.26625262e-03 6.12026616e+01] [-6.56103013e-01 7.54642578e-01 6.58904587e-03 2.39200097e+02] [ 9.80673424e-03 -2.04733999e-04 9.99951892e-01 6.05626262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.70275509600003 meters 0.019784467068169987 Centerline is valid? [True, True] Translation: X:61.22, Y:239.18, Z:6.06 [[ 7.54736449e-01 6.55986885e-01 -7.35528695e-03 6.12234716e+01] [-6.55953025e-01 7.54772260e-01 6.66820574e-03 2.39181708e+02] [ 9.92582206e-03 -2.08015199e-04 9.99950716e-01 6.05637834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.73275509600006 meters 0.02003789520459529 Centerline is valid? [True, True] Translation: X:61.24, Y:239.16, Z:6.06 [[ 7.54573334e-01 6.56172488e-01 -7.53327387e-03 6.12436951e+01] [-6.56136996e-01 7.54610908e-01 6.82790918e-03 2.39162476e+02] [ 1.01649768e-02 -2.09298510e-04 9.99948313e-01 6.05627446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76275509600003 meters 0.019497841417589933 Centerline is valid? [True, True] Translation: X:61.27, Y:239.14, Z:6.06 [[ 7.53704211e-01 6.57165027e-01 -8.00558297e-03 6.12651778e+01] [-6.57125017e-01 7.53746698e-01 7.25451258e-03 2.39143802e+02] [ 1.08015937e-02 -2.07087835e-04 9.99941640e-01 6.05537795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.79275509600006 meters 0.01912200935729923 Centerline is valid? [True, True] Translation: X:61.29, Y:239.12, Z:6.06 [[ 7.52942728e-01 6.58035692e-01 -8.14098717e-03 6.12865875e+01] [-6.57994380e-01 7.52986712e-01 7.37605682e-03 2.39124981e+02] [ 1.09837638e-02 -1.97024540e-04 9.99939657e-01 6.05530965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82275509600004 meters 0.018595464293825845 Centerline is valid? [True, True] Translation: X:61.31, Y:239.11, Z:6.06 [[ 7.52243866e-01 6.58835317e-01 -8.07408702e-03 6.13088794e+01] [-6.58794740e-01 7.52287174e-01 7.31432711e-03 2.39105935e+02] [ 1.08929691e-02 -1.82991646e-04 9.99940653e-01 6.05524590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.85275509600007 meters 0.017793793094224433 Centerline is valid? [True, True] Translation: X:61.33, Y:239.09, Z:6.06 [[ 7.50901601e-01 6.60364880e-01 -8.06295335e-03 6.13307443e+01] [-6.60324515e-01 7.50944871e-01 7.30311209e-03 2.39086814e+02] [ 1.08775522e-02 -1.59752793e-04 9.99940825e-01 6.05535878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88275509600004 meters 0.017430963432354955 Centerline is valid? [True, True] Translation: X:61.35, Y:239.07, Z:6.06 [[ 7.50330064e-01 6.61011989e-01 -8.24292189e-03 6.13516173e+01] [-6.60969854e-01 7.50375324e-01 7.46492858e-03 2.39067490e+02] [ 1.11196925e-02 -1.52837462e-04 9.99938163e-01 6.05575911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.91275509600007 meters 0.017598661703393886 Centerline is valid? [True, True] Translation: X:61.37, Y:239.05, Z:6.06 [[ 7.50077069e-01 6.61301967e-01 -8.00622188e-03 6.13717599e+01] [-6.61262246e-01 7.50119782e-01 7.24943752e-03 2.39047583e+02] [ 1.07996927e-02 -1.43424584e-04 9.99941671e-01 6.05600603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.94275509600004 meters 0.017213441401968958 Centerline is valid? [True, True] Translation: X:61.39, Y:239.03, Z:6.06 [[ 7.49573371e-01 6.61876612e-01 -7.68844215e-03 6.13926574e+01] [-6.61840025e-01 7.49612790e-01 6.96039684e-03 2.39027576e+02] [ 1.03702784e-02 -1.28809381e-04 9.99946219e-01 6.05627797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.97275509600007 meters 0.017272382853714727 Centerline is valid? [True, True] Translation: X:61.41, Y:239.01, Z:6.06 [[ 7.49656470e-01 6.61786983e-01 -7.29152234e-03 6.14133586e+01] [-6.61754081e-01 7.49691920e-01 6.60010290e-03 2.39007958e+02] [ 9.83425757e-03 -1.22615175e-04 9.99951635e-01 6.05677788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.00275509600004 meters 0.017250864379290253 Centerline is valid? [True, True] Translation: X:61.43, Y:238.99, Z:6.06 [[ 7.49773425e-01 6.61656987e-01 -7.05990079e-03 6.14335573e+01] [-6.61626151e-01 7.49806653e-01 6.38901147e-03 2.38987885e+02] [ 9.52089466e-03 -1.19296030e-04 9.99954668e-01 6.05734254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0327550960001 meters 0.01733549874450157 Centerline is valid? [True, True] Translation: X:61.45, Y:238.97, Z:6.06 [[ 7.49854567e-01 6.61564974e-01 -7.06499150e-03 6.14523890e+01] [-6.61534103e-01 7.49887839e-01 6.39216013e-03 2.38969099e+02] [ 9.52678046e-03 -1.19457648e-04 9.99954612e-01 6.05785874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.06275509600005 meters 0.017017225328354812 Centerline is valid? [True, True] Translation: X:61.47, Y:238.95, Z:6.06 [[ 7.49977156e-01 6.61429701e-01 -6.70947889e-03 6.14723917e+01] [-6.61401867e-01 7.50007159e-01 6.06895832e-03 2.38950111e+02] [ 9.04634648e-03 -1.13918237e-04 9.99959075e-01 6.05851360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0927550960001 meters 0.01732777622155479 Centerline is valid? [True, True] Translation: X:61.49, Y:238.93, Z:6.06 [[ 7.50235551e-01 6.61136748e-01 -6.69473367e-03 6.14916129e+01] [-6.61109037e-01 7.50265411e-01 6.05418033e-03 2.38930085e+02] [ 9.02546821e-03 -1.16112377e-04 9.99959263e-01 6.05873948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.12275509600005 meters 0.01708775073869074 Centerline is valid? [True, True] Translation: X:61.51, Y:238.91, Z:6.06 [[ 7.50386460e-01 6.60965634e-01 -6.67770231e-03 6.15109414e+01] [-6.60938068e-01 7.50416163e-01 6.03764223e-03 2.38910385e+02] [ 9.00172977e-03 -1.17017320e-04 9.99959477e-01 6.05889511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1527550960001 meters 0.01709396014705347 Centerline is valid? [True, True] Translation: X:61.53, Y:238.89, Z:6.06 [[ 7.50546634e-01 6.60784166e-01 -6.63590189e-03 6.15311484e+01] [-6.60756950e-01 7.50575960e-01 5.99845191e-03 2.38890397e+02] [ 8.94443048e-03 -1.17399608e-04 9.99959991e-01 6.05859971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.18275509600005 meters 0.01707677020043555 Centerline is valid? [True, True] Translation: X:61.55, Y:238.87, Z:6.06 [[ 7.50629822e-01 6.60690260e-01 -6.57652975e-03 6.15517774e+01] [-6.60663538e-01 7.50658622e-01 5.94333638e-03 2.38870748e+02] [ 8.86343322e-03 -1.16372123e-04 9.99960712e-01 6.05859538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2127550960001 meters 0.017529029625321085 Centerline is valid? [True, True] Translation: X:61.57, Y:238.85, Z:6.06 [[ 7.51015860e-01 6.60247173e-01 -6.98922264e-03 6.15713831e+01] [-6.60216982e-01 7.51048370e-01 6.31524475e-03 2.38850544e+02] [ 9.41886676e-03 -1.28445492e-04 9.99955633e-01 6.05856749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.24275509600005 meters 0.017259614787175886 Centerline is valid? [True, True] Translation: X:61.59, Y:238.83, Z:6.06 [[ 7.50995001e-01 6.60269148e-01 -7.15263590e-03 6.15917178e+01] [-6.60237543e-01 7.51029051e-01 6.46161221e-03 2.38831482e+02] [ 9.63824054e-03 -1.30199717e-04 9.99953543e-01 6.05820801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2727550960001 meters 0.01738826346301023 Centerline is valid? [True, True] Translation: X:61.61, Y:238.81, Z:6.06 [[ 7.51090978e-01 6.60150027e-01 -8.01776561e-03 6.16093325e+01] [-6.60110328e-01 7.51133757e-01 7.24122255e-03 2.38811186e+02] [ 1.08027077e-02 -1.46207041e-04 9.99941638e-01 6.05727865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.30275509600006 meters 0.01723379575941767 Centerline is valid? [True, True] Translation: X:61.63, Y:238.79, Z:6.06 [[ 7.51233894e-01 6.59983304e-01 -8.34714779e-03 6.16303183e+01] [-6.59940293e-01 7.51280251e-01 7.53622913e-03 2.38790997e+02] [ 1.12448327e-02 -1.52851604e-04 9.99936763e-01 6.05694987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3327550960001 meters 0.016970731932996787 Centerline is valid? [True, True] Translation: X:61.65, Y:238.77, Z:6.06 [[ 7.50969933e-01 6.60273933e-01 -9.08261951e-03 6.16529958e+01] [-6.60223042e-01 7.51024839e-01 8.19922313e-03 2.38769477e+02] [ 1.22350062e-02 -1.60815362e-04 9.99925137e-01 6.05653618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.36275509600006 meters 0.017212669289340905 Centerline is valid? [True, True] Translation: X:61.67, Y:238.75, Z:6.06 [[ 7.50507881e-01 6.60801946e-01 -8.87179460e-03 6.16743687e+01] [-6.60753423e-01 7.50560301e-01 8.00927801e-03 2.38750054e+02] [ 1.19513633e-02 -1.48957610e-04 9.99928569e-01 6.05680078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.39275509600003 meters 0.016855248360665227 Centerline is valid? [True, True] Translation: X:61.70, Y:238.73, Z:6.06 [[ 7.50139328e-01 6.61222500e-01 -8.70596907e-03 6.16959627e+01] [-6.61175813e-01 7.50189834e-01 7.85860879e-03 2.38731537e+02] [ 1.17274184e-02 -1.38875344e-04 9.99931222e-01 6.05727861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.42275509600006 meters 0.01680841393657968 Centerline is valid? [True, True] Translation: X:61.72, Y:238.71, Z:6.06 [[ 7.49810900e-01 6.61599196e-01 -8.37361485e-03 6.17158542e+01] [-6.61556043e-01 7.49857645e-01 7.55744714e-03 2.38712134e+02] [ 1.12790201e-02 -1.27040746e-04 9.99936382e-01 6.05830220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.45275509600003 meters 0.01665081258120218 Centerline is valid? [True, True] Translation: X:61.74, Y:238.69, Z:6.06 [[ 7.49694391e-01 6.61731652e-01 -8.33906961e-03 6.17363823e+01] [-6.61688878e-01 7.49740759e-01 7.52480569e-03 2.38693671e+02] [ 1.12315425e-02 -1.23435007e-04 9.99936917e-01 6.05891023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.48275509600006 meters 0.01642806555541136 Centerline is valid? [True, True] Translation: X:61.76, Y:238.68, Z:6.06 [[ 7.49561826e-01 6.61881954e-01 -8.32755368e-03 6.17575771e+01] [-6.61839327e-01 7.49608074e-01 7.51270011e-03 2.38675114e+02] [ 1.12149221e-02 -1.19730699e-04 9.99937104e-01 6.05951998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.51275509600003 meters 0.016300284749156634 Centerline is valid? [True, True] Translation: X:61.78, Y:238.66, Z:6.06 [[ 7.49554755e-01 6.61888740e-01 -8.42410745e-03 6.17790949e+01] [-6.61845139e-01 7.49602082e-01 7.59808745e-03 2.38656293e+02] [ 1.13438170e-02 -1.19728010e-04 9.99935650e-01 6.05990769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.54275509600006 meters 0.016341005341468807 Centerline is valid? [True, True] Translation: X:61.80, Y:238.64, Z:6.06 [[ 7.49358740e-01 6.62114468e-01 -8.11851081e-03 6.18011587e+01] [-6.62073998e-01 7.49402708e-01 7.32134404e-03 2.38637069e+02] [ 1.09316018e-02 -1.11258233e-04 9.99940242e-01 6.06025928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.57275509600004 meters 0.016290921112639634 Centerline is valid? [True, True] Translation: X:61.82, Y:238.62, Z:6.06 [[ 7.49140273e-01 6.62362845e-01 -8.01958293e-03 6.18232722e+01] [-6.62323382e-01 7.49183189e-01 7.23100947e-03 2.38618834e+02] [ 1.07976887e-02 -1.05483121e-04 9.99941698e-01 6.06099649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.60275509600007 meters 0.01613614642309649 Centerline is valid? [True, True] Translation: X:61.85, Y:238.60, Z:6.06 [[ 7.48465769e-01 6.63129810e-01 -7.60575583e-03 6.18456878e+01] [-6.63094364e-01 7.48504407e-01 6.85685536e-03 2.38602220e+02] [ 1.02399269e-02 -8.87876971e-05 9.99947567e-01 6.06129662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.63275509600004 meters 0.01591177677074303 Centerline is valid? [True, True] Translation: X:61.87, Y:238.58, Z:6.06 [[ 7.48031416e-01 6.63624846e-01 -7.14591051e-03 6.18691638e+01] [-6.63593592e-01 7.48065544e-01 6.44111300e-03 2.38584473e+02] [ 9.62009205e-03 -7.61744540e-05 9.99953723e-01 6.06215854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.66275509600007 meters 0.01571933044470342 Centerline is valid? [True, True] Translation: X:61.89, Y:238.57, Z:6.06 [[ 7.46978377e-01 6.64804326e-01 -7.64931482e-03 6.18920373e+01] [-6.64768586e-01 7.47017539e-01 6.89374352e-03 2.38567056e+02] [ 1.02971628e-02 -6.44531472e-05 9.99946981e-01 6.06201322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.69275509600004 meters 0.015581651241447126 Centerline is valid? [True, True] Translation: X:61.91, Y:238.55, Z:6.06 [[ 7.46711809e-01 6.65102614e-01 -7.74512131e-03 6.19137451e+01] [-6.65066001e-01 7.46751973e-01 6.97899542e-03 2.38549606e+02] [ 1.04254327e-02 -6.02814376e-05 9.99945652e-01 6.06179581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.72275509600007 meters 0.015520006096367433 Centerline is valid? [True, True] Translation: X:61.93, Y:238.53, Z:6.06 [[ 7.46658143e-01 6.65160176e-01 -7.97236907e-03 6.19345586e+01] [-6.65121404e-01 7.46700701e-01 7.18200594e-03 2.38532441e+02] [ 1.07301579e-02 -5.99099084e-05 9.99942428e-01 6.06164619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.75275509600004 meters 0.015629882096303883 Centerline is valid? [True, True] Translation: X:61.96, Y:238.52, Z:6.06 [[ 7.46821540e-01 6.64976374e-01 -8.00060345e-03 6.19565619e+01] [-6.64937337e-01 7.46864391e-01 7.20548572e-03 2.38515260e+02] [ 1.07668436e-02 -6.13119915e-05 9.99942034e-01 6.06245961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7827550960001 meters 0.015692979958845558 Centerline is valid? [True, True] Translation: X:61.98, Y:238.50, Z:6.06 [[ 7.47168889e-01 6.64587035e-01 -7.91986575e-03 6.19780123e+01] [-6.64548778e-01 7.47210859e-01 7.13111507e-03 2.38497061e+02] [ 1.06570563e-02 -6.50102083e-05 9.99943210e-01 6.06264343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.81275509600005 meters 0.01576711797991758 Centerline is valid? [True, True] Translation: X:62.00, Y:238.48, Z:6.06 [[ 7.47669949e-01 6.64026240e-01 -7.66816563e-03 6.19997662e+01] [-6.63990363e-01 7.47709267e-01 6.90293626e-03 2.38477608e+02] [ 1.03172893e-02 -6.95299201e-05 9.99946773e-01 6.06329802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8427550960001 meters 0.01593509502748926 Centerline is valid? [True, True] Translation: X:62.02, Y:238.46, Z:6.06 [[ 7.48528542e-01 6.63056696e-01 -7.80004853e-03 6.20200900e+01] [-6.63019533e-01 7.48569176e-01 7.02053352e-03 2.38459154e+02] [ 1.04938877e-02 -8.34851842e-05 9.99944934e-01 6.06375084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.87275509600005 meters 0.016841921072962063 Centerline is valid? [True, True] Translation: X:62.04, Y:238.44, Z:6.06 [[ 7.50644269e-01 6.60661290e-01 -7.73572246e-03 6.20397584e+01] [-6.60624624e-01 7.50684119e-01 6.96131139e-03 2.38438080e+02] [ 1.04061530e-02 -1.15059758e-04 9.99945848e-01 6.06328907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9027550960001 meters 0.01714653931939482 Centerline is valid? [True, True] Translation: X:62.06, Y:238.42, Z:6.06 [[ 7.52024458e-01 6.59091027e-01 -7.63105119e-03 6.20603413e+01] [-6.59055276e-01 7.52063162e-01 6.86607968e-03 2.38417932e+02] [ 1.02644040e-02 -1.34175295e-04 9.99947311e-01 6.06348446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.93275509600005 meters 0.018198139747756744 Centerline is valid? [True, True] Translation: X:62.08, Y:238.40, Z:6.06 [[ 7.54376614e-01 6.56399480e-01 -7.45968407e-03 6.20789694e+01] [-6.56365195e-01 7.54413478e-01 6.71086020e-03 2.38396087e+02] [ 1.00326913e-02 -1.66239005e-04 9.99949657e-01 6.06377048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9627550960001 meters 0.019989099575919943 Centerline is valid? [True, True] Translation: X:62.10, Y:238.37, Z:6.06 [[ 7.55273874e-01 6.55365624e-01 -7.56793484e-03 6.20969747e+01] [-6.55330296e-01 7.55311767e-01 6.80715101e-03 2.38374032e+02] [ 1.01773230e-02 -1.81766331e-04 9.99948193e-01 6.06396970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.99275509600005 meters 0.019395490947938798 Centerline is valid? [True, True] Translation: X:62.12, Y:238.35, Z:6.06 [[ 7.56136496e-01 6.54371613e-01 -7.44250186e-03 6.21187130e+01] [-6.54337412e-01 7.56173099e-01 6.69298285e-03 2.38354973e+02] [ 1.00075177e-02 -1.90901194e-04 9.99949905e-01 6.06416202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0227550960001 meters 0.019647544595917252 Centerline is valid? [True, True] Translation: X:62.14, Y:238.34, Z:6.06 [[ 7.56566091e-01 6.53872277e-01 -7.66777570e-03 6.21399514e+01] [-6.53835960e-01 7.56604919e-01 6.89447252e-03 2.38335583e+02] [ 1.03095813e-02 -2.02656645e-04 9.99946834e-01 6.06448146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.05275509600006 meters 0.01970863725254111 Centerline is valid? [True, True] Translation: X:62.16, Y:238.32, Z:6.06 [[ 7.56465628e-01 6.53989471e-01 -7.58456123e-03 6.21612089e+01] [-6.53953954e-01 7.56503624e-01 6.81860930e-03 2.38315950e+02] [ 1.01970467e-02 -1.98089762e-04 9.99947989e-01 6.06479060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0827550960001 meters 0.019412023016959407 Centerline is valid? [True, True] Translation: X:62.18, Y:238.30, Z:6.07 [[ 7.56202309e-01 6.54296405e-01 -7.36760833e-03 6.21831155e+01] [-6.54262916e-01 7.56238176e-01 6.62257903e-03 2.38297231e+02] [ 9.90479634e-03 -1.87656642e-04 9.99950929e-01 6.06537563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.11275509600006 meters 0.018884171843251522 Centerline is valid? [True, True] Translation: X:62.21, Y:238.28, Z:6.07 [[ 7.55259059e-01 6.55384301e-01 -7.42779004e-03 6.22053014e+01] [-6.55350325e-01 7.55295563e-01 6.67563635e-03 2.38279049e+02] [ 9.98528412e-03 -1.74030220e-04 9.99950131e-01 6.06609965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.14275509600003 meters 0.018091228729624525 Centerline is valid? [True, True] Translation: X:62.23, Y:238.26, Z:6.07 [[ 7.54737396e-01 6.55982847e-01 -7.61363588e-03 6.22281642e+01] [-6.55947190e-01 7.54775779e-01 6.84159509e-03 2.38260083e+02] [ 1.02345570e-02 -1.69464600e-04 9.99947611e-01 6.06645266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.17275509600006 meters 0.01744393712284894 Centerline is valid? [True, True] Translation: X:62.25, Y:238.24, Z:6.07 [[ 7.52957406e-01 6.58022322e-01 -7.85926659e-03 6.22499748e+01] [-6.57984445e-01 7.52998408e-01 7.06169468e-03 2.38242509e+02] [ 1.05647680e-02 -1.45880140e-04 9.99944181e-01 6.06684578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.20275509600003 meters 0.01689726671929429 Centerline is valid? [True, True] Translation: X:62.27, Y:238.22, Z:6.07 [[ 7.52151458e-01 6.58938801e-01 -8.23649374e-03 6.22738928e+01] [-6.58897271e-01 7.52196541e-01 7.39927755e-03 2.38222741e+02] [ 1.10711332e-02 -1.38374151e-04 9.99938704e-01 6.06693183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.23275509600006 meters 0.016804618022504773 Centerline is valid? [True, True] Translation: X:62.30, Y:238.20, Z:6.07 [[ 7.51657152e-01 6.59497178e-01 -8.66010594e-03 6.22950255e+01] [-6.59451302e-01 7.51707026e-01 7.77989988e-03 2.38204609e+02] [ 1.16406845e-02 -1.36899248e-04 9.99932236e-01 6.06680121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26275509600003 meters 0.016544593103306613 Centerline is valid? [True, True] Translation: X:62.32, Y:238.19, Z:6.07 [[ 7.50701504e-01 6.60575666e-01 -9.32955636e-03 6.23170836e+01] [-6.60522529e-01 7.50759464e-01 8.37952729e-03 2.38187283e+02] [ 1.25395646e-02 -1.28141581e-04 9.99921368e-01 6.06596961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.29275509600006 meters 0.016441418069587863 Centerline is valid? [True, True] Translation: X:62.34, Y:238.17, Z:6.07 [[ 7.50698618e-01 6.60573661e-01 -9.69654970e-03 6.23388197e+01] [-6.60516284e-01 7.50761228e-01 8.70729528e-03 2.38168977e+02] [ 1.30316035e-02 -1.31825557e-04 9.99915076e-01 6.06604190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32275509600004 meters 0.01656985118399279 Centerline is valid? [True, True] Translation: X:62.36, Y:238.15, Z:6.07 [[ 7.50682914e-01 6.60590109e-01 -9.79129618e-03 6.23592714e+01] [-6.60531636e-01 7.50746755e-01 8.79020462e-03 2.38150611e+02] [ 1.31575061e-02 -1.31195537e-04 9.99913428e-01 6.06607717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.35275509600007 meters 0.01633606688016999 Centerline is valid? [True, True] Translation: X:62.38, Y:238.13, Z:6.07 [[ 7.50762978e-01 6.60492832e-01 -1.02063870e-02 6.23810468e+01] [-6.60429321e-01 7.50832338e-01 9.16036058e-03 2.38133123e+02] [ 1.37136379e-02 -1.36662348e-04 9.99905954e-01 6.06689357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38275509600004 meters 0.0165939710057301 Centerline is valid? [True, True] Translation: X:62.40, Y:238.12, Z:6.07 [[ 7.50904995e-01 6.60335761e-01 -9.91824966e-03 6.24008094e+01] [-6.60275800e-01 7.50970482e-01 8.89960216e-03 2.38115026e+02] [ 1.33250383e-02 -1.33975478e-04 9.99911209e-01 6.06729676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.41275509600007 meters 0.01647390901360671 Centerline is valid? [True, True] Translation: X:62.42, Y:238.10, Z:6.07 [[ 7.51285768e-01 6.59899255e-01 -1.01325566e-02 6.24227509e+01] [-6.59836666e-01 7.51354080e-01 9.08963448e-03 2.38096162e+02] [ 1.36113807e-02 -1.43080680e-04 9.99907351e-01 6.06876513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.44275509600004 meters 0.016726270466436953 Centerline is valid? [True, True] Translation: X:62.44, Y:238.08, Z:6.07 [[ 7.51500560e-01 6.59657063e-01 -9.97334476e-03 6.24428750e+01] [-6.59596424e-01 7.51566723e-01 8.94530852e-03 2.38077069e+02] [ 1.33964700e-02 -1.44021826e-04 9.99910253e-01 6.06924192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.47275509600007 meters 0.01696201064977945 Centerline is valid? [True, True] Translation: X:62.46, Y:238.06, Z:6.07 [[ 7.52002501e-01 6.59084866e-01 -9.96885116e-03 6.24644141e+01] [-6.59024254e-01 7.52068558e-01 8.93960867e-03 2.38057426e+02] [ 1.33892203e-02 -1.52893388e-04 9.99910349e-01 6.06994777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.50275509600004 meters 0.01717772164194313 Centerline is valid? [True, True] Translation: X:62.49, Y:238.04, Z:6.07 [[ 7.53076422e-01 6.57857857e-01 -9.94698940e-03 6.24852646e+01] [-6.57797423e-01 7.53142092e-01 8.91853609e-03 2.38038194e+02] [ 1.33586254e-02 -1.73235262e-04 9.99910755e-01 6.07088308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5327550960001 meters 0.017258323041121123 Centerline is valid? [True, True] Translation: X:62.51, Y:238.02, Z:6.07 [[ 7.53570780e-01 6.57292774e-01 -9.86351267e-03 6.25063222e+01] [-6.57233324e-01 7.53635307e-01 8.84203483e-03 2.38019088e+02] [ 1.32452970e-02 -1.80469870e-04 9.99912261e-01 6.07150424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.56275509600005 meters 0.0176224210252908 Centerline is valid? [True, True] Translation: X:62.53, Y:238.00, Z:6.07 [[ 7.54029698e-01 6.56762448e-01 -1.01144151e-02 6.25264557e+01] [-6.56699908e-01 7.54097507e-01 9.06538530e-03 2.37999771e+02] [ 1.35810598e-02 -1.93434303e-04 9.99907754e-01 6.07157095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5927550960001 meters 0.0176224210252908 Centerline is valid? [True, True] Translation: X:62.55, Y:237.98, Z:6.07 [[ 7.54106555e-01 6.56674183e-01 -1.01153516e-02 6.25470399e+01] [-6.56611650e-01 7.54174369e-01 9.06434018e-03 2.37981492e+02] [ 1.35810571e-02 -1.93620636e-04 9.99907754e-01 6.07184684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.62275509600005 meters 0.017851124952680552 Centerline is valid? [True, True] Translation: X:62.57, Y:237.96, Z:6.07 [[ 7.54664844e-01 6.56034785e-01 -9.96669582e-03 6.25677245e+01] [-6.55974045e-01 7.54730628e-01 8.92922417e-03 2.37961919e+02] [ 1.33800523e-02 -2.00677783e-04 9.99910463e-01 6.07222261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6527550960001 meters 0.017904762944469677 Centerline is valid? [True, True] Translation: X:62.59, Y:237.94, Z:6.07 [[ 7.54953892e-01 6.55704043e-01 -9.84017753e-03 6.25891646e+01] [-6.55644826e-01 7.55017991e-01 8.81449903e-03 2.37942064e+02] [ 1.32092137e-02 -2.02878860e-04 9.99912734e-01 6.07261124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.68275509600005 meters 0.018271591676973255 Centerline is valid? [True, True] Translation: X:62.61, Y:237.92, Z:6.07 [[ 7.55581093e-01 6.54980205e-01 -9.90672899e-03 6.26085250e+01] [-6.54920141e-01 7.55646005e-01 8.87262739e-03 2.37922155e+02] [ 1.32973755e-02 -2.15873151e-04 9.99911563e-01 6.07296580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7127550960001 meters 0.01843309862628531 Centerline is valid? [True, True] Translation: X:62.63, Y:237.90, Z:6.07 [[ 7.56045112e-01 6.54440029e-01 -1.01998763e-02 6.26297721e+01] [-6.54376333e-01 7.56113877e-01 9.13344724e-03 2.37902291e+02] [ 1.36895615e-02 -2.30740484e-04 9.99906267e-01 6.07315602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.74275509600005 meters 0.018378010653540316 Centerline is valid? [True, True] Translation: X:62.65, Y:237.88, Z:6.07 [[ 7.56227465e-01 6.54222828e-01 -1.06071359e-02 6.26516651e+01] [-6.54153944e-01 7.56301813e-01 9.49658575e-03 2.37882767e+02] [ 1.42350793e-02 -2.42879169e-04 9.99898647e-01 6.07319749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7727550960001 meters 0.018436612387261228 Centerline is valid? [True, True] Translation: X:62.67, Y:237.86, Z:6.07 [[ 7.56499537e-01 6.53904487e-01 -1.08338470e-02 6.26736962e+01] [-6.53832614e-01 7.56577066e-01 9.69822943e-03 2.37862800e+02] [ 1.45383559e-02 -2.53183584e-04 9.99894280e-01 6.07343851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.80275509600006 meters 0.018874202457487447 Centerline is valid? [True, True] Translation: X:62.69, Y:237.84, Z:6.07 [[ 7.56525017e-01 6.53875841e-01 -1.07835241e-02 6.26938025e+01] [-6.53804647e-01 7.56601825e-01 9.65206292e-03 2.37843229e+02] [ 1.44700847e-02 -2.51708926e-04 9.99895271e-01 6.07368473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8327550960001 meters 0.01840526072114958 Centerline is valid? [True, True] Translation: X:62.72, Y:237.82, Z:6.07 [[ 7.56265728e-01 6.54174115e-01 -1.08800743e-02 6.27159021e+01] [-6.54101698e-01 7.56343947e-01 9.73666402e-03 2.37824033e+02] [ 1.45985519e-02 -2.46830234e-04 9.99893405e-01 6.07424197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.86275509600006 meters 0.01801928209782782 Centerline is valid? [True, True] Translation: X:62.74, Y:237.80, Z:6.07 [[ 7.55886705e-01 6.54603844e-01 -1.13620529e-02 6.27383203e+01] [-6.54524934e-01 7.55972053e-01 1.01668855e-02 2.37803351e+02] [ 1.52446768e-02 -2.48266675e-04 9.99883762e-01 6.07413209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.89275509600003 meters 0.018350615033013416 Centerline is valid? [True, True] Translation: X:62.76, Y:237.78, Z:6.07 [[ 7.55717343e-01 6.54794169e-01 -1.16573721e-02 6.27586496e+01] [-6.54711132e-01 7.55807207e-01 1.04306939e-02 2.37783515e+02] [ 1.56406834e-02 -2.50444986e-04 9.99877646e-01 6.07393046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.92275509600006 meters 0.018341432296099604 Centerline is valid? [True, True] Translation: X:62.78, Y:237.76, Z:6.07 [[ 7.55850901e-01 6.54625245e-01 -1.24581047e-02 6.27804537e+01] [-6.54530412e-01 7.55953514e-01 1.11456140e-02 2.37764181e+02] [ 1.67139483e-02 -2.70213953e-04 9.99860276e-01 6.07384386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.95275509600003 meters 0.018721439243674125 Centerline is valid? [True, True] Translation: X:62.80, Y:237.75, Z:6.07 [[ 7.56082110e-01 6.54356912e-01 -1.25249694e-02 6.28009449e+01] [-6.54261053e-01 7.56185795e-01 1.12034989e-02 2.37745483e+02] [ 1.68022909e-02 -2.76165474e-04 9.99858793e-01 6.07360350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.98275509600006 meters 0.018487367941795497 Centerline is valid? [True, True] Translation: X:62.82, Y:237.73, Z:6.07 [[ 7.56328833e-01 6.54073152e-01 -1.24502132e-02 6.28227409e+01] [-6.53978429e-01 7.56431249e-01 1.11346398e-02 2.37727109e+02] [ 1.67005992e-02 -2.79278224e-04 9.99860496e-01 6.07407561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.01275509600003 meters 0.018490982618514912 Centerline is valid? [True, True] Translation: X:62.84, Y:237.71, Z:6.07 [[ 7.56708894e-01 6.53637286e-01 -1.22453735e-02 6.28445705e+01] [-6.53545625e-01 7.56807914e-01 1.09497406e-02 2.37708045e+02] [ 1.64245543e-02 -2.82855833e-04 9.99865068e-01 6.07484749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.04275509600006 meters 0.01850220361977757 Centerline is valid? [True, True] Translation: X:62.87, Y:237.69, Z:6.08 [[ 7.56858828e-01 6.53462669e-01 -1.22985451e-02 6.28664966e+01] [-6.53370217e-01 7.56958690e-01 1.09955434e-02 2.37688606e+02] [ 1.64946678e-02 -2.86571024e-04 9.99863913e-01 6.07565519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.07275509600004 meters 0.018350635162431878 Centerline is valid? [True, True] Translation: X:62.89, Y:237.67, Z:6.08 [[ 7.56873559e-01 6.53446465e-01 -1.22528342e-02 6.28896918e+01] [-6.53354714e-01 7.56972678e-01 1.09536212e-02 2.37668630e+02] [ 1.64326658e-02 -2.85059271e-04 9.99864934e-01 6.07674832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.10275509600007 meters 0.019205379505638654 Centerline is valid? [True, True] Translation: X:62.91, Y:237.65, Z:6.08 [[ 7.56877332e-01 6.53449819e-01 -1.18337945e-02 6.29096483e+01] [-6.53364243e-01 7.56969787e-01 1.05786759e-02 2.37648636e+02] [ 1.58704588e-02 -2.74981807e-04 9.99874019e-01 6.07680986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.13275509600004 meters 0.01773594925101226 Centerline is valid? [True, True] Translation: X:62.94, Y:237.63, Z:6.08 [[ 7.56386771e-01 6.54020990e-01 -1.16445933e-02 6.29366950e+01] [-6.53938166e-01 7.56476356e-01 1.04114511e-02 2.37629303e+02] [ 1.56181670e-02 -2.60239882e-04 9.99877995e-01 6.07884795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.16275509600007 meters 0.018269142684979842 Centerline is valid? [True, True] Translation: X:62.96, Y:237.61, Z:6.08 [[ 7.56274702e-01 6.54150551e-01 -1.16461429e-02 6.29601483e+01] [-6.54067614e-01 7.56364322e-01 1.04195988e-02 2.37607247e+02] [ 1.56247133e-02 -2.62714067e-04 9.99877892e-01 6.07878611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.19275509600004 meters 0.01870872992591575 Centerline is valid? [True, True] Translation: X:62.98, Y:237.59, Z:6.08 [[ 7.56438373e-01 6.53957306e-01 -1.18671635e-02 6.29802409e+01] [-6.53871113e-01 7.56531405e-01 1.06207831e-02 2.37588544e+02] [ 1.59234206e-02 -2.74372461e-04 9.99873177e-01 6.07838675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.22275509600007 meters 0.01888178440602149 Centerline is valid? [True, True] Translation: X:63.00, Y:237.57, Z:6.08 [[ 7.56942065e-01 6.53373716e-01 -1.18952384e-02 6.30012735e+01] [-6.53287074e-01 7.57035471e-01 1.06439670e-02 2.37569483e+02] [ 1.59596057e-02 -2.85860882e-04 9.99872597e-01 6.07851397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.25275509600004 meters 0.019121358998251216 Centerline is valid? [True, True] Translation: X:63.02, Y:237.55, Z:6.08 [[ 7.57551374e-01 6.52664152e-01 -1.20590422e-02 6.30226065e+01] [-6.52575044e-01 7.57647288e-01 1.07888408e-02 2.37549843e+02] [ 1.61779902e-02 -3.03671209e-04 9.99869082e-01 6.07854598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2827550960001 meters 0.020110501005735793 Centerline is valid? [True, True] Translation: X:63.04, Y:237.53, Z:6.08 [[ 7.58322831e-01 6.51767456e-01 -1.20692802e-02 6.30421031e+01] [-6.51678114e-01 7.58418802e-01 1.07961534e-02 2.37529427e+02] [ 1.61901505e-02 -3.21683861e-04 9.99868879e-01 6.07888047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.31275509600005 meters 0.019924195697330144 Centerline is valid? [True, True] Translation: X:63.06, Y:237.51, Z:6.08 [[ 7.58523864e-01 6.51536700e-01 -1.18943480e-02 6.30631576e+01] [-6.51449935e-01 7.58617048e-01 1.06374796e-02 2.37511208e+02] [ 1.59539635e-02 -3.20209868e-04 9.99872676e-01 6.07935510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3427550960001 meters 0.019745639120794738 Centerline is valid? [True, True] Translation: X:63.09, Y:237.49, Z:6.08 [[ 7.58507207e-01 6.51555277e-01 -1.19389127e-02 6.30852445e+01] [-6.51467898e-01 7.58601093e-01 1.06751624e-02 2.37492005e+02] [ 1.60123306e-02 -3.19369226e-04 9.99871743e-01 6.07994921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.37275509600005 meters 0.019125309102733724 Centerline is valid? [True, True] Translation: X:63.11, Y:237.47, Z:6.08 [[ 7.58281266e-01 6.51835502e-01 -1.09544572e-02 6.31078371e+01] [-6.51761987e-01 7.58360334e-01 9.79371208e-03 2.37473178e+02] [ 1.46913150e-02 -2.86689605e-04 9.99892036e-01 6.08139715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4027550960001 meters 0.020714140541775953 Centerline is valid? [True, True] Translation: X:63.13, Y:237.45, Z:6.08 [[ 7.58173207e-01 6.51961046e-01 -1.09628399e-02 6.31275813e+01] [-6.51887444e-01 7.58252408e-01 9.80030361e-03 2.37451767e+02] [ 1.47020159e-02 -2.83789963e-04 9.99891879e-01 6.08140778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.43275509600005 meters 0.01886202531904164 Centerline is valid? [True, True] Translation: X:63.15, Y:237.43, Z:6.08 [[ 7.57960780e-01 6.52212015e-01 -1.07211211e-02 6.31523857e+01] [-6.52141660e-01 7.58036551e-01 9.58344219e-03 2.37434417e+02] [ 1.43774378e-02 -2.72183582e-04 9.99896602e-01 6.08246389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4627550960001 meters 0.01902925868825101 Centerline is valid? [True, True] Translation: X:63.17, Y:237.42, Z:6.08 [[ 7.57450409e-01 6.52805776e-01 -1.06534522e-02 6.31741063e+01] [-6.52736370e-01 7.57525281e-01 9.52261524e-03 2.37415063e+02] [ 1.42866776e-02 -2.59013104e-04 9.99897907e-01 6.08195797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.49275509600005 meters 0.018667528948774065 Centerline is valid? [True, True] Translation: X:63.20, Y:237.40, Z:6.08 [[ 7.57249293e-01 6.53040620e-01 -1.05573375e-02 6.31963284e+01] [-6.52972501e-01 7.57322841e-01 9.43547440e-03 2.37396145e+02] [ 1.41570609e-02 -2.51355265e-04 9.99899752e-01 6.08230853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5227550960001 meters 0.018783646761713714 Centerline is valid? [True, True] Translation: X:63.22, Y:237.38, Z:6.08 [[ 7.56879877e-01 6.53470671e-01 -1.04371460e-02 6.32169816e+01] [-6.53404156e-01 7.56951799e-01 9.32648338e-03 2.37377137e+02] [ 1.39949998e-02 -2.39353038e-04 9.99902037e-01 6.08230049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.55275509600006 meters 0.01822399524197851 Centerline is valid? [True, True] Translation: X:63.24, Y:237.36, Z:6.08 [[ 7.56291297e-01 6.54154113e-01 -1.02893353e-02 6.32391703e+01] [-6.54089556e-01 7.56361254e-01 9.19270767e-03 2.37358653e+02] [ 1.37959021e-02 -2.22218070e-04 9.99904807e-01 6.08294463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5827550960001 meters 0.018189305483308417 Centerline is valid? [True, True] Translation: X:63.26, Y:237.34, Z:6.08 [[ 7.56011486e-01 6.54475440e-01 -1.04178514e-02 6.32598244e+01] [-6.54409313e-01 7.56083230e-01 9.30590376e-03 2.37340689e+02] [ 1.39672482e-02 -2.17831146e-04 9.99902430e-01 6.08316318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.61275509600006 meters 0.0181213576516946 Centerline is valid? [True, True] Translation: X:63.28, Y:237.32, Z:6.08 [[ 7.55729684e-01 6.54800128e-01 -1.04611957e-02 6.32814181e+01] [-6.54733507e-01 7.55802056e-01 9.34279212e-03 2.37322260e+02] [ 1.40242547e-02 -2.11329967e-04 9.99901633e-01 6.08341808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.64275509600003 meters 0.017757613561120766 Centerline is valid? [True, True] Translation: X:63.30, Y:237.31, Z:6.08 [[ 7.55479417e-01 6.55085141e-01 -1.06915191e-02 6.33041008e+01] [-6.55015604e-01 7.55555037e-01 9.54697129e-03 2.37305031e+02] [ 1.43321101e-02 -2.09428492e-04 9.99897268e-01 6.08285644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.67275509600006 meters 0.018142302263432813 Centerline is valid? [True, True] Translation: X:63.33, Y:237.29, Z:6.08 [[ 7.55433490e-01 6.55134183e-01 -1.09290148e-02 6.33250725e+01] [-6.55061552e-01 7.55512513e-01 9.75735369e-03 2.37285938e+02] [ 1.46493834e-02 -2.11854331e-04 9.99892670e-01 6.08232494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.70275509600003 meters 0.017830169311666515 Centerline is valid? [True, True] Translation: X:63.35, Y:237.27, Z:6.08 [[ 7.55767651e-01 6.54744134e-01 -1.11971763e-02 6.33479043e+01] [-6.54667876e-01 7.55850560e-01 9.99515417e-03 2.37266519e+02] [ 1.50076606e-02 -2.23582533e-04 9.99887354e-01 6.08208470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.73275509600006 meters 0.018547190491572135 Centerline is valid? [True, True] Translation: X:63.37, Y:237.25, Z:6.08 [[ 7.56318742e-01 6.54105311e-01 -1.13226560e-02 6.33672551e+01] [-6.54027281e-01 7.56403455e-01 1.01059407e-02 2.37247026e+02] [ 1.51748456e-02 -2.37986450e-04 9.99884827e-01 6.08207370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76275509600003 meters 0.018506785889128474 Centerline is valid? [True, True] Translation: X:63.39, Y:237.23, Z:6.08 [[ 7.56839696e-01 6.53502820e-01 -1.13021476e-02 6.33889344e+01] [-6.53425034e-01 7.56924040e-01 1.00857691e-02 2.37227594e+02] [ 1.51459458e-02 -2.48204291e-04 9.99885263e-01 6.08288631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.79275509600006 meters 0.0192425651803143 Centerline is valid? [True, True] Translation: X:63.41, Y:237.21, Z:6.08 [[ 7.58095483e-01 6.52058879e-01 -1.05099044e-02 6.34091357e+01] [-6.51991497e-01 7.58168288e-01 9.37737631e-03 2.37206757e+02] [ 1.40828777e-02 -2.56578286e-04 9.99900798e-01 6.08394666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82275509600004 meters 0.018982262169170407 Centerline is valid? [True, True] Translation: X:63.43, Y:237.19, Z:6.08 [[ 7.58224547e-01 6.51915774e-01 -1.00677540e-02 6.34335210e+01] [-6.51853925e-01 7.58291343e-01 8.98327208e-03 2.37185394e+02] [ 1.34906275e-02 -2.48632413e-04 9.99908966e-01 6.08483975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.85275509600007 meters 0.020127362608720972 Centerline is valid? [True, True] Translation: X:63.46, Y:237.16, Z:6.08 [[ 7.58196139e-01 6.51951412e-01 -9.89804396e-03 6.34556422e+01] [-6.51891563e-01 7.58260704e-01 8.83716672e-03 2.37162397e+02] [ 1.32667011e-02 -2.47854346e-04 9.99911963e-01 6.08478261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88275509600004 meters 0.019902352572030678 Centerline is valid? [True, True] Translation: X:63.48, Y:237.14, Z:6.09 [[ 7.58313975e-01 6.51818462e-01 -9.62332985e-03 6.34779492e+01] [-6.51761831e-01 7.58374995e-01 8.59553648e-03 2.37144433e+02] [ 1.29008221e-02 -2.45996355e-04 9.99916751e-01 6.08517017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.91275509600007 meters 0.019580163203893355 Centerline is valid? [True, True] Translation: X:63.50, Y:237.13, Z:6.09 [[ 7.58078857e-01 6.52092364e-01 -9.59139127e-03 6.34997490e+01] [-6.52036148e-01 7.58139493e-01 8.56567689e-03 2.37125597e+02] [ 1.28572250e-02 -2.39524729e-04 9.99917314e-01 6.08547669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.94275509600004 meters 0.01919803980366136 Centerline is valid? [True, True] Translation: X:63.52, Y:237.11, Z:6.09 [[ 7.57776213e-01 6.52439079e-01 -9.92271500e-03 6.35217827e+01] [-6.52378957e-01 7.57841138e-01 8.86030531e-03 2.37106405e+02] [ 1.33006511e-02 -2.40758134e-04 9.99911513e-01 6.08610631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.97275509600007 meters 0.01879400090013442 Centerline is valid? [True, True] Translation: X:63.54, Y:237.09, Z:6.09 [[ 7.56694826e-01 6.53698864e-01 -9.52556027e-03 6.35429996e+01] [-6.53643570e-01 7.56754750e-01 8.50480287e-03 2.37087993e+02] [ 1.27680930e-02 -2.09219110e-04 9.99918463e-01 6.08629459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.00275509600004 meters 0.018756624623110372 Centerline is valid? [True, True] Translation: X:63.56, Y:237.07, Z:6.09 [[ 7.56106449e-01 6.54378446e-01 -9.58583843e-03 6.35640728e+01] [-6.54322526e-01 7.56167184e-01 8.55692865e-03 2.37069753e+02] [ 1.28479661e-02 -1.97718916e-04 9.99917442e-01 6.08648744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0327550960001 meters 0.017724215751437577 Centerline is valid? [True, True] Translation: X:63.59, Y:237.05, Z:6.09 [[ 7.54555745e-01 6.56166203e-01 -9.56778093e-03 6.35875095e+01] [-6.56110658e-01 7.54616384e-01 8.53921830e-03 2.37053131e+02] [ 1.28231507e-02 -1.65793183e-04 9.99917766e-01 6.08653277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.06275509600005 meters 0.017818114550656624 Centerline is valid? [True, True] Translation: X:63.61, Y:237.03, Z:6.09 [[ 7.54184725e-01 6.56594798e-01 -9.41654711e-03 6.36082329e+01] [-6.56541046e-01 7.54243493e-01 8.40286652e-03 2.37034599e+02] [ 1.26196478e-02 -1.54963890e-04 9.99920357e-01 6.08633885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0927550960001 meters 0.01762454992547045 Centerline is valid? [True, True] Translation: X:63.63, Y:237.02, Z:6.09 [[ 7.53856192e-01 6.56970569e-01 -9.51383656e-03 6.36304948e+01] [-6.56915750e-01 7.53916208e-01 8.48808461e-03 2.37015667e+02] [ 1.27490574e-02 -1.49006058e-04 9.99918716e-01 6.08645909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.12275509600005 meters 0.017527383991694928 Centerline is valid? [True, True] Translation: X:63.65, Y:237.00, Z:6.09 [[ 7.53558989e-01 6.57315125e-01 -9.25618010e-03 6.36516402e+01] [-6.57263277e-01 7.53615822e-01 8.25697117e-03 2.36996758e+02] [ 1.24030358e-02 -1.38367590e-04 9.99923070e-01 6.08688297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1527550960001 meters 0.01758916992131765 Centerline is valid? [True, True] Translation: X:63.67, Y:236.98, Z:6.09 [[ 7.53420148e-01 6.57473635e-01 -9.30053994e-03 6.36707194e+01] [-6.57421319e-01 7.53477539e-01 8.29508996e-03 2.36977744e+02] [ 1.24615509e-02 -1.35314672e-04 9.99922343e-01 6.08700361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.18275509600005 meters 0.01774274089540024 Centerline is valid? [True, True] Translation: X:63.69, Y:236.96, Z:6.09 [[ 7.53770073e-01 6.57076466e-01 -9.01083450e-03 6.36901935e+01] [-6.57027358e-01 7.53823918e-01 8.03443780e-03 2.36959459e+02] [ 1.20718226e-02 -1.35753981e-04 9.99927124e-01 6.08804119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2127550960001 meters 0.017759924456949207 Centerline is valid? [True, True] Translation: X:63.71, Y:236.94, Z:6.09 [[ 7.53801746e-01 6.57043950e-01 -8.72783496e-03 6.37102394e+01] [-6.56997910e-01 7.53852260e-01 7.77919183e-03 2.36941526e+02] [ 1.16907690e-02 -1.29799060e-04 9.99931652e-01 6.08864890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.24275509600005 meters 0.018067937559867152 Centerline is valid? [True, True] Translation: X:63.73, Y:236.92, Z:6.09 [[ 7.54087764e-01 6.56719356e-01 -8.44582335e-03 6.37307984e+01] [-6.56676244e-01 7.54135048e-01 7.52596411e-03 2.36923756e+02] [ 1.13117377e-02 -1.29065896e-04 9.99936012e-01 6.08941675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2727550960001 meters 0.01734716744314798 Centerline is valid? [True, True] Translation: X:63.75, Y:236.91, Z:6.09 [[ 7.54239086e-01 6.56551152e-01 -7.99911808e-03 6.37536218e+01] [-6.56512488e-01 7.54281492e-01 7.12624249e-03 2.36906502e+02] [ 1.07123294e-02 -1.23369701e-04 9.99942614e-01 6.09019933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.30275509600006 meters 0.0177863302595923 Centerline is valid? [True, True] Translation: X:63.77, Y:236.89, Z:6.09 [[ 7.54684206e-01 6.56046611e-01 -7.38872402e-03 6.37742042e+01] [-6.56013608e-01 7.54720365e-01 6.58149666e-03 2.36887677e+02] [ 9.89418907e-03 -1.19848074e-04 9.99951044e-01 6.09147534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3327550960001 meters 0.017605826504281347 Centerline is valid? [True, True] Translation: X:63.80, Y:236.87, Z:6.09 [[ 7.54918760e-01 6.55778984e-01 -7.18260803e-03 6.37963865e+01] [-6.55747798e-01 7.54952919e-01 6.39655533e-03 2.36869051e+02] [ 9.61725745e-03 -1.18900219e-04 9.99953746e-01 6.09229917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.36275509600006 meters 0.01830545398855941 Centerline is valid? [True, True] Translation: X:63.82, Y:236.85, Z:6.09 [[ 7.55147554e-01 6.55518993e-01 -6.85722403e-03 6.38160232e+01] [-6.55490566e-01 7.55178678e-01 6.10588762e-03 2.36849436e+02] [ 9.18095469e-03 -1.16000431e-04 9.99957847e-01 6.09308655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.39275509600003 meters 0.018284829995350253 Centerline is valid? [True, True] Translation: X:63.84, Y:236.83, Z:6.09 [[ 7.55943854e-01 6.54605683e-01 -6.34737350e-03 6.38380217e+01] [-6.54581303e-01 7.55970493e-01 5.65085178e-03 2.36830863e+02] [ 8.49750676e-03 -1.16854655e-04 9.99963889e-01 6.09456234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.42275509600006 meters 0.017985040769020945 Centerline is valid? [True, True] Translation: X:63.86, Y:236.81, Z:6.10 [[ 7.56442471e-01 6.54034137e-01 -5.84249560e-03 6.38623399e+01] [-6.54013473e-01 7.56465025e-01 5.20032221e-03 2.36811013e+02] [ 7.82083183e-03 -1.12673744e-04 9.99969411e-01 6.09502939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.45275509600003 meters 0.018315282837272594 Centerline is valid? [True, True] Translation: X:63.88, Y:236.79, Z:6.10 [[ 7.56931648e-01 6.53470403e-01 -5.55992817e-03 6.38843565e+01] [-6.53451669e-01 7.56952059e-01 4.94948565e-03 2.36792574e+02] [ 7.44294146e-03 -1.13277987e-04 9.99972295e-01 6.09588585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.48275509600006 meters 0.018315282837272594 Centerline is valid? [True, True] Translation: X:63.91, Y:236.77, Z:6.10 [[ 7.56983168e-01 6.53410720e-01 -5.56010014e-03 6.39055898e+01] [-6.53391985e-01 7.57003579e-01 4.94929245e-03 2.36773785e+02] [ 7.44293645e-03 -1.13606206e-04 9.99972295e-01 6.09617016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.51275509600003 meters 0.018345124571480707 Centerline is valid? [True, True] Translation: X:63.93, Y:236.76, Z:6.10 [[ 7.57028374e-01 6.53359639e-01 -5.40587722e-03 6.39275995e+01] [-6.53341933e-01 7.57047667e-01 4.81127712e-03 2.36755093e+02] [ 7.23600102e-03 -1.10387024e-04 9.99973814e-01 6.09646511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.54275509600006 meters 0.018610936001913967 Centerline is valid? [True, True] Translation: X:63.95, Y:236.74, Z:6.10 [[ 7.57138151e-01 6.53234947e-01 -5.09170433e-03 6.39485052e+01] [-6.53219240e-01 7.57155264e-01 4.53108433e-03 2.36737194e+02] [ 6.81507337e-03 -1.04657575e-04 9.99976772e-01 6.09704753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.57275509600004 meters 0.01856634208544633 Centerline is valid? [True, True] Translation: X:63.97, Y:236.72, Z:6.10 [[ 7.56734910e-01 6.53701066e-01 -5.21470120e-03 6.39703793e+01] [-6.53684608e-01 7.56752870e-01 4.63970944e-03 2.36719264e+02] [ 6.97922311e-03 -1.02260193e-04 9.99975640e-01 6.09740611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.60275509600007 meters 0.01836834793344058 Centerline is valid? [True, True] Translation: X:63.99, Y:236.70, Z:6.10 [[ 7.56405833e-01 6.54081815e-01 -5.21496095e-03 6.39926186e+01] [-6.54065374e-01 7.56423803e-01 4.63856414e-03 2.36701007e+02] [ 6.97872104e-03 -9.77115835e-05 9.99975644e-01 6.09778472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.63275509600004 meters 0.018189736841102123 Centerline is valid? [True, True] Translation: X:64.01, Y:236.68, Z:6.10 [[ 7.56052220e-01 6.54488063e-01 -5.51501287e-03 6.40147217e+01] [-6.54469693e-01 7.56072328e-01 4.90463684e-03 2.36682895e+02] [ 7.37977489e-03 -9.87527917e-05 9.99972764e-01 6.09772595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.66275509600007 meters 0.01827709944982433 Centerline is valid? [True, True] Translation: X:64.04, Y:236.67, Z:6.10 [[ 7.55937214e-01 6.54621158e-01 -5.48346305e-03 6.40355722e+01] [-6.54603005e-01 7.55957095e-01 4.87603495e-03 2.36665479e+02] [ 7.33721844e-03 -9.64848813e-05 9.99973078e-01 6.09772550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.69275509600004 meters 0.018164331968858725 Centerline is valid? [True, True] Translation: X:64.06, Y:236.65, Z:6.10 [[ 7.55691605e-01 6.54900576e-01 -5.95260310e-03 6.40571879e+01] [-6.54879206e-01 7.55715043e-01 5.29152816e-03 2.36647829e+02] [ 7.96389654e-03 -1.00527421e-04 9.99968283e-01 6.09791721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.72275509600007 meters 0.01800394270516528 Centerline is valid? [True, True] Translation: X:64.08, Y:236.63, Z:6.10 [[ 7.55749092e-01 6.54834973e-01 -5.87103259e-03 6.40786936e+01] [-6.54814189e-01 7.55771889e-01 5.21810944e-03 2.36629623e+02] [ 7.85416195e-03 -9.91460208e-05 9.99969151e-01 6.09827464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.75275509600004 meters 0.017842170453858656 Centerline is valid? [True, True] Translation: X:64.10, Y:236.61, Z:6.10 [[ 7.55923211e-01 6.54636556e-01 -5.57489471e-03 6.41006307e+01] [-6.54617820e-01 7.55943762e-01 4.95372595e-03 2.36611180e+02] [ 7.45719697e-03 -9.52110089e-05 9.99972190e-01 6.09949766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7827550960001 meters 0.017924843529037823 Centerline is valid? [True, True] Translation: X:64.12, Y:236.59, Z:6.10 [[ 7.56152125e-01 6.54375006e-01 -5.22644932e-03 6.41227525e+01] [-6.54358537e-01 7.56170182e-01 4.64344917e-03 2.36592246e+02] [ 6.99064221e-03 -9.11822242e-05 9.99975561e-01 6.10041178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.81275509600005 meters 0.018689926279380653 Centerline is valid? [True, True] Translation: X:64.14, Y:236.57, Z:6.10 [[ 7.56490267e-01 6.53986661e-01 -4.89110820e-03 6.41425246e+01] [-6.53972233e-01 7.56506074e-01 4.34498433e-03 2.36573015e+02] [ 6.54171485e-03 -8.82894068e-05 9.99978599e-01 6.10149561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8427550960001 meters 0.01868233392405049 Centerline is valid? [True, True] Translation: X:64.17, Y:236.56, Z:6.10 [[ 7.57287978e-01 6.53066721e-01 -4.33324822e-03 6.41653584e+01] [-6.53055385e-01 7.57300371e-01 3.84869499e-03 2.36555361e+02] [ 5.79502510e-03 -8.47193570e-05 9.99983205e-01 6.10201532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.87275509600005 meters 0.01969473265967424 Centerline is valid? [True, True] Translation: X:64.19, Y:236.54, Z:6.10 [[ 7.57939458e-01 6.52312893e-01 -3.95809618e-03 6.41854859e+01] [-6.52303427e-01 7.57949789e-01 3.51515700e-03 2.36535841e+02] [ 5.29302040e-03 -8.23964887e-05 9.99985988e-01 6.10349778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9027550960001 meters 0.01904051652433252 Centerline is valid? [True, True] Translation: X:64.21, Y:236.52, Z:6.10 [[ 7.58712957e-01 6.51415006e-01 -3.62472144e-03 6.42088652e+01] [-6.51407060e-01 7.58721611e-01 3.21847102e-03 2.36518372e+02] [ 4.84671481e-03 -8.07265256e-05 9.99988251e-01 6.10344725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.93275509600005 meters 0.02003719343648093 Centerline is valid? [True, True] Translation: X:64.23, Y:236.50, Z:6.10 [[ 7.60406716e-01 6.49437127e-01 -3.61166297e-03 6.42303243e+01] [-6.49429219e-01 7.60415287e-01 3.20636718e-03 2.36498459e+02] [ 4.82869763e-03 -9.26236783e-05 9.99988338e-01 6.10435295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9627550960001 meters 0.020517287623099064 Centerline is valid? [True, True] Translation: X:64.25, Y:236.48, Z:6.10 [[ 7.61215947e-01 6.48489076e-01 -3.49290806e-03 6.42513989e+01] [-6.48481671e-01 7.61223955e-01 3.10048673e-03 2.36479378e+02] [ 4.66951707e-03 -9.50530923e-05 9.99989093e-01 6.10477375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.99275509600005 meters 0.02145459056774523 Centerline is valid? [True, True] Translation: X:64.27, Y:236.46, Z:6.10 [[ 7.62539019e-01 6.46930920e-01 -3.82481710e-03 6.42735887e+01] [-6.46922024e-01 7.62548603e-01 3.39447308e-03 2.36460612e+02] [ 5.11259852e-03 -1.14059753e-04 9.99986924e-01 6.10499692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0227550960001 meters 0.021341315720739263 Centerline is valid? [True, True] Translation: X:64.30, Y:236.44, Z:6.11 [[ 7.63200772e-01 6.46150844e-01 -3.69703288e-03 6.42963669e+01] [-6.46142526e-01 7.63209718e-01 3.28060130e-03 2.36442734e+02] [ 4.94137472e-03 -1.14947285e-04 9.99987785e-01 6.10536323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.05275509600006 meters 0.02236133022819364 Centerline is valid? [True, True] Translation: X:64.32, Y:236.43, Z:6.11 [[ 7.64483166e-01 6.44630152e-01 -4.17803379e-03 6.43183100e+01] [-6.44619510e-01 7.64494570e-01 3.70680827e-03 2.36425727e+02] [ 5.58360452e-03 -1.40550429e-04 9.99984402e-01 6.10521990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0827550960001 meters 0.021978638116261537 Centerline is valid? [True, True] Translation: X:64.34, Y:236.41, Z:6.10 [[ 7.65085312e-01 6.43913074e-01 -4.51862671e-03 6.43424926e+01] [-6.43900621e-01 7.65098640e-01 4.00767786e-03 2.36407731e+02] [ 6.03779132e-03 -1.56668919e-04 9.99981760e-01 6.10490824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.11275509600006 meters 0.022235673967297875 Centerline is valid? [True, True] Translation: X:64.37, Y:236.39, Z:6.10 [[ 7.65538472e-01 6.43371938e-01 -4.83702553e-03 6.43659684e+01] [-6.43357658e-01 7.65553734e-01 4.28997604e-03 2.36388815e+02] [ 6.46305316e-03 -1.72204286e-04 9.99979099e-01 6.10455657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.14275509600003 meters 0.02278660818422507 Centerline is valid? [True, True] Translation: X:64.39, Y:236.37, Z:6.10 [[ 7.66069395e-01 6.42736447e-01 -5.24811448e-03 6.43872783e+01] [-6.42719623e-01 7.66087347e-01 4.65440789e-03 2.36371015e+02] [ 7.01207169e-03 -1.92533276e-04 9.99975397e-01 6.10405176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.17275509600006 meters 0.02274073560653442 Centerline is valid? [True, True] Translation: X:64.41, Y:236.35, Z:6.10 [[ 7.66753782e-01 6.41910834e-01 -6.25458182e-03 6.44112031e+01] [-6.41886924e-01 7.66779255e-01 5.54548325e-03 2.36354026e+02] [ 8.35558936e-03 -2.37285975e-04 9.99965063e-01 6.10325831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.20275509600003 meters 0.023594478702298763 Centerline is valid? [True, True] Translation: X:64.43, Y:236.34, Z:6.10 [[ 7.67040716e-01 6.41566422e-01 -6.40835728e-03 6.44321726e+01] [-6.41541315e-01 7.67067445e-01 5.68118827e-03 2.36335654e+02] [ 8.56050188e-03 -2.46476766e-04 9.99963328e-01 6.10316399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.23275509600006 meters 0.02529994971241393 Centerline is valid? [True, True] Translation: X:64.45, Y:236.32, Z:6.10 [[ 7.67077199e-01 6.41519040e-01 -6.77443478e-03 6.44533490e+01] [-6.41490989e-01 7.67107068e-01 6.00472761e-03 2.36317732e+02] [ 9.04886389e-03 -2.60350768e-04 9.99959024e-01 6.10257623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26275509600003 meters 0.02494261027859037 Centerline is valid? [True, True] Translation: X:64.80, Y:236.72, Z:7.30 [[ 7.80881196e-01 -6.24626714e-01 8.12568719e-03 6.48009205e+01] [-6.24586358e-01 -7.80923323e-01 -7.11653803e-03 2.36717016e+02] [ 1.07907184e-02 4.81977350e-04 -9.99941662e-01 7.29599917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.29275509600006 meters 0.02640604793761565 Centerline is valid? [True, True] Translation: X:64.53, Y:236.29, Z:6.10 [[ 8.14754979e-01 5.79757070e-01 -7.48756464e-03 6.45296381e+01] [-5.79729588e-01 8.14789341e-01 5.65104173e-03 2.36292189e+02] [ 9.37701926e-03 -2.63451629e-04 9.99956000e-01 6.10333605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32275509600004 meters 0.02476959916037164 Centerline is valid? [True, True] Translation: X:64.56, Y:236.28, Z:6.10 [[ 8.14709406e-01 5.79825649e-01 -7.12743546e-03 6.45555618e+01] [-5.79800760e-01 8.14740544e-01 5.37807598e-03 2.36279264e+02] [ 8.92535705e-03 -2.49076591e-04 9.99960137e-01 6.10434285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.35275509600007 meters 0.023559747257515473 Centerline is valid? [True, True] Translation: X:64.58, Y:236.27, Z:6.11 [[ 8.14910253e-01 5.79545909e-01 -6.91510525e-03 6.45790897e+01] [-5.79522477e-01 8.14939556e-01 5.21715283e-03 2.36265711e+02] [ 8.65897238e-03 -2.44052407e-04 9.99962481e-01 6.10518525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38275509600004 meters 0.02557267899858739 Centerline is valid? [True, True] Translation: X:64.60, Y:236.25, Z:6.11 [[ 8.14923233e-01 5.79530944e-01 -6.63401870e-03 6.46004962e+01] [-5.79509395e-01 8.14950202e-01 5.00298938e-03 2.36246892e+02] [ 8.30578204e-03 -2.32576115e-04 9.99965479e-01 6.10631491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.41275509600007 meters 0.025750416915307377 Centerline is valid? [True, True] Translation: X:64.62, Y:236.23, Z:6.11 [[ 8.15037441e-01 5.79373619e-01 -6.33868946e-03 6.46248171e+01] [-5.79353959e-01 8.15062059e-01 4.77808784e-03 2.36232656e+02] [ 7.93472333e-03 -2.21975654e-04 9.99968495e-01 6.10728249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.44275509600004 meters 0.023825349172334944 Centerline is valid? [True, True] Translation: X:64.65, Y:236.22, Z:6.11 [[ 8.15076668e-01 5.79320108e-01 -6.18370897e-03 6.46504242e+01] [-5.79301405e-01 8.15100095e-01 4.66007694e-03 2.36219772e+02] [ 7.74001805e-03 -2.16088684e-04 9.99970022e-01 6.10711166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.47275509600007 meters 0.025616469889763183 Centerline is valid? [True, True] Translation: X:64.67, Y:236.20, Z:6.11 [[ 8.14983902e-01 5.79447061e-01 -6.50705047e-03 6.46733491e+01] [-5.79426368e-01 8.15009848e-01 4.90224159e-03 2.36202881e+02] [ 8.14389970e-03 -2.24891362e-04 9.99966813e-01 6.10728586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.50275509600004 meters 0.02486484236995911 Centerline is valid? [True, True] Translation: X:64.70, Y:236.19, Z:6.11 [[ 8.14940058e-01 5.79504784e-01 -6.84891498e-03 6.46981216e+01] [-5.79481866e-01 8.14968803e-01 5.15912023e-03 2.36187590e+02] [ 8.57138690e-03 -2.35551703e-04 9.99963237e-01 6.10729232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5327550960001 meters 0.026345356994751348 Centerline is valid? [True, True] Translation: X:64.72, Y:236.17, Z:6.11 [[ 8.14859709e-01 5.79614591e-01 -7.11201788e-03 6.47195455e+01] [-5.79589892e-01 8.14890708e-01 5.35633310e-03 2.36170480e+02] [ 8.90012611e-03 -2.42606348e-04 9.99960364e-01 6.10739792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.56275509600005 meters 0.025697858876124618 Centerline is valid? [True, True] Translation: X:64.74, Y:236.16, Z:6.11 [[ 8.14899185e-01 5.79562920e-01 -6.79264990e-03 6.47434075e+01] [-5.79540393e-01 8.14927462e-01 5.11515400e-03 2.36155950e+02] [ 8.50007053e-03 -2.31719826e-04 9.99963847e-01 6.10772468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5927550960001 meters 0.025230167412255925 Centerline is valid? [True, True] Translation: X:64.77, Y:236.14, Z:6.11 [[ 8.14391001e-01 5.80274213e-01 -7.00961184e-03 6.47685875e+01] [-5.80250284e-01 8.14421135e-01 5.27468654e-03 2.36141363e+02] [ 8.76954061e-03 -2.28327989e-04 9.99961521e-01 6.10793461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.62275509600005 meters 0.024227742074651 Centerline is valid? [True, True] Translation: X:64.79, Y:236.13, Z:6.11 [[ 8.14040383e-01 5.80763764e-01 -7.19060984e-03 6.47935524e+01] [-5.80738635e-01 8.14072109e-01 5.40729780e-03 2.36126179e+02] [ 8.99403754e-03 -2.25893832e-04 9.99959527e-01 6.10803151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6527550960001 meters 0.023440333019446993 Centerline is valid? [True, True] Translation: X:64.82, Y:236.11, Z:6.11 [[ 8.13149814e-01 5.82002518e-01 -7.77496994e-03 6.48188721e+01] [-5.81973205e-01 8.13186951e-01 5.84569363e-03 2.36111481e+02] [ 9.72471251e-03 -2.28600508e-04 9.99952688e-01 6.10730498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.68275509600005 meters 0.022394890657980445 Centerline is valid? [True, True] Translation: X:64.84, Y:236.10, Z:6.11 [[ 8.12515489e-01 5.82882504e-01 -8.15880817e-03 6.48435695e+01] [-5.82850309e-01 8.12556420e-01 6.13039615e-03 2.36096389e+02] [ 1.02027926e-02 -2.25677958e-04 9.99947925e-01 6.10716554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7127550960001 meters 0.023097102745003897 Centerline is valid? [True, True] Translation: X:64.87, Y:236.08, Z:6.11 [[ 8.11163219e-01 5.84760656e-01 -8.31915127e-03 6.48659473e+01] [-5.84727293e-01 8.11205852e-01 6.24969624e-03 2.36079823e+02] [ 1.04031207e-02 -2.05088916e-04 9.99945865e-01 6.10706320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.74275509600005 meters 0.020679787881913936 Centerline is valid? [True, True] Translation: X:64.89, Y:236.07, Z:6.11 [[ 8.10600509e-01 5.85540736e-01 -8.29821193e-03 6.48922354e+01] [-5.85507605e-01 8.10642960e-01 6.23185713e-03 2.36066693e+02] [ 1.03758933e-02 -1.92880372e-04 9.99946150e-01 6.10741285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7727550960001 meters 0.020372396437638222 Centerline is valid? [True, True] Translation: X:64.92, Y:236.05, Z:6.11 [[ 8.10320084e-01 5.85932320e-01 -8.04225226e-03 6.49162814e+01] [-5.85901257e-01 8.10359972e-01 6.03596674e-03 2.36050723e+02] [ 1.00537873e-02 -1.79099363e-04 9.99949443e-01 6.10756697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.80275509600006 meters 0.020037248150594704 Centerline is valid? [True, True] Translation: X:64.94, Y:236.03, Z:6.11 [[ 8.10085116e-01 5.86258332e-01 -7.95443941e-03 6.49391251e+01] [-5.86227996e-01 8.10124151e-01 5.96639274e-03 2.36034982e+02] [ 9.94193092e-03 -1.70170881e-04 9.99950563e-01 6.10733454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8327550960001 meters 0.01979199936028296 Centerline is valid? [True, True] Translation: X:64.96, Y:236.02, Z:6.11 [[ 8.09625717e-01 5.86891679e-01 -8.02219679e-03 6.49609385e+01] [-5.86860898e-01 8.09665445e-01 6.01289370e-03 2.36018061e+02] [ 1.00242128e-02 -1.60279763e-04 9.99949743e-01 6.10729856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.86275509600006 meters 0.019992230353234025 Centerline is valid? [True, True] Translation: X:64.98, Y:236.00, Z:6.11 [[ 8.09777252e-01 5.86686030e-01 -7.76553944e-03 6.49821897e+01] [-5.86657196e-01 8.09814471e-01 5.81864275e-03 2.36000620e+02] [ 9.70236263e-03 -1.56094942e-04 9.99952919e-01 6.10789678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.89275509600003 meters 0.019644858012132813 Centerline is valid? [True, True] Translation: X:65.00, Y:235.98, Z:6.11 [[ 8.09969817e-01 5.86427716e-01 -7.17136730e-03 6.50047406e+01] [-5.86403130e-01 8.10001551e-01 5.37186560e-03 2.35982113e+02] [ 8.95902951e-03 -1.45736771e-04 9.99959856e-01 6.10875885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.92275509600006 meters 0.020465155773347007 Centerline is valid? [True, True] Translation: X:65.03, Y:235.96, Z:6.11 [[ 8.10406218e-01 5.85827065e-01 -6.95788978e-03 6.50258257e+01] [-5.85803906e-01 8.10436073e-01 5.21108492e-03 2.35963569e+02] [ 8.69171945e-03 -1.47136613e-04 9.99962215e-01 6.10943502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.95275509600003 meters 0.020304822173314724 Centerline is valid? [True, True] Translation: X:65.05, Y:235.95, Z:6.11 [[ 8.10939420e-01 5.85093526e-01 -6.54390549e-03 6.50488079e+01] [-5.85073026e-01 8.10965810e-01 4.89997698e-03 2.35945652e+02] [ 8.17382842e-03 -1.44921909e-04 9.99966583e-01 6.10948336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.98275509600006 meters 0.020855506358676622 Centerline is valid? [True, True] Translation: X:65.07, Y:235.93, Z:6.11 [[ 8.11894298e-01 5.83769173e-01 -6.41889590e-03 6.50692967e+01] [-5.83749414e-01 8.11919657e-01 4.80557688e-03 2.35926649e+02] [ 8.01697540e-03 -1.54593749e-04 9.99967852e-01 6.10998897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.01275509600003 meters 0.021054059695547925 Centerline is valid? [True, True] Translation: X:65.09, Y:235.91, Z:6.11 [[ 8.12327302e-01 5.83170063e-01 -6.08540912e-03 6.50918836e+01] [-5.83152290e-01 8.12350081e-01 4.55547836e-03 2.35908162e+02] [ 7.60010119e-03 -1.51819181e-04 9.99971107e-01 6.11033339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.04275509600006 meters 0.020436914926123605 Centerline is valid? [True, True] Translation: X:65.11, Y:235.89, Z:6.11 [[ 8.12577684e-01 5.82822381e-01 -5.96482257e-03 6.51146988e+01] [-5.82805319e-01 8.12599563e-01 4.46214047e-03 2.35891973e+02] [ 7.44764755e-03 -1.49505451e-04 9.99972255e-01 6.11047967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.07275509600004 meters 0.021681923203104712 Centerline is valid? [True, True] Translation: X:65.14, Y:235.87, Z:6.11 [[ 8.12716829e-01 5.82629168e-01 -5.88285028e-03 6.51354032e+01] [-5.82612569e-01 8.12738107e-01 4.40052737e-03 2.35872141e+02] [ 7.34509220e-03 -1.48960134e-04 9.99973013e-01 6.11066929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.10275509600007 meters 0.02108497685897456 Centerline is valid? [True, True] Translation: X:65.16, Y:235.86, Z:6.11 [[ 8.12541230e-01 5.82871785e-01 -6.10173250e-03 6.51591494e+01] [-5.82853963e-01 8.12564127e-01 4.56050332e-03 2.35855115e+02] [ 7.61623765e-03 -1.49178012e-04 9.99970985e-01 6.11045941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.13275509600004 meters 0.01987585117825172 Centerline is valid? [True, True] Translation: X:65.18, Y:235.84, Z:6.11 [[ 8.12181909e-01 5.83375857e-01 -5.75811318e-03 6.51832158e+01] [-5.83360003e-01 8.12202309e-01 4.30297109e-03 2.35839247e+02] [ 7.18700227e-03 -1.35742353e-04 9.99974164e-01 6.10998988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.16275509600007 meters 0.019541698573231014 Centerline is valid? [True, True] Translation: X:65.21, Y:235.82, Z:6.11 [[ 8.11922549e-01 5.83735705e-01 -5.86536392e-03 6.52063117e+01] [-5.83719270e-01 8.11943723e-01 4.38231050e-03 2.35822263e+02] [ 7.32045653e-03 -1.34370763e-04 9.99973196e-01 6.10997248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.19275509600004 meters 0.019711924233685542 Centerline is valid? [True, True] Translation: X:65.23, Y:235.80, Z:6.11 [[ 8.11593090e-01 5.84193587e-01 -5.87436621e-03 6.52282407e+01] [-5.84177119e-01 8.11614339e-01 4.38842347e-03 2.35804577e+02] [ 7.33140871e-03 -1.29943840e-04 9.99973116e-01 6.11036409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.22275509600007 meters 0.019168357699527357 Centerline is valid? [True, True] Translation: X:65.25, Y:235.79, Z:6.11 [[ 8.10982207e-01 5.85042071e-01 -5.79952677e-03 6.52512724e+01] [-5.85026050e-01 8.11002935e-01 4.33138981e-03 2.35787387e+02] [ 7.23747850e-03 -1.19805835e-04 9.99973802e-01 6.11055853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.25275509600004 meters 0.019237938423511694 Centerline is valid? [True, True] Translation: X:65.27, Y:235.77, Z:6.11 [[ 8.10859685e-01 5.85211535e-01 -5.83361207e-03 6.52746773e+01] [-5.85195334e-01 8.10880660e-01 4.35613205e-03 2.35769710e+02] [ 7.27962193e-03 -1.18409301e-04 9.99973496e-01 6.11052264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2827550960001 meters 0.019245481179414867 Centerline is valid? [True, True] Translation: X:65.30, Y:235.75, Z:6.11 [[ 8.10839059e-01 5.85241468e-01 -5.69596866e-03 6.52956911e+01] [-5.85226025e-01 8.10859057e-01 4.25314198e-03 2.35753444e+02] [ 7.10774283e-03 -1.15184546e-04 9.99974733e-01 6.11091461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.31275509600005 meters 0.019427101365206496 Centerline is valid? [True, True] Translation: X:65.32, Y:235.73, Z:6.11 [[ 8.10989637e-01 5.85035822e-01 -5.37550015e-03 6.53173427e+01] [-5.85022077e-01 8.11007445e-01 4.01175453e-03 2.35734380e+02] [ 6.70659075e-03 -1.08705092e-04 9.99977505e-01 6.11119434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3427550960001 meters 0.01968615071999948 Centerline is valid? [True, True] Translation: X:65.34, Y:235.72, Z:6.11 [[ 8.11411837e-01 5.84449977e-01 -5.39033404e-03 6.53393618e+01] [-5.84436148e-01 8.11429733e-01 4.02218249e-03 2.35715591e+02] [ 6.72464177e-03 -1.13340419e-04 9.99977383e-01 6.11177175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.37275509600005 meters 0.020543885856343744 Centerline is valid? [True, True] Translation: X:65.36, Y:235.70, Z:6.11 [[ 8.11525243e-01 5.84299934e-01 -4.51305213e-03 6.53594055e+01] [-5.84290236e-01 8.11537786e-01 3.36786020e-03 2.35695342e+02] [ 5.63035283e-03 -9.61712705e-05 9.99984145e-01 6.11290690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4027550960001 meters 0.020543885856343744 Centerline is valid? [True, True] Translation: X:65.38, Y:235.68, Z:6.11 [[ 8.11714404e-01 5.84037119e-01 -4.51340184e-03 6.53816376e+01] [-5.84027419e-01 8.11726946e-01 3.36739162e-03 2.35679048e+02] [ 5.63033159e-03 -9.74098561e-05 9.99984145e-01 6.11318209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.43275509600005 meters 0.01923431988539679 Centerline is valid? [True, True] Translation: X:65.41, Y:235.66, Z:6.11 [[ 8.11533515e-01 5.84287692e-01 -4.60940615e-03 6.54060344e+01] [-5.84277601e-01 8.11546600e-01 3.43533589e-03 2.35663427e+02] [ 5.74797237e-03 -9.47174462e-05 9.99983476e-01 6.11249117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4627550960001 meters 0.019246594959663466 Centerline is valid? [True, True] Translation: X:65.43, Y:235.65, Z:6.11 [[ 8.11457439e-01 5.84393233e-01 -4.62321645e-03 6.54276157e+01] [-5.84383086e-01 8.11470603e-01 3.44509704e-03 2.35646442e+02] [ 5.76489564e-03 -9.38201241e-05 9.99983378e-01 6.11269183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.49275509600005 meters 0.019106513016180417 Centerline is valid? [True, True] Translation: X:65.45, Y:235.63, Z:6.11 [[ 8.11183227e-01 5.84774335e-01 -4.55519284e-03 6.54497242e+01] [-5.84764494e-01 8.11196012e-01 3.39363661e-03 2.35628291e+02] [ 5.67966586e-03 -8.91460609e-05 9.99983867e-01 6.11246939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5227550960001 meters 0.018783875300543457 Centerline is valid? [True, True] Translation: X:65.47, Y:235.61, Z:6.11 [[ 8.11011113e-01 5.85013301e-01 -4.51796743e-03 6.54726298e+01] [-5.85003628e-01 8.11023693e-01 3.36537842e-03 2.35610617e+02] [ 5.63296977e-03 -8.63319563e-05 9.99984131e-01 6.11322552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.55275509600006 meters 0.018607776120610948 Centerline is valid? [True, True] Translation: X:65.49, Y:235.59, Z:6.11 [[ 8.10464939e-01 5.85773360e-01 -4.01929888e-03 6.54935066e+01] [-5.85765714e-01 8.10474902e-01 2.99366254e-03 2.35591709e+02] [ 5.01114863e-03 -7.18910529e-05 9.99987442e-01 6.11427623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5827550960001 meters 0.018452768865119144 Centerline is valid? [True, True] Translation: X:65.52, Y:235.57, Z:6.11 [[ 8.10197910e-01 5.86140986e-01 -4.25339513e-03 6.55162569e+01] [-5.86132434e-01 8.10209071e-01 3.16719412e-03 2.35573934e+02] [ 5.30256160e-03 -7.30012178e-05 9.99985939e-01 6.11450636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.61275509600006 meters 0.01789183249397219 Centerline is valid? [True, True] Translation: X:65.54, Y:235.55, Z:6.11 [[ 8.09726918e-01 5.86791355e-01 -4.26905410e-03 6.55431274e+01] [-5.86782764e-01 8.09738169e-01 3.17598917e-03 2.35554280e+02] [ 5.32045904e-03 -6.66765604e-05 9.99985844e-01 6.11478542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.64275509600003 meters 0.018006393615918298 Centerline is valid? [True, True] Translation: X:65.57, Y:235.53, Z:6.12 [[ 8.09237393e-01 5.87468231e-01 -3.98986942e-03 6.55678574e+01] [-5.87460725e-01 8.09247227e-01 2.97043643e-03 2.35534720e+02] [ 4.97382780e-03 -5.98966553e-05 9.99987629e-01 6.11529958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.67275509600006 meters 0.017672146230947733 Centerline is valid? [True, True] Translation: X:65.59, Y:235.52, Z:6.12 [[ 8.08386873e-01 5.88639741e-01 -3.73075939e-03 6.55913287e+01] [-5.88633174e-01 8.08395481e-01 2.78084553e-03 2.35516650e+02] [ 4.65284522e-03 -5.19502802e-05 9.99989174e-01 6.11555650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.70275509600003 meters 0.017494685089798238 Centerline is valid? [True, True] Translation: X:65.62, Y:235.50, Z:6.12 [[ 8.07945276e-01 5.89243238e-01 -4.10325861e-03 6.56160220e+01] [-5.89235307e-01 8.07955694e-01 3.05771663e-03 2.35497924e+02] [ 5.11699000e-03 -5.26828646e-05 9.99986907e-01 6.11525821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.73275509600006 meters 0.01733124794771208 Centerline is valid? [True, True] Translation: X:65.64, Y:235.48, Z:6.11 [[ 8.07214197e-01 5.90240374e-01 -4.64113617e-03 6.56385136e+01] [-5.90230240e-01 8.07227538e-01 3.45920450e-03 2.35478674e+02] [ 5.78821508e-03 -5.29800667e-05 9.99983247e-01 6.11475339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76275509600003 meters 0.017052502543306036 Centerline is valid? [True, True] Translation: X:65.66, Y:235.46, Z:6.11 [[ 8.06880303e-01 5.90694443e-01 -4.92452979e-03 6.56624778e+01] [-5.90683043e-01 8.06895329e-01 3.67016637e-03 2.35459904e+02] [ 6.14152697e-03 -5.25487051e-05 9.99981139e-01 6.11433010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.79275509600006 meters 0.016993878537840026 Centerline is valid? [True, True] Translation: X:65.69, Y:235.44, Z:6.11 [[ 8.06556228e-01 5.91133839e-01 -5.27605101e-03 6.56859889e+01] [-5.91120764e-01 8.06573482e-01 3.93197887e-03 2.35439628e+02] [ 6.57984860e-03 -5.25787437e-05 9.99978351e-01 6.11384309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82275509600004 meters 0.017103663595625148 Centerline is valid? [True, True] Translation: X:65.71, Y:235.42, Z:6.11 [[ 8.06674131e-01 5.90967374e-01 -5.86596041e-03 6.57086029e+01] [-5.90951203e-01 8.06695456e-01 4.37222833e-03 2.35420798e+02] [ 7.31588791e-03 -6.04671241e-05 9.99973237e-01 6.11362117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.85275509600007 meters 0.017074527859872287 Centerline is valid? [True, True] Translation: X:65.73, Y:235.40, Z:6.11 [[ 8.06961948e-01 5.90572867e-01 -6.00863334e-03 6.57314045e+01] [-5.90555890e-01 8.06984315e-01 4.47844063e-03 2.35401899e+02] [ 7.49371839e-03 -6.54973665e-05 9.99971920e-01 6.11351051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88275509600004 meters 0.01743875214589553 Centerline is valid? [True, True] Translation: X:65.75, Y:235.38, Z:6.11 [[ 8.07891908e-01 5.89298686e-01 -6.14195776e-03 6.57520283e+01] [-5.89280914e-01 8.07915251e-01 4.57736781e-03 2.35380682e+02] [ 7.65961818e-03 -7.86799344e-05 9.99970662e-01 6.11366405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.91275509600007 meters 0.01775156800271094 Centerline is valid? [True, True] Translation: X:65.77, Y:235.36, Z:6.11 [[ 8.08507572e-01 5.88455512e-01 -5.96793370e-03 6.57733950e+01] [-5.88438710e-01 8.08529593e-01 4.44762293e-03 2.35361302e+02] [ 7.44247923e-03 -8.41736101e-05 9.99972301e-01 6.11425274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.94275509600004 meters 0.017967257096598997 Centerline is valid? [True, True] Translation: X:65.80, Y:235.34, Z:6.11 [[ 8.09045369e-01 5.87714203e-01 -6.13250831e-03 6.57958250e+01] [-5.87696445e-01 8.09068605e-01 4.56964509e-03 2.35340979e+02] [ 7.64726527e-03 -9.29968651e-05 9.99970755e-01 6.11452069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.97275509600007 meters 0.01852758055065014 Centerline is valid? [True, True] Translation: X:65.82, Y:235.32, Z:6.12 [[ 8.09898200e-01 5.86538772e-01 -6.09704601e-03 6.58160180e+01] [-5.86521189e-01 8.09921143e-01 4.54280353e-03 2.35319293e+02] [ 7.60265688e-03 -1.03161728e-04 9.99971094e-01 6.11500375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.00275509600004 meters 0.018740711840428463 Centerline is valid? [True, True] Translation: X:65.84, Y:235.30, Z:6.12 [[ 8.10138722e-01 5.86206285e-01 -6.11901127e-03 6.58377823e+01] [-5.86188566e-01 8.10161824e-01 4.55909835e-03 2.35300379e+02] [ 7.62996144e-03 -1.06607672e-04 9.99970886e-01 6.11514747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0327550960001 meters 0.01887396035226805 Centerline is valid? [True, True] Translation: X:65.86, Y:235.28, Z:6.12 [[ 8.10273273e-01 5.86018982e-01 -6.24305481e-03 6.58586395e+01] [-5.86000535e-01 8.10297317e-01 4.65106218e-03 2.35281336e+02] [ 7.78434128e-03 -1.10197921e-04 9.99969696e-01 6.11507463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.06275509600005 meters 0.018781997654960327 Centerline is valid? [True, True] Translation: X:65.88, Y:235.26, Z:6.12 [[ 8.10121585e-01 5.86229853e-01 -6.12997958e-03 6.58812990e+01] [-5.86212081e-01 8.10144770e-01 4.56590546e-03 2.35262870e+02] [ 7.64284098e-03 -1.05470481e-04 9.99970788e-01 6.11535742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0927550960001 meters 0.01872009157440708 Centerline is valid? [True, True] Translation: X:65.90, Y:235.24, Z:6.12 [[ 8.10120763e-01 5.86228973e-01 -6.31988072e-03 6.59045264e+01] [-5.86210090e-01 8.10145406e-01 4.70650197e-03 2.35243627e+02] [ 7.87911015e-03 -1.08057118e-04 9.99968954e-01 6.11532965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.12275509600005 meters 0.01872098088774011 Centerline is valid? [True, True] Translation: X:65.93, Y:235.22, Z:6.12 [[ 8.10155826e-01 5.86178743e-01 -6.48220671e-03 6.59267462e+01] [-5.86158878e-01 8.10181751e-01 4.82700384e-03 2.35224488e+02] [ 8.08125262e-03 -1.11022269e-04 9.99967340e-01 6.11545041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1527550960001 meters 0.019038452182118963 Centerline is valid? [True, True] Translation: X:65.95, Y:235.20, Z:6.12 [[ 8.10080959e-01 5.86277232e-01 -6.91723608e-03 6.59464134e+01] [-5.86254618e-01 8.10110483e-01 5.15061762e-03 2.35204213e+02] [ 8.62341530e-03 -1.17155661e-04 9.99962811e-01 6.11553445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.18275509600005 meters 0.018519994634370252 Centerline is valid? [True, True] Translation: X:65.97, Y:235.18, Z:6.12 [[ 8.09932212e-01 5.86483353e-01 -6.86209489e-03 6.59717175e+01] [-5.86461120e-01 8.09961273e-01 5.10795247e-03 2.35184319e+02] [ 8.55376020e-03 -1.12743393e-04 9.99963410e-01 6.11583863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2127550960001 meters 0.01852475979811267 Centerline is valid? [True, True] Translation: X:65.99, Y:235.16, Z:6.12 [[ 8.09330269e-01 5.87317373e-01 -6.54369054e-03 6.59942684e+01] [-5.87297161e-01 8.09356716e-01 4.87350645e-03 2.35162789e+02] [ 8.15847489e-03 -1.01185404e-04 9.99966714e-01 6.11640195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.24275509600005 meters 0.018143122103964442 Centerline is valid? [True, True] Translation: X:66.02, Y:235.14, Z:6.12 [[ 8.08862032e-01 5.87957357e-01 -6.95408261e-03 6.60190537e+01] [-5.87934527e-01 8.08891918e-01 5.18229240e-03 2.35144004e+02] [ 8.67206817e-03 -1.03214288e-04 9.99962392e-01 6.11610054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2727550960001 meters 0.017343367845572964 Centerline is valid? [True, True] Translation: X:66.04, Y:235.13, Z:6.12 [[ 8.08123452e-01 5.88967110e-01 -7.36403266e-03 6.60449331e+01] [-5.88941549e-01 8.08156998e-01 5.48799828e-03 2.35125350e+02] [ 9.18354501e-03 -9.79953141e-05 9.99957826e-01 6.11579481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.30275509600006 meters 0.017490673370008303 Centerline is valid? [True, True] Translation: X:66.07, Y:235.10, Z:6.12 [[ 8.06792609e-01 5.90780745e-01 -7.98731862e-03 6.60676375e+01] [-5.90750725e-01 8.06832141e-01 5.95627307e-03 2.35103807e+02] [ 9.96327682e-03 -8.69628315e-05 9.99950362e-01 6.11552785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3327550960001 meters 0.017081778167151566 Centerline is valid? [True, True] Translation: X:66.09, Y:235.09, Z:6.12 [[ 8.06376990e-01 5.91349231e-01 -7.88898601e-03 6.60907677e+01] [-5.91319954e-01 8.06415575e-01 5.88490962e-03 2.35086851e+02] [ 9.84183797e-03 -8.05408597e-05 9.99951565e-01 6.11571417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.36275509600006 meters 0.01676060607045799 Centerline is valid? [True, True] Translation: X:66.11, Y:235.07, Z:6.12 [[ 8.05548203e-01 5.92481862e-01 -7.57199964e-03 6.61143551e+01] [-5.92454948e-01 8.05583788e-01 5.64762616e-03 2.35070818e+02] [ 9.44599621e-03 -6.33664475e-05 9.99955384e-01 6.11647228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.39275509600003 meters 0.016250290770317227 Centerline is valid? [True, True] Translation: X:66.14, Y:235.06, Z:6.12 [[ 8.03311381e-01 5.95515666e-01 -7.20530419e-03 6.61424121e+01] [-5.95491428e-01 8.03343694e-01 5.37291650e-03 2.35055082e+02] [ 8.98799164e-03 -2.54280930e-05 9.99959607e-01 6.11685661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.42275509600006 meters 0.016093011430036226 Centerline is valid? [True, True] Translation: X:66.17, Y:235.04, Z:6.12 [[ 8.02268013e-01 5.96916876e-01 -7.50195141e-03 6.61688866e+01] [-5.96890631e-01 8.02303087e-01 5.59745342e-03 2.35036184e+02] [ 9.36005318e-03 -1.28133175e-05 9.99956194e-01 6.11681481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.45275509600003 meters 0.01610148008600335 Centerline is valid? [True, True] Translation: X:66.20, Y:235.02, Z:6.12 [[ 8.01195600e-01 5.98342860e-01 -8.45178658e-03 6.61957932e+01] [-5.98309579e-01 8.01240178e-01 6.31077095e-03 2.35017024e+02] [ 1.05479157e-02 6.22950905e-07 9.99944369e-01 6.11667741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.48275509600006 meters 0.016038905785695137 Centerline is valid? [True, True] Translation: X:66.22, Y:235.00, Z:6.12 [[ 8.01009523e-01 5.98585807e-01 -8.87558773e-03 6.62217837e+01] [-5.98549069e-01 8.01058695e-01 6.63174225e-03 2.34997121e+02] [ 1.10795335e-02 3.86075015e-07 9.99938620e-01 6.11637632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.51275509600003 meters 0.0160530416076913 Centerline is valid? [True, True] Translation: X:66.25, Y:234.98, Z:6.12 [[ 8.00953438e-01 5.98656436e-01 -9.16852541e-03 6.62477330e+01] [-5.98617186e-01 8.01005912e-01 6.85520280e-03 2.34977142e+02] [ 1.14479543e-02 -2.26136954e-06 9.99934470e-01 6.11665963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.54275509600006 meters 0.016063324974566213 Centerline is valid? [True, True] Translation: X:66.27, Y:234.96, Z:6.12 [[ 8.01712495e-01 5.97634776e-01 -9.47361217e-03 6.62730809e+01] [-5.97592743e-01 8.01768467e-01 7.08800822e-03 2.34957090e+02] [ 1.18316837e-02 -2.11828837e-05 9.99930003e-01 6.11648407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.57275509600004 meters 0.016259355097792902 Centerline is valid? [True, True] Translation: X:66.30, Y:234.94, Z:6.12 [[ 8.02523268e-01 5.96542425e-01 -9.67155432e-03 6.62987357e+01] [-5.96498483e-01 8.02581543e-01 7.24060887e-03 2.34936634e+02] [ 1.20815414e-02 -4.16896103e-05 9.99927015e-01 6.11660899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.60275509600007 meters 0.016327029666628422 Centerline is valid? [True, True] Translation: X:66.32, Y:234.92, Z:6.12 [[ 8.03574031e-01 5.95119892e-01 -1.00544504e-02 6.63245025e+01] [-5.95072227e-01 8.03636927e-01 7.53224479e-03 2.34915475e+02] [ 1.25627163e-02 -6.95921028e-05 9.99921084e-01 6.11643652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.63275509600004 meters 0.017165901191579742 Centerline is valid? [True, True] Translation: X:66.35, Y:234.89, Z:6.12 [[ 8.05897825e-01 5.91966021e-01 -1.02432845e-02 6.63465749e+01] [-5.91916233e-01 8.05962911e-01 7.67850311e-03 2.34893315e+02] [ 1.28011203e-02 -1.24922581e-04 9.99918055e-01 6.11661114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.66275509600007 meters 0.017484102904764535 Centerline is valid? [True, True] Translation: X:66.37, Y:234.87, Z:6.12 [[ 8.06862029e-01 5.90645645e-01 -1.05541054e-02 6.63713358e+01] [-5.90592619e-01 8.06931037e-01 7.91578213e-03 2.34873142e+02] [ 1.31918575e-02 -1.53767266e-04 9.99912972e-01 6.11711607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.69275509600004 meters 0.01825022174639604 Centerline is valid? [True, True] Translation: X:66.40, Y:234.85, Z:6.12 [[ 8.08377087e-01 5.88572820e-01 -1.04173228e-02 6.63964501e+01] [-5.88520930e-01 8.08444185e-01 7.81761701e-03 2.34853351e+02] [ 1.30230609e-02 -1.88769985e-04 9.99915179e-01 6.11761905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.72275509600007 meters 0.019073548383045483 Centerline is valid? [True, True] Translation: X:66.42, Y:234.83, Z:6.12 [[ 8.09190937e-01 5.87453035e-01 -1.04383392e-02 6.64204222e+01] [-5.87400785e-01 8.09258233e-01 7.83779992e-03 2.34833421e+02] [ 1.30516513e-02 -2.10788027e-04 9.99914801e-01 6.11784760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.75275509600004 meters 0.01921353243001213 Centerline is valid? [True, True] Translation: X:66.45, Y:234.81, Z:6.12 [[ 8.09763284e-01 5.86663086e-01 -1.04807749e-02 6.64461548e+01] [-5.86610288e-01 8.09831076e-01 7.87389946e-03 2.34813760e+02] [ 1.31069833e-02 -2.27864321e-04 9.99914074e-01 6.11845912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7827550960001 meters 0.021368069758402712 Centerline is valid? [True, True] Translation: X:66.47, Y:234.79, Z:6.12 [[ 8.10844297e-01 5.85167512e-01 -1.05123743e-02 6.64689844e+01] [-5.85114211e-01 8.10912398e-01 7.90204537e-03 2.34791773e+02] [ 1.31486349e-02 -2.56388797e-04 9.99913520e-01 6.11836879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.81275509600005 meters 0.02079522675796745 Centerline is valid? [True, True] Translation: X:66.50, Y:234.77, Z:6.12 [[ 8.10941445e-01 5.85028732e-01 -1.07403710e-02 6.64960047e+01] [-5.84973022e-01 8.11012522e-01 8.07792679e-03 2.34772368e+02] [ 1.34363946e-02 -2.67898366e-04 9.99909692e-01 6.11916376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8427550960001 meters 0.01997587643490623 Centerline is valid? [True, True] Translation: X:66.52, Y:234.75, Z:6.12 [[ 8.10743342e-01 5.85303169e-01 -1.07439979e-02 6.65233409e+01] [-5.85247376e-01 8.10814485e-01 8.08578739e-03 2.34753440e+02] [ 1.34440261e-02 -2.67601698e-04 9.99909589e-01 6.12006318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.87275509600005 meters 0.01970995319577263 Centerline is valid? [True, True] Translation: X:66.55, Y:234.74, Z:6.12 [[ 8.09944677e-01 5.86407064e-01 -1.07877753e-02 6.65502344e+01] [-5.86350843e-01 8.10016476e-01 8.12389864e-03 2.34735859e+02] [ 1.35021872e-02 -2.54487331e-04 9.99908809e-01 6.12040312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9027550960001 meters 0.019009246393978257 Centerline is valid? [True, True] Translation: X:66.58, Y:234.72, Z:6.12 [[ 8.09050517e-01 5.87636702e-01 -1.09712229e-02 6.65775073e+01] [-5.87578600e-01 8.09124865e-01 8.26682553e-03 2.34718495e+02] [ 1.37349794e-02 -2.41823651e-04 9.99905642e-01 6.12045780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.93275509600005 meters 0.01818781757646977 Centerline is valid? [True, True] Translation: X:66.61, Y:234.70, Z:6.12 [[ 8.07210358e-01 5.90164613e-01 -1.08243518e-02 6.66053224e+01] [-5.90108220e-01 8.07282905e-01 8.16083214e-03 2.34702269e+02] [ 1.35545485e-02 -1.99969239e-04 9.99908113e-01 6.12101996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9627550960001 meters 0.018019233213625724 Centerline is valid? [True, True] Translation: X:66.63, Y:234.68, Z:6.12 [[ 8.06066682e-01 5.91730937e-01 -1.05357783e-02 6.66309190e+01] [-5.91677587e-01 8.06135515e-01 7.94766041e-03 2.34684228e+02] [ 1.31961416e-02 -1.72560379e-04 9.99912912e-01 6.12143392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.99275509600005 meters 0.017289431969922758 Centerline is valid? [True, True] Translation: X:66.66, Y:234.67, Z:6.12 [[ 8.04847220e-01 5.93390548e-01 -1.04216659e-02 6.66575794e+01] [-5.93338431e-01 8.04914676e-01 7.86579418e-03 2.34666831e+02] [ 1.30560398e-02 -1.47187685e-04 9.99914755e-01 6.12207017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0227550960001 meters 0.01744135648773109 Centerline is valid? [True, True] Translation: X:66.68, Y:234.65, Z:6.12 [[ 8.03778674e-01 5.94837316e-01 -1.04120433e-02 6.66824672e+01] [-5.94785358e-01 8.03846099e-01 7.86295600e-03 2.34647407e+02] [ 1.30468600e-02 -1.27145470e-04 9.99914878e-01 6.12198248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.05275509600006 meters 0.016526613340687543 Centerline is valid? [True, True] Translation: X:66.71, Y:234.63, Z:6.12 [[ 8.02503381e-01 5.96552929e-01 -1.06266543e-02 6.67096101e+01] [-5.96498899e-01 8.02573730e-01 8.02943614e-03 2.34630839e+02] [ 1.33186572e-02 -1.04862081e-04 9.99911297e-01 6.12295836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0827550960001 meters 0.0164411178111336 Centerline is valid? [True, True] Translation: X:66.73, Y:234.61, Z:6.12 [[ 8.02022991e-01 5.97203078e-01 -1.03733096e-02 6.67346907e+01] [-5.97151589e-01 8.02090067e-01 7.84252287e-03 2.34611571e+02] [ 1.30039074e-02 -9.54453513e-05 9.99915441e-01 6.12319882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.11275509600006 meters 0.01657550289496055 Centerline is valid? [True, True] Translation: X:66.76, Y:234.59, Z:6.12 [[ 8.02065754e-01 5.97149948e-01 -1.01225364e-02 6.67589368e+01] [-5.97100858e-01 8.02129622e-01 7.65739106e-03 2.34592839e+02] [ 1.26921970e-02 -9.75559788e-05 9.99919446e-01 6.12356394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.14275509600003 meters 0.016580937916798568 Centerline is valid? [True, True] Translation: X:66.78, Y:234.57, Z:6.12 [[ 8.02263691e-01 5.96890258e-01 -9.74629227e-03 6.67848669e+01] [-5.96844683e-01 8.02322884e-01 7.37664796e-03 2.34572563e+02] [ 1.22227226e-02 -1.00994103e-04 9.99925295e-01 6.12390762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.17275509600006 meters 0.016986906986669933 Centerline is valid? [True, True] Translation: X:66.81, Y:234.55, Z:6.12 [[ 8.03281389e-01 5.95526303e-01 -9.35052058e-03 6.68091001e+01] [-5.95484211e-01 8.03335801e-01 7.08141418e-03 2.34551771e+02] [ 1.17287763e-02 -1.20280855e-04 9.99931208e-01 6.12440162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.20275509600003 meters 0.017245334676741508 Centerline is valid? [True, True] Translation: X:66.83, Y:234.53, Z:6.13 [[ 8.03958675e-01 5.94617145e-01 -8.99443494e-03 6.68336280e+01] [-5.94578099e-01 8.04008976e-01 6.81544109e-03 2.34530958e+02] [ 1.12841846e-02 -1.31438958e-04 9.99936323e-01 6.12517115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.23275509600006 meters 0.017548511005805262 Centerline is valid? [True, True] Translation: X:66.86, Y:234.51, Z:6.13 [[ 8.04477542e-01 5.93915473e-01 -8.96083365e-03 6.68577346e+01] [-5.93876632e-01 8.04527433e-01 6.79378031e-03 2.34510330e+02] [ 1.12441677e-02 -1.43813978e-04 9.99936772e-01 6.12555317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26275509600003 meters 0.01814287078461343 Centerline is valid? [True, True] Translation: X:66.88, Y:234.49, Z:6.13 [[ 8.05149317e-01 5.93007606e-01 -8.74964874e-03 6.68825643e+01] [-5.92970482e-01 8.05196842e-01 6.63728416e-03 2.34489289e+02] [ 1.09811495e-02 -1.55721375e-04 9.99939693e-01 6.12612788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.29275509600006 meters 0.01814287078461343 Centerline is valid? [True, True] Translation: X:66.91, Y:234.47, Z:6.13 [[ 8.04968509e-01 5.93253044e-01 -8.74785529e-03 6.69082950e+01] [-5.93215908e-01 8.05016026e-01 6.63964712e-03 2.34469543e+02] [ 1.09811546e-02 -1.55339921e-04 9.99939693e-01 6.12645301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32275509600004 meters 0.01912046092565933 Centerline is valid? [True, True] Translation: X:66.93, Y:234.45, Z:6.13 [[ 8.06206472e-01 5.91571868e-01 -8.59365703e-03 6.69310346e+01] [-5.91535890e-01 8.06252252e-01 6.52661446e-03 2.34448674e+02] [ 1.07896168e-02 -1.78342253e-04 9.99941775e-01 6.12663969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.35275509600007 meters 0.018894397913592972 Centerline is valid? [True, True] Translation: X:66.96, Y:234.43, Z:6.13 [[ 8.06793485e-01 5.90768283e-01 -8.78114191e-03 6.69564638e+01] [-5.90730633e-01 8.06841247e-01 6.67250802e-03 2.34429594e+02] [ 1.10268936e-02 -1.96046482e-04 9.99939183e-01 6.12658035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38275509600004 meters 0.02038991015091186 Centerline is valid? [True, True] Translation: X:66.98, Y:234.41, Z:6.13 [[ 8.07339719e-01 5.90021380e-01 -8.79490906e-03 6.69790295e+01] [-5.89983525e-01 8.07387594e-01 6.68672771e-03 2.34408692e+02] [ 1.10462128e-02 -2.09609419e-04 9.99938967e-01 6.12630152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.41275509600007 meters 0.021034199120876014 Centerline is valid? [True, True] Translation: X:67.00, Y:234.39, Z:6.13 [[ 8.07814350e-01 5.89358362e-01 -9.62793558e-03 6.70031405e+01] [-5.89312907e-01 8.07871687e-01 7.32367798e-03 2.34388440e+02] [ 1.20944074e-02 -2.42305463e-04 9.99926831e-01 6.12515808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.44275509600004 meters 0.01987160746023382 Centerline is valid? [True, True] Translation: X:67.03, Y:234.37, Z:6.13 [[ 8.07864215e-01 5.89281107e-01 -1.01581168e-02 6.70311383e+01] [-5.89230446e-01 8.07928035e-01 7.73122949e-03 2.34370087e+02] [ 1.27628948e-02 -2.60311963e-04 9.99918517e-01 6.12534151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.47275509600007 meters 0.019460828027664422 Centerline is valid? [True, True] Translation: X:67.06, Y:234.35, Z:6.12 [[ 8.07524506e-01 5.89738183e-01 -1.06324424e-02 6.70573991e+01] [-5.89682646e-01 8.07594455e-01 8.09774588e-03 2.34351030e+02] [ 1.33622515e-02 -2.69361472e-04 9.99910685e-01 6.12485951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.50275509600004 meters 0.019957813144790285 Centerline is valid? [True, True] Translation: X:67.08, Y:234.33, Z:6.12 [[ 8.07477845e-01 5.89796668e-01 -1.09279673e-02 6.70819534e+01] [-5.89737931e-01 8.07551739e-01 8.32837592e-03 2.34330879e+02] [ 1.37369474e-02 -2.80342224e-04 9.99905604e-01 6.12463448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5327550960001 meters 0.01994419537371695 Centerline is valid? [True, True] Translation: X:67.11, Y:234.31, Z:6.13 [[ 8.07539800e-01 5.89714632e-01 -1.07760932e-02 6.71075872e+01] [-5.89657439e-01 8.07611648e-01 8.21775352e-03 2.34310750e+02] [ 1.35490279e-02 -2.81959505e-04 9.99908168e-01 6.12519989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.56275509600005 meters 0.020003470836460324 Centerline is valid? [True, True] Translation: X:67.13, Y:234.29, Z:6.13 [[ 8.07836646e-01 5.89304650e-01 -1.09536888e-02 6.71324966e+01] [-5.89245443e-01 8.07910850e-01 8.35859624e-03 2.34290941e+02] [ 1.37753636e-02 -2.97969161e-04 9.99905071e-01 6.12559082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5927550960001 meters 0.021524828427490022 Centerline is valid? [True, True] Translation: X:67.15, Y:234.27, Z:6.13 [[ 8.08496891e-01 5.88397460e-01 -1.10094100e-02 6.71549153e+01] [-5.88337499e-01 8.08571783e-01 8.40592610e-03 2.34269419e+02] [ 1.38479238e-02 -3.18916365e-04 9.99904062e-01 6.12637440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.62275509600005 meters 0.020919747022345187 Centerline is valid? [True, True] Translation: X:67.18, Y:234.25, Z:6.13 [[ 8.08627410e-01 5.88226740e-01 -1.05363048e-02 6.71819852e+01] [-5.88171749e-01 8.08695991e-01 8.04911912e-03 2.34250012e+02] [ 1.32553746e-02 -3.11581498e-04 9.99912095e-01 6.12718139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6527550960001 meters 0.021302579619367643 Centerline is valid? [True, True] Translation: X:67.21, Y:234.23, Z:6.13 [[ 8.08558534e-01 5.88324060e-01 -1.03874074e-02 6.72064786e+01] [-5.88270553e-01 8.08625194e-01 7.94046714e-03 2.34230030e+02] [ 1.30710872e-02 -3.09726597e-04 9.99914522e-01 6.12774462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.68275509600005 meters 0.021240619360150446 Centerline is valid? [True, True] Translation: X:67.23, Y:234.21, Z:6.13 [[ 8.08113922e-01 5.88941986e-01 -9.96119849e-03 6.72318142e+01] [-5.88892772e-01 8.08175261e-01 7.61910208e-03 2.34210490e+02] [ 1.25376033e-02 -2.91024665e-04 9.99921359e-01 6.12880835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7127550960001 meters 0.020961238959686726 Centerline is valid? [True, True] Translation: X:67.26, Y:234.19, Z:6.13 [[ 8.07372135e-01 5.89966435e-01 -9.47844576e-03 6.72576404e+01] [-5.89921900e-01 8.07427728e-01 7.25377306e-03 2.34190861e+02] [ 1.19326426e-02 -2.64951520e-04 9.99928768e-01 6.12946727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.74275509600005 meters 0.020187264023682153 Centerline is valid? [True, True] Translation: X:67.28, Y:234.17, Z:6.13 [[ 8.05823952e-01 5.92086895e-01 -8.99265846e-03 6.72834651e+01] [-5.92046898e-01 8.05874096e-01 6.88568349e-03 2.34172522e+02] [ 1.13238735e-02 -2.24573135e-04 9.99935858e-01 6.13112368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7727550960001 meters 0.019029783929502955 Centerline is valid? [True, True] Translation: X:67.31, Y:234.15, Z:6.13 [[ 8.04831674e-01 5.93434030e-01 -9.05697845e-03 6.73106218e+01] [-5.93393499e-01 8.04882605e-01 6.93882683e-03 2.34154656e+02] [ 1.14075404e-02 -2.10235478e-04 9.99934910e-01 6.13166176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.80275509600006 meters 0.018760651865477217 Centerline is valid? [True, True] Translation: X:67.34, Y:234.14, Z:6.13 [[ 8.03083202e-01 5.95800477e-01 -8.89733060e-03 6.73359908e+01] [-5.95761464e-01 8.03132468e-01 6.82033806e-03 2.34136826e+02] [ 1.12092958e-02 -1.76612229e-04 9.99937158e-01 6.13229375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8327550960001 meters 0.018047200812534796 Centerline is valid? [True, True] Translation: X:67.36, Y:234.12, Z:6.13 [[ 8.01984848e-01 5.97279976e-01 -8.77119493e-03 6.73628070e+01] [-5.97242111e-01 8.02032796e-01 6.72717776e-03 2.34118584e+02] [ 1.10527946e-02 -1.56567658e-04 9.99938904e-01 6.13266655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.86275509600006 meters 0.017791952132970065 Centerline is valid? [True, True] Translation: X:67.39, Y:234.10, Z:6.13 [[ 8.01070449e-01 5.98506892e-01 -8.69693909e-03 6.73879361e+01] [-5.98469697e-01 8.01117645e-01 6.67389478e-03 2.34100493e+02] [ 1.09616434e-02 -1.41405378e-04 9.99939909e-01 6.13318547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.89275509600003 meters 0.017292940073925366 Centerline is valid? [True, True] Translation: X:67.41, Y:234.08, Z:6.13 [[ 8.00008469e-01 5.99925691e-01 -8.69573431e-03 6.74143641e+01] [-5.99888553e-01 8.00055717e-01 6.67641758e-03 2.34081703e+02] [ 1.09624264e-02 -1.24719139e-04 9.99939903e-01 6.13372111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.92275509600006 meters 0.01692254766166907 Centerline is valid? [True, True] Translation: X:67.44, Y:234.06, Z:6.13 [[ 7.99177726e-01 6.01034733e-01 -8.49777325e-03 6.74407647e+01] [-6.00999292e-01 7.99222896e-01 6.52793739e-03 2.34062723e+02] [ 1.07151321e-02 -1.09826455e-04 9.99942585e-01 6.13457408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.95275509600003 meters 0.0167524361062135 Centerline is valid? [True, True] Translation: X:67.46, Y:234.05, Z:6.14 [[ 7.98248388e-01 6.02270517e-01 -8.35081510e-03 6.74644106e+01] [-6.02236324e-01 7.98292062e-01 6.41830105e-03 2.34045706e+02] [ 1.05319429e-02 -9.42342752e-05 9.99944533e-01 6.13530048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.98275509600006 meters 0.016646503331344716 Centerline is valid? [True, True] Translation: X:67.49, Y:234.03, Z:6.14 [[ 7.97940643e-01 6.02676633e-01 -8.46209690e-03 6.74872953e+01] [-6.02641554e-01 7.97985506e-01 6.50304701e-03 2.34028916e+02] [ 1.06718652e-02 -8.94342882e-05 9.99943050e-01 6.13550444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.01275509600003 meters 0.016451590845034888 Centerline is valid? [True, True] Translation: X:67.51, Y:234.01, Z:6.14 [[ 7.97916271e-01 6.02701233e-01 -8.99158126e-03 6.75141391e+01] [-6.02661633e-01 7.97966926e-01 6.90949523e-03 2.34009444e+02] [ 1.13393457e-02 -9.43176285e-05 9.99935703e-01 6.13557471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.04275509600006 meters 0.016724097944583405 Centerline is valid? [True, True] Translation: X:67.54, Y:233.99, Z:6.14 [[ 7.98250184e-01 6.02259239e-01 -8.96949138e-03 6.75374338e+01] [-6.02219762e-01 7.98300569e-01 6.89642997e-03 2.33990518e+02] [ 1.13137887e-02 -1.03471527e-04 9.99935992e-01 6.13535054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.07275509600004 meters 0.017116226106294794 Centerline is valid? [True, True] Translation: X:67.56, Y:233.97, Z:6.14 [[ 7.99463192e-01 6.00635874e-01 -9.75453485e-03 6.75614714e+01] [-6.00589050e-01 7.99522687e-01 7.50108410e-03 2.33968525e+02] [ 1.23043921e-02 -1.38373822e-04 9.99924289e-01 6.13539560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.10275509600007 meters 0.01793308336641382 Centerline is valid? [True, True] Translation: X:67.58, Y:233.95, Z:6.14 [[ 8.00200488e-01 5.99652711e-01 -9.78800528e-03 6.75840719e+01] [-5.99605439e-01 8.00260334e-01 7.53101023e-03 2.33947505e+02] [ 1.23489431e-02 -1.57376857e-04 9.99923737e-01 6.13542137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.13275509600004 meters 0.01788220378305778 Centerline is valid? [True, True] Translation: X:67.61, Y:233.93, Z:6.14 [[ 8.01011815e-01 5.98565935e-01 -9.94451534e-03 6.76089235e+01] [-5.98517004e-01 8.01073523e-01 7.65552913e-03 2.33927390e+02] [ 1.25486269e-02 -1.80207750e-04 9.99921247e-01 6.13593152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.16275509600007 meters 0.018642553253485055 Centerline is valid? [True, True] Translation: X:67.63, Y:233.91, Z:6.14 [[ 8.01908647e-01 5.97356856e-01 -1.03589989e-02 6.76321714e+01] [-5.97303600e-01 8.01975525e-01 7.97921370e-03 2.33906723e+02] [ 1.30741016e-02 -2.11133149e-04 9.99914508e-01 6.13634217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.19275509600004 meters 0.019565638181702934 Centerline is valid? [True, True] Translation: X:67.66, Y:233.89, Z:6.14 [[ 8.03658062e-01 5.94993046e-01 -1.08164264e-02 6.76559249e+01] [-5.94934706e-01 8.03730804e-01 8.33607647e-03 2.33885895e+02] [ 1.36534026e-02 -2.64287612e-04 9.99906753e-01 6.13621385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.22275509600007 meters 0.02091779832422867 Centerline is valid? [True, True] Translation: X:67.68, Y:233.86, Z:6.14 [[ 8.04232714e-01 5.94212773e-01 -1.09964403e-02 6.76792831e+01] [-5.94152340e-01 8.04307838e-01 8.47933080e-03 2.33864744e+02] [ 1.38830498e-02 -2.85794518e-04 9.99903585e-01 6.13615547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.25275509600004 meters 0.020226163057183687 Centerline is valid? [True, True] Translation: X:67.70, Y:233.85, Z:6.14 [[ 8.04614087e-01 5.93694402e-01 -1.10962958e-02 6.77049001e+01] [-5.93632752e-01 8.04690541e-01 8.56095355e-03 2.33845893e+02] [ 1.40116745e-02 -3.01139192e-04 9.99901786e-01 6.13692029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2827550960001 meters 0.021108450849065086 Centerline is valid? [True, True] Translation: X:67.73, Y:233.82, Z:6.14 [[ 8.05212204e-01 5.92884733e-01 -1.10000224e-02 6.77278776e+01] [-5.92824014e-01 8.05287274e-01 8.49087287e-03 2.33824191e+02] [ 1.38922870e-02 -3.15877000e-04 9.99903448e-01 6.13796073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.31275509600005 meters 0.020660698797141424 Centerline is valid? [True, True] Translation: X:67.75, Y:233.80, Z:6.14 [[ 8.05205774e-01 5.92886298e-01 -1.13797758e-02 6.77540076e+01] [-5.92821261e-01 8.05286116e-01 8.78772890e-03 2.33803591e+02] [ 1.43740995e-02 -3.29757032e-04 9.99896633e-01 6.13916843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3427550960001 meters 0.021120925661081327 Centerline is valid? [True, True] Translation: X:67.78, Y:233.78, Z:6.14 [[ 8.04607428e-01 5.93691087e-01 -1.17380081e-02 6.77774157e+01] [-5.93621890e-01 8.04692975e-01 9.07010766e-03 2.33783430e+02] [ 1.48303348e-02 -3.29937419e-04 9.99889970e-01 6.14014477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.37275509600005 meters 0.02065845920328527 Centerline is valid? [True, True] Translation: X:67.80, Y:233.76, Z:6.14 [[ 8.04088456e-01 5.94380811e-01 -1.23776929e-02 6.78040269e+01] [-5.94303859e-01 8.04183646e-01 9.57008486e-03 2.33764517e+02] [ 1.56422130e-02 -3.39084119e-04 9.99877596e-01 6.14051996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4027550960001 meters 0.02042519988804722 Centerline is valid? [True, True] Translation: X:67.83, Y:233.75, Z:6.14 [[ 8.03420792e-01 5.95275468e-01 -1.27337365e-02 6.78303396e+01] [-5.95194059e-01 8.03521627e-01 9.85023537e-03 2.33745174e+02] [ 1.60954361e-02 -3.34839615e-04 9.99870404e-01 6.14034388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.43275509600005 meters 0.01965674272270297 Centerline is valid? [True, True] Translation: X:67.86, Y:233.73, Z:6.14 [[ 8.01904967e-01 5.97283578e-01 -1.41687072e-02 6.78571687e+01] [-5.97183024e-01 8.02030061e-01 1.09644052e-02 2.33727083e+02] [ 1.79125882e-02 -3.31099570e-04 9.99839502e-01 6.14098174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4627550960001 meters 0.019316467093823054 Centerline is valid? [True, True] Translation: X:67.88, Y:233.71, Z:6.14 [[ 8.01213424e-01 5.98207334e-01 -1.43190266e-02 6.78835112e+01] [-5.98104666e-01 8.01341303e-01 1.10871272e-02 2.33708338e+02] [ 1.81068283e-02 -3.18878537e-04 9.99836007e-01 6.14209336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.49275509600005 meters 0.019823164663400665 Centerline is valid? [True, True] Translation: X:67.91, Y:233.69, Z:6.14 [[ 8.00329203e-01 5.99387946e-01 -1.43964372e-02 6.79076148e+01] [-5.99284238e-01 8.00458619e-01 1.11535137e-02 2.33687904e+02] [ 1.82090339e-02 -2.98924833e-04 9.99834157e-01 6.14264084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5227550960001 meters 0.0193245415646199 Centerline is valid? [True, True] Translation: X:67.93, Y:233.67, Z:6.14 [[ 7.99309972e-01 6.00729957e-01 -1.50694485e-02 6.79341904e+01] [-6.00616435e-01 7.99451961e-01 1.16816661e-02 2.33669221e+02] [ 1.90648269e-02 -2.86313749e-04 9.99818209e-01 6.14451572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.55275509600006 meters 0.01871528928604648 Centerline is valid? [True, True] Translation: X:67.96, Y:233.65, Z:6.15 [[ 7.98612978e-01 6.01665515e-01 -1.46942152e-02 6.79605997e+01] [-6.01557618e-01 7.98748107e-01 1.13970914e-02 2.33650487e+02] [ 1.85942135e-02 -2.62447958e-04 9.99827078e-01 6.14599302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5827550960001 meters 0.018718546657077294 Centerline is valid? [True, True] Translation: X:67.99, Y:233.63, Z:6.15 [[ 7.98200585e-01 6.02222338e-01 -1.42857499e-02 6.79857272e+01] [-6.02120336e-01 7.98328375e-01 1.10862806e-02 2.33632579e+02] [ 1.80811253e-02 -2.47335167e-04 9.99836493e-01 6.14748120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.61275509600006 meters 0.018979495815800426 Centerline is valid? [True, True] Translation: X:68.01, Y:233.61, Z:6.15 [[ 7.97909295e-01 6.02621388e-01 -1.37193346e-02 6.80106564e+01] [-6.02527274e-01 7.98027198e-01 1.06525143e-02 2.33612943e+02] [ 1.73678351e-02 -2.33466948e-04 9.99849141e-01 6.14815113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.64275509600003 meters 0.018795707473433308 Centerline is valid? [True, True] Translation: X:68.04, Y:233.59, Z:6.15 [[ 7.97842066e-01 6.02713922e-01 -1.35633993e-02 6.80374692e+01] [-6.02621838e-01 7.97957313e-01 1.05378851e-02 2.33593198e+02] [ 1.71743438e-02 -2.33967389e-04 9.99852483e-01 6.14966028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.67275509600006 meters 0.01901854769466102 Centerline is valid? [True, True] Translation: X:68.06, Y:233.57, Z:6.15 [[ 7.98087088e-01 6.02400736e-01 -1.30519751e-02 6.80636660e+01] [-6.02315318e-01 7.98193772e-01 1.01469168e-02 2.33572508e+02] [ 1.65305154e-02 -2.36718749e-04 9.99863334e-01 6.15154648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.70275509600003 meters 0.01949790581769395 Centerline is valid? [True, True] Translation: X:68.09, Y:233.55, Z:6.15 [[ 7.98232266e-01 6.02216378e-01 -1.26760960e-02 6.80878033e+01] [-6.02135689e-01 7.98332874e-01 9.86077037e-03 2.33552219e+02] [ 1.60580616e-02 -2.38455258e-04 9.99871033e-01 6.15239688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.73275509600006 meters 0.0196653932203878 Centerline is valid? [True, True] Translation: X:68.11, Y:233.53, Z:6.15 [[ 7.98451753e-01 6.01931882e-01 -1.23615352e-02 6.81120591e+01] [-6.01855054e-01 7.98547401e-01 9.61992754e-03 2.33532902e+02] [ 1.56618129e-02 -2.41195598e-04 9.99877317e-01 6.15338393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76275509600003 meters 0.02029230607378404 Centerline is valid? [True, True] Translation: X:68.14, Y:233.51, Z:6.15 [[ 7.99237672e-01 6.00895019e-01 -1.20133183e-02 6.81365470e+01] [-6.00822309e-01 7.99327912e-01 9.35103209e-03 2.33512922e+02] [ 1.52215693e-02 -2.55827452e-04 9.99884113e-01 6.15439512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.79275509600006 meters 0.020653243141757552 Centerline is valid? [True, True] Translation: X:68.16, Y:233.49, Z:6.15 [[ 7.99573881e-01 6.00444564e-01 -1.21627772e-02 6.81620399e+01] [-6.00369906e-01 7.99666337e-01 9.47233318e-03 2.33492787e+02] [ 1.54137745e-02 -2.71664798e-04 9.99881164e-01 6.15472536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82275509600004 meters 0.02152040188452617 Centerline is valid? [True, True] Translation: X:68.19, Y:233.47, Z:6.15 [[ 8.00531541e-01 5.99176173e-01 -1.17117947e-02 6.81859717e+01] [-5.99106763e-01 8.00617156e-01 9.12444235e-03 2.33473559e+02] [ 1.48438122e-02 -2.87788485e-04 9.99889783e-01 6.15488451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.85275509600007 meters 0.020798020898987017 Centerline is valid? [True, True] Translation: X:68.21, Y:233.45, Z:6.16 [[ 8.00831867e-01 5.98770157e-01 -1.19424055e-02 6.82127485e+01] [-5.98697910e-01 8.00920850e-01 9.30616071e-03 2.33454984e+02] [ 1.51371728e-02 -3.02776849e-04 9.99885381e-01 6.15554481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.88275509600004 meters 0.021190730182902268 Centerline is valid? [True, True] Translation: X:68.24, Y:233.43, Z:6.16 [[ 8.01190691e-01 5.98291392e-01 -1.18695988e-02 6.82374111e+01] [-5.98219892e-01 8.01278548e-01 9.25470591e-03 2.33434991e+02] [ 1.50478658e-02 -3.14154116e-04 9.99886725e-01 6.15564143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.91275509600007 meters 0.02171353947130702 Centerline is valid? [True, True] Translation: X:68.26, Y:233.41, Z:6.16 [[ 8.01534381e-01 5.97823555e-01 -1.22324652e-02 6.82611533e+01] [-5.97747478e-01 8.01627646e-01 9.54303656e-03 2.33414897e+02] [ 1.55109343e-02 -3.37146680e-04 9.99879641e-01 6.15548248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.94275509600004 meters 0.02438170650696405 Centerline is valid? [True, True] Translation: X:68.28, Y:233.39, Z:6.15 [[ 8.02777823e-01 5.96147283e-01 -1.24973421e-02 6.82825675e+01] [-5.96067590e-01 8.02875003e-01 9.75484718e-03 2.33392075e+02] [ 1.58491292e-02 -3.81714417e-04 9.99874322e-01 6.15478287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.97275509600007 meters 0.02514503471882938 Centerline is valid? [True, True] Translation: X:68.30, Y:233.37, Z:6.15 [[ 8.03413562e-01 5.95290793e-01 -1.24707621e-02 6.83045428e+01] [-5.95211294e-01 8.03510244e-01 9.73674900e-03 2.33373494e+02] [ 1.58165822e-02 -3.99897727e-04 9.99874830e-01 6.15489883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.00275509600004 meters 0.02301097343891389 Centerline is valid? [True, True] Translation: X:68.33, Y:233.36, Z:6.16 [[ 8.04160590e-01 5.94283951e-01 -1.23422751e-02 6.83323219e+01] [-5.94205945e-01 8.04255191e-01 9.63754165e-03 2.33356722e+02] [ 1.56537751e-02 -4.16277967e-04 9.99877386e-01 6.15540672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0327550960001 meters 0.023293112651241864 Centerline is valid? [True, True] Translation: X:68.36, Y:233.34, Z:6.16 [[ 8.04007903e-01 5.94484302e-01 -1.26374704e-02 6.83577705e+01] [-5.94402448e-01 8.04107102e-01 9.87413323e-03 2.33336221e+02] [ 1.60318969e-02 -4.27137808e-04 9.99871390e-01 6.15535955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.06275509600005 meters 0.024132544094283278 Centerline is valid? [True, True] Translation: X:68.38, Y:233.32, Z:6.15 [[ 8.03777566e-01 5.94797066e-01 -1.25727336e-02 6.83822682e+01] [-5.94715986e-01 8.03875780e-01 9.82981225e-03 2.33315164e+02] [ 1.59536595e-02 -4.23776900e-04 9.99872642e-01 6.15487450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0927550960001 meters 0.02324663800259528 Centerline is valid? [True, True] Translation: X:68.41, Y:233.30, Z:6.15 [[ 8.02545261e-01 5.96442577e-01 -1.33175379e-02 6.84090010e+01] [-5.96351749e-01 8.02655641e-01 1.04169566e-02 2.33296463e+02] [ 1.69025133e-02 -4.18142140e-04 9.99857055e-01 6.15417465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.12275509600005 meters 0.022302414131188917 Centerline is valid? [True, True] Translation: X:68.44, Y:233.28, Z:6.15 [[ 8.01623292e-01 5.97672099e-01 -1.37171450e-02 6.84351991e+01] [-5.97575851e-01 8.01740542e-01 1.07333863e-02 2.33278503e+02] [ 1.74126368e-02 -4.07097907e-04 9.99848306e-01 6.15400409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1527550960001 meters 0.021823077253797576 Centerline is valid? [True, True] Translation: X:68.46, Y:233.26, Z:6.15 [[ 8.00538050e-01 5.99116476e-01 -1.40811907e-02 6.84615059e+01] [-5.99015161e-01 8.00661786e-01 1.10245760e-02 2.33259690e+02] [ 1.78792764e-02 -3.90745880e-04 9.99840077e-01 6.15340832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.18275509600005 meters 0.021892192637691498 Centerline is valid? [True, True] Translation: X:68.49, Y:233.24, Z:6.15 [[ 7.99587707e-01 6.00382404e-01 -1.41586972e-02 6.84861714e+01] [-6.00280077e-01 7.99712969e-01 1.10903420e-02 2.33241097e+02] [ 1.79813400e-02 -3.68517292e-04 9.99838255e-01 6.15279020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2127550960001 meters 0.021892192637691498 Centerline is valid? [True, True] Translation: X:68.51, Y:233.22, Z:6.15 [[ 7.99403321e-01 6.00627948e-01 -1.41562220e-02 6.85116002e+01] [-6.00525603e-01 7.99528570e-01 1.10935009e-02 2.33220958e+02] [ 1.79813706e-02 -3.67007700e-04 9.99838255e-01 6.15311506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.24275509600005 meters 0.020587707982249147 Centerline is valid? [True, True] Translation: X:68.54, Y:233.20, Z:6.15 [[ 7.97314528e-01 6.03385497e-01 -1.46794307e-02 6.85381747e+01] [-6.03275782e-01 7.97449584e-01 1.15105196e-02 2.33203361e+02] [ 1.86513865e-02 -3.21759492e-04 9.99825996e-01 6.15324084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2727550960001 meters 0.02019823006938345 Centerline is valid? [True, True] Translation: X:68.56, Y:233.18, Z:6.15 [[ 7.96401352e-01 6.04582264e-01 -1.50057576e-02 6.85632462e+01] [-6.04467753e-01 7.96542651e-01 1.17703399e-02 2.33184676e+02] [ 1.90688647e-02 -3.03418063e-04 9.99818127e-01 6.15355060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.30275509600006 meters 0.019634331916491873 Centerline is valid? [True, True] Translation: X:68.59, Y:233.17, Z:6.15 [[ 7.95279856e-01 6.06057212e-01 -1.49868860e-02 6.85860188e+01] [-6.05943254e-01 7.95421011e-01 1.17553683e-02 2.33167466e+02] [ 1.90453098e-02 -2.67605140e-04 9.99818586e-01 6.15392357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3327550960001 meters 0.019271456076640155 Centerline is valid? [True, True] Translation: X:68.61, Y:233.15, Z:6.16 [[ 7.95105141e-01 6.06289217e-01 -1.48727963e-02 6.86108135e+01] [-6.06177042e-01 7.95244187e-01 1.16651612e-02 2.33149074e+02] [ 1.88999662e-02 -2.59481956e-04 9.99821346e-01 6.15506810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.36275509600006 meters 0.019138288913079213 Centerline is valid? [True, True] Translation: X:68.63, Y:233.13, Z:6.16 [[ 7.95031131e-01 6.06388995e-01 -1.47610287e-02 6.86344263e+01] [-6.06278525e-01 7.95168109e-01 1.15770716e-02 2.33130727e+02] [ 1.87577080e-02 -2.54837607e-04 9.99824026e-01 6.15543817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.39275509600003 meters 0.018843979308300382 Centerline is valid? [True, True] Translation: X:68.66, Y:233.11, Z:6.16 [[ 7.95000817e-01 6.06420147e-01 -1.51098095e-02 6.86604377e+01] [-6.06304338e-01 7.95144349e-01 1.18538275e-02 2.33110549e+02] [ 1.92028794e-02 -2.62659502e-04 9.99815573e-01 6.15641828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.42275509600006 meters 0.01982979741744936 Centerline is valid? [True, True] Translation: X:68.68, Y:233.09, Z:6.16 [[ 7.95103067e-01 6.06288553e-01 -1.50100899e-02 6.86836277e+01] [-6.06174103e-01 7.95244691e-01 1.17829961e-02 2.33088931e+02] [ 1.90805899e-02 -2.69968554e-04 9.99817913e-01 6.15552346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.45275509600003 meters 0.01991595928304585 Centerline is valid? [True, True] Translation: X:68.71, Y:233.07, Z:6.16 [[ 7.96161848e-01 6.04898884e-01 -1.49549827e-02 6.87064619e+01] [-6.04784965e-01 7.96302234e-01 1.17430326e-02 2.33069473e+02] [ 1.90120335e-02 -3.04805863e-04 9.99819209e-01 6.15681545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.48275509600006 meters 0.021139303609204036 Centerline is valid? [True, True] Translation: X:68.73, Y:233.05, Z:6.16 [[ 7.96824647e-01 6.04029862e-01 -1.47785910e-02 6.87270725e+01] [-6.03918486e-01 7.96961619e-01 1.16034217e-02 2.33049256e+02] [ 1.87867830e-02 -3.20828093e-04 9.99823461e-01 6.15689079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.51275509600003 meters 0.020055190578330575 Centerline is valid? [True, True] Translation: X:68.75, Y:233.03, Z:6.16 [[ 7.97136551e-01 6.03632618e-01 -1.41767831e-02 6.87539966e+01] [-6.03530021e-01 7.97262542e-01 1.11333933e-02 2.33029560e+02] [ 1.80230975e-02 -3.18720536e-04 9.99837520e-01 6.15904217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.54275509600006 meters 0.020501282383230495 Centerline is valid? [True, True] Translation: X:68.78, Y:233.01, Z:6.16 [[ 7.97534372e-01 6.03116748e-01 -1.37518494e-02 6.87791384e+01] [-6.03020015e-01 7.97652858e-01 1.08064431e-02 2.33008271e+02] [ 1.74867488e-02 -3.25869406e-04 9.99847042e-01 6.15999178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.57275509600004 meters 0.02092991358377386 Centerline is valid? [True, True] Translation: X:68.80, Y:232.99, Z:6.16 [[ 7.98667808e-01 6.01628802e-01 -1.31345663e-02 6.88034327e+01] [-6.01540256e-01 7.98775729e-01 1.03274443e-02 2.32987732e+02] [ 1.67048607e-02 -3.47226981e-04 9.99860404e-01 6.16125376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.60275509600007 meters 0.021890396140115148 Centerline is valid? [True, True] Translation: X:68.83, Y:232.97, Z:6.16 [[ 7.99060014e-01 6.01114283e-01 -1.28340454e-02 6.88264835e+01] [-6.01029588e-01 7.99162996e-01 1.00965769e-02 2.32967246e+02] [ 1.63256907e-02 -3.54129875e-04 9.99866664e-01 6.16120501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.63275509600004 meters 0.02278371088885118 Centerline is valid? [True, True] Translation: X:68.85, Y:232.95, Z:6.16 [[ 8.00077536e-01 5.99771028e-01 -1.22739833e-02 6.88506044e+01] [-5.99693328e-01 8.00171593e-01 9.66093098e-03 2.32945610e+02] [ 1.56156393e-02 -3.68867954e-04 9.99878000e-01 6.16149238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.66275509600007 meters 0.022538965335789553 Centerline is valid? [True, True] Translation: X:68.88, Y:232.93, Z:6.16 [[ 8.00489369e-01 5.99221077e-01 -1.22829733e-02 6.88761166e+01] [-5.99143115e-01 8.00583508e-01 9.67333296e-03 2.32925677e+02] [ 1.56300109e-02 -3.84141297e-04 9.99877770e-01 6.16196109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.69275509600004 meters 0.023665863954447593 Centerline is valid? [True, True] Translation: X:68.90, Y:232.90, Z:6.16 [[ 8.00575893e-01 5.99103971e-01 -1.23560571e-02 6.88997794e+01] [-5.99024977e-01 8.00671142e-01 9.73649043e-03 2.32904297e+02] [ 1.57263085e-02 -3.93212663e-04 9.99876257e-01 6.16176878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.72275509600007 meters 0.022123807233761308 Centerline is valid? [True, True] Translation: X:68.93, Y:232.89, Z:6.16 [[ 8.00171352e-01 5.99648346e-01 -1.21518904e-02 6.89263827e+01] [-5.99571918e-01 8.00263529e-01 9.58116808e-03 2.32886703e+02] [ 1.54700463e-02 -3.80644000e-04 9.99880259e-01 6.16229438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.75275509600004 meters 0.022324574635915386 Centerline is valid? [True, True] Translation: X:68.95, Y:232.87, Z:6.16 [[ 7.99138456e-01 6.01021109e-01 -1.23026097e-02 6.89510265e+01] [-6.00942849e-01 7.99233067e-01 9.70555182e-03 2.32866837e+02] [ 1.56658940e-02 -3.62914381e-04 9.99877217e-01 6.16224683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7827550960001 meters 0.021846955027368293 Centerline is valid? [True, True] Translation: X:68.98, Y:232.85, Z:6.16 [[ 7.98202591e-01 6.02261653e-01 -1.23904950e-02 6.89773571e+01] [-6.02182334e-01 7.98298679e-01 9.78036843e-03 2.32848161e+02] [ 1.57816566e-02 -3.45378250e-04 9.99875402e-01 6.16208200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.81275509600005 meters 0.020330978412784553 Centerline is valid? [True, True] Translation: X:69.01, Y:232.83, Z:6.16 [[ 7.96256355e-01 6.04835648e-01 -1.22333864e-02 6.90053980e+01] [-6.04758548e-01 7.96350269e-01 9.66165325e-03 2.32832117e+02] [ 1.55857728e-02 -2.94907831e-04 9.99878491e-01 6.16175787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8427550960001 meters 0.021010476293975157 Centerline is valid? [True, True] Translation: X:69.03, Y:232.81, Z:6.16 [[ 7.95064899e-01 6.06394116e-01 -1.25691339e-02 6.90293989e+01] [-6.06312831e-01 7.95164197e-01 9.93230254e-03 2.32812599e+02] [ 1.60174151e-02 -2.75997937e-04 9.99871675e-01 6.16070452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.87275509600005 meters 0.018997021539976813 Centerline is valid? [True, True] Translation: X:69.06, Y:232.80, Z:6.16 [[ 7.93299715e-01 6.08691438e-01 -1.30497440e-02 6.90566513e+01] [-6.08604073e-01 7.93407005e-01 1.03154029e-02 2.32797411e+02] [ 1.66326557e-02 -2.41078844e-04 9.99861639e-01 6.16084684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9027550960001 meters 0.018694183718360714 Centerline is valid? [True, True] Translation: X:69.08, Y:232.78, Z:6.16 [[ 7.92641916e-01 6.09547494e-01 -1.30631403e-02 6.90787712e+01] [-6.09460078e-01 7.92749521e-01 1.03251871e-02 2.32781134e+02] [ 1.66494902e-02 -2.22713557e-04 9.99861363e-01 6.16080952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.93275509600005 meters 0.018169077627728143 Centerline is valid? [True, True] Translation: X:69.10, Y:232.76, Z:6.16 [[ 7.92092432e-01 6.10266885e-01 -1.28026901e-02 6.91045339e+01] [-6.10182997e-01 7.92195865e-01 1.01203700e-02 2.32762712e+02] [ 1.63183648e-02 -2.04284691e-04 9.99866826e-01 6.16171381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9627550960001 meters 0.019076643788208253 Centerline is valid? [True, True] Translation: X:69.13, Y:232.74, Z:6.16 [[ 7.91607966e-01 6.10903022e-01 -1.24227767e-02 6.91278423e+01] [-6.10824045e-01 7.91705414e-01 9.82463613e-03 2.32741589e+02] [ 1.58370795e-02 -1.89129492e-04 9.99874568e-01 6.16112169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.99275509600005 meters 0.018537420630910163 Centerline is valid? [True, True] Translation: X:69.15, Y:232.73, Z:6.16 [[ 7.91653914e-01 6.10848838e-01 -1.21563511e-02 6.91513769e+01] [-6.10773189e-01 7.91747221e-01 9.61509530e-03 2.32725701e+02] [ 1.54981270e-02 -1.87054477e-04 9.99879879e-01 6.16230735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0227550960001 meters 0.018290504351032327 Centerline is valid? [True, True] Translation: X:69.18, Y:232.71, Z:6.16 [[ 7.92003181e-01 6.10410381e-01 -1.14073400e-02 6.91757094e+01] [-6.10343741e-01 7.92085307e-01 9.02134042e-03 2.32707445e+02] [ 1.45423062e-02 -1.82531748e-04 9.99894238e-01 6.16325786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.05275509600006 meters 0.018660743618018314 Centerline is valid? [True, True] Translation: X:69.20, Y:232.69, Z:6.16 [[ 7.92987554e-01 6.09140049e-01 -1.09151220e-02 6.92003219e+01] [-6.09078896e-01 7.93062647e-01 8.63344321e-03 2.32686095e+02] [ 1.39153515e-02 -1.98042580e-04 9.99903157e-01 6.16375016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0827550960001 meters 0.018508237377115027 Centerline is valid? [True, True] Translation: X:69.22, Y:232.67, Z:6.16 [[ 7.93607496e-01 6.08342267e-01 -1.03357504e-02 6.92249107e+01] [-6.08287308e-01 7.93674772e-01 8.17963751e-03 2.32665385e+02] [ 1.31792436e-02 -2.04315865e-04 9.99913129e-01 6.16492563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.11275509600006 meters 0.019528881649118528 Centerline is valid? [True, True] Translation: X:69.25, Y:232.64, Z:6.17 [[ 7.94182979e-01 6.07594391e-01 -1.01218172e-02 6.92474015e+01] [-6.07541565e-01 7.94247448e-01 8.01484080e-03 2.32643773e+02] [ 1.29089998e-02 -2.15825474e-04 9.99916652e-01 6.16559479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.14275509600003 meters 0.021546829031557135 Centerline is valid? [True, True] Translation: X:69.27, Y:232.62, Z:6.17 [[ 7.95194789e-01 6.06292730e-01 -8.62398931e-03 6.92681262e+01] [-6.06254270e-01 7.95241526e-01 6.83195704e-03 2.32620064e+02] [ 1.10003203e-02 -2.04406288e-04 9.99939474e-01 6.16740057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.17275509600006 meters 0.020008438720346536 Centerline is valid? [True, True] Translation: X:69.30, Y:232.60, Z:6.17 [[ 7.95553750e-01 6.05828451e-01 -8.13139035e-03 6.92951885e+01] [-6.05794203e-01 7.95595279e-01 6.44484730e-03 2.32602391e+02] [ 1.03737676e-02 -2.01273295e-04 9.99946171e-01 6.16857283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.20275509600003 meters 0.020346187447574444 Centerline is valid? [True, True] Translation: X:69.32, Y:232.58, Z:6.17 [[ 7.95572319e-01 6.05808857e-01 -7.76623014e-03 6.93196559e+01] [-6.05777582e-01 7.95610200e-01 6.15878134e-03 2.32581910e+02] [ 9.90993620e-03 -1.95147836e-04 9.99950876e-01 6.16941271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.23275509600006 meters 0.021310892240806685 Centerline is valid? [True, True] Translation: X:69.34, Y:232.56, Z:6.17 [[ 7.95687604e-01 6.05668359e-01 -6.86116447e-03 6.93433169e+01] [-6.05643919e-01 7.95717165e-01 5.44395130e-03 2.32561149e+02] [ 8.75677540e-03 -1.76262032e-04 9.99961643e-01 6.17026472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26275509600003 meters 0.021143744323396448 Centerline is valid? [True, True] Translation: X:69.37, Y:232.54, Z:6.17 [[ 7.95691494e-01 6.05670456e-01 -6.19235041e-03 6.93693817e+01] [-6.05650530e-01 7.95715573e-01 4.91561444e-03 2.32540548e+02] [ 7.90459209e-03 -1.60912291e-04 9.99968745e-01 6.17097446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.29275509600006 meters 0.021281548193630942 Centerline is valid? [True, True] Translation: X:69.39, Y:232.52, Z:6.17 [[ 7.95678324e-01 6.05690622e-01 -5.90552023e-03 6.93938648e+01] [-6.05672478e-01 7.95700224e-01 4.69077920e-03 2.32520149e+02] [ 7.54018474e-03 -1.55540262e-04 9.99971560e-01 6.17155679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32275509600004 meters 0.02098042730185756 Centerline is valid? [True, True] Translation: X:69.42, Y:232.50, Z:6.17 [[ 7.95787065e-01 6.05546472e-01 -6.03468143e-03 6.94191474e+01] [-6.05527502e-01 7.95809929e-01 4.79591105e-03 2.32498937e+02] [ 7.70660642e-03 -1.62358403e-04 9.99970291e-01 6.17178754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.35275509600007 meters 0.020936336967025036 Centerline is valid? [True, True] Translation: X:69.44, Y:232.48, Z:6.17 [[ 7.95696879e-01 6.05662661e-01 -6.26249684e-03 6.94448288e+01] [-6.05642208e-01 7.95721504e-01 4.98026974e-03 2.32478230e+02] [ 7.99956683e-03 -1.69952672e-04 9.99967989e-01 6.17137277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.38275509600004 meters 0.020658209057381006 Centerline is valid? [True, True] Translation: X:69.47, Y:232.46, Z:6.17 [[ 7.95580307e-01 6.05810305e-01 -6.77120662e-03 6.94701232e+01] [-6.05786368e-01 7.95609100e-01 5.38858572e-03 2.32457806e+02] [ 8.65169436e-03 -1.85148020e-04 9.99962556e-01 6.17024622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.41275509600007 meters 0.021057386554342528 Centerline is valid? [True, True] Translation: X:69.49, Y:232.44, Z:6.17 [[ 7.95486957e-01 6.05924499e-01 -7.48352521e-03 6.94942557e+01] [-6.05895223e-01 7.95522130e-01 5.95982114e-03 2.32436755e+02] [ 9.56451155e-03 -2.06727807e-04 9.99954238e-01 6.16979665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.44275509600004 meters 0.020994861714976137 Centerline is valid? [True, True] Translation: X:69.52, Y:232.42, Z:6.17 [[ 7.95267003e-01 6.06207910e-01 -7.89705847e-03 6.95200699e+01] [-6.06175296e-01 7.95306182e-01 6.29184745e-03 2.32415640e+02] [ 1.00947471e-02 -2.16696910e-04 9.99949023e-01 6.16944813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.47275509600007 meters 0.020900718593910364 Centerline is valid? [True, True] Translation: X:69.55, Y:232.40, Z:6.17 [[ 7.95122712e-01 6.06394544e-01 -8.09505900e-03 6.95453503e+01] [-6.06360240e-01 7.95163887e-01 6.45383547e-03 2.32395283e+02] [ 1.03504692e-02 -2.23069237e-04 9.99946408e-01 6.16935092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.50275509600004 meters 0.021043957356407256 Centerline is valid? [True, True] Translation: X:69.57, Y:232.37, Z:6.17 [[ 7.94826179e-01 6.06776508e-01 -8.57988188e-03 6.95703215e+01] [-6.06737943e-01 7.94872451e-01 6.84501439e-03 2.32374853e+02] [ 1.09733057e-02 -2.34856748e-04 9.99939764e-01 6.16953061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5327550960001 meters 0.02106460673218583 Centerline is valid? [True, True] Translation: X:69.60, Y:232.35, Z:6.17 [[ 7.94482137e-01 6.07225948e-01 -8.64766080e-03 6.95962687e+01] [-6.07186752e-01 7.94529164e-01 6.90330099e-03 2.32354146e+02] [ 1.10626822e-02 -2.33804246e-04 9.99938779e-01 6.16972366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.56275509600005 meters 0.020638519561958772 Centerline is valid? [True, True] Translation: X:69.62, Y:232.34, Z:6.17 [[ 7.93485858e-01 6.08524975e-01 -8.80610225e-03 6.96221647e+01] [-6.08484358e-01 7.93534691e-01 7.03427630e-03 2.32335865e+02] [ 1.12684804e-02 -2.23223299e-04 9.99936484e-01 6.17009956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5927550960001 meters 0.02054910449218504 Centerline is valid? [True, True] Translation: X:69.65, Y:232.32, Z:6.17 [[ 7.92860530e-01 6.09338491e-01 -8.87600583e-03 6.96473368e+01] [-6.09297233e-01 7.92910182e-01 7.09403703e-03 2.32316950e+02] [ 1.13605452e-02 -2.16456162e-04 9.99935444e-01 6.17045260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.62275509600005 meters 0.01982385684316597 Centerline is valid? [True, True] Translation: X:69.67, Y:232.30, Z:6.17 [[ 7.91640249e-01 6.10914920e-01 -9.41683586e-03 6.96738643e+01] [-6.10868549e-01 7.91696228e-01 7.52982079e-03 2.32299143e+02] [ 1.20553533e-02 -2.08460346e-04 9.99927310e-01 6.17040124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6527550960001 meters 0.01964037915923534 Centerline is valid? [True, True] Translation: X:69.70, Y:232.28, Z:6.17 [[ 7.91044827e-01 6.11679622e-01 -9.80416211e-03 6.96965352e+01] [-6.11629409e-01 7.91105554e-01 7.84016686e-03 2.32282153e+02] [ 1.25517974e-02 -2.05409561e-04 9.99921202e-01 6.17047614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.68275509600005 meters 0.019571624509533463 Centerline is valid? [True, True] Translation: X:69.72, Y:232.27, Z:6.17 [[ 7.90817976e-01 6.11969024e-01 -1.00420320e-02 6.97188519e+01] [-6.11916379e-01 7.90881705e-01 8.02953990e-03 2.32265359e+02] [ 1.28558891e-02 -2.05020650e-04 9.99917339e-01 6.17011359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7127550960001 meters 0.01941196798549316 Centerline is valid? [True, True] Translation: X:69.74, Y:232.25, Z:6.17 [[ 7.90362787e-01 6.12546571e-01 -1.06472186e-02 6.97414041e+01] [-6.12487465e-01 7.90434473e-01 8.51174208e-03 2.32249191e+02] [ 1.36297670e-02 -2.06076259e-04 9.99907089e-01 6.16990631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.74275509600005 meters 0.01947149823988073 Centerline is valid? [True, True] Translation: X:69.76, Y:232.23, Z:6.17 [[ 7.90444115e-01 6.12438432e-01 -1.08290278e-02 6.97635084e+01] [-6.12377304e-01 7.90518262e-01 8.65533148e-03 2.32232509e+02] [ 1.38614019e-02 -2.10104960e-04 9.99903904e-01 6.16996580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7727550960001 meters 0.019188516938880004 Centerline is valid? [True, True] Translation: X:69.79, Y:232.22, Z:6.17 [[ 7.90359689e-01 6.12550261e-01 -1.06649155e-02 6.97869338e+01] [-6.12491006e-01 7.90431614e-01 8.52240940e-03 2.32215556e+02] [ 1.36502904e-02 -2.03604038e-04 9.99906810e-01 6.17069629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.80275509600006 meters 0.019046909702391097 Centerline is valid? [True, True] Translation: X:69.81, Y:232.20, Z:6.17 [[ 7.90381583e-01 6.12523498e-01 -1.05791074e-02 6.98099613e+01] [-6.12465207e-01 7.90452354e-01 8.45253921e-03 2.32198792e+02] [ 1.35396592e-02 -2.01396098e-04 9.99908314e-01 6.17162867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8327550960001 meters 0.019397073466487173 Centerline is valid? [True, True] Translation: X:69.83, Y:232.18, Z:6.17 [[ 7.90283518e-01 6.12658733e-01 -1.00617063e-02 6.98316579e+01] [-6.12606032e-01 7.90347545e-01 8.03787209e-03 2.32181769e+02] [ 1.28767174e-02 -1.88335832e-04 9.99917074e-01 6.17211069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.86275509600006 meters 0.019542439296954678 Centerline is valid? [True, True] Translation: X:69.85, Y:232.17, Z:6.17 [[ 7.90314152e-01 6.12619260e-01 -1.00589857e-02 6.98528099e+01] [-6.12566606e-01 7.90378142e-01 8.03403194e-03 2.32165365e+02] [ 1.28722052e-02 -1.87610381e-04 9.99917132e-01 6.17220444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.89275509600003 meters 0.01899059803260961 Centerline is valid? [True, True] Translation: X:69.88, Y:232.15, Z:6.17 [[ 7.90510563e-01 6.12361763e-01 -1.03015080e-02 6.98766552e+01] [-6.12306544e-01 7.90577658e-01 8.22577892e-03 2.32149032e+02] [ 1.31812945e-02 -1.94884392e-04 9.99913104e-01 6.17245204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.92275509600006 meters 0.018998185688610916 Centerline is valid? [True, True] Translation: X:69.90, Y:232.13, Z:6.17 [[ 7.90566389e-01 6.12286774e-01 -1.04733845e-02 6.98996443e+01] [-6.12229707e-01 7.90635736e-01 8.36171295e-03 2.32130949e+02] [ 1.34003983e-02 -1.98372102e-04 9.99910191e-01 6.17268853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.95275509600003 meters 0.01945946199685471 Centerline is valid? [True, True] Translation: X:69.92, Y:232.11, Z:6.17 [[ 7.90672787e-01 6.12153072e-01 -1.02547956e-02 6.99206124e+01] [-6.12098369e-01 7.90739261e-01 8.18587609e-03 2.32112801e+02] [ 1.31198787e-02 -1.95405816e-04 9.99913912e-01 6.17256086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.98275509600006 meters 0.01981941390493003 Centerline is valid? [True, True] Translation: X:69.94, Y:232.09, Z:6.17 [[ 7.91056301e-01 6.11656356e-01 -1.03165256e-02 6.99422216e+01] [-6.11600971e-01 7.91123543e-01 8.23357915e-03 2.32094618e+02] [ 1.31977673e-02 -2.03627588e-04 9.99912885e-01 6.17277557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.01275509600003 meters 0.01962980777118497 Centerline is valid? [True, True] Translation: X:69.97, Y:232.08, Z:6.17 [[ 7.91245472e-01 6.11406573e-01 -1.06115613e-02 6.99650552e+01] [-6.11347972e-01 7.91316598e-01 8.46753040e-03 2.32077083e+02] [ 1.35742083e-02 -2.12538635e-04 9.99907844e-01 6.17299300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.04275509600006 meters 0.019323353960543115 Centerline is valid? [True, True] Translation: X:69.99, Y:232.06, Z:6.17 [[ 7.91645363e-01 6.10881908e-01 -1.09960796e-02 6.99878004e+01] [-6.10818952e-01 7.91721695e-01 8.77299952e-03 2.32059992e+02] [ 1.40651015e-02 -2.28490572e-04 9.99901055e-01 6.17302620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.07275509600004 meters 0.019341951815441974 Centerline is valid? [True, True] Translation: X:70.01, Y:232.04, Z:6.17 [[ 7.91738965e-01 6.10762507e-01 -1.08890443e-02 7.00098408e+01] [-6.10700779e-01 7.91813809e-01 8.68617604e-03 2.32042157e+02] [ 1.39272863e-02 -2.27236166e-04 9.99902985e-01 6.17350347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.10275509600007 meters 0.019341951815441974 Centerline is valid? [True, True] Translation: X:70.03, Y:232.02, Z:6.17 [[ 7.91784967e-01 6.10702856e-01 -1.08898161e-02 7.00320601e+01] [-6.10641136e-01 7.91859817e-01 8.68520841e-03 2.32024545e+02] [ 1.39272894e-02 -2.27047784e-04 9.99902985e-01 6.17378677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.13275509600004 meters 0.019598516783467412 Centerline is valid? [True, True] Translation: X:70.05, Y:232.01, Z:6.17 [[ 7.91829151e-01 6.10646034e-01 -1.08635748e-02 7.00535117e+01] [-6.10584625e-01 7.91903637e-01 8.66285308e-03 2.32006617e+02] [ 1.38928412e-02 -2.26367877e-04 9.99903464e-01 6.17398793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.16275509600007 meters 0.019813547720582185 Centerline is valid? [True, True] Translation: X:70.07, Y:231.99, Z:6.17 [[ 7.91987218e-01 6.10440773e-01 -1.08769975e-02 7.00744749e+01] [-6.10379219e-01 7.92061873e-01 8.67172050e-03 2.31989742e+02] [ 1.39088267e-02 -2.28798574e-04 9.99903241e-01 6.17462646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.19275509600004 meters 0.019770705093532452 Centerline is valid? [True, True] Translation: X:70.10, Y:231.97, Z:6.18 [[ 7.91789597e-01 6.10702172e-01 -1.05873194e-02 7.00959945e+01] [-6.10643903e-01 7.91860348e-01 8.43877083e-03 2.31972506e+02] [ 1.35372541e-02 -2.16648930e-04 9.99908344e-01 6.17536099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.22275509600007 meters 0.018522951248524027 Centerline is valid? [True, True] Translation: X:70.12, Y:231.95, Z:6.18 [[ 7.91442296e-01 6.11156218e-01 -1.03522495e-02 7.01234397e+01] [-6.11100545e-01 7.91509972e-01 8.25158569e-03 2.31953833e+02] [ 1.32369166e-02 -2.04388579e-04 9.99912367e-01 6.17658486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.25275509600004 meters 0.01866765578496167 Centerline is valid? [True, True] Translation: X:70.15, Y:231.93, Z:6.18 [[ 7.91206151e-01 6.11467545e-01 -1.00134623e-02 7.01480828e+01] [-6.11415417e-01 7.91269489e-01 7.98652694e-03 2.31933606e+02] [ 1.28068492e-02 -1.96604002e-04 9.99917970e-01 6.17702118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2827550960001 meters 0.018780600062811157 Centerline is valid? [True, True] Translation: X:70.17, Y:231.91, Z:6.18 [[ 7.91224525e-01 6.11439806e-01 -1.02525800e-02 7.01713620e+01] [-6.11385101e-01 7.91290921e-01 8.18146188e-03 2.31914415e+02] [ 1.31152449e-02 -2.05098652e-04 9.99913970e-01 6.17684600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.31275509600005 meters 0.019383568109642528 Centerline is valid? [True, True] Translation: X:70.19, Y:231.90, Z:6.18 [[ 7.91709230e-01 6.10797724e-01 -1.10741466e-02 7.01929827e+01] [-6.10733823e-01 7.91786642e-01 8.83806335e-03 2.31895330e+02] [ 1.41666303e-02 -2.33820420e-04 9.99899621e-01 6.17548232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3427550960001 meters 0.019324921001597897 Centerline is valid? [True, True] Translation: X:70.22, Y:231.88, Z:6.17 [[ 7.91991028e-01 6.10419330e-01 -1.17666564e-02 7.02168924e+01] [-6.10347154e-01 7.92078391e-01 9.39012843e-03 2.31876460e+02] [ 1.50520302e-02 -2.55152190e-04 9.99886679e-01 6.17492982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.37275509600005 meters 0.021054542216069533 Centerline is valid? [True, True] Translation: X:70.24, Y:231.86, Z:6.17 [[ 7.92059481e-01 6.10323832e-01 -1.21077513e-02 7.02380428e+01] [-6.10247402e-01 7.92151974e-01 9.66219804e-03 2.31855148e+02] [ 1.54882489e-02 -2.64311759e-04 9.99880015e-01 6.17343120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4027550960001 meters 0.01851391041661722 Centerline is valid? [True, True] Translation: X:70.27, Y:231.84, Z:6.17 [[ 7.91410648e-01 6.11159850e-01 -1.23622376e-02 7.02659147e+01] [-6.11080246e-01 7.91507153e-01 9.86711104e-03 2.31838409e+02] [ 1.58151816e-02 -2.54617521e-04 9.99874900e-01 6.17471116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.43275509600005 meters 0.018545987713050525 Centerline is valid? [True, True] Translation: X:70.29, Y:231.82, Z:6.17 [[ 7.90961748e-01 6.11739779e-01 -1.24078650e-02 7.02906387e+01] [-6.11659582e-01 7.91059025e-01 9.90829018e-03 2.31818754e+02] [ 1.58766488e-02 -2.47689011e-04 9.99873927e-01 6.17476931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4627550960001 meters 0.018307682226736684 Centerline is valid? [True, True] Translation: X:70.32, Y:231.80, Z:6.17 [[ 7.90023048e-01 6.12948446e-01 -1.25612823e-02 7.03152909e+01] [-6.12866372e-01 7.90122870e-01 1.00329774e-02 2.31800287e+02] [ 1.60746543e-02 -2.27895922e-04 9.99870768e-01 6.17496234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.49275509600005 meters 0.017628009497241175 Centerline is valid? [True, True] Translation: X:70.34, Y:231.78, Z:6.18 [[ 7.89179183e-01 6.14037020e-01 -1.24400592e-02 7.03397290e+01] [-6.13956660e-01 7.89277199e-01 9.93595090e-03 2.31782547e+02] [ 1.59196967e-02 -2.03588453e-04 9.99873253e-01 6.17577511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5227550960001 meters 0.01745164644483655 Centerline is valid? [True, True] Translation: X:70.36, Y:231.77, Z:6.18 [[ 7.88628033e-01 6.14742140e-01 -1.25669004e-02 7.03616103e+01] [-6.14660248e-01 7.88728131e-01 1.00356539e-02 2.31765586e+02] [ 1.60812073e-02 -1.90023854e-04 9.99870671e-01 6.17641966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.55275509600006 meters 0.016785296783205998 Centerline is valid? [True, True] Translation: X:70.38, Y:231.75, Z:6.18 [[ 7.87193237e-01 6.16579660e-01 -1.25032281e-02 7.03837622e+01] [-6.16498861e-01 7.87292512e-01 9.98270417e-03 2.31748929e+02] [ 1.59988302e-02 -1.50091319e-04 9.99871999e-01 6.17695824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5827550960001 meters 0.016548520562732528 Centerline is valid? [True, True] Translation: X:70.41, Y:231.73, Z:6.18 [[ 7.86560669e-01 6.17387160e-01 -1.24663229e-02 7.04067989e+01] [-6.17306967e-01 7.86659442e-01 9.95144802e-03 2.31731191e+02] [ 1.59506468e-02 -1.31869634e-04 9.99872772e-01 6.17727718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.61275509600006 meters 0.016279554953868822 Centerline is valid? [True, True] Translation: X:70.43, Y:231.71, Z:6.18 [[ 7.86029889e-01 6.18059623e-01 -1.26220749e-02 7.04299452e+01] [-6.17977525e-01 7.86131216e-01 1.00742077e-02 2.31713314e+02] [ 1.61490681e-02 -1.18469797e-04 9.99869588e-01 6.17755146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.64275509600003 meters 0.015792955381393678 Centerline is valid? [True, True] Translation: X:70.45, Y:231.70, Z:6.18 [[ 7.84715152e-01 6.19741422e-01 -1.19456905e-02 7.04528817e+01] [-6.19668104e-01 7.84806068e-01 9.53293588e-03 2.31695990e+02] [ 1.52830056e-02 -7.82758302e-05 9.99883205e-01 6.17886000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.67275509600006 meters 0.015606792556273995 Centerline is valid? [True, True] Translation: X:70.48, Y:231.68, Z:6.18 [[ 7.84233209e-01 6.20359993e-01 -1.14784029e-02 7.04755140e+01] [-6.20292386e-01 7.84317203e-01 9.15865844e-03 2.31678527e+02] [ 1.46843741e-02 -6.25581891e-05 9.99892177e-01 6.17971734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.70275509600003 meters 0.015526402522036617 Centerline is valid? [True, True] Translation: X:70.50, Y:231.66, Z:6.18 [[ 7.84114581e-01 6.20526271e-01 -1.05579738e-02 7.04968536e+01] [-6.20469104e-01 7.84185657e-01 8.42295209e-03 2.31660754e+02] [ 1.35060747e-02 -5.36629718e-05 9.99908787e-01 6.18140965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.73275509600006 meters 0.015466551249732364 Centerline is valid? [True, True] Translation: X:70.52, Y:231.64, Z:6.18 [[ 7.84367072e-01 6.20217778e-01 -9.90978407e-03 7.05180125e+01] [-6.20167410e-01 7.84429669e-01 7.90434084e-03 2.31643071e+02] [ 1.26759413e-02 -5.41795582e-05 9.99919656e-01 6.18253366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76275509600003 meters 0.015508233844176525 Centerline is valid? [True, True] Translation: X:70.54, Y:231.62, Z:6.18 [[ 7.84648596e-01 6.19868756e-01 -9.45023291e-03 7.05397712e+01] [-6.19822945e-01 7.84705500e-01 7.53620906e-03 2.31624574e+02] [ 1.20871103e-02 -5.58046590e-05 9.99926947e-01 6.18343744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.79275509600006 meters 0.01575118543346084 Centerline is valid? [True, True] Translation: X:70.56, Y:231.61, Z:6.18 [[ 7.85706593e-01 6.18532910e-01 -9.06582567e-03 7.05597666e+01] [-6.18490674e-01 7.85758891e-01 7.22852406e-03 2.31605293e+02] [ 1.15946331e-02 -7.23703849e-05 9.99932777e-01 6.18403464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82275509600004 meters 0.016070497154780948 Centerline is valid? [True, True] Translation: X:70.58, Y:231.59, Z:6.18 [[ 7.86336803e-01 6.17729761e-01 -9.18558412e-03 7.05804107e+01] [-6.17686364e-01 7.86390447e-01 7.32254679e-03 2.31586966e+02] [ 1.17468107e-02 -8.41779752e-05 9.99931000e-01 6.18389461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.85275509600007 meters 0.01624006211076525 Centerline is valid? [True, True] Translation: X:70.60, Y:231.57, Z:6.18 [[ 7.87462972e-01 6.16288526e-01 -9.51422445e-03 7.06036939e+01] [-6.16241870e-01 7.87520438e-01 7.58403164e-03 2.31565424e+02] [ 1.21665979e-02 -1.09080634e-04 9.99925978e-01 6.18413375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.88275509600004 meters 0.016624455092009296 Centerline is valid? [True, True] Translation: X:70.63, Y:231.54, Z:6.18 [[ 7.87953430e-01 6.15666113e-01 -9.19942707e-03 7.06265690e+01] [-6.15622406e-01 7.88007122e-01 7.33681050e-03 2.31544591e+02] [ 1.17662396e-02 -1.17691578e-04 9.99930769e-01 6.18437147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.91275509600007 meters 0.016866255378446354 Centerline is valid? [True, True] Translation: X:70.65, Y:231.52, Z:6.18 [[ 7.88680938e-01 6.14735106e-01 -9.11738680e-03 7.06503422e+01] [-6.14692070e-01 7.88733625e-01 7.27511754e-03 2.31523667e+02] [ 1.16634597e-02 -1.33361161e-04 9.99931971e-01 6.18455794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.94275509600004 meters 0.017708034552786786 Centerline is valid? [True, True] Translation: X:70.67, Y:231.50, Z:6.18 [[ 7.90250716e-01 6.12722313e-01 -8.67030935e-03 7.06723802e+01] [-6.12683236e-01 7.90298262e-01 6.92167689e-03 2.31501521e+02] [ 1.10931963e-02 -1.57706925e-04 9.99938456e-01 6.18484263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.97275509600007 meters 0.01814160895545634 Centerline is valid? [True, True] Translation: X:70.70, Y:231.48, Z:6.18 [[ 7.90740896e-01 6.12087214e-01 -8.83612557e-03 7.06963152e+01] [-6.12046562e-01 7.90790246e-01 7.05641639e-03 2.31480123e+02] [ 1.13066642e-02 -1.71676745e-04 9.99936063e-01 6.18480820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.00275509600004 meters 0.018503918621329503 Centerline is valid? [True, True] Translation: X:70.72, Y:231.46, Z:6.19 [[ 7.91152982e-01 6.11560719e-01 -8.39319042e-03 7.07200626e+01] [-6.11523973e-01 7.91197483e-01 6.70618912e-03 2.31459201e+02] [ 1.07419130e-02 -1.72984366e-04 9.99942289e-01 6.18507726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0327550960001 meters 0.0192886022253725 Centerline is valid? [True, True] Translation: X:70.74, Y:231.44, Z:6.19 [[ 7.91908619e-01 6.10583115e-01 -8.30652091e-03 7.07429954e+01] [-6.10547036e-01 7.91952160e-01 6.64020810e-03 2.31437404e+02] [ 1.06327661e-02 -1.86916304e-04 9.99943453e-01 6.18508791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.06275509600005 meters 0.019493214322858544 Centerline is valid? [True, True] Translation: X:70.77, Y:231.42, Z:6.19 [[ 7.92103634e-01 6.10333119e-01 -8.08191319e-03 7.07666531e+01] [-6.10298933e-01 7.92144841e-01 6.46247356e-03 2.31417613e+02] [ 1.03463075e-02 -1.86565792e-04 9.99946458e-01 6.18534398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0927550960001 meters 0.01948791725129518 Centerline is valid? [True, True] Translation: X:70.79, Y:231.40, Z:6.19 [[ 7.92133530e-01 6.10294334e-01 -8.08065029e-03 7.07899124e+01] [-6.10260154e-01 7.92174723e-01 6.46168662e-03 2.31399520e+02] [ 1.03448176e-02 -1.87219738e-04 9.99946473e-01 6.18561956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.12275509600005 meters 0.01948972071701086 Centerline is valid? [True, True] Translation: X:70.81, Y:231.38, Z:6.19 [[ 7.91879205e-01 6.10619626e-01 -8.42599031e-03 7.08128780e+01] [-6.10582487e-01 7.91924009e-01 6.73726776e-03 2.31382832e+02] [ 1.07866519e-02 -1.90340116e-04 9.99941804e-01 6.18508848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1527550960001 meters 0.01918807289030211 Centerline is valid? [True, True] Translation: X:70.84, Y:231.37, Z:6.19 [[ 7.91546366e-01 6.11048006e-01 -8.64203711e-03 7.08359165e+01] [-6.11008975e-01 7.91593519e-01 6.90894828e-03 2.31365897e+02] [ 1.10626796e-02 -1.88390664e-04 9.99938789e-01 6.18504184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.18275509600005 meters 0.01873261859617611 Centerline is valid? [True, True] Translation: X:70.86, Y:231.35, Z:6.18 [[ 7.90655211e-01 6.12201321e-01 -8.59530744e-03 7.08594028e+01] [-6.12162791e-01 7.90701912e-01 6.87054143e-03 2.31350057e+02] [ 1.10024806e-02 -1.70501993e-04 9.99939456e-01 6.18478440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2127550960001 meters 0.018391360885107427 Centerline is valid? [True, True] Translation: X:70.88, Y:231.33, Z:6.18 [[ 7.90183229e-01 6.12808314e-01 -8.74276007e-03 7.08823525e+01] [-6.12768502e-01 7.90231576e-01 6.98711505e-03 2.31333082e+02] [ 1.11905673e-02 -1.63813139e-04 9.99937370e-01 6.18445098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.24275509600005 meters 0.017304485501010627 Centerline is valid? [True, True] Translation: X:70.91, Y:231.31, Z:6.18 [[ 7.89801051e-01 6.13299675e-01 -8.82087222e-03 7.09098664e+01] [-6.13259184e-01 7.89850292e-01 7.04912828e-03 2.31314605e+02] [ 1.12903966e-02 -1.57928033e-04 9.99936249e-01 6.18450753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2727550960001 meters 0.017627475229468358 Centerline is valid? [True, True] Translation: X:70.93, Y:231.30, Z:6.18 [[ 7.89421692e-01 6.13781187e-01 -9.27616057e-03 7.09337218e+01] [-6.13736384e-01 7.89476173e-01 7.41773823e-03 2.31295186e+02] [ 1.18761759e-02 -1.62606218e-04 9.99929463e-01 6.18415206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.30275509600006 meters 0.016824561551271842 Centerline is valid? [True, True] Translation: X:70.96, Y:231.28, Z:6.18 [[ 7.89080604e-01 6.14217571e-01 -9.41144804e-03 7.09609045e+01] [-6.14171434e-01 7.89136712e-01 7.52998739e-03 2.31276843e+02] [ 1.20519697e-02 -1.61524469e-04 9.99927359e-01 6.18357053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3327550960001 meters 0.01690523842809964 Centerline is valid? [True, True] Translation: X:70.99, Y:231.26, Z:6.18 [[ 7.88979329e-01 6.14343317e-01 -9.69061661e-03 7.09868695e+01] [-6.14294347e-01 7.89038821e-01 7.75848839e-03 2.31256079e+02] [ 1.24126482e-02 -1.68395951e-04 9.99922946e-01 6.18327463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.36275509600006 meters 0.01691192216552909 Centerline is valid? [True, True] Translation: X:71.01, Y:231.24, Z:6.18 [[ 7.88507448e-01 6.14947902e-01 -9.75103510e-03 7.10121986e+01] [-6.14898303e-01 7.88567722e-01 7.81184570e-03 2.31236081e+02] [ 1.24932297e-02 -1.63803574e-04 9.99921943e-01 6.18340517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.39275509600003 meters 0.016730219000829633 Centerline is valid? [True, True] Translation: X:71.04, Y:231.22, Z:6.18 [[ 7.88230777e-01 6.15309143e-01 -9.32211315e-03 7.10380594e+01] [-6.15263785e-01 7.88285884e-01 7.47258653e-03 2.31216102e+02] [ 1.19464410e-02 -1.54564061e-04 9.99928627e-01 6.18399029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.42275509600006 meters 0.016884263350618576 Centerline is valid? [True, True] Translation: X:71.06, Y:231.20, Z:6.18 [[ 7.88087588e-01 6.15489928e-01 -9.49226957e-03 7.10630796e+01] [-6.15442852e-01 7.88144736e-01 7.61389667e-03 2.31195775e+02] [ 1.21675590e-02 -1.58467995e-04 9.99925960e-01 6.18426656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.45275509600003 meters 0.016665763812722466 Centerline is valid? [True, True] Translation: X:71.09, Y:231.18, Z:6.19 [[ 7.87872276e-01 6.15769479e-01 -9.23175466e-03 7.10885009e+01] [-6.15724920e-01 7.87926345e-01 7.40931755e-03 2.31175526e+02] [ 1.18363743e-02 -1.53374474e-04 9.99929936e-01 6.18503066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.48275509600006 meters 0.016913306863603598 Centerline is valid? [True, True] Translation: X:71.11, Y:231.15, Z:6.19 [[ 7.88234231e-01 6.15305933e-01 -9.24150091e-03 7.11137965e+01] [-6.15261191e-01 7.88288387e-01 7.42192735e-03 2.31154154e+02] [ 1.18517238e-02 -1.64280338e-04 9.99929752e-01 6.18559474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.51275509600003 meters 0.017289335496337332 Centerline is valid? [True, True] Translation: X:71.14, Y:231.13, Z:6.19 [[ 7.88797885e-01 6.14591132e-01 -8.69690403e-03 7.11376666e+01] [-6.14551420e-01 7.88845810e-01 6.98860684e-03 2.31133510e+02] [ 1.11556521e-02 -1.67903586e-04 9.99937760e-01 6.18568223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.54275509600006 meters 0.018302467985393506 Centerline is valid? [True, True] Translation: X:71.16, Y:231.11, Z:6.19 [[ 7.90254145e-01 6.12715649e-01 -8.82716415e-03 7.11611450e+01] [-6.12674593e-01 7.90303419e-01 7.09571426e-03 2.31111314e+02] [ 1.13237932e-02 -1.99238400e-04 9.99935864e-01 6.18601542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.57275509600004 meters 0.01879180452292239 Centerline is valid? [True, True] Translation: X:71.19, Y:231.09, Z:6.19 [[ 7.90880544e-01 6.11918163e-01 -8.00798341e-03 7.11851821e+01] [-6.11884299e-01 7.90921061e-01 6.44048189e-03 2.31089963e+02] [ 1.02747306e-02 -1.93692501e-04 9.99947195e-01 6.18672989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.60275509600007 meters 0.019791108911376202 Centerline is valid? [True, True] Translation: X:71.21, Y:231.07, Z:6.19 [[ 7.91462457e-01 6.11172237e-01 -7.46169517e-03 7.12076650e+01] [-6.11142773e-01 7.91497606e-01 6.00423773e-03 2.31068562e+02] [ 9.57553727e-03 -1.91967665e-04 9.99954135e-01 6.18723843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.63275509600004 meters 0.019618685741071788 Centerline is valid? [True, True] Translation: X:71.23, Y:231.05, Z:6.19 [[ 7.92493079e-01 6.09842158e-01 -6.87473152e-03 7.12323650e+01] [-6.09817075e-01 7.92522873e-01 5.53446672e-03 2.31047880e+02] [ 8.82353310e-03 -1.93697907e-04 9.99961053e-01 6.18801005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.66275509600007 meters 0.020050104886652407 Centerline is valid? [True, True] Translation: X:71.26, Y:231.03, Z:6.19 [[ 7.92815399e-01 6.09427219e-01 -6.49678841e-03 7.12563902e+01] [-6.09404781e-01 7.92841995e-01 5.23297803e-03 2.31027055e+02] [ 8.34004593e-03 -1.89611646e-04 9.99965203e-01 6.18813447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.69275509600004 meters 0.021348087179916684 Centerline is valid? [True, True] Translation: X:71.28, Y:231.00, Z:6.19 [[ 7.93227520e-01 6.08893840e-01 -6.19624892e-03 7.12789766e+01] [-6.08873392e-01 7.93251698e-01 4.99361400e-03 2.31004768e+02] [ 7.95576578e-03 -1.88340948e-04 9.99968335e-01 6.18862888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.72275509600007 meters 0.020711415138734583 Centerline is valid? [True, True] Translation: X:71.31, Y:230.98, Z:6.19 [[ 7.92968600e-01 6.09229498e-01 -6.34176929e-03 7.13052853e+01] [-6.09208068e-01 7.92993936e-01 5.11348909e-03 2.30984785e+02] [ 8.14427298e-03 -1.91379277e-04 9.99966817e-01 6.18869655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.75275509600004 meters 0.021243366881680686 Centerline is valid? [True, True] Translation: X:71.33, Y:230.96, Z:6.19 [[ 7.92594178e-01 6.09717862e-01 -6.21268963e-03 7.13297207e+01] [-6.09697285e-01 7.92618505e-01 5.01258456e-03 2.30963474e+02] [ 7.98055511e-03 -1.85085346e-04 9.99968138e-01 6.18895700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7827550960001 meters 0.019285899601311468 Centerline is valid? [True, True] Translation: X:71.36, Y:230.95, Z:6.19 [[ 7.91312591e-01 6.11383765e-01 -5.85456565e-03 7.13562258e+01] [-6.11365518e-01 7.91334232e-01 4.72626568e-03 2.30945672e+02] [ 7.52248031e-03 -1.60673977e-04 9.99971693e-01 6.18909850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.81275509600005 meters 0.019307214232952993 Centerline is valid? [True, True] Translation: X:71.38, Y:230.93, Z:6.19 [[ 7.90527917e-01 6.12398748e-01 -5.77801719e-03 7.13802082e+01] [-6.12380982e-01 7.90549018e-01 4.66715391e-03 2.30926123e+02] [ 7.42596503e-03 -1.51167614e-04 9.99972416e-01 6.18894502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8427550960001 meters 0.018497927022146594 Centerline is valid? [True, True] Translation: X:71.41, Y:230.91, Z:6.19 [[ 7.89143472e-01 6.14180256e-01 -5.93245304e-03 7.14061170e+01] [-6.14161559e-01 7.89165758e-01 4.79444861e-03 2.30907669e+02] [ 7.62634448e-03 -1.40023213e-04 9.99970909e-01 6.18783092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.87275509600005 meters 0.019035694597927172 Centerline is valid? [True, True] Translation: X:71.43, Y:230.89, Z:6.19 [[ 7.88432513e-01 6.15091369e-01 -6.06467754e-03 7.14296806e+01] [-6.15071833e-01 7.88455826e-01 4.90418120e-03 2.30887227e+02] [ 7.79824987e-03 -1.36403575e-04 9.99969584e-01 6.18764770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9027550960001 meters 0.01883139216406752 Centerline is valid? [True, True] Translation: X:71.45, Y:230.87, Z:6.19 [[ 7.88220908e-01 6.15361614e-01 -6.15499324e-03 7.14525171e+01] [-6.15341473e-01 7.88244927e-01 4.98068712e-03 2.30869636e+02] [ 7.91656586e-03 -1.38459117e-04 9.99968654e-01 6.18736524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.93275509600005 meters 0.018143618710610147 Centerline is valid? [True, True] Translation: X:71.48, Y:230.85, Z:6.19 [[ 7.87761815e-01 6.15949708e-01 -6.10565420e-03 7.14780294e+01] [-6.15929919e-01 7.87785466e-01 4.93908695e-03 2.30850592e+02] [ 7.85217480e-03 -1.30169006e-04 9.99969163e-01 6.18700638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9627550960001 meters 0.017460194917890193 Centerline is valid? [True, True] Translation: X:71.50, Y:230.83, Z:6.19 [[ 7.87504528e-01 6.16277819e-01 -6.18604573e-03 7.15040577e+01] [-6.16257495e-01 7.87528814e-01 5.00674597e-03 2.30829831e+02] [ 7.95723574e-03 -1.30638077e-04 9.99968332e-01 6.18698406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.99275509600005 meters 0.018206931679634327 Centerline is valid? [True, True] Translation: X:71.53, Y:230.81, Z:6.19 [[ 7.87513371e-01 6.16270854e-01 -5.73813582e-03 7.15274477e+01] [-6.16253345e-01 7.87534266e-01 4.64703038e-03 2.30807574e+02] [ 7.38280796e-03 -1.23453162e-04 9.99972739e-01 6.18774747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0227550960001 meters 0.018206931679634327 Centerline is valid? [True, True] Translation: X:71.55, Y:230.79, Z:6.19 [[ 7.87349778e-01 6.16479860e-01 -5.73670980e-03 7.15519212e+01] [-6.16462344e-01 7.87370667e-01 4.64878994e-03 2.30787570e+02] [ 7.38280239e-03 -1.23758155e-04 9.99972739e-01 6.18806445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.05275509600006 meters 0.01856694910013735 Centerline is valid? [True, True] Translation: X:71.58, Y:230.77, Z:6.19 [[ 7.87639127e-01 6.16112678e-01 -5.45646537e-03 7.15757379e+01] [-6.16096808e-01 7.87658017e-01 4.42392680e-03 2.30766018e+02] [ 7.02346608e-03 -1.22746941e-04 9.99975328e-01 6.18905957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0827550960001 meters 0.018862421447899683 Centerline is valid? [True, True] Translation: X:71.60, Y:230.75, Z:6.19 [[ 7.87848404e-01 6.15848645e-01 -5.03381543e-03 7.16001137e+01] [-6.15835120e-01 7.87864476e-01 4.08320519e-03 2.30745673e+02] [ 6.48060074e-03 -1.16946364e-04 9.99978994e-01 6.18949816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.11275509600006 meters 0.018899188901302235 Centerline is valid? [True, True] Translation: X:71.63, Y:230.72, Z:6.19 [[ 7.87891680e-01 6.15795045e-01 -4.81278040e-03 7.16254997e+01] [-6.15782670e-01 7.87906371e-01 3.90567677e-03 2.30724941e+02] [ 6.19711674e-03 -1.13623471e-04 9.99980791e-01 6.19003449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.14275509600003 meters 0.01930814053850571 Centerline is valid? [True, True] Translation: X:71.65, Y:230.70, Z:6.19 [[ 7.88326002e-01 6.15243587e-01 -4.17655057e-03 7.16501798e+01] [-6.15234250e-01 7.88337058e-01 3.39117339e-03 2.30703883e+02] [ 5.37892727e-03 -1.03793208e-04 9.99985528e-01 6.19120339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.17275509600006 meters 0.020217627720014016 Centerline is valid? [True, True] Translation: X:71.67, Y:230.68, Z:6.19 [[ 7.88738643e-01 6.14718204e-01 -3.58934068e-03 7.16734905e+01] [-6.14711296e-01 7.88746804e-01 2.91564430e-03 2.30682726e+02] [ 4.62338062e-03 -9.32730718e-05 9.99989308e-01 6.19225756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.20275509600003 meters 0.019756831428226266 Centerline is valid? [True, True] Translation: X:71.70, Y:230.66, Z:6.19 [[ 7.89043767e-01 6.14329421e-01 -3.04902183e-03 7.16986459e+01] [-6.14324431e-01 7.89049654e-01 2.47731352e-03 2.30662754e+02] [ 3.92771620e-03 -8.16201891e-05 9.99992283e-01 6.19293057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.23275509600006 meters 0.020626759877011482 Centerline is valid? [True, True] Translation: X:71.72, Y:230.64, Z:6.20 [[ 7.89953957e-01 6.13164462e-01 -1.44510249e-03 7.17216864e+01] [-6.13163342e-01 7.89955277e-01 1.17315819e-03 2.30641012e+02] [ 1.86090525e-03 -4.06570862e-05 9.99998268e-01 6.19507876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26275509600003 meters 0.020922751177956583 Centerline is valid? [True, True] Translation: X:71.75, Y:230.62, Z:6.20 [[ 7.90375689e-01 6.12622232e-01 -5.21056456e-04 7.17464377e+01] [-6.12622087e-01 7.90375861e-01 4.20882990e-04 2.30620280e+02] [ 6.69672722e-04 -1.34449897e-05 9.99999776e-01 6.19605058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.29275509600006 meters 0.02173538820083605 Centerline is valid? [True, True] Translation: X:71.77, Y:230.60, Z:6.20 [[ 7.90947768e-01 6.11883032e-01 8.85324470e-04 7.17704722e+01] [-6.11882604e-01 7.90948262e-01 -7.25024487e-04 2.30599583e+02] [-1.14387603e-03 3.17418581e-05 9.99999345e-01 6.19782519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32275509600004 meters 0.02160169708837714 Centerline is valid? [True, True] Translation: X:71.80, Y:230.58, Z:6.20 [[ 7.90917318e-01 6.11922069e-01 1.08485879e-03 7.17957699e+01] [-6.11921425e-01 7.90918061e-01 -8.88755745e-04 2.30578813e+02] [-1.40188367e-03 3.90839742e-05 9.99999017e-01 6.19818794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.35275509600007 meters 0.021758585986649738 Centerline is valid? [True, True] Translation: X:71.82, Y:230.56, Z:6.20 [[ 7.90749149e-01 6.12138189e-01 1.61889057e-03 7.18211728e+01] [-6.12136757e-01 7.90750804e-01 -1.32510041e-03 2.30557493e+02] [-2.09128359e-03 5.68395941e-05 9.99997812e-01 6.19917203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.38275509600004 meters 0.022005545411932496 Centerline is valid? [True, True] Translation: X:71.85, Y:230.54, Z:6.20 [[ 7.90227467e-01 6.12811427e-01 1.64472772e-03 7.18452273e+01] [-6.12809952e-01 7.90229177e-01 -1.34608360e-03 2.30537226e+02] [-2.12460725e-03 5.58067207e-05 9.99997741e-01 6.19993132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.41275509600007 meters 0.020934958024982825 Centerline is valid? [True, True] Translation: X:71.87, Y:230.52, Z:6.20 [[ 7.89724856e-01 6.13457784e-01 2.04925874e-03 7.18721589e+01] [-6.13455492e-01 7.89727512e-01 -1.67833287e-03 2.30517755e+02] [-2.64794237e-03 6.82921587e-05 9.99996492e-01 6.19968919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.44275509600004 meters 0.021657185478158474 Centerline is valid? [True, True] Translation: X:71.90, Y:230.50, Z:6.20 [[ 7.88636032e-01 6.14857593e-01 1.83005479e-03 7.18957722e+01] [-6.14855768e-01 7.88638153e-01 -1.49923438e-03 2.30498122e+02] [-2.36506668e-03 5.71305078e-05 9.99997202e-01 6.20068739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.47275509600007 meters 0.020157208412712294 Centerline is valid? [True, True] Translation: X:71.92, Y:230.48, Z:6.20 [[ 7.87936737e-01 6.15753713e-01 1.75034993e-03 7.19224841e+01] [-6.15752042e-01 7.87938680e-01 -1.43515898e-03 2.30480088e+02] [-2.26287288e-03 5.30329380e-05 9.99997438e-01 6.19946134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.50275509600004 meters 0.019895339532909593 Centerline is valid? [True, True] Translation: X:71.95, Y:230.46, Z:6.20 [[ 7.86922298e-01 6.17051028e-01 1.15139584e-03 7.19476741e+01] [-6.17050304e-01 7.86923140e-01 -9.45493997e-04 2.30461442e+02] [-1.48947808e-03 3.35611534e-05 9.99998890e-01 6.19896761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5327550960001 meters 0.019431416971804286 Centerline is valid? [True, True] Translation: X:71.97, Y:230.44, Z:6.20 [[ 7.86572082e-01 6.17497921e-01 8.23048451e-04 7.19735393e+01] [-6.17497549e-01 7.86572513e-01 -6.78100222e-04 2.30441789e+02] [-1.06611277e-03 2.51443030e-05 9.99999431e-01 6.19834303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.56275509600005 meters 0.019393954543106082 Centerline is valid? [True, True] Translation: X:72.00, Y:230.42, Z:6.20 [[ 7.86148551e-01 6.18037007e-01 8.45403411e-04 7.19993538e+01] [-6.18036614e-01 7.86149005e-01 -6.96863526e-04 2.30421009e+02] [-1.09530050e-03 2.53479889e-05 9.99999400e-01 6.19856771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5927550960001 meters 0.019733866349080822 Centerline is valid? [True, True] Translation: X:72.02, Y:230.40, Z:6.20 [[ 7.85955072e-01 6.18283260e-01 6.59685358e-04 7.20242434e+01] [-6.18283022e-01 7.85955349e-01 -5.43334145e-04 2.30400357e+02] [-8.54417642e-04 1.91639702e-05 9.99999635e-01 6.19907611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.62275509600005 meters 0.01964329396724679 Centerline is valid? [True, True] Translation: X:72.05, Y:230.38, Z:6.20 [[ 7.85567756e-01 6.18775325e-01 6.31007531e-04 7.20508434e+01] [-6.18775105e-01 7.85568009e-01 -5.21653836e-04 2.30381193e+02] [-8.18485852e-04 1.93426824e-05 9.99999665e-01 6.19895524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6527550960001 meters 0.019898408472763345 Centerline is valid? [True, True] Translation: X:72.08, Y:230.36, Z:6.20 [[ 7.85473994e-01 6.18894258e-01 7.08450762e-04 7.20759369e+01] [-6.18893982e-01 7.85474313e-01 -5.85239766e-04 2.30361420e+02] [-9.18671406e-04 2.12347034e-05 9.99999578e-01 6.19898020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.68275509600005 meters 0.020480624299589776 Centerline is valid? [True, True] Translation: X:72.10, Y:230.34, Z:6.20 [[ 7.85775783e-01 6.18511447e-01 -8.86041698e-05 7.21018081e+01] [-6.18511443e-01 7.85775788e-01 7.02419205e-05 2.30342135e+02] [ 1.13068443e-04 -3.91707122e-07 9.99999994e-01 6.19795720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7127550960001 meters 0.020280323314857056 Centerline is valid? [True, True] Translation: X:72.13, Y:230.32, Z:6.20 [[ 7.85954249e-01 6.18284473e-01 -4.77973418e-04 7.21278802e+01] [-6.18284351e-01 7.85954395e-01 3.88600310e-04 2.30322648e+02] [ 6.15930846e-04 -9.89858026e-06 9.99999810e-01 6.19725932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.74275509600005 meters 0.021428831712539988 Centerline is valid? [True, True] Translation: X:72.15, Y:230.30, Z:6.20 [[ 7.86412727e-01 6.17700883e-01 -8.01122455e-04 7.21513186e+01] [-6.17700535e-01 7.86413135e-01 6.56432506e-04 2.30302152e+02] [ 1.03549216e-03 -2.13731076e-05 9.99999464e-01 6.19754907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7727550960001 meters 0.021401067701035132 Centerline is valid? [True, True] Translation: X:72.18, Y:230.28, Z:6.20 [[ 7.86703802e-01 6.17329773e-01 -1.03914789e-03 7.21771426e+01] [-6.17329187e-01 7.86704488e-01 8.50979766e-04 2.30282322e+02] [ 1.34283746e-03 -2.79726931e-05 9.99999098e-01 6.19683377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.80275509600006 meters 0.021721286874444145 Centerline is valid? [True, True] Translation: X:72.20, Y:230.26, Z:6.20 [[ 7.87069116e-01 6.16862375e-01 -1.73700672e-03 7.22034656e+01] [-6.16860730e-01 7.87071031e-01 1.42520458e-03 2.30262186e+02] [ 2.24630275e-03 -5.02432713e-05 9.99997476e-01 6.19589671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8327550960001 meters 0.023164617247948993 Centerline is valid? [True, True] Translation: X:72.23, Y:230.24, Z:6.20 [[ 7.87132104e-01 6.16780721e-01 -2.14313865e-03 7.22273214e+01] [-6.16778211e-01 7.87135019e-01 1.76068394e-03 2.30240271e+02] [ 2.77289539e-03 -6.40496311e-05 9.99996153e-01 6.19637812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.86275509600006 meters 0.023083680522555987 Centerline is valid? [True, True] Translation: X:72.25, Y:230.22, Z:6.20 [[ 7.87582083e-01 6.16204532e-01 -2.53703743e-03 7.22516604e+01] [-6.16200996e-01 7.87586165e-01 2.08936530e-03 2.30224077e+02] [ 3.28561195e-03 -8.22216836e-05 9.99994599e-01 6.19525772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.89275509600003 meters 0.023437008831466835 Centerline is valid? [True, True] Translation: X:72.27, Y:230.21, Z:6.20 [[ 7.87577246e-01 6.16209492e-01 -2.81863207e-03 7.22739925e+01] [-6.16205127e-01 7.87582284e-01 2.32096452e-03 2.30207040e+02] [ 3.65010505e-03 -9.10833085e-05 9.99993334e-01 6.19543474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.92275509600006 meters 0.0218217606236635 Centerline is valid? [True, True] Translation: X:72.30, Y:230.19, Z:6.20 [[ 7.87167119e-01 6.16732513e-01 -2.98904991e-03 7.23023076e+01] [-6.16727622e-01 7.87172789e-01 2.45783558e-03 2.30190853e+02] [ 3.86872587e-03 -9.12977097e-05 9.99992512e-01 6.19502257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.95275509600003 meters 0.02260165080650317 Centerline is valid? [True, True] Translation: X:72.33, Y:230.17, Z:6.20 [[ 7.86524322e-01 6.17551110e-01 -3.18080390e-03 7.23262648e+01] [-6.17545570e-01 7.86530748e-01 2.61736293e-03 2.30170760e+02] [ 4.11815545e-03 -9.43282441e-05 9.99991516e-01 6.19575814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.98275509600006 meters 0.024969130512834566 Centerline is valid? [True, True] Translation: X:72.35, Y:230.15, Z:6.20 [[ 7.86167916e-01 6.18003890e-01 -3.34649388e-03 7.23464161e+01] [-6.17997745e-01 7.86175033e-01 2.75781583e-03 2.30150903e+02] [ 4.33527085e-03 -9.99806552e-05 9.99990598e-01 6.19721296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.01275509600003 meters 0.022399563874523572 Centerline is valid? [True, True] Translation: X:72.37, Y:230.14, Z:6.20 [[ 7.85393325e-01 6.18985210e-01 -3.82555800e-03 7.23729362e+01] [-6.18977196e-01 7.85402634e-01 3.15171095e-03 2.30137751e+02] [ 4.95546579e-03 -1.07399576e-04 9.99987716e-01 6.19608575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.04275509600006 meters 0.021742800285761435 Centerline is valid? [True, True] Translation: X:72.40, Y:230.12, Z:6.20 [[ 7.84846702e-01 6.19677506e-01 -3.92983074e-03 7.23962798e+01] [-6.19669060e-01 7.84856533e-01 3.23711838e-03 2.30121029e+02] [ 5.09032277e-03 -1.05447168e-04 9.99987039e-01 6.19635426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.07275509600004 meters 0.02155473860208941 Centerline is valid? [True, True] Translation: X:72.42, Y:230.10, Z:6.20 [[ 7.84526945e-01 6.20080708e-01 -4.16997902e-03 7.24190416e+01] [-6.20071207e-01 7.84538019e-01 3.43436491e-03 2.30103957e+02] [ 5.40109050e-03 -1.08667885e-04 9.99985408e-01 6.19694314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.10275509600007 meters 0.02050127420974885 Centerline is valid? [True, True] Translation: X:72.44, Y:230.09, Z:6.20 [[ 7.84207939e-01 6.20486657e-01 -3.77048133e-03 7.24435030e+01] [-6.20478896e-01 7.84216997e-01 3.10499494e-03 2.30088282e+02] [ 4.88348348e-03 -9.54575925e-05 9.99988071e-01 6.19720379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.13275509600004 meters 0.020971229284637606 Centerline is valid? [True, True] Translation: X:72.46, Y:230.07, Z:6.20 [[ 7.84170945e-01 6.20533429e-01 -3.76722939e-03 7.24649918e+01] [-6.20525683e-01 7.84179989e-01 3.10195586e-03 2.30070195e+02] [ 4.87905320e-03 -9.48010651e-05 9.99988093e-01 6.19806177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.16275509600007 meters 0.02068273590886797 Centerline is valid? [True, True] Translation: X:72.49, Y:230.05, Z:6.20 [[ 7.83961850e-01 6.20796983e-01 -3.86313542e-03 7.24886269e+01] [-6.20788845e-01 7.83971362e-01 3.18014829e-03 2.30052846e+02] [ 5.00281400e-03 -9.49235622e-05 9.99987481e-01 6.19868084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.19275509600004 meters 0.020789417908417734 Centerline is valid? [True, True] Translation: X:72.51, Y:230.04, Z:6.20 [[ 7.84039379e-01 6.20700128e-01 -3.68834116e-03 7.25101443e+01] [-6.20692709e-01 7.84048049e-01 3.03608809e-03 2.30035661e+02] [ 4.77633696e-03 -9.10861532e-05 9.99988589e-01 6.19932716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.22275509600007 meters 0.020263396040873394 Centerline is valid? [True, True] Translation: X:72.53, Y:230.02, Z:6.20 [[ 7.84095557e-01 6.20629082e-01 -3.70123315e-03 7.25332906e+01] [-6.20621615e-01 7.84104288e-01 3.04576601e-03 2.30018082e+02] [ 4.79244375e-03 -9.11062999e-05 9.99988512e-01 6.19932434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.25275509600004 meters 0.02048135846104849 Centerline is valid? [True, True] Translation: X:72.56, Y:230.00, Z:6.20 [[ 7.84405843e-01 6.20235884e-01 -3.86296742e-03 7.25556681e+01] [-6.20227748e-01 7.84415349e-01 3.17831388e-03 2.29999565e+02] [ 5.00147526e-03 -9.71683937e-05 9.99987488e-01 6.19986370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2827550960001 meters 0.020554830171843518 Centerline is valid? [True, True] Translation: X:72.58, Y:229.98, Z:6.20 [[ 7.84960934e-01 6.19533952e-01 -3.74361503e-03 7.25785662e+01] [-6.19526306e-01 7.84969854e-01 3.07967301e-03 2.29981378e+02] [ 4.84658694e-03 -9.81550163e-05 9.99988250e-01 6.20004997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.31275509600005 meters 0.020580753675664348 Centerline is valid? [True, True] Translation: X:72.60, Y:229.96, Z:6.20 [[ 7.85310892e-01 6.19091288e-01 -3.57481206e-03 7.26012899e+01] [-6.19084314e-01 7.85319023e-01 2.94011395e-03 2.29962995e+02] [ 4.62756684e-03 -9.57934328e-05 9.99989288e-01 6.20018807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3427550960001 meters 0.02101327552468238 Centerline is valid? [True, True] Translation: X:72.62, Y:229.94, Z:6.20 [[ 7.85642833e-01 6.18667276e-01 -4.01764981e-03 7.26226869e+01] [-6.18658463e-01 7.85653098e-01 3.30403151e-03 2.29944409e+02] [ 5.20057519e-03 -1.10235619e-04 9.99986471e-01 6.20046903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.37275509600005 meters 0.021427905508620452 Centerline is valid? [True, True] Translation: X:72.64, Y:229.93, Z:6.20 [[ 7.86426122e-01 6.17670721e-01 -4.10297549e-03 7.26446094e+01] [-6.17661517e-01 7.86436816e-01 3.37408006e-03 2.29925685e+02] [ 5.31080145e-03 -1.19214634e-04 9.99985891e-01 6.20059811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4027550960001 meters 0.021317748733467413 Centerline is valid? [True, True] Translation: X:72.67, Y:229.91, Z:6.20 [[ 7.86687189e-01 6.17337806e-01 -4.15920437e-03 7.26674167e+01] [-6.17328347e-01 7.86698175e-01 3.41965444e-03 2.29907497e+02] [ 5.38312046e-03 -1.22603579e-04 9.99985503e-01 6.20068345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.43275509600005 meters 0.021764924995352247 Centerline is valid? [True, True] Translation: X:72.69, Y:229.89, Z:6.20 [[ 7.87199249e-01 6.16679964e-01 -4.81288630e-03 7.26896615e+01] [-6.16667290e-01 7.87213948e-01 3.95641484e-03 2.29888370e+02] [ 6.22861299e-03 -1.46537242e-04 9.99980591e-01 6.20009716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4627550960001 meters 0.02154327509724216 Centerline is valid? [True, True] Translation: X:72.71, Y:229.87, Z:6.20 [[ 7.87307891e-01 6.16537962e-01 -5.21790615e-03 7.27141482e+01] [-6.16523066e-01 7.87325166e-01 4.28864444e-03 2.29868320e+02] [ 6.75230092e-03 -1.59524116e-04 9.99977190e-01 6.19957054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.49275509600005 meters 0.022509988858729603 Centerline is valid? [True, True] Translation: X:72.74, Y:229.85, Z:6.20 [[ 7.87254348e-01 6.16601838e-01 -5.72395752e-03 7.27354478e+01] [-6.16583911e-01 7.87275138e-01 4.70520076e-03 2.29847946e+02] [ 7.40756489e-03 -1.74889648e-04 9.99972548e-01 6.19948900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5227550960001 meters 0.022321362826926792 Centerline is valid? [True, True] Translation: X:72.76, Y:229.83, Z:6.20 [[ 7.87358068e-01 6.16461332e-01 -6.53445587e-03 7.27574619e+01] [-6.16437964e-01 7.87385157e-01 5.37130762e-03 2.29829116e+02] [ 8.45633701e-03 -2.01055713e-04 9.99964224e-01 6.19866967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.55275509600006 meters 0.023180698242097317 Centerline is valid? [True, True] Translation: X:72.78, Y:229.81, Z:6.20 [[ 7.87426463e-01 6.16369957e-01 -6.90228017e-03 7.27778182e+01] [-6.16343889e-01 7.87456685e-01 5.67275378e-03 2.29809925e+02] [ 8.93176166e-03 -2.12698245e-04 9.99960088e-01 6.19849371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5827550960001 meters 0.023253205653144593 Centerline is valid? [True, True] Translation: X:72.80, Y:229.79, Z:6.20 [[ 7.87146614e-01 6.16724959e-01 -7.10860042e-03 7.27982998e+01] [-6.16697335e-01 7.87178683e-01 5.84105897e-03 2.29791288e+02] [ 9.19806557e-03 -2.13914860e-04 9.99957674e-01 6.19862738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.61275509600006 meters 0.02214506644593259 Centerline is valid? [True, True] Translation: X:72.82, Y:229.77, Z:6.20 [[ 7.87111654e-01 6.16764390e-01 -7.54534872e-03 7.28215321e+01] [-6.16733281e-01 7.87147786e-01 6.19870194e-03 2.29773997e+02] [ 9.76244316e-03 -2.25602864e-04 9.99952321e-01 6.19889733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.64275509600003 meters 0.021863781016587817 Centerline is valid? [True, True] Translation: X:72.84, Y:229.75, Z:6.20 [[ 7.87225070e-01 6.16615501e-01 -7.87481133e-03 7.28432492e+01] [-6.16581619e-01 7.87264421e-01 6.46832384e-03 2.29754441e+02] [ 1.01880275e-02 -2.36562769e-04 9.99948073e-01 6.19898577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.67275509600006 meters 0.021293319375926798 Centerline is valid? [True, True] Translation: X:72.87, Y:229.73, Z:6.20 [[ 7.87137547e-01 6.16725006e-01 -8.04663456e-03 7.28687323e+01] [-6.16689639e-01 7.87178639e-01 6.60911609e-03 2.29732903e+02] [ 1.04101460e-02 -2.40007276e-04 9.99945784e-01 6.19915478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.70275509600003 meters 0.022203096132081206 Centerline is valid? [True, True] Translation: X:72.89, Y:229.71, Z:6.20 [[ 7.87250502e-01 6.16579356e-01 -8.15747346e-03 7.28913663e+01] [-6.16542953e-01 7.87292725e-01 6.70458758e-03 2.29710436e+02] [ 1.05562298e-02 -2.48757162e-04 9.99944251e-01 6.19941568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.73275509600006 meters 0.02237282398158445 Centerline is valid? [True, True] Translation: X:72.91, Y:229.69, Z:6.20 [[ 7.87342830e-01 6.16459087e-01 -8.33432566e-03 7.29136236e+01] [-6.16421039e-01 7.87386898e-01 6.85389403e-03 2.29689778e+02] [ 1.07874841e-02 -2.58910638e-04 9.99941780e-01 6.19954959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76275509600003 meters 0.02244979375970985 Centerline is valid? [True, True] Translation: X:72.94, Y:229.67, Z:6.20 [[ 7.87430269e-01 6.16348452e-01 -8.25568169e-03 7.29377666e+01] [-6.16311110e-01 7.87473504e-01 6.78950004e-03 2.29667219e+02] [ 1.06858284e-02 -2.58189497e-04 9.99942872e-01 6.20047327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.79275509600006 meters 0.021736100713145686 Centerline is valid? [True, True] Translation: X:72.96, Y:229.65, Z:6.20 [[ 7.86991071e-01 6.16910428e-01 -8.15956320e-03 7.29626946e+01] [-6.16873935e-01 7.87033329e-01 6.71471622e-03 2.29645618e+02] [ 1.05642266e-02 -2.50999851e-04 9.99944166e-01 6.20075750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82275509600004 meters 0.022402913455429874 Centerline is valid? [True, True] Translation: X:72.99, Y:229.62, Z:6.20 [[ 7.86582583e-01 6.17435067e-01 -7.85991392e-03 7.29852314e+01] [-6.17401190e-01 7.86621816e-01 6.47221492e-03 2.29624163e+02] [ 1.01789522e-02 -2.38211332e-04 9.99948165e-01 6.20145601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.85275509600007 meters 0.022507584215218566 Centerline is valid? [True, True] Translation: X:73.01, Y:229.60, Z:6.20 [[ 7.86104908e-01 6.18043466e-01 -7.83251150e-03 7.30073852e+01] [-6.18009821e-01 7.86143893e-01 6.45300353e-03 2.29604510e+02] [ 1.01457177e-02 -2.32168725e-04 9.99948504e-01 6.20198709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.88275509600004 meters 0.021254654489121453 Centerline is valid? [True, True] Translation: X:73.03, Y:229.59, Z:6.20 [[ 7.85203916e-01 6.19191276e-01 -7.54811987e-03 7.30330920e+01] [-6.19160081e-01 7.85240167e-01 6.21893347e-03 2.29585054e+02] [ 9.77779626e-03 -2.09636408e-04 9.99952174e-01 6.20292442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.91275509600007 meters 0.021254654489121453 Centerline is valid? [True, True] Translation: X:73.06, Y:229.56, Z:6.20 [[ 7.85007643e-01 6.19440111e-01 -7.54639788e-03 7.30580186e+01] [-6.19408907e-01 7.85043887e-01 6.22102232e-03 2.29564296e+02] [ 9.77780428e-03 -2.09244003e-04 9.99952174e-01 6.20324960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.94275509600004 meters 0.020083828299142542 Centerline is valid? [True, True] Translation: X:73.08, Y:229.54, Z:6.20 [[ 7.83124680e-01 6.21821416e-01 -7.33904234e-03 7.30839543e+01] [-6.21791971e-01 7.83159048e-01 6.05390191e-03 2.29544686e+02] [ 9.51208328e-03 -1.77602397e-04 9.99954743e-01 6.20445290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.97275509600007 meters 0.020210777787173447 Centerline is valid? [True, True] Translation: X:73.11, Y:229.52, Z:6.20 [[ 7.82276079e-01 6.22890026e-01 -7.22160903e-03 7.31073403e+01] [-6.22861528e-01 7.82309395e-01 5.96051138e-03 2.29524703e+02] [ 9.36227568e-03 -1.64703039e-04 9.99956159e-01 6.20461062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.00275509600004 meters 0.01923736313986488 Centerline is valid? [True, True] Translation: X:73.13, Y:229.51, Z:6.21 [[ 7.80445583e-01 6.25182437e-01 -7.18415267e-03 7.31322645e+01] [-6.25154313e-01 7.80478636e-01 5.93163203e-03 2.29506097e+02] [ 9.31542984e-03 -1.38111995e-04 9.99956601e-01 6.20506846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0327550960001 meters 0.018648513498541658 Centerline is valid? [True, True] Translation: X:73.16, Y:229.49, Z:6.21 [[ 7.79439092e-01 6.26436219e-01 -7.23639550e-03 7.31571398e+01] [-6.26407736e-01 7.79472673e-01 5.97505566e-03 2.29486353e+02] [ 9.38356382e-03 -1.24257844e-04 9.99955966e-01 6.20543520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.06275509600005 meters 0.018542932471260168 Centerline is valid? [True, True] Translation: X:73.18, Y:229.47, Z:6.21 [[ 7.78617831e-01 6.27453803e-01 -7.48321430e-03 7.31813262e+01] [-6.27423354e-01 7.78653782e-01 6.18253699e-03 2.29466118e+02] [ 9.70608945e-03 -1.18690130e-04 9.99952888e-01 6.20576220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0927550960001 meters 0.01794674457179844 Centerline is valid? [True, True] Translation: X:73.20, Y:229.45, Z:6.21 [[ 7.77120357e-01 6.29293465e-01 -8.58403582e-03 7.32045234e+01] [-6.29253485e-01 7.77167757e-01 7.09436202e-03 2.29446817e+02] [ 1.11356715e-02 -1.11638692e-04 9.99937990e-01 6.20512232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.12275509600005 meters 0.01863849003706007 Centerline is valid? [True, True] Translation: X:73.23, Y:229.43, Z:6.20 [[ 7.76616950e-01 6.29913373e-01 -8.67497931e-03 7.32256523e+01] [-6.29872584e-01 7.76665392e-01 7.16910779e-03 2.29428580e+02] [ 1.12534731e-02 -1.03518986e-04 9.99936672e-01 6.20432766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1527550960001 meters 0.01770158676262071 Centerline is valid? [True, True] Translation: X:73.25, Y:229.41, Z:6.21 [[ 7.76022945e-01 6.30646729e-01 -8.54946273e-03 7.32481489e+01] [-6.30607171e-01 7.76070033e-01 7.06402691e-03 2.29409960e+02] [ 1.10898873e-02 -9.04944544e-05 9.99938501e-01 6.20585036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.18275509600005 meters 0.017586127372555327 Centerline is valid? [True, True] Translation: X:73.27, Y:229.39, Z:6.21 [[ 7.75626739e-01 6.31134617e-01 -8.50042002e-03 7.32690145e+01] [-6.31095554e-01 7.75673313e-01 7.02236738e-03 2.29390922e+02] [ 1.10256081e-02 -8.21586219e-05 9.99939213e-01 6.20572987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2127550960001 meters 0.017322455761314765 Centerline is valid? [True, True] Translation: X:73.29, Y:229.37, Z:6.21 [[ 7.75304215e-01 6.31531958e-01 -8.41194337e-03 7.32915058e+01] [-6.31493743e-01 7.75349844e-01 6.94780760e-03 2.29372184e+02] [ 1.09099615e-02 -7.45749122e-05 9.99940482e-01 6.20631278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.24275509600005 meters 0.01737058606012324 Centerline is valid? [True, True] Translation: X:73.31, Y:229.35, Z:6.21 [[ 7.75164530e-01 6.31708490e-01 -8.02091013e-03 7.33123863e+01] [-6.31673760e-01 7.75206024e-01 6.62432093e-03 2.29352222e+02] [ 1.04024976e-02 -6.83401650e-05 9.99945890e-01 6.20663857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2727550960001 meters 0.01744103724925772 Centerline is valid? [True, True] Translation: X:73.33, Y:229.33, Z:6.21 [[ 7.75395482e-01 6.31429480e-01 -7.65881169e-03 7.33336817e+01] [-6.31397809e-01 7.75433303e-01 6.32455622e-03 2.29333063e+02] [ 9.93240889e-03 -6.82753979e-05 9.99950670e-01 6.20744012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.30275509600006 meters 0.017472342044517274 Centerline is valid? [True, True] Translation: X:73.36, Y:229.31, Z:6.21 [[ 7.75220592e-01 6.31651082e-01 -7.06714563e-03 7.33578763e+01] [-6.31624136e-01 7.75252802e-01 5.83474681e-03 2.29311545e+02] [ 9.16434859e-03 -5.94361261e-05 9.99958005e-01 6.20820757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3327550960001 meters 0.017731800745130737 Centerline is valid? [True, True] Translation: X:73.38, Y:229.29, Z:6.21 [[ 7.75914008e-01 6.30801407e-01 -6.85839479e-03 7.33795719e+01] [-6.30775969e-01 7.75944315e-01 5.66544947e-03 2.29288276e+02] [ 8.89550594e-03 -6.97909841e-05 9.99960432e-01 6.20913185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.36275509600006 meters 0.017820844235099092 Centerline is valid? [True, True] Translation: X:73.40, Y:229.27, Z:6.21 [[ 7.76324713e-01 6.30299504e-01 -6.51729652e-03 7.34030700e+01] [-6.30276485e-01 7.76352066e-01 5.38722198e-03 2.29267037e+02] [ 8.45527996e-03 -7.45348144e-05 9.99964251e-01 6.20971473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.39275509600003 meters 0.018061462711951706 Centerline is valid? [True, True] Translation: X:73.43, Y:229.24, Z:6.21 [[ 7.77201286e-01 6.29216825e-01 -6.65942247e-03 7.34257730e+01] [-6.29192751e-01 7.77229811e-01 5.50473108e-03 2.29244684e+02] [ 8.63957108e-03 -8.82237291e-05 9.99962674e-01 6.20929070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.42275509600006 meters 0.018570184035565283 Centerline is valid? [True, True] Translation: X:73.45, Y:229.22, Z:6.21 [[ 7.77332493e-01 6.29049994e-01 -7.09228634e-03 7.34489494e+01] [-6.29022650e-01 7.77364840e-01 5.86603616e-03 2.29222612e+02] [ 9.20332405e-03 -9.86517616e-05 9.99957644e-01 6.20895125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.45275509600003 meters 0.018309210337868337 Centerline is valid? [True, True] Translation: X:73.47, Y:229.20, Z:6.21 [[ 7.77339488e-01 6.29039666e-01 -7.24007813e-03 7.34746780e+01] [-6.29011136e-01 7.77373197e-01 5.99190649e-03 2.29202090e+02] [ 9.39738954e-03 -1.03655753e-04 9.99955838e-01 6.20851205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.48275509600006 meters 0.018341653197146864 Centerline is valid? [True, True] Translation: X:73.50, Y:229.18, Z:6.21 [[ 7.77267713e-01 6.29121168e-01 -7.83951220e-03 7.35002542e+01] [-6.29087677e-01 7.77307238e-01 6.49246150e-03 2.29181060e+02] [ 1.01782545e-02 -1.14640183e-04 9.99948194e-01 6.20778054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.51275509600003 meters 0.018185894681123232 Centerline is valid? [True, True] Translation: X:73.53, Y:229.16, Z:6.21 [[ 7.76814735e-01 6.29678865e-01 -7.96209992e-03 7.35260810e+01] [-6.29644303e-01 7.76855530e-01 6.59824397e-03 2.29160634e+02] [ 1.03401761e-02 -1.12322283e-04 9.99946533e-01 6.20794609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.54275509600006 meters 0.0184471597681071 Centerline is valid? [True, True] Translation: X:73.55, Y:229.14, Z:6.21 [[ 7.76316569e-01 6.30290130e-01 -8.18148568e-03 7.35504747e+01] [-6.30253624e-01 7.76359672e-01 6.78453266e-03 2.29139965e+02] [ 1.06279995e-02 -1.10534121e-04 9.99943515e-01 6.20807023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.57275509600004 meters 0.018273443153110348 Centerline is valid? [True, True] Translation: X:73.57, Y:229.12, Z:6.21 [[ 7.76219399e-01 6.30405804e-01 -8.48340695e-03 7.35729586e+01] [-6.30366517e-01 7.76265747e-01 7.03879012e-03 2.29122250e+02] [ 1.10226724e-02 -1.15989737e-04 9.99939242e-01 6.20819126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.60275509600007 meters 0.018257786835891923 Centerline is valid? [True, True] Translation: X:73.60, Y:229.10, Z:6.21 [[ 7.76367071e-01 6.30217730e-01 -8.93225003e-03 7.35962312e+01] [-6.30174176e-01 7.76418443e-01 7.41009768e-03 2.29103777e+02] [ 1.16051386e-02 -1.24082518e-04 9.99932650e-01 6.20792030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.63275509600004 meters 0.018121842340191967 Centerline is valid? [True, True] Translation: X:73.62, Y:229.08, Z:6.21 [[ 7.76201893e-01 6.30412414e-01 -9.52943077e-03 7.36212830e+01] [-6.30362853e-01 7.76260376e-01 7.90582564e-03 2.29083546e+02] [ 1.23812501e-02 -1.29517663e-04 9.99923341e-01 6.20750356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.66275509600007 meters 0.018117216799671928 Centerline is valid? [True, True] Translation: X:73.65, Y:229.06, Z:6.21 [[ 7.75953734e-01 6.30713278e-01 -9.82668373e-03 7.36466756e+01] [-6.30660539e-01 7.76015943e-01 8.15720906e-03 2.29062225e+02] [ 1.27705233e-02 -1.32315174e-04 9.99918445e-01 6.20720727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.69275509600004 meters 0.01809012418844755 Centerline is valid? [True, True] Translation: X:73.67, Y:229.04, Z:6.21 [[ 7.75789214e-01 6.30907342e-01 -1.03451011e-02 7.36719302e+01] [-6.30848832e-01 7.75858174e-01 8.59325536e-03 2.29040737e+02] [ 1.34478792e-02 -1.40359848e-04 9.99909563e-01 6.20754965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.72275509600007 meters 0.018167433244440926 Centerline is valid? [True, True] Translation: X:73.70, Y:229.02, Z:6.21 [[ 7.75910073e-01 6.30754926e-01 -1.05727094e-02 7.36952734e+01] [-6.30693732e-01 7.75982088e-01 8.78725995e-03 2.29020506e+02] [ 1.37468406e-02 -1.49981942e-04 9.99905496e-01 6.20746950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.75275509600004 meters 0.018255926051455998 Centerline is valid? [True, True] Translation: X:73.72, Y:229.00, Z:6.21 [[ 7.75962031e-01 6.30689141e-01 -1.06833356e-02 7.37170951e+01] [-6.30626629e-01 7.76035556e-01 8.88096546e-03 2.29001755e+02] [ 1.38917767e-02 -1.54096112e-04 9.99903493e-01 6.20747033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7827550960001 meters 0.01858375954776396 Centerline is valid? [True, True] Translation: X:73.74, Y:228.98, Z:6.21 [[ 7.76477401e-01 6.30051306e-01 -1.08718576e-02 7.37381213e+01] [-6.29986523e-01 7.76553491e-01 9.03641999e-03 2.28983702e+02] [ 1.41359872e-02 -1.67452165e-04 9.99900068e-01 6.20764038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.81275509600005 meters 0.018640133120541545 Centerline is valid? [True, True] Translation: X:73.76, Y:228.97, Z:6.21 [[ 7.76769719e-01 6.29691289e-01 -1.08482081e-02 7.37597527e+01] [-6.29626775e-01 7.76845449e-01 9.01515481e-03 2.28965187e+02] [ 1.41041455e-02 -1.72377008e-04 9.99900517e-01 6.20824150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8427550960001 meters 0.018785668983324826 Centerline is valid? [True, True] Translation: X:73.78, Y:228.95, Z:6.21 [[ 7.77535782e-01 6.28751904e-01 -1.04475436e-02 7.37814049e+01] [-6.28692000e-01 7.77605948e-01 8.68091964e-03 2.28946692e+02] [ 1.35822168e-02 -1.81438572e-04 9.99907741e-01 6.20906513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.87275509600005 meters 0.019869098224326642 Centerline is valid? [True, True] Translation: X:73.80, Y:228.93, Z:6.21 [[ 7.78961143e-01 6.26992374e-01 -1.00050106e-02 7.38007982e+01] [-6.26937309e-01 7.79025367e-01 8.31192160e-03 2.28926749e+02] [ 1.30056685e-02 -2.02149511e-04 9.99915402e-01 6.20986897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9027550960001 meters 0.019076055316578085 Centerline is valid? [True, True] Translation: X:73.83, Y:228.91, Z:6.21 [[ 7.79373614e-01 6.26480721e-01 -9.93358101e-03 7.38261645e+01] [-6.26426400e-01 7.79436888e-01 8.25243390e-03 2.28907482e+02] [ 1.29125902e-02 -2.09071839e-04 9.99916607e-01 6.21097906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.93275509600005 meters 0.019107141843136888 Centerline is valid? [True, True] Translation: X:73.85, Y:228.89, Z:6.21 [[ 7.80197440e-01 6.25461856e-01 -9.45628943e-03 7.38504974e+01] [-6.25412503e-01 7.80254714e-01 7.86020863e-03 2.28885991e+02] [ 1.22945751e-02 -2.18433012e-04 9.99924395e-01 6.21211800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9627550960001 meters 0.019830283486307564 Centerline is valid? [True, True] Translation: X:73.87, Y:228.87, Z:6.21 [[ 7.80750835e-01 6.24776136e-01 -9.10563331e-03 7.38732751e+01] [-6.24730282e-01 7.80803900e-01 7.57264299e-03 2.28865478e+02] [ 1.18409206e-02 -2.23782467e-04 9.99929869e-01 6.21266158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.99275509600005 meters 0.021611775533864723 Centerline is valid? [True, True] Translation: X:73.90, Y:228.84, Z:6.21 [[ 7.81079089e-01 6.24368552e-01 -8.90889773e-03 7.38951187e+01] [-6.24324605e-01 7.81129861e-01 7.41135687e-03 2.28842482e+02] [ 1.15864242e-02 -2.26811815e-04 9.99932849e-01 6.21302716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0227550960001 meters 0.021090798733341846 Centerline is valid? [True, True] Translation: X:73.92, Y:228.82, Z:6.21 [[ 7.81717097e-01 6.23581243e-01 -8.05073132e-03 7.39208750e+01] [-6.23545280e-01 7.81758522e-01 6.70061573e-03 2.28822673e+02] [ 1.04721061e-02 -2.17990362e-04 9.99945142e-01 6.21439537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.05275509600006 meters 0.0210365162970589 Centerline is valid? [True, True] Translation: X:73.95, Y:228.80, Z:6.21 [[ 7.81662532e-01 6.23649271e-01 -8.07916374e-03 7.39461688e+01] [-6.23613018e-01 7.81704252e-01 6.72798029e-03 2.28801519e+02] [ 1.05114167e-02 -2.20738415e-04 9.99944729e-01 6.21468237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0827550960001 meters 0.020876071858704624 Centerline is valid? [True, True] Translation: X:73.97, Y:228.78, Z:6.21 [[ 7.81350476e-01 6.24038446e-01 -8.21288115e-03 7.39713783e+01] [-6.24000958e-01 7.81393607e-01 6.84369521e-03 2.28780689e+02] [ 1.06882217e-02 -2.22478812e-04 9.99942855e-01 6.21484829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.11275509600006 meters 0.020604913066332744 Centerline is valid? [True, True] Translation: X:74.00, Y:228.76, Z:6.21 [[ 7.80713599e-01 6.24835733e-01 -8.15983658e-03 7.39964087e+01] [-6.24798726e-01 7.80756211e-01 6.80370267e-03 2.28760244e+02] [ 1.06220396e-02 -2.13487704e-04 9.99943562e-01 6.21486399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.14275509600003 meters 0.020513313502555672 Centerline is valid? [True, True] Translation: X:74.02, Y:228.74, Z:6.21 [[ 7.80078268e-01 6.25626135e-01 -8.35675236e-03 7.40203097e+01] [-6.25587324e-01 7.80123000e-01 6.97176785e-03 2.28740749e+02] [ 1.08810149e-02 -2.10646244e-04 9.99940778e-01 6.21479874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.17275509600006 meters 0.020073810395488535 Centerline is valid? [True, True] Translation: X:74.04, Y:228.72, Z:6.21 [[ 7.79412349e-01 6.26452295e-01 -8.59720316e-03 7.40443705e+01] [-6.26411231e-01 7.79459735e-01 7.17568899e-03 2.28721900e+02] [ 1.11964005e-02 -2.07435994e-04 9.99937297e-01 6.21480476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.20275509600003 meters 0.01892783673644261 Centerline is valid? [True, True] Translation: X:74.07, Y:228.70, Z:6.21 [[ 7.77559079e-01 6.28745500e-01 -8.99857643e-03 7.40708383e+01] [-6.28700658e-01 7.77611126e-01 7.51130432e-03 2.28703660e+02] [ 1.17200919e-02 -1.83071942e-04 9.99931301e-01 6.21438676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.23275509600006 meters 0.018630658222503503 Centerline is valid? [True, True] Translation: X:74.10, Y:228.68, Z:6.21 [[ 7.76813395e-01 6.29668301e-01 -8.87582519e-03 7.40963827e+01] [-6.29624688e-01 7.76864082e-01 7.41287770e-03 2.28683884e+02] [ 1.15629639e-02 -1.69984025e-04 9.99933132e-01 6.21424251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26275509600003 meters 0.018052658951880733 Centerline is valid? [True, True] Translation: X:74.12, Y:228.67, Z:6.21 [[ 7.75608447e-01 6.31145363e-01 -9.33101549e-03 7.41218439e+01] [-6.31097221e-01 7.75664558e-01 7.79687056e-03 2.28665196e+02] [ 1.21586967e-02 -1.58540725e-04 9.99926068e-01 6.21441948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.29275509600006 meters 0.017760261768159678 Centerline is valid? [True, True] Translation: X:74.15, Y:228.64, Z:6.21 [[ 7.75117620e-01 6.31747749e-01 -9.35182311e-03 7.41477260e+01] [-6.31699419e-01 7.75174019e-01 7.81566174e-03 2.28644545e+02] [ 1.21868170e-02 -1.50515899e-04 9.99925727e-01 6.21472004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32275509600004 meters 0.017546735947505825 Centerline is valid? [True, True] Translation: X:74.17, Y:228.62, Z:6.22 [[ 7.74546097e-01 6.32449766e-01 -9.25400946e-03 7.41728175e+01] [-6.32402433e-01 7.74601364e-01 7.73883482e-03 2.28623690e+02] [ 1.20625926e-02 -1.41826209e-04 9.99927234e-01 6.21556892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.35275509600007 meters 0.017739063921765677 Centerline is valid? [True, True] Translation: X:74.20, Y:228.60, Z:6.22 [[ 7.74153983e-01 6.32926370e-01 -9.47740346e-03 7.41965705e+01] [-6.32876696e-01 7.74211980e-01 7.93077504e-03 2.28602243e+02] [ 1.23571160e-02 -1.41613296e-04 9.99923638e-01 6.21574980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.38275509600004 meters 0.017643718320236253 Centerline is valid? [True, True] Translation: X:74.22, Y:228.58, Z:6.22 [[ 7.74337501e-01 6.32702434e-01 -9.43744179e-03 7.42185845e+01] [-6.32653117e-01 7.74394995e-01 7.90092205e-03 2.28583746e+02] [ 1.23072403e-02 -1.47353263e-04 9.99924252e-01 6.21600988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.41275509600007 meters 0.01741882618386546 Centerline is valid? [True, True] Translation: X:74.24, Y:228.56, Z:6.22 [[ 7.74097475e-01 6.32994605e-01 -9.53570446e-03 7.42435266e+01] [-6.32944280e-01 7.74156192e-01 7.98305183e-03 2.28563685e+02] [ 1.24353534e-02 -1.44090672e-04 9.99922668e-01 6.21701388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.44275509600004 meters 0.01754494634990811 Centerline is valid? [True, True] Translation: X:74.27, Y:228.54, Z:6.22 [[ 7.74189216e-01 6.32883952e-01 -9.43195364e-03 7.42660098e+01] [-6.32834663e-01 7.74246655e-01 7.89979040e-03 2.28544573e+02] [ 1.23023091e-02 -1.47065324e-04 9.99924313e-01 6.21749914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.47275509600007 meters 0.017481543680661474 Centerline is valid? [True, True] Translation: X:74.29, Y:228.52, Z:6.22 [[ 7.74224002e-01 6.32837856e-01 -9.66654514e-03 7.42907880e+01] [-6.32786077e-01 7.74284331e-01 8.09669136e-03 2.28524902e+02] [ 1.26085472e-02 -1.51797610e-04 9.99920498e-01 6.21770651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.50275509600004 meters 0.017296710719425862 Centerline is valid? [True, True] Translation: X:74.32, Y:228.50, Z:6.22 [[ 7.73963680e-01 6.33156250e-01 -9.66356580e-03 7.43164754e+01] [-6.33104507e-01 7.74023993e-01 8.09578115e-03 2.28504469e+02] [ 1.26057262e-02 -1.47793504e-04 9.99920534e-01 6.21805561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5327550960001 meters 0.01756255002638845 Centerline is valid? [True, True] Translation: X:74.34, Y:228.48, Z:6.22 [[ 7.73791314e-01 6.33365662e-01 -9.74371145e-03 7.43399585e+01] [-6.33313010e-01 7.73852645e-01 8.16799896e-03 2.28484159e+02] [ 1.27135269e-02 -1.49507430e-04 9.99919169e-01 6.21838145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.56275509600005 meters 0.01761761101344953 Centerline is valid? [True, True] Translation: X:74.36, Y:228.47, Z:6.22 [[ 7.73986747e-01 6.33124814e-01 -9.87350067e-03 7.43624989e+01] [-6.33070690e-01 7.74049705e-01 8.27988074e-03 2.28466847e+02] [ 1.28847782e-02 -1.57894081e-04 9.99916975e-01 6.21908143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5927550960001 meters 0.017377519342428028 Centerline is valid? [True, True] Translation: X:74.39, Y:228.45, Z:6.22 [[ 7.73747870e-01 6.33418865e-01 -9.73527426e-03 7.43881994e+01] [-6.33366267e-01 7.73809097e-01 8.16409379e-03 2.28446546e+02] [ 1.27045348e-02 -1.50955860e-04 9.99919283e-01 6.21965093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.62275509600005 meters 0.017202928638175373 Centerline is valid? [True, True] Translation: X:74.41, Y:228.43, Z:6.22 [[ 7.73570643e-01 6.33637824e-01 -9.56915658e-03 7.44137809e+01] [-6.33586959e-01 7.73629812e-01 8.02990344e-03 2.28425985e+02] [ 1.24910353e-02 -1.48804745e-04 9.99921973e-01 6.22024232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6527550960001 meters 0.01768833702676093 Centerline is valid? [True, True] Translation: X:74.44, Y:228.41, Z:6.22 [[ 7.73810396e-01 6.33343175e-01 -9.68992665e-03 7.44386484e+01] [-6.33290927e-01 7.73871047e-01 8.13659110e-03 2.28405481e+02] [ 1.26520081e-02 -1.59636144e-04 9.99919947e-01 6.22066639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.68275509600005 meters 0.017927328611840643 Centerline is valid? [True, True] Translation: X:74.46, Y:228.39, Z:6.22 [[ 7.74347874e-01 6.32690745e-01 -9.36970589e-03 7.44638097e+01] [-6.32641789e-01 7.74404541e-01 7.87232609e-03 2.28385562e+02] [ 1.22366907e-02 -1.68251470e-04 9.99925115e-01 6.22184786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7127550960001 meters 0.01805894891834848 Centerline is valid? [True, True] Translation: X:74.49, Y:228.37, Z:6.22 [[ 7.74660685e-01 6.32310403e-01 -9.18572461e-03 7.44891482e+01] [-6.32263272e-01 7.74715124e-01 7.72210962e-03 2.28365045e+02] [ 1.19990900e-02 -1.74218421e-04 9.99927993e-01 6.22246464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.74275509600005 meters 0.018890453598227604 Centerline is valid? [True, True] Translation: X:74.51, Y:228.34, Z:6.22 [[ 7.75094234e-01 6.31781036e-01 -9.03610255e-03 7.45122290e+01] [-6.31735339e-01 7.75146883e-01 7.60078801e-03 2.28344151e+02] [ 1.18063404e-02 -1.82901659e-04 9.99930286e-01 6.22280166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7727550960001 meters 0.018840231342543416 Centerline is valid? [True, True] Translation: X:74.54, Y:228.32, Z:6.22 [[ 7.75823903e-01 6.30884338e-01 -9.06766240e-03 7.45363133e+01] [-6.30838237e-01 7.75876867e-01 7.62932248e-03 2.28324960e+02] [ 1.18486096e-02 -1.98782579e-04 9.99929783e-01 6.22334675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.80275509600006 meters 0.019609667681012265 Centerline is valid? [True, True] Translation: X:74.56, Y:228.30, Z:6.22 [[ 7.77000360e-01 6.29437861e-01 -8.85551929e-03 7.45608703e+01] [-6.29393791e-01 7.77050791e-01 7.45139267e-03 2.28304433e+02] [ 1.15713769e-02 -2.16125920e-04 9.99933026e-01 6.22457175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8327550960001 meters 0.019609667681012265 Centerline is valid? [True, True] Translation: X:74.58, Y:228.28, Z:6.22 [[ 7.76975759e-01 6.29468253e-01 -8.85371706e-03 7.45844268e+01] [-6.29424161e-01 7.77026171e-01 7.45353347e-03 2.28284546e+02] [ 1.15713326e-02 -2.18471397e-04 9.99933026e-01 6.22488083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.86275509600006 meters 0.020409885581722124 Centerline is valid? [True, True] Translation: X:74.61, Y:228.27, Z:6.23 [[ 7.77786834e-01 6.28466787e-01 -8.78286842e-03 7.46068689e+01] [-6.28423328e-01 7.77836387e-01 7.39435869e-03 2.28265686e+02] [ 1.14787435e-02 -2.31875435e-04 9.99934090e-01 6.22514668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.89275509600003 meters 0.020899317352546472 Centerline is valid? [True, True] Translation: X:74.63, Y:228.25, Z:6.23 [[ 7.78834099e-01 6.27163377e-01 -9.14029463e-03 7.46307576e+01] [-6.27116224e-01 7.78887688e-01 7.69491602e-03 2.28247587e+02] [ 1.19452325e-02 -2.61035930e-04 9.99928619e-01 6.22522220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.92275509600006 meters 0.021808515385272755 Centerline is valid? [True, True] Translation: X:74.65, Y:228.23, Z:6.23 [[ 7.79181825e-01 6.26735138e-01 -8.87410605e-03 7.46520980e+01] [-6.26690672e-01 7.79232314e-01 7.47012874e-03 2.28229302e+02] [ 1.15967824e-02 -2.59269067e-04 9.99932721e-01 6.22551943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.95275509600003 meters 0.021051582943406293 Centerline is valid? [True, True] Translation: X:74.68, Y:228.21, Z:6.23 [[ 7.79189648e-01 6.26724250e-01 -8.95578422e-03 7.46761983e+01] [-6.26678977e-01 7.79241071e-01 7.53753170e-03 2.28212444e+02] [ 1.17026688e-02 -2.60764982e-04 9.99931487e-01 6.22617932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.98275509600006 meters 0.021088231114137056 Centerline is valid? [True, True] Translation: X:74.70, Y:228.20, Z:6.23 [[ 7.79176181e-01 6.26743161e-01 -8.80282022e-03 7.46991141e+01] [-6.26699430e-01 7.79225863e-01 7.40809816e-03 2.28197180e+02] [ 1.15023600e-02 -2.55491222e-04 9.99933813e-01 6.22628798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.01275509600003 meters 0.020564780838674197 Centerline is valid? [True, True] Translation: X:74.72, Y:228.18, Z:6.23 [[ 7.78998498e-01 6.26965432e-01 -8.69983852e-03 7.47240799e+01] [-6.26922746e-01 7.79047037e-01 7.32017691e-03 2.28179595e+02] [ 1.13670813e-02 -2.48280163e-04 9.99935362e-01 6.22678031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.04275509600006 meters 0.020718490701194043 Centerline is valid? [True, True] Translation: X:74.75, Y:228.16, Z:6.23 [[ 7.78985580e-01 6.26982545e-01 -8.62289047e-03 7.47469782e+01] [-6.26940614e-01 7.79033265e-01 7.25526914e-03 2.28164017e+02] [ 1.12664456e-02 -2.45709798e-04 9.99936501e-01 6.22701482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.07275509600004 meters 0.02072177611314854 Centerline is valid? [True, True] Translation: X:74.77, Y:228.15, Z:6.23 [[ 7.78971776e-01 6.26999818e-01 -8.61397671e-03 7.47699853e+01] [-6.26957990e-01 7.79019363e-01 7.24636120e-03 2.28146722e+02] [ 1.12539218e-02 -2.44109326e-04 9.99936643e-01 6.22711198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.10275509600007 meters 0.020391819672742638 Centerline is valid? [True, True] Translation: X:74.79, Y:228.13, Z:6.23 [[ 7.79047912e-01 6.26904814e-01 -8.64317806e-03 7.47944092e+01] [-6.26862708e-01 7.79095818e-01 7.26990186e-03 2.28129107e+02] [ 1.12914004e-02 -2.45515860e-04 9.99936220e-01 6.22759043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.13275509600004 meters 0.02076238079702711 Centerline is valid? [True, True] Translation: X:74.82, Y:228.11, Z:6.23 [[ 7.79167308e-01 6.26763046e-01 -8.14802581e-03 7.48180182e+01] [-6.26725619e-01 7.79209875e-01 6.85337205e-03 2.28112958e+02] [ 1.06444625e-02 -2.33346931e-04 9.99943319e-01 6.22824083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.16275509600007 meters 0.020933130500366347 Centerline is valid? [True, True] Translation: X:74.84, Y:228.10, Z:6.23 [[ 7.79371209e-01 6.26510607e-01 -8.06087732e-03 7.48412796e+01] [-6.26473971e-01 7.79412859e-01 6.77924928e-03 2.28095971e+02] [ 1.05300230e-02 -2.33621881e-04 9.99944531e-01 6.22873673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.19275509600004 meters 0.02149861824404192 Centerline is valid? [True, True] Translation: X:74.87, Y:228.08, Z:6.23 [[ 7.79678582e-01 6.26124232e-01 -8.35195983e-03 7.48653798e+01] [-6.26084893e-01 7.79723275e-01 7.02287158e-03 2.28081339e+02] [ 1.09094075e-02 -2.46546676e-04 9.99940460e-01 6.22863734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.22275509600007 meters 0.021899656780837284 Centerline is valid? [True, True] Translation: X:74.89, Y:228.06, Z:6.23 [[ 7.80081052e-01 6.25624986e-01 -8.18105899e-03 7.48883569e+01] [-6.25587228e-01 7.80123911e-01 6.87783567e-03 2.28064837e+02] [ 1.06851856e-02 -2.47303273e-04 9.99942881e-01 6.22840015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.25275509600004 meters 0.02391697679705504 Centerline is valid? [True, True] Translation: X:74.91, Y:228.05, Z:6.23 [[ 7.80636167e-01 6.24929043e-01 -8.41819336e-03 7.49101161e+01] [-6.24889041e-01 7.80681512e-01 7.07555298e-03 2.28045347e+02] [ 1.09936465e-02 -2.62995781e-04 9.99939533e-01 6.22850400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2827550960001 meters 0.023817341614196786 Centerline is valid? [True, True] Translation: X:74.93, Y:228.03, Z:6.23 [[ 7.82189453e-01 6.22987105e-01 -8.16860334e-03 7.49346607e+01] [-6.22949371e-01 7.82232056e-01 6.86233920e-03 2.28030733e+02] [ 1.06648922e-02 -2.79023033e-04 9.99943090e-01 6.22885891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.31275509600005 meters 0.02703054244694982 Centerline is valid? [True, True] Translation: X:75.27, Y:228.44, Z:7.44 [[ 7.97396998e-01 -6.03409668e-01 7.40267513e-03 7.52721574e+01] [-6.03377523e-01 -7.97431191e-01 -6.24975499e-03 2.28439620e+02] [ 9.67428663e-03 5.16928082e-04 -9.99953069e-01 7.43654984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3427550960001 meters 0.027311948659989597 Centerline is valid? [True, True] Translation: X:75.29, Y:228.46, Z:7.44 [[ 8.41326280e-01 -5.40470965e-01 7.82479803e-03 7.52946112e+01] [-5.40441963e-01 -8.41362517e-01 -5.62129708e-03 2.28458688e+02] [ 9.62163963e-03 5.00495749e-04 -9.99953586e-01 7.43650694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.37275509600005 meters 0.03055321146099517 Centerline is valid? [True, True] Translation: X:75.32, Y:228.48, Z:7.44 [[ 8.79713309e-01 -4.75436258e-01 8.05343981e-03 7.53172409e+01] [-4.75411300e-01 -8.79750042e-01 -4.89481289e-03 2.28480347e+02] [ 9.41218554e-03 4.77335758e-04 -9.99955590e-01 7.43661038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4027550960001 meters 0.03016738637951717 Centerline is valid? [True, True] Translation: X:75.34, Y:228.50, Z:7.44 [[ 9.13818549e-01 -4.06027518e-01 8.79282446e-03 7.53396589e+01] [-4.06003910e-01 -9.13860739e-01 -4.40174456e-03 2.28500729e+02] [ 9.82264648e-03 4.52474711e-04 -9.99951654e-01 7.43686400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.43275509600005 meters 0.029348768814307657 Centerline is valid? [True, True] Translation: X:75.36, Y:228.52, Z:7.44 [[ 9.42590306e-01 -3.33815632e-01 9.52041427e-03 7.53591772e+01] [-3.33793950e-01 -9.42638286e-01 -3.82895287e-03 2.28516473e+02] [ 1.02524713e-02 4.31277175e-04 -9.99947349e-01 7.43639514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4627550960001 meters 0.030844018045173362 Centerline is valid? [True, True] Translation: X:75.38, Y:228.54, Z:7.44 [[ 9.65909862e-01 -2.58701828e-01 9.56573190e-03 7.53781828e+01] [-2.58684595e-01 -9.65957126e-01 -3.01840396e-03 2.28541034e+02] [ 1.00209535e-02 4.40998675e-04 -9.99949692e-01 7.43650443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.49275509600005 meters 0.029469007070029203 Centerline is valid? [True, True] Translation: X:75.40, Y:228.56, Z:7.44 [[ 9.83253688e-01 -1.81986999e-01 9.63933419e-03 7.53955757e+01] [-1.81973779e-01 -9.83300835e-01 -2.23853676e-03 2.28562570e+02] [ 9.88574994e-03 4.46943450e-04 -9.99951035e-01 7.43692136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5227550960001 meters 0.0291101016597724 Centerline is valid? [True, True] Translation: X:75.41, Y:228.59, Z:7.44 [[ 9.94568562e-01 -1.03603004e-01 9.98965450e-03 7.54091349e+01] [-1.03593245e-01 -9.94618629e-01 -1.49083637e-03 2.28587967e+02] [ 1.00903516e-02 4.47878256e-04 -9.99948991e-01 7.43699996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.55275509600006 meters 0.028218904844127046 Centerline is valid? [True, True] Translation: X:75.42, Y:228.61, Z:7.44 [[ 9.99686011e-01 -2.34373346e-02 8.86398238e-03 7.54193355e+01] [-2.34319659e-02 -9.99725182e-01 -7.09054905e-04 2.28612060e+02] [ 8.87816475e-03 5.01131737e-04 -9.99960463e-01 7.43797185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5827550960001 meters 0.02784018644759889 Centerline is valid? [True, True] Translation: X:75.43, Y:228.64, Z:7.44 [[ 9.98383605e-01 5.62084818e-02 8.41333443e-03 7.54294934e+01] [ 5.62109018e-02 -9.98418916e-01 -5.12598988e-05 2.28640344e+02] [ 8.39715100e-03 5.24098158e-04 -9.99964606e-01 7.43881529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.61275509600006 meters 0.026924190499096435 Centerline is valid? [True, True] Translation: X:75.44, Y:228.67, Z:7.44 [[ 9.90622441e-01 1.36413016e-01 7.65951444e-03 7.54365914e+01] [ 1.36413287e-01 -9.90651894e-01 4.89553678e-04 2.28667384e+02] [ 7.65469398e-03 5.59896682e-04 -9.99970546e-01 7.43944235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.64275509600003 meters 0.02659500080304377 Centerline is valid? [True, True] Translation: X:75.44, Y:228.70, Z:7.44 [[ 9.76666157e-01 2.14623556e-01 7.74251105e-03 7.54412436e+01] [ 2.14621336e-01 -9.76696685e-01 1.12616990e-03 2.28700045e+02] [ 7.80378747e-03 5.61816041e-04 -9.99969392e-01 7.43945328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.67275509600006 meters 0.026426560261632218 Centerline is valid? [True, True] Translation: X:75.44, Y:228.73, Z:7.44 [[ 9.56671101e-01 2.91078818e-01 7.31619596e-03 7.54441564e+01] [ 2.91074832e-01 -9.56698905e-01 1.62730242e-03 2.28733645e+02] [ 7.47306992e-03 5.72767316e-04 -9.99971912e-01 7.43945514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.70275509600003 meters 0.02600994130819416 Centerline is valid? [True, True] Translation: X:75.45, Y:228.77, Z:7.44 [[ 9.30571721e-01 3.66027831e-01 7.73940245e-03 7.54451349e+01] [ 3.66020142e-01 -9.30603734e-01 2.43854371e-03 2.28765966e+02] [ 8.09489168e-03 5.63537360e-04 -9.99967077e-01 7.43864247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.73275509600006 meters 0.024847053804331106 Centerline is valid? [True, True] Translation: X:75.45, Y:228.79, Z:7.44 [[ 8.99026049e-01 4.37829510e-01 7.58173535e-03 7.54455182e+01] [ 4.37819109e-01 -8.99057844e-01 3.06941755e-03 2.28794678e+02] [ 8.16030022e-03 5.59942279e-04 -9.99966547e-01 7.43828703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76275509600003 meters 0.026356994340631625 Centerline is valid? [True, True] Translation: X:75.44, Y:228.83, Z:7.44 [[ 8.61978375e-01 5.06885577e-01 7.76484309e-03 7.54399882e+01] [ 5.06870607e-01 -8.62013176e-01 3.93355795e-03 2.28828483e+02] [ 8.68726084e-03 5.45128843e-04 -9.99962116e-01 7.43821524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.79275509600006 meters 0.025599717825893493 Centerline is valid? [True, True] Translation: X:75.44, Y:228.86, Z:7.44 [[ 8.20066123e-01 5.72215288e-01 7.82421464e-03 7.54358179e+01] [ 5.72195231e-01 -8.20103280e-01 4.81955605e-03 2.28858189e+02] [ 9.17448774e-03 5.24623661e-04 -9.99957776e-01 7.43754521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82275509600004 meters 0.025876574002097953 Centerline is valid? [True, True] Translation: X:75.43, Y:228.89, Z:7.44 [[ 7.72795904e-01 6.34613374e-01 7.23580360e-03 7.54266860e+01] [ 6.34591803e-01 -7.72829598e-01 5.25889030e-03 2.28889622e+02] [ 8.92940530e-03 5.27732774e-04 -9.99959993e-01 7.43746678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.85275509600007 meters 0.026475594181032153 Centerline is valid? [True, True] Translation: X:75.41, Y:228.92, Z:7.44 [[ 7.20954695e-01 6.92945245e-01 7.15652708e-03 7.54138690e+01] [ 6.92917957e-01 -7.20990033e-01 6.17064530e-03 2.28920284e+02] [ 9.43570402e-03 5.10130428e-04 -9.99955353e-01 7.43732711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.88275509600004 meters 0.02505930885479761 Centerline is valid? [True, True] Translation: X:75.41, Y:228.95, Z:7.44 [[ 6.64779109e-01 7.47008199e-01 6.89098293e-03 7.54052621e+01] [ 7.46975577e-01 -6.64814640e-01 6.99869835e-03 2.28945459e+02] [ 9.80931139e-03 4.94807490e-04 -9.99951765e-01 7.43682123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.91275509600007 meters 0.027001845609027304 Centerline is valid? [True, True] Translation: X:75.39, Y:228.97, Z:7.44 [[ 6.04306870e-01 7.96725874e-01 6.41006878e-03 7.53894400e+01] [ 7.96689354e-01 -6.04340669e-01 7.64381960e-03 2.28973302e+02] [ 9.96389410e-03 4.87620866e-04 -9.99950240e-01 7.43670610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.94275509600004 meters 0.026939505495082044 Centerline is valid? [True, True] Translation: X:75.37, Y:229.00, Z:7.44 [[ 5.39742696e-01 8.41811450e-01 5.59511580e-03 7.53704450e+01] [ 8.41775435e-01 -5.39771466e-01 7.80265049e-03 2.29000790e+02] [ 9.58844438e-03 4.98407420e-04 -9.99953906e-01 7.43696434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.97275509600007 meters 0.024761846327789234 Centerline is valid? [True, True] Translation: X:75.36, Y:229.02, Z:7.44 [[ 4.71534312e-01 8.81834040e-01 4.91102864e-03 7.53563822e+01] [ 8.81796874e-01 -4.71559615e-01 8.11186462e-03 2.29022873e+02] [ 9.46916113e-03 5.05507205e-04 -9.99955039e-01 7.43692278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.00275509600004 meters 0.02457513721198794 Centerline is valid? [True, True] Translation: X:75.34, Y:229.05, Z:7.44 [[ 3.99198631e-01 9.16855652e-01 4.02066984e-03 7.53374691e+01] [ 9.16821832e-01 -3.99218520e-01 7.89319311e-03 2.29045158e+02] [ 8.84204457e-03 5.35286004e-04 -9.99960765e-01 7.43708501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0327550960001 meters 0.02397567708879657 Centerline is valid? [True, True] Translation: X:75.31, Y:229.07, Z:7.44 [[ 3.24758728e-01 9.45791252e-01 3.26731628e-03 7.53147639e+01] [ 9.45759176e-01 -3.24774691e-01 7.80905870e-03 2.29067704e+02] [ 8.44688104e-03 5.54034384e-04 -9.99964171e-01 7.43709336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.06275509600005 meters 0.023133200388779206 Centerline is valid? [True, True] Translation: X:75.29, Y:229.09, Z:7.44 [[ 2.48087714e-01 9.68733754e-01 2.72045581e-03 7.52918630e+01] [ 9.68697767e-01 -2.48101999e-01 8.36862860e-03 2.29087201e+02] [ 8.78192352e-03 5.59145529e-04 -9.99961282e-01 7.43674921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0927550960001 meters 0.02192897902019782 Centerline is valid? [True, True] Translation: X:75.27, Y:229.11, Z:7.44 [[ 1.68080655e-01 9.85770926e-01 2.13908525e-03 7.52687378e+01] [ 9.85729021e-01 -1.68093273e-01 9.10765331e-03 2.29105452e+02] [ 9.33762567e-03 5.77738072e-04 -9.99956237e-01 7.43589567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.12275509600005 meters 0.0216751797574513 Centerline is valid? [True, True] Translation: X:75.61, Y:229.09, Z:6.24 [[ 1.38078028e-01 -9.90420409e-01 -1.36793432e-03 7.56082034e+01] [ 9.90380813e-01 1.38084741e-01 -8.85716911e-03 2.29089834e+02] [ 8.96121191e-03 -1.31795459e-04 9.99959839e-01 6.24379599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1527550960001 meters 0.02107654470776743 Centerline is valid? [True, True] Translation: X:75.61, Y:229.12, Z:6.24 [[ 1.39188019e-01 -9.90265050e-01 -1.35149150e-03 7.56103820e+01] [ 9.90226172e-01 1.39194531e-01 -8.77561480e-03 2.29116240e+02] [ 8.87830486e-03 -1.16821810e-04 9.99960580e-01 6.24405384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.18275509600005 meters 0.02036734324989566 Centerline is valid? [True, True] Translation: X:75.61, Y:229.14, Z:6.24 [[ 1.41417708e-01 -9.89949038e-01 -1.39092492e-03 7.56125614e+01] [ 9.89907613e-01 1.41424516e-01 -9.05670580e-03 2.29142016e+02] [ 9.16238808e-03 -9.61085840e-05 9.99958020e-01 6.24481445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2127550960001 meters 0.020105500261329064 Centerline is valid? [True, True] Translation: X:75.62, Y:229.17, Z:6.25 [[ 1.42120642e-01 -9.89848319e-01 -1.42393808e-03 7.56157158e+01] [ 9.89804650e-01 1.42127748e-01 -9.29829302e-03 2.29168045e+02] [ 9.40628083e-03 -8.79411611e-05 9.99955756e-01 6.24514302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.24275509600005 meters 0.019899341770279667 Centerline is valid? [True, True] Translation: X:75.62, Y:229.19, Z:6.25 [[ 1.42456288e-01 -9.89800064e-01 -1.42783690e-03 7.56186738e+01] [ 9.89755923e-01 1.42463420e-01 -9.34812406e-03 2.29194322e+02] [ 9.45618833e-03 -8.15109780e-05 9.99955286e-01 6.24573566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2727550960001 meters 0.019623464432108582 Centerline is valid? [True, True] Translation: X:75.62, Y:229.22, Z:6.25 [[ 1.43196607e-01 -9.89693384e-01 -1.31787710e-03 7.56209807e+01] [ 9.89655592e-01 1.43202656e-01 -8.64920259e-03 2.29221172e+02] [ 8.74878209e-03 -6.57079733e-05 9.99961727e-01 6.24686434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.30275509600006 meters 0.01967719863984593 Centerline is valid? [True, True] Translation: X:75.63, Y:229.25, Z:6.25 [[ 1.43278808e-01 -9.89681599e-01 -1.23090635e-03 7.56257966e+01] [ 9.89648474e-01 1.43284084e-01 -8.09754392e-03 2.29247158e+02] [ 8.19035951e-03 -5.79581435e-05 9.99966457e-01 6.24829863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3327550960001 meters 0.019607488140954452 Centerline is valid? [True, True] Translation: X:75.63, Y:229.27, Z:6.25 [[ 1.43057199e-01 -9.89713696e-01 -1.19886115e-03 7.56304849e+01] [ 9.89682111e-01 1.43062212e-01 -7.90717811e-03 2.29272995e+02] [ 7.99735420e-03 -5.53126801e-05 9.99968019e-01 6.24918425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.36275509600006 meters 0.019712400510047707 Centerline is valid? [True, True] Translation: X:75.63, Y:229.30, Z:6.25 [[ 1.42932496e-01 -9.89731791e-01 -1.13312975e-03 7.56347265e+01] [ 9.89703429e-01 1.42936979e-01 -7.49284522e-03 2.29298020e+02] [ 7.57787326e-03 -5.04913342e-05 9.99971286e-01 6.24978520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.39275509600003 meters 0.019545862719911395 Centerline is valid? [True, True] Translation: X:75.64, Y:229.33, Z:6.25 [[ 1.42716943e-01 -9.89762950e-01 -1.08515985e-03 7.56385519e+01] [ 9.89736793e-01 1.42721060e-01 -7.19584002e-03 2.29325178e+02] [ 7.27705101e-03 -4.70543426e-05 9.99973521e-01 6.25051376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.42275509600006 meters 0.019644947552108525 Centerline is valid? [True, True] Translation: X:75.64, Y:229.35, Z:6.25 [[ 1.41938879e-01 -9.89874888e-01 -1.02999262e-03 7.56442026e+01] [ 9.89851209e-01 1.41942608e-01 -6.84685722e-03 2.29350802e+02] [ 6.92373187e-03 -4.77042081e-05 9.99976030e-01 6.25106887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.45275509600003 meters 0.019888690305203998 Centerline is valid? [True, True] Translation: X:75.65, Y:229.38, Z:6.25 [[ 1.40599792e-01 -9.90066012e-01 -9.94828494e-04 7.56494556e+01] [ 9.90043809e-01 1.40603301e-01 -6.63085802e-03 2.29376636e+02] [ 6.70486333e-03 -5.26265346e-05 9.99977521e-01 6.25150350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.48275509600006 meters 0.020218761923763658 Centerline is valid? [True, True] Translation: X:75.66, Y:229.40, Z:6.25 [[ 1.38009616e-01 -9.90430368e-01 -1.01574776e-03 7.56567604e+01] [ 9.90407096e-01 1.38013336e-01 -6.78988646e-03 2.29402666e+02] [ 6.86509648e-03 -6.89341711e-05 9.99976433e-01 6.25138219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.51275509600003 meters 0.02088233538761486 Centerline is valid? [True, True] Translation: X:75.66, Y:229.43, Z:6.25 [[ 1.36016027e-01 -9.90706147e-01 -9.85018751e-04 7.56633601e+01] [ 9.90684147e-01 1.36019571e-01 -6.60286233e-03 2.29427917e+02] [ 6.67547812e-03 -7.77473616e-05 9.99977716e-01 6.25152224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.54275509600006 meters 0.02123912698110479 Centerline is valid? [True, True] Translation: X:75.67, Y:229.45, Z:6.25 [[ 1.33968200e-01 -9.90985096e-01 -1.03031766e-03 7.56699201e+01] [ 9.90960936e-01 1.33972129e-01 -6.92037625e-03 2.29454054e+02] [ 6.99602357e-03 -9.38942095e-05 9.99975523e-01 6.25178679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.57275509600004 meters 0.022638538832308885 Centerline is valid? [True, True] Translation: X:75.68, Y:229.48, Z:6.25 [[ 1.29703190e-01 -9.91552282e-01 -1.07499590e-03 7.56797420e+01] [ 9.91525855e-01 1.29707583e-01 -7.24027606e-03 2.29478847e+02] [ 7.31854737e-03 -1.26799329e-04 9.99973211e-01 6.25159083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.60275509600007 meters 0.023460502935150843 Centerline is valid? [True, True] Translation: X:75.69, Y:229.50, Z:6.25 [[ 1.27795965e-01 -9.91799884e-01 -1.08720954e-03 7.56863728e+01] [ 9.91772709e-01 1.27800514e-01 -7.34317262e-03 2.29504792e+02] [ 7.42190369e-03 -1.39836920e-04 9.99972448e-01 6.25173751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.63275509600004 meters 0.023461760923667797 Centerline is valid? [True, True] Translation: X:75.69, Y:229.53, Z:6.25 [[ 1.25843112e-01 -9.92049411e-01 -1.21516365e-03 7.56915123e+01] [ 9.92015264e-01 1.25848865e-01 -8.23286458e-03 2.29531283e+02] [ 8.32033543e-03 -1.69411589e-04 9.99965371e-01 6.25109433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.66275509600007 meters 0.027981302695229682 Centerline is valid? [True, True] Translation: X:75.70, Y:229.56, Z:6.25 [[ 1.22919096e-01 -9.92415556e-01 -1.50338082e-03 7.57033202e+01] [ 9.92362975e-01 1.22928063e-01 -1.02185098e-02 2.29555704e+02] [ 1.03258158e-02 -2.35849475e-04 9.99946660e-01 6.24630267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.69275509600004 meters 0.025178608055748567 Centerline is valid? [True, True] Translation: X:75.71, Y:229.58, Z:6.25 [[ 1.21750944e-01 -9.92559717e-01 -1.38437247e-03 7.57065734e+01] [ 9.92514964e-01 1.21758605e-01 -9.42810211e-03 2.29582416e+02] [ 9.52651362e-03 -2.26130058e-04 9.99954596e-01 6.25042699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.72275509600007 meters 0.025178608055748567 Centerline is valid? [True, True] Translation: X:75.71, Y:229.61, Z:6.25 [[ 1.21368743e-01 -9.92606529e-01 -1.38073374e-03 7.57101726e+01] [ 9.92561773e-01 1.21376386e-01 -9.42863499e-03 2.29608905e+02] [ 9.52651313e-03 -2.26121953e-04 9.99954596e-01 6.25067233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.75275509600004 meters 0.026084351521198212 Centerline is valid? [True, True] Translation: X:75.72, Y:229.63, Z:6.25 [[ 1.20127526e-01 -9.92757327e-01 -1.50548882e-03 7.57179338e+01] [ 9.92703816e-01 1.20136687e-01 -1.03106782e-02 2.29634321e+02] [ 1.04168658e-02 -2.55908230e-04 9.99945710e-01 6.24942153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7827550960001 meters 0.026592978626943906 Centerline is valid? [True, True] Translation: X:75.72, Y:229.66, Z:6.25 [[ 1.19881086e-01 -9.92786878e-01 -1.65518770e-03 7.57232967e+01] [ 9.92721795e-01 1.19892185e-01 -1.13711312e-02 2.29659365e+02] [ 1.14875539e-02 -2.79957345e-04 9.99933977e-01 6.24890811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.81275509600005 meters 0.02493997115918028 Centerline is valid? [True, True] Translation: X:75.72, Y:229.69, Z:6.25 [[ 1.20162747e-01 -9.92752763e-01 -1.69287133e-03 7.57249433e+01] [ 9.92684259e-01 1.20174348e-01 -1.16656709e-02 2.29686443e+02] [ 1.17845667e-02 -2.78707668e-04 9.99930521e-01 6.24892663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8427550960001 meters 0.02655012271643205 Centerline is valid? [True, True] Translation: X:75.73, Y:229.71, Z:6.25 [[ 1.20873980e-01 -9.92666275e-01 -1.77391230e-03 7.57320599e+01] [ 9.92590598e-01 1.20886675e-01 -1.22604032e-02 2.29710949e+02] [ 1.23849311e-02 -2.78804945e-04 9.99923265e-01 6.24825317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.87275509600005 meters 0.02340283650731001 Centerline is valid? [True, True] Translation: X:75.73, Y:229.74, Z:6.25 [[ 1.22893199e-01 -9.92418146e-01 -1.86686326e-03 7.57315460e+01] [ 9.92333764e-01 1.22907099e-01 -1.29439349e-02 2.29738592e+02] [ 1.30752466e-02 -2.61829869e-04 9.99914481e-01 6.24863496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9027550960001 meters 0.024969385589599158 Centerline is valid? [True, True] Translation: X:75.74, Y:229.76, Z:6.25 [[ 1.23697320e-01 -9.92318090e-01 -1.94473101e-03 7.57367754e+01] [ 9.92225960e-01 1.23712340e-01 -1.35240782e-02 2.29763939e+02] [ 1.36607747e-02 -2.56720361e-04 9.99906654e-01 6.24636168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.93275509600005 meters 0.021684102621598998 Centerline is valid? [True, True] Translation: X:75.74, Y:229.79, Z:6.25 [[ 1.26367494e-01 -9.91981637e-01 -1.92038897e-03 7.57384730e+01] [ 9.91891214e-01 1.26381907e-01 -1.33952930e-02 2.29791287e+02] [ 1.35305871e-02 -2.12087341e-04 9.99908435e-01 6.24966355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9627550960001 meters 0.02131627538167118 Centerline is valid? [True, True] Translation: X:75.74, Y:229.82, Z:6.25 [[ 1.27143516e-01 -9.91882608e-01 -1.84875936e-03 7.57425353e+01] [ 9.91798335e-01 1.27156815e-01 -1.29308954e-02 2.29817427e+02] [ 1.30610126e-02 -1.89516953e-04 9.99914683e-01 6.24982260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.99275509600005 meters 0.021125326033210795 Centerline is valid? [True, True] Translation: X:75.75, Y:229.84, Z:6.25 [[ 1.27573363e-01 -9.91827456e-01 -1.82629710e-03 7.57466350e+01] [ 9.91744724e-01 1.27586313e-01 -1.28115388e-02 2.29842183e+02] [ 1.29398465e-02 -1.76809417e-04 9.99916261e-01 6.25064755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0227550960001 meters 0.02081584608469352 Centerline is valid? [True, True] Translation: X:75.75, Y:229.87, Z:6.25 [[ 1.28462177e-01 -9.91712924e-01 -1.71639109e-03 7.57532945e+01] [ 9.91639422e-01 1.28473554e-01 -1.20748722e-02 2.29867221e+02] [ 1.21953177e-02 -1.50876694e-04 9.99925623e-01 6.25225559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.05275509600006 meters 0.020657087953334662 Centerline is valid? [True, True] Translation: X:75.76, Y:229.89, Z:6.25 [[ 1.28271252e-01 -9.91737818e-01 -1.60834277e-03 7.57582876e+01] [ 9.91672971e-01 1.28281259e-01 -1.13418406e-02 2.29893315e+02] [ 1.14544525e-02 -1.40117957e-04 9.99934386e-01 6.25353307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0827550960001 meters 0.02072396951011476 Centerline is valid? [True, True] Translation: X:75.76, Y:229.92, Z:6.25 [[ 1.28061500e-01 -9.91765020e-01 -1.54836543e-03 7.57637507e+01] [ 9.91704570e-01 1.28070791e-01 -1.09507223e-02 2.29918279e+02] [ 1.10588437e-02 -1.33155156e-04 9.99938840e-01 6.25430458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.11275509600006 meters 0.020781361819743337 Centerline is valid? [True, True] Translation: X:75.77, Y:229.94, Z:6.26 [[ 1.27659785e-01 -9.91817004e-01 -1.41797353e-03 7.57709854e+01] [ 9.91766018e-01 1.27667601e-01 -1.00572962e-02 2.29943761e+02] [ 1.01560267e-02 -1.22385679e-04 9.99948419e-01 6.25558154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.14275509600003 meters 0.020878930167213414 Centerline is valid? [True, True] Translation: X:75.78, Y:229.97, Z:6.26 [[ 1.27186030e-01 -9.91877968e-01 -1.34532175e-03 7.57765568e+01] [ 9.91831820e-01 1.27193091e-01 -9.56867204e-03 2.29969014e+02] [ 9.66207061e-03 -1.17331514e-04 9.99953314e-01 6.25618758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.17275509600006 meters 0.020687920025791708 Centerline is valid? [True, True] Translation: X:75.78, Y:229.99, Z:6.26 [[ 1.25931129e-01 -9.92038188e-01 -1.25842064e-03 7.57831301e+01] [ 9.91997585e-01 1.25937361e-01 -8.97617114e-03 2.29993677e+02] [ 9.06318673e-03 -1.17970873e-04 9.99958922e-01 6.25673788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.20275509600003 meters 0.020451359240763137 Centerline is valid? [True, True] Translation: X:75.79, Y:230.02, Z:6.26 [[ 1.25161192e-01 -9.92135595e-01 -1.27957262e-03 7.57885608e+01] [ 9.92093361e-01 1.25167672e-01 -9.15512284e-03 2.30020426e+02] [ 9.24328437e-03 -1.23589408e-04 9.99957272e-01 6.25666755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.23275509600006 meters 0.020567122590207706 Centerline is valid? [True, True] Translation: X:75.80, Y:230.05, Z:6.26 [[ 1.24216355e-01 -9.92254268e-01 -1.32850301e-03 7.57950587e+01] [ 9.92208509e-01 1.24223387e-01 -9.53015809e-03 2.30047001e+02] [ 9.62137119e-03 -1.34350487e-04 9.99953705e-01 6.25609497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26275509600003 meters 0.020531585012255566 Centerline is valid? [True, True] Translation: X:75.80, Y:230.07, Z:6.26 [[ 1.22884306e-01 -9.92420038e-01 -1.38385766e-03 7.58043490e+01] [ 9.92370133e-01 1.22892006e-01 -9.95357202e-03 2.30073185e+02] [ 1.00481894e-02 -1.50161214e-04 9.99949504e-01 6.25564562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.29275509600006 meters 0.02092507979110336 Centerline is valid? [True, True] Translation: X:75.81, Y:230.10, Z:6.26 [[ 1.22007625e-01 -9.92528140e-01 -1.42522591e-03 7.58113770e+01] [ 9.92474935e-01 1.22015844e-01 -1.02779666e-02 2.30098518e+02] [ 1.03750712e-02 -1.60510698e-04 9.99946165e-01 6.25557226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32275509600004 meters 0.020864616665768568 Centerline is valid? [True, True] Translation: X:75.82, Y:230.12, Z:6.26 [[ 1.21477913e-01 -9.92593095e-01 -1.43662422e-03 7.58192287e+01] [ 9.92538736e-01 1.21486297e-01 -1.03893239e-02 2.30124623e+02] [ 1.04869013e-02 -1.63831808e-04 9.99944998e-01 6.25537833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.35275509600007 meters 0.020626663727789065 Centerline is valid? [True, True] Translation: X:75.82, Y:230.15, Z:6.26 [[ 1.21416939e-01 -9.92600452e-01 -1.50624453e-03 7.58243445e+01] [ 9.92540373e-01 1.21426164e-01 -1.09222037e-02 2.30150958e+02] [ 1.10242818e-02 -1.68867971e-04 9.99939217e-01 6.25554357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.38275509600004 meters 0.02044256666897457 Centerline is valid? [True, True] Translation: X:75.83, Y:230.18, Z:6.26 [[ 1.21944061e-01 -9.92535802e-01 -1.52590556e-03 7.58296239e+01] [ 9.92473810e-01 1.21953501e-01 -1.10941440e-02 2.30178019e+02] [ 1.11974246e-02 -1.61556331e-04 9.99937294e-01 6.25583871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.41275509600007 meters 0.020031368417395452 Centerline is valid? [True, True] Translation: X:75.84, Y:230.20, Z:6.26 [[ 1.23994959e-01 -9.92281603e-01 -1.57190759e-03 7.58358230e+01] [ 9.92215441e-01 1.24004845e-01 -1.14593766e-02 2.30204195e+02] [ 1.15658527e-02 -1.38766053e-04 9.99933104e-01 6.25569709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.44275509600004 meters 0.01968716458685465 Centerline is valid? [True, True] Translation: X:75.84, Y:230.23, Z:6.26 [[ 1.25014425e-01 -9.92153452e-01 -1.70900060e-03 7.58403511e+01] [ 9.92074799e-01 1.25026035e-01 -1.24933871e-02 2.30231393e+02] [ 1.26090267e-02 -1.33602822e-04 9.99920494e-01 6.25552154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.47275509600007 meters 0.019361556534121204 Centerline is valid? [True, True] Translation: X:75.84, Y:230.26, Z:6.26 [[ 1.26120500e-01 -9.92013462e-01 -1.70614044e-03 7.58442406e+01] [ 9.91934648e-01 1.26131987e-01 -1.25050235e-02 2.30258079e+02] [ 1.26203505e-02 -1.15240009e-04 9.99920354e-01 6.25573437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.50275509600004 meters 0.019107981848388796 Centerline is valid? [True, True] Translation: X:75.85, Y:230.28, Z:6.26 [[ 1.28277650e-01 -9.91736670e-01 -1.79492163e-03 7.58499091e+01] [ 9.91648920e-01 1.28290177e-01 -1.31928141e-02 2.30283539e+02] [ 1.33140683e-02 -8.75889160e-05 9.99911360e-01 6.25514279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5327550960001 meters 0.019047126387855388 Centerline is valid? [True, True] Translation: X:75.85, Y:230.31, Z:6.25 [[ 1.28913041e-01 -9.91654180e-01 -1.84810869e-03 7.58542856e+01] [ 9.91560617e-01 1.28926265e-01 -1.36220599e-02 2.30310410e+02] [ 1.37466424e-02 -7.64506307e-05 9.99905508e-01 6.25489731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.56275509600005 meters 0.01889194927066351 Centerline is valid? [True, True] Translation: X:75.86, Y:230.34, Z:6.25 [[ 1.29672528e-01 -9.91554924e-01 -1.96680800e-03 7.58603524e+01] [ 9.91448352e-01 1.29687427e-01 -1.45374155e-02 2.30336635e+02] [ 1.46697162e-02 -6.48851315e-05 9.99892392e-01 6.25445768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5927550960001 meters 0.01897809733081782 Centerline is valid? [True, True] Translation: X:75.87, Y:230.36, Z:6.25 [[ 1.29476094e-01 -9.91580621e-01 -1.95277052e-03 7.58661171e+01] [ 9.91474993e-01 1.29490804e-01 -1.44730915e-02 2.30362252e+02] [ 1.46041029e-02 -6.22037845e-05 9.99893352e-01 6.25472127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.62275509600005 meters 0.018909303291628505 Centerline is valid? [True, True] Translation: X:75.87, Y:230.39, Z:6.26 [[ 1.28926734e-01 -9.91652335e-01 -1.88230963e-03 7.58723663e+01] [ 9.91553665e-01 1.28940459e-01 -1.39888727e-02 2.30389200e+02] [ 1.41148041e-02 -6.28713422e-05 9.99900379e-01 6.25563211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6527550960001 meters 0.018969273086373372 Centerline is valid? [True, True] Translation: X:75.88, Y:230.41, Z:6.26 [[ 1.28102814e-01 -9.91759086e-01 -1.89328773e-03 7.58822548e+01] [ 9.91658717e-01 1.28116785e-01 -1.41095427e-02 2.30414058e+02] [ 1.42358291e-02 -7.00231446e-05 9.99898663e-01 6.25630021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.68275509600005 meters 0.018920348958650218 Centerline is valid? [True, True] Translation: X:75.89, Y:230.44, Z:6.26 [[ 1.27233002e-01 -9.91871055e-01 -1.89027177e-03 7.58880587e+01] [ 9.91770453e-01 1.27247019e-01 -1.41267697e-02 2.30440460e+02] [ 1.42524654e-02 -7.73243714e-05 9.99898425e-01 6.25742993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7127550960001 meters 0.019062659202393747 Centerline is valid? [True, True] Translation: X:75.89, Y:230.47, Z:6.26 [[ 1.26625607e-01 -9.91948908e-01 -1.82223157e-03 7.58942087e+01] [ 9.91854912e-01 1.26638694e-01 -1.36555806e-02 2.30465886e+02] [ 1.37764033e-02 -7.82431533e-05 9.99905098e-01 6.25818341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.74275509600005 meters 0.01916436267037985 Centerline is valid? [True, True] Translation: X:75.90, Y:230.49, Z:6.26 [[ 1.25242584e-01 -9.92124648e-01 -1.72562931e-03 7.59020301e+01] [ 9.92039898e-01 1.25254441e-01 -1.29678849e-02 2.30491258e+02] [ 1.30819010e-02 -8.77617032e-05 9.99914424e-01 6.25946126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7727550960001 meters 0.019118837383776077 Centerline is valid? [True, True] Translation: X:75.91, Y:230.52, Z:6.26 [[ 1.24309818e-01 -9.92242070e-01 -1.65658017e-03 7.59079945e+01] [ 9.92163541e-01 1.24320821e-01 -1.24836725e-02 2.30518139e+02] [ 1.25927725e-02 -9.17553945e-05 9.99920704e-01 6.26003392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.80275509600006 meters 0.019330308636507514 Centerline is valid? [True, True] Translation: X:75.92, Y:230.54, Z:6.26 [[ 1.22246823e-01 -9.92498319e-01 -1.67377284e-03 7.59166387e+01] [ 9.92417730e-01 1.22258227e-01 -1.26481409e-02 2.30544001e+02] [ 1.27578911e-02 -1.14886797e-04 9.99918608e-01 6.26087108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8327550960001 meters 0.01952402209152655 Centerline is valid? [True, True] Translation: X:75.92, Y:230.57, Z:6.26 [[ 1.21249074e-01 -9.92620776e-01 -1.63038911e-03 7.59233549e+01] [ 9.92543913e-01 1.21259975e-01 -1.23530731e-02 2.30570052e+02] [ 1.24596180e-02 -1.20434120e-04 9.99922369e-01 6.26132979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.86275509600006 meters 0.019572892540431562 Centerline is valid? [True, True] Translation: X:75.93, Y:230.60, Z:6.26 [[ 1.20048059e-01 -9.92766795e-01 -1.59810764e-03 7.59293923e+01] [ 9.92692624e-01 1.20058625e-01 -1.21358988e-02 2.30596779e+02] [ 1.22399840e-02 -1.29538570e-04 9.99925080e-01 6.26212313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.89275509600003 meters 0.019645584834911453 Centerline is valid? [True, True] Translation: X:75.93, Y:230.62, Z:6.26 [[ 1.19862505e-01 -9.92789346e-01 -1.51501343e-03 7.59336709e+01] [ 9.92722329e-01 1.19872018e-01 -1.15359103e-02 2.30623064e+02] [ 1.16343366e-02 -1.21264552e-04 9.99932311e-01 6.26347359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.92275509600006 meters 0.019433021222163917 Centerline is valid? [True, True] Translation: X:75.94, Y:230.65, Z:6.26 [[ 1.20181720e-01 -9.92750983e-01 -1.35657410e-03 7.59364377e+01] [ 9.92696965e-01 1.20189333e-01 -1.03566551e-02 2.30650277e+02] [ 1.04446253e-02 -1.01986366e-04 9.99945448e-01 6.26492784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.95275509600003 meters 0.019472600738777143 Centerline is valid? [True, True] Translation: X:75.94, Y:230.68, Z:6.26 [[ 1.19743523e-01 -9.92803849e-01 -1.41673280e-03 7.59402848e+01] [ 9.92744600e-01 1.19751855e-01 -1.08467412e-02 2.30676856e+02] [ 1.09383427e-02 -1.07626838e-04 9.99940169e-01 6.26499366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.98275509600006 meters 0.019586854265229645 Centerline is valid? [True, True] Translation: X:75.94, Y:230.70, Z:6.27 [[ 1.19159291e-01 -9.92874246e-01 -1.33944621e-03 7.59429816e+01] [ 9.92821012e-01 1.19166773e-01 -1.02819307e-02 2.30702560e+02] [ 1.03682817e-02 -1.04642767e-04 9.99946242e-01 6.26537795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.01275509600003 meters 0.019548493911713958 Centerline is valid? [True, True] Translation: X:75.95, Y:230.73, Z:6.27 [[ 1.18761191e-01 -9.92921970e-01 -1.31927378e-03 7.59458335e+01] [ 9.92870038e-01 1.18768473e-01 -1.01556865e-02 2.30729816e+02] [ 1.02404924e-02 -1.03765983e-04 9.99947559e-01 6.26585360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.04275509600006 meters 0.019509873467387875 Centerline is valid? [True, True] Translation: X:75.95, Y:230.76, Z:6.27 [[ 1.18519199e-01 -9.92950875e-01 -1.32668639e-03 7.59484077e+01] [ 9.92898065e-01 1.18526579e-01 -1.02412462e-02 2.30755108e+02] [ 1.03263020e-02 -1.03480053e-04 9.99946677e-01 6.26608684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.07275509600004 meters 0.019476958857998123 Centerline is valid? [True, True] Translation: X:75.95, Y:230.78, Z:6.27 [[ 1.18278509e-01 -9.92979535e-01 -1.35558929e-03 7.59508951e+01] [ 9.92924046e-01 1.18286231e-01 -1.04979067e-02 2.30781465e+02] [ 1.05845540e-02 -1.04320454e-04 9.99943977e-01 6.26613606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.10275509600007 meters 0.019431066894777645 Centerline is valid? [True, True] Translation: X:75.95, Y:230.81, Z:6.27 [[ 1.17912939e-01 -9.93023019e-01 -1.35040633e-03 7.59531652e+01] [ 9.92967627e-01 1.17920625e-01 -1.04889103e-02 2.30807507e+02] [ 1.05749701e-02 -1.04131537e-04 9.99944078e-01 6.26576641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.13275509600004 meters 0.019473910674586956 Centerline is valid? [True, True] Translation: X:75.96, Y:230.83, Z:6.27 [[ 1.17438446e-01 -9.93079153e-01 -1.41713472e-03 7.59556059e+01] [ 9.93017771e-01 1.17446944e-01 -1.10417920e-02 2.30832981e+02] [ 1.11318116e-02 -1.10509074e-04 9.99938033e-01 6.26542143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.16275509600007 meters 0.0192298794695258 Centerline is valid? [True, True] Translation: X:75.96, Y:230.86, Z:6.26 [[ 1.17269875e-01 -9.93098874e-01 -1.55005039e-03 7.59574312e+01] [ 9.93024958e-01 1.17280060e-01 -1.21169629e-02 2.30860079e+02] [ 1.22151322e-02 -1.18283994e-04 9.99925386e-01 6.26461097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.19275509600004 meters 0.019429978733611613 Centerline is valid? [True, True] Translation: X:75.96, Y:230.89, Z:6.26 [[ 1.17070758e-01 -9.93122303e-01 -1.59045692e-03 7.59606676e+01] [ 9.93044031e-01 1.17081500e-01 -1.24689779e-02 2.30886498e+02] [ 1.25694331e-02 -1.19641066e-04 9.99920994e-01 6.26434964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.22275509600007 meters 0.01917776927510552 Centerline is valid? [True, True] Translation: X:75.96, Y:230.91, Z:6.26 [[ 1.17020310e-01 -9.93128217e-01 -1.61008565e-03 7.59619883e+01] [ 9.93047529e-01 1.17031327e-01 -1.26599064e-02 2.30913954e+02] [ 1.27613408e-02 -1.17425399e-04 9.99918564e-01 6.26419114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.25275509600004 meters 0.01917089994079586 Centerline is valid? [True, True] Translation: X:75.96, Y:230.94, Z:6.26 [[ 1.16813416e-01 -9.93152378e-01 -1.72635557e-03 7.59632893e+01] [ 9.93059057e-01 1.16826106e-01 -1.36150977e-02 2.30940779e+02] [ 1.37235501e-02 -1.23946961e-04 9.99905820e-01 6.26407804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2827550960001 meters 0.01918591841810529 Centerline is valid? [True, True] Translation: X:75.97, Y:230.97, Z:6.26 [[ 1.16276413e-01 -9.93215354e-01 -1.74825529e-03 7.59655812e+01] [ 9.93119061e-01 1.16289485e-01 -1.38306106e-02 2.30967112e+02] [ 1.39400785e-02 -1.28051860e-04 9.99902824e-01 6.26406204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.31275509600005 meters 0.01921157425614822 Centerline is valid? [True, True] Translation: X:75.97, Y:230.99, Z:6.26 [[ 1.14965279e-01 -9.93367999e-01 -1.73275470e-03 7.59675338e+01] [ 9.93272844e-01 1.14978251e-01 -1.37498644e-02 2.30993066e+02] [ 1.38579044e-02 -1.40341202e-04 9.99903965e-01 6.26454776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3427550960001 meters 0.019647236624096016 Centerline is valid? [True, True] Translation: X:75.97, Y:231.02, Z:6.26 [[ 1.14015190e-01 -9.93477542e-01 -1.70580500e-03 7.59709855e+01] [ 9.93384765e-01 1.14027855e-01 -1.35778341e-02 2.31017996e+02] [ 1.36837826e-02 -1.46441365e-04 9.99906362e-01 6.26467943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.37275509600005 meters 0.019438422045308604 Centerline is valid? [True, True] Translation: X:75.97, Y:231.04, Z:6.27 [[ 1.12605314e-01 -9.93638523e-01 -1.59036239e-03 7.59731771e+01] [ 9.93557415e-01 1.12616443e-01 -1.26964643e-02 2.31044894e+02] [ 1.27947970e-02 -1.50426996e-04 9.99918132e-01 6.26617068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4027550960001 meters 0.019663110032390865 Centerline is valid? [True, True] Translation: X:75.98, Y:231.07, Z:6.27 [[ 1.10199678e-01 -9.93908374e-01 -1.47513811e-03 7.59777893e+01] [ 9.93838243e-01 1.10209428e-01 -1.18079861e-02 2.31072496e+02] [ 1.18986304e-02 -1.64812393e-04 9.99929195e-01 6.26735392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.43275509600005 meters 0.020638250025769442 Centerline is valid? [True, True] Translation: X:75.98, Y:231.10, Z:6.27 [[ 1.08328993e-01 -9.94113968e-01 -1.49962210e-03 7.59842934e+01] [ 9.94041115e-01 1.08339212e-01 -1.20364755e-02 2.31099348e+02] [ 1.21280962e-02 -1.86786758e-04 9.99926435e-01 6.26713530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4627550960001 meters 0.021181197599161622 Centerline is valid? [True, True] Translation: X:75.99, Y:231.13, Z:6.27 [[ 1.05764062e-01 -9.94390152e-01 -1.47939660e-03 7.59893427e+01] [ 9.94318885e-01 1.05774197e-01 -1.19069338e-02 2.31126285e+02] [ 1.19966197e-02 -2.11666292e-04 9.99928016e-01 6.26742221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.49275509600005 meters 0.02226841385427775 Centerline is valid? [True, True] Translation: X:76.00, Y:231.15, Z:6.27 [[ 1.01055983e-01 -9.94879666e-01 -1.46250416e-03 7.59968495e+01] [ 9.94809680e-01 1.01066226e-01 -1.18033025e-02 2.31153399e+02] [ 1.18906755e-02 -2.62118953e-04 9.99929269e-01 6.26801344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5227550960001 meters 0.022867992819585327 Centerline is valid? [True, True] Translation: X:76.00, Y:231.18, Z:6.27 [[ 9.90391257e-02 -9.95082489e-01 -1.44604523e-03 7.60022451e+01] [ 9.95013739e-01 9.90492859e-02 -1.17003772e-02 2.31180813e+02] [ 1.17860702e-02 -2.80039740e-04 9.99930503e-01 6.26846324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.55275509600006 meters 0.0242678490304873 Centerline is valid? [True, True] Translation: X:76.01, Y:231.21, Z:6.27 [[ 9.65568455e-02 -9.95326384e-01 -1.47130160e-03 7.60080324e+01] [ 9.95254874e-01 9.65675507e-02 -1.19349741e-02 2.31206144e+02] [ 1.20212746e-02 -3.11916639e-04 9.99927693e-01 6.26840224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5827550960001 meters 0.024698760700335554 Centerline is valid? [True, True] Translation: X:76.01, Y:231.23, Z:6.27 [[ 9.62807652e-02 -9.95353213e-01 -1.41298811e-03 7.60089277e+01] [ 9.95286955e-01 9.62906649e-02 -1.14885022e-02 2.31233965e+02] [ 1.15711752e-02 -3.00206851e-04 9.99933007e-01 6.26763067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.61275509600006 meters 0.0244325399489178 Centerline is valid? [True, True] Translation: X:76.01, Y:231.26, Z:6.27 [[ 9.69583782e-02 -9.95287414e-01 -1.42684334e-03 7.60111392e+01] [ 9.95219443e-01 9.69684371e-02 -1.16353842e-02 2.31261385e+02] [ 1.17189102e-02 -2.91874260e-04 9.99931289e-01 6.26769012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.64275509600003 meters 0.0244325399489178 Centerline is valid? [True, True] Translation: X:76.01, Y:231.29, Z:6.27 [[ 9.66094648e-02 -9.95321349e-01 -1.42276308e-03 7.60141833e+01] [ 9.95253374e-01 9.66194999e-02 -1.16358832e-02 2.31287971e+02] [ 1.17189096e-02 -2.91873301e-04 9.99931289e-01 6.26793547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.67275509600006 meters 0.02247629225114519 Centerline is valid? [True, True] Translation: X:76.02, Y:231.31, Z:6.27 [[ 9.97095208e-02 -9.95015486e-01 -1.48118295e-03 7.60152525e+01] [ 9.94941330e-01 9.97201771e-02 -1.21506031e-02 2.31314210e+02] [ 1.22377421e-02 -2.62159313e-04 9.99925082e-01 6.26813013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.70275509600003 meters 0.0215464291185758 Centerline is valid? [True, True] Translation: X:76.02, Y:231.34, Z:6.27 [[ 1.00875651e-01 -9.94897873e-01 -1.52497425e-03 7.60160190e+01] [ 9.94818752e-01 1.00886865e-01 -1.25495347e-02 2.31340317e+02] [ 1.26393552e-02 -2.51130493e-04 9.99920089e-01 6.26765511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.73275509600006 meters 0.020593952871823525 Centerline is valid? [True, True] Translation: X:76.02, Y:231.37, Z:6.27 [[ 1.02378908e-01 -9.94744165e-01 -1.61413569e-03 7.60171883e+01] [ 9.94654972e-01 1.02391347e-01 -1.33228835e-02 2.31368059e+02] [ 1.34181341e-02 -2.41525825e-04 9.99909944e-01 6.26743585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76275509600003 meters 0.020012319319743628 Centerline is valid? [True, True] Translation: X:76.02, Y:231.39, Z:6.27 [[ 1.05052925e-01 -9.94465337e-01 -1.60512593e-03 7.60185729e+01] [ 9.94376683e-01 1.05064995e-01 -1.32800079e-02 2.31394748e+02] [ 1.33751500e-02 -2.00996129e-04 9.99910529e-01 6.26651009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.79275509600006 meters 0.01906616068088781 Centerline is valid? [True, True] Translation: X:76.02, Y:231.42, Z:6.27 [[ 1.06260913e-01 -9.94337066e-01 -1.55487184e-03 7.60186386e+01] [ 9.94253365e-01 1.06272144e-01 -1.29026106e-02 2.31422595e+02] [ 1.29947836e-02 -1.74893374e-04 9.99915549e-01 6.26701956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82275509600004 meters 0.018789378034422925 Centerline is valid? [True, True] Translation: X:76.02, Y:231.45, Z:6.27 [[ 1.07130301e-01 -9.94243757e-01 -1.56511743e-03 7.60202035e+01] [ 9.94158427e-01 1.07141613e-01 -1.30268043e-02 2.31448794e+02] [ 1.31195081e-02 -1.60409224e-04 9.99913923e-01 6.26723744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.85275509600007 meters 0.018154848292606177 Centerline is valid? [True, True] Translation: X:76.02, Y:231.48, Z:6.27 [[ 1.08601273e-01 -9.94084284e-01 -1.48316604e-03 7.60197397e+01] [ 9.94007187e-01 1.08611323e-01 -1.23811530e-02 2.31475869e+02] [ 1.24689982e-02 -1.29668729e-04 9.99922251e-01 6.26769068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.88275509600004 meters 0.018083255113589086 Centerline is valid? [True, True] Translation: X:76.02, Y:231.50, Z:6.27 [[ 1.08906274e-01 -9.94050993e-01 -1.43083712e-03 7.60224879e+01] [ 9.93978815e-01 1.08915610e-01 -1.19793938e-02 2.31502200e+02] [ 1.20639688e-02 -1.17590637e-04 9.99927221e-01 6.26803409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.91275509600007 meters 0.017747705074530943 Centerline is valid? [True, True] Translation: X:76.03, Y:231.53, Z:6.27 [[ 1.09456502e-01 -9.93990664e-01 -1.35437769e-03 7.60250128e+01] [ 9.93925597e-01 1.09464834e-01 -1.13735514e-02 2.31528079e+02] [ 1.14534607e-02 -1.01241505e-04 9.99934402e-01 6.26905552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.94275509600004 meters 0.017642197426683635 Centerline is valid? [True, True] Translation: X:76.03, Y:231.55, Z:6.27 [[ 1.09264199e-01 -9.94011888e-01 -1.30432618e-03 7.60278879e+01] [ 9.93951159e-01 1.09271942e-01 -1.09880363e-02 2.31554641e+02] [ 1.10647650e-02 -9.58375341e-05 9.99938779e-01 6.26973317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.97275509600007 meters 0.017839889087544438 Centerline is valid? [True, True] Translation: X:76.03, Y:231.58, Z:6.27 [[ 1.08358012e-01 -9.94111149e-01 -1.25067913e-03 7.60313212e+01] [ 9.94054964e-01 1.08365185e-01 -1.05695563e-02 2.31580196e+02] [ 1.06428439e-02 -9.79476838e-05 9.99943359e-01 6.27030458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.00275509600004 meters 0.017906883948597525 Centerline is valid? [True, True] Translation: X:76.03, Y:231.61, Z:6.27 [[ 1.07878777e-01 -9.94163317e-01 -1.21159551e-03 7.60347053e+01] [ 9.94110251e-01 1.07885538e-01 -1.02723051e-02 2.31605333e+02] [ 1.03430625e-02 -9.62958056e-05 9.99946504e-01 6.27081279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0327550960001 meters 0.018250273591927487 Centerline is valid? [True, True] Translation: X:76.04, Y:231.63, Z:6.27 [[ 1.05825916e-01 -9.94384055e-01 -1.10772422e-03 7.60382457e+01] [ 9.94339500e-01 1.05831661e-01 -9.41373425e-03 2.31631702e+02] [ 9.47809953e-03 -1.05236904e-04 9.99955076e-01 6.27149889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.06275509600005 meters 0.018200345463661758 Centerline is valid? [True, True] Translation: X:76.04, Y:231.66, Z:6.27 [[ 1.04439729e-01 -9.94530637e-01 -1.07517680e-03 7.60404901e+01] [ 9.94488405e-01 1.04445203e-01 -9.16580480e-03 2.31658662e+02] [ 9.22797074e-03 -1.11976690e-04 9.99957415e-01 6.27126460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0927550960001 meters 0.01862871483278677 Centerline is valid? [True, True] Translation: X:76.05, Y:231.69, Z:6.27 [[ 1.02009842e-01 -9.94782813e-01 -1.07068608e-03 7.60451227e+01] [ 9.94740689e-01 1.02015377e-01 -9.15555713e-03 2.31686424e+02] [ 9.21701732e-03 -1.31098069e-04 9.99957514e-01 6.27088779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.12275509600005 meters 0.01970627889539211 Centerline is valid? [True, True] Translation: X:76.05, Y:231.71, Z:6.27 [[ 1.00641035e-01 -9.94922264e-01 -1.03477646e-03 7.60510334e+01] [ 9.94882718e-01 1.00646261e-01 -8.87178030e-03 2.31711759e+02] [ 8.93087812e-03 -1.36616064e-04 9.99960110e-01 6.27137584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1527550960001 meters 0.019281968833419382 Centerline is valid? [True, True] Translation: X:76.05, Y:231.74, Z:6.27 [[ 9.93246386e-02 -9.95054524e-01 -1.05349670e-03 7.60534623e+01] [ 9.95013270e-01 9.93301150e-02 -9.06207503e-03 2.31738839e+02] [ 9.12190271e-03 -1.48155871e-04 9.99958384e-01 6.27164834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.18275509600005 meters 0.019760713340867705 Centerline is valid? [True, True] Translation: X:76.06, Y:231.76, Z:6.27 [[ 9.81782719e-02 -9.95168392e-01 -9.48102305e-04 7.60577941e+01] [ 9.95134803e-01 9.81827490e-02 -8.17756503e-03 2.31764354e+02] [ 8.23114153e-03 -1.40630397e-04 9.99966114e-01 6.27237903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2127550960001 meters 0.020075816968459115 Centerline is valid? [True, True] Translation: X:76.06, Y:231.79, Z:6.27 [[ 9.71012832e-02 -9.95274171e-01 -8.15993559e-04 7.60618421e+01] [ 9.95249154e-01 9.71046290e-02 -7.05781599e-03 2.31789295e+02] [ 7.10369871e-03 -1.26793909e-04 9.99974760e-01 6.27413073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.24275509600005 meters 0.020068846425581783 Centerline is valid? [True, True] Translation: X:76.06, Y:231.82, Z:6.27 [[ 9.65359670e-02 -9.95329206e-01 -7.61222531e-04 7.60645909e+01] [ 9.95307341e-01 9.65388928e-02 -6.59836739e-03 2.31815575e+02] [ 6.64103535e-03 -1.20670598e-04 9.99977941e-01 6.27495144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2727550960001 meters 0.01927019140625699 Centerline is valid? [True, True] Translation: X:76.07, Y:231.84, Z:6.28 [[ 9.60379321e-02 -9.95377476e-01 -6.29572683e-04 7.60651012e+01] [ 9.95362447e-01 9.60399423e-02 -5.47075510e-03 2.31842516e+02] [ 5.50593052e-03 -1.01253000e-04 9.99984837e-01 6.27504133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.30275509600006 meters 0.019507278263325836 Centerline is valid? [True, True] Translation: X:76.07, Y:231.87, Z:6.28 [[ 9.58713495e-02 -9.95393518e-01 -6.55304040e-04 7.60682889e+01] [ 9.95377126e-01 9.58735321e-02 -5.71336605e-03 2.31868586e+02] [ 5.74987384e-03 -1.04526539e-04 9.99983464e-01 6.27504170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3327550960001 meters 0.020232113031757995 Centerline is valid? [True, True] Translation: X:76.07, Y:231.89, Z:6.27 [[ 9.61946079e-02 -9.95362258e-01 -7.56771182e-04 7.60727415e+01] [ 9.95340200e-01 9.61975150e-02 -6.62751058e-03 2.31894001e+02] [ 6.66957340e-03 -1.15713999e-04 9.99977751e-01 6.27455868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.36275509600006 meters 0.01869379430600588 Centerline is valid? [True, True] Translation: X:76.07, Y:231.92, Z:6.27 [[ 9.62437729e-02 -9.95357500e-01 -7.63256632e-04 7.60722816e+01] [ 9.95334966e-01 9.62467306e-02 -6.69874705e-03 2.31921008e+02] [ 6.74110908e-03 -1.14983323e-04 9.99977272e-01 6.27394230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.39275509600003 meters 0.019862059015891144 Centerline is valid? [True, True] Translation: X:76.08, Y:231.95, Z:6.27 [[ 9.62778107e-02 -9.95354181e-01 -7.98618101e-04 7.60779019e+01] [ 9.95329341e-01 9.62810509e-02 -7.03294611e-03 2.31946646e+02] [ 7.07716411e-03 -1.17771374e-04 9.99974950e-01 6.27422936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.42275509600006 meters 0.01851671684267427 Centerline is valid? [True, True] Translation: X:76.08, Y:231.97, Z:6.27 [[ 9.65456267e-02 -9.95328198e-01 -8.49080351e-04 7.60781891e+01] [ 9.95299908e-01 9.65492851e-02 -7.50526774e-03 2.31973573e+02] [ 7.55218271e-03 -1.20488818e-04 9.99971475e-01 6.27378246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.45275509600003 meters 0.018580621294032155 Centerline is valid? [True, True] Translation: X:76.08, Y:232.00, Z:6.27 [[ 9.66668552e-02 -9.95316426e-01 -8.54635323e-04 7.60808758e+01] [ 9.95287583e-01 9.66705610e-02 -7.57829679e-03 2.31999949e+02] [ 7.62542135e-03 -1.18037806e-04 9.99970919e-01 6.27409762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.48275509600006 meters 0.01807985121801294 Centerline is valid? [True, True] Translation: X:76.08, Y:232.03, Z:6.27 [[ 9.67740081e-02 -9.95306020e-01 -8.47569759e-04 7.60823762e+01] [ 9.95277462e-01 9.67776527e-02 -7.54055534e-03 2.32027240e+02] [ 7.58718593e-03 -1.13837314e-04 9.99971210e-01 6.27421678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.51275509600003 meters 0.018221602860222178 Centerline is valid? [True, True] Translation: X:76.08, Y:232.05, Z:6.27 [[ 9.71930034e-02 -9.95265226e-01 -8.05995460e-04 7.60844622e+01] [ 9.95239244e-01 9.71962906e-02 -7.19230106e-03 2.32053662e+02] [ 7.23658691e-03 -1.03116971e-04 9.99973810e-01 6.27441380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.54275509600006 meters 0.018063145107404893 Centerline is valid? [True, True] Translation: X:76.09, Y:232.08, Z:6.27 [[ 9.69416102e-02 -9.95289750e-01 -7.98495257e-04 7.60866977e+01] [ 9.95264073e-01 9.69448454e-02 -7.14991464e-03 2.32080890e+02] [ 7.19364675e-03 -1.01589405e-04 9.99974120e-01 6.27462897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.57275509600004 meters 0.017993363035045295 Centerline is valid? [True, True] Translation: X:76.09, Y:232.11, Z:6.28 [[ 9.68345690e-02 -9.95300252e-01 -6.88576359e-04 7.60887936e+01] [ 9.95281071e-01 9.68369782e-02 -6.17978925e-03 2.32106026e+02] [ 6.21742545e-03 -8.69097876e-05 9.99980668e-01 6.27580636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.60275509600007 meters 0.018062218552249567 Centerline is valid? [True, True] Translation: X:76.09, Y:232.13, Z:6.28 [[ 9.63863108e-02 -9.95343773e-01 -6.73208614e-04 7.60917441e+01] [ 9.95325304e-01 9.63886238e-02 -6.06407524e-03 2.32132463e+02] [ 6.10072918e-03 -8.55677272e-05 9.99981387e-01 6.27647093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.63275509600004 meters 0.017734812312208404 Centerline is valid? [True, True] Translation: X:76.09, Y:232.16, Z:6.28 [[ 9.61559789e-02 -9.95366115e-01 -5.70863132e-04 7.60938460e+01] [ 9.95352762e-01 9.61576462e-02 -5.15625009e-03 2.32159884e+02] [ 5.18724947e-03 -7.24059199e-05 9.99986544e-01 6.27701953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.66275509600007 meters 0.017712006957117714 Centerline is valid? [True, True] Translation: X:76.10, Y:232.19, Z:6.28 [[ 9.62539371e-02 -9.95356665e-01 -5.36890885e-04 7.60966472e+01] [ 9.95344789e-01 9.62554116e-02 -4.86284800e-03 2.32186099e+02] [ 4.89194682e-03 -6.63232793e-05 9.99988032e-01 6.27775579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.69275509600004 meters 0.017284187762593047 Centerline is valid? [True, True] Translation: X:76.10, Y:232.21, Z:6.28 [[ 9.62867187e-02 -9.95353534e-01 -4.58246134e-04 7.60983841e+01] [ 9.95344840e-01 9.62877931e-02 -4.16067800e-03 2.32213697e+02] [ 4.18546906e-03 -5.54948925e-05 9.99991239e-01 6.27754022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.72275509600007 meters 0.016960766908834066 Centerline is valid? [True, True] Translation: X:76.10, Y:232.24, Z:6.28 [[ 9.72691431e-02 -9.95258007e-01 -4.61845493e-04 7.61002028e+01] [ 9.95249114e-01 9.72702265e-02 -4.20771401e-03 2.32240487e+02] [ 4.23268487e-03 -5.03705820e-05 9.99991041e-01 6.27748919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.75275509600004 meters 0.016856180743201873 Centerline is valid? [True, True] Translation: X:76.10, Y:232.27, Z:6.28 [[ 9.73655984e-02 -9.95248568e-01 -4.77073365e-04 7.61024110e+01] [ 9.95239010e-01 9.73667543e-02 -4.36204651e-03 2.32267543e+02] [ 4.38777163e-03 -5.00887546e-05 9.99990372e-01 6.27739938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7827550960001 meters 0.01660480922360823 Centerline is valid? [True, True] Translation: X:76.10, Y:232.30, Z:6.28 [[ 9.80697127e-02 -9.95179424e-01 -4.95418481e-04 7.61042519e+01] [ 9.95169021e-01 9.80709529e-02 -4.55066610e-03 2.32295218e+02] [ 4.57731543e-03 -4.67426075e-05 9.99989523e-01 6.27749092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.81275509600005 meters 0.016468159467021192 Centerline is valid? [True, True] Translation: X:76.11, Y:232.32, Z:6.28 [[ 9.84830136e-02 -9.95138602e-01 -5.08168212e-04 7.61062512e+01] [ 9.95127624e-01 9.84843142e-02 -4.67464255e-03 2.32322621e+02] [ 4.70196385e-03 -4.53193399e-05 9.99988945e-01 6.27687854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8427550960001 meters 0.016230718853035262 Centerline is valid? [True, True] Translation: X:76.11, Y:232.35, Z:6.28 [[ 9.93900553e-02 -9.95048417e-01 -5.15265433e-04 7.61075526e+01] [ 9.95037050e-01 9.93913829e-02 -4.75623706e-03 2.32349434e+02] [ 4.78389910e-03 -3.99855324e-05 9.99988556e-01 6.27618290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.87275509600005 meters 0.01620972309514121 Centerline is valid? [True, True] Translation: X:76.11, Y:232.38, Z:6.28 [[ 9.95824535e-02 -9.95029191e-01 -4.93987454e-04 7.61103202e+01] [ 9.95018679e-01 9.95836722e-02 -4.57383247e-03 2.32376878e+02] [ 4.60028990e-03 -3.60532851e-05 9.99989418e-01 6.27626055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9027550960001 meters 0.016136161158049396 Centerline is valid? [True, True] Translation: X:76.11, Y:232.40, Z:6.28 [[ 1.00049059e-01 -9.94982361e-01 -5.36111487e-04 7.61137185e+01] [ 9.94969868e-01 1.00050489e-01 -4.98612348e-03 2.32402573e+02] [ 5.01474313e-03 -3.45578130e-05 9.99987426e-01 6.27581919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.93275509600005 meters 0.016061731482882237 Centerline is valid? [True, True] Translation: X:76.12, Y:232.43, Z:6.28 [[ 9.99290822e-02 -9.94994411e-01 -5.48467660e-04 7.61161497e+01] [ 9.94981288e-01 9.99305812e-02 -5.11034690e-03 2.32428744e+02] [ 5.13957529e-03 -3.50427837e-05 9.99986792e-01 6.27552636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9627550960001 meters 0.01591625024311612 Centerline is valid? [True, True] Translation: X:76.12, Y:232.46, Z:6.28 [[ 1.00075666e-01 -9.94979645e-01 -6.06303999e-04 7.61185318e+01] [ 9.94963470e-01 1.00077496e-01 -5.67338374e-03 2.32455051e+02] [ 5.70557872e-03 -3.54826753e-05 9.99983722e-01 6.27504245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.99275509600005 meters 0.01576565521467965 Centerline is valid? [True, True] Translation: X:76.12, Y:232.48, Z:6.27 [[ 1.00298128e-01 -9.94957229e-01 -6.30685715e-04 7.61203712e+01] [ 9.94939593e-01 1.00300105e-01 -5.92411710e-03 2.32480369e+02] [ 5.95750098e-03 -3.33163326e-05 9.99982253e-01 6.27465499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0227550960001 meters 0.01576509538951392 Centerline is valid? [True, True] Translation: X:76.12, Y:232.51, Z:6.27 [[ 1.00506379e-01 -9.94936196e-01 -6.59022420e-04 7.61224679e+01] [ 9.94916777e-01 1.00508535e-01 -6.21628219e-03 2.32507077e+02] [ 6.25104153e-03 -3.08964456e-05 9.99980462e-01 6.27433096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.05275509600006 meters 0.015666051922200573 Centerline is valid? [True, True] Translation: X:76.13, Y:232.53, Z:6.27 [[ 9.99193672e-02 -9.94995270e-01 -7.30041540e-04 7.61251092e+01] [ 9.94971236e-01 9.99220279e-02 -6.91573787e-03 2.32533872e+02] [ 6.95407370e-03 -3.53541822e-05 9.99975820e-01 6.27324328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0827550960001 meters 0.015772501574496542 Centerline is valid? [True, True] Translation: X:76.13, Y:232.56, Z:6.27 [[ 9.91254462e-02 -9.95074667e-01 -7.43876016e-04 7.61283805e+01] [ 9.95049545e-01 9.91282295e-02 -7.07090529e-03 2.32559434e+02] [ 7.10981784e-03 -3.92868496e-05 9.99974724e-01 6.27347190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.11275509600006 meters 0.015903090291573177 Centerline is valid? [True, True] Translation: X:76.13, Y:232.58, Z:6.27 [[ 9.79608042e-02 -9.95189963e-01 -7.86822723e-04 7.61317342e+01] [ 9.95161648e-01 9.79639524e-02 -7.50717492e-03 2.32584240e+02] [ 7.54814539e-03 -4.76069064e-05 9.99971511e-01 6.27417863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.14275509600003 meters 0.016060434878600153 Centerline is valid? [True, True] Translation: X:76.13, Y:232.61, Z:6.28 [[ 9.64063207e-02 -9.95341853e-01 -6.46094940e-04 7.61337244e+01] [ 9.95322648e-01 9.64084742e-02 -6.18323629e-03 2.32611448e+02] [ 6.21672290e-03 -4.69698657e-05 9.99980675e-01 6.27512690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.17275509600006 meters 0.016019099120585273 Centerline is valid? [True, True] Translation: X:76.14, Y:232.64, Z:6.28 [[ 9.57736148e-02 -9.95402957e-01 -6.07448543e-04 7.61350916e+01] [ 9.95385877e-01 9.57755300e-02 -5.83135079e-03 2.32638308e+02] [ 5.86272252e-03 -4.61561564e-05 9.99982813e-01 6.27534751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.20275509600003 meters 0.01608493923475843 Centerline is valid? [True, True] Translation: X:76.14, Y:232.67, Z:6.28 [[ 9.51883975e-02 -9.95459106e-01 -5.80446318e-04 7.61353139e+01] [ 9.95443411e-01 9.51901562e-02 -5.59016882e-03 2.32665336e+02] [ 5.62003723e-03 -4.56822518e-05 9.99984206e-01 6.27591415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.23275509600006 meters 0.01634806967923948 Centerline is valid? [True, True] Translation: X:76.14, Y:232.69, Z:6.28 [[ 9.50189398e-02 -9.95475280e-01 -6.07356749e-04 7.61379578e+01] [ 9.95457967e-01 9.50208694e-02 -5.87122695e-03 2.32691643e+02] [ 5.90237285e-03 -4.67203546e-05 9.99982580e-01 6.27652286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26275509600003 meters 0.016011166469563957 Centerline is valid? [True, True] Translation: X:76.14, Y:232.72, Z:6.28 [[ 9.49936819e-02 -9.95477692e-01 -6.03841897e-04 7.61384071e+01] [ 9.95460446e-01 9.49955906e-02 -5.85997016e-03 2.32719084e+02] [ 5.89083189e-03 -4.44405829e-05 9.99982648e-01 6.27616516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.29275509600006 meters 0.015949267372305804 Centerline is valid? [True, True] Translation: X:76.14, Y:232.75, Z:6.28 [[ 9.50303084e-02 -9.95474179e-01 -6.32456855e-04 7.61396703e+01] [ 9.95455118e-01 9.50324027e-02 -6.16044333e-03 2.32746797e+02] [ 6.19266616e-03 -4.41535831e-05 9.99980824e-01 6.27641069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32275509600004 meters 0.01598338317836208 Centerline is valid? [True, True] Translation: X:76.14, Y:232.77, Z:6.28 [[ 9.50289657e-02 -9.95474279e-01 -6.74936836e-04 7.61398994e+01] [ 9.95452407e-01 9.50313520e-02 -6.59910211e-03 2.32774342e+02] [ 6.63337658e-03 -4.47616497e-05 9.99977998e-01 6.27604645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.35275509600007 meters 0.01602684525726878 Centerline is valid? [True, True] Translation: X:76.14, Y:232.80, Z:6.28 [[ 9.46373710e-02 -9.95511576e-01 -6.85221079e-04 7.61410943e+01] [ 9.95488873e-01 9.46398406e-02 -6.72349035e-03 2.32801174e+02] [ 6.75816169e-03 -4.58365092e-05 9.99977162e-01 6.27570940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.38275509600004 meters 0.015959189367661518 Centerline is valid? [True, True] Translation: X:76.14, Y:232.83, Z:6.28 [[ 9.42271307e-02 -9.95550482e-01 -6.97167953e-04 7.61407624e+01] [ 9.95526811e-01 9.42296979e-02 -6.86525977e-03 2.32828786e+02] [ 6.90040660e-03 -4.71556594e-05 9.99976191e-01 6.27534815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.41275509600007 meters 0.016011529377780984 Centerline is valid? [True, True] Translation: X:76.14, Y:232.85, Z:6.28 [[ 9.35907919e-02 -9.95610515e-01 -6.82477834e-04 7.61420296e+01] [ 9.95587687e-01 9.35932677e-02 -6.74218406e-03 2.32854005e+02] [ 6.77646467e-03 -4.84601836e-05 9.99977038e-01 6.27541128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.44275509600004 meters 0.015963230635143055 Centerline is valid? [True, True] Translation: X:76.14, Y:232.88, Z:6.28 [[ 9.29884495e-02 -9.95666925e-01 -7.22844481e-04 7.61438684e+01] [ 9.95641090e-01 9.29912440e-02 -7.17275283e-03 2.32880769e+02] [ 7.20889096e-03 -5.27105024e-05 9.99974014e-01 6.27558356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.47275509600007 meters 0.016170044325066173 Centerline is valid? [True, True] Translation: X:76.15, Y:232.91, Z:6.28 [[ 9.21192484e-02 -9.95747748e-01 -6.82790492e-04 7.61462773e+01] [ 9.95724534e-01 9.21217632e-02 -6.79956176e-03 2.32907459e+02] [ 6.83354818e-03 -5.35007255e-05 9.99976650e-01 6.27577650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.50275509600004 meters 0.016406106247488558 Centerline is valid? [True, True] Translation: X:76.15, Y:232.93, Z:6.28 [[ 9.07107281e-02 -9.95877039e-01 -6.98469345e-04 7.61489486e+01] [ 9.95852555e-01 9.07133959e-02 -6.98341246e-03 2.32933897e+02] [ 7.01798065e-03 -6.21020531e-05 9.99975372e-01 6.27655214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5327550960001 meters 0.016406106247488558 Centerline is valid? [True, True] Translation: X:76.15, Y:232.96, Z:6.28 [[ 9.03367266e-02 -9.95911036e-01 -6.95845567e-04 7.61512505e+01] [ 9.95886552e-01 9.03393852e-02 -6.98367374e-03 2.32959707e+02] [ 7.01798001e-03 -6.21010167e-05 9.99975372e-01 6.27678975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.56275509600005 meters 0.01635697364619198 Centerline is valid? [True, True] Translation: X:76.15, Y:232.99, Z:6.28 [[ 8.97539728e-02 -9.95963761e-01 -6.40855684e-04 7.61535301e+01] [ 9.95942854e-01 8.97562413e-02 -6.45364412e-03 2.32985609e+02] [ 6.48511647e-03 -5.90154401e-05 9.99978970e-01 6.27749074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5927550960001 meters 0.01656174637835894 Centerline is valid? [True, True] Translation: X:76.16, Y:233.01, Z:6.28 [[ 8.92244584e-02 -9.96011363e-01 -6.00980483e-04 7.61562809e+01] [ 9.95992851e-01 8.92264644e-02 -6.07283659e-03 2.33011286e+02] [ 6.10223762e-03 -5.67267079e-05 9.99981380e-01 6.27876759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.62275509600005 meters 0.01657811701942758 Centerline is valid? [True, True] Translation: X:76.16, Y:233.04, Z:6.28 [[ 8.86423473e-02 -9.96063335e-01 -6.06521396e-04 7.61581556e+01] [ 9.96044321e-01 8.86444030e-02 -6.15470049e-03 2.33037552e+02] [ 6.18423622e-03 -5.85550932e-05 9.99980876e-01 6.27924403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6527550960001 meters 0.01669341505989729 Centerline is valid? [True, True] Translation: X:76.16, Y:233.06, Z:6.28 [[ 8.83135698e-02 -9.96092535e-01 -6.12223755e-04 7.61603428e+01] [ 9.96073015e-01 8.83156722e-02 -6.23628858e-03 2.33062754e+02] [ 6.26598946e-03 -5.90706543e-05 9.99980367e-01 6.27961663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.68275509600005 meters 0.01660160122933246 Centerline is valid? [True, True] Translation: X:76.16, Y:233.09, Z:6.28 [[ 8.84750609e-02 -9.96078209e-01 -6.04183460e-04 7.61617589e+01] [ 9.96059047e-01 8.84771067e-02 -6.17878052e-03 2.33088055e+02] [ 6.20800504e-03 -5.51344177e-05 9.99980729e-01 6.28038838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7127550960001 meters 0.016312590904757656 Centerline is valid? [True, True] Translation: X:76.16, Y:233.11, Z:6.28 [[ 8.85645238e-02 -9.96070250e-01 -6.17882669e-04 7.61626743e+01] [ 9.96050044e-01 8.85666629e-02 -6.34472554e-03 2.33114127e+02] [ 6.37451617e-03 -5.35244641e-05 9.99979681e-01 6.28009580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.74275509600005 meters 0.015958610939370274 Centerline is valid? [True, True] Translation: X:76.16, Y:233.14, Z:6.28 [[ 8.87404545e-02 -9.96054567e-01 -6.56678692e-04 7.61638243e+01] [ 9.96031542e-01 8.87428683e-02 -6.77278596e-03 2.33141616e+02] [ 6.80433994e-03 -5.30525859e-05 9.99976849e-01 6.28007197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7727550960001 meters 0.015861906996580785 Centerline is valid? [True, True] Translation: X:76.17, Y:233.17, Z:6.28 [[ 8.92647771e-02 -9.96007699e-01 -6.80782202e-04 7.61657053e+01] [ 9.95982752e-01 8.92673598e-02 -7.04956954e-03 2.33168371e+02] [ 7.08219717e-03 -4.87690773e-05 9.99974920e-01 6.28039959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.80275509600006 meters 0.015899943771571005 Centerline is valid? [True, True] Translation: X:76.17, Y:233.19, Z:6.28 [[ 8.91987368e-02 -9.96013632e-01 -6.55618250e-04 7.61680631e+01] [ 9.95990313e-01 8.92011348e-02 -6.81564851e-03 2.33194183e+02] [ 6.84696072e-03 -4.50421892e-05 9.99976558e-01 6.28154979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8327550960001 meters 0.01578615212320269 Centerline is valid? [True, True] Translation: X:76.17, Y:233.22, Z:6.28 [[ 8.92173859e-02 -9.96011981e-01 -6.26327569e-04 7.61697728e+01] [ 9.95990593e-01 8.92195748e-02 -6.52738382e-03 2.33221875e+02] [ 6.55723317e-03 -4.14602451e-05 9.99978500e-01 6.28237621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.86275509600006 meters 0.015812467708814924 Centerline is valid? [True, True] Translation: X:76.17, Y:233.25, Z:6.28 [[ 8.89473334e-02 -9.96036112e-01 -6.59357747e-04 7.61713441e+01] [ 9.96012214e-01 8.89497668e-02 -6.89994755e-03 2.33248471e+02] [ 6.93124665e-03 -4.29964346e-05 9.99975978e-01 6.28327203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.89275509600003 meters 0.015818880220215794 Centerline is valid? [True, True] Translation: X:76.17, Y:233.27, Z:6.28 [[ 8.82013361e-02 -9.96102428e-01 -6.90296178e-04 7.61730472e+01] [ 9.96076084e-01 8.82040240e-02 -7.24472337e-03 2.33274249e+02] [ 7.27737344e-03 -4.85932321e-05 9.99973518e-01 6.28347386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.92275509600006 meters 0.01585557778874499 Centerline is valid? [True, True] Translation: X:76.18, Y:233.30, Z:6.28 [[ 8.76247487e-02 -9.96153294e-01 -7.19473387e-04 7.61751755e+01] [ 9.96124432e-01 8.76276869e-02 -7.58318079e-03 2.33301252e+02] [ 7.61705632e-03 -5.22107071e-05 9.99970988e-01 6.28372896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.95275509600003 meters 0.01611058092238077 Centerline is valid? [True, True] Translation: X:76.18, Y:233.33, Z:6.28 [[ 8.59629033e-02 -9.96298041e-01 -7.70133406e-04 7.61775971e+01] [ 9.96264706e-01 8.59663271e-02 -8.15023297e-03 2.33327525e+02] [ 8.18626668e-03 -6.66390434e-05 9.99966490e-01 6.28365687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.98275509600006 meters 0.016321597684092685 Centerline is valid? [True, True] Translation: X:76.18, Y:233.35, Z:6.28 [[ 8.46663527e-02 -9.96409055e-01 -7.76970274e-04 7.61803307e+01] [ 9.96374859e-01 8.46698843e-02 -8.25536420e-03 2.33352810e+02] [ 8.29150562e-03 -7.52020698e-05 9.99965622e-01 6.28414727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.01275509600003 meters 0.01651479177741517 Centerline is valid? [True, True] Translation: X:76.18, Y:233.38, Z:6.29 [[ 8.20795037e-02 -9.96625480e-01 -7.79023189e-04 7.61839522e+01] [ 9.96590803e-01 8.20831468e-02 -8.31434933e-03 2.33380936e+02] [ 8.35023707e-03 -9.39296796e-05 9.99965132e-01 6.28523284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.04275509600006 meters 0.017206175609060913 Centerline is valid? [True, True] Translation: X:76.19, Y:233.41, Z:6.29 [[ 8.00853979e-02 -9.96787736e-01 -7.34147828e-04 7.61881124e+01] [ 9.96756748e-01 8.00886975e-02 -7.86044376e-03 2.33407373e+02] [ 7.89399088e-03 -1.02260035e-04 9.99968837e-01 6.28593299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.07275509600004 meters 0.01771941987144675 Centerline is valid? [True, True] Translation: X:76.19, Y:233.43, Z:6.29 [[ 7.84391829e-02 -9.96918609e-01 -7.62367161e-04 7.61914424e+01] [ 9.96884949e-01 7.84427998e-02 -8.19298674e-03 2.33432983e+02] [ 8.22754316e-03 -1.17341164e-04 9.99966146e-01 6.28623341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.10275509600007 meters 0.018774442281782593 Centerline is valid? [True, True] Translation: X:76.20, Y:233.46, Z:6.29 [[ 7.49641835e-02 -9.97185939e-01 -7.57351279e-04 7.61956778e+01] [ 9.97152438e-01 7.49678740e-02 -8.17516019e-03 2.33460203e+02] [ 8.20893181e-03 -1.42350465e-04 9.99966296e-01 6.28632617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.13275509600004 meters 0.019466261591745804 Centerline is valid? [True, True] Translation: X:76.20, Y:233.49, Z:6.29 [[ 7.33000424e-02 -9.97309615e-01 -7.97431764e-04 7.61990779e+01] [ 9.97272186e-01 7.33042014e-02 -8.64183869e-03 2.33486174e+02] [ 8.67704391e-03 -1.61809376e-04 9.99962341e-01 6.28661790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.16275509600007 meters 0.01997942389073848 Centerline is valid? [True, True] Translation: X:76.20, Y:233.51, Z:6.29 [[ 7.15506372e-02 -9.97436615e-01 -8.40324116e-04 7.62025054e+01] [ 9.97394712e-01 7.15553355e-02 -9.14456000e-03 2.33513445e+02] [ 9.18124864e-03 -1.83835734e-04 9.99957835e-01 6.28654279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.19275509600004 meters 0.019801253066771718 Centerline is valid? [True, True] Translation: X:76.20, Y:233.54, Z:6.29 [[ 7.11199673e-02 -9.97467406e-01 -8.51661410e-04 7.62043626e+01] [ 9.97424038e-01 7.11248185e-02 -9.30314173e-03 2.33539551e+02] [ 9.34015491e-03 -1.87828427e-04 9.99956362e-01 6.28652016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.22275509600007 meters 0.020269709881421846 Centerline is valid? [True, True] Translation: X:76.21, Y:233.56, Z:6.29 [[ 7.09903473e-02 -9.97476601e-01 -8.95111201e-04 7.62074207e+01] [ 9.97428271e-01 7.09957207e-02 -9.82098214e-03 2.33564950e+02] [ 9.85974894e-03 -1.95614286e-04 9.99951372e-01 6.28635615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.25275509600004 meters 0.01834401891928822 Centerline is valid? [True, True] Translation: X:76.21, Y:233.59, Z:6.29 [[ 7.15760303e-02 -9.97434695e-01 -9.49633484e-04 7.62061464e+01] [ 9.97379793e-01 7.15820559e-02 -1.04669927e-02 2.33592149e+02] [ 1.05081184e-02 -1.97959459e-04 9.99944769e-01 6.28611417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2827550960001 meters 0.018083268487200224 Centerline is valid? [True, True] Translation: X:76.21, Y:233.62, Z:6.29 [[ 7.17680649e-02 -9.97420865e-01 -9.80903868e-04 7.62078601e+01] [ 9.97361797e-01 7.17744916e-02 -1.08567606e-02 2.33619521e+02] [ 1.08991635e-02 -1.99147342e-04 9.99940583e-01 6.28610737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.31275509600005 meters 0.018158867439377304 Centerline is valid? [True, True] Translation: X:76.21, Y:233.65, Z:6.29 [[ 7.17390376e-02 -9.97422922e-01 -1.01210398e-03 7.62101543e+01] [ 9.97359503e-01 7.17458912e-02 -1.12493874e-02 2.33645247e+02] [ 1.12930112e-02 -2.02411293e-04 9.99936211e-01 6.28598913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3427550960001 meters 0.01809031531952047 Centerline is valid? [True, True] Translation: X:76.21, Y:233.67, Z:6.29 [[ 7.21056817e-02 -9.97396471e-01 -1.02472922e-03 7.62128473e+01] [ 9.97330900e-01 7.21126931e-02 -1.14383519e-02 2.33672465e+02] [ 1.14824678e-02 -1.97223956e-04 9.99934055e-01 6.28550526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.37275509600005 meters 0.018237816681181032 Centerline is valid? [True, True] Translation: X:76.22, Y:233.70, Z:6.29 [[ 7.22065450e-02 -9.97389111e-01 -1.08449963e-03 7.62158424e+01] [ 9.97315082e-01 7.22144006e-02 -1.21535154e-02 2.33698330e+02] [ 1.22001004e-02 -2.04024485e-04 9.99925555e-01 6.28549655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4027550960001 meters 0.018036997293679437 Centerline is valid? [True, True] Translation: X:76.22, Y:233.73, Z:6.29 [[ 7.22619677e-02 -9.97385075e-01 -1.10442840e-03 7.62178491e+01] [ 9.97307762e-01 7.22701192e-02 -1.24200283e-02 2.33725068e+02] [ 1.24673681e-02 -2.03959331e-04 9.99922259e-01 6.28550986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.43275509600005 meters 0.018074435844753423 Centerline is valid? [True, True] Translation: X:76.22, Y:233.75, Z:6.29 [[ 7.20604717e-02 -9.97399622e-01 -1.13253227e-03 7.62199410e+01] [ 9.97317592e-01 7.20690718e-02 -1.27933598e-02 2.33751375e+02] [ 1.28417128e-02 -2.07598809e-04 9.99917520e-01 6.28502764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4627550960001 meters 0.01778289086649486 Centerline is valid? [True, True] Translation: X:76.22, Y:233.78, Z:6.29 [[ 7.19973861e-02 -9.97404150e-01 -1.15669397e-03 7.62213178e+01] [ 9.97317835e-01 7.20063745e-02 -1.31231789e-02 2.33778230e+02] [ 1.31724024e-02 -2.08756951e-04 9.99913218e-01 6.28524657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.49275509600005 meters 0.017972634348208016 Centerline is valid? [True, True] Translation: X:76.22, Y:233.80, Z:6.29 [[ 7.18143923e-02 -9.97417358e-01 -1.14363789e-03 7.62230751e+01] [ 9.97332270e-01 7.18232057e-02 -1.30295989e-02 2.33803166e+02] [ 1.30780878e-02 -2.04874251e-04 9.99914457e-01 6.28518681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5227550960001 meters 0.01749057583330412 Centerline is valid? [True, True] Translation: X:76.22, Y:233.83, Z:6.29 [[ 7.23542627e-02 -9.97378318e-01 -1.16215964e-03 7.62234332e+01] [ 9.97289667e-01 7.23633280e-02 -1.32992113e-02 2.33830151e+02] [ 1.33484428e-02 -1.96755168e-04 9.99910886e-01 6.28512947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.55275509600006 meters 0.017863073070795495 Centerline is valid? [True, True] Translation: X:76.23, Y:233.86, Z:6.29 [[ 7.20955478e-02 -9.97397094e-01 -1.12611478e-03 7.62259977e+01] [ 9.97313219e-01 7.21040906e-02 -1.29361620e-02 2.33855719e+02] [ 1.29836879e-02 -1.90449471e-04 9.99915690e-01 6.28555451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5827550960001 meters 0.01760577326158332 Centerline is valid? [True, True] Translation: X:76.23, Y:233.88, Z:6.29 [[ 7.19972733e-02 -9.97404209e-01 -1.11169493e-03 7.62278429e+01] [ 9.97321720e-01 7.20056176e-02 -1.28287602e-02 2.33882475e+02] [ 1.28755077e-02 -1.85081749e-04 9.99917090e-01 6.28586542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.61275509600006 meters 0.017169574460286753 Centerline is valid? [True, True] Translation: X:76.23, Y:233.91, Z:6.29 [[ 7.15254033e-02 -9.97438199e-01 -1.07522222e-03 7.62294019e+01] [ 9.97360381e-01 7.15332553e-02 -1.24604868e-02 2.33910168e+02] [ 1.25054797e-02 -1.81142702e-04 9.99921787e-01 6.28684561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.64275509600003 meters 0.018082575188295327 Centerline is valid? [True, True] Translation: X:76.23, Y:233.94, Z:6.29 [[ 7.08354846e-02 -9.97487444e-01 -1.06464817e-03 7.62334259e+01] [ 9.97410510e-01 7.08432453e-02 -1.23899217e-02 2.33936602e+02] [ 1.24342144e-02 -1.84245163e-04 9.99922675e-01 6.28656190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.67275509600006 meters 0.01742196186673827 Centerline is valid? [True, True] Translation: X:76.23, Y:233.96, Z:6.29 [[ 7.01632095e-02 -9.97534988e-01 -1.03533312e-03 7.62339839e+01] [ 9.97461614e-01 7.01706073e-02 -1.21001935e-02 2.33963587e+02] [ 1.21430164e-02 -1.83716636e-04 9.99926254e-01 6.28701565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.70275509600003 meters 0.01826257427646226 Centerline is valid? [True, True] Translation: X:76.24, Y:233.99, Z:6.29 [[ 6.97570122e-02 -9.97563490e-01 -1.02082681e-03 7.62380323e+01] [ 9.97491555e-01 6.97642425e-02 -1.19811701e-02 2.33989926e+02] [ 1.20231951e-02 -1.82495490e-04 9.99927702e-01 6.28688529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.73275509600006 meters 0.01740727673918811 Centerline is valid? [True, True] Translation: X:76.24, Y:234.02, Z:6.29 [[ 6.94226500e-02 -9.97586810e-01 -1.02566421e-03 7.62389669e+01] [ 9.97513548e-01 6.94299832e-02 -1.20912425e-02 2.34017568e+02] [ 1.21332759e-02 -1.83707853e-04 9.99926372e-01 6.28735036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76275509600003 meters 0.017643729696581366 Centerline is valid? [True, True] Translation: X:76.24, Y:234.04, Z:6.29 [[ 6.89747085e-02 -9.97617889e-01 -1.01869199e-03 7.62418141e+01] [ 9.97545003e-01 6.89819844e-02 -1.20604099e-02 2.34044648e+02] [ 1.21019521e-02 -1.84327847e-04 9.99926752e-01 6.28741313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.79275509600006 meters 0.018195390163251952 Centerline is valid? [True, True] Translation: X:76.25, Y:234.07, Z:6.29 [[ 6.86939192e-02 -9.97637317e-01 -9.63535063e-04 7.62464261e+01] [ 9.97571571e-01 6.87004552e-02 -1.14546436e-02 2.34070598e+02] [ 1.14937752e-02 -1.74330823e-04 9.99933929e-01 6.28766892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82275509600004 meters 0.01779037986616879 Centerline is valid? [True, True] Translation: X:76.25, Y:234.10, Z:6.29 [[ 6.84032053e-02 -9.97657263e-01 -9.93912390e-04 7.62479201e+01] [ 9.97586666e-01 6.84101901e-02 -1.18696621e-02 2.34098130e+02] [ 1.19098483e-02 -1.79590814e-04 9.99929059e-01 6.28777741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.85275509600007 meters 0.017637697813015694 Centerline is valid? [True, True] Translation: X:76.25, Y:234.13, Z:6.29 [[ 6.86455271e-02 -9.97640596e-01 -1.01624288e-03 7.62507668e+01] [ 9.97566143e-01 6.86528208e-02 -1.21893806e-02 2.34125342e+02] [ 1.22303888e-02 -1.77023033e-04 9.99925190e-01 6.28795437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.88275509600004 meters 0.01782080721639059 Centerline is valid? [True, True] Translation: X:76.25, Y:234.15, Z:6.29 [[ 6.87400495e-02 -9.97634074e-01 -1.03002981e-03 7.62536093e+01] [ 9.97556903e-01 6.87475449e-02 -1.24096600e-02 2.34150975e+02] [ 1.24511117e-02 -1.74472706e-04 9.99922467e-01 6.28786979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.91275509600007 meters 0.017670153063173145 Centerline is valid? [True, True] Translation: X:76.26, Y:234.18, Z:6.29 [[ 6.87620818e-02 -9.97632545e-01 -1.04034870e-03 7.62561899e+01] [ 9.97553104e-01 6.87697363e-02 -1.25907978e-02 2.34178503e+02] [ 1.26325342e-02 -1.72033609e-04 9.99920192e-01 6.28815808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.94275509600004 meters 0.017507648587942806 Centerline is valid? [True, True] Translation: X:76.26, Y:234.21, Z:6.29 [[ 6.89382672e-02 -9.97620374e-01 -1.05133476e-03 7.62592020e+01] [ 9.97538535e-01 6.89460793e-02 -1.27792561e-02 2.34205169e+02] [ 1.28213317e-02 -1.67767158e-04 9.99917789e-01 6.28828479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.97275509600007 meters 0.017735959019608637 Centerline is valid? [True, True] Translation: X:76.26, Y:234.23, Z:6.29 [[ 6.88392880e-02 -9.97627194e-01 -1.06496338e-03 7.62623668e+01] [ 9.97542525e-01 6.88473213e-02 -1.29983654e-02 2.34231065e+02] [ 1.30408426e-02 -1.67548042e-04 9.99914951e-01 6.28830957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.00275509600004 meters 0.01788446349252527 Centerline is valid? [True, True] Translation: X:76.27, Y:234.26, Z:6.29 [[ 6.81893789e-02 -9.97671811e-01 -1.07966370e-03 7.62655453e+01] [ 9.97584146e-01 6.81977008e-02 -1.32266672e-02 2.34258119e+02] [ 1.32695036e-02 -1.75137173e-04 9.99911941e-01 6.28856541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0327550960001 meters 0.019184995531472553 Centerline is valid? [True, True] Translation: X:76.27, Y:234.28, Z:6.29 [[ 6.77402667e-02 -9.97702387e-01 -1.09659816e-03 7.62700681e+01] [ 9.97611189e-01 6.77489028e-02 -1.34907958e-02 2.34283694e+02] [ 1.35340925e-02 -1.80108487e-04 9.99908394e-01 6.28752824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.06275509600005 meters 0.018068384907486485 Centerline is valid? [True, True] Translation: X:76.27, Y:234.31, Z:6.29 [[ 6.73558855e-02 -9.97728504e-01 -1.00849998e-03 7.62726002e+01] [ 9.97650777e-01 6.73632275e-02 -1.24548479e-02 2.34310028e+02] [ 1.24944926e-02 -1.67223479e-04 9.99921927e-01 6.28945297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0927550960001 meters 0.018193931127029363 Centerline is valid? [True, True] Translation: X:76.28, Y:234.34, Z:6.29 [[ 6.68402544e-02 -9.97763203e-01 -9.85975182e-04 7.62757636e+01] [ 9.97688201e-01 6.68473202e-02 -1.22347686e-02 2.34335316e+02] [ 1.22733116e-02 -1.65920764e-04 9.99924666e-01 6.28957023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.12275509600005 meters 0.018166113864161705 Centerline is valid? [True, True] Translation: X:76.28, Y:234.36, Z:6.29 [[ 6.65523290e-02 -9.97782455e-01 -9.80293065e-04 7.62803214e+01] [ 9.97707584e-01 6.65593451e-02 -1.22241780e-02 2.34361582e+02] [ 1.22623179e-02 -1.64498312e-04 9.99924801e-01 6.29028737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1527550960001 meters 0.018171142089232206 Centerline is valid? [True, True] Translation: X:76.28, Y:234.39, Z:6.29 [[ 6.59094516e-02 -9.97825116e-01 -9.90967391e-04 7.62827599e+01] [ 9.97747872e-01 6.59166808e-02 -1.24167375e-02 2.34387893e+02] [ 1.24550538e-02 -1.70355247e-04 9.99922418e-01 6.29069092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.18275509600005 meters 0.01861472363974404 Centerline is valid? [True, True] Translation: X:76.29, Y:234.41, Z:6.29 [[ 6.53305006e-02 -9.97863212e-01 -9.67946502e-04 7.62864437e+01] [ 9.97788803e-01 6.53374506e-02 -1.21870096e-02 2.34413429e+02] [ 1.22242117e-02 -1.69622742e-04 9.99925267e-01 6.29046844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2127550960001 meters 0.01899228752518737 Centerline is valid? [True, True] Translation: X:76.29, Y:234.44, Z:6.29 [[ 6.44685670e-02 -9.97919294e-01 -9.41961979e-04 7.62911359e+01] [ 9.97848131e-01 6.44752199e-02 -1.19186122e-02 2.34438136e+02] [ 1.19545463e-02 -1.71559150e-04 9.99928527e-01 6.29020528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.24275509600005 meters 0.01923424015304756 Centerline is valid? [True, True] Translation: X:76.29, Y:234.46, Z:6.29 [[ 6.39488918e-02 -9.97952721e-01 -9.51652675e-04 7.62945841e+01] [ 9.97879367e-01 6.39557308e-02 -1.21009601e-02 2.34463238e+02] [ 1.21370497e-02 -1.75791583e-04 9.99926328e-01 6.29026770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2727550960001 meters 0.019772070630285368 Centerline is valid? [True, True] Translation: X:76.30, Y:234.49, Z:6.29 [[ 6.28280750e-02 -9.98023973e-01 -8.84499176e-04 7.62993834e+01] [ 9.97960033e-01 6.28340630e-02 -1.12983830e-02 2.34489264e+02] [ 1.13316338e-02 -1.72839170e-04 9.99935780e-01 6.29020032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.30275509600006 meters 0.019110640337051787 Centerline is valid? [True, True] Translation: X:76.30, Y:234.52, Z:6.29 [[ 6.20776774e-02 -9.98070927e-01 -8.86843843e-04 7.63008049e+01] [ 9.98006044e-01 6.20837551e-02 -1.13816828e-02 2.34515422e+02] [ 1.14147853e-02 -1.78527081e-04 9.99934833e-01 6.29043409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3327550960001 meters 0.01959029622528255 Centerline is valid? [True, True] Translation: X:76.30, Y:234.54, Z:6.29 [[ 6.11273762e-02 -9.98129626e-01 -8.33341458e-04 7.63044975e+01] [ 9.98071794e-01 6.11328063e-02 -1.07458621e-02 2.34540254e+02] [ 1.07767079e-02 -1.74868247e-04 9.99941914e-01 6.29064418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.36275509600006 meters 0.020774788197512658 Centerline is valid? [True, True] Translation: X:76.31, Y:234.57, Z:6.29 [[ 6.03878603e-02 -9.98174630e-01 -8.45374427e-04 7.63097925e+01] [ 9.98114515e-01 6.03935025e-02 -1.09562780e-02 2.34565429e+02] [ 1.09873338e-02 -1.82154302e-04 9.99939621e-01 6.29042056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.39275509600003 meters 0.019975792621297533 Centerline is valid? [True, True] Translation: X:76.31, Y:234.59, Z:6.29 [[ 6.00893132e-02 -9.98192631e-01 -8.64124744e-04 7.63123577e+01] [ 9.98129291e-01 6.00952362e-02 -1.12464072e-02 2.34591744e+02] [ 1.12780106e-02 -1.86719332e-04 9.99936384e-01 6.29042402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.42275509600006 meters 0.02110888346361873 Centerline is valid? [True, True] Translation: X:76.32, Y:234.62, Z:6.29 [[ 5.98932803e-02 -9.98204399e-01 -8.79601924e-04 7.63174576e+01] [ 9.98138096e-01 5.98994413e-02 -1.15064220e-02 2.34617162e+02] [ 1.15384487e-02 -1.88806832e-04 9.99933412e-01 6.29005138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.45275509600003 meters 0.02110888346361873 Centerline is valid? [True, True] Translation: X:76.32, Y:234.64, Z:6.29 [[ 5.95107511e-02 -9.98227281e-01 -8.75091352e-04 7.63190299e+01] [ 9.98160976e-01 5.95168855e-02 -1.15067652e-02 2.34642209e+02] [ 1.15384497e-02 -1.88705799e-04 9.99933412e-01 6.29028129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.48275509600006 meters 0.01908161762125845 Centerline is valid? [True, True] Translation: X:76.32, Y:234.67, Z:6.29 [[ 6.15648754e-02 -9.98102722e-01 -8.50014201e-04 7.63159318e+01] [ 9.98039534e-01 6.15705433e-02 -1.12319390e-02 2.34669621e+02] [ 1.12629648e-02 -1.56854850e-04 9.99936559e-01 6.29124528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.51275509600003 meters 0.018700304283100367 Centerline is valid? [True, True] Translation: X:76.32, Y:234.70, Z:6.29 [[ 6.25981798e-02 -9.98038423e-01 -8.79811481e-04 7.63168149e+01] [ 9.97970064e-01 6.26041903e-02 -1.16818663e-02 2.34697171e+02] [ 1.17140313e-02 -1.46761953e-04 9.99931378e-01 6.29140113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.54275509600006 meters 0.01810181333406861 Centerline is valid? [True, True] Translation: X:76.32, Y:234.72, Z:6.29 [[ 6.54326959e-02 -9.97856632e-01 -8.39314795e-04 7.63163552e+01] [ 9.97793845e-01 6.54379944e-02 -1.11942377e-02 2.34724977e+02] [ 1.12251674e-02 -1.04993989e-04 9.99936990e-01 6.29215355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.57275509600004 meters 0.018517451739325827 Centerline is valid? [True, True] Translation: X:76.32, Y:234.75, Z:6.29 [[ 6.65511980e-02 -9.97782674e-01 -8.21317379e-04 7.63191086e+01] [ 9.97722020e-01 6.65562086e-02 -1.10018841e-02 2.34750877e+02] [ 1.10321531e-02 -8.72578682e-05 9.99939140e-01 6.29188903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.60275509600007 meters 0.017800231468470675 Centerline is valid? [True, True] Translation: X:76.32, Y:234.78, Z:6.29 [[ 6.77225070e-02 -9.97703881e-01 -7.92051602e-04 7.63173597e+01] [ 9.97646913e-01 6.77271043e-02 -1.06619341e-02 2.34777991e+02] [ 1.06910964e-02 -6.81349262e-05 9.99942846e-01 6.29313988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.63275509600004 meters 0.01765317682800092 Centerline is valid? [True, True] Translation: X:76.32, Y:234.80, Z:6.29 [[ 6.84649641e-02 -9.97653229e-01 -7.64223413e-04 7.63183593e+01] [ 9.97599685e-01 6.84692073e-02 -1.03361907e-02 2.34804808e+02] [ 1.03642598e-02 -5.47221077e-05 9.99946288e-01 6.29370522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.66275509600007 meters 0.017698979215663855 Centerline is valid? [True, True] Translation: X:76.32, Y:234.83, Z:6.29 [[ 6.89285769e-02 -9.97621339e-01 -7.17279927e-04 7.63198527e+01] [ 9.97573726e-01 6.89322949e-02 -9.74679725e-03 2.34830728e+02] [ 9.77305668e-03 -4.37067462e-05 9.99952242e-01 6.29446185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.69275509600004 meters 0.01771887076824988 Centerline is valid? [True, True] Translation: X:76.32, Y:234.86, Z:6.29 [[ 6.85010916e-02 -9.97650768e-01 -7.39352758e-04 7.63212566e+01] [ 9.97599638e-01 6.85050662e-02 -1.01004184e-02 2.34857634e+02] [ 1.01273396e-02 -4.56883571e-05 9.99948716e-01 6.29468221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.72275509600007 meters 0.017861331681203973 Centerline is valid? [True, True] Translation: X:76.32, Y:234.88, Z:6.29 [[ 6.73222846e-02 -9.97731029e-01 -7.09688747e-04 7.63233175e+01] [ 9.97683484e-01 6.73260049e-02 -9.74040924e-03 2.34882721e+02] [ 9.76608904e-03 -5.22981385e-05 9.99952309e-01 6.29490677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.75275509600004 meters 0.017998791076433623 Centerline is valid? [True, True] Translation: X:76.33, Y:234.91, Z:6.30 [[ 6.58478917e-02 -9.97829431e-01 -6.94687137e-04 7.63259022e+01] [ 9.97783492e-01 6.58515262e-02 -9.57493643e-03 2.34907732e+02] [ 9.59989957e-03 -6.26579802e-05 9.99953918e-01 6.29563634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7827550960001 meters 0.01818203089749196 Centerline is valid? [True, True] Translation: X:76.33, Y:234.93, Z:6.30 [[ 6.45045328e-02 -9.97917170e-01 -6.98707883e-04 7.63285183e+01] [ 9.97870295e-01 6.45082752e-02 -9.67249368e-03 2.34933903e+02] [ 9.69741995e-03 -7.33001557e-05 9.99952976e-01 6.29557256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.81275509600005 meters 0.018609022276468982 Centerline is valid? [True, True] Translation: X:76.33, Y:234.96, Z:6.30 [[ 6.14342382e-02 -9.98110884e-01 -7.05101965e-04 7.63321424e+01] [ 9.98062651e-01 6.14382016e-02 -9.81285280e-03 2.34961051e+02] [ 9.83763538e-03 -1.00890801e-04 9.99951604e-01 6.29613601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8427550960001 meters 0.01890601393232132 Centerline is valid? [True, True] Translation: X:76.33, Y:234.99, Z:6.30 [[ 5.95904305e-02 -9.98222664e-01 -7.02488961e-04 7.63347984e+01] [ 9.98174322e-01 5.95944586e-02 -9.82464265e-03 2.34987937e+02] [ 9.84904541e-03 -1.15751757e-04 9.99951490e-01 6.29695385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.87275509600005 meters 0.01953627186887622 Centerline is valid? [True, True] Translation: X:76.34, Y:235.01, Z:6.30 [[ 5.79146529e-02 -9.98321295e-01 -6.96499026e-04 7.63387398e+01] [ 9.98273304e-01 5.79186987e-02 -9.78956916e-03 2.35013466e+02] [ 9.81347567e-03 -1.28336884e-04 9.99951838e-01 6.29704698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9027550960001 meters 0.020098120528377297 Centerline is valid? [True, True] Translation: X:76.34, Y:235.04, Z:6.30 [[ 5.44137978e-02 -9.98518240e-01 -6.81053799e-04 7.63419268e+01] [ 9.98471939e-01 5.44178341e-02 -9.61696665e-03 2.35040579e+02] [ 9.63977808e-03 -1.56717429e-04 9.99953524e-01 6.29728403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.93275509600005 meters 0.020817183021467615 Centerline is valid? [True, True] Translation: X:76.34, Y:235.07, Z:6.30 [[ 5.29422898e-02 -9.98597356e-01 -6.59463514e-04 7.63448379e+01] [ 9.98553519e-01 5.29461457e-02 -9.35817816e-03 2.35066561e+02] [ 9.37996802e-03 -1.63066232e-04 9.99955994e-01 6.29782870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9627550960001 meters 0.020839454585582808 Centerline is valid? [True, True] Translation: X:76.35, Y:235.10, Z:6.30 [[ 5.03427261e-02 -9.98731822e-01 -5.98008319e-04 7.63459410e+01] [ 9.98695430e-01 5.03459977e-02 -8.52753065e-03 2.35095029e+02] [ 8.54682354e-03 -1.67929036e-04 9.99963461e-01 6.29824914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.99275509600005 meters 0.021316296681299585 Centerline is valid? [True, True] Translation: X:76.35, Y:235.12, Z:6.30 [[ 4.86666720e-02 -9.98814907e-01 -5.80618430e-04 7.63484979e+01] [ 9.98780295e-01 4.86698203e-02 -8.31691153e-03 2.35122972e+02] [ 8.33531380e-03 -1.75153841e-04 9.99965245e-01 6.29866268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0227550960001 meters 0.02228827420415855 Centerline is valid? [True, True] Translation: X:76.35, Y:235.15, Z:6.30 [[ 4.64559117e-02 -9.98920185e-01 -5.58554986e-04 7.63516207e+01] [ 9.98887875e-01 4.64589028e-02 -8.03645195e-03 2.35149665e+02] [ 8.05372392e-03 -1.84593100e-04 9.99967551e-01 6.29914570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.05275509600006 meters 0.0223689020036588 Centerline is valid? [True, True] Translation: X:76.35, Y:235.18, Z:6.30 [[ 4.50905259e-02 -9.98982748e-01 -5.59717942e-04 7.63539154e+01] [ 9.98949981e-01 4.50935816e-02 -8.09350636e-03 2.35178080e+02] [ 8.11051291e-03 -1.94189769e-04 9.99967090e-01 6.29930725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0827550960001 meters 0.023958095072490925 Centerline is valid? [True, True] Translation: X:76.36, Y:235.20, Z:6.30 [[ 4.42225197e-02 -9.99021543e-01 -5.70109159e-04 7.63589236e+01] [ 9.98987228e-01 4.42257274e-02 -8.28272495e-03 2.35204206e+02] [ 8.29983415e-03 -2.03248801e-04 9.99965535e-01 6.29955747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.11275509600006 meters 0.023625874734131146 Centerline is valid? [True, True] Translation: X:76.36, Y:235.23, Z:6.30 [[ 4.36828282e-02 -9.99045285e-01 -5.73903536e-04 7.63591434e+01] [ 9.99010120e-01 4.36861073e-02 -8.38479642e-03 2.35230281e+02] [ 8.40186294e-03 -2.07063819e-04 9.99964682e-01 6.29991366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.14275509600003 meters 0.023887320666278564 Centerline is valid? [True, True] Translation: X:76.36, Y:235.26, Z:6.30 [[ 4.41358426e-02 -9.99025364e-01 -5.91168611e-04 7.63599246e+01] [ 9.98987611e-01 4.41393155e-02 -8.68762946e-03 2.35256130e+02] [ 8.70525597e-03 -2.07134272e-04 9.99962087e-01 6.29955681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.17275509600006 meters 0.022547847821759892 Centerline is valid? [True, True] Translation: X:76.36, Y:235.28, Z:6.30 [[ 4.45177665e-02 -9.99008412e-01 -6.01520367e-04 7.63584939e+01] [ 9.98968844e-01 4.45213583e-02 -8.89362051e-03 2.35283257e+02] [ 8.91158220e-03 -2.04975984e-04 9.99960270e-01 6.29940708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.20275509600003 meters 0.022466299375148796 Centerline is valid? [True, True] Translation: X:76.36, Y:235.31, Z:6.30 [[ 4.52419855e-02 -9.98975873e-01 -6.07096239e-04 7.63589982e+01] [ 9.98935129e-01 4.52456247e-02 -9.02447591e-03 2.35309318e+02] [ 9.04270215e-03 -1.98164551e-04 9.99959094e-01 6.29948802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.23275509600006 meters 0.021397710940408692 Centerline is valid? [True, True] Translation: X:76.36, Y:235.34, Z:6.30 [[ 4.72155471e-02 -9.98884484e-01 -6.92812998e-04 7.63573135e+01] [ 9.98830905e-01 4.72201916e-02 -1.03478349e-02 2.35337161e+02] [ 1.03690065e-02 -2.03424346e-04 9.99946220e-01 6.29860062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26275509600003 meters 0.021126844698949397 Centerline is valid? [True, True] Translation: X:76.36, Y:235.36, Z:6.30 [[ 4.80924673e-02 -9.98842627e-01 -7.21458856e-04 7.63581185e+01] [ 9.98783869e-01 4.80974649e-02 -1.08358943e-02 2.35364238e+02] [ 1.08580534e-02 -1.99456576e-04 9.99941030e-01 6.29821073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.29275509600006 meters 0.020763366618336714 Centerline is valid? [True, True] Translation: X:76.36, Y:235.39, Z:6.30 [[ 5.02023518e-02 -9.98738758e-01 -7.85849321e-04 7.63581815e+01] [ 9.98668214e-01 5.02081472e-02 -1.18718334e-02 2.35390876e+02] [ 1.18963162e-02 -1.88808782e-04 9.99929219e-01 6.29780849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32275509600004 meters 0.02042547494130451 Centerline is valid? [True, True] Translation: X:76.36, Y:235.42, Z:6.30 [[ 5.08461463e-02 -9.98706209e-01 -7.59478488e-04 7.63580709e+01] [ 9.98639594e-01 5.08515276e-02 -1.15361746e-02 2.35417774e+02] [ 1.15598699e-02 -1.71875267e-04 9.99933168e-01 6.29819643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.35275509600007 meters 0.02027377121301087 Centerline is valid? [True, True] Translation: X:76.36, Y:235.44, Z:6.30 [[ 5.13393373e-02 -9.98680984e-01 -7.51612683e-04 7.63586422e+01] [ 9.98615016e-01 5.13445857e-02 -1.14797231e-02 2.35442828e+02] [ 1.15031724e-02 -1.61210337e-04 9.99933823e-01 6.29853502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.38275509600004 meters 0.020022306931432626 Centerline is valid? [True, True] Translation: X:76.36, Y:235.47, Z:6.30 [[ 5.18803633e-02 -9.98653043e-01 -7.26551677e-04 7.63589059e+01] [ 9.98590648e-01 5.18852441e-02 -1.11641843e-02 2.35469123e+02] [ 1.11868439e-02 -1.46325775e-04 9.99937415e-01 6.29867118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.41275509600007 meters 0.019749925719371092 Centerline is valid? [True, True] Translation: X:76.36, Y:235.50, Z:6.30 [[ 5.26408804e-02 -9.98613244e-01 -7.25357642e-04 7.63590231e+01] [ 9.98550304e-01 5.26457069e-02 -1.12124504e-02 2.35495496e+02] [ 1.12350884e-02 -1.34072835e-04 9.99936875e-01 6.29927842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.44275509600004 meters 0.019697086006290197 Centerline is valid? [True, True] Translation: X:76.36, Y:235.52, Z:6.30 [[ 5.25062708e-02 -9.98620333e-01 -7.22569530e-04 7.63604177e+01] [ 9.98557123e-01 5.25110776e-02 -1.12365360e-02 2.35522039e+02] [ 1.12589762e-02 -1.31538350e-04 9.99936607e-01 6.29966435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.47275509600007 meters 0.019798092057505004 Centerline is valid? [True, True] Translation: X:76.36, Y:235.55, Z:6.30 [[ 5.24027328e-02 -9.98625766e-01 -7.30145507e-04 7.63622273e+01] [ 9.98560425e-01 5.24076569e-02 -1.14243642e-02 2.35547774e+02] [ 1.14469296e-02 -1.30426505e-04 9.99934473e-01 6.29980125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.50275509600004 meters 0.019780881053416122 Centerline is valid? [True, True] Translation: X:76.36, Y:235.57, Z:6.30 [[ 5.17371621e-02 -9.98660472e-01 -7.26115669e-04 7.63646006e+01] [ 9.98595040e-01 5.17420848e-02 -1.14325079e-02 2.35574587e+02] [ 1.14547645e-02 -1.33609991e-04 9.99934383e-01 6.30019460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5327550960001 meters 0.019897201813622388 Centerline is valid? [True, True] Translation: X:76.37, Y:235.60, Z:6.30 [[ 5.08091100e-02 -9.98708114e-01 -7.33391973e-04 7.63665457e+01] [ 9.98640546e-01 5.08142041e-02 -1.16179523e-02 2.35600865e+02] [ 1.16402100e-02 -1.42097143e-04 9.99932240e-01 6.30057345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.56275509600005 meters 0.020133938118329447 Centerline is valid? [True, True] Translation: X:76.37, Y:235.63, Z:6.30 [[ 4.95562225e-02 -9.98771071e-01 -7.27273882e-04 7.63699712e+01] [ 9.98703819e-01 4.95613261e-02 -1.15912430e-02 2.35627434e+02] [ 1.16130428e-02 -1.51912989e-04 9.99932555e-01 6.30120259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5927550960001 meters 0.020007645003038692 Centerline is valid? [True, True] Translation: X:76.37, Y:235.65, Z:6.30 [[ 4.87831516e-02 -9.98809137e-01 -7.16123397e-04 7.63714587e+01] [ 9.98743152e-01 4.87881610e-02 -1.14817948e-02 2.35654505e+02] [ 1.15030599e-02 -1.55105203e-04 9.99933826e-01 6.30203468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.62275509600005 meters 0.020022421602311106 Centerline is valid? [True, True] Translation: X:76.37, Y:235.68, Z:6.30 [[ 4.81286159e-02 -9.98840900e-01 -7.01984299e-04 7.63738036e+01] [ 9.98776769e-01 4.81334812e-02 -1.13195806e-02 2.35680547e+02] [ 1.13402490e-02 -1.56329866e-04 9.99935685e-01 6.30264682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6527550960001 meters 0.020441992123594765 Centerline is valid? [True, True] Translation: X:76.38, Y:235.71, Z:6.30 [[ 4.68898330e-02 -9.98899865e-01 -6.34388471e-04 7.63768539e+01] [ 9.98846913e-01 4.68938800e-02 -1.02863157e-02 2.35706634e+02] [ 1.03047483e-02 -1.51333343e-04 9.99946893e-01 6.30384485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.68275509600005 meters 0.02041092651262488 Centerline is valid? [True, True] Translation: X:76.38, Y:235.73, Z:6.30 [[ 4.65923038e-02 -9.98913819e-01 -5.83034618e-04 7.63785672e+01] [ 9.98868591e-01 4.65957429e-02 -9.50653012e-03 2.35732743e+02] [ 9.52337123e-03 -1.39443829e-04 9.99954642e-01 6.30469384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7127550960001 meters 0.02028490800527055 Centerline is valid? [True, True] Translation: X:76.38, Y:235.76, Z:6.31 [[ 4.62582310e-02 -9.98929364e-01 -5.49309339e-04 7.63802325e+01] [ 9.98888736e-01 4.62613043e-02 -9.01021315e-03 2.35758702e+02] [ 9.02597826e-03 -1.31902390e-04 9.99959256e-01 6.30537488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.74275509600005 meters 0.02003582548964935 Centerline is valid? [True, True] Translation: X:76.38, Y:235.79, Z:6.31 [[ 4.64086331e-02 -9.98922376e-01 -5.69923674e-04 7.63815565e+01] [ 9.98878058e-01 4.64119431e-02 -9.41047602e-03 2.35785007e+02] [ 9.42678633e-03 -1.32556924e-04 9.99955558e-01 6.30525590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7727550960001 meters 0.019658412343097495 Centerline is valid? [True, True] Translation: X:76.38, Y:235.81, Z:6.31 [[ 4.68240697e-02 -9.98902981e-01 -5.84920828e-04 7.63814882e+01] [ 9.98855680e-01 4.68275452e-02 -9.72166900e-03 2.35812109e+02] [ 9.73839454e-03 -1.29043384e-04 9.99952572e-01 6.30511837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.80275509600006 meters 0.019255339108592468 Centerline is valid? [True, True] Translation: X:76.38, Y:235.84, Z:6.31 [[ 4.77198935e-02 -9.98860578e-01 -5.97795837e-04 7.63813378e+01] [ 9.98810556e-01 4.77234868e-02 -9.99708183e-03 2.35839568e+02] [ 1.00142198e-02 -1.20025112e-04 9.99949849e-01 6.30505285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.8327550960001 meters 0.019151516540420438 Centerline is valid? [True, True] Translation: X:76.38, Y:235.87, Z:6.30 [[ 4.78291591e-02 -9.98855361e-01 -5.81847193e-04 7.63819723e+01] [ 9.98807404e-01 4.78325647e-02 -9.78856735e-03 2.35866811e+02] [ 9.80519423e-03 -1.12974339e-04 9.99951922e-01 6.30490956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.86275509600006 meters 0.019243597078095965 Centerline is valid? [True, True] Translation: X:76.38, Y:235.89, Z:6.30 [[ 4.82111157e-02 -9.98836984e-01 -6.06016954e-04 7.63830141e+01] [ 9.98784307e-01 4.82147973e-02 -1.02587032e-02 2.35893297e+02] [ 1.02759912e-02 -1.10696697e-04 9.99947195e-01 6.30462477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.89275509600003 meters 0.019080180440785136 Centerline is valid? [True, True] Translation: X:76.38, Y:235.92, Z:6.30 [[ 4.82166654e-02 -9.98836675e-01 -6.70341169e-04 7.63833239e+01] [ 9.98771520e-01 4.82211771e-02 -1.14091335e-02 2.35920136e+02] [ 1.14281856e-02 -1.19407297e-04 9.99934689e-01 6.30402753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.92275509600006 meters 0.019035304855412216 Centerline is valid? [True, True] Translation: X:76.38, Y:235.95, Z:6.30 [[ 4.79532516e-02 -9.98849354e-01 -6.74080450e-04 7.63843908e+01] [ 9.98782658e-01 4.79578397e-02 -1.15433332e-02 2.35947115e+02] [ 1.15623783e-02 -1.19719503e-04 9.99933146e-01 6.30409637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.95275509600003 meters 0.01897115469260577 Centerline is valid? [True, True] Translation: X:76.38, Y:235.97, Z:6.30 [[ 4.78867833e-02 -9.98852518e-01 -7.09214488e-04 7.63847849e+01] [ 9.98777738e-01 4.78918768e-02 -1.22228302e-02 2.35974274e+02] [ 1.22427704e-02 -1.23035618e-04 9.99925047e-01 6.30371740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.98275509600006 meters 0.01904565939270058 Centerline is valid? [True, True] Translation: X:76.39, Y:236.00, Z:6.30 [[ 4.73780595e-02 -9.98876778e-01 -7.08309131e-04 7.63857310e+01] [ 9.98801266e-01 4.73831876e-02 -1.22826775e-02 2.36001921e+02] [ 1.23024432e-02 -1.25530634e-04 9.99924314e-01 6.30386643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.01275509600003 meters 0.019016329413732012 Centerline is valid? [True, True] Translation: X:76.39, Y:236.03, Z:6.30 [[ 4.66951068e-02 -9.98908935e-01 -7.11365241e-04 7.63861770e+01] [ 9.98831822e-01 4.67003415e-02 -1.24124992e-02 2.36029312e+02] [ 1.24321773e-02 -1.30931265e-04 9.99922709e-01 6.30383928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.04275509600006 meters 0.01952240604871066 Centerline is valid? [True, True] Translation: X:76.39, Y:236.06, Z:6.30 [[ 4.53585818e-02 -9.98970521e-01 -7.04562443e-04 7.63878551e+01] [ 9.98893920e-01 4.53638293e-02 -1.23717561e-02 2.36055435e+02] [ 1.23909813e-02 -1.42617830e-04 9.99923219e-01 6.30366948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.07275509600004 meters 0.019499685762468022 Centerline is valid? [True, True] Translation: X:76.39, Y:236.08, Z:6.30 [[ 4.41756374e-02 -9.99023525e-01 -7.14503127e-04 7.63891402e+01] [ 9.98943707e-01 4.41811404e-02 -1.26292460e-02 2.36082652e+02] [ 1.26484814e-02 -1.55843409e-04 9.99919993e-01 6.30402154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.10275509600007 meters 0.019725452673983526 Centerline is valid? [True, True] Translation: X:76.39, Y:236.11, Z:6.30 [[ 4.26977254e-02 -9.99087803e-01 -6.82408477e-04 7.63911908e+01] [ 9.99014112e-01 4.27028650e-02 -1.21354333e-02 2.36109941e+02] [ 1.21535042e-02 -1.63580300e-04 9.99926130e-01 6.30442455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.13275509600004 meters 0.019933054621532616 Centerline is valid? [True, True] Translation: X:76.39, Y:236.14, Z:6.30 [[ 4.10285035e-02 -9.99157740e-01 -6.87994579e-04 7.63936689e+01] [ 9.99081882e-01 4.10338672e-02 -1.23132055e-02 2.36137521e+02] [ 1.23310657e-02 -1.82170522e-04 9.99923953e-01 6.30481551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.16275509600007 meters 0.0211562882825956 Centerline is valid? [True, True] Translation: X:76.40, Y:236.16, Z:6.31 [[ 3.78922766e-02 -9.99281617e-01 -6.51525975e-04 7.63986513e+01] [ 9.99212752e-01 3.78973153e-02 -1.17332437e-02 2.36163766e+02] [ 1.17495058e-02 -2.06413746e-04 9.99930951e-01 6.30584305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.19275509600004 meters 0.021364095272611662 Centerline is valid? [True, True] Translation: X:76.40, Y:236.19, Z:6.31 [[ 3.62690437e-02 -9.99341862e-01 -6.31288031e-04 7.64010339e+01] [ 9.99276369e-01 3.62738953e-02 -1.14429975e-02 2.36190763e+02] [ 1.14583658e-02 -2.15804634e-04 9.99934328e-01 6.30658205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.22275509600007 meters 0.021809137445875593 Centerline is valid? [True, True] Translation: X:76.40, Y:236.22, Z:6.31 [[ 3.38710280e-02 -9.99426010e-01 -6.36017444e-04 7.64037124e+01] [ 9.99358683e-01 3.38761302e-02 -1.16030054e-02 2.36217603e+02] [ 1.16178912e-02 -2.42603835e-04 9.99932481e-01 6.30723831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.25275509600004 meters 0.02246429004909634 Centerline is valid? [True, True] Translation: X:76.41, Y:236.24, Z:6.31 [[ 3.26941598e-02 -9.99465201e-01 -6.35782232e-04 7.64061263e+01] [ 9.99397040e-01 3.26993570e-02 -1.16751186e-02 2.36243383e+02] [ 1.16896645e-02 -2.53690686e-04 9.99931641e-01 6.30751055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.2827550960001 meters 0.0219003556743966 Centerline is valid? [True, True] Translation: X:76.41, Y:236.27, Z:6.31 [[ 3.23628488e-02 -9.99475994e-01 -6.19745585e-04 7.64065273e+01] [ 9.99410360e-01 3.23678276e-02 -1.14566884e-02 2.36271105e+02] [ 1.14707448e-02 -2.48609084e-04 9.99934178e-01 6.30834816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.31275509600005 meters 0.022508911533448174 Centerline is valid? [True, True] Translation: X:76.41, Y:236.30, Z:6.31 [[ 3.26972789e-02 -9.99465133e-01 -5.79012649e-04 7.64095012e+01] [ 9.99407115e-01 3.27016209e-02 -1.07714090e-02 2.36297204e+02] [ 1.07845824e-02 -2.26473598e-04 9.99941819e-01 6.30880891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3427550960001 meters 0.022508911533448174 Centerline is valid? [True, True] Translation: X:76.41, Y:236.32, Z:6.31 [[ 3.23224842e-02 -9.99477327e-01 -5.75009440e-04 7.64106213e+01] [ 9.99419306e-01 3.23268048e-02 -1.07716228e-02 2.36323109e+02] [ 1.07845810e-02 -2.26509928e-04 9.99941819e-01 6.30904656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.37275509600005 meters 0.02236913060303045 Centerline is valid? [True, True] Translation: X:76.41, Y:236.35, Z:6.31 [[ 3.22114526e-02 -9.99480907e-01 -5.82082732e-04 7.64114743e+01] [ 9.99420589e-01 3.22159049e-02 -1.09827642e-02 2.36349556e+02] [ 1.09958155e-02 -2.27974678e-04 9.99939518e-01 6.30934532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4027550960001 meters 0.021437341738231336 Centerline is valid? [True, True] Translation: X:76.41, Y:236.38, Z:6.31 [[ 3.27105967e-02 -9.99464705e-01 -5.66854330e-04 7.64109989e+01] [ 9.99406687e-01 3.27148068e-02 -1.07710197e-02 2.36376398e+02] [ 1.07837986e-02 -2.14191525e-04 9.99941830e-01 6.30999820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.43275509600005 meters 0.021180581587094606 Centerline is valid? [True, True] Translation: X:76.41, Y:236.40, Z:6.31 [[ 3.32893758e-02 -9.99445583e-01 -5.85935863e-04 7.64113834e+01] [ 9.99382628e-01 3.32938566e-02 -1.12196963e-02 2.36403108e+02] [ 1.12329839e-02 -2.12077438e-04 9.99936886e-01 6.31008099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4627550960001 meters 0.020621691336630842 Centerline is valid? [True, True] Translation: X:76.41, Y:236.43, Z:6.31 [[ 3.39084410e-02 -9.99424771e-01 -5.87510866e-04 7.64113406e+01] [ 9.99360524e-01 3.39129238e-02 -1.13338408e-02 2.36430631e+02] [ 1.13472454e-02 -2.02822296e-04 9.99935597e-01 6.31060247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.49275509600005 meters 0.02081709259314159 Centerline is valid? [True, True] Translation: X:76.41, Y:236.46, Z:6.31 [[ 3.53304297e-02 -9.99375524e-01 -5.68069336e-04 7.64126529e+01] [ 9.99314626e-01 3.53345488e-02 -1.10339190e-02 2.36456594e+02] [ 1.10471011e-02 -1.77846897e-04 9.99938963e-01 6.31070736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5227550960001 meters 0.020000053297698064 Centerline is valid? [True, True] Translation: X:76.41, Y:236.48, Z:6.31 [[ 3.60518010e-02 -9.99349767e-01 -5.57023682e-04 7.64114197e+01] [ 9.99290354e-01 3.60557322e-02 -1.08982679e-02 2.36483072e+02] [ 1.09112653e-02 -1.63726209e-04 9.99940457e-01 6.31106519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.55275509600006 meters 0.019958336252182046 Centerline is valid? [True, True] Translation: X:76.41, Y:236.51, Z:6.31 [[ 3.63851833e-02 -9.99337691e-01 -5.45178865e-04 7.64118449e+01] [ 9.99279940e-01 3.63889422e-02 -1.07446446e-02 2.36508433e+02] [ 1.07573668e-02 -1.53840440e-04 9.99942126e-01 6.31135267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5827550960001 meters 0.019575958745663778 Centerline is valid? [True, True] Translation: X:76.41, Y:236.53, Z:6.31 [[ 3.68263149e-02 -9.99321533e-01 -5.43863474e-04 7.64117980e+01] [ 9.99263325e-01 3.68300404e-02 -1.07868160e-02 2.36534894e+02] [ 1.07995280e-02 -1.46224140e-04 9.99941673e-01 6.31154539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.61275509600006 meters 0.019502771610380307 Centerline is valid? [True, True] Translation: X:76.41, Y:236.56, Z:6.31 [[ 3.69122966e-02 -9.99318365e-01 -5.36793913e-04 7.64118353e+01] [ 9.99260788e-01 3.69159325e-02 -1.07280948e-02 2.36560867e+02] [ 1.07405984e-02 -1.40398491e-04 9.99942308e-01 6.31104302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.64275509600003 meters 0.01934692901516497 Centerline is valid? [True, True] Translation: X:76.41, Y:236.59, Z:6.31 [[ 3.69026896e-02 -9.99318725e-01 -5.26797451e-04 7.64125598e+01] [ 9.99262422e-01 3.69062029e-02 -1.06086906e-02 2.36587348e+02] [ 1.06209053e-02 -1.34919679e-04 9.99943588e-01 6.31125167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.67275509600006 meters 0.01937714084479632 Centerline is valid? [True, True] Translation: X:76.41, Y:236.61, Z:6.31 [[ 3.70093715e-02 -9.99314781e-01 -5.25321894e-04 7.64135698e+01] [ 9.99257942e-01 3.70128698e-02 -1.06589541e-02 2.36612327e+02] [ 1.06710941e-02 -1.30450881e-04 9.99943054e-01 6.31078004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.70275509600003 meters 0.019337237475180246 Centerline is valid? [True, True] Translation: X:76.41, Y:236.64, Z:6.31 [[ 3.68345852e-02 -9.99321240e-01 -5.22833039e-04 7.64140962e+01] [ 9.99264215e-01 3.68380691e-02 -1.06764394e-02 2.36638413e+02] [ 1.06884528e-02 -1.29186128e-04 9.99942869e-01 6.31082809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.73275509600006 meters 0.019089450375650095 Centerline is valid? [True, True] Translation: X:76.41, Y:236.67, Z:6.31 [[ 3.64976549e-02 -9.99333610e-01 -5.06844276e-04 7.64137124e+01] [ 9.99279202e-01 3.65009571e-02 -1.04286173e-02 2.36665169e+02] [ 1.04401680e-02 -1.25858870e-04 9.99945492e-01 6.31082282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76275509600003 meters 0.01909146727467937 Centerline is valid? [True, True] Translation: X:76.41, Y:236.69, Z:6.31 [[ 3.61126961e-02 -9.99347608e-01 -4.80517027e-04 7.64132893e+01] [ 9.99297946e-01 3.61156923e-02 -9.96358148e-03 2.36690658e+02] [ 9.97443553e-03 -1.20367888e-04 9.99950247e-01 6.31075816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.79275509600006 meters 0.019459357600681335 Centerline is valid? [True, True] Translation: X:76.41, Y:236.72, Z:6.31 [[ 3.54889717e-02 -9.99369958e-01 -4.69051467e-04 7.64146265e+01] [ 9.99321846e-01 3.54918661e-02 -9.80689969e-03 2.36716481e+02] [ 9.81736844e-03 -1.20696592e-04 9.99951801e-01 6.31062771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82275509600004 meters 0.019209271978179503 Centerline is valid? [True, True] Translation: X:76.41, Y:236.74, Z:6.31 [[ 3.46658201e-02 -9.99398865e-01 -4.35796877e-04 7.64135561e+01] [ 9.99356676e-01 3.46683613e-02 -9.18360788e-03 2.36742693e+02] [ 9.19319566e-03 -1.17159220e-04 9.99957735e-01 6.31077139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.85275509600007 meters 0.01987969495339145 Centerline is valid? [True, True] Translation: X:76.42, Y:236.77, Z:6.31 [[ 3.41301907e-02 -9.99417303e-01 -4.29688088e-04 7.64159596e+01] [ 9.99375634e-01 3.41326917e-02 -9.12693861e-03 2.36767761e+02] [ 9.13628678e-03 -1.17915650e-04 9.99958256e-01 6.31119043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.88275509600004 meters 0.019224762554415634 Centerline is valid? [True, True] Translation: X:76.41, Y:236.79, Z:6.31 [[ 3.33531847e-02 -9.99443537e-01 -4.27223213e-04 7.64146583e+01] [ 9.99401649e-01 3.33556985e-02 -9.15108706e-03 2.36794304e+02] [ 9.16024515e-03 -1.21749687e-04 9.99958037e-01 6.31178283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.91275509600007 meters 0.01943801714988034 Centerline is valid? [True, True] Translation: X:76.42, Y:236.82, Z:6.31 [[ 3.20466051e-02 -9.99486282e-01 -4.33888760e-04 7.64158022e+01] [ 9.99442344e-01 3.20492651e-02 -9.37256050e-03 2.36821164e+02] [ 9.38165146e-03 -1.33288054e-04 9.99955982e-01 6.31212352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.94275509600004 meters 0.01929695679284819 Centerline is valid? [True, True] Translation: X:76.42, Y:236.85, Z:6.31 [[ 3.12350890e-02 -9.99511970e-01 -4.36855132e-04 7.64158402e+01] [ 9.99466681e-01 3.12378328e-02 -9.51588178e-03 2.36848780e+02] [ 9.52488415e-03 -1.39392734e-04 9.99954628e-01 6.31201658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.97275509600007 meters 0.019145139514402207 Centerline is valid? [True, True] Translation: X:76.41, Y:236.88, Z:6.31 [[ 3.02484868e-02 -9.99542297e-01 -4.75076033e-04 7.64140025e+01] [ 9.99487831e-01 3.02517985e-02 -1.04357218e-02 2.36876157e+02] [ 1.04453173e-02 -1.59167921e-04 9.99945434e-01 6.31117153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.00275509600004 meters 0.01959932880564136 Centerline is valid? [True, True] Translation: X:76.41, Y:236.90, Z:6.31 [[ 2.99141661e-02 -9.99552352e-01 -4.88576154e-04 7.64147269e+01] [ 9.99493824e-01 2.99177023e-02 -1.08179313e-02 2.36902020e+02] [ 1.08277058e-02 -1.64719454e-04 9.99941365e-01 6.31063942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0327550960001 meters 0.019295698501397084 Centerline is valid? [True, True] Translation: X:76.41, Y:236.93, Z:6.31 [[ 2.95831712e-02 -9.99562193e-01 -5.07782236e-04 7.64133575e+01] [ 9.99498111e-01 2.95870251e-02 -1.13196202e-02 2.36929314e+02] [ 1.13296882e-02 -1.72657122e-04 9.99935802e-01 6.31043821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.06275509600005 meters 0.019290309647402748 Centerline is valid? [True, True] Translation: X:76.41, Y:236.96, Z:6.31 [[ 2.93443154e-02 -9.99569235e-01 -5.06445409e-04 7.64133693e+01] [ 9.99504436e-01 2.93481804e-02 -1.13827334e-02 2.36955738e+02] [ 1.13926934e-02 -1.72175914e-04 9.99935086e-01 6.31044064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0927550960001 meters 0.019908904793968413 Centerline is valid? [True, True] Translation: X:76.41, Y:236.98, Z:6.31 [[ 2.89791039e-02 -9.99579884e-01 -5.16577793e-04 7.64149390e+01] [ 9.99511287e-01 2.89831677e-02 -1.17116716e-02 2.36982088e+02] [ 1.17217234e-02 -1.76931589e-04 9.99931283e-01 6.31034426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.12275509600005 meters 0.02031363339162205 Centerline is valid? [True, True] Translation: X:76.42, Y:237.01, Z:6.31 [[ 2.87972540e-02 -9.99585142e-01 -5.12583844e-04 7.64161522e+01] [ 9.99516436e-01 2.88012851e-02 -1.17209346e-02 2.37007341e+02] [ 1.17308351e-02 -1.74805248e-04 9.99931176e-01 6.31049322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1527550960001 meters 0.0191873254047787 Centerline is valid? [True, True] Translation: X:76.41, Y:237.04, Z:6.31 [[ 2.85887108e-02 -9.99591149e-01 -4.69731426e-04 7.64133480e+01] [ 9.99532501e-01 2.85921223e-02 -1.08291514e-02 2.37035028e+02] [ 1.08381545e-02 -1.59920349e-04 9.99941253e-01 6.31169805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.18275509600005 meters 0.019160042007640814 Centerline is valid? [True, True] Translation: X:76.41, Y:237.06, Z:6.31 [[ 2.84023595e-02 -9.99596466e-01 -4.60640817e-04 7.64135835e+01] [ 9.99539145e-01 2.84056643e-02 -1.07058691e-02 2.37062122e+02] [ 1.07146337e-02 -1.56356586e-04 9.99942584e-01 6.31206727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2127550960001 meters 0.019023129736027218 Centerline is valid? [True, True] Translation: X:76.41, Y:237.09, Z:6.31 [[ 2.82167721e-02 -9.99601740e-01 -4.18516123e-04 7.64134790e+01] [ 9.99553694e-01 2.82195196e-02 -9.80159815e-03 2.37089787e+02] [ 9.80950488e-03 -1.41759876e-04 9.99951876e-01 6.31275151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.24275509600005 meters 0.019140321346821157 Centerline is valid? [True, True] Translation: X:76.41, Y:237.12, Z:6.31 [[ 2.81731735e-02 -9.99602988e-01 -3.71261734e-04 7.64140495e+01] [ 9.99564604e-01 2.81753455e-02 -8.76082477e-03 2.37115930e+02] [ 8.76780704e-03 -1.24279852e-04 9.99961554e-01 6.31357122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2727550960001 meters 0.018997181104741384 Centerline is valid? [True, True] Translation: X:76.41, Y:237.14, Z:6.31 [[ 2.79918402e-02 -9.99608090e-01 -3.50573061e-04 7.64140964e+01] [ 9.99573277e-01 2.79937914e-02 -8.34337704e-03 2.37143044e+02] [ 8.34992106e-03 -1.16876987e-04 9.99965132e-01 6.31415274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.30275509600006 meters 0.019489399406022814 Centerline is valid? [True, True] Translation: X:76.42, Y:237.17, Z:6.31 [[ 2.75478417e-02 -9.99620431e-01 -3.33407667e-04 7.64158241e+01] [ 9.99588424e-01 2.75496280e-02 -7.99999088e-03 2.37168869e+02] [ 8.00613958e-03 -1.12887962e-04 9.99967944e-01 6.31480191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3327550960001 meters 0.01914479203741977 Centerline is valid? [True, True] Translation: X:76.42, Y:237.20, Z:6.31 [[ 2.71913200e-02 -9.99630189e-01 -3.41853137e-04 7.64152166e+01] [ 9.99595893e-01 2.71932191e-02 -8.28124570e-03 2.37196377e+02] [ 8.28747930e-03 -1.16536990e-04 9.99965651e-01 6.31473830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.36275509600006 meters 0.01923726463718694 Centerline is valid? [True, True] Translation: X:76.42, Y:237.22, Z:6.31 [[ 2.66301005e-02 -9.99645301e-01 -3.30853137e-04 7.64156542e+01] [ 9.99612631e-01 2.66319053e-02 -8.08268579e-03 2.37223629e+02] [ 8.08863012e-03 -1.15482240e-04 9.99967280e-01 6.31457520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3927550960001 meters 0.019194583624639727 Centerline is valid? [True, True] Translation: X:76.42, Y:237.25, Z:6.31 [[ 2.63135929e-02 -9.99653685e-01 -3.23527843e-04 7.64164669e+01] [ 9.99621895e-01 2.63153365e-02 -7.97305823e-03 2.37250758e+02] [ 7.97881079e-03 -1.13605707e-04 9.99968162e-01 6.31469053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.42275509600006 meters 0.01935108861524692 Centerline is valid? [True, True] Translation: X:76.42, Y:237.28, Z:6.32 [[ 2.61239750e-02 -9.99658671e-01 -2.80894778e-04 7.64171045e+01] [ 9.99634350e-01 2.61252990e-02 -6.97386760e-03 2.37278160e+02] [ 6.97882567e-03 -9.86069266e-05 9.99975643e-01 6.31559845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.45275509600003 meters 0.019599122031193402 Centerline is valid? [True, True] Translation: X:76.42, Y:237.30, Z:6.32 [[ 2.57514799e-02 -9.99668336e-01 -2.81706646e-04 7.64176843e+01] [ 9.99643452e-01 2.57528268e-02 -7.05408537e-03 2.37303839e+02] [ 7.05900052e-03 -9.99530663e-05 9.99975080e-01 6.31599974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.48275509600006 meters 0.019420188791181594 Centerline is valid? [True, True] Translation: X:76.42, Y:237.33, Z:6.32 [[ 2.56929619e-02 -9.99669849e-01 -2.53962261e-04 7.64168189e+01] [ 9.99649235e-01 2.56940632e-02 -6.42038905e-03 2.37330789e+02] [ 6.42479468e-03 -8.89143689e-05 9.99979357e-01 6.31667376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.51275509600003 meters 0.019838933015699983 Centerline is valid? [True, True] Translation: X:76.42, Y:237.36, Z:6.32 [[ 2.51324650e-02 -9.99684100e-01 -2.42141960e-04 7.64180451e+01] [ 9.99665046e-01 2.51334811e-02 -6.17278089e-03 2.37356837e+02] [ 6.17691678e-03 -8.69236541e-05 9.99980919e-01 6.31720826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.54275509600006 meters 0.019721646035426317 Centerline is valid? [True, True] Translation: X:76.42, Y:237.38, Z:6.32 [[ 2.50702576e-02 -9.99685663e-01 -2.40595008e-04 7.64179637e+01] [ 9.99666490e-01 2.50712670e-02 -6.19196972e-03 2.37382880e+02] [ 6.19605538e-03 -8.52804912e-05 9.99980801e-01 6.31772143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.57275509600004 meters 0.01960589321328811 Centerline is valid? [True, True] Translation: X:76.42, Y:237.41, Z:6.32 [[ 2.46839854e-02 -9.99695280e-01 -2.19238540e-04 7.64172894e+01] [ 9.99679087e-01 2.46848335e-02 -5.69044483e-03 2.37408874e+02] [ 5.69412271e-03 -7.87053265e-05 9.99983785e-01 6.31903207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.60275509600007 meters 0.019712586566518878 Centerline is valid? [True, True] Translation: X:76.42, Y:237.43, Z:6.32 [[ 2.44824508e-02 -9.99700239e-01 -2.06473468e-04 7.64174954e+01] [ 9.99685615e-01 2.44832095e-02 -5.40766718e-03 2.37433918e+02] [ 5.41110130e-03 -7.40156105e-05 9.99985357e-01 6.31990151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.63275509600004 meters 0.01972084840464975 Centerline is valid? [True, True] Translation: X:76.42, Y:237.46, Z:6.32 [[ 2.42548421e-02 -9.99705790e-01 -1.89355722e-04 7.64168608e+01] [ 9.99693251e-01 2.42554864e-02 -5.00745433e-03 2.37460044e+02] [ 5.01057400e-03 -6.78426234e-05 9.99987445e-01 6.32065379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.66275509600007 meters 0.019653885942509174 Centerline is valid? [True, True] Translation: X:76.41, Y:237.49, Z:6.32 [[ 2.41530519e-02 -9.99708256e-01 -1.81007271e-04 7.64149278e+01] [ 9.99696584e-01 2.41536447e-02 -4.83122235e-03 2.37485705e+02] [ 4.83418485e-03 -6.42635868e-05 9.99988313e-01 6.32124834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.69275509600004 meters 0.019535900454629804 Centerline is valid? [True, True] Translation: X:76.41, Y:237.51, Z:6.32 [[ 2.38377215e-02 -9.99715824e-01 -1.87528898e-04 7.64142656e+01] [ 9.99702968e-01 2.38383661e-02 -5.07035947e-03 2.37512882e+02] [ 5.07338898e-03 -6.66073789e-05 9.99987128e-01 6.32173056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.72275509600007 meters 0.019688465586093655 Centerline is valid? [True, True] Translation: X:76.41, Y:237.54, Z:6.32 [[ 2.30869273e-02 -9.99733447e-01 -1.71380805e-04 7.64143806e+01] [ 9.99722534e-01 2.30874761e-02 -4.67150335e-03 2.37540606e+02] [ 4.67421490e-03 -6.34825943e-05 9.99989074e-01 6.32265819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.75275509600004 meters 0.01996255764266951 Centerline is valid? [True, True] Translation: X:76.41, Y:237.57, Z:6.32 [[ 2.23996710e-02 -9.99749084e-01 -1.56994833e-04 7.64140101e+01] [ 9.99739809e-01 2.24001395e-02 -4.30675943e-03 2.37566350e+02] [ 4.30919550e-03 -6.04839907e-05 9.99990714e-01 6.32416788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.7827550960001 meters 0.020158517597899554 Centerline is valid? [True, True] Translation: X:76.41, Y:237.59, Z:6.32 [[ 2.15149271e-02 -9.99768516e-01 -1.48838450e-04 7.64141951e+01] [ 9.99759992e-01 2.15153583e-02 -4.12890101e-03 2.37592777e+02] [ 4.13114755e-03 -5.99697235e-05 9.99991465e-01 6.32484576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.81275509600005 meters 0.019999182664510694 Centerline is valid? [True, True] Translation: X:76.41, Y:237.62, Z:6.33 [[ 2.06813593e-02 -9.99786108e-01 -1.37389257e-04 7.64138347e+01] [ 9.99778698e-01 2.06817350e-02 -3.84968229e-03 2.37620210e+02] [ 3.85170033e-03 -5.77421900e-05 9.99992581e-01 6.32550067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8427550960001 meters 0.020496814671627207 Centerline is valid? [True, True] Translation: X:76.41, Y:237.65, Z:6.33 [[ 1.97016588e-02 -9.99805895e-01 -1.27305574e-04 7.64132349e+01] [ 9.99799436e-01 1.97019892e-02 -3.59443013e-03 2.37646107e+02] [ 3.59624061e-03 -5.64638055e-05 9.99993532e-01 6.32681679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.87275509600005 meters 0.020436664845485644 Centerline is valid? [True, True] Translation: X:76.41, Y:237.67, Z:6.33 [[ 1.89232307e-02 -9.99820931e-01 -1.34657735e-04 7.64122217e+01] [ 9.99813531e-01 1.89236088e-02 -3.84722080e-03 2.37672106e+02] [ 3.84908009e-03 -6.18307786e-05 9.99992590e-01 6.32672018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9027550960001 meters 0.020924879568193434 Centerline is valid? [True, True] Translation: X:76.41, Y:237.70, Z:6.33 [[ 1.82219989e-02 -9.99833955e-01 -1.44144818e-04 7.64124224e+01] [ 9.99825258e-01 1.82224417e-02 -4.17081629e-03 2.37697548e+02] [ 4.17275042e-03 -6.81190197e-05 9.99991292e-01 6.32689901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.93275509600005 meters 0.020668781803874037 Centerline is valid? [True, True] Translation: X:76.41, Y:237.72, Z:6.33 [[ 1.69971449e-02 -9.99855522e-01 -1.78739498e-04 7.64094729e+01] [ 9.99841650e-01 1.69978508e-02 -5.26755311e-03 2.37724772e+02] [ 5.26983025e-03 -8.91778306e-05 9.99986110e-01 6.32658404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9627550960001 meters 0.020880831723822355 Centerline is valid? [True, True] Translation: X:76.41, Y:237.75, Z:6.33 [[ 1.61065399e-02 -9.99870267e-01 -1.67580298e-04 7.64090745e+01] [ 9.99857867e-01 1.61071748e-02 -4.98043866e-03 2.37750942e+02] [ 4.98249178e-03 -8.73388458e-05 9.99987584e-01 6.32710249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.99275509600005 meters 0.020997257380714167 Centerline is valid? [True, True] Translation: X:76.41, Y:237.78, Z:6.33 [[ 1.53541619e-02 -9.99882104e-01 -1.65107246e-04 7.64087004e+01] [ 9.99869799e-01 1.53547922e-02 -4.96146174e-03 2.37776567e+02] [ 4.96341199e-03 -8.89066618e-05 9.99987678e-01 6.32761898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0227550960001 meters 0.02135939482177395 Centerline is valid? [True, True] Translation: X:76.41, Y:237.80, Z:6.33 [[ 1.41017190e-02 -9.99900553e-01 -1.63325153e-04 7.64067951e+01] [ 9.99888201e-01 1.41023567e-02 -4.97087525e-03 2.37802726e+02] [ 4.97268418e-03 -9.32090080e-05 9.99987632e-01 6.32863221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.05275509600006 meters 0.02111346002880111 Centerline is valid? [True, True] Translation: X:76.41, Y:237.83, Z:6.33 [[ 1.32526653e-02 -9.99912168e-01 -1.49326191e-04 7.64051406e+01] [ 9.99901619e-01 1.32532115e-02 -4.59409769e-03 2.37830446e+02] [ 4.59567323e-03 -8.84274614e-05 9.99989436e-01 6.32934716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0827550960001 meters 0.022303698578006494 Centerline is valid? [True, True] Translation: X:76.40, Y:237.86, Z:6.33 [[ 1.18775167e-02 -9.99929450e-01 -1.42224073e-04 7.64036165e+01] [ 9.99919697e-01 1.18780291e-02 -4.41731052e-03 2.37856613e+02] [ 4.41868822e-03 -8.97459730e-05 9.99990234e-01 6.33025490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.11275509600006 meters 0.02311546166146161 Centerline is valid? [True, True] Translation: X:76.40, Y:237.88, Z:6.33 [[ 1.09104775e-02 -9.99940467e-01 -1.51940320e-04 7.64032389e+01] [ 9.99929049e-01 1.09110792e-02 -4.77978388e-03 2.37883526e+02] [ 4.78115716e-03 -9.97798153e-05 9.99988565e-01 6.33055120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1427550960001 meters 0.02356977588992047 Centerline is valid? [True, True] Translation: X:76.40, Y:237.91, Z:6.33 [[ 1.00672639e-02 -9.99949311e-01 -1.57836904e-04 7.64022728e+01] [ 9.99936680e-01 1.00679302e-02 -5.02718015e-03 2.37908796e+02] [ 5.02851442e-03 -1.07216961e-04 9.99987351e-01 6.33082920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.17275509600006 meters 0.024772474499983835 Centerline is valid? [True, True] Translation: X:76.40, Y:237.93, Z:6.33 [[ 8.89108617e-03 -9.99960462e-01 -1.51314360e-04 7.64025877e+01] [ 9.99948546e-01 8.89171911e-03 -4.88294813e-03 2.37934489e+02] [ 4.88410051e-03 -1.07891862e-04 9.99988067e-01 6.33139046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.20275509600003 meters 0.023818242576171565 Centerline is valid? [True, True] Translation: X:76.40, Y:237.96, Z:6.33 [[ 6.82218959e-03 -9.99976719e-01 -1.38479960e-04 7.63971471e+01] [ 9.99966473e-01 6.82274674e-03 -4.52799657e-03 2.37961637e+02] [ 4.52883596e-03 -1.07584466e-04 9.99989739e-01 6.33138105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.23275509600006 meters 0.025685193741866508 Centerline is valid? [True, True] Translation: X:76.40, Y:237.99, Z:6.33 [[ 6.13972243e-03 -9.99981140e-01 -1.54691760e-04 7.63990763e+01] [ 9.99967910e-01 6.14043714e-03 -5.14521388e-03 2.37986894e+02] [ 5.14606671e-03 -1.23096611e-04 9.99986751e-01 6.33181293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26275509600003 meters 0.025685193741866508 Centerline is valid? [True, True] Translation: X:76.40, Y:238.01, Z:6.33 [[ 5.74010658e-03 -9.99983514e-01 -1.53158729e-04 7.63994964e+01] [ 9.99970284e-01 5.74081869e-03 -5.14525935e-03 2.38012803e+02] [ 5.14605378e-03 -1.23619841e-04 9.99986751e-01 6.33205070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.29275509600006 meters 0.025491210524612035 Centerline is valid? [True, True] Translation: X:76.40, Y:238.04, Z:6.33 [[ 4.02130842e-03 -9.99991906e-01 -1.31740825e-04 7.63957875e+01] [ 9.99981921e-01 4.02185717e-03 -4.47008013e-03 2.38039658e+02] [ 4.47057379e-03 -1.13762873e-04 9.99990000e-01 6.33245572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32275509600004 meters 0.025776565786476788 Centerline is valid? [True, True] Translation: X:76.39, Y:238.07, Z:6.33 [[ 3.02874581e-03 -9.99995404e-01 -1.36992112e-04 7.63945118e+01] [ 9.99984294e-01 3.02935813e-03 -4.71542158e-03 2.38065778e+02] [ 4.71581490e-03 -1.22708147e-04 9.99988873e-01 6.33268526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.35275509600007 meters 0.0263565399772014 Centerline is valid? [True, True] Translation: X:76.39, Y:238.09, Z:6.33 [[ 2.01679649e-03 -9.99997957e-01 -1.40164578e-04 7.63935607e+01] [ 9.99985972e-01 2.01745878e-03 -4.89759537e-03 2.38091157e+02] [ 4.89786814e-03 -1.30285158e-04 9.99987997e-01 6.33255764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.38275509600004 meters 0.027392340612537393 Centerline is valid? [True, True] Translation: X:76.39, Y:238.12, Z:6.33 [[ 4.21438393e-04 -9.99999899e-01 -1.56067536e-04 7.63916232e+01] [ 9.99984440e-01 4.22299999e-04 -5.56248490e-03 2.38117757e+02] [ 5.56255025e-03 -1.53720863e-04 9.99984517e-01 6.33197591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.41275509600007 meters 0.02783194092458591 Centerline is valid? [True, True] Translation: X:76.39, Y:238.14, Z:6.33 [[-2.63909026e-04 -9.99999953e-01 -1.56824817e-04 7.63911366e+01] [ 9.99983916e-01 -2.63016300e-04 -5.66553225e-03 2.38143412e+02] [ 5.66549073e-03 -1.58317479e-04 9.99983938e-01 6.33222793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.44275509600004 meters 0.02819312627129404 Centerline is valid? [True, True] Translation: X:76.39, Y:238.17, Z:6.33 [[-1.22017815e-03 -9.99999242e-01 -1.65815475e-04 7.63906216e+01] [ 9.99980669e-01 -1.21914450e-03 -6.09710002e-03 2.38170299e+02] [ 6.09689325e-03 -1.73251818e-04 9.99981399e-01 6.33220940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.47275509600007 meters 0.027937773795438686 Centerline is valid? [True, True] Translation: X:76.39, Y:238.20, Z:6.33 [[-2.45442893e-03 -9.99996972e-01 -1.79583640e-04 7.63873677e+01] [ 9.99974437e-01 -2.45316750e-03 -6.71621624e-03 2.38196519e+02] [ 6.71575535e-03 -1.96063525e-04 9.99977430e-01 6.33184452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.50275509600004 meters 0.027970854778000473 Centerline is valid? [True, True] Translation: X:76.39, Y:238.22, Z:6.33 [[-2.98010653e-03 -9.99995542e-01 -1.89705991e-04 7.63861412e+01] [ 9.99969517e-01 -2.97865977e-03 -7.21748168e-03 2.38223286e+02] [ 7.21688443e-03 -2.11209073e-04 9.99973936e-01 6.33168417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5327550960001 meters 0.026299727920613483 Centerline is valid? [True, True] Translation: X:76.38, Y:238.25, Z:6.33 [[-3.23932845e-03 -9.99994733e-01 -2.00144304e-04 7.63797273e+01] [ 9.99964762e-01 -3.23768113e-03 -7.74551483e-03 2.38249491e+02] [ 7.74482603e-03 -2.25227518e-04 9.99969983e-01 6.33131089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.56275509600005 meters 0.028924693688389732 Centerline is valid? [True, True] Translation: X:76.38, Y:238.28, Z:6.33 [[-3.17178770e-03 -9.99994950e-01 -1.98696917e-04 7.63823037e+01] [ 9.99964337e-01 -3.17013524e-03 -7.82779119e-03 2.38275243e+02] [ 7.82712176e-03 -2.23517923e-04 9.99969343e-01 6.33165073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5927550960001 meters 0.026334275513441485 Centerline is valid? [True, True] Translation: X:76.38, Y:238.30, Z:6.33 [[-3.36625114e-03 -9.99994315e-01 -1.93670287e-04 7.63767981e+01] [ 9.99964474e-01 -3.36465389e-03 -7.72856634e-03 2.38301349e+02] [ 7.72787077e-03 -2.19679702e-04 9.99970115e-01 6.33189711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.62275509600005 meters 0.026204467115818662 Centerline is valid? [True, True] Translation: X:76.37, Y:238.33, Z:6.33 [[-3.09880357e-03 -9.99995182e-01 -1.83319698e-04 7.63745447e+01] [ 9.99967557e-01 -3.09735482e-03 -7.43584595e-03 2.38327085e+02] [ 7.43524231e-03 -2.06355977e-04 9.99972337e-01 6.33254869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6527550960001 meters 0.0259286629618556 Centerline is valid? [True, True] Translation: X:76.37, Y:238.35, Z:6.33 [[-3.21337726e-03 -9.99994821e-01 -1.79709402e-04 7.63730606e+01] [ 9.99967269e-01 -3.21195420e-03 -7.42596457e-03 2.38353564e+02] [ 7.42534889e-03 -2.03565946e-04 9.99972411e-01 6.33260456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.68275509600005 meters 0.025919802758644802 Centerline is valid? [True, True] Translation: X:76.37, Y:238.38, Z:6.33 [[-2.98113308e-03 -9.99995538e-01 -1.91623677e-04 7.63720481e+01] [ 9.99962957e-01 -2.97948858e-03 -8.07507870e-03 2.38379114e+02] [ 8.07447173e-03 -2.15689463e-04 9.99967378e-01 6.33252208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7127550960001 meters 0.025390003852542174 Centerline is valid? [True, True] Translation: X:76.37, Y:238.41, Z:6.33 [[-1.58548157e-03 -9.99998725e-01 -1.92329250e-04 7.63684893e+01] [ 9.99964577e-01 -1.58383754e-03 -8.26652750e-03 2.38405629e+02] [ 8.26621233e-03 -2.05428864e-04 9.99965813e-01 6.33212373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.74275509600005 meters 0.024549322269741825 Centerline is valid? [True, True] Translation: X:76.37, Y:238.43, Z:6.33 [[-4.12596455e-04 -9.99999895e-01 -2.00521909e-04 7.63663835e+01] [ 9.99961391e-01 -4.10820460e-04 -8.77764609e-03 2.38433290e+02] [ 8.77756279e-03 -2.04135793e-04 9.99961456e-01 6.33198571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7727550960001 meters 0.02267605719285048 Centerline is valid? [True, True] Translation: X:76.36, Y:238.46, Z:6.33 [[ 3.23253303e-03 -9.99994755e-01 -2.02257575e-04 7.63609203e+01] [ 9.99954237e-01 3.23422310e-03 -9.00357188e-03 2.38459786e+02] [ 9.00417880e-03 -1.73143976e-04 9.99959447e-01 6.33193495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.80275509600006 meters 0.021261960620778 Centerline is valid? [True, True] Translation: X:76.36, Y:238.49, Z:6.33 [[ 5.53308348e-03 -9.99984672e-01 -2.00459257e-04 7.63574393e+01] [ 9.99943442e-01 5.53467591e-03 -9.08183163e-03 2.38487251e+02] [ 9.08280191e-03 -1.50197387e-04 9.99958739e-01 6.33194236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8327550960001 meters 0.02006949676919471 Centerline is valid? [True, True] Translation: X:76.35, Y:238.51, Z:6.33 [[ 7.93874081e-03 -9.99968468e-01 -1.97502089e-04 7.63545024e+01] [ 9.99927070e-01 7.94020945e-03 -9.09990523e-03 2.38514919e+02] [ 9.10118650e-03 -1.25245896e-04 9.99958576e-01 6.33236051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.86275509600006 meters 0.019134824480627602 Centerline is valid? [True, True] Translation: X:76.35, Y:238.54, Z:6.33 [[ 1.03039563e-02 -9.99946893e-01 -2.01697244e-04 7.63517752e+01] [ 9.99902151e-01 1.03054034e-02 -9.45977525e-03 2.38540540e+02] [ 9.46135144e-03 -1.04204398e-04 9.99955235e-01 6.33234605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8927550960001 meters 0.01774266200986252 Centerline is valid? [True, True] Translation: X:76.35, Y:238.57, Z:6.33 [[ 1.46404436e-02 -9.99892805e-01 -1.90251107e-04 7.63474415e+01] [ 9.99851429e-01 1.46415686e-02 -9.09635748e-03 2.38567100e+02] [ 9.09816797e-03 -5.70481326e-05 9.99958609e-01 6.33263709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.92275509600006 meters 0.01747832464452737 Centerline is valid? [True, True] Translation: X:76.35, Y:238.59, Z:6.33 [[ 1.62180480e-02 -9.99868463e-01 -1.80730004e-04 7.63461940e+01] [ 9.99829788e-01 1.62190102e-02 -8.79426955e-03 2.38593730e+02] [ 8.79604403e-03 -3.80733558e-05 9.99961313e-01 6.33344093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.95275509600003 meters 0.017290256452791145 Centerline is valid? [True, True] Translation: X:76.35, Y:238.62, Z:6.33 [[ 1.86246065e-02 -9.99826533e-01 -1.65877055e-04 7.63452518e+01] [ 9.99792777e-01 1.86253407e-02 -8.21584515e-03 2.38618964e+02] [ 8.21750949e-03 -1.28257990e-05 9.99966236e-01 6.33428590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.98275509600006 meters 0.017309294560787863 Centerline is valid? [True, True] Translation: X:76.35, Y:238.65, Z:6.33 [[ 1.90460916e-02 -9.99818594e-01 -1.62454918e-04 7.63453398e+01] [ 9.99784849e-01 1.90467835e-02 -8.21436619e-03 2.38645023e+02] [ 8.21597029e-03 -5.96839456e-06 9.99966248e-01 6.33436721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.01275509600003 meters 0.017238605071653555 Centerline is valid? [True, True] Translation: X:76.35, Y:238.67, Z:6.33 [[ 1.92055456e-02 -9.99815544e-01 -1.58935235e-04 7.63457639e+01] [ 9.99781958e-01 1.92062031e-02 -8.19507397e-03 2.38671018e+02] [ 8.19661488e-03 -1.50971339e-06 9.99966407e-01 6.33482295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.04275509600006 meters 0.017277836248096402 Centerline is valid? [True, True] Translation: X:76.35, Y:238.70, Z:6.34 [[ 1.88050821e-02 -9.99823158e-01 -1.48293521e-04 7.63474592e+01] [ 9.99792812e-01 1.88056667e-02 -7.78971028e-03 2.38696839e+02] [ 7.79112149e-03 -1.77665558e-06 9.99969649e-01 6.33527993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.07275509600004 meters 0.01737342235569573 Centerline is valid? [True, True] Translation: X:76.35, Y:238.72, Z:6.34 [[ 1.73918074e-02 -9.99848741e-01 -1.40668292e-04 7.63497723e+01] [ 9.99820319e-01 1.73923737e-02 -7.53887048e-03 2.38722594e+02] [ 7.54017671e-03 -9.52843343e-06 9.99971572e-01 6.33576356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.10275509600007 meters 0.017634764512082946 Centerline is valid? [True, True] Translation: X:76.36, Y:238.75, Z:6.34 [[ 1.40903894e-02 -9.99900718e-01 -1.22100352e-04 7.63559496e+01] [ 9.99878500e-01 1.40908903e-02 -6.66570299e-03 2.38749217e+02] [ 6.66676171e-03 -2.81631661e-05 9.99977777e-01 6.33656414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.13275509600004 meters 0.01782275922712449 Centerline is valid? [True, True] Translation: X:76.36, Y:238.78, Z:6.34 [[ 1.16208761e-02 -9.99932469e-01 -1.15487098e-04 7.63597775e+01] [ 9.99911685e-01 1.16213792e-02 -6.44711488e-03 2.38775178e+02] [ 6.44802162e-03 -4.05557760e-05 9.99979210e-01 6.33667575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.16275509600007 meters 0.018503287100159412 Centerline is valid? [True, True] Translation: X:76.36, Y:238.80, Z:6.34 [[ 9.24908012e-03 -9.99957220e-01 -1.10083048e-04 7.63647968e+01] [ 9.99937361e-01 9.24959024e-03 -6.30233481e-03 2.38800668e+02] [ 6.30308342e-03 -5.17853533e-05 9.99980134e-01 6.33777041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.19275509600004 meters 0.01892542790801697 Centerline is valid? [True, True] Translation: X:76.37, Y:238.83, Z:6.34 [[ 6.72104161e-03 -9.99977409e-01 -1.00450935e-04 7.63674679e+01] [ 9.99960405e-01 6.72151315e-03 -5.83176839e-03 2.38827426e+02] [ 5.83231183e-03 -6.12513997e-05 9.99982990e-01 6.33751940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.22275509600007 meters 0.02139848017451934 Centerline is valid? [True, True] Translation: X:76.38, Y:238.85, Z:6.34 [[ 1.88322115e-03 -9.99998222e-01 -1.02848656e-04 7.63767395e+01] [ 9.99979397e-01 1.88381683e-03 -6.13646785e-03 2.38853141e+02] [ 6.13665068e-03 -9.12902113e-05 9.99981166e-01 6.33829284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.25275509600004 meters 0.021302622923746302 Centerline is valid? [True, True] Translation: X:76.38, Y:238.88, Z:6.34 [[-4.53950021e-04 -9.99999893e-01 -9.43996422e-05 7.63781529e+01] [ 9.99983307e-01 -4.53398731e-04 -5.76023355e-03 2.38880690e+02] [ 5.76019013e-03 -9.70129246e-05 9.99983405e-01 6.33823742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.2827550960001 meters 0.02233147764899851 Centerline is valid? [True, True] Translation: X:76.38, Y:238.91, Z:6.34 [[-4.18974536e-03 -9.99991218e-01 -9.96664908e-05 7.63832103e+01] [ 9.99971674e-01 -4.18904023e-03 -6.25328811e-03 2.38907255e+02] [ 6.25281569e-03 -1.25863352e-04 9.99980443e-01 6.33779416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.31275509600005 meters 0.02348869708486723 Centerline is valid? [True, True] Translation: X:76.39, Y:238.93, Z:6.34 [[-6.38052658e-03 -9.99979639e-01 -1.01805362e-04 7.63869323e+01] [ 9.99958534e-01 -6.37973034e-03 -6.49837615e-03 2.38933848e+02] [ 6.49759434e-03 -1.43264202e-04 9.99978880e-01 6.33756787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3427550960001 meters 0.02437443318156883 Centerline is valid? [True, True] Translation: X:76.39, Y:238.96, Z:6.34 [[-8.34170570e-03 -9.99965202e-01 -1.07771661e-04 7.63901865e+01] [ 9.99940112e-01 -8.34073276e-03 -7.08552347e-03 2.38960963e+02] [ 7.08437801e-03 -1.66870558e-04 9.99974892e-01 6.33685902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.37275509600005 meters 0.02571871120950251 Centerline is valid? [True, True] Translation: X:76.40, Y:238.99, Z:6.34 [[-1.13854853e-02 -9.99935176e-01 -1.20794010e-04 7.63955828e+01] [ 9.99901745e-01 -1.13841165e-02 -8.17935506e-03 2.38988135e+02] [ 8.17744971e-03 -2.13908068e-04 9.99966541e-01 6.33553993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4027550960001 meters 0.02663323381038677 Centerline is valid? [True, True] Translation: X:76.40, Y:239.01, Z:6.34 [[-1.27846165e-02 -9.99918267e-01 -1.16280658e-04 7.63986865e+01] [ 9.99885677e-01 -1.27832606e-02 -8.07594972e-03 2.39014483e+02] [ 8.07380320e-03 -2.19515284e-04 9.99967382e-01 6.33551480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.43275509600005 meters 0.027367277705882338 Centerline is valid? [True, True] Translation: X:76.40, Y:239.04, Z:6.34 [[-1.40863951e-02 -9.99900774e-01 -1.22605394e-04 7.64011575e+01] [ 9.99862268e-01 -1.40847762e-02 -8.77865545e-03 2.39042129e+02] [ 8.77605751e-03 -2.46248116e-04 9.99961459e-01 6.33532202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4627550960001 meters 0.027878192284841622 Centerline is valid? [True, True] Translation: X:76.40, Y:239.07, Z:6.34 [[-1.51871585e-02 -9.99884661e-01 -1.21405955e-04 7.64048720e+01] [ 9.99844779e-01 -1.51854680e-02 -8.93420627e-03 2.39068559e+02] [ 8.93133220e-03 -2.57072317e-04 9.99960082e-01 6.33512221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.49275509600005 meters 0.027860251863610817 Centerline is valid? [True, True] Translation: X:76.41, Y:239.09, Z:6.34 [[-1.53238171e-02 -9.99882577e-01 -1.16793316e-04 7.64061332e+01] [ 9.99843356e-01 -1.53221811e-02 -8.85975643e-03 2.39094976e+02] [ 8.85692656e-03 -2.52540308e-04 9.99960745e-01 6.33533978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5227550960001 meters 0.02753575489293859 Centerline is valid? [True, True] Translation: X:76.41, Y:239.12, Z:6.34 [[-1.47616369e-02 -9.99891036e-01 -1.05161038e-04 7.64082129e+01] [ 9.99857290e-01 -1.47602744e-02 -8.21788321e-03 2.39120084e+02] [ 8.21543555e-03 -2.26455438e-04 9.99966227e-01 6.33653935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.55275509600006 meters 0.027160687037388016 Centerline is valid? [True, True] Translation: X:76.41, Y:239.15, Z:6.34 [[-1.38334564e-02 -9.99904308e-01 -1.02578493e-04 7.64086740e+01] [ 9.99870565e-01 -1.38321466e-02 -8.21731175e-03 2.39145519e+02] [ 8.21510654e-03 -2.16239040e-04 9.99966232e-01 6.33700673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5827550960001 meters 0.026306643299236144 Centerline is valid? [True, True] Translation: X:76.41, Y:239.17, Z:6.34 [[-1.26776950e-02 -9.99919631e-01 -9.32890885e-05 7.64079627e+01] [ 9.99889876e-01 -1.26765979e-02 -7.71620174e-03 2.39171902e+02] [ 7.71439900e-03 -1.91102467e-04 9.99970225e-01 6.33778174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.61275509600006 meters 0.02536751749252951 Centerline is valid? [True, True] Translation: X:76.41, Y:239.20, Z:6.34 [[-1.12211459e-02 -9.99937038e-01 -8.23461414e-05 7.64067948e+01] [ 9.99912350e-01 -1.12202901e-02 -7.02828102e-03 2.39198854e+02] [ 7.02691456e-03 -1.61204291e-04 9.99975298e-01 6.33863416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6427550960001 meters 0.022419207776193415 Centerline is valid? [True, True] Translation: X:76.40, Y:239.23, Z:6.34 [[-6.85965605e-03 -9.99976470e-01 -7.42426478e-05 7.64027108e+01] [ 9.99955488e-01 -6.85903110e-03 -6.47893032e-03 2.39225712e+02] [ 6.47826863e-03 -1.18682577e-04 9.99979009e-01 6.33938753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.67275509600006 meters 0.021802010034471544 Centerline is valid? [True, True] Translation: X:76.40, Y:239.25, Z:6.34 [[-4.66916049e-03 -9.99989097e-01 -6.76701261e-05 7.64022698e+01] [ 9.99970455e-01 -4.66866019e-03 -6.10681236e-03 2.39250779e+02] [ 6.10642985e-03 -9.61818138e-05 9.99981351e-01 6.34033031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.70275509600003 meters 0.01924889402692153 Centerline is valid? [True, True] Translation: X:76.40, Y:239.28, Z:6.34 [[-3.16632451e-04 -9.99999948e-01 -5.50898434e-05 7.63979313e+01] [ 9.99987240e-01 -3.16350672e-04 -5.04189562e-03 2.39277103e+02] [ 5.04187793e-03 -5.66855682e-05 9.99987288e-01 6.34124414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.73275509600006 meters 0.018512797867700402 Centerline is valid? [True, True] Translation: X:76.40, Y:239.30, Z:6.34 [[ 1.61070539e-03 -9.99998702e-01 -4.93117427e-05 7.63968083e+01] [ 9.99987841e-01 1.61091773e-03 -4.66074274e-03 2.39303297e+02] [ 4.66081612e-03 -4.18040597e-05 9.99989137e-01 6.34207875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76275509600003 meters 0.01793220868702956 Centerline is valid? [True, True] Translation: X:76.40, Y:239.33, Z:6.34 [[ 5.69313981e-03 -9.99983793e-01 -4.27944546e-05 7.63954778e+01] [ 9.99975168e-01 5.69326844e-03 -4.15340914e-03 2.39329246e+02] [ 4.15358546e-03 -1.91474530e-05 9.99991374e-01 6.34286895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.79275509600006 meters 0.01779153651629986 Centerline is valid? [True, True] Translation: X:76.40, Y:239.35, Z:6.34 [[ 7.14442584e-03 -9.99974478e-01 -3.91397250e-05 7.63953939e+01] [ 9.99966813e-01 7.14452432e-03 -3.91527075e-03 2.39354189e+02] [ 3.91545046e-03 -1.11660646e-05 9.99992335e-01 6.34442162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82275509600004 meters 0.01776783036493882 Centerline is valid? [True, True] Translation: X:76.39, Y:239.38, Z:6.34 [[ 8.35674670e-03 -9.99965081e-01 -3.35583493e-05 7.63949176e+01] [ 9.99959036e-01 8.35681286e-03 -3.47698496e-03 2.39381905e+02] [ 3.47714398e-03 -4.50069212e-06 9.99993955e-01 6.34398345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.85275509600007 meters 0.017838845908725354 Centerline is valid? [True, True] Translation: X:76.40, Y:239.41, Z:6.34 [[ 8.97343503e-03 -9.99959738e-01 -2.89677322e-05 7.63951872e+01] [ 9.99955139e-01 8.97348161e-03 -3.03244585e-03 2.39406869e+02] [ 3.03258370e-03 -1.75497685e-06 9.99995402e-01 6.34480265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.88275509600004 meters 0.017811772499017667 Centerline is valid? [True, True] Translation: X:76.40, Y:239.43, Z:6.35 [[ 9.37649603e-03 -9.99956039e-01 -2.61335463e-05 7.63973252e+01] [ 9.99952008e-01 9.37653244e-03 -2.83928326e-03 2.39432351e+02] [ 2.83940348e-03 4.90236057e-07 9.99995969e-01 6.34564593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.91275509600007 meters 0.017864587205738053 Centerline is valid? [True, True] Translation: X:76.40, Y:239.46, Z:6.35 [[ 8.34548709e-03 -9.99965176e-01 -2.54947206e-05 7.63994570e+01] [ 9.99960943e-01 8.34552594e-03 -2.90953483e-03 2.39457550e+02] [ 2.90964627e-03 -1.21223955e-06 9.99995767e-01 6.34567713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.94275509600004 meters 0.017710275466442583 Centerline is valid? [True, True] Translation: X:76.40, Y:239.48, Z:6.35 [[ 6.91739619e-03 -9.99976074e-01 -2.64650324e-05 7.64023212e+01] [ 9.99970853e-01 6.91744559e-03 -3.23150672e-03 2.39484368e+02] [ 3.23161247e-03 -4.11064880e-06 9.99994778e-01 6.34536154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.97275509600007 meters 0.017635382335443133 Centerline is valid? [True, True] Translation: X:76.41, Y:239.51, Z:6.34 [[ 2.77260865e-03 -9.99996156e-01 -3.44234216e-05 7.64099368e+01] [ 9.99985515e-01 2.77273795e-03 -4.61325202e-03 2.39511127e+02] [ 4.61332974e-03 -2.16321805e-05 9.99989358e-01 6.34376170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.00275509600004 meters 0.01790795710752165 Centerline is valid? [True, True] Translation: X:76.41, Y:239.54, Z:6.34 [[-4.06160745e-05 -9.99999999e-01 -3.56915726e-05 7.64138488e+01] [ 9.99987134e-01 -4.04345081e-05 -5.07252347e-03 2.39538459e+02] [ 5.07252202e-03 -3.58971394e-05 9.99987134e-01 6.34311843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0327550960001 meters 0.018715758713016464 Centerline is valid? [True, True] Translation: X:76.42, Y:239.57, Z:6.34 [[-5.13775152e-03 -9.99986801e-01 -3.80686733e-05 7.64229321e+01] [ 9.99970042e-01 -5.13744500e-03 -5.78984363e-03 2.39565685e+02] [ 5.78957163e-03 -6.78143108e-05 9.99983238e-01 6.34267471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.06275509600005 meters 0.0189520207718183 Centerline is valid? [True, True] Translation: X:76.43, Y:239.59, Z:6.34 [[-7.28665093e-03 -9.99973451e-01 -3.87400657e-05 7.64266739e+01] [ 9.99953959e-01 -7.28626698e-03 -6.24429275e-03 2.39593007e+02] [ 6.24384470e-03 -8.42382636e-05 9.99980503e-01 6.34255284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0927550960001 meters 0.019390787250506195 Centerline is valid? [True, True] Translation: X:76.43, Y:239.62, Z:6.34 [[-9.48472405e-03 -9.99955018e-01 -3.73263263e-05 7.64304329e+01] [ 9.99934395e-01 -9.48428868e-03 -6.42290880e-03 2.39621188e+02] [ 6.42226588e-03 -9.82433951e-05 9.99979372e-01 6.34293328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.12275509600005 meters 0.020512313538058675 Centerline is valid? [True, True] Translation: X:76.44, Y:239.65, Z:6.34 [[-1.28716073e-02 -9.99917157e-01 -3.69453478e-05 7.64387712e+01] [ 9.99894500e-01 -1.28710668e-02 -6.73238544e-03 2.39647395e+02] [ 6.73135218e-03 -1.23598071e-04 9.99977337e-01 6.34299142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1527550960001 meters 0.020512313538058675 Centerline is valid? [True, True] Translation: X:76.44, Y:239.67, Z:6.34 [[-1.32654092e-02 -9.99912010e-01 -3.44074171e-05 7.64386503e+01] [ 9.99889353e-01 -1.32648769e-02 -6.73239823e-03 2.39673314e+02] [ 6.73134944e-03 -1.23711627e-04 9.99977337e-01 6.34322907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.18275509600005 meters 0.020472807851614424 Centerline is valid? [True, True] Translation: X:76.44, Y:239.70, Z:6.34 [[-1.45935525e-02 -9.99893508e-01 -3.53729840e-05 7.64414869e+01] [ 9.99864559e-01 -1.45928608e-02 -7.60995506e-03 2.39700926e+02] [ 7.60862846e-03 -1.46424472e-04 9.99971043e-01 6.34271478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2127550960001 meters 0.0210549923989599 Centerline is valid? [True, True] Translation: X:76.45, Y:239.73, Z:6.34 [[-1.63691235e-02 -9.99866016e-01 -3.92946787e-05 7.64477387e+01] [ 9.99822341e-01 -1.63680411e-02 -9.34742291e-03 2.39727101e+02] [ 9.34552733e-03 -1.92296818e-04 9.99956311e-01 6.34161472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.24275509600005 meters 0.022269635490893232 Centerline is valid? [True, True] Translation: X:76.45, Y:239.75, Z:6.34 [[-1.68088991e-02 -9.99858720e-01 -3.79933668e-05 7.64526000e+01] [ 9.99808779e-01 -1.68076797e-02 -9.99533865e-03 2.39753297e+02] [ 9.99328793e-03 -2.05996740e-04 9.99950045e-01 6.34119251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2727550960001 meters 0.02119231578379768 Centerline is valid? [True, True] Translation: X:76.45, Y:239.78, Z:6.34 [[-1.66460045e-02 -9.99861445e-01 -3.67704387e-05 7.64530103e+01] [ 9.99802904e-01 -1.66446319e-02 -1.08217109e-02 2.39779508e+02] [ 1.08195995e-02 -2.16901440e-04 9.99941443e-01 6.34118122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.30275509600006 meters 0.02100949492172525 Centerline is valid? [True, True] Translation: X:76.46, Y:239.80, Z:6.34 [[-1.56604022e-02 -9.99877368e-01 -3.56915683e-05 7.64576153e+01] [ 9.99805116e-01 -1.56588414e-02 -1.20220788e-02 2.39804599e+02] [ 1.20200456e-02 -2.23955201e-04 9.99927732e-01 6.34075291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3327550960001 meters 0.020698362670827107 Centerline is valid? [True, True] Translation: X:76.46, Y:239.83, Z:6.34 [[-1.48073939e-02 -9.99890364e-01 -3.22724597e-05 7.64590524e+01] [ 9.99810172e-01 -1.48057975e-02 -1.26652557e-02 2.39830171e+02] [ 1.26633893e-02 -2.19805764e-04 9.99919792e-01 6.34055789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.36275509600006 meters 0.019916784760824074 Centerline is valid? [True, True] Translation: X:76.46, Y:239.86, Z:6.34 [[-1.33942819e-02 -9.99910292e-01 -2.80934146e-05 7.64595199e+01] [ 9.99824692e-01 -1.33927676e-02 -1.30850634e-02 2.39856801e+02] [ 1.30835133e-02 -2.03353518e-04 9.99914387e-01 6.34096380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3927550960001 meters 0.019285322027534562 Centerline is valid? [True, True] Translation: X:76.46, Y:239.88, Z:6.34 [[-1.18827894e-02 -9.99929397e-01 -2.35408156e-05 7.64601449e+01] [ 9.99839972e-01 -1.18814118e-02 -1.33739767e-02 2.39883105e+02] [ 1.33727528e-02 -1.82457197e-04 9.99910564e-01 6.34127982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.42275509600006 meters 0.018390873002914376 Centerline is valid? [True, True] Translation: X:76.46, Y:239.91, Z:6.34 [[-8.86824782e-03 -9.99960676e-01 -1.77804941e-05 7.64619217e+01] [ 9.99880442e-01 -8.86731101e-03 -1.26677631e-02 2.39910245e+02] [ 1.26671073e-02 -1.30119231e-04 9.99919761e-01 6.34278691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.45275509600003 meters 0.01819582365212057 Centerline is valid? [True, True] Translation: X:76.46, Y:239.94, Z:6.34 [[-8.02054457e-03 -9.99967835e-01 -1.29873393e-05 7.64631267e+01] [ 9.99892196e-01 -8.01977814e-03 -1.22995738e-02 2.39936131e+02] [ 1.22990741e-02 -1.11635219e-04 9.99924357e-01 6.34390181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.48275509600006 meters 0.017686640867507923 Centerline is valid? [True, True] Translation: X:76.47, Y:239.96, Z:6.35 [[-6.60149704e-03 -9.99978210e-01 -7.84434274e-06 7.64659420e+01] [ 9.99914161e-01 -6.60098543e-03 -1.13180430e-02 2.39963422e+02] [ 1.13177446e-02 -8.25596971e-05 9.99935949e-01 6.34609715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.51275509600003 meters 0.017867010239439627 Centerline is valid? [True, True] Translation: X:76.47, Y:239.99, Z:6.35 [[-6.80352215e-03 -9.99976856e-01 -3.73823033e-06 7.64688206e+01] [ 9.99919631e-01 -6.80309282e-03 -1.06981280e-02 2.39989574e+02] [ 1.06978550e-02 -7.65228806e-05 9.99942773e-01 6.34697532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.54275509600006 meters 0.017820859108361425 Centerline is valid? [True, True] Translation: X:76.47, Y:240.02, Z:6.35 [[-7.01622709e-03 -9.99975386e-01 -3.96426631e-07 7.64724072e+01] [ 9.99936799e-01 -7.01595287e-03 -8.78489531e-03 2.40015979e+02] [ 8.78467629e-03 -6.20332221e-05 9.99961412e-01 6.35058633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.57275509600004 meters 0.017835806803247763 Centerline is valid? [True, True] Translation: X:76.47, Y:240.04, Z:6.35 [[-6.84809658e-03 -9.99976552e-01 1.71173741e-06 7.64728230e+01] [ 9.99951749e-01 -6.84793878e-03 -7.04317393e-03 2.40042810e+02] [ 7.04302050e-03 -4.65206805e-05 9.99975197e-01 6.35296760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.60275509600007 meters 0.017884345800592633 Centerline is valid? [True, True] Translation: X:76.47, Y:240.07, Z:6.36 [[-6.75727121e-03 -9.99977169e-01 2.84895104e-06 7.64729469e+01] [ 9.99960922e-01 -6.75717766e-03 -5.70043783e-03 2.40068348e+02] [ 5.70032694e-03 -3.56705647e-05 9.99983752e-01 6.35516200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.63275509600004 meters 0.017794262259743846 Centerline is valid? [True, True] Translation: X:76.47, Y:240.10, Z:6.36 [[-6.51057171e-03 -9.99978806e-01 3.75782215e-06 7.64723836e+01] [ 9.99967553e-01 -6.51051628e-03 -4.74397921e-03 2.40095075e+02] [ 4.74390313e-03 -2.71283166e-05 9.99988747e-01 6.35672990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.66275509600007 meters 0.017647923777401424 Centerline is valid? [True, True] Translation: X:76.47, Y:240.12, Z:6.36 [[-5.61486559e-03 -9.99984237e-01 4.80846116e-06 7.64706094e+01] [ 9.99974730e-01 -5.61483318e-03 -4.36049210e-03 2.40121964e+02] [ 4.36045036e-03 -1.96752374e-05 9.99990493e-01 6.35762379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.69275509600004 meters 0.017739203749549876 Centerline is valid? [True, True] Translation: X:76.47, Y:240.15, Z:6.36 [[-5.74696551e-03 -9.99983486e-01 7.71163098e-06 7.64707451e+01] [ 9.99972190e-01 -5.74693725e-03 -4.75300155e-03 2.40147174e+02] [ 4.75296737e-03 -1.96039194e-05 9.99988704e-01 6.35823969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.72275509600007 meters 0.01759141371227293 Centerline is valid? [True, True] Translation: X:76.47, Y:240.17, Z:6.36 [[-5.97396534e-03 -9.99982156e-01 1.03590377e-05 7.64680307e+01] [ 9.99967854e-01 -5.97393531e-03 -5.34817435e-03 2.40174103e+02] [ 5.34814080e-03 -2.15911035e-05 9.99985698e-01 6.35754095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.75275509600004 meters 0.017502534618390665 Centerline is valid? [True, True] Translation: X:76.47, Y:240.20, Z:6.36 [[-6.54105239e-03 -9.99978607e-01 1.37298436e-05 7.64673422e+01] [ 9.99961603e-01 -6.54102124e-03 -5.83153420e-03 2.40200666e+02] [ 5.83149926e-03 -2.44150543e-05 9.99982996e-01 6.35734517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.7827550960001 meters 0.017613263492509603 Centerline is valid? [True, True] Translation: X:76.47, Y:240.23, Z:6.36 [[-7.59313209e-03 -9.99971172e-01 1.68772491e-05 7.64667027e+01] [ 9.99952553e-01 -7.59309371e-03 -6.10219052e-03 2.40225687e+02] [ 6.10214275e-03 -2.94582903e-05 9.99981381e-01 6.35711737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.81275509600005 meters 0.017678196095255963 Centerline is valid? [True, True] Translation: X:76.47, Y:240.25, Z:6.36 [[-9.62250687e-03 -9.99953702e-01 2.37758732e-05 7.64657639e+01] [ 9.99927462e-01 -9.62242661e-03 -7.24426388e-03 2.40252653e+02] [ 7.24415727e-03 -4.59338304e-05 9.99973760e-01 6.35586471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8427550960001 meters 0.017911250873451447 Centerline is valid? [True, True] Translation: X:76.47, Y:240.28, Z:6.36 [[-1.13867499e-02 -9.99935169e-01 2.76127498e-05 7.64665101e+01] [ 9.99906797e-01 -1.13866348e-02 -7.53275975e-03 2.40279350e+02] [ 7.53258580e-03 -5.81634747e-05 9.99971628e-01 6.35585808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.87275509600005 meters 0.018344653945669667 Centerline is valid? [True, True] Translation: X:76.47, Y:240.31, Z:6.35 [[-1.49846352e-02 -9.99887723e-01 3.61228369e-05 7.64679092e+01] [ 9.99849281e-01 -1.49843759e-02 -8.76833388e-03 2.40306242e+02] [ 8.76789068e-03 -9.52728919e-05 9.99961557e-01 6.35438878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9027550960001 meters 0.018701586117287408 Centerline is valid? [True, True] Translation: X:76.47, Y:240.33, Z:6.35 [[-1.75852814e-02 -9.99845366e-01 4.37739182e-05 7.64684617e+01] [ 9.99798264e-01 -1.75848779e-02 -9.70586516e-03 2.40333937e+02] [ 9.70513406e-03 -1.26915282e-04 9.99952896e-01 6.35381879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.93275509600005 meters 0.01988922690429438 Centerline is valid? [True, True] Translation: X:76.47, Y:240.36, Z:6.35 [[-2.02206779e-02 -9.99795540e-01 4.92477436e-05 7.64707153e+01] [ 9.99744015e-01 -2.02201358e-02 -1.01513817e-02 2.40360089e+02] [ 1.01503020e-02 -1.56032683e-04 9.99948472e-01 6.35293854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9627550960001 meters 0.021057878006763883 Centerline is valid? [True, True] Translation: X:76.47, Y:240.39, Z:6.35 [[-2.58116989e-02 -9.99666821e-01 6.14580934e-05 7.64721806e+01] [ 9.99598933e-01 -2.58106624e-02 -1.16525921e-02 2.40386926e+02] [ 1.16502960e-02 -2.39339754e-04 9.99932104e-01 6.35115019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.99275509600005 meters 0.021846806368640538 Centerline is valid? [True, True] Translation: X:76.47, Y:240.41, Z:6.35 [[-2.84117622e-02 -9.99596302e-01 6.85381804e-05 7.64730685e+01] [ 9.99522892e-01 -2.84105065e-02 -1.21173912e-02 2.40414511e+02] [ 1.21144466e-02 -2.75770957e-04 9.99926579e-01 6.35079448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0227550960001 meters 0.023615062309623586 Centerline is valid? [True, True] Translation: X:76.48, Y:240.44, Z:6.35 [[-3.17452215e-02 -9.99495990e-01 8.07887317e-05 7.64751967e+01] [ 9.99406517e-01 -3.17434610e-02 -1.33778296e-02 2.40440260e+02] [ 1.33736516e-02 -3.43941380e-04 9.99910510e-01 6.34968912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.05275509600006 meters 0.02245301825184856 Centerline is valid? [True, True] Translation: X:76.47, Y:240.47, Z:6.35 [[-3.28496343e-02 -9.99460301e-01 8.81560451e-05 7.64726791e+01] [ 9.99365760e-01 -3.28477399e-02 -1.37515194e-02 2.40467761e+02] [ 1.37469934e-02 -3.63632249e-04 9.99905440e-01 6.34997646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0827550960001 meters 0.023201837900023514 Centerline is valid? [True, True] Translation: X:76.47, Y:240.49, Z:6.35 [[-3.35498840e-02 -9.99437040e-01 9.73660764e-05 7.64735808e+01] [ 9.99334364e-01 -3.35478334e-02 -1.43307782e-02 2.40493579e+02] [ 1.43259770e-02 -3.83494681e-04 9.99897304e-01 6.34947182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.11275509600006 meters 0.022939411882845418 Centerline is valid? [True, True] Translation: X:76.47, Y:240.52, Z:6.35 [[-3.30917658e-02 -9.99452311e-01 1.10829549e-04 7.64715989e+01] [ 9.99333372e-01 -3.30895381e-02 -1.54238345e-02 2.40520905e+02] [ 1.54190543e-02 -3.99646252e-04 9.99881039e-01 6.34885545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1427550960001 meters 0.023342318321615204 Centerline is valid? [True, True] Translation: X:76.47, Y:240.55, Z:6.35 [[-3.26651797e-02 -9.99466344e-01 1.18709693e-04 7.64709408e+01] [ 9.99342904e-01 -3.26630116e-02 -1.57126750e-02 2.40547490e+02] [ 1.57081673e-02 -3.94625664e-04 9.99876541e-01 6.34829376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.17275509600006 meters 0.02177816328493451 Centerline is valid? [True, True] Translation: X:76.47, Y:240.57, Z:6.35 [[-3.01867063e-02 -9.99544270e-01 1.25892158e-04 7.64651811e+01] [ 9.99418082e-01 -3.01848963e-02 -1.58861324e-02 2.40574835e+02] [ 1.58826927e-02 -3.53731116e-04 9.99873800e-01 6.34789292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.20275509600003 meters 0.021148275576384986 Centerline is valid? [True, True] Translation: X:76.46, Y:240.60, Z:6.35 [[-2.88341862e-02 -9.99584199e-01 1.34573893e-04 7.64621905e+01] [ 9.99452307e-01 -2.88325682e-02 -1.62409402e-02 2.40601822e+02] [ 1.62380673e-02 -3.33794106e-04 9.99868098e-01 6.34811270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.23275509600006 meters 0.020816992171740357 Centerline is valid? [True, True] Translation: X:76.46, Y:240.63, Z:6.35 [[-2.77698113e-02 -9.99614335e-01 1.38571025e-04 7.64599892e+01] [ 9.99485958e-01 -2.77684661e-02 -1.60228574e-02 2.40627895e+02] [ 1.60205259e-02 -3.06451934e-04 9.99871616e-01 6.34853885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26275509600003 meters 0.021509656635212742 Centerline is valid? [True, True] Translation: X:76.46, Y:240.65, Z:6.35 [[-2.49996975e-02 -9.99687449e-01 1.40426425e-04 7.64590744e+01] [ 9.99566108e-01 -2.49988512e-02 -1.55773280e-02 2.40654180e+02] [ 1.55759698e-02 -2.49062992e-04 9.99878656e-01 6.34720772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.29275509600006 meters 0.019878478545357764 Centerline is valid? [True, True] Translation: X:76.45, Y:240.68, Z:6.35 [[-2.43203968e-02 -9.99704205e-01 1.44937011e-04 7.64544241e+01] [ 9.99584960e-01 -2.43197346e-02 -1.54420651e-02 2.40680213e+02] [ 1.54410222e-02 -2.30680293e-04 9.99880754e-01 6.34849281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32275509600004 meters 0.01896124387579085 Centerline is valid? [True, True] Translation: X:76.45, Y:240.71, Z:6.35 [[-2.30317190e-02 -9.99734725e-01 1.43805986e-04 7.64502900e+01] [ 9.99625681e-01 -2.30313310e-02 -1.47666824e-02 2.40707916e+02] [ 1.47660772e-02 -1.96349923e-04 9.99890956e-01 6.34937422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.35275509600007 meters 0.01916433774631557 Centerline is valid? [True, True] Translation: X:76.45, Y:240.73, Z:6.35 [[-2.29597227e-02 -9.99736380e-01 1.48332584e-04 7.64495185e+01] [ 9.99628298e-01 -2.29594217e-02 -1.47014055e-02 2.40734522e+02] [ 1.47009355e-02 -1.89262743e-04 9.99891918e-01 6.34909446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.38275509600004 meters 0.018832614230210976 Centerline is valid? [True, True] Translation: X:76.45, Y:240.76, Z:6.35 [[-2.28156598e-02 -9.99739678e-01 1.47992207e-04 7.64467239e+01] [ 9.99639607e-01 -2.28154701e-02 -1.41460197e-02 2.40760587e+02] [ 1.41457137e-02 -1.74811903e-04 9.99899929e-01 6.34942026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.41275509600007 meters 0.018847918708110093 Centerline is valid? [True, True] Translation: X:76.45, Y:240.79, Z:6.35 [[-2.28203063e-02 -9.99739571e-01 1.55404031e-04 7.64455221e+01] [ 9.99637110e-01 -2.28201926e-02 -1.43138876e-02 2.40786580e+02] [ 1.43137062e-02 -1.71299663e-04 9.99897539e-01 6.34898146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.44275509600004 meters 0.0187493718445797 Centerline is valid? [True, True] Translation: X:76.44, Y:240.81, Z:6.35 [[-2.28922688e-02 -9.99737924e-01 1.63372648e-04 7.64438182e+01] [ 9.99632465e-01 -2.28922271e-02 -1.45217726e-02 2.40812550e+02] [ 1.45217067e-02 -1.69123719e-04 9.99894540e-01 6.34844441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.47275509600007 meters 0.018892026047130854 Centerline is valid? [True, True] Translation: X:76.44, Y:240.84, Z:6.35 [[-2.35767765e-02 -9.99722015e-01 1.70049331e-04 7.64432456e+01] [ 9.99615385e-01 -2.35767455e-02 -1.46020088e-02 2.40838463e+02] [ 1.46019589e-02 -1.74284371e-04 9.99893371e-01 6.34829622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.50275509600004 meters 0.018948461360319777 Centerline is valid? [True, True] Translation: X:76.44, Y:240.87, Z:6.35 [[-2.43732029e-02 -9.99702913e-01 1.80100477e-04 7.64421750e+01] [ 9.99590958e-01 -2.43731688e-02 -1.49621564e-02 2.40865427e+02] [ 1.49621009e-02 -1.84648864e-04 9.99888044e-01 6.34855624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5327550960001 meters 0.0194397598961941 Centerline is valid? [True, True] Translation: X:76.44, Y:240.89, Z:6.35 [[-2.60645172e-02 -9.99660245e-01 1.89171935e-04 7.64426037e+01] [ 9.99543774e-01 -2.60643683e-02 -1.52608368e-02 2.40892687e+02] [ 1.52605825e-02 -2.08680715e-04 9.99883529e-01 6.34792313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.56275509600005 meters 0.01982478384934512 Centerline is valid? [True, True] Translation: X:76.44, Y:240.92, Z:6.35 [[-2.73856863e-02 -9.99624921e-01 2.02391245e-04 7.64430028e+01] [ 9.99499185e-01 -2.73854519e-02 -1.58561333e-02 2.40918615e+02] [ 1.58557286e-02 -2.31941209e-04 9.99874263e-01 6.34715506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5927550960001 meters 0.020597396971238576 Centerline is valid? [True, True] Translation: X:76.44, Y:240.95, Z:6.35 [[-2.97288507e-02 -9.99557977e-01 2.12853920e-04 7.64438259e+01] [ 9.99426526e-01 -2.97283934e-02 -1.62123768e-02 2.40946089e+02] [ 1.62115383e-02 -2.69243474e-04 9.99868548e-01 6.34650936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.62275509600005 meters 0.021339499077678164 Centerline is valid? [True, True] Translation: X:76.44, Y:240.97, Z:6.35 [[-3.11585209e-02 -9.99514431e-01 2.21566200e-04 7.64448169e+01] [ 9.99378778e-01 -3.11579430e-02 -1.64693990e-02 2.40971858e+02] [ 1.64683055e-02 -2.91733555e-04 9.99864346e-01 6.34622659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6527550960001 meters 0.021494605469735622 Centerline is valid? [True, True] Translation: X:76.44, Y:241.00, Z:6.35 [[-3.26088567e-02 -9.99468165e-01 2.22731759e-04 7.64446673e+01] [ 9.99337476e-01 -3.26081953e-02 -1.61652362e-02 2.40998151e+02] [ 1.61639019e-02 -3.04545679e-04 9.99869309e-01 6.34687764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.68275509600005 meters 0.023022263643599907 Centerline is valid? [True, True] Translation: X:76.45, Y:241.03, Z:6.35 [[-3.49276463e-02 -9.99389820e-01 2.19405257e-04 7.64459686e+01] [ 9.99269322e-01 -3.49268428e-02 -1.55221489e-02 2.41025626e+02] [ 1.55203408e-02 -3.22907185e-04 9.99879500e-01 6.34702958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7127550960001 meters 0.0227730524805175 Centerline is valid? [True, True] Translation: X:76.45, Y:241.05, Z:6.35 [[-3.63071737e-02 -9.99340652e-01 2.23290268e-04 7.64457773e+01] [ 9.99221894e-01 -3.63063022e-02 -1.54096866e-02 2.41051971e+02] [ 1.54076331e-02 -3.36365644e-04 9.99881239e-01 6.34798897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.74275509600005 meters 0.023554839336728473 Centerline is valid? [True, True] Translation: X:76.45, Y:241.08, Z:6.35 [[-3.85927041e-02 -9.99254999e-01 2.22877535e-04 7.64459742e+01] [ 9.99142329e-01 -3.85917004e-02 -1.50095711e-02 2.41079070e+02] [ 1.50069902e-02 -3.56573556e-04 9.99887325e-01 6.34816928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7727550960001 meters 0.024502392516227624 Centerline is valid? [True, True] Translation: X:76.45, Y:241.10, Z:6.35 [[-3.94567887e-02 -9.99221252e-01 2.24889359e-04 7.64466585e+01] [ 9.99111378e-01 -3.94557860e-02 -1.48221066e-02 2.41104294e+02] [ 1.48194371e-02 -3.60143210e-04 9.99890121e-01 6.34838360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.80275509600006 meters 0.023310103368609923 Centerline is valid? [True, True] Translation: X:76.44, Y:241.13, Z:6.35 [[-4.02651045e-02 -9.99189007e-01 2.22102803e-04 7.64441030e+01] [ 9.99086132e-01 -4.02641469e-02 -1.43422018e-02 2.41131584e+02] [ 1.43395131e-02 -3.55590422e-04 9.99897121e-01 6.34978960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8327550960001 meters 0.02302855867496345 Centerline is valid? [True, True] Translation: X:76.44, Y:241.16, Z:6.35 [[-4.07101094e-02 -9.99170978e-01 2.11034661e-04 7.64427633e+01] [ 9.99082019e-01 -4.07093017e-02 -1.33368735e-02 2.41158974e+02] [ 1.33344080e-02 -3.32104645e-04 9.99911038e-01 6.35148161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.86275509600006 meters 0.02310797164771178 Centerline is valid? [True, True] Translation: X:76.44, Y:241.19, Z:6.35 [[-4.07601067e-02 -9.99168940e-01 2.10075573e-04 7.64420186e+01] [ 9.99084578e-01 -4.07593959e-02 -1.29875640e-02 2.41186088e+02] [ 1.29853331e-02 -3.19491230e-04 9.99915636e-01 6.35231561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8927550960001 meters 0.023089453762055297 Centerline is valid? [True, True] Translation: X:76.44, Y:241.21, Z:6.35 [[-4.05154110e-02 -9.99178891e-01 2.11674549e-04 7.64410925e+01] [ 9.99096798e-01 -4.05147963e-02 -1.28117199e-02 2.41213795e+02] [ 1.28097761e-02 -3.07588735e-04 9.99917904e-01 6.35286835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.92275509600006 meters 0.022206945891337256 Centerline is valid? [True, True] Translation: X:76.44, Y:241.24, Z:6.35 [[-3.86840284e-02 -9.99251469e-01 2.17148543e-04 7.64378150e+01] [ 9.99168248e-01 -3.86836098e-02 -1.28992387e-02 2.41241392e+02] [ 1.28979834e-02 -2.82026589e-04 9.99916778e-01 6.35334978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.95275509600003 meters 0.02191927304690082 Centerline is valid? [True, True] Translation: X:76.44, Y:241.27, Z:6.35 [[-3.74059905e-02 -9.99300126e-01 2.24057195e-04 7.64362965e+01] [ 9.99214612e-01 -3.74057212e-02 -1.30756033e-02 2.41266536e+02] [ 1.30748331e-02 -2.65224670e-04 9.99914486e-01 6.35359217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.98275509600006 meters 0.02075203986351913 Centerline is valid? [True, True] Translation: X:76.43, Y:241.29, Z:6.35 [[-3.46146313e-02 -9.99400711e-01 2.14814551e-04 7.64328797e+01] [ 9.99325473e-01 -3.46146617e-02 -1.22647211e-02 2.41293657e+02] [ 1.22648067e-02 -2.09869145e-04 9.99924762e-01 6.35469944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.01275509600003 meters 0.020623767329149525 Centerline is valid? [True, True] Translation: X:76.43, Y:241.32, Z:6.36 [[-3.31129108e-02 -9.99451593e-01 2.19242778e-04 7.64317146e+01] [ 9.99376415e-01 -3.31131094e-02 -1.22597906e-02 2.41318997e+02] [ 1.22603270e-02 -1.86851290e-04 9.99924822e-01 6.35545110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.04275509600006 meters 0.01981416241729144 Centerline is valid? [True, True] Translation: X:76.43, Y:241.35, Z:6.36 [[-3.17645817e-02 -9.99495357e-01 2.06212357e-04 7.64286043e+01] [ 9.99431589e-01 -3.17648847e-02 -1.12911952e-02 2.41345399e+02] [ 1.12920475e-02 -1.52564949e-04 9.99936231e-01 6.35628072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.07275509600004 meters 0.01981416241729144 Centerline is valid? [True, True] Translation: X:76.43, Y:241.37, Z:6.36 [[-3.21559673e-02 -9.99482841e-01 2.10634080e-04 7.64278727e+01] [ 9.99419073e-01 -3.21562952e-02 -1.12911129e-02 2.41371312e+02] [ 1.12920468e-02 -1.52564940e-04 9.99936231e-01 6.35651833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.10275509600007 meters 0.019192160091971496 Centerline is valid? [True, True] Translation: X:76.42, Y:241.40, Z:6.36 [[-2.92486929e-02 -9.99572147e-01 1.90482186e-04 7.64247459e+01] [ 9.99521899e-01 -2.92491326e-02 -1.00230920e-02 2.41397775e+02] [ 1.00243750e-02 -1.02771224e-04 9.99949749e-01 6.35759227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.13275509600004 meters 0.018997504124959652 Centerline is valid? [True, True] Translation: X:76.42, Y:241.42, Z:6.36 [[-2.80577711e-02 -9.99606284e-01 1.96294447e-04 7.64229480e+01] [ 9.99554962e-01 -2.80583197e-02 -1.01296215e-02 2.41423721e+02] [ 1.01311410e-02 -8.80075137e-05 9.99948675e-01 6.35812760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.16275509600007 meters 0.01874934551967826 Centerline is valid? [True, True] Translation: X:76.42, Y:241.45, Z:6.36 [[-2.70397947e-02 -9.99634340e-01 1.89399157e-04 7.64215485e+01] [ 9.99588320e-01 -2.70403673e-02 -9.59208745e-03 2.41448915e+02] [ 9.59370143e-03 -7.00468902e-05 9.99953977e-01 6.35873945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.19275509600004 meters 0.018585477015079527 Centerline is valid? [True, True] Translation: X:76.42, Y:241.48, Z:6.36 [[-2.57948293e-02 -9.99667240e-01 1.91059904e-04 7.64205057e+01] [ 9.99622235e-01 -2.57954809e-02 -9.48578742e-03 2.41475794e+02] [ 9.48755941e-03 -5.36965388e-05 9.99954991e-01 6.35938198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.22275509600007 meters 0.018446901843593568 Centerline is valid? [True, True] Translation: X:76.42, Y:241.50, Z:6.36 [[-2.58397488e-02 -9.99666079e-01 1.96337069e-04 7.64198920e+01] [ 9.99620235e-01 -2.58404442e-02 -9.57377982e-03 2.41502385e+02] [ 9.57565637e-03 -5.11215587e-05 9.99954151e-01 6.35966133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.25275509600004 meters 0.018494806218670227 Centerline is valid? [True, True] Translation: X:76.42, Y:241.53, Z:6.36 [[-2.60467245e-02 -9.99660708e-01 1.92807848e-04 7.64199339e+01] [ 9.99618073e-01 -2.60473943e-02 -9.23267303e-03 2.41529309e+02] [ 9.23456259e-03 -4.77466808e-05 9.99957359e-01 6.36044290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.2827550960001 meters 0.018561333419478316 Centerline is valid? [True, True] Translation: X:76.42, Y:241.56, Z:6.36 [[-2.67706275e-02 -9.99641584e-01 1.94136188e-04 7.64198524e+01] [ 9.99599810e-01 -2.67712836e-02 -9.13878224e-03 2.41556914e+02] [ 9.14070402e-03 -5.05924379e-05 9.99958222e-01 6.36127942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.31275509600005 meters 0.018688971079338753 Centerline is valid? [True, True] Translation: X:76.42, Y:241.58, Z:6.36 [[-2.72759723e-02 -9.99627924e-01 1.88403119e-04 7.64201334e+01] [ 9.99589841e-01 -2.72765778e-02 -8.72569038e-03 2.41582885e+02] [ 8.72758275e-03 -4.96758460e-05 9.99961913e-01 6.36182065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3427550960001 meters 0.018897349766572778 Centerline is valid? [True, True] Translation: X:76.42, Y:241.61, Z:6.36 [[-2.85970294e-02 -9.99591006e-01 1.75194829e-04 7.64203007e+01] [ 9.99558787e-01 -2.85975143e-02 -8.02583916e-03 2.41609095e+02] [ 8.02756678e-03 -5.43976275e-05 9.99967777e-01 6.36284857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.37275509600005 meters 0.019035859652262496 Centerline is valid? [True, True] Translation: X:76.42, Y:241.63, Z:6.36 [[-2.96330035e-02 -9.99560833e-01 1.59793018e-04 7.64208970e+01] [ 9.99534833e-01 -2.96333852e-02 -7.20976991e-03 2.41634683e+02] [ 7.21133882e-03 -5.39284491e-05 9.99973997e-01 6.36376575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4027550960001 meters 0.019276415776271382 Centerline is valid? [True, True] Translation: X:76.42, Y:241.66, Z:6.36 [[-3.19182117e-02 -9.99490471e-01 1.62258870e-04 7.64222446e+01] [ 9.99464621e-01 -3.19185532e-02 -7.18876339e-03 2.41661293e+02] [ 7.19027958e-03 -6.72804714e-05 9.99974147e-01 6.36478130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.43275509600005 meters 0.019455481796315868 Centerline is valid? [True, True] Translation: X:76.42, Y:241.69, Z:6.37 [[-3.31877890e-02 -9.99449121e-01 1.60143964e-04 7.64227451e+01] [ 9.99424782e-01 -3.31880985e-02 -6.97533028e-03 2.41688249e+02] [ 6.97680259e-03 -7.14439435e-05 9.99975659e-01 6.36503384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4627550960001 meters 0.020102883692768934 Centerline is valid? [True, True] Translation: X:76.43, Y:241.71, Z:6.37 [[-3.59064104e-02 -9.99355145e-01 1.53248660e-04 7.64252345e+01] [ 9.99333466e-01 -3.59066410e-02 -6.58304425e-03 2.41714339e+02] [ 6.58430179e-03 -8.32269745e-05 9.99978320e-01 6.36529888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.49275509600005 meters 0.02047061302934634 Centerline is valid? [True, True] Translation: X:76.43, Y:241.74, Z:6.37 [[-3.76151614e-02 -9.99292285e-01 1.69262903e-04 7.64257581e+01] [ 9.99266740e-01 -3.76154102e-02 -7.14586313e-03 2.41740581e+02] [ 7.14717279e-03 -9.96540058e-05 9.99974454e-01 6.36555524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5227550960001 meters 0.020842220688144345 Centerline is valid? [True, True] Translation: X:76.43, Y:241.77, Z:6.37 [[-3.88702515e-02 -9.99244251e-01 1.72095356e-04 7.64264921e+01] [ 9.99218680e-01 -3.88704881e-02 -7.14952762e-03 2.41766129e+02] [ 7.15081381e-03 -1.05943042e-04 9.99974427e-01 6.36565059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.55275509600006 meters 0.021563063867346976 Centerline is valid? [True, True] Translation: X:76.43, Y:241.79, Z:6.37 [[-4.13273949e-02 -9.99145644e-01 1.66506889e-04 7.64280158e+01] [ 9.99122481e-01 -4.13275707e-02 -6.80441763e-03 2.41793038e+02] [ 6.80548556e-03 -1.14848078e-04 9.99976836e-01 6.36641649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5827550960001 meters 0.022030650470148724 Centerline is valid? [True, True] Translation: X:76.43, Y:241.82, Z:6.37 [[-4.27280668e-02 -9.99086724e-01 1.72406951e-04 7.64287953e+01] [ 9.99062580e-01 -4.27282330e-02 -6.94690091e-03 2.41818900e+02] [ 6.94792312e-03 -1.24582312e-04 9.99975855e-01 6.36687226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.61275509600006 meters 0.022867238796922762 Centerline is valid? [True, True] Translation: X:76.43, Y:241.85, Z:6.37 [[-4.55517012e-02 -9.98961967e-01 1.76696225e-04 7.64308457e+01] [ 9.98937342e-01 -4.55518193e-02 -7.01558723e-03 2.41845897e+02] [ 7.01635365e-03 -1.43063476e-04 9.99975375e-01 6.36758069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6427550960001 meters 0.023719921764404683 Centerline is valid? [True, True] Translation: X:76.43, Y:241.87, Z:6.37 [[-4.71212455e-02 -9.98889161e-01 1.81935139e-04 7.64323216e+01] [ 9.98863752e-01 -4.71213448e-02 -7.12632727e-03 2.41872318e+02] [ 7.12698409e-03 -1.54073001e-04 9.99974591e-01 6.36779579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.67275509600006 meters 0.02444531857505848 Centerline is valid? [True, True] Translation: X:76.43, Y:241.90, Z:6.37 [[-4.87936021e-02 -9.98808866e-01 1.85506012e-04 7.64333653e+01] [ 9.98783193e-01 -4.87936783e-02 -7.16315904e-03 2.41899421e+02] [ 7.16367827e-03 -1.64236045e-04 9.99974327e-01 6.36808978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.70275509600003 meters 0.02375636238006299 Centerline is valid? [True, True] Translation: X:76.43, Y:241.93, Z:6.37 [[-5.17285624e-02 -9.98661163e-01 1.91513485e-04 7.64324415e+01] [ 9.98634489e-01 -5.17285809e-02 -7.30149385e-03 2.41926570e+02] [ 7.30162507e-03 -1.86443809e-04 9.99973325e-01 6.36832651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.73275509600006 meters 0.02647082595852857 Centerline is valid? [True, True] Translation: X:76.44, Y:241.95, Z:6.37 [[-5.30716402e-02 -9.98590689e-01 1.94615267e-04 7.64369506e+01] [ 9.98563876e-01 -5.30716419e-02 -7.32025158e-03 2.41952987e+02] [ 7.32026362e-03 -1.94161983e-04 9.99973188e-01 6.36935993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76275509600003 meters 0.024962825518306784 Centerline is valid? [True, True] Translation: X:76.43, Y:241.98, Z:6.37 [[-5.48495953e-02 -9.98494612e-01 1.77267092e-04 7.64329209e+01] [ 9.98472911e-01 -5.48495724e-02 -6.58560224e-03 2.41980575e+02] [ 6.58541138e-03 -1.84221229e-04 9.99978299e-01 6.37063269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.79275509600006 meters 0.025101677185222698 Centerline is valid? [True, True] Translation: X:76.43, Y:242.01, Z:6.37 [[-5.52605710e-02 -9.98471953e-01 1.66533671e-04 7.64320709e+01] [ 9.98453219e-01 -5.52605547e-02 -6.11884817e-03 2.42006839e+02] [ 6.11870103e-03 -1.71854964e-04 9.99981266e-01 6.37115678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82275509600004 meters 0.025520774902713806 Centerline is valid? [True, True] Translation: X:76.43, Y:242.03, Z:6.37 [[-5.53683518e-02 -9.98465985e-01 1.52208190e-04 7.64310280e+01] [ 9.98450695e-01 -5.53683466e-02 -5.52781224e-03 2.42032690e+02] [ 5.52776001e-03 -1.54093480e-04 9.99984710e-01 6.37220198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.85275509600007 meters 0.024963338671120383 Centerline is valid? [True, True] Translation: X:76.43, Y:242.06, Z:6.37 [[-5.52767183e-02 -9.98471061e-01 1.57695665e-04 7.64286028e+01] [ 9.98455155e-01 -5.52767281e-02 -5.63795753e-03 2.42059504e+02] [ 5.63805433e-03 -1.54195741e-04 9.99984094e-01 6.37237952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.88275509600004 meters 0.024310050083228566 Centerline is valid? [True, True] Translation: X:76.43, Y:242.09, Z:6.37 [[-5.37709875e-02 -9.98553281e-01 1.59814437e-04 7.64252868e+01] [ 9.98537421e-01 -5.37710345e-02 -5.62988920e-03 2.42086413e+02] [ 5.63033773e-03 -1.43144006e-04 9.99984139e-01 6.37269128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.91275509600007 meters 0.023852322499983338 Centerline is valid? [True, True] Translation: X:76.42, Y:242.11, Z:6.37 [[-5.27186792e-02 -9.98609390e-01 1.64238065e-04 7.64225622e+01] [ 9.98593051e-01 -5.27187564e-02 -5.71420616e-03 2.42113297e+02] [ 5.71491835e-03 -1.37238411e-04 9.99983660e-01 6.37320646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.94275509600004 meters 0.02257407390330663 Centerline is valid? [True, True] Translation: X:76.42, Y:242.14, Z:6.37 [[-4.91631332e-02 -9.98790747e-01 1.74666056e-04 7.64173534e+01] [ 9.98772771e-01 -4.91632965e-02 -5.99354799e-03 2.42140919e+02] [ 5.99488743e-03 -1.20209897e-04 9.99982023e-01 6.37366959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.97275509600007 meters 0.02201806489050406 Centerline is valid? [True, True] Translation: X:76.41, Y:242.17, Z:6.37 [[-4.74487754e-02 -9.98873656e-01 1.84459063e-04 7.64141199e+01] [ 9.98854073e-01 -4.74490004e-02 -6.25571518e-03 2.42168110e+02] [ 6.25742149e-03 -1.12578338e-04 9.99980416e-01 6.37404562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.00275509600004 meters 0.021653092894864633 Centerline is valid? [True, True] Translation: X:76.41, Y:242.19, Z:6.37 [[-4.52412563e-02 -9.98976072e-01 1.92975982e-04 7.64113586e+01] [ 9.98955206e-01 -4.52415588e-02 -6.45732374e-03 2.42194534e+02] [ 6.45944244e-03 -9.93630766e-05 9.99979133e-01 6.37443986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0327550960001 meters 0.020685011460374957 Centerline is valid? [True, True] Translation: X:76.41, Y:242.22, Z:6.37 [[-4.32547375e-02 -9.99064058e-01 1.91850269e-04 7.64065777e+01] [ 9.99043741e-01 -4.32550815e-02 -6.37186070e-03 2.42221769e+02] [ 6.37419550e-03 -8.39463509e-05 9.99979681e-01 6.37464769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.06275509600005 meters 0.02014727350984384 Centerline is valid? [True, True] Translation: X:76.40, Y:242.25, Z:6.38 [[-3.96468834e-02 -9.99213734e-01 1.96674700e-04 7.64020748e+01] [ 9.99192884e-01 -3.96473267e-02 -6.45518888e-03 2.42247950e+02] [ 6.45791101e-03 -5.94121599e-05 9.99979146e-01 6.37557845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0927550960001 meters 0.019883002086164853 Centerline is valid? [True, True] Translation: X:76.40, Y:242.27, Z:6.38 [[-3.85757098e-02 -9.99255664e-01 1.82915789e-04 7.63985929e+01] [ 9.99238003e-01 -3.85761155e-02 -5.94116719e-03 2.42273852e+02] [ 5.94380114e-03 -4.64083341e-05 9.99982334e-01 6.37603529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.12275509600005 meters 0.019744775553804928 Centerline is valid? [True, True] Translation: X:76.40, Y:242.30, Z:6.38 [[-3.77926926e-02 -9.99285582e-01 1.95042799e-04 7.63962919e+01] [ 9.99266033e-01 -3.77931733e-02 -6.25069400e-03 2.42298933e+02] [ 6.25359968e-03 -4.13309128e-05 9.99980445e-01 6.37676117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1527550960001 meters 0.01968546682492201 Centerline is valid? [True, True] Translation: X:76.39, Y:242.33, Z:6.38 [[-3.77043669e-02 -9.99288919e-01 1.91793949e-04 7.63931222e+01] [ 9.99270495e-01 -3.77048364e-02 -6.06825672e-03 2.42325597e+02] [ 6.07117325e-03 -3.71457436e-05 9.99981570e-01 6.37707670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.18275509600005 meters 0.019674940848757587 Centerline is valid? [True, True] Translation: X:76.39, Y:242.35, Z:6.38 [[-3.85885128e-02 -9.99255166e-01 2.00084662e-04 7.63916067e+01] [ 9.99235613e-01 -3.85890094e-02 -6.25125307e-03 2.42351527e+02] [ 6.25431799e-03 -4.12948396e-05 9.99980441e-01 6.37724984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2127550960001 meters 0.020235546725777348 Centerline is valid? [True, True] Translation: X:76.39, Y:242.38, Z:6.38 [[-4.18748645e-02 -9.99122842e-01 2.07133329e-04 7.63924566e+01] [ 9.99102472e-01 -4.18753335e-02 -6.38016697e-03 2.42378027e+02] [ 6.38324433e-03 -6.02212066e-05 9.99979625e-01 6.37743665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.24275509600005 meters 0.020585967276345832 Centerline is valid? [True, True] Translation: X:76.39, Y:242.40, Z:6.38 [[-4.40807196e-02 -9.99027949e-01 2.17385267e-04 7.63927144e+01] [ 9.99005852e-01 -4.40811906e-02 -6.64510196e-03 2.42404820e+02] [ 6.64822518e-03 -7.57517229e-05 9.99977897e-01 6.37774382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2727550960001 meters 0.021967627622901605 Centerline is valid? [True, True] Translation: X:76.40, Y:242.43, Z:6.38 [[-4.89251593e-02 -9.98802421e-01 2.27801417e-04 7.63951731e+01] [ 9.98778750e-01 -4.89255684e-02 -6.87725864e-03 2.42430684e+02] [ 6.88016789e-03 -1.08947760e-04 9.99976325e-01 6.37784086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.30275509600006 meters 0.022367934371878336 Centerline is valid? [True, True] Translation: X:76.39, Y:242.46, Z:6.38 [[-5.14399137e-02 -9.98676065e-01 2.31457534e-04 7.63947481e+01] [ 9.98652131e-01 -5.14402836e-02 -6.91513632e-03 2.42457641e+02] [ 6.91788737e-03 -1.24568455e-04 9.99976063e-01 6.37772420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3327550960001 meters 0.02373487592200597 Centerline is valid? [True, True] Translation: X:76.40, Y:242.48, Z:6.38 [[-5.38955883e-02 -9.98546549e-01 2.34553946e-04 7.63959306e+01] [ 9.98522460e-01 -5.38959177e-02 -6.93732488e-03 2.42484131e+02] [ 6.93988332e-03 -1.39683822e-04 9.99975909e-01 6.37789534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.36275509600006 meters 0.024562901841096163 Centerline is valid? [True, True] Translation: X:76.40, Y:242.51, Z:6.38 [[-5.72752787e-02 -9.98358392e-01 2.52227464e-04 7.63952977e+01] [ 9.98331170e-01 -5.72755801e-02 -7.37445495e-03 2.42511122e+02] [ 7.37679546e-03 -1.70567423e-04 9.99972777e-01 6.37765379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3927550960001 meters 0.024259165318578163 Centerline is valid? [True, True] Translation: X:76.39, Y:242.54, Z:6.38 [[-5.88615249e-02 -9.98266126e-01 2.49231441e-04 7.63928746e+01] [ 9.98240045e-01 -5.88617891e-02 -7.21825732e-03 2.42538457e+02] [ 7.22041198e-03 -1.76084828e-04 9.99973917e-01 6.37791725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.42275509600006 meters 0.025254356872244258 Centerline is valid? [True, True] Translation: X:76.39, Y:242.57, Z:6.38 [[-6.07688336e-02 -9.98151831e-01 2.65933788e-04 7.63930309e+01] [ 9.98122763e-01 -6.07690941e-02 -7.62014505e-03 2.42565027e+02] [ 7.62222229e-03 -1.97632759e-04 9.99970931e-01 6.37784832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.45275509600003 meters 0.02533152787961486 Centerline is valid? [True, True] Translation: X:76.39, Y:242.59, Z:6.38 [[-6.17198834e-02 -9.98093474e-01 2.69253734e-04 7.63916607e+01] [ 9.98064288e-01 -6.17201385e-02 -7.63552536e-03 2.42591816e+02] [ 7.63758641e-03 -2.02531199e-04 9.99970813e-01 6.37791497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.48275509600006 meters 0.025208236076054984 Centerline is valid? [True, True] Translation: X:76.39, Y:242.62, Z:6.38 [[-6.27440875e-02 -9.98029603e-01 3.00510114e-04 7.63885793e+01] [ 9.97994111e-01 -6.27443914e-02 -8.41996364e-03 2.42618533e+02] [ 8.42222830e-03 -2.28395611e-04 9.99964506e-01 6.37763540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.51275509600003 meters 0.025832804449286487 Centerline is valid? [True, True] Translation: X:76.39, Y:242.64, Z:6.38 [[-6.32197178e-02 -9.97999581e-01 3.21882647e-04 7.63875776e+01] [ 9.97959790e-01 -6.32200726e-02 -8.91518689e-03 2.42643749e+02] [ 8.91770222e-03 -2.42389660e-04 9.99960207e-01 6.37722927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.54275509600006 meters 0.026293663458601246 Centerline is valid? [True, True] Translation: X:76.39, Y:242.67, Z:6.38 [[-6.36255754e-02 -9.97973783e-01 3.39098234e-04 7.63854131e+01] [ 9.97930639e-01 -6.36259790e-02 -9.28306745e-03 2.42670406e+02] [ 9.28583340e-03 -2.52243991e-04 9.99956854e-01 6.37743177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.57275509600004 meters 0.025277911225641804 Centerline is valid? [True, True] Translation: X:76.38, Y:242.70, Z:6.38 [[-6.39372975e-02 -9.97953857e-01 3.47975011e-04 7.63818971e+01] [ 9.97909323e-01 -6.39377329e-02 -9.43127031e-03 2.42696695e+02] [ 9.43422132e-03 -2.55762428e-04 9.99955464e-01 6.37787808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.60275509600007 meters 0.025066448227926443 Centerline is valid? [True, True] Translation: X:76.38, Y:242.72, Z:6.38 [[-6.40589976e-02 -9.97946060e-01 3.25452428e-04 7.63786109e+01] [ 9.97907859e-01 -6.40593941e-02 -8.73494193e-03 2.42723217e+02] [ 8.73784917e-03 -2.34780089e-04 9.99961797e-01 6.37911128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.63275509600004 meters 0.024944864054414245 Centerline is valid? [True, True] Translation: X:76.38, Y:242.75, Z:6.38 [[-6.42593375e-02 -9.97933184e-01 3.13895589e-04 7.63759239e+01] [ 9.97898347e-01 -6.42597180e-02 -8.34129655e-03 2.42749176e+02] [ 8.34422746e-03 -2.22770301e-04 9.99965162e-01 6.37997251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.66275509600007 meters 0.026690496998420552 Centerline is valid? [True, True] Translation: X:76.38, Y:242.77, Z:6.38 [[-6.40803879e-02 -9.97944695e-01 2.99136910e-04 7.63769995e+01] [ 9.97913688e-01 -6.40807557e-02 -7.86943329e-03 2.42774206e+02] [ 7.87242812e-03 -2.05763520e-04 9.99968991e-01 6.38066626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.69275509600004 meters 0.024377055096183858 Centerline is valid? [True, True] Translation: X:76.37, Y:242.80, Z:6.38 [[-6.36233865e-02 -9.97973941e-01 2.78694626e-04 7.63694278e+01] [ 9.97947392e-01 -6.36237274e-02 -7.28174068e-03 2.42800439e+02] [ 7.28471904e-03 -1.85166426e-04 9.99973449e-01 6.38090840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.72275509600007 meters 0.02491531802665955 Centerline is valid? [True, True] Translation: X:76.37, Y:242.83, Z:6.38 [[-6.33884321e-02 -9.97988893e-01 2.75266955e-04 7.63687079e+01] [ 9.97963534e-01 -6.33887843e-02 -7.11662157e-03 2.42825981e+02] [ 7.11975812e-03 -1.76405100e-04 9.99974639e-01 6.38192512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.75275509600004 meters 0.0241434414928905 Centerline is valid? [True, True] Translation: X:76.36, Y:242.85, Z:6.38 [[-6.26631039e-02 -9.98034701e-01 2.65332571e-04 7.63646242e+01] [ 9.98011463e-01 -6.26634561e-02 -6.81251161e-03 2.42852460e+02] [ 6.81574964e-03 -1.62088175e-04 9.99976759e-01 6.38235439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.7827550960001 meters 0.02393071343527158 Centerline is valid? [True, True] Translation: X:76.36, Y:242.88, Z:6.38 [[-6.24389371e-02 -9.98048753e-01 2.55179237e-04 7.63622795e+01] [ 9.98027652e-01 -6.24392768e-02 -6.49167553e-03 2.42878994e+02] [ 6.49494188e-03 -1.50657386e-04 9.99978896e-01 6.38287286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.81275509600005 meters 0.02311109022774764 Centerline is valid? [True, True] Translation: X:76.36, Y:242.91, Z:6.38 [[-6.22255902e-02 -9.98062078e-01 2.53632793e-04 7.63586069e+01] [ 9.98041641e-01 -6.22259395e-02 -6.38868047e-03 2.42906241e+02] [ 6.39208225e-03 -1.44403324e-04 9.99979560e-01 6.38328605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8427550960001 meters 0.023204032363963463 Centerline is valid? [True, True] Translation: X:76.36, Y:242.93, Z:6.38 [[-6.21535094e-02 -9.98066568e-01 2.57909893e-04 7.63559975e+01] [ 9.98045814e-01 -6.21538806e-02 -6.43801947e-03 2.42932831e+02] [ 6.44160210e-03 -1.42739614e-04 9.99979243e-01 6.38372954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.87275509600005 meters 0.022957076076524103 Centerline is valid? [True, True] Translation: X:76.35, Y:242.96, Z:6.38 [[-6.20049554e-02 -9.98075811e-01 2.48738671e-04 7.63535388e+01] [ 9.98056860e-01 -6.20053113e-02 -6.15190714e-03 2.42960477e+02] [ 6.15549283e-03 -1.33193391e-04 9.99981046e-01 6.38393461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9027550960001 meters 0.022566120367195883 Centerline is valid? [True, True] Translation: X:76.35, Y:242.99, Z:6.38 [[-6.18760924e-02 -9.98083808e-01 2.46346570e-04 7.63510433e+01] [ 9.98065509e-01 -6.18764500e-02 -6.04515878e-03 2.42987598e+02] [ 6.04881815e-03 -1.28180788e-04 9.99981698e-01 6.38425584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.93275509600005 meters 0.02275132101446831 Centerline is valid? [True, True] Translation: X:76.35, Y:243.01, Z:6.38 [[-6.15075687e-02 -9.98106586e-01 2.50541985e-04 7.63491264e+01] [ 9.98087986e-01 -6.15079524e-02 -6.09454125e-03 2.43013906e+02] [ 6.09841208e-03 -1.24797470e-04 9.99981397e-01 6.38476569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9627550960001 meters 0.02275132101446831 Centerline is valid? [True, True] Translation: X:76.35, Y:243.04, Z:6.39 [[-6.18971389e-02 -9.98082502e-01 2.52793246e-04 7.63477958e+01] [ 9.98063903e-01 -6.18975290e-02 -6.09444766e-03 2.43039792e+02] [ 6.09840884e-03 -1.24925060e-04 9.99981397e-01 6.38500336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.99275509600005 meters 0.02255564065556709 Centerline is valid? [True, True] Translation: X:76.35, Y:243.07, Z:6.39 [[-6.21055479e-02 -9.98069558e-01 2.41988156e-04 7.63456629e+01] [ 9.98052804e-01 -6.21059078e-02 -5.78414301e-03 2.43065820e+02] [ 5.78800595e-03 -1.17710413e-04 9.99983242e-01 6.38506679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0227550960001 meters 0.023012721082714283 Centerline is valid? [True, True] Translation: X:76.35, Y:243.09, Z:6.39 [[-6.26842380e-02 -9.98033384e-01 2.26016604e-04 7.63451674e+01] [ 9.98018999e-01 -6.26845483e-02 -5.35965559e-03 2.43090891e+02] [ 5.36328295e-03 -1.10397062e-04 9.99985611e-01 6.38536004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.05275509600006 meters 0.02327795683926814 Centerline is valid? [True, True] Translation: X:76.34, Y:243.12, Z:6.39 [[-6.37071076e-02 -9.97968608e-01 2.50844032e-04 7.63447046e+01] [ 9.97951292e-01 -6.37074802e-02 -5.88014630e-03 2.43117287e+02] [ 5.88418206e-03 -1.24276987e-04 9.99982680e-01 6.38528629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0827550960001 meters 0.02275839822472579 Centerline is valid? [True, True] Translation: X:76.34, Y:243.14, Z:6.38 [[-6.46434189e-02 -9.97908391e-01 2.67870976e-04 7.63425055e+01] [ 9.97889032e-01 -6.46438338e-02 -6.21722285e-03 2.43144432e+02] [ 6.22153505e-03 -1.34597032e-04 9.99980637e-01 6.38492805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.11275509600006 meters 0.023347399949024773 Centerline is valid? [True, True] Translation: X:76.34, Y:243.17, Z:6.38 [[-6.60018589e-02 -9.97819465e-01 2.62923265e-04 7.63424784e+01] [ 9.97801143e-01 -6.60022407e-02 -6.04835825e-03 2.43170675e+02] [ 6.05252312e-03 -1.36857753e-04 9.99981674e-01 6.38498587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1427550960001 meters 0.023454976594865687 Centerline is valid? [True, True] Translation: X:76.34, Y:243.20, Z:6.38 [[-6.81095754e-02 -9.97677813e-01 2.57905135e-04 7.63413702e+01] [ 9.97660374e-01 -6.81099103e-02 -5.90065124e-03 2.43198625e+02] [ 5.90451472e-03 -1.44589117e-04 9.99982558e-01 6.38488144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.17275509600006 meters 0.024543876420050313 Centerline is valid? [True, True] Translation: X:76.34, Y:243.22, Z:6.39 [[-6.96595048e-02 -9.97570796e-01 2.47758669e-04 7.63417152e+01] [ 9.97554893e-01 -6.96597938e-02 -5.63467677e-03 2.43224911e+02] [ 5.63824780e-03 -1.45355921e-04 9.99984094e-01 6.38540846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.20275509600003 meters 0.024616307416055756 Centerline is valid? [True, True] Translation: X:76.34, Y:243.25, Z:6.39 [[-7.03557174e-02 -9.97521936e-01 2.45912695e-04 7.63399564e+01] [ 9.97506524e-01 -7.03559978e-02 -5.54696917e-03 2.43251295e+02] [ 5.55052485e-03 -1.44961478e-04 9.99984585e-01 6.38555234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.23275509600006 meters 0.02457375533117269 Centerline is valid? [True, True] Translation: X:76.34, Y:243.28, Z:6.39 [[-7.07410715e-02 -9.97494680e-01 2.52350332e-04 7.63382353e+01] [ 9.97478739e-01 -7.07413681e-02 -5.64132592e-03 2.43277238e+02] [ 5.64504420e-03 -1.47359349e-04 9.99984056e-01 6.38576234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26275509600003 meters 0.024488088672265408 Centerline is valid? [True, True] Translation: X:76.34, Y:243.30, Z:6.39 [[-7.02964009e-02 -9.97526111e-01 2.71635909e-04 7.63360230e+01] [ 9.97507993e-01 -7.02967618e-02 -6.01410388e-03 2.43303045e+02] [ 6.01832078e-03 -1.51810866e-04 9.99981878e-01 6.38519861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.29275509600006 meters 0.024322597325108112 Centerline is valid? [True, True] Translation: X:76.33, Y:243.33, Z:6.38 [[-6.99707941e-02 -9.97548999e-01 2.88754562e-04 7.63337107e+01] [ 9.97528896e-01 -6.99712178e-02 -6.33479114e-03 2.43328842e+02] [ 6.33946907e-03 -1.55209348e-04 9.99979893e-01 6.38482848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32275509600004 meters 0.023323564219618592 Centerline is valid? [True, True] Translation: X:76.33, Y:243.36, Z:6.38 [[-6.76686904e-02 -9.97707799e-01 3.10941495e-04 7.63291399e+01] [ 9.97684955e-01 -6.76692457e-02 -6.75302581e-03 2.43355955e+02] [ 6.75858770e-03 -1.46746761e-04 9.99977150e-01 6.38391391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.35275509600007 meters 0.02268134708661901 Centerline is valid? [True, True] Translation: X:76.33, Y:243.38, Z:6.38 [[-6.63588070e-02 -9.97795765e-01 3.46334090e-04 7.63262945e+01] [ 9.97767896e-01 -6.63595426e-02 -7.45903465e-03 2.43382779e+02] [ 7.46557575e-03 -1.49411604e-04 9.99972121e-01 6.38319614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.38275509600004 meters 0.022329730927012813 Centerline is valid? [True, True] Translation: X:76.32, Y:243.41, Z:6.38 [[-6.53341855e-02 -9.97863370e-01 3.73244152e-04 7.63237436e+01] [ 9.97831498e-01 -6.53350823e-02 -7.97676314e-03 2.43408357e+02] [ 7.98410568e-03 -1.48720551e-04 9.99968115e-01 6.38276115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.41275509600007 meters 0.021423901716530813 Centerline is valid? [True, True] Translation: X:76.32, Y:243.44, Z:6.38 [[-6.33028597e-02 -9.97994290e-01 3.80923174e-04 7.63200658e+01] [ 9.97961665e-01 -6.33038707e-02 -8.07058619e-03 2.43435269e+02] [ 8.07851284e-03 -1.30744460e-04 9.99967360e-01 6.38258161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.44275509600004 meters 0.02102750921719408 Centerline is valid? [True, True] Translation: X:76.32, Y:243.46, Z:6.38 [[-6.25069143e-02 -9.98044454e-01 3.92920913e-04 7.63180767e+01] [ 9.98010238e-01 -6.25080252e-02 -8.26514483e-03 2.43461951e+02] [ 8.27354267e-03 -1.24489606e-04 9.99965766e-01 6.38274411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.47275509600007 meters 0.020534649370448032 Centerline is valid? [True, True] Translation: X:76.32, Y:243.49, Z:6.38 [[-6.07367787e-02 -9.98153743e-01 3.86696355e-04 7.63158686e+01] [ 9.98121115e-01 -6.07379202e-02 -8.07118019e-03 2.43486903e+02] [ 8.07976585e-03 -1.04247688e-04 9.99967353e-01 6.38329751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.50275509600004 meters 0.019806016855888967 Centerline is valid? [True, True] Translation: X:76.31, Y:243.51, Z:6.38 [[-6.03577871e-02 -9.98176743e-01 3.57034845e-04 7.63121675e+01] [ 9.98149206e-01 -6.03587742e-02 -7.41487852e-03 2.43513241e+02] [ 7.42290948e-03 -9.11716118e-05 9.99972446e-01 6.38368113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5327550960001 meters 0.019931885844959446 Centerline is valid? [True, True] Translation: X:76.31, Y:243.54, Z:6.38 [[-5.97388993e-02 -9.98213973e-01 3.57221903e-04 7.63115787e+01] [ 9.98186874e-01 -5.97399098e-02 -7.35574160e-03 2.43538318e+02] [ 7.36394445e-03 -8.28496916e-05 9.99972882e-01 6.38448728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.56275509600005 meters 0.01961766154557808 Centerline is valid? [True, True] Translation: X:76.31, Y:243.56, Z:6.38 [[-5.88991742e-02 -9.98263887e-01 3.14757903e-04 7.63089340e+01] [ 9.98243053e-01 -5.88999786e-02 -6.44971887e-03 2.43564320e+02] [ 6.45706067e-03 -6.56782253e-05 9.99979151e-01 6.38497231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5927550960001 meters 0.01920876298345398 Centerline is valid? [True, True] Translation: X:76.31, Y:243.59, Z:6.39 [[-5.90336494e-02 -9.98255952e-01 2.86435597e-04 7.63058509e+01] [ 9.98238903e-01 -5.90343153e-02 -5.83449565e-03 2.43590456e+02] [ 5.84122954e-03 -5.85004147e-05 9.99982938e-01 6.38519059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.62275509600005 meters 0.019107249692429776 Centerline is valid? [True, True] Translation: X:76.30, Y:243.62, Z:6.39 [[-5.91069832e-02 -9.98251615e-01 2.80665672e-04 7.63046010e+01] [ 9.98235492e-01 -5.91076238e-02 -5.67369116e-03 2.43616678e+02] [ 5.68036084e-03 -5.51843325e-05 9.99983865e-01 6.38560618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6527550960001 meters 0.019208052663301316 Centerline is valid? [True, True] Translation: X:76.31, Y:243.64, Z:6.39 [[-6.04436224e-02 -9.98171580e-01 2.57532100e-04 7.63050592e+01] [ 9.98158176e-01 -6.04441454e-02 -5.17317443e-03 2.43641856e+02] [ 5.17928200e-03 -5.56276305e-05 9.99986586e-01 6.38586574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.68275509600005 meters 0.019373575046818695 Centerline is valid? [True, True] Translation: X:76.30, Y:243.67, Z:6.39 [[-6.12391833e-02 -9.98123081e-01 2.79172483e-04 7.63047232e+01] [ 9.98107621e-01 -6.12397887e-02 -5.55558995e-03 2.43667900e+02] [ 5.56225902e-03 -6.15756090e-05 9.99984529e-01 6.38568264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7127550960001 meters 0.019707108333151004 Centerline is valid? [True, True] Translation: X:76.31, Y:243.69, Z:6.39 [[-6.32991040e-02 -9.97994568e-01 2.55062969e-04 7.63060186e+01] [ 9.97981833e-01 -6.32995849e-02 -5.04226104e-03 2.43694701e+02] [ 5.04829451e-03 -6.46223970e-05 9.99987255e-01 6.38587727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.74275509600005 meters 0.020048803631085774 Centerline is valid? [True, True] Translation: X:76.31, Y:243.72, Z:6.39 [[-6.46923201e-02 -9.97905221e-01 2.70902897e-04 7.63060090e+01] [ 9.97891067e-01 -6.46928456e-02 -5.31543163e-03 2.43721186e+02] [ 5.32182246e-03 -7.35360243e-05 9.99985836e-01 6.38564324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7727550960001 meters 0.020361841948929177 Centerline is valid? [True, True] Translation: X:76.31, Y:243.75, Z:6.39 [[-6.60494081e-02 -9.97816316e-01 2.75809100e-04 7.63062317e+01] [ 9.97801861e-01 -6.60499360e-02 -5.37136319e-03 2.43747342e+02] [ 5.37785100e-03 -7.95725251e-05 9.99985536e-01 6.38547540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.80275509600006 meters 0.02026193363398811 Centerline is valid? [True, True] Translation: X:76.31, Y:243.77, Z:6.39 [[-6.75623256e-02 -9.97715025e-01 2.48532603e-04 7.63063858e+01] [ 9.97703417e-01 -6.75627386e-02 -4.81341071e-03 2.43774158e+02] [ 4.81920373e-03 -7.72433944e-05 9.99988385e-01 6.38595422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8327550960001 meters 0.020398089162473314 Centerline is valid? [True, True] Translation: X:76.31, Y:243.80, Z:6.39 [[-6.81375762e-02 -9.97675903e-01 2.50171790e-04 7.63062560e+01] [ 9.97664310e-01 -6.81379907e-02 -4.81038553e-03 2.43799850e+02] [ 4.81625193e-03 -7.81805446e-05 9.99988399e-01 6.38608876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.86275509600006 meters 0.01975020618688583 Centerline is valid? [True, True] Translation: X:76.31, Y:243.83, Z:6.39 [[-6.81591981e-02 -9.97674421e-01 2.72090360e-04 7.63052302e+01] [ 9.97660961e-01 -6.81596921e-02 -5.18305963e-03 2.43827018e+02] [ 5.18955161e-03 -8.18192582e-05 9.99986531e-01 6.38536676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8927550960001 meters 0.01970408932122915 Centerline is valid? [True, True] Translation: X:76.30, Y:243.85, Z:6.38 [[-6.77835680e-02 -9.97700004e-01 2.99307500e-04 7.63044729e+01] [ 9.97683957e-01 -6.77841756e-02 -5.65933830e-03 2.43852912e+02] [ 5.66661016e-03 -8.49958513e-05 9.99983941e-01 6.38485301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.92275509600006 meters 0.019298054627229038 Centerline is valid? [True, True] Translation: X:76.30, Y:243.88, Z:6.38 [[-6.76425778e-02 -9.97709562e-01 3.33533852e-04 7.63028934e+01] [ 9.97689987e-01 -6.76433402e-02 -6.25051800e-03 2.43879956e+02] [ 6.25876293e-03 -9.00377656e-05 9.99980410e-01 6.38413230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.95275509600003 meters 0.01901608865558586 Centerline is valid? [True, True] Translation: X:76.30, Y:243.91, Z:6.38 [[-6.60493086e-02 -9.97816284e-01 3.89766336e-04 7.63041400e+01] [ 9.97789967e-01 -6.60503976e-02 -7.24756216e-03 2.43905728e+02] [ 7.25747976e-03 -8.97915298e-05 9.99973660e-01 6.38354266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.98275509600006 meters 0.018643598879435713 Centerline is valid? [True, True] Translation: X:76.30, Y:243.93, Z:6.38 [[-6.50694698e-02 -9.97880660e-01 3.89753351e-04 7.63031866e+01] [ 9.97854754e-01 -6.50705892e-02 -7.19082851e-03 2.43931710e+02] [ 7.20095018e-03 -7.89861647e-05 9.99974070e-01 6.38380541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.01275509600003 meters 0.018210587608677532 Centerline is valid? [True, True] Translation: X:76.30, Y:243.96, Z:6.38 [[-6.42294650e-02 -9.97935079e-01 3.93469752e-04 7.63017139e+01] [ 9.97909049e-01 -6.42306317e-02 -7.20806616e-03 2.43957891e+02] [ 7.21845488e-03 -7.03232074e-05 9.99973944e-01 6.38399271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.04275509600006 meters 0.017992017684160998 Centerline is valid? [True, True] Translation: X:76.30, Y:243.98, Z:6.38 [[-6.28700530e-02 -9.98021647e-01 3.85677703e-04 7.63023094e+01] [ 9.97996983e-01 -6.28712109e-02 -7.01663489e-03 2.43983439e+02] [ 7.02700153e-03 -5.62310238e-05 9.99975309e-01 6.38472876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.07275509600004 meters 0.01782531945106666 Centerline is valid? [True, True] Translation: X:76.30, Y:244.01, Z:6.38 [[-6.26107836e-02 -9.98037942e-01 3.95890656e-04 7.63016884e+01] [ 9.98012357e-01 -6.26120133e-02 -7.14647277e-03 2.44009692e+02] [ 7.15723849e-03 -5.23424937e-05 9.99974385e-01 6.38497367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.10275509600007 meters 0.017788225444307717 Centerline is valid? [True, True] Translation: X:76.30, Y:244.04, Z:6.39 [[-6.21904244e-02 -9.98064238e-01 3.58202261e-04 7.63031404e+01] [ 9.98043569e-01 -6.21914418e-02 -6.42330854e-03 2.44035431e+02] [ 6.43315166e-03 -4.19668214e-05 9.99979306e-01 6.38574058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.13275509600004 meters 0.017687218742854838 Centerline is valid? [True, True] Translation: X:76.30, Y:244.06, Z:6.39 [[-6.24166669e-02 -9.98050126e-01 3.25546888e-04 7.63033149e+01] [ 9.98033189e-01 -6.24175043e-02 -5.81459598e-03 2.44062070e+02] [ 5.82357807e-03 -3.80211014e-05 9.99983042e-01 6.38636709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.16275509600007 meters 0.017682866186816908 Centerline is valid? [True, True] Translation: X:76.30, Y:244.09, Z:6.39 [[-6.30088492e-02 -9.98012916e-01 3.22759777e-04 7.63034721e+01] [ 9.97996483e-01 -6.30096640e-02 -5.72729676e-03 2.44088765e+02] [ 5.73625312e-03 -3.87572550e-05 9.99983547e-01 6.38669336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.19275509600004 meters 0.017784115052073966 Centerline is valid? [True, True] Translation: X:76.31, Y:244.11, Z:6.39 [[-6.43965169e-02 -9.97924342e-01 3.11585148e-04 7.63071454e+01] [ 9.97909254e-01 -6.43972567e-02 -5.48765736e-03 2.44114365e+02] [ 5.49633209e-03 -4.24523174e-05 9.99984894e-01 6.38738134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.22275509600007 meters 0.01789154665045579 Centerline is valid? [True, True] Translation: X:76.31, Y:244.14, Z:6.39 [[-6.56236532e-02 -9.97844399e-01 3.01452849e-04 7.63080177e+01] [ 9.97830393e-01 -6.56243293e-02 -5.28726452e-03 2.44140905e+02] [ 5.29564993e-03 -4.61707984e-05 9.99985977e-01 6.38777918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.25275509600004 meters 0.01808985284740079 Centerline is valid? [True, True] Translation: X:76.31, Y:244.17, Z:6.39 [[-6.69074673e-02 -9.97759140e-01 2.98807592e-04 7.63087941e+01] [ 9.97745561e-01 -6.69081157e-02 -5.20573346e-03 2.44167826e+02] [ 5.21406079e-03 -5.01684931e-05 9.99986405e-01 6.38806059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.2827550960001 meters 0.01841492981234209 Centerline is valid? [True, True] Translation: X:76.31, Y:244.19, Z:6.39 [[-6.86558473e-02 -9.97640359e-01 2.98016192e-04 7.63130798e+01] [ 9.97627024e-01 -6.86564705e-02 -5.15854476e-03 2.44193715e+02] [ 5.16683318e-03 -5.68552542e-05 9.99986650e-01 6.38853369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.31275509600005 meters 0.01854938607867626 Centerline is valid? [True, True] Translation: X:76.31, Y:244.22, Z:6.39 [[-6.96938885e-02 -9.97568377e-01 3.07143886e-04 7.63140228e+01] [ 9.97554425e-01 -6.96945383e-02 -5.27644600e-03 2.44220134e+02] [ 5.28502192e-03 -6.13432964e-05 9.99986032e-01 6.38894001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3427550960001 meters 0.01870921206911441 Centerline is valid? [True, True] Translation: X:76.32, Y:244.25, Z:6.39 [[-7.02193677e-02 -9.97531523e-01 3.16919012e-04 7.63177164e+01] [ 9.97516865e-01 -7.02200541e-02 -5.40808148e-03 2.44245978e+02] [ 5.41698582e-03 -6.36200022e-05 9.99985326e-01 6.38942290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.37275509600005 meters 0.018551225980945774 Centerline is valid? [True, True] Translation: X:76.32, Y:244.27, Z:6.39 [[-7.06749479e-02 -9.97499338e-01 3.49820078e-04 7.63178406e+01] [ 9.97481762e-01 -7.06757794e-02 -5.92181178e-03 2.44272783e+02] [ 5.93172714e-03 -6.95845914e-05 9.99982405e-01 6.38939830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4027550960001 meters 0.018596774158604373 Centerline is valid? [True, True] Translation: X:76.32, Y:244.30, Z:6.39 [[-7.11622698e-02 -9.97464684e-01 3.68196210e-04 7.63183304e+01] [ 9.97445471e-01 -7.11631845e-02 -6.19138611e-03 2.44297890e+02] [ 6.20189100e-03 -7.33374464e-05 9.99980765e-01 6.38894175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.43275509600005 meters 0.01827586480723779 Centerline is valid? [True, True] Translation: X:76.32, Y:244.32, Z:6.39 [[-6.97056688e-02 -9.97567541e-01 3.47449308e-04 7.63168656e+01] [ 9.97550643e-01 -6.97065105e-02 -5.80656449e-03 2.44323775e+02] [ 5.81665974e-03 -5.81521805e-05 9.99983081e-01 6.38949603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4627550960001 meters 0.017778627250242342 Centerline is valid? [True, True] Translation: X:76.31, Y:244.35, Z:6.39 [[-6.87289726e-02 -9.97635317e-01 3.21841606e-04 7.63123837e+01] [ 9.97620972e-01 -6.87297103e-02 -5.35015482e-03 2.44350037e+02] [ 5.35962347e-03 -4.66347082e-05 9.99985636e-01 6.38955744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.49275509600005 meters 0.01716529431157119 Centerline is valid? [True, True] Translation: X:76.31, Y:244.38, Z:6.39 [[-6.63056206e-02 -9.97799291e-01 3.74700370e-04 7.63066912e+01] [ 9.97780181e-01 -6.63066698e-02 -6.17538302e-03 2.44377479e+02] [ 6.18663793e-03 -3.55940008e-05 9.99980862e-01 6.38840163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5227550960001 meters 0.017121416890768165 Centerline is valid? [True, True] Translation: X:76.30, Y:244.40, Z:6.39 [[-6.57010191e-02 -9.97839265e-01 4.21079705e-04 7.63046124e+01] [ 9.97815360e-01 -6.57023598e-02 -6.90702476e-03 2.44403891e+02] [ 6.91976644e-03 -3.36387676e-05 9.99976058e-01 6.38815808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.55275509600006 meters 0.017018332228044306 Centerline is valid? [True, True] Translation: X:76.30, Y:244.43, Z:6.39 [[-6.58730165e-02 -9.97827901e-01 4.75401530e-04 7.63020158e+01] [ 9.97797734e-01 -6.58747216e-02 -7.75911032e-03 2.44428952e+02] [ 7.77357371e-03 -3.67614329e-05 9.99969785e-01 6.38757723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5827550960001 meters 0.017082471873088596 Centerline is valid? [True, True] Translation: X:76.30, Y:244.45, Z:6.39 [[-6.66285935e-02 -9.97777724e-01 4.94634034e-04 7.63009229e+01] [ 9.97745485e-01 -6.66304169e-02 -8.02084099e-03 2.44454988e+02] [ 8.03597414e-03 -4.08984793e-05 9.99967710e-01 6.38701605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.61275509600006 meters 0.016928597815690904 Centerline is valid? [True, True] Translation: X:76.30, Y:244.48, Z:6.39 [[-6.77492179e-02 -9.97702265e-01 4.84088962e-04 7.62985746e+01] [ 9.97671730e-01 -6.77509319e-02 -7.80584895e-03 2.44482299e+02] [ 7.82071066e-03 -4.58782899e-05 9.99969417e-01 6.38702398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6427550960001 meters 0.01729957049131596 Centerline is valid? [True, True] Translation: X:76.30, Y:244.51, Z:6.39 [[-7.02481489e-02 -9.97529420e-01 5.04328700e-04 7.62977305e+01] [ 9.97496694e-01 -7.02499295e-02 -8.08045833e-03 2.44508769e+02] [ 8.09592397e-03 -6.45710291e-05 9.99967225e-01 6.38662663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.67275509600006 meters 0.01747451684676337 Centerline is valid? [True, True] Translation: X:76.30, Y:244.54, Z:6.39 [[-7.21353850e-02 -9.97394710e-01 5.27440843e-04 7.62964568e+01] [ 9.97359245e-01 -7.21372681e-02 -8.41132298e-03 2.44535638e+02] [ 8.42745719e-03 -8.07060210e-05 9.99964485e-01 6.38631132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.70275509600003 meters 0.01798772811663802 Centerline is valid? [True, True] Translation: X:76.30, Y:244.56, Z:6.39 [[-7.38279743e-02 -9.97270864e-01 5.03188219e-04 7.62950124e+01] [ 9.97238918e-01 -7.38296372e-02 -7.98277503e-03 2.44560913e+02] [ 7.99813916e-03 -8.75532356e-05 9.99968011e-01 6.38650794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.73275509600006 meters 0.018462013184643446 Centerline is valid? [True, True] Translation: X:76.29, Y:244.59, Z:6.39 [[-7.65544787e-02 -9.97065262e-01 5.24113641e-04 7.62935216e+01] [ 9.97031074e-01 -7.65561944e-02 -8.25755347e-03 2.44588200e+02] [ 8.27344387e-03 -1.09595115e-04 9.99965768e-01 6.38651657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76275509600003 meters 0.018757060458137294 Centerline is valid? [True, True] Translation: X:76.29, Y:244.62, Z:6.39 [[-7.85751206e-02 -9.96908045e-01 5.48012242e-04 7.62915992e+01] [ 9.96871091e-01 -7.85769269e-02 -8.58459249e-03 2.44615768e+02] [ 8.60111043e-03 -1.28237828e-04 9.99963002e-01 6.38652380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.79275509600006 meters 0.019733485694303547 Centerline is valid? [True, True] Translation: X:76.29, Y:244.64, Z:6.39 [[-8.15419116e-02 -9.96669728e-01 6.07911549e-04 7.62911915e+01] [ 9.96624800e-01 -8.15440088e-02 -9.46486302e-03 2.44642298e+02] [ 9.48291399e-03 -1.65923298e-04 9.99955022e-01 6.38622333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82275509600004 meters 0.020163418957585978 Centerline is valid? [True, True] Translation: X:76.29, Y:244.67, Z:6.39 [[-8.30451779e-02 -9.96545589e-01 6.22246950e-04 7.62898315e+01] [ 9.96498929e-01 -8.30473120e-02 -9.64509506e-03 2.44668355e+02] [ 9.66345288e-03 -1.80910215e-04 9.99953291e-01 6.38620169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.85275509600007 meters 0.020439094554872687 Centerline is valid? [True, True] Translation: X:76.29, Y:244.69, Z:6.39 [[-8.44760141e-02 -9.96425318e-01 6.23485920e-04 7.62880677e+01] [ 9.96379025e-01 -8.44781006e-02 -9.60677458e-03 2.44694869e+02] [ 9.62510432e-03 -1.90313733e-04 9.99953660e-01 6.38648253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.88275509600004 meters 0.020439094554872687 Centerline is valid? [True, True] Translation: X:76.29, Y:244.72, Z:6.39 [[-8.48625137e-02 -9.96392473e-01 6.27212397e-04 7.62861262e+01] [ 9.96346180e-01 -8.48646181e-02 -9.60653131e-03 2.44720733e+02] [ 9.62510363e-03 -1.90313719e-04 9.99953660e-01 6.38672016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.91275509600007 meters 0.021253577641222175 Centerline is valid? [True, True] Translation: X:76.28, Y:244.75, Z:6.39 [[-8.63096539e-02 -9.96268148e-01 6.48504346e-04 7.62847141e+01] [ 9.96219243e-01 -8.63118441e-02 -9.87346416e-03 2.44746521e+02] [ 9.89259146e-03 -2.06122765e-04 9.99951046e-01 6.38715505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.94275509600004 meters 0.02135102731347726 Centerline is valid? [True, True] Translation: X:76.28, Y:244.77, Z:6.39 [[-8.70303482e-02 -9.96205463e-01 6.28284132e-04 7.62823155e+01] [ 9.96159927e-01 -8.70323786e-02 -9.52711407e-03 2.44772520e+02] [ 9.54564414e-03 -2.03276580e-04 9.99954419e-01 6.38769238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.97275509600007 meters 0.021323427682303612 Centerline is valid? [True, True] Translation: X:76.28, Y:244.80, Z:6.39 [[-8.78040659e-02 -9.96137565e-01 6.30077776e-04 7.62790204e+01] [ 9.96092292e-01 -8.78060838e-02 -9.49938537e-03 2.44799086e+02] [ 9.51801928e-03 -2.06469043e-04 9.99954681e-01 6.38803204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.00275509600004 meters 0.02202203543094071 Centerline is valid? [True, True] Translation: X:76.28, Y:244.82, Z:6.39 [[-8.84271057e-02 -9.96082445e-01 6.39994944e-04 7.62778630e+01] [ 9.96036278e-01 -8.84291705e-02 -9.59239625e-03 2.44824664e+02] [ 9.61141174e-03 -2.10769655e-04 9.99953787e-01 6.38788822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0327550960001 meters 0.021654045390025207 Centerline is valid? [True, True] Translation: X:76.27, Y:244.85, Z:6.39 [[-8.91453666e-02 -9.96018432e-01 6.21831103e-04 7.62746008e+01] [ 9.95975350e-01 -8.91472957e-02 -9.26618195e-03 2.44850664e+02] [ 9.28472257e-03 -2.06708737e-04 9.99956875e-01 6.38772112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.06275509600005 meters 0.0219153557841525 Centerline is valid? [True, True] Translation: X:76.27, Y:244.88, Z:6.39 [[-8.97011065e-02 -9.95968517e-01 6.51284036e-04 7.62732335e+01] [ 9.95921811e-01 -8.97032089e-02 -9.64781418e-03 2.44876187e+02] [ 9.66734145e-03 -2.16791631e-04 9.99953247e-01 6.38825831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0927550960001 meters 0.021656367257718502 Centerline is valid? [True, True] Translation: X:76.27, Y:244.90, Z:6.39 [[-9.00475594e-02 -9.95937254e-01 6.49911232e-04 7.62709983e+01] [ 9.95891283e-01 -9.00496489e-02 -9.57151752e-03 2.44902968e+02] [ 9.59115516e-03 -2.14650862e-04 9.99953981e-01 6.38842135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.12275509600005 meters 0.021016310749637692 Centerline is valid? [True, True] Translation: X:76.27, Y:244.93, Z:6.39 [[-9.02809351e-02 -9.95916100e-01 6.89243259e-04 7.62684731e+01] [ 9.95865002e-01 -9.02832866e-02 -1.00908847e-02 2.44929713e+02] [ 1.01119016e-02 -2.24621264e-04 9.99948848e-01 6.38908273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1527550960001 meters 0.02088753845053162 Centerline is valid? [True, True] Translation: X:76.27, Y:244.96, Z:6.39 [[-9.04663247e-02 -9.95899263e-01 7.08878268e-04 7.62663906e+01] [ 9.95845842e-01 -9.04688160e-02 -1.03176157e-02 2.44956068e+02] [ 1.03394373e-02 -2.27463297e-04 9.99946521e-01 6.38927933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.18275509600005 meters 0.020991281556896682 Centerline is valid? [True, True] Translation: X:76.26, Y:244.98, Z:6.39 [[-9.10589285e-02 -9.95845234e-01 7.35446810e-04 7.62646240e+01] [ 9.95788406e-01 -9.10615910e-02 -1.06413198e-02 2.44982727e+02] [ 1.06640786e-02 -2.36637772e-04 9.99943109e-01 6.38900458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2127550960001 meters 0.02104777728671877 Centerline is valid? [True, True] Translation: X:76.26, Y:245.01, Z:6.39 [[-9.15381278e-02 -9.95801281e-01 7.60989189e-04 7.62626784e+01] [ 9.95741137e-01 -9.15409649e-02 -1.09471262e-02 2.45009356e+02] [ 1.09708240e-02 -2.44331200e-04 9.99939789e-01 6.38892734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.24275509600005 meters 0.02089105199505606 Centerline is valid? [True, True] Translation: X:76.26, Y:245.04, Z:6.39 [[-9.20983130e-02 -9.95749568e-01 8.35929063e-04 7.62609603e+01] [ 9.95677862e-01 -9.21017151e-02 -1.19528097e-02 2.45035459e+02] [ 1.19789956e-02 -2.68517546e-04 9.99928213e-01 6.38844509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2727550960001 meters 0.021424784093583747 Centerline is valid? [True, True] Translation: X:76.26, Y:245.06, Z:6.39 [[-9.25957802e-02 -9.95703431e-01 8.35624980e-04 7.62603294e+01] [ 9.95632582e-01 -9.25991624e-02 -1.18809421e-02 2.45060474e+02] [ 1.19072730e-02 -2.68149645e-04 9.99929070e-01 6.38824192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.30275509600006 meters 0.020818511565576833 Centerline is valid? [True, True] Translation: X:76.26, Y:245.09, Z:6.39 [[-9.30813721e-02 -9.95658128e-01 8.65824484e-04 7.62575106e+01] [ 9.95582957e-01 -9.30849864e-02 -1.22377326e-02 2.45086884e+02] [ 1.22651932e-02 -2.77104838e-04 9.99924741e-01 6.38832917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3327550960001 meters 0.02109317083646095 Centerline is valid? [True, True] Translation: X:76.26, Y:245.11, Z:6.39 [[-9.32686534e-02 -9.95640565e-01 9.07152685e-04 7.62558629e+01] [ 9.95559000e-01 -9.32726270e-02 -1.27473745e-02 2.45111789e+02] [ 1.27764157e-02 -2.85806437e-04 9.99918337e-01 6.38778665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.36275509600006 meters 0.020825797894417797 Centerline is valid? [True, True] Translation: X:76.25, Y:245.14, Z:6.39 [[-9.32974360e-02 -9.95637863e-01 9.12884314e-04 7.62530991e+01] [ 9.95556201e-01 -9.33014784e-02 -1.27548150e-02 2.45137734e+02] [ 1.27843502e-02 -2.81163897e-04 9.99918237e-01 6.38765051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3927550960001 meters 0.020804645737734644 Centerline is valid? [True, True] Translation: X:76.25, Y:245.16, Z:6.39 [[-9.26877258e-02 -9.95694744e-01 9.81327370e-04 7.62512901e+01] [ 9.95601467e-01 -9.26924779e-02 -1.36317379e-02 2.45162883e+02] [ 1.36640114e-02 -2.86483817e-04 9.99906602e-01 6.38647398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.42275509600006 meters 0.021408833653931873 Centerline is valid? [True, True] Translation: X:76.25, Y:245.19, Z:6.39 [[-9.26233929e-02 -9.95700670e-01 1.04026986e-03 7.62505032e+01] [ 9.95597063e-01 -9.26287647e-02 -1.43666396e-02 2.45187959e+02] [ 1.44012316e-02 -2.94997281e-04 9.99896253e-01 6.38590555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.45275509600003 meters 0.01976652860806799 Centerline is valid? [True, True] Translation: X:76.25, Y:245.21, Z:6.39 [[-9.14333241e-02 -9.95810586e-01 1.10641242e-03 7.62453335e+01] [ 9.95694708e-01 -9.14395658e-02 -1.51938735e-02 2.45214067e+02] [ 1.52313900e-02 -2.87577366e-04 9.99883954e-01 6.38622861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.48275509600006 meters 0.019083266925531906 Centerline is valid? [True, True] Translation: X:76.24, Y:245.24, Z:6.39 [[-9.10440637e-02 -9.95846228e-01 1.12632102e-03 7.62416150e+01] [ 9.95727394e-01 -9.10506019e-02 -1.53864837e-02 2.45240950e+02] [ 1.54251240e-02 -2.79339307e-04 9.99880987e-01 6.38657563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.51275509600003 meters 0.018625473705979088 Centerline is valid? [True, True] Translation: X:76.24, Y:245.27, Z:6.39 [[-9.04476996e-02 -9.95900579e-01 1.11824473e-03 7.62383312e+01] [ 9.95784592e-01 -9.04542343e-02 -1.52012715e-02 2.45268262e+02] [ 1.52401050e-02 -2.61389158e-04 9.99883829e-01 6.38671359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.54275509600006 meters 0.01920730665310415 Centerline is valid? [True, True] Translation: X:76.24, Y:245.29, Z:6.39 [[-8.96525958e-02 -9.95972442e-01 1.14280738e-03 7.62376033e+01] [ 9.95852534e-01 -8.96595373e-02 -1.54563157e-02 2.45294178e+02] [ 1.54965281e-02 -2.47631200e-04 9.99879891e-01 6.38606648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.57275509600004 meters 0.01806287442939766 Centerline is valid? [True, True] Translation: X:76.23, Y:245.32, Z:6.39 [[-8.88571478e-02 -9.96043777e-01 1.09597525e-03 7.62327311e+01] [ 9.95934611e-01 -8.88636368e-02 -1.47480146e-02 2.45320061e+02] [ 1.47870605e-02 -2.18946831e-04 9.99890642e-01 6.38777671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.60275509600007 meters 0.01778333997594875 Centerline is valid? [True, True] Translation: X:76.23, Y:245.35, Z:6.39 [[-8.88155348e-02 -9.96047526e-01 1.06112862e-03 7.62295258e+01] [ 9.95946248e-01 -8.88216374e-02 -1.42052207e-02 2.45345907e+02] [ 1.42433261e-02 -2.04817205e-04 9.99898538e-01 6.38884797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.63275509600004 meters 0.01785398742106473 Centerline is valid? [True, True] Translation: X:76.23, Y:245.37, Z:6.39 [[-8.88368172e-02 -9.96045700e-01 9.91890239e-04 7.62264388e+01] [ 9.95958110e-01 -8.88421603e-02 -1.32103528e-02 2.45371126e+02] [ 1.32462368e-02 -1.85684569e-04 9.99912248e-01 6.38999565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.66275509600007 meters 0.017802892618993732 Centerline is valid? [True, True] Translation: X:76.22, Y:245.40, Z:6.39 [[-8.93038230e-02 -9.96003980e-01 9.47913345e-04 7.62236319e+01] [ 9.95924817e-01 -8.93086773e-02 -1.25586486e-02 2.45397247e+02] [ 1.25931209e-02 -1.77484912e-04 9.99920688e-01 6.39068193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.69275509600004 meters 0.017826504451076475 Centerline is valid? [True, True] Translation: X:76.22, Y:245.42, Z:6.39 [[-9.01928970e-02 -9.95923886e-01 9.24942945e-04 7.62211515e+01] [ 9.95849255e-01 -9.01974627e-02 -1.21934347e-02 2.45424079e+02] [ 1.22271604e-02 -1.78657463e-04 9.99925230e-01 6.39133435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.72275509600007 meters 0.018200132204904313 Centerline is valid? [True, True] Translation: X:76.22, Y:245.45, Z:6.39 [[-9.21798393e-02 -9.95741961e-01 9.08282080e-04 7.62196016e+01] [ 9.95670649e-01 -9.21841093e-02 -1.19184279e-02 2.45451243e+02] [ 1.19514079e-02 -1.94288959e-04 9.99928561e-01 6.39160885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.75275509600004 meters 0.019221123636103586 Centerline is valid? [True, True] Translation: X:76.22, Y:245.48, Z:6.39 [[-9.36474604e-02 -9.95604999e-01 9.15661430e-04 7.62193159e+01] [ 9.95533205e-01 -9.36517053e-02 -1.19581080e-02 2.45477778e+02] [ 1.19913053e-02 -2.08275084e-04 9.99928080e-01 6.39154905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.7827550960001 meters 0.020132122146384615 Centerline is valid? [True, True] Translation: X:76.22, Y:245.50, Z:6.39 [[-9.55542766e-02 -9.95423781e-01 9.36680274e-04 7.62186095e+01] [ 9.95349377e-01 -9.55585886e-02 -1.21727099e-02 2.45504218e+02] [ 1.22065127e-02 -2.30830359e-04 9.99925471e-01 6.39154285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.81275509600005 meters 0.02070105894572367 Centerline is valid? [True, True] Translation: X:76.22, Y:245.53, Z:6.39 [[-9.93591239e-02 -9.95051256e-01 8.73500377e-04 7.62175920e+01] [ 9.94987098e-01 -9.93626391e-02 -1.13022169e-02 2.45531776e+02] [ 1.13330784e-02 -2.53856758e-04 9.99935746e-01 6.39261255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8427550960001 meters 0.020684896355098247 Centerline is valid? [True, True] Translation: X:76.22, Y:245.56, Z:6.39 [[-1.01470498e-01 -9.94838207e-01 8.25102754e-04 7.62154585e+01] [ 9.94781448e-01 -1.01473526e-01 -1.06298702e-02 2.45559131e+02] [ 1.06587271e-02 -2.57821312e-04 9.99943161e-01 6.39379431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.87275509600005 meters 0.02219164286972601 Centerline is valid? [True, True] Translation: X:76.22, Y:245.59, Z:6.39 [[-1.04348846e-01 -9.94540446e-01 7.87201924e-04 7.62159654e+01] [ 9.94489221e-01 -1.04351464e-01 -1.00975726e-02 2.45585714e+02] [ 1.01245901e-02 -2.70806219e-04 9.99948708e-01 6.39441199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9027550960001 meters 0.02293269209142406 Centerline is valid? [True, True] Translation: X:76.21, Y:245.61, Z:6.39 [[-1.05907971e-01 -9.94375647e-01 7.57838569e-04 7.62146517e+01] [ 9.94328499e-01 -1.05910332e-01 -9.68702978e-03 2.45613152e+02] [ 9.71280944e-03 -2.72393181e-04 9.99952792e-01 6.39477851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.93275509600005 meters 0.023590890195085038 Centerline is valid? [True, True] Translation: X:76.21, Y:245.64, Z:6.40 [[-1.07070907e-01 -9.94251090e-01 7.69166487e-04 7.62134931e+01] [ 9.94202952e-01 -1.07073295e-01 -9.78778991e-03 2.45638938e+02] [ 9.81387797e-03 -2.83279949e-04 9.99951803e-01 6.39506323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9627550960001 meters 0.02372319872687997 Centerline is valid? [True, True] Translation: X:76.21, Y:245.67, Z:6.39 [[-1.09293718e-01 -9.94009201e-01 7.68874588e-04 7.62112534e+01] [ 9.93961431e-01 -1.09296007e-01 -9.74970068e-03 2.45666322e+02] [ 9.77532711e-03 -3.01349348e-04 9.99952175e-01 6.39471790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.99275509600005 meters 0.023764013424304214 Centerline is valid? [True, True] Translation: X:76.21, Y:245.69, Z:6.39 [[-1.10277978e-01 -9.93900465e-01 7.95960967e-04 7.62091224e+01] [ 9.93849743e-01 -1.10280395e-01 -1.00459962e-02 2.45693009e+02] [ 1.00724992e-02 -3.16786545e-04 9.99949221e-01 6.39460416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0227550960001 meters 0.025730909015429997 Centerline is valid? [True, True] Translation: X:76.21, Y:245.72, Z:6.39 [[-1.11283302e-01 -9.93788391e-01 8.12680540e-04 7.62100689e+01] [ 9.93736025e-01 -1.11285785e-01 -1.02071599e-02 2.45719104e+02] [ 1.02341968e-02 -3.28296520e-04 9.99947575e-01 6.39448548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.05275509600006 meters 0.024386107189206526 Centerline is valid? [True, True] Translation: X:76.21, Y:245.75, Z:6.39 [[-1.12121197e-01 -9.93694201e-01 8.19287467e-04 7.62060112e+01] [ 9.93641479e-01 -1.12123692e-01 -1.02415473e-02 2.45746229e+02] [ 1.02688277e-02 -3.34216537e-04 9.99947218e-01 6.39443413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0827550960001 meters 0.02448544756443012 Centerline is valid? [True, True] Translation: X:76.20, Y:245.77, Z:6.39 [[-1.11722669e-01 -9.93739057e-01 8.56100954e-04 7.62040432e+01] [ 9.93682014e-01 -1.11725433e-01 -1.06528612e-02 2.45771581e+02] [ 1.06818125e-02 -3.39473963e-04 9.99942890e-01 6.39403591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.11275509600006 meters 0.024588175675227964 Centerline is valid? [True, True] Translation: X:76.20, Y:245.80, Z:6.39 [[-1.11687930e-01 -9.93742950e-01 8.69182630e-04 7.62018989e+01] [ 9.93684636e-01 -1.11690797e-01 -1.07707788e-02 2.45797020e+02] [ 1.08004652e-02 -3.39272562e-04 9.99941616e-01 6.39399874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1427550960001 meters 0.023498763953281897 Centerline is valid? [True, True] Translation: X:76.20, Y:245.82, Z:6.39 [[-1.09769699e-01 -9.93956604e-01 9.39622339e-04 7.61980158e+01] [ 9.93889170e-01 -1.09773201e-01 -1.15828704e-02 2.45823980e+02] [ 1.16160158e-02 -3.37567727e-04 9.99932475e-01 6.39365090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.17275509600006 meters 0.02286415402096176 Centerline is valid? [True, True] Translation: X:76.19, Y:245.85, Z:6.39 [[-1.08602045e-01 -9.94084838e-01 9.64882320e-04 7.61945870e+01] [ 9.94014357e-01 -1.08605839e-01 -1.18418687e-02 2.45850978e+02] [ 1.18766140e-02 -3.26944271e-04 9.99929417e-01 6.39351297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.20275509600003 meters 0.022073686273215203 Centerline is valid? [True, True] Translation: X:76.19, Y:245.88, Z:6.39 [[-1.07170839e-01 -9.94240152e-01 9.65588386e-04 7.61907589e+01] [ 9.94170140e-01 -1.07174755e-01 -1.18027033e-02 2.45878457e+02] [ 1.18382083e-02 -3.04946480e-04 9.99929879e-01 6.39343854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.23275509600006 meters 0.021442027754646816 Centerline is valid? [True, True] Translation: X:76.19, Y:245.90, Z:6.39 [[-1.04494557e-01 -9.94524990e-01 9.65424206e-04 7.61874778e+01] [ 9.94455454e-01 -1.04498670e-01 -1.17634248e-02 2.45904252e+02] [ 1.17999054e-02 -2.69142490e-04 9.99930342e-01 6.39381642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26275509600003 meters 0.020060162923476784 Centerline is valid? [True, True] Translation: X:76.18, Y:245.93, Z:6.39 [[-1.03609032e-01 -9.94617629e-01 9.70053104e-04 7.61825526e+01] [ 9.94547926e-01 -1.03613258e-01 -1.17777888e-02 2.45931230e+02] [ 1.18149067e-02 -2.55520990e-04 9.99930169e-01 6.39433036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.29275509600006 meters 0.02070418867713464 Centerline is valid? [True, True] Translation: X:76.18, Y:245.96, Z:6.39 [[-1.02493745e-01 -9.94733173e-01 9.73481904e-04 7.61822371e+01] [ 9.94663612e-01 -1.02498092e-01 -1.17660639e-02 2.45956417e+02] [ 1.18038741e-02 -2.37660928e-04 9.99930304e-01 6.39496429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32275509600004 meters 0.019420496072334106 Centerline is valid? [True, True] Translation: X:76.18, Y:245.98, Z:6.40 [[-1.02777330e-01 -9.94703973e-01 9.09148727e-04 7.61776120e+01] [ 9.94643860e-01 -1.02781116e-01 -1.09376929e-02 2.45983721e+02] [ 1.09732099e-02 -2.19867672e-04 9.99939768e-01 6.39603969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.35275509600007 meters 0.020865029622288273 Centerline is valid? [True, True] Translation: X:76.18, Y:246.01, Z:6.40 [[-1.03222588e-01 -9.94657872e-01 9.02704716e-04 7.61782984e+01] [ 9.94599126e-01 -1.03226304e-01 -1.08124371e-02 2.46009305e+02] [ 1.08478586e-02 -2.18258419e-04 9.99941136e-01 6.39644140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.38275509600004 meters 0.020992295552196054 Centerline is valid? [True, True] Translation: X:76.18, Y:246.04, Z:6.40 [[-1.03637565e-01 -9.94614751e-01 8.67682942e-04 7.61765203e+01] [ 9.94560985e-01 -1.03640986e-01 -1.03437978e-02 2.46035607e+02] [ 1.03780214e-02 -2.09042417e-04 9.99946125e-01 6.39763524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.41275509600007 meters 0.02158227375429157 Centerline is valid? [True, True] Translation: X:76.18, Y:246.06, Z:6.40 [[-1.04681279e-01 -9.94505523e-01 7.70524739e-04 7.61756333e+01] [ 9.94463449e-01 -1.04683940e-01 -9.14997466e-03 2.46061150e+02] [ 9.18036191e-03 -1.91572363e-04 9.99957841e-01 6.39953063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.44275509600004 meters 0.01984484989239957 Centerline is valid? [True, True] Translation: X:76.17, Y:246.09, Z:6.40 [[-1.05867683e-01 -9.94379965e-01 7.20595305e-04 7.61698402e+01] [ 9.94343395e-01 -1.05869971e-01 -8.53009102e-03 2.46088351e+02] [ 8.55844101e-03 -1.86541787e-04 9.99963359e-01 6.40039776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.47275509600007 meters 0.021109455813442323 Centerline is valid? [True, True] Translation: X:76.17, Y:246.11, Z:6.40 [[-1.07585501e-01 -9.94195609e-01 6.71104658e-04 7.61697393e+01] [ 9.94164133e-01 -1.07587436e-01 -7.91324772e-03 2.46114343e+02] [ 7.93951857e-03 -1.84162538e-04 9.99968465e-01 6.40142983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.50275509600004 meters 0.023801588042029753 Centerline is valid? [True, True] Translation: X:76.17, Y:246.14, Z:6.40 [[-1.08752864e-01 -9.94068630e-01 6.10981375e-04 7.61720358e+01] [ 9.94042746e-01 -1.08754442e-01 -7.17565527e-03 2.46141326e+02] [ 7.19954074e-03 -1.73031454e-04 9.99974068e-01 6.40250644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5327550960001 meters 0.0211811929709936 Centerline is valid? [True, True] Translation: X:76.16, Y:246.17, Z:6.40 [[-1.09864152e-01 -9.93946439e-01 5.86331666e-04 7.61649588e+01] [ 9.93922794e-01 -1.09865584e-01 -6.85801672e-03 2.46168225e+02] [ 6.88091897e-03 -1.70681786e-04 9.99976312e-01 6.40266328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.56275509600005 meters 0.02155762564298366 Centerline is valid? [True, True] Translation: X:76.16, Y:246.20, Z:6.40 [[-1.10868471e-01 -9.93834916e-01 5.85507771e-04 7.61631937e+01] [ 9.93811533e-01 -1.10869880e-01 -6.81958282e-03 2.46195347e+02] [ 6.84245469e-03 -1.74192347e-04 9.99976575e-01 6.40328298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5927550960001 meters 0.022490676681098824 Centerline is valid? [True, True] Translation: X:76.16, Y:246.22, Z:6.40 [[-1.12594375e-01 -9.93640884e-01 5.47692906e-04 7.61620332e+01] [ 9.93620579e-01 -1.12595577e-01 -6.35464537e-03 2.46221079e+02] [ 6.37590324e-03 -1.71298382e-04 9.99979659e-01 6.40340405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.62275509600005 meters 0.022897794473493698 Centerline is valid? [True, True] Translation: X:76.16, Y:246.25, Z:6.40 [[-1.13264377e-01 -9.93564720e-01 5.73653695e-04 7.61600065e+01] [ 9.93542638e-01 -1.13265686e-01 -6.62654635e-03 2.46246672e+02] [ 6.64887794e-03 -1.80602240e-04 9.99977880e-01 6.40347484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6527550960001 meters 0.022067855455326597 Centerline is valid? [True, True] Translation: X:76.16, Y:246.27, Z:6.40 [[-1.14135698e-01 -9.93465016e-01 5.52798580e-04 7.61553234e+01] [ 9.93444638e-01 -1.14136898e-01 -6.36550679e-03 2.46273646e+02] [ 6.38700301e-03 -1.77356772e-04 9.99979587e-01 6.40363069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.68275509600005 meters 0.022809274466662435 Centerline is valid? [True, True] Translation: X:76.15, Y:246.30, Z:6.40 [[-1.14672545e-01 -9.93403166e-01 5.97369711e-04 7.61528672e+01] [ 9.93379587e-01 -1.14673941e-01 -6.84713716e-03 2.46299527e+02] [ 6.87047047e-03 -1.91763769e-04 9.99976380e-01 6.40362338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7127550960001 meters 0.02299252593256209 Centerline is valid? [True, True] Translation: X:76.15, Y:246.33, Z:6.40 [[-1.14991226e-01 -9.93366298e-01 6.45458821e-04 7.61500242e+01] [ 9.93339031e-01 -1.14992854e-01 -7.36289443e-03 2.46326072e+02] [ 7.38827433e-03 -2.05508820e-04 9.99972685e-01 6.40397141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.74275509600005 meters 0.02352475154527182 Centerline is valid? [True, True] Translation: X:76.15, Y:246.35, Z:6.40 [[-1.14794214e-01 -9.93389064e-01 6.74959551e-04 7.61472205e+01] [ 9.93359528e-01 -1.14796008e-01 -7.66324002e-03 2.46351276e+02] [ 7.69006149e-03 -2.09218114e-04 9.99970409e-01 6.40438646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7727550960001 meters 0.02352475154527182 Centerline is valid? [True, True] Translation: X:76.14, Y:246.38, Z:6.40 [[-1.15175585e-01 -9.93344917e-01 6.78147081e-04 7.61446789e+01] [ 9.93315382e-01 -1.15177392e-01 -7.66295780e-03 2.46377091e+02] [ 7.69006740e-03 -2.08971720e-04 9.99970409e-01 6.40462406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.80275509600006 meters 0.022358557456752335 Centerline is valid? [True, True] Translation: X:76.14, Y:246.40, Z:6.41 [[-1.15017590e-01 -9.93363209e-01 6.99361147e-04 7.61393836e+01] [ 9.93332080e-01 -1.15019524e-01 -7.86684555e-03 2.46404170e+02] [ 7.89507513e-03 -2.10127754e-04 9.99968811e-01 6.40510481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8327550960001 meters 0.021954486481769373 Centerline is valid? [True, True] Translation: X:76.14, Y:246.43, Z:6.41 [[-1.14495811e-01 -9.93423476e-01 7.11247485e-04 7.61353976e+01] [ 9.93391546e-01 -1.14497835e-01 -7.96760631e-03 2.46430880e+02] [ 7.99664345e-03 -2.05710305e-04 9.99968005e-01 6.40522400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.86275509600006 meters 0.022446541335589317 Centerline is valid? [True, True] Translation: X:76.13, Y:246.46, Z:6.41 [[-1.13706812e-01 -9.93514105e-01 6.95434928e-04 7.61328592e+01] [ 9.93483824e-01 -1.13708777e-01 -7.75922931e-03 2.46456092e+02] [ 7.78798082e-03 -1.91373876e-04 9.99969655e-01 6.40589030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8927550960001 meters 0.02134198999951326 Centerline is valid? [True, True] Translation: X:76.13, Y:246.48, Z:6.41 [[-1.11852875e-01 -9.93724544e-01 6.82285255e-04 7.61259251e+01] [ 9.93695597e-01 -1.11854825e-01 -7.58672256e-03 2.46483132e+02] [ 7.61542931e-03 -1.70612873e-04 9.99970988e-01 6.40652816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.92275509600006 meters 0.020458394509915427 Centerline is valid? [True, True] Translation: X:76.12, Y:246.51, Z:6.41 [[-1.09963682e-01 -9.93935373e-01 6.79826539e-04 7.61200821e+01] [ 9.93906861e-01 -1.09965678e-01 -7.53001840e-03 2.46509580e+02] [ 7.55910923e-03 -1.52344288e-04 9.99971418e-01 6.40721793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.95275509600003 meters 0.020593909782255133 Centerline is valid? [True, True] Translation: X:76.12, Y:246.53, Z:6.41 [[-1.09324388e-01 -9.94005884e-01 6.93524278e-04 7.61172605e+01] [ 9.93976442e-01 -1.09326488e-01 -7.65187801e-03 2.46534492e+02] [ 7.68183234e-03 -1.47190083e-04 9.99970483e-01 6.40791022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.98275509600006 meters 0.019844513594139197 Centerline is valid? [True, True] Translation: X:76.11, Y:246.56, Z:6.41 [[-1.08906284e-01 -9.94051758e-01 7.23966172e-04 7.61124665e+01] [ 9.94019980e-01 -1.08908593e-01 -7.94971554e-03 2.46560933e+02] [ 7.98127484e-03 -1.46137142e-04 9.99968138e-01 6.40847606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.01275509600003 meters 0.01980461672887677 Centerline is valid? [True, True] Translation: X:76.11, Y:246.59, Z:6.41 [[-1.08655584e-01 -9.94079167e-01 7.57107942e-04 7.61091104e+01] [ 9.94044729e-01 -1.08658123e-01 -8.27587423e-03 2.46587572e+02] [ 8.30914009e-03 -1.46620791e-04 9.99965468e-01 6.40866147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.04275509600006 meters 0.02009772238877229 Centerline is valid? [True, True] Translation: X:76.11, Y:246.61, Z:6.41 [[-1.08516306e-01 -9.94094358e-01 7.86218242e-04 7.61068490e+01] [ 9.94057548e-01 -1.08519055e-01 -8.55602374e-03 2.46612425e+02] [ 8.59081459e-03 -1.46921917e-04 9.99963088e-01 6.40914131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.07275509600004 meters 0.019043386898426006 Centerline is valid? [True, True] Translation: X:76.10, Y:246.64, Z:6.41 [[-1.08132371e-01 -9.94136177e-01 8.07427142e-04 7.61008898e+01] [ 9.94097709e-01 -1.08135291e-01 -8.74669437e-03 2.46638841e+02] [ 8.78271667e-03 -1.43139329e-04 9.99961421e-01 6.40992335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.10275509600007 meters 0.019402686067667166 Centerline is valid? [True, True] Translation: X:76.10, Y:246.67, Z:6.41 [[-1.08369057e-01 -9.94110400e-01 8.12550016e-04 7.60982146e+01] [ 9.94071747e-01 -1.08372010e-01 -8.76753092e-03 2.46665275e+02] [ 8.80395135e-03 -1.42396047e-04 9.99961234e-01 6.41051525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.13275509600004 meters 0.02044721949691712 Centerline is valid? [True, True] Translation: X:76.10, Y:246.69, Z:6.41 [[-1.09149470e-01 -9.94024990e-01 8.44287760e-04 7.60971851e+01] [ 9.93983608e-01 -1.09152631e-01 -9.07134657e-03 2.46690802e+02] [ 9.10930141e-03 -1.50924479e-04 9.99958498e-01 6.41108593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.16275509600007 meters 0.020024176530153117 Centerline is valid? [True, True] Translation: X:76.09, Y:246.72, Z:6.41 [[-1.10102982e-01 -9.93919824e-01 8.46353957e-04 7.60934865e+01] [ 9.93878600e-01 -1.10106125e-01 -9.05372854e-03 2.46716907e+02] [ 9.09186904e-03 -1.55669429e-04 9.99958656e-01 6.41122469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.19275509600004 meters 0.020061038800052954 Centerline is valid? [True, True] Translation: X:76.09, Y:246.74, Z:6.41 [[-1.11414421e-01 -9.93773616e-01 9.09870655e-04 7.60907562e+01] [ 9.93726386e-01 -1.11417998e-01 -9.69012807e-03 2.46743070e+02] [ 9.73116958e-03 -1.75457535e-04 9.99952636e-01 6.41141734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.22275509600007 meters 0.020733724338374553 Centerline is valid? [True, True] Translation: X:76.09, Y:246.77, Z:6.41 [[-1.13598715e-01 -9.93526265e-01 9.45113252e-04 7.60888033e+01] [ 9.93475735e-01 -1.13602471e-01 -1.00221292e-02 2.46770305e+02] [ 1.00646158e-02 -1.99553915e-04 9.99949331e-01 6.41178212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.25275509600004 meters 0.020894655285326795 Centerline is valid? [True, True] Translation: X:76.09, Y:246.80, Z:6.41 [[-1.15321076e-01 -9.93327827e-01 9.36355073e-04 7.60860312e+01] [ 9.93278595e-01 -1.15324685e-01 -9.89195505e-03 2.46796999e+02] [ 9.93393908e-03 -2.10689451e-04 9.99950635e-01 6.41226719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.2827550960001 meters 0.021471835542657056 Centerline is valid? [True, True] Translation: X:76.08, Y:246.82, Z:6.41 [[-1.16719931e-01 -9.93164432e-01 9.31878344e-04 7.60839212e+01] [ 9.93116034e-01 -1.16723445e-01 -9.80713286e-03 2.46824169e+02] [ 9.84886759e-03 -2.19224545e-04 9.99951475e-01 6.41266665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.31275509600005 meters 0.022655909390716975 Centerline is valid? [True, True] Translation: X:76.08, Y:246.85, Z:6.41 [[-1.19717178e-01 -9.92807583e-01 9.48952371e-04 7.60824466e+01] [ 9.92757770e-01 -1.19720681e-01 -9.94827493e-03 2.46850151e+02] [ 9.99033201e-03 -2.48899564e-04 9.99950064e-01 6.41292084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3427550960001 meters 0.023543100431798466 Centerline is valid? [True, True] Translation: X:76.08, Y:246.88, Z:6.41 [[-1.21541888e-01 -9.92585818e-01 9.82027624e-04 7.60806049e+01] [ 9.92532895e-01 -1.21545552e-01 -1.02533720e-02 2.46877268e+02] [ 1.02967128e-02 -2.71519480e-04 9.99946951e-01 6.41313365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.37275509600005 meters 0.023924541714226925 Centerline is valid? [True, True] Translation: X:76.08, Y:246.90, Z:6.41 [[-1.23535384e-01 -9.92339642e-01 1.02209238e-03 7.60779502e+01] [ 9.92282738e-01 -1.23539250e-01 -1.06311937e-02 2.46904704e+02] [ 1.06760235e-02 -2.99123971e-04 9.99942965e-01 6.41338219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4027550960001 meters 0.026302126927506657 Centerline is valid? [True, True] Translation: X:76.08, Y:246.93, Z:6.41 [[-1.27496434e-01 -9.91838435e-01 1.08513796e-03 7.60773538e+01] [ 9.91774752e-01 -1.27500551e-01 -1.12450104e-02 2.46931265e+02] [ 1.12915892e-02 -3.57486295e-04 9.99936184e-01 6.41354573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.43275509600005 meters 0.027175341443357297 Centerline is valid? [True, True] Translation: X:76.07, Y:246.96, Z:6.41 [[-1.29176636e-01 -9.91620976e-01 1.11231553e-03 7.60749327e+01] [ 9.91554440e-01 -1.29180860e-01 -1.14933774e-02 2.46957858e+02] [ 1.15407640e-02 -3.81754426e-04 9.99933330e-01 6.41357407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4627550960001 meters 0.02944214516493149 Centerline is valid? [True, True] Translation: X:76.07, Y:246.98, Z:6.41 [[-1.31822356e-01 -9.91272650e-01 1.18345822e-03 7.60729047e+01] [ 9.91197754e-01 -1.31826953e-01 -1.21929443e-02 2.46983874e+02] [ 1.22425438e-02 -4.34261516e-04 9.99924963e-01 6.41311369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.49275509600005 meters 0.029391246270685237 Centerline is valid? [True, True] Translation: X:76.07, Y:247.01, Z:6.41 [[-1.32832592e-01 -9.91137739e-01 1.21842471e-03 7.60684251e+01] [ 9.91058823e-01 -1.32837401e-01 -1.25153585e-02 2.47010391e+02] [ 1.25662965e-02 -4.54916950e-04 9.99920938e-01 6.41302609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5227550960001 meters 0.03011131071250356 Centerline is valid? [True, True] Translation: X:76.07, Y:247.04, Z:6.41 [[-1.33613790e-01 -9.91032651e-01 1.28043208e-03 7.60652969e+01] [ 9.90946082e-01 -1.33619054e-01 -1.31076718e-02 2.47036636e+02] [ 1.31612209e-02 -4.82526556e-04 9.99913271e-01 6.41276272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.55275509600006 meters 0.031114520750003146 Centerline is valid? [True, True] Translation: X:76.06, Y:247.06, Z:6.41 [[-1.34061126e-01 -9.90972085e-01 1.39345356e-03 7.60612560e+01] [ 9.90870218e-01 -1.34067339e-01 -1.42183097e-02 2.47061637e+02] [ 1.42767646e-02 -5.25390985e-04 9.99897944e-01 6.41188872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5827550960001 meters 0.02937338952718796 Centerline is valid? [True, True] Translation: X:76.05, Y:247.09, Z:6.41 [[-1.34304701e-01 -9.90938983e-01 1.47626287e-03 7.60544467e+01] [ 9.90825554e-01 -1.34311679e-01 -1.50031199e-02 2.47087510e+02] [ 1.50654558e-02 -5.52270555e-04 9.99886357e-01 6.41173724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.61275509600006 meters 0.0284056971675813 Centerline is valid? [True, True] Translation: X:76.05, Y:247.11, Z:6.41 [[-1.34465401e-01 -9.90917026e-01 1.58210941e-03 7.60489750e+01] [ 9.90787810e-01 -1.34473433e-01 -1.60128273e-02 2.47113099e+02] [ 1.60801349e-02 -5.85636529e-04 9.99870535e-01 6.41150040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6427550960001 meters 0.03161328793541523 Centerline is valid? [True, True] Translation: X:76.05, Y:247.14, Z:6.41 [[-1.34339847e-01 -9.90933821e-01 1.72287315e-03 7.60483482e+01] [ 9.90781872e-01 -1.34349437e-01 -1.73640834e-02 2.47138345e+02] [ 1.74381245e-02 -6.25696808e-04 9.99847749e-01 6.40998066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.67275509600006 meters 0.027752487432975554 Centerline is valid? [True, True] Translation: X:76.04, Y:247.16, Z:6.41 [[-1.34479396e-01 -9.90914821e-01 1.76365798e-03 7.60381671e+01] [ 9.90756885e-01 -1.34489470e-01 -1.77024868e-02 2.47163380e+02] [ 1.77788499e-02 -6.33263445e-04 9.99841743e-01 6.41114737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.70275509600003 meters 0.028129497618094145 Centerline is valid? [True, True] Translation: X:76.03, Y:247.19, Z:6.41 [[-1.34222669e-01 -9.90949565e-01 1.79841657e-03 7.60343002e+01] [ 9.90786677e-01 -1.34233233e-01 -1.79777453e-02 2.47188080e+02] [ 1.80564462e-02 -6.31173788e-04 9.99836770e-01 6.41146641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.73275509600006 meters 0.02819829725499415 Centerline is valid? [True, True] Translation: X:76.03, Y:247.21, Z:6.41 [[-1.33592007e-01 -9.91034840e-01 1.76686855e-03 7.60285757e+01] [ 9.90878832e-01 -1.33602344e-01 -1.75941490e-02 2.47213453e+02] [ 1.76724724e-02 -5.99685019e-04 9.99843650e-01 6.41221232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76275509600003 meters 0.026577655276894263 Centerline is valid? [True, True] Translation: X:76.02, Y:247.24, Z:6.41 [[-1.33624957e-01 -9.91030447e-01 1.73892880e-03 7.60217829e+01] [ 9.90880471e-01 -1.33635003e-01 -1.72504793e-02 2.47239306e+02] [ 1.73281320e-02 -5.82023957e-04 9.99849687e-01 6.41348319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.79275509600006 meters 0.027393721671729054 Centerline is valid? [True, True] Translation: X:76.02, Y:247.26, Z:6.41 [[-1.33656879e-01 -9.91026215e-01 1.69722118e-03 7.60176585e+01] [ 9.90884350e-01 -1.33666479e-01 -1.67772838e-02 2.47264467e+02] [ 1.68535897e-02 -5.60649488e-04 9.99857811e-01 6.41446931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82275509600004 meters 0.02662009616397583 Centerline is valid? [True, True] Translation: X:76.01, Y:247.29, Z:6.42 [[-1.34189473e-01 -9.90954253e-01 1.68956011e-03 7.60125151e+01] [ 9.90814637e-01 -1.34198944e-01 -1.66432808e-02 2.47290423e+02] [ 1.67194671e-02 -5.59312195e-04 9.99860064e-01 6.41534208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.85275509600007 meters 0.02741443176597433 Centerline is valid? [True, True] Translation: X:76.01, Y:247.32, Z:6.42 [[-1.34559688e-01 -9.90904070e-01 1.67765768e-03 7.60099439e+01] [ 9.90767504e-01 -1.34569010e-01 -1.64601164e-02 2.47315506e+02] [ 1.65361570e-02 -5.52699402e-04 9.99863116e-01 6.41554404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.88275509600004 meters 0.03161245499549648 Centerline is valid? [True, True] Translation: X:76.01, Y:247.34, Z:6.41 [[-1.34917107e-01 -9.90855431e-01 1.69984536e-03 7.60120149e+01] [ 9.90716369e-01 -1.34926666e-01 -1.66093630e-02 2.47341775e+02] [ 1.66868320e-02 -5.56822583e-04 9.99860610e-01 6.41471944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.91275509600007 meters 0.028622400849255273 Centerline is valid? [True, True] Translation: X:76.00, Y:247.37, Z:6.42 [[-1.34457369e-01 -9.90917901e-01 1.71158827e-03 7.60022101e+01] [ 9.90778082e-01 -1.34467164e-01 -1.66545222e-02 2.47366958e+02] [ 1.67334166e-02 -5.43519098e-04 9.99859839e-01 6.41617554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.94275509600004 meters 0.026742736791639667 Centerline is valid? [True, True] Translation: X:76.00, Y:247.39, Z:6.42 [[-1.34160171e-01 -9.90958230e-01 1.68399255e-03 7.59950844e+01] [ 9.90824032e-01 -1.34169730e-01 -1.63162959e-02 2.47391611e+02] [ 1.63947086e-02 -5.20456760e-04 9.99865462e-01 6.41718326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.97275509600007 meters 0.02802222415497775 Centerline is valid? [True, True] Translation: X:75.99, Y:247.42, Z:6.42 [[-1.32486064e-01 -9.91183421e-01 1.69372988e-03 7.59916088e+01] [ 9.91048752e-01 -1.32495995e-01 -1.63457391e-02 2.47418333e+02] [ 1.64260380e-02 -4.87013763e-04 9.99864965e-01 6.41726829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.00275509600004 meters 0.027952968833702758 Centerline is valid? [True, True] Translation: X:75.99, Y:247.44, Z:6.42 [[-1.32266521e-01 -9.91212740e-01 1.69475897e-03 7.59871890e+01] [ 9.91078892e-01 -1.32276522e-01 -1.62957671e-02 2.47443961e+02] [ 1.63767488e-02 -4.75744574e-04 9.99865779e-01 6.41753661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0327550960001 meters 0.027874976066571355 Centerline is valid? [True, True] Translation: X:75.98, Y:247.47, Z:6.42 [[-1.32312162e-01 -9.91206718e-01 1.65353568e-03 7.59833329e+01] [ 9.91080298e-01 -1.32321706e-01 -1.58369738e-02 2.47469832e+02] [ 1.59165134e-02 -4.56637599e-04 9.99873220e-01 6.41834337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.06275509600005 meters 0.02783091629239841 Centerline is valid? [True, True] Translation: X:75.98, Y:247.50, Z:6.42 [[-1.32190611e-01 -9.91222915e-01 1.66589847e-03 7.59794047e+01] [ 9.91095629e-01 -1.32200343e-01 -1.58910024e-02 2.47495334e+02] [ 1.59717581e-02 -4.49576616e-04 9.99872342e-01 6.41899191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0927550960001 meters 0.02700311457962831 Centerline is valid? [True, True] Translation: X:75.97, Y:247.52, Z:6.42 [[-1.32588859e-01 -9.91169732e-01 1.66063025e-03 7.59744622e+01] [ 9.91044263e-01 -1.32598508e-01 -1.57766968e-02 2.47521096e+02] [ 1.58575814e-02 -4.46056159e-04 9.99874161e-01 6.41970592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.12275509600005 meters 0.024702662871659797 Centerline is valid? [True, True] Translation: X:75.97, Y:247.55, Z:6.42 [[-1.32965322e-01 -9.91119264e-01 1.68170994e-03 7.59671488e+01] [ 9.90991614e-01 -1.32975198e-01 -1.59128163e-02 2.47546628e+02] [ 1.59951245e-02 -4.49292310e-04 9.99871969e-01 6.42083058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1527550960001 meters 0.024825610890426987 Centerline is valid? [True, True] Translation: X:75.96, Y:247.57, Z:6.42 [[-1.33343362e-01 -9.91068364e-01 1.74533857e-03 7.59635850e+01] [ 9.90931937e-01 -1.33353977e-01 -1.64503194e-02 2.47572973e+02] [ 1.65361389e-02 -4.64029170e-04 9.99863161e-01 6.42072642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.18275509600005 meters 0.0244852396566298 Centerline is valid? [True, True] Translation: X:75.96, Y:247.60, Z:6.42 [[-1.33846627e-01 -9.91000485e-01 1.76629388e-03 7.59591288e+01] [ 9.90861780e-01 -1.33857456e-01 -1.65865457e-02 2.47599463e+02] [ 1.66737065e-02 -4.69900104e-04 9.99860874e-01 6.42073230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2127550960001 meters 0.02767170757833982 Centerline is valid? [True, True] Translation: X:75.96, Y:247.63, Z:6.42 [[-1.34937385e-01 -9.90852547e-01 1.76997203e-03 7.59614781e+01] [ 9.90714301e-01 -1.34948137e-01 -1.65581974e-02 2.47625393e+02] [ 1.66455865e-02 -4.80783252e-04 9.99861337e-01 6.41971146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.24275509600005 meters 0.027079858878138626 Centerline is valid? [True, True] Translation: X:75.96, Y:247.65, Z:6.42 [[-1.35800729e-01 -9.90734523e-01 1.80767874e-03 7.59579730e+01] [ 9.90591457e-01 -1.35811852e-01 -1.68436107e-02 2.47651550e+02] [ 1.69330508e-02 -4.96703491e-04 9.99856502e-01 6.42013176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2727550960001 meters 0.026832757927036013 Centerline is valid? [True, True] Translation: X:75.96, Y:247.68, Z:6.42 [[-1.36888497e-01 -9.90584775e-01 1.82863815e-03 7.59550352e+01] [ 9.90439537e-01 -1.36899753e-01 -1.69700114e-02 2.47677927e+02] [ 1.70605751e-02 -5.11843836e-04 9.99854327e-01 6.42005974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.30275509600006 meters 0.027793825288656128 Centerline is valid? [True, True] Translation: X:75.95, Y:247.70, Z:6.42 [[-1.37963987e-01 -9.90435539e-01 1.83883344e-03 7.59534230e+01] [ 9.90289768e-01 -1.37975244e-01 -1.70002059e-02 2.47703669e+02] [ 1.70913215e-02 -5.24438243e-04 9.99853795e-01 6.42006148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3327550960001 meters 0.02889420052652797 Centerline is valid? [True, True] Translation: X:75.95, Y:247.73, Z:6.42 [[-1.38977648e-01 -9.90293864e-01 1.80996835e-03 7.59511554e+01] [ 9.90153669e-01 -1.38988442e-01 -1.66710963e-02 2.47729337e+02] [ 1.67608491e-02 -5.24762951e-04 9.99859389e-01 6.42016045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.36275509600006 meters 0.029269209704441492 Centerline is valid? [True, True] Translation: X:75.95, Y:247.76, Z:6.42 [[-1.39521663e-01 -9.90217360e-01 1.81248683e-03 7.59481653e+01] [ 9.90077891e-01 -1.39532446e-01 -1.66272492e-02 2.47755749e+02] [ 1.67174916e-02 -5.25358318e-04 9.99860115e-01 6.42009982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3927550960001 meters 0.028728004641471395 Centerline is valid? [True, True] Translation: X:75.94, Y:247.78, Z:6.42 [[-1.39846831e-01 -9.90171503e-01 1.80539858e-03 7.59440622e+01] [ 9.90034183e-01 -1.39857518e-01 -1.64982291e-02 2.47781632e+02] [ 1.65885748e-02 -5.19818742e-04 9.99862265e-01 6.42090606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.42275509600006 meters 0.028984695047177055 Centerline is valid? [True, True] Translation: X:75.94, Y:247.81, Z:6.42 [[-1.39969989e-01 -9.90154098e-01 1.80699541e-03 7.59413510e+01] [ 9.90017593e-01 -1.39980711e-01 -1.64489154e-02 2.47807706e+02] [ 1.65399054e-02 -5.13397251e-04 9.99863075e-01 6.42090200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.45275509600003 meters 0.0278544506028375 Centerline is valid? [True, True] Translation: X:75.94, Y:247.83, Z:6.42 [[-1.40343414e-01 -9.90101268e-01 1.79020906e-03 7.59367365e+01] [ 9.89968314e-01 -1.40353920e-01 -1.62331474e-02 2.47833384e+02] [ 1.63237227e-02 -5.05965091e-04 9.99866631e-01 6.42159001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.48275509600006 meters 0.028361860735205857 Centerline is valid? [True, True] Translation: X:75.93, Y:247.86, Z:6.42 [[-1.40551206e-01 -9.90071746e-01 1.81538314e-03 7.59343554e+01] [ 9.89936122e-01 -1.40562014e-01 -1.63949627e-02 2.47858543e+02] [ 1.64873633e-02 -5.07218438e-04 9.99863946e-01 6.42144886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.51275509600003 meters 0.028334898833931765 Centerline is valid? [True, True] Translation: X:75.93, Y:247.88, Z:6.42 [[-1.40346654e-01 -9.90100809e-01 1.79005377e-03 7.59303168e+01] [ 9.89970001e-01 -1.40357222e-01 -1.61011688e-02 2.47883776e+02] [ 1.61930272e-02 -4.87645643e-04 9.99868765e-01 6.42187108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.54275509600006 meters 0.02833167168724625 Centerline is valid? [True, True] Translation: X:75.93, Y:247.91, Z:6.42 [[-1.40521271e-01 -9.90076140e-01 1.73499624e-03 7.59265569e+01] [ 9.89954192e-01 -1.40531205e-01 -1.55460005e-02 2.47909460e+02] [ 1.56355453e-02 -4.66976943e-04 9.99877648e-01 6.42229328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.57275509600004 meters 0.027123596089569674 Centerline is valid? [True, True] Translation: X:75.92, Y:247.94, Z:6.42 [[-1.39779200e-01 -9.90181363e-01 1.62578333e-03 7.59208435e+01] [ 9.90075035e-01 -1.39788025e-01 -1.45166450e-02 2.47936053e+02] [ 1.46013764e-02 -4.19477548e-04 9.99893306e-01 6.42376064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.60275509600007 meters 0.02785475328832288 Centerline is valid? [True, True] Translation: X:75.92, Y:247.96, Z:6.42 [[-1.39221405e-01 -9.90259994e-01 1.59511537e-03 7.59187474e+01] [ 9.90158373e-01 -1.39229978e-01 -1.41918879e-02 2.47960958e+02] [ 1.42757467e-02 -3.96397726e-04 9.99898018e-01 6.42399889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.63275509600004 meters 0.02379100061118094 Centerline is valid? [True, True] Translation: X:75.91, Y:247.99, Z:6.43 [[-1.38592285e-01 -9.90348279e-01 1.56999917e-03 7.59087341e+01] [ 9.90250581e-01 -1.38600673e-01 -1.39154564e-02 2.47986894e+02] [ 1.39987512e-02 -3.73882305e-04 9.99901943e-01 6.42569600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.66275509600007 meters 0.022959313170459128 Centerline is valid? [True, True] Translation: X:75.90, Y:248.01, Z:6.43 [[-1.35878959e-01 -9.90724305e-01 1.50311822e-03 7.59035914e+01] [ 9.90635382e-01 -1.35886907e-01 -1.32773930e-02 2.48012866e+02] [ 1.33584900e-02 -3.15076242e-04 9.99910722e-01 6.42660027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.69275509600004 meters 0.022959313170459128 Centerline is valid? [True, True] Translation: X:75.90, Y:248.04, Z:6.43 [[-1.36260285e-01 -9.90671924e-01 1.50807501e-03 7.59004151e+01] [ 9.90583003e-01 -1.36268265e-01 -1.32768303e-02 2.48038585e+02] [ 1.33584858e-02 -3.15231201e-04 9.99910722e-01 6.42683796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.72275509600007 meters 0.02193304057182859 Centerline is valid? [True, True] Translation: X:75.89, Y:248.07, Z:6.43 [[-1.34998729e-01 -9.90844601e-01 1.52335515e-03 7.58947706e+01] [ 9.90754484e-01 -1.35007001e-01 -1.33664706e-02 2.48065578e+02] [ 1.34497588e-02 -2.95185601e-04 9.99909504e-01 6.42712319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.75275509600004 meters 0.02133951925735861 Centerline is valid? [True, True] Translation: X:75.89, Y:248.09, Z:6.43 [[-1.33704100e-01 -9.91020161e-01 1.50114431e-03 7.58901110e+01] [ 9.90933202e-01 -1.33712258e-01 -1.31309434e-02 2.48092405e+02] [ 1.32137510e-02 -2.68127224e-04 9.99912659e-01 6.42754398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.7827550960001 meters 0.020415120594966318 Centerline is valid? [True, True] Translation: X:75.89, Y:248.12, Z:6.43 [[-1.30558287e-01 -9.91439443e-01 1.53761363e-03 7.58853324e+01] [ 9.91348817e-01 -1.30567145e-01 -1.34068252e-02 2.48118058e+02] [ 1.34928172e-02 -2.26060683e-04 9.99908942e-01 6.42728608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.81275509600005 meters 0.01945138924977543 Centerline is valid? [True, True] Translation: X:75.88, Y:248.14, Z:6.43 [[-1.29006800e-01 -9.91642347e-01 1.64340811e-03 7.58804672e+01] [ 9.91539553e-01 -1.29017092e-01 -1.42795055e-02 2.48144475e+02] [ 1.43721901e-02 -2.12649175e-04 9.99896692e-01 6.42759935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8427550960001 meters 0.01904586626864681 Centerline is valid? [True, True] Translation: X:75.88, Y:248.17, Z:6.43 [[-1.27416778e-01 -9.91847802e-01 1.70383551e-03 7.58774605e+01] [ 9.91738116e-01 -1.27428029e-01 -1.47515299e-02 2.48169478e+02] [ 1.48483889e-02 -1.89833804e-04 9.99889739e-01 6.42754256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.87275509600005 meters 0.018792803375561235 Centerline is valid? [True, True] Translation: X:75.87, Y:248.20, Z:6.43 [[-1.27075348e-01 -9.91891602e-01 1.70479310e-03 7.58743222e+01] [ 9.91782563e-01 -1.27086658e-01 -1.47081503e-02 2.48195803e+02] [ 1.48055472e-02 -1.78259256e-04 9.99890376e-01 6.42784176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9027550960001 meters 0.01876385240303104 Centerline is valid? [True, True] Translation: X:75.87, Y:248.22, Z:6.43 [[-1.26737488e-01 -9.91934698e-01 1.77861372e-03 7.58712055e+01] [ 9.91816832e-01 -1.26749848e-01 -1.52920541e-02 2.48222289e+02] [ 1.53941581e-02 -1.74017488e-04 9.99881488e-01 6.42775644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.93275509600005 meters 0.01864837508653593 Centerline is valid? [True, True] Translation: X:75.87, Y:248.25, Z:6.43 [[-1.26743336e-01 -9.91933974e-01 1.76553642e-03 7.58682347e+01] [ 9.91818604e-01 -1.26755524e-01 -1.51292449e-02 2.48248253e+02] [ 1.52310036e-02 -1.66439110e-04 9.99883988e-01 6.42768173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9627550960001 meters 0.018262688043821303 Centerline is valid? [True, True] Translation: X:75.87, Y:248.28, Z:6.43 [[-1.26449866e-01 -9.91971256e-01 1.86000977e-03 7.58654168e+01] [ 9.91844071e-01 -1.26463439e-01 -1.58851539e-02 2.48275005e+02] [ 1.59928393e-02 -1.63835927e-04 9.99872093e-01 6.42802794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.99275509600005 meters 0.018228651016489475 Centerline is valid? [True, True] Translation: X:75.86, Y:248.30, Z:6.43 [[-1.26685286e-01 -9.91941141e-01 1.90035286e-03 7.58631594e+01] [ 9.91809249e-01 -1.26699432e-01 -1.61761637e-02 2.48301593e+02] [ 1.62865759e-02 -1.64494385e-04 9.99867351e-01 6.42808725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0227550960001 meters 0.018238953789813245 Centerline is valid? [True, True] Translation: X:75.86, Y:248.33, Z:6.43 [[-1.26924850e-01 -9.91910531e-01 1.89247545e-03 7.58609474e+01] [ 9.91780595e-01 -1.26938856e-01 -1.60554747e-02 2.48328349e+02] [ 1.61658231e-02 -1.60918298e-04 9.99869312e-01 6.42865311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.05275509600006 meters 0.018353519211977996 Centerline is valid? [True, True] Translation: X:75.86, Y:248.35, Z:6.43 [[-1.27554167e-01 -9.91829889e-01 1.84561039e-03 7.58601945e+01] [ 9.91707124e-01 -1.27567418e-01 -1.56055775e-02 2.48353468e+02] [ 1.57135179e-02 -1.60251462e-04 9.99876522e-01 6.42907886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0827550960001 meters 0.018321628022720395 Centerline is valid? [True, True] Translation: X:75.86, Y:248.38, Z:6.43 [[-1.28162795e-01 -9.91751436e-01 1.84044576e-03 7.58575758e+01] [ 9.91630172e-01 -1.28175906e-01 -1.55093191e-02 2.48379911e+02] [ 1.56172903e-02 -1.62676141e-04 9.99878029e-01 6.42940061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.11275509600006 meters 0.018389441321346144 Centerline is valid? [True, True] Translation: X:75.86, Y:248.41, Z:6.43 [[-1.29137343e-01 -9.91625026e-01 1.83166399e-03 7.58550432e+01] [ 9.91505692e-01 -1.29150220e-01 -1.53845536e-02 2.48406642e+02] [ 1.54922682e-02 -1.70615103e-04 9.99879973e-01 6.42977906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1427550960001 meters 0.018977309028788684 Centerline is valid? [True, True] Translation: X:75.86, Y:248.43, Z:6.43 [[-1.30916858e-01 -9.91391612e-01 1.85685463e-03 7.58553746e+01] [ 9.91269747e-01 -1.30929881e-01 -1.55452644e-02 2.48433327e+02] [ 1.56545625e-02 -1.94493345e-04 9.99877441e-01 6.42954852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.17275509600006 meters 0.019237184535210373 Centerline is valid? [True, True] Translation: X:75.85, Y:248.46, Z:6.43 [[-1.32283600e-01 -9.91210219e-01 1.83056319e-03 7.58535714e+01] [ 9.91092496e-01 -1.32296103e-01 -1.52776075e-02 2.48460086e+02] [ 1.53854971e-02 -2.06719473e-04 9.99881615e-01 6.42982905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.20275509600003 meters 0.01943037428681382 Centerline is valid? [True, True] Translation: X:75.85, Y:248.49, Z:6.43 [[-1.33499077e-01 -9.91047289e-01 1.80790629e-03 7.58519258e+01] [ 9.90933165e-01 -1.33511142e-01 -1.50412099e-02 2.48486908e+02] [ 1.51479259e-02 -2.16473323e-04 9.99885240e-01 6.42998814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.23275509600006 meters 0.019638999366793784 Centerline is valid? [True, True] Translation: X:75.85, Y:248.51, Z:6.43 [[-1.36096356e-01 -9.90694054e-01 1.75298876e-03 7.58509637e+01] [ 9.90587378e-01 -1.36107429e-01 -1.45400916e-02 2.48514588e+02] [ 1.46433771e-02 -2.42364942e-04 9.99892751e-01 6.43154794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26275509600003 meters 0.019629833457246993 Centerline is valid? [True, True] Translation: X:75.85, Y:248.54, Z:6.43 [[-1.37603107e-01 -9.90485957e-01 1.71898974e-03 7.58483237e+01] [ 9.90383970e-01 -1.37613610e-01 -1.42156763e-02 2.48541916e+02] [ 1.43169841e-02 -2.53661347e-04 9.99897475e-01 6.43210182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.29275509600006 meters 0.02217935120301797 Centerline is valid? [True, True] Translation: X:75.85, Y:248.57, Z:6.43 [[-1.39580433e-01 -9.90209322e-01 1.67371381e-03 7.58513748e+01] [ 9.90113185e-01 -1.39590208e-01 -1.38005506e-02 2.48568264e+02] [ 1.38990679e-02 -2.69120712e-04 9.99903367e-01 6.43137250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32275509600004 meters 0.021111405192651707 Centerline is valid? [True, True] Translation: X:75.85, Y:248.59, Z:6.43 [[-1.40642139e-01 -9.90059030e-01 1.70492557e-03 7.58466281e+01] [ 9.89959877e-01 -1.40652187e-01 -1.40144481e-02 2.48593802e+02] [ 1.41149324e-02 -2.83214044e-04 9.99900339e-01 6.43214851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.35275509600007 meters 0.021496509612227956 Centerline is valid? [True, True] Translation: X:75.84, Y:248.62, Z:6.43 [[-1.41506847e-01 -9.89935801e-01 1.70923444e-03 7.58447048e+01] [ 9.89836797e-01 -1.41516873e-01 -1.40032424e-02 2.48620647e+02] [ 1.41041965e-02 -2.89691553e-04 9.99900489e-01 6.43240914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.38275509600004 meters 0.022041084501108216 Centerline is valid? [True, True] Translation: X:75.84, Y:248.65, Z:6.43 [[-1.42205167e-01 -9.89835656e-01 1.75081739e-03 7.58432665e+01] [ 9.89732424e-01 -1.42215627e-01 -1.42984300e-02 2.48647270e+02] [ 1.44020895e-02 -3.00469888e-04 9.99896239e-01 6.43238279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.41275509600007 meters 0.022216177563998834 Centerline is valid? [True, True] Translation: X:75.84, Y:248.67, Z:6.43 [[-1.43072069e-01 -9.89710705e-01 1.76161220e-03 7.58426025e+01] [ 9.89606838e-01 -1.43082581e-01 -1.43415869e-02 2.48672771e+02] [ 1.44460781e-02 -3.08577031e-04 9.99895602e-01 6.43195342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.44275509600004 meters 0.02236623299310801 Centerline is valid? [True, True] Translation: X:75.84, Y:248.70, Z:6.43 [[-1.43469524e-01 -9.89653110e-01 1.79382596e-03 7.58405496e+01] [ 9.89546104e-01 -1.43480395e-01 -1.45562347e-02 2.48699504e+02] [ 1.46630018e-02 -3.13302559e-04 9.99892443e-01 6.43194085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.47275509600007 meters 0.022509534512418636 Centerline is valid? [True, True] Translation: X:75.84, Y:248.73, Z:6.43 [[-1.43380365e-01 -9.89666035e-01 1.79157148e-03 7.58397667e+01] [ 9.89559962e-01 -1.43391233e-01 -1.44926449e-02 2.48725024e+02] [ 1.45997741e-02 -3.05093308e-04 9.99893371e-01 6.43196247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.50275509600004 meters 0.022206358952309185 Centerline is valid? [True, True] Translation: X:75.84, Y:248.75, Z:6.43 [[-1.43051633e-01 -9.89713663e-01 1.75972519e-03 7.58368211e+01] [ 9.89611959e-01 -1.43062165e-01 -1.41910821e-02 2.48751143e+02] [ 1.42968579e-02 -2.88612372e-04 9.99897753e-01 6.43202988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5327550960001 meters 0.02184662919747206 Centerline is valid? [True, True] Translation: X:75.83, Y:248.78, Z:6.43 [[-1.42304115e-01 -9.89821503e-01 1.71217518e-03 7.58337593e+01] [ 9.89725793e-01 -1.42314169e-01 -1.37670582e-02 2.48777345e+02] [ 1.38705970e-02 -2.64525101e-04 9.99903764e-01 6.43278537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.56275509600005 meters 0.020253059568307683 Centerline is valid? [True, True] Translation: X:75.83, Y:248.80, Z:6.43 [[-1.40035447e-01 -9.90145264e-01 1.55899597e-03 7.58295474e+01] [ 9.90066357e-01 -1.40043972e-01 -1.25017741e-02 2.48804686e+02] [ 1.25969004e-02 -2.07182058e-04 9.99920634e-01 6.43465786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5927550960001 meters 0.019937433068565793 Centerline is valid? [True, True] Translation: X:75.83, Y:248.83, Z:6.44 [[-1.38708198e-01 -9.90332168e-01 1.49454010e-03 7.58271064e+01] [ 9.90260042e-01 -1.38716135e-01 -1.19533941e-02 2.48830440e+02] [ 1.20451475e-02 -1.78050422e-04 9.99927439e-01 6.43546095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.62275509600005 meters 0.019554025770338993 Centerline is valid? [True, True] Translation: X:75.82, Y:248.86, Z:6.44 [[-1.37797856e-01 -9.90459376e-01 1.40534940e-03 7.58239718e+01] [ 9.90395975e-01 -1.37804938e-01 -1.12077038e-02 2.48856906e+02] [ 1.12944394e-02 -1.52545160e-04 9.99936204e-01 6.43632604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6527550960001 meters 0.019129614872060025 Centerline is valid? [True, True] Translation: X:75.82, Y:248.88, Z:6.44 [[-1.36888194e-01 -9.90585610e-01 1.33125855e-03 7.58207815e+01] [ 9.90529045e-01 -1.36894605e-01 -1.05867007e-02 2.48883127e+02] [ 1.06692755e-02 -1.30544074e-04 9.99943073e-01 6.43733130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.68275509600005 meters 0.01837270464467571 Centerline is valid? [True, True] Translation: X:75.82, Y:248.91, Z:6.44 [[-1.34802268e-01 -9.90871870e-01 1.13379139e-03 7.58175381e+01] [ 9.90831059e-01 -1.34807007e-01 -8.99358006e-03 2.48909452e+02] [ 9.06432851e-03 -8.89592698e-05 9.99958914e-01 6.43874993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7127550960001 meters 0.018085910982142 Centerline is valid? [True, True] Translation: X:75.81, Y:248.94, Z:6.44 [[-1.34524292e-01 -9.90909788e-01 1.00365798e-03 7.58140109e+01] [ 9.90877974e-01 -1.34528015e-01 -7.94061218e-03 2.48935599e+02] [ 8.00345045e-03 -7.37026446e-05 9.99967969e-01 6.43954848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.74275509600005 meters 0.018140864873945582 Centerline is valid? [True, True] Translation: X:75.81, Y:248.96, Z:6.44 [[-1.33831026e-01 -9.91003709e-01 9.51699591e-04 7.58141431e+01] [ 9.90975274e-01 -1.33834396e-01 -7.50737051e-03 2.48961227e+02] [ 7.56720215e-03 -6.16083376e-05 9.99971366e-01 6.43994652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7727550960001 meters 0.018047960321184022 Centerline is valid? [True, True] Translation: X:75.81, Y:248.99, Z:6.44 [[-1.34145096e-01 -9.90961274e-01 9.19994594e-04 7.58125179e+01] [ 9.90934873e-01 -1.34148238e-01 -7.23379355e-03 2.48987379e+02] [ 7.29182493e-03 -5.87232034e-05 9.99973413e-01 6.44021271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.80275509600006 meters 0.018207917610956182 Centerline is valid? [True, True] Translation: X:75.81, Y:249.01, Z:6.44 [[-1.34612005e-01 -9.90897970e-01 9.06484360e-04 7.58111412e+01] [ 9.90872483e-01 -1.34615044e-01 -7.10713315e-03 2.49013047e+02] [ 7.16447024e-03 -5.84950344e-05 9.99974333e-01 6.44098629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8327550960001 meters 0.018490867206114602 Centerline is valid? [True, True] Translation: X:75.81, Y:249.04, Z:6.44 [[-1.35362085e-01 -9.90795805e-01 8.82324552e-04 7.58123904e+01] [ 9.90771811e-01 -1.35364948e-01 -6.89556356e-03 2.49038736e+02] [ 6.95153127e-03 -5.92155699e-05 9.99975836e-01 6.44143881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.86275509600006 meters 0.018370824638760618 Centerline is valid? [True, True] Translation: X:75.81, Y:249.07, Z:6.44 [[-1.35699316e-01 -9.90749673e-01 8.83505756e-04 7.58104868e+01] [ 9.90725717e-01 -1.35702179e-01 -6.89001174e-03 2.49065180e+02] [ 6.94617054e-03 -5.96580102e-05 9.99975873e-01 6.44138479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8927550960001 meters 0.018427139773775667 Centerline is valid? [True, True] Translation: X:75.81, Y:249.09, Z:6.44 [[-1.36470000e-01 -9.90643791e-01 9.04955052e-04 7.58102702e+01] [ 9.90618801e-01 -1.36472986e-01 -7.03671016e-03 2.49091908e+02] [ 7.09437514e-03 -6.38343478e-05 9.99974833e-01 6.44114284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.92275509600006 meters 0.01851173661763354 Centerline is valid? [True, True] Translation: X:75.81, Y:249.12, Z:6.44 [[-1.36971713e-01 -9.90574448e-01 1.00651902e-03 7.58086706e+01] [ 9.90543743e-01 -1.36975392e-01 -7.79969089e-03 2.49116842e+02] [ 7.86404283e-03 -7.13358981e-05 9.99969075e-01 6.44095684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.95275509600003 meters 0.018594442701577146 Centerline is valid? [True, True] Translation: X:75.81, Y:249.14, Z:6.44 [[-1.37848251e-01 -9.90452830e-01 1.02562522e-03 7.58070151e+01] [ 9.90421090e-01 -1.37852044e-01 -7.92960492e-03 2.49142891e+02] [ 7.99528416e-03 -7.72813184e-05 9.99968034e-01 6.44078462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.98275509600006 meters 0.019214705354546717 Centerline is valid? [True, True] Translation: X:75.81, Y:249.17, Z:6.44 [[-1.40151504e-01 -9.90129500e-01 1.06274470e-03 7.58095839e+01] [ 9.90095616e-01 -1.40155500e-01 -8.19184206e-03 2.49168985e+02] [ 8.25993400e-03 -9.58801154e-05 9.99965882e-01 6.44045140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.01275509600003 meters 0.01938647547553 Centerline is valid? [True, True] Translation: X:75.81, Y:249.20, Z:6.44 [[-1.41772016e-01 -9.89898647e-01 1.16780168e-03 7.58084751e+01] [ 9.89857997e-01 -1.41776778e-01 -8.97173030e-03 2.49195306e+02] [ 9.04667085e-03 -1.15982464e-04 9.99959071e-01 6.44023623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.04275509600006 meters 0.020347576486176654 Centerline is valid? [True, True] Translation: X:75.81, Y:249.22, Z:6.44 [[-1.43914401e-01 -9.89589354e-01 1.24736167e-03 7.58099968e+01] [ 9.89543249e-01 -1.43919738e-01 -9.55338610e-03 2.49221538e+02] [ 9.63344914e-03 -1.40551520e-04 9.99953587e-01 6.43994740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.07275509600004 meters 0.02005747408397146 Centerline is valid? [True, True] Translation: X:75.81, Y:249.25, Z:6.44 [[-1.43864590e-01 -9.89596761e-01 1.10915013e-03 7.58051775e+01] [ 9.89560482e-01 -1.43868814e-01 -8.47448462e-03 2.49247301e+02] [ 8.54589464e-03 -1.21607122e-04 9.99963476e-01 6.44045950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.10275509600007 meters 0.020080705107897317 Centerline is valid? [True, True] Translation: X:75.80, Y:249.27, Z:6.44 [[-1.43949531e-01 -9.89584420e-01 1.09970372e-03 7.58012031e+01] [ 9.89548956e-01 -1.43953683e-01 -8.37859868e-03 2.49273810e+02] [ 8.44963711e-03 -1.17884676e-04 9.99964294e-01 6.44088951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.13275509600004 meters 0.020230610128018717 Centerline is valid? [True, True] Translation: X:75.80, Y:249.30, Z:6.44 [[-1.43887136e-01 -9.89593482e-01 1.11054018e-03 7.57977460e+01] [ 9.89557521e-01 -1.43891376e-01 -8.43710047e-03 2.49298931e+02] [ 8.50909678e-03 -1.15046837e-04 9.99963790e-01 6.44113228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.16275509600007 meters 0.019419279042167704 Centerline is valid? [True, True] Translation: X:75.79, Y:249.32, Z:6.44 [[-1.43483817e-01 -9.89651962e-01 1.17802306e-03 7.57922663e+01] [ 9.89611752e-01 -1.43488607e-01 -8.92192557e-03 2.49324436e+02] [ 8.99863404e-03 -1.14366470e-04 9.99959505e-01 6.44075915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.19275509600004 meters 0.019702941066176927 Centerline is valid? [True, True] Translation: X:75.79, Y:249.35, Z:6.44 [[-1.43745857e-01 -9.89613913e-01 1.19640662e-03 7.57894784e+01] [ 9.89572684e-01 -1.43750790e-01 -9.03404939e-03 2.49349494e+02] [ 9.11220537e-03 -1.14675862e-04 9.99958476e-01 6.44091297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.22275509600007 meters 0.019758086715957364 Centerline is valid? [True, True] Translation: X:75.79, Y:249.37, Z:6.44 [[-1.43882631e-01 -9.89594025e-01 1.20627929e-03 7.57852883e+01] [ 9.89552307e-01 -1.43887642e-01 -9.08720970e-03 2.49374408e+02] [ 9.16621710e-03 -1.13815182e-04 9.99957983e-01 6.44149565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.25275509600004 meters 0.01958260597039228 Centerline is valid? [True, True] Translation: X:75.78, Y:249.40, Z:6.44 [[-1.44064965e-01 -9.89567434e-01 1.25704495e-03 7.57806621e+01] [ 9.89522410e-01 -1.44070402e-01 -9.44033388e-03 2.49400934e+02] [ 9.52294994e-03 -1.16147219e-04 9.99954649e-01 6.44144990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.2827550960001 meters 0.020017780116461215 Centerline is valid? [True, True] Translation: X:75.78, Y:249.43, Z:6.44 [[-1.45336007e-01 -9.89381494e-01 1.30526727e-03 7.57773149e+01] [ 9.89333229e-01 -1.45341811e-01 -9.77339025e-03 2.49426095e+02] [ 9.85932136e-03 -1.29081228e-04 9.99951387e-01 6.44095137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.31275509600005 meters 0.020449024884979957 Centerline is valid? [True, True] Translation: X:75.77, Y:249.45, Z:6.44 [[-1.47762341e-01 -9.89021872e-01 1.42363377e-03 7.57729721e+01] [ 9.88964801e-01 -1.47769109e-01 -1.06259975e-02 2.49452522e+02] [ 1.07197131e-02 -1.62198583e-04 9.99942529e-01 6.44042787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3427550960001 meters 0.021102072259828904 Centerline is valid? [True, True] Translation: X:75.77, Y:249.48, Z:6.44 [[-1.49454314e-01 -9.88767688e-01 1.36650796e-03 7.57696406e+01] [ 9.88715365e-01 -1.49460466e-01 -1.01732920e-02 2.49479705e+02] [ 1.02632614e-02 -1.69354971e-04 9.99947317e-01 6.44114814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.37275509600005 meters 0.021718320275351536 Centerline is valid? [True, True] Translation: X:75.77, Y:249.51, Z:6.44 [[-1.51203725e-01 -9.88501751e-01 1.31244864e-03 7.57669545e+01] [ 9.88453711e-01 -1.51209318e-01 -9.74693171e-03 2.49505772e+02] [ 9.83331352e-03 -1.76477655e-04 9.99951636e-01 6.44196086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4027550960001 meters 0.023051781898678528 Centerline is valid? [True, True] Translation: X:75.76, Y:249.53, Z:6.44 [[-1.54043507e-01 -9.88063293e-01 1.23548582e-03 7.57642968e+01] [ 9.88020920e-01 -1.54048345e-01 -9.15251210e-03 2.49531296e+02] [ 9.23358579e-03 -1.89199230e-04 9.99957352e-01 6.44340909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.43275509600005 meters 0.023598699972677988 Centerline is valid? [True, True] Translation: X:75.76, Y:249.56, Z:6.44 [[-1.55556492e-01 -9.87826337e-01 1.14233766e-03 7.57610696e+01] [ 9.87790299e-01 -1.55560577e-01 -8.43997643e-03 2.49557559e+02] [ 8.51493371e-03 -1.84503067e-04 9.99963730e-01 6.44448332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4627550960001 meters 0.025129082866932422 Centerline is valid? [True, True] Translation: X:75.76, Y:249.58, Z:6.45 [[-1.58415222e-01 -9.87371935e-01 1.13095631e-03 7.57593405e+01] [ 9.87336786e-01 -1.58419128e-01 -8.33369770e-03 2.49583321e+02] [ 8.40762434e-03 -2.03549803e-04 9.99964635e-01 6.44598363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.49275509600005 meters 0.023596731826267092 Centerline is valid? [True, True] Translation: X:75.75, Y:249.61, Z:6.45 [[-1.59599259e-01 -9.87181309e-01 1.06794394e-03 7.57522170e+01] [ 9.87150126e-01 -1.59602709e-01 -7.84887078e-03 2.49609205e+02] [ 7.91870527e-03 -1.98452966e-04 9.99968627e-01 6.44655073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5227550960001 meters 0.022985483520988222 Centerline is valid? [True, True] Translation: X:75.75, Y:249.64, Z:6.45 [[-1.60611451e-01 -9.87017133e-01 1.06860997e-03 7.57467739e+01] [ 9.86986088e-01 -1.60614878e-01 -7.83093988e-03 2.49636295e+02] [ 7.90090648e-03 -2.03035447e-04 9.99968767e-01 6.44705018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.55275509600006 meters 0.026018415631583205 Centerline is valid? [True, True] Translation: X:75.75, Y:249.66, Z:6.45 [[-1.61539588e-01 -9.86865684e-01 1.04056787e-03 7.57478369e+01] [ 9.86836395e-01 -1.61542813e-01 -7.60581754e-03 2.49662634e+02] [ 7.67401659e-03 -2.01770383e-04 9.99970534e-01 6.44734197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5827550960001 meters 0.026018415631583205 Centerline is valid? [True, True] Translation: X:75.74, Y:249.69, Z:6.45 [[-1.61928456e-01 -9.86801949e-01 1.04342103e-03 7.57441039e+01] [ 9.86772661e-01 -1.61931692e-01 -7.60542599e-03 2.49687466e+02] [ 7.67401212e-03 -2.01915547e-04 9.99970534e-01 6.44757200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.61275509600006 meters 0.024115914422592807 Centerline is valid? [True, True] Translation: X:75.74, Y:249.71, Z:6.45 [[-1.63114933e-01 -9.86606460e-01 1.10045800e-03 7.57360713e+01] [ 9.86574079e-01 -1.63118499e-01 -7.99635944e-03 2.49713327e+02] [ 8.06876494e-03 -2.18642293e-04 9.99967423e-01 6.44700585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6427550960001 meters 0.02799269588998464 Centerline is valid? [True, True] Translation: X:75.74, Y:249.74, Z:6.45 [[-1.63536970e-01 -9.86536343e-01 1.30487032e-03 7.57389984e+01] [ 9.86491120e-01 -1.63541972e-01 -9.44954923e-03 2.49739079e+02] [ 9.53572481e-03 -2.58107673e-04 9.99954501e-01 6.44556182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.67275509600006 meters 0.024138424498472907 Centerline is valid? [True, True] Translation: X:75.73, Y:249.76, Z:6.45 [[-1.63893351e-01 -9.86477098e-01 1.38052576e-03 7.57289294e+01] [ 9.86426791e-01 -1.63898940e-01 -9.96613776e-03 2.49764562e+02] [ 1.00576334e-02 -2.71596118e-04 9.99949384e-01 6.44524216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.70275509600003 meters 0.02425280478651569 Centerline is valid? [True, True] Translation: X:75.73, Y:249.79, Z:6.45 [[-1.63987636e-01 -9.86461343e-01 1.44009597e-03 7.57255975e+01] [ 9.86406923e-01 -1.63993721e-01 -1.03654118e-02 2.49791107e+02] [ 1.04612447e-02 -2.79278732e-04 9.99945241e-01 6.44533544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.73275509600006 meters 0.024381549375783504 Centerline is valid? [True, True] Translation: X:75.72, Y:249.82, Z:6.45 [[-1.64045722e-01 -9.86451598e-01 1.49891852e-03 7.57225483e+01] [ 9.86392986e-01 -1.64052320e-01 -1.07570563e-02 2.49816027e+02] [ 1.08572165e-02 -2.86126357e-04 9.99941018e-01 6.44532922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76275509600003 meters 0.024555819339073318 Centerline is valid? [True, True] Translation: X:75.72, Y:249.84, Z:6.45 [[-1.64223935e-01 -9.86421896e-01 1.53041873e-03 7.57194380e+01] [ 9.86361142e-01 -1.64230812e-01 -1.09516539e-02 2.49841630e+02] [ 1.10542931e-02 -2.88978138e-04 9.99938858e-01 6.44533293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.79275509600006 meters 0.02475031512475753 Centerline is valid? [True, True] Translation: X:75.72, Y:249.87, Z:6.45 [[-1.64659815e-01 -9.86349181e-01 1.56159548e-03 7.57161714e+01] [ 9.86286217e-01 -1.64666954e-01 -1.11486280e-02 2.49868229e+02] [ 1.12535833e-02 -2.95550921e-04 9.99936633e-01 6.44571870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82275509600004 meters 0.02566540832797604 Centerline is valid? [True, True] Translation: X:75.71, Y:249.89, Z:6.45 [[-1.64961173e-01 -9.86298834e-01 1.55648592e-03 7.57148030e+01] [ 9.86236619e-01 -1.64968255e-01 -1.10817498e-02 2.49894180e+02] [ 1.11866877e-02 -2.92995033e-04 9.99937384e-01 6.44614302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.85275509600007 meters 0.025169640262504112 Centerline is valid? [True, True] Translation: X:75.71, Y:249.92, Z:6.45 [[-1.65202816e-01 -9.86258425e-01 1.53282002e-03 7.57102379e+01] [ 9.86198419e-01 -1.65209679e-01 -1.08830733e-02 2.49920454e+02] [ 1.09867594e-02 -2.86249669e-04 9.99939603e-01 6.44664934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.88275509600004 meters 0.025496792066871884 Centerline is valid? [True, True] Translation: X:75.71, Y:249.95, Z:6.45 [[-1.65825098e-01 -9.86153991e-01 1.53076976e-03 7.57070554e+01] [ 9.86094456e-01 -1.65831913e-01 -1.08397446e-02 2.49946512e+02] [ 1.09435079e-02 -2.88018147e-04 9.99940077e-01 6.44697360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.91275509600007 meters 0.025747505220385953 Centerline is valid? [True, True] Translation: X:75.70, Y:249.97, Z:6.45 [[-1.66051399e-01 -9.86115892e-01 1.54285900e-03 7.57049256e+01] [ 9.86055720e-01 -1.66058317e-01 -1.08974081e-02 2.49971578e+02] [ 1.10023119e-02 -2.88184924e-04 9.99939431e-01 6.44740493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.94275509600004 meters 0.024031460410348763 Centerline is valid? [True, True] Translation: X:75.70, Y:250.00, Z:6.45 [[-1.66818902e-01 -9.85986310e-01 1.56547335e-03 7.56983667e+01] [ 9.85924630e-01 -1.66825983e-01 -1.10324506e-02 2.49997824e+02] [ 1.11390069e-02 -2.96982565e-04 9.99937915e-01 6.44785771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.97275509600007 meters 0.026429267764035407 Centerline is valid? [True, True] Translation: X:75.70, Y:250.02, Z:6.45 [[-1.66978144e-01 -9.85959237e-01 1.63808984e-03 7.56995780e+01] [ 9.85892091e-01 -1.66985897e-01 -1.15106562e-02 2.50023868e+02] [ 1.16225757e-02 -3.07048194e-04 9.99932408e-01 6.44761630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.00275509600004 meters 0.02422515085723169 Centerline is valid? [True, True] Translation: X:75.69, Y:250.05, Z:6.45 [[-1.67300278e-01 -9.85904604e-01 1.65183505e-03 7.56920320e+01] [ 9.85836715e-01 -1.67308149e-01 -1.15738527e-02 2.50049577e+02] [ 1.16870802e-02 -3.07869137e-04 9.99931656e-01 6.44803005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0327550960001 meters 0.026843958718503924 Centerline is valid? [True, True] Translation: X:75.69, Y:250.08, Z:6.45 [[-1.67614047e-01 -9.85851277e-01 1.67076549e-03 7.56931115e+01] [ 9.85782186e-01 -1.67622087e-01 -1.16755359e-02 2.50075272e+02] [ 1.17903991e-02 -3.09972951e-04 9.99930443e-01 6.44768525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.06275509600005 meters 0.023519679252423254 Centerline is valid? [True, True] Translation: X:75.68, Y:250.10, Z:6.45 [[-1.67903167e-01 -9.85801917e-01 1.76262736e-03 7.56836298e+01] [ 9.85725389e-01 -1.67912103e-01 -1.22875506e-02 2.50100770e+02] [ 1.24090574e-02 -3.25652112e-04 9.99922952e-01 6.44849568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0927550960001 meters 0.027450226484234563 Centerline is valid? [True, True] Translation: X:75.69, Y:250.13, Z:6.45 [[-1.68590897e-01 -9.85684690e-01 1.67408191e-03 7.56872303e+01] [ 9.85616026e-01 -1.68598919e-01 -1.16385024e-02 2.50126646e+02] [ 1.17541421e-02 -3.12143605e-04 9.99930869e-01 6.44861087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.12275509600005 meters 0.02402862287473257 Centerline is valid? [True, True] Translation: X:75.68, Y:250.15, Z:6.45 [[-1.69627983e-01 -9.85506789e-01 1.64838235e-03 7.56774189e+01] [ 9.85440579e-01 -1.69635702e-01 -1.14277895e-02 2.50153152e+02] [ 1.15417886e-02 -3.14090028e-04 9.99933342e-01 6.45005716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1527550960001 meters 0.024204683218788162 Centerline is valid? [True, True] Translation: X:75.67, Y:250.18, Z:6.45 [[-1.70487028e-01 -9.85358619e-01 1.60138837e-03 7.56742517e+01] [ 9.85296436e-01 -1.70494267e-01 -1.10742209e-02 2.50179712e+02] [ 1.11851065e-02 -3.10168759e-04 9.99937397e-01 6.45092707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.18275509600005 meters 0.025123940195123137 Centerline is valid? [True, True] Translation: X:75.67, Y:250.21, Z:6.45 [[-1.71948355e-01 -9.85104776e-01 1.53108369e-03 7.56723495e+01] [ 9.85048222e-01 -1.71954896e-01 -1.05599850e-02 2.50205834e+02] [ 1.06659690e-02 -3.07580779e-04 9.99943070e-01 6.45230319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2127550960001 meters 0.0265578011709663 Centerline is valid? [True, True] Translation: X:75.67, Y:250.23, Z:6.45 [[-1.72892301e-01 -9.84939641e-01 1.46820255e-03 7.56712873e+01] [ 9.84887894e-01 -1.72898274e-01 -1.01006506e-02 2.50231658e+02] [ 1.02023809e-02 -3.00309808e-04 9.99947909e-01 6.45280973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.24275509600005 meters 0.027337537156567948 Centerline is valid? [True, True] Translation: X:75.67, Y:250.26, Z:6.45 [[-1.74335908e-01 -9.84685158e-01 1.45987221e-03 7.56692777e+01] [ 9.84634269e-01 -1.74341747e-01 -1.00155745e-02 2.50258856e+02] [ 1.01167042e-02 -3.08634057e-04 9.99948777e-01 6.45345694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2727550960001 meters 0.025477108210165862 Centerline is valid? [True, True] Translation: X:75.66, Y:250.29, Z:6.45 [[-1.75004127e-01 -9.84566638e-01 1.44601424e-03 7.56624430e+01] [ 9.84516939e-01 -1.75009829e-01 -9.89726828e-03 2.50285049e+02] [ 9.99758686e-03 -3.08437282e-04 9.99949975e-01 6.45390010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.30275509600006 meters 0.025724010698568833 Centerline is valid? [True, True] Translation: X:75.66, Y:250.31, Z:6.45 [[-1.75309350e-01 -9.84512336e-01 1.44641751e-03 7.56593404e+01] [ 9.84462880e-01 -1.75315049e-01 -9.87278781e-03 2.50310579e+02] [ 9.97346015e-03 -3.06847674e-04 9.99950217e-01 6.45389563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3327550960001 meters 0.02559341602854127 Centerline is valid? [True, True] Translation: X:75.66, Y:250.34, Z:6.45 [[-1.75009679e-01 -9.84565745e-01 1.38103643e-03 7.56550443e+01] [ 9.84520903e-01 -1.75014895e-01 -9.40093088e-03 2.50336530e+02] [ 9.49753646e-03 -2.85594659e-04 9.99954857e-01 6.45490800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.36275509600006 meters 0.026090973169912015 Centerline is valid? [True, True] Translation: X:75.65, Y:250.36, Z:6.46 [[-1.74645749e-01 -9.84630419e-01 1.34168875e-03 7.56518699e+01] [ 9.84588319e-01 -1.74650694e-01 -9.10922290e-03 2.50362195e+02] [ 9.20354483e-03 -2.69875983e-04 9.99957610e-01 6.45556167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3927550960001 meters 0.025275550244948902 Centerline is valid? [True, True] Translation: X:75.65, Y:250.39, Z:6.46 [[-1.74178716e-01 -9.84713168e-01 1.32374831e-03 7.56460431e+01] [ 9.84672412e-01 -1.74183556e-01 -8.96267665e-03 2.50388100e+02] [ 9.05624090e-03 -2.57649070e-04 9.99958958e-01 6.45650709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.42275509600006 meters 0.025226488281332827 Centerline is valid? [True, True] Translation: X:75.64, Y:250.41, Z:6.46 [[-1.73222118e-01 -9.84881935e-01 1.29309325e-03 7.56415232e+01] [ 9.84843250e-01 -1.73226779e-01 -8.73247069e-03 2.50414412e+02] [ 8.82445101e-03 -2.39162911e-04 9.99961035e-01 6.45685758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.45275509600003 meters 0.024862813237639583 Centerline is valid? [True, True] Translation: X:75.64, Y:250.44, Z:6.46 [[-1.73022021e-01 -9.84917056e-01 1.33162232e-03 7.56367490e+01] [ 9.84876229e-01 -1.73026977e-01 -8.97095267e-03 2.50440052e+02] [ 9.06605088e-03 -2.40689190e-04 9.99958874e-01 6.45719222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.48275509600006 meters 0.025312437869648537 Centerline is valid? [True, True] Translation: X:75.63, Y:250.47, Z:6.46 [[-1.72519958e-01 -9.85005073e-01 1.36742196e-03 7.56340514e+01] [ 9.84962252e-01 -1.72525213e-01 -9.18761451e-03 2.50465221e+02] [ 9.28576167e-03 -2.38187859e-04 9.99956858e-01 6.45772748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.51275509600003 meters 0.024822325425252482 Centerline is valid? [True, True] Translation: X:75.63, Y:250.49, Z:6.46 [[-1.72442870e-01 -9.85018602e-01 1.34535745e-03 7.56288170e+01] [ 9.84977320e-01 -1.72447964e-01 -9.02107390e-03 2.50491110e+02] [ 9.11792975e-03 -2.30473295e-04 9.99958404e-01 6.45770567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.54275509600006 meters 0.024826099764052083 Centerline is valid? [True, True] Translation: X:75.62, Y:250.52, Z:6.46 [[-1.72594315e-01 -9.84992020e-01 1.38664926e-03 7.56242404e+01] [ 9.84948391e-01 -1.72599725e-01 -9.27377253e-03 2.50517429e+02] [ 9.37392722e-03 -2.34822460e-04 9.99956036e-01 6.45793815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.57275509600004 meters 0.024293609815301646 Centerline is valid? [True, True] Translation: X:75.62, Y:250.54, Z:6.46 [[-1.72953922e-01 -9.84928994e-01 1.34791526e-03 7.56188325e+01] [ 9.84887967e-01 -1.72959024e-01 -8.99271466e-03 2.50543738e+02] [ 9.09031951e-03 -2.27779751e-04 9.99958656e-01 6.45808610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.60275509600007 meters 0.023863596623753525 Centerline is valid? [True, True] Translation: X:75.61, Y:250.57, Z:6.46 [[-1.73459658e-01 -9.84840119e-01 1.29881046e-03 7.56136054e+01] [ 9.84802209e-01 -1.73464381e-01 -8.64390160e-03 2.50569972e+02] [ 8.73815844e-03 -2.20296806e-04 9.99961797e-01 6.45913877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.63275509600004 meters 0.023551441527307256 Centerline is valid? [True, True] Translation: X:75.61, Y:250.60, Z:6.46 [[-1.74220305e-01 -9.84705921e-01 1.23918045e-03 7.56090352e+01] [ 9.84671578e-01 -1.74224581e-01 -8.22671283e-03 2.50595620e+02] [ 8.31678853e-03 -2.13074644e-04 9.99965392e-01 6.45969645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.66275509600007 meters 0.02675767495037605 Centerline is valid? [True, True] Translation: X:75.61, Y:250.62, Z:6.46 [[-1.75251869e-01 -9.84522964e-01 1.14701673e-03 7.56106560e+01] [ 9.84493680e-01 -1.75255506e-01 -7.59617018e-03 2.50622895e+02] [ 7.67962498e-03 -2.02012299e-04 9.99970491e-01 6.46110689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.69275509600004 meters 0.026542990364185327 Centerline is valid? [True, True] Translation: X:75.61, Y:250.65, Z:6.46 [[-1.75687501e-01 -9.84445326e-01 1.14121803e-03 7.56062467e+01] [ 9.84416477e-01 -1.75691092e-01 -7.53916860e-03 2.50648156e+02] [ 7.62240113e-03 -2.01103853e-04 9.99970929e-01 6.46182260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.72275509600007 meters 0.02326726975903396 Centerline is valid? [True, True] Translation: X:75.60, Y:250.67, Z:6.46 [[-1.76278677e-01 -9.84339709e-01 1.07947525e-03 7.55958734e+01] [ 9.84314023e-01 -1.76281878e-01 -7.11367100e-03 2.50674232e+02] [ 7.19256077e-03 -1.91445888e-04 9.99974115e-01 6.46209608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.75275509600004 meters 0.023859190213036053 Centerline is valid? [True, True] Translation: X:75.59, Y:250.70, Z:6.46 [[-1.76522607e-01 -9.84295968e-01 1.10320386e-03 7.55916398e+01] [ 9.84269271e-01 -1.76525947e-01 -7.25205439e-03 2.50700626e+02] [ 7.33291200e-03 -1.94301889e-04 9.99973095e-01 6.46290191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.7827550960001 meters 0.02417159252203303 Centerline is valid? [True, True] Translation: X:75.59, Y:250.73, Z:6.46 [[-1.77045191e-01 -9.84202089e-01 1.11783579e-03 7.55873224e+01] [ 9.84174815e-01 -1.77048609e-01 -7.32961198e-03 2.50725564e+02] [ 7.41173069e-03 -1.97526715e-04 9.99972513e-01 6.46314500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.81275509600005 meters 0.023475035745078247 Centerline is valid? [True, True] Translation: X:75.58, Y:250.75, Z:6.46 [[-1.77386266e-01 -9.84140746e-01 1.05148740e-03 7.55811410e+01] [ 9.84116739e-01 -1.77389286e-01 -6.87648208e-03 2.50751835e+02] [ 6.95394880e-03 -1.85007129e-04 9.99975804e-01 6.46340767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8427550960001 meters 0.02381728595127564 Centerline is valid? [True, True] Translation: X:75.58, Y:250.78, Z:6.46 [[-1.77583046e-01 -9.84105145e-01 1.15162399e-03 7.55771882e+01] [ 9.84076495e-01 -1.77586667e-01 -7.51181026e-03 2.50777372e+02] [ 7.59692419e-03 -2.00684046e-04 9.99971123e-01 6.46354279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.87275509600005 meters 0.025073188270340864 Centerline is valid? [True, True] Translation: X:75.58, Y:250.80, Z:6.46 [[-1.77993234e-01 -9.84030998e-01 1.18500644e-03 7.55754170e+01] [ 9.84000834e-01 -1.77997059e-01 -7.70744432e-03 2.50802863e+02] [ 7.79529179e-03 -2.05825611e-04 9.99969595e-01 6.46380561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9027550960001 meters 0.023641128633783596 Centerline is valid? [True, True] Translation: X:75.57, Y:250.83, Z:6.46 [[-1.77549855e-01 -9.84110852e-01 1.37142832e-03 7.55682959e+01] [ 9.84070707e-01 -1.77555004e-01 -8.89185491e-03 2.50828830e+02] [ 8.99407487e-03 -2.29165120e-04 9.99959526e-01 6.46335741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.93275509600005 meters 0.023305202004458982 Centerline is valid? [True, True] Translation: X:75.56, Y:250.85, Z:6.46 [[-1.77467963e-01 -9.84125582e-01 1.40067961e-03 7.55630009e+01] [ 9.84083925e-01 -1.77473343e-01 -9.05768515e-03 2.50854799e+02] [ 9.16248296e-03 -2.29062643e-04 9.99957997e-01 6.46297547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9627550960001 meters 0.0230596819353497 Centerline is valid? [True, True] Translation: X:75.56, Y:250.88, Z:6.46 [[-1.77284729e-01 -9.84158591e-01 1.41140938e-03 7.55580018e+01] [ 9.84116514e-01 -1.77290205e-01 -9.10330887e-03 2.50880836e+02] [ 9.20932869e-03 -2.24886364e-04 9.99957568e-01 6.46298475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.99275509600005 meters 0.02308328149832314 Centerline is valid? [True, True] Translation: X:75.55, Y:250.91, Z:6.46 [[-1.76423170e-01 -9.84313371e-01 1.43313803e-03 7.55543377e+01] [ 9.84270218e-01 -1.76428858e-01 -9.21929982e-03 2.50906022e+02] [ 9.32752699e-03 -2.15903017e-04 9.99956474e-01 6.46314065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0227550960001 meters 0.021993898246491634 Centerline is valid? [True, True] Translation: X:75.55, Y:250.93, Z:6.46 [[-1.76034048e-01 -9.84383072e-01 1.40762701e-03 7.55477649e+01] [ 9.84341611e-01 -1.76039556e-01 -9.03700612e-03 2.50932204e+02] [ 9.14367388e-03 -2.05234933e-04 9.99958175e-01 6.46387286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.05275509600006 meters 0.021785418383049614 Centerline is valid? [True, True] Translation: X:75.54, Y:250.96, Z:6.46 [[-1.75883287e-01 -9.84410052e-01 1.38551286e-03 7.55431453e+01] [ 9.84370089e-01 -1.75888635e-01 -8.87221123e-03 2.50958560e+02] [ 8.97758988e-03 -1.96616261e-04 9.99959681e-01 6.46414130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0827550960001 meters 0.021609935777308957 Centerline is valid? [True, True] Translation: X:75.54, Y:250.99, Z:6.46 [[-1.75183961e-01 -9.84534763e-01 1.37089741e-03 7.55381290e+01] [ 9.84495844e-01 -1.75189228e-01 -8.75605282e-03 2.50985039e+02] [ 8.86080485e-03 -1.84277216e-04 9.99960725e-01 6.46453919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.11275509600006 meters 0.021407648412947063 Centerline is valid? [True, True] Translation: X:75.53, Y:251.01, Z:6.46 [[-1.74814626e-01 -9.84600417e-01 1.36556680e-03 7.55337608e+01] [ 9.84561989e-01 -1.74819870e-01 -8.70078712e-03 2.51010925e+02] [ 8.80552684e-03 -1.76539681e-04 9.99961215e-01 6.46437945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1427550960001 meters 0.021305612273014553 Centerline is valid? [True, True] Translation: X:75.53, Y:251.04, Z:6.46 [[-1.74469398e-01 -9.84661447e-01 1.50493187e-03 7.55301323e+01] [ 9.84615036e-01 -1.74475789e-01 -9.56191988e-03 2.51036008e+02] [ 9.67782804e-03 -1.86483861e-04 9.99953151e-01 6.46385590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.17275509600006 meters 0.021007553930532493 Centerline is valid? [True, True] Translation: X:75.53, Y:251.06, Z:6.46 [[-1.74655763e-01 -9.84628374e-01 1.52642432e-03 7.55254482e+01] [ 9.84580881e-01 -1.74662333e-01 -9.67253148e-03 2.51061736e+02] [ 9.79045777e-03 -1.86475162e-04 9.99952055e-01 6.46358026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.20275509600003 meters 0.02089479795238281 Centerline is valid? [True, True] Translation: X:75.52, Y:251.09, Z:6.46 [[-1.74988080e-01 -9.84569236e-01 1.60988956e-03 7.55213943e+01] [ 9.84516687e-01 -1.74995376e-01 -1.01741025e-02 2.51087420e+02] [ 1.02988315e-02 -1.95383515e-04 9.99946947e-01 6.46359237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.23275509600006 meters 0.02184393056341712 Centerline is valid? [True, True] Translation: X:75.52, Y:251.11, Z:6.46 [[-1.75682339e-01 -9.84445537e-01 1.64317329e-03 7.55197894e+01] [ 9.84391071e-01 -1.75689907e-01 -1.03573622e-02 2.51113053e+02] [ 1.04849480e-02 -2.02080508e-04 9.99945011e-01 6.46303314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26275509600003 meters 0.02128815629771158 Centerline is valid? [True, True] Translation: X:75.51, Y:251.14, Z:6.46 [[-1.76539104e-01 -9.84292184e-01 1.68557709e-03 7.55144998e+01] [ 9.84235171e-01 -1.76547024e-01 -1.05961013e-02 2.51138612e+02] [ 1.07272433e-02 -2.11621986e-04 9.99942439e-01 6.46334898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.29275509600006 meters 0.021258155114651196 Centerline is valid? [True, True] Translation: X:75.51, Y:251.16, Z:6.46 [[-1.77321575e-01 -9.84151700e-01 1.57793379e-03 7.55105844e+01] [ 9.84101966e-01 -1.77328481e-01 -9.89596009e-03 2.51164713e+02] [ 1.00189385e-02 -2.01919482e-04 9.99949789e-01 6.46421412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32275509600004 meters 0.02190818491461446 Centerline is valid? [True, True] Translation: X:75.51, Y:251.19, Z:6.47 [[-1.78883899e-01 -9.83869000e-01 1.53007289e-03 7.55092175e+01] [ 9.83822456e-01 -1.78890322e-01 -9.57228677e-03 2.51191129e+02] [ 9.69159145e-03 -2.07007910e-04 9.99953014e-01 6.46534075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.35275509600007 meters 0.02197175030735781 Centerline is valid? [True, True] Translation: X:75.51, Y:251.22, Z:6.47 [[-1.79685015e-01 -9.83723082e-01 1.48105792e-03 7.55052932e+01] [ 9.83679667e-01 -1.79691003e-01 -9.24429464e-03 2.51217567e+02] [ 9.35995880e-03 -2.04174661e-04 9.99956174e-01 6.46587794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.38275509600004 meters 0.023548960200831175 Centerline is valid? [True, True] Translation: X:75.50, Y:251.24, Z:6.47 [[-1.80530824e-01 -9.83568105e-01 1.55044526e-03 7.55048870e+01] [ 9.83520766e-01 -1.80537351e-01 -9.65230348e-03 2.51242973e+02] [ 9.77361113e-03 -2.17643193e-04 9.99952213e-01 6.46589118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.41275509600007 meters 0.022473787250084906 Centerline is valid? [True, True] Translation: X:75.50, Y:251.27, Z:6.47 [[-1.80881653e-01 -9.83503624e-01 1.56525499e-03 7.54986039e+01] [ 9.83455622e-01 -1.80888293e-01 -9.71932352e-03 2.51268672e+02] [ 9.84212620e-03 -2.18688481e-04 9.99951541e-01 6.46614802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.44275509600004 meters 0.02219782066372174 Centerline is valid? [True, True] Translation: X:75.49, Y:251.29, Z:6.47 [[-1.81428135e-01 -9.83402745e-01 1.69510878e-03 7.54936378e+01] [ 9.83346734e-01 -1.81435898e-01 -1.04983644e-02 2.51294491e+02] [ 1.06316740e-02 -2.37819004e-04 9.99943454e-01 6.46603712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.47275509600007 meters 0.022531368791898137 Centerline is valid? [True, True] Translation: X:75.49, Y:251.32, Z:6.46 [[-1.81284559e-01 -9.83428864e-01 1.89156874e-03 7.54899767e+01] [ 9.83359493e-01 -1.81294244e-01 -1.16835576e-02 2.51319259e+02] [ 1.18328784e-02 -2.57956520e-04 9.99929956e-01 6.46472981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.50275509600004 meters 0.022531368791898137 Centerline is valid? [True, True] Translation: X:75.49, Y:251.34, Z:6.46 [[-1.81654690e-01 -9.83360553e-01 1.89620908e-03 7.54855649e+01] [ 9.83291186e-01 -1.81664404e-01 -1.16828047e-02 2.51344819e+02] [ 1.18328830e-02 -2.57710598e-04 9.99929956e-01 6.46496737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5327550960001 meters 0.022242907930602553 Centerline is valid? [True, True] Translation: X:75.48, Y:251.37, Z:6.46 [[-1.81891643e-01 -9.83316713e-01 1.91654052e-03 7.54803782e+01] [ 9.83246185e-01 -1.81901557e-01 -1.17797682e-02 2.51371142e+02] [ 1.19318647e-02 -2.58210250e-04 9.99928779e-01 6.46479037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.56275509600005 meters 0.021956981157834645 Centerline is valid? [True, True] Translation: X:75.48, Y:251.40, Z:6.46 [[-1.81976130e-01 -9.83300979e-01 1.96801921e-03 7.54757160e+01] [ 9.83226974e-01 -1.81986584e-01 -1.20665494e-02 2.51396750e+02] [ 1.22232030e-02 -2.60814390e-04 9.99925260e-01 6.46454736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5927550960001 meters 0.02273445522030325 Centerline is valid? [True, True] Translation: X:75.47, Y:251.42, Z:6.46 [[-1.82834159e-01 -9.83141498e-01 2.11329258e-03 7.54734809e+01] [ 9.83056589e-01 -1.82846149e-01 -1.29239801e-02 2.51422546e+02] [ 1.30925086e-02 -2.85458845e-04 9.99914249e-01 6.46446580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.62275509600005 meters 0.023015441871079536 Centerline is valid? [True, True] Translation: X:75.47, Y:251.45, Z:6.46 [[-1.83721909e-01 -9.82975994e-01 2.11087581e-03 7.54699155e+01] [ 9.82891682e-01 -1.83733804e-01 -1.28775079e-02 2.51448282e+02] [ 1.30461203e-02 -2.91118048e-04 9.99914853e-01 6.46493812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6527550960001 meters 0.02264110664853202 Centerline is valid? [True, True] Translation: X:75.46, Y:251.48, Z:6.47 [[-1.85748839e-01 -9.82594872e-01 2.16460050e-03 7.54649008e+01] [ 9.82506600e-01 -1.85761175e-01 -1.31744984e-02 2.51475425e+02] [ 1.33472933e-02 -3.20413500e-04 9.99910870e-01 6.46517307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.68275509600005 meters 0.023129804362098324 Centerline is valid? [True, True] Translation: X:75.46, Y:251.50, Z:6.47 [[-1.87001135e-01 -9.82357541e-01 2.05850930e-03 7.54616994e+01] [ 9.82278041e-01 -1.87012198e-01 -1.25015073e-02 2.51501298e+02] [ 1.26659163e-02 -3.15767577e-04 9.99919734e-01 6.46545037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7127550960001 meters 0.025542543179544876 Centerline is valid? [True, True] Translation: X:75.46, Y:251.53, Z:6.47 [[-1.88439633e-01 -9.82082678e-01 2.02935583e-03 7.54615029e+01] [ 9.82005760e-01 -1.88450282e-01 -1.22954514e-02 2.51527508e+02] [ 1.24575825e-02 -3.24111226e-04 9.99922349e-01 6.46577333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.74275509600005 meters 0.024656561979590673 Centerline is valid? [True, True] Translation: X:75.46, Y:251.55, Z:6.47 [[-1.89426024e-01 -9.81893052e-01 1.95360523e-03 7.54556240e+01] [ 9.81822075e-01 -1.89435829e-01 -1.18101908e-02 2.51553181e+02] [ 1.19664271e-02 -3.19064749e-04 9.99928349e-01 6.46635815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7727550960001 meters 0.024770582638433958 Centerline is valid? [True, True] Translation: X:75.45, Y:251.58, Z:6.47 [[-1.91033231e-01 -9.81581827e-01 1.84962141e-03 7.54514875e+01] [ 9.81518459e-01 -1.91041923e-01 -1.11579157e-02 2.51579569e+02] [ 1.13057626e-02 -3.16095143e-04 9.99936038e-01 6.46741840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.80275509600006 meters 0.026828016637647265 Centerline is valid? [True, True] Translation: X:75.45, Y:251.61, Z:6.47 [[-1.92102070e-01 -9.81373231e-01 1.83726586e-03 7.54506443e+01] [ 9.81310917e-01 -1.92110585e-01 -1.10638104e-02 2.51606145e+02] [ 1.12106856e-02 -3.22451837e-04 9.99937106e-01 6.46774854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8327550960001 meters 0.025999476155099694 Centerline is valid? [True, True] Translation: X:75.44, Y:251.63, Z:6.47 [[-1.93360001e-01 -9.81126395e-01 1.70474483e-03 7.54444022e+01] [ 9.81072959e-01 -1.93367270e-01 -1.02444070e-02 2.51632747e+02] [ 1.03807000e-02 -3.08379498e-04 9.99946072e-01 6.46833625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.86275509600006 meters 0.024870217515858085 Centerline is valid? [True, True] Translation: X:75.44, Y:251.66, Z:6.47 [[-1.94056759e-01 -9.80988869e-01 1.67728030e-03 7.54375203e+01] [ 9.80937350e-01 -1.94063765e-01 -1.00583671e-02 2.51659205e+02] [ 1.01926455e-02 -3.06587231e-04 9.99948007e-01 6.46887544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8927550960001 meters 0.02526086520103661 Centerline is valid? [True, True] Translation: X:75.43, Y:251.68, Z:6.47 [[-1.94621200e-01 -9.80876998e-01 1.70375790e-03 7.54336360e+01] [ 9.80824068e-01 -1.94628406e-01 -1.01946799e-02 2.51684029e+02] [ 1.03313267e-02 -3.13014085e-04 9.99946581e-01 6.46919556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.92275509600006 meters 0.025079693121155232 Centerline is valid? [True, True] Translation: X:75.43, Y:251.71, Z:6.47 [[-1.95252556e-01 -9.80751581e-01 1.66604693e-03 7.54279876e+01] [ 9.80701157e-01 -1.95259420e-01 -9.94989389e-03 2.51710956e+02] [ 1.00836855e-02 -3.08848063e-04 9.99949111e-01 6.46897366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.95275509600003 meters 0.02517203455166274 Centerline is valid? [True, True] Translation: X:75.42, Y:251.74, Z:6.47 [[-1.95380025e-01 -9.80726102e-01 1.72005027e-03 7.54233798e+01] [ 9.80672598e-01 -1.95387341e-01 -1.02490081e-02 2.51737299e+02] [ 1.03875458e-02 -3.15645290e-04 9.99945998e-01 6.46897770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.98275509600006 meters 0.02461494913086448 Centerline is valid? [True, True] Translation: X:75.42, Y:251.76, Z:6.47 [[-1.95523509e-01 -9.80697490e-01 1.72957126e-03 7.54172406e+01] [ 9.80643648e-01 -1.95530906e-01 -1.02810495e-02 2.51763479e+02] [ 1.04207841e-02 -3.14093809e-04 9.99945653e-01 6.46925128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.01275509600003 meters 0.024262958528249418 Centerline is valid? [True, True] Translation: X:75.41, Y:251.79, Z:6.47 [[-1.94616062e-01 -9.80878289e-01 1.53990330e-03 7.54116985e+01] [ 9.80835781e-01 -1.94621971e-01 -9.13562527e-03 2.51789131e+02] [ 9.26063549e-03 -2.67547165e-04 9.99957084e-01 6.47023462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.04275509600006 meters 0.024639757112257556 Centerline is valid? [True, True] Translation: X:75.41, Y:251.81, Z:6.47 [[-1.94320764e-01 -9.80936897e-01 1.49846205e-03 7.54072916e+01] [ 9.80896828e-01 -1.94326376e-01 -8.86980378e-03 2.51814615e+02] [ 8.99190849e-03 -2.53750377e-04 9.99959540e-01 6.47067352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.07275509600004 meters 0.02392507724894836 Centerline is valid? [True, True] Translation: X:75.40, Y:251.84, Z:6.47 [[-1.92529918e-01 -9.81290028e-01 1.45290590e-03 7.53996621e+01] [ 9.81252506e-01 -1.92535266e-01 -8.58428646e-03 2.51841173e+02] [ 8.70341033e-03 -2.27064410e-04 9.99962099e-01 6.47105603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.10275509600007 meters 0.023081284674037184 Centerline is valid? [True, True] Translation: X:75.39, Y:251.87, Z:6.47 [[-1.91933469e-01 -9.81406906e-01 1.42448501e-03 7.53928120e+01] [ 9.81370986e-01 -1.91938635e-01 -8.39928739e-03 2.51866882e+02] [ 8.51653236e-03 -2.14156103e-04 9.99963711e-01 6.47118093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.13275509600004 meters 0.02207776911623163 Centerline is valid? [True, True] Translation: X:75.39, Y:251.89, Z:6.47 [[-1.91531892e-01 -9.81485481e-01 1.33620773e-03 7.53858005e+01] [ 9.81454017e-01 -1.91536454e-01 -7.86125673e-03 2.51892920e+02] [ 7.97164183e-03 -1.94254927e-04 9.99968207e-01 6.47112151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.16275509600007 meters 0.02257293524586484 Centerline is valid? [True, True] Translation: X:75.38, Y:251.92, Z:6.47 [[-1.90830975e-01 -9.81621866e-01 1.43220825e-03 7.53813959e+01] [ 9.81585892e-01 -1.90836246e-01 -8.40619098e-03 2.51918969e+02] [ 8.52501812e-03 -1.98326213e-04 9.99963642e-01 6.47105195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.19275509600004 meters 0.02271126821528888 Centerline is valid? [True, True] Translation: X:75.38, Y:251.94, Z:6.47 [[-1.91016456e-01 -9.81585800e-01 1.42489472e-03 7.53764857e+01] [ 9.81550352e-01 -1.91021670e-01 -8.34430021e-03 2.51944151e+02] [ 8.46283237e-03 -1.95292734e-04 9.99964171e-01 6.47091894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.22275509600007 meters 0.021634038606152442 Centerline is valid? [True, True] Translation: X:75.37, Y:251.97, Z:6.47 [[-1.90592591e-01 -9.81668211e-01 1.40970261e-03 7.53694729e+01] [ 9.81633683e-01 -1.90597714e-01 -8.23550482e-03 2.51970242e+02] [ 8.35321938e-03 -1.85814632e-04 9.99965094e-01 6.47144092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.25275509600004 meters 0.022834098048793525 Centerline is valid? [True, True] Translation: X:75.37, Y:252.00, Z:6.47 [[-1.90890817e-01 -9.81610202e-01 1.45187779e-03 7.53670772e+01] [ 9.81573744e-01 -1.90896243e-01 -8.46220175e-03 2.51995500e+02] [ 8.58374159e-03 -1.90231485e-04 9.99963141e-01 6.47175126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.2827550960001 meters 0.022949076251976053 Centerline is valid? [True, True] Translation: X:75.36, Y:252.02, Z:6.47 [[-1.91419293e-01 -9.81507273e-01 1.45850151e-03 7.53623412e+01] [ 9.81470663e-01 -1.91424754e-01 -8.47950375e-03 2.52021237e+02] [ 8.60188789e-03 -1.91664173e-04 9.99962985e-01 6.47177168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.31275509600005 meters 0.021687430386221937 Centerline is valid? [True, True] Translation: X:75.35, Y:252.05, Z:6.47 [[-1.92382552e-01 -9.81318931e-01 1.45214553e-03 7.53545548e+01] [ 9.81282793e-01 -1.92387933e-01 -8.42395077e-03 2.52047416e+02] [ 8.54595765e-03 -1.95655721e-04 9.99963464e-01 6.47169658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3427550960001 meters 0.021932165791556907 Centerline is valid? [True, True] Translation: X:75.35, Y:252.07, Z:6.47 [[-1.93268476e-01 -9.81144844e-01 1.44598994e-03 7.53498609e+01] [ 9.81109159e-01 -1.93273783e-01 -8.37041323e-03 2.52074655e+02] [ 8.49205973e-03 -1.99063034e-04 9.99963922e-01 6.47198976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.37275509600005 meters 0.022322712781627865 Centerline is valid? [True, True] Translation: X:75.35, Y:252.10, Z:6.47 [[-1.94252984e-01 -9.80950446e-01 1.41453586e-03 7.53459180e+01] [ 9.80916429e-01 -1.94258031e-01 -8.17166152e-03 2.52099696e+02] [ 8.29077997e-03 -1.99828167e-04 9.99965611e-01 6.47207986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4027550960001 meters 0.025297641044527024 Centerline is valid? [True, True] Translation: X:75.35, Y:252.13, Z:6.47 [[-1.96774500e-01 -9.80447649e-01 1.48422611e-03 7.53456082e+01] [ 9.80410377e-01 -1.96779966e-01 -8.55201229e-03 2.52126341e+02] [ 8.67686631e-03 -2.27667269e-04 9.99962329e-01 6.47184884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.43275509600005 meters 0.02381897863703854 Centerline is valid? [True, True] Translation: X:75.34, Y:252.15, Z:6.47 [[-1.98326142e-01 -9.80134982e-01 1.46899619e-03 7.53379001e+01] [ 9.80098621e-01 -1.98331443e-01 -8.44582088e-03 2.52153041e+02] [ 8.56939263e-03 -2.35265934e-04 9.99963254e-01 6.47191465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4627550960001 meters 0.02436777699890988 Centerline is valid? [True, True] Translation: X:75.33, Y:252.18, Z:6.47 [[-2.00617543e-01 -9.79668569e-01 1.44776818e-03 7.53342877e+01] [ 9.79633383e-01 -2.00622613e-01 -8.30679780e-03 2.52180445e+02] [ 8.42836375e-03 -2.48207325e-04 9.99964450e-01 6.47212635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.49275509600005 meters 0.025297700609122516 Centerline is valid? [True, True] Translation: X:75.33, Y:252.21, Z:6.47 [[-2.01982616e-01 -9.79388046e-01 1.44173582e-03 7.53311134e+01] [ 9.79353289e-01 -2.01987600e-01 -8.25502974e-03 2.52206952e+02] [ 8.37609020e-03 -2.55403789e-04 9.99964887e-01 6.47261835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5227550960001 meters 0.025431025199344665 Centerline is valid? [True, True] Translation: X:75.33, Y:252.23, Z:6.47 [[-2.03010147e-01 -9.79175665e-01 1.37761719e-03 7.53265436e+01] [ 9.79144058e-01 -2.03014669e-01 -7.87140259e-03 2.52233768e+02] [ 7.98716236e-03 -2.49088915e-04 9.99968071e-01 6.47301761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.55275509600006 meters 0.0265172652808572 Centerline is valid? [True, True] Translation: X:75.32, Y:252.26, Z:6.47 [[-2.04114105e-01 -9.78946202e-01 1.32861394e-03 7.53234634e+01] [ 9.78916914e-01 -2.04118281e-01 -7.57654651e-03 2.52259663e+02] [ 7.68822583e-03 -2.45877351e-04 9.99970415e-01 6.47343132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5827550960001 meters 0.026165576806923236 Centerline is valid? [True, True] Translation: X:75.32, Y:252.29, Z:6.47 [[-2.04777763e-01 -9.78807536e-01 1.36933094e-03 7.53172778e+01] [ 9.78776558e-01 -2.04782182e-01 -7.79150704e-03 2.52285676e+02] [ 7.90680038e-03 -2.55258358e-04 9.99968708e-01 6.47345901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.61275509600006 meters 0.025835459006696402 Centerline is valid? [True, True] Translation: X:75.31, Y:252.31, Z:6.47 [[-2.05090797e-01 -9.78742019e-01 1.35069483e-03 7.53111546e+01] [ 9.78712011e-01 -2.05095091e-01 -7.66829495e-03 2.52311396e+02] [ 7.78230336e-03 -2.50755465e-04 9.99969686e-01 6.47354757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6427550960001 meters 0.025048850955590042 Centerline is valid? [True, True] Translation: X:75.30, Y:252.34, Z:6.47 [[-2.04195353e-01 -9.78929249e-01 1.33522389e-03 7.53039233e+01] [ 9.78900062e-01 -2.04199580e-01 -7.56302093e-03 2.52337577e+02] [ 7.67631456e-03 -2.37282975e-04 9.99970509e-01 6.47350902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.67275509600006 meters 0.0247781678987111 Centerline is valid? [True, True] Translation: X:75.30, Y:252.36, Z:6.47 [[-2.03251789e-01 -9.79125424e-01 1.45446117e-03 7.52981378e+01] [ 9.79090956e-01 -2.03256843e-01 -8.21917977e-03 2.52364631e+02] [ 8.34323706e-03 -2.46513214e-04 9.99965164e-01 6.47331018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.70275509600003 meters 0.024381161363535186 Centerline is valid? [True, True] Translation: X:75.29, Y:252.39, Z:6.47 [[-2.02552188e-01 -9.79270401e-01 1.44695758e-03 7.52919457e+01] [ 9.79236389e-01 -2.02557218e-01 -8.16499269e-03 2.52390292e+02] [ 8.28882736e-03 -2.36923617e-04 9.99965619e-01 6.47335674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.73275509600006 meters 0.022847159080952736 Centerline is valid? [True, True] Translation: X:75.28, Y:252.42, Z:6.47 [[-1.99312012e-01 -9.79934810e-01 1.57809530e-03 7.52835953e+01] [ 9.79894570e-01 -1.99318133e-01 -8.88328114e-03 2.52416874e+02] [ 9.01957942e-03 -2.24177619e-04 9.99959298e-01 6.47307072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76275509600003 meters 0.022150860384817218 Centerline is valid? [True, True] Translation: X:75.28, Y:252.44, Z:6.47 [[-1.98003789e-01 -9.80200073e-01 1.52213446e-03 7.52768327e+01] [ 9.80162783e-01 -1.98009537e-01 -8.55233948e-03 2.52443425e+02] [ 8.68440092e-03 -2.01456077e-04 9.99962270e-01 6.47335566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.79275509600006 meters 0.02127167628345071 Centerline is valid? [True, True] Translation: X:75.27, Y:252.47, Z:6.47 [[-1.95197271e-01 -9.80762913e-01 1.46066521e-03 7.52693777e+01] [ 9.80728724e-01 -1.95202666e-01 -8.19079793e-03 2.52469234e+02] [ 8.31835658e-03 -1.66305079e-04 9.99965388e-01 6.47376890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82275509600004 meters 0.020714806398594958 Centerline is valid? [True, True] Translation: X:75.26, Y:252.49, Z:6.47 [[-1.93917849e-01 -9.81016655e-01 1.47977988e-03 7.52630066e+01] [ 9.80981716e-01 -1.93923434e-01 -8.28100216e-03 2.52494912e+02] [ 8.41076504e-03 -1.54197123e-04 9.99964617e-01 6.47421771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.85275509600007 meters 0.01991100956789175 Centerline is valid? [True, True] Translation: X:75.26, Y:252.52, Z:6.47 [[-1.91346718e-01 -9.81521573e-01 1.35511139e-03 7.52558765e+01] [ 9.81492405e-01 -1.91351480e-01 -7.56773510e-03 2.52520071e+02] [ 7.68719782e-03 -1.18029736e-04 9.99970446e-01 6.47441693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.88275509600004 meters 0.019646299031259643 Centerline is valid? [True, True] Translation: X:75.25, Y:252.55, Z:6.47 [[-1.90402983e-01 -9.81705040e-01 1.38497821e-03 7.52499652e+01] [ 9.81674709e-01 -1.90407988e-01 -7.71777139e-03 2.52546227e+02] [ 7.84028599e-03 -1.09888609e-04 9.99969258e-01 6.47452630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.91275509600007 meters 0.019395075215719697 Centerline is valid? [True, True] Translation: X:75.24, Y:252.57, Z:6.47 [[-1.89536575e-01 -9.81872666e-01 1.39813765e-03 7.52443317e+01] [ 9.81841898e-01 -1.89541705e-01 -7.77362941e-03 2.52571771e+02] [ 7.89771963e-03 -1.00636971e-04 9.99968807e-01 6.47475565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.94275509600004 meters 0.018696160786345544 Centerline is valid? [True, True] Translation: X:75.24, Y:252.60, Z:6.47 [[-1.87925066e-01 -9.82182268e-01 1.47038573e-03 7.52374461e+01] [ 9.82148404e-01 -1.87930798e-01 -8.15644444e-03 2.52597517e+02] [ 8.28744586e-03 -8.86633697e-05 9.99965655e-01 6.47434621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.97275509600007 meters 0.01881837724452341 Centerline is valid? [True, True] Translation: X:75.23, Y:252.62, Z:6.47 [[-1.87636795e-01 -9.82237165e-01 1.60793372e-03 7.52332913e+01] [ 9.82196873e-01 -1.87643663e-01 -8.89713285e-03 2.52622843e+02] [ 9.04081312e-03 -9.01220268e-05 9.99959127e-01 6.47434046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.00275509600004 meters 0.018788364266851154 Centerline is valid? [True, True] Translation: X:75.23, Y:252.65, Z:6.47 [[-1.87981531e-01 -9.82171247e-01 1.60780650e-03 7.52286895e+01] [ 9.82131150e-01 -1.87988386e-01 -8.87528458e-03 2.52647853e+02] [ 9.01929827e-03 -8.93127391e-05 9.99959321e-01 6.47460083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0327550960001 meters 0.0186336247147026 Centerline is valid? [True, True] Translation: X:75.22, Y:252.67, Z:6.47 [[-1.87935483e-01 -9.82180185e-01 1.52933878e-03 7.52232688e+01] [ 9.82144060e-01 -1.87941688e-01 -8.42424501e-03 2.52674006e+02] [ 8.56155303e-03 -8.11835571e-05 9.99963346e-01 6.47482950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.06275509600005 meters 0.018617924408320535 Centerline is valid? [True, True] Translation: X:75.22, Y:252.70, Z:6.48 [[-1.88396058e-01 -9.82091974e-01 1.50989513e-03 7.52182597e+01] [ 9.82056912e-01 -1.88402092e-01 -8.29902530e-03 2.52700357e+02] [ 8.43487354e-03 -8.07007030e-05 9.99964423e-01 6.47530048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0927550960001 meters 0.018611777798510164 Centerline is valid? [True, True] Translation: X:75.21, Y:252.73, Z:6.48 [[-1.89082602e-01 -9.81959988e-01 1.53324376e-03 7.52139659e+01] [ 9.81923993e-01 -1.89088800e-01 -8.40825402e-03 2.52726282e+02] [ 8.54648825e-03 -8.43257135e-05 9.99963475e-01 6.47533203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.12275509600005 meters 0.018820691643463405 Centerline is valid? [True, True] Translation: X:75.21, Y:252.75, Z:6.48 [[-1.89913463e-01 -9.81799582e-01 1.56744899e-03 7.52100009e+01] [ 9.81762129e-01 -1.89919910e-01 -8.57608228e-03 2.52751742e+02] [ 8.71768377e-03 -8.98514289e-05 9.99961996e-01 6.47522245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1527550960001 meters 0.01886966924934226 Centerline is valid? [True, True] Translation: X:75.21, Y:252.78, Z:6.48 [[-1.90901282e-01 -9.81607897e-01 1.62380173e-03 7.52055011e+01] [ 9.81567890e-01 -1.90908162e-01 -8.86287591e-03 2.52778200e+02] [ 9.00986599e-03 -9.80627300e-05 9.99959406e-01 6.47516079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.18275509600005 meters 0.018871376825985952 Centerline is valid? [True, True] Translation: X:75.20, Y:252.80, Z:6.48 [[-1.91815535e-01 -9.81429439e-01 1.74845659e-03 7.52015657e+01] [ 9.81383267e-01 -1.91823472e-01 -9.52046182e-03 2.52804078e+02] [ 9.67905651e-03 -1.10266434e-04 9.99953151e-01 6.47504103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2127550960001 meters 0.019374178440549717 Centerline is valid? [True, True] Translation: X:75.20, Y:252.83, Z:6.47 [[-1.94898216e-01 -9.80821759e-01 1.83387763e-03 7.51985482e+01] [ 9.80771170e-01 -1.94906791e-01 -9.96271322e-03 2.52831551e+02] [ 1.01290811e-02 -1.43100728e-04 9.99948689e-01 6.47470861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.24275509600005 meters 0.020029421329085955 Centerline is valid? [True, True] Translation: X:75.20, Y:252.86, Z:6.47 [[-1.96858705e-01 -9.80430065e-01 1.88117313e-03 7.51961260e+01] [ 9.80377036e-01 -1.96867625e-01 -1.01982864e-02 2.52857941e+02] [ 1.03690487e-02 -1.63362509e-04 9.99946227e-01 6.47469350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2727550960001 meters 0.020916021626828752 Centerline is valid? [True, True] Translation: X:75.19, Y:252.89, Z:6.47 [[-2.01388459e-01 -9.79509534e-01 1.93946094e-03 7.51947379e+01] [ 9.79453370e-01 -2.01397685e-01 -1.04913678e-02 2.52885042e+02] [ 1.06669977e-02 -2.13228834e-04 9.99943083e-01 6.47482760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.30275509600006 meters 0.02246643211967108 Centerline is valid? [True, True] Translation: X:75.19, Y:252.91, Z:6.47 [[-2.04077864e-01 -9.78952634e-01 1.99126712e-03 7.51940558e+01] [ 9.78893648e-01 -2.04087433e-01 -1.07491836e-02 2.52911350e+02] [ 1.09293342e-02 -2.44431697e-04 9.99940243e-01 6.47495138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3327550960001 meters 0.02319744321107812 Centerline is valid? [True, True] Translation: X:75.19, Y:252.94, Z:6.48 [[-2.06727285e-01 -9.78396399e-01 2.07748829e-03 7.51914127e+01] [ 9.78332381e-01 -2.06737531e-01 -1.11957944e-02 2.52938712e+02] [ 1.13834197e-02 -2.82002113e-04 9.99935167e-01 6.47522027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.36275509600006 meters 0.025431882704123717 Centerline is valid? [True, True] Translation: X:75.19, Y:252.97, Z:6.48 [[-2.11192185e-01 -9.77442174e-01 2.15799423e-03 7.51926115e+01] [ 9.77373326e-01 -2.11202933e-01 -1.16061647e-02 2.52965149e+02] [ 1.18001296e-02 -3.41965281e-04 9.99930318e-01 6.47525693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3927550960001 meters 0.025431882704123717 Centerline is valid? [True, True] Translation: X:75.19, Y:252.99, Z:6.48 [[-2.11564771e-01 -9.77361587e-01 2.16231256e-03 7.51876090e+01] [ 9.77292743e-01 -2.11575545e-01 -1.16053603e-02 2.52990608e+02] [ 1.18001258e-02 -3.42073022e-04 9.99930318e-01 6.47549464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.42275509600006 meters 0.02535121355064937 Centerline is valid? [True, True] Translation: X:75.18, Y:253.02, Z:6.48 [[-2.13701470e-01 -9.76896510e-01 2.21142366e-03 7.51831623e+01] [ 9.76824784e-01 -2.13712591e-01 -1.18436030e-02 2.53016948e+02] [ 1.20425835e-02 -3.70821938e-04 9.99927417e-01 6.47589531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.45275509600003 meters 0.02559224888400529 Centerline is valid? [True, True] Translation: X:75.18, Y:253.04, Z:6.48 [[-2.15270542e-01 -9.76552038e-01 2.17056548e-03 7.51782039e+01] [ 9.76483196e-01 -2.15281153e-01 -1.16014324e-02 2.53044174e+02] [ 1.17966843e-02 -3.77925927e-04 9.99930345e-01 6.47626048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.48275509600006 meters 0.025851082948934123 Centerline is valid? [True, True] Translation: X:75.17, Y:253.07, Z:6.48 [[-2.15724035e-01 -9.76451801e-01 2.24073815e-03 7.51731763e+01] [ 9.76378731e-01 -2.15735318e-01 -1.19518612e-02 2.53069783e+02] [ 1.21538227e-02 -3.90494640e-04 9.99926063e-01 6.47637491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.51275509600003 meters 0.025295479740468644 Centerline is valid? [True, True] Translation: X:75.17, Y:253.10, Z:6.48 [[-2.15515418e-01 -9.76497775e-01 2.28049144e-03 7.51668631e+01] [ 9.76422421e-01 -2.15527132e-01 -1.21371853e-02 2.53095820e+02] [ 1.23434422e-02 -3.89027581e-04 9.99923741e-01 6.47650796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.54275509600006 meters 0.024839059521468896 Centerline is valid? [True, True] Translation: X:75.16, Y:253.12, Z:6.48 [[-2.13598339e-01 -9.76918725e-01 2.35656073e-03 7.51611427e+01] [ 9.76838612e-01 -2.13611015e-01 -1.25163862e-02 2.53121478e+02] [ 1.27308794e-02 -3.71499805e-04 9.99918890e-01 6.47603848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.57275509600004 meters 0.024627778615718864 Centerline is valid? [True, True] Translation: X:75.16, Y:253.15, Z:6.48 [[-2.12991847e-01 -9.77050838e-01 2.47648964e-03 7.51556787e+01] [ 9.76962680e-01 -2.13005910e-01 -1.31302942e-02 2.53147737e+02] [ 1.33564719e-02 -3.77207668e-04 9.99910727e-01 6.47599902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.60275509600007 meters 0.023876324684699694 Centerline is valid? [True, True] Translation: X:75.15, Y:253.17, Z:6.48 [[-2.12162019e-01 -9.77231225e-01 2.53178732e-03 7.51491990e+01] [ 9.77139495e-01 -2.12176806e-01 -1.33944484e-02 2.53173173e+02] [ 1.36266598e-02 -3.67883830e-04 9.99907085e-01 6.47616205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.63275509600004 meters 0.023333222705180356 Centerline is valid? [True, True] Translation: X:75.14, Y:253.20, Z:6.48 [[-2.10789799e-01 -9.77527923e-01 2.61158271e-03 7.51422293e+01] [ 9.77430750e-01 -2.10805680e-01 -1.37874531e-02 2.53199654e+02] [ 1.40281569e-02 -3.53613217e-04 9.99901538e-01 6.47629306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.66275509600007 meters 0.02267137336337301 Centerline is valid? [True, True] Translation: X:75.14, Y:253.23, Z:6.48 [[-2.10123062e-01 -9.77671291e-01 2.67312762e-03 7.51353631e+01] [ 9.77569906e-01 -2.10139779e-01 -1.40837509e-02 2.53225230e+02] [ 1.43310094e-02 -3.46151736e-04 9.99897246e-01 6.47672277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.69275509600004 meters 0.02191027975782899 Centerline is valid? [True, True] Translation: X:75.13, Y:253.25, Z:6.48 [[-2.08638587e-01 -9.77989198e-01 2.65869861e-03 7.51270864e+01] [ 9.77889305e-01 -2.08655286e-01 -1.39813500e-02 2.53251859e+02] [ 1.42283608e-02 -3.17136188e-04 9.99898721e-01 6.47782161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.72275509600007 meters 0.021701625236552377 Centerline is valid? [True, True] Translation: X:75.12, Y:253.28, Z:6.48 [[-2.08284388e-01 -9.78064842e-01 2.60371381e-03 7.51210772e+01] [ 9.77969359e-01 -2.08300444e-01 -1.36696178e-02 2.53277396e+02] [ 1.39121273e-02 -3.00815646e-04 9.99903176e-01 6.47851100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.75275509600004 meters 0.021602781081860204 Centerline is valid? [True, True] Translation: X:75.12, Y:253.30, Z:6.48 [[-2.08257216e-01 -9.78070814e-01 2.53281860e-03 7.51152738e+01] [ 9.77980841e-01 -2.08272421e-01 -1.32692902e-02 2.53303469e+02] [ 1.35058218e-02 -2.86377380e-04 9.99908751e-01 6.47959251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.7827550960001 meters 0.021533750107093314 Centerline is valid? [True, True] Translation: X:75.11, Y:253.33, Z:6.48 [[-2.07977726e-01 -9.78130587e-01 2.41266185e-03 7.51101800e+01] [ 9.78049293e-01 -2.07991553e-01 -1.26132888e-02 2.53328648e+02] [ 1.28392568e-02 -2.63580899e-04 9.99917539e-01 6.48100141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.81275509600005 meters 0.021071431262138618 Centerline is valid? [True, True] Translation: X:75.10, Y:253.36, Z:6.48 [[-2.08572616e-01 -9.78004155e-01 2.31003929e-03 7.51035463e+01] [ 9.77929933e-01 -2.08585252e-01 -1.20515424e-02 2.53355006e+02] [ 1.22682986e-02 -2.54565140e-04 9.99924709e-01 6.48187611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8427550960001 meters 0.021926593105982477 Centerline is valid? [True, True] Translation: X:75.10, Y:253.38, Z:6.48 [[-2.09147848e-01 -9.77881428e-01 2.25628662e-03 7.51001657e+01] [ 9.77810869e-01 -2.09159867e-01 -1.17496969e-02 2.53380729e+02] [ 1.19617350e-02 -2.51202236e-04 9.99928424e-01 6.48191537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.87275509600005 meters 0.021698404846844297 Centerline is valid? [True, True] Translation: X:75.09, Y:253.41, Z:6.48 [[-2.11030009e-01 -9.77477345e-01 2.09162752e-03 7.50946651e+01] [ 9.77416869e-01 -2.11040225e-01 -1.08759799e-02 2.53407606e+02] [ 1.10724415e-02 -2.50766107e-04 9.99938667e-01 6.48292980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9027550960001 meters 0.022539447238750534 Centerline is valid? [True, True] Translation: X:75.09, Y:253.43, Z:6.48 [[-2.12651422e-01 -9.77126027e-01 2.02510977e-03 7.50910518e+01] [ 9.77069535e-01 -2.12660910e-01 -1.05100296e-02 2.53433765e+02] [ 1.07002852e-02 -2.56299678e-04 9.99942717e-01 6.48330552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.93275509600005 meters 0.024042227877782065 Centerline is valid? [True, True] Translation: X:75.09, Y:253.46, Z:6.48 [[-2.15735544e-01 -9.76449884e-01 1.94935547e-03 7.50889471e+01] [ 9.76397716e-01 -2.15744176e-01 -1.00970451e-02 2.53460145e+02] [ 1.02798206e-02 -2.74945294e-04 9.99947123e-01 6.48349748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9627550960001 meters 0.025440601421576784 Centerline is valid? [True, True] Translation: X:75.09, Y:253.49, Z:6.48 [[-2.17144169e-01 -9.76137569e-01 1.96361844e-03 7.50865369e+01] [ 9.76084832e-01 -2.17152857e-01 -1.01507633e-02 2.53485926e+02] [ 1.03349467e-02 -2.87520877e-04 9.99946552e-01 6.48371400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.99275509600005 meters 0.02513795490436558 Centerline is valid? [True, True] Translation: X:75.08, Y:253.51, Z:6.48 [[-2.18441645e-01 -9.75848103e-01 1.93070497e-03 7.50809136e+01] [ 9.75797286e-01 -2.18449981e-01 -9.96306307e-03 2.53512783e+02] [ 1.01441987e-02 -2.92371211e-04 9.99948504e-01 6.48418476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0227550960001 meters 0.02464495878614119 Centerline is valid? [True, True] Translation: X:75.08, Y:253.54, Z:6.48 [[-2.19374447e-01 -9.75638604e-01 2.04135010e-03 7.50753077e+01] [ 9.75582009e-01 -2.19383718e-01 -1.05132618e-02 2.53538988e+02] [ 1.07049830e-02 -3.14836554e-04 9.99942650e-01 6.48414524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.05275509600006 meters 0.02470012522226494 Centerline is valid? [True, True] Translation: X:75.07, Y:253.57, Z:6.48 [[-2.19430178e-01 -9.75626036e-01 2.05808150e-03 7.50702945e+01] [ 9.75568749e-01 -2.19439606e-01 -1.05770808e-02 2.53565003e+02] [ 1.07709000e-02 -3.13130735e-04 9.99941943e-01 6.48393621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0827550960001 meters 0.024518582916789967 Centerline is valid? [True, True] Translation: X:75.06, Y:253.59, Z:6.48 [[-2.19224172e-01 -9.75672270e-01 2.09366204e-03 7.50646297e+01] [ 9.75613237e-01 -2.19233948e-01 -1.07372032e-02 2.53590983e+02] [ 1.09349932e-02 -3.11250079e-04 9.99940163e-01 6.48360749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.11275509600006 meters 0.023988998865963784 Centerline is valid? [True, True] Translation: X:75.06, Y:253.62, Z:6.48 [[-2.17371937e-01 -9.76086153e-01 2.29425101e-03 7.50578244e+01] [ 9.76015598e-01 -2.17383819e-01 -1.17400361e-02 2.53616625e+02] [ 1.19580198e-02 -3.12729623e-04 9.99928451e-01 6.48283737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1427550960001 meters 0.022975275506204613 Centerline is valid? [True, True] Translation: X:75.05, Y:253.64, Z:6.48 [[-2.16446585e-01 -9.76291526e-01 2.39405799e-03 7.50502870e+01] [ 9.76215007e-01 -2.16459603e-01 -1.22270761e-02 2.53642618e+02] [ 1.24554077e-02 -3.09393527e-04 9.99922381e-01 6.48234051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.17275509600006 meters 0.02256122471831042 Centerline is valid? [True, True] Translation: X:75.04, Y:253.67, Z:6.48 [[-2.14057538e-01 -9.76817994e-01 2.44496495e-03 7.50444532e+01] [ 9.76738498e-01 -2.14071317e-01 -1.24650561e-02 2.53668582e+02] [ 1.26994880e-02 -2.80147825e-04 9.99919319e-01 6.48188364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.20275509600003 meters 0.021594334925319484 Centerline is valid? [True, True] Translation: X:75.04, Y:253.69, Z:6.48 [[-2.13088087e-01 -9.77029726e-01 2.52640375e-03 7.50373818e+01] [ 9.76945202e-01 -2.13102891e-01 -1.28541840e-02 2.53694081e+02] [ 1.30973038e-02 -2.70915448e-04 9.99914190e-01 6.48218769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.23275509600006 meters 0.02168335495352816 Centerline is valid? [True, True] Translation: X:75.03, Y:253.72, Z:6.48 [[-2.12296016e-01 -9.77201977e-01 2.58792701e-03 7.50326486e+01] [ 9.77113670e-01 -2.12311629e-01 -1.31395943e-02 2.53719043e+02] [ 1.33894846e-02 -2.60784673e-04 9.99910323e-01 6.48233114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26275509600003 meters 0.020156943489363092 Centerline is valid? [True, True] Translation: X:75.02, Y:253.75, Z:6.48 [[-2.09870480e-01 -9.77725257e-01 2.77538814e-03 7.50241169e+01] [ 9.77624165e-01 -2.09888696e-01 -1.40615631e-02 2.53745365e+02] [ 1.43308680e-02 -2.37820481e-04 9.99897280e-01 6.48281904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.29275509600006 meters 0.020130911377021433 Centerline is valid? [True, True] Translation: X:75.02, Y:253.77, Z:6.48 [[-2.08624125e-01 -9.77992021e-01 2.75362144e-03 7.50187915e+01] [ 9.77892913e-01 -2.08642188e-01 -1.39243600e-02 2.53770486e+02] [ 1.41924346e-02 -2.12210530e-04 9.99899260e-01 6.48262407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32275509600004 meters 0.019206725802599814 Centerline is valid? [True, True] Translation: X:75.01, Y:253.80, Z:6.48 [[-2.07955477e-01 -9.78134295e-01 2.79650208e-03 7.50105795e+01] [ 9.78032522e-01 -2.07974183e-01 -1.41111965e-02 2.53796119e+02] [ 1.43842455e-02 -1.99430618e-04 9.99896522e-01 6.48356976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.35275509600007 meters 0.01861085229585898 Centerline is valid? [True, True] Translation: X:75.00, Y:253.82, Z:6.48 [[-2.06177962e-01 -9.78510588e-01 2.77092058e-03 7.50033788e+01] [ 9.78411107e-01 -2.06196514e-01 -1.39535889e-02 2.53821381e+02] [ 1.42250886e-02 -1.65823031e-04 9.99898805e-01 6.48411333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.38275509600004 meters 0.018607301247403014 Centerline is valid? [True, True] Translation: X:75.00, Y:253.85, Z:6.48 [[-2.05987157e-01 -9.78550907e-01 2.72286541e-03 7.49976721e+01] [ 9.78455236e-01 -2.06005095e-01 -1.36840144e-02 2.53847238e+02] [ 1.39514289e-02 -1.54529314e-04 9.99902662e-01 6.48450443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.41275509600007 meters 0.018405285708852682 Centerline is valid? [True, True] Translation: X:74.99, Y:253.87, Z:6.49 [[-2.05900586e-01 -9.78569424e-01 2.61383883e-03 7.49920038e+01] [ 9.78481613e-01 -2.05917127e-01 -1.31098800e-02 2.53871974e+02] [ 1.33671619e-02 -1.41738730e-04 9.99910645e-01 6.48516789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.44275509600004 meters 0.01857448966683754 Centerline is valid? [True, True] Translation: X:74.99, Y:253.90, Z:6.49 [[-2.06527838e-01 -9.78437067e-01 2.67544912e-03 7.49867642e+01] [ 9.78345442e-01 -2.06545114e-01 -1.33907450e-02 2.53898044e+02] [ 1.36546022e-02 -1.48048168e-04 9.99906761e-01 6.48549132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.47275509600007 meters 0.018465285330586518 Centerline is valid? [True, True] Translation: X:74.98, Y:253.92, Z:6.49 [[-2.07660008e-01 -9.78197611e-01 2.59899978e-03 7.49810510e+01] [ 9.78111467e-01 -2.07676215e-01 -1.29825806e-02 2.53923903e+02] [ 1.32392798e-02 -1.53851314e-04 9.99912345e-01 6.48605356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.50275509600004 meters 0.018943984246327285 Centerline is valid? [True, True] Translation: X:74.98, Y:253.95, Z:6.49 [[-2.10358737e-01 -9.77621353e-01 2.38568578e-03 7.49774363e+01] [ 9.77549006e-01 -2.10372196e-01 -1.18945477e-02 2.53951212e+02] [ 1.21302458e-02 -1.69997269e-04 9.99926411e-01 6.48712973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5327550960001 meters 0.020045368826990397 Centerline is valid? [True, True] Translation: X:74.98, Y:253.98, Z:6.49 [[-2.12047792e-01 -9.77256362e-01 2.39513882e-03 7.49754059e+01] [ 9.77183673e-01 -2.12061236e-01 -1.19206379e-02 2.53978031e+02] [ 1.21574353e-02 -1.87254390e-04 9.99926078e-01 6.48754229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.56275509600005 meters 0.02018040210983411 Centerline is valid? [True, True] Translation: X:74.97, Y:254.00, Z:6.49 [[-2.15240983e-01 -9.76558175e-01 2.33466476e-03 7.49712198e+01] [ 9.76489274e-01 -2.15253535e-01 -1.16022937e-02 2.54004671e+02] [ 1.18328596e-02 -2.17514014e-04 9.99929966e-01 6.48873342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5927550960001 meters 0.021091970542850228 Centerline is valid? [True, True] Translation: X:74.97, Y:254.03, Z:6.49 [[-2.17283361e-01 -9.76105626e-01 2.39745406e-03 7.49681345e+01] [ 9.76033216e-01 -2.17296450e-01 -1.18917440e-02 2.54030498e+02] [ 1.21285565e-02 -2.43883308e-04 9.99926417e-01 6.48870283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.62275509600005 meters 0.021514430123392776 Centerline is valid? [True, True] Translation: X:74.96, Y:254.06, Z:6.49 [[-2.19202998e-01 -9.75676230e-01 2.43742590e-03 7.49640021e+01] [ 9.75601644e-01 -2.19216386e-01 -1.20668387e-02 2.54057535e+02] [ 1.23076514e-02 -2.67130505e-04 9.99924222e-01 6.48864254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6527550960001 meters 0.021764783056904272 Centerline is valid? [True, True] Translation: X:74.96, Y:254.08, Z:6.49 [[-2.21249492e-01 -9.75214268e-01 2.40710419e-03 7.49594482e+01] [ 9.75141760e-01 -2.21262403e-01 -1.18952304e-02 2.54084058e+02] [ 1.21330000e-02 -2.84545870e-04 9.99926352e-01 6.48881890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.68275509600005 meters 0.023874305741543655 Centerline is valid? [True, True] Translation: X:74.96, Y:254.11, Z:6.49 [[-2.24370676e-01 -9.74501251e-01 2.26097735e-03 7.49591925e+01] [ 9.74437468e-01 -2.24381868e-01 -1.11533871e-02 2.54110371e+02] [ 1.13763120e-02 -2.99311953e-04 9.99935243e-01 6.48928762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7127550960001 meters 0.023922402137669246 Centerline is valid? [True, True] Translation: X:74.95, Y:254.14, Z:6.49 [[-2.25847106e-01 -9.74160170e-01 2.24667799e-03 7.49541507e+01] [ 9.74097407e-01 -2.25858068e-01 -1.10623055e-02 2.54136945e+02] [ 1.12838878e-02 -3.09906490e-04 9.99936287e-01 6.48945360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.74275509600005 meters 0.026122370604769414 Centerline is valid? [True, True] Translation: X:74.95, Y:254.16, Z:6.49 [[-2.27188999e-01 -9.73848088e-01 2.24969325e-03 7.49526671e+01] [ 9.73785367e-01 -2.27199910e-01 -1.10571004e-02 2.54163127e+02] [ 1.12790662e-02 -3.21333201e-04 9.99936338e-01 6.48968260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7727550960001 meters 0.024491462130972568 Centerline is valid? [True, True] Translation: X:74.94, Y:254.19, Z:6.49 [[-2.27282548e-01 -9.73826427e-01 2.17578227e-03 7.49436638e+01] [ 9.73767973e-01 -2.27292754e-01 -1.06742187e-02 2.54188472e+02] [ 1.08893758e-02 -3.07356543e-04 9.99940662e-01 6.49042049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.80275509600006 meters 0.024133017301371743 Centerline is valid? [True, True] Translation: X:74.94, Y:254.21, Z:6.49 [[-2.26867631e-01 -9.73923248e-01 2.14118252e-03 7.49369343e+01] [ 9.73866861e-01 -2.26877546e-01 -1.04841075e-02 2.54213605e+02] [ 1.06965023e-02 -2.93277931e-04 9.99942748e-01 6.49054815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8327550960001 meters 0.022694456362342127 Centerline is valid? [True, True] Translation: X:74.93, Y:254.24, Z:6.49 [[-2.24983475e-01 -9.74359814e-01 2.32148814e-03 7.49284573e+01] [ 9.74293824e-01 -2.24995264e-01 -1.13434971e-02 2.54239928e+02] [ 1.15749716e-02 -2.90287846e-04 9.99932966e-01 6.49066084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.86275509600006 meters 0.023494772811787492 Centerline is valid? [True, True] Translation: X:74.92, Y:254.26, Z:6.49 [[-2.24076499e-01 -9.74568416e-01 2.47487635e-03 7.49243132e+01] [ 9.74493723e-01 -2.24089975e-01 -1.20692459e-02 2.54264864e+02] [ 1.23169009e-02 -2.92682900e-04 9.99924101e-01 6.49023407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8927550960001 meters 0.02227739557373536 Centerline is valid? [True, True] Translation: X:74.92, Y:254.29, Z:6.49 [[-2.21330298e-01 -9.75195275e-01 2.65991329e-03 7.49160838e+01] [ 9.75109399e-01 -2.21346114e-01 -1.29443968e-02 2.54290649e+02] [ 1.32120761e-02 -2.71280759e-04 9.99912680e-01 6.48971834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.92275509600006 meters 0.021393805071729284 Centerline is valid? [True, True] Translation: X:74.91, Y:254.32, Z:6.49 [[-2.20547845e-01 -9.75372900e-01 2.52092277e-03 7.49078045e+01] [ 9.75296044e-01 -2.20562118e-01 -1.22465885e-02 2.54315576e+02] [ 1.25010106e-02 -2.42312678e-04 9.99921830e-01 6.49022526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.95275509600003 meters 0.020429301672590754 Centerline is valid? [True, True] Translation: X:74.90, Y:254.34, Z:6.49 [[-2.18224025e-01 -9.75895332e-01 2.56432393e-03 7.48974172e+01] [ 9.75816143e-01 -2.18238989e-01 -1.24337622e-02 2.54340821e+02] [ 1.26936860e-02 -2.11036943e-04 9.99919410e-01 6.49035039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.98275509600006 meters 0.02086127957102479 Centerline is valid? [True, True] Translation: X:74.89, Y:254.37, Z:6.49 [[-2.17468927e-01 -9.76063748e-01 2.61282308e-03 7.48916465e+01] [ 9.75981827e-01 -2.17484530e-01 -1.26472521e-02 2.54365974e+02] [ 1.29127729e-02 -2.00316502e-04 9.99916607e-01 6.48995584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.01275509600003 meters 0.019872383237855794 Centerline is valid? [True, True] Translation: X:74.88, Y:254.39, Z:6.49 [[-2.16969596e-01 -9.76174870e-01 2.61111938e-03 7.48825458e+01] [ 9.76093333e-01 -2.16985224e-01 -1.26181416e-02 2.54390588e+02] [ 1.28840871e-02 -1.89056857e-04 9.99916979e-01 6.49061280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.04275509600006 meters 0.01927086050351874 Centerline is valid? [True, True] Translation: X:74.87, Y:254.42, Z:6.49 [[-2.15640488e-01 -9.76469705e-01 2.46902901e-03 7.48741549e+01] [ 9.76397090e-01 -2.15654565e-01 -1.19093054e-02 2.54416044e+02] [ 1.21615333e-02 -1.57375687e-04 9.99926033e-01 6.49209418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.07275509600004 meters 0.01940001929315685 Centerline is valid? [True, True] Translation: X:74.87, Y:254.44, Z:6.49 [[-2.15412421e-01 -9.76520193e-01 2.40863734e-03 7.48689854e+01] [ 9.76451359e-01 -2.15425837e-01 -1.15953765e-02 2.54441204e+02] [ 1.18420020e-02 -1.45870920e-04 9.99929870e-01 6.49299159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.10275509600007 meters 0.019245225595401934 Centerline is valid? [True, True] Translation: X:74.86, Y:254.47, Z:6.49 [[-2.15772661e-01 -9.76440643e-01 2.41454932e-03 7.48619271e+01] [ 9.76371744e-01 -2.15786121e-01 -1.16002830e-02 2.54466899e+02] [ 1.18480141e-02 -1.45526209e-04 9.99929799e-01 6.49382840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.13275509600004 meters 0.019281499856149565 Centerline is valid? [True, True] Translation: X:74.86, Y:254.49, Z:6.49 [[-2.16423388e-01 -9.76296392e-01 2.50452547e-03 7.48560433e+01] [ 9.76222549e-01 -2.16437824e-01 -1.20084251e-02 2.54492299e+02] [ 1.22658561e-02 -1.53929807e-04 9.99924760e-01 6.49432458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.16275509600007 meters 0.02009750500929114 Centerline is valid? [True, True] Translation: X:74.85, Y:254.52, Z:6.49 [[-2.17776150e-01 -9.75995566e-01 2.49075521e-03 7.48520039e+01] [ 9.75922799e-01 -2.17790331e-01 -1.19189442e-02 2.54517486e+02] [ 1.21752991e-02 -1.64876978e-04 9.99925865e-01 6.49435709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.19275509600004 meters 0.020379621072896398 Centerline is valid? [True, True] Translation: X:74.85, Y:254.54, Z:6.49 [[-2.19020804e-01 -9.75717022e-01 2.48590984e-03 7.48464245e+01] [ 9.75644806e-01 -2.19034842e-01 -1.18722637e-02 2.54543799e+02] [ 1.21284706e-02 -1.74907717e-04 9.99926432e-01 6.49484411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.22275509600007 meters 0.02017449851128914 Centerline is valid? [True, True] Translation: X:74.84, Y:254.57, Z:6.50 [[-2.22185958e-01 -9.75001498e-01 2.34084647e-03 7.48397025e+01] [ 9.74937647e-01 -2.22198201e-01 -1.11599091e-02 2.54569787e+02] [ 1.14010599e-02 -1.97395738e-04 9.99934986e-01 6.49602565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.25275509600004 meters 0.020590983978832994 Centerline is valid? [True, True] Translation: X:74.84, Y:254.60, Z:6.50 [[-2.24116688e-01 -9.74559492e-01 2.34682560e-03 7.48353987e+01] [ 9.74495534e-01 -2.24128872e-01 -1.11670297e-02 2.54596211e+02] [ 1.14089262e-02 -2.15746650e-04 9.99934893e-01 6.49677084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.2827550960001 meters 0.02146707663660266 Centerline is valid? [True, True] Translation: X:74.83, Y:254.62, Z:6.50 [[-2.26480469e-01 -9.74013065e-01 2.26857447e-03 7.48320763e+01] [ 9.73953494e-01 -2.26491713e-01 -1.07747864e-02 2.54622494e+02] [ 1.10085961e-02 -2.30792659e-04 9.99939377e-01 6.49746104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.31275509600005 meters 0.02146707663660266 Centerline is valid? [True, True] Translation: X:74.83, Y:254.65, Z:6.50 [[-2.26865317e-01 -9.73923489e-01 2.27269037e-03 7.48264845e+01] [ 9.73863922e-01 -2.26876583e-01 -1.07739184e-02 2.54647823e+02] [ 1.10085924e-02 -2.30937241e-04 9.99939377e-01 6.49769872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3427550960001 meters 0.022695719751161213 Centerline is valid? [True, True] Translation: X:74.82, Y:254.67, Z:6.50 [[-2.30430809e-01 -9.73086475e-01 2.08663682e-03 7.48239144e+01] [ 9.73036407e-01 -2.30440126e-01 -9.87415468e-03 2.54674538e+02] [ 1.00892512e-02 -2.44935851e-04 9.99949072e-01 6.49909805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.37275509600005 meters 0.02337479023849587 Centerline is valid? [True, True] Translation: X:74.82, Y:254.70, Z:6.50 [[-2.32252676e-01 -9.72653637e-01 1.89636676e-03 7.48193392e+01] [ 9.72612407e-01 -2.32260298e-01 -8.95877311e-03 2.54701712e+02] [ 9.15423396e-03 -2.36269189e-04 9.99958071e-01 6.50006763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4027550960001 meters 0.023980304787973732 Centerline is valid? [True, True] Translation: X:74.81, Y:254.73, Z:6.50 [[-2.34286799e-01 -9.72165912e-01 1.77061365e-03 7.48147735e+01] [ 9.72130072e-01 -2.34293372e-01 -8.35102241e-03 2.54728039e+02] [ 8.53342236e-03 -2.35267535e-04 9.99963562e-01 6.50119969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.43275509600005 meters 0.02413352221433761 Centerline is valid? [True, True] Translation: X:74.81, Y:254.75, Z:6.50 [[-2.34953097e-01 -9.72005191e-01 1.71799911e-03 7.48092104e+01] [ 9.71971528e-01 -2.34959264e-01 -8.09281250e-03 2.54754205e+02] [ 8.26991556e-03 -2.31585147e-04 9.99965777e-01 6.50154274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4627550960001 meters 0.024274145062281514 Centerline is valid? [True, True] Translation: X:74.80, Y:254.78, Z:6.50 [[-2.35401165e-01 -9.71896827e-01 1.68793241e-03 7.48033925e+01] [ 9.71864451e-01 -2.35407106e-01 -7.93624171e-03 2.54779936e+02] [ 8.11055942e-03 -2.27759040e-04 9.99967083e-01 6.50179336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.49275509600005 meters 0.024110096086258727 Centerline is valid? [True, True] Translation: X:74.80, Y:254.80, Z:6.50 [[-2.34606634e-01 -9.72089040e-01 1.62032467e-03 7.47972972e+01] [ 9.72059317e-01 -2.34612136e-01 -7.60458459e-03 2.54804878e+02] [ 7.77248117e-03 -2.09034295e-04 9.99969772e-01 6.50198921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5227550960001 meters 0.02289822245092189 Centerline is valid? [True, True] Translation: X:74.79, Y:254.83, Z:6.50 [[-2.33832552e-01 -9.72275443e-01 1.67333905e-03 7.47891803e+01] [ 9.72243879e-01 -2.33838449e-01 -7.83709262e-03 2.54830471e+02] [ 8.01110370e-03 -2.05673722e-04 9.99967889e-01 6.50185238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.55275509600006 meters 0.0238339243336116 Centerline is valid? [True, True] Translation: X:74.79, Y:254.86, Z:6.50 [[-2.32801470e-01 -9.72522732e-01 1.73527058e-03 7.47850557e+01] [ 9.72488931e-01 -2.32807851e-01 -8.11067327e-03 2.54855982e+02] [ 8.29179875e-03 -2.00645230e-04 9.99965602e-01 6.50191697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5827550960001 meters 0.021607412587990878 Centerline is valid? [True, True] Translation: X:74.77, Y:254.88, Z:6.50 [[-2.30067008e-01 -9.73172966e-01 1.88423351e-03 7.47737352e+01] [ 9.73133292e-01 -2.30074646e-01 -8.78941120e-03 2.54881585e+02] [ 8.98713172e-03 -1.88543172e-04 9.99959597e-01 6.50162440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.61275509600006 meters 0.021178503462665664 Centerline is valid? [True, True] Translation: X:74.77, Y:254.91, Z:6.50 [[-2.28755336e-01 -9.73482016e-01 1.93935130e-03 7.47668321e+01] [ 9.73440144e-01 -2.28763487e-01 -9.03068647e-03 2.54906541e+02] [ 9.23486363e-03 -1.77975306e-04 9.99957342e-01 6.50149680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6427550960001 meters 0.0199423041667747 Centerline is valid? [True, True] Translation: X:74.76, Y:254.93, Z:6.50 [[-2.25661696e-01 -9.74203463e-01 2.10065828e-03 7.47569935e+01] [ 9.74154569e-01 -2.25671419e-01 -9.76146138e-03 2.54932334e+02] [ 9.98370801e-03 -1.56422063e-04 9.99950149e-01 6.50117612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.67275509600006 meters 0.01936594888691988 Centerline is valid? [True, True] Translation: X:74.75, Y:254.96, Z:6.50 [[-2.24369423e-01 -9.74501831e-01 2.13148669e-03 7.47495780e+01] [ 9.74451679e-01 -2.24379502e-01 -9.88761134e-03 2.54957369e+02] [ 1.01137573e-02 -1.41446870e-04 9.99948845e-01 6.50132552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.70275509600003 meters 0.018857468593509417 Centerline is valid? [True, True] Translation: X:74.74, Y:254.98, Z:6.50 [[-2.23218306e-01 -9.74766134e-01 2.13806242e-03 7.47418269e+01] [ 9.74715874e-01 -2.23228510e-01 -9.89931315e-03 2.54982446e+02] [ 1.01267917e-02 -1.25704538e-04 9.99948715e-01 6.50154184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.73275509600006 meters 0.018465962028247275 Centerline is valid? [True, True] Translation: X:74.73, Y:255.01, Z:6.50 [[-2.21029917e-01 -9.75264447e-01 2.24380355e-03 7.47348710e+01] [ 9.75209341e-01 -2.21041282e-01 -1.03678715e-02 2.55006500e+02] [ 1.06073897e-02 -1.03431600e-04 9.99943735e-01 6.50128410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76275509600003 meters 0.018240498888964236 Centerline is valid? [True, True] Translation: X:74.73, Y:255.03, Z:6.50 [[-2.20574219e-01 -9.75367530e-01 2.27950434e-03 7.47277269e+01] [ 9.75310890e-01 -2.20585977e-01 -1.05116337e-02 2.55032440e+02] [ 1.07555328e-02 -9.53699786e-05 9.99942153e-01 6.50147685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.79275509600006 meters 0.018029393777671047 Centerline is valid? [True, True] Translation: X:74.72, Y:255.06, Z:6.50 [[-2.20245440e-01 -9.75441466e-01 2.42769967e-03 7.47214106e+01] [ 9.75377477e-01 -2.20258800e-01 -1.11730860e-02 2.55057866e+02] [ 1.14334136e-02 -9.28976728e-05 9.99934632e-01 6.50149325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82275509600004 meters 0.018084926905763805 Centerline is valid? [True, True] Translation: X:74.72, Y:255.08, Z:6.50 [[-2.20753174e-01 -9.75326889e-01 2.34438862e-03 7.47164359e+01] [ 9.75267418e-01 -2.20765604e-01 -1.07708391e-02 2.55082487e+02] [ 1.10226494e-02 -9.12910867e-05 9.99939245e-01 6.50191716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.85275509600007 meters 0.01805255446766118 Centerline is valid? [True, True] Translation: X:74.71, Y:255.11, Z:6.50 [[-2.21410740e-01 -9.75177806e-01 2.35164696e-03 7.47110934e+01] [ 9.75118143e-01 -2.21423208e-01 -1.07875417e-02 2.55108744e+02] [ 1.10404805e-02 -9.53439771e-05 9.99939048e-01 6.50288458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.88275509600004 meters 0.01835143680935838 Centerline is valid? [True, True] Translation: X:74.71, Y:255.13, Z:6.50 [[-2.23105902e-01 -9.74791410e-01 2.33730487e-03 7.47074869e+01] [ 9.74732667e-01 -2.23118117e-01 -1.07020153e-02 2.55133511e+02] [ 1.09537277e-02 -1.09435373e-04 9.99940000e-01 6.50350256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.91275509600007 meters 0.018384257383367155 Centerline is valid? [True, True] Translation: X:74.70, Y:255.16, Z:6.50 [[-2.23987025e-01 -9.74589426e-01 2.29415627e-03 7.47022949e+01] [ 9.74533032e-01 -2.23998745e-01 -1.04847962e-02 2.55159670e+02] [ 1.07322596e-02 -1.12727239e-04 9.99942401e-01 6.50413093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.94275509600004 meters 0.01884527117486555 Centerline is valid? [True, True] Translation: X:74.70, Y:255.18, Z:6.50 [[-2.25927694e-01 -9.74141448e-01 2.26182757e-03 7.46980528e+01] [ 9.74086808e-01 -2.25938979e-01 -1.03183168e-02 2.55184651e+02] [ 1.05625351e-02 -1.27977130e-04 9.99944207e-01 6.50477132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.97275509600007 meters 0.019256684026765197 Centerline is valid? [True, True] Translation: X:74.69, Y:255.21, Z:6.51 [[-2.27025098e-01 -9.73886401e-01 2.20988725e-03 7.46933264e+01] [ 9.73834417e-01 -2.27035815e-01 -1.00631872e-02 2.55209664e+02] [ 1.03021247e-02 -1.32531788e-04 9.99946923e-01 6.50529752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.00275509600004 meters 0.019126943980458867 Centerline is valid? [True, True] Translation: X:74.69, Y:255.24, Z:6.51 [[-2.27855561e-01 -9.73692578e-01 2.14645803e-03 7.46868264e+01] [ 9.73643705e-01 -2.27865632e-01 -9.75651990e-03 2.55235348e+02] [ 9.98895502e-03 -1.33191971e-04 9.99950100e-01 6.50598952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0327550960001 meters 0.01944432404840013 Centerline is valid? [True, True] Translation: X:74.68, Y:255.26, Z:6.51 [[-2.28934654e-01 -9.73439711e-01 2.01333424e-03 7.46817851e+01] [ 9.73396850e-01 -2.28943468e-01 -9.13571855e-03 2.55260730e+02] [ 9.35401095e-03 -1.31709359e-04 9.99956242e-01 6.50687049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.06275509600005 meters 0.01908481957851738 Centerline is valid? [True, True] Translation: X:74.67, Y:255.29, Z:6.51 [[-2.29196381e-01 -9.73378090e-01 2.02783327e-03 7.46746478e+01] [ 9.73334772e-01 -2.29205314e-01 -9.18394845e-03 2.55285711e+02] [ 9.40424436e-03 -1.31167118e-04 9.99955771e-01 6.50755935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0927550960001 meters 0.01932790659843148 Centerline is valid? [True, True] Translation: X:74.67, Y:255.31, Z:6.51 [[-2.29444842e-01 -9.73319563e-01 2.02293619e-03 7.46691986e+01] [ 9.73276610e-01 -2.29453723e-01 -9.14487614e-03 2.55310179e+02] [ 9.36505709e-03 -1.29368185e-04 9.99956139e-01 6.50770665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.12275509600005 meters 0.019001142510473235 Centerline is valid? [True, True] Translation: X:74.66, Y:255.33, Z:6.51 [[-2.29473715e-01 -9.73312685e-01 2.05721492e-03 7.46606492e+01] [ 9.73268436e-01 -2.29482900e-01 -9.28173091e-03 2.55334862e+02] [ 9.50612207e-03 -1.27690922e-04 9.99954808e-01 6.50757348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1527550960001 meters 0.01916811442263931 Centerline is valid? [True, True] Translation: X:74.65, Y:255.36, Z:6.51 [[-2.29464050e-01 -9.73314742e-01 2.15927212e-03 7.46545406e+01] [ 9.73266179e-01 -2.29474172e-01 -9.72366464e-03 2.55359831e+02] [ 9.95968332e-03 -1.29684941e-04 9.99950393e-01 6.50742028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.18275509600005 meters 0.018860479798650687 Centerline is valid? [True, True] Translation: X:74.65, Y:255.39, Z:6.51 [[-2.29164972e-01 -9.73384919e-01 2.28365204e-03 7.46463715e+01] [ 9.73330815e-01 -2.29176314e-01 -1.02635887e-02 2.55385138e+02] [ 1.05137815e-02 -1.29306123e-04 9.99944720e-01 6.50718175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2127550960001 meters 0.018937323679983447 Centerline is valid? [True, True] Translation: X:74.64, Y:255.41, Z:6.51 [[-2.29639326e-01 -9.73272903e-01 2.37426015e-03 7.46399381e+01] [ 9.73214626e-01 -2.29651560e-01 -1.06514236e-02 2.55410271e+02] [ 1.09119945e-02 -1.35321044e-04 9.99940453e-01 6.50686926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.24275509600005 meters 0.018941179132443694 Centerline is valid? [True, True] Translation: X:74.63, Y:255.44, Z:6.51 [[-2.30015468e-01 -9.73183744e-01 2.50682024e-03 7.46340033e+01] [ 9.73119013e-01 -2.30029084e-01 -1.12252751e-02 2.55435240e+02] [ 1.15008968e-02 -1.42552480e-04 9.99933852e-01 6.50682697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2727550960001 meters 0.019112267406285872 Centerline is valid? [True, True] Translation: X:74.63, Y:255.46, Z:6.51 [[-2.30617627e-01 -9.73040902e-01 2.62925065e-03 7.46277570e+01] [ 9.72969950e-01 -2.30632565e-01 -1.17514126e-02 2.55461020e+02] [ 1.20409959e-02 -1.51901007e-04 9.99927493e-01 6.50652973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.30275509600006 meters 0.01951693741983586 Centerline is valid? [True, True] Translation: X:74.62, Y:255.49, Z:6.51 [[-2.31783693e-01 -9.72763829e-01 2.61789559e-03 7.46223105e+01] [ 9.72693716e-01 -2.31798420e-01 -1.16802409e-02 2.55485704e+02] [ 1.19689399e-02 -1.60878763e-04 9.99928357e-01 6.50669535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3327550960001 meters 0.019746743099627637 Centerline is valid? [True, True] Translation: X:74.62, Y:255.51, Z:6.51 [[-2.33059861e-01 -9.72458706e-01 2.67715821e-03 7.46163595e+01] [ 9.72385626e-01 -2.33075171e-01 -1.19230354e-02 2.55511693e+02] [ 1.22186387e-02 -1.75550822e-04 9.99925334e-01 6.50644024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.36275509600006 meters 0.01968459451741312 Centerline is valid? [True, True] Translation: X:74.61, Y:255.54, Z:6.51 [[-2.35464863e-01 -9.71879277e-01 2.63978639e-03 7.46099518e+01] [ 9.71808425e-01 -2.35479576e-01 -1.17369115e-02 2.55538090e+02] [ 1.20284768e-02 -1.98263603e-04 9.99927636e-01 6.50656247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3927550960001 meters 0.02013516309094706 Centerline is valid? [True, True] Translation: X:74.60, Y:255.57, Z:6.51 [[-2.37145613e-01 -9.71470556e-01 2.62996056e-03 7.46049630e+01] [ 9.71400435e-01 -2.37160100e-01 -1.16739858e-02 2.55565288e+02] [ 1.19646552e-02 -2.13689693e-04 9.99928398e-01 6.50658865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.42275509600006 meters 0.02107595807018636 Centerline is valid? [True, True] Translation: X:74.60, Y:255.59, Z:6.51 [[-2.39616636e-01 -9.70864340e-01 2.51017803e-03 7.46019245e+01] [ 9.70800627e-01 -2.39629674e-01 -1.11248084e-02 2.55591056e+02] [ 1.14021929e-02 -2.28806757e-04 9.99934967e-01 6.50696293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.45275509600003 meters 0.021085029683061716 Centerline is valid? [True, True] Translation: X:74.60, Y:255.62, Z:6.51 [[-2.41157548e-01 -9.70482735e-01 2.50979283e-03 7.45958888e+01] [ 9.70419223e-01 -2.41170486e-01 -1.11053051e-02 2.55617653e+02] [ 1.13827949e-02 -2.42576945e-04 9.99935184e-01 6.50731383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.48275509600006 meters 0.0213031041045759 Centerline is valid? [True, True] Translation: X:74.59, Y:255.64, Z:6.51 [[-2.41897658e-01 -9.70298845e-01 2.38219421e-03 7.45905703e+01] [ 9.70241801e-01 -2.41909274e-01 -1.05237863e-02 2.55643548e+02] [ 1.07874926e-02 -2.34374866e-04 9.99941786e-01 6.50777711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.51275509600003 meters 0.021157422111824663 Centerline is valid? [True, True] Translation: X:74.58, Y:255.67, Z:6.51 [[-2.42456831e-01 -9.70159451e-01 2.30764799e-03 7.45838101e+01] [ 9.70106105e-01 -2.42467704e-01 -1.01763566e-02 2.55669299e+02] [ 1.04322187e-02 -2.28663775e-04 9.99945557e-01 6.50854057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.54275509600006 meters 0.020774339603764194 Centerline is valid? [True, True] Translation: X:74.58, Y:255.69, Z:6.51 [[-2.41714349e-01 -9.70345530e-01 1.93058448e-03 7.45752432e+01] [ 9.70308311e-01 -2.41721990e-01 -8.50060100e-03 2.55694727e+02] [ 8.71518490e-03 -1.81455061e-04 9.99962006e-01 6.51027892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.57275509600004 meters 0.02036917284733211 Centerline is valid? [True, True] Translation: X:74.57, Y:255.72, Z:6.51 [[-2.41630769e-01 -9.70366723e-01 1.73024040e-03 7.45673799e+01] [ 9.70336927e-01 -2.41636912e-01 -7.60594610e-03 2.55720691e+02] [ 7.79864694e-03 -1.58914453e-04 9.99969577e-01 6.51127261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.60275509600007 meters 0.020418845590866583 Centerline is valid? [True, True] Translation: X:74.56, Y:255.75, Z:6.51 [[-2.40910704e-01 -9.70546129e-01 1.49803159e-03 7.45609928e+01] [ 9.70523854e-01 -2.40915326e-01 -6.57680604e-03 2.55745369e+02] [ 6.74399241e-03 -1.30547578e-04 9.99977251e-01 6.51236877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.63275509600004 meters 0.020232771342383375 Centerline is valid? [True, True] Translation: X:74.55, Y:255.77, Z:6.51 [[-2.39700679e-01 -9.70845904e-01 1.34774749e-03 7.45537889e+01] [ 9.70827938e-01 -2.39704443e-01 -5.90721382e-03 2.55770113e+02] [ 6.05805540e-03 -1.07532245e-04 9.99981644e-01 6.51378473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.66275509600007 meters 0.02014066643347656 Centerline is valid? [True, True] Translation: X:74.55, Y:255.80, Z:6.51 [[-2.39783618e-01 -9.70825536e-01 1.26283443e-03 7.45469257e+01] [ 9.70809818e-01 -2.39786923e-01 -5.52533480e-03 2.55796113e+02] [ 5.66694730e-03 -9.89127052e-05 9.99983938e-01 6.51421209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.69275509600004 meters 0.02011881437827694 Centerline is valid? [True, True] Translation: X:74.54, Y:255.82, Z:6.51 [[-2.39572628e-01 -9.70877677e-01 1.22196137e-03 7.45403219e+01] [ 9.70863010e-01 -2.39575726e-01 -5.33741957e-03 2.55821919e+02] [ 5.47473379e-03 -9.23425352e-05 9.99985009e-01 6.51411114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.72275509600007 meters 0.020006577565944293 Centerline is valid? [True, True] Translation: X:74.53, Y:255.85, Z:6.51 [[-2.39279651e-01 -9.70949921e-01 1.22490383e-03 7.45334190e+01] [ 9.70935236e-01 -2.39282770e-01 -5.34074577e-03 2.55847552e+02] [ 5.47869506e-03 -8.86294936e-05 9.99984988e-01 6.51406818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.75275509600004 meters 0.020067820917563036 Centerline is valid? [True, True] Translation: X:74.53, Y:255.87, Z:6.51 [[-2.39034774e-01 -9.71010271e-01 1.19582607e-03 7.45266372e+01] [ 9.70996331e-01 -2.39037751e-01 -5.20379961e-03 2.55872125e+02] [ 5.33879044e-03 -8.27463386e-05 9.99985745e-01 6.51424315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7827550960001 meters 0.01942164358082402 Centerline is valid? [True, True] Translation: X:74.52, Y:255.90, Z:6.51 [[-2.37027891e-01 -9.71502125e-01 1.18354891e-03 7.45164749e+01] [ 9.71488509e-01 -2.37030836e-01 -5.14400736e-03 2.55897982e+02] [ 5.27795167e-03 -6.94690471e-05 9.99986069e-01 6.51387309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.81275509600005 meters 0.019172268829569745 Centerline is valid? [True, True] Translation: X:74.51, Y:255.92, Z:6.51 [[-2.36115586e-01 -9.71724229e-01 1.20556921e-03 7.45086639e+01] [ 9.71710145e-01 -2.36118655e-01 -5.23212238e-03 2.55922551e+02] [ 5.36883746e-03 -6.39218081e-05 9.99985586e-01 6.51366953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8427550960001 meters 0.018775397995959366 Centerline is valid? [True, True] Translation: X:74.50, Y:255.95, Z:6.51 [[-2.34721650e-01 -9.72061759e-01 1.29770935e-03 7.45001834e+01] [ 9.72045513e-01 -2.34725230e-01 -5.62022150e-03 2.55947664e+02] [ 5.76780752e-03 -5.77551103e-05 9.99983364e-01 6.51356276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.87275509600005 meters 0.018246100172258025 Centerline is valid? [True, True] Translation: X:74.49, Y:255.97, Z:6.51 [[-2.31596566e-01 -9.72811045e-01 1.30473768e-03 7.44902252e+01] [ 9.72794690e-01 -2.31600238e-01 -5.64105345e-03 2.55972625e+02] [ 5.78985666e-03 -3.72067181e-05 9.99983238e-01 6.51299370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9027550960001 meters 0.018142599965683893 Centerline is valid? [True, True] Translation: X:74.48, Y:256.00, Z:6.51 [[-2.30185738e-01 -9.73145817e-01 1.32067827e-03 7.44825253e+01] [ 9.73129126e-01 -2.30189525e-01 -5.69964306e-03 2.55997503e+02] [ 5.85059010e-03 -2.67860482e-05 9.99982885e-01 6.51347155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.93275509600005 meters 0.018140467244353062 Centerline is valid? [True, True] Translation: X:74.47, Y:256.02, Z:6.51 [[-2.27859266e-01 -9.73693307e-01 1.22466962e-03 7.44737712e+01] [ 9.73679006e-01 -2.27862556e-01 -5.27722028e-03 2.56021290e+02] [ 5.41745041e-03 -1.00284390e-05 9.99985325e-01 6.51411429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9627550960001 meters 0.018225250267110273 Centerline is valid? [True, True] Translation: X:74.47, Y:256.05, Z:6.51 [[-2.27418340e-01 -9.73796377e-01 1.23104560e-03 7.44664089e+01] [ 9.73781985e-01 -2.27421672e-01 -5.29431197e-03 2.56046317e+02] [ 5.43554826e-03 -5.25360831e-06 9.99985227e-01 6.51424092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.99275509600005 meters 0.018264108011042755 Centerline is valid? [True, True] Translation: X:74.46, Y:256.07, Z:6.51 [[-2.27435023e-01 -9.73792457e-01 1.24946124e-03 7.44597170e+01] [ 9.73777692e-01 -2.27438455e-01 -5.36242810e-03 2.56070458e+02] [ 5.50606757e-03 -2.90647819e-06 9.99984842e-01 6.51461584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0227550960001 meters 0.01820144490234925 Centerline is valid? [True, True] Translation: X:74.45, Y:256.10, Z:6.51 [[-2.28295182e-01 -9.73591237e-01 1.18885145e-03 7.44532081e+01] [ 9.73577895e-01 -2.28298277e-01 -5.09699277e-03 2.56096358e+02] [ 5.23380023e-03 -6.17939732e-06 9.99986304e-01 6.51479057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.05275509600006 meters 0.018252375849551746 Centerline is valid? [True, True] Translation: X:74.45, Y:256.12, Z:6.51 [[-2.29800088e-01 -9.73237179e-01 1.14564525e-03 7.44477759e+01] [ 9.73224824e-01 -2.29802943e-01 -4.90401171e-03 2.56121929e+02] [ 5.03603918e-03 -1.19719257e-05 9.99987319e-01 6.51479223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0827550960001 meters 0.01840849359337345 Centerline is valid? [True, True] Translation: X:74.44, Y:256.15, Z:6.52 [[-2.33481067e-01 -9.72360758e-01 1.07156624e-03 7.44441433e+01] [ 9.72349975e-01 -2.33483524e-01 -4.57926660e-03 2.56149171e+02] [ 4.70289220e-03 -2.72346400e-05 9.99988941e-01 6.51535650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.11275509600006 meters 0.01886261448766385 Centerline is valid? [True, True] Translation: X:74.44, Y:256.18, Z:6.52 [[-2.36255483e-01 -9.71690575e-01 8.79676070e-04 7.44410138e+01] [ 9.71683316e-01 -2.36257119e-01 -3.75607558e-03 2.56175192e+02] [ 3.85757297e-03 -3.26268922e-05 9.99992559e-01 6.51633933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1427550960001 meters 0.01896744742309944 Centerline is valid? [True, True] Translation: X:74.44, Y:256.20, Z:6.52 [[-2.39074744e-01 -9.71000783e-01 8.63799077e-04 7.44357528e+01] [ 9.70993804e-01 -2.39076301e-01 -3.68171617e-03 2.56202329e+02] [ 3.78146317e-03 -4.14617971e-05 9.99992849e-01 6.51587090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.17275509600006 meters 0.02019510026125058 Centerline is valid? [True, True] Translation: X:74.43, Y:256.23, Z:6.52 [[-2.44666850e-01 -9.69606784e-01 9.04207993e-04 7.44341837e+01] [ 9.69599153e-01 -2.44668512e-01 -3.84741008e-03 2.56228789e+02] [ 3.95170614e-03 -6.46144007e-05 9.99992190e-01 6.51566806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.20275509600003 meters 0.02019510026125058 Centerline is valid? [True, True] Translation: X:74.43, Y:256.25, Z:6.52 [[-2.45052179e-01 -9.69509468e-01 9.05572285e-04 7.44279923e+01] [ 9.69501838e-01 -2.45053844e-01 -3.84708861e-03 2.56253966e+02] [ 3.95170280e-03 -6.47834533e-05 9.99992190e-01 6.51590572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.23275509600006 meters 0.02100737187842188 Centerline is valid? [True, True] Translation: X:74.42, Y:256.28, Z:6.52 [[-2.48015298e-01 -9.68755654e-01 9.45611985e-04 7.44238861e+01] [ 9.68747365e-01 -2.48017088e-01 -4.00842349e-03 2.56281425e+02] [ 4.11771085e-03 -7.80912264e-05 9.99991519e-01 6.51587562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26275509600003 meters 0.021752343891464323 Centerline is valid? [True, True] Translation: X:74.42, Y:256.31, Z:6.52 [[-2.50861217e-01 -9.68022536e-01 1.01031832e-03 7.44194085e+01] [ 9.68013100e-01 -2.50863234e-01 -4.27503072e-03 2.56308144e+02] [ 4.39177780e-03 -9.44380411e-05 9.99990352e-01 6.51545962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.29275509600006 meters 0.023285543864945846 Centerline is valid? [True, True] Translation: X:74.42, Y:256.34, Z:6.52 [[-2.55515320e-01 -9.66804607e-01 8.79439144e-04 7.44160598e+01] [ 9.66797466e-01 -2.55516814e-01 -3.71717703e-03 2.56335174e+02] [ 3.81849536e-03 -9.95561414e-05 9.99992705e-01 6.51501343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32275509600004 meters 0.023581924525591557 Centerline is valid? [True, True] Translation: X:74.41, Y:256.36, Z:6.51 [[-2.57710571e-01 -9.66221697e-01 9.45815447e-04 7.44100867e+01] [ 9.66213464e-01 -2.57712281e-01 -3.99039548e-03 2.56361785e+02] [ 4.09935495e-03 -1.14507478e-04 9.99991591e-01 6.51497441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.35275509600007 meters 0.025232527303440472 Centerline is valid? [True, True] Translation: X:74.41, Y:256.39, Z:6.51 [[-2.61554851e-01 -9.65188225e-01 8.66829967e-04 7.44061867e+01] [ 9.65181319e-01 -2.61556260e-01 -3.65288683e-03 2.56388052e+02] [ 3.75244816e-03 -1.18782178e-04 9.99992953e-01 6.51499958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.38275509600004 meters 0.026824164470631677 Centerline is valid? [True, True] Translation: X:74.40, Y:256.41, Z:6.52 [[-2.63249251e-01 -9.64727400e-01 9.35284272e-04 7.44024939e+01] [ 9.64719391e-01 -2.63250879e-01 -3.93346671e-03 2.56414493e+02] [ 4.04093752e-03 -1.33195293e-04 9.99991827e-01 6.51529298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.41275509600007 meters 0.02713247517832179 Centerline is valid? [True, True] Translation: X:74.40, Y:256.44, Z:6.52 [[-2.65342188e-01 -9.64153938e-01 8.41121304e-04 7.43963259e+01] [ 9.64147475e-01 -2.65343491e-01 -3.53256527e-03 2.56441337e+02] [ 3.62912278e-03 -1.26373619e-04 9.99993407e-01 6.51551596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.44275509600004 meters 0.028909168218517977 Centerline is valid? [True, True] Translation: X:74.39, Y:256.47, Z:6.52 [[-2.67115344e-01 -9.63664211e-01 8.25725261e-04 7.43928154e+01] [ 9.63657997e-01 -2.67116589e-01 -3.46316883e-03 2.56467492e+02] [ 3.55789677e-03 -1.29348783e-04 9.99993662e-01 6.51580575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.47275509600007 meters 0.030505024303483008 Centerline is valid? [True, True] Translation: X:74.39, Y:256.49, Z:6.52 [[-2.69470850e-01 -9.63008227e-01 7.85352429e-04 7.43892294e+01] [ 9.63002627e-01 -2.69471963e-01 -3.28660815e-03 2.56493627e+02] [ 3.37666114e-03 -1.29348639e-04 9.99994291e-01 6.51561911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.50275509600004 meters 0.030194556507894862 Centerline is valid? [True, True] Translation: X:74.38, Y:256.52, Z:6.51 [[-2.70980975e-01 -9.62584338e-01 8.39290740e-04 7.43822080e+01] [ 9.62577950e-01 -2.70982237e-01 -3.50952322e-03 2.56519569e+02] [ 3.60564496e-03 -1.43131263e-04 9.99993489e-01 6.51483654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5327550960001 meters 0.031217367299843254 Centerline is valid? [True, True] Translation: X:74.38, Y:256.55, Z:6.51 [[-2.72314947e-01 -9.62207692e-01 9.62837262e-04 7.43772431e+01] [ 9.62199316e-01 -2.72316597e-01 -4.01836610e-03 2.56545320e+02] [ 4.12869934e-03 -1.67819798e-04 9.99991463e-01 6.51428507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.56275509600005 meters 0.030517751671799483 Centerline is valid? [True, True] Translation: X:74.37, Y:256.57, Z:6.51 [[-2.72874514e-01 -9.62049119e-01 9.96502570e-04 7.43696073e+01] [ 9.62040174e-01 -2.72876277e-01 -4.15225446e-03 2.56570569e+02] [ 4.26659466e-03 -1.74368912e-04 9.99990883e-01 6.51417378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5927550960001 meters 0.02992114202356034 Centerline is valid? [True, True] Translation: X:74.36, Y:256.60, Z:6.51 [[-2.71613711e-01 -9.62405782e-01 1.05025791e-03 7.43616408e+01] [ 9.62395889e-01 -2.71615685e-01 -4.36721882e-03 2.56597031e+02] [ 4.48830316e-03 -1.75432617e-04 9.99989912e-01 6.51400476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.62275509600005 meters 0.02842620563165141 Centerline is valid? [True, True] Translation: X:74.35, Y:256.62, Z:6.51 [[-2.70903819e-01 -9.62605934e-01 9.67624417e-04 7.43523237e+01] [ 9.62597558e-01 -2.70905502e-01 -4.01878200e-03 2.56622980e+02] [ 4.13063818e-03 -1.57270494e-04 9.99991457e-01 6.51381309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6527550960001 meters 0.027829924204069417 Centerline is valid? [True, True] Translation: X:74.34, Y:256.65, Z:6.51 [[-2.69869332e-01 -9.62896306e-01 1.11676452e-03 7.43448551e+01] [ 9.62885196e-01 -2.69871586e-01 -4.62890819e-03 2.56648913e+02] [ 4.75854162e-03 -1.73884338e-04 9.99988663e-01 6.51384642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.68275509600005 meters 0.026918524509014052 Centerline is valid? [True, True] Translation: X:74.34, Y:256.67, Z:6.51 [[-2.67002913e-01 -9.63694964e-01 1.20853879e-03 7.43364151e+01] [ 9.63682006e-01 -2.67005594e-01 -5.00045045e-03 2.56674403e+02] [ 5.14159554e-03 -1.70487752e-04 9.99986767e-01 6.51308823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7127550960001 meters 0.024890384027207422 Centerline is valid? [True, True] Translation: X:74.33, Y:256.70, Z:6.51 [[-2.65313000e-01 -9.64161380e-01 1.35828608e-03 7.43264571e+01] [ 9.64145076e-01 -2.65316416e-01 -5.61001816e-03 2.56699820e+02] [ 5.76933845e-03 -1.78825906e-04 9.99983341e-01 6.51255240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.74275509600005 meters 0.023698704756345113 Centerline is valid? [True, True] Translation: X:74.32, Y:256.72, Z:6.51 [[-2.61673983e-01 -9.65154910e-01 1.65132569e-03 7.43183067e+01] [ 9.65130925e-01 -2.61679126e-01 -6.80678821e-03 2.56724706e+02] [ 7.00172252e-03 -1.87413890e-04 9.99975470e-01 6.51149172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7727550960001 meters 0.02308673679870928 Centerline is valid? [True, True] Translation: X:74.31, Y:256.75, Z:6.51 [[-2.60201419e-01 -9.65552944e-01 1.65332953e-03 7.43108733e+01] [ 9.65528986e-01 -2.60206614e-01 -6.80404558e-03 2.56750559e+02] [ 6.99987352e-03 -1.74084732e-04 9.99975485e-01 6.51153477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.80275509600006 meters 0.02275226720860631 Centerline is valid? [True, True] Translation: X:74.30, Y:256.78, Z:6.51 [[-2.59004361e-01 -9.65874536e-01 1.76692544e-03 7.43044980e+01] [ 9.65847268e-01 -2.59010329e-01 -7.25972352e-03 2.56775821e+02] [ 7.46963403e-03 -1.73719942e-04 9.99972087e-01 6.51182057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8327550960001 meters 0.021705250390025882 Centerline is valid? [True, True] Translation: X:74.30, Y:256.80, Z:6.51 [[-2.57693971e-01 -9.66225026e-01 1.73658648e-03 7.42964794e+01] [ 9.66198777e-01 -2.57699774e-01 -7.12392706e-03 2.56801905e+02] [ 7.33083455e-03 -1.57905319e-04 9.99973117e-01 6.51184418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.86275509600006 meters 0.02022112743567154 Centerline is valid? [True, True] Translation: X:74.29, Y:256.83, Z:6.51 [[-2.55442674e-01 -9.66822696e-01 1.70727370e-03 7.42872760e+01] [ 9.66797412e-01 -2.55448343e-01 -6.99340210e-03 2.56827907e+02] [ 7.19750012e-03 -1.35825536e-04 9.99974088e-01 6.51216230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8927550960001 meters 0.0200364627401909 Centerline is valid? [True, True] Translation: X:74.28, Y:256.85, Z:6.51 [[-2.54558013e-01 -9.67056182e-01 1.59955449e-03 7.42821896e+01] [ 9.67034053e-01 -2.54563010e-01 -6.54330686e-03 2.56853040e+02] [ 6.73493276e-03 -1.18827532e-04 9.99977313e-01 6.51284613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.92275509600006 meters 0.01985429168166813 Centerline is valid? [True, True] Translation: X:74.28, Y:256.88, Z:6.51 [[-2.54730950e-01 -9.67010739e-01 1.54095016e-03 7.42762047e+01] [ 9.66990272e-01 -2.54735586e-01 -6.29243460e-03 2.56879017e+02] [ 6.47738667e-03 -1.12794030e-04 9.99979015e-01 6.51338758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.95275509600003 meters 0.02028137872486593 Centerline is valid? [True, True] Translation: X:74.27, Y:256.90, Z:6.51 [[-2.55182112e-01 -9.66891896e-01 1.46641040e-03 7.42721596e+01] [ 9.66873418e-01 -2.55186303e-01 -5.97866526e-03 2.56904078e+02] [ 6.15493084e-03 -1.07815195e-04 9.99981052e-01 6.51407119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.98275509600006 meters 0.020031190992707098 Centerline is valid? [True, True] Translation: X:74.27, Y:256.93, Z:6.51 [[-2.55737932e-01 -9.66745003e-01 1.48653485e-03 7.42666020e+01] [ 9.66726082e-01 -2.55742228e-01 -6.04938077e-03 2.56929758e+02] [ 6.22837837e-03 -1.09984110e-04 9.99980597e-01 6.51455473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.01275509600003 meters 0.020137070015594165 Centerline is valid? [True, True] Translation: X:74.26, Y:256.96, Z:6.52 [[-2.56957196e-01 -9.66421923e-01 1.29056934e-03 7.42624126e+01] [ 9.66407698e-01 -2.56960418e-01 -5.24446800e-03 2.56956853e+02] [ 5.39999408e-03 -1.00387646e-04 9.99985415e-01 6.51544765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.04275509600006 meters 0.020124188252396962 Centerline is valid? [True, True] Translation: X:74.26, Y:256.98, Z:6.52 [[-2.57672554e-01 -9.66231503e-01 1.24025201e-03 7.42568183e+01] [ 9.66218401e-01 -2.57675520e-01 -5.03276051e-03 2.56983468e+02] [ 5.18239433e-03 -9.84499364e-05 9.99986566e-01 6.51610820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.07275509600004 meters 0.020534612244226032 Centerline is valid? [True, True] Translation: X:74.25, Y:257.01, Z:6.52 [[-2.58803455e-01 -9.65929183e-01 1.25925223e-03 7.42529558e+01] [ 9.65915711e-01 -2.58806498e-01 -5.10263574e-03 2.57008743e+02] [ 5.25468743e-03 -1.04248250e-04 9.99986189e-01 6.51650846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.10275509600007 meters 0.020296795809404283 Centerline is valid? [True, True] Translation: X:74.25, Y:257.04, Z:6.52 [[-2.59453829e-01 -9.65754526e-01 1.38045133e-03 7.42467642e+01] [ 9.65738405e-01 -2.59457476e-01 -5.58140032e-03 2.57035321e+02] [ 5.74843104e-03 -1.14960818e-04 9.99983471e-01 6.51639419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.13275509600004 meters 0.020668997258707855 Centerline is valid? [True, True] Translation: X:74.24, Y:257.06, Z:6.52 [[-2.60245477e-01 -9.65541373e-01 1.46614999e-03 7.42420077e+01] [ 9.65523244e-01 -2.60249577e-01 -5.91805774e-03 2.57060924e+02] [ 6.09569451e-03 -1.24545862e-04 9.99981413e-01 6.51616833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.16275509600007 meters 0.020872867251094277 Centerline is valid? [True, True] Translation: X:74.24, Y:257.09, Z:6.52 [[-2.60753335e-01 -9.65403876e-01 1.74752303e-03 7.42391336e+01] [ 9.65378220e-01 -2.60759148e-01 -7.03988819e-03 2.57086698e+02] [ 7.25201797e-03 -1.48653653e-04 9.99973693e-01 6.51563258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.19275509600004 meters 0.021234101222969586 Centerline is valid? [True, True] Translation: X:74.23, Y:257.11, Z:6.52 [[-2.60999139e-01 -9.65337179e-01 1.89222099e-03 7.42349928e+01] [ 9.65307212e-01 -2.61005949e-01 -7.60793997e-03 2.57111678e+02] [ 7.83810824e-03 -1.59091215e-04 9.99969269e-01 6.51541955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.22275509600007 meters 0.020675334514780777 Centerline is valid? [True, True] Translation: X:74.23, Y:257.14, Z:6.51 [[-2.60872888e-01 -9.65370886e-01 2.09500877e-03 7.42284450e+01] [ 9.65334294e-01 -2.60881244e-01 -8.40698749e-03 2.57137145e+02] [ 8.66240945e-03 -1.70771288e-04 9.99962466e-01 6.51473872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.25275509600004 meters 0.020095693208074823 Centerline is valid? [True, True] Translation: X:74.22, Y:257.16, Z:6.51 [[-2.59546448e-01 -9.65727449e-01 2.47706632e-03 7.42227758e+01] [ 9.65676506e-01 -2.59558203e-01 -9.92093360e-03 2.57162227e+02] [ 1.02238608e-02 -1.82898323e-04 9.99947718e-01 6.51330886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2827550960001 meters 0.019333963051387692 Centerline is valid? [True, True] Translation: X:74.22, Y:257.19, Z:6.51 [[-2.58859777e-01 -9.65911355e-01 2.62113558e-03 7.42154449e+01] [ 9.65854527e-01 -2.58872984e-01 -1.04790397e-02 2.57187599e+02] [ 1.08003646e-02 -1.80966203e-04 9.99941658e-01 6.51279433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.31275509600005 meters 0.019347125190979544 Centerline is valid? [True, True] Translation: X:74.21, Y:257.21, Z:6.51 [[-2.57337352e-01 -9.66317546e-01 2.80853319e-03 7.42113688e+01] [ 9.66252561e-01 -2.57352621e-01 -1.12079036e-02 2.57213005e+02] [ 1.15531772e-02 -1.70459836e-04 9.99933245e-01 6.51230759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3427550960001 meters 0.018649010296628597 Centerline is valid? [True, True] Translation: X:74.20, Y:257.24, Z:6.51 [[-2.56723519e-01 -9.66480207e-01 3.00741278e-03 7.42038580e+01] [ 9.66405975e-01 -2.56741078e-01 -1.19796062e-02 2.57238775e+02] [ 1.23501787e-02 -1.69064975e-04 9.99923719e-01 6.51251720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.37275509600005 meters 0.018335929020761286 Centerline is valid? [True, True] Translation: X:74.20, Y:257.26, Z:6.51 [[-2.56051340e-01 -9.66658444e-01 3.02723421e-03 7.41969897e+01] [ 9.66583486e-01 -2.56069187e-01 -1.20389078e-02 2.57264795e+02] [ 1.24126933e-02 -1.56503873e-04 9.99922947e-01 6.51258334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4027550960001 meters 0.01782826166343451 Centerline is valid? [True, True] Translation: X:74.19, Y:257.29, Z:6.51 [[-2.54208655e-01 -9.67144707e-01 3.01246930e-03 7.41904902e+01] [ 9.67070746e-01 -2.54226472e-01 -1.19613393e-02 2.57290423e+02] [ 1.23341954e-02 -1.27405031e-04 9.99923923e-01 6.51317175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.43275509600005 meters 0.017470294375626527 Centerline is valid? [True, True] Translation: X:74.18, Y:257.32, Z:6.51 [[-2.53482521e-01 -9.67335693e-01 2.87565142e-03 7.41828494e+01] [ 9.67268521e-01 -2.53498809e-01 -1.14000772e-02 2.57315836e+02] [ 1.17566758e-02 -1.08193221e-04 9.99930882e-01 6.51445170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4627550960001 meters 0.017187150237501114 Centerline is valid? [True, True] Translation: X:74.18, Y:257.34, Z:6.52 [[-2.52771327e-01 -9.67522256e-01 2.70951326e-03 7.41764095e+01] [ 9.67462819e-01 -2.52785832e-01 -1.07245953e-02 2.57341432e+02] [ 1.10612112e-02 -8.95168361e-05 9.99938819e-01 6.51543988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.49275509600005 meters 0.01716512446842762 Centerline is valid? [True, True] Translation: X:74.17, Y:257.37, Z:6.52 [[-2.53026524e-01 -9.67455558e-01 2.70574468e-03 7.41700460e+01] [ 9.67396478e-01 -2.53040976e-01 -1.06919643e-02 2.57366434e+02] [ 1.10286645e-02 -8.78226828e-05 9.99939179e-01 6.51622509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5227550960001 meters 0.017370460168478496 Centerline is valid? [True, True] Translation: X:74.16, Y:257.39, Z:6.52 [[-2.53353360e-01 -9.67370347e-01 2.58603723e-03 7.41647147e+01] [ 9.67316546e-01 -2.53366544e-01 -1.02026744e-02 2.57390865e+02] [ 1.05249800e-02 -8.33652389e-05 9.99944607e-01 6.51693906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.55275509600006 meters 0.0172912142135593 Centerline is valid? [True, True] Translation: X:74.16, Y:257.42, Z:6.52 [[-2.54541680e-01 -9.67058668e-01 2.46290950e-03 7.41581000e+01] [ 9.67009976e-01 -2.54553580e-01 -9.70466978e-03 2.57416494e+02] [ 1.00119275e-02 -8.85848927e-05 9.99949876e-01 6.51860489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5827550960001 meters 0.01723455380265591 Centerline is valid? [True, True] Translation: X:74.15, Y:257.44, Z:6.52 [[-2.55136678e-01 -9.66902588e-01 2.15879925e-03 7.41504483e+01] [ 9.66865278e-01 -2.55145799e-01 -8.49441977e-03 2.57441959e+02] [ 8.76408502e-03 -7.99700086e-05 9.99961592e-01 6.51992955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.61275509600006 meters 0.017416004327253983 Centerline is valid? [True, True] Translation: X:74.14, Y:257.47, Z:6.52 [[-2.57100738e-01 -9.66382370e-01 2.07972186e-03 7.41426116e+01] [ 9.66347834e-01 -2.57109133e-01 -8.17057057e-03 2.57467485e+02] [ 8.43061084e-03 -9.09250070e-05 9.99964458e-01 6.52066128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6427550960001 meters 0.01786026351894084 Centerline is valid? [True, True] Translation: X:74.14, Y:257.49, Z:6.52 [[-2.58382906e-01 -9.66040139e-01 2.17340851e-03 7.41364749e+01] [ 9.66002540e-01 -2.58392026e-01 -8.52368062e-03 2.57492234e+02] [ 8.79580904e-03 -1.02855225e-04 9.99961311e-01 6.52071051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.67275509600006 meters 0.018070406476009732 Centerline is valid? [True, True] Translation: X:74.13, Y:257.52, Z:6.52 [[-2.60377240e-01 -9.65504138e-01 2.33486042e-03 7.41300163e+01] [ 9.65460847e-01 -2.60387678e-01 -9.14388841e-03 2.57517801e+02] [ 9.43643099e-03 -1.26644108e-04 9.99955468e-01 6.52039219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.70275509600003 meters 0.019136392619506892 Centerline is valid? [True, True] Translation: X:74.13, Y:257.54, Z:6.52 [[-2.64418547e-01 -9.64404966e-01 2.42768444e-03 7.41256675e+01] [ 9.64358274e-01 -2.64429638e-01 -9.49140139e-03 2.57544371e+02] [ 9.79550635e-03 -1.68544998e-04 9.99952009e-01 6.52072500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.73275509600006 meters 0.020166341197520365 Centerline is valid? [True, True] Translation: X:74.12, Y:257.57, Z:6.52 [[-2.67096071e-01 -9.63666749e-01 2.46701786e-03 7.41208831e+01] [ 9.63618650e-01 -2.67107393e-01 -9.63003263e-03 2.57570456e+02] [ 9.93910095e-03 -1.94879462e-04 9.99950587e-01 6.52076636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76275509600003 meters 0.020112191281546295 Centerline is valid? [True, True] Translation: X:74.11, Y:257.60, Z:6.52 [[-2.69440904e-01 -9.63013735e-01 2.47915418e-03 7.41137650e+01] [ 9.62965283e-01 -2.69452222e-01 -9.66253908e-03 2.57596949e+02] [ 9.97317145e-03 -2.16143860e-04 9.99950243e-01 6.52109829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.79275509600006 meters 0.022421681908949203 Centerline is valid? [True, True] Translation: X:74.11, Y:257.62, Z:6.52 [[-2.73953235e-01 -9.61739793e-01 2.48912160e-03 7.41104568e+01] [ 9.61691041e-01 -2.73964419e-01 -9.68700540e-03 2.57623515e+02] [ 9.99830932e-03 -2.60020518e-04 9.99949982e-01 6.52118232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82275509600004 meters 0.022721954995252792 Centerline is valid? [True, True] Translation: X:74.10, Y:257.65, Z:6.52 [[-2.76073215e-01 -9.61133248e-01 2.54141435e-03 7.41037586e+01] [ 9.61082524e-01 -2.76084766e-01 -9.87843489e-03 2.57649505e+02] [ 1.01961380e-02 -2.84662364e-04 9.99947978e-01 6.52107804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.85275509600007 meters 0.02407663646685507 Centerline is valid? [True, True] Translation: X:74.10, Y:257.67, Z:6.52 [[-2.78652549e-01 -9.60388236e-01 2.68190024e-03 7.40986636e+01] [ 9.60331893e-01 -2.78665266e-01 -1.04079140e-02 2.57674710e+02] [ 1.07429906e-02 -3.24677426e-04 9.99942240e-01 6.52037913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.88275509600004 meters 0.024236718379028962 Centerline is valid? [True, True] Translation: X:74.09, Y:257.70, Z:6.52 [[-2.79229089e-01 -9.60220606e-01 2.73924783e-03 7.40912570e+01] [ 9.60161972e-01 -2.79242325e-01 -1.06165478e-02 2.57700372e+02] [ 1.09591419e-02 -3.34327379e-04 9.99939891e-01 6.52053862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.91275509600007 meters 0.023534554775631805 Centerline is valid? [True, True] Translation: X:74.08, Y:257.73, Z:6.52 [[-2.79625712e-01 -9.60105256e-01 2.71267729e-03 7.40823917e+01] [ 9.60047929e-01 -2.79638674e-01 -1.04969347e-02 2.57725904e+02] [ 1.08367317e-02 -3.30912629e-04 9.99941226e-01 6.52059771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.94275509600004 meters 0.024175147205689352 Centerline is valid? [True, True] Translation: X:74.08, Y:257.75, Z:6.52 [[-2.79146273e-01 -9.60243584e-01 3.10133631e-03 7.40762053e+01] [ 9.60168914e-01 -2.79163260e-01 -1.19804623e-02 2.57750304e+02] [ 1.23699412e-02 -3.66494705e-04 9.99923422e-01 6.51945929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.97275509600007 meters 0.023640488390646655 Centerline is valid? [True, True] Translation: X:74.07, Y:257.78, Z:6.52 [[-2.78874480e-01 -9.60322059e-01 3.25079605e-03 7.40681611e+01] [ 9.60240307e-01 -2.78893175e-01 -1.25359428e-02 2.57775948e+02] [ 1.29451672e-02 -3.74409143e-04 9.99916138e-01 6.51931290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.00275509600004 meters 0.02276114219030726 Centerline is valid? [True, True] Translation: X:74.06, Y:257.80, Z:6.52 [[-2.77480421e-01 -9.60724846e-01 3.51942351e-03 7.40584648e+01] [ 9.60629368e-01 -2.77502481e-01 -1.35495882e-02 2.57801413e+02] [ 1.39940748e-02 -3.78883858e-04 9.99902006e-01 6.51864294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0327550960001 meters 0.02238085690481572 Centerline is valid? [True, True] Translation: X:74.05, Y:257.83, Z:6.52 [[-2.76691412e-01 -9.60952246e-01 3.55592495e-03 7.40501341e+01] [ 9.60855087e-01 -2.76714019e-01 -1.36694475e-02 2.57826880e+02] [ 1.41196606e-02 -3.65490154e-04 9.99900246e-01 6.51874428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.06275509600005 meters 0.021345379413514647 Centerline is valid? [True, True] Translation: X:74.04, Y:257.85, Z:6.52 [[-2.76058996e-01 -9.61133677e-01 3.67236537e-03 7.40404204e+01] [ 9.61030405e-01 -2.76083185e-01 -1.40938089e-02 2.57851866e+02] [ 1.45599126e-02 -3.61467945e-04 9.99893934e-01 6.51905754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0927550960001 meters 0.02054952461627329 Centerline is valid? [True, True] Translation: X:74.03, Y:257.88, Z:6.52 [[-2.74631652e-01 -9.61542761e-01 3.60211316e-03 7.40300747e+01] [ 9.61443746e-01 -2.74655078e-01 -1.38026092e-02 2.57877753e+02] [ 1.42611376e-02 -3.27404180e-04 9.99898251e-01 6.51977207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.12275509600005 meters 0.02054952461627329 Centerline is valid? [True, True] Translation: X:74.02, Y:257.90, Z:6.52 [[-2.74979353e-01 -9.61443365e-01 3.60710468e-03 7.40231191e+01] [ 9.61344358e-01 -2.75002816e-01 -1.38013049e-02 2.57903597e+02] [ 1.42611370e-02 -3.27404166e-04 9.99898251e-01 6.52001740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1527550960001 meters 0.02061846493908218 Centerline is valid? [True, True] Translation: X:74.02, Y:257.93, Z:6.52 [[-2.74488197e-01 -9.61583900e-01 3.55441192e-03 7.40159106e+01] [ 9.61488070e-01 -2.74511035e-01 -1.35787444e-02 2.57928241e+02] [ 1.40328273e-02 -3.09680415e-04 9.99901487e-01 6.52042919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.18275509600005 meters 0.019821803752390278 Centerline is valid? [True, True] Translation: X:74.01, Y:257.95, Z:6.52 [[-2.73640002e-01 -9.61826312e-01 3.36087632e-03 7.40072801e+01] [ 9.61740928e-01 -2.73660502e-01 -1.28186437e-02 2.57953638e+02] [ 1.32490479e-02 -2.75401386e-04 9.99912190e-01 6.52232659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2127550960001 meters 0.019970919062462462 Centerline is valid? [True, True] Translation: X:74.00, Y:257.98, Z:6.52 [[-2.73496086e-01 -9.61867561e-01 3.26898268e-03 7.40013847e+01] [ 9.61787044e-01 -2.73515498e-01 -1.24480697e-02 2.57978000e+02] [ 1.28675119e-02 -2.60433150e-04 9.99917176e-01 6.52322755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.24275509600005 meters 0.01979386620740025 Centerline is valid? [True, True] Translation: X:73.99, Y:258.00, Z:6.52 [[-2.73522139e-01 -9.61860265e-01 3.23583508e-03 7.39945677e+01] [ 9.61781630e-01 -2.73541162e-01 -1.23015767e-02 2.58003153e+02] [ 1.27175319e-02 -2.52586833e-04 9.99919097e-01 6.52395206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2727550960001 meters 0.019366784016315336 Centerline is valid? [True, True] Translation: X:73.99, Y:258.03, Z:6.52 [[-2.73735351e-01 -9.61799896e-01 3.14932935e-03 7.39871290e+01] [ 9.61725636e-01 -2.73753359e-01 -1.19540694e-02 2.58028715e+02] [ 1.23595622e-02 -2.43460617e-04 9.99923588e-01 6.52496825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.30275509600006 meters 0.019481912057376892 Centerline is valid? [True, True] Translation: X:73.98, Y:258.05, Z:6.53 [[-2.74200274e-01 -9.61667537e-01 3.12385523e-03 7.39804986e+01] [ 9.61594697e-01 -2.74217961e-01 -1.18384353e-02 2.58054781e+02] [ 1.22412561e-02 -2.42219585e-04 9.99925044e-01 6.52547521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3327550960001 meters 0.020979764066344633 Centerline is valid? [True, True] Translation: X:73.97, Y:258.08, Z:6.52 [[-2.75287607e-01 -9.61356625e-01 3.18964415e-03 7.39746460e+01] [ 9.61280911e-01 -2.75305966e-01 -1.20679573e-02 2.58079561e+02] [ 1.24797388e-02 -2.56015066e-04 9.99922092e-01 6.52435229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.36275509600006 meters 0.01943603781254068 Centerline is valid? [True, True] Translation: X:73.97, Y:258.11, Z:6.53 [[-2.75283368e-01 -9.61358477e-01 2.99091435e-03 7.39670877e+01] [ 9.61292112e-01 -2.75299515e-01 -1.12983576e-02 2.58105128e+02] [ 1.16851691e-02 -2.35107564e-04 9.99931698e-01 6.52689616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3927550960001 meters 0.019969642276671584 Centerline is valid? [True, True] Translation: X:73.96, Y:258.13, Z:6.53 [[-2.75539188e-01 -9.61285690e-01 2.82450552e-03 7.39616476e+01] [ 9.61226680e-01 -2.75553577e-01 -1.06534825e-02 2.58130501e+02] [ 1.10193429e-02 -2.20461862e-04 9.99939261e-01 6.52731806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.42275509600006 meters 0.019872973873890205 Centerline is valid? [True, True] Translation: X:73.96, Y:258.16, Z:6.53 [[-2.76501744e-01 -9.61009418e-01 2.77198603e-03 7.39561107e+01] [ 9.60952744e-01 -2.76515549e-01 -1.04391325e-02 2.58156603e+02] [ 1.07986019e-02 -2.22690768e-04 9.99941669e-01 6.52818616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.45275509600003 meters 0.02031879507689482 Centerline is valid? [True, True] Translation: X:73.95, Y:258.18, Z:6.53 [[-2.76953373e-01 -9.60879363e-01 2.77109982e-03 7.39510669e+01] [ 9.60822895e-01 -2.76967146e-01 -1.04194124e-02 2.58181603e+02] [ 1.07793020e-02 -2.23155268e-04 9.99941877e-01 6.52832323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.48275509600006 meters 0.020227826819246408 Centerline is valid? [True, True] Translation: X:73.94, Y:258.21, Z:6.53 [[-2.77499565e-01 -9.60721585e-01 2.83328795e-03 7.39444001e+01] [ 9.60662738e-01 -2.77513933e-01 -1.06357872e-02 2.58207566e+02] [ 1.10043073e-02 -2.29592171e-04 9.99939424e-01 6.52840096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.51275509600003 meters 0.020077809327879014 Centerline is valid? [True, True] Translation: X:73.94, Y:258.23, Z:6.53 [[-2.77518529e-01 -9.60716235e-01 2.78974244e-03 7.39381276e+01] [ 9.60659354e-01 -2.77532462e-01 -1.04564779e-02 2.58233365e+02] [ 1.08199522e-02 -2.21874209e-04 9.99941438e-01 6.52797588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.54275509600006 meters 0.019939959003758653 Centerline is valid? [True, True] Translation: X:73.93, Y:258.26, Z:6.53 [[-2.77279808e-01 -9.60784721e-01 2.93744620e-03 7.39317819e+01] [ 9.60721863e-01 -2.77295274e-01 -1.09924202e-02 2.58258005e+02] [ 1.13758893e-02 -2.25907358e-04 9.99935267e-01 6.52773832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.57275509600004 meters 0.019620204354641305 Centerline is valid? [True, True] Translation: X:73.93, Y:258.28, Z:6.53 [[-2.76314075e-01 -9.61062516e-01 3.06137564e-03 7.39253792e+01] [ 9.60994481e-01 -2.76330947e-01 -1.14374235e-02 2.58282419e+02] [ 1.18380319e-02 -2.18356015e-04 9.99929904e-01 6.52719481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.60275509600007 meters 0.01989280053103813 Centerline is valid? [True, True] Translation: X:73.92, Y:258.31, Z:6.53 [[-2.76080162e-01 -9.61129602e-01 3.10371935e-03 7.39192998e+01] [ 9.61059896e-01 -2.76097525e-01 -1.15772572e-02 2.58307522e+02] [ 1.19841738e-02 -2.13390833e-04 9.99928164e-01 6.52696851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.63275509600004 meters 0.018833643066709833 Centerline is valid? [True, True] Translation: X:73.91, Y:258.33, Z:6.53 [[-2.75782408e-01 -9.61214729e-01 3.21065530e-03 7.39107841e+01] [ 9.61140377e-01 -2.75801016e-01 -1.19572572e-02 2.58332626e+02] [ 1.23789937e-02 -2.11710746e-04 9.99923355e-01 6.52708652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.66275509600007 meters 0.018643272093356714 Centerline is valid? [True, True] Translation: X:73.90, Y:258.36, Z:6.53 [[-2.75228644e-01 -9.61373177e-01 3.28758877e-03 7.39043957e+01] [ 9.61295468e-01 -2.75248202e-01 -1.22249950e-02 2.58358560e+02] [ 1.26576852e-02 -2.04324610e-04 9.99919867e-01 6.52687592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.69275509600004 meters 0.018080058911138914 Centerline is valid? [True, True] Translation: X:73.90, Y:258.38, Z:6.53 [[-2.75560322e-01 -9.61278356e-01 3.22969058e-03 7.38968521e+01] [ 9.61203576e-01 -2.75579175e-01 -1.19917840e-02 2.58383652e+02] [ 1.24174779e-02 -2.00069728e-04 9.99922880e-01 6.52739661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.72275509600007 meters 0.018661050216822864 Centerline is valid? [True, True] Translation: X:73.89, Y:258.41, Z:6.53 [[-2.75786063e-01 -9.61213732e-01 3.19510588e-03 7.38918422e+01] [ 9.61140768e-01 -2.75804501e-01 -1.18448968e-02 2.58409049e+02] [ 1.22667021e-02 -1.95710940e-04 9.99924742e-01 6.52709246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.75275509600004 meters 0.01898957337683639 Centerline is valid? [True, True] Translation: X:73.89, Y:258.43, Z:6.53 [[-2.76227841e-01 -9.61086639e-01 3.26386220e-03 7.38865119e+01] [ 9.61010737e-01 -2.76247050e-01 -1.20802027e-02 2.58433799e+02] [ 1.25117537e-02 -2.00281692e-04 9.99921705e-01 6.52717070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7827550960001 meters 0.018287320859686318 Centerline is valid? [True, True] Translation: X:73.88, Y:258.46, Z:6.53 [[-2.76589487e-01 -9.60982729e-01 3.23256792e-03 7.38784832e+01] [ 9.60908493e-01 -2.76608306e-01 -1.19462284e-02 2.58458915e+02] [ 1.23742743e-02 -1.97999218e-04 9.99923416e-01 6.52798859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.81275509600005 meters 0.018554540114804265 Centerline is valid? [True, True] Translation: X:73.87, Y:258.48, Z:6.53 [[-2.77283106e-01 -9.60783340e-01 3.07458022e-03 7.38727475e+01] [ 9.60716368e-01 -2.77300084e-01 -1.13455981e-02 2.58484159e+02] [ 1.17532430e-02 -1.92143142e-04 9.99930910e-01 6.52867848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8427550960001 meters 0.019350124656626885 Centerline is valid? [True, True] Translation: X:73.87, Y:258.51, Z:6.53 [[-2.77752567e-01 -9.60648045e-01 2.97415987e-03 7.38675539e+01] [ 9.60585560e-01 -2.77768427e-01 -1.09582113e-02 2.58509583e+02] [ 1.13531120e-02 -1.86736298e-04 9.99935534e-01 6.52930585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.87275509600005 meters 0.018496207245927414 Centerline is valid? [True, True] Translation: X:73.86, Y:258.53, Z:6.53 [[-2.78651997e-01 -9.60387952e-01 2.83641326e-03 7.38588780e+01] [ 9.60331276e-01 -2.78666372e-01 -1.04351595e-02 2.58534428e+02] [ 1.08122145e-02 -1.83881678e-04 9.99941529e-01 6.53027495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9027550960001 meters 0.018871187540002766 Centerline is valid? [True, True] Translation: X:73.85, Y:258.56, Z:6.53 [[-2.80386459e-01 -9.59883179e-01 2.77787079e-03 7.38529932e+01] [ 9.59828953e-01 -2.80400152e-01 -1.02046890e-02 2.58561129e+02] [ 1.05742247e-02 -1.94975807e-04 9.99944072e-01 6.53139054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.93275509600005 meters 0.018677561723304356 Centerline is valid? [True, True] Translation: X:73.85, Y:258.59, Z:6.53 [[-2.81158032e-01 -9.59657576e-01 2.73822128e-03 7.38460679e+01] [ 9.59605020e-01 -2.81171297e-01 -1.00452512e-02 2.58587963e+02] [ 1.04099106e-02 -1.96692157e-04 9.99945796e-01 6.53232370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9627550960001 meters 0.01993753570056771 Centerline is valid? [True, True] Translation: X:73.84, Y:258.61, Z:6.53 [[-2.82177061e-01 -9.59358692e-01 2.64699815e-03 7.38421733e+01] [ 9.59309702e-01 -2.82189408e-01 -9.69711280e-03 2.58613314e+02] [ 1.00499643e-02 -1.97011783e-04 9.99949478e-01 6.53292735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.99275509600005 meters 0.019995615165240368 Centerline is valid? [True, True] Translation: X:73.84, Y:258.64, Z:6.53 [[-2.83362560e-01 -9.59009575e-01 2.50881249e-03 7.38360778e+01] [ 9.58965689e-01 -2.83373599e-01 -9.17666361e-03 2.58638922e+02] [ 9.51143949e-03 -1.94457795e-04 9.99954746e-01 6.53404999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0227550960001 meters 0.019475663865916693 Centerline is valid? [True, True] Translation: X:73.83, Y:258.66, Z:6.53 [[-2.83692605e-01 -9.58912214e-01 2.42324153e-03 7.38280061e+01] [ 9.58871384e-01 -2.83702893e-01 -8.85087411e-03 2.58663729e+02] [ 9.17469191e-03 -1.87350580e-04 9.99957894e-01 6.53461231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.05275509600006 meters 0.019954794753067922 Centerline is valid? [True, True] Translation: X:73.82, Y:258.69, Z:6.54 [[-2.84034729e-01 -9.58811440e-01 2.21249215e-03 7.38213774e+01] [ 9.58777497e-01 -2.84043294e-01 -8.06960422e-03 2.58688626e+02] [ 8.36567240e-03 -1.70760156e-04 9.99964993e-01 6.53550186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0827550960001 meters 0.019403340401408425 Centerline is valid? [True, True] Translation: X:73.81, Y:258.71, Z:6.54 [[-2.84244499e-01 -9.58749667e-01 2.03487094e-03 7.38129250e+01] [ 9.58721013e-01 -2.84251740e-01 -7.41405937e-03 2.58713891e+02] [ 7.68664256e-03 -1.56532066e-04 9.99970445e-01 6.53606572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.11275509600006 meters 0.01976796434882521 Centerline is valid? [True, True] Translation: X:73.81, Y:258.74, Z:6.54 [[-2.84576880e-01 -9.58651234e-01 1.95207403e-03 7.38064181e+01] [ 9.58624943e-01 -2.84583535e-01 -7.10136140e-03 2.58738965e+02] [ 7.36325700e-03 -1.49576413e-04 9.99972880e-01 6.53679591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1427550960001 meters 0.019679737120617477 Centerline is valid? [True, True] Translation: X:73.80, Y:258.76, Z:6.54 [[-2.84917116e-01 -9.58550483e-01 1.79101122e-03 7.37987596e+01] [ 9.58528393e-01 -2.84922712e-01 -6.50907065e-03 2.58763771e+02] [ 6.74957260e-03 -1.37810529e-04 9.99977212e-01 6.53757737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.17275509600006 meters 0.0197726709315363 Centerline is valid? [True, True] Translation: X:73.79, Y:258.79, Z:6.54 [[-2.85144556e-01 -9.58482956e-01 1.73374540e-03 7.37917400e+01] [ 9.58462314e-01 -2.85149796e-01 -6.29184649e-03 2.58788397e+02] [ 6.52500476e-03 -1.32356143e-04 9.99978703e-01 6.53801105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.20275509600003 meters 0.019651923690175006 Centerline is valid? [True, True] Translation: X:73.78, Y:258.81, Z:6.54 [[-2.84673661e-01 -9.58622947e-01 1.71813514e-03 7.37830509e+01] [ 9.58602743e-01 -2.84678818e-01 -6.22513998e-03 2.58813301e+02] [ 6.45667871e-03 -1.25124331e-04 9.99979148e-01 6.53813051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.23275509600006 meters 0.020019330213269355 Centerline is valid? [True, True] Translation: X:73.78, Y:258.84, Z:6.54 [[-2.84483230e-01 -9.58679446e-01 1.73541642e-03 7.37757221e+01] [ 9.58658896e-01 -2.84488497e-01 -6.27823089e-03 2.58837924e+02] [ 6.51251692e-03 -1.22379012e-04 9.99978786e-01 6.53826809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26275509600003 meters 0.01981328233433632 Centerline is valid? [True, True] Translation: X:73.77, Y:258.86, Z:6.54 [[-2.84266272e-01 -9.58743594e-01 1.84598545e-03 7.37669106e+01] [ 9.58720424e-01 -2.84272238e-01 -6.66655946e-03 2.58863100e+02] [ 6.91628359e-03 -1.25294052e-04 9.99976074e-01 6.53811088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.29275509600006 meters 0.019562119375920017 Centerline is valid? [True, True] Translation: X:73.76, Y:258.89, Z:6.54 [[-2.84180219e-01 -9.58769135e-01 1.83016794e-03 7.37580365e+01] [ 9.58746426e-01 -2.84186087e-01 -6.59984526e-03 2.58888450e+02] [ 6.84783619e-03 -1.20878497e-04 9.99976546e-01 6.53769509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32275509600004 meters 0.019620669335004275 Centerline is valid? [True, True] Translation: X:73.75, Y:258.91, Z:6.54 [[-2.83991395e-01 -9.58824776e-01 1.98394493e-03 7.37494598e+01] [ 9.58798180e-01 -2.83998296e-01 -7.14264251e-03 2.58913424e+02] [ 7.41197959e-03 -1.26246224e-04 9.99972523e-01 6.53719338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.35275509600007 meters 0.01990700913798834 Centerline is valid? [True, True] Translation: X:73.74, Y:258.94, Z:6.54 [[-2.84585174e-01 -9.58648578e-01 2.04533726e-03 7.37425598e+01] [ 9.58620390e-01 -2.84592493e-01 -7.35255489e-03 2.58937659e+02] [ 7.63060392e-03 -1.31726108e-04 9.99970878e-01 6.53720707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.38275509600004 meters 0.02031901003061999 Centerline is valid? [True, True] Translation: X:73.74, Y:258.96, Z:6.54 [[-2.85029981e-01 -9.58516238e-01 2.12888040e-03 7.37354075e+01] [ 9.58485798e-01 -2.85037899e-01 -7.64017996e-03 2.58961651e+02] [ 7.93004814e-03 -1.37178722e-04 9.99968547e-01 6.53702289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.41275509600007 meters 0.020380140596675433 Centerline is valid? [True, True] Translation: X:73.73, Y:258.99, Z:6.54 [[-2.85632283e-01 -9.58336601e-01 2.27133750e-03 7.37265696e+01] [ 9.58302027e-01 -2.85641275e-01 -8.14167557e-03 2.58986872e+02] [ 8.45125343e-03 -1.48898055e-04 9.99964276e-01 6.53627626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.44275509600004 meters 0.021050908148544583 Centerline is valid? [True, True] Translation: X:73.72, Y:259.01, Z:6.54 [[-2.87050619e-01 -9.57912915e-01 2.18829018e-03 7.37214167e+01] [ 9.57880906e-01 -2.87058920e-01 -7.83238967e-03 2.59012189e+02] [ 8.13091544e-03 -1.52170924e-04 9.99966932e-01 6.53756591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.47275509600007 meters 0.022048831763667197 Centerline is valid? [True, True] Translation: X:73.72, Y:259.04, Z:6.54 [[-2.89238079e-01 -9.57254728e-01 2.17254354e-03 7.37152105e+01] [ 9.57223237e-01 -2.89246190e-01 -7.76632345e-03 2.59038182e+02] [ 8.06274978e-03 -1.66707320e-04 9.99967482e-01 6.53805878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.50275509600004 meters 0.022939265523910873 Centerline is valid? [True, True] Translation: X:73.71, Y:259.06, Z:6.54 [[-2.90464365e-01 -9.56883171e-01 2.24727578e-03 7.37094470e+01] [ 9.56849563e-01 -2.90473002e-01 -8.02174535e-03 2.59063441e+02] [ 8.32864606e-03 -1.79726321e-04 9.99965300e-01 6.53838557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5327550960001 meters 0.02268004974159195 Centerline is valid? [True, True] Translation: X:73.70, Y:259.09, Z:6.54 [[-2.92084909e-01 -9.56390065e-01 2.10934141e-03 7.37014339e+01] [ 9.56360526e-01 -2.92092470e-01 -7.51890507e-03 2.59089090e+02] [ 7.80712885e-03 -1.78867843e-04 9.99969508e-01 6.53922096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.56275509600005 meters 0.023060917768678045 Centerline is valid? [True, True] Translation: X:73.69, Y:259.11, Z:6.54 [[-2.92708267e-01 -9.56199338e-01 2.16710690e-03 7.36942631e+01] [ 9.56168235e-01 -2.92716230e-01 -7.71462908e-03 2.59114948e+02] [ 8.01107059e-03 -1.86016931e-04 9.99967894e-01 6.53952021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5927550960001 meters 0.023190517600467087 Centerline is valid? [True, True] Translation: X:73.69, Y:259.14, Z:6.54 [[-2.93115706e-01 -9.56074365e-01 2.23414775e-03 7.36866641e+01] [ 9.56041401e-01 -2.93124158e-01 -7.94150879e-03 2.59139766e+02] [ 8.24755565e-03 -1.91843208e-04 9.99965970e-01 6.53947666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.62275509600005 meters 0.02205492190426948 Centerline is valid? [True, True] Translation: X:73.68, Y:259.16, Z:6.54 [[-2.93332613e-01 -9.56007730e-01 2.28015085e-03 7.36757159e+01] [ 9.55973491e-01 -2.93341411e-01 -8.09331536e-03 2.59164069e+02] [ 8.40613471e-03 -1.94269579e-04 9.99964649e-01 6.53892475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6527550960001 meters 0.02336066924687218 Centerline is valid? [True, True] Translation: X:73.67, Y:259.19, Z:6.54 [[-2.93588453e-01 -9.55928948e-01 2.38052932e-03 7.36704678e+01] [ 9.55891741e-01 -2.93598035e-01 -8.43646601e-03 2.59188919e+02] [ 8.76358081e-03 -2.01320688e-04 9.99961579e-01 6.53911439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.68275509600005 meters 0.02340653589778016 Centerline is valid? [True, True] Translation: X:73.66, Y:259.21, Z:6.54 [[-2.93744639e-01 -9.55881150e-01 2.30540117e-03 7.36631973e+01] [ 9.55846356e-01 -2.93753622e-01 -8.15798285e-03 2.59213383e+02] [ 8.47528198e-03 -1.92754418e-04 9.99964066e-01 6.53924080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7127550960001 meters 0.02357801010207612 Centerline is valid? [True, True] Translation: X:73.66, Y:259.24, Z:6.54 [[-2.93803240e-01 -9.55862235e-01 2.65416050e-03 7.36568647e+01] [ 9.55816277e-01 -2.93815147e-01 -9.37573734e-03 2.59236964e+02] [ 9.74174580e-03 -2.17732193e-04 9.99952524e-01 6.53886795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.74275509600005 meters 0.0218990579664833 Centerline is valid? [True, True] Translation: X:73.65, Y:259.26, Z:6.54 [[-2.94110780e-01 -9.55767494e-01 2.71034130e-03 7.36452864e+01] [ 9.55719718e-01 -2.94123186e-01 -9.55891942e-03 2.59262454e+02] [ 9.93327868e-03 -2.21054624e-04 9.99950639e-01 6.53820347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7727550960001 meters 0.02138543886935239 Centerline is valid? [True, True] Translation: X:73.64, Y:259.29, Z:6.54 [[-2.94279588e-01 -9.55715008e-01 2.88910261e-03 7.36380383e+01] [ 9.55660879e-01 -2.94293677e-01 -1.01743241e-02 2.59287682e+02] [ 1.05739989e-02 -2.33093577e-04 9.99944067e-01 6.53920380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.80275509600006 meters 0.021592323840887766 Centerline is valid? [True, True] Translation: X:73.63, Y:259.31, Z:6.54 [[-2.94296373e-01 -9.55709591e-01 2.97012557e-03 7.36305288e+01] [ 9.55652553e-01 -2.94311267e-01 -1.04439275e-02 2.59312127e+02] [ 1.08555031e-02 -2.35201909e-04 9.99941050e-01 6.53907161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8327550960001 meters 0.020970500969534657 Centerline is valid? [True, True] Translation: X:73.62, Y:259.34, Z:6.54 [[-2.93737608e-01 -9.55881182e-01 3.06320051e-03 7.36205899e+01] [ 9.55820713e-01 -2.93753489e-01 -1.07541789e-02 2.59337219e+02] [ 1.11795431e-02 -2.31036296e-04 9.99937480e-01 6.53899032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.86275509600006 meters 0.021144154615284922 Centerline is valid? [True, True] Translation: X:73.61, Y:259.36, Z:6.54 [[-2.93436934e-01 -9.55973732e-01 2.99829289e-03 7.36129660e+01] [ 9.55915962e-01 -2.93452171e-01 -1.05117739e-02 2.59361581e+02] [ 1.09288353e-02 -2.18426680e-04 9.99940255e-01 6.53910283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8927550960001 meters 0.021082697778845947 Centerline is valid? [True, True] Translation: X:73.61, Y:259.39, Z:6.54 [[-2.93246592e-01 -9.56032020e-01 3.03524024e-03 7.36051897e+01] [ 9.55973009e-01 -2.93262221e-01 -1.06243357e-02 2.59385432e+02] [ 1.10473264e-02 -2.13942489e-04 9.99938954e-01 6.53974940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.92275509600006 meters 0.02058970339863404 Centerline is valid? [True, True] Translation: X:73.60, Y:259.41, Z:6.54 [[-2.92396163e-01 -9.56292731e-01 2.94894543e-03 7.35951980e+01] [ 9.56237207e-01 -2.92410970e-01 -1.03066967e-02 2.59409954e+02] [ 1.07185232e-02 -1.93747244e-04 9.99942536e-01 6.54030569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.95275509600003 meters 0.020773578115096624 Centerline is valid? [True, True] Translation: X:73.59, Y:259.43, Z:6.54 [[-2.92272398e-01 -9.56330786e-01 2.87624886e-03 7.35878646e+01] [ 9.56278123e-01 -2.92286493e-01 -1.00378189e-02 2.59433918e+02] [ 1.04401639e-02 -1.83283544e-04 9.99945483e-01 6.54111418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.98275509600006 meters 0.020668703285845302 Centerline is valid? [True, True] Translation: X:73.58, Y:259.46, Z:6.54 [[-2.91429374e-01 -9.56589052e-01 2.51110147e-03 7.35789010e+01] [ 9.56549030e-01 -2.91440154e-01 -8.75156450e-03 2.59457675e+02] [ 9.10348659e-03 -1.48471290e-04 9.99958551e-01 6.54253918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.01275509600003 meters 0.020668703285845302 Centerline is valid? [True, True] Translation: X:73.57, Y:259.48, Z:6.54 [[-2.91794768e-01 -9.56477650e-01 2.51378955e-03 7.35714946e+01] [ 9.56437630e-01 -2.91805558e-01 -8.75079231e-03 2.59482526e+02] [ 9.10347502e-03 -1.49152498e-04 9.99958551e-01 6.54277698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.04275509600006 meters 0.020470107783424098 Centerline is valid? [True, True] Translation: X:73.56, Y:259.51, Z:6.54 [[-2.91772021e-01 -9.56484630e-01 2.49814559e-03 7.35625228e+01] [ 9.56445219e-01 -2.91782679e-01 -8.68392910e-03 2.59507318e+02] [ 9.03496033e-03 -1.44388131e-04 9.99959174e-01 6.54323710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.07275509600004 meters 0.02054008237040217 Centerline is valid? [True, True] Translation: X:73.55, Y:259.53, Z:6.54 [[-2.91666190e-01 -9.56516758e-01 2.55438210e-03 7.35543042e+01] [ 9.56475676e-01 -2.91677340e-01 -8.86629232e-03 2.59531087e+02] [ 9.22581256e-03 -1.42793356e-04 9.99957431e-01 6.54307443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.10275509600007 meters 0.019768150235278857 Centerline is valid? [True, True] Translation: X:73.54, Y:259.55, Z:6.54 [[-2.90662991e-01 -9.56821900e-01 2.62236805e-03 7.35428960e+01] [ 9.56778747e-01 -2.90674790e-01 -9.08823569e-03 2.59554840e+02] [ 9.45807922e-03 -1.32587750e-04 9.99955263e-01 6.54270020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.13275509600004 meters 0.0203809028185079 Centerline is valid? [True, True] Translation: X:73.54, Y:259.58, Z:6.54 [[-2.90449589e-01 -9.56886507e-01 2.69242144e-03 7.35361803e+01] [ 9.56841158e-01 -2.90462039e-01 -9.31678821e-03 2.59579089e+02] [ 9.69715515e-03 -1.29837654e-04 9.99952973e-01 6.54275305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.16275509600007 meters 0.019669735584629488 Centerline is valid? [True, True] Translation: X:73.52, Y:259.60, Z:6.54 [[-2.89743474e-01 -9.57100384e-01 2.75209275e-03 7.35244494e+01] [ 9.57053129e-01 -2.89756518e-01 -9.51150342e-03 2.59603454e+02] [ 9.90090039e-03 -1.21997064e-04 9.99950977e-01 6.54260379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.19275509600004 meters 0.01961346685141751 Centerline is valid? [True, True] Translation: X:73.52, Y:259.63, Z:6.54 [[-2.89650189e-01 -9.57128516e-01 2.78793248e-03 7.35157580e+01] [ 9.57080165e-01 -2.89663582e-01 -9.62115878e-03 2.59628258e+02] [ 1.00162479e-02 -1.18495579e-04 9.99949829e-01 6.54286611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.22275509600007 meters 0.019712042376967342 Centerline is valid? [True, True] Translation: X:73.51, Y:259.65, Z:6.54 [[-2.90046473e-01 -9.57008836e-01 2.67039558e-03 7.35074499e+01] [ 9.56964596e-01 -2.90058743e-01 -9.20261618e-03 2.59653685e+02] [ 9.58155659e-03 -1.13712335e-04 9.99954089e-01 6.54299040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.25275509600004 meters 0.01998577273189841 Centerline is valid? [True, True] Translation: X:73.50, Y:259.68, Z:6.54 [[-2.90773782e-01 -9.56788264e-01 2.61241590e-03 7.34997675e+01] [ 9.56746035e-01 -2.90785495e-01 -8.98998727e-03 2.59678074e+02] [ 9.36116697e-03 -1.14634044e-04 9.99956177e-01 6.54364070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2827550960001 meters 0.020134040945436218 Centerline is valid? [True, True] Translation: X:73.49, Y:259.70, Z:6.54 [[-2.91405766e-01 -9.56595998e-01 2.60300146e-03 7.34931812e+01] [ 9.56554191e-01 -2.91417368e-01 -8.94414375e-03 2.59702112e+02] [ 9.31449196e-03 -1.16463104e-04 9.99956612e-01 6.54450217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.31275509600005 meters 0.020393143469143015 Centerline is valid? [True, True] Translation: X:73.49, Y:259.73, Z:6.55 [[-2.92732405e-01 -9.56191564e-01 2.33076329e-03 7.34865606e+01] [ 9.56158097e-01 -2.92741662e-01 -8.00088036e-03 2.59727407e+02] [ 8.33268582e-03 -1.13538755e-04 9.99965276e-01 6.54587692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3427550960001 meters 0.020402170287928317 Centerline is valid? [True, True] Translation: X:73.48, Y:259.75, Z:6.55 [[-2.93762960e-01 -9.55875395e-01 2.35642820e-03 7.34789825e+01] [ 9.55841275e-01 -2.93772386e-01 -8.07723037e-03 2.59752976e+02] [ 8.41307930e-03 -1.20419763e-04 9.99964602e-01 6.54622399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.37275509600005 meters 0.020719793581026585 Centerline is valid? [True, True] Translation: X:73.47, Y:259.78, Z:6.55 [[-2.94685847e-01 -9.55591206e-01 2.38703798e-03 7.34726157e+01] [ 9.55556289e-01 -2.94695487e-01 -8.17000247e-03 2.59777227e+02] [ 8.51063184e-03 -1.26634946e-04 9.99963776e-01 6.54665823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4027550960001 meters 0.021450427190021597 Centerline is valid? [True, True] Translation: X:73.47, Y:259.80, Z:6.55 [[-2.95787896e-01 -9.55250679e-01 2.37917737e-03 7.34672274e+01] [ 9.55216085e-01 -2.95797435e-01 -8.13069668e-03 2.59801832e+02] [ 8.47060809e-03 -1.32333178e-04 9.99964115e-01 6.54676683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.43275509600005 meters 0.02202379980934652 Centerline is valid? [True, True] Translation: X:73.46, Y:259.83, Z:6.55 [[-2.97149798e-01 -9.54827872e-01 2.39415614e-03 7.34613228e+01] [ 9.54792934e-01 -2.97159409e-01 -8.16943194e-03 2.59827073e+02] [ 8.51184734e-03 -1.41621684e-04 9.99963764e-01 6.54677674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4627550960001 meters 0.022168118635514083 Centerline is valid? [True, True] Translation: X:73.45, Y:259.85, Z:6.55 [[-2.97881943e-01 -9.54599897e-01 2.32067458e-03 7.34543328e+01] [ 9.54567152e-01 -2.97890950e-01 -7.90781450e-03 2.59851341e+02] [ 8.24010686e-03 -1.40355428e-04 9.99966040e-01 6.54693601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.49275509600005 meters 0.02264984372277577 Centerline is valid? [True, True] Translation: X:73.45, Y:259.88, Z:6.55 [[-2.98791014e-01 -9.54316024e-01 2.20395193e-03 7.34484498e+01] [ 9.54286564e-01 -2.98799110e-01 -7.49966119e-03 2.59875690e+02] [ 7.81558572e-03 -1.37629653e-04 9.99969448e-01 6.54767549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5227550960001 meters 0.021653088438277523 Centerline is valid? [True, True] Translation: X:73.44, Y:259.90, Z:6.55 [[-2.99399521e-01 -9.54125508e-01 2.10751807e-03 7.34384225e+01] [ 9.54098645e-01 -2.99406909e-01 -7.16093423e-03 2.59899961e+02] [ 7.46343548e-03 -1.33200143e-04 9.99972139e-01 6.54790520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.55275509600006 meters 0.02182624358602312 Centerline is valid? [True, True] Translation: X:73.43, Y:259.93, Z:6.55 [[-2.99984730e-01 -9.53941717e-01 2.08887932e-03 7.34309362e+01] [ 9.53915397e-01 -2.99991973e-01 -7.08745484e-03 2.59925499e+02] [ 7.38766587e-03 -1.33514075e-04 9.99972702e-01 6.54804842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5827550960001 meters 0.02211908414239394 Centerline is valid? [True, True] Translation: X:73.42, Y:259.95, Z:6.55 [[-3.00749097e-01 -9.53700938e-01 2.12187648e-03 7.34235847e+01] [ 9.53673852e-01 -3.00756550e-01 -7.18898586e-03 2.59949520e+02] [ 7.49431080e-03 -1.38502883e-04 9.99971908e-01 6.54801577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.61275509600006 meters 0.022105808904352972 Centerline is valid? [True, True] Translation: X:73.42, Y:259.97, Z:6.55 [[-3.01293518e-01 -9.53528979e-01 2.16850476e-03 7.34157441e+01] [ 9.53500772e-01 -3.01301287e-01 -7.33562776e-03 2.59974989e+02] [ 7.64810692e-03 -1.42506124e-04 9.99970743e-01 6.54835637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6427550960001 meters 0.02299261190058841 Centerline is valid? [True, True] Translation: X:73.41, Y:260.00, Z:6.55 [[-3.02559133e-01 -9.53128387e-01 2.06139306e-03 7.34096102e+01] [ 9.53102957e-01 -3.02566122e-01 -6.96381413e-03 2.60000647e+02] [ 7.26111663e-03 -1.42245747e-04 9.99973628e-01 6.54899460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.67275509600006 meters 0.022889859800671715 Centerline is valid? [True, True] Translation: X:73.40, Y:260.03, Z:6.55 [[-3.03444379e-01 -9.52846666e-01 2.17706234e-03 7.34013578e+01] [ 9.52818376e-01 -3.03452149e-01 -7.34414077e-03 2.60025836e+02] [ 7.65847430e-03 -1.54193238e-04 9.99970662e-01 6.54954204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.70275509600003 meters 0.023607816737350903 Centerline is valid? [True, True] Translation: X:73.39, Y:260.05, Z:6.55 [[-3.05202185e-01 -9.52285506e-01 1.98530209e-03 7.33940112e+01] [ 9.52262028e-01 -3.05208605e-01 -6.68861635e-03 2.60052397e+02] [ 6.97540368e-03 -1.50852529e-04 9.99975660e-01 6.55010333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.73275509600006 meters 0.02441060225822207 Centerline is valid? [True, True] Translation: X:73.39, Y:260.08, Z:6.55 [[-3.06569062e-01 -9.51846526e-01 1.89782894e-03 7.33875195e+01] [ 9.51825114e-01 -3.06574899e-01 -6.38623940e-03 2.60077295e+02] [ 6.66054650e-03 -1.51422173e-04 9.99977807e-01 6.55072558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76275509600003 meters 0.025020598727699583 Centerline is valid? [True, True] Translation: X:73.38, Y:260.10, Z:6.55 [[-3.08243010e-01 -9.51305853e-01 1.84977527e-03 7.33791334e+01] [ 9.51285546e-01 -3.08248521e-01 -6.21763186e-03 2.60103517e+02] [ 6.48506007e-03 -1.56877083e-04 9.99978960e-01 6.55006563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.79275509600006 meters 0.026114222023374187 Centerline is valid? [True, True] Translation: X:73.37, Y:260.13, Z:6.55 [[-3.11166216e-01 -9.50353602e-01 1.90189320e-03 7.33733284e+01] [ 9.50332178e-01 -3.11171977e-01 -6.38377409e-03 2.60129315e+02] [ 6.65865857e-03 -1.78984519e-04 9.99977815e-01 6.55100974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82275509600004 meters 0.027017278607149857 Centerline is valid? [True, True] Translation: X:73.37, Y:260.16, Z:6.55 [[-3.13142523e-01 -9.49703933e-01 2.04930997e-03 7.33667417e+01] [ 9.49679092e-01 -3.13149161e-01 -6.87201737e-03 2.60155346e+02] [ 7.16812162e-03 -2.05734028e-04 9.99974288e-01 6.55084944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.85275509600007 meters 0.027884495957492872 Centerline is valid? [True, True] Translation: X:73.36, Y:260.18, Z:6.55 [[-3.15132542e-01 -9.49045416e-01 2.06866323e-03 7.33598259e+01] [ 9.49020161e-01 -3.15139255e-01 -6.92710504e-03 2.60181713e+02] [ 7.22605427e-03 -2.19753110e-04 9.99973868e-01 6.55091040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.88275509600004 meters 0.03003041392938282 Centerline is valid? [True, True] Translation: X:73.36, Y:260.21, Z:6.55 [[-3.18309575e-01 -9.47984407e-01 2.13966985e-03 7.33554662e+01] [ 9.47957429e-01 -3.18316669e-01 -7.15619781e-03 2.60206377e+02] [ 7.46505652e-03 -2.49570357e-04 9.99972105e-01 6.55104518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.91275509600007 meters 0.030686853048780317 Centerline is valid? [True, True] Translation: X:73.35, Y:260.23, Z:6.55 [[-3.19529643e-01 -9.47573608e-01 2.25071507e-03 7.33482458e+01] [ 9.47543841e-01 -3.19537457e-01 -7.51558196e-03 2.60231612e+02] [ 7.84075488e-03 -2.68800017e-04 9.99969225e-01 6.55137312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.94275509600004 meters 0.0310556493552907 Centerline is valid? [True, True] Translation: X:73.34, Y:260.26, Z:6.55 [[-3.20345437e-01 -9.47298438e-01 2.11452165e-03 7.33390673e+01] [ 9.47272220e-01 -3.20352313e-01 -7.05242578e-03 2.60256044e+02] [ 7.35814382e-03 -2.56184802e-04 9.99972896e-01 6.55230671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.97275509600007 meters 0.029899103956226296 Centerline is valid? [True, True] Translation: X:73.33, Y:260.28, Z:6.55 [[-3.20373841e-01 -9.47289117e-01 1.98267893e-03 7.33281292e+01] [ 9.47266129e-01 -3.20379888e-01 -6.60370834e-03 2.60280550e+02] [ 6.89083150e-03 -2.37530807e-04 9.99976230e-01 6.55249162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.00275509600004 meters 0.03111943295684143 Centerline is valid? [True, True] Translation: X:73.32, Y:260.30, Z:6.55 [[-3.19772809e-01 -9.47491919e-01 2.10111899e-03 7.33214057e+01] [ 9.47466184e-01 -3.19779619e-01 -6.98753622e-03 2.60304920e+02] [ 7.29252913e-03 -2.43684893e-04 9.99973379e-01 6.55286416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0327550960001 meters 0.028136601169423823 Centerline is valid? [True, True] Translation: X:73.31, Y:260.33, Z:6.55 [[-3.17852509e-01 -9.48137548e-01 2.23012629e-03 7.33060956e+01] [ 9.48108636e-01 -3.17860241e-01 -7.40816171e-03 2.60329376e+02] [ 7.73282476e-03 -2.40300783e-04 9.99970072e-01 6.55227357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.06275509600005 meters 0.028002262313540034 Centerline is valid? [True, True] Translation: X:73.30, Y:260.35, Z:6.55 [[-3.16587546e-01 -9.48560682e-01 2.22665695e-03 7.32972410e+01] [ 9.48531934e-01 -3.16595295e-01 -7.38852584e-03 2.60352951e+02] [ 7.71341422e-03 -2.27060044e-04 9.99970225e-01 6.55255079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0927550960001 meters 0.02608008393462959 Centerline is valid? [True, True] Translation: X:73.28, Y:260.38, Z:6.55 [[-3.13737179e-01 -9.49507284e-01 2.21349968e-03 7.32839689e+01] [ 9.49478977e-01 -3.13744924e-01 -7.33448102e-03 2.60376399e+02] [ 7.65861745e-03 -1.99427976e-04 9.99970653e-01 6.55282402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.12275509600005 meters 0.025464960815880212 Centerline is valid? [True, True] Translation: X:73.27, Y:260.40, Z:6.55 [[-3.12678084e-01 -9.49856651e-01 2.18134259e-03 7.32736775e+01] [ 9.49829241e-01 -3.12685638e-01 -7.21843239e-03 2.60401324e+02] [ 7.53855052e-03 -1.85142637e-04 9.99971568e-01 6.55312110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1527550960001 meters 0.024881100480505364 Centerline is valid? [True, True] Translation: X:73.26, Y:260.42, Z:6.55 [[-3.11408677e-01 -9.50273173e-01 2.35219105e-03 7.32638134e+01] [ 9.50241406e-01 -3.11417505e-01 -7.77230728e-03 2.60424122e+02] [ 8.11832857e-03 -1.85214596e-04 9.99967029e-01 6.55327492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.18275509600005 meters 0.022915544683757106 Centerline is valid? [True, True] Translation: X:73.25, Y:260.45, Z:6.55 [[-3.08963541e-01 -9.51070757e-01 2.43849868e-03 7.32490768e+01] [ 9.51036717e-01 -3.08973118e-01 -8.04835170e-03 2.60448101e+02] [ 8.40798248e-03 -1.67545458e-04 9.99964638e-01 6.55297569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2127550960001 meters 0.021951673576268673 Centerline is valid? [True, True] Translation: X:73.24, Y:260.47, Z:6.55 [[-3.08524613e-01 -9.51213279e-01 2.42082300e-03 7.32374094e+01] [ 9.51179815e-01 -3.08534069e-01 -7.98046032e-03 2.60472133e+02] [ 8.33802620e-03 -1.59530464e-04 9.99965225e-01 6.55319342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.24275509600005 meters 0.021485922763084628 Centerline is valid? [True, True] Translation: X:73.23, Y:260.50, Z:6.55 [[-3.07420197e-01 -9.51570330e-01 2.59412543e-03 7.32262428e+01] [ 9.51532033e-01 -3.07431102e-01 -8.53863477e-03 2.60495201e+02] [ 8.92262635e-03 -1.56555343e-04 9.99960180e-01 6.55290818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2727550960001 meters 0.021414054793131857 Centerline is valid? [True, True] Translation: X:73.22, Y:260.52, Z:6.55 [[-3.07584368e-01 -9.51517069e-01 2.66899710e-03 7.32169126e+01] [ 9.51476651e-01 -3.07595907e-01 -8.77158208e-03 2.60519930e+02] [ 9.16728265e-03 -1.58513110e-04 9.99957967e-01 6.55303285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.30275509600006 meters 0.02141554377938445 Centerline is valid? [True, True] Translation: X:73.21, Y:260.54, Z:6.55 [[-3.07808046e-01 -9.51444388e-01 2.78987583e-03 7.32087628e+01] [ 9.51400351e-01 -3.07820645e-01 -9.15549741e-03 2.60544454e+02] [ 9.56972800e-03 -1.63846924e-04 9.99954196e-01 6.55304153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3327550960001 meters 0.021635629036396486 Centerline is valid? [True, True] Translation: X:73.20, Y:260.57, Z:6.55 [[-3.08989577e-01 -9.51060972e-01 2.91021607e-03 7.32001836e+01] [ 9.51013148e-01 -3.09003230e-01 -9.53916401e-03 2.60569440e+02] [ 9.97159276e-03 -1.79848506e-04 9.99950266e-01 6.55323862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.36275509600006 meters 0.021868280325100114 Centerline is valid? [True, True] Translation: X:73.19, Y:260.59, Z:6.55 [[-3.10022274e-01 -9.50724940e-01 2.87722889e-03 7.31921255e+01] [ 9.50678306e-01 -3.10035570e-01 -9.41823363e-03 2.60594747e+02] [ 9.84619290e-03 -1.84543121e-04 9.99951508e-01 6.55335345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3927550960001 meters 0.021841747460303616 Centerline is valid? [True, True] Translation: X:73.18, Y:260.62, Z:6.55 [[-3.11207101e-01 -9.50337711e-01 2.89402000e-03 7.31839660e+01] [ 9.50290644e-01 -3.11220496e-01 -9.46018043e-03 2.60619824e+02] [ 9.89104456e-03 -1.93915201e-04 9.99951064e-01 6.55336616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.42275509600006 meters 0.022812243768210526 Centerline is valid? [True, True] Translation: X:73.18, Y:260.65, Z:6.55 [[-3.13282665e-01 -9.49654807e-01 3.11771124e-03 7.31776763e+01] [ 9.49600302e-01 -3.13298095e-01 -1.01769072e-02 2.60645419e+02] [ 1.06413218e-02 -2.27669071e-04 9.99943354e-01 6.55359311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.45275509600003 meters 0.02294796703250983 Centerline is valid? [True, True] Translation: X:73.17, Y:260.67, Z:6.55 [[-3.14727843e-01 -9.49176341e-01 3.26476796e-03 7.31698519e+01] [ 9.49116672e-01 -3.14744675e-01 -1.06457702e-02 2.60671900e+02] [ 1.11322816e-02 -2.51874601e-04 9.99938003e-01 6.55356557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.48275509600006 meters 0.024380303380571688 Centerline is valid? [True, True] Translation: X:73.16, Y:260.70, Z:6.55 [[-3.17480514e-01 -9.48259164e-01 3.26814583e-03 7.31644233e+01] [ 9.48199471e-01 -3.17497211e-01 -1.06435355e-02 2.60697501e+02] [ 1.11304572e-02 -2.80260967e-04 9.99938015e-01 6.55332038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.51275509600003 meters 0.024878991088256395 Centerline is valid? [True, True] Translation: X:73.16, Y:260.72, Z:6.55 [[-3.18831477e-01 -9.47805035e-01 3.47927319e-03 7.31574702e+01] [ 9.47737532e-01 -3.18850309e-01 -1.13159953e-02 2.60723533e+02] [ 1.18347246e-02 -3.10457700e-04 9.99929919e-01 6.55342024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.54275509600006 meters 0.025653010418017277 Centerline is valid? [True, True] Translation: X:73.15, Y:260.75, Z:6.55 [[-3.20335870e-01 -9.47297406e-01 3.54317529e-03 7.31506050e+01] [ 9.47227540e-01 -3.20355294e-01 -1.15097354e-02 2.60750098e+02] [ 1.20382175e-02 -3.30787893e-04 9.99927483e-01 6.55331646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.57275509600004 meters 0.026713678661926244 Centerline is valid? [True, True] Translation: X:73.14, Y:260.78, Z:6.55 [[-3.22401365e-01 -9.46595476e-01 3.79005302e-03 7.31447829e+01] [ 9.46515684e-01 -3.22423421e-01 -1.22962587e-02 2.60777245e+02] [ 1.28615847e-02 -3.76985962e-04 9.99917215e-01 6.55278840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.60275509600007 meters 0.02748626263078866 Centerline is valid? [True, True] Translation: X:73.14, Y:260.80, Z:6.55 [[-3.23397254e-01 -9.46255357e-01 3.87504290e-03 7.31389693e+01] [ 9.46172130e-01 -3.23420229e-01 -1.25561029e-02 2.60801977e+02] [ 1.31345469e-02 -3.94151614e-04 9.99913660e-01 6.55235246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.63275509600004 meters 0.028666315737135437 Centerline is valid? [True, True] Translation: X:73.13, Y:260.83, Z:6.55 [[-3.24697001e-01 -9.45809522e-01 4.02559807e-03 7.31343117e+01] [ 9.45719918e-01 -3.24721680e-01 -1.30256300e-02 2.60827265e+02] [ 1.36269639e-02 -4.22294731e-04 9.99907059e-01 6.55196353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.66275509600007 meters 0.02879000268278982 Centerline is valid? [True, True] Translation: X:73.13, Y:260.85, Z:6.55 [[-3.25083734e-01 -9.45676510e-01 4.06257653e-03 7.31273498e+01] [ 9.45585490e-01 -3.25108839e-01 -1.31272338e-02 2.60851736e+02] [ 1.37348962e-02 -4.25936773e-04 9.99905581e-01 6.55171059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.69275509600004 meters 0.02870389183852605 Centerline is valid? [True, True] Translation: X:73.12, Y:260.88, Z:6.55 [[-3.25292462e-01 -9.45605061e-01 3.98532543e-03 7.31198048e+01] [ 9.45517703e-01 -3.25316610e-01 -1.28598763e-02 2.60876372e+02] [ 1.34568567e-02 -4.15025078e-04 9.99909366e-01 6.55191252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.72275509600007 meters 0.028610620792207355 Centerline is valid? [True, True] Translation: X:73.11, Y:260.90, Z:6.55 [[-3.24839642e-01 -9.45760812e-01 3.96145105e-03 7.31137160e+01] [ 9.45674735e-01 -3.24863549e-01 -1.27659873e-02 2.60900340e+02] [ 1.33605015e-02 -4.00654551e-04 9.99910664e-01 6.55206725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.75275509600004 meters 0.028345140764645196 Centerline is valid? [True, True] Translation: X:73.11, Y:260.92, Z:6.55 [[-3.24290132e-01 -9.45949749e-01 3.87087306e-03 7.31067736e+01] [ 9.45867775e-01 -3.24313012e-01 -1.24588386e-02 2.60923610e+02] [ 1.30408097e-02 -3.78944314e-04 9.99914893e-01 6.55248027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7827550960001 meters 0.026571524706897602 Centerline is valid? [True, True] Translation: X:73.10, Y:260.95, Z:6.55 [[-3.21580062e-01 -9.46875641e-01 3.57545852e-03 7.30978149e+01] [ 9.46805938e-01 -3.21599788e-01 -1.14930999e-02 2.60948200e+02] [ 1.20324030e-02 -3.10686414e-04 9.99927560e-01 6.55385288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.81275509600005 meters 0.02539447873536044 Centerline is valid? [True, True] Translation: X:73.09, Y:260.97, Z:6.55 [[-3.19732027e-01 -9.47501487e-01 3.51621833e-03 7.30885873e+01] [ 9.47434274e-01 -3.19751241e-01 -1.12889788e-02 2.60973212e+02] [ 1.18206394e-02 -2.78062331e-04 9.99930095e-01 6.55419984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8427550960001 meters 0.024227790361391267 Centerline is valid? [True, True] Translation: X:73.08, Y:261.00, Z:6.55 [[-3.17814681e-01 -9.48146176e-01 3.55788683e-03 7.30793279e+01] [ 9.48077571e-01 -3.17834495e-01 -1.14085037e-02 2.60997249e+02] [ 1.19477483e-02 -2.52637248e-04 9.99928591e-01 6.55414096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.87275509600005 meters 0.02061840869142225 Centerline is valid? [True, True] Translation: X:73.06, Y:261.02, Z:6.56 [[-3.15629198e-01 -9.48875992e-01 3.54424662e-03 7.30649193e+01] [ 9.48808127e-01 -3.15649021e-01 -1.13505376e-02 2.61021730e+02] [ 1.18889906e-02 -2.19751096e-04 9.99929299e-01 6.55508441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9027550960001 meters 0.018970584432332214 Centerline is valid? [True, True] Translation: X:73.05, Y:261.05, Z:6.55 [[-3.11267940e-01 -9.50315791e-01 3.48815044e-03 7.30546796e+01] [ 9.50250300e-01 -3.11287444e-01 -1.11577196e-02 2.61046911e+02] [ 1.16891746e-02 -1.58424395e-04 9.99931667e-01 6.55473586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.93275509600005 meters 0.018970584432332214 Centerline is valid? [True, True] Translation: X:73.05, Y:261.07, Z:6.55 [[-3.11645360e-01 -9.50192072e-01 3.49222839e-03 7.30467042e+01] [ 9.50126588e-01 -3.11664886e-01 -1.11564433e-02 2.61071577e+02] [ 1.16891689e-02 -1.58794748e-04 9.99931667e-01 6.55497356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9627550960001 meters 0.01907638034727215 Centerline is valid? [True, True] Translation: X:73.04, Y:261.10, Z:6.55 [[-3.10019627e-01 -9.50723507e-01 3.55584238e-03 7.30404882e+01] [ 9.50655842e-01 -3.10039988e-01 -1.13435084e-02 2.61096691e+02] [ 1.18869935e-02 -1.36327921e-04 9.99929338e-01 6.55451068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.99275509600005 meters 0.017490510451418414 Centerline is valid? [True, True] Translation: X:73.03, Y:261.12, Z:6.56 [[-3.06786449e-01 -9.51771680e-01 3.56982092e-03 7.30298032e+01] [ 9.51703744e-01 -3.06807204e-01 -1.13720782e-02 2.61121754e+02] [ 1.19188687e-02 -9.13875502e-05 9.99928964e-01 6.55546379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0227550960001 meters 0.017276287786683338 Centerline is valid? [True, True] Translation: X:73.02, Y:261.15, Z:6.56 [[-3.05476211e-01 -9.52193138e-01 3.53739251e-03 7.30223454e+01] [ 9.52126630e-01 -3.05496684e-01 -1.12542126e-02 2.61145612e+02] [ 1.17968457e-02 -6.98486144e-05 9.99930412e-01 6.55571195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.05275509600006 meters 0.016933473593048542 Centerline is valid? [True, True] Translation: X:73.01, Y:261.17, Z:6.56 [[-3.03592833e-01 -9.52796402e-01 3.22610434e-03 7.30141345e+01] [ 9.52741266e-01 -3.03609971e-01 -1.02501654e-02 2.61170974e+02] [ 1.07457981e-02 -3.82340129e-05 9.99942262e-01 6.55607824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0827550960001 meters 0.016758843769787205 Centerline is valid? [True, True] Translation: X:73.01, Y:261.20, Z:6.56 [[-3.03397209e-01 -9.52858842e-01 3.18773183e-03 7.30067067e+01] [ 9.52805158e-01 -3.03413953e-01 -1.01145200e-02 2.61196028e+02] [ 1.06049122e-02 -3.14298063e-05 9.99943766e-01 6.55653636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.11275509600006 meters 0.016716440098999672 Centerline is valid? [True, True] Translation: X:73.00, Y:261.22, Z:6.56 [[-3.03639615e-01 -9.52782045e-01 3.05923686e-03 7.29999789e+01] [ 9.52732728e-01 -3.03655024e-01 -9.69408470e-03 2.61221200e+02] [ 1.01653025e-02 -2.88730682e-05 9.99948332e-01 6.55692431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1427550960001 meters 0.016621342913214775 Centerline is valid? [True, True] Translation: X:73.00, Y:261.25, Z:6.56 [[-3.05316387e-01 -9.52246826e-01 2.80835598e-03 7.29962522e+01] [ 9.52205347e-01 -3.05329300e-01 -8.88794718e-03 2.61247522e+02] [ 9.32099285e-03 -3.95043329e-05 9.99956558e-01 6.55744062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.17275509600006 meters 0.016711068774501552 Centerline is valid? [True, True] Translation: X:72.99, Y:261.27, Z:6.56 [[-3.07025480e-01 -9.51697394e-01 2.72501387e-03 7.29912695e+01] [ 9.51658424e-01 -3.07037568e-01 -8.61255921e-03 2.61272940e+02] [ 9.03323178e-03 -5.09927126e-05 9.99959198e-01 6.55796147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.20275509600003 meters 0.017193341174001807 Centerline is valid? [True, True] Translation: X:72.99, Y:261.30, Z:6.56 [[-3.10891117e-01 -9.50442072e-01 2.56516383e-03 7.29888290e+01] [ 9.50407591e-01 -3.10901690e-01 -8.09628814e-03 2.61300326e+02] [ 8.49256665e-03 -7.91128935e-05 9.99963934e-01 6.55829938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.23275509600006 meters 0.017653954632504062 Centerline is valid? [True, True] Translation: X:72.98, Y:261.33, Z:6.56 [[-3.13336758e-01 -9.49638621e-01 2.56245623e-03 7.29835494e+01] [ 9.49604271e-01 -3.13347220e-01 -8.07764421e-03 2.61326954e+02] [ 8.47378144e-03 -9.77034677e-05 9.99964092e-01 6.55849438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26275509600003 meters 0.018114942044580598 Centerline is valid? [True, True] Translation: X:72.98, Y:261.35, Z:6.56 [[-3.15812045e-01 -9.48818627e-01 2.44231824e-03 7.29782213e+01] [ 9.48787471e-01 -3.15821469e-01 -7.68989288e-03 2.61354151e+02] [ 8.06765014e-03 -1.11319844e-04 9.99967450e-01 6.55871483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.29275509600006 meters 0.018951703819870224 Centerline is valid? [True, True] Translation: X:72.98, Y:261.38, Z:6.56 [[-3.20058105e-01 -9.47395100e-01 2.30938985e-03 7.29752730e+01] [ 9.47367269e-01 -3.20066407e-01 -7.26302839e-03 2.61381865e+02] [ 7.62011563e-03 -1.36750748e-04 9.99970957e-01 6.55885454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32275509600004 meters 0.020550207610933503 Centerline is valid? [True, True] Translation: X:72.97, Y:261.41, Z:6.56 [[-3.21986560e-01 -9.46741281e-01 2.36673102e-03 7.29720580e+01] [ 9.46712109e-01 -3.21995222e-01 -7.43372302e-03 2.61408070e+02] [ 7.79988854e-03 -1.52945994e-04 9.99969569e-01 6.55893460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.35275509600007 meters 0.02147256415734004 Centerline is valid? [True, True] Translation: X:72.97, Y:261.44, Z:6.56 [[-3.24307983e-01 -9.45947911e-01 2.62334273e-03 7.29677218e+01] [ 9.45912149e-01 -3.24318539e-01 -8.22746586e-03 2.61435274e+02] [ 8.63355282e-03 -1.86781098e-04 9.99962713e-01 6.55764203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.38275509600004 meters 0.020808262001656287 Centerline is valid? [True, True] Translation: X:72.96, Y:261.46, Z:6.56 [[-3.24762397e-01 -9.45791779e-01 2.70104149e-03 7.29594941e+01] [ 9.45753953e-01 -3.24773571e-01 -8.46097313e-03 2.61459928e+02] [ 8.87954572e-03 -1.93285247e-04 9.99960557e-01 6.55711642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.41275509600007 meters 0.02148276930470029 Centerline is valid? [True, True] Translation: X:72.95, Y:261.48, Z:6.56 [[-3.24435392e-01 -9.45903931e-01 2.72573928e-03 7.29527829e+01] [ 9.45865517e-01 -3.24446787e-01 -8.52675195e-03 2.61484002e+02] [ 8.94984554e-03 -1.88197315e-04 9.99959932e-01 6.55717435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.44275509600004 meters 0.020179426469155572 Centerline is valid? [True, True] Translation: X:72.94, Y:261.51, Z:6.56 [[-3.23246241e-01 -9.46311295e-01 2.60771876e-03 7.29411370e+01] [ 9.46276244e-01 -3.23256717e-01 -8.14653816e-03 2.61508972e+02] [ 8.55212368e-03 -1.65715519e-04 9.99963416e-01 6.55735505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.47275509600007 meters 0.018359890511215986 Centerline is valid? [True, True] Translation: X:72.93, Y:261.53, Z:6.56 [[-3.19404947e-01 -9.47614548e-01 2.67360096e-03 7.29279586e+01] [ 9.47577837e-01 -3.19416110e-01 -8.34216507e-03 2.61533378e+02] [ 8.75914820e-03 -1.31083781e-04 9.99961629e-01 6.55655285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.50275509600004 meters 0.017891989275274512 Centerline is valid? [True, True] Translation: X:72.92, Y:261.56, Z:6.56 [[-3.17426309e-01 -9.48278902e-01 2.76826676e-03 7.29191195e+01] [ 9.48239668e-01 -3.17438359e-01 -8.62675639e-03 2.61557193e+02] [ 9.05932513e-03 -1.13379089e-04 9.99958957e-01 6.55650533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5327550960001 meters 0.016656816448530686 Centerline is valid? [True, True] Translation: X:72.91, Y:261.58, Z:6.56 [[-3.13336939e-01 -9.49637519e-01 2.92324589e-03 7.29073623e+01] [ 9.49593955e-01 -3.13350566e-01 -9.09634480e-03 2.61580714e+02] [ 9.55423106e-03 -7.43242125e-05 9.99954355e-01 6.55598306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.56275509600005 meters 0.016287491890514795 Centerline is valid? [True, True] Translation: X:72.90, Y:261.60, Z:6.56 [[-3.11572327e-01 -9.50217961e-01 2.91744686e-03 7.28975962e+01] [ 9.50174705e-01 -3.11585981e-01 -9.06681774e-03 2.61604149e+02] [ 9.52448860e-03 -5.28852920e-05 9.99954640e-01 6.55579759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5927550960001 meters 0.015973178948906597 Centerline is valid? [True, True] Translation: X:72.89, Y:261.63, Z:6.56 [[-3.10030635e-01 -9.50722140e-01 2.90137425e-03 7.28870793e+01] [ 9.50679468e-01 -3.10044208e-01 -9.00770384e-03 2.61628678e+02] [ 9.46337776e-03 -3.43872084e-05 9.99955221e-01 6.55583099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.62275509600005 meters 0.015871292868405475 Centerline is valid? [True, True] Translation: X:72.88, Y:261.65, Z:6.56 [[-3.07823129e-01 -9.51439947e-01 2.63606727e-03 7.28753488e+01] [ 9.51404834e-01 -3.07834416e-01 -8.17396823e-03 2.61652042e+02] [ 8.58851212e-03 -8.16933336e-06 9.99963118e-01 6.55571373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6527550960001 meters 0.01585422934577973 Centerline is valid? [True, True] Translation: X:72.87, Y:261.68, Z:6.56 [[-3.07548751e-01 -9.51528943e-01 2.53704374e-03 7.28656669e+01] [ 9.51496486e-01 -3.07559215e-01 -7.85916738e-03 2.61675766e+02] [ 8.25851641e-03 -3.08891135e-06 9.99965898e-01 6.55602903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.68275509600005 meters 0.015807400170613266 Centerline is valid? [True, True] Translation: X:72.86, Y:261.70, Z:6.56 [[-3.07771836e-01 -9.51457737e-01 2.16144675e-03 7.28556664e+01] [ 9.51434229e-01 -3.07779426e-01 -6.68829404e-03 2.61700058e+02] [ 7.02887795e-03 -1.99411225e-06 9.99975297e-01 6.55661767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7127550960001 meters 0.01577877577088856 Centerline is valid? [True, True] Translation: X:72.85, Y:261.72, Z:6.56 [[-3.08472951e-01 -9.51230578e-01 2.19697149e-03 7.28472040e+01] [ 9.51206351e-01 -3.08480775e-01 -6.78899840e-03 2.61724152e+02] [ 7.13562634e-03 -4.44913486e-06 9.99974541e-01 6.55730858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.74275509600005 meters 0.01578385387946225 Centerline is valid? [True, True] Translation: X:72.84, Y:261.75, Z:6.56 [[-3.09494066e-01 -9.50899382e-01 1.94656031e-03 7.28386582e+01] [ 9.50880402e-01 -3.09500187e-01 -6.00801371e-03 2.61749556e+02] [ 6.31547730e-03 -8.49854417e-06 9.99980057e-01 6.55765662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7727550960001 meters 0.01590480762956855 Centerline is valid? [True, True] Translation: X:72.83, Y:261.77, Z:6.56 [[-3.11725579e-01 -9.50170711e-01 1.66829169e-03 7.28325816e+01] [ 9.50156793e-01 -3.11730043e-01 -5.14294509e-03 2.61773811e+02] [ 5.40673243e-03 -1.80488549e-05 9.99985383e-01 6.55819306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.80275509600006 meters 0.015977014980780156 Centerline is valid? [True, True] Translation: X:72.83, Y:261.80, Z:6.56 [[-3.13196755e-01 -9.49686907e-01 1.60333455e-03 7.28261361e+01] [ 9.49674064e-01 -3.13200858e-01 -4.93901272e-03 2.61798381e+02] [ 5.19268147e-03 -2.42375203e-05 9.99986518e-01 6.55858959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8327550960001 meters 0.01637844629351697 Centerline is valid? [True, True] Translation: X:72.82, Y:261.82, Z:6.56 [[-3.16603525e-01 -9.48556655e-01 1.57472015e-03 7.28211041e+01] [ 9.48544286e-01 -3.16607439e-01 -4.84426575e-03 2.61824453e+02] [ 5.09362863e-03 -4.00198143e-05 9.99987027e-01 6.55825108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.86275509600006 meters 0.01672427783402408 Centerline is valid? [True, True] Translation: X:72.81, Y:261.85, Z:6.56 [[-3.18468621e-01 -9.47932255e-01 1.47573143e-03 7.28145204e+01] [ 9.47921410e-01 -3.18472037e-01 -4.53450370e-03 2.61850029e+02] [ 4.76838151e-03 -4.52197203e-05 9.99988630e-01 6.55833004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8927550960001 meters 0.016996558764136225 Centerline is valid? [True, True] Translation: X:72.81, Y:261.87, Z:6.56 [[-3.20208664e-01 -9.47345616e-01 1.64210540e-03 7.28086473e+01] [ 9.47332228e-01 -3.20212869e-01 -5.03669942e-03 2.61874758e+02] [ 5.29731839e-03 -5.71754269e-05 9.99985968e-01 6.55810605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.92275509600006 meters 0.017885546986020857 Centerline is valid? [True, True] Translation: X:72.80, Y:261.90, Z:6.56 [[-3.22989114e-01 -9.46401298e-01 1.61737050e-03 7.28039882e+01] [ 9.46388327e-01 -3.22993156e-01 -4.95543801e-03 2.61900321e+02] [ 5.21223256e-03 -6.98919704e-05 9.99986414e-01 6.55763345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.95275509600003 meters 0.018150958112953485 Centerline is valid? [True, True] Translation: X:72.80, Y:261.93, Z:6.56 [[-3.24755505e-01 -9.45796525e-01 1.67180803e-03 7.27962920e+01] [ 9.45782680e-01 -3.24759798e-01 -5.11816192e-03 2.61925689e+02] [ 5.38367580e-03 -8.09841779e-05 9.99985505e-01 6.55725846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.98275509600006 meters 0.018146636424700827 Centerline is valid? [True, True] Translation: X:72.79, Y:261.95, Z:6.56 [[-3.26073160e-01 -9.45342607e-01 1.91064264e-03 7.27877752e+01] [ 9.45324572e-01 -3.26078743e-01 -5.84018258e-03 2.61950334e+02] [ 6.14399338e-03 -9.81493539e-05 9.99981121e-01 6.55683267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.01275509600003 meters 0.019478876762980914 Centerline is valid? [True, True] Translation: X:72.78, Y:261.98, Z:6.56 [[-3.27473806e-01 -9.44858625e-01 1.75634550e-03 7.27802937e+01] [ 9.44843416e-01 -3.27478501e-01 -5.36199792e-03 2.61975883e+02] [ 5.64149538e-03 -9.64423882e-05 9.99984082e-01 6.55704114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.04275509600006 meters 0.0189052348968326 Centerline is valid? [True, True] Translation: X:72.77, Y:262.00, Z:6.56 [[-3.28115899e-01 -9.44635662e-01 1.85007826e-03 7.27701823e+01] [ 9.44618827e-01 -3.28121098e-01 -5.64055448e-03 2.62000654e+02] [ 5.93531862e-03 -1.03136848e-04 9.99982381e-01 6.55647134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.07275509600004 meters 0.018806659984955103 Centerline is valid? [True, True] Translation: X:72.76, Y:262.03, Z:6.56 [[-3.28970949e-01 -9.44338131e-01 1.89987336e-03 7.27605101e+01] [ 9.44320420e-01 -3.28976417e-01 -5.78455120e-03 2.62025510e+02] [ 6.08758580e-03 -1.08860093e-04 9.99981465e-01 6.55618667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.10275509600007 meters 0.0193613889954409 Centerline is valid? [True, True] Translation: X:72.75, Y:262.05, Z:6.56 [[-3.30119229e-01 -9.43936638e-01 2.21791124e-03 7.27522675e+01] [ 9.43912569e-01 -3.30126653e-01 -6.74201600e-03 2.62049341e+02] [ 7.09622753e-03 -1.32154823e-04 9.99974813e-01 6.55526892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.13275509600004 meters 0.019212414021427003 Centerline is valid? [True, True] Translation: X:72.74, Y:262.07, Z:6.55 [[-3.30960721e-01 -9.43641503e-01 2.39056983e-03 7.27423926e+01] [ 9.43613619e-01 -3.30969322e-01 -7.25572337e-03 2.62074130e+02] [ 7.63800698e-03 -1.45585182e-04 9.99970819e-01 6.55469867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.16275509600007 meters 0.02098517952925031 Centerline is valid? [True, True] Translation: X:72.74, Y:262.10, Z:6.55 [[-3.31839018e-01 -9.43332604e-01 2.54262071e-03 7.27366928e+01] [ 9.43301140e-01 -3.31848721e-01 -7.70626433e-03 2.62098819e+02] [ 8.11333582e-03 -1.58782174e-04 9.99967074e-01 6.55441128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.19275509600004 meters 0.019576630641847247 Centerline is valid? [True, True] Translation: X:72.72, Y:262.12, Z:6.55 [[-3.32975140e-01 -9.42931419e-01 2.80990151e-03 7.27232876e+01] [ 9.42893095e-01 -3.32986946e-01 -8.50326058e-03 2.62123289e+02] [ 8.95365209e-03 -1.81937651e-04 9.99959899e-01 6.55323110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.22275509600007 meters 0.020251294584265833 Centerline is valid? [True, True] Translation: X:72.72, Y:262.15, Z:6.55 [[-3.34052209e-01 -9.42550182e-01 2.87685130e-03 7.27152623e+01] [ 9.42510094e-01 -3.34064541e-01 -8.69509613e-03 2.62147389e+02] [ 9.15661844e-03 -1.93154677e-04 9.99958059e-01 6.55298318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.25275509600004 meters 0.020637777050513464 Centerline is valid? [True, True] Translation: X:72.70, Y:262.17, Z:6.55 [[-3.35414661e-01 -9.42065965e-01 2.95339375e-03 7.27046961e+01] [ 9.42023817e-01 -3.35427599e-01 -8.91368241e-03 2.62172887e+02] [ 9.38792659e-03 -2.07612504e-04 9.99955911e-01 6.55267147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.2827550960001 meters 0.02045510985465487 Centerline is valid? [True, True] Translation: X:72.69, Y:262.20, Z:6.55 [[-3.36184019e-01 -9.41791239e-01 3.09317819e-03 7.26942244e+01] [ 9.41745109e-01 -3.36198176e-01 -9.32395806e-03 2.62197590e+02] [ 9.82114288e-03 -2.21580260e-04 9.99951747e-01 6.55249839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.31275509600005 meters 0.020730591380065055 Centerline is valid? [True, True] Translation: X:72.68, Y:262.22, Z:6.55 [[-3.36682784e-01 -9.41613183e-01 3.05213117e-03 7.26848658e+01] [ 9.41568380e-01 -3.36696547e-01 -9.18809090e-03 2.62221168e+02] [ 9.67926954e-03 -2.19681828e-04 9.99953131e-01 6.55260030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3427550960001 meters 0.02269847218629427 Centerline is valid? [True, True] Translation: X:72.68, Y:262.25, Z:6.55 [[-3.36978491e-01 -9.41507278e-01 3.08907105e-03 7.26785622e+01] [ 9.41461507e-01 -3.36992577e-01 -9.28626341e-03 2.62245631e+02] [ 9.78407860e-03 -2.21029543e-04 9.99952110e-01 6.55297148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.37275509600005 meters 0.021048388950865995 Centerline is valid? [True, True] Translation: X:72.67, Y:262.27, Z:6.55 [[-3.37287311e-01 -9.41396788e-01 3.05888145e-03 7.26650852e+01] [ 9.41352023e-01 -3.37301111e-01 -9.18307781e-03 2.62269188e+02] [ 9.67668407e-03 -2.17851381e-04 9.99953156e-01 6.55381030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4027550960001 meters 0.02164172561453132 Centerline is valid? [True, True] Translation: X:72.66, Y:262.29, Z:6.55 [[-3.37394763e-01 -9.41358440e-01 3.01016936e-03 7.26574763e+01] [ 9.41315197e-01 -3.37408125e-01 -9.02536897e-03 2.62293650e+02] [ 9.51176285e-03 -2.11594067e-04 9.99954740e-01 6.55430495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.43275509600005 meters 0.021090485045837194 Centerline is valid? [True, True] Translation: X:72.65, Y:262.32, Z:6.55 [[-3.37714343e-01 -9.41243754e-01 3.03629455e-03 7.26473707e+01] [ 9.41199870e-01 -3.37727925e-01 -9.09143335e-03 2.62318193e+02] [ 9.58269631e-03 -2.12547405e-04 9.99954062e-01 6.55455832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4627550960001 meters 0.020964018502024305 Centerline is valid? [True, True] Translation: X:72.64, Y:262.34, Z:6.55 [[-3.37889582e-01 -9.41180788e-01 3.05843454e-03 7.26383987e+01] [ 9.41136373e-01 -3.37903357e-01 -9.14595831e-03 2.62342776e+02] [ 9.64145555e-03 -2.11920040e-04 9.99953498e-01 6.55473780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.49275509600005 meters 0.020417624601727535 Centerline is valid? [True, True] Translation: X:72.63, Y:262.37, Z:6.56 [[-3.37696939e-01 -9.41250817e-01 2.77071597e-03 7.26269064e+01] [ 9.41214451e-01 -3.37708253e-01 -8.27604007e-03 2.62367020e+02] [ 8.72552313e-03 -1.86955489e-04 9.99961914e-01 6.55523967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5227550960001 meters 0.020386370356788995 Centerline is valid? [True, True] Translation: X:72.62, Y:262.39, Z:6.56 [[-3.37653456e-01 -9.41266420e-01 2.76966560e-03 7.26171394e+01] [ 9.41230176e-01 -3.37664765e-01 -8.26213090e-03 2.62391606e+02] [ 8.71208486e-03 -1.82844214e-04 9.99962032e-01 6.55581816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.55275509600006 meters 0.02017411461230229 Centerline is valid? [True, True] Translation: X:72.61, Y:262.42, Z:6.56 [[-3.37687814e-01 -9.41254735e-01 2.54225669e-03 7.26067443e+01] [ 9.41224269e-01 -3.37697344e-01 -7.57489646e-03 2.62416416e+02] [ 7.98842050e-03 -1.65116532e-04 9.99968078e-01 6.55654673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5827550960001 meters 0.020131632940064762 Centerline is valid? [True, True] Translation: X:72.60, Y:262.44, Z:6.56 [[-3.37785332e-01 -9.41220095e-01 2.40876535e-03 7.25972689e+01] [ 9.41192810e-01 -3.37793885e-01 -7.16842969e-03 2.62441131e+02] [ 7.56073629e-03 -1.54277773e-04 9.99971405e-01 6.55726755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.61275509600006 meters 0.020264812117054727 Centerline is valid? [True, True] Translation: X:72.59, Y:262.47, Z:6.56 [[-3.38022512e-01 -9.41135627e-01 2.12457038e-03 7.25889611e+01] [ 9.41114443e-01 -3.38029161e-01 -6.31598705e-03 2.62465482e+02] [ 6.66236718e-03 -1.35481937e-04 9.99977797e-01 6.55888381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6427550960001 meters 0.02184450770593323 Centerline is valid? [True, True] Translation: X:72.58, Y:262.49, Z:6.56 [[-3.39115048e-01 -9.40742585e-01 2.09098362e-03 7.25845312e+01] [ 9.40722112e-01 -3.39121467e-01 -6.20798887e-03 2.62491183e+02] [ 6.54921693e-03 -1.38187917e-04 9.99978544e-01 6.56050766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.67275509600006 meters 0.020751834797494907 Centerline is valid? [True, True] Translation: X:72.57, Y:262.52, Z:6.56 [[-3.39845502e-01 -9.40479159e-01 1.99670422e-03 7.25745088e+01] [ 9.40460532e-01 -3.39851341e-01 -5.92060735e-03 2.62515760e+02] [ 6.24679043e-03 -1.34270267e-04 9.99980480e-01 6.56084908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.7027550960001 meters 0.021233809312950092 Centerline is valid? [True, True] Translation: X:72.57, Y:262.54, Z:6.56 [[-3.40908946e-01 -9.40094487e-01 1.85652329e-03 7.25664661e+01] [ 9.40078414e-01 -3.40913977e-01 -5.49874744e-03 2.62540942e+02] [ 5.80225689e-03 -1.29294728e-04 9.99983158e-01 6.56160350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.73275509600006 meters 0.023089974912545858 Centerline is valid? [True, True] Translation: X:72.56, Y:262.57, Z:6.56 [[-3.41706156e-01 -9.39805122e-01 1.79861798e-03 7.25610822e+01] [ 9.39790067e-01 -3.41710866e-01 -5.32109911e-03 2.62565447e+02] [ 5.61540350e-03 -1.27929007e-04 9.99984225e-01 6.56279073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76275509600003 meters 0.020744419346014484 Centerline is valid? [True, True] Translation: X:72.55, Y:262.59, Z:6.56 [[-3.42511793e-01 -9.39511922e-01 1.73800421e-03 7.25475871e+01] [ 9.39497894e-01 -3.42516180e-01 -5.13549684e-03 2.62588938e+02] [ 5.42015507e-03 -1.26116936e-04 9.99985303e-01 6.56280322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.79275509600006 meters 0.021034075778087195 Centerline is valid? [True, True] Translation: X:72.54, Y:262.61, Z:6.56 [[-3.42962855e-01 -9.39347702e-01 1.54113323e-03 7.25395464e+01] [ 9.39336699e-01 -3.42966299e-01 -4.54801432e-03 2.62612871e+02] [ 4.80072356e-03 -1.12156977e-04 9.99988470e-01 6.56349568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82275509600004 meters 0.021034075778087195 Centerline is valid? [True, True] Translation: X:72.53, Y:262.64, Z:6.56 [[-3.43331231e-01 -9.39213121e-01 1.54225162e-03 7.25309766e+01] [ 9.39202118e-01 -3.43334677e-01 -4.54763495e-03 2.62637344e+02] [ 4.80070687e-03 -1.12859115e-04 9.99988470e-01 6.56373351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.85275509600007 meters 0.02112900320832638 Centerline is valid? [True, True] Translation: X:72.52, Y:262.66, Z:6.56 [[-3.43476026e-01 -9.39159832e-01 1.74031072e-03 7.25225917e+01] [ 9.39145865e-01 -3.43480412e-01 -5.12358246e-03 2.62662185e+02] [ 5.40962549e-03 -1.25422129e-04 9.99985360e-01 6.56407039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.88275509600004 meters 0.020873728950440627 Centerline is valid? [True, True] Translation: X:72.51, Y:262.69, Z:6.56 [[-3.43431291e-01 -9.39175965e-01 1.85871728e-03 7.25138006e+01] [ 9.39160077e-01 -3.43436296e-01 -5.46447684e-03 2.62686799e+02] [ 5.77045629e-03 -1.31039273e-04 9.99983342e-01 6.56405461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.91275509600007 meters 0.02184814866770172 Centerline is valid? [True, True] Translation: X:72.51, Y:262.71, Z:6.56 [[-3.43342866e-01 -9.39207898e-01 2.04980042e-03 7.25073182e+01] [ 9.39188636e-01 -3.43348956e-01 -6.01667986e-03 2.62711763e+02] [ 6.35471007e-03 -1.40634843e-04 9.99979799e-01 6.56454457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.94275509600004 meters 0.020286338107010214 Centerline is valid? [True, True] Translation: X:72.50, Y:262.74, Z:6.57 [[-3.42078581e-01 -9.39668782e-01 2.19656857e-03 7.24958032e+01] [ 9.39646720e-01 -3.42085605e-01 -6.44053412e-03 2.62736226e+02] [ 6.80338334e-03 -1.39170323e-04 9.99976847e-01 6.56503120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.97275509600007 meters 0.01958697861721534 Centerline is valid? [True, True] Translation: X:72.49, Y:262.76, Z:6.57 [[-3.41589572e-01 -9.39846789e-01 2.13942753e-03 7.24858015e+01] [ 9.39825907e-01 -3.41596247e-01 -6.26653403e-03 2.62760326e+02] [ 6.62040230e-03 -1.29893255e-04 9.99978076e-01 6.56507398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.00275509600004 meters 0.019498411465768053 Centerline is valid? [True, True] Translation: X:72.48, Y:262.78, Z:6.57 [[-3.40935257e-01 -9.40084204e-01 2.20017107e-03 7.24767914e+01] [ 9.40062181e-01 -3.40942333e-01 -6.43599105e-03 2.62784564e+02] [ 6.80050498e-03 -1.25958647e-04 9.99976868e-01 6.56524556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0327550960001 meters 0.019556856574005917 Centerline is valid? [True, True] Translation: X:72.47, Y:262.81, Z:6.56 [[-3.39872074e-01 -9.40468057e-01 2.60917947e-03 7.24679321e+01] [ 9.40437195e-01 -3.39882062e-01 -7.62006024e-03 2.62808135e+02] [ 8.05323654e-03 -1.36076257e-04 9.99967563e-01 6.56496249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.06275509600005 meters 0.01873705148368623 Centerline is valid? [True, True] Translation: X:72.46, Y:262.83, Z:6.56 [[-3.39675629e-01 -9.40539034e-01 2.60618566e-03 7.24569759e+01] [ 9.40508327e-01 -3.39685602e-01 -7.60130786e-03 2.62832419e+02] [ 8.03461049e-03 -1.30839717e-04 9.99967713e-01 6.56461974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0927550960001 meters 0.019101730790903864 Centerline is valid? [True, True] Translation: X:72.45, Y:262.86, Z:6.56 [[-3.39866774e-01 -9.40469594e-01 2.74218098e-03 7.24491271e+01] [ 9.40435685e-01 -3.39877809e-01 -7.98736885e-03 2.62856426e+02] [ 8.44388400e-03 -1.35796435e-04 9.99964341e-01 6.56448992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.12275509600005 meters 0.018816383605878475 Centerline is valid? [True, True] Translation: X:72.44, Y:262.88, Z:6.56 [[-3.40616386e-01 -9.40198581e-01 2.66564713e-03 7.24396941e+01] [ 9.40166611e-01 -3.40626790e-01 -7.75454280e-03 2.62881429e+02] [ 8.19880096e-03 -1.35171915e-04 9.99966380e-01 6.56494302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1527550960001 meters 0.018748017021019747 Centerline is valid? [True, True] Translation: X:72.43, Y:262.91, Z:6.57 [[-3.41833416e-01 -9.39756522e-01 2.75586856e-03 7.24312653e+01] [ 9.39722425e-01 -3.41844493e-01 -8.00671104e-03 2.62905962e+02] [ 8.46643741e-03 -1.47209897e-04 9.99964148e-01 6.56559589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.18275509600005 meters 0.019374038220078247 Centerline is valid? [True, True] Translation: X:72.42, Y:262.93, Z:6.57 [[-3.42894741e-01 -9.39369983e-01 2.68938762e-03 7.24236704e+01] [ 9.39337583e-01 -3.42905255e-01 -7.80325286e-03 2.62930703e+02] [ 8.25234665e-03 -1.49451500e-04 9.99965938e-01 6.56623000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2127550960001 meters 0.019199501822763334 Centerline is valid? [True, True] Translation: X:72.41, Y:262.96, Z:6.57 [[-3.43876231e-01 -9.39011112e-01 2.69611408e-03 7.24143383e+01] [ 9.38978627e-01 -3.43886765e-01 -7.81220465e-03 2.62955286e+02] [ 8.26290493e-03 -1.54837986e-04 9.99965850e-01 6.56657622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.24275509600005 meters 0.019741473104712127 Centerline is valid? [True, True] Translation: X:72.41, Y:262.98, Z:6.57 [[-3.45066199e-01 -9.38574493e-01 2.69066943e-03 7.24065472e+01] [ 9.38542208e-01 -3.45076652e-01 -7.78647490e-03 2.62979328e+02] [ 8.23667393e-03 -1.61542473e-04 9.99966065e-01 6.56711594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2727550960001 meters 0.021432132701934205 Centerline is valid? [True, True] Translation: X:72.40, Y:263.00, Z:6.57 [[-3.47261493e-01 -9.37765186e-01 2.43137927e-03 7.23998447e+01] [ 9.37738867e-01 -3.47269968e-01 -7.02759206e-03 2.63004628e+02] [ 7.43457617e-03 -1.60413268e-04 9.99972350e-01 6.56827462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.30275509600006 meters 0.020765259568188896 Centerline is valid? [True, True] Translation: X:72.39, Y:263.03, Z:6.57 [[-3.48545168e-01 -9.37288862e-01 2.41968389e-03 7.23893568e+01] [ 9.37262844e-01 -3.48553527e-01 -6.98567865e-03 2.63028729e+02] [ 7.39098815e-03 -1.66944740e-04 9.99972672e-01 6.56851950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3327550960001 meters 0.023313207039076533 Centerline is valid? [True, True] Translation: X:72.38, Y:263.05, Z:6.57 [[-3.50484197e-01 -9.36566520e-01 1.99522764e-03 7.23849928e+01] [ 9.36548854e-01 -3.50489844e-01 -5.75444923e-03 2.63054511e+02] [ 6.08873152e-03 -1.48215353e-04 9.99981453e-01 6.57039658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.36275509600006 meters 0.02263282102451827 Centerline is valid? [True, True] Translation: X:72.38, Y:263.08, Z:6.57 [[-3.51724932e-01 -9.36101351e-01 1.95780845e-03 7.23750573e+01] [ 9.36084370e-01 -3.51730348e-01 -5.64041536e-03 2.63079452e+02] [ 5.96862109e-03 -1.51200818e-04 9.99982176e-01 6.57075943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3927550960001 meters 0.023133246562549163 Centerline is valid? [True, True] Translation: X:72.37, Y:263.10, Z:6.57 [[-3.52781185e-01 -9.35703972e-01 1.87426976e-03 7.23671408e+01] [ 9.35688433e-01 -3.52786132e-01 -5.39459363e-03 2.63104666e+02] [ 5.70895906e-03 -1.49378597e-04 9.99983693e-01 6.57132487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.42275509600006 meters 0.02336794644391818 Centerline is valid? [True, True] Translation: X:72.36, Y:263.13, Z:6.57 [[-3.53862494e-01 -9.35295534e-01 1.89737817e-03 7.23580259e+01] [ 9.35279645e-01 -3.53867546e-01 -5.45395578e-03 2.63130559e+02] [ 5.77248104e-03 -1.55371212e-04 9.99983327e-01 6.57145439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.4527550960001 meters 0.022328345123977505 Centerline is valid? [True, True] Translation: X:72.35, Y:263.15, Z:6.57 [[-3.54394122e-01 -9.35094109e-01 1.95294144e-03 7.23471869e+01] [ 9.35077308e-01 -3.54399467e-01 -5.60775546e-03 2.63154728e+02] [ 5.93590050e-03 -1.61204350e-04 9.99982369e-01 6.57103678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.48275509600006 meters 0.023117241150292827 Centerline is valid? [True, True] Translation: X:72.34, Y:263.18, Z:6.57 [[-3.53912786e-01 -9.35275639e-01 2.28466992e-03 7.23392499e+01] [ 9.35252724e-01 -3.53920114e-01 -6.54949804e-03 2.63179394e+02] [ 6.93417660e-03 -1.81207332e-04 9.99975942e-01 6.57018548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.51275509600003 meters 0.022856532953894934 Centerline is valid? [True, True] Translation: X:72.33, Y:263.20, Z:6.57 [[-3.53680889e-01 -9.35362919e-01 2.45740974e-03 7.23303007e+01] [ 9.35336469e-01 -3.53689374e-01 -7.03683911e-03 2.63202919e+02] [ 7.45115808e-03 -1.90290556e-04 9.99972222e-01 6.56986880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.54275509600006 meters 0.022060365358994822 Centerline is valid? [True, True] Translation: X:72.32, Y:263.23, Z:6.57 [[-3.53568856e-01 -9.35405314e-01 2.44177003e-03 7.23204830e+01] [ 9.35379248e-01 -3.53577238e-01 -6.98561854e-03 2.63227395e+02] [ 7.39773901e-03 -1.85916145e-04 9.99972619e-01 6.57008487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.57275509600004 meters 0.02100930780553085 Centerline is valid? [True, True] Translation: X:72.31, Y:263.25, Z:6.57 [[-3.52713686e-01 -9.35727427e-01 2.69040231e-03 7.23104809e+01] [ 9.35695878e-01 -3.52723893e-01 -7.68628460e-03 2.63252053e+02] [ 8.14123649e-03 -1.93659416e-04 9.99966841e-01 6.56996952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.60275509600007 meters 0.02142320196354978 Centerline is valid? [True, True] Translation: X:72.30, Y:263.28, Z:6.57 [[-3.52508931e-01 -9.35804002e-01 2.88504231e-03 7.23024777e+01] [ 9.35767824e-01 -3.52520679e-01 -8.23105316e-03 2.63276643e+02] [ 8.71968956e-03 -2.01789989e-04 9.99961962e-01 6.57004883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.63275509600004 meters 0.021391992808863038 Centerline is valid? [True, True] Translation: X:72.29, Y:263.30, Z:6.57 [[-3.51926494e-01 -9.36022970e-01 2.95667843e-03 7.22939372e+01] [ 9.35985084e-01 -3.51938859e-01 -8.42387388e-03 2.63300626e+02] [ 8.92550949e-03 -1.97177491e-04 9.99960147e-01 6.57009723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.66275509600007 meters 0.02144116573676389 Centerline is valid? [True, True] Translation: X:72.29, Y:263.33, Z:6.57 [[-3.50605337e-01 -9.36517917e-01 3.17615712e-03 7.22850985e+01] [ 9.36474337e-01 -3.50619670e-01 -9.03682351e-03 2.63325217e+02] [ 9.57677029e-03 -1.93968924e-04 9.99954123e-01 6.57010857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.69275509600004 meters 0.019441952094918516 Centerline is valid? [True, True] Translation: X:72.27, Y:263.35, Z:6.57 [[-3.50330655e-01 -9.36620898e-01 3.11853708e-03 7.22719644e+01] [ 9.36578982e-01 -3.50344486e-01 -8.86295343e-03 2.63348680e+02] [ 9.39378968e-03 -1.84207998e-04 9.99955860e-01 6.57049244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.72275509600007 meters 0.01897555878844605 Centerline is valid? [True, True] Translation: X:72.26, Y:263.37, Z:6.57 [[-3.49302773e-01 -9.37003833e-01 3.37479471e-03 7.22617254e+01] [ 9.36954896e-01 -3.49319027e-01 -9.57810733e-03 2.63372652e+02] [ 1.01536033e-02 -1.83629027e-04 9.99948434e-01 6.57032368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.75275509600004 meters 0.018726161242102617 Centerline is valid? [True, True] Translation: X:72.25, Y:263.40, Z:6.57 [[-3.48941830e-01 -9.37138193e-01 3.40683511e-03 7.22520928e+01] [ 9.37088456e-01 -3.48958415e-01 -9.65664922e-03 2.63397735e+02] [ 1.02384586e-02 -1.77102999e-04 9.99947570e-01 6.57021413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7827550960001 meters 0.01885488609576338 Centerline is valid? [True, True] Translation: X:72.24, Y:263.42, Z:6.57 [[-3.48884915e-01 -9.37158858e-01 3.54833522e-03 7.22437583e+01] [ 9.37105046e-01 -3.48902913e-01 -1.00444177e-02 2.63421617e+02] [ 1.06512396e-02 -1.79182997e-04 9.99943258e-01 6.57016751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.81275509600005 meters 0.018725870563001044 Centerline is valid? [True, True] Translation: X:72.23, Y:263.45, Z:6.57 [[-3.48789031e-01 -9.37194192e-01 3.64132052e-03 7.22345046e+01] [ 9.37137675e-01 -3.48807992e-01 -1.02938485e-02 2.63446367e+02] [ 1.09174567e-02 -1.77962795e-04 9.99940387e-01 6.57036810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8427550960001 meters 0.018658460628741002 Centerline is valid? [True, True] Translation: X:72.23, Y:263.47, Z:6.57 [[-3.49283121e-01 -9.37009919e-01 3.70311276e-03 7.22251525e+01] [ 9.36951603e-01 -3.49302703e-01 -1.04553907e-02 2.63471399e+02] [ 1.10903121e-02 -1.82254068e-04 9.99938484e-01 6.57047883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.87275509600005 meters 0.018905284886562315 Centerline is valid? [True, True] Translation: X:72.22, Y:263.50, Z:6.57 [[-3.49913457e-01 -9.36773884e-01 3.90670982e-03 7.22164458e+01] [ 9.36709132e-01 -3.49935211e-01 -1.10159529e-02 2.63496031e+02] [ 1.16865523e-02 -1.95179396e-04 9.99931691e-01 6.57068806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9027550960001 meters 0.019068509782089092 Centerline is valid? [True, True] Translation: X:72.21, Y:263.52, Z:6.57 [[-3.51064244e-01 -9.36342845e-01 3.99662547e-03 7.22077941e+01] [ 9.36275218e-01 -3.51086930e-01 -1.12553491e-02 2.63520563e+02] [ 1.19420286e-02 -2.09409231e-04 9.99928670e-01 6.57027741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.93275509600005 meters 0.01939999247723998 Centerline is valid? [True, True] Translation: X:72.20, Y:263.55, Z:6.57 [[-3.51880164e-01 -9.36035234e-01 4.28848896e-03 7.21995509e+01] [ 9.35957549e-01 -3.51906220e-01 -1.20614335e-02 2.63545065e+02] [ 1.27990726e-02 -2.30335564e-04 9.99918062e-01 6.57003526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9627550960001 meters 0.02011572038251784 Centerline is valid? [True, True] Translation: X:72.19, Y:263.57, Z:6.57 [[-3.53089182e-01 -9.35579147e-01 4.43731229e-03 7.21927205e+01] [ 9.35496151e-01 -3.53116975e-01 -1.24641031e-02 2.63570578e+02] [ 1.32280452e-02 -2.49851401e-04 9.99912474e-01 6.56956282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.99275509600005 meters 0.020167759306355535 Centerline is valid? [True, True] Translation: X:72.18, Y:263.60, Z:6.57 [[-3.53951672e-01 -9.35252398e-01 4.60069367e-03 7.21842384e+01] [ 9.35163361e-01 -3.53981471e-01 -1.29075955e-02 2.63595449e+02] [ 1.37004200e-02 -2.66264851e-04 9.99906109e-01 6.56965596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0227550960001 meters 0.0207298470050425 Centerline is valid? [True, True] Translation: X:72.18, Y:263.62, Z:6.57 [[-3.54831658e-01 -9.34918864e-01 4.60565644e-03 7.21768597e+01] [ 9.34829825e-01 -3.54861441e-01 -1.29056844e-02 2.63619957e+02] [ 1.37001377e-02 -2.73840385e-04 9.99906111e-01 6.56953236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.05275509600006 meters 0.020418176359664676 Centerline is valid? [True, True] Translation: X:72.17, Y:263.65, Z:6.57 [[-3.55949959e-01 -9.34492797e-01 4.77898728e-03 7.21686228e+01] [ 9.34397133e-01 -3.55981916e-01 -1.33743522e-02 2.63645484e+02] [ 1.41994689e-02 -2.95128111e-04 9.99899139e-01 6.56987277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0827550960001 meters 0.020332929232409463 Centerline is valid? [True, True] Translation: X:72.16, Y:263.67, Z:6.57 [[-3.56433903e-01 -9.34307854e-01 4.86892796e-03 7.21605450e+01] [ 9.34208782e-01 -3.56467029e-01 -1.36091661e-02 2.63670173e+02] [ 1.44507631e-02 -3.02172937e-04 9.99895537e-01 6.57009267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.11275509600006 meters 0.021938937134018198 Centerline is valid? [True, True] Translation: X:72.16, Y:263.70, Z:6.57 [[-3.57248340e-01 -9.33996243e-01 4.96402984e-03 7.21554331e+01] [ 9.33893490e-01 -3.57282688e-01 -1.38575109e-02 2.63695607e+02] [ 1.47164250e-02 -3.14697609e-04 9.99891658e-01 6.56992976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1427550960001 meters 0.019747999381935482 Centerline is valid? [True, True] Translation: X:72.14, Y:263.72, Z:6.57 [[-3.57542437e-01 -9.33884347e-01 4.84066054e-03 7.21429902e+01] [ 9.33786862e-01 -3.57575073e-01 -1.34967993e-02 2.63720393e+02] [ 1.43353491e-02 -3.05533293e-04 9.99897197e-01 6.57127819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.17275509600006 meters 0.022035050593567182 Centerline is valid? [True, True] Translation: X:72.14, Y:263.75, Z:6.57 [[-3.57731642e-01 -9.33811439e-01 4.92633790e-03 7.21392155e+01] [ 9.33710711e-01 -3.57765429e-01 -1.37188670e-02 2.63745561e+02] [ 1.45733084e-02 -3.07898375e-04 9.99893756e-01 6.57065779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.2027550960001 meters 0.01986181541865581 Centerline is valid? [True, True] Translation: X:72.13, Y:263.77, Z:6.57 [[-3.57701119e-01 -9.33823644e-01 4.82825952e-03 7.21272391e+01] [ 9.33727133e-01 -3.57733581e-01 -1.34285569e-02 2.63769484e+02] [ 1.42671345e-02 -2.95132907e-04 9.99898176e-01 6.57217150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.23275509600006 meters 0.019180861684587956 Centerline is valid? [True, True] Translation: X:72.12, Y:263.79, Z:6.57 [[-3.56668961e-01 -9.34218945e-01 4.71340022e-03 7.21182864e+01] [ 9.34127229e-01 -3.56700004e-01 -1.30930676e-02 2.63794750e+02] [ 1.39130616e-02 -2.66975313e-04 9.99903173e-01 6.57324495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.26275509600003 meters 0.018902850476621894 Centerline is valid? [True, True] Translation: X:72.11, Y:263.82, Z:6.57 [[-3.56118578e-01 -9.34428408e-01 4.80717270e-03 7.21089374e+01] [ 9.34333264e-01 -3.56150928e-01 -1.33367122e-02 2.63819796e+02] [ 1.41742817e-02 -2.57949605e-04 9.99899507e-01 6.57340260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.29275509600006 meters 0.018034576860249594 Centerline is valid? [True, True] Translation: X:72.10, Y:263.84, Z:6.57 [[-3.54031346e-01 -9.35221076e-01 4.83174169e-03 7.20990009e+01] [ 9.35125263e-01 -3.54064247e-01 -1.33884971e-02 2.63844857e+02] [ 1.42319516e-02 -2.21663932e-04 9.99898696e-01 6.57353834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.32275509600004 meters 0.0172756403162263 Centerline is valid? [True, True] Translation: X:72.09, Y:263.87, Z:6.57 [[-3.52672789e-01 -9.35734415e-01 4.79665398e-03 7.20884151e+01] [ 9.35640254e-01 -3.52705353e-01 -1.32758789e-02 2.63869735e+02] [ 1.41145023e-02 -1.94098683e-04 9.99900367e-01 6.57392826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.35275509600007 meters 0.017133524858854197 Centerline is valid? [True, True] Translation: X:72.08, Y:263.89, Z:6.57 [[-3.51509620e-01 -9.36172300e-01 4.73405302e-03 7.20800486e+01] [ 9.36080820e-01 -3.51541456e-01 -1.30883120e-02 2.63893707e+02] [ 1.39171311e-02 -1.69211358e-04 9.99903138e-01 6.57394546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.38275509600004 meters 0.016459545981627497 Centerline is valid? [True, True] Translation: X:72.07, Y:263.92, Z:6.57 [[-3.49357407e-01 -9.36977736e-01 4.70357776e-03 7.20704365e+01] [ 9.36887696e-01 -3.49389045e-01 -1.29900041e-02 2.63917954e+02] [ 1.38147232e-02 -1.31430020e-04 9.99904564e-01 6.57452469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.41275509600007 meters 0.01616438696858444 Centerline is valid? [True, True] Translation: X:72.06, Y:263.94, Z:6.57 [[-3.48586021e-01 -9.37264574e-01 4.78583513e-03 7.20608110e+01] [ 9.37171616e-01 -3.48618853e-01 -1.32006809e-02 2.63942508e+02] [ 1.40409629e-02 -1.16423980e-04 9.99901414e-01 6.57467287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.44275509600004 meters 0.01612365083549527 Centerline is valid? [True, True] Translation: X:72.05, Y:263.97, Z:6.57 [[-3.47961120e-01 -9.37496882e-01 4.75977882e-03 7.20519136e+01] [ 9.37405185e-01 -3.47993659e-01 -1.31123350e-02 2.63966817e+02] [ 1.39491460e-02 -1.00741432e-04 9.99902701e-01 6.57479615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.47275509600007 meters 0.015695551396058046 Centerline is valid? [True, True] Translation: X:72.04, Y:263.99, Z:6.57 [[-3.46390097e-01 -9.38078366e-01 4.78337860e-03 7.20418008e+01] [ 9.37986048e-01 -3.46423115e-01 -1.31604911e-02 2.63991408e+02] [ 1.40026449e-02 -7.19214108e-05 9.99901956e-01 6.57478891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.50275509600004 meters 0.01568118600196013 Centerline is valid? [True, True] Translation: X:72.03, Y:264.02, Z:6.57 [[-3.45826852e-01 -9.38284697e-01 5.06118869e-03 7.20333806e+01] [ 9.38181636e-01 -3.45863880e-01 -1.39066539e-02 2.64015041e+02] [ 1.47988829e-02 -6.09800496e-05 9.99890489e-01 6.57417491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5327550960001 meters 0.015707225510448418 Centerline is valid? [True, True] Translation: X:72.02, Y:264.04, Z:6.57 [[-3.44779874e-01 -9.38669659e-01 5.10975477e-03 7.20249033e+01] [ 9.38564922e-01 -3.44817734e-01 -1.40220730e-02 2.64039113e+02] [ 1.49240285e-02 -3.86919581e-05 9.99888630e-01 6.57363734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.56275509600005 meters 0.015606235903012846 Centerline is valid? [True, True] Translation: X:72.02, Y:264.06, Z:6.57 [[-3.44627161e-01 -9.38725632e-01 5.12904023e-03 7.20159516e+01] [ 9.38620369e-01 -3.44665325e-01 -1.40576040e-02 2.64064368e+02] [ 1.49640356e-02 -3.04105383e-05 9.99888032e-01 6.57412941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5927550960001 meters 0.015603085241465232 Centerline is valid? [True, True] Translation: X:72.01, Y:264.09, Z:6.58 [[-3.45310532e-01 -9.38475549e-01 4.92752874e-03 7.20086753e+01] [ 9.38378596e-01 -3.45345686e-01 -1.34895231e-02 2.64090254e+02] [ 1.43612884e-02 -3.41869081e-05 9.99896871e-01 6.57513782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.62275509600005 meters 0.015512669033009931 Centerline is valid? [True, True] Translation: X:72.00, Y:264.12, Z:6.58 [[-3.46214838e-01 -9.38142559e-01 4.88111611e-03 7.20009174e+01] [ 9.38047618e-01 -3.46249242e-01 -1.33464905e-02 2.64115024e+02] [ 1.42109935e-02 -4.20337189e-05 9.99899018e-01 6.57630233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6527550960001 meters 0.015578153221146678 Centerline is valid? [True, True] Translation: X:71.99, Y:264.14, Z:6.58 [[-3.47397918e-01 -9.37705458e-01 4.81250705e-03 7.19930707e+01] [ 9.37613348e-01 -3.47431246e-01 -1.31430166e-02 2.64140572e+02] [ 1.39962937e-02 -5.35857351e-05 9.99902046e-01 6.57665998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.68275509600005 meters 0.015617060888246263 Centerline is valid? [True, True] Translation: X:71.99, Y:264.17, Z:6.58 [[-3.48840170e-01 -9.37170005e-01 4.78734496e-03 7.19853399e+01] [ 9.37079026e-01 -3.48873011e-01 -1.30583872e-02 2.64166255e+02] [ 1.39081042e-02 -6.91694340e-05 9.99903275e-01 6.57735567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7127550960001 meters 0.016096807645786387 Centerline is valid? [True, True] Translation: X:71.98, Y:264.19, Z:6.58 [[-3.51712128e-01 -9.36096124e-01 4.75666160e-03 7.19813262e+01] [ 9.36006431e-01 -3.51744276e-01 -1.29585805e-02 2.64191397e+02] [ 1.38036055e-02 -1.05424073e-04 9.99904720e-01 6.57702668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.74275509600005 meters 0.016096807645786387 Centerline is valid? [True, True] Translation: X:71.97, Y:264.22, Z:6.58 [[-3.52072077e-01 -9.35960777e-01 4.76190242e-03 7.19721435e+01] [ 9.35871098e-01 -3.52104263e-01 -1.29566548e-02 2.64215644e+02] [ 1.38036068e-02 -1.05149501e-04 9.99904720e-01 6.57726418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7727550960001 meters 0.0163233214785418 Centerline is valid? [True, True] Translation: X:71.97, Y:264.24, Z:6.58 [[-3.53556613e-01 -9.35401415e-01 4.68135111e-03 7.19650628e+01] [ 9.35314897e-01 -3.53587584e-01 -1.27225573e-02 2.64240700e+02] [ 1.35559657e-02 -1.19606850e-04 9.99908107e-01 6.57797953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.80275509600006 meters 0.016679235987309013 Centerline is valid? [True, True] Translation: X:71.96, Y:264.27, Z:6.58 [[-3.55893001e-01 -9.34515399e-01 4.59793449e-03 7.19589170e+01] [ 9.34432059e-01 -3.55922671e-01 -1.24811900e-02 2.64266610e+02] [ 1.33003734e-02 -1.45510792e-04 9.99911536e-01 6.57869534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8327550960001 meters 0.017237347747722828 Centerline is valid? [True, True] Translation: X:71.95, Y:264.29, Z:6.58 [[-3.57093515e-01 -9.34057747e-01 4.51079134e-03 7.19517410e+01] [ 9.33977690e-01 -3.57121971e-01 -1.22300046e-02 2.64291386e+02] [ 1.30344333e-02 -1.54276879e-04 9.99915036e-01 6.57891146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.86275509600006 meters 0.016868933427750376 Centerline is valid? [True, True] Translation: X:71.94, Y:264.32, Z:6.58 [[-3.57900217e-01 -9.33748674e-01 4.56596980e-03 7.19423159e+01] [ 9.33666825e-01 -3.57929305e-01 -1.23641431e-02 2.64315862e+02] [ 1.31792966e-02 -1.62034963e-04 9.99913136e-01 6.57940269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8927550960001 meters 0.017069388765246604 Centerline is valid? [True, True] Translation: X:71.93, Y:264.34, Z:6.58 [[-3.58885441e-01 -9.33370444e-01 4.56673610e-03 7.19340265e+01] [ 9.33288737e-01 -3.58914454e-01 -1.23510593e-02 2.64341300e+02] [ 1.31671813e-02 -1.70532006e-04 9.99913294e-01 6.57917673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.92275509600006 meters 0.01693908550719106 Centerline is valid? [True, True] Translation: X:71.92, Y:264.37, Z:6.58 [[-3.58947759e-01 -9.33346316e-01 4.60014209e-03 7.19238353e+01] [ 9.33263609e-01 -3.58977196e-01 -1.24261069e-02 2.64365721e+02] [ 1.32492072e-02 -1.67177995e-04 9.99912211e-01 6.57972308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.9527550960001 meters 0.01705331976342248 Centerline is valid? [True, True] Translation: X:71.91, Y:264.39, Z:6.58 [[-3.58051639e-01 -9.33691445e-01 4.39429553e-03 7.19130166e+01] [ 9.33616182e-01 -3.58078575e-01 -1.18557749e-02 2.64388357e+02] [ 1.26431387e-02 -1.42394222e-04 9.99920062e-01 6.57952320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.98275509600006 meters 0.016501394617131786 Centerline is valid? [True, True] Translation: X:71.90, Y:264.41, Z:6.58 [[-3.57260122e-01 -9.33994996e-01 4.30723192e-03 7.19000739e+01] [ 9.33922885e-01 -3.57286064e-01 -1.16066260e-02 2.64412269e+02] [ 1.23794445e-02 -1.23962158e-04 9.99923364e-01 6.57989178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.01275509600003 meters 0.01638877877913227 Centerline is valid? [True, True] Translation: X:71.89, Y:264.44, Z:6.58 [[-3.56567599e-01 -9.34259058e-01 4.42272773e-03 7.18891580e+01] [ 9.34183228e-01 -3.56595009e-01 -1.19035893e-02 2.64435036e+02] [ 1.26981588e-02 -1.12796192e-04 9.99919369e-01 6.58011282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.04275509600006 meters 0.01596608629617284 Centerline is valid? [True, True] Translation: X:71.88, Y:264.46, Z:6.58 [[-3.55237326e-01 -9.34765808e-01 4.39626144e-03 7.18757152e+01] [ 9.34691105e-01 -3.55264517e-01 -1.18177987e-02 2.64458360e+02] [ 1.26087098e-02 -8.89767357e-05 9.99920503e-01 6.58012766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.07275509600004 meters 0.015863462023596522 Centerline is valid? [True, True] Translation: X:71.87, Y:264.48, Z:6.58 [[-3.54736976e-01 -9.34956060e-01 4.34083360e-03 7.18653138e+01] [ 9.34883417e-01 -3.54763526e-01 -1.16548970e-02 2.64481641e+02] [ 1.24367860e-02 -7.62495798e-05 9.99922657e-01 6.58049138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.10275509600007 meters 0.01560064987207264 Centerline is valid? [True, True] Translation: X:71.85, Y:264.50, Z:6.58 [[-3.54307938e-01 -9.35119344e-01 4.20676098e-03 7.18531093e+01] [ 9.35051295e-01 -3.54332905e-01 -1.12813498e-02 2.64504783e+02] [ 1.20400022e-02 -6.35344762e-05 9.99927515e-01 6.58090588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.13275509600004 meters 0.015570742967053729 Centerline is valid? [True, True] Translation: X:71.84, Y:264.53, Z:6.58 [[-3.54407807e-01 -9.35081496e-01 4.20754547e-03 7.18427923e+01] [ 9.35013583e-01 -3.54432777e-01 -1.12697532e-02 2.64528711e+02] [ 1.20294297e-02 -5.99763560e-05 9.99927642e-01 6.58099187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.16275509600007 meters 0.015556009498127863 Centerline is valid? [True, True] Translation: X:71.83, Y:264.55, Z:6.58 [[-3.54666596e-01 -9.34983061e-01 4.27575524e-03 7.18328979e+01] [ 9.34913096e-01 -3.54692364e-01 -1.14380784e-02 2.64551873e+02] [ 1.22109873e-02 -5.92447768e-05 9.99925441e-01 6.58103061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.19275509600004 meters 0.015565182423215872 Centerline is valid? [True, True] Translation: X:71.82, Y:264.58, Z:6.58 [[-3.55156662e-01 -9.34797903e-01 4.07748893e-03 7.18212579e+01] [ 9.34734417e-01 -3.55180063e-01 -1.08946224e-02 2.64576736e+02] [ 1.16325130e-02 -5.79284910e-05 9.99932338e-01 6.58089546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.22275509600007 meters 0.015633509010029637 Centerline is valid? [True, True] Translation: X:71.81, Y:264.60, Z:6.58 [[-3.55859692e-01 -9.34529611e-01 4.27631070e-03 7.18115699e+01] [ 9.34459927e-01 -3.55885379e-01 -1.14124010e-02 2.64601292e+02] [ 1.21871031e-02 -6.51725032e-05 9.99925732e-01 6.58086040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.25275509600004 meters 0.01574095415302805 Centerline is valid? [True, True] Translation: X:71.80, Y:264.63, Z:6.58 [[-3.56418422e-01 -9.34317101e-01 4.17883161e-03 7.18023594e+01] [ 9.34250699e-01 -3.56442912e-01 -1.11391660e-02 2.64625223e+02] [ 1.18970282e-02 -6.61276171e-05 9.99929226e-01 6.58097759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.2827550960001 meters 0.015833586855112186 Centerline is valid? [True, True] Translation: X:71.79, Y:264.65, Z:6.58 [[-3.57309332e-01 -9.33976830e-01 4.16197208e-03 7.17929780e+01] [ 9.33911103e-01 -3.57333563e-01 -1.10804088e-02 2.64650020e+02] [ 1.18360574e-02 -7.22215357e-05 9.99929949e-01 6.58137022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.31275509600005 meters 0.015872787834307987 Centerline is valid? [True, True] Translation: X:71.78, Y:264.67, Z:6.58 [[-3.58178548e-01 -9.33644717e-01 3.95863963e-03 7.17837983e+01] [ 9.33585372e-01 -3.58200415e-01 -1.05269522e-02 2.64674991e+02] [ 1.12464197e-02 -7.48004114e-05 9.99936754e-01 6.58187505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3427550960001 meters 0.01604219841592117 Centerline is valid? [True, True] Translation: X:71.78, Y:264.70, Z:6.58 [[-3.59050792e-01 -9.33311125e-01 3.58798500e-03 7.17756297e+01] [ 9.33262463e-01 -3.59068711e-01 -9.53081629e-03 2.64699968e+02] [ 1.01835500e-02 -7.35154156e-05 9.99948144e-01 6.58257605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.37275509600005 meters 0.015983582600467932 Centerline is valid? [True, True] Translation: X:71.77, Y:264.72, Z:6.58 [[-3.59733290e-01 -9.33047855e-01 3.69601287e-03 7.17667810e+01] [ 9.32996330e-01 -3.59752268e-01 -9.80578460e-03 2.64724551e+02] [ 1.04789153e-02 -7.91007145e-05 9.99945092e-01 6.58315202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4027550960001 meters 0.01606354747774216 Centerline is valid? [True, True] Translation: X:71.76, Y:264.75, Z:6.58 [[-3.60202209e-01 -9.32867519e-01 3.54405003e-03 7.17578122e+01] [ 9.32820244e-01 -3.60219636e-01 -9.39181318e-03 2.64748947e+02] [ 1.00379539e-02 -7.69902390e-05 9.99949616e-01 6.58363017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.43275509600005 meters 0.016159449704480192 Centerline is valid? [True, True] Translation: X:71.75, Y:264.77, Z:6.58 [[-3.60935578e-01 -9.32584669e-01 3.36792646e-03 7.17494838e+01] [ 9.32542061e-01 -3.60951283e-01 -8.91494832e-03 2.64773984e+02] [ 9.52960151e-03 -7.69889415e-05 9.99954589e-01 6.58395288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4627550960001 meters 0.0161792968778441 Centerline is valid? [True, True] Translation: X:71.74, Y:264.80, Z:6.58 [[-3.61445235e-01 -9.32386787e-01 3.49583326e-03 7.17407184e+01] [ 9.32340984e-01 -3.61462131e-01 -9.24218240e-03 2.64798658e+02] [ 9.88090009e-03 -8.12341709e-05 9.99951179e-01 6.58420564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.49275509600005 meters 0.016243932618710172 Centerline is valid? [True, True] Translation: X:71.73, Y:264.82, Z:6.58 [[-3.62187611e-01 -9.32098435e-01 3.55543270e-03 7.17325895e+01] [ 9.32051156e-01 -3.62205051e-01 -9.38850073e-03 2.64823060e+02] [ 1.00388025e-02 -8.65534928e-05 9.99949606e-01 6.58420253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5227550960001 meters 0.01645849324025721 Centerline is valid? [True, True] Translation: X:71.73, Y:264.85, Z:6.58 [[-3.63783125e-01 -9.31476873e-01 3.55986300e-03 7.17252829e+01] [ 9.31429561e-01 -3.63800529e-01 -9.38873542e-03 2.64848649e+02] [ 1.00404699e-02 -9.97018844e-05 9.99949588e-01 6.58389563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.55275509600006 meters 0.016733400831994157 Centerline is valid? [True, True] Translation: X:71.72, Y:264.87, Z:6.58 [[-3.64773910e-01 -9.31088722e-01 3.71293416e-03 7.17179320e+01] [ 9.31037360e-01 -3.64792790e-01 -9.78030460e-03 2.64873450e+02] [ 1.04607829e-02 -1.10719540e-04 9.99945278e-01 6.58394552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5827550960001 meters 0.016618046350849337 Centerline is valid? [True, True] Translation: X:71.71, Y:264.90, Z:6.58 [[-3.65466222e-01 -9.30817330e-01 3.67948027e-03 7.17093167e+01] [ 9.30766999e-01 -3.65484726e-01 -9.68035266e-03 2.64898698e+02] [ 1.03554339e-02 -1.13103102e-04 9.99946375e-01 6.58421422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.61275509600006 meters 0.017030606456915984 Centerline is valid? [True, True] Translation: X:71.70, Y:264.92, Z:6.58 [[-3.65951821e-01 -9.30626352e-01 3.72260793e-03 7.17019628e+01] [ 9.30574948e-01 -3.65970736e-01 -9.78197080e-03 2.64922751e+02] [ 1.04657254e-02 -1.15564351e-04 9.99945226e-01 6.58434743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6427550960001 meters 0.017416881556530508 Centerline is valid? [True, True] Translation: X:71.69, Y:264.95, Z:6.58 [[-3.66589317e-01 -9.30375558e-01 3.68701275e-03 7.16938681e+01] [ 9.30325242e-01 -3.66607839e-01 -9.67660479e-03 2.64946434e+02] [ 1.03545644e-02 -1.17218914e-04 9.99946383e-01 6.58458256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.67275509600006 meters 0.017019088523042118 Centerline is valid? [True, True] Translation: X:71.68, Y:264.97, Z:6.58 [[-3.67305952e-01 -9.30092623e-01 3.74834008e-03 7.16833647e+01] [ 9.30040728e-01 -3.67325057e-01 -9.82584003e-03 2.64971130e+02] [ 1.05158006e-02 -1.22980595e-04 9.99944700e-01 6.58456519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.7027550960001 meters 0.016937486825518936 Centerline is valid? [True, True] Translation: X:71.67, Y:265.00, Z:6.58 [[-3.67582901e-01 -9.29982466e-01 3.92734637e-03 7.16747577e+01] [ 9.29925629e-01 -3.67603858e-01 -1.02824366e-02 2.64996157e+02] [ 1.10061934e-02 -1.27507836e-04 9.99939422e-01 6.58437851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.73275509600006 meters 0.01702781018302157 Centerline is valid? [True, True] Translation: X:71.67, Y:265.02, Z:6.58 [[-3.68005174e-01 -9.29814980e-01 4.03673019e-03 7.16656593e+01] [ 9.29755067e-01 -3.68027290e-01 -1.05560078e-02 2.65021305e+02] [ 1.13007610e-02 -1.31495127e-04 9.99936136e-01 6.58477499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.76275509600003 meters 0.0169884386846087 Centerline is valid? [True, True] Translation: X:71.66, Y:265.05, Z:6.59 [[-3.67994672e-01 -9.29818110e-01 4.26661149e-03 7.16571936e+01] [ 9.29751345e-01 -3.68019381e-01 -1.11432359e-02 2.65045777e+02] [ 1.19313782e-02 -1.33763658e-04 9.99928810e-01 6.58517309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.79275509600006 meters 0.01672022839988828 Centerline is valid? [True, True] Translation: X:71.65, Y:265.07, Z:6.59 [[-3.67913821e-01 -9.29850299e-01 4.22409781e-03 7.16468316e+01] [ 9.29785018e-01 -3.67938047e-01 -1.10187992e-02 2.65069860e+02] [ 1.18000400e-02 -1.26465641e-04 9.99930369e-01 6.58558730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.82275509600004 meters 0.016631699063665593 Centerline is valid? [True, True] Translation: X:71.64, Y:265.09, Z:6.59 [[-3.67771120e-01 -9.29906409e-01 4.29814049e-03 7.16364412e+01] [ 9.29838987e-01 -3.67796215e-01 -1.11983616e-02 2.65093786e+02] [ 1.19942680e-02 -1.21855380e-04 9.99928059e-01 6.58581308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.85275509600007 meters 0.016415374456688284 Centerline is valid? [True, True] Translation: X:71.63, Y:265.12, Z:6.59 [[-3.67153412e-01 -9.30148693e-01 4.66706675e-03 7.16252553e+01] [ 9.30069421e-01 -3.67183054e-01 -1.21440311e-02 2.65117239e+02] [ 1.30094225e-02 -1.18026380e-04 9.99915367e-01 6.58520850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.88275509600004 meters 0.0164192242100449 Centerline is valid? [True, True] Translation: X:71.61, Y:265.14, Z:6.59 [[-3.67230065e-01 -9.30117704e-01 4.80997659e-03 7.16144119e+01] [ 9.30033709e-01 -3.67261545e-01 -1.25002684e-02 2.65141141e+02] [ 1.33932404e-02 -1.17034013e-04 9.99910300e-01 6.58523090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.91275509600007 meters 0.016598214296204318 Centerline is valid? [True, True] Translation: X:71.60, Y:265.16, Z:6.59 [[-3.67685547e-01 -9.29937565e-01 4.84404466e-03 7.16046363e+01] [ 9.29852565e-01 -3.67717435e-01 -1.25735896e-02 2.65164478e+02] [ 1.34738930e-02 -1.18879819e-04 9.99909216e-01 6.58502162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.94275509600004 meters 0.016822120183582555 Centerline is valid? [True, True] Translation: X:71.59, Y:265.19, Z:6.59 [[-3.68705356e-01 -9.29534282e-01 4.73071851e-03 7.15941693e+01] [ 9.29453373e-01 -3.68735682e-01 -1.22647283e-02 2.65187948e+02] [ 1.31448701e-02 -1.25088745e-04 9.99913595e-01 6.58559945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.97275509600007 meters 0.016959511945161758 Centerline is valid? [True, True] Translation: X:71.58, Y:265.21, Z:6.59 [[-3.69365169e-01 -9.29273286e-01 4.53126042e-03 7.15839738e+01] [ 9.29199203e-01 -3.69392941e-01 -1.17343913e-02 2.65212733e+02] [ 1.25782719e-02 -1.23831830e-04 9.99920883e-01 6.58625720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.00275509600004 meters 0.01738705509121082 Centerline is valid? [True, True] Translation: X:71.57, Y:265.24, Z:6.59 [[-3.71671426e-01 -9.28355090e-01 4.14468187e-03 7.15739816e+01] [ 9.28293182e-01 -3.71694509e-01 -1.07219770e-02 2.65236734e+02] [ 1.14943574e-02 -1.37572545e-04 9.99933928e-01 6.58775879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0327550960001 meters 0.017947401899208834 Centerline is valid? [True, True] Translation: X:71.57, Y:265.26, Z:6.59 [[-3.73303949e-01 -9.27700615e-01 3.96628776e-03 7.15653217e+01] [ 9.27644011e-01 -3.73324990e-01 -1.02488988e-02 2.65261061e+02] [ 1.09886241e-02 -1.46651308e-04 9.99939613e-01 6.58852371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.06275509600005 meters 0.018131628040417583 Centerline is valid? [True, True] Translation: X:71.56, Y:265.29, Z:6.59 [[-3.74742983e-01 -9.27120409e-01 3.92978837e-03 7.15553406e+01] [ 9.27064943e-01 -3.74763554e-01 -1.01424598e-02 2.65285996e+02] [ 1.08760230e-02 -1.57646619e-04 9.99940842e-01 6.58886253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0927550960001 meters 0.019185116534164635 Centerline is valid? [True, True] Translation: X:71.55, Y:265.31, Z:6.59 [[-3.77270736e-01 -9.26094511e-01 3.96840491e-03 7.15470245e+01] [ 9.26038023e-01 -3.77291562e-01 -1.02301738e-02 2.65310552e+02] [ 1.09713534e-02 -1.84651354e-04 9.99939796e-01 6.58914978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.12275509600005 meters 0.019617925688632708 Centerline is valid? [True, True] Translation: X:71.54, Y:265.34, Z:6.59 [[-3.78583067e-01 -9.25559722e-01 3.74996484e-03 7.15379129e+01] [ 9.25509361e-01 -3.78601593e-01 -9.65689541e-03 2.65335323e+02] [ 1.03577761e-02 -1.85309519e-04 9.99946340e-01 6.58961965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1527550960001 meters 0.02011893846230842 Centerline is valid? [True, True] Translation: X:71.53, Y:265.36, Z:6.59 [[-3.79665150e-01 -9.25116549e-01 3.70734734e-03 7.15295675e+01] [ 9.25067414e-01 -3.79683202e-01 -9.53652862e-03 2.65359097e+02] [ 1.02300180e-02 -1.91141344e-04 9.99947654e-01 6.59004715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.18275509600005 meters 0.019860968254049746 Centerline is valid? [True, True] Translation: X:71.52, Y:265.38, Z:6.59 [[-3.80785524e-01 -9.24656020e-01 3.69173141e-03 7.15193721e+01] [ 9.24607367e-01 -3.80803367e-01 -9.48750323e-03 2.65383853e+02] [ 1.01785007e-02 -1.99301833e-04 9.99948178e-01 6.59035832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2127550960001 meters 0.02050200290514532 Centerline is valid? [True, True] Translation: X:71.51, Y:265.41, Z:6.59 [[-3.81223145e-01 -9.24475847e-01 3.64985540e-03 7.15108411e+01] [ 9.24428393e-01 -3.81240565e-01 -9.36894294e-03 2.65408172e+02] [ 1.00528344e-02 -1.97627925e-04 9.99949449e-01 6.59060934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.24275509600005 meters 0.020614054170203875 Centerline is valid? [True, True] Translation: X:71.50, Y:265.43, Z:6.59 [[-3.81300127e-01 -9.24444291e-01 3.60091484e-03 7.15008842e+01] [ 9.24398209e-01 -3.81317081e-01 -9.23221899e-03 2.65432119e+02] [ 9.90776248e-03 -1.91567036e-04 9.99950899e-01 6.59123552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2727550960001 meters 0.02008671032379856 Centerline is valid? [True, True] Translation: X:71.49, Y:265.46, Z:6.59 [[-3.81142963e-01 -9.24509855e-01 3.40139857e-03 7.14895120e+01] [ 9.24468828e-01 -3.81158099e-01 -8.71149611e-03 2.65456556e+02] [ 9.35033462e-03 -1.75838484e-04 9.99956269e-01 6.59148926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.30275509600006 meters 0.0194184762780643 Centerline is valid? [True, True] Translation: X:71.48, Y:265.48, Z:6.59 [[-3.80965431e-01 -9.24583770e-01 3.19256107e-03 7.14781366e+01] [ 9.24547689e-01 -3.80978774e-01 -8.16970528e-03 2.65480159e+02] [ 8.76987491e-03 -1.60700341e-04 9.99961531e-01 6.59173775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3327550960001 meters 0.020312038165531506 Centerline is valid? [True, True] Translation: X:71.47, Y:265.50, Z:6.59 [[-3.80201447e-01 -9.24898325e-01 3.15407253e-03 7.14702458e+01] [ 9.24863201e-01 -3.80214500e-01 -8.06188871e-03 2.65503966e+02] [ 8.65565148e-03 -1.48056133e-04 9.99962528e-01 6.59226960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.36275509600006 meters 0.019809047909178104 Centerline is valid? [True, True] Translation: X:71.46, Y:265.53, Z:6.59 [[-3.79768853e-01 -9.25075704e-01 3.24959191e-03 7.14600364e+01] [ 9.25038520e-01 -3.79782728e-01 -8.29556910e-03 2.65527150e+02] [ 8.90816831e-03 -1.44401068e-04 9.99960311e-01 6.59234547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3927550960001 meters 0.019553131627258604 Centerline is valid? [True, True] Translation: X:71.45, Y:265.55, Z:6.59 [[-3.79259673e-01 -9.25284514e-01 3.26638594e-03 7.14499670e+01] [ 9.25247040e-01 -3.79273714e-01 -8.32855495e-03 2.65550211e+02] [ 8.94513724e-03 -1.36471104e-04 9.99959982e-01 6.59242310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.42275509600006 meters 0.01864328626555226 Centerline is valid? [True, True] Translation: X:71.44, Y:265.57, Z:6.59 [[-3.77926043e-01 -9.25828887e-01 3.57464646e-03 7.14376745e+01] [ 9.25784144e-01 -3.77942926e-01 -9.10291677e-03 2.65573845e+02] [ 9.77875564e-03 -1.30878302e-04 9.99952178e-01 6.59225455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.4527550960001 meters 0.018311143666143958 Centerline is valid? [True, True] Translation: X:71.43, Y:265.60, Z:6.59 [[-3.77556274e-01 -9.25979758e-01 3.57041053e-03 7.14264774e+01] [ 9.25935227e-01 -3.77573135e-01 -9.08203957e-03 2.65597924e+02] [ 9.75787590e-03 -1.23012136e-04 9.99952383e-01 6.59237534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.48275509600006 meters 0.018011571919576152 Centerline is valid? [True, True] Translation: X:71.42, Y:265.62, Z:6.59 [[-3.77129506e-01 -9.26152595e-01 3.83488679e-03 7.14151630e+01] [ 9.26101354e-01 -3.77148983e-01 -9.74303858e-03 2.65621872e+02] [ 1.04698641e-02 -1.22893478e-04 9.99945182e-01 6.59161806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.51275509600003 meters 0.018239069248271126 Centerline is valid? [True, True] Translation: X:71.41, Y:265.65, Z:6.59 [[-3.77667967e-01 -9.25932145e-01 4.07057314e-03 7.14057425e+01] [ 9.25874540e-01 -3.77689880e-01 -1.03291602e-02 2.65646222e+02] [ 1.11015158e-02 -1.32152923e-04 9.99938368e-01 6.59146645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.54275509600006 meters 0.018626491585502038 Centerline is valid? [True, True] Translation: X:71.40, Y:265.67, Z:6.59 [[-3.78212870e-01 -9.25708963e-01 4.23560069e-03 7.13980329e+01] [ 9.25646728e-01 -3.78236561e-01 -1.07349660e-02 2.65670092e+02] [ 1.15395133e-02 -1.39432384e-04 9.99933408e-01 6.59098216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.57275509600004 meters 0.018668378529007882 Centerline is valid? [True, True] Translation: X:71.39, Y:265.69, Z:6.59 [[-3.79892172e-01 -9.25020380e-01 4.38567160e-03 7.13889229e+01] [ 9.24953773e-01 -3.79917453e-01 -1.11016646e-02 2.65694832e+02] [ 1.19354592e-02 -1.60892003e-04 9.99928757e-01 6.59124968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.60275509600007 meters 0.01896995453039598 Centerline is valid? [True, True] Translation: X:71.38, Y:265.72, Z:6.59 [[-3.81131797e-01 -9.24509961e-01 4.45932666e-03 7.13797742e+01] [ 9.24441223e-01 -3.81157843e-01 -1.12748905e-02 2.65720122e+02] [ 1.21234559e-02 -1.74833870e-04 9.99926493e-01 6.59113521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.63275509600004 meters 0.01896995453039598 Centerline is valid? [True, True] Translation: X:71.37, Y:265.74, Z:6.59 [[-3.81495420e-01 -9.24359951e-01 4.46376343e-03 7.13699990e+01] [ 9.24291224e-01 -3.81521494e-01 -1.12731339e-02 2.65744140e+02] [ 1.21234552e-02 -1.74831598e-04 9.99926493e-01 6.59137280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.66275509600007 meters 0.019459908137011574 Centerline is valid? [True, True] Translation: X:71.36, Y:265.77, Z:6.59 [[-3.83201197e-01 -9.23652977e-01 4.69263754e-03 7.13604559e+01] [ 9.23577142e-01 -3.83229875e-01 -1.18374336e-02 2.65769853e+02] [ 1.27320397e-02 -2.02105961e-04 9.99918924e-01 6.59154085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.69275509600004 meters 0.020664299034105774 Centerline is valid? [True, True] Translation: X:71.35, Y:265.80, Z:6.59 [[-3.86481514e-01 -9.22285329e-01 4.67028474e-03 7.13529498e+01] [ 9.22210258e-01 -3.86509655e-01 -1.17697123e-02 2.65795348e+02] [ 1.26601431e-02 -2.41791728e-04 9.99919828e-01 6.59132068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.72275509600007 meters 0.02147049898484774 Centerline is valid? [True, True] Translation: X:71.34, Y:265.82, Z:6.59 [[-3.88291170e-01 -9.21524419e-01 4.76581524e-03 7.13449050e+01] [ 9.21446313e-01 -3.88320323e-01 -1.20008169e-02 2.65820099e+02] [ 1.29097087e-02 -2.68368351e-04 9.99916630e-01 6.59186764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.75275509600004 meters 0.023468724876150867 Centerline is valid? [True, True] Translation: X:71.34, Y:265.85, Z:6.59 [[-3.91990543e-01 -9.19957462e-01 4.65645709e-03 7.13389451e+01] [ 9.19882913e-01 -3.92018077e-01 -1.17155585e-02 2.65846242e+02] [ 1.26032308e-02 -3.08992841e-04 9.99920528e-01 6.59303216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.7827550960001 meters 0.023071635323404286 Centerline is valid? [True, True] Translation: X:71.33, Y:265.87, Z:6.59 [[-3.93816758e-01 -9.19178184e-01 4.45275971e-03 7.13288487e+01] [ 9.19110101e-01 -3.93841804e-01 -1.11917520e-02 2.65871232e+02] [ 1.20408972e-02 -3.14923074e-04 9.99927456e-01 6.59409589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.81275509600005 meters 0.023965746228868337 Centerline is valid? [True, True] Translation: X:71.32, Y:265.90, Z:6.60 [[-3.95723164e-01 -9.18358908e-01 4.48254420e-03 7.13209181e+01] [ 9.18290002e-01 -3.95748407e-01 -1.12548315e-02 2.65896453e+02] [ 1.21099345e-02 -3.37522010e-04 9.99926615e-01 6.59518396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8427550960001 meters 0.02441424699744202 Centerline is valid? [True, True] Translation: X:71.31, Y:265.92, Z:6.60 [[-3.97485616e-01 -9.17597771e-01 4.41766214e-03 7.13114255e+01] [ 9.17530937e-01 -3.97510009e-01 -1.10802431e-02 2.65921838e+02] [ 1.19232713e-02 -3.50895577e-04 9.99928854e-01 6.59560212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.87275509600005 meters 0.026442549186645303 Centerline is valid? [True, True] Translation: X:71.30, Y:265.95, Z:6.60 [[-3.99937119e-01 -9.16533118e-01 4.16461886e-03 7.13041888e+01] [ 9.16473780e-01 -3.99958643e-01 -1.04352623e-02 2.65947285e+02] [ 1.12299388e-02 -3.56684740e-04 9.99936879e-01 6.59650434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9027550960001 meters 0.02699426377964487 Centerline is valid? [True, True] Translation: X:71.29, Y:265.97, Z:6.60 [[-4.00851637e-01 -9.16133799e-01 4.10218670e-03 7.12946336e+01] [ 9.16076326e-01 -4.00872467e-01 -1.02679750e-02 2.65972258e+02] [ 1.10512926e-02 -3.58018457e-04 9.99938869e-01 6.59708008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.93275509600005 meters 0.025891254316980708 Centerline is valid? [True, True] Translation: X:71.28, Y:266.00, Z:6.60 [[-4.01138368e-01 -9.16009129e-01 3.90961967e-03 7.12828598e+01] [ 9.15957024e-01 -4.01157275e-01 -9.77607751e-03 2.65995874e+02] [ 1.05233486e-02 -3.40516179e-04 9.99944570e-01 6.59822742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9627550960001 meters 0.02598920989922481 Centerline is valid? [True, True] Translation: X:71.27, Y:266.02, Z:6.60 [[-4.00909929e-01 -9.16108483e-01 4.05923394e-03 7.12734444e+01] [ 9.16052443e-01 -4.00930329e-01 -1.01387085e-02 2.66018963e+02] [ 1.09156268e-02 -3.46237735e-04 9.99940363e-01 6.59843252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.99275509600005 meters 0.025719589004919934 Centerline is valid? [True, True] Translation: X:71.26, Y:266.04, Z:6.60 [[-4.00298034e-01 -9.16375599e-01 4.15290529e-03 7.12627267e+01] [ 9.16317067e-01 -4.00319429e-01 -1.03627909e-02 2.66043608e+02] [ 1.11586973e-02 -3.42826806e-04 9.99937681e-01 6.59860705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0227550960001 meters 0.02391196150795376 Centerline is valid? [True, True] Translation: X:71.25, Y:266.07, Z:6.60 [[-3.97351140e-01 -9.17656155e-01 4.38786124e-03 7.12490917e+01] [ 9.17591037e-01 -3.97375238e-01 -1.09366339e-02 2.66067509e+02] [ 1.17796968e-02 -3.19421793e-04 9.99930566e-01 6.59946045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.05275509600006 meters 0.022901787250939876 Centerline is valid? [True, True] Translation: X:71.24, Y:266.09, Z:6.60 [[-3.96021567e-01 -9.18230814e-01 4.36926250e-03 7.12362851e+01] [ 9.18166410e-01 -3.96045558e-01 -1.08793349e-02 2.66091876e+02] [ 1.17201676e-02 -2.96741203e-04 9.99931272e-01 6.59990886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0827550960001 meters 0.02378289366032045 Centerline is valid? [True, True] Translation: X:71.23, Y:266.12, Z:6.60 [[-3.94633791e-01 -9.18827441e-01 4.50607226e-03 7.12270805e+01] [ 9.18759122e-01 -3.94659414e-01 -1.12081616e-02 2.66116299e+02] [ 1.20767303e-02 -2.83124321e-04 9.99927034e-01 6.59987004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.11275509600006 meters 0.020566067806613707 Centerline is valid? [True, True] Translation: X:71.21, Y:266.14, Z:6.60 [[-3.91507859e-01 -9.20163988e-01 4.45328677e-03 7.12100751e+01] [ 9.20097484e-01 -3.91533115e-01 -1.10652577e-02 2.66138596e+02] [ 1.19254609e-02 -2.34677402e-04 9.99928862e-01 6.60104361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1427550960001 meters 0.020112668396507657 Centerline is valid? [True, True] Translation: X:71.20, Y:266.16, Z:6.60 [[-3.90334185e-01 -9.20662962e-01 4.35129101e-03 7.11991386e+01] [ 9.20599632e-01 -3.90358381e-01 -1.08005310e-02 2.66161974e+02] [ 1.16422118e-02 -2.10019558e-04 9.99932205e-01 6.60168715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.17275509600006 meters 0.019339756835245414 Centerline is valid? [True, True] Translation: X:71.19, Y:266.19, Z:6.60 [[-3.88047118e-01 -9.21628805e-01 4.44746222e-03 7.11879029e+01] [ 9.21562863e-01 -3.88072562e-01 -1.10262022e-02 2.66185725e+02] [ 1.18880036e-02 -1.80069966e-04 9.99929319e-01 6.60253952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.2027550960001 meters 0.018965837946651864 Centerline is valid? [True, True] Translation: X:71.18, Y:266.21, Z:6.60 [[-3.87197612e-01 -9.21986100e-01 4.43191394e-03 7.11770607e+01] [ 9.21920780e-01 -3.87222940e-01 -1.09759019e-02 2.66209448e+02] [ 1.18357678e-02 -1.63969459e-04 9.99929941e-01 6.60295169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.23275509600006 meters 0.018535471131475748 Centerline is valid? [True, True] Translation: X:71.17, Y:266.23, Z:6.60 [[-3.86728999e-01 -9.22182125e-01 4.56172199e-03 7.11656309e+01] [ 9.22113092e-01 -3.86755870e-01 -1.12846213e-02 2.66233022e+02] [ 1.21707488e-02 -1.57666716e-04 9.99925921e-01 6.60350882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.26275509600003 meters 0.018121117610019992 Centerline is valid? [True, True] Translation: X:71.15, Y:266.26, Z:6.60 [[-3.85932625e-01 -9.22515435e-01 4.61319209e-03 7.11538037e+01] [ 9.22445017e-01 -3.85960169e-01 -1.13990485e-02 2.66257230e+02] [ 1.22963065e-02 -1.43848640e-04 9.99924387e-01 6.60354625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.29275509600006 meters 0.01850158457565319 Centerline is valid? [True, True] Translation: X:71.14, Y:266.28, Z:6.60 [[-3.86190324e-01 -9.22406685e-01 4.78964988e-03 7.11448734e+01] [ 9.22330945e-01 -3.86219996e-01 -1.18212416e-02 2.66280960e+02] [ 1.27538508e-02 -1.47606820e-04 9.99918655e-01 6.60319209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.32275509600004 meters 0.018180448317226136 Centerline is valid? [True, True] Translation: X:71.13, Y:266.31, Z:6.60 [[-3.86720375e-01 -9.22183889e-01 4.92200838e-03 7.11341189e+01] [ 9.22104074e-01 -3.86751666e-01 -1.21336340e-02 2.66305561e+02] [ 1.30930367e-02 -1.53719512e-04 9.99914271e-01 6.60352246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.35275509600007 meters 0.018533693232129562 Centerline is valid? [True, True] Translation: X:71.13, Y:266.33, Z:6.60 [[-3.88000132e-01 -9.21645378e-01 5.06898786e-03 7.11262015e+01] [ 9.21560872e-01 -3.88033205e-01 -1.24816067e-02 2.66330058e+02] [ 1.34705507e-02 -1.71484175e-04 9.99909253e-01 6.60312859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.38275509600004 meters 0.01914781971327102 Centerline is valid? [True, True] Translation: X:71.12, Y:266.35, Z:6.60 [[-3.89269736e-01 -9.21109644e-01 5.10845829e-03 7.11183841e+01] [ 9.21023968e-01 -3.89303210e-01 -1.25642592e-02 2.66354319e+02] [ 1.35617995e-02 -1.85873335e-04 9.99908017e-01 6.60302229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.41275509600007 meters 0.019049045200903496 Centerline is valid? [True, True] Translation: X:71.11, Y:266.38, Z:6.60 [[-3.91736810e-01 -9.20062677e-01 5.19060951e-03 7.11084182e+01] [ 9.19974325e-01 -3.91771135e-01 -1.27522055e-02 2.66379377e+02] [ 1.37663593e-02 -2.20280811e-04 9.99905215e-01 6.60407920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.44275509600004 meters 0.02061231165828399 Centerline is valid? [True, True] Translation: X:71.10, Y:266.40, Z:6.60 [[-3.93095679e-01 -9.19483117e-01 5.15600037e-03 7.11017089e+01] [ 9.19396073e-01 -3.93129422e-01 -1.26537998e-02 2.66404406e+02] [ 1.36619307e-02 -2.33747526e-04 9.99906644e-01 6.60377068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.47275509600007 meters 0.019770284994072396 Centerline is valid? [True, True] Translation: X:71.09, Y:266.43, Z:6.60 [[-3.94434977e-01 -9.18909919e-01 5.06060014e-03 7.10896051e+01] [ 9.18826208e-01 -3.94467365e-01 -1.24055478e-02 2.66428069e+02] [ 1.33958225e-02 -2.43369917e-04 9.99910242e-01 6.60448465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.50275509600004 meters 0.020364066597146714 Centerline is valid? [True, True] Translation: X:71.08, Y:266.45, Z:6.60 [[-3.96409061e-01 -9.18059465e-01 5.16473515e-03 7.10802786e+01] [ 9.17972392e-01 -3.96442611e-01 -1.26468850e-02 2.66453641e+02] [ 1.36581135e-02 -2.72255521e-04 9.99906687e-01 6.60472117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5327550960001 meters 0.02006754510595092 Centerline is valid? [True, True] Translation: X:71.07, Y:266.48, Z:6.60 [[-3.97264814e-01 -9.17689447e-01 5.17166284e-03 7.10695957e+01] [ 9.17602286e-01 -3.97298376e-01 -1.26509042e-02 2.66479228e+02] [ 1.36642945e-02 -2.80229458e-04 9.99906600e-01 6.60484682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.56275509600005 meters 0.020776591885660892 Centerline is valid? [True, True] Translation: X:71.06, Y:266.50, Z:6.60 [[-3.98815841e-01 -9.17015847e-01 5.27845959e-03 7.10617203e+01] [ 9.16925176e-01 -3.98850654e-01 -1.28987356e-02 2.66503860e+02] [ 1.39336620e-02 -3.04267595e-04 9.99902876e-01 6.60491360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5927550960001 meters 0.021174287701893522 Centerline is valid? [True, True] Translation: X:71.05, Y:266.53, Z:6.61 [[-3.99704348e-01 -9.16628940e-01 5.27453206e-03 7.10526745e+01] [ 9.16538560e-01 -3.99739026e-01 -1.28755342e-02 2.66527891e+02] [ 1.39105235e-02 -3.12094965e-04 9.99903195e-01 6.60502441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.62275509600005 meters 0.0210634001146223 Centerline is valid? [True, True] Translation: X:71.04, Y:266.55, Z:6.61 [[-4.00305280e-01 -9.16365936e-01 5.39946067e-03 7.10418716e+01] [ 9.16271415e-01 -4.00341563e-01 -1.31653966e-02 2.66552917e+02] [ 1.42259495e-02 -3.22806297e-04 9.99898754e-01 6.60526745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6527550960001 meters 0.02144828108762259 Centerline is valid? [True, True] Translation: X:71.03, Y:266.58, Z:6.61 [[-4.00913787e-01 -9.16098854e-01 5.57008744e-03 7.10327001e+01] [ 9.15998437e-01 -4.00952337e-01 -1.35678623e-02 2.66576109e+02] [ 1.46628427e-02 -3.37351666e-04 9.99892438e-01 6.60522096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.68275509600005 meters 0.02162473537078794 Centerline is valid? [True, True] Translation: X:71.02, Y:266.60, Z:6.61 [[-4.01393525e-01 -9.15888956e-01 5.53702026e-03 7.10230862e+01] [ 9.15789900e-01 -4.01431572e-01 -1.34741253e-02 2.66600374e+02] [ 1.45635373e-02 -3.37679410e-04 9.99893889e-01 6.60530413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7127550960001 meters 0.021718398826185318 Centerline is valid? [True, True] Translation: X:71.01, Y:266.62, Z:6.61 [[-4.01989896e-01 -9.15627417e-01 5.52792858e-03 7.10130956e+01] [ 9.15528879e-01 -4.02027758e-01 -1.34370386e-02 2.66624532e+02] [ 1.45257017e-02 -3.40575486e-04 9.99894438e-01 6.60558961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.74275509600005 meters 0.021978978502601974 Centerline is valid? [True, True] Translation: X:71.00, Y:266.65, Z:6.61 [[-4.02526905e-01 -9.15391776e-01 5.47600838e-03 7.10035270e+01] [ 9.15295270e-01 -4.02564008e-01 -1.32961757e-02 2.66648831e+02] [ 1.43756538e-02 -3.39903882e-04 9.99896607e-01 6.60654243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7727550960001 meters 0.02221809296498964 Centerline is valid? [True, True] Translation: X:70.99, Y:266.67, Z:6.61 [[-4.03088615e-01 -9.15146749e-01 5.09856094e-03 7.09935388e+01] [ 9.15063243e-01 -4.03120733e-01 -1.23667472e-02 2.66673457e+02] [ 1.33727242e-02 -3.19389319e-04 9.99910530e-01 6.60751131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.80275509600006 meters 0.022941990283112734 Centerline is valid? [True, True] Translation: X:70.98, Y:266.70, Z:6.61 [[-4.04327364e-01 -9.14601687e-01 4.81015455e-03 7.09844125e+01] [ 9.14527474e-01 -4.04355854e-01 -1.16551798e-02 2.66698206e+02] [ 1.26048613e-02 -3.13489638e-04 9.99920506e-01 6.60877821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8327550960001 meters 0.023330297368174824 Centerline is valid? [True, True] Translation: X:70.97, Y:266.72, Z:6.61 [[-4.05182538e-01 -9.14223457e-01 4.75208937e-03 7.09747525e+01] [ 9.14151148e-01 -4.05210280e-01 -1.15024565e-02 2.66722251e+02] [ 1.24414110e-02 -3.16466576e-04 9.99922553e-01 6.60920389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.86275509600006 meters 0.023985827152451147 Centerline is valid? [True, True] Translation: X:70.97, Y:266.75, Z:6.61 [[-4.05897748e-01 -9.13906137e-01 4.75307340e-03 7.09655147e+01] [ 9.13833937e-01 -4.05925450e-01 -1.14919238e-02 2.66745634e+02] [ 1.24319331e-02 -3.21026194e-04 9.99922669e-01 6.60939344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8927550960001 meters 0.02429785440462648 Centerline is valid? [True, True] Translation: X:70.96, Y:266.77, Z:6.61 [[-4.06743547e-01 -9.13530840e-01 4.59248808e-03 7.09550187e+01] [ 9.13463556e-01 -4.06769350e-01 -1.10917819e-02 2.66769845e+02] [ 1.20007683e-02 -3.16440240e-04 9.99927938e-01 6.61033860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.92275509600006 meters 0.024369575577478462 Centerline is valid? [True, True] Translation: X:70.94, Y:266.79, Z:6.61 [[-4.07005223e-01 -9.13415561e-01 4.33143281e-03 7.09444462e+01] [ 9.13355821e-01 -4.07028161e-01 -1.04508413e-02 2.66793688e+02] [ 1.13089762e-02 -2.97407623e-04 9.99936007e-01 6.61124316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.9527550960001 meters 0.023047372316991454 Centerline is valid? [True, True] Translation: X:70.93, Y:266.82, Z:6.61 [[-4.07263856e-01 -9.13300861e-01 4.20579193e-03 7.09311967e+01] [ 9.13244645e-01 -4.07285470e-01 -1.01372885e-02 2.66816993e+02] [ 1.09713523e-02 -2.87634249e-04 9.99939772e-01 6.61172260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.98275509600006 meters 0.023317182571593043 Centerline is valid? [True, True] Translation: X:70.92, Y:266.84, Z:6.61 [[-4.07415054e-01 -9.13234661e-01 3.92797668e-03 7.09195910e+01] [ 9.13185723e-01 -4.07433901e-01 -9.45787597e-03 2.66840152e+02] [ 1.02376510e-02 -2.66308821e-04 9.99947558e-01 6.61277413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.01275509600003 meters 0.024734402351225187 Centerline is valid? [True, True] Translation: X:70.91, Y:266.86, Z:6.61 [[-4.07218101e-01 -9.13322916e-01 3.83007384e-03 7.09111633e+01] [ 9.13276492e-01 -4.07236033e-01 -9.21208140e-03 2.66863819e+02] [ 9.97334913e-03 -2.53409894e-04 9.99950233e-01 6.61305356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.04275509600006 meters 0.02146565177399721 Centerline is valid? [True, True] Translation: X:70.89, Y:266.89, Z:6.61 [[-4.06667417e-01 -9.13567883e-01 3.91597418e-03 7.08932351e+01] [ 9.13519450e-01 -4.06686195e-01 -9.41029871e-03 2.66885705e+02] [ 1.01895193e-02 -2.49543292e-04 9.99948054e-01 6.61343072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.07275509600004 meters 0.021473893528921317 Centerline is valid? [True, True] Translation: X:70.88, Y:266.91, Z:6.61 [[-4.06213872e-01 -9.13769906e-01 3.85361292e-03 7.08824918e+01] [ 9.13723106e-01 -4.06232081e-01 -9.25100572e-03 2.66908361e+02] [ 1.00187518e-02 -2.36751684e-04 9.99949783e-01 6.61382739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.10275509600007 meters 0.02073863024288875 Centerline is valid? [True, True] Translation: X:70.87, Y:266.93, Z:6.61 [[-4.05446386e-01 -9.14110926e-01 3.80033714e-03 7.08694155e+01] [ 9.14065531e-01 -4.05464136e-01 -9.11258428e-03 2.66932788e+02] [ 9.87081327e-03 -2.20907174e-04 9.99951258e-01 6.61412214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.13275509600004 meters 0.020847542144465388 Centerline is valid? [True, True] Translation: X:70.86, Y:266.96, Z:6.61 [[-4.05013816e-01 -9.14303369e-01 3.62739544e-03 7.08584368e+01] [ 9.14262100e-01 -4.05030008e-01 -8.68938337e-03 2.66955486e+02] [ 9.41393650e-03 -2.02930145e-04 9.99955667e-01 6.61415456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.16275509600007 meters 0.020124973275080903 Centerline is valid? [True, True] Translation: X:70.84, Y:266.98, Z:6.61 [[-4.02760809e-01 -9.15298149e-01 3.60949387e-03 7.08446277e+01] [ 9.15257421e-01 -4.02776945e-01 -8.63636879e-03 2.66977868e+02] [ 9.35867328e-03 -1.74774827e-04 9.99956191e-01 6.61484104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.19275509600004 meters 0.01933371964414727 Centerline is valid? [True, True] Translation: X:70.83, Y:267.00, Z:6.61 [[-4.00251346e-01 -9.16398195e-01 3.63437610e-03 7.08302673e+01] [ 9.16357033e-01 -4.00267819e-01 -8.68685996e-03 2.67000642e+02] [ 9.41534659e-03 -1.46541289e-04 9.99955664e-01 6.61460010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.22275509600007 meters 0.020032569627301558 Centerline is valid? [True, True] Translation: X:70.82, Y:267.02, Z:6.61 [[-3.98894814e-01 -9.16988545e-01 3.86479113e-03 7.08207129e+01] [ 9.16942099e-01 -3.98913512e-01 -9.23017356e-03 2.67024588e+02] [ 1.00056808e-02 -1.38078677e-04 9.99949932e-01 6.61434051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.25275509600004 meters 0.018147741744316846 Centerline is valid? [True, True] Translation: X:70.81, Y:267.05, Z:6.61 [[-3.97876955e-01 -9.17430692e-01 3.85417063e-03 7.08051116e+01] [ 9.17384602e-01 -3.97895602e-01 -9.19686914e-03 2.67046266e+02] [ 9.97104756e-03 -1.23465499e-04 9.99950280e-01 6.61450373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.2827550960001 meters 0.017777347873689123 Centerline is valid? [True, True] Translation: X:70.79, Y:267.07, Z:6.61 [[-3.96742678e-01 -9.17921677e-01 3.87853212e-03 7.07925471e+01] [ 9.17875128e-01 -3.96761621e-01 -9.24471710e-03 2.67069725e+02] [ 1.00247789e-02 -1.07765658e-04 9.99949745e-01 6.61446805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.31275509600005 meters 0.017482611034992365 Centerline is valid? [True, True] Translation: X:70.78, Y:267.09, Z:6.61 [[-3.94593606e-01 -9.18846512e-01 4.11992591e-03 7.07796874e+01] [ 9.18794163e-01 -3.94615105e-01 -9.80846978e-03 2.67091513e+02] [ 1.06382632e-02 -8.49955860e-05 9.99943408e-01 6.61406717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3427550960001 meters 0.01738691248915423 Centerline is valid? [True, True] Translation: X:70.77, Y:267.11, Z:6.61 [[-3.94215621e-01 -9.19009741e-01 3.89113214e-03 7.07680367e+01] [ 9.18963154e-01 -3.94234818e-01 -9.25361730e-03 2.67114813e+02] [ 1.00381842e-02 -7.21134285e-05 9.99949614e-01 6.61449830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.37275509600005 meters 0.017315686930061424 Centerline is valid? [True, True] Translation: X:70.76, Y:267.14, Z:6.61 [[-3.94363102e-01 -9.18947098e-01 3.73847344e-03 7.07568845e+01] [ 9.18904181e-01 -3.94380815e-01 -8.88132421e-03 2.67137745e+02] [ 9.63584931e-03 -6.71676893e-05 9.99953572e-01 6.61492292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4027550960001 meters 0.017500192085810638 Centerline is valid? [True, True] Translation: X:70.75, Y:267.16, Z:6.62 [[-3.94821193e-01 -9.18750613e-01 3.67923425e-03 7.07467263e+01] [ 9.18709129e-01 -3.94838330e-01 -8.73100112e-03 2.67161204e+02] [ 9.47431534e-03 -6.70381842e-05 9.99955115e-01 6.61504930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.43275509600005 meters 0.017617633227216253 Centerline is valid? [True, True] Translation: X:70.74, Y:267.19, Z:6.62 [[-3.96551216e-01 -9.18004351e-01 3.89169256e-03 7.07368025e+01] [ 9.17957985e-01 -3.96570302e-01 -9.22679812e-03 2.67185831e+02] [ 1.00135705e-02 -8.64877495e-05 9.99949859e-01 6.61502646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4627550960001 meters 0.01779616877895261 Centerline is valid? [True, True] Translation: X:70.73, Y:267.21, Z:6.62 [[-3.97804381e-01 -9.17461997e-01 3.89331803e-03 7.07277607e+01] [ 9.17415668e-01 -3.97823421e-01 -9.22053561e-03 2.67209253e+02] [ 1.00083441e-02 -9.61785022e-05 9.99949911e-01 6.61509691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.49275509600005 meters 0.01803906445832933 Centerline is valid? [True, True] Translation: X:70.72, Y:267.23, Z:6.62 [[-3.99179087e-01 -9.16864996e-01 3.82573998e-03 7.07181666e+01] [ 9.16820332e-01 -3.99197406e-01 -9.05041107e-03 2.67233729e+02] [ 9.82523058e-03 -1.05218626e-04 9.99951726e-01 6.61570124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5227550960001 meters 0.018436868486027096 Centerline is valid? [True, True] Translation: X:70.71, Y:267.26, Z:6.62 [[-4.00767235e-01 -9.16172471e-01 3.69142158e-03 7.07090469e+01] [ 9.16130945e-01 -4.00784219e-01 -8.72356748e-03 2.67257641e+02] [ 9.47175589e-03 -1.14294474e-04 9.99955135e-01 6.61596066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.55275509600006 meters 0.018436868486027096 Centerline is valid? [True, True] Translation: X:70.70, Y:267.28, Z:6.62 [[-4.01117480e-01 -9.16019167e-01 3.69492760e-03 7.06986994e+01] [ 9.15977649e-01 -4.01134482e-01 -8.72208225e-03 2.67281404e+02] [ 9.47175739e-03 -1.14108556e-04 9.99955135e-01 6.61619819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5827550960001 meters 0.019046747146939536 Centerline is valid? [True, True] Translation: X:70.69, Y:267.31, Z:6.62 [[-4.03975013e-01 -9.14763434e-01 3.47113304e-03 7.06889808e+01] [ 9.14726819e-01 -4.03989905e-01 -8.18561716e-03 2.67307061e+02] [ 8.89020597e-03 -1.31646318e-04 9.99960473e-01 6.61712465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.61275509600006 meters 0.020124172167652846 Centerline is valid? [True, True] Translation: X:70.68, Y:267.33, Z:6.62 [[-4.07304309e-01 -9.13286403e-01 3.33850406e-03 7.06809412e+01] [ 9.13252546e-01 -4.07317962e-01 -7.86549514e-03 2.67332459e+02] [ 8.54328244e-03 -1.54752731e-04 9.99963494e-01 6.61749283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6427550960001 meters 0.021215852199947604 Centerline is valid? [True, True] Translation: X:70.67, Y:267.36, Z:6.62 [[-4.08784947e-01 -9.12625568e-01 3.07246525e-03 7.06729764e+01] [ 9.12596928e-01 -4.08796465e-01 -7.23165514e-03 2.67357468e+02] [ 7.85580632e-03 -1.52269414e-04 9.99969131e-01 6.61810489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.67275509600006 meters 0.021233635606721292 Centerline is valid? [True, True] Translation: X:70.66, Y:267.38, Z:6.62 [[-4.10295491e-01 -9.11947078e-01 3.18381496e-03 7.06625664e+01] [ 9.11916350e-01 -4.10307809e-01 -7.48813261e-03 2.67382641e+02] [ 8.13512479e-03 -1.68974124e-04 9.99966895e-01 6.61833963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.7027550960001 meters 0.021670697181366255 Centerline is valid? [True, True] Translation: X:70.65, Y:267.41, Z:6.62 [[-4.11638463e-01 -9.11342024e-01 3.08070929e-03 7.06526191e+01] [ 9.11313290e-01 -4.11649954e-01 -7.23897321e-03 2.67408439e+02] [ 7.86535434e-03 -1.72348482e-04 9.99969053e-01 6.61869650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.73275509600006 meters 0.02275662953461126 Centerline is valid? [True, True] Translation: X:70.64, Y:267.43, Z:6.62 [[-4.13746894e-01 -9.10386024e-01 3.28565175e-03 7.06438407e+01] [ 9.10353376e-01 -4.13759892e-01 -7.71247193e-03 2.67432975e+02] [ 8.38079756e-03 -1.99907139e-04 9.99964861e-01 6.61828377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.76275509600003 meters 0.023599194272050414 Centerline is valid? [True, True] Translation: X:70.63, Y:267.46, Z:6.62 [[-4.14938614e-01 -9.09843566e-01 3.26078981e-03 7.06348136e+01] [ 9.09811440e-01 -4.14951375e-01 -7.64852561e-03 2.67457626e+02] [ 8.31203102e-03 -2.06964741e-04 9.99965433e-01 6.61813124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.79275509600006 meters 0.02429428415953964 Centerline is valid? [True, True] Translation: X:70.63, Y:267.48, Z:6.62 [[-4.16637664e-01 -9.09066800e-01 3.25715083e-03 7.06253433e+01] [ 9.09034767e-01 -4.16650338e-01 -7.63469643e-03 2.67482763e+02] [ 8.29754205e-03 -2.20038744e-04 9.99965551e-01 6.61792008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.82275509600004 meters 0.024681833571571422 Centerline is valid? [True, True] Translation: X:70.62, Y:267.51, Z:6.62 [[-4.17065642e-01 -9.08870287e-01 3.32451966e-03 7.06159850e+01] [ 9.08836977e-01 -4.17078831e-01 -7.78445997e-03 2.67505986e+02] [ 8.46165114e-03 -2.25184390e-04 9.99964174e-01 6.61788100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.85275509600007 meters 0.025132970952525115 Centerline is valid? [True, True] Translation: X:70.61, Y:267.53, Z:6.62 [[-4.17757781e-01 -9.08551945e-01 3.43501738e-03 7.06064869e+01] [ 9.08516451e-01 -4.17771836e-01 -8.03434262e-03 2.67528633e+02] [ 8.73467114e-03 -2.35639347e-04 9.99961824e-01 6.61767527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.88275509600004 meters 0.02511158992129441 Centerline is valid? [True, True] Translation: X:70.60, Y:267.55, Z:6.62 [[-4.17662223e-01 -9.08596189e-01 3.35146906e-03 7.05962669e+01] [ 9.08562478e-01 -4.17675609e-01 -7.83004826e-03 2.67551952e+02] [ 8.51417889e-03 -2.25296333e-04 9.99963728e-01 6.61768024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.91275509600007 meters 0.02242103737096835 Centerline is valid? [True, True] Translation: X:70.58, Y:267.57, Z:6.62 [[-4.17594558e-01 -9.08627355e-01 3.33380548e-03 7.05810246e+01] [ 9.08594071e-01 -4.17607808e-01 -7.78030057e-03 2.67573915e+02] [ 8.46161712e-03 -2.19935286e-04 9.99964176e-01 6.61770326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.94275509600004 meters 0.02462464211976774 Centerline is valid? [True, True] Translation: X:70.57, Y:267.60, Z:6.62 [[-4.17101122e-01 -9.08854017e-01 3.32113722e-03 7.05743036e+01] [ 9.08821063e-01 -4.17114291e-01 -7.74231940e-03 2.67598687e+02] [ 8.42193188e-03 -2.11010651e-04 9.99964513e-01 6.61791597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.97275509600007 meters 0.023875004564878066 Centerline is valid? [True, True] Translation: X:70.56, Y:267.62, Z:6.62 [[-4.15276587e-01 -9.09689267e-01 3.28550508e-03 7.05628449e+01] [ 9.09657116e-01 -4.15289541e-01 -7.65036959e-03 2.67621269e+02] [ 8.32389500e-03 -1.88336296e-04 9.99965338e-01 6.61796873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.00275509600004 meters 0.02330564428437449 Centerline is valid? [True, True] Translation: X:70.55, Y:267.64, Z:6.62 [[-4.14596740e-01 -9.09999585e-01 3.20924979e-03 7.05513387e+01] [ 9.09968963e-01 -4.14609123e-01 -7.46738672e-03 2.67644346e+02] [ 8.12590305e-03 -1.75636490e-04 9.99966969e-01 6.61810965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0327550960001 meters 0.020136299619238684 Centerline is valid? [True, True] Translation: X:70.53, Y:267.67, Z:6.62 [[-4.12923884e-01 -9.10760186e-01 3.12228116e-03 7.05341403e+01] [ 9.10731283e-01 -4.12935660e-01 -7.25747591e-03 2.67667012e+02] [ 7.89912134e-03 -1.53226015e-04 9.99968790e-01 6.61812778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.06275509600005 meters 0.02003452153398147 Centerline is valid? [True, True] Translation: X:70.52, Y:267.69, Z:6.62 [[-4.12303068e-01 -9.11041368e-01 3.13150832e-03 7.05232450e+01] [ 9.11012359e-01 -4.12314934e-01 -7.27166127e-03 2.67690388e+02] [ 7.91595188e-03 -1.45285465e-04 9.99968658e-01 6.61833194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0927550960001 meters 0.019171174186763475 Centerline is valid? [True, True] Translation: X:70.51, Y:267.71, Z:6.62 [[-4.11627348e-01 -9.11347520e-01 2.93669958e-03 7.05102690e+01] [ 9.11322054e-01 -4.11637804e-01 -6.81410827e-03 2.67713990e+02] [ 7.41887724e-03 -1.28594221e-04 9.99972472e-01 6.61875676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.12275509600005 meters 0.018750857993930056 Centerline is valid? [True, True] Translation: X:70.50, Y:267.74, Z:6.62 [[-4.09164147e-01 -9.12457112e-01 2.59206002e-03 7.04981740e+01] [ 9.12437328e-01 -4.09172347e-01 -6.00936844e-03 2.67737833e+02] [ 6.54389026e-03 -9.37257921e-05 9.99978584e-01 6.62011321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1527550960001 meters 0.01843787076182517 Centerline is valid? [True, True] Translation: X:70.49, Y:267.76, Z:6.62 [[-4.08124148e-01 -9.12923337e-01 2.37937470e-03 7.04865440e+01] [ 9.12906701e-01 -4.08131076e-01 -5.51186495e-03 2.67760666e+02] [ 6.00300690e-03 -7.73780822e-05 9.99981979e-01 6.62070974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.18275509600005 meters 0.01750236943022568 Centerline is valid? [True, True] Translation: X:70.47, Y:267.78, Z:6.62 [[-4.05013875e-01 -9.14307996e-01 2.15617668e-03 7.04721281e+01] [ 9.14294383e-01 -4.05019612e-01 -4.98957765e-03 2.67784242e+02] [ 5.43530459e-03 -4.94679546e-05 9.99985227e-01 6.62147180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2127550960001 meters 0.01729219911059456 Centerline is valid? [True, True] Translation: X:70.46, Y:267.81, Z:6.62 [[-4.04114023e-01 -9.14706274e-01 2.07122256e-03 7.04604596e+01] [ 9.14693738e-01 -4.04119328e-01 -4.78903476e-03 2.67807462e+02] [ 5.21758121e-03 -4.07818027e-05 9.99986388e-01 6.62188228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.24275509600005 meters 0.017183595485683458 Centerline is valid? [True, True] Translation: X:70.45, Y:267.83, Z:6.62 [[-4.03546213e-01 -9.14957027e-01 2.02301818e-03 7.04489292e+01] [ 9.14945096e-01 -4.03551282e-01 -4.67274427e-03 2.67830974e+02] [ 5.09175179e-03 -3.47176943e-05 9.99987036e-01 6.62208874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2727550960001 meters 0.017071721088820428 Centerline is valid? [True, True] Translation: X:70.44, Y:267.85, Z:6.62 [[-4.02488302e-01 -9.15423576e-01 1.68643533e-03 7.04378945e+01] [ 9.15415299e-01 -4.02491834e-01 -3.89285855e-03 2.67853733e+02] [ 4.24239094e-03 -2.30413277e-05 9.99991001e-01 6.62265412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.30275509600006 meters 0.01710806704207557 Centerline is valid? [True, True] Translation: X:70.43, Y:267.88, Z:6.62 [[-4.02674596e-01 -9.15341562e-01 1.73022877e-03 7.04280835e+01] [ 9.15332875e-01 -4.02678313e-01 -3.98806676e-03 2.67876684e+02] [ 4.34716886e-03 -2.21578962e-05 9.99990551e-01 6.62279300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3327550960001 meters 0.017209012389905215 Centerline is valid? [True, True] Translation: X:70.42, Y:267.90, Z:6.62 [[-4.03102701e-01 -9.15153507e-01 1.50693817e-03 7.04185300e+01] [ 9.15146919e-01 -4.03105517e-01 -3.47265708e-03 2.67899955e+02] [ 3.78546939e-03 -2.07676214e-05 9.99992835e-01 6.62348852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.36275509600006 meters 0.017378440918286442 Centerline is valid? [True, True] Translation: X:70.41, Y:267.92, Z:6.62 [[-4.04478865e-01 -9.14546401e-01 1.31476132e-03 7.04094881e+01] [ 9.14541389e-01 -4.04481001e-01 -3.02765223e-03 2.67924277e+02] [ 3.30072443e-03 -2.22176961e-05 9.99994552e-01 6.62374620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3927550960001 meters 0.01746909472379861 Centerline is valid? [True, True] Translation: X:70.40, Y:267.95, Z:6.62 [[-4.05634787e-01 -9.14034293e-01 1.31548185e-03 7.03999251e+01] [ 9.14029285e-01 -4.05636920e-01 -3.02571799e-03 2.67948954e+02] [ 3.29921801e-03 -2.49475344e-05 9.99994557e-01 6.62387954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.42275509600006 meters 0.017739754372887075 Centerline is valid? [True, True] Translation: X:70.39, Y:267.97, Z:6.62 [[-4.07643817e-01 -9.13139553e-01 1.63577046e-03 7.03913384e+01] [ 9.13131826e-01 -4.07647097e-01 -3.75660162e-03 2.67974043e+02] [ 4.09711860e-03 -3.76813555e-05 9.99991606e-01 6.62274588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.4527550960001 meters 0.01800144843690832 Centerline is valid? [True, True] Translation: X:70.38, Y:268.00, Z:6.62 [[-4.09138533e-01 -9.12471062e-01 1.49039558e-03 7.03818898e+01] [ 9.12464653e-01 -4.09141246e-01 -3.42020615e-03 2.67998192e+02] [ 3.73062144e-03 -3.94048384e-05 9.99993040e-01 6.62276380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.48275509600006 meters 0.018168614982669536 Centerline is valid? [True, True] Translation: X:70.37, Y:268.02, Z:6.62 [[-4.10515351e-01 -9.11852313e-01 1.58291074e-03 7.03721003e+01] [ 9.11845098e-01 -4.10518400e-01 -3.62779464e-03 2.68022582e+02] [ 3.95782692e-03 -4.58959915e-05 9.99992167e-01 6.62236922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.51275509600003 meters 0.01869003101234672 Centerline is valid? [True, True] Translation: X:70.36, Y:268.05, Z:6.62 [[-4.12801685e-01 -9.10819289e-01 1.72950408e-03 7.03639577e+01] [ 9.10810690e-01 -4.12805304e-01 -3.95823165e-03 2.68048833e+02] [ 4.31918219e-03 -5.87138861e-05 9.99990671e-01 6.62192308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.54275509600006 meters 0.01906922626809061 Centerline is valid? [True, True] Translation: X:70.35, Y:268.07, Z:6.62 [[-4.14548723e-01 -9.10025508e-01 1.71196745e-03 7.03541092e+01] [ 9.10017091e-01 -4.14552253e-01 -3.91451988e-03 2.68073992e+02] [ 4.27201291e-03 -6.48395805e-05 9.99990873e-01 6.62182637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.57275509600004 meters 0.021210339033236863 Centerline is valid? [True, True] Translation: X:70.35, Y:268.10, Z:6.62 [[-4.17229696e-01 -9.08799543e-01 1.66502137e-03 7.03488441e+01] [ 9.08791584e-01 -4.17233012e-01 -3.80395501e-03 2.68100253e+02] [ 4.15173446e-03 -7.39655813e-05 9.99991379e-01 6.62252401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.60275509600007 meters 0.019905058688766276 Centerline is valid? [True, True] Translation: X:70.33, Y:268.12, Z:6.62 [[-4.18697063e-01 -9.08124759e-01 1.48055609e-03 7.03348453e+01] [ 9.08118472e-01 -4.18699674e-01 -3.38002428e-03 2.68124233e+02] [ 3.68939209e-03 -7.06859046e-05 9.99993192e-01 6.62161727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.63275509600004 meters 0.020991544288811496 Centerline is valid? [True, True] Translation: X:70.33, Y:268.15, Z:6.62 [[-4.19822631e-01 -9.07604596e-01 1.68980995e-03 7.03266367e+01] [ 9.07596420e-01 -4.19826023e-01 -3.85350285e-03 2.68148680e+02] [ 4.20688309e-03 -8.41222421e-05 9.99991148e-01 6.62226274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.66275509600007 meters 0.020729023122309564 Centerline is valid? [True, True] Translation: X:70.32, Y:268.17, Z:6.62 [[-4.21438549e-01 -9.06854888e-01 1.93971652e-03 7.03152452e+01] [ 9.06844141e-01 -4.21443000e-01 -4.41612956e-03 2.68173063e+02] [ 4.82226863e-03 -1.02106668e-04 9.99988368e-01 6.62137924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.69275509600004 meters 0.020751222631836125 Centerline is valid? [True, True] Translation: X:70.30, Y:268.20, Z:6.62 [[-4.21948517e-01 -9.06617283e-01 2.13342238e-03 7.03047628e+01] [ 9.06604306e-01 -4.21953895e-01 -4.85200972e-03 2.68197449e+02] [ 5.29912176e-03 -1.13128386e-04 9.99985953e-01 6.62118569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.72275509600007 meters 0.02095704062386689 Centerline is valid? [True, True] Translation: X:70.30, Y:268.22, Z:6.62 [[-4.21994561e-01 -9.06594701e-01 2.57661646e-03 7.02954247e+01] [ 9.06575824e-01 -4.22002406e-01 -5.85186580e-03 2.68221055e+02] [ 6.39260887e-03 -1.33557356e-04 9.99979558e-01 6.62016653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.75275509600004 meters 0.020673222592894416 Centerline is valid? [True, True] Translation: X:70.28, Y:268.24, Z:6.62 [[-4.21911380e-01 -9.06633227e-01 2.64185925e-03 7.02841272e+01] [ 9.06613430e-01 -4.21919630e-01 -5.99292503e-03 2.68244604e+02] [ 6.54803724e-03 -1.33338199e-04 9.99978553e-01 6.62015710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.7827550960001 meters 0.020021875569861174 Centerline is valid? [True, True] Translation: X:70.27, Y:268.27, Z:6.62 [[-4.20852728e-01 -9.07124290e-01 2.91621863e-03 7.02715006e+01] [ 9.07100236e-01 -4.20862810e-01 -6.60738170e-03 2.68268396e+02] [ 7.22104440e-03 -1.35432006e-04 9.99973919e-01 6.61962160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.81275509600005 meters 0.019430112223752558 Centerline is valid? [True, True] Translation: X:70.26, Y:268.29, Z:6.62 [[-4.19923262e-01 -9.07554913e-01 2.92140472e-03 7.02593459e+01] [ 9.07530834e-01 -4.19933405e-01 -6.61207937e-03 2.68292270e+02] [ 7.22762054e-03 -1.25301076e-04 9.99973873e-01 6.61992908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8427550960001 meters 0.019128856300106824 Centerline is valid? [True, True] Translation: X:70.25, Y:268.31, Z:6.62 [[-4.18844879e-01 -9.08053498e-01 2.79495705e-03 7.02484043e+01] [ 9.08031514e-01 -4.18854190e-01 -6.31958657e-03 2.68314801e+02] [ 6.90920216e-03 -1.09017386e-04 9.99976125e-01 6.62074522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.87275509600005 meters 0.018736084077734555 Centerline is valid? [True, True] Translation: X:70.24, Y:268.34, Z:6.62 [[-4.17604782e-01 -9.08624660e-01 2.73356754e-03 7.02371513e+01] [ 9.08603689e-01 -4.17613718e-01 -6.17408859e-03 2.68337724e+02] [ 6.75150445e-03 -9.45993659e-05 9.99977204e-01 6.62169387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9027550960001 meters 0.017867404518121792 Centerline is valid? [True, True] Translation: X:70.22, Y:268.36, Z:6.62 [[-4.14572202e-01 -9.10013664e-01 2.24072187e-03 7.02245796e+01] [ 9.09999617e-01 -4.14578254e-01 -5.05650369e-03 2.68361461e+02] [ 5.53044201e-03 -5.72298216e-05 9.99984705e-01 6.62335323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.93275509600005 meters 0.017528034128416383 Centerline is valid? [True, True] Translation: X:70.21, Y:268.39, Z:6.62 [[-4.13165918e-01 -9.10652997e-01 2.24593160e-03 7.02126415e+01] [ 9.10638919e-01 -4.13172019e-01 -5.06385661e-03 2.68385250e+02] [ 5.53937229e-03 -4.69802377e-05 9.99984656e-01 6.62399338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9627550960001 meters 0.017205350204306025 Centerline is valid? [True, True] Translation: X:70.20, Y:268.41, Z:6.62 [[-4.11053109e-01 -9.11609377e-01 1.91953269e-03 7.02004667e+01] [ 9.11599119e-01 -4.11057590e-01 -4.32488578e-03 2.68407744e+02] [ 4.73164491e-03 -2.79134336e-05 9.99988805e-01 6.62455226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.99275509600005 meters 0.017068912853624777 Centerline is valid? [True, True] Translation: X:70.19, Y:268.43, Z:6.62 [[-4.10424272e-01 -9.11892867e-01 1.82107757e-03 7.01888570e+01] [ 9.11883655e-01 -4.10428311e-01 -4.09890487e-03 2.68431569e+02] [ 4.48518390e-03 -2.16791717e-05 9.99989941e-01 6.62499264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0227550960001 meters 0.017085846038002176 Centerline is valid? [True, True] Translation: X:70.18, Y:268.46, Z:6.63 [[-4.09982245e-01 -9.12092113e-01 1.59271720e-03 7.01775927e+01] [ 9.12085077e-01 -4.09985338e-01 -3.58243983e-03 2.68455438e+02] [ 3.92050582e-03 -1.60431321e-05 9.99992315e-01 6.62554240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.05275509600006 meters 0.017147925697075128 Centerline is valid? [True, True] Translation: X:70.17, Y:268.48, Z:6.63 [[-4.09686488e-01 -9.12225650e-01 1.15989205e-03 7.01687017e+01] [ 9.12221919e-01 -4.09688130e-01 -2.60880572e-03 2.68478829e+02] [ 2.85501350e-03 -1.07135051e-05 9.99995924e-01 6.62702716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0827550960001 meters 0.017200260148931383 Centerline is valid? [True, True] Translation: X:70.16, Y:268.50, Z:6.63 [[-4.10092133e-01 -9.12043561e-01 9.92923104e-04 7.01591433e+01] [ 9.12040830e-01 -4.10093335e-01 -2.23183262e-03 2.68502209e+02] [ 2.44271972e-03 -9.67058666e-06 9.99997017e-01 6.62786973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.11275509600006 meters 0.017217870434218917 Centerline is valid? [True, True] Translation: X:70.15, Y:268.53, Z:6.63 [[-4.10648002e-01 -9.11793405e-01 1.00215150e-03 7.01493007e+01] [ 9.11790629e-01 -4.10649225e-01 -2.25022868e-03 2.68526204e+02] [ 2.46327641e-03 -1.02995649e-05 9.99996966e-01 6.62792221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1427550960001 meters 0.01732045135427586 Centerline is valid? [True, True] Translation: X:70.14, Y:268.55, Z:6.63 [[-4.12610261e-01 -9.10907087e-01 1.02563999e-03 7.01416225e+01] [ 9.10904183e-01 -4.12611536e-01 -2.30020871e-03 2.68550807e+02] [ 2.51846731e-03 -1.48299639e-05 9.99996829e-01 6.62826319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.17275509600006 meters 0.017420473058810233 Centerline is valid? [True, True] Translation: X:70.13, Y:268.58, Z:6.63 [[-4.14058891e-01 -9.10249541e-01 1.00377567e-03 7.01321193e+01] [ 9.10246764e-01 -4.14060108e-01 -2.24870224e-03 2.68575454e+02] [ 2.46250364e-03 -1.74116008e-05 9.99996968e-01 6.62797981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.2027550960001 meters 0.01760684433686117 Centerline is valid? [True, True] Translation: X:70.12, Y:268.60, Z:6.63 [[-4.16300640e-01 -9.09226306e-01 1.14081188e-03 7.01244548e+01] [ 9.09222725e-01 -4.16302203e-01 -2.55199351e-03 2.68600852e+02] [ 2.79526213e-03 -2.51444489e-05 9.99996093e-01 6.62736580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.23275509600006 meters 0.017949683669821154 Centerline is valid? [True, True] Translation: X:70.12, Y:268.63, Z:6.63 [[-4.17577293e-01 -9.08640438e-01 1.32591988e-03 7.01162305e+01] [ 9.08635616e-01 -4.17579397e-01 -2.96039201e-03 2.68625508e+02] [ 3.24360872e-03 -3.14144556e-05 9.99994739e-01 6.62784584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.26275509600003 meters 0.01813867442461257 Centerline is valid? [True, True] Translation: X:70.11, Y:268.65, Z:6.63 [[-4.18922556e-01 -9.08020860e-01 1.41787489e-03 7.01072800e+01] [ 9.08015350e-01 -4.18924954e-01 -3.16343997e-03 2.68650211e+02] [ 3.46645265e-03 -3.77841965e-05 9.99993991e-01 6.62767689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.29275509600006 meters 0.018171592819575467 Centerline is valid? [True, True] Translation: X:70.10, Y:268.68, Z:6.63 [[-4.20439664e-01 -9.07319103e-01 1.59212084e-03 7.00975336e+01] [ 9.07312167e-01 -4.20442676e-01 -3.54787956e-03 2.68675004e+02] [ 3.88845444e-03 -4.71186791e-05 9.99992439e-01 6.62714272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.32275509600004 meters 0.018966930371369883 Centerline is valid? [True, True] Translation: X:70.09, Y:268.70, Z:6.63 [[-4.23522331e-01 -9.05883180e-01 2.12125918e-03 7.00901008e+01] [ 9.05870892e-01 -4.23527636e-01 -4.71891322e-03 2.68701658e+02] [ 5.17319600e-03 -7.69781846e-05 9.99986616e-01 6.62605817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.35275509600007 meters 0.019429236775675634 Centerline is valid? [True, True] Translation: X:70.08, Y:268.73, Z:6.63 [[-4.25257053e-01 -9.05069580e-01 2.34420496e-03 7.00804597e+01] [ 9.05054593e-01 -4.25263504e-01 -5.20923923e-03 2.68727655e+02] [ 5.71162878e-03 -9.36322582e-05 9.99983684e-01 6.62529039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.38275509600004 meters 0.02051330578117445 Centerline is valid? [True, True] Translation: X:70.07, Y:268.75, Z:6.62 [[-4.28407640e-01 -9.03580379e-01 3.06468173e-03 7.00734675e+01] [ 9.03554791e-01 -4.28418577e-01 -6.80159132e-03 2.68754341e+02] [ 7.45875105e-03 -1.44745823e-04 9.99972173e-01 6.62411975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.41275509600007 meters 0.0210790184680889 Centerline is valid? [True, True] Translation: X:70.06, Y:268.78, Z:6.62 [[-4.29976451e-01 -9.02834501e-01 3.18044598e-03 7.00645351e+01] [ 9.02806975e-01 -4.29988184e-01 -7.05174918e-03 2.68780059e+02] [ 7.73411664e-03 -1.60757273e-04 9.99970078e-01 6.62366780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.44275509600004 meters 0.0210790184680889 Centerline is valid? [True, True] Translation: X:70.05, Y:268.80, Z:6.62 [[-4.30319802e-01 -9.02670891e-01 3.18280626e-03 7.00536274e+01] [ 9.02643369e-01 -4.30331542e-01 -7.05068362e-03 2.68803588e+02] [ 7.73410879e-03 -1.61109812e-04 9.99970078e-01 6.62390552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.47275509600007 meters 0.02183336885396337 Centerline is valid? [True, True] Translation: X:70.05, Y:268.83, Z:6.62 [[-4.31474862e-01 -9.02118274e-01 3.47334982e-03 7.00454252e+01] [ 9.02085552e-01 -4.31488803e-01 -7.68570138e-03 2.68828359e+02] [ 8.43212322e-03 -1.82928249e-04 9.99964432e-01 6.62366509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.50275509600004 meters 0.022412628408961164 Centerline is valid? [True, True] Translation: X:70.04, Y:268.85, Z:6.62 [[-4.32812918e-01 -9.01475327e-01 3.90047445e-03 7.00383924e+01] [ 9.01434123e-01 -4.32830439e-01 -8.62161282e-03 2.68854307e+02] [ 9.46041531e-03 -2.15524638e-04 9.99955226e-01 6.62327769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5327550960001 meters 0.02276911463118635 Centerline is valid? [True, True] Translation: X:70.03, Y:268.88, Z:6.62 [[-4.33562385e-01 -9.01114672e-01 4.00085849e-03 7.00292413e+01] [ 9.01071392e-01 -4.33580786e-01 -8.83454022e-03 2.68878738e+02] [ 9.69562918e-03 -2.25265195e-04 9.99952971e-01 6.62346136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.56275509600005 meters 0.023145296514006975 Centerline is valid? [True, True] Translation: X:70.02, Y:268.90, Z:6.62 [[-4.33826217e-01 -9.00985819e-01 4.40093322e-03 7.00214157e+01] [ 9.00933551e-01 -4.33848469e-01 -9.70787774e-03 2.68903233e+02] [ 1.06559983e-02 -2.46583475e-04 9.99943193e-01 6.62334127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5927550960001 meters 0.022890945247389348 Centerline is valid? [True, True] Translation: X:70.01, Y:268.93, Z:6.62 [[-4.33608468e-01 -9.01089926e-01 4.54328498e-03 7.00117029e+01] [ 9.01034321e-01 -4.33632198e-01 -1.00134165e-02 2.68926638e+02] [ 1.09931034e-02 -2.48246484e-04 9.99939543e-01 6.62333877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.62275509600005 meters 0.022649386234003827 Centerline is valid? [True, True] Translation: X:70.00, Y:268.95, Z:6.62 [[-4.33347155e-01 -9.01215672e-01 4.53383934e-03 7.00016573e+01] [ 9.01160419e-01 -4.33370806e-01 -9.98215882e-03 2.68950707e+02] [ 1.09609116e-02 -2.40023567e-04 9.99939899e-01 6.62395755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6527550960001 meters 0.0214316574826654 Centerline is valid? [True, True] Translation: X:69.99, Y:268.97, Z:6.62 [[-4.31717401e-01 -9.01996702e-01 4.69422298e-03 6.99911573e+01] [ 9.01937637e-01 -4.31742863e-01 -1.03246761e-02 2.68974791e+02] [ 1.13395210e-02 -2.23445937e-04 9.99935681e-01 6.62496684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.68275509600005 meters 0.02039132715307484 Centerline is valid? [True, True] Translation: X:69.98, Y:269.00, Z:6.63 [[-4.30163502e-01 -9.02740316e-01 4.39140588e-03 6.99783866e+01] [ 9.02688758e-01 -4.30185876e-01 -9.64982979e-03 2.68997665e+02] [ 1.06004112e-02 -1.86931855e-04 9.99943797e-01 6.62584175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7127550960001 meters 0.018666775867284536 Centerline is valid? [True, True] Translation: X:69.96, Y:269.02, Z:6.63 [[-4.28638141e-01 -9.03465683e-01 4.37082220e-03 6.99631947e+01] [ 9.03414742e-01 -4.28660394e-01 -9.59532871e-03 2.69020906e+02] [ 1.05426486e-02 -1.64258649e-04 9.99944411e-01 6.62648937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.74275509600005 meters 0.017583983943797826 Centerline is valid? [True, True] Translation: X:69.95, Y:269.04, Z:6.63 [[-4.24368539e-01 -9.05479498e-01 4.26858210e-03 6.99496582e+01] [ 9.05431103e-01 -4.24389993e-01 -9.36219527e-03 2.69044082e+02] [ 1.02888194e-02 -1.08114130e-04 9.99947063e-01 6.62731853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7727550960001 meters 0.01741589202455041 Centerline is valid? [True, True] Translation: X:69.94, Y:269.07, Z:6.63 [[-4.22608117e-01 -9.06302854e-01 4.18534678e-03 6.99384999e+01] [ 9.06256454e-01 -4.22628833e-01 -9.17108238e-03 2.69066747e+02] [ 1.00806264e-02 -8.27763226e-05 9.99949186e-01 6.62765925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.80275509600006 meters 0.016479467854371554 Centerline is valid? [True, True] Translation: X:69.92, Y:269.09, Z:6.63 [[-4.20102149e-01 -9.07467334e-01 4.15001113e-03 6.99226659e+01] [ 9.07421866e-01 -4.20122644e-01 -9.08415067e-03 2.69089021e+02] [ 9.98708363e-03 -5.04603766e-05 9.99950127e-01 6.62839924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8327550960001 meters 0.016488552568298773 Centerline is valid? [True, True] Translation: X:69.91, Y:269.11, Z:6.63 [[-4.19432442e-01 -9.07777593e-01 4.03329672e-03 6.99108892e+01] [ 9.07734749e-01 -4.19451833e-01 -8.81959465e-03 2.69112984e+02] [ 9.69800411e-03 -3.80605385e-05 9.99952973e-01 6.62867428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.86275509600006 meters 0.01636550779811857 Centerline is valid? [True, True] Translation: X:69.90, Y:269.14, Z:6.63 [[-4.19184692e-01 -9.07891913e-01 4.05815177e-03 6.98992759e+01] [ 9.07848636e-01 -4.19204334e-01 -8.86455580e-03 2.69136737e+02] [ 9.74925334e-03 -3.16985465e-05 9.99952474e-01 6.62922588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8927550960001 meters 0.016439665428522203 Centerline is valid? [True, True] Translation: X:69.89, Y:269.16, Z:6.63 [[-4.19447271e-01 -9.07769277e-01 4.35039280e-03 6.98885285e+01] [ 9.07719644e-01 -4.19469830e-01 -9.49258761e-03 2.69159796e+02] [ 1.04419379e-02 -3.27029656e-05 9.99945481e-01 6.62886989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.92275509600006 meters 0.016463613405908826 Centerline is valid? [True, True] Translation: X:69.88, Y:269.18, Z:6.63 [[-4.20408372e-01 -9.07323939e-01 4.48010127e-03 6.98777204e+01] [ 9.07271369e-01 -4.20432240e-01 -9.76701231e-03 2.69183675e+02] [ 1.07454231e-02 -4.14661310e-05 9.99942265e-01 6.62887533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.9527550960001 meters 0.01675031739968069 Centerline is valid? [True, True] Translation: X:69.87, Y:269.21, Z:6.63 [[-4.22933467e-01 -9.06149288e-01 4.55517797e-03 6.98678665e+01] [ 9.06094986e-01 -4.22957992e-01 -9.92036621e-03 2.69208653e+02] [ 1.09159817e-02 -6.82309615e-05 9.99940417e-01 6.62926557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.98275509600006 meters 0.01702283921739618 Centerline is valid? [True, True] Translation: X:69.86, Y:269.23, Z:6.63 [[-4.24774303e-01 -9.05288486e-01 4.42143565e-03 6.98585298e+01] [ 9.05237380e-01 -4.24797305e-01 -9.61948334e-03 2.69232013e+02] [ 1.05866215e-02 -8.36605067e-05 9.99943957e-01 6.62978166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.01275509600003 meters 0.01740147607968251 Centerline is valid? [True, True] Translation: X:69.85, Y:269.26, Z:6.63 [[-4.27083535e-01 -9.04201502e-01 4.39285495e-03 6.98484253e+01] [ 9.04151104e-01 -4.27106113e-01 -9.54726347e-03 2.69256468e+02] [ 1.05088652e-02 -1.05674378e-04 9.99944775e-01 6.63019624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.04275509600006 meters 0.018723036303538897 Centerline is valid? [True, True] Translation: X:69.84, Y:269.28, Z:6.63 [[-4.31642977e-01 -9.02033780e-01 4.40463708e-03 6.98410613e+01] [ 9.01983099e-01 -4.31665422e-01 -9.56305922e-03 2.69282034e+02] [ 1.05275320e-02 -1.54919142e-04 9.99944572e-01 6.63045581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.07275509600004 meters 0.01951959057274271 Centerline is valid? [True, True] Translation: X:69.83, Y:269.31, Z:6.63 [[-4.34107221e-01 -9.00850222e-01 4.44946897e-03 6.98314746e+01] [ 9.00798539e-01 -4.34129986e-01 -9.65127923e-03 2.69307116e+02] [ 1.06260049e-02 -1.81614858e-04 9.99943526e-01 6.63064303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.10275509600007 meters 0.021673726944846705 Centerline is valid? [True, True] Translation: X:69.82, Y:269.33, Z:6.63 [[-4.39202270e-01 -8.98376647e-01 4.55706674e-03 6.98236825e+01] [ 8.98322382e-01 -4.39225843e-01 -9.87712457e-03 2.69333213e+02] [ 1.08749595e-02 -2.44340479e-04 9.99940836e-01 6.63036436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.13275509600004 meters 0.023426766352207973 Centerline is valid? [True, True] Translation: X:69.81, Y:269.36, Z:6.63 [[-4.41779750e-01 -8.97111523e-01 4.64415526e-03 6.98149530e+01] [ 8.97055202e-01 -4.41804074e-01 -1.00561259e-02 2.69358332e+02] [ 1.10732731e-02 -2.76529136e-04 9.99938651e-01 6.63014693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.16275509600007 meters 0.02433026243902417 Centerline is valid? [True, True] Translation: X:69.80, Y:269.38, Z:6.63 [[-4.44325366e-01 -8.95853601e-01 4.61468001e-03 6.98045995e+01] [ 8.95798028e-01 -4.44349226e-01 -9.98290914e-03 2.69382927e+02] [ 1.09937546e-02 -3.01838498e-04 9.99939521e-01 6.63053227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.19275509600004 meters 0.025884260425312295 Centerline is valid? [True, True] Translation: X:69.79, Y:269.41, Z:6.63 [[-4.47278194e-01 -8.94382400e-01 4.72652367e-03 6.97939060e+01] [ 8.94324127e-01 -4.47303036e-01 -1.02151611e-02 2.69408225e+02] [ 1.12504487e-02 -3.41974667e-04 9.99936653e-01 6.62981414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.22275509600007 meters 0.02654798861931786 Centerline is valid? [True, True] Translation: X:69.78, Y:269.43, Z:6.63 [[-4.48060525e-01 -8.93988331e-01 5.16049698e-03 6.97826121e+01] [ 8.93918962e-01 -4.48090081e-01 -1.11430917e-02 2.69432463e+02] [ 1.22741614e-02 -3.79713390e-04 9.99924598e-01 6.62950384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.25275509600004 meters 0.026697192975531546 Centerline is valid? [True, True] Translation: X:69.77, Y:269.46, Z:6.63 [[-4.47733598e-01 -8.94148729e-01 5.71625546e-03 6.97706959e+01] [ 8.94063768e-01 -4.47769898e-01 -1.23327782e-02 2.69455379e+02] [ 1.35869051e-02 -4.11102258e-04 9.99907609e-01 6.62826089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.2827550960001 meters 0.0261134045913783 Centerline is valid? [True, True] Translation: X:69.76, Y:269.48, Z:6.63 [[-4.47011863e-01 -8.94506996e-01 6.13418594e-03 6.97578986e+01] [ 8.94409391e-01 -4.47053749e-01 -1.32206940e-02 2.69478226e+02] [ 1.45683141e-02 -4.23333540e-04 9.99893787e-01 6.62777481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.31275509600005 meters 0.02376084172367933 Centerline is valid? [True, True] Translation: X:69.74, Y:269.50, Z:6.63 [[-4.46340508e-01 -8.94841421e-01 6.24366374e-03 6.97422200e+01] [ 8.94740530e-01 -4.46383984e-01 -1.34433491e-02 2.69500193e+02] [ 1.48167371e-02 -4.13852248e-04 9.99890141e-01 6.62800794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3427550960001 meters 0.02279555970808073 Centerline is valid? [True, True] Translation: X:69.73, Y:269.52, Z:6.63 [[-4.44030379e-01 -8.95988393e-01 6.46696939e-03 6.97274728e+01] [ 8.95880492e-01 -4.44077305e-01 -1.39100965e-02 2.69522462e+02] [ 1.53351194e-02 -3.82873714e-04 9.99882337e-01 6.62763045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.37275509600005 meters 0.02223317212467811 Centerline is valid? [True, True] Translation: X:69.71, Y:269.55, Z:6.63 [[-4.43063928e-01 -8.96466935e-01 6.43358883e-03 6.97137093e+01] [ 8.96360391e-01 -4.43110490e-01 -1.38254722e-02 2.69545946e+02] [ 1.52448694e-02 -3.58753801e-04 9.99883726e-01 6.62781740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4027550960001 meters 0.022766599646848903 Centerline is valid? [True, True] Translation: X:69.70, Y:269.57, Z:6.63 [[-4.41242460e-01 -8.97364982e-01 6.41715135e-03 6.97005646e+01] [ 8.97259267e-01 -4.41289004e-01 -1.37775846e-02 2.69568587e+02] [ 1.51953403e-02 -3.21406809e-04 9.99884493e-01 6.62689991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.43275509600005 meters 0.021062918821102318 Centerline is valid? [True, True] Translation: X:69.69, Y:269.59, Z:6.63 [[-4.40639489e-01 -8.97661623e-01 6.36014854e-03 6.96855069e+01] [ 8.97558004e-01 -4.40685283e-01 -1.36422501e-02 2.69590504e+02] [ 1.50489483e-02 -3.02711891e-04 9.99886712e-01 6.62807620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4627550960001 meters 0.020855263945769965 Centerline is valid? [True, True] Translation: X:69.67, Y:269.61, Z:6.63 [[-4.40312614e-01 -8.97823675e-01 6.11964675e-03 6.96731973e+01] [ 8.97727945e-01 -4.40355050e-01 -1.31136558e-02 2.69613115e+02] [ 1.44685680e-02 -2.80330165e-04 9.99895286e-01 6.62889533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.49275509600005 meters 0.019542683469071356 Centerline is valid? [True, True] Translation: X:69.66, Y:269.63, Z:6.63 [[-4.39620675e-01 -8.98166450e-01 5.53990689e-03 6.96582467e+01] [ 8.98088174e-01 -4.39655514e-01 -1.18600438e-02 2.69634941e+02] [ 1.30879440e-02 -2.38595578e-04 9.99914321e-01 6.63085353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5227550960001 meters 0.01993272586184065 Centerline is valid? [True, True] Translation: X:69.65, Y:269.66, Z:6.63 [[-4.39473252e-01 -8.98240600e-01 5.20441416e-03 6.96475035e+01] [ 8.98171658e-01 -4.39504013e-01 -1.11308227e-02 2.69658388e+02] [ 1.22855177e-02 -2.17241546e-04 9.99924507e-01 6.63163442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.55275509600006 meters 0.018857157590810043 Centerline is valid? [True, True] Translation: X:69.63, Y:269.68, Z:6.63 [[-4.39203807e-01 -8.98375015e-01 4.72740387e-03 6.96333033e+01] [ 8.98318250e-01 -4.39229207e-01 -1.01007467e-02 2.69681057e+02] [ 1.11506723e-02 -1.89573223e-04 9.99937811e-01 6.63326381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5827550960001 meters 0.018648655038482898 Centerline is valid? [True, True] Translation: X:69.62, Y:269.70, Z:6.63 [[-4.39066499e-01 -8.98443334e-01 4.49274309e-03 6.96208170e+01] [ 8.98392169e-01 -4.39089449e-01 -9.58988218e-03 2.69704125e+02] [ 1.05886818e-02 -1.74350779e-04 9.99943923e-01 6.63391572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.61275509600006 meters 0.01855189162827406 Centerline is valid? [True, True] Translation: X:69.61, Y:269.73, Z:6.63 [[-4.38696904e-01 -8.98624723e-01 4.31666784e-03 6.96086892e+01] [ 8.98577590e-01 -4.38718112e-01 -9.20501597e-03 2.69726832e+02] [ 1.01656553e-02 -1.59351021e-04 9.99948316e-01 6.63431731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6427550960001 meters 0.019350739302600808 Centerline is valid? [True, True] Translation: X:69.60, Y:269.75, Z:6.63 [[-4.38627574e-01 -8.98659618e-01 4.09175157e-03 6.95985314e+01] [ 8.98617337e-01 -4.38646634e-01 -8.71848726e-03 2.69750496e+02] [ 9.62978548e-03 -1.47250014e-04 9.99953622e-01 6.63479786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.67275509600006 meters 0.01816638902269424 Centerline is valid? [True, True] Translation: X:69.58, Y:269.77, Z:6.64 [[-4.38239846e-01 -8.98850087e-01 3.78929334e-03 6.95833352e+01] [ 8.98813904e-01 -4.38256209e-01 -8.06606995e-03 2.69772910e+02] [ 8.91086901e-03 -1.29003714e-04 9.99960289e-01 6.63541166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.7027550960001 meters 0.01824052845441753 Centerline is valid? [True, True] Translation: X:69.57, Y:269.80, Z:6.64 [[-4.38113545e-01 -8.98910695e-01 4.01044964e-03 6.95723516e+01] [ 8.98870254e-01 -4.38131881e-01 -8.52765994e-03 2.69795446e+02] [ 9.42271057e-03 -1.31209442e-04 9.99955597e-01 6.63510067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.73275509600006 meters 0.017983083767112298 Centerline is valid? [True, True] Translation: X:69.56, Y:269.82, Z:6.63 [[-4.38018331e-01 -8.98957386e-01 3.94466360e-03 6.95598438e+01] [ 8.98918325e-01 -4.38036075e-01 -8.38107569e-03 2.69818564e+02] [ 9.26213485e-03 -1.25134398e-04 9.99957098e-01 6.63487578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.76275509600003 meters 0.017857349932328414 Centerline is valid? [True, True] Translation: X:69.55, Y:269.84, Z:6.64 [[-4.38353989e-01 -8.98793959e-01 3.89858120e-03 6.95476889e+01] [ 8.98755875e-01 -4.38371308e-01 -8.27486582e-03 2.69842581e+02] [ 9.14642555e-03 -1.23447679e-04 9.99958163e-01 6.63538408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.79275509600006 meters 0.017921667185165028 Centerline is valid? [True, True] Translation: X:69.54, Y:269.87, Z:6.64 [[-4.38745129e-01 -8.98602491e-01 4.03427198e-03 6.95360854e+01] [ 8.98561788e-01 -4.38763657e-01 -8.55373547e-03 2.69866132e+02] [ 9.45649992e-03 -1.27867126e-04 9.99955278e-01 6.63520933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.82275509600004 meters 0.018026872328495765 Centerline is valid? [True, True] Translation: X:69.52, Y:269.89, Z:6.64 [[-4.39186706e-01 -8.98387333e-01 3.90355987e-03 6.95238611e+01] [ 8.98349291e-01 -4.39204036e-01 -8.26840061e-03 2.69890062e+02] [ 9.14268562e-03 -1.24611391e-04 9.99958197e-01 6.63523106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.85275509600007 meters 0.01815894629824683 Centerline is valid? [True, True] Translation: X:69.51, Y:269.91, Z:6.64 [[-4.39567117e-01 -8.98202174e-01 3.68833410e-03 6.95121577e+01] [ 8.98168270e-01 -4.39582575e-01 -7.80506032e-03 2.69914198e+02] [ 8.63184955e-03 -1.18103208e-04 9.99962738e-01 6.63562878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.88275509600004 meters 0.01810800470245802 Centerline is valid? [True, True] Translation: X:69.50, Y:269.94, Z:6.64 [[-4.39763297e-01 -8.98106291e-01 3.65135000e-03 6.95014970e+01] [ 8.98073126e-01 -4.39778440e-01 -7.71904418e-03 2.69937980e+02] [ 8.53830714e-03 -1.15373008e-04 9.99963541e-01 6.63697095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.91275509600007 meters 0.018137551216988256 Centerline is valid? [True, True] Translation: X:69.49, Y:269.96, Z:6.64 [[-4.40357875e-01 -8.97814927e-01 3.64678637e-03 6.94901592e+01] [ 8.97781901e-01 -4.40372959e-01 -7.70167585e-03 2.69962342e+02] [ 8.52062565e-03 -1.17474806e-04 9.99963692e-01 6.63729135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.94275509600004 meters 0.018161374327301704 Centerline is valid? [True, True] Translation: X:69.48, Y:269.99, Z:6.64 [[-4.40892137e-01 -8.97552691e-01 3.64556493e-03 6.94788173e+01] [ 8.97519745e-01 -4.40907193e-01 -7.69127191e-03 2.69986674e+02] [ 8.51067760e-03 -1.19054804e-04 9.99963776e-01 6.63767432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.97275509600007 meters 0.01815263907084255 Centerline is valid? [True, True] Translation: X:69.47, Y:270.01, Z:6.64 [[-4.41444896e-01 -8.97279943e-01 3.88689006e-03 6.94674932e+01] [ 8.97242560e-01 -4.41461989e-01 -8.19153711e-03 2.70010531e+02] [ 9.06601617e-03 -1.28629058e-04 9.99958895e-01 6.63741840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.00275509600004 meters 0.018027052971753162 Centerline is valid? [True, True] Translation: X:69.46, Y:270.03, Z:6.64 [[-4.41730627e-01 -8.97139241e-01 3.90329223e-03 6.94553364e+01] [ 8.97101613e-01 -4.41747854e-01 -8.21768558e-03 2.70033651e+02] [ 9.09667917e-03 -1.28353649e-04 9.99958616e-01 6.63712348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0327550960001 meters 0.018296562934247692 Centerline is valid? [True, True] Translation: X:69.44, Y:270.06, Z:6.64 [[-4.42460042e-01 -8.96778885e-01 4.09178092e-03 6.94442614e+01] [ 8.96737608e-01 -4.42478940e-01 -8.60520693e-03 2.70056500e+02] [ 9.52749476e-03 -1.38206376e-04 9.99954603e-01 6.63675450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.06275509600005 meters 0.018476930228732504 Centerline is valid? [True, True] Translation: X:69.43, Y:270.08, Z:6.64 [[-4.43377149e-01 -8.96325449e-01 4.17054149e-03 6.94328654e+01] [ 8.96282641e-01 -4.43396739e-01 -8.76128849e-03 2.70080404e+02] [ 9.70217033e-03 -1.46571166e-04 9.99952922e-01 6.63608612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0927550960001 meters 0.01881088351702054 Centerline is valid? [True, True] Translation: X:69.42, Y:270.10, Z:6.64 [[-4.44156230e-01 -8.95939382e-01 4.22703164e-03 6.94226687e+01] [ 8.95895478e-01 -4.44176317e-01 -8.87081848e-03 2.70103802e+02] [ 9.82526297e-03 -1.53050756e-04 9.99951719e-01 6.63625363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.12275509600005 meters 0.01892656533754461 Centerline is valid? [True, True] Translation: X:69.41, Y:270.13, Z:6.64 [[-4.46196051e-01 -8.94924678e-01 4.34790736e-03 6.94119580e+01] [ 8.94878278e-01 -4.46217200e-01 -9.11472752e-03 2.70129134e+02] [ 1.00971056e-02 -1.76107575e-04 9.99949007e-01 6.63638436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1527550960001 meters 0.020285866205575515 Centerline is valid? [True, True] Translation: X:69.40, Y:270.15, Z:6.64 [[-4.47522553e-01 -8.94261988e-01 4.36600319e-03 6.94036516e+01] [ 8.94215255e-01 -4.47543810e-01 -9.14413225e-03 2.70153707e+02] [ 1.01312276e-02 -1.88058754e-04 9.99948660e-01 6.63651479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.18275509600005 meters 0.020964864107456953 Centerline is valid? [True, True] Translation: X:69.39, Y:270.18, Z:6.64 [[-4.49181345e-01 -8.93429982e-01 4.35733771e-03 6.93929486e+01] [ 8.93383476e-01 -4.49202433e-01 -9.11802486e-03 2.70178598e+02] [ 1.01036435e-02 -2.02873152e-04 9.99948936e-01 6.63670869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2127550960001 meters 0.0218286848883184 Centerline is valid? [True, True] Translation: X:69.38, Y:270.20, Z:6.64 [[-4.52499114e-01 -8.91754083e-01 4.38263153e-03 6.93819419e+01] [ 8.91707038e-01 -4.52520275e-01 -9.16293738e-03 2.70203922e+02] [ 1.01543164e-02 -2.38197676e-04 9.99948415e-01 6.63719240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.24275509600005 meters 0.022618096123655253 Centerline is valid? [True, True] Translation: X:69.37, Y:270.23, Z:6.64 [[-4.54726991e-01 -8.90621049e-01 4.18467495e-03 6.93710881e+01] [ 8.90578182e-01 -4.54746178e-01 -8.74160564e-03 2.70228915e+02] [ 9.68842292e-03 -2.48263820e-04 9.99953035e-01 6.63765101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2727550960001 meters 0.02295802929481613 Centerline is valid? [True, True] Translation: X:69.36, Y:270.25, Z:6.64 [[-4.56864910e-01 -8.89526577e-01 4.11372084e-03 6.93597095e+01] [ 8.89485180e-01 -4.56883355e-01 -8.58577757e-03 2.70253742e+02] [ 9.51676791e-03 -2.63446785e-04 9.99954680e-01 6.63813351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.30275509600006 meters 0.02445507688113082 Centerline is valid? [True, True] Translation: X:69.35, Y:270.28, Z:6.64 [[-4.60534852e-01 -8.87633902e-01 3.70218589e-03 6.93509478e+01] [ 8.87600366e-01 -4.60549654e-01 -7.72055711e-03 2.70279173e+02] [ 8.55806866e-03 -2.69524076e-04 9.99963343e-01 6.63919737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3327550960001 meters 0.02517109850529143 Centerline is valid? [True, True] Translation: X:69.34, Y:270.30, Z:6.64 [[-4.61999756e-01 -8.86873158e-01 3.49678253e-03 6.93404512e+01] [ 8.86843272e-01 -4.62012913e-01 -7.28554955e-03 2.70304044e+02] [ 8.07691702e-03 -2.64824051e-04 9.99967346e-01 6.64023117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.36275509600006 meters 0.02517109850529143 Centerline is valid? [True, True] Translation: X:69.33, Y:270.33, Z:6.64 [[-4.62350802e-01 -8.86690189e-01 3.49933703e-03 6.93289945e+01] [ 8.86660307e-01 -4.62363968e-01 -7.28432232e-03 2.70327326e+02] [ 8.07690448e-03 -2.65189018e-04 9.99967346e-01 6.64046898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3927550960001 meters 0.026427639175026985 Centerline is valid? [True, True] Translation: X:69.32, Y:270.35, Z:6.64 [[-4.63971075e-01 -8.85844319e-01 3.26854210e-03 6.93190262e+01] [ 8.85818277e-01 -4.63982516e-01 -6.79747019e-03 2.70351833e+02] [ 7.53804674e-03 -2.58495216e-04 9.99971555e-01 6.64139900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.42275509600006 meters 0.024997122391459733 Centerline is valid? [True, True] Translation: X:69.30, Y:270.38, Z:6.64 [[-4.64183006e-01 -8.85733719e-01 3.14902925e-03 6.93047422e+01] [ 8.85709587e-01 -4.64193621e-01 -6.54292318e-03 2.70375651e+02] [ 7.25704697e-03 -2.47988350e-04 9.99973637e-01 6.64178252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.4527550960001 meters 0.026533099477471716 Centerline is valid? [True, True] Translation: X:69.30, Y:270.40, Z:6.64 [[-4.63782450e-01 -8.85942511e-01 3.42145674e-03 6.92951486e+01] [ 8.85914085e-01 -4.63794996e-01 -7.10176597e-03 2.70399845e+02] [ 7.87861089e-03 -2.62557698e-04 9.99968929e-01 6.64215221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.48275509600006 meters 0.025011062668280792 Centerline is valid? [True, True] Translation: X:69.28, Y:270.42, Z:6.64 [[-4.61231312e-01 -8.87272153e-01 3.71534339e-03 6.92802709e+01] [ 8.87238747e-01 -4.61246204e-01 -7.70353793e-03 2.70423583e+02] [ 8.54882272e-03 -2.56716294e-04 9.99963425e-01 6.64181952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.51275509600003 meters 0.023342630992141934 Centerline is valid? [True, True] Translation: X:69.27, Y:270.45, Z:6.64 [[-4.59239672e-01 -8.88304541e-01 3.73717781e-03 6.92651570e+01] [ 8.88270831e-01 -4.59254818e-01 -7.74236013e-03 2.70446939e+02] [ 8.59389057e-03 -2.35972891e-04 9.99963044e-01 6.64204754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.54275509600006 meters 0.021819795870069457 Centerline is valid? [True, True] Translation: X:69.25, Y:270.47, Z:6.64 [[-4.57085138e-01 -8.89414996e-01 3.76058759e-03 6.92500402e+01] [ 8.89380960e-01 -4.57100558e-01 -7.78385321e-03 2.70470349e+02] [ 8.64204245e-03 -2.13288621e-04 9.99962634e-01 6.64238872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.57275509600004 meters 0.02004455975819345 Centerline is valid? [True, True] Translation: X:69.23, Y:270.49, Z:6.64 [[-4.52668371e-01 -8.91670138e-01 3.96384082e-03 6.92344840e+01] [ 8.91632476e-01 -4.52685691e-01 -8.19715658e-03 2.70492274e+02] [ 9.10353375e-03 -1.76304311e-04 9.99958546e-01 6.64308154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.60275509600007 meters 0.019988493471462573 Centerline is valid? [True, True] Translation: X:69.22, Y:270.52, Z:6.64 [[-4.51064809e-01 -8.92482848e-01 3.86071171e-03 6.92223078e+01] [ 8.92447214e-01 -4.51081305e-01 -7.97666619e-03 2.70516015e+02] [ 8.86053263e-03 -1.52511994e-04 9.99960733e-01 6.64371598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.63275509600004 meters 0.018407707089895392 Centerline is valid? [True, True] Translation: X:69.21, Y:270.54, Z:6.65 [[-4.48422954e-01 -8.93813174e-01 3.85549332e-03 6.92070904e+01] [ 8.93777747e-01 -4.48439511e-01 -7.95884124e-03 2.70538504e+02] [ 8.84267269e-03 -1.22972963e-04 9.99960895e-01 6.64517593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.66275509600007 meters 0.018275636505968796 Centerline is valid? [True, True] Translation: X:69.20, Y:270.56, Z:6.65 [[-4.47853340e-01 -8.94098999e-01 3.79024742e-03 6.91957301e+01] [ 8.94064830e-01 -4.47869364e-01 -7.81743437e-03 2.70561584e+02] [ 8.68709594e-03 -1.12337177e-04 9.99962260e-01 6.64581360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.69275509600004 meters 0.017705250895605058 Centerline is valid? [True, True] Translation: X:69.18, Y:270.58, Z:6.65 [[-4.47092442e-01 -8.94479701e-01 3.79635889e-03 6.91831375e+01] [ 8.94445505e-01 -4.47108548e-01 -7.82201200e-03 2.70584919e+02] [ 8.69401547e-03 -1.01526302e-04 9.99962201e-01 6.64658434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.72275509600007 meters 0.01765754046585727 Centerline is valid? [True, True] Translation: X:69.17, Y:270.61, Z:6.65 [[-4.47436168e-01 -8.94307372e-01 3.89885339e-03 6.91712798e+01] [ 8.94271371e-01 -4.47453142e-01 -8.02503173e-03 2.70608592e+02] [ 8.92139924e-03 -1.04056477e-04 9.99960198e-01 6.64721715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.75275509600004 meters 0.017557704484442892 Centerline is valid? [True, True] Translation: X:69.16, Y:270.63, Z:6.65 [[-4.47871741e-01 -8.94089377e-01 3.88453762e-03 6.91587340e+01] [ 8.94053701e-01 -4.47888575e-01 -7.98771995e-03 2.70632273e+02] [ 8.88157558e-03 -1.04488802e-04 9.99960553e-01 6.64758905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.7827550960001 meters 0.017812977797510503 Centerline is valid? [True, True] Translation: X:69.15, Y:270.66, Z:6.65 [[-4.48247075e-01 -8.93901531e-01 3.82254401e-03 6.91480413e+01] [ 8.93867047e-01 -4.48263362e-01 -7.85239521e-03 2.70655872e+02] [ 8.73277454e-03 -1.02967058e-04 9.99961863e-01 6.64818742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.81275509600005 meters 0.01809435107085093 Centerline is valid? [True, True] Translation: X:69.14, Y:270.68, Z:6.65 [[-4.49487484e-01 -8.93278192e-01 3.88249844e-03 6.91376713e+01] [ 8.93242671e-01 -4.49504237e-01 -7.96694482e-03 2.70680656e+02] [ 8.86189756e-03 -1.13028705e-04 9.99960726e-01 6.64935304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8427550960001 meters 0.018476093454487953 Centerline is valid? [True, True] Translation: X:69.13, Y:270.70, Z:6.65 [[-4.50740473e-01 -8.92645749e-01 4.07349097e-03 6.91270532e+01] [ 8.92606700e-01 -4.50758861e-01 -8.35031787e-03 2.70704649e+02] [ 9.29003790e-03 -1.27800893e-04 9.99956839e-01 6.64970731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.87275509600005 meters 0.01937749681467648 Centerline is valid? [True, True] Translation: X:69.12, Y:270.73, Z:6.65 [[-4.52635279e-01 -8.91684369e-01 4.50442109e-03 6.91181834e+01] [ 8.91636674e-01 -4.52657664e-01 -9.22395518e-03 2.70729485e+02] [ 1.02638174e-02 -1.58780490e-04 9.99947313e-01 6.64960999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9027550960001 meters 0.01879202770408249 Centerline is valid? [True, True] Translation: X:69.11, Y:270.75, Z:6.65 [[-4.53811063e-01 -8.91085100e-01 4.78158585e-03 6.91050017e+01] [ 8.91031424e-01 -4.53836217e-01 -9.78213070e-03 2.70753495e+02] [ 1.08867678e-02 -1.78695884e-04 9.99940721e-01 6.64943856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.93275509600005 meters 0.01911729168445586 Centerline is valid? [True, True] Translation: X:69.09, Y:270.78, Z:6.65 [[-4.54890686e-01 -8.90533476e-01 4.95909229e-03 6.90937417e+01] [ 8.90475814e-01 -4.54917675e-01 -1.01357322e-02 2.70778123e+02] [ 1.12821876e-02 -1.94698436e-04 9.99936335e-01 6.64968932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9627550960001 meters 0.021401453879037354 Centerline is valid? [True, True] Translation: X:69.09, Y:270.80, Z:6.65 [[-4.56093187e-01 -8.89917637e-01 5.06009043e-03 6.90861537e+01] [ 8.89857672e-01 -4.56121207e-01 -1.03328432e-02 2.70802849e+02] [ 1.15033940e-02 -2.09979108e-04 9.99933812e-01 6.64912804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.99275509600005 meters 0.020495764719710537 Centerline is valid? [True, True] Translation: X:69.07, Y:270.83, Z:6.65 [[-4.57998262e-01 -8.88937287e-01 5.30014265e-03 6.90723226e+01] [ 8.88871543e-01 -4.58028865e-01 -1.08138395e-02 2.70826322e+02] [ 1.20404435e-02 -2.41573733e-04 9.99927482e-01 6.64959871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0227550960001 meters 0.021014360099532125 Centerline is valid? [True, True] Translation: X:69.06, Y:270.85, Z:6.65 [[-4.59360084e-01 -8.88233849e-01 5.37978385e-03 6.90612265e+01] [ 8.88166186e-01 -4.59391513e-01 -1.09664904e-02 2.70851324e+02] [ 1.22122350e-02 -2.59425827e-04 9.99925394e-01 6.64988591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.05275509600006 meters 0.02201647586864461 Centerline is valid? [True, True] Translation: X:69.05, Y:270.88, Z:6.65 [[-4.62133425e-01 -8.86794024e-01 5.39041258e-03 6.90514582e+01] [ 8.86726114e-01 -4.62164768e-01 -1.09784345e-02 2.70876819e+02] [ 1.22268689e-02 -2.93681933e-04 9.99925206e-01 6.65108011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0827550960001 meters 0.022746598079521972 Centerline is valid? [True, True] Translation: X:69.04, Y:270.90, Z:6.65 [[-4.63817099e-01 -8.85914781e-01 5.35723603e-03 6.90408918e+01] [ 8.85847762e-01 -4.63847933e-01 -1.09012611e-02 2.70901689e+02] [ 1.21425312e-02 -3.10495730e-04 9.99926229e-01 6.65157023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.11275509600006 meters 0.022582288142441915 Centerline is valid? [True, True] Translation: X:69.03, Y:270.93, Z:6.65 [[-4.65099067e-01 -8.85241883e-01 5.44667159e-03 6.90290714e+01] [ 8.85172685e-01 -4.65130842e-01 -1.10733107e-02 2.70925899e+02] [ 1.23359733e-02 -3.28941549e-04 9.99923855e-01 6.65237416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1427550960001 meters 0.022887587859678926 Centerline is valid? [True, True] Translation: X:69.02, Y:270.95, Z:6.65 [[-4.66974536e-01 -8.84251827e-01 5.78702889e-03 6.90179930e+01] [ 8.84173779e-01 -4.67010244e-01 -1.17541469e-02 2.70950582e+02] [ 1.30962276e-02 -3.72148062e-04 9.99914172e-01 6.65240674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.17275509600006 meters 0.024192408341342408 Centerline is valid? [True, True] Translation: X:69.01, Y:270.98, Z:6.65 [[-4.67578255e-01 -8.83930116e-01 6.17457058e-03 6.90076882e+01] [ 8.83841407e-01 -4.67618850e-01 -1.25291473e-02 2.70975222e+02] [ 1.39622362e-02 -4.01015666e-04 9.99902443e-01 6.65183473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.2027550960001 meters 0.023516580334518367 Centerline is valid? [True, True] Translation: X:68.99, Y:271.00, Z:6.65 [[-4.67769967e-01 -8.83826102e-01 6.53303310e-03 6.89942849e+01] [ 8.83726979e-01 -4.67815396e-01 -1.32432070e-02 2.70998002e+02] [ 1.47609455e-02 -4.21356872e-04 9.99890963e-01 6.65160411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.23275509600006 meters 0.022424347209901593 Centerline is valid? [True, True] Translation: X:68.98, Y:271.02, Z:6.65 [[-4.66509131e-01 -8.84486427e-01 7.27952513e-03 6.89793176e+01] [ 8.84363684e-01 -4.66565716e-01 -1.47413575e-02 2.71020749e+02] [ 1.64349075e-02 -4.39230204e-04 9.99864841e-01 6.65112958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.26275509600003 meters 0.022107435355967583 Centerline is valid? [True, True] Translation: X:68.97, Y:271.04, Z:6.65 [[-4.65572820e-01 -8.84978691e-01 7.39364046e-03 6.89657844e+01] [ 8.84852359e-01 -4.65631333e-01 -1.49587415e-02 2.71044919e+02] [ 1.66808781e-02 -4.22103265e-04 9.99860775e-01 6.65148775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.29275509600006 meters 0.021143378046829517 Centerline is valid? [True, True] Translation: X:68.95, Y:271.07, Z:6.65 [[-4.63196816e-01 -8.86220435e-01 7.87723735e-03 6.89507392e+01] [ 8.86077478e-01 -4.63263623e-01 -1.59222798e-02 2.71067894e+02] [ 1.77598873e-02 -3.95306719e-04 9.99842203e-01 6.65145319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.32275509600004 meters 0.021138707601941774 Centerline is valid? [True, True] Translation: X:68.94, Y:271.09, Z:6.65 [[-4.61707841e-01 -8.86995546e-01 8.04803419e-03 6.89385417e+01] [ 8.86846707e-01 -4.61777832e-01 -1.62527668e-02 2.71091710e+02] [ 1.81325355e-02 -3.66657222e-04 9.99835525e-01 6.65116119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.35275509600007 meters 0.019661558947639886 Centerline is valid? [True, True] Translation: X:68.92, Y:271.11, Z:6.65 [[-4.60426679e-01 -8.87660487e-01 8.13222196e-03 6.89233637e+01] [ 8.87508893e-01 -4.60498367e-01 -1.64078954e-02 2.71114378e+02] [ 1.83095154e-02 -3.37213468e-04 9.99832310e-01 6.65226509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.38275509600004 meters 0.0197691475472919 Centerline is valid? [True, True] Translation: X:68.91, Y:271.14, Z:6.65 [[-4.59588942e-01 -8.88094266e-01 8.15955925e-03 6.89114740e+01] [ 8.87942017e-01 -4.59661262e-01 -1.64468468e-02 2.71136413e+02] [ 1.83569837e-02 -3.13573434e-04 9.99831447e-01 6.65186302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.41275509600007 meters 0.01882752742900429 Centerline is valid? [True, True] Translation: X:68.90, Y:271.16, Z:6.65 [[-4.57322008e-01 -8.89265040e-01 8.01685435e-03 6.88966017e+01] [ 8.89118529e-01 -4.57392199e-01 -1.61436379e-02 2.71159219e+02] [ 1.80228195e-02 -2.54907164e-04 9.99837543e-01 6.65321985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.44275509600004 meters 0.01863154060599024 Centerline is valid? [True, True] Translation: X:68.88, Y:271.18, Z:6.65 [[-4.56776751e-01 -8.89545510e-01 7.98658130e-03 6.88838936e+01] [ 8.89400415e-01 -4.56846506e-01 -1.60677154e-02 2.71182096e+02] [ 1.79416059e-02 -2.36090128e-04 9.99839009e-01 6.65381705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.47275509600007 meters 0.018473592609017528 Centerline is valid? [True, True] Translation: X:68.87, Y:271.21, Z:6.65 [[-4.56598024e-01 -8.89639049e-01 7.78504360e-03 6.88713389e+01] [ 8.89501456e-01 -4.56664335e-01 -1.56475241e-02 2.71205905e+02] [ 1.74758002e-02 -2.19820960e-04 9.99847262e-01 6.65474602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.50275509600004 meters 0.01852354802073247 Centerline is valid? [True, True] Translation: X:68.86, Y:271.23, Z:6.66 [[-4.56900733e-01 -8.89486569e-01 7.44072824e-03 6.88591381e+01] [ 8.89361090e-01 -4.56961268e-01 -1.49416041e-02 2.71229686e+02] [ 1.66904808e-02 -2.09335687e-04 9.99860682e-01 6.65572270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5327550960001 meters 0.018730093275826788 Centerline is valid? [True, True] Translation: X:68.85, Y:271.25, Z:6.66 [[-4.57790672e-01 -8.89029408e-01 7.37648971e-03 6.88484856e+01] [ 8.88906270e-01 -4.57850046e-01 -1.47979070e-02 2.71252636e+02] [ 1.65331007e-02 -2.17335844e-04 9.99863295e-01 6.65640473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.56275509600005 meters 0.019093197750677388 Centerline is valid? [True, True] Translation: X:68.84, Y:271.28, Z:6.66 [[-4.58514590e-01 -8.88657997e-01 7.16488006e-03 6.88374472e+01] [ 8.88542008e-01 -4.58570515e-01 -1.43590882e-02 2.71275297e+02] [ 1.60459213e-02 -2.17554546e-04 9.99871232e-01 6.65619740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5927550960001 meters 0.019132333426354352 Centerline is valid? [True, True] Translation: X:68.83, Y:271.30, Z:6.66 [[-4.59523299e-01 -8.88137363e-01 7.09666720e-03 6.88252525e+01] [ 8.88023732e-01 -4.59578038e-01 -1.42084140e-02 2.71299028e+02] [ 1.58804957e-02 -2.27088370e-04 9.99873871e-01 6.65702139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.62275509600005 meters 0.019685158794304453 Centerline is valid? [True, True] Translation: X:68.81, Y:271.32, Z:6.66 [[-4.61143878e-01 -8.87300329e-01 6.66704504e-03 6.88139481e+01] [ 8.87200138e-01 -4.61192010e-01 -1.33358722e-02 2.71323140e+02] [ 1.49077117e-02 -2.34752530e-04 9.99888846e-01 6.65763199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6527550960001 meters 0.020350416668734907 Centerline is valid? [True, True] Translation: X:68.80, Y:271.35, Z:6.66 [[-4.62120057e-01 -8.86792281e-01 6.67109173e-03 6.88036220e+01] [ 8.86692090e-01 -4.62168140e-01 -1.33321675e-02 2.71346847e+02] [ 1.49060292e-02 -2.45857714e-04 9.99888869e-01 6.65742375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.68275509600005 meters 0.021134719431845125 Centerline is valid? [True, True] Translation: X:68.79, Y:271.37, Z:6.66 [[-4.64224329e-01 -8.85690049e-01 6.99350305e-03 6.87938158e+01] [ 8.85580004e-01 -4.64276914e-01 -1.39643572e-02 2.71370931e+02] [ 1.56150143e-02 -2.89287911e-04 9.99878036e-01 6.65686846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7127550960001 meters 0.021393258357751594 Centerline is valid? [True, True] Translation: X:68.78, Y:271.40, Z:6.66 [[-4.65337150e-01 -8.85103262e-01 7.31795228e-03 6.87821812e+01] [ 8.84982920e-01 -4.65394581e-01 -1.45984961e-02 2.71395934e+02] [ 1.63269118e-02 -3.16959802e-04 9.99866657e-01 6.65695786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.74275509600005 meters 0.020694292916655598 Centerline is valid? [True, True] Translation: X:68.77, Y:271.42, Z:6.66 [[-4.66554489e-01 -8.84461007e-01 7.45893210e-03 6.87690080e+01] [ 8.84336128e-01 -4.66613985e-01 -1.48661123e-02 2.71418596e+02] [ 1.66289387e-02 -3.39648291e-04 9.99861672e-01 6.65747030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7727550960001 meters 0.02151623483190966 Centerline is valid? [True, True] Translation: X:68.76, Y:271.44, Z:6.66 [[-4.68380126e-01 -8.83494232e-01 7.61568791e-03 6.87578473e+01] [ 8.83364172e-01 -4.68441886e-01 -1.51637109e-02 2.71442488e+02] [ 1.69645583e-02 -3.74954967e-04 9.99856021e-01 6.65666257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.80275509600006 meters 0.021562220782361134 Centerline is valid? [True, True] Translation: X:68.75, Y:271.47, Z:6.66 [[-4.69182423e-01 -8.83068648e-01 7.59057722e-03 6.87462176e+01] [ 8.82939633e-01 -4.69243665e-01 -1.50992804e-02 2.71465740e+02] [ 1.68955314e-02 -3.82295510e-04 9.99857187e-01 6.65670594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8327550960001 meters 0.023889634860660484 Centerline is valid? [True, True] Translation: X:68.74, Y:271.49, Z:6.66 [[-4.69928499e-01 -8.82668503e-01 7.96990500e-03 6.87381703e+01] [ 8.82526502e-01 -4.69995900e-01 -1.58375362e-02 2.71490412e+02] [ 1.77251171e-02 -4.08857234e-04 9.99842814e-01 6.65505561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.86275509600006 meters 0.02207537280485672 Centerline is valid? [True, True] Translation: X:68.72, Y:271.51, Z:6.66 [[-4.70843856e-01 -8.82176265e-01 8.43215515e-03 6.87235461e+01] [ 8.82017541e-01 -4.70919145e-01 -1.67396488e-02 2.71513271e+02] [ 1.87381841e-02 -4.44452033e-04 9.99824326e-01 6.65520281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8927550960001 meters 0.024815753105691823 Centerline is valid? [True, True] Translation: X:68.72, Y:271.54, Z:6.65 [[-4.71256421e-01 -8.81952983e-01 8.73628110e-03 6.87160160e+01] [ 8.81782892e-01 -4.71337165e-01 -1.73265316e-02 2.71537973e+02] [ 1.93989202e-02 -4.61736054e-04 9.99811717e-01 6.65329078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.92275509600006 meters 0.022304865717068918 Centerline is valid? [True, True] Translation: X:68.70, Y:271.56, Z:6.65 [[-4.71026415e-01 -8.82071184e-01 9.19473977e-03 6.87010736e+01] [ 8.81883173e-01 -4.71115913e-01 -1.82171971e-02 2.71559602e+02] [ 2.04006528e-02 -4.72094741e-04 9.99791774e-01 6.65431403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.9527550960001 meters 0.022199062695520723 Centerline is valid? [True, True] Translation: X:68.69, Y:271.58, Z:6.65 [[-4.71261258e-01 -8.81947754e-01 8.99926139e-03 6.86893449e+01] [ 8.81767972e-01 -4.71346952e-01 -1.78127440e-02 2.71582883e+02] [ 1.99516840e-02 -4.59195669e-04 9.99800840e-01 6.65463621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.98275509600006 meters 0.022368524814832536 Centerline is valid? [True, True] Translation: X:68.68, Y:271.61, Z:6.66 [[-4.71493885e-01 -8.81824556e-01 8.88646498e-03 6.86780206e+01] [ 8.81649565e-01 -4.71577406e-01 -1.75725683e-02 2.71606427e+02] [ 1.96865783e-02 -4.50610487e-04 9.99806099e-01 6.65505440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.01275509600003 meters 0.022125046244733302 Centerline is valid? [True, True] Translation: X:68.67, Y:271.63, Z:6.66 [[-4.71800719e-01 -8.81663018e-01 8.62579714e-03 6.86659642e+01] [ 8.81498427e-01 -4.71879362e-01 -1.70408548e-02 2.71629632e+02] [ 1.90946271e-02 -4.36260937e-04 9.99817586e-01 6.65555016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.04275509600006 meters 0.022359206521238507 Centerline is valid? [True, True] Translation: X:68.66, Y:271.65, Z:6.66 [[-4.71728759e-01 -8.81705754e-01 8.18179202e-03 6.86557781e+01] [ 8.81557961e-01 -4.71799534e-01 -1.61481230e-02 2.71652519e+02] [ 1.80980586e-02 -4.04810130e-04 9.99836135e-01 6.65656714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.07275509600004 meters 0.022248293280672717 Centerline is valid? [True, True] Translation: X:68.64, Y:271.68, Z:6.66 [[-4.71751687e-01 -8.81695160e-01 7.99940279e-03 6.86440721e+01] [ 8.81554152e-01 -4.71819343e-01 -1.57729083e-02 2.71676354e+02] [ 1.76811698e-02 -3.88989328e-04 9.99843600e-01 6.65755423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.10275509600007 meters 0.02224631111150937 Centerline is valid? [True, True] Translation: X:68.63, Y:271.70, Z:6.66 [[-4.71792220e-01 -8.81676812e-01 7.62230865e-03 6.86335793e+01] [ 8.81549020e-01 -4.71853648e-01 -1.50152980e-02 2.71699750e+02] [ 1.68352542e-02 -3.64662049e-04 9.99858211e-01 6.65887780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.13275509600004 meters 0.021403637637712393 Centerline is valid? [True, True] Translation: X:68.62, Y:271.72, Z:6.66 [[-4.71777490e-01 -8.81686370e-01 7.42600351e-03 6.86206829e+01] [ 8.81565307e-01 -4.71835802e-01 -1.46145578e-02 2.71722505e+02] [ 1.63893107e-02 -3.48312317e-04 9.99865626e-01 6.66011300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.16275509600007 meters 0.021174669578510313 Centerline is valid? [True, True] Translation: X:68.61, Y:271.75, Z:6.66 [[-4.71614904e-01 -8.81773617e-01 7.39390992e-03 6.86082852e+01] [ 8.81653838e-01 -4.71672740e-01 -1.45373939e-02 2.71745977e+02] [ 1.63061961e-02 -3.37182551e-04 9.99866988e-01 6.66040980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.19275509600004 meters 0.02004167039857282 Centerline is valid? [True, True] Translation: X:68.59, Y:271.77, Z:6.66 [[-4.70661851e-01 -8.82285740e-01 7.02105306e-03 6.85939774e+01] [ 8.82177988e-01 -4.70714122e-01 -1.37917616e-02 2.71769258e+02] [ 1.54731834e-02 -2.97437553e-04 9.99880239e-01 6.66164525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.22275509600007 meters 0.019856670211429703 Centerline is valid? [True, True] Translation: X:68.58, Y:271.79, Z:6.66 [[-4.70044860e-01 -8.82615811e-01 6.86730275e-03 6.85809065e+01] [ 8.82512943e-01 -4.70094942e-01 -1.34778277e-02 2.71793623e+02] [ 1.51240282e-02 -2.74700089e-04 9.99885588e-01 6.66207400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.25275509600004 meters 0.019856670211429703 Centerline is valid? [True, True] Translation: X:68.57, Y:271.82, Z:6.66 [[-4.70363417e-01 -8.82446049e-01 6.87216754e-03 6.85685748e+01] [ 8.82343199e-01 -4.70413536e-01 -1.34753472e-02 2.71817373e+02] [ 1.51240276e-02 -2.74700077e-04 9.99885588e-01 6.66231929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.2827550960001 meters 0.01985391990034809 Centerline is valid? [True, True] Translation: X:68.56, Y:271.84, Z:6.66 [[-4.69821078e-01 -8.82736110e-01 6.71671288e-03 6.85569242e+01] [ 8.82638071e-01 -4.69869020e-01 -1.31582590e-02 2.71840052e+02] [ 1.47712456e-02 -2.53600918e-04 9.99890867e-01 6.66282879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.31275509600005 meters 0.019463861416066992 Centerline is valid? [True, True] Translation: X:68.54, Y:271.86, Z:6.66 [[-4.68712329e-01 -8.83328231e-01 6.32372603e-03 6.85447587e+01] [ 8.83241551e-01 -4.68754936e-01 -1.23762429e-02 2.71862090e+02] [ 1.38965625e-02 -2.15520024e-04 9.99903415e-01 6.66355321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3427550960001 meters 0.019035348806303965 Centerline is valid? [True, True] Translation: X:68.53, Y:271.89, Z:6.66 [[-4.68565313e-01 -8.83408267e-01 6.03168961e-03 6.85317295e+01] [ 8.83329566e-01 -4.68604091e-01 -1.17933574e-02 2.71885480e+02] [ 1.32448238e-02 -1.97988411e-04 9.99912264e-01 6.66454428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.37275509600005 meters 0.019252143133992563 Centerline is valid? [True, True] Translation: X:68.52, Y:271.91, Z:6.66 [[-4.68548994e-01 -8.83416423e-01 6.10444421e-03 6.85206435e+01] [ 8.83335971e-01 -4.68588718e-01 -1.19237237e-02 2.71908520e+02] [ 1.33940870e-02 -1.94573592e-04 9.99910276e-01 6.66456289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4027550960001 meters 0.01893356948823507 Centerline is valid? [True, True] Translation: X:68.51, Y:271.93, Z:6.66 [[-4.68102809e-01 -8.83654047e-01 5.94011542e-03 6.85079033e+01] [ 8.83578034e-01 -4.68140464e-01 -1.15915737e-02 2.71932222e+02] [ 1.30237494e-02 -1.77492733e-04 9.99915172e-01 6.66484846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.43275509600005 meters 0.018952049759613728 Centerline is valid? [True, True] Translation: X:68.50, Y:271.96, Z:6.66 [[-4.68163389e-01 -8.83622438e-01 5.86749965e-03 6.84953752e+01] [ 8.83548404e-01 -4.68200125e-01 -1.14394314e-02 2.71955945e+02] [ 1.28553023e-02 -1.71303017e-04 9.99917353e-01 6.66482186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4627550960001 meters 0.01886498415643855 Centerline is valid? [True, True] Translation: X:68.48, Y:271.98, Z:6.66 [[-4.67986446e-01 -8.83716279e-01 5.85018764e-03 6.84837092e+01] [ 8.83642829e-01 -4.68022982e-01 -1.13946929e-02 2.71978625e+02] [ 1.28076979e-02 -1.63085476e-04 9.99917965e-01 6.66426418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.49275509600005 meters 0.0186953354993419 Centerline is valid? [True, True] Translation: X:68.47, Y:272.00, Z:6.66 [[-4.67878665e-01 -8.83773987e-01 5.75277961e-03 6.84715128e+01] [ 8.83703104e-01 -4.67914005e-01 -1.11941289e-02 2.72001955e+02] [ 1.25848860e-02 -1.53744877e-04 9.99920795e-01 6.66429685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5227550960001 meters 0.018839806992809044 Centerline is valid? [True, True] Translation: X:68.46, Y:272.03, Z:6.66 [[-4.68067271e-01 -8.83673152e-01 5.89827809e-03 6.84599133e+01] [ 8.83598774e-01 -4.68104407e-01 -1.14661151e-02 2.72025048e+02] [ 1.28933081e-02 -1.55201934e-04 9.99916866e-01 6.66417256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.55275509600006 meters 0.018827869972685277 Centerline is valid? [True, True] Translation: X:68.45, Y:272.05, Z:6.66 [[-4.68543041e-01 -8.83418619e-01 6.24198381e-03 6.84483427e+01] [ 8.83335462e-01 -4.68584588e-01 -1.21221264e-02 2.72048488e+02] [ 1.36338096e-02 -1.65972314e-04 9.99907042e-01 6.66302613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5827550960001 meters 0.01861613868944703 Centerline is valid? [True, True] Translation: X:68.44, Y:272.07, Z:6.66 [[-4.68912291e-01 -8.83221760e-01 6.37072326e-03 6.84360736e+01] [ 8.83135282e-01 -4.68955535e-01 -1.23604413e-02 2.72071740e+02] [ 1.39045966e-02 -1.69752358e-04 9.99903312e-01 6.66303922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.61275509600006 meters 0.018912423549165995 Centerline is valid? [True, True] Translation: X:68.43, Y:272.09, Z:6.66 [[-4.69302452e-01 -8.83014645e-01 6.35184257e-03 6.84256829e+01] [ 8.82928810e-01 -4.69345404e-01 -1.23129460e-02 2.72094428e+02] [ 1.38537198e-02 -1.70270960e-04 9.99904018e-01 6.66280034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6427550960001 meters 0.01922920106015116 Centerline is valid? [True, True] Translation: X:68.42, Y:272.12, Z:6.66 [[-4.69930230e-01 -8.82681973e-01 6.17354959e-03 6.84155144e+01] [ 8.82600990e-01 -4.69970749e-01 -1.19577113e-02 2.72117427e+02] [ 1.34562439e-02 -1.70509041e-04 9.99909446e-01 6.66271577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.67275509600006 meters 0.019440442323761103 Centerline is valid? [True, True] Translation: X:68.40, Y:272.14, Z:6.66 [[-4.70502412e-01 -8.82374983e-01 6.47067071e-03 6.84038973e+01] [ 8.82286164e-01 -4.70546869e-01 -1.25207568e-02 2.72140251e+02] [ 1.40927564e-02 -1.82063030e-04 9.99900676e-01 6.66288130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.7027550960001 meters 0.01950135597136624 Centerline is valid? [True, True] Translation: X:68.39, Y:272.16, Z:6.66 [[-4.70878884e-01 -8.82174282e-01 6.45081284e-03 6.83919390e+01] [ 8.82086158e-01 -4.70923033e-01 -1.24702264e-02 2.72162782e+02] [ 1.40387494e-02 -1.81793587e-04 9.99901435e-01 6.66279537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.73275509600006 meters 0.01887346534491139 Centerline is valid? [True, True] Translation: X:68.38, Y:272.19, Z:6.66 [[-4.71271262e-01 -8.81967299e-01 6.08941107e-03 6.83780423e+01] [ 8.81888900e-01 -4.71310570e-01 -1.17607038e-02 2.72185035e+02] [ 1.32425600e-02 -1.72297679e-04 9.99912299e-01 6.66391430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.76275509600003 meters 0.019042564400350844 Centerline is valid? [True, True] Translation: X:68.37, Y:272.21, Z:6.66 [[-4.71883003e-01 -8.81641525e-01 5.88658287e-03 6.83668454e+01] [ 8.81568374e-01 -4.71919688e-01 -1.13583003e-02 2.72207374e+02] [ 1.27919435e-02 -1.70363567e-04 9.99918165e-01 6.66379420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.79275509600006 meters 0.018812017010213854 Centerline is valid? [True, True] Translation: X:68.35, Y:272.23, Z:6.66 [[-4.72868586e-01 -8.81116372e-01 5.40739045e-03 6.83538853e+01] [ 8.81054721e-01 -4.72899474e-01 -1.04242691e-02 2.72230995e+02] [ 1.17421463e-02 -1.65102508e-04 9.99931045e-01 6.66463546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.82275509600004 meters 0.019083693794797463 Centerline is valid? [True, True] Translation: X:68.34, Y:272.25, Z:6.67 [[-4.73501555e-01 -8.80775977e-01 5.47316029e-03 6.83425071e+01] [ 8.80712904e-01 -4.73533155e-01 -1.05419189e-02 2.72254229e+02] [ 1.18767918e-02 -1.71332122e-04 9.99929454e-01 6.66523395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.85275509600007 meters 0.019166039297657433 Centerline is valid? [True, True] Translation: X:68.33, Y:272.28, Z:6.67 [[-4.74107989e-01 -8.80450533e-01 5.33616279e-03 6.83304517e+01] [ 8.80390652e-01 -4.74137987e-01 -1.02698300e-02 2.72278082e+02] [ 1.15721548e-02 -1.71100620e-04 9.99933026e-01 6.66525829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.88275509600004 meters 0.01894087636086725 Centerline is valid? [True, True] Translation: X:68.32, Y:272.30, Z:6.67 [[-4.74290834e-01 -8.80353317e-01 5.12276869e-03 6.83174712e+01] [ 8.80298226e-01 -4.74318470e-01 -9.84996687e-03 2.72301675e+02] [ 1.11012748e-02 -1.62184806e-04 9.99938366e-01 6.66593447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.91275509600007 meters 0.019152164152080785 Centerline is valid? [True, True] Translation: X:68.31, Y:272.33, Z:6.67 [[-4.74899920e-01 -8.80024538e-01 5.18445327e-03 6.83051294e+01] [ 8.79968203e-01 -4.74928189e-01 -9.95879588e-03 2.72325018e+02] [ 1.12262277e-02 -1.67277341e-04 9.99936970e-01 6.66633480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.94275509600004 meters 0.019202621880062304 Centerline is valid? [True, True] Translation: X:68.29, Y:272.35, Z:6.67 [[-4.75402190e-01 -8.79754344e-01 5.00514625e-03 6.82926892e+01] [ 8.79701921e-01 -4.75428509e-01 -9.60537653e-03 2.72348648e+02] [ 1.08299610e-02 -1.63380271e-04 9.99941341e-01 6.66709728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.97275509600007 meters 0.019243621534416024 Centerline is valid? [True, True] Translation: X:68.28, Y:272.37, Z:6.67 [[-4.75676364e-01 -8.79606502e-01 4.93954975e-03 6.82814243e+01] [ 8.79555532e-01 -4.75701983e-01 -9.47042347e-03 2.72371360e+02] [ 1.06799997e-02 -1.60248301e-04 9.99942954e-01 6.66792068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.00275509600004 meters 0.019384611304316207 Centerline is valid? [True, True] Translation: X:68.27, Y:272.39, Z:6.67 [[-4.76123340e-01 -8.79364204e-01 5.01618145e-03 6.82694566e+01] [ 8.79311732e-01 -4.76149735e-01 -9.60767619e-03 2.72394895e+02] [ 1.08371000e-02 -1.63651675e-04 9.99941264e-01 6.66839551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0327550960001 meters 0.019318972639681468 Centerline is valid? [True, True] Translation: X:68.26, Y:272.42, Z:6.67 [[-4.75906494e-01 -8.79481215e-01 5.07946089e-03 6.82574682e+01] [ 8.79427520e-01 -4.75933574e-01 -9.71956452e-03 2.72417847e+02] [ 1.09656604e-02 -1.58586179e-04 9.99939863e-01 6.66882678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.06275509600005 meters 0.019226080926230838 Centerline is valid? [True, True] Translation: X:68.25, Y:272.44, Z:6.67 [[-4.76035752e-01 -8.79410624e-01 5.18815302e-03 6.82450291e+01] [ 8.79354712e-01 -4.76063996e-01 -9.91775302e-03 2.72440650e+02] [ 1.11916702e-02 -1.58978206e-04 9.99937359e-01 6.66886272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0927550960001 meters 0.019267638300574902 Centerline is valid? [True, True] Translation: X:68.23, Y:272.46, Z:6.67 [[-4.76005599e-01 -8.79427294e-01 5.12876048e-03 6.82326361e+01] [ 8.79372756e-01 -4.76033204e-01 -9.79517834e-03 2.72463262e+02] [ 1.10556075e-02 -1.52467491e-04 9.99938873e-01 6.66949652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.12275509600005 meters 0.019047400065613725 Centerline is valid? [True, True] Translation: X:68.22, Y:272.49, Z:6.67 [[-4.75508368e-01 -8.79695979e-01 5.17462060e-03 6.82184878e+01] [ 8.79640582e-01 -4.75536502e-01 -9.87328727e-03 2.72486020e+02] [ 1.11462121e-02 -1.43024447e-04 9.99937869e-01 6.66978032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1527550960001 meters 0.019122624925613726 Centerline is valid? [True, True] Translation: X:68.21, Y:272.51, Z:6.67 [[-4.75804296e-01 -8.79534941e-01 5.34404927e-03 6.82065281e+01] [ 8.79475958e-01 -4.75834284e-01 -1.01869837e-02 2.72508001e+02] [ 1.15026900e-02 -1.47047765e-04 9.99933831e-01 6.66937671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.18275509600005 meters 0.019226273433745805 Centerline is valid? [True, True] Translation: X:68.19, Y:272.53, Z:6.67 [[-4.76183680e-01 -8.79328581e-01 5.50910743e-03 6.81941296e+01] [ 8.79266002e-01 -4.76215523e-01 -1.04915883e-02 2.72531400e+02] [ 1.18490759e-02 -1.51952236e-04 9.99929786e-01 6.66901365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2127550960001 meters 0.018720867752792983 Centerline is valid? [True, True] Translation: X:68.18, Y:272.55, Z:6.67 [[-4.76784447e-01 -8.78999916e-01 5.97821389e-03 6.81812378e+01] [ 8.78926341e-01 -4.76821895e-01 -1.13739916e-02 2.72553960e+02] [ 1.28482809e-02 -1.68532638e-04 9.99917443e-01 6.66873907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.24275509600005 meters 0.01957649085581056 Centerline is valid? [True, True] Translation: X:68.17, Y:272.58, Z:6.67 [[-4.77429658e-01 -8.78647787e-01 6.24404039e-03 6.81715007e+01] [ 8.78567652e-01 -4.77470453e-01 -1.18679197e-02 2.72577084e+02] [ 1.34090662e-02 -1.80284921e-04 9.99910078e-01 6.66805801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2727550960001 meters 0.018977243302010793 Centerline is valid? [True, True] Translation: X:68.16, Y:272.60, Z:6.67 [[-4.78710052e-01 -8.77950649e-01 6.27255623e-03 6.81573771e+01] [ 8.77869874e-01 -4.78751105e-01 -1.19106992e-02 2.72600486e+02] [ 1.34599993e-02 -1.95283262e-04 9.99909391e-01 6.66897743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.30275509600006 meters 0.020379693788622703 Centerline is valid? [True, True] Translation: X:68.15, Y:272.62, Z:6.67 [[-4.79415130e-01 -8.77565466e-01 6.32347725e-03 6.81479375e+01] [ 8.77483491e-01 -4.79456789e-01 -1.19963221e-02 2.72624221e+02] [ 1.35593921e-02 -2.02471446e-04 9.99908047e-01 6.66846144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3327550960001 meters 0.019703573475939862 Centerline is valid? [True, True] Translation: X:68.13, Y:272.65, Z:6.67 [[-4.79980568e-01 -8.77255589e-01 6.42545852e-03 6.81336291e+01] [ 8.77171086e-01 -4.80023529e-01 -1.21777016e-02 2.72646608e+02] [ 1.37673280e-02 -2.08833685e-04 9.99905204e-01 6.66967938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.36275509600006 meters 0.020156132048170752 Centerline is valid? [True, True] Translation: X:68.12, Y:272.67, Z:6.67 [[-4.80966934e-01 -8.76713085e-01 6.70640695e-03 6.81217361e+01] [ 8.76621154e-01 -4.81013633e-01 -1.26979239e-02 2.72669147e+02] [ 1.43583092e-02 -2.28303332e-04 9.99896888e-01 6.67006170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3927550960001 meters 0.01985383788718107 Centerline is valid? [True, True] Translation: X:68.11, Y:272.69, Z:6.67 [[-4.81644596e-01 -8.76339508e-01 6.89559989e-03 6.81082270e+01] [ 8.76242466e-01 -4.81693895e-01 -1.30434967e-02 2.72692172e+02] [ 1.47520999e-02 -2.40112246e-04 9.99891153e-01 6.67059749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.42275509600006 meters 0.02057017489692594 Centerline is valid? [True, True] Translation: X:68.10, Y:272.72, Z:6.67 [[-4.82248253e-01 -8.76007209e-01 6.92759299e-03 6.80969484e+01] [ 8.75909398e-01 -4.82297946e-01 -1.30926823e-02 2.72715421e+02] [ 1.48104479e-02 -2.45979344e-04 9.99890289e-01 6.67017382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.4527550960001 meters 0.020257743524595962 Centerline is valid? [True, True] Translation: X:68.08, Y:272.74, Z:6.67 [[-4.83268160e-01 -8.75443976e-01 7.05198382e-03 6.80829800e+01] [ 8.75342726e-01 -4.83319538e-01 -1.33167988e-02 2.72737425e+02] [ 1.50664729e-02 -2.62682113e-04 9.99886460e-01 6.67114812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.48275509600006 meters 0.020758697343441723 Centerline is valid? [True, True] Translation: X:68.07, Y:272.76, Z:6.67 [[-4.83880091e-01 -8.75105039e-01 7.15735552e-03 6.80712820e+01] [ 8.75000900e-01 -4.83932947e-01 -1.35029036e-02 2.72760329e+02] [ 1.52801391e-02 -2.71093703e-04 9.99883215e-01 6.67145823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.51275509600003 meters 0.020909922148742346 Centerline is valid? [True, True] Translation: X:68.06, Y:272.78, Z:6.67 [[-4.84871806e-01 -8.74557390e-01 6.97871795e-03 6.80581506e+01] [ 8.74458510e-01 -4.84921948e-01 -1.31536396e-02 2.72783063e+02] [ 1.48877462e-02 -2.75229696e-04 9.99889134e-01 6.67221527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.54275509600006 meters 0.02097102571048796 Centerline is valid? [True, True] Translation: X:68.05, Y:272.81, Z:6.67 [[-4.85452381e-01 -8.74234478e-01 7.07555935e-03 6.80452430e+01] [ 8.74132985e-01 -4.85503860e-01 -1.33239199e-02 2.72806245e+02] [ 1.50834415e-02 -2.83148804e-04 9.99886198e-01 6.67267645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.57275509600004 meters 0.020449582647213426 Centerline is valid? [True, True] Translation: X:68.03, Y:272.83, Z:6.67 [[-4.85957247e-01 -8.73953120e-01 7.17631464e-03 6.80318238e+01] [ 8.73848881e-01 -4.86010145e-01 -1.35008283e-02 2.72828484e+02] [ 1.52868527e-02 -2.89810812e-04 9.99883107e-01 6.67325679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.60275509600007 meters 0.02134709602702308 Centerline is valid? [True, True] Translation: X:68.02, Y:272.85, Z:6.67 [[-4.87082110e-01 -8.73326041e-01 7.25566035e-03 6.80203641e+01] [ 8.73219616e-01 -4.87136051e-01 -1.36371033e-02 2.72852612e+02] [ 1.54441312e-02 -3.06604124e-04 9.99880685e-01 6.67351287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.63275509600004 meters 0.020535790538998754 Centerline is valid? [True, True] Translation: X:68.01, Y:272.88, Z:6.67 [[-4.87661489e-01 -8.73002123e-01 7.31881612e-03 6.80058254e+01] [ 8.72893989e-01 -4.87716305e-01 -1.37436904e-02 2.72876027e+02] [ 1.55677769e-02 -3.13717926e-04 9.99878766e-01 6.67461211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.66275509600007 meters 0.0206951312493757 Centerline is valid? [True, True] Translation: X:67.99, Y:272.90, Z:6.68 [[-4.88131329e-01 -8.72738733e-01 7.41013963e-03 6.79932415e+01] [ 8.72628044e-01 -4.88187466e-01 -1.39030691e-02 2.72899707e+02] [ 1.57512842e-02 -3.20227933e-04 9.99875890e-01 6.67508506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.69275509600004 meters 0.02164209252049368 Centerline is valid? [True, True] Translation: X:67.98, Y:272.92, Z:6.68 [[-4.89308303e-01 -8.72080360e-01 7.29591237e-03 6.79828537e+01] [ 8.71973178e-01 -4.89362582e-01 -1.36762758e-02 2.72922564e+02] [ 1.54971580e-02 -3.30075403e-04 9.99879857e-01 6.67554676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.72275509600007 meters 0.021595577597388182 Centerline is valid? [True, True] Translation: X:67.97, Y:272.95, Z:6.68 [[-4.90109307e-01 -8.71629983e-01 7.35118835e-03 6.79700253e+01] [ 8.71521331e-01 -4.90164316e-01 -1.37663693e-02 2.72945162e+02] [ 1.56024705e-02 -3.40308268e-04 9.99878216e-01 6.67623053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.75275509600004 meters 0.021153046234812834 Centerline is valid? [True, True] Translation: X:67.96, Y:272.97, Z:6.68 [[-4.90706498e-01 -8.71293580e-01 7.39124998e-03 6.79559448e+01] [ 8.71183901e-01 -4.90762038e-01 -1.38286738e-02 2.72968851e+02] [ 1.56761796e-02 -3.46682079e-04 9.99877061e-01 6.67670658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.7827550960001 meters 0.02154059961467908 Centerline is valid? [True, True] Translation: X:67.94, Y:272.99, Z:6.68 [[-4.90991268e-01 -8.71133433e-01 7.35645527e-03 6.79438913e+01] [ 8.71024958e-01 -4.91046254e-01 -1.37513255e-02 2.72991710e+02] [ 1.55915992e-02 -3.44124605e-04 9.99878384e-01 6.67703044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.81275509600005 meters 0.021349950212437456 Centerline is valid? [True, True] Translation: X:67.93, Y:273.01, Z:6.68 [[-4.90940445e-01 -8.71162370e-01 7.32154125e-03 6.79310444e+01] [ 8.71055123e-01 -4.90994921e-01 -1.36733568e-02 2.73014833e+02] [ 1.55065535e-02 -3.35337867e-04 9.99879710e-01 6.67777424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8427550960001 meters 0.02303201318860619 Centerline is valid? [True, True] Translation: X:67.92, Y:273.04, Z:6.68 [[-4.90818415e-01 -8.71230489e-01 7.39719008e-03 6.79216831e+01] [ 8.71121232e-01 -4.90874043e-01 -1.38011892e-02 2.73038843e+02] [ 1.56551054e-02 -3.30028484e-04 9.99877397e-01 6.67746338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.87275509600005 meters 0.02039068047150443 Centerline is valid? [True, True] Translation: X:67.90, Y:273.06, Z:6.68 [[-4.89648477e-01 -8.71888743e-01 7.37493388e-03 6.79034236e+01] [ 8.71780418e-01 -4.89703920e-01 -1.37467590e-02 2.73060326e+02] [ 1.55971785e-02 -3.01756686e-04 9.99878311e-01 6.67924189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9027550960001 meters 0.020663062065482247 Centerline is valid? [True, True] Translation: X:67.89, Y:273.08, Z:6.68 [[-4.89157375e-01 -8.72163518e-01 7.47401996e-03 6.78912311e+01] [ 8.72052500e-01 -4.89214384e-01 -1.39184785e-02 2.73082204e+02] [ 1.57955873e-02 -2.90588635e-04 9.99875200e-01 6.67901878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.93275509600005 meters 0.019828117072745673 Centerline is valid? [True, True] Translation: X:67.88, Y:273.10, Z:6.68 [[-4.88152133e-01 -8.72724470e-01 7.71329006e-03 6.78765880e+01] [ 8.72606533e-01 -4.88212991e-01 -1.43497110e-02 2.73104020e+02] [ 1.62890723e-02 -2.74174728e-04 9.99867287e-01 6.67957203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9627550960001 meters 0.019464716473902535 Centerline is valid? [True, True] Translation: X:67.86, Y:273.13, Z:6.68 [[-4.85660547e-01 -8.74111927e-01 7.88492573e-03 6.78613995e+01] [ 8.73989088e-01 -4.85724498e-01 -1.46555807e-02 2.73126298e+02] [ 1.66405195e-02 -2.26298291e-04 9.99861511e-01 6.67868400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.99275509600005 meters 0.01868643335951217 Centerline is valid? [True, True] Translation: X:67.85, Y:273.15, Z:6.68 [[-4.84493813e-01 -8.74759315e-01 7.86683097e-03 6.78464778e+01] [ 8.74637338e-01 -4.84557636e-01 -1.46090261e-02 2.73147786e+02] [ 1.65913147e-02 -1.97358660e-04 9.99862335e-01 6.67938160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0227550960001 meters 0.018076861585090517 Centerline is valid? [True, True] Translation: X:67.83, Y:273.17, Z:6.68 [[-4.82087629e-01 -8.76087467e-01 7.89103331e-03 6.78299803e+01] [ 8.75965144e-01 -4.82152184e-01 -1.46402654e-02 2.73168594e+02] [ 1.66308320e-02 -1.45620690e-04 9.99861688e-01 6.67969466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.05275509600006 meters 0.01791152962058647 Centerline is valid? [True, True] Translation: X:67.82, Y:273.19, Z:6.68 [[-4.81096049e-01 -8.76632181e-01 7.91277452e-03 6.78165831e+01] [ 8.76509490e-01 -4.81161102e-01 -1.46665722e-02 2.73190280e+02] [ 1.66645085e-02 -1.20407972e-04 9.99861130e-01 6.67957329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0827550960001 meters 0.017650114853470854 Centerline is valid? [True, True] Translation: X:67.80, Y:273.21, Z:6.68 [[-4.80582039e-01 -8.76913686e-01 7.95556268e-03 6.78022123e+01] [ 8.76789939e-01 -4.80647871e-01 -1.47318064e-02 2.73212971e+02] [ 1.67423469e-02 -1.04484227e-04 9.99859832e-01 6.67996167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.11275509600006 meters 0.017479949667273738 Centerline is valid? [True, True] Translation: X:67.79, Y:273.24, Z:6.68 [[-4.79701299e-01 -8.77395101e-01 8.03125650e-03 6.77875699e+01] [ 8.77269290e-01 -4.79768518e-01 -1.48580639e-02 2.73235062e+02] [ 1.68895365e-02 -8.18578522e-05 9.99857358e-01 6.68039263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1427550960001 meters 0.017447001581860223 Centerline is valid? [True, True] Translation: X:67.77, Y:273.26, Z:6.68 [[-4.79823820e-01 -8.77327002e-01 8.15063835e-03 6.77739598e+01] [ 8.77197660e-01 -4.79893035e-01 -1.50645411e-02 2.73257992e+02] [ 1.71279632e-02 -7.86047511e-05 9.99853303e-01 6.68080842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.17275509600006 meters 0.017447001581860223 Centerline is valid? [True, True] Translation: X:67.76, Y:273.28, Z:6.68 [[-4.80173470e-01 -8.77135627e-01 8.15664579e-03 6.77614013e+01] [ 8.77006312e-01 -4.80242737e-01 -1.50612884e-02 2.73280674e+02] [ 1.71279625e-02 -7.86012626e-05 9.99853303e-01 6.68104600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.2027550960001 meters 0.017465437197721242 Centerline is valid? [True, True] Translation: X:67.75, Y:273.30, Z:6.68 [[-4.80620711e-01 -8.76891562e-01 8.05740664e-03 6.77485451e+01] [ 8.76765583e-01 -4.80688239e-01 -1.48637257e-02 2.73303068e+02] [ 1.69069763e-02 -7.93576056e-05 9.99857064e-01 6.68122945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.23275509600006 meters 0.01842735910773973 Centerline is valid? [True, True] Translation: X:67.74, Y:273.33, Z:6.68 [[-4.81951096e-01 -8.76162121e-01 7.94221545e-03 6.77369151e+01] [ 8.76039832e-01 -4.82016523e-01 -1.46384496e-02 2.73326160e+02] [ 1.66539341e-02 -9.73197241e-05 9.99861309e-01 6.68057309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.26275509600003 meters 0.017733860288998152 Centerline is valid? [True, True] Translation: X:67.72, Y:273.35, Z:6.68 [[-4.83133809e-01 -8.75513684e-01 7.58365676e-03 6.77246341e+01] [ 8.75402286e-01 -4.83193312e-01 -1.39663936e-02 2.73349224e+02] [ 1.58921409e-02 -1.08886448e-04 9.99873706e-01 6.68214529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.29275509600006 meters 0.01923814687475405 Centerline is valid? [True, True] Translation: X:67.71, Y:273.37, Z:6.68 [[-4.86587148e-01 -8.73599271e-01 7.56709479e-03 6.77134158e+01] [ 8.73488330e-01 -4.86645956e-01 -1.39230659e-02 2.73373571e+02] [ 1.58456763e-02 -1.65015920e-04 9.99874436e-01 6.68214544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.32275509600004 meters 0.0187148941623145 Centerline is valid? [True, True] Translation: X:67.70, Y:273.40, Z:6.68 [[-4.88465595e-01 -8.72552838e-01 7.27379509e-03 6.77021430e+01] [ 8.72450377e-01 -4.88519714e-01 -1.33726948e-02 2.73397008e+02] [ 1.52217751e-02 -1.86076058e-04 9.99884125e-01 6.68381496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.35275509600007 meters 0.019307131043591948 Centerline is valid? [True, True] Translation: X:67.69, Y:273.42, Z:6.68 [[-4.90848010e-01 -8.71215430e-01 7.20460005e-03 6.76903883e+01] [ 8.71114912e-01 -4.90900832e-01 -1.32357043e-02 2.73421525e+02] [ 1.50678940e-02 -2.20684600e-04 9.99886449e-01 6.68415908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.38275509600004 meters 0.020723146298116016 Centerline is valid? [True, True] Translation: X:67.68, Y:273.45, Z:6.68 [[-4.94992010e-01 -8.68869006e-01 7.03988525e-03 6.76801957e+01] [ 8.68772953e-01 -4.95041989e-01 -1.29222888e-02 2.73446628e+02] [ 1.47128150e-02 -2.80367787e-04 9.99891721e-01 6.68462341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.41275509600007 meters 0.021265478541098174 Centerline is valid? [True, True] Translation: X:67.67, Y:273.47, Z:6.68 [[-4.97062437e-01 -8.67685765e-01 7.09557840e-03 6.76679631e+01] [ 8.67588229e-01 -4.97112981e-01 -1.30134120e-02 2.73470934e+02] [ 1.48188565e-02 -3.12437992e-04 9.99890146e-01 6.68477054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.44275509600004 meters 0.02225725802708441 Centerline is valid? [True, True] Translation: X:67.66, Y:273.49, Z:6.68 [[-4.99225167e-01 -8.66443342e-01 7.08294421e-03 6.76566051e+01] [ 8.66346194e-01 -4.99275293e-01 -1.29789608e-02 2.73494647e+02] [ 1.47818732e-02 -3.43142100e-04 9.99890683e-01 6.68479611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.47275509600007 meters 0.02281513545419589 Centerline is valid? [True, True] Translation: X:67.64, Y:273.52, Z:6.68 [[-5.01870969e-01 -8.64912340e-01 7.22317142e-03 6.76439055e+01] [ 8.64811327e-01 -5.01922795e-01 -1.32241181e-02 2.73518419e+02] [ 1.50631773e-02 -3.90120506e-04 9.99886468e-01 6.68449364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.50275509600004 meters 0.023447961603089235 Centerline is valid? [True, True] Translation: X:67.63, Y:273.54, Z:6.68 [[-5.02942619e-01 -8.64289855e-01 7.19508010e-03 6.76316056e+01] [ 8.64189717e-01 -5.02993922e-01 -1.31623954e-02 2.73541271e+02] [ 1.49952064e-02 -4.02015389e-04 9.99887485e-01 6.68449077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5327550960001 meters 0.024795777250498554 Centerline is valid? [True, True] Translation: X:67.62, Y:273.56, Z:6.68 [[-5.03906209e-01 -8.63725821e-01 7.49923939e-03 6.76196508e+01] [ 8.63617120e-01 -5.03961823e-01 -1.37095320e-02 2.73564164e+02] [ 1.56206071e-02 -4.31846753e-04 9.99877898e-01 6.68396110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.56275509600005 meters 0.02382897972654693 Centerline is valid? [True, True] Translation: X:67.60, Y:273.59, Z:6.68 [[-5.04550254e-01 -8.63349434e-01 7.53634955e-03 6.76041179e+01] [ 8.63239772e-01 -5.04606343e-01 -1.37671946e-02 2.73586489e+02] [ 1.56887894e-02 -4.40564848e-04 9.99876826e-01 6.68443251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5927550960001 meters 0.023867545349099198 Centerline is valid? [True, True] Translation: X:67.59, Y:273.61, Z:6.68 [[-5.04794092e-01 -8.63206638e-01 7.56475330e-03 6.75903758e+01] [ 8.63096325e-01 -5.04850578e-01 -1.38067624e-02 2.73609064e+02] [ 1.57371590e-02 -4.40461310e-04 9.99876066e-01 6.68488266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.62275509600005 meters 0.02412257997299663 Centerline is valid? [True, True] Translation: X:67.58, Y:273.63, Z:6.69 [[-5.04561774e-01 -8.63344295e-01 7.35153467e-03 6.75765937e+01] [ 8.63240318e-01 -5.04615155e-01 -1.34052205e-02 2.73631043e+02] [ 1.52830164e-02 -4.17620705e-04 9.99883121e-01 6.68500108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6527550960001 meters 0.0235833389695167 Centerline is valid? [True, True] Translation: X:67.56, Y:273.65, Z:6.69 [[-5.04357079e-01 -8.63463083e-01 7.44587827e-03 6.75622366e+01] [ 8.63356631e-01 -5.04411869e-01 -1.35644705e-02 2.73653642e+02] [ 1.54682089e-02 -4.12888316e-04 9.99880275e-01 6.68556181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.68275509600005 meters 0.022750081509799035 Centerline is valid? [True, True] Translation: X:67.55, Y:273.68, Z:6.69 [[-5.03714792e-01 -8.63837686e-01 7.47398193e-03 6.75473236e+01] [ 8.63730669e-01 -5.03770081e-01 -1.36028409e-02 2.73675519e+02] [ 1.55158151e-02 -3.96444781e-04 9.99879544e-01 6.68628376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7127550960001 meters 0.02287921496088297 Centerline is valid? [True, True] Translation: X:67.53, Y:273.70, Z:6.69 [[-5.03361032e-01 -8.64044307e-01 7.42339542e-03 6.75346219e+01] [ 8.63938955e-01 -5.03415624e-01 -1.34978083e-02 2.73697433e+02] [ 1.53997576e-02 -3.80910213e-04 9.99881344e-01 6.68666069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.74275509600005 meters 0.022241956261526967 Centerline is valid? [True, True] Translation: X:67.52, Y:273.72, Z:6.69 [[-5.02585030e-01 -8.64496396e-01 7.36678904e-03 6.75202292e+01] [ 8.64392890e-01 -5.02638890e-01 -1.33819984e-02 2.73719705e+02] [ 1.52715241e-02 -3.57792008e-04 9.99883319e-01 6.68716277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7727550960001 meters 0.021726380486306523 Centerline is valid? [True, True] Translation: X:67.50, Y:273.74, Z:6.69 [[-5.00534289e-01 -8.65687074e-01 7.16350979e-03 6.75049623e+01] [ 8.65589494e-01 -5.00585453e-01 -1.30012678e-02 2.73741904e+02] [ 1.48409782e-02 -3.06921497e-04 9.99889820e-01 6.68768499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.80275509600006 meters 0.02113357765604418 Centerline is valid? [True, True] Translation: X:67.49, Y:273.76, Z:6.69 [[-4.99599164e-01 -8.66227469e-01 7.11674493e-03 6.74906499e+01] [ 8.66131376e-01 -4.99649770e-01 -1.29053041e-02 2.73763679e+02] [ 1.47348088e-02 -2.83443048e-04 9.99891397e-01 6.68790231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8327550960001 meters 0.020767046953341164 Centerline is valid? [True, True] Translation: X:67.48, Y:273.78, Z:6.69 [[-4.98622833e-01 -8.66791718e-01 6.88392906e-03 6.74769968e+01] [ 8.66702024e-01 -4.98670286e-01 -1.24718495e-02 2.73784894e+02] [ 1.42433068e-02 -2.52433704e-04 9.99898527e-01 6.68847337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.86275509600006 meters 0.01970478993316717 Centerline is valid? [True, True] Translation: X:67.46, Y:273.81, Z:6.69 [[-4.96618115e-01 -8.67943753e-01 6.63994544e-03 6.74605454e+01] [ 8.67860553e-01 -4.96662459e-01 -1.20192504e-02 2.73807172e+02] [ 1.37298449e-02 -2.06430733e-04 9.99905720e-01 6.68913448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8927550960001 meters 0.01915262382301392 Centerline is valid? [True, True] Translation: X:67.45, Y:273.83, Z:6.69 [[-4.96098760e-01 -8.68239822e-01 6.75511323e-03 6.74454632e+01] [ 8.68153884e-01 -4.96144710e-01 -1.22172554e-02 2.73829473e+02] [ 1.39590213e-02 -1.96487448e-04 9.99902549e-01 6.68950012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.92275509600006 meters 0.018459460019079093 Centerline is valid? [True, True] Translation: X:67.43, Y:273.85, Z:6.69 [[-4.94944642e-01 -8.68896980e-01 6.91657650e-03 6.74300901e+01] [ 8.68807116e-01 -4.94992936e-01 -1.24975432e-02 2.73851096e+02] [ 1.42827341e-02 -1.76421184e-04 9.99897981e-01 6.68988244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.9527550960001 meters 0.018573139729174307 Centerline is valid? [True, True] Translation: X:67.42, Y:273.87, Z:6.69 [[-4.94645093e-01 -8.69066571e-01 7.03756084e-03 6.74162494e+01] [ 8.68973727e-01 -4.94695126e-01 -1.27041418e-02 2.73873741e+02] [ 1.45221920e-02 -1.68585931e-04 9.99894533e-01 6.68942046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.98275509600006 meters 0.018772123018010404 Centerline is valid? [True, True] Translation: X:67.40, Y:273.90, Z:6.69 [[-4.94397915e-01 -8.69203879e-01 7.43771692e-03 6.74029875e+01] [ 8.69100390e-01 -4.94453830e-01 -1.34134982e-02 2.73896104e+02] [ 1.53366723e-02 -1.67482862e-04 9.99882372e-01 6.68898040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.01275509600003 meters 0.017977269530426075 Centerline is valid? [True, True] Translation: X:67.39, Y:273.92, Z:6.69 [[-4.94667438e-01 -8.69051822e-01 7.28403238e-03 6.73903514e+01] [ 8.68952717e-01 -4.94721038e-01 -1.31252156e-02 2.73917616e+02] [ 1.50100565e-02 -1.63137029e-04 9.99887329e-01 6.68975224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.04275509600006 meters 0.018079344197713277 Centerline is valid? [True, True] Translation: X:67.38, Y:273.94, Z:6.69 [[-4.94848877e-01 -8.68943051e-01 7.90963285e-03 6.73780899e+01] [ 8.68826356e-01 -4.94912056e-01 -1.42414911e-02 2.73940267e+02] [ 1.62896174e-02 -1.75288407e-04 9.99867300e-01 6.68920246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.07275509600004 meters 0.017969240998420063 Centerline is valid? [True, True] Translation: X:67.36, Y:273.96, Z:6.69 [[-4.95670971e-01 -8.68473913e-01 7.95931176e-03 6.73648131e+01] [ 8.68355881e-01 -4.95734836e-01 -1.43191177e-02 2.73963437e+02] [ 1.63814883e-02 -1.86055798e-04 9.99865797e-01 6.69004281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.10275509600007 meters 0.018309910792690762 Centerline is valid? [True, True] Translation: X:67.35, Y:273.99, Z:6.69 [[-4.97029086e-01 -8.67696016e-01 8.10627404e-03 6.73528348e+01] [ 8.67573690e-01 -4.97095142e-01 -1.45709344e-02 2.73986331e+02] [ 1.66727311e-02 -2.09388107e-04 9.99860978e-01 6.69046897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.13275509600004 meters 0.018243538257566565 Centerline is valid? [True, True] Translation: X:67.34, Y:274.01, Z:6.69 [[-4.97862430e-01 -8.67218823e-01 8.03209535e-03 6.73398464e+01] [ 8.67098860e-01 -4.97927170e-01 -1.44257000e-02 2.74009137e+02] [ 1.65096371e-02 -2.17393318e-04 9.99863683e-01 6.69075849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.16275509600007 meters 0.019213325558263727 Centerline is valid? [True, True] Translation: X:67.33, Y:274.03, Z:6.69 [[-4.98954068e-01 -8.66590645e-01 8.09265539e-03 6.73268749e+01] [ 8.66469001e-01 -4.99019638e-01 -1.45214139e-02 2.74033241e+02] [ 1.66225154e-02 -2.33483524e-04 9.99861809e-01 6.69056263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.19275509600004 meters 0.019319907020456998 Centerline is valid? [True, True] Translation: X:67.32, Y:274.06, Z:6.69 [[-5.01078745e-01 -8.65363995e-01 8.07758093e-03 6.73156082e+01] [ 8.65242851e-01 -5.01143776e-01 -1.44818431e-02 2.74057401e+02] [ 1.65800950e-02 -2.67474621e-04 9.99862505e-01 6.69127569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.22275509600007 meters 0.020597877951741922 Centerline is valid? [True, True] Translation: X:67.31, Y:274.08, Z:6.69 [[-5.02726913e-01 -8.64407529e-01 8.07934133e-03 6.73052573e+01] [ 8.64286410e-01 -5.02791745e-01 -1.44728467e-02 2.74081132e+02] [ 1.65726638e-02 -2.93024623e-04 9.99862621e-01 6.69097817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.25275509600004 meters 0.01979982068558713 Centerline is valid? [True, True] Translation: X:67.29, Y:274.10, Z:6.69 [[-5.04364937e-01 -8.63452422e-01 8.11945128e-03 6.72903443e+01] [ 8.63330170e-01 -5.04430186e-01 -1.45328807e-02 2.74104072e+02] [ 1.66441473e-02 -3.20108170e-04 9.99861425e-01 6.69246157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.2827550960001 meters 0.02117224010814965 Centerline is valid? [True, True] Translation: X:67.28, Y:274.13, Z:6.69 [[-5.07573359e-01 -8.61574715e-01 7.63522149e-03 6.72803405e+01] [ 8.61466559e-01 -5.07630659e-01 -1.36558075e-02 2.74127855e+02] [ 1.56413710e-02 -3.53836091e-04 9.99877604e-01 6.69321590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.31275509600005 meters 0.022030355474526097 Centerline is valid? [True, True] Translation: X:67.27, Y:274.15, Z:6.69 [[-5.09135605e-01 -8.60652454e-01 7.63469169e-03 6.72691431e+01] [ 8.60544375e-01 -5.09192705e-01 -1.36443462e-02 2.74151647e+02] [ 1.56305693e-02 -3.76831467e-04 9.99877764e-01 6.69375699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3427550960001 meters 0.022443375376049096 Centerline is valid? [True, True] Translation: X:67.26, Y:274.18, Z:6.69 [[-5.11258988e-01 -8.59394425e-01 7.44777634e-03 6.72566625e+01] [ 8.59291611e-01 -5.11313077e-01 -1.32990883e-02 2.74176055e+02] [ 1.52373078e-02 -3.99466715e-04 9.99883826e-01 6.69454642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.37275509600005 meters 0.023607920669114057 Centerline is valid? [True, True] Translation: X:67.25, Y:274.20, Z:6.69 [[-5.12013639e-01 -8.58946267e-01 7.30372950e-03 6.72457973e+01] [ 8.58847516e-01 -5.12065574e-01 -1.30304785e-02 2.74198968e+02] [ 1.49324693e-02 -3.98992794e-04 9.99888425e-01 6.69469415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4027550960001 meters 0.02230331908821364 Centerline is valid? [True, True] Translation: X:67.23, Y:274.22, Z:6.70 [[-5.12381269e-01 -8.58727608e-01 7.23402373e-03 6.72302600e+01] [ 8.58630885e-01 -5.12432181e-01 -1.28943549e-02 2.74221258e+02] [ 1.47796851e-02 -3.95469743e-04 9.99890696e-01 6.69538262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.43275509600005 meters 0.02175512501490582 Centerline is valid? [True, True] Translation: X:67.22, Y:274.24, Z:6.70 [[-5.11601723e-01 -8.59191790e-01 7.29006014e-03 6.72154311e+01] [ 8.59093774e-01 -5.11653519e-01 -1.29832265e-02 2.74243741e+02] [ 1.48850666e-02 -3.79395789e-04 9.99889139e-01 6.69523386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4627550960001 meters 0.021685866972430804 Centerline is valid? [True, True] Translation: X:67.20, Y:274.27, Z:6.70 [[-5.11114842e-01 -8.59481562e-01 7.28445385e-03 6.72023836e+01] [ 8.59383898e-01 -5.11166619e-01 -1.29616503e-02 2.74265245e+02] [ 1.48638691e-02 -3.64749509e-04 9.99889460e-01 6.69530671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.49275509600005 meters 0.021319087380905336 Centerline is valid? [True, True] Translation: X:67.19, Y:274.29, Z:6.70 [[-5.10515353e-01 -8.59838017e-01 7.25668988e-03 6.71885989e+01] [ 8.59741314e-01 -5.10566807e-01 -1.28999261e-02 2.74287659e+02] [ 1.47968718e-02 -3.46734219e-04 9.99890460e-01 6.69560448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5227550960001 meters 0.02069161046130929 Centerline is valid? [True, True] Translation: X:67.17, Y:274.31, Z:6.70 [[-5.08997827e-01 -8.60738786e-01 7.06776575e-03 6.71739559e+01] [ 8.60647298e-01 -5.09046803e-01 -1.25530922e-02 2.74310065e+02] [ 1.44027569e-02 -3.06643162e-04 9.99896228e-01 6.69678605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.55275509600006 meters 0.02000733489543061 Centerline is valid? [True, True] Translation: X:67.16, Y:274.33, Z:6.70 [[-5.08247215e-01 -8.61186069e-01 6.58207189e-03 6.71592307e+01] [ 8.61106890e-01 -5.08289762e-01 -1.16808504e-02 2.74332179e+02] [ 1.34049854e-02 -2.68892238e-04 9.99910113e-01 6.69757787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5827550960001 meters 0.01909406690389084 Centerline is valid? [True, True] Translation: X:67.14, Y:274.35, Z:6.70 [[-5.06301714e-01 -8.62332713e-01 6.39277202e-03 6.71429279e+01] [ 8.62258242e-01 -5.06342020e-01 -1.13350034e-02 2.74354873e+02] [ 1.30114733e-02 -2.26711264e-04 9.99915322e-01 6.69856763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.61275509600006 meters 0.019036389237073032 Centerline is valid? [True, True] Translation: X:67.13, Y:274.38, Z:6.70 [[-5.05530156e-01 -8.62786131e-01 6.27331998e-03 6.71300488e+01] [ 8.62714571e-01 -5.05569036e-01 -1.11138829e-02 2.74376671e+02] [ 1.27605003e-02 -2.06318383e-04 9.99918560e-01 6.69859206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6427550960001 meters 0.018940458128897233 Centerline is valid? [True, True] Translation: X:67.12, Y:274.40, Z:6.70 [[-5.04895970e-01 -8.63157013e-01 6.32694235e-03 6.71168065e+01] [ 8.63084386e-01 -5.04935574e-01 -1.11986585e-02 2.74397992e+02] [ 1.28608989e-02 -1.93472402e-04 9.99917277e-01 6.69890950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.67275509600006 meters 0.01836743054795307 Centerline is valid? [True, True] Translation: X:67.10, Y:274.42, Z:6.70 [[-5.03666239e-01 -8.63878392e-01 5.86883951e-03 6.71023571e+01] [ 8.63816041e-01 -5.03700405e-01 -1.03802609e-02 2.74419869e+02] [ 1.19234199e-02 -1.58589252e-04 9.99928901e-01 6.69991583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.7027550960001 meters 0.018288454659829995 Centerline is valid? [True, True] Translation: X:67.09, Y:274.44, Z:6.70 [[-5.03338036e-01 -8.64070426e-01 5.75498624e-03 6.70890648e+01] [ 8.64010590e-01 -5.03370914e-01 -1.01697689e-02 2.74442233e+02] [ 1.16842892e-02 -1.46462432e-04 9.99931726e-01 6.70042229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.73275509600006 meters 0.01929028223632999 Centerline is valid? [True, True] Translation: X:67.08, Y:274.47, Z:6.70 [[-5.02343226e-01 -8.64650811e-01 5.50077430e-03 6.70758430e+01] [ 8.64596274e-01 -5.02373327e-01 -9.71203832e-03 2.74465515e+02] [ 1.11609641e-02 -1.22827696e-04 9.99937707e-01 6.70048953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.76275509600003 meters 0.017873672195786065 Centerline is valid? [True, True] Translation: X:67.06, Y:274.49, Z:6.70 [[-5.02110373e-01 -8.64789673e-01 4.89854511e-03 6.70615308e+01] [ 8.64746500e-01 -5.02134257e-01 -8.64167599e-03 2.74488260e+02] [ 9.93295946e-03 -1.03075413e-04 9.99950662e-01 6.70283334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.79275509600006 meters 0.017882934135762196 Centerline is valid? [True, True] Translation: X:67.05, Y:274.51, Z:6.70 [[-5.01559577e-01 -8.65110020e-01 4.75857421e-03 6.70490803e+01] [ 8.65069366e-01 -5.01582142e-01 -8.38731013e-03 2.74510752e+02] [ 9.64276188e-03 -9.02389448e-05 9.99953503e-01 6.70334536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.82275509600004 meters 0.019418279464478834 Centerline is valid? [True, True] Translation: X:67.04, Y:274.53, Z:6.70 [[-5.01251768e-01 -8.65285523e-01 5.25629492e-03 6.70370113e+01] [ 8.65236010e-01 -5.01279319e-01 -9.25700526e-03 2.74533803e+02] [ 1.06448246e-02 -9.21546172e-05 9.99943338e-01 6.70151408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.85275509600007 meters 0.017719068328293328 Centerline is valid? [True, True] Translation: X:67.02, Y:274.56, Z:6.70 [[-5.01024838e-01 -8.65420177e-01 4.69344039e-03 6.70230064e+01] [ 8.65380769e-01 -5.01046815e-01 -8.25916144e-03 2.74556588e+02] [ 9.49927832e-03 -7.64319613e-05 9.99954878e-01 6.70360337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.88275509600004 meters 0.01773896241234366 Centerline is valid? [True, True] Translation: X:67.01, Y:274.58, Z:6.70 [[-5.00968659e-01 -8.65454548e-01 4.33901483e-03 6.70112785e+01] [ 8.65420923e-01 -5.00987445e-01 -7.62923697e-03 2.74579705e+02] [ 8.77654980e-03 -6.69343949e-05 9.99961483e-01 6.70366308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.91275509600007 meters 0.017704479319775132 Centerline is valid? [True, True] Translation: X:67.00, Y:274.60, Z:6.70 [[-5.00980161e-01 -8.65447311e-01 4.45301455e-03 6.69982868e+01] [ 8.65411963e-01 -5.00999947e-01 -7.82224499e-03 2.74603181e+02] [ 9.00070095e-03 -6.50974976e-05 9.99959491e-01 6.70375552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.94275509600004 meters 0.017737949106668607 Centerline is valid? [True, True] Translation: X:66.99, Y:274.63, Z:6.70 [[-5.01384193e-01 -8.65213790e-01 4.35748085e-03 6.69861694e+01] [ 8.65179993e-01 -5.01403124e-01 -7.64764005e-03 2.74626846e+02] [ 8.80169814e-03 -6.44005863e-05 9.99961262e-01 6.70384453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.97275509600007 meters 0.017947122062952924 Centerline is valid? [True, True] Translation: X:66.98, Y:274.65, Z:6.70 [[-5.02002292e-01 -8.64854855e-01 4.44744900e-03 6.69767254e+01] [ 8.64819698e-01 -5.02021988e-01 -7.79829122e-03 2.74650201e+02] [ 8.97710720e-03 -6.85185584e-05 9.99959703e-01 6.70329318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.00275509600004 meters 0.018069954952763766 Centerline is valid? [True, True] Translation: X:66.97, Y:274.67, Z:6.70 [[-5.02725953e-01 -8.64434050e-01 4.51542014e-03 6.69650476e+01] [ 8.64397847e-01 -5.02746226e-01 -7.91170606e-03 2.74674517e+02] [ 9.10925855e-03 -7.43005267e-05 9.99958507e-01 6.70317681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0327550960001 meters 0.018458296132824834 Centerline is valid? [True, True] Translation: X:66.96, Y:274.70, Z:6.70 [[-5.04173083e-01 -8.63589317e-01 4.79516433e-03 6.69562084e+01] [ 8.63548527e-01 -5.04195878e-01 -8.39395498e-03 2.74699266e+02] [ 9.66663194e-03 -9.11490705e-05 9.99953273e-01 6.70265124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.06275509600005 meters 0.018458296132824834 Centerline is valid? [True, True] Translation: X:66.94, Y:274.72, Z:6.70 [[-5.04497452e-01 -8.63399847e-01 4.79849445e-03 6.69431124e+01] [ 8.63359066e-01 -5.04520264e-01 -8.39205089e-03 2.74721636e+02] [ 9.66663314e-03 -9.09446116e-05 9.99953273e-01 6.70288876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0927550960001 meters 0.018398159612618894 Centerline is valid? [True, True] Translation: X:66.93, Y:274.75, Z:6.70 [[-5.05841730e-01 -8.62612511e-01 4.87844825e-03 6.69303486e+01] [ 8.62570398e-01 -5.05865243e-01 -8.52435154e-03 2.74746149e+02] [ 9.82104970e-03 -1.03967687e-04 9.99951767e-01 6.70283731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.12275509600005 meters 0.019059156201301535 Centerline is valid? [True, True] Translation: X:66.92, Y:274.77, Z:6.70 [[-5.07658210e-01 -8.61543915e-01 5.02243635e-03 6.69207116e+01] [ 8.61499303e-01 -5.07683038e-01 -8.76831905e-03 2.74770693e+02] [ 1.01040977e-02 -1.24483737e-04 9.99948945e-01 6.70250906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1527550960001 meters 0.020637753027555175 Centerline is valid? [True, True] Translation: X:66.91, Y:274.80, Z:6.70 [[-5.11051713e-01 -8.59534198e-01 5.20652877e-03 6.69141022e+01] [ 8.59486237e-01 -5.11078208e-01 -9.08149417e-03 2.74797446e+02] [ 1.04667982e-02 -1.66173334e-04 9.99945208e-01 6.70250113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.18275509600005 meters 0.020382777921371643 Centerline is valid? [True, True] Translation: X:66.90, Y:274.82, Z:6.70 [[-5.13179297e-01 -8.58264521e-01 5.38712998e-03 6.69010558e+01] [ 8.58213192e-01 -5.13207535e-01 -9.38844351e-03 2.74821591e+02] [ 1.08224837e-02 -1.94648821e-04 9.99941416e-01 6.70304533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2127550960001 meters 0.02139627053544007 Centerline is valid? [True, True] Translation: X:66.89, Y:274.85, Z:6.70 [[-5.15402892e-01 -8.56930438e-01 5.48484053e-03 6.68928109e+01] [ 8.56877239e-01 -5.15432028e-01 -9.55102588e-03 2.74847297e+02] [ 1.10116273e-02 -2.22791354e-04 9.99939345e-01 6.70298731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.24275509600005 meters 0.021679902227584945 Centerline is valid? [True, True] Translation: X:66.88, Y:274.87, Z:6.70 [[-5.16249260e-01 -8.56420969e-01 5.46122085e-03 6.68812123e+01] [ 8.56368269e-01 -5.16278095e-01 -9.50347934e-03 2.74871259e+02] [ 1.09584877e-02 -2.29347926e-04 9.99939928e-01 6.70292375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2727550960001 meters 0.021534349234514697 Centerline is valid? [True, True] Translation: X:66.87, Y:274.89, Z:6.70 [[-5.16786785e-01 -8.56096197e-01 5.54261177e-03 6.68690410e+01] [ 8.56041994e-01 -5.16816453e-01 -9.63635850e-03 2.74894615e+02] [ 1.11141628e-02 -2.35234292e-04 9.99938208e-01 6.70312344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.30275509600006 meters 0.022000134495645893 Centerline is valid? [True, True] Translation: X:66.86, Y:274.92, Z:6.70 [[-5.16687558e-01 -8.56154366e-01 5.80250419e-03 6.68601907e+01] [ 8.56095075e-01 -5.16720083e-01 -1.00786482e-02 2.74918560e+02] [ 1.16271491e-02 -2.40016881e-04 9.99932374e-01 6.70274633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3327550960001 meters 0.021073878931832112 Centerline is valid? [True, True] Translation: X:66.85, Y:274.94, Z:6.70 [[-5.16645937e-01 -8.56178543e-01 5.93952661e-03 6.68467269e+01] [ 8.56116537e-01 -5.16680021e-01 -1.03067986e-02 2.74941107e+02] [ 1.18932946e-02 -2.40038670e-04 9.99929243e-01 6.70321332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.36275509600006 meters 0.020964333140647957 Centerline is valid? [True, True] Translation: X:66.83, Y:274.96, Z:6.70 [[-5.16345782e-01 -8.56358947e-01 6.03220164e-03 6.68344773e+01] [ 8.56295120e-01 -5.16380963e-01 -1.04578953e-02 2.74964922e+02] [ 1.20706263e-02 -2.34545279e-04 9.99927120e-01 6.70345145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3927550960001 meters 0.021469135241106992 Centerline is valid? [True, True] Translation: X:66.83, Y:274.99, Z:6.70 [[-5.15060197e-01 -8.57131688e-01 6.18571682e-03 6.68253389e+01] [ 8.57064752e-01 -5.15097294e-01 -1.07139472e-02 2.74989125e+02] [ 1.23695097e-02 -2.16767930e-04 9.99923471e-01 6.70309185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.42275509600006 meters 0.020125963888190213 Centerline is valid? [True, True] Translation: X:66.81, Y:275.01, Z:6.70 [[-5.14678910e-01 -8.57361441e-01 6.08099156e-03 6.68099855e+01] [ 8.57296885e-01 -5.14714793e-01 -1.05229665e-02 2.75011642e+02] [ 1.21519620e-02 -2.02733812e-04 9.99926142e-01 6.70389935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.4527550960001 meters 0.01968683500077846 Centerline is valid? [True, True] Translation: X:66.80, Y:275.03, Z:6.70 [[-5.11605825e-01 -8.59196235e-01 6.42733657e-03 6.67962388e+01] [ 8.59124385e-01 -5.11646170e-01 -1.11125264e-02 2.75034192e+02] [ 1.28363630e-02 -1.63351669e-04 9.99917597e-01 6.70345930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.48275509600006 meters 0.018864949815047213 Centerline is valid? [True, True] Translation: X:66.78, Y:275.06, Z:6.70 [[-5.10231362e-01 -8.60013927e-01 6.32473547e-03 6.67813042e+01] [ 8.59944536e-01 -5.10270542e-01 -1.09255975e-02 2.75055656e+02] [ 1.26234922e-02 -1.35660798e-04 9.99920311e-01 6.70381674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.51275509600003 meters 0.01867632692170496 Centerline is valid? [True, True] Translation: X:66.77, Y:275.08, Z:6.70 [[-5.09095707e-01 -8.60687021e-01 6.27799554e-03 6.67671178e+01] [ 8.60618825e-01 -5.09134402e-01 -1.08351125e-02 2.75078102e+02] [ 1.25219842e-02 -1.13148122e-04 9.99921591e-01 6.70384977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.54275509600006 meters 0.01815937280887292 Centerline is valid? [True, True] Translation: X:66.75, Y:275.10, Z:6.70 [[-5.07060615e-01 -8.61886435e-01 6.42699315e-03 6.67533328e+01] [ 8.61815188e-01 -5.07101338e-01 -1.10821705e-02 2.75100396e+02] [ 1.28107092e-02 -8.04518653e-05 9.99917936e-01 6.70413158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.57275509600004 meters 0.018113391510208222 Centerline is valid? [True, True] Translation: X:66.74, Y:275.12, Z:6.70 [[-5.06598743e-01 -8.62157897e-01 6.44006370e-03 6.67390627e+01] [ 8.62086508e-01 -5.06639671e-01 -1.10949156e-02 2.75123254e+02] [ 1.28283609e-02 -6.87782730e-05 9.99917711e-01 6.70445105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.60275509600007 meters 0.017877338625283276 Centerline is valid? [True, True] Translation: X:66.73, Y:275.15, Z:6.71 [[-5.06431727e-01 -8.62257208e-01 6.27799557e-03 6.67252256e+01] [ 8.62189491e-01 -5.06470634e-01 -1.08064168e-02 2.75145288e+02] [ 1.24975312e-02 -5.98905332e-05 9.99921901e-01 6.70534553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.63275509600004 meters 0.017946003415554485 Centerline is valid? [True, True] Translation: X:66.71, Y:275.17, Z:6.71 [[-5.06814838e-01 -8.62034793e-01 5.89379346e-03 6.67125045e+01] [ 8.61975200e-01 -5.06849103e-01 -1.01361243e-02 2.75167783e+02] [ 1.17249557e-02 -5.68343975e-05 9.99931259e-01 6.70600303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.66275509600007 meters 0.017936883380136933 Centerline is valid? [True, True] Translation: X:66.70, Y:275.19, Z:6.71 [[-5.07469801e-01 -8.61649640e-01 5.85649747e-03 6.66989480e+01] [ 8.61590884e-01 -5.07503590e-01 -1.00625795e-02 2.75191029e+02] [ 1.16426115e-02 -6.05503905e-05 9.99932221e-01 6.70630276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.69275509600004 meters 0.019344541428673437 Centerline is valid? [True, True] Translation: X:66.69, Y:275.22, Z:6.71 [[-5.10450248e-01 -8.59887505e-01 5.83297606e-03 6.66868364e+01] [ 8.59829203e-01 -5.10483565e-01 -1.00135334e-02 2.75215123e+02] [ 1.15881506e-02 -9.60474487e-05 9.99932851e-01 6.70607179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.72275509600007 meters 0.02055938254892556 Centerline is valid? [True, True] Translation: X:66.68, Y:275.24, Z:6.71 [[-5.12171665e-01 -8.58863155e-01 5.85378185e-03 6.66751121e+01] [ 8.58804469e-01 -5.12205103e-01 -1.00407079e-02 2.75237315e+02] [ 1.16219310e-02 -1.15312076e-04 9.99932456e-01 6.70579103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.75275509600004 meters 0.018501965286445175 Centerline is valid? [True, True] Translation: X:66.66, Y:275.26, Z:6.71 [[-5.12635425e-01 -8.58589155e-01 5.43914724e-03 6.66609565e+01] [ 8.58538562e-01 -5.12664267e-01 -9.32126003e-03 2.75260022e+02] [ 1.07915892e-02 -1.08690447e-04 9.99941763e-01 6.70771544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.7827550960001 meters 0.018755869000848115 Centerline is valid? [True, True] Translation: X:66.65, Y:275.28, Z:6.71 [[-5.13448170e-01 -8.58104900e-01 5.19196630e-03 6.66477193e+01] [ 8.58058856e-01 -5.13474408e-01 -8.88998496e-03 2.75281904e+02] [ 1.02944815e-02 -1.09533845e-04 9.99947004e-01 6.70813136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.81275509600005 meters 0.01905590640326374 Centerline is valid? [True, True] Translation: X:66.63, Y:275.30, Z:6.71 [[-5.15126931e-01 -8.57098924e-01 5.06752536e-03 6.66335171e+01] [ 8.57055090e-01 -5.15151842e-01 -8.66904303e-03 2.75304198e+02] [ 1.00407725e-02 -1.22509132e-04 9.99949583e-01 6.70756626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8427550960001 meters 0.019364573480890202 Centerline is valid? [True, True] Translation: X:66.62, Y:275.33, Z:6.71 [[-5.16025435e-01 -8.56557108e-01 5.26040230e-03 6.66205769e+01] [ 8.56509930e-01 -5.16052229e-01 -8.99091556e-03 2.75326577e+02] [ 1.04158750e-02 -1.33954305e-04 9.99945744e-01 6.70728530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.87275509600005 meters 0.0198075515856943 Centerline is valid? [True, True] Translation: X:66.61, Y:275.35, Z:6.71 [[-5.17210246e-01 -8.55839000e-01 5.75911793e-03 6.66069570e+01] [ 8.55782497e-01 -5.17242285e-01 -9.83550878e-03 2.75349119e+02] [ 1.13964713e-02 -1.58473592e-04 9.99935046e-01 6.70612937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9027550960001 meters 0.019804126316661733 Centerline is valid? [True, True] Translation: X:66.59, Y:275.37, Z:6.71 [[-5.17933681e-01 -8.55400861e-01 5.83690617e-03 6.65927118e+01] [ 8.55342895e-01 -5.17966544e-01 -9.95953895e-03 2.75371527e+02] [ 1.15427203e-02 -1.65824456e-04 9.99933367e-01 6.70588647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.93275509600005 meters 0.020161384528307232 Centerline is valid? [True, True] Translation: X:66.58, Y:275.39, Z:6.71 [[-5.18716661e-01 -8.54925599e-01 5.93681649e-03 6.65792844e+01] [ 8.54865703e-01 -5.18750604e-01 -1.01213176e-02 2.75392706e+02] [ 1.17327007e-02 -1.74915262e-04 9.99931154e-01 6.70528095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9627550960001 meters 0.02012092923740689 Centerline is valid? [True, True] Translation: X:66.56, Y:275.42, Z:6.71 [[-5.19486000e-01 -8.54460510e-01 5.61543475e-03 6.65646148e+01] [ 8.54406970e-01 -5.19516321e-01 -9.56667172e-03 2.75415258e+02] [ 1.10916532e-02 -1.71885434e-04 9.99938471e-01 6.70564226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.99275509600005 meters 0.020463122538034333 Centerline is valid? [True, True] Translation: X:66.55, Y:275.44, Z:6.71 [[-5.20331589e-01 -8.53946204e-01 5.56039505e-03 6.65509040e+01] [ 8.53893772e-01 -5.20361268e-01 -9.46450580e-03 2.75437899e+02] [ 1.09755930e-02 -1.76694635e-04 9.99939751e-01 6.70624879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0227550960001 meters 0.02130644185605677 Centerline is valid? [True, True] Translation: X:66.54, Y:275.46, Z:6.71 [[-5.21679333e-01 -8.53125527e-01 5.24488692e-03 6.65383317e+01] [ 8.53078912e-01 -5.21705668e-01 -8.91999137e-03 2.75461444e+02] [ 1.03461596e-02 -1.79072724e-04 9.99946461e-01 6.70729091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.05275509600006 meters 0.02123715671473831 Centerline is valid? [True, True] Translation: X:66.52, Y:275.48, Z:6.71 [[-5.22543092e-01 -8.52599064e-01 4.85313532e-03 6.65244289e+01] [ 8.52559192e-01 -5.22565600e-01 -8.24732523e-03 2.75484041e+02] [ 9.56774334e-03 -1.71997708e-04 9.99954213e-01 6.70829198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0827550960001 meters 0.021689892501058673 Centerline is valid? [True, True] Translation: X:66.51, Y:275.51, Z:6.71 [[-5.24182557e-01 -8.51594015e-01 4.50343949e-03 6.65100897e+01] [ 8.51559700e-01 -5.24201873e-01 -7.64681113e-03 2.75507168e+02] [ 8.87269000e-03 -1.73377426e-04 9.99960622e-01 6.70955126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.11275509600006 meters 0.021965163986567032 Centerline is valid? [True, True] Translation: X:66.50, Y:275.53, Z:6.71 [[-5.24942324e-01 -8.51125903e-01 4.50033785e-03 6.64970659e+01] [ 8.51091672e-01 -5.24961584e-01 -7.63549012e-03 2.75529264e+02] [ 8.86126792e-03 -1.77991862e-04 9.99960722e-01 6.71036463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1427550960001 meters 0.022903688954492695 Centerline is valid? [True, True] Translation: X:66.48, Y:275.55, Z:6.71 [[-5.26221219e-01 -8.50336938e-01 4.28021640e-03 6.64847198e+01] [ 8.50306002e-01 -5.26238596e-01 -7.25561135e-03 2.75552751e+02] [ 8.42212941e-03 -1.78562955e-04 9.99964517e-01 6.71099881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.17275509600006 meters 0.02409438676094333 Centerline is valid? [True, True] Translation: X:66.47, Y:275.58, Z:6.71 [[-5.28046046e-01 -8.49205800e-01 4.10895311e-03 6.64719738e+01] [ 8.49177299e-01 -5.28061999e-01 -6.95986187e-03 2.75575088e+02] [ 8.08013706e-03 -1.85897833e-04 9.99967338e-01 6.71159603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.2027550960001 meters 0.023551278605702504 Centerline is valid? [True, True] Translation: X:66.46, Y:275.60, Z:6.71 [[-5.28760271e-01 -8.48761574e-01 4.04540372e-03 6.64568387e+01] [ 8.48733983e-01 -5.28775713e-01 -6.84625850e-03 2.75597118e+02] [ 7.94995238e-03 -1.86557890e-04 9.99968381e-01 6.71189048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.23275509600006 meters 0.02418341100780392 Centerline is valid? [True, True] Translation: X:66.44, Y:275.62, Z:6.71 [[-5.30339879e-01 -8.47775888e-01 3.95696165e-03 6.64435761e+01] [ 8.47749507e-01 -5.30354605e-01 -6.69079841e-03 2.75621353e+02] [ 7.77089039e-03 -1.93884929e-04 9.99969787e-01 6.71260248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.26275509600003 meters 0.02474319981991564 Centerline is valid? [True, True] Translation: X:66.43, Y:275.64, Z:6.71 [[-5.31318092e-01 -8.47163649e-01 3.85184481e-03 6.64306244e+01] [ 8.47138672e-01 -5.31332018e-01 -6.50825016e-03 2.75644501e+02] [ 7.56016143e-03 -1.94904359e-04 9.99971403e-01 6.71307277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.29275509600006 meters 0.025438847967078706 Centerline is valid? [True, True] Translation: X:66.42, Y:275.67, Z:6.71 [[-5.32609826e-01 -8.46352044e-01 3.87173538e-03 6.64175565e+01] [ 8.46326830e-01 -5.32623859e-01 -6.53611452e-03 2.75667619e+02] [ 7.59403253e-03 -2.04445289e-04 9.99971144e-01 6.71366218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.32275509600004 meters 0.025825645132644293 Centerline is valid? [True, True] Translation: X:66.40, Y:275.69, Z:6.71 [[-5.33535420e-01 -8.45769172e-01 3.80310502e-03 6.64036240e+01] [ 8.45744867e-01 -5.33548934e-01 -6.41520806e-03 2.75690431e+02] [ 7.45492784e-03 -2.06284177e-04 9.99972190e-01 6.71389137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.35275509600007 meters 0.025539201598253687 Centerline is valid? [True, True] Translation: X:66.39, Y:275.71, Z:6.71 [[-5.34372188e-01 -8.45240270e-01 3.90520780e-03 6.63888518e+01] [ 8.45214672e-01 -5.34386414e-01 -6.58166871e-03 2.75712750e+02] [ 7.64998143e-03 -2.16321775e-04 9.99970715e-01 6.71429022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.38275509600004 meters 0.026665091565433095 Centerline is valid? [True, True] Translation: X:66.38, Y:275.74, Z:6.71 [[-5.34616489e-01 -8.45086167e-01 3.81827301e-03 6.63771866e+01] [ 8.45061736e-01 -5.34630083e-01 -6.42945573e-03 2.75735045e+02] [ 7.47480772e-03 -2.10616634e-04 9.99972041e-01 6.71498519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.41275509600007 meters 0.026065569958388667 Centerline is valid? [True, True] Translation: X:66.36, Y:275.76, Z:6.72 [[-5.34871480e-01 -8.44925061e-01 3.76036697e-03 6.63622048e+01] [ 8.44901391e-01 -5.34884658e-01 -6.32786019e-03 2.75757464e+02] [ 7.35793026e-03 -2.07452665e-04 9.99972909e-01 6.71503114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.44275509600004 meters 0.02517492705865072 Centerline is valid? [True, True] Translation: X:66.35, Y:275.78, Z:6.72 [[-5.35076534e-01 -8.44795331e-01 3.73532045e-03 6.63468609e+01] [ 8.44772007e-01 -5.35089532e-01 -6.28079562e-03 2.75779518e+02] [ 7.30471768e-03 -2.05212195e-04 9.99973299e-01 6.71505179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.47275509600007 meters 0.026369725894397712 Centerline is valid? [True, True] Translation: X:66.34, Y:275.80, Z:6.72 [[-5.35382490e-01 -8.44601643e-01 3.69519684e-03 6.63350995e+01] [ 8.44578851e-01 -5.35395204e-01 -6.20803150e-03 2.75801782e+02] [ 7.22170427e-03 -2.02786264e-04 9.99973903e-01 6.71562027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.50275509600004 meters 0.026230892206701797 Centerline is valid? [True, True] Translation: X:66.32, Y:275.82, Z:6.72 [[-5.35767618e-01 -8.44357607e-01 3.64575161e-03 6.63208391e+01] [ 8.44335456e-01 -5.35779984e-01 -6.11936059e-03 2.75824248e+02] [ 7.12024940e-03 -2.00317897e-04 9.99974631e-01 6.71582817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5327550960001 meters 0.026806104951178297 Centerline is valid? [True, True] Translation: X:66.31, Y:275.85, Z:6.72 [[-5.35572327e-01 -8.44482563e-01 3.38875454e-03 6.63082039e+01] [ 8.44463455e-01 -5.35583016e-01 -5.68376699e-03 2.75846733e+02] [ 6.61480149e-03 -1.82388944e-04 9.99978105e-01 6.71690644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.56275509600005 meters 0.024278989783049425 Centerline is valid? [True, True] Translation: X:66.29, Y:275.87, Z:6.72 [[-5.35236919e-01 -8.44696342e-01 3.08723696e-03 6.62907374e+01] [ 8.44680510e-01 -5.35245798e-01 -5.17417086e-03 2.75866926e+02] [ 6.02303381e-03 -1.61678377e-04 9.99981848e-01 6.71742189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5927550960001 meters 0.025584917621060375 Centerline is valid? [True, True] Translation: X:66.28, Y:275.89, Z:6.72 [[-5.34788391e-01 -8.44980233e-01 3.12778270e-03 6.62792673e+01] [ 8.44964015e-01 -5.34797514e-01 -5.23750019e-03 2.75890096e+02] [ 6.09831454e-03 -1.58090473e-04 9.99981393e-01 6.71822008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.62275509600005 meters 0.02433410438237756 Centerline is valid? [True, True] Translation: X:66.26, Y:275.91, Z:6.72 [[-5.32560200e-01 -8.46386735e-01 3.02137143e-03 6.62632837e+01] [ 8.46371653e-01 -5.32568753e-01 -5.05451807e-03 2.75911775e+02] [ 5.88716506e-03 -1.34632025e-04 9.99982661e-01 6.71858672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6527550960001 meters 0.02409856283366259 Centerline is valid? [True, True] Translation: X:66.25, Y:275.93, Z:6.72 [[-5.31706618e-01 -8.46921848e-01 3.38463825e-03 6.62493821e+01] [ 8.46902965e-01 -5.31717371e-01 -5.65733741e-03 2.75932860e+02] [ 6.59099361e-03 -1.41583569e-04 9.99978269e-01 6.71832473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.68275509600005 meters 0.02131429700425932 Centerline is valid? [True, True] Translation: X:66.23, Y:275.95, Z:6.72 [[-5.30328712e-01 -8.47786258e-01 3.14937971e-03 6.62298860e+01] [ 8.47769950e-01 -5.30338050e-01 -5.25977044e-03 2.75953188e+02] [ 6.12939699e-03 -1.19457802e-04 9.99981208e-01 6.71788605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7127550960001 meters 0.020320061989300923 Centerline is valid? [True, True] Translation: X:66.21, Y:275.97, Z:6.72 [[-5.27427757e-01 -8.49594336e-01 3.07019067e-03 6.62132674e+01] [ 8.49578892e-01 -5.27436684e-01 -5.12348099e-03 2.75974628e+02] [ 5.97221161e-03 -9.38968993e-05 9.99982162e-01 6.71764234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.74275509600005 meters 0.0199154577496515 Centerline is valid? [True, True] Translation: X:66.20, Y:276.00, Z:6.72 [[-5.25976313e-01 -8.50493336e-01 3.16276884e-03 6.61979599e+01] [ 8.50476992e-01 -5.25985815e-01 -5.27341708e-03 2.75997067e+02] [ 6.14857764e-03 -8.38303430e-05 9.99981094e-01 6.71788196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7727550960001 meters 0.01932818034661495 Centerline is valid? [True, True] Translation: X:66.18, Y:276.02, Z:6.72 [[-5.23164124e-01 -8.52226924e-01 2.92727233e-03 6.61830276e+01] [ 8.52212969e-01 -5.23172310e-01 -4.87735929e-03 2.76018240e+02] [ 5.68808473e-03 -5.69999552e-05 9.99983821e-01 6.71828108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.80275509600006 meters 0.0191546429025747 Centerline is valid? [True, True] Translation: X:66.17, Y:276.04, Z:6.72 [[-5.22447431e-01 -8.52666263e-01 2.98771765e-03 6.61683954e+01] [ 8.52651758e-01 -5.22455971e-01 -4.97378234e-03 2.76040554e+02] [ 5.80192733e-03 -5.10571021e-05 9.99983167e-01 6.71884728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8327550960001 meters 0.019066928563192333 Centerline is valid? [True, True] Translation: X:66.15, Y:276.06, Z:6.72 [[-5.21902913e-01 -8.53000232e-01 2.82010810e-03 6.61539637e+01] [ 8.52987335e-01 -5.21910531e-01 -4.69096031e-03 2.76063180e+02] [ 5.47323435e-03 -4.27093588e-05 9.99985021e-01 6.71910270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.86275509600006 meters 0.018849307208044466 Centerline is valid? [True, True] Translation: X:66.14, Y:276.09, Z:6.72 [[-5.21377958e-01 -8.53321049e-01 2.86567982e-03 6.61395870e+01] [ 8.53307760e-01 -5.21385832e-01 -4.76236384e-03 2.76085855e+02] [ 5.55795017e-03 -3.76847065e-05 9.99984554e-01 6.71972125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8927550960001 meters 0.02039557811564009 Centerline is valid? [True, True] Translation: X:66.13, Y:276.11, Z:6.72 [[-5.21766510e-01 -8.53081493e-01 3.41707199e-03 6.61272708e+01] [ 8.53062636e-01 -5.21777697e-01 -5.67223884e-03 2.76109224e+02] [ 6.62183393e-03 -4.46078236e-05 9.99978074e-01 6.71894802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.92275509600006 meters 0.018792643225522793 Centerline is valid? [True, True] Translation: X:66.11, Y:276.13, Z:6.72 [[-5.22397652e-01 -8.52696156e-01 3.15570170e-03 6.61143176e+01] [ 8.52680092e-01 -5.22407181e-01 -5.23428635e-03 2.76131433e+02] [ 6.11181709e-03 -4.35748826e-05 9.99981322e-01 6.72068979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.9527550960001 meters 0.018800740057257938 Centerline is valid? [True, True] Translation: X:66.10, Y:276.15, Z:6.72 [[-5.23095518e-01 -8.52268291e-01 3.13679813e-03 6.61012465e+01] [ 8.52252441e-01 -5.23104921e-01 -5.19791142e-03 2.76154902e+02] [ 6.07088962e-03 -4.56603025e-05 9.99981571e-01 6.72056545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.98275509600006 meters 0.018800740057257938 Centerline is valid? [True, True] Translation: X:66.09, Y:276.18, Z:6.72 [[-5.23424513e-01 -8.52066269e-01 3.13880433e-03 6.60876167e+01] [ 8.52050423e-01 -5.23433922e-01 -5.19669940e-03 2.76176961e+02] [ 6.07088893e-03 -4.56602975e-05 9.99981571e-01 6.72080303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.01275509600003 meters 0.018844153021926505 Centerline is valid? [True, True] Translation: X:66.07, Y:276.20, Z:6.72 [[-5.24343597e-01 -8.51500468e-01 3.27797008e-03 6.60747581e+01] [ 8.51483207e-01 -5.24353840e-01 -5.42206653e-03 2.76200312e+02] [ 6.33570839e-03 -5.18893908e-05 9.99979928e-01 6.72124324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.04275509600006 meters 0.018989303407676978 Centerline is valid? [True, True] Translation: X:66.06, Y:276.22, Z:6.72 [[-5.26166760e-01 -8.50374432e-01 3.44475599e-03 6.60629812e+01] [ 8.50355380e-01 -5.26178032e-01 -5.69268261e-03 2.76224348e+02] [ 6.65346667e-03 -6.60335711e-05 9.99977863e-01 6.72051182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.07275509600004 meters 0.01964909648429967 Centerline is valid? [True, True] Translation: X:66.05, Y:276.25, Z:6.72 [[-5.28452900e-01 -8.48954605e-01 3.68939425e-03 6.60534554e+01] [ 8.48932758e-01 -5.28465772e-01 -6.09102654e-03 2.76248991e+02] [ 7.12072360e-03 -8.67730067e-05 9.99974644e-01 6.72047776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.10275509600007 meters 0.019670948628232914 Centerline is valid? [True, True] Translation: X:66.04, Y:276.27, Z:6.72 [[-5.29763441e-01 -8.48136955e-01 3.79497287e-03 6.60409367e+01] [ 8.48113858e-01 -5.29777025e-01 -6.26003199e-03 2.76271917e+02] [ 7.31985391e-03 -9.77670019e-05 9.99973205e-01 6.72012539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.13275509600004 meters 0.019904524830520947 Centerline is valid? [True, True] Translation: X:66.03, Y:276.30, Z:6.72 [[-5.31172950e-01 -8.47253829e-01 4.03083695e-03 6.60289059e+01] [ 8.47227794e-01 -5.31188231e-01 -6.64293827e-03 2.76295474e+02] [ 7.76938803e-03 -1.13512015e-04 9.99969811e-01 6.72018021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.16275509600007 meters 0.02029188397028087 Centerline is valid? [True, True] Translation: X:66.02, Y:276.32, Z:6.72 [[-5.32416295e-01 -8.46472918e-01 4.06044907e-03 6.60174228e+01] [ 8.46446524e-01 -5.32431764e-01 -6.68568802e-03 2.76318447e+02] [ 7.82116591e-03 -1.22616239e-04 9.99969407e-01 6.72020020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.19275509600004 meters 0.021251315347385436 Centerline is valid? [True, True] Translation: X:66.01, Y:276.34, Z:6.72 [[-5.33544613e-01 -8.45761109e-01 4.27704453e-03 6.60074163e+01] [ 8.45731841e-01 -5.33561738e-01 -7.03736214e-03 2.76341816e+02] [ 8.23399452e-03 -1.37513915e-04 9.99966091e-01 6.72038911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.22275509600007 meters 0.02124532887906138 Centerline is valid? [True, True] Translation: X:65.99, Y:276.37, Z:6.72 [[-5.35211944e-01 -8.44706282e-01 4.41271003e-03 6.59946492e+01] [ 8.44675150e-01 -5.35230112e-01 -7.25379914e-03 2.76366409e+02] [ 8.48914499e-03 -1.55013427e-04 9.99963955e-01 6.72008658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.25275509600004 meters 0.02155198688715388 Centerline is valid? [True, True] Translation: X:65.98, Y:276.39, Z:6.72 [[-5.35746216e-01 -8.44365217e-01 4.83449475e-03 6.59832535e+01] [ 8.44327897e-01 -5.35768001e-01 -7.94055302e-03 2.76389087e+02] [ 9.29489436e-03 -1.72222446e-04 9.99956787e-01 6.71918618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.2827550960001 meters 0.0213104627072113 Centerline is valid? [True, True] Translation: X:65.97, Y:276.41, Z:6.72 [[-5.35333137e-01 -8.44626454e-01 4.95845495e-03 6.59685778e+01] [ 8.44587276e-01 -5.35356074e-01 -8.13684477e-03 2.76411505e+02] [ 9.52713331e-03 -1.68074678e-04 9.99954602e-01 6.71942668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.31275509600005 meters 0.020336088930851707 Centerline is valid? [True, True] Translation: X:65.95, Y:276.43, Z:6.72 [[-5.34800560e-01 -8.44964385e-01 4.85271348e-03 6.59521326e+01] [ 8.44926934e-01 -5.34822553e-01 -7.95692361e-03 2.76432648e+02] [ 9.31865768e-03 -1.55178881e-04 9.99956568e-01 6.71935777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3427550960001 meters 0.020049053199654773 Centerline is valid? [True, True] Translation: X:65.94, Y:276.45, Z:6.72 [[-5.34184522e-01 -8.45353236e-01 4.98028521e-03 6.59379601e+01] [ 8.45313874e-01 -5.34207717e-01 -8.15898508e-03 2.76453999e+02] [ 9.55773123e-03 -1.48499356e-04 9.99954313e-01 6.71940798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.37275509600005 meters 0.018899234383977358 Centerline is valid? [True, True] Translation: X:65.92, Y:276.48, Z:6.72 [[-5.32900901e-01 -8.46161843e-01 5.17350169e-03 6.59210582e+01] [ 8.46119467e-01 -5.32925995e-01 -8.46947433e-03 2.76475095e+02] [ 9.92363955e-03 -1.35990010e-04 9.99950750e-01 6.71918043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4027550960001 meters 0.019121621900495062 Centerline is valid? [True, True] Translation: X:65.91, Y:276.50, Z:6.72 [[-5.33067704e-01 -8.46055793e-01 5.33093540e-03 6.59083300e+01] [ 8.46010867e-01 -5.33094341e-01 -8.71984799e-03 2.76496859e+02] [ 1.02193694e-02 -1.38240063e-04 9.99947771e-01 6.71934502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.43275509600005 meters 0.018919946943973115 Centerline is valid? [True, True] Translation: X:65.90, Y:276.52, Z:6.72 [[-5.33573948e-01 -8.45737861e-01 5.12963551e-03 6.58951253e+01] [ 8.45696324e-01 -5.33598588e-01 -8.38303285e-03 2.76519674e+02] [ 9.82701453e-03 -1.34854044e-04 9.99951705e-01 6.72038317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4627550960001 meters 0.018967709316192093 Centerline is valid? [True, True] Translation: X:65.88, Y:276.54, Z:6.72 [[-5.34125500e-01 -8.45391169e-01 4.87054506e-03 6.58811099e+01] [ 8.45353769e-01 -5.34147691e-01 -7.95294362e-03 2.76542542e+02] [ 9.32493870e-03 -1.30536365e-04 9.99956513e-01 6.72100456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.49275509600005 meters 0.019025841074093493 Centerline is valid? [True, True] Translation: X:65.87, Y:276.56, Z:6.72 [[-5.34724629e-01 -8.45013789e-01 4.61171626e-03 6.58681540e+01] [ 8.44980301e-01 -5.34744500e-01 -7.52404221e-03 2.76563981e+02] [ 8.82400932e-03 -1.26481284e-04 9.99961060e-01 6.72182792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5227550960001 meters 0.018897153028459845 Centerline is valid? [True, True] Translation: X:65.85, Y:276.59, Z:6.72 [[-5.35452201e-01 -8.44552908e-01 4.61803660e-03 6.58533202e+01] [ 8.44519372e-01 -5.35472099e-01 -7.52738529e-03 2.76586727e+02] [ 8.83010489e-03 -1.30533651e-04 9.99961005e-01 6.72235434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.55275509600006 meters 0.019150201886429012 Centerline is valid? [True, True] Translation: X:65.84, Y:276.61, Z:6.72 [[-5.35835912e-01 -8.44310471e-01 4.43885345e-03 6.58402858e+01] [ 8.44279527e-01 -5.35854282e-01 -7.22966876e-03 2.76608427e+02] [ 8.48266367e-03 -1.26283058e-04 9.99964014e-01 6.72272345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5827550960001 meters 0.018786822344397585 Centerline is valid? [True, True] Translation: X:65.82, Y:276.63, Z:6.72 [[-5.36061356e-01 -8.44166129e-01 4.66575315e-03 6.58240075e+01] [ 8.44131985e-01 -5.36081644e-01 -7.59354367e-03 2.76630907e+02] [ 8.91143699e-03 -1.32093852e-04 9.99960284e-01 6.72243341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.61275509600006 meters 0.018765805881014577 Centerline is valid? [True, True] Translation: X:65.81, Y:276.65, Z:6.72 [[-5.36217841e-01 -8.44066561e-01 4.69758003e-03 6.58095881e+01] [ 8.44032002e-01 -5.36238401e-01 -7.63918031e-03 2.76653285e+02] [ 8.96699946e-03 -1.31356896e-04 9.99959787e-01 6.72246288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6427550960001 meters 0.018273058916393747 Centerline is valid? [True, True] Translation: X:65.79, Y:276.68, Z:6.72 [[-5.35780586e-01 -8.44344231e-01 4.68852324e-03 6.57941968e+01] [ 8.44309876e-01 -5.35801086e-01 -7.61769018e-03 2.76675400e+02] [ 8.94406860e-03 -1.22844036e-04 9.99959994e-01 6.72275939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.67275509600006 meters 0.018088387088460386 Centerline is valid? [True, True] Translation: X:65.78, Y:276.70, Z:6.72 [[-5.35598607e-01 -8.44459911e-01 4.64661796e-03 6.57793957e+01] [ 8.44426218e-01 -5.35618750e-01 -7.54433701e-03 2.76697623e+02] [ 8.85970586e-03 -1.17010364e-04 9.99960745e-01 6.72278111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.7027550960001 meters 0.017917127856446 Centerline is valid? [True, True] Translation: X:65.76, Y:276.72, Z:6.72 [[-5.35314272e-01 -8.44640737e-01 4.54480172e-03 6.57645541e+01] [ 8.44608566e-01 -5.35333554e-01 -7.37264487e-03 2.76720032e+02] [ 8.66022106e-03 -1.08103556e-04 9.99962494e-01 6.72299313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.73275509600006 meters 0.01749296614226183 Centerline is valid? [True, True] Translation: X:65.75, Y:276.74, Z:6.72 [[-5.34537095e-01 -8.45134377e-01 4.24023022e-03 6.57493368e+01] [ 8.45106435e-01 -5.34553905e-01 -6.87292117e-03 2.76742282e+02] [ 8.07517357e-03 -9.03854777e-05 9.99967391e-01 6.72352804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.76275509600003 meters 0.01727100305147535 Centerline is valid? [True, True] Translation: X:65.74, Y:276.76, Z:6.72 [[-5.34416113e-01 -8.45211916e-01 4.02936616e-03 6.57354467e+01] [ 8.45186724e-01 -5.34431297e-01 -6.52613309e-03 2.76763432e+02] [ 7.66938483e-03 -8.21038965e-05 9.99970586e-01 6.72392081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.79275509600006 meters 0.01709555712020162 Centerline is valid? [True, True] Translation: X:65.72, Y:276.79, Z:6.72 [[-5.33982190e-01 -8.45486566e-01 3.93542050e-03 6.57208303e+01] [ 8.45462586e-01 -5.33996687e-01 -6.36828631e-03 2.76785190e+02] [ 7.48580203e-03 -7.33006825e-05 9.99971978e-01 6.72384469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.82275509600004 meters 0.016966701369189468 Centerline is valid? [True, True] Translation: X:65.71, Y:276.81, Z:6.72 [[-5.33951406e-01 -8.45505946e-01 3.94866312e-03 6.57068921e+01] [ 8.45481846e-01 -5.33966001e-01 -6.38412715e-03 2.76806597e+02] [ 7.50626932e-03 -7.02906848e-05 9.99971825e-01 6.72382788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.85275509600007 meters 0.016868418338535526 Centerline is valid? [True, True] Translation: X:65.69, Y:276.83, Z:6.72 [[-5.33950376e-01 -8.45506794e-01 3.90610235e-03 6.56933410e+01] [ 8.45483254e-01 -5.33964659e-01 -6.30959132e-03 2.76827589e+02] [ 7.42052294e-03 -6.64645316e-05 9.99972465e-01 6.72333667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.88275509600004 meters 0.016777511865037488 Centerline is valid? [True, True] Translation: X:65.68, Y:276.85, Z:6.72 [[-5.34411243e-01 -8.45214653e-01 4.10057340e-03 6.56796912e+01] [ 8.45188751e-01 -5.34426970e-01 -6.61739254e-03 2.76849899e+02] [ 7.78457415e-03 -7.06504644e-05 9.99969697e-01 6.72327304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.91275509600007 meters 0.016910126483139595 Centerline is valid? [True, True] Translation: X:65.67, Y:276.87, Z:6.72 [[-5.35147134e-01 -8.44748732e-01 4.13821876e-03 6.56665435e+01] [ 8.44722383e-01 -5.35163128e-01 -6.67248352e-03 2.76871864e+02] [ 7.85119409e-03 -7.51144184e-05 9.99969176e-01 6.72320911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.94275509600004 meters 0.01702365926526791 Centerline is valid? [True, True] Translation: X:65.65, Y:276.89, Z:6.72 [[-5.35821595e-01 -8.44320990e-01 4.15751940e-03 6.56522735e+01] [ 8.44294428e-01 -5.35837719e-01 -6.69763143e-03 2.76894594e+02] [ 7.88270651e-03 -7.85650917e-05 9.99968928e-01 6.72325322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.97275509600007 meters 0.017069666425687767 Centerline is valid? [True, True] Translation: X:65.64, Y:276.92, Z:6.72 [[-5.36476079e-01 -8.43904853e-01 4.24442037e-03 6.56381811e+01] [ 8.43877204e-01 -5.36492863e-01 -6.83178530e-03 2.76917224e+02] [ 8.04247801e-03 -8.33197964e-05 9.99967655e-01 6.72286516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.00275509600004 meters 0.017392859490655867 Centerline is valid? [True, True] Translation: X:65.62, Y:276.94, Z:6.72 [[-5.37881915e-01 -8.43006405e-01 4.82142214e-03 6.56244926e+01] [ 8.42970758e-01 -5.37903513e-01 -7.75322405e-03 2.76939651e+02] [ 9.12947744e-03 -1.06001125e-04 9.99958320e-01 6.72178433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0327550960001 meters 0.01774394043802765 Centerline is valid? [True, True] Translation: X:65.61, Y:276.96, Z:6.72 [[-5.38757458e-01 -8.42445648e-01 5.07257375e-03 6.56115885e+01] [ 8.42406233e-01 -5.38781325e-01 -8.14997348e-03 2.76961447e+02] [ 9.59891770e-03 -1.17691254e-04 9.99953922e-01 6.72118831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.06275509600005 meters 0.01825405631482416 Centerline is valid? [True, True] Translation: X:65.60, Y:276.98, Z:6.72 [[-5.39990391e-01 -8.41653652e-01 5.43215782e-03 6.55984572e+01] [ 8.41608493e-01 -5.40017696e-01 -8.71966485e-03 2.76983195e+02] [ 1.02723991e-02 -1.36785078e-04 9.99947228e-01 6.72025854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0927550960001 meters 0.01862392273066098 Centerline is valid? [True, True] Translation: X:65.59, Y:277.00, Z:6.72 [[-5.41022561e-01 -8.40989720e-01 5.55702067e-03 6.55851704e+01] [ 8.40942511e-01 -5.41051078e-01 -8.91202515e-03 2.77004838e+02] [ 1.05015536e-02 -1.48471749e-04 9.99944846e-01 6.71967967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.12275509600005 meters 0.019436386117440148 Centerline is valid? [True, True] Translation: X:65.57, Y:277.03, Z:6.72 [[-5.42617852e-01 -8.39957929e-01 6.04518006e-03 6.55711319e+01] [ 8.39902100e-01 -5.42651495e-01 -9.68589659e-03 2.77027457e+02] [ 1.14161716e-02 -1.78380974e-04 9.99934818e-01 6.71790633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1527550960001 meters 0.020141038417220578 Centerline is valid? [True, True] Translation: X:65.56, Y:277.05, Z:6.72 [[-5.43736943e-01 -8.39232172e-01 6.28470931e-03 6.55577706e+01] [ 8.39171882e-01 -5.43773227e-01 -1.00613256e-02 2.77049462e+02] [ 1.18612448e-02 -1.96763083e-04 9.99929634e-01 6.71677712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.18275509600005 meters 0.021764611989871677 Centerline is valid? [True, True] Translation: X:65.54, Y:277.07, Z:6.71 [[-5.46275686e-01 -8.37577205e-01 6.87752261e-03 6.55445863e+01] [ 8.37504997e-01 -5.46318921e-01 -1.10007668e-02 2.77072392e+02] [ 1.29713122e-02 -2.49491857e-04 9.99915838e-01 6.71450911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2127550960001 meters 0.022515570737922864 Centerline is valid? [True, True] Translation: X:65.53, Y:277.09, Z:6.71 [[-5.47679250e-01 -8.36657776e-01 7.15579735e-03 6.55312454e+01] [ 8.36579651e-01 -5.47725926e-01 -1.14366850e-02 2.77094971e+02] [ 1.34880072e-02 -2.77240636e-04 9.99908994e-01 6.71364873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.24275509600005 meters 0.023679422740816324 Centerline is valid? [True, True] Translation: X:65.52, Y:277.12, Z:6.71 [[-5.49421040e-01 -8.35514231e-01 7.24498552e-03 6.55190111e+01] [ 8.35434175e-01 -5.49468722e-01 -1.15699216e-02 2.77116747e+02] [ 1.36477271e-02 -3.04049891e-04 9.99906819e-01 6.71321909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2727550960001 meters 0.025435431885078883 Centerline is valid? [True, True] Translation: X:65.51, Y:277.14, Z:6.71 [[-5.51892725e-01 -8.33879738e-01 7.68132869e-03 6.55065243e+01] [ 8.33789738e-01 -5.51946060e-01 -1.22564123e-02 2.77140272e+02] [ 1.44600529e-02 -3.59611721e-04 9.99895383e-01 6.71251373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.30275509600006 meters 0.026475689757335538 Centerline is valid? [True, True] Translation: X:65.49, Y:277.16, Z:6.71 [[-5.53292369e-01 -8.32951070e-01 7.75049453e-03 6.54931390e+01] [ 8.32859492e-01 -5.53346519e-01 -1.23570928e-02 2.77162322e+02] [ 1.45815628e-02 -3.82012222e-04 9.99893610e-01 6.71239590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3327550960001 meters 0.027443715640897624 Centerline is valid? [True, True] Translation: X:65.48, Y:277.18, Z:6.71 [[-5.54495388e-01 -8.32151202e-01 7.69687421e-03 6.54790629e+01] [ 8.32060948e-01 -5.54548664e-01 -1.22620461e-02 2.77184804e+02] [ 1.44721677e-02 -3.94979551e-04 9.99895195e-01 6.71245404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.36275509600006 meters 0.0283318934302408 Centerline is valid? [True, True] Translation: X:65.46, Y:277.21, Z:6.71 [[-5.55390981e-01 -8.31554120e-01 7.65531905e-03 6.54645104e+01] [ 8.31464904e-01 -5.55443591e-01 -1.21872839e-02 2.77205357e+02] [ 1.43864840e-02 -4.03578437e-04 9.99896428e-01 6.71269061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3927550960001 meters 0.02874685486166976 Centerline is valid? [True, True] Translation: X:65.45, Y:277.23, Z:6.71 [[-5.56062123e-01 -8.31106916e-01 7.49728406e-03 6.54501689e+01] [ 8.31021420e-01 -5.56112518e-01 -1.19275971e-02 2.77226212e+02] [ 1.40824420e-02 -4.02081333e-04 9.99900757e-01 6.71277394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.42275509600006 meters 0.029295300674378456 Centerline is valid? [True, True] Translation: X:65.44, Y:277.25, Z:6.71 [[-5.56587677e-01 -8.30754282e-01 7.58168459e-03 6.54353353e+01] [ 8.30666960e-01 -5.56639161e-01 -1.20517946e-02 2.77246236e+02] [ 1.42323425e-02 -4.10025447e-04 9.99898631e-01 6.71290055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.4527550960001 meters 0.029344829503295426 Centerline is valid? [True, True] Translation: X:65.42, Y:277.27, Z:6.71 [[-5.56688059e-01 -8.30685787e-01 7.71552262e-03 6.54207180e+01] [ 8.30595498e-01 -5.56741370e-01 -1.22542091e-02 2.77267107e+02] [ 1.44749480e-02 -4.13293523e-04 9.99895147e-01 6.71315796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.48275509600006 meters 0.0293614309136083 Centerline is valid? [True, True] Translation: X:65.41, Y:277.29, Z:6.71 [[-5.56704552e-01 -8.30674853e-01 7.70263901e-03 6.54069063e+01] [ 8.30585013e-01 -5.56757688e-01 -1.22234624e-02 2.77286474e+02] [ 1.44422263e-02 -4.07160647e-04 9.99895623e-01 6.71353707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.51275509600003 meters 0.02259947772870986 Centerline is valid? [True, True] Translation: X:65.38, Y:277.30, Z:6.72 [[-5.55703318e-01 -8.31346689e-01 7.51693496e-03 6.53815748e+01] [ 8.31261333e-01 -5.55754030e-01 -1.19186588e-02 2.77302521e+02] [ 1.40861045e-02 -3.74700892e-04 9.99900716e-01 6.71592829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.54275509600006 meters 0.021942092094667135 Centerline is valid? [True, True] Translation: X:65.37, Y:277.32, Z:6.72 [[-5.55033100e-01 -8.31794682e-01 7.47432212e-03 6.53655049e+01] [ 8.31710464e-01 -5.55083310e-01 -1.18415607e-02 2.77323169e+02] [ 1.39986186e-02 -3.55986200e-04 9.99901951e-01 6.71634633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.57275509600004 meters 0.022034333903964736 Centerline is valid? [True, True] Translation: X:65.35, Y:277.34, Z:6.72 [[-5.53404819e-01 -8.32880648e-01 7.27545854e-03 6.53496316e+01] [ 8.32801077e-01 -5.53452552e-01 -1.15168805e-02 2.77343734e+02] [ 1.36188080e-02 -3.14487468e-04 9.99907210e-01 6.71662313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.60275509600007 meters 0.020484925898507825 Centerline is valid? [True, True] Translation: X:65.33, Y:277.36, Z:6.72 [[-5.52981403e-01 -8.33164528e-01 6.95967251e-03 6.53322634e+01] [ 8.33091853e-01 -5.53025122e-01 -1.10081357e-02 2.77363750e+02] [ 1.30204619e-02 -2.89247873e-04 9.99915188e-01 6.71761588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.63275509600004 meters 0.020144874134688785 Centerline is valid? [True, True] Translation: X:65.32, Y:277.39, Z:6.72 [[-5.52498251e-01 -8.33484800e-01 6.98360311e-03 6.53165585e+01] [ 8.33411774e-01 -5.52542316e-01 -1.10364434e-02 2.77385322e+02] [ 1.30574441e-02 -2.77398610e-04 9.99914709e-01 6.71799113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.66275509600007 meters 0.01955294603804583 Centerline is valid? [True, True] Translation: X:65.30, Y:277.41, Z:6.72 [[-5.51125884e-01 -8.34392584e-01 7.01969590e-03 6.53006179e+01] [ 8.34318998e-01 -5.51170530e-01 -1.10840733e-02 2.77405939e+02] [ 1.31175181e-02 -2.52054059e-04 9.99913930e-01 6.71842054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.69275509600004 meters 0.01925157477854294 Centerline is valid? [True, True] Translation: X:65.28, Y:277.43, Z:6.72 [[-5.50968484e-01 -8.34497699e-01 6.87897848e-03 6.52849467e+01] [ 8.34427155e-01 -5.51011373e-01 -1.08530971e-02 2.77427773e+02] [ 1.28472799e-02 -2.39707983e-04 9.99917442e-01 6.71898705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.72275509600007 meters 0.018903570790284267 Centerline is valid? [True, True] Translation: X:65.27, Y:277.45, Z:6.72 [[-5.50610230e-01 -8.34732559e-01 7.06604498e-03 6.52696245e+01] [ 8.34658273e-01 -5.50655518e-01 -1.11385915e-02 2.77449310e+02] [ 1.31887016e-02 -2.35289540e-04 9.99912998e-01 6.71950946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.75275509600004 meters 0.01851220649832192 Centerline is valid? [True, True] Translation: X:65.25, Y:277.47, Z:6.72 [[-5.50218103e-01 -8.34992408e-01 6.90778930e-03 6.52542378e+01] [ 8.34921550e-01 -5.50261420e-01 -1.08800186e-02 2.77470906e+02] [ 1.28858229e-02 -2.18921062e-04 9.99916950e-01 6.72045933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.7827550960001 meters 0.018986033731950794 Centerline is valid? [True, True] Translation: X:65.24, Y:277.49, Z:6.72 [[-5.50470696e-01 -8.34825658e-01 6.93782487e-03 6.52410315e+01] [ 8.34754291e-01 -5.50514371e-01 -1.09179384e-02 2.77492444e+02] [ 1.29339474e-02 -2.18626071e-04 9.99916329e-01 6.72068271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.81275509600005 meters 0.019364150426245386 Centerline is valid? [True, True] Translation: X:65.23, Y:277.51, Z:6.72 [[-5.51158590e-01 -8.34369054e-01 7.24504206e-03 6.52280913e+01] [ 8.34291325e-01 -5.51206157e-01 -1.13911411e-02 2.77514364e+02] [ 1.34979274e-02 -2.33849513e-04 9.99908872e-01 6.72100481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8427550960001 meters 0.018288380871297354 Centerline is valid? [True, True] Translation: X:65.21, Y:277.54, Z:6.72 [[-5.51618612e-01 -8.34064280e-01 7.32692028e-03 6.52122686e+01] [ 8.33984894e-01 -5.51667218e-01 -1.15098723e-02 2.77535678e+02] [ 1.36419951e-02 -2.38518952e-04 9.99906915e-01 6.72198037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.87275509600005 meters 0.018288380871297354 Centerline is valid? [True, True] Translation: X:65.20, Y:277.56, Z:6.72 [[-5.51948518e-01 -8.33845959e-01 7.33147394e-03 6.51981311e+01] [ 8.33766592e-01 -5.51997156e-01 -1.15069714e-02 2.77557417e+02] [ 1.36419944e-02 -2.38517796e-04 9.99906915e-01 6.72221797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9027550960001 meters 0.018253545197797122 Centerline is valid? [True, True] Translation: X:65.18, Y:277.58, Z:6.72 [[-5.52570920e-01 -8.33433499e-01 7.34715402e-03 6.51835073e+01] [ 8.33353889e-01 -5.52619709e-01 -1.15218178e-02 2.77580815e+02] [ 1.36628510e-02 -2.43842058e-04 9.99906629e-01 6.72296821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.93275509600005 meters 0.019779590069458876 Centerline is valid? [True, True] Translation: X:65.17, Y:277.60, Z:6.72 [[-5.53806911e-01 -8.32611422e-01 7.49173278e-03 6.51726744e+01] [ 8.32528693e-01 -5.53857518e-01 -1.17398603e-02 2.77604766e+02] [ 1.39240943e-02 -2.64533285e-04 9.99903020e-01 6.72302130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9627550960001 meters 0.020244705614939504 Centerline is valid? [True, True] Translation: X:65.16, Y:277.63, Z:6.72 [[-5.54723907e-01 -8.31999385e-01 7.64265753e-03 6.51594356e+01] [ 8.31913349e-01 -5.54776482e-01 -1.19680864e-02 2.77627953e+02] [ 1.41974072e-02 -2.80954816e-04 9.99899172e-01 6.72324187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.99275509600005 meters 0.020315232299921993 Centerline is valid? [True, True] Translation: X:65.15, Y:277.65, Z:6.72 [[-5.56671174e-01 -8.30697859e-01 7.63355825e-03 6.51466175e+01] [ 8.30612041e-01 -5.56723425e-01 -1.19442709e-02 2.77651595e+02] [ 1.41718610e-02 -3.08505927e-04 9.99899527e-01 6.72424035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0227550960001 meters 0.0206833038446456 Centerline is valid? [True, True] Translation: X:65.13, Y:277.67, Z:6.72 [[-5.57632817e-01 -8.30051475e-01 7.75822747e-03 6.51339050e+01] [ 8.29962909e-01 -5.57686689e-01 -1.21295548e-02 2.77674432e+02] [ 1.43948150e-02 -3.24796768e-04 9.99896337e-01 6.72467281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.05275509600006 meters 0.02103360183059022 Centerline is valid? [True, True] Translation: X:65.12, Y:277.70, Z:6.73 [[-5.58807430e-01 -8.29261438e-01 7.72812367e-03 6.51203786e+01] [ 8.29173625e-01 -5.58860764e-01 -1.20725794e-02 2.77698373e+02] [ 1.43302697e-02 -3.38290776e-04 9.99897259e-01 6.72544537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0827550960001 meters 0.021708748602484854 Centerline is valid? [True, True] Translation: X:65.11, Y:277.72, Z:6.73 [[-5.60090133e-01 -8.28392166e-01 8.09083970e-03 6.51087282e+01] [ 8.28295975e-01 -5.60148445e-01 -1.26292158e-02 2.77722883e+02] [ 1.49940147e-02 -3.71889209e-04 9.99887514e-01 6.72653532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.11275509600006 meters 0.022174421424044462 Centerline is valid? [True, True] Translation: X:65.10, Y:277.75, Z:6.73 [[-5.60608232e-01 -8.28040317e-01 8.22452737e-03 6.50960871e+01] [ 8.27941043e-01 -5.60668429e-01 -1.28273598e-02 2.77745544e+02] [ 1.52328039e-02 -3.81699726e-04 9.99883901e-01 6.72652252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1427550960001 meters 0.02053217343085888 Centerline is valid? [True, True] Translation: X:65.08, Y:277.77, Z:6.73 [[-5.60154472e-01 -8.28338063e-01 9.11158221e-03 6.50810692e+01] [ 8.28216473e-01 -5.60228425e-01 -1.41981063e-02 2.77767813e+02] [ 1.68653992e-02 -4.06770256e-04 9.99857686e-01 6.72712784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.17275509600006 meters 0.02028698283535164 Centerline is valid? [True, True] Translation: X:65.07, Y:277.79, Z:6.73 [[-5.59687734e-01 -8.28649428e-01 9.47444529e-03 6.50663376e+01] [ 8.28518215e-01 -5.59767773e-01 -1.47515400e-02 2.77791261e+02] [ 1.75273443e-02 -4.06505502e-04 9.99846302e-01 6.72725774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.2027550960001 meters 0.01995720445881454 Centerline is valid? [True, True] Translation: X:65.05, Y:277.81, Z:6.73 [[-5.59480049e-01 -8.28786589e-01 9.73986292e-03 6.50515467e+01] [ 8.28648162e-01 -5.59564674e-01 -1.51525224e-02 2.77814121e+02] [ 1.80082905e-02 -4.06614448e-04 9.99837755e-01 6.72741454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.23275509600006 meters 0.0199051641963781 Centerline is valid? [True, True] Translation: X:65.04, Y:277.84, Z:6.73 [[-5.58480675e-01 -8.29455562e-01 1.01393209e-02 6.50382831e+01] [ 8.29305904e-01 -5.58572570e-01 -1.57607966e-02 2.77837282e+02] [ 1.87364269e-02 -3.93501615e-04 9.99824380e-01 6.72747827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.26275509600003 meters 0.01934140734975464 Centerline is valid? [True, True] Translation: X:65.02, Y:277.86, Z:6.73 [[-5.57942402e-01 -8.29815871e-01 1.02906125e-02 6.50231420e+01] [ 8.29662016e-01 -5.58037164e-01 -1.59832319e-02 2.77860558e+02] [ 1.90056837e-02 -3.79992482e-04 9.99819304e-01 6.72817819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.29275509600006 meters 0.01940668092637824 Centerline is valid? [True, True] Translation: X:65.01, Y:277.88, Z:6.73 [[-5.58097576e-01 -8.29711124e-01 1.03221112e-02 6.50091750e+01] [ 8.29556542e-01 -5.58192895e-01 -1.60198544e-02 2.77883755e+02] [ 1.90535805e-02 -3.77867015e-04 9.99818393e-01 6.72899121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.32275509600004 meters 0.021042719471472262 Centerline is valid? [True, True] Translation: X:65.00, Y:277.91, Z:6.73 [[-5.58349395e-01 -8.29538948e-01 1.05398003e-02 6.49989022e+01] [ 8.29378004e-01 -5.58448732e-01 -1.63444152e-02 2.77908437e+02] [ 1.94442671e-02 -3.84415782e-04 9.99810868e-01 6.72893336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.35275509600007 meters 0.019896460805227598 Centerline is valid? [True, True] Translation: X:64.98, Y:277.93, Z:6.73 [[-5.59052499e-01 -8.29066261e-01 1.04612977e-02 6.49838247e+01] [ 8.28907886e-01 -5.59150233e-01 -1.62090910e-02 2.77929637e+02] [ 1.92878475e-02 -3.90280684e-04 9.99813896e-01 6.73105403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.38275509600004 meters 0.020158895821295313 Centerline is valid? [True, True] Translation: X:64.97, Y:277.95, Z:6.73 [[-5.60051261e-01 -8.28395445e-01 1.01770597e-02 6.49710624e+01] [ 8.28245686e-01 -5.60143581e-01 -1.57560152e-02 2.77953592e+02] [ 1.87528259e-02 -3.95070435e-04 9.99824072e-01 6.73261196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.41275509600007 meters 0.020455550119066253 Centerline is valid? [True, True] Translation: X:64.96, Y:277.98, Z:6.73 [[-5.60835157e-01 -8.27867190e-01 9.99210651e-03 6.49579030e+01] [ 8.27722972e-01 -5.60924021e-01 -1.54571833e-02 2.77976057e+02] [ 1.84013075e-02 -3.98235731e-04 9.99830602e-01 6.73361727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.44275509600004 meters 0.02000550726312363 Centerline is valid? [True, True] Translation: X:64.94, Y:278.00, Z:6.74 [[-5.61681296e-01 -8.27297497e-01 9.64225400e-03 6.49430072e+01] [ 8.27163333e-01 -5.61763913e-01 -1.49039125e-02 2.77998669e+02] [ 1.77466398e-02 -3.95529903e-04 9.99842438e-01 6.73503184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.47275509600007 meters 0.020918725601458434 Centerline is valid? [True, True] Translation: X:64.93, Y:278.02, Z:6.74 [[-5.62253981e-01 -8.26910977e-01 9.41785937e-03 6.49305238e+01] [ 8.26783133e-01 -5.62332715e-01 -1.45454249e-02 2.78022346e+02] [ 1.73237420e-02 -3.91695808e-04 9.99849856e-01 6.73547535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.50275509600004 meters 0.020742908817393123 Centerline is valid? [True, True] Translation: X:64.92, Y:278.05, Z:6.74 [[-5.63543120e-01 -8.26037459e-01 9.01493380e-03 6.49167274e+01] [ 8.25920382e-01 -5.63615082e-01 -1.39126405e-02 2.78046591e+02] [ 1.65733148e-02 -3.94755252e-04 9.99862575e-01 6.73758756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5327550960001 meters 0.021316420299355196 Centerline is valid? [True, True] Translation: X:64.90, Y:278.07, Z:6.74 [[-5.64331041e-01 -8.25500141e-01 8.94393085e-03 6.49040512e+01] [ 8.25385005e-01 -5.64401769e-01 -1.37926515e-02 2.78069507e+02] [ 1.64338061e-02 -4.01434971e-04 9.99864875e-01 6.73836699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.56275509600005 meters 0.022033148588390335 Centerline is valid? [True, True] Translation: X:64.89, Y:278.09, Z:6.74 [[-5.65380383e-01 -8.24782467e-01 8.88279300e-03 6.48913941e+01] [ 8.24668995e-01 -5.65450008e-01 -1.36871503e-02 2.78092350e+02] [ 1.63116969e-02 -4.13082290e-04 9.99866870e-01 6.73877021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5927550960001 meters 0.021839431066334066 Centerline is valid? [True, True] Translation: X:64.88, Y:278.12, Z:6.74 [[-5.65780739e-01 -8.24507192e-01 8.94685219e-03 6.48760893e+01] [ 8.24392224e-01 -5.65851320e-01 -1.37748159e-02 2.78115267e+02] [ 1.64200229e-02 -4.17810144e-04 9.99865095e-01 6.73920808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.62275509600005 meters 0.02072477233030868 Centerline is valid? [True, True] Translation: X:64.86, Y:278.14, Z:6.74 [[-5.65067624e-01 -8.24998105e-01 8.75825096e-03 6.48586470e+01] [ 8.24888159e-01 -5.65135360e-01 -1.34740381e-02 2.78136740e+02] [ 1.60656532e-02 -3.89165168e-04 9.99870863e-01 6.74108849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6527550960001 meters 0.020339593117701754 Centerline is valid? [True, True] Translation: X:64.84, Y:278.16, Z:6.74 [[-5.64234810e-01 -8.25566609e-01 8.87989927e-03 6.48427725e+01] [ 8.25453835e-01 -5.64304559e-01 -1.36503350e-02 2.78158765e+02] [ 1.62802284e-02 -3.72047243e-04 9.99867399e-01 6.74163076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.68275509600005 meters 0.020103941296297907 Centerline is valid? [True, True] Translation: X:64.83, Y:278.18, Z:6.74 [[-5.63707464e-01 -8.25924374e-01 9.10077213e-03 6.48272556e+01] [ 8.25806151e-01 -5.63780805e-01 -1.39787457e-02 2.78181677e+02] [ 1.66762274e-02 -3.64449681e-04 9.99860876e-01 6.74164594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7127550960001 meters 0.019482243938194897 Centerline is valid? [True, True] Translation: X:64.81, Y:278.20, Z:6.74 [[-5.62338467e-01 -8.26849371e-01 9.77578616e-03 6.48108916e+01] [ 8.26713316e-01 -5.62423320e-01 -1.50033976e-02 2.78203775e+02] [ 1.79036800e-02 -3.55215038e-04 9.99839653e-01 6.74199293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.74275509600005 meters 0.01915240257965091 Centerline is valid? [True, True] Translation: X:64.80, Y:278.23, Z:6.74 [[-5.61701017e-01 -8.27281503e-01 9.86316900e-03 6.47950822e+01] [ 8.27143296e-01 -5.61787505e-01 -1.51250484e-02 2.78225516e+02] [ 1.80536778e-02 -3.37500937e-04 9.99836962e-01 6.74231770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7727550960001 meters 0.018305977527739853 Centerline is valid? [True, True] Translation: X:64.78, Y:278.25, Z:6.74 [[-5.61043878e-01 -8.27727074e-01 9.88220483e-03 6.47779413e+01] [ 8.27588630e-01 -5.61130815e-01 -1.51416290e-02 2.78247304e+02] [ 1.80783459e-02 -3.16717898e-04 9.99836523e-01 6.74303487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.80275509600006 meters 0.01761474609600059 Centerline is valid? [True, True] Translation: X:64.76, Y:278.27, Z:6.74 [[-5.58988958e-01 -8.29113417e-01 1.01136664e-02 6.47611484e+01] [ 8.28968843e-01 -5.59080376e-01 -1.54851800e-02 2.78267732e+02] [ 1.84933229e-02 -2.72130297e-04 9.99828947e-01 6.74293038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8327550960001 meters 0.01778026954356045 Centerline is valid? [True, True] Translation: X:64.75, Y:278.29, Z:6.74 [[-5.57971222e-01 -8.29798072e-01 1.01624172e-02 6.47462171e+01] [ 8.29652423e-01 -5.58063706e-01 -1.55485535e-02 2.78289065e+02] [ 1.85734359e-02 -2.44371318e-04 9.99827469e-01 6.74222807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.86275509600006 meters 0.016841336562681608 Centerline is valid? [True, True] Translation: X:64.73, Y:278.31, Z:6.74 [[-5.56997120e-01 -8.30451215e-01 1.02463258e-02 6.47289633e+01] [ 8.30303500e-01 -5.57091314e-01 -1.56641481e-02 2.78309845e+02] [ 1.87164499e-02 -2.17325261e-04 9.99824808e-01 6.74331436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8927550960001 meters 0.01669181676368867 Centerline is valid? [True, True] Translation: X:64.71, Y:278.33, Z:6.74 [[-5.54694061e-01 -8.31988031e-01 1.05078753e-02 6.47129472e+01] [ 8.31833207e-01 -5.54793557e-01 -1.60507225e-02 2.78330671e+02] [ 1.91837105e-02 -1.62440899e-04 9.99815963e-01 6.74176597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.92275509600006 meters 0.01623760409583032 Centerline is valid? [True, True] Translation: X:64.70, Y:278.35, Z:6.74 [[-5.53792857e-01 -8.32589175e-01 1.04276833e-02 6.46964600e+01] [ 8.32437067e-01 -5.53891007e-01 -1.59148575e-02 2.78351144e+02] [ 1.90263380e-02 -1.33144319e-04 9.99818974e-01 6.74270510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.9527550960001 meters 0.016985598645778442 Centerline is valid? [True, True] Translation: X:64.68, Y:278.37, Z:6.74 [[-5.51499225e-01 -8.34108840e-01 1.05379461e-02 6.46785292e+01] [ 8.33954039e-01 -5.51599890e-01 -1.60693218e-02 2.78370832e+02] [ 1.92162933e-02 -7.40558335e-05 9.99815347e-01 6.74191803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.98275509600006 meters 0.015507191635418026 Centerline is valid? [True, True] Translation: X:64.66, Y:278.39, Z:6.74 [[-5.50347229e-01 -8.34874183e-01 1.01502338e-02 6.46617026e+01] [ 8.34730935e-01 -5.50440822e-01 -1.54650502e-02 2.78391108e+02] [ 1.84984742e-02 -3.84333913e-05 9.99828888e-01 6.74363618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.01275509600003 meters 0.015538873554249452 Centerline is valid? [True, True] Translation: X:64.65, Y:278.41, Z:6.74 [[-5.49601575e-01 -8.35370536e-01 9.70443009e-03 6.46456021e+01] [ 8.35239871e-01 -5.49687245e-01 -1.47746645e-02 2.78411219e+02] [ 1.76767209e-02 -1.46519581e-05 9.99843754e-01 6.74362209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.04275509600006 meters 0.015310996596098702 Centerline is valid? [True, True] Translation: X:64.63, Y:278.43, Z:6.74 [[-5.48594150e-01 -8.36034314e-01 9.54388281e-03 6.46279700e+01] [ 8.35908229e-01 -5.48677161e-01 -1.45191875e-02 2.78431809e+02] [ 1.73750495e-02 1.26688482e-05 9.99849042e-01 6.74422426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.07275509600004 meters 0.01531236388039324 Centerline is valid? [True, True] Translation: X:64.61, Y:278.45, Z:6.74 [[-5.48576934e-01 -8.36047710e-01 9.35814166e-03 6.46122290e+01] [ 8.35926694e-01 -5.48656748e-01 -1.42244644e-02 2.78453649e+02] [ 1.70267385e-02 1.95073222e-05 9.99855034e-01 6.74468240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.10275509600007 meters 0.015310135604299167 Centerline is valid? [True, True] Translation: X:64.60, Y:278.47, Z:6.74 [[-5.48969103e-01 -8.35789114e-01 9.45944217e-03 6.45973670e+01] [ 8.35665645e-01 -5.49050595e-01 -1.43657062e-02 2.78474902e+02] [ 1.72004132e-02 1.86020080e-05 9.99852062e-01 6.74463919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.13275509600004 meters 0.015078438608605398 Centerline is valid? [True, True] Translation: X:64.58, Y:278.50, Z:6.75 [[-5.50091433e-01 -8.35055400e-01 9.04952302e-03 6.45826633e+01] [ 8.34942497e-01 -5.50165864e-01 -1.37312931e-02 2.78496455e+02] [ 1.64451291e-02 2.36464262e-06 9.99864770e-01 6.74608905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.16275509600007 meters 0.01509054366585497 Centerline is valid? [True, True] Translation: X:64.57, Y:278.52, Z:6.75 [[-5.51393014e-01 -8.34199811e-01 8.74177127e-03 6.45680719e+01] [ 8.34094528e-01 -5.51462306e-01 -1.32530515e-02 2.78518419e+02] [ 1.58764504e-02 -1.61764228e-05 9.99873961e-01 6.74663714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.19275509600004 meters 0.015264412760316518 Centerline is valid? [True, True] Translation: X:64.55, Y:278.54, Z:6.75 [[-5.54032436e-01 -8.32452555e-01 8.41447110e-03 6.45530173e+01] [ 8.32354965e-01 -5.54096327e-01 -1.27464991e-02 2.78541366e+02] [ 1.52732833e-02 -5.81471440e-05 9.99883355e-01 6.74726621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.22275509600007 meters 0.015418696329389353 Centerline is valid? [True, True] Translation: X:64.54, Y:278.56, Z:6.75 [[-5.55471639e-01 -8.31494082e-01 8.29762818e-03 6.45385035e+01] [ 8.31399222e-01 -5.55533605e-01 -1.25597839e-02 2.78563916e+02] [ 1.50529973e-02 -7.79621284e-05 9.99886694e-01 6.74789917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.25275509600004 meters 0.01612694768468689 Centerline is valid? [True, True] Translation: X:64.53, Y:278.59, Z:6.75 [[-5.58792569e-01 -8.29265694e-01 8.32305328e-03 6.45256176e+01] [ 8.29170154e-01 -5.58854535e-01 -1.25882573e-02 2.78586422e+02] [ 1.50903860e-02 -1.32997286e-04 9.99886125e-01 6.74800181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.2827550960001 meters 0.016462131696226266 Centerline is valid? [True, True] Translation: X:64.51, Y:278.61, Z:6.75 [[-5.60572290e-01 -8.28063465e-01 8.34307792e-03 6.45114634e+01] [ 8.27967490e-01 -5.60634349e-01 -1.26080483e-02 2.78608347e+02] [ 1.51176802e-02 -1.59925208e-04 9.99885709e-01 6.74823490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.31275509600005 meters 0.017695796610601923 Centerline is valid? [True, True] Translation: X:64.50, Y:278.63, Z:6.75 [[-5.63402528e-01 -8.26135245e-01 8.84022238e-03 6.44981122e+01] [ 8.26027437e-01 -5.63471836e-01 -1.33478091e-02 2.78630937e+02] [ 1.60083119e-02 -2.17923182e-04 9.99871835e-01 6.74731869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3427550960001 meters 0.018190273171359638 Centerline is valid? [True, True] Translation: X:64.48, Y:278.65, Z:6.75 [[-5.64998801e-01 -8.25041142e-01 9.13614483e-03 6.44834353e+01] [ 8.24926033e-01 -5.65072607e-01 -1.37836243e-02 2.78653745e+02] [ 1.65346423e-02 -2.51087473e-04 9.99863262e-01 6.74694439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.37275509600005 meters 0.019636189712943564 Centerline is valid? [True, True] Translation: X:64.47, Y:278.68, Z:6.75 [[-5.67758381e-01 -8.23135195e-01 9.94347685e-03 6.44704240e+01] [ 8.22998739e-01 -5.67845352e-01 -1.49910724e-02 2.78676171e+02] [ 1.79860364e-02 -3.27838098e-04 9.99838184e-01 6.74571551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4027550960001 meters 0.02112688362370118 Centerline is valid? [True, True] Translation: X:64.45, Y:278.70, Z:6.74 [[-5.69647242e-01 -8.21819351e-01 1.07226282e-02 6.44548467e+01] [ 8.21660658e-01 -5.69748015e-01 -1.61543067e-02 2.78698304e+02] [ 1.93851180e-02 -3.91894539e-04 9.99812014e-01 6.74432921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.43275509600005 meters 0.020094918725793054 Centerline is valid? [True, True] Translation: X:64.44, Y:278.72, Z:6.75 [[-5.70720856e-01 -8.21071714e-01 1.09061545e-02 6.44398779e+01] [ 8.20907661e-01 -5.70824899e-01 -1.64178797e-02 2.78721116e+02] [ 1.97057612e-02 -4.17080604e-04 9.99805736e-01 6.74522630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4627550960001 meters 0.021056460629937535 Centerline is valid? [True, True] Translation: X:64.43, Y:278.74, Z:6.74 [[-5.72052935e-01 -8.20140241e-01 1.11993536e-02 6.44262690e+01] [ 8.19967344e-01 -5.72162372e-01 -1.68456085e-02 2.78743771e+02] [ 2.02236101e-02 -4.53475575e-04 9.99795379e-01 6.74465818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.49275509600005 meters 0.02135503400862901 Centerline is valid? [True, True] Translation: X:64.41, Y:278.77, Z:6.74 [[-5.73288610e-01 -8.19269587e-01 1.17266382e-02 6.44108212e+01] [ 8.19080145e-01 -5.73408315e-01 -1.76244319e-02 2.78766486e+02] [ 2.11633129e-02 -4.98829519e-04 9.99775908e-01 6.74481249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5227550960001 meters 0.022077512817480643 Centerline is valid? [True, True] Translation: X:64.40, Y:278.79, Z:6.74 [[-5.73603147e-01 -8.19046124e-01 1.19530697e-02 6.43969286e+01] [ 8.18849558e-01 -5.73727451e-01 -1.79503089e-02 2.78788485e+02] [ 2.15599351e-02 -5.08587837e-04 9.99767428e-01 6.74429757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.55275509600006 meters 0.021415057246369225 Centerline is valid? [True, True] Translation: X:64.38, Y:278.81, Z:6.75 [[-5.73641998e-01 -8.19013424e-01 1.23235445e-02 6.43805755e+01] [ 8.18804804e-01 -5.73774123e-01 -1.84918727e-02 2.78810436e+02] [ 2.22160229e-02 -5.17137350e-04 9.99753060e-01 6.74513165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5827550960001 meters 0.022377458830137992 Centerline is valid? [True, True] Translation: X:64.36, Y:278.83, Z:6.75 [[-5.73360202e-01 -8.19199755e-01 1.30322772e-02 6.43649871e+01] [ 8.18966859e-01 -5.73508047e-01 -1.95398253e-02 2.78832858e+02] [ 2.34811360e-02 -5.30355075e-04 9.99724139e-01 6.74517812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.61275509600006 meters 0.020611940344371978 Centerline is valid? [True, True] Translation: X:64.35, Y:278.86, Z:6.75 [[-5.72557483e-01 -8.19756279e-01 1.33256317e-02 6.43490713e+01] [ 8.19513305e-01 -5.72712304e-01 -1.99639816e-02 2.78855064e+02] [ 2.39973525e-02 -5.09994536e-04 9.99711892e-01 6.74706855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6427550960001 meters 0.020561395112039037 Centerline is valid? [True, True] Translation: X:64.33, Y:278.88, Z:6.75 [[-5.71673716e-01 -8.20366639e-01 1.37018322e-02 6.43347267e+01] [ 8.20110361e-01 -5.71837686e-01 -2.05099080e-02 2.78875687e+02] [ 2.46608683e-02 -4.87960817e-04 9.99695755e-01 6.74764942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.67275509600006 meters 0.020339029543852038 Centerline is valid? [True, True] Translation: X:64.32, Y:278.90, Z:6.75 [[-5.71385046e-01 -8.20564634e-01 1.38856391e-02 6.43197156e+01] [ 8.20301944e-01 -5.71553545e-01 -2.07669269e-02 2.78898005e+02] [ 2.49769920e-02 -4.75494756e-04 9.99687913e-01 6.74862988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.7027550960001 meters 0.022022002498985723 Centerline is valid? [True, True] Translation: X:64.31, Y:278.92, Z:6.75 [[-5.71722974e-01 -8.20328285e-01 1.39408035e-02 6.43052533e+01] [ 8.20063878e-01 -5.71892715e-01 -2.08316843e-02 2.78920087e+02] [ 2.50614638e-02 -4.77603161e-04 9.99685798e-01 6.74808794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.73275509600006 meters 0.020238213646245708 Centerline is valid? [True, True] Translation: X:64.29, Y:278.94, Z:6.75 [[-5.70904264e-01 -8.20899068e-01 1.38939244e-02 6.42910807e+01] [ 8.20637056e-01 -5.71073135e-01 -2.07435833e-02 2.78941254e+02] [ 2.49628352e-02 -4.40730999e-04 9.99688283e-01 6.75121539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.76275509600003 meters 0.019252307511401723 Centerline is valid? [True, True] Translation: X:64.27, Y:278.96, Z:6.75 [[-5.70815675e-01 -8.20960343e-01 1.39133276e-02 6.42747572e+01] [ 8.20698041e-01 -5.70985054e-01 -2.07555922e-02 2.78963120e+02] [ 2.49838202e-02 -4.28976672e-04 9.99687764e-01 6.75346233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.79275509600006 meters 0.019252307511401723 Centerline is valid? [True, True] Translation: X:64.26, Y:278.99, Z:6.75 [[-5.71110732e-01 -8.20754984e-01 1.39207911e-02 6.42596862e+01] [ 8.20492742e-01 -5.71280205e-01 -2.07505864e-02 2.78985235e+02] [ 2.49838196e-02 -4.28974593e-04 9.99687764e-01 6.75370764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.82275509600004 meters 0.019988173278477565 Centerline is valid? [True, True] Translation: X:64.25, Y:279.01, Z:6.75 [[-5.71313010e-01 -8.20617558e-01 1.37211057e-02 6.42459394e+01] [ 8.20363135e-01 -5.71477600e-01 -2.04372229e-02 2.79008217e+02] [ 2.46124485e-02 -4.19762060e-04 9.99696980e-01 6.75419661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.85275509600007 meters 0.01989014711131759 Centerline is valid? [True, True] Translation: X:64.23, Y:279.03, Z:6.76 [[-5.71623161e-01 -8.20408337e-01 1.33087713e-02 6.42313154e+01] [ 8.20169296e-01 -5.71777925e-01 -1.98073086e-02 2.79030110e+02] [ 2.38597428e-02 -4.06870772e-04 9.99715233e-01 6.75638900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.88275509600004 meters 0.019458567791296132 Centerline is valid? [True, True] Translation: X:64.22, Y:279.05, Z:6.76 [[-5.72172495e-01 -8.20023409e-01 1.34255241e-02 6.42157379e+01] [ 8.19780455e-01 -5.72329830e-01 -1.99642351e-02 2.79051481e+02] [ 2.40549681e-02 -4.17003913e-04 9.99710550e-01 6.75794921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.91275509600007 meters 0.02119845410356267 Centerline is valid? [True, True] Translation: X:64.20, Y:279.08, Z:6.76 [[-5.74055995e-01 -8.18710251e-01 1.31620661e-02 6.42018927e+01] [ 8.18476757e-01 -5.74206687e-01 -1.95570624e-02 2.79075389e+02] [ 2.35693138e-02 -4.54003797e-04 9.99722102e-01 6.75813129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.94275509600004 meters 0.02325336815758686 Centerline is valid? [True, True] Translation: X:64.19, Y:279.10, Z:6.76 [[-5.75421866e-01 -8.17750013e-01 1.32133154e-02 6.41875791e+01] [ 8.17514796e-01 -5.75573348e-01 -1.96183519e-02 2.79098748e+02] [ 2.36481397e-02 -4.86747849e-04 9.99720225e-01 6.75760852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.97275509600007 meters 0.0222122980507401 Centerline is valid? [True, True] Translation: X:64.18, Y:279.12, Z:6.76 [[-5.76516303e-01 -8.16986790e-01 1.27097441e-02 6.41751155e+01] [ 8.16769325e-01 -5.76656176e-01 -1.88553458e-02 2.79121224e+02] [ 2.27337209e-02 -4.89485142e-04 9.99741436e-01 6.75939489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.00275509600004 meters 0.024344688252690257 Centerline is valid? [True, True] Translation: X:64.16, Y:279.14, Z:6.76 [[-5.78056864e-01 -8.15900198e-01 1.25351172e-02 6.41592633e+01] [ 8.15688743e-01 -5.78192529e-01 -1.85815726e-02 2.79143200e+02] [ 2.24084199e-02 -5.16451579e-04 9.99748766e-01 6.75798500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0327550960001 meters 0.023013674689617365 Centerline is valid? [True, True] Translation: X:64.15, Y:279.16, Z:6.76 [[-5.78005296e-01 -8.15937222e-01 1.25031075e-02 6.41463586e+01] [ 8.15727140e-01 -5.78140289e-01 -1.85213128e-02 2.79164915e+02] [ 2.23407787e-02 -5.06292767e-04 9.99750285e-01 6.75974379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.06275509600005 meters 0.022069546487325363 Centerline is valid? [True, True] Translation: X:64.13, Y:279.19, Z:6.76 [[-5.78967589e-01 -8.15261963e-01 1.20192258e-02 6.41300216e+01] [ 8.15067967e-01 -5.79092115e-01 -1.77913491e-02 2.79185629e+02] [ 2.14648491e-02 -5.04128509e-04 9.99769477e-01 6.76051694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0927550960001 meters 0.02312415820991231 Centerline is valid? [True, True] Translation: X:64.12, Y:279.21, Z:6.76 [[-5.79369800e-01 -8.14975428e-01 1.20700588e-02 6.41161225e+01] [ 8.14780049e-01 -5.79495292e-01 -1.78515700e-02 2.79206426e+02] [ 2.15431332e-02 -5.08217452e-04 9.99767791e-01 6.75935231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.12275509600005 meters 0.022816254499398475 Centerline is valid? [True, True] Translation: X:64.10, Y:279.23, Z:6.76 [[-5.78632795e-01 -8.15495700e-01 1.22821620e-02 6.41016454e+01] [ 8.15293804e-01 -5.78762925e-01 -1.81518726e-02 2.79227220e+02] [ 2.19112340e-02 -4.89698209e-04 9.99759800e-01 6.75850670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1527550960001 meters 0.02215349265065415 Centerline is valid? [True, True] Translation: X:64.09, Y:279.25, Z:6.76 [[-5.78243995e-01 -8.15772857e-01 1.21872274e-02 6.40852599e+01] [ 8.15574416e-01 -5.78372222e-01 -1.79984523e-02 2.79248069e+02] [ 2.17314026e-02 -4.67906137e-04 9.99763736e-01 6.75855105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.18275509600005 meters 0.02219625072732633 Centerline is valid? [True, True] Translation: X:64.07, Y:279.27, Z:6.76 [[-5.77584220e-01 -8.16236537e-01 1.24251757e-02 6.40704938e+01] [ 8.16030711e-01 -5.77717676e-01 -1.83348190e-02 2.79268268e+02] [ 2.21437928e-02 -4.50577193e-04 9.99754695e-01 6.75732186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2127550960001 meters 0.02262221147029135 Centerline is valid? [True, True] Translation: X:64.05, Y:279.29, Z:6.76 [[-5.76120878e-01 -8.17268137e-01 1.25509168e-02 6.40512926e+01] [ 8.17058665e-01 -5.76257430e-01 -1.85070803e-02 2.79287832e+02] [ 2.23578061e-02 -4.07480076e-04 9.99749950e-01 6.75552000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.24275509600005 meters 0.019448425544563327 Centerline is valid? [True, True] Translation: X:64.03, Y:279.31, Z:6.76 [[-5.74369306e-01 -8.18500971e-01 1.24924363e-02 6.40347303e+01] [ 8.18294030e-01 -5.74505037e-01 -1.84076857e-02 2.79308772e+02] [ 2.22436762e-02 -3.50323645e-04 9.99752517e-01 6.75767105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2727550960001 meters 0.0181163735857387 Centerline is valid? [True, True] Translation: X:64.02, Y:279.33, Z:6.76 [[-5.72799028e-01 -8.19606706e-01 1.20880722e-02 6.40173502e+01] [ 8.19413482e-01 -5.72926491e-01 -1.77983672e-02 2.79329472e+02] [ 2.15132379e-02 -2.89758116e-04 9.99768522e-01 6.75953213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.30275509600006 meters 0.017963186618334483 Centerline is valid? [True, True] Translation: X:64.00, Y:279.35, Z:6.76 [[-5.72413671e-01 -8.19879372e-01 1.18492828e-02 6.40023221e+01] [ 8.19694061e-01 -5.72536239e-01 -1.74327810e-02 2.79351279e+02] [ 2.10769213e-02 -2.65975389e-04 9.99777822e-01 6.76015621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3327550960001 meters 0.017765493409893945 Centerline is valid? [True, True] Translation: X:63.99, Y:279.37, Z:6.76 [[-5.71937133e-01 -8.20221428e-01 1.11680770e-02 6.39886925e+01] [ 8.20057152e-01 -5.72046114e-01 -1.64167930e-02 2.79372244e+02] [ 1.98540604e-02 -2.30912063e-04 9.99802862e-01 6.76125267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.36275509600006 meters 0.01791466199680238 Centerline is valid? [True, True] Translation: X:63.97, Y:279.39, Z:6.76 [[-5.72528586e-01 -8.19813866e-01 1.07815715e-02 6.39744007e+01] [ 8.19660954e-01 -5.72630048e-01 -1.58350270e-02 2.79393778e+02] [ 1.91556265e-02 -2.28772425e-04 9.99816488e-01 6.76161875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3927550960001 meters 0.017837554884999735 Centerline is valid? [True, True] Translation: X:63.96, Y:279.42, Z:6.76 [[-5.72705088e-01 -8.19694260e-01 1.04976997e-02 6.39597493e+01] [ 8.19549515e-01 -5.72801250e-01 -1.54052321e-02 2.79415202e+02] [ 1.86406758e-02 -2.19270142e-04 9.99826223e-01 6.76252731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.42275509600006 meters 0.01807741940997104 Centerline is valid? [True, True] Translation: X:63.95, Y:279.44, Z:6.76 [[-5.73344830e-01 -8.19255035e-01 9.84348012e-03 6.39455790e+01] [ 8.19127905e-01 -5.73429283e-01 -1.44337261e-02 2.79436911e+02] [ 1.74694425e-02 -2.12432973e-04 9.99847375e-01 6.76390250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.4527550960001 meters 0.019914893415007337 Centerline is valid? [True, True] Translation: X:63.93, Y:279.46, Z:6.76 [[-5.74486086e-01 -8.18454939e-01 9.86150378e-03 6.39306715e+01] [ 8.18327434e-01 -5.74570674e-01 -1.44482373e-02 2.79458612e+02] [ 1.74913621e-02 -2.30372220e-04 9.99846988e-01 6.76357286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.48275509600006 meters 0.017859069740008247 Centerline is valid? [True, True] Translation: X:63.92, Y:279.48, Z:6.77 [[-5.74533180e-01 -8.18427898e-01 9.34881394e-03 6.39155385e+01] [ 8.18313488e-01 -5.74609198e-01 -1.36859462e-02 2.79479933e+02] [ 1.65728747e-02 -2.12769667e-04 9.99862638e-01 6.76592080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.51275509600003 meters 0.018104486767868477 Centerline is valid? [True, True] Translation: X:63.90, Y:279.50, Z:6.77 [[-5.75570456e-01 -8.17705408e-01 8.74737585e-03 6.39013545e+01] [ 8.17605318e-01 -5.75636883e-01 -1.27954420e-02 2.79503241e+02] [ 1.54982143e-02 -2.12777380e-04 9.99879873e-01 6.76758560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.54275509600006 meters 0.018460152419626983 Centerline is valid? [True, True] Translation: X:63.89, Y:279.53, Z:6.77 [[-5.76205709e-01 -8.17257528e-01 8.78150591e-03 6.38878737e+01] [ 8.17156753e-01 -5.76272579e-01 -1.28357052e-02 2.79525221e+02] [ 1.55506178e-02 -2.20139776e-04 9.99879058e-01 6.76811622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.57275509600004 meters 0.019124996899521646 Centerline is valid? [True, True] Translation: X:63.87, Y:279.55, Z:6.77 [[-5.77774020e-01 -8.16146670e-01 9.04409014e-03 6.38736545e+01] [ 8.16039799e-01 -5.77844746e-01 -1.32097211e-02 2.79548729e+02] [ 1.60071498e-02 -2.51896142e-04 9.99871846e-01 6.76743736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.60275509600007 meters 0.019456195864238288 Centerline is valid? [True, True] Translation: X:63.86, Y:279.57, Z:6.77 [[-5.78629897e-01 -8.15535585e-01 9.44208963e-03 6.38594362e+01] [ 8.15419204e-01 -5.78706865e-01 -1.37799326e-02 2.79570640e+02] [ 1.67022274e-02 -2.74219737e-04 9.99860471e-01 6.76682791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.63275509600004 meters 0.019734143140200108 Centerline is valid? [True, True] Translation: X:63.85, Y:279.59, Z:6.77 [[-5.79404511e-01 -8.14978350e-01 1.00350679e-02 6.38450255e+01] [ 8.14847030e-01 -5.79491328e-01 -1.46327741e-02 2.79593049e+02] [ 1.77406289e-02 -3.01250064e-04 9.99842577e-01 6.76628891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.66275509600007 meters 0.01993677805770299 Centerline is valid? [True, True] Translation: X:63.83, Y:279.62, Z:6.77 [[-5.80528802e-01 -8.14170840e-01 1.05902611e-02 6.38302268e+01] [ 8.14024688e-01 -5.80625293e-01 -1.54297403e-02 2.79615673e+02] [ 1.87114181e-02 -3.36674684e-04 9.99824869e-01 6.76576434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.69275509600004 meters 0.022058197689679978 Centerline is valid? [True, True] Translation: X:63.82, Y:279.64, Z:6.76 [[-5.82325607e-01 -8.12873497e-01 1.15570671e-02 6.38188828e+01] [ 8.12699422e-01 -5.82440137e-01 -1.68266714e-02 2.79639948e+02] [ 2.04092550e-02 -4.06179869e-04 9.99791627e-01 6.76375354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.72275509600007 meters 0.02146534778110405 Centerline is valid? [True, True] Translation: X:63.80, Y:279.66, Z:6.76 [[-5.83273290e-01 -8.12189530e-01 1.18506072e-02 6.38046877e+01] [ 8.12006612e-01 -5.83393503e-01 -1.72419128e-02 2.79662630e+02] [ 2.09172683e-02 -4.33975790e-04 9.99781116e-01 6.76461563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.75275509600004 meters 0.023731761853858644 Centerline is valid? [True, True] Translation: X:63.79, Y:279.69, Z:6.76 [[-5.85764314e-01 -8.10384857e-01 1.25120672e-02 6.37940408e+01] [ 8.10180855e-01 -5.85897700e-01 -1.81897334e-02 2.79687142e+02] [ 2.20714759e-02 -5.17859418e-04 9.99756261e-01 6.76285297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.7827550960001 meters 0.022697659236142934 Centerline is valid? [True, True] Translation: X:63.78, Y:279.71, Z:6.76 [[-5.87187969e-01 -8.09349572e-01 1.27890138e-02 6.37777727e+01] [ 8.09136518e-01 -5.87326958e-01 -1.85779195e-02 2.79708900e+02] [ 2.25473638e-02 -5.60672767e-04 9.99745619e-01 6.76430546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.81275509600005 meters 0.026766552368823793 Centerline is valid? [True, True] Translation: X:63.77, Y:279.73, Z:6.76 [[-5.89956945e-01 -8.07325741e-01 1.32646370e-02 6.37696176e+01] [ 8.07096389e-01 -5.90105687e-01 -1.92535102e-02 2.79734833e+02] [ 2.33713921e-02 -6.52901501e-04 9.99726639e-01 6.76234048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8427550960001 meters 0.02418310557369387 Centerline is valid? [True, True] Translation: X:63.75, Y:279.76, Z:6.77 [[-5.91310151e-01 -8.06335387e-01 1.32495184e-02 6.37516048e+01] [ 8.06106647e-01 -5.91458179e-01 -1.92170594e-02 2.79755963e+02] [ 2.33319311e-02 -6.82717396e-04 9.99727540e-01 6.76520858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.87275509600005 meters 0.025744425650898583 Centerline is valid? [True, True] Translation: X:63.74, Y:279.78, Z:6.76 [[-5.92774875e-01 -8.05254710e-01 1.35203447e-02 6.37395956e+01] [ 8.05016557e-01 -5.92928593e-01 -1.95966071e-02 2.79779003e+02] [ 2.37968591e-02 -7.32274975e-04 9.99716546e-01 6.76472161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9027550960001 meters 0.030878174143881557 Centerline is valid? [True, True] Translation: X:63.73, Y:279.80, Z:6.76 [[-5.95052968e-01 -8.03570327e-01 1.36636376e-02 6.37311456e+01] [ 8.03326955e-01 -5.95209281e-01 -1.97918002e-02 2.79804476e+02] [ 2.40368272e-02 -8.00801051e-04 9.99710753e-01 6.76265672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.93275509600005 meters 0.026517631853915067 Centerline is valid? [True, True] Translation: X:63.71, Y:279.82, Z:6.77 [[-5.95186876e-01 -8.03472847e-01 1.35634453e-02 6.37114085e+01] [ 8.03233335e-01 -5.95340877e-01 -1.96328982e-02 2.79823571e+02] [ 2.38493740e-02 -7.90632003e-04 9.99715251e-01 6.76653339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9627550960001 meters 0.026487117193954128 Centerline is valid? [True, True] Translation: X:63.69, Y:279.84, Z:6.77 [[-5.95210677e-01 -8.03448159e-01 1.39751707e-02 6.36947939e+01] [ 8.03194254e-01 -5.95374173e-01 -2.02134980e-02 2.79844717e+02] [ 2.45609534e-02 -8.06513061e-04 9.99698009e-01 6.76675065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.99275509600005 meters 0.02669423047112014 Centerline is valid? [True, True] Translation: X:63.68, Y:279.87, Z:6.77 [[-5.95338152e-01 -8.03353980e-01 1.39594950e-02 6.36793972e+01] [ 8.03101014e-01 -5.95501253e-01 -2.01747018e-02 2.79866625e+02] [ 2.45203238e-02 -7.99885080e-04 9.99699012e-01 6.76709264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0227550960001 meters 0.027401128858529775 Centerline is valid? [True, True] Translation: X:63.67, Y:279.89, Z:6.77 [[-5.95180446e-01 -8.03468180e-01 1.41109634e-02 6.36650617e+01] [ 8.03210092e-01 -5.95347168e-01 -2.03788526e-02 2.79888017e+02] [ 2.47746817e-02 -7.95026421e-04 9.99692744e-01 6.76676235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.05275509600006 meters 0.026523892996100574 Centerline is valid? [True, True] Translation: X:63.65, Y:279.91, Z:6.77 [[-5.94866490e-01 -8.03704174e-01 1.39090202e-02 6.36487274e+01] [ 8.03453855e-01 -5.95028584e-01 -2.00720484e-02 2.79908610e+02] [ 2.44082537e-02 -7.64933079e-04 9.99701782e-01 6.76799294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0827550960001 meters 0.025267008304944966 Centerline is valid? [True, True] Translation: X:63.63, Y:279.93, Z:6.77 [[-5.93622824e-01 -8.04622681e-01 1.39385858e-02 6.36308003e+01] [ 8.04371930e-01 -5.93786008e-01 -2.00991384e-02 2.79929029e+02] [ 2.44487598e-02 -7.19500085e-04 9.99700826e-01 6.76947680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.11275509600006 meters 0.02537674953144208 Centerline is valid? [True, True] Translation: X:63.61, Y:279.95, Z:6.77 [[-5.91726216e-01 -8.06021953e-01 1.37366678e-02 6.36141259e+01] [ 8.05779154e-01 -5.91885291e-01 -1.97928555e-02 2.79949011e+02] [ 2.40840077e-02 -6.43230986e-04 9.99709731e-01 6.76926667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1427550960001 meters 0.023963629177410187 Centerline is valid? [True, True] Translation: X:63.60, Y:279.97, Z:6.77 [[-5.90825460e-01 -8.06684802e-01 1.35980447e-02 6.35957163e+01] [ 8.06447415e-01 -5.90981615e-01 -1.95779691e-02 2.79969048e+02] [ 2.38294446e-02 -6.01054585e-04 9.99715858e-01 6.77055358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.17275509600006 meters 0.023114574532566965 Centerline is valid? [True, True] Translation: X:63.58, Y:279.99, Z:6.77 [[-5.90171793e-01 -8.07169740e-01 1.32009990e-02 6.35772092e+01] [ 8.06946468e-01 -5.90319153e-01 -1.89919997e-02 2.79989872e+02] [ 2.31225700e-02 -5.56042949e-04 9.99732483e-01 6.77148896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.2027550960001 meters 0.02350935153082658 Centerline is valid? [True, True] Translation: X:63.56, Y:280.01, Z:6.77 [[-5.89504780e-01 -8.07661538e-01 1.29211115e-02 6.35622528e+01] [ 8.07448081e-01 -5.89646143e-01 -1.85747847e-02 2.80011046e+02] [ 2.26210227e-02 -5.16797679e-04 9.99743978e-01 6.77140140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.23275509600006 meters 0.021851842152883903 Centerline is valid? [True, True] Translation: X:63.55, Y:280.03, Z:6.77 [[-5.88535559e-01 -8.08379632e-01 1.21764725e-02 6.35455184e+01] [ 8.08190504e-01 -5.88661333e-01 -1.74912604e-02 2.80032196e+02] [ 2.13073972e-02 -4.53319265e-04 9.99772869e-01 6.77416001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.26275509600003 meters 0.021851271365917975 Centerline is valid? [True, True] Translation: X:63.53, Y:280.05, Z:6.77 [[-5.88770667e-01 -8.08206378e-01 1.23106729e-02 6.35307288e+01] [ 8.08013316e-01 -5.88899179e-01 -1.76702553e-02 2.80053525e+02] [ 2.15309582e-02 -4.56540368e-04 9.99768078e-01 6.77463020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.29275509600006 meters 0.02253060398944663 Centerline is valid? [True, True] Translation: X:63.52, Y:280.08, Z:6.77 [[-5.89270968e-01 -8.07839092e-01 1.24790901e-02 6.35161224e+01] [ 8.07640947e-01 -5.89402903e-01 -1.78974260e-02 2.80075735e+02] [ 2.18134523e-02 -4.67809364e-04 9.99761949e-01 6.77447420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.32275509600004 meters 0.02226184678651871 Centerline is valid? [True, True] Translation: X:63.50, Y:280.10, Z:6.78 [[-5.89874429e-01 -8.07401744e-01 1.22711970e-02 6.35015130e+01] [ 8.07210362e-01 -5.90001870e-01 -1.75848046e-02 2.80096925e+02] [ 2.14380311e-02 -4.67389250e-04 9.99770070e-01 6.77563073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.35275509600007 meters 0.022457811493901376 Centerline is valid? [True, True] Translation: X:63.49, Y:280.12, Z:6.78 [[-5.90344599e-01 -8.07061298e-01 1.20546967e-02 6.34866308e+01] [ 8.06876833e-01 -5.90467482e-01 -1.72606299e-02 2.80118260e+02] [ 2.10482928e-02 -4.63064127e-04 9.99778353e-01 6.77618192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.38275509600004 meters 0.02128429006784783 Centerline is valid? [True, True] Translation: X:63.47, Y:280.14, Z:6.78 [[-5.90785812e-01 -8.06749111e-01 1.13135230e-02 6.34696794e+01] [ 8.06586822e-01 -5.90893967e-01 -1.61870020e-02 2.80139229e+02] [ 1.97439419e-02 -4.37712596e-04 9.99804974e-01 6.77825421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.41275509600007 meters 0.022664706347736274 Centerline is valid? [True, True] Translation: X:63.46, Y:280.16, Z:6.78 [[-5.91486499e-01 -8.06238663e-01 1.10878232e-02 6.34565168e+01] [ 8.06082945e-01 -5.91590252e-01 -1.58511582e-02 2.80161410e+02] [ 1.93392647e-02 -4.38040829e-04 9.99812883e-01 6.77797407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.44275509600004 meters 0.021817672142373134 Centerline is valid? [True, True] Translation: X:63.44, Y:280.18, Z:6.78 [[-5.91932380e-01 -8.05918660e-01 1.05437527e-02 6.34403892e+01] [ 8.05778025e-01 -5.92026129e-01 -1.50610998e-02 2.80182195e+02] [ 1.83801985e-02 -4.19228454e-04 9.99830982e-01 6.77897041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.47275509600007 meters 0.021627921066580683 Centerline is valid? [True, True] Translation: X:63.42, Y:280.20, Z:6.78 [[-5.91901814e-01 -8.05943159e-01 1.03858953e-02 6.34248002e+01] [ 8.05806924e-01 -5.91992787e-01 -1.48236819e-02 2.80203802e+02] [ 1.80954201e-02 -4.05137907e-04 9.99836182e-01 6.77924071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.50275509600004 meters 0.021366689303909774 Centerline is valid? [True, True] Translation: X:63.41, Y:280.22, Z:6.78 [[-5.91718480e-01 -8.06082020e-01 1.00507326e-02 6.34099572e+01] [ 8.05954660e-01 -5.91803711e-01 -1.43336897e-02 2.80224334e+02] [ 1.75021904e-02 -3.81074348e-04 9.99846752e-01 6.77887587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5327550960001 meters 0.0211650915823973 Centerline is valid? [True, True] Translation: X:63.39, Y:280.25, Z:6.78 [[-5.91417791e-01 -8.06303214e-01 1.00062039e-02 6.33940807e+01] [ 8.06177214e-01 -5.91502319e-01 -1.42585680e-02 2.80245449e+02] [ 1.74154220e-02 -3.65997195e-04 9.99848273e-01 6.77845860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.56275509600005 meters 0.020947939532812328 Centerline is valid? [True, True] Translation: X:63.38, Y:280.27, Z:6.78 [[-5.91185115e-01 -8.06471256e-01 1.02114423e-02 6.33782435e+01] [ 8.06340264e-01 -5.91273188e-01 -1.45394362e-02 2.80266221e+02] [ 1.77633894e-02 -3.61601225e-04 9.99842153e-01 6.77764155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5927550960001 meters 0.018741572006157076 Centerline is valid? [True, True] Translation: X:63.36, Y:280.29, Z:6.78 [[-5.90159607e-01 -8.07220788e-01 1.03071545e-02 6.33594035e+01] [ 8.07087648e-01 -5.90249513e-01 -1.46643080e-02 2.80286182e+02] [ 1.79211272e-02 -3.35505169e-04 9.99839347e-01 6.77771300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.62275509600005 meters 0.018975296726449212 Centerline is valid? [True, True] Translation: X:63.34, Y:280.31, Z:6.78 [[-5.90010766e-01 -8.07328689e-01 1.03770332e-02 6.33448321e+01] [ 8.07193973e-01 -5.90101924e-01 -1.47516044e-02 2.80307418e+02] [ 1.80329007e-02 -3.27326736e-04 9.99837340e-01 6.77711294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6527550960001 meters 0.019932337107881417 Centerline is valid? [True, True] Translation: X:63.33, Y:280.33, Z:6.78 [[-5.89925305e-01 -8.07388012e-01 1.06175403e-02 6.33314259e+01] [ 8.07247232e-01 -5.90020755e-01 -1.50802556e-02 2.80329509e+02] [ 1.84401868e-02 -3.25244365e-04 9.99829912e-01 6.77556839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.68275509600005 meters 0.019932337107881417 Centerline is valid? [True, True] Translation: X:63.32, Y:280.35, Z:6.78 [[-5.90218253e-01 -8.07173810e-01 1.06233149e-02 6.33162689e+01] [ 8.07033069e-01 -5.90313760e-01 -1.50761875e-02 2.80350548e+02] [ 1.84401926e-02 -3.24874609e-04 9.99829912e-01 6.77580588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7127550960001 meters 0.019985725884830066 Centerline is valid? [True, True] Translation: X:63.30, Y:280.37, Z:6.78 [[-5.90567548e-01 -8.06921763e-01 1.03556826e-02 6.33019362e+01] [ 8.06788200e-01 -5.90658250e-01 -1.46844205e-02 2.80370799e+02] [ 1.79658478e-02 -3.17299675e-04 9.99838551e-01 6.77605199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.74275509600005 meters 0.0185951713633881 Centerline is valid? [True, True] Translation: X:63.28, Y:280.39, Z:6.78 [[-5.90871527e-01 -8.06698899e-01 1.03790771e-02 6.32849265e+01] [ 8.06564923e-01 -5.90962593e-01 -1.47050548e-02 2.80391000e+02] [ 1.79961978e-02 -3.17398642e-04 9.99838005e-01 6.77746333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7727550960001 meters 0.019029902274601697 Centerline is valid? [True, True] Translation: X:63.27, Y:280.41, Z:6.78 [[-5.91441992e-01 -8.06284165e-01 1.01101480e-02 6.32685569e+01] [ 8.06157178e-01 -5.91528313e-01 -1.43128787e-02 2.80413321e+02] [ 1.75206863e-02 -3.14869085e-04 9.99846451e-01 6.77773880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.80275509600006 meters 0.018633603442161646 Centerline is valid? [True, True] Translation: X:63.25, Y:280.43, Z:6.78 [[-5.91852637e-01 -8.05988909e-01 9.60904370e-03 6.32540759e+01] [ 8.05874318e-01 -5.91930559e-01 -1.35940209e-02 2.80434267e+02] [ 1.66445167e-02 -3.01975591e-04 9.99861425e-01 6.77852126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8327550960001 meters 0.018547894204016396 Centerline is valid? [True, True] Translation: X:63.24, Y:280.46, Z:6.78 [[-5.92291740e-01 -8.05669987e-01 9.29341656e-03 6.32386981e+01] [ 8.05562913e-01 -5.92364571e-01 -1.31380232e-02 2.80455522e+02] [ 1.60900017e-02 -2.95110924e-04 9.99870504e-01 6.77890051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.86275509600006 meters 0.01838771904363313 Centerline is valid? [True, True] Translation: X:63.22, Y:280.48, Z:6.78 [[-5.93456240e-01 -8.04822609e-01 8.38202712e-03 6.32228844e+01] [ 8.04735552e-01 -5.93515365e-01 -1.18407292e-02 2.80477748e+02] [ 1.45045485e-02 -2.81639414e-04 9.99894764e-01 6.78022162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8927550960001 meters 0.018609152718987762 Centerline is valid? [True, True] Translation: X:63.21, Y:280.50, Z:6.78 [[-5.94183059e-01 -8.04291037e-01 7.90065661e-03 6.32074900e+01] [ 8.04213756e-01 -5.94235521e-01 -1.11526033e-02 2.80500046e+02] [ 1.36647897e-02 -2.72871237e-04 9.99906595e-01 6.78093688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.92275509600006 meters 0.01910424407031092 Centerline is valid? [True, True] Translation: X:63.19, Y:280.52, Z:6.78 [[-5.95097646e-01 -8.03618413e-01 7.49923206e-03 6.31932513e+01] [ 8.03548830e-01 -5.95144835e-01 -1.05784246e-02 2.80521513e+02] [ 1.29641460e-02 -2.69196420e-04 9.99915926e-01 6.78166279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.9527550960001 meters 0.019530870531882516 Centerline is valid? [True, True] Translation: X:63.18, Y:280.54, Z:6.78 [[-5.96753620e-01 -8.02396130e-01 6.75032701e-03 6.31785143e+01] [ 8.02339747e-01 -5.96791740e-01 -9.51578242e-03 2.80544352e+02] [ 1.16639664e-02 -2.62521948e-04 9.99931939e-01 6.78305361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.98275509600006 meters 0.019987116911684637 Centerline is valid? [True, True] Translation: X:63.16, Y:280.57, Z:6.78 [[-5.97673758e-01 -8.01713549e-01 6.43923680e-03 6.31636934e+01] [ 8.01662276e-01 -5.97708388e-01 -9.07068539e-03 2.80566846e+02] [ 1.11208772e-02 -2.59217392e-04 9.99938128e-01 6.78356285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.01275509600003 meters 0.020871984423810896 Centerline is valid? [True, True] Translation: X:63.15, Y:280.59, Z:6.78 [[-5.99024921e-01 -8.00703378e-01 6.57600706e-03 6.31491556e+01] [ 8.00649919e-01 -5.99060950e-01 -9.25660979e-03 2.80589327e+02] [ 1.13512278e-02 -2.79860431e-04 9.99935534e-01 6.78333795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.04275509600006 meters 0.02170649038184094 Centerline is valid? [True, True] Translation: X:63.13, Y:280.61, Z:6.78 [[-5.99677719e-01 -8.00214646e-01 6.56914500e-03 6.31348185e+01] [ 8.00161336e-01 -5.99713631e-01 -9.24112836e-03 2.80610890e+02] [ 1.13344921e-02 -2.85322935e-04 9.99935722e-01 6.78283943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.07275509600004 meters 0.021869170270561206 Centerline is valid? [True, True] Translation: X:63.12, Y:280.63, Z:6.78 [[-6.00099221e-01 -7.99897813e-01 6.66440056e-03 6.31193918e+01] [ 7.99843018e-01 -6.00136155e-01 -9.36709919e-03 2.80631978e+02] [ 1.14922699e-02 -2.90714672e-04 9.99933919e-01 6.78238741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.10275509600007 meters 0.021631052180511093 Centerline is valid? [True, True] Translation: X:63.10, Y:280.65, Z:6.78 [[-6.00593302e-01 -7.99527476e-01 6.59553466e-03 6.31031929e+01] [ 7.99473868e-01 -6.00629446e-01 -9.26297384e-03 2.80653160e+02] [ 1.13674744e-02 -2.90322438e-04 9.99935346e-01 6.78135002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.13275509600004 meters 0.02123321931200233 Centerline is valid? [True, True] Translation: X:63.09, Y:280.67, Z:6.78 [[-6.01095923e-01 -7.99148379e-01 6.74981640e-03 6.30873787e+01] [ 7.99092301e-01 -6.01133744e-01 -9.47185894e-03 2.80674049e+02] [ 1.16269631e-02 -2.99769468e-04 9.99932360e-01 6.78065433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.16275509600007 meters 0.020907499493634303 Centerline is valid? [True, True] Translation: X:63.07, Y:280.70, Z:6.78 [[-6.01323270e-01 -7.98978676e-01 6.58793195e-03 6.30714395e+01] [ 7.98925330e-01 -6.01359286e-01 -9.23725658e-03 2.80695140e+02] [ 1.13420851e-02 -2.91311620e-04 9.99935634e-01 6.78036667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.19275509600004 meters 0.021754650496023098 Centerline is valid? [True, True] Translation: X:63.06, Y:280.72, Z:6.78 [[-6.01497460e-01 -7.98844853e-01 6.90700034e-03 6.30572653e+01] [ 7.98786300e-01 -6.01537038e-01 -9.67669859e-03 2.80716619e+02] [ 1.18849974e-02 -3.03292369e-04 9.99929325e-01 6.77972954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.22275509600007 meters 0.02042748888689477 Centerline is valid? [True, True] Translation: X:63.04, Y:280.74, Z:6.78 [[-6.01564492e-01 -7.98796423e-01 6.66614500e-03 6.30399576e+01] [ 7.98741949e-01 -6.01601356e-01 -9.33312173e-03 2.80737293e+02] [ 1.14656261e-02 -2.89944974e-04 9.99934226e-01 6.78000176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.25275509600004 meters 0.02123796578087347 Centerline is valid? [True, True] Translation: X:63.03, Y:280.76, Z:6.78 [[-6.00947536e-01 -7.99261143e-01 6.60946725e-03 6.30261950e+01] [ 7.99207700e-01 -6.00983819e-01 -9.24671304e-03 2.80759286e+02] [ 1.13627213e-02 -2.74452302e-04 9.99935405e-01 6.77986468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.2827550960001 meters 0.0208202954979116 Centerline is valid? [True, True] Translation: X:63.01, Y:280.78, Z:6.78 [[-6.00900759e-01 -7.99297084e-01 6.51538348e-03 6.30102594e+01] [ 7.99245237e-01 -6.00936021e-01 -9.10765901e-03 2.80780233e+02] [ 1.11950539e-02 -2.65409991e-04 9.99937298e-01 6.78036563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.31275509600005 meters 0.01991803702757245 Centerline is valid? [True, True] Translation: X:62.99, Y:280.80, Z:6.78 [[-6.00229050e-01 -7.99803230e-01 6.31514817e-03 6.29939850e+01] [ 7.99754624e-01 -6.00262221e-01 -8.82085335e-03 2.80801033e+02] [ 1.08456919e-02 -2.43963475e-04 9.99941154e-01 6.78111468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3427550960001 meters 0.019150207998207675 Centerline is valid? [True, True] Translation: X:62.98, Y:280.82, Z:6.78 [[-6.00004991e-01 -7.99972431e-01 6.17421470e-03 6.29773847e+01] [ 7.99926052e-01 -6.00036713e-01 -8.61710411e-03 2.80822149e+02] [ 1.05982012e-02 -2.31390288e-04 9.99943811e-01 6.78173169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.37275509600005 meters 0.019704815723118628 Centerline is valid? [True, True] Translation: X:62.96, Y:280.84, Z:6.78 [[-5.99589695e-01 -8.00284326e-01 6.09876177e-03 6.29634211e+01] [ 8.00239164e-01 -5.99620672e-01 -8.50477231e-03 2.80843233e+02] [ 1.04631796e-02 -2.18905822e-04 9.99945236e-01 6.78221623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4027550960001 meters 0.01824930319719986 Centerline is valid? [True, True] Translation: X:62.95, Y:280.86, Z:6.78 [[-5.98646441e-01 -8.00995444e-01 5.36077021e-03 6.29453372e+01] [ 8.00960631e-01 -5.98670417e-01 -7.46996636e-03 2.80863213e+02] [ 9.19274355e-03 -1.78102888e-04 9.99957730e-01 6.78315825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.43275509600005 meters 0.018321864849139727 Centerline is valid? [True, True] Translation: X:62.93, Y:280.88, Z:6.78 [[-5.98322059e-01 -8.01240040e-01 5.01113892e-03 6.29303048e+01] [ 8.01209675e-01 -5.98343023e-01 -6.97743518e-03 2.80883412e+02] [ 8.58898045e-03 -1.59780406e-04 9.99963101e-01 6.78390825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4627550960001 meters 0.017791699953937735 Centerline is valid? [True, True] Translation: X:62.91, Y:280.90, Z:6.78 [[-5.97196273e-01 -8.02081546e-01 4.66967009e-03 6.29141991e+01] [ 8.02055245e-01 -5.97214514e-01 -6.49682176e-03 2.80903536e+02] [ 7.99977559e-03 -1.34544355e-04 9.99967992e-01 6.78407051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.49275509600005 meters 0.017379742176521048 Centerline is valid? [True, True] Translation: X:62.90, Y:280.92, Z:6.78 [[-5.96704493e-01 -8.02447970e-01 4.58301194e-03 6.28980151e+01] [ 8.02422688e-01 -5.96722079e-01 -6.37096348e-03 2.80924935e+02] [ 7.84715112e-03 -1.24069767e-04 9.99969203e-01 6.78410738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5227550960001 meters 0.016897231289842086 Centerline is valid? [True, True] Translation: X:62.88, Y:280.95, Z:6.78 [[-5.95747701e-01 -8.03159435e-01 4.42712008e-03 6.28815341e+01] [ 8.03135899e-01 -5.95764141e-01 -6.14955196e-03 2.80946094e+02] [ 7.57659006e-03 -1.08002380e-04 9.99971291e-01 6.78411938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.55275509600006 meters 0.016109773312738513 Centerline is valid? [True, True] Translation: X:62.86, Y:280.97, Z:6.78 [[-5.95549933e-01 -8.03306449e-01 4.36191493e-03 6.28637230e+01] [ 8.03283641e-01 -5.95565897e-01 -6.05419489e-03 2.80966826e+02] [ 7.46118158e-03 -1.01720453e-04 9.99972160e-01 6.78372698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5827550960001 meters 0.01601783676831862 Centerline is valid? [True, True] Translation: X:62.85, Y:280.99, Z:6.78 [[-5.95428128e-01 -8.03397621e-01 4.19603687e-03 6.28469168e+01] [ 8.03376547e-01 -5.95442905e-01 -5.81978682e-03 2.80988460e+02] [ 7.17410327e-03 -9.42671517e-05 9.99974261e-01 6.78336252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.61275509600006 meters 0.016421924384884354 Centerline is valid? [True, True] Translation: X:62.83, Y:281.01, Z:6.78 [[-5.95563609e-01 -8.03298051e-01 4.02854238e-03 6.28323927e+01] [ 8.03278650e-01 -5.95577227e-01 -5.58369315e-03 2.81008861e+02] [ 6.88467793e-03 -8.94023646e-05 9.99976296e-01 6.78274196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6427550960001 meters 0.01656427373206516 Centerline is valid? [True, True] Translation: X:62.82, Y:281.03, Z:6.78 [[-5.96253632e-01 -8.02787778e-01 3.65921037e-03 6.28165845e+01] [ 8.02771787e-01 -5.96264854e-01 -5.06778947e-03 2.81030416e+02] [ 6.25021798e-03 -8.41770283e-05 9.99980464e-01 6.78229604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.67275509600006 meters 0.016916434687337077 Centerline is valid? [True, True] Translation: X:62.80, Y:281.05, Z:6.78 [[-5.97810387e-01 -8.01632143e-01 2.94084963e-03 6.28011199e+01] [ 8.01621811e-01 -5.97817615e-01 -4.07072540e-03 2.81052301e+02] [ 5.02131604e-03 -7.60727126e-05 9.99987390e-01 6.78194165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.7027550960001 meters 0.017471937224142562 Centerline is valid? [True, True] Translation: X:62.79, Y:281.07, Z:6.78 [[-5.98886721e-01 -8.00829801e-01 2.51496300e-03 6.27863152e+01] [ 8.00822246e-01 -5.98891998e-01 -3.47927579e-03 2.81073876e+02] [ 4.29249895e-03 -6.96537473e-05 9.99990785e-01 6.78225203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.73275509600006 meters 0.018168458490501055 Centerline is valid? [True, True] Translation: X:62.77, Y:281.10, Z:6.78 [[-6.00092569e-01 -7.99928069e-01 1.99846185e-03 6.27717189e+01] [ 7.99923297e-01 -6.00095894e-01 -2.76372484e-03 2.81095462e+02] [ 3.41004982e-03 -5.98745437e-05 9.99994184e-01 6.78271949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.76275509600003 meters 0.019568293278276437 Centerline is valid? [True, True] Translation: X:62.76, Y:281.12, Z:6.78 [[-6.01684281e-01 -7.98732758e-01 1.41712753e-03 6.27558044e+01] [ 7.98730355e-01 -6.01685948e-01 -1.95972375e-03 2.81117285e+02] [ 2.41796127e-03 -4.72322015e-05 9.99997076e-01 6.78189466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.79275509600006 meters 0.01905528415891395 Centerline is valid? [True, True] Translation: X:62.74, Y:281.14, Z:6.78 [[-6.02463814e-01 -7.98145735e-01 8.59795646e-04 6.27400292e+01] [ 7.98144847e-01 -6.02464427e-01 -1.19078167e-03 2.81138917e+02] [ 1.46841360e-03 -3.11614042e-05 9.99998921e-01 6.78283944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.82275509600004 meters 0.020241822860997384 Centerline is valid? [True, True] Translation: X:62.73, Y:281.16, Z:6.78 [[-6.03002651e-01 -7.97738898e-01 6.73144672e-04 6.27266391e+01] [ 7.97738353e-01 -6.03003026e-01 -9.33049513e-04 2.81160399e+02] [ 1.15023816e-03 -2.56380080e-05 9.99999338e-01 6.78398917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.85275509600007 meters 0.019200259776524228 Centerline is valid? [True, True] Translation: X:62.71, Y:281.18, Z:6.78 [[-6.02402972e-01 -7.98192100e-01 -1.78284191e-04 6.27089136e+01] [ 7.98192064e-01 -6.02402998e-01 2.39273581e-04 2.81179596e+02] [-2.98385213e-04 1.83408972e-06 9.99999956e-01 6.78442542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.88275509600004 meters 0.020675214932927816 Centerline is valid? [True, True] Translation: X:62.69, Y:281.20, Z:6.78 [[-6.02196275e-01 -7.98348069e-01 -9.06309681e-05 6.26923697e+01] [ 7.98348060e-01 -6.02196282e-01 1.18641922e-04 2.81199918e+02] [-1.49295181e-04 -9.09334042e-07 9.99999989e-01 6.78364506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.91275509600007 meters 0.017983503344638052 Centerline is valid? [True, True] Translation: X:62.67, Y:281.22, Z:6.78 [[-5.99887423e-01 -8.00084399e-01 -1.83114422e-04 6.26724162e+01] [ 8.00084361e-01 -5.99887451e-01 2.46165688e-04 2.81219110e+02] [-3.06801371e-04 1.16471489e-06 9.99999953e-01 6.78403396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.94275509600004 meters 0.017732814143296593 Centerline is valid? [True, True] Translation: X:62.66, Y:281.24, Z:6.78 [[-5.99015136e-01 -8.00737688e-01 -1.46846470e-04 6.26555466e+01] [ 8.00737664e-01 -5.99015155e-01 1.95341141e-04 2.81238641e+02] [-2.44380274e-04 -5.73199072e-07 9.99999970e-01 6.78351383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.97275509600007 meters 0.017122673053944753 Centerline is valid? [True, True] Translation: X:62.64, Y:281.26, Z:6.78 [[-5.98022343e-01 -8.01479426e-01 8.81614767e-05 6.26384044e+01] [ 8.01479416e-01 -5.98022349e-01 -1.26768436e-04 2.81258307e+02] [ 1.54324827e-04 -5.15074825e-06 9.99999988e-01 6.78313397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.00275509600004 meters 0.016452382843773247 Centerline is valid? [True, True] Translation: X:62.62, Y:281.28, Z:6.78 [[-5.95836933e-01 -8.03105287e-01 4.96356445e-04 6.26205929e+01] [ 8.03104995e-01 -5.95837140e-01 -6.85667941e-04 2.81277644e+02] [ 8.46411153e-04 -9.91994314e-06 9.99999642e-01 6.78347113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0327550960001 meters 0.015973317396943215 Centerline is valid? [True, True] Translation: X:62.60, Y:281.30, Z:6.78 [[-5.95175528e-01 -8.03595682e-01 2.66585349e-04 6.26033127e+01] [ 8.03595596e-01 -5.95175588e-01 -3.71042674e-04 2.81297621e+02] [ 4.56833382e-04 -6.60870707e-06 9.99999896e-01 6.78334406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.06275509600005 meters 0.01567405455031349 Centerline is valid? [True, True] Translation: X:62.59, Y:281.32, Z:6.78 [[-5.93872552e-01 -8.04559116e-01 -1.41229677e-04 6.25852872e+01] [ 8.04559095e-01 -5.93872569e-01 1.87121631e-04 2.81317484e+02] [-2.34422845e-04 -2.50122072e-06 9.99999973e-01 6.78430027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0927550960001 meters 0.015560362550643506 Centerline is valid? [True, True] Translation: X:62.57, Y:281.34, Z:6.78 [[-5.93809637e-01 -8.04605530e-01 -2.38887854e-04 6.25688326e+01] [ 8.04605466e-01 -5.93809685e-01 3.20428308e-04 2.81338115e+02] [-3.99672309e-04 -1.93705563e-06 9.99999920e-01 6.78493281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.12275509600005 meters 0.01547621576294323 Centerline is valid? [True, True] Translation: X:62.55, Y:281.36, Z:6.79 [[-5.94075839e-01 -8.04409018e-01 -1.69477496e-04 6.25529211e+01] [ 8.04408987e-01 -5.94075863e-01 2.25346717e-04 2.81359322e+02] [-2.81953421e-04 -2.45618106e-06 9.99999960e-01 6.78538304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1527550960001 meters 0.01554052027497086 Centerline is valid? [True, True] Translation: X:62.54, Y:281.38, Z:6.79 [[-5.94913645e-01 -8.03789611e-01 1.27003918e-04 6.25390732e+01] [ 8.03789591e-01 -5.94913659e-01 -1.78205580e-04 2.81380110e+02] [ 2.18796159e-04 -3.93250390e-06 9.99999976e-01 6.78630914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.18275509600005 meters 0.015540043014403758 Centerline is valid? [True, True] Translation: X:62.52, Y:281.40, Z:6.79 [[-5.95635628e-01 -8.03254753e-01 2.28911704e-05 6.25242445e+01] [ 8.03254752e-01 -5.95635628e-01 -3.73528050e-05 2.81401234e+02] [ 4.36386147e-05 -3.86122007e-06 9.99999999e-01 6.78749626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2127550960001 meters 0.01552061629449128 Centerline is valid? [True, True] Translation: X:62.51, Y:281.42, Z:6.79 [[-5.97001917e-01 -8.02239761e-01 -2.77460447e-04 6.25084386e+01] [ 8.02239675e-01 -5.97001982e-01 3.71985340e-04 2.81422977e+02] [-4.64065867e-04 -5.13817471e-07 9.99999892e-01 6.78729270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.24275509600005 meters 0.016044770297224956 Centerline is valid? [True, True] Translation: X:62.49, Y:281.45, Z:6.79 [[-5.99218243e-01 -8.00585607e-01 -4.27777147e-04 6.24937778e+01] [ 8.00585399e-01 -5.99218396e-01 5.76726222e-04 2.81445271e+02] [-7.18050648e-04 3.11273576e-06 9.99999742e-01 6.78854259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2727550960001 meters 0.017219113219320077 Centerline is valid? [True, True] Translation: X:62.48, Y:281.47, Z:6.79 [[-6.00741231e-01 -7.99443465e-01 -3.46606423e-04 6.24796385e+01] [ 7.99443330e-01 -6.00741331e-01 4.65278472e-04 2.81466220e+02] [-5.80184638e-04 2.41976899e-06 9.99999832e-01 6.78901157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.30275509600006 meters 0.016639470184681808 Centerline is valid? [True, True] Translation: X:62.46, Y:281.49, Z:6.79 [[-6.02708459e-01 -7.97961404e-01 -3.32809402e-04 6.24634773e+01] [ 7.97961279e-01 -6.02708551e-01 4.46893191e-04 2.81488305e+02] [-5.57190591e-04 3.77728999e-06 9.99999845e-01 6.78879717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3327550960001 meters 0.017033616982560087 Centerline is valid? [True, True] Translation: X:62.45, Y:281.51, Z:6.79 [[-6.04044262e-01 -7.96950758e-01 -1.38622380e-04 6.24490596e+01] [ 7.96950737e-01 -6.04044278e-01 1.81868149e-04 2.81509033e+02] [-2.28674015e-04 -6.18795657e-07 9.99999974e-01 6.78884524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.36275509600006 meters 0.017992864322727817 Centerline is valid? [True, True] Translation: X:62.44, Y:281.53, Z:6.79 [[-6.06052149e-01 -7.95424908e-01 -9.19929623e-05 6.24350605e+01] [ 7.95424899e-01 -6.06052156e-01 1.20347590e-04 2.81530707e+02] [-1.51480004e-04 -2.36577264e-07 9.99999989e-01 6.78905267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3927550960001 meters 0.019433310983989965 Centerline is valid? [True, True] Translation: X:62.42, Y:281.55, Z:6.79 [[-6.07464292e-01 -7.94346944e-01 2.57296681e-04 6.24188311e+01] [ 7.94346865e-01 -6.07464346e-01 -3.54512362e-04 2.81552430e+02] [ 4.37904372e-04 -1.09707893e-05 9.99999904e-01 6.78771981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.42275509600006 meters 0.019610055075489765 Centerline is valid? [True, True] Translation: X:62.41, Y:281.57, Z:6.79 [[-6.08400712e-01 -7.93629977e-01 1.82046844e-04 6.24052118e+01] [ 7.93629937e-01 -6.08400739e-01 -2.53089879e-04 2.81574512e+02] [ 3.11617150e-04 -9.50223756e-06 9.99999951e-01 6.78962046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.4527550960001 meters 0.018335426501186084 Centerline is valid? [True, True] Translation: X:62.39, Y:281.60, Z:6.79 [[-6.10168319e-01 -7.92271753e-01 3.02588969e-04 6.23857841e+01] [ 7.92271645e-01 -6.10168394e-01 -4.14864067e-04 2.81595239e+02] [ 5.13315307e-04 -1.34042507e-05 9.99999868e-01 6.78803647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.48275509600006 meters 0.019361435917518526 Centerline is valid? [True, True] Translation: X:62.37, Y:281.62, Z:6.79 [[-6.11063542e-01 -7.91581498e-01 2.81720012e-04 6.23711571e+01] [ 7.91581404e-01 -6.11063607e-01 -3.87179723e-04 2.81617035e+02] [ 4.78633152e-04 -1.35870900e-05 9.99999885e-01 6.78882096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.51275509600003 meters 0.0223942603697135 Centerline is valid? [True, True] Translation: X:62.36, Y:281.64, Z:6.79 [[-6.12778248e-01 -7.90254727e-01 5.34046527e-04 6.23579892e+01] [ 7.90254393e-01 -6.12778480e-01 -7.27839785e-04 2.81640311e+02] [ 9.02431050e-04 -2.39717737e-05 9.99999593e-01 6.78987538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.54275509600006 meters 0.020622653560573943 Centerline is valid? [True, True] Translation: X:62.34, Y:281.66, Z:6.79 [[-6.13735344e-01 -7.89511639e-01 5.48137346e-04 6.23393236e+01] [ 7.89511286e-01 -6.13735588e-01 -7.46621932e-04 2.81659297e+02] [ 9.25878101e-04 -2.54676473e-05 9.99999571e-01 6.78855178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.57275509600004 meters 0.02156534941832656 Centerline is valid? [True, True] Translation: X:62.32, Y:281.68, Z:6.79 [[-6.14715415e-01 -7.88748655e-01 7.20059724e-04 6.23241567e+01] [ 7.88748049e-01 -6.14715836e-01 -9.77808776e-04 2.81680997e+02] [ 1.21387747e-03 -3.31284245e-05 9.99999263e-01 6.78859907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.60275509600007 meters 0.02156534941832656 Centerline is valid? [True, True] Translation: X:62.31, Y:281.70, Z:6.79 [[-6.15016335e-01 -7.88514038e-01 7.20340003e-04 6.23085139e+01] [ 7.88513433e-01 -6.15016756e-01 -9.77601890e-04 2.81701685e+02] [ 1.21387399e-03 -3.32433626e-05 9.99999263e-01 6.78883674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.63275509600004 meters 0.020232852997493295 Centerline is valid? [True, True] Translation: X:62.29, Y:281.72, Z:6.79 [[-6.15361461e-01 -7.88244471e-01 9.62505175e-04 6.22899040e+01] [ 7.88243395e-01 -6.15362212e-01 -1.30300720e-03 2.81722298e+02] [ 1.61937754e-03 -4.31320687e-05 9.99998688e-01 6.78789580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.66275509600007 meters 0.02095937805103088 Centerline is valid? [True, True] Translation: X:62.27, Y:281.74, Z:6.79 [[-6.15386266e-01 -7.88223687e-01 1.77840144e-03 6.22747776e+01] [ 7.88220034e-01 -6.15388831e-01 -2.40112964e-03 2.81743631e+02] [ 2.98703564e-03 -7.58505576e-05 9.99995536e-01 6.78729990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.69275509600004 meters 0.02056028238110872 Centerline is valid? [True, True] Translation: X:62.26, Y:281.76, Z:6.79 [[-6.15150925e-01 -7.88407019e-01 1.92682619e-03 6.22584539e+01] [ 7.88402739e-01 -6.15153937e-01 -2.59908632e-03 2.81764008e+02] [ 3.23443261e-03 -7.97153038e-05 9.99994766e-01 6.78686300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.72275509600007 meters 0.020158066089795076 Centerline is valid? [True, True] Translation: X:62.24, Y:281.78, Z:6.79 [[-6.15043861e-01 -7.88489349e-01 2.36562078e-03 6.22418435e+01] [ 7.88482914e-01 -6.15048403e-01 -3.18701099e-03 2.81784312e+02] [ 3.96789550e-03 -9.48999814e-05 9.99992123e-01 6.78659663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.75275509600004 meters 0.019671487593290436 Centerline is valid? [True, True] Translation: X:62.22, Y:281.80, Z:6.79 [[-6.13821419e-01 -7.89440158e-01 2.73919002e-03 6.22248916e+01] [ 7.89431558e-01 -6.13827523e-01 -3.68610608e-03 2.81804192e+02] [ 4.59135039e-03 -1.00207815e-04 9.99989455e-01 6.78571499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.7827550960001 meters 0.019391627395706486 Centerline is valid? [True, True] Translation: X:62.21, Y:281.82, Z:6.79 [[-6.13183692e-01 -7.89934761e-01 2.97201677e-03 6.22090748e+01] [ 7.89924660e-01 -6.13190886e-01 -3.99607951e-03 2.81824497e+02] [ 4.97905570e-03 -1.02661451e-04 9.99987599e-01 6.78584576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.81275509600005 meters 0.01943539989284397 Centerline is valid? [True, True] Translation: X:62.19, Y:281.84, Z:6.79 [[-6.12652800e-01 -7.90346010e-01 3.11954345e-03 6.21936856e+01] [ 7.90334910e-01 -6.12660734e-01 -4.18990144e-03 2.81844689e+02] [ 5.22269366e-03 -1.01470753e-04 9.99986357e-01 6.78644179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8427550960001 meters 0.018375653150802102 Centerline is valid? [True, True] Translation: X:62.18, Y:281.87, Z:6.79 [[-6.11235957e-01 -7.91442872e-01 2.96391045e-03 6.21755496e+01] [ 7.91432876e-01 -6.11243137e-01 -3.97883600e-03 2.81865572e+02] [ 4.96069132e-03 -8.62714639e-05 9.99987692e-01 6.78754509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.87275509600005 meters 0.018251920146933973 Centerline is valid? [True, True] Translation: X:62.16, Y:281.89, Z:6.79 [[-6.10696710e-01 -7.91858088e-01 3.20885687e-03 6.21593808e+01] [ 7.91846394e-01 -6.10705134e-01 -4.30432730e-03 2.81886547e+02] [ 5.36808175e-03 -8.77167744e-05 9.99985588e-01 6.78751555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9027550960001 meters 0.01783437707556045 Centerline is valid? [True, True] Translation: X:62.14, Y:281.91, Z:6.79 [[-6.09690607e-01 -7.92631587e-01 3.53988750e-03 6.21442166e+01] [ 7.92617395e-01 -6.09700877e-01 -4.74405461e-03 2.81906763e+02] [ 5.91856005e-03 -8.66291305e-05 9.99982481e-01 6.78784484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.93275509600005 meters 0.017613398229799578 Centerline is valid? [True, True] Translation: X:62.13, Y:281.93, Z:6.79 [[-6.09324944e-01 -7.92912290e-01 3.63508724e-03 6.21282880e+01] [ 7.92897355e-01 -6.09335781e-01 -4.86731052e-03 2.81927836e+02] [ 6.07433906e-03 -8.35226517e-05 9.99981548e-01 6.78828988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9627550960001 meters 0.01729668582565659 Centerline is valid? [True, True] Translation: X:62.11, Y:281.95, Z:6.79 [[-6.08961214e-01 -7.93190685e-01 3.84412383e-03 6.21121951e+01] [ 7.93174017e-01 -6.08973342e-01 -5.14280745e-03 2.81948847e+02] [ 6.42019590e-03 -8.27111269e-05 9.99979387e-01 6.78870741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.99275509600005 meters 0.01725208858639603 Centerline is valid? [True, True] Translation: X:62.10, Y:281.97, Z:6.79 [[-6.08854153e-01 -7.93271081e-01 4.19665735e-03 6.20974553e+01] [ 7.93251253e-01 -6.08868610e-01 -5.60941503e-03 2.81969603e+02] [ 7.00499965e-03 -8.63119305e-05 9.99975461e-01 6.78906390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0227550960001 meters 0.017093307002932247 Centerline is valid? [True, True] Translation: X:62.08, Y:281.99, Z:6.79 [[-6.08506876e-01 -7.93537261e-01 4.24236052e-03 6.20820187e+01] [ 7.93517040e-01 -6.08521658e-01 -5.66550388e-03 2.81991660e+02] [ 7.07735669e-03 -8.11127025e-05 9.99974952e-01 6.78929016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.05275509600006 meters 0.01722913759811452 Centerline is valid? [True, True] Translation: X:62.07, Y:282.01, Z:6.79 [[-6.08636125e-01 -7.93435766e-01 4.66409201e-03 6.20674860e+01] [ 7.93411361e-01 -6.08653989e-01 -6.22362492e-03 2.82012297e+02] [ 7.77686481e-03 -8.73793646e-05 9.99969756e-01 6.78927257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0827550960001 meters 0.017137115455535226 Centerline is valid? [True, True] Translation: X:62.05, Y:282.04, Z:6.79 [[-6.08663189e-01 -7.93412222e-01 5.11549063e-03 6.20531836e+01] [ 7.93382917e-01 -6.08684678e-01 -6.81981002e-03 2.82035019e+02] [ 8.52464139e-03 -9.24244342e-05 9.99963660e-01 6.78887616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.11275509600006 meters 0.016973563899145803 Centerline is valid? [True, True] Translation: X:62.04, Y:282.06, Z:6.79 [[-6.08884149e-01 -7.93242143e-01 5.19578012e-03 6.20383152e+01] [ 7.93211952e-01 -6.08906310e-01 -6.92134149e-03 2.82057077e+02] [ 8.65404306e-03 -9.29402278e-05 9.99962549e-01 6.78905220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1427550960001 meters 0.017004036647545594 Centerline is valid? [True, True] Translation: X:62.02, Y:282.08, Z:6.79 [[-6.09280138e-01 -7.92935519e-01 5.56559553e-03 6.20233727e+01] [ 7.92900922e-01 -6.09305550e-01 -7.40772249e-03 2.82078638e+02] [ 9.26499452e-03 -1.00412356e-04 9.99957074e-01 6.78907769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.17275509600006 meters 0.0178495604313454 Centerline is valid? [True, True] Translation: X:62.01, Y:282.10, Z:6.79 [[-6.10427880e-01 -7.92049495e-01 5.94979392e-03 6.20118807e+01] [ 7.92009982e-01 -6.10456864e-01 -7.91233633e-03 2.82101309e+02] [ 9.89905454e-03 -1.17614516e-04 9.99950996e-01 6.78872572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.2027550960001 meters 0.017685356340453345 Centerline is valid? [True, True] Translation: X:62.00, Y:282.12, Z:6.79 [[-6.11092834e-01 -7.91536465e-01 5.96434128e-03 6.19970729e+01] [ 7.91496799e-01 -6.11121927e-01 -7.92509734e-03 2.82122922e+02] [ 9.91794327e-03 -1.22213163e-04 9.99950809e-01 6.78880185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.23275509600006 meters 0.018523959558217642 Centerline is valid? [True, True] Translation: X:61.99, Y:282.15, Z:6.79 [[-6.12824711e-01 -7.90195452e-01 6.08452623e-03 6.19854685e+01] [ 7.90154170e-01 -6.12854899e-01 -8.07835396e-03 2.82146387e+02] [ 1.01124103e-02 -1.42901159e-04 9.99948858e-01 6.78880066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.26275509600003 meters 0.018578351467379427 Centerline is valid? [True, True] Translation: X:61.97, Y:282.17, Z:6.79 [[-6.13978892e-01 -7.89297806e-01 6.23648705e-03 6.19707187e+01] [ 7.89254450e-01 -6.14010545e-01 -8.27427516e-03 2.82168479e+02] [ 1.03601360e-02 -1.58055140e-04 9.99946320e-01 6.78917452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.29275509600006 meters 0.01885467419578181 Centerline is valid? [True, True] Translation: X:61.96, Y:282.19, Z:6.79 [[-6.14748382e-01 -7.88699550e-01 6.11933909e-03 6.19573442e+01] [ 7.88657845e-01 -6.14778817e-01 -8.11235012e-03 2.82190532e+02] [ 1.01602469e-02 -1.60989328e-04 9.99948370e-01 6.78960565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.32275509600004 meters 0.01941997970295111 Centerline is valid? [True, True] Translation: X:61.95, Y:282.21, Z:6.79 [[-6.15966435e-01 -7.87746704e-01 6.36248356e-03 6.19466224e+01] [ 7.87701643e-01 -6.15999268e-01 -8.42751087e-03 2.82213679e+02] [ 1.05580291e-02 -1.79325074e-04 9.99944246e-01 6.78988254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.35275509600007 meters 0.01984161529654894 Centerline is valid? [True, True] Translation: X:61.93, Y:282.24, Z:6.79 [[-6.16756671e-01 -7.87127788e-01 6.40734238e-03 6.19323980e+01] [ 7.87082119e-01 -6.16789924e-01 -8.48102214e-03 2.82236111e+02] [ 1.06276324e-02 -1.87622371e-04 9.99943508e-01 6.78997884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.38275509600004 meters 0.019581424539936828 Centerline is valid? [True, True] Translation: X:61.92, Y:282.26, Z:6.79 [[-6.17469617e-01 -7.86565743e-01 6.75308544e-03 6.19166662e+01] [ 7.86515060e-01 -6.17506511e-01 -8.93138512e-03 2.82258541e+02] [ 1.11951958e-02 -2.03455550e-04 9.99937311e-01 6.79001070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.41275509600007 meters 0.01965570592761428 Centerline is valid? [True, True] Translation: X:61.90, Y:282.28, Z:6.79 [[-6.16314357e-01 -7.87469670e-01 6.93773617e-03 6.19011548e+01] [ 7.87416312e-01 -6.16353375e-01 -9.16886546e-03 2.82278844e+02] [ 1.14963006e-02 -1.88016789e-04 9.99933898e-01 6.79041894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.44275509600004 meters 0.019154805132002028 Centerline is valid? [True, True] Translation: X:61.88, Y:282.30, Z:6.79 [[-6.15635237e-01 -7.87998999e-01 7.12961710e-03 6.18838300e+01] [ 7.87942762e-01 -6.15676494e-01 -9.41592087e-03 2.82299324e+02] [ 1.18092739e-02 -1.79042494e-04 9.99930252e-01 6.79056030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.47275509600007 meters 0.018531726989861625 Centerline is valid? [True, True] Translation: X:61.87, Y:282.32, Z:6.79 [[-6.13641874e-01 -7.89543391e-01 8.05507231e-03 6.18664106e+01] [ 7.89471858e-01 -6.13694718e-01 -1.06291401e-02 2.82319133e+02] [ 1.33355227e-02 -1.63232549e-04 9.99911065e-01 6.78961464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.50275509600004 meters 0.018092129207466893 Centerline is valid? [True, True] Translation: X:61.85, Y:282.34, Z:6.79 [[-6.13048864e-01 -7.90002427e-01 8.20098129e-03 6.18495149e+01] [ 7.89928433e-01 -6.13103697e-01 -1.08133438e-02 2.82339287e+02] [ 1.35706198e-02 -1.50919841e-04 9.99907904e-01 6.78924761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5327550960001 meters 0.017998665465182362 Centerline is valid? [True, True] Translation: X:61.83, Y:282.36, Z:6.79 [[-6.12764363e-01 -7.90220870e-01 8.41500563e-03 6.18332761e+01] [ 7.90143107e-01 -6.12822124e-01 -1.10866444e-02 2.82360623e+02] [ 1.39177994e-02 -1.44441902e-04 9.99903132e-01 6.78862916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.56275509600005 meters 0.017418068087561314 Centerline is valid? [True, True] Translation: X:61.82, Y:282.38, Z:6.79 [[-6.12015973e-01 -7.90801304e-01 8.35145872e-03 6.18152666e+01] [ 7.90724882e-01 -6.12072939e-01 -1.09944709e-02 2.82381680e+02] [ 1.38061438e-02 -1.25085561e-04 9.99904683e-01 6.78966765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5927550960001 meters 0.017275056084981675 Centerline is valid? [True, True] Translation: X:61.80, Y:282.40, Z:6.79 [[-6.11838190e-01 -7.90942412e-01 8.00815535e-03 6.17980955e+01] [ 7.90872258e-01 -6.11890585e-01 -1.05348604e-02 2.82402429e+02] [ 1.32325827e-02 -1.12201983e-04 9.99912439e-01 6.79009971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.62275509600005 meters 0.01737536446711297 Centerline is valid? [True, True] Translation: X:61.78, Y:282.42, Z:6.79 [[-6.12562484e-01 -7.90383191e-01 7.84955347e-03 6.17818238e+01] [ 7.90315842e-01 -6.12612764e-01 -1.03185029e-02 2.82422658e+02] [ 1.29643079e-02 -1.17101287e-04 9.99915953e-01 6.79019745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6527550960001 meters 0.01762301655136218 Centerline is valid? [True, True] Translation: X:61.77, Y:282.44, Z:6.79 [[-6.13528583e-01 -7.89636428e-01 7.54913783e-03 6.17655429e+01] [ 7.89574172e-01 -6.13575013e-01 -9.91618576e-03 2.82444762e+02] [ 1.24621438e-02 -1.23259143e-04 9.99922337e-01 6.79051368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.68275509600005 meters 0.017988048442189642 Centerline is valid? [True, True] Translation: X:61.75, Y:282.47, Z:6.79 [[-6.14860478e-01 -7.88602936e-01 7.21122867e-03 6.17495902e+01] [ 7.88546137e-01 -6.14902749e-01 -9.46563524e-03 2.82467242e+02] [ 1.18988321e-02 -1.33658489e-04 9.99929197e-01 6.79078009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7127550960001 meters 0.01872331969269727 Centerline is valid? [True, True] Translation: X:61.74, Y:282.49, Z:6.79 [[-6.17492512e-01 -7.86550119e-01 6.47362033e-03 6.17354220e+01] [ 7.86504293e-01 -6.17526426e-01 -8.49174565e-03 2.82490076e+02] [ 1.06768152e-02 -1.52059166e-04 9.99942990e-01 6.79194250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.74275509600005 meters 0.01916671037942629 Centerline is valid? [True, True] Translation: X:61.72, Y:282.51, Z:6.79 [[-6.18840926e-01 -7.85491572e-01 6.23690322e-03 6.17200678e+01] [ 7.85449044e-01 -6.18872334e-01 -8.17517275e-03 2.82511998e+02] [ 1.02813761e-02 -1.60361807e-04 9.99947132e-01 6.79229809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7727550960001 meters 0.019843025044646453 Centerline is valid? [True, True] Translation: X:61.70, Y:282.53, Z:6.79 [[-6.21163151e-01 -7.83660524e-01 5.70293163e-03 6.17038838e+01] [ 7.83624941e-01 -6.21189306e-01 -7.46981592e-03 2.82533889e+02] [ 9.39640000e-03 -1.71014929e-04 9.99955838e-01 6.79225254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.80275509600006 meters 0.020973707673818433 Centerline is valid? [True, True] Translation: X:61.69, Y:282.56, Z:6.79 [[-6.22225921e-01 -7.82819918e-01 5.28014570e-03 6.16889296e+01] [ 7.82789425e-01 -6.22248301e-01 -6.91139128e-03 2.82555573e+02] [ 8.69593645e-03 -1.67204589e-04 9.99962176e-01 6.79226717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8327550960001 meters 0.020648217752248135 Centerline is valid? [True, True] Translation: X:61.67, Y:282.58, Z:6.79 [[-6.22908851e-01 -7.82275917e-01 5.38078980e-03 6.16710162e+01] [ 7.82244279e-01 -6.22932066e-01 -7.03761715e-03 2.82576507e+02] [ 8.85722492e-03 -1.74701974e-04 9.99960759e-01 6.79218912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.86275509600006 meters 0.02114131401078877 Centerline is valid? [True, True] Translation: X:61.66, Y:282.60, Z:6.79 [[-6.23534965e-01 -7.81778118e-01 5.20790141e-03 6.16551156e+01] [ 7.81748504e-01 -6.23556689e-01 -6.80679837e-03 2.82596231e+02] [ 8.56882778e-03 -1.73007645e-04 9.99963272e-01 6.79142238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8927550960001 meters 0.021027769511989793 Centerline is valid? [True, True] Translation: X:61.64, Y:282.62, Z:6.79 [[-6.23890674e-01 -7.81494289e-01 5.20611389e-03 6.16372759e+01] [ 7.81464734e-01 -6.23912371e-01 -6.79871382e-03 2.82617122e+02] [ 8.56131488e-03 -1.73259742e-04 9.99963336e-01 6.79100982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.92275509600006 meters 0.021638780453551835 Centerline is valid? [True, True] Translation: X:61.62, Y:282.64, Z:6.79 [[-6.24122979e-01 -7.81309014e-01 5.17024075e-03 6.16212198e+01] [ 7.81279900e-01 -6.24144371e-01 -6.74708297e-03 2.82637308e+02] [ 8.49853340e-03 -1.71604353e-04 9.99963872e-01 6.79029105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.9527550960001 meters 0.02146528897873594 Centerline is valid? [True, True] Translation: X:61.60, Y:282.66, Z:6.79 [[-6.24646481e-01 -7.80889748e-01 5.28922770e-03 6.16034878e+01] [ 7.80859314e-01 -6.24668849e-01 -6.89643241e-03 2.82657638e+02] [ 8.68936914e-03 -1.77689518e-04 9.99962231e-01 6.79007548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.98275509600006 meters 0.02231824608572253 Centerline is valid? [True, True] Translation: X:61.59, Y:282.68, Z:6.79 [[-6.25174455e-01 -7.80469231e-01 4.96786726e-03 6.15884464e+01] [ 7.80442409e-01 -6.25194170e-01 -6.47266652e-03 2.82678074e+02] [ 8.15759872e-03 -1.69411474e-04 9.99966712e-01 6.78985043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.01275509600003 meters 0.02252512313048601 Centerline is valid? [True, True] Translation: X:61.57, Y:282.70, Z:6.79 [[-6.26239018e-01 -7.79613835e-01 5.19229567e-03 6.15711705e+01] [ 7.79584556e-01 -6.26260516e-01 -6.75919988e-03 2.82698067e+02] [ 8.52129551e-03 -1.85041190e-04 9.99963676e-01 6.78896588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.04275509600006 meters 0.02279029558987316 Centerline is valid? [True, True] Translation: X:61.55, Y:282.72, Z:6.79 [[-6.27080774e-01 -7.78936470e-01 5.26106405e-03 6.15545965e+01] [ 7.78906432e-01 -6.27102814e-01 -6.84333216e-03 2.82718110e+02] [ 8.62974906e-03 -1.93445402e-04 9.99962744e-01 6.78887492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.07275509600004 meters 0.02243083698842625 Centerline is valid? [True, True] Translation: X:61.54, Y:282.74, Z:6.79 [[-6.27839100e-01 -7.78327779e-01 4.89215781e-03 6.15366534e+01] [ 7.78301825e-01 -6.27858132e-01 -6.35888519e-03 2.82738320e+02] [ 8.02087805e-03 -1.84781407e-04 9.99967815e-01 6.78910636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.10275509600007 meters 0.023487429210947652 Centerline is valid? [True, True] Translation: X:61.52, Y:282.76, Z:6.79 [[-6.28874896e-01 -7.77492285e-01 4.70227437e-03 6.15207089e+01] [ 7.77468315e-01 -6.28892449e-01 -6.10789784e-03 2.82758977e+02] [ 7.70606829e-03 -1.85234289e-04 9.99970291e-01 6.78884102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.13275509600004 meters 0.023802582125088838 Centerline is valid? [True, True] Translation: X:61.50, Y:282.78, Z:6.79 [[-6.29488257e-01 -7.76995397e-01 4.76306225e-03 6.15045993e+01] [ 7.76970826e-01 -6.29506248e-01 -6.18213311e-03 2.82779336e+02] [ 7.80186642e-03 -1.90819784e-04 9.99969547e-01 6.78893504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.16275509600007 meters 0.024581011693480825 Centerline is valid? [True, True] Translation: X:61.49, Y:282.80, Z:6.79 [[-6.30359178e-01 -7.76290726e-01 4.47398433e-03 6.14889337e+01] [ 7.76269061e-01 -6.30375028e-01 -5.80256829e-03 2.82799782e+02] [ 7.32476794e-03 -1.84686559e-04 9.99973157e-01 6.78889464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.19275509600004 meters 0.02455917147282548 Centerline is valid? [True, True] Translation: X:61.47, Y:282.82, Z:6.79 [[-6.30794246e-01 -7.75939676e-01 4.02961339e-03 6.14719933e+01] [ 7.75922113e-01 -6.30807095e-01 -5.22349419e-03 2.82820462e+02] [ 6.59502510e-03 -1.68283948e-04 9.99978238e-01 6.78933768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.22275509600007 meters 0.02477823559480953 Centerline is valid? [True, True] Translation: X:61.46, Y:282.84, Z:6.79 [[-6.31347066e-01 -7.75491948e-01 3.62230866e-03 6.14555174e+01] [ 7.75477766e-01 -6.31357439e-01 -4.69245542e-03 2.82840546e+02] [ 5.92593291e-03 -1.53548137e-04 9.99982430e-01 6.78965439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.25275509600004 meters 0.025023813645721968 Centerline is valid? [True, True] Translation: X:61.44, Y:282.86, Z:6.79 [[-6.31470179e-01 -7.75391927e-01 3.57397695e-03 6.14391198e+01] [ 7.75378139e-01 -6.31480275e-01 -4.62642949e-03 2.82859919e+02] [ 5.84419202e-03 -1.50268659e-04 9.99982911e-01 6.78985910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.2827550960001 meters 0.02451797740618376 Centerline is valid? [True, True] Translation: X:61.42, Y:282.88, Z:6.79 [[-6.31488156e-01 -7.75377287e-01 3.57377632e-03 6.14217167e+01] [ 7.75363523e-01 -6.31498251e-01 -4.62236729e-03 2.82879964e+02] [ 5.84091210e-03 -1.47994402e-04 9.99982931e-01 6.78998020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.31275509600005 meters 0.025255007573961936 Centerline is valid? [True, True] Translation: X:61.41, Y:282.90, Z:6.79 [[-6.31303695e-01 -7.75526945e-01 3.68803444e-03 6.14069984e+01] [ 7.75512312e-01 -6.31314450e-01 -4.76636967e-03 2.82900709e+02] [ 6.02475755e-03 -1.48910668e-04 9.99981840e-01 6.79034719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3427550960001 meters 0.022759199471730416 Centerline is valid? [True, True] Translation: X:61.39, Y:282.92, Z:6.79 [[-6.29988116e-01 -7.76597345e-01 3.39666070e-03 6.13855944e+01] [ 7.76584968e-01 -6.29997260e-01 -4.38637531e-03 2.82919275e+02] [ 5.54633436e-03 -1.25568673e-04 9.99984611e-01 6.79052057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.37275509600005 meters 0.023412520151647638 Centerline is valid? [True, True] Translation: X:61.37, Y:282.94, Z:6.79 [[-6.29646202e-01 -7.76874562e-01 3.40217942e-03 6.13701853e+01] [ 7.76862163e-01 -6.29655382e-01 -4.39095880e-03 2.82939757e+02] [ 5.55342477e-03 -1.21726070e-04 9.99984572e-01 6.79056375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4027550960001 meters 0.022819583216937167 Centerline is valid? [True, True] Translation: X:61.35, Y:282.96, Z:6.79 [[-6.29218813e-01 -7.77221133e-01 3.31601371e-03 6.13526166e+01] [ 7.77209377e-01 -6.29227541e-01 -4.27614595e-03 2.82959445e+02] [ 5.41003815e-03 -1.13394525e-04 9.99985359e-01 6.79087328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.43275509600005 meters 0.021408132299257553 Centerline is valid? [True, True] Translation: X:61.33, Y:282.98, Z:6.79 [[-6.28159280e-01 -7.78076991e-01 3.48062146e-03 6.13333724e+01] [ 7.78064075e-01 -6.28168914e-01 -4.48459760e-03 2.82979433e+02] [ 5.67578041e-03 -1.08895087e-04 9.99983887e-01 6.79064555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4627550960001 meters 0.02117148269757701 Centerline is valid? [True, True] Translation: X:61.32, Y:283.00, Z:6.79 [[-6.28116607e-01 -7.78112359e-01 3.26896030e-03 6.13167968e+01] [ 7.78100979e-01 -6.28125105e-01 -4.20945343e-03 2.82999911e+02] [ 5.32874377e-03 -1.00446396e-04 9.99985797e-01 6.79087791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.49275509600005 meters 0.02117148269757701 Centerline is valid? [True, True] Translation: X:61.30, Y:283.02, Z:6.79 [[-6.28421822e-01 -7.77865873e-01 3.27061106e-03 6.13006777e+01] [ 7.77854497e-01 -6.28430325e-01 -4.20817007e-03 2.83020234e+02] [ 5.32874306e-03 -1.00446383e-04 9.99985797e-01 6.79111551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5227550960001 meters 0.02126317518053661 Centerline is valid? [True, True] Translation: X:61.28, Y:283.04, Z:6.79 [[-6.28636320e-01 -7.77690933e-01 3.63177880e-03 6.12846994e+01] [ 7.77676928e-01 -6.28646801e-01 -4.66842553e-03 2.83041633e+02] [ 5.91369833e-03 -1.10391269e-04 9.99982508e-01 6.79172903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.55275509600006 meters 0.021285917644330278 Centerline is valid? [True, True] Translation: X:61.27, Y:283.06, Z:6.79 [[-6.29122549e-01 -7.77298255e-01 3.49887244e-03 6.12685759e+01] [ 7.77285270e-01 -6.29132269e-01 -4.49420536e-03 2.83062386e+02] [ 5.69459154e-03 -1.07783928e-04 9.99983780e-01 6.79203415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5827550960001 meters 0.021394854817308788 Centerline is valid? [True, True] Translation: X:61.25, Y:283.08, Z:6.79 [[-6.29585488e-01 -7.76924472e-01 3.23694568e-03 6.12522863e+01] [ 7.76913369e-01 -6.29593801e-01 -4.15484877e-03 2.83083634e+02] [ 5.26596462e-03 -1.01006122e-04 9.99986130e-01 6.79253194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.61275509600006 meters 0.021608992766986235 Centerline is valid? [True, True] Translation: X:61.24, Y:283.11, Z:6.79 [[-6.30322477e-01 -7.76326732e-01 3.22193030e-03 6.12361387e+01] [ 7.76315742e-01 -6.30330703e-01 -4.13201706e-03 2.83105432e+02] [ 5.23867689e-03 -1.03268017e-04 9.99986273e-01 6.79267060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6427550960001 meters 0.0222893947755265 Centerline is valid? [True, True] Translation: X:61.22, Y:283.13, Z:6.79 [[-6.31554616e-01 -7.75325940e-01 2.90752782e-03 6.12221646e+01] [ 7.75316989e-01 -6.31561301e-01 -3.72673709e-03 2.83128049e+02] [ 4.72571799e-03 -9.93822957e-05 9.99988829e-01 6.79339624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.67275509600006 meters 0.022996637056580817 Centerline is valid? [True, True] Translation: X:61.21, Y:283.15, Z:6.79 [[-6.32725341e-01 -7.74371988e-01 2.58210168e-03 6.12081668e+01] [ 7.74364929e-01 -6.32730603e-01 -3.30768326e-03 2.83150574e+02] [ 4.19515202e-03 -9.33660385e-05 9.99991196e-01 6.79408031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.7027550960001 meters 0.023288422180629827 Centerline is valid? [True, True] Translation: X:61.19, Y:283.17, Z:6.79 [[-6.33489469e-01 -7.73747486e-01 2.43320899e-03 6.11923606e+01] [ 7.73741221e-01 -6.33494135e-01 -3.11508838e-03 2.83172240e+02] [ 3.95171543e-03 -9.07015872e-05 9.99992188e-01 6.79418087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.73275509600006 meters 0.023779591251401506 Centerline is valid? [True, True] Translation: X:61.18, Y:283.19, Z:6.79 [[-6.34094181e-01 -7.73251104e-01 2.70198009e-03 6.11779631e+01] [ 7.73243390e-01 -6.34099929e-01 -3.45525915e-03 2.83193025e+02] [ 4.38510834e-03 -1.01671475e-04 9.99990380e-01 6.79375059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.76275509600003 meters 0.024003760913156924 Centerline is valid? [True, True] Translation: X:61.16, Y:283.21, Z:6.79 [[-6.34672812e-01 -7.72776249e-01 2.70002445e-03 6.11617995e+01] [ 7.72768550e-01 -6.34678547e-01 -3.45120265e-03 2.83213525e+02] [ 4.38065503e-03 -1.03890510e-04 9.99990400e-01 6.79390085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.79275509600006 meters 0.024261051566334586 Centerline is valid? [True, True] Translation: X:61.15, Y:283.23, Z:6.79 [[-6.34636810e-01 -7.72806777e-01 2.40953084e-03 6.11456593e+01] [ 7.72800651e-01 -6.34641377e-01 -3.07825384e-03 2.83232889e+02] [ 3.90808340e-03 -9.14861922e-05 9.99992359e-01 6.79384647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.82275509600004 meters 0.02416094210607335 Centerline is valid? [True, True] Translation: X:61.13, Y:283.25, Z:6.79 [[-6.34573496e-01 -7.72858220e-01 2.57891077e-03 6.11290820e+01] [ 7.72851217e-01 -6.34578729e-01 -3.29140227e-03 2.83253529e+02] [ 4.18030922e-03 -9.55223157e-05 9.99991258e-01 6.79395135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.85275509600007 meters 0.024261217456223803 Centerline is valid? [True, True] Translation: X:61.11, Y:283.27, Z:6.79 [[-6.34719668e-01 -7.72739012e-01 2.31584390e-03 6.11136517e+01] [ 7.72733369e-01 -6.34723887e-01 -2.95413039e-03 2.83273620e+02] [ 3.75269324e-03 -8.55148021e-05 9.99992955e-01 6.79476350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.88275509600004 meters 0.024127945547798887 Centerline is valid? [True, True] Translation: X:61.10, Y:283.29, Z:6.80 [[-6.34974663e-01 -7.72529354e-01 2.36102221e-03 6.10965439e+01] [ 7.72523498e-01 -6.34979047e-01 -3.00913934e-03 2.83294165e+02] [ 3.82384811e-03 -8.67821013e-05 9.99992685e-01 6.79554518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.91275509600007 meters 0.024199010908491615 Centerline is valid? [True, True] Translation: X:61.08, Y:283.31, Z:6.80 [[-6.34968388e-01 -7.72535510e-01 2.00799526e-03 6.10801391e+01] [ 7.72531277e-01 -6.34971559e-01 -2.55843122e-03 2.83314294e+02] [ 3.25149884e-03 -7.32838035e-05 9.99994711e-01 6.79613895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.94275509600004 meters 0.022803682816908102 Centerline is valid? [True, True] Translation: X:61.06, Y:283.33, Z:6.80 [[-6.35021979e-01 -7.72492157e-01 1.71888135e-03 6.10612166e+01] [ 7.72489058e-01 -6.35024302e-01 -2.18901090e-03 2.83332545e+02] [ 2.78252518e-03 -6.22529944e-05 9.99996127e-01 6.79631408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.97275509600007 meters 0.024534511900445245 Centerline is valid? [True, True] Translation: X:61.05, Y:283.35, Z:6.80 [[-6.35464410e-01 -7.72128327e-01 1.68225052e-03 6.10472138e+01] [ 7.72125361e-01 -6.35466634e-01 -2.14096276e-03 2.83354198e+02] [ 2.72211207e-03 -6.15973467e-05 9.99996293e-01 6.79755328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.00275509600004 meters 0.02459490800339583 Centerline is valid? [True, True] Translation: X:61.03, Y:283.37, Z:6.80 [[-6.35646041e-01 -7.71979450e-01 1.35648988e-03 6.10305404e+01] [ 7.71977522e-01 -6.35647486e-01 -1.72596876e-03 2.83373503e+02] [ 2.19466179e-03 -4.99255097e-05 9.99997591e-01 6.79833862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0327550960001 meters 0.023042435043733305 Centerline is valid? [True, True] Translation: X:61.01, Y:283.39, Z:6.80 [[-6.35678544e-01 -7.71952595e-01 1.40706715e-03 6.10113880e+01] [ 7.71950525e-01 -6.35680099e-01 -1.78858412e-03 2.83392008e+02] [ 2.27514674e-03 -5.07783264e-05 9.99997411e-01 6.79783868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.06275509600005 meters 0.022262490632398296 Centerline is valid? [True, True] Translation: X:60.99, Y:283.41, Z:6.80 [[-6.34401757e-01 -7.73001635e-01 1.69799825e-03 6.09924041e+01] [ 7.72998635e-01 -6.34404027e-01 -2.15424003e-03 2.83412427e+02] [ 2.74244799e-03 -5.41033304e-05 9.99996238e-01 6.79781739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0927550960001 meters 0.021681993680201732 Centerline is valid? [True, True] Translation: X:60.97, Y:283.43, Z:6.80 [[-6.34051362e-01 -7.73289386e-01 1.54792106e-03 6.09743070e+01] [ 7.73286892e-01 -6.34053250e-01 -1.96464373e-03 2.83432307e+02] [ 2.50070252e-03 -4.86979679e-05 9.99996872e-01 6.79764557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.12275509600005 meters 0.022279474612556138 Centerline is valid? [True, True] Translation: X:60.96, Y:283.45, Z:6.80 [[-6.33559664e-01 -7.73691430e-01 1.92976329e-03 6.09592197e+01] [ 7.73687565e-01 -6.33562600e-01 -2.44609724e-03 2.83452910e+02] [ 3.11515032e-03 -5.67146832e-05 9.99995146e-01 6.79807504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1527550960001 meters 0.02137839485192428 Centerline is valid? [True, True] Translation: X:60.94, Y:283.47, Z:6.80 [[-6.32385029e-01 -7.74652240e-01 1.75557254e-03 6.09404024e+01] [ 7.74649050e-01 -6.32387464e-01 -2.22363789e-03 2.83471925e+02] [ 2.83274814e-03 -4.62427185e-05 9.99995987e-01 6.79812874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.18275509600005 meters 0.02079840947609367 Centerline is valid? [True, True] Translation: X:60.92, Y:283.49, Z:6.80 [[-6.32188316e-01 -7.74812097e-01 2.03654618e-03 6.09222679e+01] [ 7.74807814e-01 -6.32191594e-01 -2.57687164e-03 2.83491385e+02] [ 3.28407870e-03 -5.11362444e-05 9.99994606e-01 6.79740703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2127550960001 meters 0.02087145504884759 Centerline is valid? [True, True] Translation: X:60.91, Y:283.51, Z:6.80 [[-6.32216578e-01 -7.74789150e-01 1.99279991e-03 6.09062291e+01] [ 7.74785054e-01 -6.32219717e-01 -2.51982263e-03 2.83511335e+02] [ 3.21221863e-03 -4.90820537e-05 9.99994840e-01 6.79779313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.24275509600005 meters 0.020948397117324845 Centerline is valid? [True, True] Translation: X:60.89, Y:283.53, Z:6.80 [[-6.32390031e-01 -7.74647036e-01 2.19520711e-03 6.08914153e+01] [ 7.74642075e-01 -6.32393839e-01 -2.77285106e-03 2.83531818e+02] [ 3.53621630e-03 -5.30235763e-05 9.99993746e-01 6.79826479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2727550960001 meters 0.02080952008387885 Centerline is valid? [True, True] Translation: X:60.87, Y:283.55, Z:6.80 [[-6.32705215e-01 -7.74390759e-01 1.75036214e-03 6.08747278e+01] [ 7.74387606e-01 -6.32707634e-01 -2.21023432e-03 2.83552351e+02] [ 2.81905252e-03 -4.29680351e-05 9.99996026e-01 6.79847602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.30275509600006 meters 0.021096979088613334 Centerline is valid? [True, True] Translation: X:60.86, Y:283.57, Z:6.80 [[-6.33325269e-01 -7.73884595e-01 1.31802047e-03 6.08594284e+01] [ 7.73882806e-01 -6.33326640e-01 -1.66457473e-03 2.83572855e+02] [ 2.12292622e-03 -3.42238635e-05 9.99997746e-01 6.79969304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3327550960001 meters 0.023124848839719266 Centerline is valid? [True, True] Translation: X:60.84, Y:283.59, Z:6.80 [[-6.34108572e-01 -7.73243310e-01 1.05050964e-03 6.08437999e+01] [ 7.73242172e-01 -6.34109441e-01 -1.32658107e-03 2.83593628e+02] [ 1.69190802e-03 -2.88980701e-05 9.99998568e-01 6.79828206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.36275509600006 meters 0.021515635469617714 Centerline is valid? [True, True] Translation: X:60.83, Y:283.61, Z:6.80 [[-6.34579618e-01 -7.72856832e-01 1.01306295e-03 6.08276499e+01] [ 7.72855774e-01 -6.34580426e-01 -1.27870373e-03 2.83613145e+02] [ 1.63112483e-03 -2.84877710e-05 9.99998669e-01 6.80107752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3927550960001 meters 0.021713922028163267 Centerline is valid? [True, True] Translation: X:60.81, Y:283.63, Z:6.80 [[-6.35088134e-01 -7.72439148e-01 9.07708795e-04 6.08111583e+01] [ 7.72438300e-01 -6.35088782e-01 -1.14513877e-03 2.83633897e+02] [ 1.46102569e-03 -2.61150081e-05 9.99998932e-01 6.80138814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.42275509600006 meters 0.02187039059937157 Centerline is valid? [True, True] Translation: X:60.80, Y:283.65, Z:6.80 [[-6.35662672e-01 -7.71966038e-01 1.18430981e-03 6.07956523e+01] [ 7.71964600e-01 -6.35663775e-01 -1.49043892e-03 2.83653805e+02] [ 1.90339107e-03 -3.31711371e-05 9.99998188e-01 6.80117120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.4527550960001 meters 0.02204624150505191 Centerline is valid? [True, True] Translation: X:60.78, Y:283.67, Z:6.80 [[-6.36225505e-01 -7.71502124e-01 1.25693902e-03 6.07796124e+01] [ 7.71500504e-01 -6.36226745e-01 -1.58143983e-03 2.83674329e+02] [ 2.01978241e-03 -3.64232675e-05 9.99997960e-01 6.80110007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.48275509600006 meters 0.022412496232663733 Centerline is valid? [True, True] Translation: X:60.76, Y:283.69, Z:6.80 [[-6.37054816e-01 -7.70816523e-01 1.74647735e-03 6.07649893e+01] [ 7.70813401e-01 -6.37057208e-01 -2.19418793e-03 2.83694269e+02] [ 2.80392229e-03 -5.16098402e-05 9.99996068e-01 6.80014287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.51275509600003 meters 0.023932280106495247 Centerline is valid? [True, True] Translation: X:60.75, Y:283.71, Z:6.80 [[-6.37724703e-01 -7.70261588e-01 2.07120400e-03 6.07493237e+01] [ 7.70257206e-01 -6.37728063e-01 -2.59866763e-03 2.83714688e+02] [ 3.32251877e-03 -6.18747402e-05 9.99994479e-01 6.79787378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.54275509600006 meters 0.022067800230320473 Centerline is valid? [True, True] Translation: X:60.73, Y:283.73, Z:6.80 [[-6.38475138e-01 -7.69638921e-01 2.33002025e-03 6.07313084e+01] [ 7.69633385e-01 -6.38479386e-01 -2.92013568e-03 2.83734621e+02] [ 3.73511997e-03 -7.11726619e-05 9.99993022e-01 6.79896817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.57275509600004 meters 0.02210310272501009 Centerline is valid? [True, True] Translation: X:60.71, Y:283.76, Z:6.80 [[-6.39812664e-01 -7.68526412e-01 2.62849952e-03 6.07141924e+01] [ 7.68519372e-01 -6.39818057e-01 -3.29077940e-03 2.83755887e+02] [ 4.21081234e-03 -8.54295357e-05 9.99991131e-01 6.79772305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.60275509600007 meters 0.02406390664153943 Centerline is valid? [True, True] Translation: X:60.70, Y:283.78, Z:6.80 [[-6.40931712e-01 -7.67592653e-01 2.83900175e-03 6.06988538e+01] [ 7.67584443e-01 -6.40937992e-01 -3.55165734e-03 2.83776968e+02] [ 4.54585016e-03 -9.71962444e-05 9.99989663e-01 6.79567617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.63275509600004 meters 0.025314045228642747 Centerline is valid? [True, True] Translation: X:60.69, Y:283.80, Z:6.80 [[-6.41918516e-01 -7.66765970e-01 3.25078034e-03 6.06862439e+01] [ 7.66755214e-01 -6.41926736e-01 -4.06289142e-03 2.83799269e+02] [ 5.20204969e-03 -1.15492449e-04 9.99986463e-01 6.79826075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.66275509600007 meters 0.024037799089022437 Centerline is valid? [True, True] Translation: X:60.67, Y:283.82, Z:6.80 [[-6.42319337e-01 -7.66430199e-01 3.25874360e-03 6.06673064e+01] [ 7.66419405e-01 -6.42327593e-01 -4.06927478e-03 2.83817633e+02] [ 5.21199601e-03 -1.16209552e-04 9.99986411e-01 6.79813946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.69275509600004 meters 0.026375708376879456 Centerline is valid? [True, True] Translation: X:60.65, Y:283.84, Z:6.80 [[-6.43627376e-01 -7.65329832e-01 3.74811976e-03 6.06532014e+01] [ 7.65315560e-01 -6.43638274e-01 -4.67617517e-03 2.83839474e+02] [ 5.99124969e-03 -1.41219987e-04 9.99982042e-01 6.79834472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.72275509600007 meters 0.026678665280451083 Centerline is valid? [True, True] Translation: X:60.64, Y:283.86, Z:6.80 [[-6.44212761e-01 -7.64836654e-01 3.84861183e-03 6.06369746e+01] [ 7.64821620e-01 -6.44224240e-01 -4.79764799e-03 2.83858869e+02] [ 6.14878607e-03 -1.47204528e-04 9.99981085e-01 6.79847593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.75275509600004 meters 0.02868102545909726 Centerline is valid? [True, True] Translation: X:60.62, Y:283.88, Z:6.80 [[-6.45099849e-01 -7.64087792e-01 4.00388403e-03 6.06215737e+01] [ 7.64071535e-01 -6.45112254e-01 -4.98680790e-03 2.83879631e+02] [ 6.39331369e-03 -1.57735203e-04 9.99979550e-01 6.79680094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.7827550960001 meters 0.024448772527521145 Centerline is valid? [True, True] Translation: X:60.60, Y:283.90, Z:6.80 [[-6.45841477e-01 -7.63460243e-01 4.15249043e-03 6.05996102e+01] [ 7.63442761e-01 -6.45854805e-01 -5.16926095e-03 2.83896094e+02] [ 6.62843111e-03 -1.68334369e-04 9.99978018e-01 6.79783776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.81275509600005 meters 0.02569317058298736 Centerline is valid? [True, True] Translation: X:60.58, Y:283.92, Z:6.80 [[-6.47019802e-01 -7.62461419e-01 4.23783777e-03 6.05836634e+01] [ 7.62443219e-01 -6.47033656e-01 -5.27122354e-03 2.83916870e+02] [ 6.76112825e-03 -1.79475339e-04 9.99977127e-01 6.79821267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8427550960001 meters 0.025724683977803378 Centerline is valid? [True, True] Translation: X:60.57, Y:283.94, Z:6.80 [[-6.47597694e-01 -7.61971739e-01 4.03678116e-03 6.05656887e+01] [ 7.61955237e-01 -6.47610253e-01 -5.01778124e-03 2.83936665e+02] [ 6.43766837e-03 -1.73657016e-04 9.99979263e-01 6.79853998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.87275509600005 meters 0.02583877010528111 Centerline is valid? [True, True] Translation: X:60.55, Y:283.96, Z:6.80 [[-6.48087300e-01 -7.61555012e-01 4.10069242e-03 6.05477298e+01] [ 7.61538001e-01 -6.48100248e-01 -5.09328375e-03 2.83956525e+02] [ 6.53647555e-03 -1.78059408e-04 9.99978621e-01 6.79880557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9027550960001 meters 0.025992334124455 Centerline is valid? [True, True] Translation: X:60.53, Y:283.98, Z:6.80 [[-6.48260265e-01 -7.61407214e-01 4.20518246e-03 6.05307959e+01] [ 7.61389349e-01 -6.48273878e-01 -5.21905520e-03 2.83975215e+02] [ 6.69993622e-03 -1.81524970e-04 9.99977539e-01 6.79893150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.93275509600005 meters 0.02555096761443935 Centerline is valid? [True, True] Translation: X:60.51, Y:283.99, Z:6.80 [[-6.47210355e-01 -7.62297525e-01 4.60870899e-03 6.05119286e+01] [ 7.62276125e-01 -6.47226737e-01 -5.71483978e-03 2.83992242e+02] [ 7.33928790e-03 -1.85594656e-04 9.99973050e-01 6.79811748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9627550960001 meters 0.024798825221000177 Centerline is valid? [True, True] Translation: X:60.49, Y:284.01, Z:6.80 [[-6.46264726e-01 -7.63097518e-01 4.90733147e-03 6.04928364e+01] [ 7.63073319e-01 -6.46283331e-01 -6.08000423e-03 2.84010963e+02] [ 7.81116267e-03 -1.84638556e-04 9.99969475e-01 6.79780859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.99275509600005 meters 0.023559708052501273 Centerline is valid? [True, True] Translation: X:60.47, Y:284.03, Z:6.80 [[-6.44123154e-01 -7.64903757e-01 5.25409344e-03 6.04726298e+01] [ 7.64876119e-01 -6.44144560e-01 -6.50450120e-03 2.84027699e+02] [ 8.35971311e-03 -1.70969228e-04 9.99965042e-01 6.79741588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0227550960001 meters 0.022992937655220775 Centerline is valid? [True, True] Translation: X:60.45, Y:284.05, Z:6.80 [[-6.43261722e-01 -7.65628774e-01 5.19018703e-03 6.04543210e+01] [ 7.65601868e-01 -6.43282641e-01 -6.42055058e-03 2.84045958e+02] [ 8.25451548e-03 -1.56477539e-04 9.99965919e-01 6.79753630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.05275509600006 meters 0.02327761496281037 Centerline is valid? [True, True] Translation: X:60.44, Y:284.06, Z:6.80 [[-6.42222201e-01 -7.66498877e-01 5.48791448e-03 6.04364338e+01] [ 7.66468876e-01 -6.42245631e-01 -6.78325029e-03 2.84064150e+02] [ 8.72394282e-03 -1.50038291e-04 9.99961934e-01 6.79614106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0827550960001 meters 0.021055690188579425 Centerline is valid? [True, True] Translation: X:60.42, Y:284.08, Z:6.80 [[-6.39893726e-01 -7.68443742e-01 5.49873296e-03 6.04154534e+01] [ 7.68413740e-01 -6.39917340e-01 -6.79134447e-03 2.84080400e+02] [ 8.73750072e-03 -1.20436755e-04 9.99961820e-01 6.79755380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.11275509600006 meters 0.02054535766225159 Centerline is valid? [True, True] Translation: X:60.40, Y:284.10, Z:6.80 [[-6.39169999e-01 -7.69044814e-01 5.63791437e-03 6.03974594e+01] [ 7.69013344e-01 -6.39194854e-01 -6.95818560e-03 2.84099016e+02] [ 8.95488240e-03 -1.11832101e-04 9.99959898e-01 6.79787990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1427550960001 meters 0.020274645692091055 Centerline is valid? [True, True] Translation: X:60.38, Y:284.12, Z:6.80 [[-6.38579847e-01 -7.69535761e-01 5.52201755e-03 6.03796740e+01] [ 7.69505634e-01 -6.38603714e-01 -6.80997615e-03 2.84117947e+02] [ 8.76690109e-03 -9.94899103e-05 9.99961565e-01 6.79830904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.17275509600006 meters 0.01971986845535471 Centerline is valid? [True, True] Translation: X:60.36, Y:284.14, Z:6.80 [[-6.37720049e-01 -7.70250259e-01 5.26101622e-03 6.03626356e+01] [ 7.70222977e-01 -6.37741744e-01 -6.48336357e-03 2.84136166e+02] [ 8.34898213e-03 -8.24153590e-05 9.99965143e-01 6.79880839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2027550960001 meters 0.019712501547152886 Centerline is valid? [True, True] Translation: X:60.35, Y:284.16, Z:6.80 [[-6.37860666e-01 -7.70134357e-01 5.18104267e-03 6.03462946e+01] [ 7.70107936e-01 -6.37881702e-01 -6.37974486e-03 2.84155581e+02] [ 8.21815303e-03 -7.94262300e-05 9.99966227e-01 6.79970822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.23275509600006 meters 0.022186046083362176 Centerline is valid? [True, True] Translation: X:60.33, Y:284.18, Z:6.80 [[-6.38394815e-01 -7.69692649e-01 5.02851625e-03 6.03305166e+01] [ 7.69667783e-01 -6.38414614e-01 -6.18738483e-03 2.84175800e+02] [ 7.97266289e-03 -7.97074415e-05 9.99968215e-01 6.79706740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2627550960001 meters 0.020187944103774755 Centerline is valid? [True, True] Translation: X:60.31, Y:284.19, Z:6.80 [[-6.39478045e-01 -7.68792447e-01 5.09933849e-03 6.03147722e+01] [ 7.68766886e-01 -6.39498371e-01 -6.26975509e-03 2.84194594e+02] [ 8.08115901e-03 -8.91681601e-05 9.99967343e-01 6.80019405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.29275509600006 meters 0.019562344939661257 Centerline is valid? [True, True] Translation: X:60.30, Y:284.21, Z:6.80 [[-6.40649027e-01 -7.67816973e-01 5.09116976e-03 6.02964176e+01] [ 7.67791502e-01 -6.40669249e-01 -6.25483199e-03 2.84214121e+02] [ 8.06432207e-03 -9.81951502e-05 9.99967478e-01 6.80022409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.32275509600004 meters 0.020301362583295044 Centerline is valid? [True, True] Translation: X:60.28, Y:284.24, Z:6.80 [[-6.43270823e-01 -7.65623848e-01 4.77206090e-03 6.02821476e+01] [ 7.65601441e-01 -6.43288513e-01 -5.85851624e-03 2.84237034e+02] [ 7.55523170e-03 -1.15115861e-04 9.99971452e-01 6.80082052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.35275509600007 meters 0.023614267809612673 Centerline is valid? [True, True] Translation: X:60.27, Y:284.26, Z:6.80 [[-6.45171638e-01 -7.64020873e-01 5.06594460e-03 6.02684504e+01] [ 7.63995612e-01 -6.45191512e-01 -6.21438190e-03 2.84259292e+02] [ 8.01642194e-03 -1.38983507e-04 9.99967858e-01 6.79798649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.38275509600004 meters 0.02147073535728129 Centerline is valid? [True, True] Translation: X:60.25, Y:284.28, Z:6.80 [[-6.46383781e-01 -7.62997451e-01 4.78507775e-03 6.02515809e+01] [ 7.62974916e-01 -6.46401477e-01 -5.86578652e-03 2.84280835e+02] [ 7.56866149e-03 -1.40654969e-04 9.99971347e-01 6.80156079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.41275509600007 meters 0.02147073535728129 Centerline is valid? [True, True] Translation: X:60.23, Y:284.30, Z:6.80 [[-6.46671338e-01 -7.62753738e-01 4.78701960e-03 6.02349817e+01] [ 7.62731208e-01 -6.46689041e-01 -5.86420125e-03 2.84300752e+02] [ 7.56865454e-03 -1.41001632e-04 9.99971347e-01 6.80179849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.44275509600004 meters 0.023860626021483606 Centerline is valid? [True, True] Translation: X:60.22, Y:284.32, Z:6.80 [[-6.48062307e-01 -7.61570965e-01 4.99116075e-03 6.02202491e+01] [ 7.61546477e-01 -6.48081507e-01 -6.10929920e-03 2.84323020e+02] [ 7.88734387e-03 -1.58205646e-04 9.99968882e-01 6.79959920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.47275509600007 meters 0.02339320372341471 Centerline is valid? [True, True] Translation: X:60.20, Y:284.34, Z:6.80 [[-6.49538459e-01 -7.60310020e-01 5.33521326e-03 6.02035707e+01] [ 7.60282039e-01 -6.49560344e-01 -6.52532253e-03 2.84344107e+02] [ 8.42681106e-03 -1.82181119e-04 9.99964477e-01 6.79998900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.50275509600004 meters 0.02224137420954651 Centerline is valid? [True, True] Translation: X:60.19, Y:284.36, Z:6.80 [[-6.50091783e-01 -7.59835217e-01 5.57814712e-03 6.01854382e+01] [ 7.59804656e-01 -6.50115686e-01 -6.81757844e-03 2.84363998e+02] [ 8.80667714e-03 -1.93749571e-04 9.99961202e-01 6.80117443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5327550960001 meters 0.022598132321385623 Centerline is valid? [True, True] Translation: X:60.17, Y:284.38, Z:6.80 [[-6.50794114e-01 -7.59235031e-01 5.40266750e-03 6.01697043e+01] [ 7.59206385e-01 -6.50816511e-01 -6.59808954e-03 2.84384494e+02] [ 8.52564593e-03 -1.92258174e-04 9.99963638e-01 6.80114189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.56275509600005 meters 0.022594362993478133 Centerline is valid? [True, True] Translation: X:60.15, Y:284.40, Z:6.80 [[-6.51029481e-01 -7.59030609e-01 5.75758055e-03 6.01529544e+01] [ 7.58998123e-01 -6.51054908e-01 -7.02537618e-03 2.84404955e+02] [ 9.08097663e-03 -2.03734173e-04 9.99958746e-01 6.80096387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5927550960001 meters 0.022844264327762317 Centerline is valid? [True, True] Translation: X:60.14, Y:284.43, Z:6.80 [[-6.51046413e-01 -7.59013009e-01 6.14980446e-03 6.01370230e+01] [ 7.58976005e-01 -6.51075423e-01 -7.49781934e-03 2.84425051e+02] [ 9.69492896e-03 -2.13874365e-04 9.99952980e-01 6.80065675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.62275509600005 meters 0.02401295913499618 Centerline is valid? [True, True] Translation: X:60.12, Y:284.45, Z:6.80 [[-6.50703734e-01 -7.59300157e-01 6.92262551e-03 6.01200414e+01] [ 7.59253349e-01 -6.50740515e-01 -8.43408836e-03 2.84445848e+02] [ 1.09088375e-02 -2.32066188e-04 9.99940470e-01 6.79739944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6527550960001 meters 0.02234990776050102 Centerline is valid? [True, True] Translation: X:60.10, Y:284.46, Z:6.80 [[-6.50237787e-01 -7.59697909e-01 7.06452984e-03 6.01036937e+01] [ 7.59649258e-01 -6.50276123e-01 -8.60052237e-03 2.84464843e+02] [ 1.11276939e-02 -2.25819782e-04 9.99938060e-01 6.79957189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.68275509600005 meters 0.022167909275147665 Centerline is valid? [True, True] Translation: X:60.09, Y:284.48, Z:6.80 [[-6.50134476e-01 -7.59782920e-01 7.42143008e-03 6.00866441e+01] [ 7.59729304e-01 -6.50176792e-01 -9.02904358e-03 2.84484694e+02] [ 1.16853547e-02 -2.31814611e-04 9.99931697e-01 6.79928350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7127550960001 meters 0.021248695190031502 Centerline is valid? [True, True] Translation: X:60.07, Y:284.50, Z:6.80 [[-6.49797792e-01 -7.60069458e-01 7.56627349e-03 6.00687882e+01] [ 7.60013832e-01 -6.49841802e-01 -9.19823661e-03 2.84503634e+02] [ 1.19081795e-02 -2.26521341e-04 9.99929069e-01 6.79986213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.74275509600005 meters 0.02370038349405457 Centerline is valid? [True, True] Translation: X:60.05, Y:284.52, Z:6.80 [[-6.50365023e-01 -7.59580451e-01 7.92940800e-03 6.00523544e+01] [ 7.59519416e-01 -6.50413315e-01 -9.63202439e-03 2.84524635e+02] [ 1.24736900e-02 -2.41792431e-04 9.99922171e-01 6.79730844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7727550960001 meters 0.021763819647698968 Centerline is valid? [True, True] Translation: X:60.04, Y:284.54, Z:6.80 [[-6.50000053e-01 -7.59897009e-01 7.51447103e-03 6.00356886e+01] [ 7.59842292e-01 -6.50043451e-01 -9.12160987e-03 2.84544365e+02] [ 1.18162167e-02 -2.19234006e-04 9.99930162e-01 6.80146278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.80275509600006 meters 0.021545847374550182 Centerline is valid? [True, True] Translation: X:60.02, Y:284.56, Z:6.80 [[-6.50301793e-01 -7.59636084e-01 7.78441742e-03 6.00188850e+01] [ 7.59577423e-01 -6.50348343e-01 -9.44306215e-03 2.84564127e+02] [ 1.22358737e-02 -2.27972531e-04 9.99925113e-01 6.80223897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8327550960001 meters 0.02168030164573377 Centerline is valid? [True, True] Translation: X:60.00, Y:284.58, Z:6.80 [[-6.50639141e-01 -7.59348802e-01 7.62268202e-03 6.00028650e+01] [ 7.59292611e-01 -6.50683753e-01 -9.24037863e-03 2.84583900e+02] [ 1.19766258e-02 -2.24305884e-04 9.99928253e-01 6.80268922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.86275509600006 meters 0.021848150134652272 Centerline is valid? [True, True] Translation: X:59.99, Y:284.60, Z:6.80 [[-6.51262157e-01 -7.58817191e-01 7.35342000e-03 5.99857304e+01] [ 7.58764929e-01 -6.51303632e-01 -8.90855556e-03 2.84604269e+02] [ 1.15492743e-02 -2.22287908e-04 9.99933280e-01 6.80368660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8927550960001 meters 0.021736119041355185 Centerline is valid? [True, True] Translation: X:59.97, Y:284.62, Z:6.80 [[-6.51384748e-01 -7.58714051e-01 7.13434386e-03 5.99683006e+01] [ 7.58664920e-01 -6.51423782e-01 -8.63689905e-03 2.84624622e+02] [ 1.12004179e-02 -2.13367900e-04 9.99937251e-01 6.80450461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.92275509600006 meters 0.021574511055050125 Centerline is valid? [True, True] Translation: X:59.95, Y:284.64, Z:6.81 [[-6.50948479e-01 -7.59093635e-01 6.55216277e-03 5.99520447e+01] [ 7.59052270e-01 -6.50981427e-01 -7.92671000e-03 2.84642998e+02] [ 1.02824514e-02 -1.86445799e-04 9.99947117e-01 6.80656804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.9527550960001 meters 0.021270012370890646 Centerline is valid? [True, True] Translation: X:59.93, Y:284.66, Z:6.81 [[-6.50749526e-01 -7.59264561e-01 6.51012353e-03 5.99347841e+01] [ 7.59223789e-01 -6.50782064e-01 -7.87039978e-03 2.84662194e+02] [ 1.02123873e-02 -1.79018272e-04 9.99947836e-01 6.80729054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.98275509600006 meters 0.02091186630136379 Centerline is valid? [True, True] Translation: X:59.92, Y:284.68, Z:6.81 [[-6.50429873e-01 -7.59540834e-01 6.22116842e-03 5.99175303e+01] [ 7.59503670e-01 -6.50459603e-01 -7.51529433e-03 2.84681318e+02] [ 9.75479166e-03 -1.63171694e-04 9.99952408e-01 6.80810718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.0127550960001 meters 0.020512684533980773 Centerline is valid? [True, True] Translation: X:59.90, Y:284.70, Z:6.81 [[-6.49589205e-01 -7.60259756e-01 6.24246904e-03 5.99007513e+01] [ 7.60222430e-01 -6.49619182e-01 -7.53497517e-03 2.84699569e+02] [ 9.78376601e-03 -1.48973545e-04 9.99952127e-01 6.80866301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.04275509600006 meters 0.019491472028268713 Centerline is valid? [True, True] Translation: X:59.88, Y:284.72, Z:6.81 [[-6.49519264e-01 -7.60318049e-01 6.41796557e-03 5.98818534e+01] [ 7.60278663e-01 -6.49550955e-01 -7.74027112e-03 2.84717935e+02] [ 1.00538635e-02 -1.48012925e-04 9.99949448e-01 6.80896297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.07275509600004 meters 0.02002722376004013 Centerline is valid? [True, True] Translation: X:59.87, Y:284.74, Z:6.81 [[-6.49282537e-01 -7.60521471e-01 6.26740368e-03 5.98663041e+01] [ 7.60483976e-01 -6.49312771e-01 -7.55304628e-03 2.84737864e+02] [ 9.81375911e-03 -1.37800978e-04 9.99951834e-01 6.80917769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.10275509600007 meters 0.018991429391971015 Centerline is valid? [True, True] Translation: X:59.85, Y:284.76, Z:6.81 [[-6.48887146e-01 -7.60860941e-01 6.00834738e-03 5.98468669e+01] [ 7.60826548e-01 -6.48914951e-01 -7.23534715e-03 2.84755623e+02] [ 9.40399949e-03 -1.23613561e-04 9.99955774e-01 6.80964656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.13275509600004 meters 0.01873060614864944 Centerline is valid? [True, True] Translation: X:59.83, Y:284.78, Z:6.81 [[-6.48547166e-01 -7.61149286e-01 6.19184186e-03 5.98294970e+01] [ 7.61112830e-01 -6.48576712e-01 -7.45048133e-03 2.84775418e+02] [ 9.68681298e-03 -1.19298267e-04 9.99953075e-01 6.80999826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.16275509600007 meters 0.018260398716100718 Centerline is valid? [True, True] Translation: X:59.81, Y:284.79, Z:6.81 [[-6.47735785e-01 -7.61840640e-01 6.09854009e-03 5.98117234e+01] [ 7.61805358e-01 -6.47764485e-01 -7.33273244e-03 2.84793410e+02] [ 9.53679126e-03 -1.03772689e-04 9.99954518e-01 6.81016813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.19275509600004 meters 0.01815740551249368 Centerline is valid? [True, True] Translation: X:59.79, Y:284.81, Z:6.81 [[-6.47585754e-01 -7.61970633e-01 5.78327136e-03 5.97936123e+01] [ 7.61938956e-01 -6.47611571e-01 -6.94845909e-03 2.84812786e+02] [ 9.03983522e-03 -9.32233729e-05 9.99959136e-01 6.81060819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.22275509600007 meters 0.018033976435425092 Centerline is valid? [True, True] Translation: X:59.78, Y:284.83, Z:6.81 [[-6.47540958e-01 -7.62007202e-01 5.97763097e-03 5.97765459e+01] [ 7.61973414e-01 -6.47568541e-01 -7.17640493e-03 2.84831752e+02] [ 9.33939801e-03 -9.22202451e-05 9.99956383e-01 6.81054509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.25275509600004 meters 0.018008357634260813 Centerline is valid? [True, True] Translation: X:59.76, Y:284.85, Z:6.81 [[-6.47793199e-01 -7.61794506e-01 5.75348455e-03 5.97603786e+01] [ 7.61763243e-01 -6.47818742e-01 -6.90210102e-03 2.84849926e+02] [ 8.98519776e-03 -8.83410447e-05 9.99959628e-01 6.81043067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.2827550960001 meters 0.017818486285661773 Centerline is valid? [True, True] Translation: X:59.74, Y:284.87, Z:6.81 [[-6.48349801e-01 -7.61322662e-01 5.50818325e-03 5.97432237e+01] [ 7.61294028e-01 -6.48373193e-01 -6.60349827e-03 2.84869614e+02] [ 8.59875124e-03 -8.80297809e-05 9.99963026e-01 6.81056229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.31275509600005 meters 0.01834954719552548 Centerline is valid? [True, True] Translation: X:59.73, Y:284.89, Z:6.81 [[-6.49114395e-01 -7.60670930e-01 5.49893477e-03 5.97280981e+01] [ 7.60642412e-01 -6.49137680e-01 -6.58733937e-03 2.84890363e+02] [ 8.58036332e-03 -9.32138071e-05 9.99963184e-01 6.81075499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3427550960001 meters 0.01809198976881387 Centerline is valid? [True, True] Translation: X:59.71, Y:284.91, Z:6.81 [[-6.50743756e-01 -7.59279133e-01 5.26900025e-03 5.97094779e+01] [ 7.59252945e-01 -6.50765079e-01 -6.30699319e-03 2.84910912e+02] [ 8.21764968e-03 -1.03732484e-04 9.99966229e-01 6.81053598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.37275509600005 meters 0.017969161296638152 Centerline is valid? [True, True] Translation: X:59.69, Y:284.93, Z:6.81 [[-6.51535013e-01 -7.58602010e-01 5.01179296e-03 5.96918287e+01] [ 7.58578328e-01 -6.51554280e-01 -5.99502025e-03 2.84931104e+02] [ 7.81328957e-03 -1.04128074e-04 9.99969470e-01 6.81063718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4027550960001 meters 0.018416349026150487 Centerline is valid? [True, True] Translation: X:59.68, Y:284.95, Z:6.81 [[-6.52560333e-01 -7.57721545e-01 4.80338161e-03 5.96750582e+01] [ 7.57699798e-01 -6.52578002e-01 -5.74168890e-03 2.84951391e+02] [ 7.48518255e-03 -1.07277145e-04 9.99971980e-01 6.81076607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.43275509600005 meters 0.018858771492675484 Centerline is valid? [True, True] Translation: X:59.66, Y:284.97, Z:6.81 [[-6.53353463e-01 -7.57038171e-01 4.73917364e-03 5.96583473e+01] [ 7.57017016e-01 -6.53370641e-01 -5.66055982e-03 2.84971856e+02] [ 7.38169678e-03 -1.10711270e-04 9.99972749e-01 6.81083966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4627550960001 meters 0.019626542070795047 Centerline is valid? [True, True] Translation: X:59.64, Y:284.99, Z:6.81 [[-6.55288642e-01 -7.55366397e-01 4.28964954e-03 5.96416612e+01] [ 7.55349052e-01 -6.55302673e-01 -5.12018756e-03 2.84991989e+02] [ 6.67863644e-03 -1.15018044e-04 9.99977691e-01 6.81044467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.49275509600005 meters 0.020183203596092224 Centerline is valid? [True, True] Translation: X:59.62, Y:285.01, Z:6.81 [[-6.56612313e-01 -7.54217652e-01 4.00048589e-03 5.96247247e+01] [ 7.54202566e-01 -6.56624490e-01 -4.77172017e-03 2.85013122e+02] [ 6.22573259e-03 -1.15993492e-04 9.99980613e-01 6.81049209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5227550960001 meters 0.020835519928937552 Centerline is valid? [True, True] Translation: X:59.61, Y:285.03, Z:6.81 [[-6.58711338e-01 -7.52388604e-01 3.28047420e-03 5.96084314e+01] [ 7.52378447e-01 -6.58719498e-01 -3.91109480e-03 2.85034771e+02] [ 5.10357547e-03 -1.08124403e-04 9.99986971e-01 6.81102271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.55275509600006 meters 0.021399428582828173 Centerline is valid? [True, True] Translation: X:59.59, Y:285.06, Z:6.81 [[-6.59864320e-01 -7.51378668e-01 3.02930995e-03 5.95913498e+01] [ 7.51370006e-01 -6.59871265e-01 -3.60943227e-03 2.85056501e+02] [ 4.71100500e-03 -1.05602942e-04 9.99988898e-01 6.81134993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5827550960001 meters 0.02136821326729878 Centerline is valid? [True, True] Translation: X:59.57, Y:285.08, Z:6.81 [[-6.60801082e-01 -7.50555929e-01 2.77977894e-03 5.95734416e+01] [ 7.50548636e-01 -6.60806921e-01 -3.31023313e-03 2.85077308e+02] [ 4.32141226e-03 -1.01046342e-04 9.99990658e-01 6.81119346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.61275509600006 meters 0.022272846599815658 Centerline is valid? [True, True] Translation: X:59.56, Y:285.10, Z:6.81 [[-6.62420558e-01 -7.49128049e-01 2.48407279e-03 5.95566823e+01] [ 7.49122221e-01 -6.62425209e-01 -2.95646880e-03 2.85099083e+02] [ 3.86028614e-03 -9.75515875e-05 9.99992544e-01 6.81083366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6427550960001 meters 0.02289948707760401 Centerline is valid? [True, True] Translation: X:59.54, Y:285.12, Z:6.81 [[-6.63348393e-01 -7.48307172e-01 2.29910357e-03 5.95404342e+01] [ 7.48302180e-01 -6.63352371e-01 -2.73487058e-03 2.85119730e+02] [ 3.57163907e-03 -9.37477889e-05 9.99993617e-01 6.81059529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.67275509600006 meters 0.0232727357544695 Centerline is valid? [True, True] Translation: X:59.52, Y:285.14, Z:6.81 [[-6.63943779e-01 -7.47779632e-01 2.06894336e-03 5.95239354e+01] [ 7.47775591e-01 -6.63946997e-01 -2.45990985e-03 2.85140047e+02] [ 3.21313921e-03 -8.61364942e-05 9.99994834e-01 6.81030432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7027550960001 meters 0.023543045932659903 Centerline is valid? [True, True] Translation: X:59.51, Y:285.16, Z:6.81 [[-6.64157246e-01 -7.47590295e-01 1.97576676e-03 5.95078126e+01] [ 7.47586613e-01 -6.64160180e-01 -2.34768042e-03 2.85159461e+02] [ 3.06732870e-03 -8.21721825e-05 9.99995292e-01 6.81058335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.73275509600006 meters 0.023466798267573766 Centerline is valid? [True, True] Translation: X:59.49, Y:285.18, Z:6.81 [[-6.64320466e-01 -7.47445583e-01 1.84896421e-03 5.94904352e+01] [ 7.47442363e-01 -6.64323035e-01 -2.19537195e-03 2.85179794e+02] [ 2.86923058e-03 -7.64363418e-05 9.99995881e-01 6.81045206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7627550960001 meters 0.023536530766344967 Centerline is valid? [True, True] Translation: X:59.47, Y:285.20, Z:6.81 [[-6.63956230e-01 -7.47769911e-01 1.51170365e-03 5.94741785e+01] [ 7.47767760e-01 -6.63957948e-01 -1.79469720e-03 2.85199601e+02] [ 2.34572822e-03 -6.11971327e-05 9.99997247e-01 6.81006945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.79275509600006 meters 0.022766608189506328 Centerline is valid? [True, True] Translation: X:59.46, Y:285.22, Z:6.81 [[-6.63832465e-01 -7.47879363e-01 1.70803926e-03 5.94563552e+01] [ 7.47876624e-01 -6.63834659e-01 -2.02527249e-03 2.85218678e+02] [ 2.64851516e-03 -6.70389963e-05 9.99996490e-01 6.80956889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.82275509600004 meters 0.023206696792708887 Centerline is valid? [True, True] Translation: X:59.44, Y:285.24, Z:6.81 [[-6.63452540e-01 -7.48216063e-01 1.85756549e-03 5.94407955e+01] [ 7.48212830e-01 -6.63455136e-01 -2.20052770e-03 2.85238981e+02] [ 2.87888154e-03 -7.00913546e-05 9.99995854e-01 6.80936093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.85275509600007 meters 0.02171281179987684 Centerline is valid? [True, True] Translation: X:59.42, Y:285.26, Z:6.81 [[-6.63397507e-01 -7.48264735e-01 1.90631501e-03 5.94212255e+01] [ 7.48261338e-01 -6.63400243e-01 -2.25584117e-03 2.85258180e+02] [ 2.95261623e-03 -7.00975838e-05 9.99995639e-01 6.80833132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.88275509600004 meters 0.023331840821417534 Centerline is valid? [True, True] Translation: X:59.41, Y:285.28, Z:6.81 [[-6.63479533e-01 -7.48192626e-01 1.64418038e-03 5.94075753e+01] [ 7.48190102e-01 -6.63481568e-01 -1.94450950e-03 2.85279459e+02] [ 2.54575105e-03 -5.99827696e-05 9.99996758e-01 6.80923938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.91275509600007 meters 0.02360172420487884 Centerline is valid? [True, True] Translation: X:59.39, Y:285.30, Z:6.81 [[-6.63946892e-01 -7.47778790e-01 1.18622644e-03 5.93924043e+01] [ 7.47777475e-01 -6.63947950e-01 -1.40298109e-03 2.85299960e+02] [ 1.83671211e-03 -4.44715220e-05 9.99998312e-01 6.80994500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.94275509600004 meters 0.022364321305688207 Centerline is valid? [True, True] Translation: X:59.37, Y:285.32, Z:6.81 [[-6.64185605e-01 -7.47567034e-01 1.00583398e-03 5.93736951e+01] [ 7.47566087e-01 -6.64186366e-01 -1.19064759e-03 2.85319281e+02] [ 1.55815010e-03 -3.88836193e-05 9.99998785e-01 6.80947548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.97275509600007 meters 0.023619883901432263 Centerline is valid? [True, True] Translation: X:59.36, Y:285.34, Z:6.81 [[-6.64049250e-01 -7.47688369e-01 8.34711812e-04 5.93594877e+01] [ 7.47687716e-01 -6.64049774e-01 -9.88436665e-04 2.85340889e+02] [ 1.29333279e-03 -3.22668571e-05 9.99999163e-01 6.81095337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.00275509600004 meters 0.020925582888462704 Centerline is valid? [True, True] Translation: X:59.34, Y:285.36, Z:6.81 [[-6.63905623e-01 -7.47816296e-01 3.33812452e-04 5.93385663e+01] [ 7.47816191e-01 -6.63905707e-01 -3.97592743e-04 2.85359534e+02] [ 5.18946325e-04 -1.43337014e-05 9.99999865e-01 6.81000383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0327550960001 meters 0.020348194707727342 Centerline is valid? [True, True] Translation: X:59.32, Y:285.38, Z:6.81 [[-6.63183762e-01 -7.48456596e-01 -1.46145565e-04 5.93205788e+01] [ 7.48456577e-01 -6.63183779e-01 1.66682080e-04 2.85379969e+02] [-2.21675670e-04 1.15723938e-06 9.99999975e-01 6.81026024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.06275509600005 meters 0.021880142586705998 Centerline is valid? [True, True] Translation: X:59.31, Y:285.40, Z:6.81 [[-6.62646921e-01 -7.48931813e-01 -4.45114679e-04 5.93056265e+01] [ 7.48931633e-01 -6.62647070e-01 5.19069775e-04 2.85402137e+02] [-6.83701805e-04 1.05995249e-05 9.99999766e-01 6.81194518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0927550960001 meters 0.021478157742762013 Centerline is valid? [True, True] Translation: X:59.29, Y:285.42, Z:6.81 [[-6.62093698e-01 -7.49421066e-01 3.79933522e-05 5.92895346e+01] [ 7.49421064e-01 -6.62093699e-01 -5.04907680e-05 2.85420477e+02] [ 6.29940042e-05 -4.95660089e-06 9.99999998e-01 6.81166056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.12275509600005 meters 0.019529659854894493 Centerline is valid? [True, True] Translation: X:59.27, Y:285.44, Z:6.81 [[-6.61393930e-01 -7.50038642e-01 3.24636121e-04 5.92691965e+01] [ 7.50038542e-01 -6.61394010e-01 -3.85920251e-04 2.85439177e+02] [ 5.04167487e-04 -1.17557084e-05 9.99999873e-01 6.80985174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1527550960001 meters 0.018467779359203535 Centerline is valid? [True, True] Translation: X:59.25, Y:285.46, Z:6.81 [[-6.58782761e-01 -7.52332672e-01 9.07474257e-04 5.92513189e+01] [ 7.52331913e-01 -6.58783386e-01 -1.06915690e-03 2.85458211e+02] [ 1.40219063e-03 -2.16202914e-05 9.99999017e-01 6.80907281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.18275509600005 meters 0.018091881518402683 Centerline is valid? [True, True] Translation: X:59.23, Y:285.48, Z:6.81 [[-6.57999348e-01 -7.53016700e-01 1.64565791e-03 5.92345694e+01] [ 7.53014218e-01 -6.58001405e-01 -1.93345184e-03 2.85477152e+02] [ 2.53876674e-03 -3.30062461e-05 9.99996777e-01 6.80851567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2127550960001 meters 0.017388334352726548 Centerline is valid? [True, True] Translation: X:59.22, Y:285.50, Z:6.81 [[-6.56363808e-01 -7.54441122e-01 2.26825282e-03 5.92159477e+01] [ 7.54436433e-01 -6.56367727e-01 -2.66014131e-03 2.85497296e+02] [ 3.49572794e-03 -3.47679104e-05 9.99993889e-01 6.80681133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.24275509600005 meters 0.01712262437180478 Centerline is valid? [True, True] Translation: X:59.20, Y:285.52, Z:6.81 [[-6.55967264e-01 -7.54785224e-01 2.49268178e-03 5.91980443e+01] [ 7.54779574e-01 -6.55971999e-01 -2.92074118e-03 2.85518139e+02] [ 3.83966174e-03 -3.44853064e-05 9.99992628e-01 6.80690702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2727550960001 meters 0.017052921778169236 Centerline is valid? [True, True] Translation: X:59.18, Y:285.54, Z:6.81 [[-6.56031454e-01 -7.54728409e-01 2.78553364e-03 5.91810150e+01] [ 7.54721364e-01 -6.56037367e-01 -3.26121769e-03 2.85538597e+02] [ 4.28874779e-03 -3.71596330e-05 9.99990803e-01 6.80689174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.30275509600006 meters 0.017052921778169236 Centerline is valid? [True, True] Translation: X:59.16, Y:285.56, Z:6.81 [[-6.56298628e-01 -7.54496086e-01 2.78696432e-03 5.91634649e+01] [ 7.54489044e-01 -6.56304544e-01 -3.25999400e-03 2.85558787e+02] [ 4.28875006e-03 -3.67955454e-05 9.99990803e-01 6.80713688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3327550960001 meters 0.017092107469846306 Centerline is valid? [True, True] Translation: X:59.15, Y:285.58, Z:6.81 [[-6.56683358e-01 -7.54159728e-01 3.17357058e-03 5.91484411e+01] [ 7.54150608e-01 -6.56691025e-01 -3.70923632e-03 2.85579779e+02] [ 4.88141197e-03 -4.24435800e-05 9.99988085e-01 6.80690014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.36275509600006 meters 0.017107729923045323 Centerline is valid? [True, True] Translation: X:59.13, Y:285.60, Z:6.81 [[-6.57575070e-01 -7.53382458e-01 3.14649334e-03 5.91316492e+01] [ 7.53373499e-01 -6.57582596e-01 -3.67425252e-03 2.85601784e+02] [ 4.83719665e-03 -4.56121616e-05 9.99988300e-01 6.80720969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3927550960001 meters 0.017383073264498825 Centerline is valid? [True, True] Translation: X:59.12, Y:285.62, Z:6.81 [[-6.58698527e-01 -7.52400655e-01 3.08304686e-03 5.91156694e+01] [ 7.52392056e-01 -6.58705740e-01 -3.59763625e-03 2.85624003e+02] [ 4.73768453e-03 -5.00977341e-05 9.99988776e-01 6.80787478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.42275509600006 meters 0.018179118825924514 Centerline is valid? [True, True] Translation: X:59.10, Y:285.65, Z:6.81 [[-6.61294840e-01 -7.50121970e-01 2.48282558e-03 5.91025925e+01] [ 7.50116381e-01 -6.61299499e-01 -2.89626108e-03 2.85646975e+02] [ 3.81444037e-03 -5.28743707e-05 9.99992724e-01 6.80891458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.4527550960001 meters 0.01882036241837656 Centerline is valid? [True, True] Translation: X:59.09, Y:285.67, Z:6.81 [[-6.63011609e-01 -7.48605922e-01 2.18646501e-03 5.90878154e+01] [ 7.48601583e-01 -6.63015212e-01 -2.54921647e-03 2.85668370e+02] [ 3.35801811e-03 -5.33689510e-05 9.99994360e-01 6.80997606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.48275509600006 meters 0.01906890002971553 Centerline is valid? [True, True] Translation: X:59.07, Y:285.69, Z:6.81 [[-6.64572545e-01 -7.47220481e-01 2.21025121e-03 5.90707932e+01] [ 7.47216048e-01 -6.64576218e-01 -2.57453068e-03 2.85690908e+02] [ 3.39262244e-03 -5.94272287e-05 9.99994243e-01 6.81049238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.5127550960001 meters 0.020913361303659308 Centerline is valid? [True, True] Translation: X:59.06, Y:285.72, Z:6.81 [[-6.67407961e-01 -7.44690042e-01 1.83144364e-03 5.90574774e+01] [ 7.44686990e-01 -6.67410471e-01 -2.13285338e-03 2.85715677e+02] [ 2.81063934e-03 -5.96310699e-05 9.99996048e-01 6.81176968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.54275509600006 meters 0.021561807784641163 Centerline is valid? [True, True] Translation: X:59.04, Y:285.74, Z:6.81 [[-6.68186583e-01 -7.43992565e-01 1.32402143e-03 5.90408311e+01] [ 7.43990968e-01 -6.68187893e-01 -1.54242637e-03 2.85735971e+02] [ 2.03224884e-03 -4.55686270e-05 9.99997934e-01 6.81314140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.57275509600004 meters 0.021702531569090536 Centerline is valid? [True, True] Translation: X:59.02, Y:285.76, Z:6.81 [[-6.68554570e-01 -7.43662311e-01 1.07426863e-03 5.90227916e+01] [ 7.43661259e-01 -6.68555432e-01 -1.25170081e-03 2.85755308e+02] [ 1.64905085e-03 -3.79383365e-05 9.99998640e-01 6.81391366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.60275509600007 meters 0.020364386555199662 Centerline is valid? [True, True] Translation: X:59.00, Y:285.77, Z:6.81 [[-6.68416652e-01 -7.43786144e-01 1.16264534e-03 5.90027054e+01] [ 7.43784914e-01 -6.68417662e-01 -1.35303885e-03 2.85773444e+02] [ 1.78350423e-03 -3.96356357e-05 9.99998409e-01 6.81293138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.63275509600004 meters 0.02053596518292139 Centerline is valid? [True, True] Translation: X:58.99, Y:285.79, Z:6.81 [[-6.68312018e-01 -7.43878675e-01 1.88777803e-03 5.89852349e+01] [ 7.43875447e-01 -6.68314682e-01 -2.19234748e-03 2.85793271e+02] [ 2.89247031e-03 -6.09004453e-05 9.99995815e-01 6.81289656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.66275509600007 meters 0.01957937219038968 Centerline is valid? [True, True] Translation: X:58.97, Y:285.81, Z:6.81 [[-6.67107386e-01 -7.44954988e-01 3.13083047e-03 5.89650723e+01] [ 7.44946151e-01 -6.67114727e-01 -3.62959873e-03 2.85811457e+02] [ 4.79251079e-03 -8.90320071e-05 9.99988512e-01 6.81120524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.69275509600004 meters 0.01937382341857483 Centerline is valid? [True, True] Translation: X:58.95, Y:285.83, Z:6.81 [[-6.66599855e-01 -7.45406411e-01 3.73045568e-03 5.89470853e+01] [ 7.45393894e-01 -6.66610285e-01 -4.32093885e-03 2.85830199e+02] [ 5.70761565e-03 -9.96783265e-05 9.99983706e-01 6.81066525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.72275509600007 meters 0.019620602040463113 Centerline is valid? [True, True] Translation: X:58.93, Y:285.85, Z:6.81 [[-6.65814970e-01 -7.46104068e-01 4.37561175e-03 5.89299511e+01] [ 7.46086895e-01 -6.65829339e-01 -5.06329834e-03 2.85849611e+02] [ 6.69115817e-03 -1.06633249e-04 9.99977608e-01 6.81021262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.75275509600004 meters 0.018319053947907286 Centerline is valid? [True, True] Translation: X:58.91, Y:285.87, Z:6.81 [[-6.64846746e-01 -7.46958820e-01 5.59683525e-03 5.89080931e+01] [ 7.46930809e-01 -6.64870293e-01 -6.46996417e-03 2.85865577e+02] [ 8.55396630e-03 -1.21085948e-04 9.99963407e-01 6.80790608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.7827550960001 meters 0.018198296342970006 Centerline is valid? [True, True] Translation: X:58.89, Y:285.88, Z:6.81 [[-6.64880158e-01 -7.46925400e-01 6.06816012e-03 5.88894586e+01] [ 7.46892525e-01 -6.64907836e-01 -7.00896303e-03 2.85883999e+02] [ 9.26993973e-03 -1.27857016e-04 9.99957025e-01 6.80743984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.81275509600005 meters 0.018092448002266955 Centerline is valid? [True, True] Translation: X:58.87, Y:285.90, Z:6.81 [[-6.65140385e-01 -7.46689619e-01 6.54843131e-03 5.88705570e+01] [ 7.46651385e-01 -6.65172605e-01 -7.55743483e-03 2.85902327e+02] [ 9.99889524e-03 -1.37359804e-04 9.99950000e-01 6.80694704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8427550960001 meters 0.018353897176938704 Centerline is valid? [True, True] Translation: X:58.85, Y:285.92, Z:6.81 [[-6.65857836e-01 -7.46046828e-01 6.89002079e-03 5.88537445e+01] [ 7.46004535e-01 -6.65893466e-01 -7.94516628e-03 2.85921164e+02] [ 1.05154859e-02 -1.50364471e-04 9.99944699e-01 6.80679539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.87275509600005 meters 0.01887578537371159 Centerline is valid? [True, True] Translation: X:58.84, Y:285.94, Z:6.81 [[-6.66716418e-01 -7.45279806e-01 6.87238939e-03 5.88379566e+01] [ 7.45237755e-01 -6.66751818e-01 -7.91844664e-03 2.85940510e+02] [ 1.04836365e-02 -1.57794332e-04 9.99945033e-01 6.80736113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9027550960001 meters 0.0196506894895897 Centerline is valid? [True, True] Translation: X:58.82, Y:285.96, Z:6.81 [[-6.67734316e-01 -7.44368007e-01 6.86675920e-03 5.88220710e+01] [ 7.44326042e-01 -6.67769602e-01 -7.90581738e-03 2.85960353e+02] [ 1.04702506e-02 -1.67877870e-04 9.99945171e-01 6.80792366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.93275509600005 meters 0.019631903982139147 Centerline is valid? [True, True] Translation: X:58.80, Y:285.98, Z:6.81 [[-6.69931256e-01 -7.42396912e-01 6.23996526e-03 5.88042102e+01] [ 7.42362210e-01 -6.69960292e-01 -7.18024238e-03 2.85980573e+02] [ 9.51111873e-03 -1.77954391e-04 9.99954752e-01 6.80999912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9627550960001 meters 0.020410824478001605 Centerline is valid? [True, True] Translation: X:58.79, Y:286.00, Z:6.81 [[-6.71424939e-01 -7.41049620e-01 5.83196587e-03 5.87870151e+01] [ 7.41019296e-01 -6.71450242e-01 -6.70634943e-03 2.86001623e+02] [ 8.88561259e-03 -1.81211013e-04 9.99960506e-01 6.81078617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.99275509600005 meters 0.022816945891554332 Centerline is valid? [True, True] Translation: X:58.77, Y:286.02, Z:6.81 [[-6.73563583e-01 -7.39114266e-01 4.71181782e-03 5.87726464e+01] [ 7.39094445e-01 -6.73580043e-01 -5.41540436e-03 2.86023346e+02] [ 7.17638907e-03 -1.65140785e-04 9.99974236e-01 6.81325942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0227550960001 meters 0.02171028523543421 Centerline is valid? [True, True] Translation: X:58.75, Y:286.04, Z:6.81 [[-6.74622110e-01 -7.38151259e-01 4.21052696e-03 5.87525050e+01] [ 7.38135430e-01 -6.74635232e-01 -4.83640025e-03 2.86042346e+02] [ 6.41056476e-03 -1.54803410e-04 9.99979440e-01 6.81395742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.05275509600006 meters 0.021806613260502882 Centerline is valid? [True, True] Translation: X:58.73, Y:286.06, Z:6.81 [[-6.75988332e-01 -7.36904432e-01 3.41080496e-03 5.87328969e+01] [ 7.36894040e-01 -6.75996924e-01 -3.91578445e-03 2.86062559e+02] [ 5.19125258e-03 -1.33622753e-04 9.99986516e-01 6.81495962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0827550960001 meters 0.022719204689129493 Centerline is valid? [True, True] Translation: X:58.72, Y:286.08, Z:6.82 [[-6.76530162e-01 -7.36408222e-01 3.14180884e-03 5.87161190e+01] [ 7.36399410e-01 -6.76537446e-01 -3.60472104e-03 2.86082791e+02] [ 4.78009754e-03 -1.25076338e-04 9.99988567e-01 6.81575998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.11275509600006 meters 0.02383160521696147 Centerline is valid? [True, True] Translation: X:58.70, Y:286.10, Z:6.82 [[-6.76836497e-01 -7.36126613e-01 3.15678788e-03 5.87003151e+01] [ 7.36117720e-01 -6.76843847e-01 -3.62071303e-03 2.86102899e+02] [ 4.80195567e-03 -1.26863225e-04 9.99988463e-01 6.81640116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1427550960001 meters 0.021785556450543208 Centerline is valid? [True, True] Translation: X:58.68, Y:286.12, Z:6.82 [[-6.76785405e-01 -7.36174032e-01 3.05139697e-03 5.86796014e+01] [ 7.36165736e-01 -6.76792273e-01 -3.49689093e-03 2.86120384e+02] [ 4.63948218e-03 -1.20310850e-04 9.99989230e-01 6.81649081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.17275509600006 meters 0.022005324296773876 Centerline is valid? [True, True] Translation: X:58.66, Y:286.14, Z:6.82 [[-6.75558574e-01 -7.37297681e-01 3.56969119e-03 5.86615741e+01] [ 7.37286364e-01 -6.75567992e-01 -4.08714316e-03 2.86139759e+02] [ 5.42501028e-03 -1.29219963e-04 9.99985276e-01 6.81641356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2027550960001 meters 0.020842200042272226 Centerline is valid? [True, True] Translation: X:58.64, Y:286.16, Z:6.82 [[-6.74746648e-01 -7.38037612e-01 4.17663665e-03 5.86411800e+01] [ 7.38022163e-01 -6.74759559e-01 -4.77745738e-03 2.86158705e+02] [ 6.34416874e-03 -1.41122932e-04 9.99979866e-01 6.81545078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.23275509600006 meters 0.019600111183724855 Centerline is valid? [True, True] Translation: X:58.62, Y:286.18, Z:6.81 [[-6.72384474e-01 -7.40183363e-01 5.26383064e-03 5.86206127e+01] [ 7.40158934e-01 -6.72405061e-01 -6.01552065e-03 2.86176647e+02] [ 7.99201467e-03 -1.48671416e-04 9.99968052e-01 6.81419572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2627550960001 meters 0.018889981074902282 Centerline is valid? [True, True] Translation: X:58.60, Y:286.20, Z:6.81 [[-6.71431391e-01 -7.41044535e-01 5.73444933e-03 5.86008875e+01] [ 7.41015617e-01 -6.71455862e-01 -6.54826414e-03 2.86195868e+02] [ 8.70298498e-03 -1.47393592e-04 9.99962117e-01 6.81393924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.29275509600006 meters 0.018510110392141305 Centerline is valid? [True, True] Translation: X:58.58, Y:286.22, Z:6.81 [[-6.70615693e-01 -7.41779887e-01 6.09850914e-03 5.85820566e+01] [ 7.41747260e-01 -6.70643407e-01 -6.95866605e-03 2.86215300e+02] [ 9.25172346e-03 -1.43038202e-04 9.99957192e-01 6.81292752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.32275509600004 meters 0.018682300928124822 Centerline is valid? [True, True] Translation: X:58.57, Y:286.23, Z:6.81 [[-6.69940329e-01 -7.42387300e-01 6.40718992e-03 5.85653334e+01] [ 7.42351368e-01 -6.69970953e-01 -7.30537160e-03 2.86234710e+02] [ 9.71604624e-03 -1.37776856e-04 9.99952789e-01 6.81284232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.35275509600007 meters 0.017921047732135334 Centerline is valid? [True, True] Translation: X:58.55, Y:286.25, Z:6.81 [[-6.69224238e-01 -7.43022467e-01 7.51884338e-03 5.85470708e+01] [ 7.42973116e-01 -6.69266459e-01 -8.56485944e-03 2.86254298e+02] [ 1.13959927e-02 -1.45513041e-04 9.99935053e-01 6.81209953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.38275509600004 meters 0.017695590345826875 Centerline is valid? [True, True] Translation: X:58.53, Y:286.27, Z:6.81 [[-6.68974024e-01 -7.43241573e-01 8.10675330e-03 5.85306764e+01] [ 7.43184312e-01 -6.69023125e-01 -9.22689222e-03 2.86274678e+02] [ 1.22814153e-02 -1.47739335e-04 9.99924570e-01 6.81182442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.41275509600007 meters 0.017704150909870722 Centerline is valid? [True, True] Translation: X:58.51, Y:286.30, Z:6.81 [[-6.69284387e-01 -7.42962835e-01 8.03965736e-03 5.85135046e+01] [ 7.42906585e-01 -6.69332656e-01 -9.14339979e-03 2.86295234e+02] [ 1.21744114e-02 -1.46820328e-04 9.99925878e-01 6.81236289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.44275509600004 meters 0.017884704591331336 Centerline is valid? [True, True] Translation: X:58.50, Y:286.32, Z:6.81 [[-6.69770861e-01 -7.42526945e-01 7.79300620e-03 5.84976474e+01] [ 7.42474145e-01 -6.69816180e-01 -8.85602119e-03 2.86315480e+02] [ 1.17957160e-02 -1.45399319e-04 9.99930418e-01 6.81279986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.47275509600007 meters 0.018286178449689598 Centerline is valid? [True, True] Translation: X:58.48, Y:286.34, Z:6.81 [[-6.70520732e-01 -7.41846385e-01 8.11718783e-03 5.84820337e+01] [ 7.41789146e-01 -6.70569844e-01 -9.21667175e-03 2.86335913e+02] [ 1.22804960e-02 -1.58727657e-04 9.99924579e-01 6.81323149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.50275509600004 meters 0.01870386942947806 Centerline is valid? [True, True] Translation: X:58.47, Y:286.36, Z:6.81 [[-6.71789839e-01 -7.40703776e-01 7.50527392e-03 5.84668036e+01] [ 7.40654843e-01 -6.71831743e-01 -8.51551217e-03 2.86357421e+02] [ 1.13497533e-02 -1.61817070e-04 9.99935576e-01 6.81404296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5327550960001 meters 0.018455464396237724 Centerline is valid? [True, True] Translation: X:58.45, Y:286.38, Z:6.82 [[-6.72271018e-01 -7.40268467e-01 7.36711917e-03 5.84484765e+01] [ 7.40221361e-01 -6.72311364e-01 -8.35262762e-03 2.86376951e+02] [ 1.11361848e-02 -1.61930500e-04 9.99937978e-01 6.81529655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.56275509600005 meters 0.01836554309693066 Centerline is valid? [True, True] Translation: X:58.43, Y:286.40, Z:6.82 [[-6.72603549e-01 -7.39971344e-01 6.84653790e-03 5.84304094e+01] [ 7.39930699e-01 -6.72638377e-01 -7.75720301e-03 2.86395986e+02] [ 1.03453521e-02 -1.51558702e-04 9.99946474e-01 6.81622833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5927550960001 meters 0.01878729311947559 Centerline is valid? [True, True] Translation: X:58.41, Y:286.42, Z:6.82 [[-6.72934631e-01 -7.39670368e-01 6.83594883e-03 5.84137885e+01] [ 7.39629895e-01 -6.72969334e-01 -7.73909915e-03 2.86415857e+02] [ 1.03247662e-02 -1.51835712e-04 9.99946687e-01 6.81631386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.62275509600005 meters 0.018587120922389302 Centerline is valid? [True, True] Translation: X:58.40, Y:286.44, Z:6.82 [[-6.73233766e-01 -7.39390411e-01 7.62344082e-03 5.83964112e+01] [ 7.39340147e-01 -6.73276906e-01 -8.62300600e-03 2.86435319e+02] [ 1.15084546e-02 -1.68982952e-04 9.99933761e-01 6.81559524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6527550960001 meters 0.018550582888391294 Centerline is valid? [True, True] Translation: X:58.38, Y:286.46, Z:6.82 [[-6.73373762e-01 -7.39257645e-01 8.11854958e-03 5.83792669e+01] [ 7.39200721e-01 -6.73422678e-01 -9.17558523e-03 2.86455295e+02] [ 1.22503369e-02 -1.77360645e-04 9.99924946e-01 6.81519725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.68275509600005 meters 0.018504108879389615 Centerline is valid? [True, True] Translation: X:58.36, Y:286.47, Z:6.81 [[-6.73596127e-01 -7.39051858e-01 8.40293875e-03 5.83621536e+01] [ 7.38990955e-01 -6.73648512e-01 -9.48947565e-03 2.86474945e+02] [ 1.26738418e-02 -1.82378306e-04 9.99919667e-01 6.81491729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7127550960001 meters 0.018572364950450806 Centerline is valid? [True, True] Translation: X:58.35, Y:286.49, Z:6.81 [[-6.73585633e-01 -7.39054444e-01 8.99577081e-03 5.83450851e+01] [ 7.38984757e-01 -6.73645673e-01 -1.01506373e-02 2.86493538e+02] [ 1.35618357e-02 -1.89585972e-04 9.99908016e-01 6.81369342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.74275509600005 meters 0.01859520458820137 Centerline is valid? [True, True] Translation: X:58.33, Y:286.51, Z:6.81 [[-6.73492785e-01 -7.39132394e-01 9.52750108e-03 5.83274869e+01] [ 7.39054361e-01 -6.73560144e-01 -1.07417043e-02 2.86511632e+02] [ 1.43568866e-02 -1.93119126e-04 9.99896916e-01 6.81307477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7727550960001 meters 0.018394952315789203 Centerline is valid? [True, True] Translation: X:58.31, Y:286.53, Z:6.81 [[-6.73314704e-01 -7.39290872e-01 9.81406573e-03 5.83084876e+01] [ 7.39208221e-01 -6.73386197e-01 -1.10560285e-02 2.86530599e+02] [ 1.47822774e-02 -1.89548523e-04 9.99890718e-01 6.81263344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.80275509600006 meters 0.01791344443570643 Centerline is valid? [True, True] Translation: X:58.29, Y:286.55, Z:6.81 [[-6.73025717e-01 -7.39551247e-01 1.00168970e-02 5.82890696e+01] [ 7.39465303e-01 -6.73100231e-01 -1.12758482e-02 2.86548584e+02] [ 1.50814433e-02 -1.81788022e-04 9.99886252e-01 6.81343641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8327550960001 meters 0.018183071790862974 Centerline is valid? [True, True] Translation: X:58.27, Y:286.57, Z:6.81 [[-6.73252561e-01 -7.39347173e-01 9.83600637e-03 5.82719115e+01] [ 7.39264411e-01 -6.73324384e-01 -1.10636575e-02 2.86567893e+02] [ 1.48027068e-02 -1.77226296e-04 9.99890418e-01 6.81377037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.86275509600006 meters 0.018292066493062236 Centerline is valid? [True, True] Translation: X:58.25, Y:286.59, Z:6.81 [[-6.73819627e-01 -7.38829609e-01 9.89541708e-03 5.82549598e+01] [ 7.38745908e-01 -6.73892258e-01 -1.11223992e-02 2.86586459e+02] [ 1.48860028e-02 -1.84291968e-04 9.99889180e-01 6.81436462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8927550960001 meters 0.01863680616578865 Centerline is valid? [True, True] Translation: X:58.24, Y:286.61, Z:6.81 [[-6.74480241e-01 -7.38229419e-01 9.68143314e-03 5.82379586e+01] [ 7.38149341e-01 -6.74549694e-01 -1.08747893e-02 2.86605822e+02] [ 1.45586971e-02 -1.88487011e-04 9.99893999e-01 6.81494075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.92275509600006 meters 0.019084876677382373 Centerline is valid? [True, True] Translation: X:58.22, Y:286.63, Z:6.82 [[-6.75413544e-01 -7.37379274e-01 9.39950467e-03 5.82218688e+01] [ 7.37303822e-01 -6.75478918e-01 -1.05501752e-02 2.86625246e+02] [ 1.41286478e-02 -1.95440539e-04 9.99900167e-01 6.81543585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.9527550960001 meters 0.019881364396175195 Centerline is valid? [True, True] Translation: X:58.20, Y:286.65, Z:6.82 [[-6.78294136e-01 -7.34736059e-01 8.94357245e-03 5.82044135e+01] [ 7.34667615e-01 -6.78353056e-01 -1.00313166e-02 2.86646648e+02] [ 1.34372698e-02 -2.33630212e-04 9.99909689e-01 6.81667248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.98275509600006 meters 0.021536380325037498 Centerline is valid? [True, True] Translation: X:58.19, Y:286.67, Z:6.82 [[-6.80003556e-01 -7.33153918e-01 8.97205396e-03 5.81893299e+01] [ 7.33084992e-01 -6.80062692e-01 -1.00563365e-02 2.86668288e+02] [ 1.34744017e-02 -2.61066460e-04 9.99909182e-01 6.81674450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.0127550960001 meters 0.021839012862581993 Centerline is valid? [True, True] Translation: X:58.17, Y:286.69, Z:6.82 [[-6.81790142e-01 -7.31498019e-01 8.53528107e-03 5.81714295e+01] [ 7.31435593e-01 -6.81843511e-01 -9.56035344e-03 2.86688930e+02] [ 1.28131056e-02 -2.75146355e-04 9.99917871e-01 6.81768931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.04275509600006 meters 0.02378358482827566 Centerline is valid? [True, True] Translation: X:58.16, Y:286.71, Z:6.82 [[-6.84700588e-01 -7.28779359e-01 8.10869899e-03 5.81561727e+01] [ 7.28722898e-01 -6.84748532e-01 -9.07663759e-03 2.86710911e+02] [ 1.21672859e-02 -3.05784463e-04 9.99925929e-01 6.81841235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.07275509600004 meters 0.024166659735197254 Centerline is valid? [True, True] Translation: X:58.14, Y:286.73, Z:6.82 [[-6.85925319e-01 -7.27626153e-01 8.16320956e-03 5.81382720e+01] [ 7.27568927e-01 -6.85973816e-01 -9.13130697e-03 2.86731028e+02] [ 1.22439258e-02 -3.24097021e-04 9.99924988e-01 6.81872258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.10275509600007 meters 0.025036471081690072 Centerline is valid? [True, True] Translation: X:58.12, Y:286.75, Z:6.82 [[-6.86999424e-01 -7.26616706e-01 7.74304596e-03 5.81203569e+01] [ 7.26565219e-01 -6.87042983e-01 -8.65577792e-03 2.86751929e+02] [ 1.16092382e-02 -3.20686569e-04 9.99932559e-01 6.81924239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.13275509600004 meters 0.026554327244945435 Centerline is valid? [True, True] Translation: X:58.10, Y:286.77, Z:6.82 [[-6.87870900e-01 -7.25792275e-01 7.69407529e-03 5.81035797e+01] [ 7.25741452e-01 -6.87913851e-01 -8.59531727e-03 2.86772541e+02] [ 1.15312758e-02 -3.28559255e-04 9.99933459e-01 6.82025863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.16275509600007 meters 0.026023887003989082 Centerline is valid? [True, True] Translation: X:58.09, Y:286.79, Z:6.82 [[-6.88084924e-01 -7.25590062e-01 7.62878757e-03 5.80850694e+01] [ 7.25540153e-01 -6.88127137e-01 -8.51646833e-03 2.86791208e+02] [ 1.14290405e-02 -3.25061766e-04 9.99934634e-01 6.82061687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.19275509600004 meters 0.025718130349453083 Centerline is valid? [True, True] Translation: X:58.07, Y:286.81, Z:6.82 [[-6.87536897e-01 -7.26107330e-01 7.82057449e-03 5.80664104e+01] [ 7.26054989e-01 -6.87581300e-01 -8.72403356e-03 2.86808634e+02] [ 1.17118655e-02 -3.19927834e-04 9.99931363e-01 6.81991142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.22275509600007 meters 0.025718130349453083 Centerline is valid? [True, True] Translation: X:58.05, Y:286.83, Z:6.82 [[-6.87795283e-01 -7.25862546e-01 7.82390344e-03 5.80488887e+01] [ 7.25810224e-01 -6.87839707e-01 -8.72104731e-03 2.86827750e+02] [ 1.17118731e-02 -3.19626095e-04 9.99931363e-01 6.82014897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.25275509600004 meters 0.02596887558839928 Centerline is valid? [True, True] Translation: X:58.03, Y:286.85, Z:6.82 [[-6.87316195e-01 -7.26314617e-01 7.97023963e-03 5.80322235e+01] [ 7.26260429e-01 -6.87362335e-01 -8.87750895e-03 2.86845597e+02] [ 1.19263070e-02 -3.13186025e-04 9.99928830e-01 6.81945927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.2827550960001 meters 0.023026414364631737 Centerline is valid? [True, True] Translation: X:58.01, Y:286.86, Z:6.82 [[-6.86082628e-01 -7.27469588e-01 8.86715544e-03 5.80100969e+01] [ 7.27402723e-01 -6.86139852e-01 -9.86827047e-03 2.86862081e+02] [ 1.32629754e-02 -3.20455926e-04 9.99911992e-01 6.81878083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.31275509600005 meters 0.022158122576173903 Centerline is valid? [True, True] Translation: X:57.99, Y:286.88, Z:6.82 [[-6.85531472e-01 -7.27986831e-01 9.04292358e-03 5.79912801e+01] [ 7.27917430e-01 -6.85591042e-01 -1.00567817e-02 2.86880624e+02] [ 1.35209520e-02 -3.11738649e-04 9.99908539e-01 6.81899553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3427550960001 meters 0.021705763482339636 Centerline is valid? [True, True] Translation: X:57.97, Y:286.90, Z:6.82 [[-6.85136571e-01 -7.28355739e-01 9.26263377e-03 5.79727828e+01] [ 7.28283067e-01 -6.85199112e-01 -1.02932278e-02 2.86899330e+02] [ 1.38438800e-02 -3.06447456e-04 9.99904122e-01 6.81910176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.37275509600005 meters 0.021044017612585033 Centerline is valid? [True, True] Translation: X:57.95, Y:286.92, Z:6.82 [[-6.84881651e-01 -7.28597900e-01 9.06778797e-03 5.79540021e+01] [ 7.28528377e-01 -6.84941615e-01 -1.00691369e-02 2.86917767e+02] [ 1.35472573e-02 -2.90026229e-04 9.99908190e-01 6.81943615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4027550960001 meters 0.020756532224248697 Centerline is valid? [True, True] Translation: X:57.94, Y:286.94, Z:6.82 [[-6.84110701e-01 -7.29326494e-01 8.68410725e-03 5.79366695e+01] [ 7.29262877e-01 -6.84165768e-01 -9.63633489e-03 2.86936211e+02] [ 1.29694032e-02 -2.59322788e-04 9.99915860e-01 6.82059820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.43275509600005 meters 0.020388476924715553 Centerline is valid? [True, True] Translation: X:57.92, Y:286.96, Z:6.82 [[-6.83838648e-01 -7.29585095e-01 8.38402768e-03 5.79183851e+01] [ 7.29525892e-01 -6.83889999e-01 -9.29744493e-03 2.86955267e+02] [ 1.25170299e-02 -2.41586898e-04 9.99921630e-01 6.82168710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4627550960001 meters 0.020079460513854234 Centerline is valid? [True, True] Translation: X:57.90, Y:286.97, Z:6.82 [[-6.83723438e-01 -7.29700961e-01 7.66606238e-03 5.79005895e+01] [ 7.29651540e-01 -6.83766379e-01 -8.49524176e-03 2.86974189e+02] [ 1.14407818e-02 -2.14841688e-04 9.99934529e-01 6.82300650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.49275509600005 meters 0.020128383331945054 Centerline is valid? [True, True] Translation: X:57.88, Y:286.99, Z:6.82 [[-6.83901645e-01 -7.29535643e-01 7.50236973e-03 5.78829345e+01] [ 7.29488369e-01 -6.83942762e-01 -8.30762995e-03 2.86994005e+02] [ 1.11919036e-02 -2.08710325e-04 9.99937347e-01 6.82371588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5227550960001 meters 0.02038048101812211 Centerline is valid? [True, True] Translation: X:57.87, Y:287.01, Z:6.82 [[-6.84459697e-01 -7.29013162e-01 7.39818913e-03 5.78667802e+01] [ 7.28967230e-01 -6.84499647e-01 -8.18609108e-03 2.87013786e+02] [ 1.10318260e-02 -2.10011990e-04 9.99939126e-01 6.82454662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.55275509600006 meters 0.019790648387494406 Centerline is valid? [True, True] Translation: X:57.85, Y:287.03, Z:6.83 [[-6.84586279e-01 -7.28896814e-01 7.14565868e-03 5.78483850e+01] [ 7.28854022e-01 -6.84623542e-01 -7.90062867e-03 2.87032662e+02] [ 1.06508292e-02 -2.00519914e-04 9.99943258e-01 6.82500154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5827550960001 meters 0.02085834979988054 Centerline is valid? [True, True] Translation: X:57.83, Y:287.05, Z:6.82 [[-6.84768038e-01 -7.28724794e-01 7.27381041e-03 5.78332073e+01] [ 7.28680513e-01 -6.84806639e-01 -8.03595255e-03 2.87052792e+02] [ 1.08371515e-02 -2.02479555e-04 9.99941256e-01 6.82461266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.61275509600006 meters 0.020199803756729046 Centerline is valid? [True, True] Translation: X:57.81, Y:287.07, Z:6.83 [[-6.85206698e-01 -7.28314557e-01 7.04894793e-03 5.78147553e+01] [ 7.28273013e-01 -6.85242926e-01 -7.78146548e-03 2.87071410e+02] [ 1.04975963e-02 -1.98353721e-04 9.99944879e-01 6.82501817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6427550960001 meters 0.02060488810973495 Centerline is valid? [True, True] Translation: X:57.80, Y:287.09, Z:6.83 [[-6.85366376e-01 -7.28166630e-01 6.80359543e-03 5.77994053e+01] [ 7.28127977e-01 -6.85400119e-01 -7.50509557e-03 2.87091302e+02] [ 1.01281453e-02 -1.89851979e-04 9.99948691e-01 6.82525363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.67275509600006 meters 0.019519477925092232 Centerline is valid? [True, True] Translation: X:57.78, Y:287.11, Z:6.83 [[-6.85525416e-01 -7.28015956e-01 6.90445084e-03 5.77798899e+01] [ 7.27976202e-01 -6.85560159e-01 -7.61033713e-03 2.87110163e+02] [ 1.02738633e-02 -1.90803627e-04 9.99947204e-01 6.82583433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7027550960001 meters 0.01958812107518786 Centerline is valid? [True, True] Translation: X:57.76, Y:287.13, Z:6.82 [[-6.85655342e-01 -7.27888420e-01 7.42972844e-03 5.77631543e+01] [ 7.27842449e-01 -6.85695565e-01 -8.18307211e-03 2.87129994e+02] [ 1.10508953e-02 -2.03095366e-04 9.99938916e-01 6.82488415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.73275509600006 meters 0.020081987850857966 Centerline is valid? [True, True] Translation: X:57.75, Y:287.15, Z:6.82 [[-6.85685498e-01 -7.27856424e-01 7.77326557e-03 5.77472821e+01] [ 7.27806180e-01 -6.85729525e-01 -8.55471355e-03 2.87149322e+02] [ 1.15569609e-02 -2.08412304e-04 9.99933194e-01 6.82466112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7627550960001 meters 0.0194081672367911 Centerline is valid? [True, True] Translation: X:57.73, Y:287.17, Z:6.82 [[-6.85543047e-01 -7.27985478e-01 8.23860033e-03 5.77288027e+01] [ 7.27929139e-01 -6.85592517e-01 -9.05921421e-03 2.87167651e+02] [ 1.22432991e-02 -2.13364074e-04 9.99925025e-01 6.82478142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.79275509600006 meters 0.019199674729796414 Centerline is valid? [True, True] Translation: X:57.71, Y:287.19, Z:6.82 [[-6.85092377e-01 -7.28412974e-01 7.93559947e-03 5.77117593e+01] [ 7.28360811e-01 -6.85138308e-01 -8.71939120e-03 2.87186695e+02] [ 1.17883009e-02 -1.93608776e-04 9.99930497e-01 6.82477037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.82275509600004 meters 0.019084258900809187 Centerline is valid? [True, True] Translation: X:57.69, Y:287.21, Z:6.82 [[-6.84973195e-01 -7.28521638e-01 8.24285453e-03 5.76936811e+01] [ 7.28465456e-01 -6.85022762e-01 -9.04955943e-03 2.87205780e+02] [ 1.22393428e-02 -1.94070849e-04 9.99925078e-01 6.82487994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.85275509600007 meters 0.019207842780573588 Centerline is valid? [True, True] Translation: X:57.68, Y:287.22, Z:6.82 [[-6.84575623e-01 -7.28894496e-01 8.30844109e-03 5.76758564e+01] [ 7.28837531e-01 -6.84626015e-01 -9.11447418e-03 2.87224566e+02] [ 1.23316650e-02 -1.84043148e-04 9.99923945e-01 6.82426191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.88275509600004 meters 0.01856737995423557 Centerline is valid? [True, True] Translation: X:57.66, Y:287.24, Z:6.82 [[-6.84723215e-01 -7.28755041e-01 8.37903689e-03 5.76567735e+01] [ 7.28697184e-01 -6.84774457e-01 -9.18460626e-03 2.87242977e+02] [ 1.24310785e-02 -1.83132541e-04 9.99922714e-01 6.82427180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.91275509600007 meters 0.018364410516229494 Centerline is valid? [True, True] Translation: X:57.64, Y:287.26, Z:6.82 [[-6.84971444e-01 -7.28518813e-01 8.62900777e-03 5.76381365e+01] [ 7.28457528e-01 -6.85025768e-01 -9.45130602e-03 2.87262937e+02] [ 1.27965469e-02 -1.88009064e-04 9.99918103e-01 6.82436122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.94275509600004 meters 0.018947163557620827 Centerline is valid? [True, True] Translation: X:57.62, Y:287.28, Z:6.82 [[-6.86291887e-01 -7.27273636e-01 8.74666849e-03 5.76220383e+01] [ 7.27210649e-01 -6.86347591e-01 -9.57378049e-03 2.87283275e+02] [ 1.29660130e-02 -2.09737408e-04 9.99915916e-01 6.82451338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.97275509600007 meters 0.01896041208764583 Centerline is valid? [True, True] Translation: X:57.60, Y:287.30, Z:6.82 [[-6.87051060e-01 -7.26556497e-01 8.74630577e-03 5.76041554e+01] [ 7.26493531e-01 -6.87106694e-01 -9.56769642e-03 2.87303603e+02] [ 1.29611172e-02 -2.19361409e-04 9.99915977e-01 6.82484957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.00275509600004 meters 0.020501773122046218 Centerline is valid? [True, True] Translation: X:57.59, Y:287.33, Z:6.82 [[-6.88575833e-01 -7.25109654e-01 8.90571600e-03 5.75886236e+01] [ 7.25044344e-01 -6.88633378e-01 -9.73496474e-03 2.87325005e+02] [ 1.31916902e-02 -2.46222448e-04 9.99912956e-01 6.82491804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.0327550960001 meters 0.021181281770972286 Centerline is valid? [True, True] Translation: X:57.57, Y:287.34, Z:6.83 [[-6.89160109e-01 -7.24554290e-01 8.91202607e-03 5.75717689e+01] [ 7.24488939e-01 -6.89217685e-01 -9.73451771e-03 2.87344584e+02] [ 1.31955125e-02 -2.51976978e-04 9.99912904e-01 6.82510477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.06275509600005 meters 0.01964069454475909 Centerline is valid? [True, True] Translation: X:57.55, Y:287.36, Z:6.83 [[-6.89804049e-01 -7.23940667e-01 8.96016823e-03 5.75506764e+01] [ 7.23874654e-01 -6.89862192e-01 -9.77965237e-03 2.87361894e+02] [ 1.32611693e-02 -2.60005127e-04 9.99912033e-01 6.82577783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.0927550960001 meters 0.020032576763331672 Centerline is valid? [True, True] Translation: X:57.53, Y:287.38, Z:6.83 [[-6.90225307e-01 -7.23535299e-01 9.25724494e-03 5.75318188e+01] [ 7.23464895e-01 -6.90287329e-01 -1.00969952e-02 2.87380608e+02] [ 1.36956913e-02 -2.71909875e-04 9.99906173e-01 6.82523871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.12275509600005 meters 0.02010599435169106 Centerline is valid? [True, True] Translation: X:57.51, Y:287.40, Z:6.82 [[-6.90333685e-01 -7.23428126e-01 9.54719708e-03 5.75126507e+01] [ 7.23353327e-01 -6.90399644e-01 -1.04065288e-02 2.87399380e+02] [ 1.41197571e-02 -2.77980583e-04 9.99900273e-01 6.82495469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1527550960001 meters 0.01991020897271867 Centerline is valid? [True, True] Translation: X:57.49, Y:287.42, Z:6.82 [[-6.90043888e-01 -7.23702951e-01 9.66806506e-03 5.74929154e+01] [ 7.23626390e-01 -6.90111561e-01 -1.05300134e-02 2.87416710e+02] [ 1.42926453e-02 -2.70104379e-04 9.99897818e-01 6.82492111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.18275509600005 meters 0.021226918508421944 Centerline is valid? [True, True] Translation: X:57.48, Y:287.44, Z:6.82 [[-6.90074600e-01 -7.23670047e-01 9.93523229e-03 5.74765842e+01] [ 7.23589321e-01 -6.90146063e-01 -1.08123220e-02 2.87436718e+02] [ 1.46813151e-02 -2.72280827e-04 9.99892187e-01 6.82407419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2127550960001 meters 0.020217581296964143 Centerline is valid? [True, True] Translation: X:57.46, Y:287.45, Z:6.82 [[-6.90246771e-01 -7.23503810e-01 1.00812625e-02 5.74565260e+01] [ 7.23420805e-01 -6.90320333e-01 -1.09625231e-02 2.87454417e+02] [ 1.48907277e-02 -2.73851162e-04 9.99889090e-01 6.82475614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.24275509600005 meters 0.02057679118776352 Centerline is valid? [True, True] Translation: X:57.44, Y:287.47, Z:6.82 [[-6.90627674e-01 -7.23140064e-01 1.00926989e-02 5.74385887e+01] [ 7.23056957e-01 -6.90701362e-01 -1.09665543e-02 2.87473023e+02] [ 1.49013956e-02 -2.76209740e-04 9.99888930e-01 6.82433060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2727550960001 meters 0.019798356920474585 Centerline is valid? [True, True] Translation: X:57.42, Y:287.49, Z:6.82 [[-6.91079331e-01 -7.22708412e-01 1.00950064e-02 5.74183443e+01] [ 7.22625345e-01 -6.91153002e-01 -1.09607844e-02 2.87492053e+02] [ 1.48986451e-02 -2.79864047e-04 9.99888970e-01 6.82485693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.30275509600006 meters 0.02020739622916472 Centerline is valid? [True, True] Translation: X:57.40, Y:287.51, Z:6.82 [[-6.91614422e-01 -7.22197430e-01 1.00181543e-02 5.74005916e+01] [ 7.22115684e-01 -6.91686918e-01 -1.08695587e-02 2.87511312e+02] [ 1.47793937e-02 -2.83277250e-04 9.99890739e-01 6.82490094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3327550960001 meters 0.021240204761564054 Centerline is valid? [True, True] Translation: X:57.38, Y:287.53, Z:6.83 [[-6.92333986e-01 -7.21516177e-01 9.38394611e-03 5.73838063e+01] [ 7.21444494e-01 -6.92397524e-01 -1.01740172e-02 2.87530076e+02] [ 1.38381391e-02 -2.73821641e-04 9.99904211e-01 6.82526378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.36275509600006 meters 0.019972468714743834 Centerline is valid? [True, True] Translation: X:57.36, Y:287.55, Z:6.83 [[-6.92752657e-01 -7.21118695e-01 9.03237796e-03 5.73631254e+01] [ 7.21052348e-01 -6.92811487e-01 -9.78544629e-03 2.87548071e+02] [ 1.33142035e-02 -2.66076575e-04 9.99911327e-01 6.82641770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3927550960001 meters 0.021137911763527396 Centerline is valid? [True, True] Translation: X:57.35, Y:287.57, Z:6.83 [[-6.93045954e-01 -7.20840930e-01 8.69823772e-03 5.73466030e+01] [ 7.20779457e-01 -6.93100489e-01 -9.41732543e-03 2.87568730e+02] [ 1.28171464e-02 -2.57128226e-04 9.99917824e-01 6.82648521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.42275509600006 meters 0.021624287230022056 Centerline is valid? [True, True] Translation: X:57.33, Y:287.59, Z:6.83 [[-6.93724742e-01 -7.20192955e-01 8.25163631e-03 5.73300840e+01] [ 7.20137646e-01 -6.93773770e-01 -8.92897907e-03 2.87587783e+02] [ 1.21553567e-02 -2.51939762e-04 9.99926089e-01 6.82708624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.4527550960001 meters 0.02039140256505534 Centerline is valid? [True, True] Translation: X:57.31, Y:287.61, Z:6.83 [[-6.94169304e-01 -7.19768030e-01 7.93475459e-03 5.73096824e+01] [ 7.19716920e-01 -6.94214608e-01 -8.58094147e-03 2.87606310e+02] [ 1.16847099e-02 -2.45849032e-04 9.99931701e-01 6.82767350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.48275509600006 meters 0.022918303690368274 Centerline is valid? [True, True] Translation: X:57.30, Y:287.63, Z:6.83 [[-6.95224325e-01 -7.18756544e-01 7.22278260e-03 5.72955161e+01] [ 7.18714193e-01 -6.95261803e-01 -7.80605187e-03 2.87628538e+02] [ 1.06323757e-02 -2.35840774e-04 9.99943447e-01 6.82794832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.5127550960001 meters 0.021169894246010693 Centerline is valid? [True, True] Translation: X:57.28, Y:287.65, Z:6.83 [[-6.96010142e-01 -7.17998480e-01 6.93289423e-03 5.72752453e+01] [ 7.17959465e-01 -6.96044630e-01 -7.48865610e-03 2.87646225e+02] [ 1.02024475e-02 -2.34643566e-04 9.99947926e-01 6.82921200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.54275509600006 meters 0.023371495357801326 Centerline is valid? [True, True] Translation: X:57.26, Y:287.67, Z:6.83 [[-6.96564602e-01 -7.17464586e-01 6.50557626e-03 5.72606207e+01] [ 7.17430256e-01 -6.96594945e-01 -7.02220397e-03 2.87667766e+02] [ 9.56993421e-03 -2.24121475e-04 9.99954182e-01 6.82991568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.57275509600004 meters 0.021182528668600663 Centerline is valid? [True, True] Translation: X:57.24, Y:287.69, Z:6.83 [[-6.96875313e-01 -7.17169407e-01 5.73072225e-03 5.72391120e+01] [ 7.17142783e-01 -6.96898847e-01 -6.18274837e-03 2.87685028e+02] [ 8.42781170e-03 -1.98858602e-04 9.99964466e-01 6.83095674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.60275509600007 meters 0.02086920285188337 Centerline is valid? [True, True] Translation: X:57.22, Y:287.70, Z:6.83 [[-6.96576603e-01 -7.17462491e-01 5.34888984e-03 5.72200030e+01] [ 7.17439335e-01 -6.96597116e-01 -5.76701159e-03 2.87704989e+02] [ 7.86363573e-03 -1.79661372e-04 9.99969065e-01 6.83251309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.63275509600004 meters 0.020814839961917252 Centerline is valid? [True, True] Translation: X:57.20, Y:287.72, Z:6.83 [[-6.96355307e-01 -7.17679602e-01 5.02742162e-03 5.72018313e+01] [ 7.17659178e-01 -6.96373436e-01 -5.41688434e-03 2.87724562e+02] [ 7.38855027e-03 -1.64100890e-04 9.99972691e-01 6.83264479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.66275509600007 meters 0.019952259894710292 Centerline is valid? [True, True] Translation: X:57.18, Y:287.74, Z:6.83 [[-6.94968849e-01 -7.19023839e-01 4.79764945e-03 5.71820357e+01] [ 7.19005297e-01 -6.94985395e-01 -5.16563117e-03 2.87743495e+02] [ 7.04850826e-03 -1.40417384e-04 9.99975149e-01 6.83301586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.69275509600004 meters 0.01970021511270497 Centerline is valid? [True, True] Translation: X:57.16, Y:287.76, Z:6.83 [[-6.94193342e-01 -7.19771755e-01 4.92183059e-03 5.71639637e+01] [ 7.19752286e-01 -6.94210777e-01 -5.29562543e-03 2.87761884e+02] [ 7.22842945e-03 -1.33689101e-04 9.99973866e-01 6.83324650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.72275509600007 meters 0.019104884432325855 Centerline is valid? [True, True] Translation: X:57.15, Y:287.78, Z:6.83 [[-6.93194127e-01 -7.20732418e-01 5.16575822e-03 5.71450701e+01] [ 7.20711035e-01 -6.93213363e-01 -5.55319785e-03 2.87780223e+02] [ 7.58334234e-03 -1.26425181e-04 9.99971238e-01 6.83301708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.75275509600004 meters 0.01837806711558624 Centerline is valid? [True, True] Translation: X:57.13, Y:287.80, Z:6.83 [[-6.91634245e-01 -7.22229505e-01 5.15882924e-03 5.71257629e+01] [ 7.22208254e-01 -6.91653476e-01 -5.54142198e-03 2.87798354e+02] [ 7.57030062e-03 -1.06888148e-04 9.99971339e-01 6.83314239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.7827550960001 meters 0.017651327820503097 Centerline is valid? [True, True] Translation: X:57.11, Y:287.82, Z:6.83 [[-6.91020476e-01 -7.22815250e-01 5.36811942e-03 5.71059658e+01] [ 7.22792292e-01 -6.91041319e-01 -5.76183745e-03 2.87816735e+02] [ 7.87433630e-03 -1.01512315e-04 9.99968992e-01 6.83290226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.81275509600005 meters 0.017681421008624687 Centerline is valid? [True, True] Translation: X:57.09, Y:287.84, Z:6.83 [[-6.89972247e-01 -7.23814451e-01 5.56228555e-03 5.70880396e+01] [ 7.23789871e-01 -6.89994661e-01 -5.96576203e-03 2.87836630e+02] [ 8.15605210e-03 -9.02842940e-05 9.99966735e-01 6.83296753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8427550960001 meters 0.01753246375524797 Centerline is valid? [True, True] Translation: X:57.07, Y:287.86, Z:6.83 [[-6.89811403e-01 -7.23967291e-01 5.62050075e-03 5.70698746e+01] [ 7.23942234e-01 -6.89834295e-01 -6.02386511e-03 2.87855791e+02] [ 8.23829548e-03 -8.64129790e-05 9.99966061e-01 6.83341322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.87275509600005 meters 0.017526436647117033 Centerline is valid? [True, True] Translation: X:57.05, Y:287.87, Z:6.83 [[-6.89961275e-01 -7.23825079e-01 5.54019520e-03 5.70524873e+01] [ 7.23800764e-01 -6.89983513e-01 -5.93348775e-03 2.87874647e+02] [ 8.11745059e-03 -8.38792629e-05 9.99967049e-01 6.83387302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9027550960001 meters 0.01729946864869172 Centerline is valid? [True, True] Translation: X:57.03, Y:287.89, Z:6.83 [[-6.90216091e-01 -7.23580464e-01 5.74978171e-03 5.70341333e+01] [ 7.23554308e-01 -6.90240034e-01 -6.15300100e-03 2.87893220e+02] [ 8.42092084e-03 -8.66209713e-05 9.99964540e-01 6.83395964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.93275509600005 meters 0.01770717618544688 Centerline is valid? [True, True] Translation: X:57.02, Y:287.91, Z:6.83 [[-6.90652125e-01 -7.23166326e-01 5.48698916e-03 5.70174199e+01] [ 7.23142527e-01 -6.90673916e-01 -5.86754658e-03 2.87912923e+02] [ 8.03293240e-03 -8.45583136e-05 9.99967732e-01 6.83453351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9627550960001 meters 0.017541933356079325 Centerline is valid? [True, True] Translation: X:57.00, Y:287.93, Z:6.84 [[-6.91529176e-01 -7.22334712e-01 4.46798733e-03 5.69992967e+01] [ 7.22318933e-01 -6.91543605e-01 -4.77501460e-03 2.87932317e+02] [ 6.53896687e-03 -7.47500707e-05 9.99978618e-01 6.83568867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.99275509600005 meters 0.01782660256727904 Centerline is valid? [True, True] Translation: X:56.98, Y:287.95, Z:6.84 [[-6.92462212e-01 -7.21442886e-01 4.03063586e-03 5.69819344e+01] [ 7.21430047e-01 -6.92473939e-01 -4.30476363e-03 2.87952285e+02] [ 5.89675139e-03 -7.30643276e-05 9.99982611e-01 6.83666365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0227550960001 meters 0.017848386522480737 Centerline is valid? [True, True] Translation: X:56.96, Y:287.97, Z:6.84 [[-6.93109156e-01 -7.20822182e-01 3.88332902e-03 5.69632835e+01] [ 7.20810272e-01 -6.93120031e-01 -4.14427479e-03 2.87972682e+02] [ 5.67889833e-03 -7.32913531e-05 9.99983872e-01 6.83741637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.05275509600006 meters 0.018446933015691988 Centerline is valid? [True, True] Translation: X:56.95, Y:287.99, Z:6.84 [[-6.94113667e-01 -7.19854796e-01 3.91035203e-03 5.69466794e+01] [ 7.19842721e-01 -6.94124677e-01 -4.17019830e-03 2.87993103e+02] [ 5.71620908e-03 -7.97531933e-05 9.99983659e-01 6.83823100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0827550960001 meters 0.018425345511813775 Centerline is valid? [True, True] Translation: X:56.93, Y:288.01, Z:6.84 [[-6.95061106e-01 -7.18941406e-01 3.64873781e-03 5.69280708e+01] [ 7.18930895e-01 -6.95070678e-01 -3.88856000e-03 2.88012713e+02] [ 5.33177746e-03 -7.95964774e-05 9.99985783e-01 6.83886767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.11275509600006 meters 0.018425345511813775 Centerline is valid? [True, True] Translation: X:56.91, Y:288.03, Z:6.84 [[-6.95317530e-01 -7.18693404e-01 3.65012585e-03 5.69096025e+01] [ 7.18682896e-01 -6.95327106e-01 -3.88725630e-03 2.88032072e+02] [ 5.33177691e-03 -7.95944335e-05 9.99985783e-01 6.83911294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1427550960001 meters 0.019340779223835602 Centerline is valid? [True, True] Translation: X:56.89, Y:288.05, Z:6.84 [[-6.97012212e-01 -7.17052163e-01 3.18939906e-03 5.68934524e+01] [ 7.17044130e-01 -6.97019505e-01 -3.39488722e-03 2.88053409e+02] [ 4.65738458e-03 -7.93379756e-05 9.99989151e-01 6.84008192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.17275509600006 meters 0.019494963765760088 Centerline is valid? [True, True] Translation: X:56.87, Y:288.07, Z:6.84 [[-6.97866817e-01 -7.16221485e-01 2.94800731e-03 5.68749231e+01] [ 7.16214624e-01 -6.97873039e-01 -3.13581242e-03 2.88073457e+02] [ 4.30327105e-03 -7.69734869e-05 9.99990738e-01 6.84044202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.2027550960001 meters 0.02006705783686797 Centerline is valid? [True, True] Translation: X:56.86, Y:288.09, Z:6.84 [[-6.98895492e-01 -7.15218975e-01 2.62872034e-03 5.68574682e+01] [ 7.15213518e-01 -6.98900431e-01 -2.79472044e-03 2.88094336e+02] [ 3.83605087e-03 -7.31211881e-05 9.99992640e-01 6.84171136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.23275509600006 meters 0.0203396716501139 Centerline is valid? [True, True] Translation: X:56.84, Y:288.11, Z:6.84 [[-6.99423971e-01 -7.14703332e-01 2.29261125e-03 5.68401306e+01] [ 7.14699181e-01 -6.99427725e-01 -2.43674871e-03 2.88113254e+02] [ 3.34506830e-03 -6.57930762e-05 9.99994403e-01 6.84247938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.2627550960001 meters 0.020827065364014782 Centerline is valid? [True, True] Translation: X:56.82, Y:288.13, Z:6.84 [[-7.00185216e-01 -7.13958372e-01 2.02635431e-03 5.68231262e+01] [ 7.13955130e-01 -7.00188145e-01 -2.15260669e-03 2.88132114e+02] [ 2.95570083e-03 -6.04973254e-05 9.99995630e-01 6.84324692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.29275509600006 meters 0.021297988718185168 Centerline is valid? [True, True] Translation: X:56.81, Y:288.15, Z:6.84 [[-7.00638546e-01 -7.13513589e-01 1.99649316e-03 5.68057018e+01] [ 7.13510445e-01 -7.00641388e-01 -2.11922880e-03 2.88151066e+02] [ 2.91092428e-03 -6.02946617e-05 9.99995761e-01 6.84356981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.32275509600004 meters 0.020122068647826757 Centerline is valid? [True, True] Translation: X:56.79, Y:288.17, Z:6.84 [[-7.01056698e-01 -7.13102581e-01 2.05320695e-03 5.67850957e+01] [ 7.13099260e-01 -7.01059702e-01 -2.17725191e-03 2.88168972e+02] [ 2.99202461e-03 -6.22366761e-05 9.99995522e-01 6.84308593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.35275509600007 meters 0.021594577631761706 Centerline is valid? [True, True] Translation: X:56.77, Y:288.19, Z:6.84 [[-7.01377293e-01 -7.12787863e-01 1.83179287e-03 5.67694650e+01] [ 7.12785223e-01 -7.01379683e-01 -1.94079909e-03 2.88189617e+02] [ 2.66816034e-03 -5.55575239e-05 9.99996439e-01 6.84398685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.38275509600004 meters 0.02038224253743391 Centerline is valid? [True, True] Translation: X:56.75, Y:288.21, Z:6.84 [[-7.01505976e-01 -7.12660217e-01 2.18638637e-03 5.67489702e+01] [ 7.12656460e-01 -7.01509380e-01 -2.31515119e-03 2.88208010e+02] [ 3.18368669e-03 -6.59500244e-05 9.99994930e-01 6.84359369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.41275509600007 meters 0.020565672824742674 Centerline is valid? [True, True] Translation: X:56.73, Y:288.23, Z:6.84 [[-7.01556539e-01 -7.12607216e-01 3.06231191e-03 5.67306371e+01] [ 7.12599862e-01 -7.01563217e-01 -3.23860197e-03 2.88226929e+02] [ 4.45625653e-03 -8.98593426e-05 9.99990067e-01 6.84289052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.44275509600004 meters 0.021548665380651217 Centerline is valid? [True, True] Translation: X:56.71, Y:288.25, Z:6.84 [[-7.01564257e-01 -7.12597428e-01 3.53536036e-03 5.67140510e+01] [ 7.12587644e-01 -7.01573157e-01 -3.73554545e-03 2.88245882e+02] [ 5.14225401e-03 -1.01471060e-04 9.99986773e-01 6.84279099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.47275509600007 meters 0.020074032993604995 Centerline is valid? [True, True] Translation: X:56.69, Y:288.26, Z:6.84 [[-7.01193068e-01 -7.12960325e-01 3.98196637e-03 5.66930040e+01] [ 7.12947943e-01 -7.01204366e-01 -4.20332388e-03 2.88262441e+02] [ 5.78897536e-03 -1.08406831e-04 9.99983238e-01 6.84183892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.50275509600004 meters 0.01943338481599592 Centerline is valid? [True, True] Translation: X:56.67, Y:288.28, Z:6.84 [[-6.99910695e-01 -7.14214382e-01 4.77863399e-03 5.66723748e+01] [ 7.14196614e-01 -6.99926999e-01 -5.03920271e-03 2.88280631e+02] [ 6.94376599e-03 -1.14107659e-04 9.99975885e-01 6.84067011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5327550960001 meters 0.019544050225011322 Centerline is valid? [True, True] Translation: X:56.65, Y:288.30, Z:6.84 [[-6.99530977e-01 -7.14584533e-01 5.03567838e-03 5.66548904e+01] [ 7.14564839e-01 -6.99549092e-01 -5.30647706e-03 2.88298488e+02] [ 7.31463067e-03 -1.13726367e-04 9.99973241e-01 6.84108087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.56275509600005 meters 0.018857916311419882 Centerline is valid? [True, True] Translation: X:56.63, Y:288.32, Z:6.84 [[-6.99114404e-01 -7.14990754e-01 5.22228684e-03 5.66346462e+01] [ 7.14969620e-01 -6.99133900e-01 -5.49845991e-03 2.88316198e+02] [ 7.58242576e-03 -1.10276082e-04 9.99971247e-01 6.84121630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5927550960001 meters 0.01847208872070555 Centerline is valid? [True, True] Translation: X:56.61, Y:288.33, Z:6.84 [[-6.98644654e-01 -7.15452086e-01 4.89501268e-03 5.66134605e+01] [ 7.15433556e-01 -6.98661795e-01 -5.15012090e-03 2.88334259e+02] [ 7.10462308e-03 -9.60481050e-05 9.99974757e-01 6.84170326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.62275509600005 meters 0.01826755976843017 Centerline is valid? [True, True] Translation: X:56.59, Y:288.35, Z:6.84 [[-6.98760629e-01 -7.15336627e-01 5.20519021e-03 5.65936333e+01] [ 7.15315702e-01 -6.98780009e-01 -5.47230603e-03 2.88353244e+02] [ 7.55182379e-03 -1.00477717e-04 9.99971480e-01 6.84195654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6527550960001 meters 0.01857635109385963 Centerline is valid? [True, True] Translation: X:56.58, Y:288.37, Z:6.84 [[-6.99283265e-01 -7.14824865e-01 5.32244330e-03 5.65750836e+01] [ 7.14803003e-01 -6.99303512e-01 -5.59151065e-03 2.88372213e+02] [ 7.71895413e-03 -1.05551368e-04 9.99970203e-01 6.84240842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.68275509600005 meters 0.018677014739142832 Centerline is valid? [True, True] Translation: X:56.56, Y:288.39, Z:6.84 [[-6.99851415e-01 -7.14269694e-01 5.17711925e-03 5.65574359e+01] [ 7.14249023e-01 -6.99870555e-01 -5.43498581e-03 2.88390267e+02] [ 7.50535897e-03 -1.05930135e-04 9.99971829e-01 6.84296266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7127550960001 meters 0.018355662940558258 Centerline is valid? [True, True] Translation: X:56.54, Y:288.41, Z:6.84 [[-7.00180153e-01 -7.13946209e-01 5.34453483e-03 5.65372795e+01] [ 7.13924208e-01 -7.00200542e-01 -5.60595703e-03 2.88409173e+02] [ 7.74459795e-03 -1.09587059e-04 9.99970004e-01 6.84295973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.74275509600005 meters 0.018870472889210843 Centerline is valid? [True, True] Translation: X:56.52, Y:288.43, Z:6.84 [[-7.01465537e-01 -7.12682860e-01 5.40761014e-03 5.65198028e+01] [ 7.12660331e-01 -7.01486370e-01 -5.66801795e-03 2.88428691e+02] [ 7.83286405e-03 -1.22130020e-04 9.99969315e-01 6.84359298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7727550960001 meters 0.01924769111386476 Centerline is valid? [True, True] Translation: X:56.50, Y:288.45, Z:6.84 [[-7.02248740e-01 -7.11911814e-01 5.31761172e-03 5.65020068e+01] [ 7.11890038e-01 -7.02268862e-01 -5.56955991e-03 2.88448392e+02] [ 7.69942862e-03 -1.25661624e-04 9.99970351e-01 6.84396699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.80275509600006 meters 0.019648777305708593 Centerline is valid? [True, True] Translation: X:56.48, Y:288.47, Z:6.84 [[-7.03400572e-01 -7.10772708e-01 5.45820292e-03 5.64839835e+01] [ 7.10749766e-01 -7.03421736e-01 -5.71249829e-03 2.88467885e+02] [ 7.89970645e-03 -1.38758119e-04 9.99968787e-01 6.84429903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8327550960001 meters 0.02057562934555404 Centerline is valid? [True, True] Translation: X:56.47, Y:288.49, Z:6.84 [[-7.05086919e-01 -7.09100909e-01 5.32327837e-03 5.64668185e+01] [ 7.09079072e-01 -7.05106998e-01 -5.56703516e-03 2.88488083e+02] [ 7.70107052e-03 -1.50618392e-04 9.99970335e-01 6.84492143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.86275509600006 meters 0.021758787300606715 Centerline is valid? [True, True] Translation: X:56.45, Y:288.51, Z:6.85 [[-7.06108653e-01 -7.08083212e-01 5.36051473e-03 5.64497066e+01] [ 7.08061071e-01 -7.06128982e-01 -5.60183095e-03 2.88508586e+02] [ 7.75177726e-03 -1.59929503e-04 9.99969942e-01 6.84570303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8927550960001 meters 0.021053684872026298 Centerline is valid? [True, True] Translation: X:56.43, Y:288.53, Z:6.85 [[-7.07230427e-01 -7.06963958e-01 5.20430029e-03 5.64293520e+01] [ 7.06943087e-01 -7.07249556e-01 -5.43478757e-03 2.88527073e+02] [ 7.52293800e-03 -1.64503021e-04 9.99971689e-01 6.84581944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.92275509600006 meters 0.022302537817687828 Centerline is valid? [True, True] Translation: X:56.41, Y:288.55, Z:6.85 [[-7.09111403e-01 -7.05074294e-01 5.59087669e-03 5.64127935e+01] [ 7.05050184e-01 -7.09133416e-01 -5.83405493e-03 2.88547928e+02] [ 8.07811965e-03 -1.95146241e-04 9.99967352e-01 6.84582225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.9527550960001 meters 0.022871165753036323 Centerline is valid? [True, True] Translation: X:56.39, Y:288.57, Z:6.85 [[-7.10357153e-01 -7.03818668e-01 5.65667449e-03 5.63946698e+01] [ 7.03793983e-01 -7.10379645e-01 -5.89827469e-03 2.88568107e+02] [ 8.16970225e-03 -2.08748142e-04 9.99966606e-01 6.84590789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.98275509600006 meters 0.024596652613308137 Centerline is valid? [True, True] Translation: X:56.38, Y:288.59, Z:6.85 [[-7.12338882e-01 -7.01812267e-01 5.73229768e-03 5.63788275e+01] [ 7.01786889e-01 -7.12361908e-01 -5.97283412e-03 2.88588794e+02] [ 8.27527877e-03 -2.31830629e-04 9.99965732e-01 6.84610385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.0127550960001 meters 0.025145919588143318 Centerline is valid? [True, True] Translation: X:56.36, Y:288.61, Z:6.85 [[-7.13498851e-01 -7.00634517e-01 5.53744729e-03 5.63603960e+01] [ 7.00610821e-01 -7.13520300e-01 -5.76697669e-03 2.88608795e+02] [ 7.99162398e-03 -2.35135749e-04 9.99968039e-01 6.84636337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.04275509600006 meters 0.026042319575317645 Centerline is valid? [True, True] Translation: X:56.34, Y:288.63, Z:6.85 [[-7.14378505e-01 -6.99735890e-01 5.74778569e-03 5.63431272e+01] [ 6.99710366e-01 -7.14401583e-01 -5.98182374e-03 2.88628655e+02] [ 8.29192395e-03 -2.51501071e-04 9.99965590e-01 6.84662612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.07275509600004 meters 0.027290916811204092 Centerline is valid? [True, True] Translation: X:56.33, Y:288.65, Z:6.85 [[-7.15383539e-01 -6.98710065e-01 5.53513098e-03 5.63262079e+01] [ 6.98686396e-01 -7.15404908e-01 -5.75658731e-03 2.88648243e+02] [ 7.98204536e-03 -2.50847088e-04 9.99968112e-01 6.84723543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.10275509600007 meters 0.025623328922266306 Centerline is valid? [True, True] Translation: X:56.31, Y:288.67, Z:6.85 [[-7.15425995e-01 -6.98667225e-01 5.45475638e-03 5.63053047e+01] [ 6.98644267e-01 -7.15446748e-01 -5.66914506e-03 2.88665364e+02] [ 7.86343356e-03 -2.44919470e-04 9.99969053e-01 6.84713866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.13275509600004 meters 0.025684962963198405 Centerline is valid? [True, True] Translation: X:56.29, Y:288.68, Z:6.85 [[-7.14372839e-01 -6.99743877e-01 5.47298539e-03 5.62860805e+01] [ 6.99720832e-01 -7.14393766e-01 -5.68369359e-03 2.88683609e+02] [ 7.88699643e-03 -2.30714431e-04 9.99968871e-01 6.84696482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.16275509600007 meters 0.02573821459637064 Centerline is valid? [True, True] Translation: X:56.27, Y:288.70, Z:6.85 [[-7.13291381e-01 -7.00845447e-01 5.57364585e-03 5.62675153e+01] [ 7.00821615e-01 -7.13313123e-01 -5.78381606e-03 2.88701923e+02] [ 8.02931588e-03 -2.19414655e-04 9.99967740e-01 6.84649102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.19275509600004 meters 0.024687724100765234 Centerline is valid? [True, True] Translation: X:56.25, Y:288.72, Z:6.85 [[-7.12086218e-01 -7.02065619e-01 6.08968341e-03 5.62469902e+01] [ 7.02037245e-01 -7.12112222e-01 -6.31580137e-03 2.88719349e+02] [ 8.77064498e-03 -2.22210551e-04 9.99961512e-01 6.84587440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.22275509600007 meters 0.020781932156057583 Centerline is valid? [True, True] Translation: X:56.22, Y:288.73, Z:6.84 [[-7.08786208e-01 -7.05387017e-01 7.16011112e-03 5.62219057e+01] [ 7.05348023e-01 -7.08822342e-01 -7.41985507e-03 2.88732856e+02] [ 1.03091162e-02 -2.08720716e-04 9.99946838e-01 6.84432816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.25275509600004 meters 0.02000317442675624 Centerline is valid? [True, True] Translation: X:56.20, Y:288.75, Z:6.84 [[-7.07204805e-01 -7.06966589e-01 7.72046597e-03 5.62015439e+01] [ 7.06921411e-01 -7.07246919e-01 -7.99464639e-03 2.88750431e+02] [ 1.11122237e-02 -1.96089643e-04 9.99938238e-01 6.84371206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.2827550960001 meters 0.01834214115435535 Centerline is valid? [True, True] Translation: X:56.18, Y:288.77, Z:6.84 [[-7.03782817e-01 -7.10373833e-01 7.66576219e-03 5.61786735e+01] [ 7.10329554e-01 -7.03824551e-01 -7.93263450e-03 2.88766749e+02] [ 1.10304876e-02 -1.37634414e-04 9.99939153e-01 6.84371681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.31275509600005 meters 0.0177552814708245 Centerline is valid? [True, True] Translation: X:56.16, Y:288.78, Z:6.84 [[-7.02367913e-01 -7.11777106e-01 7.25717946e-03 5.61581886e+01] [ 7.11737545e-01 -7.02405396e-01 -7.50509630e-03 2.88784225e+02] [ 1.04394377e-02 -1.06131729e-04 9.99945502e-01 6.84458257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3427550960001 meters 0.017386727424604263 Centerline is valid? [True, True] Translation: X:56.14, Y:288.80, Z:6.85 [[-7.01145481e-01 -7.12984948e-01 6.89051065e-03 5.61387506e+01] [ 7.12949394e-01 -7.01179334e-01 -7.12066463e-03 2.88801638e+02] [ 9.90841037e-03 -8.00364370e-05 9.99950907e-01 6.84520306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.37275509600005 meters 0.01702664833353056 Centerline is valid? [True, True] Translation: X:56.12, Y:288.82, Z:6.85 [[-7.00148247e-01 -7.13964820e-01 6.83136541e-03 5.61185516e+01] [ 7.13929973e-01 -7.00181571e-01 -7.05415524e-03 2.88820038e+02] [ 9.81961483e-03 -6.18379003e-05 9.99951785e-01 6.84638807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4027550960001 meters 0.016866150277268642 Centerline is valid? [True, True] Translation: X:56.10, Y:288.84, Z:6.85 [[-6.98873198e-01 -7.15219321e-01 6.12982959e-03 5.60983585e+01] [ 7.15191348e-01 -6.98900079e-01 -6.32573010e-03 2.88837751e+02] [ 8.80842278e-03 -3.68821391e-05 9.99961204e-01 6.84743956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.43275509600005 meters 0.016873641936860518 Centerline is valid? [True, True] Translation: X:56.08, Y:288.86, Z:6.85 [[-6.98750613e-01 -7.15342838e-01 5.67485256e-03 5.60807820e+01] [ 7.15318898e-01 -6.98773656e-01 -5.85248818e-03 2.88855529e+02] [ 8.15197298e-03 -3.01004294e-05 9.99966772e-01 6.84830262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4627550960001 meters 0.01709871388165055 Centerline is valid? [True, True] Translation: X:56.06, Y:288.87, Z:6.85 [[-6.99699289e-01 -7.14419547e-01 5.06118781e-03 5.60624579e+01] [ 7.14400507e-01 -6.99717593e-01 -5.21584282e-03 2.88874615e+02] [ 7.26770221e-03 -3.38063728e-05 9.99973589e-01 6.84902436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.49275509600005 meters 0.017259934041351344 Centerline is valid? [True, True] Translation: X:56.04, Y:288.89, Z:6.85 [[-7.00793436e-01 -7.13347526e-01 4.88540844e-03 5.60446146e+01] [ 7.13329786e-01 -7.00810464e-01 -5.03097652e-03 2.88894291e+02] [ 7.01258001e-03 -4.07679705e-05 9.99975411e-01 6.84963667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5227550960001 meters 0.017416484891575795 Centerline is valid? [True, True] Translation: X:56.03, Y:288.91, Z:6.85 [[-7.02216990e-01 -7.11946951e-01 4.77887698e-03 5.60274620e+01] [ 7.11929969e-01 -7.02233249e-01 -4.91768588e-03 2.88913788e+02] [ 6.85701777e-03 -5.10568360e-05 9.99976489e-01 6.85017366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.55275509600006 meters 0.018310951099349864 Centerline is valid? [True, True] Translation: X:56.01, Y:288.94, Z:6.85 [[-7.05169447e-01 -7.09026685e-01 4.14856994e-03 5.60109473e+01] [ 7.09013854e-01 -7.05181647e-01 -4.26605907e-03 2.88936315e+02] [ 5.95024510e-03 -6.69009532e-05 9.99982295e-01 6.85114844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5827550960001 meters 0.0185156028286692 Centerline is valid? [True, True] Translation: X:55.99, Y:288.96, Z:6.85 [[-7.06764767e-01 -7.07436431e-01 4.15451042e-03 5.59930686e+01] [ 7.07423553e-01 -7.06776973e-01 -4.26929131e-03 2.88956373e+02] [ 5.95656451e-03 -7.83861568e-05 9.99982256e-01 6.85120884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.61275509600006 meters 0.0200012636344096 Centerline is valid? [True, True] Translation: X:55.98, Y:288.98, Z:6.85 [[-7.09136692e-01 -7.05056739e-01 4.48854061e-03 5.59780436e+01] [ 7.05041682e-01 -7.09150890e-01 -4.60895420e-03 2.88978717e+02] [ 6.43262678e-03 -1.03770319e-04 9.99979305e-01 6.85110465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6427550960001 meters 0.02060901935092836 Centerline is valid? [True, True] Translation: X:55.96, Y:289.00, Z:6.85 [[-7.10394519e-01 -7.03786876e-01 4.86413715e-03 5.59598871e+01] [ 7.03769194e-01 -7.10411161e-01 -4.99036803e-03 2.88999253e+02] [ 6.96769285e-03 -1.21900222e-04 9.99975718e-01 6.85067900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.67275509600006 meters 0.02010629545360834 Centerline is valid? [True, True] Translation: X:55.94, Y:289.02, Z:6.85 [[-7.11548775e-01 -7.02617146e-01 5.24282755e-03 5.59397708e+01] [ 7.02596601e-01 -7.11568076e-01 -5.37494188e-03 2.89018748e+02] [ 7.50715504e-03 -1.40940493e-04 9.99971811e-01 6.84999065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7027550960001 meters 0.021312108193784554 Centerline is valid? [True, True] Translation: X:55.92, Y:289.04, Z:6.85 [[-7.13409588e-01 -7.00724641e-01 5.63359728e-03 5.59238341e+01] [ 7.00700891e-01 -7.13431811e-01 -5.77169226e-03 2.89040202e+02] [ 8.06355450e-03 -1.70113968e-04 9.99967475e-01 6.84948560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.73275509600006 meters 0.023007708054550945 Centerline is valid? [True, True] Translation: X:55.91, Y:289.06, Z:6.85 [[-7.14226524e-01 -6.99892431e-01 5.57301247e-03 5.59086463e+01] [ 6.99869197e-01 -7.14248245e-01 -5.70547029e-03 2.89060890e+02] [ 7.97372984e-03 -1.74618455e-04 9.99968194e-01 6.84953118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7627550960001 meters 0.023530426891849077 Centerline is valid? [True, True] Translation: X:55.89, Y:289.08, Z:6.85 [[-7.15106448e-01 -6.98992552e-01 5.67276762e-03 5.58908150e+01] [ 6.98968490e-01 -7.15128924e-01 -5.80280736e-03 2.89080921e+02] [ 8.11287933e-03 -1.84539147e-04 9.99967073e-01 6.84947313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.79275509600006 meters 0.02255530031182534 Centerline is valid? [True, True] Translation: X:55.87, Y:289.10, Z:6.85 [[-7.16585826e-01 -6.97474106e-01 5.88436301e-03 5.58710676e+01] [ 6.97448201e-01 -7.16609956e-01 -6.01476556e-03 2.89100205e+02] [ 8.41193635e-03 -2.06057351e-04 9.99964598e-01 6.84884190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.82275509600004 meters 0.02527169691258296 Centerline is valid? [True, True] Translation: X:55.86, Y:289.12, Z:6.85 [[-7.17202128e-01 -6.96838058e-01 6.15043593e-03 5.58563818e+01] [ 6.96809775e-01 -7.17228466e-01 -6.28210957e-03 2.89122761e+02] [ 8.78888076e-03 -2.19858478e-04 9.99961353e-01 6.84901342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.85275509600007 meters 0.023308899312209003 Centerline is valid? [True, True] Translation: X:55.84, Y:289.14, Z:6.85 [[-7.18708964e-01 -6.95286357e-01 5.85728780e-03 5.58352700e+01] [ 6.95260678e-01 -7.18732796e-01 -5.97973977e-03 2.89140168e+02] [ 8.36745632e-03 -2.25350681e-04 9.99964967e-01 6.84907909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.88275509600004 meters 0.025462203157750246 Centerline is valid? [True, True] Translation: X:55.82, Y:289.16, Z:6.85 [[-7.19247823e-01 -6.94729915e-01 5.73714145e-03 5.58197042e+01] [ 6.94705295e-01 -7.19270669e-01 -5.85308556e-03 2.89161939e+02] [ 8.19287120e-03 -2.24196503e-04 9.99966413e-01 6.84909532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.91275509600007 meters 0.02358458457544584 Centerline is valid? [True, True] Translation: X:55.80, Y:289.18, Z:6.85 [[-7.19494722e-01 -6.94469960e-01 6.23052357e-03 5.57987409e+01] [ 6.94440958e-01 -7.19521658e-01 -6.35134297e-03 2.89179642e+02] [ 8.89381355e-03 -2.43026991e-04 9.99960420e-01 6.84911662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.94275509600004 meters 0.022440190312219565 Centerline is valid? [True, True] Translation: X:55.78, Y:289.20, Z:6.85 [[-7.19350687e-01 -6.94620301e-01 6.10136917e-03 5.57792422e+01] [ 6.94592532e-01 -7.19376524e-01 -6.21543107e-03 2.89198729e+02] [ 8.70654635e-03 -2.33109151e-04 9.99962070e-01 6.84944188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.97275509600007 meters 0.024197447281714975 Centerline is valid? [True, True] Translation: X:55.76, Y:289.22, Z:6.85 [[-7.19115141e-01 -6.94862846e-01 6.24807137e-03 5.57629058e+01] [ 6.94833777e-01 -7.19142247e-01 -6.36014857e-03 2.89220014e+02] [ 8.91268302e-03 -2.32308115e-04 9.99960254e-01 6.84924964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.00275509600004 meters 0.02204671941525607 Centerline is valid? [True, True] Translation: X:55.74, Y:289.24, Z:6.85 [[-7.17808588e-01 -6.96209899e-01 6.52745223e-03 5.57413336e+01] [ 6.96178277e-01 -7.17838232e-01 -6.63927077e-03 2.89236606e+02] [ 9.30798080e-03 -2.21455129e-04 9.99956655e-01 6.84912210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0327550960001 meters 0.02204671941525607 Centerline is valid? [True, True] Translation: X:55.72, Y:289.26, Z:6.85 [[-7.18052898e-01 -6.95957899e-01 6.52978111e-03 5.57224183e+01] [ 6.95926287e-01 -7.18082554e-01 -6.63697952e-03 2.89255537e+02] [ 9.30798021e-03 -2.21456062e-04 9.99956655e-01 6.84936741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.06275509600005 meters 0.02115395596146909 Centerline is valid? [True, True] Translation: X:55.70, Y:289.27, Z:6.85 [[-7.17469822e-01 -6.96558847e-01 6.54429421e-03 5.57022468e+01] [ 6.96527162e-01 -7.17499637e-01 -6.64705246e-03 2.89273315e+02] [ 9.32559191e-03 -2.10780873e-04 9.99956494e-01 6.84982266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0927550960001 meters 0.020964074545727778 Centerline is valid? [True, True] Translation: X:55.68, Y:289.29, Z:6.85 [[-7.16684273e-01 -6.97370604e-01 6.15580802e-03 5.56832381e+01] [ 6.97342636e-01 -7.16710686e-01 -6.24825691e-03 2.89292121e+02] [ 8.76928408e-03 -1.85320073e-04 9.99961532e-01 6.85024308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.12275509600005 meters 0.01980944754349316 Centerline is valid? [True, True] Translation: X:55.66, Y:289.31, Z:6.85 [[-7.15012840e-01 -6.99083325e-01 6.25646536e-03 5.56618765e+01] [ 6.99054542e-01 -7.15040194e-01 -6.34581745e-03 2.89310894e+02] [ 8.90987937e-03 -1.63730435e-04 9.99960293e-01 6.85066784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1527550960001 meters 0.01959839130798319 Centerline is valid? [True, True] Translation: X:55.64, Y:289.33, Z:6.85 [[-7.14320662e-01 -6.99793017e-01 5.97702152e-03 5.56440157e+01] [ 6.99766804e-01 -7.14345653e-01 -6.05875555e-03 2.89329635e+02] [ 8.50953417e-03 -1.45373033e-04 9.99963783e-01 6.85125013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.18275509600005 meters 0.01972381315973077 Centerline is valid? [True, True] Translation: X:55.63, Y:289.35, Z:6.85 [[-7.13719555e-01 -7.00406563e-01 5.91967043e-03 5.56267315e+01] [ 7.00380909e-01 -7.13744092e-01 -5.99614352e-03 2.89348904e+02] [ 8.42486807e-03 -1.33540729e-04 9.99964501e-01 6.85161509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2127550960001 meters 0.018884870705475728 Centerline is valid? [True, True] Translation: X:55.61, Y:289.37, Z:6.85 [[-7.12949006e-01 -7.01189379e-01 6.09668195e-03 5.56074443e+01] [ 7.01162237e-01 -7.12975063e-01 -6.17076863e-03 2.89366743e+02] [ 8.67365962e-03 -1.24680218e-04 9.99962375e-01 6.85189225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.24275509600005 meters 0.01829449880291864 Centerline is valid? [True, True] Translation: X:55.59, Y:289.39, Z:6.85 [[-7.11559909e-01 -7.02596420e-01 6.38479835e-03 5.55884344e+01] [ 7.02566756e-01 -7.11588546e-01 -6.45715028e-03 2.89385436e+02] [ 9.08012004e-03 -1.08902203e-04 9.99958769e-01 6.85176241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2727550960001 meters 0.0180470712563894 Centerline is valid? [True, True] Translation: X:55.57, Y:289.40, Z:6.85 [[-7.11065234e-01 -7.03095061e-01 6.60062463e-03 5.55699491e+01] [ 7.03063429e-01 -7.11095862e-01 -6.67011729e-03 2.89404256e+02] [ 9.38340338e-03 -1.02230723e-04 9.99955970e-01 6.85157149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.30275509600006 meters 0.01759863050525617 Centerline is valid? [True, True] Translation: X:55.55, Y:289.42, Z:6.85 [[-7.10121745e-01 -7.04044133e-01 6.99762228e-03 5.55515110e+01] [ 7.04008683e-01 -7.10156216e-01 -7.06559492e-03 2.89423803e+02] [ 9.94389561e-03 -9.10457485e-05 9.99950554e-01 6.85109890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3327550960001 meters 0.01739353206436504 Centerline is valid? [True, True] Translation: X:55.53, Y:289.44, Z:6.85 [[-7.09917351e-01 -7.04249868e-01 7.03401631e-03 5.55330509e+01] [ 7.04214114e-01 -7.09952193e-01 -7.09688821e-03 2.89442837e+02] [ 9.99179789e-03 -8.47505142e-05 9.99950077e-01 6.85110792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.36275509600006 meters 0.017323440654665612 Centerline is valid? [True, True] Translation: X:55.51, Y:289.46, Z:6.85 [[-7.09892644e-01 -7.04278080e-01 6.69478732e-03 5.55146134e+01] [ 7.04245739e-01 -7.09924208e-01 -6.74971351e-03 2.89462195e+02] [ 9.50646686e-03 -7.67965265e-05 9.99954810e-01 6.85127068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3927550960001 meters 0.016998248951309983 Centerline is valid? [True, True] Translation: X:55.50, Y:289.48, Z:6.85 [[-7.08740296e-01 -7.05443748e-01 6.02586403e-03 5.54962765e+01] [ 7.05417625e-01 -7.08765910e-01 -6.07121251e-03 2.89480146e+02] [ 8.55382592e-03 -5.21622588e-05 9.99963414e-01 6.85269800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.42275509600006 meters 0.01682466472861446 Centerline is valid? [True, True] Translation: X:55.48, Y:289.50, Z:6.85 [[-7.08255054e-01 -7.05934752e-01 5.55915147e-03 5.54760766e+01] [ 7.05912566e-01 -7.08276870e-01 -5.59693007e-03 2.89498012e+02] [ 7.88848584e-03 -3.97791378e-05 9.99968885e-01 6.85314542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.4527550960001 meters 0.016724679833286862 Centerline is valid? [True, True] Translation: X:55.46, Y:289.52, Z:6.85 [[-7.07655899e-01 -7.06536902e-01 5.36044410e-03 5.54562547e+01] [ 7.06516320e-01 -7.07676201e-01 -5.39303359e-03 2.89515838e+02] [ 7.60383595e-03 -2.91707988e-05 9.99971090e-01 6.85337036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.48275509600006 meters 0.01655307981557165 Centerline is valid? [True, True] Translation: X:55.44, Y:289.53, Z:6.85 [[-7.07198502e-01 -7.06991987e-01 5.71042998e-03 5.54365968e+01] [ 7.06968681e-01 -7.07221556e-01 -5.74061150e-03 2.89532832e+02] [ 8.09710551e-03 -2.26567037e-05 9.99967218e-01 6.85302013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.5127550960001 meters 0.016541872044998913 Centerline is valid? [True, True] Translation: X:55.42, Y:289.55, Z:6.85 [[-7.07470949e-01 -7.06715802e-01 6.13446154e-03 5.54171476e+01] [ 7.06688940e-01 -7.07497544e-01 -6.16173370e-03 2.89551359e+02] [ 8.69471105e-03 -2.40914613e-05 9.99962200e-01 6.85270755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.54275509600006 meters 0.016534267415603456 Centerline is valid? [True, True] Translation: X:55.40, Y:289.57, Z:6.85 [[-7.08633066e-01 -7.05549360e-01 6.26731232e-03 5.53980990e+01] [ 7.05521315e-01 -7.08660779e-01 -6.29084331e-03 2.89570264e+02] [ 8.87989890e-03 -3.61771525e-05 9.99960572e-01 6.85218989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.57275509600004 meters 0.01681402860881439 Centerline is valid? [True, True] Translation: X:55.38, Y:289.59, Z:6.85 [[-7.09504167e-01 -7.04670317e-01 6.60157967e-03 5.53802092e+01] [ 7.04639211e-01 -7.09534877e-01 -6.62118750e-03 2.89589304e+02] [ 9.34980532e-03 -4.60282323e-05 9.99956289e-01 6.85215039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.60275509600007 meters 0.016854448591001596 Centerline is valid? [True, True] Translation: X:55.36, Y:289.61, Z:6.85 [[-7.11267430e-01 -7.02879237e-01 7.70857035e-03 5.53608705e+01] [ 7.02836791e-01 -7.11309196e-01 -7.72479581e-03 2.89608396e+02] [ 1.09127756e-02 -7.65288145e-05 9.99940451e-01 6.85093368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.63275509600004 meters 0.016912757963035027 Centerline is valid? [True, True] Translation: X:55.34, Y:289.63, Z:6.85 [[-7.12336813e-01 -7.01790620e-01 8.13575035e-03 5.53412835e+01] [ 7.01743337e-01 -7.12383266e-01 -8.14689197e-03 2.89627789e+02] [ 1.15131848e-02 -9.41224663e-05 9.99933717e-01 6.85057578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.66275509600007 meters 0.01727770309118647 Centerline is valid? [True, True] Translation: X:55.32, Y:289.65, Z:6.85 [[-7.13009795e-01 -7.01103603e-01 8.41252095e-03 5.53227777e+01] [ 7.01053071e-01 -7.13059413e-01 -8.41817422e-03 2.89646552e+02] [ 1.19006395e-02 -1.04617029e-04 9.99929179e-01 6.85053357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.69275509600004 meters 0.017643852887857532 Centerline is valid? [True, True] Translation: X:55.30, Y:289.66, Z:6.85 [[-7.14049228e-01 -7.00040826e-01 8.74879896e-03 5.53047734e+01] [ 6.99986161e-01 -7.14102812e-01 -8.74915599e-03 2.89664501e+02] [ 1.23723083e-02 -1.23289886e-04 9.99923452e-01 6.85023979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.72275509600007 meters 0.01782754345695851 Centerline is valid? [True, True] Translation: X:54.91, Y:289.25, Z:8.05 [[-7.48104351e-01 6.63570258e-01 -3.79387466e-03 5.49096626e+01] [ 6.63557532e-01 7.48113739e-01 4.15148044e-03 2.89250894e+02] [ 5.59304871e-03 5.88286471e-04 -9.99984186e-01 8.04743768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.75275509600004 meters 0.018059151497179637 Centerline is valid? [True, True] Translation: X:54.93, Y:289.26, Z:8.05 [[-7.92401687e-01 6.09987309e-01 -3.87942159e-03 5.49272187e+01] [ 6.09976236e-01 7.92410969e-01 3.72117431e-03 2.89261414e+02] [ 5.34396533e-03 5.82309820e-04 -9.99985551e-01 8.04781211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.7827550960001 meters 0.019287170592306932 Centerline is valid? [True, True] Translation: X:55.27, Y:289.72, Z:6.85 [[-7.67849214e-01 -6.40552896e-01 9.97860975e-03 5.52694390e+01] [ 6.40502102e-01 -7.67914025e-01 -8.06892825e-03 2.89719328e+02] [ 1.28312897e-02 1.95600303e-04 9.99917657e-01 6.84947920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.81275509600005 meters 0.01922723004742982 Centerline is valid? [True, True] Translation: X:55.26, Y:289.70, Z:6.85 [[-7.24127598e-01 -6.89606157e-01 9.08679975e-03 5.52610696e+01] [ 6.89555882e-01 -7.24184571e-01 -8.33018649e-03 2.89699789e+02] [ 1.23250681e-02 2.33738290e-04 9.99924016e-01 6.85012964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8427550960001 meters 0.019950359153414657 Centerline is valid? [True, True] Translation: X:55.26, Y:289.68, Z:6.85 [[-6.77219489e-01 -7.35733752e-01 8.34323237e-03 5.52558584e+01] [ 7.35682621e-01 -6.77270831e-01 -8.67774634e-03 2.89679018e+02] [ 1.20351388e-02 2.61232113e-04 9.99927541e-01 6.85036901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.87275509600005 meters 0.021713178282981516 Centerline is valid? [True, True] Translation: X:55.24, Y:289.70, Z:6.85 [[-6.79543558e-01 -7.33593922e-01 7.77883426e-03 5.52413563e+01] [ 7.33541493e-01 -6.79588031e-01 -8.77420575e-03 2.89701092e+02] [ 1.17231067e-02 -2.56357300e-04 9.99931249e-01 6.85090684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9027550960001 meters 0.02140965494574462 Centerline is valid? [True, True] Translation: X:55.22, Y:289.72, Z:6.85 [[-6.80430434e-01 -7.32771051e-01 7.81096167e-03 5.52226971e+01] [ 7.32718195e-01 -6.80475212e-01 -8.80526021e-03 2.89720425e+02] [ 1.17674056e-02 -2.68133290e-04 9.99930726e-01 6.85148901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.93275509600005 meters 0.02161915560324438 Centerline is valid? [True, True] Translation: X:55.20, Y:289.74, Z:6.85 [[-6.80994679e-01 -7.32250359e-01 7.46043102e-03 5.52045382e+01] [ 7.32202174e-01 -6.81035493e-01 -8.40434727e-03 2.89741177e+02] [ 1.12349046e-02 -2.60771959e-04 9.99936852e-01 6.85188395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9627550960001 meters 0.022088795224425174 Centerline is valid? [True, True] Translation: X:55.19, Y:289.76, Z:6.85 [[-6.81308326e-01 -7.31955309e-01 7.77108711e-03 5.51878636e+01] [ 7.31903086e-01 -6.81352589e-01 -8.74769440e-03 2.89761006e+02] [ 1.16977717e-02 -2.72194391e-04 9.99931542e-01 6.85213402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.99275509600005 meters 0.02190860805728312 Centerline is valid? [True, True] Translation: X:55.17, Y:289.78, Z:6.85 [[-6.81204371e-01 -7.32050152e-01 7.94854678e-03 5.51700866e+01] [ 7.31995611e-01 -6.81250688e-01 -8.94010148e-03 2.89780010e+02] [ 1.19595556e-02 -2.71734852e-04 9.99928445e-01 6.85225440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0227550960001 meters 0.02132356868083036 Centerline is valid? [True, True] Translation: X:55.15, Y:289.80, Z:6.85 [[-6.80257657e-01 -7.32932556e-01 7.70633813e-03 5.51506569e+01] [ 7.32881419e-01 -6.80301263e-01 -8.66122842e-03 2.89798777e+02] [ 1.15907278e-02 -2.44034929e-04 9.99932796e-01 6.85250541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.05275509600006 meters 0.02104734755972525 Centerline is valid? [True, True] Translation: X:55.13, Y:289.82, Z:6.85 [[-6.79763040e-01 -7.33392637e-01 7.57958346e-03 5.51321351e+01] [ 7.33343267e-01 -6.79805258e-01 -8.51257630e-03 2.89817289e+02] [ 1.13957015e-02 -2.28098243e-04 9.99935041e-01 6.85275677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0827550960001 meters 0.020228195416735855 Centerline is valid? [True, True] Translation: X:55.11, Y:289.84, Z:6.85 [[-6.79086986e-01 -7.34017476e-01 7.69479049e-03 5.51125901e+01] [ 7.33966712e-01 -6.79130546e-01 -8.63526256e-03 2.89835391e+02] [ 1.15642009e-02 -2.16374346e-04 9.99933109e-01 6.85304703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.11275509600006 meters 0.01964893647507743 Centerline is valid? [True, True] Translation: X:55.09, Y:289.85, Z:6.85 [[-6.78097937e-01 -7.34929571e-01 7.85579130e-03 5.50935414e+01] [ 7.34876805e-01 -6.78143410e-01 -8.80889264e-03 2.89852214e+02] [ 1.18012688e-02 -2.00253117e-04 9.99930343e-01 6.85262376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1427550960001 meters 0.019445858760431804 Centerline is valid? [True, True] Translation: X:55.08, Y:289.87, Z:6.85 [[-6.77824319e-01 -7.35179831e-01 8.05039147e-03 5.50752729e+01] [ 7.35124524e-01 -6.77872096e-01 -9.01973220e-03 2.89870796e+02] [ 1.20882609e-02 -1.95753643e-04 9.99926915e-01 6.85280262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.17275509600006 meters 0.019853091683896384 Centerline is valid? [True, True] Translation: X:55.06, Y:289.89, Z:6.85 [[-6.77820915e-01 -7.35180478e-01 8.27481028e-03 5.50579901e+01] [ 7.35122136e-01 -6.77871394e-01 -9.26381477e-03 2.89889984e+02] [ 1.24198329e-02 -1.96211194e-04 9.99922852e-01 6.85284553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2027550960001 meters 0.01954855060184701 Centerline is valid? [True, True] Translation: X:55.04, Y:289.91, Z:6.85 [[-6.78064937e-01 -7.34959075e-01 7.94354873e-03 5.50396202e+01] [ 7.34905377e-01 -6.78111439e-01 -8.88614964e-03 2.89908618e+02] [ 1.19175676e-02 -1.87629825e-04 9.99928966e-01 6.85395385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.23275509600006 meters 0.019539202377852016 Centerline is valid? [True, True] Translation: X:55.02, Y:289.93, Z:6.85 [[-6.78620176e-01 -7.34448580e-01 7.74211580e-03 5.50212659e+01] [ 7.34397613e-01 -6.78664312e-01 -8.65438923e-03 2.89927798e+02] [ 1.16105016e-02 -1.87251775e-04 9.99932578e-01 6.85456795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2627550960001 meters 0.02028010409289859 Centerline is valid? [True, True] Translation: X:55.00, Y:289.95, Z:6.86 [[-6.79711992e-01 -7.33439929e-01 7.58143433e-03 5.50035092e+01] [ 7.33391064e-01 -6.79754244e-01 -8.46849910e-03 2.89947677e+02] [ 1.13646475e-02 -1.95984197e-04 9.99935401e-01 6.85535828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.29275509600006 meters 0.021445426397621113 Centerline is valid? [True, True] Translation: X:54.99, Y:289.97, Z:6.86 [[-6.80562227e-01 -7.32655933e-01 7.09497769e-03 5.49878188e+01] [ 7.32613153e-01 -6.80599182e-01 -7.91968793e-03 2.89967527e+02] [ 1.06312424e-02 -1.91966480e-04 9.99943468e-01 6.85574116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.32275509600004 meters 0.022003376262728126 Centerline is valid? [True, True] Translation: X:54.97, Y:289.99, Z:6.86 [[-6.82372973e-01 -7.30971027e-01 6.96301298e-03 5.49696906e+01] [ 7.30929796e-01 -6.82408466e-01 -7.76656006e-03 2.89987542e+02] [ 1.04287494e-02 -2.10217026e-04 9.99945597e-01 6.85662666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.35275509600007 meters 0.022566417618418884 Centerline is valid? [True, True] Translation: X:54.95, Y:290.01, Z:6.86 [[-6.83554887e-01 -7.29866825e-01 6.86546546e-03 5.49519813e+01] [ 7.29826737e-01 -6.83589328e-01 -7.65277747e-03 2.90007665e+02] [ 1.02786673e-02 -2.20493183e-04 9.99947149e-01 6.85688811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.38275509600004 meters 0.023009915305267668 Centerline is valid? [True, True] Translation: X:54.93, Y:290.03, Z:6.86 [[-6.84299096e-01 -7.29167528e-01 7.03295173e-03 5.49349256e+01] [ 7.29125480e-01 -6.84335197e-01 -7.83412098e-03 2.90027732e+02] [ 1.05252830e-02 -2.32977603e-04 9.99944581e-01 6.85714566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.41275509600007 meters 0.023526100006423273 Centerline is valid? [True, True] Translation: X:54.92, Y:290.05, Z:6.86 [[-6.85264320e-01 -7.28257569e-01 7.32968845e-03 5.49176998e+01] [ 7.28211913e-01 -6.85303472e-01 -8.15852094e-03 2.90047711e+02] [ 1.09645656e-02 -2.53176856e-04 9.99939855e-01 6.85715664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.44275509600004 meters 0.024373979558228568 Centerline is valid? [True, True] Translation: X:54.90, Y:290.07, Z:6.86 [[-6.86075187e-01 -7.27492636e-01 7.43655261e-03 5.49014135e+01] [ 7.27445658e-01 -6.86115438e-01 -8.27162487e-03 2.90067457e+02] [ 1.11198797e-02 -2.65268665e-04 9.99938137e-01 6.85734015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.47275509600007 meters 0.021753098201884057 Centerline is valid? [True, True] Translation: X:54.88, Y:290.08, Z:6.86 [[-6.86283704e-01 -7.27294022e-01 7.62127202e-03 5.48798236e+01] [ 7.27244728e-01 -6.86325967e-01 -8.47187532e-03 2.90084315e+02] [ 1.13922212e-02 -2.71580077e-04 9.99935070e-01 6.85777588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.50275509600004 meters 0.021208161989451496 Centerline is valid? [True, True] Translation: X:54.86, Y:290.10, Z:6.86 [[-6.85924016e-01 -7.27629461e-01 7.97570799e-03 5.48609806e+01] [ 7.27575577e-01 -6.85970329e-01 -8.85927134e-03 2.90103981e+02] [ 1.19173659e-02 -2.73856633e-04 9.99928948e-01 6.85767040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5327550960001 meters 0.02104581554859469 Centerline is valid? [True, True] Translation: X:54.84, Y:290.12, Z:6.86 [[-6.85718351e-01 -7.27822802e-01 8.01951304e-03 5.48421558e+01] [ 7.27768416e-01 -6.85765191e-01 -8.90145102e-03 2.90123696e+02] [ 1.19781819e-02 -2.67540009e-04 9.99928223e-01 6.85776271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.56275509600005 meters 0.020627650448560703 Centerline is valid? [True, True] Translation: X:54.82, Y:290.14, Z:6.86 [[-6.84425659e-01 -7.29034942e-01 8.34087650e-03 5.48236910e+01] [ 7.28976286e-01 -6.84476435e-01 -9.25117639e-03 2.90142189e+02] [ 1.24535643e-02 -2.51441325e-04 9.99922420e-01 6.85792629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5927550960001 meters 0.02033434210186036 Centerline is valid? [True, True] Translation: X:54.80, Y:290.16, Z:6.86 [[-6.83987241e-01 -7.29443808e-01 8.55478943e-03 5.48049542e+01] [ 7.29382229e-01 -6.84040693e-01 -9.48125572e-03 2.90161660e+02] [ 1.27678674e-02 -2.45346561e-04 9.99918457e-01 6.85769221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.62275509600005 meters 0.019621955493705445 Centerline is valid? [True, True] Translation: X:54.79, Y:290.18, Z:6.86 [[-6.83462928e-01 -7.29935845e-01 8.49044741e-03 5.47852589e+01] [ 7.29875311e-01 -6.83515625e-01 -9.40328484e-03 2.90180509e+02] [ 1.26671481e-02 -2.29828655e-04 9.99919742e-01 6.85810158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6527550960001 meters 0.019525992933142437 Centerline is valid? [True, True] Translation: X:54.77, Y:290.20, Z:6.86 [[-6.82535185e-01 -7.30801441e-01 8.65880447e-03 5.47671852e+01] [ 7.30738644e-01 -6.82590074e-01 -9.58259541e-03 2.90199987e+02] [ 1.29133885e-02 -2.13135493e-04 9.99916596e-01 6.85806119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.68275509600005 meters 0.01910683914646363 Centerline is valid? [True, True] Translation: X:54.75, Y:290.22, Z:6.86 [[-6.82497272e-01 -7.30837836e-01 8.57508589e-03 5.47482827e+01] [ 7.30776340e-01 -6.82551108e-01 -9.48291445e-03 2.90219607e+02] [ 1.27834071e-02 -2.05593359e-04 9.99918268e-01 6.85866101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7127550960001 meters 0.018856688898001083 Centerline is valid? [True, True] Translation: X:54.73, Y:290.24, Z:6.86 [[-6.82162186e-01 -7.31154486e-01 8.23828115e-03 5.47304666e+01] [ 7.31097828e-01 -6.82211904e-01 -9.10410496e-03 2.90240228e+02] [ 1.22767607e-02 -1.87486690e-04 9.99924620e-01 6.85922573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.74275509600005 meters 0.019018209712458833 Centerline is valid? [True, True] Translation: X:54.71, Y:290.26, Z:6.86 [[-6.82506411e-01 -7.30831950e-01 8.34618691e-03 5.47138364e+01] [ 7.30773858e-01 -6.82557414e-01 -9.21653107e-03 2.90259930e+02] [ 1.24324871e-02 -1.91166337e-04 9.99922695e-01 6.85964176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7727550960001 meters 0.0198032971104511 Centerline is valid? [True, True] Translation: X:54.70, Y:290.28, Z:6.86 [[-6.82999709e-01 -7.30368920e-01 8.52277842e-03 5.46979213e+01] [ 7.30308399e-01 -6.83052854e-01 -9.40433308e-03 2.90280908e+02] [ 1.26901407e-02 -1.98900102e-04 9.99919457e-01 6.85941115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.80275509600006 meters 0.019924743108699162 Centerline is valid? [True, True] Translation: X:54.68, Y:290.30, Z:6.86 [[-6.84225644e-01 -7.29219938e-01 8.57612578e-03 5.46806872e+01] [ 7.29158656e-01 -6.84279354e-01 -9.45624058e-03 2.90302155e+02] [ 1.27641450e-02 -2.16845953e-04 9.99918512e-01 6.86004605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8327550960001 meters 0.020074703889029613 Centerline is valid? [True, True] Translation: X:54.66, Y:290.32, Z:6.86 [[-6.84972193e-01 -7.28522085e-01 8.28649301e-03 5.46637460e+01] [ 7.28464899e-01 -6.85022280e-01 -9.13052608e-03 2.90321827e+02] [ 1.23282222e-02 -2.17737174e-04 9.99923981e-01 6.86066288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.86275509600006 meters 0.020055436045007553 Centerline is valid? [True, True] Translation: X:54.65, Y:290.34, Z:6.86 [[-6.85869768e-01 -7.27677413e-01 8.26099475e-03 5.46454275e+01] [ 7.27620601e-01 -6.85919479e-01 -9.09557750e-03 2.90341817e+02] [ 1.22850235e-02 -2.27511666e-04 9.99924510e-01 6.86136584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8927550960001 meters 0.02058227261307103 Centerline is valid? [True, True] Translation: X:54.63, Y:290.36, Z:6.86 [[-6.86713992e-01 -7.26877447e-01 8.54811438e-03 5.46290178e+01] [ 7.26816637e-01 -6.86767149e-01 -9.40531075e-03 2.90362004e+02] [ 1.27070724e-02 -2.45846746e-04 9.99919232e-01 6.86124724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.92275509600006 meters 0.02058227261307103 Centerline is valid? [True, True] Translation: X:54.61, Y:290.38, Z:6.86 [[-6.86994878e-01 -7.26611945e-01 8.55097375e-03 5.46113845e+01] [ 7.26551147e-01 -6.87048048e-01 -9.40271060e-03 2.90381021e+02] [ 1.27070517e-02 -2.46894232e-04 9.99919232e-01 6.86148326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.9527550960001 meters 0.020645753084415273 Centerline is valid? [True, True] Translation: X:54.59, Y:290.40, Z:6.86 [[-6.87272579e-01 -7.26347554e-01 8.69666131e-03 5.45937524e+01] [ 7.26284742e-01 -6.87327555e-01 -9.55541071e-03 2.90400909e+02] [ 1.29180041e-02 -2.50919348e-04 9.99916528e-01 6.86144593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.98275509600006 meters 0.020652474024883825 Centerline is valid? [True, True] Translation: X:54.58, Y:290.42, Z:6.86 [[-6.87374811e-01 -7.26246112e-01 9.08046967e-03 5.45757890e+01] [ 7.26177731e-01 -6.87434738e-01 -9.96920357e-03 2.90420353e+02] [ 1.34823256e-02 -2.58544552e-04 9.99909076e-01 6.86218999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.0127550960001 meters 0.020484669430604414 Centerline is valid? [True, True] Translation: X:54.56, Y:290.44, Z:6.86 [[-6.87107839e-01 -7.26497304e-01 9.19162008e-03 5.45574306e+01] [ 7.26427367e-01 -6.87169269e-01 -1.00834535e-02 2.90439604e+02] [ 1.36418007e-02 -2.51375604e-04 9.99906915e-01 6.86236786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.04275509600006 meters 0.020478081888612106 Centerline is valid? [True, True] Translation: X:54.54, Y:290.46, Z:6.86 [[-6.86963553e-01 -7.26633487e-01 9.21157447e-03 5.45392360e+01] [ 7.26563363e-01 -6.87025266e-01 -1.00976619e-02 2.90458199e+02] [ 1.36658837e-02 -2.43933185e-04 9.99906588e-01 6.86252425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.07275509600004 meters 0.020347773464230327 Centerline is valid? [True, True] Translation: X:54.52, Y:290.48, Z:6.86 [[-6.86916466e-01 -7.26676170e-01 9.35486898e-03 5.45207836e+01] [ 7.26603960e-01 -6.86980120e-01 -1.02469389e-02 2.90476815e+02] [ 1.38728153e-02 -2.41506187e-04 9.99903739e-01 6.86260272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.10275509600007 meters 0.019107359485856873 Centerline is valid? [True, True] Translation: X:54.50, Y:290.50, Z:6.86 [[-6.86231379e-01 -7.27322472e-01 9.40832227e-03 5.44999605e+01] [ 7.27249601e-01 -6.86295834e-01 -1.02978772e-02 2.90495159e+02] [ 1.39467699e-02 -2.24527852e-04 9.99902714e-01 6.86333189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.13275509600004 meters 0.019815722372814284 Centerline is valid? [True, True] Translation: X:54.48, Y:290.52, Z:6.86 [[-6.86040778e-01 -7.27502661e-01 9.37703916e-03 5.44833435e+01] [ 7.27430385e-01 -6.86104825e-01 -1.02569207e-02 2.90515678e+02] [ 1.38955690e-02 -2.15522682e-04 9.99903429e-01 6.86323058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.16275509600007 meters 0.019718982906537886 Centerline is valid? [True, True] Translation: X:54.47, Y:290.53, Z:6.86 [[-6.85646831e-01 -7.27873409e-01 9.41929615e-03 5.44666078e+01] [ 7.27800595e-01 -6.85711498e-01 -1.02973308e-02 2.90534813e+02] [ 1.39540729e-02 -2.04962862e-04 9.99902616e-01 6.86384681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.19275509600004 meters 0.018836562151892982 Centerline is valid? [True, True] Translation: X:54.45, Y:290.55, Z:6.86 [[-6.85686031e-01 -7.27836962e-01 9.38210827e-03 5.44472024e+01] [ 7.27764812e-01 -6.85750185e-01 -1.02499848e-02 2.90552871e+02] [ 1.38941003e-02 -2.00303131e-04 9.99903452e-01 6.86420909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.22275509600007 meters 0.019134949320589265 Centerline is valid? [True, True] Translation: X:54.43, Y:290.57, Z:6.86 [[-6.85809504e-01 -7.27720445e-01 9.39564055e-03 5.44304352e+01] [ 7.27648189e-01 -6.85873833e-01 -1.02566195e-02 2.90571505e+02] [ 1.39081757e-02 -1.97366275e-04 9.99903257e-01 6.86381380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.25275509600004 meters 0.018855155230605828 Centerline is valid? [True, True] Translation: X:54.41, Y:290.59, Z:6.86 [[-6.86136212e-01 -7.27413233e-01 9.33207777e-03 5.44116526e+01] [ 7.27342035e-01 -6.86199643e-01 -1.01790969e-02 2.90590327e+02] [ 1.38080782e-02 -1.96634520e-04 9.99904645e-01 6.86457792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.2827550960001 meters 0.019208854084987882 Centerline is valid? [True, True] Translation: X:54.39, Y:290.61, Z:6.86 [[-6.86445102e-01 -7.27123073e-01 9.22808486e-03 5.43926574e+01] [ 7.27053531e-01 -6.86507100e-01 -1.00580820e-02 2.90610362e+02] [ 1.36486093e-02 -1.95009443e-04 9.99906834e-01 6.86423498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.31275509600005 meters 0.019070147751839094 Centerline is valid? [True, True] Translation: X:54.38, Y:290.63, Z:6.86 [[-6.86781849e-01 -7.26806907e-01 9.07812403e-03 5.43755260e+01] [ 7.26739675e-01 -6.86841818e-01 -9.88747635e-03 2.90630580e+02] [ 1.34215213e-02 -1.93106382e-04 9.99909909e-01 6.86493476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3427550960001 meters 0.018982165319963256 Centerline is valid? [True, True] Translation: X:54.36, Y:290.65, Z:6.87 [[-6.87291418e-01 -7.26326148e-01 8.99068091e-03 5.43572388e+01] [ 7.26260263e-01 -6.87350193e-01 -9.78482842e-03 2.90650101e+02] [ 1.32867230e-02 -1.95454328e-04 9.99911709e-01 6.86555882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.37275509600005 meters 0.019024709274449207 Centerline is valid? [True, True] Translation: X:54.34, Y:290.67, Z:6.87 [[-6.87957447e-01 -7.25698813e-01 8.70537467e-03 5.43393057e+01] [ 7.25637083e-01 -6.88012496e-01 -9.46730891e-03 2.90670602e+02] [ 1.28598214e-02 -1.96162990e-04 9.99917290e-01 6.86666190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4027550960001 meters 0.01966842454757161 Centerline is valid? [True, True] Translation: X:54.32, Y:290.69, Z:6.87 [[-6.88396771e-01 -7.25288978e-01 8.11068009e-03 5.43234745e+01] [ 7.25235439e-01 -6.88444525e-01 -8.81442642e-03 2.90689988e+02] [ 1.19767596e-02 -1.85670045e-04 9.99928259e-01 6.86743948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.43275509600005 meters 0.019755454692713552 Centerline is valid? [True, True] Translation: X:54.31, Y:290.71, Z:6.87 [[-6.88816802e-01 -7.24895359e-01 7.62439175e-03 5.43056468e+01] [ 7.24848095e-01 -6.88858975e-01 -8.27961540e-03 2.90708986e+02] [ 1.12539855e-02 -1.76612369e-04 9.99936656e-01 6.86843585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4627550960001 meters 0.01937134476990777 Centerline is valid? [True, True] Translation: X:54.29, Y:290.73, Z:6.87 [[-6.89181884e-01 -7.24550956e-01 7.36497579e-03 5.42864040e+01] [ 7.24506897e-01 -6.89221215e-01 -7.99208154e-03 2.90727260e+02] [ 1.08667679e-02 -1.72022055e-04 9.99940940e-01 6.87022258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.49275509600005 meters 0.019017318592019713 Centerline is valid? [True, True] Translation: X:54.27, Y:290.75, Z:6.87 [[-6.89333926e-01 -7.24409926e-01 6.99987648e-03 5.42670123e+01] [ 7.24370177e-01 -6.89369446e-01 -7.59030581e-03 2.90746142e+02] [ 1.03239938e-02 -1.61753536e-04 9.99946693e-01 6.87125028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5227550960001 meters 0.01920742566756088 Centerline is valid? [True, True] Translation: X:54.25, Y:290.76, Z:6.87 [[-6.89199138e-01 -7.24540682e-01 6.73407358e-03 5.42490683e+01] [ 7.24503952e-01 -6.89232020e-01 -7.29699167e-03 2.90764833e+02] [ 9.92830646e-03 -1.50217452e-04 9.99950702e-01 6.87191331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.55275509600006 meters 0.01909909000129809 Centerline is valid? [True, True] Translation: X:54.23, Y:290.78, Z:6.87 [[-6.89330868e-01 -7.24411557e-01 7.13091058e-03 5.42300721e+01] [ 7.24370428e-01 -6.89367733e-01 -7.72086503e-03 2.90783848e+02] [ 1.05089035e-02 -1.56809842e-04 9.99944768e-01 6.87227943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5827550960001 meters 0.01916372929152852 Centerline is valid? [True, True] Translation: X:54.21, Y:290.80, Z:6.87 [[-6.89557897e-01 -7.24195679e-01 7.10816753e-03 5.42122247e+01] [ 7.24154863e-01 -6.89594515e-01 -7.69027466e-03 2.90802563e+02] [ 1.04710170e-02 -1.55475542e-04 9.99945165e-01 6.87246744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.61275509600006 meters 0.018854481296460186 Centerline is valid? [True, True] Translation: X:54.19, Y:290.82, Z:6.87 [[-6.89523267e-01 -7.24222772e-01 7.68380660e-03 5.41933702e+01] [ 7.24175159e-01 -6.89566059e-01 -8.30597506e-03 2.90820928e+02] [ 1.13138685e-02 -1.62741187e-04 9.99935983e-01 6.87280102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6427550960001 meters 0.018654890829600233 Centerline is valid? [True, True] Translation: X:54.17, Y:290.84, Z:6.87 [[-6.89577118e-01 -7.24173329e-01 7.50919290e-03 5.41737631e+01] [ 7.24127920e-01 -6.89617985e-01 -8.11113303e-03 2.90840492e+02] [ 1.10523407e-02 -1.55635504e-04 9.99938909e-01 6.87323878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.67275509600006 meters 0.018580931364951748 Centerline is valid? [True, True] Translation: X:54.16, Y:290.86, Z:6.87 [[-6.89562580e-01 -7.24182443e-01 7.95222099e-03 5.41559578e+01] [ 7.24131593e-01 -6.89608414e-01 -8.58321882e-03 2.90859385e+02] [ 1.16997349e-02 -1.60212065e-04 9.99931543e-01 6.87369970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7027550960001 meters 0.019046467802192667 Centerline is valid? [True, True] Translation: X:54.14, Y:290.88, Z:6.87 [[-6.89664147e-01 -7.24088410e-01 7.70317132e-03 5.41390415e+01] [ 7.24040760e-01 -6.89707149e-01 -8.30826208e-03 2.90878852e+02] [ 1.13288486e-02 -1.52500469e-04 9.99935815e-01 6.87393613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.73275509600006 meters 0.018476589038678416 Centerline is valid? [True, True] Translation: X:54.12, Y:290.90, Z:6.87 [[-6.89813676e-01 -7.23944254e-01 7.86187382e-03 5.41195570e+01] [ 7.23894691e-01 -6.89858459e-01 -8.47247118e-03 2.90896863e+02] [ 1.15571770e-02 -1.53257773e-04 9.99933202e-01 6.87445650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7627550960001 meters 0.018463661062015337 Centerline is valid? [True, True] Translation: X:54.10, Y:290.92, Z:6.87 [[-6.89918249e-01 -7.23846990e-01 7.63834458e-03 5.41010362e+01] [ 7.23800270e-01 -6.89960516e-01 -8.22530500e-03 2.90916239e+02] [ 1.12240184e-02 -1.46152156e-04 9.99936998e-01 6.87492881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.79275509600006 meters 0.018304786699381678 Centerline is valid? [True, True] Translation: X:54.08, Y:290.93, Z:6.88 [[-6.89473070e-01 -7.24274091e-01 7.34354873e-03 5.40837481e+01] [ 7.24230994e-01 -6.89512164e-01 -7.90209379e-03 2.90934786e+02] [ 1.07867480e-02 -1.29855266e-04 9.99941813e-01 6.87590442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.82275509600004 meters 0.01797257281647366 Centerline is valid? [True, True] Translation: X:54.06, Y:290.95, Z:6.88 [[-6.89110429e-01 -7.24615618e-01 7.68263465e-03 5.40643615e+01] [ 7.24568532e-01 -6.89153241e-01 -8.26153509e-03 2.90953521e+02] [ 1.12809499e-02 -1.26514676e-04 9.99936360e-01 6.87607474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.85275509600007 meters 0.017871836311288358 Centerline is valid? [True, True] Translation: X:54.05, Y:290.97, Z:6.88 [[-6.89235108e-01 -7.24494943e-01 7.87676141e-03 5.40464955e+01] [ 7.24445511e-01 -6.89280104e-01 -8.46404670e-03 2.90972338e+02] [ 1.15614540e-02 -1.27433698e-04 9.99933156e-01 6.87592637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.88275509600004 meters 0.01789758775602072 Centerline is valid? [True, True] Translation: X:54.03, Y:290.99, Z:6.88 [[-6.89541866e-01 -7.24199862e-01 8.15930400e-03 5.40280022e+01] [ 7.24146884e-01 -6.89590126e-01 -8.76061434e-03 2.90991858e+02] [ 1.19710112e-02 -1.32275790e-04 9.99928336e-01 6.87602336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.91275509600007 meters 0.018049761066730168 Centerline is valid? [True, True] Translation: X:54.01, Y:291.01, Z:6.88 [[-6.90183929e-01 -7.23589204e-01 8.05040311e-03 5.40094421e+01] [ 7.23537666e-01 -6.90230864e-01 -8.63716776e-03 2.91012016e+02] [ 1.18063980e-02 -1.36464502e-04 9.99930293e-01 6.87640624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.94275509600004 meters 0.01879579665319062 Centerline is valid? [True, True] Translation: X:53.99, Y:291.03, Z:6.88 [[-6.92112111e-01 -7.21749138e-01 7.68159568e-03 5.39926117e+01] [ 7.21702160e-01 -6.92154721e-01 -8.23616852e-03 2.91032337e+02] [ 1.12613002e-02 -1.56527783e-04 9.99936577e-01 6.87710078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.97275509600007 meters 0.01890754048462779 Centerline is valid? [True, True] Translation: X:53.97, Y:291.05, Z:6.88 [[-6.93358440e-01 -7.20553663e-01 7.51611544e-03 5.39743649e+01] [ 7.20508667e-01 -6.93399156e-01 -8.05422488e-03 2.91052069e+02] [ 1.10151693e-02 -1.69038477e-04 9.99939317e-01 6.87767561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.00275509600004 meters 0.020290985570264597 Centerline is valid? [True, True] Translation: X:53.96, Y:291.07, Z:6.88 [[-6.95991671e-01 -7.18017505e-01 6.81596652e-03 5.39587533e+01] [ 7.17980427e-01 -6.96025020e-01 -7.29916414e-03 2.91072905e+02] [ 9.98501086e-03 -1.86426887e-04 9.99950131e-01 6.87905400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0327550960001 meters 0.02036458399873262 Centerline is valid? [True, True] Translation: X:53.94, Y:291.09, Z:6.88 [[-6.97446245e-01 -7.16608777e-01 6.37156522e-03 5.39395837e+01] [ 7.16576362e-01 -6.97475322e-01 -6.81850481e-03 2.91092982e+02] [ 9.33020990e-03 -1.89827544e-04 9.99956455e-01 6.88003240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.06275509600005 meters 0.02158268573010324 Centerline is valid? [True, True] Translation: X:53.92, Y:291.11, Z:6.88 [[-6.99697587e-01 -7.14413419e-01 6.06244322e-03 5.39215951e+01] [ 7.14384026e-01 -6.99723820e-01 -6.48375610e-03 2.91113151e+02] [ 8.87411829e-03 -2.05755906e-04 9.99960603e-01 6.88099601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0927550960001 meters 0.022190509203670623 Centerline is valid? [True, True] Translation: X:53.90, Y:291.13, Z:6.88 [[-7.00641923e-01 -7.13488776e-01 5.88744312e-03 5.39038005e+01] [ 7.13461058e-01 -7.00666627e-01 -6.29250571e-03 2.91131871e+02] [ 8.61476711e-03 -2.08331906e-04 9.99962871e-01 6.88147455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.12275509600005 meters 0.022319198651641583 Centerline is valid? [True, True] Translation: X:53.88, Y:291.15, Z:6.88 [[-7.01366386e-01 -7.12778197e-01 5.69508164e-03 5.38844782e+01] [ 7.12752274e-01 -7.01389477e-01 -6.08252701e-03 2.91150920e+02] [ 8.32996298e-03 -2.06897596e-04 9.99965284e-01 6.88173441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1527550960001 meters 0.02320134537408914 Centerline is valid? [True, True] Translation: X:53.87, Y:291.17, Z:6.88 [[-7.02404012e-01 -7.11753862e-01 5.91977758e-03 5.38658798e+01] [ 7.11725856e-01 -7.02428922e-01 -6.31787891e-03 2.91169046e+02] [ 8.65499770e-03 -2.24444726e-04 9.99962520e-01 6.88158179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.18275509600005 meters 0.02343740363962412 Centerline is valid? [True, True] Translation: X:53.85, Y:291.19, Z:6.88 [[-7.02684050e-01 -7.11476053e-01 6.07888094e-03 5.38466387e+01] [ 7.11446555e-01 -7.02710305e-01 -6.48276899e-03 2.91187815e+02] [ 8.88402717e-03 -2.30539463e-04 9.99960510e-01 6.88169301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2127550960001 meters 0.02385615116067469 Centerline is valid? [True, True] Translation: X:53.83, Y:291.21, Z:6.88 [[-7.03185311e-01 -7.10980904e-01 6.04760409e-03 5.38275130e+01] [ 7.10951734e-01 -7.03211277e-01 -6.44452609e-03 2.91205018e+02] [ 8.83467838e-03 -2.32141469e-04 9.99960947e-01 6.88145991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.24275509600005 meters 0.02406026020381763 Centerline is valid? [True, True] Translation: X:53.81, Y:291.22, Z:6.88 [[-7.03474517e-01 -7.10694755e-01 6.04721661e-03 5.38084227e+01] [ 7.10665623e-01 -7.03500470e-01 -6.43898478e-03 2.91223237e+02] [ 8.83037244e-03 -2.32112749e-04 9.99960985e-01 6.88159355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2727550960001 meters 0.02404971855752281 Centerline is valid? [True, True] Translation: X:53.79, Y:291.24, Z:6.88 [[-7.03614132e-01 -7.10553882e-01 6.35081850e-03 5.37890416e+01] [ 7.10521796e-01 -7.03642752e-01 -6.75693477e-03 2.91241023e+02] [ 9.26987363e-03 -2.41879827e-04 9.99957005e-01 6.88120052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.30275509600006 meters 0.02393213950551756 Centerline is valid? [True, True] Translation: X:53.77, Y:291.26, Z:6.88 [[-7.03398516e-01 -7.10767310e-01 6.35285007e-03 5.37696643e+01] [ 7.10735259e-01 -7.03427164e-01 -6.75404622e-03 2.91258445e+02] [ 9.26932257e-03 -2.35591548e-04 9.99957011e-01 6.88079974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3327550960001 meters 0.02359476539592597 Centerline is valid? [True, True] Translation: X:53.75, Y:291.27, Z:6.88 [[-7.02715930e-01 -7.11439973e-01 6.59441390e-03 5.37500264e+01] [ 7.11405519e-01 -7.02746833e-01 -7.00547144e-03 2.91274578e+02] [ 9.61817589e-03 -2.31553930e-04 9.99953718e-01 6.88029037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.36275509600006 meters 0.023066680088022918 Centerline is valid? [True, True] Translation: X:53.73, Y:291.29, Z:6.88 [[-7.02553880e-01 -7.11599870e-01 6.60829326e-03 5.37301559e+01] [ 7.11565330e-01 -7.02584923e-01 -7.01480068e-03 2.91292227e+02] [ 9.63461846e-03 -2.26043062e-04 9.99953560e-01 6.88042072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3927550960001 meters 0.021318679312988875 Centerline is valid? [True, True] Translation: X:53.71, Y:291.31, Z:6.88 [[-7.01722611e-01 -7.12423127e-01 6.21817301e-03 5.37072048e+01] [ 7.12392618e-01 -7.01750133e-01 -6.59609022e-03 2.91308503e+02] [ 9.06281096e-03 -1.98845102e-04 9.99958912e-01 6.88104110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.42275509600006 meters 0.02082083451299152 Centerline is valid? [True, True] Translation: X:53.69, Y:291.33, Z:6.88 [[-7.01369747e-01 -7.12773873e-01 5.82096531e-03 5.36867176e+01] [ 7.12747184e-01 -7.01393879e-01 -6.17071644e-03 2.91327007e+02] [ 8.48111489e-03 -1.79077194e-04 9.99964019e-01 6.88159639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.4527550960001 meters 0.02085028091853583 Centerline is valid? [True, True] Translation: X:53.67, Y:291.34, Z:6.88 [[-7.00800366e-01 -7.13337956e-01 5.27332493e-03 5.36670471e+01] [ 7.13316095e-01 -7.00820189e-01 -5.58677281e-03 2.91343276e+02] [ 7.68090967e-03 -1.53664880e-04 9.99970490e-01 6.88206750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.48275509600006 meters 0.01991053791312559 Centerline is valid? [True, True] Translation: X:53.65, Y:291.36, Z:6.88 [[-7.00659624e-01 -7.13478549e-01 4.94481168e-03 5.36458393e+01] [ 7.13459360e-01 -7.00677058e-01 -5.23464248e-03 2.91360514e+02] [ 7.19952123e-03 -1.39780458e-04 9.99974073e-01 6.88183091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.5127550960001 meters 0.020249296031882396 Centerline is valid? [True, True] Translation: X:53.63, Y:291.38, Z:6.88 [[-7.00510258e-01 -7.13624772e-01 5.00626565e-03 5.36276920e+01] [ 7.13605135e-01 -7.00528133e-01 -5.29587644e-03 2.91378871e+02] [ 7.28629855e-03 -1.37318903e-04 9.99973445e-01 6.88169969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.54275509600006 meters 0.019802732770646064 Centerline is valid? [True, True] Translation: X:53.61, Y:291.40, Z:6.88 [[-7.00615795e-01 -7.13521163e-01 5.00580341e-03 5.36072446e+01] [ 7.13501555e-01 -7.00633665e-01 -5.29134447e-03 2.91396906e+02] [ 7.28272064e-03 -1.35550992e-04 9.99973471e-01 6.88116172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.57275509600004 meters 0.01968269836556353 Centerline is valid? [True, True] Translation: X:53.59, Y:291.42, Z:6.88 [[-7.00719663e-01 -7.13419240e-01 4.99416921e-03 5.35876473e+01] [ 7.13399749e-01 -7.00737447e-01 -5.27531745e-03 2.91416160e+02] [ 7.26311436e-03 -1.33679605e-04 9.99973614e-01 6.88115043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.60275509600007 meters 0.01966934097976935 Centerline is valid? [True, True] Translation: X:53.57, Y:291.43, Z:6.88 [[-7.00752615e-01 -7.13388541e-01 4.74993223e-03 5.35680564e+01] [ 7.13370931e-01 -7.00768702e-01 -5.01412164e-03 2.91433963e+02] [ 6.90562077e-03 -1.25195279e-04 9.99976148e-01 6.88154139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.63275509600004 meters 0.019353948998080316 Centerline is valid? [True, True] Translation: X:53.55, Y:291.45, Z:6.88 [[-7.00744848e-01 -7.13395767e-01 4.81018327e-03 5.35478972e+01] [ 7.13377736e-01 -7.00761347e-01 -5.07354958e-03 2.91452150e+02] [ 6.99023930e-03 -1.23786075e-04 9.99975560e-01 6.88129305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.66275509600007 meters 0.019136030731779625 Centerline is valid? [True, True] Translation: X:53.53, Y:291.47, Z:6.88 [[-7.00741903e-01 -7.13398626e-01 4.81518824e-03 5.35274897e+01] [ 7.13380583e-01 -7.00758436e-01 -5.07522151e-03 2.91470608e+02] [ 6.99493983e-03 -1.21358578e-04 9.99975528e-01 6.88111749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.69275509600004 meters 0.019562210076693624 Centerline is valid? [True, True] Translation: X:53.51, Y:291.49, Z:6.88 [[-7.00984254e-01 -7.13157398e-01 5.25370532e-03 5.35088866e+01] [ 7.13135945e-01 -7.01003929e-01 -5.53304206e-03 2.91488592e+02] [ 7.62879795e-03 -1.31969252e-04 9.99970892e-01 6.87999337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.72275509600007 meters 0.019888465008383545 Centerline is valid? [True, True] Translation: X:53.49, Y:291.51, Z:6.88 [[-7.01701349e-01 -7.12449976e-01 5.49998490e-03 5.34912806e+01] [ 7.12426480e-01 -7.01722888e-01 -5.78786942e-03 2.91507386e+02] [ 7.98303272e-03 -1.43020894e-04 9.99968125e-01 6.87953233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.75275509600004 meters 0.02034693478925424 Centerline is valid? [True, True] Translation: X:53.47, Y:291.53, Z:6.88 [[-7.03325930e-01 -7.10842031e-01 6.02033035e-03 5.34728904e+01] [ 7.10813869e-01 -7.03351674e-01 -6.32980908e-03 2.91527190e+02] [ 8.73390377e-03 -1.72584544e-04 9.99961844e-01 6.87853718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.7827550960001 meters 0.021099935625369683 Centerline is valid? [True, True] Translation: X:53.46, Y:291.55, Z:6.88 [[-7.04516458e-01 -7.09660778e-01 6.17577478e-03 5.34562950e+01] [ 7.09631139e-01 -7.04543501e-01 -6.48859000e-03 2.91547129e+02] [ 8.95579981e-03 -1.88796353e-04 9.99959878e-01 6.87827614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.81275509600005 meters 0.021566899959276763 Centerline is valid? [True, True] Translation: X:53.44, Y:291.57, Z:6.88 [[-7.06029057e-01 -7.08155795e-01 6.19196368e-03 5.34382960e+01] [ 7.08125986e-01 -7.06056179e-01 -6.50082374e-03 2.91567306e+02] [ 8.97547023e-03 -2.05080069e-04 9.99959699e-01 6.87835121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8427550960001 meters 0.021566899959276763 Centerline is valid? [True, True] Translation: X:53.42, Y:291.59, Z:6.88 [[-7.06305571e-01 -7.07879984e-01 6.19423621e-03 5.34202283e+01] [ 7.07850183e-01 -7.06332702e-01 -6.49865766e-03 2.91585895e+02] [ 8.97546128e-03 -2.05446870e-04 9.99959699e-01 6.87858703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.87275509600005 meters 0.0224730583665976 Centerline is valid? [True, True] Translation: X:53.40, Y:291.61, Z:6.88 [[-7.07706294e-01 -7.06479664e-01 6.18760574e-03 5.34032608e+01] [ 7.06449918e-01 -7.07733309e-01 -6.48662891e-03 2.91606195e+02] [ 8.96184610e-03 -2.19394537e-04 9.99959818e-01 6.87846676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9027550960001 meters 0.024064401251945068 Centerline is valid? [True, True] Translation: X:53.39, Y:291.63, Z:6.88 [[-7.10227121e-01 -7.03948767e-01 5.79399214e-03 5.33868125e+01] [ 7.03922636e-01 -7.10250716e-01 -6.06983054e-03 2.91627634e+02] [ 8.38803679e-03 -2.32436055e-04 9.99964793e-01 6.87841718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.93275509600005 meters 0.02369779556626097 Centerline is valid? [True, True] Translation: X:53.37, Y:291.65, Z:6.88 [[-7.12356136e-01 -7.01797287e-01 5.41321900e-03 5.33677590e+01] [ 7.01774446e-01 -7.12376664e-01 -5.66704156e-03 2.91648098e+02] [ 7.83336529e-03 -2.38093064e-04 9.99969290e-01 6.87845355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9627550960001 meters 0.02636753533968796 Centerline is valid? [True, True] Translation: X:53.35, Y:291.67, Z:6.88 [[-7.13201399e-01 -7.00940647e-01 5.09638968e-03 5.33525917e+01] [ 7.00920403e-01 -7.13219571e-01 -5.33220559e-03 2.91670778e+02] [ 7.37240450e-03 -2.30772975e-04 9.99972797e-01 6.87914264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.99275509600005 meters 0.02701406248384046 Centerline is valid? [True, True] Translation: X:53.33, Y:291.69, Z:6.88 [[-7.14191424e-01 -6.99934317e-01 4.74993785e-03 5.33349585e+01] [ 6.99916730e-01 -7.14207185e-01 -4.96670448e-03 2.91690895e+02] [ 6.86880665e-03 -2.22616777e-04 9.99976385e-01 6.87971910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0227550960001 meters 0.02715619408520723 Centerline is valid? [True, True] Translation: X:53.32, Y:291.71, Z:6.88 [[-7.14662899e-01 -6.99453985e-01 4.58954760e-03 5.33171626e+01] [ 6.99437577e-01 -7.14677603e-01 -4.79581103e-03 2.91710797e+02] [ 6.63449601e-03 -2.17286159e-04 9.99977968e-01 6.88022741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.05275509600006 meters 0.025728897715128922 Centerline is valid? [True, True] Translation: X:53.30, Y:291.73, Z:6.88 [[-7.14706105e-01 -6.99412646e-01 4.13932968e-03 5.32976021e+01] [ 6.99399315e-01 -7.14718065e-01 -4.32266668e-03 2.91729155e+02] [ 5.98178144e-03 -1.94391919e-04 9.99982090e-01 6.88050735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0827550960001 meters 0.02475104937758769 Centerline is valid? [True, True] Translation: X:53.28, Y:291.75, Z:6.88 [[-7.13326209e-01 -7.00821711e-01 3.82750916e-03 5.32771702e+01] [ 7.00810350e-01 -7.13336458e-01 -3.99401042e-03 2.91747975e+02] [ 5.52939104e-03 -1.66674280e-04 9.99984699e-01 6.88069793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.11275509600006 meters 0.02395915239438258 Centerline is valid? [True, True] Translation: X:53.26, Y:291.77, Z:6.88 [[-7.12474000e-01 -7.01686615e-01 4.08577300e-03 5.32574078e+01] [ 7.01673701e-01 -7.12485695e-01 -4.26050333e-03 2.91766788e+02] [ 5.90059298e-03 -1.68618387e-04 9.99982577e-01 6.88065179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1427550960001 meters 0.023298836756045216 Centerline is valid? [True, True] Translation: X:53.24, Y:291.79, Z:6.88 [[-7.11247854e-01 -7.02926099e-01 4.62497425e-03 5.32385144e+01] [ 7.02909603e-01 -7.11262869e-01 -4.81882552e-03 2.91785366e+02] [ 6.67685067e-03 -1.76440496e-04 9.99977694e-01 6.88029664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.17275509600006 meters 0.022655193680282376 Centerline is valid? [True, True] Translation: X:53.22, Y:291.80, Z:6.88 [[-7.09848630e-01 -7.04338273e-01 4.74550172e-03 5.32200573e+01] [ 7.04320964e-01 -7.09864473e-01 -4.94063583e-03 2.91803732e+02] [ 6.84854199e-03 -1.64747232e-04 9.99976535e-01 6.88019329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2027550960001 meters 0.020401460230589193 Centerline is valid? [True, True] Translation: X:53.20, Y:291.82, Z:6.88 [[-7.06459766e-01 -7.07732390e-01 5.42789692e-03 5.31986174e+01] [ 7.07709883e-01 -7.06480603e-01 -5.64622592e-03 2.91821588e+02] [ 7.83072085e-03 -1.47455147e-04 9.99969329e-01 6.88005499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.23275509600006 meters 0.01975341150915638 Centerline is valid? [True, True] Translation: X:53.18, Y:291.84, Z:6.88 [[-7.05036093e-01 -7.09149139e-01 5.62202686e-03 5.31794714e+01] [ 7.09125069e-01 -7.05058495e-01 -5.84419574e-03 2.91840275e+02] [ 8.10826418e-03 -1.33648742e-04 9.99967119e-01 6.88020027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2627550960001 meters 0.018498803683416654 Centerline is valid? [True, True] Translation: X:53.16, Y:291.86, Z:6.88 [[-7.02260327e-01 -7.11894502e-01 6.05406976e-03 5.31589520e+01] [ 7.11866734e-01 -7.02286414e-01 -6.28862376e-03 2.91858684e+02] [ 8.72852762e-03 -1.06560117e-04 9.99961900e-01 6.88000124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.29275509600006 meters 0.018133393854507206 Centerline is valid? [True, True] Translation: X:53.14, Y:291.88, Z:6.88 [[-7.01478299e-01 -7.12664254e-01 6.15287882e-03 5.31405208e+01] [ 7.12635640e-01 -7.01505276e-01 -6.38680823e-03 2.91877109e+02] [ 8.86792687e-03 -9.54466342e-05 9.99960675e-01 6.88023768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.32275509600004 meters 0.017991547719604026 Centerline is valid? [True, True] Translation: X:53.12, Y:291.90, Z:6.88 [[-7.01151848e-01 -7.12985552e-01 6.13902855e-03 5.31229290e+01] [ 7.12957123e-01 -7.01178718e-01 -6.36761609e-03 2.91896043e+02] [ 8.84457444e-03 -8.78016600e-05 9.99960882e-01 6.88041228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.35275509600007 meters 0.017703218232132792 Centerline is valid? [True, True] Translation: X:53.11, Y:291.92, Z:6.88 [[-7.00425588e-01 -7.13697720e-01 6.28965368e-03 5.31057722e+01] [ 7.13667955e-01 -7.00453823e-01 -6.51856690e-03 2.91916228e+02] [ 9.05789831e-03 -7.70467747e-05 9.99958973e-01 6.88088259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.38275509600004 meters 0.017591074329775032 Centerline is valid? [True, True] Translation: X:53.09, Y:291.94, Z:6.88 [[-7.00742383e-01 -7.13387047e-01 6.24771472e-03 5.30875579e+01] [ 7.13357708e-01 -7.00770230e-01 -6.47030149e-03 2.91936048e+02] [ 8.99404176e-03 -7.71590333e-05 9.99959550e-01 6.88126134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.41275509600007 meters 0.01759646159278573 Centerline is valid? [True, True] Translation: X:53.07, Y:291.96, Z:6.88 [[-7.01458108e-01 -7.12684433e-01 6.11741720e-03 5.30709141e+01] [ 7.12656321e-01 -7.01484777e-01 -6.33047950e-03 2.91958471e+02] [ 8.80290923e-03 -8.09501338e-05 9.99961250e-01 6.88160816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.44275509600004 meters 0.017745150890266136 Centerline is valid? [True, True] Translation: X:53.05, Y:291.98, Z:6.88 [[-7.02389084e-01 -7.11765425e-01 6.28926751e-03 5.30537682e+01] [ 7.11735718e-01 -7.02417235e-01 -6.50350562e-03 2.91979657e+02] [ 9.04666033e-03 -9.16950275e-05 9.99959074e-01 6.88143248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.47275509600007 meters 0.01809731816772714 Centerline is valid? [True, True] Translation: X:53.04, Y:292.00, Z:6.88 [[-7.03038430e-01 -7.11121978e-01 6.51911272e-03 5.30377925e+01] [ 7.11090079e-01 -7.03068648e-01 -6.73619469e-03 2.92000365e+02] [ 9.37363985e-03 -1.00127361e-04 9.99956061e-01 6.88188582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.50275509600004 meters 0.018329561623357454 Centerline is valid? [True, True] Translation: X:53.02, Y:292.02, Z:6.88 [[-7.04330783e-01 -7.09846317e-01 6.02948992e-03 5.30216647e+01] [ 7.09819020e-01 -7.04356583e-01 -6.22597250e-03 2.92022549e+02] [ 8.66639456e-03 -1.05297458e-04 9.99962441e-01 6.88267772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5327550960001 meters 0.018702681977456028 Centerline is valid? [True, True] Translation: X:53.01, Y:292.04, Z:6.88 [[-7.05463155e-01 -7.08719841e-01 6.15832749e-03 5.30060297e+01] [ 7.08691362e-01 -7.05490024e-01 -6.35448138e-03 2.92042157e+02] [ 8.84818563e-03 -1.18498980e-04 9.99960847e-01 6.88287406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.56275509600005 meters 0.019635926025177493 Centerline is valid? [True, True] Translation: X:52.99, Y:292.06, Z:6.88 [[-7.07022231e-01 -7.07167210e-01 5.83973334e-03 5.29918437e+01] [ 7.07141588e-01 -7.07046336e-01 -6.02109089e-03 2.92064442e+02] [ 8.38688010e-03 -1.27526799e-04 9.99964821e-01 6.88345832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5927550960001 meters 0.019844155000013537 Centerline is valid? [True, True] Translation: X:52.97, Y:292.09, Z:6.88 [[-7.08335850e-01 -7.05853989e-01 5.52002340e-03 5.29743104e+01] [ 7.05831086e-01 -7.08357346e-01 -5.68754805e-03 2.92085699e+02] [ 7.92472761e-03 -1.32490069e-04 9.99968590e-01 6.88400417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.62275509600005 meters 0.02054354265964649 Centerline is valid? [True, True] Translation: X:52.96, Y:292.11, Z:6.88 [[-7.09511448e-01 -7.04674668e-01 5.20735999e-03 5.29574801e+01] [ 7.04654281e-01 -7.09530544e-01 -5.36198836e-03 2.92107041e+02] [ 7.47323834e-03 -1.35003615e-04 9.99972066e-01 6.88439759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6527550960001 meters 0.021658565383790025 Centerline is valid? [True, True] Translation: X:52.94, Y:292.13, Z:6.88 [[-7.11530322e-01 -7.02635042e-01 5.34774613e-03 5.29433223e+01] [ 7.02613512e-01 -7.11550401e-01 -5.50272861e-03 2.92129846e+02] [ 7.67160085e-03 -1.57959573e-04 9.99970560e-01 6.88498378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.68275509600005 meters 0.02224054342462162 Centerline is valid? [True, True] Translation: X:52.93, Y:292.15, Z:6.89 [[-7.12450102e-01 -7.01703455e-01 5.20696952e-03 5.29258826e+01] [ 7.01683047e-01 -7.12469111e-01 -5.35414039e-03 2.92151445e+02] [ 7.46682376e-03 -1.60915633e-04 9.99972110e-01 6.88575681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7127550960001 meters 0.021588799591530313 Centerline is valid? [True, True] Translation: X:52.91, Y:292.17, Z:6.89 [[-7.13303059e-01 -7.00838702e-01 4.88469980e-03 5.29085430e+01] [ 7.00820742e-01 -7.13319767e-01 -5.01974015e-03 2.92171998e+02] [ 7.00238109e-03 -1.57297063e-04 9.99975471e-01 6.88634338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.74275509600005 meters 0.021845053137898206 Centerline is valid? [True, True] Translation: X:52.89, Y:292.19, Z:6.89 [[-7.13196132e-01 -7.00947894e-01 4.82979904e-03 5.28912803e+01] [ 7.00930363e-01 -7.13212469e-01 -4.95978930e-03 2.92191134e+02] [ 6.92122677e-03 -1.51949746e-04 9.99976037e-01 6.88677982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7727550960001 meters 0.020862937296703646 Centerline is valid? [True, True] Translation: X:52.87, Y:292.21, Z:6.89 [[-7.12431671e-01 -7.01726514e-01 4.58404478e-03 5.28705896e+01] [ 7.01710754e-01 -7.12446406e-01 -4.70488733e-03 2.92209414e+02] [ 6.56743041e-03 -1.35237224e-04 9.99978425e-01 6.88734808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.80275509600006 meters 0.02128715266848394 Centerline is valid? [True, True] Translation: X:52.85, Y:292.23, Z:6.89 [[-7.11212040e-01 -7.02963049e-01 4.51511447e-03 5.28529511e+01] [ 7.02947804e-01 -7.11226362e-01 -4.63103976e-03 2.92228457e+02] [ 6.46671827e-03 -1.19761432e-04 9.99979083e-01 6.88827852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8327550960001 meters 0.019554750287363257 Centerline is valid? [True, True] Translation: X:52.83, Y:292.24, Z:6.89 [[-7.08160346e-01 -7.06032251e-01 5.23304604e-03 5.28320310e+01] [ 7.06011893e-01 -7.08179674e-01 -5.36255041e-03 2.92243187e+02] [ 7.49207037e-03 -1.02952820e-04 9.99971929e-01 6.88733578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.86275509600006 meters 0.018564344790155594 Centerline is valid? [True, True] Translation: X:52.81, Y:292.26, Z:6.89 [[-7.06477951e-01 -7.07709771e-01 5.98202145e-03 5.28110729e+01] [ 7.07683262e-01 -7.06503271e-01 -6.12608675e-03 2.92259910e+02] [ 8.56180917e-03 -9.45687588e-05 9.99963343e-01 6.88605348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8927550960001 meters 0.01716202093367315 Centerline is valid? [True, True] Translation: X:52.79, Y:292.27, Z:6.88 [[-7.03530423e-01 -7.10631430e-01 6.92207406e-03 5.27876259e+01] [ 7.10596133e-01 -7.03564472e-01 -7.08302787e-03 2.92274723e+02] [ 9.90354760e-03 -6.43265337e-05 9.99950957e-01 6.88452218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.92275509600006 meters 0.016955688308246675 Centerline is valid? [True, True] Translation: X:52.77, Y:292.29, Z:6.88 [[-7.02469759e-01 -7.11678277e-01 7.09002726e-03 5.27678748e+01] [ 7.11641353e-01 -7.02505536e-01 -7.24960288e-03 2.92291749e+02] [ 1.01401683e-02 -4.70701945e-05 9.99948586e-01 6.88424681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.9527550960001 meters 0.016795667476520875 Centerline is valid? [True, True] Translation: X:52.75, Y:292.31, Z:6.88 [[-7.01943296e-01 -7.12193078e-01 7.52527514e-03 5.27485430e+01] [ 7.12151576e-01 -7.01983631e-01 -7.68860602e-03 2.92308670e+02] [ 1.07583920e-02 -3.78288992e-05 9.99942126e-01 6.88390212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.98275509600006 meters 0.016770204505867428 Centerline is valid? [True, True] Translation: X:52.73, Y:292.33, Z:6.88 [[-7.02098236e-01 -7.12035817e-01 7.94113851e-03 5.27278718e+01] [ 7.11989665e-01 -7.02143143e-01 -8.10702418e-03 2.92325840e+02] [ 1.13483075e-02 -3.79188369e-05 9.99935605e-01 6.88321947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.0127550960001 meters 0.016857923309785774 Centerline is valid? [True, True] Translation: X:52.71, Y:292.34, Z:6.88 [[-7.02826927e-01 -7.11316356e-01 7.95942882e-03 5.27100297e+01] [ 7.11270009e-01 -7.02871993e-01 -8.12003235e-03 2.92343447e+02] [ 1.13703714e-02 -4.56743708e-05 9.99935354e-01 6.88313343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.04275509600006 meters 0.017382609770957794 Centerline is valid? [True, True] Translation: X:52.69, Y:292.36, Z:6.88 [[-7.05400188e-01 -7.08765362e-01 7.88902695e-03 5.26932483e+01] [ 7.08719725e-01 -7.05444297e-01 -8.04334398e-03 2.92362294e+02] [ 1.12661127e-02 -8.26673439e-05 9.99936532e-01 6.88367302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.07275509600004 meters 0.017766606012994467 Centerline is valid? [True, True] Translation: X:52.68, Y:292.38, Z:6.88 [[-7.07398509e-01 -7.06772080e-01 7.78309264e-03 5.26751954e+01] [ 7.06727605e-01 -7.07441316e-01 -7.92947518e-03 2.92381791e+02] [ 1.11104130e-02 -1.08772499e-04 9.99938272e-01 6.88436048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.10275509600007 meters 0.018654680880788144 Centerline is valid? [True, True] Translation: X:52.66, Y:292.40, Z:6.89 [[-7.09599926e-01 -7.04565534e-01 7.44001084e-03 5.26573554e+01] [ 7.04524829e-01 -7.09638916e-01 -7.57462966e-03 2.92402461e+02] [ 1.06165442e-02 -1.33284284e-04 9.99943634e-01 6.88537076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.13275509600004 meters 0.021152154504215852 Centerline is valid? [True, True] Translation: X:52.64, Y:292.42, Z:6.89 [[-7.14113758e-01 -6.99991707e-01 7.29054828e-03 5.26424201e+01] [ 6.99952431e-01 -7.14150946e-01 -7.41761083e-03 2.92424992e+02] [ 1.03988180e-02 -1.93980951e-04 9.99945912e-01 6.88650199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.16275509600007 meters 0.02275717691105205 Centerline is valid? [True, True] Translation: X:52.63, Y:292.45, Z:6.89 [[-7.16446609e-01 -6.97606614e-01 7.01912127e-03 5.26257337e+01] [ 6.97570142e-01 -7.16480959e-01 -7.13667697e-03 2.92445642e+02] [ 1.00076598e-02 -2.16718594e-04 9.99949899e-01 6.88706064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.19275509600004 meters 0.023823067477912206 Centerline is valid? [True, True] Translation: X:52.61, Y:292.47, Z:6.89 [[-7.19900023e-01 -6.94042553e-01 6.99223506e-03 5.26069475e+01] [ 6.94006239e-01 -7.19933932e-01 -7.10449176e-03 2.92465645e+02] [ 9.96476687e-03 -2.61869029e-04 9.99950316e-01 6.88732260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.22275509600007 meters 0.024802177970853424 Centerline is valid? [True, True] Translation: X:52.59, Y:292.49, Z:6.89 [[-7.21269967e-01 -6.92617158e-01 7.14898236e-03 5.25883310e+01] [ 6.92579179e-01 -7.21305339e-01 -7.25870910e-03 2.92485807e+02] [ 1.01841056e-02 -2.84252544e-04 9.99948100e-01 6.88754374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.25275509600004 meters 0.02602176960597673 Centerline is valid? [True, True] Translation: X:52.57, Y:292.51, Z:6.89 [[-7.22264624e-01 -6.91581424e-01 6.99621573e-03 5.25708077e+01] [ 6.91545049e-01 -7.22298450e-01 -7.09887301e-03 2.92505281e+02] [ 9.96280448e-03 -2.89066489e-04 9.99950328e-01 6.88740776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.2827550960001 meters 0.023955383814458414 Centerline is valid? [True, True] Translation: X:52.55, Y:292.52, Z:6.89 [[-7.22744566e-01 -6.91076865e-01 7.28420081e-03 5.25489072e+01] [ 6.91037465e-01 -7.22781208e-01 -7.38566149e-03 2.92521818e+02] [ 1.03689432e-02 -3.04291047e-04 9.99946195e-01 6.88713531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.31275509600005 meters 0.024219160922913353 Centerline is valid? [True, True] Translation: X:52.53, Y:292.54, Z:6.89 [[-7.22381882e-01 -6.91452484e-01 7.60780591e-03 5.25307287e+01] [ 6.91409588e-01 -7.22421877e-01 -7.70803945e-03 2.92540903e+02] [ 1.08257884e-02 -3.08038094e-04 9.99941352e-01 6.88688150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3427550960001 meters 0.022301631935400957 Centerline is valid? [True, True] Translation: X:52.51, Y:292.56, Z:6.89 [[-7.20774281e-01 -6.93126709e-01 7.73317573e-03 5.25085096e+01] [ 6.93082547e-01 -7.20815709e-01 -7.82929444e-03 2.92557962e+02] [ 1.10008876e-02 -2.83424941e-04 9.99939448e-01 6.88691435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.37275509600005 meters 0.02372340970643958 Centerline is valid? [True, True] Translation: X:52.49, Y:292.58, Z:6.89 [[-7.19596774e-01 -6.94346760e-01 7.94104707e-03 5.24910699e+01] [ 6.94300325e-01 -7.19640539e-01 -8.03451305e-03 2.92579050e+02] [ 1.12934375e-02 -2.68138112e-04 9.99936191e-01 6.88664006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4027550960001 meters 0.02176746703554724 Centerline is valid? [True, True] Translation: X:52.47, Y:292.60, Z:6.89 [[-7.18443339e-01 -6.95538010e-01 8.12682751e-03 5.24691673e+01] [ 6.95489515e-01 -7.18489258e-01 -8.21710538e-03 2.92595763e+02] [ 1.15543474e-02 -2.51401297e-04 9.99933215e-01 6.88722907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.43275509600005 meters 0.020986666096601457 Centerline is valid? [True, True] Translation: X:52.45, Y:292.61, Z:6.89 [[-7.17365258e-01 -6.96650536e-01 8.06956452e-03 5.24488960e+01] [ 6.96602856e-01 -7.17410607e-01 -8.15365576e-03 2.92614021e+02] [ 1.14694398e-02 -2.27867672e-04 9.99934198e-01 6.88735188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4627550960001 meters 0.0196656401575446 Centerline is valid? [True, True] Translation: X:52.43, Y:292.63, Z:6.89 [[-7.15232013e-01 -6.98842451e-01 7.89914654e-03 5.24279491e+01] [ 6.98796957e-01 -7.15275608e-01 -7.97610216e-03 2.92631357e+02] [ 1.12241056e-02 -1.84864045e-04 9.99936991e-01 6.88757669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.49275509600005 meters 0.019070601109958927 Centerline is valid? [True, True] Translation: X:52.41, Y:292.65, Z:6.89 [[-7.14719974e-01 -6.99359995e-01 8.42349859e-03 5.24077327e+01] [ 6.99308371e-01 -7.14769587e-01 -8.49940588e-03 2.92650199e+02] [ 1.19650051e-02 -1.84072075e-04 9.99928400e-01 6.88772665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5227550960001 meters 0.018956413374631973 Centerline is valid? [True, True] Translation: X:52.39, Y:292.67, Z:6.89 [[-7.14720626e-01 -6.99357925e-01 8.53931199e-03 5.23893642e+01] [ 6.99304944e-01 -7.14771614e-01 -8.61016711e-03 2.92670399e+02] [ 1.21252464e-02 -1.82280934e-04 9.99926470e-01 6.88794780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.55275509600006 meters 0.019142063751170755 Centerline is valid? [True, True] Translation: X:52.37, Y:292.69, Z:6.89 [[-7.15187044e-01 -6.98881191e-01 8.51896085e-03 5.23711900e+01] [ 6.98828502e-01 -7.15237755e-01 -8.58365239e-03 2.92690812e+02] [ 1.20920356e-02 -1.85624333e-04 9.99926871e-01 6.88820305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5827550960001 meters 0.019390691795693735 Centerline is valid? [True, True] Translation: X:52.35, Y:292.71, Z:6.89 [[-7.15871379e-01 -6.98182126e-01 8.35993517e-03 5.23528955e+01] [ 6.98131406e-01 -7.15920166e-01 -8.41763666e-03 2.92711230e+02] [ 1.18620896e-02 -1.89611871e-04 9.99929625e-01 6.88886567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.61275509600006 meters 0.019704762944073383 Centerline is valid? [True, True] Translation: X:52.34, Y:292.73, Z:6.89 [[-7.16322796e-01 -6.97727294e-01 7.63385041e-03 5.23356378e+01] [ 6.97685031e-01 -7.16363450e-01 -7.68145484e-03 2.92729954e+02] [ 1.08281721e-02 -1.76378048e-04 9.99941358e-01 6.88995441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6427550960001 meters 0.019793366068858353 Centerline is valid? [True, True] Translation: X:52.32, Y:292.75, Z:6.89 [[-7.16695606e-01 -6.97346410e-01 7.44260021e-03 5.23170919e+01] [ 6.97306280e-01 -7.16734229e-01 -7.48316710e-03 2.92748402e+02] [ 1.05527260e-02 -1.73381119e-04 9.99944303e-01 6.89011609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.67275509600006 meters 0.02009266666959206 Centerline is valid? [True, True] Translation: X:52.30, Y:292.77, Z:6.89 [[-7.17378839e-01 -6.96640188e-01 7.74918506e-03 5.22997112e+01] [ 6.96596710e-01 -7.17420667e-01 -7.78529370e-03 2.92766842e+02] [ 1.09829740e-02 -1.86948131e-04 9.99939668e-01 6.89001070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7027550960001 meters 0.020169992011309805 Centerline is valid? [True, True] Translation: X:52.28, Y:292.79, Z:6.89 [[-7.17738182e-01 -6.96275151e-01 7.26741625e-03 5.22811283e+01] [ 6.96236948e-01 -7.17774953e-01 -7.29588399e-03 2.92785493e+02] [ 1.02963121e-02 -1.76690803e-04 9.99946976e-01 6.89060743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.73275509600006 meters 0.020169992011309805 Centerline is valid? [True, True] Translation: X:52.26, Y:292.80, Z:6.89 [[-7.17998254e-01 -6.96006935e-01 7.27014672e-03 5.22626362e+01] [ 6.95968745e-01 -7.18035038e-01 -7.29316225e-03 2.92803669e+02] [ 1.02963116e-02 -1.76682872e-04 9.99946976e-01 6.89084312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7627550960001 meters 0.02032811550772538 Centerline is valid? [True, True] Translation: X:52.24, Y:292.82, Z:6.89 [[-7.18457031e-01 -6.95534697e-01 7.13997370e-03 5.22437421e+01] [ 6.95497893e-01 -7.18492487e-01 -7.15731530e-03 2.92822480e+02] [ 1.01081786e-02 -1.76386845e-04 9.99948896e-01 6.89153446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.79275509600006 meters 0.020369240461235602 Centerline is valid? [True, True] Translation: X:52.22, Y:292.84, Z:6.89 [[-7.18478630e-01 -6.95517532e-01 6.61965455e-03 5.22248651e+01] [ 6.95485939e-01 -7.18509107e-01 -6.63112412e-03 2.92840066e+02] [ 9.36834516e-03 -1.60444312e-04 9.99956103e-01 6.89225172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.82275509600004 meters 0.02024428734139718 Centerline is valid? [True, True] Translation: X:52.20, Y:292.86, Z:6.89 [[-7.18414084e-01 -6.95580485e-01 6.99943106e-03 5.22047957e+01] [ 6.95545223e-01 -7.18448162e-01 -7.00585020e-03 2.92857930e+02] [ 9.90186106e-03 -1.64680627e-04 9.99950962e-01 6.89214235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.85275509600007 meters 0.020332716051420913 Centerline is valid? [True, True] Translation: X:52.19, Y:292.87, Z:6.89 [[-7.18718718e-01 -6.95263489e-01 7.21701838e-03 5.21858818e+01] [ 6.95226039e-01 -7.18754932e-01 -7.21818933e-03 2.92874810e+02] [ 1.02058110e-02 -1.70388678e-04 9.99947905e-01 6.89171157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.88275509600004 meters 0.019853390677646545 Centerline is valid? [True, True] Translation: X:51.79, Y:292.47, Z:8.09 [[-7.44635143e-01 6.67453719e-01 -4.90266988e-03 5.17925814e+01] [ 6.67434399e-01 7.44651094e-01 5.10597423e-03 2.92468596e+02] [ 7.05877998e-03 5.29877327e-04 -9.99974946e-01 8.08795713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.91275509600007 meters 0.01983973936654116 Centerline is valid? [True, True] Translation: X:51.81, Y:292.48, Z:8.09 [[-7.89977462e-01 6.13118768e-01 -4.58099774e-03 5.18128338e+01] [ 6.13104339e-01 7.89990559e-01 4.24107046e-03 2.92477608e+02] [ 6.21922487e-03 5.41720488e-04 -9.99980514e-01 8.08851319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.94275509600004 meters 0.019916769119204022 Centerline is valid? [True, True] Translation: X:52.14, Y:292.93, Z:6.89 [[-7.68648453e-01 -6.39602651e-01 9.38102133e-03 5.21428125e+01] [ 6.39558417e-01 -7.68705667e-01 -7.52527492e-03 2.92928512e+02] [ 1.20244300e-02 2.15420218e-04 9.99927681e-01 6.89085272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.97275509600007 meters 0.020311756242635415 Centerline is valid? [True, True] Translation: X:52.14, Y:292.91, Z:6.89 [[-7.24113803e-01 -6.89622774e-01 8.92360815e-03 5.21371585e+01] [ 6.89574277e-01 -7.24168749e-01 -8.18165206e-03 2.92907725e+02] [ 1.21044517e-02 2.29043450e-04 9.99926712e-01 6.89110055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.00275509600004 meters 0.020329505176927283 Centerline is valid? [True, True] Translation: X:51.75, Y:292.50, Z:8.09 [[-7.48386922e-01 6.63247544e-01 -4.43973694e-03 5.17542799e+01] [ 6.63231520e-01 7.48399904e-01 4.64057004e-03 2.92497850e+02] [ 6.40054538e-03 5.28368454e-04 -9.99979377e-01 8.08798787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0327550960001 meters 0.021482180170811736 Centerline is valid? [True, True] Translation: X:52.12, Y:292.93, Z:6.89 [[-7.27810385e-01 -6.85730763e-01 8.08486270e-03 5.21166395e+01] [ 6.85690644e-01 -7.27855275e-01 -7.41887439e-03 2.92927301e+02] [ 1.09719604e-02 1.44180888e-04 9.99939796e-01 6.89258022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.06275509600005 meters 0.02188628488158632 Centerline is valid? [True, True] Translation: X:52.11, Y:292.91, Z:6.89 [[-6.80539673e-01 -7.32672066e-01 7.57606915e-03 5.21096298e+01] [ 7.32631043e-01 -6.80581788e-01 -7.75787120e-03 2.92906571e+02] [ 1.08401102e-02 2.70924321e-04 9.99941208e-01 6.89317400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0927550960001 meters 0.02210423871293665 Centerline is valid? [True, True] Translation: X:52.09, Y:292.93, Z:6.89 [[-6.81593892e-01 -7.31699461e-01 6.75758361e-03 5.20917145e+01] [ 7.31660323e-01 -6.81627356e-01 -7.57100550e-03 2.92927073e+02] [ 1.01458545e-02 -2.16095301e-04 9.99948506e-01 6.89436622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.12275509600005 meters 0.023110327855296087 Centerline is valid? [True, True] Translation: X:52.07, Y:292.95, Z:6.90 [[-6.83187561e-01 -7.30218492e-01 5.97578807e-03 5.20744774e+01] [ 7.30187864e-01 -6.83213664e-01 -6.69116404e-03 2.92948750e+02] [ 8.96875178e-03 -2.07872119e-04 9.99959758e-01 6.89650350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1527550960001 meters 0.0238883895712211 Centerline is valid? [True, True] Translation: X:52.06, Y:292.97, Z:6.90 [[-6.83984601e-01 -7.29475674e-01 5.50512193e-03 5.20585143e+01] [ 7.29449687e-01 -6.84006727e-01 -6.16047912e-03 2.92968161e+02] [ 8.25946009e-03 -1.97963383e-04 9.99965871e-01 6.89790201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.18275509600005 meters 0.02207800829724902 Centerline is valid? [True, True] Translation: X:52.04, Y:292.99, Z:6.90 [[-6.84647934e-01 -7.28858538e-01 4.73692072e-03 5.20378066e+01] [ 7.28839308e-01 -6.84664298e-01 -5.29740124e-03 2.92986507e+02] [ 7.10425663e-03 -1.74400796e-04 9.99974749e-01 6.89936196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2127550960001 meters 0.022947282377133067 Centerline is valid? [True, True] Translation: X:52.02, Y:293.01, Z:6.90 [[-6.84797389e-01 -7.28716625e-01 4.96145335e-03 5.20215108e+01] [ 7.28695555e-01 -6.84815338e-01 -5.54447428e-03 2.93006447e+02] [ 7.43802994e-03 -1.81452511e-04 9.99972321e-01 6.90020061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.24275509600005 meters 0.022047579777816607 Centerline is valid? [True, True] Translation: X:52.00, Y:293.02, Z:6.90 [[-6.84747946e-01 -7.28764378e-01 4.76773279e-03 5.20018129e+01] [ 7.28744953e-01 -6.84764523e-01 -5.32378295e-03 2.93024819e+02] [ 7.14455764e-03 -1.70988233e-04 9.99974463e-01 6.90050037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2727550960001 meters 0.02121090508454571 Centerline is valid? [True, True] Translation: X:51.98, Y:293.04, Z:6.90 [[-6.84022035e-01 -7.29444709e-01 4.92668141e-03 5.19813776e+01] [ 7.29424018e-01 -6.84039757e-01 -5.49671346e-03 2.93042528e+02] [ 7.37959451e-03 -1.66233374e-04 9.99972757e-01 6.90020503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.30275509600006 meters 0.02085758762144293 Centerline is valid? [True, True] Translation: X:51.96, Y:293.06, Z:6.90 [[-6.83658205e-01 -7.29784031e-01 5.16984656e-03 5.19620097e+01] [ 7.29761290e-01 -6.83677731e-01 -5.76366989e-03 2.93061239e+02] [ 7.74074321e-03 -1.67626315e-04 9.99970026e-01 6.89997783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3327550960001 meters 0.020659544843882625 Centerline is valid? [True, True] Translation: X:51.94, Y:293.08, Z:6.90 [[-6.82502819e-01 -7.30858725e-01 5.95204878e-03 5.19432252e+01] [ 7.30828671e-01 -6.82528750e-01 -6.63020276e-03 2.93079099e+02] [ 8.90818594e-03 -1.75204176e-04 9.99960306e-01 6.89905629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.36275509600006 meters 0.020378486628316903 Centerline is valid? [True, True] Translation: X:51.92, Y:293.10, Z:6.90 [[-6.82118681e-01 -7.31214397e-01 6.29373049e-03 5.19241372e+01] [ 7.31180848e-01 -6.82147693e-01 -7.00664713e-03 2.93097857e+02] [ 9.41661498e-03 -1.77509705e-04 9.99955647e-01 6.89840041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3927550960001 meters 0.019650229392208993 Centerline is valid? [True, True] Translation: X:51.90, Y:293.12, Z:6.90 [[-6.81810752e-01 -7.31498329e-01 6.65533938e-03 5.19041083e+01] [ 7.31460888e-01 -6.81843209e-01 -7.40317598e-03 2.93116444e+02] [ 9.95330882e-03 -1.79444525e-04 9.99950449e-01 6.89786856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.42275509600006 meters 0.020252785748061875 Centerline is valid? [True, True] Translation: X:51.89, Y:293.14, Z:6.90 [[-6.81682135e-01 -7.31613162e-01 7.18674181e-03 5.18874494e+01] [ 7.31569573e-01 -6.81719991e-01 -7.98831799e-03 2.93136192e+02] [ 1.07437041e-02 -1.87892021e-04 9.99942267e-01 6.89716139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.4527550960001 meters 0.0197016106274339 Centerline is valid? [True, True] Translation: X:51.87, Y:293.15, Z:6.90 [[-6.81936810e-01 -7.31367900e-01 7.94877522e-03 5.18676275e+01] [ 7.31314628e-01 -6.81983102e-01 -8.82966978e-03 2.93154420e+02] [ 1.18786674e-02 -2.08221244e-04 9.99929424e-01 6.89659013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.48275509600006 meters 0.02021465144502909 Centerline is valid? [True, True] Translation: X:51.85, Y:293.17, Z:6.90 [[-6.82474240e-01 -7.30861793e-01 8.36370381e-03 5.18505072e+01] [ 7.30802863e-01 -6.82525450e-01 -9.28358603e-03 2.93173804e+02] [ 1.24934590e-02 -2.23589627e-04 9.99921929e-01 6.89593482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.5127550960001 meters 0.01988540375968191 Centerline is valid? [True, True] Translation: X:51.83, Y:293.19, Z:6.90 [[-6.83026983e-01 -7.30344794e-01 8.40379442e-03 5.18316850e+01] [ 7.30285346e-01 -6.83078641e-01 -9.32114932e-03 2.93193557e+02] [ 1.25481053e-02 -2.29428575e-04 9.99921243e-01 6.89655718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.54275509600006 meters 0.020190931471412387 Centerline is valid? [True, True] Translation: X:51.81, Y:293.21, Z:6.90 [[-6.83738617e-01 -7.29679389e-01 8.33626152e-03 5.18139795e+01] [ 7.29620925e-01 -6.83789394e-01 -9.23965496e-03 2.93213715e+02] [ 1.24422330e-02 -2.35198072e-04 9.99922565e-01 6.89700885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.57275509600004 meters 0.021735993501917922 Centerline is valid? [True, True] Translation: X:51.80, Y:293.23, Z:6.90 [[-6.84491991e-01 -7.28974747e-01 8.15674408e-03 5.17985067e+01] [ 7.28918803e-01 -6.84540548e-01 -9.03426558e-03 2.93234518e+02] [ 1.21693735e-02 -2.38278306e-04 9.99925922e-01 6.89711325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.60275509600007 meters 0.020457850710318807 Centerline is valid? [True, True] Translation: X:51.78, Y:293.25, Z:6.90 [[-6.85265619e-01 -7.28250355e-01 7.90263745e-03 5.17777062e+01] [ 7.28197868e-01 -6.85311144e-01 -8.74650369e-03 2.93252258e+02] [ 1.17854099e-02 -2.38994524e-04 9.99930521e-01 6.89824734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.63275509600004 meters 0.02044351755141571 Centerline is valid? [True, True] Translation: X:51.76, Y:293.27, Z:6.90 [[-6.85479217e-01 -7.28050705e-01 7.77257114e-03 5.17587393e+01] [ 7.27999990e-01 -6.85523242e-01 -8.59642550e-03 2.93272036e+02] [ 1.15869118e-02 -2.34239313e-04 9.99932842e-01 6.89886332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.66275509600007 meters 0.02029681265451347 Centerline is valid? [True, True] Translation: X:51.74, Y:293.29, Z:6.90 [[-6.85764498e-01 -7.27782010e-01 7.77167870e-03 5.17399926e+01] [ 7.27731361e-01 -6.85808494e-01 -8.58922223e-03 2.93291659e+02] [ 1.15809647e-02 -2.34489355e-04 9.99932911e-01 6.89938243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.69275509600004 meters 0.02097439142115172 Centerline is valid? [True, True] Translation: X:51.72, Y:293.31, Z:6.90 [[-6.85802029e-01 -7.27748473e-01 7.59844701e-03 5.17237066e+01] [ 7.27700124e-01 -6.85844085e-01 -8.39167676e-03 2.93311997e+02] [ 1.13183799e-02 -2.25638116e-04 9.99935920e-01 6.89956856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.72275509600007 meters 0.020564072887695413 Centerline is valid? [True, True] Translation: X:51.70, Y:293.33, Z:6.90 [[-6.85487120e-01 -7.28045013e-01 7.60710494e-03 5.17049090e+01] [ 7.27996645e-01 -6.85529294e-01 -8.39478202e-03 2.93330788e+02] [ 1.13266725e-02 -2.16568077e-04 9.99935828e-01 6.90035327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.75275509600004 meters 0.020105039491142417 Centerline is valid? [True, True] Translation: X:51.69, Y:293.35, Z:6.90 [[-6.85197475e-01 -7.28315687e-01 7.78973981e-03 5.16855406e+01] [ 7.28265064e-01 -6.85241720e-01 -8.58964793e-03 2.93350067e+02] [ 1.15938300e-02 -2.12609714e-04 9.99932767e-01 6.90059719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.7827550960001 meters 0.019870130470517652 Centerline is valid? [True, True] Translation: X:51.67, Y:293.37, Z:6.90 [[-6.84700148e-01 -7.28782217e-01 7.88595466e-03 5.16671592e+01] [ 7.28730441e-01 -6.84745529e-01 -8.68936118e-03 2.93368599e+02] [ 1.17325241e-02 -2.02871669e-04 9.99931151e-01 6.90064977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.81275509600005 meters 0.019134545408138224 Centerline is valid? [True, True] Translation: X:51.65, Y:293.39, Z:6.90 [[-6.82863249e-01 -7.30502283e-01 8.01233178e-03 5.16467811e+01] [ 7.30449034e-01 -6.82910232e-01 -8.82176367e-03 2.93386828e+02] [ 1.19160219e-02 -1.71458195e-04 9.99928987e-01 6.90049169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8427550960001 meters 0.01892720951797612 Centerline is valid? [True, True] Translation: X:51.63, Y:293.40, Z:6.90 [[-6.81971309e-01 -7.31333450e-01 8.15584320e-03 5.16291417e+01] [ 7.31278417e-01 -6.82020059e-01 -8.97310064e-03 2.93404766e+02] [ 1.21247773e-02 -1.55205095e-04 9.99926480e-01 6.90003707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.87275509600005 meters 0.018239190469067443 Centerline is valid? [True, True] Translation: X:51.61, Y:293.42, Z:6.90 [[-6.79875747e-01 -7.33278240e-01 8.48480418e-03 5.16090743e+01] [ 7.33218923e-01 -6.79928679e-01 -9.32751823e-03 2.93422762e+02] [ 1.26087278e-02 -1.20334442e-04 9.99920500e-01 6.89967534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9027550960001 meters 0.018067943491284072 Centerline is valid? [True, True] Translation: X:51.59, Y:293.44, Z:6.90 [[-6.79134901e-01 -7.33959649e-01 8.88930527e-03 5.15900134e+01] [ 7.33894695e-01 -6.79193067e-01 -9.76499779e-03 2.93441558e+02] [ 1.32046689e-02 -1.07936824e-04 9.99912809e-01 6.89898285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.93275509600005 meters 0.01784990111190087 Centerline is valid? [True, True] Translation: X:51.57, Y:293.46, Z:6.90 [[-6.78531565e-01 -7.34511251e-01 9.38815086e-03 5.15716216e+01] [ 7.34438970e-01 -6.78596502e-01 -1.03046880e-02 2.93459668e+02] [ 1.39396756e-02 -9.70322145e-05 9.99902833e-01 6.89859989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9627550960001 meters 0.017458147257134706 Centerline is valid? [True, True] Translation: X:51.55, Y:293.48, Z:6.90 [[-6.77369541e-01 -7.35573207e-01 1.01273216e-02 5.15518861e+01] [ 7.35489353e-01 -6.77445239e-01 -1.11067712e-02 2.93477753e+02] [ 1.50305491e-02 -7.48513288e-05 9.99887032e-01 6.89885248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.99275509600005 meters 0.017354312891732206 Centerline is valid? [True, True] Translation: X:51.53, Y:293.50, Z:6.90 [[-6.77226618e-01 -7.35701592e-01 1.03573794e-02 5.15345435e+01] [ 7.35614042e-01 -6.77305812e-01 -1.13498328e-02 2.93496405e+02] [ 1.53652033e-02 -6.73751112e-05 9.99881946e-01 6.89940838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0227550960001 meters 0.017381804239907102 Centerline is valid? [True, True] Translation: X:51.52, Y:293.52, Z:6.90 [[-6.77516603e-01 -7.35433363e-01 1.04413560e-02 5.15175281e+01] [ 7.35344501e-01 -6.77597052e-01 -1.14324415e-02 2.93515624e+02] [ 1.54828310e-02 -6.76752105e-05 9.99880132e-01 6.89923253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.05275509600006 meters 0.017407999491421123 Centerline is valid? [True, True] Translation: X:51.50, Y:293.54, Z:6.90 [[-6.78446410e-01 -7.34578066e-01 1.02730033e-02 5.15004227e+01] [ 7.34492083e-01 -6.78524177e-01 -1.12392479e-02 2.93536303e+02] [ 1.52265861e-02 -7.97877796e-05 9.99884066e-01 6.90057479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0827550960001 meters 0.017502906622647665 Centerline is valid? [True, True] Translation: X:51.48, Y:293.56, Z:6.90 [[-6.79323652e-01 -7.33770689e-01 9.99759579e-03 5.14831699e+01] [ 7.33689289e-01 -6.79397210e-01 -1.09296966e-02 2.93556305e+02] [ 1.48122297e-02 -8.96724432e-05 9.99890289e-01 6.90138461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.11275509600006 meters 0.01792956043737462 Centerline is valid? [True, True] Translation: X:51.47, Y:293.58, Z:6.90 [[-6.81675184e-01 -7.31596412e-01 9.25379450e-03 5.14675720e+01] [ 7.31526576e-01 -6.81737981e-01 -1.01091045e-02 2.93577127e+02] [ 1.37044478e-02 -1.21729064e-04 9.99906082e-01 6.90249153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1427550960001 meters 0.018323652366048323 Centerline is valid? [True, True] Translation: X:51.45, Y:293.60, Z:6.90 [[-6.82836898e-01 -7.30515577e-01 8.98682489e-03 5.14506502e+01] [ 7.30449718e-01 -6.82896020e-01 -9.80995473e-03 2.93597671e+02] [ 1.33033917e-02 -1.34175350e-04 9.99911497e-01 6.90289486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.17275509600006 meters 0.018658671400634718 Centerline is valid? [True, True] Translation: X:51.43, Y:293.62, Z:6.90 [[-6.84140708e-01 -7.29295296e-01 8.93654512e-03 5.14343972e+01] [ 7.29230165e-01 -6.84199056e-01 -9.74778469e-03 2.93617977e+02] [ 1.32233893e-02 -1.52058055e-04 9.99912556e-01 6.90322707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.2027550960001 meters 0.018765053939856346 Centerline is valid? [True, True] Translation: X:51.42, Y:293.64, Z:6.90 [[-6.85580337e-01 -7.27943682e-01 8.80896528e-03 5.14171076e+01] [ 7.27880378e-01 -6.85636906e-01 -9.60143091e-03 2.93638295e+02] [ 1.30290527e-02 -1.70679259e-04 9.99915104e-01 6.90414810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.23275509600006 meters 0.020101045847723934 Centerline is valid? [True, True] Translation: X:51.40, Y:293.66, Z:6.90 [[-6.87439326e-01 -7.26195032e-01 8.24305938e-03 5.14026973e+01] [ 7.26139555e-01 -6.87488720e-01 -8.97808293e-03 2.93660977e+02] [ 1.21868496e-02 -1.86275808e-04 9.99925720e-01 6.90402379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.2627550960001 meters 0.0204542133666588 Centerline is valid? [True, True] Translation: X:51.39, Y:293.68, Z:6.90 [[-6.88110412e-01 -7.25560095e-01 8.16149398e-03 5.13853766e+01] [ 7.25505743e-01 -6.88158784e-01 -8.88281720e-03 2.93681121e+02] [ 1.20614215e-02 -1.91148240e-04 9.99927240e-01 6.90420381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.29275509600006 meters 0.01952587848102678 Centerline is valid? [True, True] Translation: X:51.37, Y:293.70, Z:6.90 [[-6.88434454e-01 -7.25250040e-01 8.38936556e-03 5.13660442e+01] [ 7.25192672e-01 -6.88485541e-01 -9.12410194e-03 2.93700030e+02] [ 1.23932122e-02 -1.97439717e-04 9.99923182e-01 6.90417631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.32275509600004 meters 0.01955088602817841 Centerline is valid? [True, True] Translation: X:51.35, Y:293.72, Z:6.90 [[-6.88239806e-01 -7.25430556e-01 8.74518519e-03 5.13477463e+01] [ 7.25368322e-01 -6.88295336e-01 -9.50409849e-03 2.93720196e+02] [ 1.29138336e-02 -1.97618597e-04 9.99916593e-01 6.90348125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.35275509600007 meters 0.019213257551736508 Centerline is valid? [True, True] Translation: X:51.33, Y:293.74, Z:6.90 [[-6.87196432e-01 -7.26414822e-01 9.08685815e-03 5.13288932e+01] [ 7.26347813e-01 -6.87256483e-01 -9.86818680e-03 2.93740081e+02] [ 1.34133993e-02 -1.81163216e-04 9.99910020e-01 6.90244459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.38275509600004 meters 0.019121515619455597 Centerline is valid? [True, True] Translation: X:51.31, Y:293.76, Z:6.90 [[-6.86507530e-01 -7.27063929e-01 9.24415695e-03 5.13107493e+01] [ 7.26994740e-01 -6.86569745e-01 -1.00316447e-02 2.93758989e+02] [ 1.36404055e-02 -1.66346152e-04 9.99906952e-01 6.90209281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.41275509600007 meters 0.018790637851740795 Centerline is valid? [True, True] Translation: X:51.29, Y:293.78, Z:6.90 [[-6.85876566e-01 -7.27657644e-01 9.36428287e-03 5.12916263e+01] [ 7.27586807e-01 -6.85940472e-01 -1.01542108e-02 2.93777592e+02] [ 1.38121297e-02 -1.51206600e-04 9.99904597e-01 6.90186157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.44275509600004 meters 0.01830127755214098 Centerline is valid? [True, True] Translation: X:51.27, Y:293.80, Z:6.90 [[-6.84372731e-01 -7.29068624e-01 9.63883377e-03 5.12724682e+01] [ 7.28993828e-01 -6.84440594e-01 -1.04437395e-02 2.93796545e+02] [ 1.42114119e-02 -1.20760172e-04 9.99899006e-01 6.90104327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.47275509600007 meters 0.018146666526416867 Centerline is valid? [True, True] Translation: X:51.26, Y:293.82, Z:6.90 [[-6.84122761e-01 -7.29297010e-01 1.00955108e-02 5.12552775e+01] [ 7.29215100e-01 -6.84197236e-01 -1.09307422e-02 2.93815298e+02] [ 1.48790782e-02 -1.16170608e-04 9.99889294e-01 6.90104634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.50275509600004 meters 0.018051239254187886 Centerline is valid? [True, True] Translation: X:51.24, Y:293.84, Z:6.90 [[-6.84191475e-01 -7.29231962e-01 1.01376131e-02 5.12384512e+01] [ 7.29149471e-01 -6.84266566e-01 -1.09688341e-02 2.93836165e+02] [ 1.49356541e-02 -1.12947574e-04 9.99888451e-01 6.90165700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5327550960001 meters 0.018132003850836537 Centerline is valid? [True, True] Translation: X:51.22, Y:293.86, Z:6.90 [[-6.84741013e-01 -7.28718224e-01 9.97477473e-03 5.12223158e+01] [ 7.28638431e-01 -6.84813651e-01 -1.07842264e-02 2.93855630e+02] [ 1.46895242e-02 -1.16397857e-04 9.99892096e-01 6.90226007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.56275509600005 meters 0.018299847147191843 Centerline is valid? [True, True] Translation: X:51.21, Y:293.88, Z:6.90 [[-6.85615961e-01 -7.27896544e-01 9.86785853e-03 5.12051960e+01] [ 7.27818490e-01 -6.85686959e-01 -1.06602507e-02 2.93875904e+02] [ 1.45258216e-02 -1.26828142e-04 9.99894487e-01 6.90324869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5927550960001 meters 0.01849122464132948 Centerline is valid? [True, True] Translation: X:51.19, Y:293.90, Z:6.90 [[-6.86569917e-01 -7.27002277e-01 9.45723799e-03 5.11890662e+01] [ 7.26930597e-01 -6.86635035e-01 -1.02096163e-02 2.93895091e+02] [ 1.39160852e-02 -1.34859736e-04 9.99903158e-01 6.90390561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.62275509600005 meters 0.019193403712589176 Centerline is valid? [True, True] Translation: X:51.17, Y:293.92, Z:6.91 [[-6.88112909e-01 -7.25555407e-01 8.36519293e-03 5.11738243e+01] [ 7.25499286e-01 -6.88163739e-01 -9.02523639e-03 2.93916230e+02] [ 1.23049315e-02 -1.41440173e-04 9.99924281e-01 6.90579952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6527550960001 meters 0.019193403712589176 Centerline is valid? [True, True] Translation: X:51.16, Y:293.94, Z:6.91 [[-6.88376913e-01 -7.25304895e-01 8.36866954e-03 5.11559961e+01] [ 7.25248795e-01 -6.88427766e-01 -9.02201187e-03 2.93935048e+02] [ 1.23049339e-02 -1.41177188e-04 9.99924282e-01 6.90603252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.68275509600005 meters 0.018794837346661316 Centerline is valid? [True, True] Translation: X:51.14, Y:293.95, Z:6.91 [[-6.89131829e-01 -7.24593409e-01 7.85582594e-03 5.11378719e+01] [ 7.24543996e-01 -6.89176590e-01 -8.46316065e-03 2.93954185e+02] [ 1.15464018e-02 -1.40341865e-04 9.99933328e-01 6.90739773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7127550960001 meters 0.018933193255468418 Centerline is valid? [True, True] Translation: X:51.12, Y:293.98, Z:6.91 [[-6.90082932e-01 -7.23699056e-01 6.72481152e-03 5.11199863e+01] [ 7.23662853e-01 -6.90115685e-01 -7.23985926e-03 2.93975333e+02] [ 9.88037723e-03 -1.29607007e-04 9.99951180e-01 6.90938647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.74275509600005 meters 0.019567441423028138 Centerline is valid? [True, True] Translation: X:51.10, Y:294.00, Z:6.91 [[-6.90471576e-01 -7.23331078e-01 6.41511537e-03 5.11033671e+01] [ 7.23298161e-01 -6.90501366e-01 -6.90173039e-03 2.93996389e+02] [ 9.42188201e-03 -1.25407504e-04 9.99955605e-01 6.91012101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7727550960001 meters 0.018888963977207556 Centerline is valid? [True, True] Translation: X:51.08, Y:294.02, Z:6.91 [[-6.90666967e-01 -7.23145058e-01 6.35344382e-03 5.10834594e+01] [ 7.23112811e-01 -6.90696178e-01 -6.83034256e-03 2.94015465e+02] [ 9.32762783e-03 -1.23235359e-04 9.99956489e-01 6.91069153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.80275509600006 meters 0.018873549593531585 Centerline is valid? [True, True] Translation: X:51.07, Y:294.04, Z:6.91 [[-6.90592354e-01 -7.23217813e-01 6.18025333e-03 5.10653510e+01] [ 7.23187344e-01 -6.90619998e-01 -6.63955140e-03 2.94035141e+02] [ 9.07004838e-03 -1.15742439e-04 9.99958860e-01 6.91103789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8327550960001 meters 0.019392893119826254 Centerline is valid? [True, True] Translation: X:51.05, Y:294.05, Z:6.91 [[-6.90471030e-01 -7.23335211e-01 5.99410597e-03 5.10490524e+01] [ 7.23306593e-01 -6.90497039e-01 -6.43518310e-03 2.94054622e+02] [ 8.79370695e-03 -1.07731129e-04 9.99961329e-01 6.91139310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.86275509600006 meters 0.018412513825589102 Centerline is valid? [True, True] Translation: X:51.03, Y:294.07, Z:6.91 [[-6.89772271e-01 -7.23999643e-01 6.22344165e-03 5.10288832e+01] [ 7.23968872e-01 -6.89800338e-01 -6.67574115e-03 2.94072143e+02] [ 9.12616636e-03 -9.91630967e-05 9.99958351e-01 6.91159889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8927550960001 meters 0.01821365636912366 Centerline is valid? [True, True] Translation: X:51.01, Y:294.09, Z:6.91 [[-6.89455671e-01 -7.24302173e-01 6.10246288e-03 5.10100935e+01] [ 7.24272642e-01 -6.89482672e-01 -6.54099329e-03 2.94091281e+02] [ 8.94519806e-03 -8.98780079e-05 9.99959987e-01 6.91207264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.92275509600006 meters 0.018078341035373136 Centerline is valid? [True, True] Translation: X:50.99, Y:294.11, Z:6.91 [[-6.89243358e-01 -7.24504018e-01 6.12541325e-03 5.09925653e+01] [ 7.24474319e-01 -6.89270571e-01 -6.56049887e-03 2.94109273e+02] [ 8.97517489e-03 -8.40756785e-05 9.99959719e-01 6.91240530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.9527550960001 meters 0.017627006091495312 Centerline is valid? [True, True] Translation: X:50.97, Y:294.13, Z:6.91 [[-6.88092603e-01 -7.25597253e-01 6.09888804e-03 5.09734907e+01] [ 7.25567900e-01 -6.88119628e-01 -6.52685352e-03 2.94127018e+02] [ 8.93263155e-03 -6.59222473e-05 9.99960101e-01 6.91279173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.98275509600006 meters 0.017352571720318996 Centerline is valid? [True, True] Translation: X:50.95, Y:294.15, Z:6.91 [[-6.87824357e-01 -7.25851698e-01 6.08002546e-03 5.09535720e+01] [ 7.25822580e-01 -6.87851226e-01 -6.50174872e-03 2.94146014e+02] [ 8.90145831e-03 -5.90413696e-05 9.99960380e-01 6.91341061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.0127550960001 meters 0.01729338564103489 Centerline is valid? [True, True] Translation: X:50.94, Y:294.16, Z:6.91 [[-6.87497338e-01 -7.26163462e-01 5.83417078e-03 5.09362288e+01] [ 7.26136699e-01 -6.87522090e-01 -6.23456189e-03 2.94163944e+02] [ 8.53843233e-03 -4.98391956e-05 9.99963546e-01 6.91387779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.04275509600006 meters 0.017200596374221458 Centerline is valid? [True, True] Translation: X:50.92, Y:294.18, Z:6.91 [[-6.87569240e-01 -7.26095173e-01 5.86006126e-03 5.09187232e+01] [ 7.26068203e-01 -6.87594210e-01 -6.25833037e-03 2.94181872e+02] [ 8.57348766e-03 -4.82313120e-05 9.99963246e-01 6.91464634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.07275509600004 meters 0.017312267367515267 Centerline is valid? [True, True] Translation: X:50.90, Y:294.20, Z:6.92 [[-6.87952876e-01 -7.25735125e-01 5.41937475e-03 5.09017210e+01] [ 7.25712081e-01 -6.87974220e-01 -5.78352838e-03 2.94200387e+02] [ 7.92569981e-03 -4.58892559e-05 9.99968590e-01 6.91596354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.10275509600007 meters 0.01745866832856884 Centerline is valid? [True, True] Translation: X:50.88, Y:294.22, Z:6.92 [[-6.88908723e-01 -7.24831088e-01 4.96641325e-03 5.08844381e+01] [ 7.24811738e-01 -6.88926623e-01 -5.29642249e-03 2.94220063e+02] [ 7.26050599e-03 -4.90370347e-05 9.99973641e-01 6.91727763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.13275509600004 meters 0.017655767278154422 Centerline is valid? [True, True] Translation: X:50.87, Y:294.24, Z:6.92 [[-6.89733098e-01 -7.24049272e-01 4.57224714e-03 5.08668597e+01] [ 7.24032876e-01 -6.89748251e-01 -4.87289090e-03 2.94239566e+02] [ 6.68191257e-03 -5.05368871e-05 9.99977675e-01 6.91827684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.16275509600007 meters 0.017570929145772036 Centerline is valid? [True, True] Translation: X:50.85, Y:294.26, Z:6.92 [[-6.90531080e-01 -7.23290948e-01 4.12696003e-03 5.08476260e+01] [ 7.23277593e-01 -6.90543411e-01 -4.39555766e-03 2.94259518e+02] [ 6.02911212e-03 -5.03314635e-05 9.99981824e-01 6.91884178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.19275509600004 meters 0.01811907850163328 Centerline is valid? [True, True] Translation: X:50.83, Y:294.28, Z:6.92 [[-6.91384004e-01 -7.22477587e-01 3.78089914e-03 5.08316242e+01] [ 7.22466382e-01 -6.91394340e-01 -4.02408502e-03 2.94279837e+02] [ 5.52140350e-03 -5.06154961e-05 9.99984756e-01 6.92027896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.22275509600007 meters 0.017989292610289278 Centerline is valid? [True, True] Translation: X:50.81, Y:294.30, Z:6.92 [[-6.92492065e-01 -7.21417459e-01 3.40433649e-03 5.08119620e+01] [ 7.21408368e-01 -6.92500431e-01 -3.62214909e-03 2.94299197e+02] [ 4.97058608e-03 -5.23926682e-05 9.99987645e-01 6.92041757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.25275509600004 meters 0.018170614609161397 Centerline is valid? [True, True] Translation: X:50.79, Y:294.32, Z:6.92 [[-6.92817640e-01 -7.21105723e-01 3.20239127e-03 5.07927996e+01] [ 7.21097685e-01 -6.92825039e-01 -3.40512233e-03 2.94318779e+02] [ 4.67415005e-03 -4.98918897e-05 9.99989075e-01 6.92054738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.2827550960001 meters 0.017919376991706974 Centerline is valid? [True, True] Translation: X:50.77, Y:294.34, Z:6.92 [[-6.92669761e-01 -7.21244970e-01 3.78093570e-03 5.07735457e+01] [ 7.21233787e-01 -6.92680078e-01 -4.01682593e-03 2.94336651e+02] [ 5.51609433e-03 -5.53952904e-05 9.99984785e-01 6.92001771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.31275509600005 meters 0.017952995280229152 Centerline is valid? [True, True] Translation: X:50.76, Y:294.35, Z:6.92 [[-6.92633400e-01 -7.21279218e-01 3.90675026e-03 5.07555297e+01] [ 7.21267298e-01 -6.92644416e-01 -4.14714937e-03 2.94354920e+02] [ 5.69724141e-03 -5.46429638e-05 9.99983769e-01 6.91991754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3427550960001 meters 0.017859207685223286 Centerline is valid? [True, True] Translation: X:50.74, Y:294.37, Z:6.92 [[-6.92359895e-01 -7.21538526e-01 4.46443419e-03 5.07362042e+01] [ 7.21522995e-01 -6.92374287e-01 -4.73443043e-03 2.94373046e+02] [ 6.50713339e-03 -5.67378286e-05 9.99978827e-01 6.91904559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.37275509600005 meters 0.01758972185593397 Centerline is valid? [True, True] Translation: X:50.72, Y:294.39, Z:6.92 [[-6.92400172e-01 -7.21498179e-01 4.73077587e-03 5.07160895e+01] [ 7.21480768e-01 -6.92416331e-01 -5.01269277e-03 2.94391794e+02] [ 6.89231517e-03 -5.76255290e-05 9.99976246e-01 6.91861544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4027550960001 meters 0.017520438615981727 Centerline is valid? [True, True] Translation: X:50.70, Y:294.41, Z:6.92 [[-6.92319281e-01 -7.21573435e-01 5.07848513e-03 5.06969908e+01] [ 7.21553404e-01 -6.92337905e-01 -5.37693763e-03 2.94410183e+02] [ 7.39588312e-03 -5.81593593e-05 9.99972648e-01 6.91868480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.43275509600005 meters 0.017392563051320628 Centerline is valid? [True, True] Translation: X:50.68, Y:294.43, Z:6.92 [[-6.91525792e-01 -7.22332981e-01 5.20998480e-03 5.06757662e+01] [ 7.22311952e-01 -6.91545416e-01 -5.51185013e-03 2.94427257e+02] [ 7.58433224e-03 -4.83522363e-05 9.99971237e-01 6.91882180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4627550960001 meters 0.01729377975206522 Centerline is valid? [True, True] Translation: X:50.66, Y:294.45, Z:6.92 [[-6.91052066e-01 -7.22787356e-01 5.04771275e-03 5.06560115e+01] [ 7.22767657e-01 -6.91070500e-01 -5.33642183e-03 2.94445971e+02] [ 7.34542360e-03 -3.94218086e-05 9.99973021e-01 6.91961791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.49275509600005 meters 0.017178257615591195 Centerline is valid? [True, True] Translation: X:50.64, Y:294.46, Z:6.92 [[-6.90406790e-01 -7.23405098e-01 4.85056666e-03 5.06368264e+01] [ 7.23386948e-01 -6.90423829e-01 -5.12451282e-03 2.94464522e+02] [ 7.05604550e-03 -2.91618375e-05 9.99975105e-01 6.92056413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5227550960001 meters 0.017201224703896324 Centerline is valid? [True, True] Translation: X:50.62, Y:294.48, Z:6.92 [[-6.89101770e-01 -7.24649403e-01 4.68967181e-03 5.06162823e+01] [ 7.24632490e-01 -6.89117728e-01 -4.95087060e-03 2.94483241e+02] [ 6.81938141e-03 -1.33651346e-05 9.99976748e-01 6.92170175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.55275509600006 meters 0.017217397661838472 Centerline is valid? [True, True] Translation: X:50.60, Y:294.50, Z:6.92 [[-6.88522513e-01 -7.25200660e-01 4.55551825e-03 5.05979611e+01] [ 7.25184736e-01 -6.88537583e-01 -4.80579295e-03 2.94501019e+02] [ 6.62180974e-03 -5.30434269e-06 9.99978076e-01 6.92230443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5827550960001 meters 0.017294062084404937 Centerline is valid? [True, True] Translation: X:50.58, Y:294.52, Z:6.92 [[-6.87425386e-01 -7.26242063e-01 4.33640952e-03 5.05777092e+01] [ 7.26227671e-01 -6.87439063e-01 -4.57213902e-03 2.94519842e+02] [ 6.30149697e-03 6.21616183e-06 9.99980145e-01 6.92245023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.61275509600006 meters 0.017292505260643614 Centerline is valid? [True, True] Translation: X:50.56, Y:294.54, Z:6.92 [[-6.87664929e-01 -7.26015551e-01 4.28560020e-03 5.05590267e+01] [ 7.26001509e-01 -6.87678283e-01 -4.51542622e-03 2.94538337e+02] [ 6.22538384e-03 6.25195744e-06 9.99980622e-01 6.92245044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6427550960001 meters 0.01743400476402067 Centerline is valid? [True, True] Translation: X:50.54, Y:294.56, Z:6.92 [[-6.87906318e-01 -7.25788495e-01 3.99482402e-03 5.05408453e+01] [ 7.25776306e-01 -6.87917918e-01 -4.20618869e-03 2.94556602e+02] [ 5.80091438e-03 5.88484593e-06 9.99983175e-01 6.92280871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.67275509600006 meters 0.017465151554099903 Centerline is valid? [True, True] Translation: X:50.52, Y:294.58, Z:6.92 [[-6.88748795e-01 -7.24990518e-01 3.72096685e-03 5.05231983e+01] [ 7.24979945e-01 -6.88758847e-01 -3.91534086e-03 2.94576433e+02] [ 5.40143383e-03 9.40042879e-07 9.99985412e-01 6.92309441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7027550960001 meters 0.017513445239977984 Centerline is valid? [True, True] Translation: X:50.51, Y:294.60, Z:6.92 [[-6.89814728e-01 -7.23976506e-01 3.69608148e-03 5.05063625e+01] [ 7.23966075e-01 -6.89824629e-01 -3.88623916e-03 2.94596069e+02] [ 5.36319389e-03 -4.94740365e-06 9.99985618e-01 6.92349748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.73275509600006 meters 0.017592090568075345 Centerline is valid? [True, True] Translation: X:50.49, Y:294.62, Z:6.92 [[-6.91752021e-01 -7.22126970e-01 3.43239921e-03 5.04905689e+01] [ 7.22117965e-01 -6.91760536e-01 -3.60629706e-03 2.94617402e+02] [ 4.97860268e-03 -1.60661512e-05 9.99987607e-01 6.92346088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7627550960001 meters 0.017795305015870632 Centerline is valid? [True, True] Translation: X:50.47, Y:294.64, Z:6.92 [[-6.92982454e-01 -7.20946764e-01 3.32890501e-03 5.04731013e+01] [ 7.20938293e-01 -6.92990450e-01 -3.49485176e-03 2.94637789e+02] [ 4.82650145e-03 -2.19358495e-05 9.99988352e-01 6.92349602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.79275509600006 meters 0.017897724165753567 Centerline is valid? [True, True] Translation: X:50.46, Y:294.66, Z:6.92 [[-6.94287422e-01 -7.19688236e-01 3.71742213e-03 5.04557053e+01] [ 7.19677671e-01 -6.94297373e-01 -3.89965302e-03 2.94657986e+02] [ 5.38753082e-03 -3.21343414e-05 9.99985487e-01 6.92319321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.82275509600004 meters 0.018313843263679498 Centerline is valid? [True, True] Translation: X:50.44, Y:294.68, Z:6.92 [[-6.96452710e-01 -7.17590764e-01 4.13737193e-03 5.04379917e+01] [ 7.17577665e-01 -6.96464998e-01 -4.33610525e-03 2.94679170e+02] [ 5.99308381e-03 -5.10065631e-05 9.99982040e-01 6.92195988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.85275509600007 meters 0.01866920342186973 Centerline is valid? [True, True] Translation: X:50.42, Y:294.70, Z:6.92 [[-6.97546145e-01 -7.16525877e-01 4.47692592e-03 5.04204521e+01] [ 7.16510541e-01 -6.97560509e-01 -4.68833043e-03 2.94698805e+02] [ 6.48223680e-03 -6.25622092e-05 9.99978988e-01 6.92177896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.88275509600004 meters 0.01934865876297041 Centerline is valid? [True, True] Translation: X:50.40, Y:294.72, Z:6.92 [[-6.98701096e-01 -7.15401467e-01 4.18555315e-03 5.04038627e+01] [ 7.15388062e-01 -6.98713630e-01 -4.37997375e-03 2.94717488e+02] [ 6.05794268e-03 -6.59977036e-05 9.99981648e-01 6.92235951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.91275509600007 meters 0.019265557110996062 Centerline is valid? [True, True] Translation: X:50.38, Y:294.74, Z:6.92 [[-6.99360583e-01 -7.14758172e-01 3.94101697e-03 5.03849591e+01] [ 7.14746288e-01 -6.99371684e-01 -4.12219946e-03 2.94736078e+02] [ 5.70261142e-03 -6.60765640e-05 9.99983738e-01 6.92266239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.94275509600004 meters 0.019244501135677192 Centerline is valid? [True, True] Translation: X:50.37, Y:294.75, Z:6.92 [[-7.00055933e-01 -7.14077560e-01 3.86373162e-03 5.03664120e+01] [ 7.14066144e-01 -7.00066592e-01 -4.03845366e-03 2.94754905e+02] [ 5.58863856e-03 -6.81835049e-05 9.99984381e-01 6.92272976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.97275509600007 meters 0.019609219769840064 Centerline is valid? [True, True] Translation: X:50.35, Y:294.77, Z:6.92 [[-7.01106480e-01 -7.13044911e-01 4.08151021e-03 5.03484666e+01] [ 7.13032174e-01 -7.01118356e-01 -4.26248313e-03 2.94774203e+02] [ 5.90096363e-03 -7.82064452e-05 9.99982586e-01 6.92274103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.00275509600004 meters 0.019525919554605375 Centerline is valid? [True, True] Translation: X:50.33, Y:294.79, Z:6.92 [[-7.01851771e-01 -7.12310900e-01 4.15615255e-03 5.03292445e+01] [ 7.12297702e-01 -7.01864071e-01 -4.33689048e-03 2.94793905e+02] [ 6.00626851e-03 -8.34363532e-05 9.99981959e-01 6.92239422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0327550960001 meters 0.019689017978505974 Centerline is valid? [True, True] Translation: X:50.31, Y:294.81, Z:6.92 [[-7.02607798e-01 -7.11563172e-01 4.48715797e-03 5.03104313e+01] [ 7.11547797e-01 -7.02622120e-01 -4.67856614e-03 2.94814287e+02] [ 6.48187181e-03 -9.43696872e-05 9.99978988e-01 6.92258278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.06275509600005 meters 0.02018557893078722 Centerline is valid? [True, True] Translation: X:50.29, Y:294.83, Z:6.92 [[-7.03786132e-01 -7.10395883e-01 4.77177536e-03 5.02938861e+01] [ 7.10378495e-01 -7.03802301e-01 -4.97151379e-03 2.94834508e+02] [ 6.89012940e-03 -1.09115860e-04 9.99976257e-01 6.92239746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0927550960001 meters 0.020263421375954528 Centerline is valid? [True, True] Translation: X:50.28, Y:294.85, Z:6.92 [[-7.04395671e-01 -7.09790624e-01 4.89997072e-03 5.02753125e+01] [ 7.09772303e-01 -7.04412704e-01 -5.10107625e-03 2.94854734e+02] [ 7.07229772e-03 -1.15312527e-04 9.99974984e-01 6.92275964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.12275509600005 meters 0.02087965090640038 Centerline is valid? [True, True] Translation: X:50.26, Y:294.87, Z:6.92 [[-7.05475993e-01 -7.08717601e-01 4.79424461e-03 5.02586622e+01] [ 7.08700063e-01 -7.05492273e-01 -4.98730287e-03 2.94874947e+02] [ 6.91689185e-03 -1.20740986e-04 9.99976071e-01 6.92341997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1527550960001 meters 0.0214370751882753 Centerline is valid? [True, True] Translation: X:50.24, Y:294.89, Z:6.92 [[-7.06068366e-01 -7.08128462e-01 4.64163329e-03 5.02416962e+01] [ 7.08112026e-01 -7.06083612e-01 -4.82616227e-03 2.94894370e+02] [ 6.69492406e-03 -1.20804156e-04 9.99977581e-01 6.92371718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.18275509600005 meters 0.02184556720228389 Centerline is valid? [True, True] Translation: X:50.22, Y:294.91, Z:6.92 [[-7.06963107e-01 -7.07235522e-01 4.59151642e-03 5.02240196e+01] [ 7.07219439e-01 -7.06978006e-01 -4.77120430e-03 2.94913449e+02] [ 6.62046628e-03 -1.25855746e-04 9.99978077e-01 6.92422788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2127550960001 meters 0.02167027369500362 Centerline is valid? [True, True] Translation: X:50.21, Y:294.93, Z:6.92 [[-7.07885432e-01 -7.06312612e-01 4.55064561e-03 5.02050886e+01] [ 7.06296819e-01 -7.07900047e-01 -4.72508923e-03 2.94932449e+02] [ 6.55879236e-03 -1.30715309e-04 9.99978482e-01 6.92424093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.24275509600005 meters 0.022645721967707783 Centerline is valid? [True, True] Translation: X:50.19, Y:294.95, Z:6.92 [[-7.09359022e-01 -7.04832938e-01 4.50639532e-03 5.01889520e+01] [ 7.04817442e-01 -7.09373322e-01 -4.67593604e-03 2.94953107e+02] [ 6.49247035e-03 -1.40731394e-04 9.99978914e-01 6.92498532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2727550960001 meters 0.023387240389068708 Centerline is valid? [True, True] Translation: X:50.17, Y:294.97, Z:6.93 [[-7.10322634e-01 -7.03861439e-01 4.56396143e-03 5.01721090e+01] [ 7.03845548e-01 -7.10337281e-01 -4.73207312e-03 2.94973431e+02] [ 6.57267575e-03 -1.48974709e-04 9.99978389e-01 6.92597511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.30275509600006 meters 0.023732826959383686 Centerline is valid? [True, True] Translation: X:50.15, Y:294.99, Z:6.93 [[-7.11948011e-01 -7.02215259e-01 4.87436347e-03 5.01539465e+01] [ 7.02197123e-01 -7.11964676e-01 -5.04986938e-03 2.94993807e+02] [ 7.01646995e-03 -1.72480457e-04 9.99975369e-01 6.92640041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3327550960001 meters 0.02388499804212423 Centerline is valid? [True, True] Translation: X:50.13, Y:295.01, Z:6.93 [[-7.12995808e-01 -7.01151762e-01 4.81508502e-03 5.01343777e+01] [ 7.01134063e-01 -7.13012044e-01 -4.98493610e-03 2.95014184e+02] [ 6.92841034e-03 -1.78218421e-04 9.99975982e-01 6.92661470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.36275509600006 meters 0.024691354010996886 Centerline is valid? [True, True] Translation: X:50.11, Y:295.03, Z:6.93 [[-7.14677326e-01 -6.99438868e-01 4.64653937e-03 5.01144625e+01] [ 6.99422370e-01 -7.14692406e-01 -4.80758028e-03 2.95034285e+02] [ 6.68345491e-03 -1.85975037e-04 9.99977648e-01 6.92722583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3927550960001 meters 0.02515753344429364 Centerline is valid? [True, True] Translation: X:50.10, Y:295.05, Z:6.93 [[-7.15382767e-01 -6.98718753e-01 4.42721737e-03 5.00961812e+01] [ 6.98703778e-01 -7.15396443e-01 -4.57818324e-03 2.95052792e+02] [ 6.36607804e-03 -1.81839896e-04 9.99979720e-01 6.92787059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.42275509600006 meters 0.025297866828678583 Centerline is valid? [True, True] Translation: X:50.08, Y:295.07, Z:6.93 [[-7.16013578e-01 -6.98073305e-01 4.26824395e-03 5.00766222e+01] [ 6.98059394e-01 -7.16026277e-01 -4.41062383e-03 2.95071645e+02] [ 6.13511358e-03 -1.78578769e-04 9.99981164e-01 6.92833058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.4527550960001 meters 0.02514050520006558 Centerline is valid? [True, True] Translation: X:50.06, Y:295.09, Z:6.93 [[-7.16573008e-01 -6.97499821e-01 4.13816218e-03 5.00561947e+01] [ 6.97486752e-01 -7.16584935e-01 -4.27336163e-03 2.95089182e+02] [ 5.94601365e-03 -1.75862299e-04 9.99982307e-01 6.92855429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.48275509600006 meters 0.02536944000149766 Centerline is valid? [True, True] Translation: X:50.04, Y:295.11, Z:6.93 [[-7.16817011e-01 -6.97249526e-01 4.05850784e-03 5.00374747e+01] [ 6.97236968e-01 -7.16828479e-01 -4.18829373e-03 2.95107749e+02] [ 5.82953982e-03 -1.72498491e-04 9.99982993e-01 6.92876402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.5127550960001 meters 0.02518091098598768 Centerline is valid? [True, True] Translation: X:50.02, Y:295.13, Z:6.93 [[-7.16671781e-01 -6.97399213e-01 3.98698560e-03 5.00164259e+01] [ 6.97387114e-01 -7.16682852e-01 -4.11142135e-03 2.95125835e+02] [ 5.72470622e-03 -1.66067281e-04 9.99983600e-01 6.92890319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.54275509600006 meters 0.02518091098598768 Centerline is valid? [True, True] Translation: X:50.00, Y:295.14, Z:6.93 [[-7.16917469e-01 -6.97146638e-01 3.98843367e-03 4.99976364e+01] [ 6.97134543e-01 -7.16928544e-01 -4.11001583e-03 2.95144896e+02] [ 5.72470566e-03 -1.66067265e-04 9.99983600e-01 6.92914389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.57275509600004 meters 0.025469461269609087 Centerline is valid? [True, True] Translation: X:49.98, Y:295.16, Z:6.93 [[-7.16806571e-01 -6.97260971e-01 3.93408911e-03 4.99788531e+01] [ 6.97249220e-01 -7.16817349e-01 -4.05130075e-03 2.95163278e+02] [ 5.64483722e-03 -1.60958436e-04 9.99984055e-01 6.92938473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.60275509600007 meters 0.02525894161565821 Centerline is valid? [True, True] Translation: X:49.96, Y:295.18, Z:6.93 [[-7.16668840e-01 -6.97402603e-01 3.92216372e-03 4.99593675e+01] [ 6.97390941e-01 -7.16679555e-01 -4.03613242e-03 2.95180827e+02] [ 5.62574380e-03 -1.57288889e-04 9.99984163e-01 6.92961339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.63275509600004 meters 0.024839710612693897 Centerline is valid? [True, True] Translation: X:49.94, Y:295.20, Z:6.93 [[-7.15978004e-01 -6.98112173e-01 3.85895737e-03 4.99374082e+01] [ 6.98100912e-01 -7.15988389e-01 -3.96792018e-03 2.95197724e+02] [ 5.53302205e-03 -1.47001913e-04 9.99984682e-01 6.92924833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.66275509600007 meters 0.02461783821165697 Centerline is valid? [True, True] Translation: X:49.92, Y:295.21, Z:6.93 [[-7.15561064e-01 -6.98536421e-01 4.38543652e-03 4.99177599e+01] [ 6.98521908e-01 -7.15574485e-01 -4.50569603e-03 2.95214975e+02] [ 6.28549926e-03 -1.60777158e-04 9.99980233e-01 6.92927193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.69275509600004 meters 0.023979480557940545 Centerline is valid? [True, True] Translation: X:49.90, Y:295.23, Z:6.93 [[-7.14413296e-01 -6.99708240e-01 4.69272448e-03 4.98960358e+01] [ 6.99691674e-01 -7.14428691e-01 -4.81733445e-03 2.95230886e+02] [ 6.72334561e-03 -1.58107529e-04 9.99977386e-01 6.92914232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.72275509600007 meters 0.02360478093537705 Centerline is valid? [True, True] Translation: X:49.88, Y:295.25, Z:6.93 [[-7.13882841e-01 -7.00249879e-01 4.62567320e-03 4.98758852e+01] [ 7.00233816e-01 -7.13897812e-01 -4.74521963e-03 2.95248531e+02] [ 6.62509745e-03 -1.48478073e-04 9.99978043e-01 6.92945324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.75275509600004 meters 0.02326114018187331 Centerline is valid? [True, True] Translation: X:49.86, Y:295.27, Z:6.93 [[-7.13443140e-01 -7.00697467e-01 4.68458272e-03 4.98560718e+01] [ 7.00681027e-01 -7.13458506e-01 -4.80200907e-03 2.95265803e+02] [ 6.70701098e-03 -1.43562195e-04 9.99977497e-01 6.92969355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.7827550960001 meters 0.02324679306314849 Centerline is valid? [True, True] Translation: X:49.84, Y:295.28, Z:6.93 [[-7.13326024e-01 -7.00816476e-01 4.71703392e-03 4.98368068e+01] [ 7.00799834e-01 -7.13341606e-01 -4.83164740e-03 2.95283573e+02] [ 6.75095465e-03 -1.40843238e-04 9.99977202e-01 6.93029136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.81275509600005 meters 0.02318943281784287 Centerline is valid? [True, True] Translation: X:49.82, Y:295.30, Z:6.93 [[-7.13399970e-01 -7.00740681e-01 4.79383435e-03 4.98175469e+01] [ 7.00723516e-01 -7.13416063e-01 -4.90666741e-03 2.95299926e+02] [ 6.85829989e-03 -1.41263925e-04 9.99976472e-01 6.93060951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8427550960001 meters 0.023969508474727154 Centerline is valid? [True, True] Translation: X:49.80, Y:295.32, Z:6.93 [[-7.14527946e-01 -6.99588592e-01 5.06119398e-03 4.97985608e+01] [ 6.99569462e-01 -7.14545854e-01 -5.17605554e-03 2.95317379e+02] [ 7.23756457e-03 -1.57779587e-04 9.99973796e-01 6.93037863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.87275509600005 meters 0.023558068127135717 Centerline is valid? [True, True] Translation: X:49.78, Y:295.33, Z:6.93 [[-7.15242419e-01 -6.98857708e-01 5.11715614e-03 4.97784199e+01] [ 6.98838163e-01 -7.15260706e-01 -5.22923983e-03 2.95334541e+02] [ 7.31459527e-03 -1.64110151e-04 9.99973235e-01 6.93006511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9027550960001 meters 0.022495854454226534 Centerline is valid? [True, True] Translation: X:49.76, Y:295.35, Z:6.93 [[-7.15966060e-01 -6.98113716e-01 5.46266821e-03 4.97567559e+01] [ 6.98091456e-01 -7.15986876e-01 -5.57780212e-03 2.95351633e+02] [ 7.80513892e-03 -1.80074999e-04 9.99969523e-01 6.92988134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.93275509600005 meters 0.02338446358691977 Centerline is valid? [True, True] Translation: X:49.74, Y:295.37, Z:6.93 [[-7.16684259e-01 -6.97377592e-01 5.30727403e-03 4.97388440e+01] [ 6.97356589e-01 -7.16703887e-01 -5.41539138e-03 2.95370568e+02] [ 7.58031653e-03 -1.80063250e-04 9.99971253e-01 6.93033191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9627550960001 meters 0.023504125769733226 Centerline is valid? [True, True] Translation: X:49.72, Y:295.39, Z:6.93 [[-7.17867038e-01 -6.96156238e-01 5.78001323e-03 4.97178686e+01] [ 6.96131327e-01 -7.17890277e-01 -5.89284509e-03 2.95388005e+02] [ 8.25175617e-03 -2.06630967e-04 9.99965932e-01 6.92999645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.99275509600005 meters 0.02380476147537386 Centerline is valid? [True, True] Translation: X:49.70, Y:295.41, Z:6.93 [[-7.18464271e-01 -6.95539254e-01 5.85128208e-03 4.96980036e+01] [ 6.95513740e-01 -7.18488066e-01 -5.96121446e-03 2.95406143e+02] [ 8.35033500e-03 -2.13272522e-04 9.99965113e-01 6.93022936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0227550960001 meters 0.023760798270154683 Centerline is valid? [True, True] Translation: X:49.68, Y:295.42, Z:6.93 [[-7.18747503e-01 -6.95244353e-01 6.10878326e-03 4.96765144e+01] [ 6.95216574e-01 -7.18773428e-01 -6.21895036e-03 2.95422871e+02] [ 8.71452120e-03 -2.22927672e-04 9.99962003e-01 6.92973665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.05275509600006 meters 0.023849903718665817 Centerline is valid? [True, True] Translation: X:49.66, Y:295.44, Z:6.93 [[-7.18938607e-01 -6.95043470e-01 6.46948897e-03 4.96561451e+01] [ 6.95012351e-01 -7.18967676e-01 -6.58121539e-03 2.95441371e+02] [ 9.22558424e-03 -2.35115082e-04 9.99957416e-01 6.92981412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0827550960001 meters 0.02526282546554676 Centerline is valid? [True, True] Translation: X:49.64, Y:295.46, Z:6.93 [[-7.19136879e-01 -6.94834868e-01 6.83047160e-03 4.96387282e+01] [ 6.94800220e-01 -7.19169274e-01 -6.94332592e-03 2.95460286e+02] [ 9.73673025e-03 -2.47388559e-04 9.99952566e-01 6.92956392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.11275509600006 meters 0.024232818245559992 Centerline is valid? [True, True] Translation: X:49.62, Y:295.48, Z:6.93 [[-7.19611419e-01 -6.94335404e-01 7.59948094e-03 4.96165702e+01] [ 6.94292546e-01 -7.19651491e-01 -7.71960106e-03 2.95475490e+02] [ 1.08289701e-02 -2.78850109e-04 9.99941326e-01 6.92866335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1427550960001 meters 0.02434344806370572 Centerline is valid? [True, True] Translation: X:49.60, Y:295.49, Z:6.93 [[-7.19991219e-01 -6.93935294e-01 8.15186251e-03 4.95973382e+01] [ 6.93886030e-01 -7.20037303e-01 -8.27397755e-03 2.95493427e+02] [ 1.16112501e-02 -3.00727667e-04 9.99932542e-01 6.92830656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.17275509600006 meters 0.025177506990046474 Centerline is valid? [True, True] Translation: X:49.58, Y:295.51, Z:6.93 [[-7.20819204e-01 -6.93067854e-01 8.75359557e-03 4.95781758e+01] [ 6.93011074e-01 -7.20872277e-01 -8.87762202e-03 2.95511214e+02] [ 1.24630188e-02 -3.32821769e-04 9.99922278e-01 6.92765193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2027550960001 meters 0.025024449410280238 Centerline is valid? [True, True] Translation: X:49.56, Y:295.53, Z:6.93 [[-7.21573324e-01 -6.92279225e-01 9.02286690e-03 4.95585874e+01] [ 6.92218926e-01 -7.21629649e-01 -9.14378106e-03 2.95528479e+02] [ 1.28412179e-02 -3.52109261e-04 9.99917486e-01 6.92772389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.23275509600006 meters 0.0275511718713074 Centerline is valid? [True, True] Translation: X:49.54, Y:295.55, Z:6.93 [[-7.22087876e-01 -6.91741196e-01 9.12235334e-03 4.95429796e+01] [ 6.91679612e-01 -7.22145406e-01 -9.23722480e-03 2.95548269e+02] [ 1.29774345e-02 -3.60342218e-04 9.99915725e-01 6.92766754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2627550960001 meters 0.026354140110478885 Centerline is valid? [True, True] Translation: X:49.52, Y:295.56, Z:6.93 [[-7.23151790e-01 -6.90634272e-01 8.70577569e-03 4.95223503e+01] [ 6.90578192e-01 -7.23204103e-01 -8.80830168e-03 2.95563260e+02] [ 1.23793677e-02 -3.57720287e-04 9.99923309e-01 6.92937232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.29275509600006 meters 0.027208996659707416 Centerline is valid? [True, True] Translation: X:49.51, Y:295.58, Z:6.93 [[-7.23681978e-01 -6.90080028e-01 8.59937962e-03 4.95050018e+01] [ 6.90025359e-01 -7.23732981e-01 -8.69343934e-03 2.95581632e+02] [ 1.22228235e-02 -3.57495371e-04 9.99925235e-01 6.93002873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.32275509600004 meters 0.024661425461126686 Centerline is valid? [True, True] Translation: X:49.48, Y:295.60, Z:6.93 [[-7.24318386e-01 -6.89411315e-01 8.65531674e-03 4.94823045e+01] [ 6.89355968e-01 -7.24370006e-01 -8.74326360e-03 2.95597426e+02] [ 1.22973567e-02 -3.66312333e-04 9.99924318e-01 6.93109661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.35275509600007 meters 0.028352270754498476 Centerline is valid? [True, True] Translation: X:49.47, Y:295.62, Z:6.93 [[-7.25435716e-01 -6.88236401e-01 8.58357439e-03 4.94675693e+01] [ 6.88181963e-01 -7.25486397e-01 -8.66446872e-03 2.95620168e+02] [ 1.21904692e-02 -3.78454002e-04 9.99925622e-01 6.93160734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.38275509600004 meters 0.026607005713367687 Centerline is valid? [True, True] Translation: X:49.45, Y:295.64, Z:6.93 [[-7.25945188e-01 -6.87700566e-01 8.45665052e-03 4.94473217e+01] [ 6.87647771e-01 -7.25994345e-01 -8.52961944e-03 2.95635564e+02] [ 1.20053046e-02 -3.76839313e-04 9.99927863e-01 6.93236667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.41275509600007 meters 0.025690951099011403 Centerline is valid? [True, True] Translation: X:49.43, Y:295.65, Z:6.93 [[-7.26266066e-01 -6.87360619e-01 8.54288014e-03 4.94266125e+01] [ 6.87306806e-01 -7.26316208e-01 -8.60931181e-03 2.95653502e+02] [ 1.21225342e-02 -3.81071352e-04 9.99926447e-01 6.93315579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.44275509600004 meters 0.027906972743194966 Centerline is valid? [True, True] Translation: X:49.41, Y:295.67, Z:6.93 [[-7.26159882e-01 -6.87475088e-01 8.35643363e-03 4.94092702e+01] [ 6.87423675e-01 -7.26207869e-01 -8.41556066e-03 2.95673988e+02] [ 1.18539962e-02 -3.66632211e-04 9.99929672e-01 6.93328630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.47275509600007 meters 0.028450745630119727 Centerline is valid? [True, True] Translation: X:49.39, Y:295.69, Z:6.93 [[-7.25793353e-01 -6.87858883e-01 8.61195539e-03 4.93918223e+01] [ 6.87804379e-01 -7.25844352e-01 -8.66680267e-03 2.95692100e+02] [ 1.22124764e-02 -3.66967147e-04 9.99925358e-01 6.93330651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.50275509600004 meters 0.027651354247093418 Centerline is valid? [True, True] Translation: X:49.37, Y:295.71, Z:6.93 [[-7.25256491e-01 -6.88422563e-01 8.79761940e-03 4.93718239e+01] [ 6.88365804e-01 -7.25309758e-01 -8.84727479e-03 2.95709636e+02] [ 1.24716628e-02 -3.60563114e-04 9.99922161e-01 6.93340073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5327550960001 meters 0.025153569545687298 Centerline is valid? [True, True] Translation: X:49.35, Y:295.72, Z:6.93 [[-7.24990077e-01 -6.88701866e-01 8.89541913e-03 4.93501605e+01] [ 6.88643950e-01 -7.25044560e-01 -8.93846003e-03 2.95724782e+02] [ 1.26055094e-02 -3.54518255e-04 9.99920485e-01 6.93371067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.56275509600005 meters 0.027244338803899038 Centerline is valid? [True, True] Translation: X:49.33, Y:295.75, Z:6.93 [[-7.24664147e-01 -6.89042203e-01 9.09489766e-03 4.93342049e+01] [ 6.88981785e-01 -7.24721132e-01 -9.13125481e-03 2.95745344e+02] [ 1.28830845e-02 -3.50874149e-04 9.99916948e-01 6.93296477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5927550960001 meters 0.024420072123470655 Centerline is valid? [True, True] Translation: X:49.31, Y:295.76, Z:6.93 [[-7.23460065e-01 -6.90298309e-01 9.68393875e-03 4.93122241e+01] [ 6.90230037e-01 -7.23524793e-01 -9.71442327e-03 2.95760814e+02] [ 1.37124197e-02 -3.43851883e-04 9.99905921e-01 6.93306735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.62275509600005 meters 0.0227560179405841 Centerline is valid? [True, True] Translation: X:49.29, Y:295.78, Z:6.93 [[-7.22769778e-01 -6.91022890e-01 9.55056188e-03 4.92907219e+01] [ 6.90956648e-01 -7.22832804e-01 -9.57326597e-03 2.95777805e+02] [ 1.35188053e-02 -3.20243097e-04 9.99908566e-01 6.93315482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6527550960001 meters 0.021449676463942663 Centerline is valid? [True, True] Translation: X:49.27, Y:295.80, Z:6.93 [[-7.20890671e-01 -6.92975271e-01 1.00953269e-02 4.92695115e+01] [ 6.92901553e-01 -7.20961294e-01 -1.01118729e-02 2.95795236e+02] [ 1.42856178e-02 -2.94487151e-04 9.99897912e-01 6.93292765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.68275509600005 meters 0.021123845750449823 Centerline is valid? [True, True] Translation: X:49.25, Y:295.81, Z:6.93 [[-7.19950420e-01 -6.93948317e-01 1.03501456e-02 4.92503330e+01] [ 6.93871044e-01 -7.20024761e-01 -1.03594192e-02 2.95813716e+02] [ 1.46412626e-02 -2.76601882e-04 9.99892773e-01 6.93275791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7127550960001 meters 0.02058428865356978 Centerline is valid? [True, True] Translation: X:49.23, Y:295.83, Z:6.93 [[-7.19488549e-01 -6.94427385e-01 1.03361146e-02 4.92306298e+01] [ 6.94350487e-01 -7.19562742e-01 -1.03374346e-02 2.95831423e+02] [ 1.46160806e-02 -2.60779612e-04 9.99893145e-01 6.93281001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.74275509600005 meters 0.020246858388240786 Centerline is valid? [True, True] Translation: X:48.91, Y:295.49, Z:8.12 [[-7.44908750e-01 6.67164524e-01 -1.56635719e-03 4.89056672e+01] [ 6.67161149e-01 7.44910157e-01 2.20433922e-03 2.95492437e+02] [ 2.63745231e-03 5.97018907e-04 -9.99996344e-01 8.12254390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7727550960001 meters 0.019875140330261543 Centerline is valid? [True, True] Translation: X:48.91, Y:295.51, Z:8.12 [[-7.90659129e-01 6.12255183e-01 -1.31645681e-03 4.89125307e+01] [ 6.12252881e-01 7.90659993e-01 1.78458403e-03 2.95511571e+02] [ 2.13349056e-03 6.04993180e-04 -9.99997541e-01 8.12287569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.80275509600006 meters 0.019836040447354358 Centerline is valid? [True, True] Translation: X:48.92, Y:295.53, Z:8.12 [[-8.32700875e-01 5.53722755e-01 -6.02819851e-04 4.89233295e+01] [ 5.53721917e-01 8.32700863e-01 1.14543745e-03 2.95525278e+02] [ 1.13622339e-03 6.20012202e-04 -9.99999162e-01 8.12422050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8327550960001 meters 0.019832266426204257 Centerline is valid? [True, True] Translation: X:49.18, Y:295.92, Z:6.93 [[-8.10315053e-01 -5.85829447e-01 1.39058690e-02 4.91776560e+01] [ 5.85747758e-01 -8.10434336e-01 -9.78526568e-03 2.95922414e+02] [ 1.70022905e-02 2.16183518e-04 9.99855427e-01 6.93036209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.86275509600006 meters 0.019950466923520954 Centerline is valid? [True, True] Translation: X:48.90, Y:295.54, Z:8.13 [[-8.34989735e-01 5.50265519e-01 -2.89392092e-05 4.89005066e+01] [ 5.50265336e-01 8.34989499e-01 7.72111325e-04 2.95537343e+02] [ 4.49030174e-04 6.28780787e-04 -9.99999702e-01 8.12537288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8927550960001 meters 0.019686723271130854 Centerline is valid? [True, True] Translation: X:48.91, Y:295.55, Z:8.13 [[-8.71840039e-01 4.89790699e-01 1.33656518e-04 4.89105724e+01] [ 4.89790676e-01 8.71839822e-01 6.46760182e-04 2.95551674e+02] [ 2.00250047e-04 6.29335139e-04 -9.99999782e-01 8.12541232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.92275509600006 meters 0.019919916577446354 Centerline is valid? [True, True] Translation: X:48.92, Y:295.57, Z:8.13 [[-9.04269173e-01 4.26962544e-01 -4.98280365e-04 4.89216330e+01] [ 4.26962002e-01 9.04269098e-01 9.20171789e-04 2.95565418e+02] [ 8.43458425e-04 6.19336201e-04 -9.99999453e-01 8.12531738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.9527550960001 meters 0.020034073785613355 Centerline is valid? [True, True] Translation: X:48.93, Y:295.58, Z:8.13 [[-9.32168094e-01 3.62025187e-01 -6.39835560e-04 4.89290358e+01] [ 3.62024568e-01 9.32168109e-01 9.10226811e-04 2.95581141e+02] [ 9.25959336e-04 6.16848200e-04 -9.99999381e-01 8.12517477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.98275509600006 meters 0.019728492828502708 Centerline is valid? [True, True] Translation: X:48.93, Y:295.60, Z:8.12 [[-9.55308351e-01 2.95608883e-01 -1.15847488e-03 4.89339193e+01] [ 2.95607836e-01 9.55308861e-01 9.93874851e-04 2.95596742e+02] [ 1.40049955e-03 6.07002693e-04 -9.99998835e-01 8.12385178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.0127550960001 meters 0.020346360884136692 Centerline is valid? [True, True] Translation: X:49.06, Y:296.07, Z:6.93 [[-9.43408920e-01 -3.31277666e-01 1.53205321e-02 4.90645162e+01] [ 3.31237832e-01 -9.43533284e-01 -5.14200989e-03 2.96071514e+02] [ 1.61588650e-02 2.23721835e-04 9.99869412e-01 6.93273328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.04275509600006 meters 0.020502667938241924 Centerline is valid? [True, True] Translation: X:48.90, Y:295.60, Z:8.12 [[-9.56334079e-01 2.92271192e-01 -1.63721261e-03 4.89026194e+01] [ 2.92269634e-01 9.56335292e-01 1.12693952e-03 2.95598358e+02] [ 1.89509615e-03 5.99223140e-04 -9.99998025e-01 8.12415385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.07275509600004 meters 0.019697073017266538 Centerline is valid? [True, True] Translation: X:49.03, Y:296.08, Z:6.93 [[-9.44689374e-01 -3.27629428e-01 1.48642079e-02 4.90301629e+01] [ 3.27592629e-01 -9.44806280e-01 -4.91550236e-03 2.96084639e+02] [ 1.56542602e-02 2.25782086e-04 9.99877439e-01 6.93403650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.10275509600007 meters 0.020443387007646526 Centerline is valid? [True, True] Translation: X:48.87, Y:295.60, Z:8.12 [[-9.57477796e-01 2.88501465e-01 -1.78188981e-03 4.88711854e+01] [ 2.88499754e-01 9.57479269e-01 1.15816308e-03 2.95603890e+02] [ 2.04025430e-03 5.94840663e-04 -9.99997742e-01 8.12430623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.13275509600004 meters 0.01949903872689305 Centerline is valid? [True, True] Translation: X:49.00, Y:296.10, Z:6.94 [[-9.45829121e-01 -3.24338581e-01 1.45519137e-02 4.90042230e+01] [ 3.24303924e-01 -9.45941030e-01 -4.74682127e-03 2.96096220e+02] [ 1.53048295e-02 2.29560931e-04 9.99882848e-01 6.93507852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.16275509600007 meters 0.019426071355200438 Centerline is valid? [True, True] Translation: X:48.84, Y:295.61, Z:8.12 [[-9.58662038e-01 2.84541184e-01 -1.84723240e-03 4.88387984e+01] [ 2.84539411e-01 9.58663634e-01 1.16603084e-03 2.95608864e+02] [ 2.10265832e-03 5.92219082e-04 -9.99997614e-01 8.12319878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.19275509600004 meters 0.019211958863715076 Centerline is valid? [True, True] Translation: X:48.97, Y:296.11, Z:6.94 [[-9.46975375e-01 -3.20969658e-01 1.47009415e-02 4.89675427e+01] [ 3.20934935e-01 -9.47089447e-01 -4.72726879e-03 2.96109160e+02] [ 1.54404164e-02 2.41438577e-04 9.99880761e-01 6.93574160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.22275509600007 meters 0.019559048112521696 Centerline is valid? [True, True] Translation: X:48.81, Y:295.61, Z:8.12 [[-9.59683791e-01 2.81072622e-01 -2.28088049e-03 4.88070408e+01] [ 2.81070332e-01 9.59686325e-01 1.27555331e-03 2.95612190e+02] [ 2.54745292e-03 5.83040000e-04 -9.99996585e-01 8.12328150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.25275509600004 meters 0.019245439095482965 Centerline is valid? [True, True] Translation: X:48.81, Y:295.63, Z:8.12 [[-9.77124948e-01 2.12652161e-01 -2.42800013e-03 4.88133899e+01] [ 2.12649997e-01 9.77127793e-01 1.12007554e-03 2.95629225e+02] [ 2.61065289e-03 5.78139533e-04 -9.99996425e-01 8.12306294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.2827550960001 meters 0.019562525596961203 Centerline is valid? [True, True] Translation: X:48.91, Y:296.15, Z:6.94 [[-9.68809934e-01 -2.47410161e-01 1.39830305e-02 4.89139220e+01] [ 2.47387573e-01 -9.68910815e-01 -3.34991239e-03 2.96150572e+02] [ 1.43771119e-02 2.13799595e-04 9.99896621e-01 6.93647744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.31275509600005 meters 0.019842345449140847 Centerline is valid? [True, True] Translation: X:48.78, Y:295.63, Z:8.12 [[-9.77542995e-01 2.10721153e-01 -2.50787977e-03 4.87778340e+01] [ 2.10718922e-01 9.77546044e-01 1.12599178e-03 2.95629433e+02] [ 2.68883823e-03 5.72247654e-04 -9.99996221e-01 8.12320486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3427550960001 meters 0.020196701745536113 Centerline is valid? [True, True] Translation: X:48.78, Y:295.64, Z:8.12 [[-9.89908354e-01 1.41679990e-01 -2.86904205e-03 4.87845314e+01] [ 1.41677732e-01 9.89912353e-01 9.76599922e-04 2.95644935e+02] [ 2.97846483e-03 5.60265050e-04 -9.99995407e-01 8.12315430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.37275509600005 meters 0.020631072331062622 Centerline is valid? [True, True] Translation: X:48.79, Y:295.66, Z:8.12 [[-9.97417931e-01 7.17319755e-02 -3.46323632e-03 4.87880302e+01] [ 7.17296294e-02 9.97423794e-01 7.97105678e-04 2.95660825e+02] [ 3.51149228e-03 5.46630838e-04 -9.99993685e-01 8.12292922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4027550960001 meters 0.021307816475664796 Centerline is valid? [True, True] Translation: X:48.81, Y:296.21, Z:6.94 [[-9.94835590e-01 -1.00523466e-01 1.40421601e-02 4.88125023e+01] [ 1.00516963e-01 -9.94934657e-01 -1.16986919e-03 2.96214691e+02] [ 1.40886311e-02 2.47647787e-04 9.99900720e-01 6.93764789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.43275509600005 meters 0.021223348925852044 Centerline is valid? [True, True] Translation: X:48.74, Y:295.66, Z:8.12 [[-9.97689994e-01 6.78633743e-02 -3.03951136e-03 4.87395688e+01] [ 6.78613360e-02 9.97694466e-01 7.68904046e-04 2.95658457e+02] [ 3.08468409e-03 5.60862571e-04 -9.99995085e-01 8.12353943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4627550960001 meters 0.021223348925852044 Centerline is valid? [True, True] Translation: X:48.76, Y:296.22, Z:6.94 [[-9.95351572e-01 -9.52833891e-02 1.40115771e-02 4.87616007e+01] [ 9.52768998e-02 -9.95450166e-01 -1.13146198e-03 2.96218477e+02] [ 1.40556362e-02 2.08777158e-04 9.99901193e-01 6.93808756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.49275509600005 meters 0.021046947366755102 Centerline is valid? [True, True] Translation: X:48.69, Y:295.66, Z:8.12 [[-9.98070513e-01 6.20679534e-02 -1.67947607e-03 4.86882571e+01] [ 6.20668656e-02 9.98071753e-01 6.92291854e-04 2.95658964e+02] [ 1.71920677e-03 5.86716270e-04 -9.99998350e-01 8.12496412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5227550960001 meters 0.019923861527177355 Centerline is valid? [True, True] Translation: X:48.71, Y:296.22, Z:6.94 [[-9.95664426e-01 -9.16267751e-02 1.60276286e-02 4.87056039e+01] [ 9.16187544e-02 -9.95793391e-01 -1.23552610e-03 2.96222414e+02] [ 1.60734139e-02 2.38261979e-04 9.99870786e-01 6.93786321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.55275509600006 meters 0.02068899908538165 Centerline is valid? [True, True] Translation: X:48.63, Y:295.66, Z:8.13 [[-9.98477315e-01 5.51599498e-02 -6.56318067e-04 4.86329313e+01] [ 5.51595295e-02 9.98477348e-01 6.42187002e-04 2.95659242e+02] [ 6.90741726e-04 6.05006958e-04 -9.99999578e-01 8.12629484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5827550960001 meters 0.018692184770217682 Centerline is valid? [True, True] Translation: X:48.64, Y:295.68, Z:8.13 [[-9.99831520e-01 -1.83520915e-02 -3.64432205e-04 4.86363644e+01] [-1.83523054e-02 9.99831407e-01 5.92462774e-04 2.95679637e+02] [ 3.53497833e-04 5.99051127e-04 -9.99999758e-01 8.12503481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.61275509600006 meters 0.01832474848768005 Centerline is valid? [True, True] Translation: X:48.63, Y:295.70, Z:8.13 [[-9.95863151e-01 -9.08657463e-02 3.97839012e-05 4.86294033e+01] [-9.08657053e-02 9.95862968e-01 6.10349662e-04 2.95697651e+02] [-9.50791915e-05 6.04209745e-04 -9.99999813e-01 8.12524964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.6427550960001 meters 0.017742283547359305 Centerline is valid? [True, True] Translation: X:48.63, Y:295.72, Z:8.12 [[-9.86369318e-01 -1.64546236e-01 -3.24806773e-04 4.86271549e+01] [-1.64546397e-01 9.86369188e-01 5.54827443e-04 2.95715494e+02] [ 2.29084626e-04 6.00710550e-04 -9.99999793e-01 8.12486881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.67275509600006 meters 0.017456567044106003 Centerline is valid? [True, True] Translation: X:48.62, Y:295.73, Z:8.12 [[-9.71715806e-01 -2.36153097e-01 -3.27985152e-04 4.86172463e+01] [-2.36153248e-01 9.71715674e-01 5.40607177e-04 2.95732601e+02] [ 1.91042253e-04 6.02771298e-04 -9.99999800e-01 8.12475492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.7027550960001 meters 0.017462221453521325 Centerline is valid? [True, True] Translation: X:48.59, Y:295.74, Z:8.13 [[-9.51625270e-01 -3.07260961e-01 -2.19543110e-04 4.85884278e+01] [-3.07261037e-01 9.51625098e-01 5.72575260e-04 2.95743098e+02] [ 3.29927094e-05 6.12334130e-04 -9.99999812e-01 8.12575973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.73275509600006 meters 0.01701053277124061 Centerline is valid? [True, True] Translation: X:48.55, Y:295.75, Z:8.13 [[-9.25722883e-01 -3.78202433e-01 2.49984774e-04 4.85460024e+01] [-3.78202153e-01 9.25722708e-01 7.74118375e-04 2.95746260e+02] [-5.24190035e-04 6.22074315e-04 -9.99999669e-01 8.12505921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.7627550960001 meters 0.016883518103227947 Centerline is valid? [True, True] Translation: X:48.50, Y:295.74, Z:8.13 [[-8.94805344e-01 -4.46456443e-01 2.02276768e-04 4.85007771e+01] [-4.46456165e-01 8.94805149e-01 7.99368825e-04 2.95744960e+02] [-5.37881656e-04 6.24971786e-04 -9.99999660e-01 8.12506814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.79275509600006 meters 0.016868368686482067 Centerline is valid? [True, True] Translation: X:48.45, Y:295.74, Z:8.12 [[-8.58794768e-01 -5.12319740e-01 1.73607975e-04 4.84491697e+01] [-5.12319445e-01 8.58794556e-01 8.35285221e-04 2.95735353e+02] [-5.77026691e-04 6.28395836e-04 -9.99999636e-01 8.12488005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.82275509600004 meters 0.016989675298996008 Centerline is valid? [True, True] Translation: X:48.39, Y:295.72, Z:8.13 [[-8.18030346e-01 -5.75174924e-01 3.99856257e-04 4.83929638e+01] [-5.75174307e-01 8.18030200e-01 1.05259780e-03 2.95719236e+02] [-9.32522353e-04 6.31069895e-04 -9.99999366e-01 8.12604346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.85275509600007 meters 0.01708166437652507 Centerline is valid? [True, True] Translation: X:48.34, Y:295.70, Z:8.13 [[-7.72067380e-01 -6.35540499e-01 4.84561953e-04 4.83359293e+01] [-6.35539642e-01 7.72067270e-01 1.22265942e-03 2.95697322e+02] [-1.15116400e-03 6.36017128e-04 -9.99999135e-01 8.12732987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.88275509600004 meters 0.016916267543210864 Centerline is valid? [True, True] Translation: X:48.28, Y:295.67, Z:8.13 [[-7.20679805e-01 -6.93267580e-01 8.25094434e-04 4.82762203e+01] [-6.93265837e-01 7.20679994e-01 1.68070975e-03 2.95670170e+02] [-1.75981063e-03 6.39243793e-04 -9.99998247e-01 8.12748528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.91275509600007 meters 0.01675733580570806 Centerline is valid? [True, True] Translation: X:48.21, Y:295.63, Z:8.13 [[-6.65245176e-01 -7.46624344e-01 9.72239503e-04 4.82144754e+01] [-7.46621796e-01 6.65245579e-01 2.05264450e-03 2.95634428e+02] [-2.17933238e-03 6.39616646e-04 -9.99997421e-01 8.12851511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.94275509600004 meters 0.016925284500037344 Centerline is valid? [True, True] Translation: X:48.16, Y:295.59, Z:8.13 [[-6.05564422e-01 -7.95795387e-01 1.19684905e-03 4.81550952e+01] [-7.95791290e-01 6.05565265e-01 2.63305326e-03 2.95592457e+02] [-2.82014185e-03 6.42041323e-04 -9.99995817e-01 8.12997616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.97275509600007 meters 0.016924156282712415 Centerline is valid? [True, True] Translation: X:48.09, Y:295.54, Z:8.13 [[-5.42423402e-01 -8.40103623e-01 1.66019826e-03 4.80931893e+01] [-8.40095459e-01 5.42425560e-01 3.75918260e-03 2.95539224e+02] [-4.05863689e-03 6.44343596e-04 -9.99991556e-01 8.13169267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.00275509600004 meters 0.017129373702518987 Centerline is valid? [True, True] Translation: X:48.04, Y:295.49, Z:8.13 [[-4.76429449e-01 -8.79210839e-01 1.81137381e-03 4.80429161e+01] [-8.79198472e-01 4.76432448e-01 4.70835139e-03 2.95490550e+02] [-5.00263084e-03 6.50640174e-04 -9.99987275e-01 8.13284696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0327550960001 meters 0.01706405963307873 Centerline is valid? [True, True] Translation: X:47.99, Y:295.43, Z:8.13 [[-4.07983006e-01 -9.12988198e-01 1.55469448e-03 4.79925716e+01] [-9.12974282e-01 4.07985444e-01 5.08320626e-03 2.95429150e+02] [-5.27520004e-03 6.54465690e-04 -9.99985872e-01 8.13365590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.06275509600005 meters 0.01739460731861446 Centerline is valid? [True, True] Translation: X:47.95, Y:295.36, Z:8.13 [[-3.38252522e-01 -9.41054778e-01 1.06555890e-03 4.79476695e+01] [-9.41042110e-01 3.38253549e-01 4.92786510e-03 2.95362125e+02] [-4.99782007e-03 6.64127002e-04 -9.99987290e-01 8.13350398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0927550960001 meters 0.017265947477882477 Centerline is valid? [True, True] Translation: X:47.91, Y:295.30, Z:8.13 [[-2.65166452e-01 -9.64202500e-01 5.40318569e-04 4.79078557e+01] [-9.64192406e-01 2.65166176e-01 4.46130075e-03 2.95298268e+02] [-4.44487154e-03 6.62016229e-04 -9.99989902e-01 8.13248200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.12275509600005 meters 0.017718621524455778 Centerline is valid? [True, True] Translation: X:47.87, Y:295.22, Z:8.13 [[-1.91840398e-01 -9.81426103e-01 2.58294921e-04 4.78718149e+01] [-9.81414444e-01 1.91839391e-01 4.83088435e-03 2.95224493e+02] [-4.79070714e-03 6.73264411e-04 -9.99988298e-01 8.13355647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1527550960001 meters 0.018322086023749084 Centerline is valid? [True, True] Translation: X:47.84, Y:295.15, Z:8.14 [[-1.16511477e-01 -9.93189344e-01 -5.08247570e-05 4.78419337e+01] [-9.93174736e-01 1.16509486e-01 5.42989785e-03 2.95150513e+02] [-5.38699511e-03 6.83123285e-04 -9.99985257e-01 8.13506570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.18275509600005 meters 0.018151727975280096 Centerline is valid? [True, True] Translation: X:47.82, Y:295.07, Z:8.14 [[-3.97316231e-02 -9.99210283e-01 -4.56085820e-04 4.78161103e+01] [-9.99192894e-01 3.97282224e-02 5.93539151e-03 2.95066822e+02] [-5.91258476e-03 6.91540449e-04 -9.99982281e-01 8.13565911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2127550960001 meters 0.018400623107641085 Centerline is valid? [True, True] Translation: X:47.80, Y:294.99, Z:8.14 [[ 3.77191004e-02 -9.99287889e-01 -9.92277153e-04 4.77967615e+01] [-9.99260358e-01 -3.77254605e-02 7.45160525e-03 2.94990443e+02] [-7.48373299e-03 7.10475377e-04 -9.99971744e-01 8.13745335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.24275509600005 meters 0.018286940390238298 Centerline is valid? [True, True] Translation: X:47.78, Y:294.91, Z:8.14 [[ 1.15034694e-01 -9.93360207e-01 -1.58685839e-03 4.77842616e+01] [-9.93331826e-01 -1.15043456e-01 7.54228122e-03 2.94907952e+02] [-7.67475971e-03 7.08652933e-04 -9.99970298e-01 8.13808313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2727550960001 meters 0.018555950793697082 Centerline is valid? [True, True] Translation: X:47.78, Y:294.83, Z:8.14 [[ 1.91609844e-01 -9.81468526e-01 -2.28038251e-03 4.77786006e+01] [-9.81436531e-01 -1.91622085e-01 7.95688784e-03 2.94825897e+02] [-8.24640663e-03 7.13432661e-04 -9.99965743e-01 8.13910714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.30275509600006 meters 0.01852002411555317 Centerline is valid? [True, True] Translation: X:47.78, Y:294.74, Z:8.14 [[ 2.67321108e-01 -9.63602683e-01 -3.04880340e-03 4.77783046e+01] [-9.63567125e-01 -2.67337533e-01 8.30893227e-03 2.94743086e+02] [-8.82156900e-03 7.16573746e-04 -9.99960832e-01 8.13952769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3327550960001 meters 0.018095963390875738 Centerline is valid? [True, True] Translation: X:47.78, Y:294.66, Z:8.14 [[ 3.41454530e-01 -9.39891287e-01 -3.62941750e-03 4.77842907e+01] [-9.39858180e-01 -3.41473087e-01 7.92036051e-03 2.94661302e+02] [-8.68362623e-03 7.06694750e-04 -9.99962047e-01 8.13908571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.36275509600006 meters 0.017902203137708534 Centerline is valid? [True, True] Translation: X:47.80, Y:294.58, Z:8.14 [[ 4.14125930e-01 -9.10209362e-01 -4.31652682e-03 4.77975819e+01] [-9.10176144e-01 -4.14147841e-01 7.80727289e-03 2.94577008e+02] [-8.89393313e-03 6.95605595e-04 -9.99960206e-01 8.13926336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3927550960001 meters 0.017644840131521015 Centerline is valid? [True, True] Translation: X:47.81, Y:294.50, Z:8.14 [[ 4.83690066e-01 -8.75226843e-01 -4.67910086e-03 4.78148002e+01] [-8.75198686e-01 -4.83712215e-01 7.05366463e-03 2.94500848e+02] [-8.43689486e-03 6.83355413e-04 -9.99964175e-01 8.13960908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.42275509600006 meters 0.017518641554258016 Centerline is valid? [True, True] Translation: X:47.84, Y:294.43, Z:8.14 [[ 5.50079467e-01 -8.35096431e-01 -5.15081469e-03 4.78364201e+01] [-8.35070656e-01 -5.50103170e-01 6.59559471e-03 2.94429308e+02] [-8.34143709e-03 6.73192981e-04 -9.99964983e-01 8.14010088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.4527550960001 meters 0.01715648922265944 Centerline is valid? [True, True] Translation: X:47.87, Y:294.36, Z:8.14 [[ 6.12934789e-01 -7.90118267e-01 -4.90588431e-03 4.78673603e+01] [-7.90101107e-01 -6.12954068e-01 5.24899762e-03 2.94355688e+02] [-7.15441065e-03 6.58851373e-04 -9.99974190e-01 8.13922978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.48275509600006 meters 0.017057938256374635 Centerline is valid? [True, True] Translation: X:47.90, Y:294.29, Z:8.14 [[ 6.71711338e-01 -7.40795646e-01 -5.06856167e-03 4.78993679e+01] [-7.40781553e-01 -6.71730142e-01 4.61600057e-03 2.94289850e+02] [-6.82421877e-03 6.54077073e-04 -9.99976501e-01 8.13887428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.5127550960001 meters 0.016936012526673098 Centerline is valid? [True, True] Translation: X:47.94, Y:294.23, Z:8.14 [[ 7.25944320e-01 -6.87741942e-01 -3.98316718e-03 4.79366482e+01] [-6.87736148e-01 -7.25954967e-01 2.89436071e-03 2.94227480e+02] [-4.88217325e-03 6.38223336e-04 -9.99987878e-01 8.13776006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.54275509600006 meters 0.017106373894135683 Centerline is valid? [True, True] Translation: X:47.95, Y:294.24, Z:8.14 [[ 7.77230331e-01 -6.29203754e-01 -3.95575694e-03 4.79523887e+01] [-6.29199641e-01 -7.77240126e-01 2.36610724e-03 2.94237642e+02] [-4.56333658e-03 6.49950534e-04 -9.99989377e-01 8.13747939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.57275509600004 meters 0.017156407011698526 Centerline is valid? [True, True] Translation: X:47.97, Y:294.25, Z:8.14 [[ 8.23637574e-01 -5.67105614e-01 -3.51712914e-03 4.79692110e+01] [-5.67103603e-01 -8.23644832e-01 1.64120564e-03 2.94246684e+02] [-3.82760217e-03 6.42817979e-04 -9.99992468e-01 8.13691194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.60275509600007 meters 0.017744736040413912 Centerline is valid? [True, True] Translation: X:47.99, Y:294.26, Z:8.14 [[ 8.64624016e-01 -5.02411990e-01 -2.73923286e-03 4.79854569e+01] [-5.02411660e-01 -8.64628122e-01 8.57283641e-04 2.94259527e+02] [-2.79912735e-03 6.34994504e-04 -9.99995881e-01 8.13675830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.63275509600004 meters 0.01767084054933447 Centerline is valid? [True, True] Translation: X:48.00, Y:294.27, Z:8.14 [[ 9.01059401e-01 -4.33689271e-01 -2.36050391e-03 4.80009084e+01] [-4.33689505e-01 -9.01062274e-01 4.38800572e-04 2.94270360e+02] [-2.31726412e-03 6.28340391e-04 -9.99997118e-01 8.13627140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.66275509600007 meters 0.0192128928635757 Centerline is valid? [True, True] Translation: X:48.01, Y:294.28, Z:8.14 [[ 9.31976705e-01 -3.62510706e-01 -2.32561531e-03 4.80146314e+01] [-3.62511176e-01 -9.31979396e-01 2.31117523e-04 2.94284675e+02] [-2.25120813e-03 6.27665393e-04 -9.99997269e-01 8.13769071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.69275509600004 meters 0.01869740186731695 Centerline is valid? [True, True] Translation: X:48.03, Y:294.30, Z:8.14 [[ 9.57345462e-01 -2.88941396e-01 -1.59235174e-03 4.80273701e+01] [-2.88942007e-01 -9.57346588e-01 -1.62972852e-04 2.94300760e+02] [-1.47734291e-03 6.16118629e-04 -9.99998719e-01 8.13730190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.72275509600007 meters 0.01936865147380223 Centerline is valid? [True, True] Translation: X:48.04, Y:294.32, Z:8.14 [[ 9.76651781e-01 -2.14827794e-01 -5.62897249e-04 4.80410077e+01] [-2.14828072e-01 -9.76651759e-01 -4.91481603e-04 2.94321773e+02] [-4.44170680e-04 6.00932514e-04 -9.99999721e-01 8.13680602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.75275509600004 meters 0.0194782708536843 Centerline is valid? [True, True] Translation: X:48.05, Y:294.34, Z:8.14 [[ 9.90322109e-01 -1.38788041e-01 3.17954511e-05 4.80494338e+01] [-1.38787997e-01 -9.90321932e-01 -6.01864385e-04 2.94339963e+02] [ 1.15019311e-04 5.91626780e-04 -9.99999818e-01 8.13630181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.7827550960001 meters 0.020312162921280266 Centerline is valid? [True, True] Translation: X:48.05, Y:294.36, Z:8.14 [[ 9.98063705e-01 -6.21998669e-02 -1.30941599e-04 4.80540781e+01] [-6.21999334e-02 -9.98063538e-01 -5.86098176e-04 2.94361370e+02] [-9.42328070e-05 5.93107876e-04 -9.99999820e-01 8.13678636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.81275509600005 meters 0.020330446975551756 Centerline is valid? [True, True] Translation: X:48.06, Y:294.38, Z:8.14 [[ 9.99873817e-01 1.58831602e-02 2.75926437e-04 4.80582384e+01] [ 1.58833183e-02 -9.99873684e-01 -5.80359737e-04 2.94381020e+02] [ 2.66673637e-04 5.84669133e-04 -9.99999794e-01 8.13666358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8427550960001 meters 0.020539497692124046 Centerline is valid? [True, True] Translation: X:48.06, Y:294.40, Z:8.14 [[ 9.95559153e-01 9.41332352e-02 9.52249814e-04 4.80597957e+01] [ 9.41337261e-02 -9.95559444e-01 -4.84464257e-04 2.94401435e+02] [ 9.02417108e-04 5.71951649e-04 -9.99999429e-01 8.13670531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.87275509600005 meters 0.02060012559793322 Centerline is valid? [True, True] Translation: X:48.06, Y:294.42, Z:8.14 [[ 9.85049381e-01 1.72269543e-01 9.60413494e-04 4.80590054e+01] [ 1.72269997e-01 -9.85049683e-01 -4.11615378e-04 2.94423363e+02] [ 8.75146215e-04 5.70911903e-04 -9.99999454e-01 8.13675697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9027550960001 meters 0.020256225591240212 Centerline is valid? [True, True] Translation: X:48.06, Y:294.45, Z:8.14 [[ 9.68391297e-01 2.49433489e-01 1.10896521e-03 4.80577341e+01] [ 2.49433953e-01 -9.68391766e-01 -3.00284448e-04 2.94445247e+02] [ 9.99011784e-04 5.67406423e-04 -9.99999340e-01 8.13695384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.93275509600005 meters 0.019238530798189303 Centerline is valid? [True, True] Translation: X:48.06, Y:294.46, Z:8.14 [[ 9.45284988e-01 3.26242818e-01 1.38429461e-03 4.80562738e+01] [ 3.26243283e-01 -9.45285833e-01 -1.18398295e-04 2.94463744e+02] [ 1.26992749e-03 5.63536948e-04 -9.99999035e-01 8.13710684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9627550960001 meters 0.018609039939673975 Centerline is valid? [True, True] Translation: X:48.05, Y:294.48, Z:8.14 [[ 9.16376286e-01 4.00314964e-01 1.55958438e-03 4.80535969e+01] [ 4.00315351e-01 -9.16377441e-01 6.93320863e-05 2.94481184e+02] [ 1.45692262e-03 5.60791289e-04 -9.99998781e-01 8.13684055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.99275509600005 meters 0.018307005165098245 Centerline is valid? [True, True] Translation: X:48.05, Y:294.50, Z:8.14 [[ 8.81706631e-01 4.71793809e-01 2.00473452e-03 4.80494071e+01] [ 4.71793926e-01 -8.81708736e-01 4.43930155e-04 2.94498921e+02] [ 1.97703543e-03 5.54405406e-04 -9.99997892e-01 8.13675427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0227550960001 meters 0.017684351196546554 Centerline is valid? [True, True] Translation: X:48.04, Y:294.52, Z:8.14 [[ 8.40715777e-01 5.41469038e-01 2.87448384e-03 4.80431827e+01] [ 5.41467981e-01 -8.40720514e-01 1.20123377e-03 2.94515389e+02] [ 3.06706843e-03 5.46544785e-04 -9.99995147e-01 8.13576587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.05275509600006 meters 0.01725148160631731 Centerline is valid? [True, True] Translation: X:48.04, Y:294.53, Z:8.14 [[ 7.95200124e-01 6.06339486e-01 3.03152073e-03 4.80387406e+01] [ 6.06337551e-01 -7.95205716e-01 1.62611027e-03 2.94529253e+02] [ 3.39665748e-03 5.45041768e-04 -9.99994083e-01 8.13523171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0827550960001 meters 0.017027251429205324 Centerline is valid? [True, True] Translation: X:48.03, Y:294.54, Z:8.14 [[ 7.44737422e-01 6.67350636e-01 3.04970456e-03 4.80327303e+01] [ 6.67347853e-01 -7.44743468e-01 2.00260932e-03 2.94544124e+02] [ 3.60769015e-03 5.43795693e-04 -9.99993344e-01 8.13521400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.11275509600006 meters 0.01691286242959463 Centerline is valid? [True, True] Translation: X:48.02, Y:294.56, Z:8.14 [[ 6.89276960e-01 7.24491918e-01 2.95531102e-03 4.80235027e+01] [ 7.24488429e-01 -6.89283079e-01 2.31387064e-03 2.94558201e+02] [ 3.71342646e-03 5.46190913e-04 -9.99992956e-01 8.13573937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1427550960001 meters 0.016990083806527438 Centerline is valid? [True, True] Translation: X:48.01, Y:294.57, Z:8.14 [[ 6.30398135e-01 7.76266066e-01 3.03091121e-03 4.80131320e+01] [ 7.76260937e-01 -6.30405189e-01 2.87332062e-03 2.94573273e+02] [ 4.14116344e-03 5.41442013e-04 -9.99991279e-01 8.13595680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.17275509600006 meters 0.017020332383466938 Centerline is valid? [True, True] Translation: X:48.00, Y:294.59, Z:8.14 [[ 5.67257112e-01 8.23535555e-01 2.92552244e-03 4.80015268e+01] [ 8.23529140e-01 -5.67264399e-01 3.29500527e-03 2.94586646e+02] [ 4.37309872e-03 5.40137807e-04 -9.99990292e-01 8.13623305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.2027550960001 meters 0.0170424544148343 Centerline is valid? [True, True] Translation: X:47.99, Y:294.60, Z:8.14 [[ 5.01124946e-01 8.65370643e-01 2.72762681e-03 4.79878154e+01] [ 8.65363160e-01 -5.01132081e-01 3.63860538e-03 2.94598507e+02] [ 4.51564358e-03 5.36991833e-04 -9.99989660e-01 8.13626804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.23275509600006 meters 0.017271547738338108 Centerline is valid? [True, True] Translation: X:47.97, Y:294.61, Z:8.14 [[ 4.32072197e-01 9.01834945e-01 2.71078238e-03 4.79732718e+01] [ 9.01824207e-01 -4.32080376e-01 4.43274492e-03 2.94609443e+02] [ 5.16888014e-03 5.29383331e-04 -9.99986501e-01 8.13632550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.2627550960001 meters 0.01718708724224925 Centerline is valid? [True, True] Translation: X:47.96, Y:294.62, Z:8.14 [[ 3.59890873e-01 9.32991743e-01 2.22869473e-03 4.79605845e+01] [ 9.32981977e-01 -3.59897382e-01 4.30165690e-03 2.94619043e+02] [ 4.81551177e-03 5.31204962e-04 -9.99988264e-01 8.13684437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.29275509600006 meters 0.01720262707818294 Centerline is valid? [True, True] Translation: X:47.95, Y:294.63, Z:8.14 [[ 2.85853061e-01 9.58271720e-01 1.82727919e-03 4.79459136e+01] [ 9.58262348e-01 -2.85858410e-01 4.27112961e-03 2.94628242e+02] [ 4.61524584e-03 5.30097378e-04 -9.99989209e-01 8.13750203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.32275509600004 meters 0.017519456461433425 Centerline is valid? [True, True] Translation: X:47.93, Y:294.64, Z:8.14 [[ 2.10253232e-01 9.77645999e-01 1.37065871e-03 4.79288716e+01] [ 9.77638569e-01 -2.10257029e-01 3.84835008e-03 2.94635229e+02] [ 4.05051469e-03 5.30880773e-04 -9.99991656e-01 8.13839243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.35275509600007 meters 0.017519456461433425 Centerline is valid? [True, True] Translation: X:47.91, Y:294.64, Z:8.14 [[ 1.32972211e-01 9.91119199e-01 1.06058277e-03 4.79080558e+01] [ 9.91111579e-01 -1.32975386e-01 3.92238006e-03 2.94641325e+02] [ 4.02857758e-03 5.29588317e-04 -9.99991745e-01 8.13856988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.38275509600004 meters 0.017566646493819803 Centerline is valid? [True, True] Translation: X:47.89, Y:294.65, Z:8.14 [[ 5.54353947e-02 9.98462010e-01 7.29561827e-04 4.78878168e+01] [ 9.98455639e-01 -5.54376756e-02 3.60559436e-03 2.94645861e+02] [ 3.64049420e-03 5.28557574e-04 -9.99993234e-01 8.13896148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.41275509600007 meters 0.017598301299470213 Centerline is valid? [True, True] Translation: X:47.87, Y:294.65, Z:8.14 [[-2.22321549e-02 9.99752739e-01 4.38035028e-04 4.78698665e+01] [ 9.99745613e-01 2.22303267e-02 3.81089787e-03 2.94648820e+02] [ 3.80021792e-03 5.22648069e-04 -9.99992643e-01 8.13934325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.44275509600004 meters 0.017708154309397445 Centerline is valid? [True, True] Translation: X:48.46, Y:294.70, Z:6.98 [[-4.00998607e-02 -9.99195625e-01 3.24343329e-04 4.84557073e+01] [ 9.99140324e-01 -4.01010539e-02 -1.05127933e-02 2.94700188e+02] [ 1.05173435e-02 -9.74970465e-05 9.99944686e-01 6.97972621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.47275509600007 meters 0.017863537633163232 Centerline is valid? [True, True] Translation: X:48.45, Y:294.73, Z:6.98 [[-4.23835571e-02 -9.99101354e-01 3.45837659e-04 4.84548626e+01] [ 9.99040103e-01 -4.23847884e-02 -1.10635709e-02 2.94727626e+02] [ 1.10682870e-02 -1.23407800e-04 9.99938737e-01 6.98003046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.50275509600004 meters 0.018077398910812406 Centerline is valid? [True, True] Translation: X:48.45, Y:294.75, Z:6.98 [[-4.40915216e-02 -9.99027434e-01 3.52010535e-04 4.84545724e+01] [ 9.98965406e-01 -4.40927069e-02 -1.11333154e-02 2.94754850e+02] [ 1.11380086e-02 -1.39238469e-04 9.99937961e-01 6.98027975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5327550960001 meters 0.018874844555997576 Centerline is valid? [True, True] Translation: X:48.46, Y:294.78, Z:6.98 [[-4.78357163e-02 -9.98855154e-01 3.53886839e-04 4.84556037e+01] [ 9.98793882e-01 -4.78367022e-02 -1.10648558e-02 2.94781626e+02] [ 1.10691170e-02 -1.75835293e-04 9.99938720e-01 6.98095477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.56275509600005 meters 0.01967114942280176 Centerline is valid? [True, True] Translation: X:48.46, Y:294.81, Z:6.98 [[-5.01154146e-02 -9.98743372e-01 3.49178938e-04 4.84559505e+01] [ 9.98685060e-01 -5.01162623e-02 -1.07940548e-02 2.94808713e+02] [ 1.07979902e-02 -1.92228743e-04 9.99941682e-01 6.98104270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5927550960001 meters 0.020193875016828972 Centerline is valid? [True, True] Translation: X:48.46, Y:294.84, Z:6.98 [[-5.25654930e-02 -9.98617410e-01 3.69681994e-04 4.84556508e+01] [ 9.98553541e-01 -5.25663129e-02 -1.12964312e-02 2.94835511e+02] [ 1.13002457e-02 -2.24655214e-04 9.99936125e-01 6.98113204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.62275509600005 meters 0.022779646383569885 Centerline is valid? [True, True] Translation: X:48.46, Y:294.86, Z:6.98 [[-5.71692299e-02 -9.98364422e-01 4.00751253e-04 4.84588875e+01] [ 9.98291142e-01 -5.71698906e-02 -1.20996010e-02 2.94862185e+02] [ 1.21027221e-02 -2.91658446e-04 9.99926717e-01 6.98001926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6527550960001 meters 0.022826295999801755 Centerline is valid? [True, True] Translation: X:48.46, Y:294.89, Z:6.98 [[-5.92330758e-02 -9.98244099e-01 4.01942856e-04 4.84575655e+01] [ 9.98171982e-01 -5.92336295e-02 -1.20029889e-02 2.94889406e+02] [ 1.20057213e-02 -3.09765851e-04 9.99927881e-01 6.98006822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.68275509600005 meters 0.02360509907419119 Centerline is valid? [True, True] Translation: X:48.46, Y:294.92, Z:6.98 [[-6.25814633e-02 -9.98039778e-01 4.03209243e-04 4.84570348e+01] [ 9.97968748e-01 -6.25818219e-02 -1.19119465e-02 2.94916117e+02] [ 1.19138300e-02 -3.43076821e-04 9.99928969e-01 6.98017214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7127550960001 meters 0.023653092005360275 Centerline is valid? [True, True] Translation: X:48.46, Y:294.94, Z:6.98 [[-6.34955384e-02 -9.97982038e-01 4.10870973e-04 4.84555394e+01] [ 9.97909880e-01 -6.34958904e-02 -1.20059543e-02 2.94943724e+02] [ 1.20078153e-02 -3.52312328e-04 9.99927842e-01 6.98059502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.74275509600005 meters 0.02396864695638912 Centerline is valid? [True, True] Translation: X:48.45, Y:294.97, Z:6.98 [[-6.41411483e-02 -9.97940753e-01 4.08790755e-04 4.84541365e+01] [ 9.97870786e-01 -6.41414940e-02 -1.18221614e-02 2.94970687e+02] [ 1.18240371e-02 -3.50366652e-04 9.99930032e-01 6.98091817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7727550960001 meters 0.023774175425947827 Centerline is valid? [True, True] Translation: X:48.45, Y:295.00, Z:6.98 [[-6.32209337e-02 -9.97999474e-01 4.03735434e-04 4.84517431e+01] [ 9.97932536e-01 -6.32213712e-02 -1.15633827e-02 2.94996282e+02] [ 1.15657746e-02 -3.28147127e-04 9.99933060e-01 6.98177349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.80275509600006 meters 0.023407560520294367 Centerline is valid? [True, True] Translation: X:48.45, Y:295.02, Z:6.98 [[-6.26895665e-02 -9.98032992e-01 4.07650522e-04 4.84488889e+01] [ 9.97966079e-01 -6.26900856e-02 -1.15610876e-02 2.95022301e+02] [ 1.15639025e-02 -3.17938175e-04 9.99933085e-01 6.98226034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8327550960001 meters 0.02175013257716631 Centerline is valid? [True, True] Translation: X:48.44, Y:295.05, Z:6.98 [[-5.91817751e-02 -9.98247153e-01 3.72866050e-04 4.84425895e+01] [ 9.98192283e-01 -5.91824326e-02 -1.04693202e-02 2.95049309e+02] [ 1.04730362e-02 -2.47400939e-04 9.99945126e-01 6.98311553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.86275509600006 meters 0.021190906314156613 Centerline is valid? [True, True] Translation: X:48.44, Y:295.08, Z:6.98 [[-5.69927524e-02 -9.98374522e-01 3.75624248e-04 4.84390756e+01] [ 9.98319939e-01 -5.69935652e-02 -1.04418453e-02 2.95075749e+02] [ 1.04462804e-02 -2.20116326e-04 9.99945412e-01 6.98362168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8927550960001 meters 0.020194079806838777 Centerline is valid? [True, True] Translation: X:48.43, Y:295.10, Z:6.98 [[-5.45224229e-02 -9.98512481e-01 3.60703685e-04 4.84347803e+01] [ 9.98463114e-01 -5.45233147e-02 -9.93064952e-03 2.95102467e+02] [ 9.93554425e-03 -1.81293749e-04 9.99950625e-01 6.98429697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.92275509600006 meters 0.01857127199502844 Centerline is valid? [True, True] Translation: X:48.43, Y:295.13, Z:6.99 [[-4.98164891e-02 -9.98758333e-01 3.32200741e-04 4.84282482e+01] [ 9.98717152e-01 -4.98174521e-02 -9.07033648e-03 2.95128286e+02] [ 9.07562354e-03 -1.20077741e-04 9.99958809e-01 6.98543439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.9527550960001 meters 0.01796468262955306 Centerline is valid? [True, True] Translation: X:48.42, Y:295.15, Z:6.99 [[-4.80255041e-02 -9.98846056e-01 3.27772423e-04 4.84248400e+01] [ 9.98806589e-01 -4.80265204e-02 -8.87985716e-03 2.95153401e+02] [ 8.88535207e-03 -9.90783610e-05 9.99960520e-01 6.98596230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.98275509600006 meters 0.0171711915022782 Centerline is valid? [True, True] Translation: X:48.42, Y:295.18, Z:6.99 [[-4.64749632e-02 -9.98919402e-01 3.24500505e-04 4.84202524e+01] [ 9.98881507e-01 -4.64760267e-02 -8.70143139e-03 2.95180577e+02] [ 8.70711014e-03 -8.02611498e-05 9.99962089e-01 6.98658834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.0127550960001 meters 0.01674806490070585 Centerline is valid? [True, True] Translation: X:48.42, Y:295.21, Z:6.99 [[-4.43018221e-02 -9.99018151e-01 2.86680536e-04 4.84163999e+01] [ 9.98989079e-01 -4.43027200e-02 -7.62156554e-03 2.95206245e+02] [ 7.62678304e-03 -5.12585154e-05 9.99970914e-01 6.98766365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.04275509600006 meters 0.016640043954784724 Centerline is valid? [True, True] Translation: X:48.41, Y:295.23, Z:6.99 [[-4.34957808e-02 -9.99053574e-01 2.69746427e-04 4.84144467e+01] [ 9.99028313e-01 -4.34965993e-02 -7.10465524e-03 2.95233443e+02] [ 7.10966426e-03 -3.95382089e-05 9.99974725e-01 6.98862671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.07275509600004 meters 0.016586038298716705 Centerline is valid? [True, True] Translation: X:48.41, Y:295.26, Z:6.99 [[-4.31381426e-02 -9.99069089e-01 2.36153055e-04 4.84124970e+01] [ 9.99050035e-01 -4.31387784e-02 -6.17035173e-03 2.95260754e+02] [ 6.17479504e-03 -3.02487949e-05 9.99980935e-01 6.98995971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.10275509600007 meters 0.0166664640085428 Centerline is valid? [True, True] Translation: X:48.41, Y:295.29, Z:6.99 [[-4.35197932e-02 -9.99052538e-01 2.32656695e-04 4.84123097e+01] [ 9.99034383e-01 -4.35204049e-02 -6.02302715e-03 2.95285868e+02] [ 6.02744587e-03 -2.96888580e-05 9.99981834e-01 6.99079258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.13275509600004 meters 0.01658300726320739 Centerline is valid? [True, True] Translation: X:48.41, Y:295.31, Z:6.99 [[-4.38781682e-02 -9.99036866e-01 2.16705000e-04 4.84104511e+01] [ 9.99021330e-01 -4.38786944e-02 -5.57161571e-03 2.95312082e+02] [ 5.57575823e-03 -2.79793739e-05 9.99984455e-01 6.99067081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.16275509600007 meters 0.016656178328801934 Centerline is valid? [True, True] Translation: X:48.41, Y:295.34, Z:6.99 [[-4.46736129e-02 -9.99001608e-01 2.36714360e-04 4.84095600e+01] [ 9.98983470e-01 -4.46742283e-02 -6.02000863e-03 2.95338278e+02] [ 6.02457333e-03 -3.24618026e-05 9.99981852e-01 6.99066968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.19275509600004 meters 0.016956334329313205 Centerline is valid? [True, True] Translation: X:48.41, Y:295.36, Z:6.99 [[-4.61703784e-02 -9.98933545e-01 2.61582983e-04 4.84110551e+01] [ 9.98911873e-01 -4.61710998e-02 -6.58026706e-03 2.95363980e+02] [ 6.58532708e-03 -4.25150731e-05 9.99978316e-01 6.98979175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.22275509600007 meters 0.017138350458947134 Centerline is valid? [True, True] Translation: X:48.41, Y:295.39, Z:6.99 [[-4.71094113e-02 -9.98889694e-01 2.86561250e-04 4.84107945e+01] [ 9.98864254e-01 -4.71102567e-02 -7.12921836e-03 2.95389206e+02] [ 7.13480272e-03 -4.96174908e-05 9.99974546e-01 6.98966891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.25275509600004 meters 0.0173749564265786 Centerline is valid? [True, True] Translation: X:48.41, Y:295.42, Z:6.99 [[-4.86402425e-02 -9.98816320e-01 2.92095736e-04 4.84108026e+01] [ 9.98790387e-01 -4.86410846e-02 -7.19772502e-03 2.95415227e+02] [ 7.20341307e-03 -5.83566773e-05 9.99974053e-01 6.98944577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.2827550960001 meters 0.01750875584035226 Centerline is valid? [True, True] Translation: X:48.41, Y:295.44, Z:6.99 [[-5.11538886e-02 -9.98690734e-01 3.13904808e-04 4.84101022e+01] [ 9.98661368e-01 -5.11547918e-02 -7.65894405e-03 2.95441820e+02] [ 7.66497419e-03 -7.83001659e-05 9.99970621e-01 6.98955371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.31275509600005 meters 0.01857985773388342 Centerline is valid? [True, True] Translation: X:48.41, Y:295.47, Z:6.99 [[-5.25627539e-02 -9.98617567e-01 3.35517824e-04 4.84123009e+01] [ 9.98584667e-01 -5.25637458e-02 -8.10650819e-03 2.95467561e+02] [ 8.11293756e-03 -9.10574407e-05 9.99967085e-01 6.98916695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3427550960001 meters 0.018084024770340136 Centerline is valid? [True, True] Translation: X:48.41, Y:295.49, Z:6.99 [[-5.53572558e-02 -9.98466542e-01 3.72109103e-04 4.84107807e+01] [ 9.98426880e-01 -5.53583738e-02 -8.90031238e-03 2.95494490e+02] [ 8.90726348e-03 -1.21173138e-04 9.99960322e-01 6.98883023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.37275509600005 meters 0.018336955276326505 Centerline is valid? [True, True] Translation: X:48.41, Y:295.52, Z:6.99 [[-5.64882038e-02 -9.98403189e-01 3.92791878e-04 4.84109013e+01] [ 9.98359764e-01 -5.64894107e-02 -9.31278304e-03 2.95521599e+02] [ 9.32010087e-03 -1.33914780e-04 9.99956558e-01 6.98872399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4027550960001 meters 0.01874666884678102 Centerline is valid? [True, True] Translation: X:48.41, Y:295.55, Z:6.99 [[-5.81871532e-02 -9.98305612e-01 3.99572710e-04 4.84111233e+01] [ 9.98261435e-01 -5.81883377e-02 -9.39283049e-03 2.95547671e+02] [ 9.40016587e-03 -1.47664040e-04 9.99955807e-01 6.98854562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.43275509600005 meters 0.02013721749498765 Centerline is valid? [True, True] Translation: X:48.41, Y:295.57, Z:6.99 [[-6.01720092e-02 -9.98187935e-01 4.20577726e-04 4.84133519e+01] [ 9.98139856e-01 -6.01732395e-02 -9.79841360e-03 2.95574422e+02] [ 9.80596575e-03 -1.69794842e-04 9.99951906e-01 6.98794639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4627550960001 meters 0.019437007237958593 Centerline is valid? [True, True] Translation: X:48.41, Y:295.60, Z:6.99 [[-6.09588561e-02 -9.98140185e-01 4.34145517e-04 4.84106361e+01] [ 9.98089849e-01 -6.09601426e-02 -1.00257269e-02 2.95600543e+02] [ 1.00335464e-02 -1.77840607e-04 9.99949647e-01 6.98823272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.49275509600005 meters 0.019600351106052533 Centerline is valid? [True, True] Translation: X:48.41, Y:295.63, Z:6.99 [[-6.16096021e-02 -9.98100226e-01 4.43259791e-04 4.84094890e+01] [ 9.98048686e-01 -6.16109260e-02 -1.01446673e-02 2.95627401e+02] [ 1.01527044e-02 -1.82614063e-04 9.99948443e-01 6.98817197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5227550960001 meters 0.01947959040803015 Centerline is valid? [True, True] Translation: X:48.41, Y:295.65, Z:6.99 [[-6.13726424e-02 -9.98114823e-01 4.46016161e-04 4.84073268e+01] [ 9.98063546e-01 -6.13740112e-02 -1.01187328e-02 2.95653873e+02] [ 1.01270310e-02 -1.75860897e-04 9.99948705e-01 6.98796004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.55275509600006 meters 0.01887411200132987 Centerline is valid? [True, True] Translation: X:48.40, Y:295.68, Z:6.99 [[-6.08354343e-02 -9.98147710e-01 4.45454392e-04 4.84047641e+01] [ 9.98097440e-01 -6.08368416e-02 -1.00189306e-02 2.95680585e+02] [ 1.00274727e-02 -1.64899108e-04 9.99949710e-01 6.98850711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5827550960001 meters 0.01879816981641806 Centerline is valid? [True, True] Translation: X:48.40, Y:295.71, Z:6.99 [[-5.93648840e-02 -9.98236251e-01 4.45779695e-04 4.84027414e+01] [ 9.98186775e-01 -5.93663804e-02 -9.93956120e-03 2.95706404e+02] [ 9.94849463e-03 -1.45089502e-04 9.99950502e-01 6.98851298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.61275509600006 meters 0.018131488126387377 Centerline is valid? [True, True] Translation: X:48.40, Y:295.73, Z:6.99 [[-5.86378095e-02 -9.98279222e-01 4.50103545e-04 4.84004673e+01] [ 9.98229642e-01 -5.86393835e-02 -9.95014950e-03 2.95732604e+02] [ 9.95942129e-03 -1.34148270e-04 9.99950395e-01 6.98945394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6427550960001 meters 0.017681709155045515 Centerline is valid? [True, True] Translation: X:48.40, Y:295.76, Z:6.99 [[-5.76621569e-02 -9.98336049e-01 4.57828342e-04 4.83980880e+01] [ 9.98285621e-01 -5.76638462e-02 -1.00349291e-02 2.95758719e+02] [ 1.00446316e-02 -1.21592203e-04 9.99949544e-01 6.98985497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.67275509600006 meters 0.017057576028434697 Centerline is valid? [True, True] Translation: X:48.39, Y:295.78, Z:6.99 [[-5.53118148e-02 -9.98469041e-01 4.20960259e-04 4.83946120e+01] [ 9.98427077e-01 -5.53133498e-02 -9.15448083e-03 2.95784502e+02] [ 9.16375042e-03 -8.60528271e-05 9.99958008e-01 6.99047141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7027550960001 meters 0.01693326719596511 Centerline is valid? [True, True] Translation: X:48.39, Y:295.81, Z:6.99 [[-5.43956863e-02 -9.98519365e-01 4.33183474e-04 4.83924338e+01] [ 9.98475681e-01 -5.43973587e-02 -9.34028875e-03 2.95809873e+02] [ 9.35002323e-03 -7.55482528e-05 9.99956285e-01 6.99071560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.73275509600006 meters 0.01635922853575114 Centerline is valid? [True, True] Translation: X:48.39, Y:295.84, Z:6.99 [[-5.20837115e-02 -9.98642639e-01 4.09523769e-04 4.83883857e+01] [ 9.98604224e-01 -5.20853000e-02 -8.75927308e-03 2.95836340e+02] [ 8.76871375e-03 -4.72632867e-05 9.99961553e-01 6.99165096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7627550960001 meters 0.01613521135397938 Centerline is valid? [True, True] Translation: X:48.39, Y:295.86, Z:6.99 [[-5.14295625e-02 -9.98676545e-01 3.98988561e-04 4.83859793e+01] [ 9.98640649e-01 -5.14310968e-02 -8.46734198e-03 2.95862281e+02] [ 8.47665625e-03 -3.70254986e-05 9.99964072e-01 6.99222266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.79275509600006 meters 0.01596473814543495 Centerline is valid? [True, True] Translation: X:48.38, Y:295.89, Z:6.99 [[-5.11409240e-02 -9.98691372e-01 3.86088834e-04 4.83845946e+01] [ 9.98658272e-01 -5.11423725e-02 -8.13101239e-03 2.95887753e+02] [ 8.14011742e-03 -3.02566796e-05 9.99966868e-01 6.99297670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.82275509600004 meters 0.015988483458270888 Centerline is valid? [True, True] Translation: X:48.38, Y:295.91, Z:6.99 [[-5.10044502e-02 -9.98698354e-01 3.79443437e-04 4.83834971e+01] [ 9.98666796e-01 -5.10058550e-02 -7.93936968e-03 2.95914322e+02] [ 7.94838927e-03 -2.60056246e-05 9.99968411e-01 6.99368215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.85275509600007 meters 0.015804001331569815 Centerline is valid? [True, True] Translation: X:48.38, Y:295.94, Z:6.99 [[-5.07222112e-02 -9.98712739e-01 3.50762078e-04 4.83837371e+01] [ 9.98686167e-01 -5.07234204e-02 -7.28528368e-03 2.95940336e+02] [ 7.29369746e-03 -1.92244627e-05 9.99973400e-01 6.99446091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.88275509600004 meters 0.01584516369315241 Centerline is valid? [True, True] Translation: X:48.38, Y:295.97, Z:6.99 [[-5.11471535e-02 -9.98691063e-01 3.58837517e-04 4.83836982e+01] [ 9.98663696e-01 -5.11484084e-02 -7.39345386e-03 2.95966273e+02] [ 7.40213026e-03 -1.97961186e-05 9.99972604e-01 6.99442889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.91275509600007 meters 0.01588187000325322 Centerline is valid? [True, True] Translation: X:48.39, Y:295.99, Z:6.99 [[-5.21522921e-02 -9.98639071e-01 3.81339469e-04 4.83857851e+01] [ 9.98608683e-01 -5.21536800e-02 -7.79049202e-03 2.95993057e+02] [ 7.79977797e-03 -2.54831110e-05 9.99969581e-01 6.99409072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.94275509600004 meters 0.01588007679096566 Centerline is valid? [True, True] Translation: X:48.39, Y:296.02, Z:6.99 [[-5.32458478e-02 -9.98581353e-01 4.00942587e-04 4.83859550e+01] [ 9.98548284e-01 -5.32473475e-02 -8.12679871e-03 2.96019181e+02] [ 8.13661878e-03 -3.23577547e-05 9.99966897e-01 6.99384464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.97275509600007 meters 0.016002795761652908 Centerline is valid? [True, True] Translation: X:48.39, Y:296.05, Z:6.99 [[-5.51275263e-02 -9.98479229e-01 4.31387789e-04 4.83880025e+01] [ 9.98441549e-01 -5.51291937e-02 -8.67445668e-03 2.96046138e+02] [ 8.68504688e-03 -4.74858470e-05 9.99962283e-01 6.99280026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.00275509600004 meters 0.016042130857383048 Centerline is valid? [True, True] Translation: X:48.39, Y:296.07, Z:6.99 [[-5.64861843e-02 -9.98403274e-01 4.61224904e-04 4.83889128e+01] [ 9.98360899e-01 -5.64880363e-02 -9.19877143e-03 2.96073054e+02] [ 9.21013720e-03 -5.91345890e-05 9.99957584e-01 6.99248262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0327550960001 meters 0.01627585075329813 Centerline is valid? [True, True] Translation: X:48.39, Y:296.10, Z:6.99 [[-5.80339198e-02 -9.98314492e-01 4.89694877e-04 4.83902742e+01] [ 9.98267478e-01 -5.80359394e-02 -9.68879299e-03 2.96099316e+02] [ 9.70088235e-03 -7.34321653e-05 9.99952943e-01 6.99197489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.06275509600005 meters 0.016905450568154613 Centerline is valid? [True, True] Translation: X:48.39, Y:296.13, Z:6.99 [[-6.04246614e-02 -9.98172619e-01 5.32880374e-04 4.83943935e+01] [ 9.98117809e-01 -6.04269279e-02 -1.04607126e-02 2.96126189e+02] [ 1.04737972e-02 -1.00207626e-04 9.99945143e-01 6.99099738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0927550960001 meters 0.017074765543745 Centerline is valid? [True, True] Translation: X:48.40, Y:296.15, Z:6.99 [[-6.17316295e-02 -9.98092640e-01 5.36187559e-04 4.83954973e+01] [ 9.98037938e-01 -6.17338601e-02 -1.04500928e-02 2.96153001e+02] [ 1.04632616e-02 -1.09965731e-04 9.99945253e-01 6.99042301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.12275509600005 meters 0.01780342504151982 Centerline is valid? [True, True] Translation: X:48.40, Y:296.18, Z:6.99 [[-6.39534162e-02 -9.97952739e-01 5.39179787e-04 4.83983261e+01] [ 9.97898214e-01 -6.39555586e-02 -1.04326780e-02 2.96179868e+02] [ 1.04458031e-02 -1.29158851e-04 9.99945433e-01 6.99058963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1527550960001 meters 0.018059101852856797 Centerline is valid? [True, True] Translation: X:48.40, Y:296.21, Z:6.99 [[-6.48361699e-02 -9.97895773e-01 5.44915449e-04 4.83985208e+01] [ 9.97840854e-01 -6.48383190e-02 -1.04701008e-02 2.96206480e+02] [ 1.04834007e-02 -1.35102334e-04 9.99945039e-01 6.99073608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.18275509600005 meters 0.018159757898149997 Centerline is valid? [True, True] Translation: X:48.40, Y:296.23, Z:6.99 [[-6.53715036e-02 -9.97860865e-01 5.11352004e-04 4.83972030e+01] [ 9.97813159e-01 -6.53733789e-02 -9.75808853e-03 2.96231730e+02] [ 9.77064347e-03 -1.27667161e-04 9.99952258e-01 6.99156823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2127550960001 meters 0.017676503904469894 Centerline is valid? [True, True] Translation: X:48.39, Y:296.26, Z:6.99 [[-6.42169074e-02 -9.97935857e-01 4.63774088e-04 4.83942858e+01] [ 9.97897145e-01 -6.42185015e-02 -8.79044901e-03 2.96256876e+02] [ 8.80208714e-03 -1.01696612e-04 9.99961256e-01 6.99297130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.24275509600005 meters 0.01745361378341174 Centerline is valid? [True, True] Translation: X:48.39, Y:296.28, Z:6.99 [[-6.36987738e-02 -9.97969074e-01 4.40474664e-04 4.83922416e+01] [ 9.97934615e-01 -6.37002349e-02 -8.29364483e-03 2.96281930e+02] [ 8.30485939e-03 -8.87300918e-05 9.99965510e-01 6.99358276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2727550960001 meters 0.01745361378341174 Centerline is valid? [True, True] Translation: X:48.39, Y:296.31, Z:6.99 [[-6.40587591e-02 -9.97946030e-01 4.42962481e-04 4.83905821e+01] [ 9.97911572e-01 -6.40602285e-02 -8.29351201e-03 2.96307805e+02] [ 8.30485366e-03 -8.92347025e-05 9.99965510e-01 6.99376520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.30275509600006 meters 0.017250700227211552 Centerline is valid? [True, True] Translation: X:48.39, Y:296.33, Z:6.99 [[-6.35275588e-02 -9.97979986e-01 4.43209582e-04 4.83885082e+01] [ 9.97945950e-01 -6.35290528e-02 -8.24263117e-03 2.96334023e+02] [ 8.25413763e-03 -8.13350292e-05 9.99965931e-01 6.99429200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3327550960001 meters 0.016981244394998644 Centerline is valid? [True, True] Translation: X:48.39, Y:296.36, Z:7.00 [[-6.23598356e-02 -9.98053647e-01 4.11018554e-04 4.83858381e+01] [ 9.98024735e-01 -6.23611577e-02 -7.59700208e-03 2.96358756e+02] [ 7.60784722e-03 -6.35411171e-05 9.99971058e-01 6.99504618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.36275509600006 meters 0.016950173840187332 Centerline is valid? [True, True] Translation: X:48.38, Y:296.38, Z:7.00 [[-6.25599872e-02 -9.98041130e-01 3.88022756e-04 4.83840154e+01] [ 9.98015660e-01 -6.25611629e-02 -7.13048938e-03 2.96384036e+02] [ 7.14079684e-03 -5.88305379e-05 9.99974502e-01 6.99525012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3927550960001 meters 0.016899027147578592 Centerline is valid? [True, True] Translation: X:48.38, Y:296.41, Z:7.00 [[-6.34913153e-02 -9.97982313e-01 3.95446371e-04 4.83816265e+01] [ 9.97956236e-01 -6.34925151e-02 -7.21468497e-03 2.96410540e+02] [ 7.22523588e-03 -6.34316660e-05 9.99973896e-01 6.99531085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.42275509600006 meters 0.017336422035095743 Centerline is valid? [True, True] Translation: X:48.38, Y:296.44, Z:7.00 [[-6.42006414e-02 -9.97936930e-01 4.02548790e-04 4.83810003e+01] [ 9.97910280e-01 -6.42018689e-02 -7.29339697e-03 2.96436232e+02] [ 7.30419456e-03 -6.65331875e-05 9.99973322e-01 6.99526525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.4527550960001 meters 0.017004417191915082 Centerline is valid? [True, True] Translation: X:48.38, Y:296.46, Z:7.00 [[-6.50583351e-02 -9.97881374e-01 4.19674747e-04 4.83780251e+01] [ 9.97852827e-01 -6.50596485e-02 -7.54830530e-03 2.96462960e+02] [ 7.55961715e-03 -7.23065424e-05 9.99971423e-01 6.99505596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.48275509600006 meters 0.017217550940027092 Centerline is valid? [True, True] Translation: X:48.38, Y:296.49, Z:7.00 [[-6.56639939e-02 -9.97841702e-01 4.21725877e-04 4.83769099e+01] [ 9.97813252e-01 -6.56653065e-02 -7.53530974e-03 2.96488229e+02] [ 7.54673905e-03 -7.39948643e-05 9.99971520e-01 6.99527939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.5127550960001 meters 0.01742171600423883 Centerline is valid? [True, True] Translation: X:48.38, Y:296.51, Z:7.00 [[-6.67769149e-02 -9.97767855e-01 3.89896286e-04 4.83756364e+01] [ 9.97743771e-01 -6.67780122e-02 -6.93292486e-03 2.96514553e+02] [ 6.94348607e-03 -7.39427429e-05 9.99975891e-01 6.99650985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.54275509600006 meters 0.017570063115009953 Centerline is valid? [True, True] Translation: X:48.37, Y:296.54, Z:7.00 [[-6.72589457e-02 -9.97735494e-01 3.44850307e-04 4.83739211e+01] [ 9.97716874e-01 -6.72597974e-02 -6.09588452e-03 2.96539683e+02] [ 6.10527491e-03 -6.59397958e-05 9.99981360e-01 6.99751763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.57275509600004 meters 0.017893737098790507 Centerline is valid? [True, True] Translation: X:48.37, Y:296.57, Z:7.00 [[-6.84514657e-02 -9.97654403e-01 2.98754614e-04 4.83720625e+01] [ 9.97640531e-01 -6.84520895e-02 -5.26133383e-03 2.96565032e+02] [ 5.26944324e-03 -6.20963007e-05 9.99986114e-01 6.99897613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.60275509600007 meters 0.018352342692764586 Centerline is valid? [True, True] Translation: X:48.37, Y:296.59, Z:7.00 [[-6.95429914e-02 -9.97578926e-01 2.44573692e-04 4.83711186e+01] [ 9.97569735e-01 -6.95434006e-02 -4.28252240e-03 2.96590595e+02] [ 4.28916258e-03 -5.38401054e-05 9.99990800e-01 6.99997548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.63275509600004 meters 0.018091973520969487 Centerline is valid? [True, True] Translation: X:48.37, Y:296.62, Z:7.00 [[-7.17479423e-02 -9.97422775e-01 2.00497906e-04 4.83687043e+01] [ 9.97416624e-01 -7.17482041e-02 -3.50349360e-03 2.96617755e+02] [ 3.50884968e-03 -5.13885127e-05 9.99993843e-01 7.00033369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.66275509600007 meters 0.018817541900960882 Centerline is valid? [True, True] Translation: X:48.37, Y:296.64, Z:7.00 [[-7.33510658e-02 -9.97306165e-01 1.84891547e-04 4.83687682e+01] [ 9.97300989e-01 -7.33512809e-02 -3.21341635e-03 2.96643585e+02] [ 3.21832197e-03 -5.13149917e-05 9.99994820e-01 7.00077670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.69275509600004 meters 0.0186379353643736 Centerline is valid? [True, True] Translation: X:48.37, Y:296.67, Z:7.00 [[-7.50473573e-02 -9.97179958e-01 1.62393514e-04 4.83669647e+01] [ 9.97175991e-01 -7.50475169e-02 -2.81313893e-03 2.96671057e+02] [ 2.81739299e-03 -4.91837288e-05 9.99996030e-01 7.00075277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.72275509600007 meters 0.01925497775465597 Centerline is valid? [True, True] Translation: X:48.37, Y:296.70, Z:7.00 [[-7.67401364e-02 -9.97051118e-01 1.43109011e-04 4.83669920e+01] [ 9.97048059e-01 -7.67402555e-02 -2.47028007e-03 2.96697815e+02] [ 2.47397773e-03 -4.68830684e-05 9.99996939e-01 7.00120396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.75275509600004 meters 0.01988916509549326 Centerline is valid? [True, True] Translation: X:48.37, Y:296.72, Z:7.00 [[-7.90355380e-02 -9.96871792e-01 1.17855116e-04 4.83670939e+01] [ 9.96869731e-01 -7.90356143e-02 -2.02756993e-03 2.96724928e+02] [ 2.03054202e-03 -4.27638825e-05 9.99997938e-01 7.00120421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.7827550960001 meters 0.020685281071300254 Centerline is valid? [True, True] Translation: X:48.37, Y:296.75, Z:7.00 [[-7.96675705e-02 -9.96821477e-01 1.42955187e-04 4.83670229e+01] [ 9.96818500e-01 -7.96676820e-02 -2.43690205e-03 2.96750827e+02] [ 2.44054521e-03 -5.16416912e-05 9.99997021e-01 7.00133169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.81275509600005 meters 0.02054947394952271 Centerline is valid? [True, True] Translation: X:48.36, Y:296.78, Z:7.00 [[-8.03177387e-02 -9.96769299e-01 1.60348637e-04 4.83647794e+01] [ 9.96765611e-01 -8.03178778e-02 -2.71201115e-03 2.96777422e+02] [ 2.71612832e-03 -5.79925960e-05 9.99996310e-01 7.00065439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8427550960001 meters 0.02144170308078117 Centerline is valid? [True, True] Translation: X:48.36, Y:296.80, Z:7.00 [[-8.11934818e-02 -9.96698328e-01 2.47061125e-04 4.83645793e+01] [ 9.96689784e-01 -8.11938090e-02 -4.12796068e-03 2.96803229e+02] [ 4.13439134e-03 -8.89202007e-05 9.99991449e-01 6.99957506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.87275509600005 meters 0.020388036244577232 Centerline is valid? [True, True] Translation: X:48.36, Y:296.83, Z:7.00 [[-8.16672464e-02 -9.96659608e-01 2.94096618e-04 4.83606607e+01] [ 9.96647706e-01 -8.16677087e-02 -4.87198029e-03 2.96829227e+02] [ 4.87972417e-03 -1.04770495e-04 9.99988089e-01 6.99850445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9027550960001 meters 0.020367528890633497 Centerline is valid? [True, True] Translation: X:48.36, Y:296.85, Z:7.00 [[-8.13024644e-02 -9.96689419e-01 3.34297360e-04 4.83572153e+01] [ 9.96674270e-01 -8.13030722e-02 -5.49631315e-03 2.96854537e+02] [ 5.50529656e-03 -1.13678226e-04 9.99984839e-01 6.99822959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.93275509600005 meters 0.02032088787259442 Centerline is valid? [True, True] Translation: X:48.35, Y:296.88, Z:7.00 [[-8.10765939e-02 -9.96707811e-01 3.53862244e-04 4.83542989e+01] [ 9.96691092e-01 -8.10772839e-02 -5.77420115e-03 2.96879926e+02] [ 5.78388158e-03 -1.15461215e-04 9.99983267e-01 6.99814483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9627550960001 meters 0.02021389491697253 Centerline is valid? [True, True] Translation: X:48.35, Y:296.91, Z:7.00 [[-8.08954990e-02 -9.96722512e-01 3.89622965e-04 4.83516833e+01] [ 9.96702462e-01 -8.08963435e-02 -6.32333358e-03 2.96905807e+02] [ 6.33412801e-03 -1.23191057e-04 9.99979932e-01 6.99791346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.99275509600005 meters 0.020701301782919315 Centerline is valid? [True, True] Translation: X:48.35, Y:296.93, Z:7.00 [[-8.09568757e-02 -9.96717487e-01 4.85858778e-04 4.83501942e+01] [ 9.96686766e-01 -8.09581958e-02 -7.82700190e-03 2.96930825e+02] [ 7.84064391e-03 -1.49400606e-04 9.99969251e-01 6.99650734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0227550960001 meters 0.01988246114209247 Centerline is valid? [True, True] Translation: X:48.35, Y:296.96, Z:7.00 [[-8.16668842e-02 -9.96659533e-01 5.43127931e-04 4.83461959e+01] [ 9.96621569e-01 -8.16685149e-02 -8.70072950e-03 2.96956958e+02] [ 8.71602145e-03 -1.69268458e-04 9.99962000e-01 6.99588514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.05275509600006 meters 0.020232092083714067 Centerline is valid? [True, True] Translation: X:48.34, Y:296.98, Z:7.00 [[-8.20730067e-02 -9.96626142e-01 5.95437386e-04 4.83446807e+01] [ 9.96581119e-01 -8.20749598e-02 -9.47488659e-03 2.96982038e+02] [ 9.49179017e-03 -1.84230774e-04 9.99954935e-01 6.99500924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0827550960001 meters 0.019790327600758714 Centerline is valid? [True, True] Translation: X:48.34, Y:297.01, Z:7.00 [[-8.23756195e-02 -9.96601153e-01 6.31616138e-04 4.83410099e+01] [ 9.96551158e-01 -8.23778148e-02 -9.98422629e-03 2.97008763e+02] [ 1.00023226e-02 -1.93019033e-04 9.99949957e-01 6.99501529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.11275509600006 meters 0.021377579495374346 Centerline is valid? [True, True] Translation: X:48.34, Y:297.03, Z:6.99 [[-8.29787989e-02 -9.96551084e-01 6.75040527e-04 4.83410509e+01] [ 9.96494716e-01 -8.29812864e-02 -1.06013148e-02 2.97034746e+02] [ 1.06207675e-02 -2.07010052e-04 9.99943577e-01 6.99412562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1427550960001 meters 0.019725333665629674 Centerline is valid? [True, True] Translation: X:48.33, Y:297.06, Z:6.99 [[-8.37895666e-02 -9.96483228e-01 6.96030208e-04 4.83338368e+01] [ 9.96424038e-01 -8.37921773e-02 -1.08631674e-02 2.97061337e+02] [ 1.08832860e-02 -2.16678860e-04 9.99940752e-01 6.99374686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.17275509600006 meters 0.020064030119712407 Centerline is valid? [True, True] Translation: X:48.33, Y:297.09, Z:6.99 [[-8.43002613e-02 -9.96440154e-01 6.97397163e-04 4.83319026e+01] [ 9.96381422e-01 -8.43028658e-02 -1.08207940e-02 2.97086976e+02] [ 1.08410662e-02 -2.17322183e-04 9.99941210e-01 6.99380930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2027550960001 meters 0.021396547330909017 Centerline is valid? [True, True] Translation: X:48.33, Y:297.11, Z:6.99 [[-8.48367794e-02 -9.96394597e-01 7.27098147e-04 4.83316285e+01] [ 9.96331578e-01 -8.48395929e-02 -1.12084596e-02 2.97112473e+02] [ 1.12297353e-02 -2.26458773e-04 9.99936919e-01 6.99324030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.23275509600006 meters 0.020003914411867232 Centerline is valid? [True, True] Translation: X:48.33, Y:297.14, Z:6.99 [[-8.55283552e-02 -9.96335429e-01 7.83727389e-04 4.83257640e+01] [ 9.96263108e-01 -8.55315917e-02 -1.20069083e-02 2.97139415e+02] [ 1.20299415e-02 -2.46132430e-04 9.99927607e-01 6.99331163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2627550960001 meters 0.02133626533920905 Centerline is valid? [True, True] Translation: X:48.33, Y:297.17, Z:6.99 [[-8.60793666e-02 -9.96287918e-01 8.53226911e-04 4.83258573e+01] [ 9.96203192e-01 -8.60831758e-02 -1.29956854e-02 2.97165745e+02] [ 1.30208928e-02 -2.68672997e-04 9.99915189e-01 6.99223893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.29275509600006 meters 0.02035944824686479 Centerline is valid? [True, True] Translation: X:48.32, Y:297.19, Z:6.99 [[-8.69984119e-02 -9.96208017e-01 9.28862403e-04 4.83216170e+01] [ 9.96108758e-01 -8.70028585e-02 -1.40657392e-02 2.97193148e+02] [ 1.40932159e-02 -2.98449000e-04 9.99900641e-01 6.99190361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.32275509600004 meters 0.020571022451903585 Centerline is valid? [True, True] Translation: X:48.32, Y:297.22, Z:6.99 [[-8.79166592e-02 -9.96127339e-01 9.92345350e-04 4.83200654e+01] [ 9.96015302e-01 -8.79216575e-02 -1.49432665e-02 2.97219960e+02] [ 1.49726449e-02 -3.25370915e-04 9.99887851e-01 6.99197427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.35275509600007 meters 0.021547969499137204 Centerline is valid? [True, True] Translation: X:48.32, Y:297.25, Z:6.99 [[-8.88518978e-02 -9.96044323e-01 1.02299718e-03 4.83196278e+01] [ 9.95926388e-01 -8.88571234e-02 -1.53310609e-02 2.97246183e+02] [ 1.53613168e-02 -3.43363974e-04 9.99881949e-01 6.99133497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.38275509600004 meters 0.02130034318285476 Centerline is valid? [True, True] Translation: X:48.32, Y:297.27, Z:6.99 [[-8.99853427e-02 -9.95942508e-01 1.07641501e-03 4.83168312e+01] [ 9.95813203e-01 -8.99910093e-02 -1.60525104e-02 2.97273168e+02] [ 1.60842451e-02 -3.72582364e-04 9.99870571e-01 6.99197158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.41275509600007 meters 0.021435942147837006 Centerline is valid? [True, True] Translation: X:48.31, Y:297.30, Z:6.99 [[-9.08174307e-02 -9.95866981e-01 1.07280781e-03 4.83149086e+01] [ 9.95739890e-01 -9.08229843e-02 -1.59140481e-02 2.97300484e+02] [ 1.59457106e-02 -3.77035427e-04 9.99872788e-01 6.99232033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.44275509600004 meters 0.02401563575137568 Centerline is valid? [True, True] Translation: X:48.32, Y:297.33, Z:6.99 [[-9.17239747e-02 -9.95783874e-01 1.08992597e-03 4.83167419e+01] [ 9.95654196e-01 -9.17296242e-02 -1.60747874e-02 2.97326452e+02] [ 1.61069926e-02 -3.89254026e-04 9.99870198e-01 6.99140897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.47275509600007 meters 0.02267885411475034 Centerline is valid? [True, True] Translation: X:48.31, Y:297.35, Z:6.99 [[-9.32234035e-02 -9.95644650e-01 1.06252192e-03 4.83122150e+01] [ 9.95522744e-01 -9.32286211e-02 -1.55849239e-02 2.97353781e+02] [ 1.56161035e-02 -3.95114912e-04 9.99877983e-01 6.99358203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.50275509600004 meters 0.022321463785252304 Centerline is valid? [True, True] Translation: X:48.31, Y:297.38, Z:6.99 [[-9.42817212e-02 -9.95544990e-01 1.06271863e-03 4.83095796e+01] [ 9.95424288e-01 -9.42868440e-02 -1.55073293e-02 2.97381246e+02] [ 1.55384444e-02 -4.04201762e-04 9.99879189e-01 6.99464349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.5327550960001 meters 0.023609131462923632 Centerline is valid? [True, True] Translation: X:48.31, Y:297.41, Z:7.00 [[-9.55029988e-02 -9.95428631e-01 1.00925714e-03 4.83100573e+01] [ 9.95320889e-01 -9.55075161e-02 -1.46506870e-02 2.97407281e+02] [ 1.46801049e-02 -3.94649825e-04 9.99892164e-01 6.99595427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.56275509600005 meters 0.022544848455919607 Centerline is valid? [True, True] Translation: X:48.31, Y:297.43, Z:7.00 [[-9.59440340e-02 -9.95386218e-01 1.00991879e-03 4.83060077e+01] [ 9.95279469e-01 -9.59485403e-02 -1.45827389e-02 2.97434065e+02] [ 1.46123575e-02 -3.93975358e-04 9.99893156e-01 6.99717139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.5927550960001 meters 0.023822135875390595 Centerline is valid? [True, True] Translation: X:48.31, Y:297.46, Z:7.00 [[-9.61040114e-02 -9.95370806e-01 9.88990621e-04 4.83054935e+01] [ 9.95269557e-01 -9.61083466e-02 -1.42019285e-02 2.97459968e+02] [ 1.42312352e-02 -3.80550037e-04 9.99898658e-01 6.99681586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.62275509600005 meters 0.022880999200293586 Centerline is valid? [True, True] Translation: X:48.30, Y:297.49, Z:7.00 [[-9.63088956e-02 -9.95350971e-01 1.02022747e-03 4.83012467e+01] [ 9.95244477e-01 -9.63135203e-02 -1.45649141e-02 2.97486147e+02] [ 1.45954631e-02 -3.87355040e-04 9.99893406e-01 6.99718795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6527550960001 meters 0.022550554236253396 Centerline is valid? [True, True] Translation: X:48.30, Y:297.51, Z:7.00 [[-9.50049095e-02 -9.95476252e-01 1.04841575e-03 4.82981215e+01] [ 9.95365021e-01 -9.50099712e-02 -1.48855608e-02 2.97512587e+02] [ 1.49178322e-02 -3.70644991e-04 9.99888654e-01 6.99760656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.68275509600005 meters 0.022099505857495077 Centerline is valid? [True, True] Translation: X:48.29, Y:297.54, Z:7.00 [[-9.45166701e-02 -9.95522708e-01 1.06675906e-03 4.82948204e+01] [ 9.95408789e-01 -9.45219968e-02 -1.50643766e-02 2.97539007e+02] [ 1.50977611e-02 -3.61973367e-04 9.99885957e-01 6.99771605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7127550960001 meters 0.020277976392546884 Centerline is valid? [True, True] Translation: X:48.29, Y:297.57, Z:7.00 [[-9.16163432e-02 -9.95793768e-01 1.10297508e-03 4.82895385e+01] [ 9.95673284e-01 -9.16224192e-02 -1.54933304e-02 2.97565979e+02] [ 1.55292192e-02 -3.21239456e-04 9.99879363e-01 6.99836839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.74275509600005 meters 0.02008982797311963 Centerline is valid? [True, True] Translation: X:48.29, Y:297.59, Z:7.00 [[-9.02612915e-02 -9.95917489e-01 1.12026137e-03 4.82870903e+01] [ 9.95794560e-01 -9.02677544e-02 -1.56501512e-02 2.97591011e+02] [ 1.56873828e-02 -2.97052682e-04 9.99876901e-01 6.99799926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7727550960001 meters 0.01909449944611002 Centerline is valid? [True, True] Translation: X:48.28, Y:297.62, Z:7.00 [[-8.83423309e-02 -9.96089543e-01 1.11986429e-03 4.82829470e+01] [ 9.95968049e-01 -8.83490484e-02 -1.55592709e-02 2.97617670e+02] [ 1.55973660e-02 -2.59193204e-04 9.99878320e-01 6.99876885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.80275509600006 meters 0.017878011922368153 Centerline is valid? [True, True] Translation: X:48.28, Y:297.65, Z:7.00 [[-8.43046342e-02 -9.96439356e-01 1.15715405e-03 4.82775201e+01] [ 9.96310944e-01 -8.43123479e-02 -1.59978497e-02 2.97645095e+02] [ 1.60384495e-02 -1.95807630e-04 9.99871357e-01 6.99912570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8327550960001 meters 0.01738321154667639 Centerline is valid? [True, True] Translation: X:48.27, Y:297.67, Z:7.00 [[-8.29257261e-02 -9.96555073e-01 1.14455080e-03 4.82737625e+01] [ 9.96430716e-01 -8.29334600e-02 -1.57438784e-02 2.97671252e+02] [ 1.57845634e-02 -1.65106975e-04 9.99875402e-01 6.99967820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.86275509600006 meters 0.017430405851811933 Centerline is valid? [True, True] Translation: X:48.27, Y:297.70, Z:7.00 [[-8.18790808e-02 -9.96641625e-01 1.13496283e-03 4.82718004e+01] [ 9.96520692e-01 -8.18868264e-02 -1.55260554e-02 2.97696527e+02] [ 1.55668516e-02 -1.40245204e-04 9.99878819e-01 6.99971186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8927550960001 meters 0.017070031452486242 Centerline is valid? [True, True] Translation: X:48.27, Y:297.72, Z:7.00 [[-8.18113697e-02 -9.96647269e-01 1.05894431e-03 4.82698553e+01] [ 9.96543096e-01 -8.18181293e-02 -1.44101398e-02 2.97722502e+02] [ 1.44484673e-02 -1.23629632e-04 9.99895608e-01 7.00266869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.92275509600006 meters 0.017079742462980774 Centerline is valid? [True, True] Translation: X:48.27, Y:297.75, Z:7.00 [[-8.25774135e-02 -9.96584131e-01 1.02061020e-03 4.82690324e+01] [ 9.96488250e-01 -8.25836264e-02 -1.38243391e-02 2.97747441e+02] [ 1.38614026e-02 -1.24552094e-04 9.99903918e-01 7.00369940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.9527550960001 meters 0.017366476551846824 Centerline is valid? [True, True] Translation: X:48.27, Y:297.77, Z:7.01 [[-8.43829356e-02 -9.96432971e-01 9.24264055e-04 4.82700626e+01] [ 9.96355016e-01 -8.43878958e-02 -1.24645363e-02 2.97773990e+02] [ 1.24980717e-02 -1.30899038e-04 9.99921888e-01 7.00639803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.98275509600006 meters 0.01750608894261289 Centerline is valid? [True, True] Translation: X:48.27, Y:297.80, Z:7.01 [[-8.60529935e-02 -9.96290207e-01 8.40721967e-04 4.82691519e+01] [ 9.96226308e-01 -8.60569968e-02 -1.12843271e-02 2.97801706e+02] [ 1.13148146e-02 -1.33500785e-04 9.99935977e-01 7.00810311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.0127550960001 meters 0.017876112976791255 Centerline is valid? [True, True] Translation: X:48.27, Y:297.83, Z:7.01 [[-8.76697315e-02 -9.96149296e-01 7.73278563e-04 4.82683876e+01] [ 9.96095738e-01 -8.76730372e-02 -1.03305438e-02 2.97828516e+02] [ 1.03585596e-02 -1.35416521e-04 9.99946340e-01 7.00917186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.04275509600006 meters 0.01864578426692352 Centerline is valid? [True, True] Translation: X:48.27, Y:297.85, Z:7.01 [[-8.94699920e-02 -9.95989237e-01 7.48811559e-04 4.82687367e+01] [ 9.95939515e-01 -8.94730084e-02 -9.95306209e-03 2.97854871e+02] [ 9.98014114e-03 -1.44729364e-04 9.99950187e-01 7.00952983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.07275509600004 meters 0.018871850332719084 Centerline is valid? [True, True] Translation: X:48.27, Y:297.88, Z:7.01 [[-9.21187105e-02 -9.95747728e-01 7.78019342e-04 4.82682118e+01] [ 9.95694579e-01 -9.21218332e-02 -1.02894736e-02 2.97882467e+02] [ 1.03173926e-02 -1.73183402e-04 9.99946759e-01 7.01036892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.10275509600007 meters 0.01925889624526269 Centerline is valid? [True, True] Translation: X:48.27, Y:297.91, Z:7.01 [[-9.32191213e-02 -9.95645314e-01 7.76819948e-04 4.82679144e+01] [ 9.95592790e-01 -9.32221840e-02 -1.02284193e-02 2.97909178e+02] [ 1.02562946e-02 -1.80087920e-04 9.99947387e-01 7.01053187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.13275509600004 meters 0.020140734467577033 Centerline is valid? [True, True] Translation: X:48.27, Y:297.94, Z:7.01 [[-9.47252004e-02 -9.95503159e-01 7.72535531e-04 4.82682993e+01] [ 9.95451623e-01 -9.47281587e-02 -1.01312406e-02 2.97935797e+02] [ 1.01588629e-02 -1.90662049e-04 9.99948379e-01 7.01097363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.16275509600007 meters 0.020140734467577033 Centerline is valid? [True, True] Translation: X:48.27, Y:297.96, Z:7.01 [[-9.51076970e-02 -9.95466686e-01 7.76333130e-04 4.82660669e+01] [ 9.95415151e-01 -9.51106742e-02 -1.01309498e-02 2.97961639e+02] [ 1.01588606e-02 -1.90757546e-04 9.99948379e-01 7.01115596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.19275509600004 meters 0.021026212942712362 Centerline is valid? [True, True] Translation: X:48.27, Y:297.99, Z:7.01 [[-9.56444312e-02 -9.95415273e-01 7.59508285e-04 4.82657414e+01] [ 9.95366436e-01 -9.56472635e-02 -9.86200194e-03 2.97987056e+02] [ 9.88943224e-03 -1.87256512e-04 9.99951081e-01 7.01126779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.22275509600007 meters 0.019766953584575118 Centerline is valid? [True, True] Translation: X:48.26, Y:298.01, Z:7.01 [[-9.60327962e-02 -9.95377850e-01 7.99011027e-04 4.82609551e+01] [ 9.95324357e-01 -9.60359204e-02 -1.03211831e-02 2.98014422e+02] [ 1.03502108e-02 -1.95896942e-04 9.99946416e-01 7.01168859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.25275509600004 meters 0.020230927611579217 Centerline is valid? [True, True] Translation: X:48.26, Y:298.04, Z:7.01 [[-9.69604497e-02 -9.95287878e-01 8.43043793e-04 4.82597730e+01] [ 9.95228917e-01 -9.69638838e-02 -1.08355033e-02 2.98039848e+02] [ 1.08661899e-02 -2.11593713e-04 9.99940939e-01 7.01178469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.2827550960001 meters 0.020390517240726075 Centerline is valid? [True, True] Translation: X:48.26, Y:298.07, Z:7.01 [[-9.77821168e-02 -9.95207479e-01 8.54765398e-04 4.82581444e+01] [ 9.95147495e-01 -9.77856097e-02 -1.09287987e-02 2.98066429e+02] [ 1.09600060e-02 -2.18023426e-04 9.99939914e-01 7.01213422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.31275509600005 meters 0.020937954245562104 Centerline is valid? [True, True] Translation: X:48.26, Y:298.09, Z:7.01 [[-9.94212824e-02 -9.95044991e-01 9.35528812e-04 4.82581607e+01] [ 9.94973849e-01 -9.94253635e-02 -1.19011602e-02 2.98094070e+02] [ 1.19352052e-02 -2.52401909e-04 9.99928741e-01 7.01287786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3427550960001 meters 0.02156496577942839 Centerline is valid? [True, True] Translation: X:48.26, Y:298.12, Z:7.01 [[-1.00726620e-01 -9.94913663e-01 9.75394348e-04 4.82579221e+01] [ 9.94837038e-01 -1.00730970e-01 -1.23507097e-02 2.98120659e+02] [ 1.23861422e-02 -2.73686816e-04 9.99923251e-01 7.01343207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.37275509600005 meters 0.0233748849708052 Centerline is valid? [True, True] Translation: X:48.26, Y:298.15, Z:7.01 [[-1.02611893e-01 -9.94720902e-01 1.06110009e-03 4.82590706e+01] [ 9.94630978e-01 -1.02616888e-01 -1.33788197e-02 2.98147429e+02] [ 1.34170784e-02 -3.17422988e-04 9.99909937e-01 7.01363727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4027550960001 meters 0.022739554749612034 Centerline is valid? [True, True] Translation: X:48.26, Y:298.17, Z:7.02 [[-1.03619394e-01 -9.94616424e-01 1.09136699e-03 4.82568830e+01] [ 9.94522073e-01 -1.03624601e-01 -1.37036041e-02 2.98173745e+02] [ 1.37429221e-02 -3.34570583e-04 9.99905506e-01 7.01538437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.43275509600005 meters 0.02292513802192528 Centerline is valid? [True, True] Translation: X:48.26, Y:298.20, Z:7.02 [[-1.04154812e-01 -9.94560440e-01 1.14319098e-03 4.82552259e+01] [ 9.94457925e-01 -1.04160495e-01 -1.42838094e-02 2.98200532e+02] [ 1.43251871e-02 -3.50872149e-04 9.99897328e-01 7.01558815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4627550960001 meters 0.023096860042869784 Centerline is valid? [True, True] Translation: X:48.25, Y:298.23, Z:7.02 [[-1.04025672e-01 -9.94573820e-01 1.25588029e-03 4.82530371e+01] [ 9.94451351e-01 -1.04032577e-01 -1.56119626e-02 2.98225782e+02] [ 1.56579017e-02 -3.75133049e-04 9.99877337e-01 7.01602168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.49275509600005 meters 0.021765933343534924 Centerline is valid? [True, True] Translation: X:48.25, Y:298.25, Z:7.02 [[-1.03703700e-01 -9.94607380e-01 1.30496526e-03 4.82482650e+01] [ 9.94476401e-01 -1.03711227e-01 -1.61452338e-02 2.98252572e+02] [ 1.61935082e-02 -3.76563339e-04 9.99868806e-01 7.01711072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5227550960001 meters 0.021261559552878354 Centerline is valid? [True, True] Translation: X:48.24, Y:298.28, Z:7.02 [[-1.03164814e-01 -9.94663402e-01 1.31854700e-03 4.82447921e+01] [ 9.94530876e-01 -1.03172598e-01 -1.62404661e-02 2.98279373e+02] [ 1.62898352e-02 -3.64108972e-04 9.99867246e-01 7.01806520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.55275509600006 meters 0.021954477310485585 Centerline is valid? [True, True] Translation: X:48.24, Y:298.31, Z:7.02 [[-1.01097641e-01 -9.94875622e-01 1.32815567e-03 4.82433272e+01] [ 9.94742399e-01 -1.01105842e-01 -1.62840120e-02 2.98305947e+02] [ 1.63348508e-02 -3.25102445e-04 9.99866525e-01 7.01771164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5827550960001 meters 0.021453992882500918 Centerline is valid? [True, True] Translation: X:48.24, Y:298.33, Z:7.02 [[-1.00159259e-01 -9.94970481e-01 1.36551731e-03 4.82377955e+01] [ 9.94831004e-01 -1.00168086e-01 -1.66621773e-02 2.98332170e+02] [ 1.67151558e-02 -3.10412365e-04 9.99860244e-01 7.01796599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.61275509600006 meters 0.0197148276419614 Centerline is valid? [True, True] Translation: X:48.23, Y:298.36, Z:7.02 [[-9.91324441e-02 -9.95073323e-01 1.35653421e-03 4.82332313e+01] [ 9.94936995e-01 -9.91413201e-02 -1.64734569e-02 2.98358738e+02] [ 1.65267861e-02 -2.83387976e-04 9.99863383e-01 7.01983664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6427550960001 meters 0.019075102675302442 Centerline is valid? [True, True] Translation: X:48.23, Y:298.39, Z:7.02 [[-9.73971359e-02 -9.95244640e-01 1.37995191e-03 4.82282153e+01] [ 9.95104893e-01 -9.74065869e-02 -1.66795778e-02 2.98385291e+02] [ 1.67346768e-02 -2.51346203e-04 9.99859934e-01 7.02084661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.67275509600006 meters 0.01957644627368789 Centerline is valid? [True, True] Translation: X:48.22, Y:298.41, Z:7.02 [[-9.70823686e-02 -9.95275305e-01 1.44236607e-03 4.82249013e+01] [ 9.95124081e-01 -9.70927631e-02 -1.73510352e-02 2.98411055e+02] [ 1.74091002e-02 -2.49146382e-04 9.99848419e-01 7.02047164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7027550960001 meters 0.01900818023474029 Centerline is valid? [True, True] Translation: X:48.22, Y:298.44, Z:7.02 [[-9.72895646e-02 -9.95255107e-01 1.41886941e-03 4.82228855e+01] [ 9.95110185e-01 -9.72996130e-02 -1.69854640e-02 2.98436413e+02] [ 1.70429253e-02 -2.40576999e-04 9.99854730e-01 7.02130771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.73275509600006 meters 0.019851022535774785 Centerline is valid? [True, True] Translation: X:48.22, Y:298.46, Z:7.02 [[-9.86143656e-02 -9.95124682e-01 1.44000761e-03 4.82208963e+01] [ 9.94976825e-01 -9.86245387e-02 -1.71557292e-02 2.98462326e+02] [ 1.72141096e-02 -2.59027149e-04 9.99851793e-01 7.02090279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7627550960001 meters 0.018738199078217208 Centerline is valid? [True, True] Translation: X:48.22, Y:298.49, Z:7.02 [[-9.96834883e-02 -9.95018165e-01 1.43332166e-03 4.82182268e+01] [ 9.94872964e-01 -9.96934304e-02 -1.70001481e-02 2.98489412e+02] [ 1.70583490e-02 -2.68661097e-04 9.99854460e-01 7.02293032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.79275509600006 meters 0.019334210222772128 Centerline is valid? [True, True] Translation: X:48.22, Y:298.52, Z:7.02 [[-1.01142924e-01 -9.94870924e-01 1.39781611e-03 4.82176884e+01] [ 9.94734021e-01 -1.01152198e-01 -1.65063654e-02 2.98516155e+02] [ 1.65630951e-02 -2.79046823e-04 9.99862784e-01 7.02307894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.82275509600004 meters 0.02034754112740434 Centerline is valid? [True, True] Translation: X:48.22, Y:298.54, Z:7.02 [[-1.04023912e-01 -9.94573959e-01 1.29057779e-03 4.82179572e+01] [ 9.94458229e-01 -1.04031499e-01 -1.51749429e-02 2.98542265e+02] [ 1.52268638e-02 -2.95131229e-04 9.99884021e-01 7.02364811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.85275509600007 meters 0.020044785088907224 Centerline is valid? [True, True] Translation: X:48.21, Y:298.57, Z:7.02 [[-1.05121887e-01 -9.94458524e-01 1.27812293e-03 4.82149008e+01] [ 9.94345972e-01 -1.05129223e-01 -1.49644453e-02 2.98569091e+02] [ 1.50158882e-02 -3.02194342e-04 9.99887210e-01 7.02450678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.88275509600004 meters 0.02033011599724448 Centerline is valid? [True, True] Translation: X:48.21, Y:298.60, Z:7.02 [[-1.07327484e-01 -9.94223084e-01 1.12748875e-03 4.82129401e+01] [ 9.94136177e-01 -1.07333014e-01 -1.31486044e-02 2.98596619e+02] [ 1.31936627e-02 -2.90329275e-04 9.99912918e-01 7.02498764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.91275509600007 meters 0.020809674506657896 Centerline is valid? [True, True] Translation: X:48.21, Y:298.62, Z:7.03 [[-1.08591384e-01 -9.94085875e-01 1.08812566e-03 4.82108944e+01] [ 9.94005524e-01 -1.08596445e-01 -1.26424169e-02 2.98623019e+02] [ 1.26858147e-02 -2.91254632e-04 9.99919489e-01 7.02546886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.94275509600004 meters 0.020962898846561447 Centerline is valid? [True, True] Translation: X:48.21, Y:298.65, Z:7.03 [[-1.09317211e-01 -9.94006358e-01 1.05296851e-03 4.82081144e+01] [ 9.93931648e-01 -1.09321908e-01 -1.21901235e-02 2.98650226e+02] [ 1.22321728e-02 -2.86011572e-04 9.99925143e-01 7.02578808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.97275509600007 meters 0.021457220265779304 Centerline is valid? [True, True] Translation: X:48.21, Y:298.68, Z:7.02 [[-1.10286787e-01 -9.93899249e-01 1.05232145e-03 4.82053062e+01] [ 9.93825248e-01 -1.10291421e-01 -1.21317664e-02 2.98677654e+02] [ 1.21738155e-02 -2.92149913e-04 9.99925854e-01 7.02491889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.00275509600004 meters 0.02067430118789872 Centerline is valid? [True, True] Translation: X:48.20, Y:298.70, Z:7.03 [[-1.10676759e-01 -9.93855949e-01 1.00349045e-03 4.82024800e+01] [ 9.93789201e-01 -1.10680959e-01 -1.15217301e-02 2.98704342e+02] [ 1.15620073e-02 -2.77929784e-04 9.99933119e-01 7.02638591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0327550960001 meters 0.02169921049613315 Centerline is valid? [True, True] Translation: X:48.20, Y:298.73, Z:7.03 [[-1.11057675e-01 -9.93813464e-01 9.95419776e-04 4.82013929e+01] [ 9.93748336e-01 -1.11061796e-01 -1.13807640e-02 2.98730624e+02] [ 1.14209096e-02 -2.74724435e-04 9.99934742e-01 7.02624851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.06275509600005 meters 0.022067206598751832 Centerline is valid? [True, True] Translation: X:48.20, Y:298.76, Z:7.02 [[-1.10964124e-01 -9.93823927e-01 9.82556051e-04 4.81968449e+01] [ 9.93761012e-01 -1.10968158e-01 -1.11856694e-02 2.98757253e+02] [ 1.12256184e-02 -2.64782114e-04 9.99936956e-01 7.02472818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0927550960001 meters 0.02075045183125541 Centerline is valid? [True, True] Translation: X:48.19, Y:298.78, Z:7.03 [[-1.10146163e-01 -9.93915009e-01 8.81955454e-04 4.81932772e+01] [ 9.93864723e-01 -1.10149464e-01 -1.00004011e-02 2.98783491e+02] [ 1.00366957e-02 -2.24961396e-04 9.99949606e-01 7.02557182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.12275509600005 meters 0.019811927237090323 Centerline is valid? [True, True] Translation: X:48.19, Y:298.81, Z:7.03 [[-1.09600160e-01 -9.93975381e-01 8.64100620e-04 4.81884650e+01] [ 9.93927521e-01 -1.09603364e-01 -9.75633552e-03 2.98809997e+02] [ 9.79226565e-03 -2.10442548e-04 9.99952033e-01 7.02560870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1527550960001 meters 0.01909706072453607 Centerline is valid? [True, True] Translation: X:48.18, Y:298.84, Z:7.03 [[-1.07815293e-01 -9.94170663e-01 7.45891611e-04 4.81836095e+01] [ 9.94135263e-01 -1.07817749e-01 -8.39116061e-03 2.98836013e+02] [ 8.42266605e-03 -1.63178285e-04 9.99964515e-01 7.02506581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.18275509600005 meters 0.018798816755435287 Centerline is valid? [True, True] Translation: X:48.18, Y:298.86, Z:7.02 [[-1.06731128e-01 -9.94287671e-01 7.02787369e-04 4.81798702e+01] [ 9.94256499e-01 -1.06733348e-01 -7.87441084e-03 2.98862224e+02] [ 7.90444046e-03 -1.41693845e-04 9.99968749e-01 7.02480288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2127550960001 meters 0.018282847161566827 Centerline is valid? [True, True] Translation: X:48.18, Y:298.89, Z:7.02 [[-1.05580882e-01 -9.94410474e-01 6.97363735e-04 4.81761127e+01] [ 9.94380051e-01 -1.05583107e-01 -7.77961007e-03 2.98888121e+02] [ 7.80975556e-03 -1.27933504e-04 9.99969495e-01 7.02402016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.24275509600005 meters 0.017479881974315024 Centerline is valid? [True, True] Translation: X:48.17, Y:298.91, Z:7.02 [[-1.03246938e-01 -9.94655510e-01 6.97159885e-04 4.81720896e+01] [ 9.94625371e-01 -1.03249237e-01 -7.74384445e-03 2.98914614e+02] [ 7.77443877e-03 -1.06115316e-04 9.99969773e-01 7.02227304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2727550960001 meters 0.01706448793592402 Centerline is valid? [True, True] Translation: X:48.17, Y:298.94, Z:7.02 [[-1.02360304e-01 -9.94747162e-01 6.72507727e-04 4.81689031e+01] [ 9.94719328e-01 -1.02362471e-01 -7.44195227e-03 2.98940693e+02] [ 7.47170045e-03 -9.28040627e-05 9.99972082e-01 7.02169605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.30275509600006 meters 0.01666816653267225 Centerline is valid? [True, True] Translation: X:48.17, Y:298.97, Z:7.02 [[-1.01875639e-01 -9.94796902e-01 6.92111963e-04 4.81655401e+01] [ 9.94767678e-01 -1.01877951e-01 -7.62562629e-03 2.98966950e+02] [ 7.65646035e-03 -8.83749370e-05 9.99970685e-01 7.02154834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3327550960001 meters 0.01645023865000593 Centerline is valid? [True, True] Translation: X:48.16, Y:298.99, Z:7.02 [[-1.01967570e-01 -9.94787567e-01 5.58673400e-04 4.81627426e+01] [ 9.94768652e-01 -1.01969076e-01 -6.13481423e-03 2.98993310e+02] [ 6.15980433e-03 -6.98013109e-05 9.99981026e-01 7.02032581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.36275509600006 meters 0.016607105366462212 Centerline is valid? [True, True] Translation: X:48.16, Y:299.02, Z:7.02 [[-1.02342435e-01 -9.94749079e-01 5.44153260e-04 4.81605457e+01] [ 9.94731283e-01 -1.02343859e-01 -5.95052609e-03 2.99019893e+02] [ 5.97497109e-03 -6.77050586e-05 9.99982147e-01 7.02011588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3927550960001 meters 0.01668213477637544 Centerline is valid? [True, True] Translation: X:48.16, Y:299.05, Z:7.02 [[-1.03003511e-01 -9.94680872e-01 4.90319017e-04 4.81585494e+01] [ 9.94666529e-01 -1.03004659e-01 -5.34189215e-03 2.99046564e+02] [ 5.36398309e-03 -6.25297305e-05 9.99985612e-01 7.01980725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.42275509600006 meters 0.017059395079888323 Centerline is valid? [True, True] Translation: X:48.16, Y:299.07, Z:7.02 [[-1.05063676e-01 -9.94465438e-01 3.41509984e-04 4.81577591e+01] [ 9.94458509e-01 -1.05064219e-01 -3.71254722e-03 2.99073441e+02] [ 3.72788038e-03 -5.04363501e-05 9.99993050e-01 7.01981136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.4527550960001 meters 0.01752696799431511 Centerline is valid? [True, True] Translation: X:48.16, Y:299.10, Z:7.02 [[-1.06549379e-01 -9.94307373e-01 2.80963626e-04 4.81566427e+01] [ 9.94302696e-01 -1.06549739e-01 -3.04982295e-03 2.99098991e+02] [ 3.06239805e-03 -4.55938491e-05 9.99995310e-01 7.02016768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.48275509600006 meters 0.018790605402963068 Centerline is valid? [True, True] Translation: X:48.16, Y:299.13, Z:7.02 [[-1.09406485e-01 -9.93997078e-01 1.71820884e-04 4.81578096e+01] [ 9.93995326e-01 -1.09406615e-01 -1.86654547e-03 2.99125118e+02] [ 1.87413908e-03 -3.34230223e-05 9.99998243e-01 7.02034636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.5127550960001 meters 0.018890100604647762 Centerline is valid? [True, True] Translation: X:48.16, Y:299.15, Z:7.02 [[-1.11301004e-01 -9.93786735e-01 1.07954223e-04 4.81559037e+01] [ 9.93786038e-01 -1.11301053e-01 -1.17744433e-03 2.99152221e+02] [ 1.18214397e-03 -2.37673358e-05 9.99999301e-01 7.02024726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.54275509600006 meters 0.020279260155891363 Centerline is valid? [True, True] Translation: X:48.16, Y:299.18, Z:7.02 [[-1.12730810e-01 -9.93625563e-01 7.00954266e-05 4.81560001e+01] [ 9.93625263e-01 -1.12730831e-01 -7.71990774e-04 2.99178890e+02] [ 7.74971683e-04 -1.73785589e-05 9.99999700e-01 7.02055852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.57275509600004 meters 0.020808478809933386 Centerline is valid? [True, True] Translation: X:48.15, Y:299.20, Z:7.02 [[-1.13990076e-01 -9.93481886e-01 7.45644339e-05 4.81546881e+01] [ 9.93481549e-01 -1.13990099e-01 -8.17480176e-04 2.99203891e+02] [ 8.20651354e-04 -1.91062381e-05 9.99999663e-01 7.02052435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.60275509600007 meters 0.02207331524233444 Centerline is valid? [True, True] Translation: X:48.15, Y:299.23, Z:7.02 [[-1.15572411e-01 -9.93299057e-01 4.63548719e-05 4.81539260e+01] [ 9.93298922e-01 -1.15572419e-01 -5.16770582e-04 2.99229750e+02] [ 5.18665076e-04 -1.36801777e-05 9.99999865e-01 7.02005579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.63275509600004 meters 0.02053954232477053 Centerline is valid? [True, True] Translation: X:48.15, Y:299.26, Z:7.02 [[-1.16454623e-01 -9.93196013e-01 2.76119705e-05 4.81481304e+01] [ 9.93195962e-01 -1.16454626e-01 -3.18315822e-04 2.99256177e+02] [ 3.19365547e-04 -9.64525135e-06 9.99999949e-01 7.01866715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.66275509600007 meters 0.02205889646093778 Centerline is valid? [True, True] Translation: X:48.15, Y:299.28, Z:7.02 [[-1.17446558e-01 -9.93079204e-01 -2.95894922e-05 4.81472495e+01] [ 9.93079164e-01 -1.17446562e-01 2.82331113e-04 2.99282374e+02] [-2.83852342e-04 3.77410933e-06 9.99999960e-01 7.01795621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.69275509600004 meters 0.02103098663696752 Centerline is valid? [True, True] Translation: X:48.14, Y:299.31, Z:7.02 [[-1.18337211e-01 -9.92973464e-01 -7.14008901e-05 4.81424303e+01] [ 9.92973207e-01 -1.18337232e-01 7.14517877e-04 2.99308411e+02] [-7.17946675e-04 1.36548820e-05 9.99999742e-01 7.01651139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.72275509600007 meters 0.021016723506948307 Centerline is valid? [True, True] Translation: X:48.14, Y:299.34, Z:7.01 [[-1.19583448e-01 -9.92824152e-01 3.90616041e-05 4.81398528e+01] [ 9.92824059e-01 -1.19583453e-01 -4.31149936e-04 2.99335543e+02] [ 4.32727191e-04 -1.27770954e-05 9.99999906e-01 7.01392562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.75275509600004 meters 0.022561538096782456 Centerline is valid? [True, True] Translation: X:48.14, Y:299.36, Z:7.01 [[-1.20741216e-01 -9.92684015e-01 7.43179532e-05 4.81393988e+01] [ 9.92683700e-01 -1.20741237e-01 -7.91068600e-04 2.99361140e+02] [ 7.94254395e-04 -2.17403638e-05 9.99999684e-01 7.01339177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.7827550960001 meters 0.02284107005812846 Centerline is valid? [True, True] Translation: X:48.14, Y:299.39, Z:7.01 [[-1.21473330e-01 -9.92594691e-01 9.42387455e-05 4.81364694e+01] [ 9.92594191e-01 -1.21473364e-01 -9.97444775e-04 2.99387490e+02] [ 1.00150589e-03 -2.76221073e-05 9.99999498e-01 7.01238024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.81275509600005 meters 0.021628103556442697 Centerline is valid? [True, True] Translation: X:48.13, Y:299.41, Z:7.01 [[-1.22276655e-01 -9.92496051e-01 8.71661899e-05 4.81305671e+01] [ 9.92495625e-01 -1.22276683e-01 -9.19987016e-04 2.99413992e+02] [ 9.23741873e-04 -2.59808727e-05 9.99999573e-01 7.01073965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8427550960001 meters 0.02225755802472669 Centerline is valid? [True, True] Translation: X:48.13, Y:299.44, Z:7.01 [[-1.23724167e-01 -9.92316643e-01 1.02162529e-04 4.81265999e+01] [ 9.92316067e-01 -1.23724205e-01 -1.06979430e-03 2.99440764e+02] [ 1.07421466e-03 -3.09818891e-05 9.99999423e-01 7.00903856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.87275509600005 meters 0.025107733457678784 Centerline is valid? [True, True] Translation: X:48.13, Y:299.47, Z:7.01 [[-1.24734558e-01 -9.92190146e-01 5.99466745e-05 4.81272824e+01] [ 9.92189946e-01 -1.24734571e-01 -6.30692282e-04 2.99467616e+02] [ 6.33244090e-04 -1.91906351e-05 9.99999799e-01 7.01010336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9027550960001 meters 0.0258706840963284 Centerline is valid? [True, True] Translation: X:48.12, Y:299.49, Z:7.01 [[-1.25938230e-01 -9.92038085e-01 -3.02618636e-05 4.81246112e+01] [ 9.92038045e-01 -1.25938234e-01 2.81307561e-04 2.99493656e+02] [-2.82878940e-04 5.40645634e-06 9.99999960e-01 7.01044158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.93275509600005 meters 0.024306980425354657 Centerline is valid? [True, True] Translation: X:48.12, Y:299.52, Z:7.01 [[-1.28677108e-01 -9.91686523e-01 -2.03225447e-04 4.81172780e+01] [ 9.91684447e-01 -1.28677255e-01 2.03039030e-03 2.99520627e+02] [-2.03966119e-03 5.97292374e-05 9.99997918e-01 7.00986738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9627550960001 meters 0.025700045184957148 Centerline is valid? [True, True] Translation: X:48.12, Y:299.55, Z:7.01 [[-1.29934624e-01 -9.91522525e-01 -2.75222941e-04 4.81154952e+01] [ 9.91518696e-01 -1.29934887e-01 2.75686055e-03 2.99547160e+02] [-2.76925039e-03 8.53229455e-05 9.99996162e-01 7.01076915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.99275509600005 meters 0.025187464673855166 Centerline is valid? [True, True] Translation: X:48.11, Y:299.57, Z:7.01 [[-1.31408268e-01 -9.91328250e-01 -4.10998324e-04 4.81091423e+01] [ 9.91319757e-01 -1.31408844e-01 4.10552397e-03 2.99573923e+02] [-4.12393070e-03 1.32069036e-04 9.99991488e-01 7.01090297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0227550960001 meters 0.02653129697171979 Centerline is valid? [True, True] Translation: X:48.11, Y:299.60, Z:7.01 [[-1.32127858e-01 -9.91232568e-01 -4.74894196e-04 4.81070259e+01] [ 9.91221257e-01 -1.32128620e-01 4.73797934e-03 2.99599617e+02] [-4.75918654e-03 1.55293839e-04 9.99988663e-01 7.01172201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.05275509600006 meters 0.02663975954751415 Centerline is valid? [True, True] Translation: X:48.10, Y:299.63, Z:7.01 [[-1.32541770e-01 -9.91177279e-01 -5.29231719e-04 4.81027991e+01] [ 9.91163362e-01 -1.32542715e-01 5.25532331e-03 2.99625873e+02] [-5.27910287e-03 1.71994762e-04 9.99986051e-01 7.01175602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0827550960001 meters 0.02663975954751415 Centerline is valid? [True, True] Translation: X:48.10, Y:299.65, Z:7.01 [[-1.32927259e-01 -9.91125654e-01 -5.31282293e-04 4.80999607e+01] [ 9.91111737e-01 -1.32928210e-01 5.25511695e-03 2.99651668e+02] [-5.27910363e-03 1.71988176e-04 9.99986051e-01 7.01193841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.11275509600006 meters 0.026684109178591642 Centerline is valid? [True, True] Translation: X:48.09, Y:299.68, Z:7.01 [[-1.32277620e-01 -9.91212542e-01 -5.72204157e-04 4.80940245e+01] [ 9.91196524e-01 -1.32278737e-01 5.63794748e-03 2.99676436e+02] [-5.66409470e-03 1.78607502e-04 9.99983943e-01 7.01153897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1427550960001 meters 0.025844291211240655 Centerline is valid? [True, True] Translation: X:48.09, Y:299.70, Z:7.01 [[-1.32029188e-01 -9.91245585e-01 -6.95381528e-04 4.80881794e+01] [ 9.91222061e-01 -1.32030848e-01 6.83233076e-03 2.99702728e+02] [-6.86432951e-03 2.12789572e-04 9.99976418e-01 7.01168826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.17275509600006 meters 0.025667220514280744 Centerline is valid? [True, True] Translation: X:48.08, Y:299.73, Z:7.01 [[-1.31096504e-01 -9.91369391e-01 -6.61322584e-04 4.80839061e+01] [ 9.91348185e-01 -1.31098027e-01 6.48718298e-03 2.99728291e+02] [-6.51789272e-03 1.94846064e-04 9.99978739e-01 7.01209657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2027550960001 meters 0.026163882598675556 Centerline is valid? [True, True] Translation: X:48.08, Y:299.75, Z:7.01 [[-1.29315960e-01 -9.91603201e-01 -6.88659501e-04 4.80793818e+01] [ 9.91580392e-01 -1.29317658e-01 6.72822876e-03 2.99754709e+02] [-6.76078900e-03 1.87206102e-04 9.99977128e-01 7.01312304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.23275509600006 meters 0.024829052436844568 Centerline is valid? [True, True] Translation: X:48.07, Y:299.78, Z:7.01 [[-1.28572598e-01 -9.91699873e-01 -6.69609876e-04 4.80731515e+01] [ 9.91678422e-01 -1.28574223e-01 6.52509140e-03 2.99781075e+02] [-6.55702688e-03 1.74910291e-04 9.99978487e-01 7.01269769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2627550960001 meters 0.02409021602450199 Centerline is valid? [True, True] Translation: X:48.07, Y:299.81, Z:7.01 [[-1.26517758e-01 -9.91964159e-01 -6.03571175e-04 4.80670521e+01] [ 9.91946888e-01 -1.26519118e-01 5.85523874e-03 2.99806657e+02] [-5.88455027e-03 1.42081131e-04 9.99982676e-01 7.01254222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.29275509600006 meters 0.02368624633043532 Centerline is valid? [True, True] Translation: X:48.06, Y:299.83, Z:7.01 [[-1.26072132e-01 -9.92020874e-01 -6.35453766e-04 4.80626647e+01] [ 9.92001870e-01 -1.26073651e-01 6.14203068e-03 2.99832467e+02] [-6.17313662e-03 1.43967578e-04 9.99980936e-01 7.01261794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.32275509600004 meters 0.023634436483453272 Centerline is valid? [True, True] Translation: X:48.06, Y:299.86, Z:7.01 [[-1.26025890e-01 -9.92026737e-01 -6.54171479e-04 4.80589442e+01] [ 9.92006737e-01 -1.26027505e-01 6.30095795e-03 2.99859048e+02] [-6.33316236e-03 1.45141322e-04 9.99979935e-01 7.01287482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.35275509600007 meters 0.023657685204549042 Centerline is valid? [True, True] Translation: X:48.06, Y:299.88, Z:7.01 [[-1.25845362e-01 -9.92049667e-01 -6.35253543e-04 4.80551836e+01] [ 9.92030959e-01 -1.25846891e-01 6.09400380e-03 2.99884069e+02] [-6.12549912e-03 1.36710935e-04 9.99981230e-01 7.01281489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.38275509600004 meters 0.023792302871475383 Centerline is valid? [True, True] Translation: X:48.05, Y:299.91, Z:7.01 [[-1.26363967e-01 -9.91983772e-01 -5.86419794e-04 4.80524831e+01] [ 9.91967945e-01 -1.26365264e-01 5.60500693e-03 2.99910156e+02] [-5.63417901e-03 1.26561271e-04 9.99984120e-01 7.01278176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.41275509600007 meters 0.024083860600866636 Centerline is valid? [True, True] Translation: X:48.05, Y:299.94, Z:7.01 [[-1.26909127e-01 -9.91914166e-01 -6.00910005e-04 4.80502278e+01] [ 9.91897658e-01 -1.26910483e-01 5.72407371e-03 2.99936445e+02] [-5.75405157e-03 1.30395972e-04 9.99983437e-01 7.01257051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.44275509600004 meters 0.025031610685965915 Centerline is valid? [True, True] Translation: X:48.05, Y:299.96, Z:7.01 [[-1.28252937e-01 -9.91741330e-01 -5.65166371e-04 4.80485667e+01] [ 9.91726794e-01 -1.28254118e-01 5.37093601e-03 2.99961515e+02] [-5.39906414e-03 1.28347686e-04 9.99985417e-01 7.01244072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.47275509600007 meters 0.025420456466303438 Centerline is valid? [True, True] Translation: X:48.05, Y:299.99, Z:7.01 [[-1.29203198e-01 -9.91617954e-01 -6.06282159e-04 4.80457445e+01] [ 9.91601353e-01 -1.29204544e-01 5.73952168e-03 2.99987651e+02] [-5.76974715e-03 1.40374344e-04 9.99983345e-01 7.01275710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.50275509600004 meters 0.026383829963335645 Centerline is valid? [True, True] Translation: X:48.04, Y:300.01, Z:7.01 [[-1.30930943e-01 -9.91391365e-01 -4.99445432e-04 4.80440631e+01] [ 9.91380202e-01 -1.30931840e-01 4.70613157e-03 3.00013159e+02] [-4.73101151e-03 1.21037931e-04 9.99988801e-01 7.01262668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5327550960001 meters 0.026682542187634998 Centerline is valid? [True, True] Translation: X:48.04, Y:300.04, Z:7.01 [[-1.31403247e-01 -9.91328877e-01 -4.94165293e-04 4.80414998e+01] [ 9.91318034e-01 -1.31404121e-01 4.63809577e-03 3.00038843e+02] [-4.66281363e-03 1.19585876e-04 9.99989122e-01 7.01303276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.56275509600005 meters 0.02709850368026206 Centerline is valid? [True, True] Translation: X:48.04, Y:300.06, Z:7.01 [[-1.32204376e-01 -9.91222364e-01 -4.78026760e-04 4.80387274e+01] [ 9.91212294e-01 -1.32205188e-01 4.46960656e-03 3.00064371e+02] [-4.49357159e-03 1.17075544e-04 9.99989897e-01 7.01297488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5927550960001 meters 0.0271712046230814 Centerline is valid? [True, True] Translation: X:48.04, Y:300.09, Z:7.01 [[-1.32022860e-01 -9.91246591e-01 -4.00367997e-04 4.80360522e+01] [ 9.91239570e-01 -1.32023433e-01 3.73206794e-03 3.00089235e+02] [-3.75225758e-03 9.58576827e-05 9.99992956e-01 7.01271995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.62275509600005 meters 0.02716621150314394 Centerline is valid? [True, True] Translation: X:48.03, Y:300.12, Z:7.01 [[-1.32066052e-01 -9.91240852e-01 -3.61742811e-04 4.80326573e+01] [ 9.91235180e-01 -1.32066521e-01 3.35441968e-03 3.00115082e+02] [-3.37281193e-03 8.44327640e-05 9.99994309e-01 7.01214404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6527550960001 meters 0.027145123646917315 Centerline is valid? [True, True] Translation: X:48.03, Y:300.14, Z:7.01 [[-1.32128984e-01 -9.91232479e-01 -3.21578315e-04 4.80292774e+01] [ 9.91228036e-01 -1.32129355e-01 2.96892009e-03 3.00140841e+02] [-2.98537996e-03 7.35229550e-05 9.99995541e-01 7.01200952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.68275509600005 meters 0.02676041590843041 Centerline is valid? [True, True] Translation: X:48.03, Y:300.17, Z:7.01 [[-1.32036342e-01 -9.91244848e-01 -2.34837748e-04 4.80253813e+01] [ 9.91242510e-01 -1.32036540e-01 2.15389797e-03 3.00166283e+02] [-2.16604744e-03 5.16116504e-05 9.99997653e-01 7.01131253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7127550960001 meters 0.02200666588217175 Centerline is valid? [True, True] Translation: X:48.01, Y:300.19, Z:7.01 [[-1.31398548e-01 -9.91329614e-01 -1.38566405e-04 4.80145822e+01] [ 9.91328806e-01 -1.31398617e-01 1.26579224e-03 3.00193006e+02] [-1.27302477e-03 2.89583935e-05 9.99999189e-01 7.00819708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.74275509600005 meters 0.02299905521599839 Centerline is valid? [True, True] Translation: X:48.01, Y:300.22, Z:7.01 [[-1.31303810e-01 -9.91342170e-01 -1.03948818e-04 4.80137735e+01] [ 9.91341727e-01 -1.31303849e-01 9.38350707e-04 3.00218229e+02] [-9.43875506e-04 2.01602220e-05 9.99999554e-01 7.00893139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7727550960001 meters 0.022554677332247686 Centerline is valid? [True, True] Translation: X:48.01, Y:300.24, Z:7.01 [[-1.30709163e-01 -9.91420753e-01 6.78350276e-05 4.80103720e+01] [ 9.91420543e-01 -1.30709180e-01 -6.46111526e-04 3.00244868e+02] [ 6.49435037e-04 -1.71996570e-05 9.99999789e-01 7.00764101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.80275509600006 meters 0.022865865697518088 Centerline is valid? [True, True] Translation: X:48.01, Y:300.27, Z:7.01 [[-1.30741372e-01 -9.91416492e-01 1.83811670e-04 4.80082553e+01] [ 9.91415025e-01 -1.30741495e-01 -1.70550560e-03 3.00270499e+02] [ 1.71489819e-03 -4.07464919e-05 9.99998529e-01 7.00722055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8327550960001 meters 0.02133227544836531 Centerline is valid? [True, True] Translation: X:48.00, Y:300.30, Z:7.01 [[-1.30656221e-01 -9.91427687e-01 3.05892742e-04 4.80033228e+01] [ 9.91423675e-01 -1.30656563e-01 -2.82111923e-03 3.00296111e+02] [ 2.83690261e-03 -6.53274707e-05 9.99995974e-01 7.00621760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.86275509600006 meters 0.022584221285726368 Centerline is valid? [True, True] Translation: X:48.00, Y:300.32, Z:7.01 [[-1.30621869e-01 -9.91432196e-01 3.59105292e-04 4.80038414e+01] [ 9.91426720e-01 -1.30622341e-01 -3.29597236e-03 3.00321264e+02] [ 3.31464029e-03 -7.44994884e-05 9.99994504e-01 7.00675844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8927550960001 meters 0.020999741150219006 Centerline is valid? [True, True] Translation: X:48.00, Y:300.35, Z:7.01 [[-1.30592693e-01 -9.91435997e-01 4.60809990e-04 4.79998092e+01] [ 9.91427082e-01 -1.30593474e-01 -4.20555132e-03 3.00347038e+02] [ 4.22971374e-03 -9.23547705e-05 9.99991050e-01 7.00628327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.92275509600006 meters 0.020844784660329144 Centerline is valid? [True, True] Translation: X:48.00, Y:300.37, Z:7.01 [[-1.30598685e-01 -9.91435188e-01 5.00658801e-04 4.79974558e+01] [ 9.91424750e-01 -1.30599608e-01 -4.55066063e-03 3.00373198e+02] [ 4.57707092e-03 -9.79447678e-05 9.99989520e-01 7.00631053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.9527550960001 meters 0.02094654607178902 Centerline is valid? [True, True] Translation: X:48.00, Y:300.40, Z:7.01 [[-1.30653476e-01 -9.91427910e-01 6.07244909e-04 4.79970781e+01] [ 9.91412693e-01 -1.30654836e-01 -5.49424838e-03 3.00399237e+02] [ 5.52649067e-03 -1.15812338e-04 9.99984722e-01 7.00657640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.98275509600006 meters 0.020909623335683344 Centerline is valid? [True, True] Translation: X:48.00, Y:300.43, Z:7.01 [[-1.31092618e-01 -9.91369925e-01 6.31032234e-04 4.79951472e+01] [ 9.91353613e-01 -1.31094082e-01 -5.68824214e-03 3.00425256e+02] [ 5.72187678e-03 -1.20110472e-04 9.99983623e-01 7.00689896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.0127550960001 meters 0.02276122992599641 Centerline is valid? [True, True] Translation: X:48.00, Y:300.45, Z:7.01 [[-1.31690777e-01 -9.91290664e-01 5.99052110e-04 4.79983055e+01] [ 9.91276058e-01 -1.31692089e-01 -5.38252098e-03 3.00451092e+02] [ 5.41453322e-03 -1.15002354e-04 9.99985335e-01 7.00810812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.04275509600006 meters 0.021414492139268188 Centerline is valid? [True, True] Translation: X:47.99, Y:300.48, Z:7.01 [[-1.32283137e-01 -9.91211794e-01 5.92260462e-04 4.79939196e+01] [ 9.91197620e-01 -1.32284413e-01 -5.30210265e-03 3.00477312e+02] [ 5.33385351e-03 -1.14331610e-04 9.99985768e-01 7.00837215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.07275509600004 meters 0.021406958665869592 Centerline is valid? [True, True] Translation: X:47.99, Y:300.50, Z:7.01 [[-1.32676389e-01 -9.91159247e-01 5.67744708e-04 4.79921130e+01] [ 9.91146306e-01 -1.32677558e-01 -5.06620203e-03 3.00503768e+02] [ 5.09673997e-03 -1.09447320e-04 9.99987006e-01 7.00882359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.10275509600007 meters 0.021972720428200372 Centerline is valid? [True, True] Translation: X:47.99, Y:300.53, Z:7.01 [[-1.33178196e-01 -9.91091985e-01 4.96085118e-04 4.79928471e+01] [ 9.91082155e-01 -1.33179085e-01 -4.41507816e-03 3.00529401e+02] [ 4.44181674e-03 -9.63310368e-05 9.99990130e-01 7.01008886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.13275509600004 meters 0.021455028157661853 Centerline is valid? [True, True] Translation: X:47.99, Y:300.56, Z:7.01 [[-1.33462309e-01 -9.91053774e-01 4.78866597e-04 4.79899125e+01] [ 9.91044677e-01 -1.33463136e-01 -4.24730445e-03 3.00555740e+02] [ 4.27321814e-03 -9.22768663e-05 9.99990866e-01 7.01039968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.16275509600007 meters 0.02204978896851062 Centerline is valid? [True, True] Translation: X:47.99, Y:300.58, Z:7.01 [[-1.33333953e-01 -9.91071078e-01 4.18621257e-04 4.79891079e+01] [ 9.91064171e-01 -1.33334587e-01 -3.70105631e-03 3.00581250e+02] [ 3.72382656e-03 -7.85959384e-05 9.99993063e-01 7.01108897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.19275509600004 meters 0.02151563292252112 Centerline is valid? [True, True] Translation: X:47.99, Y:300.61, Z:7.01 [[-1.33261807e-01 -9.91080756e-01 4.75534635e-04 4.79856656e+01] [ 9.91071894e-01 -1.33262627e-01 -4.19213150e-03 3.00607386e+02] [ 4.21811186e-03 -8.73620096e-05 9.99991100e-01 7.01124000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.22275509600007 meters 0.02084380739683714 Centerline is valid? [True, True] Translation: X:47.98, Y:300.63, Z:7.01 [[-1.31627134e-01 -9.91299181e-01 4.80840678e-04 4.79823046e+01] [ 9.91290180e-01 -1.31627989e-01 -4.22511051e-03 3.00632776e+02] [ 4.25164068e-03 -7.94865466e-05 9.99990959e-01 7.01108494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.25275509600004 meters 0.019485261257239643 Centerline is valid? [True, True] Translation: X:47.98, Y:300.66, Z:7.01 [[-1.29465834e-01 -9.91583689e-01 6.21494816e-04 4.79771960e+01] [ 9.91568798e-01 -1.29467297e-01 -5.43480805e-03 3.00659948e+02] [ 5.46953027e-03 -8.73670912e-05 9.99985038e-01 7.01057109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.2827550960001 meters 0.019010812036008636 Centerline is valid? [True, True] Translation: X:47.97, Y:300.69, Z:7.01 [[-1.28146904e-01 -9.91754947e-01 7.04964426e-04 4.79735423e+01] [ 9.91735920e-01 -1.28148813e-01 -6.14379167e-03 3.00686370e+02] [ 6.18347614e-03 -8.81693367e-05 9.99980878e-01 7.01028738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.31275509600005 meters 0.018163120725809157 Centerline is valid? [True, True] Translation: X:47.97, Y:300.71, Z:7.01 [[-1.26967008e-01 -9.91906672e-01 7.30179789e-04 4.79685224e+01] [ 9.91886402e-01 -1.26969082e-01 -6.34182634e-03 3.00712901e+02] [ 6.38321012e-03 -8.09473136e-05 9.99979624e-01 7.01020268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3427550960001 meters 0.017698921038096557 Centerline is valid? [True, True] Translation: X:47.96, Y:300.74, Z:7.01 [[-1.25587180e-01 -9.92082275e-01 7.87224288e-04 4.79645831e+01] [ 9.92058881e-01 -1.25589625e-01 -6.81342054e-03 3.00738809e+02] [ 6.85834095e-03 -7.47054241e-05 9.99976479e-01 7.01039765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.37275509600005 meters 0.017232377176751627 Centerline is valid? [True, True] Translation: X:47.96, Y:300.76, Z:7.01 [[-1.23493023e-01 -9.92345095e-01 8.27709975e-04 4.79602933e+01] [ 9.92319423e-01 -1.23495782e-01 -7.13828339e-03 3.00763499e+02] [ 7.18585920e-03 -6.01755074e-05 9.99974180e-01 7.01089686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4027550960001 meters 0.01700027460771453 Centerline is valid? [True, True] Translation: X:47.96, Y:300.79, Z:7.01 [[-1.22652453e-01 -9.92449358e-01 8.04378564e-04 4.79563256e+01] [ 9.92425280e-01 -1.22655080e-01 -6.91335906e-03 3.00788149e+02] [ 6.95981988e-03 -4.96548232e-05 9.99975779e-01 7.01136084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.43275509600005 meters 0.016731986594907006 Centerline is valid? [True, True] Translation: X:47.95, Y:300.81, Z:7.01 [[-1.21164774e-01 -9.92632040e-01 8.55031033e-04 4.79511070e+01] [ 9.92605037e-01 -1.21167784e-01 -7.32183004e-03 3.00813674e+02] [ 7.37148530e-03 -3.84397691e-05 9.99972830e-01 7.01135259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4627550960001 meters 0.01672373903389533 Centerline is valid? [True, True] Translation: X:47.95, Y:300.84, Z:7.01 [[-1.20699700e-01 -9.92688683e-01 8.72007822e-04 4.79467272e+01] [ 9.92660784e-01 -1.20702846e-01 -7.44250604e-03 3.00840093e+02] [ 7.49334535e-03 -3.27002797e-05 9.99971924e-01 7.01171800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.49275509600005 meters 0.016647992050101795 Centerline is valid? [True, True] Translation: X:47.94, Y:300.87, Z:7.01 [[-1.20472601e-01 -9.92716299e-01 8.37770728e-04 4.79423865e+01] [ 9.92690710e-01 -1.20475511e-01 -7.12784943e-03 3.00865549e+02] [ 7.17686317e-03 -2.70633410e-05 9.99974246e-01 7.01218707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5227550960001 meters 0.016607064807422328 Centerline is valid? [True, True] Translation: X:47.94, Y:300.89, Z:7.01 [[-1.19977661e-01 -9.92776167e-01 9.18311152e-04 4.79369103e+01] [ 9.92745648e-01 -1.19981174e-01 -7.78442996e-03 3.00890259e+02] [ 7.83837658e-03 -2.23083017e-05 9.99969279e-01 7.01196657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.55275509600006 meters 0.016575309227091266 Centerline is valid? [True, True] Translation: X:47.93, Y:300.92, Z:7.01 [[-1.20609131e-01 -9.92699624e-01 9.45542740e-04 4.79325575e+01] [ 9.92667484e-01 -1.20612835e-01 -7.98819351e-03 3.00916120e+02] [ 8.04392129e-03 -2.48395456e-05 9.99967647e-01 7.01206304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5827550960001 meters 0.016625724865196874 Centerline is valid? [True, True] Translation: X:47.93, Y:300.94, Z:7.01 [[-1.21501629e-01 -9.92590745e-01 9.83830408e-04 4.79289693e+01] [ 9.92556180e-01 -1.21505608e-01 -8.28350550e-03 3.00941457e+02] [ 8.34167180e-03 -2.99524569e-05 9.99965207e-01 7.01206255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.61275509600006 meters 0.016786184642018035 Centerline is valid? [True, True] Translation: X:47.93, Y:300.97, Z:7.01 [[-1.23382014e-01 -9.92358778e-01 9.66188400e-04 4.79256810e+01] [ 9.92325656e-01 -1.23385790e-01 -8.10792137e-03 3.00968148e+02] [ 8.16518086e-03 -4.15981301e-05 9.99966664e-01 7.01217086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6427550960001 meters 0.017057805487277426 Centerline is valid? [True, True] Translation: X:47.92, Y:300.99, Z:7.01 [[-1.24917434e-01 -9.92166661e-01 9.75445910e-04 4.79243822e+01] [ 9.92133123e-01 -1.24921232e-01 -8.15791253e-03 3.00993622e+02] [ 8.21586274e-03 -5.12933065e-05 9.99966248e-01 7.01221143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.67275509600006 meters 0.017544904555866807 Centerline is valid? [True, True] Translation: X:47.92, Y:301.02, Z:7.01 [[-1.28739107e-01 -9.91678039e-01 9.53594524e-04 4.79228366e+01] [ 9.91646186e-01 -1.28742615e-01 -7.94859216e-03 3.01020848e+02] [ 8.00521254e-03 -7.76662822e-05 9.99967955e-01 7.01290807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7027550960001 meters 0.017911605581987594 Centerline is valid? [True, True] Translation: X:47.92, Y:301.05, Z:7.01 [[-1.30750332e-01 -9.91414852e-01 9.71081489e-04 4.79210097e+01] [ 9.91382013e-01 -1.30753905e-01 -8.06970496e-03 3.01047171e+02] [ 8.12739804e-03 -9.24038766e-05 9.99966968e-01 7.01288192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.73275509600006 meters 0.01933797598004619 Centerline is valid? [True, True] Translation: X:47.92, Y:301.07, Z:7.01 [[-1.34869612e-01 -9.90862789e-01 1.05928913e-03 4.79201063e+01] [ 9.90823965e-01 -1.34873706e-01 -8.77237049e-03 3.01073171e+02] [ 8.83508573e-03 -1.33557143e-04 9.99960961e-01 7.01230167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7627550960001 meters 0.019896973863794264 Centerline is valid? [True, True] Translation: X:47.92, Y:301.10, Z:7.01 [[-1.36765444e-01 -9.90602884e-01 1.06755126e-03 4.79171753e+01] [ 9.90563682e-01 -1.36769531e-01 -8.81408096e-03 3.01100139e+02] [ 8.87726251e-03 -1.47984194e-04 9.99960585e-01 7.01197988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.79275509600006 meters 0.020651661554136447 Centerline is valid? [True, True] Translation: X:47.91, Y:301.13, Z:7.01 [[-1.38701841e-01 -9.90333499e-01 1.16626426e-03 4.79144578e+01] [ 9.90286980e-01 -1.38706632e-01 -9.60035422e-03 3.01126977e+02] [ 9.66932098e-03 -1.76650492e-04 9.99953235e-01 7.01182850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.82275509600004 meters 0.021795253622959105 Centerline is valid? [True, True] Translation: X:47.91, Y:301.15, Z:7.01 [[-1.41310334e-01 -9.89964646e-01 1.17846223e-03 4.79129476e+01] [ 9.89917413e-01 -1.41315106e-01 -9.67249874e-03 3.01152118e+02] [ 9.74196631e-03 -2.00243753e-04 9.99952526e-01 7.01208720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.85275509600007 meters 0.02193702989717284 Centerline is valid? [True, True] Translation: X:47.91, Y:301.18, Z:7.01 [[-1.42391291e-01 -9.89809771e-01 1.15617215e-03 4.79096555e+01] [ 9.89764585e-01 -1.42395841e-01 -9.45991762e-03 3.01178053e+02] [ 9.52815300e-03 -2.02671636e-04 9.99954586e-01 7.01263910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.88275509600004 meters 0.021687450257777033 Centerline is valid? [True, True] Translation: X:47.91, Y:301.20, Z:7.01 [[-1.43687099e-01 -9.89622630e-01 1.03370188e-03 4.79055671e+01] [ 9.89586707e-01 -1.43690693e-01 -8.43405420e-03 3.01204231e+02] [ 8.49506423e-03 -1.88927145e-04 9.99963898e-01 7.01406933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.91275509600007 meters 0.02195655835739679 Centerline is valid? [True, True] Translation: X:47.90, Y:301.23, Z:7.01 [[-1.44540636e-01 -9.89498364e-01 9.95912239e-04 4.79023627e+01] [ 9.89465220e-01 -1.44543948e-01 -8.10092953e-03 3.01230174e+02] [ 8.15980961e-03 -1.85492981e-04 9.99966691e-01 7.01484303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.94275509600004 meters 0.02226815887059972 Centerline is valid? [True, True] Translation: X:47.90, Y:301.26, Z:7.02 [[-1.45100989e-01 -9.89416409e-01 9.34029290e-04 4.78993525e+01] [ 9.89387423e-01 -1.45103889e-01 -7.57548881e-03 3.01255183e+02] [ 7.63084422e-03 -1.75094082e-04 9.99970869e-01 7.01553078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.97275509600007 meters 0.02226815887059972 Centerline is valid? [True, True] Translation: X:47.90, Y:301.28, Z:7.02 [[-1.45474033e-01 -9.89361627e-01 9.36364084e-04 4.78959135e+01] [ 9.89332642e-01 -1.45476941e-01 -7.57520024e-03 3.01280890e+02] [ 7.63083181e-03 -1.75619379e-04 9.99970869e-01 7.01571326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.00275509600004 meters 0.02264235496531493 Centerline is valid? [True, True] Translation: X:47.89, Y:301.31, Z:7.02 [[-1.45934954e-01 -9.89293749e-01 9.31600088e-04 4.78927829e+01] [ 9.89265232e-01 -1.45937823e-01 -7.51349999e-03 3.01306367e+02] [ 7.56901426e-03 -1.74882701e-04 9.99971339e-01 7.01595747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0327550960001 meters 0.022701932971771727 Centerline is valid? [True, True] Translation: X:47.89, Y:301.33, Z:7.02 [[-1.46110558e-01 -9.89267814e-01 9.46917583e-04 4.78887838e+01] [ 9.89238541e-01 -1.46113521e-01 -7.61237355e-03 3.01332324e+02] [ 7.66903361e-03 -1.75520776e-04 9.99970577e-01 7.01619191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.06275509600005 meters 0.022423395916627165 Centerline is valid? [True, True] Translation: X:47.88, Y:301.36, Z:7.02 [[-1.45515652e-01 -9.89355404e-01 1.03915542e-03 4.78839061e+01] [ 9.89320380e-01 -1.45519246e-01 -8.32675492e-03 3.01358614e+02] [ 8.38933709e-03 -1.83615532e-04 9.99964792e-01 7.01546851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0927550960001 meters 0.022313653523235992 Centerline is valid? [True, True] Translation: X:47.88, Y:301.38, Z:7.02 [[-1.45557631e-01 -9.89349183e-01 1.08151097e-03 4.78798808e+01] [ 9.89311478e-01 -1.45561528e-01 -8.63952545e-03 3.01384462e+02] [ 8.70493384e-03 -1.87597639e-04 9.99962094e-01 7.01522888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.12275509600005 meters 0.02250414988181146 Centerline is valid? [True, True] Translation: X:47.88, Y:301.41, Z:7.02 [[-1.45715053e-01 -9.89325940e-01 1.14333144e-03 4.78763348e+01] [ 9.89284048e-01 -1.45719407e-01 -9.10644018e-03 3.01409297e+02] [ 9.17584308e-03 -1.95865863e-04 9.99957882e-01 7.01500827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1527550960001 meters 0.0226131726483479 Centerline is valid? [True, True] Translation: X:47.87, Y:301.43, Z:7.01 [[-1.46099905e-01 -9.89269103e-01 1.20852577e-03 4.78726943e+01] [ 9.89222536e-01 -1.46104757e-01 -9.60072648e-03 3.01434973e+02] [ 9.67427344e-03 -2.07164304e-04 9.99953182e-01 7.01450666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.18275509600005 meters 0.022946300407123237 Centerline is valid? [True, True] Translation: X:47.87, Y:301.46, Z:7.01 [[-1.46734810e-01 -9.89175147e-01 1.19358263e-03 4.78694016e+01] [ 9.89129992e-01 -1.46739519e-01 -9.45372390e-03 3.01459321e+02] [ 9.52653447e-03 -2.06582004e-04 9.99954600e-01 7.01465161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2127550960001 meters 0.022149898862597172 Centerline is valid? [True, True] Translation: X:47.86, Y:301.49, Z:7.02 [[-1.46902685e-01 -9.89150278e-01 1.15284268e-03 4.78641611e+01] [ 9.89108415e-01 -1.46907076e-01 -9.10241012e-03 3.01485601e+02] [ 9.17301225e-03 -1.96882090e-04 9.99957908e-01 7.01567692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.24275509600005 meters 0.020901384163496142 Centerline is valid? [True, True] Translation: X:47.86, Y:301.51, Z:7.02 [[-1.47097150e-01 -9.89121381e-01 1.15010596e-03 4.78583083e+01] [ 9.89079963e-01 -1.47101518e-01 -9.05376255e-03 3.01511645e+02] [ 9.12445245e-03 -1.94235909e-04 9.99958352e-01 7.01647105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2727550960001 meters 0.021942244117888147 Centerline is valid? [True, True] Translation: X:47.86, Y:301.54, Z:7.02 [[-1.47068611e-01 -9.89125630e-01 1.14559300e-03 4.78566743e+01] [ 9.89084789e-01 -1.47072951e-01 -8.99035685e-03 3.01537579e+02] [ 9.06107813e-03 -1.89110676e-04 9.99958930e-01 7.01695390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.30275509600006 meters 0.020542820513138042 Centerline is valid? [True, True] Translation: X:47.85, Y:301.56, Z:7.02 [[-1.46199721e-01 -9.89254408e-01 1.16517166e-03 4.78496504e+01] [ 9.89212425e-01 -1.46204253e-01 -9.11563428e-03 3.01563006e+02] [ 9.18803445e-03 -1.80100907e-04 9.99957773e-01 7.01765725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3327550960001 meters 0.021444427142056396 Centerline is valid? [True, True] Translation: X:47.85, Y:301.59, Z:7.02 [[-1.45882003e-01 -9.89301223e-01 1.23731216e-03 4.78470550e+01] [ 9.89254164e-01 -1.45887134e-01 -9.65102177e-03 3.01587852e+02] [ 9.72827557e-03 -1.83894177e-04 9.99952662e-01 7.01721259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.36275509600006 meters 0.020217313266535697 Centerline is valid? [True, True] Translation: X:47.84, Y:301.61, Z:7.02 [[-1.45246193e-01 -9.89394729e-01 1.27065068e-03 4.78402208e+01] [ 9.89345362e-01 -1.45251641e-01 -9.88511889e-03 3.01613941e+02] [ 9.96484862e-03 -1.78663532e-04 9.99950334e-01 7.01725959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3927550960001 meters 0.019421410899259892 Centerline is valid? [True, True] Translation: X:47.83, Y:301.64, Z:7.02 [[-1.43180592e-01 -9.89695535e-01 1.43740649e-03 4.78344372e+01] [ 9.89632772e-01 -1.43187701e-01 -1.11471601e-02 3.01639945e+02] [ 1.12381135e-02 -1.73552404e-04 9.99936835e-01 7.01641775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.42275509600006 meters 0.019043426732389495 Centerline is valid? [True, True] Translation: X:47.83, Y:301.67, Z:7.02 [[-1.42433716e-01 -9.89803124e-01 1.55321027e-03 4.78301799e+01] [ 9.89730282e-01 -1.42442079e-01 -1.20092810e-02 3.01665692e+02] [ 1.21080663e-02 -1.73267273e-04 9.99926680e-01 7.01624572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.4527550960001 meters 0.01866354637905191 Centerline is valid? [True, True] Translation: X:47.83, Y:301.69, Z:7.02 [[-1.41361793e-01 -9.89956652e-01 1.63411675e-03 4.78268692e+01] [ 9.89876527e-01 -1.41371144e-01 -1.25960637e-02 3.01691015e+02] [ 1.27005740e-02 -1.63028329e-04 9.99919331e-01 7.01597567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.48275509600006 meters 0.018610810808880985 Centerline is valid? [True, True] Translation: X:47.82, Y:301.72, Z:7.02 [[-1.41044630e-01 -9.90001779e-01 1.69995889e-03 4.78238023e+01] [ 9.89915604e-01 -1.41054784e-01 -1.30631460e-02 3.01716441e+02] [ 1.31723251e-02 -1.59670756e-04 9.99913228e-01 7.01590374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5127550960001 meters 0.01837055430127243 Centerline is valid? [True, True] Translation: X:47.82, Y:301.74, Z:7.02 [[-1.41174158e-01 -9.89983238e-01 1.74535243e-03 4.78202497e+01] [ 9.89892936e-01 -1.41184856e-01 -1.33720901e-02 3.01742896e+02] [ 1.34845623e-02 -1.60081516e-04 9.99909066e-01 7.01616685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.54275509600006 meters 0.018412505343217377 Centerline is valid? [True, True] Translation: X:47.82, Y:301.77, Z:7.02 [[-1.41356573e-01 -9.89957052e-01 1.83158836e-03 4.78181515e+01] [ 9.89858197e-01 -1.41368342e-01 -1.39908032e-02 3.01768728e+02] [ 1.41092229e-02 -1.64679234e-04 9.99900446e-01 7.01587850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5727550960001 meters 0.01806894554329247 Centerline is valid? [True, True] Translation: X:47.81, Y:301.79, Z:7.02 [[-1.41692251e-01 -9.89909020e-01 1.85409744e-03 4.78143191e+01] [ 9.89808317e-01 -1.41704284e-01 -1.41206019e-02 3.01794907e+02] [ 1.42408448e-02 -1.65578805e-04 9.99898580e-01 7.01656057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.60275509600007 meters 0.017851094693969234 Centerline is valid? [True, True] Translation: X:47.81, Y:301.82, Z:7.02 [[-1.41780597e-01 -9.89896185e-01 1.95086961e-03 4.78105437e+01] [ 9.89785367e-01 -1.41793917e-01 -1.48125740e-02 3.01821282e+02] [ 1.49395319e-02 -1.69193388e-04 9.99888385e-01 7.01672146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.63275509600004 meters 0.017634098762163555 Centerline is valid? [True, True] Translation: X:47.80, Y:301.85, Z:7.02 [[-1.39641415e-01 -9.90200395e-01 1.85840151e-03 4.78036421e+01] [ 9.90100454e-01 -1.39653725e-01 -1.40686756e-02 3.01845659e+02] [ 1.41903408e-02 -1.24565589e-04 9.99899304e-01 7.01698520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.66275509600007 meters 0.01708619516378926 Centerline is valid? [True, True] Translation: X:47.80, Y:301.87, Z:7.02 [[-1.38695389e-01 -9.90333465e-01 1.79347716e-03 4.77975061e+01] [ 9.90240942e-01 -1.38706947e-01 -1.35373193e-02 3.01871371e+02] [ 1.36552280e-02 -1.01589244e-04 9.99906758e-01 7.01856078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.69275509600004 meters 0.01669332950443453 Centerline is valid? [True, True] Translation: X:47.79, Y:301.90, Z:7.02 [[-1.37868858e-01 -9.90448967e-01 1.73818442e-03 4.77918632e+01] [ 9.90362575e-01 -1.37879791e-01 -1.30818016e-02 3.01897663e+02] [ 1.31965174e-02 -8.21402615e-05 9.99912919e-01 7.02040435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.72275509600007 meters 0.016673413171070323 Centerline is valid? [True, True] Translation: X:47.79, Y:301.92, Z:7.02 [[-1.38374924e-01 -9.90378339e-01 1.76797321e-03 4.77885701e+01] [ 9.90289510e-01 -1.38386192e-01 -1.32645572e-02 3.01922455e+02] [ 1.33815932e-02 -8.46767741e-05 9.99910459e-01 7.02042324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.75275509600004 meters 0.01676004381559165 Centerline is valid? [True, True] Translation: X:47.79, Y:301.95, Z:7.02 [[-1.39463492e-01 -9.90225625e-01 1.77374014e-03 4.77857063e+01] [ 9.90136751e-01 -1.39474740e-01 -1.32669403e-02 3.01948599e+02] [ 1.33846562e-02 -9.40085306e-05 9.99910417e-01 7.02070573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.7827550960001 meters 0.017219417000588298 Centerline is valid? [True, True] Translation: X:47.78, Y:301.97, Z:7.02 [[-1.42102553e-01 -9.89850383e-01 1.75629604e-03 4.77846471e+01] [ 9.89763743e-01 -1.42113352e-01 -1.30968803e-02 3.01973976e+02] [ 1.32135451e-02 -1.22781980e-04 9.99912690e-01 7.02135413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.81275509600005 meters 0.017612496658440675 Centerline is valid? [True, True] Translation: X:47.78, Y:302.00, Z:7.02 [[-1.44021086e-01 -9.89573060e-01 1.75692872e-03 4.77818664e+01] [ 9.89486809e-01 -1.44031731e-01 -1.30657983e-02 3.01998827e+02] [ 1.31826155e-02 -1.43292668e-04 9.99913095e-01 7.02116544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8427550960001 meters 0.018068774960045917 Centerline is valid? [True, True] Translation: X:47.78, Y:302.03, Z:7.02 [[-1.46133132e-01 -9.89263342e-01 1.77443926e-03 4.77783064e+01] [ 9.89175773e-01 -1.46143808e-01 -1.31634713e-02 3.02025385e+02] [ 1.32814630e-02 -1.68386975e-04 9.99911783e-01 7.02111504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.87275509600005 meters 0.019264251447714077 Centerline is valid? [True, True] Translation: X:47.78, Y:302.05, Z:7.02 [[-1.49840205e-01 -9.88708710e-01 1.73219882e-03 4.77761264e+01] [ 9.88625659e-01 -1.49850072e-01 -1.28164862e-02 3.02051769e+02] [ 1.29313416e-02 -2.07928708e-04 9.99916365e-01 7.02167207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9027550960001 meters 0.02002778253928496 Centerline is valid? [True, True] Translation: X:47.77, Y:302.08, Z:7.02 [[-1.51621833e-01 -9.88437056e-01 1.73385355e-03 4.77733642e+01] [ 9.88354276e-01 -1.51631577e-01 -1.27941446e-02 3.02077790e+02] [ 1.29091135e-02 -2.26210078e-04 9.99916648e-01 7.02231757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.93275509600005 meters 0.02068325523728857 Centerline is valid? [True, True] Translation: X:47.77, Y:302.10, Z:7.02 [[-1.53485526e-01 -9.88149389e-01 1.72573392e-03 4.77701355e+01] [ 9.88067787e-01 -1.53495033e-01 -1.27012768e-02 3.02104704e+02] [ 1.28156505e-02 -2.44320057e-04 9.99917846e-01 7.02306407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9627550960001 meters 0.02114007594303915 Centerline is valid? [True, True] Translation: X:47.77, Y:302.13, Z:7.02 [[-1.54351163e-01 -9.88014632e-01 1.67498967e-03 4.77671493e+01] [ 9.87938108e-01 -1.54360059e-01 -1.22990972e-02 3.02130368e+02] [ 1.24102395e-02 -2.43593827e-04 9.99922960e-01 7.02341372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.99275509600005 meters 0.02151197283560534 Centerline is valid? [True, True] Translation: X:47.76, Y:302.16, Z:7.02 [[-1.55274759e-01 -9.87869859e-01 1.70009199e-03 4.77639626e+01] [ 9.87791400e-01 -1.55283858e-01 -1.24528444e-02 3.02156840e+02] [ 1.25657865e-02 -2.54276172e-04 9.99921015e-01 7.02397110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0227550960001 meters 0.021861367479548574 Centerline is valid? [True, True] Translation: X:47.76, Y:302.18, Z:7.02 [[-1.56189782e-01 -9.87725565e-01 1.72070629e-03 4.77608550e+01] [ 9.87645620e-01 -1.56199038e-01 -1.25694205e-02 3.02182633e+02] [ 1.26839106e-02 -2.63767019e-04 9.99919521e-01 7.02409402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.05275509600006 meters 0.022379381583828302 Centerline is valid? [True, True] Translation: X:47.76, Y:302.21, Z:7.02 [[-1.57391850e-01 -9.87534679e-01 1.75037175e-03 4.77570622e+01] [ 9.87452389e-01 -1.57401336e-01 -1.27514095e-02 3.02208460e+02] [ 1.28679699e-02 -2.78559157e-04 9.99917165e-01 7.02410623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0827550960001 meters 0.02097022949214838 Centerline is valid? [True, True] Translation: X:47.75, Y:302.23, Z:7.02 [[-1.58149040e-01 -9.87413599e-01 1.80697727e-03 4.77500792e+01] [ 9.87326385e-01 -1.58159093e-01 -1.31266945e-02 3.02234156e+02] [ 1.32472666e-02 -2.91897802e-04 9.99912209e-01 7.02496450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.11275509600006 meters 0.023626344621018248 Centerline is valid? [True, True] Translation: X:47.75, Y:302.26, Z:7.02 [[-1.59285861e-01 -9.87230849e-01 1.80695614e-03 4.77499372e+01] [ 9.87144111e-01 -1.59295825e-01 -1.30898724e-02 3.02260514e+02] [ 1.32105665e-02 -3.01305495e-04 9.99912691e-01 7.02457706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1427550960001 meters 0.023951194977692245 Centerline is valid? [True, True] Translation: X:47.75, Y:302.29, Z:7.03 [[-1.60257561e-01 -9.87073621e-01 1.78340219e-03 4.77464442e+01] [ 9.86989582e-01 -1.60267194e-01 -1.28837553e-02 3.02285696e+02] [ 1.30030359e-02 -3.04519816e-04 9.99915411e-01 7.02500196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.17275509600006 meters 0.021635387419441664 Centerline is valid? [True, True] Translation: X:47.74, Y:302.31, Z:7.03 [[-1.61038531e-01 -9.86946412e-01 1.83595039e-03 4.77387651e+01] [ 9.86857852e-01 -1.61048683e-01 -1.32250335e-02 3.02311169e+02] [ 1.33480767e-02 -3.17917903e-04 9.99910860e-01 7.02668391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2027550960001 meters 0.023565042063787043 Centerline is valid? [True, True] Translation: X:47.74, Y:302.34, Z:7.03 [[-1.62143890e-01 -9.86765528e-01 1.77513937e-03 4.77388281e+01] [ 9.86683196e-01 -1.62153299e-01 -1.27506357e-02 3.02336639e+02] [ 1.28697325e-02 -3.15937483e-04 9.99917132e-01 7.02718127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.23275509600006 meters 0.022002985503764602 Centerline is valid? [True, True] Translation: X:47.73, Y:302.36, Z:7.03 [[-1.62784766e-01 -9.86659987e-01 1.78622999e-03 4.77325118e+01] [ 9.86577098e-01 -1.62794251e-01 -1.27929989e-02 3.02362838e+02] [ 1.29131281e-02 -3.20251720e-04 9.99916571e-01 7.02863256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2627550960001 meters 0.023152770355200192 Centerline is valid? [True, True] Translation: X:47.73, Y:302.39, Z:7.03 [[-1.63664302e-01 -9.86514639e-01 1.69210312e-03 4.77305428e+01] [ 9.86440663e-01 -1.63672757e-01 -1.20850145e-02 3.02387783e+02] [ 1.21989949e-02 -3.08726133e-04 9.99925542e-01 7.02895374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.29275509600006 meters 0.022725393445732836 Centerline is valid? [True, True] Translation: X:47.73, Y:302.41, Z:7.03 [[-1.64338027e-01 -9.86402855e-01 1.55565738e-03 4.77255258e+01] [ 9.86340663e-01 -1.64345140e-01 -1.10802541e-02 3.02413951e+02] [ 1.11852590e-02 -2.86498970e-04 9.99937402e-01 7.03043655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3227550960001 meters 0.023672578933848307 Centerline is valid? [True, True] Translation: X:47.72, Y:302.44, Z:7.03 [[-1.64563128e-01 -9.86365381e-01 1.52085386e-03 4.77228473e+01] [ 9.86306264e-01 -1.64569921e-01 -1.08025124e-02 3.02439356e+02] [ 1.09055110e-02 -2.77667538e-04 9.99940495e-01 7.03083139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.35275509600007 meters 0.021687138230612676 Centerline is valid? [True, True] Translation: X:47.71, Y:302.46, Z:7.03 [[-1.64567783e-01 -9.86364735e-01 1.43336093e-03 4.77143215e+01] [ 9.86312511e-01 -1.64573824e-01 -1.01531645e-02 3.02464641e+02] [ 1.02506171e-02 -2.57141944e-04 9.99947428e-01 7.03171135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.38275509600004 meters 0.021746986851515184 Centerline is valid? [True, True] Translation: X:47.71, Y:302.49, Z:7.03 [[-1.64505175e-01 -9.86375293e-01 1.35231450e-03 4.77100198e+01] [ 9.86329062e-01 -1.64510562e-01 -9.55284841e-03 3.02489400e+02] [ 9.64516367e-03 -2.37665905e-04 9.99953456e-01 7.03187367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.41275509600007 meters 0.023381447374139303 Centerline is valid? [True, True] Translation: X:47.71, Y:302.51, Z:7.03 [[-1.64246618e-01 -9.86418389e-01 1.34533498e-03 4.77088004e+01] [ 9.86372884e-01 -1.64251967e-01 -9.47760548e-03 3.02514855e+02] [ 9.56985825e-03 -2.29662704e-04 9.99954182e-01 7.03179508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.44275509600004 meters 0.02073351944614731 Centerline is valid? [True, True] Translation: X:47.70, Y:302.54, Z:7.03 [[-1.63061321e-01 -9.86615114e-01 1.27378328e-03 4.76996428e+01] [ 9.86574506e-01 -1.63066169e-01 -8.95366534e-03 3.02540724e+02] [ 9.04153251e-03 -2.03314383e-04 9.99959104e-01 7.03295701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.47275509600007 meters 0.020543809051156037 Centerline is valid? [True, True] Translation: X:47.69, Y:302.57, Z:7.03 [[-1.62667473e-01 -9.86680134e-01 1.26716867e-03 4.76947485e+01] [ 9.86640162e-01 -1.62672292e-01 -8.88345943e-03 3.02566293e+02] [ 8.97126618e-03 -1.94810397e-04 9.99959738e-01 7.03299114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.50275509600004 meters 0.020586616983416663 Centerline is valid? [True, True] Translation: X:47.69, Y:302.59, Z:7.03 [[-1.61888326e-01 -9.86808207e-01 1.31633181e-03 4.76906102e+01] [ 9.86765323e-01 -1.61893566e-01 -9.20166558e-03 3.02591164e+02] [ 9.29338476e-03 -1.90731655e-04 9.99956797e-01 7.03348473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5327550960001 meters 0.019299719609433375 Centerline is valid? [True, True] Translation: X:47.68, Y:302.62, Z:7.03 [[-1.59987536e-01 -9.87118233e-01 1.25807077e-03 4.76834266e+01] [ 9.87079280e-01 -1.59992401e-01 -8.77082442e-03 3.02617852e+02] [ 8.85912246e-03 -1.61407003e-04 9.99960744e-01 7.03402118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.56275509600005 meters 0.01888799129285258 Centerline is valid? [True, True] Translation: X:47.68, Y:302.64, Z:7.03 [[-1.59135515e-01 -9.87255922e-01 1.27746658e-03 4.76786259e+01] [ 9.87215968e-01 -1.59140570e-01 -8.88321486e-03 3.02642892e+02] [ 8.97330324e-03 -1.52499568e-04 9.99959728e-01 7.03426531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5927550960001 meters 0.018405387896532732 Centerline is valid? [True, True] Translation: X:47.67, Y:302.67, Z:7.03 [[-1.57320258e-01 -9.87546876e-01 1.22609809e-03 4.76721183e+01] [ 9.87510275e-01 -1.57324985e-01 -8.50333066e-03 3.02668962e+02] [ 8.59033349e-03 -1.26961720e-04 9.99963094e-01 7.03382704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.62275509600005 meters 0.017701621715216803 Centerline is valid? [True, True] Translation: X:47.67, Y:302.70, Z:7.03 [[-1.56493728e-01 -9.87678178e-01 1.23654944e-03 4.76659541e+01] [ 9.87641136e-01 -1.56498569e-01 -8.55484326e-03 3.02695278e+02] [ 8.64295022e-03 -1.17512221e-04 9.99962642e-01 7.03425270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6527550960001 meters 0.017496107317028588 Centerline is valid? [True, True] Translation: X:47.66, Y:302.72, Z:7.03 [[-1.56196141e-01 -9.87725303e-01 1.22133923e-03 4.76612818e+01] [ 9.87689352e-01 -1.56200877e-01 -8.42795937e-03 3.02721074e+02] [ 8.51528298e-03 -1.10110970e-04 9.99963738e-01 7.03406227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.68275509600005 meters 0.01749955074329215 Centerline is valid? [True, True] Translation: X:47.66, Y:302.75, Z:7.03 [[-1.56340146e-01 -9.87702568e-01 1.18149575e-03 4.76577117e+01] [ 9.87669099e-01 -1.56344575e-01 -8.13167768e-03 3.02745779e+02] [ 8.21639938e-03 -1.04380826e-04 9.99966239e-01 7.03370925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7127550960001 meters 0.017792579721033413 Centerline is valid? [True, True] Translation: X:47.65, Y:302.77, Z:7.03 [[-1.57340144e-01 -9.87543691e-01 1.24001271e-03 4.76548078e+01] [ 9.87507030e-01 -1.57344988e-01 -8.50999794e-03 3.02771828e+02] [ 8.59910456e-03 -1.14443033e-04 9.99963021e-01 7.03336939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.74275509600005 meters 0.018153036142575456 Centerline is valid? [True, True] Translation: X:47.65, Y:302.80, Z:7.03 [[-1.58741526e-01 -9.87319443e-01 1.20270302e-03 4.76525086e+01] [ 9.87285123e-01 -1.58746037e-01 -8.23292823e-03 3.02798323e+02] [ 8.31945445e-03 -1.19496786e-04 9.99965386e-01 7.03345432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7727550960001 meters 0.018559018372117597 Centerline is valid? [True, True] Translation: X:47.65, Y:302.83, Z:7.03 [[-1.61975387e-01 -9.86794125e-01 1.15312440e-03 4.76507040e+01] [ 9.86762720e-01 -1.61979433e-01 -7.87388415e-03 3.02825788e+02] [ 7.95668505e-03 -1.37515260e-04 9.99968336e-01 7.03339036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.80275509600006 meters 0.019236481764658617 Centerline is valid? [True, True] Translation: X:47.65, Y:302.85, Z:7.03 [[-1.64092988e-01 -9.86444211e-01 1.14437192e-03 4.76485934e+01] [ 9.86413424e-01 -1.64096909e-01 -7.79497770e-03 3.02852603e+02] [ 7.87709852e-03 -1.50277358e-04 9.99968964e-01 7.03340429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8327550960001 meters 0.020253641883126977 Centerline is valid? [True, True] Translation: X:47.65, Y:302.88, Z:7.03 [[-1.67170185e-01 -9.85927405e-01 1.13193736e-03 4.76477975e+01] [ 9.85897416e-01 -1.67173931e-01 -7.69163695e-03 3.02879646e+02] [ 7.77262608e-03 -1.69838257e-04 9.99969778e-01 7.03290833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.86275509600006 meters 0.021060286599843988 Centerline is valid? [True, True] Translation: X:47.65, Y:302.91, Z:7.03 [[-1.68736023e-01 -9.85660667e-01 1.09702000e-03 4.76458827e+01] [ 9.85632628e-01 -1.68739500e-01 -7.43670830e-03 3.02905708e+02] [ 7.51518148e-03 -1.73581873e-04 9.99971746e-01 7.03276057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8927550960001 meters 0.021060286599843988 Centerline is valid? [True, True] Translation: X:47.64, Y:302.93, Z:7.03 [[-1.69116299e-01 -9.85595489e-01 1.09976602e-03 4.76418401e+01] [ 9.85567451e-01 -1.69119786e-01 -7.43630222e-03 3.02931324e+02] [ 7.51517812e-03 -1.73706320e-04 9.99971746e-01 7.03294292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.92275509600006 meters 0.021316744122983566 Centerline is valid? [True, True] Translation: X:47.64, Y:302.96, Z:7.03 [[-1.70317366e-01 -9.85388651e-01 1.09642406e-03 4.76389459e+01] [ 9.85360925e-01 -1.70320801e-01 -7.39409058e-03 3.02957480e+02] [ 7.47279677e-03 -1.78968607e-04 9.99972062e-01 7.03313084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.9527550960001 meters 0.022484885016955166 Centerline is valid? [True, True] Translation: X:47.64, Y:302.98, Z:7.03 [[-1.70971501e-01 -9.85275407e-01 1.05773514e-03 4.76376380e+01] [ 9.85249733e-01 -1.70974684e-01 -7.11485232e-03 3.02982781e+02] [ 7.19093494e-03 -1.74303717e-04 9.99974130e-01 7.03335349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.98275509600006 meters 0.020496307813780895 Centerline is valid? [True, True] Translation: X:47.63, Y:303.01, Z:7.03 [[-1.70454667e-01 -9.85364962e-01 1.04840904e-03 4.76307099e+01] [ 9.85339878e-01 -1.70457810e-01 -7.03282287e-03 3.03008190e+02] [ 7.10860674e-03 -1.65738239e-04 9.99974720e-01 7.03313538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0127550960001 meters 0.02055937348062348 Centerline is valid? [True, True] Translation: X:47.63, Y:303.03, Z:7.03 [[-1.70049086e-01 -9.85434993e-01 1.08807735e-03 4.76269908e+01] [ 9.85408127e-01 -1.70052486e-01 -7.27834155e-03 3.03033407e+02] [ 7.35736271e-03 -1.65475058e-04 9.99972921e-01 7.03229518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.04275509600006 meters 0.019482702443359364 Centerline is valid? [True, True] Translation: X:47.62, Y:303.06, Z:7.03 [[-1.67586632e-01 -9.85856588e-01 1.22798521e-03 4.76218793e+01] [ 9.85822590e-01 -1.67591053e-01 -8.18900264e-03 3.03059988e+02] [ 8.27898154e-03 -1.61791807e-04 9.99965716e-01 7.03078849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0727550960001 meters 0.018586382462204357 Centerline is valid? [True, True] Translation: X:47.62, Y:303.09, Z:7.03 [[-1.66366168e-01 -9.86063167e-01 1.31522658e-03 4.76164172e+01] [ 9.86024369e-01 -1.66371291e-01 -8.74851576e-03 3.03086906e+02] [ 8.84540510e-03 -1.58611588e-04 9.99960866e-01 7.03045400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.10275509600007 meters 0.01832724093957178 Centerline is valid? [True, True] Translation: X:47.61, Y:303.11, Z:7.03 [[-1.65192581e-01 -9.86260363e-01 1.38095184e-03 4.76123754e+01] [ 9.86217823e-01 -1.65198283e-01 -9.16151459e-03 3.03112221e+02] [ 9.26376958e-03 -1.51494925e-04 9.99957079e-01 7.02986784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.13275509600004 meters 0.017730015195588568 Centerline is valid? [True, True] Translation: X:47.61, Y:303.14, Z:7.03 [[-1.62860723e-01 -9.86647839e-01 1.55770474e-03 4.76085148e+01] [ 9.86594035e-01 -1.62868111e-01 -1.03048034e-02 3.03137025e+02] [ 1.04209124e-02 -1.41425517e-04 9.99945691e-01 7.02863822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.16275509600007 meters 0.01720514804638316 Centerline is valid? [True, True] Translation: X:47.60, Y:303.16, Z:7.03 [[-1.62144297e-01 -9.86765917e-01 1.50067332e-03 4.76039564e+01] [ 9.86716207e-01 -1.62151193e-01 -9.90545739e-03 3.03163489e+02] [ 1.00177037e-02 -1.25374743e-04 9.99949814e-01 7.02902345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.19275509600004 meters 0.01714500186215752 Centerline is valid? [True, True] Translation: X:47.60, Y:303.19, Z:7.03 [[-1.62008811e-01 -9.86787991e-01 1.61409707e-03 4.76005671e+01] [ 9.86730804e-01 -1.62016801e-01 -1.06243307e-02 3.03189438e+02] [ 1.07454728e-02 -1.28555885e-04 9.99942258e-01 7.02890849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.22275509600007 meters 0.017174786308679888 Centerline is valid? [True, True] Translation: X:47.60, Y:303.22, Z:7.03 [[-1.62343517e-01 -9.86733145e-01 1.51131732e-03 4.75990591e+01] [ 9.86683258e-01 -1.62350508e-01 -9.92274396e-03 3.03215855e+02] [ 1.00364635e-02 -1.19701657e-04 9.99949626e-01 7.02990256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.25275509600004 meters 0.017325632515442113 Centerline is valid? [True, True] Translation: X:47.60, Y:303.24, Z:7.03 [[-1.63166049e-01 -9.86597547e-01 1.45611253e-03 4.75965678e+01] [ 9.86551469e-01 -1.63172503e-01 -9.53592864e-03 3.03242344e+02] [ 9.64572133e-03 -1.19409851e-04 9.99953472e-01 7.03043750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.2827550960001 meters 0.017586862469973916 Centerline is valid? [True, True] Translation: X:47.59, Y:303.27, Z:7.03 [[-1.64493297e-01 -9.86377188e-01 1.41376518e-03 4.75944422e+01] [ 9.86333963e-01 -1.64499325e-01 -9.23498595e-03 3.03268534e+02] [ 9.34174289e-03 -1.24648673e-04 9.99956357e-01 7.03116414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.31275509600005 meters 0.018312609093584984 Centerline is valid? [True, True] Translation: X:47.60, Y:303.30, Z:7.03 [[-1.66827738e-01 -9.85985168e-01 1.32450759e-03 4.75951225e+01] [ 9.85947399e-01 -1.66832942e-01 -8.63105372e-03 3.03295990e+02] [ 8.73106245e-03 -1.34004354e-04 9.99961875e-01 7.03272264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3427550960001 meters 0.018313412293039982 Centerline is valid? [True, True] Translation: X:47.59, Y:303.32, Z:7.03 [[-1.67892161e-01 -9.85804501e-01 1.30694566e-03 4.75920596e+01] [ 9.85767894e-01 -1.67897191e-01 -8.49663975e-03 3.03322048e+02] [ 8.59545821e-03 -1.38174131e-04 9.99963049e-01 7.03312459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.37275509600005 meters 0.018523675368249514 Centerline is valid? [True, True] Translation: X:47.59, Y:303.35, Z:7.03 [[-1.68535080e-01 -9.85694866e-01 1.24836593e-03 4.75905864e+01] [ 9.85661633e-01 -1.68539650e-01 -8.09520714e-03 3.03347356e+02] [ 8.18980327e-03 -1.33859980e-04 9.99966454e-01 7.03352574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4027550960001 meters 0.018271376848497178 Centerline is valid? [True, True] Translation: X:47.59, Y:303.37, Z:7.03 [[-1.68741405e-01 -9.85659551e-01 1.26032105e-03 4.75863666e+01] [ 9.85625861e-01 -1.68746059e-01 -8.15043429e-03 3.03373640e+02] [ 8.24622761e-03 -1.33110717e-04 9.99965990e-01 7.03390532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.43275509600005 meters 0.018251854939715238 Centerline is valid? [True, True] Translation: X:47.58, Y:303.40, Z:7.03 [[-1.68492880e-01 -9.85702016e-01 1.29792732e-03 4.75826886e+01] [ 9.85666478e-01 -1.68497828e-01 -8.37113182e-03 3.03399274e+02] [ 8.47013945e-03 -1.31152662e-04 9.99964119e-01 7.03356141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4627550960001 meters 0.018497860514520216 Centerline is valid? [True, True] Translation: X:47.58, Y:303.42, Z:7.03 [[-1.68043952e-01 -9.85778569e-01 1.35774436e-03 4.75791610e+01] [ 9.85739888e-01 -1.68049387e-01 -8.73361015e-03 3.03424556e+02] [ 8.83757383e-03 -1.29247587e-04 9.99960940e-01 7.03346647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.49275509600005 meters 0.01726431582304508 Centerline is valid? [True, True] Translation: X:47.57, Y:303.45, Z:7.03 [[-1.65867567e-01 -9.86147041e-01 1.40136365e-03 4.75731866e+01] [ 9.86106030e-01 -1.65873450e-01 -8.99426440e-03 3.03450231e+02] [ 9.10211625e-03 -1.09963602e-04 9.99958569e-01 7.03369759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5227550960001 meters 0.017424728460017407 Centerline is valid? [True, True] Translation: X:47.57, Y:303.48, Z:7.03 [[-1.64871334e-01 -9.86314227e-01 1.29986812e-03 4.75701413e+01] [ 9.86279118e-01 -1.64876434e-01 -8.32240813e-03 3.03475746e+02] [ 8.42282716e-03 -9.00937546e-05 9.99964523e-01 7.03396673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.55275509600006 meters 0.016389654686005947 Centerline is valid? [True, True] Translation: X:47.56, Y:303.50, Z:7.04 [[-1.62022760e-01 -9.86786258e-01 1.22757486e-03 4.75614424e+01] [ 9.86755118e-01 -1.62027400e-01 -7.83954837e-03 3.03501535e+02] [ 7.93485936e-03 -5.88694826e-05 9.99968517e-01 7.03502277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5827550960001 meters 0.016465337452920472 Centerline is valid? [True, True] Translation: X:47.56, Y:303.53, Z:7.04 [[-1.61093190e-01 -9.86938509e-01 1.16752015e-03 4.75568439e+01] [ 9.86910485e-01 -1.61097414e-01 -7.43755899e-03 3.03526741e+02] [ 7.52849786e-03 -4.59022268e-05 9.99971659e-01 7.03501888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.61275509600006 meters 0.01619591496554701 Centerline is valid? [True, True] Translation: X:47.55, Y:303.55, Z:7.03 [[-1.60452407e-01 -9.87042822e-01 1.22178914e-03 4.75501802e+01] [ 9.87012306e-01 -1.60457054e-01 -7.76159653e-03 3.03551975e+02] [ 7.85707283e-03 -3.94459320e-05 9.99969132e-01 7.03493900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6427550960001 meters 0.016032409455272848 Centerline is valid? [True, True] Translation: X:47.54, Y:303.58, Z:7.03 [[-1.58824336e-01 -9.87305972e-01 1.32221210e-03 4.75428119e+01] [ 9.87270434e-01 -1.58829837e-01 -8.37690296e-03 3.03577579e+02] [ 8.48057305e-03 -2.50751360e-05 9.99964039e-01 7.03383024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.67275509600006 meters 0.01591055552333099 Centerline is valid? [True, True] Translation: X:47.54, Y:303.60, Z:7.03 [[-1.58773441e-01 -9.87314071e-01 1.38569371e-03 4.75376115e+01] [ 9.87275243e-01 -1.58779486e-01 -8.75607778e-03 3.03602595e+02] [ 8.86501854e-03 -2.21715071e-05 9.99960705e-01 7.03354278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7027550960001 meters 0.016009063311194848 Centerline is valid? [True, True] Translation: X:47.53, Y:303.63, Z:7.03 [[-1.58976652e-01 -9.87281360e-01 1.39289246e-03 4.75329366e+01] [ 9.87242331e-01 -1.58982753e-01 -8.77863988e-03 3.03628617e+02] [ 8.88843340e-03 -2.04763820e-05 9.99960497e-01 7.03355498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.73275509600006 meters 0.01599657653881482 Centerline is valid? [True, True] Translation: X:47.53, Y:303.65, Z:7.03 [[-1.59620780e-01 -9.87177396e-01 1.41284574e-03 4.75287600e+01] [ 9.87137446e-01 -1.59627031e-01 -8.88112350e-03 3.03653855e+02] [ 8.99277274e-03 -2.29389312e-05 9.99959564e-01 7.03382834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7627550960001 meters 0.016108442311062947 Centerline is valid? [True, True] Translation: X:47.52, Y:303.68, Z:7.03 [[-1.60737571e-01 -9.86996192e-01 1.39647596e-03 4.75243132e+01] [ 9.86957359e-01 -1.60743635e-01 -8.75532231e-03 3.03679645e+02] [ 8.86594440e-03 -2.90470217e-05 9.99960696e-01 7.03413818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.79275509600006 meters 0.016321579754950723 Centerline is valid? [True, True] Translation: X:47.52, Y:303.71, Z:7.04 [[-1.62984215e-01 -9.86627842e-01 1.28374995e-03 4.75201924e+01] [ 9.86595167e-01 -1.62989265e-01 -8.02967425e-03 3.03705494e+02] [ 8.13153763e-03 -4.21686553e-05 9.99966938e-01 7.03502865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8227550960001 meters 0.016462707054873574 Centerline is valid? [True, True] Translation: X:47.52, Y:303.73, Z:7.04 [[-1.64615452e-01 -9.86357012e-01 1.26402867e-03 4.75163120e+01] [ 9.86325482e-01 -1.64620297e-01 -7.88683742e-03 3.03731626e+02] [ 7.98732217e-03 -5.15516163e-05 9.99968100e-01 7.03524433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.85275509600007 meters 0.01704399235591826 Centerline is valid? [True, True] Translation: X:47.51, Y:303.76, Z:7.04 [[-1.67463474e-01 -9.85877574e-01 1.18086563e-03 4.75136619e+01] [ 9.85850170e-01 -1.67467625e-01 -7.35096476e-03 3.03756410e+02] [ 7.44490806e-03 -6.68615159e-05 9.99972284e-01 7.03614727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.88275509600004 meters 0.017465290640753226 Centerline is valid? [True, True] Translation: X:47.51, Y:303.78, Z:7.04 [[-1.68777872e-01 -9.85653403e-01 1.18282012e-03 4.75109110e+01] [ 9.85626019e-01 -1.68782001e-01 -7.34757717e-03 3.03781636e+02] [ 7.44180318e-03 -7.42901522e-05 9.99972307e-01 7.03663062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.91275509600007 meters 0.01759916007276397 Centerline is valid? [True, True] Translation: X:47.51, Y:303.81, Z:7.04 [[-1.69800118e-01 -9.85477786e-01 1.20530572e-03 4.75068958e+01] [ 9.85449491e-01 -1.69804377e-01 -7.46821347e-03 3.03807736e+02] [ 7.56442466e-03 -8.03356244e-05 9.99971386e-01 7.03644181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.94275509600004 meters 0.017571535564616478 Centerline is valid? [True, True] Translation: X:47.50, Y:303.83, Z:7.04 [[-1.70615328e-01 -9.85336920e-01 1.25081353e-03 4.75014266e+01] [ 9.85306590e-01 -1.70619891e-01 -7.73158315e-03 3.03833333e+02] [ 7.83162799e-03 -8.66917845e-05 9.99969329e-01 7.03633351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.97275509600007 meters 0.017762397206471256 Centerline is valid? [True, True] Translation: X:47.50, Y:303.86, Z:7.04 [[-1.71308960e-01 -9.85216352e-01 1.40722422e-03 4.74950330e+01] [ 9.85178162e-01 -1.71314711e-01 -8.67516398e-03 3.03857678e+02] [ 8.78799162e-03 -9.97667477e-05 9.99961380e-01 7.03508055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.00275509600004 meters 0.017488544586002068 Centerline is valid? [True, True] Translation: X:47.49, Y:303.88, Z:7.03 [[-1.71611463e-01 -9.85163625e-01 1.46218745e-03 4.74884285e+01] [ 9.85122604e-01 -1.71617661e-01 -8.99077148e-03 3.03883034e+02] [ 9.10831821e-03 -1.02485543e-04 9.99958513e-01 7.03473743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0327550960001 meters 0.017285933842987815 Centerline is valid? [True, True] Translation: X:47.48, Y:303.91, Z:7.03 [[-1.71379216e-01 -9.85203940e-01 1.53632376e-03 4.74812310e+01] [ 9.85158889e-01 -1.71386072e-01 -9.42224400e-03 3.03908702e+02] [ 9.54613642e-03 -1.01253780e-04 9.99954430e-01 7.03424803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.06275509600005 meters 0.01716410405938449 Centerline is valid? [True, True] Translation: X:47.48, Y:303.93, Z:7.03 [[-1.71157686e-01 -9.85242333e-01 1.60971522e-03 4.74754421e+01] [ 9.85193131e-01 -1.71165227e-01 -9.84685976e-03 3.03934148e+02] [ 9.97707036e-03 -9.94853577e-05 9.99950223e-01 7.03410975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0927550960001 meters 0.017109906900643325 Centerline is valid? [True, True] Translation: X:47.47, Y:303.96, Z:7.03 [[-1.70861210e-01 -9.85293662e-01 1.68700104e-03 4.74703905e+01] [ 9.85239905e-01 -1.70869511e-01 -1.02927249e-02 3.03959226e+02] [ 1.04296136e-02 -9.65266808e-05 9.99945605e-01 7.03378627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.12275509600005 meters 0.016812877362141355 Centerline is valid? [True, True] Translation: X:47.46, Y:303.98, Z:7.03 [[-1.70196653e-01 -9.85408454e-01 1.81054196e-03 4.74645454e+01] [ 9.85346871e-01 -1.70206259e-01 -1.10169197e-02 3.03984841e+02] [ 1.11643314e-02 -9.10310105e-05 9.99937673e-01 7.03382508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1527550960001 meters 0.016997904274951715 Centerline is valid? [True, True] Translation: X:47.46, Y:304.01, Z:7.03 [[-1.70347284e-01 -9.85382323e-01 1.86567992e-03 4.74601315e+01] [ 9.85317236e-01 -1.70357476e-01 -1.13258597e-02 3.04010326e+02] [ 1.14781345e-02 -9.10428588e-05 9.99934120e-01 7.03346150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.18275509600005 meters 0.017029055749360512 Centerline is valid? [True, True] Translation: X:47.45, Y:304.04, Z:7.03 [[-1.70960300e-01 -9.85276244e-01 1.81645883e-03 4.74543619e+01] [ 9.85214799e-01 -1.70969925e-01 -1.10038075e-02 3.04035685e+02] [ 1.11523500e-02 -9.16121172e-05 9.99937806e-01 7.03351149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2127550960001 meters 0.01701514196774378 Centerline is valid? [True, True] Translation: X:47.45, Y:304.06, Z:7.03 [[-1.71710270e-01 -9.85145797e-01 1.82790927e-03 4.74494565e+01] [ 9.85083871e-01 -1.71719972e-01 -1.10462257e-02 3.04061494e+02] [ 1.11960313e-02 -9.61064607e-05 9.99937318e-01 7.03386632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.24275509600005 meters 0.017191446516795543 Centerline is valid? [True, True] Translation: X:47.44, Y:304.09, Z:7.03 [[-1.72930985e-01 -9.84932343e-01 1.77593376e-03 4.74449983e+01] [ 9.84874155e-01 -1.72940074e-01 -1.07065268e-02 3.04087721e+02] [ 1.08523347e-02 -1.02418976e-04 9.99941106e-01 7.03434577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2727550960001 meters 0.017454225350104484 Centerline is valid? [True, True] Translation: X:47.44, Y:304.11, Z:7.04 [[-1.74936101e-01 -9.84578428e-01 1.63720280e-03 4.74420144e+01] [ 9.84529181e-01 -1.74943727e-01 -9.84807959e-03 3.04114731e+02] [ 9.98262508e-03 -1.10910721e-04 9.99950166e-01 7.03572977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.30275509600006 meters 0.0183321948373174 Centerline is valid? [True, True] Translation: X:47.44, Y:304.14, Z:7.04 [[-1.78123571e-01 -9.84006977e-01 1.50453444e-03 4.74414724e+01] [ 9.83965540e-01 -1.78129879e-01 -9.03117364e-03 3.04140989e+02] [ 9.15474041e-03 -1.28254859e-04 9.99958086e-01 7.03662491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3327550960001 meters 0.018807400728065426 Centerline is valid? [True, True] Translation: X:47.44, Y:304.17, Z:7.04 [[-1.79901760e-01 -9.83683525e-01 1.44229114e-03 4.74388812e+01] [ 9.83645605e-01 -1.79907491e-01 -8.63817995e-03 3.04167007e+02] [ 8.75671427e-03 -1.35320438e-04 9.99961650e-01 7.03749724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.36275509600006 meters 0.019046586648660536 Centerline is valid? [True, True] Translation: X:47.44, Y:304.19, Z:7.04 [[-1.81624783e-01 -9.83366862e-01 1.43289090e-03 4.74356721e+01] [ 9.83329602e-01 -1.81630376e-01 -8.56150405e-03 3.04193316e+02] [ 8.67935588e-03 -1.45977273e-04 9.99962323e-01 7.03814248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3927550960001 meters 0.020091346491188985 Centerline is valid? [True, True] Translation: X:47.43, Y:304.22, Z:7.04 [[-1.83239288e-01 -9.83067386e-01 1.37009391e-03 4.74337878e+01] [ 9.83033469e-01 -1.83244349e-01 -8.16746152e-03 3.04219712e+02] [ 8.28022702e-03 -1.49751666e-04 9.99965707e-01 7.03883502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.42275509600006 meters 0.02022745501547333 Centerline is valid? [True, True] Translation: X:47.43, Y:304.25, Z:7.04 [[-1.85462985e-01 -9.82650266e-01 1.39131822e-03 4.74302115e+01] [ 9.82615436e-01 -1.85468128e-01 -8.27511672e-03 3.04246856e+02] [ 8.38959083e-03 -1.67597090e-04 9.99964793e-01 7.03908639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.4527550960001 meters 0.02053992390602963 Centerline is valid? [True, True] Translation: X:47.43, Y:304.27, Z:7.04 [[-1.86728543e-01 -9.82410469e-01 1.45697773e-03 4.74262624e+01] [ 9.82372439e-01 -1.86734137e-01 -8.64600307e-03 3.04272629e+02] [ 8.76599140e-03 -1.83160784e-04 9.99961561e-01 7.03882926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.48275509600006 meters 0.020427032725511607 Centerline is valid? [True, True] Translation: X:47.42, Y:304.30, Z:7.04 [[-1.87829945e-01 -9.82200398e-01 1.51348060e-03 4.74211400e+01] [ 9.82159551e-01 -1.87835940e-01 -8.95972060e-03 3.04299045e+02] [ 9.08452719e-03 -1.96424406e-04 9.99958716e-01 7.03860098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5127550960001 meters 0.020419040793859842 Centerline is valid? [True, True] Translation: X:47.42, Y:304.32, Z:7.04 [[-1.87727013e-01 -9.82220001e-01 1.56121219e-03 4.74161115e+01] [ 9.82176736e-01 -1.87733401e-01 -9.22115841e-03 3.04324684e+02] [ 9.35029790e-03 -1.97674236e-04 9.99956266e-01 7.03845901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.54275509600006 meters 0.02059040469260591 Centerline is valid? [True, True] Translation: X:47.41, Y:304.35, Z:7.04 [[-1.87233288e-01 -9.82313968e-01 1.72196329e-03 4.74114642e+01] [ 9.82261610e-01 -1.87241091e-01 -1.01441482e-02 3.04350115e+02] [ 1.02871607e-02 -2.07903783e-04 9.99947064e-01 7.03803281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5727550960001 meters 0.019905538810993727 Centerline is valid? [True, True] Translation: X:47.41, Y:304.38, Z:7.04 [[-1.87107778e-01 -9.82337677e-01 1.83509000e-03 4.74055909e+01] [ 9.82278519e-01 -1.87116653e-01 -1.07828636e-02 3.04375909e+02] [ 1.09357891e-02 -2.14988171e-04 9.99940179e-01 7.03794838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.60275509600007 meters 0.01956213553453302 Centerline is valid? [True, True] Translation: X:47.40, Y:304.40, Z:7.04 [[-1.86770788e-01 -9.82401671e-01 1.90538258e-03 4.74003919e+01] [ 9.82338207e-01 -1.86780384e-01 -1.11685080e-02 3.04401532e+02] [ 1.13278490e-02 -2.14220923e-04 9.99935815e-01 7.03772448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.63275509600004 meters 0.019559524073105385 Centerline is valid? [True, True] Translation: X:47.40, Y:304.43, Z:7.04 [[-1.86203314e-01 -9.82509125e-01 2.03613411e-03 4.73956718e+01] [ 9.82437023e-01 -1.86214321e-01 -1.19046969e-02 3.04426342e+02] [ 1.20756307e-02 -2.16320494e-04 9.99927064e-01 7.03743186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.66275509600007 meters 0.0198683118524317 Centerline is valid? [True, True] Translation: X:47.39, Y:304.45, Z:7.04 [[-1.86166164e-01 -9.82516231e-01 2.00405675e-03 4.73916803e+01] [ 9.82446723e-01 -1.86176835e-01 -1.16885563e-02 3.04451654e+02] [ 1.18573052e-02 -2.07134696e-04 9.99929678e-01 7.03732121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.69275509600004 meters 0.019319797243982955 Centerline is valid? [True, True] Translation: X:47.39, Y:304.48, Z:7.04 [[-1.86239707e-01 -9.82502313e-01 1.99402221e-03 4.73853237e+01] [ 9.82433826e-01 -1.86250272e-01 -1.16023571e-02 3.04477753e+02] [ 1.17707299e-02 -2.01824723e-04 9.99930702e-01 7.03827757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.72275509600007 meters 0.01911721804516068 Centerline is valid? [True, True] Translation: X:47.38, Y:304.50, Z:7.04 [[-1.86549095e-01 -9.82443579e-01 2.01249165e-03 4.73794369e+01] [ 9.82374128e-01 -1.86559840e-01 -1.16832853e-02 3.04504567e+02] [ 1.18536187e-02 -2.02486558e-04 9.99929723e-01 7.03894407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.75275509600004 meters 0.01927705820134215 Centerline is valid? [True, True] Translation: X:47.38, Y:304.53, Z:7.04 [[-1.87040185e-01 -9.82350182e-01 2.02220131e-03 4.73752850e+01] [ 9.82280373e-01 -1.87051005e-01 -1.17128627e-02 3.04529357e+02] [ 1.18843875e-02 -2.04407346e-04 9.99929357e-01 7.03915280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.7827550960001 meters 0.01927705820134215 Centerline is valid? [True, True] Translation: X:47.37, Y:304.55, Z:7.04 [[-1.87425531e-01 -9.82276724e-01 2.02695614e-03 4.73706218e+01] [ 9.82206919e-01 -1.87436380e-01 -1.17120402e-02 3.04554869e+02] [ 1.18843898e-02 -2.04244995e-04 9.99929357e-01 7.03933505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.81275509600005 meters 0.019312469116874047 Centerline is valid? [True, True] Translation: X:47.37, Y:304.58, Z:7.04 [[-1.87921878e-01 -9.82181824e-01 2.05758007e-03 4.73661650e+01] [ 9.82110224e-01 -1.87933026e-01 -1.18610973e-02 3.04581387e+02] [ 1.20364414e-02 -2.08189252e-04 9.99927538e-01 7.03940268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8427550960001 meters 0.01971864526044542 Centerline is valid? [True, True] Translation: X:47.36, Y:304.61, Z:7.04 [[-1.89464563e-01 -9.81885394e-01 2.06229236e-03 4.73625615e+01] [ 9.81813782e-01 -1.89475656e-01 -1.18605919e-02 3.04607655e+02] [ 1.20364961e-02 -2.22374789e-04 9.99927534e-01 7.04013109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.87275509600005 meters 0.0201355723748341 Centerline is valid? [True, True] Translation: X:47.36, Y:304.64, Z:7.04 [[-1.91200301e-01 -9.81549017e-01 1.99303110e-03 4.73584527e+01] [ 9.81482408e-01 -1.91210549e-01 -1.14371565e-02 3.04635069e+02] [ 1.16072183e-02 -2.30662813e-04 9.99932607e-01 7.04111173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9027550960001 meters 0.020894224190952746 Centerline is valid? [True, True] Translation: X:47.36, Y:304.66, Z:7.04 [[-1.92375952e-01 -9.81319410e-01 1.92574063e-03 4.73551028e+01] [ 9.81257481e-01 -1.92385451e-01 -1.10270098e-02 3.04660650e+02] [ 1.11915033e-02 -2.31684126e-04 9.99937346e-01 7.04129040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.93275509600005 meters 0.021041843586204357 Centerline is valid? [True, True] Translation: X:47.35, Y:304.69, Z:7.04 [[-1.93027797e-01 -9.81191489e-01 1.87904694e-03 4.73506033e+01] [ 9.81132793e-01 -1.93036807e-01 -1.07346639e-02 3.04687059e+02] [ 1.08954861e-02 -2.28493952e-04 9.99940616e-01 7.04187245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9627550960001 meters 0.021346174171081474 Centerline is valid? [True, True] Translation: X:47.35, Y:304.71, Z:7.04 [[-1.93770940e-01 -9.81044857e-01 1.95251790e-03 4.73465529e+01] [ 9.80981768e-01 -1.93780627e-01 -1.11283403e-02 3.04711748e+02] [ 1.12957611e-02 -2.40964495e-04 9.99936172e-01 7.04212931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.99275509600005 meters 0.021039035603887597 Centerline is valid? [True, True] Translation: X:47.34, Y:304.74, Z:7.04 [[-1.94741445e-01 -9.80852699e-01 1.93692164e-03 4.73409517e+01] [ 9.80790890e-01 -1.94750923e-01 -1.10140138e-02 3.04737392e+02] [ 1.11803424e-02 -2.45169866e-04 9.99937468e-01 7.04282941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0227550960001 meters 0.020778579464415234 Centerline is valid? [True, True] Translation: X:47.34, Y:304.76, Z:7.04 [[-1.95464908e-01 -9.80708692e-01 1.98302462e-03 4.73351741e+01] [ 9.80644188e-01 -1.95474801e-01 -1.12507651e-02 3.04763993e+02] [ 1.14213544e-02 -2.54488181e-04 9.99934742e-01 7.04324954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.05275509600006 meters 0.02089833209223714 Centerline is valid? [True, True] Translation: X:47.33, Y:304.79, Z:7.04 [[-1.95662660e-01 -9.80669376e-01 1.92295745e-03 4.73307706e+01] [ 9.80608984e-01 -1.95671957e-01 -1.08860495e-02 3.04789518e+02] [ 1.10518842e-02 -2.44324062e-04 9.99938896e-01 7.04379656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0827550960001 meters 0.02131423487649569 Centerline is valid? [True, True] Translation: X:47.33, Y:304.81, Z:7.04 [[-1.95789442e-01 -9.80644166e-01 1.87470173e-03 4.73268199e+01] [ 9.80587038e-01 -1.95798277e-01 -1.05874992e-02 3.04814588e+02] [ 1.07496327e-02 -2.34612349e-04 9.99942194e-01 7.04418880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.11275509600006 meters 0.020887905871431616 Centerline is valid? [True, True] Translation: X:47.32, Y:304.84, Z:7.04 [[-1.95702338e-01 -9.80661546e-01 1.87827572e-03 4.73209957e+01] [ 9.80604470e-01 -1.95711217e-01 -1.05826689e-02 3.04840090e+02] [ 1.07456161e-02 -2.29207484e-04 9.99942238e-01 7.04458958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1427550960001 meters 0.02000310767102933 Centerline is valid? [True, True] Translation: X:47.31, Y:304.87, Z:7.04 [[-1.94019508e-01 -9.80995973e-01 1.82539547e-03 4.73136603e+01] [ 9.80942312e-01 -1.94027991e-01 -1.02625608e-02 3.04866808e+02] [ 1.04217086e-02 -2.00529343e-04 9.99945672e-01 7.04468650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.17275509600006 meters 0.020408281477662722 Centerline is valid? [True, True] Translation: X:47.31, Y:304.89, Z:7.04 [[-1.93189570e-01 -9.81159576e-01 1.91738555e-03 4.73095393e+01] [ 9.81100642e-01 -1.93198984e-01 -1.07556248e-02 3.04891908e+02] [ 1.09234212e-02 -1.96726329e-04 9.99940318e-01 7.04390726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2027550960001 meters 0.019466353159306615 Centerline is valid? [True, True] Translation: X:47.30, Y:304.92, Z:7.04 [[-1.90945783e-01 -9.81598443e-01 2.05030080e-03 4.73025651e+01] [ 9.81531388e-01 -1.90956707e-01 -1.14747571e-02 3.04918091e+02] [ 1.16551224e-02 -1.78621905e-04 9.99932061e-01 7.04325060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.23275509600006 meters 0.01835090666251018 Centerline is valid? [True, True] Translation: X:47.30, Y:304.94, Z:7.04 [[-1.90390381e-01 -9.81706064e-01 2.16947632e-03 4.72952354e+01] [ 9.81631302e-01 -1.90402659e-01 -1.21166670e-02 3.04944111e+02] [ 1.23080795e-02 -1.77270984e-04 9.99924237e-01 7.04366848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2627550960001 meters 0.018615600089207037 Centerline is valid? [True, True] Translation: X:47.29, Y:304.97, Z:7.04 [[-1.88969570e-01 -9.81980309e-01 2.27475552e-03 4.72921897e+01] [ 9.81898509e-01 -1.88983192e-01 -1.26756031e-02 3.04969613e+02] [ 1.28770832e-02 -1.61724220e-04 9.99917074e-01 7.04214299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.29275509600006 meters 0.018341543762068226 Centerline is valid? [True, True] Translation: X:47.29, Y:305.00, Z:7.04 [[-1.88637370e-01 -9.82044017e-01 2.34357297e-03 4.72870111e+01] [ 9.81957597e-01 -1.88651863e-01 -1.30289304e-02 3.04995721e+02] [ 1.32371025e-02 -1.56453875e-04 9.99912374e-01 7.04240071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3227550960001 meters 0.01820978853445717 Centerline is valid? [True, True] Translation: X:47.28, Y:305.02, Z:7.04 [[-1.88391327e-01 -9.82091363e-01 2.29409525e-03 4.72823568e+01] [ 9.82008908e-01 -1.88405239e-01 -1.27267417e-02 3.05020734e+02] [ 1.29310427e-02 -1.44785801e-04 9.99916380e-01 7.04260636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.35275509600007 meters 0.017998620824232318 Centerline is valid? [True, True] Translation: X:47.28, Y:305.05, Z:7.04 [[-1.87769364e-01 -9.82210638e-01 2.21994825e-03 4.72764184e+01] [ 9.82133760e-01 -1.87782443e-01 -1.22894925e-02 3.05046633e+02] [ 1.24877375e-02 -1.27304060e-04 9.99922017e-01 7.04328790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.38275509600004 meters 0.017754764059767624 Centerline is valid? [True, True] Translation: X:47.27, Y:305.07, Z:7.04 [[-1.87533954e-01 -9.82255588e-01 2.23074772e-03 4.72709706e+01] [ 9.82178305e-01 -1.87547183e-01 -1.23219981e-02 3.05071082e+02] [ 1.25217219e-02 -1.19801008e-04 9.99921593e-01 7.04343128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.41275509600007 meters 0.01729091037073019 Centerline is valid? [True, True] Translation: X:47.26, Y:305.10, Z:7.04 [[-1.87453367e-01 -9.82270911e-01 2.25653920e-03 4.72644851e+01] [ 9.82192196e-01 -1.87466913e-01 -1.24357372e-02 3.05096406e+02] [ 1.26382894e-02 -1.14765623e-04 9.99920127e-01 7.04421652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.44275509600004 meters 0.017255575377001568 Centerline is valid? [True, True] Translation: X:47.26, Y:305.12, Z:7.04 [[-1.87787046e-01 -9.82207075e-01 2.29936328e-03 4.72598309e+01] [ 9.82125699e-01 -1.87801087e-01 -1.26437304e-02 3.05122404e+02] [ 1.28505844e-02 -1.16065018e-04 9.99917421e-01 7.04459758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.47275509600007 meters 0.017258794110658636 Centerline is valid? [True, True] Translation: X:47.26, Y:305.15, Z:7.04 [[-1.88185976e-01 -9.82130605e-01 2.34786193e-03 4.72553611e+01] [ 9.82046126e-01 -1.88200584e-01 -1.28819890e-02 3.05148481e+02] [ 1.30936647e-02 -1.18500963e-04 9.99914267e-01 7.04469976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.50275509600004 meters 0.01718375482832495 Centerline is valid? [True, True] Translation: X:47.25, Y:305.17, Z:7.05 [[-1.88857317e-01 -9.82002147e-01 2.16731494e-03 4.72511391e+01] [ 9.81930452e-01 -1.88869719e-01 -1.18666361e-02 3.05174799e+02] [ 1.20624023e-02 -1.12948522e-04 9.99927240e-01 7.04591546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5327550960001 meters 0.017349342830815722 Centerline is valid? [True, True] Translation: X:47.25, Y:305.20, Z:7.05 [[-1.89617755e-01 -9.81855760e-01 2.09135862e-03 4.72467447e+01] [ 9.81789283e-01 -1.89629254e-01 -1.14258768e-02 3.05199496e+02] [ 1.16151457e-02 -1.13275615e-04 9.99932536e-01 7.04636798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.56275509600005 meters 0.017469259498285244 Centerline is valid? [True, True] Translation: X:47.24, Y:305.23, Z:7.05 [[-1.90712119e-01 -9.81644092e-01 1.94041719e-03 4.72420633e+01] [ 9.81587096e-01 -1.90721957e-01 -1.05787181e-02 3.05225162e+02] [ 1.07546163e-02 -1.12801279e-04 9.99942161e-01 7.04745746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5927550960001 meters 0.01747753394585911 Centerline is valid? [True, True] Translation: X:47.24, Y:305.25, Z:7.05 [[-1.91622079e-01 -9.81466972e-01 1.88709386e-03 4.72374129e+01] [ 9.81413285e-01 -1.91631336e-01 -1.02662507e-02 3.05251643e+02] [ 1.04376123e-02 -1.15221307e-04 9.99945520e-01 7.04812850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.62275509600005 meters 0.017541925361336582 Centerline is valid? [True, True] Translation: X:47.23, Y:305.28, Z:7.05 [[-1.92606625e-01 -9.81274252e-01 1.87901301e-03 4.72326273e+01] [ 9.81221242e-01 -1.92615753e-01 -1.02002587e-02 3.05277668e+02] [ 1.03711787e-02 -1.20909917e-04 9.99946211e-01 7.04860320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6527550960001 meters 0.0176928746260914 Centerline is valid? [True, True] Translation: X:47.23, Y:305.30, Z:7.05 [[-1.94183477e-01 -9.80963436e-01 1.87475028e-03 4.72284013e+01] [ 9.80910876e-01 -1.94192481e-01 -1.01555088e-02 3.05304946e+02] [ 1.03262452e-02 -1.33069073e-04 9.99946674e-01 7.04904925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.68275509600005 meters 0.01827734857504475 Centerline is valid? [True, True] Translation: X:47.23, Y:305.33, Z:7.05 [[-1.94781443e-01 -9.80844943e-01 1.84059609e-03 4.72256405e+01] [ 9.80794485e-01 -1.94790094e-01 -9.94979134e-03 3.05329895e+02] [ 1.01177324e-02 -1.32788221e-04 9.99948806e-01 7.04878214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7127550960001 meters 0.01763249397146483 Centerline is valid? [True, True] Translation: X:47.22, Y:305.36, Z:7.05 [[-1.95124064e-01 -9.80776675e-01 1.92697517e-03 4.72188314e+01] [ 9.80721620e-01 -1.95133530e-01 -1.03927925e-02 3.05355902e+02] [ 1.05690259e-02 -1.38057692e-04 9.99944137e-01 7.04910501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.74275509600005 meters 0.01790401773474803 Centerline is valid? [True, True] Translation: X:47.21, Y:305.38, Z:7.05 [[-1.95626521e-01 -9.80676502e-01 1.96545979e-03 4.72140784e+01] [ 9.80619460e-01 -1.95636342e-01 -1.05781147e-02 3.05381944e+02] [ 1.07582239e-02 -1.41991654e-04 9.99942119e-01 7.04853317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7727550960001 meters 0.017973710908041778 Centerline is valid? [True, True] Translation: X:47.21, Y:305.41, Z:7.05 [[-1.95986014e-01 -9.80604672e-01 1.98975169e-03 4.72090616e+01] [ 9.80546464e-01 -1.95996062e-01 -1.06853232e-02 3.05406879e+02] [ 1.08680614e-02 -1.43129930e-04 9.99940931e-01 7.04823581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.80275509600006 meters 0.018500557587889755 Centerline is valid? [True, True] Translation: X:47.21, Y:305.43, Z:7.05 [[-1.96916917e-01 -9.80418334e-01 1.90210657e-03 4.72052663e+01] [ 9.80365347e-01 -1.96926051e-01 -1.01939190e-02 3.05432255e+02] [ 1.03688794e-02 -1.42595719e-04 9.99946232e-01 7.04839896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8327550960001 meters 0.0182323631956397 Centerline is valid? [True, True] Translation: X:47.20, Y:305.46, Z:7.05 [[-1.97795374e-01 -9.80241707e-01 1.78474328e-03 4.72001352e+01] [ 9.80195214e-01 -1.97803377e-01 -9.54807965e-03 3.05457847e+02] [ 9.71245415e-03 -1.39169155e-04 9.99952823e-01 7.04898768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.86275509600006 meters 0.01870029272060455 Centerline is valid? [True, True] Translation: X:47.20, Y:305.48, Z:7.05 [[-1.99278292e-01 -9.79941530e-01 1.66115084e-03 4.71971694e+01] [ 9.79901407e-01 -1.99285167e-01 -8.86876584e-03 3.05484020e+02] [ 9.02191469e-03 -1.39588468e-04 9.99959292e-01 7.04975614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8927550960001 meters 0.018869409910360038 Centerline is valid? [True, True] Translation: X:47.19, Y:305.51, Z:7.05 [[-2.00165500e-01 -9.79760731e-01 1.63792641e-03 4.71927186e+01] [ 9.79721881e-01 -2.00172151e-01 -8.72620815e-03 3.05510323e+02] [ 8.87746333e-03 -1.41973483e-04 9.99960585e-01 7.04971097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.92275509600006 meters 0.01919718072119943 Centerline is valid? [True, True] Translation: X:47.19, Y:305.54, Z:7.05 [[-2.01117561e-01 -9.79565703e-01 1.66166132e-03 4.71888397e+01] [ 9.79525886e-01 -2.01124370e-01 -8.83326935e-03 3.05535677e+02] [ 8.98696829e-03 -1.48885314e-04 9.99959605e-01 7.04978458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.9527550960001 meters 0.01922523941906898 Centerline is valid? [True, True] Translation: X:47.18, Y:305.56, Z:7.05 [[-2.02005239e-01 -9.79383108e-01 1.61609394e-03 4.71835053e+01] [ 9.79345601e-01 -2.02011649e-01 -8.57246737e-03 3.05561601e+02] [ 8.72219953e-03 -1.48968827e-04 9.99961950e-01 7.04964254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.98275509600006 meters 0.01937102569678168 Centerline is valid? [True, True] Translation: X:47.18, Y:305.59, Z:7.05 [[-2.02356686e-01 -9.79310573e-01 1.60391428e-03 4.71789232e+01] [ 9.79273784e-01 -2.02362989e-01 -8.48980280e-03 3.05587127e+02] [ 8.63872653e-03 -1.47297155e-04 9.99962675e-01 7.04937215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0127550960001 meters 0.01883325486279331 Centerline is valid? [True, True] Translation: X:47.17, Y:305.61, Z:7.05 [[-2.02456645e-01 -9.79289830e-01 1.65416739e-03 4.71729091e+01] [ 9.79250868e-01 -2.02463348e-01 -8.73668333e-03 3.05612653e+02] [ 8.89065339e-03 -1.48954741e-04 9.99960466e-01 7.04907038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.04275509600006 meters 0.019265268981635816 Centerline is valid? [True, True] Translation: X:47.17, Y:305.64, Z:7.05 [[-2.02437047e-01 -9.79293838e-01 1.67937164e-03 4.71692375e+01] [ 9.79253859e-01 -2.02443959e-01 -8.85002797e-03 3.05637451e+02] [ 9.00675651e-03 -1.47042363e-04 9.99959428e-01 7.04894934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0727550960001 meters 0.018701239233555066 Centerline is valid? [True, True] Translation: X:47.16, Y:305.66, Z:7.05 [[-2.02320108e-01 -9.79317917e-01 1.72959808e-03 4.71629481e+01] [ 9.79275705e-01 -2.02327448e-01 -9.09385778e-03 3.05662796e+02] [ 9.25572303e-03 -1.46116914e-04 9.99957154e-01 7.04926254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.10275509600007 meters 0.018688763713908298 Centerline is valid? [True, True] Translation: X:47.16, Y:305.69, Z:7.05 [[-2.01953176e-01 -9.79393776e-01 1.65703611e-03 4.71576067e+01] [ 9.79355186e-01 -2.01959930e-01 -8.69519226e-03 3.05687994e+02] [ 8.85067208e-03 -1.33194790e-04 9.99960823e-01 7.04957540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.13275509600004 meters 0.017868961222505756 Centerline is valid? [True, True] Translation: X:47.15, Y:305.71, Z:7.05 [[-2.01054745e-01 -9.79578605e-01 1.65727209e-03 4.71496863e+01] [ 9.79540147e-01 -2.01061538e-01 -8.68089550e-03 3.05713126e+02] [ 8.83683317e-03 -1.21970689e-04 9.99960947e-01 7.05012825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.16275509600007 meters 0.017516793247441383 Centerline is valid? [True, True] Translation: X:47.14, Y:305.74, Z:7.05 [[-1.99350584e-01 -9.79926814e-01 1.66837374e-03 4.71430494e+01] [ 9.79888021e-01 -1.99357538e-01 -8.71997684e-03 3.05738291e+02] [ 8.87754201e-03 -1.03513030e-04 9.99960589e-01 7.05017670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.19275509600004 meters 0.017243974019451904 Centerline is valid? [True, True] Translation: X:47.14, Y:305.76, Z:7.05 [[-1.98428747e-01 -9.80113961e-01 1.62957811e-03 4.71370688e+01] [ 9.80077113e-01 -1.98435418e-01 -8.49927329e-03 3.05764338e+02] [ 8.65362243e-03 -8.93879403e-05 9.99962553e-01 7.05055484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.22275509600007 meters 0.017087114018650835 Centerline is valid? [True, True] Translation: X:47.13, Y:305.79, Z:7.05 [[-1.97564827e-01 -9.80288352e-01 1.69888528e-03 4.71315319e+01] [ 9.80248477e-01 -1.97572114e-01 -8.84214911e-03 3.05789246e+02] [ 9.00350814e-03 -8.15679520e-05 9.99959464e-01 7.05079848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.25275509600004 meters 0.016557097851535276 Centerline is valid? [True, True] Translation: X:47.12, Y:305.81, Z:7.05 [[-1.95638782e-01 -9.80674373e-01 1.80015991e-03 4.71236326e+01] [ 9.80629786e-01 -1.95647053e-01 -9.35164336e-03 3.05814168e+02] [ 9.52311297e-03 -6.42536845e-05 9.99954652e-01 7.05024089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.2827550960001 meters 0.016416805540797247 Centerline is valid? [True, True] Translation: X:47.12, Y:305.84, Z:7.05 [[-1.95093032e-01 -9.80783088e-01 1.80105042e-03 4.71174190e+01] [ 9.80738652e-01 -1.95101338e-01 -9.33615986e-03 3.05839829e+02] [ 9.50813504e-03 -5.50599757e-05 9.99954795e-01 7.05003110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.31275509600005 meters 0.01629413867788935 Centerline is valid? [True, True] Translation: X:47.11, Y:305.87, Z:7.05 [[-1.94606335e-01 -9.80879599e-01 1.89369721e-03 4.71115702e+01] [ 9.80830698e-01 -1.94615542e-01 -9.79455209e-03 3.05866091e+02] [ 9.97581924e-03 -4.86855337e-05 9.99950239e-01 7.04999324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3427550960001 meters 0.01633629883156172 Centerline is valid? [True, True] Translation: X:47.11, Y:305.89, Z:7.05 [[-1.95219140e-01 -9.80757656e-01 1.97688782e-03 4.71067990e+01] [ 9.80704590e-01 -1.95229142e-01 -1.02023719e-02 3.05892264e+02] [ 1.03920004e-02 -5.29553018e-05 9.99946000e-01 7.04993454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.37275509600005 meters 0.016601383254358268 Centerline is valid? [True, True] Translation: X:47.10, Y:305.92, Z:7.05 [[-1.98037635e-01 -9.80192413e-01 1.98191505e-03 4.71048108e+01] [ 9.80139278e-01 -1.98047537e-01 -1.02063345e-02 3.05917313e+02] [ 1.03966851e-02 -7.86855761e-05 9.99945950e-01 7.05005523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4027550960001 meters 0.01703391002235165 Centerline is valid? [True, True] Translation: X:47.10, Y:305.94, Z:7.05 [[-2.00402122e-01 -9.79711706e-01 1.99084709e-03 4.71021597e+01] [ 9.79658298e-01 -2.00411986e-01 -1.02301455e-02 3.05943461e+02] [ 1.04215829e-02 -9.97929870e-05 9.99945689e-01 7.05042515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.43275509600005 meters 0.017520078616964432 Centerline is valid? [True, True] Translation: X:47.10, Y:305.97, Z:7.05 [[-2.02776833e-01 -9.79222807e-01 2.06175023e-03 4.70995639e+01] [ 9.79165734e-01 -2.02787276e-01 -1.05729122e-02 3.05970851e+02] [ 1.07713334e-02 -1.25146469e-04 9.99941980e-01 7.05102308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4627550960001 meters 0.018050650274403123 Centerline is valid? [True, True] Translation: X:47.10, Y:306.00, Z:7.05 [[-2.04999109e-01 -9.78760172e-01 1.97261433e-03 4.70965316e+01] [ 9.78708092e-01 -2.05008552e-01 -1.00977714e-02 3.05998301e+02] [ 1.02876993e-02 -1.39420526e-04 9.99947071e-01 7.05180504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.49275509600005 meters 0.01872791811689579 Centerline is valid? [True, True] Translation: X:47.09, Y:306.03, Z:7.05 [[-2.08686567e-01 -9.77980784e-01 1.87171358e-03 4.70932951e+01] [ 9.77934029e-01 -2.08694895e-01 -9.56427212e-03 3.06025200e+02] [ 9.74429141e-03 -1.65522712e-04 9.99952510e-01 7.05289388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5227550960001 meters 0.019994099910623935 Centerline is valid? [True, True] Translation: X:47.09, Y:306.05, Z:7.05 [[-2.11029853e-01 -9.77477917e-01 1.82290842e-03 4.70898837e+01] [ 9.77433715e-01 -2.11037650e-01 -9.29754076e-03 3.06051266e+02] [ 9.47284308e-03 -1.80286517e-04 9.99955115e-01 7.05343949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.55275509600006 meters 0.020050358141154547 Centerline is valid? [True, True] Translation: X:47.08, Y:306.08, Z:7.05 [[-2.11873910e-01 -9.77295452e-01 1.74538710e-03 4.70839636e+01] [ 9.77255077e-01 -2.11881025e-01 -8.88515828e-03 3.06076970e+02] [ 9.05323919e-03 -1.76844822e-04 9.99959003e-01 7.05373683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5827550960001 meters 0.02005378041808793 Centerline is valid? [True, True] Translation: X:47.08, Y:306.10, Z:7.05 [[-2.12648727e-01 -9.77127270e-01 1.67874658e-03 4.70781179e+01] [ 9.77090061e-01 -2.12655282e-01 -8.52893964e-03 3.06102250e+02] [ 8.69085383e-03 -1.73381555e-04 9.99962219e-01 7.05374009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.61275509600006 meters 0.020339086144242634 Centerline is valid? [True, True] Translation: X:47.07, Y:306.13, Z:7.05 [[-2.13057538e-01 -9.77038036e-01 1.77823322e-03 4.70730679e+01] [ 9.76996460e-01 -2.13064879e-01 -9.01525478e-03 3.06127624e+02] [ 9.18712587e-03 -1.83440424e-04 9.99957781e-01 7.05371540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6427550960001 meters 0.020760214397853635 Centerline is valid? [True, True] Translation: X:47.07, Y:306.15, Z:7.05 [[-2.13735017e-01 -9.76890014e-01 1.80102471e-03 4.70684368e+01] [ 9.76847508e-01 -2.13742522e-01 -9.11485945e-03 3.06152602e+02] [ 9.28917074e-03 -1.88838139e-04 9.99956837e-01 7.05370863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.67275509600006 meters 0.020559082170478755 Centerline is valid? [True, True] Translation: X:47.06, Y:306.18, Z:7.05 [[-2.14166166e-01 -9.76795432e-01 1.88099875e-03 4.70621724e+01] [ 9.76749260e-01 -2.14174336e-01 -9.49935112e-03 3.06177983e+02] [ 9.68178443e-03 -1.97175476e-04 9.99953111e-01 7.05300026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7027550960001 meters 0.020559082170478755 Centerline is valid? [True, True] Translation: X:47.06, Y:306.20, Z:7.05 [[-2.14538733e-01 -9.76713663e-01 1.88462126e-03 4.70568753e+01] [ 9.76667495e-01 -2.14546920e-01 -9.49863257e-03 3.06203372e+02] [ 9.68178390e-03 -1.97176281e-04 9.99953111e-01 7.05318257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.73275509600006 meters 0.020323763289547034 Centerline is valid? [True, True] Translation: X:47.05, Y:306.23, Z:7.05 [[-2.14987514e-01 -9.76615023e-01 1.86163785e-03 4.70500948e+01] [ 9.76570148e-01 -2.14995486e-01 -9.36418053e-03 3.06229348e+02] [ 9.54544312e-03 -1.95161944e-04 9.99954422e-01 7.05345732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7627550960001 meters 0.021006087961577876 Centerline is valid? [True, True] Translation: X:47.05, Y:306.25, Z:7.05 [[-2.15026719e-01 -9.76606370e-01 1.87335775e-03 4.70455441e+01] [ 9.76561113e-01 -2.15034793e-01 -9.40374058e-03 3.06253900e+02] [ 9.58659005e-03 -1.92607145e-04 9.99954029e-01 7.05338244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.79275509600006 meters 0.020917326201470965 Centerline is valid? [True, True] Translation: X:47.04, Y:306.28, Z:7.05 [[-2.14843429e-01 -9.76646695e-01 1.87986756e-03 4.70377000e+01] [ 9.76601312e-01 -2.14851572e-01 -9.41694663e-03 3.06278802e+02] [ 9.60092231e-03 -1.87287983e-04 9.99953893e-01 7.05349444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8227550960001 meters 0.019576784354218033 Centerline is valid? [True, True] Translation: X:47.03, Y:306.30, Z:7.05 [[-2.14652697e-01 -9.76688550e-01 1.92237819e-03 4.70287821e+01] [ 9.76641282e-01 -2.14661224e-01 -9.61067201e-03 3.06303579e+02] [ 9.79929337e-03 -1.85482762e-04 9.99951969e-01 7.05391130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.85275509600007 meters 0.020739661669186983 Centerline is valid? [True, True] Translation: X:47.02, Y:306.33, Z:7.05 [[-2.14022719e-01 -9.76826867e-01 1.88348591e-03 4.70241733e+01] [ 9.76781681e-01 -2.14030938e-01 -9.39710443e-03 3.06329092e+02] [ 9.58246834e-03 -1.71439311e-04 9.99954072e-01 7.05390571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.88275509600004 meters 0.019415643033337086 Centerline is valid? [True, True] Translation: X:47.02, Y:306.35, Z:7.05 [[-2.13886050e-01 -9.76856898e-01 1.83281598e-03 4.70152877e+01] [ 9.76814281e-01 -2.13893841e-01 -9.12604209e-03 3.06354444e+02] [ 9.30686522e-03 -1.61612271e-04 9.99956677e-01 7.05477343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.91275509600007 meters 0.020285920400036985 Centerline is valid? [True, True] Translation: X:47.01, Y:306.38, Z:7.05 [[-2.13497327e-01 -9.76941983e-01 1.80359913e-03 4.70112554e+01] [ 9.76900883e-01 -2.13504892e-01 -8.96250478e-03 3.06379126e+02] [ 9.14092443e-03 -1.51533234e-04 9.99958209e-01 7.05469254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.94275509600004 meters 0.01881966619418175 Centerline is valid? [True, True] Translation: X:47.00, Y:306.40, Z:7.06 [[-2.13429517e-01 -9.76956792e-01 1.80796509e-03 4.70014951e+01] [ 9.76915665e-01 -2.13437124e-01 -8.96540277e-03 3.06404088e+02] [ 9.14469800e-03 -1.47252168e-04 9.99958176e-01 7.05528920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.97275509600007 meters 0.01841353578307375 Centerline is valid? [True, True] Translation: X:46.99, Y:306.43, Z:7.06 [[-2.11742765e-01 -9.77323857e-01 1.75524483e-03 4.69937311e+01] [ 9.77285262e-01 -2.11750003e-01 -8.68637034e-03 3.06428178e+02] [ 8.86107006e-03 -1.23901170e-04 9.99960732e-01 7.05614769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.002755096 meters 0.018185736337344174 Centerline is valid? [True, True] Translation: X:46.99, Y:306.45, Z:7.06 [[-2.10156471e-01 -9.77666531e-01 1.55335533e-03 4.69862891e+01] [ 9.77636428e-01 -2.10162191e-01 -7.67258160e-03 3.06452630e+02] [ 7.82768279e-03 -9.38259177e-05 9.99969359e-01 7.05737554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.032755096 meters 0.01795555140940346 Centerline is valid? [True, True] Translation: X:46.98, Y:306.48, Z:7.06 [[-2.09672832e-01 -9.77770367e-01 1.55337350e-03 4.69791683e+01] [ 9.77740392e-01 -2.09678568e-01 -7.65666913e-03 3.06478308e+02] [ 7.81217332e-03 -8.65994813e-05 9.99969481e-01 7.05819051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.062755096 meters 0.017741071615561974 Centerline is valid? [True, True] Translation: X:46.97, Y:306.50, Z:7.06 [[-2.09397611e-01 -9.77829469e-01 1.47348606e-03 4.69722217e+01] [ 9.77802599e-01 -2.09402781e-01 -7.24926896e-03 3.06503704e+02] [ 7.39710089e-03 -7.72011028e-05 9.99972638e-01 7.05870844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.092755096 meters 0.017618134579993432 Centerline is valid? [True, True] Translation: X:46.96, Y:306.53, Z:7.06 [[-2.08549896e-01 -9.78010722e-01 1.40301202e-03 4.69647460e+01] [ 9.77986459e-01 -2.08554605e-01 -6.88932435e-03 3.06528944e+02] [ 7.03043770e-03 -6.46411146e-05 9.99975284e-01 7.05948430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.122755096 meters 0.017530730600191023 Centerline is valid? [True, True] Translation: X:46.96, Y:306.55, Z:7.06 [[-2.08715313e-01 -9.77975419e-01 1.41382153e-03 4.69586789e+01] [ 9.77950879e-01 -2.08720091e-01 -6.92837937e-03 3.06554523e+02] [ 7.07087767e-03 -6.34108606e-05 9.99974999e-01 7.06000585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.152755096 meters 0.01768041303714234 Centerline is valid? [True, True] Translation: X:46.95, Y:306.58, Z:7.06 [[-2.09460995e-01 -9.77816390e-01 1.09493571e-03 4.69531566e+01] [ 9.77801712e-01 -2.09463851e-01 -5.35790518e-03 3.06580393e+02] [ 5.46839695e-03 -5.16421348e-05 9.99985047e-01 7.06121024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.182755096 meters 0.017759390975876286 Centerline is valid? [True, True] Translation: X:46.95, Y:306.61, Z:7.06 [[-2.09922507e-01 -9.77717467e-01 1.04647355e-03 4.69480864e+01] [ 9.77704109e-01 -2.09925110e-01 -5.11119051e-03 3.06605282e+02] [ 5.21698131e-03 -4.98124396e-05 9.99986390e-01 7.06184294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.212755096 meters 0.017853361019225435 Centerline is valid? [True, True] Translation: X:46.94, Y:306.63, Z:7.06 [[-2.10523155e-01 -9.77588457e-01 9.00401822e-04 4.69430625e+01] [ 9.77578600e-01 -2.10525076e-01 -4.39025333e-03 3.06630759e+02] [ 4.48141814e-03 -4.40364287e-05 9.99989957e-01 7.06262229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.242755096 meters 0.018168776109696038 Centerline is valid? [True, True] Translation: X:46.94, Y:306.66, Z:7.06 [[-2.11713748e-01 -9.77331433e-01 7.48112714e-04 4.69378673e+01] [ 9.77324643e-01 -2.11715066e-01 -3.64309805e-03 3.06655610e+02] [ 3.71890097e-03 -4.01449530e-05 9.99993084e-01 7.06360659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.272755096 meters 0.018217910337520998 Centerline is valid? [True, True] Translation: X:46.93, Y:306.68, Z:7.06 [[-2.12169709e-01 -9.77232545e-01 7.53035212e-04 4.69320942e+01] [ 9.77225696e-01 -2.12171042e-01 -3.65902464e-03 3.06681309e+02] [ 3.73549023e-03 -4.04488352e-05 9.99993022e-01 7.06402438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.302755096 meters 0.018405146249575545 Centerline is valid? [True, True] Translation: X:46.93, Y:306.71, Z:7.06 [[-2.13347008e-01 -9.76976168e-01 7.87871770e-04 4.69259394e+01] [ 9.76968700e-01 -2.13348458e-01 -3.82032360e-03 3.06707049e+02] [ 3.90045634e-03 -4.53285509e-05 9.99992392e-01 7.06384170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.332755096 meters 0.01862028583010204 Centerline is valid? [True, True] Translation: X:46.92, Y:306.73, Z:7.06 [[-2.14064261e-01 -9.76819245e-01 8.08937190e-04 4.69211140e+01] [ 9.76811402e-01 -2.14065784e-01 -3.91474767e-03 3.06732216e+02] [ 3.99716664e-03 -4.78284971e-05 9.99992010e-01 7.06386096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.362755096 meters 0.018704201796766844 Centerline is valid? [True, True] Translation: X:46.92, Y:306.76, Z:7.06 [[-2.15039868e-01 -9.76604831e-01 9.26953103e-04 4.69159866e+01] [ 9.76594582e-01 -2.15041858e-01 -4.47458941e-03 3.06758191e+02] [ 4.56923935e-03 -5.69577366e-05 9.99989559e-01 7.06395833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.392755096 meters 0.01934715720169555 Centerline is valid? [True, True] Translation: X:46.91, Y:306.79, Z:7.06 [[-2.17209081e-01 -9.76124452e-01 1.12665811e-03 4.69121920e+01] [ 9.76109380e-01 -2.17211988e-01 -5.42501188e-03 3.06785547e+02] [ 5.54021040e-03 -7.86202971e-05 9.99984650e-01 7.06345065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4227550960001 meters 0.019718795051150036 Centerline is valid? [True, True] Translation: X:46.91, Y:306.81, Z:7.06 [[-2.18238716e-01 -9.75894674e-01 1.20344685e-03 4.69077591e+01] [ 9.75877538e-01 -2.18242016e-01 -5.78381202e-03 3.06810950e+02] [ 5.90703401e-03 -8.78349557e-05 9.99982550e-01 7.06338975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.452755096 meters 0.020595095093115363 Centerline is valid? [True, True] Translation: X:46.90, Y:306.84, Z:7.06 [[-2.20477875e-01 -9.75391010e-01 1.37301670e-03 4.69045877e+01] [ 9.75368771e-01 -2.20482121e-01 -6.58749230e-03 3.06836056e+02] [ 6.72810640e-03 -1.13198694e-04 9.99977360e-01 7.06358294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.482755096 meters 0.0209454526736234 Centerline is valid? [True, True] Translation: X:46.90, Y:306.86, Z:7.06 [[-2.21884301e-01 -9.75071978e-01 1.41212298e-03 4.68995863e+01] [ 9.75048542e-01 -2.21888760e-01 -6.76154636e-03 3.06861844e+02] [ 6.90632861e-03 -1.23392531e-04 9.99976143e-01 7.06390735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.512755096 meters 0.021910446652282096 Centerline is valid? [True, True] Translation: X:46.90, Y:306.89, Z:7.06 [[-2.23837974e-01 -9.74625127e-01 1.55656454e-03 4.68952604e+01] [ 9.74596755e-01 -2.23843337e-01 -7.43811051e-03 3.06886463e+02] [ 7.59779600e-03 -1.47908832e-04 9.99971125e-01 7.06424361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5427550960001 meters 0.022256782649838134 Centerline is valid? [True, True] Translation: X:46.89, Y:306.91, Z:7.06 [[-2.24833755e-01 -9.74395825e-01 1.59964150e-03 4.68899949e+01] [ 9.74365974e-01 -2.24839391e-01 -7.62865894e-03 3.06911804e+02] [ 7.79299584e-03 -1.56543783e-04 9.99969622e-01 7.06424015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.572755096 meters 0.023188566223758245 Centerline is valid? [True, True] Translation: X:46.89, Y:306.94, Z:7.06 [[-2.26591093e-01 -9.73988498e-01 1.69790651e-03 4.68856483e+01] [ 9.73954994e-01 -2.26597385e-01 -8.08052910e-03 3.06936814e+02] [ 8.25508357e-03 -1.77291396e-04 9.99965911e-01 7.06499684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.602755096 meters 0.02363962720698996 Centerline is valid? [True, True] Translation: X:46.88, Y:306.96, Z:7.07 [[-2.27548113e-01 -9.73765266e-01 1.75043373e-03 4.68804258e+01] [ 9.73729787e-01 -2.27554768e-01 -8.31442786e-03 3.06962133e+02] [ 8.49462060e-03 -1.87482907e-04 9.99963903e-01 7.06521060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.632755096 meters 0.021824476269468877 Centerline is valid? [True, True] Translation: X:46.87, Y:306.99, Z:7.07 [[-2.28459817e-01 -9.73551847e-01 1.70709490e-03 4.68710404e+01] [ 9.73518225e-01 -2.28466118e-01 -8.09316526e-03 3.06986756e+02] [ 8.26912933e-03 -1.87075052e-04 9.99965793e-01 7.06582772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.662755096 meters 0.02219625300307003 Centerline is valid? [True, True] Translation: X:46.86, Y:307.01, Z:7.07 [[-2.29114492e-01 -9.73397632e-01 1.89724359e-03 4.68649450e+01] [ 9.73356271e-01 -2.29122252e-01 -8.97569794e-03 3.07012483e+02] [ 9.17162384e-03 -2.09768527e-04 9.99957918e-01 7.06600611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.692755096 meters 0.021578451352019187 Centerline is valid? [True, True] Translation: X:46.86, Y:307.04, Z:7.07 [[-2.29462635e-01 -9.73315551e-01 1.93312707e-03 4.68574427e+01] [ 9.73272773e-01 -2.29470678e-01 -9.12786352e-03 3.07038340e+02] [ 9.32788750e-03 -2.13043671e-04 9.99956472e-01 7.06578851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.722755096 meters 0.021418784108648805 Centerline is valid? [True, True] Translation: X:46.85, Y:307.06, Z:7.07 [[-2.28930149e-01 -9.73440520e-01 2.13078563e-03 4.68504634e+01] [ 9.73388753e-01 -2.28939955e-01 -1.00415798e-02 3.07063351e+02] [ 1.02627027e-02 -2.24737602e-04 9.99947312e-01 7.06557780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.752755096 meters 0.021657515955282983 Centerline is valid? [True, True] Translation: X:46.84, Y:307.09, Z:7.07 [[-2.29084692e-01 -9.73404140e-01 2.14110207e-03 4.68441428e+01] [ 9.73352069e-01 -2.29094589e-01 -1.00706551e-02 3.07088358e+02] [ 1.02933323e-02 -2.22986793e-04 9.99946997e-01 7.06556136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.782755096 meters 0.021554207553918885 Centerline is valid? [True, True] Translation: X:46.84, Y:307.11, Z:7.07 [[-2.29051420e-01 -9.73411849e-01 2.19535708e-03 4.68375536e+01] [ 9.73357330e-01 -2.29061832e-01 -1.03046754e-02 3.07114205e+02] [ 1.05335657e-02 -2.23433634e-04 9.99944496e-01 7.06549844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.812755096 meters 0.021384094197620312 Centerline is valid? [True, True] Translation: X:46.83, Y:307.14, Z:7.07 [[-2.28880317e-01 -9.73452109e-01 2.18927134e-03 4.68300628e+01] [ 9.73398102e-01 -2.28890685e-01 -1.02561653e-02 3.07139875e+02] [ 1.04849896e-02 -2.16401802e-04 9.99945008e-01 7.06595856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.842755096 meters 0.02232976006850252 Centerline is valid? [True, True] Translation: X:46.83, Y:307.17, Z:7.07 [[-2.29429669e-01 -9.73322617e-01 2.26079579e-03 4.68258561e+01] [ 9.73265248e-01 -2.29440698e-01 -1.05699313e-02 3.07165256e+02] [ 1.08066718e-02 -2.24701872e-04 9.99941581e-01 7.06594492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.872755096 meters 0.02206321698400028 Centerline is valid? [True, True] Translation: X:46.82, Y:307.19, Z:7.07 [[-2.30246387e-01 -9.73129830e-01 2.22152350e-03 4.68192746e+01] [ 9.73074643e-01 -2.30256994e-01 -1.03661049e-02 3.07191269e+02] [ 1.05990872e-02 -2.25050023e-04 9.99943803e-01 7.06637243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.902755096 meters 0.0218871997672724 Centerline is valid? [True, True] Translation: X:46.81, Y:307.22, Z:7.07 [[-2.31875971e-01 -9.72742808e-01 2.22816234e-03 4.68133093e+01] [ 9.72687475e-01 -2.31886553e-01 -1.03779695e-02 3.07217434e+02] [ 1.06117761e-02 -2.39096152e-04 9.99943665e-01 7.06714833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.932755096 meters 0.02235257807402311 Centerline is valid? [True, True] Translation: X:46.81, Y:307.24, Z:7.07 [[-2.33197171e-01 -9.72427002e-01 2.19200712e-03 4.68086226e+01] [ 9.72373619e-01 -2.33207343e-01 -1.01921972e-02 3.07242770e+02] [ 1.04223599e-02 -2.45341644e-04 9.99945656e-01 7.06779317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.962755096 meters 0.022985674047622556 Centerline is valid? [True, True] Translation: X:46.80, Y:307.27, Z:7.07 [[-2.35103743e-01 -9.71967913e-01 2.14620788e-03 4.68039099e+01] [ 9.71916886e-01 -2.35113399e-01 -9.96276553e-03 3.07269765e+02] [ 1.01880907e-02 -2.56347781e-04 9.99948067e-01 7.06849569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.992755096 meters 0.023282161649353508 Centerline is valid? [True, True] Translation: X:46.80, Y:307.30, Z:7.07 [[-2.35914668e-01 -9.71771355e-01 2.16877356e-03 4.67989088e+01] [ 9.71719427e-01 -2.35924490e-01 -1.00494121e-02 3.07295298e+02] [ 1.02773976e-02 -2.63364316e-04 9.99947152e-01 7.06940453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.022755096 meters 0.024796610766269742 Centerline is valid? [True, True] Translation: X:46.79, Y:307.32, Z:7.07 [[-2.36769131e-01 -9.71563559e-01 2.15166481e-03 4.67942200e+01] [ 9.71512626e-01 -2.36778758e-01 -9.95175895e-03 3.07321905e+02] [ 1.01782349e-02 -2.65899783e-04 9.99948165e-01 7.06779618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.052755096 meters 0.02307323685295949 Centerline is valid? [True, True] Translation: X:46.79, Y:307.35, Z:7.07 [[-2.36724977e-01 -9.71574282e-01 2.16789377e-03 4.67870502e+01] [ 9.71522763e-01 -2.36734758e-01 -1.00087837e-02 3.07347410e+02] [ 1.02374926e-02 -2.63170943e-04 9.99947561e-01 7.07071508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.082755096 meters 0.022992693470675528 Centerline is valid? [True, True] Translation: X:46.78, Y:307.37, Z:7.07 [[-2.36117199e-01 -9.71722213e-01 2.14691364e-03 4.67808449e+01] [ 9.71671885e-01 -2.36126827e-01 -9.89295509e-03 3.07373077e+02] [ 1.01201481e-02 -2.49801214e-04 9.99948759e-01 7.07075315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.112755096 meters 0.02162307793622509 Centerline is valid? [True, True] Translation: X:46.77, Y:307.40, Z:7.07 [[-2.33852902e-01 -9.72269200e-01 2.32861857e-03 4.67712915e+01] [ 9.72210250e-01 -2.33864372e-01 -1.07091488e-02 3.07399154e+02] [ 1.09567565e-02 -2.40458691e-04 9.99939944e-01 7.07068601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.142755096 meters 0.02171616511200601 Centerline is valid? [True, True] Translation: X:46.77, Y:307.42, Z:7.07 [[-2.32440063e-01 -9.72607579e-01 2.47266644e-03 4.67653636e+01] [ 9.72541375e-01 -2.32453097e-01 -1.13504258e-02 3.07424482e+02] [ 1.16142891e-02 -2.33523267e-04 9.99932525e-01 7.07025523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1727550960001 meters 0.020967501777998495 Centerline is valid? [True, True] Translation: X:46.76, Y:307.45, Z:7.07 [[-2.29797189e-01 -9.73235054e-01 2.60425791e-03 4.67577261e+01] [ 9.73161927e-01 -2.29811851e-01 -1.19321775e-02 3.07450042e+02] [ 1.22113027e-02 -2.07616192e-04 9.99925418e-01 7.07031447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.202755096 meters 0.02040460052516932 Centerline is valid? [True, True] Translation: X:46.75, Y:307.48, Z:7.07 [[-2.28825170e-01 -9.73463880e-01 2.66767538e-03 4.67509897e+01] [ 9.73387444e-01 -2.28840636e-01 -1.22002690e-02 3.07475167e+02] [ 1.24869937e-02 -1.95046919e-04 9.99922015e-01 7.07066903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.232755096 meters 0.019900838933346036 Centerline is valid? [True, True] Translation: X:46.74, Y:307.50, Z:7.07 [[-2.27174402e-01 -9.73849853e-01 2.87319161e-03 4.67441705e+01] [ 9.73761562e-01 -2.27192498e-01 -1.31144725e-02 3.07500303e+02] [ 1.34242947e-02 -1.81468899e-04 9.99909874e-01 7.06994835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.262755096 meters 0.020044604150177368 Centerline is valid? [True, True] Translation: X:46.74, Y:307.53, Z:7.07 [[-2.26833892e-01 -9.73929027e-01 2.93870002e-03 4.67389167e+01] [ 9.73837027e-01 -2.26852859e-01 -1.33875036e-02 3.07525261e+02] [ 1.37051308e-02 -1.74924648e-04 9.99906065e-01 7.06972418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2927550960001 meters 0.019894622391777698 Centerline is valid? [True, True] Translation: X:46.73, Y:307.55, Z:7.07 [[-2.26355801e-01 -9.74039637e-01 3.13636684e-03 4.67334493e+01] [ 9.73935259e-01 -2.26377463e-01 -1.42602961e-02 3.07551146e+02] [ 1.46000964e-02 -1.73282495e-04 9.99893398e-01 7.06978380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.322755096 meters 0.019692973731091468 Centerline is valid? [True, True] Translation: X:46.73, Y:307.58, Z:7.07 [[-2.26535801e-01 -9.73997661e-01 3.17608167e-03 4.67279497e+01] [ 9.73891008e-01 -2.26557999e-01 -1.44145170e-02 3.07576780e+02] [ 1.47592726e-02 -1.72246779e-04 9.99891061e-01 7.07042991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.352755096 meters 0.019490400251985483 Centerline is valid? [True, True] Translation: X:46.72, Y:307.60, Z:7.07 [[-2.27083557e-01 -9.73869992e-01 3.20893977e-03 4.67221561e+01] [ 9.73761512e-01 -2.27106160e-01 -1.45364865e-02 3.07602372e+02] [ 1.48854180e-02 -1.76255016e-04 9.99889191e-01 7.07141136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.382755096 meters 0.019532172995641 Centerline is valid? [True, True] Translation: X:46.72, Y:307.63, Z:7.07 [[-2.27675494e-01 -9.73731826e-01 3.19370668e-03 4.67168576e+01] [ 9.73624764e-01 -2.27697823e-01 -1.44402455e-02 3.07628629e+02] [ 1.47881267e-02 -1.78218116e-04 9.99890634e-01 7.07175899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.412755096 meters 0.01984200939364852 Centerline is valid? [True, True] Translation: X:46.71, Y:307.65, Z:7.07 [[-2.29121361e-01 -9.73392569e-01 3.21085855e-03 4.67136124e+01] [ 9.73284736e-01 -2.29143775e-01 -1.44897559e-02 3.07654269e+02] [ 1.48399690e-02 -1.94832987e-04 9.99889863e-01 7.07170535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.442755096 meters 0.02007080981504015 Centerline is valid? [True, True] Translation: X:46.71, Y:307.68, Z:7.07 [[-2.31126482e-01 -9.72918994e-01 3.02985165e-03 4.67108936e+01] [ 9.72823293e-01 -2.31146248e-01 -1.36474426e-02 3.07680639e+02] [ 1.39781950e-02 -2.06775148e-04 9.99902279e-01 7.07289790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.472755096 meters 0.02021779564863091 Centerline is valid? [True, True] Translation: X:46.71, Y:307.71, Z:7.07 [[-2.32784446e-01 -9.72523629e-01 3.03210796e-03 4.67070271e+01] [ 9.72428092e-01 -2.32804084e-01 -1.36331951e-02 3.07707701e+02] [ 1.39644915e-02 -2.25088811e-04 9.99902466e-01 7.07383056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.502755096 meters 0.021051951644195873 Centerline is valid? [True, True] Translation: X:46.70, Y:307.73, Z:7.07 [[-2.34333019e-01 -9.72152066e-01 2.89761298e-03 4.67044503e+01] [ 9.72065099e-01 -2.34350820e-01 -1.30052911e-02 3.07733574e+02] [ 1.33221786e-02 -2.30900682e-04 9.99911229e-01 7.07398305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.532755096 meters 0.02137804123205404 Centerline is valid? [True, True] Translation: X:46.70, Y:307.76, Z:7.08 [[-2.36528108e-01 -9.71620873e-01 2.70816034e-03 4.67014389e+01] [ 9.71545136e-01 -2.36543491e-01 -1.21336617e-02 3.07760364e+02] [ 1.24299166e-02 -2.38852038e-04 9.99922717e-01 7.07568875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.562755096 meters 0.021523687617687234 Centerline is valid? [True, True] Translation: X:46.70, Y:307.79, Z:7.08 [[-2.37791613e-01 -9.71312407e-01 2.71218748e-03 4.66966783e+01] [ 9.71236689e-01 -2.37806948e-01 -1.21305379e-02 3.07786429e+02] [ 1.24275190e-02 -2.50364188e-04 9.99922744e-01 7.07623520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.592755096 meters 0.021523687617687234 Centerline is valid? [True, True] Translation: X:46.69, Y:307.81, Z:7.08 [[-2.38175838e-01 -9.71218249e-01 2.71698713e-03 4.66907754e+01] [ 9.71142537e-01 -2.38191203e-01 -1.21294632e-02 3.07811685e+02] [ 1.24275185e-02 -2.50363300e-04 9.99922744e-01 7.07641750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.622755096 meters 0.022138947545637274 Centerline is valid? [True, True] Translation: X:46.69, Y:307.84, Z:7.08 [[-2.39804684e-01 -9.70817768e-01 2.56405120e-03 4.66882670e+01] [ 9.70750551e-01 -2.39818260e-01 -1.14267480e-02 3.07837921e+02] [ 1.17081963e-02 -2.51133576e-04 9.99931425e-01 7.07727719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.652755096 meters 0.022319084391930276 Centerline is valid? [True, True] Translation: X:46.68, Y:307.86, Z:7.08 [[-2.40535002e-01 -9.70637267e-01 2.49188542e-03 4.66837858e+01] [ 9.70573989e-01 -2.40547781e-01 -1.10858871e-02 3.07864252e+02] [ 1.13597927e-02 -2.47984707e-04 9.99935445e-01 7.07781846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.682755096 meters 0.02244188976898496 Centerline is valid? [True, True] Translation: X:46.68, Y:307.89, Z:7.08 [[-2.41038941e-01 -9.70512267e-01 2.48350862e-03 4.66806722e+01] [ 9.70449632e-01 -2.41051607e-01 -1.10287900e-02 3.07890857e+02] [ 1.13022297e-02 -2.48247827e-04 9.99936097e-01 7.07867668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.712755096 meters 0.022002416913494294 Centerline is valid? [True, True] Translation: X:46.67, Y:307.92, Z:7.08 [[-2.40852602e-01 -9.70558400e-01 2.53302605e-03 4.66747868e+01] [ 9.70493480e-01 -2.40865796e-01 -1.12282288e-02 3.07916148e+02] [ 1.15077711e-02 -2.46062859e-04 9.99933753e-01 7.07853907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.742755096 meters 0.021532356080824454 Centerline is valid? [True, True] Translation: X:46.67, Y:307.94, Z:7.08 [[-2.39382473e-01 -9.70921461e-01 2.74752729e-03 4.66698592e+01] [ 9.70845366e-01 -2.39398117e-01 -1.21579857e-02 3.07942581e+02] [ 1.24622021e-02 -2.42984546e-04 9.99922314e-01 7.07760492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.772755096 meters 0.021094195043647297 Centerline is valid? [True, True] Translation: X:46.66, Y:307.97, Z:7.08 [[-2.38109453e-01 -9.71234050e-01 2.88256692e-03 4.66642902e+01] [ 9.71150592e-01 -2.38126787e-01 -1.27342184e-02 3.07967016e+02] [ 1.30543229e-02 -2.32731203e-04 9.99914762e-01 7.07748759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.802755096 meters 0.020401101857007043 Centerline is valid? [True, True] Translation: X:46.66, Y:307.99, Z:7.08 [[-2.36681192e-01 -9.71582927e-01 2.93740437e-03 4.66577813e+01] [ 9.71496610e-01 -2.36699325e-01 -1.29524618e-02 3.07992288e+02] [ 1.32796724e-02 -2.11925712e-04 9.99911799e-01 7.07780183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.832755096 meters 0.01907218295595897 Centerline is valid? [True, True] Translation: X:46.65, Y:308.02, Z:7.08 [[-2.32780537e-01 -9.72524890e-01 2.92560251e-03 4.66496486e+01] [ 9.72439621e-01 -2.32798871e-01 -1.28790357e-02 3.08018822e+02] [ 1.32062597e-02 -1.53017048e-04 9.99912782e-01 7.07736639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.862755096 meters 0.018866510249434264 Centerline is valid? [True, True] Translation: X:46.64, Y:308.04, Z:7.08 [[-2.31094851e-01 -9.72926678e-01 2.97470152e-03 4.66438997e+01] [ 9.72838846e-01 -2.31113961e-01 -1.30734839e-02 3.08044123e+02] [ 1.34070363e-02 -1.27309615e-04 9.99910114e-01 7.07701359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.892755096 meters 0.018478173340497974 Centerline is valid? [True, True] Translation: X:46.64, Y:308.07, Z:7.08 [[-2.29767980e-01 -9.73240940e-01 2.95768784e-03 4.66378441e+01] [ 9.73154438e-01 -2.29786992e-01 -1.29760902e-02 3.08070274e+02] [ 1.33085004e-02 -1.03202988e-04 9.99911433e-01 7.07701633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9227550960001 meters 0.018029755040837793 Centerline is valid? [True, True] Translation: X:46.63, Y:308.10, Z:7.08 [[-2.28531132e-01 -9.73532135e-01 2.95017245e-03 4.66333253e+01] [ 9.73446395e-01 -2.28550159e-01 -1.29205630e-02 3.08096499e+02] [ 1.32528456e-02 -8.09161479e-05 9.99912174e-01 7.07824998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.952755096 meters 0.01804019892288642 Centerline is valid? [True, True] Translation: X:46.63, Y:308.12, Z:7.08 [[-2.28875435e-01 -9.73451084e-01 3.00370772e-03 4.66293305e+01] [ 9.73362485e-01 -2.28895130e-01 -1.31336752e-02 3.08121384e+02] [ 1.34725244e-02 -8.22792113e-05 9.99909238e-01 7.07844301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.982755096 meters 0.017964648469889592 Centerline is valid? [True, True] Translation: X:46.63, Y:308.15, Z:7.08 [[-2.30533538e-01 -9.73060566e-01 2.72459436e-03 4.66272302e+01] [ 9.72987859e-01 -2.30549620e-01 -1.18953514e-02 3.08148323e+02] [ 1.22030515e-02 -9.12802118e-05 9.99925536e-01 7.08028434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.012755096 meters 0.018156871734580294 Centerline is valid? [True, True] Translation: X:46.62, Y:308.17, Z:7.08 [[-2.32007019e-01 -9.72710861e-01 2.51487376e-03 4.66234110e+01] [ 9.72649108e-01 -2.32020628e-01 -1.09608784e-02 3.08174495e+02] [ 1.12452680e-02 -9.69109922e-05 9.99936765e-01 7.08111348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0427550960001 meters 0.01861829562240726 Centerline is valid? [True, True] Translation: X:46.62, Y:308.20, Z:7.08 [[-2.35173962e-01 -9.71950958e-01 2.13162883e-03 4.66224177e+01] [ 9.71906699e-01 -2.35183597e-01 -9.27595383e-03 3.08201257e+02] [ 9.51709634e-03 -1.09718477e-04 9.99954705e-01 7.08292212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.072755096 meters 0.018589087533655856 Centerline is valid? [True, True] Translation: X:46.62, Y:308.23, Z:7.08 [[-2.36834417e-01 -9.71547911e-01 2.02887794e-03 4.66174658e+01] [ 9.71507931e-01 -2.36843079e-01 -8.81450770e-03 3.08228214e+02] [ 9.04424223e-03 -1.16507782e-04 9.99959093e-01 7.08384591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.102755096 meters 0.018884601420393027 Centerline is valid? [True, True] Translation: X:46.61, Y:308.25, Z:7.08 [[-2.37981808e-01 -9.71267650e-01 1.95240348e-03 4.66138013e+01] [ 9.71230732e-01 -2.37989787e-01 -8.46920364e-03 3.08254119e+02] [ 8.69051560e-03 -1.19282132e-04 9.99962230e-01 7.08415041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.132755096 meters 0.019389183904151515 Centerline is valid? [True, True] Translation: X:46.61, Y:308.28, Z:7.08 [[-2.39906971e-01 -9.70793876e-01 1.97389125e-03 4.66117302e+01] [ 9.70756226e-01 -2.39915053e-01 -8.55090994e-03 3.08280083e+02] [ 8.77473722e-03 -1.35255682e-04 9.99961492e-01 7.08375929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.162755096 meters 0.01955489495446813 Centerline is valid? [True, True] Translation: X:46.61, Y:308.31, Z:7.08 [[-2.39312794e-01 -9.70940763e-01 1.84958223e-03 4.66059673e+01] [ 9.70907809e-01 -2.39319912e-01 -8.00034867e-03 3.08305071e+02] [ 8.21050650e-03 -1.18811962e-04 9.99966286e-01 7.08440786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.192755096 meters 0.018316847822771074 Centerline is valid? [True, True] Translation: X:46.60, Y:308.33, Z:7.08 [[-2.36314739e-01 -9.71674783e-01 1.86035683e-03 4.65952609e+01] [ 9.71641587e-01 -2.36322045e-01 -8.03223285e-03 3.08330411e+02] [ 8.24436144e-03 -9.05349504e-05 9.99966011e-01 7.08441672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.222755096 meters 0.017868438667900978 Centerline is valid? [True, True] Translation: X:46.59, Y:308.36, Z:7.08 [[-2.35340611e-01 -9.71911107e-01 1.89670956e-03 4.65863326e+01] [ 9.71876720e-01 -2.35348241e-01 -8.17593653e-03 3.08356265e+02] [ 8.39267078e-03 -8.07620376e-05 9.99964778e-01 7.08413803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.252755096 meters 0.017861918863244942 Centerline is valid? [True, True] Translation: X:46.58, Y:308.38, Z:7.08 [[-2.34573240e-01 -9.72096432e-01 1.98042838e-03 4.65794428e+01] [ 9.72059081e-01 -2.34581588e-01 -8.52184937e-03 3.08380600e+02] [ 8.74863140e-03 -7.39044336e-05 9.99961727e-01 7.08329311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.282755096 meters 0.017560178728305748 Centerline is valid? [True, True] Translation: X:46.57, Y:308.41, Z:7.08 [[-2.34296667e-01 -9.72162867e-01 2.10525524e-03 4.65710657e+01] [ 9.72120826e-01 -2.34306114e-01 -9.04127973e-03 3.08405692e+02] [ 9.28287060e-03 -7.17792419e-05 9.99956911e-01 7.08240189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.312755096 meters 0.017456631634979805 Centerline is valid? [True, True] Translation: X:46.56, Y:308.43, Z:7.08 [[-2.35074519e-01 -9.71974659e-01 2.28777740e-03 4.65645267e+01] [ 9.71925188e-01 -2.35085637e-01 -9.80679548e-03 3.08431225e+02] [ 1.00697803e-02 -8.17792474e-05 9.99949295e-01 7.08189746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.342755096 meters 0.017811572046354848 Centerline is valid? [True, True] Translation: X:46.56, Y:308.46, Z:7.08 [[-2.37301928e-01 -9.71433327e-01 2.25534331e-03 4.65592849e+01] [ 9.71385397e-01 -2.37312624e-01 -9.65037591e-03 3.08456676e+02] [ 9.90991822e-03 -9.92452489e-05 9.99950891e-01 7.08145018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.372755096 meters 0.01808280560239092 Centerline is valid? [True, True] Translation: X:46.55, Y:308.48, Z:7.08 [[-2.38906122e-01 -9.71039909e-01 2.31526804e-03 4.65535806e+01] [ 9.70989571e-01 -2.38917313e-01 -9.88794798e-03 3.08481166e+02] [ 1.01547497e-02 -1.14190184e-04 9.99948433e-01 7.08119916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.402755096 meters 0.018619903692412607 Centerline is valid? [True, True] Translation: X:46.55, Y:308.51, Z:7.08 [[-2.40767735e-01 -9.70580151e-01 2.25114694e-03 4.65482102e+01] [ 9.70532714e-01 -2.40778226e-01 -9.59669375e-03 3.08505893e+02] [ 9.85638764e-03 -1.25762470e-04 9.99951417e-01 7.08113115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.432755096 meters 0.019218929879386365 Centerline is valid? [True, True] Translation: X:46.54, Y:308.53, Z:7.08 [[-2.44216834e-01 -9.69718290e-01 2.13915109e-03 4.65424454e+01] [ 9.69675568e-01 -2.44226157e-01 -9.10369616e-03 3.08532349e+02] [ 9.35045733e-03 -1.48993308e-04 9.99956272e-01 7.08096903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.462755096 meters 0.020653616589335566 Centerline is valid? [True, True] Translation: X:46.54, Y:308.56, Z:7.08 [[-2.46227140e-01 -9.69209873e-01 2.10204385e-03 4.65384469e+01] [ 9.69168732e-01 -2.46236059e-01 -8.93154124e-03 3.08558725e+02] [ 9.17413694e-03 -1.61952688e-04 9.99957904e-01 7.08053021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.492755096 meters 0.0215645241481519 Centerline is valid? [True, True] Translation: X:46.53, Y:308.58, Z:7.08 [[-2.49616622e-01 -9.68342218e-01 2.21138352e-03 4.65317553e+01] [ 9.68296805e-01 -2.49626337e-01 -9.38024088e-03 3.08584926e+02] [ 9.63530283e-03 -2.00188450e-04 9.99953559e-01 7.08039187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.522755096 meters 0.020949162230645798 Centerline is valid? [True, True] Translation: X:46.52, Y:308.61, Z:7.08 [[-2.51226256e-01 -9.67925757e-01 2.25781484e-03 4.65237580e+01] [ 9.67878547e-01 -2.51236308e-01 -9.56220462e-03 3.08611101e+02] [ 9.82274921e-03 -2.16986320e-04 9.99951732e-01 7.08048438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.552755096 meters 0.021781990360435093 Centerline is valid? [True, True] Translation: X:46.52, Y:308.64, Z:7.08 [[-2.53278473e-01 -9.67390853e-01 2.22555983e-03 4.65182288e+01] [ 9.67345108e-01 -2.53288146e-01 -9.41045214e-03 3.08636824e+02] [ 9.66729324e-03 -2.30580532e-04 9.99953244e-01 7.08009163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.582755096 meters 0.02365981527707792 Centerline is valid? [True, True] Translation: X:46.51, Y:308.66, Z:7.08 [[-2.54817372e-01 -9.66986316e-01 2.36064088e-03 4.65145359e+01] [ 9.66935010e-01 -2.54828177e-01 -9.96426404e-03 3.08662938e+02] [ 1.02368648e-02 -2.56481261e-04 9.99947569e-01 7.07955451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.612755096 meters 0.02414438985553208 Centerline is valid? [True, True] Translation: X:46.51, Y:308.69, Z:7.08 [[-2.57072160e-01 -9.66389106e-01 2.44954208e-03 4.65082248e+01] [ 9.66334017e-01 -2.57083670e-01 -1.03224832e-02 3.08689200e+02] [ 1.06052725e-02 -2.86547196e-04 9.99943721e-01 7.07933039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.642755096 meters 0.024336606987866712 Centerline is valid? [True, True] Translation: X:46.50, Y:308.71, Z:7.08 [[-2.58213259e-01 -9.66085102e-01 2.34268799e-03 4.65019675e+01] [ 9.66034854e-01 -2.58223732e-01 -9.85722370e-03 3.08714556e+02] [ 1.01278546e-02 -2.82147607e-04 9.99948672e-01 7.07966151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6727550960001 meters 0.025067930021665314 Centerline is valid? [True, True] Translation: X:46.50, Y:308.74, Z:7.08 [[-2.59181276e-01 -9.65825550e-01 2.46452325e-03 4.64956113e+01] [ 9.65770116e-01 -2.59192816e-01 -1.03521318e-02 3.08740430e+02] [ 1.06371401e-02 -3.02915830e-04 9.99943378e-01 7.07969883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.702755096 meters 0.02459975699383131 Centerline is valid? [True, True] Translation: X:46.49, Y:308.77, Z:7.08 [[-2.59777376e-01 -9.65665202e-01 2.53644694e-03 4.64876211e+01] [ 9.65606670e-01 -2.59789569e-01 -1.06366697e-02 3.08765266e+02] [ 1.09304042e-02 -3.13956059e-04 9.99940212e-01 7.07928514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.732755096 meters 0.02485086142690888 Centerline is valid? [True, True] Translation: X:46.48, Y:308.79, Z:7.08 [[-2.60004325e-01 -9.65604174e-01 2.51604185e-03 4.64811865e+01] [ 9.65546771e-01 -2.60016314e-01 -1.05332159e-02 3.08789633e+02] [ 1.08251291e-02 -3.09325595e-04 9.99941359e-01 7.07919249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.762755096 meters 0.023988538900968918 Centerline is valid? [True, True] Translation: X:46.47, Y:308.81, Z:7.08 [[-2.59551253e-01 -9.65726255e-01 2.43878486e-03 4.64731513e+01] [ 9.65672509e-01 -2.59562548e-01 -1.01925599e-02 3.08814974e+02] [ 1.04762399e-02 -2.90424208e-04 9.99945081e-01 7.07995544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7927550960001 meters 0.024041874470428926 Centerline is valid? [True, True] Translation: X:46.47, Y:308.84, Z:7.08 [[-2.58843567e-01 -9.65916289e-01 2.39400520e-03 4.64673563e+01] [ 9.65864666e-01 -2.58854493e-01 -9.98993910e-03 3.08839420e+02] [ 1.02691439e-02 -2.73546440e-04 9.99947234e-01 7.08056421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.822755096 meters 0.023288836603236565 Centerline is valid? [True, True] Translation: X:46.46, Y:308.86, Z:7.08 [[-2.56853451e-01 -9.66447484e-01 2.35899333e-03 4.64602134e+01] [ 9.66397525e-01 -2.56864166e-01 -9.82976659e-03 3.08863950e+02] [ 1.01058941e-02 -2.45084156e-04 9.99948904e-01 7.08084162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.852755096 meters 0.021532238198319325 Centerline is valid? [True, True] Translation: X:46.45, Y:308.89, Z:7.08 [[-2.56145073e-01 -9.66635672e-01 2.27599203e-03 4.64515570e+01] [ 9.66589326e-01 -2.56155086e-01 -9.46819322e-03 3.08888784e+02] [ 9.73530025e-03 -2.25281445e-04 9.99952586e-01 7.08167147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.882755096 meters 0.02182343373612071 Centerline is valid? [True, True] Translation: X:46.45, Y:308.91, Z:7.08 [[-2.55192147e-01 -9.66887721e-01 2.25897516e-03 4.64464613e+01] [ 9.66842230e-01 -2.55202059e-01 -9.38147818e-03 3.08913929e+02] [ 9.64733117e-03 -2.10006981e-04 9.99953441e-01 7.08186452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.912755096 meters 0.020410340935341317 Centerline is valid? [True, True] Translation: X:46.44, Y:308.94, Z:7.08 [[-2.53270705e-01 -9.67392982e-01 2.18372064e-03 4.64381358e+01] [ 9.67350628e-01 -2.53280054e-01 -9.05407605e-03 3.08939862e+02] [ 9.31194251e-03 -1.80708691e-04 9.99956627e-01 7.08271452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.942755096 meters 0.01994432409087421 Centerline is valid? [True, True] Translation: X:46.43, Y:308.97, Z:7.08 [[-2.52791200e-01 -9.67518521e-01 2.12626542e-03 4.64313403e+01] [ 9.67478489e-01 -2.52800086e-01 -8.80287295e-03 3.08965167e+02] [ 9.05446270e-03 -1.68172757e-04 9.99958993e-01 7.08297084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.972755096 meters 0.01834469735665907 Centerline is valid? [True, True] Translation: X:46.42, Y:308.99, Z:7.08 [[-2.51097213e-01 -9.67959460e-01 2.16182250e-03 4.64226903e+01] [ 9.67918228e-01 -2.51106473e-01 -8.93548160e-03 3.08991373e+02] [ 9.19203157e-03 -1.51207117e-04 9.99957741e-01 7.08331325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.002755096 meters 0.018764058553168695 Centerline is valid? [True, True] Translation: X:46.42, Y:309.02, Z:7.08 [[-2.50294410e-01 -9.68167097e-01 2.27599971e-03 4.64179804e+01] [ 9.68121554e-01 -2.50304714e-01 -9.39187984e-03 3.09016886e+02] [ 9.66260250e-03 -1.47290643e-04 9.99953305e-01 7.08327741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.032755096 meters 0.018228419103710116 Centerline is valid? [True, True] Translation: X:46.41, Y:309.04, Z:7.08 [[-2.49297857e-01 -9.68424075e-01 2.32138540e-03 4.64101509e+01] [ 9.68376869e-01 -2.49308628e-01 -9.56283666e-03 3.09042410e+02] [ 9.83962266e-03 -1.36018757e-04 9.99951581e-01 7.08365702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.062755096 meters 0.017707417034522107 Centerline is valid? [True, True] Translation: X:46.40, Y:309.07, Z:7.08 [[-2.47601291e-01 -9.68858921e-01 2.44777518e-03 4.64024994e+01] [ 9.68806633e-01 -2.47613360e-01 -1.00663691e-02 3.09066640e+02] [ 1.03589934e-02 -1.21025166e-04 9.99946337e-01 7.08315317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.092755096 meters 0.017393446576250214 Centerline is valid? [True, True] Translation: X:46.40, Y:309.09, Z:7.08 [[-2.47287199e-01 -9.68939011e-01 2.49676851e-03 4.63954967e+01] [ 9.68884800e-01 -2.47299776e-01 -1.02501782e-02 3.09091489e+02] [ 1.05492478e-02 -1.15656794e-04 9.99944348e-01 7.08329100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.122755096 meters 0.016913876210089603 Centerline is valid? [True, True] Translation: X:46.39, Y:309.12, Z:7.08 [[-2.46544248e-01 -9.69127914e-01 2.64965591e-03 4.63871391e+01] [ 9.69067083e-01 -2.46558462e-01 -1.08588419e-02 3.09117050e+02] [ 1.11769019e-02 -1.09490694e-04 9.99937531e-01 7.08262829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.152755096 meters 0.01651740514398016 Centerline is valid? [True, True] Translation: X:46.38, Y:309.14, Z:7.08 [[-2.46732321e-01 -9.69079491e-01 2.84622810e-03 4.63788548e+01] [ 9.69009535e-01 -2.46748711e-01 -1.16445662e-02 3.09142156e+02] [ 1.19868134e-02 -1.15068696e-04 9.99928149e-01 7.08247194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.182755096 meters 0.01664018704117636 Centerline is valid? [True, True] Translation: X:46.37, Y:309.17, Z:7.08 [[-2.47079533e-01 -9.68990571e-01 2.99622632e-03 4.63726738e+01] [ 9.68913285e-01 -2.47097669e-01 -1.22387678e-02 3.09167117e+02] [ 1.25996112e-02 -1.20865549e-04 9.99920614e-01 7.08173946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.212755096 meters 0.01676997628425339 Centerline is valid? [True, True] Translation: X:46.37, Y:309.19, Z:7.08 [[-2.48248149e-01 -9.68691170e-01 3.20524159e-03 4.63653518e+01] [ 9.68602975e-01 -2.48268800e-01 -1.30721317e-02 3.09192864e+02] [ 1.34586200e-02 -1.40525956e-04 9.99909419e-01 7.08121196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.242755096 meters 0.017059811904912733 Centerline is valid? [True, True] Translation: X:46.36, Y:309.22, Z:7.08 [[-2.49460993e-01 -9.68379361e-01 3.25988171e-03 4.63589502e+01] [ 9.68288415e-01 -2.49482244e-01 -1.32723539e-02 3.09219001e+02] [ 1.36659561e-02 -1.54428886e-04 9.99906605e-01 7.08098354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.272755096 meters 0.01720528678444506 Centerline is valid? [True, True] Translation: X:46.35, Y:309.24, Z:7.08 [[-2.50780160e-01 -9.68038141e-01 3.38674176e-03 4.63525161e+01] [ 9.67940284e-01 -2.50802967e-01 -1.37651437e-02 3.09244827e+02] [ 1.41745890e-02 -1.73861162e-04 9.99899520e-01 7.08085543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.302755096 meters 0.01776671477053629 Centerline is valid? [True, True] Translation: X:46.35, Y:309.27, Z:7.08 [[-2.52311513e-01 -9.67639624e-01 3.52965851e-03 4.63469368e+01] [ 9.67533604e-01 -2.52336122e-01 -1.43250769e-02 3.09270838e+02] [ 1.47521724e-02 -1.99318612e-04 9.99891161e-01 7.08076009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.332755096 meters 0.017787276794398846 Centerline is valid? [True, True] Translation: X:46.34, Y:309.30, Z:7.08 [[-2.53409046e-01 -9.67352684e-01 3.55538551e-03 4.63401226e+01] [ 9.67245396e-01 -2.53433898e-01 -1.44084574e-02 3.09296729e+02] [ 1.48391151e-02 -2.12303173e-04 9.99889872e-01 7.08108447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.362755096 meters 0.017975203592270967 Centerline is valid? [True, True] Translation: X:46.33, Y:309.32, Z:7.08 [[-2.54527062e-01 -9.67058922e-01 3.60778717e-03 4.63336657e+01] [ 9.66948777e-01 -2.54552529e-01 -1.45970248e-02 3.09323276e+02] [ 1.50345544e-02 -2.26792445e-04 9.99886949e-01 7.08113502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.392755096 meters 0.018147461246415458 Centerline is valid? [True, True] Translation: X:46.33, Y:309.35, Z:7.08 [[-2.55362667e-01 -9.66838798e-01 3.55640028e-03 4.63273828e+01] [ 9.66732090e-01 -2.55387326e-01 -1.43659349e-02 3.09349043e+02] [ 1.47978027e-02 -2.30437162e-04 9.99890480e-01 7.08161111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4227550960001 meters 0.018069035442711264 Centerline is valid? [True, True] Translation: X:46.32, Y:309.37, Z:7.08 [[-2.55907401e-01 -9.66694629e-01 3.59103765e-03 4.63204372e+01] [ 9.66586171e-01 -2.55932488e-01 -1.44822840e-02 3.09374977e+02] [ 1.49190094e-02 -2.35076336e-04 9.99888678e-01 7.08181805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.452755096 meters 0.01833227840553949 Centerline is valid? [True, True] Translation: X:46.31, Y:309.40, Z:7.08 [[-2.57052694e-01 -9.66391081e-01 3.49158328e-03 4.63140915e+01] [ 9.66288830e-01 -2.57076294e-01 -1.40597471e-02 3.09401609e+02] [ 1.44848175e-02 -2.40217956e-04 9.99895061e-01 7.08281259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.482755096 meters 0.01833227840553949 Centerline is valid? [True, True] Translation: X:46.31, Y:309.43, Z:7.08 [[-2.57401502e-01 -9.66298215e-01 3.49666148e-03 4.63074428e+01] [ 9.66195972e-01 -2.57425139e-01 -1.40584846e-02 3.09427534e+02] [ 1.44848171e-02 -2.40214808e-04 9.99895061e-01 7.08300078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.512755096 meters 0.019003009042316155 Centerline is valid? [True, True] Translation: X:46.30, Y:309.45, Z:7.08 [[-2.58010892e-01 -9.66135616e-01 3.51443418e-03 4.63024791e+01] [ 9.66032641e-01 -2.58034711e-01 -1.41076404e-02 3.09453141e+02] [ 1.45367398e-02 -2.44866754e-04 9.99894306e-01 7.08310417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5427550960001 meters 0.018638684533017452 Centerline is valid? [True, True] Translation: X:46.30, Y:309.48, Z:7.08 [[-2.58717249e-01 -9.65946827e-01 3.48037624e-03 4.62952546e+01] [ 9.65846152e-01 -2.58740540e-01 -1.39479126e-02 3.09478973e+02] [ 1.43734564e-02 -2.47057574e-04 9.99896666e-01 7.08428083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.572755096 meters 0.018639519361965264 Centerline is valid? [True, True] Translation: X:46.29, Y:309.50, Z:7.09 [[-2.59034140e-01 -9.65862107e-01 3.42131690e-03 4.62890337e+01] [ 9.65765138e-01 -2.59056621e-01 -1.36881790e-02 3.09504577e+02] [ 1.41072082e-02 -2.41517094e-04 9.99900459e-01 7.08574958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.602755096 meters 0.018384942248389782 Centerline is valid? [True, True] Translation: X:46.28, Y:309.53, Z:7.09 [[-2.59321573e-01 -9.65785023e-01 3.40738722e-03 4.62816098e+01] [ 9.65689145e-01 -2.59343848e-01 -1.36104661e-02 3.09531135e+02] [ 1.40284692e-02 -2.39010634e-04 9.99901568e-01 7.08650412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.632755096 meters 0.018568101265153045 Centerline is valid? [True, True] Translation: X:46.28, Y:309.56, Z:7.09 [[-2.59653375e-01 -9.65695820e-01 3.42168593e-03 4.62756054e+01] [ 9.65599406e-01 -2.59675809e-01 -1.36477421e-02 3.09555637e+02] [ 1.40680966e-02 -2.39704401e-04 9.99901011e-01 7.08678646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.662755096 meters 0.018732083159177203 Centerline is valid? [True, True] Translation: X:46.27, Y:309.58, Z:7.09 [[-2.60476441e-01 -9.65473622e-01 3.56501437e-03 4.62691210e+01] [ 9.65369263e-01 -2.60500710e-01 -1.41973810e-02 3.09581277e+02] [ 1.46358857e-02 -2.56527992e-04 9.99892857e-01 7.08684379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.692755096 meters 0.018932280356129687 Centerline is valid? [True, True] Translation: X:46.26, Y:309.61, Z:7.09 [[-2.61119182e-01 -9.65299539e-01 3.68424140e-03 4.62629727e+01] [ 9.65188442e-01 -2.61145034e-01 -1.46473127e-02 3.09606766e+02] [ 1.51011655e-02 -2.68707100e-04 9.99885935e-01 7.08655073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.722755096 meters 0.019375454902852342 Centerline is valid? [True, True] Translation: X:46.26, Y:309.63, Z:7.09 [[-2.62582027e-01 -9.64902553e-01 3.70697112e-03 4.62574167e+01] [ 9.64790413e-01 -2.62608036e-01 -1.47132070e-02 3.09632833e+02] [ 1.51702914e-02 -2.86973524e-04 9.99884883e-01 7.08674900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.752755096 meters 0.019981037933310197 Centerline is valid? [True, True] Translation: X:46.25, Y:309.66, Z:7.09 [[-2.63833522e-01 -9.64561013e-01 3.73152761e-03 4.62520218e+01] [ 9.64447698e-01 -2.63859736e-01 -1.47877665e-02 3.09658023e+02] [ 1.52483030e-02 -3.02645318e-04 9.99883692e-01 7.08692315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.782755096 meters 0.02026332630265747 Centerline is valid? [True, True] Translation: X:46.25, Y:309.68, Z:7.09 [[-2.65088937e-01 -9.64217183e-01 3.61647697e-03 4.62458900e+01] [ 9.64111037e-01 -2.65113427e-01 -1.43100752e-02 3.09683629e+02] [ 1.47567970e-02 -3.06757264e-04 9.99891066e-01 7.08756780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.812755096 meters 0.02115311774861118 Centerline is valid? [True, True] Translation: X:46.24, Y:309.71, Z:7.09 [[-2.67083343e-01 -9.63666971e-01 3.52949359e-03 4.62397201e+01] [ 9.63566126e-01 -2.67106467e-01 -1.39447557e-02 3.09710021e+02] [ 1.43808510e-02 -3.23511495e-04 9.99896538e-01 7.08808469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.842755096 meters 0.0212245761013532 Centerline is valid? [True, True] Translation: X:46.23, Y:309.74, Z:7.09 [[-2.67972216e-01 -9.63420427e-01 3.46015769e-03 4.62329864e+01] [ 9.63323777e-01 -2.67994357e-01 -1.36501042e-02 3.09735618e+02] [ 1.40780919e-02 -3.24596482e-04 9.99900846e-01 7.08865441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.872755096 meters 0.021277541697845022 Centerline is valid? [True, True] Translation: X:46.23, Y:309.76, Z:7.09 [[-2.68606150e-01 -9.63244228e-01 3.36060720e-03 4.62266858e+01] [ 9.63153333e-01 -2.68626984e-01 -1.32363525e-02 3.09761507e+02] [ 1.36525899e-02 -3.18585671e-04 9.99906748e-01 7.08911309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.902755096 meters 0.021431530848221116 Centerline is valid? [True, True] Translation: X:46.22, Y:309.79, Z:7.09 [[-2.69069814e-01 -9.63114117e-01 3.55422254e-03 4.62199178e+01] [ 9.63012769e-01 -2.69093075e-01 -1.39758404e-02 3.09787110e+02] [ 1.44167458e-02 -3.37715077e-04 9.99896016e-01 7.08885827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.932755096 meters 0.02184965984219027 Centerline is valid? [True, True] Translation: X:46.21, Y:309.81, Z:7.09 [[-2.69276419e-01 -9.63055161e-01 3.86870738e-03 4.62130523e+01] [ 9.62935483e-01 -2.69303963e-01 -1.51865786e-02 3.09812096e+02] [ 1.56673711e-02 -3.64071898e-04 9.99877193e-01 7.08710576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.962755096 meters 0.02180566085599541 Centerline is valid? [True, True] Translation: X:46.21, Y:309.84, Z:7.09 [[-2.69600861e-01 -9.62963940e-01 3.97825576e-03 4.62056904e+01] [ 9.62837788e-01 -2.69629953e-01 -1.55911273e-02 3.09837803e+02] [ 1.60863503e-02 -3.72966358e-04 9.99870537e-01 7.08662029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.992755096 meters 0.021918022966317258 Centerline is valid? [True, True] Translation: X:46.20, Y:309.86, Z:7.09 [[-2.69939655e-01 -9.62868803e-01 4.03124569e-03 4.61983283e+01] [ 9.62739661e-01 -2.69969491e-01 -1.57739736e-02 3.09863646e+02] [ 1.62765804e-02 -3.76980869e-04 9.99867457e-01 7.08622447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.022755096 meters 0.0220667269602114 Centerline is valid? [True, True] Translation: X:46.19, Y:309.89, Z:7.09 [[-2.69805353e-01 -9.62906439e-01 4.03259038e-03 4.61912019e+01] [ 9.62777624e-01 -2.69835236e-01 -1.57541073e-02 3.09888307e+02] [ 1.62578664e-02 -3.68054695e-04 9.99867764e-01 7.08575795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.052755096 meters 0.021692695614198055 Centerline is valid? [True, True] Translation: X:46.18, Y:309.91, Z:7.09 [[-2.68845987e-01 -9.63173836e-01 4.24236606e-03 4.61830873e+01] [ 9.63031704e-01 -2.68879211e-01 -1.65501473e-02 3.09912795e+02] [ 1.70813529e-02 -3.63907660e-04 9.99854037e-01 7.08514288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.082755096 meters 0.021317679342236984 Centerline is valid? [True, True] Translation: X:46.18, Y:309.94, Z:7.09 [[-2.68586730e-01 -9.63246462e-01 4.17402575e-03 4.61759448e+01] [ 9.63109283e-01 -2.68618937e-01 -1.62596594e-02 3.09936993e+02] [ 1.67832817e-02 -3.47085799e-04 9.99859091e-01 7.08553954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.112755096 meters 0.020995353202411842 Centerline is valid? [True, True] Translation: X:46.17, Y:309.96, Z:7.09 [[-2.68233135e-01 -9.63345495e-01 4.05488931e-03 4.61687877e+01] [ 9.63216467e-01 -2.68263586e-01 -1.57697510e-02 3.09961896e+02] [ 1.62794978e-02 -3.24233600e-04 9.99867428e-01 7.08667088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.142755096 meters 0.02035518368819892 Centerline is valid? [True, True] Translation: X:46.16, Y:309.99, Z:7.09 [[-2.67020314e-01 -9.63682732e-01 3.96787301e-03 4.61610212e+01] [ 9.63559615e-01 -2.67049635e-01 -1.54064962e-02 3.09985508e+02] [ 1.59065934e-02 -2.90565254e-04 9.99873440e-01 7.08757080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1727550960001 meters 0.020064669276679208 Centerline is valid? [True, True] Translation: X:46.15, Y:310.01, Z:7.09 [[-2.66751341e-01 -9.63757169e-01 3.98011345e-03 4.61535839e+01] [ 9.63633699e-01 -2.66780885e-01 -1.54290090e-02 3.10010339e+02] [ 1.59316363e-02 -2.80337402e-04 9.99873044e-01 7.08741969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.202755096 meters 0.019874474469213428 Centerline is valid? [True, True] Translation: X:46.15, Y:310.03, Z:7.09 [[-2.66391894e-01 -9.63856262e-01 4.05760465e-03 4.61466706e+01] [ 9.63728365e-01 -2.66422655e-01 -1.57037640e-02 3.10034740e+02] [ 1.62172091e-02 -2.72926756e-04 9.99868455e-01 7.08737629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.232755096 meters 0.01789732832358175 Centerline is valid? [True, True] Translation: X:46.14, Y:310.06, Z:7.09 [[-2.66289973e-01 -9.63884669e-01 3.99945125e-03 4.61360905e+01] [ 9.63760813e-01 -2.66319878e-01 -1.54537597e-02 3.10059570e+02] [ 1.59607754e-02 -2.60666868e-04 9.99872585e-01 7.08931650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.262755096 meters 0.019959709997029035 Centerline is valid? [True, True] Translation: X:46.13, Y:310.08, Z:7.09 [[-2.66790164e-01 -9.63746451e-01 3.97329468e-03 4.61329925e+01] [ 9.63624598e-01 -2.66819623e-01 -1.53271979e-02 3.10084916e+02] [ 1.58316855e-02 -2.60381148e-04 9.99874637e-01 7.08752748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2927550960001 meters 0.017957055959306314 Centerline is valid? [True, True] Translation: X:46.12, Y:310.11, Z:7.09 [[-2.66972112e-01 -9.63696443e-01 3.88049276e-03 4.61227954e+01] [ 9.63580588e-01 -2.67000195e-01 -1.49447980e-02 3.10109156e+02] [ 1.54383410e-02 -2.50676789e-04 9.99880790e-01 7.09014892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.322755096 meters 0.01782646630311873 Centerline is valid? [True, True] Translation: X:46.12, Y:310.13, Z:7.09 [[-2.67169698e-01 -9.63642176e-01 3.75633684e-03 4.61160044e+01] [ 9.63533953e-01 -2.67195996e-01 -1.44437427e-02 3.10134765e+02] [ 1.49222778e-02 -2.39572299e-04 9.99888628e-01 7.09070569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.352755096 meters 0.01781553361812688 Centerline is valid? [True, True] Translation: X:46.11, Y:310.16, Z:7.09 [[-2.67147057e-01 -9.63648454e-01 3.75589730e-03 4.61091630e+01] [ 9.63540601e-01 -2.67173357e-01 -1.44190232e-02 3.10160090e+02] [ 1.48983451e-02 -2.33040091e-04 9.99888986e-01 7.09128845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.382755096 meters 0.01774037216486442 Centerline is valid? [True, True] Translation: X:46.10, Y:310.19, Z:7.09 [[-2.67075188e-01 -9.63668360e-01 3.75981738e-03 4.61020371e+01] [ 9.63560623e-01 -2.67101556e-01 -1.44112679e-02 3.10185167e+02] [ 1.48919360e-02 -2.26080107e-04 9.99889083e-01 7.09153555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.412755096 meters 0.017487277878483382 Centerline is valid? [True, True] Translation: X:46.09, Y:310.21, Z:7.09 [[-2.66284940e-01 -9.63886981e-01 3.77086590e-03 4.60940887e+01] [ 9.63778978e-01 -2.66311557e-01 -1.44303689e-02 3.10209624e+02] [ 1.49134698e-02 -2.08308619e-04 9.99888766e-01 7.09177224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.442755096 meters 0.017017073508057562 Centerline is valid? [True, True] Translation: X:46.09, Y:310.24, Z:7.09 [[-2.65457913e-01 -9.64115336e-01 3.70345817e-03 4.60862649e+01] [ 9.64011510e-01 -2.65483681e-01 -1.41500451e-02 3.10235187e+02] [ 1.46254832e-02 -1.86065151e-04 9.99893025e-01 7.09214865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.472755096 meters 0.01682656821775489 Centerline is valid? [True, True] Translation: X:46.08, Y:310.26, Z:7.09 [[-2.65198252e-01 -9.64186970e-01 3.65717192e-03 4.60787696e+01] [ 9.64086047e-01 -2.65223410e-01 -1.39512033e-02 3.10259794e+02] [ 1.44215361e-02 -1.74006307e-04 9.99895989e-01 7.09266965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.502755096 meters 0.01609047173747155 Centerline is valid? [True, True] Translation: X:46.07, Y:310.29, Z:7.09 [[-2.65081924e-01 -9.64218921e-01 3.66704128e-03 4.60702584e+01] [ 9.64117785e-01 -2.65107234e-01 -1.39660779e-02 3.10285108e+02] [ 1.44385157e-02 -1.66695077e-04 9.99895745e-01 7.09387350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.532755096 meters 0.01617000862111812 Centerline is valid? [True, True] Translation: X:46.06, Y:310.31, Z:7.09 [[-2.65531609e-01 -9.64095051e-01 3.70108028e-03 4.60633134e+01] [ 9.63992354e-01 -2.65557347e-01 -1.40725827e-02 3.10310776e+02] [ 1.45501564e-02 -1.68902426e-04 9.99894127e-01 7.09379643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.562755096 meters 0.017218701994914785 Centerline is valid? [True, True] Translation: X:46.06, Y:310.34, Z:7.09 [[-2.66332231e-01 -9.63872992e-01 3.99989018e-03 4.60588385e+01] [ 9.63753375e-01 -2.66362198e-01 -1.51858913e-02 3.10335846e+02] [ 1.57026900e-02 -1.89584648e-04 9.99876687e-01 7.09213836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.592755096 meters 0.016517699553732276 Centerline is valid? [True, True] Translation: X:46.05, Y:310.36, Z:7.09 [[-2.67047476e-01 -9.63674712e-01 4.08606261e-03 4.60504877e+01] [ 9.63550230e-01 -2.67078659e-01 -1.54901560e-02 3.10361018e+02] [ 1.60187717e-02 -1.99480492e-04 9.99871671e-01 7.09337539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.622755096 meters 0.016654690860414743 Centerline is valid? [True, True] Translation: X:46.04, Y:310.39, Z:7.09 [[-2.67736204e-01 -9.63483412e-01 4.12803072e-03 4.60440197e+01] [ 9.63356743e-01 -2.67767946e-01 -1.56241142e-02 3.10386400e+02] [ 1.61589292e-02 -2.06374807e-04 9.99869415e-01 7.09341959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.652755096 meters 0.016700373773184143 Centerline is valid? [True, True] Translation: X:46.04, Y:310.41, Z:7.09 [[-2.68189626e-01 -9.63356734e-01 4.25772380e-03 4.60377360e+01] [ 9.63222400e-01 -2.68223336e-01 -1.60888469e-02 3.10411636e+02] [ 1.66413199e-02 -2.13726898e-04 9.99861501e-01 7.09368094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.682755096 meters 0.018164123211150445 Centerline is valid? [True, True] Translation: X:46.03, Y:310.44, Z:7.09 [[-2.68627552e-01 -9.63234227e-01 4.36597979e-03 4.60341608e+01] [ 9.63093425e-01 -2.68662940e-01 -1.64705875e-02 3.10437439e+02] [ 1.70380105e-02 -2.19607155e-04 9.99854818e-01 7.09199523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.712755096 meters 0.016821644801798964 Centerline is valid? [True, True] Translation: X:46.02, Y:310.46, Z:7.09 [[-2.68933617e-01 -9.63148183e-01 4.50408401e-03 4.60244171e+01] [ 9.62998813e-01 -2.68971237e-01 -1.69635010e-02 3.10462167e+02] [ 1.75498342e-02 -2.24628120e-04 9.99845965e-01 7.09433223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.742755096 meters 0.016894797400435552 Centerline is valid? [True, True] Translation: X:46.02, Y:310.49, Z:7.09 [[-2.68643097e-01 -9.63228352e-01 4.69334933e-03 4.60174406e+01] [ 9.63066716e-01 -2.68684002e-01 -1.76467487e-02 3.10486637e+02] [ 1.82588765e-02 -2.20668695e-04 9.99833269e-01 7.09445548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.772755096 meters 0.01684137784303101 Centerline is valid? [True, True] Translation: X:46.01, Y:310.51, Z:7.09 [[-2.68571151e-01 -9.63248084e-01 4.76081922e-03 4.60101294e+01] [ 9.63082310e-01 -2.68613259e-01 -1.78712718e-02 3.10512200e+02] [ 1.84932875e-02 -2.14647273e-04 9.99828962e-01 7.09465825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.802755096 meters 0.016788374315218357 Centerline is valid? [True, True] Translation: X:46.00, Y:310.54, Z:7.10 [[-2.68529632e-01 -9.63259233e-01 4.84631465e-03 4.60027142e+01] [ 9.63088002e-01 -2.68573278e-01 -1.81629967e-02 3.10537476e+02] [ 1.87972649e-02 -2.09875312e-04 9.99823294e-01 7.09544903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.832755096 meters 0.016680449370571556 Centerline is valid? [True, True] Translation: X:46.00, Y:310.56, Z:7.10 [[-2.68128888e-01 -9.63370686e-01 4.88070148e-03 4.59959913e+01] [ 9.63197587e-01 -2.68173234e-01 -1.82626876e-02 3.10562786e+02] [ 1.89026114e-02 -1.95674241e-04 9.99821311e-01 7.09646109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.862755096 meters 0.016770805716436545 Centerline is valid? [True, True] Translation: X:45.99, Y:310.59, Z:7.10 [[-2.68324146e-01 -9.63316336e-01 4.87746824e-03 4.59894650e+01] [ 9.63144003e-01 -2.68368404e-01 -1.82216864e-02 3.10587911e+02] [ 1.88622066e-02 -1.91614173e-04 9.99822074e-01 7.09706521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.892755096 meters 0.016858869911597487 Centerline is valid? [True, True] Translation: X:45.98, Y:310.61, Z:7.10 [[-2.68577985e-01 -9.63245544e-01 4.88754249e-03 4.59831582e+01] [ 9.63073030e-01 -2.68622386e-01 -1.82305700e-02 3.10613076e+02] [ 1.88734186e-02 -1.89269394e-04 9.99821863e-01 7.09735097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9227550960001 meters 0.01693032238989551 Centerline is valid? [True, True] Translation: X:45.98, Y:310.64, Z:7.10 [[-2.69460438e-01 -9.62999198e-01 4.85986704e-03 4.59769920e+01] [ 9.62829129e-01 -2.69504187e-01 -1.80986430e-02 3.10638887e+02] [ 1.87387332e-02 -1.97646716e-04 9.99824395e-01 7.09913439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.952755096 meters 0.017036744712946663 Centerline is valid? [True, True] Translation: X:45.97, Y:310.66, Z:7.10 [[-2.70505793e-01 -9.62706233e-01 4.82949568e-03 4.59707710e+01] [ 9.62538769e-01 -2.70548821e-01 -1.79570215e-02 3.10664803e+02] [ 1.85939509e-02 -2.08901523e-04 9.99827096e-01 7.09988778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.982755096 meters 0.017476618108240763 Centerline is valid? [True, True] Translation: X:45.97, Y:310.69, Z:7.10 [[-2.72299288e-01 -9.62200653e-01 4.79591459e-03 4.59655459e+01] [ 9.62035920e-01 -2.72341418e-01 -1.78056143e-02 3.10691986e+02] [ 1.84386999e-02 -2.34613992e-04 9.99829965e-01 7.10125132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.012755096 meters 0.01765806156818507 Centerline is valid? [True, True] Translation: X:45.96, Y:310.72, Z:7.10 [[-2.73405560e-01 -9.61887408e-01 4.69198713e-03 4.59596894e+01] [ 9.61730168e-01 -2.73445710e-01 -1.73933370e-02 3.10717418e+02] [ 1.80134356e-02 -2.43009489e-04 9.99837715e-01 7.10205313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0427550960001 meters 0.018196537994065246 Centerline is valid? [True, True] Translation: X:45.95, Y:310.74, Z:7.10 [[-2.74697365e-01 -9.61519252e-01 4.69952433e-03 4.59546519e+01] [ 9.61361964e-01 -2.74737438e-01 -1.73929235e-02 3.10742418e+02] [ 1.80147661e-02 -2.59846310e-04 9.99837687e-01 7.10216526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.072755096 meters 0.018571700692281617 Centerline is valid? [True, True] Translation: X:45.95, Y:310.77, Z:7.10 [[-2.76226112e-01 -9.61081505e-01 4.63422442e-03 4.59487659e+01] [ 9.60928979e-01 -2.76264845e-01 -1.71240365e-02 3.10767899e+02] [ 1.77378680e-02 -2.76945491e-04 9.99842633e-01 7.10279630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.102755096 meters 0.01924103064075424 Centerline is valid? [True, True] Translation: X:45.94, Y:310.79, Z:7.10 [[-2.77890148e-01 -9.60601986e-01 4.57068082e-03 4.59440696e+01] [ 9.60453951e-01 -2.77927575e-01 -1.68662728e-02 3.10793411e+02] [ 1.74720933e-02 -2.97042582e-04 9.99847307e-01 7.10329125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.132755096 meters 0.019607534078720054 Centerline is valid? [True, True] Translation: X:45.94, Y:310.82, Z:7.10 [[-2.79171203e-01 -9.60231119e-01 4.43144751e-03 4.59376676e+01] [ 9.60092306e-01 -2.79206207e-01 -1.63296833e-02 3.10819085e+02] [ 1.69175577e-02 -3.04178675e-04 9.99856842e-01 7.10372706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.162755096 meters 0.020212580168032564 Centerline is valid? [True, True] Translation: X:45.93, Y:310.84, Z:7.10 [[-2.80663023e-01 -9.59797176e-01 4.20099207e-03 4.59323571e+01] [ 9.59672758e-01 -2.80694294e-01 -1.54567719e-02 3.10844315e+02] [ 1.60145605e-02 -3.06566672e-04 9.99871712e-01 7.10432934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.192755096 meters 0.020475455483414153 Centerline is valid? [True, True] Translation: X:45.93, Y:310.87, Z:7.10 [[-2.81432610e-01 -9.59572462e-01 4.04669958e-03 4.59259045e+01] [ 9.59457340e-01 -2.81461541e-01 -1.48665184e-02 3.10870275e+02] [ 1.54044920e-02 -3.01287465e-04 9.99881298e-01 7.10469108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.222755096 meters 0.020001701751150604 Centerline is valid? [True, True] Translation: X:45.92, Y:310.90, Z:7.11 [[-2.81827103e-01 -9.59457235e-01 3.91135637e-03 4.59180851e+01] [ 9.59349994e-01 -2.81854093e-01 -1.43477630e-02 3.10895172e+02] [ 1.48684968e-02 -2.91228758e-04 9.99889415e-01 7.10555119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.252755096 meters 0.01987365420163636 Centerline is valid? [True, True] Translation: X:45.91, Y:310.92, Z:7.11 [[-2.81931149e-01 -9.59427277e-01 3.75859832e-03 4.59106497e+01] [ 9.59328545e-01 -2.81956067e-01 -1.37665730e-02 3.10920609e+02] [ 1.42677853e-02 -2.75495088e-04 9.99898172e-01 7.10606542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.282755096 meters 0.019445439424884147 Centerline is valid? [True, True] Translation: X:45.90, Y:310.95, Z:7.11 [[-2.81115925e-01 -9.59668258e-01 3.26666430e-03 4.59022021e+01] [ 9.59593898e-01 -2.81134815e-01 -1.19485272e-02 3.10946583e+02] [ 1.23849953e-02 -2.24250139e-04 9.99923278e-01 7.10734928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.312755096 meters 0.019071655117765738 Centerline is valid? [True, True] Translation: X:45.89, Y:310.97, Z:7.11 [[-2.80540676e-01 -9.59837454e-01 2.99849539e-03 4.58940136e+01] [ 9.59774982e-01 -2.80556632e-01 -1.09526518e-02 3.10972149e+02] [ 1.13540132e-02 -1.94783487e-04 9.99935522e-01 7.10799339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.342755096 meters 0.018607728449483916 Centerline is valid? [True, True] Translation: X:45.88, Y:311.00, Z:7.11 [[-2.79084818e-01 -9.60263131e-01 2.52674168e-03 4.58842930e+01] [ 9.60218902e-01 -2.79096218e-01 -9.21742716e-03 3.10997748e+02] [ 9.55635951e-03 -1.46218859e-04 9.99954326e-01 7.10903520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.372755096 meters 0.018607728449483916 Centerline is valid? [True, True] Translation: X:45.88, Y:311.02, Z:7.11 [[-2.79456170e-01 -9.60155117e-01 2.53003951e-03 4.58771834e+01] [ 9.60110892e-01 -2.79467584e-01 -9.21652203e-03 3.11022692e+02] [ 9.55635482e-03 -1.46495457e-04 9.99954326e-01 7.10921757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.402755096 meters 0.01832084111557926 Centerline is valid? [True, True] Translation: X:45.87, Y:311.05, Z:7.11 [[-2.79168527e-01 -9.60239429e-01 2.27424018e-03 4.58688643e+01] [ 9.60203797e-01 -2.79177762e-01 -8.27320926e-03 3.11047420e+02] [ 8.57917903e-03 -1.25885579e-04 9.99963190e-01 7.10936644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.432755096 meters 0.0180624295335145 Centerline is valid? [True, True] Translation: X:45.86, Y:311.07, Z:7.11 [[-2.78987431e-01 -9.60292210e-01 2.21004592e-03 4.58606861e+01] [ 9.60258661e-01 -2.78996160e-01 -8.02784609e-03 3.11072291e+02] [ 8.32567239e-03 -1.17452428e-04 9.99965334e-01 7.10923436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.462755096 meters 0.017844331755144004 Centerline is valid? [True, True] Translation: X:45.85, Y:311.10, Z:7.11 [[-2.79283604e-01 -9.60206359e-01 2.10162578e-03 4.58524774e+01] [ 9.60176106e-01 -2.79291489e-01 -7.62294418e-03 3.11097359e+02] [ 7.90656567e-03 -1.11032462e-04 9.99968736e-01 7.10911411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.492755096 meters 0.018217392782975565 Centerline is valid? [True, True] Translation: X:45.85, Y:311.12, Z:7.11 [[-2.79798869e-01 -9.60056672e-01 1.94399302e-03 4.58461832e+01] [ 9.60030857e-01 -2.79805603e-01 -7.04118702e-03 3.11122069e+02] [ 7.30387872e-03 -1.03822884e-04 9.99973321e-01 7.10895906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.522755096 meters 0.018925630378107863 Centerline is valid? [True, True] Translation: X:45.84, Y:311.15, Z:7.11 [[-2.80818034e-01 -9.59759267e-01 1.83874809e-03 4.58403645e+01] [ 9.59736218e-01 -2.80824035e-01 -6.65229965e-03 3.11146653e+02] [ 6.90097090e-03 -1.03372575e-04 9.99976183e-01 7.10855756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.552755096 meters 0.018669692020551538 Centerline is valid? [True, True] Translation: X:45.83, Y:311.17, Z:7.11 [[-2.82181886e-01 -9.59359010e-01 1.91668063e-03 4.58323117e+01] [ 9.59334018e-01 -2.82188372e-01 -6.92561402e-03 3.11171889e+02] [ 7.18501519e-03 -1.15545898e-04 9.99974181e-01 7.10799717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.582755096 meters 0.019747465790816657 Centerline is valid? [True, True] Translation: X:45.83, Y:311.20, Z:7.11 [[-2.84522992e-01 -9.58667457e-01 1.83690386e-03 4.58267943e+01] [ 9.58644555e-01 -2.84528895e-01 -6.62765589e-03 3.11197508e+02] [ 6.87637024e-03 -1.24782606e-04 9.99976350e-01 7.10708378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.612755096 meters 0.020223138200057344 Centerline is valid? [True, True] Translation: X:45.82, Y:311.22, Z:7.11 [[-2.86112120e-01 -9.58194751e-01 1.63547133e-03 4.58192094e+01] [ 9.58176634e-01 -2.86116769e-01 -5.89343365e-03 3.11224132e+02] [ 6.11499296e-03 -1.19112379e-04 9.99981296e-01 7.10706794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.642755096 meters 0.020651706642440724 Centerline is valid? [True, True] Translation: X:45.81, Y:311.25, Z:7.11 [[-2.87877383e-01 -9.57666385e-01 1.30699241e-03 4.58113805e+01] [ 9.57654831e-01 -2.87880331e-01 -4.70527699e-03 3.11250488e+02] [ 4.88234301e-03 -1.02895234e-04 9.99988076e-01 7.10744350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6727550960001 meters 0.02109854525923272 Centerline is valid? [True, True] Translation: X:45.80, Y:311.28, Z:7.11 [[-2.88724437e-01 -9.57411624e-01 1.08689478e-03 4.58047294e+01] [ 9.57403645e-01 -2.88726469e-01 -3.90974324e-03 3.11275533e+02] [ 4.05704892e-03 -8.82413938e-05 9.99991766e-01 7.10742832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.702755096 meters 0.021363181220300495 Centerline is valid? [True, True] Translation: X:45.80, Y:311.30, Z:7.11 [[-2.89648357e-01 -9.57132608e-01 1.00024591e-03 4.57973245e+01] [ 9.57125867e-01 -2.89650073e-01 -3.59296014e-03 3.11301125e+02] [ 3.72866061e-03 -8.33337688e-05 9.99993045e-01 7.10765314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.732755096 meters 0.021695756059170998 Centerline is valid? [True, True] Translation: X:45.79, Y:311.33, Z:7.11 [[-2.89959308e-01 -9.57038574e-01 8.76632399e-04 4.57901773e+01] [ 9.57033407e-01 -2.89960624e-01 -3.14570494e-03 3.11325120e+02] [ 3.26474985e-03 -7.31599358e-05 9.99994668e-01 7.10772395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.762755096 meters 0.02130894943852538 Centerline is valid? [True, True] Translation: X:45.78, Y:311.35, Z:7.11 [[-2.89847555e-01 -9.57072565e-01 7.06866251e-04 4.57815222e+01] [ 9.57069212e-01 -2.89848411e-01 -2.53431361e-03 3.11350452e+02] [ 2.63040609e-03 -5.80446784e-05 9.99996539e-01 7.10772702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7927550960001 meters 0.020235712251147748 Centerline is valid? [True, True] Translation: X:45.77, Y:311.37, Z:7.11 [[-2.88634200e-01 -9.57439281e-01 5.67824411e-04 4.57706412e+01] [ 9.57437119e-01 -2.88634755e-01 -2.03499279e-03 3.11374403e+02] [ 2.11227590e-03 -4.37123481e-05 9.99997768e-01 7.10719952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.822755096 meters 0.020734267045830392 Centerline is valid? [True, True] Translation: X:45.76, Y:311.40, Z:7.11 [[-2.87968965e-01 -9.57639544e-01 6.15985566e-04 4.57640411e+01] [ 9.57637009e-01 -2.87969621e-01 -2.20364966e-03 3.11398973e+02] [ 2.28768719e-03 -4.46921374e-05 9.99997382e-01 7.10760867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.852755096 meters 0.019439040545425355 Centerline is valid? [True, True] Translation: X:45.75, Y:311.42, Z:7.11 [[-2.87246257e-01 -9.57856585e-01 5.92174786e-04 4.57533684e+01] [ 9.57854250e-01 -2.87246865e-01 -2.11517475e-03 3.11423890e+02] [ 2.19613441e-03 -4.03588932e-05 9.99997588e-01 7.10692720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.882755096 meters 0.018736043157484165 Centerline is valid? [True, True] Translation: X:45.74, Y:311.45, Z:7.11 [[-2.85651534e-01 -9.58333262e-01 7.48245140e-04 4.57433177e+01] [ 9.58329557e-01 -2.85652511e-01 -2.66531254e-03 3.11449741e+02] [ 2.76799576e-03 -4.42851815e-05 9.99996168e-01 7.10609644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.912755096 meters 0.018445186192313348 Centerline is valid? [True, True] Translation: X:45.73, Y:311.48, Z:7.11 [[-2.85107902e-01 -9.58495003e-01 9.02267821e-04 4.57346184e+01] [ 9.58489635e-01 -2.85109325e-01 -3.20823939e-03 3.11475137e+02] [ 3.33232640e-03 -4.98800473e-05 9.99994447e-01 7.10565857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.942755096 meters 0.018340822594196605 Centerline is valid? [True, True] Translation: X:45.73, Y:311.50, Z:7.11 [[-2.84884223e-01 -9.58561441e-01 9.70843138e-04 4.57267064e+01] [ 9.58555247e-01 -2.84885873e-01 -3.44632276e-03 3.11499707e+02] [ 3.58009161e-03 -5.11961981e-05 9.99993590e-01 7.10544839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.972755096 meters 0.01772660591907469 Centerline is valid? [True, True] Translation: X:45.72, Y:311.53, Z:7.10 [[-2.84905729e-01 -9.58555030e-01 9.90291628e-04 4.57161628e+01] [ 9.58548608e-01 -2.84907446e-01 -3.50909472e-03 3.11525380e+02] [ 3.64580185e-03 -5.05185292e-05 9.99993353e-01 7.10418607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.002755096 meters 0.017962730005288682 Centerline is valid? [True, True] Translation: X:45.71, Y:311.55, Z:7.10 [[-2.85649275e-01 -9.58333800e-01 9.05257917e-04 4.57089781e+01] [ 9.58328444e-01 -2.85650705e-01 -3.20436272e-03 3.11551047e+02] [ 3.32943667e-03 -4.77894766e-05 9.99994456e-01 7.10405478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.032755096 meters 0.018197397204306284 Centerline is valid? [True, True] Translation: X:45.70, Y:311.58, Z:7.10 [[-2.86689772e-01 -9.58023244e-01 6.62603924e-04 4.57021481e+01] [ 9.58020375e-01 -2.86690535e-01 -2.34492736e-03 3.11576245e+02] [ 2.43645719e-03 -3.74786285e-05 9.99997031e-01 7.10416372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.062755096 meters 0.019169701022645366 Centerline is valid? [True, True] Translation: X:45.70, Y:311.60, Z:7.10 [[-2.89528099e-01 -9.57169396e-01 4.77251893e-04 4.56977179e+01] [ 9.57167906e-01 -2.89528491e-01 -1.68885584e-03 3.11602358e+02] [ 1.75469915e-03 -3.21610259e-05 9.99998460e-01 7.10476151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.092755096 meters 0.01945825116373667 Centerline is valid? [True, True] Translation: X:45.69, Y:311.63, Z:7.11 [[-2.91366715e-01 -9.56611400e-01 2.59063925e-04 4.56909798e+01] [ 9.56610958e-01 -2.91366830e-01 -9.19528681e-04 3.11629121e+02] [ 9.55114253e-04 -2.00966625e-05 9.99999544e-01 7.10522226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.122755096 meters 0.0203887595980382 Centerline is valid? [True, True] Translation: X:45.69, Y:311.65, Z:7.11 [[-2.93475296e-01 -9.55966649e-01 1.29158401e-04 4.56855060e+01] [ 9.55966537e-01 -2.93475325e-01 -4.62835325e-04 3.11654883e+02] [ 4.80359939e-04 -1.23596254e-05 9.99999885e-01 7.10573081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.152755096 meters 0.02195976386935262 Centerline is valid? [True, True] Translation: X:45.68, Y:311.68, Z:7.11 [[-2.97380587e-01 -9.54758985e-01 -2.60633489e-04 4.56801166e+01] [ 9.54758557e-01 -2.97380701e-01 9.04195019e-04 3.11682047e+02] [-9.40795688e-04 2.00479919e-05 9.99999557e-01 7.10606355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.182755096 meters 0.02394212079638156 Centerline is valid? [True, True] Translation: X:45.67, Y:311.71, Z:7.10 [[-2.99135431e-01 -9.54210633e-01 -2.47704155e-04 4.56735941e+01] [ 9.54210248e-01 -2.99135533e-01 8.57824819e-04 3.11708467e+02] [-8.92642678e-04 2.02439537e-05 9.99999601e-01 7.10422406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.212755096 meters 0.02298563454700212 Centerline is valid? [True, True] Translation: X:45.67, Y:311.73, Z:7.11 [[-3.00956747e-01 -9.53637687e-01 -4.45642919e-04 4.56661243e+01] [ 9.53636431e-01 -3.00957075e-01 1.54823419e-03 3.11734724e+02] [-1.61057386e-03 4.09702033e-05 9.99998702e-01 7.10567237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.242755096 meters 0.02326702367567249 Centerline is valid? [True, True] Translation: X:45.66, Y:311.76, Z:7.11 [[-3.01411824e-01 -9.53493938e-01 -4.72720467e-04 4.56589172e+01] [ 9.53492529e-01 -3.01412192e-01 1.63947136e-03 3.11759995e+02] [-1.70570971e-03 4.34206187e-05 9.99998544e-01 7.10603183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.272755096 meters 0.022661710357835086 Centerline is valid? [True, True] Translation: X:45.65, Y:311.79, Z:7.11 [[-3.01604386e-01 -9.53433003e-01 -5.51160551e-04 4.56498401e+01] [ 9.53431088e-01 -3.01604885e-01 1.91140649e-03 3.11785825e+02] [-1.98863074e-03 5.09949751e-05 9.99998021e-01 7.10557076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.302755096 meters 0.02306514244885083 Centerline is valid? [True, True] Translation: X:45.64, Y:311.81, Z:7.10 [[-3.01197196e-01 -9.53561691e-01 -5.92694893e-04 4.56415915e+01] [ 9.53559484e-01 -3.01197775e-01 2.05209557e-03 3.11811196e+02] [-2.13531810e-03 5.29155955e-05 9.99997719e-01 7.10485002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.332755096 meters 0.022054947668358096 Centerline is valid? [True, True] Translation: X:45.63, Y:311.84, Z:7.10 [[-2.99571093e-01 -9.54073892e-01 -4.12421912e-04 4.56314701e+01] [ 9.54072830e-01 -2.99571375e-01 1.42342942e-03 3.11835365e+02] [-1.48160665e-03 3.29377671e-05 9.99998902e-01 7.10467839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.362755096 meters 0.02122468676010484 Centerline is valid? [True, True] Translation: X:45.62, Y:311.86, Z:7.10 [[-2.98435171e-01 -9.54429827e-01 -3.93644472e-04 4.56215412e+01] [ 9.54428863e-01 -2.98435429e-01 1.35681930e-03 3.11860578e+02] [-1.41246626e-03 2.92169542e-05 9.99999002e-01 7.10418412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.392755096 meters 0.021928331963845093 Centerline is valid? [True, True] Translation: X:45.61, Y:311.89, Z:7.10 [[-2.97541907e-01 -9.54708691e-01 -3.57997379e-04 4.56145008e+01] [ 9.54707900e-01 -2.97542122e-01 1.22978186e-03 3.11885357e+02] [-1.28060273e-03 2.41287131e-05 9.99999180e-01 7.10455162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4227550960001 meters 0.02008014752196089 Centerline is valid? [True, True] Translation: X:45.60, Y:311.91, Z:7.10 [[-2.95469413e-01 -9.55352162e-01 -2.70735185e-04 4.56029230e+01] [ 9.55351711e-01 -2.95469537e-01 9.27756355e-04 3.11910433e+02] [-9.66328039e-04 1.54763033e-05 9.99999533e-01 7.10396769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.452755096 meters 0.019980797547529495 Centerline is valid? [True, True] Translation: X:45.60, Y:311.94, Z:7.10 [[-2.95241993e-01 -9.55422483e-01 -2.12316789e-04 4.55952008e+01] [ 9.55422209e-01 -2.95242069e-01 7.23646455e-04 3.11936097e+02] [-7.54072941e-04 1.07986466e-05 9.99999716e-01 7.10398309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.482755096 meters 0.020122451268259834 Centerline is valid? [True, True] Translation: X:45.59, Y:311.96, Z:7.10 [[-2.95519005e-01 -9.55336800e-01 -3.39794430e-04 4.55881844e+01] [ 9.55336094e-01 -2.95519200e-01 1.16190385e-03 3.11960804e+02] [-1.21042529e-03 1.87467878e-05 9.99999267e-01 7.10458912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.512755096 meters 0.02027921560616153 Centerline is valid? [True, True] Translation: X:45.58, Y:311.99, Z:7.11 [[-2.95789355e-01 -9.55253078e-01 -4.64041212e-04 4.55808804e+01] [ 9.55251758e-01 -2.95789718e-01 1.58823663e-03 3.11985617e+02] [-1.65442655e-03 2.65073055e-05 9.99998631e-01 7.10565550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5427550960001 meters 0.019982513307785176 Centerline is valid? [True, True] Translation: X:45.57, Y:312.01, Z:7.11 [[-2.96198416e-01 -9.55126183e-01 -6.88116916e-04 4.55725723e+01] [ 9.55123276e-01 -2.96199213e-01 2.35687601e-03 3.12010446e+02] [-2.45493368e-03 4.08664596e-05 9.99996986e-01 7.10597323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.572755096 meters 0.020516826566580937 Centerline is valid? [True, True] Translation: X:45.57, Y:312.04, Z:7.11 [[-2.97338706e-01 -9.54771543e-01 -9.97368425e-04 4.55658699e+01] [ 9.54765433e-01 -2.97340372e-01 3.41643267e-03 3.12035583e+02] [-3.55847059e-03 6.35847726e-05 9.99993667e-01 7.10683648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.602755096 meters 0.023406641472140922 Centerline is valid? [True, True] Translation: X:45.56, Y:312.06, Z:7.10 [[-2.97830594e-01 -9.54618379e-01 -8.29265598e-04 4.55604750e+01] [ 9.54614174e-01 -2.97831744e-01 2.83392306e-03 3.12060219e+02] [-2.95229666e-03 5.24002939e-05 9.99995641e-01 7.10495587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.632755096 meters 0.020654769270080326 Centerline is valid? [True, True] Translation: X:45.55, Y:312.09, Z:7.11 [[-2.98851806e-01 -9.54298859e-01 -1.13355274e-03 4.55511824e+01] [ 9.54291000e-01 -2.98853947e-01 3.87373847e-03 3.12086340e+02] [-4.03547091e-03 7.59345608e-05 9.99991855e-01 7.10695245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.662755096 meters 0.02170930419765675 Centerline is valid? [True, True] Translation: X:45.55, Y:312.11, Z:7.11 [[-2.99947208e-01 -9.53955440e-01 -8.31114834e-04 4.55459345e+01] [ 9.53951238e-01 -2.99948354e-01 2.83217329e-03 3.12111654e+02] [-2.95105864e-03 5.66594466e-05 9.99995644e-01 7.10660088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.692755096 meters 0.021057296112013343 Centerline is valid? [True, True] Translation: X:45.54, Y:312.14, Z:7.11 [[-3.00268752e-01 -9.53854443e-01 -6.14878464e-04 4.55374399e+01] [ 9.53852154e-01 -3.00269379e-01 2.09023166e-03 3.12137083e+02] [-2.17840593e-03 4.11281053e-05 9.99997626e-01 7.10583857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.722755096 meters 0.021088470838101666 Centerline is valid? [True, True] Translation: X:45.53, Y:312.16, Z:7.11 [[-3.00753045e-01 -9.53701917e-01 -5.09824046e-04 4.55296552e+01] [ 9.53700350e-01 -3.00753475e-01 1.72900963e-03 3.12162005e+02] [-1.80229115e-03 3.37855391e-05 9.99998375e-01 7.10536661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.752755096 meters 0.022332001275075848 Centerline is valid? [True, True] Translation: X:45.52, Y:312.19, Z:7.11 [[-3.00612296e-01 -9.53746329e-01 -4.32858160e-04 4.55238763e+01] [ 9.53745206e-01 -3.00612606e-01 1.46397650e-03 3.12186416e+02] [-1.52638483e-03 2.72529412e-05 9.99998835e-01 7.10664297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.782755096 meters 0.022033941711187714 Centerline is valid? [True, True] Translation: X:45.52, Y:312.21, Z:7.11 [[-3.00914998e-01 -9.53650850e-01 -4.70289097e-04 4.55154304e+01] [ 9.53649526e-01 -3.00915364e-01 1.58916171e-03 3.12210427e+02] [-1.65702263e-03 2.97116165e-05 9.99998627e-01 7.10626757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.812755096 meters 0.02087302918671134 Centerline is valid? [True, True] Translation: X:45.51, Y:312.24, Z:7.11 [[-3.00951507e-01 -9.53639390e-01 -3.24150742e-04 4.55055363e+01] [ 9.53638766e-01 -3.00951681e-01 1.09111732e-03 3.12235133e+02] [-1.13808616e-03 1.92506871e-05 9.99999352e-01 7.10551165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.842755096 meters 0.0209198096978318 Centerline is valid? [True, True] Translation: X:45.50, Y:312.26, Z:7.11 [[-3.01070934e-01 -9.53601741e-01 -1.09194668e-04 4.54979520e+01] [ 9.53601673e-01 -3.01070953e-01 3.60796308e-04 3.12260076e+02] [-3.76931331e-04 4.49706350e-06 9.99999929e-01 7.10500130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.872755096 meters 0.02111736494655745 Centerline is valid? [True, True] Translation: X:45.49, Y:312.29, Z:7.11 [[-3.01591711e-01 -9.53437152e-01 -1.91799819e-04 4.54905752e+01] [ 9.53436937e-01 -3.01591772e-01 6.40031031e-04 3.12285625e+02] [-6.68074611e-04 1.01590215e-05 9.99999777e-01 7.10532250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.902755096 meters 0.020696011425555005 Centerline is valid? [True, True] Translation: X:45.48, Y:312.31, Z:7.11 [[-3.01098840e-01 -9.53592921e-01 -1.73070192e-04 4.54820596e+01] [ 9.53592747e-01 -3.01098890e-01 5.75555512e-04 3.12310595e+02] [-6.00956905e-04 8.26061734e-06 9.99999819e-01 7.10502304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.932755096 meters 0.020337486837389437 Centerline is valid? [True, True] Translation: X:45.47, Y:312.34, Z:7.10 [[-3.01026953e-01 -9.53615629e-01 -7.75079789e-05 4.54733273e+01] [ 9.53615595e-01 -3.01026963e-01 2.51962308e-04 3.12335781e+02] [-2.63607186e-04 1.93462850e-06 9.99999965e-01 7.10495521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.962755096 meters 0.020376207765056033 Centerline is valid? [True, True] Translation: X:45.46, Y:312.36, Z:7.11 [[-3.00521022e-01 -9.53775191e-01 2.80550444e-05 4.54647589e+01] [ 9.53775185e-01 -3.00521024e-01 -1.04276327e-04 3.12361240e+02] [ 1.07887305e-04 -4.57902340e-06 9.99999994e-01 7.10519500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.992755096 meters 0.020133882224281266 Centerline is valid? [True, True] Translation: X:45.46, Y:312.39, Z:7.11 [[-3.00479572e-01 -9.53788248e-01 7.33674349e-05 4.54559106e+01] [ 9.53788213e-01 -3.00479580e-01 -2.56699934e-04 3.12386682e+02] [ 2.66882796e-04 -7.15609143e-06 9.99999964e-01 7.10515151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.022755096 meters 0.019925820694316528 Centerline is valid? [True, True] Translation: X:45.45, Y:312.41, Z:7.11 [[-3.00509322e-01 -9.53778872e-01 1.05563647e-04 4.54477452e+01] [ 9.53778802e-01 -3.00509341e-01 -3.64951495e-04 3.12410619e+02] [ 3.79805888e-04 -8.98695735e-06 9.99999928e-01 7.10547539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.052755096 meters 0.020057350531652873 Centerline is valid? [True, True] Translation: X:45.44, Y:312.44, Z:7.11 [[-3.00625796e-01 -9.53742153e-01 1.92624694e-04 4.54399122e+01] [ 9.53741927e-01 -3.00625857e-01 -6.56088669e-04 3.12435628e+02] [ 6.83647383e-04 -1.35229313e-05 9.99999766e-01 7.10571334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.082755096 meters 0.020199103699134455 Centerline is valid? [True, True] Translation: X:45.43, Y:312.46, Z:7.11 [[-3.01292992e-01 -9.53531576e-01 2.56940185e-04 4.54322334e+01] [ 9.53531178e-01 -3.01293102e-01 -8.71116283e-04 3.12460245e+02] [ 9.08051187e-04 -1.74607540e-05 9.99999588e-01 7.10594946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.112755096 meters 0.02063954649050489 Centerline is valid? [True, True] Translation: X:45.42, Y:312.49, Z:7.11 [[-3.02350757e-01 -9.53196711e-01 2.23233553e-04 4.54246927e+01] [ 9.53196411e-01 -3.02350839e-01 -7.56552313e-04 3.12485303e+02] [ 7.88638029e-04 -1.59587431e-05 9.99999689e-01 7.10596815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.142755096 meters 0.020759120724915057 Centerline is valid? [True, True] Translation: X:45.42, Y:312.51, Z:7.11 [[-3.03126198e-01 -9.52950383e-01 2.75294636e-04 4.54170866e+01] [ 9.52949930e-01 -3.03126322e-01 -9.29558616e-04 3.12510733e+02] [ 9.69272290e-04 -1.94315649e-05 9.99999530e-01 7.10603546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1727550960001 meters 0.021148416942449094 Centerline is valid? [True, True] Translation: X:45.41, Y:312.54, Z:7.11 [[-3.04219860e-01 -9.52601738e-01 4.53073903e-04 4.54098772e+01] [ 9.52600523e-01 -3.04220196e-01 -1.52173380e-03 3.12535820e+02] [ 1.58744050e-03 -3.13432069e-05 9.99998740e-01 7.10581129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.202755096 meters 0.021668046568925965 Centerline is valid? [True, True] Translation: X:45.40, Y:312.56, Z:7.11 [[-3.06009342e-01 -9.52028249e-01 7.04716111e-04 4.54016795e+01] [ 9.52025330e-01 -3.06010149e-01 -2.35797720e-03 3.12562038e+02] [ 2.46051118e-03 -5.06554620e-05 9.99996972e-01 7.10544012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.232755096 meters 0.0223304737544231 Centerline is valid? [True, True] Translation: X:45.39, Y:312.59, Z:7.11 [[-3.06779088e-01 -9.51780375e-01 8.42559229e-04 4.53949192e+01] [ 9.51776214e-01 -3.06780238e-01 -2.81489760e-03 3.12586623e+02] [ 2.93764481e-03 -6.16238830e-05 9.99995683e-01 7.10538437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.262755096 meters 0.02272804807469707 Centerline is valid? [True, True] Translation: X:45.39, Y:312.61, Z:7.11 [[-3.07553948e-01 -9.51530038e-01 1.07514990e-03 4.53879418e+01] [ 9.51523290e-01 -3.07555817e-01 -3.58453611e-03 3.12610439e+02] [ 3.74146239e-03 -7.94080604e-05 9.99992998e-01 7.10538001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2927550960001 meters 0.021308604904126234 Centerline is valid? [True, True] Translation: X:45.38, Y:312.64, Z:7.10 [[-3.08164301e-01 -9.51332444e-01 1.15992793e-03 4.53770537e+01] [ 9.51324615e-01 -3.08166472e-01 -3.86034951e-03 3.12635154e+02] [ 4.02992663e-03 -8.61539177e-05 9.99991876e-01 7.10484993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.322755096 meters 0.021308604904126234 Centerline is valid? [True, True] Translation: X:45.37, Y:312.66, Z:7.11 [[-3.08539980e-01 -9.51210667e-01 1.16145139e-03 4.53693386e+01] [ 9.51202839e-01 -3.08542154e-01 -3.85989085e-03 3.12659915e+02] [ 4.02992606e-03 -8.61547796e-05 9.99991876e-01 7.10503224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.352755096 meters 0.02127096257271923 Centerline is valid? [True, True] Translation: X:45.36, Y:312.68, Z:7.10 [[-3.08288272e-01 -9.51291918e-01 1.42396863e-03 4.53619805e+01] [ 9.51280200e-01 -3.08291544e-01 -4.72279583e-03 3.12684533e+02] [ 4.93175499e-03 -1.01389405e-04 9.99987834e-01 7.10479846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.382755096 meters 0.02114575554163517 Centerline is valid? [True, True] Translation: X:45.35, Y:312.71, Z:7.10 [[-3.08306691e-01 -9.51285676e-01 1.59577600e-03 4.53536830e+01] [ 9.51270996e-01 -3.08310801e-01 -5.28610748e-03 3.12709382e+02] [ 5.52059330e-03 -1.11726880e-04 9.99984755e-01 7.10441840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.412755096 meters 0.020964184779556385 Centerline is valid? [True, True] Translation: X:45.35, Y:312.73, Z:7.10 [[-3.07973650e-01 -9.51393298e-01 1.73872005e-03 4.53459687e+01] [ 9.51375925e-01 -3.07978536e-01 -5.75076339e-03 3.12733665e+02] [ 6.00672620e-03 -1.16907199e-04 9.99981953e-01 7.10412497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.442755096 meters 0.019943982347144992 Centerline is valid? [True, True] Translation: X:45.34, Y:312.76, Z:7.10 [[-3.06930753e-01 -9.51729713e-01 2.01667733e-03 4.53361799e+01] [ 9.51706426e-01 -3.06937353e-01 -6.65880907e-03 3.12758166e+02] [ 6.95638004e-03 -1.24508514e-04 9.99975796e-01 7.10314251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.472755096 meters 0.020451787220555972 Centerline is valid? [True, True] Translation: X:45.33, Y:312.78, Z:7.10 [[-3.06163798e-01 -9.51976179e-01 2.25464080e-03 4.53293218e+01] [ 9.51947170e-01 -3.06172072e-01 -7.43282375e-03 3.12783080e+02] [ 7.76617920e-03 -1.29362621e-04 9.99969834e-01 7.10265354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.502755096 meters 0.019701477404553424 Centerline is valid? [True, True] Translation: X:45.32, Y:312.81, Z:7.10 [[-3.05871669e-01 -9.52069583e-01 2.45606480e-03 4.53194496e+01] [ 9.52035250e-01 -3.05881500e-01 -8.08650884e-03 3.12807707e+02] [ 8.45018388e-03 -1.35173686e-04 9.99964287e-01 7.10190067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.532755096 meters 0.019179600916335988 Centerline is valid? [True, True] Translation: X:45.31, Y:312.83, Z:7.10 [[-3.04744478e-01 -9.52430007e-01 2.80800537e-03 4.53103840e+01] [ 9.52385284e-01 -3.04757383e-01 -9.23086308e-03 3.12832957e+02] [ 9.64751135e-03 -1.38751563e-04 9.99953452e-01 7.10097991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.562755096 meters 0.01901721530662288 Centerline is valid? [True, True] Translation: X:45.30, Y:312.86, Z:7.10 [[-3.04717875e-01 -9.52438679e-01 2.75301260e-03 4.53028406e+01] [ 9.52395810e-01 -3.04730282e-01 -9.03754370e-03 3.12857771e+02] [ 9.44663250e-03 -1.31943441e-04 9.99955371e-01 7.10126660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.592755096 meters 0.01901523880177566 Centerline is valid? [True, True] Translation: X:45.30, Y:312.88, Z:7.10 [[-3.04400177e-01 -9.52540142e-01 2.79450602e-03 4.52967857e+01] [ 9.52496093e-01 -3.04412978e-01 -9.16145339e-03 3.12882206e+02] [ 9.57733601e-03 -1.26991968e-04 9.99954128e-01 7.10181521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.622755096 meters 0.018995784189250232 Centerline is valid? [True, True] Translation: X:45.29, Y:312.91, Z:7.10 [[-3.04477157e-01 -9.52515720e-01 2.73204680e-03 4.52899364e+01] [ 9.52473715e-01 -3.04489390e-01 -8.94619264e-03 3.12906781e+02] [ 9.35326839e-03 -1.21708545e-04 9.99956250e-01 7.10208293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.652755096 meters 0.018691574567681016 Centerline is valid? [True, True] Translation: X:45.28, Y:312.93, Z:7.10 [[-3.04951728e-01 -9.52363976e-01 2.70191326e-03 4.52818493e+01] [ 9.52323002e-01 -3.04963674e-01 -8.83499155e-03 3.12932228e+02] [ 9.23811307e-03 -1.21151795e-04 9.99957320e-01 7.10303394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.682755096 meters 0.018922072052626648 Centerline is valid? [True, True] Translation: X:45.28, Y:312.96, Z:7.10 [[-3.05625289e-01 -9.52148241e-01 2.62866765e-03 4.52757355e+01] [ 9.52109558e-01 -3.05636570e-01 -8.58349590e-03 3.12957082e+02] [ 8.97617748e-03 -1.20553815e-04 9.99959706e-01 7.10346341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.712755096 meters 0.019160451799441643 Centerline is valid? [True, True] Translation: X:45.27, Y:312.98, Z:7.10 [[-3.07026636e-01 -9.51697634e-01 2.50184486e-03 4.52710176e+01] [ 9.51662676e-01 -3.07036804e-01 -8.15798897e-03 3.12983008e+02] [ 8.53209725e-03 -1.23807539e-04 9.99963593e-01 7.10464638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.742755096 meters 0.019840450663828477 Centerline is valid? [True, True] Translation: X:45.27, Y:313.01, Z:7.11 [[-3.08309245e-01 -9.51283059e-01 2.43953050e-03 4.52662062e+01] [ 9.51249897e-01 -3.08318870e-01 -7.94401836e-03 3.13007762e+02] [ 8.30916337e-03 -1.28611167e-04 9.99965470e-01 7.10538893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.772755096 meters 0.01995946170871785 Centerline is valid? [True, True] Translation: X:45.26, Y:313.03, Z:7.11 [[-3.10515420e-01 -9.50565699e-01 2.24182284e-03 4.52609180e+01] [ 9.50537749e-01 -3.10523484e-01 -7.29065403e-03 3.13034962e+02] [ 7.62638429e-03 -1.32923260e-04 9.99970910e-01 7.10685773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.802755096 meters 0.02057315438074343 Centerline is valid? [True, True] Translation: X:45.26, Y:313.06, Z:7.11 [[-3.11739796e-01 -9.50164966e-01 2.19921207e-03 4.52558095e+01] [ 9.50138124e-01 -3.11747523e-01 -7.14329745e-03 3.13059754e+02] [ 7.47290990e-03 -1.37294859e-04 9.99972068e-01 7.10755313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.832755096 meters 0.020420505832287782 Centerline is valid? [True, True] Translation: X:45.25, Y:313.09, Z:7.11 [[-3.12859380e-01 -9.49796853e-01 2.22427649e-03 4.52491722e+01] [ 9.49769465e-01 -3.12867253e-01 -7.21427836e-03 3.13085302e+02] [ 7.54800215e-03 -1.44504761e-04 9.99971503e-01 7.10816011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.862755096 meters 0.020492409924932627 Centerline is valid? [True, True] Translation: X:45.24, Y:313.11, Z:7.11 [[-3.13973614e-01 -9.49429157e-01 2.20135046e-03 4.52439694e+01] [ 9.49402394e-01 -3.13981295e-01 -7.13022393e-03 3.13110847e+02] [ 7.46082536e-03 -1.48734772e-04 9.99972157e-01 7.10826066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.892755096 meters 0.020620539467074813 Centerline is valid? [True, True] Translation: X:45.24, Y:313.14, Z:7.11 [[-3.14174026e-01 -9.49362587e-01 2.31521586e-03 4.52370578e+01] [ 9.49333070e-01 -3.14182519e-01 -7.48776884e-03 3.13136245e+02] [ 7.83600794e-03 -1.54551500e-04 9.99969286e-01 7.10811240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9227550960001 meters 0.020570708656602345 Centerline is valid? [True, True] Translation: X:45.23, Y:313.16, Z:7.11 [[-3.13971921e-01 -9.49429217e-01 2.40743540e-03 4.52298703e+01] [ 9.49397391e-01 -3.13981112e-01 -7.77531810e-03 3.13160233e+02] [ 8.13800342e-03 -1.55618667e-04 9.99966874e-01 7.10803994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.952755096 meters 0.019718600954442427 Centerline is valid? [True, True] Translation: X:45.22, Y:313.19, Z:7.11 [[-3.11703220e-01 -9.50176576e-01 2.36157145e-03 4.52194087e+01] [ 9.50146038e-01 -3.11712139e-01 -7.61902012e-03 3.13186053e+02] [ 7.97554494e-03 -1.31035349e-04 9.99968186e-01 7.10739706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.982755096 meters 0.018990123359859407 Centerline is valid? [True, True] Translation: X:45.21, Y:313.21, Z:7.11 [[-3.10410520e-01 -9.50599418e-01 2.46080502e-03 4.52099544e+01] [ 9.50566352e-01 -3.10420250e-01 -7.92959455e-03 3.13210761e+02] [ 8.30175167e-03 -1.22271117e-04 9.99965532e-01 7.10702860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.012755096 meters 0.018506102615253914 Centerline is valid? [True, True] Translation: X:45.20, Y:313.24, Z:7.11 [[-3.09091618e-01 -9.51028518e-01 2.67014245e-03 4.52010178e+01] [ 9.50989713e-01 -3.09103129e-01 -8.59196880e-03 3.13235334e+02] [ 8.99655674e-03 -1.16427533e-04 9.99959523e-01 7.10646504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0427550960001 meters 0.01762288466024275 Centerline is valid? [True, True] Translation: X:45.19, Y:313.26, Z:7.11 [[-3.06845479e-01 -9.51754417e-01 3.06303778e-03 4.51907596e+01] [ 9.51703536e-01 -3.06860749e-01 -9.84182382e-03 3.13259990e+02] [ 1.03069254e-02 -1.04815253e-04 9.99946877e-01 7.10547990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.072755096 meters 0.017370987702922586 Centerline is valid? [True, True] Translation: X:45.18, Y:313.28, Z:7.11 [[-3.06028954e-01 -9.52016680e-01 3.24357361e-03 4.51814915e+01] [ 9.51959799e-01 -3.06046127e-01 -1.04072105e-02 3.13284770e+02] [ 1.09005211e-02 -9.71560703e-05 9.99940583e-01 7.10536356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.102755096 meters 0.017014391804950176 Centerline is valid? [True, True] Translation: X:45.17, Y:313.31, Z:7.10 [[-3.04561402e-01 -9.52486814e-01 3.34984341e-03 4.51715885e+01] [ 9.52426330e-01 -3.04579813e-01 -1.07342551e-02 3.13308378e+02] [ 1.12445312e-02 -7.87607247e-05 9.99936775e-01 7.10485949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.132755096 meters 0.016995510857125296 Centerline is valid? [True, True] Translation: X:45.16, Y:313.33, Z:7.11 [[-3.04729030e-01 -9.52433443e-01 3.27947911e-03 4.51620673e+01] [ 9.52375605e-01 -3.04746667e-01 -1.04964974e-02 3.13333318e+02] [ 1.09966255e-02 -7.52915626e-05 9.99939532e-01 7.10506073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.162755096 meters 0.01690096345976758 Centerline is valid? [True, True] Translation: X:45.15, Y:313.36, Z:7.11 [[-3.05138466e-01 -9.52302983e-01 3.08958357e-03 4.51529613e+01] [ 9.52251775e-01 -3.05154098e-01 -9.87590609e-03 3.13357795e+02] [ 1.03476539e-02 -7.14573979e-05 9.99946459e-01 7.10613886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.192755096 meters 0.016838401529637635 Centerline is valid? [True, True] Translation: X:45.14, Y:313.38, Z:7.11 [[-3.05305204e-01 -9.52250674e-01 2.71771854e-03 4.51441342e+01] [ 9.52211145e-01 -3.05317294e-01 -8.67666849e-03 3.13382380e+02] [ 9.09212989e-03 -6.11901580e-05 9.99958664e-01 7.10722526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.222755096 meters 0.01709475748927045 Centerline is valid? [True, True] Translation: X:45.14, Y:313.41, Z:7.11 [[-3.07058932e-01 -9.51687585e-01 2.35662865e-03 4.51371454e+01] [ 9.51657916e-01 -3.07067968e-01 -7.51487864e-03 3.13407368e+02] [ 7.87546188e-03 -6.48062966e-05 9.99968986e-01 7.10940708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.252755096 meters 0.01734598877814003 Centerline is valid? [True, True] Translation: X:45.13, Y:313.43, Z:7.11 [[-3.08335749e-01 -9.51274972e-01 2.23479322e-03 4.51306887e+01] [ 9.51248352e-01 -3.08343841e-01 -7.11682731e-03 3.13431558e+02] [ 7.45914442e-03 -6.85289121e-05 9.99972178e-01 7.11018848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.282755096 meters 0.017822250474951614 Centerline is valid? [True, True] Translation: X:45.12, Y:313.46, Z:7.11 [[-3.10663274e-01 -9.50517793e-01 2.06277183e-03 4.51246326e+01] [ 9.50495155e-01 -3.10670113e-01 -6.56056344e-03 3.13457510e+02] [ 6.87677384e-03 -7.74714859e-05 9.99976352e-01 7.11110789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.312755096 meters 0.017944485240993402 Centerline is valid? [True, True] Translation: X:45.12, Y:313.48, Z:7.11 [[-3.11724012e-01 -9.50170760e-01 1.91519217e-03 4.51170153e+01] [ 9.50151285e-01 -3.11729886e-01 -6.08381540e-03 3.13482800e+02] [ 6.37768614e-03 -7.67490463e-05 9.99979659e-01 7.11173861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.342755096 meters 0.020374887660243406 Centerline is valid? [True, True] Translation: X:45.11, Y:313.51, Z:7.11 [[-3.13278189e-01 -9.49659262e-01 2.01542623e-03 4.51096511e+01] [ 9.49637745e-01 -3.13284659e-01 -6.39338417e-03 3.13508055e+02] [ 6.70293862e-03 -8.89829955e-05 9.99977531e-01 7.10936698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.372755096 meters 0.019072000606082055 Centerline is valid? [True, True] Translation: X:45.10, Y:313.53, Z:7.11 [[-3.15369695e-01 -9.48967492e-01 1.62924131e-03 4.51024261e+01] [ 9.48953450e-01 -3.15373893e-01 -5.16308703e-03 3.13533699e+02] [ 5.41342192e-03 -8.22070224e-05 9.99985344e-01 7.11273008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.402755096 meters 0.019472464683180646 Centerline is valid? [True, True] Translation: X:45.09, Y:313.56, Z:7.11 [[-3.16721975e-01 -9.48517156e-01 1.54775951e-03 4.50948636e+01] [ 9.48504507e-01 -3.16725746e-01 -4.89929768e-03 3.13559365e+02] [ 5.13728318e-03 -8.36583686e-05 9.99986801e-01 7.11269209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.432755096 meters 0.020593173266722088 Centerline is valid? [True, True] Translation: X:45.09, Y:313.58, Z:7.11 [[-3.18830031e-01 -9.47810231e-01 1.78243453e-03 4.50890282e+01] [ 9.47793494e-01 -3.18834996e-01 -5.63362724e-03 3.13584156e+02] [ 5.90791204e-03 -1.06789693e-04 9.99982542e-01 7.11260884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.462755096 meters 0.020988592855040407 Centerline is valid? [True, True] Translation: X:45.08, Y:313.61, Z:7.11 [[-3.19930836e-01 -9.47439118e-01 1.83792771e-03 4.50815755e+01] [ 9.47421366e-01 -3.19936094e-01 -5.80100923e-03 3.13608425e+02] [ 6.08412248e-03 -1.14629752e-04 9.99981485e-01 7.11257328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.492755096 meters 0.019536042212027014 Centerline is valid? [True, True] Translation: X:45.07, Y:313.63, Z:7.11 [[-3.20434507e-01 -9.47268661e-01 1.95207937e-03 4.50708843e+01] [ 9.47248690e-01 -3.20440429e-01 -6.15225644e-03 3.13632983e+02] [ 6.45336487e-03 -1.22290632e-04 9.99979169e-01 7.11224657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.522755096 meters 0.021453897204348944 Centerline is valid? [True, True] Translation: X:45.07, Y:313.66, Z:7.11 [[-3.21017369e-01 -9.47070555e-01 2.28314511e-03 4.50661609e+01] [ 9.47043316e-01 -3.21025456e-01 -7.18425738e-03 3.13657939e+02] [ 7.53694632e-03 -1.44034090e-04 9.99971586e-01 7.11140202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.552755096 meters 0.021164923078896537 Centerline is valid? [True, True] Translation: X:45.06, Y:313.68, Z:7.11 [[-3.21302929e-01 -9.46973450e-01 2.39031339e-03 4.50571608e+01] [ 9.46943678e-01 -3.21311786e-01 -7.51040844e-03 3.13682400e+02] [ 7.88019325e-03 -1.49624079e-04 9.99968940e-01 7.11075402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.582755096 meters 0.01933773669059568 Centerline is valid? [True, True] Translation: X:45.04, Y:313.71, Z:7.11 [[-3.21104165e-01 -9.47040286e-01 2.60985995e-03 4.50448721e+01] [ 9.47004901e-01 -3.21114732e-01 -8.18822800e-03 3.13706239e+02] [ 8.59264627e-03 -1.57723951e-04 9.99963070e-01 7.10991006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.612755096 meters 0.021240052761069553 Centerline is valid? [True, True] Translation: X:45.04, Y:313.73, Z:7.11 [[-3.21057757e-01 -9.47055448e-01 2.80995229e-03 4.50400102e+01] [ 9.47014547e-01 -3.21070011e-01 -8.80318341e-03 3.13731057e+02] [ 9.23929421e-03 -1.65264629e-04 9.99957303e-01 7.10920712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.642755096 meters 0.018989736130506956 Centerline is valid? [True, True] Translation: X:45.03, Y:313.75, Z:7.11 [[-3.20407079e-01 -9.47275901e-01 2.76970469e-03 4.50264426e+01] [ 9.47236281e-01 -3.20419013e-01 -8.66511481e-03 3.13754341e+02] [ 9.09572048e-03 -1.52799346e-04 9.99958621e-01 7.10906698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6727550960001 meters 0.01880050939707029 Centerline is valid? [True, True] Translation: X:45.02, Y:313.78, Z:7.11 [[-3.20460140e-01 -9.47257737e-01 2.84246106e-03 4.50173049e+01] [ 9.47216119e-01 -3.20472709e-01 -8.88065070e-03 3.13779637e+02] [ 9.32319627e-03 -1.53469623e-04 9.99956526e-01 7.10883790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.702755096 meters 0.0185201456756293 Centerline is valid? [True, True] Translation: X:45.01, Y:313.80, Z:7.11 [[-3.20580000e-01 -9.47216754e-01 2.98078074e-03 4.50080287e+01] [ 9.47171112e-01 -3.20593819e-01 -9.29987054e-03 3.13804821e+02] [ 9.76461306e-03 -1.58043098e-04 9.99952313e-01 7.10876984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.732755096 meters 0.018696341356765633 Centerline is valid? [True, True] Translation: X:45.00, Y:313.83, Z:7.11 [[-3.20716146e-01 -9.47170685e-01 2.97438489e-03 4.49997082e+01] [ 9.47125353e-01 -3.20729901e-01 -9.26806762e-03 3.13829223e+02] [ 9.73241612e-03 -1.55303598e-04 9.99952627e-01 7.10829955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.762755096 meters 0.018897208072536656 Centerline is valid? [True, True] Translation: X:44.99, Y:313.85, Z:7.11 [[-3.21134112e-01 -9.47028565e-01 3.12707826e-03 4.49918940e+01] [ 9.46978573e-01 -3.21149295e-01 -9.73209076e-03 3.13853929e+02] [ 1.02208269e-02 -1.64030212e-04 9.99947753e-01 7.10819800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7927550960001 meters 0.018946336241552602 Centerline is valid? [True, True] Translation: X:44.98, Y:313.88, Z:7.11 [[-3.21702743e-01 -9.46835695e-01 3.08434435e-03 4.49835725e+01] [ 9.46787180e-01 -3.21717486e-01 -9.58620479e-03 3.13878583e+02] [ 1.00688484e-02 -1.63690687e-04 9.99949294e-01 7.10828734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.822755096 meters 0.019539157839356155 Centerline is valid? [True, True] Translation: X:44.98, Y:313.90, Z:7.11 [[-3.22673442e-01 -9.46505255e-01 3.10672058e-03 4.49758163e+01] [ 9.46456139e-01 -3.22688352e-01 -9.64385667e-03 3.13903050e+02] [ 1.01304636e-02 -1.71441658e-04 9.99948671e-01 7.10799329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.852755096 meters 0.01968981839482141 Centerline is valid? [True, True] Translation: X:44.97, Y:313.93, Z:7.11 [[-3.23688094e-01 -9.46158394e-01 3.21124248e-03 4.49673486e+01] [ 9.46106019e-01 -3.23703970e-01 -9.95693342e-03 3.13928129e+02] [ 1.04603281e-02 -1.84764962e-04 9.99945272e-01 7.10773894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.882755096 meters 0.019285198986894833 Centerline is valid? [True, True] Translation: X:44.96, Y:313.95, Z:7.11 [[-3.25648048e-01 -9.45485174e-01 3.33679364e-03 4.49575572e+01] [ 9.45428735e-01 -3.25665075e-01 -1.03327620e-02 3.13953226e+02] [ 1.08561504e-02 -2.10143188e-04 9.99941048e-01 7.10751433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.912755096 meters 0.021371513321988493 Centerline is valid? [True, True] Translation: X:44.95, Y:313.98, Z:7.11 [[-3.26919174e-01 -9.45046043e-01 3.43953149e-03 4.49530390e+01] [ 9.44986203e-01 -3.26937188e-01 -1.06372654e-02 3.13979012e+02] [ 1.11772164e-02 -2.27216224e-04 9.99937507e-01 7.10707839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.942755096 meters 0.02177776173957898 Centerline is valid? [True, True] Translation: X:44.95, Y:314.00, Z:7.11 [[-3.28186341e-01 -9.44606291e-01 3.56085219e-03 4.49454054e+01] [ 9.44542298e-01 -3.28205566e-01 -1.09979024e-02 3.14003832e+02] [ 1.15573793e-02 -2.45985847e-04 9.99933181e-01 7.10688871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.972755096 meters 0.020602499336027428 Centerline is valid? [True, True] Translation: X:44.94, Y:314.03, Z:7.11 [[-3.29274429e-01 -9.44227266e-01 3.63592004e-03 4.49353157e+01] [ 9.44160699e-01 -3.29294400e-01 -1.12147940e-02 3.14027855e+02] [ 1.17866024e-02 -2.59852078e-04 9.99930502e-01 7.10754862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.002755096 meters 0.023469680092232572 Centerline is valid? [True, True] Translation: X:44.93, Y:314.05, Z:7.11 [[-3.31216779e-01 -9.43546703e-01 3.88123900e-03 4.49317948e+01] [ 9.43471007e-01 -3.31239385e-01 -1.19552732e-02 3.14054594e+02] [ 1.25659778e-02 -2.97950613e-04 9.99921001e-01 7.10618138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.032755096 meters 0.021557641871690684 Centerline is valid? [True, True] Translation: X:44.92, Y:314.08, Z:7.11 [[-3.32430949e-01 -9.43119631e-01 3.87627932e-03 4.49205794e+01] [ 9.43044293e-01 -3.32453404e-01 -1.19245803e-02 3.14079130e+02] [ 1.25349881e-02 -3.08596463e-04 9.99921386e-01 7.10731535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.062755096 meters 0.024706281845999004 Centerline is valid? [True, True] Translation: X:44.92, Y:314.10, Z:7.11 [[-3.33396458e-01 -9.42778677e-01 3.89455136e-03 4.49179198e+01] [ 9.42702809e-01 -3.33419053e-01 -1.19644713e-02 3.14104595e+02] [ 1.25783661e-02 -3.17507860e-04 9.99920839e-01 7.10673986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.092755096 meters 0.022226901684938048 Centerline is valid? [True, True] Translation: X:44.91, Y:314.13, Z:7.11 [[-3.34744321e-01 -9.42300649e-01 3.96573896e-03 4.49052971e+01] [ 9.42222153e-01 -3.34767643e-01 -1.21671281e-02 3.14128770e+02] [ 1.27926938e-02 -3.36269925e-04 9.99918114e-01 7.10793443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.122755096 meters 0.022426085604369508 Centerline is valid? [True, True] Translation: X:44.90, Y:314.15, Z:7.11 [[-3.35536659e-01 -9.42018639e-01 4.00426920e-03 4.48965981e+01] [ 9.41938792e-01 -3.35560374e-01 -1.22698020e-02 3.14153529e+02] [ 1.29020563e-02 -3.45191889e-04 9.99916705e-01 7.10803464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.152755096 meters 0.02298891663915223 Centerline is valid? [True, True] Translation: X:44.89, Y:314.18, Z:7.11 [[-3.35938750e-01 -9.41876392e-01 3.74416908e-03 4.48890727e+01] [ 9.41806734e-01 -3.35959459e-01 -1.14593988e-02 3.14177867e+02] [ 1.20512262e-02 -3.23372461e-04 9.99927329e-01 7.10906644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.182755096 meters 0.02324537893498982 Centerline is valid? [True, True] Translation: X:44.88, Y:314.20, Z:7.11 [[-3.36179432e-01 -9.41790810e-01 3.66885003e-03 4.48813100e+01] [ 9.41724076e-01 -3.36199303e-01 -1.12157824e-02 3.14202232e+02] [ 1.17963856e-02 -3.15470964e-04 9.99930370e-01 7.10976605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.212755096 meters 0.02324537893498982 Centerline is valid? [True, True] Translation: X:44.87, Y:314.23, Z:7.11 [[-3.36537586e-01 -9.41662870e-01 3.67325789e-03 4.48729962e+01] [ 9.41596144e-01 -3.36557484e-01 -1.12143390e-02 3.14226803e+02] [ 1.17963891e-02 -3.15321107e-04 9.99930371e-01 7.10994833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.242755096 meters 0.02223709226641265 Centerline is valid? [True, True] Translation: X:44.86, Y:314.25, Z:7.11 [[-3.36702382e-01 -9.41605153e-01 3.35281511e-03 4.48631425e+01] [ 9.41549694e-01 -3.36718954e-01 -1.02235059e-02 3.14251753e+02] [ 1.07554623e-02 -2.85436769e-04 9.99942118e-01 7.11133300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.272755096 meters 0.02214186100183873 Centerline is valid? [True, True] Translation: X:44.85, Y:314.28, Z:7.11 [[-3.36688042e-01 -9.41610641e-01 3.25001153e-03 4.48546763e+01] [ 9.41558665e-01 -3.36703617e-01 -9.89720466e-03 3.14276985e+02] [ 1.04136039e-02 -2.72193941e-04 9.99945740e-01 7.11173318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.302755096 meters 0.021947120336517943 Centerline is valid? [True, True] Translation: X:44.85, Y:314.30, Z:7.11 [[-3.36500048e-01 -9.41678023e-01 3.19674535e-03 4.48455391e+01] [ 9.41627869e-01 -3.36515131e-01 -9.72231305e-03 3.14302052e+02] [ 1.02310417e-02 -2.61414296e-04 9.99947627e-01 7.11169434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.332755096 meters 0.021443532446916384 Centerline is valid? [True, True] Translation: X:44.84, Y:314.33, Z:7.11 [[-3.35573637e-01 -9.42008179e-01 3.30535615e-03 4.48359144e+01] [ 9.41954713e-01 -3.35589818e-01 -1.00395610e-02 3.14327965e+02] [ 1.05665925e-02 -2.55516205e-04 9.99944139e-01 7.11162717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.362755096 meters 0.020458709662115552 Centerline is valid? [True, True] Translation: X:44.82, Y:314.35, Z:7.11 [[-3.33051616e-01 -9.42902548e-01 3.37731127e-03 4.48249891e+01] [ 9.42846909e-01 -3.33068661e-01 -1.02456586e-02 3.14352184e+02] [ 1.07855341e-02 -2.28045658e-04 9.99941808e-01 7.11123848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.392755096 meters 0.019899086849726386 Centerline is valid? [True, True] Translation: X:44.81, Y:314.38, Z:7.11 [[-3.31773261e-01 -9.43353418e-01 3.29125162e-03 4.48147396e+01] [ 9.43300724e-01 -3.31789523e-01 -9.97275829e-03 3.14377888e+02] [ 1.04998384e-02 -2.04054502e-04 9.99944854e-01 7.11171634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4227550960001 meters 0.01859781594647059 Centerline is valid? [True, True] Translation: X:44.80, Y:314.40, Z:7.11 [[-3.28955734e-01 -9.44340274e-01 3.09398662e-03 4.48023851e+01] [ 9.44293853e-01 -3.28970246e-01 -9.36469588e-03 3.14402823e+02] [ 9.86128901e-03 -1.58937861e-04 9.99951364e-01 7.11177415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.452755096 meters 0.017819913589408022 Centerline is valid? [True, True] Translation: X:44.79, Y:314.43, Z:7.11 [[-3.27991033e-01 -9.44675332e-01 3.22496719e-03 4.47918585e+01] [ 9.44625037e-01 -3.28006852e-01 -9.74904408e-03 3.14426945e+02] [ 1.02674928e-02 -1.51214279e-04 9.99947277e-01 7.11200596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.482755096 meters 0.017873846069405234 Centerline is valid? [True, True] Translation: X:44.78, Y:314.45, Z:7.11 [[-3.27196138e-01 -9.44950388e-01 3.38398417e-03 4.47835177e+01] [ 9.44895176e-01 -3.27213605e-01 -1.02158853e-02 3.14451469e+02] [ 1.07607904e-02 -1.45087900e-04 9.99942091e-01 7.11158728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.512755096 meters 0.01770060925471487 Centerline is valid? [True, True] Translation: X:44.77, Y:314.48, Z:7.11 [[-3.27052123e-01 -9.45000207e-01 3.39378881e-03 4.47744735e+01] [ 9.44944819e-01 -3.27069701e-01 -1.02322840e-02 3.14476384e+02] [ 1.07795160e-02 -1.39547063e-04 9.99941890e-01 7.11159209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5427550960001 meters 0.017745054821954657 Centerline is valid? [True, True] Translation: X:44.77, Y:314.50, Z:7.11 [[-3.27301055e-01 -9.44913850e-01 3.44042759e-03 4.47667839e+01] [ 9.44857069e-01 -3.27319106e-01 -1.03596318e-02 3.14500688e+02] [ 1.09150773e-02 -1.40006092e-04 9.99940419e-01 7.11147795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.572755096 meters 0.01736563199070112 Centerline is valid? [True, True] Translation: X:44.76, Y:314.53, Z:7.11 [[-3.28270719e-01 -9.44577422e-01 3.43931955e-03 4.47578050e+01] [ 9.44520806e-01 -3.28288703e-01 -1.03428424e-02 3.14525855e+02] [ 1.08987052e-02 -1.46743438e-04 9.99940597e-01 7.11250810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.602755096 meters 0.01813674737427135 Centerline is valid? [True, True] Translation: X:44.75, Y:314.55, Z:7.11 [[-3.30053188e-01 -9.43956673e-01 3.26997888e-03 4.47518022e+01] [ 9.43905590e-01 -3.30069350e-01 -9.82151131e-03 3.14551330e+02] [ 1.03504009e-02 -1.55069778e-04 9.99946421e-01 7.11293874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.632755096 meters 0.018544052495950068 Centerline is valid? [True, True] Translation: X:44.74, Y:314.58, Z:7.11 [[-3.31333207e-01 -9.43508395e-01 3.19591568e-03 4.47446892e+01] [ 9.43459699e-01 -3.31348581e-01 -9.58723119e-03 3.14575872e+02] [ 1.01045952e-02 -1.61350417e-04 9.99948934e-01 7.11356624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.662755096 meters 0.01841756738165671 Centerline is valid? [True, True] Translation: X:44.74, Y:314.60, Z:7.11 [[-3.32527728e-01 -9.43088089e-01 3.18859091e-03 4.47360844e+01] [ 9.43039723e-01 -3.32542972e-01 -9.55267529e-03 3.14600527e+02] [ 1.00693578e-02 -1.69561519e-04 9.99949288e-01 7.11409214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.692755096 meters 0.019374513621280776 Centerline is valid? [True, True] Translation: X:44.73, Y:314.63, Z:7.11 [[-3.34133753e-01 -9.42520313e-01 3.17731962e-03 4.47299032e+01] [ 9.42472384e-01 -3.34148810e-01 -9.50678232e-03 3.14626266e+02] [ 1.00220330e-02 -1.82000857e-04 9.99949762e-01 7.11401833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.722755096 meters 0.01951495085471639 Centerline is valid? [True, True] Translation: X:44.72, Y:314.65, Z:7.11 [[-3.35139013e-01 -9.42163475e-01 3.13492077e-03 4.47213581e+01] [ 9.42116915e-01 -3.35153623e-01 -9.36843396e-03 3.14651620e+02] [ 9.87727635e-03 -1.86265828e-04 9.99951201e-01 7.11400679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.752755096 meters 0.019723596381956122 Centerline is valid? [True, True] Translation: X:44.71, Y:314.68, Z:7.11 [[-3.35825778e-01 -9.41918939e-01 3.12391671e-03 4.47137482e+01] [ 9.41872812e-01 -3.35840254e-01 -9.32357102e-03 3.14676024e+02] [ 9.83118510e-03 -1.88763278e-04 9.99951655e-01 7.11400299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.782755096 meters 0.019907194468858476 Centerline is valid? [True, True] Translation: X:44.71, Y:314.70, Z:7.11 [[-3.36147023e-01 -9.41804456e-01 3.08966528e-03 4.47059674e+01] [ 9.41759447e-01 -3.36161170e-01 -9.20928276e-03 3.14700269e+02] [ 9.71196904e-03 -1.85951518e-04 9.99952820e-01 7.11430474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.812755096 meters 0.01981768955927379 Centerline is valid? [True, True] Translation: X:44.70, Y:314.73, Z:7.11 [[-3.36035982e-01 -9.41844105e-01 3.08225411e-03 4.46971713e+01] [ 9.41799429e-01 -3.36050069e-01 -9.17535780e-03 3.14725241e+02] [ 9.67754836e-03 -1.80385210e-04 9.99953155e-01 7.11466897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.842755096 meters 0.01958490196260737 Centerline is valid? [True, True] Translation: X:44.69, Y:314.75, Z:7.11 [[-3.35710847e-01 -9.41960493e-01 2.94214364e-03 4.46880376e+01] [ 9.41919887e-01 -3.35723699e-01 -8.74779498e-03 3.14750053e+02] [ 9.22782462e-03 -1.65466058e-04 9.99957409e-01 7.11491963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.872755096 meters 0.018854277948577945 Centerline is valid? [True, True] Translation: X:44.68, Y:314.77, Z:7.12 [[-3.34011197e-01 -9.42565015e-01 2.77713320e-03 4.46779597e+01] [ 9.42528942e-01 -3.34022714e-01 -8.24737592e-03 3.14773056e+02] [ 8.70131358e-03 -1.37187480e-04 9.99962133e-01 7.11565854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.902755096 meters 0.018594124864615688 Centerline is valid? [True, True] Translation: X:44.67, Y:314.80, Z:7.12 [[-3.33421823e-01 -9.42773760e-01 2.74341129e-03 4.46686672e+01] [ 9.42738653e-01 -3.33433085e-01 -8.13689913e-03 3.14796633e+02] [ 8.58599908e-03 -1.26699876e-04 9.99963132e-01 7.11623602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.932755096 meters 0.01775225401211785 Centerline is valid? [True, True] Translation: X:44.66, Y:314.82, Z:7.12 [[-3.31641595e-01 -9.43402442e-01 2.38418252e-03 4.46578343e+01] [ 9.43376003e-01 -3.31650152e-01 -7.06356398e-03 3.14820495e+02] [ 7.45449801e-03 -9.33910459e-05 9.99972211e-01 7.11783098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.962755096 meters 0.01752473252758683 Centerline is valid? [True, True] Translation: X:44.65, Y:314.84, Z:7.12 [[-3.31221938e-01 -9.43550129e-01 2.27646530e-03 4.46492124e+01] [ 9.43526086e-01 -3.31229750e-01 -6.73631939e-03 3.14843297e+02] [ 7.11008806e-03 -8.33123662e-05 9.99974720e-01 7.11824806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.992755096 meters 0.016498049110254806 Centerline is valid? [True, True] Translation: X:44.64, Y:314.87, Z:7.12 [[-3.30839813e-01 -9.43684058e-01 2.32752356e-03 4.46381248e+01] [ 9.43658997e-01 -3.30847991e-01 -6.87781674e-03 3.14867843e+02] [ 7.26054250e-03 -7.90670540e-05 9.99973639e-01 7.11842630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.022755096 meters 0.016951602717378104 Centerline is valid? [True, True] Translation: X:44.63, Y:314.89, Z:7.12 [[-3.30118931e-01 -9.43936163e-01 2.45188025e-03 4.46316919e+01] [ 9.43908430e-01 -3.30128028e-01 -7.23608225e-03 3.14892368e+02] [ 7.63983410e-03 -7.44172980e-05 9.99970813e-01 7.11856730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.052755096 meters 0.01638574468184139 Centerline is valid? [True, True] Translation: X:44.62, Y:314.92, Z:7.12 [[-3.30267235e-01 -9.43884101e-01 2.52126424e-03 4.46211881e+01] [ 9.43854858e-01 -3.30276850e-01 -7.43034417e-03 3.14916790e+02] [ 7.84609894e-03 -7.42917183e-05 9.99969216e-01 7.11925546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.082755096 meters 0.01697578319493087 Centerline is valid? [True, True] Translation: X:44.61, Y:314.94, Z:7.12 [[-3.30773516e-01 -9.43707234e-01 2.35324630e-03 4.46143750e+01] [ 9.43681815e-01 -3.30781880e-01 -6.92676408e-03 3.14941629e+02] [ 7.31524860e-03 -7.04743728e-05 9.99973241e-01 7.11995347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.112755096 meters 0.017075245307710648 Centerline is valid? [True, True] Translation: X:44.61, Y:314.96, Z:7.12 [[-3.31267931e-01 -9.43533931e-01 2.29739875e-03 4.46060952e+01] [ 9.43509764e-01 -3.31275891e-01 -6.75348015e-03 3.14964969e+02] [ 7.13321050e-03 -6.95932443e-05 9.99974556e-01 7.12092705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.142755096 meters 0.016549811432998475 Centerline is valid? [True, True] Translation: X:44.60, Y:314.99, Z:7.12 [[-3.31770031e-01 -9.43357511e-01 2.29171330e-03 4.45954917e+01] [ 9.43333522e-01 -3.31777939e-01 -6.72796813e-03 3.14988765e+02] [ 7.10721919e-03 -7.02882203e-05 9.99974741e-01 7.12151659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1727550960001 meters 0.017378922805637666 Centerline is valid? [True, True] Translation: X:44.59, Y:315.01, Z:7.12 [[-3.32250835e-01 -9.43189008e-01 1.96916890e-03 4.45889419e+01] [ 9.43171332e-01 -3.32256665e-01 -5.77469032e-03 3.15013694e+02] [ 6.10089393e-03 -6.13820255e-05 9.99981388e-01 7.12336359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.202755096 meters 0.017511308373620128 Centerline is valid? [True, True] Translation: X:44.58, Y:315.04, Z:7.12 [[-3.32866626e-01 -9.42971877e-01 1.96176159e-03 4.45807200e+01] [ 9.42954364e-01 -3.32872401e-01 -5.74741836e-03 3.15037538e+02] [ 6.07267017e-03 -6.32721115e-05 9.99981559e-01 7.12418567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.232755096 meters 0.01667644073863988 Centerline is valid? [True, True] Translation: X:44.57, Y:315.06, Z:7.12 [[-3.33658328e-01 -9.42692356e-01 1.80033368e-03 4.45691652e+01] [ 9.42677634e-01 -3.33663180e-01 -5.26885064e-03 3.15061664e+02] [ 5.56761028e-03 -6.08616021e-05 9.99984499e-01 7.12477288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.262755096 meters 0.017045700782604086 Centerline is valid? [True, True] Translation: X:44.56, Y:315.09, Z:7.13 [[-3.34992284e-01 -9.42219478e-01 1.62055722e-03 4.45602984e+01] [ 9.42207569e-01 -3.34996198e-01 -4.73759423e-03 3.15085830e+02] [ 5.00673407e-03 -6.01562299e-05 9.99987464e-01 7.12541756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2927550960001 meters 0.017080889956819903 Centerline is valid? [True, True] Translation: X:44.55, Y:315.11, Z:7.13 [[-3.35608364e-01 -9.41999955e-01 1.76360730e-03 4.45513392e+01] [ 9.41985891e-01 -3.35612991e-01 -5.14799973e-03 3.15110371e+02] [ 5.44130503e-03 -6.64185724e-05 9.99985194e-01 7.12555070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.322755096 meters 0.01786234763501815 Centerline is valid? [True, True] Translation: X:44.54, Y:315.14, Z:7.13 [[-3.37673742e-01 -9.41261993e-01 1.51796522e-03 4.45428984e+01] [ 9.41251588e-01 -3.37677148e-01 -4.42629212e-03 3.15136204e+02] [ 4.67888271e-03 -6.58554542e-05 9.99989052e-01 7.12655948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.352755096 meters 0.018124280262462038 Centerline is valid? [True, True] Translation: X:44.53, Y:315.16, Z:7.13 [[-3.39074328e-01 -9.40758343e-01 1.52973664e-03 4.45347056e+01] [ 9.40747793e-01 -3.39077771e-01 -4.45588246e-03 3.15161163e+02] [ 4.71060829e-03 -7.17789827e-05 9.99988902e-01 7.12713863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.382755096 meters 0.01843956924935621 Centerline is valid? [True, True] Translation: X:44.53, Y:315.19, Z:7.13 [[-3.40533915e-01 -9.40230829e-01 1.62522217e-03 4.45260869e+01] [ 9.40218947e-01 -3.40537783e-01 -4.72764819e-03 3.15186444e+02] [ 4.99853013e-03 -8.18598653e-05 9.99987504e-01 7.12740162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.412755096 meters 0.01884742704721911 Centerline is valid? [True, True] Translation: X:44.52, Y:315.21, Z:7.13 [[-3.42568860e-01 -9.39491307e-01 1.63101746e-03 4.45160735e+01] [ 9.39479362e-01 -3.42572731e-01 -4.73838131e-03 3.15211766e+02] [ 5.01041015e-03 -9.09146395e-05 9.99987444e-01 7.12727204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.442755096 meters 0.019106831820481535 Centerline is valid? [True, True] Translation: X:44.51, Y:315.24, Z:7.13 [[-3.43419520e-01 -9.39180413e-01 1.78442267e-03 4.45068427e+01] [ 9.39166147e-01 -3.43424141e-01 -5.17759780e-03 3.15236380e+02] [ 5.47551227e-03 -1.02218789e-04 9.99985004e-01 7.12754485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.472755096 meters 0.020272768372139226 Centerline is valid? [True, True] Translation: X:44.50, Y:315.26, Z:7.13 [[-3.44375520e-01 -9.38830265e-01 1.79854808e-03 4.44992771e+01] [ 9.38815803e-01 -3.44380200e-01 -5.21202532e-03 3.15260988e+02] [ 5.51259146e-03 -1.06388570e-04 9.99984800e-01 7.12744460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.502755096 meters 0.020169205044525223 Centerline is valid? [True, True] Translation: X:44.49, Y:315.28, Z:7.13 [[-3.45526115e-01 -9.38406832e-01 2.07896398e-03 4.44887236e+01] [ 9.38387561e-01 -3.45532346e-01 -6.01533900e-03 3.15284983e+02] [ 6.36318451e-03 -1.27582771e-04 9.99979747e-01 7.12696009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.532755096 meters 0.019495777445557003 Centerline is valid? [True, True] Translation: X:44.48, Y:315.31, Z:7.13 [[-3.46500662e-01 -9.38047489e-01 2.04946542e-03 4.44776839e+01] [ 9.38028799e-01 -3.46506699e-01 -5.92289247e-03 3.15309323e+02] [ 6.26610790e-03 -1.29828582e-04 9.99980359e-01 7.12684901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.562755096 meters 0.02012186036363365 Centerline is valid? [True, True] Translation: X:44.47, Y:315.33, Z:7.13 [[-3.47021716e-01 -9.37853894e-01 2.44996733e-03 4.44680320e+01] [ 9.37827261e-01 -3.47030329e-01 -7.06956659e-03 3.15333011e+02] [ 7.48043353e-03 -1.55646973e-04 9.99972009e-01 7.12586307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.592755096 meters 0.01950466117884966 Centerline is valid? [True, True] Translation: X:44.46, Y:315.36, Z:7.13 [[-3.47112186e-01 -9.37819938e-01 2.62575449e-03 4.44566587e+01] [ 9.37789431e-01 -3.47122079e-01 -7.56613521e-03 3.15357193e+02] [ 8.00712981e-03 -1.63892926e-04 9.99967929e-01 7.12559818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.622755096 meters 0.01910805868776891 Centerline is valid? [True, True] Translation: X:44.45, Y:315.38, Z:7.13 [[-3.47099470e-01 -9.37824272e-01 2.75535485e-03 4.44455393e+01] [ 9.37790768e-01 -3.47110366e-01 -7.92901231e-03 3.15381244e+02] [ 8.39243243e-03 -1.68209638e-04 9.99964769e-01 7.12513757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.652755096 meters 0.02064113288419548 Centerline is valid? [True, True] Translation: X:44.44, Y:315.41, Z:7.12 [[-3.46959472e-01 -9.37875852e-01 2.83050712e-03 4.44382185e+01] [ 9.37840590e-01 -3.46970977e-01 -8.13439334e-03 3.15405664e+02] [ 8.61115490e-03 -1.67740348e-04 9.99962909e-01 7.12465240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.682755096 meters 0.018543613585019478 Centerline is valid? [True, True] Translation: X:44.42, Y:315.43, Z:7.13 [[-3.46441634e-01 -9.38067641e-01 2.70097692e-03 4.44231025e+01] [ 9.38035621e-01 -3.46452129e-01 -7.75216269e-03 3.15428403e+02] [ 8.20781217e-03 -1.52059352e-04 9.99966304e-01 7.12532909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.712755096 meters 0.018924656623697675 Centerline is valid? [True, True] Translation: X:44.41, Y:315.45, Z:7.13 [[-3.46593881e-01 -9.38011354e-01 2.71680239e-03 4.44140087e+01] [ 9.37979039e-01 -3.46604496e-01 -7.78751445e-03 3.15452605e+02] [ 8.24643290e-03 -1.50801166e-04 9.99965986e-01 7.12582693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.742755096 meters 0.01881660437806083 Centerline is valid? [True, True] Translation: X:44.40, Y:315.48, Z:7.13 [[-3.47088559e-01 -9.37828528e-01 2.68053584e-03 4.44040446e+01] [ 9.37797146e-01 -3.47098877e-01 -7.67355262e-03 3.15477260e+02] [ 8.12688754e-03 -1.49603454e-04 9.99966965e-01 7.12619187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.772755096 meters 0.018517371982575522 Centerline is valid? [True, True] Translation: X:44.39, Y:315.50, Z:7.13 [[-3.48247007e-01 -9.37398350e-01 2.89053508e-03 4.43918979e+01] [ 9.37361939e-01 -3.48258962e-01 -8.26380248e-03 3.15501673e+02] [ 8.75312956e-03 -1.68366905e-04 9.99961676e-01 7.12598577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.802755096 meters 0.018911853234917914 Centerline is valid? [True, True] Translation: X:44.38, Y:315.53, Z:7.13 [[-3.49223060e-01 -9.37034908e-01 2.97250517e-03 4.43824611e+01] [ 9.36996482e-01 -3.49235665e-01 -8.48780366e-03 3.15525929e+02] [ 8.99147315e-03 -1.78909877e-04 9.99959560e-01 7.12580392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.832755096 meters 0.0194082408845861 Centerline is valid? [True, True] Translation: X:44.37, Y:315.55, Z:7.13 [[-3.51141328e-01 -9.36317803e-01 2.95622666e-03 4.43708137e+01] [ 9.36279864e-01 -3.51153719e-01 -8.43107200e-03 3.15550791e+02] [ 8.93225280e-03 -1.92642320e-04 9.99960088e-01 7.12561212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.862755096 meters 0.019749193483862008 Centerline is valid? [True, True] Translation: X:44.36, Y:315.58, Z:7.13 [[-3.52360521e-01 -9.35859486e-01 3.01430395e-03 4.43607149e+01] [ 9.35820116e-01 -3.52373355e-01 -8.58656162e-03 3.15575776e+02] [ 9.09797554e-03 -2.04719059e-04 9.99958592e-01 7.12528403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.892755096 meters 0.020539388544861346 Centerline is valid? [True, True] Translation: X:44.35, Y:315.60, Z:7.13 [[-3.53512612e-01 -9.35424674e-01 3.08436292e-03 4.43516980e+01] [ 9.35383534e-01 -3.53526000e-01 -8.77565366e-03 3.15600806e+02] [ 9.29936544e-03 -2.17241960e-04 9.99956736e-01 7.12502886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9227550960001 meters 0.021285534791364705 Centerline is valid? [True, True] Translation: X:44.34, Y:315.63, Z:7.12 [[-3.54671202e-01 -9.34985337e-01 3.27990944e-03 4.43424683e+01] [ 9.34938912e-01 -3.54686287e-01 -9.32029559e-03 3.15625382e+02] [ 9.87767861e-03 -2.39125479e-04 9.99951186e-01 7.12451629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.952755096 meters 0.021395895783963236 Centerline is valid? [True, True] Translation: X:44.33, Y:315.65, Z:7.12 [[-3.56987333e-01 -9.34103029e-01 3.40234636e-03 4.43305275e+01] [ 9.34053144e-01 -3.57003444e-01 -9.65736891e-03 3.15649537e+02] [ 1.02356269e-02 -2.69586057e-04 9.99947578e-01 7.12367941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.982755096 meters 0.021942452394529 Centerline is valid? [True, True] Translation: X:44.32, Y:315.67, Z:7.12 [[-3.58485617e-01 -9.33528441e-01 3.56541168e-03 4.43207188e+01] [ 9.33473741e-01 -3.58503225e-01 -1.01100193e-02 3.15674681e+02] [ 1.07162022e-02 -2.96078332e-04 9.99942536e-01 7.12339477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.012755096 meters 0.023656516538341586 Centerline is valid? [True, True] Translation: X:44.31, Y:315.70, Z:7.12 [[-3.61031907e-01 -9.32547097e-01 3.44588236e-03 4.43110367e+01] [ 9.32496064e-01 -3.61048218e-01 -9.76095701e-03 3.15699431e+02] [ 1.03466818e-02 -3.10745182e-04 9.99946423e-01 7.12308093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0427550960001 meters 0.023590832059896417 Centerline is valid? [True, True] Translation: X:44.30, Y:315.72, Z:7.12 [[-3.62363045e-01 -9.32030470e-01 3.49656698e-03 4.43003610e+01] [ 9.31978002e-01 -3.62379767e-01 -9.89486200e-03 3.15724472e+02] [ 1.04893980e-02 -3.26808822e-04 9.99944931e-01 7.12325339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.072755096 meters 0.028785300772587345 Centerline is valid? [True, True] Translation: X:44.30, Y:315.75, Z:7.12 [[-3.64322104e-01 -9.31268411e-01 2.92408928e-03 4.42968997e+01] [ 9.31231766e-01 -3.64333724e-01 -8.26654959e-03 3.15750847e+02] [ 8.76372084e-03 -2.88681919e-04 9.99961556e-01 7.12445571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.102755096 meters 0.028785300772587345 Centerline is valid? [True, True] Translation: X:44.29, Y:315.77, Z:7.12 [[-3.64745428e-01 -9.31102682e-01 2.92735506e-03 4.42881537e+01] [ 9.31066040e-01 -3.64757060e-01 -8.26539308e-03 3.15774391e+02] [ 8.76370309e-03 -2.89203454e-04 9.99961556e-01 7.12463232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.132755096 meters 0.024893850268568933 Centerline is valid? [True, True] Translation: X:44.27, Y:315.80, Z:7.13 [[-3.65611721e-01 -9.30764137e-01 2.48815068e-03 4.42726101e+01] [ 9.30737722e-01 -3.65620103e-01 -7.01664205e-03 3.15796975e+02] [ 7.44055669e-03 -2.49550877e-04 9.99972288e-01 7.12625403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.162755096 meters 0.025268434406116844 Centerline is valid? [True, True] Translation: X:44.26, Y:315.82, Z:7.13 [[-3.66294416e-01 -9.30496295e-01 2.24640164e-03 4.42630419e+01] [ 9.30474811e-01 -3.66301234e-01 -6.32714351e-03 3.15821693e+02] [ 6.71024328e-03 -2.27377191e-04 9.99977460e-01 7.12697370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.192755096 meters 0.025506753254195165 Centerline is valid? [True, True] Translation: X:44.25, Y:315.84, Z:7.13 [[-3.66226334e-01 -9.30523837e-01 1.91338640e-03 4.42518732e+01] [ 9.30508282e-01 -3.66231282e-01 -5.38378471e-03 3.15844651e+02] [ 5.71048196e-03 -1.91261846e-04 9.99983677e-01 7.12702823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.222755096 meters 0.02803917868427705 Centerline is valid? [True, True] Translation: X:44.25, Y:315.87, Z:7.13 [[-3.65548968e-01 -9.30790276e-01 1.84793701e-03 4.42454686e+01] [ 9.30775807e-01 -3.65553596e-01 -5.19289461e-03 3.15870308e+02] [ 5.50901582e-03 -1.78242202e-04 9.99984809e-01 7.12718863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.252755096 meters 0.024817959102620833 Centerline is valid? [True, True] Translation: X:44.23, Y:315.89, Z:7.13 [[-3.64594456e-01 -9.31164327e-01 1.96925331e-03 4.42310081e+01] [ 9.31147938e-01 -3.64599729e-01 -5.52774076e-03 3.15893542e+02] [ 5.86522423e-03 -1.81717474e-04 9.99982783e-01 7.12660939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.282755096 meters 0.025224193396852196 Centerline is valid? [True, True] Translation: X:44.22, Y:315.92, Z:7.13 [[-3.60928520e-01 -9.32590803e-01 2.23553986e-03 4.42215662e+01] [ 9.32569771e-01 -3.60935400e-01 -6.26576800e-03 3.15916961e+02] [ 6.65028308e-03 -1.76697475e-04 9.99977871e-01 7.12588402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.312755096 meters 0.022436495340037027 Centerline is valid? [True, True] Translation: X:44.21, Y:315.94, Z:7.13 [[-3.58738795e-01 -9.33435320e-01 2.23195540e-03 4.42080962e+01] [ 9.33414424e-01 -3.58745703e-01 -6.24762862e-03 3.15939409e+02] [ 6.63246163e-03 -1.57927395e-04 9.99977993e-01 7.12534573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.342755096 meters 0.019651654236624808 Centerline is valid? [True, True] Translation: X:44.19, Y:315.96, Z:7.12 [[-3.53651191e-01 -9.35374084e-01 2.48174269e-03 4.41928368e+01] [ 9.35348354e-01 -3.53659874e-01 -6.93905920e-03 3.15962470e+02] [ 7.36830895e-03 -1.32712615e-04 9.99972845e-01 7.12434680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.372755096 meters 0.017554241362109837 Centerline is valid? [True, True] Translation: X:44.18, Y:315.99, Z:7.12 [[-3.51208323e-01 -9.36293933e-01 2.52668467e-03 4.41787035e+01] [ 9.36267347e-01 -3.51217394e-01 -7.05670291e-03 3.15985903e+02] [ 7.49456373e-03 -1.12720446e-04 9.99971909e-01 7.12419211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.402755096 meters 0.017736122540000936 Centerline is valid? [True, True] Translation: X:44.17, Y:316.01, Z:7.12 [[-3.49018711e-01 -9.37112346e-01 2.52783010e-03 4.41700078e+01] [ 9.37085818e-01 -3.49027853e-01 -7.05178159e-03 3.16009295e+02] [ 7.49059470e-03 -9.24099813e-05 9.99971941e-01 7.12402869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.432755096 meters 0.016900701257412845 Centerline is valid? [True, True] Translation: X:44.16, Y:316.03, Z:7.12 [[-3.47127216e-01 -9.37814679e-01 2.51461479e-03 4.41578497e+01] [ 9.37788500e-01 -3.47136316e-01 -7.00773612e-03 3.16033472e+02] [ 7.44487192e-03 -7.43991015e-05 9.99972284e-01 7.12422895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.462755096 meters 0.016315321630380894 Centerline is valid? [True, True] Translation: X:44.15, Y:316.06, Z:7.12 [[-3.44725842e-01 -9.38700354e-01 2.39590223e-03 4.41467501e+01] [ 9.38676662e-01 -3.44734164e-01 -6.66942055e-03 3.16057630e+02] [ 7.08653678e-03 -5.01441025e-05 9.99974889e-01 7.12416169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.492755096 meters 0.016469010959531363 Centerline is valid? [True, True] Translation: X:44.14, Y:316.08, Z:7.12 [[-3.44549491e-01 -9.38765378e-01 2.28317239e-03 4.41384163e+01] [ 9.38743916e-01 -3.44557053e-01 -6.34804727e-03 3.16081405e+02] [ 6.74601014e-03 -4.39022624e-05 9.99977244e-01 7.12402615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.522755096 meters 0.016718757849001127 Centerline is valid? [True, True] Translation: X:44.13, Y:316.11, Z:7.12 [[-3.45334998e-01 -9.38477341e-01 2.00502763e-03 4.41318752e+01] [ 9.38460821e-01 -3.45340816e-01 -5.56845515e-03 3.16106247e+02] [ 5.91828686e-03 -4.13425687e-05 9.99982486e-01 7.12481129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.552755096 meters 0.016812020733786008 Centerline is valid? [True, True] Translation: X:44.12, Y:316.13, Z:7.13 [[-3.46463907e-01 -9.38061609e-01 1.78324113e-03 4.41244856e+01] [ 9.38048565e-01 -3.46468494e-01 -4.94702372e-03 3.16131690e+02] [ 5.25844989e-03 -4.11983791e-05 9.99986173e-01 7.12532992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.582755096 meters 0.016972428118035156 Centerline is valid? [True, True] Translation: X:44.12, Y:316.16, Z:7.13 [[-3.47807860e-01 -9.37564262e-01 1.71658733e-03 4.41165214e+01] [ 9.37552197e-01 -3.47812093e-01 -4.75673765e-03 3.16157404e+02] [ 5.05679705e-03 -4.50405184e-05 9.99987213e-01 7.12578603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.612755096 meters 0.01738232040165664 Centerline is valid? [True, True] Translation: X:44.11, Y:316.18, Z:7.13 [[-3.49728533e-01 -9.36850109e-01 1.35163053e-03 4.41102501e+01] [ 9.36842634e-01 -3.49731142e-01 -3.74255230e-03 3.16182867e+02] [ 3.97891782e-03 -4.26122207e-05 9.99992083e-01 7.12695240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.642755096 meters 0.01736773411601807 Centerline is valid? [True, True] Translation: X:44.10, Y:316.21, Z:7.13 [[-3.50632951e-01 -9.36512522e-01 9.11215186e-04 4.41028259e+01] [ 9.36509124e-01 -3.50634134e-01 -2.52279513e-03 3.16208321e+02] [ 2.68213238e-03 -3.12137662e-05 9.99996403e-01 7.12741451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6727550960001 meters 0.017545262042075897 Centerline is valid? [True, True] Translation: X:44.09, Y:316.23, Z:7.13 [[-3.51354420e-01 -9.36242214e-01 7.67004845e-04 4.40949303e+01] [ 9.36239809e-01 -3.51355256e-01 -2.12239888e-03 3.16232910e+02] [ 2.25657061e-03 -2.76137599e-05 9.99997454e-01 7.12794145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.702755096 meters 0.01752684690431646 Centerline is valid? [True, True] Translation: X:44.09, Y:316.26, Z:7.13 [[-3.51805542e-01 -9.36072716e-01 8.55465866e-04 4.40867049e+01] [ 9.36069734e-01 -3.51806581e-01 -2.36285332e-03 3.16257545e+02] [ 2.51276105e-03 -3.04891893e-05 9.99996843e-01 7.12809190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.732755096 meters 0.01772211404412894 Centerline is valid? [True, True] Translation: X:44.08, Y:316.28, Z:7.13 [[-3.52235906e-01 -9.35910963e-01 7.31628512e-04 4.40797093e+01] [ 9.35908784e-01 -3.52236665e-01 -2.01971519e-03 3.16281964e+02] [ 2.14797998e-03 -2.66786599e-05 9.99997693e-01 7.12847226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.762755096 meters 0.01768739061866592 Centerline is valid? [True, True] Translation: X:44.07, Y:316.31, Z:7.13 [[-3.52689782e-01 -9.35740088e-01 6.36243494e-04 4.40711845e+01] [ 9.35738443e-01 -3.52690355e-01 -1.75502047e-03 3.16307185e+02] [ 1.86663995e-03 -2.36202909e-05 9.99998258e-01 7.12822470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7927550960001 meters 0.017878966587327405 Centerline is valid? [True, True] Translation: X:44.07, Y:316.33, Z:7.13 [[-3.53723044e-01 -9.35349706e-01 9.67028287e-04 4.40652740e+01] [ 9.35345925e-01 -3.53724364e-01 -2.66005152e-03 3.16332046e+02] [ 2.83013987e-03 -3.64155515e-05 9.99995995e-01 7.12788308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.822755096 meters 0.017918851260960864 Centerline is valid? [True, True] Translation: X:44.06, Y:316.36, Z:7.13 [[-3.54233110e-01 -9.35156671e-01 9.50970284e-04 4.40577466e+01] [ 9.35153023e-01 -3.54234384e-01 -2.61232189e-03 3.16357036e+02] [ 2.77979662e-03 -3.60681711e-05 9.99996136e-01 7.12784653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.852755096 meters 0.018022226981293972 Centerline is valid? [True, True] Translation: X:44.05, Y:316.38, Z:7.13 [[-3.54918152e-01 -9.34896952e-01 8.91602799e-04 4.40502313e+01] [ 9.34893751e-01 -3.54919270e-01 -2.44676967e-03 3.16382692e+02] [ 2.60392452e-03 -3.48490846e-05 9.99996609e-01 7.12792380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.882755096 meters 0.018207710351048633 Centerline is valid? [True, True] Translation: X:44.05, Y:316.41, Z:7.13 [[-3.55677213e-01 -9.34608337e-01 9.87736783e-04 4.40456785e+01] [ 9.34604422e-01 -3.55678583e-01 -2.70544595e-03 3.16407627e+02] [ 2.87984916e-03 -3.91223120e-05 9.99995852e-01 7.12757971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.912755096 meters 0.018427003135717275 Centerline is valid? [True, True] Translation: X:44.04, Y:316.43, Z:7.13 [[-3.56522542e-01 -9.34286090e-01 1.08627158e-03 4.40387890e+01] [ 9.34281362e-01 -3.56524194e-01 -2.97266308e-03 3.16433069e+02] [ 3.16459987e-03 -4.49381041e-05 9.99994992e-01 7.12754429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.942755096 meters 0.018623665528710396 Centerline is valid? [True, True] Translation: X:44.03, Y:316.46, Z:7.13 [[-3.57362032e-01 -9.33965148e-01 1.21673738e-03 4.40318955e+01] [ 9.33959232e-01 -3.57364099e-01 -3.32479536e-03 3.16458580e+02] [ 3.54006124e-03 -5.17725186e-05 9.99993733e-01 7.12742808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.972755096 meters 0.018863088766974182 Centerline is valid? [True, True] Translation: X:44.03, Y:316.48, Z:7.13 [[-3.58716976e-01 -9.33445447e-01 1.31497728e-03 4.40270065e+01] [ 9.33438551e-01 -3.58719381e-01 -3.58843529e-03 3.16484577e+02] [ 3.82131642e-03 -5.97821653e-05 9.99992697e-01 7.12740012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.002755096 meters 0.01940745994500037 Centerline is valid? [True, True] Translation: X:44.02, Y:316.51, Z:7.13 [[-3.59642465e-01 -9.33089295e-01 1.29035805e-03 4.40211228e+01] [ 9.33082667e-01 -3.59644775e-01 -3.51739843e-03 3.16509379e+02] [ 3.74611735e-03 -6.09951081e-05 9.99992981e-01 7.12755478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.032755096 meters 0.019276611498128395 Centerline is valid? [True, True] Translation: X:44.02, Y:316.54, Z:7.13 [[-3.60583422e-01 -9.32726171e-01 1.21852804e-03 4.40153671e+01] [ 9.32720272e-01 -3.60585476e-01 -3.31781904e-03 3.16535863e+02] [ 3.53400016e-03 -5.98047400e-05 9.99993754e-01 7.12819493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.062755096 meters 0.019551449347830676 Centerline is valid? [True, True] Translation: X:44.01, Y:316.56, Z:7.13 [[-3.61070872e-01 -9.32537650e-01 1.16530778e-03 4.40089274e+01] [ 9.32532264e-01 -3.61072747e-01 -3.16968748e-03 3.16560699e+02] [ 3.37661379e-03 -5.77947176e-05 9.99994298e-01 7.12853901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.092755096 meters 0.019684441815677366 Centerline is valid? [True, True] Translation: X:44.00, Y:316.59, Z:7.13 [[-3.61530226e-01 -9.32359591e-01 1.22000142e-03 4.40010689e+01] [ 9.32353704e-01 -3.61532280e-01 -3.31387469e-03 3.16585548e+02] [ 3.53079274e-03 -6.05930199e-05 9.99993765e-01 7.12804464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.122755096 meters 0.018678650902686892 Centerline is valid? [True, True] Translation: X:43.99, Y:316.61, Z:7.13 [[-3.61662506e-01 -9.32308245e-01 1.25207979e-03 4.39914796e+01] [ 9.32302060e-01 -3.61664669e-01 -3.39660977e-03 3.16611037e+02] [ 3.61952032e-03 -6.11098386e-05 9.99993448e-01 7.12781427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.152755096 meters 0.019657894132815556 Centerline is valid? [True, True] Translation: X:43.99, Y:316.64, Z:7.13 [[-3.61346561e-01 -9.32430365e-01 1.50930188e-03 4.39873098e+01] [ 9.32421403e-01 -3.61349706e-01 -4.08874270e-03 3.16636894e+02] [ 4.35785364e-03 -7.01477395e-05 9.99990502e-01 7.12761293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.182755096 meters 0.018584573690618344 Centerline is valid? [True, True] Translation: X:43.98, Y:316.66, Z:7.13 [[-3.60626669e-01 -9.32709202e-01 1.39685944e-03 4.39784684e+01] [ 9.32701545e-01 -3.60629369e-01 -3.77961954e-03 3.16661855e+02] [ 4.02903446e-03 -6.01786443e-05 9.99991882e-01 7.12714007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.212755096 meters 0.019248625814549402 Centerline is valid? [True, True] Translation: X:43.97, Y:316.69, Z:7.13 [[-3.60644606e-01 -9.32702180e-01 1.45310506e-03 4.39725013e+01] [ 9.32693915e-01 -3.60647529e-01 -3.92691186e-03 3.16686566e+02] [ 4.18669800e-03 -6.09173299e-05 9.99991234e-01 7.12776542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.242755096 meters 0.01847262381256384 Centerline is valid? [True, True] Translation: X:43.96, Y:316.71, Z:7.13 [[-3.60634802e-01 -9.32705793e-01 1.56317869e-03 4.39626321e+01] [ 9.32696256e-01 -3.60638184e-01 -4.21835570e-03 3.16710930e+02] [ 4.49822672e-03 -6.33149591e-05 9.99989881e-01 7.12735012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.272755096 meters 0.01895311529871655 Centerline is valid? [True, True] Translation: X:43.96, Y:316.74, Z:7.13 [[-3.60620448e-01 -9.32711336e-01 1.56723538e-03 4.39566172e+01] [ 9.32701772e-01 -3.60623848e-01 -4.22435984e-03 3.16735640e+02] [ 4.50529077e-03 -6.16273270e-05 9.99989849e-01 7.12799726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.302755096 meters 0.01893943602284417 Centerline is valid? [True, True] Translation: X:43.95, Y:316.76, Z:7.13 [[-3.60763567e-01 -9.32655207e-01 1.97851371e-03 4.39512340e+01] [ 9.32640013e-01 -3.60768984e-01 -5.32418019e-03 3.16759578e+02] [ 5.67941076e-03 -7.55291815e-05 9.99983869e-01 7.12762109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.332755096 meters 0.017924638751125457 Centerline is valid? [True, True] Translation: X:43.94, Y:316.78, Z:7.13 [[-3.60453793e-01 -9.32774748e-01 2.08164032e-03 4.39411688e+01] [ 9.32757976e-01 -3.60459796e-01 -5.59413945e-03 3.16784086e+02] [ 5.96841966e-03 -7.47621751e-05 9.99982186e-01 7.12761761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.362755096 meters 0.017683411499897904 Centerline is valid? [True, True] Translation: X:43.93, Y:316.81, Z:7.13 [[-3.59906192e-01 -9.32985850e-01 2.22210873e-03 4.39348754e+01] [ 9.32966790e-01 -3.59913044e-01 -5.96397079e-03 3.16809145e+02] [ 6.36406627e-03 -7.33163695e-05 9.99979746e-01 7.12775550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.392755096 meters 0.01760997740389911 Centerline is valid? [True, True] Translation: X:43.93, Y:316.83, Z:7.13 [[-3.59479359e-01 -9.33150430e-01 2.20566094e-03 4.39267560e+01] [ 9.33131702e-01 -3.59486119e-01 -5.91246273e-03 3.16834596e+02] [ 6.31012163e-03 -6.72361639e-05 9.99980089e-01 7.12788220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4227550960001 meters 0.01731439744208172 Centerline is valid? [True, True] Translation: X:43.92, Y:316.86, Z:7.13 [[-3.58839385e-01 -9.33396138e-01 2.43838932e-03 4.39208628e+01] [ 9.33373313e-01 -3.58847663e-01 -6.52787498e-03 3.16859274e+02] [ 6.96810360e-03 -6.65311237e-05 9.99975720e-01 7.12805717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.452755096 meters 0.017183053396406398 Centerline is valid? [True, True] Translation: X:43.91, Y:316.88, Z:7.13 [[-3.59094425e-01 -9.33297972e-01 2.46764379e-03 4.39129201e+01] [ 9.33274651e-01 -3.59102898e-01 -6.59808562e-03 3.16884082e+02] [ 7.04411796e-03 -6.63463725e-05 9.99975188e-01 7.12832993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.482755096 meters 0.017323468172277867 Centerline is valid? [True, True] Translation: X:43.91, Y:316.91, Z:7.13 [[-3.59526288e-01 -9.33131817e-01 2.42077965e-03 4.39055426e+01] [ 9.33109421e-01 -3.59534432e-01 -6.46533366e-03 3.16909114e+02] [ 6.90336218e-03 -6.56051130e-05 9.99976169e-01 7.12862713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.512755096 meters 0.017177493622601826 Centerline is valid? [True, True] Translation: X:43.90, Y:316.93, Z:7.13 [[-3.60059033e-01 -9.32926364e-01 2.42742910e-03 4.38979073e+01] [ 9.32903893e-01 -3.60067209e-01 -6.47548770e-03 3.16934175e+02] [ 6.91519082e-03 -6.69997870e-05 9.99976088e-01 7.12914628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5427550960001 meters 0.017558418705866483 Centerline is valid? [True, True] Translation: X:43.89, Y:316.96, Z:7.13 [[-3.60343519e-01 -9.32816145e-01 2.56678766e-03 4.38934589e+01] [ 9.32791079e-01 -3.60352654e-01 -6.83867008e-03 3.16959248e+02] [ 7.30417060e-03 -6.99938149e-05 9.99973322e-01 7.12942717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.572755096 meters 0.01726498095630078 Centerline is valid? [True, True] Translation: X:43.88, Y:316.98, Z:7.13 [[-3.60270053e-01 -9.32844560e-01 2.55250870e-03 4.38841782e+01] [ 9.32819834e-01 -3.60279089e-01 -6.79231266e-03 3.16983885e+02] [ 7.25578743e-03 -6.60361021e-05 9.99973674e-01 7.12995199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.602755096 meters 0.01693430937409832 Centerline is valid? [True, True] Translation: X:43.87, Y:317.01, Z:7.13 [[-3.59426932e-01 -9.33170771e-01 2.14312719e-03 4.38718170e+01] [ 9.33153377e-01 -3.59433318e-01 -5.69774401e-03 3.17007711e+02] [ 6.08727949e-03 -4.80562770e-05 9.99981471e-01 7.13114096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.632755096 meters 0.017090144228845937 Centerline is valid? [True, True] Translation: X:43.86, Y:317.03, Z:7.13 [[-3.59222924e-01 -9.33249301e-01 2.15250626e-03 4.38627674e+01] [ 9.33231799e-01 -3.59229370e-01 -5.71569129e-03 3.17031946e+02] [ 6.10740837e-03 -4.44200513e-05 9.99981349e-01 7.13133225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.662755096 meters 0.01707700430758489 Centerline is valid? [True, True] Translation: X:43.85, Y:317.06, Z:7.13 [[-3.59045880e-01 -9.33317585e-01 2.08349873e-03 4.38523032e+01] [ 9.33301230e-01 -3.59051923e-01 -5.52552900e-03 3.17056774e+02] [ 5.90515761e-03 -3.93864944e-05 9.99982564e-01 7.13119055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.692755096 meters 0.017031506561649416 Centerline is valid? [True, True] Translation: X:43.84, Y:317.08, Z:7.13 [[-3.59056750e-01 -9.33311869e-01 2.68421165e-03 4.38424410e+01] [ 9.33284799e-01 -3.59066780e-01 -7.10850743e-03 3.17080215e+02] [ 7.59826559e-03 -4.72236431e-05 9.99971132e-01 7.13037392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.722755096 meters 0.01710923878033841 Centerline is valid? [True, True] Translation: X:43.83, Y:317.10, Z:7.13 [[-3.59605604e-01 -9.33100434e-01 2.71841048e-03 4.38335107e+01] [ 9.33072729e-01 -3.59615875e-01 -7.19055612e-03 3.17103977e+02] [ 7.68709460e-03 -4.92895900e-05 9.99970453e-01 7.13017952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.752755096 meters 0.01731687413672154 Centerline is valid? [True, True] Translation: X:43.82, Y:317.13, Z:7.13 [[-3.60663300e-01 -9.32691116e-01 3.04394324e-03 4.38244008e+01] [ 9.32656454e-01 -3.60676140e-01 -8.04119311e-03 3.17127343e+02] [ 8.59782708e-03 -6.12099383e-05 9.99963036e-01 7.12953649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.782755096 meters 0.01749202286954865 Centerline is valid? [True, True] Translation: X:43.81, Y:317.15, Z:7.13 [[-3.61434256e-01 -9.32391779e-01 3.29386739e-03 4.38144827e+01] [ 9.32351270e-01 -3.61449258e-01 -8.69153916e-03 3.17151314e+02] [ 9.29448558e-03 -7.03785432e-05 9.99956803e-01 7.12883335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.812755096 meters 0.017324823106646833 Centerline is valid? [True, True] Translation: X:43.80, Y:317.18, Z:7.13 [[-3.62604671e-01 -9.31936181e-01 3.57866746e-03 4.38031853e+01] [ 9.31888462e-01 -3.62622320e-01 -9.43116608e-03 3.17175752e+02] [ 1.00869496e-02 -8.48659598e-05 9.99949122e-01 7.12883386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.842755096 meters 0.017835846916580165 Centerline is valid? [True, True] Translation: X:43.79, Y:317.20, Z:7.13 [[-3.64637176e-01 -9.31141202e-01 3.97381410e-03 4.37942297e+01] [ 9.31082461e-01 -3.64658811e-01 -1.04595688e-02 3.17200760e+02] [ 1.11884218e-02 -1.13999025e-04 9.99937401e-01 7.12811835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.872755096 meters 0.01874587083011323 Centerline is valid? [True, True] Translation: X:43.79, Y:317.23, Z:7.13 [[-3.66218008e-01 -9.30520463e-01 4.00477150e-03 4.37850288e+01] [ 9.30460901e-01 -3.66239882e-01 -1.05290679e-02 3.17225821e+02] [ 1.12642202e-02 -1.29650983e-04 9.99936548e-01 7.12760834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.902755096 meters 0.01848159108904126 Centerline is valid? [True, True] Translation: X:43.78, Y:317.25, Z:7.13 [[-3.67732838e-01 -9.29922494e-01 4.08832454e-03 4.37762724e+01] [ 9.29860532e-01 -3.67755534e-01 -1.07358436e-02 3.17249906e+02] [ 1.14870064e-02 -1.46350599e-04 9.99934011e-01 7.12891304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.932755096 meters 0.019233805068937307 Centerline is valid? [True, True] Translation: X:43.77, Y:317.28, Z:7.13 [[-3.70447337e-01 -9.28843963e-01 4.20260618e-03 4.37670765e+01] [ 9.28778569e-01 -3.70471132e-01 -1.10231522e-02 3.17275628e+02] [ 1.17957326e-02 -1.80206817e-04 9.99930412e-01 7.12901131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.962755096 meters 0.020056758286341292 Centerline is valid? [True, True] Translation: X:43.76, Y:317.30, Z:7.13 [[-3.71918450e-01 -9.28255851e-01 4.21215589e-03 4.37591070e+01] [ 9.28190258e-01 -3.71942251e-01 -1.10366121e-02 3.17300662e+02] [ 1.18114785e-02 -1.95037605e-04 9.99930223e-01 7.12926264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.992755096 meters 0.020056758286341292 Centerline is valid? [True, True] Translation: X:43.75, Y:317.32, Z:7.13 [[-3.72260522e-01 -9.28118704e-01 4.21615770e-03 4.37496032e+01] [ 9.28053120e-01 -3.72284346e-01 -1.10350835e-02 3.17324791e+02] [ 1.18114769e-02 -1.95107626e-04 9.99930223e-01 7.12944495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.022755096 meters 0.019989430860292833 Centerline is valid? [True, True] Translation: X:43.74, Y:317.35, Z:7.13 [[-3.74437012e-01 -9.27242849e-01 4.19792298e-03 4.37393893e+01] [ 9.27177916e-01 -3.74460480e-01 -1.09754766e-02 3.17350392e+02] [ 1.17488884e-02 -2.17403161e-04 9.99930956e-01 7.13060661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.052755096 meters 0.020377880818599335 Centerline is valid? [True, True] Translation: X:43.73, Y:317.38, Z:7.13 [[-3.75554798e-01 -9.26790367e-01 4.26729344e-03 4.37304561e+01] [ 9.26723388e-01 -3.75578970e-01 -1.11444835e-02 3.17375073e+02] [ 1.19313056e-02 -2.30763610e-04 9.99928793e-01 7.13093314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.082755096 meters 0.020588136049457955 Centerline is valid? [True, True] Translation: X:43.72, Y:317.40, Z:7.13 [[-3.76352372e-01 -9.26467125e-01 4.19017620e-03 4.37210550e+01] [ 9.26402672e-01 -3.76375626e-01 -1.09305405e-02 3.17400110e+02] [ 1.17038667e-02 -2.31944430e-04 9.99931481e-01 7.13128762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.112755096 meters 0.020913670083881543 Centerline is valid? [True, True] Translation: X:43.71, Y:317.42, Z:7.13 [[-3.76810701e-01 -9.26281709e-01 3.98632834e-03 4.37121164e+01] [ 9.26223496e-01 -3.76831722e-01 -1.03869516e-02 3.17423787e+02] [ 1.11234183e-02 -2.21683555e-04 9.99938108e-01 7.13263522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.142755096 meters 0.020832289286333988 Centerline is valid? [True, True] Translation: X:43.70, Y:317.45, Z:7.13 [[-3.76765448e-01 -9.26300664e-01 3.85702435e-03 4.37022261e+01] [ 9.26246292e-01 -3.76785132e-01 -1.00384474e-02 3.17448196e+02] [ 1.07518899e-02 -2.09585617e-04 9.99942175e-01 7.13332064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1727550960001 meters 0.020679497953021587 Centerline is valid? [True, True] Translation: X:43.69, Y:317.47, Z:7.13 [[-3.76466675e-01 -9.26422148e-01 3.85309401e-03 4.36928735e+01] [ 9.26368017e-01 -3.76486339e-01 -1.00167283e-02 3.17471433e+02] [ 1.07303562e-02 -2.01581348e-04 9.99942408e-01 7.13378880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.202755096 meters 0.02036785256794317 Centerline is valid? [True, True] Translation: X:43.68, Y:317.50, Z:7.13 [[-3.75725428e-01 -9.26723502e-01 3.73557929e-03 4.36820153e+01] [ 9.26672751e-01 -3.75743953e-01 -9.70025771e-03 3.17495126e+02] [ 1.03930781e-02 -1.82973942e-04 9.99945974e-01 7.13432799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.232755096 meters 0.020077185054519286 Centerline is valid? [True, True] Translation: X:43.67, Y:317.52, Z:7.13 [[-3.75370122e-01 -9.26867289e-01 3.78166144e-03 4.36714960e+01] [ 9.26815400e-01 -3.75389129e-01 -9.80896979e-03 3.17519469e+02] [ 1.05112078e-02 -1.77092125e-04 9.99944740e-01 7.13497874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.262755096 meters 0.019674400977720892 Centerline is valid? [True, True] Translation: X:43.66, Y:317.54, Z:7.14 [[-3.74311779e-01 -9.27294802e-01 3.87852606e-03 4.36616817e+01] [ 9.27240367e-01 -3.74331837e-01 -1.00487793e-02 3.17542704e+02] [ 1.07700366e-02 -1.65050520e-04 9.99941988e-01 7.13514639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2927550960001 meters 0.019579640895270582 Centerline is valid? [True, True] Translation: X:43.65, Y:317.57, Z:7.14 [[-3.74252249e-01 -9.27318456e-01 3.96679037e-03 4.36520493e+01] [ 9.27261650e-01 -3.74273235e-01 -1.02653508e-02 3.17566799e+02] [ 1.10039127e-02 -1.63578041e-04 9.99939442e-01 7.13566882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.322755096 meters 0.019666987709985855 Centerline is valid? [True, True] Translation: X:43.64, Y:317.59, Z:7.14 [[-3.74539867e-01 -9.27202103e-01 4.01843714e-03 4.36424906e+01] [ 9.27143940e-01 -3.74561387e-01 -1.03865980e-02 3.17591063e+02] [ 1.11356269e-02 -1.64525400e-04 9.99937983e-01 7.13544613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.352755096 meters 0.02021708965817515 Centerline is valid? [True, True] Translation: X:43.63, Y:317.62, Z:7.14 [[-3.75874966e-01 -9.26661422e-01 4.07676147e-03 4.36343054e+01] [ 9.26601665e-01 -3.75897031e-01 -1.05250835e-02 3.17615473e+02] [ 1.12856314e-02 -1.78581436e-04 9.99936299e-01 7.13557609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.382755096 meters 0.0205442429654945 Centerline is valid? [True, True] Translation: X:43.63, Y:317.64, Z:7.14 [[-3.77005704e-01 -9.26201602e-01 4.15840485e-03 4.36257409e+01] [ 9.26139541e-01 -3.77028588e-01 -1.07235281e-02 3.17639271e+02] [ 1.14999865e-02 -1.91568123e-04 9.99933855e-01 7.13578752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.412755096 meters 0.020144230182259235 Centerline is valid? [True, True] Translation: X:43.62, Y:317.66, Z:7.14 [[-3.79383828e-01 -9.25230720e-01 4.00315459e-03 4.36159679e+01] [ 9.25173278e-01 -3.79404890e-01 -1.03118691e-02 3.17664895e+02] [ 1.10596745e-02 -2.08544730e-04 9.99938818e-01 7.13738275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.442755096 meters 0.021044264279590705 Centerline is valid? [True, True] Translation: X:43.61, Y:317.69, Z:7.14 [[-3.80591178e-01 -9.24734922e-01 3.95981861e-03 4.36088282e+01] [ 9.24678812e-01 -3.80611715e-01 -1.01890963e-02 3.17688992e+02] [ 1.09293665e-02 -2.16319777e-04 9.99940249e-01 7.13733022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.472755096 meters 0.021045550178107008 Centerline is valid? [True, True] Translation: X:43.60, Y:317.71, Z:7.14 [[-3.81636887e-01 -9.24303599e-01 4.01795556e-03 4.35994396e+01] [ 9.24245942e-01 -3.81657969e-01 -1.03263720e-02 3.17713329e+02] [ 1.10781875e-02 -2.27345328e-04 9.99938609e-01 7.13752140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.502755096 meters 0.021959048731378026 Centerline is valid? [True, True] Translation: X:43.59, Y:317.74, Z:7.14 [[-3.82509374e-01 -9.23942050e-01 4.20320471e-03 4.35917035e+01] [ 9.23879080e-01 -3.82532389e-01 -1.07896496e-02 3.17737800e+02] [ 1.15768729e-02 -2.43889191e-04 9.99932956e-01 7.13747168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.532755096 meters 0.023776040754014436 Centerline is valid? [True, True] Translation: X:43.59, Y:317.76, Z:7.14 [[-3.82749679e-01 -9.23842378e-01 4.23612167e-03 4.35852438e+01] [ 9.23778547e-01 -3.82773042e-01 -1.08625690e-02 3.17762138e+02] [ 1.16567747e-02 -2.44406469e-04 9.99932028e-01 7.13681521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.562755096 meters 0.021036331670393565 Centerline is valid? [True, True] Translation: X:43.57, Y:317.78, Z:7.14 [[-3.83014997e-01 -9.23732183e-01 4.28547709e-03 4.35706631e+01] [ 9.23666977e-01 -3.83038892e-01 -1.09782894e-02 3.17784643e+02] [ 1.17825036e-02 -2.46495820e-04 9.99930554e-01 7.13790500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.592755096 meters 0.021753279519889538 Centerline is valid? [True, True] Translation: X:43.56, Y:317.81, Z:7.14 [[-3.82474832e-01 -9.23955928e-01 4.29495009e-03 4.35617711e+01] [ 9.23890598e-01 -3.82498874e-01 -1.09897291e-02 3.17808856e+02] [ 1.17968389e-02 -2.35230780e-04 9.99930387e-01 7.13752548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.622755096 meters 0.023384260766364073 Centerline is valid? [True, True] Translation: X:43.56, Y:317.83, Z:7.14 [[-3.82318454e-01 -9.24020777e-01 4.26647592e-03 4.35552260e+01] [ 9.23956469e-01 -3.82342192e-01 -1.09037165e-02 3.17833139e+02] [ 1.17065144e-02 -2.26654027e-04 9.99931451e-01 7.13692928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.652755096 meters 0.022977339868118396 Centerline is valid? [True, True] Translation: X:43.55, Y:317.86, Z:7.14 [[-3.81408292e-01 -9.24396456e-01 4.34820806e-03 4.35457887e+01] [ 9.24329845e-01 -3.81433017e-01 -1.10991998e-02 3.17855458e+02] [ 1.19186111e-02 -2.14148367e-04 9.99928948e-01 7.13727069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.682755096 meters 0.022817047641507736 Centerline is valid? [True, True] Translation: X:43.54, Y:317.88, Z:7.14 [[-3.81049941e-01 -9.24544407e-01 4.31058601e-03 4.35363949e+01] [ 9.24479088e-01 -3.81074268e-01 -1.09917327e-02 3.17878024e+02] [ 1.18049984e-02 -2.03352493e-04 9.99930298e-01 7.13742984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.712755096 meters 0.019584445624522186 Centerline is valid? [True, True] Translation: X:43.52, Y:317.90, Z:7.14 [[-3.80791232e-01 -9.24650805e-01 4.35042117e-03 4.35202858e+01] [ 9.24584413e-01 -3.80816031e-01 -1.10821452e-02 3.17900619e+02] [ 1.19038246e-02 -1.97652129e-04 9.99929127e-01 7.13953870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.742755096 meters 0.01961276915786195 Centerline is valid? [True, True] Translation: X:43.51, Y:317.92, Z:7.14 [[-3.79640591e-01 -9.25123405e-01 4.43930385e-03 4.35109657e+01] [ 9.25054448e-01 -3.79666502e-01 -1.12966981e-02 3.17924084e+02] [ 1.21362948e-02 -1.82087388e-04 9.99926336e-01 7.13970267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.772755096 meters 0.01944142929428531 Centerline is valid? [True, True] Translation: X:43.50, Y:317.95, Z:7.14 [[-3.79255544e-01 -9.25281696e-01 4.36067668e-03 4.35014329e+01] [ 9.25215305e-01 -3.79280575e-01 -1.10853594e-02 3.17947604e+02] [ 1.19110001e-02 -1.69619224e-04 9.99929047e-01 7.13992942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.802755096 meters 0.018872259667557456 Centerline is valid? [True, True] Translation: X:43.49, Y:317.97, Z:7.14 [[-3.78654682e-01 -9.25526821e-01 4.55368883e-03 4.34903170e+01] [ 9.25454610e-01 -3.78682026e-01 -1.15623631e-02 3.17971481e+02] [ 1.24256773e-02 -1.63910601e-04 9.99922785e-01 7.14059045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.832755096 meters 0.018769904771741706 Centerline is valid? [True, True] Translation: X:43.48, Y:318.00, Z:7.14 [[-3.78540336e-01 -9.25572731e-01 4.72585704e-03 4.34802412e+01] [ 9.25495138e-01 -3.78569800e-01 -1.19856477e-02 3.17996005e+02] [ 1.28826554e-02 -1.63293383e-04 9.99917002e-01 7.14068048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.862755096 meters 0.019073209154040458 Centerline is valid? [True, True] Translation: X:43.47, Y:318.02, Z:7.14 [[-3.78320771e-01 -9.25662411e-01 4.74285320e-03 4.34713051e+01] [ 9.25584426e-01 -3.78350468e-01 -1.20164370e-02 3.18019518e+02] [ 1.29176247e-02 -1.56156648e-04 9.99916552e-01 7.14059233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.892755096 meters 0.018544726207214448 Centerline is valid? [True, True] Translation: X:43.46, Y:318.04, Z:7.14 [[-3.78429750e-01 -9.25618282e-01 4.66053437e-03 4.34601085e+01] [ 9.25543127e-01 -3.78458417e-01 -1.17960356e-02 3.18043273e+02] [ 1.26824447e-02 -1.50445241e-04 9.99919563e-01 7.14189310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9227550960001 meters 0.018800971861057083 Centerline is valid? [True, True] Translation: X:43.45, Y:318.07, Z:7.14 [[-3.78797194e-01 -9.25467149e-01 4.82107791e-03 4.34510923e+01] [ 9.25386885e-01 -3.78827840e-01 -1.21893375e-02 3.18067259e+02] [ 1.31071899e-02 -1.55924555e-04 9.99914085e-01 7.14184435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.952755096 meters 0.019461890788960382 Centerline is valid? [True, True] Translation: X:43.44, Y:318.09, Z:7.14 [[-3.79838454e-01 -9.25040752e-01 4.72824138e-03 4.34436135e+01] [ 9.24963674e-01 -3.79867847e-01 -1.19423716e-02 3.18091238e+02] [ 1.28432873e-02 -1.62720449e-04 9.99917508e-01 7.14203216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.982755096 meters 0.019299934286926803 Centerline is valid? [True, True] Translation: X:43.43, Y:318.12, Z:7.14 [[-3.80617033e-01 -9.24720735e-01 4.71553622e-03 4.34335129e+01] [ 9.24644222e-01 -3.80646206e-01 -1.18965809e-02 3.18116016e+02] [ 1.27959660e-02 -1.67848025e-04 9.99918114e-01 7.14252839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.012755096 meters 0.01941149488492759 Centerline is valid? [True, True] Translation: X:43.42, Y:318.14, Z:7.14 [[-3.81581446e-01 -9.24323418e-01 4.67100793e-03 4.34243992e+01] [ 9.24248482e-01 -3.81609995e-01 -1.17709760e-02 3.18140737e+02] [ 1.26626921e-02 -1.74414075e-04 9.99919810e-01 7.14335882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0427550960001 meters 0.019800450408877616 Centerline is valid? [True, True] Translation: X:43.42, Y:318.17, Z:7.14 [[-3.82866114e-01 -9.23792763e-01 4.52432585e-03 4.34157072e+01] [ 9.23722578e-01 -3.82892803e-01 -1.13885966e-02 3.18165974e+02] [ 1.22530349e-02 -1.81085773e-04 9.99924912e-01 7.14446770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.072755096 meters 0.020184388630826812 Centerline is valid? [True, True] Translation: X:43.41, Y:318.19, Z:7.14 [[-3.83763570e-01 -9.23420747e-01 4.43243606e-03 4.34063869e+01] [ 9.23353496e-01 -3.83789122e-01 -1.11458688e-02 3.18189822e+02] [ 1.19934472e-02 -1.84673059e-04 9.99928059e-01 7.14490112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.102755096 meters 0.0203251526016803 Centerline is valid? [True, True] Translation: X:43.40, Y:318.21, Z:7.15 [[-3.84249075e-01 -9.23219417e-01 4.30774417e-03 4.33964710e+01] [ 9.23156007e-01 -3.84273178e-01 -1.08218117e-02 3.18213989e+02] [ 1.16462572e-02 -1.81551212e-04 9.99932164e-01 7.14545732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.132755096 meters 0.02138642933960281 Centerline is valid? [True, True] Translation: X:43.39, Y:318.24, Z:7.15 [[-3.85391526e-01 -9.22743685e-01 4.17885158e-03 4.33874581e+01] [ 9.22684117e-01 -3.85414137e-01 -1.04863167e-02 3.18237691e+02] [ 1.12867710e-02 -1.85577611e-04 9.99936285e-01 7.14515504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.162755096 meters 0.020363913853217543 Centerline is valid? [True, True] Translation: X:43.38, Y:318.26, Z:7.15 [[-3.85603008e-01 -9.22655588e-01 4.12150480e-03 4.33762098e+01] [ 9.22597770e-01 -3.85624991e-01 -1.03305768e-02 3.18262085e+02] [ 1.11209197e-02 -1.81010352e-04 9.99938144e-01 7.14673158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.192755096 meters 0.02011880938860459 Centerline is valid? [True, True] Translation: X:43.37, Y:318.29, Z:7.15 [[-3.85503211e-01 -9.22697765e-01 4.01353199e-03 4.33652349e+01] [ 9.22643062e-01 -3.85524066e-01 -1.00486335e-02 3.18286445e+02] [ 1.08191649e-02 -1.70723051e-04 9.99941457e-01 7.14716486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.222755096 meters 0.020178490536009088 Centerline is valid? [True, True] Translation: X:43.35, Y:318.31, Z:7.15 [[-3.85810701e-01 -9.22568457e-01 4.18870630e-03 4.33547074e+01] [ 9.22509007e-01 -3.85833397e-01 -1.04748115e-02 3.18310704e+02] [ 1.12798735e-02 -1.77175078e-04 9.99936365e-01 7.14695213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.252755096 meters 0.0201897181586637 Centerline is valid? [True, True] Translation: X:43.34, Y:318.34, Z:7.15 [[-3.86054218e-01 -9.22466585e-01 4.18819054e-03 4.33440226e+01] [ 9.22407279e-01 -3.86076895e-01 -1.04614798e-02 3.18335155e+02] [ 1.12673292e-02 -1.75480972e-04 9.99936506e-01 7.14708598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.282755096 meters 0.020365039771659148 Centerline is valid? [True, True] Translation: X:43.33, Y:318.36, Z:7.15 [[-3.86181766e-01 -9.22411995e-01 4.44465852e-03 4.33333623e+01] [ 9.22345360e-01 -3.86207300e-01 -1.10886902e-02 3.18358758e+02] [ 1.19449004e-02 -1.82739800e-04 9.99928640e-01 7.14659557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.312755096 meters 0.020201611809780837 Centerline is valid? [True, True] Translation: X:43.32, Y:318.38, Z:7.15 [[-3.86187541e-01 -9.22409163e-01 4.52983896e-03 4.33229845e+01] [ 9.22340111e-01 -3.86214065e-01 -1.12878973e-02 3.18382829e+02] [ 1.21615474e-02 -1.81193150e-04 9.99926029e-01 7.14620175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.342755096 meters 0.020014861880568106 Centerline is valid? [True, True] Translation: X:43.31, Y:318.41, Z:7.15 [[-3.86569353e-01 -9.22249413e-01 4.48948457e-03 4.33121619e+01] [ 9.22181727e-01 -3.86595380e-01 -1.11747348e-02 3.18407325e+02] [ 1.20415066e-02 -1.79689361e-04 9.99927482e-01 7.14674365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.372755096 meters 0.02020692263805124 Centerline is valid? [True, True] Translation: X:43.30, Y:318.43, Z:7.15 [[-3.87146352e-01 -9.22007592e-01 4.43882748e-03 4.33020467e+01] [ 9.21941558e-01 -3.87171756e-01 -1.10361246e-02 3.18431959e+02] [ 1.18939793e-02 -1.80255846e-04 9.99929248e-01 7.14723746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.402755096 meters 0.020302532256487652 Centerline is valid? [True, True] Translation: X:43.29, Y:318.46, Z:7.15 [[-3.87492135e-01 -9.21862192e-01 4.46594079e-03 4.32924370e+01] [ 9.21795493e-01 -3.87517828e-01 -1.10906656e-02 3.18455221e+02] [ 1.19546970e-02 -1.80861622e-04 9.99928524e-01 7.14784559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.432755096 meters 0.020158153557734825 Centerline is valid? [True, True] Translation: X:43.28, Y:318.48, Z:7.15 [[-3.88194484e-01 -9.21567133e-01 4.36605229e-03 4.32816480e+01] [ 9.21503511e-01 -3.88218994e-01 -1.08301314e-02 3.18479325e+02] [ 1.16756775e-02 -1.80864746e-04 9.99931821e-01 7.14865807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.462755096 meters 0.020642792261614105 Centerline is valid? [True, True] Translation: X:43.27, Y:318.50, Z:7.15 [[-3.89543823e-01 -9.20999072e-01 4.03968513e-03 4.32727454e+01] [ 9.20944695e-01 -3.89564728e-01 -1.00095238e-02 3.18502854e+02] [ 1.07924810e-02 -1.78821596e-04 9.99941744e-01 7.14998260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.492755096 meters 0.020837424331815527 Centerline is valid? [True, True] Translation: X:43.26, Y:318.53, Z:7.15 [[-3.90367686e-01 -9.20651451e-01 3.73841044e-03 4.32630477e+01] [ 9.20604969e-01 -3.90385550e-01 -9.25277550e-03 3.18527714e+02] [ 9.97800260e-03 -1.70385334e-04 9.99950204e-01 7.15090968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.522755096 meters 0.021387347630641925 Centerline is valid? [True, True] Translation: X:43.25, Y:318.55, Z:7.15 [[-3.91709619e-01 -9.20081826e-01 3.60672513e-03 4.32546900e+01] [ 9.20038632e-01 -3.91726185e-01 -8.91695802e-03 3.18551369e+02] [ 9.61717969e-03 -1.74531775e-04 9.99953739e-01 7.15177730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.552755096 meters 0.0213431877018371 Centerline is valid? [True, True] Translation: X:43.24, Y:318.58, Z:7.15 [[-3.92351861e-01 -9.19808066e-01 3.62474537e-03 4.32444442e+01] [ 9.19764529e-01 -3.92368563e-01 -8.95111392e-03 3.18575328e+02] [ 9.65554292e-03 -1.78073983e-04 9.99953368e-01 7.15205194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.582755096 meters 0.020987235179626848 Centerline is valid? [True, True] Translation: X:43.23, Y:318.60, Z:7.15 [[-3.92898284e-01 -9.19574490e-01 3.70069871e-03 4.32330908e+01] [ 9.19529199e-01 -3.92915669e-01 -9.12848908e-03 3.18600668e+02] [ 9.84838821e-03 -1.83667181e-04 9.99951487e-01 7.15274069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.612755096 meters 0.021497499507732238 Centerline is valid? [True, True] Translation: X:43.22, Y:318.63, Z:7.15 [[-3.93315536e-01 -9.19396322e-01 3.64579927e-03 4.32239758e+01] [ 9.19352448e-01 -3.93332391e-01 -8.98368817e-03 3.18625834e+02] [ 9.69358081e-03 -1.81649644e-04 9.99953000e-01 7.15361721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.642755096 meters 0.021609349977994064 Centerline is valid? [True, True] Translation: X:43.21, Y:318.65, Z:7.15 [[-3.93703773e-01 -9.19229905e-01 3.70425486e-03 4.32145688e+01] [ 9.19184706e-01 -3.93721155e-01 -9.11749958e-03 3.18649041e+02] [ 9.83952177e-03 -1.84699573e-04 9.99951574e-01 7.15400267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6727550960001 meters 0.021170295029287065 Centerline is valid? [True, True] Translation: X:43.20, Y:318.67, Z:7.15 [[-3.94527457e-01 -9.18875980e-01 3.87533100e-03 4.32030655e+01] [ 9.18826606e-01 -3.94546440e-01 -9.52757577e-03 3.18673838e+02] [ 1.02836586e-02 -1.98133013e-04 9.99947102e-01 7.15419710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.702755096 meters 0.02212216497241943 Centerline is valid? [True, True] Translation: X:43.20, Y:318.70, Z:7.15 [[-3.95497246e-01 -9.18459087e-01 3.85153104e-03 4.31950183e+01] [ 9.18410401e-01 -3.95515947e-01 -9.45890395e-03 3.18698228e+02] [ 1.02109582e-02 -2.03684295e-04 9.99947846e-01 7.15418177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.732755096 meters 0.023167459482209767 Centerline is valid? [True, True] Translation: X:43.19, Y:318.72, Z:7.15 [[-3.97449587e-01 -9.17614611e-01 4.15339273e-03 4.31871409e+01] [ 9.17558082e-01 -3.97471217e-01 -1.01881175e-02 3.18723621e+02] [ 1.09996196e-02 -2.38284043e-04 9.99939474e-01 7.15369589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.762755096 meters 0.02265011075975843 Centerline is valid? [True, True] Translation: X:43.18, Y:318.75, Z:7.15 [[-3.98309161e-01 -9.17242075e-01 4.09734476e-03 4.31768245e+01] [ 9.17187147e-01 -3.98330162e-01 -1.00409236e-02 3.18747390e+02] [ 1.08420536e-02 -2.41359896e-04 9.99941194e-01 7.15424298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7927550960001 meters 0.022288384227851333 Centerline is valid? [True, True] Translation: X:43.17, Y:318.77, Z:7.15 [[-3.99154992e-01 -9.16874155e-01 4.13227524e-03 4.31661458e+01] [ 9.16818371e-01 -3.99176303e-01 -1.01170103e-02 3.18772958e+02] [ 1.09255316e-02 -2.49709313e-04 9.99940283e-01 7.15485261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.822755096 meters 0.024547737486196458 Centerline is valid? [True, True] Translation: X:43.16, Y:318.80, Z:7.16 [[-4.00283507e-01 -9.16382619e-01 4.00125733e-03 4.31599266e+01] [ 9.16330396e-01 -4.00303427e-01 -9.78627671e-03 3.18798900e+02] [ 1.05696909e-02 -2.50811447e-04 9.99944108e-01 7.15507352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.852755096 meters 0.022913397897888668 Centerline is valid? [True, True] Translation: X:43.15, Y:318.82, Z:7.16 [[-4.00554169e-01 -9.16264725e-01 3.91290970e-03 4.31465797e+01] [ 9.16214884e-01 -4.00573207e-01 -9.55995990e-03 3.18821762e+02] [ 1.03268608e-02 -2.44215693e-04 9.99946647e-01 7.15604134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.882755096 meters 0.02292726018762456 Centerline is valid? [True, True] Translation: X:43.14, Y:318.85, Z:7.16 [[-4.00416465e-01 -9.16324922e-01 3.91047853e-03 4.31366527e+01] [ 9.16275257e-01 -4.00435489e-01 -9.54318989e-03 3.18845061e+02] [ 1.03105571e-02 -2.38175643e-04 9.99946816e-01 7.15611149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.912755096 meters 0.02292726018762456 Centerline is valid? [True, True] Translation: X:43.13, Y:318.87, Z:7.16 [[-4.00771533e-01 -9.16169666e-01 3.91431970e-03 4.31265769e+01] [ 9.16120009e-01 -4.00790577e-01 -9.54161439e-03 3.18868969e+02] [ 1.03105601e-02 -2.38020826e-04 9.99946816e-01 7.15629375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.942755096 meters 0.022525824374076048 Centerline is valid? [True, True] Translation: X:43.12, Y:318.89, Z:7.16 [[-3.99976511e-01 -9.16517579e-01 3.78395744e-03 4.31152977e+01] [ 9.16471289e-01 -3.99994350e-01 -9.21393081e-03 3.18892555e+02] [ 9.95829115e-03 -2.17467544e-04 9.99950391e-01 7.15650869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.972755096 meters 0.021751246931108387 Centerline is valid? [True, True] Translation: X:43.10, Y:318.92, Z:7.16 [[-3.99294429e-01 -9.16814385e-01 3.91700315e-03 4.31034453e+01] [ 9.16764908e-01 -3.99313584e-01 -9.52710762e-03 3.18915912e+02] [ 1.02987019e-02 -2.13149970e-04 9.99946944e-01 7.15621988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.002755096 meters 0.021013143011736905 Centerline is valid? [True, True] Translation: X:43.09, Y:318.94, Z:7.16 [[-3.97403415e-01 -9.17635655e-01 3.91549864e-03 4.30911989e+01] [ 9.17586361e-01 -3.97422660e-01 -9.51309542e-03 3.18940081e+02] [ 1.02856634e-02 -1.87728464e-04 9.99947084e-01 7.15649659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.032755096 meters 0.020867928797296334 Centerline is valid? [True, True] Translation: X:43.08, Y:318.96, Z:7.16 [[-3.96760188e-01 -9.17913668e-01 3.98143532e-03 4.30811379e+01] [ 9.17862823e-01 -3.96780123e-01 -9.66293794e-03 3.18963657e+02] [ 1.04494972e-02 -1.79457612e-04 9.99945386e-01 7.15672029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.062755096 meters 0.020713430674415285 Centerline is valid? [True, True] Translation: X:43.07, Y:318.99, Z:7.16 [[-3.96203377e-01 -9.18153850e-01 4.04861602e-03 4.30702257e+01] [ 9.18101408e-01 -3.96224025e-01 -9.81464722e-03 3.18988195e+02] [ 1.06155151e-02 -1.71556313e-04 9.99943639e-01 7.15753521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.092755096 meters 0.019814174250561513 Centerline is valid? [True, True] Translation: X:43.06, Y:319.01, Z:7.16 [[-3.94563062e-01 -9.18860143e-01 4.00355887e-03 4.30567819e+01] [ 9.18809008e-01 -3.94583345e-01 -9.69482523e-03 3.19010988e+02] [ 1.04879261e-02 -1.46713967e-04 9.99944989e-01 7.15834261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.122755096 meters 0.019413825747601438 Centerline is valid? [True, True] Translation: X:43.04, Y:319.03, Z:7.16 [[-3.93778560e-01 -9.19196926e-01 3.93162570e-03 4.30445248e+01] [ 9.19147737e-01 -3.93798165e-01 -9.51009798e-03 3.19034825e+02] [ 1.02899198e-02 -1.31127823e-04 9.99947049e-01 7.15859707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.152755096 meters 0.01885607326350011 Centerline is valid? [True, True] Translation: X:43.03, Y:319.06, Z:7.16 [[-3.92355025e-01 -9.19805252e-01 3.97898304e-03 4.30314389e+01] [ 9.19755017e-01 -3.92375185e-01 -9.61369060e-03 3.19057967e+02] [ 1.04039773e-02 -1.12290200e-04 9.99945871e-01 7.15934917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.182755096 meters 0.019163709570888292 Centerline is valid? [True, True] Translation: X:43.02, Y:319.08, Z:7.16 [[-3.92191225e-01 -9.19875106e-01 3.97902206e-03 4.30221047e+01] [ 9.19824988e-01 -3.92211395e-01 -9.60277223e-03 3.19081345e+02] [ 1.03939689e-02 -1.06119088e-04 9.99945976e-01 7.15899910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.212755096 meters 0.019123957061481702 Centerline is valid? [True, True] Translation: X:43.01, Y:319.10, Z:7.16 [[-3.92217209e-01 -9.19863957e-01 3.99535015e-03 4.30121424e+01] [ 9.19813545e-01 -3.92237544e-01 -9.63079499e-03 3.19103537e+02] [ 1.04261475e-02 -1.02386346e-04 9.99945641e-01 7.15910176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.242755096 meters 0.018638242189260936 Centerline is valid? [True, True] Translation: X:43.00, Y:319.13, Z:7.16 [[-3.92516442e-01 -9.19735486e-01 4.18078143e-03 4.30005915e+01] [ 9.19680409e-01 -3.92538693e-01 -1.00657891e-02 3.19127771e+02] [ 1.08989819e-02 -1.06004966e-04 9.99940599e-01 7.15977640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.272755096 meters 0.01869726612257588 Centerline is valid? [True, True] Translation: X:42.99, Y:319.15, Z:7.16 [[-3.92706054e-01 -9.19654857e-01 4.11092874e-03 4.29905985e+01] [ 9.19601717e-01 -3.92727557e-01 -9.88678883e-03 3.19151843e+02] [ 1.07069084e-02 -1.02184702e-04 9.99942674e-01 7.16034844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.302755096 meters 0.018945184912211314 Centerline is valid? [True, True] Translation: X:42.98, Y:319.18, Z:7.16 [[-3.94064507e-01 -9.19074093e-01 3.99700693e-03 4.29808463e+01] [ 9.19023929e-01 -3.94084762e-01 -9.60310057e-03 3.19175311e+02] [ 1.04011205e-02 -1.10896074e-04 9.99945901e-01 7.16060220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.332755096 meters 0.018878528310126153 Centerline is valid? [True, True] Translation: X:42.97, Y:319.20, Z:7.16 [[-3.95006939e-01 -9.18669418e-01 4.00235221e-03 4.29696312e+01] [ 9.18619191e-01 -3.95027197e-01 -9.60706530e-03 3.19200630e+02] [ 1.04067551e-02 -1.18219911e-04 9.99945841e-01 7.16068407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.362755096 meters 0.019377645959293508 Centerline is valid? [True, True] Translation: X:42.96, Y:319.22, Z:7.16 [[-3.96083354e-01 -9.18205564e-01 4.06442782e-03 4.29606264e+01] [ 9.18153854e-01 -3.96104186e-01 -9.74550011e-03 3.19224150e+02] [ 1.05583093e-02 -1.28260298e-04 9.99944251e-01 7.15988423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.392755096 meters 0.019651139380501028 Centerline is valid? [True, True] Translation: X:42.95, Y:319.25, Z:7.16 [[-3.98276540e-01 -9.17254531e-01 4.46357993e-03 4.29506585e+01] [ 9.17192252e-01 -3.98301518e-01 -1.06899334e-02 3.19249375e+02] [ 1.15832405e-02 -1.63588762e-04 9.99932899e-01 7.15912305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4227550960001 meters 0.020263400817777402 Centerline is valid? [True, True] Translation: X:42.94, Y:319.27, Z:7.16 [[-3.99628027e-01 -9.16665216e-01 4.72450511e-03 4.29417496e+01] [ 9.16595548e-01 -3.99655910e-01 -1.13028921e-02 3.19273767e+02] [ 1.22491444e-02 -1.86492113e-04 9.99924959e-01 7.15872376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.452755096 meters 0.020898322561008615 Centerline is valid? [True, True] Translation: X:42.93, Y:319.30, Z:7.16 [[-4.02399193e-01 -9.15451013e-01 4.93280373e-03 4.29318877e+01] [ 9.15375131e-01 -4.02429362e-01 -1.17888795e-02 3.19298921e+02] [ 1.27772468e-02 -2.28469752e-04 9.99918342e-01 7.15784216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.482755096 meters 0.0210043983222497 Centerline is valid? [True, True] Translation: X:42.92, Y:319.32, Z:7.16 [[-4.03961855e-01 -9.14762643e-01 4.91188714e-03 4.29212997e+01] [ 9.14687501e-01 -4.03991643e-01 -1.17272295e-02 3.19323786e+02] [ 1.27119928e-02 -2.44511597e-04 9.99919169e-01 7.15795922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.512755096 meters 0.02190409245533552 Centerline is valid? [True, True] Translation: X:42.91, Y:319.35, Z:7.16 [[-4.05644754e-01 -9.14016874e-01 5.04858482e-03 4.29127899e+01] [ 9.13937597e-01 -4.05676080e-01 -1.20410351e-02 3.19348335e+02] [ 1.30537994e-02 -2.70291254e-04 9.99914759e-01 7.15804966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5427550960001 meters 0.022303241123919716 Centerline is valid? [True, True] Translation: X:42.90, Y:319.37, Z:7.16 [[-4.08109510e-01 -9.12918937e-01 5.06381866e-03 4.29021924e+01] [ 9.12839260e-01 -4.08140814e-01 -1.20649273e-02 3.19373178e+02] [ 1.30810517e-02 -3.01359109e-04 9.99914394e-01 7.15823379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.572755096 meters 0.022424824383210758 Centerline is valid? [True, True] Translation: X:42.89, Y:319.40, Z:7.16 [[-4.09224432e-01 -9.12419606e-01 5.08204514e-03 4.28908158e+01] [ 9.12339475e-01 -4.09255867e-01 -1.20961675e-02 3.19398242e+02] [ 1.31166372e-02 -3.13496892e-04 9.99913924e-01 7.15819165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.602755096 meters 0.023477478752769832 Centerline is valid? [True, True] Translation: X:42.88, Y:319.42, Z:7.16 [[-4.10844722e-01 -9.11690267e-01 5.24129242e-03 4.28803949e+01] [ 9.11605131e-01 -4.10878010e-01 -1.24637978e-02 3.19422671e+02] [ 1.35166549e-02 -3.42696470e-04 9.99908587e-01 7.15796767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.632755096 meters 0.02443743028893371 Centerline is valid? [True, True] Translation: X:42.87, Y:319.45, Z:7.16 [[-4.11488784e-01 -9.11398911e-01 5.38559523e-03 4.28701962e+01] [ 9.11309169e-01 -4.11523872e-01 -1.27945637e-02 3.19446423e+02] [ 1.38772525e-02 -3.56877165e-04 9.99903643e-01 7.15726664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.662755096 meters 0.02312456045874161 Centerline is valid? [True, True] Translation: X:42.86, Y:319.47, Z:7.16 [[-4.11857728e-01 -9.11232575e-01 5.32970135e-03 4.28575819e+01] [ 9.11144858e-01 -4.11892060e-01 -1.26482319e-02 3.19470520e+02] [ 1.37207426e-02 -3.53142070e-04 9.99905804e-01 7.15845680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.692755096 meters 0.023120643928112593 Centerline is valid? [True, True] Translation: X:42.85, Y:319.49, Z:7.16 [[-4.12107947e-01 -9.11118391e-01 5.50623346e-03 4.28456608e+01] [ 9.11024946e-01 -4.12144570e-01 -1.30538068e-02 3.19494969e+02] [ 1.41629276e-02 -3.63261467e-04 9.99899635e-01 7.15826235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.722755096 meters 0.023341841349852704 Centerline is valid? [True, True] Translation: X:42.84, Y:319.52, Z:7.16 [[-4.12276029e-01 -9.11040926e-01 5.73645165e-03 4.28355315e+01] [ 9.10939719e-01 -4.12315765e-01 -1.35845269e-02 3.19518569e+02] [ 1.47412894e-02 -3.75013156e-04 9.99891271e-01 7.15805739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.752755096 meters 0.02382471125626875 Centerline is valid? [True, True] Translation: X:42.83, Y:319.54, Z:7.16 [[-4.12727070e-01 -9.10835957e-01 5.85016532e-03 4.28254473e+01] [ 9.10730919e-01 -4.12768351e-01 -1.38376664e-02 3.19541622e+02] [ 1.50186072e-02 -3.83253065e-04 9.99887141e-01 7.15719096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.782755096 meters 0.02315871918781252 Centerline is valid? [True, True] Translation: X:42.81, Y:319.56, Z:7.16 [[-4.13091421e-01 -9.10669005e-01 6.11894721e-03 4.28117521e+01] [ 9.10554322e-01 -4.13136543e-01 -1.44576494e-02 3.19564981e+02] [ 1.56940939e-02 -4.00697100e-04 9.99876760e-01 7.15701648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.812755096 meters 0.023615132222494017 Centerline is valid? [True, True] Translation: X:42.80, Y:319.59, Z:7.16 [[-4.13855715e-01 -9.10321559e-01 6.17296760e-03 4.28014326e+01] [ 9.10205056e-01 -4.13901546e-01 -1.45693649e-02 3.19588435e+02] [ 1.58178078e-02 -4.10948596e-04 9.99874806e-01 7.15707482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.842755096 meters 0.026069841748836513 Centerline is valid? [True, True] Translation: X:42.79, Y:319.61, Z:7.16 [[-4.15290615e-01 -9.09668084e-01 6.13849813e-03 4.27947267e+01] [ 9.09553043e-01 -4.15335760e-01 -1.44729893e-02 3.19613576e+02] [ 1.57151542e-02 -4.27206981e-04 9.99876418e-01 7.15702771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.872755096 meters 0.02396307529639458 Centerline is valid? [True, True] Translation: X:42.78, Y:319.64, Z:7.16 [[-4.16139273e-01 -9.09280826e-01 6.04024657e-03 4.27811819e+01] [ 9.09169611e-01 -4.16182886e-01 -1.42275969e-02 3.19637120e+02] [ 1.54507284e-02 -4.29053224e-04 9.99880538e-01 7.15902187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.902755096 meters 0.02489383085958025 Centerline is valid? [True, True] Translation: X:42.77, Y:319.66, Z:7.16 [[-4.17335116e-01 -9.08732969e-01 5.98261608e-03 4.27720173e+01] [ 9.08624028e-01 -4.17377764e-01 -1.40775430e-02 3.19662076e+02] [ 1.52897384e-02 -4.39104333e-04 9.99883009e-01 7.15924538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.932755096 meters 0.024930908805668762 Centerline is valid? [True, True] Translation: X:42.76, Y:319.69, Z:7.16 [[-4.18547893e-01 -9.08178184e-01 5.48149257e-03 4.27614033e+01] [ 9.08086867e-01 -4.18583580e-01 -1.28851912e-02 3.19685955e+02] [ 1.39965124e-02 -4.15398238e-04 9.99901958e-01 7.16073871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.962755096 meters 0.024900949614736947 Centerline is valid? [True, True] Translation: X:42.75, Y:319.71, Z:7.16 [[-4.19009905e-01 -9.07966241e-01 5.29204118e-03 4.27504483e+01] [ 9.07881290e-01 -4.19043129e-01 -1.24265342e-02 3.19709817e+02] [ 1.35004671e-02 -4.02295762e-04 9.99908784e-01 7.16203525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.992755096 meters 0.024934017027781682 Centerline is valid? [True, True] Translation: X:42.74, Y:319.73, Z:7.16 [[-4.19337540e-01 -9.07818278e-01 4.69073028e-03 4.27389220e+01] [ 9.07751661e-01 -4.19363623e-01 -1.10033815e-02 3.19733389e+02] [ 1.19561925e-02 -3.56112720e-04 9.99928459e-01 7.16352186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.022755096 meters 0.02377886883382337 Centerline is valid? [True, True] Translation: X:42.73, Y:319.76, Z:7.16 [[-4.19211069e-01 -9.07877679e-01 4.49432287e-03 4.27258180e+01] [ 9.07816652e-01 -4.19235026e-01 -1.05318253e-02 3.19757793e+02] [ 1.14457867e-02 -3.35036625e-04 9.99934439e-01 7.16420443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.052755096 meters 0.02452334807619557 Centerline is valid? [True, True] Translation: X:42.72, Y:319.78, Z:7.16 [[-4.18860910e-01 -9.08039256e-01 4.49976100e-03 4.27165472e+01] [ 9.07978201e-01 -4.18884952e-01 -1.05348683e-02 3.19782257e+02] [ 1.14509561e-02 -3.26959606e-04 9.99934382e-01 7.16454869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.082755096 meters 0.02394201878577371 Centerline is valid? [True, True] Translation: X:42.70, Y:319.81, Z:7.17 [[-4.17870181e-01 -9.08495867e-01 4.44656165e-03 4.27046839e+01] [ 9.08436372e-01 -4.17893725e-01 -1.04015480e-02 3.19807257e+02] [ 1.13079536e-02 -3.07078425e-04 9.99936016e-01 7.16532712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.112755096 meters 0.022757873882598065 Centerline is valid? [True, True] Translation: X:42.69, Y:319.83, Z:7.17 [[-4.17172115e-01 -9.08816671e-01 4.43670606e-03 4.26923041e+01] [ 9.08757577e-01 -4.17195604e-01 -1.03679435e-02 3.19830671e+02] [ 1.12735342e-02 -2.93326681e-04 9.99936409e-01 7.16584367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.142755096 meters 0.02163747289315378 Centerline is valid? [True, True] Translation: X:42.68, Y:319.85, Z:7.17 [[-4.15123214e-01 -9.09754118e-01 4.49028930e-03 4.26784454e+01] [ 9.09693770e-01 -4.15147413e-01 -1.04819044e-02 3.19853994e+02] [ 1.14000877e-02 -2.66493644e-04 9.99934981e-01 7.16586013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1727550960001 meters 0.021786715925096865 Centerline is valid? [True, True] Translation: X:42.67, Y:319.88, Z:7.17 [[-4.14212466e-01 -9.10168853e-01 4.54881682e-03 4.26680586e+01] [ 9.10107078e-01 -4.14237365e-01 -1.06071891e-02 3.19876887e+02] [ 1.15386230e-02 -2.53719566e-04 9.99933396e-01 7.16558089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.202755096 meters 0.021119924703854098 Centerline is valid? [True, True] Translation: X:42.66, Y:319.90, Z:7.17 [[-4.13549865e-01 -9.10470265e-01 4.51730130e-03 4.26554717e+01] [ 9.10409496e-01 -4.13574467e-01 -1.05218474e-02 3.19900618e+02] [ 1.14480697e-02 -2.38714569e-04 9.99934440e-01 7.16556896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.232755096 meters 0.02079009151312356 Centerline is valid? [True, True] Translation: X:42.64, Y:319.92, Z:7.17 [[-4.12446116e-01 -9.10969549e-01 4.76261150e-03 4.26444329e+01] [ 9.10902187e-01 -4.12473547e-01 -1.10805566e-02 3.19923460e+02] [ 1.20585009e-02 -2.31859312e-04 9.99927267e-01 7.16531722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.262755096 meters 0.02066588763706738 Centerline is valid? [True, True] Translation: X:42.63, Y:319.95, Z:7.17 [[-4.12552754e-01 -9.10920272e-01 4.94802121e-03 4.26332471e+01] [ 9.10847722e-01 -4.12582358e-01 -1.14989332e-02 3.19947086e+02] [ 1.25160776e-02 -2.37022720e-04 9.99921643e-01 7.16518910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2927550960001 meters 0.020769496824613 Centerline is valid? [True, True] Translation: X:42.62, Y:319.97, Z:7.16 [[-4.12983217e-01 -9.10724135e-01 5.13921746e-03 4.26225790e+01] [ 9.10646023e-01 -4.13015119e-01 -1.19303215e-02 3.19970969e+02] [ 1.29878063e-02 -2.47014630e-04 9.99915624e-01 7.16437793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.322755096 meters 0.020960002442668685 Centerline is valid? [True, True] Translation: X:42.61, Y:320.00, Z:7.16 [[-4.13757693e-01 -9.10371299e-01 5.35439103e-03 4.26119166e+01] [ 9.10286661e-01 -4.13792253e-01 -1.24164010e-02 3.19995185e+02] [ 1.35191406e-02 -2.63350697e-04 9.99908578e-01 7.16422988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.352755096 meters 0.021367510564796976 Centerline is valid? [True, True] Translation: X:42.60, Y:320.02, Z:7.16 [[-4.14529127e-01 -9.10019436e-01 5.49806930e-03 4.26021522e+01] [ 9.09930334e-01 -4.14565495e-01 -1.27372736e-02 3.20019034e+02] [ 1.38704764e-02 -2.77110883e-04 9.99903762e-01 7.16411852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.382755096 meters 0.022219158471650728 Centerline is valid? [True, True] Translation: X:42.59, Y:320.04, Z:7.16 [[-4.16909206e-01 -9.08932343e-01 5.35812638e-03 4.25934757e+01] [ 9.08847776e-01 -4.16943528e-01 -1.24021806e-02 3.20044880e+02] [ 1.35067792e-02 -3.00862022e-04 9.99908734e-01 7.16465451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.412755096 meters 0.023365393887081618 Centerline is valid? [True, True] Translation: X:42.59, Y:320.07, Z:7.17 [[-4.18721152e-01 -9.08100245e-01 5.15177736e-03 4.25851236e+01] [ 9.08022150e-01 -4.18752729e-01 -1.19133246e-02 3.20070197e+02] [ 1.29758139e-02 -3.10433070e-04 9.99915762e-01 7.16510105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.442755096 meters 0.023843495286196986 Centerline is valid? [True, True] Translation: X:42.58, Y:320.10, Z:7.17 [[-4.21364745e-01 -9.06877823e-01 4.93631453e-03 4.25756691e+01] [ 9.06806173e-01 -4.21393530e-01 -1.14042838e-02 3.20095450e+02] [ 1.24224230e-02 -3.29082626e-04 9.99922785e-01 7.16644434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.472755096 meters 0.024679228454187088 Centerline is valid? [True, True] Translation: X:42.57, Y:320.12, Z:7.17 [[-4.22713116e-01 -9.06250107e-01 4.93614990e-03 4.25662346e+01] [ 9.06178556e-01 -4.22741797e-01 -1.13928904e-02 3.20120196e+02] [ 1.24115250e-02 -3.42891007e-04 9.99922915e-01 7.16668318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.502755096 meters 0.026460307308328837 Centerline is valid? [True, True] Translation: X:42.56, Y:320.15, Z:7.17 [[-4.23609530e-01 -9.05831437e-01 4.93708739e-03 4.25580484e+01] [ 9.05759970e-01 -4.23638154e-01 -1.13838182e-02 3.20145664e+02] [ 1.24033590e-02 -3.50477751e-04 9.99923014e-01 7.16670004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.532755096 meters 0.025907739861181587 Centerline is valid? [True, True] Translation: X:42.55, Y:320.17, Z:7.17 [[-4.24669914e-01 -9.05335175e-01 4.86680688e-03 4.25452776e+01] [ 9.05265825e-01 -4.24697652e-01 -1.12111523e-02 3.20170253e+02] [ 1.22167720e-02 -3.55285153e-04 9.99925309e-01 7.16698284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.562755096 meters 0.026127231717245347 Centerline is valid? [True, True] Translation: X:42.53, Y:320.19, Z:7.17 [[-4.25030796e-01 -9.05163856e-01 5.21691644e-03 4.25344249e+01] [ 9.05084314e-01 -4.25062640e-01 -1.20056677e-02 3.20194605e+02] [ 1.30846128e-02 -3.81029268e-04 9.99914320e-01 7.16674119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.592755096 meters 0.026006615652015258 Centerline is valid? [True, True] Translation: X:42.52, Y:320.22, Z:7.17 [[-4.24410941e-01 -9.05455114e-01 5.13707237e-03 4.25238928e+01] [ 9.05378148e-01 -4.24441875e-01 -1.18111438e-02 3.20218071e+02] [ 1.28748492e-02 -3.61785593e-04 9.99917050e-01 7.16740276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.622755096 meters 0.026147261354658304 Centerline is valid? [True, True] Translation: X:42.51, Y:320.24, Z:7.17 [[-4.24141535e-01 -9.05580952e-01 5.20561003e-03 4.25139051e+01] [ 9.05502079e-01 -4.24173327e-01 -1.19571683e-02 3.20240297e+02] [ 1.30362648e-02 -3.57841018e-04 9.99914960e-01 7.16774677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.652755096 meters 0.025295643107580458 Centerline is valid? [True, True] Translation: X:42.50, Y:320.26, Z:7.17 [[-4.23544024e-01 -9.05861724e-01 4.99961111e-03 4.25020665e+01] [ 9.05789146e-01 -4.23573402e-01 -1.14715589e-02 3.20262800e+02] [ 1.25093484e-02 -3.30116729e-04 9.99921701e-01 7.16838979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.682755096 meters 0.021799025546160512 Centerline is valid? [True, True] Translation: X:42.48, Y:320.28, Z:7.17 [[-4.21563840e-01 -9.06785233e-01 4.94675261e-03 4.24845586e+01] [ 9.06714387e-01 -4.21592759e-01 -1.13387013e-02 3.20284651e+02] [ 1.23672819e-02 -2.94694683e-04 9.99923479e-01 7.16953768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.712755096 meters 0.02104633745256221 Centerline is valid? [True, True] Translation: X:42.47, Y:320.31, Z:7.17 [[-4.20676032e-01 -9.07197982e-01 4.84752893e-03 4.24719441e+01] [ 9.07130107e-01 -4.20703872e-01 -1.11004955e-02 3.20308634e+02] [ 1.21097213e-02 -2.72372954e-04 9.99926638e-01 7.16971521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.742755096 meters 0.02137453395995467 Centerline is valid? [True, True] Translation: X:42.46, Y:320.33, Z:7.17 [[-4.18541587e-01 -9.08184966e-01 4.79657986e-03 4.24620198e+01] [ 9.08118692e-01 -4.18569004e-01 -1.09740384e-02 3.20332597e+02] [ 1.19741563e-02 -2.37227615e-04 9.99928279e-01 7.16967317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.772755096 meters 0.022133796123730454 Centerline is valid? [True, True] Translation: X:42.45, Y:320.36, Z:7.17 [[-4.17995355e-01 -9.08436907e-01 4.71902381e-03 4.24529089e+01] [ 9.08372886e-01 -4.18021933e-01 -1.07871648e-02 3.20356850e+02] [ 1.17721141e-02 -2.22351496e-04 9.99930682e-01 7.16918763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.802755096 meters 0.019692677746732824 Centerline is valid? [True, True] Translation: X:42.44, Y:320.38, Z:7.17 [[-4.17522720e-01 -9.08653596e-01 4.83945655e-03 4.24383775e+01] [ 9.08586425e-01 -4.17550710e-01 -1.10504944e-02 3.20379303e+02] [ 1.20617900e-02 -2.16767959e-04 9.99927231e-01 7.17034424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.832755096 meters 0.019692677746732824 Centerline is valid? [True, True] Translation: X:42.43, Y:320.40, Z:7.17 [[-4.17883349e-01 -9.08487779e-01 4.84384161e-03 4.24277457e+01] [ 9.08420619e-01 -4.17911365e-01 -1.10485724e-02 3.20402956e+02] [ 1.20617894e-02 -2.16768832e-04 9.99927231e-01 7.17052653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.862755096 meters 0.020497644255045227 Centerline is valid? [True, True] Translation: X:42.42, Y:320.43, Z:7.17 [[-4.17352648e-01 -9.08732429e-01 4.70537477e-03 4.24203998e+01] [ 9.08669204e-01 -4.17379124e-01 -1.07211790e-02 3.20427264e+02] [ 1.17066082e-02 -1.98883300e-04 9.99931456e-01 7.16979301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.892755096 meters 0.019384831984856465 Centerline is valid? [True, True] Translation: X:42.41, Y:320.45, Z:7.17 [[-4.17463432e-01 -9.08681242e-01 4.76276566e-03 4.24080729e+01] [ 9.08616605e-01 -4.17490553e-01 -1.08399066e-02 3.20450467e+02] [ 1.18384295e-02 -1.97736665e-04 9.99929904e-01 7.17035880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9227550960001 meters 0.019318866195374623 Centerline is valid? [True, True] Translation: X:42.40, Y:320.48, Z:7.17 [[-4.17883353e-01 -9.08487217e-01 4.94778424e-03 4.23980378e+01] [ 9.08417599e-01 -4.17912592e-01 -1.12486368e-02 3.20475326e+02] [ 1.22869841e-02 -2.05963769e-04 9.99924491e-01 7.16990905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.952755096 meters 0.02178781216745517 Centerline is valid? [True, True] Translation: X:42.39, Y:320.50, Z:7.17 [[-4.18377711e-01 -9.08258619e-01 5.13539360e-03 4.23926172e+01] [ 9.08183770e-01 -4.18409172e-01 -1.16620784e-02 3.20501268e+02] [ 1.27408790e-02 -2.15272538e-04 9.99918809e-01 7.16802058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.982755096 meters 0.02210836869248707 Centerline is valid? [True, True] Translation: X:42.38, Y:320.53, Z:7.17 [[-4.18945373e-01 -9.07996974e-01 5.12542446e-03 4.23830051e+01] [ 9.07922554e-01 -4.18976668e-01 -1.16270256e-02 3.20525426e+02] [ 1.27047373e-02 -2.17600104e-04 9.99919268e-01 7.16793216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.012755096 meters 0.020029723328283316 Centerline is valid? [True, True] Translation: X:42.37, Y:320.55, Z:7.17 [[-4.20311449e-01 -9.07366398e-01 4.95029249e-03 4.23703135e+01] [ 9.07297072e-01 -4.20340540e-01 -1.12184749e-02 3.20548746e+02] [ 1.22600757e-02 -2.23867539e-04 9.99924817e-01 7.16999194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0427550960001 meters 0.02344094420521832 Centerline is valid? [True, True] Translation: X:42.37, Y:320.58, Z:7.17 [[-4.21353999e-01 -9.06883481e-01 4.81248270e-03 4.23662265e+01] [ 9.06818066e-01 -4.21381420e-01 -1.08946818e-02 3.20575200e+02] [ 1.19080977e-02 -2.26471471e-04 9.99929070e-01 7.16893881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.072755096 meters 0.02420440828781727 Centerline is valid? [True, True] Translation: X:42.36, Y:320.60, Z:7.17 [[-4.22556695e-01 -9.06322560e-01 5.02570666e-03 4.23589142e+01] [ 9.06251334e-01 -4.22586508e-01 -1.13650023e-02 3.20598441e+02] [ 1.24241538e-02 -2.47804428e-04 9.99922787e-01 7.16851115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.102755096 meters 0.02098233231718393 Centerline is valid? [True, True] Translation: X:42.34, Y:320.62, Z:7.17 [[-4.23349669e-01 -9.05952372e-01 5.03569777e-03 4.23437786e+01] [ 9.05880981e-01 -4.23379541e-01 -1.13759379e-02 3.20620746e+02] [ 1.24380693e-02 -2.54256708e-04 9.99922612e-01 7.17016218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.132755096 meters 0.02114030568479589 Centerline is valid? [True, True] Translation: X:42.33, Y:320.65, Z:7.17 [[-4.23895770e-01 -9.05696446e-01 5.13077058e-03 4.23343680e+01] [ 9.05622468e-01 -4.23926739e-01 -1.15786559e-02 3.20645309e+02] [ 1.26618183e-02 -2.61602126e-04 9.99919802e-01 7.17018478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.162755096 meters 0.02090199866073344 Centerline is valid? [True, True] Translation: X:42.32, Y:320.67, Z:7.17 [[-4.24465962e-01 -9.05427341e-01 5.47526842e-03 4.23241022e+01] [ 9.05343251e-01 -4.24501180e-01 -1.23428473e-02 3.20669355e+02] [ 1.34998093e-02 -2.82121214e-04 9.99908834e-01 7.17034724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.192755096 meters 0.022191137970666998 Centerline is valid? [True, True] Translation: X:42.31, Y:320.69, Z:7.17 [[-4.24520329e-01 -9.05399630e-01 5.83101571e-03 4.23149863e+01] [ 9.05304463e-01 -4.24560271e-01 -1.31303509e-02 3.20693657e+02] [ 1.43638324e-02 -2.95256326e-04 9.99896791e-01 7.16787528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.222755096 meters 0.02012575560600439 Centerline is valid? [True, True] Translation: X:42.30, Y:320.72, Z:7.17 [[-4.22653097e-01 -9.06269954e-01 6.25539348e-03 4.23027438e+01] [ 9.06160750e-01 -4.22699293e-01 -1.40713660e-02 3.20718323e+02] [ 1.53966066e-02 -2.78914354e-04 9.99881426e-01 7.16841904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.252755096 meters 0.019663541120754188 Centerline is valid? [True, True] Translation: X:42.29, Y:320.74, Z:7.17 [[-4.21516718e-01 -9.06797924e-01 6.41728557e-03 4.22920351e+01] [ 9.06683281e-01 -4.21565484e-01 -1.44212201e-02 3.20742017e+02] [ 1.57824385e-02 -2.60339824e-04 9.99875416e-01 7.16841715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.282755096 meters 0.018956309039737735 Centerline is valid? [True, True] Translation: X:42.28, Y:320.77, Z:7.17 [[-4.20309472e-01 -9.07358068e-01 6.42526000e-03 4.22801773e+01] [ 9.07243439e-01 -4.20358516e-01 -1.44242865e-02 3.20765673e+02] [ 1.57889055e-02 -2.33389276e-04 9.99875320e-01 7.16873907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.312755096 meters 0.018243828081453015 Centerline is valid? [True, True] Translation: X:42.27, Y:320.79, Z:7.17 [[-4.19239035e-01 -9.07853547e-01 6.36933613e-03 4.22679060e+01] [ 9.07741194e-01 -4.19287365e-01 -1.42839121e-02 3.20789429e+02] [ 1.56382824e-02 -2.06664724e-04 9.99877693e-01 7.16892906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.342755096 meters 0.01780413149590202 Centerline is valid? [True, True] Translation: X:42.26, Y:320.81, Z:7.17 [[-4.16689262e-01 -9.09027050e-01 6.31513471e-03 4.22564948e+01] [ 9.08916957e-01 -4.16737085e-01 -1.41480302e-02 3.20813393e+02] [ 1.54926930e-02 -1.55399235e-04 9.99879969e-01 7.16808768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.372755096 meters 0.017285767754370768 Centerline is valid? [True, True] Translation: X:42.24, Y:320.84, Z:7.17 [[-4.15951874e-01 -9.09363267e-01 6.51817606e-03 4.22447478e+01] [ 9.09246259e-01 -4.16002919e-01 -1.45880670e-02 3.20837079e+02] [ 1.59774325e-02 -1.41306600e-04 9.99872343e-01 7.16847429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.402755096 meters 0.01716692888514535 Centerline is valid? [True, True] Translation: X:42.23, Y:320.86, Z:7.17 [[-4.14945004e-01 -9.09822740e-01 6.57458350e-03 4.22343190e+01] [ 9.09704003e-01 -4.14997070e-01 -1.46989765e-02 3.20860716e+02] [ 1.61018959e-02 -1.18341926e-04 9.99870349e-01 7.16763090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.432755096 meters 0.016845900911306076 Centerline is valid? [True, True] Translation: X:42.22, Y:320.88, Z:7.17 [[-4.15224073e-01 -9.09696776e-01 6.38319603e-03 4.22229772e+01] [ 9.09585063e-01 -4.15273119e-01 -1.42565619e-02 3.20884812e+02] [ 1.56199181e-02 -1.13607941e-04 9.99877995e-01 7.16890910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.462755096 meters 0.017165087385737535 Centerline is valid? [True, True] Translation: X:42.21, Y:320.91, Z:7.17 [[-4.15876233e-01 -9.09399571e-01 6.27530420e-03 4.22136563e+01] [ 9.09291790e-01 -4.15923559e-01 -1.40012271e-02 3.20909018e+02] [ 1.53427567e-02 -1.16694987e-04 9.99882286e-01 7.16850300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.492755096 meters 0.017465599351840264 Centerline is valid? [True, True] Translation: X:42.20, Y:320.93, Z:7.17 [[-4.18103928e-01 -9.08378824e-01 6.08413674e-03 4.22044820e+01] [ 9.08277604e-01 -4.18148168e-01 -1.35610938e-02 3.20934224e+02] [ 1.48626811e-02 -1.43861447e-04 9.99889534e-01 7.16973830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.522755096 meters 0.017783378397070167 Centerline is valid? [True, True] Translation: X:42.19, Y:320.96, Z:7.17 [[-4.19503138e-01 -9.07733784e-01 6.04109713e-03 4.21947322e+01] [ 9.07634119e-01 -4.19546603e-01 -1.34519332e-02 3.20958371e+02] [ 1.47452960e-02 -1.60022305e-04 9.99891269e-01 7.17031740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.552755096 meters 0.017661084413049394 Centerline is valid? [True, True] Translation: X:42.18, Y:320.98, Z:7.17 [[-4.21921386e-01 -9.06614779e-01 5.65573086e-03 4.21845024e+01] [ 9.06527495e-01 -4.21959252e-01 -1.25813645e-02 3.20982255e+02] [ 1.37929389e-02 -1.81271206e-04 9.99904856e-01 7.17268452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.582755096 meters 0.01777457858555824 Centerline is valid? [True, True] Translation: X:42.17, Y:321.01, Z:7.17 [[-4.22990935e-01 -9.06117758e-01 5.41090924e-03 4.21733579e+01] [ 9.06037984e-01 -4.23025502e-01 -1.20248234e-02 3.21007454e+02] [ 1.31848586e-02 -1.83901979e-04 9.99913059e-01 7.17365953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.612755096 meters 0.017727825419126955 Centerline is valid? [True, True] Translation: X:42.16, Y:321.03, Z:7.17 [[-4.23780901e-01 -9.05751105e-01 4.96828054e-03 4.21620777e+01] [ 9.05683947e-01 -4.23809987e-01 -1.10310079e-02 3.21031833e+02] [ 1.20969545e-02 -1.75038509e-04 9.99926814e-01 7.17485865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.642755096 meters 0.01778679911315875 Centerline is valid? [True, True] Translation: X:42.15, Y:321.05, Z:7.17 [[-4.23992847e-01 -9.05652395e-01 4.87904253e-03 4.21511086e+01] [ 9.05587752e-01 -4.24020884e-01 -1.08218538e-02 3.21054900e+02] [ 1.18696537e-02 -1.69987432e-04 9.99929539e-01 7.17492380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6727550960001 meters 0.017642721382968397 Centerline is valid? [True, True] Translation: X:42.14, Y:321.08, Z:7.18 [[-4.23873947e-01 -9.05708894e-01 4.71981592e-03 4.21392634e+01] [ 9.05648534e-01 -4.23900194e-01 -1.04574783e-02 3.21078477e+02] [ 1.14721619e-02 -1.58158210e-04 9.99934180e-01 7.17510308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.702755096 meters 0.018272885954992945 Centerline is valid? [True, True] Translation: X:42.13, Y:321.10, Z:7.17 [[-4.22996705e-01 -9.06117664e-01 4.95649158e-03 4.21292477e+01] [ 9.06051272e-01 -4.23025717e-01 -1.09697721e-02 3.21101966e+02] [ 1.20366276e-02 -1.49341949e-04 9.99927546e-01 7.17311943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.732755096 meters 0.0168481980683554 Centerline is valid? [True, True] Translation: X:42.11, Y:321.12, Z:7.17 [[-4.22878171e-01 -9.06172335e-01 5.07453496e-03 4.21142772e+01] [ 9.06102899e-01 -4.22908592e-01 -1.12187118e-02 3.21124593e+02] [ 1.23121507e-02 -1.46097503e-04 9.99924192e-01 7.17384069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.762755096 meters 0.016636961093412526 Centerline is valid? [True, True] Translation: X:42.10, Y:321.15, Z:7.17 [[-4.22207017e-01 -9.06484114e-01 5.27120796e-03 4.21029636e+01] [ 9.06409380e-01 -4.22239899e-01 -1.16405958e-02 3.21147288e+02] [ 1.27777295e-02 -1.36868892e-04 9.99918352e-01 7.17360071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7927550960001 meters 0.016714142337723788 Centerline is valid? [True, True] Translation: X:42.09, Y:321.17, Z:7.17 [[-4.22209911e-01 -9.06482398e-01 5.33424980e-03 4.20918584e+01] [ 9.06406030e-01 -4.22243585e-01 -1.17670762e-02 3.21170815e+02] [ 1.29190002e-02 -1.33180010e-04 9.99916537e-01 7.17363662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.822755096 meters 0.016530996782242104 Centerline is valid? [True, True] Translation: X:42.08, Y:321.19, Z:7.17 [[-4.22054025e-01 -9.06553801e-01 5.53221222e-03 4.20803614e+01] [ 9.06471837e-01 -4.22090261e-01 -1.21909638e-02 3.21194978e+02] [ 1.33868574e-02 -1.30450749e-04 9.99910384e-01 7.17393862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.852755096 meters 0.01642795319595764 Centerline is valid? [True, True] Translation: X:42.07, Y:321.22, Z:7.17 [[-4.21953160e-01 -9.06601466e-01 5.41405506e-03 4.20684337e+01] [ 9.06523130e-01 -4.21987875e-01 -1.19184021e-02 3.21218709e+02] [ 1.30899064e-02 -1.21041301e-04 9.99914316e-01 7.17468358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.882755096 meters 0.016714699702671768 Centerline is valid? [True, True] Translation: X:42.06, Y:321.24, Z:7.17 [[-4.22693226e-01 -9.06255959e-01 5.52939255e-03 4.20581400e+01] [ 9.06174393e-01 -4.22729371e-01 -1.21592621e-02 3.21242259e+02] [ 1.33568404e-02 -1.29043788e-04 9.99910785e-01 7.17417542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.912755096 meters 0.016842739669028717 Centerline is valid? [True, True] Translation: X:42.05, Y:321.27, Z:7.18 [[-4.24163292e-01 -9.05568636e-01 5.56301822e-03 4.20476991e+01] [ 9.05486192e-01 -4.24199745e-01 -1.22201640e-02 3.21266267e+02] [ 1.34260282e-02 -1.46108802e-04 9.99909856e-01 7.17500940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.942755096 meters 0.017626694246843825 Centerline is valid? [True, True] Translation: X:42.04, Y:321.29, Z:7.18 [[-4.25564302e-01 -9.04913014e-01 5.24047291e-03 4.20391174e+01] [ 9.04839952e-01 -4.25596540e-01 -1.14998280e-02 3.21289827e+02] [ 1.26366711e-02 -1.52127012e-04 9.99920143e-01 7.17508055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.972755096 meters 0.018055850296124464 Centerline is valid? [True, True] Translation: X:42.03, Y:321.31, Z:7.18 [[-4.27075236e-01 -9.04202005e-01 5.04741220e-03 4.20295697e+01] [ 9.04134318e-01 -4.27105031e-01 -1.10647053e-02 3.21313707e+02] [ 1.21605039e-02 -1.61923053e-04 9.99926045e-01 7.17589075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.002755096 meters 0.01824231593116448 Centerline is valid? [True, True] Translation: X:42.02, Y:321.34, Z:7.18 [[-4.30154300e-01 -9.02742157e-01 4.88631806e-03 4.20188245e+01] [ 9.02678750e-01 -4.30182009e-01 -1.07011306e-02 3.21338973e+02] [ 1.17623678e-02 -1.92361839e-04 9.99930802e-01 7.17783976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.032755096 meters 0.01896194186446614 Centerline is valid? [True, True] Translation: X:42.01, Y:321.36, Z:7.18 [[-4.31854869e-01 -9.01930777e-01 4.71653433e-03 4.20089507e+01] [ 9.01871762e-01 -4.31880577e-01 -1.03195673e-02 3.21363636e+02] [ 1.13445149e-02 -2.02846262e-04 9.99935628e-01 7.17838838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.062755096 meters 0.019786865365373555 Centerline is valid? [True, True] Translation: X:42.00, Y:321.39, Z:7.18 [[-4.34203411e-01 -9.00803441e-01 4.53411312e-03 4.19991360e+01] [ 9.00748943e-01 -4.34227028e-01 -9.91107580e-03 3.21389443e+02] [ 1.08967656e-02 -2.19325318e-04 9.99940604e-01 7.17901838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.092755096 meters 0.01961532736475889 Centerline is valid? [True, True] Translation: X:41.99, Y:321.41, Z:7.18 [[-4.35436513e-01 -9.00208498e-01 4.43891856e-03 4.19873323e+01] [ 9.00156329e-01 -4.35459080e-01 -9.69401877e-03 3.21414365e+02] [ 1.06596055e-02 -2.25409100e-04 9.99943159e-01 7.18002168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.122755096 meters 0.021246565711621018 Centerline is valid? [True, True] Translation: X:41.98, Y:321.44, Z:7.18 [[-4.36094817e-01 -8.99890425e-01 4.30512911e-03 4.19790210e+01] [ 8.99841422e-01 -4.36116010e-01 -9.39370804e-03 3.21439377e+02] [ 1.03308436e-02 -2.22613894e-04 9.99946611e-01 7.18020236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.152755096 meters 0.020345206282465507 Centerline is valid? [True, True] Translation: X:41.97, Y:321.46, Z:7.18 [[-4.36528942e-01 -8.99679747e-01 4.34008618e-03 4.19662556e+01] [ 8.99630016e-01 -4.36550458e-01 -9.46207766e-03 3.21462314e+02] [ 1.04075062e-02 -2.25998951e-04 9.99945815e-01 7.18092680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.182755096 meters 0.020652021301050802 Centerline is valid? [True, True] Translation: X:41.95, Y:321.49, Z:7.18 [[-4.36519368e-01 -8.99681631e-01 4.87908226e-03 4.19544437e+01] [ 8.99618921e-01 -4.36546563e-01 -1.06252058e-02 3.21485079e+02] [ 1.16892491e-02 -2.48793392e-04 9.99931647e-01 7.17977877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.212755096 meters 0.019503127913807674 Centerline is valid? [True, True] Translation: X:41.94, Y:321.51, Z:7.18 [[-4.35902756e-01 -8.99978503e-01 5.24222610e-03 4.19402224e+01] [ 8.99906288e-01 -4.35934203e-01 -1.14036672e-02 3.21508175e+02] [ 1.25483210e-02 -2.53377721e-04 9.99921235e-01 7.17940630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.242755096 meters 0.019481250612203238 Centerline is valid? [True, True] Translation: X:41.93, Y:321.53, Z:7.18 [[-4.35942983e-01 -8.99958031e-01 5.40918073e-03 4.19288668e+01] [ 8.99881297e-01 -4.35976464e-01 -1.17547194e-02 3.21531590e+02] [ 1.29370296e-02 -2.56766864e-04 9.99916280e-01 7.17899053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.272755096 meters 0.01947412881933892 Centerline is valid? [True, True] Translation: X:41.92, Y:321.56, Z:7.18 [[-4.36234259e-01 -8.99815685e-01 5.60401559e-03 4.19174481e+01] [ 8.99733485e-01 -4.36270173e-01 -1.21652374e-02 3.21555334e+02] [ 1.33913363e-02 -2.64772845e-04 9.99910297e-01 7.17910919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.302755096 meters 0.019696746891955635 Centerline is valid? [True, True] Translation: X:41.91, Y:321.58, Z:7.18 [[-4.36763061e-01 -8.99557954e-01 5.78937282e-03 4.19064891e+01] [ 8.99470385e-01 -4.36801342e-01 -1.25544276e-02 3.21578958e+02] [ 1.38222410e-02 -2.75940813e-04 9.99904430e-01 7.17907778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.332755096 meters 0.020216663806222824 Centerline is valid? [True, True] Translation: X:41.90, Y:321.60, Z:7.18 [[-4.37827677e-01 -8.99039712e-01 5.87545095e-03 4.18956312e+01] [ 8.98949658e-01 -4.37867002e-01 -1.27279733e-02 3.21603220e+02] [ 1.40156196e-02 -2.90924383e-04 9.99901734e-01 7.17923689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.362755096 meters 0.0208230588897913 Centerline is valid? [True, True] Translation: X:41.88, Y:321.63, Z:7.18 [[-4.38946503e-01 -8.98494317e-01 5.82492469e-03 4.18840263e+01] [ 8.98405936e-01 -4.38985048e-01 -1.26055959e-02 3.21626929e+02] [ 1.38831111e-02 -3.00035338e-04 9.99903580e-01 7.17915810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.392755096 meters 0.02210418141094023 Centerline is valid? [True, True] Translation: X:41.88, Y:321.65, Z:7.18 [[-4.40546958e-01 -8.97712007e-01 5.61515217e-03 4.18750385e+01] [ 8.97629956e-01 -4.40582634e-01 -1.21410541e-02 3.21652013e+02] [ 1.33731086e-02 -3.08375648e-04 9.99910528e-01 7.18057289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4227550960001 meters 0.02357357598359316 Centerline is valid? [True, True] Translation: X:41.87, Y:321.68, Z:7.18 [[-4.41951968e-01 -8.97021778e-01 5.51253228e-03 4.18661833e+01] [ 8.96942778e-01 -4.41986231e-01 -1.19090059e-02 3.21676312e+02] [ 1.31191010e-02 -3.18782593e-04 9.99913890e-01 7.18074716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.452755096 meters 0.021592788032208172 Centerline is valid? [True, True] Translation: X:41.85, Y:321.70, Z:7.18 [[-4.43132058e-01 -8.96440135e-01 5.39105017e-03 4.18518292e+01] [ 8.96364688e-01 -4.43164732e-01 -1.16347364e-02 3.21698921e+02] [ 1.28189680e-02 -3.23377701e-04 9.99917781e-01 7.18241713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.482755096 meters 0.02202348751842793 Centerline is valid? [True, True] Translation: X:41.84, Y:321.72, Z:7.18 [[-4.44623881e-01 -8.95701755e-01 5.28867295e-03 4.18402279e+01] [ 8.95629235e-01 -4.44655209e-01 -1.14025892e-02 3.21723793e+02] [ 1.25649551e-02 -3.33173338e-04 9.99921002e-01 7.18296938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.512755096 meters 0.02454448861798102 Centerline is valid? [True, True] Translation: X:41.83, Y:321.75, Z:7.18 [[-4.45438666e-01 -8.95297886e-01 5.10781771e-03 4.18325249e+01] [ 8.95230345e-01 -4.45467830e-01 -1.10018982e-02 3.21748370e+02] [ 1.21253446e-02 -3.27997437e-04 9.99926432e-01 7.18257727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5427550960001 meters 0.02293618511702325 Centerline is valid? [True, True] Translation: X:41.82, Y:321.77, Z:7.18 [[-4.45999046e-01 -8.95020098e-01 4.88615298e-03 4.18177216e+01] [ 8.94958401e-01 -4.46025698e-01 -1.05136265e-02 3.21771032e+02] [ 1.15892568e-02 -3.16163716e-04 9.99932792e-01 7.18388807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.572755096 meters 0.022331146404761287 Centerline is valid? [True, True] Translation: X:41.80, Y:321.79, Z:7.18 [[-4.46501249e-01 -8.94771385e-01 4.56112449e-03 4.18048872e+01] [ 8.94717714e-01 -4.46524446e-01 -9.80461119e-03 3.21794005e+02] [ 1.08095391e-02 -2.96852261e-04 9.99941531e-01 7.18464468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.602755096 meters 0.022621831711337744 Centerline is valid? [True, True] Translation: X:41.79, Y:321.82, Z:7.19 [[-4.46631326e-01 -8.94707483e-01 4.35657117e-03 4.17928042e+01] [ 8.94658614e-01 -4.46652484e-01 -9.35533289e-03 3.21816476e+02] [ 1.03161597e-02 -2.80740805e-04 9.99946748e-01 7.18527814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.632755096 meters 0.022445385392257797 Centerline is valid? [True, True] Translation: X:41.78, Y:321.84, Z:7.19 [[-4.46519389e-01 -8.94762793e-01 4.46981983e-03 4.17806108e+01] [ 8.94711464e-01 -4.46541671e-01 -9.58815434e-03 3.21839546e+02] [ 1.05750846e-02 -2.82097771e-04 9.99944042e-01 7.18533513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.662755096 meters 0.022074945685692637 Centerline is valid? [True, True] Translation: X:41.77, Y:321.86, Z:7.19 [[-4.46370680e-01 -8.94836992e-01 4.46914043e-03 4.17676431e+01] [ 8.94785786e-01 -4.46392967e-01 -9.57688774e-03 3.21863097e+02] [ 1.05647463e-02 -2.75918565e-04 9.99944153e-01 7.18543929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.692755096 meters 0.021748044449125106 Centerline is valid? [True, True] Translation: X:41.75, Y:321.89, Z:7.19 [[-4.44471086e-01 -8.95782091e-01 4.46086159e-03 4.17540390e+01] [ 8.95731222e-01 -4.44493401e-01 -9.54955009e-03 3.21885561e+02] [ 1.05371395e-02 -2.48765892e-04 9.99944452e-01 7.18572675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.722755096 meters 0.021748044449125106 Centerline is valid? [True, True] Translation: X:41.74, Y:321.91, Z:7.19 [[-4.44813023e-01 -8.95612329e-01 4.46443334e-03 4.17428247e+01] [ 8.95561468e-01 -4.44835357e-01 -9.54788027e-03 3.21908947e+02] [ 1.05371371e-02 -2.48847012e-04 9.99944452e-01 7.18590909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.752755096 meters 0.021398254438729572 Centerline is valid? [True, True] Translation: X:41.73, Y:321.93, Z:7.18 [[-4.43912432e-01 -8.96058450e-01 4.58331467e-03 4.17287084e+01] [ 8.96004976e-01 -4.43936027e-01 -9.79216309e-03 3.21931781e+02] [ 1.08090490e-02 -2.40190179e-04 9.99941552e-01 7.18494094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.782755096 meters 0.01992296272622035 Centerline is valid? [True, True] Translation: X:41.71, Y:321.95, Z:7.18 [[-4.41621437e-01 -8.97189081e-01 4.71800439e-03 4.17136889e+01] [ 8.97132593e-01 -4.41646586e-01 -1.00699659e-02 3.21954176e+02] [ 1.11183540e-02 -2.14437303e-04 9.99938166e-01 7.18483085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.812755096 meters 0.019621096318570178 Centerline is valid? [True, True] Translation: X:41.70, Y:321.98, Z:7.18 [[-4.40901757e-01 -8.97542034e-01 4.89274085e-03 4.17007860e+01] [ 8.97481420e-01 -4.40928854e-01 -1.04329591e-02 3.21977193e+02] [ 1.15213700e-02 -2.08766012e-04 9.99933605e-01 7.18453652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.842755096 meters 0.018680119561626816 Centerline is valid? [True, True] Translation: X:41.69, Y:322.00, Z:7.19 [[-4.40627267e-01 -8.97676534e-01 4.94493088e-03 4.16868118e+01] [ 8.97614752e-01 -4.40654967e-01 -1.05335915e-02 3.22000012e+02] [ 1.16347663e-02 -2.02744731e-04 9.99932293e-01 7.18503282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.872755096 meters 0.018969146003943414 Centerline is valid? [True, True] Translation: X:41.68, Y:322.02, Z:7.18 [[-4.39886603e-01 -8.98040657e-01 4.77013395e-03 4.16759074e+01] [ 8.97983305e-01 -4.39912429e-01 -1.01508384e-02 3.22023039e+02] [ 1.12143068e-02 -1.81717182e-04 9.99937101e-01 7.18478436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.902755096 meters 0.018340995036204916 Centerline is valid? [True, True] Translation: X:41.66, Y:322.05, Z:7.19 [[-4.39855075e-01 -8.98056482e-01 4.69770219e-03 4.16633556e+01] [ 8.98000974e-01 -4.39880126e-01 -9.98631142e-03 3.22046217e+02] [ 1.10346975e-02 -1.73988619e-04 9.99939101e-01 7.18601980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.932755096 meters 0.018088829605304675 Centerline is valid? [True, True] Translation: X:41.65, Y:322.07, Z:7.19 [[-4.39651239e-01 -8.98157734e-01 4.41279559e-03 4.16510381e+01] [ 8.98108854e-01 -4.39673356e-01 -9.37155348e-03 3.22069107e+02] [ 1.03573219e-02 -1.57044308e-04 9.99946349e-01 7.18706880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.962755096 meters 0.018004832114591852 Centerline is valid? [True, True] Translation: X:41.64, Y:322.09, Z:7.19 [[-4.39753303e-01 -8.98108713e-01 4.21575509e-03 4.16391386e+01] [ 8.98064186e-01 -4.39773485e-01 -8.94428394e-03 3.22092323e+02] [ 9.88691665e-03 -1.47259737e-04 9.99951112e-01 7.18770168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.992755096 meters 0.017981940556272516 Centerline is valid? [True, True] Translation: X:41.63, Y:322.12, Z:7.19 [[-4.39871181e-01 -8.98051629e-01 4.07638013e-03 4.16268761e+01] [ 8.98010076e-01 -4.39890046e-01 -8.64004376e-03 3.22115539e+02] [ 9.55236442e-03 -1.39875816e-04 9.99954365e-01 7.18805761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.022755096 meters 0.01830284080505065 Centerline is valid? [True, True] Translation: X:41.61, Y:322.14, Z:7.19 [[-4.40098869e-01 -8.97941792e-01 3.67752454e-03 4.16148842e+01] [ 8.97908032e-01 -4.40114216e-01 -7.78736350e-03 3.22137891e+02] [ 8.61112997e-03 -1.25131045e-04 9.99962916e-01 7.18830778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.052755096 meters 0.018300093984847894 Centerline is valid? [True, True] Translation: X:41.60, Y:322.16, Z:7.19 [[-4.40784074e-01 -8.97605705e-01 3.66044315e-03 4.16026328e+01] [ 8.97572315e-01 -4.40799254e-01 -7.74318051e-03 3.22161857e+02] [ 8.56384361e-03 -1.27558216e-04 9.99963322e-01 7.18856315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.082755096 meters 0.018336675182041448 Centerline is valid? [True, True] Translation: X:41.59, Y:322.19, Z:7.19 [[-4.41848647e-01 -8.97083383e-01 3.34322742e-03 4.15909249e+01] [ 8.97055565e-01 -4.41861278e-01 -7.06573100e-03 3.22185169e+02] [ 7.81579261e-03 -1.22922918e-04 9.99969449e-01 7.18964804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.112755096 meters 0.018936410596381306 Centerline is valid? [True, True] Translation: X:41.58, Y:322.21, Z:7.19 [[-4.42568041e-01 -8.96729670e-01 3.07063070e-03 4.15807724e+01] [ 8.96706237e-01 -4.42578678e-01 -6.48367688e-03 3.22208352e+02] [ 7.17310110e-03 -1.16014471e-04 9.99974266e-01 7.19047620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.142755096 meters 0.018328974543486937 Centerline is valid? [True, True] Translation: X:41.57, Y:322.23, Z:7.19 [[-4.43105775e-01 -8.96464500e-01 2.94499327e-03 4.15674464e+01] [ 8.96442972e-01 -4.43115547e-01 -6.21371337e-03 3.22231623e+02] [ 6.87534575e-03 -1.13313754e-04 9.99976358e-01 7.19113763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1727550960001 meters 0.018160528049522166 Centerline is valid? [True, True] Translation: X:41.55, Y:322.25, Z:7.19 [[-4.43859686e-01 -8.96091794e-01 2.84186300e-03 4.15542055e+01] [ 8.96071778e-01 -4.43868770e-01 -5.99025321e-03 3.22254214e+02] [ 6.62923098e-03 -1.12318683e-04 9.99978020e-01 7.19128004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.202755096 meters 0.01959898479275529 Centerline is valid? [True, True] Translation: X:41.54, Y:322.28, Z:7.19 [[-4.44475033e-01 -8.95786931e-01 2.77846609e-03 4.15449209e+01] [ 8.95767831e-01 -4.44483704e-01 -5.85070666e-03 3.22278010e+02] [ 6.47596946e-03 -1.11632499e-04 9.99979024e-01 7.19094771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.232755096 meters 0.02132997113366113 Centerline is valid? [True, True] Translation: X:41.53, Y:322.30, Z:7.19 [[-4.44847263e-01 -8.95600669e-01 3.21773275e-03 4.15328065e+01] [ 8.95575108e-01 -4.44858882e-01 -6.76770288e-03 3.22300507e+02] [ 7.49259622e-03 -1.28872747e-04 9.99971922e-01 7.18851935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.262755096 meters 0.01827647077797264 Centerline is valid? [True, True] Translation: X:41.52, Y:322.32, Z:7.19 [[-4.44964986e-01 -8.95543003e-01 2.98181440e-03 4.15187941e+01] [ 8.95521093e-01 -4.44974961e-01 -6.26545107e-03 3.22322862e+02] [ 6.93781362e-03 -1.17628654e-04 9.99975926e-01 7.19174172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2927550960001 meters 0.01813639081774592 Centerline is valid? [True, True] Translation: X:41.51, Y:322.35, Z:7.19 [[-4.45237876e-01 -8.95407510e-01 2.93690372e-03 4.15067293e+01] [ 8.95386294e-01 -4.45247548e-01 -6.16487757e-03 3.22346427e+02] [ 6.82772685e-03 -1.15173660e-04 9.99976684e-01 7.19186849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.322755096 meters 0.018126579002257247 Centerline is valid? [True, True] Translation: X:41.49, Y:322.37, Z:7.19 [[-4.45132248e-01 -8.95459085e-01 3.21071376e-03 4.14945251e+01] [ 8.95433787e-01 -4.45143811e-01 -6.73213222e-03 3.22368322e+02] [ 7.45757832e-03 -1.21707570e-04 9.99972185e-01 7.19091548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.352755096 meters 0.017957202964659566 Centerline is valid? [True, True] Translation: X:41.48, Y:322.39, Z:7.19 [[-4.45139199e-01 -8.95454313e-01 3.55902179e-03 4.14809842e+01] [ 8.95423299e-01 -4.45153407e-01 -7.45386869e-03 3.22390850e+02] [ 8.25890954e-03 -1.31178099e-04 9.99965886e-01 7.18972441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.382755096 meters 0.01807448706814569 Centerline is valid? [True, True] Translation: X:41.47, Y:322.41, Z:7.19 [[-4.45395209e-01 -8.95326281e-01 3.73600820e-03 4.14693293e+01] [ 8.95292172e-01 -4.45410857e-01 -7.81635529e-03 3.22413855e+02] [ 8.66224693e-03 -1.36548303e-04 9.99962473e-01 7.18940512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.412755096 meters 0.018219804638963878 Centerline is valid? [True, True] Translation: X:41.46, Y:322.44, Z:7.19 [[-4.45818950e-01 -8.95114831e-01 3.86040239e-03 4.14575062e+01] [ 8.95078481e-01 -4.45835641e-01 -8.06810176e-03 3.22437604e+02] [ 8.94298253e-03 -1.41549543e-04 9.99960001e-01 7.18972052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.442755096 meters 0.0184395648712583 Centerline is valid? [True, True] Translation: X:41.45, Y:322.46, Z:7.19 [[-4.46657758e-01 -8.94696428e-01 3.89209880e-03 4.14459641e+01] [ 8.94659535e-01 -4.46674691e-01 -8.12631863e-03 3.22461443e+02] [ 9.00909028e-03 -1.47579958e-04 9.99959406e-01 7.19040000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.472755096 meters 0.018737456762727166 Centerline is valid? [True, True] Translation: X:41.43, Y:322.49, Z:7.19 [[-4.47338848e-01 -8.94356279e-01 3.84727704e-03 4.14339511e+01] [ 8.94320287e-01 -4.47355367e-01 -8.02499891e-03 3.22485496e+02] [ 8.89830820e-03 -1.49195868e-04 9.99960398e-01 7.19122379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.502755096 meters 0.01859976559863481 Centerline is valid? [True, True] Translation: X:41.42, Y:322.51, Z:7.19 [[-4.48688341e-01 -8.93681592e-01 3.46181309e-03 4.14199758e+01] [ 8.93652482e-01 -4.48701673e-01 -7.21457416e-03 3.22508212e+02] [ 8.00085345e-03 -1.43437454e-04 9.99967982e-01 7.19290455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.532755096 meters 0.019241498558962462 Centerline is valid? [True, True] Translation: X:41.41, Y:322.53, Z:7.19 [[-4.49284527e-01 -8.93383144e-01 3.15789968e-03 4.14086146e+01] [ 8.93358957e-01 -4.49295605e-01 -6.57515532e-03 3.22531026e+02] [ 7.29296338e-03 -1.32977583e-04 9.99973397e-01 7.19382715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.562755096 meters 0.01893307041240757 Centerline is valid? [True, True] Translation: X:41.39, Y:322.55, Z:7.19 [[-4.49878072e-01 -8.93085657e-01 2.78040241e-03 4.13947622e+01] [ 8.93066935e-01 -4.49886648e-01 -5.78389351e-03 3.22553945e+02] [ 6.41637825e-03 -1.18961398e-04 9.99979408e-01 7.19459300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.592755096 meters 0.020453589744984436 Centerline is valid? [True, True] Translation: X:41.38, Y:322.58, Z:7.20 [[-4.50739189e-01 -8.92651769e-01 2.64622827e-03 4.13842727e+01] [ 8.92634835e-01 -4.50746941e-01 -5.49958010e-03 3.22577551e+02] [ 6.10198921e-03 -1.16760741e-04 9.99981376e-01 7.19500952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.622755096 meters 0.02065566546623996 Centerline is valid? [True, True] Translation: X:41.37, Y:322.60, Z:7.20 [[-4.51310540e-01 -8.92364870e-01 1.93266023e-03 4.13697687e+01] [ 8.92355846e-01 -4.51314669e-01 -4.01411043e-03 3.22598913e+02] [ 4.45428905e-03 -8.69896951e-05 9.99990076e-01 7.19640858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.652755096 meters 0.020183568458896396 Centerline is valid? [True, True] Translation: X:41.35, Y:322.62, Z:7.20 [[-4.51358898e-01 -8.92341552e-01 1.30356143e-03 4.13535587e+01] [ 8.92337450e-01 -4.51360776e-01 -2.70658687e-03 3.22620575e+02] [ 3.00357643e-03 -5.84253846e-05 9.99995488e-01 7.19738185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.682755096 meters 0.019228292631692463 Centerline is valid? [True, True] Translation: X:41.34, Y:322.64, Z:7.20 [[-4.51289327e-01 -8.92377239e-01 8.97500434e-04 4.13382917e+01] [ 8.92375294e-01 -4.51290218e-01 -1.86385756e-03 3.22642389e+02] [ 2.06829723e-03 -4.02318095e-05 9.99997860e-01 7.19733122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.712755096 meters 0.02012737097362257 Centerline is valid? [True, True] Translation: X:41.32, Y:322.66, Z:7.20 [[-4.50400881e-01 -8.92826048e-01 8.33353535e-04 4.13238427e+01] [ 8.92824374e-01 -4.50401651e-01 -1.72939464e-03 3.22664953e+02] [ 1.91939239e-03 -3.48825234e-05 9.99998157e-01 7.19559094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.742755096 meters 0.019004340950752277 Centerline is valid? [True, True] Translation: X:41.31, Y:322.69, Z:7.20 [[-4.49414571e-01 -8.93323314e-01 -8.64517684e-06 4.13085749e+01] [ 8.93323314e-01 -4.49414571e-01 1.10687216e-05 3.22686078e+02] [-1.37732156e-05 -2.74849327e-06 1.00000000e+00 7.19715014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.772755096 meters 0.018579837547808883 Centerline is valid? [True, True] Translation: X:41.29, Y:322.71, Z:7.20 [[-4.48887022e-01 -8.93588518e-01 -4.91008884e-05 4.12941494e+01] [ 8.93588513e-01 -4.48887025e-01 9.48800208e-05 3.22708559e+02] [-1.06824449e-04 -1.28557982e-06 9.99999994e-01 7.19665052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.802755096 meters 0.018285689080068918 Centerline is valid? [True, True] Translation: X:41.28, Y:322.73, Z:7.20 [[-4.47132527e-01 -8.94467609e-01 -4.47240822e-04 4.12783396e+01] [ 8.94467141e-01 -4.47132750e-01 9.15407536e-04 3.22730398e+02] [-1.01877841e-03 9.26626491e-06 9.99999481e-01 7.19641246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.832755096 meters 0.018455236728865537 Centerline is valid? [True, True] Translation: X:41.27, Y:322.75, Z:7.20 [[-4.46706065e-01 -8.94680456e-01 -7.56983074e-04 4.12662218e+01] [ 8.94679111e-01 -4.46706706e-01 1.55190231e-03 3.22752332e+02] [-1.72660608e-03 1.59872314e-05 9.99998509e-01 7.19701453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.862755096 meters 0.018342565556097524 Centerline is valid? [True, True] Translation: X:41.25, Y:322.78, Z:7.20 [[-4.46458260e-01 -8.94803734e-01 -1.14025304e-03 4.12532231e+01] [ 8.94800677e-01 -4.46459716e-01 2.33907171e-03 3.22775170e+02] [-2.60208714e-03 2.39986943e-05 9.99996614e-01 7.19711011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.892755096 meters 0.018707428610206973 Centerline is valid? [True, True] Translation: X:41.24, Y:322.80, Z:7.20 [[-4.47031105e-01 -8.94516387e-01 -1.90400655e-03 4.12411329e+01] [ 8.94507857e-01 -4.47035157e-01 3.90672625e-03 3.22798703e+02] [-4.34578852e-03 4.32793284e-05 9.99990556e-01 7.19837082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9227550960001 meters 0.018913406882770805 Centerline is valid? [True, True] Translation: X:41.23, Y:322.82, Z:7.20 [[-4.48151680e-01 -8.93955076e-01 -2.09621741e-03 4.12297763e+01] [ 8.93944749e-01 -4.48156580e-01 4.29717350e-03 3.22822294e+02] [-4.78091368e-03 5.18829797e-05 9.99988570e-01 7.19841326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.952755096 meters 0.01917546635305319 Centerline is valid? [True, True] Translation: X:41.22, Y:322.85, Z:7.20 [[-4.49417419e-01 -8.93319199e-01 -2.18908196e-03 4.12186776e+01] [ 8.93307951e-01 -4.49422746e-01 4.48337617e-03 3.22846104e+02] [-4.98890923e-03 5.93830273e-05 9.99987554e-01 7.19804102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.982755096 meters 0.019886797322212713 Centerline is valid? [True, True] Translation: X:41.21, Y:322.87, Z:7.20 [[-4.52010288e-01 -8.92010824e-01 -1.84114768e-03 4.12093711e+01] [ 8.92002871e-01 -4.52014034e-01 3.76712372e-03 3.22871502e+02] [-4.19253972e-03 6.04696562e-05 9.99991209e-01 7.19681567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.012755096 meters 0.02040239909575564 Centerline is valid? [True, True] Translation: X:41.20, Y:322.89, Z:7.20 [[-4.53307080e-01 -8.91352545e-01 -1.82570328e-03 4.11998124e+01] [ 8.91344739e-01 -4.53310752e-01 3.73081293e-03 3.22894845e+02] [-4.15308053e-03 6.38729050e-05 9.99991374e-01 7.19675399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0427550960001 meters 0.02105437791063385 Centerline is valid? [True, True] Translation: X:41.19, Y:322.92, Z:7.20 [[-4.55391690e-01 -8.90289160e-01 -1.90283853e-03 4.11900915e+01] [ 8.90280684e-01 -4.55395659e-01 3.88540098e-03 3.22919388e+02] [-4.32567478e-03 7.53189309e-05 9.99990641e-01 7.19633657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.072755096 meters 0.020706199375536437 Centerline is valid? [True, True] Translation: X:41.18, Y:322.94, Z:7.20 [[-4.56302887e-01 -8.89822654e-01 -1.82174512e-03 4.11777458e+01] [ 8.89814900e-01 -4.56306518e-01 3.71564097e-03 3.22943126e+02] [-4.13753569e-03 7.44417495e-05 9.99991438e-01 7.19531494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.102755096 meters 0.020667748613547792 Centerline is valid? [True, True] Translation: X:41.16, Y:322.97, Z:7.19 [[-4.58042216e-01 -8.88928658e-01 -1.78045633e-03 4.11648490e+01] [ 8.88921256e-01 -4.58045670e-01 3.62836979e-03 3.22967397e+02] [-4.04089220e-03 7.92610605e-05 9.99991832e-01 7.19393602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.132755096 meters 0.022540591113239406 Centerline is valid? [True, True] Translation: X:41.16, Y:322.99, Z:7.20 [[-4.58931133e-01 -8.88469860e-01 -1.87708551e-03 4.11563307e+01] [ 8.88461649e-01 -4.58934964e-01 3.82062784e-03 3.22991366e+02] [-4.25597285e-03 8.56865760e-05 9.99990940e-01 7.19533240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.162755096 meters 0.021752586787598335 Centerline is valid? [True, True] Translation: X:41.14, Y:323.01, Z:7.19 [[-4.59400603e-01 -8.88227200e-01 -1.87823752e-03 4.11433521e+01] [ 8.88218990e-01 -4.59404434e-01 3.81988030e-03 3.23014543e+02] [-4.25579223e-03 8.65690753e-05 9.99990940e-01 7.19439711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.192755096 meters 0.021616992100969627 Centerline is valid? [True, True] Translation: X:41.13, Y:323.04, Z:7.19 [[-4.60352706e-01 -8.87733675e-01 -2.07580439e-03 4.11317697e+01] [ 8.87723659e-01 -4.60357376e-01 4.21803038e-03 3.23038677e+02] [-4.70009947e-03 9.90410362e-05 9.99988950e-01 7.19478543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.222755096 meters 0.021436296214648095 Centerline is valid? [True, True] Translation: X:41.12, Y:323.06, Z:7.19 [[-4.60880471e-01 -8.87459289e-01 -2.28057736e-03 4.11198190e+01] [ 8.87447218e-01 -4.60886100e-01 4.63001348e-03 3.23062471e+02] [-5.16003488e-03 1.09990764e-04 9.99986681e-01 7.19474520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.252755096 meters 0.022121272020376347 Centerline is valid? [True, True] Translation: X:41.11, Y:323.09, Z:7.20 [[-4.61309277e-01 -8.87236733e-01 -2.17493398e-03 4.11099280e+01] [ 8.87225778e-01 -4.61314392e-01 4.41037482e-03 3.23085763e+02] [-4.91637489e-03 1.04889328e-04 9.99987909e-01 7.19535310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.282755096 meters 0.021893264580188275 Centerline is valid? [True, True] Translation: X:41.10, Y:323.11, Z:7.19 [[-4.61701702e-01 -8.87033472e-01 -1.77705112e-03 4.10985584e+01] [ 8.87026174e-01 -4.61705114e-01 3.59921403e-03 3.23109326e+02] [-4.01309691e-03 8.54723887e-05 9.99991944e-01 7.19402699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.312755096 meters 0.022039341287639576 Centerline is valid? [True, True] Translation: X:41.09, Y:323.13, Z:7.19 [[-4.61792655e-01 -8.86986337e-01 -1.66792915e-03 4.10878114e+01] [ 8.86979914e-01 -4.61795661e-01 3.37647065e-03 3.23132527e+02] [-3.76512578e-03 7.98096923e-05 9.99992909e-01 7.19353082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.342755096 meters 0.02215051113430987 Centerline is valid? [True, True] Translation: X:41.08, Y:323.16, Z:7.19 [[-4.61721677e-01 -8.87023758e-01 -1.39460749e-03 4.10778111e+01] [ 8.87019282e-01 -4.61723779e-01 2.81876622e-03 3.23156597e+02] [-3.14423605e-03 6.44417314e-05 9.99995055e-01 7.19320015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.372755096 meters 0.02210474409765911 Centerline is valid? [True, True] Translation: X:41.07, Y:323.18, Z:7.19 [[-4.61520365e-01 -8.87128562e-01 -1.36660659e-03 4.10672982e+01] [ 8.87124273e-01 -4.61522384e-01 2.75904060e-03 3.23180301e+02] [-3.07834325e-03 6.10035478e-05 9.99995260e-01 7.19348238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.402755096 meters 0.02140484998129158 Centerline is valid? [True, True] Translation: X:41.06, Y:323.20, Z:7.19 [[-4.61388158e-01 -8.87197490e-01 -1.25804729e-03 4.10551474e+01] [ 8.87193864e-01 -4.61389870e-01 2.53690514e-03 3.23203484e+02] [-2.83118615e-03 5.43661560e-05 9.99995991e-01 7.19276946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.432755096 meters 0.02075708027393744 Centerline is valid? [True, True] Translation: X:41.04, Y:323.23, Z:7.19 [[-4.59689311e-01 -8.88079073e-01 -1.13899874e-03 4.10433747e+01] [ 8.88076109e-01 -4.59690720e-01 2.29499652e-03 3.23227883e+02] [-2.56172553e-03 4.34678023e-05 9.99996718e-01 7.19291057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.462755096 meters 0.020131916753013904 Centerline is valid? [True, True] Translation: X:41.03, Y:323.25, Z:7.19 [[-4.58560792e-01 -8.88662249e-01 -1.18623912e-03 4.10305746e+01] [ 8.88659043e-01 -4.58562325e-01 2.38747848e-03 3.23251028e+02] [-2.66562657e-03 4.06418991e-05 9.99996446e-01 7.19299437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.492755096 meters 0.019069939511556246 Centerline is valid? [True, True] Translation: X:41.02, Y:323.27, Z:7.19 [[-4.55243725e-01 -8.90366158e-01 -1.12042050e-03 4.10177795e+01] [ 8.90363308e-01 -4.55245103e-01 2.25301120e-03 3.23273518e+02] [-2.51607087e-03 2.80879027e-05 9.99996834e-01 7.19301462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.522755096 meters 0.018807214834782673 Centerline is valid? [True, True] Translation: X:41.01, Y:323.30, Z:7.19 [[-4.54207261e-01 -8.90895176e-01 -1.24442564e-03 4.10053665e+01] [ 8.90891668e-01 -4.54208965e-01 2.50038755e-03 3.23296976e+02] [-2.79281249e-03 2.70457452e-05 9.99996100e-01 7.19298124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.552755096 meters 0.018389246829664144 Centerline is valid? [True, True] Translation: X:40.99, Y:323.32, Z:7.19 [[-4.53215425e-01 -8.91399989e-01 -1.35567097e-03 4.09932171e+01] [ 8.91395834e-01 -4.53217452e-01 2.72175384e-03 3.23320284e+02] [-3.04058509e-03 2.51013654e-05 9.99995377e-01 7.19312537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.582755096 meters 0.01779556624579784 Centerline is valid? [True, True] Translation: X:40.98, Y:323.34, Z:7.19 [[-4.51434522e-01 -8.92303497e-01 -1.15817622e-03 4.09815738e+01] [ 8.92300477e-01 -4.51436007e-01 2.32177944e-03 3.23343801e+02] [-2.59457436e-03 1.46902019e-05 9.99996634e-01 7.19274382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.612755096 meters 0.01779556624579784 Centerline is valid? [True, True] Translation: X:40.97, Y:323.37, Z:7.19 [[-4.51789444e-01 -8.92123845e-01 -1.15910157e-03 4.09698103e+01] [ 8.92120825e-01 -4.51790931e-01 2.32131824e-03 3.23366896e+02] [-2.59457493e-03 1.46884334e-05 9.99996634e-01 7.19292609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.642755096 meters 0.017855486006510053 Centerline is valid? [True, True] Translation: X:40.96, Y:323.39, Z:7.19 [[-4.51568725e-01 -8.92235426e-01 -1.27680213e-03 4.09586742e+01] [ 8.92231768e-01 -4.51570530e-01 2.55515878e-03 3.23390366e+02] [-2.85636940e-03 1.46263690e-05 9.99995920e-01 7.19357854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6727550960001 meters 0.017786880589346864 Centerline is valid? [True, True] Translation: X:40.95, Y:323.41, Z:7.19 [[-4.50941137e-01 -8.92552449e-01 -1.48894896e-03 4.09481242e+01] [ 8.92547482e-01 -4.50943595e-01 2.97763888e-03 3.23414587e+02] [-3.32913087e-03 1.37822160e-05 9.99994458e-01 7.19380115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.702755096 meters 0.017874943814332297 Centerline is valid? [True, True] Translation: X:40.94, Y:323.44, Z:7.20 [[-4.51098827e-01 -8.92472766e-01 -1.48647100e-03 4.09377687e+01] [ 8.92467827e-01 -4.51101276e-01 2.96928713e-03 3.23438058e+02] [-3.32055686e-03 1.28143968e-05 9.99994487e-01 7.19500915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.732755096 meters 0.01791372209849294 Centerline is valid? [True, True] Translation: X:40.93, Y:323.46, Z:7.20 [[-4.51316740e-01 -8.92362478e-01 -1.55167027e-03 4.09269461e+01] [ 8.92357104e-01 -4.51319407e-01 3.09709046e-03 3.23461731e+02] [-3.46402622e-03 1.31247835e-05 9.99994000e-01 7.19535464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.762755096 meters 0.01790817961500491 Centerline is valid? [True, True] Translation: X:40.92, Y:323.49, Z:7.20 [[-4.51072042e-01 -8.92486640e-01 -1.26921955e-03 4.09174931e+01] [ 8.92483056e-01 -4.51073827e-01 2.52931440e-03 3.23485011e+02] [-2.82989103e-03 8.14607287e-06 9.99995996e-01 7.19532105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7927550960001 meters 0.01784862789868189 Centerline is valid? [True, True] Translation: X:40.91, Y:323.51, Z:7.19 [[-4.51231372e-01 -8.92406329e-01 -1.09215908e-03 4.09062897e+01] [ 8.92403682e-01 -4.51232694e-01 2.17361061e-03 3.23509358e+02] [-2.43256175e-03 6.15451386e-06 9.99997041e-01 7.19441566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.822755096 meters 0.017772263303168667 Centerline is valid? [True, True] Translation: X:40.90, Y:323.53, Z:7.19 [[-4.51417002e-01 -8.92312656e-01 -9.02228370e-04 4.08956545e+01] [ 8.92310855e-01 -4.51417904e-01 1.79272561e-03 3.23533093e+02] [-2.00695379e-03 4.19865347e-06 9.99997986e-01 7.19415270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.852755096 meters 0.01768966877613935 Centerline is valid? [True, True] Translation: X:40.89, Y:323.56, Z:7.19 [[-4.51542147e-01 -8.92249788e-01 6.80021776e-05 4.08864318e+01] [ 8.92249777e-01 -4.51542152e-01 -1.42006340e-04 3.23556413e+02] [ 1.57410976e-04 -3.44691982e-06 9.99999988e-01 7.19288070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.882755096 meters 0.01763204594443581 Centerline is valid? [True, True] Translation: X:40.88, Y:323.58, Z:7.19 [[-4.51841886e-01 -8.92097980e-01 3.23774956e-04 4.08762838e+01] [ 8.92097742e-01 -4.51842002e-01 -6.50489828e-04 3.23580384e+02] [ 7.26595785e-04 -5.07964308e-06 9.99999736e-01 7.19265844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.912755096 meters 0.01763276360667687 Centerline is valid? [True, True] Translation: X:40.87, Y:323.61, Z:7.19 [[-4.52956639e-01 -8.91532128e-01 8.65063427e-04 4.08690300e+01] [ 8.91530459e-01 -4.52957465e-01 -1.72499762e-03 3.23605001e+02] [ 1.92972774e-03 -1.01187310e-05 9.99998138e-01 7.19215813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.942755096 meters 0.017653750859890415 Centerline is valid? [True, True] Translation: X:40.86, Y:323.63, Z:7.19 [[-4.53899227e-01 -8.91052317e-01 1.12283625e-03 4.08597315e+01] [ 8.91049509e-01 -4.53900616e-01 -2.23672139e-03 3.23629067e+02] [ 2.50269184e-03 -1.47434241e-05 9.99996868e-01 7.19191052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.972755096 meters 0.017679400024326386 Centerline is valid? [True, True] Translation: X:40.85, Y:323.65, Z:7.19 [[-4.55024838e-01 -8.90477863e-01 1.25425810e-03 4.08500321e+01] [ 8.90474367e-01 -4.55026567e-01 -2.49508397e-03 3.23654177e+02] [ 2.79253779e-03 -1.84404919e-05 9.99996101e-01 7.19187454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.002755096 meters 0.017806389707941794 Centerline is valid? [True, True] Translation: X:40.84, Y:323.68, Z:7.19 [[-4.56165018e-01 -8.89893723e-01 1.62450077e-03 4.08407018e+01] [ 8.89887873e-01 -4.56167910e-01 -3.22674857e-03 3.23678974e+02] [ 3.61250842e-03 -2.63062902e-05 9.99993475e-01 7.19172329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.032755096 meters 0.018146160474596905 Centerline is valid? [True, True] Translation: X:40.83, Y:323.70, Z:7.19 [[-4.57988255e-01 -8.88956908e-01 1.54091158e-03 4.08342438e+01] [ 8.88951648e-01 -4.57990846e-01 -3.05826341e-03 3.23704292e+02] [ 3.42438778e-03 -3.08528382e-05 9.99994136e-01 7.19214469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.062755096 meters 0.018577629440276872 Centerline is valid? [True, True] Translation: X:40.83, Y:323.73, Z:7.19 [[-4.59853154e-01 -8.87993924e-01 1.36639841e-03 4.08274800e+01] [ 8.87989790e-01 -4.59855183e-01 -2.70991281e-03 3.23729881e+02] [ 3.03473150e-03 -3.28141197e-05 9.99995395e-01 7.19315579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.092755096 meters 0.018801027664621904 Centerline is valid? [True, True] Translation: X:40.82, Y:323.75, Z:7.19 [[-4.60804632e-01 -8.87500806e-01 1.18752063e-03 4.08180123e+01] [ 8.87497686e-01 -4.60806161e-01 -2.35378787e-03 3.23753519e+02] [ 2.63620546e-03 -3.07145396e-05 9.99996525e-01 7.19408353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.122755096 meters 0.01849586453874875 Centerline is valid? [True, True] Translation: X:40.81, Y:323.78, Z:7.19 [[-4.61416907e-01 -8.87182831e-01 1.03030701e-03 4.08067703e+01] [ 8.87180484e-01 -4.61418057e-01 -2.04081491e-03 3.23777986e+02] [ 2.28597820e-03 -2.75982315e-05 9.99997387e-01 7.19432204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.152755096 meters 0.018324858592662613 Centerline is valid? [True, True] Translation: X:40.80, Y:323.80, Z:7.19 [[-4.61606531e-01 -8.87084201e-01 1.01582532e-03 4.07962374e+01] [ 8.87081923e-01 -4.61607648e-01 -2.01034785e-03 3.23801898e+02] [ 2.25226055e-03 -2.68694150e-05 9.99997463e-01 7.19454211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.182755096 meters 0.018153019124255466 Centerline is valid? [True, True] Translation: X:40.79, Y:323.83, Z:7.19 [[-4.60953980e-01 -8.87422785e-01 1.49312118e-03 4.07873322e+01] [ 8.87417884e-01 -4.60956397e-01 -2.94928546e-03 3.23825569e+02] [ 3.30552687e-03 -3.44624365e-05 9.99994536e-01 7.19420459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.212755096 meters 0.017667602794312943 Centerline is valid? [True, True] Translation: X:40.78, Y:323.85, Z:7.19 [[-4.59725545e-01 -8.88058441e-01 2.15156369e-03 4.07768155e+01] [ 8.88048307e-01 -4.59730578e-01 -4.24266608e-03 3.23849894e+02] [ 4.75687504e-03 -3.97694776e-05 9.99988685e-01 7.19348819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.242755096 meters 0.01766997399878352 Centerline is valid? [True, True] Translation: X:40.77, Y:323.87, Z:7.19 [[-4.59295230e-01 -8.88280517e-01 2.36948998e-03 4.07661921e+01] [ 8.88268257e-01 -4.59301341e-01 -4.66719759e-03 3.23872949e+02] [ 5.23409061e-03 -3.88788621e-05 9.99986301e-01 7.19333603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.272755096 meters 0.01757435763154617 Centerline is valid? [True, True] Translation: X:40.76, Y:323.90, Z:7.19 [[-4.58954778e-01 -8.88455915e-01 2.56907798e-03 4.07550303e+01] [ 8.88441539e-01 -4.58961967e-01 -5.05424369e-03 3.23895238e+02] [ 5.66958178e-03 -3.71936962e-05 9.99983927e-01 7.19339319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.302755096 meters 0.017382732617635406 Centerline is valid? [True, True] Translation: X:40.74, Y:323.92, Z:7.19 [[-4.57807463e-01 -8.89047367e-01 2.66583447e-03 4.07410611e+01] [ 8.89031921e-01 -4.57815223e-01 -5.24061266e-03 3.23918197e+02] [ 5.87961249e-03 -2.91796426e-05 9.99982715e-01 7.19359115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.332755096 meters 0.01718759249335389 Centerline is valid? [True, True] Translation: X:40.73, Y:323.94, Z:7.19 [[-4.54971096e-01 -8.90500913e-01 3.07007342e-03 4.07266105e+01] [ 8.90480507e-01 -4.54981454e-01 -6.02850806e-03 3.23940188e+02] [ 6.76521840e-03 -8.95638721e-06 9.99977116e-01 7.19304972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.362755096 meters 0.017196602780070624 Centerline is valid? [True, True] Translation: X:40.71, Y:323.96, Z:7.19 [[-4.53567689e-01 -8.91214336e-01 3.65502038e-03 4.07135164e+01] [ 8.91185500e-01 -4.53582415e-01 -7.16922879e-03 3.23962554e+02] [ 8.04717245e-03 5.57063068e-06 9.99967621e-01 7.19303997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.392755096 meters 0.01717803296845345 Centerline is valid? [True, True] Translation: X:40.70, Y:323.98, Z:7.19 [[-4.53769780e-01 -8.91111158e-01 3.72718588e-03 4.07017475e+01] [ 8.91081215e-01 -4.53785086e-01 -7.30509674e-03 3.23984572e+02] [ 8.20099458e-03 6.39318436e-06 9.99966371e-01 7.19305601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4227550960001 meters 0.01713804129366195 Centerline is valid? [True, True] Translation: X:40.69, Y:324.01, Z:7.19 [[-4.54465512e-01 -8.90756503e-01 3.73512083e-03 4.06903653e+01] [ 8.90726467e-01 -4.54480861e-01 -7.31488518e-03 3.24007295e+02] [ 8.21332247e-03 2.60793968e-06 9.99966270e-01 7.19294781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.452755096 meters 0.017168004079383674 Centerline is valid? [True, True] Translation: X:40.68, Y:324.03, Z:7.19 [[-4.56678589e-01 -8.89624121e-01 3.68637902e-03 4.06794203e+01] [ 8.89594884e-01 -4.56693467e-01 -7.21249438e-03 3.24031392e+02] [ 8.09995419e-03 -1.44078424e-05 9.99967195e-01 7.19358062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.482755096 meters 0.017220845115416872 Centerline is valid? [True, True] Translation: X:40.67, Y:324.06, Z:7.19 [[-4.58258076e-01 -8.88810911e-01 3.83402133e-03 4.06679195e+01] [ 8.88779317e-01 -4.58274114e-01 -7.49420526e-03 3.24055096e+02] [ 8.41796414e-03 -2.66812298e-05 9.99964568e-01 7.19369219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.512755096 meters 0.017352783826630035 Centerline is valid? [True, True] Translation: X:40.66, Y:324.08, Z:7.19 [[-4.59846258e-01 -8.87990636e-01 3.74841022e-03 4.06566043e+01] [ 8.87960463e-01 -4.59861533e-01 -7.32028067e-03 3.24079233e+02] [ 8.22409035e-03 -3.77635958e-05 9.99966181e-01 7.19400660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5427550960001 meters 0.017863625334503058 Centerline is valid? [True, True] Translation: X:40.65, Y:324.10, Z:7.19 [[-4.63076033e-01 -8.86310695e-01 3.73365241e-03 4.06471298e+01] [ 8.86280759e-01 -4.63091080e-01 -7.28480740e-03 3.24102572e+02] [ 8.18562383e-03 -6.43554167e-05 9.99966495e-01 7.19480778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.572755096 meters 0.01817182994409499 Centerline is valid? [True, True] Translation: X:40.64, Y:324.13, Z:7.20 [[-4.64341000e-01 -8.85649325e-01 3.56492114e-03 4.06358649e+01] [ 8.85622064e-01 -4.64354679e-01 -6.94925185e-03 3.24125440e+02] [ 7.80998802e-03 -6.96497331e-05 9.99969499e-01 7.19548440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.602755096 meters 0.018889193020402727 Centerline is valid? [True, True] Translation: X:40.62, Y:324.15, Z:7.20 [[-4.66468365e-01 -8.84531221e-01 3.43268395e-03 4.06245396e+01] [ 8.84505962e-01 -4.66480988e-01 -6.68517075e-03 3.24148342e+02] [ 7.51452405e-03 -8.21912481e-05 9.99971762e-01 7.19601613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.632755096 meters 0.019120201886660103 Centerline is valid? [True, True] Translation: X:40.61, Y:324.17, Z:7.20 [[-4.67398482e-01 -8.84039435e-01 3.59680864e-03 4.06127353e+01] [ 8.84011741e-01 -4.67412312e-01 -6.99800823e-03 3.24170675e+02] [ 7.86770789e-03 -9.12373515e-05 9.99969045e-01 7.19555548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.662755096 meters 0.018543472568347603 Centerline is valid? [True, True] Translation: X:40.60, Y:324.19, Z:7.20 [[-4.68199434e-01 -8.83614743e-01 3.77831074e-03 4.05979786e+01] [ 8.83584231e-01 -4.68214668e-01 -7.34375061e-03 3.24193193e+02] [ 8.25810682e-03 -9.98840876e-05 9.99965896e-01 7.19539544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.692755096 meters 0.01870457454180169 Centerline is valid? [True, True] Translation: X:40.59, Y:324.22, Z:7.19 [[-4.68661288e-01 -8.83368373e-01 4.11269721e-03 4.05856426e+01] [ 8.83332287e-01 -4.68679320e-01 -7.98529448e-03 3.24215169e+02] [ 8.98149273e-03 -1.09520166e-04 9.99959660e-01 7.19384296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.722755096 meters 0.018724400445988863 Centerline is valid? [True, True] Translation: X:40.57, Y:324.24, Z:7.19 [[-4.68913260e-01 -8.83232781e-01 4.49538359e-03 4.05732248e+01] [ 8.83189752e-01 -4.68934793e-01 -8.71903130e-03 3.24238617e+02] [ 9.80897604e-03 -1.18192671e-04 9.99951884e-01 7.19328906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.752755096 meters 0.018751458400782874 Centerline is valid? [True, True] Translation: X:40.56, Y:324.26, Z:7.19 [[-4.69390535e-01 -8.82977379e-01 4.84495522e-03 4.05609083e+01] [ 8.82927484e-01 -4.69415521e-01 -9.38762568e-03 3.24262260e+02] [ 1.05633583e-02 -1.28718520e-04 9.99944198e-01 7.19299530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.782755096 meters 0.018887469698498513 Centerline is valid? [True, True] Translation: X:40.55, Y:324.29, Z:7.19 [[-4.69918556e-01 -8.82696138e-01 4.90704314e-03 4.05491029e+01] [ 8.82645039e-01 -4.69944157e-01 -9.49872078e-03 3.24285177e+02] [ 1.06905204e-02 -1.32447865e-04 9.99942846e-01 7.19312084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.812755096 meters 0.01901472331394108 Centerline is valid? [True, True] Translation: X:40.54, Y:324.31, Z:7.19 [[-4.70319936e-01 -8.82483442e-01 4.70454682e-03 4.05361741e+01] [ 8.82436550e-01 -4.70343448e-01 -9.09817816e-03 3.24308762e+02] [ 1.02417443e-02 -1.27590515e-04 9.99947544e-01 7.19348402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.842755096 meters 0.01895375816401652 Centerline is valid? [True, True] Translation: X:40.52, Y:324.33, Z:7.19 [[-4.70450797e-01 -8.82414323e-01 4.58367602e-03 4.05236200e+01] [ 8.82369882e-01 -4.70473110e-01 -8.85682244e-03 3.24330738e+02] [ 9.97188329e-03 -1.22201506e-04 9.99950272e-01 7.19407853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.872755096 meters 0.019112169410220755 Centerline is valid? [True, True] Translation: X:40.51, Y:324.35, Z:7.19 [[-4.70791423e-01 -8.82233793e-01 4.35563265e-03 4.05118289e+01] [ 8.82193713e-01 -4.70811556e-01 -8.41021779e-03 3.24353035e+02] [ 9.47046052e-03 -1.16946655e-04 9.99955147e-01 7.19453531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.902755096 meters 0.019061935416002422 Centerline is valid? [True, True] Translation: X:40.50, Y:324.38, Z:7.19 [[-4.71122899e-01 -8.82056785e-01 4.36365287e-03 4.04995616e+01] [ 8.82016612e-01 -4.71143093e-01 -8.41916242e-03 3.24375888e+02] [ 9.48208425e-03 -1.17645891e-04 9.99955037e-01 7.19499267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.932755096 meters 0.019372570777369393 Centerline is valid? [True, True] Translation: X:40.49, Y:324.40, Z:7.19 [[-4.72125048e-01 -8.81520454e-01 4.43039548e-03 4.04888242e+01] [ 8.81479090e-01 -4.72145818e-01 -8.54051318e-03 3.24398872e+02] [ 9.62042975e-03 -1.26889223e-04 9.99953715e-01 7.19478360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.962755096 meters 0.019674394711974134 Centerline is valid? [True, True] Translation: X:40.48, Y:324.42, Z:7.19 [[-4.72983587e-01 -8.81059581e-01 4.53215275e-03 4.04779425e+01] [ 8.81016344e-01 -4.73005281e-01 -8.72963644e-03 3.24421609e+02] [ 9.83506201e-03 -1.36074111e-04 9.99951625e-01 7.19455924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.992755096 meters 0.02028834675117502 Centerline is valid? [True, True] Translation: X:40.47, Y:324.45, Z:7.19 [[-4.74202998e-01 -8.80401499e-01 4.97153877e-03 4.04675185e+01] [ 8.80349541e-01 -4.74229032e-01 -9.56618355e-03 3.24445052e+02] [ 1.07797304e-02 -1.59621048e-04 9.99941884e-01 7.19361239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.022755096 meters 0.02040713313416642 Centerline is valid? [True, True] Translation: X:40.46, Y:324.47, Z:7.19 [[-4.74870169e-01 -8.80040602e-01 5.18282975e-03 4.04560224e+01] [ 8.79984219e-01 -4.74898421e-01 -9.96312745e-03 3.24467675e+02] [ 1.12292743e-02 -1.70383629e-04 9.99936935e-01 7.19336489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.052755096 meters 0.02048720035999453 Centerline is valid? [True, True] Translation: X:40.44, Y:324.49, Z:7.19 [[-4.75333311e-01 -8.79790215e-01 5.23654608e-03 4.04441406e+01] [ 8.79732753e-01 -4.75362123e-01 -1.00566294e-02 3.24490462e+02] [ 1.13369798e-02 -1.73489869e-04 9.99935719e-01 7.19330083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.082755096 meters 0.020625880823599337 Centerline is valid? [True, True] Translation: X:40.43, Y:324.51, Z:7.19 [[-4.75563683e-01 -8.79667483e-01 4.92970906e-03 4.04315298e+01] [ 8.79616646e-01 -4.75589206e-01 -9.45850342e-03 3.24512100e+02] [ 1.06648543e-02 -1.61866575e-04 9.99943116e-01 7.19338424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.112755096 meters 0.019407478719297468 Centerline is valid? [True, True] Translation: X:40.42, Y:324.53, Z:7.19 [[-4.75554031e-01 -8.79671437e-01 5.15044107e-03 4.04161621e+01] [ 8.79616056e-01 -4.75581892e-01 -9.87208231e-03 3.24533550e+02] [ 1.11336453e-02 -1.64297873e-04 9.99938006e-01 7.19406919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.142755096 meters 0.019406757841684538 Centerline is valid? [True, True] Translation: X:40.40, Y:324.56, Z:7.19 [[-4.75346624e-01 -8.79784400e-01 4.99969750e-03 4.04037909e+01] [ 8.79732308e-01 -4.75372892e-01 -9.57491758e-03 3.24555454e+02] [ 1.08005838e-02 -1.53009328e-04 9.99941660e-01 7.19413902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1727550960001 meters 0.01890879358229951 Centerline is valid? [True, True] Translation: X:40.39, Y:324.58, Z:7.19 [[-4.74840243e-01 -8.80059468e-01 4.69864995e-03 4.03892836e+01] [ 8.80013544e-01 -4.74863470e-01 -8.99154148e-03 3.24578239e+02] [ 1.01443084e-02 -1.34670151e-04 9.99948536e-01 7.19498207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.202755096 meters 0.018887499436029315 Centerline is valid? [True, True] Translation: X:40.38, Y:324.60, Z:7.20 [[-4.74804100e-01 -8.80080585e-01 4.38514321e-03 4.03769971e+01] [ 8.80040655e-01 -4.74824334e-01 -8.38435059e-03 3.24600884e+02] [ 9.46107688e-03 -1.21819738e-04 9.99955236e-01 7.19579029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.232755096 meters 0.018559585511867756 Centerline is valid? [True, True] Translation: X:40.36, Y:324.62, Z:7.20 [[-4.74477783e-01 -8.80258312e-01 4.01725971e-03 4.03639949e+01] [ 8.80224866e-01 -4.74494777e-01 -7.67407749e-03 3.24623654e+02] [ 8.66133925e-03 -1.05087381e-04 9.99962484e-01 7.19740037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.262755096 meters 0.018366453026041965 Centerline is valid? [True, True] Translation: X:40.35, Y:324.65, Z:7.20 [[-4.74339448e-01 -8.80332805e-01 4.02993295e-03 4.03519574e+01] [ 8.80299213e-01 -4.74356556e-01 -7.69110931e-03 3.24645710e+02] [ 8.68236095e-03 -1.00649738e-04 9.99962303e-01 7.19792404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2927550960001 meters 0.018152783197995515 Centerline is valid? [True, True] Translation: X:40.34, Y:324.67, Z:7.20 [[-4.73984092e-01 -8.80524133e-01 4.04124276e-03 4.03387327e+01] [ 8.80490423e-01 -4.74001311e-01 -7.70532338e-03 3.24668668e+02] [ 8.70027755e-03 -9.39251533e-05 9.99962147e-01 7.19839890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.322755096 meters 0.017722375385350937 Centerline is valid? [True, True] Translation: X:40.33, Y:324.69, Z:7.20 [[-4.72629825e-01 -8.81251289e-01 4.14895480e-03 4.03252719e+01] [ 8.81215850e-01 -4.72648029e-01 -7.90355967e-03 3.24689999e+02] [ 8.92601746e-03 -7.93332968e-05 9.99960159e-01 7.19826695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.352755096 meters 0.017410912601334125 Centerline is valid? [True, True] Translation: X:40.31, Y:324.71, Z:7.20 [[-4.71973939e-01 -8.81603340e-01 4.01891668e-03 4.03121696e+01] [ 8.81570150e-01 -4.71991045e-01 -7.65007802e-03 3.24711481e+02] [ 8.64122701e-03 -6.76804768e-05 9.99962662e-01 7.19842169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.382755096 meters 0.01726296055517068 Centerline is valid? [True, True] Translation: X:40.30, Y:324.73, Z:7.20 [[-4.71447847e-01 -8.81884680e-01 4.04215715e-03 4.02994687e+01] [ 8.81851179e-01 -4.71465171e-01 -7.68701214e-03 3.24733249e+02] [ 8.68479455e-03 -5.94442760e-05 9.99962285e-01 7.19863474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.412755096 meters 0.016850517348867503 Centerline is valid? [True, True] Translation: X:40.29, Y:324.76, Z:7.20 [[-4.70459696e-01 -8.82412558e-01 3.96897490e-03 4.02860006e+01] [ 8.82380336e-01 -4.70476435e-01 -7.54093275e-03 3.24756398e+02] [ 8.52152292e-03 -4.55595173e-05 9.99963690e-01 7.19863566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.442755096 meters 0.01678137299696081 Centerline is valid? [True, True] Translation: X:40.27, Y:324.78, Z:7.20 [[-4.70391088e-01 -8.82449345e-01 3.92152776e-03 4.02734420e+01] [ 8.82417946e-01 -4.70407433e-01 -7.44417515e-03 3.24779228e+02] [ 8.41382329e-03 -4.12471741e-05 9.99964602e-01 7.19881942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.472755096 meters 0.01677295126713937 Centerline is valid? [True, True] Translation: X:40.26, Y:324.80, Z:7.20 [[-4.70368246e-01 -8.82458873e-01 4.47776093e-03 4.02613227e+01] [ 8.82418019e-01 -4.70389557e-01 -8.49144303e-03 3.24802048e+02] [ 9.59964123e-03 -4.28482326e-05 9.99953922e-01 7.19782906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.502755096 meters 0.01693475265140809 Centerline is valid? [True, True] Translation: X:40.25, Y:324.82, Z:7.20 [[-4.71188225e-01 -8.82019357e-01 4.84876500e-03 4.02498245e+01] [ 8.81971525e-01 -4.71213170e-01 -9.18571561e-03 3.24824954e+02] [ 1.03867809e-02 -5.17283688e-05 9.99946055e-01 7.19737814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.532755096 meters 0.01693475265140809 Centerline is valid? [True, True] Translation: X:40.24, Y:324.85, Z:7.20 [[-4.71545015e-01 -8.81828641e-01 4.85247715e-03 4.02378195e+01] [ 8.81780820e-01 -4.71569979e-01 -9.18375450e-03 3.24846999e+02] [ 1.03867803e-02 -5.17323733e-05 9.99946055e-01 7.19755451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.562755096 meters 0.016881520603927547 Centerline is valid? [True, True] Translation: X:40.23, Y:324.87, Z:7.20 [[-4.72270613e-01 -8.81439908e-01 4.91496912e-03 4.02264816e+01] [ 8.81390922e-01 -4.72296185e-01 -9.29284672e-03 3.24869648e+02] [ 1.05124071e-02 -5.67292531e-05 9.99944742e-01 7.19751229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.592755096 meters 0.017168618701384444 Centerline is valid? [True, True] Translation: X:40.22, Y:324.89, Z:7.20 [[-4.74047941e-01 -8.80485915e-01 4.80658009e-03 4.02161405e+01] [ 8.80439108e-01 -4.74072303e-01 -9.07905853e-03 3.24892055e+02] [ 1.02726496e-02 -7.20079162e-05 9.99947232e-01 7.19748063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.622755096 meters 0.017026635351893162 Centerline is valid? [True, True] Translation: X:40.20, Y:324.92, Z:7.20 [[-4.75041354e-01 -8.79950756e-01 4.73061269e-03 4.02033602e+01] [ 8.79905479e-01 -4.75064901e-01 -8.92680842e-03 3.24915209e+02] [ 1.01024999e-02 -7.81111333e-05 9.99948965e-01 7.19837690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.652755096 meters 0.017435313047835934 Centerline is valid? [True, True] Translation: X:40.19, Y:324.94, Z:7.20 [[-4.76937895e-01 -8.78925784e-01 4.43969833e-03 4.01935268e+01] [ 8.78885931e-01 -4.76958550e-01 -8.37024278e-03 3.24938699e+02] [ 9.47437427e-03 -9.00975737e-05 9.99955113e-01 7.19923718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.682755096 meters 0.01752695631389572 Centerline is valid? [True, True] Translation: X:40.18, Y:324.96, Z:7.20 [[-4.77754336e-01 -8.78482316e-01 4.42899440e-03 4.01812279e+01] [ 8.78442712e-01 -4.77774855e-01 -8.34199096e-03 3.24961841e+02] [ 9.44435370e-03 -9.48045039e-05 9.99955397e-01 7.19967959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.712755096 meters 0.01792899766256436 Centerline is valid? [True, True] Translation: X:40.17, Y:324.99, Z:7.20 [[-4.78682259e-01 -8.77977273e-01 4.38218572e-03 4.01699365e+01] [ 8.77938549e-01 -4.78702307e-01 -8.24652375e-03 3.24985023e+02] [ 9.33802285e-03 -1.00174848e-04 9.99956395e-01 7.19993729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.742755096 meters 0.017793780770871525 Centerline is valid? [True, True] Translation: X:40.16, Y:325.01, Z:7.20 [[-4.79526859e-01 -8.77516652e-01 4.30317846e-03 4.01568464e+01] [ 8.77479352e-01 -4.79546155e-01 -8.09152870e-03 3.25007955e+02] [ 9.16402386e-03 -1.04155094e-04 9.99958004e-01 7.20040724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.772755096 meters 0.018447232670933702 Centerline is valid? [True, True] Translation: X:40.15, Y:325.03, Z:7.20 [[-4.80865519e-01 -8.76784090e-01 4.24409365e-03 4.01456417e+01] [ 8.76747846e-01 -4.80884235e-01 -7.97294064e-03 3.25031169e+02] [ 9.03146523e-03 -1.12912273e-04 9.99959209e-01 7.20039367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.802755096 meters 0.018760700496147246 Centerline is valid? [True, True] Translation: X:40.13, Y:325.05, Z:7.20 [[-4.81752257e-01 -8.76297104e-01 4.26013611e-03 4.01329052e+01] [ 8.76260636e-01 -4.81771078e-01 -7.99538658e-03 3.25054371e+02] [ 9.05874447e-03 -1.18805951e-04 9.99958962e-01 7.20037923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.832755096 meters 0.019066651585123225 Centerline is valid? [True, True] Translation: X:40.12, Y:325.08, Z:7.20 [[-4.83028672e-01 -8.75593004e-01 4.49372019e-03 4.01197515e+01] [ 8.75552471e-01 -4.83049555e-01 -8.42597478e-03 3.25077018e+02] [ 9.54841411e-03 -1.35499590e-04 9.99954404e-01 7.19952297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.862755096 meters 0.01943281547670308 Centerline is valid? [True, True] Translation: X:40.11, Y:325.10, Z:7.20 [[-4.83714691e-01 -8.75213599e-01 4.61025207e-03 4.01077384e+01] [ 8.75170997e-01 -4.83736640e-01 -8.63650843e-03 3.25099880e+02] [ 9.78893747e-03 -1.42847103e-04 9.99952077e-01 7.19915605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.892755096 meters 0.018886854635853472 Centerline is valid? [True, True] Translation: X:40.09, Y:325.12, Z:7.20 [[-4.84408355e-01 -8.74826632e-01 5.18754810e-03 4.00932497e+01] [ 8.74772778e-01 -4.84436103e-01 -9.70819057e-03 3.25122368e+02] [ 1.10060192e-02 -1.64802755e-04 9.99939418e-01 7.19898992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9227550960001 meters 0.019315737663373963 Centerline is valid? [True, True] Translation: X:40.08, Y:325.14, Z:7.20 [[-4.85267710e-01 -8.74347549e-01 5.62247475e-03 4.00800340e+01] [ 8.74284379e-01 -4.85300246e-01 -1.05116780e-02 3.25144642e+02] [ 1.19194483e-02 -1.85336086e-04 9.99928944e-01 7.19801963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.952755096 meters 0.019124354983612157 Centerline is valid? [True, True] Translation: X:40.07, Y:325.17, Z:7.20 [[-4.85909696e-01 -8.73989049e-01 5.90838771e-03 4.00660968e+01] [ 8.73919401e-01 -4.85945575e-01 -1.10353340e-02 3.25166657e+02] [ 1.25159160e-02 -1.98721159e-04 9.99921653e-01 7.19768990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.982755096 meters 0.019555111603890358 Centerline is valid? [True, True] Translation: X:40.05, Y:325.19, Z:7.20 [[-4.86734742e-01 -8.73527196e-01 6.28725032e-03 4.00526828e+01] [ 8.73448428e-01 -4.86775298e-01 -1.17325919e-02 3.25188187e+02] [ 1.33092162e-02 -2.19071174e-04 9.99911404e-01 7.19681863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.012755096 meters 0.019585792121325798 Centerline is valid? [True, True] Translation: X:40.04, Y:325.21, Z:7.20 [[-4.87171821e-01 -8.73283922e-01 6.22961855e-03 4.00390436e+01] [ 8.73206698e-01 -4.87211600e-01 -1.16154667e-02 3.25210777e+02] [ 1.31787427e-02 -2.18983399e-04 9.99913133e-01 7.19723421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0427550960001 meters 0.020637922606955048 Centerline is valid? [True, True] Translation: X:40.03, Y:325.23, Z:7.20 [[-4.87435720e-01 -8.73135245e-01 6.42365584e-03 4.00275138e+01] [ 8.73053259e-01 -4.87477993e-01 -1.19671454e-02 3.25233981e+02] [ 1.35803273e-02 -2.25020463e-04 9.99907758e-01 7.19696765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.072755096 meters 0.019239192409390836 Centerline is valid? [True, True] Translation: X:40.01, Y:325.25, Z:7.20 [[-4.87402910e-01 -8.73154980e-01 6.22766435e-03 4.00106264e+01] [ 8.73078048e-01 -4.87442648e-01 -1.15925832e-02 3.25254709e+02] [ 1.31577509e-02 -2.13021730e-04 9.99913410e-01 7.19878676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.102755096 meters 0.018819126358177733 Centerline is valid? [True, True] Translation: X:40.00, Y:325.28, Z:7.20 [[-4.87188863e-01 -8.73275733e-01 6.04199616e-03 3.99959973e+01] [ 8.73203462e-01 -4.87226287e-01 -1.12365186e-02 3.25276933e+02] [ 1.27563984e-02 -1.98414765e-04 9.99918614e-01 7.19954542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.132755096 meters 0.01877907097761154 Centerline is valid? [True, True] Translation: X:39.98, Y:325.30, Z:7.20 [[-4.87266297e-01 -8.73234075e-01 5.81424742e-03 3.99816467e+01] [ 8.73167271e-01 -4.87300949e-01 -1.08028555e-02 3.25299743e+02] [ 1.22667098e-02 -1.87056848e-04 9.99924744e-01 7.20010728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.162755096 meters 0.01848843366360988 Centerline is valid? [True, True] Translation: X:39.97, Y:325.32, Z:7.20 [[-4.86561798e-01 -8.73629068e-01 5.46527886e-03 3.99656469e+01] [ 8.73570174e-01 -4.86592464e-01 -1.01451756e-02 3.25321334e+02] [ 1.15224838e-02 -1.61950256e-04 9.99933601e-01 7.20101120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.192755096 meters 0.018402974445056817 Centerline is valid? [True, True] Translation: X:39.95, Y:325.34, Z:7.20 [[-4.86402798e-01 -8.73717898e-01 5.41787496e-03 3.99522618e+01] [ 8.73660137e-01 -4.86432946e-01 -1.00475721e-02 3.25342671e+02] [ 1.14141765e-02 -1.53785819e-04 9.99934844e-01 7.20164272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.222755096 meters 0.01788362814275849 Centerline is valid? [True, True] Translation: X:39.94, Y:325.36, Z:7.20 [[-4.85913603e-01 -8.73991093e-01 5.24790241e-03 3.99363762e+01] [ 8.73937015e-01 -4.85941921e-01 -9.72336434e-03 3.25364993e+02] [ 1.10483096e-02 -1.38378837e-04 9.99938956e-01 7.20242081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.252755096 meters 0.018753252627647748 Centerline is valid? [True, True] Translation: X:39.93, Y:325.39, Z:7.20 [[-4.85854428e-01 -8.74023548e-01 5.32087836e-03 3.99252876e+01] [ 8.73968047e-01 -4.85883545e-01 -9.85061104e-03 3.25388925e+02] [ 1.11949932e-02 -1.35685332e-04 9.99937325e-01 7.20166975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.282755096 meters 0.018008175322867748 Centerline is valid? [True, True] Translation: X:39.91, Y:325.41, Z:7.20 [[-4.86097471e-01 -8.73887861e-01 5.40885474e-03 3.99100728e+01] [ 8.73830590e-01 -4.86127543e-01 -1.00056086e-02 3.25410916e+02] [ 1.13731731e-02 -1.37278280e-04 9.99935314e-01 7.20254072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.312755096 meters 0.018348045146823335 Centerline is valid? [True, True] Translation: X:39.90, Y:325.43, Z:7.20 [[-4.86386110e-01 -8.73725508e-01 5.68229785e-03 3.98971104e+01] [ 8.73662414e-01 -4.86419280e-01 -1.05009796e-02 3.25432268e+02] [ 1.19389530e-02 -1.43120572e-04 9.99928718e-01 7.20126176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.342755096 meters 0.018333742099142635 Centerline is valid? [True, True] Translation: X:39.88, Y:325.46, Z:7.20 [[-4.86836927e-01 -8.73472539e-01 5.96074000e-03 3.98834664e+01] [ 8.73403228e-01 -4.86873393e-01 -1.10046096e-02 3.25455416e+02] [ 1.25143500e-02 -1.51320744e-04 9.99921681e-01 7.20093439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.372755096 meters 0.018477860521498978 Centerline is valid? [True, True] Translation: X:39.87, Y:325.48, Z:7.20 [[-4.87465323e-01 -8.73120969e-01 6.11000157e-03 3.98704246e+01] [ 8.73048252e-01 -4.87503587e-01 -1.12695027e-02 3.25478248e+02] [ 1.28182868e-02 -1.59165590e-04 9.99917830e-01 7.20076243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.402755096 meters 0.018350377732275693 Centerline is valid? [True, True] Translation: X:39.86, Y:325.50, Z:7.20 [[-4.87975761e-01 -8.72834459e-01 6.29792237e-03 3.98570997e+01] [ 8.72757323e-01 -4.88016373e-01 -1.16049900e-02 3.25500901e+02] [ 1.32027244e-02 -1.66395969e-04 9.99912826e-01 7.20078599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.432755096 meters 0.018779955303138845 Centerline is valid? [True, True] Translation: X:39.84, Y:325.52, Z:7.20 [[-4.88585730e-01 -8.72489806e-01 6.74715470e-03 3.98449717e+01] [ 8.72401416e-01 -4.88632281e-01 -1.24202474e-02 3.25523387e+02] [ 1.41334168e-02 -1.82128323e-04 9.99900102e-01 7.20018583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.462755096 meters 0.01920334705454073 Centerline is valid? [True, True] Translation: X:39.83, Y:325.55, Z:7.20 [[-4.89340882e-01 -8.72062620e-01 7.23107471e-03 3.98332231e+01] [ 8.71961229e-01 -4.89394265e-01 -1.32992166e-02 3.25546441e+02] [ 1.51365961e-02 -2.02633575e-04 9.99885415e-01 7.19915223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.492755096 meters 0.018925821186856488 Centerline is valid? [True, True] Translation: X:39.82, Y:325.57, Z:7.20 [[-4.90101314e-01 -8.71632179e-01 7.61891104e-03 3.98198251e+01] [ 8.71519761e-01 -4.90160480e-01 -1.40003408e-02 3.25569608e+02] [ 1.59376366e-02 -2.21553889e-04 9.99872963e-01 7.19954316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.522755096 meters 0.019644785307882103 Centerline is valid? [True, True] Translation: X:39.81, Y:325.59, Z:7.20 [[-4.91116100e-01 -8.71059576e-01 7.75831434e-03 3.98089216e+01] [ 8.70943130e-01 -4.91177318e-01 -1.42445361e-02 3.25592962e+02] [ 1.62185476e-02 -2.38670449e-04 9.99868442e-01 7.19853559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.552755096 meters 0.019862377045336048 Centerline is valid? [True, True] Translation: X:39.80, Y:325.62, Z:7.20 [[-4.93202004e-01 -8.69876155e-01 8.20110705e-03 3.97958931e+01] [ 8.69746085e-01 -4.93270101e-01 -1.50451383e-02 3.25617322e+02] [ 1.71327679e-02 -2.87411595e-04 9.99853182e-01 7.19885206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.582755096 meters 0.020221823551692206 Centerline is valid? [True, True] Translation: X:39.78, Y:325.64, Z:7.20 [[-4.94378313e-01 -8.69205925e-01 8.43468745e-03 3.97837837e+01] [ 8.69068475e-01 -4.94450161e-01 -1.54604216e-02 3.25641963e+02] [ 1.76088226e-02 -3.12976201e-04 9.99844904e-01 7.19894433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.612755096 meters 0.02117823544103238 Centerline is valid? [True, True] Translation: X:39.77, Y:325.67, Z:7.20 [[-4.96841866e-01 -8.67799010e-01 8.54630938e-03 3.97733761e+01] [ 8.67657924e-01 -4.96915233e-01 -1.56517821e-02 3.25667236e+02] [ 1.78293923e-02 -3.61187575e-04 9.99840979e-01 7.19912314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.642755096 meters 0.02334440928291064 Centerline is valid? [True, True] Translation: X:39.77, Y:325.69, Z:7.20 [[-4.97956976e-01 -8.67161380e-01 8.36606589e-03 3.97650348e+01] [ 8.67026300e-01 -4.98027112e-01 -1.53098572e-02 3.25691231e+02] [ 1.74426445e-02 -3.70051049e-04 9.99847797e-01 7.19809167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6727550960001 meters 0.02222859662894336 Centerline is valid? [True, True] Translation: X:39.75, Y:325.71, Z:7.20 [[-4.98936201e-01 -8.66596807e-01 8.52295790e-03 3.97508876e+01] [ 8.66456766e-01 -4.99008839e-01 -1.55837108e-02 3.25713585e+02] [ 1.77578253e-02 -3.90502905e-04 9.99842241e-01 7.19969082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.702755096 meters 0.02318018553443549 Centerline is valid? [True, True] Translation: X:39.74, Y:325.74, Z:7.20 [[-4.99095268e-01 -8.66507348e-01 8.30240359e-03 3.97403089e+01] [ 8.66374692e-01 -4.99164176e-01 -1.51663715e-02 3.25737299e+02] [ 1.72860347e-02 -3.76471879e-04 9.99850515e-01 7.19938764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.732755096 meters 0.02176804544181414 Centerline is valid? [True, True] Translation: X:39.73, Y:325.76, Z:7.20 [[-4.98763978e-01 -8.66698007e-01 8.31015484e-03 3.97256116e+01] [ 8.66565374e-01 -4.98833071e-01 -1.51664360e-02 3.25758892e+02] [ 1.72901000e-02 -3.63179538e-04 9.99850449e-01 7.20014345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.762755096 meters 0.021719561930939667 Centerline is valid? [True, True] Translation: X:39.71, Y:325.78, Z:7.20 [[-4.96277045e-01 -8.68119438e-01 8.81680538e-03 3.97129224e+01] [ 8.67970585e-01 -4.96355250e-01 -1.60788417e-02 3.25781553e+02] [ 1.83346227e-02 -3.26832318e-04 9.99831853e-01 7.19848405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7927550960001 meters 0.01952264211878369 Centerline is valid? [True, True] Translation: X:39.70, Y:325.80, Z:7.20 [[-4.94527296e-01 -8.69118267e-01 8.72874592e-03 3.96952416e+01] [ 8.68972746e-01 -4.94604245e-01 -1.59062152e-02 3.25803003e+02] [ 1.81416570e-02 -2.81015307e-04 9.99835387e-01 7.20036922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.822755096 meters 0.018779707634897023 Centerline is valid? [True, True] Translation: X:39.68, Y:325.83, Z:7.20 [[-4.92868085e-01 -8.70060539e-01 8.70109730e-03 3.96802573e+01] [ 8.69916325e-01 -4.92944825e-01 -1.58425381e-02 3.25825587e+02] [ 1.80731282e-02 -2.39054828e-04 9.99836639e-01 7.20059038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.852755096 meters 0.01794202550430633 Centerline is valid? [True, True] Translation: X:39.67, Y:325.85, Z:7.20 [[-4.89317723e-01 -8.72058046e-01 9.10660739e-03 3.96653944e+01] [ 8.71900695e-01 -4.89402428e-01 -1.65662959e-02 3.25847052e+02] [ 1.89035674e-02 -1.66124890e-04 9.99821298e-01 7.19981260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.882755096 meters 0.017708551444364194 Centerline is valid? [True, True] Translation: X:39.65, Y:325.87, Z:7.20 [[-4.88098527e-01 -8.72742624e-01 8.95212114e-03 3.96518536e+01] [ 8.72590959e-01 -4.88180597e-01 -1.62702903e-02 3.25868670e+02] [ 1.85700277e-02 -1.29964767e-04 9.99827554e-01 7.19944141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.912755096 meters 0.017058165979973786 Centerline is valid? [True, True] Translation: X:39.64, Y:325.89, Z:7.20 [[-4.85433258e-01 -8.74231735e-01 8.56890905e-03 3.96365563e+01] [ 8.74093260e-01 -4.85508878e-01 -1.55596675e-02 3.25890555e+02] [ 1.77630365e-02 -6.31544550e-05 9.99842223e-01 7.20037124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.942755096 meters 0.016819732367082726 Centerline is valid? [True, True] Translation: X:39.62, Y:325.91, Z:7.20 [[-4.84803909e-01 -8.74584885e-01 8.15159327e-03 3.96227132e+01] [ 8.74459845e-01 -4.84872434e-01 -1.47885910e-02 3.25913416e+02] [ 1.68863610e-02 -4.13257322e-05 9.99857414e-01 7.20147809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.972755096 meters 0.01680056174493763 Centerline is valid? [True, True] Translation: X:39.61, Y:325.94, Z:7.20 [[-4.84569648e-01 -8.74715352e-01 8.08140253e-03 3.96099896e+01] [ 8.74592673e-01 -4.84637031e-01 -1.46493614e-02 3.25935544e+02] [ 1.67305682e-02 -3.07004347e-05 9.99860034e-01 7.20186541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.002755096 meters 0.01661203699237848 Centerline is valid? [True, True] Translation: X:39.60, Y:325.96, Z:7.20 [[-4.84943520e-01 -8.74512466e-01 7.59793954e-03 3.95973446e+01] [ 8.74404181e-01 -4.85003036e-01 -1.37616668e-02 3.25959167e+02] [ 1.57197729e-02 -2.99610229e-05 9.99876436e-01 7.20321172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.032755096 meters 0.016622820921379802 Centerline is valid? [True, True] Translation: X:39.59, Y:325.98, Z:7.20 [[-4.85728856e-01 -8.74076997e-01 7.54194331e-03 3.95851491e+01] [ 8.73970446e-01 -4.85787404e-01 -1.36476449e-02 3.25983092e+02] [ 1.55928736e-02 -3.76194104e-05 9.99878423e-01 7.20385831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.062755096 meters 0.016637503832404737 Centerline is valid? [True, True] Translation: X:39.58, Y:326.01, Z:7.21 [[-4.87716324e-01 -8.72974833e-01 6.90861170e-03 3.95761276e+01] [ 8.72885476e-01 -4.87765249e-01 -1.24902993e-02 3.26007099e+02] [ 1.42734977e-02 -6.12960535e-05 9.99898127e-01 7.20533059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.092755096 meters 0.016748196950025728 Centerline is valid? [True, True] Translation: X:39.56, Y:326.03, Z:7.21 [[-4.88706013e-01 -8.72424579e-01 6.46436690e-03 3.95645462e+01] [ 8.72346438e-01 -4.88748760e-01 -1.16765379e-02 3.26031418e+02] [ 1.33463499e-02 -6.72268238e-05 9.99910931e-01 7.20687703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.122755096 meters 0.016975321980352277 Centerline is valid? [True, True] Translation: X:39.55, Y:326.06, Z:7.21 [[-4.90719749e-01 -8.71299458e-01 5.60196917e-03 3.95545535e+01] [ 8.71240802e-01 -4.90751717e-01 -1.01102801e-02 3.26055594e+02] [ 1.15582575e-02 -8.06499866e-05 9.99933198e-01 7.20917929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.152755096 meters 0.017015432059010887 Centerline is valid? [True, True] Translation: X:39.54, Y:326.08, Z:7.21 [[-4.91937732e-01 -8.70614706e-01 5.22509217e-03 3.95418189e+01] [ 8.70563725e-01 -4.91965473e-01 -9.42203346e-03 3.26080097e+02] [ 1.07735258e-02 -8.62780678e-05 9.99941960e-01 7.21065019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.182755096 meters 0.01734265797901845 Centerline is valid? [True, True] Translation: X:39.53, Y:326.10, Z:7.21 [[-4.92996944e-01 -8.70017496e-01 4.85484973e-03 3.95309885e+01] [ 8.69973528e-01 -4.93020840e-01 -8.74715178e-03 3.26103615e+02] [ 1.00037172e-02 -8.87283531e-05 9.99949958e-01 7.21102280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.212755096 meters 0.017336061653517656 Centerline is valid? [True, True] Translation: X:39.52, Y:326.13, Z:7.21 [[-4.93674159e-01 -8.69635280e-01 4.50601795e-03 3.95188494e+01] [ 8.69597452e-01 -4.93694715e-01 -8.11172299e-03 3.26126788e+02] [ 9.27883775e-03 -8.61263024e-05 9.99956947e-01 7.21163890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.242755096 meters 0.01747167324255067 Centerline is valid? [True, True] Translation: X:39.51, Y:326.15, Z:7.21 [[-4.94502406e-01 -8.69163813e-01 4.65151715e-03 3.95071583e+01] [ 8.69123556e-01 -4.94524273e-01 -8.36582535e-03 3.26150986e+02] [ 9.57156080e-03 -9.41776384e-05 9.99954187e-01 7.21138751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.272755096 meters 0.01759514074665122 Centerline is valid? [True, True] Translation: X:39.50, Y:326.17, Z:7.21 [[-4.95049472e-01 -8.68852326e-01 4.65360251e-03 3.94965625e+01] [ 8.68812093e-01 -4.95071335e-01 -8.36186381e-03 3.26173862e+02] [ 9.56909003e-03 -9.64301261e-05 9.99954211e-01 7.21105610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.302755096 meters 0.017438184405743806 Centerline is valid? [True, True] Translation: X:39.48, Y:326.20, Z:7.21 [[-4.95285989e-01 -8.68716961e-01 4.75716197e-03 3.94839457e+01] [ 8.68674991e-01 -4.95308825e-01 -8.53975699e-03 3.26196980e+02] [ 9.77489605e-03 -9.71943581e-05 9.99952220e-01 7.21101934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.332755096 meters 0.017609583457716266 Centerline is valid? [True, True] Translation: X:39.47, Y:326.22, Z:7.21 [[-4.95543859e-01 -8.68568866e-01 4.94050664e-03 3.94721576e+01] [ 8.68523678e-01 -4.95568477e-01 -8.86034832e-03 3.26219952e+02] [ 1.01441820e-02 -9.97442052e-05 9.99948542e-01 7.21069651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.362755096 meters 0.01736246870001925 Centerline is valid? [True, True] Translation: X:39.46, Y:326.24, Z:7.21 [[-4.95550149e-01 -8.68565448e-01 4.91056622e-03 3.94587246e+01] [ 8.68520889e-01 -4.95574469e-01 -8.79830815e-03 3.26242329e+02] [ 1.00754577e-02 -9.50735729e-05 9.99949237e-01 7.21063406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.392755096 meters 0.017083974440720778 Centerline is valid? [True, True] Translation: X:39.45, Y:326.26, Z:7.21 [[-4.95181098e-01 -8.68777313e-01 4.65412898e-03 3.94452411e+01] [ 8.68737368e-01 -4.95202962e-01 -8.33141455e-03 3.26264812e+02] [ 9.54288241e-03 -8.23432441e-05 9.99954462e-01 7.21097162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4227550960001 meters 0.016995101950292225 Centerline is valid? [True, True] Translation: X:39.43, Y:326.29, Z:7.21 [[-4.94970426e-01 -8.68898262e-01 4.48199273e-03 3.94329928e+01] [ 8.68861290e-01 -4.94990712e-01 -8.01586979e-03 3.26287138e+02] [ 9.18352010e-03 -7.33884931e-05 9.99957828e-01 7.21143499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.452755096 meters 0.016995101950292225 Centerline is valid? [True, True] Translation: X:39.42, Y:326.31, Z:7.21 [[-4.95311358e-01 -8.68703943e-01 4.48529345e-03 3.94201128e+01] [ 8.68666979e-01 -4.95331661e-01 -8.01402264e-03 3.26309643e+02] [ 9.18352093e-03 -7.32101266e-05 9.99957828e-01 7.21161720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.482755096 meters 0.016794128727882465 Centerline is valid? [True, True] Translation: X:39.41, Y:326.33, Z:7.21 [[-4.94836189e-01 -8.68976703e-01 4.07856205e-03 3.94078827e+01] [ 8.68946201e-01 -4.94852994e-01 -7.28111401e-03 3.26332610e+02] [ 8.34540709e-03 -5.89077182e-05 9.99965175e-01 7.21268409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.512755096 meters 0.016738987330760485 Centerline is valid? [True, True] Translation: X:39.39, Y:326.36, Z:7.21 [[-4.94738052e-01 -8.69033163e-01 3.95244174e-03 3.93949731e+01] [ 8.69004571e-01 -4.94753837e-01 -7.04964647e-03 3.26355429e+02] [ 8.08186228e-03 -5.30384244e-05 9.99967340e-01 7.21312709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5427550960001 meters 0.016748649810342426 Centerline is valid? [True, True] Translation: X:39.38, Y:326.38, Z:7.21 [[-4.94797996e-01 -8.68999776e-01 3.78587473e-03 3.93816752e+01] [ 8.68973588e-01 -4.94812477e-01 -6.74655670e-03 3.26378398e+02] [ 7.73605432e-03 -4.83575828e-05 9.99970075e-01 7.21342084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.572755096 meters 0.016796010637512817 Centerline is valid? [True, True] Translation: X:39.37, Y:326.40, Z:7.21 [[-4.94998132e-01 -8.68886133e-01 3.70631315e-03 3.93684520e+01] [ 8.68861077e-01 -4.95012005e-01 -6.59881232e-03 3.26400769e+02] [ 7.56828603e-03 -4.61285326e-05 9.99971359e-01 7.21366315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.602755096 meters 0.01688858253412779 Centerline is valid? [True, True] Translation: X:39.36, Y:326.42, Z:7.21 [[-4.95561241e-01 -8.68564970e-01 3.73487347e-03 3.93557047e+01] [ 8.68539564e-01 -4.95575313e-01 -6.64344672e-03 3.26423077e+02] [ 7.62117619e-03 -4.83493266e-05 9.99970957e-01 7.21370962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.632755096 meters 0.018188769897254306 Centerline is valid? [True, True] Translation: X:39.34, Y:326.45, Z:7.21 [[-4.97537786e-01 -8.67436078e-01 3.28666260e-03 3.93429282e+01] [ 8.67416412e-01 -4.97548638e-01 -5.84125740e-03 3.26446549e+02] [ 6.70219191e-03 -5.53411960e-05 9.99977539e-01 7.21283411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.662755096 meters 0.017473115863240084 Centerline is valid? [True, True] Translation: X:39.33, Y:326.47, Z:7.22 [[-4.98461191e-01 -8.66906494e-01 3.09383854e-03 3.93309079e+01] [ 8.66889087e-01 -4.98470789e-01 -5.49391918e-03 3.26469275e+02] [ 6.30490236e-03 -5.64906307e-05 9.99980122e-01 7.21502944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.692755096 meters 0.017804094376415478 Centerline is valid? [True, True] Translation: X:39.32, Y:326.49, Z:7.22 [[-4.99848101e-01 -8.66108710e-01 2.75291952e-03 3.93186119e+01] [ 8.66094938e-01 -4.99855679e-01 -4.88445657e-03 3.26492330e+02] [ 5.60653284e-03 -5.71966860e-05 9.99984282e-01 7.21566182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.722755096 meters 0.018723557373217542 Centerline is valid? [True, True] Translation: X:39.31, Y:326.52, Z:7.22 [[-5.02484525e-01 -8.64582765e-01 2.43819366e-03 3.93070764e+01] [ 8.64571960e-01 -5.02490436e-01 -4.32289682e-03 3.26516408e+02] [ 4.96267109e-03 -6.41948805e-05 9.99987684e-01 7.21622343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.752755096 meters 0.019528325155430598 Centerline is valid? [True, True] Translation: X:39.30, Y:326.54, Z:7.22 [[-5.04324926e-01 -8.63510985e-01 2.26872788e-03 3.92954026e+01] [ 8.63501635e-01 -5.04330024e-01 -4.01900575e-03 3.26539407e+02] [ 4.61464320e-03 -6.78345475e-05 9.99989350e-01 7.21643938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.782755096 meters 0.019746170918402816 Centerline is valid? [True, True] Translation: X:39.28, Y:326.56, Z:7.22 [[-5.08331775e-01 -8.61158831e-01 2.06740743e-03 3.92812268e+01] [ 8.61151054e-01 -5.08335973e-01 -3.66067404e-03 3.26562201e+02] [ 4.20335934e-03 -8.04868407e-05 9.99991163e-01 7.21591986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.812755096 meters 0.02077370019521431 Centerline is valid? [True, True] Translation: X:39.27, Y:326.59, Z:7.22 [[-5.10556720e-01 -8.59842432e-01 1.68193520e-03 3.92694033e+01] [ 8.59837283e-01 -5.10559485e-01 -2.97647690e-03 3.26585852e+02] [ 3.41802910e-03 -7.34696931e-05 9.99994156e-01 7.21600658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.842755096 meters 0.02307320665458072 Centerline is valid? [True, True] Translation: X:39.26, Y:326.61, Z:7.22 [[-5.12364826e-01 -8.58766082e-01 1.76104917e-03 3.92596748e+01] [ 8.58760442e-01 -5.12367846e-01 -3.11342958e-03 3.26610676e+02] [ 3.57601269e-03 -8.28924429e-05 9.99993603e-01 7.21641547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.872755096 meters 0.02208608405394214 Centerline is valid? [True, True] Translation: X:39.24, Y:326.63, Z:7.22 [[-5.14924886e-01 -8.57233276e-01 1.86339319e-03 3.92443379e+01] [ 8.57226964e-01 -5.14928248e-01 -3.29114619e-03 3.26633082e+02] [ 3.78079382e-03 -9.73421921e-05 9.99992848e-01 7.21567196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.902755096 meters 0.02282457190404401 Centerline is valid? [True, True] Translation: X:39.23, Y:326.66, Z:7.22 [[-5.15472339e-01 -8.56904277e-01 1.82447064e-03 3.92325584e+01] [ 8.56898235e-01 -5.15475559e-01 -3.21925538e-03 3.26656171e+02] [ 3.69906372e-03 -9.60514247e-05 9.99993154e-01 7.21614304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.932755096 meters 0.023222498459779396 Centerline is valid? [True, True] Translation: X:39.22, Y:326.68, Z:7.22 [[-5.15428487e-01 -8.56930459e-01 1.91414477e-03 3.92192023e+01] [ 8.56923814e-01 -5.15432032e-01 -3.37593386e-03 3.26678185e+02] [ 3.87955208e-03 -9.97762471e-05 9.99992470e-01 7.21637298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.962755096 meters 0.022111213593033145 Centerline is valid? [True, True] Translation: X:39.20, Y:326.70, Z:7.22 [[-5.15171450e-01 -8.57084772e-01 2.01784808e-03 3.92035784e+01] [ 8.57077404e-01 -5.15175392e-01 -3.55509495e-03 3.26699232e+02] [ 4.08656342e-03 -1.02031429e-04 9.99991645e-01 7.21572286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.992755096 meters 0.021146137352153194 Centerline is valid? [True, True] Translation: X:39.19, Y:326.72, Z:7.22 [[-5.14587168e-01 -8.57435587e-01 2.06415252e-03 3.91873502e+01] [ 8.57427896e-01 -5.14591298e-01 -3.63305066e-03 3.26721781e+02] [ 4.17730185e-03 -9.96592958e-05 9.99991270e-01 7.21523746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.022755096 meters 0.020918260168095924 Centerline is valid? [True, True] Translation: X:39.17, Y:326.74, Z:7.22 [[-5.12686673e-01 -8.58572768e-01 2.27558641e-03 3.91726634e+01] [ 8.58563449e-01 -5.12691714e-01 -4.00136440e-03 3.26743226e+02] [ 4.60213681e-03 -9.77108865e-05 9.99989405e-01 7.21504724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.052755096 meters 0.020621785611932245 Centerline is valid? [True, True] Translation: X:39.16, Y:326.76, Z:7.21 [[-5.11965088e-01 -8.59002779e-01 2.44413774e-03 3.91588890e+01] [ 8.58992056e-01 -5.11970913e-01 -4.29324803e-03 3.26764535e+02] [ 4.93923942e-03 -9.84982057e-05 9.99987797e-01 7.21494984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.082755096 meters 0.021100358791283393 Centerline is valid? [True, True] Translation: X:39.14, Y:326.79, Z:7.21 [[-5.10431733e-01 -8.59913879e-01 2.75070237e-03 3.91427690e+01] [ 8.59900332e-01 -5.10439135e-01 -4.82784871e-03 3.26787043e+02] [ 5.55560025e-03 -9.89573010e-05 9.99984563e-01 7.21323667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.112755096 meters 0.018981653490070236 Centerline is valid? [True, True] Translation: X:39.13, Y:326.81, Z:7.22 [[-5.09539196e-01 -8.60443340e-01 2.65823317e-03 3.91276308e+01] [ 8.60430714e-01 -5.09546122e-01 -4.66214958e-03 3.26808469e+02] [ 5.36600796e-03 -8.83224861e-05 9.99985599e-01 7.21507710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.142755096 meters 0.018837878334707805 Centerline is valid? [True, True] Translation: X:39.11, Y:326.83, Z:7.22 [[-5.08853403e-01 -8.60848889e-01 2.72122703e-03 3.91137480e+01] [ 8.60835689e-01 -5.08860672e-01 -4.76788336e-03 3.26829906e+02] [ 5.48915251e-03 -8.36243285e-05 9.99984931e-01 7.21500796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1727550960001 meters 0.018712692082612288 Centerline is valid? [True, True] Translation: X:39.10, Y:326.85, Z:7.21 [[-5.08038805e-01 -8.61328768e-01 3.05377080e-03 3.90981327e+01] [ 8.61312180e-01 -5.08047976e-01 -5.34624635e-03 3.26851554e+02] [ 6.15633785e-03 -8.58506184e-05 9.99981046e-01 7.21385364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.202755096 meters 0.01823579084362085 Centerline is valid? [True, True] Translation: X:39.08, Y:326.87, Z:7.21 [[-5.07702654e-01 -8.61526843e-01 3.08439404e-03 3.90846537e+01] [ 8.61509955e-01 -5.07712016e-01 -5.39499663e-03 3.26872880e+02] [ 6.21391834e-03 -8.18179411e-05 9.99980690e-01 7.21432484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.232755096 meters 0.018109569954269662 Centerline is valid? [True, True] Translation: X:39.07, Y:326.90, Z:7.21 [[-5.07801475e-01 -8.61468521e-01 3.10626628e-03 3.90709582e+01] [ 8.61451423e-01 -5.07810969e-01 -5.42811989e-03 3.26895636e+02] [ 6.25355051e-03 -8.05097762e-05 9.99980443e-01 7.21456829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.262755096 meters 0.018144728356236425 Centerline is valid? [True, True] Translation: X:39.06, Y:326.92, Z:7.22 [[-5.08210697e-01 -8.61227942e-01 2.88425781e-03 3.90584354e+01] [ 8.61213221e-01 -5.08218876e-01 -5.03615781e-03 3.26917906e+02] [ 5.80311409e-03 -7.54683197e-05 9.99983159e-01 7.21533037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2927550960001 meters 0.018610493602949744 Centerline is valid? [True, True] Translation: X:39.05, Y:326.94, Z:7.21 [[-5.09059308e-01 -8.60725700e-01 3.14508213e-03 3.90452484e+01] [ 8.60708220e-01 -5.09069016e-01 -5.48603401e-03 3.26940673e+02] [ 6.32303432e-03 -8.57186326e-05 9.99980006e-01 7.21485308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.322755096 meters 0.018514241731749665 Centerline is valid? [True, True] Translation: X:39.03, Y:326.96, Z:7.22 [[-5.09741027e-01 -8.60321731e-01 3.25649542e-03 3.90318867e+01] [ 8.60303017e-01 -5.09751421e-01 -5.67516356e-03 3.26963263e+02] [ 6.54246971e-03 -9.12908668e-05 9.99978594e-01 7.21523149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.352755096 meters 0.018986825603571747 Centerline is valid? [True, True] Translation: X:39.02, Y:326.99, Z:7.21 [[-5.10380278e-01 -8.59942317e-01 3.34425381e-03 3.90187943e+01] [ 8.59922608e-01 -5.10391226e-01 -5.82283153e-03 3.26985707e+02] [ 6.71417704e-03 -9.60589236e-05 9.99977455e-01 7.21490950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.382755096 meters 0.020698868748462215 Centerline is valid? [True, True] Translation: X:39.01, Y:327.01, Z:7.21 [[-5.11404291e-01 -8.59333221e-01 3.47369428e-03 3.90072350e+01] [ 8.59311982e-01 -5.11416077e-01 -6.04269398e-03 3.27008293e+02] [ 6.96919078e-03 -1.05272517e-04 9.99975709e-01 7.21442967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.412755096 meters 0.01915538531749894 Centerline is valid? [True, True] Translation: X:38.99, Y:327.03, Z:7.22 [[-5.12036544e-01 -8.58958171e-01 3.07201158e-03 3.89937470e+01] [ 8.58941580e-01 -5.12045751e-01 -5.33966916e-03 3.27030915e+02] [ 6.15956294e-03 -9.54272676e-05 9.99981025e-01 7.21634052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.442755096 meters 0.019769507352145173 Centerline is valid? [True, True] Translation: X:38.98, Y:327.05, Z:7.22 [[-5.12758776e-01 -8.58526166e-01 3.35566140e-03 3.89826617e+01] [ 8.58506396e-01 -5.12769745e-01 -5.82721318e-03 3.27053544e+02] [ 6.72349663e-03 -1.07097928e-04 9.99977391e-01 7.21634624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.472755096 meters 0.01871513419950848 Centerline is valid? [True, True] Translation: X:38.97, Y:327.08, Z:7.22 [[-5.13091503e-01 -8.58326989e-01 3.44810372e-03 3.89678548e+01] [ 8.58306149e-01 -5.13103077e-01 -5.98223428e-03 3.27075515e+02] [ 6.90394576e-03 -1.09904953e-04 9.99976161e-01 7.21618595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.502755096 meters 0.01841141175209347 Centerline is valid? [True, True] Translation: X:38.95, Y:327.10, Z:7.22 [[-5.12617253e-01 -8.58609066e-01 3.74479345e-03 3.89545336e+01] [ 8.58584541e-01 -5.12630919e-01 -6.49061924e-03 3.27098392e+02] [ 7.49260143e-03 -1.11981633e-04 9.99971924e-01 7.21602176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.532755096 meters 0.01797317382102032 Centerline is valid? [True, True] Translation: X:38.94, Y:327.12, Z:7.22 [[-5.11826702e-01 -8.59079455e-01 3.98960921e-03 3.89404111e+01] [ 8.59051684e-01 -5.11842240e-01 -6.90835900e-03 3.27120485e+02] [ 7.97687980e-03 -1.08602100e-04 9.99968178e-01 7.21583207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.562755096 meters 0.017668965224208747 Centerline is valid? [True, True] Translation: X:38.93, Y:327.14, Z:7.21 [[-5.09659787e-01 -8.60363657e-01 4.61295435e-03 3.89259355e+01] [ 8.60326658e-01 -5.09680654e-01 -7.97957114e-03 3.27141710e+02] [ 9.21646659e-03 -9.82189326e-05 9.99957523e-01 7.21427050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.592755096 meters 0.01685559565428577 Centerline is valid? [True, True] Translation: X:38.91, Y:327.16, Z:7.21 [[-5.08572095e-01 -8.61006701e-01 4.67817441e-03 3.89113531e+01] [ 8.60968747e-01 -5.08593604e-01 -8.08478957e-03 3.27163503e+02] [ 9.34034758e-03 -8.39364069e-05 9.99956375e-01 7.21466058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.622755096 meters 0.017235878436999353 Centerline is valid? [True, True] Translation: X:38.90, Y:327.19, Z:7.21 [[-5.07534176e-01 -8.61617253e-01 4.97695314e-03 3.88969348e+01] [ 8.61574404e-01 -5.07558573e-01 -8.59311897e-03 3.27186059e+02] [ 9.93007479e-03 -7.32861210e-05 9.99950693e-01 7.21379103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.652755096 meters 0.015949261573211897 Centerline is valid? [True, True] Translation: X:38.88, Y:327.21, Z:7.22 [[-5.05295182e-01 -8.62933064e-01 4.82769413e-03 3.88832506e+01] [ 8.62892873e-01 -5.05318242e-01 -8.32851801e-03 3.27207256e+02] [ 9.62647547e-03 -4.25771659e-05 9.99953664e-01 7.21506962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.682755096 meters 0.015647317615257745 Centerline is valid? [True, True] Translation: X:38.87, Y:327.23, Z:7.22 [[-5.03797298e-01 -8.63809509e-01 4.62765295e-03 3.88702426e+01] [ 8.63772671e-01 -5.03818551e-01 -7.97757889e-03 3.27230070e+02] [ 9.22260591e-03 -2.18425403e-05 9.99957471e-01 7.21604216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.712755096 meters 0.01555175723571068 Centerline is valid? [True, True] Translation: X:38.86, Y:327.25, Z:7.22 [[-5.03637948e-01 -8.63904013e-01 4.32129114e-03 3.88569673e+01] [ 8.63871948e-01 -5.03656486e-01 -7.44315465e-03 3.27252533e+02] [ 8.60661748e-03 -1.56129450e-05 9.99962962e-01 7.21666584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.742755096 meters 0.015493511431070672 Centerline is valid? [True, True] Translation: X:38.84, Y:327.27, Z:7.22 [[-5.03421464e-01 -8.64030915e-01 4.17228652e-03 3.88440199e+01] [ 8.64001080e-01 -5.03438753e-01 -7.18021370e-03 3.27274421e+02] [ 8.30441733e-03 -9.81363450e-06 9.99965518e-01 7.21728217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.772755096 meters 0.015434492984613314 Centerline is valid? [True, True] Translation: X:38.83, Y:327.30, Z:7.22 [[-5.03526935e-01 -8.63970491e-01 3.95177827e-03 3.88307985e+01] [ 8.63943772e-01 -5.03542442e-01 -6.79473202e-03 3.27297008e+02] [ 7.86033603e-03 -7.21636750e-06 9.99969107e-01 7.21798750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.802755096 meters 0.015281416890594318 Centerline is valid? [True, True] Translation: X:38.82, Y:327.32, Z:7.22 [[-5.03646120e-01 -8.63903138e-01 3.45752823e-03 3.88189307e+01] [ 8.63882714e-01 -5.03657988e-01 -5.94036703e-03 3.27319288e+02] [ 6.87331343e-03 -4.94393424e-06 9.99976379e-01 7.21857564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.832755096 meters 0.015290043616930846 Centerline is valid? [True, True] Translation: X:38.81, Y:327.34, Z:7.22 [[-5.04252777e-01 -8.63549825e-01 3.29185582e-03 3.88064209e+01] [ 8.63531336e-01 -5.04263522e-01 -5.65080276e-03 3.27342330e+02] [ 6.53971254e-03 -6.81232783e-06 9.99978616e-01 7.21927169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.862755096 meters 0.015099965689519115 Centerline is valid? [True, True] Translation: X:38.79, Y:327.37, Z:7.22 [[-5.05284205e-01 -8.62947514e-01 3.07584061e-03 3.87946825e+01] [ 8.62931386e-01 -5.05293567e-01 -5.27581432e-03 3.27366439e+02] [ 6.10695332e-03 -1.15462390e-05 9.99981352e-01 7.21990297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.892755096 meters 0.015128215088208434 Centerline is valid? [True, True] Translation: X:38.78, Y:327.39, Z:7.22 [[-5.05986288e-01 -8.62536021e-01 3.08044931e-03 3.87820647e+01] [ 8.62519867e-01 -5.05995664e-01 -5.27886110e-03 3.27389099e+02] [ 6.11190184e-03 -1.40826037e-05 9.99981322e-01 7.21999297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9227550960001 meters 0.015033156098159445 Centerline is valid? [True, True] Translation: X:38.77, Y:327.41, Z:7.22 [[-5.06655498e-01 -8.62142935e-01 3.12508833e-03 3.87684872e+01] [ 8.62126335e-01 -5.06665136e-01 -5.35010125e-03 3.27412255e+02] [ 6.19592529e-03 -1.64372652e-05 9.99980805e-01 7.21937866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.952755096 meters 0.014959175404766384 Centerline is valid? [True, True] Translation: X:38.76, Y:327.44, Z:7.22 [[-5.07258880e-01 -8.61787716e-01 3.21900237e-03 3.87551596e+01] [ 8.61770129e-01 -5.07269093e-01 -5.50566453e-03 3.27435425e+02] [ 6.37761447e-03 -1.87571332e-05 9.99979663e-01 7.21926836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.982755096 meters 0.014954986324160273 Centerline is valid? [True, True] Translation: X:38.74, Y:327.46, Z:7.22 [[-5.08285049e-01 -8.61181524e-01 3.56243651e-03 3.87428198e+01] [ 8.61160013e-01 -5.08297533e-01 -6.08695339e-03 3.27457541e+02] [ 7.05274948e-03 -2.60795377e-05 9.99975129e-01 7.21892283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.012755096 meters 0.014931804803137544 Centerline is valid? [True, True] Translation: X:38.73, Y:327.48, Z:7.22 [[-5.09042570e-01 -8.60733374e-01 3.70408093e-03 3.87298480e+01] [ 8.60710151e-01 -5.09056046e-01 -6.32278974e-03 3.27481062e+02] [ 7.32782094e-03 -3.04290819e-05 9.99973151e-01 7.21852427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0427550960001 meters 0.015098357653106721 Centerline is valid? [True, True] Translation: X:38.72, Y:327.50, Z:7.22 [[-5.11389268e-01 -8.59339133e-01 4.15584418e-03 3.87200928e+01] [ 8.59309911e-01 -5.11406151e-01 -7.08700702e-03 3.27504236e+02] [ 8.21546675e-03 -5.30612367e-05 9.99966251e-01 7.21804573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.072755096 meters 0.015338292669260789 Centerline is valid? [True, True] Translation: X:38.71, Y:327.53, Z:7.22 [[-5.13042416e-01 -8.58352317e-01 4.33345534e-03 3.87085174e+01] [ 8.58320560e-01 -5.13060713e-01 -7.38389481e-03 3.27527557e+02] [ 8.56130890e-03 -6.87574175e-05 9.99963349e-01 7.21781291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.102755096 meters 0.01618439664827036 Centerline is valid? [True, True] Translation: X:38.70, Y:327.55, Z:7.22 [[-5.16267955e-01 -8.56414860e-01 4.58105927e-03 3.86991322e+01] [ 8.56379357e-01 -5.16288269e-01 -7.79872807e-03 3.27551918e+02] [ 9.04409377e-03 -1.03108798e-04 9.99959096e-01 7.21758637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.132755096 meters 0.016560624602755963 Centerline is valid? [True, True] Translation: X:38.69, Y:327.58, Z:7.22 [[-5.18082694e-01 -8.55317923e-01 4.64461016e-03 3.86870309e+01] [ 8.55281442e-01 -5.18103499e-01 -7.90054975e-03 3.27575623e+02] [ 9.16387058e-03 -1.20689224e-04 9.99958004e-01 7.21762538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.162755096 meters 0.017437792103398343 Centerline is valid? [True, True] Translation: X:38.68, Y:327.60, Z:7.22 [[-5.19679776e-01 -8.54347594e-01 4.80819324e-03 3.86758669e+01] [ 8.54308526e-01 -5.19702000e-01 -8.17146499e-03 3.27599935e+02] [ 9.48009910e-03 -1.38864612e-04 9.99955053e-01 7.21723210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.192755096 meters 0.01819264821681246 Centerline is valid? [True, True] Translation: X:38.66, Y:327.62, Z:7.22 [[-5.21755547e-01 -8.53080192e-01 5.03334886e-03 3.86639215e+01] [ 8.53037392e-01 -5.21779799e-01 -8.54689534e-03 3.27624505e+02] [ 9.91748687e-03 -1.65755267e-04 9.99950807e-01 7.21750798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.222755096 meters 0.017768767563164048 Centerline is valid? [True, True] Translation: X:38.65, Y:327.65, Z:7.22 [[-5.22321645e-01 -8.52734948e-01 4.81735365e-03 3.86494917e+01] [ 8.52695788e-01 -5.22343835e-01 -8.17378503e-03 3.27647016e+02] [ 9.48638714e-03 -1.61607673e-04 9.99954990e-01 7.21807955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.252755096 meters 0.01783214158661567 Centerline is valid? [True, True] Translation: X:38.64, Y:327.67, Z:7.22 [[-5.22778577e-01 -8.52457157e-01 4.39937447e-03 3.86356963e+01] [ 8.52424541e-01 -5.22797067e-01 -7.45844555e-03 3.27670057e+02] [ 8.65798536e-03 -1.48980785e-04 9.99962508e-01 7.21860291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.282755096 meters 0.017868206081409863 Centerline is valid? [True, True] Translation: X:38.62, Y:327.69, Z:7.22 [[-5.22847906e-01 -8.52415983e-01 4.13028187e-03 3.86220537e+01] [ 8.52387282e-01 -5.22864201e-01 -6.99637279e-03 3.27692046e+02] [ 8.12339652e-03 -1.37439120e-04 9.99966995e-01 7.21986381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.312755096 meters 0.018382202645407714 Centerline is valid? [True, True] Translation: X:38.61, Y:327.71, Z:7.22 [[-5.22751625e-01 -8.52475942e-01 3.93786831e-03 3.86094522e+01] [ 8.52449900e-01 -5.22766441e-01 -6.66460012e-03 3.27714467e+02] [ 7.73999667e-03 -1.27095096e-04 9.99970038e-01 7.22051049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.342755096 meters 0.018382202645407714 Centerline is valid? [True, True] Translation: X:38.60, Y:327.74, Z:7.22 [[-5.23089513e-01 -8.52268640e-01 3.94049773e-03 3.85963977e+01] [ 8.52242603e-01 -5.23104339e-01 -6.66304515e-03 3.27735911e+02] [ 7.73999589e-03 -1.27108998e-04 9.99970038e-01 7.22068688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.372755096 meters 0.017591219731120548 Centerline is valid? [True, True] Translation: X:38.58, Y:327.76, Z:7.22 [[-5.22936194e-01 -8.52364480e-01 3.53993175e-03 3.85805028e+01] [ 8.52343503e-01 -5.22948163e-01 -5.98086696e-03 3.27757110e+02] [ 6.94907936e-03 -1.10373972e-04 9.99975849e-01 7.22117561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.402755096 meters 0.016400699547814427 Centerline is valid? [True, True] Translation: X:38.56, Y:327.78, Z:7.22 [[-5.22549881e-01 -8.52601265e-01 3.56452350e-03 3.85636059e+01] [ 8.52580038e-01 -5.22562027e-01 -6.01724557e-03 3.27778963e+02] [ 6.99299581e-03 -1.05269376e-04 9.99975543e-01 7.22126591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.432755096 meters 0.016341334467510387 Centerline is valid? [True, True] Translation: X:38.55, Y:327.80, Z:7.22 [[-5.22063696e-01 -8.52899241e-01 3.51896268e-03 3.85499373e+01] [ 8.52878593e-01 -5.22075546e-01 -5.93550982e-03 3.27800280e+02] [ 6.89955618e-03 -9.74662519e-05 9.99976193e-01 7.22126989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.462755096 meters 0.015430026120163112 Centerline is valid? [True, True] Translation: X:38.53, Y:327.82, Z:7.22 [[-5.20345292e-01 -8.53949166e-01 3.40576118e-03 3.85328716e+01] [ 8.53929883e-01 -5.20356431e-01 -5.73925264e-03 3.27820975e+02] [ 6.67323974e-03 -7.81118381e-05 9.99977731e-01 7.22137839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.492755096 meters 0.015121592052736981 Centerline is valid? [True, True] Translation: X:38.52, Y:327.84, Z:7.22 [[-5.19347832e-01 -8.54556622e-01 3.28770929e-03 3.85178984e+01] [ 8.54538696e-01 -5.19358234e-01 -5.53552513e-03 3.27842040e+02] [ 6.43791854e-03 -6.53881645e-05 9.99979274e-01 7.22112182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.522755096 meters 0.014436381009760423 Centerline is valid? [True, True] Translation: X:38.50, Y:327.86, Z:7.22 [[-5.17402245e-01 -8.55735284e-01 3.47009705e-03 3.85005163e+01] [ 8.55715379e-01 -5.17413879e-01 -5.83679221e-03 3.27862421e+02] [ 6.79022541e-03 -5.05539832e-05 9.99976945e-01 7.22043155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.552755096 meters 0.014265005565676845 Centerline is valid? [True, True] Translation: X:38.49, Y:327.88, Z:7.22 [[-5.16799101e-01 -8.56099377e-01 3.54195388e-03 3.84862295e+01] [ 8.56078686e-01 -5.16811237e-01 -5.95223906e-03 3.27883271e+02] [ 6.92622971e-03 -4.39205741e-05 9.99976012e-01 7.21977299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.582755096 meters 0.014118041168763123 Centerline is valid? [True, True] Translation: X:38.47, Y:327.90, Z:7.22 [[-5.16625912e-01 -8.56202707e-01 3.81983561e-03 3.84721704e+01] [ 8.56178692e-01 -5.16640032e-01 -6.41289844e-03 3.27904853e+02] [ 7.46422100e-03 -4.26076567e-05 9.99972141e-01 7.21968858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.612755096 meters 0.013943324399535656 Centerline is valid? [True, True] Translation: X:38.46, Y:327.93, Z:7.22 [[-5.16737540e-01 -8.56134316e-01 4.04321843e-03 3.84584983e+01] [ 8.56107448e-01 -5.16753356e-01 -6.78279864e-03 3.27927182e+02] [ 7.89633337e-03 -4.34972678e-05 9.99968823e-01 7.21938634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.642755096 meters 0.013989964604228388 Centerline is valid? [True, True] Translation: X:38.45, Y:327.95, Z:7.22 [[-5.17541848e-01 -8.55648896e-01 3.92456234e-03 3.84458197e+01] [ 8.55623611e-01 -5.17556726e-01 -6.57814666e-03 3.27950277e+02] [ 7.65976756e-03 -4.65179854e-05 9.99970663e-01 7.21958768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6727550960001 meters 0.01430014371060841 Centerline is valid? [True, True] Translation: X:38.43, Y:327.97, Z:7.22 [[-5.19446888e-01 -8.54494661e-01 3.71559521e-03 3.84344016e+01] [ 8.54472004e-01 -5.19460174e-01 -6.22276782e-03 3.27974709e+02] [ 7.24742561e-03 -5.75252903e-05 9.99973735e-01 7.22003097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.702755096 meters 0.014612298026052508 Centerline is valid? [True, True] Translation: X:38.42, Y:328.00, Z:7.22 [[-5.20777115e-01 -8.53685255e-01 3.56110070e-03 3.84217116e+01] [ 8.53664459e-01 -5.20789287e-01 -5.95907202e-03 3.27998262e+02] [ 6.94175501e-03 -6.33632371e-05 9.99975904e-01 7.22043266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.732755096 meters 0.014797765772636525 Centerline is valid? [True, True] Translation: X:38.41, Y:328.02, Z:7.22 [[-5.21988062e-01 -8.52946139e-01 3.36849678e-03 3.84085848e+01] [ 8.52927547e-01 -5.21998926e-01 -5.63219759e-03 3.28021738e+02] [ 6.56231289e-03 -6.68562133e-05 9.99978466e-01 7.22066258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.762755096 meters 0.015595188301650725 Centerline is valid? [True, True] Translation: X:38.40, Y:328.04, Z:7.22 [[-5.23687190e-01 -8.51904233e-01 3.30235502e-03 3.83981204e+01] [ 8.51886372e-01 -5.23697596e-01 -5.51696569e-03 3.28044538e+02] [ 6.42936181e-03 -7.59330163e-05 9.99979329e-01 7.22069379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7927550960001 meters 0.01567965039088328 Centerline is valid? [True, True] Translation: X:38.38, Y:328.07, Z:7.22 [[-5.24751350e-01 -8.51249504e-01 3.20991337e-03 3.83847611e+01] [ 8.51232646e-01 -5.24761162e-01 -5.35778069e-03 3.28067754e+02] [ 6.24524602e-03 -7.91195968e-05 9.99980495e-01 7.22056372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.822755096 meters 0.01622687334654976 Centerline is valid? [True, True] Translation: X:38.37, Y:328.09, Z:7.22 [[-5.26498423e-01 -8.50169718e-01 3.29567138e-03 3.83726543e+01] [ 8.50151957e-01 -5.26508730e-01 -5.49606176e-03 3.28092192e+02] [ 6.40778502e-03 -9.18463741e-05 9.99979466e-01 7.22040416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.852755096 meters 0.015935549184434773 Centerline is valid? [True, True] Translation: X:38.36, Y:328.11, Z:7.22 [[-5.27356635e-01 -8.49637971e-01 3.20904011e-03 3.83588968e+01] [ 8.49621147e-01 -5.27366390e-01 -5.34769368e-03 3.28114647e+02] [ 6.23594351e-03 -9.36734075e-05 9.99980552e-01 7.22041732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.882755096 meters 0.016218919057355334 Centerline is valid? [True, True] Translation: X:38.35, Y:328.14, Z:7.22 [[-5.28044330e-01 -8.49210628e-01 3.23974632e-03 3.83455178e+01] [ 8.49193502e-01 -5.28054259e-01 -5.39400376e-03 3.28137001e+02] [ 6.29140716e-03 -9.71015720e-05 9.99980204e-01 7.22042202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.912755096 meters 0.01597909381660014 Centerline is valid? [True, True] Translation: X:38.33, Y:328.16, Z:7.22 [[-5.27642952e-01 -8.49459069e-01 3.49351068e-03 3.83303583e+01] [ 8.49439199e-01 -5.27654508e-01 -5.81094153e-03 3.28158746e+02] [ 6.77952365e-03 -9.85774249e-05 9.99977014e-01 7.21960992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.942755096 meters 0.01552789409830592 Centerline is valid? [True, True] Translation: X:38.32, Y:328.18, Z:7.22 [[-5.27594189e-01 -8.49489034e-01 3.57110952e-03 3.83156634e+01] [ 8.49468309e-01 -5.27606265e-01 -5.93467745e-03 3.28180938e+02] [ 6.92558318e-03 -9.75569727e-05 9.99976013e-01 7.21894902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.972755096 meters 0.015149376864629633 Centerline is valid? [True, True] Translation: X:38.30, Y:328.20, Z:7.22 [[-5.26846898e-01 -8.49948753e-01 4.41169143e-03 3.83002864e+01] [ 8.49917206e-01 -5.26865358e-01 -7.32379005e-03 3.28203061e+02] [ 8.54921360e-03 -1.08943618e-04 9.99963449e-01 7.21748643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.002755096 meters 0.014958049595555072 Centerline is valid? [True, True] Translation: X:38.29, Y:328.22, Z:7.22 [[-5.26432683e-01 -8.50203148e-01 4.82063434e-03 3.82861134e+01] [ 8.50165564e-01 -5.26454742e-01 -7.99489672e-03 3.28224132e+02] [ 9.33513217e-03 -1.10437613e-04 9.99956421e-01 7.21673316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.032755096 meters 0.014796580678475528 Centerline is valid? [True, True] Translation: X:38.27, Y:328.25, Z:7.22 [[-5.25920188e-01 -8.50519018e-01 5.03553112e-03 3.82713132e+01] [ 8.50478101e-01 -5.25944284e-01 -8.34333218e-03 3.28245981e+02] [ 9.74457150e-03 -1.05317882e-04 9.99952515e-01 7.21630530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.062755096 meters 0.014518745722788303 Centerline is valid? [True, True] Translation: X:38.26, Y:328.27, Z:7.22 [[-5.24859539e-01 -8.51172776e-01 5.23154579e-03 3.82561796e+01] [ 8.51128725e-01 -5.24885603e-01 -8.66010155e-03 3.28266594e+02] [ 1.01172057e-02 -9.26180110e-05 9.99948816e-01 7.21549742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.092755096 meters 0.014176500431023784 Centerline is valid? [True, True] Translation: X:38.24, Y:328.29, Z:7.22 [[-5.24694260e-01 -8.51273927e-01 5.35114369e-03 3.82405428e+01] [ 8.51227928e-01 -5.24721539e-01 -8.84986500e-03 3.28288532e+02] [ 1.03415197e-02 -8.84304168e-05 9.99946521e-01 7.21530493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.122755096 meters 0.014288702020073903 Centerline is valid? [True, True] Translation: X:38.23, Y:328.31, Z:7.21 [[-5.24606534e-01 -8.51327364e-01 5.45009814e-03 3.82268720e+01] [ 8.51279731e-01 -5.24634837e-01 -9.00594801e-03 3.28309966e+02] [ 1.05263213e-02 -8.50210919e-05 9.99944593e-01 7.21484573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.152755096 meters 0.014275231702835076 Centerline is valid? [True, True] Translation: X:38.21, Y:328.33, Z:7.21 [[-5.25027938e-01 -8.51063998e-01 5.97787373e-03 3.82134139e+01] [ 8.51006768e-01 -5.25061960e-01 -9.87008693e-03 3.28332163e+02] [ 1.15388297e-02 -9.48603923e-05 9.99933421e-01 7.21408531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.182755096 meters 0.014581160413663533 Centerline is valid? [True, True] Translation: X:38.20, Y:328.35, Z:7.21 [[-5.25577316e-01 -8.50723939e-01 6.10443485e-03 3.82013844e+01] [ 8.50664342e-01 -5.25612756e-01 -1.00701319e-02 3.28354434e+02] [ 1.17754711e-02 -9.98078697e-05 9.99930662e-01 7.21410347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.212755096 meters 0.01478852357884596 Centerline is valid? [True, True] Translation: X:38.19, Y:328.38, Z:7.21 [[-5.26420224e-01 -8.50200395e-01 6.40594913e-03 3.81902793e+01] [ 8.50134850e-01 -5.26459187e-01 -1.05575385e-02 3.28376686e+02] [ 1.23484942e-02 -1.11781180e-04 9.99923748e-01 7.21391937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.242755096 meters 0.014504562374756004 Centerline is valid? [True, True] Translation: X:38.18, Y:328.40, Z:7.21 [[-5.27078224e-01 -8.49792090e-01 6.47694010e-03 3.81766126e+01] [ 8.49725175e-01 -5.27118005e-01 -1.06647234e-02 3.28398935e+02] [ 1.24769093e-02 -1.17524382e-04 9.99922153e-01 7.21469401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.272755096 meters 0.014960135352874765 Centerline is valid? [True, True] Translation: X:38.16, Y:328.42, Z:7.21 [[-5.27902278e-01 -8.49280096e-01 6.51953370e-03 3.81644216e+01] [ 8.49212378e-01 -5.27942519e-01 -1.07253779e-02 3.28421340e+02] [ 1.25507890e-02 -1.25482721e-04 9.99921228e-01 7.21467218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.302755096 meters 0.01499863929765513 Centerline is valid? [True, True] Translation: X:38.15, Y:328.44, Z:7.22 [[-5.29037667e-01 -8.48574221e-01 6.39828375e-03 3.81510969e+01] [ 8.48509060e-01 -5.29076340e-01 -1.05167603e-02 3.28443993e+02] [ 1.23094322e-02 -1.34760611e-04 9.99924227e-01 7.21558524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.332755096 meters 0.015240750095916602 Centerline is valid? [True, True] Translation: X:38.14, Y:328.47, Z:7.22 [[-5.29831881e-01 -8.48081840e-01 5.94734343e-03 3.81380421e+01] [ 8.48025602e-01 -5.29865243e-01 -9.76747014e-03 3.28465725e+02] [ 1.14349046e-02 -1.31617584e-04 9.99934611e-01 7.21640769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.362755096 meters 0.01493981900400226 Centerline is valid? [True, True] Translation: X:38.12, Y:328.49, Z:7.22 [[-5.31001893e-01 -8.47356163e-01 4.95207580e-03 3.81233989e+01] [ 8.47317199e-01 -5.31024971e-01 -8.12677617e-03 3.28488569e+02] [ 9.51594977e-03 -1.19354530e-04 9.99954715e-01 7.21886219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.392755096 meters 0.01501841351737238 Centerline is valid? [True, True] Translation: X:38.11, Y:328.51, Z:7.22 [[-5.31462370e-01 -8.47069987e-01 4.49288124e-03 3.81101958e+01] [ 8.47037954e-01 -5.31481349e-01 -7.36754037e-03 3.28510625e+02] [ 8.62870491e-03 -1.09929539e-04 9.99962766e-01 7.22028573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4227550960001 meters 0.015076506081338795 Centerline is valid? [True, True] Translation: X:38.10, Y:328.53, Z:7.22 [[-5.32029671e-01 -8.46714679e-01 4.32215663e-03 3.80963613e+01] [ 8.46685075e-01 -5.32047216e-01 -7.08123784e-03 3.28532947e+02] [ 8.29537943e-03 -1.07923128e-04 9.99965587e-01 7.22118794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.452755096 meters 0.015243567537991746 Centerline is valid? [True, True] Translation: X:38.08, Y:328.56, Z:7.22 [[-5.32859976e-01 -8.46193713e-01 4.05548075e-03 3.80825759e+01] [ 8.46167677e-01 -5.32875398e-01 -6.63879325e-03 3.28556224e+02] [ 7.77877102e-03 -1.05930485e-04 9.99969739e-01 7.22192663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.482755096 meters 0.015395287115102624 Centerline is valid? [True, True] Translation: X:38.07, Y:328.58, Z:7.22 [[-5.33360411e-01 -8.45878120e-01 4.10834170e-03 3.80693076e+01] [ 8.45851435e-01 -5.33376223e-01 -6.71979679e-03 3.28578554e+02] [ 7.87542085e-03 -1.09026862e-04 9.99968982e-01 7.22235971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.512755096 meters 0.01619845428815247 Centerline is valid? [True, True] Translation: X:38.06, Y:328.60, Z:7.22 [[-5.34763657e-01 -8.44990433e-01 4.35886344e-03 3.80577664e+01] [ 8.44960419e-01 -5.34781406e-01 -7.12304758e-03 3.28600705e+02] [ 8.34994618e-03 -1.26079894e-04 9.99965131e-01 7.22222570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5427550960001 meters 0.01576075998541339 Centerline is valid? [True, True] Translation: X:38.04, Y:328.62, Z:7.22 [[-5.35630398e-01 -8.44440117e-01 4.57886474e-03 3.80424432e+01] [ 8.44407029e-01 -5.35649951e-01 -7.47661264e-03 3.28623330e+02] [ 8.76622033e-03 -1.38275439e-04 9.99961566e-01 7.22203149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.572755096 meters 0.016386355535990594 Centerline is valid? [True, True] Translation: X:38.03, Y:328.65, Z:7.22 [[-5.36695946e-01 -8.43761285e-01 4.93508926e-03 3.80291346e+01] [ 8.43722886e-01 -5.36718613e-01 -8.05119382e-03 3.28646356e+02] [ 9.44203991e-03 -1.57195332e-04 9.99955411e-01 7.22110227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.602755096 meters 0.016940680030899765 Centerline is valid? [True, True] Translation: X:38.01, Y:328.67, Z:7.22 [[-5.38145220e-01 -8.42831845e-01 5.84842047e-03 3.80145028e+01] [ 8.42777963e-01 -5.38176961e-01 -9.53226633e-03 3.28669619e+02] [ 1.11815828e-02 -2.00823668e-04 9.99937464e-01 7.21954023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.632755096 meters 0.017341345906668665 Centerline is valid? [True, True] Translation: X:38.00, Y:328.69, Z:7.22 [[-5.38827650e-01 -8.42393107e-01 6.21425172e-03 3.80002054e+01] [ 8.42332344e-01 -5.38863439e-01 -1.01201217e-02 3.28693263e+02] [ 1.18737538e-02 -2.18536201e-04 9.99929481e-01 7.21899488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.662755096 meters 0.017866488475659647 Centerline is valid? [True, True] Translation: X:37.99, Y:328.72, Z:7.22 [[-5.39871253e-01 -8.41720664e-01 6.73460731e-03 3.79864250e+01] [ 8.41649363e-01 -5.39913199e-01 -1.09584264e-02 3.28717267e+02] [ 1.28600373e-02 -2.47961411e-04 9.99917276e-01 7.21827468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.692755096 meters 0.018139556893145694 Centerline is valid? [True, True] Translation: X:37.97, Y:328.74, Z:7.22 [[-5.40603639e-01 -8.41249206e-01 6.89050022e-03 3.79728326e+01] [ 8.41174652e-01 -5.40647487e-01 -1.12026801e-02 3.28739875e+02] [ 1.31495774e-02 -2.60095512e-04 9.99913507e-01 7.21835909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.722755096 meters 0.018358657123441494 Centerline is valid? [True, True] Translation: X:37.96, Y:328.76, Z:7.22 [[-5.41101584e-01 -8.40929196e-01 6.86757331e-03 3.79591958e+01] [ 8.40855238e-01 -5.41145100e-01 -1.11556863e-02 3.28762444e+02] [ 1.30974959e-02 -2.61724538e-04 9.99914190e-01 7.21839555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.752755096 meters 0.018801495576867923 Centerline is valid? [True, True] Translation: X:37.95, Y:328.78, Z:7.22 [[-5.41380016e-01 -8.40750065e-01 6.85620417e-03 3.79458542e+01] [ 8.40676452e-01 -5.41423366e-01 -1.11284746e-02 3.28784649e+02] [ 1.30683749e-02 -2.60884355e-04 9.99914571e-01 7.21874350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.782755096 meters 0.01862001549785197 Centerline is valid? [True, True] Translation: X:37.93, Y:328.81, Z:7.22 [[-5.41675062e-01 -8.40561343e-01 6.68995877e-03 3.79313052e+01] [ 8.40491347e-01 -5.41716313e-01 -1.08504437e-02 3.28806721e+02] [ 1.27445233e-02 -2.54562317e-04 9.99918753e-01 7.21926599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.812755096 meters 0.018325355843484655 Centerline is valid? [True, True] Translation: X:37.92, Y:328.83, Z:7.22 [[-5.41332574e-01 -8.40785396e-01 6.24202466e-03 3.79163846e+01] [ 8.40724573e-01 -5.41368512e-01 -1.01156437e-02 3.28828891e+02] [ 1.18843211e-02 -2.28103924e-04 9.99929353e-01 7.22024297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.842755096 meters 0.018144088757749678 Centerline is valid? [True, True] Translation: X:37.90, Y:328.85, Z:7.22 [[-5.41181011e-01 -8.40885646e-01 5.86883254e-03 3.79017741e+01] [ 8.40831972e-01 -5.41212792e-01 -9.50310341e-03 3.28850848e+02] [ 1.11673105e-02 -2.08197071e-04 9.99937622e-01 7.22124754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.872755096 meters 0.01820774898950587 Centerline is valid? [True, True] Translation: X:37.89, Y:328.87, Z:7.22 [[-5.41043181e-01 -8.40976907e-01 5.48801123e-03 3.78878386e+01] [ 8.40930053e-01 -5.41070981e-01 -8.87918018e-03 3.28872401e+02] [ 1.04365891e-02 -1.88986314e-04 9.99945519e-01 7.22235366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.902755096 meters 0.01680992320813534 Centerline is valid? [True, True] Translation: X:37.87, Y:328.89, Z:7.22 [[-5.40658153e-01 -8.41227772e-01 4.95956798e-03 3.78707692e+01] [ 8.41189579e-01 -5.40680876e-01 -8.01764827e-03 3.28893208e+02] [ 9.42621195e-03 -1.62870007e-04 9.99955559e-01 7.22413001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.932755096 meters 0.017914425227492828 Centerline is valid? [True, True] Translation: X:37.86, Y:328.92, Z:7.22 [[-5.40628713e-01 -8.41245575e-01 5.14565012e-03 3.78581335e+01] [ 8.41204532e-01 -5.40653176e-01 -8.31136604e-03 3.28915582e+02] [ 9.77391198e-03 -1.64818930e-04 9.99952221e-01 7.22376192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.962755096 meters 0.01621361189925031 Centerline is valid? [True, True] Translation: X:37.84, Y:328.94, Z:7.22 [[-5.39737457e-01 -8.41816429e-01 5.34590196e-03 3.78406513e+01] [ 8.41772225e-01 -5.39763908e-01 -8.62815201e-03 3.28936013e+02] [ 1.01488450e-02 -1.56905030e-04 9.99948487e-01 7.22360948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.992755096 meters 0.01752308567992214 Centerline is valid? [True, True] Translation: X:37.83, Y:328.96, Z:7.22 [[-5.39684885e-01 -8.41847446e-01 5.75350324e-03 3.78286933e+01] [ 8.41796333e-01 -5.39715528e-01 -9.27806495e-03 3.28958791e+02] [ 1.09159703e-02 -1.63953479e-04 9.99940406e-01 7.22268993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.022755096 meters 0.01658546534750666 Centerline is valid? [True, True] Translation: X:37.81, Y:328.98, Z:7.22 [[-5.39517128e-01 -8.41949535e-01 6.49988685e-03 3.78127914e+01] [ 8.41884412e-01 -5.39556251e-01 -1.04731983e-02 3.28979626e+02] [ 1.23249590e-02 -1.78316452e-04 9.99924029e-01 7.22153722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.052755096 meters 0.017511913317323474 Centerline is valid? [True, True] Translation: X:37.80, Y:329.00, Z:7.22 [[-5.39736503e-01 -8.41807282e-01 6.70874859e-03 3.78006213e+01] [ 8.41738015e-01 -5.39778164e-01 -1.08003205e-02 3.29001804e+02] [ 1.27130244e-02 -1.82318493e-04 9.99919170e-01 7.22056579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.082755096 meters 0.016396602961745454 Centerline is valid? [True, True] Translation: X:37.78, Y:329.02, Z:7.22 [[-5.40337428e-01 -8.41419788e-01 6.94299939e-03 3.77846751e+01] [ 8.41345697e-01 -5.40381998e-01 -1.11675409e-02 3.29022728e+02] [ 1.31484618e-02 -1.92777642e-04 9.99913537e-01 7.22118194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.112755096 meters 0.018814176922254667 Centerline is valid? [True, True] Translation: X:37.77, Y:329.05, Z:7.22 [[-5.41853537e-01 -8.40442357e-01 7.16863177e-03 3.77743316e+01] [ 8.40363420e-01 -5.41900911e-01 -1.15206368e-02 3.29047262e+02] [ 1.35671192e-02 -2.18241873e-04 9.99907939e-01 7.21962611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.142755096 meters 0.018355774676147456 Centerline is valid? [True, True] Translation: X:37.76, Y:329.07, Z:7.22 [[-5.42995776e-01 -8.39705053e-01 7.14218110e-03 3.77600630e+01] [ 8.39626760e-01 -5.43042697e-01 -1.14688258e-02 3.29069012e+02] [ 1.35089402e-02 -2.30757580e-04 9.99908724e-01 7.22066419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1727550960001 meters 0.01883000790971987 Centerline is valid? [True, True] Translation: X:37.75, Y:329.09, Z:7.22 [[-5.44915116e-01 -8.38464240e-01 6.72566571e-03 3.77471981e+01] [ 8.38394822e-01 -5.44956567e-01 -1.07918066e-02 3.29092713e+02] [ 1.27137396e-02 -2.41855243e-04 9.99919148e-01 7.22263842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.202755096 meters 0.017984291120649917 Centerline is valid? [True, True] Translation: X:37.73, Y:329.12, Z:7.22 [[-5.46014714e-01 -8.37749520e-01 6.60867042e-03 3.77312864e+01] [ 8.37682544e-01 -5.46054650e-01 -1.05959954e-02 3.29115426e+02] [ 1.24854853e-02 -2.49601541e-04 9.99922022e-01 7.22402535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.232755096 meters 0.017984291120649917 Centerline is valid? [True, True] Translation: X:37.72, Y:329.14, Z:7.22 [[-5.46314959e-01 -8.37553724e-01 6.61246938e-03 3.77169495e+01] [ 8.37486763e-01 -5.46354918e-01 -1.05936245e-02 3.29138023e+02] [ 1.24854848e-02 -2.49599955e-04 9.99922022e-01 7.22421354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.262755096 meters 0.018237369832786947 Centerline is valid? [True, True] Translation: X:37.70, Y:329.16, Z:7.22 [[-5.46963239e-01 -8.37132473e-01 6.35904630e-03 3.77028633e+01] [ 8.37070613e-01 -5.47000149e-01 -1.01797060e-02 3.29161447e+02] [ 1.20001617e-02 -2.44954169e-04 9.99927966e-01 7.22491727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2927550960001 meters 0.018293857282419508 Centerline is valid? [True, True] Translation: X:37.69, Y:329.18, Z:7.23 [[-5.47374839e-01 -8.36865137e-01 6.12594857e-03 3.76879074e+01] [ 8.36807801e-01 -5.47409066e-01 -9.79894611e-03 3.29184579e+02] [ 1.15537962e-02 -2.37455005e-04 9.99933225e-01 7.22549915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.322755096 meters 0.02009283031376318 Centerline is valid? [True, True] Translation: X:37.68, Y:329.21, Z:7.23 [[-5.47656216e-01 -8.36681243e-01 6.09652507e-03 3.76765464e+01] [ 8.36624539e-01 -5.47690097e-01 -9.74365213e-03 3.29207328e+02] [ 1.14913374e-02 -2.35669178e-04 9.99933945e-01 7.22517910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.352755096 meters 0.01793603462129535 Centerline is valid? [True, True] Translation: X:37.66, Y:329.23, Z:7.23 [[-5.47311092e-01 -8.36907247e-01 6.06867128e-03 3.76589060e+01] [ 8.36851174e-01 -5.47344690e-01 -9.69035277e-03 3.29227904e+02] [ 1.14315815e-02 -2.25062874e-04 9.99934632e-01 7.22605878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.382755096 meters 0.019006565661197756 Centerline is valid? [True, True] Translation: X:37.65, Y:329.25, Z:7.23 [[-5.47109918e-01 -8.37036261e-01 6.40591965e-03 3.76467068e+01] [ 8.36973906e-01 -5.47147371e-01 -1.02193965e-02 3.29250569e+02] [ 1.20589875e-02 -2.29545568e-04 9.99927261e-01 7.22539325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.412755096 meters 0.017854376753200004 Centerline is valid? [True, True] Translation: X:37.63, Y:329.27, Z:7.23 [[-5.46671984e-01 -8.37319178e-01 6.80700008e-03 3.76303528e+01] [ 8.37248920e-01 -5.46714313e-01 -1.08492134e-02 3.29271158e+02] [ 1.28057389e-02 -2.31807570e-04 9.99917976e-01 7.22503883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.442755096 meters 0.017760593641558825 Centerline is valid? [True, True] Translation: X:37.62, Y:329.29, Z:7.22 [[-5.46419333e-01 -8.37483236e-01 6.90952669e-03 3.76151903e+01] [ 8.37410980e-01 -5.46462970e-01 -1.10033218e-02 3.29293449e+02] [ 1.29908980e-02 -2.26314257e-04 9.99915589e-01 7.22464423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.472755096 meters 0.017076574951992062 Centerline is valid? [True, True] Translation: X:37.60, Y:329.31, Z:7.22 [[-5.46152094e-01 -8.37656514e-01 7.03243011e-03 3.75988754e+01] [ 8.37581805e-01 -5.46197323e-01 -1.11894953e-02 3.29314883e+02] [ 1.32140482e-02 -2.20930800e-04 9.99912666e-01 7.22486816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.502755096 meters 0.016991258941777287 Centerline is valid? [True, True] Translation: X:37.58, Y:329.34, Z:7.22 [[-5.44848867e-01 -8.38504541e-01 7.06024800e-03 3.75841102e+01] [ 8.38429445e-01 -5.44894574e-01 -1.12236224e-02 3.29335109e+02] [ 1.32581491e-02 -1.95658122e-04 9.99912088e-01 7.22441706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.532755096 meters 0.01622336020766961 Centerline is valid? [True, True] Translation: X:37.57, Y:329.36, Z:7.22 [[-5.44315310e-01 -8.38850813e-01 7.08217900e-03 3.75677299e+01] [ 8.38775408e-01 -5.44361351e-01 -1.12487652e-02 3.29356616e+02] [ 1.32913004e-02 -1.82517556e-04 9.99911650e-01 7.22495035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.562755096 meters 0.01586273470114328 Centerline is valid? [True, True] Translation: X:37.55, Y:329.38, Z:7.22 [[-5.43291845e-01 -8.39510865e-01 7.44844357e-03 3.75513180e+01] [ 8.39427655e-01 -5.43342875e-01 -1.18208309e-02 3.29378052e+02] [ 1.39707747e-02 -1.69731521e-04 9.99902390e-01 7.22463996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.592755096 meters 0.015809461528910607 Centerline is valid? [True, True] Translation: X:37.54, Y:329.40, Z:7.22 [[-5.43206651e-01 -8.39566632e-01 7.37594346e-03 3.75366281e+01] [ 8.39485178e-01 -5.43256702e-01 -1.16957578e-02 3.29399200e+02] [ 1.38263987e-02 -1.61218228e-04 9.99904398e-01 7.22450453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.622755096 meters 0.015712648991525486 Centerline is valid? [True, True] Translation: X:37.52, Y:329.42, Z:7.22 [[-5.43255441e-01 -8.39535234e-01 7.35646113e-03 3.75214827e+01] [ 8.39454352e-01 -5.43305224e-01 -1.16543827e-02 3.29421421e+02] [ 1.37810686e-02 -1.55893487e-04 9.99905024e-01 7.22447158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.652755096 meters 0.015712055379559643 Centerline is valid? [True, True] Translation: X:37.51, Y:329.44, Z:7.22 [[-5.43331570e-01 -8.39484805e-01 7.48782947e-03 3.75071912e+01] [ 8.39401150e-01 -5.43383141e-01 -1.18520468e-02 3.29443090e+02] [ 1.40183735e-02 -1.54298549e-04 9.99901726e-01 7.22458839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.682755096 meters 0.015397481791201418 Centerline is valid? [True, True] Translation: X:37.49, Y:329.47, Z:7.22 [[-5.43187920e-01 -8.39578449e-01 7.41026083e-03 3.74914152e+01] [ 8.39496662e-01 -5.43238444e-01 -1.17194951e-02 3.29465659e+02] [ 1.38649741e-02 -1.44998914e-04 9.99903866e-01 7.22493547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.712755096 meters 0.015516764761388132 Centerline is valid? [True, True] Translation: X:37.48, Y:329.49, Z:7.22 [[-5.42726597e-01 -8.39878496e-01 7.20786456e-03 3.74776567e+01] [ 8.39801273e-01 -5.42774443e-01 -1.13897024e-02 3.29487380e+02] [ 1.34782108e-02 -1.28320592e-04 9.99909157e-01 7.22478936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.742755096 meters 0.01539182246446988 Centerline is valid? [True, True] Translation: X:37.46, Y:329.51, Z:7.23 [[-5.42548275e-01 -8.39995475e-01 6.99800504e-03 3.74632163e+01] [ 8.39922820e-01 -5.42593392e-01 -1.10484115e-02 3.29509499e+02] [ 1.30776870e-02 -1.16512490e-04 9.99914477e-01 7.22513642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.772755096 meters 0.015156489765942076 Centerline is valid? [True, True] Translation: X:37.45, Y:329.53, Z:7.23 [[-5.42340556e-01 -8.40129182e-01 7.04828896e-03 3.74485135e+01] [ 8.40055617e-01 -5.42386343e-01 -1.11182465e-02 3.29531496e+02] [ 1.31636590e-02 -1.08921245e-04 9.99913349e-01 7.22600512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.802755096 meters 0.015262221530169163 Centerline is valid? [True, True] Translation: X:37.43, Y:329.55, Z:7.23 [[-5.42428991e-01 -8.40074802e-01 6.71681799e-03 3.74347763e+01] [ 8.40008104e-01 -5.42470567e-01 -1.05862649e-02 3.29553168e+02] [ 1.25369305e-02 -1.00115453e-04 9.99921405e-01 7.22641351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.832755096 meters 0.015149781189392697 Centerline is valid? [True, True] Translation: X:37.42, Y:329.58, Z:7.23 [[-5.42496082e-01 -8.40035522e-01 6.19052668e-03 3.74208139e+01] [ 8.39978959e-01 -5.42531394e-01 -9.74858092e-03 3.29575247e+02] [ 1.15477093e-02 -8.86547971e-05 9.99933319e-01 7.22789499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.862755096 meters 0.015270121513938995 Centerline is valid? [True, True] Translation: X:37.41, Y:329.60, Z:7.23 [[-5.42946068e-01 -8.39746831e-01 5.90144415e-03 3.74069453e+01] [ 8.39695495e-01 -5.42978133e-01 -9.28564627e-03 3.29597308e+02] [ 1.10019472e-02 -8.61890667e-05 9.99939473e-01 7.22842677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.892755096 meters 0.015393602253597689 Centerline is valid? [True, True] Translation: X:37.39, Y:329.62, Z:7.23 [[-5.43705895e-01 -8.39258852e-01 5.33657299e-03 3.73930242e+01] [ 8.39216917e-01 -5.43732077e-01 -8.39014147e-03 3.29620095e+02] [ 9.94316642e-03 -8.32270430e-05 9.99950562e-01 7.22954417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9227550960001 meters 0.015613002626213806 Centerline is valid? [True, True] Translation: X:37.38, Y:329.64, Z:7.23 [[-5.44658995e-01 -8.38641595e-01 5.18207717e-03 3.73791649e+01] [ 8.38602092e-01 -5.44683639e-01 -8.14029650e-03 3.29642864e+02] [ 9.64938390e-03 -8.79849543e-05 9.99953440e-01 7.23004280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.952755096 meters 0.01576783888225151 Centerline is valid? [True, True] Translation: X:37.37, Y:329.67, Z:7.23 [[-5.45334926e-01 -8.38202223e-01 5.18182368e-03 3.73653689e+01] [ 8.38162772e-01 -5.45359537e-01 -8.13283967e-03 3.29665807e+02] [ 9.64292125e-03 -9.19098132e-05 9.99953502e-01 7.23049617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.982755096 meters 0.016277521443320432 Centerline is valid? [True, True] Translation: X:37.35, Y:329.69, Z:7.23 [[-5.47106266e-01 -8.37047015e-01 5.19883445e-03 3.73522777e+01] [ 8.37007321e-01 -5.47130955e-01 -8.15247656e-03 3.29688994e+02] [ 9.66844943e-03 -1.08808512e-04 9.99953254e-01 7.23091446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.012755096 meters 0.016663583121162822 Centerline is valid? [True, True] Translation: X:37.34, Y:329.71, Z:7.23 [[-5.48092421e-01 -8.36401468e-01 5.22334024e-03 3.73392692e+01] [ 8.36361438e-01 -5.48117297e-01 -8.18371993e-03 3.29710615e+02] [ 9.70787849e-03 -1.16834507e-04 9.99952871e-01 7.23128078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0427550960001 meters 0.016975661020303207 Centerline is valid? [True, True] Translation: X:37.33, Y:329.73, Z:7.23 [[-5.48947607e-01 -8.35839381e-01 5.39013476e-03 3.73255512e+01] [ 8.35796804e-01 -5.48974055e-01 -8.43740605e-03 3.29733039e+02] [ 1.00113604e-02 -1.26636460e-04 9.99949877e-01 7.23215507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.072755096 meters 0.01696709241441764 Centerline is valid? [True, True] Translation: X:37.31, Y:329.75, Z:7.23 [[-5.49454053e-01 -8.35506440e-01 5.40663867e-03 3.73109432e+01] [ 8.35463658e-01 -5.49480638e-01 -8.45600567e-03 3.29754688e+02] [ 1.00358905e-02 -1.29136464e-04 9.99949631e-01 7.23274934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.102755096 meters 0.017221007785596116 Centerline is valid? [True, True] Translation: X:37.30, Y:329.78, Z:7.23 [[-5.49727976e-01 -8.35326428e-01 5.37687513e-03 3.72974270e+01] [ 8.35284180e-01 -5.49754256e-01 -8.40214893e-03 3.29776503e+02] [ 9.97449704e-03 -1.27677590e-04 9.99950245e-01 7.23306885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.132755096 meters 0.017349077096508698 Centerline is valid? [True, True] Translation: X:37.28, Y:329.80, Z:7.23 [[-5.50078628e-01 -8.35092641e-01 5.81234695e-03 3.72830796e+01] [ 8.35043350e-01 -5.50109318e-01 -9.07420590e-03 3.29798520e+02] [ 1.07752288e-02 -1.37965063e-04 9.99941936e-01 7.23400122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.162755096 meters 0.01778134407084143 Centerline is valid? [True, True] Translation: X:37.27, Y:329.82, Z:7.23 [[-5.50362887e-01 -8.34903289e-01 6.09835946e-03 3.72694985e+01] [ 8.34849112e-01 -5.50396654e-01 -9.51226045e-03 3.29820571e+02] [ 1.12983342e-02 -1.43985146e-04 9.99936161e-01 7.23430204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.192755096 meters 0.017206915514781006 Centerline is valid? [True, True] Translation: X:37.25, Y:329.84, Z:7.24 [[-5.50154475e-01 -8.35035526e-01 6.76200220e-03 3.72539658e+01] [ 8.34969044e-01 -5.50196009e-01 -1.05379397e-02 3.29842595e+02] [ 1.25199807e-02 -1.51432201e-04 9.99921611e-01 7.23548542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.222755096 meters 0.017447340700182515 Centerline is valid? [True, True] Translation: X:37.24, Y:329.86, Z:7.24 [[-5.50298134e-01 -8.34937592e-01 7.15408692e-03 3.72404121e+01] [ 8.34863297e-01 -5.50344613e-01 -1.11392207e-02 3.29864050e+02] [ 1.32377673e-02 -1.57207755e-04 9.99912365e-01 7.23579316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.252755096 meters 0.017649364304008226 Centerline is valid? [True, True] Translation: X:37.23, Y:329.89, Z:7.24 [[-5.50357557e-01 -8.34892843e-01 7.77818549e-03 3.72265903e+01] [ 8.34805180e-01 -5.50412494e-01 -1.20994946e-02 3.29885853e+02] [ 1.43829919e-02 -1.65778771e-04 9.99896546e-01 7.23642433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.282755096 meters 0.017615846615780275 Centerline is valid? [True, True] Translation: X:37.21, Y:329.91, Z:7.24 [[-5.50458732e-01 -8.34822192e-01 8.19096882e-03 3.72118824e+01] [ 8.34725144e-01 -5.50519644e-01 -1.27300680e-02 3.29907509e+02] [ 1.51366325e-02 -1.70169467e-04 9.99885420e-01 7.23712551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.312755096 meters 0.017689930465058696 Centerline is valid? [True, True] Translation: X:37.20, Y:329.93, Z:7.24 [[-5.50520751e-01 -8.34777542e-01 8.56497454e-03 3.71973691e+01] [ 8.34671609e-01 -5.50587347e-01 -1.32995678e-02 3.29929787e+02] [ 1.58179471e-02 -1.72746964e-04 9.99874874e-01 7.23749266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.342755096 meters 0.01764517732217943 Centerline is valid? [True, True] Translation: X:37.18, Y:329.95, Z:7.24 [[-5.50521629e-01 -8.34775830e-01 8.67464635e-03 3.71827720e+01] [ 8.34667355e-01 -5.50589943e-01 -1.34581651e-02 3.29952013e+02] [ 1.60107240e-02 -1.68566849e-04 9.99871806e-01 7.23801483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.372755096 meters 0.017780981261550977 Centerline is valid? [True, True] Translation: X:37.17, Y:329.97, Z:7.24 [[-5.50246016e-01 -8.34954788e-01 8.93437691e-03 3.71689842e+01] [ 8.34839919e-01 -5.50318522e-01 -1.38504176e-02 3.29973109e+02] [ 1.64812256e-02 -1.62362637e-04 9.99864162e-01 7.23930116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.402755096 meters 0.01773579834912265 Centerline is valid? [True, True] Translation: X:37.15, Y:329.99, Z:7.24 [[-5.50141342e-01 -8.35023314e-01 8.97602520e-03 3.71541717e+01] [ 8.34907560e-01 -5.50214541e-01 -1.39041598e-02 3.29994458e+02] [ 1.65490372e-02 -1.55101851e-04 9.99863043e-01 7.24035732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.432755096 meters 0.017538844760353292 Centerline is valid? [True, True] Translation: X:37.14, Y:330.01, Z:7.24 [[-5.49774890e-01 -8.35270836e-01 8.37866424e-03 3.71387610e+01] [ 8.35170173e-01 -5.49838716e-01 -1.29679603e-02 3.30014306e+02] [ 1.54386730e-02 -1.31848491e-04 9.99880808e-01 7.24228045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.462755096 meters 0.017556281306227686 Centerline is valid? [True, True] Translation: X:37.12, Y:330.04, Z:7.24 [[-5.50134764e-01 -8.35036875e-01 8.07215098e-03 3.71237669e+01] [ 8.34943577e-01 -5.50193968e-01 -1.24828378e-02 3.30035459e+02] [ 1.48648786e-02 -1.27452421e-04 9.99889504e-01 7.24301258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.492755096 meters 0.017568653013710495 Centerline is valid? [True, True] Translation: X:37.11, Y:330.06, Z:7.24 [[-5.50366782e-01 -8.34885513e-01 7.91108059e-03 3.71086483e+01] [ 8.34796036e-01 -5.50423623e-01 -1.22235286e-02 3.30056643e+02] [ 1.45596926e-02 -1.23285380e-04 9.99893994e-01 7.24382886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.522755096 meters 0.017268667258095706 Centerline is valid? [True, True] Translation: X:37.09, Y:330.08, Z:7.25 [[-5.51131647e-01 -8.34385235e-01 7.42876478e-03 3.70912338e+01] [ 8.34306413e-01 -5.51181698e-01 -1.14693189e-02 3.30077956e+02] [ 1.36644295e-02 -1.23238502e-04 9.99906630e-01 7.24625571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.552755096 meters 0.017775618726613474 Centerline is valid? [True, True] Translation: X:37.08, Y:330.10, Z:7.25 [[-5.51638325e-01 -8.34050684e-01 7.39023084e-03 3.70769031e+01] [ 8.33972773e-01 -5.51687811e-01 -1.14006038e-02 3.30100533e+02] [ 1.35857817e-02 -1.25758676e-04 9.99907701e-01 7.24594296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.582755096 meters 0.01785457689112113 Centerline is valid? [True, True] Translation: X:37.06, Y:330.12, Z:7.25 [[-5.51863100e-01 -8.33901765e-01 7.41391577e-03 3.70623088e+01] [ 8.33823470e-01 -5.51912884e-01 -1.14275548e-02 3.30120879e+02] [ 1.36212937e-02 -1.24548827e-04 9.99907218e-01 7.24587463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.612755096 meters 0.017397231640083798 Centerline is valid? [True, True] Translation: X:37.04, Y:330.14, Z:7.25 [[-5.52117733e-01 -8.33733978e-01 7.32545727e-03 3.70445284e+01] [ 8.33657655e-01 -5.52166315e-01 -1.12816451e-02 3.30140322e+02] [ 1.34507616e-02 -1.21872763e-04 9.99909527e-01 7.24701334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.642755096 meters 0.017339794644328624 Centerline is valid? [True, True] Translation: X:37.03, Y:330.16, Z:7.25 [[-5.52144161e-01 -8.33717792e-01 7.17416495e-03 3.70285600e+01] [ 8.33644711e-01 -5.52190755e-01 -1.10392562e-02 3.30161890e+02] [ 1.31651319e-02 -1.14556186e-04 9.99913329e-01 7.24725849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6727550960001 meters 0.017413464745630026 Centerline is valid? [True, True] Translation: X:37.01, Y:330.18, Z:7.25 [[-5.52323140e-01 -8.33597277e-01 7.39794079e-03 3.70126805e+01] [ 8.33519692e-01 -5.52372670e-01 -1.13734713e-02 3.30181761e+02] [ 1.35673150e-02 -1.15502068e-04 9.99907953e-01 7.24735719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.702755096 meters 0.01750286700657147 Centerline is valid? [True, True] Translation: X:37.00, Y:330.20, Z:7.25 [[-5.52632421e-01 -8.33390584e-01 7.58566270e-03 3.69972107e+01] [ 8.33309135e-01 -5.52684468e-01 -1.16518513e-02 3.30203374e+02] [ 1.39030211e-02 -1.17988791e-04 9.99903341e-01 7.24702832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.732755096 meters 0.017385762682333147 Centerline is valid? [True, True] Translation: X:36.98, Y:330.22, Z:7.25 [[-5.53187189e-01 -8.33021818e-01 7.65404465e-03 3.69819058e+01] [ 8.32938998e-01 -5.53240125e-01 -1.17469433e-02 3.30224598e+02] [ 1.40199847e-02 -1.22906278e-04 9.99901708e-01 7.24709788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.762755096 meters 0.017673815160454635 Centerline is valid? [True, True] Translation: X:36.97, Y:330.25, Z:7.25 [[-5.54292562e-01 -8.32286071e-01 7.72340944e-03 3.69671172e+01] [ 8.32201817e-01 -5.54346351e-01 -1.18430957e-02 3.30245586e+02] [ 1.41382874e-02 -1.37104483e-04 9.99900040e-01 7.24688721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7927550960001 meters 0.017918491965105733 Centerline is valid? [True, True] Translation: X:36.95, Y:330.27, Z:7.25 [[-5.54938075e-01 -8.31854588e-01 7.85343230e-03 3.69528251e+01] [ 8.31767583e-01 -5.54993624e-01 -1.20318093e-02 3.30266898e+02] [ 1.43673207e-02 -1.44678709e-04 9.99896774e-01 7.24666303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.822755096 meters 0.0181785352606286 Centerline is valid? [True, True] Translation: X:36.94, Y:330.29, Z:7.25 [[-5.56720704e-01 -8.30663046e-01 7.80782498e-03 3.69369796e+01] [ 8.30577077e-01 -5.56775427e-01 -1.19517253e-02 3.30288282e+02] [ 1.42750617e-02 -1.68772498e-04 9.99898092e-01 7.24663884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.852755096 meters 0.018644558747123244 Centerline is valid? [True, True] Translation: X:36.92, Y:330.31, Z:7.25 [[-5.57893139e-01 -8.29876256e-01 7.78748622e-03 3.69233682e+01] [ 8.29790788e-01 -5.57947458e-01 -1.19113935e-02 3.30309147e+02] [ 1.42299908e-02 -1.83300376e-04 9.99898732e-01 7.24670284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.882755096 meters 0.018940522145092252 Centerline is valid? [True, True] Translation: X:36.91, Y:330.33, Z:7.25 [[-5.59165497e-01 -8.29020927e-01 7.63219460e-03 3.69088109e+01] [ 8.28938878e-01 -5.59217547e-01 -1.16649941e-02 3.30331050e+02] [ 1.39385813e-02 -1.96039380e-04 9.99902834e-01 7.24696079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.912755096 meters 0.018942867121632515 Centerline is valid? [True, True] Translation: X:36.89, Y:330.35, Z:7.25 [[-5.60385836e-01 -8.28197386e-01 7.53689489e-03 3.68931103e+01] [ 8.28117432e-01 -5.60436478e-01 -1.15097047e-02 3.30352762e+02] [ 1.37562582e-02 -2.08441434e-04 9.99905357e-01 7.24753386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.942755096 meters 0.019682240041943157 Centerline is valid? [True, True] Translation: X:36.88, Y:330.37, Z:7.25 [[-5.62356078e-01 -8.26862657e-01 7.33405168e-03 3.68786417e+01] [ 8.26786957e-01 -5.62403853e-01 -1.11907582e-02 3.30374156e+02] [ 1.33779190e-02 -2.29492633e-04 9.99910485e-01 7.24753612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.972755096 meters 0.019817965245752682 Centerline is valid? [True, True] Translation: X:36.86, Y:330.40, Z:7.25 [[-5.63581863e-01 -8.26029115e-01 7.16826126e-03 3.68629289e+01] [ 8.25956850e-01 -5.63627398e-01 -1.09288019e-02 3.30395850e+02] [ 1.30677370e-02 -2.38600050e-04 9.99914585e-01 7.24811902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.002755096 meters 0.020268641303459116 Centerline is valid? [True, True] Translation: X:36.85, Y:330.42, Z:7.25 [[-5.65397529e-01 -8.24792901e-01 6.50422812e-03 3.68462316e+01] [ 8.24733414e-01 -5.65434890e-01 -9.90865883e-03 3.30417704e+02] [ 1.18503090e-02 -2.38076960e-04 9.99929754e-01 7.24889484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.032755096 meters 0.02067272257021209 Centerline is valid? [True, True] Translation: X:36.83, Y:330.44, Z:7.25 [[-5.66439310e-01 -8.24079254e-01 6.31605521e-03 3.68310691e+01] [ 8.24023203e-01 -5.66474471e-01 -9.61429898e-03 3.30438873e+02] [ 1.15008284e-02 -2.41340829e-04 9.99933834e-01 7.24909598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.062755096 meters 0.02067542276827331 Centerline is valid? [True, True] Translation: X:36.81, Y:330.46, Z:7.25 [[-5.67263363e-01 -8.23513936e-01 6.08888649e-03 3.68149325e+01] [ 8.23461896e-01 -5.67295990e-01 -9.26094314e-03 3.30460658e+02] [ 1.10807166e-02 -2.39427737e-04 9.99938578e-01 7.24900163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.092755096 meters 0.02097590717321829 Centerline is valid? [True, True] Translation: X:36.80, Y:330.48, Z:7.25 [[-5.68056971e-01 -8.22968842e-01 5.79336265e-03 3.67983013e+01] [ 8.22921776e-01 -5.68086464e-01 -8.80454605e-03 3.30481907e+02] [ 1.05369980e-02 -2.33999476e-04 9.99944457e-01 7.24859488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.122755096 meters 0.02088144385232646 Centerline is valid? [True, True] Translation: X:36.78, Y:330.50, Z:7.25 [[-5.68511915e-01 -8.22655644e-01 5.64748718e-03 3.67817322e+01] [ 8.22610976e-01 -5.68539918e-01 -8.57577750e-03 3.30503397e+02] [ 1.02657337e-02 -2.29746750e-04 9.99947280e-01 7.24869504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.152755096 meters 0.02088144385232646 Centerline is valid? [True, True] Translation: X:36.77, Y:330.53, Z:7.25 [[-5.68808925e-01 -8.22450289e-01 5.65058068e-03 3.67668481e+01] [ 8.22405631e-01 -5.68836945e-01 -8.57373896e-03 3.30525624e+02] [ 1.02657331e-02 -2.29749873e-04 9.99947280e-01 7.24888324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.182755096 meters 0.021111562453655065 Centerline is valid? [True, True] Translation: X:36.75, Y:330.55, Z:7.25 [[-5.68834645e-01 -8.22436202e-01 5.08324496e-03 3.67513107e+01] [ 8.22400115e-01 -5.68857321e-01 -7.70709418e-03 3.30545360e+02] [ 9.23023438e-03 -2.03600940e-04 9.99957380e-01 7.24851012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.212755096 meters 0.020907286702408684 Centerline is valid? [True, True] Translation: X:36.74, Y:330.57, Z:7.25 [[-5.68903842e-01 -8.22389709e-01 4.85651734e-03 3.67351910e+01] [ 8.22356824e-01 -5.68924538e-01 -7.35695775e-03 3.30566160e+02] [ 8.81327823e-03 -1.91611352e-04 9.99961144e-01 7.24857046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.242755096 meters 0.02055422236356982 Centerline is valid? [True, True] Translation: X:36.72, Y:330.59, Z:7.25 [[-5.68718290e-01 -8.22519956e-01 4.51986839e-03 3.67177036e+01] [ 8.22491521e-01 -5.68736224e-01 -6.84143756e-03 3.30586811e+02] [ 8.19783180e-03 -1.73297244e-04 9.99966382e-01 7.24829594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.272755096 meters 0.02165401085968721 Centerline is valid? [True, True] Translation: X:36.70, Y:330.61, Z:7.25 [[-5.68722926e-01 -8.22517493e-01 4.38265805e-03 3.67044664e+01] [ 8.22490803e-01 -5.68739788e-01 -6.62812856e-03 3.30609061e+02] [ 7.94434370e-03 -1.64872727e-04 9.99968430e-01 7.24780647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.302755096 meters 0.02043524598652613 Centerline is valid? [True, True] Translation: X:36.69, Y:330.63, Z:7.25 [[-5.69063368e-01 -8.22283398e-01 4.11055246e-03 3.66873276e+01] [ 8.22259953e-01 -5.69078193e-01 -6.21134524e-03 3.30628942e+02] [ 7.44671184e-03 -1.54706364e-04 9.99972261e-01 7.24833620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.332755096 meters 0.02043385891920623 Centerline is valid? [True, True] Translation: X:36.67, Y:330.65, Z:7.25 [[-5.69300766e-01 -8.22122107e-01 3.44663955e-03 3.66714381e+01] [ 8.22105644e-01 -5.69311184e-01 -5.20439288e-03 3.30650683e+02] [ 6.24085689e-03 -1.29363026e-04 9.99980517e-01 7.24869582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.362755096 meters 0.020321999686152562 Centerline is valid? [True, True] Translation: X:36.66, Y:330.67, Z:7.25 [[-5.69428323e-01 -8.22034219e-01 3.33598248e-03 3.66559410e+01] [ 8.22018819e-01 -5.69438081e-01 -5.03313197e-03 3.30672367e+02] [ 6.03704217e-03 -1.23767518e-04 9.99981769e-01 7.24848251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.392755096 meters 0.020374735356307818 Centerline is valid? [True, True] Translation: X:36.64, Y:330.69, Z:7.25 [[-5.70061744e-01 -8.21596913e-01 2.84951289e-03 3.66401034e+01] [ 8.21585688e-01 -5.70068856e-01 -4.29609553e-03 3.30694153e+02] [ 5.15407738e-03 -1.07920706e-04 9.99986712e-01 7.24865911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4227550960001 meters 0.020524221278145037 Centerline is valid? [True, True] Translation: X:36.63, Y:330.72, Z:7.25 [[-5.70609500e-01 -8.21216415e-01 2.89789087e-03 3.66255283e+01] [ 8.21204819e-01 -5.70616848e-01 -4.36568217e-03 3.30715785e+02] [ 5.23875521e-03 -1.11337770e-04 9.99986271e-01 7.24885100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.452755096 meters 0.02236416549101406 Centerline is valid? [True, True] Translation: X:36.61, Y:330.74, Z:7.25 [[-5.71523390e-01 -8.20581416e-01 2.67469664e-03 3.66138845e+01] [ 8.20571545e-01 -5.71529639e-01 -4.02643164e-03 3.30738796e+02] [ 4.83268338e-03 -1.06419909e-04 9.99988317e-01 7.24973377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.482755096 meters 0.022591971761970083 Centerline is valid? [True, True] Translation: X:36.60, Y:330.76, Z:7.25 [[-5.73194899e-01 -8.19415389e-01 2.45526237e-03 3.65987076e+01] [ 8.19407073e-01 -5.73200148e-01 -3.69303636e-03 3.30761223e+02] [ 4.43348758e-03 -1.04970250e-04 9.99990167e-01 7.25044034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.512755096 meters 0.022731635318025214 Centerline is valid? [True, True] Translation: X:36.58, Y:330.78, Z:7.25 [[-5.74152155e-01 -8.18744734e-01 2.52252898e-03 3.65838194e+01] [ 8.18735965e-01 -5.74157686e-01 -3.79108092e-03 3.30783327e+02] [ 4.55225694e-03 -1.11372085e-04 9.99989632e-01 7.25060877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5427550960001 meters 0.022512450569798868 Centerline is valid? [True, True] Translation: X:36.57, Y:330.80, Z:7.25 [[-5.74995913e-01 -8.18152293e-01 2.55444447e-03 3.65688513e+01] [ 8.18143311e-01 -5.75001576e-01 -3.83538702e-03 3.30803704e+02] [ 4.60674028e-03 -1.15430208e-04 9.99989382e-01 7.25056060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.572755096 meters 0.02138138891425995 Centerline is valid? [True, True] Translation: X:36.55, Y:330.82, Z:7.25 [[-5.75210949e-01 -8.17999750e-01 2.96196030e-03 3.65505931e+01] [ 8.17987702e-01 -5.75218560e-01 -4.44154971e-03 3.30824862e+02] [ 5.33696109e-03 -1.31980919e-04 9.99985750e-01 7.25066843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.602755096 meters 0.02265492908573596 Centerline is valid? [True, True] Translation: X:36.54, Y:330.85, Z:7.25 [[-5.75206591e-01 -8.18001976e-01 3.18510960e-03 3.65379426e+01] [ 8.17988066e-01 -5.75215393e-01 -4.77246861e-03 3.30847172e+02] [ 5.73601282e-03 -1.39773757e-04 9.99983539e-01 7.25074608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.632755096 meters 0.02112940963778706 Centerline is valid? [True, True] Translation: X:36.52, Y:330.87, Z:7.25 [[-5.74382258e-01 -8.18579525e-01 3.54734889e-03 3.65206629e+01] [ 8.18562317e-01 -5.74393193e-01 -5.30975605e-03 3.30867267e+02] [ 6.38403064e-03 -1.46103546e-04 9.99979611e-01 7.25065602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.662755096 meters 0.022520207356962 Centerline is valid? [True, True] Translation: X:36.51, Y:330.89, Z:7.25 [[-5.73917062e-01 -8.18903782e-01 3.97513284e-03 3.65081352e+01] [ 8.18882221e-01 -5.73930807e-01 -5.94443927e-03 3.30889855e+02] [ 7.14937500e-03 -1.56449510e-04 9.99974431e-01 7.25098900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.692755096 meters 0.020509287237950355 Centerline is valid? [True, True] Translation: X:36.49, Y:330.91, Z:7.25 [[-5.73273987e-01 -8.19354761e-01 3.83551778e-03 3.64896945e+01] [ 8.19334733e-01 -5.73286800e-01 -5.73067352e-03 3.30909885e+02] [ 6.89430635e-03 -1.42673125e-04 9.99976224e-01 7.25164988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.722755096 meters 0.020588270623206048 Centerline is valid? [True, True] Translation: X:36.47, Y:330.93, Z:7.25 [[-5.71228456e-01 -8.20780392e-01 4.19514228e-03 3.64744347e+01] [ 8.20756514e-01 -5.71243845e-01 -6.26219284e-03 3.30930722e+02] [ 7.53633430e-03 -1.33952393e-04 9.99971592e-01 7.25233284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.752755096 meters 0.020869916791373355 Centerline is valid? [True, True] Translation: X:36.46, Y:330.95, Z:7.25 [[-5.70575939e-01 -8.21233417e-01 4.33275010e-03 3.64607484e+01] [ 8.21207992e-01 -5.70592374e-01 -6.46348754e-03 3.30951831e+02] [ 7.78026613e-03 -1.29821465e-04 9.99969725e-01 7.25255559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.782755096 meters 0.019650870672540677 Centerline is valid? [True, True] Translation: X:36.44, Y:330.97, Z:7.25 [[-5.69513195e-01 -8.21969272e-01 4.60830207e-03 3.64440221e+01] [ 8.21940590e-01 -5.69531825e-01 -6.86783865e-03 3.30971635e+02] [ 8.26972703e-03 -1.23574203e-04 9.99965798e-01 7.25285205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.812755096 meters 0.019471365022209672 Centerline is valid? [True, True] Translation: X:36.43, Y:330.99, Z:7.25 [[-5.69383944e-01 -8.22058653e-01 4.63645271e-03 3.64290482e+01] [ 8.22029676e-01 -5.69402808e-01 -6.90325035e-03 3.30993449e+02] [ 8.31488587e-03 -1.19298190e-04 9.99965424e-01 7.25307524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.842755096 meters 0.019813922979575686 Centerline is valid? [True, True] Translation: X:36.42, Y:331.01, Z:7.25 [[-5.69352149e-01 -8.22078664e-01 4.98006827e-03 3.64152257e+01] [ 8.22045291e-01 -5.69373916e-01 -7.40839107e-03 3.31014737e+02] [ 8.92580120e-03 -1.24141712e-04 9.99960157e-01 7.25270374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.872755096 meters 0.018804673278187457 Centerline is valid? [True, True] Translation: X:36.40, Y:331.04, Z:7.25 [[-5.69015090e-01 -8.22310992e-01 5.14398050e-03 3.63985955e+01] [ 8.22275456e-01 -5.69038328e-01 -7.64565245e-03 3.31036774e+02] [ 9.21422611e-03 -1.20722700e-04 9.99957541e-01 7.25274021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.902755096 meters 0.018777215767080413 Centerline is valid? [True, True] Translation: X:36.38, Y:331.06, Z:7.25 [[-5.69008538e-01 -8.22315178e-01 5.19911651e-03 3.63846215e+01] [ 8.22278933e-01 -5.69032278e-01 -7.72161400e-03 3.31058428e+02] [ 9.30806550e-03 -1.18540321e-04 9.99956672e-01 7.25251138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.932755096 meters 0.018619239434128892 Centerline is valid? [True, True] Translation: X:36.37, Y:331.08, Z:7.25 [[-5.69239058e-01 -8.22156997e-01 4.97668143e-03 3.63694132e+01] [ 8.22123826e-01 -5.69260801e-01 -7.38614338e-03 3.31080623e+02] [ 8.90559912e-03 -1.13032916e-04 9.99960338e-01 7.25257703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.962755096 meters 0.018794424721498136 Centerline is valid? [True, True] Translation: X:36.36, Y:331.10, Z:7.25 [[-5.68837956e-01 -8.22437746e-01 4.41973579e-03 3.63555231e+01] [ 8.22411630e-01 -5.68855119e-01 -6.55482131e-03 3.31102162e+02] [ 7.90512179e-03 -9.37890494e-05 9.99968750e-01 7.25261450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.992755096 meters 0.01871161277127211 Centerline is valid? [True, True] Translation: X:36.34, Y:331.12, Z:7.25 [[-5.68910921e-01 -8.22388813e-01 4.12367691e-03 3.63410854e+01] [ 8.22366115e-01 -5.68925860e-01 -6.11055544e-03 3.31123693e+02] [ 7.37131886e-03 -8.51895635e-05 9.99972828e-01 7.25317948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.022755096 meters 0.018848455029286216 Centerline is valid? [True, True] Translation: X:36.33, Y:331.15, Z:7.25 [[-5.68903393e-01 -8.22398013e-01 3.23073765e-03 3.63278459e+01] [ 8.22384098e-01 -5.68912563e-01 -4.78444232e-03 3.31145055e+02] [ 5.77272309e-03 -6.49781970e-05 9.99983336e-01 7.25382681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.052755096 meters 0.01863414049839137 Centerline is valid? [True, True] Translation: X:36.31, Y:331.17, Z:7.25 [[-5.68925298e-01 -8.22383406e-01 3.08842515e-03 3.63131919e+01] [ 8.22370711e-01 -5.68933678e-01 -4.56985652e-03 3.31166848e+02] [ 5.51528325e-03 -6.00765954e-05 9.99984789e-01 7.25363648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.082755096 meters 0.018742771402347338 Centerline is valid? [True, True] Translation: X:36.30, Y:331.19, Z:7.25 [[-5.69049250e-01 -8.22298967e-01 2.71303946e-03 3.62985968e+01] [ 8.22289183e-01 -5.69055715e-01 -4.01161404e-03 3.31189246e+02] [ 4.84261669e-03 -5.19029577e-05 9.99988273e-01 7.25370261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.112755096 meters 0.01891615342374753 Centerline is valid? [True, True] Translation: X:36.29, Y:331.21, Z:7.25 [[-5.68800103e-01 -8.22471466e-01 2.67026806e-03 3.62851483e+01] [ 8.22462007e-01 -5.68806369e-01 -3.94481037e-03 3.31210331e+02] [ 4.76335945e-03 -4.76145169e-05 9.99988654e-01 7.25325269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.142755096 meters 0.018820847780270447 Centerline is valid? [True, True] Translation: X:36.27, Y:331.23, Z:7.25 [[-5.68851449e-01 -8.22436238e-01 2.58149043e-03 3.62699390e+01] [ 8.22427407e-01 -5.68857305e-01 -3.81152906e-03 3.31231791e+02] [ 4.60323931e-03 -4.51053514e-05 9.99989404e-01 7.25295033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1727550960001 meters 0.01887884646963652 Centerline is valid? [True, True] Translation: X:36.26, Y:331.25, Z:7.25 [[-5.68789717e-01 -8.22478564e-01 2.69603567e-03 3.62557953e+01] [ 8.22468949e-01 -5.68796105e-01 -3.97736345e-03 3.31252576e+02] [ 4.80479077e-03 -4.48778083e-05 9.99988456e-01 7.25259193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.202755096 meters 0.01886279916473304 Centerline is valid? [True, True] Translation: X:36.24, Y:331.28, Z:7.25 [[-5.68809005e-01 -8.22465802e-01 2.51413960e-03 3.62414677e+01] [ 8.22457454e-01 -5.68814560e-01 -3.70589522e-03 3.31275342e+02] [ 4.47805129e-03 -4.01737208e-05 9.99989973e-01 7.25229915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.232755096 meters 0.01887484819281167 Centerline is valid? [True, True] Translation: X:36.23, Y:331.30, Z:7.25 [[-5.69005868e-01 -8.22330191e-01 2.31947251e-03 3.62270361e+01] [ 8.22323094e-01 -5.69010594e-01 -3.41650026e-03 3.31297800e+02] [ 4.12929574e-03 -3.66528840e-05 9.99991474e-01 7.25250781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.262755096 meters 0.019198890989765936 Centerline is valid? [True, True] Translation: X:36.22, Y:331.32, Z:7.25 [[-5.69277914e-01 -8.22142738e-01 1.99393987e-03 3.62151881e+01] [ 8.22137498e-01 -5.69281405e-01 -2.93532902e-03 3.31320115e+02] [ 3.54837232e-03 -3.17252446e-05 9.99993704e-01 7.25277803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2927550960001 meters 0.019153188865057888 Centerline is valid? [True, True] Translation: X:36.20, Y:331.34, Z:7.25 [[-5.69948516e-01 -8.21678117e-01 1.93954604e-03 3.62013722e+01] [ 8.21673165e-01 -5.69951815e-01 -2.85273568e-03 3.31342627e+02] [ 3.44947827e-03 -3.22395316e-05 9.99994050e-01 7.25291436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.322755096 meters 0.019466684236685225 Centerline is valid? [True, True] Translation: X:36.19, Y:331.36, Z:7.25 [[-5.70883942e-01 -8.21029104e-01 1.65389797e-03 3.61879505e+01] [ 8.21025504e-01 -5.70886337e-01 -2.43129978e-03 3.31364892e+02] [ 2.94035563e-03 -3.00975885e-05 9.99995677e-01 7.25337651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.352755096 meters 0.019780897010629392 Centerline is valid? [True, True] Translation: X:36.18, Y:331.39, Z:7.25 [[-5.72088987e-01 -8.20190169e-01 1.50911093e-03 3.61762722e+01] [ 8.20187175e-01 -5.72090977e-01 -2.21644355e-03 3.31387960e+02] [ 2.68125395e-03 -3.02495134e-05 9.99996405e-01 7.25323356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.382755096 meters 0.019613344563487498 Centerline is valid? [True, True] Translation: X:36.16, Y:331.41, Z:7.25 [[-5.73095310e-01 -8.19487573e-01 1.37242129e-03 3.61619944e+01] [ 8.19485095e-01 -5.73096952e-01 -2.01551253e-03 3.31410227e+02] [ 2.43821793e-03 -3.04019896e-05 9.99997027e-01 7.25314135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.412755096 meters 0.020912852865049358 Centerline is valid? [True, True] Translation: X:36.15, Y:331.43, Z:7.25 [[-5.74091689e-01 -8.18789304e-01 1.67587436e-03 3.61505156e+01] [ 8.18785615e-01 -5.74094134e-01 -2.45806023e-03 3.31433424e+02] [ 2.97474307e-03 -3.89701299e-05 9.99995575e-01 7.25301961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.442755096 meters 0.020491262600580012 Centerline is valid? [True, True] Translation: X:36.14, Y:331.46, Z:7.25 [[-5.75950329e-01 -8.17484218e-01 8.79189067e-04 3.61386367e+01] [ 8.17483200e-01 -5.75950999e-01 -1.29040507e-03 3.31457643e+02] [ 1.56125560e-03 -2.44869298e-05 9.99998781e-01 7.25438087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.472755096 meters 0.020534501876121262 Centerline is valid? [True, True] Translation: X:36.13, Y:331.48, Z:7.25 [[-5.76954087e-01 -8.16776168e-01 8.20876211e-04 3.61256340e+01] [ 8.16775280e-01 -5.76954670e-01 -1.20458394e-03 3.31480150e+02] [ 1.45748381e-03 -2.45182281e-05 9.99998938e-01 7.25491159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.502755096 meters 0.020862064917205003 Centerline is valid? [True, True] Translation: X:36.11, Y:331.50, Z:7.26 [[-5.77744864e-01 -8.16217206e-01 5.87242213e-04 3.61130154e+01] [ 8.16216751e-01 -5.77745162e-01 -8.62408092e-04 3.31502528e+02] [ 1.04318867e-03 -1.89349148e-05 9.99999456e-01 7.25546654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.532755096 meters 0.021049544586170064 Centerline is valid? [True, True] Translation: X:36.10, Y:331.53, Z:7.25 [[-5.78815298e-01 -8.15458420e-01 6.45202492e-04 3.61001153e+01] [ 8.15457871e-01 -5.78815657e-01 -9.46051420e-04 3.31525470e+02] [ 1.14491890e-03 -2.14535844e-05 9.99999344e-01 7.25465049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.562755096 meters 0.02120722625110966 Centerline is valid? [True, True] Translation: X:36.09, Y:331.55, Z:7.25 [[-5.79188267e-01 -8.15193383e-01 8.36429772e-04 3.60872142e+01] [ 8.15192465e-01 -5.79188870e-01 -1.22410625e-03 3.31547369e+02] [ 1.48233413e-03 -2.71367323e-05 9.99998901e-01 7.25458430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.592755096 meters 0.0210623440800853 Centerline is valid? [True, True] Translation: X:36.07, Y:331.57, Z:7.25 [[-5.79629371e-01 -8.14879489e-01 1.10040945e-03 3.60747680e+01] [ 8.14877905e-01 -5.79630414e-01 -1.60722350e-03 3.31570297e+02] [ 1.94752425e-03 -3.48945988e-05 9.99998103e-01 7.25412244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.622755096 meters 0.021169786470415647 Centerline is valid? [True, True] Translation: X:36.06, Y:331.59, Z:7.25 [[-5.80147115e-01 -8.14510945e-01 1.11613428e-03 3.60609606e+01] [ 8.14509317e-01 -5.80148188e-01 -1.62875601e-03 3.31593326e+02] [ 1.97416287e-03 -3.58163307e-05 9.99998051e-01 7.25401504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.652755096 meters 0.021534218644050706 Centerline is valid? [True, True] Translation: X:36.05, Y:331.62, Z:7.25 [[-5.80950574e-01 -8.13937928e-01 1.21632670e-03 3.60484488e+01] [ 8.13935998e-01 -5.80951846e-01 -1.77319744e-03 3.31615900e+02] [ 2.14989989e-03 -4.01279870e-05 9.99997688e-01 7.25422507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.682755096 meters 0.021347234479065096 Centerline is valid? [True, True] Translation: X:36.04, Y:331.64, Z:7.25 [[-5.81576512e-01 -8.13490804e-01 1.21325292e-03 3.60356809e+01] [ 8.13488886e-01 -5.81577777e-01 -1.76708390e-03 3.31639587e+02] [ 2.14310743e-03 -4.07267264e-05 9.99997703e-01 7.25338680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.712755096 meters 0.021591751190172443 Centerline is valid? [True, True] Translation: X:36.02, Y:331.66, Z:7.25 [[-5.81819283e-01 -8.13316510e-01 1.60523935e-03 3.60231318e+01] [ 8.13313161e-01 -5.81821495e-01 -2.33462951e-03 3.31661652e+02] [ 2.83275549e-03 -5.27701796e-05 9.99995986e-01 7.25311925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.742755096 meters 0.021488949096350483 Centerline is valid? [True, True] Translation: X:36.01, Y:331.68, Z:7.25 [[-5.82160889e-01 -8.13071585e-01 1.81569062e-03 3.60101324e+01] [ 8.13067309e-01 -5.82163718e-01 -2.63761048e-03 3.31684715e+02] [ 3.20159533e-03 -5.92349785e-05 9.99994873e-01 7.25252369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.772755096 meters 0.02155899895588284 Centerline is valid? [True, True] Translation: X:36.00, Y:331.71, Z:7.25 [[-5.82373511e-01 -8.12918471e-01 2.15732829e-03 3.59969905e+01] [ 8.12912446e-01 -5.82377503e-01 -3.13055812e-03 3.31706429e+02] [ 3.80126798e-03 -6.94351088e-05 9.99992773e-01 7.25229256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.802755096 meters 0.021045307363496187 Centerline is valid? [True, True] Translation: X:35.98, Y:331.73, Z:7.25 [[-5.82480120e-01 -8.12841216e-01 2.46307834e-03 3.59835465e+01] [ 8.12833378e-01 -5.82485323e-01 -3.57047963e-03 3.31729696e+02] [ 4.33693999e-03 -7.76611235e-05 9.99990592e-01 7.25139494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.832755096 meters 0.022112052963709584 Centerline is valid? [True, True] Translation: X:35.97, Y:331.75, Z:7.25 [[-5.82956061e-01 -8.12500135e-01 2.40036940e-03 3.59717610e+01] [ 8.12492701e-01 -5.82960998e-01 -3.47641945e-03 3.31752543e+02] [ 4.22391302e-03 -7.63171714e-05 9.99991076e-01 7.25159844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.862755096 meters 0.021364057142041117 Centerline is valid? [True, True] Translation: X:35.96, Y:331.77, Z:7.25 [[-5.83279635e-01 -8.12267521e-01 2.51821933e-03 3.59561963e+01] [ 8.12259347e-01 -5.83285066e-01 -3.64486704e-03 3.31774076e+02] [ 4.42944685e-03 -8.05295269e-05 9.99990187e-01 7.25143843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.892755096 meters 0.02225127865503531 Centerline is valid? [True, True] Translation: X:35.94, Y:331.80, Z:7.25 [[-5.83844820e-01 -8.11860724e-01 2.71861918e-03 3.59444612e+01] [ 8.11851212e-01 -5.83851143e-01 -3.93100981e-03 3.31796620e+02] [ 4.77870139e-03 -8.79854349e-05 9.99988578e-01 7.25189593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9227550960001 meters 0.02129225347134618 Centerline is valid? [True, True] Translation: X:35.93, Y:331.82, Z:7.25 [[-5.84707034e-01 -8.11240322e-01 2.61241618e-03 3.59297277e+01] [ 8.11231541e-01 -5.84712864e-01 -3.77551509e-03 3.31818448e+02] [ 4.59036342e-03 -8.82958252e-05 9.99989460e-01 7.25209003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.952755096 meters 0.021396102238163198 Centerline is valid? [True, True] Translation: X:35.92, Y:331.84, Z:7.25 [[-5.85252664e-01 -8.10846241e-01 2.77358658e-03 3.59152541e+01] [ 8.10836357e-01 -5.85259228e-01 -4.00479422e-03 3.31840630e+02] [ 4.87053948e-03 -9.48916515e-05 9.99988134e-01 7.25218188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.982755096 meters 0.02139549703011174 Centerline is valid? [True, True] Translation: X:35.90, Y:331.86, Z:7.25 [[-5.85299766e-01 -8.10811485e-01 2.98657895e-03 3.59016782e+01] [ 8.10800044e-01 -5.85307377e-01 -4.30840648e-03 3.31862375e+02] [ 5.24137215e-03 -1.00190959e-04 9.99986259e-01 7.25207706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.012755096 meters 0.021146364090954623 Centerline is valid? [True, True] Translation: X:35.89, Y:331.88, Z:7.25 [[-5.84795047e-01 -8.11175133e-01 3.10765876e-03 3.58858134e+01] [ 8.11162774e-01 -5.84803296e-01 -4.47889428e-03 3.31883288e+02] [ 5.45053675e-03 -9.84180907e-05 9.99985141e-01 7.25222339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0427550960001 meters 0.020611619099335506 Centerline is valid? [True, True] Translation: X:35.87, Y:331.90, Z:7.25 [[-5.83901415e-01 -8.11819029e-01 3.00043803e-03 3.58691242e+01] [ 8.11807534e-01 -5.83909117e-01 -4.32100288e-03 3.31903672e+02] [ 5.25985548e-03 -8.72614971e-05 9.99986163e-01 7.25234151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.072755096 meters 0.020611619099335506 Centerline is valid? [True, True] Translation: X:35.85, Y:331.92, Z:7.25 [[-5.84213500e-01 -8.11594464e-01 3.00209819e-03 3.58541107e+01] [ 8.11582972e-01 -5.84221207e-01 -4.31984898e-03 3.31924822e+02] [ 5.25985494e-03 -8.72623168e-05 9.99986163e-01 7.25252379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.102755096 meters 0.019779245681213056 Centerline is valid? [True, True] Translation: X:35.84, Y:331.95, Z:7.25 [[-5.82220589e-01 -8.13024644e-01 3.18033625e-03 3.58360381e+01] [ 8.13011791e-01 -5.82229270e-01 -4.57223917e-03 3.31945099e+02] [ 5.56902797e-03 -7.64009141e-05 9.99984490e-01 7.25262592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.132755096 meters 0.01932070023996937 Centerline is valid? [True, True] Translation: X:35.82, Y:331.97, Z:7.25 [[-5.81123118e-01 -8.13809349e-01 3.20379152e-03 3.58187732e+01] [ 8.13796338e-01 -5.81131946e-01 -4.60240617e-03 3.31965812e+02] [ 5.60730677e-03 -6.73308200e-05 9.99984277e-01 7.25285262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.162755096 meters 0.01897563968943938 Centerline is valid? [True, True] Translation: X:35.80, Y:331.98, Z:7.25 [[-5.79749058e-01 -8.14789404e-01 3.04263650e-03 3.58011244e+01] [ 8.14777699e-01 -5.79757040e-01 -4.36759146e-03 3.31984583e+02] [ 5.32265717e-03 -5.30346657e-05 9.99985833e-01 7.25264235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.192755096 meters 0.01897633119592567 Centerline is valid? [True, True] Translation: X:35.79, Y:332.01, Z:7.25 [[-5.79773920e-01 -8.14771611e-01 3.06989730e-03 3.57859183e+01] [ 8.14759716e-01 -5.79782045e-01 -4.40288452e-03 3.32005056e+02] [ 5.36721664e-03 -5.14489666e-05 9.99985595e-01 7.25303577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.222755096 meters 0.01883570216198169 Centerline is valid? [True, True] Translation: X:35.77, Y:332.03, Z:7.25 [[-5.79869493e-01 -8.14702986e-01 3.22719453e-03 3.57702091e+01] [ 8.14689864e-01 -5.79878471e-01 -4.62428547e-03 3.32025991e+02] [ 5.63879981e-03 -5.23194039e-05 9.99984101e-01 7.25308508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.252755096 meters 0.018938030548947504 Centerline is valid? [True, True] Translation: X:35.75, Y:332.05, Z:7.25 [[-5.81095660e-01 -8.13829375e-01 3.09547029e-03 3.57548692e+01] [ 8.13817308e-01 -5.81103902e-01 -4.43216381e-03 3.32047738e+02] [ 5.40581497e-03 -5.63638585e-05 9.99985387e-01 7.25328990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.282755096 meters 0.019546145137602368 Centerline is valid? [True, True] Translation: X:35.74, Y:332.07, Z:7.25 [[-5.82134875e-01 -8.13086597e-01 3.02882870e-03 3.57413648e+01] [ 8.13075051e-01 -5.82142751e-01 -4.33336247e-03 3.32069491e+02] [ 5.28660961e-03 -5.99363715e-05 9.99986024e-01 7.25359621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.312755096 meters 0.01977952912084796 Centerline is valid? [True, True] Translation: X:35.73, Y:332.09, Z:7.25 [[-5.83121506e-01 -8.12380673e-01 2.63654547e-03 3.57263701e+01] [ 8.12371930e-01 -5.83127464e-01 -3.76943048e-03 3.32091708e+02] [ 4.59965454e-03 -5.61804402e-05 9.99989420e-01 7.25394123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.342755096 meters 0.020460116591411597 Centerline is valid? [True, True] Translation: X:35.71, Y:332.11, Z:7.25 [[-5.85405245e-01 -8.10736932e-01 2.51542735e-03 3.57124725e+01] [ 8.10728970e-01 -5.85410645e-01 -3.59350596e-03 3.32114823e+02] [ 4.38594595e-03 -6.43274115e-05 9.99990380e-01 7.25352979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.372755096 meters 0.021469363094600482 Centerline is valid? [True, True] Translation: X:35.70, Y:332.14, Z:7.25 [[-5.87149025e-01 -8.09474136e-01 2.76506160e-03 3.56992251e+01] [ 8.09464518e-01 -5.87155530e-01 -3.94675803e-03 3.32136987e+02] [ 4.81831975e-03 -7.91158712e-05 9.99988389e-01 7.25299187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.402755096 meters 0.023215072486440853 Centerline is valid? [True, True] Translation: X:35.69, Y:332.16, Z:7.25 [[-5.90348846e-01 -8.07142381e-01 3.06860792e-03 3.56878126e+01] [ 8.07130520e-01 -5.90356812e-01 -4.37712720e-03 3.32160221e+02] [ 5.34453846e-03 -1.07264890e-04 9.99985712e-01 7.25217837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.432755096 meters 0.023400924694392568 Centerline is valid? [True, True] Translation: X:35.67, Y:332.18, Z:7.25 [[-5.92021278e-01 -8.05917073e-01 2.91157889e-03 3.56732185e+01] [ 8.05906396e-01 -5.92028427e-01 -4.15002797e-03 3.32182437e+02] [ 5.06831586e-03 -1.10444810e-04 9.99987150e-01 7.25263297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.462755096 meters 0.024320358069477063 Centerline is valid? [True, True] Translation: X:35.66, Y:332.20, Z:7.25 [[-5.93516546e-01 -8.04816300e-01 2.97198702e-03 3.56602222e+01] [ 8.04805179e-01 -5.93523974e-01 -4.23277875e-03 3.32204700e+02] [ 5.17055488e-03 -1.20353677e-04 9.99986625e-01 7.25280682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.492755096 meters 0.026106101373947522 Centerline is valid? [True, True] Translation: X:35.65, Y:332.23, Z:7.25 [[-5.95226116e-01 -8.03552890e-01 2.93665467e-03 3.56489135e+01] [ 8.03542033e-01 -5.95233346e-01 -4.17913767e-03 3.32227248e+02] [ 5.10615294e-03 -1.27806419e-04 9.99986955e-01 7.25365776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.522755096 meters 0.023866766318884056 Centerline is valid? [True, True] Translation: X:35.63, Y:332.25, Z:7.25 [[-5.96164587e-01 -8.02857985e-01 2.61560950e-03 3.56296496e+01] [ 8.02849378e-01 -5.96170313e-01 -3.71952811e-03 3.32247532e+02] [ 4.54560158e-03 -1.17510476e-04 9.99989662e-01 7.25415575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.552755096 meters 0.025707547741586075 Centerline is valid? [True, True] Translation: X:35.62, Y:332.27, Z:7.25 [[-5.96222668e-01 -8.02814685e-01 2.66691016e-03 3.56174935e+01] [ 8.02805748e-01 -5.96228621e-01 -3.78983647e-03 3.32269975e+02] [ 4.63262454e-03 -1.18575605e-04 9.99989262e-01 7.25485423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.582755096 meters 0.02358617884743544 Centerline is valid? [True, True] Translation: X:35.60, Y:332.29, Z:7.25 [[-5.95039805e-01 -8.03692146e-01 2.56219865e-03 3.55973453e+01] [ 8.03683920e-01 -5.95045312e-01 -3.63784244e-03 3.32289321e+02] [ 4.44832970e-03 -1.05463202e-04 9.99990101e-01 7.25417764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.612755096 meters 0.023416283241214773 Centerline is valid? [True, True] Translation: X:35.58, Y:332.31, Z:7.25 [[-5.94041129e-01 -8.04429907e-01 2.76816424e-03 3.55807407e+01] [ 8.04420327e-01 -5.94047569e-01 -3.92719296e-03 3.32310184e+02] [ 4.80357270e-03 -1.06146549e-04 9.99988457e-01 7.25392229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.642755096 meters 0.020665674354409594 Centerline is valid? [True, True] Translation: X:35.56, Y:332.33, Z:7.25 [[-5.90915414e-01 -8.06727896e-01 3.01241506e-03 3.55590033e+01] [ 8.06716601e-01 -5.90923085e-01 -4.27011256e-03 3.32327852e+02] [ 5.22492452e-03 -9.31100950e-05 9.99986346e-01 7.25361966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6727550960001 meters 0.020109755547807022 Centerline is valid? [True, True] Translation: X:35.54, Y:332.35, Z:7.25 [[-5.89754978e-01 -8.07575138e-01 3.38564689e-03 3.55417520e+01] [ 8.07560907e-01 -5.89764689e-01 -4.79515435e-03 3.32348238e+02] [ 5.86918242e-03 -9.38500754e-05 9.99982772e-01 7.25304401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.702755096 meters 0.019560356008135805 Centerline is valid? [True, True] Translation: X:35.52, Y:332.37, Z:7.25 [[-5.88303418e-01 -8.08631467e-01 3.77361960e-03 3.55248657e+01] [ 8.08613841e-01 -5.88315513e-01 -5.33973078e-03 3.32367818e+02] [ 6.53795328e-03 -8.99808300e-05 9.99978623e-01 7.25269829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.732755096 meters 0.018582382138373963 Centerline is valid? [True, True] Translation: X:35.51, Y:332.39, Z:7.25 [[-5.85848738e-01 -8.10409478e-01 4.21123843e-03 3.55054782e+01] [ 8.10387614e-01 -5.85863869e-01 -5.95332763e-03 3.32387059e+02] [ 7.29184558e-03 -7.50140205e-05 9.99973411e-01 7.25195482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.762755096 meters 0.01835470460151633 Centerline is valid? [True, True] Translation: X:35.49, Y:332.41, Z:7.25 [[-5.85353916e-01 -8.10767122e-01 4.17949549e-03 3.54889294e+01] [ 8.10745626e-01 -5.85368833e-01 -5.90418264e-03 3.32407830e+02] [ 7.23346356e-03 -6.75287412e-05 9.99973836e-01 7.25181326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7927550960001 meters 0.018082206157659084 Centerline is valid? [True, True] Translation: X:35.47, Y:332.43, Z:7.25 [[-5.85131732e-01 -8.10927645e-01 4.14858925e-03 3.54727855e+01] [ 8.10906505e-01 -5.85146435e-01 -5.85578161e-03 3.32428475e+02] [ 7.17614740e-03 -6.22856240e-05 9.99974249e-01 7.25227860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.822755096 meters 0.01809577317021498 Centerline is valid? [True, True] Translation: X:35.46, Y:332.45, Z:7.25 [[-5.85151122e-01 -8.10912433e-01 4.38077937e-03 3.54583654e+01] [ 8.10888900e-01 -5.85167517e-01 -6.17809282e-03 3.32449604e+02] [ 7.57338206e-03 -6.27925785e-05 9.99971320e-01 7.25245445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.852755096 meters 0.01782227941061168 Centerline is valid? [True, True] Translation: X:35.44, Y:332.47, Z:7.25 [[-5.85322742e-01 -8.10788113e-01 4.46357341e-03 3.54426151e+01] [ 8.10763722e-01 -5.85339758e-01 -6.28931878e-03 3.32470973e+02] [ 7.71201188e-03 -6.23779248e-05 9.99970260e-01 7.25295252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.882755096 meters 0.018077187898612877 Centerline is valid? [True, True] Translation: X:35.43, Y:332.49, Z:7.25 [[-5.85610354e-01 -8.10582225e-01 4.11955573e-03 3.54296224e+01] [ 8.10561475e-01 -5.85624841e-01 -5.80008969e-03 3.32492523e+02] [ 7.11396377e-03 -5.74394018e-05 9.99974694e-01 7.25408561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.912755096 meters 0.01792579724621544 Centerline is valid? [True, True] Translation: X:35.41, Y:332.51, Z:7.25 [[-5.85614130e-01 -8.10580598e-01 3.89679992e-03 3.54132042e+01] [ 8.10562063e-01 -5.85627092e-01 -5.48192973e-03 3.32513328e+02] [ 6.72561749e-03 -5.16973237e-05 9.99977381e-01 7.25472002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.942755096 meters 0.01800454338017203 Centerline is valid? [True, True] Translation: X:35.40, Y:332.53, Z:7.26 [[-5.85595501e-01 -8.10595315e-01 3.62562394e-03 3.53984689e+01] [ 8.10579293e-01 -5.85606722e-01 -5.09663846e-03 3.32533780e+02] [ 6.25450101e-03 -4.57128589e-05 9.99980439e-01 7.25537079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.972755096 meters 0.017762751699102946 Centerline is valid? [True, True] Translation: X:35.38, Y:332.55, Z:7.26 [[-5.85321269e-01 -8.10796264e-01 2.90359539e-03 3.53817165e+01] [ 8.10786003e-01 -5.85328470e-01 -4.07908678e-03 3.32554599e+02] [ 5.00686537e-03 -3.33817482e-05 9.99987465e-01 7.25632545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.002755096 meters 0.017737124351234097 Centerline is valid? [True, True] Translation: X:35.37, Y:332.58, Z:7.26 [[-5.85489124e-01 -8.10675831e-01 2.68003961e-03 3.53658962e+01] [ 8.10667101e-01 -5.85495257e-01 -3.76240260e-03 3.32575904e+02] [ 4.61923933e-03 -3.02258558e-05 9.99989331e-01 7.25726863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.032755096 meters 0.01775746574420667 Centerline is valid? [True, True] Translation: X:35.35, Y:332.60, Z:7.26 [[-5.86158440e-01 -8.10193367e-01 2.23408745e-03 3.53516580e+01] [ 8.10187303e-01 -5.86162697e-01 -3.13467906e-03 3.32596699e+02] [ 3.84923490e-03 -2.73893027e-05 9.99992591e-01 7.25845680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.062755096 meters 0.017899342201201873 Centerline is valid? [True, True] Translation: X:35.34, Y:332.62, Z:7.26 [[-5.86700593e-01 -8.09801302e-01 2.06554440e-03 3.53373870e+01] [ 8.09796123e-01 -5.86704228e-01 -2.89610724e-03 3.32617835e+02] [ 3.55713505e-03 -2.64779866e-05 9.99993673e-01 7.25930845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.092755096 meters 0.017970842841208114 Centerline is valid? [True, True] Translation: X:35.32, Y:332.64, Z:7.26 [[-5.87162958e-01 -8.09466762e-01 1.79520790e-03 3.53219107e+01] [ 8.09462853e-01 -5.87165702e-01 -2.51552813e-03 3.32639469e+02] [ 3.09032092e-03 -2.38708276e-05 9.99995225e-01 7.25997539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.122755096 meters 0.01808494476434488 Centerline is valid? [True, True] Translation: X:35.31, Y:332.66, Z:7.26 [[-5.87471980e-01 -8.09242915e-01 1.60555090e-03 3.53068924e+01] [ 8.09239793e-01 -5.87474174e-01 -2.24786425e-03 3.32660140e+02] [ 2.76228790e-03 -2.12815854e-05 9.99996185e-01 7.26050684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.152755096 meters 0.017951140190300915 Centerline is valid? [True, True] Translation: X:35.29, Y:332.68, Z:7.26 [[-5.87525737e-01 -8.09203330e-01 1.86539494e-03 3.52904624e+01] [ 8.09199121e-01 -5.87528698e-01 -2.60984714e-03 3.32681206e+02] [ 3.20787005e-03 -2.38764223e-05 9.99994855e-01 7.26028394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.182755096 meters 0.01784144835296717 Centerline is valid? [True, True] Translation: X:35.27, Y:332.70, Z:7.26 [[-5.87455415e-01 -8.09252871e-01 2.43440863e-03 3.52746256e+01] [ 8.09245721e-01 -5.87460459e-01 -3.40197829e-03 3.32700664e+02] [ 4.18317951e-03 -2.84757993e-05 9.99991250e-01 7.25928258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.212755096 meters 0.017668235257454 Centerline is valid? [True, True] Translation: X:35.26, Y:332.72, Z:7.26 [[-5.87744834e-01 -8.09041692e-01 2.74774401e-03 3.52583420e+01] [ 8.09032598e-01 -5.87751256e-01 -3.83613056e-03 3.32721305e+02] [ 4.71857956e-03 -3.16514454e-05 9.99988867e-01 7.25867327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.242755096 meters 0.017663674417370306 Centerline is valid? [True, True] Translation: X:35.24, Y:332.74, Z:7.26 [[-5.88469712e-01 -8.08514157e-01 2.87344914e-03 3.52429219e+01] [ 8.08504222e-01 -5.88476726e-01 -4.00810468e-03 3.32742252e+02] [ 4.93156732e-03 -3.54524402e-05 9.99987839e-01 7.25874900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.272755096 meters 0.017798695881693066 Centerline is valid? [True, True] Translation: X:35.23, Y:332.76, Z:7.26 [[-5.89171195e-01 -8.08002073e-01 3.15499755e-03 3.52279144e+01] [ 8.07990111e-01 -5.89179641e-01 -4.39680481e-03 3.32762590e+02] [ 5.41148772e-03 -4.12639232e-05 9.99985357e-01 7.25828631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.302755096 meters 0.017792903524143096 Centerline is valid? [True, True] Translation: X:35.21, Y:332.78, Z:7.26 [[-5.89741745e-01 -8.07584463e-01 3.46548007e-03 3.52124227e+01] [ 8.07570051e-01 -5.89751925e-01 -4.82483666e-03 3.32783763e+02] [ 5.94023667e-03 -4.67896675e-05 9.99982356e-01 7.25808596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.332755096 meters 0.017911414701675094 Centerline is valid? [True, True] Translation: X:35.20, Y:332.81, Z:7.26 [[-5.90325470e-01 -8.07158606e-01 3.29002607e-03 3.51964953e+01] [ 8.07145630e-01 -5.90334636e-01 -4.57712038e-03 3.32805265e+02] [ 5.63667845e-03 -4.64605804e-05 9.99984113e-01 7.25848940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.362755096 meters 0.017851404475773203 Centerline is valid? [True, True] Translation: X:35.18, Y:332.83, Z:7.26 [[-5.90676403e-01 -8.06900615e-01 3.57542242e-03 3.51799430e+01] [ 8.06885312e-01 -5.90687222e-01 -4.96978660e-03 3.32825985e+02] [ 6.12208020e-03 -5.05798405e-05 9.99981259e-01 7.25853365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.392755096 meters 0.017925451985399465 Centerline is valid? [True, True] Translation: X:35.16, Y:332.85, Z:7.26 [[-5.90899744e-01 -8.06735968e-01 3.81698833e-03 3.51643732e+01] [ 8.06718554e-01 -5.90912070e-01 -5.30094816e-03 3.32846700e+02] [ 6.53197002e-03 -5.30936054e-05 9.99978665e-01 7.25902131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4227550960001 meters 0.017791928498721476 Centerline is valid? [True, True] Translation: X:35.15, Y:332.87, Z:7.26 [[-5.90760139e-01 -8.06838244e-01 3.80877658e-03 3.51488105e+01] [ 8.06820935e-01 -5.90772415e-01 -5.28508551e-03 3.32867145e+02] [ 6.51432925e-03 -4.92171694e-05 9.99978780e-01 7.25975940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.452755096 meters 0.01775085776540942 Centerline is valid? [True, True] Translation: X:35.13, Y:332.89, Z:7.26 [[-5.90938900e-01 -8.06707268e-01 3.82119566e-03 3.51326355e+01] [ 8.06689873e-01 -5.90951252e-01 -5.29784842e-03 3.32888051e+02] [ 6.53195318e-03 -4.81848778e-05 9.99978665e-01 7.26015602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.482755096 meters 0.017808464482727535 Centerline is valid? [True, True] Translation: X:35.12, Y:332.91, Z:7.26 [[-5.91155031e-01 -8.06548451e-01 3.91485419e-03 3.51165679e+01] [ 8.06530219e-01 -5.91167992e-01 -5.42329581e-03 3.32908731e+02] [ 6.68848732e-03 -4.85603973e-05 9.99977631e-01 7.26031136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.512755096 meters 0.017747441854428676 Centerline is valid? [True, True] Translation: X:35.10, Y:332.93, Z:7.26 [[-5.91235377e-01 -8.06489417e-01 3.94330642e-03 3.51001117e+01] [ 8.06470946e-01 -5.91248526e-01 -5.45837502e-03 3.32928219e+02] [ 6.73359579e-03 -4.70223518e-05 9.99977328e-01 7.26021523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5427550960001 meters 0.01781488264823488 Centerline is valid? [True, True] Translation: X:35.08, Y:332.95, Z:7.26 [[-5.91713364e-01 -8.06138947e-01 3.91063290e-03 3.50839260e+01] [ 8.06120804e-01 -5.91726284e-01 -5.40871941e-03 3.32949108e+02] [ 6.67420365e-03 -4.79690174e-05 9.99977726e-01 7.26055182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.572755096 meters 0.017923467690413537 Centerline is valid? [True, True] Translation: X:35.07, Y:332.97, Z:7.26 [[-5.92312577e-01 -8.05697116e-01 4.23896972e-03 3.50684392e+01] [ 8.05675822e-01 -5.92327743e-01 -5.85789864e-03 3.32969098e+02] [ 7.23055140e-03 -5.44716233e-05 9.99973858e-01 7.26104038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.602755096 meters 0.017970288590765417 Centerline is valid? [True, True] Translation: X:35.05, Y:332.99, Z:7.26 [[-5.93025463e-01 -8.05171859e-01 4.36776269e-03 3.50527221e+01] [ 8.05149275e-01 -5.93041545e-01 -6.03084167e-03 3.32989813e+02] [ 7.44612873e-03 -5.97417068e-05 9.99972275e-01 7.26114641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.632755096 meters 0.018132802638913745 Centerline is valid? [True, True] Translation: X:35.04, Y:333.01, Z:7.26 [[-5.93702626e-01 -8.04671098e-01 4.64922065e-03 3.50375100e+01] [ 8.04645540e-01 -5.93720826e-01 -6.41375600e-03 3.33010359e+02] [ 7.92130321e-03 -6.68891156e-05 9.99968624e-01 7.26136970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.662755096 meters 0.018382161627123184 Centerline is valid? [True, True] Translation: X:35.02, Y:333.03, Z:7.26 [[-5.94675756e-01 -8.03952103e-01 4.66488355e-03 3.50227063e+01] [ 8.03926393e-01 -5.94694048e-01 -6.42997254e-03 3.33031265e+02] [ 7.94356843e-03 -7.35257752e-05 9.99968447e-01 7.26164351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.692755096 meters 0.019001491203610922 Centerline is valid? [True, True] Translation: X:35.01, Y:333.05, Z:7.26 [[-5.96475679e-01 -8.02616205e-01 4.89812433e-03 3.50090669e+01] [ 8.02587863e-01 -5.96495783e-01 -6.74565433e-03 3.33052661e+02] [ 8.33588199e-03 -9.24436134e-05 9.99965252e-01 7.26213586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.722755096 meters 0.019358579963208233 Centerline is valid? [True, True] Translation: X:34.99, Y:333.07, Z:7.26 [[-5.97477067e-01 -8.01870535e-01 4.97991278e-03 3.49942880e+01] [ 8.01841259e-01 -5.97497812e-01 -6.85278640e-03 3.33073561e+02] [ 8.47053449e-03 -1.01283193e-04 9.99964119e-01 7.26217451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.752755096 meters 0.020103750599905847 Centerline is valid? [True, True] Translation: X:34.98, Y:333.09, Z:7.26 [[-5.99077421e-01 -8.00672693e-01 5.42975280e-03 3.49797652e+01] [ 8.00637899e-01 -5.99102014e-01 -7.46537949e-03 3.33094523e+02] [ 9.23030134e-03 -1.25074427e-04 9.99957392e-01 7.26181988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.782755096 meters 0.020730238460546342 Centerline is valid? [True, True] Translation: X:34.97, Y:333.11, Z:7.26 [[-6.00241876e-01 -7.99798185e-01 5.70562084e-03 3.49656254e+01] [ 7.99759788e-01 -6.00268976e-01 -7.83829073e-03 3.33114714e+02] [ 9.69395788e-03 -1.41744220e-04 9.99953002e-01 7.26181114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.812755096 meters 0.02127425441892811 Centerline is valid? [True, True] Translation: X:34.95, Y:333.14, Z:7.26 [[-6.01461052e-01 -7.98880239e-01 5.91331900e-03 3.49506203e+01] [ 7.98839018e-01 -6.01490099e-01 -8.11692043e-03 3.33135867e+02] [ 1.00412502e-02 -1.58221554e-04 9.99949573e-01 7.26146910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.842755096 meters 0.022756975187623388 Centerline is valid? [True, True] Translation: X:34.94, Y:333.16, Z:7.26 [[-6.03794696e-01 -7.97115228e-01 6.26717872e-03 3.49372475e+01] [ 7.97068903e-01 -6.03827190e-01 -8.59588463e-03 3.33157454e+02] [ 1.06362035e-02 -1.94776282e-04 9.99943415e-01 7.26122508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.872755096 meters 0.02319487072641637 Centerline is valid? [True, True] Translation: X:34.92, Y:333.18, Z:7.26 [[-6.04956978e-01 -7.96231509e-01 6.51457061e-03 3.49217297e+01] [ 7.96181477e-01 -6.04992016e-01 -8.92841478e-03 3.33179250e+02] [ 1.10503484e-02 -2.14526370e-04 9.99938920e-01 7.26112022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.902755096 meters 0.02388735378052963 Centerline is valid? [True, True] Translation: X:34.91, Y:333.20, Z:7.26 [[-6.05999734e-01 -7.95436696e-01 6.69217727e-03 3.49071716e+01] [ 7.95383928e-01 -6.06036641e-01 -9.16502250e-03 3.33200523e+02] [ 1.13458998e-02 -2.31150956e-04 9.99935607e-01 7.26062123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.932755096 meters 0.025079304521878697 Centerline is valid? [True, True] Translation: X:34.89, Y:333.22, Z:7.26 [[-6.07453010e-01 -7.94326278e-01 6.82672157e-03 3.48936575e+01] [ 7.94271379e-01 -6.07491317e-01 -9.34221895e-03 3.33221834e+02] [ 1.15679441e-02 -2.52689471e-04 9.99933057e-01 7.26050857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.962755096 meters 0.025079304521878697 Centerline is valid? [True, True] Translation: X:34.88, Y:333.24, Z:7.26 [[-6.07746211e-01 -7.94101941e-01 6.83008332e-03 3.48785696e+01] [ 7.94047055e-01 -6.07784537e-01 -9.33976089e-03 3.33241888e+02] [ 1.15679413e-02 -2.52796751e-04 9.99933057e-01 7.26068501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.992755096 meters 0.02531090236458405 Centerline is valid? [True, True] Translation: X:34.86, Y:333.26, Z:7.26 [[-6.08442558e-01 -7.93566506e-01 7.06076751e-03 3.48636988e+01] [ 7.93507905e-01 -6.08483467e-01 -9.64758673e-03 3.33262463e+02] [ 1.19523620e-02 -2.67227510e-04 9.99928532e-01 7.26086935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.022755096 meters 0.026157733461975665 Centerline is valid? [True, True] Translation: X:34.85, Y:333.28, Z:7.26 [[-6.09210745e-01 -7.92977998e-01 6.93992317e-03 3.48491697e+01] [ 7.92921434e-01 -6.09250213e-01 -9.47510055e-03 3.33282586e+02] [ 1.17416959e-02 -2.69519227e-04 9.99931028e-01 7.26141855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.052755096 meters 0.026406451895038673 Centerline is valid? [True, True] Translation: X:34.83, Y:333.30, Z:7.26 [[-6.09519848e-01 -7.92740315e-01 6.95326879e-03 3.48336900e+01] [ 7.92683605e-01 -6.09559448e-01 -9.48586486e-03 3.33302732e+02] [ 1.17582582e-02 -2.70080737e-04 9.99930833e-01 7.26175751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.082755096 meters 0.02654324993734672 Centerline is valid? [True, True] Translation: X:34.82, Y:333.32, Z:7.26 [[-6.09955905e-01 -7.92407919e-01 6.59419086e-03 3.48184736e+01] [ 7.92356973e-01 -6.09991494e-01 -8.98918065e-03 3.33322147e+02] [ 1.11454983e-02 -2.58050713e-04 9.99937854e-01 7.26237572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.112755096 meters 0.02164112480413926 Centerline is valid? [True, True] Translation: X:34.80, Y:333.34, Z:7.26 [[-6.09900845e-01 -7.92452187e-01 6.36321703e-03 3.47959261e+01] [ 7.92404825e-01 -6.09933989e-01 -8.66732440e-03 3.33338719e+02] [ 1.07495825e-02 -2.43964593e-04 9.99942192e-01 7.26462185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.142755096 meters 0.02178192333051338 Centerline is valid? [True, True] Translation: X:34.78, Y:333.36, Z:7.27 [[-6.09748988e-01 -7.92568744e-01 6.39984339e-03 3.47812326e+01] [ 7.92520920e-01 -6.09782526e-01 -8.70991218e-03 3.33359294e+02] [ 1.08057168e-02 -2.38850361e-04 9.99941588e-01 7.26545861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1727550960001 meters 0.021546324415224277 Centerline is valid? [True, True] Translation: X:34.77, Y:333.38, Z:7.27 [[-6.09409770e-01 -7.92830650e-01 6.26833589e-03 3.47660082e+01] [ 7.92784861e-01 -6.09441966e-01 -8.52378941e-03 3.33380048e+02] [ 1.05781084e-02 -2.25038747e-04 9.99944025e-01 7.26639470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.202755096 meters 0.020616788884288518 Centerline is valid? [True, True] Translation: X:34.75, Y:333.40, Z:7.27 [[-6.07948074e-01 -7.93951165e-01 6.37857281e-03 3.47481797e+01] [ 7.93903888e-01 -6.07981501e-01 -8.66666770e-03 3.33400818e+02] [ 1.07589652e-02 -2.04910185e-04 9.99942100e-01 7.26634197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.232755096 meters 0.020365149524548525 Centerline is valid? [True, True] Translation: X:34.73, Y:333.42, Z:7.27 [[-6.06811960e-01 -7.94817392e-01 6.67524932e-03 3.47326248e+01] [ 7.94765740e-01 -6.06848643e-01 -9.06331183e-03 3.33420401e+02] [ 1.12545439e-02 -1.94466556e-04 9.99936647e-01 7.26593339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.262755096 meters 0.01884669059085356 Centerline is valid? [True, True] Translation: X:34.71, Y:333.44, Z:7.27 [[-6.04940882e-01 -7.96241984e-01 6.72548797e-03 3.47132590e+01] [ 7.96189709e-01 -6.04978243e-01 -9.12536108e-03 3.33440212e+02] [ 1.13347695e-02 -1.65539663e-04 9.99935746e-01 7.26603681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2927550960001 meters 0.01831037177872988 Centerline is valid? [True, True] Translation: X:34.70, Y:333.46, Z:7.27 [[-6.04300213e-01 -7.96726813e-01 6.90201677e-03 3.46958362e+01] [ 7.96671871e-01 -6.04339607e-01 -9.35784491e-03 3.33461373e+02] [ 1.16268081e-02 -1.56305054e-04 9.99932394e-01 7.26619927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.322755096 meters 0.018573991328297672 Centerline is valid? [True, True] Translation: X:34.68, Y:333.48, Z:7.27 [[-6.03860868e-01 -7.97056180e-01 7.31426712e-03 3.46814347e+01] [ 7.96994603e-01 -6.03905144e-01 -9.90860526e-03 3.33482432e+02] [ 1.23148386e-02 -1.53987554e-04 9.99924158e-01 7.26568935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.352755096 meters 0.01807359078018544 Centerline is valid? [True, True] Translation: X:34.66, Y:333.50, Z:7.27 [[-6.03287259e-01 -7.97487444e-01 7.63280007e-03 3.46648226e+01] [ 7.97420535e-01 -6.03335524e-01 -1.03312673e-02 3.33502840e+02] [ 1.28441954e-02 -1.46170409e-04 9.99917499e-01 7.26630254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.382755096 meters 0.01788977558231961 Centerline is valid? [True, True] Translation: X:34.65, Y:333.52, Z:7.27 [[-6.03545914e-01 -7.97291950e-01 7.60760969e-03 3.46494884e+01] [ 7.97225572e-01 -6.03593842e-01 -1.02889045e-02 3.33523740e+02] [ 1.27951671e-02 -1.44845304e-04 9.99918128e-01 7.26703511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.412755096 meters 0.017891507390722202 Centerline is valid? [True, True] Translation: X:34.63, Y:333.55, Z:7.27 [[-6.04271205e-01 -7.96742089e-01 7.63908385e-03 3.46335389e+01] [ 7.96675221e-01 -6.04319469e-01 -1.03233611e-02 3.33545366e+02] [ 1.28415034e-02 -1.52241045e-04 9.99917533e-01 7.26774705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.442755096 meters 0.02015364424332318 Centerline is valid? [True, True] Translation: X:34.62, Y:333.57, Z:7.27 [[-6.06481544e-01 -7.95060120e-01 7.71640325e-03 3.46183525e+01] [ 7.94991856e-01 -6.06530603e-01 -1.04200110e-02 3.33568553e+02] [ 1.29647699e-02 -1.85066618e-04 9.99915937e-01 7.26646118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.472755096 meters 0.018770985108862756 Centerline is valid? [True, True] Translation: X:34.60, Y:333.59, Z:7.27 [[-6.07062277e-01 -7.94620340e-01 7.34211209e-03 3.46040437e+01] [ 7.94558590e-01 -6.07106648e-01 -9.90776738e-03 3.33589837e+02] [ 1.23303585e-02 -1.80893594e-04 9.99923962e-01 7.26907439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.502755096 meters 0.018604142158048953 Centerline is valid? [True, True] Translation: X:34.59, Y:333.61, Z:7.27 [[-6.08505248e-01 -7.93516077e-01 7.32111667e-03 3.45881458e+01] [ 7.93454683e-01 -6.08549255e-01 -9.87268149e-03 3.33612420e+02] [ 1.22893916e-02 -1.98604186e-04 9.99924463e-01 7.27098488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.532755096 meters 0.019017106678995917 Centerline is valid? [True, True] Translation: X:34.57, Y:333.63, Z:7.27 [[-6.09052174e-01 -7.93095895e-01 7.37229796e-03 3.45721177e+01] [ 7.93033700e-01 -6.09096757e-01 -9.93431866e-03 3.33634364e+02] [ 1.23693101e-02 -2.04037645e-04 9.99923476e-01 7.27115202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.562755096 meters 0.01954645817156057 Centerline is valid? [True, True] Translation: X:34.56, Y:333.66, Z:7.27 [[-6.09161407e-01 -7.93012606e-01 7.30671291e-03 3.45577031e+01] [ 7.92951600e-01 -6.09205194e-01 -9.83832175e-03 3.33656329e+02] [ 1.22532006e-02 -1.99256227e-04 9.99924907e-01 7.27171900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.592755096 meters 0.018763452646368004 Centerline is valid? [True, True] Translation: X:34.54, Y:333.68, Z:7.27 [[-6.08249267e-01 -7.93708769e-01 7.69537969e-03 3.45397173e+01] [ 7.93641267e-01 -6.08297915e-01 -1.03530676e-02 3.33675395e+02] [ 1.28984040e-02 -1.89874908e-04 9.99916794e-01 7.27298563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.622755096 meters 0.01893274617181026 Centerline is valid? [True, True] Translation: X:34.52, Y:333.70, Z:7.27 [[-6.07785921e-01 -7.94061744e-01 7.88801060e-03 3.45241001e+01] [ 7.93990968e-01 -6.07837078e-01 -1.06033022e-02 3.33695411e+02] [ 1.32143019e-02 -1.81528600e-04 9.99912671e-01 7.27242189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.652755096 meters 0.01770412862353585 Centerline is valid? [True, True] Translation: X:34.50, Y:333.71, Z:7.27 [[-6.06471609e-01 -7.95056439e-01 8.80030919e-03 3.45037342e+01] [ 7.94968596e-01 -6.06535431e-01 -1.18195689e-02 3.33714578e+02] [ 1.47349237e-02 -1.72263541e-04 9.99891420e-01 7.27272659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.682755096 meters 0.01786306148654928 Centerline is valid? [True, True] Translation: X:34.49, Y:333.74, Z:7.27 [[-6.06515527e-01 -7.95018753e-01 9.17052034e-03 3.44874435e+01] [ 7.94923510e-01 -6.06584827e-01 -1.23069619e-02 3.33735622e+02] [ 1.53469640e-02 -1.74501293e-04 9.99882213e-01 7.27205920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.712755096 meters 0.017615898232506703 Centerline is valid? [True, True] Translation: X:34.47, Y:333.76, Z:7.27 [[-6.06527036e-01 -7.95007370e-01 9.39343457e-03 3.44697597e+01] [ 7.94907595e-01 -6.06599746e-01 -1.25961981e-02 3.33757040e+02] [ 1.57121254e-02 -1.73022242e-04 9.99876542e-01 7.27209866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.742755096 meters 0.017988749761111627 Centerline is valid? [True, True] Translation: X:34.45, Y:333.78, Z:7.27 [[-6.07483651e-01 -7.94273498e-01 9.65520818e-03 3.44538643e+01] [ 7.94168156e-01 -6.07560345e-01 -1.29370108e-02 3.33777682e+02] [ 1.61416465e-02 -1.91163704e-04 9.99869697e-01 7.27098729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.772755096 meters 0.018149884769598307 Centerline is valid? [True, True] Translation: X:34.44, Y:333.80, Z:7.27 [[-6.08256554e-01 -7.93681153e-01 9.70526485e-03 3.44368385e+01] [ 7.93574802e-01 -6.08333944e-01 -1.29940956e-02 3.33799189e+02] [ 1.62172108e-02 -2.01890170e-04 9.99868472e-01 7.27127843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.802755096 meters 0.018340190796361802 Centerline is valid? [True, True] Translation: X:34.42, Y:333.82, Z:7.27 [[-6.08974427e-01 -7.93132930e-01 9.50283043e-03 3.44214455e+01] [ 7.93031065e-01 -6.09048532e-01 -1.27128636e-02 3.33819062e+02] [ 1.58706757e-02 -2.05769123e-04 9.99874032e-01 7.27105760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.832755096 meters 0.01864163041724497 Centerline is valid? [True, True] Translation: X:34.40, Y:333.84, Z:7.27 [[-6.10150680e-01 -7.92234318e-01 8.99635024e-03 3.44047595e+01] [ 7.92143072e-01 -6.10216963e-01 -1.20254546e-02 3.33839343e+02] [ 1.50167034e-02 -2.10942788e-04 9.99887221e-01 7.27154072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.862755096 meters 0.018933989276392896 Centerline is valid? [True, True] Translation: X:34.39, Y:333.86, Z:7.27 [[-6.11060610e-01 -7.91537455e-01 8.56671524e-03 3.43894901e+01] [ 7.91454782e-01 -6.11120621e-01 -1.14417905e-02 3.33859247e+02] [ 1.42919021e-02 -2.11459751e-04 9.99897843e-01 7.27175005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.892755096 meters 0.019520567499261683 Centerline is valid? [True, True] Translation: X:34.37, Y:333.88, Z:7.27 [[-6.12645133e-01 -7.90321003e-01 7.65860743e-03 3.43735628e+01] [ 7.90254936e-01 -6.12692965e-01 -1.02208921e-02 3.33880139e+02] [ 1.27701606e-02 -2.09527499e-04 9.99918436e-01 7.27221598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9227550960001 meters 0.01954657842471608 Centerline is valid? [True, True] Translation: X:34.36, Y:333.90, Z:7.27 [[-6.13754791e-01 -7.89464042e-01 7.18204984e-03 3.43567175e+01] [ 7.89405971e-01 -6.13796776e-01 -9.57764683e-03 3.33901237e+02] [ 1.19695268e-02 -2.08773611e-04 9.99928341e-01 7.27263279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.952755096 meters 0.02041751506658266 Centerline is valid? [True, True] Translation: X:34.34, Y:333.92, Z:7.27 [[-6.15272552e-01 -7.88287205e-01 6.55513266e-03 3.43420482e+01] [ 7.88238831e-01 -6.15307435e-01 -8.73530970e-03 3.33922705e+02] [ 1.09193547e-02 -2.07586181e-04 9.99940361e-01 7.27291308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.982755096 meters 0.02055194825917144 Centerline is valid? [True, True] Translation: X:34.33, Y:333.94, Z:7.27 [[-6.16320565e-01 -7.87469715e-01 6.35681239e-03 3.43254539e+01] [ 7.87424249e-01 -6.16353310e-01 -8.46462172e-03 3.33944339e+02] [ 1.05836756e-02 -2.11412219e-04 9.99943969e-01 7.27310978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.012755096 meters 0.021140714587430404 Centerline is valid? [True, True] Translation: X:34.31, Y:333.97, Z:7.27 [[-6.17181262e-01 -7.86796971e-01 6.14954758e-03 3.43100271e+01] [ 7.86754449e-01 -6.17211862e-01 -8.18259095e-03 3.33965033e+02] [ 1.02336115e-02 -2.11957892e-04 9.99947613e-01 7.27254734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0427550960001 meters 0.020917987996528557 Centerline is valid? [True, True] Translation: X:34.29, Y:333.99, Z:7.27 [[-6.17411208e-01 -7.86618414e-01 5.90508683e-03 3.42934389e+01] [ 7.86579257e-01 -6.17439413e-01 -7.85127802e-03 3.33985238e+02] [ 9.82199321e-03 -2.02648237e-04 9.99951743e-01 7.27240521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.072755096 meters 0.020279504376723923 Centerline is valid? [True, True] Translation: X:34.28, Y:334.01, Z:7.27 [[-6.16331460e-01 -7.87465255e-01 5.83119298e-03 3.42757284e+01] [ 7.87427170e-01 -6.16359017e-01 -7.74688228e-03 3.34005961e+02] [ 9.69450901e-03 -1.83007485e-04 9.99952990e-01 7.27215032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.102755096 meters 0.02036748750614953 Centerline is valid? [True, True] Translation: X:34.26, Y:334.03, Z:7.27 [[-6.15822537e-01 -7.87864551e-01 5.66142667e-03 3.42603204e+01] [ 7.87828721e-01 -6.15848538e-01 -7.51568092e-03 3.34025834e+02] [ 9.40791991e-03 -1.68091159e-04 9.99955730e-01 7.27186641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.132755096 meters 0.01937045195492456 Centerline is valid? [True, True] Translation: X:34.24, Y:334.05, Z:7.27 [[-6.14029909e-01 -7.89260846e-01 5.88112882e-03 3.42420669e+01] [ 7.89222309e-01 -6.14058055e-01 -7.80074639e-03 3.34046091e+02] [ 9.76817822e-03 -1.48373527e-04 9.99952279e-01 7.27093883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.162755096 meters 0.018894675322089338 Centerline is valid? [True, True] Translation: X:34.23, Y:334.07, Z:7.27 [[-6.13410825e-01 -7.89740998e-01 6.02628426e-03 3.42255503e+01] [ 7.89700619e-01 -6.13440410e-01 -7.98715610e-03 3.34066365e+02] [ 1.00045509e-02 -1.40447603e-04 9.99949943e-01 7.27085888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.192755096 meters 0.01885800066038951 Centerline is valid? [True, True] Translation: X:34.21, Y:334.09, Z:7.27 [[-6.13004346e-01 -7.90057741e-01 5.86828420e-03 3.42100693e+01] [ 7.90019529e-01 -6.13032421e-01 -7.77143923e-03 3.34087105e+02] [ 9.73733420e-03 -1.27866906e-04 9.99952583e-01 7.27065685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.222755096 meters 0.018367480187115027 Centerline is valid? [True, True] Translation: X:34.19, Y:334.11, Z:7.27 [[-6.12725996e-01 -7.90271206e-01 6.18671394e-03 3.41939083e+01] [ 7.90228817e-01 -6.12757216e-01 -8.18600703e-03 3.34108406e+02] [ 1.02601193e-02 -1.26859671e-04 9.99947356e-01 7.27027246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.252755096 meters 0.018741634336943137 Centerline is valid? [True, True] Translation: X:34.18, Y:334.13, Z:7.27 [[-6.13283032e-01 -7.89838590e-01 6.23902968e-03 3.41795319e+01] [ 7.89795530e-01 -6.13314752e-01 -8.24835747e-03 3.34129569e+02] [ 1.03413600e-02 -1.31019919e-04 9.99946518e-01 7.26996061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.282755096 meters 0.018741327231176785 Centerline is valid? [True, True] Translation: X:34.17, Y:334.15, Z:7.27 [[-6.14536661e-01 -7.88866676e-01 5.83613483e-03 3.41654914e+01] [ 7.88829014e-01 -6.14564358e-01 -7.70952626e-03 3.34151702e+02] [ 9.66846880e-03 -1.34074040e-04 9.99953250e-01 7.27021738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.312755096 meters 0.01913938116729857 Centerline is valid? [True, True] Translation: X:34.15, Y:334.17, Z:7.27 [[-6.15356885e-01 -7.88227145e-01 5.81996190e-03 3.41516644e+01] [ 7.88189724e-01 -6.15384390e-01 -7.68183276e-03 3.34173470e+02] [ 9.63654281e-03 -1.39834515e-04 9.99953558e-01 7.27025843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.342755096 meters 0.019517694394661673 Centerline is valid? [True, True] Translation: X:34.14, Y:334.20, Z:7.27 [[-6.16698121e-01 -7.87180044e-01 5.56832527e-03 3.41370872e+01] [ 7.87145801e-01 -6.16723243e-01 -7.34375036e-03 3.34196152e+02] [ 9.21496934e-03 -1.45793199e-04 9.99957531e-01 7.27085360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.372755096 meters 0.019923527540080813 Centerline is valid? [True, True] Translation: X:34.12, Y:334.22, Z:7.27 [[-6.18801441e-01 -7.85530250e-01 5.19649061e-03 3.41231140e+01] [ 7.85500413e-01 -6.18823240e-01 -6.84825555e-03 3.34219881e+02] [ 8.59522105e-03 -1.55864877e-04 9.99963048e-01 7.27176850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.402755096 meters 0.02042536107258751 Centerline is valid? [True, True] Translation: X:34.11, Y:334.24, Z:7.27 [[-6.19973898e-01 -7.84605803e-01 5.10876822e-03 3.41081382e+01] [ 7.84576976e-01 -6.19994925e-01 -6.72774908e-03 3.34243288e+02] [ 8.44604134e-03 -1.62806904e-04 9.99964318e-01 7.27197518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.432755096 meters 0.021077790489509605 Centerline is valid? [True, True] Translation: X:34.09, Y:334.27, Z:7.27 [[-6.21215124e-01 -7.83621963e-01 5.32816635e-03 3.40940531e+01] [ 7.83590617e-01 -6.21237947e-01 -7.01130819e-03 3.34265619e+02] [ 8.80427421e-03 -1.80429533e-04 9.99961225e-01 7.27202473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.462755096 meters 0.021409180502663345 Centerline is valid? [True, True] Translation: X:34.08, Y:334.29, Z:7.27 [[-6.22770061e-01 -7.82388033e-01 5.13976333e-03 3.40798229e+01] [ 7.82358865e-01 -6.22791242e-01 -6.75840059e-03 3.34289555e+02] [ 8.48869133e-03 -1.87790146e-04 9.99963953e-01 7.27241902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.492755096 meters 0.021539718261157796 Centerline is valid? [True, True] Translation: X:34.06, Y:334.31, Z:7.27 [[-6.23622435e-01 -7.81707300e-01 5.36234772e-03 3.40642143e+01] [ 7.81675573e-01 -6.23645457e-01 -7.04572918e-03 3.34311711e+02] [ 8.85190173e-03 -2.02258561e-04 9.99960801e-01 7.27248503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.522755096 meters 0.021469782648965742 Centerline is valid? [True, True] Translation: X:34.05, Y:334.33, Z:7.27 [[-6.24172996e-01 -7.81267859e-01 5.34821312e-03 3.40483788e+01] [ 7.81236329e-01 -6.24195875e-01 -7.02196626e-03 3.34333907e+02] [ 8.82436912e-03 -2.04703336e-04 9.99961044e-01 7.27273805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.552755096 meters 0.021765832378047485 Centerline is valid? [True, True] Translation: X:34.04, Y:334.36, Z:7.27 [[-6.24379475e-01 -7.81101084e-01 5.60079004e-03 3.40350293e+01] [ 7.81066551e-01 -6.24404558e-01 -7.34784238e-03 3.34356746e+02] [ 9.23656647e-03 -2.13252205e-04 9.99957319e-01 7.27341834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.582755096 meters 0.022022898283558627 Centerline is valid? [True, True] Translation: X:34.02, Y:334.38, Z:7.27 [[-6.24559529e-01 -7.80958087e-01 5.46456925e-03 3.40210547e+01] [ 7.80925256e-01 -6.24583400e-01 -7.16385092e-03 3.34377717e+02] [ 9.00774655e-03 -2.06831209e-04 9.99959408e-01 7.27357740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.612755096 meters 0.02162281933416588 Centerline is valid? [True, True] Translation: X:34.00, Y:334.40, Z:7.27 [[-6.24542396e-01 -7.80971150e-01 5.55505004e-03 3.40047990e+01] [ 7.80937269e-01 -6.24567066e-01 -7.27743000e-03 3.34399123e+02] [ 9.15296418e-03 -2.06917958e-04 9.99958089e-01 7.27347419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.642755096 meters 0.02083064485066297 Centerline is valid? [True, True] Translation: X:33.99, Y:334.42, Z:7.27 [[-6.23790458e-01 -7.81568631e-01 5.99493681e-03 3.39889086e+01] [ 7.81529265e-01 -6.23819229e-01 -7.84714200e-03 3.34420924e+02] [ 9.87283689e-03 -2.09753744e-04 9.99951240e-01 7.27279305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6727550960001 meters 0.020709940932008064 Centerline is valid? [True, True] Translation: X:33.97, Y:334.44, Z:7.27 [[-6.23434741e-01 -7.81850448e-01 6.24508523e-03 3.39730380e+01] [ 7.81807805e-01 -6.23465984e-01 -8.16837817e-03 3.34442937e+02] [ 1.02800483e-02 -2.09994351e-04 9.99947137e-01 7.27285889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.702755096 meters 0.02043953419603472 Centerline is valid? [True, True] Translation: X:33.96, Y:334.46, Z:7.27 [[-6.22622871e-01 -7.82492655e-01 6.78277752e-03 3.39593030e+01] [ 7.82442472e-01 -6.22659779e-01 -8.86442160e-03 3.34464126e+02] [ 1.11597075e-02 -2.12058413e-04 9.99937706e-01 7.27233676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.732755096 meters 0.020321114479865898 Centerline is valid? [True, True] Translation: X:33.94, Y:334.48, Z:7.27 [[-6.22352643e-01 -7.82706087e-01 6.95481301e-03 3.39449012e+01] [ 7.82653429e-01 -6.22391467e-01 -9.08145214e-03 3.34484564e+02] [ 1.14367241e-02 -2.08657490e-04 9.99934577e-01 7.27218745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.762755096 meters 0.019799556254605336 Centerline is valid? [True, True] Translation: X:33.93, Y:334.51, Z:7.27 [[-6.21894990e-01 -7.83069750e-01 6.95618485e-03 3.39288515e+01] [ 7.83017180e-01 -6.21933861e-01 -9.07571952e-03 3.34505651e+02] [ 1.14332083e-02 -1.97332251e-04 9.99934619e-01 7.27268088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7927550960001 meters 0.01914182134907365 Centerline is valid? [True, True] Translation: X:33.91, Y:334.53, Z:7.27 [[-6.20573440e-01 -7.84118985e-01 6.78399552e-03 3.39122975e+01] [ 7.84069123e-01 -6.20610497e-01 -8.84428978e-03 3.34526865e+02] [ 1.11451944e-02 -1.69409913e-04 9.99937876e-01 7.27317787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.822755096 meters 0.018814980423632624 Centerline is valid? [True, True] Translation: X:33.90, Y:334.55, Z:7.27 [[-6.19824218e-01 -7.84712611e-01 6.63761490e-03 3.38951426e+01] [ 7.84664981e-01 -6.19859739e-01 -8.64703147e-03 3.34547102e+02] [ 1.08998249e-02 -1.51335549e-04 9.99940584e-01 7.27381654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.852755096 meters 0.018814980423632624 Centerline is valid? [True, True] Translation: X:33.88, Y:334.57, Z:7.27 [[-6.20130170e-01 -7.84470821e-01 6.64098551e-03 3.38791455e+01] [ 7.84423206e-01 -6.20165710e-01 -8.64444240e-03 3.34567517e+02] [ 1.08998243e-02 -1.51336393e-04 9.99940584e-01 7.27399881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.882755096 meters 0.01847854623577799 Centerline is valid? [True, True] Translation: X:33.86, Y:334.59, Z:7.27 [[-6.19653129e-01 -7.84850111e-01 6.34841920e-03 3.38622902e+01] [ 7.84806686e-01 -6.19685634e-01 -8.25715034e-03 3.34587429e+02] [ 1.04146495e-02 -1.34287217e-04 9.99945757e-01 7.27418867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.912755096 meters 0.0181043488987713 Centerline is valid? [True, True] Translation: X:33.85, Y:334.61, Z:7.28 [[-6.18913649e-01 -7.85433976e-01 6.27412608e-03 3.38450449e+01] [ 7.85391659e-01 -6.18945438e-01 -8.15397961e-03 3.34607952e+02] [ 1.02877543e-02 -1.18962983e-04 9.99947073e-01 7.27531218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.942755096 meters 0.018233765837176653 Centerline is valid? [True, True] Translation: X:33.83, Y:334.63, Z:7.28 [[-6.19088916e-01 -7.85297736e-01 6.03158100e-03 3.38297164e+01] [ 7.85258682e-01 -6.19118287e-01 -7.83249182e-03 3.34628180e+02] [ 9.88510019e-03 -1.12657523e-04 9.99951135e-01 7.27585472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.972755096 meters 0.018335925549049448 Centerline is valid? [True, True] Translation: X:33.81, Y:334.65, Z:7.28 [[-6.20125915e-01 -7.84482248e-01 5.60814520e-03 3.38134124e+01] [ 7.84448504e-01 -6.20151263e-01 -7.27699643e-03 3.34650091e+02] [ 9.18657285e-03 -1.13352956e-04 9.99957796e-01 7.27688942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.002755096 meters 0.01863680346251291 Centerline is valid? [True, True] Translation: X:33.80, Y:334.67, Z:7.28 [[-6.20901558e-01 -7.83870516e-01 5.31694298e-03 3.37989361e+01] [ 7.83840206e-01 -6.20924312e-01 -6.89419161e-03 3.34671314e+02] [ 8.70557270e-03 -1.12980635e-04 9.99962099e-01 7.27729149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.032755096 meters 0.018869926375781894 Centerline is valid? [True, True] Translation: X:33.78, Y:334.69, Z:7.28 [[-6.22016036e-01 -7.82987845e-01 5.10737350e-03 3.37829731e+01] [ 7.82959892e-01 -6.22036993e-01 -6.61712398e-03 3.34692963e+02] [ 8.35810290e-03 -1.17088619e-04 9.99965064e-01 7.27794003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.062755096 meters 0.02019018629183661 Centerline is valid? [True, True] Translation: X:33.77, Y:334.71, Z:7.28 [[-6.23789895e-01 -7.81576918e-01 4.86699227e-03 3.37691330e+01] [ 7.81551529e-01 -6.23808869e-01 -6.30102483e-03 3.34714778e+02] [ 7.96080851e-03 -1.26710374e-04 9.99968304e-01 7.27811314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.092755096 meters 0.019814671337195524 Centerline is valid? [True, True] Translation: X:33.75, Y:334.73, Z:7.28 [[-6.24760390e-01 -7.80800309e-01 5.03314551e-03 3.37518169e+01] [ 7.80773165e-01 -6.24780648e-01 -6.51198096e-03 3.34734913e+02] [ 8.22916866e-03 -1.38682812e-04 9.99966130e-01 7.27817049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.122755096 meters 0.02127847534721249 Centerline is valid? [True, True] Translation: X:33.74, Y:334.76, Z:7.28 [[-6.26488248e-01 -7.79414626e-01 5.03142825e-03 3.37373295e+01] [ 7.79387498e-01 -6.26508433e-01 -6.50466261e-03 3.34756390e+02] [ 8.22206141e-03 -1.53662411e-04 9.99966187e-01 7.27806947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.152755096 meters 0.02058042556825694 Centerline is valid? [True, True] Translation: X:33.72, Y:334.78, Z:7.28 [[-6.27453631e-01 -7.78637250e-01 5.09640397e-03 3.37192760e+01] [ 7.78609433e-01 -6.27474307e-01 -6.58365677e-03 3.34775947e+02] [ 8.32414296e-03 -1.62831141e-04 9.99965341e-01 7.27830903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.182755096 meters 0.02161769324114126 Centerline is valid? [True, True] Translation: X:33.71, Y:334.80, Z:7.28 [[-6.28167091e-01 -7.78060880e-01 5.23184756e-03 3.37051261e+01] [ 7.78031590e-01 -6.28188855e-01 -6.75329844e-03 3.34796680e+02] [ 8.54106565e-03 -1.71657160e-04 9.99963510e-01 7.27831364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.212755096 meters 0.021718394670878462 Centerline is valid? [True, True] Translation: X:33.69, Y:334.82, Z:7.28 [[-6.29055190e-01 -7.77342961e-01 5.24304771e-03 3.36883462e+01] [ 7.77313559e-01 -6.29077014e-01 -6.76329709e-03 3.34817124e+02] [ 8.55568218e-03 -1.78995063e-04 9.99963383e-01 7.27846042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.242755096 meters 0.02074920482836832 Centerline is valid? [True, True] Translation: X:33.67, Y:334.84, Z:7.28 [[-6.29342017e-01 -7.77109405e-01 5.44036915e-03 3.36695089e+01] [ 7.77077789e-01 -6.29365504e-01 -7.01232152e-03 3.34837412e+02] [ 8.87332168e-03 -1.85558544e-04 9.99960614e-01 7.27872308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.272755096 meters 0.020807734378091473 Centerline is valid? [True, True] Translation: X:33.65, Y:334.86, Z:7.28 [[-6.29618261e-01 -7.76884331e-01 5.61983984e-03 3.36525023e+01] [ 7.76850636e-01 -6.29643312e-01 -7.23808568e-03 3.34857116e+02] [ 9.16164991e-03 -1.91454765e-04 9.99958013e-01 7.27846912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.302755096 meters 0.020614740357034145 Centerline is valid? [True, True] Translation: X:33.64, Y:334.88, Z:7.28 [[-6.29615893e-01 -7.76885326e-01 5.74611821e-03 3.36350141e+01] [ 7.76850155e-01 -6.29642084e-01 -7.39479408e-03 3.34877466e+02] [ 9.36290486e-03 -1.92007060e-04 9.99956149e-01 7.27882486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.332755096 meters 0.02136516154499984 Centerline is valid? [True, True] Translation: X:33.62, Y:334.90, Z:7.28 [[-6.29335598e-01 -7.77109987e-01 6.06415547e-03 3.36162279e+01] [ 7.77070884e-01 -6.29364784e-01 -7.79808695e-03 3.34897739e+02] [ 9.87653714e-03 -1.95335059e-04 9.99951207e-01 7.27682985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.362755096 meters 0.020282552402301788 Centerline is valid? [True, True] Translation: X:33.60, Y:334.92, Z:7.28 [[-6.29008648e-01 -7.77374047e-01 6.14090732e-03 3.35998225e+01] [ 7.77334023e-01 -6.29038596e-01 -7.89060842e-03 3.34917728e+02] [ 9.99682192e-03 -1.89724740e-04 9.99950013e-01 7.27826626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.392755096 meters 0.019494688001755665 Centerline is valid? [True, True] Translation: X:33.58, Y:334.94, Z:7.28 [[-6.29023891e-01 -7.77357991e-01 6.59537574e-03 3.35813346e+01] [ 7.77311897e-01 -6.29058435e-01 -8.46758360e-03 3.34937381e+02] [ 1.07312205e-02 -1.99648355e-04 9.99942399e-01 7.27835281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4227550960001 meters 0.019649652277650427 Centerline is valid? [True, True] Translation: X:33.57, Y:334.96, Z:7.28 [[-6.28962920e-01 -7.77404751e-01 6.89194714e-03 3.35651334e+01] [ 7.77354500e-01 -6.29000646e-01 -8.84135798e-03 3.34957893e+02] [ 1.12083529e-02 -2.03400217e-04 9.99937164e-01 7.27790579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.452755096 meters 0.020129579861529016 Centerline is valid? [True, True] Translation: X:33.55, Y:334.98, Z:7.28 [[-6.28524319e-01 -7.77757667e-01 7.08458583e-03 3.35493754e+01] [ 7.77704673e-01 -6.28564215e-01 -9.08124748e-03 3.34978943e+02] [ 1.15161270e-02 -1.98069385e-04 9.99933668e-01 7.27826753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.482755096 meters 0.019599389676373823 Centerline is valid? [True, True] Translation: X:33.53, Y:335.00, Z:7.28 [[-6.28662268e-01 -7.77645388e-01 7.16962513e-03 3.35315494e+01] [ 7.77591191e-01 -6.28703119e-01 -9.18301016e-03 3.34998970e+02] [ 1.16486912e-02 -1.97974646e-04 9.99932132e-01 7.27869206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.512755096 meters 0.01958275735741417 Centerline is valid? [True, True] Translation: X:33.51, Y:335.02, Z:7.28 [[-6.29071226e-01 -7.77312772e-01 7.36523951e-03 3.35147168e+01] [ 7.77255646e-01 -6.29114308e-01 -9.42590743e-03 3.35019481e+02] [ 1.19604558e-02 -2.04893153e-04 9.99928450e-01 7.27879777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5427550960001 meters 0.019941683947443445 Centerline is valid? [True, True] Translation: X:33.50, Y:335.04, Z:7.28 [[-6.30008052e-01 -7.76553358e-01 7.39847922e-03 3.34992821e+01] [ 7.76495755e-01 -6.30051456e-01 -9.46074409e-03 3.35040198e+02] [ 1.20081952e-02 -2.15457242e-04 9.99927876e-01 7.27902886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.572755096 meters 0.019972234288066052 Centerline is valid? [True, True] Translation: X:33.48, Y:335.06, Z:7.28 [[-6.30969237e-01 -7.75772275e-01 7.42961528e-03 3.34827062e+01] [ 7.75714223e-01 -6.31012937e-01 -9.49306579e-03 3.35061359e+02] [ 1.20526406e-02 -2.26574240e-04 9.99927339e-01 7.27953706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.602755096 meters 0.020723075049074235 Centerline is valid? [True, True] Translation: X:33.47, Y:335.08, Z:7.28 [[-6.32411285e-01 -7.74598510e-01 7.28794820e-03 3.34677529e+01] [ 7.74542653e-01 -6.32453232e-01 -9.30525687e-03 3.35083514e+02] [ 1.18171245e-02 -2.39922722e-04 9.99930147e-01 7.28043448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.632755096 meters 0.02057458795917467 Centerline is valid? [True, True] Translation: X:33.45, Y:335.10, Z:7.28 [[-6.33216806e-01 -7.73942703e-01 7.01204931e-03 3.34506945e+01] [ 7.73891029e-01 -6.33255585e-01 -8.94646598e-03 3.35104412e+02] [ 1.13644714e-02 -2.38490557e-04 9.99935394e-01 7.28125898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.662755096 meters 0.020809153095896437 Centerline is valid? [True, True] Translation: X:33.44, Y:335.12, Z:7.28 [[-6.33231882e-01 -7.73931632e-01 6.87112063e-03 3.34354633e+01] [ 7.73882081e-01 -6.33269118e-01 -8.76063641e-03 3.35124380e+02] [ 1.11314021e-02 -2.30077145e-04 9.99938018e-01 7.28175958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.692755096 meters 0.020744123869813925 Centerline is valid? [True, True] Translation: X:33.42, Y:335.14, Z:7.28 [[-6.33271448e-01 -7.73899131e-01 6.88532044e-03 3.34187469e+01] [ 7.73849441e-01 -6.33308837e-01 -8.77263262e-03 3.35144663e+02] [ 1.11496670e-02 -2.27256388e-04 9.99937815e-01 7.28197175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.722755096 meters 0.02046448192580758 Centerline is valid? [True, True] Translation: X:33.40, Y:335.16, Z:7.28 [[-6.33114160e-01 -7.74027724e-01 6.89517039e-03 3.34015626e+01] [ 7.73977976e-01 -6.33151668e-01 -8.77827467e-03 3.35164989e+02] [ 1.11603166e-02 -2.20939974e-04 9.99937697e-01 7.28214855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.752755096 meters 0.0200416878095824 Centerline is valid? [True, True] Translation: X:33.39, Y:335.18, Z:7.28 [[-6.32065164e-01 -7.74884774e-01 6.87135356e-03 3.33851439e+01] [ 7.74835498e-01 -6.32102481e-01 -8.74099459e-03 3.35184380e+02] [ 1.11166633e-02 -2.00709520e-04 9.99938188e-01 7.28165107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.782755096 meters 0.019287647471931207 Centerline is valid? [True, True] Translation: X:33.37, Y:335.20, Z:7.28 [[-6.31736889e-01 -7.75150692e-01 7.06453381e-03 3.33677853e+01] [ 7.75098707e-01 -6.31776357e-01 -8.97933169e-03 3.35203992e+02] [ 1.14235406e-02 -1.96864037e-04 9.99934730e-01 7.28214415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.812755096 meters 0.019067017506808802 Centerline is valid? [True, True] Translation: X:33.35, Y:335.22, Z:7.28 [[-6.30233509e-01 -7.76373712e-01 7.04156619e-03 3.33518843e+01] [ 7.76322215e-01 -6.30272823e-01 -8.94357889e-03 3.35224101e+02] [ 1.13816673e-02 -1.70018848e-04 9.99935212e-01 7.28207753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.842755096 meters 0.01863477643152541 Centerline is valid? [True, True] Translation: X:33.33, Y:335.24, Z:7.28 [[-6.29498137e-01 -7.76971830e-01 6.84627048e-03 3.33349212e+01] [ 7.76923250e-01 -6.29535347e-01 -8.68972897e-03 3.35243796e+02] [ 1.10616439e-02 -1.51141482e-04 9.99938807e-01 7.28255171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.872755096 meters 0.01757253811735825 Centerline is valid? [True, True] Translation: X:33.32, Y:335.26, Z:7.28 [[-6.28868975e-01 -7.77480768e-01 6.88966586e-03 3.33155939e+01] [ 7.77431674e-01 -6.28906699e-01 -8.73820971e-03 3.35263717e+02] [ 1.11267470e-02 -1.38944529e-04 9.99938086e-01 7.28311670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.902755096 meters 0.017207568812396396 Centerline is valid? [True, True] Translation: X:33.30, Y:335.28, Z:7.28 [[-6.27914471e-01 -7.78252863e-01 6.77476027e-03 3.32978104e+01] [ 7.78205507e-01 -6.27951007e-01 -8.58621437e-03 3.35284140e+02] [ 1.09364634e-02 -1.19252506e-04 9.99940188e-01 7.28318172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.932755096 meters 0.01716750720041679 Centerline is valid? [True, True] Translation: X:33.28, Y:335.31, Z:7.28 [[-6.28206444e-01 -7.78018456e-01 6.62917426e-03 3.32810984e+01] [ 7.77973166e-01 -6.28241409e-01 -8.39551571e-03 3.35305253e+02] [ 1.06965879e-02 -1.16797383e-04 9.99942783e-01 7.28323505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.962755096 meters 0.017316438752090844 Centerline is valid? [True, True] Translation: X:33.27, Y:335.33, Z:7.28 [[-6.28703822e-01 -7.77614030e-01 6.92274747e-03 3.32660860e+01] [ 7.77564692e-01 -6.28741923e-01 -8.76039449e-03 3.35326350e+02] [ 1.11648272e-02 -1.24809501e-04 9.99937664e-01 7.28323126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.992755096 meters 0.01762822743659861 Centerline is valid? [True, True] Translation: X:33.25, Y:335.35, Z:7.28 [[-6.30210256e-01 -7.76394060e-01 6.87725254e-03 3.32516938e+01] [ 7.76345368e-01 -6.30247764e-01 -8.69633380e-03 3.35349124e+02] [ 1.10861549e-02 -1.41395600e-04 9.99938537e-01 7.28356561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.022755096 meters 0.018004973542128353 Centerline is valid? [True, True] Translation: X:33.24, Y:335.37, Z:7.28 [[-6.31282114e-01 -7.75524345e-01 6.69952914e-03 3.32374370e+01] [ 7.75478156e-01 -6.31317645e-01 -8.46524059e-03 3.35370257e+02] [ 1.07945311e-02 -1.48616470e-04 9.99941726e-01 7.28399282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.052755096 meters 0.01838538426257234 Centerline is valid? [True, True] Translation: X:33.22, Y:335.39, Z:7.29 [[-6.33044530e-01 -7.74095069e-01 5.60782252e-03 3.32222933e+01] [ 7.74062696e-01 -6.33069352e-01 -7.08079765e-03 3.35393138e+02] [ 9.03135111e-03 -1.41654008e-04 9.99959207e-01 7.28547586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.082755096 meters 0.01925730965660112 Centerline is valid? [True, True] Translation: X:33.21, Y:335.41, Z:7.29 [[-6.34065258e-01 -7.73260190e-01 5.47059631e-03 3.32077804e+01] [ 7.73229395e-01 -6.34088840e-01 -6.90255002e-03 3.35414763e+02] [ 8.80631121e-03 -1.46641288e-04 9.99961213e-01 7.28583895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.112755096 meters 0.019276952575386707 Centerline is valid? [True, True] Translation: X:33.19, Y:335.44, Z:7.29 [[-6.35229981e-01 -7.72304951e-01 5.28535155e-03 3.31908514e+01] [ 7.72276215e-01 -6.35251950e-01 -6.66393073e-03 3.35436080e+02] [ 8.50411657e-03 -1.51377299e-04 9.99963828e-01 7.28617138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.142755096 meters 0.02055084415683552 Centerline is valid? [True, True] Translation: X:33.18, Y:335.46, Z:7.29 [[-6.36414628e-01 -7.71328882e-01 5.30816515e-03 3.31764706e+01] [ 7.71299905e-01 -6.36436744e-01 -6.68783392e-03 3.35458290e+02] [ 8.53683080e-03 -1.62048063e-04 9.99963548e-01 7.28663347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1727550960001 meters 0.02046994133086776 Centerline is valid? [True, True] Translation: X:33.16, Y:335.48, Z:7.29 [[-6.38407823e-01 -7.69681502e-01 5.08291154e-03 3.31591334e+01] [ 7.69654918e-01 -6.38428034e-01 -6.39943107e-03 3.35479875e+02] [ 8.17059695e-03 -1.73358993e-04 9.99966605e-01 7.28688081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.202755096 meters 0.020868387165766628 Centerline is valid? [True, True] Translation: X:33.14, Y:335.50, Z:7.29 [[-6.39049382e-01 -7.69149213e-01 5.03746979e-03 3.31440893e+01] [ 7.69123122e-01 -6.39069212e-01 -6.33762646e-03 3.35499855e+02] [ 8.09387225e-03 -1.75621779e-04 9.99967229e-01 7.28717417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.232755096 meters 0.02048299454626566 Centerline is valid? [True, True] Translation: X:33.13, Y:335.52, Z:7.29 [[-6.38894404e-01 -7.69276905e-01 5.19460975e-03 3.31267248e+01] [ 7.69249211e-01 -6.38915497e-01 -6.52981269e-03 3.35520282e+02] [ 8.34215077e-03 -1.75911337e-04 9.99965188e-01 7.28710003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.262755096 meters 0.020447207520931574 Centerline is valid? [True, True] Translation: X:33.11, Y:335.54, Z:7.29 [[-6.38656050e-01 -7.69472937e-01 5.46339299e-03 3.31102570e+01] [ 7.69442360e-01 -6.38679393e-01 -6.86200288e-03 3.35539605e+02] [ 8.76948203e-03 -1.78693660e-04 9.99961531e-01 7.28708813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2927550960001 meters 0.020724719549195133 Centerline is valid? [True, True] Translation: X:33.09, Y:335.56, Z:7.29 [[-6.37969926e-01 -7.70041236e-01 5.55593283e-03 3.30940492e+01] [ 7.70009688e-01 -6.37994095e-01 -6.97244902e-03 3.35559501e+02] [ 8.91372560e-03 -1.70090677e-04 9.99960258e-01 7.28654381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.322755096 meters 0.019095490292930103 Centerline is valid? [True, True] Translation: X:33.07, Y:335.58, Z:7.29 [[-6.36442945e-01 -7.71303183e-01 5.63717825e-03 3.30730472e+01] [ 7.71270805e-01 -6.36467891e-01 -7.06879637e-03 3.35577343e+02] [ 9.04006810e-03 -1.51094570e-04 9.99959126e-01 7.28594855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.352755096 meters 0.01879025705485985 Centerline is valid? [True, True] Translation: X:33.06, Y:335.60, Z:7.29 [[-6.35864599e-01 -7.71777845e-01 5.93041432e-03 3.30554319e+01] [ 7.71742085e-01 -6.35892236e-01 -7.43093174e-03 3.35596223e+02] [ 9.50613291e-03 -1.48316116e-04 9.99954805e-01 7.28567536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.382755096 meters 0.017971106201373144 Centerline is valid? [True, True] Translation: X:33.04, Y:335.61, Z:7.29 [[-6.33972706e-01 -7.73333520e-01 5.82032481e-03 3.30359389e+01] [ 7.73299192e-01 -6.33999411e-01 -7.28735623e-03 3.35614682e+02] [ 9.32563934e-03 -1.19132471e-04 9.99956508e-01 7.28596612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4127550960001 meters 0.017549331088523547 Centerline is valid? [True, True] Translation: X:33.02, Y:335.63, Z:7.29 [[-6.33354990e-01 -7.73840212e-01 5.72564675e-03 3.30180687e+01] [ 7.73807060e-01 -6.33380861e-01 -7.16365694e-03 3.35633825e+02] [ 9.17004088e-03 -1.06591991e-04 9.99957949e-01 7.28628352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.442755096 meters 0.01811934008793373 Centerline is valid? [True, True] Translation: X:33.00, Y:335.65, Z:7.29 [[-6.33009220e-01 -7.74124395e-01 5.54511727e-03 3.30010640e+01] [ 7.74093358e-01 -6.33033500e-01 -6.93262242e-03 3.35653356e+02] [ 8.87695713e-03 -9.59754617e-05 9.99960594e-01 7.28549792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.472755096 meters 0.017308611012113676 Centerline is valid? [True, True] Translation: X:32.98, Y:335.67, Z:7.29 [[-6.33115094e-01 -7.74039990e-01 5.23183809e-03 3.29845814e+01] [ 7.74012399e-01 -6.33136704e-01 -6.53604493e-03 3.35672653e+02] [ 8.37162888e-03 -8.85611475e-05 9.99964953e-01 7.28695598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.502755096 meters 0.017392914576858563 Centerline is valid? [True, True] Translation: X:32.97, Y:335.69, Z:7.29 [[-6.33618938e-01 -7.73628016e-01 5.17055529e-03 3.29688538e+01] [ 7.73601095e-01 -6.33640028e-01 -6.45446768e-03 3.35692456e+02] [ 8.26962782e-03 -8.97257151e-05 9.99965802e-01 7.28758899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.532755096 meters 0.017827141447067412 Centerline is valid? [True, True] Translation: X:32.95, Y:335.71, Z:7.29 [[-6.34579739e-01 -7.72844335e-01 4.49327299e-03 3.29539036e+01] [ 7.72824014e-01 -6.34595641e-01 -5.60504660e-03 3.35712201e+02] [ 7.18323996e-03 -8.43397412e-05 9.99974197e-01 7.28867560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.562755096 meters 0.01794081305126537 Centerline is valid? [True, True] Translation: X:32.94, Y:335.73, Z:7.29 [[-6.35189179e-01 -7.72344695e-01 4.28701096e-03 3.29379771e+01] [ 7.72326215e-01 -6.35203641e-01 -5.34346280e-03 3.35732043e+02] [ 6.85012011e-03 -8.31387999e-05 9.99976534e-01 7.28915012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.592755096 meters 0.018638440752372466 Centerline is valid? [True, True] Translation: X:32.92, Y:335.75, Z:7.29 [[-6.36543580e-01 -7.71230322e-01 4.00768296e-03 3.29232435e+01] [ 7.71214173e-01 -6.36556191e-01 -4.99155274e-03 3.35751092e+02] [ 6.40075222e-03 -8.65589494e-05 9.99979511e-01 7.28946242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.622755096 meters 0.01898185478434345 Centerline is valid? [True, True] Translation: X:32.91, Y:335.77, Z:7.29 [[-6.37353859e-01 -7.70561368e-01 3.90340150e-03 3.29074526e+01] [ 7.70546056e-01 -6.37365806e-01 -4.85851520e-03 3.35771081e+02] [ 6.23167877e-03 -8.88427803e-05 9.99980579e-01 7.28962429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.652755096 meters 0.019343148887452224 Centerline is valid? [True, True] Translation: X:32.89, Y:335.79, Z:7.29 [[-6.38129836e-01 -7.69920275e-01 3.61700265e-03 3.28915429e+01] [ 7.69907136e-01 -6.38140081e-01 -4.49882157e-03 3.35791633e+02] [ 5.77188830e-03 -8.60761252e-05 9.99983339e-01 7.29013291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.682755096 meters 0.01962514018989769 Centerline is valid? [True, True] Translation: X:32.88, Y:335.81, Z:7.29 [[-6.38855453e-01 -7.69319216e-01 3.41384300e-03 3.28758857e+01] [ 7.69307520e-01 -6.38864568e-01 -4.24305629e-03 3.35811804e+02] [ 5.44524807e-03 -8.44045501e-05 9.99985171e-01 7.29074745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.712755096 meters 0.018159677572936583 Centerline is valid? [True, True] Translation: X:32.86, Y:335.83, Z:7.29 [[-6.39127033e-01 -7.69094125e-01 3.29588528e-03 3.28565646e+01] [ 7.69083236e-01 -6.39135526e-01 -4.09342728e-03 3.35830354e+02] [ 5.25474824e-03 -8.14099119e-05 9.99986190e-01 7.29079556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.742755096 meters 0.019933320637397476 Centerline is valid? [True, True] Translation: X:32.84, Y:335.85, Z:7.29 [[-6.39493353e-01 -7.68788802e-01 3.46835869e-03 3.28426258e+01] [ 7.68776759e-01 -6.39502752e-01 -4.30401055e-03 3.35851907e+02] [ 5.52690004e-03 -8.59925779e-05 9.99984723e-01 7.29094820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.772755096 meters 0.019933320637397476 Centerline is valid? [True, True] Translation: X:32.83, Y:335.87, Z:7.29 [[-6.39781036e-01 -7.68549403e-01 3.47014319e-03 3.28266043e+01] [ 7.68537364e-01 -6.39790441e-01 -4.30257114e-03 3.35871224e+02] [ 5.52690292e-03 -8.57687193e-05 9.99984723e-01 7.29112451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.802755096 meters 0.020093078554416704 Centerline is valid? [True, True] Translation: X:32.81, Y:335.89, Z:7.29 [[-6.39997563e-01 -7.68366951e-01 3.91767768e-03 3.28108271e+01] [ 7.68351630e-01 -6.40009547e-01 -4.85322129e-03 3.35890129e+02] [ 6.23640596e-03 -9.58957648e-05 9.99980549e-01 7.29023781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.832755096 meters 0.020071562606977088 Centerline is valid? [True, True] Translation: X:32.79, Y:335.91, Z:7.29 [[-6.40071021e-01 -7.68303326e-01 4.36891989e-03 3.27948968e+01] [ 7.68284304e-01 -6.40085923e-01 -5.40742103e-03 3.35908652e+02] [ 6.95102368e-03 -1.04560924e-04 9.99975836e-01 7.28936460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.862755096 meters 0.018023479296546175 Centerline is valid? [True, True] Translation: X:32.77, Y:335.93, Z:7.29 [[-6.39819586e-01 -7.68510276e-01 4.78060391e-03 3.27742218e+01] [ 7.68487544e-01 -6.39837436e-01 -5.91193230e-03 3.35925582e+02] [ 7.60219007e-03 -1.08735517e-04 9.99971097e-01 7.28864669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.892755096 meters 0.01766574681528199 Centerline is valid? [True, True] Translation: X:32.76, Y:335.95, Z:7.29 [[-6.39310656e-01 -7.68929458e-01 5.41973231e-03 3.27564951e+01] [ 7.68900307e-01 -6.39333618e-01 -6.69648747e-03 3.35945102e+02] [ 8.61414355e-03 -1.13901959e-04 9.99962891e-01 7.28811489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9227550960001 meters 0.017595550249902604 Centerline is valid? [True, True] Translation: X:32.74, Y:335.96, Z:7.29 [[-6.39305130e-01 -7.68933279e-01 5.52838649e-03 3.27392927e+01] [ 7.68902995e-01 -6.39329023e-01 -6.82529292e-03 3.35964883e+02] [ 8.78265280e-03 -1.12651848e-04 9.99961425e-01 7.28776025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.952755096 meters 0.01761219997724993 Centerline is valid? [True, True] Translation: X:32.72, Y:335.99, Z:7.29 [[-6.39337594e-01 -7.68905406e-01 5.64953812e-03 3.27219021e+01] [ 7.68873829e-01 -6.39362545e-01 -6.96931891e-03 3.35985038e+02] [ 8.97085005e-03 -1.11965578e-04 9.99959755e-01 7.28774444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.982755096 meters 0.017112829399869266 Centerline is valid? [True, True] Translation: X:32.70, Y:336.00, Z:7.29 [[-6.39190743e-01 -7.69026167e-01 5.82652255e-03 3.27033930e+01] [ 7.68992638e-01 -6.39217289e-01 -7.18200823e-03 3.36004760e+02] [ 9.24756621e-03 -1.10120233e-04 9.99957234e-01 7.28771116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.012755096 meters 0.017174372906957308 Centerline is valid? [True, True] Translation: X:32.69, Y:336.02, Z:7.29 [[-6.38767953e-01 -7.69376768e-01 5.90681568e-03 3.26864787e+01] [ 7.69342372e-01 -6.38795255e-01 -7.27576533e-03 3.36023690e+02] [ 9.37105065e-03 -1.03162141e-04 9.99956085e-01 7.28776843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0427550960001 meters 0.01704030306302375 Centerline is valid? [True, True] Translation: X:32.67, Y:336.04, Z:7.29 [[-6.38775630e-01 -7.69370806e-01 5.85300396e-03 3.26688105e+01] [ 7.69337079e-01 -6.38802437e-01 -7.20463254e-03 3.36043965e+02] [ 9.28194713e-03 -9.92107221e-05 9.99956917e-01 7.28789276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.072755096 meters 0.017017577448939936 Centerline is valid? [True, True] Translation: X:32.65, Y:336.06, Z:7.29 [[-6.38703733e-01 -7.69427497e-01 6.23445006e-03 3.26514825e+01] [ 7.69389295e-01 -6.38734152e-01 -7.66786868e-03 3.36064534e+02] [ 9.88202517e-03 -1.00777217e-04 9.99951167e-01 7.28808979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.102755096 meters 0.016900167860538707 Centerline is valid? [True, True] Translation: X:32.63, Y:336.09, Z:7.29 [[-6.39240789e-01 -7.68980944e-01 6.28668126e-03 3.26340541e+01] [ 7.68942137e-01 -6.39271693e-01 -7.72610409e-03 3.36085765e+02] [ 9.96012419e-03 -1.04746756e-04 9.99950391e-01 7.28872363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.132755096 meters 0.017161064928524636 Centerline is valid? [True, True] Translation: X:32.62, Y:336.11, Z:7.29 [[-6.39855361e-01 -7.68470645e-01 6.16318248e-03 3.26186165e+01] [ 7.68433380e-01 -6.39885034e-01 -7.56864627e-03 3.36106059e+02] [ 9.76001071e-03 -1.06843754e-04 9.99952364e-01 7.28862280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1627550960001 meters 0.01739840543789823 Centerline is valid? [True, True] Translation: X:32.60, Y:336.13, Z:7.29 [[-6.40815161e-01 -7.67666847e-01 6.59868545e-03 3.26020286e+01] [ 7.67624160e-01 -6.40849122e-01 -8.09643225e-03 3.36126755e+02] [ 1.04441244e-02 -1.23006160e-04 9.99945451e-01 7.28892142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.192755096 meters 0.017492450554817785 Centerline is valid? [True, True] Translation: X:32.58, Y:336.15, Z:7.29 [[-6.41429933e-01 -7.67154559e-01 6.44393464e-03 3.25843106e+01] [ 7.67113885e-01 -6.41462289e-01 -7.90055917e-03 3.36147798e+02] [ 1.01944910e-02 -1.24423402e-04 9.99948027e-01 7.28925426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.222755096 meters 0.017258830228638146 Centerline is valid? [True, True] Translation: X:32.57, Y:336.17, Z:7.29 [[-6.41830233e-01 -7.66820961e-01 6.29007867e-03 3.25663974e+01] [ 7.66782246e-01 -6.41861043e-01 -7.70642155e-03 3.36167863e+02] [ 9.94680204e-03 -1.23093689e-04 9.99950522e-01 7.29013613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.252755096 meters 0.017418026184683227 Centerline is valid? [True, True] Translation: X:32.55, Y:336.19, Z:7.29 [[-6.42062769e-01 -7.66623836e-01 6.57986734e-03 3.25496315e+01] [ 7.66581520e-01 -6.42096471e-01 -8.05572817e-03 3.36187799e+02] [ 1.04006228e-02 -1.28278429e-04 9.99945904e-01 7.29029599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.282755096 meters 0.017349744626706534 Centerline is valid? [True, True] Translation: X:32.53, Y:336.21, Z:7.29 [[-6.42139399e-01 -7.66558966e-01 6.65910827e-03 3.25318439e+01] [ 7.66515675e-01 -6.42173914e-01 -8.14762372e-03 3.36208579e+02] [ 1.05219396e-02 -1.27599333e-04 9.99944635e-01 7.29062289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.312755096 meters 0.01724976361086352 Centerline is valid? [True, True] Translation: X:32.51, Y:336.23, Z:7.29 [[-6.42078595e-01 -7.66611575e-01 6.46303776e-03 3.25139814e+01] [ 7.66570856e-01 -6.42111111e-01 -7.90209370e-03 3.36229114e+02] [ 1.02078249e-02 -1.19388829e-04 9.99947892e-01 7.29083773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.342755096 meters 0.01701943367767933 Centerline is valid? [True, True] Translation: X:32.50, Y:336.25, Z:7.29 [[-6.41598332e-01 -7.67015895e-01 6.18041331e-03 3.24972802e+01] [ 7.66978733e-01 -6.41628090e-01 -7.55095801e-03 3.36248067e+02] [ 9.75723160e-03 -1.04436489e-04 9.99952392e-01 7.29149201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.372755096 meters 0.016920268564445593 Centerline is valid? [True, True] Translation: X:32.48, Y:336.27, Z:7.29 [[-6.41598707e-01 -7.67012381e-01 6.56557949e-03 3.24794859e+01] [ 7.66970512e-01 -6.41632291e-01 -8.01477349e-03 3.36268243e+02] [ 1.03601183e-02 -1.06662440e-04 9.99946327e-01 7.29146800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.402755096 meters 0.016799171996401987 Centerline is valid? [True, True] Translation: X:32.46, Y:336.29, Z:7.29 [[-6.41124946e-01 -7.67407378e-01 6.68735704e-03 3.24626725e+01] [ 7.67364030e-01 -6.41159814e-01 -8.15711026e-03 3.36287605e+02] [ 1.05474912e-02 -9.80896252e-05 9.99944369e-01 7.29118666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.432755096 meters 0.01657310580838272 Centerline is valid? [True, True] Translation: X:32.44, Y:336.31, Z:7.29 [[-6.41091614e-01 -7.67434363e-01 6.78531981e-03 3.24446885e+01] [ 7.67389810e-01 -6.41127514e-01 -8.26988388e-03 3.36307605e+02] [ 1.06968483e-02 -9.47679253e-05 9.99942783e-01 7.29130193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.462755096 meters 0.016598009834150426 Centerline is valid? [True, True] Translation: X:32.43, Y:336.33, Z:7.29 [[-6.40828385e-01 -7.67652988e-01 6.91886300e-03 3.24280190e+01] [ 7.67606748e-01 -6.40865729e-01 -8.42607418e-03 3.36326391e+02] [ 1.09023632e-02 -8.87015847e-05 9.99940564e-01 7.29057059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.492755096 meters 0.01652448196677713 Centerline is valid? [True, True] Translation: X:32.41, Y:336.35, Z:7.29 [[-6.41334804e-01 -7.67229903e-01 6.92424352e-03 3.24112086e+01] [ 7.67183642e-01 -6.41372176e-01 -8.42566077e-03 3.36346362e+02] [ 1.09054360e-02 -9.15031437e-05 9.99940530e-01 7.29076426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.522755096 meters 0.016523264811674973 Centerline is valid? [True, True] Translation: X:32.39, Y:336.37, Z:7.29 [[-6.41914869e-01 -7.66747512e-01 6.59962699e-03 3.23938260e+01] [ 7.66705523e-01 -6.41948787e-01 -8.02465491e-03 3.36367149e+02] [ 1.03895067e-02 -9.11748368e-05 9.99946023e-01 7.29127108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.552755096 meters 0.0172663261028691 Centerline is valid? [True, True] Translation: X:32.38, Y:336.39, Z:7.29 [[-6.43299447e-01 -7.65590049e-01 6.13995696e-03 3.23788878e+01] [ 7.65553704e-01 -6.43328740e-01 -7.46047175e-03 3.36389039e+02] [ 9.66167370e-03 -9.88505596e-05 9.99953320e-01 7.29197317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.582755096 meters 0.017188707580046116 Centerline is valid? [True, True] Translation: X:32.36, Y:336.41, Z:7.29 [[-6.44348652e-01 -7.64709757e-01 5.81396938e-03 3.23613885e+01] [ 7.64677180e-01 -6.44374873e-01 -7.05925537e-03 3.36410370e+02] [ 9.14465724e-03 -1.02811977e-04 9.99958182e-01 7.29307584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.612755096 meters 0.017810011724899162 Centerline is valid? [True, True] Translation: X:32.35, Y:336.43, Z:7.29 [[-6.45882196e-01 -7.63419449e-01 5.18978577e-03 3.23464244e+01] [ 7.63393484e-01 -6.45903037e-01 -6.29723463e-03 3.36431993e+02] [ 8.15952978e-03 -1.05423086e-04 9.99966705e-01 7.29419976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.642755096 meters 0.018021845327473095 Centerline is valid? [True, True] Translation: X:32.33, Y:336.45, Z:7.29 [[-6.46461807e-01 -7.62928573e-01 5.20809645e-03 3.23309757e+01] [ 7.62902447e-01 -6.46482777e-01 -6.31479337e-03 3.36451743e+02] [ 8.18468095e-03 -1.09003209e-04 9.99966499e-01 7.29462096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6727550960001 meters 0.018033125844987775 Centerline is valid? [True, True] Translation: X:32.31, Y:336.47, Z:7.29 [[-6.47615048e-01 -7.61951682e-01 4.93803539e-03 3.23129436e+01] [ 7.61928195e-01 -6.47633864e-01 -5.98373522e-03 3.36472103e+02] [ 7.75735606e-03 -1.12728579e-04 9.99969905e-01 7.29499557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.702755096 meters 0.01894192734466217 Centerline is valid? [True, True] Translation: X:32.30, Y:336.49, Z:7.30 [[-6.48273732e-01 -7.61392338e-01 4.78298172e-03 3.22974476e+01] [ 7.61370318e-01 -6.48291366e-01 -5.79171349e-03 3.36492976e+02] [ 7.51053203e-03 -1.12995401e-04 9.99971789e-01 7.29528188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.732755096 meters 0.019048315539787357 Centerline is valid? [True, True] Translation: X:32.28, Y:336.51, Z:7.30 [[-6.48931278e-01 -7.60833532e-01 4.53129380e-03 3.22802362e+01] [ 7.60813783e-01 -6.48947089e-01 -5.48295823e-03 3.36512625e+02] [ 7.11218840e-03 -1.10592310e-04 9.99974702e-01 7.29560337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.762755096 meters 0.018797647352544036 Centerline is valid? [True, True] Translation: X:32.26, Y:336.53, Z:7.30 [[-6.49432527e-01 -7.60406968e-01 4.31691992e-03 3.22623872e+01] [ 7.60389060e-01 -6.49446866e-01 -5.21975322e-03 3.36532272e+02] [ 6.77274684e-03 -1.07338844e-04 9.99977059e-01 7.29646929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7927550960001 meters 0.018930980732000797 Centerline is valid? [True, True] Translation: X:32.25, Y:336.55, Z:7.30 [[-6.49792312e-01 -7.60099730e-01 4.28391206e-03 3.22454354e+01] [ 7.60082116e-01 -6.49806424e-01 -5.17578577e-03 3.36552747e+02] [ 6.71782694e-03 -1.07060863e-04 9.99977429e-01 7.29679415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.822755096 meters 0.018944115741261567 Centerline is valid? [True, True] Translation: X:32.23, Y:336.57, Z:7.30 [[-6.49943786e-01 -7.59969642e-01 4.38381241e-03 3.22281125e+01] [ 7.59951223e-01 -6.49958561e-01 -5.29222180e-03 3.36572373e+02] [ 6.87122432e-03 -1.08163073e-04 9.99976387e-01 7.29721193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.852755096 meters 0.01972337319289325 Centerline is valid? [True, True] Translation: X:32.21, Y:336.59, Z:7.30 [[-6.50180749e-01 -7.59766803e-01 4.40433240e-03 3.22122690e+01] [ 7.59748235e-01 -6.50195657e-01 -5.31281696e-03 3.36592542e+02] [ 6.90017975e-03 -1.08107543e-04 9.99976188e-01 7.29686297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.882755096 meters 0.018951556423535063 Centerline is valid? [True, True] Translation: X:32.19, Y:336.61, Z:7.30 [[-6.50066867e-01 -7.59862349e-01 4.72015344e-03 3.21932522e+01] [ 7.59841061e-01 -6.50083994e-01 -5.68883665e-03 3.36610732e+02] [ 7.39122898e-03 -1.11557821e-04 9.99972678e-01 7.29660900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9127550960001 meters 0.01868383859043707 Centerline is valid? [True, True] Translation: X:32.18, Y:336.63, Z:7.30 [[-6.50144640e-01 -7.59794944e-01 4.85709070e-03 3.21750464e+01] [ 7.59772437e-01 -6.50162773e-01 -5.84920804e-03 3.36629901e+02] [ 7.60209826e-03 -1.12547616e-04 9.99971097e-01 7.29634545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.942755096 meters 0.0188209104849313 Centerline is valid? [True, True] Translation: X:32.16, Y:336.65, Z:7.30 [[-6.50576674e-01 -7.59422545e-01 5.23346046e-03 3.21568647e+01] [ 7.59396446e-01 -6.50597712e-01 -6.29716564e-03 3.36649619e+02] [ 8.18708696e-03 -1.22517806e-04 9.99966478e-01 7.29607431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.972755096 meters 0.01954580021619763 Centerline is valid? [True, True] Translation: X:32.14, Y:336.67, Z:7.30 [[-6.51678251e-01 -7.58476267e-01 5.40460704e-03 3.21411494e+01] [ 7.58448445e-01 -6.51700648e-01 -6.49784173e-03 3.36669321e+02] [ 8.45064464e-03 -1.35386327e-04 9.99964284e-01 7.29605258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.002755096 meters 0.019824752040161858 Centerline is valid? [True, True] Translation: X:32.12, Y:336.69, Z:7.30 [[-6.52799080e-01 -7.57513148e-01 5.21459726e-03 3.21239764e+01] [ 7.57487258e-01 -6.52819892e-01 -6.26448805e-03 3.36689248e+02] [ 8.14962488e-03 -1.39461051e-04 9.99966782e-01 7.29643029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.032755096 meters 0.019856036231719658 Centerline is valid? [True, True] Translation: X:32.11, Y:336.71, Z:7.30 [[-6.53947145e-01 -7.56522950e-01 5.11450338e-03 3.21066003e+01] [ 7.56498051e-01 -6.53967128e-01 -6.13956450e-03 3.36708999e+02] [ 7.98943854e-03 -1.45838837e-04 9.99968073e-01 7.29696888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.062755096 meters 0.020751580356673436 Centerline is valid? [True, True] Translation: X:32.09, Y:336.73, Z:7.30 [[-6.55166338e-01 -7.55469592e-01 4.77133432e-03 3.20903411e+01] [ 7.55447925e-01 -6.55183696e-01 -5.72338389e-03 3.36730050e+02] [ 7.44994295e-03 -1.45273850e-04 9.99972238e-01 7.29771654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.092755096 meters 0.020921523800454908 Centerline is valid? [True, True] Translation: X:32.07, Y:336.75, Z:7.30 [[-6.56938236e-01 -7.53933164e-01 4.11564932e-03 3.20720500e+01] [ 7.53917034e-01 -6.56951113e-01 -4.93373466e-03 3.36750830e+02] [ 6.42348658e-03 -1.38300811e-04 9.99979360e-01 7.29924621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.122755096 meters 0.022103550182663505 Centerline is valid? [True, True] Translation: X:32.06, Y:336.77, Z:7.30 [[-6.58265502e-01 -7.52778619e-01 3.29841038e-03 3.20565741e+01] [ 7.52768256e-01 -6.58273755e-01 -3.95173329e-03 3.36772082e+02] [ 5.14603731e-03 -1.18351064e-04 9.99986752e-01 7.30139477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.152755096 meters 0.02182182502867453 Centerline is valid? [True, True] Translation: X:32.04, Y:336.79, Z:7.30 [[-6.58999392e-01 -7.52138330e-01 2.78098283e-03 3.20379200e+01] [ 7.52130962e-01 -6.59005252e-01 -3.33077792e-03 3.36792267e+02] [ 4.33788804e-03 -1.03317331e-04 9.99990586e-01 7.30227025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.182755096 meters 0.02238290976180608 Centerline is valid? [True, True] Translation: X:32.02, Y:336.81, Z:7.30 [[-6.59400543e-01 -7.51787622e-01 2.50909982e-03 3.20209367e+01] [ 7.51781628e-01 -6.59405310e-01 -3.00344324e-03 3.36812889e+02] [ 3.91246520e-03 -9.41769535e-05 9.99992342e-01 7.30347215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.212755096 meters 0.021951498305209694 Centerline is valid? [True, True] Translation: X:32.00, Y:336.83, Z:7.30 [[-6.59708122e-01 -7.51520513e-01 1.45327710e-03 3.20011003e+01] [ 7.51518501e-01 -6.59709720e-01 -1.73988262e-03 3.36831820e+02] [ 2.26629851e-03 -5.56500735e-05 9.99997430e-01 7.30463943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.242755096 meters 0.02128385236167156 Centerline is valid? [True, True] Translation: X:31.98, Y:336.85, Z:7.31 [[-6.59914835e-01 -7.51339726e-01 1.01319035e-03 3.19819434e+01] [ 7.51338747e-01 -6.59915611e-01 -1.21341223e-03 3.36851085e+02] [ 1.58030494e-03 -3.94995583e-05 9.99998751e-01 7.30502164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.272755096 meters 0.02104384770111999 Centerline is valid? [True, True] Translation: X:31.96, Y:336.87, Z:7.31 [[-6.59402584e-01 -7.51789586e-01 8.06314565e-04 3.19631774e+01] [ 7.51788966e-01 -6.59403077e-01 -9.65740529e-04 3.36871222e+02] [ 1.25771998e-03 -3.06334076e-05 9.99999209e-01 7.30600556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.302755096 meters 0.020858456058867516 Centerline is valid? [True, True] Translation: X:31.95, Y:336.89, Z:7.31 [[-6.59097682e-01 -7.52056858e-01 8.53729656e-04 3.19450161e+01] [ 7.52056165e-01 -6.59098234e-01 -1.02153724e-03 3.36891466e+02] [ 1.33094579e-03 -3.12401741e-05 9.99999114e-01 7.30646094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.332755096 meters 0.020673195928519506 Centerline is valid? [True, True] Translation: X:31.93, Y:336.91, Z:7.31 [[-6.58885708e-01 -7.52242721e-01 7.15628436e-04 3.19277757e+01] [ 7.52242235e-01 -6.58886096e-01 -8.55539386e-04 3.36910810e+02] [ 1.11509090e-03 -2.53767401e-05 9.99999378e-01 7.30674830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.362755096 meters 0.020456166525364625 Centerline is valid? [True, True] Translation: X:31.91, Y:336.93, Z:7.31 [[-6.58611994e-01 -7.52482501e-01 5.72020796e-04 3.19093121e+01] [ 7.52482190e-01 -6.58612242e-01 -6.84860239e-04 3.36930831e+02] [ 8.92085244e-04 -2.06217064e-05 9.99999602e-01 7.30677071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.392755096 meters 0.019999568626257843 Centerline is valid? [True, True] Translation: X:31.89, Y:336.95, Z:7.31 [[-6.58133697e-01 -7.52899996e-01 1.27799292e-03 3.18899450e+01] [ 7.52898455e-01 -6.58134936e-01 -1.52412412e-03 3.36949694e+02] [ 1.98860483e-03 -4.08785445e-05 9.99998022e-01 7.30560611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4227550960001 meters 0.019708346345061883 Centerline is valid? [True, True] Translation: X:31.87, Y:336.97, Z:7.30 [[-6.57113569e-01 -7.53789927e-01 1.58204777e-03 3.18712628e+01] [ 7.53787575e-01 -6.57115472e-01 -1.88380946e-03 3.36967761e+02] [ 2.45958466e-03 -4.53488041e-05 9.99996974e-01 7.30445798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.452755096 meters 0.01970315668862217 Centerline is valid? [True, True] Translation: X:31.85, Y:336.99, Z:7.30 [[-6.56883654e-01 -7.53990276e-01 1.59027637e-03 3.18533495e+01] [ 7.53987900e-01 -6.56885578e-01 -1.89320366e-03 3.36987260e+02] [ 2.47208677e-03 -4.45653994e-05 9.99996943e-01 7.30422756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.482755096 meters 0.019408333018523283 Centerline is valid? [True, True] Translation: X:31.83, Y:337.01, Z:7.30 [[-6.56660344e-01 -7.54184396e-01 1.75749305e-03 3.18347388e+01] [ 7.54181501e-01 -6.56662695e-01 -2.09011613e-03 3.37007294e+02] [ 2.73041309e-03 -4.70276360e-05 9.99996271e-01 7.30358056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.512755096 meters 0.01933362717658092 Centerline is valid? [True, True] Translation: X:31.82, Y:337.03, Z:7.30 [[-6.56784674e-01 -7.54074885e-01 2.22719113e-03 3.18164957e+01] [ 7.54070246e-01 -6.56788447e-01 -2.64574505e-03 3.37028072e+02] [ 3.45788330e-03 -5.82262360e-05 9.99994020e-01 7.30216839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5427550960001 meters 0.02004702092046257 Centerline is valid? [True, True] Translation: X:31.80, Y:337.05, Z:7.30 [[-6.57209651e-01 -7.53703518e-01 2.54611247e-03 3.18016548e+01] [ 7.53697462e-01 -6.57214579e-01 -3.02211181e-03 3.37048483e+02] [ 3.95111853e-03 -6.71625399e-05 9.99992192e-01 7.30211980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.572755096 meters 0.01973124421517608 Centerline is valid? [True, True] Translation: X:31.78, Y:337.07, Z:7.30 [[-6.57702747e-01 -7.53273080e-01 2.60072955e-03 3.17837151e+01] [ 7.53266770e-01 -6.57707885e-01 -3.08396357e-03 3.37068769e+02] [ 4.03358706e-03 -6.92881634e-05 9.99991863e-01 7.30183750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.602755096 meters 0.020080387403284647 Centerline is valid? [True, True] Translation: X:31.77, Y:337.09, Z:7.30 [[-6.58381518e-01 -7.52678957e-01 2.85733522e-03 3.17684204e+01] [ 7.52671349e-01 -6.58387713e-01 -3.38526145e-03 3.37089139e+02] [ 4.42924946e-03 -7.81592168e-05 9.99990188e-01 7.30143696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.632755096 meters 0.02016693546745469 Centerline is valid? [True, True] Translation: X:31.75, Y:337.11, Z:7.30 [[-6.58818198e-01 -7.52296788e-01 2.85059733e-03 3.17516236e+01] [ 7.52289219e-01 -6.58824360e-01 -3.37544786e-03 3.37110037e+02] [ 4.41738155e-03 -7.93328320e-05 9.99990240e-01 7.30173343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6627550960001 meters 0.02061171729883201 Centerline is valid? [True, True] Translation: X:31.74, Y:337.13, Z:7.30 [[-6.59379263e-01 -7.51806422e-01 2.46833606e-03 3.17370278e+01] [ 7.51800750e-01 -6.59383879e-01 -2.92115775e-03 3.37130854e+02] [ 3.82372616e-03 -7.04539490e-05 9.99992687e-01 7.30238084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.692755096 meters 0.02061171729883201 Centerline is valid? [True, True] Translation: X:31.72, Y:337.15, Z:7.30 [[-6.59665487e-01 -7.51555285e-01 2.46956826e-03 3.17200840e+01] [ 7.51549615e-01 -6.59670106e-01 -2.92011530e-03 3.37150475e+02] [ 3.82372844e-03 -7.02962065e-05 9.99992687e-01 7.30256308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.722755096 meters 0.020651181865314554 Centerline is valid? [True, True] Translation: X:31.70, Y:337.17, Z:7.30 [[-6.59929152e-01 -7.51322626e-01 2.79767496e-03 3.17037055e+01] [ 7.51315361e-01 -6.59935077e-01 -3.30496433e-03 3.37170734e+02] [ 4.32937832e-03 -7.91061348e-05 9.99990625e-01 7.30265542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.752755096 meters 0.020712505910928953 Centerline is valid? [True, True] Translation: X:31.69, Y:337.19, Z:7.30 [[-6.60205561e-01 -7.51079261e-01 2.92600242e-03 3.16872475e+01] [ 7.51071324e-01 -6.60212040e-01 -3.45372691e-03 3.37191233e+02] [ 4.52580468e-03 -8.25331975e-05 9.99989755e-01 7.30250409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.782755096 meters 0.02024093970279557 Centerline is valid? [True, True] Translation: X:31.67, Y:337.21, Z:7.30 [[-6.60214848e-01 -7.51071493e-01 2.82266294e-03 3.16713107e+01] [ 7.51064117e-01 -6.60220877e-01 -3.32939040e-03 3.37211771e+02] [ 4.36419122e-03 -7.81121267e-05 9.99990474e-01 7.30258696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.812755096 meters 0.020471617999279684 Centerline is valid? [True, True] Translation: X:31.66, Y:337.23, Z:7.30 [[-6.60125608e-01 -7.51149321e-01 2.97993900e-03 3.16560932e+01] [ 7.51141115e-01 -6.60132329e-01 -3.51196856e-03 3.37232347e+02] [ 4.60516686e-03 -7.99856791e-05 9.99989393e-01 7.30304325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.842755096 meters 0.020033674495080644 Centerline is valid? [True, True] Translation: X:31.64, Y:337.25, Z:7.30 [[-6.59738305e-01 -7.51491629e-01 2.38753461e-03 3.16395344e+01] [ 7.51486370e-01 -6.59742622e-01 -2.81224761e-03 3.37253136e+02] [ 3.68853888e-03 -6.11477523e-05 9.99993195e-01 7.30341372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.872755096 meters 0.02000104866632481 Centerline is valid? [True, True] Translation: X:31.62, Y:337.27, Z:7.30 [[-6.59691984e-01 -7.51533417e-01 2.00246817e-03 3.16232567e+01] [ 7.51529721e-01 -6.59695021e-01 -2.35753591e-03 3.37274145e+02] [ 3.09278530e-03 -5.03331974e-05 9.99995216e-01 7.30380990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.902755096 meters 0.01958373874073493 Centerline is valid? [True, True] Translation: X:31.61, Y:337.29, Z:7.30 [[-6.59810378e-01 -7.51430381e-01 1.62712289e-03 3.16062666e+01] [ 7.51427942e-01 -6.59812383e-01 -1.91503795e-03 3.37294388e+02] [ 2.51261353e-03 -4.08963097e-05 9.99996843e-01 7.30425539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.932755096 meters 0.020353715251173642 Centerline is valid? [True, True] Translation: X:31.59, Y:337.32, Z:7.31 [[-6.59919596e-01 -7.51335173e-01 1.25892167e-03 3.15931603e+01] [ 7.51333712e-01 -6.59920796e-01 -1.48159838e-03 3.37316608e+02] [ 1.94396556e-03 -3.18655111e-05 9.99998110e-01 7.30561241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.962755096 meters 0.01941293430916028 Centerline is valid? [True, True] Translation: X:31.58, Y:337.34, Z:7.31 [[-6.59590961e-01 -7.51623962e-01 1.08797948e-03 3.15752174e+01] [ 7.51622874e-01 -6.59591858e-01 -1.27967339e-03 3.37336704e+02] [ 1.67945559e-03 -2.63107360e-05 9.99998589e-01 7.30517926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.992755096 meters 0.019040012551882923 Centerline is valid? [True, True] Translation: X:31.56, Y:337.36, Z:7.31 [[-6.58968835e-01 -7.52170080e-01 4.95664864e-04 3.15594656e+01] [ 7.52169853e-01 -6.58969021e-01 -5.84617093e-04 3.37359684e+02] [ 7.66359276e-04 -1.24202771e-05 9.99999706e-01 7.30606161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.022755096 meters 0.01883485567455828 Centerline is valid? [True, True] Translation: X:31.54, Y:337.38, Z:7.31 [[-6.58630153e-01 -7.52466725e-01 3.87352148e-04 3.15426963e+01] [ 7.52466586e-01 -6.58630267e-01 -4.57406989e-04 3.37381432e+02] [ 5.99305388e-04 -9.79248690e-06 9.99999820e-01 7.30628649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.052755096 meters 0.01856389064900816 Centerline is valid? [True, True] Translation: X:31.53, Y:337.40, Z:7.31 [[-6.58373772e-01 -7.52691016e-01 4.57991206e-04 3.15258586e+01] [ 7.52690823e-01 -6.58373932e-01 -5.39745614e-04 3.37403142e+02] [ 7.07791145e-04 -1.06285783e-05 9.99999749e-01 7.30670668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.082755096 meters 0.018402817781324042 Centerline is valid? [True, True] Translation: X:31.51, Y:337.43, Z:7.31 [[-6.57522298e-01 -7.53435070e-01 1.49230874e-04 3.15110040e+01] [ 7.53435049e-01 -6.57522315e-01 -1.78563029e-04 3.37425126e+02] [ 2.32658278e-04 -4.97340201e-06 9.99999973e-01 7.30791702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.112755096 meters 0.018213779143766998 Centerline is valid? [True, True] Translation: X:31.49, Y:337.45, Z:7.31 [[-6.57333762e-01 -7.53599562e-01 1.59761847e-04 3.14949280e+01] [ 7.53599538e-01 -6.57333781e-01 -1.90845806e-04 3.37445692e+02] [ 2.48838175e-04 -5.05293739e-06 9.99999969e-01 7.30836405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.142755096 meters 0.017905495699072453 Centerline is valid? [True, True] Translation: X:31.48, Y:337.47, Z:7.31 [[-6.56818491e-01 -7.54048637e-01 3.52356123e-04 3.14792011e+01] [ 7.54048522e-01 -6.56818585e-01 -4.15184880e-04 3.37467973e+02] [ 5.44503643e-04 -7.00749185e-06 9.99999852e-01 7.30864392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1727550960001 meters 0.017821286878009622 Centerline is valid? [True, True] Translation: X:31.46, Y:337.49, Z:7.31 [[-6.56085538e-01 -7.54686453e-01 -3.52485861e-04 3.14611376e+01] [ 7.54686343e-01 -6.56085633e-01 4.08220901e-04 3.37487332e+02] [-5.39339693e-04 1.81156446e-06 9.99999855e-01 7.31013550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.202755096 meters 0.017617442043622672 Centerline is valid? [True, True] Translation: X:31.44, Y:337.51, Z:7.31 [[-6.55472987e-01 -7.55218062e-01 -9.17641448e-04 3.14436539e+01] [ 7.55217311e-01 -6.55473629e-01 1.06521856e-03 3.37506135e+02] [-1.40596207e-03 5.20328765e-06 9.99999012e-01 7.31125063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.232755096 meters 0.017509263251311483 Centerline is valid? [True, True] Translation: X:31.43, Y:337.53, Z:7.31 [[-6.54992772e-01 -7.55634229e-01 -1.17517348e-03 3.14250132e+01] [ 7.55632996e-01 -6.54993826e-01 1.36500393e-03 3.37526672e+02] [-1.80117507e-03 6.06785547e-06 9.99998378e-01 7.31192125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.262755096 meters 0.017553333882201698 Centerline is valid? [True, True] Translation: X:31.41, Y:337.55, Z:7.31 [[-6.54646063e-01 -7.55933202e-01 -1.87792368e-03 3.14070751e+01] [ 7.55930053e-01 -6.54648757e-01 2.18174731e-03 3.37545456e+02] [-2.87863563e-03 8.69333654e-06 9.99995857e-01 7.31406144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2927550960001 meters 0.017699738838640275 Centerline is valid? [True, True] Translation: X:31.39, Y:337.57, Z:7.31 [[-6.56286205e-01 -7.54508897e-01 -2.17753742e-03 3.13906015e+01] [ 7.54504661e-01 -6.56289817e-01 2.52838738e-03 3.37566271e+02] [-3.33678641e-03 1.63836300e-05 9.99994433e-01 7.31476922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.322755096 meters 0.018124990183663186 Centerline is valid? [True, True] Translation: X:31.37, Y:337.59, Z:7.32 [[-6.57958383e-01 -7.53049847e-01 -2.58737593e-03 3.13745729e+01] [ 7.53043861e-01 -6.57963470e-01 3.00273509e-03 3.37587661e+02] [-3.96360804e-03 2.72671658e-05 9.99992145e-01 7.31567823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.352755096 meters 0.018565691988017764 Centerline is valid? [True, True] Translation: X:31.36, Y:337.61, Z:7.32 [[-6.59742630e-01 -7.51484733e-01 -3.21835480e-03 3.13576809e+01] [ 7.51475459e-01 -6.59750478e-01 3.73382073e-03 3.37609222e+02] [-4.92922039e-03 4.48460562e-05 9.99987850e-01 7.31668081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.382755096 meters 0.0199634889271867 Centerline is valid? [True, True] Translation: X:31.34, Y:337.63, Z:7.32 [[-6.63161749e-01 -7.48465633e-01 -3.96112528e-03 3.13428409e+01] [ 7.48451546e-01 -6.63173574e-01 4.59288704e-03 3.37631449e+02] [-6.06453171e-03 8.11166641e-05 9.99981607e-01 7.31801365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4127550960001 meters 0.020381092421385655 Centerline is valid? [True, True] Translation: X:31.33, Y:337.65, Z:7.32 [[-6.64960720e-01 -7.46865854e-01 -4.31701609e-03 3.13256128e+01] [ 7.46849108e-01 -6.64974725e-01 5.00251046e-03 3.37652562e+02] [-6.60691083e-03 1.02313343e-04 9.99978169e-01 7.31755244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.442755096 meters 0.02148846053175912 Centerline is valid? [True, True] Translation: X:31.31, Y:337.67, Z:7.32 [[-6.67945752e-01 -7.44190170e-01 -5.42803863e-03 3.13090219e+01] [ 7.44163640e-01 -6.67967788e-01 6.28587939e-03 3.37673699e+02] [-8.30364461e-03 1.59277445e-04 9.99965512e-01 7.31747224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.472755096 meters 0.022376083697233564 Centerline is valid? [True, True] Translation: X:31.29, Y:337.70, Z:7.32 [[-6.69851120e-01 -7.42476622e-01 -5.28608086e-03 3.12922572e+01] [ 7.42451442e-01 -6.69871955e-01 6.11728674e-03 3.37695311e+02] [-8.08293971e-03 1.73013014e-04 9.99967318e-01 7.31737073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.502755096 meters 0.02288000505279551 Centerline is valid? [True, True] Translation: X:31.27, Y:337.72, Z:7.32 [[-6.71398893e-01 -7.41076742e-01 -5.36548990e-03 3.12746837e+01] [ 7.41050791e-01 -6.71420305e-01 6.20476528e-03 3.37716346e+02] [-8.20070611e-03 1.89772007e-04 9.99966356e-01 7.31684867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.532755096 meters 0.024916829513232517 Centerline is valid? [True, True] Translation: X:31.26, Y:337.74, Z:7.32 [[-6.74659965e-01 -7.38113620e-01 -4.71325170e-03 3.12592427e+01] [ 7.38093557e-01 -6.74676400e-01 5.44577974e-03 3.37737475e+02] [-7.19952389e-03 1.95228856e-04 9.99974064e-01 7.31520942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.562755096 meters 0.02506099095178987 Centerline is valid? [True, True] Translation: X:31.24, Y:337.76, Z:7.31 [[-6.76407493e-01 -7.36513423e-01 -4.56953709e-03 3.12405616e+01] [ 7.36494548e-01 -6.76422897e-01 5.27678561e-03 3.37758254e+02] [-6.97736295e-03 2.03818170e-04 9.99975637e-01 7.31376055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.592755096 meters 0.02645758958692512 Centerline is valid? [True, True] Translation: X:31.22, Y:337.78, Z:7.31 [[-6.78591006e-01 -7.34505387e-01 -4.01031524e-03 3.12237439e+01] [ 7.34490837e-01 -6.78602828e-01 4.62728261e-03 3.37779199e+02] [-6.12017527e-03 1.94492558e-04 9.99981253e-01 7.31211952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.622755096 meters 0.026744125680989637 Centerline is valid? [True, True] Translation: X:31.21, Y:337.80, Z:7.31 [[-6.79563769e-01 -7.33606252e-01 -3.86672479e-03 3.12051945e+01] [ 7.33592727e-01 -6.79574742e-01 4.45884381e-03 3.37800389e+02] [-5.89876420e-03 1.93467523e-04 9.99982583e-01 7.31101384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.652755096 meters 0.026867742984793937 Centerline is valid? [True, True] Translation: X:31.19, Y:337.82, Z:7.31 [[-6.80015417e-01 -7.33190055e-01 -3.37269808e-03 3.11870329e+01] [ 7.33179779e-01 -6.80023760e-01 3.88552027e-03 3.37821137e+02] [-5.14233965e-03 1.69419658e-04 9.99986764e-01 7.31000602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.682755096 meters 0.027934006120048153 Centerline is valid? [True, True] Translation: X:31.17, Y:337.84, Z:7.31 [[-6.80339827e-01 -7.32893901e-01 -2.06126314e-03 3.11703394e+01] [ 7.32890072e-01 -6.80342942e-01 2.37123346e-03 3.37841217e+02] [-3.14022837e-03 1.02565268e-04 9.99995064e-01 7.30833039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.712755096 meters 0.027749050639665637 Centerline is valid? [True, True] Translation: X:31.15, Y:337.86, Z:7.31 [[-6.80545515e-01 -7.32704364e-01 -1.45504386e-03 3.11517707e+01] [ 7.32702461e-01 -6.80547067e-01 1.67126210e-03 3.37860470e+02] [-2.21476687e-03 7.12557119e-05 9.99997545e-01 7.30660241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.742755096 meters 0.026652676287561766 Centerline is valid? [True, True] Translation: X:31.13, Y:337.88, Z:7.30 [[-6.80213418e-01 -7.33014123e-01 4.36021251e-05 3.11303948e+01] [ 7.33014121e-01 -6.80213419e-01 -5.39533588e-05 3.37878208e+02] [ 6.92073244e-05 -4.73882515e-06 9.99999998e-01 7.30286275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.772755096 meters 0.02722548160625795 Centerline is valid? [True, True] Translation: X:31.11, Y:337.90, Z:7.30 [[-6.80211580e-01 -7.33015701e-01 4.34186574e-04 3.11127495e+01] [ 7.33015529e-01 -6.80211718e-01 -5.03165481e-04 3.37897597e+02] [ 6.64166993e-04 -2.39934853e-05 9.99999779e-01 7.30149287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.802755096 meters 0.026261588236901938 Centerline is valid? [True, True] Translation: X:31.09, Y:337.92, Z:7.30 [[-6.80035414e-01 -7.33178087e-01 1.31490326e-03 3.10925886e+01] [ 7.33176526e-01 -6.80036682e-01 -1.51450754e-03 3.37916682e+02] [ 2.00458619e-03 -6.58625614e-05 9.99997989e-01 7.29980920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.832755096 meters 0.024701971479149546 Centerline is valid? [True, True] Translation: X:31.07, Y:337.94, Z:7.30 [[-6.79042324e-01 -7.34095621e-01 2.26748232e-03 3.10710510e+01] [ 7.34090999e-01 -6.79046102e-01 -2.60696468e-03 3.37935509e+02] [ 3.45348638e-03 -1.05700995e-04 9.99994031e-01 7.29784807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.862755096 meters 0.02468999519114966 Centerline is valid? [True, True] Translation: X:31.05, Y:337.95, Z:7.30 [[-6.78383120e-01 -7.34703166e-01 2.75679772e-03 3.10531132e+01] [ 7.34696352e-01 -6.78388711e-01 -3.16658578e-03 3.37954930e+02] [ 4.19668105e-03 -1.22749115e-04 9.99991186e-01 7.29721378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.892755096 meters 0.023151900423116184 Centerline is valid? [True, True] Translation: X:31.03, Y:337.97, Z:7.30 [[-6.76363128e-01 -7.36559769e-01 3.55332288e-03 3.10320541e+01] [ 7.36548490e-01 -6.76372447e-01 -4.07857205e-03 3.37972243e+02] [ 5.40748177e-03 -1.41401147e-04 9.99985370e-01 7.29560959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9227550960001 meters 0.022315090070680672 Centerline is valid? [True, True] Translation: X:31.01, Y:337.99, Z:7.29 [[-6.75399151e-01 -7.37443119e-01 3.69220485e-03 3.10112991e+01] [ 7.37430973e-01 -6.75409229e-01 -4.23476238e-03 3.37991019e+02] [ 5.61664561e-03 -1.37408697e-04 9.99984217e-01 7.29492160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.952755096 meters 0.022067815079493902 Centerline is valid? [True, True] Translation: X:30.99, Y:338.01, Z:7.29 [[-6.74327848e-01 -7.38421008e-01 4.04582403e-03 3.09921414e+01] [ 7.38406463e-01 -6.74339971e-01 -4.63673046e-03 3.38009664e+02] [ 6.15212003e-03 -1.39213860e-04 9.99981066e-01 7.29412816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.982755096 meters 0.02085580818868729 Centerline is valid? [True, True] Translation: X:30.97, Y:338.03, Z:7.29 [[-6.72122477e-01 -7.40423428e-01 4.95205883e-03 3.09697019e+01] [ 7.40401721e-01 -6.72140704e-01 -5.67142613e-03 3.38026576e+02] [ 7.52773709e-03 -1.45380095e-04 9.99971656e-01 7.29221545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.012755096 meters 0.020215526295803428 Centerline is valid? [True, True] Translation: X:30.95, Y:338.04, Z:7.29 [[-6.71096049e-01 -7.41352248e-01 5.19016402e-03 3.09497017e+01] [ 7.41328466e-01 -6.71116105e-01 -5.93970517e-03 3.38044863e+02] [ 7.88661644e-03 -1.38496342e-04 9.99968891e-01 7.29177573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0427550960001 meters 0.019750813840473024 Centerline is valid? [True, True] Translation: X:30.93, Y:338.06, Z:7.29 [[-6.69018166e-01 -7.43224196e-01 5.69983930e-03 3.09297507e+01] [ 7.43195626e-01 -6.69042434e-01 -6.51789143e-03 3.38061884e+02] [ 8.65768898e-03 -1.24492135e-04 9.99962514e-01 7.29010781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.072755096 meters 0.01907527778359774 Centerline is valid? [True, True] Translation: X:30.91, Y:338.08, Z:7.29 [[-6.68426520e-01 -7.43754224e-01 5.97000506e-03 3.09093730e+01] [ 7.43722951e-01 -6.68453169e-01 -6.82146041e-03 3.38079528e+02] [ 9.06415880e-03 -1.19615264e-04 9.99958913e-01 7.28936685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.102755096 meters 0.018328958371450182 Centerline is valid? [True, True] Translation: X:30.89, Y:338.10, Z:7.29 [[-6.66990436e-01 -7.45037350e-01 6.56550602e-03 3.08869784e+01] [ 7.44999646e-01 -6.67022740e-01 -7.49617016e-03 3.38096735e+02] [ 9.96426856e-03 -1.08574144e-04 9.99950350e-01 7.28795723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.132755096 meters 0.01850462213537954 Centerline is valid? [True, True] Translation: X:30.87, Y:338.12, Z:7.29 [[-6.66793908e-01 -7.45208917e-01 7.03948896e-03 3.08691167e+01] [ 7.45165636e-01 -6.66831056e-01 -8.03229887e-03 3.38115801e+02] [ 1.06798906e-02 -1.10302687e-04 9.99942962e-01 7.28686413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1627550960001 meters 0.018256781397381665 Centerline is valid? [True, True] Translation: X:30.85, Y:338.13, Z:7.29 [[-6.66969200e-01 -7.45050531e-01 7.19670278e-03 3.08499190e+01] [ 7.45005356e-01 -6.67008017e-01 -8.20517984e-03 3.38134507e+02] [ 1.09135320e-02 -1.11020117e-04 9.99940440e-01 7.28642960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.192755096 meters 0.018199278572336625 Centerline is valid? [True, True] Translation: X:30.83, Y:338.15, Z:7.29 [[-6.67138651e-01 -7.44893799e-01 7.69730145e-03 3.08310068e+01] [ 7.44842192e-01 -6.67183045e-01 -8.76892436e-03 3.38153735e+02] [ 1.16674264e-02 -1.16813483e-04 9.99931926e-01 7.28587167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.222755096 meters 0.018408228999421503 Centerline is valid? [True, True] Translation: X:30.81, Y:338.17, Z:7.29 [[-6.67577021e-01 -7.44503008e-01 7.49613663e-03 3.08137416e+01] [ 7.44454104e-01 -6.67619096e-01 -8.53401062e-03 3.38172758e+02] [ 1.13581605e-02 -1.16579706e-04 9.99935487e-01 7.28568231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.252755096 meters 0.018612928961250674 Centerline is valid? [True, True] Translation: X:30.80, Y:338.19, Z:7.29 [[-6.68628684e-01 -7.43559332e-01 7.42979181e-03 3.07965340e+01] [ 7.43511298e-01 -6.68669951e-01 -8.45259159e-03 3.38190962e+02] [ 1.12530819e-02 -1.27511041e-04 9.99936674e-01 7.28524014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.282755096 meters 0.018640984082530905 Centerline is valid? [True, True] Translation: X:30.78, Y:338.21, Z:7.29 [[-6.69019396e-01 -7.43205536e-01 7.65369874e-03 3.07784575e+01] [ 7.43154622e-01 -6.69063161e-01 -8.70022904e-03 3.38209726e+02] [ 1.15868663e-02 -1.32740386e-04 9.99932861e-01 7.28534648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.312755096 meters 0.01871465791138853 Centerline is valid? [True, True] Translation: X:30.76, Y:338.23, Z:7.29 [[-6.69546016e-01 -7.42730101e-01 7.75435802e-03 3.07597729e+01] [ 7.42677888e-01 -6.69590904e-01 -8.80773090e-03 3.38229031e+02] [ 1.17340145e-02 -1.38190899e-04 9.99931145e-01 7.28519400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.342755096 meters 0.018819254675188857 Centerline is valid? [True, True] Translation: X:30.74, Y:338.25, Z:7.28 [[-6.70225814e-01 -7.42116154e-01 7.80845146e-03 3.07414233e+01] [ 7.42063251e-01 -6.70271283e-01 -8.86220872e-03 3.38247514e+02] [ 1.18105690e-02 -1.45316180e-04 9.99930242e-01 7.28475348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.372755096 meters 0.0188776041179627 Centerline is valid? [True, True] Translation: X:30.72, Y:338.27, Z:7.28 [[-6.70705270e-01 -7.41678376e-01 8.22361791e-03 3.07240765e+01] [ 7.41619758e-01 -6.70755665e-01 -9.32588653e-03 3.38266973e+02] [ 1.24328467e-02 -1.56123714e-04 9.99922697e-01 7.28483074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.402755096 meters 0.01910459866262334 Centerline is valid? [True, True] Translation: X:30.71, Y:338.29, Z:7.28 [[-6.71194348e-01 -7.41233022e-01 8.47079431e-03 3.07081342e+01] [ 7.41170880e-01 -6.71247779e-01 -9.59927941e-03 3.38286463e+02] [ 1.28013047e-02 -1.64676011e-04 9.99918046e-01 7.28492480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.432755096 meters 0.019368505854055775 Centerline is valid? [True, True] Translation: X:30.69, Y:338.31, Z:7.28 [[-6.71707371e-01 -7.40767289e-01 8.54585087e-03 3.06922838e+01] [ 7.40704091e-01 -6.71761710e-01 -9.67752089e-03 3.38305758e+02] [ 1.29095663e-02 -1.70515419e-04 9.99916654e-01 7.28484835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.462755096 meters 0.019693532514565695 Centerline is valid? [True, True] Translation: X:30.68, Y:338.33, Z:7.28 [[-6.72021764e-01 -7.40479790e-01 8.74244587e-03 3.06762875e+01] [ 7.40413732e-01 -6.72078605e-01 -9.89218774e-03 3.38325484e+02] [ 1.32005759e-02 -1.74738483e-04 9.99912853e-01 7.28469213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.492755096 meters 0.019311444938855084 Centerline is valid? [True, True] Translation: X:30.66, Y:338.34, Z:7.29 [[-6.72046259e-01 -7.40458786e-01 8.63784670e-03 3.06585167e+01] [ 7.40394395e-01 -6.72101747e-01 -9.76633743e-03 3.38344392e+02] [ 1.30370822e-02 -1.68017250e-04 9.99915000e-01 7.28565067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.522755096 meters 0.019163850639786754 Centerline is valid? [True, True] Translation: X:30.64, Y:338.36, Z:7.29 [[-6.71735270e-01 -7.40742032e-01 8.54226256e-03 3.06414009e+01] [ 7.40679176e-01 -6.71789564e-01 -9.65090420e-03 3.38363267e+02] [ 1.28874332e-02 -1.55776743e-04 9.99916941e-01 7.28606450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.552755096 meters 0.018744654722332468 Centerline is valid? [True, True] Translation: X:30.63, Y:338.38, Z:7.29 [[-6.71017746e-01 -7.41392055e-01 8.54437109e-03 3.06250192e+01] [ 7.41329318e-01 -6.71072129e-01 -9.64575543e-03 3.38382739e+02] [ 1.28851757e-02 -1.38280270e-04 9.99916973e-01 7.28699004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.582755096 meters 0.018744654722332468 Centerline is valid? [True, True] Translation: X:30.61, Y:338.40, Z:7.29 [[-6.71289174e-01 -7.41146258e-01 8.54800147e-03 3.06076268e+01] [ 7.41083542e-01 -6.71343582e-01 -9.64253769e-03 3.38401953e+02] [ 1.28851767e-02 -1.38147953e-04 9.99916973e-01 7.28717227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.612755096 meters 0.018116832297738 Centerline is valid? [True, True] Translation: X:30.59, Y:338.42, Z:7.29 [[-6.71248783e-01 -7.41185675e-01 8.29864253e-03 3.05888805e+01] [ 7.41126652e-01 -6.71300066e-01 -9.35453640e-03 3.38422235e+02] [ 1.25043277e-02 -1.28876020e-04 9.99921810e-01 7.28876583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.642755096 meters 0.018008195272919202 Centerline is valid? [True, True] Translation: X:30.57, Y:338.44, Z:7.29 [[-6.70928194e-01 -7.41477540e-01 8.14963070e-03 3.05739048e+01] [ 7.41420725e-01 -6.70977678e-01 -9.17959004e-03 3.38442583e+02] [ 1.22746801e-02 -1.16540664e-04 9.99924657e-01 7.28994501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6727550960001 meters 0.018092212700739543 Centerline is valid? [True, True] Translation: X:30.56, Y:338.46, Z:7.29 [[-6.71146896e-01 -7.41278866e-01 8.21508821e-03 3.05577688e+01] [ 7.41221205e-01 -6.71197162e-01 -9.24641730e-03 3.38462822e+02] [ 1.23681176e-02 -1.16506687e-04 9.99923505e-01 7.29067643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.702755096 meters 0.018073371577096483 Centerline is valid? [True, True] Translation: X:30.54, Y:338.48, Z:7.29 [[-6.71544331e-01 -7.40922582e-01 7.87010250e-03 3.05411758e+01] [ 7.40869708e-01 -6.71590436e-01 -8.85219275e-03 3.38482940e+02] [ 1.18442751e-02 -1.13919317e-04 9.99929848e-01 7.29157034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.732755096 meters 0.01827455920350684 Centerline is valid? [True, True] Translation: X:30.53, Y:338.50, Z:7.29 [[-6.72692599e-01 -7.39883499e-01 7.55484428e-03 3.05254079e+01] [ 7.39834783e-01 -6.72735010e-01 -8.49118794e-03 3.38504884e+02] [ 1.13648981e-02 -1.22622706e-04 9.99935410e-01 7.29251683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.762755096 meters 0.01838206361416038 Centerline is valid? [True, True] Translation: X:30.51, Y:338.53, Z:7.29 [[-6.73464163e-01 -7.39183424e-01 7.34076039e-03 3.05090111e+01] [ 7.39137458e-01 -6.73504157e-01 -8.24428553e-03 3.38525738e+02] [ 1.10380718e-02 -1.26399880e-04 9.99939071e-01 7.29320484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7927550960001 meters 0.019191998497855127 Centerline is valid? [True, True] Translation: X:30.50, Y:338.55, Z:7.29 [[-6.74859133e-01 -7.37906481e-01 7.69258370e-03 3.04961643e+01] [ 7.37855999e-01 -6.74902959e-01 -8.63257382e-03 3.38549903e+02] [ 1.15617797e-02 -1.49752255e-04 9.99933149e-01 7.29412303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.822755096 meters 0.01917278674160315 Centerline is valid? [True, True] Translation: X:30.48, Y:338.57, Z:7.29 [[-6.75483883e-01 -7.37332517e-01 7.89202734e-03 3.04796362e+01] [ 7.37279424e-01 -6.75529966e-01 -8.84967876e-03 3.38570971e+02] [ 1.18564569e-02 -1.59186006e-04 9.99929697e-01 7.29480665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.852755096 meters 0.019138570448423018 Centerline is valid? [True, True] Translation: X:30.46, Y:338.59, Z:7.30 [[-6.76888243e-01 -7.36043963e-01 7.84802390e-03 3.04633151e+01] [ 7.35991450e-01 -6.76933715e-01 -8.79386622e-03 3.38593231e+02] [ 1.17852641e-02 -1.76386169e-04 9.99930536e-01 7.29580264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.882755096 meters 0.01939509147360136 Centerline is valid? [True, True] Translation: X:30.45, Y:338.61, Z:7.30 [[-6.77218037e-01 -7.35740641e-01 7.83837417e-03 3.04481479e+01] [ 7.35688315e-01 -6.77263374e-01 -8.77641090e-03 3.38613198e+02] [ 1.17658059e-02 -1.76943475e-04 9.99930765e-01 7.29586571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9127550960001 meters 0.018814016424546456 Centerline is valid? [True, True] Translation: X:30.43, Y:338.63, Z:7.30 [[-6.77619211e-01 -7.35373931e-01 7.57531404e-03 3.04294604e+01] [ 7.35325110e-01 -6.77661532e-01 -8.47530743e-03 3.38633065e+02] [ 1.13660191e-02 -1.72712505e-04 9.99935390e-01 7.29709830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.942755096 meters 0.018832000396498995 Centerline is valid? [True, True] Translation: X:30.41, Y:338.65, Z:7.30 [[-6.77679265e-01 -7.35320326e-01 7.40484073e-03 3.04132728e+01] [ 7.35273736e-01 -6.77719699e-01 -8.27907027e-03 3.38653365e+02] [ 1.11061751e-02 -1.65969348e-04 9.99938311e-01 7.29805093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.972755096 meters 0.019242317888493208 Centerline is valid? [True, True] Translation: X:30.40, Y:338.67, Z:7.30 [[-6.77898611e-01 -7.35122111e-01 6.99678266e-03 3.03968487e+01] [ 7.35080554e-01 -6.77934700e-01 -7.81805784e-03 3.38674049e+02] [ 1.04905889e-02 -1.56651681e-04 9.99944960e-01 7.29863833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.002755096 meters 0.019205656436379368 Centerline is valid? [True, True] Translation: X:30.38, Y:338.69, Z:7.30 [[-6.78154703e-01 -7.34892780e-01 6.22899270e-03 3.03793361e+01] [ 7.34859879e-01 -6.78183295e-01 -6.95525978e-03 3.38693576e+02] [ 9.33576899e-03 -1.39305303e-04 9.99956411e-01 7.30037075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.032755096 meters 0.020037157558138532 Centerline is valid? [True, True] Translation: X:30.36, Y:338.71, Z:7.30 [[-6.78778890e-01 -7.34319262e-01 5.86846336e-03 3.03633562e+01] [ 7.34290081e-01 -6.78804245e-01 -6.54781425e-03 3.38713578e+02] [ 8.79172396e-03 -1.35363654e-04 9.99961343e-01 7.30074733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.062755096 meters 0.02006220558697835 Centerline is valid? [True, True] Translation: X:30.35, Y:338.73, Z:7.30 [[-6.79053371e-01 -7.34066728e-01 5.70589775e-03 3.03461093e+01] [ 7.34039175e-01 -6.79077331e-01 -6.36147019e-03 3.38732519e+02] [ 8.54448943e-03 -1.31425302e-04 9.99963487e-01 7.30132643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.092755096 meters 0.019372444702928066 Centerline is valid? [True, True] Translation: X:30.33, Y:338.75, Z:7.30 [[-6.79738670e-01 -7.33435407e-01 5.27682463e-03 3.03272896e+01] [ 7.33411856e-01 -6.79759140e-01 -5.87892944e-03 3.38751748e+02] [ 7.89878477e-03 -1.26049934e-04 9.99968796e-01 7.30285203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.122755096 meters 0.019453716204097398 Centerline is valid? [True, True] Translation: X:30.31, Y:338.77, Z:7.30 [[-6.80156005e-01 -7.33050566e-01 4.96753225e-03 3.03095569e+01] [ 7.33029715e-01 -6.80174134e-01 -5.53029842e-03 3.38771803e+02] [ 7.43277534e-03 -1.20116927e-04 9.99972369e-01 7.30370372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.152755096 meters 0.019445673326202336 Centerline is valid? [True, True] Translation: X:30.29, Y:338.79, Z:7.30 [[-6.80566944e-01 -7.32671291e-01 4.62758892e-03 3.02914567e+01] [ 7.32653213e-01 -6.80582667e-01 -5.14813388e-03 3.38790898e+02] [ 6.92134670e-03 -1.13231847e-04 9.99976041e-01 7.30467718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.182755096 meters 0.020348189830384715 Centerline is valid? [True, True] Translation: X:30.28, Y:338.81, Z:7.31 [[-6.80726997e-01 -7.32522631e-01 4.62069960e-03 3.02753423e+01] [ 7.32504631e-01 -6.80742670e-01 -5.13648396e-03 3.38811064e+02] [ 6.90809813e-03 -1.11859448e-04 9.99976133e-01 7.30512093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.212755096 meters 0.01950356579527218 Centerline is valid? [True, True] Translation: X:30.26, Y:338.83, Z:7.31 [[-6.81093847e-01 -7.32181290e-01 4.66164614e-03 3.02556375e+01] [ 7.32162991e-01 -6.81109790e-01 -5.17776410e-03 3.38828830e+02] [ 6.96615482e-03 -1.13458487e-04 9.99975730e-01 7.30567234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.242755096 meters 0.019743612957767206 Centerline is valid? [True, True] Translation: X:30.24, Y:338.85, Z:7.31 [[-6.81727362e-01 -7.31594612e-01 4.13861966e-03 3.02371107e+01] [ 7.31580197e-01 -6.81739916e-01 -4.59376167e-03 3.38847824e+02] [ 6.18223351e-03 -1.03960836e-04 9.99980884e-01 7.30643620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.272755096 meters 0.01966931660515074 Centerline is valid? [True, True] Translation: X:30.22, Y:338.87, Z:7.31 [[-6.82369423e-01 -7.30997312e-01 3.86013575e-03 3.02190329e+01] [ 7.30984780e-01 -6.82380333e-01 -4.28166016e-03 3.38866456e+02] [ 5.76396279e-03 -9.99734907e-05 9.99983383e-01 7.30724838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.302755096 meters 0.020034420029145978 Centerline is valid? [True, True] Translation: X:30.20, Y:338.89, Z:7.31 [[-6.83219725e-01 -7.30204643e-01 3.46226028e-03 3.02015187e+01] [ 7.30194563e-01 -6.83228491e-01 -3.83777735e-03 3.38885641e+02] [ 5.16787770e-03 -9.39215559e-05 9.99986642e-01 7.30837754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.332755096 meters 0.020371102976103898 Centerline is valid? [True, True] Translation: X:30.18, Y:338.91, Z:7.31 [[-6.83906278e-01 -7.29564072e-01 2.91003462e-03 3.01841098e+01] [ 7.29556954e-01 -6.83912464e-01 -3.22379464e-03 3.38905260e+02] [ 4.34217369e-03 -8.17373991e-05 9.99990569e-01 7.30916785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.362755096 meters 0.02059021695621045 Centerline is valid? [True, True] Translation: X:30.17, Y:338.92, Z:7.31 [[-6.84701517e-01 -7.28816815e-01 3.14372923e-03 3.01667476e+01] [ 7.28808513e-01 -6.84708728e-01 -3.47969835e-03 3.38924656e+02] [ 4.68860151e-03 -9.13781108e-05 9.99989004e-01 7.30940300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.392755096 meters 0.021962025091277797 Centerline is valid? [True, True] Translation: X:30.15, Y:338.95, Z:7.31 [[-6.87078762e-01 -7.26575562e-01 3.27548948e-03 3.01500851e+01] [ 7.26566539e-01 -6.87086560e-01 -3.62251086e-03 3.38945011e+02] [ 4.88257266e-03 -1.09089219e-04 9.99988074e-01 7.30956821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4227550960001 meters 0.023750492234603775 Centerline is valid? [True, True] Translation: X:30.13, Y:338.97, Z:7.31 [[-6.88357887e-01 -7.25364079e-01 3.22047188e-03 3.01339534e+01] [ 7.25355358e-01 -6.88365411e-01 -3.55881594e-03 3.38966317e+02] [ 4.79829870e-03 -1.13752483e-04 9.99988482e-01 7.31031241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.452755096 meters 0.02483797593930754 Centerline is valid? [True, True] Translation: X:30.12, Y:338.99, Z:7.31 [[-6.91363922e-01 -7.22502127e-01 2.56972020e-03 3.01151622e+01] [ 7.22496557e-01 -6.91368690e-01 -2.83910871e-03 3.38986456e+02] [ 3.82788617e-03 -1.06243335e-04 9.99992668e-01 7.31122113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.482755096 meters 0.025594424782253728 Centerline is valid? [True, True] Translation: X:30.10, Y:339.01, Z:7.31 [[-6.92914871e-01 -7.21015937e-01 2.23611192e-03 3.00972616e+01] [ 7.21011716e-01 -6.92918472e-01 -2.46932790e-03 3.39006678e+02] [ 3.32986802e-03 -9.87711285e-05 9.99994451e-01 7.31209511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.512755096 meters 0.02861140445954508 Centerline is valid? [True, True] Translation: X:30.08, Y:339.03, Z:7.31 [[-6.94275405e-01 -7.19708007e-01 1.43070220e-03 3.00827161e+01] [ 7.19706275e-01 -6.94276876e-01 -1.58023834e-03 3.39028488e+02] [ 2.13061364e-03 -6.74352596e-05 9.99997728e-01 7.31386973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5427550960001 meters 0.027934494338341644 Centerline is valid? [True, True] Translation: X:30.06, Y:339.05, Z:7.32 [[-6.95606204e-01 -7.18422633e-01 9.64243845e-04 3.00625147e+01] [ 7.18421845e-01 -6.95606870e-01 -1.06528879e-03 3.39046775e+02] [ 1.43606222e-03 -4.82876473e-05 9.99998968e-01 7.31515991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.572755096 meters 0.026243253914844764 Centerline is valid? [True, True] Translation: X:30.04, Y:339.06, Z:7.31 [[-6.95888390e-01 -7.18149756e-01 5.26776928e-04 3.00401205e+01] [ 7.18149519e-01 -6.95888589e-01 -5.83378963e-04 3.39063746e+02] [ 7.85531513e-04 -2.76620493e-05 9.99999691e-01 7.31339782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.602755096 meters 0.023471493878716655 Centerline is valid? [True, True] Translation: X:30.02, Y:339.08, Z:7.31 [[-6.94742605e-01 -7.19257226e-01 1.32533693e-03 3.00157185e+01] [ 7.19255745e-01 -6.94743866e-01 -1.46091163e-03 3.39078996e+02] [ 1.97154095e-03 -6.17013465e-05 9.99998055e-01 7.31308796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.632755096 meters 0.02262404271403575 Centerline is valid? [True, True] Translation: X:29.99, Y:339.10, Z:7.31 [[-6.93753092e-01 -7.20211286e-01 1.53372941e-03 2.99938065e+01] [ 7.20209308e-01 -6.93754784e-01 -1.68900588e-03 3.39097183e+02] [ 2.28047321e-03 -6.71468545e-05 9.99997398e-01 7.31229912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6627550960001 meters 0.024086979734248438 Centerline is valid? [True, True] Translation: X:29.98, Y:339.12, Z:7.31 [[-6.92696209e-01 -7.21226983e-01 1.89774722e-03 2.99751910e+01] [ 7.21223966e-01 -6.92698804e-01 -2.08767082e-03 3.39117475e+02] [ 2.82025175e-03 -7.74208855e-05 9.99996020e-01 7.31214001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.692755096 meters 0.022061281351284687 Centerline is valid? [True, True] Translation: X:29.95, Y:339.13, Z:7.31 [[-6.89551235e-01 -7.24230078e-01 3.14475766e-03 2.99503891e+01] [ 7.24221844e-01 -6.89558398e-01 -3.45497932e-03 3.39132564e+02] [ 4.67069399e-03 -1.04883062e-04 9.99989087e-01 7.31011775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.722755096 meters 0.02120003295722582 Centerline is valid? [True, True] Translation: X:29.93, Y:339.15, Z:7.31 [[-6.88320712e-01 -7.25398670e-01 3.37140291e-03 2.99292384e+01] [ 7.25389234e-01 -6.88328961e-01 -3.70142770e-03 3.39150117e+02] [ 5.00564499e-03 -1.02189973e-04 9.99987466e-01 7.30967706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.752755096 meters 0.0201653400204626 Centerline is valid? [True, True] Translation: X:29.91, Y:339.17, Z:7.31 [[-6.86437597e-01 -7.27177177e-01 4.09607751e-03 2.99065854e+01] [ 7.27163303e-01 -6.86449810e-01 -4.49325202e-03 3.39165407e+02] [ 6.07914195e-03 -1.05819863e-04 9.99981516e-01 7.30897297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.782755096 meters 0.019121242584714964 Centerline is valid? [True, True] Translation: X:29.89, Y:339.18, Z:7.31 [[-6.86083595e-01 -7.27511375e-01 4.06210371e-03 2.98851583e+01] [ 7.27497754e-01 -6.86095613e-01 -4.45290486e-03 3.39181807e+02] [ 6.02653046e-03 -9.98936484e-05 9.99981835e-01 7.30875696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.812755096 meters 0.018995408816531452 Centerline is valid? [True, True] Translation: X:29.87, Y:339.20, Z:7.31 [[-6.86073763e-01 -7.27519438e-01 4.27316437e-03 2.98656834e+01] [ 7.27504389e-01 -6.86087063e-01 -4.68038505e-03 3.39199193e+02] [ 6.33683389e-03 -1.02343544e-04 9.99979917e-01 7.30928592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.842755096 meters 0.019570833898531977 Centerline is valid? [True, True] Translation: X:29.85, Y:339.22, Z:7.31 [[-6.87187428e-01 -7.26467778e-01 4.24350201e-03 2.98462559e+01] [ 7.26452940e-01 -6.87200521e-01 -4.64425466e-03 3.39217190e+02] [ 6.29003815e-03 -1.08768903e-04 9.99980212e-01 7.30954833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.872755096 meters 0.021643401119386337 Centerline is valid? [True, True] Translation: X:29.83, Y:339.24, Z:7.31 [[-6.89503366e-01 -7.24269268e-01 4.37442966e-03 2.98295183e+01] [ 7.24253480e-01 -6.89517230e-01 -4.78389374e-03 3.39237638e+02] [ 6.48107184e-03 -1.30314932e-04 9.99978989e-01 7.31044854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.902755096 meters 0.021344159965935913 Centerline is valid? [True, True] Translation: X:29.81, Y:339.26, Z:7.31 [[-6.91155487e-01 -7.22694061e-01 4.16985380e-03 2.98091865e+01] [ 7.22679706e-01 -6.91168052e-01 -4.55699786e-03 3.39255993e+02] [ 6.17538502e-03 -1.36125359e-04 9.99980923e-01 7.31072094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.932755096 meters 0.021748707338530356 Centerline is valid? [True, True] Translation: X:29.79, Y:339.27, Z:7.31 [[-6.92972680e-01 -7.20951801e-01 4.16712419e-03 2.97899363e+01] [ 7.20937453e-01 -6.92985194e-01 -4.55081762e-03 3.39274799e+02] [ 6.16867552e-03 -1.49356384e-04 9.99980962e-01 7.31095208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.962755096 meters 0.02424155873810169 Centerline is valid? [True, True] Translation: X:29.77, Y:339.29, Z:7.31 [[-6.96502551e-01 -7.17544336e-01 3.78446298e-03 2.97724534e+01] [ 7.17532467e-01 -6.96512814e-01 -4.13033326e-03 3.39294340e+02] [ 5.59962420e-03 -1.61312599e-04 9.99984309e-01 7.31124673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.992755096 meters 0.02479346543067658 Centerline is valid? [True, True] Translation: X:29.75, Y:339.31, Z:7.31 [[-6.98171476e-01 -7.15920792e-01 3.74294770e-03 2.97533387e+01] [ 7.15909175e-01 -6.98181489e-01 -4.08194240e-03 3.39313763e+02] [ 5.53560423e-03 -1.70285150e-04 9.99984664e-01 7.31188174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.022755096 meters 0.027947079479929176 Centerline is valid? [True, True] Translation: X:29.74, Y:339.33, Z:7.31 [[-7.00461389e-01 -7.13682488e-01 3.33901753e-03 2.97371486e+01] [ 7.13673230e-01 -7.00469327e-01 -3.63899658e-03 3.39334436e+02] [ 4.93596750e-03 -1.66009169e-04 9.99987804e-01 7.31321380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.052755096 meters 0.029798090969771613 Centerline is valid? [True, True] Translation: X:29.72, Y:339.35, Z:7.31 [[-7.01305464e-01 -7.12853859e-01 3.16582510e-03 2.97199347e+01] [ 7.12845534e-01 -7.01312590e-01 -3.44886806e-03 3.39354939e+02] [ 4.67877190e-03 -1.61965730e-04 9.99989041e-01 7.31374506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.082755096 meters 0.027865180878017343 Centerline is valid? [True, True] Translation: X:29.70, Y:339.37, Z:7.31 [[-7.01642140e-01 -7.12523443e-01 2.94125862e-03 2.96983571e+01] [ 7.12516263e-01 -7.01648288e-01 -3.20234620e-03 3.39370256e+02] [ 4.34547581e-03 -1.51206437e-04 9.99990547e-01 7.31284045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.112755096 meters 0.0258056046725991 Centerline is valid? [True, True] Translation: X:29.68, Y:339.39, Z:7.31 [[-7.01155883e-01 -7.13000291e-01 3.31867655e-03 2.96754270e+01] [ 7.12991174e-01 -7.01163718e-01 -3.60925434e-03 3.39386223e+02] [ 4.90033498e-03 -1.64462823e-04 9.99987980e-01 7.31408591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.142755096 meters 0.026264926901473674 Centerline is valid? [True, True] Translation: X:29.65, Y:339.40, Z:7.31 [[-6.99219683e-01 -7.14898932e-01 3.36925125e-03 2.96526011e+01] [ 7.14889571e-01 -6.99227784e-01 -3.66157865e-03 3.39402387e+02] [ 4.97353276e-03 -1.51605284e-04 9.99987620e-01 7.31094893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1727550960001 meters 0.025787195026497615 Centerline is valid? [True, True] Translation: X:29.63, Y:339.42, Z:7.31 [[-6.97932325e-01 -7.16153804e-01 3.76817798e-03 2.96332844e+01] [ 7.16142133e-01 -6.97942479e-01 -4.09160855e-03 3.39421973e+02] [ 5.56019251e-03 -1.57114853e-04 9.99984530e-01 7.31341355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.202755096 meters 0.02290495724209722 Centerline is valid? [True, True] Translation: X:29.61, Y:339.44, Z:7.31 [[-6.96826158e-01 -7.17229643e-01 3.86596817e-03 2.96095312e+01] [ 7.17217387e-01 -6.96836865e-01 -4.19559540e-03 3.39436862e+02] [ 5.70315453e-03 -1.50861038e-04 9.99983726e-01 7.31339296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.232755096 meters 0.0213219771911792 Centerline is valid? [True, True] Translation: X:29.59, Y:339.45, Z:7.31 [[-6.93796789e-01 -7.20159449e-01 4.04773252e-03 2.95872424e+01] [ 7.20146085e-01 -6.93808584e-01 -4.38919738e-03 3.39453599e+02] [ 5.96927354e-03 -1.30252321e-04 9.99982175e-01 7.31321179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.262755096 meters 0.02181733857693964 Centerline is valid? [True, True] Translation: X:29.57, Y:339.47, Z:7.31 [[-6.92575795e-01 -7.21334251e-01 3.95806401e-03 2.95692618e+01] [ 7.21321510e-01 -6.92587096e-01 -4.28885593e-03 3.39474047e+02] [ 5.83500274e-03 -1.15321101e-04 9.99982970e-01 7.31408312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2927550960001 meters 0.020648337041596906 Centerline is valid? [True, True] Translation: X:29.55, Y:339.49, Z:7.31 [[-6.90669180e-01 -7.23156419e-01 4.56911359e-03 2.95496495e+01] [ 7.23139502e-01 -6.90684284e-01 -4.94773835e-03 3.39490517e+02] [ 6.73380370e-03 -1.13143871e-04 9.99977321e-01 7.31396743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.322755096 meters 0.019661635641166235 Centerline is valid? [True, True] Translation: X:29.53, Y:339.51, Z:7.31 [[-6.90306034e-01 -7.23500419e-01 4.97225360e-03 2.95302868e+01] [ 7.23480423e-01 -6.90323932e-01 -5.38026408e-03 3.39507494e+02] [ 7.32508897e-03 -1.16700624e-04 9.99973164e-01 7.31374499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.352755096 meters 0.01930497338186419 Centerline is valid? [True, True] Translation: X:29.51, Y:339.53, Z:7.31 [[-6.90275732e-01 -7.23526731e-01 5.33697505e-03 2.95119681e+01] [ 7.23503737e-01 -6.90296353e-01 -5.76953476e-03 3.39526129e+02] [ 7.85850703e-03 -1.21248433e-04 9.99969114e-01 7.31372395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.382755096 meters 0.01933853938750594 Centerline is valid? [True, True] Translation: X:29.50, Y:339.54, Z:7.31 [[-6.90373028e-01 -7.23432062e-01 5.57982318e-03 2.94956549e+01] [ 7.23406966e-01 -6.90395565e-01 -6.02702546e-03 3.39544977e+02] [ 8.21242864e-03 -1.24412856e-04 9.99966270e-01 7.31395956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4127550960001 meters 0.019546171912037738 Centerline is valid? [True, True] Translation: X:29.48, Y:339.56, Z:7.31 [[-6.90629252e-01 -7.23188418e-01 5.45423201e-03 2.94780458e+01] [ 7.23164470e-01 -6.90650778e-01 -5.88659416e-03 3.39564573e+02] [ 8.02408630e-03 -1.21147318e-04 9.99967799e-01 7.31463874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.442755096 meters 0.019408819676022114 Centerline is valid? [True, True] Translation: X:29.46, Y:339.58, Z:7.32 [[-6.90734867e-01 -7.23089911e-01 5.13071890e-03 2.94611229e+01] [ 7.23068747e-01 -6.90753913e-01 -5.53335735e-03 3.39584806e+02] [ 7.54517902e-03 -1.12220365e-04 9.99971528e-01 7.31611774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.472755096 meters 0.019408819676022114 Centerline is valid? [True, True] Translation: X:29.44, Y:339.60, Z:7.32 [[-6.91017039e-01 -7.22820244e-01 5.13288091e-03 2.94433146e+01] [ 7.22799088e-01 -6.91036093e-01 -5.53135113e-03 3.39603623e+02] [ 7.54517855e-03 -1.12216243e-04 9.99971528e-01 7.31630001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.502755096 meters 0.01989671553648994 Centerline is valid? [True, True] Translation: X:29.43, Y:339.62, Z:7.32 [[-6.91491181e-01 -7.22366666e-01 5.13281752e-03 2.94278051e+01] [ 7.22345531e-01 -6.91510221e-01 -5.52694509e-03 3.39623383e+02] [ 7.54187668e-03 -1.14165989e-04 9.99971553e-01 7.31695250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.532755096 meters 0.01963111549476895 Centerline is valid? [True, True] Translation: X:29.41, Y:339.64, Z:7.32 [[-6.92014149e-01 -7.21865368e-01 5.17774807e-03 2.94101288e+01] [ 7.21843881e-01 -6.92033509e-01 -5.57076276e-03 3.39642416e+02] [ 7.60451587e-03 -1.17520887e-04 9.99971078e-01 7.31715747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.562755096 meters 0.02029108714001453 Centerline is valid? [True, True] Translation: X:29.39, Y:339.66, Z:7.32 [[-6.93399306e-01 -7.20530641e-01 5.74426537e-03 2.93944187e+01] [ 7.20504195e-01 -6.93423085e-01 -6.17505984e-03 3.39663767e+02] [ 8.43252604e-03 -1.43014913e-04 9.99964435e-01 7.31745442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.592755096 meters 0.020594374263650145 Centerline is valid? [True, True] Translation: X:29.38, Y:339.68, Z:7.32 [[-6.94175382e-01 -7.19778711e-01 6.25676606e-03 2.93782116e+01] [ 7.19747353e-01 -6.94203559e-01 -6.72061190e-03 3.39683853e+02] [ 9.18082263e-03 -1.61992527e-04 9.99957842e-01 7.31731292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.622755096 meters 0.02050618509639051 Centerline is valid? [True, True] Translation: X:29.36, Y:339.70, Z:7.32 [[-6.95100808e-01 -7.18878981e-01 6.91939384e-03 2.93608984e+01] [ 7.18840648e-01 -6.95135221e-01 -7.42616285e-03 3.39704896e+02] [ 1.01484267e-02 -1.87990245e-04 9.99948486e-01 7.31733289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.652755096 meters 0.020709244295358618 Centerline is valid? [True, True] Translation: X:29.34, Y:339.72, Z:7.32 [[-6.95203812e-01 -7.18772825e-01 7.56874053e-03 2.93448173e+01] [ 7.18727025e-01 -6.95244982e-01 -8.11658586e-03 3.39724428e+02] [ 1.10961102e-02 -2.02823064e-04 9.99938416e-01 7.31719980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.682755096 meters 0.020352080676372612 Centerline is valid? [True, True] Translation: X:29.33, Y:339.74, Z:7.32 [[-6.95234533e-01 -7.18739191e-01 7.93223325e-03 2.93265458e+01] [ 7.18688966e-01 -6.95279751e-01 -8.49927049e-03 3.39743902e+02] [ 1.16238800e-02 -2.08177833e-04 9.99932419e-01 7.31719311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.712755096 meters 0.02026595451317257 Centerline is valid? [True, True] Translation: X:29.31, Y:339.76, Z:7.32 [[-6.94725655e-01 -7.19217338e-01 9.09310718e-03 2.93112145e+01] [ 7.19151490e-01 -6.94785125e-01 -9.73467776e-03 3.39763952e+02] [ 1.33191046e-02 -2.23608799e-04 9.99911272e-01 7.31693464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.742755096 meters 0.019573231592355595 Centerline is valid? [True, True] Translation: X:29.29, Y:339.78, Z:7.32 [[-6.94277931e-01 -7.19641233e-01 9.72885459e-03 2.92938127e+01] [ 7.19566016e-01 -6.94346056e-01 -1.04068813e-02 3.39784598e+02] [ 1.42444127e-02 -2.24714862e-04 9.99898518e-01 7.31795328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.772755096 meters 0.01975439727021664 Centerline is valid? [True, True] Translation: X:29.28, Y:339.81, Z:7.32 [[-6.94566911e-01 -7.19352868e-01 1.04047071e-02 2.92772215e+01] [ 7.19266936e-01 -6.94644797e-01 -1.11211717e-02 3.39805643e+02] [ 1.52276223e-02 -2.40636071e-04 9.99884024e-01 7.31790780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.802755096 meters 0.019739051602113093 Centerline is valid? [True, True] Translation: X:29.26, Y:339.83, Z:7.32 [[-6.95002675e-01 -7.18929825e-01 1.05445680e-02 2.92604027e+01] [ 7.18841650e-01 -6.95082618e-01 -1.12622109e-02 3.39826835e+02] [ 1.54260853e-02 -2.47392050e-04 9.99880980e-01 7.31841308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.832755096 meters 0.019832635414826653 Centerline is valid? [True, True] Translation: X:29.24, Y:339.85, Z:7.32 [[-6.95288072e-01 -7.18648575e-01 1.08959860e-02 2.92437456e+01] [ 7.18554525e-01 -6.95373397e-01 -1.16290166e-02 3.39848267e+02] [ 1.59339550e-02 -2.56156482e-04 9.99873014e-01 7.31901839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.862755096 meters 0.02001493153676186 Centerline is valid? [True, True] Translation: X:29.23, Y:339.87, Z:7.32 [[-6.95980894e-01 -7.17964002e-01 1.17595574e-02 2.92286528e+01] [ 7.17854516e-01 -6.96080175e-01 -1.25413235e-02 3.39871272e+02] [ 1.71898136e-02 -2.86870133e-04 9.99852203e-01 7.31976778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.892755096 meters 0.020404102303407 Centerline is valid? [True, True] Translation: X:29.21, Y:339.89, Z:7.32 [[-6.96463847e-01 -7.17486285e-01 1.23101691e-02 2.92137310e+01] [ 7.17366409e-01 -6.96572564e-01 -1.31186091e-02 3.39893079e+02] [ 1.79873481e-02 -3.05735187e-04 9.99838168e-01 7.31963500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9227550960001 meters 0.02042045925270787 Centerline is valid? [True, True] Translation: X:29.20, Y:339.91, Z:7.32 [[-6.96443329e-01 -7.17508016e-01 1.22039399e-02 2.91967102e+01] [ 7.17390382e-01 -6.96550184e-01 -1.29954013e-02 3.39913503e+02] [ 1.78249612e-02 -2.95571434e-04 9.99841079e-01 7.32033289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.952755096 meters 0.020167661486249395 Centerline is valid? [True, True] Translation: X:29.18, Y:339.93, Z:7.32 [[-6.96201481e-01 -7.17749633e-01 1.17882521e-02 2.91793859e+01] [ 7.17640077e-01 -6.96301221e-01 -1.25431220e-02 3.39933980e+02] [ 1.72109955e-02 -2.72818015e-04 9.99851843e-01 7.32134512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.982755096 meters 0.019916369607053962 Centerline is valid? [True, True] Translation: X:29.16, Y:339.95, Z:7.32 [[-6.96017410e-01 -7.17926806e-01 1.18687651e-02 2.91617151e+01] [ 7.17815944e-01 -6.96118548e-01 -1.26189509e-02 3.39953855e+02] [ 1.73215506e-02 -2.63420704e-04 9.99849936e-01 7.32232690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.012755096 meters 0.019572773181143845 Centerline is valid? [True, True] Translation: X:29.14, Y:339.97, Z:7.32 [[-6.95551809e-01 -7.18390914e-01 1.10532989e-02 2.91448448e+01] [ 7.18294966e-01 -6.95639593e-01 -1.17430708e-02 3.39973971e+02] [ 1.61252277e-02 -2.28385160e-04 9.99869954e-01 7.32376054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0427550960001 meters 0.019384614420477293 Centerline is valid? [True, True] Translation: X:29.13, Y:339.99, Z:7.32 [[-6.94772257e-01 -7.19145564e-01 1.10076455e-02 2.91290825e+01] [ 7.19050651e-01 -6.94859422e-01 -1.16852702e-02 3.39993834e+02] [ 1.60521764e-02 -2.03546902e-04 9.99871135e-01 7.32434297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.072755096 meters 0.019232214358314785 Centerline is valid? [True, True] Translation: X:29.11, Y:340.01, Z:7.32 [[-6.94560969e-01 -7.19349304e-01 1.10290216e-02 2.91113206e+01] [ 7.19254195e-01 -6.94648502e-01 -1.16987698e-02 3.40013545e+02] [ 1.60767952e-02 -1.92838870e-04 9.99870741e-01 7.32439123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.102755096 meters 0.019016570710501262 Centerline is valid? [True, True] Translation: X:29.09, Y:340.03, Z:7.32 [[-6.94047186e-01 -7.19847171e-01 1.08882657e-02 2.90928467e+01] [ 7.19754676e-01 -6.94132567e-01 -1.15406421e-02 3.40033023e+02] [ 1.58653984e-02 -1.72870001e-04 9.99874122e-01 7.32464676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.132755096 meters 0.018436440128917105 Centerline is valid? [True, True] Translation: X:29.07, Y:340.05, Z:7.32 [[-6.92831580e-01 -7.21006787e-01 1.15591849e-02 2.90744234e+01] [ 7.20902867e-01 -6.92927984e-01 -1.22419553e-02 3.40052258e+02] [ 1.68362156e-02 -1.48563725e-04 9.99858250e-01 7.32388189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1627550960001 meters 0.018287937492026413 Centerline is valid? [True, True] Translation: X:29.06, Y:340.07, Z:7.32 [[-6.92365707e-01 -7.21448740e-01 1.18930073e-02 2.90556447e+01] [ 7.21338960e-01 -6.92467832e-01 -1.25859603e-02 3.40071973e+02] [ 1.73156501e-02 -1.35197763e-04 9.99850064e-01 7.32374089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.192755096 meters 0.018206248686031046 Centerline is valid? [True, True] Translation: X:29.04, Y:340.09, Z:7.32 [[-6.91871518e-01 -7.21911268e-01 1.25668201e-02 2.90373691e+01] [ 7.21788951e-01 -6.91985626e-01 -1.32892301e-02 3.40091709e+02] [ 1.82897038e-02 -1.23847947e-04 9.99832722e-01 7.32273522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.222755096 meters 0.018393713540672322 Centerline is valid? [True, True] Translation: X:29.02, Y:340.11, Z:7.32 [[-6.92116688e-01 -7.21669453e-01 1.29495531e-02 2.90197712e+01] [ 7.21539723e-01 -6.92237810e-01 -1.36836929e-02 3.40111639e+02] [ 1.88392734e-02 -1.27095306e-04 9.99822517e-01 7.32118144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.252755096 meters 0.018830647542438884 Centerline is valid? [True, True] Translation: X:29.00, Y:340.13, Z:7.32 [[-6.93086224e-01 -7.20724991e-01 1.36738049e-02 2.90037827e+01] [ 7.20580374e-01 -6.93221078e-01 -1.44381740e-02 3.40132577e+02] [ 1.98849226e-02 -1.53824095e-04 9.99802264e-01 7.31950532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.282755096 meters 0.01867028773195463 Centerline is valid? [True, True] Translation: X:28.99, Y:340.15, Z:7.32 [[-6.93918971e-01 -7.19907165e-01 1.44960825e-02 2.89860867e+01] [ 7.19744687e-01 -6.94070343e-01 -1.52952288e-02 3.40153154e+02] [ 2.10724458e-02 -1.80171007e-04 9.99777935e-01 7.32024503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.312755096 meters 0.01895476559248593 Centerline is valid? [True, True] Translation: X:28.97, Y:340.17, Z:7.32 [[-6.94892317e-01 -7.18968268e-01 1.44671044e-02 2.89695781e+01] [ 7.18806472e-01 -6.95042868e-01 -1.52534473e-02 3.40173813e+02] [ 2.10220023e-02 -2.00455010e-04 9.99778993e-01 7.32022488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.342755096 meters 0.01928493989529979 Centerline is valid? [True, True] Translation: X:28.95, Y:340.20, Z:7.32 [[-6.96834625e-01 -7.17087244e-01 1.44010596e-02 2.89537728e+01] [ 7.16926748e-01 -6.96983374e-01 -1.51728474e-02 3.40196406e+02] [ 2.09175544e-02 -2.48460570e-04 9.99781173e-01 7.32126432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.372755096 meters 0.01954190385242617 Centerline is valid? [True, True] Translation: X:28.94, Y:340.22, Z:7.32 [[-6.97969705e-01 -7.15984196e-01 1.43150992e-02 2.89365065e+01] [ 7.15825600e-01 -6.98116436e-01 -1.50715816e-02 3.40217680e+02] [ 2.07846203e-02 -2.72392837e-04 9.99783939e-01 7.32229275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.402755096 meters 0.0197575642947392 Centerline is valid? [True, True] Translation: X:28.92, Y:340.24, Z:7.32 [[-6.99580856e-01 -7.14427554e-01 1.34125115e-02 2.89197674e+01] [ 7.14288236e-01 -6.99709357e-01 -1.41114152e-02 3.40239635e+02] [ 1.94664437e-02 -2.91676760e-04 9.99810468e-01 7.32396530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.432755096 meters 0.020173842722424475 Centerline is valid? [True, True] Translation: X:28.90, Y:340.26, Z:7.32 [[-7.00321454e-01 -7.13708444e-01 1.30429204e-02 2.89030990e+01] [ 7.13576764e-01 -7.00442838e-01 -1.37125142e-02 3.40259774e+02] [ 1.89225574e-02 -2.96042984e-04 9.99820909e-01 7.32420602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.462755096 meters 0.020053409543782867 Centerline is valid? [True, True] Translation: X:28.88, Y:340.28, Z:7.33 [[-7.00901799e-01 -7.13141215e-01 1.28947853e-02 2.88845631e+01] [ 7.13012596e-01 -7.01020340e-01 -1.35469818e-02 3.40280301e+02] [ 1.87004178e-02 -3.00959594e-04 9.99825087e-01 7.32513127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.492755096 meters 0.02020880308186097 Centerline is valid? [True, True] Translation: X:28.87, Y:340.30, Z:7.33 [[-7.01085040e-01 -7.12972997e-01 1.22177073e-02 2.88679562e+01] [ 7.12857668e-01 -7.01191433e-01 -1.28264831e-02 3.40300848e+02] [ 1.77118878e-02 -2.82969103e-04 9.99843092e-01 7.32569087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.522755096 meters 0.020384936267376835 Centerline is valid? [True, True] Translation: X:28.85, Y:340.32, Z:7.33 [[-7.00845897e-01 -7.13208973e-01 1.21651004e-02 2.88504810e+01] [ 7.13094847e-01 -7.00951416e-01 -1.27613121e-02 3.40319365e+02] [ 1.76286266e-02 -2.68842819e-04 9.99844568e-01 7.32514352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.552755096 meters 0.01882547234393363 Centerline is valid? [True, True] Translation: X:28.83, Y:340.33, Z:7.33 [[-6.98482511e-01 -7.15534125e-01 1.15367964e-02 2.88271738e+01] [ 7.15431947e-01 -6.98577754e-01 -1.20934215e-02 3.40334760e+02] [ 1.67126051e-02 -1.93250717e-04 9.99860316e-01 7.32613622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.582755096 meters 0.01842349531373962 Centerline is valid? [True, True] Translation: X:28.81, Y:340.35, Z:7.33 [[-6.97285941e-01 -7.16701320e-01 1.14688784e-02 2.88063909e+01] [ 7.16600615e-01 -6.97380236e-01 -1.20152115e-02 3.40353247e+02] [ 1.66094870e-02 -1.59432740e-04 9.99862040e-01 7.32666765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.612755096 meters 0.017899898784070865 Centerline is valid? [True, True] Translation: X:28.78, Y:340.37, Z:7.33 [[-6.95432326e-01 -7.18504898e-01 1.11621103e-02 2.87845821e+01] [ 7.18409857e-01 -6.95521891e-01 -1.16866381e-02 3.40370256e+02] [ 1.61603988e-02 -1.08295864e-04 9.99869406e-01 7.32726997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.642755096 meters 0.01765668803563011 Centerline is valid? [True, True] Translation: X:28.76, Y:340.39, Z:7.33 [[-6.94601787e-01 -7.19314265e-01 1.07399495e-02 2.87634940e+01] [ 7.19226496e-01 -6.94684808e-01 -1.12367600e-02 3.40388055e+02] [ 1.55436415e-02 -8.06173728e-05 9.99879187e-01 7.32750613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6727550960001 meters 0.01775852341838359 Centerline is valid? [True, True] Translation: X:28.74, Y:340.41, Z:7.33 [[-6.93945038e-01 -7.19947852e-01 1.07413054e-02 2.87438074e+01] [ 7.19860262e-01 -6.94028160e-01 -1.12301477e-02 3.40406811e+02] [ 1.55398891e-02 -6.08663320e-05 9.99879247e-01 7.32723581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.702755096 meters 0.01784350204988652 Centerline is valid? [True, True] Translation: X:28.73, Y:340.43, Z:7.33 [[-6.94422615e-01 -7.19481210e-01 1.11363943e-02 2.87257148e+01] [ 7.19387138e-01 -6.94511903e-01 -1.16345178e-02 3.40425425e+02] [ 1.61051753e-02 -6.78935189e-05 9.99870301e-01 7.32665292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.732755096 meters 0.018072612072945436 Centerline is valid? [True, True] Translation: X:28.71, Y:340.44, Z:7.33 [[-6.94996684e-01 -7.18921003e-01 1.14978437e-02 2.87068533e+01] [ 7.18820796e-01 -6.95091782e-01 -1.20032535e-02 3.40444736e+02] [ 1.66214477e-02 -7.73322516e-05 9.99861851e-01 7.32627162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.762755096 meters 0.018347569074190145 Centerline is valid? [True, True] Translation: X:28.69, Y:340.46, Z:7.32 [[-6.96033357e-01 -7.17910176e-01 1.19392365e-02 2.86890482e+01] [ 7.17802138e-01 -6.96135741e-01 -1.24547729e-02 3.40463616e+02] [ 1.72527374e-02 -9.89278978e-05 9.99851156e-01 7.32473741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7927550960001 meters 0.018958879268026373 Centerline is valid? [True, True] Translation: X:28.67, Y:340.48, Z:7.32 [[-6.98488452e-01 -7.15516004e-01 1.22772503e-02 2.86712349e+01] [ 7.15401557e-01 -6.98596324e-01 -1.27980186e-02 3.40484837e+02] [ 1.77340290e-02 -1.56104226e-04 9.99842728e-01 7.32337831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.822755096 meters 0.020110916131542714 Centerline is valid? [True, True] Translation: X:28.65, Y:340.51, Z:7.32 [[-7.01597496e-01 -7.12464154e-01 1.24812957e-02 2.86542033e+01] [ 7.12345552e-01 -7.01708469e-01 -1.30015172e-02 3.40505798e+02] [ 1.80213458e-02 -2.30836475e-04 9.99837576e-01 7.32175531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.852755096 meters 0.020711605092690082 Centerline is valid? [True, True] Translation: X:28.64, Y:340.53, Z:7.32 [[-7.03272691e-01 -7.10800366e-01 1.30522471e-02 2.86361086e+01] [ 7.10670559e-01 -7.03393746e-01 -1.35865583e-02 3.40526423e+02] [ 1.88381996e-02 -2.79207650e-04 9.99822506e-01 7.32114087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.882755096 meters 0.02165637864994619 Centerline is valid? [True, True] Translation: X:28.62, Y:340.55, Z:7.32 [[-7.05327510e-01 -7.08758280e-01 1.32213587e-02 2.86197875e+01] [ 7.08624919e-01 -7.05451338e-01 -1.37525867e-02 3.40547454e+02] [ 1.90742849e-02 -3.31093514e-04 9.99818014e-01 7.32084315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9127550960001 meters 0.023366674039077148 Centerline is valid? [True, True] Translation: X:28.60, Y:340.57, Z:7.32 [[-7.08673800e-01 -7.05402950e-01 1.37158205e-02 2.86047766e+01] [ 7.05258998e-01 -7.08806386e-01 -1.42566617e-02 3.40570958e+02] [ 1.97785524e-02 -4.30116808e-04 9.99804293e-01 7.32098090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.942755096 meters 0.02417988791505644 Centerline is valid? [True, True] Translation: X:28.59, Y:340.59, Z:7.32 [[-7.09829671e-01 -7.04235347e-01 1.39432449e-02 2.85884284e+01] [ 7.04086529e-01 -7.09966450e-01 -1.44844324e-02 3.40591369e+02] [ 2.00996853e-02 -4.64228961e-04 9.99797873e-01 7.32098472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.972755096 meters 0.02519216793790964 Centerline is valid? [True, True] Translation: X:28.57, Y:340.61, Z:7.32 [[-7.11145149e-01 -7.02909025e-01 1.38376226e-02 2.85717985e+01] [ 7.02762389e-01 -7.11279595e-01 -1.43653500e-02 3.40612036e+02] [ 1.99399527e-02 -4.91288268e-04 9.99801059e-01 7.32081902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.002755096 meters 0.02411603842232583 Centerline is valid? [True, True] Translation: X:28.55, Y:340.63, Z:7.32 [[-7.11441804e-01 -7.02612140e-01 1.36652569e-02 2.85517384e+01] [ 7.02469277e-01 -7.11572866e-01 -1.41764141e-02 3.40630138e+02] [ 1.96843467e-02 -4.86270523e-04 9.99806126e-01 7.32211951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.032755096 meters 0.025127240359195235 Centerline is valid? [True, True] Translation: X:28.53, Y:340.65, Z:7.32 [[-7.11264266e-01 -7.02801470e-01 1.31619839e-02 2.85342099e+01] [ 7.02669155e-01 -7.11385890e-01 -1.36445738e-02 3.40650012e+02] [ 1.89526762e-02 -4.56377654e-04 9.99820278e-01 7.32184385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.062755096 meters 0.02440384018668836 Centerline is valid? [True, True] Translation: X:28.51, Y:340.67, Z:7.32 [[-7.10343082e-01 -7.03740476e-01 1.27298303e-02 2.85144027e+01] [ 7.03617022e-01 -7.10457018e-01 -1.31875756e-02 3.40668209e+02] [ 1.83246280e-02 -4.10777766e-04 9.99832006e-01 7.32242424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.092755096 meters 0.023780359355707673 Centerline is valid? [True, True] Translation: X:28.50, Y:340.69, Z:7.32 [[-7.09778521e-01 -7.04314609e-01 1.24652489e-02 2.84951411e+01] [ 7.04196486e-01 -7.09887869e-01 -1.29043744e-02 3.40686865e+02] [ 1.79376684e-02 -3.81263318e-04 9.99839034e-01 7.32317334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.122755096 meters 0.024001688743610684 Centerline is valid? [True, True] Translation: X:28.48, Y:340.71, Z:7.32 [[-7.09207776e-01 -7.04895679e-01 1.21000466e-02 2.84778480e+01] [ 7.04784625e-01 -7.09310905e-01 -1.25169074e-02 3.40705008e+02] [ 1.74058089e-02 -3.49161276e-04 9.99848447e-01 7.32403518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.152755096 meters 0.021687641517826747 Centerline is valid? [True, True] Translation: X:28.46, Y:340.72, Z:7.33 [[-7.08911729e-01 -7.05193010e-01 1.21235295e-02 2.84559679e+01] [ 7.05081729e-01 -7.09015308e-01 -1.25319341e-02 3.40721466e+02] [ 1.74332003e-02 -3.35955931e-04 9.99847974e-01 7.32678101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.182755096 meters 0.022157264931669533 Centerline is valid? [True, True] Translation: X:28.44, Y:340.74, Z:7.33 [[-7.08566998e-01 -7.05541405e-01 1.20056223e-02 2.84380258e+01] [ 7.05432485e-01 -7.08668628e-01 -1.24009685e-02 3.40740723e+02] [ 1.72574047e-02 -3.17761010e-04 9.99851029e-01 7.32666092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.212755096 meters 0.02112293528730509 Centerline is valid? [True, True] Translation: X:28.42, Y:340.76, Z:7.33 [[-7.08028024e-01 -7.06084166e-01 1.18940313e-02 2.84165879e+01] [ 7.05977491e-01 -7.08127858e-01 -1.22768131e-02 3.40758429e+02] [ 1.70909582e-02 -2.95409341e-04 9.99853895e-01 7.32855317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.242755096 meters 0.021370160295713266 Centerline is valid? [True, True] Translation: X:28.40, Y:340.78, Z:7.33 [[-7.08182374e-01 -7.05922838e-01 1.22749028e-02 2.83980892e+01] [ 7.05809361e-01 -7.08288681e-01 -1.26605710e-02 3.40777531e+02] [ 1.76315609e-02 -3.02251913e-04 9.99844506e-01 7.32871974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.272755096 meters 0.02152411736229743 Centerline is valid? [True, True] Translation: X:28.38, Y:340.80, Z:7.33 [[-7.09153278e-01 -7.04943817e-01 1.24837379e-02 2.83790190e+01] [ 7.04826463e-01 -7.09263075e-01 -1.28665608e-02 3.40796944e+02] [ 1.79244568e-02 -3.25494931e-04 9.99839291e-01 7.32985472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.302755096 meters 0.021924030553285793 Centerline is valid? [True, True] Translation: X:28.36, Y:340.82, Z:7.33 [[-7.10072929e-01 -7.04016526e-01 1.25365974e-02 2.83604662e+01] [ 7.03898197e-01 -7.10183506e-01 -1.29118342e-02 3.40817510e+02] [ 1.79934294e-02 -3.43855630e-04 9.99838046e-01 7.33020579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.332755096 meters 0.022261736324959158 Centerline is valid? [True, True] Translation: X:28.34, Y:340.84, Z:7.33 [[-7.11162562e-01 -7.02916889e-01 1.24763322e-02 2.83414227e+01] [ 7.02799677e-01 -7.11271900e-01 -1.28412643e-02 3.40838446e+02] [ 1.79004060e-02 -3.63864123e-04 9.99839709e-01 7.33112418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.362755096 meters 0.023225471061304365 Centerline is valid? [True, True] Translation: X:28.32, Y:340.86, Z:7.33 [[-7.12851631e-01 -7.01207805e-01 1.22542659e-02 2.83245359e+01] [ 7.01094600e-01 -7.12956842e-01 -1.26057157e-02 3.40859010e+02] [ 1.75759890e-02 -3.94605406e-04 9.99845453e-01 7.33154664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.392755096 meters 0.023225471061304365 Centerline is valid? [True, True] Translation: X:28.31, Y:340.88, Z:7.33 [[-7.13097596e-01 -7.00957599e-01 1.22581999e-02 2.83057319e+01] [ 7.00844422e-01 -7.13202838e-01 -1.26018897e-02 3.40878052e+02] [ 1.75759733e-02 -3.95286289e-04 9.99845453e-01 7.33173504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4227550960001 meters 0.023944252396459552 Centerline is valid? [True, True] Translation: X:28.29, Y:340.90, Z:7.33 [[-7.14283304e-01 -6.99750672e-01 1.21802858e-02 2.82882318e+01] [ 6.99638911e-01 -7.14387027e-01 -1.25127838e-02 3.40898201e+02] [ 1.74572670e-02 -4.15870640e-04 9.99847524e-01 7.33191432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.452755096 meters 0.024995686449343652 Centerline is valid? [True, True] Translation: X:28.27, Y:340.92, Z:7.33 [[-7.16345522e-01 -6.97649594e-01 1.15818115e-02 2.82709937e+01] [ 6.97548409e-01 -7.16439008e-01 -1.18897088e-02 3.40919498e+02] [ 1.65925121e-02 -4.38265412e-04 9.99862239e-01 7.33262246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.482755096 meters 0.025396643771587343 Centerline is valid? [True, True] Translation: X:28.25, Y:340.94, Z:7.33 [[-7.17312556e-01 -6.96666574e-01 1.08803678e-02 2.82531388e+01] [ 6.96577286e-01 -7.17394942e-01 -1.11616512e-02 3.40938742e+02] [ 1.55814701e-02 -4.27375428e-04 9.99878510e-01 7.33332153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.512755096 meters 0.024386051471215052 Centerline is valid? [True, True] Translation: X:28.23, Y:340.96, Z:7.33 [[-7.17903690e-01 -6.96064329e-01 1.04279596e-02 2.82330891e+01] [ 6.95982365e-01 -7.17979301e-01 -1.06897835e-02 3.40956773e+02] [ 1.49278361e-02 -4.16559045e-04 9.99888487e-01 7.33451415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5427550960001 meters 0.025112055540747767 Centerline is valid? [True, True] Translation: X:28.22, Y:340.98, Z:7.34 [[-7.17856756e-01 -6.96124965e-01 9.57660700e-03 2.82153071e+01] [ 6.96055939e-01 -7.17920533e-01 -9.81014064e-03 3.40976104e+02] [ 1.37043266e-02 -3.76421556e-04 9.99906020e-01 7.33531732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.572755096 meters 0.02474761999625509 Centerline is valid? [True, True] Translation: X:28.19, Y:340.99, Z:7.34 [[-7.17291494e-01 -6.96714074e-01 9.07810011e-03 2.81941381e+01] [ 6.96652179e-01 -7.17348857e-01 -9.29293831e-03 3.40994114e+02] [ 1.29866856e-02 -3.41467385e-04 9.99915611e-01 7.33535623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.602755096 meters 0.024125992056529686 Centerline is valid? [True, True] Translation: X:28.17, Y:341.01, Z:7.33 [[-7.16789626e-01 -6.97227529e-01 9.29549579e-03 2.81736498e+01] [ 6.97162766e-01 -7.16849818e-01 -9.50879574e-03 3.41012561e+02] [ 1.32932686e-02 -3.35332583e-04 9.99911584e-01 7.33468735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.632755096 meters 0.023641146851233204 Centerline is valid? [True, True] Translation: X:28.15, Y:341.03, Z:7.33 [[-7.16216524e-01 -6.97814695e-01 9.40965366e-03 2.81540838e+01] [ 6.97748473e-01 -7.16278260e-01 -9.61884630e-03 3.41030976e+02] [ 1.34521027e-02 -3.23605189e-04 9.99909464e-01 7.33425144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6627550960001 meters 0.023309600363132642 Centerline is valid? [True, True] Translation: X:28.13, Y:341.05, Z:7.33 [[-7.15555369e-01 -6.98484079e-01 1.00252292e-02 2.81349544e+01] [ 6.98409084e-01 -7.15625521e-01 -1.02403849e-02 3.41049182e+02] [ 1.43270557e-02 -3.25851236e-04 9.99897309e-01 7.33369278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.692755096 meters 0.021925690203672354 Centerline is valid? [True, True] Translation: X:28.11, Y:341.07, Z:7.33 [[-7.13602275e-01 -7.00477419e-01 1.01577077e-02 2.81134403e+01] [ 7.00400742e-01 -7.13674509e-01 -1.03680522e-02 3.41066176e+02] [ 1.45118835e-02 -2.84199632e-04 9.99894657e-01 7.33310588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.722755096 meters 0.021387560966010476 Centerline is valid? [True, True] Translation: X:28.09, Y:341.08, Z:7.33 [[-7.12107875e-01 -7.01993217e-01 1.03873726e-02 2.80932432e+01] [ 7.01913304e-01 -7.12183585e-01 -1.05950070e-02 3.41083865e+02] [ 1.48353393e-02 -2.53752900e-04 9.99889918e-01 7.33258233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.752755096 meters 0.0201388979814215 Centerline is valid? [True, True] Translation: X:28.07, Y:341.10, Z:7.33 [[-7.11513784e-01 -7.02592965e-01 1.05480574e-02 2.80718003e+01] [ 7.02510743e-01 -7.11591926e-01 -1.07511646e-02 3.41100850e+02] [ 1.50596051e-02 -2.39478193e-04 9.99886569e-01 7.33300389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.782755096 meters 0.020340146404608385 Centerline is valid? [True, True] Translation: X:28.05, Y:341.12, Z:7.33 [[-7.11320805e-01 -7.02782066e-01 1.09581557e-02 2.80531539e+01] [ 7.02693462e-01 -7.11405167e-01 -1.11618614e-02 3.41119174e+02] [ 1.56400445e-02 -2.39439875e-04 9.99877658e-01 7.33204488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.812755096 meters 0.02075089128499162 Centerline is valid? [True, True] Translation: X:28.04, Y:341.14, Z:7.33 [[-7.11589722e-01 -7.02516224e-01 1.05366880e-02 2.80353559e+01] [ 7.02434381e-01 -7.11667690e-01 -1.07255993e-02 3.41138238e+02] [ 1.50335280e-02 -2.30894289e-04 9.99886964e-01 7.33245594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.842755096 meters 0.020672454141282114 Centerline is valid? [True, True] Translation: X:28.02, Y:341.16, Z:7.33 [[-7.12244127e-01 -7.01867001e-01 9.54022282e-03 2.80167510e+01] [ 7.01799939e-01 -7.12307985e-01 -9.70463254e-03 3.41157667e+02] [ 1.36069382e-02 -2.16739748e-04 9.99907398e-01 7.33415123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.872755096 meters 0.020505934594538457 Centerline is valid? [True, True] Translation: X:28.00, Y:341.18, Z:7.34 [[-7.13241621e-01 -7.00869654e-01 8.25335696e-03 2.79989529e+01] [ 7.00819461e-01 -7.13289344e-01 -8.39013284e-03 3.41178544e+02] [ 1.17674211e-02 -2.00078772e-04 9.99930742e-01 7.33684636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.902755096 meters 0.020685026179693106 Centerline is valid? [True, True] Translation: X:27.98, Y:341.20, Z:7.34 [[-7.13803698e-01 -7.00300239e-01 7.99098445e-03 2.79813051e+01] [ 7.00253211e-01 -7.13848398e-01 -8.11817759e-03 3.41198270e+02] [ 1.13895132e-02 -1.99072670e-04 9.99935118e-01 7.33763475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.932755096 meters 0.020563201486529344 Centerline is valid? [True, True] Translation: X:27.96, Y:341.22, Z:7.34 [[-7.14174710e-01 -6.99922398e-01 7.94484666e-03 2.79627540e+01] [ 6.99875944e-01 -7.14218872e-01 -8.06632513e-03 3.41217881e+02] [ 1.13201610e-02 -2.00358358e-04 9.99935905e-01 7.33826353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.962755096 meters 0.020744804113296895 Centerline is valid? [True, True] Translation: X:27.95, Y:341.24, Z:7.34 [[-7.14585398e-01 -6.99511864e-01 7.13170142e-03 2.79451052e+01] [ 6.99474463e-01 -7.14620961e-01 -7.23581216e-03 3.41237740e+02] [ 1.01579998e-02 -1.82162685e-04 9.99948390e-01 7.33867952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.992755096 meters 0.02068683926224906 Centerline is valid? [True, True] Translation: X:27.93, Y:341.26, Z:7.34 [[-7.14817165e-01 -6.99274976e-01 7.13647158e-03 2.79253017e+01] [ 6.99237568e-01 -7.14852765e-01 -7.23527127e-03 3.41257140e+02] [ 1.01609706e-02 -1.81807063e-04 9.99948360e-01 7.33836665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.022755096 meters 0.020806474396285385 Centerline is valid? [True, True] Translation: X:27.91, Y:341.28, Z:7.34 [[-7.14805168e-01 -6.99282362e-01 7.59932568e-03 2.79074737e+01] [ 6.99240007e-01 -7.14845537e-01 -7.69872994e-03 3.41275899e+02] [ 1.08159301e-02 -1.89339413e-04 9.99941488e-01 7.33742107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.052755096 meters 0.021035067382169707 Centerline is valid? [True, True] Translation: X:27.89, Y:341.29, Z:7.34 [[-7.14964690e-01 -6.99120260e-01 7.50697929e-03 2.78897033e+01] [ 6.99078980e-01 -7.15004076e-01 -7.59942330e-03 3.41294653e+02] [ 1.06804316e-02 -1.85347899e-04 9.99942945e-01 7.33758662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.082755096 meters 0.02034124333565654 Centerline is valid? [True, True] Translation: X:27.87, Y:341.31, Z:7.34 [[-7.14841821e-01 -6.99242647e-01 7.80331386e-03 2.78696947e+01] [ 6.99198120e-01 -7.14884387e-01 -7.89324357e-03 3.41312835e+02] [ 1.10977598e-02 -1.86358228e-04 9.99938401e-01 7.33786390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.112755096 meters 0.020250948179660642 Centerline is valid? [True, True] Translation: X:27.85, Y:341.33, Z:7.34 [[-7.15134472e-01 -6.98937809e-01 8.28407128e-03 2.78512579e+01] [ 6.98887677e-01 -7.15182424e-01 -8.37349991e-03 3.41332376e+02] [ 1.17771779e-02 -1.98543101e-04 9.99930627e-01 7.33740810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.142755096 meters 0.02046440415867801 Centerline is valid? [True, True] Translation: X:27.83, Y:341.35, Z:7.34 [[-7.15553900e-01 -6.98502968e-01 8.73038932e-03 2.78330524e+01] [ 6.98447337e-01 -7.15607126e-01 -8.81804356e-03 3.41351235e+02] [ 1.24069584e-02 -2.12068287e-04 9.99923008e-01 7.33701876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1727550960001 meters 0.02088170972594186 Centerline is valid? [True, True] Translation: X:27.81, Y:341.37, Z:7.34 [[-7.16519408e-01 -6.97502995e-01 9.46096202e-03 2.78144008e+01] [ 6.97437675e-01 -7.16581826e-01 -9.54867388e-03 3.41370953e+02] [ 1.34397821e-02 -2.43378808e-04 9.99909652e-01 7.33616665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.202755096 meters 0.021042309355642115 Centerline is valid? [True, True] Translation: X:27.79, Y:341.39, Z:7.34 [[-7.17171568e-01 -6.96829061e-01 9.70577037e-03 2.77948781e+01] [ 6.96760349e-01 -7.17237194e-01 -9.78892272e-03 3.41390051e+02] [ 1.37825453e-02 -2.57741103e-04 9.99904983e-01 7.33565688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.232755096 meters 0.021937280568420054 Centerline is valid? [True, True] Translation: X:27.78, Y:341.41, Z:7.33 [[-7.18354838e-01 -6.95607588e-01 9.81890974e-03 2.77769501e+01] [ 6.95537244e-01 -7.18421886e-01 -9.89632123e-03 3.41408573e+02] [ 1.39380758e-02 -2.79652818e-04 9.99902821e-01 7.33426806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.262755096 meters 0.021758135106675264 Centerline is valid? [True, True] Translation: X:27.76, Y:341.43, Z:7.33 [[-7.18981563e-01 -6.94959561e-01 9.83469750e-03 2.77577664e+01] [ 6.94889027e-01 -7.19048765e-01 -9.90520804e-03 3.41426414e+02] [ 1.39553461e-02 -2.87638577e-04 9.99902578e-01 7.33463147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2927550960001 meters 0.022096764918078098 Centerline is valid? [True, True] Translation: X:27.74, Y:341.45, Z:7.33 [[-7.19544535e-01 -6.94379483e-01 9.63309236e-03 2.77390878e+01] [ 6.94311860e-01 -7.19608957e-01 -9.69487549e-03 3.41445038e+02] [ 1.36639822e-02 -2.87524408e-04 9.99906602e-01 7.33475277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.322755096 meters 0.021668342891484782 Centerline is valid? [True, True] Translation: X:27.72, Y:341.46, Z:7.34 [[-7.20130203e-01 -6.93767187e-01 9.97905106e-03 2.77195183e+01] [ 6.93694665e-01 -7.20199277e-01 -1.00356024e-02 3.41463662e+02] [ 1.41492770e-02 -3.04525875e-04 9.99899848e-01 7.33506939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.352755096 meters 0.021641985252080897 Centerline is valid? [True, True] Translation: X:27.70, Y:341.48, Z:7.33 [[-7.20461864e-01 -6.93422247e-01 1.00145214e-02 2.76993030e+01] [ 6.93349276e-01 -7.20531397e-01 -1.00641875e-02 3.41482505e+02] [ 1.41945086e-02 -3.07302158e-04 9.99899206e-01 7.33494212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.382755096 meters 0.02212660740701285 Centerline is valid? [True, True] Translation: X:27.68, Y:341.50, Z:7.33 [[-7.20475640e-01 -6.93402165e-01 1.04062836e-02 2.76795472e+01] [ 6.93323484e-01 -7.20550720e-01 -1.04502205e-02 3.41499895e+02] [ 1.47444606e-02 -3.14208450e-04 9.99891245e-01 7.33398436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4127550960001 meters 0.021382840542007824 Centerline is valid? [True, True] Translation: X:27.66, Y:341.52, Z:7.33 [[-7.20425457e-01 -6.93458509e-01 1.01221485e-02 2.76584076e+01] [ 6.93384180e-01 -7.20496501e-01 -1.01573148e-02 3.41516779e+02] [ 1.43366489e-02 -2.99050530e-04 9.99897180e-01 7.33453449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.442755096 meters 0.021247873496725696 Centerline is valid? [True, True] Translation: X:27.64, Y:341.53, Z:7.33 [[-7.20083694e-01 -6.93815462e-01 9.97886433e-03 2.76381115e+01] [ 6.93743368e-01 -7.20152779e-01 -1.00057004e-02 3.41532744e+02] [ 1.41284165e-02 -2.82170748e-04 9.99900149e-01 7.33462326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.472755096 meters 0.020590451699303666 Centerline is valid? [True, True] Translation: X:27.62, Y:341.55, Z:7.34 [[-7.19898911e-01 -6.94010857e-01 9.72051059e-03 2.76171860e+01] [ 6.93942563e-01 -7.19964485e-01 -9.73961762e-03 3.41551022e+02] [ 1.37578228e-02 -2.66064083e-04 9.99905321e-01 7.33532537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.502755096 meters 0.021057339444844992 Centerline is valid? [True, True] Translation: X:27.60, Y:341.57, Z:7.34 [[-7.19993588e-01 -6.93913009e-01 9.69378762e-03 2.75994430e+01] [ 6.93845178e-01 -7.20058794e-01 -9.70575180e-03 3.41569506e+02] [ 1.37150445e-02 -2.62091263e-04 9.99905910e-01 7.33595672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.532755096 meters 0.020223610171349746 Centerline is valid? [True, True] Translation: X:27.58, Y:341.59, Z:7.34 [[-7.19689036e-01 -6.94242872e-01 8.63285898e-03 2.75797705e+01] [ 6.94189178e-01 -7.19740777e-01 -8.63714306e-03 3.41586699e+02] [ 1.22096956e-02 -2.23219883e-04 9.99925434e-01 7.33845088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.562755096 meters 0.020504591972529216 Centerline is valid? [True, True] Translation: X:27.56, Y:341.60, Z:7.34 [[-7.19781429e-01 -6.94150300e-01 8.36987996e-03 2.75618633e+01] [ 6.94099897e-01 -7.19830060e-01 -8.36766895e-03 3.41604146e+02] [ 1.18333111e-02 -2.13359896e-04 9.99929961e-01 7.33900065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.592755096 meters 0.02017655024939463 Centerline is valid? [True, True] Translation: X:27.18, Y:341.21, Z:8.52 [[-7.43645604e-01 6.68570472e-01 -2.17688483e-03 2.71780036e+01] [ 6.68565760e-01 7.43648660e-01 2.54842429e-03 3.41205293e+02] [ 3.32263872e-03 4.39733862e-04 -9.99994383e-01 8.51912673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.622755096 meters 0.020389254032795394 Centerline is valid? [True, True] Translation: X:27.19, Y:341.22, Z:8.52 [[-7.88862778e-01 6.14562372e-01 -2.93411525e-03 2.71931965e+01] [ 6.14556036e-01 7.88868121e-01 2.82256064e-03 3.41217708e+02] [ 4.04926955e-03 4.23434783e-04 -9.99991712e-01 8.51873719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.652755096 meters 0.02075165094046247 Centerline is valid? [True, True] Translation: X:27.21, Y:341.23, Z:8.52 [[-8.29975946e-01 5.57787855e-01 -3.55499990e-03 2.72070110e+01] [ 5.57780556e-01 8.29983458e-01 2.88287944e-03 3.41230983e+02] [ 4.55862625e-03 4.09810774e-04 -9.99989525e-01 8.51822348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.682755096 meters 0.02132464917794439 Centerline is valid? [True, True] Translation: X:27.22, Y:341.24, Z:8.52 [[-8.67087195e-01 4.98142046e-01 -3.78118101e-03 2.72213784e+01] [ 4.98135215e-01 8.67095345e-01 2.64013785e-03 3.41243559e+02] [ 4.59380812e-03 4.05690308e-04 -9.99989366e-01 8.51763305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.712755096 meters 0.021590315751799087 Centerline is valid? [True, True] Translation: X:27.23, Y:341.26, Z:8.52 [[-8.99951860e-01 4.35970532e-01 -4.04278308e-03 2.72334814e+01] [ 4.35964096e-01 8.99960852e-01 2.40251141e-03 3.41258589e+02] [ 4.68577068e-03 3.99636349e-04 -9.99988942e-01 8.51726605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.742755096 meters 0.02198394260878846 Centerline is valid? [True, True] Translation: X:27.46, Y:341.76, Z:7.34 [[-8.88180002e-01 -4.59428335e-01 7.86703836e-03 2.74582349e+01] [ 4.59411637e-01 -8.88214832e-01 -3.91922601e-03 3.41762802e+02] [ 8.78822363e-03 1.33230804e-04 9.99961374e-01 7.34419172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.772755096 meters 0.021688720016005573 Centerline is valid? [True, True] Translation: X:27.20, Y:341.27, Z:8.52 [[-9.01511341e-01 4.32725294e-01 -5.11094496e-03 2.72034603e+01] [ 4.32715945e-01 9.01525751e-01 2.86898400e-03 3.41271985e+02] [ 5.84913043e-03 3.74834237e-04 -9.99982823e-01 8.51599672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.802755096 meters 0.022158712129913046 Centerline is valid? [True, True] Translation: X:27.22, Y:341.29, Z:8.52 [[-9.29849484e-01 3.67898777e-01 -5.51602712e-03 2.72161330e+01] [ 3.67889934e-01 9.29865773e-01 2.57706341e-03 3.41287394e+02] [ 6.07726330e-03 3.66990230e-04 -9.99981466e-01 8.51595478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.832755096 meters 0.022092627071587406 Centerline is valid? [True, True] Translation: X:27.40, Y:341.80, Z:7.35 [[-9.19898696e-01 -3.92097477e-01 6.77918035e-03 2.74037393e+01] [ 3.92088227e-01 -9.19923659e-01 -2.69898592e-03 3.41803503e+02] [ 7.29459396e-03 1.75243170e-04 9.99973379e-01 7.34505426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.862755096 meters 0.022807651641846206 Centerline is valid? [True, True] Translation: X:27.19, Y:341.30, Z:8.52 [[-9.31022838e-01 3.64911084e-01 -6.03129572e-03 2.71885482e+01] [ 3.64900947e-01 9.31042307e-01 2.74270358e-03 3.41297870e+02] [ 6.61623441e-03 3.52694149e-04 -9.99978050e-01 8.51631308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.892755096 meters 0.023041807274461815 Centerline is valid? [True, True] Translation: X:27.37, Y:341.82, Z:7.35 [[-9.21884758e-01 -3.87405018e-01 6.77096257e-03 2.73722920e+01] [ 3.87396077e-01 -9.21909603e-01 -2.63884194e-03 3.41815543e+02] [ 7.26451603e-03 1.90336176e-04 9.99973595e-01 7.34503498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9227550960001 meters 0.024276698141261863 Centerline is valid? [True, True] Translation: X:27.16, Y:341.31, Z:8.52 [[-9.31776845e-01 3.62986052e-01 -5.74784880e-03 2.71570382e+01] [ 3.62976823e-01 9.31794508e-01 2.61164854e-03 3.41307549e+02] [ 6.30380594e-03 3.47137739e-04 -9.99980071e-01 8.51705070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.952755096 meters 0.02409436174700437 Centerline is valid? [True, True] Translation: X:27.35, Y:341.83, Z:7.34 [[-9.23816851e-01 -3.82764127e-01 7.35181979e-03 2.73451768e+01] [ 3.82753663e-01 -9.23846083e-01 -2.83679008e-03 3.41825277e+02] [ 7.87777140e-03 1.93261474e-04 9.99968951e-01 7.34443608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.982755096 meters 0.02516913490733593 Centerline is valid? [True, True] Translation: X:27.13, Y:341.32, Z:8.52 [[-9.32305485e-01 3.61632599e-01 -5.32414987e-03 2.71321468e+01] [ 3.61624580e-01 9.32320624e-01 2.43253108e-03 3.41315693e+02] [ 5.84349726e-03 3.42518611e-04 -9.99982868e-01 8.51835791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.012755096 meters 0.02613644903872512 Centerline is valid? [True, True] Translation: X:27.14, Y:341.33, Z:8.52 [[-9.55347077e-01 2.95434390e-01 -5.52122884e-03 2.71395119e+01] [ 2.95427419e-01 9.55362973e-01 2.05680655e-03 3.41331880e+02] [ 5.88242899e-03 3.33841739e-04 -9.99982643e-01 8.51740245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0427550960001 meters 0.02646135809206827 Centerline is valid? [True, True] Translation: X:27.27, Y:341.87, Z:7.35 [[-9.50639848e-01 -3.10213288e-01 7.18298393e-03 2.72732944e+01] [ 3.10205559e-01 -9.50666974e-01 -2.19435505e-03 3.41871378e+02] [ 7.50934369e-03 1.42160199e-04 9.99971794e-01 7.34590575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.072755096 meters 0.026826372259116042 Centerline is valid? [True, True] Translation: X:27.11, Y:341.34, Z:8.52 [[-9.56558068e-01 2.91475754e-01 -6.20862222e-03 2.71073586e+01] [ 2.91467442e-01 9.56578164e-01 2.22411585e-03 3.41341120e+02] [ 6.58730829e-03 3.17884725e-04 -9.99978253e-01 8.51775625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.102755096 meters 0.02620382917650624 Centerline is valid? [True, True] Translation: X:27.25, Y:341.88, Z:7.35 [[-9.51609037e-01 -3.07232682e-01 6.95127962e-03 2.72486063e+01] [ 3.07225949e-01 -9.51634406e-01 -2.04295537e-03 3.41875256e+02] [ 7.24273951e-03 1.91518682e-04 9.99973753e-01 7.34555760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.132755096 meters 0.02636928425670991 Centerline is valid? [True, True] Translation: X:27.20, Y:341.87, Z:7.34 [[-9.28496868e-01 -3.71270484e-01 7.19681086e-03 2.71998851e+01] [ 3.71261291e-01 -9.28524729e-01 -2.62341137e-03 3.41871247e+02] [ 7.65641206e-03 2.36068045e-04 9.99970661e-01 7.34472051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1627550960001 meters 0.02489326142287648 Centerline is valid? [True, True] Translation: X:27.02, Y:341.36, Z:8.52 [[-9.36648213e-01 3.50227444e-01 -5.55536395e-03 2.70209053e+01] [ 3.50219129e-01 9.36664627e-01 2.43675671e-03 3.41355198e+02] [ 6.05693198e-03 3.36789097e-04 -9.99981600e-01 8.51956514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.192755096 meters 0.021611162902943175 Centerline is valid? [True, True] Translation: X:27.20, Y:341.86, Z:7.34 [[-9.29523947e-01 -3.68688847e-01 7.33256677e-03 2.72020476e+01] [ 3.68679053e-01 -9.29552847e-01 -2.69464059e-03 3.41856704e+02] [ 7.80949225e-03 1.98630821e-04 9.99969486e-01 7.34422674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.222755096 meters 0.024469977378063324 Centerline is valid? [True, True] Translation: X:27.01, Y:341.36, Z:8.52 [[-9.38342687e-01 3.45665773e-01 -5.30814728e-03 2.70119936e+01] [ 3.45658125e-01 9.38357636e-01 2.32544395e-03 3.41360180e+02] [ 5.78476691e-03 3.47259095e-04 -9.99983208e-01 8.52001352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.252755096 meters 0.02249042768188229 Centerline is valid? [True, True] Translation: X:27.02, Y:341.38, Z:8.52 [[-9.60551380e-01 2.78043636e-01 -5.72558287e-03 2.70151755e+01] [ 2.78036573e-01 9.60568384e-01 2.01069023e-03 3.41382809e+02] [ 6.05887351e-03 3.39449839e-04 -9.99981587e-01 8.51967314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.282755096 meters 0.02249042768188229 Centerline is valid? [True, True] Translation: X:27.15, Y:341.89, Z:7.34 [[-9.54303392e-01 -2.98754544e-01 7.12445343e-03 2.71475175e+01] [ 2.98747720e-01 -9.54329967e-01 -2.02843330e-03 3.41893658e+02] [ 7.40508307e-03 1.92673439e-04 9.99972563e-01 7.34493675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.312755096 meters 0.020482236239594213 Centerline is valid? [True, True] Translation: X:26.99, Y:341.39, Z:8.52 [[-9.61918840e-01 2.73268341e-01 -6.04647494e-03 2.69886993e+01] [ 2.73260706e-01 9.61937783e-01 2.07067419e-03 3.41393916e+02] [ 6.38218240e-03 3.39556504e-04 -9.99979576e-01 8.51937268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.342755096 meters 0.021555547762735328 Centerline is valid? [True, True] Translation: X:27.11, Y:341.90, Z:7.35 [[-9.54702854e-01 -2.97474772e-01 7.15685025e-03 2.71127532e+01] [ 2.97468290e-01 -9.54729649e-01 -1.97838644e-03 3.41898752e+02] [ 7.42137718e-03 2.40164825e-04 9.99972432e-01 7.34532473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.372755096 meters 0.02033101546016568 Centerline is valid? [True, True] Translation: X:26.96, Y:341.40, Z:8.52 [[-9.63560082e-01 2.67434311e-01 -5.55504409e-03 2.69568921e+01] [ 2.67427686e-01 9.63576027e-01 1.91672775e-03 3.41403065e+02] [ 5.86530608e-03 3.61309755e-04 -9.99982734e-01 8.51988889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.402755096 meters 0.020262792905884848 Centerline is valid? [True, True] Translation: X:26.96, Y:341.42, Z:8.52 [[-9.80249746e-01 1.97692532e-01 -5.30075219e-03 2.69600724e+01] [ 1.97687588e-01 9.80264008e-01 1.44618187e-03 3.41422082e+02] [ 5.48203594e-03 3.69726489e-04 -9.99984905e-01 8.51988642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.432755096 meters 0.019722835439762755 Centerline is valid? [True, True] Translation: X:26.97, Y:341.44, Z:8.52 [[-9.91984039e-01 1.26263504e-01 -5.01945870e-03 2.69657293e+01] [ 1.26259926e-01 9.91996664e-01 1.02471190e-03 3.41440934e+02] [ 5.10867000e-03 3.82741368e-04 -9.99986877e-01 8.52020021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.462755096 meters 0.019248781007746768 Centerline is valid? [True, True] Translation: X:27.02, Y:341.95, Z:7.35 [[-9.87306000e-01 -1.58624926e-01 8.06195134e-03 2.70174395e+01] [ 1.58621611e-01 -9.87338886e-01 -1.05302999e-03 3.41951599e+02] [ 8.12691486e-03 2.39136882e-04 9.99966948e-01 7.34607292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.492755096 meters 0.01947878201630058 Centerline is valid? [True, True] Translation: X:26.92, Y:341.45, Z:8.52 [[-9.92553278e-01 1.21718237e-01 -4.76045413e-03 2.69238652e+01] [ 1.21714939e-01 9.92564617e-01 9.77523217e-04 3.41445090e+02] [ 4.84404073e-03 3.90825490e-04 -9.99988191e-01 8.52069848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.522755096 meters 0.01994992032740778 Centerline is valid? [True, True] Translation: X:26.93, Y:341.46, Z:8.52 [[-9.98657848e-01 5.15812553e-02 -4.67735029e-03 2.69250319e+01] [ 5.15788755e-02 9.98668727e-01 6.28074350e-04 3.41462535e+02] [ 4.70352032e-03 3.85978911e-04 -9.99988864e-01 8.52111071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.552755096 meters 0.020357910665209127 Centerline is valid? [True, True] Translation: X:26.94, Y:341.98, Z:7.35 [[-9.96534991e-01 -8.26800599e-02 9.05651599e-03 2.69444950e+01] [ 8.26790065e-02 -9.96576109e-01 -4.91291830e-04 3.41980974e+02] [ 9.06612750e-03 2.59194245e-04 9.99958868e-01 7.34531630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.582755096 meters 0.02181457637812338 Centerline is valid? [True, True] Translation: X:26.88, Y:341.46, Z:8.52 [[-9.98725955e-01 5.03203807e-02 -3.78493349e-03 2.68793152e+01] [ 5.03185220e-02 9.98733050e-01 5.84764666e-04 3.41456162e+02] [ 3.80956374e-03 3.93567391e-04 -9.99992666e-01 8.52206465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.612755096 meters 0.022753815173767268 Centerline is valid? [True, True] Translation: X:26.89, Y:341.47, Z:8.52 [[-9.99809510e-01 -1.91775958e-02 -3.62805268e-03 2.68874081e+01] [-1.91788645e-02 9.99816019e-01 3.15237295e-04 3.41472041e+02] [ 3.62133969e-03 3.84759177e-04 -9.99993369e-01 8.52226436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.642755096 meters 0.024685535281012236 Centerline is valid? [True, True] Translation: X:26.89, Y:341.48, Z:8.52 [[-9.96189319e-01 -8.71209148e-02 -4.09711216e-03 2.68851059e+01] [-8.71216594e-02 9.96197679e-01 3.29006849e-06 3.41484650e+02] [ 4.08124700e-03 3.60224742e-04 -9.99991607e-01 8.52152571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6727550960001 meters 0.025474447712737686 Centerline is valid? [True, True] Translation: X:26.81, Y:342.03, Z:7.35 [[-9.97275520e-01 7.32591132e-02 8.63946431e-03 2.68078664e+01] [-7.32551552e-02 -9.97312931e-01 7.74116311e-04 3.42034310e+02] [ 8.67296055e-03 1.39121948e-04 9.99962380e-01 7.34705741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.702755096 meters 0.025999231460276665 Centerline is valid? [True, True] Translation: X:26.81, Y:341.47, Z:8.52 [[-9.95718266e-01 -9.23271364e-02 -4.56445950e-03 2.68091319e+01] [-9.23278095e-02 9.95728664e-01 -6.34743380e-05 3.41471596e+02] [ 4.55082356e-03 3.58223989e-04 -9.99989581e-01 8.52093185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.732755096 meters 0.026455881678111498 Centerline is valid? [True, True] Translation: X:26.80, Y:341.49, Z:8.52 [[-9.86589500e-01 -1.63168944e-01 -4.12979622e-03 2.68028488e+01] [-1.63168984e-01 9.86598081e-01 -3.29609839e-04 3.41487906e+02] [ 4.12823112e-03 3.48665046e-04 -9.99991418e-01 8.52143540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.762755096 meters 0.026395084942621466 Centerline is valid? [True, True] Translation: X:26.67, Y:342.04, Z:7.35 [[-9.88288849e-01 1.52330690e-01 8.97279954e-03 2.66728704e+01] [-1.52322940e-01 -9.88329568e-01 1.54484976e-03 3.42039320e+02] [ 9.10341112e-03 1.59994589e-04 9.99958550e-01 7.34787580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7927550960001 meters 0.023720488196878737 Centerline is valid? [True, True] Translation: X:26.70, Y:341.47, Z:8.52 [[-9.85389409e-01 -1.70281593e-01 -3.44845597e-03 2.67012778e+01] [-1.70281909e-01 9.85395367e-01 -2.03719011e-04 3.41472464e+02] [ 3.43278214e-03 3.86467111e-04 -9.99994033e-01 8.52194387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.822755096 meters 0.02384014910387013 Centerline is valid? [True, True] Translation: X:26.68, Y:341.49, Z:8.52 [[-9.70346149e-01 -2.41700208e-01 -3.05965548e-03 2.66824458e+01] [-2.41700228e-01 9.70350897e-01 -3.68757411e-04 3.41485333e+02] [ 3.05806818e-03 3.81697095e-04 -9.99995251e-01 8.52274141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.852755096 meters 0.024024464731830997 Centerline is valid? [True, True] Translation: X:26.65, Y:341.49, Z:8.52 [[-9.49826728e-01 -3.12764208e-01 -2.78149881e-03 2.66460429e+01] [-3.12764067e-01 9.49830718e-01 -4.96520620e-04 3.41492301e+02] [ 2.79724689e-03 3.98344326e-04 -9.99996008e-01 8.52296313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.882755096 meters 0.023943839141511256 Centerline is valid? [True, True] Translation: X:26.60, Y:341.49, Z:8.52 [[-9.23668195e-01 -3.83185756e-01 -2.39602014e-03 2.66027811e+01] [-3.83185586e-01 9.23671211e-01 -5.48139276e-04 3.41493399e+02] [ 2.42317399e-03 4.11821565e-04 -9.99996979e-01 8.52313148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9127550960001 meters 0.023535782868217232 Centerline is valid? [True, True] Translation: X:26.55, Y:341.49, Z:8.52 [[-8.92120159e-01 -4.51792699e-01 -2.23143742e-03 2.65514480e+01] [-4.51792413e-01 8.92122851e-01 -6.59666904e-04 3.41489580e+02] [ 2.28874901e-03 4.19644354e-04 -9.99997293e-01 8.52395698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.942755096 meters 0.02293292109508159 Centerline is valid? [True, True] Translation: X:26.49, Y:341.48, Z:8.53 [[-8.54918242e-01 -5.18760310e-01 -1.59388268e-03 2.64946494e+01] [-5.18760302e-01 8.54919614e-01 -4.50734023e-04 3.41478849e+02] [ 1.59646449e-03 4.41502324e-04 -9.99998628e-01 8.52503118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.972755096 meters 0.021457567650821487 Centerline is valid? [True, True] Translation: X:26.44, Y:341.46, Z:8.53 [[-8.10985566e-01 -5.85064956e-01 -1.18680936e-03 2.64351960e+01] [-5.85065063e-01 8.10986305e-01 -2.91188166e-04 3.41462146e+02] [ 1.13285013e-03 4.58211296e-04 -9.99999253e-01 8.52597453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.002755096 meters 0.020455911652735116 Centerline is valid? [True, True] Translation: X:26.37, Y:341.44, Z:8.53 [[-7.62808776e-01 -6.46623266e-01 -1.05975573e-03 2.63727231e+01] [-6.46623367e-01 7.62809371e-01 -2.89783868e-04 3.41437973e+02] [ 9.95772591e-04 4.64213138e-04 -9.99999397e-01 8.52650159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.032755096 meters 0.019153498294409325 Centerline is valid? [True, True] Translation: X:26.31, Y:341.41, Z:8.53 [[-7.09038338e-01 -7.05168854e-01 -1.23361605e-03 2.63085707e+01] [-7.05168774e-01 7.09039260e-01 -5.72669815e-04 3.41407489e+02] [ 1.27851113e-03 4.63862665e-04 -9.99999075e-01 8.52735744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.062755096 meters 0.018702887821374498 Centerline is valid? [True, True] Translation: X:26.25, Y:341.37, Z:8.53 [[-6.52600939e-01 -7.57700914e-01 -1.15728329e-03 2.62495603e+01] [-7.57700791e-01 6.52601801e-01 -6.33107648e-04 3.41371116e+02] [ 1.23495140e-03 4.63707818e-04 -9.99999130e-01 8.52819678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.092755096 meters 0.017931532582262884 Centerline is valid? [True, True] Translation: X:26.19, Y:341.33, Z:8.53 [[-5.92631439e-01 -8.05473062e-01 -1.06022335e-03 2.61914572e+01] [-8.05472933e-01 5.92632203e-01 -6.52838197e-04 3.41329067e+02] [ 1.15416608e-03 4.67088774e-04 -9.99999225e-01 8.52789227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.122755096 meters 0.018641625853719552 Centerline is valid? [True, True] Translation: X:26.14, Y:341.28, Z:8.53 [[-5.30246653e-01 -8.47842381e-01 -1.33564838e-03 2.61393577e+01] [-8.47841548e-01 5.30248138e-01 -1.27372551e-03 3.41277373e+02] [ 1.78814353e-03 4.57029499e-04 -9.99998297e-01 8.52785973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.152755096 meters 0.020193407768051085 Centerline is valid? [True, True] Translation: X:26.09, Y:341.22, Z:8.53 [[-4.64757412e-01 -8.85436879e-01 -1.44286244e-03 2.60901019e+01] [-8.85435187e-01 4.64759437e-01 -1.78751206e-03 3.41218436e+02] [ 2.25331304e-03 4.46801696e-04 -9.99997362e-01 8.52815326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.182755096 meters 0.020283618253395447 Centerline is valid? [True, True] Translation: X:26.04, Y:341.16, Z:8.53 [[-3.97914322e-01 -9.17421060e-01 -1.67083173e-03 2.60445643e+01] [-9.17416908e-01 3.97917606e-01 -2.79222057e-03 3.41157900e+02] [ 3.22649532e-03 4.21784728e-04 -9.99994706e-01 8.52661416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.212755096 meters 0.02139831357807963 Centerline is valid? [True, True] Translation: X:26.00, Y:341.09, Z:8.53 [[-3.26808173e-01 -9.45089673e-01 -1.38851126e-03 2.60024533e+01] [-9.45085840e-01 3.26810851e-01 -2.72460592e-03 3.41089147e+02] [ 3.02877746e-03 4.21838845e-04 -9.99995324e-01 8.52658375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.242755096 meters 0.02135968573346109 Centerline is valid? [True, True] Translation: X:25.96, Y:341.02, Z:8.53 [[-2.53685937e-01 -9.67285742e-01 -1.31837180e-03 2.59628168e+01] [-9.67279742e-01 2.53689040e-01 -3.43095684e-03 3.41017474e+02] [ 3.65317210e-03 4.04848830e-04 -9.99993245e-01 8.52672363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.272755096 meters 0.022191961413121977 Centerline is valid? [True, True] Translation: X:25.93, Y:340.94, Z:8.53 [[-1.79120354e-01 -9.83826467e-01 -1.17543020e-03 2.59306040e+01] [-9.83817040e-01 1.79123803e-01 -4.32384204e-03 3.40943079e+02] [ 4.46445776e-03 3.81920148e-04 -9.99989961e-01 8.52639520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.302755096 meters 0.022837055865685747 Centerline is valid? [True, True] Translation: X:25.90, Y:340.86, Z:8.53 [[-1.03107302e-01 -9.94669875e-01 -8.51401200e-04 2.59034145e+01] [-9.94659314e-01 1.03110144e-01 -4.59864423e-03 3.40861585e+02] [ 4.66192098e-03 3.72700334e-04 -9.99989064e-01 8.52608936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.332755096 meters 0.022930161045481654 Centerline is valid? [True, True] Translation: X:25.88, Y:340.78, Z:8.53 [[-2.58631494e-02 -9.99665372e-01 -4.92375640e-04 2.58817540e+01] [-9.99653210e-01 2.58652702e-02 -4.94454643e-03 3.40782802e+02] [ 4.95562727e-03 3.64323346e-04 -9.99987654e-01 8.52620556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.362755096 meters 0.023169614127583203 Centerline is valid? [True, True] Translation: X:25.87, Y:340.70, Z:8.53 [[ 5.16638895e-02 -9.98664519e-01 -1.42302098e-04 2.58665871e+01] [-9.98654522e-01 -5.16627333e-02 -4.48415671e-03 3.40703303e+02] [ 4.47081649e-03 3.73779610e-04 -9.99989936e-01 8.52646595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.392755096 meters 0.022966807373640645 Centerline is valid? [True, True] Translation: X:25.86, Y:340.62, Z:8.53 [[ 1.29733719e-01 -9.91548862e-01 1.25766469e-04 2.58578567e+01] [-9.91541074e-01 -1.29733201e-01 -3.94913496e-03 3.40617240e+02] [ 3.93207636e-03 3.87633345e-04 -9.99992194e-01 8.52680320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4227550960001 meters 0.022764122207212273 Centerline is valid? [True, True] Translation: X:25.85, Y:340.53, Z:8.53 [[ 2.07076167e-01 -9.78324715e-01 4.60716499e-04 2.58547691e+01] [-9.78316429e-01 -2.07076318e-01 -4.04514873e-03 3.40534851e+02] [ 4.05287245e-03 3.86927374e-04 -9.99991712e-01 8.52716800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.452755096 meters 0.021028858145526783 Centerline is valid? [True, True] Translation: X:25.86, Y:340.45, Z:8.53 [[ 2.84177952e-01 -9.58771237e-01 7.79363520e-04 2.58551955e+01] [-9.58762926e-01 -2.84178750e-01 -4.01112797e-03 3.40450925e+02] [ 4.06723267e-03 3.92649283e-04 -9.99991652e-01 8.52676660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.482755096 meters 0.020379701414983277 Centerline is valid? [True, True] Translation: X:25.86, Y:340.37, Z:8.53 [[ 3.58946944e-01 -9.33357177e-01 1.21311997e-03 2.58645792e+01] [-9.33347597e-01 -3.58948780e-01 -4.24700098e-03 3.40365828e+02] [ 4.39941678e-03 3.92185416e-04 -9.99990246e-01 8.52685329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.512755096 meters 0.022011407299677314 Centerline is valid? [True, True] Translation: X:25.88, Y:340.29, Z:8.53 [[ 4.30838760e-01 -9.02428320e-01 1.04471330e-03 2.58790312e+01] [-9.02422932e-01 -4.30839829e-01 -3.14547884e-03 3.40286407e+02] [ 3.28867328e-03 4.12420968e-04 -9.99994507e-01 8.52928915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5427550960001 meters 0.018928555139910857 Centerline is valid? [True, True] Translation: X:25.90, Y:340.21, Z:8.53 [[ 5.02464924e-01 -8.64595949e-01 1.68690360e-03 2.58983095e+01] [-8.64588028e-01 -5.02467586e-01 -3.72390269e-03 3.40207164e+02] [ 4.06728556e-03 4.12653827e-04 -9.99991643e-01 8.52780311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.572755096 meters 0.018150180600974234 Centerline is valid? [True, True] Translation: X:25.93, Y:340.13, Z:8.53 [[ 5.68850636e-01 -8.22438493e-01 1.96948578e-03 2.59264418e+01] [-8.22430806e-01 -5.68853893e-01 -3.58019392e-03 3.40126244e+02] [ 4.06483894e-03 4.16829807e-04 -9.99991652e-01 8.52813533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.602755096 meters 0.01743443522777915 Centerline is valid? [True, True] Translation: X:25.95, Y:340.06, Z:8.53 [[ 6.32483699e-01 -7.74571130e-01 1.98398062e-03 2.59532063e+01] [-7.74565017e-01 -6.32486665e-01 -3.10700354e-03 3.40056793e+02] [ 3.66143653e-03 4.28407108e-04 -9.99993205e-01 8.52845802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.632755096 meters 0.01712988577886644 Centerline is valid? [True, True] Translation: X:25.99, Y:339.99, Z:8.53 [[ 6.91110649e-01 -7.22746565e-01 1.86400620e-03 2.59895807e+01] [-7.22742096e-01 -6.91113026e-01 -2.57836914e-03 3.39985634e+02] [ 3.15174640e-03 4.34742618e-04 -9.99994939e-01 8.52948733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6627550960001 meters 0.016945134492320553 Centerline is valid? [True, True] Translation: X:26.02, Y:339.92, Z:8.53 [[ 7.45201738e-01 -6.66837279e-01 1.55341108e-03 2.60246223e+01] [-6.66834483e-01 -7.45203227e-01 -1.98067406e-03 3.39924323e+02] [ 2.47839425e-03 4.40133679e-04 -9.99996832e-01 8.53026793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.692755096 meters 0.01671686354737718 Centerline is valid? [True, True] Translation: X:25.66, Y:339.46, Z:7.37 [[ 7.52509629e-01 6.58543592e-01 -7.04245462e-03 2.56604215e+01] [-6.58514192e-01 7.52542581e-01 6.22277228e-03 3.39460247e+02] [ 9.39771378e-03 -4.51397419e-05 9.99955840e-01 7.37387887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.722755096 meters 0.016809640921983546 Centerline is valid? [True, True] Translation: X:25.68, Y:339.44, Z:7.37 [[ 7.52585174e-01 6.58453030e-01 -7.42719499e-03 2.56822793e+01] [-6.58420351e-01 7.52621821e-01 6.56023600e-03 3.39442232e+02] [ 9.90947629e-03 -4.69200208e-05 9.99950899e-01 7.37339819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.752755096 meters 0.01701625054330603 Centerline is valid? [True, True] Translation: X:25.70, Y:339.42, Z:7.37 [[ 7.52927556e-01 6.58057850e-01 -7.74350706e-03 2.57039736e+01] [-6.58022347e-01 7.52967372e-01 6.83572838e-03 3.39423879e+02] [ 1.03289129e-02 -5.14075747e-05 9.99946654e-01 7.37294947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.782755096 meters 0.017441792962464304 Centerline is valid? [True, True] Translation: X:25.72, Y:339.40, Z:7.37 [[ 7.54178437e-01 6.56621451e-01 -7.94705436e-03 2.57232908e+01] [-6.56584011e-01 7.54220303e-01 7.01222654e-03 3.39404418e+02] [ 1.05982081e-02 -7.05612277e-05 9.99943835e-01 7.37211390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.812755096 meters 0.017173131863485923 Centerline is valid? [True, True] Translation: X:25.75, Y:339.38, Z:7.37 [[ 7.55008816e-01 6.55663976e-01 -8.15103481e-03 2.57480298e+01] [-6.55624524e-01 7.55052809e-01 7.19305968e-03 3.39382372e+02] [ 1.08706918e-02 -8.68051565e-05 9.99940909e-01 7.37324020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.842755096 meters 0.018225061593955427 Centerline is valid? [True, True] Translation: X:25.77, Y:339.36, Z:7.37 [[ 7.55857115e-01 6.54686260e-01 -8.11926026e-03 2.57687687e+01] [-6.54647021e-01 7.55900715e-01 7.16847458e-03 3.39358841e+02] [ 1.08304564e-02 -1.03092973e-04 9.99941344e-01 7.37210132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.872755096 meters 0.018312955991515497 Centerline is valid? [True, True] Translation: X:25.79, Y:339.34, Z:7.37 [[ 7.57567790e-01 6.52712845e-01 -7.54887189e-03 2.57911108e+01] [-6.52678803e-01 7.57605390e-01 6.66736976e-03 3.39336427e+02] [ 1.00709439e-02 -1.23995915e-04 9.99949279e-01 7.37321283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.902755096 meters 0.018293672098588426 Centerline is valid? [True, True] Translation: X:25.82, Y:339.31, Z:7.37 [[ 7.57896924e-01 6.52337043e-01 -6.97389804e-03 2.58155278e+01] [-6.52307943e-01 7.57928999e-01 6.16282589e-03 3.39314211e+02] [ 9.30595918e-03 -1.21657698e-04 9.99956691e-01 7.37399435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.932755096 meters 0.01859225039738848 Centerline is valid? [True, True] Translation: X:25.84, Y:339.29, Z:7.37 [[ 7.57675309e-01 6.52601973e-01 -6.22827763e-03 2.58388007e+01] [-6.52578745e-01 7.57700900e-01 5.50712855e-03 3.39292817e+02] [ 8.31313452e-03 -1.08173724e-04 9.99965439e-01 7.37381529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.962755096 meters 0.018312819422340067 Centerline is valid? [True, True] Translation: X:25.86, Y:339.27, Z:7.37 [[ 7.56928254e-01 6.53471124e-01 -5.92528988e-03 2.58636909e+01] [-6.53450104e-01 7.56951439e-01 5.24218047e-03 3.39272492e+02] [ 7.91077027e-03 -9.60732229e-05 9.99968705e-01 7.37383595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.992755096 meters 0.017992441639344846 Centerline is valid? [True, True] Translation: X:25.89, Y:339.25, Z:7.37 [[ 7.55947211e-01 6.54608344e-01 -5.63296843e-03 2.58883404e+01] [-6.54589359e-01 7.55968193e-01 4.98618715e-03 3.39252052e+02] [ 7.52234468e-03 -8.20130730e-05 9.99971703e-01 7.37395935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.022755096 meters 0.017262560953483587 Centerline is valid? [True, True] Translation: X:25.91, Y:339.23, Z:7.37 [[ 7.53938708e-01 6.56926264e-01 -4.93039243e-03 2.59123179e+01] [-6.56911757e-01 7.53954827e-01 4.36612723e-03 3.39234050e+02] [ 6.58551682e-03 -5.29595671e-05 9.99978314e-01 7.37434215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.052755096 meters 0.016819044287190166 Centerline is valid? [True, True] Translation: X:25.94, Y:339.22, Z:7.38 [[ 7.51992654e-01 6.59159505e-01 -3.97438390e-03 2.59365903e+01] [-6.59150111e-01 7.52003156e-01 3.51931699e-03 3.39216625e+02] [ 5.30854048e-03 -2.67849329e-05 9.99985909e-01 7.37537297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.082755096 meters 0.016671618189457033 Centerline is valid? [True, True] Translation: X:25.96, Y:339.20, Z:7.38 [[ 7.51275035e-01 6.59981503e-01 -3.19970895e-03 2.59579170e+01] [-6.59975421e-01 7.51281849e-01 2.83330782e-03 3.39199037e+02] [ 4.27381401e-03 -1.68641669e-05 9.99990867e-01 7.37601282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.112755096 meters 0.016677412146406265 Centerline is valid? [True, True] Translation: X:25.98, Y:339.18, Z:7.38 [[ 7.50617433e-01 6.60733018e-01 -2.31264497e-03 2.59800596e+01] [-6.60729845e-01 7.50620996e-01 2.04756442e-03 3.39180319e+02] [ 3.08881328e-03 -8.90399626e-06 9.99995230e-01 7.37723666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.142755096 meters 0.016730916542456953 Centerline is valid? [True, True] Translation: X:26.00, Y:339.16, Z:7.38 [[ 7.49900293e-01 6.61550256e-01 -8.99852303e-04 2.60019243e+01] [-6.61549776e-01 7.49900832e-01 7.97074851e-04 3.39162930e+02] [ 1.20210506e-03 -2.42957429e-06 9.99999278e-01 7.37911155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1727550960001 meters 0.01679566002890956 Centerline is valid? [True, True] Translation: X:26.02, Y:339.14, Z:7.38 [[ 7.49826735e-01 6.61634230e-01 -1.10358729e-04 2.60242253e+01] [-6.61634223e-01 7.49826744e-01 9.82529766e-05 3.39143926e+02] [ 1.47757459e-04 -6.55596963e-07 9.99999989e-01 7.37953302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.202755096 meters 0.01679566002890956 Centerline is valid? [True, True] Translation: X:26.05, Y:339.13, Z:7.38 [[ 7.49877351e-01 6.61576863e-01 -1.10366775e-04 2.60455148e+01] [-6.61576856e-01 7.49877360e-01 9.82439077e-05 3.39125203e+02] [ 1.47757442e-04 -6.54777031e-07 9.99999989e-01 7.37970101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.232755096 meters 0.016804385960990542 Centerline is valid? [True, True] Translation: X:26.07, Y:339.10, Z:7.38 [[ 7.50165205e-01 6.61250196e-01 5.86106234e-04 2.60692006e+01] [-6.61249991e-01 7.50165434e-01 -5.20973777e-04 3.39103352e+02] [-7.84170649e-04 3.25365883e-06 9.99999693e-01 7.37990622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.262755096 meters 0.016973265244939244 Centerline is valid? [True, True] Translation: X:26.09, Y:339.08, Z:7.38 [[ 7.50698548e-01 6.60644613e-01 6.20805225e-04 2.60907920e+01] [-6.60644385e-01 7.50698805e-01 -5.49336398e-04 3.39082670e+02] [-8.28953872e-04 2.25455059e-06 9.99999656e-01 7.38056126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2927550960001 meters 0.018185683543796027 Centerline is valid? [True, True] Translation: X:26.12, Y:339.06, Z:7.38 [[ 7.51221838e-01 6.60048981e-01 1.04507267e-03 2.61154192e+01] [-6.60048329e-01 7.51222565e-01 -9.28100122e-04 3.39060210e+02] [-1.39767372e-03 7.41060818e-06 9.99999023e-01 7.37804226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.322755096 meters 0.017162340827336607 Centerline is valid? [True, True] Translation: X:26.14, Y:339.04, Z:7.38 [[ 7.52461365e-01 6.58634929e-01 1.38725096e-03 2.61390081e+01] [-6.58633778e-01 7.52462644e-01 -1.23152947e-03 3.39038098e+02] [-1.85498285e-03 1.29880087e-05 9.99998279e-01 7.37958737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.352755096 meters 0.01720555512469658 Centerline is valid? [True, True] Translation: X:26.16, Y:339.02, Z:7.38 [[ 7.52659288e-01 6.58408620e-01 1.44427145e-03 2.61636503e+01] [-6.58407369e-01 7.52660673e-01 -1.28319707e-03 3.39016283e+02] [-1.93191433e-03 1.48912284e-05 9.99998134e-01 7.37898812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.382755096 meters 0.017421215970973965 Centerline is valid? [True, True] Translation: X:26.19, Y:338.99, Z:7.38 [[ 7.53825987e-01 6.57073153e-01 1.11914236e-03 2.61878648e+01] [-6.57072399e-01 7.53826818e-01 -9.95524208e-04 3.38994243e+02] [-1.49777175e-03 1.50944655e-05 9.99998878e-01 7.37780198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4127550960001 meters 0.017677763473860197 Centerline is valid? [True, True] Translation: X:26.21, Y:338.97, Z:7.38 [[ 7.54368874e-01 6.56450196e-01 8.61913900e-04 2.62109959e+01] [-6.56449747e-01 7.54369366e-01 -7.67559780e-04 3.38972322e+02] [-1.15406621e-03 1.32200447e-05 9.99999334e-01 7.37742514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.442755096 meters 0.01795969271252831 Centerline is valid? [True, True] Translation: X:26.23, Y:338.95, Z:7.38 [[ 7.55063684e-01 6.55651179e-01 6.03844237e-04 2.62330490e+01] [-6.55650958e-01 7.55063926e-01 -5.37458564e-04 3.38950802e+02] [-8.08326341e-04 9.90439074e-06 9.99999673e-01 7.37751014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.472755096 meters 0.01865469962535908 Centerline is valid? [True, True] Translation: X:26.25, Y:338.93, Z:7.38 [[ 7.56447383e-01 6.54054219e-01 6.59875841e-04 2.62540271e+01] [-6.54053957e-01 7.56447671e-01 -5.85860932e-04 3.38929557e+02] [-8.82346357e-04 1.15785645e-05 9.99999611e-01 7.37716103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.502755096 meters 0.018646382143975165 Centerline is valid? [True, True] Translation: X:26.28, Y:338.91, Z:7.38 [[ 7.56829829e-01 6.53611766e-01 5.19454592e-04 2.62782875e+01] [-6.53611601e-01 7.56830007e-01 -4.64068706e-04 3.38907728e+02] [-6.96459589e-04 1.16994920e-05 9.99999757e-01 7.37659033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.532755096 meters 0.018714183038403904 Centerline is valid? [True, True] Translation: X:26.30, Y:338.89, Z:7.38 [[ 7.57077401e-01 6.53325081e-01 3.84593526e-04 2.63021330e+01] [-6.53324991e-01 7.57077498e-01 -3.44453287e-04 3.38885546e+02] [-5.16207076e-04 9.51323759e-06 9.99999867e-01 7.37612943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.562755096 meters 0.019389198771353703 Centerline is valid? [True, True] Translation: X:26.33, Y:338.86, Z:7.38 [[ 7.56963002e-01 6.53457659e-01 3.18443438e-04 2.63252081e+01] [-6.53457597e-01 7.56963069e-01 -2.85623960e-04 3.38862718e+02] [-4.27693086e-04 8.11748623e-06 9.99999909e-01 7.37687656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.592755096 meters 0.019288696897168996 Centerline is valid? [True, True] Translation: X:26.35, Y:338.84, Z:7.38 [[ 7.56713230e-01 6.53746953e-01 -9.14369359e-05 2.63457656e+01] [-6.53746948e-01 7.56713236e-01 8.20625461e-05 3.38844337e+02] [ 1.22839679e-04 -2.32119651e-06 9.99999992e-01 7.37628732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.622755096 meters 0.018756151179416872 Centerline is valid? [True, True] Translation: X:26.37, Y:338.83, Z:7.38 [[ 7.55936983e-01 6.54643866e-01 -8.29056515e-04 2.63669795e+01] [-6.54643450e-01 7.55937437e-01 7.38061591e-04 3.38825584e+02] [ 1.10988235e-03 -1.51916348e-05 9.99999384e-01 7.37517665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.652755096 meters 0.01792922415758715 Centerline is valid? [True, True] Translation: X:26.39, Y:338.80, Z:7.37 [[ 7.55309434e-01 6.55367534e-01 -1.02695223e-03 2.63918606e+01] [-6.55366900e-01 7.55310132e-01 9.11682877e-04 3.38804938e+02] [ 1.37315478e-03 -1.55721787e-05 9.99999057e-01 7.37430477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.682755096 meters 0.018274808210050158 Centerline is valid? [True, True] Translation: X:26.41, Y:338.78, Z:7.37 [[ 7.54556113e-01 6.56234402e-01 -1.21757020e-03 2.64130731e+01] [-6.56233510e-01 7.54557095e-01 1.08202532e-03 3.38781861e+02] [ 1.62878847e-03 -1.74384530e-05 9.99998673e-01 7.37498487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.712755096 meters 0.017641957865907602 Centerline is valid? [True, True] Translation: X:26.44, Y:338.76, Z:7.37 [[ 7.54247596e-01 6.56589538e-01 -8.61683945e-04 2.64386202e+01] [-6.56589092e-01 7.54248088e-01 7.65179910e-04 3.38760375e+02] [ 1.15233259e-03 -1.13628280e-05 9.99999336e-01 7.37463159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.742755096 meters 0.01753688723808833 Centerline is valid? [True, True] Translation: X:26.46, Y:338.74, Z:7.37 [[ 7.53980651e-01 6.56896359e-01 -5.92711964e-04 2.64630046e+01] [-6.56896148e-01 7.53980884e-01 5.25862779e-04 3.38738114e+02] [ 7.92330836e-04 -7.14015396e-06 9.99999686e-01 7.37473473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.772755096 meters 0.017794640210090504 Centerline is valid? [True, True] Translation: X:26.48, Y:338.72, Z:7.38 [[ 7.54080254e-01 6.56782106e-01 -4.86108108e-04 2.64848135e+01] [-6.56781964e-01 7.54080410e-01 4.31950887e-04 3.38715033e+02] [ 6.50262215e-04 -6.45859668e-06 9.99999789e-01 7.37525102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.802755096 meters 0.017650431535048104 Centerline is valid? [True, True] Translation: X:26.51, Y:338.69, Z:7.38 [[ 7.54260241e-01 6.56575415e-01 -4.61126005e-04 2.65080900e+01] [-6.56575288e-01 7.54260382e-01 4.08948781e-04 3.38691619e+02] [ 6.16314792e-04 -5.68986669e-06 9.99999810e-01 7.37560685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.832755096 meters 0.01781848667142294 Centerline is valid? [True, True] Translation: X:26.53, Y:338.67, Z:7.38 [[ 7.54358306e-01 6.56462757e-01 -4.42343143e-04 2.65318460e+01] [-6.56462640e-01 7.54358435e-01 3.92457840e-04 3.38668569e+02] [ 5.91319237e-04 -5.67208354e-06 9.99999825e-01 7.37585107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.862755096 meters 0.017968141241317324 Centerline is valid? [True, True] Translation: X:26.55, Y:338.65, Z:7.38 [[ 7.54311096e-01 6.56517068e-01 -3.32431741e-04 2.65548524e+01] [-6.56517002e-01 7.54311169e-01 2.94667797e-04 3.38645996e+02] [ 4.44211413e-04 -4.02409865e-06 9.99999901e-01 7.37584272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.892755096 meters 0.018314283198744407 Centerline is valid? [True, True] Translation: X:26.58, Y:338.62, Z:7.38 [[ 7.54740236e-01 6.56023471e-01 -6.17720143e-04 2.65775526e+01] [-6.56023241e-01 7.54740489e-01 5.49784386e-04 3.38622246e+02] [ 8.26889864e-04 -9.70562759e-06 9.99999658e-01 7.37565174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9227550960001 meters 0.01812258317053472 Centerline is valid? [True, True] Translation: X:26.60, Y:338.60, Z:7.38 [[ 7.54662701e-01 6.56112338e-01 -8.98689080e-04 2.66016005e+01] [-6.56111849e-01 7.54663236e-01 8.01416834e-04 3.38600044e+02] [ 1.20402708e-03 -1.51588389e-05 9.99999275e-01 7.37525400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.952755096 meters 0.01822887739591531 Centerline is valid? [True, True] Translation: X:26.63, Y:338.58, Z:7.37 [[ 7.54735361e-01 6.56028563e-01 -1.02933168e-03 2.66255360e+01] [-6.56027920e-01 7.54736063e-01 9.18891211e-04 3.38576974e+02] [ 1.37969262e-03 -1.82493714e-05 9.99999048e-01 7.37487113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.982755096 meters 0.018318886743600576 Centerline is valid? [True, True] Translation: X:26.65, Y:338.55, Z:7.38 [[ 7.54836686e-01 6.55911326e-01 -1.38208611e-03 2.66492627e+01] [-6.55910163e-01 7.54837950e-01 1.23545142e-03 3.38554106e+02] [ 1.85359763e-03 -2.60397262e-05 9.99998282e-01 7.37537761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.012755096 meters 0.01858936201017643 Centerline is valid? [True, True] Translation: X:26.67, Y:338.53, Z:7.38 [[ 7.54436034e-01 6.56372435e-01 -1.22362165e-03 2.66726469e+01] [-6.56371523e-01 7.54437026e-01 1.09434166e-03 3.38532939e+02] [ 1.64144118e-03 -2.24603784e-05 9.99998653e-01 7.37581283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0427550960001 meters 0.018275392217632355 Centerline is valid? [True, True] Translation: X:26.70, Y:338.51, Z:7.38 [[ 7.53600085e-01 6.57329553e-01 -2.18429096e-03 2.66971087e+01] [-6.57326642e-01 7.53603250e-01 1.95663625e-03 3.38511983e+02] [ 2.93224360e-03 -3.87285980e-05 9.99995700e-01 7.37519787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.072755096 meters 0.018033268746161984 Centerline is valid? [True, True] Translation: X:26.72, Y:338.49, Z:7.37 [[ 7.53078828e-01 6.57925402e-01 -2.53853299e-03 2.67222625e+01] [-6.57921469e-01 7.53083105e-01 2.27541165e-03 3.38490343e+02] [ 3.40877744e-03 -4.34089869e-05 9.99994189e-01 7.37480582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.102755096 meters 0.01808618877998429 Centerline is valid? [True, True] Translation: X:26.75, Y:338.47, Z:7.37 [[ 7.52782958e-01 6.58262132e-01 -2.96366766e-03 2.67463639e+01] [-6.58256764e-01 7.52788790e-01 2.65887560e-03 3.38469320e+02] [ 3.98125292e-03 -5.07019523e-05 9.99992074e-01 7.37461789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.132755096 meters 0.01814393415716723 Centerline is valid? [True, True] Translation: X:26.77, Y:338.45, Z:7.37 [[ 7.52492502e-01 6.58592667e-01 -3.27623952e-03 2.67712833e+01] [-6.58586105e-01 7.52499632e-01 2.94037997e-03 3.38447289e+02] [ 4.40188172e-03 -5.49280577e-05 9.99990310e-01 7.37433876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1627550960001 meters 0.018581992796319474 Centerline is valid? [True, True] Translation: X:26.79, Y:338.43, Z:7.37 [[ 7.53272691e-01 6.57699237e-01 -3.45935053e-03 2.67948371e+01] [-6.57691900e-01 7.53280631e-01 3.10722968e-03 3.38426257e+02] [ 4.64948434e-03 -6.54044344e-05 9.99989189e-01 7.37397631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.192755096 meters 0.01907479658049425 Centerline is valid? [True, True] Translation: X:26.82, Y:338.41, Z:7.37 [[ 7.54313890e-01 6.56502311e-01 -3.90788401e-03 2.68188173e+01] [-6.56492931e-01 7.54324008e-01 3.51022196e-03 3.38405706e+02] [ 5.25227956e-03 -8.23109590e-05 9.99986203e-01 7.37364679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.222755096 meters 0.01906125386189837 Centerline is valid? [True, True] Translation: X:26.84, Y:338.38, Z:7.37 [[ 7.54648410e-01 6.56117993e-01 -3.86743779e-03 2.68440967e+01] [-6.56108793e-01 7.54658315e-01 3.47554891e-03 3.38383970e+02] [ 5.19896426e-03 -8.53575173e-05 9.99986482e-01 7.37360320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.252755096 meters 0.020165049166918005 Centerline is valid? [True, True] Translation: X:26.87, Y:338.36, Z:7.37 [[ 7.54991204e-01 6.55724706e-01 -3.65956784e-03 2.68665127e+01] [-6.55716453e-01 7.55000068e-01 3.29090333e-03 3.38361761e+02] [ 4.92090058e-03 -8.49642209e-05 9.99987889e-01 7.37383462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.282755096 meters 0.020102221818590716 Centerline is valid? [True, True] Translation: X:26.89, Y:338.34, Z:7.38 [[ 7.55618050e-01 6.55004024e-01 -3.33037219e-03 2.68912864e+01] [-6.54997180e-01 7.55625385e-01 2.99544271e-03 3.38340732e+02] [ 4.47854079e-03 -8.20261880e-05 9.99989968e-01 7.37517077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.312755096 meters 0.020280014629010093 Centerline is valid? [True, True] Translation: X:26.92, Y:338.32, Z:7.38 [[ 7.55671179e-01 6.54945343e-01 -2.76903120e-03 2.69160066e+01] [-6.54940608e-01 7.55676249e-01 2.49142140e-03 3.38318744e+02] [ 3.72423596e-03 -6.91443704e-05 9.99993063e-01 7.37591001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.342755096 meters 0.02049158666438639 Centerline is valid? [True, True] Translation: X:26.94, Y:338.30, Z:7.38 [[ 7.55795983e-01 6.54801898e-01 -2.62812112e-03 2.69403055e+01] [-6.54797626e-01 7.55800549e-01 2.36609505e-03 3.38298077e+02] [ 3.53565892e-03 -6.73976626e-05 9.99993747e-01 7.37673198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.372755096 meters 0.020513729365658248 Centerline is valid? [True, True] Translation: X:26.96, Y:338.28, Z:7.38 [[ 7.55542433e-01 6.55094818e-01 -2.53189059e-03 2.69625588e+01] [-6.55090848e-01 7.55546673e-01 2.28156660e-03 3.38278532e+02] [ 3.40760397e-03 -6.52020268e-05 9.99994192e-01 7.37687102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.402755096 meters 0.019246441242103736 Centerline is valid? [True, True] Translation: X:26.99, Y:338.26, Z:7.38 [[ 7.54219234e-01 6.56616655e-01 -2.81339919e-03 2.69885709e+01] [-6.56611768e-01 7.54224479e-01 2.53428641e-03 3.38259362e+02] [ 3.78598921e-03 -6.40965409e-05 9.99992831e-01 7.37680387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.432755096 meters 0.019985936777094086 Centerline is valid? [True, True] Translation: X:27.01, Y:338.24, Z:7.38 [[ 7.53210178e-01 6.57774542e-01 -2.66074968e-03 2.70111918e+01] [-6.57770173e-01 7.53214875e-01 2.39805078e-03 3.38237524e+02] [ 3.58149299e-03 -5.60744816e-05 9.99993585e-01 7.37748159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.462755096 meters 0.01842387400770556 Centerline is valid? [True, True] Translation: X:27.04, Y:338.22, Z:7.38 [[ 7.51267960e-01 6.59993765e-01 -2.16401192e-03 2.70356692e+01] [-6.59990879e-01 7.51271076e-01 1.95229166e-03 3.38221746e+02] [ 2.91425988e-03 -3.84660448e-05 9.99995753e-01 7.37818182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.492755096 meters 0.017989373678686343 Centerline is valid? [True, True] Translation: X:27.06, Y:338.20, Z:7.38 [[ 7.50292700e-01 6.61101434e-01 -2.39960111e-03 2.70569851e+01] [-6.61097891e-01 7.50296537e-01 2.16466426e-03 3.38204339e+02] [ 3.23147505e-03 -3.77605532e-05 9.99994778e-01 7.37868176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.522755096 meters 0.017235415621085007 Centerline is valid? [True, True] Translation: X:27.08, Y:338.19, Z:7.38 [[ 7.49240257e-01 6.62294267e-01 -2.31108213e-03 2.70797538e+01] [-6.62290989e-01 7.49243821e-01 2.08407627e-03 3.38187188e+02] [ 3.11183577e-03 -3.08649727e-05 9.99995158e-01 7.37866197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.552755096 meters 0.016832590964144287 Centerline is valid? [True, True] Translation: X:27.10, Y:338.17, Z:7.38 [[ 7.48060303e-01 6.63623997e-01 -2.99584865e-03 2.71026302e+01] [-6.63618501e-01 7.48066301e-01 2.70098915e-03 3.38169578e+02] [ 4.03353463e-03 -3.24021690e-05 9.99991865e-01 7.37799054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.582755096 meters 0.016743386788816917 Centerline is valid? [True, True] Translation: X:27.12, Y:338.15, Z:7.38 [[ 7.47985495e-01 6.63707793e-01 -3.10887503e-03 2.71236553e+01] [-6.63701876e-01 7.47991955e-01 2.80253122e-03 3.38151134e+02] [ 4.18547533e-03 -3.28865090e-05 9.99991240e-01 7.37801979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.612755096 meters 0.017039212147227333 Centerline is valid? [True, True] Translation: X:27.14, Y:338.13, Z:7.38 [[ 7.48463450e-01 6.63166601e-01 -3.53881417e-03 2.71435362e+01] [-6.63158934e-01 7.48471815e-01 3.18923270e-03 3.38131244e+02] [ 4.76369527e-03 -4.02278780e-05 9.99988653e-01 7.37777334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.642755096 meters 0.017334412770185367 Centerline is valid? [True, True] Translation: X:27.16, Y:338.11, Z:7.38 [[ 7.49268021e-01 6.62255404e-01 -3.90034712e-03 2.71637636e+01] [-6.62246081e-01 7.49278171e-01 3.51430447e-03 3.38110706e+02] [ 5.24981209e-03 -5.01663630e-05 9.99986218e-01 7.37746276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6727550960001 meters 0.01782582925571346 Centerline is valid? [True, True] Translation: X:27.18, Y:338.09, Z:7.38 [[ 7.50296040e-01 6.61091282e-01 -3.76425929e-03 2.71834545e+01] [-6.61082586e-01 7.50305481e-01 3.39120594e-03 3.38090104e+02] [ 5.06624105e-03 -5.59221212e-05 9.99987165e-01 7.37783698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.702755096 meters 0.01930422167312643 Centerline is valid? [True, True] Translation: X:27.20, Y:338.07, Z:7.38 [[ 7.52790226e-01 6.58247656e-01 -4.11088104e-03 2.72006552e+01] [-6.58237246e-01 7.52801446e-01 3.70289942e-03 3.38068207e+02] [ 5.53210205e-03 -8.15714720e-05 9.99984695e-01 7.37803242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.732755096 meters 0.020326234667109058 Centerline is valid? [True, True] Translation: X:27.22, Y:338.05, Z:7.38 [[ 7.54253797e-01 6.56569661e-01 -4.18215195e-03 2.72203302e+01] [-6.56558865e-01 7.54265386e-01 3.76624678e-03 3.38047197e+02] [ 5.62725582e-03 -9.48769958e-05 9.99984162e-01 7.37782993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.762755096 meters 0.02229935741226938 Centerline is valid? [True, True] Translation: X:27.24, Y:338.02, Z:7.38 [[ 7.56666777e-01 6.53787979e-01 -4.08257587e-03 2.72379065e+01] [-6.53777654e-01 7.56677782e-01 3.67606800e-03 3.38024755e+02] [ 5.49256352e-03 -1.12461650e-04 9.99984909e-01 7.37823092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7927550960001 meters 0.0233375492488805 Centerline is valid? [True, True] Translation: X:27.26, Y:338.00, Z:7.38 [[ 7.57899633e-01 6.52357946e-01 -4.15412710e-03 2.72578552e+01] [-6.52347238e-01 7.57911007e-01 3.73980710e-03 3.38003670e+02] [ 5.58815153e-03 -1.24465089e-04 9.99984378e-01 7.37830038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.822755096 meters 0.02460886938802563 Centerline is valid? [True, True] Translation: X:27.28, Y:337.98, Z:7.38 [[ 7.59062654e-01 6.51004219e-01 -4.17070292e-03 2.72773650e+01] [-6.50993408e-01 7.59074100e-01 3.75419596e-03 3.37982496e+02] [ 5.60986998e-03 -1.34569840e-04 9.99984256e-01 7.37844519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.852755096 meters 0.02233737944461303 Centerline is valid? [True, True] Translation: X:27.30, Y:337.96, Z:7.38 [[ 7.60470802e-01 6.49354542e-01 -4.77894407e-03 2.73022347e+01] [-6.49340318e-01 7.60485799e-01 4.30124461e-03 3.37962540e+02] [ 6.42735182e-03 -1.67809875e-04 9.99979330e-01 7.37807419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.882755096 meters 0.026961477772503226 Centerline is valid? [True, True] Translation: X:27.32, Y:337.93, Z:7.38 [[ 7.60592087e-01 6.49211373e-01 -4.92656012e-03 2.73202290e+01] [-6.49196237e-01 7.60608021e-01 4.43668290e-03 3.37934879e+02] [ 6.62752615e-03 -1.76201614e-04 9.99978022e-01 7.37816535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9127550960001 meters 0.02291066009944665 Centerline is valid? [True, True] Translation: X:27.35, Y:337.92, Z:7.38 [[ 7.60108838e-01 6.49770814e-01 -5.69586573e-03 2.73482820e+01] [-6.49750571e-01 7.60130152e-01 5.13296333e-03 3.37917296e+02] [ 7.66484905e-03 -2.00718784e-04 9.99970605e-01 7.37781757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.942755096 meters 0.022964857370125307 Centerline is valid? [True, True] Translation: X:27.37, Y:337.90, Z:7.38 [[ 7.59799841e-01 6.50129622e-01 -5.97295490e-03 2.73726941e+01] [-6.50107344e-01 7.59823289e-01 5.38617539e-03 3.37895085e+02] [ 8.04010240e-03 -2.09353355e-04 9.99967656e-01 7.37761313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.972755096 meters 0.022406671971488625 Centerline is valid? [True, True] Translation: X:27.40, Y:337.87, Z:7.38 [[ 7.58375522e-01 6.51786989e-01 -6.34732982e-03 2.73957310e+01] [-6.51761861e-01 7.58402056e-01 5.72696243e-03 3.37873823e+02] [ 8.54658758e-03 -2.06240631e-04 9.99963456e-01 7.37733958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.002755096 meters 0.022076691970992362 Centerline is valid? [True, True] Translation: X:27.42, Y:337.85, Z:7.38 [[ 7.57495917e-01 6.52806258e-01 -6.62762424e-03 2.74195350e+01] [-6.52778880e-01 7.57524882e-01 5.98223381e-03 3.37852630e+02] [ 8.92582994e-03 -2.05144558e-04 9.99960143e-01 7.37690102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.032755096 meters 0.021152776015474054 Centerline is valid? [True, True] Translation: X:27.44, Y:337.83, Z:7.38 [[ 7.55482335e-01 6.55125971e-01 -7.51030335e-03 2.74432168e+01] [-6.55090889e-01 7.55519637e-01 6.78276875e-03 3.37832774e+02] [ 1.01177496e-02 -2.04330673e-04 9.99948793e-01 7.37550528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.062755096 meters 0.020475248373477542 Centerline is valid? [True, True] Translation: X:27.47, Y:337.81, Z:7.38 [[ 7.54571957e-01 6.56166034e-01 -8.20350469e-03 2.74673430e+01] [-6.56124194e-01 7.54616520e-01 7.41280730e-03 3.37811767e+02] [ 1.10545325e-02 -2.10978606e-04 9.99938875e-01 7.37546919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.092755096 meters 0.020475248373477542 Centerline is valid? [True, True] Translation: X:27.49, Y:337.79, Z:7.38 [[ 7.54371799e-01 6.56396166e-01 -8.20139706e-03 2.74912852e+01] [-6.56354315e-01 7.54416350e-01 7.41513872e-03 3.37789895e+02] [ 1.10545367e-02 -2.10749182e-04 9.99938875e-01 7.37566198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.122755096 meters 0.020231734059584495 Centerline is valid? [True, True] Translation: X:27.51, Y:337.77, Z:7.38 [[ 7.53557263e-01 6.57323714e-01 -8.77420258e-03 2.75148379e+01] [-6.57275841e-01 7.53608313e-01 7.93593978e-03 3.37768748e+02] [ 1.18287934e-02 -2.13113674e-04 9.99930015e-01 7.37537543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.152755096 meters 0.02015905190525133 Centerline is valid? [True, True] Translation: X:27.54, Y:337.75, Z:7.37 [[ 7.52722270e-01 6.58268661e-01 -9.56841349e-03 2.75358751e+01] [-6.58211808e-01 7.52783052e-01 8.65407487e-03 3.37749519e+02] [ 1.28996458e-02 -2.16072136e-04 9.99916773e-01 7.37438258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.182755096 meters 0.019273446383966414 Centerline is valid? [True, True] Translation: X:27.56, Y:337.73, Z:7.38 [[ 7.52101029e-01 6.58976623e-01 -9.68773169e-03 2.75608597e+01] [-6.58918373e-01 7.52163391e-01 8.76412515e-03 3.37729750e+02] [ 1.30621107e-02 -2.08083139e-04 9.99914665e-01 7.37526378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.212755096 meters 0.019672924382259326 Centerline is valid? [True, True] Translation: X:27.58, Y:337.71, Z:7.38 [[ 7.51578174e-01 6.59576820e-01 -9.41626762e-03 2.75832752e+01] [-6.59521781e-01 7.51637133e-01 8.52289738e-03 3.37708724e+02] [ 1.26991220e-02 -1.95390061e-04 9.99919344e-01 7.37568852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.242755096 meters 0.021346983858242314 Centerline is valid? [True, True] Translation: X:27.60, Y:337.69, Z:7.37 [[ 7.52146774e-01 6.58933236e-01 -9.06759855e-03 2.76036174e+01] [-6.58882137e-01 7.52201404e-01 8.20844122e-03 3.37689719e+02] [ 1.22294751e-02 -1.99473878e-04 9.99925197e-01 7.37334786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.272755096 meters 0.020254213257280475 Centerline is valid? [True, True] Translation: X:27.63, Y:337.67, Z:7.38 [[ 7.53009233e-01 6.57963318e-01 -7.83377914e-03 2.76252497e+01] [-6.57925138e-01 7.53049958e-01 7.09043074e-03 3.37670126e+02] [ 1.05644704e-02 -1.85119587e-04 9.99944177e-01 7.37889111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.302755096 meters 0.020569792670129313 Centerline is valid? [True, True] Translation: X:27.65, Y:337.65, Z:7.38 [[ 7.53548462e-01 6.57351834e-01 -7.29947033e-03 2.76464559e+01] [-6.57318665e-01 7.53583794e-01 6.60587949e-03 3.37650703e+02] [ 9.84314954e-03 -1.79772241e-04 9.99951539e-01 7.38018898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.332755096 meters 0.02002355618826036 Centerline is valid? [True, True] Translation: X:27.67, Y:337.63, Z:7.38 [[ 7.53877611e-01 6.56981054e-01 -6.66647384e-03 2.76721709e+01] [-6.56953368e-01 7.53907067e-01 6.03377797e-03 3.37629377e+02] [ 8.98997955e-03 -1.69167680e-04 9.99959575e-01 7.38159792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.362755096 meters 0.021221207475731092 Centerline is valid? [True, True] Translation: X:27.70, Y:337.61, Z:7.38 [[ 7.55002674e-01 6.55695690e-01 -5.84155717e-03 2.76953922e+01] [-6.55674374e-01 7.55025254e-01 5.28972004e-03 3.37608123e+02] [ 7.87896983e-03 -1.63593440e-04 9.99968947e-01 7.38235518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.392755096 meters 0.02176066622663467 Centerline is valid? [True, True] Translation: X:27.72, Y:337.59, Z:7.38 [[ 7.55626008e-01 6.54979452e-01 -5.59041156e-03 2.77191595e+01] [-6.54959897e-01 7.55646670e-01 5.06399474e-03 3.37586569e+02] [ 7.54118838e-03 -1.64990758e-04 9.99971551e-01 7.38272736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4227550960001 meters 0.02347018270546828 Centerline is valid? [True, True] Translation: X:27.74, Y:337.56, Z:7.38 [[ 7.57274664e-01 6.53076159e-01 -5.15889714e-03 2.77409566e+01] [-6.53059445e-01 7.57292217e-01 4.67540839e-03 3.37564458e+02] [ 6.96019040e-03 -1.71501812e-04 9.99975763e-01 7.38284514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.452755096 meters 0.024384746751413926 Centerline is valid? [True, True] Translation: X:27.76, Y:337.54, Z:7.38 [[ 7.58257869e-01 6.51934739e-01 -5.10879321e-03 2.77628121e+01] [-6.51918310e-01 7.58275057e-01 4.63193184e-03 3.37543246e+02] [ 6.89358774e-03 -1.81682934e-04 9.99976222e-01 7.38289614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.482755096 meters 0.024213020469264088 Centerline is valid? [True, True] Translation: X:27.79, Y:337.52, Z:7.38 [[ 7.58660990e-01 6.51465059e-01 -5.17482840e-03 2.77862590e+01] [-6.51448188e-01 7.58678615e-01 4.69217993e-03 3.37521686e+02] [ 6.98282293e-03 -1.88641286e-04 9.99975602e-01 7.38289012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.512755096 meters 0.02510130514246295 Centerline is valid? [True, True] Translation: X:27.81, Y:337.50, Z:7.38 [[ 7.59115370e-01 6.50935544e-01 -5.17429366e-03 2.78080302e+01] [-6.50918648e-01 7.59132979e-01 4.69401629e-03 3.37499940e+02] [ 6.98347901e-03 -1.95255676e-04 9.99975596e-01 7.38298950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5427550960001 meters 0.02494454496883823 Centerline is valid? [True, True] Translation: X:27.83, Y:337.48, Z:7.38 [[ 7.58732898e-01 6.51377326e-01 -5.65401449e-03 2.78313640e+01] [-6.51357155e-01 7.58753936e-01 5.13055071e-03 3.37479559e+02] [ 7.63193015e-03 -2.09934816e-04 9.99970854e-01 7.38267134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.572755096 meters 0.02446960155267644 Centerline is valid? [True, True] Translation: X:27.85, Y:337.46, Z:7.38 [[ 7.57668526e-01 6.52612366e-01 -5.95854473e-03 2.78541177e+01] [-6.52589999e-01 7.57691927e-01 5.40704209e-03 3.37461375e+02] [ 8.04344377e-03 -2.08258910e-04 9.99967629e-01 7.38140643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.602755096 meters 0.022290680730074057 Centerline is valid? [True, True] Translation: X:27.88, Y:337.44, Z:7.38 [[ 7.56802769e-01 6.53614637e-01 -6.12164717e-03 2.78809204e+01] [-6.53591059e-01 7.56827500e-01 5.55545911e-03 3.37442637e+02] [ 8.26416032e-03 -2.03332982e-04 9.99965831e-01 7.38083771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.632755096 meters 0.022154789745416337 Centerline is valid? [True, True] Translation: X:27.91, Y:337.42, Z:7.38 [[ 7.56060590e-01 6.54473055e-01 -6.11593764e-03 2.79050361e+01] [-6.54449523e-01 7.56085301e-01 5.55332996e-03 3.37421305e+02] [ 8.25867538e-03 -1.96081450e-04 9.99965877e-01 7.38095286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6627550960001 meters 0.023214983803607862 Centerline is valid? [True, True] Translation: X:27.93, Y:337.40, Z:7.38 [[ 7.55195413e-01 6.55470622e-01 -6.17672190e-03 2.79262062e+01] [-6.55446628e-01 7.55220649e-01 5.61154465e-03 3.37398962e+02] [ 8.34299058e-03 -1.89301240e-04 9.99965179e-01 7.38070894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.692755096 meters 0.023075445065077332 Centerline is valid? [True, True] Translation: X:27.95, Y:337.38, Z:7.38 [[ 7.55094841e-01 6.55590371e-01 -5.74871941e-03 2.79473178e+01] [-6.55569577e-01 7.55116703e-01 5.22439317e-03 3.37379575e+02] [ 7.76601590e-03 -1.76226778e-04 9.99969829e-01 7.38156826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.722755096 meters 0.021201371624299303 Centerline is valid? [True, True] Translation: X:27.97, Y:337.36, Z:7.38 [[ 7.54628357e-01 6.56133704e-01 -4.96036337e-03 2.79719117e+01] [-6.56118236e-01 7.54644646e-01 4.50772408e-03 3.37359177e+02] [ 6.70098136e-03 -1.47071558e-04 9.99977537e-01 7.38425751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.752755096 meters 0.021609152977359037 Centerline is valid? [True, True] Translation: X:27.99, Y:337.34, Z:7.39 [[ 7.54611938e-01 6.56158653e-01 -4.07984182e-03 2.79948110e+01] [-6.56148181e-01 7.54622957e-01 3.70921083e-03 3.37336666e+02] [ 5.51257308e-03 -1.22033984e-04 9.99984798e-01 7.38574683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.782755096 meters 0.022773987672397765 Centerline is valid? [True, True] Translation: X:28.02, Y:337.31, Z:7.39 [[ 7.55274649e-01 6.55400279e-01 -3.26770032e-03 2.80164800e+01] [-6.55393548e-01 7.55281711e-01 2.97222457e-03 3.37313764e+02] [ 4.41603110e-03 -1.03216169e-04 9.99990244e-01 7.38689718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.812755096 meters 0.02302509712219688 Centerline is valid? [True, True] Translation: X:28.04, Y:337.29, Z:7.39 [[ 7.55725474e-01 6.54880298e-01 -3.28678680e-03 2.80403307e+01] [-6.54873476e-01 7.55732614e-01 2.99107817e-03 3.37291911e+02] [ 4.44273014e-03 -1.08004472e-04 9.99990125e-01 7.38656980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.842755096 meters 0.02354159173582843 Centerline is valid? [True, True] Translation: X:28.06, Y:337.27, Z:7.39 [[ 7.56109101e-01 6.54436080e-01 -3.52776879e-03 2.80624335e+01] [-6.54428207e-01 7.56117321e-01 3.21230852e-03 3.37270400e+02] [ 4.76965768e-03 -1.20184301e-04 9.99988618e-01 7.38619712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.872755096 meters 0.023508353786603556 Centerline is valid? [True, True] Translation: X:28.09, Y:337.25, Z:7.39 [[ 7.56950374e-01 6.53462387e-01 -3.61120551e-03 2.80863570e+01] [-6.53454118e-01 7.56958977e-01 3.28993504e-03 3.37248637e+02] [ 4.88338323e-03 -1.30560449e-04 9.99988068e-01 7.38528149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.902755096 meters 0.024722132441084455 Centerline is valid? [True, True] Translation: X:28.11, Y:337.23, Z:7.39 [[ 7.57136409e-01 6.53246115e-01 -3.73789929e-03 2.81080853e+01] [-6.53237243e-01 7.57145623e-01 3.40733866e-03 3.37226075e+02] [ 5.05596483e-03 -1.38085128e-04 9.99987209e-01 7.38504427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.932755096 meters 0.023922327741124898 Centerline is valid? [True, True] Translation: X:28.13, Y:337.21, Z:7.38 [[ 7.57451806e-01 6.52875895e-01 -4.45287706e-03 2.81326496e+01] [-6.52863283e-01 7.57464875e-01 4.06153920e-03 3.37205534e+02] [ 6.02457900e-03 -1.69300263e-04 9.99981838e-01 7.38340244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.962755096 meters 0.02416834694716914 Centerline is valid? [True, True] Translation: X:28.16, Y:337.18, Z:7.38 [[ 7.57488479e-01 6.52830101e-01 -4.90554140e-03 2.81562746e+01] [-6.52814775e-01 7.57504339e-01 4.47716537e-03 3.37182882e+02] [ 6.63879722e-03 -1.88991275e-04 9.99977945e-01 7.38311186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.992755096 meters 0.02449347321871342 Centerline is valid? [True, True] Translation: X:28.18, Y:337.16, Z:7.38 [[ 7.57314824e-01 6.53026154e-01 -5.57676462e-03 2.81793953e+01] [-6.53006326e-01 7.57335326e-01 5.09329339e-03 3.37160618e+02] [ 7.54953465e-03 -2.15564013e-04 9.99971479e-01 7.38241859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.022755096 meters 0.02410674106844823 Centerline is valid? [True, True] Translation: X:28.20, Y:337.14, Z:7.38 [[ 7.56308983e-01 6.54186579e-01 -6.05329054e-03 2.82037963e+01] [-6.54163228e-01 7.56333173e-01 5.53189573e-03 3.37139979e+02] [ 8.19719639e-03 -2.23982354e-04 9.99966377e-01 7.38112051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.052755096 meters 0.023920899126742504 Centerline is valid? [True, True] Translation: X:28.23, Y:337.12, Z:7.38 [[ 7.55542687e-01 6.55068510e-01 -6.36362621e-03 2.82283262e+01] [-6.55042706e-01 7.55569451e-01 5.81877956e-03 3.37118896e+02] [ 8.61986082e-03 -2.27889415e-04 9.99962822e-01 7.38076816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.082755096 meters 0.02330398703525742 Centerline is valid? [True, True] Translation: X:28.25, Y:337.10, Z:7.38 [[ 7.53824238e-01 6.57045708e-01 -6.32112654e-03 2.82528876e+01] [-6.57020293e-01 7.53850712e-01 5.78262217e-03 3.37099948e+02] [ 8.56463282e-03 -2.05972341e-04 9.99963302e-01 7.38095501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.112755096 meters 0.02321363192356781 Centerline is valid? [True, True] Translation: X:28.28, Y:337.08, Z:7.38 [[ 7.52693971e-01 6.58341198e-01 -6.21724286e-03 2.82750922e+01] [-6.58316647e-01 7.52719624e-01 5.68861134e-03 3.37081131e+02] [ 8.42488791e-03 -1.88868985e-04 9.99964492e-01 7.38100285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.142755096 meters 0.021427869253266105 Centerline is valid? [True, True] Translation: X:28.30, Y:337.07, Z:7.38 [[ 7.50619685e-01 6.60702652e-01 -6.48803442e-03 2.83005142e+01] [-6.60676010e-01 7.50647705e-01 5.93568652e-03 3.37065337e+02] [ 8.79195197e-03 -1.68954458e-04 9.99961336e-01 7.38161588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1727550960001 meters 0.02069899081148736 Centerline is valid? [True, True] Translation: X:28.32, Y:337.05, Z:7.38 [[ 7.49662911e-01 6.61784547e-01 -6.83612807e-03 2.83234848e+01] [-6.61755022e-01 7.49694062e-01 6.25332561e-03 3.37047702e+02] [ 9.26335887e-03 -1.64044200e-04 9.99957081e-01 7.38154948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.202755096 meters 0.020012976680092436 Centerline is valid? [True, True] Translation: X:28.35, Y:337.03, Z:7.38 [[ 7.49041323e-01 6.62486395e-01 -6.99096162e-03 2.83481474e+01] [-6.62455541e-01 7.49073929e-01 6.39565567e-03 3.37027698e+02] [ 9.47378195e-03 -1.59409115e-04 9.99955110e-01 7.38224862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.232755096 meters 0.02113998033213477 Centerline is valid? [True, True] Translation: X:28.37, Y:337.00, Z:7.38 [[ 7.48780720e-01 6.62785751e-01 -6.51775963e-03 2.83704602e+01] [-6.62758916e-01 7.48809072e-01 5.96596785e-03 3.37004627e+02] [ 8.83471602e-03 -1.47498398e-04 9.99960962e-01 7.38252219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.262755096 meters 0.02051892224343325 Centerline is valid? [True, True] Translation: X:28.39, Y:336.99, Z:7.38 [[ 7.48951407e-01 6.62593532e-01 -6.44990802e-03 2.83929328e+01] [-6.62567228e-01 7.48979165e-01 5.90590543e-03 3.36986296e+02] [ 8.74406146e-03 -1.49738505e-04 9.99961759e-01 7.38342129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2927550960001 meters 0.02083870469589759 Centerline is valid? [True, True] Translation: X:28.41, Y:336.97, Z:7.38 [[ 7.49977588e-01 6.61433740e-01 -6.24703460e-03 2.84144887e+01] [-6.61409031e-01 7.50003588e-01 5.71942103e-03 3.36966020e+02] [ 8.46831641e-03 -1.57592489e-04 9.99964131e-01 7.38390955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.322755096 meters 0.021247651108033203 Centerline is valid? [True, True] Translation: X:28.44, Y:336.95, Z:7.38 [[ 7.50466362e-01 6.60875815e-01 -6.58768024e-03 2.84355758e+01] [-6.60848320e-01 7.50495255e-01 6.03081524e-03 3.36945358e+02] [ 8.92964269e-03 -1.72466553e-04 9.99960115e-01 7.38415494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.352755096 meters 0.022286800839868698 Centerline is valid? [True, True] Translation: X:28.46, Y:336.92, Z:7.38 [[ 7.51948054e-01 6.59191918e-01 -6.33551740e-03 2.84558082e+01] [-6.59166432e-01 7.51974721e-01 5.79946712e-03 3.36924369e+02] [ 8.58711078e-03 -1.84737617e-04 9.99963113e-01 7.38448918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.382755096 meters 0.023104720435200815 Centerline is valid? [True, True] Translation: X:28.48, Y:336.90, Z:7.38 [[ 7.52937214e-01 6.58064491e-01 -6.05617153e-03 2.84758945e+01] [-6.58041173e-01 7.52961546e-01 5.54301417e-03 3.36904905e+02] [ 8.20772508e-03 -1.88331432e-04 9.99966298e-01 7.38474864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4127550960001 meters 0.022516471604367875 Centerline is valid? [True, True] Translation: X:28.50, Y:336.88, Z:7.39 [[ 7.53587303e-01 6.57323510e-01 -5.65509159e-03 2.85008240e+01] [-6.57303158e-01 7.53608499e-01 5.17582694e-03 3.36883962e+02] [ 7.66391781e-03 -1.83327903e-04 9.99970615e-01 7.38523381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.442755096 meters 0.024032500055560502 Centerline is valid? [True, True] Translation: X:28.52, Y:336.86, Z:7.39 [[ 7.55162232e-01 6.55514556e-01 -5.53801254e-03 2.85220566e+01] [-6.55494969e-01 7.55182512e-01 5.07138234e-03 3.36861380e+02] [ 7.50657517e-03 -1.99577049e-04 9.99971805e-01 7.38531485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.472755096 meters 0.02628561414700971 Centerline is valid? [True, True] Translation: X:28.54, Y:336.84, Z:7.38 [[ 7.55794586e-01 6.54784478e-01 -5.64191625e-03 2.85421096e+01] [-6.54764109e-01 7.55815614e-01 5.16910407e-03 3.36837955e+02] [ 7.64889751e-03 -2.12656603e-04 9.99970724e-01 7.38460367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.502755096 meters 0.02755419511913144 Centerline is valid? [True, True] Translation: X:28.56, Y:336.82, Z:7.38 [[ 7.56677209e-01 6.53758671e-01 -6.26120125e-03 2.85615948e+01] [-6.53733536e-01 7.56703072e-01 5.73807394e-03 3.36817374e+02] [ 8.48918581e-03 -2.48712538e-04 9.99963935e-01 7.38323750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.532755096 meters 0.027781986500576193 Centerline is valid? [True, True] Translation: X:28.58, Y:336.80, Z:7.38 [[ 7.56973313e-01 6.53410831e-01 -6.75942905e-03 2.85828524e+01] [-6.53381533e-01 7.57003443e-01 6.19357181e-03 3.36797193e+02] [ 9.16385797e-03 -2.71882461e-04 9.99957974e-01 7.38251992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.562755096 meters 0.024854829293943993 Centerline is valid? [True, True] Translation: X:28.61, Y:336.78, Z:7.38 [[ 7.57185634e-01 6.53162457e-01 -6.97998179e-03 2.86092538e+01] [-6.53131198e-01 7.57217752e-01 6.39639696e-03 3.36779160e+02] [ 9.46325247e-03 -2.84416025e-04 9.99955182e-01 7.38256673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.592755096 meters 0.029313500232606378 Centerline is valid? [True, True] Translation: X:28.63, Y:336.75, Z:7.38 [[ 7.57592002e-01 6.52679965e-01 -7.95122326e-03 2.86275141e+01] [-6.52639329e-01 7.57633653e-01 7.29067313e-03 3.36753672e+02] [ 1.07825906e-02 -3.34074647e-04 9.99941810e-01 7.37990427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.622755096 meters 0.026742022014562317 Centerline is valid? [True, True] Translation: X:28.65, Y:336.74, Z:7.38 [[ 7.58363577e-01 6.51782286e-01 -8.03357076e-03 2.86536414e+01] [-6.51740712e-01 7.58406044e-01 7.36996123e-03 3.36735443e+02] [ 1.08963188e-02 -3.53305030e-04 9.99940571e-01 7.38003253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.652755096 meters 0.027242355274374137 Centerline is valid? [True, True] Translation: X:28.68, Y:336.71, Z:7.38 [[ 7.58859395e-01 6.51201330e-01 -8.32145681e-03 2.86766802e+01] [-6.51156643e-01 7.58904925e-01 7.63814415e-03 3.36713172e+02] [ 1.12891642e-02 -3.77705568e-04 9.99936204e-01 7.37992683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.682755096 meters 0.026868157458836205 Centerline is valid? [True, True] Translation: X:28.70, Y:336.69, Z:7.38 [[ 7.59129138e-01 6.50885990e-01 -8.38932811e-03 2.87005848e+01] [-6.50840503e-01 7.59175393e-01 7.70470372e-03 3.36691770e+02] [ 1.13838552e-02 -3.88750563e-04 9.99935126e-01 7.37987052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.712755096 meters 0.026889532565302514 Centerline is valid? [True, True] Translation: X:28.72, Y:336.67, Z:7.38 [[ 7.59638036e-01 6.50287010e-01 -8.76685824e-03 2.87237387e+01] [-6.50237243e-01 7.59688508e-01 8.05603148e-03 3.36669465e+02] [ 1.18988141e-02 -4.19130202e-04 9.99929119e-01 7.37948015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.742755096 meters 0.029391634244537352 Centerline is valid? [True, True] Translation: X:28.74, Y:336.65, Z:7.38 [[ 7.59427143e-01 6.50532158e-01 -8.85019654e-03 2.87446903e+01] [-6.50481400e-01 7.59478593e-01 8.13735245e-03 3.36645087e+02] [ 1.20151443e-02 -4.22838089e-04 9.99927726e-01 7.37915597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.772755096 meters 0.02559366101980021 Centerline is valid? [True, True] Translation: X:28.77, Y:336.63, Z:7.38 [[ 7.57391101e-01 6.52908198e-01 -8.34301295e-03 2.87744103e+01] [-6.52863205e-01 7.57436962e-01 7.67357738e-03 3.36630929e+02] [ 1.13294480e-02 -3.65053044e-04 9.99935753e-01 7.37949425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.802755096 meters 0.025632902365813535 Centerline is valid? [True, True] Translation: X:28.80, Y:336.61, Z:7.38 [[ 7.56018003e-01 6.54492936e-01 -8.70493918e-03 2.87989726e+01] [-6.54444029e-01 7.56068032e-01 8.00902811e-03 3.36610851e+02] [ 1.18233786e-02 -3.58073961e-04 9.99930037e-01 7.37870728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.832755096 meters 0.02388837921596382 Centerline is valid? [True, True] Translation: X:28.83, Y:336.59, Z:7.38 [[ 7.54363831e-01 6.56396954e-01 -8.84584529e-03 2.88253800e+01] [-6.56346526e-01 7.54415618e-01 8.14327545e-03 3.36592372e+02] [ 1.20186650e-02 -3.37052640e-04 9.99927716e-01 7.37918516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.862755096 meters 0.023078309146129756 Centerline is valid? [True, True] Translation: X:28.85, Y:336.57, Z:7.38 [[ 7.51858079e-01 6.59270138e-01 -8.50385959e-03 2.88512909e+01] [-6.59223668e-01 7.51906115e-01 7.83261716e-03 3.36574317e+02] [ 1.15579146e-02 -2.83070973e-04 9.99933165e-01 7.37973718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.892755096 meters 0.022730681720781975 Centerline is valid? [True, True] Translation: X:28.88, Y:336.56, Z:7.38 [[ 7.51130340e-01 6.60103281e-01 -8.17746272e-03 2.88753449e+01] [-6.60060338e-01 7.51174806e-01 7.53399348e-03 3.36555105e+02] [ 1.11159178e-02 -2.61392280e-04 9.99938182e-01 7.38031697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9227550960001 meters 0.022654917451557306 Centerline is valid? [True, True] Translation: X:28.90, Y:336.54, Z:7.38 [[ 7.50787868e-01 6.60499772e-01 -7.59128051e-03 2.88983800e+01] [-6.60462787e-01 7.50826208e-01 6.99370392e-03 3.36536211e+02] [ 1.03190722e-02 -2.37029773e-04 9.99946729e-01 7.38118776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.952755096 meters 0.022616530468506924 Centerline is valid? [True, True] Translation: X:28.92, Y:336.52, Z:7.38 [[ 7.50811365e-01 6.60483783e-01 -6.59292733e-03 2.89215136e+01] [-6.60455891e-01 7.50840283e-01 6.07334745e-03 3.36518499e+02] [ 8.96158292e-03 -2.05600595e-04 9.99959823e-01 7.38277907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.982755096 meters 0.023231867911368786 Centerline is valid? [True, True] Translation: X:28.94, Y:336.50, Z:7.38 [[ 7.51499835e-01 6.59704588e-01 -6.15264050e-03 2.89434962e+01] [-6.59680278e-01 7.51524994e-01 5.66692255e-03 3.36499162e+02] [ 8.36235792e-03 -1.99915767e-04 9.99965015e-01 7.38325240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.012755096 meters 0.023231867911368786 Centerline is valid? [True, True] Translation: X:28.96, Y:336.48, Z:7.38 [[ 7.51550467e-01 6.59646902e-01 -6.15307543e-03 2.89644136e+01] [-6.59622594e-01 7.51575628e-01 5.66645027e-03 3.36480012e+02] [ 8.36235790e-03 -1.99915766e-04 9.99965015e-01 7.38342044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0427550960001 meters 0.02431320049800569 Centerline is valid? [True, True] Translation: X:28.99, Y:336.46, Z:7.38 [[ 7.53301224e-01 6.57653040e-01 -5.45381207e-03 2.89860684e+01] [-6.57633896e-01 7.53320941e-01 5.02178686e-03 3.36461151e+02] [ 7.41106424e-03 -1.96306510e-04 9.99972518e-01 7.38420807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.072755096 meters 0.025678246075355064 Centerline is valid? [True, True] Translation: X:29.01, Y:336.44, Z:7.38 [[ 7.54402966e-01 6.56390902e-01 -5.21032290e-03 2.90055811e+01] [-6.56373405e-01 7.54420933e-01 4.79681988e-03 3.36441298e+02] [ 7.07936559e-03 -1.98817768e-04 9.99974921e-01 7.38457717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.102755096 meters 0.02739379994791633 Centerline is valid? [True, True] Translation: X:29.03, Y:336.42, Z:7.39 [[ 7.56492993e-01 6.53982775e-01 -4.98811602e-03 2.90262735e+01] [-6.53966692e-01 7.56509409e-01 4.59132713e-03 3.36419707e+02] [ 6.77620556e-03 -2.11245073e-04 9.99977019e-01 7.38522753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.132755096 meters 0.027412418498394778 Centerline is valid? [True, True] Translation: X:29.05, Y:336.40, Z:7.39 [[ 7.57462726e-01 6.52858445e-01 -5.10578293e-03 2.90482462e+01] [-6.52841572e-01 7.57479900e-01 4.69922339e-03 3.36400505e+02] [ 6.93545562e-03 -2.26219207e-04 9.99975924e-01 7.38522844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1627550960001 meters 0.027426811777485568 Centerline is valid? [True, True] Translation: X:29.07, Y:336.38, Z:7.39 [[ 7.58753758e-01 6.51363580e-01 -4.26854444e-03 2.90727281e+01] [-6.51351767e-01 7.58765739e-01 3.92809293e-03 3.36379897e+02] [ 5.79744195e-03 -2.00131315e-04 9.99983175e-01 7.38675242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.192755096 meters 0.031102826208562768 Centerline is valid? [True, True] Translation: X:29.09, Y:336.36, Z:7.39 [[ 7.58902987e-01 6.51193613e-01 -3.62425449e-03 2.90920929e+01] [-6.51185087e-01 7.58911621e-01 3.33671661e-03 3.36355070e+02] [ 4.92333740e-03 -1.72183724e-04 9.99987866e-01 7.38849177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.222755096 meters 0.029298246592555453 Centerline is valid? [True, True] Translation: X:29.11, Y:336.34, Z:7.39 [[ 7.58891497e-01 6.51209878e-01 -3.06434106e-03 2.91149109e+01] [-6.51203775e-01 7.58897670e-01 2.82321189e-03 3.36338534e+02] [ 4.16402476e-03 -1.47001028e-04 9.99991320e-01 7.38966935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.252755096 meters 0.02839712740375621 Centerline is valid? [True, True] Translation: X:29.14, Y:336.32, Z:7.39 [[ 7.57198428e-01 6.53181597e-01 -2.08389175e-03 2.91363538e+01] [-6.53178782e-01 7.57201290e-01 1.91968396e-03 3.36321252e+02] [ 2.83182776e-03 -9.24277989e-05 9.99995986e-01 7.39261075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.282755096 meters 0.0285855626120879 Centerline is valid? [True, True] Translation: X:29.16, Y:336.30, Z:7.39 [[ 7.56049972e-01 6.54511315e-01 -1.83827767e-03 2.91572859e+01] [-6.54509129e-01 7.56052202e-01 1.69319252e-03 3.36302515e+02] [ 2.49804754e-03 -7.69686371e-05 9.99996877e-01 7.39398544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.312755096 meters 0.0254257256539518 Centerline is valid? [True, True] Translation: X:29.18, Y:336.29, Z:7.39 [[ 7.52299349e-01 6.58818203e-01 -2.06509217e-03 2.91841968e+01] [-6.58815463e-01 7.52302181e-01 1.90147215e-03 3.36287302e+02] [ 2.80629781e-03 -6.99616104e-05 9.99996060e-01 7.39435465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.342755096 meters 0.021728493726532426 Centerline is valid? [True, True] Translation: X:29.21, Y:336.27, Z:7.39 [[ 7.50323259e-01 6.61066536e-01 -2.45796299e-03 2.92114608e+01] [-6.61062667e-01 7.50327281e-01 2.26292034e-03 3.36272925e+02] [ 3.34021760e-03 -7.30541879e-05 9.99994419e-01 7.39314524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.372755096 meters 0.022494199528049375 Centerline is valid? [True, True] Translation: X:29.23, Y:336.25, Z:7.39 [[ 7.48287024e-01 6.63368741e-01 -2.90557776e-03 2.92321379e+01] [-6.63363353e-01 7.48292662e-01 2.67485074e-03 3.36253549e+02] [ 3.94863489e-03 -7.41023003e-05 9.99992201e-01 7.39287276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.402755096 meters 0.0193317572221244 Centerline is valid? [True, True] Translation: X:29.26, Y:336.24, Z:7.39 [[ 7.44906640e-01 6.67159312e-01 -3.54260238e-03 2.92600943e+01] [-6.67151347e-01 7.44915061e-01 3.26063674e-03 3.36241084e+02] [ 4.81430203e-03 -6.54180041e-05 9.99988409e-01 7.39201677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.432755096 meters 0.018901628373061773 Centerline is valid? [True, True] Translation: X:29.28, Y:336.22, Z:7.39 [[ 7.43714493e-01 6.68488407e-01 -3.46444164e-03 2.92828296e+01] [-6.68480806e-01 7.43722560e-01 3.18821562e-03 3.36223333e+02] [ 4.70786859e-03 -5.52094251e-05 9.99988916e-01 7.39215205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.462755096 meters 0.018588691675704153 Centerline is valid? [True, True] Translation: X:29.30, Y:336.21, Z:7.39 [[ 7.42892595e-01 6.69401913e-01 -3.41627987e-03 2.93048183e+01] [-6.69394534e-01 7.42900448e-01 3.14344686e-03 3.36205635e+02] [ 4.64218519e-03 -4.84043185e-05 9.99989224e-01 7.39264947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.492755096 meters 0.018773737206608698 Centerline is valid? [True, True] Translation: X:29.32, Y:336.19, Z:7.39 [[ 7.43265008e-01 6.68986862e-01 -3.70236944e-03 2.93248832e+01] [-6.68978193e-01 7.43274227e-01 3.40610243e-03 3.36187255e+02] [ 5.03051356e-03 -5.48323282e-05 9.99987345e-01 7.39287326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.522755096 meters 0.018978386423601244 Centerline is valid? [True, True] Translation: X:29.35, Y:336.17, Z:7.39 [[ 7.44078009e-01 6.68080480e-01 -4.04829713e-03 2.93462773e+01] [-6.68070111e-01 7.44089019e-01 3.72267083e-03 3.36167596e+02] [ 5.49933715e-03 -6.54111856e-05 9.99984876e-01 7.39294210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.552755096 meters 0.019265058938134457 Centerline is valid? [True, True] Translation: X:29.37, Y:336.15, Z:7.39 [[ 7.44731031e-01 6.67350411e-01 -4.37275906e-03 2.93668041e+01] [-6.67338315e-01 7.44743864e-01 4.01872338e-03 3.36148295e+02] [ 5.93848218e-03 -7.47583457e-05 9.99982364e-01 7.39297018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.582755096 meters 0.020352404657901186 Centerline is valid? [True, True] Translation: X:29.39, Y:336.13, Z:7.39 [[ 7.46716243e-01 6.65119990e-01 -5.50006414e-03 2.93866764e+01] [-6.65100817e-01 7.46736490e-01 5.05151144e-03 3.36128200e+02] [ 7.46695983e-03 -1.13948496e-04 9.99972115e-01 7.39226813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.612755096 meters 0.021726822748296046 Centerline is valid? [True, True] Translation: X:29.41, Y:336.11, Z:7.39 [[ 7.48741372e-01 6.62834203e-01 -6.09730040e-03 2.94065150e+01] [-6.62810573e-01 7.48766183e-01 5.59891483e-03 3.36108637e+02] [ 8.27660460e-03 -1.50784002e-04 9.99965737e-01 7.39115731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.642755096 meters 0.022537341348083554 Centerline is valid? [True, True] Translation: X:29.43, Y:336.09, Z:7.39 [[ 7.50050064e-01 6.61347785e-01 -6.63389920e-03 2.94273077e+01] [-6.61319771e-01 7.50079379e-01 6.08978172e-03 3.36088844e+02] [ 9.00341464e-03 -1.80512470e-04 9.99959452e-01 7.39073668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6727550960001 meters 0.02335758846863667 Centerline is valid? [True, True] Translation: X:29.45, Y:336.07, Z:7.39 [[ 7.51287436e-01 6.59941484e-01 -6.66531160e-03 2.94480578e+01] [-6.59913177e-01 7.51316977e-01 6.11547868e-03 3.36068954e+02] [ 9.04361983e-03 -1.95955342e-04 9.99959086e-01 7.39073776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.702755096 meters 0.02519704676520453 Centerline is valid? [True, True] Translation: X:29.47, Y:336.05, Z:7.39 [[ 7.53233072e-01 6.57718166e-01 -6.83774195e-03 2.94671787e+01] [-6.57688307e-01 7.53264073e-01 6.27118058e-03 3.36048689e+02] [ 9.27529474e-03 -2.26557686e-04 9.99956958e-01 7.39092884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.732755096 meters 0.025495323429084095 Centerline is valid? [True, True] Translation: X:29.49, Y:336.03, Z:7.39 [[ 7.53913978e-01 6.56937749e-01 -6.81963519e-03 2.94889999e+01] [-6.56908033e-01 7.53944785e-01 6.25272747e-03 3.36029099e+02] [ 9.24928110e-03 -2.34145499e-04 9.99957197e-01 7.39071899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.762755096 meters 0.02429989996537544 Centerline is valid? [True, True] Translation: X:29.51, Y:336.01, Z:7.39 [[ 7.54867068e-01 6.55834714e-01 -7.51910495e-03 2.95128787e+01] [-6.55798563e-01 7.54904467e-01 6.89138968e-03 3.36012623e+02] [ 1.01958185e-02 -2.71064911e-04 9.99947985e-01 7.39117399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7927550960001 meters 0.024317289429581477 Centerline is valid? [True, True] Translation: X:29.53, Y:335.99, Z:7.39 [[ 7.55083714e-01 6.55580779e-01 -7.90109683e-03 2.95342163e+01] [-6.55540859e-01 7.55124996e-01 7.24034293e-03 3.35993786e+02] [ 1.07129454e-02 -2.87573232e-04 9.99942573e-01 7.39094362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.822755096 meters 0.024850636596765504 Centerline is valid? [True, True] Translation: X:29.55, Y:335.98, Z:7.39 [[ 7.55397797e-01 6.55214095e-01 -8.28605569e-03 2.95547058e+01] [-6.55170183e-01 7.55443179e-01 7.59177150e-03 3.35975202e+02] [ 1.12338799e-02 -3.06030837e-04 9.99936851e-01 7.39048614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.852755096 meters 0.025301752501572846 Centerline is valid? [True, True] Translation: X:29.58, Y:335.96, Z:7.39 [[ 7.55577686e-01 6.55003204e-01 -8.55354458e-03 2.95751837e+01] [-6.54956425e-01 7.55626033e-01 7.83446203e-03 3.35957221e+02] [ 1.15948787e-02 -3.17345710e-04 9.99932727e-01 7.39032872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.882755096 meters 0.02435805579023738 Centerline is valid? [True, True] Translation: X:29.60, Y:335.94, Z:7.39 [[ 7.55885346e-01 6.54652741e-01 -8.19344229e-03 2.95976982e+01] [-6.54609821e-01 7.55929689e-01 7.50249193e-03 3.35939263e+02] [ 1.11051932e-02 -3.07515915e-04 9.99938288e-01 7.39143677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9127550960001 meters 0.024328269657843533 Centerline is valid? [True, True] Translation: X:29.62, Y:335.92, Z:7.39 [[ 7.56198055e-01 6.54304291e-01 -7.09903772e-03 2.96188946e+01] [-6.54272064e-01 7.56231329e-01 6.49954151e-03 3.35919724e+02] [ 9.62119262e-03 -2.70238589e-04 9.99953679e-01 7.39334235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.942755096 meters 0.024104967343296327 Centerline is valid? [True, True] Translation: X:29.64, Y:335.90, Z:7.39 [[ 7.56317302e-01 6.54172103e-01 -6.55735873e-03 2.96401581e+01] [-6.54144610e-01 7.56345686e-01 6.00268800e-03 3.35900984e+02] [ 8.88642103e-03 -2.50475924e-04 9.99960484e-01 7.39424110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.972755096 meters 0.024212310091515917 Centerline is valid? [True, True] Translation: X:29.66, Y:335.88, Z:7.39 [[ 7.56257367e-01 6.54246084e-01 -6.07095566e-03 2.96612957e+01] [-6.54222530e-01 7.56281700e-01 5.55629637e-03 3.35881854e+02] [ 8.22653780e-03 -2.30234089e-04 9.99966135e-01 7.39468372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.002755096 meters 0.029084244070048785 Centerline is valid? [True, True] Translation: X:29.68, Y:335.86, Z:7.40 [[ 7.55751117e-01 6.54840184e-01 -4.95799608e-03 2.96768238e+01] [-6.54824492e-01 7.55767358e-01 4.53702763e-03 3.35856988e+02] [ 6.71811961e-03 -1.82246433e-04 9.99977417e-01 7.39533632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.032755096 meters 0.024250982258113705 Centerline is valid? [True, True] Translation: X:29.70, Y:335.84, Z:7.40 [[ 7.55367399e-01 6.55284776e-01 -4.68565084e-03 2.97029207e+01] [-6.55270776e-01 7.55381913e-01 4.28673896e-03 3.35843162e+02] [ 6.34849067e-03 -1.67692788e-04 9.99979834e-01 7.39562773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.062755096 meters 0.023561579191806466 Centerline is valid? [True, True] Translation: X:29.72, Y:335.82, Z:7.40 [[ 7.54425040e-01 6.56373078e-01 -4.15232659e-03 2.97249225e+01] [-6.56362102e-01 7.54436454e-01 3.79830754e-03 3.35824259e+02] [ 5.62577336e-03 -1.40108511e-04 9.99984165e-01 7.39605217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.092755096 meters 0.023224054927270865 Centerline is valid? [True, True] Translation: X:29.75, Y:335.81, Z:7.40 [[ 7.53709269e-01 6.57192939e-01 -4.44738082e-03 2.97456834e+01] [-6.57180367e-01 7.53722376e-01 4.06753484e-03 3.35806327e+02] [ 6.02524562e-03 -1.43007353e-04 9.99981838e-01 7.39549725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.122755096 meters 0.02119490219781272 Centerline is valid? [True, True] Translation: X:29.77, Y:335.79, Z:7.40 [[ 7.52480437e-01 6.58600609e-01 -4.29289576e-03 2.97695454e+01] [-6.58588922e-01 7.52492672e-01 3.92551989e-03 3.35789841e+02] [ 5.81572240e-03 -1.26623332e-04 9.99983081e-01 7.39535380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.152755096 meters 0.020602202323569376 Centerline is valid? [True, True] Translation: X:29.79, Y:335.77, Z:7.40 [[ 7.49817877e-01 6.61633039e-01 -3.85663152e-03 2.97911684e+01] [-6.61623650e-01 7.49827789e-01 3.52610178e-03 3.35772268e+02] [ 5.22479492e-03 -9.22955237e-05 9.99986346e-01 7.39541302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.182755096 meters 0.01960737709591958 Centerline is valid? [True, True] Translation: X:29.81, Y:335.75, Z:7.40 [[ 7.48333985e-01 6.63314783e-01 -3.12176695e-03 2.98140759e+01] [-6.63308647e-01 7.48340494e-01 2.85374738e-03 3.35754692e+02] [ 4.22907744e-03 -6.48611391e-05 9.99991055e-01 7.39625492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.212755096 meters 0.018608274488948945 Centerline is valid? [True, True] Translation: X:29.84, Y:335.74, Z:7.40 [[ 7.45378796e-01 6.66638835e-01 -1.76475191e-03 2.98374455e+01] [-6.66636884e-01 7.45380885e-01 1.61326076e-03 3.35737393e+02] [ 2.39087461e-03 -2.60416463e-05 9.99997142e-01 7.39775105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.242755096 meters 0.018271696448622792 Centerline is valid? [True, True] Translation: X:29.86, Y:335.72, Z:7.40 [[ 7.43947538e-01 6.68236826e-01 -1.26724208e-03 2.98597824e+01] [-6.68235820e-01 7.43948617e-01 1.15946221e-03 3.35718302e+02] [ 1.71755834e-03 -1.57625055e-05 9.99998525e-01 7.39840767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.272755096 meters 0.01800015697889336 Centerline is valid? [True, True] Translation: X:29.88, Y:335.70, Z:7.40 [[ 7.42626821e-01 6.69704854e-01 -9.01595380e-04 2.98815472e+01] [-6.69704348e-01 7.42627368e-01 8.23951800e-04 3.35699660e+02] [ 1.22135392e-03 -8.08636010e-06 9.99999254e-01 7.39860536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.302755096 meters 0.017803514117148356 Centerline is valid? [True, True] Translation: X:29.90, Y:335.68, Z:7.40 [[ 7.40681614e-01 6.71855721e-01 -7.98324876e-04 2.99033550e+01] [-6.71855325e-01 7.40682044e-01 7.29656685e-04 3.35681609e+02] [ 1.08152892e-03 -4.08447219e-06 9.99999415e-01 7.39831859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.332755096 meters 0.01783833954063492 Centerline is valid? [True, True] Translation: X:29.92, Y:335.66, Z:7.40 [[ 7.40256559e-01 6.72324186e-01 -6.44604420e-04 2.99244521e+01] [-6.72323926e-01 7.40256840e-01 5.90644686e-04 3.35663094e+02] [ 8.74277539e-04 -3.84562887e-06 9.99999618e-01 7.39793636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.362755096 meters 0.017981594263322874 Centerline is valid? [True, True] Translation: X:29.94, Y:335.65, Z:7.40 [[ 7.39078313e-01 6.73619503e-01 1.08215049e-04 2.99442725e+01] [-6.73619496e-01 7.39078321e-01 -9.70123935e-05 3.35645111e+02] [-1.45328837e-04 -1.19601035e-06 9.99999989e-01 7.39835372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.392755096 meters 0.018083400794224467 Centerline is valid? [True, True] Translation: X:29.96, Y:335.63, Z:7.40 [[ 7.39125752e-01 6.73567225e-01 5.62519577e-04 2.99647094e+01] [-6.73567032e-01 7.39125966e-01 -5.10294678e-04 3.35625332e+02] [-7.59490596e-04 -1.72270432e-06 9.99999712e-01 7.39867128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4227550960001 meters 0.018234496169910908 Centerline is valid? [True, True] Translation: X:29.98, Y:335.60, Z:7.40 [[ 7.39375311e-01 6.73290641e-01 1.96501047e-03 2.99840969e+01] [-6.73288267e-01 7.39377923e-01 -1.78799349e-03 3.35603190e+02] [-2.65672464e-03 -1.02025524e-06 9.99996471e-01 7.40003733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.452755096 meters 0.018254298943477035 Centerline is valid? [True, True] Translation: X:30.00, Y:335.58, Z:7.40 [[ 7.39912605e-01 6.72699326e-01 2.22575321e-03 3.00043785e+01] [-6.72696273e-01 7.39915952e-01 -2.02673429e-03 3.35582301e+02] [-3.01025310e-03 2.35035650e-06 9.99995469e-01 7.40020209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.482755096 meters 0.018374654644604492 Centerline is valid? [True, True] Translation: X:30.02, Y:335.56, Z:7.40 [[ 7.40222042e-01 6.72356349e-01 2.87536510e-03 3.00249995e+01] [-6.72351252e-01 7.40227627e-01 -2.61803135e-03 3.35561733e+02] [-3.88867468e-03 4.66918693e-06 9.99992439e-01 7.40067223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.512755096 meters 0.018666091097923325 Centerline is valid? [True, True] Translation: X:30.04, Y:335.54, Z:7.40 [[ 7.40795579e-01 6.71723358e-01 3.10488932e-03 3.00435913e+01] [-6.71717412e-01 7.40802086e-01 -2.82636514e-03 3.35540808e+02] [-4.19864397e-03 8.15058784e-06 9.99991186e-01 7.40055478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5427550960001 meters 0.01842325356037131 Centerline is valid? [True, True] Translation: X:30.06, Y:335.52, Z:7.40 [[ 7.40889241e-01 6.71621922e-01 2.66979039e-03 3.00636087e+01] [-6.71617526e-01 7.40894051e-01 -2.42993217e-03 3.35520589e+02] [-3.61002753e-03 7.23258615e-06 9.99993484e-01 7.39825209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.572755096 meters 0.018482901507643493 Centerline is valid? [True, True] Translation: X:30.08, Y:335.50, Z:7.40 [[ 7.40176766e-01 6.72409576e-01 1.92794760e-03 3.00823547e+01] [-6.72407289e-01 7.40179277e-01 -1.75405706e-03 3.35499972e+02] [-2.60647162e-03 1.94626581e-06 9.99996603e-01 7.39749592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.602755096 meters 0.0183749865945799 Centerline is valid? [True, True] Translation: X:30.10, Y:335.48, Z:7.40 [[ 7.39861954e-01 6.72756318e-01 1.79603244e-03 3.01023004e+01] [-6.72754335e-01 7.39864134e-01 -1.63343734e-03 3.35480785e+02] [-2.42772528e-03 2.29540479e-07 9.99997053e-01 7.39653531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.632755096 meters 0.018465683147072816 Centerline is valid? [True, True] Translation: X:30.12, Y:335.46, Z:7.40 [[ 7.39308649e-01 6.73363457e-01 2.09205992e-03 3.01229093e+01] [-6.73360768e-01 7.39311609e-01 -1.90283568e-03 3.35461118e+02] [-2.82798420e-03 -1.92820400e-06 9.99996001e-01 7.39635974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6627550960001 meters 0.01862986869072807 Centerline is valid? [True, True] Translation: X:30.14, Y:335.44, Z:7.40 [[ 7.37893179e-01 6.74913953e-01 2.19366295e-03 3.01422288e+01] [-6.74911006e-01 7.37896440e-01 -1.99473330e-03 3.35440538e+02] [-2.96496942e-03 -8.62717315e-06 9.99995604e-01 7.39623958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.692755096 meters 0.018647034201101798 Centerline is valid? [True, True] Translation: X:30.16, Y:335.42, Z:7.40 [[ 7.37405047e-01 6.75447619e-01 2.07615645e-03 3.01621638e+01] [-6.75444983e-01 7.37407970e-01 -1.88720404e-03 3.35420717e+02] [-2.80568178e-03 -1.06956701e-05 9.99996064e-01 7.39583011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.722755096 meters 0.019013339901366826 Centerline is valid? [True, True] Translation: X:30.18, Y:335.40, Z:7.40 [[ 7.36107711e-01 6.76861540e-01 1.97315098e-03 3.01815979e+01] [-6.76859165e-01 7.36110355e-01 -1.79333411e-03 3.35399982e+02] [-2.66629575e-03 -1.54582568e-05 9.99996445e-01 7.39576856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.752755096 meters 0.019109334749205068 Centerline is valid? [True, True] Translation: X:30.20, Y:335.38, Z:7.40 [[ 7.35481256e-01 6.77542319e-01 1.93080682e-03 3.02021197e+01] [-6.77540047e-01 7.35483790e-01 -1.75473666e-03 3.35379325e+02] [-2.60898547e-03 -1.76230220e-05 9.99996596e-01 7.39536021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.782755096 meters 0.019222270941060084 Centerline is valid? [True, True] Translation: X:30.22, Y:335.36, Z:7.39 [[ 7.34991542e-01 6.78073021e-01 2.10042542e-03 3.02220796e+01] [-6.78070335e-01 7.34994543e-01 -1.90862494e-03 3.35358674e+02] [-2.83798830e-03 -2.14129775e-05 9.99995973e-01 7.39490780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.812755096 meters 0.01942034489170505 Centerline is valid? [True, True] Translation: X:30.24, Y:335.34, Z:7.39 [[ 7.34535627e-01 6.78568225e-01 1.60501188e-03 3.02400155e+01] [-6.78566660e-01 7.34537381e-01 -1.45764576e-03 3.35336883e+02] [-2.16805332e-03 -1.84148130e-05 9.99997650e-01 7.39424996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.842755096 meters 0.019462390113684218 Centerline is valid? [True, True] Translation: X:30.26, Y:335.32, Z:7.39 [[ 7.34385872e-01 6.78730963e-01 1.29278536e-03 3.02589607e+01] [-6.78729949e-01 7.34387009e-01 -1.17361709e-03 3.35316541e+02] [-1.74597503e-03 -1.55643354e-05 9.99998476e-01 7.39369081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.872755096 meters 0.019589156294970548 Centerline is valid? [True, True] Translation: X:30.28, Y:335.29, Z:7.39 [[ 7.33993754e-01 6.79156169e-01 -2.61060348e-04 3.02770275e+01] [-6.79156127e-01 7.33993800e-01 2.37926291e-04 3.35294297e+02] [ 3.53205785e-04 2.66432360e-06 9.99999938e-01 7.39196126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.902755096 meters 0.019589156294970548 Centerline is valid? [True, True] Translation: X:30.30, Y:335.28, Z:7.39 [[ 7.34072720e-01 6.79070816e-01 -2.61015188e-04 3.02974895e+01] [-6.79070775e-01 7.34072766e-01 2.37976062e-04 3.35275881e+02] [ 3.53206740e-04 2.55605124e-06 9.99999938e-01 7.39212434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.932755096 meters 0.019576587655433672 Centerline is valid? [True, True] Translation: X:30.32, Y:335.26, Z:7.39 [[ 7.34265771e-01 6.78862110e-01 -1.12977978e-04 3.03168469e+01] [-6.78862102e-01 7.34265780e-01 1.03511240e-04 3.35255223e+02] [ 1.53225722e-04 6.91707259e-07 9.99999988e-01 7.39194646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.962755096 meters 0.019604563916495957 Centerline is valid? [True, True] Translation: X:30.34, Y:335.24, Z:7.39 [[ 7.34381023e-01 6.78737414e-01 -1.91927914e-04 3.03359920e+01] [-6.78737391e-01 7.34381048e-01 1.75155756e-04 3.35235158e+02] [ 2.59832987e-04 1.63758851e-06 9.99999966e-01 7.39184130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.992755096 meters 0.01961313086020862 Centerline is valid? [True, True] Translation: X:30.36, Y:335.21, Z:7.39 [[ 7.34414448e-01 6.78701199e-01 -3.18539479e-04 3.03568024e+01] [-6.78701137e-01 7.34414517e-01 2.89731468e-04 3.35214556e+02] [ 4.30581112e-04 3.41013070e-06 9.99999907e-01 7.39199015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.022755096 meters 0.019711300915593217 Centerline is valid? [True, True] Translation: X:30.38, Y:335.20, Z:7.39 [[ 7.34879825e-01 6.78197345e-01 5.48662182e-05 3.03765979e+01] [-6.78197344e-01 7.34879828e-01 -4.86958831e-05 3.35196026e+02] [-7.33454957e-05 -1.42450129e-06 9.99999997e-01 7.39166296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.052755096 meters 0.019564907008700852 Centerline is valid? [True, True] Translation: X:30.40, Y:335.18, Z:7.39 [[ 7.35726109e-01 6.77279169e-01 1.42253690e-04 3.03992918e+01] [-6.77279157e-01 7.35726123e-01 -1.28432666e-04 3.35177431e+02] [-1.91644525e-04 -1.85419323e-06 9.99999982e-01 7.39188660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.082755096 meters 0.01959422973076528 Centerline is valid? [True, True] Translation: X:30.42, Y:335.16, Z:7.39 [[ 7.36318681e-01 6.76634497e-01 7.46399463e-04 3.04207416e+01] [-6.76634159e-01 7.36319060e-01 -6.75880018e-04 3.35160267e+02] [-1.00691189e-03 -7.37628994e-06 9.99999493e-01 7.39239591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.112755096 meters 0.019504011039801067 Centerline is valid? [True, True] Translation: X:30.44, Y:335.14, Z:7.39 [[ 7.37216549e-01 6.75656131e-01 7.43488262e-04 3.04424225e+01] [-6.75655795e-01 7.37216924e-01 -6.73428825e-04 3.35142045e+02] [-1.00311844e-03 -5.87927849e-06 9.99999497e-01 7.39271743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.142755096 meters 0.019444846465179667 Centerline is valid? [True, True] Translation: X:30.46, Y:335.12, Z:7.39 [[ 7.38206100e-01 6.74574584e-01 9.40649576e-04 3.04637900e+01] [-6.74574046e-01 7.38206699e-01 -8.52058711e-04 3.35123540e+02] [-1.26917097e-03 -5.54285311e-06 9.99999195e-01 7.39341454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1727550960001 meters 0.01907901060482146 Centerline is valid? [True, True] Translation: X:30.48, Y:335.10, Z:7.39 [[ 7.40944426e-01 6.71565464e-01 1.08868935e-03 3.04830793e+01] [-6.71564740e-01 7.40945225e-01 -9.86243066e-04 3.35101648e+02] [-1.46898596e-03 -3.74077720e-07 9.99998921e-01 7.39231323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.202755096 meters 0.019399564657436023 Centerline is valid? [True, True] Translation: X:30.50, Y:335.08, Z:7.39 [[ 7.44555201e-01 6.67560863e-01 -2.16688581e-04 3.04993091e+01] [-6.67560833e-01 7.44555233e-01 1.96865697e-04 3.35077136e+02] [ 2.92756451e-04 -1.92456894e-06 9.99999957e-01 7.39110132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.232755096 meters 0.01970209227296313 Centerline is valid? [True, True] Translation: X:30.52, Y:335.06, Z:7.39 [[ 7.46162299e-01 6.65763647e-01 -7.68127428e-04 3.05194906e+01] [-6.65763282e-01 7.46162694e-01 6.96708061e-04 3.35056500e+02] [ 1.03699093e-03 -8.46625083e-06 9.99999462e-01 7.39049569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.262755096 meters 0.02008968457256853 Centerline is valid? [True, True] Translation: X:30.54, Y:335.04, Z:7.39 [[ 7.47183021e-01 6.64618083e-01 -5.80213425e-04 3.05410799e+01] [-6.64617875e-01 7.47183246e-01 5.26460711e-04 3.35038138e+02] [ 7.83421059e-04 -7.74229033e-06 9.99999693e-01 7.39023419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2927550960001 meters 0.020959022836028587 Centerline is valid? [True, True] Translation: X:30.56, Y:335.02, Z:7.39 [[ 7.49576981e-01 6.61916416e-01 -1.00373102e-03 3.05624587e+01] [-6.61915791e-01 7.49577653e-01 9.09902244e-04 3.35018280e+02] [ 1.35465357e-03 -1.76563654e-05 9.99999082e-01 7.38852721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.322755096 meters 0.0216079695734079 Centerline is valid? [True, True] Translation: X:30.58, Y:335.00, Z:7.39 [[ 7.50881562e-01 6.60435503e-01 -1.35106158e-03 3.05819671e+01] [-6.60434369e-01 7.50882777e-01 1.22447213e-03 3.34998987e+02] [ 1.82317374e-03 -2.71460442e-05 9.99998338e-01 7.38804749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.352755096 meters 0.023331132608400557 Centerline is valid? [True, True] Translation: X:30.60, Y:334.98, Z:7.39 [[ 7.53736298e-01 6.57171757e-01 -2.62200410e-03 3.05991670e+01] [-6.57167468e-01 7.53740856e-01 2.37529237e-03 3.34977343e+02] [ 3.53728667e-03 -6.72482797e-05 9.99993742e-01 7.38698086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.382755096 meters 0.023962014292120346 Centerline is valid? [True, True] Translation: X:30.62, Y:334.96, Z:7.39 [[ 7.54830908e-01 6.55914787e-01 -2.46821537e-03 3.06187235e+01] [-6.55910982e-01 7.54834940e-01 2.23536565e-03 3.34956703e+02] [ 3.32930459e-03 -6.83935148e-05 9.99994456e-01 7.38721283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4127550960001 meters 0.022846049657495576 Centerline is valid? [True, True] Translation: X:30.64, Y:334.94, Z:7.39 [[ 7.55491231e-01 6.55155543e-01 -2.05271889e-03 3.06439827e+01] [-6.55152913e-01 7.55494018e-01 1.85726318e-03 3.34936268e+02] [ 2.76761311e-03 -5.83012818e-05 9.99996168e-01 7.38826152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.442755096 meters 0.02367233965725393 Centerline is valid? [True, True] Translation: X:30.67, Y:334.92, Z:7.39 [[ 7.55795532e-01 6.54806728e-01 -1.12328636e-03 3.06661169e+01] [-6.54805941e-01 7.55796366e-01 1.01601975e-03 3.34915000e+02] [ 1.51427232e-03 -3.23686068e-05 9.99998853e-01 7.38994497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.472755096 meters 0.025106028770069528 Centerline is valid? [True, True] Translation: X:30.69, Y:334.89, Z:7.39 [[ 7.55412374e-01 6.55247981e-01 -1.49319690e-03 3.06882526e+01] [-6.55246588e-01 7.55413848e-01 1.35182053e-03 3.34892218e+02] [ 2.01375929e-03 -4.27697837e-05 9.99997972e-01 7.38998963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.502755096 meters 0.023780488530821937 Centerline is valid? [True, True] Translation: X:30.71, Y:334.88, Z:7.39 [[ 7.54363871e-01 6.56454548e-01 -1.60552872e-03 3.07117148e+01] [-6.56452934e-01 7.54365578e-01 1.45639429e-03 3.34875755e+02] [ 2.16721225e-03 -4.46971928e-05 9.99997651e-01 7.38875198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.532755096 meters 0.022894404633345244 Centerline is valid? [True, True] Translation: X:30.74, Y:334.86, Z:7.39 [[ 7.53414549e-01 6.57544226e-01 -1.45198659e-03 3.07362668e+01] [-6.57542912e-01 7.53415947e-01 1.31512325e-03 3.34855575e+02] [ 1.95870155e-03 -3.60895027e-05 9.99998081e-01 7.38938727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.562755096 meters 0.021950061303807764 Centerline is valid? [True, True] Translation: X:30.76, Y:334.84, Z:7.39 [[ 7.51886303e-01 6.59291127e-01 -1.48228521e-03 3.07610075e+01] [-6.59289759e-01 7.51887763e-01 1.34330919e-03 3.34835161e+02] [ 2.00014394e-03 -3.27603252e-05 9.99997999e-01 7.38931116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.592755096 meters 0.021939950673228528 Centerline is valid? [True, True] Translation: X:30.78, Y:334.81, Z:7.39 [[ 7.50959576e-01 6.60346396e-01 -1.53398184e-03 3.07841950e+01] [-6.60344931e-01 7.50961142e-01 1.39112591e-03 3.34814272e+02] [ 2.07058574e-03 -3.17221915e-05 9.99997856e-01 7.38921971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.622755096 meters 0.0214254210351912 Centerline is valid? [True, True] Translation: X:30.81, Y:334.80, Z:7.39 [[ 7.49687617e-01 6.61787532e-01 -2.39584902e-03 3.08064475e+01] [-6.61783955e-01 7.49691444e-01 2.17629882e-03 3.34796876e+02] [ 3.23639493e-03 -4.60098384e-05 9.99994762e-01 7.38833120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.652755096 meters 0.020988376943978242 Centerline is valid? [True, True] Translation: X:30.83, Y:334.78, Z:7.39 [[ 7.48978809e-01 6.62589226e-01 -2.50234807e-03 3.08295302e+01] [-6.62585332e-01 7.48982988e-01 2.27217692e-03 3.34777576e+02] [ 3.37973608e-03 -4.37932409e-05 9.99994288e-01 7.38808771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.682755096 meters 0.020845488140851423 Centerline is valid? [True, True] Translation: X:30.85, Y:334.76, Z:7.39 [[ 7.48466199e-01 6.63166970e-01 -2.81403262e-03 3.08518862e+01] [-6.63162049e-01 7.48471488e-01 2.55519209e-03 3.34757186e+02] [ 3.80074217e-03 -4.63152722e-05 9.99992776e-01 7.38886202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.712755096 meters 0.020786140002052762 Centerline is valid? [True, True] Translation: X:30.87, Y:334.74, Z:7.39 [[ 7.48036121e-01 6.63652618e-01 -2.67656476e-03 3.08719086e+01] [-6.63648168e-01 7.48040909e-01 2.43055036e-03 3.34736486e+02] [ 3.61522105e-03 -4.18421683e-05 9.99993464e-01 7.39034197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.742755096 meters 0.020589404509546227 Centerline is valid? [True, True] Translation: X:30.90, Y:334.71, Z:7.39 [[ 7.47736349e-01 6.63990986e-01 -2.51450320e-03 3.08955288e+01] [-6.63987066e-01 7.47740576e-01 2.28186735e-03 3.34714020e+02] [ 3.39533542e-03 -3.66375647e-05 9.99994235e-01 7.39064053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.772755096 meters 0.02056597830075702 Centerline is valid? [True, True] Translation: X:30.92, Y:334.69, Z:7.39 [[ 7.48062297e-01 6.63620528e-01 -3.25485577e-03 3.09171731e+01] [-6.63613945e-01 7.48069377e-01 2.95637711e-03 3.34689596e+02] [ 4.39677047e-03 -5.15865794e-05 9.99990333e-01 7.39042580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.802755096 meters 0.02092195955470157 Centerline is valid? [True, True] Translation: X:30.94, Y:334.67, Z:7.39 [[ 7.48375435e-01 6.63266677e-01 -3.39476626e-03 3.09386030e+01] [-6.63259503e-01 7.48383132e-01 3.08542064e-03 3.34665715e+02] [ 4.58704250e-03 -5.74420339e-05 9.99989478e-01 7.39080330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.832755096 meters 0.02117703829184575 Centerline is valid? [True, True] Translation: X:30.96, Y:334.64, Z:7.39 [[ 7.49012865e-01 6.62546110e-01 -3.51839252e-03 3.09594546e+01] [-6.62538384e-01 7.49021126e-01 3.20030779e-03 3.34643964e+02] [ 4.75570181e-03 -6.60016095e-05 9.99988689e-01 7.39093768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.862755096 meters 0.02124290371075039 Centerline is valid? [True, True] Translation: X:30.98, Y:334.62, Z:7.39 [[ 7.49398778e-01 6.62109498e-01 -3.53312695e-03 3.09831277e+01] [-6.62101707e-01 7.49407104e-01 3.21291831e-03 3.34620419e+02] [ 4.77505417e-03 -6.84676779e-05 9.99988597e-01 7.39130826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.892755096 meters 0.02126462397931767 Centerline is valid? [True, True] Translation: X:31.01, Y:334.60, Z:7.39 [[ 7.49107347e-01 6.62440438e-01 -3.29371466e-03 3.10059957e+01] [-6.62433662e-01 7.49114585e-01 2.99702909e-03 3.34598685e+02] [ 4.45272295e-03 -6.32290449e-05 9.99990085e-01 7.39250039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9227550960001 meters 0.020966837802095014 Centerline is valid? [True, True] Translation: X:31.03, Y:334.58, Z:7.39 [[ 7.48733940e-01 6.62863599e-01 -3.05556639e-03 3.10304677e+01] [-6.62857766e-01 7.48740173e-01 2.78142478e-03 3.34576341e+02] [ 4.13153055e-03 -5.71412208e-05 9.99991464e-01 7.39315484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.952755096 meters 0.021085837204753786 Centerline is valid? [True, True] Translation: X:31.05, Y:334.55, Z:7.40 [[ 7.47996564e-01 6.63696676e-01 -2.80382113e-03 3.10521182e+01] [-6.63691765e-01 7.48001818e-01 2.55385619e-03 3.34553771e+02] [ 3.79224917e-03 -4.94026575e-05 9.99992808e-01 7.39518638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.982755096 meters 0.02088302995763414 Centerline is valid? [True, True] Translation: X:31.08, Y:334.53, Z:7.40 [[ 7.47613216e-01 6.64128947e-01 -2.68714553e-03 3.10759394e+01] [-6.64124435e-01 7.47618044e-01 2.44857360e-03 3.34531733e+02] [ 3.63512709e-03 -4.59869745e-05 9.99993392e-01 7.39563541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.012755096 meters 0.020912697106017303 Centerline is valid? [True, True] Translation: X:31.10, Y:334.51, Z:7.40 [[ 7.47142449e-01 6.64655560e-01 -3.33876325e-03 3.10974007e+01] [-6.64648588e-01 7.47149907e-01 3.04494916e-03 3.34509677e+02] [ 4.51839904e-03 -5.59064969e-05 9.99989790e-01 7.39574261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0427550960001 meters 0.02082947219921063 Centerline is valid? [True, True] Translation: X:31.12, Y:334.49, Z:7.40 [[ 7.46876405e-01 6.64953355e-01 -3.55966764e-03 3.11176223e+01] [-6.64945422e-01 7.46884886e-01 3.24868402e-03 3.34491118e+02] [ 4.81888530e-03 -5.93807423e-05 9.99988387e-01 7.39579850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.072755096 meters 0.020603480818416953 Centerline is valid? [True, True] Translation: X:31.14, Y:334.47, Z:7.40 [[ 7.46326326e-01 6.65568235e-01 -3.99243813e-03 3.11396858e+01] [-6.65558269e-01 7.46337002e-01 3.64286564e-03 3.34472071e+02] [ 5.40427996e-03 -6.15663205e-05 9.99985395e-01 7.39571107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.102755096 meters 0.020306270928778902 Centerline is valid? [True, True] Translation: X:31.16, Y:334.45, Z:7.40 [[ 7.45349632e-01 6.66653046e-01 -5.25760800e-03 3.11606862e+01] [-6.66635796e-01 7.45368172e-01 4.79633509e-03 3.34454233e+02] [ 7.11634506e-03 -7.00369010e-05 9.99974676e-01 7.39533232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.132755096 meters 0.02019878555398858 Centerline is valid? [True, True] Translation: X:31.18, Y:334.44, Z:7.40 [[ 7.45252002e-01 6.66762601e-01 -5.20449554e-03 3.11816828e+01] [-6.66745707e-01 7.45270172e-01 4.74699406e-03 3.34436101e+02] [ 7.04387339e-03 -6.76317677e-05 9.99975189e-01 7.39554983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1627550960001 meters 0.019994131326177556 Centerline is valid? [True, True] Translation: X:31.20, Y:334.42, Z:7.40 [[ 7.45409360e-01 6.66578833e-01 -6.12743138e-03 3.12037486e+01] [-6.66555419e-01 7.45434540e-01 5.58754059e-03 3.34416950e+02] [ 8.29213528e-03 -8.07324612e-05 9.99965616e-01 7.39598410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.192755096 meters 0.020223434692355925 Centerline is valid? [True, True] Translation: X:31.22, Y:334.40, Z:7.40 [[ 7.46145877e-01 6.65753781e-01 -6.18337304e-03 3.12249125e+01] [-6.65729916e-01 7.46171492e-01 5.63770324e-03 3.34396655e+02] [ 8.36717893e-03 -9.00926173e-05 9.99964991e-01 7.39633074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.222755096 meters 0.020501967634891868 Centerline is valid? [True, True] Translation: X:31.25, Y:334.38, Z:7.40 [[ 7.46968845e-01 6.64832022e-01 -5.99389253e-03 3.12453267e+01] [-6.64809574e-01 7.46992887e-01 5.46414559e-03 3.34375928e+02] [ 8.11013405e-03 -9.67493833e-05 9.99967108e-01 7.39739268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.252755096 meters 0.021534262740046606 Centerline is valid? [True, True] Translation: X:31.26, Y:334.35, Z:7.40 [[ 7.49141320e-01 6.62380882e-01 -6.23299055e-03 3.12623526e+01] [-6.62356530e-01 7.49167239e-01 5.68118408e-03 3.34353605e+02] [ 8.43266004e-03 -1.27547754e-04 9.99964436e-01 7.39999127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.282755096 meters 0.022167082584667222 Centerline is valid? [True, True] Translation: X:31.28, Y:334.33, Z:7.40 [[ 7.50418597e-01 6.60932293e-01 -6.35874874e-03 3.12815758e+01] [-6.60906905e-01 7.50445523e-01 5.79479531e-03 3.34332395e+02] [ 8.60186187e-03 -1.45981214e-04 9.99962993e-01 7.40122658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.312755096 meters 0.024123533317834293 Centerline is valid? [True, True] Translation: X:31.30, Y:334.31, Z:7.40 [[ 7.52933566e-01 6.58065134e-01 -6.42838714e-03 3.12985959e+01] [-6.58039091e-01 7.52960986e-01 5.85732911e-03 3.34309731e+02] [ 8.69482879e-03 -1.80049666e-04 9.99962183e-01 7.40361477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.342755096 meters 0.025050763326966385 Centerline is valid? [True, True] Translation: X:31.32, Y:334.29, Z:7.40 [[ 7.54064151e-01 6.56772996e-01 -6.04050170e-03 3.13187893e+01] [-6.56749967e-01 7.54088323e-01 5.50300582e-03 3.34288565e+02] [ 8.16929741e-03 -1.82520121e-04 9.99966614e-01 7.40477276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.372755096 meters 0.025852900777633737 Centerline is valid? [True, True] Translation: X:31.34, Y:334.27, Z:7.41 [[ 7.55103780e-01 6.55580166e-01 -5.73819236e-03 3.13389742e+01] [-6.55559355e-01 7.55125560e-01 5.22688220e-03 3.34267487e+02] [ 7.75969602e-03 -1.85112830e-04 9.99969876e-01 7.40612106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.402755096 meters 0.026634344468028506 Centerline is valid? [True, True] Translation: X:31.36, Y:334.25, Z:7.41 [[ 7.56115657e-01 6.54419092e-01 -4.97642973e-03 3.13591931e+01] [-6.54403419e-01 7.56132014e-01 4.53243139e-03 3.34246327e+02] [ 6.72894747e-03 -1.70449705e-04 9.99977346e-01 7.40795898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.432755096 meters 0.02561634068547516 Centerline is valid? [True, True] Translation: X:31.38, Y:334.22, Z:7.41 [[ 7.57129315e-01 6.53250058e-01 -4.42282757e-03 3.13821030e+01] [-6.53237661e-01 7.57142216e-01 4.02773758e-03 3.34224600e+02] [ 5.97982927e-03 -1.60360662e-04 9.99982108e-01 7.41208837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.462755096 meters 0.026586702200138382 Centerline is valid? [True, True] Translation: X:31.40, Y:334.20, Z:7.41 [[ 7.57429188e-01 6.52905770e-01 -3.88334927e-03 3.14029979e+01] [-6.52896201e-01 7.57439129e-01 3.53796058e-03 3.34201416e+02] [ 5.25135557e-03 -1.44330624e-04 9.99986201e-01 7.41438492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.492755096 meters 0.025758844223038202 Centerline is valid? [True, True] Translation: X:31.43, Y:334.18, Z:7.42 [[ 7.57490688e-01 6.52838992e-01 -3.01809205e-03 3.14272541e+01] [-6.52833208e-01 7.57496692e-01 2.75041346e-03 3.34178661e+02] [ 4.08177189e-03 -1.13101867e-04 9.99991663e-01 7.41759936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.522755096 meters 0.025265274129820218 Centerline is valid? [True, True] Translation: X:31.45, Y:334.16, Z:7.42 [[ 7.57070668e-01 6.53326495e-01 -2.91455526e-03 3.14510647e+01] [-6.53321098e-01 7.57076270e-01 2.65770687e-03 3.34156751e+02] [ 3.94289094e-03 -1.07931469e-04 9.99992221e-01 7.41871897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.552755096 meters 0.02544627927285596 Centerline is valid? [True, True] Translation: X:31.47, Y:334.13, Z:7.42 [[ 7.56214184e-01 6.54318068e-01 -2.82386919e-03 3.14732201e+01] [-6.54313003e-01 7.56219450e-01 2.57640629e-03 3.34134714e+02] [ 3.82125399e-03 -1.00620650e-04 9.99992694e-01 7.42002366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.582755096 meters 0.025172953314089336 Centerline is valid? [True, True] Translation: X:31.50, Y:334.11, Z:7.42 [[ 7.55673201e-01 6.54942115e-01 -2.97304701e-03 3.14968481e+01] [-6.54936500e-01 7.55679042e-01 2.71393333e-03 3.34112542e+02] [ 4.02413855e-03 -1.03689678e-04 9.99991898e-01 7.42006731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.612755096 meters 0.025166205635120887 Centerline is valid? [True, True] Translation: X:31.52, Y:334.09, Z:7.42 [[ 7.55052118e-01 6.55656151e-01 -3.36307117e-03 3.15191806e+01] [-6.55648965e-01 7.55059599e-01 3.07191717e-03 3.34090423e+02] [ 4.55344056e-03 -1.14463429e-04 9.99989627e-01 7.42087246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.642755096 meters 0.02523652331979362 Centerline is valid? [True, True] Translation: X:31.54, Y:334.07, Z:7.42 [[ 7.54279756e-01 6.56536919e-01 -4.61768827e-03 3.15405777e+01] [-6.56523370e-01 7.54293876e-01 4.22071413e-03 3.34067509e+02] [ 6.25414863e-03 -1.51978961e-04 9.99980431e-01 7.42119352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6727550960001 meters 0.02394462961537864 Centerline is valid? [True, True] Translation: X:31.57, Y:334.05, Z:7.42 [[ 7.53992132e-01 6.56860284e-01 -5.51652659e-03 3.15659034e+01] [-6.56840933e-01 7.54012291e-01 5.04525308e-03 3.34046461e+02] [ 7.47355522e-03 -1.80600653e-04 9.99972056e-01 7.42099880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.702755096 meters 0.02367577871518695 Centerline is valid? [True, True] Translation: X:31.59, Y:334.03, Z:7.42 [[ 7.52877397e-01 6.58119927e-01 -7.33396849e-03 3.15907340e+01] [-6.58085735e-01 7.52913083e-01 6.71224550e-03 3.34025928e+02] [ 9.93930334e-03 -2.27117876e-04 9.99950578e-01 7.42022210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.732755096 meters 0.022985669025986304 Centerline is valid? [True, True] Translation: X:31.62, Y:334.01, Z:7.42 [[ 7.51709724e-01 6.59442931e-01 -8.21653927e-03 3.16166458e+01] [-6.59400046e-01 7.51754590e-01 7.52438201e-03 3.34006421e+02] [ 1.11387216e-02 -2.38164758e-04 9.99937934e-01 7.42006144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.762755096 meters 0.02243438028360115 Centerline is valid? [True, True] Translation: X:31.64, Y:333.99, Z:7.42 [[ 7.50641997e-01 6.60648968e-01 -8.91810665e-03 3.16419114e+01] [-6.60598474e-01 7.50694933e-01 8.17156796e-03 3.33986404e+02] [ 1.20933154e-02 -2.42634456e-04 9.99926844e-01 7.41976992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7927550960001 meters 0.02220507676574296 Centerline is valid? [True, True] Translation: X:31.67, Y:333.97, Z:7.42 [[ 7.48919606e-01 6.62573100e-01 -1.07847518e-02 3.16670036e+01] [-6.62499370e-01 7.48997209e-01 9.88767560e-03 3.33967356e+02] [ 1.46290569e-02 -2.60182862e-04 9.99892956e-01 7.41879278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.822755096 meters 0.02220507676574296 Centerline is valid? [True, True] Translation: X:31.69, Y:333.95, Z:7.42 [[ 7.48711010e-01 6.62808853e-01 -1.07818757e-02 3.16907890e+01] [-6.62735101e-01 7.48788593e-01 9.89081137e-03 3.33945323e+02] [ 1.46290628e-02 -2.59831912e-04 9.99892956e-01 7.41898553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.852755096 meters 0.022698119119917336 Centerline is valid? [True, True] Translation: X:31.71, Y:333.92, Z:7.42 [[ 7.48542555e-01 6.62984309e-01 -1.16554483e-02 3.17136242e+01] [-6.62898068e-01 7.48633240e-01 1.06969581e-02 3.33923785e+02] [ 1.58175714e-02 -2.80754154e-04 9.99874855e-01 7.41767465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.882755096 meters 0.02302534731716582 Centerline is valid? [True, True] Translation: X:31.74, Y:333.90, Z:7.42 [[ 7.49667623e-01 6.61679014e-01 -1.33917117e-02 3.17372239e+01] [-6.61564846e-01 7.49787139e-01 1.22963593e-02 3.33901452e+02] [ 1.81771761e-02 -3.58696781e-04 9.99834717e-01 7.41759075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9127550960001 meters 0.023976712227754875 Centerline is valid? [True, True] Translation: X:31.76, Y:333.88, Z:7.42 [[ 7.50849925e-01 6.60331852e-01 -1.36468088e-02 3.17591713e+01] [-6.60212950e-01 7.50973823e-01 1.25371077e-02 3.33878618e+02] [ 1.85270477e-02 -4.03686474e-04 9.99828278e-01 7.41764137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.942755096 meters 0.025533969203233947 Centerline is valid? [True, True] Translation: X:31.78, Y:333.86, Z:7.42 [[ 7.52402866e-01 6.58561524e-01 -1.36618220e-02 3.17805062e+01] [-6.58441952e-01 7.52526753e-01 1.25571767e-02 3.33855395e+02] [ 1.85505600e-02 -4.52538974e-04 9.99827821e-01 7.41767889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.972755096 meters 0.026900003664717967 Centerline is valid? [True, True] Translation: X:31.80, Y:333.83, Z:7.42 [[ 7.56080879e-01 6.54326632e-01 -1.40841540e-02 3.18029832e+01] [-6.54198768e-01 7.56211827e-01 1.29477700e-02 3.33834503e+02] [ 1.91226746e-02 -5.75725108e-04 9.99816979e-01 7.41840300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.002755096 meters 0.028337188746376238 Centerline is valid? [True, True] Translation: X:31.83, Y:333.81, Z:7.42 [[ 7.57575886e-01 6.52592064e-01 -1.42258961e-02 3.18253038e+01] [-6.52461216e-01 7.57709181e-01 1.30827839e-02 3.33812702e+02] [ 1.93168130e-02 -6.29356151e-04 9.99813215e-01 7.41856914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.032755096 meters 0.030524105472922086 Centerline is valid? [True, True] Translation: X:31.85, Y:333.79, Z:7.42 [[ 7.60158905e-01 6.49566523e-01 -1.48919709e-02 3.18482463e+01] [-6.49422496e-01 7.60304401e-01 1.36981855e-02 3.33791201e+02] [ 2.02203138e-02 -7.41616764e-04 9.99795274e-01 7.41765275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.062755096 meters 0.03131971432625661 Centerline is valid? [True, True] Translation: X:31.87, Y:333.77, Z:7.42 [[ 7.60702043e-01 6.48918406e-01 -1.54046797e-02 3.18712611e+01] [-6.48764045e-01 7.60857595e-01 1.41751352e-02 3.33769400e+02] [ 2.09192737e-02 -7.89051956e-04 9.99780857e-01 7.41708440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.092755096 meters 0.03193141987649585 Centerline is valid? [True, True] Translation: X:31.89, Y:333.75, Z:7.42 [[ 7.61190357e-01 6.48329079e-01 -1.60824710e-02 3.18944286e+01] [-6.48160541e-01 7.61359763e-01 1.48062267e-02 3.33747904e+02] [ 2.18438536e-02 -8.46333939e-04 9.99761036e-01 7.41663422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.122755096 meters 0.03078100172545872 Centerline is valid? [True, True] Translation: X:31.92, Y:333.73, Z:7.42 [[ 7.61692376e-01 6.47712308e-01 -1.71315452e-02 3.19205453e+01] [-6.47520706e-01 7.61884445e-01 1.57806556e-02 3.33729265e+02] [ 2.32735826e-02 -9.26974826e-04 9.99728704e-01 7.41659064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.152755096 meters 0.033351598807418274 Centerline is valid? [True, True] Translation: X:31.94, Y:333.71, Z:7.41 [[ 7.61589123e-01 6.47812969e-01 -1.78987223e-02 3.19420377e+01] [-6.47603636e-01 7.61798801e-01 1.64959918e-02 3.33706337e+02] [ 2.43215426e-02 -9.71890256e-04 9.99703715e-01 7.41377776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.182755096 meters 0.03060033357526256 Centerline is valid? [True, True] Translation: X:31.97, Y:333.69, Z:7.41 [[ 7.61036832e-01 6.48444870e-01 -1.84984102e-02 3.19697716e+01] [-6.48221198e-01 7.61260972e-01 1.70590670e-02 3.33688354e+02] [ 2.51439822e-02 -9.91516662e-04 9.99683348e-01 7.41451041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.212755096 meters 0.031037472921635445 Centerline is valid? [True, True] Translation: X:31.99, Y:333.67, Z:7.41 [[ 7.59992809e-01 6.49645485e-01 -1.92788496e-02 3.19942199e+01] [-6.49402669e-01 7.60236637e-01 1.77884614e-02 3.33669407e+02] [ 2.62126814e-02 -9.99366406e-04 9.99655889e-01 7.41261403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.242755096 meters 0.030059125244773548 Centerline is valid? [True, True] Translation: X:32.02, Y:333.65, Z:7.41 [[ 7.58987301e-01 6.50808511e-01 -1.96611063e-02 3.20195025e+01] [-6.50556094e-01 7.59241273e-01 1.81509940e-02 3.33649749e+02] [ 2.67403448e-02 -9.85721417e-04 9.99641927e-01 7.41248024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.272755096 meters 0.029264467868122004 Centerline is valid? [True, True] Translation: X:32.05, Y:333.63, Z:7.41 [[ 7.56742609e-01 6.53364231e-01 -2.13496090e-02 3.20464199e+01] [-6.53067440e-01 7.57043082e-01 1.97152517e-02 3.33630787e+02] [ 2.90438140e-02 -9.76636548e-04 9.99577662e-01 7.41068285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.302755096 meters 0.02842368781872567 Centerline is valid? [True, True] Translation: X:32.07, Y:333.61, Z:7.41 [[ 7.55415367e-01 6.54877893e-01 -2.19674480e-02 3.20725022e+01] [-6.54564190e-01 7.55734111e-01 2.02897774e-02 3.33611030e+02] [ 2.98888765e-02 -9.48104801e-04 9.99552778e-01 7.41035961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.332755096 meters 0.028680196305084654 Centerline is valid? [True, True] Translation: X:32.10, Y:333.59, Z:7.41 [[ 7.54067732e-01 6.56407742e-01 -2.25993765e-02 3.20957052e+01] [-6.56076406e-01 7.54405755e-01 2.08736019e-02 3.33592106e+02] [ 3.07506936e-02 -9.13191929e-04 9.99526668e-01 7.40863328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.362755096 meters 0.027195968254262754 Centerline is valid? [True, True] Translation: X:32.12, Y:333.58, Z:7.41 [[ 7.52908449e-01 6.57731012e-01 -2.27768061e-02 3.21200371e+01] [-6.57395142e-01 7.53252394e-01 2.10346870e-02 3.33576142e+02] [ 3.09918497e-02 -8.63831896e-04 9.99519264e-01 7.40909864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.392755096 meters 0.025744436381615544 Centerline is valid? [True, True] Translation: X:32.15, Y:333.56, Z:7.41 [[ 7.49490762e-01 6.61592075e-01 -2.36542699e-02 3.21460308e+01] [-6.61231841e-01 7.49863584e-01 2.18416510e-02 3.33562545e+02] [ 3.21877388e-02 -7.29159185e-04 9.99481575e-01 7.40780935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4227550960001 meters 0.025017280124813007 Centerline is valid? [True, True] Translation: X:32.17, Y:333.55, Z:7.41 [[ 7.47967402e-01 6.63305313e-01 -2.38920011e-02 3.21701657e+01] [-6.62938782e-01 7.48348600e-01 2.20577671e-02 3.33545590e+02] [ 3.25105797e-02 -6.59556639e-04 9.99471174e-01 7.40726462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.452755096 meters 0.023659003630262285 Centerline is valid? [True, True] Translation: X:32.20, Y:333.53, Z:7.41 [[ 7.44733956e-01 6.66917327e-01 -2.43436753e-02 3.21956968e+01] [-6.66538859e-01 7.45131546e-01 2.24706173e-02 3.33532039e+02] [ 3.31252844e-02 -5.08626135e-04 9.99451078e-01 7.40634992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.482755096 meters 0.022766795148335434 Centerline is valid? [True, True] Translation: X:32.22, Y:333.52, Z:7.41 [[ 7.43099540e-01 6.68726794e-01 -2.46484908e-02 3.22195816e+01] [-6.68339903e-01 7.43508096e-01 2.27482986e-02 3.33515876e+02] [ 3.35387493e-02 -4.30680348e-04 9.99437325e-01 7.40738400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.512755096 meters 0.02260370857873151 Centerline is valid? [True, True] Translation: X:32.24, Y:333.50, Z:7.41 [[ 7.41608887e-01 6.70372288e-01 -2.48446051e-02 3.22427545e+01] [-6.69980255e-01 7.42024843e-01 2.29257579e-02 3.33499155e+02] [ 3.38041070e-02 -3.56550948e-04 9.99428414e-01 7.40606854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5427550960001 meters 0.021468685659850925 Centerline is valid? [True, True] Translation: X:32.27, Y:333.48, Z:7.41 [[ 7.39220104e-01 6.72986045e-01 -2.53657411e-02 3.22689628e+01] [-6.72579049e-01 7.39655140e-01 2.34029234e-02 3.33484458e+02] [ 3.45117417e-02 -2.39445428e-04 9.99404264e-01 7.40697068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.572755096 meters 0.022260193279337422 Centerline is valid? [True, True] Translation: X:32.29, Y:333.47, Z:7.40 [[ 7.38436930e-01 6.73817870e-01 -2.60840837e-02 3.22901404e+01] [-6.73388170e-01 7.38897447e-01 2.40610595e-02 3.33466918e+02] [ 3.54862348e-02 -2.02861530e-04 9.99370145e-01 7.40374339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.602755096 meters 0.021679934687396665 Centerline is valid? [True, True] Translation: X:32.31, Y:333.45, Z:7.41 [[ 7.37766694e-01 6.74540291e-01 -2.63761438e-02 3.23130311e+01] [-6.74101859e-01 7.38238017e-01 2.43169578e-02 3.33449813e+02] [ 3.58746399e-02 -1.60033986e-04 9.99356285e-01 7.40566026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.632755096 meters 0.02163353281594818 Centerline is valid? [True, True] Translation: X:32.33, Y:333.43, Z:7.41 [[ 7.37999168e-01 6.74295451e-01 -2.61318340e-02 3.23341379e+01] [-6.73865483e-01 7.38461658e-01 2.40767733e-02 3.33431483e+02] [ 3.55322162e-02 -1.59297698e-04 9.99368519e-01 7.40628280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6627550960001 meters 0.022631528332504716 Centerline is valid? [True, True] Translation: X:32.35, Y:333.41, Z:7.40 [[ 7.38553110e-01 6.73712328e-01 -2.55147644e-02 3.23547275e+01] [-6.73302533e-01 7.38993687e-01 2.34953169e-02 3.33411972e+02] [ 3.46843345e-02 -1.73383858e-04 9.99398302e-01 7.40366158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.692755096 meters 0.022533478780509427 Centerline is valid? [True, True] Translation: X:32.38, Y:333.39, Z:7.41 [[ 7.40178034e-01 6.71958692e-01 -2.46575380e-02 3.23757401e+01] [-6.71575393e-01 7.40588590e-01 2.26943175e-02 3.33392417e+02] [ 3.35107352e-02 -2.38439487e-04 9.99438329e-01 7.40614984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.722755096 meters 0.022600860624090266 Centerline is valid? [True, True] Translation: X:32.40, Y:333.37, Z:7.41 [[ 7.41390576e-01 6.70637041e-01 -2.42068910e-02 3.23958371e+01] [-6.70267340e-01 7.41785602e-01 2.22668832e-02 3.33372769e+02] [ 3.28893199e-02 -2.83368918e-04 9.99458960e-01 7.40724390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.752755096 meters 0.023277645767835687 Centerline is valid? [True, True] Translation: X:32.41, Y:333.35, Z:7.41 [[ 7.44389862e-01 6.67351668e-01 -2.29234602e-02 3.24131752e+01] [-6.67018955e-01 7.44742636e-01 2.10741608e-02 3.33350226e+02] [ 3.11359545e-02 -3.97009157e-04 9.99515080e-01 7.40975869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.782755096 meters 0.024471238012538032 Centerline is valid? [True, True] Translation: X:32.43, Y:333.33, Z:7.41 [[ 7.46503792e-01 6.65002831e-01 -2.24348594e-02 3.24333268e+01] [-6.64683430e-01 7.46840685e-01 2.06138231e-02 3.33329183e+02] [ 3.04635165e-02 -4.76217823e-04 9.99535766e-01 7.41170036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.812755096 meters 0.023537060745477893 Centerline is valid? [True, True] Translation: X:32.45, Y:333.31, Z:7.41 [[ 7.47932799e-01 6.63418295e-01 -2.17415343e-02 3.24530897e+01] [-6.63117798e-01 7.48248552e-01 1.99722627e-02 3.33307570e+02] [ 2.95180360e-02 -5.20711980e-04 9.99564112e-01 7.41448883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.842755096 meters 0.025046992603897193 Centerline is valid? [True, True] Translation: X:32.47, Y:333.28, Z:7.42 [[ 7.51355796e-01 6.59559208e-01 -2.11215376e-02 3.24699137e+01] [-6.59274180e-01 7.51652332e-01 1.93991778e-02 3.33284063e+02] [ 2.86709593e-02 -6.50800332e-04 9.99588692e-01 7.41653541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.872755096 meters 0.02569729987629088 Centerline is valid? [True, True] Translation: X:32.49, Y:333.26, Z:7.42 [[ 7.52602008e-01 6.58151281e-01 -2.06666259e-02 3.24894179e+01] [-6.57877955e-01 7.52885396e-01 1.89783188e-02 3.33263268e+02] [ 2.80502056e-02 -6.87003255e-04 9.99606280e-01 7.41747656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.902755096 meters 0.02724011691998315 Centerline is valid? [True, True] Translation: X:32.51, Y:333.24, Z:7.42 [[ 7.55211861e-01 6.55185405e-01 -1.96756105e-02 3.25079271e+01] [-6.54936733e-01 7.55467744e-01 1.80655356e-02 3.33240824e+02] [ 2.67005643e-02 -7.57026702e-04 9.99643190e-01 7.41858090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.932755096 meters 0.02750632991684751 Centerline is valid? [True, True] Translation: X:32.53, Y:333.22, Z:7.42 [[ 7.56183263e-01 6.54071037e-01 -1.94409799e-02 3.25276927e+01] [-6.53827980e-01 7.56432722e-01 1.78468540e-02 3.33220405e+02] [ 2.63789037e-02 -7.84435622e-04 9.99651708e-01 7.41969080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.962755096 meters 0.027200224158124196 Centerline is valid? [True, True] Translation: X:32.55, Y:333.20, Z:7.42 [[ 7.57186501e-01 6.52911883e-01 -1.93565259e-02 3.25483632e+01] [-6.52670617e-01 7.57433430e-01 1.77669420e-02 3.33199774e+02] [ 2.62615274e-02 -8.19452929e-04 9.99654771e-01 7.42107213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.992755096 meters 0.027825699738273743 Centerline is valid? [True, True] Translation: X:32.57, Y:333.17, Z:7.42 [[ 7.58175297e-01 6.51771431e-01 -1.90845524e-02 3.25682298e+01] [-6.51536522e-01 7.58414981e-01 1.75178959e-02 3.33174863e+02] [ 2.58916745e-02 -8.47353077e-04 9.99664395e-01 7.42192512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.022755096 meters 0.028709319610147388 Centerline is valid? [True, True] Translation: X:32.59, Y:333.15, Z:7.42 [[ 7.58228220e-01 6.51695472e-01 -1.95698261e-02 3.25876227e+01] [-6.51448443e-01 7.58480226e-01 1.79631133e-02 3.33152988e+02] [ 2.65498057e-02 -8.71406671e-04 9.99647112e-01 7.42160738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.052755096 meters 0.02785796543482157 Centerline is valid? [True, True] Translation: X:32.61, Y:333.13, Z:7.42 [[ 7.57520631e-01 6.52501773e-01 -2.00979958e-02 3.26088515e+01] [-6.52241546e-01 7.57786703e-01 1.84466396e-02 3.33131798e+02] [ 2.72664590e-02 -8.64962199e-04 9.99627827e-01 7.42183904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.082755096 meters 0.02682150426373885 Centerline is valid? [True, True] Translation: X:32.63, Y:333.11, Z:7.42 [[ 7.56669174e-01 6.53499876e-01 -1.97401261e-02 3.26334100e+01] [-6.53248973e-01 7.56926179e-01 1.81256585e-02 3.33110541e+02] [ 2.67869338e-02 -8.19909947e-04 9.99640829e-01 7.42201163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.112755096 meters 0.027117460019088893 Centerline is valid? [True, True] Translation: X:32.65, Y:333.09, Z:7.42 [[ 7.55627153e-01 6.54688769e-01 -2.02539200e-02 3.26544332e+01] [-6.54425011e-01 7.55898126e-01 1.85991300e-02 3.33090278e+02] [ 2.74865417e-02 -7.99335837e-04 9.99621854e-01 7.42110019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.142755096 meters 0.02554758521247324 Centerline is valid? [True, True] Translation: X:32.68, Y:333.07, Z:7.42 [[ 7.53847906e-01 6.56737663e-01 -2.02231881e-02 3.26764660e+01] [-6.56475506e-01 7.54118771e-01 1.85685020e-02 3.33071582e+02] [ 2.74453204e-02 -7.21798639e-04 9.99623046e-01 7.42176866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1727550960001 meters 0.024079409003953674 Centerline is valid? [True, True] Translation: X:32.70, Y:333.05, Z:7.42 [[ 7.52745278e-01 6.58022757e-01 -1.95089425e-02 3.26999095e+01] [-6.57779225e-01 7.52997761e-01 1.79126471e-02 3.33051397e+02] [ 2.64771194e-02 -6.51083471e-04 9.99649208e-01 7.42382174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.202755096 meters 0.024968690887268403 Centerline is valid? [True, True] Translation: X:32.72, Y:333.03, Z:7.43 [[ 7.51359656e-01 6.59636511e-01 -1.83940317e-02 3.27205410e+01] [-6.59420540e-01 7.51584567e-01 1.68875988e-02 3.33031424e+02] [ 2.49643471e-02 -5.59258137e-04 9.99688186e-01 7.42581540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.232755096 meters 0.02243294090066469 Centerline is valid? [True, True] Translation: X:32.74, Y:333.01, Z:7.43 [[ 7.50244694e-01 6.60947152e-01 -1.67857501e-02 3.27425852e+01] [-6.60767669e-01 7.50432304e-01 1.54092780e-02 3.33011940e+02] [ 2.27812875e-02 -4.69248103e-04 9.99740363e-01 7.42844226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.262755096 meters 0.021947764481235737 Centerline is valid? [True, True] Translation: X:32.76, Y:332.99, Z:7.43 [[ 7.49433825e-01 6.61883673e-01 -1.60917977e-02 3.27643877e+01] [-6.61718977e-01 7.49606448e-01 1.47705437e-02 3.32992255e+02] [ 2.18388971e-02 -4.21297153e-04 9.99761414e-01 7.42919532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2927550960001 meters 0.020842643556277966 Centerline is valid? [True, True] Translation: X:32.79, Y:332.97, Z:7.43 [[ 7.47408791e-01 6.64184377e-01 -1.54664706e-02 3.27854702e+01] [-6.64032778e-01 7.47568725e-01 1.41940398e-02 3.32973848e+02] [ 2.09897092e-02 -3.38506656e-04 9.99779635e-01 7.43049597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.322755096 meters 0.020757011361601838 Centerline is valid? [True, True] Translation: X:32.81, Y:332.95, Z:7.43 [[ 7.46453557e-01 6.65276201e-01 -1.46514313e-02 3.28072351e+01] [-6.65140414e-01 7.46597276e-01 1.34438476e-02 3.32954908e+02] [ 1.98825906e-02 -2.89948805e-04 9.99802280e-01 7.43116575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.352755096 meters 0.018839059243946313 Centerline is valid? [True, True] Translation: X:32.83, Y:332.94, Z:7.43 [[ 7.43949193e-01 6.68095395e-01 -1.37164672e-02 3.28288895e+01] [-6.67976918e-01 7.44075604e-01 1.25830709e-02 3.32937652e+02] [ 1.86127803e-02 -1.98881969e-04 9.99826747e-01 7.43298041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.382755096 meters 0.018305180690718518 Centerline is valid? [True, True] Translation: X:32.85, Y:332.92, Z:7.43 [[ 7.42753180e-01 6.69431848e-01 -1.33684312e-02 3.28508956e+01] [-6.69319564e-01 7.42873459e-01 1.22615152e-02 3.32918914e+02] [ 1.81393014e-02 -1.59526849e-04 9.99835457e-01 7.43375677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4127550960001 meters 0.017720061957810215 Centerline is valid? [True, True] Translation: X:32.87, Y:332.90, Z:7.43 [[ 7.41451408e-01 6.70875282e-01 -1.32727695e-02 3.28733934e+01] [-6.70764863e-01 7.41570186e-01 1.21719769e-02 3.32900149e+02] [ 1.80085685e-02 -1.22022002e-04 9.99837825e-01 7.43429324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.442755096 meters 0.01710396310377373 Centerline is valid? [True, True] Translation: X:32.90, Y:332.88, Z:7.44 [[ 7.39677894e-01 6.72840715e-01 -1.27273735e-02 3.28953969e+01] [-6.72739509e-01 7.39787380e-01 1.16698446e-02 3.32882663e+02] [ 1.72674969e-02 -6.97190285e-05 9.99850903e-01 7.43509321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.472755096 meters 0.016869067848544046 Centerline is valid? [True, True] Translation: X:32.92, Y:332.86, Z:7.44 [[ 7.39442143e-01 6.73110993e-01 -1.21205582e-02 3.29167943e+01] [-6.73019316e-01 7.39541471e-01 1.11091414e-02 3.32862876e+02] [ 1.64413406e-02 -5.71975696e-05 9.99864830e-01 7.43612588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.502755096 meters 0.016450231590756148 Centerline is valid? [True, True] Translation: X:32.94, Y:332.84, Z:7.44 [[ 7.39599329e-01 6.72945236e-01 -1.17278210e-02 3.29367313e+01] [-6.72859431e-01 7.39692305e-01 1.07461649e-02 3.32841977e+02] [ 1.59065594e-02 -5.66813980e-05 9.99873481e-01 7.43874080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.532755096 meters 0.01672509879903047 Centerline is valid? [True, True] Translation: X:32.96, Y:332.82, Z:7.44 [[ 7.40261537e-01 6.72222321e-01 -1.14020940e-02 3.29556161e+01] [-6.72141173e-01 7.40349341e-01 1.04449184e-02 3.32821952e+02] [ 1.54628401e-02 -6.81545305e-05 9.99880441e-01 7.43799485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.562755096 meters 0.01635960728132835 Centerline is valid? [True, True] Translation: X:32.98, Y:332.80, Z:7.44 [[ 7.40748893e-01 6.71685461e-01 -1.13894133e-02 3.29793354e+01] [-6.71604387e-01 7.40836442e-01 1.04361196e-02 3.32799204e+02] [ 1.54474822e-02 -8.13640550e-05 9.99880677e-01 7.44058662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.592755096 meters 0.016810825092542944 Centerline is valid? [True, True] Translation: X:33.00, Y:332.78, Z:7.44 [[ 7.42711081e-01 6.69516344e-01 -1.13187793e-02 3.29996859e+01] [-6.69435951e-01 7.42797313e-01 1.03759459e-02 3.32775919e+02] [ 1.53544243e-02 -1.29132204e-04 9.99882106e-01 7.44057020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.622755096 meters 0.016989816205414062 Centerline is valid? [True, True] Translation: X:33.02, Y:332.75, Z:7.44 [[ 7.43772676e-01 6.68336645e-01 -1.13284900e-02 3.30224341e+01] [-6.68255902e-01 7.43858928e-01 1.03897092e-02 3.32752988e+02] [ 1.53706219e-02 -1.57251526e-04 9.99881853e-01 7.44109634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.652755096 meters 0.01739033116655308 Centerline is valid? [True, True] Translation: X:33.04, Y:332.73, Z:7.44 [[ 7.45074844e-01 6.66888952e-01 -1.10726299e-02 3.30443389e+01] [-6.66811568e-01 7.45157092e-01 1.01607757e-02 3.32729792e+02] [ 1.50269577e-02 -1.87180637e-04 9.99887071e-01 7.44111956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.682755096 meters 0.018053900293327825 Centerline is valid? [True, True] Translation: X:33.07, Y:332.71, Z:7.44 [[ 7.46274043e-01 6.65543860e-01 -1.12437885e-02 3.30650067e+01] [-6.65463827e-01 7.46358708e-01 1.03234594e-02 3.32706542e+02] [ 1.52626145e-02 -2.21795309e-04 9.99883495e-01 7.44099509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.712755096 meters 0.018053900293327825 Centerline is valid? [True, True] Translation: X:33.09, Y:332.68, Z:7.44 [[ 7.46063480e-01 6.65779941e-01 -1.12407446e-02 3.30887799e+01] [-6.65699885e-01 7.46148123e-01 1.03267733e-02 3.32684490e+02] [ 1.52626190e-02 -2.21466048e-04 9.99883495e-01 7.44118785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.742755096 meters 0.019485158160895067 Centerline is valid? [True, True] Translation: X:33.11, Y:332.66, Z:7.44 [[ 7.48119733e-01 6.63469734e-01 -1.11703866e-02 3.31074167e+01] [-6.63390332e-01 7.48203073e-01 1.02678619e-02 3.32659065e+02] [ 1.51701332e-02 -2.71263641e-04 9.99884890e-01 7.44128587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.772755096 meters 0.021282300237319092 Centerline is valid? [True, True] Translation: X:33.13, Y:332.63, Z:7.44 [[ 7.48734420e-01 6.62773032e-01 -1.13435554e-02 3.31276303e+01] [-6.62690987e-01 7.48820287e-01 1.04323145e-02 3.32634823e+02] [ 1.54085411e-02 -2.93761034e-04 9.99881238e-01 7.44070486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.802755096 meters 0.01938830757291833 Centerline is valid? [True, True] Translation: X:33.15, Y:332.62, Z:7.44 [[ 7.48840735e-01 6.62639682e-01 -1.20915524e-02 3.31533513e+01] [-6.62546342e-01 7.48938281e-01 1.11263614e-02 3.32615425e+02] [ 1.64285950e-02 -3.20658800e-04 9.99864990e-01 7.44273215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.832755096 meters 0.01997367330678417 Centerline is valid? [True, True] Translation: X:33.18, Y:332.59, Z:7.44 [[ 7.48245330e-01 6.63309411e-01 -1.22291691e-02 3.31762980e+01] [-6.63213922e-01 7.48345193e-01 1.12590439e-02 3.32593788e+02] [ 1.66198696e-02 -3.13971801e-04 9.99861831e-01 7.44155070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.862755096 meters 0.019467604169695014 Centerline is valid? [True, True] Translation: X:33.20, Y:332.57, Z:7.44 [[ 7.47277190e-01 6.64394522e-01 -1.25188217e-02 3.32007452e+01] [-6.64294503e-01 7.47381983e-01 1.15319270e-02 3.32573584e+02] [ 1.70180909e-02 -3.01361543e-04 9.99855136e-01 7.44140568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.892755096 meters 0.018380351758241726 Centerline is valid? [True, True] Translation: X:33.23, Y:332.55, Z:7.44 [[ 7.45323915e-01 6.66575286e-01 -1.30250080e-02 3.32275200e+01] [-6.66467278e-01 7.45437669e-01 1.20020352e-02 3.32554473e+02] [ 1.77095917e-02 -2.64662225e-04 9.99843138e-01 7.44084579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9227550960001 meters 0.017813879093197264 Centerline is valid? [True, True] Translation: X:33.25, Y:332.53, Z:7.44 [[ 7.44047842e-01 6.68000922e-01 -1.29451754e-02 3.32527182e+01] [-6.67894359e-01 7.44160409e-01 1.19336160e-02 3.32533824e+02] [ 1.76049535e-02 -2.33171626e-04 9.99844994e-01 7.44117275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.952755096 meters 0.017265881765548365 Centerline is valid? [True, True] Translation: X:33.28, Y:332.52, Z:7.44 [[ 7.42659876e-01 6.69543275e-01 -1.29657677e-02 3.32762411e+01] [-6.69436579e-01 7.42773023e-01 1.19541995e-02 3.32515483e+02] [ 1.76344763e-02 -1.98145113e-04 9.99844481e-01 7.44121908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.982755096 meters 0.017060584563198613 Centerline is valid? [True, True] Translation: X:33.30, Y:332.49, Z:7.44 [[ 7.42113705e-01 6.70147979e-01 -1.29975403e-02 3.33010603e+01] [-6.70040768e-01 7.42227493e-01 1.19882645e-02 3.32493774e+02] [ 1.76810430e-02 -1.87773517e-04 9.99843661e-01 7.44190300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.012755096 meters 0.01746737672621 Centerline is valid? [True, True] Translation: X:33.32, Y:332.47, Z:7.44 [[ 7.42059529e-01 6.70218919e-01 -1.24199884e-02 3.33235961e+01] [-6.70120929e-01 7.42163437e-01 1.14618340e-02 3.32471767e+02] [ 1.68995992e-02 -1.82468957e-04 9.99857175e-01 7.44136656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0427550960001 meters 0.01736462486133709 Centerline is valid? [True, True] Translation: X:33.35, Y:332.45, Z:7.44 [[ 7.42526433e-01 6.69715175e-01 -1.16653320e-02 3.33451153e+01] [-6.69628656e-01 7.42618038e-01 1.07663042e-02 3.32452541e+02] [ 1.58732433e-02 -1.82824884e-04 9.99873995e-01 7.44334191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.072755096 meters 0.017221570585506236 Centerline is valid? [True, True] Translation: X:33.37, Y:332.43, Z:7.44 [[ 7.42708385e-01 6.69519678e-01 -1.12984536e-02 3.33688691e+01] [-6.69438447e-01 7.42794297e-01 1.04306393e-02 3.32430841e+02] [ 1.53759452e-02 -1.83304072e-04 9.99881766e-01 7.44453627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.102755096 meters 0.017789984876113284 Centerline is valid? [True, True] Translation: X:33.39, Y:332.41, Z:7.44 [[ 7.43505171e-01 6.68634351e-01 -1.13210349e-02 3.33906859e+01] [-6.68552654e-01 7.43591328e-01 1.04539611e-02 3.32409169e+02] [ 1.54081009e-02 -2.03866226e-04 9.99881267e-01 7.44452396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.132755096 meters 0.017560913328468722 Centerline is valid? [True, True] Translation: X:33.41, Y:332.39, Z:7.45 [[ 7.43735143e-01 6.68380409e-01 -1.12101019e-02 3.34147974e+01] [-6.68300213e-01 7.43819592e-01 1.03557167e-02 3.32387151e+02] [ 1.52598515e-02 -2.10196954e-04 9.99883540e-01 7.44530318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1627550960001 meters 0.018091377062048424 Centerline is valid? [True, True] Translation: X:33.44, Y:332.37, Z:7.44 [[ 7.44366042e-01 6.67679850e-01 -1.10821116e-02 3.34373144e+01] [-6.67601311e-01 7.44448498e-01 1.02432060e-02 3.32365682e+02] [ 1.50892436e-02 -2.26262501e-04 9.99886125e-01 7.44489279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.192755096 meters 0.018281932858243283 Centerline is valid? [True, True] Translation: X:33.46, Y:332.34, Z:7.45 [[ 7.44583657e-01 6.67434753e-01 -1.12262489e-02 3.34608413e+01] [-6.67354044e-01 7.44668244e-01 1.03819967e-02 3.32343605e+02] [ 1.52891364e-02 -2.38382443e-04 9.99883086e-01 7.44502164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.222755096 meters 0.018375715063271975 Centerline is valid? [True, True] Translation: X:33.48, Y:332.32, Z:7.45 [[ 7.44736639e-01 6.67268958e-01 -1.09305043e-02 3.34814485e+01] [-6.67192404e-01 7.44816811e-01 1.01101147e-02 3.32323811e+02] [ 1.48873890e-02 -2.36623433e-04 9.99889149e-01 7.44516947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.252755096 meters 0.01864115076027507 Centerline is valid? [True, True] Translation: X:33.50, Y:332.30, Z:7.45 [[ 7.45038466e-01 6.66941400e-01 -1.03369768e-02 3.35032401e+01] [-6.66872913e-01 7.45110137e-01 9.56038292e-03 3.32303316e+02] [ 1.40784014e-02 -2.29403198e-04 9.99900868e-01 7.44582569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.282755096 meters 0.018351838591380544 Centerline is valid? [True, True] Translation: X:33.53, Y:332.28, Z:7.45 [[ 7.45095712e-01 6.66881683e-01 -1.00599141e-02 3.35275448e+01] [-6.66816772e-01 7.45163586e-01 9.30717536e-03 3.32281413e+02] [ 1.37030664e-02 -2.26617034e-04 9.99906083e-01 7.44594199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.312755096 meters 0.018982660668116456 Centerline is valid? [True, True] Translation: X:33.55, Y:332.26, Z:7.45 [[ 7.44815483e-01 6.67201079e-01 -9.62375153e-03 3.35502355e+01] [-6.67141632e-01 7.44877623e-01 8.90895885e-03 3.32258477e+02] [ 1.31125841e-02 -2.15125189e-04 9.99914003e-01 7.44558236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.342755096 meters 0.018861642578584987 Centerline is valid? [True, True] Translation: X:33.57, Y:332.24, Z:7.45 [[ 7.44572772e-01 6.67474251e-01 -9.46103458e-03 3.35713575e+01] [-6.67416798e-01 7.44632850e-01 8.75994916e-03 3.32239445e+02] [ 1.28920376e-02 -2.07966217e-04 9.99916873e-01 7.44599184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.372755096 meters 0.017643682124779066 Centerline is valid? [True, True] Translation: X:33.60, Y:332.22, Z:7.45 [[ 7.43977722e-01 6.68139047e-01 -9.34684853e-03 3.35969230e+01] [-6.68082999e-01 7.44036408e-01 8.65623821e-03 3.32219340e+02] [ 1.27379664e-02 -1.95577795e-04 9.99918850e-01 7.44708854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.402755096 meters 0.01726232462608429 Centerline is valid? [True, True] Translation: X:33.62, Y:332.20, Z:7.45 [[ 7.43164809e-01 6.69049838e-01 -8.85329057e-03 3.36210743e+01] [-6.68999563e-01 7.43217522e-01 8.20368026e-03 3.32198580e+02] [ 1.20685916e-02 -1.73838950e-04 9.99927157e-01 7.44718792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.432755096 meters 0.016994233720987413 Centerline is valid? [True, True] Translation: X:33.64, Y:332.18, Z:7.45 [[ 7.41536265e-01 6.70853812e-01 -8.89559387e-03 3.36445137e+01] [-6.70803130e-01 7.41589604e-01 8.24740152e-03 3.32177710e+02] [ 1.21296807e-02 -1.48555107e-04 9.99926422e-01 7.44598180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.462755096 meters 0.016880953424263878 Centerline is valid? [True, True] Translation: X:33.67, Y:332.16, Z:7.45 [[ 7.40486502e-01 6.72005262e-01 -9.41638428e-03 3.36669918e+01] [-6.71948534e-01 7.40546358e-01 8.73266844e-03 3.32156967e+02] [ 1.28416682e-02 -1.39097490e-04 9.99917533e-01 7.44512683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.492755096 meters 0.01620816315534443 Centerline is valid? [True, True] Translation: X:33.69, Y:332.14, Z:7.44 [[ 7.38223002e-01 6.74477221e-01 -1.03575438e-02 3.36902172e+01] [-6.74408837e-01 7.38295651e-01 9.60479758e-03 3.32139089e+02] [ 1.41251467e-02 -1.05263408e-04 9.99900230e-01 7.44361514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.522755096 meters 0.015883962107343805 Centerline is valid? [True, True] Translation: X:33.71, Y:332.12, Z:7.44 [[ 7.36946176e-01 6.75865840e-01 -1.07564284e-02 3.37133641e+01] [-6.75792252e-01 7.37024668e-01 9.97357126e-03 3.32120208e+02] [ 1.46685492e-02 -8.08742083e-05 9.99892408e-01 7.44321897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.552755096 meters 0.015733365572453806 Centerline is valid? [True, True] Translation: X:33.73, Y:332.10, Z:7.44 [[ 7.35859021e-01 6.77054030e-01 -1.04566130e-02 3.37347204e+01] [-6.76984628e-01 7.35933310e-01 9.69415620e-03 3.32102318e+02] [ 1.42588373e-02 -5.45660478e-05 9.99898336e-01 7.44272160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.582755096 meters 0.015461811487851732 Centerline is valid? [True, True] Translation: X:33.76, Y:332.08, Z:7.44 [[ 7.33844055e-01 6.79248308e-01 -9.72824268e-03 3.37572067e+01] [-6.79188451e-01 7.33908534e-01 9.01737350e-03 3.32084652e+02] [ 1.32646760e-02 -1.00358616e-05 9.99912020e-01 7.44371274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.612755096 meters 0.01563147493956025 Centerline is valid? [True, True] Translation: X:33.78, Y:332.07, Z:7.44 [[ 7.32782785e-01 6.80394355e-01 -9.63906480e-03 3.37773769e+01] [-6.80335719e-01 7.32846179e-01 8.93242001e-03 3.32067228e+02] [ 1.31415200e-02 1.22764716e-05 9.99913646e-01 7.44362244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.642755096 meters 0.015667492539921914 Centerline is valid? [True, True] Translation: X:33.80, Y:332.05, Z:7.44 [[ 7.32616044e-01 6.80579649e-01 -9.22358091e-03 3.37975108e+01] [-6.80526003e-01 7.32674103e-01 8.54502671e-03 3.32048088e+02] [ 1.25734501e-02 1.66629930e-05 9.99920951e-01 7.44404249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6727550960001 meters 0.015829118714520016 Centerline is valid? [True, True] Translation: X:33.82, Y:332.03, Z:7.44 [[ 7.32739657e-01 6.80447733e-01 -9.13666705e-03 3.38169707e+01] [-6.80395110e-01 7.32796618e-01 8.46236256e-03 3.32028666e+02] [ 1.24535141e-02 1.58349438e-05 9.99922452e-01 7.44430861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.702755096 meters 0.015870955614427328 Centerline is valid? [True, True] Translation: X:33.84, Y:332.01, Z:7.45 [[ 7.33060005e-01 6.80110274e-01 -8.54666604e-03 3.38373206e+01] [-6.80064224e-01 7.33109825e-01 7.91427807e-03 3.32008011e+02] [ 1.16482267e-02 1.06410863e-05 9.99932157e-01 7.44504192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.732755096 meters 0.015971318413367786 Centerline is valid? [True, True] Translation: X:33.86, Y:331.99, Z:7.45 [[ 7.33945411e-01 6.79161263e-01 -8.00709581e-03 3.38571623e+01] [-6.79120799e-01 7.33989087e-01 7.41351832e-03 3.31986593e+02] [ 1.09120954e-02 -3.33244570e-06 9.99940461e-01 7.44541990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.762755096 meters 0.016165434217492645 Centerline is valid? [True, True] Translation: X:33.88, Y:331.97, Z:7.45 [[ 7.34667587e-01 6.78381395e-01 -7.88791799e-03 3.38768212e+01] [-6.78342097e-01 7.34709931e-01 7.30187925e-03 3.31966824e+02] [ 1.07487907e-02 -1.37471844e-05 9.99942230e-01 7.44544730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7927550960001 meters 0.016434645209575043 Centerline is valid? [True, True] Translation: X:33.90, Y:331.94, Z:7.45 [[ 7.36120692e-01 6.76814737e-01 -6.93827293e-03 3.38958858e+01] [-6.76784272e-01 7.36153388e-01 6.42168967e-03 3.31944788e+02] [ 9.45392733e-03 -3.14246451e-05 9.99955310e-01 7.44652435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.822755096 meters 0.01654446120059738 Centerline is valid? [True, True] Translation: X:33.91, Y:331.92, Z:7.45 [[ 7.36802536e-01 6.76074694e-01 -6.71050085e-03 3.39149412e+01] [-6.76046175e-01 7.36833093e-01 6.20986142e-03 3.31924357e+02] [ 9.14284926e-03 -3.88332100e-05 9.99958203e-01 7.44696932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.852755096 meters 0.01679766454213968 Centerline is valid? [True, True] Translation: X:33.93, Y:331.90, Z:7.45 [[ 7.37550417e-01 6.75261694e-01 -6.40523206e-03 3.39336407e+01] [-6.75235690e-01 7.37578228e-01 5.92627987e-03 3.31904247e+02] [ 8.72614950e-03 -4.58888993e-05 9.99961925e-01 7.44741502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.882755096 meters 0.017010997742165836 Centerline is valid? [True, True] Translation: X:33.96, Y:331.88, Z:7.45 [[ 7.38512819e-01 6.74216485e-01 -5.56303615e-03 3.39563214e+01] [-6.74196839e-01 7.38533770e-01 5.14712454e-03 3.31879878e+02] [ 7.57876627e-03 -5.06360601e-05 9.99971279e-01 7.44816715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9127550960001 meters 0.01721795803210589 Centerline is valid? [True, True] Translation: X:33.98, Y:331.86, Z:7.45 [[ 7.38710484e-01 6.74001067e-01 -5.42062607e-03 3.39785842e+01] [-6.73982385e-01 7.38730370e-01 5.01846961e-03 3.31856778e+02] [ 7.38683497e-03 -5.37896221e-05 9.99972716e-01 7.44844594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.942755096 meters 0.017275379630745328 Centerline is valid? [True, True] Translation: X:34.00, Y:331.83, Z:7.45 [[ 7.38858165e-01 6.73837483e-01 -5.62671965e-03 3.40026397e+01] [-6.73817324e-01 7.38879587e-01 5.21253238e-03 3.31834046e+02] [ 7.66986799e-03 -5.99409325e-05 9.99970584e-01 7.44849376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.972755096 meters 0.017679661547499465 Centerline is valid? [True, True] Translation: X:34.02, Y:331.81, Z:7.45 [[ 7.39223151e-01 6.73435918e-01 -5.76169357e-03 3.40249224e+01] [-6.73414741e-01 7.39245602e-01 5.34102222e-03 3.31810479e+02] [ 7.85614284e-03 -6.81978885e-05 9.99969138e-01 7.44742630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.002755096 meters 0.018156376933742533 Centerline is valid? [True, True] Translation: X:34.04, Y:331.79, Z:7.45 [[ 7.40121558e-01 6.72449070e-01 -5.68580500e-03 3.40444465e+01] [-6.72428395e-01 7.40143393e-01 5.27360175e-03 3.31786483e+02] [ 7.75453960e-03 -7.98096176e-05 9.99969930e-01 7.44766419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.032755096 meters 0.01824452695157364 Centerline is valid? [True, True] Translation: X:34.07, Y:331.76, Z:7.45 [[ 7.40477235e-01 6.72054715e-01 -5.99367695e-03 3.40671228e+01] [-6.72031705e-01 7.40501487e-01 5.56199818e-03 3.31763093e+02] [ 8.17629380e-03 -9.05920916e-05 9.99966569e-01 7.44778823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.062755096 meters 0.018689387277667332 Centerline is valid? [True, True] Translation: X:34.09, Y:331.74, Z:7.45 [[ 7.40677362e-01 6.71831938e-01 -6.23639630e-03 3.40891313e+01] [-6.71806986e-01 7.40703610e-01 5.79099837e-03 3.31739381e+02] [ 8.50989891e-03 -9.96067969e-05 9.99963785e-01 7.44751625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.092755096 meters 0.018903436079873485 Centerline is valid? [True, True] Translation: X:34.11, Y:331.72, Z:7.45 [[ 7.40599830e-01 6.71915231e-01 -6.46635662e-03 3.41125273e+01] [-6.71888376e-01 7.40628052e-01 6.00826240e-03 3.31715925e+02] [ 8.82620812e-03 -1.05048266e-04 9.99961043e-01 7.44693169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.122755096 meters 0.018705310350511355 Centerline is valid? [True, True] Translation: X:34.14, Y:331.69, Z:7.45 [[ 7.40293532e-01 6.72256021e-01 -6.10971370e-03 3.41363625e+01] [-6.72232030e-01 7.40318737e-01 5.68028763e-03 3.31692591e+02] [ 8.34174309e-03 -9.79349544e-05 9.99965202e-01 7.44783670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.152755096 meters 0.018749928516990682 Centerline is valid? [True, True] Translation: X:34.16, Y:331.67, Z:7.45 [[ 7.39727652e-01 6.72882048e-01 -5.72280761e-03 3.41598750e+01] [-6.72860993e-01 7.39749783e-01 5.32378596e-03 3.31669998e+02] [ 7.81572569e-03 -8.74976761e-05 9.99969453e-01 7.44878973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.182755096 meters 0.018585951149511677 Centerline is valid? [True, True] Translation: X:34.18, Y:331.65, Z:7.45 [[ 7.38643644e-01 6.74077689e-01 -4.98365316e-03 3.41819195e+01] [-6.74061732e-01 7.38660453e-01 4.63868789e-03 3.31647846e+02] [ 6.80806351e-03 -6.70474465e-05 9.99976823e-01 7.45023705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.212755096 meters 0.01851286485382312 Centerline is valid? [True, True] Translation: X:34.20, Y:331.63, Z:7.45 [[ 7.37787274e-01 6.75017534e-01 -4.61167250e-03 3.42043471e+01] [-6.75003875e-01 7.37801685e-01 4.29447372e-03 3.31625612e+02] [ 6.30134480e-03 -5.55112513e-05 9.99980145e-01 7.45081878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.242755096 meters 0.018261538235269322 Centerline is valid? [True, True] Translation: X:34.23, Y:331.60, Z:7.45 [[ 7.36634474e-01 6.76272932e-01 -4.95715709e-03 3.42280146e+01] [-6.76257162e-01 7.36651151e-01 4.61868555e-03 3.31603484e+02] [ 6.77518750e-03 -4.99700161e-05 9.99977047e-01 7.45095141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.272755096 meters 0.019007409835932222 Centerline is valid? [True, True] Translation: X:34.25, Y:331.58, Z:7.45 [[ 7.34404594e-01 6.78693275e-01 -5.03301982e-03 3.42507736e+01] [-6.78677057e-01 7.34421839e-01 4.69194006e-03 3.31582492e+02] [ 6.88074784e-03 -2.99872514e-05 9.99976327e-01 7.45012038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.302755096 meters 0.01785253346702041 Centerline is valid? [True, True] Translation: X:34.27, Y:331.56, Z:7.45 [[ 7.33228810e-01 6.79964357e-01 -4.89750866e-03 3.42729438e+01] [-6.79949016e-01 7.33245166e-01 4.56755374e-03 3.31562764e+02] [ 6.69684829e-03 -1.90057949e-05 9.99977576e-01 7.45195456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.332755096 meters 0.017935997670031067 Centerline is valid? [True, True] Translation: X:34.30, Y:331.54, Z:7.45 [[ 7.30866107e-01 6.82503351e-01 -4.88980808e-03 3.42970568e+01] [-6.82488115e-01 7.30882464e-01 4.56039022e-03 3.31540911e+02] [ 6.68635659e-03 4.20125497e-06 9.99977646e-01 7.45265208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.362755096 meters 0.018951861032156254 Centerline is valid? [True, True] Translation: X:34.32, Y:331.52, Z:7.45 [[ 7.30231905e-01 6.83181201e-01 -4.98118914e-03 3.43208118e+01] [-6.83165385e-01 7.30248894e-01 4.64858295e-03 3.31518070e+02] [ 6.81333234e-03 8.43241158e-06 9.99976789e-01 7.45178318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.392755096 meters 0.01902587842752319 Centerline is valid? [True, True] Translation: X:34.34, Y:331.50, Z:7.45 [[ 7.29404090e-01 6.84063952e-01 -5.11691486e-03 3.43445290e+01] [-6.84047263e-01 7.29422038e-01 4.77832390e-03 3.31495712e+02] [ 7.00106960e-03 1.48826074e-05 9.99975492e-01 7.45184484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4227550960001 meters 0.018242257623029418 Centerline is valid? [True, True] Translation: X:34.37, Y:331.47, Z:7.45 [[ 7.28707115e-01 6.84805644e-01 -5.21252317e-03 3.43680588e+01] [-6.84788324e-01 7.28725758e-01 4.87050413e-03 3.31473461e+02] [ 7.13384861e-03 2.03039938e-05 9.99974554e-01 7.45309645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.452755096 meters 0.019887620502173096 Centerline is valid? [True, True] Translation: X:34.39, Y:331.45, Z:7.45 [[ 7.28593171e-01 6.84923062e-01 -5.69129870e-03 3.43893930e+01] [-6.84902403e-01 7.28615399e-01 5.31963516e-03 3.31452977e+02] [ 7.79030867e-03 2.21343074e-05 9.99969655e-01 7.45081012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.482755096 meters 0.018313358076440415 Centerline is valid? [True, True] Translation: X:34.41, Y:331.43, Z:7.45 [[ 7.28619947e-01 6.84900153e-01 -4.97526570e-03 3.44096570e+01] [-6.84884365e-01 7.28636933e-01 4.65035497e-03 3.31434841e+02] [ 6.81019117e-03 1.91402990e-05 9.99976810e-01 7.45446372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.512755096 meters 0.01823693967797854 Centerline is valid? [True, True] Translation: X:34.43, Y:331.42, Z:7.46 [[ 7.29134768e-01 6.84353102e-01 -4.82925327e-03 3.44299788e+01] [-6.84338224e-01 7.29150761e-01 4.51259377e-03 3.31415291e+02] [ 6.60946124e-03 1.45535938e-05 9.99978157e-01 7.45571959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5427550960001 meters 0.01815290793380896 Centerline is valid? [True, True] Translation: X:34.45, Y:331.39, Z:7.46 [[ 7.29980651e-01 6.83452273e-01 -4.60867391e-03 3.44510073e+01] [-6.83438719e-01 7.29995199e-01 4.30428295e-03 3.31393467e+02] [ 6.30608180e-03 7.70292144e-06 9.99980116e-01 7.45652116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.572755096 meters 0.018104834535398993 Centerline is valid? [True, True] Translation: X:34.47, Y:331.37, Z:7.46 [[ 7.32065767e-01 6.81217128e-01 -4.78927314e-03 3.44736150e+01] [-6.81202442e-01 7.32081433e-01 4.47321676e-03 3.31369496e+02] [ 6.55336982e-03 -1.22243011e-05 9.99978526e-01 7.45684123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.602755096 meters 0.018213153487895636 Centerline is valid? [True, True] Translation: X:34.50, Y:331.35, Z:7.46 [[ 7.33068451e-01 6.80135846e-01 -5.08694755e-03 3.44973674e+01] [-6.80119229e-01 7.33086101e-01 4.75435442e-03 3.31346690e+02] [ 6.96277741e-03 -2.55363845e-05 9.99975759e-01 7.45670422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.632755096 meters 0.018213153487895636 Centerline is valid? [True, True] Translation: X:34.52, Y:331.32, Z:7.46 [[ 7.32850288e-01 6.80370924e-01 -5.08542190e-03 3.45209326e+01] [-6.80354302e-01 7.32867932e-01 4.75598583e-03 3.31324434e+02] [ 6.96277710e-03 -2.55369167e-05 9.99975759e-01 7.45689705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6627550960001 meters 0.018605250586233447 Centerline is valid? [True, True] Translation: X:34.54, Y:331.30, Z:7.46 [[ 7.35057895e-01 6.77980588e-01 -5.67574447e-03 3.45432836e+01] [-6.77959782e-01 7.35079805e-01 5.31167808e-03 3.31301303e+02] [ 7.77333976e-03 -5.64644188e-05 9.99969786e-01 7.45597275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.692755096 meters 0.018855277586285794 Centerline is valid? [True, True] Translation: X:34.57, Y:331.28, Z:7.46 [[ 7.35970241e-01 6.76984907e-01 -6.26412407e-03 3.45659263e+01] [-6.76959498e-01 7.35996895e-01 5.86583315e-03 3.31279022e+02] [ 8.58145638e-03 -7.65203539e-05 9.99963176e-01 7.45532052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.722755096 meters 0.019429392112765943 Centerline is valid? [True, True] Translation: X:34.59, Y:331.26, Z:7.46 [[ 7.37236507e-01 6.75606239e-01 -6.20832223e-03 3.45884806e+01] [-6.75581204e-01 7.37262641e-01 5.81681381e-03 3.31256746e+02] [ 8.50703974e-03 -9.41416803e-05 9.99963810e-01 7.45524972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.752755096 meters 0.020929070919016964 Centerline is valid? [True, True] Translation: X:34.61, Y:331.23, Z:7.45 [[ 7.40506749e-01 6.72013958e-01 -6.85529650e-03 3.46093779e+01] [-6.71983245e-01 7.40538464e-01 6.42669548e-03 3.31234041e+02] [ 9.39543981e-03 -1.52366991e-04 9.99955850e-01 7.45489500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.782755096 meters 0.02180875515209731 Centerline is valid? [True, True] Translation: X:34.63, Y:331.21, Z:7.46 [[ 7.42283219e-01 6.70049955e-01 -6.97709762e-03 3.46317004e+01] [-6.70018020e-01 7.42315987e-01 6.54437499e-03 3.31211384e+02] [ 9.56426928e-03 -1.82998599e-04 9.99954245e-01 7.45524036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.812755096 meters 0.02389437912360993 Centerline is valid? [True, True] Translation: X:34.65, Y:331.19, Z:7.46 [[ 7.46285572e-01 6.65587616e-01 -7.13938083e-03 3.46526273e+01] [-6.65553948e-01 7.46319680e-01 6.69910717e-03 3.31188137e+02] [ 9.78710319e-03 -2.47803920e-04 9.99952074e-01 7.45602548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.842755096 meters 0.025294119654186792 Centerline is valid? [True, True] Translation: X:34.67, Y:331.17, Z:7.46 [[ 7.48042443e-01 6.63614920e-01 -6.90958686e-03 3.46739676e+01] [-6.63583285e-01 7.48074306e-01 6.48503770e-03 3.31165046e+02] [ 9.47245217e-03 -2.65997094e-04 9.99955100e-01 7.45704029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.872755096 meters 0.026450688033610142 Centerline is valid? [True, True] Translation: X:34.70, Y:331.14, Z:7.46 [[ 7.49696534e-01 6.61747284e-01 -6.75574034e-03 3.46963590e+01] [-6.61716936e-01 7.49726918e-01 6.34393212e-03 3.31141507e+02] [ 9.26304023e-03 -2.85636121e-04 9.99957056e-01 7.45846929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.902755096 meters 0.027110988556065762 Centerline is valid? [True, True] Translation: X:34.72, Y:331.12, Z:7.46 [[ 7.52317924e-01 6.58770247e-01 -6.28518652e-03 3.47199378e+01] [-6.58743855e-01 7.52344118e-01 5.90443923e-03 3.31119625e+02] [ 8.61829199e-03 -3.01687469e-04 9.99962816e-01 7.45989636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.932755096 meters 0.0283284031486458 Centerline is valid? [True, True] Translation: X:34.74, Y:331.10, Z:7.46 [[ 7.52900131e-01 6.58104223e-01 -6.34230935e-03 3.47418053e+01] [-6.58077311e-01 7.52926779e-01 5.95975524e-03 3.31097764e+02] [ 8.69743464e-03 -3.13370621e-04 9.99962128e-01 7.45995789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.962755096 meters 0.02846005701024463 Centerline is valid? [True, True] Translation: X:34.77, Y:331.08, Z:7.46 [[ 7.53207296e-01 6.57751858e-01 -6.42351437e-03 3.47658612e+01] [-6.57724212e-01 7.53234617e-01 6.03931680e-03 3.31076968e+02] [ 8.81078523e-03 -3.23956548e-04 9.99961132e-01 7.46037949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.992755096 meters 0.029998183947278635 Centerline is valid? [True, True] Translation: X:34.79, Y:331.05, Z:7.46 [[ 7.52713301e-01 6.58318380e-01 -6.29258755e-03 3.47874321e+01] [-6.58291844e-01 7.52739538e-01 5.91903438e-03 3.31054318e+02] [ 8.63328857e-03 -3.12976842e-04 9.99962684e-01 7.46037221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.022755096 meters 0.02966610967015731 Centerline is valid? [True, True] Translation: X:34.81, Y:331.03, Z:7.46 [[ 7.51809365e-01 6.59351069e-01 -6.23264145e-03 3.48113091e+01] [-6.59325053e-01 7.51835140e-01 5.86487886e-03 3.31033454e+02] [ 8.55293300e-03 -2.99934195e-04 9.99963378e-01 7.46047226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.052755096 meters 0.0276867996349999 Centerline is valid? [True, True] Translation: X:34.84, Y:331.01, Z:7.46 [[ 7.50101956e-01 6.61292968e-01 -6.21829921e-03 3.48382757e+01] [-6.61267111e-01 7.50127678e-01 5.85451591e-03 3.31014966e+02] [ 8.53606855e-03 -2.79527076e-04 9.99963528e-01 7.46138044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.082755096 meters 0.026600472182283282 Centerline is valid? [True, True] Translation: X:34.86, Y:330.99, Z:7.46 [[ 7.48829908e-01 6.62734202e-01 -6.09480299e-03 3.48629161e+01] [-6.62709384e-01 7.48854665e-01 5.74135419e-03 3.30994739e+02] [ 8.36911344e-03 -2.60214588e-04 9.99964945e-01 7.46232448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.112755096 meters 0.02561818444879534 Centerline is valid? [True, True] Translation: X:34.89, Y:330.98, Z:7.46 [[ 7.46692261e-01 6.65146768e-01 -5.51772305e-03 3.48881348e+01] [-6.65126476e-01 7.46712617e-01 5.19992296e-03 3.30975343e+02] [ 7.57886537e-03 -2.12758549e-04 9.99971257e-01 7.46464494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.142755096 meters 0.025053338774539177 Centerline is valid? [True, True] Translation: X:34.91, Y:330.96, Z:7.46 [[ 7.45324072e-01 6.66679889e-01 -5.47302172e-03 3.49128905e+01] [-6.66659957e-01 7.45344140e-01 5.15888338e-03 3.30955298e+02] [ 7.51860847e-03 -1.96395544e-04 9.99971716e-01 7.46490666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1727550960001 meters 0.02495072598957833 Centerline is valid? [True, True] Translation: X:34.94, Y:330.93, Z:7.47 [[ 7.44301171e-01 6.67820351e-01 -5.63428167e-03 3.49366659e+01] [-6.67799237e-01 7.44322471e-01 5.31390062e-03 3.30934529e+02] [ 7.74245344e-03 -1.92573458e-04 9.99970008e-01 7.46503352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.202755096 meters 0.025526599710369743 Centerline is valid? [True, True] Translation: X:34.96, Y:330.91, Z:7.46 [[ 7.43033620e-01 6.69230720e-01 -5.59310508e-03 3.49610678e+01] [-6.69209931e-01 7.43054649e-01 5.27794797e-03 3.30914137e+02] [ 7.68814765e-03 -1.78731321e-04 9.99970430e-01 7.46416894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.232755096 meters 0.023986837228234317 Centerline is valid? [True, True] Translation: X:34.99, Y:330.89, Z:7.47 [[ 7.42900043e-01 6.69381661e-01 -5.26474145e-03 3.49860314e+01] [-6.69363226e-01 7.42918679e-01 4.97073501e-03 3.30892990e+02] [ 7.23859362e-03 -1.68734932e-04 9.99973787e-01 7.46714891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.262755096 meters 0.02466262197922797 Centerline is valid? [True, True] Translation: X:35.01, Y:330.87, Z:7.47 [[ 7.42986706e-01 6.69281473e-01 -5.75020353e-03 3.50091441e+01] [-6.69259450e-01 7.43008933e-01 5.43272327e-03 3.30870697e+02] [ 7.90847362e-03 -1.88063120e-04 9.99968710e-01 7.46733943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2927550960001 meters 0.024916094086618455 Centerline is valid? [True, True] Translation: X:35.03, Y:330.85, Z:7.47 [[ 7.43218565e-01 6.69018926e-01 -6.31204144e-03 3.50322591e+01] [-6.68992347e-01 7.43245337e-01 5.96721615e-03 3.30848507e+02] [ 8.68357591e-03 -2.12238406e-04 9.99962275e-01 7.46746845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.322755096 meters 0.025333174368433294 Centerline is valid? [True, True] Translation: X:35.06, Y:330.83, Z:7.47 [[ 7.43331126e-01 6.68894075e-01 -6.28917711e-03 3.50557083e+01] [-6.68867655e-01 7.43357700e-01 5.94896267e-03 3.30825326e+02] [ 8.65433411e-03 -2.15421967e-04 9.99962527e-01 7.46801453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.352755096 meters 0.025434782675867636 Centerline is valid? [True, True] Translation: X:35.08, Y:330.80, Z:7.47 [[ 7.43264257e-01 6.68964686e-01 -6.67035511e-03 3.50798202e+01] [-6.68934932e-01 7.43294152e-01 6.31356591e-03 3.30802492e+02] [ 9.18158858e-03 -2.30614340e-04 9.99957822e-01 7.46872116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.382755096 meters 0.02553689761511549 Centerline is valid? [True, True] Translation: X:35.10, Y:330.78, Z:7.47 [[ 7.43103161e-01 6.69148831e-01 -6.12654195e-03 3.51046159e+01] [-6.69123709e-01 7.43128385e-01 5.80221136e-03 3.30780885e+02] [ 8.43535017e-03 -2.12227130e-04 9.99964399e-01 7.46968283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4127550960001 meters 0.025781223082320448 Centerline is valid? [True, True] Translation: X:35.13, Y:330.76, Z:7.47 [[ 7.43211545e-01 6.69030624e-01 -5.88425404e-03 3.51285302e+01] [-6.69007418e-01 7.43234809e-01 5.57608767e-03 3.30758884e+02] [ 8.10395584e-03 -2.07603127e-04 9.99967141e-01 7.47020336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.442755096 meters 0.02678010316222469 Centerline is valid? [True, True] Translation: X:35.15, Y:330.74, Z:7.47 [[ 7.43268405e-01 6.68962178e-01 -6.45624794e-03 3.51510815e+01] [-6.68934204e-01 7.43296409e-01 6.12205456e-03 3.30736524e+02] [ 8.89432886e-03 -2.31524651e-04 9.99960418e-01 7.47049962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.472755096 meters 0.025804143727138018 Centerline is valid? [True, True] Translation: X:35.18, Y:330.72, Z:7.47 [[ 7.42905072e-01 6.69364605e-01 -6.56346997e-03 3.51764638e+01] [-6.69335677e-01 7.42934029e-01 6.22743843e-03 3.30715958e+02] [ 9.04465205e-03 -2.33230985e-04 9.99959069e-01 7.47105972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.502755096 meters 0.024739758944420598 Centerline is valid? [True, True] Translation: X:35.20, Y:330.70, Z:7.47 [[ 7.41682963e-01 6.70712714e-01 -7.13005460e-03 3.52020697e+01] [-6.70678595e-01 7.41717196e-01 6.76926119e-03 3.30696192e+02] [ 9.82871365e-03 -2.38670692e-04 9.99951669e-01 7.47179130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.532755096 meters 0.024885832968595038 Centerline is valid? [True, True] Translation: X:35.22, Y:330.67, Z:7.47 [[ 7.40673990e-01 6.71825993e-01 -7.20246499e-03 3.52249642e+01] [-6.71791194e-01 7.40708973e-01 6.84170903e-03 3.30674600e+02] [ 9.93136841e-03 -2.28923373e-04 9.99950657e-01 7.47198264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.562755096 meters 0.025136455982451324 Centerline is valid? [True, True] Translation: X:35.25, Y:330.65, Z:7.47 [[ 7.39526188e-01 6.73083350e-01 -7.73445287e-03 3.52502772e+01] [-6.73043246e-01 7.39566597e-01 7.35109495e-03 3.30654195e+02] [ 1.06680426e-02 -2.30705965e-04 9.99943068e-01 7.46995972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.592755096 meters 0.02310656527842623 Centerline is valid? [True, True] Translation: X:35.28, Y:330.64, Z:7.47 [[ 7.36886678e-01 6.75965862e-01 -8.25695975e-03 3.52766027e+01] [-6.75920285e-01 7.36932908e-01 7.85217760e-03 3.30635169e+02] [ 1.13926294e-02 -2.05118479e-04 9.99935081e-01 7.47266340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.622755096 meters 0.022822245183211805 Centerline is valid? [True, True] Translation: X:35.30, Y:330.62, Z:7.47 [[ 7.35970616e-01 6.76960610e-01 -8.46083336e-03 3.52996707e+01] [-6.76912793e-01 7.36019222e-01 8.04835511e-03 3.30615766e+02] [ 1.16757554e-02 -1.96106527e-04 9.99931817e-01 7.47314164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.652755096 meters 0.022190824220042895 Centerline is valid? [True, True] Translation: X:35.32, Y:330.60, Z:7.47 [[ 7.34058526e-01 6.79027704e-01 -8.91387287e-03 3.53249710e+01] [-6.78974751e-01 7.34112626e-01 8.48174823e-03 3.30595521e+02] [ 1.23031286e-02 -1.73804994e-04 9.99924299e-01 7.47386317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.682755096 meters 0.022485614299659982 Centerline is valid? [True, True] Translation: X:35.35, Y:330.58, Z:7.47 [[ 7.33663137e-01 6.79448751e-01 -9.36995269e-03 3.53460186e+01] [-6.79390247e-01 7.33722947e-01 8.91791473e-03 3.30575029e+02] [ 1.29342153e-02 -1.76890824e-04 9.99916334e-01 7.47411871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.712755096 meters 0.022120308141987878 Centerline is valid? [True, True] Translation: X:35.37, Y:330.55, Z:7.48 [[ 7.33159278e-01 6.79994641e-01 -9.20659206e-03 3.53696649e+01] [-6.79938171e-01 7.33217063e-01 8.76487891e-03 3.30553734e+02] [ 1.27105011e-02 -1.66138927e-04 9.99919205e-01 7.47503342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.742755096 meters 0.02215161406112253 Centerline is valid? [True, True] Translation: X:35.39, Y:330.53, Z:7.48 [[ 7.32599576e-01 6.80598362e-01 -9.15039823e-03 3.53913352e+01] [-6.80542598e-01 7.32656703e-01 8.71364261e-03 3.30532977e+02] [ 1.26345915e-02 -1.56375099e-04 9.99920168e-01 7.47624325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.772755096 meters 0.022019208679240686 Centerline is valid? [True, True] Translation: X:35.41, Y:330.51, Z:7.48 [[ 7.32445296e-01 6.80764229e-01 -9.16261179e-03 3.54124027e+01] [-6.80708338e-01 7.32502588e-01 8.72454895e-03 3.30513876e+02] [ 1.26509977e-02 -1.53188595e-04 9.99919961e-01 7.47725872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.802755096 meters 0.0218721306423229 Centerline is valid? [True, True] Translation: X:35.44, Y:330.49, Z:7.48 [[ 7.32023471e-01 6.81225921e-01 -8.53707459e-03 3.54370318e+01] [-6.81177413e-01 7.32073238e-01 8.13058028e-03 3.30492896e+02] [ 1.17885259e-02 -1.36513212e-04 9.99930504e-01 7.47940667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.832755096 meters 0.021899576443471524 Centerline is valid? [True, True] Translation: X:35.46, Y:330.47, Z:7.48 [[ 7.31861186e-01 6.81400141e-01 -8.54706076e-03 3.54607927e+01] [-6.81351478e-01 7.31911080e-01 8.14463811e-03 3.30470686e+02] [ 1.18054460e-02 -1.37192026e-04 9.99930304e-01 7.47997881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.862755096 meters 0.022962545575655587 Centerline is valid? [True, True] Translation: X:35.48, Y:330.45, Z:7.48 [[ 7.32130902e-01 6.81110501e-01 -8.53398511e-03 3.54817211e+01] [-6.81061937e-01 7.32180624e-01 8.13462585e-03 3.30450158e+02] [ 1.17889976e-02 -1.43438532e-04 9.99930497e-01 7.47808393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.892755096 meters 0.02222507863087445 Centerline is valid? [True, True] Translation: X:35.50, Y:330.43, Z:7.48 [[ 7.32680945e-01 6.80517911e-01 -8.60267895e-03 3.55042188e+01] [-6.80468492e-01 7.32731430e-01 8.20258246e-03 3.30427410e+02] [ 1.18854575e-02 -1.56023893e-04 9.99929353e-01 7.48141313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9227550960001 meters 0.022674115642333677 Centerline is valid? [True, True] Translation: X:35.53, Y:330.40, Z:7.48 [[ 7.33405146e-01 6.79740019e-01 -8.39041866e-03 3.55272287e+01] [-6.79692906e-01 7.33453120e-01 8.00465918e-03 3.30404744e+02] [ 1.15950659e-02 -1.67750193e-04 9.99932761e-01 7.48142044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.952755096 meters 0.023588072863343468 Centerline is valid? [True, True] Translation: X:35.55, Y:330.38, Z:7.48 [[ 7.34692393e-01 6.78341685e-01 -8.92442146e-03 3.55479619e+01] [-6.78288222e-01 7.34746566e-01 8.51890717e-03 3.30381098e+02] [ 1.23359179e-02 -2.05446338e-04 9.99923889e-01 7.48146662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.982755096 meters 0.02340603320760446 Centerline is valid? [True, True] Translation: X:35.57, Y:330.36, Z:7.48 [[ 7.35338074e-01 6.77637384e-01 -9.24619750e-03 3.55716733e+01] [-6.77579878e-01 7.35396167e-01 8.83093298e-03 3.30359323e+02] [ 1.27837885e-02 -2.28683871e-04 9.99918258e-01 7.48191763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.012755096 meters 0.024446008705078785 Centerline is valid? [True, True] Translation: X:35.59, Y:330.34, Z:7.48 [[ 7.36056974e-01 6.76856200e-01 -9.26362106e-03 3.55924455e+01] [-6.76798355e-01 7.36115225e-01 8.85231917e-03 3.30336184e+02] [ 1.28108396e-02 -2.46207776e-04 9.99917908e-01 7.48130440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0427550960001 meters 0.024427825549763166 Centerline is valid? [True, True] Translation: X:35.62, Y:330.31, Z:7.48 [[ 7.37540227e-01 6.75239772e-01 -9.25542568e-03 3.56155932e+01] [-6.75181841e-01 7.37598246e-01 8.84925073e-03 3.30314052e+02] [ 1.28021518e-02 -2.77583054e-04 9.99918011e-01 7.48265548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.072755096 meters 0.02513281967552293 Centerline is valid? [True, True] Translation: X:35.64, Y:330.29, Z:7.48 [[ 7.38387971e-01 6.74312557e-01 -9.26171289e-03 3.56370453e+01] [-6.74254426e-01 7.38445995e-01 8.85898607e-03 3.30290996e+02] [ 1.28130003e-02 -2.96617839e-04 9.99917866e-01 7.48252972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.102755096 meters 0.026029581963234502 Centerline is valid? [True, True] Translation: X:35.66, Y:330.27, Z:7.48 [[ 7.39638939e-01 6.72931362e-01 -9.88038646e-03 3.56582907e+01] [-6.72865023e-01 7.39704849e-01 9.45500996e-03 3.30267060e+02] [ 1.36711425e-02 -3.45127070e-04 9.99906486e-01 7.48233689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.132755096 meters 0.027306587292922527 Centerline is valid? [True, True] Translation: X:35.68, Y:330.24, Z:7.48 [[ 7.40332974e-01 6.72157892e-01 -1.05287965e-02 3.56789184e+01] [-6.72082410e-01 7.40407738e-01 1.00804684e-02 3.30244350e+02] [ 1.45712688e-02 -3.86684277e-04 9.99893759e-01 7.48068927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1627550960001 meters 0.026887518652007947 Centerline is valid? [True, True] Translation: X:35.70, Y:330.22, Z:7.48 [[ 7.40409682e-01 6.72066038e-01 -1.09883557e-02 3.57015833e+01] [-6.71983731e-01 7.40491103e-01 1.05257799e-02 3.30221198e+02] [ 1.52107988e-02 -4.09393059e-04 9.99884225e-01 7.48214346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.192755096 meters 0.02766347358876108 Centerline is valid? [True, True] Translation: X:35.72, Y:330.20, Z:7.48 [[ 7.41194799e-01 6.71194567e-01 -1.13191908e-02 3.57226866e+01] [-6.71107087e-01 7.41281093e-01 1.08452375e-02 3.30199018e+02] [ 1.56699666e-02 -4.42044446e-04 9.99877121e-01 7.48211478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.222755096 meters 0.028837985175343136 Centerline is valid? [True, True] Translation: X:35.74, Y:330.18, Z:7.48 [[ 7.41647240e-01 6.70696396e-01 -1.12122937e-02 3.57436281e+01] [-6.70610510e-01 7.41731854e-01 1.07424669e-02 3.30178319e+02] [ 1.55214492e-02 -4.48038981e-04 9.99879435e-01 7.47984906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.252755096 meters 0.028389178806045134 Centerline is valid? [True, True] Translation: X:35.76, Y:330.16, Z:7.48 [[ 7.41586708e-01 6.70758008e-01 -1.15260249e-02 3.57631534e+01] [-6.70667281e-01 7.41676132e-01 1.10414210e-02 3.30158549e+02] [ 1.59546992e-02 -4.58043248e-04 9.99872611e-01 7.48170423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.282755096 meters 0.029731539084270057 Centerline is valid? [True, True] Translation: X:35.78, Y:330.14, Z:7.48 [[ 7.41779061e-01 6.70542871e-01 -1.16654356e-02 3.57839612e+01] [-6.70449940e-01 7.41870635e-01 1.11731297e-02 3.30137861e+02] [ 1.61463066e-02 -4.66903075e-04 9.99869531e-01 7.47859218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.312755096 meters 0.028449868326918867 Centerline is valid? [True, True] Translation: X:35.80, Y:330.12, Z:7.48 [[ 7.41109010e-01 6.71270954e-01 -1.23588973e-02 3.58034728e+01] [-6.71166784e-01 7.41211899e-01 1.18350415e-02 3.30118645e+02] [ 1.71050813e-02 -4.76174521e-04 9.99853584e-01 7.48076820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.342755096 meters 0.028348255541729206 Centerline is valid? [True, True] Translation: X:35.82, Y:330.10, Z:7.48 [[ 7.40267633e-01 6.72190672e-01 -1.27879542e-02 3.58236473e+01] [-6.72079317e-01 7.40377931e-01 1.22438201e-02 3.30098799e+02] [ 1.76981007e-02 -4.69184231e-04 9.99843266e-01 7.48030871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.372755096 meters 0.027952529856316712 Centerline is valid? [True, True] Translation: X:35.84, Y:330.08, Z:7.48 [[ 7.39821042e-01 6.72682353e-01 -1.27780378e-02 3.58447926e+01] [-6.72571275e-01 7.39931243e-01 1.22325374e-02 3.30079650e+02] [ 1.76834814e-02 -4.55747398e-04 9.99843531e-01 7.48065037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.402755096 meters 0.02584792310130784 Centerline is valid? [True, True] Translation: X:35.87, Y:330.06, Z:7.48 [[ 7.39108428e-01 6.73468275e-01 -1.26180284e-02 3.58707846e+01] [-6.73360010e-01 7.39216000e-01 1.20831521e-02 3.30060027e+02] [ 1.74650681e-02 -4.34283875e-04 9.99847380e-01 7.48225381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.432755096 meters 0.02804271289529348 Centerline is valid? [True, True] Translation: X:35.89, Y:330.04, Z:7.48 [[ 7.38106392e-01 6.74558404e-01 -1.30351373e-02 3.58916317e+01] [-6.74442943e-01 7.38221362e-01 1.24875175e-02 3.30036547e+02] [ 1.80463767e-02 -4.25660163e-04 9.99837060e-01 7.47888350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.462755096 meters 0.02603660047014656 Centerline is valid? [True, True] Translation: X:35.92, Y:330.02, Z:7.48 [[ 7.37548359e-01 6.75161906e-01 -1.33723208e-02 3.59159395e+01] [-6.75040469e-01 7.37669454e-01 1.28118456e-02 3.30018528e+02] [ 1.85144227e-02 -4.22497962e-04 9.99828504e-01 7.47995330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.492755096 meters 0.026291380097612962 Centerline is valid? [True, True] Translation: X:35.93, Y:330.00, Z:7.48 [[ 7.35973647e-01 6.76876276e-01 -1.34647051e-02 3.59342689e+01] [-6.76753459e-01 7.36096707e-01 1.28993442e-02 3.29996774e+02] [ 1.86425851e-02 -3.81291702e-04 9.99826139e-01 7.48030567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.522755096 meters 0.026291380097612962 Centerline is valid? [True, True] Translation: X:35.95, Y:329.98, Z:7.48 [[ 7.36165032e-01 6.76668068e-01 -1.34674288e-02 3.59543162e+01] [-6.76545269e-01 7.36288109e-01 1.28965003e-02 3.29977833e+02] [ 1.86425576e-02 -3.82627260e-04 9.99826139e-01 7.48046910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.552755096 meters 0.024413795484350128 Centerline is valid? [True, True] Translation: X:35.98, Y:329.96, Z:7.48 [[ 7.35576230e-01 6.77311757e-01 -1.32813230e-02 3.59771910e+01] [-6.77192500e-01 7.35696035e-01 1.27146791e-02 3.29960538e+02] [ 1.83828183e-02 -3.58603391e-04 9.99830957e-01 7.48257368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.582755096 meters 0.024066109054338165 Centerline is valid? [True, True] Translation: X:36.00, Y:329.94, Z:7.48 [[ 7.35268538e-01 6.77648587e-01 -1.31365744e-02 3.59989346e+01] [-6.77532004e-01 7.35385799e-01 1.25741801e-02 3.29941041e+02] [ 1.81813256e-02 -3.44949467e-04 9.99834647e-01 7.48288165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.612755096 meters 0.02402573715872491 Centerline is valid? [True, True] Translation: X:36.02, Y:329.92, Z:7.48 [[ 7.35036260e-01 6.77895720e-01 -1.33824269e-02 3.60188582e+01] [-6.77774816e-01 7.35157993e-01 1.28071994e-02 3.29921839e+02] [ 1.85201437e-02 -3.43484050e-04 9.99828428e-01 7.48249118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.642755096 meters 0.024024624825547364 Centerline is valid? [True, True] Translation: X:36.04, Y:329.90, Z:7.48 [[ 7.34986515e-01 6.77947733e-01 -1.34794084e-02 3.60391257e+01] [-6.77825118e-01 7.35110028e-01 1.28978830e-02 3.29901273e+02] [ 1.86529388e-02 -3.43088507e-04 9.99825960e-01 7.48275361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6727550960001 meters 0.023371057493514952 Centerline is valid? [True, True] Translation: X:36.06, Y:329.88, Z:7.48 [[ 7.34823903e-01 6.78126884e-01 -1.33327189e-02 3.60630380e+01] [-6.78006863e-01 7.34944770e-01 1.27623953e-02 3.29878635e+02] [ 1.84533354e-02 -3.38438262e-04 9.99829665e-01 7.48438652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.702755096 meters 0.02431059169624488 Centerline is valid? [True, True] Translation: X:36.09, Y:329.86, Z:7.48 [[ 7.35000484e-01 6.77928218e-01 -1.36974452e-02 3.60855646e+01] [-6.77801360e-01 7.35128018e-01 1.31191864e-02 3.29855626e+02] [ 1.89632424e-02 -3.58461378e-04 9.99820117e-01 7.48231557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.732755096 meters 0.02340273629271585 Centerline is valid? [True, True] Translation: X:36.11, Y:329.83, Z:7.48 [[ 7.34162497e-01 6.78823077e-01 -1.43058657e-02 3.61079361e+01] [-6.78684701e-01 7.34301779e-01 1.37103392e-02 3.29831719e+02] [ 1.98117172e-02 -3.56444673e-04 9.99803665e-01 7.48362325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.762755096 meters 0.02426179424320165 Centerline is valid? [True, True] Translation: X:36.13, Y:329.81, Z:7.48 [[ 7.33604018e-01 6.79418246e-01 -1.46966429e-02 3.61283021e+01] [-6.79272168e-01 7.33751130e-01 1.40925617e-02 3.29807795e+02] [ 2.03584219e-02 -3.55339417e-04 9.99792683e-01 7.48174619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7927550960001 meters 0.023045729667051876 Centerline is valid? [True, True] Translation: X:36.15, Y:329.79, Z:7.48 [[ 7.33173022e-01 6.79881166e-01 -1.47959566e-02 3.61507348e+01] [-6.79733191e-01 7.33322222e-01 1.41883311e-02 3.29789187e+02] [ 2.04965828e-02 -3.45198818e-04 9.99789863e-01 7.48294621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.822755096 meters 0.02309205224671341 Centerline is valid? [True, True] Translation: X:36.17, Y:329.77, Z:7.48 [[ 7.32935730e-01 6.80129867e-01 -1.51188612e-02 3.61716105e+01] [-6.79975462e-01 7.33091567e-01 1.44957374e-02 3.29769744e+02] [ 2.09424936e-02 -3.43989282e-04 9.99780623e-01 7.48177021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.852755096 meters 0.02270243420106149 Centerline is valid? [True, True] Translation: X:36.19, Y:329.75, Z:7.48 [[ 7.32519616e-01 6.80563305e-01 -1.57670507e-02 3.61926717e+01] [-6.80395526e-01 7.32689204e-01 1.51148588e-02 3.29750217e+02] [ 2.18389661e-02 -3.44099865e-04 9.99761442e-01 7.48040799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.882755096 meters 0.0241698101327681 Centerline is valid? [True, True] Translation: X:36.21, Y:329.73, Z:7.48 [[ 7.32739216e-01 6.80338744e-01 -1.52458290e-02 3.62120774e+01] [-6.80181882e-01 7.32897728e-01 1.46125781e-02 3.29729839e+02] [ 2.11151365e-02 -3.37272361e-04 9.99776994e-01 7.47801588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9127550960001 meters 0.022697298913694115 Centerline is valid? [True, True] Translation: X:36.23, Y:329.71, Z:7.48 [[ 7.32286955e-01 6.80833559e-01 -1.48822286e-02 3.62320848e+01] [-6.80684240e-01 7.32438098e-01 1.42617966e-02 3.29708840e+02] [ 2.06102209e-02 -3.13629172e-04 9.99787538e-01 7.48130082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.942755096 meters 0.022514114205475323 Centerline is valid? [True, True] Translation: X:36.25, Y:329.69, Z:7.48 [[ 7.32082017e-01 6.81062040e-01 -1.45058144e-02 3.62510169e+01] [-6.80920273e-01 7.32225655e-01 1.38986635e-02 3.29688684e+02] [ 2.00873815e-02 -2.97658497e-04 9.99798184e-01 7.48173149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.972755096 meters 0.021633479741363468 Centerline is valid? [True, True] Translation: X:36.28, Y:329.67, Z:7.48 [[ 7.31763025e-01 6.81405182e-01 -1.44863036e-02 3.62755096e+01] [-6.81263755e-01 7.31906341e-01 1.38853988e-02 3.29667334e+02] [ 2.00642002e-02 -2.91827881e-04 9.99798651e-01 7.48274154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.002755096 meters 0.021202077242770737 Centerline is valid? [True, True] Translation: X:36.30, Y:329.64, Z:7.48 [[ 7.30683287e-01 6.82547011e-01 -1.52155287e-02 3.62998047e+01] [-6.82391035e-01 7.30841637e-01 1.45937366e-02 3.29644513e+02] [ 2.10810533e-02 -2.80459062e-04 9.99777731e-01 7.48173551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.032755096 meters 0.023144841964999916 Centerline is valid? [True, True] Translation: X:36.32, Y:329.62, Z:7.48 [[ 7.30351851e-01 6.82891234e-01 -1.56759674e-02 3.63210274e+01] [-6.82725573e-01 7.30520008e-01 1.50435967e-02 3.29622228e+02] [ 2.17247481e-02 -2.84734895e-04 9.99763949e-01 7.47691376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.062755096 meters 0.021703032038483 Centerline is valid? [True, True] Translation: X:36.34, Y:329.60, Z:7.48 [[ 7.29378816e-01 6.83924088e-01 -1.59494392e-02 3.63412598e+01] [-6.83752842e-01 7.29553134e-01 1.53061174e-02 3.29602808e+02] [ 2.21041857e-02 -2.58483372e-04 9.99755639e-01 7.47846259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.092755096 meters 0.0229206318422243 Centerline is valid? [True, True] Translation: X:36.37, Y:329.58, Z:7.48 [[ 7.29340642e-01 6.83959993e-01 -1.61541407e-02 3.63664469e+01] [-6.83784184e-01 7.29519471e-01 1.55090999e-02 3.29580881e+02] [ 2.23923640e-02 -2.65470962e-04 9.99749224e-01 7.47805809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.122755096 meters 0.02336061862901799 Centerline is valid? [True, True] Translation: X:36.39, Y:329.56, Z:7.48 [[ 7.28658380e-01 6.84689564e-01 -1.60364171e-02 3.63879469e+01] [-6.84516297e-01 7.28834783e-01 1.54045013e-02 3.29558478e+02] [ 2.22351999e-02 -2.47430120e-04 9.99752737e-01 7.47779889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.152755096 meters 0.022027863652974135 Centerline is valid? [True, True] Translation: X:36.41, Y:329.54, Z:7.48 [[ 7.28349391e-01 6.85024738e-01 -1.57566864e-02 3.64087840e+01] [-6.84857498e-01 7.28519768e-01 1.51378713e-02 3.29536192e+02] [ 2.18488738e-02 -2.34574520e-04 9.99761257e-01 7.47990350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.182755096 meters 0.020101224958522568 Centerline is valid? [True, True] Translation: X:36.43, Y:329.51, Z:7.48 [[ 7.27964245e-01 6.85444260e-01 -1.53043947e-02 3.64301058e+01] [-6.85286576e-01 7.28125072e-01 1.47033426e-02 3.29514478e+02] [ 2.12218353e-02 -2.15611415e-04 9.99774768e-01 7.48298985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.212755096 meters 0.020128797506231137 Centerline is valid? [True, True] Translation: X:36.45, Y:329.49, Z:7.48 [[ 7.28231470e-01 6.85165634e-01 -1.50658734e-02 3.64508123e+01] [-6.85012785e-01 7.28387264e-01 1.44733855e-02 3.29492980e+02] [ 2.08904567e-02 -2.19658828e-04 9.99781747e-01 7.48337150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.242755096 meters 0.02030603569288469 Centerline is valid? [True, True] Translation: X:36.47, Y:329.47, Z:7.48 [[ 7.28606147e-01 6.84769176e-01 -1.49752647e-02 3.64711798e+01] [-6.84618099e-01 7.28759990e-01 1.43852318e-02 3.29471051e+02] [ 2.07639371e-02 -2.28831062e-04 9.99784380e-01 7.48376618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.272755096 meters 0.02072655376981391 Centerline is valid? [True, True] Translation: X:36.49, Y:329.45, Z:7.48 [[ 7.29664906e-01 6.83647054e-01 -1.46911466e-02 3.64884599e+01] [-6.83501453e-01 7.29812743e-01 1.41111216e-02 3.29447259e+02] [ 2.03688127e-02 -2.54970153e-04 9.99792502e-01 7.48430682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.302755096 meters 0.02267464130718956 Centerline is valid? [True, True] Translation: X:36.51, Y:329.42, Z:7.48 [[ 7.31665208e-01 6.81505192e-01 -1.47206388e-02 3.65055899e+01] [-6.81358602e-01 7.31813210e-01 1.41379535e-02 3.29424109e+02] [ 2.04078467e-02 -3.14214837e-04 9.99791689e-01 7.48325441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.332755096 meters 0.021806768521448222 Centerline is valid? [True, True] Translation: X:36.52, Y:329.40, Z:7.49 [[ 7.32288943e-01 6.80853046e-01 -1.38576190e-02 3.65241649e+01] [-6.80723066e-01 7.32419984e-01 1.33069425e-02 3.29403072e+02] [ 1.92096694e-02 -3.11326025e-04 9.99815429e-01 7.48516968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.362755096 meters 0.022123398578931332 Centerline is valid? [True, True] Translation: X:36.54, Y:329.38, Z:7.49 [[ 7.33067801e-01 6.80013586e-01 -1.38968490e-02 3.65438514e+01] [-6.79882759e-01 7.33199436e-01 1.33424722e-02 3.29381421e+02] [ 1.92622242e-02 -3.32708707e-04 9.99814411e-01 7.48528540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.392755096 meters 0.023436013689954113 Centerline is valid? [True, True] Translation: X:36.56, Y:329.36, Z:7.48 [[ 7.34131179e-01 6.78860321e-01 -1.41448228e-02 3.65618732e+01] [-6.78724623e-01 7.34267342e-01 1.35778356e-02 3.29360655e+02] [ 1.96035353e-02 -3.67472954e-04 9.99807765e-01 7.48444073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4227550960001 meters 0.02314754796381769 Centerline is valid? [True, True] Translation: X:36.58, Y:329.34, Z:7.49 [[ 7.34785558e-01 6.78163465e-01 -1.35830549e-02 3.65800341e+01] [-6.78038254e-01 7.34911001e-01 1.30364061e-02 3.29338258e+02] [ 1.88231508e-02 -3.69132125e-04 9.99822761e-01 7.48612546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.452755096 meters 0.023228167300378525 Centerline is valid? [True, True] Translation: X:36.60, Y:329.32, Z:7.49 [[ 7.34685826e-01 6.78277583e-01 -1.32762173e-02 3.66003116e+01] [-6.78158025e-01 7.34805684e-01 1.27396879e-02 3.29318594e+02] [ 1.83964847e-02 -3.56294854e-04 9.99830707e-01 7.48633211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.482755096 meters 0.022990399224794362 Centerline is valid? [True, True] Translation: X:36.62, Y:329.30, Z:7.49 [[ 7.34083824e-01 6.78923898e-01 -1.35381322e-02 3.66216242e+01] [-6.78799724e-01 7.34208568e-01 1.29889479e-02 3.29298980e+02] [ 1.87583198e-02 -3.45296152e-04 9.99823988e-01 7.48568529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.512755096 meters 0.022719623376493695 Centerline is valid? [True, True] Translation: X:36.64, Y:329.28, Z:7.49 [[ 7.33468108e-01 6.79584559e-01 -1.37608513e-02 3.66427515e+01] [-6.79456418e-01 7.33597108e-01 1.32007391e-02 3.29279784e+02] [ 1.90659392e-02 -3.32422442e-04 9.99818173e-01 7.48527039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5427550960001 meters 0.021878094243228237 Centerline is valid? [True, True] Translation: X:36.66, Y:329.26, Z:7.49 [[ 7.32912161e-01 6.80182399e-01 -1.38444395e-02 3.66646747e+01] [-6.80052840e-01 7.33042839e-01 1.32789949e-02 3.29260992e+02] [ 1.91807058e-02 -3.17386506e-04 9.99815983e-01 7.48571038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.572755096 meters 0.021356878325063403 Centerline is valid? [True, True] Translation: X:36.69, Y:329.24, Z:7.49 [[ 7.31799805e-01 6.81374144e-01 -1.40827021e-02 3.66863550e+01] [-6.81240345e-01 7.31935238e-01 1.35055464e-02 3.29242315e+02] [ 1.95099560e-02 -2.89651390e-04 9.99809621e-01 7.48583073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.602755096 meters 0.02036773024245482 Centerline is valid? [True, True] Translation: X:36.71, Y:329.22, Z:7.49 [[ 7.30479644e-01 6.82777196e-01 -1.46557321e-02 3.67093834e+01] [-6.82632611e-01 7.30626602e-01 1.40529970e-02 3.29224334e+02] [ 2.03029336e-02 -2.60947618e-04 9.99793840e-01 7.48604441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.632755096 meters 0.021690318385925455 Centerline is valid? [True, True] Translation: X:36.73, Y:329.21, Z:7.48 [[ 7.30179406e-01 6.83084599e-01 -1.52795819e-02 3.67313088e+01] [-6.82927555e-01 7.30339210e-01 1.46490047e-02 3.29205205e+02] [ 2.11657872e-02 -2.61554051e-04 9.99775945e-01 7.48423105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6627550960001 meters 0.019354548624193606 Centerline is valid? [True, True] Translation: X:36.76, Y:329.18, Z:7.49 [[ 7.29345566e-01 6.83982704e-01 -1.49233682e-02 3.67569705e+01] [-6.83833056e-01 7.29498189e-01 1.43088883e-02 3.29184827e+02] [ 2.06736022e-02 -2.31031780e-04 9.99786252e-01 7.48737634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.692755096 meters 0.018531011206816127 Centerline is valid? [True, True] Translation: X:36.78, Y:329.17, Z:7.49 [[ 7.27733758e-01 6.85705039e-01 -1.45662937e-02 3.67832994e+01] [-6.85562685e-01 7.27879500e-01 1.39727653e-02 3.29166429e+02] [ 2.01837022e-02 -1.82345550e-04 9.99796272e-01 7.48774666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.722755096 meters 0.018403981779115248 Centerline is valid? [True, True] Translation: X:36.81, Y:329.14, Z:7.49 [[ 7.27130796e-01 6.86348345e-01 -1.43789543e-02 3.68080153e+01] [-6.86209588e-01 7.27272934e-01 1.38014624e-02 3.29144828e+02] [ 1.99300352e-02 -1.68491997e-04 9.99801363e-01 7.48832848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.752755096 meters 0.017906849733159147 Centerline is valid? [True, True] Translation: X:36.83, Y:329.12, Z:7.49 [[ 7.26230973e-01 6.87322196e-01 -1.32955930e-02 3.68322169e+01] [-6.87203590e-01 7.26352656e-01 1.27689242e-02 3.29124118e+02] [ 1.84336543e-02 -1.36409037e-04 9.99830076e-01 7.49030370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.782755096 meters 0.02037476387984734 Centerline is valid? [True, True] Translation: X:36.86, Y:329.10, Z:7.49 [[ 7.26139237e-01 6.87403448e-01 -1.40821729e-02 3.68555724e+01] [-6.87270255e-01 7.26275758e-01 1.35321624e-02 3.29101442e+02] [ 1.95295959e-02 -1.47975558e-04 9.99809268e-01 7.48853559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.812755096 meters 0.018345884871399612 Centerline is valid? [True, True] Translation: X:36.88, Y:329.08, Z:7.49 [[ 7.25998977e-01 6.87580384e-01 -1.25976498e-02 3.68771517e+01] [-6.87473712e-01 7.26108255e-01 1.21118938e-02 3.29078719e+02] [ 1.74751581e-02 -1.32669417e-04 9.99847289e-01 7.48947302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.842755096 meters 0.018042186671425143 Centerline is valid? [True, True] Translation: X:36.90, Y:329.06, Z:7.49 [[ 7.26856439e-01 6.86666678e-01 -1.29842464e-02 3.68993351e+01] [-6.86553088e-01 7.26972384e-01 1.24904587e-02 3.29055950e+02] [ 1.80159703e-02 -1.64395911e-04 9.99837686e-01 7.49134795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.872755096 meters 0.018244326625929022 Centerline is valid? [True, True] Translation: X:36.92, Y:329.03, Z:7.49 [[ 7.27061031e-01 6.86449716e-01 -1.30017384e-02 3.69211526e+01] [-6.86335654e-01 7.27177253e-01 1.25145472e-02 3.29032317e+02] [ 1.80451758e-02 -1.75282911e-04 9.99837157e-01 7.49111961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.902755096 meters 0.018974654573488618 Centerline is valid? [True, True] Translation: X:36.94, Y:329.01, Z:7.49 [[ 7.28691777e-01 6.84708285e-01 -1.35224952e-02 3.69419282e+01] [-6.84584504e-01 7.28817200e-01 1.30210094e-02 3.29008261e+02] [ 1.87710201e-02 -2.31011820e-04 9.99823782e-01 7.49087288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.932755096 meters 0.020479829117194807 Centerline is valid? [True, True] Translation: X:36.96, Y:328.99, Z:7.49 [[ 7.29639073e-01 6.83700927e-01 -1.34114222e-02 3.69625995e+01] [-6.83578906e-01 7.29762274e-01 1.29191303e-02 3.28985554e+02] [ 1.86199713e-02 -2.58536987e-04 9.99826600e-01 7.48998982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.962755096 meters 0.021150337241516156 Centerline is valid? [True, True] Translation: X:36.98, Y:328.96, Z:7.49 [[ 7.30426284e-01 6.82860323e-01 -1.33873868e-02 3.69842309e+01] [-6.82738475e-01 7.30548902e-01 1.29026126e-02 3.28962096e+02] [ 1.85908229e-02 -2.84323343e-04 9.99827135e-01 7.49002318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.992755096 meters 0.02010409129642994 Centerline is valid? [True, True] Translation: X:37.00, Y:328.94, Z:7.49 [[ 7.31393221e-01 6.81852930e-01 -1.18548999e-02 3.70048946e+01] [-6.81757146e-01 7.31489238e-01 1.14319173e-02 3.28937319e+02] [ 1.64666181e-02 -2.79064088e-04 9.99864377e-01 7.49318062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.022755096 meters 0.020012662571696635 Centerline is valid? [True, True] Translation: X:37.03, Y:328.91, Z:7.49 [[ 7.31429661e-01 6.81822914e-01 -1.13210467e-02 3.70281823e+01] [-6.81735456e-01 7.31517218e-01 1.09236792e-02 3.28914592e+02] [ 1.57295554e-02 -2.71943987e-04 9.99876246e-01 7.49431205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.052755096 meters 0.02142361583921718 Centerline is valid? [True, True] Translation: X:37.05, Y:328.89, Z:7.49 [[ 7.31633948e-01 6.81612910e-01 -1.07520540e-02 3.70511387e+01] [-6.81533910e-01 7.31712901e-01 1.03807544e-02 3.28892467e+02] [ 1.49430728e-02 -2.67022954e-04 9.99888310e-01 7.49357472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.082755096 meters 0.02057051393976422 Centerline is valid? [True, True] Translation: X:37.08, Y:328.87, Z:7.49 [[ 7.31657028e-01 6.81600350e-01 -9.94765246e-03 3.70752080e+01] [-6.81532651e-01 7.31724606e-01 9.60970241e-03 3.28869833e+02] [ 1.38289186e-02 -2.51356352e-04 9.99904344e-01 7.49488854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.112755096 meters 0.020897215362677336 Centerline is valid? [True, True] Translation: X:37.10, Y:328.85, Z:7.49 [[ 7.31785519e-01 6.81459969e-01 -1.01126498e-02 3.70977311e+01] [-6.81389911e-01 7.31855342e-01 9.77485892e-03 3.28847130e+02] [ 1.40621718e-02 -2.62442683e-04 9.99901088e-01 7.49476963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.142755096 meters 0.020479676579691512 Centerline is valid? [True, True] Translation: X:37.12, Y:328.83, Z:7.50 [[ 7.32272940e-01 6.80941702e-01 -9.73347233e-03 3.71210314e+01] [-6.80876683e-01 7.32337578e-01 9.41350669e-03 3.28825668e+02] [ 1.35382368e-02 -2.65961858e-04 9.99908319e-01 7.49572686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1727550960001 meters 0.020608123597400895 Centerline is valid? [True, True] Translation: X:37.14, Y:328.80, Z:7.50 [[ 7.32348276e-01 6.80861516e-01 -9.67462338e-03 3.71445140e+01] [-6.80797200e-01 7.32412127e-01 9.36214710e-03 3.28802490e+02] [ 1.34601372e-02 -2.69895787e-04 9.99909372e-01 7.49559415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.202755096 meters 0.021579975770012125 Centerline is valid? [True, True] Translation: X:37.17, Y:328.78, Z:7.49 [[ 7.32269250e-01 6.80947983e-01 -9.57029262e-03 3.71666380e+01] [-6.80884979e-01 7.32331736e-01 9.26677099e-03 3.28780045e+02] [ 1.33188180e-02 -2.69502948e-04 9.99911264e-01 7.49477486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.232755096 meters 0.02298952045508295 Centerline is valid? [True, True] Translation: X:37.19, Y:328.76, Z:7.49 [[ 7.32889288e-01 6.80262781e-01 -1.07629050e-02 3.71908565e+01] [-6.80182930e-01 7.32968243e-01 1.04276668e-02 3.28758499e+02] [ 1.49824212e-02 -3.21581014e-04 9.99887706e-01 7.49219633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.262755096 meters 0.022132598224844015 Centerline is valid? [True, True] Translation: X:37.21, Y:328.74, Z:7.49 [[ 7.34134773e-01 6.78916075e-01 -1.09132171e-02 3.72148254e+01] [-6.78833741e-01 7.34215796e-01 1.05790776e-02 3.28736958e+02] [ 1.51949622e-02 -3.58208708e-04 9.99884486e-01 7.49219894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2927550960001 meters 0.023105009325320905 Centerline is valid? [True, True] Translation: X:37.24, Y:328.71, Z:7.49 [[ 7.34558341e-01 6.78459407e-01 -1.08109649e-02 3.72374770e+01] [-6.78378477e-01 7.34637800e-01 1.04854507e-02 3.28714887e+02] [ 1.50560962e-02 -3.68249336e-04 9.99886583e-01 7.49114448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.322755096 meters 0.024954281099296604 Centerline is valid? [True, True] Translation: X:37.26, Y:328.69, Z:7.49 [[ 7.34952674e-01 6.78033255e-01 -1.07458281e-02 3.72571398e+01] [-6.77953172e-01 7.35031130e-01 1.04275751e-02 3.28689898e+02] [ 1.49687608e-02 -3.78605997e-04 9.99887890e-01 7.49079950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.352755096 meters 0.024876848734699898 Centerline is valid? [True, True] Translation: X:37.28, Y:328.67, Z:7.49 [[ 7.35409004e-01 6.77527614e-01 -1.13986720e-02 3.72826172e+01] [-6.77437347e-01 7.35497219e-01 1.10671912e-02 3.28670319e+02] [ 1.58820192e-02 -4.17025954e-04 9.99873786e-01 7.49036473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.382755096 meters 0.02347196026759729 Centerline is valid? [True, True] Translation: X:37.31, Y:328.65, Z:7.49 [[ 7.35607521e-01 6.77322487e-01 -1.07621625e-02 3.73052114e+01] [-6.77241928e-01 7.35686134e-01 1.04538888e-02 3.28647478e+02] [ 1.49982276e-02 -4.01371520e-04 9.99887440e-01 7.49202431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4127550960001 meters 0.023834868624900318 Centerline is valid? [True, True] Translation: X:37.33, Y:328.63, Z:7.49 [[ 7.34802638e-01 6.78198136e-01 -1.06005194e-02 3.73298620e+01] [-6.78119996e-01 7.34878998e-01 1.03019063e-02 3.28626346e+02] [ 1.47768328e-02 -3.81443755e-04 9.99890744e-01 7.49143706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.442755096 meters 0.021711493909165405 Centerline is valid? [True, True] Translation: X:37.35, Y:328.61, Z:7.49 [[ 7.33799015e-01 6.79293880e-01 -9.94132674e-03 3.73542003e+01] [-6.79225183e-01 7.33866274e-01 9.66653579e-03 3.28605720e+02] [ 1.38620230e-02 -3.40894966e-04 9.99903859e-01 7.49351336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.472755096 meters 0.021711493909165405 Centerline is valid? [True, True] Translation: X:37.38, Y:328.58, Z:7.49 [[ 7.33580619e-01 6.79529767e-01 -9.93838637e-03 3.73773348e+01] [-6.79461051e-01 7.33647858e-01 9.66955844e-03 3.28583003e+02] [ 1.38620287e-02 -3.40654213e-04 9.99903859e-01 7.49370617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.502755096 meters 0.021835841919317867 Centerline is valid? [True, True] Translation: X:37.40, Y:328.56, Z:7.49 [[ 7.32324679e-01 6.80883600e-01 -9.90396493e-03 3.74012021e+01] [-6.80815403e-01 7.32391577e-01 9.64179722e-03 3.28560991e+02] [ 1.38185221e-02 -3.18154173e-04 9.99904469e-01 7.49344429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.532755096 meters 0.020505860491446464 Centerline is valid? [True, True] Translation: X:37.43, Y:328.54, Z:7.49 [[ 7.30777073e-01 6.82547484e-01 -9.68515865e-03 3.74254210e+01] [-6.82482368e-01 7.30841195e-01 9.43209788e-03 3.28539126e+02] [ 1.35161676e-02 -2.82810868e-04 9.99908612e-01 7.49468360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.562755096 meters 0.019020796830837374 Centerline is valid? [True, True] Translation: X:37.45, Y:328.52, Z:7.50 [[ 7.27560157e-01 6.85983708e-01 -9.08681775e-03 3.74498302e+01] [-6.85926616e-01 7.27616870e-01 8.85257392e-03 3.28520056e+02] [ 1.26844434e-02 -2.07889925e-04 9.99919528e-01 7.49534987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.592755096 meters 0.018028261243698305 Centerline is valid? [True, True] Translation: X:37.47, Y:328.50, Z:7.50 [[ 7.25617460e-01 6.88044263e-01 -8.62523538e-03 3.74749552e+01] [-6.87992916e-01 7.25668702e-01 8.40731201e-03 3.28499293e+02] [ 1.20436662e-02 -1.66391535e-04 9.99927459e-01 7.49630080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.622755096 meters 0.017012886320144405 Centerline is valid? [True, True] Translation: X:37.50, Y:328.48, Z:7.50 [[ 7.22265595e-01 6.91576799e-01 -7.34454510e-03 3.75001546e+01] [-6.91539712e-01 7.22302930e-01 7.16266740e-03 3.28478934e+02] [ 1.02585210e-02 -9.43036308e-05 9.99947376e-01 7.49789912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.652755096 meters 0.01912400877331049 Centerline is valid? [True, True] Translation: X:37.52, Y:328.46, Z:7.50 [[ 7.21080830e-01 6.92820422e-01 -6.50383550e-03 3.75224935e+01] [-6.92791362e-01 7.21110157e-01 6.34597371e-03 3.28457260e+02] [ 9.08660202e-03 -7.01589342e-05 9.99958714e-01 7.49653064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.682755096 meters 0.016287502018128817 Centerline is valid? [True, True] Translation: X:37.55, Y:328.44, Z:7.50 [[ 7.19382152e-01 6.94591593e-01 -5.64252753e-03 3.75467116e+01] [-6.94569754e-01 7.19404279e-01 5.50820343e-03 3.28435705e+02] [ 7.88521025e-03 -4.33742835e-05 9.99968910e-01 7.49991769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.712755096 meters 0.01600117641841982 Centerline is valid? [True, True] Translation: X:37.57, Y:328.41, Z:7.50 [[ 7.17187930e-01 6.96858230e-01 -5.48460763e-03 3.75695246e+01] [-6.96837639e-01 7.17208901e-01 5.35695952e-03 3.28414894e+02] [ 7.66665074e-03 -2.00656805e-05 9.99970611e-01 7.50048648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.742755096 meters 0.016771929960159335 Centerline is valid? [True, True] Translation: X:37.59, Y:328.39, Z:7.50 [[ 7.15296606e-01 6.98799246e-01 -5.51163553e-03 3.75919299e+01] [-6.98778493e-01 7.15317841e-01 5.38558101e-03 3.28394623e+02] [ 7.70601118e-03 -8.75444299e-07 9.99970308e-01 7.49903240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.772755096 meters 0.015896813763618765 Centerline is valid? [True, True] Translation: X:37.62, Y:328.37, Z:7.50 [[ 7.14591476e-01 6.99521683e-01 -5.33270466e-03 3.76159644e+01] [-6.99502269e-01 7.14611373e-01 5.21158203e-03 3.28371872e+02] [ 7.45642603e-03 6.08690898e-06 9.99972200e-01 7.50002006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.802755096 meters 0.0159682449816472 Centerline is valid? [True, True] Translation: X:37.64, Y:328.35, Z:7.50 [[ 7.14342536e-01 6.99779087e-01 -4.89600190e-03 3.76373192e+01] [-6.99762712e-01 7.14359314e-01 4.78725646e-03 3.28351237e+02] [ 6.84752652e-03 6.29864779e-06 9.99976555e-01 7.50000055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.832755096 meters 0.017865445219523855 Centerline is valid? [True, True] Translation: X:37.66, Y:328.33, Z:7.50 [[ 7.14723189e-01 6.99391587e-01 -4.70867088e-03 3.76584742e+01] [-6.99376431e-01 7.14738699e-01 4.60426299e-03 3.28328839e+02] [ 6.58565210e-03 2.35991132e-06 9.99978314e-01 7.49818258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.862755096 meters 0.015959920797348807 Centerline is valid? [True, True] Translation: X:37.68, Y:328.31, Z:7.50 [[ 7.15901048e-01 6.98187696e-01 -4.43061096e-03 3.76765183e+01] [-6.98174254e-01 7.15914759e-01 4.33234683e-03 3.28305654e+02] [ 6.19673103e-03 -8.19312928e-06 9.99980800e-01 7.50056298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.892755096 meters 0.0162707665249328 Centerline is valid? [True, True] Translation: X:37.69, Y:328.28, Z:7.50 [[ 7.18383737e-01 6.95631069e-01 -4.71407209e-03 3.76945223e+01] [-6.95615800e-01 7.18399204e-01 4.60900564e-03 3.28280908e+02] [ 6.59275316e-03 -3.18516666e-05 9.99978267e-01 7.50031356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9227550960001 meters 0.018678901888851067 Centerline is valid? [True, True] Translation: X:37.71, Y:328.26, Z:7.50 [[ 7.19681729e-01 6.94282354e-01 -5.49753675e-03 3.77143828e+01] [-6.94261549e-01 7.19702724e-01 5.37500857e-03 3.28257912e+02] [ 7.68836577e-03 -5.15670777e-05 9.99970443e-01 7.49726606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.952755096 meters 0.017422475403930018 Centerline is valid? [True, True] Translation: X:37.73, Y:328.24, Z:7.50 [[ 7.20552728e-01 6.93378225e-01 -5.51391019e-03 3.77343293e+01] [-6.93357270e-01 7.20573823e-01 5.39092188e-03 3.28236054e+02] [ 7.71112718e-03 -6.13337493e-05 9.99970267e-01 7.49799187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.982755096 meters 0.02064097094198597 Centerline is valid? [True, True] Translation: X:37.75, Y:328.21, Z:7.49 [[ 7.22674943e-01 6.91159399e-01 -6.29377206e-03 3.77549838e+01] [-6.91132007e-01 7.22702342e-01 6.15411236e-03 3.28210841e+02] [ 8.80199641e-03 -9.75954800e-05 9.99961257e-01 7.49372197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.012755096 meters 0.01787356447104145 Centerline is valid? [True, True] Translation: X:37.78, Y:328.19, Z:7.50 [[ 7.23104556e-01 6.90708872e-01 -6.40746141e-03 3.77768901e+01] [-6.90680433e-01 7.23132935e-01 6.26877974e-03 3.28187315e+02] [ 8.96334816e-03 -1.07474970e-04 9.99959823e-01 7.49620580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0427550960001 meters 0.019613953754380353 Centerline is valid? [True, True] Translation: X:37.80, Y:328.16, Z:7.49 [[ 7.25280004e-01 6.88423308e-01 -6.50117003e-03 3.77984586e+01] [-6.88393905e-01 7.25309127e-01 6.36411582e-03 3.28163916e+02] [ 9.09656363e-03 -1.40400128e-04 9.99958616e-01 7.49437211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.072755096 meters 0.01859053329233192 Centerline is valid? [True, True] Translation: X:37.82, Y:328.14, Z:7.50 [[ 7.26004239e-01 6.87662701e-01 -6.15265245e-03 3.78205418e+01] [-6.87636315e-01 7.26030295e-01 6.02571294e-03 3.28141293e+02] [ 8.61067011e-03 -1.43905880e-04 9.99962917e-01 7.49607063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.102755096 meters 0.02179463551516259 Centerline is valid? [True, True] Translation: X:37.84, Y:328.12, Z:7.49 [[ 7.26960479e-01 6.86651680e-01 -6.15893604e-03 3.78406160e+01] [-6.86625185e-01 7.26986551e-01 6.03411181e-03 3.28117947e+02] [ 8.62079668e-03 -1.57680218e-04 9.99962828e-01 7.49372693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.132755096 meters 0.020813670808560766 Centerline is valid? [True, True] Translation: X:37.86, Y:328.10, Z:7.50 [[ 7.28530087e-01 6.84988437e-01 -5.89527146e-03 3.78630826e+01] [-6.84964083e-01 7.28553918e-01 5.77872871e-03 3.28095224e+02] [ 8.25338547e-03 -1.71928515e-04 9.99965925e-01 7.49559238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1627550960001 meters 0.021576019754474363 Centerline is valid? [True, True] Translation: X:37.89, Y:328.07, Z:7.49 [[ 7.29474037e-01 6.83982627e-01 -5.94948261e-03 3.78855591e+01] [-6.83957762e-01 7.29498274e-01 5.83512149e-03 3.28072272e+02] [ 8.33125902e-03 -1.87374820e-04 9.99965277e-01 7.49483720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.192755096 meters 0.023841256695551465 Centerline is valid? [True, True] Translation: X:37.91, Y:328.05, Z:7.49 [[ 7.29839203e-01 6.83589256e-01 -6.36141985e-03 3.79073427e+01] [-6.83560781e-01 7.29866897e-01 6.24271133e-03 3.28049388e+02] [ 8.91044015e-03 -2.07758337e-04 9.99960280e-01 7.49293863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.222755096 meters 0.021730478185750343 Centerline is valid? [True, True] Translation: X:37.93, Y:328.03, Z:7.50 [[ 7.29581373e-01 6.83864585e-01 -6.34427641e-03 3.79304491e+01] [-6.83836244e-01 7.29608928e-01 6.22924608e-03 3.28026869e+02] [ 8.88880149e-03 -2.06295753e-04 9.99960473e-01 7.49568928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.252755096 meters 0.02101673299861905 Centerline is valid? [True, True] Translation: X:37.96, Y:328.01, Z:7.50 [[ 7.29456436e-01 6.83999790e-01 -6.13148453e-03 3.79552337e+01] [-6.83973294e-01 7.29482177e-01 6.02384671e-03 3.28005121e+02] [ 8.59311857e-03 -2.00362080e-04 9.99963058e-01 7.49674226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.282755096 meters 0.022149224180406216 Centerline is valid? [True, True] Translation: X:37.98, Y:327.98, Z:7.50 [[ 7.28991284e-01 6.84500024e-01 -5.60582672e-03 3.79807327e+01] [-6.84477866e-01 7.29012815e-01 5.51057079e-03 3.27984650e+02] [ 7.85870536e-03 -1.80093765e-04 9.99969104e-01 7.49511223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.312755096 meters 0.02281505854755132 Centerline is valid? [True, True] Translation: X:38.00, Y:327.96, Z:7.50 [[ 7.28696414e-01 6.84817408e-01 -5.16275433e-03 3.80027677e+01] [-6.84798603e-01 7.28714684e-01 5.07771248e-03 3.27961866e+02] [ 7.23948079e-03 -1.64663923e-04 9.99973781e-01 7.49729540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.342755096 meters 0.02178396461720873 Centerline is valid? [True, True] Translation: X:38.03, Y:327.94, Z:7.50 [[ 7.28822665e-01 6.84686297e-01 -4.71146532e-03 3.80289103e+01] [-6.84670616e-01 7.28837878e-01 4.63640465e-03 3.27941758e+02] [ 6.60837712e-03 -1.53314931e-04 9.99978153e-01 7.49715229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.372755096 meters 0.023168464306216118 Centerline is valid? [True, True] Translation: X:38.05, Y:327.92, Z:7.50 [[ 7.29056714e-01 6.84437333e-01 -4.67381807e-03 3.80519864e+01] [-6.84421878e-01 7.29071679e-01 4.60216092e-03 3.27919630e+02] [ 6.55743913e-03 -1.56372979e-04 9.99978488e-01 7.49648287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.402755096 meters 0.022445402850255758 Centerline is valid? [True, True] Translation: X:38.07, Y:327.90, Z:7.50 [[ 7.29287649e-01 6.84196003e-01 -3.91842194e-03 3.80742013e+01] [-6.84185127e-01 7.29298163e-01 3.86015997e-03 3.27897372e+02] [ 5.49880395e-03 -1.34240980e-04 9.99984872e-01 7.49904827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.432755096 meters 0.023577333834327162 Centerline is valid? [True, True] Translation: X:38.10, Y:327.88, Z:7.50 [[ 7.30361489e-01 6.83052537e-01 -3.36563422e-03 3.80977861e+01] [-6.83044498e-01 7.30369233e-01 3.31619346e-03 3.27875624e+02] [ 4.72329004e-03 -1.23142053e-04 9.99988838e-01 7.49847918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.462755096 meters 0.021817701841767675 Centerline is valid? [True, True] Translation: X:38.12, Y:327.85, Z:7.50 [[ 7.30186665e-01 6.83242735e-01 -2.60743734e-03 3.81214285e+01] [-6.83237907e-01 7.30191315e-01 2.57029932e-03 3.27853470e+02] [ 3.66006644e-03 -9.52982627e-05 9.99993297e-01 7.50172246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.492755096 meters 0.021496261366226392 Centerline is valid? [True, True] Translation: X:38.15, Y:327.83, Z:7.50 [[ 7.30343458e-01 6.83077502e-01 -1.88671697e-03 3.81467314e+01] [-6.83074974e-01 7.30345892e-01 1.85974241e-03 3.27833146e+02] [ 2.64830418e-03 -6.94815565e-05 9.99996491e-01 7.50262796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.522755096 meters 0.021619189920118496 Centerline is valid? [True, True] Translation: X:38.17, Y:327.81, Z:7.50 [[ 7.30148152e-01 6.83286902e-01 -1.63921701e-03 3.81710369e+01] [-6.83284993e-01 7.30149989e-01 1.61618232e-03 3.27811432e+02] [ 2.30119049e-03 -6.00001455e-05 9.99997350e-01 7.50274572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.552755096 meters 0.021882600020720715 Centerline is valid? [True, True] Translation: X:38.19, Y:327.79, Z:7.50 [[ 7.29722965e-01 6.83740511e-01 -1.81907067e-03 3.81938941e+01] [-6.83738157e-01 7.29725229e-01 1.79524521e-03 3.27790648e+02] [ 2.55490364e-03 -6.62636278e-05 9.99996734e-01 7.50277216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.582755096 meters 0.023035663315596745 Centerline is valid? [True, True] Translation: X:38.22, Y:327.77, Z:7.50 [[ 7.28996904e-01 6.84513432e-01 -2.20805098e-03 3.82184646e+01] [-6.84509963e-01 7.29000244e-01 2.18063984e-03 3.27770036e+02] [ 3.10234696e-03 -7.82467962e-05 9.99995185e-01 7.50057894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.612755096 meters 0.021866249276884523 Centerline is valid? [True, True] Translation: X:38.24, Y:327.75, Z:7.50 [[ 7.28224705e-01 6.85333792e-01 -2.52439810e-03 3.82414629e+01] [-6.85329256e-01 7.28229075e-01 2.49515661e-03 3.27748542e+02] [ 3.54835523e-03 -8.69908142e-05 9.99993701e-01 7.50217105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.642755096 meters 0.0223819085805655 Centerline is valid? [True, True] Translation: X:38.27, Y:327.73, Z:7.50 [[ 7.26868686e-01 6.86769547e-01 -3.08274455e-03 3.82653102e+01] [-6.86762787e-01 7.26875216e-01 3.04861907e-03 3.27729517e+02] [ 4.33446935e-03 -9.88314988e-05 9.99990601e-01 7.49982022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6727550960001 meters 0.020187684341593543 Centerline is valid? [True, True] Translation: X:38.29, Y:327.71, Z:7.50 [[ 7.25731323e-01 6.87973788e-01 -2.47260998e-03 3.82868385e+01] [-6.87969445e-01 7.25735531e-01 2.44556789e-03 3.27711883e+02] [ 3.47694753e-03 -7.37451028e-05 9.99993953e-01 7.50207247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.702755096 meters 0.019321491992637684 Centerline is valid? [True, True] Translation: X:38.31, Y:327.69, Z:7.50 [[ 7.24428935e-01 6.89344680e-01 -2.57508267e-03 3.83097161e+01] [-6.89339981e-01 7.24433508e-01 2.54633786e-03 3.27693659e+02] [ 3.62078063e-03 -6.95333853e-05 9.99993443e-01 7.50257722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.732755096 meters 0.019270067015247277 Centerline is valid? [True, True] Translation: X:38.33, Y:327.68, Z:7.50 [[ 7.21937210e-01 6.91952931e-01 -2.79386853e-03 3.83342524e+01] [-6.91947420e-01 7.21942614e-01 2.76225808e-03 3.27678400e+02] [ 3.92836533e-03 -6.09667712e-05 9.99992282e-01 7.50091149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.762755096 meters 0.017410679864437353 Centerline is valid? [True, True] Translation: X:38.36, Y:327.66, Z:7.50 [[ 7.20536720e-01 6.93411200e-01 -2.78252673e-03 3.83574279e+01] [-6.93405747e-01 7.20542091e-01 2.75047272e-03 3.27660784e+02] [ 3.91213622e-03 -5.23965697e-05 9.99992346e-01 7.50225567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7927550960001 meters 0.019097589395868444 Centerline is valid? [True, True] Translation: X:38.38, Y:327.64, Z:7.50 [[ 7.19750278e-01 6.94223306e-01 -3.67943438e-03 3.83793723e+01] [-6.94213786e-01 7.19759680e-01 3.63630286e-03 3.27641516e+02] [ 5.17271470e-03 -6.29159216e-05 9.99986619e-01 7.49982533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.822755096 meters 0.015906946948625697 Centerline is valid? [True, True] Translation: X:38.40, Y:327.62, Z:7.50 [[ 7.17906188e-01 6.96130019e-01 -3.70167973e-03 3.84033943e+01] [-6.96120411e-01 7.17915729e-01 3.65774078e-03 3.27624920e+02] [ 5.20375726e-03 -4.90999245e-05 9.99986459e-01 7.50198028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.852755096 meters 0.015687638773281786 Centerline is valid? [True, True] Translation: X:38.43, Y:327.61, Z:7.50 [[ 7.17014594e-01 6.97041705e-01 -4.78884804e-03 3.84268381e+01] [-6.97025651e-01 7.17030584e-01 4.73107109e-03 3.27607131e+02] [ 6.73150437e-03 -5.42970930e-05 9.99977342e-01 7.50028032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.882755096 meters 0.015700774161686356 Centerline is valid? [True, True] Translation: X:38.45, Y:327.59, Z:7.50 [[ 7.16869182e-01 6.97185830e-01 -5.52218314e-03 3.84475081e+01] [-6.97164496e-01 7.16890448e-01 5.45445734e-03 3.27588993e+02] [ 7.76157072e-03 -6.02623428e-05 9.99969877e-01 7.49928918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9127550960001 meters 0.017180294665383067 Centerline is valid? [True, True] Translation: X:38.47, Y:327.57, Z:7.50 [[ 7.17428469e-01 6.96598916e-01 -6.80753302e-03 3.84692061e+01] [-6.96566485e-01 7.17460761e-01 6.72223537e-03 3.27569256e+02] [ 9.56683970e-03 -8.08236801e-05 9.99954234e-01 7.49691824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.942755096 meters 0.015853971247915717 Centerline is valid? [True, True] Translation: X:38.49, Y:327.55, Z:7.50 [[ 7.17855014e-01 6.96156339e-01 -7.10846052e-03 3.84899236e+01] [-6.96120969e-01 7.17890203e-01 7.01811676e-03 3.27550053e+02] [ 9.98880063e-03 -8.96418826e-05 9.99950107e-01 7.49773275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.972755096 meters 0.016844550382059658 Centerline is valid? [True, True] Translation: X:38.51, Y:327.53, Z:7.50 [[ 7.20057479e-01 6.93864083e-01 -8.35831023e-03 3.85088293e+01] [-6.93815046e-01 7.20105975e-01 8.25030168e-03 3.27529357e+02] [ 1.17434571e-02 -1.41570036e-04 9.99931033e-01 7.49582205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.002755096 meters 0.01780998312377113 Centerline is valid? [True, True] Translation: X:38.53, Y:327.51, Z:7.50 [[ 7.21808572e-01 6.92040453e-01 -8.50863348e-03 3.85274169e+01] [-6.91989534e-01 7.21858699e-01 8.39666113e-03 3.27508037e+02] [ 1.19528603e-02 -1.72896655e-04 9.99928547e-01 7.49572189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.032755096 meters 0.021205606495743164 Centerline is valid? [True, True] Translation: X:38.55, Y:327.48, Z:7.50 [[ 7.25586649e-01 6.88073711e-01 -8.86471420e-03 3.85452201e+01] [-6.88018165e-01 7.25640756e-01 8.74630904e-03 3.27484397e+02] [ 1.24507032e-02 -2.47120677e-04 9.99922456e-01 7.49555540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.062755096 meters 0.021261133575477143 Centerline is valid? [True, True] Translation: X:38.56, Y:327.46, Z:7.50 [[ 7.27482820e-01 6.86077736e-01 -8.12940359e-03 3.85628776e+01] [-6.86030913e-01 7.27528195e-01 8.01950941e-03 3.27463367e+02] [ 1.14163772e-02 -2.57033163e-04 9.99934798e-01 7.49794580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.092755096 meters 0.02370331931868406 Centerline is valid? [True, True] Translation: X:38.58, Y:327.44, Z:7.50 [[ 7.29749015e-01 6.83660618e-01 -8.63341249e-03 3.85822006e+01] [-6.83607659e-01 7.29800016e-01 8.51503976e-03 3.27441535e+02] [ 1.21220619e-02 -3.11974973e-04 9.99926476e-01 7.49704165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.122755096 meters 0.024907135173955364 Centerline is valid? [True, True] Translation: X:38.60, Y:327.42, Z:7.50 [[ 7.33987679e-01 6.79118035e-01 -7.79626988e-03 3.86023235e+01] [-6.79074595e-01 7.34029000e-01 7.68907893e-03 3.27417394e+02] [ 1.09444804e-02 -3.49440381e-04 9.99940046e-01 7.49939852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.152755096 meters 0.02582722286355855 Centerline is valid? [True, True] Translation: X:38.62, Y:327.39, Z:7.50 [[ 7.35575329e-01 6.77403905e-01 -7.27220911e-03 3.86213575e+01] [-6.77366023e-01 7.35611193e-01 7.17241127e-03 3.27394892e+02] [ 1.02081378e-02 -3.49901418e-04 9.99947834e-01 7.50117464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.182755096 meters 0.02728267639852043 Centerline is valid? [True, True] Translation: X:38.64, Y:327.37, Z:7.50 [[ 7.38264887e-01 6.74476272e-01 -6.83484995e-03 3.86420321e+01] [-6.74442684e-01 7.38296433e-01 6.74110280e-03 3.27371290e+02] [ 9.59285922e-03 -3.67004944e-04 9.99953920e-01 7.50253648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.212755096 meters 0.029522213552259466 Centerline is valid? [True, True] Translation: X:38.66, Y:327.35, Z:7.50 [[ 7.39009486e-01 6.73660021e-01 -6.86693235e-03 3.86639944e+01] [-6.73626065e-01 7.39041292e-01 6.77448420e-03 3.27347253e+02] [ 9.63864573e-03 -3.80663471e-04 9.99953475e-01 7.50122659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.242755096 meters 0.029352330616800575 Centerline is valid? [True, True] Translation: X:38.69, Y:327.32, Z:7.50 [[ 7.39367665e-01 6.73269440e-01 -6.61193993e-03 3.86871720e+01] [-6.73237911e-01 7.39397134e-01 6.52637337e-03 3.27324414e+02] [ 9.28285717e-03 -3.73980815e-04 9.99956843e-01 7.50242720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.272755096 meters 0.03048623063140111 Centerline is valid? [True, True] Translation: X:38.71, Y:327.30, Z:7.50 [[ 7.39725523e-01 6.72873019e-01 -6.93185067e-03 3.87079125e+01] [-6.72838326e-01 7.39757894e-01 6.84440451e-03 3.27303508e+02] [ 9.73330638e-03 -3.98965910e-04 9.99952551e-01 7.50147515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.302755096 meters 0.03007961244092774 Centerline is valid? [True, True] Translation: X:38.73, Y:327.28, Z:7.50 [[ 7.39578289e-01 6.73034788e-01 -6.93751497e-03 3.87283063e+01] [-6.73000051e-01 7.39610720e-01 6.84943265e-03 3.27283623e+02] [ 9.74096689e-03 -3.96743750e-04 9.99952477e-01 7.50202491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.332755096 meters 0.03007961244092774 Centerline is valid? [True, True] Translation: X:38.75, Y:327.26, Z:7.50 [[ 7.39629033e-01 6.72979017e-01 -6.93803137e-03 3.87485589e+01] [-6.72944282e-01 7.39661467e-01 6.84890954e-03 3.27263749e+02] [ 9.74096687e-03 -3.96743797e-04 9.99952477e-01 7.50219304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.362755096 meters 0.029318708105087833 Centerline is valid? [True, True] Translation: X:38.77, Y:327.24, Z:7.50 [[ 7.39065570e-01 6.73584829e-01 -8.09697543e-03 3.87697403e+01] [-6.73537571e-01 7.39109784e-01 7.99165350e-03 3.27244204e+02] [ 1.13676103e-02 -4.52738789e-04 9.99935284e-01 7.50086272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.392755096 meters 0.030092003159586187 Centerline is valid? [True, True] Translation: X:38.79, Y:327.22, Z:7.50 [[ 7.38769743e-01 6.73898574e-01 -8.94313566e-03 3.87890944e+01] [-6.73840965e-01 7.38823706e-01 8.82523621e-03 3.27224797e+02] [ 1.25547147e-02 -4.93566319e-04 9.99921065e-01 7.49949118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4227550960001 meters 0.029589096854790824 Centerline is valid? [True, True] Translation: X:38.81, Y:327.21, Z:7.50 [[ 7.38312003e-01 6.74393966e-01 -9.38964689e-03 3.88101862e+01] [-6.74330522e-01 7.38371533e-01 9.26428134e-03 3.27205113e+02] [ 1.31808234e-02 -5.08204623e-04 9.99913000e-01 7.49936626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.452755096 meters 0.029164187350748792 Centerline is valid? [True, True] Translation: X:38.83, Y:327.19, Z:7.50 [[ 7.37282838e-01 6.75511089e-01 -9.93907292e-03 3.88307660e+01] [-6.75440128e-01 7.37349647e-01 9.80467127e-03 3.27186285e+02] [ 1.39517361e-02 -5.15567172e-04 9.99902537e-01 7.49856107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.482755096 meters 0.02705195632853174 Centerline is valid? [True, True] Translation: X:38.85, Y:327.17, Z:7.50 [[ 7.35668752e-01 6.77264084e-01 -1.02394920e-02 3.88538551e+01] [-6.77188958e-01 7.35739842e-01 1.00995657e-02 3.27168054e+02] [ 1.43736754e-02 -4.95863951e-04 9.99896570e-01 7.49911962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.512755096 meters 0.02456758474975748 Centerline is valid? [True, True] Translation: X:38.88, Y:327.15, Z:7.50 [[ 7.34674422e-01 6.78339608e-01 -1.04340954e-02 3.88774274e+01] [-6.78261721e-01 7.34748353e-01 1.02905508e-02 3.27149995e+02] [ 1.46469226e-02 -4.83156964e-04 9.99892611e-01 7.49981482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5427550960001 meters 0.025949196524130892 Centerline is valid? [True, True] Translation: X:38.90, Y:327.13, Z:7.50 [[ 7.33631041e-01 6.79463744e-01 -1.07012748e-02 3.88960960e+01] [-6.79381959e-01 7.33708934e-01 1.05524747e-02 3.27128847e+02] [ 1.50216448e-02 -4.71369940e-04 9.99887058e-01 7.49908241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.572755096 meters 0.024412854708574683 Centerline is valid? [True, True] Translation: X:38.92, Y:327.11, Z:7.50 [[ 7.32862477e-01 6.80292762e-01 -1.06933850e-02 3.89182303e+01] [-6.80211213e-01 7.32940348e-01 1.05429137e-02 3.27110363e+02] [ 1.50098812e-02 -4.52745481e-04 9.99887243e-01 7.49952763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.602755096 meters 0.022740388080510716 Centerline is valid? [True, True] Translation: X:38.94, Y:327.09, Z:7.50 [[ 7.30937209e-01 6.82360257e-01 -1.07367092e-02 3.89410429e+01] [-6.82278292e-01 7.31015944e-01 1.05840098e-02 3.27091998e+02] [ 1.50708133e-02 -4.10822964e-04 9.99886344e-01 7.49996279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.632755096 meters 0.022823748800313428 Centerline is valid? [True, True] Translation: X:38.96, Y:327.07, Z:7.50 [[ 7.29984800e-01 6.83380793e-01 -1.06246799e-02 3.89608383e+01] [-6.83300665e-01 7.30062014e-01 1.04717453e-02 3.27072456e+02] [ 1.49128648e-02 -3.84364057e-04 9.99888723e-01 7.49988144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6627550960001 meters 0.020892976427673928 Centerline is valid? [True, True] Translation: X:38.98, Y:327.05, Z:7.50 [[ 7.28053163e-01 6.85436822e-01 -1.07217020e-02 3.89832485e+01] [-6.85355469e-01 7.28132024e-01 1.05658426e-02 3.27053296e+02] [ 1.50490321e-02 -3.44318070e-04 9.99886698e-01 7.50134236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.692755096 meters 0.020533069941191206 Centerline is valid? [True, True] Translation: X:39.00, Y:327.03, Z:7.50 [[ 7.27063812e-01 6.86488095e-01 -1.05975829e-02 3.90029736e+01] [-6.86408751e-01 7.27140973e-01 1.04418728e-02 3.27033718e+02] [ 1.48741581e-02 -3.17634191e-04 9.99889323e-01 7.50220098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.722755096 meters 0.023407482474156804 Centerline is valid? [True, True] Translation: X:39.02, Y:327.01, Z:7.50 [[ 7.25381416e-01 6.88240828e-01 -1.20981148e-02 3.90220622e+01] [-6.88137705e-01 7.25482226e-01 1.19180141e-02 3.27013493e+02] [ 1.69794311e-02 -3.19936969e-04 9.99855788e-01 7.49851694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.752755096 meters 0.01870892273020463 Centerline is valid? [True, True] Translation: X:39.04, Y:326.99, Z:7.50 [[ 7.23985652e-01 6.89723110e-01 -1.12609013e-02 3.90443795e+01] [-6.89634013e-01 7.24073175e-01 1.10889365e-02 3.26994985e+02] [ 1.58020123e-02 -2.62330364e-04 9.99875106e-01 7.50247091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.782755096 meters 0.019375046439725808 Centerline is valid? [True, True] Translation: X:39.07, Y:326.98, Z:7.50 [[ 7.21926394e-01 6.91863188e-01 -1.21495280e-02 3.90652837e+01] [-6.91759853e-01 7.22028584e-01 1.19595247e-02 3.26976001e+02] [ 1.70466614e-02 -2.29340808e-04 9.99854669e-01 7.50009105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.812755096 meters 0.017025145144790754 Centerline is valid? [True, True] Translation: X:39.09, Y:326.96, Z:7.50 [[ 7.20823215e-01 6.93024108e-01 -1.14664393e-02 3.90868248e+01] [-6.92932289e-01 7.20914385e-01 1.12823953e-02 3.26956488e+02] [ 1.60852929e-02 -1.87146386e-04 9.99870606e-01 7.50224083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.842755096 meters 0.016374350907122005 Centerline is valid? [True, True] Translation: X:39.11, Y:326.94, Z:7.50 [[ 7.20065852e-01 6.93815291e-01 -1.12031654e-02 3.91080530e+01] [-6.93727824e-01 7.20152981e-01 1.10176953e-02 3.26936300e+02] [ 1.57122384e-02 -1.61518609e-04 9.99876542e-01 7.50339951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.872755096 meters 0.020428692769056265 Centerline is valid? [True, True] Translation: X:39.13, Y:326.92, Z:7.50 [[ 7.19819123e-01 6.94056840e-01 -1.20637014e-02 3.91264418e+01] [-6.93955517e-01 7.19920187e-01 1.18602370e-02 3.26915892e+02] [ 1.69165808e-02 -1.65553260e-04 9.99856891e-01 7.49986072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.902755096 meters 0.01609863731089597 Centerline is valid? [True, True] Translation: X:39.15, Y:326.90, Z:7.50 [[ 7.19036848e-01 6.94885847e-01 -1.09394010e-02 3.91460458e+01] [-6.94802656e-01 7.19120047e-01 1.07530005e-02 3.26896082e+02] [ 1.53388505e-02 -1.31078723e-04 9.99882344e-01 7.50334090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.932755096 meters 0.01579586208336979 Centerline is valid? [True, True] Translation: X:39.17, Y:326.88, Z:7.50 [[ 7.19108926e-01 6.94813215e-01 -1.08143203e-02 3.91658993e+01] [-6.94731977e-01 7.19190225e-01 1.06254585e-02 3.26875971e+02] [ 1.51602624e-02 -1.27807933e-04 9.99885068e-01 7.50418985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.962755096 meters 0.01796702932035506 Centerline is valid? [True, True] Translation: X:39.18, Y:326.85, Z:7.50 [[ 7.20044073e-01 6.93843364e-01 -1.08590493e-02 3.91837360e+01] [-6.93761407e-01 7.20125937e-01 1.06651347e-02 3.26853800e+02] [ 1.52198159e-02 -1.45777692e-04 9.99884161e-01 7.50314053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.992755096 meters 0.017269723758665007 Centerline is valid? [True, True] Translation: X:39.20, Y:326.83, Z:7.50 [[ 7.20482221e-01 6.93393016e-01 -1.05591068e-02 3.92024424e+01] [-6.93315546e-01 7.20559577e-01 1.03658047e-02 3.26833489e+02] [ 1.47960421e-02 -1.47585125e-04 9.99890522e-01 7.50417701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.022755096 meters 0.016882024029610823 Centerline is valid? [True, True] Translation: X:39.22, Y:326.81, Z:7.50 [[ 7.21283636e-01 6.92559025e-01 -1.05789207e-02 3.92195271e+01] [-6.92481227e-01 7.21361193e-01 1.03816996e-02 3.26810977e+02] [ 1.48211626e-02 -1.62446068e-04 9.99890147e-01 7.50459030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.052755096 meters 0.01757674508938012 Centerline is valid? [True, True] Translation: X:39.24, Y:326.79, Z:7.50 [[ 7.22077899e-01 6.91723062e-01 -1.10776201e-02 3.92371247e+01] [-6.91637702e-01 7.22162843e-01 1.08682091e-02 3.26789855e+02] [ 1.55176365e-02 -1.85993914e-04 9.99879577e-01 7.50389518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.082755096 meters 0.017694726029268838 Centerline is valid? [True, True] Translation: X:39.68, Y:327.24, Z:8.62 [[ 7.58354165e-01 -6.51835245e-01 -3.12625679e-03 3.96768877e+01] [-6.51832333e-01 -7.58360438e-01 2.01400749e-03 3.27242895e+02] [-3.68363053e-03 5.10464292e-04 -9.99993085e-01 8.62073368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.112755096 meters 0.01839401050087544 Centerline is valid? [True, True] Translation: X:39.31, Y:326.75, Z:7.50 [[ 7.75288309e-01 6.31492468e-01 -1.20540424e-02 3.93093183e+01] [-6.31411752e-01 7.75381980e-01 1.00987264e-02 3.26750739e+02] [ 1.57237569e-02 -2.18360520e-04 9.99876350e-01 7.50431043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.142755096 meters 0.019266861282871604 Centerline is valid? [True, True] Translation: X:39.33, Y:326.73, Z:7.50 [[ 7.76174255e-01 6.30393686e-01 -1.25430021e-02 3.93285549e+01] [-6.30306181e-01 7.76275556e-01 1.05061809e-02 3.26729784e+02] [ 1.63598561e-02 -2.48695396e-04 9.99866138e-01 7.50310346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1727550960001 meters 0.019697595255742013 Centerline is valid? [True, True] Translation: X:39.35, Y:326.71, Z:7.50 [[ 7.76566532e-01 6.29902598e-01 -1.29281858e-02 3.93487892e+01] [-6.29809609e-01 7.76674093e-01 1.08263070e-02 3.26710506e+02] [ 1.68605059e-02 -2.65052031e-04 9.99857816e-01 7.50234475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.202755096 meters 0.02082900166580063 Centerline is valid? [True, True] Translation: X:39.37, Y:326.69, Z:7.50 [[ 7.76871185e-01 6.29518020e-01 -1.33500457e-02 3.93684491e+01] [-6.29418847e-01 7.76985832e-01 1.11772811e-02 3.26690973e+02] [ 1.74090963e-02 -2.80537263e-04 9.99848411e-01 7.50097132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.232755096 meters 0.023032871459795767 Centerline is valid? [True, True] Translation: X:39.39, Y:326.67, Z:7.50 [[ 7.77376476e-01 6.28876810e-01 -1.41341299e-02 3.93895766e+01] [-6.28765571e-01 7.77504895e-01 1.18319359e-02 3.26671119e+02] [ 1.84301852e-02 -3.10814377e-04 9.99830101e-01 7.49923269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.262755096 meters 0.022593895675562276 Centerline is valid? [True, True] Translation: X:39.41, Y:326.65, Z:7.50 [[ 7.77395686e-01 6.28852944e-01 -1.41393843e-02 3.94094956e+01] [-6.28741659e-01 7.77524198e-01 1.18341405e-02 3.26651013e+02] [ 1.84356476e-02 -3.09789850e-04 9.99830001e-01 7.50000477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2927550960001 meters 0.017987465687906105 Centerline is valid? [True, True] Translation: X:39.44, Y:326.63, Z:7.51 [[ 7.76651963e-01 6.29786236e-01 -1.34546015e-02 3.94354692e+01] [-6.29685552e-01 7.76768447e-01 1.12643408e-02 3.26631408e+02] [ 1.75452367e-02 -2.76304180e-04 9.99846032e-01 7.50577781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.322755096 meters 0.02268299588334224 Centerline is valid? [True, True] Translation: X:39.46, Y:326.61, Z:7.50 [[ 7.76656707e-01 6.29772091e-01 -1.38373909e-02 3.94561266e+01] [-6.29665473e-01 7.76779911e-01 1.15914933e-02 3.26605866e+02] [ 1.80486062e-02 -2.89683779e-04 9.99837069e-01 7.50119477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.352755096 meters 0.02013008725708304 Centerline is valid? [True, True] Translation: X:39.48, Y:326.59, Z:7.50 [[ 7.76191212e-01 6.30362920e-01 -1.30304405e-02 3.94785135e+01] [-6.30268480e-01 7.76300536e-01 1.09142310e-02 3.26586996e+02] [ 1.69954645e-02 -2.58854209e-04 9.99855533e-01 7.50423695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.382755096 meters 0.01722733569526208 Centerline is valid? [True, True] Translation: X:39.51, Y:326.57, Z:7.51 [[ 7.75625904e-01 6.31079458e-01 -1.19655858e-02 3.95052231e+01] [-6.30999881e-01 7.75718163e-01 1.00240988e-02 3.26568450e+02] [ 1.56079251e-02 -2.24667520e-04 9.99878164e-01 7.50865271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4127550960001 meters 0.01773170765061355 Centerline is valid? [True, True] Translation: X:39.53, Y:326.55, Z:7.51 [[ 7.75357392e-01 6.31416651e-01 -1.15726700e-02 3.95300247e+01] [-6.31342165e-01 7.75443722e-01 9.70074871e-03 3.26546984e+02] [ 1.50991686e-02 -2.15232692e-04 9.99885978e-01 7.50870940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.442755096 meters 0.01684512332295289 Centerline is valid? [True, True] Translation: X:39.55, Y:326.53, Z:7.51 [[ 7.74394278e-01 6.32613406e-01 -1.06667913e-02 3.95538654e+01] [-6.32550167e-01 7.74467718e-01 8.94654933e-03 3.26525300e+02] [ 1.39207926e-02 -1.80875987e-04 9.99903085e-01 7.51036374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.472755096 meters 0.01693688750704273 Centerline is valid? [True, True] Translation: X:39.58, Y:326.50, Z:7.51 [[ 7.73941081e-01 6.33172365e-01 -1.03903865e-02 3.95771272e+01] [-6.33112342e-01 7.74010806e-01 8.71976124e-03 3.26503575e+02] [ 1.35633833e-02 -1.70299515e-04 9.99907999e-01 7.51032298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.502755096 meters 0.016930949403879115 Centerline is valid? [True, True] Translation: X:39.60, Y:326.48, Z:7.51 [[ 7.73441844e-01 6.33785343e-01 -1.01908567e-02 3.96005762e+01] [-6.33727590e-01 7.73508962e-01 8.55732050e-03 3.26481243e+02] [ 1.33062233e-02 -1.60362691e-04 9.99911455e-01 7.51020726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.532755096 meters 0.017012524815487415 Centerline is valid? [True, True] Translation: X:39.62, Y:326.46, Z:7.51 [[ 7.73302351e-01 6.33964436e-01 -9.62120661e-03 3.96224625e+01] [-6.33912946e-01 7.73362186e-01 8.08122910e-03 3.26459797e+02] [ 1.25638892e-02 -1.50226038e-04 9.99921060e-01 7.51028706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.562755096 meters 0.017335286420845083 Centerline is valid? [True, True] Translation: X:39.65, Y:326.44, Z:7.51 [[ 7.73566263e-01 6.33641103e-01 -9.70510789e-03 3.96477644e+01] [-6.33588647e-01 7.73627124e-01 8.15466061e-03 3.26438897e+02] [ 1.26752628e-02 -1.59124158e-04 9.99919653e-01 7.51042107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.592755096 meters 0.01746327420720819 Centerline is valid? [True, True] Translation: X:39.67, Y:326.41, Z:7.51 [[ 7.73391486e-01 6.33858883e-01 -9.40883812e-03 3.96688093e+01] [-6.33809538e-01 7.73448701e-01 7.91058167e-03 3.26414049e+02] [ 1.22914461e-02 -1.54565177e-04 9.99924445e-01 7.51132934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.622755096 meters 0.016157260563530847 Centerline is valid? [True, True] Translation: X:39.69, Y:326.39, Z:7.51 [[ 7.73239323e-01 6.34049383e-01 -9.07354665e-03 3.96949688e+01] [-6.34003449e-01 7.73292544e-01 7.63340683e-03 3.26394039e+02] [ 1.18564629e-02 -1.49790462e-04 9.99929698e-01 7.51289728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.652755096 meters 0.016350036268018404 Centerline is valid? [True, True] Translation: X:39.72, Y:326.37, Z:7.51 [[ 7.73149487e-01 6.34157067e-01 -9.20242168e-03 3.97185245e+01] [-6.34109767e-01 7.73204236e-01 7.74677276e-03 3.26371794e+02] [ 1.20280221e-02 -1.54067917e-04 9.99927649e-01 7.51272507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.682755096 meters 0.016383803151714817 Centerline is valid? [True, True] Translation: X:39.74, Y:326.35, Z:7.51 [[ 7.73062871e-01 6.34263900e-01 -9.11610680e-03 3.97430476e+01] [-6.34217433e-01 7.73116603e-01 7.67890594e-03 3.26349280e+02] [ 1.19182663e-02 -1.54683212e-04 9.99928963e-01 7.51283404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.712755096 meters 0.016510210652184894 Centerline is valid? [True, True] Translation: X:39.77, Y:326.33, Z:7.51 [[ 7.72658069e-01 6.34758396e-01 -9.01595050e-03 3.97657459e+01] [-6.34712923e-01 7.72710656e-01 7.59922963e-03 3.26326493e+02] [ 1.17903958e-02 -1.49065801e-04 9.99930480e-01 7.51300285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.742755096 meters 0.017743796462663452 Centerline is valid? [True, True] Translation: X:39.79, Y:326.30, Z:7.51 [[ 7.72787528e-01 6.34602958e-01 -8.86130434e-03 3.97897668e+01] [-6.34558969e-01 7.72838316e-01 7.47343923e-03 3.26303916e+02] [ 1.15910222e-02 -1.52360486e-04 9.99932810e-01 7.51166469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.772755096 meters 0.016571734920109764 Centerline is valid? [True, True] Translation: X:39.81, Y:326.28, Z:7.51 [[ 7.72205697e-01 6.35311188e-01 -8.83487077e-03 3.98145158e+01] [-6.35267454e-01 7.72256222e-01 7.45584108e-03 3.26281866e+02] [ 1.15595632e-02 -1.44937101e-04 9.99933176e-01 7.51271122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.802755096 meters 0.016532681703640337 Centerline is valid? [True, True] Translation: X:39.84, Y:326.26, Z:7.51 [[ 7.71766133e-01 6.35844334e-01 -8.88930675e-03 3.98378264e+01] [-6.35800040e-01 7.71817312e-01 7.50635524e-03 3.26260415e+02] [ 1.16337943e-02 -1.41329166e-04 9.99932315e-01 7.51269591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.832755096 meters 0.016277267916672028 Centerline is valid? [True, True] Translation: X:39.86, Y:326.24, Z:7.51 [[ 7.71423284e-01 6.36262501e-01 -8.72617503e-03 3.98628189e+01] [-6.36219795e-01 7.71472625e-01 7.37305049e-03 3.26238718e+02] [ 1.14232007e-02 -1.35977535e-04 9.99934744e-01 7.51306404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.862755096 meters 0.01840830253149808 Centerline is valid? [True, True] Translation: X:39.89, Y:326.22, Z:7.51 [[ 7.70626258e-01 6.37235141e-01 -8.15755077e-03 3.98871000e+01] [-6.37197831e-01 7.70669425e-01 6.89656416e-03 3.26217773e+02] [ 1.06815080e-02 -1.16699777e-04 9.99942944e-01 7.51203397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.892755096 meters 0.01583169756051766 Centerline is valid? [True, True] Translation: X:39.91, Y:326.20, Z:7.51 [[ 7.69341694e-01 6.38787513e-01 -7.99192398e-03 3.99107742e+01] [-6.38751749e-01 7.69383197e-01 6.76010324e-03 3.26197119e+02] [ 1.04671216e-02 -9.59738545e-05 9.99945214e-01 7.51440930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9227550960001 meters 0.015125596647760144 Centerline is valid? [True, True] Translation: X:39.94, Y:326.18, Z:7.51 [[ 7.67938118e-01 6.40469882e-01 -8.32922713e-03 3.99363018e+01] [-6.40431093e-01 7.67983283e-01 7.04924125e-03 3.26178264e+02] [ 1.09115339e-02 -7.90850248e-05 9.99940464e-01 7.51407682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.952755096 meters 0.014990487990094377 Centerline is valid? [True, True] Translation: X:39.96, Y:326.16, Z:7.51 [[ 7.66952114e-01 6.41645502e-01 -8.68937078e-03 3.99607300e+01] [-6.41603311e-01 7.67001334e-01 7.35835775e-03 3.26158272e+02] [ 1.13862161e-02 -6.83789666e-05 9.99935173e-01 7.51369460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.982755096 meters 0.014864352300947674 Centerline is valid? [True, True] Translation: X:39.99, Y:326.14, Z:7.51 [[ 7.65861886e-01 6.42943155e-01 -8.92588451e-03 3.99866833e+01] [-6.42898670e-01 7.65913896e-01 7.56328804e-03 3.26137314e+02] [ 1.16992233e-02 -5.39947606e-05 9.99931560e-01 7.51356022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.012755096 meters 0.014526053554851804 Centerline is valid? [True, True] Translation: X:40.01, Y:326.12, Z:7.51 [[ 7.64169481e-01 6.44958785e-01 -8.55394280e-03 4.00119930e+01] [-6.44918010e-01 7.64217355e-01 7.25228233e-03 3.26118073e+02] [ 1.12144947e-02 -2.53810585e-05 9.99937115e-01 7.51413518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0427550960001 meters 0.014595328032101257 Centerline is valid? [True, True] Translation: X:40.04, Y:326.10, Z:7.51 [[ 7.63703749e-01 6.45514023e-01 -8.26008444e-03 4.00373671e+01] [-6.45475990e-01 7.63748418e-01 7.00718294e-03 3.26097536e+02] [ 1.08318613e-02 -1.97257024e-05 9.99941334e-01 7.51427662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.072755096 meters 0.014563254663033976 Centerline is valid? [True, True] Translation: X:40.06, Y:326.08, Z:7.51 [[ 7.63382253e-01 6.45893550e-01 -8.31009520e-03 4.00620863e+01] [-6.45855030e-01 7.63427483e-01 7.05393371e-03 3.26077161e+02] [ 1.09002454e-02 -1.77310235e-05 9.99940590e-01 7.51383461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.102755096 meters 0.017314135412609566 Centerline is valid? [True, True] Translation: X:40.09, Y:326.06, Z:7.51 [[ 7.63550525e-01 6.45691683e-01 -8.53504979e-03 4.00857508e+01] [-6.45650990e-01 7.63598226e-01 7.24908571e-03 3.26055790e+02] [ 1.11980232e-02 -2.43798558e-05 9.99937300e-01 7.51194319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.132755096 meters 0.01843103123806357 Centerline is valid? [True, True] Translation: X:40.11, Y:326.03, Z:7.51 [[ 7.64165538e-01 6.44963792e-01 -8.52859035e-03 4.01104188e+01] [-6.44923067e-01 7.64213128e-01 7.24789182e-03 3.26033634e+02] [ 1.11922885e-02 -3.83045045e-05 9.99937364e-01 7.51288805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1627550960001 meters 0.01479154424587306 Centerline is valid? [True, True] Translation: X:40.13, Y:326.01, Z:7.52 [[ 7.64339213e-01 6.44767565e-01 -7.76880244e-03 4.01346739e+01] [-6.44733723e-01 7.64378692e-01 6.60617750e-03 3.26011921e+02] [ 1.01977560e-02 -4.05515910e-05 9.99948001e-01 7.51599348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.192755096 meters 0.01490877505388058 Centerline is valid? [True, True] Translation: X:40.16, Y:325.99, Z:7.52 [[ 7.65058721e-01 6.43914262e-01 -7.71858519e-03 4.01583609e+01] [-6.43880772e-01 7.65097654e-01 6.56750487e-03 3.25989809e+02] [ 1.01343815e-02 -5.46782875e-05 9.99948644e-01 7.51622005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.222755096 meters 0.015682100459741156 Centerline is valid? [True, True] Translation: X:40.18, Y:325.97, Z:7.52 [[ 7.66934382e-01 6.41686359e-01 -7.09024091e-03 4.01809580e+01] [-6.41657973e-01 7.66967151e-01 6.03613967e-03 3.25966403e+02] [ 9.31129036e-03 -7.98134334e-05 9.99956646e-01 7.51735010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.252755096 meters 0.015682100459741156 Centerline is valid? [True, True] Translation: X:40.21, Y:325.95, Z:7.52 [[ 7.66737488e-01 6.41921629e-01 -7.08853677e-03 4.02055244e+01] [-6.41893235e-01 7.66770250e-01 6.03814048e-03 3.25945256e+02] [ 9.31129208e-03 -7.95848614e-05 9.99956646e-01 7.51754227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.282755096 meters 0.01803723206451062 Centerline is valid? [True, True] Translation: X:40.23, Y:325.92, Z:7.52 [[ 7.67628499e-01 6.40853986e-01 -7.25648631e-03 4.02286848e+01] [-6.40824147e-01 7.67662790e-01 6.18490735e-03 3.25923206e+02] [ 9.53415705e-03 -9.75794947e-05 9.99954544e-01 7.51634188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.312755096 meters 0.02006599068584698 Centerline is valid? [True, True] Translation: X:40.25, Y:325.90, Z:7.52 [[ 7.69950260e-01 6.38072661e-01 -6.31482204e-03 4.02504326e+01] [-6.38049949e-01 7.69976147e-01 5.38486519e-03 3.25900278e+02] [ 8.29819760e-03 -1.16906474e-04 9.99965563e-01 7.51692221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.342755096 meters 0.020826812192597757 Centerline is valid? [True, True] Translation: X:40.27, Y:325.88, Z:7.52 [[ 7.70978335e-01 6.36833439e-01 -5.96476941e-03 4.02737855e+01] [-6.36813119e-01 7.71001398e-01 5.08882284e-03 3.25877780e+02] [ 7.83957810e-03 -1.24928749e-04 9.99969262e-01 7.51765279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.372755096 meters 0.01901236595793891 Centerline is valid? [True, True] Translation: X:40.30, Y:325.86, Z:7.52 [[ 7.71726666e-01 6.35931801e-01 -5.35701232e-03 4.02966302e+01] [-6.35915374e-01 7.71745249e-01 4.57250286e-03 3.25855855e+02] [ 7.04204879e-03 -1.22115891e-04 9.99975197e-01 7.52062605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.402755096 meters 0.02066830415940832 Centerline is valid? [True, True] Translation: X:40.32, Y:325.83, Z:7.52 [[ 7.73644282e-01 6.33598937e-01 -5.18771713e-03 4.03181323e+01] [-6.33583466e-01 7.73661662e-01 4.42998381e-03 3.25833028e+02] [ 6.82037089e-03 -1.40379838e-04 9.99976731e-01 7.52077516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.432755096 meters 0.021509120565956736 Centerline is valid? [True, True] Translation: X:40.34, Y:325.81, Z:7.52 [[ 7.74273390e-01 6.32830067e-01 -5.17920972e-03 4.03406115e+01] [-6.32814620e-01 7.74290698e-01 4.42404248e-03 3.25811193e+02] [ 6.80988101e-03 -1.47938739e-04 9.99976802e-01 7.52115267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.462755096 meters 0.021946167572345826 Centerline is valid? [True, True] Translation: X:40.36, Y:325.79, Z:7.52 [[ 7.74561179e-01 6.32479572e-01 -4.95691098e-03 4.03641465e+01] [-6.32465402e-01 7.74577027e-01 4.23612706e-03 3.25789500e+02] [ 6.51877319e-03 -1.46064873e-04 9.99978742e-01 7.52188344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.492755096 meters 0.02216476152596525 Centerline is valid? [True, True] Translation: X:40.39, Y:325.77, Z:7.52 [[ 7.74209979e-01 6.32912239e-01 -4.58317680e-03 4.03881704e+01] [-6.32900122e-01 7.74223534e-01 3.91860761e-03 3.25768799e+02] [ 6.02853806e-03 -1.33131959e-04 9.99981819e-01 7.52200241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.522755096 meters 0.023322829749853093 Centerline is valid? [True, True] Translation: X:40.41, Y:325.75, Z:7.52 [[ 7.73572829e-01 6.33685653e-01 -5.25085225e-03 4.04131279e+01] [-6.33669747e-01 7.73590636e-01 4.49220917e-03 3.25748601e+02] [ 6.90865863e-03 -1.47744741e-04 9.99976124e-01 7.51969606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.552755096 meters 0.020493835628863047 Centerline is valid? [True, True] Translation: X:40.44, Y:325.73, Z:7.52 [[ 7.71448058e-01 6.36268906e-01 -5.45646764e-03 4.04398084e+01] [-6.36251777e-01 7.71467344e-01 4.67054738e-03 3.25730959e+02] [ 7.18121067e-03 -1.31397470e-04 9.99974206e-01 7.52076688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.582755096 meters 0.017968030753775534 Centerline is valid? [True, True] Translation: X:40.47, Y:325.71, Z:7.52 [[ 7.70122002e-01 6.37872900e-01 -5.50136206e-03 4.04678303e+01] [-6.37855512e-01 7.70141642e-01 4.71140261e-03 3.25713820e+02] [ 7.24210406e-03 -1.19280705e-04 9.99973769e-01 7.52121512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.612755096 meters 0.018986705822428267 Centerline is valid? [True, True] Translation: X:40.49, Y:325.69, Z:7.52 [[ 7.68737267e-01 6.39542721e-01 -5.30304028e-03 4.04936570e+01] [-6.39526586e-01 7.68755551e-01 4.54403010e-03 3.25694137e+02] [ 6.98284302e-03 -1.01730036e-04 9.99975615e-01 7.52019184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.642755096 meters 0.01752094216630517 Centerline is valid? [True, True] Translation: X:40.52, Y:325.67, Z:7.52 [[ 7.68105087e-01 6.40305657e-01 -4.82092106e-03 4.05170656e+01] [-6.40292324e-01 7.68120211e-01 4.13298510e-03 3.25673751e+02] [ 6.34942064e-03 -8.77681298e-05 9.99979838e-01 7.52226657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6727550960001 meters 0.016840815862153434 Centerline is valid? [True, True] Translation: X:40.54, Y:325.65, Z:7.52 [[ 7.67490928e-01 6.41044557e-01 -4.42174715e-03 4.05426449e+01] [-6.41033346e-01 7.67503662e-01 3.79185781e-03 3.25652399e+02] [ 5.82445694e-03 -7.57290956e-05 9.99983035e-01 7.52361494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.702755096 meters 0.017758786975469305 Centerline is valid? [True, True] Translation: X:40.57, Y:325.63, Z:7.52 [[ 7.66814310e-01 6.41849707e-01 -4.97672787e-03 4.05664391e+01] [-6.41835503e-01 7.66830455e-01 4.27084741e-03 3.25631728e+02] [ 6.55754865e-03 -8.07062691e-05 9.99978496e-01 7.52289068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.732755096 meters 0.01661545442095156 Centerline is valid? [True, True] Translation: X:40.59, Y:325.61, Z:7.52 [[ 7.66106140e-01 6.42695050e-01 -4.94516874e-03 4.05901156e+01] [-6.42681027e-01 7.66122097e-01 4.24627597e-03 3.25611859e+02] [ 6.51766359e-03 -7.49319702e-05 9.99978757e-01 7.52412374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.762755096 meters 0.017851275125383256 Centerline is valid? [True, True] Translation: X:40.62, Y:325.59, Z:7.52 [[ 7.65540229e-01 6.43365680e-01 -5.36274697e-03 4.06155246e+01] [-6.43349186e-01 7.65559009e-01 4.60748156e-03 3.25590713e+02] [ 7.06979476e-03 -7.70935899e-05 9.99975006e-01 7.52256198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7927550960001 meters 0.017213189696672706 Centerline is valid? [True, True] Translation: X:40.64, Y:325.57, Z:7.52 [[ 7.65136975e-01 6.43849595e-01 -4.80725989e-03 4.06393640e+01] [-6.43836335e-01 7.65152073e-01 4.13261691e-03 3.25570213e+02] [ 6.33906860e-03 -6.69294070e-05 9.99979906e-01 7.52432215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.822755096 meters 0.017713975934819142 Centerline is valid? [True, True] Translation: X:40.66, Y:325.55, Z:7.52 [[ 7.65292663e-01 6.43668259e-01 -4.27917560e-03 4.06637583e+01] [-6.43657739e-01 7.65304625e-01 3.68058535e-03 3.25548710e+02] [ 5.64394884e-03 -6.24004750e-05 9.99984071e-01 7.52457666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.852755096 meters 0.016937128142971398 Centerline is valid? [True, True] Translation: X:40.69, Y:325.53, Z:7.53 [[ 7.65926362e-01 6.42919184e-01 -3.42495395e-03 4.06870140e+01] [-6.42912431e-01 7.65934018e-01 2.94730463e-03 3.25526442e+02] [ 4.51816743e-03 -5.54728479e-05 9.99989792e-01 7.52745590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.882755096 meters 0.01705338676458713 Centerline is valid? [True, True] Translation: X:40.71, Y:325.50, Z:7.53 [[ 7.66000440e-01 6.42830609e-01 -3.48343907e-03 4.07112879e+01] [-6.42823615e-01 7.66008358e-01 2.99925515e-03 3.25504470e+02] [ 4.59635645e-03 -5.81938747e-05 9.99989435e-01 7.52777377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9127550960001 meters 0.017212485036319298 Centerline is valid? [True, True] Translation: X:40.74, Y:325.48, Z:7.53 [[ 7.66244987e-01 6.42538309e-01 -3.62506585e-03 4.07357244e+01] [-6.42530721e-01 7.66253559e-01 3.12329255e-03 3.25482331e+02] [ 4.78455473e-03 -6.39910847e-05 9.99988552e-01 7.52794608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.942755096 meters 0.019866193670710477 Centerline is valid? [True, True] Translation: X:40.76, Y:325.46, Z:7.53 [[ 7.67061556e-01 6.41559484e-01 -4.24237149e-03 4.07581281e+01] [-6.41549061e-01 7.67073283e-01 3.65794223e-03 3.25460347e+02] [ 5.60099736e-03 -8.41774077e-05 9.99984311e-01 7.52588758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.972755096 meters 0.0197996237387045 Centerline is valid? [True, True] Translation: X:40.78, Y:325.44, Z:7.53 [[ 7.67348645e-01 6.41218060e-01 -3.93157223e-03 4.07826469e+01] [-6.41209096e-01 7.67358712e-01 3.39149589e-03 3.25438680e+02] [ 5.19161462e-03 -8.14998994e-05 9.99986520e-01 7.52650088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.002755096 meters 0.018906823341562153 Centerline is valid? [True, True] Translation: X:40.80, Y:325.42, Z:7.53 [[ 7.67809921e-01 6.40672448e-01 -2.59606045e-03 4.08044112e+01] [-6.40668534e-01 7.67814308e-01 2.24025116e-03 3.25416339e+02] [ 3.42855955e-03 -5.68728250e-05 9.99994121e-01 7.52975385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.032755096 meters 0.020042627308147327 Centerline is valid? [True, True] Translation: X:40.83, Y:325.39, Z:7.53 [[ 7.68055286e-01 6.40375701e-01 -3.16845057e-03 4.08288828e+01] [-6.40369860e-01 7.68061818e-01 2.73594394e-03 3.25394426e+02] [ 4.18559792e-03 -7.23759564e-05 9.99991238e-01 7.52810479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.062755096 meters 0.021386240151590692 Centerline is valid? [True, True] Translation: X:40.85, Y:325.37, Z:7.53 [[ 7.68065127e-01 6.40360920e-01 -3.72195358e-03 4.08515399e+01] [-6.40352849e-01 7.68074140e-01 3.21637588e-03 3.25372514e+02] [ 4.91837771e-03 -8.70225678e-05 9.99987901e-01 7.52711471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.092755096 meters 0.019130683746730683 Centerline is valid? [True, True] Translation: X:40.88, Y:325.35, Z:7.53 [[ 7.67785848e-01 6.40697380e-01 -3.42898564e-03 4.08755535e+01] [-6.40690526e-01 7.67793501e-01 2.96472446e-03 3.25349918e+02] [ 4.53224409e-03 -7.93548724e-05 9.99989726e-01 7.52931569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.122755096 meters 0.020122688260471876 Centerline is valid? [True, True] Translation: X:40.90, Y:325.33, Z:7.53 [[ 7.67676967e-01 6.40825986e-01 -3.75899258e-03 4.08998209e+01] [-6.40817739e-01 7.67686165e-01 3.25232898e-03 3.25327620e+02] [ 4.96990352e-03 -8.79089229e-05 9.99987646e-01 7.52802545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.152755096 meters 0.019189928743572966 Centerline is valid? [True, True] Translation: X:40.92, Y:325.31, Z:7.53 [[ 7.67288714e-01 6.41290625e-01 -3.78992416e-03 4.09238917e+01] [-6.41282236e-01 7.67298069e-01 3.28136568e-03 3.25307241e+02] [ 5.01231054e-03 -8.73438110e-05 9.99987435e-01 7.52855986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.182755096 meters 0.019493013256825262 Centerline is valid? [True, True] Translation: X:40.95, Y:325.29, Z:7.53 [[ 7.67174854e-01 6.41425077e-01 -4.07599490e-03 4.09477536e+01] [-6.41415370e-01 7.67185676e-01 3.53013496e-03 3.25286317e+02] [ 5.39136199e-03 -9.38249957e-05 9.99985462e-01 7.52772765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.212755096 meters 0.019011071980994845 Centerline is valid? [True, True] Translation: X:40.97, Y:325.27, Z:7.53 [[ 7.67019768e-01 6.41607049e-01 -4.59025442e-03 4.09723833e+01] [-6.41594725e-01 7.67033496e-01 3.97810562e-03 3.25265239e+02] [ 6.07325950e-03 -1.06202623e-04 9.99981552e-01 7.52735227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.242755096 meters 0.01893458751297256 Centerline is valid? [True, True] Translation: X:41.00, Y:325.24, Z:7.53 [[ 7.66928164e-01 6.41716620e-01 -4.57939985e-03 4.09966821e+01] [-6.41704341e-01 7.66941828e-01 3.97119160e-03 3.25243414e+02] [ 6.06051294e-03 -1.06997918e-04 9.99981629e-01 7.52744870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.272755096 meters 0.019181706021432245 Centerline is valid? [True, True] Translation: X:41.02, Y:325.22, Z:7.53 [[ 7.66882735e-01 6.41772389e-01 -4.36705315e-03 4.10211885e+01] [-6.41761210e-01 7.66895162e-01 3.78934506e-03 3.25221692e+02] [ 5.78096897e-03 -1.03377986e-04 9.99983285e-01 7.52761092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.302755096 meters 0.02273573993106412 Centerline is valid? [True, True] Translation: X:41.04, Y:325.20, Z:7.53 [[ 7.67830730e-01 6.40636295e-01 -4.59434328e-03 4.10416268e+01] [-6.40623886e-01 7.67844466e-01 3.98920175e-03 3.25198217e+02] [ 6.08336849e-03 -1.19785648e-04 9.99981489e-01 7.52566375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.332755096 meters 0.021401134992060467 Centerline is valid? [True, True] Translation: X:41.07, Y:325.18, Z:7.53 [[ 7.67849155e-01 6.40617871e-01 -4.05182800e-03 4.10665442e+01] [-6.40608211e-01 7.67859838e-01 3.51967167e-03 3.25176173e+02] [ 5.36600056e-03 -1.06942628e-04 9.99985597e-01 7.52825652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.362755096 meters 0.022576779809855882 Centerline is valid? [True, True] Translation: X:41.09, Y:325.15, Z:7.53 [[ 7.68889855e-01 6.39368516e-01 -4.03633004e-03 4.10892354e+01] [-6.39358901e-01 7.68900441e-01 3.50829865e-03 3.25154268e+02] [ 5.34663165e-03 -1.16831703e-04 9.99985700e-01 7.52848601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.392755096 meters 0.022000232251751208 Centerline is valid? [True, True] Translation: X:41.12, Y:325.14, Z:7.53 [[ 7.69395620e-01 6.38757600e-01 -4.37144882e-03 4.11154287e+01] [-6.38746301e-01 7.69408027e-01 3.80151515e-03 3.25135371e+02] [ 5.79167450e-03 -1.32622343e-04 9.99983219e-01 7.52756464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4227550960001 meters 0.02392868436267676 Centerline is valid? [True, True] Translation: X:41.14, Y:325.11, Z:7.53 [[ 7.69610632e-01 6.38502717e-01 -3.70891939e-03 4.11360844e+01] [-6.38494573e-01 7.69619560e-01 3.22686776e-03 3.25111068e+02] [ 4.91482074e-03 -1.15306829e-04 9.99987916e-01 7.52947894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.452755096 meters 0.021890800787368405 Centerline is valid? [True, True] Translation: X:41.16, Y:325.09, Z:7.53 [[ 7.69894101e-01 6.38159846e-01 -3.88390630e-03 4.11641288e+01] [-6.38150902e-01 7.69903887e-01 3.38093022e-03 3.25093977e+02] [ 5.14780846e-03 -1.24439922e-04 9.99986742e-01 7.52918258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.482755096 meters 0.02313529609762476 Centerline is valid? [True, True] Translation: X:41.19, Y:325.07, Z:7.53 [[ 7.69967645e-01 6.38069353e-01 -4.16240789e-03 4.11895735e+01] [-6.38059068e-01 7.69978884e-01 3.62547098e-03 3.25073066e+02] [ 5.51826810e-03 -1.35633258e-04 9.99984765e-01 7.52739487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.512755096 meters 0.022213398118079934 Centerline is valid? [True, True] Translation: X:41.21, Y:325.05, Z:7.53 [[ 7.70428115e-01 6.37516838e-01 -3.57780768e-03 4.12146107e+01] [-6.37509225e-01 7.70436413e-01 3.11796336e-03 3.25052820e+02] [ 4.74422745e-03 -1.21281231e-04 9.99988739e-01 7.52910936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5427550960001 meters 0.02279089316970543 Centerline is valid? [True, True] Translation: X:41.24, Y:325.03, Z:7.53 [[ 7.70796733e-01 6.37072366e-01 -3.34617716e-03 4.12373112e+01] [-6.37065695e-01 7.70803988e-01 2.91765778e-03 3.25032039e+02] [ 4.43800584e-03 -1.17186407e-04 9.99990145e-01 7.52949515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.572755096 meters 0.022547484053568115 Centerline is valid? [True, True] Translation: X:41.26, Y:325.01, Z:7.53 [[ 7.71348443e-01 6.36407651e-01 -2.62331197e-03 4.12616578e+01] [-6.36403545e-01 7.71352898e-01 2.28805584e-03 3.25011052e+02] [ 3.47963553e-03 -9.54032695e-05 9.99993942e-01 7.53077090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.602755096 meters 0.022946749500606378 Centerline is valid? [True, True] Translation: X:41.29, Y:324.99, Z:7.53 [[ 7.71924382e-01 6.35708471e-01 -2.73631433e-03 4.12856062e+01] [-6.35703994e-01 7.71929225e-01 2.38804481e-03 3.24990100e+02] [ 3.63034131e-03 -1.03904065e-04 9.99993405e-01 7.53103755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.632755096 meters 0.023418563648121723 Centerline is valid? [True, True] Translation: X:41.31, Y:324.97, Z:7.53 [[ 7.72868518e-01 6.34561687e-01 -2.39136898e-03 4.13096459e+01] [-6.34558260e-01 7.72872212e-01 2.08789553e-03 3.24969419e+02] [ 3.17312114e-03 -9.62057822e-05 9.99994961e-01 7.53117837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6627550960001 meters 0.024157876221994196 Centerline is valid? [True, True] Translation: X:41.33, Y:324.95, Z:7.53 [[ 7.73197134e-01 6.34161810e-01 -2.23392036e-03 4.13329044e+01] [-6.34158813e-01 7.73200356e-01 1.95189614e-03 3.24949067e+02] [ 2.96508601e-03 -9.25402183e-05 9.99995600e-01 7.53147838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.692755096 meters 0.02444906770291618 Centerline is valid? [True, True] Translation: X:41.36, Y:324.93, Z:7.53 [[ 7.73007929e-01 6.34392573e-01 -2.19211388e-03 4.13572634e+01] [-6.34389687e-01 7.73011032e-01 1.91576244e-03 3.24928489e+02] [ 2.90987367e-03 -9.02451188e-05 9.99995762e-01 7.53131885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.722755096 meters 0.025021245484058718 Centerline is valid? [True, True] Translation: X:41.38, Y:324.91, Z:7.53 [[ 7.72577393e-01 6.34916244e-01 -2.35292761e-03 4.13810380e+01] [-6.34912918e-01 7.72580970e-01 2.05703126e-03 3.24908157e+02] [ 3.12386965e-03 -9.53117055e-05 9.99995116e-01 7.53113408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.752755096 meters 0.0241397970203453 Centerline is valid? [True, True] Translation: X:41.41, Y:324.89, Z:7.53 [[ 7.71796273e-01 6.35865636e-01 -2.32488236e-03 4.14068999e+01] [-6.35862391e-01 7.71799770e-01 2.03345491e-03 3.24888810e+02] [ 3.08734777e-03 -9.11076612e-05 9.99995230e-01 7.53065513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.782755096 meters 0.02355229421402017 Centerline is valid? [True, True] Translation: X:41.43, Y:324.87, Z:7.53 [[ 7.69873295e-01 6.38193182e-01 -2.13808582e-03 4.14318376e+01] [-6.38190444e-01 7.69876261e-01 1.87094073e-03 3.24869555e+02] [ 2.84008313e-03 -7.58813659e-05 9.99995964e-01 7.53140688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.812755096 meters 0.021730528469128162 Centerline is valid? [True, True] Translation: X:41.46, Y:324.85, Z:7.53 [[ 7.67238813e-01 6.41357910e-01 -2.15277530e-03 4.14582819e+01] [-6.41355141e-01 7.67241831e-01 1.88577509e-03 3.24852194e+02] [ 2.86115603e-03 -6.61463331e-05 9.99995905e-01 7.53142081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.842755096 meters 0.020794769945793063 Centerline is valid? [True, True] Translation: X:41.48, Y:324.83, Z:7.53 [[ 7.65378169e-01 6.43576854e-01 -2.25648839e-03 4.14841202e+01] [-6.43573823e-01 7.65381493e-01 1.97590354e-03 3.24833449e+02] [ 2.99872023e-03 -6.00965709e-05 9.99995502e-01 7.53101568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.872755096 meters 0.01984439040672634 Centerline is valid? [True, True] Translation: X:41.51, Y:324.81, Z:7.53 [[ 7.63393824e-01 6.45927518e-01 -2.74043304e-03 4.15101115e+01] [-6.45923057e-01 7.63398741e-01 2.40143064e-03 3.24814399e+02] [ 3.64319327e-03 -6.31284367e-05 9.99993362e-01 7.53017190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.902755096 meters 0.019599947118048796 Centerline is valid? [True, True] Translation: X:41.54, Y:324.79, Z:7.53 [[ 7.61801222e-01 6.47804812e-01 -2.79722549e-03 4.15361416e+01] [-6.47800170e-01 7.61806355e-01 2.45306209e-03 3.24794551e+02] [ 3.72004958e-03 -5.67025528e-05 9.99993079e-01 7.52936414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.932755096 meters 0.018741164549979466 Centerline is valid? [True, True] Translation: X:41.56, Y:324.78, Z:7.53 [[ 7.58490209e-01 6.51679731e-01 -2.47624693e-03 4.15624569e+01] [-6.51676113e-01 7.58494250e-01 2.17171074e-03 3.24777370e+02] [ 3.29347892e-03 -3.35103570e-05 9.99994576e-01 7.52960173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.962755096 meters 0.0173866393560135 Centerline is valid? [True, True] Translation: X:41.59, Y:324.76, Z:7.53 [[ 7.56998388e-01 6.53412864e-01 -2.25153674e-03 4.15871564e+01] [-6.53409879e-01 7.57001736e-01 1.97514104e-03 3.24758848e+02] [ 2.99499978e-03 -2.40022358e-05 9.99995515e-01 7.53123846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.992755096 meters 0.017001142814830686 Centerline is valid? [True, True] Translation: X:41.61, Y:324.74, Z:7.53 [[ 7.55517165e-01 6.55125469e-01 -2.10572387e-03 4.16114208e+01] [-6.55122862e-01 7.55520099e-01 1.84817065e-03 3.24739744e+02] [ 2.80170037e-03 -1.68168039e-05 9.99996075e-01 7.53143147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.022755096 meters 0.016905524656058775 Centerline is valid? [True, True] Translation: X:41.64, Y:324.72, Z:7.53 [[ 7.55182904e-01 6.55511265e-01 -1.93975688e-03 4.16358328e+01] [-6.55509057e-01 7.55185396e-01 1.70140761e-03 3.24718018e+02] [ 2.58016792e-03 -1.33457360e-05 9.99996671e-01 7.53159862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.052755096 meters 0.017563655300354773 Centerline is valid? [True, True] Translation: X:41.66, Y:324.70, Z:7.53 [[ 7.55318179e-01 6.55355831e-01 -1.78419899e-03 4.16585464e+01] [-6.55353959e-01 7.55320287e-01 1.56628887e-03 3.24695234e+02] [ 2.37411823e-03 -1.37645902e-05 9.99997182e-01 7.53192792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.082755096 meters 0.018778275299760464 Centerline is valid? [True, True] Translation: X:41.68, Y:324.67, Z:7.53 [[ 7.55954759e-01 6.54620971e-01 -1.94574210e-03 4.16817335e+01] [-6.54618742e-01 7.55957263e-01 1.70841275e-03 3.24672375e+02] [ 2.58926069e-03 -1.77635056e-05 9.99996648e-01 7.52992383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.112755096 meters 0.01729191683657706 Centerline is valid? [True, True] Translation: X:41.71, Y:324.65, Z:7.53 [[ 7.56122107e-01 6.54426996e-01 -2.16020422e-03 4.17059534e+01] [-6.54424244e-01 7.56125192e-01 1.89806354e-03 3.24650797e+02] [ 2.87552885e-03 -2.14777910e-05 9.99995865e-01 7.53163476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.142755096 meters 0.01729191683657706 Centerline is valid? [True, True] Translation: X:41.73, Y:324.63, Z:7.53 [[ 7.55915547e-01 6.54665580e-01 -2.15960456e-03 4.17301818e+01] [-6.54662827e-01 7.55918632e-01 1.89874535e-03 3.24629262e+02] [ 2.87552855e-03 -2.14783034e-05 9.99995865e-01 7.53182700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1727550960001 meters 0.01765019006711662 Centerline is valid? [True, True] Translation: X:41.75, Y:324.61, Z:7.53 [[ 7.56521357e-01 6.53965840e-01 -2.02884357e-03 4.17535945e+01] [-6.53963405e-01 7.56524078e-01 1.78474188e-03 3.24605985e+02] [ 2.70202923e-03 -2.34059033e-05 9.99996349e-01 7.53189714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.202755096 meters 0.017859116377395 Centerline is valid? [True, True] Translation: X:41.78, Y:324.58, Z:7.53 [[ 7.56667083e-01 6.53797324e-01 -1.99613630e-03 4.17768199e+01] [-6.53794962e-01 7.56669715e-01 1.75759335e-03 3.24584321e+02] [ 2.65952572e-03 -2.48491756e-05 9.99996463e-01 7.53171588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.232755096 meters 0.01804180995083932 Centerline is valid? [True, True] Translation: X:41.80, Y:324.56, Z:7.53 [[ 7.57709614e-01 6.52588633e-01 -2.05351825e-03 4.18001222e+01] [-6.52586127e-01 7.57712397e-01 1.80853119e-03 3.24562275e+02] [ 2.73620313e-03 -3.02439481e-05 9.99996256e-01 7.53098120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.262755096 meters 0.018391703026453123 Centerline is valid? [True, True] Translation: X:41.82, Y:324.54, Z:7.53 [[ 7.58110025e-01 6.52122669e-01 -2.28361980e-03 4.18232184e+01] [-6.52119564e-01 7.58113464e-01 2.01251681e-03 3.24539476e+02] [ 3.04365075e-03 -3.65160209e-05 9.99995367e-01 7.53060952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2927550960001 meters 0.01875476242239711 Centerline is valid? [True, True] Translation: X:41.85, Y:324.52, Z:7.53 [[ 7.58708918e-01 6.51424400e-01 -2.65105373e-03 4.18452863e+01] [-6.51420205e-01 7.58713549e-01 2.33827557e-03 3.24517257e+02] [ 3.53460014e-03 -4.71205602e-05 9.99993752e-01 7.53042005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.322755096 meters 0.02249244207797127 Centerline is valid? [True, True] Translation: X:41.86, Y:324.49, Z:7.53 [[ 7.60999122e-01 6.48744028e-01 -3.39444565e-03 4.18646118e+01] [-6.48737115e-01 7.61006688e-01 2.99609826e-03 3.24491535e+02] [ 4.52689670e-03 -7.79252659e-05 9.99989751e-01 7.52645574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.352755096 meters 0.02022350680757659 Centerline is valid? [True, True] Translation: X:41.89, Y:324.47, Z:7.53 [[ 7.61481239e-01 6.48177220e-01 -3.55178436e-03 4.18880807e+01] [-6.48169636e-01 7.61489517e-01 3.13664761e-03 3.24469984e+02] [ 4.73775008e-03 -8.63395264e-05 9.99988773e-01 7.52918797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.382755096 meters 0.021257405340813527 Centerline is valid? [True, True] Translation: X:41.91, Y:324.45, Z:7.53 [[ 7.62951733e-01 6.46442114e-01 -4.15290355e-03 4.19092160e+01] [-6.46431707e-01 7.62963026e-01 3.66994653e-03 3.24446191e+02] [ 5.54091985e-03 -1.15423533e-04 9.99984642e-01 7.52913591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4127550960001 meters 0.021716333124176847 Centerline is valid? [True, True] Translation: X:41.93, Y:324.42, Z:7.53 [[ 7.63349407e-01 6.45972292e-01 -4.18113379e-03 4.19316036e+01] [-6.45961725e-01 7.63360848e-01 3.69685824e-03 3.24424256e+02] [ 5.57978182e-03 -1.21142150e-04 9.99984426e-01 7.52879489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.442755096 meters 0.022388757796227746 Centerline is valid? [True, True] Translation: X:41.95, Y:324.40, Z:7.53 [[ 7.64149563e-01 6.45022967e-01 -4.56263207e-03 4.19537543e+01] [-6.45010358e-01 7.64163172e-01 4.03552818e-03 3.24401444e+02] [ 6.08960375e-03 -1.40802144e-04 9.99981448e-01 7.52887439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.472755096 meters 0.022860175034635683 Centerline is valid? [True, True] Translation: X:41.98, Y:324.38, Z:7.53 [[ 7.63937241e-01 6.45275818e-01 -4.36010066e-03 4.19777727e+01] [-6.45264296e-01 7.63949672e-01 3.85839935e-03 3.24378885e+02] [ 5.82062927e-03 -1.34157670e-04 9.99983051e-01 7.52852720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.502755096 meters 0.02234275051665183 Centerline is valid? [True, True] Translation: X:42.00, Y:324.36, Z:7.53 [[ 7.63123195e-01 6.46237010e-01 -4.55140414e-03 4.20023213e+01] [-6.46224457e-01 7.63136756e-01 4.03028247e-03 3.24358567e+02] [ 6.07786149e-03 -1.34373367e-04 9.99981521e-01 7.52946982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.532755096 meters 0.02282721466409923 Centerline is valid? [True, True] Translation: X:42.03, Y:324.34, Z:7.53 [[ 7.60942804e-01 6.48801104e-01 -4.81411919e-03 4.20276596e+01] [-6.48787095e-01 7.60958023e-01 4.26532973e-03 3.24339627e+02] [ 6.43069326e-03 -1.22333559e-04 9.99979315e-01 7.52666546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.562755096 meters 0.02066297559979947 Centerline is valid? [True, True] Translation: X:42.05, Y:324.32, Z:7.53 [[ 7.59628121e-01 6.50338591e-01 -4.98345074e-03 4.20527796e+01] [-6.50323596e-01 7.59644459e-01 4.41778409e-03 3.24319767e+02] [ 6.65870621e-03 -1.15017422e-04 9.99977824e-01 7.52926697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.592755096 meters 0.021106334147853893 Centerline is valid? [True, True] Translation: X:42.08, Y:324.30, Z:7.53 [[ 7.57581379e-01 6.52719963e-01 -5.20611471e-03 4.20776304e+01] [-6.52703637e-01 7.57599261e-01 4.61769239e-03 3.24301360e+02] [ 6.95820867e-03 -1.00227767e-04 9.99975786e-01 7.52724714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.622755096 meters 0.019430520017905996 Centerline is valid? [True, True] Translation: X:42.10, Y:324.28, Z:7.53 [[ 7.56667941e-01 6.53777263e-01 -5.37752402e-03 4.21025190e+01] [-6.53759852e-01 7.56687044e-01 4.77216067e-03 3.24281302e+02] [ 7.18903289e-03 -9.53316787e-05 9.99974154e-01 7.52914476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.652755096 meters 0.01925990453104733 Centerline is valid? [True, True] Translation: X:42.13, Y:324.26, Z:7.53 [[ 7.56004328e-01 6.54543725e-01 -5.47433127e-03 4.21280108e+01] [-6.54525683e-01 7.56024143e-01 4.86074073e-03 3.24260041e+02] [ 7.32029395e-03 -9.16506163e-05 9.99973202e-01 7.52885598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.682755096 meters 0.01922800048669573 Centerline is valid? [True, True] Translation: X:42.15, Y:324.24, Z:7.53 [[ 7.55441917e-01 6.55190163e-01 -5.77593207e-03 4.21527345e+01] [-6.55170072e-01 7.55463991e-01 5.13171049e-03 3.24240180e+02] [ 7.72575492e-03 -9.24913767e-05 9.99970152e-01 7.52890214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.712755096 meters 0.020595631908123888 Centerline is valid? [True, True] Translation: X:42.18, Y:324.22, Z:7.53 [[ 7.55656494e-01 6.54942037e-01 -5.84727201e-03 4.21761250e+01] [-6.54921417e-01 7.55679111e-01 5.19802688e-03 3.24218997e+02] [ 7.82306763e-03 -9.84190948e-05 9.99969395e-01 7.52714710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.742755096 meters 0.019582456531113998 Centerline is valid? [True, True] Translation: X:42.20, Y:324.20, Z:7.53 [[ 7.55811802e-01 6.54765141e-01 -5.57951258e-03 4.22024094e+01] [-6.54746340e-01 7.55832389e-01 4.96275145e-03 3.24198634e+02] [ 7.46661298e-03 -9.77406704e-05 9.99972120e-01 7.52837369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.772755096 meters 0.019643072335358527 Centerline is valid? [True, True] Translation: X:42.23, Y:324.18, Z:7.53 [[ 7.57247643e-01 6.53105147e-01 -5.44735798e-03 4.22250771e+01] [-6.53087162e-01 7.57267228e-01 4.84819739e-03 3.24176772e+02] [ 7.29148834e-03 -1.13686489e-04 9.99973410e-01 7.53049274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.802755096 meters 0.020466051955536104 Centerline is valid? [True, True] Translation: X:42.25, Y:324.15, Z:7.53 [[ 7.58015140e-01 6.52215190e-01 -5.32856935e-03 4.22467586e+01] [-6.52197941e-01 7.58033859e-01 4.74491464e-03 3.24154447e+02] [ 7.13394139e-03 -1.21435178e-04 9.99974546e-01 7.53075312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.832755096 meters 0.020702100760243324 Centerline is valid? [True, True] Translation: X:42.27, Y:324.13, Z:7.53 [[ 7.59323405e-01 6.50693243e-01 -5.12548481e-03 4.22704673e+01] [-6.50677233e-01 7.59340692e-01 4.56638553e-03 3.24132413e+02] [ 6.86330539e-03 -1.32327139e-04 9.99976439e-01 7.53201484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.862755096 meters 0.023571730395339524 Centerline is valid? [True, True] Translation: X:42.29, Y:324.11, Z:7.53 [[ 7.59696464e-01 6.50258017e-01 -5.07875608e-03 4.22923188e+01] [-6.50242271e-01 7.59713428e-01 4.52724337e-03 3.24109740e+02] [ 6.80227549e-03 -1.36908893e-04 9.99976855e-01 7.52854840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.892755096 meters 0.021846427384273757 Centerline is valid? [True, True] Translation: X:42.32, Y:324.09, Z:7.53 [[ 7.59892262e-01 6.50026667e-01 -5.39291471e-03 4.23159515e+01] [-6.50008888e-01 7.59911383e-01 4.80994889e-03 3.24088504e+02] [ 7.22473232e-03 -1.49600452e-04 9.99973890e-01 7.53193289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9227550960001 meters 0.02346911459000598 Centerline is valid? [True, True] Translation: X:42.34, Y:324.07, Z:7.53 [[ 7.60485670e-01 6.49326910e-01 -6.00911750e-03 4.23396905e+01] [-6.49304787e-01 7.60509390e-01 5.36287467e-03 3.24067184e+02] [ 8.05224912e-03 -1.76640576e-04 9.99967565e-01 7.52717105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.952755096 meters 0.023413070237619724 Centerline is valid? [True, True] Translation: X:42.36, Y:324.04, Z:7.53 [[ 7.60761287e-01 6.49000875e-01 -6.33470395e-03 4.23624563e+01] [-6.48976251e-01 7.60787636e-01 5.65668494e-03 3.24044781e+02] [ 8.49055792e-03 -1.92314493e-04 9.99963936e-01 7.52747182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.982755096 meters 0.022274642728461365 Centerline is valid? [True, True] Translation: X:42.39, Y:324.02, Z:7.53 [[ 7.60667851e-01 6.49107488e-01 -6.62495025e-03 4.23863738e+01] [-6.49080528e-01 7.60696673e-01 5.91939993e-03 3.24022501e+02] [ 8.88190443e-03 -2.02571013e-04 9.99960535e-01 7.53039499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.012755096 meters 0.022100065237217924 Centerline is valid? [True, True] Translation: X:42.41, Y:324.00, Z:7.53 [[ 7.60295636e-01 6.49537427e-01 -7.18868038e-03 4.24103187e+01] [-6.49505662e-01 7.60329589e-01 6.42738145e-03 3.24000635e+02] [ 9.64059121e-03 -2.17621467e-04 9.99953505e-01 7.53043737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0427550960001 meters 0.021855178694994357 Centerline is valid? [True, True] Translation: X:42.43, Y:323.98, Z:7.53 [[ 7.59651374e-01 6.50284037e-01 -7.77568322e-03 4.24341340e+01] [-6.50246866e-01 7.59691134e-01 6.95661414e-03 3.23979457e+02] [ 1.04308927e-02 -2.28487853e-04 9.99945571e-01 7.53033483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.072755096 meters 0.02360003064877157 Centerline is valid? [True, True] Translation: X:42.46, Y:323.96, Z:7.53 [[ 7.57808461e-01 6.52418347e-01 -8.75422275e-03 4.24584843e+01] [-6.52371319e-01 7.57858990e-01 7.83668796e-03 3.23959350e+02] [ 1.17472654e-02 -2.27704603e-04 9.99930973e-01 7.52625748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.102755096 meters 0.02171588588041647 Centerline is valid? [True, True] Translation: X:42.48, Y:323.94, Z:7.53 [[ 7.55761393e-01 6.54786813e-01 -8.88517704e-03 4.24841102e+01] [-6.54738478e-01 7.55813595e-01 7.95831693e-03 3.23940281e+02] [ 1.19265386e-02 -1.97121401e-04 9.99928857e-01 7.52724195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.132755096 meters 0.019796525786211203 Centerline is valid? [True, True] Translation: X:42.51, Y:323.92, Z:7.53 [[ 7.54707520e-01 6.56000604e-01 -8.93124263e-03 4.25085710e+01] [-6.55951798e-01 7.54760343e-01 8.00395359e-03 3.23920037e+02] [ 1.19915461e-02 -1.82179303e-04 9.99928082e-01 7.52986519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1627550960001 meters 0.021254105836110298 Centerline is valid? [True, True] Translation: X:42.53, Y:323.90, Z:7.53 [[ 7.54018963e-01 6.56789107e-01 -9.13635916e-03 4.25322607e+01] [-6.56738037e-01 7.54074292e-01 8.19225858e-03 3.23898723e+02] [ 1.22700798e-02 -1.76923743e-04 9.99924704e-01 7.52739909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.192755096 meters 0.022234693807486425 Centerline is valid? [True, True] Translation: X:42.56, Y:323.88, Z:7.53 [[ 7.53227144e-01 6.57682184e-01 -1.01495987e-02 4.25563926e+01] [-6.57619166e-01 7.53295501e-01 9.10612011e-03 3.23878184e+02] [ 1.36345800e-02 -1.84406239e-04 9.99907028e-01 7.52514602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.222755096 meters 0.019400582283621633 Centerline is valid? [True, True] Translation: X:42.58, Y:323.86, Z:7.53 [[ 7.52701856e-01 6.58281740e-01 -1.02502635e-02 4.25818067e+01] [-6.58217446e-01 7.52771625e-01 9.20190887e-03 3.23856667e+02] [ 1.37735561e-02 -1.79391607e-04 9.99905124e-01 7.52870312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.252755096 meters 0.022230858616771786 Centerline is valid? [True, True] Translation: X:42.61, Y:323.83, Z:7.53 [[ 7.53663920e-01 6.57169075e-01 -1.09317353e-02 4.26051604e+01] [-6.57095746e-01 7.53743166e-01 9.81941786e-03 3.23834223e+02] [ 1.46927386e-02 -2.17344158e-04 9.99892032e-01 7.52514502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.282755096 meters 0.021508223436015838 Centerline is valid? [True, True] Translation: X:42.63, Y:323.81, Z:7.53 [[ 7.54606184e-01 6.56088603e-01 -1.08283541e-02 4.26270166e+01] [-6.56016487e-01 7.54683834e-01 9.73037566e-03 3.23812432e+02] [ 1.45559723e-02 -2.39022853e-04 9.99894028e-01 7.52664572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.312755096 meters 0.02179290390649148 Centerline is valid? [True, True] Translation: X:42.65, Y:323.79, Z:7.53 [[ 7.55963480e-01 6.54523591e-01 -1.08667856e-02 4.26509596e+01] [-6.54450736e-01 7.56041530e-01 9.76928454e-03 3.23790784e+02] [ 1.46099684e-02 -2.73446480e-04 9.99893231e-01 7.52700524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.342755096 meters 0.02294345891759835 Centerline is valid? [True, True] Translation: X:42.67, Y:323.77, Z:7.53 [[ 7.57305396e-01 6.52969394e-01 -1.09319892e-02 4.26712258e+01] [-6.52895424e-01 7.57384233e-01 9.83307843e-03 3.23766959e+02] [ 1.47004155e-02 -3.09197639e-04 9.99891895e-01 7.52754442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.372755096 meters 0.023677778054194472 Centerline is valid? [True, True] Translation: X:42.69, Y:323.74, Z:7.53 [[ 7.60236904e-01 6.49559358e-01 -1.06061440e-02 4.26934485e+01] [-6.49489333e-01 7.60310795e-01 9.54474793e-03 3.23744545e+02] [ 1.42638461e-02 -3.67692204e-04 9.99898199e-01 7.52950188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.402755096 meters 0.02599275459041322 Centerline is valid? [True, True] Translation: X:42.71, Y:323.72, Z:7.53 [[ 7.62804760e-01 6.46547989e-01 -1.02271993e-02 4.27139495e+01] [-6.46482545e-01 7.62873205e-01 9.20826663e-03 3.23721197e+02] [ 1.37556426e-02 -4.12403783e-04 9.99905302e-01 7.53004385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.432755096 meters 0.026708422884322864 Centerline is valid? [True, True] Translation: X:42.74, Y:323.70, Z:7.53 [[ 7.63718113e-01 6.45473267e-01 -9.94509007e-03 4.27373796e+01] [-6.45411231e-01 7.63782745e-01 8.95884847e-03 3.23699336e+02] [ 1.33785854e-02 -4.23362026e-04 9.99910413e-01 7.53001147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.462755096 meters 0.02783666078206403 Centerline is valid? [True, True] Translation: X:42.76, Y:323.68, Z:7.53 [[ 7.64490749e-01 6.44562571e-01 -9.64299444e-03 4.27599671e+01] [-6.44504118e-01 7.64551442e-01 8.69107327e-03 3.23677619e+02] [ 1.29745058e-02 -4.29295488e-04 9.99915735e-01 7.53006539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.492755096 meters 0.028381770026418528 Centerline is valid? [True, True] Translation: X:42.78, Y:323.66, Z:7.53 [[ 7.64887139e-01 6.44100865e-01 -9.04105515e-03 4.27836940e+01] [-6.44049400e-01 7.64940459e-01 8.15256275e-03 3.23655883e+02] [ 1.21669416e-02 -4.12904246e-04 9.99925895e-01 7.53060183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.522755096 meters 0.02850508009680606 Centerline is valid? [True, True] Translation: X:42.81, Y:323.64, Z:7.53 [[ 7.64920660e-01 6.44081006e-01 -7.48607431e-03 4.28089727e+01] [-6.44045688e-01 7.64957214e-01 6.75377250e-03 3.23635497e+02] [ 1.00765031e-02 -3.44726241e-04 9.99949171e-01 7.53251687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.552755096 meters 0.02717854808079163 Centerline is valid? [True, True] Translation: X:42.84, Y:323.62, Z:7.53 [[ 7.63812694e-01 6.45396442e-01 -7.32125052e-03 4.28370289e+01] [-6.45362685e-01 7.63847713e-01 6.60882185e-03 3.23618461e+02] [ 9.85763057e-03 -3.23040136e-04 9.99951360e-01 7.53077003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.582755096 meters 0.028264725994315867 Centerline is valid? [True, True] Translation: X:42.86, Y:323.60, Z:7.53 [[ 7.62697792e-01 6.46713435e-01 -7.33563794e-03 4.28592985e+01] [-6.46679572e-01 7.62733005e-01 6.62530365e-03 3.23596259e+02] [ 9.87980605e-03 -3.09297267e-04 9.99951146e-01 7.53090003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.612755096 meters 0.02593657822958175 Centerline is valid? [True, True] Translation: X:42.89, Y:323.58, Z:7.53 [[ 7.61603657e-01 6.48004543e-01 -7.06982139e-03 4.28860010e+01] [-6.47973122e-01 7.61636417e-01 6.38759297e-03 3.23577157e+02] [ 9.52382269e-03 -2.83759922e-04 9.99954607e-01 7.53189527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.642755096 meters 0.026252510523214787 Centerline is valid? [True, True] Translation: X:42.91, Y:323.56, Z:7.53 [[ 7.60411290e-01 6.49404624e-01 -6.95008670e-03 4.29096004e+01] [-6.49374300e-01 7.60443006e-01 6.28124999e-03 3.23556418e+02] [ 9.36421761e-03 -2.63125728e-04 9.99956120e-01 7.53177411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6727550960001 meters 0.024436074452467444 Centerline is valid? [True, True] Translation: X:42.93, Y:323.54, Z:7.53 [[ 7.57781506e-01 6.52471207e-01 -6.96517705e-03 4.29339766e+01] [-6.52440865e-01 7.57813482e-01 6.29637811e-03 3.23541776e+02] [ 9.38651050e-03 -2.26912748e-04 9.99955920e-01 7.53068678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.702755096 meters 0.02140487692820648 Centerline is valid? [True, True] Translation: X:42.96, Y:323.53, Z:7.53 [[ 7.54988467e-01 6.55699983e-01 -7.06738217e-03 4.29598222e+01] [-6.55668895e-01 7.55021521e-01 6.38770321e-03 3.23527732e+02] [ 9.52444252e-03 -1.88779600e-04 9.99954624e-01 7.53020666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.732755096 meters 0.02055922791414942 Centerline is valid? [True, True] Translation: X:42.98, Y:323.51, Z:7.53 [[ 7.53553407e-01 6.57350234e-01 -6.92333483e-03 4.29821783e+01] [-6.57320480e-01 7.53585193e-01 6.25653761e-03 3.23510733e+02] [ 9.33005907e-03 -1.63785459e-04 9.99956461e-01 7.53030329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.762755096 meters 0.01941135748206508 Centerline is valid? [True, True] Translation: X:43.01, Y:323.49, Z:7.53 [[ 7.52171913e-01 6.58934451e-01 -6.54239473e-03 4.30059074e+01] [-6.58907949e-01 7.52200353e-01 5.91133801e-03 3.23493705e+02] [ 8.81637589e-03 -1.35506527e-04 9.99961126e-01 7.53058438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7927550960001 meters 0.018392164332842256 Centerline is valid? [True, True] Translation: X:43.03, Y:323.48, Z:7.53 [[ 7.49735002e-01 6.61706871e-01 -6.43772851e-03 4.30329284e+01] [-6.61681317e-01 7.49762634e-01 5.81621269e-03 3.23477946e+02] [ 8.67539618e-03 -1.00893552e-04 9.99962363e-01 7.52996627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.822755096 meters 0.016900407345104815 Centerline is valid? [True, True] Translation: X:43.05, Y:323.46, Z:7.53 [[ 7.48910133e-01 6.62646168e-01 -5.80247137e-03 4.30547383e+01] [-6.62625438e-01 7.48932607e-01 5.24204435e-03 3.23460387e+02] [ 7.81928061e-03 -8.09550013e-05 9.99969426e-01 7.53095103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.852755096 meters 0.0164606629682799 Centerline is valid? [True, True] Translation: X:43.08, Y:323.44, Z:7.53 [[ 7.48104854e-01 6.63561690e-01 -5.00113939e-03 4.30758722e+01] [-6.63546316e-01 7.48121567e-01 4.51736364e-03 3.23442885e+02] [ 6.73900970e-03 -6.09740430e-05 9.99977291e-01 7.53160954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.882755096 meters 0.016051183461681683 Centerline is valid? [True, True] Translation: X:43.10, Y:323.42, Z:7.53 [[ 7.47742146e-01 6.63971248e-01 -4.88513395e-03 4.31007264e+01] [-6.63956591e-01 7.47758102e-01 4.41214640e-03 3.23421231e+02] [ 6.58243684e-03 -5.56309317e-05 9.99978334e-01 7.53231411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9127550960001 meters 0.01657111741156611 Centerline is valid? [True, True] Translation: X:43.12, Y:323.40, Z:7.53 [[ 7.47538305e-01 6.64204475e-01 -4.34719750e-03 4.31226020e+01] [-6.64192859e-01 7.47550944e-01 3.92846705e-03 3.23397757e+02] [ 5.85905699e-03 -4.93020656e-05 9.99982834e-01 7.53286820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.942755096 meters 0.015763146363092402 Centerline is valid? [True, True] Translation: X:43.15, Y:323.38, Z:7.53 [[ 7.47546915e-01 6.64197785e-01 -3.86151545e-03 4.31483778e+01] [-6.64188611e-01 7.47556888e-01 3.49129438e-03 3.23376632e+02] [ 5.20561246e-03 -4.51317601e-05 9.99986450e-01 7.53371416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.972755096 meters 0.0159652816185937 Centerline is valid? [True, True] Translation: X:43.17, Y:323.35, Z:7.53 [[ 7.47843788e-01 6.63866897e-01 -3.22686841e-03 4.31716822e+01] [-6.63860481e-01 7.47850748e-01 2.91902229e-03 3.23354449e+02] [ 4.35105822e-03 -4.07822697e-05 9.99990533e-01 7.53438647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.002755096 meters 0.016310666173851535 Centerline is valid? [True, True] Translation: X:43.19, Y:323.33, Z:7.53 [[ 7.49295549e-01 6.62229379e-01 -2.90341480e-03 4.31949676e+01] [-6.62224167e-01 7.49301173e-01 2.62783133e-03 3.23332329e+02] [ 3.91575923e-03 -4.63108672e-05 9.99992332e-01 7.53411320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.032755096 meters 0.016645166959334108 Centerline is valid? [True, True] Translation: X:43.22, Y:323.31, Z:7.53 [[ 7.50181583e-01 6.61225761e-01 -2.84347486e-03 4.32181834e+01] [-6.61220749e-01 7.50186970e-01 2.57499802e-03 3.23309450e+02] [ 3.83579282e-03 -5.15515165e-05 9.99992642e-01 7.53361229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.062755096 meters 0.017083326422880952 Centerline is valid? [True, True] Translation: X:43.24, Y:323.29, Z:7.53 [[ 7.51033080e-01 6.60257697e-01 -3.01453780e-03 4.32404023e+01] [-6.60252049e-01 7.51039127e-01 2.73160230e-03 3.23286201e+02] [ 4.06759728e-03 -6.11689284e-05 9.99991725e-01 7.53319345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.092755096 meters 0.017083326422880952 Centerline is valid? [True, True] Translation: X:43.26, Y:323.26, Z:7.53 [[ 7.50820576e-01 6.60499341e-01 -3.01382013e-03 4.32643117e+01] [-6.60493692e-01 7.50826623e-01 2.73239380e-03 3.23264305e+02] [ 4.06760069e-03 -6.09283041e-05 9.99991725e-01 7.53338564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.122755096 meters 0.018628587577992798 Centerline is valid? [True, True] Translation: X:43.28, Y:323.24, Z:7.53 [[ 7.53395048e-01 6.57560672e-01 -3.14074652e-03 4.32828986e+01] [-6.57554500e-01 7.53401590e-01 2.85005444e-03 3.23239020e+02] [ 4.24032714e-03 -8.20048919e-05 9.99991006e-01 7.53355273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.152755096 meters 0.018873662614473062 Centerline is valid? [True, True] Translation: X:43.31, Y:323.22, Z:7.53 [[ 7.54584780e-01 6.56195649e-01 -3.01339738e-03 4.33055984e+01] [-6.56189958e-01 7.54590792e-01 2.73409228e-03 3.23216118e+02] [ 4.06798137e-03 -8.57433226e-05 9.99991722e-01 7.53396739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.182755096 meters 0.020743976659114174 Centerline is valid? [True, True] Translation: X:43.33, Y:323.19, Z:7.53 [[ 7.55869515e-01 6.54716517e-01 -2.74938642e-03 4.33259318e+01] [-6.54711766e-01 7.55874510e-01 2.49584566e-03 3.23192229e+02] [ 3.71226249e-03 -8.64780096e-05 9.99993106e-01 7.53406105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.212755096 meters 0.022483088287666438 Centerline is valid? [True, True] Translation: X:43.35, Y:323.17, Z:7.53 [[ 7.58242723e-01 6.51967526e-01 -2.51381596e-03 4.33474246e+01] [-6.51963533e-01 7.58246884e-01 2.28364748e-03 3.23167606e+02] [ 3.39495711e-03 -9.26427489e-05 9.99994233e-01 7.53379901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.242755096 meters 0.022133217987031696 Centerline is valid? [True, True] Translation: X:43.37, Y:323.15, Z:7.53 [[ 7.59192074e-01 6.50860733e-01 -2.77508899e-03 4.33707973e+01] [-6.50855860e-01 7.59197139e-01 2.52086241e-03 3.23146147e+02] [ 3.74756997e-03 -1.07635834e-04 9.99992972e-01 7.53341306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.272755096 meters 0.023583937107670726 Centerline is valid? [True, True] Translation: X:43.39, Y:323.12, Z:7.53 [[ 7.61585803e-01 6.48058025e-01 -2.80369562e-03 4.33916524e+01] [-6.48053025e-01 7.61590954e-01 2.54886987e-03 3.23121303e+02] [ 3.78708479e-03 -1.24239678e-04 9.99992821e-01 7.53258848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.302755096 meters 0.025279846302538614 Centerline is valid? [True, True] Translation: X:43.41, Y:323.10, Z:7.53 [[ 7.62667606e-01 6.46783700e-01 -2.99480404e-03 4.34116628e+01] [-6.46777984e-01 7.62673473e-01 2.72264516e-03 3.23097554e+02] [ 4.04502011e-03 -1.39499944e-04 9.99991809e-01 7.53249278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.332755096 meters 0.026642974818554988 Centerline is valid? [True, True] Translation: X:43.43, Y:323.07, Z:7.53 [[ 7.63846317e-01 6.45389019e-01 -3.43781896e-03 4.34324787e+01] [-6.45381463e-01 7.63854034e-01 3.12752737e-03 3.23074129e+02] [ 4.64446370e-03 -1.70245631e-04 9.99989200e-01 7.53205128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.362755096 meters 0.027643651484977147 Centerline is valid? [True, True] Translation: X:43.45, Y:323.05, Z:7.53 [[ 7.66261048e-01 6.42515791e-01 -4.17906991e-03 4.34536778e+01] [-6.42504575e-01 7.66272410e-01 3.80322744e-03 3.23051287e+02] [ 5.64593966e-03 -2.29193511e-04 9.99984035e-01 7.53005104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.392755096 meters 0.030097021941894106 Centerline is valid? [True, True] Translation: X:43.47, Y:323.03, Z:7.53 [[ 7.67688818e-01 6.40804424e-01 -4.85471722e-03 4.34741904e+01] [-6.40789253e-01 7.67704117e-01 4.41841161e-03 3.23027348e+02] [ 6.55832410e-03 -2.81114572e-04 9.99978454e-01 7.52864636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4227550960001 meters 0.028770415899708267 Centerline is valid? [True, True] Translation: X:43.50, Y:323.01, Z:7.53 [[ 7.67810510e-01 6.40660372e-01 -4.61607659e-03 4.34990945e+01] [-6.40646646e-01 7.67824339e-01 4.20235257e-03 3.23006963e+02] [ 6.23661672e-03 -2.69336488e-04 9.99980516e-01 7.52867046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.452755096 meters 0.028102183856404485 Centerline is valid? [True, True] Translation: X:43.52, Y:322.99, Z:7.53 [[ 7.67419634e-01 6.41130972e-01 -4.26409599e-03 4.35227476e+01] [-6.41119255e-01 7.67431440e-01 3.88391293e-03 3.22985885e+02] [ 5.76249820e-03 -2.46796986e-04 9.99983366e-01 7.52879827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.482755096 meters 0.02850461869598798 Centerline is valid? [True, True] Translation: X:43.54, Y:322.96, Z:7.53 [[ 7.66699668e-01 6.41993087e-01 -4.06162487e-03 4.35447808e+01] [-6.41982457e-01 7.66710391e-01 3.70148067e-03 3.22964410e+02] [ 5.49041499e-03 -2.30432084e-04 9.99984901e-01 7.52913143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.512755096 meters 0.027026379178270225 Centerline is valid? [True, True] Translation: X:43.57, Y:322.94, Z:7.53 [[ 7.64579756e-01 6.44519501e-01 -3.52277130e-03 4.35698932e+01] [-6.44511524e-01 7.64587849e-01 3.21210112e-03 3.22944610e+02] [ 4.76372994e-03 -1.85440790e-04 9.99988636e-01 7.52954776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5427550960001 meters 0.026113208959049103 Centerline is valid? [True, True] Translation: X:43.59, Y:322.92, Z:7.53 [[ 7.62935480e-01 6.46465118e-01 -3.50786034e-03 4.35948400e+01] [-6.46457228e-01 7.62943524e-01 3.19854516e-03 3.22924163e+02] [ 4.74404721e-03 -1.72601911e-04 9.99988732e-01 7.52941504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.572755096 meters 0.02377330722553754 Centerline is valid? [True, True] Translation: X:43.62, Y:322.91, Z:7.53 [[ 7.59914041e-01 6.50015028e-01 -3.33389837e-03 4.36209944e+01] [-6.50007926e-01 7.59921340e-01 3.04192214e-03 3.22906350e+02] [ 4.51079562e-03 -1.44538981e-04 9.99989816e-01 7.52974836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.602755096 meters 0.023620885894112504 Centerline is valid? [True, True] Translation: X:43.64, Y:322.89, Z:7.53 [[ 7.58459670e-01 6.51714911e-01 -2.56987733e-03 4.36442639e+01] [-6.51710702e-01 7.58464016e-01 2.34454289e-03 3.22885947e+02] [ 3.47713304e-03 -1.03424668e-04 9.99993949e-01 7.53044166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.632755096 meters 0.022756430514610525 Centerline is valid? [True, True] Translation: X:43.67, Y:322.87, Z:7.53 [[ 7.56984391e-01 6.53428614e-01 -2.38287740e-03 4.36693407e+01] [-6.53425003e-01 7.56988136e-01 2.17412712e-03 3.22865449e+02] [ 3.22444679e-03 -8.87486242e-05 9.99994798e-01 7.53094559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6627550960001 meters 0.022214180135968282 Centerline is valid? [True, True] Translation: X:43.69, Y:322.84, Z:7.53 [[ 7.55271648e-01 6.55410091e-01 -1.53310370e-03 4.36934607e+01] [-6.55408601e-01 7.55273202e-01 1.39879834e-03 3.22844943e+02] [ 2.07469869e-03 -5.16633740e-05 9.99997847e-01 7.53174672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.692755096 meters 0.020153984082080762 Centerline is valid? [True, True] Translation: X:43.72, Y:322.83, Z:7.53 [[ 7.54492876e-01 6.56307225e-01 -1.15189741e-03 4.37188502e+01] [-6.56306384e-01 7.54493755e-01 1.05094179e-03 3.22825255e+02] [ 1.55884009e-03 -3.69304661e-05 9.99998784e-01 7.53197215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.722755096 meters 0.019784782313632024 Centerline is valid? [True, True] Translation: X:43.74, Y:322.80, Z:7.53 [[ 7.53572974e-01 6.57364107e-01 -4.51946229e-04 4.37420331e+01] [-6.57363978e-01 7.53573109e-01 4.11233555e-04 3.22802702e+02] [ 6.10904703e-04 -1.28013219e-05 9.99999813e-01 7.53317777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.752755096 meters 0.01958436555839765 Centerline is valid? [True, True] Translation: X:43.77, Y:322.78, Z:7.53 [[ 7.53010281e-01 6.58008595e-01 -4.53181849e-04 4.37657355e+01] [-6.58008466e-01 7.53010418e-01 4.12594273e-04 3.22781161e+02] [ 6.12741231e-04 -1.24902366e-05 9.99999812e-01 7.53344962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.782755096 meters 0.01930170219138026 Centerline is valid? [True, True] Translation: X:43.79, Y:322.76, Z:7.53 [[ 7.52412852e-01 6.58691716e-01 -3.51592779e-04 4.37895620e+01] [-6.58691639e-01 7.52412934e-01 3.19787884e-04 3.22760244e+02] [ 4.75184584e-04 -9.02128927e-06 9.99999887e-01 7.53310037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.812755096 meters 0.01914642968055204 Centerline is valid? [True, True] Translation: X:43.81, Y:322.74, Z:7.53 [[ 7.51730091e-01 6.59470832e-01 -3.02023133e-04 4.38129320e+01] [-6.59470775e-01 7.51730152e-01 2.74707519e-04 3.22739477e+02] [ 4.08201492e-04 -7.33047923e-06 9.99999917e-01 7.53249746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.842755096 meters 0.018998971400402492 Centerline is valid? [True, True] Translation: X:43.84, Y:322.72, Z:7.53 [[ 7.51143565e-01 6.60138881e-01 -5.82172377e-05 4.38367018e+01] [-6.60138879e-01 7.51143567e-01 5.12087118e-05 3.22717892e+02] [ 7.75343651e-05 -3.36323047e-08 9.99999997e-01 7.53295262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.872755096 meters 0.019119321277421067 Centerline is valid? [True, True] Translation: X:43.86, Y:322.70, Z:7.53 [[ 7.50768464e-01 6.60565335e-01 3.90789093e-04 4.38599167e+01] [-6.60565237e-01 7.50768565e-01 -3.59931217e-04 3.22695626e+02] [-5.31150252e-04 1.20833175e-05 9.99999859e-01 7.53379160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.902755096 meters 0.01852126256853682 Centerline is valid? [True, True] Translation: X:43.88, Y:322.67, Z:7.53 [[ 7.50462681e-01 6.60912727e-01 3.63533992e-04 4.38843613e+01] [-6.60912642e-01 7.50462769e-01 -3.36113771e-04 3.22673888e+02] [-4.94960596e-04 1.19766306e-05 9.99999877e-01 7.53364923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.932755096 meters 0.019323283447341348 Centerline is valid? [True, True] Translation: X:43.91, Y:322.65, Z:7.53 [[ 7.50257066e-01 6.61146179e-01 2.54590664e-04 4.39065508e+01] [-6.61146137e-01 7.50257109e-01 -2.36098657e-04 3.22651043e+02] [-3.47104181e-04 8.81305203e-06 9.99999940e-01 7.53394603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.962755096 meters 0.019319051028924096 Centerline is valid? [True, True] Translation: X:43.93, Y:322.63, Z:7.53 [[ 7.49764908e-01 6.61704286e-01 1.44361407e-04 4.39293784e+01] [-6.61704273e-01 7.49764922e-01 -1.34555431e-04 3.22630187e+02] [-1.97273025e-04 5.36038073e-06 9.99999981e-01 7.53358610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.992755096 meters 0.018012360317982656 Centerline is valid? [True, True] Translation: X:43.95, Y:322.61, Z:7.53 [[ 7.49083772e-01 6.62475284e-01 1.97101681e-05 4.39547959e+01] [-6.62475283e-01 7.49083773e-01 -2.03070508e-05 3.22610148e+02] [-2.82174865e-05 2.15418297e-06 1.00000000e+00 7.53277468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.022755096 meters 0.01735016445757931 Centerline is valid? [True, True] Translation: X:43.98, Y:322.59, Z:7.53 [[ 7.47715356e-01 6.64018777e-01 -8.99974724e-04 4.39790057e+01] [-6.64018264e-01 7.47715898e-01 8.25490464e-04 3.22588549e+02] [ 1.22106658e-03 -1.96322424e-05 9.99999254e-01 7.53138117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.052755096 meters 0.016938777044882426 Centerline is valid? [True, True] Translation: X:44.00, Y:322.57, Z:7.53 [[ 7.46703593e-01 6.65154912e-01 -1.63906471e-03 4.40024298e+01] [-6.65153208e-01 7.46705391e-01 1.50602717e-03 3.22567048e+02] [ 2.22563983e-03 -3.43267522e-05 9.99997523e-01 7.53096214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.082755096 meters 0.01682422118264307 Centerline is valid? [True, True] Translation: X:44.03, Y:322.55, Z:7.53 [[ 7.45906931e-01 6.66047394e-01 -1.92855799e-03 4.40255621e+01] [-6.66045034e-01 7.45909423e-01 1.77338378e-03 3.22545517e+02] [ 2.61968722e-03 -3.82727784e-05 9.99996568e-01 7.53089838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.112755096 meters 0.01586766008532208 Centerline is valid? [True, True] Translation: X:44.05, Y:322.53, Z:7.53 [[ 7.44628463e-01 6.67474742e-01 -2.43342664e-03 4.40506461e+01] [-6.67470987e-01 7.44632438e-01 2.23938571e-03 3.22525893e+02] [ 3.30674181e-03 -4.32686639e-05 9.99994532e-01 7.53019638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.142755096 meters 0.015470861747057394 Centerline is valid? [True, True] Translation: X:44.07, Y:322.50, Z:7.53 [[ 7.43574060e-01 6.68645738e-01 -3.23953318e-03 4.40739998e+01] [-6.68639082e-01 7.43581115e-01 2.98382409e-03 3.22504837e+02] [ 4.40397695e-03 -5.26156999e-05 9.99990301e-01 7.52942769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1727550960001 meters 0.015293130010744302 Centerline is valid? [True, True] Translation: X:44.10, Y:322.48, Z:7.53 [[ 7.42871090e-01 6.69426720e-01 -3.22635150e-03 4.40983961e+01] [-6.69420124e-01 7.42878095e-01 2.97227407e-03 3.22482132e+02] [ 4.38650553e-03 -4.82318562e-05 9.99990378e-01 7.52969510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.202755096 meters 0.015096153242884108 Centerline is valid? [True, True] Translation: X:44.12, Y:322.46, Z:7.53 [[ 7.42353734e-01 6.70000582e-01 -3.18656520e-03 4.41215367e+01] [-6.69994144e-01 7.42360571e-01 2.93748402e-03 3.22459812e+02] [ 4.33369637e-03 -4.56722057e-05 9.99990608e-01 7.53038171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.232755096 meters 0.014941639433201707 Centerline is valid? [True, True] Translation: X:44.14, Y:322.44, Z:7.53 [[ 7.41741558e-01 6.70677035e-01 -3.43157001e-03 4.41446838e+01] [-6.70669567e-01 7.41749495e-01 3.16533595e-03 3.22436708e+02] [ 4.66828345e-03 -4.64116494e-05 9.99989102e-01 7.53056243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.262755096 meters 0.01509190613339536 Centerline is valid? [True, True] Translation: X:44.17, Y:322.41, Z:7.53 [[ 7.41669858e-01 6.70754391e-01 -3.79068111e-03 4.41668972e+01] [-6.70745266e-01 7.41679543e-01 3.49904894e-03 3.22414318e+02] [ 5.15847307e-03 -5.25577192e-05 9.99986694e-01 7.53051012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2927550960001 meters 0.015296186680657005 Centerline is valid? [True, True] Translation: X:44.19, Y:322.39, Z:7.53 [[ 7.42107737e-01 6.70266174e-01 -4.40034834e-03 4.41889280e+01] [-6.70253854e-01 7.42120780e-01 4.06454035e-03 3.22390388e+02] [ 5.98991385e-03 -6.69764097e-05 9.99982058e-01 7.52980110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.322755096 meters 0.015546416686468202 Centerline is valid? [True, True] Translation: X:44.21, Y:322.37, Z:7.53 [[ 7.42376054e-01 6.69969729e-01 -4.28435171e-03 4.42119475e+01] [-6.69958032e-01 7.42388414e-01 3.95962512e-03 3.22367259e+02] [ 5.83348204e-03 -6.91950367e-05 9.99982983e-01 7.52994972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.352755096 meters 0.015641574908460402 Centerline is valid? [True, True] Translation: X:44.23, Y:322.34, Z:7.53 [[ 7.42883550e-01 6.69406856e-01 -4.30027666e-03 4.42348837e+01] [-6.69395047e-01 7.42895993e-01 3.97681147e-03 3.22344085e+02] [ 5.85676315e-03 -7.57239273e-05 9.99982846e-01 7.52999030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.382755096 meters 0.016529235307350825 Centerline is valid? [True, True] Translation: X:44.26, Y:322.32, Z:7.53 [[ 7.44287261e-01 6.67847159e-01 -4.07982152e-03 4.42550039e+01] [-6.67836494e-01 7.44298438e-01 3.77521951e-03 3.22318882e+02] [ 5.55787441e-03 -8.51940877e-05 9.99984551e-01 7.53033115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4127550960001 meters 0.01719929436533246 Centerline is valid? [True, True] Translation: X:44.28, Y:322.30, Z:7.53 [[ 7.45100598e-01 6.66940046e-01 -4.00925709e-03 4.42769800e+01] [-6.66929723e-01 7.45111378e-01 3.71193370e-03 3.22295093e+02] [ 5.46298031e-03 -9.18712987e-05 9.99985074e-01 7.53051781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.442755096 meters 0.018272239879076745 Centerline is valid? [True, True] Translation: X:44.30, Y:322.27, Z:7.53 [[ 7.47163690e-01 6.64626939e-01 -4.17761023e-03 4.42977443e+01] [-6.64615681e-01 7.47175361e-01 3.87001373e-03 3.22269969e+02] [ 5.69352281e-03 -1.15028471e-04 9.99983785e-01 7.53058743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.472755096 meters 0.019177376104067653 Centerline is valid? [True, True] Translation: X:44.32, Y:322.25, Z:7.53 [[ 7.47876856e-01 6.63821771e-01 -4.56788949e-03 4.43187575e+01] [-6.63808281e-01 7.47890794e-01 4.23405208e-03 3.22246267e+02] [ 6.22693844e-03 -1.34346686e-04 9.99980603e-01 7.53056490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.502755096 meters 0.02001117675681365 Centerline is valid? [True, True] Translation: X:44.34, Y:322.22, Z:7.53 [[ 7.48672851e-01 6.62924564e-01 -4.47047563e-03 4.43406646e+01] [-6.62911620e-01 7.48686185e-01 4.14500453e-03 3.22222522e+02] [ 6.09480867e-03 -1.39722115e-04 9.99981417e-01 7.53054760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.532755096 meters 0.020640649863021717 Centerline is valid? [True, True] Translation: X:44.36, Y:322.20, Z:7.53 [[ 7.50055360e-01 6.61361979e-01 -4.15811846e-03 4.43623254e+01] [-6.61350745e-01 7.50066872e-01 3.85732441e-03 3.22199293e+02] [ 5.66995461e-03 -1.43232111e-04 9.99983915e-01 7.53059400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.562755096 meters 0.021184022917606807 Centerline is valid? [True, True] Translation: X:44.39, Y:322.18, Z:7.53 [[ 7.50379280e-01 6.60997251e-01 -3.68389515e-03 4.43857810e+01] [-6.60988422e-01 7.50388311e-01 3.41888974e-03 3.22176790e+02] [ 5.02422857e-03 -1.30451980e-04 9.99987370e-01 7.53133876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.592755096 meters 0.02167925769638332 Centerline is valid? [True, True] Translation: X:44.41, Y:322.16, Z:7.53 [[ 7.50388268e-01 6.60988960e-01 -3.32303932e-03 4.44090388e+01] [-6.60981770e-01 7.50395616e-01 3.08541805e-03 3.22155263e+02] [ 4.53302141e-03 -1.18793095e-04 9.99989719e-01 7.53177221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.622755096 meters 0.021446627633298423 Centerline is valid? [True, True] Translation: X:44.43, Y:322.13, Z:7.53 [[ 7.50358013e-01 6.61022635e-01 -3.45384747e-03 4.44337373e+01] [-6.61014858e-01 7.50365951e-01 3.20877745e-03 3.22133248e+02] [ 4.71272407e-03 -1.24687369e-04 9.99988887e-01 7.53163817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.652755096 meters 0.021228110340577443 Centerline is valid? [True, True] Translation: X:44.46, Y:322.11, Z:7.53 [[ 7.50346298e-01 6.61032490e-01 -4.05964638e-03 4.44587690e+01] [-6.61021731e-01 7.50357265e-01 3.77436904e-03 3.22111205e+02] [ 5.54116572e-03 -1.48569355e-04 9.99984637e-01 7.53115423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.682755096 meters 0.02221489599008674 Centerline is valid? [True, True] Translation: X:44.48, Y:322.09, Z:7.53 [[ 7.50363601e-01 6.61008325e-01 -4.73927853e-03 4.44820378e+01] [-6.60993641e-01 7.50378547e-01 4.40941635e-03 3.22088756e+02] [ 6.47091385e-03 -1.76032560e-04 9.99979048e-01 7.53014027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.712755096 meters 0.022001095735884463 Centerline is valid? [True, True] Translation: X:44.51, Y:322.07, Z:7.53 [[ 7.50250956e-01 6.61135183e-01 -4.87566936e-03 4.45063496e+01] [-6.61119627e-01 7.50266777e-01 4.53904558e-03 3.22066932e+02] [ 6.65897547e-03 -1.82022585e-04 9.99977812e-01 7.52994627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.742755096 meters 0.022567872792162356 Centerline is valid? [True, True] Translation: X:44.53, Y:322.05, Z:7.53 [[ 7.50169469e-01 6.61224141e-01 -5.32947428e-03 4.45304153e+01] [-6.61205533e-01 7.50188373e-01 4.96477228e-03 3.22045393e+02] [ 7.28093693e-03 -2.00542704e-04 9.99973474e-01 7.52967980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.772755096 meters 0.021482105501089616 Centerline is valid? [True, True] Translation: X:44.56, Y:322.03, Z:7.53 [[ 7.49885864e-01 6.61542744e-01 -5.69112563e-03 4.45565802e+01] [-6.61521508e-01 7.49907429e-01 5.30494157e-03 3.22025217e+02] [ 7.77726299e-03 -2.13298683e-04 9.99969734e-01 7.52955115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.802755096 meters 0.024206828284641397 Centerline is valid? [True, True] Translation: X:44.58, Y:322.00, Z:7.53 [[ 7.49487106e-01 6.61993777e-01 -5.77220347e-03 4.45782004e+01] [-6.61971918e-01 7.49509302e-01 5.38385873e-03 3.22001240e+02] [ 7.89040117e-03 -2.14096095e-04 9.99968847e-01 7.52936792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.832755096 meters 0.021106200823930152 Centerline is valid? [True, True] Translation: X:44.61, Y:321.98, Z:7.53 [[ 7.48611196e-01 6.62987415e-01 -5.38184997e-03 4.46065396e+01] [-6.62968419e-01 7.48630517e-01 5.02248555e-03 3.21984835e+02] [ 7.35886183e-03 -1.91892347e-04 9.99972905e-01 7.53037136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.862755096 meters 0.021968942061826056 Centerline is valid? [True, True] Translation: X:44.63, Y:321.96, Z:7.53 [[ 7.47494629e-01 6.64254062e-01 -4.28027491e-03 4.46301892e+01] [-6.64242057e-01 7.47506870e-01 3.99617720e-03 3.21964213e+02] [ 5.85401184e-03 -1.43982389e-04 9.99982855e-01 7.53229982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.892755096 meters 0.021509164407896488 Centerline is valid? [True, True] Translation: X:44.65, Y:321.94, Z:7.53 [[ 7.47024878e-01 6.64785842e-01 -3.68987024e-03 4.46539031e+01] [-6.64776919e-01 7.47033981e-01 3.44664372e-03 3.21944297e+02] [ 5.04773841e-03 -1.21788041e-04 9.99987253e-01 7.53347667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9227550960001 meters 0.02027655967947659 Centerline is valid? [True, True] Translation: X:44.68, Y:321.92, Z:7.53 [[ 7.46430936e-01 6.65454167e-01 -3.40726642e-03 4.46796040e+01] [-6.65446566e-01 7.46438705e-01 3.18249054e-03 3.21924373e+02] [ 4.66111713e-03 -1.08155655e-04 9.99989131e-01 7.53399725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.952755096 meters 0.02027655967947659 Centerline is valid? [True, True] Translation: X:44.70, Y:321.90, Z:7.53 [[ 7.46230955e-01 6.65678420e-01 -3.40646291e-03 4.47031740e+01] [-6.65670817e-01 7.46238722e-01 3.18335031e-03 3.21902104e+02] [ 4.66112214e-03 -1.07931592e-04 9.99989131e-01 7.53418946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.982755096 meters 0.01996995029752908 Centerline is valid? [True, True] Translation: X:44.73, Y:321.88, Z:7.53 [[ 7.45282320e-01 6.66738708e-01 -3.70931134e-03 4.47269067e+01] [-6.66729694e-01 7.45291542e-01 3.46873552e-03 3.21882427e+02] [ 5.07725861e-03 -1.12079238e-04 9.99987104e-01 7.53409565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.012755096 meters 0.01991892705327931 Centerline is valid? [True, True] Translation: X:44.75, Y:321.86, Z:7.53 [[ 7.44944822e-01 6.67114366e-01 -3.95421047e-03 4.47501269e+01] [-6.67104117e-01 7.44955307e-01 3.69973917e-03 3.21861948e+02] [ 5.41385922e-03 -1.18231452e-04 9.99985338e-01 7.53384238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0427550960001 meters 0.02006328689843453 Centerline is valid? [True, True] Translation: X:44.77, Y:321.84, Z:7.53 [[ 7.44674661e-01 6.67416566e-01 -3.84400228e-03 4.47733398e+01] [-6.67406878e-01 7.44684574e-01 3.59781618e-03 3.21844164e+02] [ 5.26381132e-03 -1.13688989e-04 9.99986140e-01 7.53351160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.072755096 meters 0.019939214909268636 Centerline is valid? [True, True] Translation: X:44.80, Y:321.83, Z:7.53 [[ 7.44455136e-01 6.67663120e-01 -3.53661651e-03 4.47955500e+01] [-6.67654924e-01 7.44463530e-01 3.30981511e-03 3.21825824e+02] [ 4.84272350e-03 -1.02769427e-04 9.99988269e-01 7.53380808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.102755096 meters 0.019609309857965038 Centerline is valid? [True, True] Translation: X:44.82, Y:321.81, Z:7.53 [[ 7.44340021e-01 6.67791159e-01 -3.59190759e-03 4.48180520e+01] [-6.67782708e-01 7.44348680e-01 3.36106464e-03 3.21807384e+02] [ 4.91812093e-03 -1.03161148e-04 9.99987901e-01 7.53406276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.132755096 meters 0.01944874804997556 Centerline is valid? [True, True] Translation: X:44.84, Y:321.79, Z:7.53 [[ 7.43783094e-01 6.68411955e-01 -3.48826482e-03 4.48394577e+01] [-6.68403994e-01 7.43791268e-01 3.26365113e-03 3.21789755e+02] [ 4.77600435e-03 -9.58784000e-05 9.99988590e-01 7.53459549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1627550960001 meters 0.019411383931844522 Centerline is valid? [True, True] Translation: X:44.86, Y:321.77, Z:7.54 [[ 7.43699389e-01 6.68505910e-01 -3.32669267e-03 4.48611917e+01] [-6.68498673e-01 7.43706824e-01 3.11192027e-03 3.21770659e+02] [ 4.55442113e-03 -9.04435668e-05 9.99989625e-01 7.53516344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.192755096 meters 0.019836078874019787 Centerline is valid? [True, True] Translation: X:44.88, Y:321.75, Z:7.54 [[ 7.43694772e-01 6.68513808e-01 -2.71568415e-03 4.48815114e+01] [-6.68508986e-01 7.43699726e-01 2.54039001e-03 3.21753297e+02] [ 3.71793936e-03 -7.38155098e-05 9.99993086e-01 7.53660572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.222755096 meters 0.01964337179505417 Centerline is valid? [True, True] Translation: X:44.90, Y:321.74, Z:7.54 [[ 7.43681697e-01 6.68529440e-01 -2.43337559e-03 4.49027038e+01] [-6.68525570e-01 7.43685676e-01 2.27545580e-03 3.21735558e+02] [ 3.33087576e-03 -6.54410293e-05 9.99994451e-01 7.53682828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.252755096 meters 0.017630509432361233 Centerline is valid? [True, True] Translation: X:44.93, Y:321.72, Z:7.54 [[ 7.43426176e-01 6.68814534e-01 -2.15400507e-03 4.49298678e+01] [-6.68811510e-01 7.43429294e-01 2.01219899e-03 3.21716226e+02] [ 2.94713840e-03 -5.52980200e-05 9.99995656e-01 7.53649749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.282755096 meters 0.017610737009016622 Centerline is valid? [True, True] Translation: X:44.96, Y:321.70, Z:7.54 [[ 7.43371343e-01 6.68875964e-01 -1.99805815e-03 4.49551696e+01] [-6.68873359e-01 7.43374026e-01 1.86749133e-03 3.21695392e+02] [ 2.73442460e-03 -5.17916720e-05 9.99996260e-01 7.53635248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.312755096 meters 0.01764737226129514 Centerline is valid? [True, True] Translation: X:44.98, Y:321.67, Z:7.54 [[ 7.43368051e-01 6.68879057e-01 -2.17913864e-03 4.49799111e+01] [-6.68875954e-01 7.43371243e-01 2.03824111e-03 3.21673659e+02] [ 2.98324579e-03 -5.75898875e-05 9.99995548e-01 7.53547551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.342755096 meters 0.018519849590143446 Centerline is valid? [True, True] Translation: X:45.00, Y:321.65, Z:7.54 [[ 7.43435973e-01 6.68802740e-01 -2.41865081e-03 4.50021156e+01] [-6.68798911e-01 7.43439904e-01 2.26405012e-03 3.21651212e+02] [ 3.31232445e-03 -6.55852721e-05 9.99994512e-01 7.53548966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.372755096 meters 0.017569081991516914 Centerline is valid? [True, True] Translation: X:45.03, Y:321.63, Z:7.54 [[ 7.43320113e-01 6.68930840e-01 -2.59624114e-03 4.50276911e+01] [-6.68926424e-01 7.43324644e-01 2.43180321e-03 3.21629919e+02] [ 3.55655819e-03 -7.09139385e-05 9.99993673e-01 7.53514294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.402755096 meters 0.017955080988995266 Centerline is valid? [True, True] Translation: X:45.05, Y:321.61, Z:7.53 [[ 7.43115240e-01 6.69156006e-01 -3.15919659e-03 4.50517022e+01] [-6.69149458e-01 7.43121950e-01 2.96159910e-03 3.21609382e+02] [ 4.32944015e-03 -8.68347350e-05 9.99990624e-01 7.53419104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.432755096 meters 0.017845005673683446 Centerline is valid? [True, True] Translation: X:45.08, Y:321.59, Z:7.53 [[ 7.42583389e-01 6.69744493e-01 -3.49652383e-03 4.50756719e+01] [-6.69736467e-01 7.42591615e-01 3.28006523e-03 3.21588091e+02] [ 4.79329490e-03 -9.39724423e-05 9.99988508e-01 7.53338856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.462755096 meters 0.017486103655117713 Centerline is valid? [True, True] Translation: X:45.10, Y:321.57, Z:7.53 [[ 7.41625404e-01 6.70801987e-01 -4.05626962e-03 4.51006445e+01] [-6.70791189e-01 7.41636490e-01 3.80766242e-03 3.21567017e+02] [ 5.56246508e-03 -1.02949256e-04 9.99984524e-01 7.53245703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.492755096 meters 0.01716480926331266 Centerline is valid? [True, True] Translation: X:45.12, Y:321.55, Z:7.53 [[ 7.40966527e-01 6.71528397e-01 -4.26826012e-03 4.51245583e+01] [-6.71516447e-01 7.40978814e-01 4.00745986e-03 3.21545884e+02] [ 5.85381341e-03 -1.03186750e-04 9.99982861e-01 7.53217808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.522755096 meters 0.016985024878656118 Centerline is valid? [True, True] Translation: X:45.15, Y:321.53, Z:7.53 [[ 7.40504501e-01 6.72038768e-01 -4.12057071e-03 4.51474902e+01] [-6.72027627e-01 7.40515959e-01 3.87091426e-03 3.21525066e+02] [ 5.65275282e-03 -9.72920825e-05 9.99984018e-01 7.53259971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.552755096 meters 0.01669619134714384 Centerline is valid? [True, True] Translation: X:45.17, Y:321.51, Z:7.53 [[ 7.39899387e-01 6.72707687e-01 -3.64204884e-03 4.51696067e+01] [-6.72698991e-01 7.39908347e-01 3.42143290e-03 3.21505607e+02] [ 4.99640655e-03 -8.15135226e-05 9.99987515e-01 7.53346014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.582755096 meters 0.016583721845241303 Centerline is valid? [True, True] Translation: X:45.19, Y:321.49, Z:7.53 [[ 7.39572085e-01 6.73068537e-01 -3.44621215e-03 4.51911403e+01] [-6.73060755e-01 7.39580110e-01 3.23728922e-03 3.21486521e+02] [ 4.72766748e-03 -7.46985837e-05 9.99988822e-01 7.53356817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.612755096 meters 0.016559314691133743 Centerline is valid? [True, True] Translation: X:45.21, Y:321.47, Z:7.53 [[ 7.38848425e-01 6.73863375e-01 -3.34030383e-03 4.52124957e+01] [-6.73856075e-01 7.38855972e-01 3.13738375e-03 3.21468544e+02] [ 4.58217144e-03 -6.71670176e-05 9.99989500e-01 7.53341862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.642755096 meters 0.016135990133038285 Centerline is valid? [True, True] Translation: X:45.23, Y:321.45, Z:7.53 [[ 7.38434381e-01 6.74317999e-01 -3.14656553e-03 4.52347155e+01] [-6.74311528e-01 7.38441083e-01 2.95482789e-03 3.21449738e+02] [ 4.31604689e-03 -6.01810964e-05 9.99990684e-01 7.53364744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6727550960001 meters 0.016252453315458167 Centerline is valid? [True, True] Translation: X:45.25, Y:321.43, Z:7.53 [[ 7.38069399e-01 6.74719036e-01 -2.79005944e-03 4.52548924e+01] [-6.74713952e-01 7.38074671e-01 2.61977426e-03 3.21431175e+02] [ 3.82688377e-03 -5.10831881e-05 9.99992676e-01 7.53442710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.702755096 meters 0.01614947549753181 Centerline is valid? [True, True] Translation: X:45.28, Y:321.41, Z:7.54 [[ 7.37908812e-01 6.74897004e-01 -2.14929363e-03 4.52759145e+01] [-6.74893988e-01 7.37911941e-01 2.01798390e-03 3.21412075e+02] [ 2.94792072e-03 -3.85427546e-05 9.99995654e-01 7.53552561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.732755096 meters 0.016390301082434118 Centerline is valid? [True, True] Translation: X:45.29, Y:321.39, Z:7.54 [[ 7.38081717e-01 6.74708358e-01 -2.00257990e-03 4.52947709e+01] [-6.74705740e-01 7.38084433e-01 1.87995643e-03 3.21393378e+02] [ 2.74649537e-03 -3.64093191e-05 9.99996228e-01 7.53575559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.762755096 meters 0.015880369284388025 Centerline is valid? [True, True] Translation: X:45.32, Y:321.37, Z:7.54 [[ 7.38349735e-01 6.74414316e-01 -2.23597660e-03 4.53171925e+01] [-6.74411053e-01 7.38353120e-01 2.09806597e-03 3.21373461e+02] [ 3.06590602e-03 -4.11391215e-05 9.99995299e-01 7.53539820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7927550960001 meters 0.01666709746452267 Centerline is valid? [True, True] Translation: X:45.34, Y:321.35, Z:7.54 [[ 7.38488794e-01 6.74261678e-01 -2.34328116e-03 4.53366956e+01] [-6.74258094e-01 7.38492511e-01 2.19877787e-03 3.21353591e+02] [ 3.21304725e-03 -4.37965283e-05 9.99994837e-01 7.53530010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.822755096 meters 0.01694272156090873 Centerline is valid? [True, True] Translation: X:45.36, Y:321.34, Z:7.53 [[ 7.38574786e-01 6.74166025e-01 -2.73057001e-03 4.53563913e+01] [-6.74161160e-01 7.38579832e-01 2.56166096e-03 3.21335372e+02] [ 3.74372872e-03 -5.11339475e-05 9.99992991e-01 7.53494462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.852755096 meters 0.016120807384989094 Centerline is valid? [True, True] Translation: X:45.38, Y:321.32, Z:7.53 [[ 7.38671717e-01 6.74060493e-01 -2.55863801e-03 4.53784051e+01] [-6.74056224e-01 7.38676146e-01 2.39966526e-03 3.21317255e+02] [ 3.50752441e-03 -4.78989842e-05 9.99993848e-01 7.53482461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.882755096 meters 0.015796580658586603 Centerline is valid? [True, True] Translation: X:45.40, Y:321.29, Z:7.54 [[ 7.38628725e-01 6.74107312e-01 -2.63414092e-03 4.54022572e+01] [-6.74102792e-01 7.38633421e-01 2.46883126e-03 3.21294725e+02] [ 3.60992173e-03 -4.78679380e-05 9.99993483e-01 7.53516529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9127550960001 meters 0.017370199325165966 Centerline is valid? [True, True] Translation: X:45.42, Y:321.27, Z:7.54 [[ 7.39355090e-01 6.73310467e-01 -2.65824043e-03 4.54225358e+01] [-6.73305853e-01 7.39359866e-01 2.49323427e-03 3.21270640e+02] [ 3.64411702e-03 -5.35766052e-05 9.99993359e-01 7.53577573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.942755096 meters 0.016771865715510707 Centerline is valid? [True, True] Translation: X:45.45, Y:321.25, Z:7.54 [[ 7.39906028e-01 6.72704198e-01 -2.85161834e-03 4.54460564e+01] [-6.72698878e-01 7.39911521e-01 2.67608394e-03 3.21249469e+02] [ 3.91015816e-03 -6.17701801e-05 9.99992353e-01 7.53532938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.972755096 meters 0.0174871897645634 Centerline is valid? [True, True] Translation: X:45.47, Y:321.23, Z:7.54 [[ 7.40675682e-01 6.71855139e-01 -3.19465356e-03 4.54673893e+01] [-6.71848446e-01 7.40682568e-01 2.99998193e-03 3.21226065e+02] [ 4.38177747e-03 -7.56906344e-05 9.99990397e-01 7.53516146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.002755096 meters 0.018864077613779145 Centerline is valid? [True, True] Translation: X:45.49, Y:321.20, Z:7.54 [[ 7.42265631e-01 6.70096480e-01 -3.52718878e-03 4.54860281e+01] [-6.70088291e-01 7.42274005e-01 3.31416375e-03 3.21200772e+02] [ 4.83895001e-03 -9.64619485e-05 9.99988288e-01 7.53552544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.032755096 meters 0.019829142129789708 Centerline is valid? [True, True] Translation: X:45.51, Y:321.18, Z:7.54 [[ 7.43778336e-01 6.68413342e-01 -4.17025311e-03 4.55064831e+01] [-6.68401856e-01 7.43790016e-01 3.92073875e-03 3.21176278e+02] [ 5.72246672e-03 -1.28755630e-04 9.99983618e-01 7.53573532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.062755096 meters 0.020184298917304257 Centerline is valid? [True, True] Translation: X:45.53, Y:321.15, Z:7.54 [[ 7.43990819e-01 6.68175411e-01 -4.39099299e-03 4.55286702e+01] [-6.68162659e-01 7.44003764e-01 4.13046339e-03 3.21153022e+02] [ 6.02678939e-03 -1.39129293e-04 9.99981829e-01 7.53580524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.092755096 meters 0.020419958169484827 Centerline is valid? [True, True] Translation: X:45.55, Y:321.13, Z:7.54 [[ 7.44071301e-01 6.68084673e-01 -4.55735889e-03 4.55517129e+01] [-6.68070919e-01 7.44085243e-01 4.28937651e-03 3.21129682e+02] [ 6.25673019e-03 -1.46963018e-04 9.99980416e-01 7.53603092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.122755096 meters 0.02092613321223766 Centerline is valid? [True, True] Translation: X:45.57, Y:321.11, Z:7.54 [[ 7.43352718e-01 6.68881143e-01 -4.97529162e-03 4.55736162e+01] [-6.68864748e-01 7.43369351e-01 4.68578075e-03 3.21106996e+02] [ 6.83270969e-03 -1.55390674e-04 9.99976645e-01 7.53549521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.152755096 meters 0.019606315873374584 Centerline is valid? [True, True] Translation: X:45.60, Y:321.09, Z:7.53 [[ 7.42725650e-01 6.69570716e-01 -5.80224361e-03 4.55980272e+01] [-6.69548414e-01 7.42748292e-01 5.46773231e-03 3.21086165e+02] [ 7.97063997e-03 -1.76142026e-04 9.99968218e-01 7.53473885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.182755096 meters 0.018965147857645585 Centerline is valid? [True, True] Translation: X:45.62, Y:321.06, Z:7.53 [[ 7.41877264e-01 6.70502683e-01 -6.65414162e-03 4.56205088e+01] [-6.70473354e-01 7.41907080e-01 6.27428028e-03 3.21062755e+02] [ 9.14367654e-03 -1.93321237e-04 9.99958177e-01 7.53411271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.212755096 meters 0.01957516809515873 Centerline is valid? [True, True] Translation: X:45.64, Y:321.04, Z:7.53 [[ 7.41339732e-01 6.71094489e-01 -6.89841839e-03 4.56436532e+01] [-6.71062956e-01 7.41371802e-01 6.50850006e-03 3.21039431e+02] [ 9.48211139e-03 -1.95736653e-04 9.99955025e-01 7.53321897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.242755096 meters 0.01783870687260606 Centerline is valid? [True, True] Translation: X:45.67, Y:321.02, Z:7.53 [[ 7.39797543e-01 6.72791250e-01 -7.17841201e-03 4.56660988e+01] [-6.72757144e-01 7.39832346e-01 6.77687524e-03 3.21016136e+02] [ 9.87024376e-03 -1.84187691e-04 9.99951271e-01 7.53484047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.272755096 meters 0.017644084700045796 Centerline is valid? [True, True] Translation: X:45.69, Y:320.99, Z:7.53 [[ 7.38489805e-01 6.74220640e-01 -7.70310377e-03 4.56878408e+01] [-6.74181399e-01 7.38529957e-01 7.27630030e-03 3.20994081e+02] [ 1.05948047e-02 -1.80184309e-04 9.99943857e-01 7.53483471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.302755096 meters 0.016931462792532374 Centerline is valid? [True, True] Translation: X:45.71, Y:320.97, Z:7.53 [[ 7.37122304e-01 6.75710301e-01 -8.14240325e-03 4.57111302e+01] [-6.75666500e-01 7.37167254e-01 7.69547722e-03 3.20972638e+02] [ 1.12022263e-02 -1.70958785e-04 9.99937239e-01 7.53491183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.332755096 meters 0.015866015892477464 Centerline is valid? [True, True] Translation: X:45.74, Y:320.95, Z:7.54 [[ 7.34074886e-01 6.79019564e-01 -8.15436437e-03 4.57350050e+01] [-6.78975799e-01 7.34120165e-01 7.71018603e-03 3.20952197e+02] [ 1.12216505e-02 -1.23237869e-04 9.99937028e-01 7.53505700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.362755096 meters 0.015195543143663334 Centerline is valid? [True, True] Translation: X:45.76, Y:320.93, Z:7.54 [[ 7.32259651e-01 6.80975596e-01 -8.24872292e-03 4.57596620e+01] [-6.80930899e-01 7.32306103e-01 7.80277921e-03 3.20931405e+02] [ 1.13540924e-02 -9.68500631e-05 9.99935536e-01 7.53569386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.392755096 meters 0.014820214427372634 Centerline is valid? [True, True] Translation: X:45.78, Y:320.91, Z:7.54 [[ 7.30583848e-01 6.82774399e-01 -8.14625250e-03 4.57840489e+01] [-6.82730868e-01 7.30629260e-01 7.71011063e-03 3.20910273e+02] [ 1.12161566e-02 -7.11842469e-05 9.99937094e-01 7.53611037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4227550960001 meters 0.014603754804764687 Centerline is valid? [True, True] Translation: X:45.81, Y:320.89, Z:7.54 [[ 7.27875516e-01 6.85659020e-01 -8.30308848e-03 4.58082635e+01] [-6.85613936e-01 7.27922872e-01 7.86280959e-03 3.20890324e+02] [ 1.14352143e-02 -3.04334129e-05 9.99934615e-01 7.53642531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.452755096 meters 0.014594673511152716 Centerline is valid? [True, True] Translation: X:45.83, Y:320.87, Z:7.54 [[ 7.26738362e-01 6.86869023e-01 -7.89291829e-03 4.58302205e+01] [-6.86828339e-01 7.26781222e-01 7.47584951e-03 3.20872036e+02] [ 1.08713543e-02 -1.19066657e-05 9.99940905e-01 7.53724705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.482755096 meters 0.014684429679374918 Centerline is valid? [True, True] Translation: X:45.85, Y:320.85, Z:7.54 [[ 7.25821868e-01 6.87837322e-01 -7.90154728e-03 4.58511810e+01] [-6.87796620e-01 7.25864876e-01 7.48270513e-03 3.20853987e+02] [ 1.08823395e-02 3.54650219e-06 9.99940786e-01 7.53799410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.512755096 meters 0.01479294777754443 Centerline is valid? [True, True] Translation: X:45.87, Y:320.84, Z:7.54 [[ 7.25727934e-01 6.87932411e-01 -8.24404309e-03 4.58710634e+01] [-6.87888131e-01 7.25774757e-01 7.80520132e-03 3.20835414e+02] [ 1.13527693e-02 6.52675883e-06 9.99935555e-01 7.53717339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5427550960001 meters 0.014900747280339618 Centerline is valid? [True, True] Translation: X:45.89, Y:320.82, Z:7.54 [[ 7.25912746e-01 6.87733219e-01 -8.58510113e-03 4.58912213e+01] [-6.87685210e-01 7.25963511e-01 8.12607193e-03 3.20816187e+02] [ 1.18210398e-02 5.02788049e-06 9.99930129e-01 7.53757788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.572755096 meters 0.015162886123519518 Centerline is valid? [True, True] Translation: X:45.91, Y:320.80, Z:7.54 [[ 7.26481659e-01 6.87124556e-01 -9.17845681e-03 4.59118869e+01] [-6.87069653e-01 7.26539637e-01 8.68603239e-03 3.20796609e+02] [ 1.26368988e-02 -4.00408283e-06 9.99920151e-01 7.53701120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.602755096 meters 0.015273430953064746 Centerline is valid? [True, True] Translation: X:45.93, Y:320.78, Z:7.54 [[ 7.27056717e-01 6.86518166e-01 -9.01881482e-03 4.59316840e+01] [-6.86465131e-01 7.27112652e-01 8.53320182e-03 3.20778408e+02] [ 1.24158924e-02 -1.30198018e-05 9.99922920e-01 7.53712580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.632755096 meters 0.015589092125708493 Centerline is valid? [True, True] Translation: X:45.95, Y:320.76, Z:7.54 [[ 7.28361064e-01 6.85126351e-01 -9.59395674e-03 4.59520468e+01] [-6.85066242e-01 7.28424246e-01 9.07533980e-03 3.20759893e+02] [ 1.32062251e-02 -3.76282581e-05 9.99912793e-01 7.53668008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6627550960001 meters 0.015712869649078712 Centerline is valid? [True, True] Translation: X:45.97, Y:320.74, Z:7.54 [[ 7.29329974e-01 6.84090875e-01 -9.87240099e-03 4.59729019e+01] [-6.84027152e-01 7.29396786e-01 9.33717786e-03 3.20740199e+02] [ 1.35883757e-02 -5.68933442e-05 9.99907672e-01 7.53719106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.692755096 meters 0.016347188608073458 Centerline is valid? [True, True] Translation: X:45.99, Y:320.72, Z:7.54 [[ 7.30923047e-01 6.82388892e-01 -9.84371558e-03 4.59923387e+01] [-6.82325407e-01 7.30989324e-01 9.30846667e-03 3.20719814e+02] [ 1.35476453e-02 -8.71555923e-05 9.99908223e-01 7.53690517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.722755096 meters 0.01742399212126617 Centerline is valid? [True, True] Translation: X:46.01, Y:320.70, Z:7.54 [[ 7.34483414e-01 6.78549398e-01 -1.02386037e-02 4.60133719e+01] [-6.78480347e-01 7.34554754e-01 9.68153208e-03 3.20695989e+02] [ 1.40902128e-02 -1.64233366e-04 9.99900715e-01 7.53812868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.752755096 meters 0.018176711095854798 Centerline is valid? [True, True] Translation: X:46.04, Y:320.67, Z:7.54 [[ 7.36113962e-01 6.76770819e-01 -1.08394807e-02 4.60352904e+01] [-6.76693176e-01 7.36193734e-01 1.02534302e-02 3.20672951e+02] [ 1.49191801e-02 -2.12690503e-04 9.99888680e-01 7.53802789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.782755096 meters 0.02089144465785772 Centerline is valid? [True, True] Translation: X:46.05, Y:320.65, Z:7.54 [[ 7.40025006e-01 6.72467036e-01 -1.22912745e-02 4.60546618e+01] [-6.72366551e-01 7.40126995e-01 1.16298346e-02 3.20648496e+02] [ 1.69177845e-02 -3.42126601e-04 9.99856826e-01 7.53683384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.812755096 meters 0.021023958555844605 Centerline is valid? [True, True] Translation: X:46.08, Y:320.63, Z:7.54 [[ 7.41366763e-01 6.70975388e-01 -1.29364009e-02 4.60776895e+01] [-6.70863763e-01 7.41479513e-01 1.22451152e-02 3.20626472e+02] [ 1.78082472e-02 -3.99558835e-04 9.99841341e-01 7.53762092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.842755096 meters 0.022253444227549175 Centerline is valid? [True, True] Translation: X:46.10, Y:320.60, Z:7.54 [[ 7.42817147e-01 6.69360308e-01 -1.33964032e-02 4.60999486e+01] [-6.69240209e-01 7.42937795e-01 1.26876341e-02 3.20603118e+02] [ 1.84452929e-02 -4.59180489e-04 9.99829766e-01 7.53749948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.872755096 meters 0.022253444227549175 Centerline is valid? [True, True] Translation: X:46.12, Y:320.58, Z:7.54 [[ 7.42605592e-01 6.69595083e-01 -1.33925560e-02 4.61233796e+01] [-6.69474948e-01 7.42726204e-01 1.26916945e-02 3.20580700e+02] [ 1.84452985e-02 -4.58942565e-04 9.99829766e-01 7.53769171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.902755096 meters 0.024905383802244312 Centerline is valid? [True, True] Translation: X:46.14, Y:320.56, Z:7.54 [[ 7.44740033e-01 6.67187315e-01 -1.49455431e-02 4.61438116e+01] [-6.67037140e-01 7.44889756e-01 1.41670805e-02 3.20557889e+02] [ 2.05848783e-02 -5.81559713e-04 9.99787940e-01 7.53580822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.932755096 meters 0.02517652073104234 Centerline is valid? [True, True] Translation: X:46.17, Y:320.54, Z:7.54 [[ 7.45441065e-01 6.66398193e-01 -1.52008861e-02 4.61669758e+01] [-6.66242553e-01 7.45595780e-01 1.44150553e-02 3.20535818e+02] [ 2.09398833e-02 -6.18096964e-04 9.99780546e-01 7.53634099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.962755096 meters 0.027288772045311802 Centerline is valid? [True, True] Translation: X:46.19, Y:320.51, Z:7.54 [[ 7.46089742e-01 6.65661420e-01 -1.56515254e-02 4.61872291e+01] [-6.65496088e-01 7.46253599e-01 1.48500439e-02 3.20512484e+02] [ 2.15651085e-02 -6.63436549e-04 9.99767226e-01 7.53638710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.992755096 meters 0.025014786186699313 Centerline is valid? [True, True] Translation: X:46.21, Y:320.49, Z:7.54 [[ 7.45776242e-01 6.66004394e-01 -1.59982625e-02 4.62131681e+01] [-6.65831532e-01 7.45947513e-01 1.51881319e-02 3.20491919e+02] [ 2.20492267e-02 -6.74800302e-04 9.99756659e-01 7.53840729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.022755096 meters 0.025787719127280333 Centerline is valid? [True, True] Translation: X:46.24, Y:320.47, Z:7.54 [[ 7.44983076e-01 6.66861019e-01 -1.72220260e-02 4.62357690e+01] [-6.66660687e-01 7.45181778e-01 1.63599239e-02 3.20469540e+02] [ 2.37433355e-02 -7.06618756e-04 9.99717838e-01 7.53837110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.052755096 meters 0.024281817638504247 Centerline is valid? [True, True] Translation: X:46.26, Y:320.45, Z:7.54 [[ 7.44259196e-01 6.67662053e-01 -1.74823284e-02 4.62609254e+01] [-6.67455610e-01 7.44464167e-01 1.66166472e-02 3.20449257e+02] [ 2.41092719e-02 -6.98414287e-04 9.99709085e-01 7.53969673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.082755096 meters 0.024042073848908354 Centerline is valid? [True, True] Translation: X:46.28, Y:320.43, Z:7.54 [[ 7.43234015e-01 6.68789806e-01 -1.79831542e-02 4.62841536e+01] [-6.68571455e-01 7.43451224e-01 1.71022779e-02 3.20427635e+02] [ 2.48074271e-02 -6.87971136e-04 9.99692012e-01 7.53979343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.112755096 meters 0.023758752284495352 Centerline is valid? [True, True] Translation: X:46.31, Y:320.41, Z:7.54 [[ 7.41495036e-01 6.70697592e-01 -1.87043520e-02 4.63076440e+01] [-6.70461734e-01 7.41730618e-01 1.77975593e-02 3.20406789e+02] [ 2.58103708e-02 -6.56249610e-04 9.99666642e-01 7.54036483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.142755096 meters 0.02318352650277926 Centerline is valid? [True, True] Translation: X:46.33, Y:320.39, Z:7.54 [[ 7.40607727e-01 6.71669614e-01 -1.89769299e-02 4.63319843e+01] [-6.71426891e-01 7.40850539e-01 1.80667989e-02 3.20385645e+02] [ 2.61939886e-02 -6.38789808e-04 9.99656675e-01 7.54146503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1727550960001 meters 0.023435801378646724 Centerline is valid? [True, True] Translation: X:46.35, Y:320.36, Z:7.54 [[ 7.39786935e-01 6.72570995e-01 -1.90669006e-02 4.63539481e+01] [-6.72326014e-01 7.40032348e-01 1.81619103e-02 3.20364269e+02] [ 2.63252973e-02 -6.16770716e-04 9.99653239e-01 7.54256658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.202755096 meters 0.023272820693200906 Centerline is valid? [True, True] Translation: X:46.38, Y:320.34, Z:7.54 [[ 7.39693225e-01 6.72665807e-01 -1.93557523e-02 4.63779550e+01] [-6.72413079e-01 7.39946156e-01 1.84482447e-02 3.20341679e+02] [ 2.67317179e-02 -6.30980622e-04 9.99642445e-01 7.54437044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.232755096 meters 0.02367845067854676 Centerline is valid? [True, True] Translation: X:46.40, Y:320.32, Z:7.55 [[ 7.39688084e-01 6.72679191e-01 -1.90851779e-02 4.63999101e+01] [-6.72433199e-01 7.39933990e-01 1.82011905e-02 3.20319137e+02] [ 2.63653339e-02 -6.29696505e-04 9.99652176e-01 7.54519025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.262755096 meters 0.025767442341148975 Centerline is valid? [True, True] Translation: X:46.42, Y:320.29, Z:7.55 [[ 7.40660046e-01 6.71610939e-01 -1.90116208e-02 4.64194032e+01] [-6.71366318e-01 7.40903703e-01 1.81375434e-02 3.20294074e+02] [ 2.62671528e-02 -6.69991948e-04 9.99654734e-01 7.54650847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2927550960001 meters 0.024943490210384497 Centerline is valid? [True, True] Translation: X:46.44, Y:320.27, Z:7.55 [[ 7.41025796e-01 6.71207551e-01 -1.90050823e-02 4.64434888e+01] [-6.70962733e-01 7.41269146e-01 1.81401298e-02 3.20272286e+02] [ 2.62636732e-02 -6.90602163e-04 9.99654812e-01 7.54962699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.322755096 meters 0.02468054789940541 Centerline is valid? [True, True] Translation: X:46.47, Y:320.25, Z:7.55 [[ 7.41045118e-01 6.71177492e-01 -1.93107925e-02 4.64677080e+01] [-6.70924451e-01 7.41296344e-01 1.84421171e-02 3.20250727e+02] [ 2.66929538e-02 -7.10357979e-04 9.99643427e-01 7.55215553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.352755096 meters 0.025164128748113117 Centerline is valid? [True, True] Translation: X:46.49, Y:320.23, Z:7.55 [[ 7.40988458e-01 6.71230453e-01 -1.96413801e-02 4.64896722e+01] [-6.70968426e-01 7.41248372e-01 1.87676034e-02 3.20228111e+02] [ 2.71565279e-02 -7.27831605e-04 9.99630929e-01 7.55233768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.382755096 meters 0.02559450036237813 Centerline is valid? [True, True] Translation: X:46.51, Y:320.21, Z:7.55 [[ 7.41099378e-01 6.71089355e-01 -2.02679519e-02 4.65124184e+01] [-6.70809992e-01 7.41376081e-01 1.93768189e-02 3.20205363e+02] [ 2.80297516e-02 -7.64203734e-04 9.99606797e-01 7.55366901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4127550960001 meters 0.025561265535964946 Centerline is valid? [True, True] Translation: X:46.54, Y:320.18, Z:7.55 [[ 7.40838800e-01 6.71364992e-01 -2.06620398e-02 4.65360127e+01] [-6.71074418e-01 7.41126469e-01 1.97657046e-02 3.20182529e+02] [ 2.85831867e-02 -7.77434536e-04 9.99591115e-01 7.55451158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.442755096 meters 0.026845806697048752 Centerline is valid? [True, True] Translation: X:46.56, Y:320.16, Z:7.55 [[ 7.40884801e-01 6.71313042e-01 -2.07005088e-02 4.65593562e+01] [-6.71021006e-01 7.41173512e-01 1.98150122e-02 3.20159994e+02] [ 2.86447449e-02 -7.90165106e-04 9.99589343e-01 7.55462355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.472755096 meters 0.025959499338126506 Centerline is valid? [True, True] Translation: X:46.58, Y:320.14, Z:7.56 [[ 7.41043965e-01 6.71146146e-01 -2.04130322e-02 4.65820591e+01] [-6.70861775e-01 7.41324638e-01 1.95514604e-02 3.20137993e+02] [ 2.82545710e-02 -7.94168753e-04 9.99600444e-01 7.55738899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.502755096 meters 0.027577594913013124 Centerline is valid? [True, True] Translation: X:46.60, Y:320.11, Z:7.56 [[ 7.40853435e-01 6.71349568e-01 -2.06384724e-02 4.66035295e+01] [-6.71058627e-01 7.41140413e-01 1.97789338e-02 3.20114537e+02] [ 2.85745846e-02 -8.03666052e-04 9.99591340e-01 7.55601802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.532755096 meters 0.027451122923443705 Centerline is valid? [True, True] Translation: X:46.63, Y:320.09, Z:7.56 [[ 7.40297840e-01 6.71931957e-01 -2.15998255e-02 4.66283053e+01] [-6.71613176e-01 7.40612424e-01 2.07118366e-02 3.20093462e+02] [ 2.99140440e-02 -8.26200532e-04 9.99552133e-01 7.55730808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.562755096 meters 0.025613819586527826 Centerline is valid? [True, True] Translation: X:46.65, Y:320.07, Z:7.56 [[ 7.39397992e-01 6.72916365e-01 -2.17755722e-02 4.66519427e+01] [-6.72592454e-01 7.39718138e-01 2.08918130e-02 3.20071407e+02] [ 3.01662286e-02 -8.01279048e-04 9.99544575e-01 7.55929339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.592755096 meters 0.025111559695553197 Centerline is valid? [True, True] Translation: X:46.68, Y:320.05, Z:7.56 [[ 7.37727506e-01 6.74724089e-01 -2.24839866e-02 4.66770811e+01] [-6.74379412e-01 7.38069667e-01 2.15771931e-02 3.20050510e+02] [ 3.11534005e-02 -7.55351193e-04 9.99514330e-01 7.55897799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.622755096 meters 0.02492619993981838 Centerline is valid? [True, True] Translation: X:46.70, Y:320.03, Z:7.56 [[ 7.36715191e-01 6.75820484e-01 -2.27464279e-02 4.67004305e+01] [-6.75468208e-01 7.37065912e-01 2.18298558e-02 3.20030334e+02] [ 3.15186803e-02 -7.17897522e-04 9.99502905e-01 7.55866106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.652755096 meters 0.02478023305936074 Centerline is valid? [True, True] Translation: X:46.72, Y:320.01, Z:7.56 [[ 7.35770836e-01 6.76845468e-01 -2.28361694e-02 4.67217747e+01] [-6.76491006e-01 7.36124825e-01 2.19125677e-02 3.20011715e+02] [ 3.16416934e-02 -6.74165042e-04 9.99499049e-01 7.55828849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.682755096 meters 0.02614331364709238 Centerline is valid? [True, True] Translation: X:46.74, Y:319.99, Z:7.56 [[ 7.34798078e-01 6.77904309e-01 -2.27493526e-02 4.67435211e+01] [-6.77553154e-01 7.35149889e-01 2.18257854e-02 3.19992255e+02] [ 3.15199780e-02 -6.23649603e-04 9.99502928e-01 7.55709576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.712755096 meters 0.02204483024111316 Centerline is valid? [True, True] Translation: X:46.77, Y:319.97, Z:7.56 [[ 7.32070950e-01 6.80875023e-01 -2.19391884e-02 4.67692264e+01] [-6.80549497e-01 7.32399460e-01 2.10573940e-02 3.19972469e+02] [ 3.04057034e-02 -4.84802775e-04 9.99537522e-01 7.56253286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.742755096 meters 0.021287828267886926 Centerline is valid? [True, True] Translation: X:46.79, Y:319.95, Z:7.56 [[ 7.29583436e-01 6.83564340e-01 -2.11613756e-02 4.67918394e+01] [-6.83262535e-01 7.29890172e-01 2.03136923e-02 3.19952770e+02] [ 2.93311957e-02 -3.61758325e-04 9.99569682e-01 7.56437610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.772755096 meters 0.021808710939147546 Centerline is valid? [True, True] Translation: X:46.81, Y:319.93, Z:7.56 [[ 7.28392366e-01 6.84852011e-01 -2.05495425e-02 4.68122633e+01] [-6.84567969e-01 7.28682121e-01 1.97246915e-02 3.19932905e+02] [ 2.84825789e-02 -2.99756140e-04 9.99594244e-01 7.56242980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.802755096 meters 0.020629161272220867 Centerline is valid? [True, True] Translation: X:46.84, Y:319.91, Z:7.57 [[ 7.27255506e-01 6.86056044e-01 -2.06526791e-02 4.68352404e+01] [-6.85769712e-01 7.27548652e-01 1.98207395e-02 3.19914863e+02] [ 2.86239669e-02 -2.51760173e-04 9.99590219e-01 7.56546387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.832755096 meters 0.020251299640860393 Centerline is valid? [True, True] Translation: X:46.86, Y:319.90, Z:7.57 [[ 7.25792680e-01 6.87612051e-01 -2.03630263e-02 4.68574518e+01] [-6.87334376e-01 7.26078256e-01 1.95402919e-02 3.19895584e+02] [ 2.82212908e-02 -1.85992904e-04 9.99601683e-01 7.56636503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.862755096 meters 0.021262833359474587 Centerline is valid? [True, True] Translation: X:46.88, Y:319.88, Z:7.57 [[ 7.23172178e-01 6.90374012e-01 -2.01426074e-02 4.68795789e+01] [-6.90103465e-01 7.23452637e-01 1.93258936e-02 3.19877538e+02] [ 2.79143171e-02 -7.54654478e-05 9.99610317e-01 7.56510793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.892755096 meters 0.0212587281988405 Centerline is valid? [True, True] Translation: X:46.90, Y:319.86, Z:7.56 [[ 7.21717128e-01 6.91888613e-01 -2.03601206e-02 4.68998200e+01] [-6.91612895e-01 7.22004257e-01 1.95309111e-02 3.19858636e+02] [ 2.82133087e-02 -1.44710745e-05 9.99601925e-01 7.56474365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9227550960001 meters 0.019904242307110454 Centerline is valid? [True, True] Translation: X:46.92, Y:319.84, Z:7.57 [[ 7.21645123e-01 6.91966800e-01 -2.02549923e-02 4.69196477e+01] [-6.91694077e-01 7.21929323e-01 1.94256710e-02 3.19839100e+02] [ 2.80645923e-02 -8.18259886e-06 9.99606112e-01 7.56678413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.952755096 meters 0.019983351797927828 Centerline is valid? [True, True] Translation: X:46.94, Y:319.82, Z:7.57 [[ 7.22072355e-01 6.91522384e-01 -2.02066047e-02 4.69385643e+01] [-6.91250931e-01 7.22355032e-01 1.93741646e-02 3.19819408e+02] [ 2.79940111e-02 -2.17142708e-05 9.99608091e-01 7.56702224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.982755096 meters 0.02037634417905169 Centerline is valid? [True, True] Translation: X:46.96, Y:319.80, Z:7.57 [[ 7.22918144e-01 6.90640877e-01 -2.01130857e-02 4.69578772e+01] [-6.90371719e-01 7.23197882e-01 1.92798774e-02 3.19798837e+02] [ 2.78612124e-02 -5.22676396e-05 9.99611800e-01 7.56677212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.012755096 meters 0.02117534160267119 Centerline is valid? [True, True] Translation: X:46.97, Y:319.78, Z:7.57 [[ 7.25090031e-01 6.88348972e-01 -2.04973012e-02 4.69749021e+01] [-6.88068639e-01 7.25379675e-01 1.96437000e-02 3.19776721e+02] [ 2.83900464e-02 -1.39900899e-04 9.99596912e-01 7.56568275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0427550960001 meters 0.02120293126580858 Centerline is valid? [True, True] Translation: X:46.99, Y:319.75, Z:7.57 [[ 7.28205326e-01 6.85060996e-01 -2.02097689e-02 4.69909715e+01] [-6.84787309e-01 7.28485665e-01 1.93643482e-02 3.19753297e+02] [ 2.79882866e-02 -2.61828238e-04 9.99608217e-01 7.56695492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.072755096 meters 0.02344296326888023 Centerline is valid? [True, True] Translation: X:47.01, Y:319.73, Z:7.57 [[ 7.30004245e-01 6.83146755e-01 -2.01075462e-02 4.70094353e+01] [-6.82875187e-01 7.30281043e-01 1.92633617e-02 3.19730880e+02] [ 2.78438628e-02 -3.31391470e-04 9.99612230e-01 7.56588563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.102755096 meters 0.022437096669979152 Centerline is valid? [True, True] Translation: X:47.03, Y:319.71, Z:7.57 [[ 7.31669148e-01 6.81371540e-01 -1.98263170e-02 4.70287727e+01] [-6.81106942e-01 7.31937615e-01 1.89911195e-02 3.19709284e+02] [ 2.74516355e-02 -3.91374060e-04 9.99623056e-01 7.56767697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.132755096 meters 0.0242423852744304 Centerline is valid? [True, True] Translation: X:47.04, Y:319.69, Z:7.57 [[ 7.34869096e-01 6.77922035e-01 -1.97263001e-02 4.70449301e+01] [-6.77658944e-01 7.35133627e-01 1.88919827e-02 3.19686225e+02] [ 2.73087579e-02 -5.15430620e-04 9.99626913e-01 7.56748582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1627550960001 meters 0.025058784565639387 Centerline is valid? [True, True] Translation: X:47.06, Y:319.66, Z:7.57 [[ 7.36174619e-01 6.76503042e-01 -1.97627286e-02 4.70644395e+01] [-6.76238546e-01 7.36439620e-01 1.89239543e-02 3.19664672e+02] [ 2.73561690e-02 -5.67016009e-04 9.99625589e-01 7.56739137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.192755096 meters 0.026790387659006626 Centerline is valid? [True, True] Translation: X:47.08, Y:319.64, Z:7.57 [[ 7.37462085e-01 6.75099624e-01 -1.97527423e-02 4.70840302e+01] [-6.74834966e-01 7.37726316e-01 1.89116538e-02 3.19642859e+02] [ 2.73393682e-02 -6.16786447e-04 9.99626019e-01 7.56629958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.222755096 meters 0.028055099055941665 Centerline is valid? [True, True] Translation: X:47.10, Y:319.62, Z:7.57 [[ 7.39982685e-01 6.72359233e-01 -1.89390567e-02 4.71018183e+01] [-6.72115139e-01 7.40224690e-01 1.81286655e-02 3.19621734e+02] [ 2.62081331e-02 -6.85671850e-04 9.99656273e-01 7.56791328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.252755096 meters 0.030141547619837835 Centerline is valid? [True, True] Translation: X:47.12, Y:319.60, Z:7.57 [[ 7.41053418e-01 6.71197874e-01 -1.82550044e-02 4.71212311e+01] [-6.70970817e-01 7.41277901e-01 1.74710377e-02 3.19599833e+02] [ 2.52585547e-02 -6.98397020e-04 9.99680708e-01 7.56690267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.282755096 meters 0.029720268184558175 Centerline is valid? [True, True] Translation: X:47.15, Y:319.58, Z:7.57 [[ 7.41807523e-01 6.70362469e-01 -1.83237332e-02 4.71457986e+01] [-6.70133280e-01 7.42033436e-01 1.75432999e-02 3.19578857e+02] [ 2.53571925e-02 -7.34408431e-04 9.99678185e-01 7.56793238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.312755096 meters 0.026079627913900276 Centerline is valid? [True, True] Translation: X:47.17, Y:319.56, Z:7.57 [[ 7.41630921e-01 6.70542487e-01 -1.88772630e-02 4.71716214e+01] [-6.70299037e-01 7.41870743e-01 1.80831638e-02 3.19559284e+02] [ 2.61300187e-02 -7.57622208e-04 9.99658266e-01 7.57127903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.342755096 meters 0.025464457112916984 Centerline is valid? [True, True] Translation: X:47.20, Y:319.54, Z:7.57 [[ 7.41167342e-01 6.71056955e-01 -1.88024909e-02 4.71958493e+01] [-6.70815336e-01 7.41405428e-01 1.80215377e-02 3.19538331e+02] [ 2.60337470e-02 -7.43975993e-04 9.99660788e-01 7.57188770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.372755096 meters 0.0259009787348961 Centerline is valid? [True, True] Translation: X:47.22, Y:319.52, Z:7.57 [[ 7.39996353e-01 6.72364889e-01 -1.81893963e-02 4.72209662e+01] [-6.72138921e-01 7.40219556e-01 1.74436216e-02 3.19518610e+02] [ 2.51926256e-02 -6.82415176e-04 9.99682383e-01 7.57015067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.402755096 meters 0.024704129886607303 Centerline is valid? [True, True] Translation: X:47.24, Y:319.50, Z:7.57 [[ 7.39353560e-01 6.73067264e-01 -1.83513317e-02 4.72444789e+01] [-6.72837233e-01 7.39580968e-01 1.76082395e-02 3.19498844e+02] [ 2.54238252e-02 -6.71255334e-04 9.99676537e-01 7.57099598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.432755096 meters 0.024972671732460656 Centerline is valid? [True, True] Translation: X:47.27, Y:319.48, Z:7.57 [[ 7.38097254e-01 6.74479439e-01 -1.70273630e-02 4.72695164e+01] [-6.74281573e-01 7.38293401e-01 1.63467291e-02 3.19478801e+02] [ 2.35967224e-02 -5.84238731e-04 9.99721388e-01 7.57018274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.462755096 meters 0.023548155904708774 Centerline is valid? [True, True] Translation: X:47.29, Y:319.46, Z:7.57 [[ 7.37613583e-01 6.75018869e-01 -1.66050548e-02 4.72933078e+01] [-6.74830631e-01 7.37800253e-01 1.59501419e-02 3.19457041e+02] [ 2.30178604e-02 -5.59441730e-04 9.99734897e-01 7.57293450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.492755096 meters 0.02503578888851056 Centerline is valid? [True, True] Translation: X:47.32, Y:319.44, Z:7.57 [[ 7.36625083e-01 6.76145340e-01 -1.45246727e-02 4.73156842e+01] [-6.76001395e-01 7.36768121e-01 1.39588667e-02 3.19435640e+02] [ 2.01395385e-02 -4.63752380e-04 9.99797071e-01 7.57237361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.522755096 meters 0.0244335056487651 Centerline is valid? [True, True] Translation: X:47.34, Y:319.41, Z:7.57 [[ 7.36302714e-01 6.76503301e-01 -1.41985183e-02 4.73396660e+01] [-6.76365671e-01 7.36439463e-01 1.36527048e-02 3.19413997e+02] [ 1.96924490e-02 -4.49133255e-04 9.99805984e-01 7.57331268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.552755096 meters 0.022820294788575557 Centerline is valid? [True, True] Translation: X:47.36, Y:319.39, Z:7.58 [[ 7.35808230e-01 6.77051566e-01 -1.36903568e-02 4.73636556e+01] [-6.76923572e-01 7.35935457e-01 1.31711867e-02 3.19393006e+02] [ 1.89927916e-02 -4.24142364e-04 9.99819531e-01 7.57551288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.582755096 meters 0.022306029012706695 Centerline is valid? [True, True] Translation: X:47.39, Y:319.37, Z:7.58 [[ 7.34873509e-01 6.78102694e-01 -1.17329582e-02 4.73867184e+01] [-6.78008730e-01 7.34967087e-01 1.12935379e-02 3.19372326e+02] [ 1.62815166e-02 -3.44273749e-04 9.99867388e-01 7.57707717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.612755096 meters 0.0222555783773832 Centerline is valid? [True, True] Translation: X:47.41, Y:319.35, Z:7.58 [[ 7.34584455e-01 6.78422947e-01 -1.13129854e-02 4.74085818e+01] [-6.78335597e-01 7.34671490e-01 1.08912754e-02 3.19351692e+02] [ 1.57002190e-02 -3.26560888e-04 9.99876691e-01 7.57766033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.642755096 meters 0.021644466579629432 Centerline is valid? [True, True] Translation: X:47.43, Y:319.33, Z:7.58 [[ 7.33908940e-01 6.79179090e-01 -9.66602990e-03 4.74304854e+01] [-6.79115394e-01 7.33972543e-01 9.30531684e-03 3.19332145e+02] [ 1.34145772e-02 -2.64905517e-04 9.99909985e-01 7.57945065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6727550960001 meters 0.021501198177047348 Centerline is valid? [True, True] Translation: X:47.45, Y:319.31, Z:7.58 [[ 7.33525533e-01 6.79603253e-01 -8.92809434e-03 4.74508512e+01] [-6.79548958e-01 7.33579827e-01 8.59369692e-03 3.19313391e+02] [ 1.23897743e-02 -2.36618909e-04 9.99923216e-01 7.58005580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.702755096 meters 0.023886428515871062 Centerline is valid? [True, True] Translation: X:47.47, Y:319.29, Z:7.58 [[ 7.33276742e-01 6.79881492e-01 -8.14716620e-03 4.74717548e+01] [-6.79836312e-01 7.33321971e-01 7.84067907e-03 3.19293398e+02] [ 1.13052286e-02 -2.10648178e-04 9.99936072e-01 7.57786882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.732755096 meters 0.020648449819527643 Centerline is valid? [True, True] Translation: X:47.49, Y:319.28, Z:7.58 [[ 7.32416724e-01 6.80809365e-01 -8.02187603e-03 4.74945108e+01] [-6.80765632e-01 7.32460628e-01 7.71895649e-03 3.19275043e+02] [ 1.11308462e-02 -1.92475322e-04 9.99938032e-01 7.58038471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.762755096 meters 0.020648449819527643 Centerline is valid? [True, True] Translation: X:47.51, Y:319.26, Z:7.58 [[ 7.32492770e-01 6.80727538e-01 -8.02258593e-03 4.75144416e+01] [-6.80683808e-01 7.32536677e-01 7.71821863e-03 3.19256046e+02] [ 1.11308424e-02 -1.92694998e-04 9.99938032e-01 7.58054734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7927550960001 meters 0.020499392306407446 Centerline is valid? [True, True] Translation: X:47.54, Y:319.24, Z:7.58 [[ 7.31875605e-01 6.81396555e-01 -7.53887070e-03 4.75350863e+01] [-6.81357990e-01 7.31914412e-01 7.25141102e-03 3.19237246e+02] [ 1.04588946e-02 -1.70461039e-04 9.99945290e-01 7.58042470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.822755096 meters 0.022942084168375638 Centerline is valid? [True, True] Translation: X:47.56, Y:319.22, Z:7.58 [[ 7.31599672e-01 6.81694642e-01 -7.37115849e-03 4.75564946e+01] [-6.81657802e-01 7.31636787e-01 7.08891396e-03 3.19217382e+02] [ 1.02254854e-02 -1.61639442e-04 9.99947705e-01 7.57738094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.852755096 meters 0.020840854974215013 Centerline is valid? [True, True] Translation: X:47.58, Y:319.20, Z:7.58 [[ 7.30923767e-01 6.82424674e-01 -6.85648047e-03 4.75793381e+01] [-6.82392840e-01 7.30955912e-01 6.59301733e-03 3.19199587e+02] [ 9.51102263e-03 -1.40179890e-04 9.99954759e-01 7.57823182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.882755096 meters 0.02251516183526954 Centerline is valid? [True, True] Translation: X:47.60, Y:319.18, Z:7.58 [[ 7.30962617e-01 6.82384545e-01 -6.70706148e-03 4.75983528e+01] [-6.82354092e-01 7.30993375e-01 6.44815284e-03 3.19181022e+02] [ 9.30293735e-03 -1.36767827e-04 9.99956717e-01 7.57633895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9127550960001 meters 0.022342795917196432 Centerline is valid? [True, True] Translation: X:47.62, Y:319.16, Z:7.58 [[ 7.31024163e-01 6.82317288e-01 -6.84041468e-03 4.76187038e+01] [-6.82285625e-01 7.31056153e-01 6.57467631e-03 3.19162507e+02] [ 9.48674255e-03 -1.39130640e-04 9.99954990e-01 7.57540915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.942755096 meters 0.020606801698806593 Centerline is valid? [True, True] Translation: X:47.64, Y:319.14, Z:7.58 [[ 7.31256945e-01 6.82068330e-01 -6.78783613e-03 4.76391347e+01] [-6.82037164e-01 7.31288435e-01 6.52174979e-03 3.19143879e+02] [ 9.41214504e-03 -1.39518325e-04 9.99955695e-01 7.57712087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.972755096 meters 0.021523525476703446 Centerline is valid? [True, True] Translation: X:47.66, Y:319.12, Z:7.58 [[ 7.31913862e-01 6.81369082e-01 -6.18658766e-03 4.76593094e+01] [-6.81343194e-01 7.31939996e-01 5.94090704e-03 3.19123832e+02] [ 8.57616132e-03 -1.33042808e-04 9.99963215e-01 7.57662596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.002755096 meters 0.02277954332578405 Centerline is valid? [True, True] Translation: X:47.68, Y:319.10, Z:7.58 [[ 7.33058013e-01 6.80134327e-01 -6.57629543e-03 4.76797705e+01] [-6.80105051e-01 7.33087494e-01 6.31235371e-03 3.19103500e+02] [ 9.11424838e-03 -1.54749721e-04 9.99958452e-01 7.57512770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.032755096 meters 0.023867539905160193 Centerline is valid? [True, True] Translation: X:47.70, Y:319.08, Z:7.57 [[ 7.33515059e-01 6.79637312e-01 -6.98448180e-03 4.76981863e+01] [-6.79604278e-01 7.33548291e-01 6.70305551e-03 3.19082951e+02] [ 9.67910132e-03 -1.70108447e-04 9.99953142e-01 7.57420188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.062755096 meters 0.021485822091167145 Centerline is valid? [True, True] Translation: X:48.15, Y:319.56, Z:8.68 [[ 7.62056675e-01 -6.47504410e-01 2.76825871e-03 4.81526102e+01] [-6.47498184e-01 -7.62061602e-01 -2.86643835e-03 3.19563595e+02] [ 3.96561514e-03 3.91945993e-04 -9.99992060e-01 8.68274058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.092755096 meters 0.020191759880435315 Centerline is valid? [True, True] Translation: X:48.16, Y:319.57, Z:8.68 [[ 8.09870490e-01 -5.86600115e-01 3.17728629e-03 4.81631603e+01] [-5.86593683e-01 -8.09876632e-01 -2.77329703e-03 3.19565748e+02] [ 4.20002627e-03 3.82235353e-04 -9.99991107e-01 8.68394390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.122755096 meters 0.01947923017789521 Centerline is valid? [True, True] Translation: X:48.18, Y:319.57, Z:8.68 [[ 8.53309526e-01 -5.21393998e-01 3.33957879e-03 4.81759279e+01] [-5.21388199e-01 -8.53315975e-01 -2.48856747e-03 3.19573819e+02] [ 4.14724007e-03 3.82301356e-04 -9.99991327e-01 8.68334462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.152755096 meters 0.021862500845054967 Centerline is valid? [True, True] Translation: X:48.19, Y:319.59, Z:8.68 [[ 8.91489452e-01 -4.53017146e-01 4.69293437e-03 4.81906299e+01] [-4.53008722e-01 -8.91501732e-01 -2.78556028e-03 3.19589189e+02] [ 5.44566569e-03 3.57357399e-04 -9.99985108e-01 8.68367117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.182755096 meters 0.018902929836223763 Centerline is valid? [True, True] Translation: X:48.20, Y:319.59, Z:8.68 [[ 9.24566946e-01 -3.80979435e-01 5.53471017e-03 4.82006211e+01] [-3.80970318e-01 -9.24583445e-01 -2.65877495e-03 3.19594703e+02] [ 6.13023998e-03 3.49655135e-04 -9.99981149e-01 8.68388243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.212755096 meters 0.020724148342304773 Centerline is valid? [True, True] Translation: X:48.21, Y:319.61, Z:8.69 [[ 9.51563298e-01 -3.07397369e-01 5.84363291e-03 4.82120037e+01] [-3.07389313e-01 -9.51581178e-01 -2.25233450e-03 3.19605292e+02] [ 6.25305279e-03 3.46968537e-04 -9.99980389e-01 8.68611217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.242755096 meters 0.01791792536983214 Centerline is valid? [True, True] Translation: X:48.22, Y:319.62, Z:8.68 [[ 9.73376193e-01 -2.29097366e-01 7.29271900e-03 4.82217631e+01] [-2.29088260e-01 -9.73403450e-01 -2.07169788e-03 3.19615871e+02] [ 7.57337836e-03 3.45865091e-04 -9.99971262e-01 8.68339053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.272755096 meters 0.017320253145251378 Centerline is valid? [True, True] Translation: X:48.23, Y:319.63, Z:8.68 [[ 9.88532543e-01 -1.50833138e-01 7.26476266e-03 4.82320096e+01] [-1.50826393e-01 -9.88559172e-01 -1.47062068e-03 3.19628081e+02] [ 7.40346609e-03 3.58038454e-04 -9.99972530e-01 8.68369655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.302755096 meters 0.01740819272798321 Centerline is valid? [True, True] Translation: X:48.24, Y:319.64, Z:8.68 [[ 9.97572871e-01 -6.90784268e-02 8.74859694e-03 4.82369165e+01] [-6.90724765e-02 -9.97611162e-01 -9.80837578e-04 3.19642342e+02] [ 8.79545268e-03 3.74169702e-04 -9.99961249e-01 8.68208553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.332755096 meters 0.01620849324841176 Centerline is valid? [True, True] Translation: X:48.24, Y:319.65, Z:8.68 [[ 9.99891465e-01 1.13495421e-02 9.39393572e-03 4.82414731e+01] [ 1.13526787e-02 -9.99935517e-01 -2.80639497e-04 3.19652567e+02] [ 9.39014485e-03 3.87255372e-04 -9.99955837e-01 8.68321795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.362755096 meters 0.015889960204130714 Centerline is valid? [True, True] Translation: X:48.25, Y:319.67, Z:8.68 [[ 9.95767428e-01 9.13857459e-02 9.79158604e-03 4.82452673e+01] [ 9.13852758e-02 -9.95815488e-01 4.96346320e-04 3.19665855e+02] [ 9.79597200e-03 4.00561292e-04 -9.99951938e-01 8.68349164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.392755096 meters 0.01566367875286211 Centerline is valid? [True, True] Translation: X:48.25, Y:319.68, Z:8.68 [[ 9.85053645e-01 1.71949309e-01 1.01366432e-02 4.82472166e+01] [ 1.71944651e-01 -9.85105706e-01 1.33572298e-03 3.19679639e+02] [ 1.02153417e-02 4.27182780e-04 -9.99947731e-01 8.68413476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4227550960001 meters 0.015702537213148765 Centerline is valid? [True, True] Translation: X:48.25, Y:319.70, Z:8.68 [[ 9.68441045e-01 2.49004546e-01 1.08939346e-02 4.82490763e+01] [ 2.48993758e-01 -9.68502221e-01 2.35736315e-03 3.19698449e+02] [ 1.11377940e-02 4.29554479e-04 -9.99937881e-01 8.68407537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.452755096 meters 0.0157512246078631 Centerline is valid? [True, True] Translation: X:48.25, Y:319.71, Z:8.68 [[ 9.45968250e-01 3.24022478e-01 1.23896483e-02 4.82492561e+01] [ 3.24000539e-01 -9.46049287e-01 3.79436987e-03 3.19714989e+02] [ 1.29506791e-02 4.24899310e-04 -9.99916046e-01 8.68367506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.482755096 meters 0.015766947363062084 Centerline is valid? [True, True] Translation: X:48.25, Y:319.73, Z:8.68 [[ 9.17956685e-01 3.96487397e-01 1.23801544e-02 4.82481887e+01] [ 3.96457387e-01 -9.18040071e-01 4.89567345e-03 3.19732285e+02] [ 1.33065507e-02 4.14187502e-04 -9.99911378e-01 8.68400915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.512755096 meters 0.015827763418823422 Centerline is valid? [True, True] Translation: X:48.24, Y:319.75, Z:8.68 [[ 8.84492648e-01 4.66398688e-01 1.20424089e-02 4.82436533e+01] [ 4.66361592e-01 -8.84574532e-01 5.89604844e-03 3.19750717e+02] [ 1.34023175e-02 4.01105475e-04 -9.99910104e-01 8.68449641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5427550960001 meters 0.016052975964100477 Centerline is valid? [True, True] Translation: X:48.24, Y:319.77, Z:8.69 [[ 8.46771815e-01 5.31838957e-01 1.11721559e-02 4.82367124e+01] [ 5.31798295e-01 -8.46845435e-01 6.58652053e-03 3.19772217e+02] [ 1.29640574e-02 3.64053512e-04 -9.99915897e-01 8.68557523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.572755096 meters 0.016296510667653807 Centerline is valid? [True, True] Translation: X:48.23, Y:319.79, Z:8.69 [[ 8.03379744e-01 5.95367815e-01 1.08697640e-02 4.82298952e+01] [ 5.95319027e-01 -8.03453202e-01 7.62946363e-03 3.19791000e+02] [ 1.32756838e-02 3.41620809e-04 -9.99911816e-01 8.68608849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.602755096 meters 0.017193335659910155 Centerline is valid? [True, True] Translation: X:48.22, Y:319.81, Z:8.69 [[ 7.56571227e-01 6.53834895e-01 9.99547973e-03 4.82182608e+01] [ 6.53782985e-01 -7.56637193e-01 8.24414074e-03 3.19810883e+02] [ 1.29532586e-02 2.97594910e-04 -9.99916059e-01 8.68773798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.632755096 meters 0.017393888066394123 Centerline is valid? [True, True] Translation: X:48.21, Y:319.83, Z:8.69 [[ 7.04242759e-01 7.09904627e-01 8.80669488e-03 4.82069431e+01] [ 7.09854100e-01 -7.04297764e-01 8.47443373e-03 3.19828667e+02] [ 1.22185752e-02 2.83409877e-04 -9.99925310e-01 8.68867395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6627550960001 meters 0.018031797002301952 Centerline is valid? [True, True] Translation: X:48.19, Y:319.84, Z:8.69 [[ 6.47675538e-01 7.61875573e-01 7.87449445e-03 4.81919048e+01] [ 7.61824235e-01 -6.47723351e-01 8.84853516e-03 3.19844907e+02] [ 1.18419767e-02 2.68000932e-04 -9.99929845e-01 8.68928327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.692755096 meters 0.019623519874829104 Centerline is valid? [True, True] Translation: X:48.17, Y:319.86, Z:8.69 [[ 5.89035180e-01 8.08075297e-01 7.20214379e-03 4.81733497e+01] [ 8.08019432e-01 -5.89079168e-01 9.50428930e-03 3.19861751e+02] [ 1.19228143e-02 2.21111366e-04 -9.99928896e-01 8.69027017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.722755096 meters 0.022282913704362733 Centerline is valid? [True, True] Translation: X:48.15, Y:319.88, Z:8.69 [[ 5.25866462e-01 8.50547256e-01 5.81624839e-03 4.81532869e+01] [ 8.50499737e-01 -5.25898581e-01 8.99334212e-03 3.19875789e+02] [ 1.07080192e-02 2.17420717e-04 -9.99942644e-01 8.69243199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.752755096 meters 0.02043724991704529 Centerline is valid? [True, True] Translation: X:48.14, Y:319.89, Z:8.69 [[ 4.59372098e-01 8.88229657e-01 5.03510118e-03 4.81394275e+01] [ 8.88180949e-01 -4.59399649e-01 9.30406378e-03 3.19885478e+02] [ 1.05772691e-02 1.98053645e-04 -9.99944040e-01 8.69276656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.782755096 meters 0.02276347574526864 Centerline is valid? [True, True] Translation: X:48.12, Y:319.89, Z:8.69 [[ 3.89363628e-01 9.21075126e-01 4.07163716e-03 4.81204224e+01] [ 9.21030003e-01 -3.89384865e-01 9.11926163e-03 3.19894168e+02] [ 9.98495894e-03 1.99391192e-04 -9.99950129e-01 8.69309516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.812755096 meters 0.022977923426978228 Centerline is valid? [True, True] Translation: X:48.10, Y:319.90, Z:8.69 [[ 3.16659626e-01 9.48533698e-01 3.24120271e-03 4.80984189e+01] [ 9.48490282e-01 -3.16676150e-01 9.07752496e-03 3.19902574e+02] [ 9.63674991e-03 1.99763616e-04 -9.99953546e-01 8.69420337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.842755096 meters 0.02155454886025961 Centerline is valid? [True, True] Translation: X:48.08, Y:319.91, Z:8.70 [[ 2.40719548e-01 9.70591860e-01 2.35386372e-03 4.80799381e+01] [ 9.70554083e-01 -2.40730954e-01 8.56626832e-03 3.19908492e+02] [ 8.88099816e-03 2.22483806e-04 -9.99960538e-01 8.69545771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.872755096 meters 0.022570568365860706 Centerline is valid? [True, True] Translation: X:48.06, Y:319.91, Z:8.70 [[ 1.63252801e-01 9.86582984e-01 1.59331469e-03 4.80574237e+01] [ 9.86549287e-01 -1.63260399e-01 8.15757147e-03 3.19912614e+02] [ 8.30824640e-03 2.40137081e-04 -9.99965457e-01 8.69538063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.902755096 meters 0.020447445097898913 Centerline is valid? [True, True] Translation: X:48.04, Y:319.91, Z:8.70 [[ 8.45556987e-02 9.96418351e-01 8.96616160e-04 4.80431822e+01] [ 9.96390550e-01 -8.45600415e-02 7.44794042e-03 3.19914513e+02] [ 7.49708241e-03 2.63614063e-04 -9.99971862e-01 8.69619267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.932755096 meters 0.01959438181868909 Centerline is valid? [True, True] Translation: X:48.69, Y:319.91, Z:7.57 [[ 4.42920803e-02 -9.99018570e-01 -3.29205150e-04 4.86945466e+01] [ 9.99004996e-01 4.42931949e-02 -5.20870376e-03 3.19905054e+02] [ 5.21817333e-03 -9.81732641e-05 9.99986380e-01 7.57097636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.962755096 meters 0.018322482749793426 Centerline is valid? [True, True] Translation: X:48.69, Y:319.93, Z:7.57 [[ 4.55203562e-02 -9.98963330e-01 -4.03236606e-04 4.86948695e+01] [ 9.98942654e-01 4.55220087e-02 -6.42812010e-03 3.19932122e+02] [ 6.43981240e-03 -1.10199929e-04 9.99979258e-01 7.57012611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.992755096 meters 0.017643804045577905 Centerline is valid? [True, True] Translation: X:48.70, Y:319.96, Z:7.57 [[ 4.92989872e-02 -9.98783950e-01 -4.80661724e-04 4.86978555e+01] [ 9.98754176e-01 4.93012293e-02 -7.71270105e-03 3.19958207e+02] [ 7.72701923e-03 -9.98345537e-05 9.99970141e-01 7.56980849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.022755096 meters 0.016658456168776817 Centerline is valid? [True, True] Translation: X:48.70, Y:319.99, Z:7.57 [[ 5.12028196e-02 -9.98688164e-01 -4.72453004e-04 4.86981245e+01] [ 9.98659054e-01 5.12049346e-02 -7.62554431e-03 3.19985587e+02] [ 7.63973277e-03 -8.13701000e-05 9.99970814e-01 7.57022197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.052755096 meters 0.016365339783218878 Centerline is valid? [True, True] Translation: X:48.70, Y:320.01, Z:7.57 [[ 5.30276502e-02 -9.98592925e-01 -4.87821478e-04 4.87002630e+01] [ 9.98561543e-01 5.30298513e-02 -7.91708605e-03 3.20011986e+02] [ 7.93181521e-03 -6.72952983e-05 9.99968540e-01 7.57054386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.082755096 meters 0.01569216411856734 Centerline is valid? [True, True] Translation: X:48.70, Y:320.04, Z:7.57 [[ 5.72508033e-02 -9.98359727e-01 -4.47921595e-04 4.87017598e+01] [ 9.98333012e-01 5.72525482e-02 -7.30369381e-03 3.20037838e+02] [ 7.31735841e-03 -2.90325774e-05 9.99973227e-01 7.57249168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.112755096 meters 0.015655962564016485 Centerline is valid? [True, True] Translation: X:48.70, Y:320.06, Z:7.57 [[ 5.90708878e-02 -9.98253710e-01 -4.02206398e-04 4.87028338e+01] [ 9.98231916e-01 5.90722559e-02 -6.59619984e-03 3.20064206e+02] [ 6.60844019e-03 -1.18518830e-05 9.99978164e-01 7.57366663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.142755096 meters 0.015878077882255683 Centerline is valid? [True, True] Translation: X:48.70, Y:320.09, Z:7.58 [[ 6.26845361e-02 -9.98033324e-01 -3.66147264e-04 4.87032015e+01] [ 9.98015050e-01 6.26856041e-02 -6.03953666e-03 3.20090565e+02] [ 6.05061100e-03 1.31650737e-05 9.99981695e-01 7.57563127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1727550960001 meters 0.016016197826731658 Centerline is valid? [True, True] Translation: X:48.70, Y:320.12, Z:7.58 [[ 6.42541932e-02 -9.97933509e-01 -3.31685091e-04 4.87038126e+01] [ 9.97918336e-01 6.42550453e-02 -5.50314624e-03 3.20118077e+02] [ 5.51308647e-03 2.26055877e-05 9.99984803e-01 7.57652410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.202755096 meters 0.016430304669984838 Centerline is valid? [True, True] Translation: X:48.70, Y:320.14, Z:7.58 [[ 6.58174592e-02 -9.97831629e-01 -3.18620127e-04 4.87035306e+01] [ 9.97817464e-01 6.58182226e-02 -5.31688107e-03 3.20143973e+02] [ 5.32632311e-03 3.20188758e-05 9.99985815e-01 7.57717002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.232755096 meters 0.01686427760626874 Centerline is valid? [True, True] Translation: X:48.70, Y:320.17, Z:7.58 [[ 6.81448612e-02 -9.97675390e-01 -3.07718427e-04 4.87028728e+01] [ 9.97662014e-01 6.81455411e-02 -5.16641493e-03 3.20171377e+02] [ 5.17537467e-03 4.50656426e-05 9.99986607e-01 7.57796905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.262755096 meters 0.017381914565336897 Centerline is valid? [True, True] Translation: X:48.70, Y:320.20, Z:7.58 [[ 6.84720860e-02 -9.97652983e-01 -3.14562483e-04 4.87023112e+01] [ 9.97638831e-01 6.84727903e-02 -5.31404919e-03 3.20196903e+02] [ 5.32311600e-03 5.00442852e-05 9.99985831e-01 7.57778644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2927550960001 meters 0.017248792473002848 Centerline is valid? [True, True] Translation: X:48.70, Y:320.22, Z:7.58 [[ 6.81651398e-02 -9.97673987e-01 -3.61251692e-04 4.87036016e+01] [ 9.97655089e-01 6.81660722e-02 -6.14079476e-03 3.20223602e+02] [ 6.15113630e-03 5.81835445e-05 9.99981080e-01 7.57690133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.322755096 meters 0.01710017901296918 Centerline is valid? [True, True] Translation: X:48.71, Y:320.25, Z:7.58 [[ 6.69635709e-02 -9.97755340e-01 -4.03532960e-04 4.87050869e+01] [ 9.97731429e-01 6.69647599e-02 -6.90779221e-03 3.20249138e+02] [ 6.91930904e-03 5.99529166e-05 9.99976060e-01 7.57624655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.352755096 meters 0.01672512680148159 Centerline is valid? [True, True] Translation: X:48.71, Y:320.28, Z:7.58 [[ 6.55278987e-02 -9.97850634e-01 -4.54689902e-04 4.87069853e+01] [ 9.97819899e-01 6.55294492e-02 -7.83206484e-03 3.20275739e+02] [ 7.84502645e-03 5.95201204e-05 9.99969226e-01 7.57574251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.382755096 meters 0.01622708431061396 Centerline is valid? [True, True] Translation: X:48.71, Y:320.30, Z:7.58 [[ 6.22327377e-02 -9.98061555e-01 -4.68220396e-04 4.87097412e+01] [ 9.98028522e-01 6.22344874e-02 -8.12026317e-03 3.20301584e+02] [ 8.13366194e-03 3.80488975e-05 9.99966921e-01 7.57540819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4127550960001 meters 0.016007348088202287 Centerline is valid? [True, True] Translation: X:48.71, Y:320.33, Z:7.58 [[ 6.02074214e-02 -9.98185776e-01 -4.72887057e-04 4.87116328e+01] [ 9.98151628e-01 6.02092732e-02 -8.25663382e-03 3.20328233e+02] [ 8.27012662e-03 2.50976466e-05 9.99965802e-01 7.57547089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.442755096 meters 0.01573626107171327 Centerline is valid? [True, True] Translation: X:48.71, Y:320.35, Z:7.57 [[ 5.63065357e-02 -9.98413400e-01 -5.07570325e-04 4.87142677e+01] [ 9.98373499e-01 5.63088232e-02 -8.92597268e-03 3.20353898e+02] [ 8.94039142e-03 -4.15416212e-06 9.99960034e-01 7.57472119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.472755096 meters 0.015755542548439402 Centerline is valid? [True, True] Translation: X:48.72, Y:320.38, Z:7.57 [[ 5.37966268e-02 -9.98551768e-01 -5.38160874e-04 4.87171555e+01] [ 9.98506272e-01 5.37993129e-02 -9.53197610e-03 3.20380079e+02] [ 9.54712428e-03 -2.45688462e-05 9.99954425e-01 7.57452590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.502755096 meters 0.01640794295989636 Centerline is valid? [True, True] Translation: X:48.72, Y:320.41, Z:7.57 [[ 4.87952091e-02 -9.98808638e-01 -5.76784349e-04 4.87229598e+01] [ 9.98755675e-01 4.87985616e-02 -1.02860338e-02 3.20405719e+02] [ 1.03019257e-02 -7.41574699e-05 9.99946931e-01 7.57415291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.532755096 meters 0.017025123296881745 Centerline is valid? [True, True] Translation: X:48.73, Y:320.43, Z:7.57 [[ 4.58346239e-02 -9.98948878e-01 -5.71072417e-04 4.87260826e+01] [ 9.98896322e-01 4.58380707e-02 -1.02473637e-02 3.20432740e+02] [ 1.02627693e-02 -1.00758077e-04 9.99947331e-01 7.57462169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.562755096 meters 0.017819222017650366 Centerline is valid? [True, True] Translation: X:48.73, Y:320.46, Z:7.57 [[ 4.31675329e-02 -9.99067690e-01 -5.60699841e-04 4.87285547e+01] [ 9.99016411e-01 4.31709985e-02 -1.01230579e-02 3.20458928e+02] [ 1.01378260e-02 -1.23160908e-04 9.99948603e-01 7.57478693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.592755096 meters 0.01999330371990945 Centerline is valid? [True, True] Translation: X:48.73, Y:320.48, Z:7.57 [[ 3.78212376e-02 -9.99284357e-01 -5.73523731e-04 4.87326845e+01] [ 9.99230100e-01 3.78251614e-02 -1.04146222e-02 3.20484380e+02] [ 1.04288627e-02 -1.79188273e-04 9.99945602e-01 7.57390648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.622755096 meters 0.021340373713504286 Centerline is valid? [True, True] Translation: X:48.74, Y:320.51, Z:7.57 [[ 3.45127463e-02 -9.99404091e-01 -5.76768573e-04 4.87355822e+01] [ 9.99348627e-01 3.45169086e-02 -1.05311411e-02 3.20511477e+02] [ 1.05447738e-02 -2.12934280e-04 9.99944380e-01 7.57356737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.652755096 meters 0.024608392083792317 Centerline is valid? [True, True] Translation: X:48.74, Y:320.54, Z:7.57 [[ 2.85410730e-02 -9.99592446e-01 -5.90460360e-04 4.87416088e+01] [ 9.99533618e-01 2.85458014e-02 -1.08481979e-02 3.20537733e+02] [ 1.08606318e-02 -2.80565771e-04 9.99940982e-01 7.57304703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.682755096 meters 0.026222051270904344 Centerline is valid? [True, True] Translation: X:48.75, Y:320.56, Z:7.57 [[ 2.52571567e-02 -9.99680798e-01 -6.15286384e-04 4.87456009e+01] [ 9.99616085e-01 2.52625255e-02 -1.13792226e-02 3.20564162e+02] [ 1.13911340e-02 -3.27643359e-04 9.99935065e-01 7.57304960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.712755096 meters 0.026222051270904344 Centerline is valid? [True, True] Translation: X:48.75, Y:320.59, Z:7.57 [[ 2.49000083e-02 -9.99689760e-01 -6.11219618e-04 4.87467208e+01] [ 9.99625046e-01 2.49053539e-02 -1.13794414e-02 3.20590087e+02] [ 1.13911337e-02 -3.27642253e-04 9.99935065e-01 7.57318924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.742755096 meters 0.024939110064089963 Centerline is valid? [True, True] Translation: X:48.75, Y:320.62, Z:7.57 [[ 2.25494750e-02 -9.99745530e-01 -6.30189073e-04 4.87466763e+01] [ 9.99675823e-01 2.25553480e-02 -1.18112484e-02 3.20617471e+02] [ 1.18224569e-02 -3.63647329e-04 9.99930046e-01 7.57423941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.772755096 meters 0.02837846434385972 Centerline is valid? [True, True] Translation: X:48.75, Y:320.64, Z:7.57 [[ 2.03443682e-02 -9.99792826e-01 -6.41989379e-04 4.87530296e+01] [ 9.99719514e-01 2.03506550e-02 -1.21138285e-02 3.20643561e+02] [ 1.21243837e-02 -3.95361122e-04 9.99926419e-01 7.57399188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.802755096 meters 0.02471677891896807 Centerline is valid? [True, True] Translation: X:48.75, Y:320.67, Z:7.58 [[ 2.02579597e-02 -9.99794574e-01 -6.52160190e-04 4.87477737e+01] [ 9.99717874e-01 2.02644878e-02 -1.23904462e-02 3.20671575e+02] [ 1.24011165e-02 -4.00971039e-04 9.99923023e-01 7.57567858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.832755096 meters 0.024382788199947224 Centerline is valid? [True, True] Translation: X:48.75, Y:320.70, Z:7.58 [[ 2.29496891e-02 -9.99736422e-01 -6.30672472e-04 4.87453949e+01] [ 9.99663713e-01 2.29556294e-02 -1.20623778e-02 3.20698556e+02] [ 1.20736759e-02 -3.53632565e-04 9.99927048e-01 7.57591048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.862755096 meters 0.02403096365703013 Centerline is valid? [True, True] Translation: X:48.74, Y:320.73, Z:7.58 [[ 2.50497045e-02 -9.99686021e-01 -6.09953157e-04 4.87445159e+01] [ 9.99617099e-01 2.50551424e-02 -1.17429004e-02 3.20725351e+02] [ 1.17544958e-02 -3.15563422e-04 9.99930864e-01 7.57595735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.892755096 meters 0.02093983151616433 Centerline is valid? [True, True] Translation: X:48.74, Y:320.75, Z:7.58 [[ 2.73372571e-02 -9.99626092e-01 -5.91806656e-04 4.87392316e+01] [ 9.99560376e-01 2.73422478e-02 -1.14654548e-02 3.20753399e+02] [ 1.14773491e-02 -2.78112397e-04 9.99934094e-01 7.57729150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9227550960001 meters 0.019134348863166742 Centerline is valid? [True, True] Translation: X:48.74, Y:320.78, Z:7.58 [[ 3.23859830e-02 -9.99475279e-01 -5.61785150e-04 4.87350050e+01] [ 9.99415269e-01 3.23901956e-02 -1.09542487e-02 3.20780655e+02] [ 1.09666971e-02 -2.06692544e-04 9.99939843e-01 7.57783523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.952755096 meters 0.019081957683691076 Centerline is valid? [True, True] Translation: X:48.74, Y:320.81, Z:7.58 [[ 3.49075651e-02 -9.99390397e-01 -5.45374670e-04 4.87356068e+01] [ 9.99333024e-01 3.49114056e-02 -1.07098743e-02 3.20806778e+02] [ 1.07223853e-02 -1.71155284e-04 9.99942499e-01 7.57778828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.982755096 meters 0.01677892122597695 Centerline is valid? [True, True] Translation: X:48.73, Y:320.84, Z:7.58 [[ 4.00237054e-02 -9.99198573e-01 -5.60380340e-04 4.87302966e+01] [ 9.99137151e-01 4.00274588e-02 -1.10795234e-02 3.20835729e+02] [ 1.10930746e-02 -1.16453235e-04 9.99938463e-01 7.57927174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.012755096 meters 0.016356590415239992 Centerline is valid? [True, True] Translation: X:48.73, Y:320.86, Z:7.58 [[ 4.21010703e-02 -9.99113196e-01 -5.67032854e-04 4.87297437e+01] [ 9.99049426e-01 4.21047898e-02 -1.12885180e-02 3.20862247e+02] [ 1.13023821e-02 -9.12351586e-05 9.99936122e-01 7.57954955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0427550960001 meters 0.01607543566741241 Centerline is valid? [True, True] Translation: X:48.73, Y:320.89, Z:7.58 [[ 4.38483873e-02 -9.99038043e-01 -5.55371678e-04 4.87292344e+01] [ 9.98976061e-01 4.38518533e-02 -1.11285798e-02 3.20888394e+02] [ 1.11422286e-02 -6.68327356e-05 9.99937921e-01 7.57996339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.072755096 meters 0.018470554415641095 Centerline is valid? [True, True] Translation: X:48.73, Y:320.92, Z:7.58 [[ 4.65114778e-02 -9.98917601e-01 -5.55015991e-04 4.87286797e+01] [ 9.98854887e-01 4.65147769e-02 -1.11933004e-02 3.20915962e+02] [ 1.12070012e-02 -3.37634920e-05 9.99937199e-01 7.57764689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.102755096 meters 0.015710163108320394 Centerline is valid? [True, True] Translation: X:48.73, Y:320.94, Z:7.58 [[ 4.85938706e-02 -9.98818496e-01 -4.97493533e-04 4.87278991e+01] [ 9.98767409e-01 4.85964168e-02 -1.01020366e-02 3.20943540e+02] [ 1.01142774e-02 -5.98326948e-06 9.99948849e-01 7.58176496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.132755096 meters 0.015814277115320415 Centerline is valid? [True, True] Translation: X:48.73, Y:320.97, Z:7.58 [[ 5.01969680e-02 -9.98739223e-01 -4.78612371e-04 4.87291699e+01] [ 9.98691210e-01 5.01992478e-02 -9.79302990e-03 3.20969037e+02] [ 9.80470905e-03 1.35944402e-05 9.99951933e-01 7.58227451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1627550960001 meters 0.016250273811618605 Centerline is valid? [True, True] Translation: X:48.73, Y:321.00, Z:7.58 [[ 4.99204861e-02 -9.98753069e-01 -5.02356302e-04 4.87316477e+01] [ 9.98699298e-01 4.99230112e-02 -1.03636728e-02 3.20996499e+02] [ 1.03758292e-02 1.56566979e-05 9.99946170e-01 7.58206996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.192755096 meters 0.015870111099033885 Centerline is valid? [True, True] Translation: X:48.73, Y:321.02, Z:7.58 [[ 4.93249135e-02 -9.98782662e-01 -4.96460717e-04 4.87339543e+01] [ 9.98729338e-01 4.93274101e-02 -1.03207012e-02 3.21022488e+02] [ 1.03326265e-02 1.32378099e-05 9.99946617e-01 7.58259545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.222755096 meters 0.015942224561782677 Centerline is valid? [True, True] Translation: X:48.74, Y:321.05, Z:7.58 [[ 4.66309700e-02 -9.98912056e-01 -5.07857921e-04 4.87400975e+01] [ 9.98855323e-01 4.66337342e-02 -1.06460424e-02 3.21048030e+02] [ 1.06581434e-02 -1.08413054e-05 9.99943200e-01 7.58269205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.252755096 meters 0.015868661548066675 Centerline is valid? [True, True] Translation: X:48.74, Y:321.07, Z:7.58 [[ 4.53114059e-02 -9.98972779e-01 -5.13609743e-04 4.87434025e+01] [ 9.98913870e-01 4.53143116e-02 -1.08486251e-02 3.21073635e+02] [ 1.08607551e-02 -2.14854398e-05 9.99941020e-01 7.58299236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.282755096 meters 0.016072617444491167 Centerline is valid? [True, True] Translation: X:48.75, Y:321.10, Z:7.58 [[ 4.28873042e-02 -9.99079772e-01 -5.37330386e-04 4.87483948e+01] [ 9.99014327e-01 4.28906451e-02 -1.14353055e-02 3.21099897e+02] [ 1.14478289e-02 -4.63713291e-05 9.99934470e-01 7.58249287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.312755096 meters 0.017523052939719355 Centerline is valid? [True, True] Translation: X:48.75, Y:321.13, Z:7.58 [[ 4.20152157e-02 -9.99116831e-01 -5.28154121e-04 4.87498681e+01] [ 9.99052563e-01 4.20185036e-02 -1.13323430e-02 3.21126349e+02] [ 1.13445269e-02 -5.15228935e-05 9.99935647e-01 7.58164313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.342755096 meters 0.018545246916826488 Centerline is valid? [True, True] Translation: X:48.75, Y:321.15, Z:7.58 [[ 4.21607547e-02 -9.99110706e-01 -5.17049263e-04 4.87495007e+01] [ 9.99048198e-01 4.21639007e-02 -1.11760421e-02 3.21151989e+02] [ 1.11879041e-02 -4.53667647e-05 9.99937412e-01 7.58057654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.372755096 meters 0.016068938780682284 Centerline is valid? [True, True] Translation: X:48.75, Y:321.18, Z:7.58 [[ 4.48707146e-02 -9.98992664e-01 -5.26058167e-04 4.87459082e+01] [ 9.98926936e-01 4.48737968e-02 -1.14594356e-02 3.21177271e+02] [ 1.14714983e-02 -1.13006095e-05 9.99934200e-01 7.58328278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.402755096 meters 0.0173971164685614 Centerline is valid? [True, True] Translation: X:48.75, Y:321.20, Z:7.58 [[ 4.57117292e-02 -9.98954488e-01 -6.06915244e-04 4.87456327e+01] [ 9.98865587e-01 4.57157580e-02 -1.33270113e-02 3.21202866e+02] [ 1.33408234e-02 2.97398253e-06 9.99911007e-01 7.58049594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.432755096 meters 0.01615060719336363 Centerline is valid? [True, True] Translation: X:48.75, Y:321.23, Z:7.58 [[ 4.61559414e-02 -9.98934055e-01 -6.18556678e-04 4.87453984e+01] [ 9.98840328e-01 4.61600840e-02 -1.36837640e-02 3.21230015e+02] [ 1.36977305e-02 1.37476524e-05 9.99906182e-01 7.58259156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.462755096 meters 0.01629142761325544 Centerline is valid? [True, True] Translation: X:48.75, Y:321.26, Z:7.58 [[ 4.57144972e-02 -9.98954338e-01 -6.44517287e-04 4.87455108e+01] [ 9.98850885e-01 4.57190384e-02 -1.43763176e-02 3.21255978e+02] [ 1.43907515e-02 1.34294681e-05 9.99896448e-01 7.58093977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.492755096 meters 0.016439427847387753 Centerline is valid? [True, True] Translation: X:48.75, Y:321.28, Z:7.58 [[ 4.26243677e-02 -9.99090904e-01 -7.27853112e-04 4.87487348e+01] [ 9.98956840e-01 4.26305715e-02 -1.63665991e-02 3.21283264e+02] [ 1.63827491e-02 -2.94779048e-05 9.99865793e-01 7.57861928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.522755096 meters 0.0172758730796041 Centerline is valid? [True, True] Translation: X:48.75, Y:321.31, Z:7.58 [[ 3.97732859e-02 -9.99208447e-01 -7.51496065e-04 4.87524314e+01] [ 9.99063151e-01 3.97803177e-02 -1.70395747e-02 3.21308290e+02] [ 1.70559817e-02 -7.30721501e-05 9.99854534e-01 7.57759352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.552755096 meters 0.019970808467367703 Centerline is valid? [True, True] Translation: X:48.76, Y:321.33, Z:7.58 [[ 3.31356258e-02 -9.99450596e-01 -7.32721605e-04 4.87597113e+01] [ 9.99310088e-01 3.31432541e-02 -1.67592733e-02 3.21332876e+02] [ 1.67743505e-02 -1.76887082e-04 9.99859285e-01 7.57761733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.582755096 meters 0.018198482322847452 Centerline is valid? [True, True] Translation: X:48.76, Y:321.36, Z:7.58 [[ 3.02075364e-02 -9.99543402e-01 -7.01602329e-04 4.87600051e+01] [ 9.99412448e-01 3.02149364e-02 -1.61807717e-02 3.21359927e+02] [ 1.61945824e-02 -2.12408852e-04 9.99868837e-01 7.58268695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.612755096 meters 0.0191713785314626 Centerline is valid? [True, True] Translation: X:48.76, Y:321.39, Z:7.58 [[ 2.69589177e-02 -9.99636316e-01 -6.73407100e-04 4.87630912e+01] [ 9.99513666e-01 2.69661599e-02 -1.56607183e-02 3.21385798e+02] [ 1.56731819e-02 -2.50883582e-04 9.99877137e-01 7.58314185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.642755096 meters 0.022607686877986952 Centerline is valid? [True, True] Translation: X:48.77, Y:321.41, Z:7.58 [[ 2.11305430e-02 -9.99776528e-01 -6.28309964e-04 4.87688771e+01] [ 9.99668023e-01 2.11375085e-02 -1.47325941e-02 3.21412533e+02] [ 1.47425827e-02 -3.16793666e-04 9.99891272e-01 7.58347197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6727550960001 meters 0.02143536990948402 Centerline is valid? [True, True] Translation: X:48.77, Y:321.44, Z:7.59 [[ 1.91401099e-02 -9.99816641e-01 -5.83360373e-04 4.87715347e+01] [ 9.99721530e-01 1.91463376e-02 -1.37942185e-02 3.21439189e+02] [ 1.38028585e-02 -3.19175065e-04 9.99904685e-01 7.58755558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.702755096 meters 0.022960929800227094 Centerline is valid? [True, True] Translation: X:48.78, Y:321.47, Z:7.59 [[ 1.59410867e-02 -9.99872798e-01 -5.18774079e-04 4.87767158e+01] [ 9.99796318e-01 1.59462859e-02 -1.23709092e-02 3.21465453e+02] [ 1.23776081e-02 -3.21462678e-04 9.99923343e-01 7.58994262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.732755096 meters 0.022941932023034656 Centerline is valid? [True, True] Translation: X:48.78, Y:321.49, Z:7.59 [[ 1.47597051e-02 -9.99890955e-01 -4.78860403e-04 4.87781257e+01] [ 9.99824694e-01 1.47642417e-02 -1.15151801e-02 3.21492858e+02] [ 1.15209945e-02 -3.08815793e-04 9.99933583e-01 7.59122591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.762755096 meters 0.023577740659801748 Centerline is valid? [True, True] Translation: X:48.78, Y:321.52, Z:7.59 [[ 1.41003398e-02 -9.99900494e-01 -4.26659037e-04 4.87794007e+01] [ 9.99847031e-01 1.41039995e-02 -1.03436486e-02 3.21519638e+02] [ 1.03486369e-02 -2.80744811e-04 9.99946412e-01 7.59159286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7927550960001 meters 0.023612338998673627 Centerline is valid? [True, True] Translation: X:48.78, Y:321.55, Z:7.59 [[ 1.52679268e-02 -9.99883381e-01 -3.38323787e-04 4.87795977e+01] [ 9.99849298e-01 1.52702007e-02 -8.25852296e-03 3.21546110e+02] [ 8.26272613e-03 -2.12182277e-04 9.99965841e-01 7.59304212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.822755096 meters 0.02204581613363174 Centerline is valid? [True, True] Translation: X:48.78, Y:321.57, Z:7.60 [[ 1.65915969e-02 -9.99862303e-01 -3.06212056e-04 4.87785413e+01] [ 9.99833995e-01 1.65934320e-02 -7.52595054e-03 3.21573000e+02] [ 7.52999535e-03 -1.81293686e-04 9.99971633e-01 7.59514092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.852755096 meters 0.02085603188464498 Centerline is valid? [True, True] Translation: X:48.78, Y:321.60, Z:7.60 [[ 2.02721310e-02 -9.99794470e-01 -2.41218379e-04 4.87764632e+01] [ 9.99776649e-01 2.02732102e-02 -5.97062373e-03 3.21599563e+02] [ 5.97428686e-03 -1.20127236e-04 9.99982147e-01 7.59661805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.882755096 meters 0.0200561033276199 Centerline is valid? [True, True] Translation: X:48.78, Y:321.63, Z:7.60 [[ 2.19513904e-02 -9.99759017e-01 -2.08869296e-04 4.87758560e+01] [ 9.99745441e-01 2.19521810e-02 -5.21112324e-03 3.21626444e+02] [ 5.21445259e-03 -9.44247252e-05 9.99986400e-01 7.59763126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9127550960001 meters 0.019585712634197127 Centerline is valid? [True, True] Translation: X:48.78, Y:321.65, Z:7.60 [[ 2.33392922e-02 -9.99727584e-01 -1.88080240e-04 4.87761772e+01] [ 9.99716406e-01 2.33399207e-02 -4.72822790e-03 3.21652329e+02] [ 4.73132964e-03 -7.76734089e-05 9.99988804e-01 7.59849678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.942755096 meters 0.020290782252178258 Centerline is valid? [True, True] Translation: X:48.78, Y:321.68, Z:7.60 [[ 2.55492892e-02 -9.99673549e-01 -1.74043532e-04 4.87765825e+01] [ 9.99663787e-01 2.55498089e-02 -4.41807854e-03 3.21679293e+02] [ 4.42108303e-03 -6.11062498e-05 9.99990225e-01 7.59682359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.972755096 meters 0.01898199922966681 Centerline is valid? [True, True] Translation: X:48.78, Y:321.71, Z:7.60 [[ 2.65408378e-02 -9.99647715e-01 -1.71301672e-04 4.87765434e+01] [ 9.99638096e-01 2.65413340e-02 -4.38564033e-03 3.21705357e+02] [ 4.38864191e-03 -5.48411089e-05 9.99990368e-01 7.59832238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.002755096 meters 0.021358655663286073 Centerline is valid? [True, True] Translation: X:48.78, Y:321.73, Z:7.60 [[ 2.69414735e-02 -9.99636999e-01 -1.63821472e-04 4.87783901e+01] [ 9.99628036e-01 2.69419257e-02 -4.23339318e-03 3.21730693e+02] [ 4.23627012e-03 -4.97066866e-05 9.99991026e-01 7.59516929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.032755096 meters 0.01814793586532152 Centerline is valid? [True, True] Translation: X:48.78, Y:321.76, Z:7.60 [[ 2.75765667e-02 -9.99619684e-01 -1.44625380e-04 4.87767778e+01] [ 9.99612568e-01 2.75769161e-02 -3.77203397e-03 3.21758301e+02] [ 3.77458773e-03 -4.05496015e-05 9.99992875e-01 7.59818674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.062755096 meters 0.018776235676364075 Centerline is valid? [True, True] Translation: X:48.78, Y:321.78, Z:7.60 [[ 2.67607064e-02 -9.99641858e-01 -1.43331014e-04 4.87793732e+01] [ 9.99634724e-01 2.67610570e-02 -3.77695820e-03 3.21784027e+02] [ 3.77944121e-03 -4.22045890e-05 9.99992857e-01 7.59817337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.092755096 meters 0.01938279024156948 Centerline is valid? [True, True] Translation: X:48.78, Y:321.81, Z:7.60 [[ 2.40567502e-02 -9.99710585e-01 -1.40484524e-04 4.87810670e+01] [ 9.99703642e-01 2.40571067e-02 -3.72619019e-03 3.21811960e+02] [ 3.72849142e-03 -5.08028634e-05 9.99993048e-01 7.59582852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.122755096 meters 0.020658400302956514 Centerline is valid? [True, True] Translation: X:48.79, Y:321.84, Z:7.60 [[ 2.23147732e-02 -9.99750986e-01 -1.28832353e-04 4.87872421e+01] [ 9.99745061e-01 2.23150845e-02 -3.44251148e-03 3.21838750e+02] [ 3.44452916e-03 -5.19806459e-05 9.99994066e-01 7.59691389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.152755096 meters 0.02055003553086062 Centerline is valid? [True, True] Translation: X:48.79, Y:321.87, Z:7.60 [[ 1.81494121e-02 -9.99835279e-01 -1.16913533e-04 4.87906647e+01] [ 9.99830325e-01 1.81496902e-02 -3.14811619e-03 3.21865998e+02] [ 3.14971957e-03 -5.97572380e-05 9.99995038e-01 7.59809394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.182755096 meters 0.021781572146689854 Centerline is valid? [True, True] Translation: X:48.79, Y:321.89, Z:7.60 [[ 1.56932697e-02 -9.99876848e-01 -1.01779810e-04 4.87934263e+01] [ 9.99873032e-01 1.56934910e-02 -2.76308499e-03 3.21893959e+02] [ 2.76434199e-03 -5.84050491e-05 9.99996178e-01 7.59690436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.212755096 meters 0.02178544774193569 Centerline is valid? [True, True] Translation: X:48.80, Y:321.92, Z:7.60 [[ 1.35157126e-02 -9.99908653e-01 -1.08611676e-04 4.87959337e+01] [ 9.99904228e-01 1.35159759e-02 -2.97548317e-03 3.21920749e+02] [ 2.97667936e-03 -6.83854993e-05 9.99995567e-01 7.59809055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.242755096 meters 0.02290655478878881 Centerline is valid? [True, True] Translation: X:48.80, Y:321.95, Z:7.60 [[ 1.04907712e-02 -9.99944965e-01 -1.05420888e-04 4.87991393e+01] [ 9.99940717e-01 1.04910340e-02 -2.91566417e-03 3.21947829e+02] [ 2.91660968e-03 -7.48270730e-05 9.99995744e-01 7.59725108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.272755096 meters 0.02352018582358831 Centerline is valid? [True, True] Translation: X:48.80, Y:321.97, Z:7.60 [[ 9.29947827e-03 -9.99956753e-01 -1.05427144e-04 4.88009414e+01] [ 9.99952422e-01 9.29974841e-03 -2.94432308e-03 3.21974432e+02] [ 2.94517619e-03 -7.80414597e-05 9.99995660e-01 7.59665764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.302755096 meters 0.02392924470593978 Centerline is valid? [True, True] Translation: X:48.80, Y:322.00, Z:7.60 [[ 8.10766290e-03 -9.99967125e-01 -1.24866559e-04 4.88026152e+01] [ 9.99960875e-01 8.10805386e-03 -3.53675066e-03 3.22001368e+02] [ 3.53764682e-03 -9.61868917e-05 9.99993738e-01 7.59506383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.332755096 meters 0.02369840665255568 Centerline is valid? [True, True] Translation: X:48.80, Y:322.03, Z:7.59 [[ 7.26644926e-03 -9.99973589e-01 -1.43345979e-04 4.88031127e+01] [ 9.99965151e-01 7.26697704e-03 -4.10950052e-03 3.22028711e+02] [ 4.11043367e-03 -1.13479506e-04 9.99991546e-01 7.59434517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.362755096 meters 0.02436834918436903 Centerline is valid? [True, True] Translation: X:48.81, Y:322.05, Z:7.59 [[ 6.40326822e-03 -9.99979484e-01 -1.75696376e-04 4.88054897e+01] [ 9.99966476e-01 6.40408142e-03 -5.10238434e-03 3.22054732e+02] [ 5.10340483e-03 -1.43018551e-04 9.99986967e-01 7.59360033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.392755096 meters 0.024457207297202632 Centerline is valid? [True, True] Translation: X:48.80, Y:322.08, Z:7.59 [[ 7.01468115e-03 -9.99975378e-01 -1.96784281e-04 4.88047074e+01] [ 9.99958652e-01 7.01570239e-03 -5.78577114e-03 3.22080392e+02] [ 5.78700926e-03 -1.56190804e-04 9.99983243e-01 7.59258845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4227550960001 meters 0.02363092721108694 Centerline is valid? [True, True] Translation: X:48.80, Y:322.11, Z:7.59 [[ 7.79790573e-03 -9.99969572e-01 -2.17469159e-04 4.88032621e+01] [ 9.99948616e-01 7.79915069e-03 -6.47605475e-03 3.22107360e+02] [ 6.47755377e-03 -1.66958320e-04 9.99979007e-01 7.59185061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.452755096 meters 0.025948408122741847 Centerline is valid? [True, True] Translation: X:48.81, Y:322.13, Z:7.59 [[ 1.10356903e-02 -9.99939060e-01 -2.98726500e-04 4.88062085e+01] [ 9.99898557e-01 1.10379326e-02 -9.00222402e-03 3.22134096e+02] [ 9.00497275e-03 -1.99350441e-04 9.99959435e-01 7.58864320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.482755096 meters 0.021030860992861018 Centerline is valid? [True, True] Translation: X:48.80, Y:322.16, Z:7.59 [[ 1.23879309e-02 -9.99923215e-01 -3.21895913e-04 4.87968317e+01] [ 9.99875111e-01 1.23904930e-02 -9.81013268e-03 3.22161870e+02] [ 9.81336786e-03 -2.00328466e-04 9.99951828e-01 7.58941564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.512755096 meters 0.02075517146855143 Centerline is valid? [True, True] Translation: X:48.80, Y:322.19, Z:7.59 [[ 1.36232535e-02 -9.99907138e-01 -3.49246232e-04 4.87959953e+01] [ 9.99849315e-01 1.36262222e-02 -1.07551892e-02 3.22187756e+02] [ 1.07589494e-02 -2.02672937e-04 9.99942100e-01 7.58898340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5427550960001 meters 0.019964268188536576 Centerline is valid? [True, True] Translation: X:48.79, Y:322.22, Z:7.59 [[ 1.65340849e-02 -9.99863234e-01 -3.69883208e-04 4.87921476e+01] [ 9.99797020e-01 1.65372472e-02 -1.15081865e-02 3.22215530e+02] [ 1.15127294e-02 -1.79530796e-04 9.99933710e-01 7.58831830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.572755096 meters 0.019964268188536576 Centerline is valid? [True, True] Translation: X:48.79, Y:322.24, Z:7.59 [[ 1.61754724e-02 -9.99869102e-01 -3.65755948e-04 4.87928018e+01] [ 9.99802886e-01 1.61786110e-02 -1.15083181e-02 3.22242294e+02] [ 1.15127291e-02 -1.79531371e-04 9.99933710e-01 7.58846242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.602755096 meters 0.02139046674890116 Centerline is valid? [True, True] Translation: X:48.79, Y:322.27, Z:7.59 [[ 1.68588211e-02 -9.99857809e-01 -3.77324966e-04 4.87914931e+01] [ 9.99785688e-01 1.68621374e-02 -1.20102672e-02 3.22269436e+02] [ 1.20149219e-02 -1.74765156e-04 9.99927803e-01 7.58577020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.632755096 meters 0.019188988985778352 Centerline is valid? [True, True] Translation: X:48.79, Y:322.30, Z:7.59 [[ 1.96490296e-02 -9.99806870e-01 -3.71488819e-04 4.87874981e+01] [ 9.99735545e-01 1.96520654e-02 -1.19430488e-02 3.22295772e+02] [ 1.19480428e-02 -1.36721258e-04 9.99928610e-01 7.58783070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6627550960001 meters 0.018977149578615057 Centerline is valid? [True, True] Translation: X:48.79, Y:322.32, Z:7.59 [[ 2.02323642e-02 -9.99795238e-01 -3.64985352e-04 4.87868098e+01] [ 9.99724871e-01 2.02352707e-02 -1.18624169e-02 3.22322594e+02] [ 1.18673735e-02 -1.24880196e-04 9.99929572e-01 7.58912265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.692755096 meters 0.018678743309133453 Centerline is valid? [True, True] Translation: X:48.78, Y:322.35, Z:7.59 [[ 2.13651607e-02 -9.99771674e-01 -3.59429258e-04 4.87844727e+01] [ 9.99701758e-01 2.13679175e-02 -1.18240470e-02 3.22349863e+02] [ 1.18290275e-02 -1.06699396e-04 9.99930029e-01 7.58976908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.722755096 meters 0.019469969754154912 Centerline is valid? [True, True] Translation: X:48.78, Y:322.38, Z:7.59 [[ 2.11095742e-02 -9.99777098e-01 -3.73484029e-04 4.87843018e+01] [ 9.99699775e-01 2.11125867e-02 -1.24345854e-02 3.22377541e+02] [ 1.24396989e-02 -1.10883097e-04 9.99922618e-01 7.58799605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.752755096 meters 0.018727993068735578 Centerline is valid? [True, True] Translation: X:48.78, Y:322.40, Z:7.59 [[ 2.12069675e-02 -9.99775033e-01 -3.85612154e-04 4.87837372e+01] [ 9.99690467e-01 2.12101892e-02 -1.30038032e-02 3.22404160e+02] [ 1.30090567e-02 -1.09721563e-04 9.99915373e-01 7.58879634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.782755096 meters 0.01947490558067029 Centerline is valid? [True, True] Translation: X:48.78, Y:322.43, Z:7.59 [[ 2.11705706e-02 -9.99775799e-01 -3.97792718e-04 4.87838115e+01] [ 9.99683280e-01 2.11740233e-02 -1.36015030e-02 3.22429540e+02] [ 1.36068764e-02 -1.09715149e-04 9.99907416e-01 7.58758065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.812755096 meters 0.020539455365444045 Centerline is valid? [True, True] Translation: X:48.78, Y:322.46, Z:7.59 [[ 2.07994345e-02 -9.99783587e-01 -4.03662623e-04 4.87839388e+01] [ 9.99685666e-01 2.08030470e-02 -1.39929777e-02 3.22455844e+02] [ 1.39983468e-02 -1.12489716e-04 9.99902012e-01 7.58627223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.842755096 meters 0.019073213138948632 Centerline is valid? [True, True] Translation: X:48.78, Y:322.48, Z:7.59 [[ 2.09447975e-02 -9.99780550e-01 -4.08383171e-04 4.87823602e+01] [ 9.99677567e-01 2.09485017e-02 -1.43499756e-02 3.22482523e+02] [ 1.43553815e-02 -1.07694161e-04 9.99896950e-01 7.58817285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.872755096 meters 0.019563377190479316 Centerline is valid? [True, True] Translation: X:48.78, Y:322.51, Z:7.59 [[ 2.02204814e-02 -9.99795460e-01 -4.12758761e-04 4.87834094e+01] [ 9.99687262e-01 2.02243656e-02 -1.47089618e-02 3.22507758e+02] [ 1.47143010e-02 -1.15207387e-04 9.99891732e-01 7.58694198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.902755096 meters 0.018718472919326712 Centerline is valid? [True, True] Translation: X:48.78, Y:322.53, Z:7.59 [[ 1.93724103e-02 -9.99812255e-01 -4.06352367e-04 4.87834393e+01] [ 9.99704407e-01 1.93762892e-02 -1.46852708e-02 3.22534659e+02] [ 1.46903873e-02 -1.21743162e-04 9.99892083e-01 7.58883833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.932755096 meters 0.019034539846265096 Centerline is valid? [True, True] Translation: X:48.79, Y:322.56, Z:7.59 [[ 1.81214346e-02 -9.99835710e-01 -4.08719279e-04 4.87862784e+01] [ 9.99723385e-01 1.81255253e-02 -1.49873097e-02 3.22559689e+02] [ 1.49922557e-02 -1.37014670e-04 9.99887600e-01 7.58904841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.962755096 meters 0.019237198025304127 Centerline is valid? [True, True] Translation: X:48.79, Y:322.58, Z:7.59 [[ 1.72176626e-02 -9.99851682e-01 -4.08600316e-04 4.87878298e+01] [ 9.99736100e-01 1.72218852e-02 -1.52031831e-02 3.22584806e+02] [ 1.52079651e-02 -1.46729209e-04 9.99884341e-01 7.58927123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.992755096 meters 0.02208601793820929 Centerline is valid? [True, True] Translation: X:48.79, Y:322.61, Z:7.59 [[ 1.62807451e-02 -9.99867364e-01 -4.37825212e-04 4.87900221e+01] [ 9.99730710e-01 1.62857588e-02 -1.65312499e-02 3.22611330e+02] [ 1.65361876e-02 -1.68566244e-04 9.99863254e-01 7.58605795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.022755096 meters 0.02113528702254919 Centerline is valid? [True, True] Translation: X:48.79, Y:322.64, Z:7.59 [[ 1.61110824e-02 -9.99870111e-01 -4.41232946e-04 4.87900834e+01] [ 9.99727175e-01 1.61162401e-02 -1.69068766e-02 3.22637789e+02] [ 1.69117916e-02 -1.68724485e-04 9.99856971e-01 7.58702222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.052755096 meters 0.020153698845264655 Centerline is valid? [True, True] Translation: X:48.79, Y:322.66, Z:7.59 [[ 1.59105099e-02 -9.99873331e-01 -4.22415181e-04 4.87915424e+01] [ 9.99738272e-01 1.59153038e-02 -1.64344483e-02 3.22662952e+02] [ 1.64390894e-02 -1.60824171e-04 9.99864856e-01 7.58728618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.082755096 meters 0.018835945465122156 Centerline is valid? [True, True] Translation: X:48.79, Y:322.69, Z:7.59 [[ 1.56080543e-02 -9.99878099e-01 -4.19641584e-04 4.87909728e+01] [ 9.99740616e-01 1.56128672e-02 -1.65812912e-02 3.22689492e+02] [ 1.65858217e-02 -1.60731043e-04 9.99862433e-01 7.59022738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.112755096 meters 0.019911247517312256 Centerline is valid? [True, True] Translation: X:48.79, Y:322.72, Z:7.59 [[ 1.46115760e-02 -9.99893162e-01 -4.08686163e-04 4.87934738e+01] [ 9.99758887e-01 1.46163116e-02 -1.63869089e-02 3.22717123e+02] [ 1.63911317e-02 -1.69149059e-04 9.99865642e-01 7.58951673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.142755096 meters 0.020992195175304654 Centerline is valid? [True, True] Translation: X:48.80, Y:322.74, Z:7.59 [[ 1.36407712e-02 -9.99906875e-01 -4.13803368e-04 4.87962411e+01] [ 9.99764978e-01 1.36458069e-02 -1.68458200e-02 3.22742878e+02] [ 1.68498979e-02 -1.83916139e-04 9.99858014e-01 7.58851029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1727550960001 meters 0.01917241889788315 Centerline is valid? [True, True] Translation: X:48.80, Y:322.77, Z:7.59 [[ 1.22631299e-02 -9.99924731e-01 -3.85955588e-04 4.87997595e+01] [ 9.99797394e-01 1.22677280e-02 -1.59584829e-02 3.22769662e+02] [ 1.59620165e-02 -1.90176443e-04 9.99872581e-01 7.59173892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.202755096 meters 0.019294284675435324 Centerline is valid? [True, True] Translation: X:48.80, Y:322.80, Z:7.59 [[ 1.09362583e-02 -9.99940126e-01 -3.78856136e-04 4.88023508e+01] [ 9.99813631e-01 1.09409013e-02 -1.59059828e-02 3.22796952e+02] [ 1.59091754e-02 -2.04833593e-04 9.99873420e-01 7.59253052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.232755096 meters 0.019491676400089246 Centerline is valid? [True, True] Translation: X:48.81, Y:322.82, Z:7.59 [[ 9.27718008e-03 -9.99956900e-01 -3.62731565e-04 4.88051423e+01] [ 9.99837436e-01 9.28167911e-03 -1.54580564e-02 3.22824081e+02] [ 1.54607569e-02 -2.19265425e-04 9.99880451e-01 7.59347220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.262755096 meters 0.02040257576310484 Centerline is valid? [True, True] Translation: X:48.81, Y:322.85, Z:7.59 [[ 6.16643074e-03 -9.99980924e-01 -3.55008842e-04 4.88106943e+01] [ 9.99862839e-01 6.17115896e-03 -1.53694769e-02 3.22849834e+02] [ 1.53713745e-02 -2.60185334e-04 9.99881820e-01 7.59485145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2927550960001 meters 0.021646183972480422 Centerline is valid? [True, True] Translation: X:48.81, Y:322.88, Z:7.59 [[ 4.41695884e-03 -9.99990184e-01 -3.49038372e-04 4.88136819e+01] [ 9.99872412e-01 4.42179625e-03 -1.53494986e-02 3.22876959e+02] [ 1.53508913e-02 -2.81195736e-04 9.99882129e-01 7.59452184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.322755096 meters 0.02115958205966354 Centerline is valid? [True, True] Translation: X:48.82, Y:322.90, Z:7.60 [[ 2.34918125e-03 -9.99997189e-01 -3.22153240e-04 4.88170332e+01] [ 9.99893635e-01 2.35357497e-03 -1.43937282e-02 3.22903663e+02] [ 1.43944460e-02 -2.88305498e-04 9.99896353e-01 7.59753195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.352755096 meters 0.022152270794559066 Centerline is valid? [True, True] Translation: X:48.82, Y:322.93, Z:7.60 [[ 1.28733944e-03 -9.99999121e-01 -3.16424535e-04 4.88204717e+01] [ 9.99895811e-01 1.29175568e-03 -1.43769895e-02 3.22930008e+02] [ 1.43773856e-02 -2.97883501e-04 9.99896596e-01 7.59769127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.382755096 meters 0.021547032489072256 Centerline is valid? [True, True] Translation: X:48.82, Y:322.96, Z:7.60 [[ 7.34306141e-04 -9.99999684e-01 -3.05665025e-04 4.88205500e+01] [ 9.99899858e-01 7.38552657e-04 -1.41325321e-02 3.22956225e+02] [ 1.41327534e-02 -2.95256810e-04 9.99900084e-01 7.59917444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4127550960001 meters 0.021805438318331646 Centerline is valid? [True, True] Translation: X:48.82, Y:322.98, Z:7.60 [[-3.26743589e-04 -9.99999905e-01 -2.87537104e-04 4.88223761e+01] [ 9.99908369e-01 -3.22822375e-04 -1.35332390e-02 3.22982725e+02] [ 1.35331449e-02 -2.91932656e-04 9.99908380e-01 7.59984752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.442755096 meters 0.021810812520461638 Centerline is valid? [True, True] Translation: X:48.82, Y:323.01, Z:7.60 [[-8.40984915e-04 -9.99999611e-01 -2.67873446e-04 4.88233133e+01] [ 9.99917267e-01 -8.37477301e-04 -1.28357880e-02 3.23008867e+02] [ 1.28355587e-02 -2.78645989e-04 9.99917582e-01 7.60070948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.472755096 meters 0.022005612152788498 Centerline is valid? [True, True] Translation: X:48.82, Y:323.03, Z:7.60 [[-9.03647674e-04 -9.99999556e-01 -2.68024766e-04 4.88249364e+01] [ 9.99914353e-01 -9.00071181e-04 -1.30566373e-02 3.23034118e+02] [ 1.30563902e-02 -2.79800410e-04 9.99914723e-01 7.60184083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.502755096 meters 0.02209171264384292 Centerline is valid? [True, True] Translation: X:48.83, Y:323.06, Z:7.60 [[-1.07908291e-03 -9.99999382e-01 -2.69607639e-04 4.88260196e+01] [ 9.99910146e-01 -1.07538412e-03 -1.33619937e-02 3.23060263e+02] [ 1.33616955e-02 -2.84002113e-04 9.99910688e-01 7.60168452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.532755096 meters 0.021974490789293435 Centerline is valid? [True, True] Translation: X:48.83, Y:323.09, Z:7.60 [[-6.35980354e-04 -9.99999756e-01 -2.90119066e-04 4.88263321e+01] [ 9.99892204e-01 -6.31656174e-04 -1.46690885e-02 3.23085438e+02] [ 1.46689017e-02 -2.99417044e-04 9.99892361e-01 7.60035197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.562755096 meters 0.021807681366023696 Centerline is valid? [True, True] Translation: X:48.83, Y:323.11, Z:7.60 [[-3.33744115e-04 -9.99999904e-01 -2.84165968e-04 4.88261176e+01] [ 9.99893177e-01 -3.29556121e-04 -1.46125103e-02 3.23111049e+02] [ 1.46124153e-02 -2.89012452e-04 9.99893191e-01 7.59989273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.592755096 meters 0.021708188753043575 Centerline is valid? [True, True] Translation: X:48.83, Y:323.14, Z:7.60 [[-2.27917465e-04 -9.99999935e-01 -2.79690982e-04 4.88259970e+01] [ 9.99892823e-01 -2.23798725e-04 -1.46387658e-02 3.23137560e+02] [ 1.46387022e-02 -2.82997436e-04 9.99892808e-01 7.59968138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.622755096 meters 0.021332354427714712 Centerline is valid? [True, True] Translation: X:48.82, Y:323.16, Z:7.60 [[ 4.58684559e-04 -9.99999855e-01 -2.83762814e-04 4.88245156e+01] [ 9.99885210e-01 4.62929387e-04 -1.51443964e-02 3.23164250e+02] [ 1.51445255e-02 -2.76783740e-04 9.99885277e-01 7.59849401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.652755096 meters 0.021125495220720016 Centerline is valid? [True, True] Translation: X:48.82, Y:323.19, Z:7.60 [[ 8.88887304e-04 -9.99999567e-01 -2.76856956e-04 4.88239092e+01] [ 9.99886097e-01 8.92957668e-04 -1.50663623e-02 3.23190722e+02] [ 1.50666030e-02 -2.63433123e-04 9.99886458e-01 7.59861613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.682755096 meters 0.020364280106670928 Centerline is valid? [True, True] Translation: X:48.82, Y:323.22, Z:7.60 [[ 2.30606677e-03 -9.99997309e-01 -2.54346052e-04 4.88232727e+01] [ 9.99897652e-01 2.30942813e-03 -1.41192436e-02 3.23216013e+02] [ 1.41197930e-02 -2.21760101e-04 9.99900286e-01 7.60017123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.712755096 meters 0.0217116485702135 Centerline is valid? [True, True] Translation: X:48.82, Y:323.24, Z:7.60 [[ 2.20566569e-03 -9.99997538e-01 -2.41888948e-04 4.88238484e+01] [ 9.99903702e-01 2.20877277e-03 -1.37006976e-02 3.23241932e+02] [ 1.37011982e-02 -2.11646496e-04 9.99906112e-01 7.59949656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.742755096 meters 0.02167868783382405 Centerline is valid? [True, True] Translation: X:48.82, Y:323.27, Z:7.60 [[ 2.49343683e-03 -9.99996864e-01 -2.34280829e-04 4.88229803e+01] [ 9.99905178e-01 2.49638100e-03 -1.35426404e-02 3.23268127e+02] [ 1.35431828e-02 -2.00490896e-04 9.99908267e-01 7.60016832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.772755096 meters 0.020110142852573287 Centerline is valid? [True, True] Translation: X:48.82, Y:323.30, Z:7.60 [[ 4.38378193e-03 -9.99990366e-01 -2.23284772e-04 4.88180199e+01] [ 9.99903545e-01 4.38634380e-03 -1.31780457e-02 3.23295625e+02] [ 1.31788982e-02 -1.65493557e-04 9.99913141e-01 7.60160404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.802755096 meters 0.020869235296136938 Centerline is valid? [True, True] Translation: X:48.82, Y:323.32, Z:7.60 [[ 5.31295164e-03 -9.99985862e-01 -2.18583844e-04 4.88195078e+01] [ 9.99898896e-01 5.31537248e-03 -1.31888290e-02 3.23322093e+02] [ 1.31898044e-02 -1.48490133e-04 9.99913000e-01 7.59954030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.832755096 meters 0.017716306174812235 Centerline is valid? [True, True] Translation: X:48.82, Y:323.35, Z:7.60 [[ 7.85718479e-03 -9.99969112e-01 -2.02106809e-04 4.88158672e+01] [ 9.99891338e-01 7.85909442e-03 -1.24718508e-02 3.23347347e+02] [ 1.24730540e-02 -1.04091211e-04 9.99922203e-01 7.60092696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.862755096 meters 0.01750576770349311 Centerline is valid? [True, True] Translation: X:48.81, Y:323.37, Z:7.60 [[ 8.42457052e-03 -9.99964493e-01 -2.00021603e-04 4.88144594e+01] [ 9.99884617e-01 8.42642577e-03 -1.26391905e-02 3.23373118e+02] [ 1.26404272e-02 -9.35187724e-05 9.99920102e-01 7.60013720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.892755096 meters 0.0168684660968814 Centerline is valid? [True, True] Translation: X:48.81, Y:323.40, Z:7.60 [[ 8.63095782e-03 -9.99962732e-01 -2.01446902e-04 4.88119527e+01] [ 9.99877571e-01 8.63285185e-03 -1.30505325e-02 3.23399803e+02] [ 1.30517852e-02 -8.87836430e-05 9.99914818e-01 7.60088334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9227550960001 meters 0.016686299032574535 Centerline is valid? [True, True] Translation: X:48.81, Y:323.42, Z:7.60 [[ 9.06613533e-03 -9.99958882e-01 -1.98777202e-04 4.88110523e+01] [ 9.99871479e-01 9.06797105e-03 -1.32210942e-02 3.23424787e+02] [ 1.32223531e-02 -7.88874259e-05 9.99912578e-01 7.59980802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.952755096 meters 0.02027070316948882 Centerline is valid? [True, True] Translation: X:48.81, Y:323.45, Z:7.59 [[ 7.99414284e-03 -9.99968023e-01 -2.16892289e-04 4.88128182e+01] [ 9.99858271e-01 7.99647887e-03 -1.48153381e-02 3.23450913e+02] [ 1.48165987e-02 -9.84256204e-05 9.99890223e-01 7.59432155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.982755096 meters 0.016867275147767754 Centerline is valid? [True, True] Translation: X:48.81, Y:323.48, Z:7.60 [[ 7.67890360e-03 -9.99970495e-01 -2.08124414e-04 4.88099772e+01] [ 9.99864147e-01 7.68112228e-03 -1.45838477e-02 3.23477745e+02] [ 1.45850160e-02 -9.61081794e-05 9.99893628e-01 7.59698387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.012755096 meters 0.01773907772175247 Centerline is valid? [True, True] Translation: X:48.81, Y:323.50, Z:7.60 [[ 6.09796279e-03 -9.99981387e-01 -2.00684802e-04 4.88103269e+01] [ 9.99877018e-01 6.10022582e-03 -1.44476790e-02 3.23503871e+02] [ 1.44486343e-02 -1.12558713e-04 9.99895607e-01 7.59647973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0427550960001 meters 0.01760900680855708 Centerline is valid? [True, True] Translation: X:48.81, Y:323.53, Z:7.60 [[ 4.61671120e-03 -9.99989325e-01 -1.91977693e-04 4.88108733e+01] [ 9.99888342e-01 4.61897332e-03 -1.42115579e-02 3.23530203e+02] [ 1.42122929e-02 -1.26345599e-04 9.99898992e-01 7.59708084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.072755096 meters 0.01937202212540373 Centerline is valid? [True, True] Translation: X:48.81, Y:323.56, Z:7.60 [[ 1.09956201e-03 -9.99999379e-01 -1.81796576e-04 4.88125613e+01] [ 9.99903714e-01 1.10197160e-03 -1.38329093e-02 3.23556718e+02] [ 1.38331010e-02 -1.66568930e-04 9.99904304e-01 7.59650059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.102755096 meters 0.020422130445486113 Centerline is valid? [True, True] Translation: X:48.81, Y:323.58, Z:7.60 [[-1.00694879e-03 -9.99999478e-01 -1.76502599e-04 4.88131382e+01] [ 9.99904928e-01 -1.00442626e-03 -1.37523120e-02 3.23583495e+02] [ 1.37521276e-02 -1.90333692e-04 9.99905417e-01 7.59663113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.132755096 meters 0.021484749071479285 Centerline is valid? [True, True] Translation: X:48.82, Y:323.61, Z:7.60 [[-4.62592871e-03 -9.99989285e-01 -1.75023721e-04 4.88163823e+01] [ 9.99891279e-01 -4.62302462e-03 -1.40020730e-02 3.23609553e+02] [ 1.40011139e-02 -2.39777284e-04 9.99901951e-01 7.59659039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1627550960001 meters 0.019474835960199697 Centerline is valid? [True, True] Translation: X:48.82, Y:323.64, Z:7.60 [[-5.89688900e-03 -9.99982602e-01 -1.53179355e-04 4.88167287e+01] [ 9.99902963e-01 -5.89448590e-03 -1.26221541e-02 3.23635877e+02] [ 1.26210316e-02 -2.27595933e-04 9.99920326e-01 7.59894989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.192755096 meters 0.02023798928926096 Centerline is valid? [True, True] Translation: X:48.82, Y:323.66, Z:7.60 [[-7.87220703e-03 -9.99969002e-01 -1.52937286e-04 4.88166329e+01] [ 9.99884464e-01 -7.86955252e-03 -1.30049335e-02 3.23663311e+02] [ 1.30033268e-02 -2.55297145e-04 9.99915421e-01 7.59830231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.222755096 meters 0.02075748782668415 Centerline is valid? [True, True] Translation: X:48.82, Y:323.69, Z:7.60 [[-9.25978156e-03 -9.99957116e-01 -1.49011318e-04 4.88179609e+01] [ 9.99871572e-01 -9.25703992e-03 -1.30822917e-02 3.23689795e+02] [ 1.30803512e-02 -2.70131344e-04 9.99914412e-01 7.59778143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.252755096 meters 0.022944743291816515 Centerline is valid? [True, True] Translation: X:48.82, Y:323.72, Z:7.59 [[-1.19746991e-02 -9.99928288e-01 -1.63102016e-04 4.88190351e+01] [ 9.99818532e-01 -1.19709676e-02 -1.48188886e-02 3.23715965e+02] [ 1.48158735e-02 -3.40524151e-04 9.99890181e-01 7.59462056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.282755096 meters 0.024135024544858406 Centerline is valid? [True, True] Translation: X:48.82, Y:323.74, Z:7.59 [[-1.24558184e-02 -9.99922408e-01 -1.74242327e-04 4.88197901e+01] [ 9.99788280e-01 -1.24512930e-02 -1.63817129e-02 3.23741845e+02] [ 1.63782722e-02 -3.78253077e-04 9.99865796e-01 7.59232730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.312755096 meters 0.020920225722556054 Centerline is valid? [True, True] Translation: X:48.82, Y:323.77, Z:7.59 [[-1.19220287e-02 -9.99928917e-01 -1.65283149e-04 4.88157665e+01] [ 9.99799703e-01 -1.19178304e-02 -1.60785273e-02 3.23768828e+02] [ 1.60754146e-02 -3.56938707e-04 9.99870719e-01 7.59463571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.342755096 meters 0.023060966246501242 Centerline is valid? [True, True] Translation: X:48.82, Y:323.80, Z:7.59 [[-1.17517228e-02 -9.99930933e-01 -1.61631012e-04 4.88165639e+01] [ 9.99797869e-01 -1.17475216e-02 -1.63161671e-02 3.23795426e+02] [ 1.63131414e-02 -3.53341415e-04 9.99866869e-01 7.59306023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.372755096 meters 0.02198871534031415 Centerline is valid? [True, True] Translation: X:48.81, Y:323.82, Z:7.59 [[-9.24925635e-03 -9.99957213e-01 -1.56020080e-04 4.88128447e+01] [ 9.99823588e-01 -9.24546938e-03 -1.63497270e-02 3.23822690e+02] [ 1.63475849e-02 -3.07215372e-04 9.99866322e-01 7.59413288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.402755096 meters 0.02048846971114893 Centerline is valid? [True, True] Translation: X:48.81, Y:323.85, Z:7.59 [[-7.80341505e-03 -9.99969543e-01 -1.39454862e-04 4.88137765e+01] [ 9.99854625e-01 -7.80040382e-03 -1.51618528e-02 3.23849460e+02] [ 1.51603033e-02 -2.57748819e-04 9.99885043e-01 7.59475424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.432755096 meters 0.018549858122996837 Centerline is valid? [True, True] Translation: X:48.81, Y:323.88, Z:7.60 [[-6.56585026e-03 -9.99978436e-01 -1.34357152e-04 4.88094201e+01] [ 9.99862389e-01 -6.56304122e-03 -1.52357780e-02 3.23875948e+02] [ 1.52345677e-02 -2.34374500e-04 9.99883920e-01 7.59670542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.462755096 meters 0.01836467147877947 Centerline is valid? [True, True] Translation: X:48.81, Y:323.90, Z:7.60 [[-4.10696400e-03 -9.99991558e-01 -1.30812613e-04 4.88066552e+01] [ 9.99871405e-01 -4.10444260e-03 -1.55024595e-02 3.23902882e+02] [ 1.55017917e-02 -1.94463835e-04 9.99879821e-01 7.59639473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.492755096 meters 0.01836467147877947 Centerline is valid? [True, True] Translation: X:48.81, Y:323.93, Z:7.60 [[-4.49654639e-03 -9.99989883e-01 -1.24878343e-04 4.88066195e+01] [ 9.99869729e-01 -4.49407017e-03 -1.55025081e-02 3.23928829e+02] [ 1.55017900e-02 -1.94569822e-04 9.99879821e-01 7.59653438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.522755096 meters 0.01717726500108855 Centerline is valid? [True, True] Translation: X:48.81, Y:323.95, Z:7.60 [[-3.21561230e-03 -9.99994823e-01 -1.16373553e-04 4.88051997e+01] [ 9.99879740e-01 -3.21347665e-03 -1.51716464e-02 3.23954833e+02] [ 1.51711938e-02 -1.65145690e-04 9.99884897e-01 7.59735503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.552755096 meters 0.016587231317719265 Centerline is valid? [True, True] Translation: X:48.80, Y:323.98, Z:7.60 [[-7.46052415e-04 -9.99999716e-01 -1.03258928e-04 4.88028111e+01] [ 9.99899886e-01 -7.44518869e-04 -1.41302130e-02 3.23981449e+02] [ 1.41301321e-02 -1.13790470e-04 9.99900158e-01 7.59826123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.582755096 meters 0.017689785076303637 Centerline is valid? [True, True] Translation: X:48.80, Y:324.01, Z:7.60 [[ 2.26395618e-05 -9.99999995e-01 -9.88283752e-05 4.88012163e+01] [ 9.99898366e-01 2.40462351e-05 -1.42568147e-02 3.24008037e+02] [ 1.42568170e-02 -9.84955629e-05 9.99898362e-01 7.59798935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.612755096 meters 0.019173968166829772 Centerline is valid? [True, True] Translation: X:48.80, Y:324.03, Z:7.60 [[ 6.16982946e-04 -9.99999805e-01 -9.37711831e-05 4.87995414e+01] [ 9.99897223e-01 6.18262777e-04 -1.43234410e-02 3.24034737e+02] [ 1.43234962e-02 -8.49242268e-05 9.99897410e-01 7.59772938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.642755096 meters 0.015469193481715165 Centerline is valid? [True, True] Translation: X:48.80, Y:324.06, Z:7.60 [[ 2.47411662e-03 -9.99996937e-01 -7.61635941e-05 4.87973154e+01] [ 9.99921046e-01 2.47486717e-03 -1.23198168e-02 3.24061567e+02] [ 1.23199676e-02 -4.56769172e-05 9.99924105e-01 7.60202211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6727550960001 meters 0.015332727922917015 Centerline is valid? [True, True] Translation: X:48.80, Y:324.09, Z:7.60 [[ 2.53934256e-03 -9.99996774e-01 -6.73757689e-05 4.87969497e+01] [ 9.99929676e-01 2.53995266e-03 -1.15841352e-02 3.24088969e+02] [ 1.15842690e-02 -3.79549433e-05 9.99932899e-01 7.60372604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.702755096 meters 0.017349192306368645 Centerline is valid? [True, True] Translation: X:48.80, Y:324.12, Z:7.60 [[ 2.07117021e-03 -9.99997853e-01 -6.29653371e-05 4.87979314e+01] [ 9.99930900e-01 2.07176015e-03 -1.15716541e-02 3.24115251e+02] [ 1.15717597e-02 -3.89941211e-05 9.99933044e-01 7.60319253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.732755096 meters 0.015650762061618327 Centerline is valid? [True, True] Translation: X:48.80, Y:324.14, Z:7.61 [[ 1.58534096e-03 -9.99998742e-01 -5.80612356e-05 4.87980541e+01] [ 9.99933215e-01 1.58590174e-03 -1.14477295e-02 3.24142693e+02] [ 1.14478072e-02 -3.99088035e-05 9.99934471e-01 7.60508580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.762755096 meters 0.017051352667742478 Centerline is valid? [True, True] Translation: X:48.80, Y:324.17, Z:7.60 [[ 2.72053789e-04 -9.99999962e-01 -5.58698846e-05 4.87989561e+01] [ 9.99929158e-01 2.72699364e-04 -1.18998120e-02 3.24169054e+02] [ 1.18998267e-02 -5.26285378e-05 9.99929193e-01 7.60360692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7927550960001 meters 0.01852370885569989 Centerline is valid? [True, True] Translation: X:48.80, Y:324.20, Z:7.60 [[-2.89925219e-03 -9.99995796e-01 -5.53398678e-05 4.88015377e+01] [ 9.99913685e-01 -2.89830495e-03 -1.28149338e-02 3.24196343e+02] [ 1.28147195e-02 -9.24888159e-05 9.99917884e-01 7.60220950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.822755096 meters 0.015949937394232075 Centerline is valid? [True, True] Translation: X:48.80, Y:324.22, Z:7.60 [[-4.68942346e-03 -9.99989004e-01 -4.70250001e-05 4.88029876e+01] [ 9.99918349e-01 -4.68853311e-03 -1.18875390e-02 3.24222778e+02] [ 1.18871878e-02 -1.02766865e-04 9.99929340e-01 7.60471413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.852755096 meters 0.01680447603607215 Centerline is valid? [True, True] Translation: X:48.81, Y:324.25, Z:7.61 [[-8.97604000e-03 -9.99959714e-01 -4.23269963e-05 4.88065785e+01] [ 9.99889941e-01 -8.97491365e-03 -1.18134250e-02 3.24250284e+02] [ 1.18125692e-02 -1.48360113e-04 9.99930218e-01 7.60513165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.882755096 meters 0.01730118384877295 Centerline is valid? [True, True] Translation: X:48.81, Y:324.28, Z:7.61 [[-1.13336984e-02 -9.99935771e-01 -3.84444139e-05 4.88088411e+01] [ 9.99864642e-01 -1.13324336e-02 -1.19278344e-02 3.24277413e+02] [ 1.19266326e-02 -1.73625688e-04 9.99928860e-01 7.60516138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9127550960001 meters 0.020807751106169524 Centerline is valid? [True, True] Translation: X:48.81, Y:324.30, Z:7.60 [[-1.38573857e-02 -9.99903981e-01 -3.60550806e-05 4.88115282e+01] [ 9.99823813e-01 -1.38558180e-02 -1.26633457e-02 3.24303948e+02] [ 1.26616302e-02 -2.11529594e-04 9.99919816e-01 7.60250796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.942755096 meters 0.021292745548740787 Centerline is valid? [True, True] Translation: X:48.82, Y:324.33, Z:7.60 [[-1.71980161e-02 -9.99852103e-01 -3.04979722e-05 4.88152379e+01] [ 9.99779262e-01 -1.71963950e-02 -1.20711165e-02 3.24329769e+02] [ 1.20688067e-02 -2.38090496e-04 9.99927141e-01 7.60327350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.972755096 meters 0.02201201033099898 Centerline is valid? [True, True] Translation: X:48.82, Y:324.36, Z:7.60 [[-1.88695853e-02 -9.99821953e-01 -2.61827968e-05 4.88166475e+01] [ 9.99751603e-01 -1.88679470e-02 -1.18630694e-02 3.24357449e+02] [ 1.18604632e-02 -2.50027493e-04 9.99929631e-01 7.60334576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.002755096 meters 0.020070790288593002 Centerline is valid? [True, True] Translation: X:48.82, Y:324.38, Z:7.61 [[-1.98848841e-02 -9.99802276e-01 -2.14472223e-05 4.88165798e+01] [ 9.99735966e-01 -1.98833183e-02 -1.15174563e-02 3.24384746e+02] [ 1.15147526e-02 -2.50464844e-04 9.99933672e-01 7.60586627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.032755096 meters 0.023593704172879516 Centerline is valid? [True, True] Translation: X:48.82, Y:324.41, Z:7.60 [[-2.17280950e-02 -9.99763917e-01 -1.77648133e-05 4.88194052e+01] [ 9.99693393e-01 -2.17263512e-02 -1.18779905e-02 3.24410917e+02] [ 1.18748004e-02 -2.75845473e-04 9.99929454e-01 7.60252769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.062755096 meters 0.021422426343036264 Centerline is valid? [True, True] Translation: X:48.82, Y:324.44, Z:7.60 [[-2.13326792e-02 -9.99772433e-01 -1.27823733e-05 4.88184237e+01] [ 9.99708636e-01 -2.13311735e-02 -1.12971261e-02 3.24437630e+02] [ 1.12942825e-02 -2.53776616e-04 9.99936185e-01 7.60437868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.092755096 meters 0.022600402115351952 Centerline is valid? [True, True] Translation: X:48.82, Y:324.46, Z:7.60 [[-2.00738277e-02 -9.99798500e-01 -9.07512508e-06 4.88152833e+01] [ 9.99721458e-01 -2.00721681e-02 -1.24143201e-02 3.24463865e+02] [ 1.24116365e-02 -2.58275520e-04 9.99922939e-01 7.60054973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.122755096 meters 0.02254735240287077 Centerline is valid? [True, True] Translation: X:48.81, Y:324.49, Z:7.60 [[-1.90707245e-02 -9.99818137e-01 -4.28397254e-06 4.88140292e+01] [ 9.99738716e-01 -1.90691555e-02 -1.26042811e-02 3.24490742e+02] [ 1.26019072e-02 -2.44655625e-04 9.99920563e-01 7.59973265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.152755096 meters 0.022103396577519443 Centerline is valid? [True, True] Translation: X:48.81, Y:324.52, Z:7.60 [[-1.77800838e-02 -9.99841922e-01 6.72150892e-07 4.88137747e+01] [ 9.99764585e-01 -1.77787169e-02 -1.24374884e-02 3.24516008e+02] [ 1.24355343e-02 -2.20467594e-04 9.99922651e-01 7.59964827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.182755096 meters 0.020190222277142112 Centerline is valid? [True, True] Translation: X:48.81, Y:324.54, Z:7.60 [[-1.61044334e-02 -9.99870315e-01 4.79633851e-06 4.88113198e+01] [ 9.99800861e-01 -1.61033713e-02 -1.17864553e-02 3.24543035e+02] [ 1.17850040e-02 -1.85018801e-04 9.99930537e-01 7.60112772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.212755096 meters 0.018005220064733915 Centerline is valid? [True, True] Translation: X:48.81, Y:324.57, Z:7.60 [[-1.23907729e-02 -9.99923231e-01 7.71749791e-06 4.88059063e+01] [ 9.99866028e-01 -1.23901466e-02 -1.06962749e-02 3.24570861e+02] [ 1.06955494e-02 -1.24818649e-04 9.99942793e-01 7.60284065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.242755096 meters 0.017276812621176623 Centerline is valid? [True, True] Translation: X:48.80, Y:324.60, Z:7.60 [[-1.09084312e-02 -9.99940501e-01 1.14618742e-05 4.88041762e+01] [ 9.99884141e-01 -1.09079380e-02 -1.06170184e-02 3.24597147e+02] [ 1.06165118e-02 -1.04354469e-04 9.99943638e-01 7.60354584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.272755096 meters 0.016900635167246072 Centerline is valid? [True, True] Translation: X:48.80, Y:324.62, Z:7.60 [[-7.85575061e-03 -9.99969143e-01 1.34994087e-05 4.88022292e+01] [ 9.99925628e-01 -7.85553469e-03 -9.32898426e-03 3.24622882e+02] [ 9.32880244e-03 -5.97877691e-05 9.99956484e-01 7.60436215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.302755096 meters 0.0183128855563867 Centerline is valid? [True, True] Translation: X:48.80, Y:324.65, Z:7.60 [[-6.92809608e-03 -9.99976000e-01 1.52915389e-05 4.88020429e+01] [ 9.99939366e-01 -6.92797317e-03 -8.55967859e-03 3.24647903e+02] [ 8.55957910e-03 -4.40116640e-05 9.99963365e-01 7.60395636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.332755096 meters 0.016677349948512797 Centerline is valid? [True, True] Translation: X:48.80, Y:324.67, Z:7.61 [[-6.30749936e-03 -9.99980108e-01 1.39030368e-05 4.88006616e+01] [ 9.99956900e-01 -6.30744770e-03 -6.81274998e-03 3.24674496e+02] [ 6.81270215e-03 -2.90689786e-05 9.99976793e-01 7.60769789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.362755096 meters 0.018344565805922336 Centerline is valid? [True, True] Translation: X:48.80, Y:324.70, Z:7.61 [[-6.10594844e-03 -9.99981359e-01 1.15984296e-05 4.88016424e+01] [ 9.99968598e-01 -6.10592912e-03 -5.05181729e-03 3.24699362e+02] [ 5.05179393e-03 -1.92480705e-05 9.99987239e-01 7.60809963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.392755096 meters 0.016840742160135484 Centerline is valid? [True, True] Translation: X:48.80, Y:324.73, Z:7.61 [[-7.05363161e-03 -9.99975123e-01 1.08663672e-05 4.88013843e+01] [ 9.99966502e-01 -7.05361593e-03 -4.15237275e-03 3.24725567e+02] [ 4.15234610e-03 -1.84233045e-05 9.99991379e-01 7.61072081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4227550960001 meters 0.01702628606762285 Centerline is valid? [True, True] Translation: X:48.80, Y:324.75, Z:7.61 [[-8.20604866e-03 -9.99966330e-01 1.09103496e-05 4.88030345e+01] [ 9.99959454e-01 -8.20603270e-03 -3.70837406e-03 3.24752018e+02] [ 3.70833873e-03 -1.95211908e-05 9.99993124e-01 7.61135680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.452755096 meters 0.01749857968611034 Centerline is valid? [True, True] Translation: X:48.81, Y:324.78, Z:7.61 [[-1.13027269e-02 -9.99936122e-01 6.51585069e-06 4.88072772e+01] [ 9.99933726e-01 -1.13027141e-02 -2.18920032e-03 3.24779221e+02] [ 2.18913413e-03 -1.82285145e-05 9.99997604e-01 7.61291030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.482755096 meters 0.01861826461465998 Centerline is valid? [True, True] Translation: X:48.81, Y:324.81, Z:7.61 [[-1.32294431e-02 -9.99912487e-01 5.78594714e-06 4.88119187e+01] [ 9.99910786e-01 -1.32294313e-02 -1.84444350e-03 3.24805124e+02] [ 1.84435863e-03 -1.86155294e-05 9.99998299e-01 7.61452964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.512755096 meters 0.020633440567935098 Centerline is valid? [True, True] Translation: X:48.81, Y:324.83, Z:7.61 [[-1.55444035e-02 -9.99879179e-01 2.26332875e-06 4.88123535e+01] [ 9.99878765e-01 -1.55443992e-02 -9.08934671e-04 3.24832466e+02] [ 9.08860034e-04 -1.18657929e-05 9.99999587e-01 7.61190704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5427550960001 meters 0.02179519263666547 Centerline is valid? [True, True] Translation: X:48.81, Y:324.86, Z:7.61 [[-1.61888416e-02 -9.99868952e-01 -2.99804268e-08 4.88120070e+01] [ 9.99868866e-01 -1.61888402e-02 -4.15914174e-04 3.24859208e+02] [ 4.15859184e-04 -6.76314516e-06 9.99999914e-01 7.61136839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.572755096 meters 0.018912671915068697 Centerline is valid? [True, True] Translation: X:48.81, Y:324.89, Z:7.61 [[-1.65817786e-02 -9.99862513e-01 2.70253842e-08 4.88109797e+01] [ 9.99862428e-01 -1.65817772e-02 -4.11191192e-04 3.24885134e+02] [ 4.11135106e-04 -6.79125964e-06 9.99999915e-01 7.61451402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.602755096 meters 0.020862227726542032 Centerline is valid? [True, True] Translation: X:48.81, Y:324.91, Z:7.61 [[-1.80112949e-02 -9.99837784e-01 3.52240325e-06 4.88108791e+01] [ 9.99837313e-01 -1.80112899e-02 -9.70257967e-04 3.24911887e+02] [ 9.70164018e-04 -1.39537722e-05 9.99999529e-01 7.61149877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.632755096 meters 0.021538830658107636 Centerline is valid? [True, True] Translation: X:48.81, Y:324.94, Z:7.61 [[-1.92159234e-02 -9.99815357e-01 8.22373914e-06 4.88110788e+01] [ 9.99813951e-01 -1.92159102e-02 -1.67722182e-03 3.24938656e+02] [ 1.67707016e-03 -2.40071569e-05 9.99998593e-01 7.61046532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6627550960001 meters 0.02170195984350126 Centerline is valid? [True, True] Translation: X:48.81, Y:324.96, Z:7.61 [[-2.11577373e-02 -9.99776150e-01 1.79063668e-05 4.88123458e+01] [ 9.99771455e-01 -2.11576928e-02 -3.06415608e-03 3.24964942e+02] [ 3.06384903e-03 -4.69283351e-05 9.99995305e-01 7.60976065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.692755096 meters 0.022743863151414367 Centerline is valid? [True, True] Translation: X:48.81, Y:324.99, Z:7.61 [[-2.22356015e-02 -9.99752758e-01 2.07693231e-05 4.88131545e+01] [ 9.99747275e-01 -2.22355483e-02 -3.31146367e-03 3.24990631e+02] [ 3.31110676e-03 -5.28683124e-05 9.99994517e-01 7.60946524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.722755096 meters 0.022575770548036247 Centerline is valid? [True, True] Translation: X:48.81, Y:325.02, Z:7.61 [[-2.39899965e-02 -9.99712198e-01 2.52405063e-05 4.88115056e+01] [ 9.99705265e-01 -2.39899242e-02 -3.72387377e-03 3.25017795e+02] [ 3.72340755e-03 -6.41026518e-05 9.99993066e-01 7.60943267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.752755096 meters 0.02305033202097035 Centerline is valid? [True, True] Translation: X:48.81, Y:325.04, Z:7.61 [[-2.52607259e-02 -9.99680897e-01 2.93962072e-05 4.88097037e+01] [ 9.99672429e-01 -2.52606329e-02 -4.11514141e-03 3.25043945e+02] [ 4.11457082e-03 -7.45648813e-05 9.99991532e-01 7.60846973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.782755096 meters 0.02161856339958451 Centerline is valid? [True, True] Translation: X:48.81, Y:325.07, Z:7.61 [[-2.66215472e-02 -9.99645583e-01 3.47473043e-05 4.88102633e+01] [ 9.99635127e-01 -2.66214277e-02 -4.57295425e-03 3.25069132e+02] [ 4.57225854e-03 -8.70044915e-05 9.99989543e-01 7.61055740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.812755096 meters 0.025066500658288467 Centerline is valid? [True, True] Translation: X:48.81, Y:325.10, Z:7.61 [[-2.88699672e-02 -9.99583175e-01 3.55598727e-05 4.88115518e+01] [ 9.99573037e-01 -2.88698346e-02 -4.50304099e-03 3.25096076e+02] [ 4.50219062e-03 -9.44579560e-05 9.99989861e-01 7.60780992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.842755096 meters 0.025366099760779026 Centerline is valid? [True, True] Translation: X:48.81, Y:325.12, Z:7.61 [[-3.20229168e-02 -9.99487134e-01 4.25640071e-05 4.88103522e+01] [ 9.99473917e-01 -3.20227123e-02 -5.14158274e-03 3.25123747e+02] [ 5.14030881e-03 -1.22106861e-04 9.99986781e-01 7.60726299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.872755096 meters 0.024850213847187847 Centerline is valid? [True, True] Translation: X:48.81, Y:325.15, Z:7.61 [[-3.37264071e-02 -9.99431102e-01 4.79543257e-05 4.88104834e+01] [ 9.99415759e-01 -3.37261552e-02 -5.53956547e-03 3.25151235e+02] [ 5.53803133e-03 -1.38903331e-04 9.99984655e-01 7.60805615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.902755096 meters 0.02512589875603147 Centerline is valid? [True, True] Translation: X:48.81, Y:325.18, Z:7.61 [[-3.59561420e-02 -9.99353368e-01 5.05117748e-05 4.88095758e+01] [ 9.99337661e-01 -3.59558602e-02 -5.60500404e-03 3.25178701e+02] [ 5.60319586e-03 -1.51056002e-04 9.99984291e-01 7.60862939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.932755096 meters 0.027041465441300164 Centerline is valid? [True, True] Translation: X:48.81, Y:325.20, Z:7.61 [[-3.69562382e-02 -9.99316884e-01 5.04062047e-05 4.88107206e+01] [ 9.99302368e-01 -3.69559732e-02 -5.38834890e-03 3.25204969e+02] [ 5.38653084e-03 -1.48762066e-04 9.99985482e-01 7.60775825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.962755096 meters 0.026419292294372617 Centerline is valid? [True, True] Translation: X:48.81, Y:325.23, Z:7.61 [[-3.76189207e-02 -9.99292157e-01 5.10308246e-05 4.88096860e+01] [ 9.99278370e-01 -3.76186698e-02 -5.25125167e-03 3.25231673e+02] [ 5.24945432e-03 -1.46552421e-04 9.99986211e-01 7.60870942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.992755096 meters 0.02541856126492555 Centerline is valid? [True, True] Translation: X:48.81, Y:325.26, Z:7.61 [[-3.71379484e-02 -9.99310148e-01 4.26114397e-05 4.88074200e+01] [ 9.99301084e-01 -3.71377931e-02 -4.25760659e-03 3.25257911e+02] [ 4.25625196e-03 -1.15537116e-04 9.99990935e-01 7.61024300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.022755096 meters 0.02442844079081059 Centerline is valid? [True, True] Translation: X:48.81, Y:325.29, Z:7.61 [[-3.61158683e-02 -9.99347609e-01 3.70245848e-05 4.88060543e+01] [ 9.99341171e-01 -3.61157686e-02 -3.58813045e-03 3.25285128e+02] [ 3.58712676e-03 -9.25882549e-05 9.99993562e-01 7.61168900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.052755096 meters 0.023167399962059947 Centerline is valid? [True, True] Translation: X:48.80, Y:325.31, Z:7.61 [[-3.38815292e-02 -9.99425855e-01 4.21618854e-05 4.88022162e+01] [ 9.99418091e-01 -3.38814322e-02 -3.94066035e-03 3.25311966e+02] [ 3.93982635e-03 -9.13782475e-05 9.99992235e-01 7.61094530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.082755096 meters 0.024064786155564545 Centerline is valid? [True, True] Translation: X:48.80, Y:325.34, Z:7.61 [[-3.26768567e-02 -9.99465968e-01 5.08039905e-05 4.88011220e+01] [ 9.99455529e-01 -3.26767476e-02 -4.56911009e-03 3.25339419e+02] [ 4.56833015e-03 -9.85278262e-05 9.99989560e-01 7.60976852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.112755096 meters 0.023219015336897336 Centerline is valid? [True, True] Translation: X:48.80, Y:325.37, Z:7.61 [[-3.14161052e-02 -9.99506391e-01 5.12389377e-05 4.87986068e+01] [ 9.99496394e-01 -3.14160202e-02 -4.47122340e-03 3.25366355e+02] [ 4.47062609e-03 -8.92552915e-05 9.99990003e-01 7.60991457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.142755096 meters 0.02039488597919915 Centerline is valid? [True, True] Translation: X:48.80, Y:325.39, Z:7.61 [[-2.84135959e-02 -9.99596251e-01 4.50868274e-05 4.87950984e+01] [ 9.99588876e-01 -2.84135595e-02 -3.84030084e-03 3.25392703e+02] [ 3.84003140e-03 -6.40484650e-05 9.99992625e-01 7.61198958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1727550960001 meters 0.021148609082556866 Centerline is valid? [True, True] Translation: X:48.79, Y:325.42, Z:7.61 [[-2.80030381e-02 -9.99607837e-01 5.07735959e-05 4.87938721e+01] [ 9.99599108e-01 -2.80030058e-02 -4.17798213e-03 3.25418679e+02] [ 4.17776549e-03 -6.62429516e-05 9.99991271e-01 7.61122033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.202755096 meters 0.01997605658461627 Centerline is valid? [True, True] Translation: X:48.79, Y:325.44, Z:7.61 [[-2.72985703e-02 -9.99627323e-01 4.99703162e-05 4.87925918e+01] [ 9.99619363e-01 -2.72985524e-02 -3.98978693e-03 3.25444590e+02] [ 3.98966415e-03 -5.89641836e-05 9.99992040e-01 7.61255840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.232755096 meters 0.02167059635160117 Centerline is valid? [True, True] Translation: X:48.79, Y:325.47, Z:7.61 [[-2.74507799e-02 -9.99623155e-01 6.20113291e-05 4.87923340e+01] [ 9.99611779e-01 -2.74507634e-02 -4.76929275e-03 3.25471363e+02] [ 4.76919772e-03 -6.89335504e-05 9.99988625e-01 7.61097031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.262755096 meters 0.01971671630525751 Centerline is valid? [True, True] Translation: X:48.79, Y:325.50, Z:7.61 [[-2.74504224e-02 -9.99623164e-01 6.52106621e-05 4.87919397e+01] [ 9.99611324e-01 -2.74504147e-02 -4.86575305e-03 3.25497225e+02] [ 4.86570952e-03 -6.83816603e-05 9.99988160e-01 7.61314310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2927550960001 meters 0.020034582779558677 Centerline is valid? [True, True] Translation: X:48.79, Y:325.52, Z:7.61 [[-2.90887043e-02 -9.99576831e-01 7.45128177e-05 4.87928229e+01] [ 9.99562365e-01 -2.90886842e-02 -5.37830893e-03 3.25523995e+02] [ 5.37820047e-03 -8.19678294e-05 9.99985534e-01 7.61271161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.322755096 meters 0.022002482528688472 Centerline is valid? [True, True] Translation: X:48.79, Y:325.55, Z:7.61 [[-3.05428807e-02 -9.99533453e-01 9.36874864e-05 4.87937301e+01] [ 9.99511942e-01 -3.05428381e-02 -6.55845985e-03 3.25550402e+02] [ 6.55826150e-03 -1.06672495e-04 9.99978489e-01 7.61065447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.352755096 meters 0.022431691383575533 Centerline is valid? [True, True] Translation: X:48.79, Y:325.58, Z:7.61 [[-3.19412613e-02 -9.99489742e-01 1.07352471e-04 4.87945115e+01] [ 9.99463055e-01 -3.19411930e-02 -7.30496622e-03 3.25576822e+02] [ 7.30466777e-03 -1.26035007e-04 9.99973313e-01 7.61011792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.382755096 meters 0.022431691383575533 Centerline is valid? [True, True] Translation: X:48.79, Y:325.60, Z:7.61 [[-3.23188790e-02 -9.99477603e-01 1.10112938e-04 4.87938618e+01] [ 9.99450915e-01 -3.23188208e-02 -7.30492475e-03 3.25602761e+02] [ 7.30466740e-03 -1.26034502e-04 9.99973313e-01 7.61025753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4127550960001 meters 0.02371064854712719 Centerline is valid? [True, True] Translation: X:48.79, Y:325.63, Z:7.61 [[-3.54742856e-02 -9.99370579e-01 1.44998554e-04 4.87947244e+01] [ 9.99326839e-01 -3.54740899e-02 -9.35184309e-03 3.25629835e+02] [ 9.35110053e-03 -1.86849006e-04 9.99956260e-01 7.60849310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.442755096 meters 0.02385105353730517 Centerline is valid? [True, True] Translation: X:48.80, Y:325.66, Z:7.61 [[-3.68076243e-02 -9.99322356e-01 1.63767613e-04 4.87969787e+01] [ 9.99268987e-01 -3.68073515e-02 -1.03300488e-02 3.25655658e+02] [ 1.03290765e-02 -2.16576657e-04 9.99946630e-01 7.60801606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.472755096 meters 0.022802562873208077 Centerline is valid? [True, True] Translation: X:48.79, Y:325.68, Z:7.61 [[-3.74012517e-02 -9.99300311e-01 1.88497906e-04 4.87911035e+01] [ 9.99232607e-01 -3.74009124e-02 -1.16348066e-02 3.25683148e+02] [ 1.16337158e-02 -2.46803075e-04 9.99932296e-01 7.60683046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.502755096 meters 0.02195512758941495 Centerline is valid? [True, True] Translation: X:48.79, Y:325.71, Z:7.61 [[-3.71898216e-02 -9.99308198e-01 2.07977539e-04 4.87909586e+01] [ 9.99228990e-01 -3.71894929e-02 -1.25844031e-02 3.25709515e+02] [ 1.25834318e-02 -2.60194521e-04 9.99920792e-01 7.60667650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.532755096 meters 0.023435805592120287 Centerline is valid? [True, True] Translation: X:48.79, Y:325.74, Z:7.60 [[-3.69597071e-02 -9.99316723e-01 2.57707398e-04 4.87923504e+01] [ 9.99200497e-01 -3.69593396e-02 -1.52438058e-02 3.25735011e+02] [ 1.52429148e-02 -3.05905237e-04 9.99883773e-01 7.60316324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.562755096 meters 0.024232272910893464 Centerline is valid? [True, True] Translation: X:48.79, Y:325.76, Z:7.60 [[-3.73250277e-02 -9.99303136e-01 2.89656835e-04 4.87910408e+01] [ 9.99162781e-01 -3.73246408e-02 -1.67513439e-02 3.25761350e+02] [ 1.67504818e-02 -3.35830046e-04 9.99859644e-01 7.60129059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.592755096 meters 0.025952621212524788 Centerline is valid? [True, True] Translation: X:48.79, Y:325.79, Z:7.60 [[-3.82899567e-02 -9.99266621e-01 3.15518198e-04 4.87910507e+01] [ 9.99107100e-01 -3.82894830e-02 -1.78582578e-02 3.25786910e+02] [ 1.78572419e-02 -3.68555445e-04 9.99840479e-01 7.59939644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.622755096 meters 0.022504266724231607 Centerline is valid? [True, True] Translation: X:48.79, Y:325.81, Z:7.60 [[-3.91298563e-02 -9.99234083e-01 3.17966643e-04 4.87874323e+01] [ 9.99078883e-01 -3.91293839e-02 -1.76146741e-02 3.25812876e+02] [ 1.76136245e-02 -3.71585906e-04 9.99844799e-01 7.60326752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.652755096 meters 0.02327900335229625 Centerline is valid? [True, True] Translation: X:48.79, Y:325.84, Z:7.60 [[-4.04107653e-02 -9.99183098e-01 3.27400704e-04 4.87859215e+01] [ 9.99024631e-01 -4.04101885e-02 -1.77989507e-02 3.25840597e+02] [ 1.77976410e-02 -3.92187852e-04 9.99841533e-01 7.60328429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.682755096 meters 0.024035602963434516 Centerline is valid? [True, True] Translation: X:48.79, Y:325.87, Z:7.60 [[-4.20641950e-02 -9.99114858e-01 3.23525779e-04 4.87855454e+01] [ 9.98965746e-01 -4.20635079e-02 -1.72655882e-02 3.25867571e+02] [ 1.72639144e-02 -4.03071899e-04 9.99850886e-01 7.60411765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.712755096 meters 0.023126732392007326 Centerline is valid? [True, True] Translation: X:48.79, Y:325.89, Z:7.61 [[-4.24643311e-02 -9.99097934e-01 3.14606482e-04 4.87856304e+01] [ 9.98961313e-01 -4.24637284e-02 -1.65265592e-02 3.25893765e+02] [ 1.65250105e-02 -3.87509578e-04 9.99863378e-01 7.60624884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.742755096 meters 0.023058260111173668 Centerline is valid? [True, True] Translation: X:48.79, Y:325.92, Z:7.61 [[-4.32259316e-02 -9.99065274e-01 3.12423206e-04 4.87850876e+01] [ 9.98935392e-01 -4.32253511e-02 -1.61137413e-02 3.25920288e+02] [ 1.61121839e-02 -3.84440880e-04 9.99870116e-01 7.60758569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.772755096 meters 0.023423598753713387 Centerline is valid? [True, True] Translation: X:48.79, Y:325.95, Z:7.61 [[-4.35556590e-02 -9.99050956e-01 3.04018378e-04 4.87857775e+01] [ 9.98932111e-01 -4.35551683e-02 -1.54137677e-02 3.25946095e+02] [ 1.54123810e-02 -3.67663092e-04 9.99881155e-01 7.60876064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.802755096 meters 0.022881566173377214 Centerline is valid? [True, True] Translation: X:48.78, Y:325.97, Z:7.61 [[-4.25749301e-02 -9.99093236e-01 2.86071395e-04 4.87847650e+01] [ 9.98991389e-01 -4.25746756e-02 -1.42689146e-02 3.25973181e+02] [ 1.42681555e-02 -3.21715182e-04 9.99898153e-01 7.61133289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.832755096 meters 0.023620058067161553 Centerline is valid? [True, True] Translation: X:48.78, Y:326.00, Z:7.61 [[-4.19999994e-02 -9.99117569e-01 2.89741138e-04 4.87832870e+01] [ 9.99016855e-01 -4.19998805e-02 -1.41892024e-02 3.25999204e+02] [ 1.41888505e-02 -3.06490214e-04 9.99899286e-01 7.61104416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.862755096 meters 0.02068841475529994 Centerline is valid? [True, True] Translation: X:48.78, Y:326.03, Z:7.61 [[-3.88661538e-02 -9.99244384e-01 2.89694134e-04 4.87775474e+01] [ 9.99147219e-01 -3.88664150e-02 -1.39368656e-02 3.26026490e+02] [ 1.39375941e-02 -2.52225274e-04 9.99902835e-01 7.61324039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.892755096 meters 0.022480704258445113 Centerline is valid? [True, True] Translation: X:48.78, Y:326.05, Z:7.61 [[-3.75828544e-02 -9.99293464e-01 3.18594248e-04 4.87753542e+01] [ 9.99179976e-01 -3.75833882e-02 -1.50620072e-02 3.26053970e+02] [ 1.50633393e-02 -2.47740232e-04 9.99886511e-01 7.61080747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9227550960001 meters 0.019763801630038387 Centerline is valid? [True, True] Translation: X:48.77, Y:326.08, Z:7.61 [[-3.58448836e-02 -9.99357313e-01 3.25515558e-04 4.87727435e+01] [ 9.99243103e-01 -3.58457088e-02 -1.51098050e-02 3.26079056e+02] [ 1.51117625e-02 -2.16340027e-04 9.99885787e-01 7.61257484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.952755096 meters 0.018976358927091548 Centerline is valid? [True, True] Translation: X:48.77, Y:326.11, Z:7.61 [[-3.21220477e-02 -9.99483893e-01 3.48021383e-04 4.87698668e+01] [ 9.99357942e-01 -3.21235249e-02 -1.58676698e-02 3.26105041e+02] [ 1.58706600e-02 -1.61904112e-04 9.99874040e-01 7.61265400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.982755096 meters 0.01865297922391245 Centerline is valid? [True, True] Translation: X:48.77, Y:326.13, Z:7.61 [[-3.09182043e-02 -9.99521849e-01 3.70646926e-04 4.87677210e+01] [ 9.99383993e-01 -3.09200960e-02 -1.66006658e-02 3.26130205e+02] [ 1.66041887e-02 -1.42844173e-04 9.99862131e-01 7.61194040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.012755096 meters 0.018203939612553573 Centerline is valid? [True, True] Translation: X:48.76, Y:326.16, Z:7.61 [[-2.82351153e-02 -9.99601229e-01 4.01119524e-04 4.87648561e+01] [ 9.99445358e-01 -2.82377960e-02 -1.76522694e-02 3.26156235e+02] [ 1.76565569e-02 -9.75168154e-05 9.99844106e-01 7.61147084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0427550960001 meters 0.01792453187582793 Centerline is valid? [True, True] Translation: X:48.76, Y:326.18, Z:7.61 [[-2.74909872e-02 -9.99621971e-01 4.01892562e-04 4.87632855e+01] [ 9.99470670e-01 -2.74938184e-02 -1.73916546e-02 3.26183009e+02] [ 1.73961296e-02 -7.64339254e-05 9.99848673e-01 7.61223937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.072755096 meters 0.01792679941298752 Centerline is valid? [True, True] Translation: X:48.76, Y:326.21, Z:7.61 [[-2.71749710e-02 -9.99630608e-01 4.09710255e-04 4.87621354e+01] [ 9.99477807e-01 -2.71779805e-02 -1.74777449e-02 3.26208523e+02] [ 1.74824239e-02 -6.54609051e-05 9.99847169e-01 7.61200727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.102755096 meters 0.020106748093231663 Centerline is valid? [True, True] Translation: X:48.76, Y:326.23, Z:7.61 [[-2.75338220e-02 -9.99620775e-01 4.42596272e-04 4.87620976e+01] [ 9.99447079e-01 -2.75372883e-02 -1.86342319e-02 3.26234117e+02] [ 1.86393533e-02 -7.07200746e-05 9.99826270e-01 7.60954039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.132755096 meters 0.017925111410591 Centerline is valid? [True, True] Translation: X:48.76, Y:326.26, Z:7.61 [[-2.81871619e-02 -9.99602566e-01 4.41297334e-04 4.87618652e+01] [ 9.99435064e-01 -2.81905170e-02 -1.82988373e-02 3.26259074e+02] [ 1.83040051e-02 -7.47442589e-05 9.99832465e-01 7.61131983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1627550960001 meters 0.01988224956795818 Centerline is valid? [True, True] Translation: X:48.76, Y:326.29, Z:7.61 [[-2.92741218e-02 -9.99571318e-01 4.54027934e-04 4.87626939e+01] [ 9.99399448e-01 -2.92775076e-02 -1.85356593e-02 3.26285097e+02] [ 1.85410062e-02 -8.88598794e-05 9.99828097e-01 7.60991202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.192755096 meters 0.01783338152365391 Centerline is valid? [True, True] Translation: X:48.76, Y:326.31, Z:7.61 [[-3.07945940e-02 -9.99525631e-01 4.55092803e-04 4.87629290e+01] [ 9.99357910e-01 -3.07977635e-02 -1.83102337e-02 3.26312495e+02] [ 1.83155637e-02 -1.09055619e-04 9.99832250e-01 7.61341192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.222755096 meters 0.019664129381448132 Centerline is valid? [True, True] Translation: X:48.76, Y:326.34, Z:7.61 [[-3.25353205e-02 -9.99470475e-01 4.72164090e-04 4.87640059e+01] [ 9.99295205e-01 -3.25384574e-02 -1.87174295e-02 3.26338562e+02] [ 1.87228817e-02 -1.37146258e-04 9.99824702e-01 7.61068236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.252755096 meters 0.018260817727864437 Centerline is valid? [True, True] Translation: X:48.76, Y:326.37, Z:7.61 [[-3.31095437e-02 -9.99451617e-01 4.72375786e-04 4.87633617e+01] [ 9.99281138e-01 -3.31126208e-02 -1.84597430e-02 3.26365222e+02] [ 1.84652616e-02 -1.39157456e-04 9.99829493e-01 7.61190722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.282755096 meters 0.01809411385778648 Centerline is valid? [True, True] Translation: X:48.76, Y:326.39, Z:7.61 [[-3.38256175e-02 -9.99427630e-01 4.89922463e-04 4.87626830e+01] [ 9.99249672e-01 -3.38288397e-02 -1.88600914e-02 3.26391344e+02] [ 1.88658700e-02 -1.48399376e-04 9.99822013e-01 7.61268951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.312755096 meters 0.018437018177326032 Centerline is valid? [True, True] Translation: X:48.76, Y:326.42, Z:7.61 [[-3.46653165e-02 -9.99398849e-01 5.06228084e-04 4.87633455e+01] [ 9.99214647e-01 -3.46686465e-02 -1.91878707e-02 3.26416789e+02] [ 1.91938862e-02 -1.59323096e-04 9.99815768e-01 7.61208835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.342755096 meters 0.01838216025777125 Centerline is valid? [True, True] Translation: X:48.76, Y:326.44, Z:7.61 [[-3.52933856e-02 -9.99376860e-01 5.19295018e-04 4.87644471e+01] [ 9.99188571e-01 -3.52968164e-02 -1.93993171e-02 3.26443526e+02] [ 1.94055580e-02 -1.65793930e-04 9.99811681e-01 7.61359803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.372755096 meters 0.0182246709500912 Centerline is valid? [True, True] Translation: X:48.76, Y:326.47, Z:7.62 [[-3.53871312e-02 -9.99373539e-01 5.29367740e-04 4.87635734e+01] [ 9.99183316e-01 -3.53907239e-02 -1.94986474e-02 3.26470138e+02] [ 1.95051670e-02 -1.61065780e-04 9.99809743e-01 7.61509117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.402755096 meters 0.018635671802650258 Centerline is valid? [True, True] Translation: X:48.76, Y:326.50, Z:7.62 [[-3.46547243e-02 -9.99399210e-01 5.18577317e-04 4.87616586e+01] [ 9.99221786e-01 -3.46583435e-02 -1.88313963e-02 3.26495185e+02] [ 1.88380556e-02 -1.34423094e-04 9.99822539e-01 7.61552206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.432755096 meters 0.017752777587482053 Centerline is valid? [True, True] Translation: X:48.76, Y:326.52, Z:7.62 [[-3.41265892e-02 -9.99417385e-01 5.16774728e-04 4.87595480e+01] [ 9.99246100e-01 -3.41303078e-02 -1.85027943e-02 3.26520327e+02] [ 1.85096520e-02 -1.15052128e-04 9.99828675e-01 7.61641633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.462755096 meters 0.017590357174176237 Centerline is valid? [True, True] Translation: X:48.76, Y:326.55, Z:7.62 [[-3.39303319e-02 -9.99424068e-01 5.14025942e-04 4.87573816e+01] [ 9.99259077e-01 -3.39340704e-02 -1.81597214e-02 3.26546958e+02] [ 1.81667056e-02 -1.02520286e-04 9.99834967e-01 7.61639122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.492755096 meters 0.01735197567920791 Centerline is valid? [True, True] Translation: X:48.76, Y:326.57, Z:7.62 [[-3.34939234e-02 -9.99438790e-01 5.12624945e-04 4.87557377e+01] [ 9.99279034e-01 -3.34977350e-02 -1.78693677e-02 3.26571952e+02] [ 1.78765110e-02 -8.62598753e-05 9.99840199e-01 7.61666099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.522755096 meters 0.01803801861759519 Centerline is valid? [True, True] Translation: X:48.75, Y:326.60, Z:7.62 [[-3.37925132e-02 -9.99428739e-01 5.12044245e-04 4.87548275e+01] [ 9.99273380e-01 -3.37962884e-02 -1.76216605e-02 3.26598225e+02] [ 1.76288991e-02 -8.38080106e-05 9.99844595e-01 7.61647760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.552755096 meters 0.01715909095366035 Centerline is valid? [True, True] Translation: X:48.75, Y:326.62, Z:7.62 [[-3.41622351e-02 -9.99416173e-01 5.05595560e-04 4.87545914e+01] [ 9.99268513e-01 -3.41658787e-02 -1.71793961e-02 3.26623376e+02] [ 1.71866404e-02 -8.16608436e-05 9.99852295e-01 7.61803520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.582755096 meters 0.01721709214221541 Centerline is valid? [True, True] Translation: X:48.75, Y:326.65, Z:7.62 [[-3.49921382e-02 -9.99387466e-01 4.93397217e-04 4.87539412e+01] [ 9.99250255e-01 -3.49955097e-02 -1.65602867e-02 3.26649777e+02] [ 1.65674097e-02 -8.64525476e-05 9.99862747e-01 7.61878085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.612755096 meters 0.017681801806796845 Centerline is valid? [True, True] Translation: X:48.75, Y:326.68, Z:7.62 [[-3.62140085e-02 -9.99343939e-01 4.88181257e-04 4.87537046e+01] [ 9.99212787e-01 -3.62171649e-02 -1.61902134e-02 3.26676434e+02] [ 1.61972721e-02 -9.85155717e-05 9.99868811e-01 7.61918565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.642755096 meters 0.01755852822107929 Centerline is valid? [True, True] Translation: X:48.75, Y:326.70, Z:7.62 [[-3.83736052e-02 -9.99263360e-01 4.52507806e-04 4.87540703e+01] [ 9.99153237e-01 -3.83760943e-02 -1.48352348e-02 3.26702765e+02] [ 1.48416720e-02 -1.17156803e-04 9.99889849e-01 7.62088009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6727550960001 meters 0.01771177523575213 Centerline is valid? [True, True] Translation: X:48.75, Y:326.73, Z:7.62 [[-3.95622511e-02 -9.99217007e-01 4.48110762e-04 4.87538607e+01] [ 9.99111506e-01 -3.95645858e-02 -1.45203962e-02 3.26728990e+02] [ 1.45267561e-02 -1.26746940e-04 9.99894473e-01 7.62174243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.702755096 meters 0.017984687869038736 Centerline is valid? [True, True] Translation: X:48.75, Y:326.76, Z:7.62 [[-4.24197727e-02 -9.99099785e-01 4.27388329e-04 4.87542034e+01] [ 9.99006034e-01 -4.24216474e-02 -1.36875480e-02 3.26755676e+02] [ 1.36933568e-02 -1.53659157e-04 9.99906230e-01 7.62335260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.732755096 meters 0.01835940076447117 Centerline is valid? [True, True] Translation: X:48.75, Y:326.78, Z:7.62 [[-4.36714393e-02 -9.99045853e-01 4.35572704e-04 4.87543377e+01] [ 9.98950785e-01 -4.36732928e-02 -1.37830963e-02 3.26782176e+02] [ 1.37889681e-02 -1.66811960e-04 9.99904914e-01 7.62333503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.762755096 meters 0.018834127234521006 Centerline is valid? [True, True] Translation: X:48.75, Y:326.81, Z:7.62 [[-4.51677049e-02 -9.98979327e-01 4.26570941e-04 4.87542736e+01] [ 9.98890236e-01 -4.51693741e-02 -1.33425511e-02 3.26808176e+02] [ 1.33482006e-02 -1.76554861e-04 9.99910893e-01 7.62369972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7927550960001 meters 0.021726933722134748 Centerline is valid? [True, True] Translation: X:48.75, Y:326.83, Z:7.62 [[-4.77303607e-02 -9.98860176e-01 4.03265460e-04 4.87548800e+01] [ 9.98782264e-01 -4.77316750e-02 -1.24770171e-02 3.26834498e+02] [ 1.24820440e-02 -1.92758137e-04 9.99922078e-01 7.62181504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.822755096 meters 0.019993077413047726 Centerline is valid? [True, True] Translation: X:48.75, Y:326.86, Z:7.62 [[-4.88782215e-02 -9.98804670e-01 3.89634594e-04 4.87540875e+01] [ 9.98733494e-01 -4.88793905e-02 -1.19252830e-02 3.26861040e+02] [ 1.19300734e-02 -1.93745503e-04 9.99928815e-01 7.62474952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.852755096 meters 0.020370944513476864 Centerline is valid? [True, True] Translation: X:48.75, Y:326.89, Z:7.63 [[-5.05984486e-02 -9.98719000e-01 3.95819925e-04 4.87535232e+01] [ 9.98647092e-01 -5.05995560e-02 -1.19863085e-02 3.26888648e+02] [ 1.19909823e-02 -2.11204197e-04 9.99928083e-01 7.62545074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.882755096 meters 0.020382479812959688 Centerline is valid? [True, True] Translation: X:48.75, Y:326.91, Z:7.63 [[-5.17523542e-02 -9.98659869e-01 4.00022679e-04 4.87523704e+01] [ 9.98587989e-01 -5.17534295e-02 -1.19838037e-02 3.26914981e+02] [ 1.19884464e-02 -2.20732214e-04 9.99928112e-01 7.62596861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9127550960001 meters 0.020592327163800363 Centerline is valid? [True, True] Translation: X:48.75, Y:326.94, Z:7.63 [[-5.19990525e-02 -9.98647056e-01 3.95249156e-04 4.87518226e+01] [ 9.98578251e-01 -5.20001102e-02 -1.17245946e-02 3.26940413e+02] [ 1.17292849e-02 -2.14980598e-04 9.99931187e-01 7.62640156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.942755096 meters 0.022550195311142985 Centerline is valid? [True, True] Translation: X:48.75, Y:326.97, Z:7.62 [[-5.26495977e-02 -9.98612970e-01 3.96233161e-04 4.87498466e+01] [ 9.98545208e-01 -5.26506418e-02 -1.16351659e-02 3.26966772e+02] [ 1.16398895e-02 -2.16930081e-04 9.99932231e-01 7.62465795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.972755096 meters 0.019511351725629098 Centerline is valid? [True, True] Translation: X:48.75, Y:326.99, Z:7.63 [[-5.22080326e-02 -9.98636153e-01 3.93956090e-04 4.87472243e+01] [ 9.98570655e-01 -5.22091211e-02 -1.14391517e-02 3.26992656e+02] [ 1.14441185e-02 -2.03822614e-04 9.99934493e-01 7.62770406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.002755096 meters 0.020346784035140283 Centerline is valid? [True, True] Translation: X:48.75, Y:327.02, Z:7.63 [[-5.19429014e-02 -9.98649977e-01 3.97705566e-04 4.87463444e+01] [ 9.98584743e-01 -5.19440548e-02 -1.14160239e-02 3.27017658e+02] [ 1.14212704e-02 -1.95838692e-04 9.99934756e-01 7.62661872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.032755096 meters 0.020145654745933852 Centerline is valid? [True, True] Translation: X:48.74, Y:327.04, Z:7.63 [[-5.16685248e-02 -9.98664213e-01 3.90581606e-04 4.87446450e+01] [ 9.98602637e-01 -5.16696769e-02 -1.10913489e-02 3.27044342e+02] [ 1.10967145e-02 -1.83037815e-04 9.99938413e-01 7.62690763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.062755096 meters 0.019092834156539295 Centerline is valid? [True, True] Translation: X:48.74, Y:327.07, Z:7.63 [[-5.15384992e-02 -9.98670932e-01 3.89772657e-04 4.87412175e+01] [ 9.98610881e-01 -5.15396750e-02 -1.09530870e-02 3.27070867e+02] [ 1.09586184e-02 -1.75274452e-04 9.99939937e-01 7.62781344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.092755096 meters 0.018879389410372194 Centerline is valid? [True, True] Translation: X:48.74, Y:327.10, Z:7.63 [[-5.10680650e-02 -9.98695092e-01 4.06600582e-04 4.87398803e+01] [ 9.98631182e-01 -5.10693973e-02 -1.12995200e-02 3.27096274e+02] [ 1.13055400e-02 -1.71000601e-04 9.99936076e-01 7.62777630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.122755096 meters 0.018269594548299836 Centerline is valid? [True, True] Translation: X:48.74, Y:327.12, Z:7.63 [[-5.07903166e-02 -9.98709250e-01 4.20734794e-04 4.87371214e+01] [ 9.98642316e-01 -5.07917841e-02 -1.15637321e-02 3.27122268e+02] [ 1.15701761e-02 -1.67162046e-04 9.99933049e-01 7.62829933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.152755096 meters 0.01888996252479574 Centerline is valid? [True, True] Translation: X:48.73, Y:327.15, Z:7.63 [[-4.91646291e-02 -9.98790602e-01 4.16343313e-04 4.87343835e+01] [ 9.98726466e-01 -4.91661906e-02 -1.13195351e-02 3.27147859e+02] [ 1.13263153e-02 -1.40707659e-04 9.99935845e-01 7.62701710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.182755096 meters 0.01769681495551513 Centerline is valid? [True, True] Translation: X:48.73, Y:327.17, Z:7.63 [[-4.82849539e-02 -9.98833523e-01 3.95621897e-04 4.87325708e+01] [ 9.98776830e-01 -4.82864286e-02 -1.06426120e-02 3.27173075e+02] [ 1.06493009e-02 -1.18740048e-04 9.99943288e-01 7.62845832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.212755096 meters 0.018336702833184452 Centerline is valid? [True, True] Translation: X:48.73, Y:327.20, Z:7.63 [[-4.78957445e-02 -9.98852272e-01 3.69259506e-04 4.87298749e+01] [ 9.98803872e-01 -4.78970590e-02 -9.83343742e-03 3.27199694e+02] [ 9.83983775e-03 -1.02161982e-04 9.99951582e-01 7.62849178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.242755096 meters 0.017090716416551986 Centerline is valid? [True, True] Translation: X:48.73, Y:327.23, Z:7.63 [[-4.69404765e-02 -9.98897636e-01 3.24997155e-04 4.87285941e+01] [ 9.98860857e-01 -4.69415372e-02 -8.57206708e-03 3.27225528e+02] [ 8.57787341e-03 -7.77499764e-05 9.99963206e-01 7.63090620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.272755096 meters 0.018125012661876366 Centerline is valid? [True, True] Translation: X:48.73, Y:327.25, Z:7.63 [[-4.77131464e-02 -9.98861028e-01 3.20797663e-04 4.87269408e+01] [ 9.98825904e-01 -4.77141590e-02 -8.37689586e-03 3.27252329e+02] [ 8.38266140e-03 -7.92670429e-05 9.99964862e-01 7.63038720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.302755096 meters 0.017571247654117626 Centerline is valid? [True, True] Translation: X:48.73, Y:327.28, Z:7.63 [[-4.82263786e-02 -9.98836378e-01 3.25924278e-04 4.87272824e+01] [ 9.98800769e-01 -4.82274115e-02 -8.43447212e-03 3.27277799e+02] [ 8.44037607e-03 -8.12306259e-05 9.99964376e-01 7.63106544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.332755096 meters 0.017571247654117626 Centerline is valid? [True, True] Translation: X:48.73, Y:327.30, Z:7.63 [[-4.85914099e-02 -9.98818686e-01 3.28746561e-04 4.87260020e+01] [ 9.98783077e-01 -4.85924536e-02 -8.43436229e-03 3.27303705e+02] [ 8.44037325e-03 -8.14910535e-05 9.99964376e-01 7.63120512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.362755096 meters 0.01873999375459783 Centerline is valid? [True, True] Translation: X:48.73, Y:327.33, Z:7.63 [[-5.02527667e-02 -9.98736468e-01 3.57281264e-04 4.87250137e+01] [ 9.98695237e-01 -5.02539387e-02 -9.07552975e-03 3.27329674e+02] [ 9.08201732e-03 -9.92553820e-05 9.99958753e-01 7.62997675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.392755096 meters 0.017815707990742426 Centerline is valid? [True, True] Translation: X:48.72, Y:327.36, Z:7.63 [[-5.13514569e-02 -9.98680585e-01 3.42271851e-04 4.87238278e+01] [ 9.98643431e-01 -5.13524990e-02 -8.61501880e-03 3.27356906e+02] [ 8.62122853e-03 -1.00586231e-04 9.99962831e-01 7.63143954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4227550960001 meters 0.020930323014613134 Centerline is valid? [True, True] Translation: X:48.73, Y:327.38, Z:7.63 [[-5.31884429e-02 -9.98584434e-01 3.41984396e-04 4.87254127e+01] [ 9.98548003e-01 -5.31894239e-02 -8.53055201e-03 3.27383218e+02] [ 8.53666641e-03 -1.12238943e-04 9.99963556e-01 7.62934073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.452755096 meters 0.018715026327847866 Centerline is valid? [True, True] Translation: X:48.72, Y:327.41, Z:7.63 [[-5.60267481e-02 -9.98429222e-01 3.04427428e-04 4.87230691e+01] [ 9.98400832e-01 -5.60274510e-02 -7.53017088e-03 3.27410660e+02] [ 7.53539894e-03 -1.17950390e-04 9.99971602e-01 7.63234620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.482755096 meters 0.019048400750279536 Centerline is valid? [True, True] Translation: X:48.72, Y:327.44, Z:7.63 [[-5.76043440e-02 -9.98339442e-01 3.13695244e-04 4.87227367e+01] [ 9.98309836e-01 -5.76050519e-02 -7.68959000e-03 3.27437672e+02] [ 7.69489142e-03 -1.29788740e-04 9.99970386e-01 7.63217528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.512755096 meters 0.02110367948620331 Centerline is valid? [True, True] Translation: X:48.72, Y:327.46, Z:7.63 [[-6.04641244e-02 -9.98170312e-01 3.43249808e-04 4.87243628e+01] [ 9.98135524e-01 -6.04648833e-02 -8.33511683e-03 3.27463678e+02] [ 8.34062073e-03 -1.61365714e-04 9.99965203e-01 7.63117634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5427550960001 meters 0.02031534497635854 Centerline is valid? [True, True] Translation: X:48.72, Y:327.49, Z:7.63 [[-6.17261615e-02 -9.98093066e-01 3.36662279e-04 4.87222528e+01] [ 9.98060183e-01 -6.17268612e-02 -8.10349343e-03 3.27490741e+02] [ 8.10882171e-03 -1.64188329e-04 9.99967110e-01 7.63198950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.572755096 meters 0.02042662331390565 Centerline is valid? [True, True] Translation: X:48.72, Y:327.52, Z:7.63 [[-6.26813803e-02 -9.98033534e-01 3.31392803e-04 4.87202792e+01] [ 9.98002206e-01 -6.26820391e-02 -7.90941748e-03 3.27517484e+02] [ 7.91463625e-03 -1.65042457e-04 9.99968665e-01 7.63256420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.602755096 meters 0.021212647247794772 Centerline is valid? [True, True] Translation: X:48.72, Y:327.54, Z:7.63 [[-6.39703192e-02 -9.97951757e-01 2.98553729e-04 4.87188778e+01] [ 9.97926705e-01 -6.39708293e-02 -7.07279740e-03 3.27544004e+02] [ 7.07740932e-03 -1.54514369e-04 9.99974943e-01 7.63265935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.632755096 meters 0.02125371000692559 Centerline is valid? [True, True] Translation: X:48.72, Y:327.57, Z:7.63 [[-6.47004075e-02 -9.97904682e-01 3.20045411e-04 4.87156888e+01] [ 9.97876320e-01 -6.47009822e-02 -7.52546523e-03 3.27571356e+02] [ 7.53040425e-03 -1.67534931e-04 9.99971632e-01 7.63242835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6627550960001 meters 0.021178093923756802 Centerline is valid? [True, True] Translation: X:48.71, Y:327.60, Z:7.63 [[-6.57875645e-02 -9.97833593e-01 3.43489500e-04 4.87145491e+01] [ 9.97801461e-01 -6.57882033e-02 -8.00980795e-03 3.27597489e+02] [ 8.01505300e-03 -1.84211432e-04 9.99967862e-01 7.63327107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.692755096 meters 0.022263377257944653 Centerline is valid? [True, True] Translation: X:48.71, Y:327.62, Z:7.63 [[-6.64170181e-02 -9.97791885e-01 3.65447220e-04 4.87131464e+01] [ 9.97756051e-01 -6.64177308e-02 -8.45862120e-03 3.27624932e+02] [ 8.46421577e-03 -1.97169222e-04 9.99964158e-01 7.63235454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.722755096 meters 0.02135841630022844 Centerline is valid? [True, True] Translation: X:48.71, Y:327.65, Z:7.63 [[-6.68149995e-02 -9.97765318e-01 3.54031479e-04 4.87108555e+01] [ 9.97732225e-01 -6.68156676e-02 -8.12855462e-03 3.27652543e+02] [ 8.13404474e-03 -1.89880758e-04 9.99966900e-01 7.63433435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.752755096 meters 0.024076936574369004 Centerline is valid? [True, True] Translation: X:48.71, Y:327.68, Z:7.63 [[-6.65028066e-02 -9.97786179e-01 3.44092519e-04 4.87080098e+01] [ 9.97755438e-01 -6.65034594e-02 -7.83422339e-03 3.27677811e+02] [ 7.83976316e-03 -1.77677661e-04 9.99969253e-01 7.63320176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.782755096 meters 0.020817929604220343 Centerline is valid? [True, True] Translation: X:48.70, Y:327.70, Z:7.64 [[-6.62944013e-02 -9.97800062e-01 2.96937177e-04 4.87041348e+01] [ 9.97777537e-01 -6.62949004e-02 -6.70618455e-03 3.27704742e+02] [ 6.71111678e-03 -1.48305244e-04 9.99977469e-01 7.63682088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.812755096 meters 0.023752190996546223 Centerline is valid? [True, True] Translation: X:48.70, Y:327.73, Z:7.63 [[-6.63909741e-02 -9.97793632e-01 3.27973475e-04 4.87018947e+01] [ 9.97766623e-01 -6.63915907e-02 -7.34322811e-03 3.27731528e+02] [ 7.34880092e-03 -1.60283081e-04 9.99972984e-01 7.63439426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.842755096 meters 0.022069733874815516 Centerline is valid? [True, True] Translation: X:48.70, Y:327.76, Z:7.64 [[-6.49473748e-02 -9.97888630e-01 3.46519636e-04 4.86968722e+01] [ 9.97858977e-01 -6.49481167e-02 -7.69442618e-03 3.27758413e+02] [ 7.70068620e-03 -1.53955051e-04 9.99970337e-01 7.63522215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.872755096 meters 0.019728292864617917 Centerline is valid? [True, True] Translation: X:48.69, Y:327.79, Z:7.64 [[-6.38381890e-02 -9.97960200e-01 3.54034276e-04 4.86932873e+01] [ 9.97929741e-01 -6.38390071e-02 -7.79830437e-03 3.27785377e+02] [ 7.80499858e-03 -1.44528295e-04 9.99969530e-01 7.63773550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.902755096 meters 0.019022212327058485 Centerline is valid? [True, True] Translation: X:48.69, Y:327.81, Z:7.64 [[-6.14649346e-02 -9.98109177e-01 3.63917526e-04 4.86880933e+01] [ 9.98077514e-01 -6.14658838e-02 -7.95122446e-03 3.27811756e+02] [ 7.95855862e-03 -1.25503592e-04 9.99968322e-01 7.63855906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.932755096 meters 0.02115267330775972 Centerline is valid? [True, True] Translation: X:48.68, Y:327.84, Z:7.64 [[-6.09140632e-02 -9.98142948e-01 3.64244601e-04 4.86846067e+01] [ 9.98111747e-01 -6.09150394e-02 -7.89289547e-03 3.27838004e+02] [ 7.90042592e-03 -1.17231517e-04 9.99968784e-01 7.63641429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.962755096 meters 0.018373462662468122 Centerline is valid? [True, True] Translation: X:48.68, Y:327.86, Z:7.64 [[-5.96866189e-02 -9.98217111e-01 3.26830702e-04 4.86801512e+01] [ 9.98192379e-01 -5.96874409e-02 -7.02738473e-03 3.27863871e+02] [ 7.03436337e-03 -9.32009188e-05 9.99975254e-01 7.63940039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.992755096 meters 0.017936145483953236 Centerline is valid? [True, True] Translation: X:48.68, Y:327.89, Z:7.64 [[-5.79051000e-02 -9.98322026e-01 3.62551140e-04 4.86751828e+01] [ 9.98292142e-01 -5.79061721e-02 -7.72487961e-03 3.27888697e+02] [ 7.73291142e-03 -8.53779724e-05 9.99970097e-01 7.63992726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.022755096 meters 0.017847506816227588 Centerline is valid? [True, True] Translation: X:48.67, Y:327.92, Z:7.64 [[-5.76065019e-02 -9.98339296e-01 3.76948041e-04 4.86715198e+01] [ 9.98307537e-01 -5.76076762e-02 -7.96352146e-03 3.27915872e+02] [ 7.97201151e-03 -8.24405442e-05 9.99968220e-01 7.63979867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.052755096 meters 0.01863801645068679 Centerline is valid? [True, True] Translation: X:48.67, Y:327.94, Z:7.64 [[-5.73505607e-02 -9.98354027e-01 3.87092264e-04 4.86673233e+01] [ 9.98321046e-01 -5.73518127e-02 -8.11530163e-03 3.27943072e+02] [ 8.12414451e-03 -7.89747446e-05 9.99966996e-01 7.63845093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.082755096 meters 0.018182132577647624 Centerline is valid? [True, True] Translation: X:48.67, Y:327.97, Z:7.64 [[-5.75061673e-02 -9.98345076e-01 3.88060073e-04 4.86650114e+01] [ 9.98312388e-01 -5.75074248e-02 -8.07915386e-03 3.27968936e+02] [ 8.08809981e-03 -7.71959951e-05 9.99967288e-01 7.63869451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.112755096 meters 0.01722150901808332 Centerline is valid? [True, True] Translation: X:48.66, Y:328.00, Z:7.64 [[-5.78397841e-02 -9.98325802e-01 3.91260825e-04 4.86624697e+01] [ 9.98293005e-01 -5.78410556e-02 -8.09244934e-03 3.27995651e+02] [ 8.10153191e-03 -7.74725780e-05 9.99967179e-01 7.63960704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.142755096 meters 0.017042934945930566 Centerline is valid? [True, True] Translation: X:48.66, Y:328.02, Z:7.64 [[-5.82199692e-02 -9.98303709e-01 3.75435542e-04 4.86584226e+01] [ 9.98273967e-01 -5.82211328e-02 -7.70625529e-03 3.28023060e+02] [ 7.71504151e-03 -7.38704175e-05 9.99970236e-01 7.63996123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1727550960001 meters 0.018561380935455552 Centerline is valid? [True, True] Translation: X:48.66, Y:328.05, Z:7.64 [[-5.83573198e-02 -9.98295689e-01 3.76318289e-04 4.86566229e+01] [ 9.98266253e-01 -5.83584890e-02 -7.66652662e-03 3.28049536e+02] [ 7.67542184e-03 -7.17320971e-05 9.99970541e-01 7.63823867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.202755096 meters 0.019663513400348963 Centerline is valid? [True, True] Translation: X:48.65, Y:328.08, Z:7.64 [[-5.83802153e-02 -9.98294345e-01 3.88879745e-04 4.86545907e+01] [ 9.98263412e-01 -5.83814678e-02 -7.85904843e-03 3.28075346e+02] [ 7.86834697e-03 -7.06085181e-05 9.99969042e-01 7.63719810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.232755096 meters 0.019011635274792944 Centerline is valid? [True, True] Translation: X:48.65, Y:328.10, Z:7.64 [[-5.70081815e-02 -9.98373636e-01 3.86581539e-04 4.86502638e+01] [ 9.98343558e-01 -5.70094648e-02 -7.74998226e-03 3.28101183e+02] [ 7.75941678e-03 -5.58712065e-05 9.99969894e-01 7.63756784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.262755096 meters 0.01733876053382958 Centerline is valid? [True, True] Translation: X:48.65, Y:328.13, Z:7.64 [[-5.60849968e-02 -9.98425928e-01 3.73755282e-04 4.86471612e+01] [ 9.98398237e-01 -5.60862249e-02 -7.43609942e-03 3.28127855e+02] [ 7.44535698e-03 -4.38969970e-05 9.99972282e-01 7.63867960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2927550960001 meters 0.016356942004186272 Centerline is valid? [True, True] Translation: X:48.64, Y:328.15, Z:7.64 [[-5.46009756e-02 -9.98508166e-01 4.20403949e-04 4.86441646e+01] [ 9.98473713e-01 -5.46025840e-02 -8.29476571e-03 3.28154387e+02] [ 8.30534644e-03 -3.31400081e-05 9.99965510e-01 7.63903016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.322755096 meters 0.01623990611254615 Centerline is valid? [True, True] Translation: X:48.64, Y:328.18, Z:7.64 [[-5.40976899e-02 -9.98535554e-01 4.32465075e-04 4.86423915e+01] [ 9.98499657e-01 -5.40994121e-02 -8.46687815e-03 3.28180394e+02] [ 8.47787497e-03 -2.62223195e-05 9.99964062e-01 7.63893811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.352755096 meters 0.017488931372348873 Centerline is valid? [True, True] Translation: X:48.64, Y:328.21, Z:7.64 [[-5.41302418e-02 -9.98533781e-01 4.53485189e-04 4.86411999e+01] [ 9.98494916e-01 -5.41321360e-02 -8.80990659e-03 3.28206689e+02] [ 8.82153746e-03 -2.40797179e-05 9.99961089e-01 7.63745393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.382755096 meters 0.017410474558923913 Centerline is valid? [True, True] Translation: X:48.64, Y:328.23, Z:7.64 [[-5.31969603e-02 -9.98583920e-01 4.87641891e-04 4.86393441e+01] [ 9.98539687e-01 -5.31991937e-02 -9.39888473e-03 3.28232169e+02] [ 9.41151731e-03 -1.30623165e-05 9.99955711e-01 7.63669882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4127550960001 meters 0.016241378572528616 Centerline is valid? [True, True] Translation: X:48.64, Y:328.26, Z:7.64 [[-5.26346263e-02 -9.98613721e-01 4.82449806e-04 4.86370251e+01] [ 9.98571071e-01 -5.26368371e-02 -9.22932428e-03 3.28258893e+02] [ 9.24192449e-03 -4.02161506e-06 9.99957293e-01 7.63813646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.442755096 meters 0.016268971488498953 Centerline is valid? [True, True] Translation: X:48.64, Y:328.28, Z:7.64 [[-5.19952606e-02 -9.98647214e-01 4.85094807e-04 4.86355237e+01] [ 9.98604669e-01 -5.19975232e-02 -9.21806915e-03 3.28283847e+02] [ 9.23082280e-03 5.12203130e-06 9.99957395e-01 7.63747969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.472755096 meters 0.016278994435423817 Centerline is valid? [True, True] Translation: X:48.63, Y:328.31, Z:7.64 [[-5.21419319e-02 -9.98639574e-01 4.69320442e-04 4.86343873e+01] [ 9.98600250e-01 -5.21440436e-02 -8.86219999e-03 3.28309049e+02] [ 8.87461589e-03 6.57128264e-06 9.99960620e-01 7.63723486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.502755096 meters 0.01631298580600872 Centerline is valid? [True, True] Translation: X:48.63, Y:328.33, Z:7.64 [[-5.25463865e-02 -9.98618372e-01 4.73691766e-04 4.86341352e+01] [ 9.98578849e-01 -5.25485212e-02 -8.88456113e-03 3.28334480e+02] [ 8.89717777e-03 6.16699480e-06 9.99960419e-01 7.63718576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.532755096 meters 0.019315226455051862 Centerline is valid? [True, True] Translation: X:48.64, Y:328.36, Z:7.63 [[-5.48873303e-02 -9.98492428e-01 5.03177780e-04 4.86375801e+01] [ 9.98448393e-01 -5.48896353e-02 -9.37733992e-03 3.28360993e+02] [ 9.39082214e-03 -1.23001071e-05 9.99955905e-01 7.63406433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.562755096 meters 0.01651798717781445 Centerline is valid? [True, True] Translation: X:48.64, Y:328.39, Z:7.64 [[-5.54934155e-02 -9.98458916e-01 5.23542927e-04 4.86383055e+01] [ 9.98411935e-01 -5.54958831e-02 -9.68586026e-03 3.28386016e+02] [ 9.69998801e-03 -1.47899608e-05 9.99952954e-01 7.63696685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.592755096 meters 0.019511271461747845 Centerline is valid? [True, True] Translation: X:48.64, Y:328.41, Z:7.63 [[-5.81273053e-02 -9.98309046e-01 5.15243413e-04 4.86404675e+01] [ 9.98264170e-01 -5.81295778e-02 -9.46571153e-03 3.28412488e+02] [ 9.47965633e-03 -3.58672664e-05 9.99955066e-01 7.63375744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.622755096 meters 0.021136747003832824 Centerline is valid? [True, True] Translation: X:48.65, Y:328.44, Z:7.63 [[-6.14917664e-02 -9.98107435e-01 5.57754195e-04 4.86455101e+01] [ 9.98055534e-01 -6.14942569e-02 -1.01788135e-02 3.28438542e+02] [ 1.01938481e-02 -6.92435594e-05 9.99948039e-01 7.63227607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.652755096 meters 0.01757774485820088 Centerline is valid? [True, True] Translation: X:48.65, Y:328.46, Z:7.64 [[-6.24896650e-02 -9.98045469e-01 5.32788249e-04 4.86462863e+01] [ 9.97998620e-01 -6.24918941e-02 -9.67050304e-03 3.28464118e+02] [ 9.68489669e-03 -7.25845585e-05 9.99953098e-01 7.63635740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.682755096 meters 0.020023501806220007 Centerline is valid? [True, True] Translation: X:48.65, Y:328.49, Z:7.63 [[-6.57656424e-02 -9.97834960e-01 5.22691011e-04 4.86505541e+01] [ 9.97790384e-01 -6.57676453e-02 -9.43220812e-03 3.28489742e+02] [ 9.44616316e-03 -9.87791616e-05 9.99955379e-01 7.63419853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.712755096 meters 0.01926653119371412 Centerline is valid? [True, True] Translation: X:48.65, Y:328.52, Z:7.64 [[-6.73048070e-02 -9.97732345e-01 4.81497081e-04 4.86497003e+01] [ 9.97694996e-01 -6.73064540e-02 -8.63344536e-03 3.28516359e+02] [ 8.64627554e-03 -1.00685146e-04 9.99962615e-01 7.63629638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.742755096 meters 0.018377604611604585 Centerline is valid? [True, True] Translation: X:48.65, Y:328.54, Z:7.64 [[-6.84517045e-02 -9.97654335e-01 4.38352156e-04 4.86483891e+01] [ 9.97623760e-01 -6.84530388e-02 -7.81124774e-03 3.28543751e+02] [ 7.82293171e-03 -9.73826959e-05 9.99969396e-01 7.63842321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.772755096 meters 0.018454758897094258 Centerline is valid? [True, True] Translation: X:48.65, Y:328.57, Z:7.64 [[-6.97172259e-02 -9.97566704e-01 4.22903694e-04 4.86480056e+01] [ 9.97538599e-01 -6.97184365e-02 -7.48891547e-03 3.28571090e+02] [ 7.50017691e-03 -1.00243653e-04 9.99971868e-01 7.63904244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.802755096 meters 0.021223223389826677 Centerline is valid? [True, True] Translation: X:48.65, Y:328.60, Z:7.64 [[-7.20855511e-02 -9.97398383e-01 3.72745287e-04 4.86500049e+01] [ 9.97376797e-01 -7.20864436e-02 -6.56270364e-03 3.28598478e+02] [ 6.57249988e-03 -1.01308608e-04 9.99978396e-01 7.63725228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.832755096 meters 0.019599952562297823 Centerline is valid? [True, True] Translation: X:48.65, Y:328.62, Z:7.64 [[-7.32817800e-02 -9.97311218e-01 3.39813696e-04 4.86494701e+01] [ 9.97293474e-01 -7.32825035e-02 -5.94991814e-03 3.28624217e+02] [ 5.95882251e-03 -9.71266112e-05 9.99982241e-01 7.64040171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.862755096 meters 0.020023097537712906 Centerline is valid? [True, True] Translation: X:48.65, Y:328.65, Z:7.64 [[-7.52224622e-02 -9.97166734e-01 2.92143434e-04 4.86485411e+01] [ 9.97153747e-01 -7.52229738e-02 -5.09013579e-03 3.28651091e+02] [ 5.09768998e-03 -9.15806272e-05 9.99987003e-01 7.64037982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.892755096 meters 0.022317238490832194 Centerline is valid? [True, True] Translation: X:48.65, Y:328.68, Z:7.64 [[-7.65088770e-02 -9.97068855e-01 2.99391883e-04 4.86488062e+01] [ 9.97055389e-01 -7.65094000e-02 -5.18290364e-03 3.28676918e+02] [ 5.19061810e-03 -9.80278467e-05 9.99986524e-01 7.63861927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9227550960001 meters 0.021891185239014736 Centerline is valid? [True, True] Translation: X:48.65, Y:328.70, Z:7.64 [[-7.75386429e-02 -9.96989313e-01 2.63541765e-04 4.86462982e+01] [ 9.96978979e-01 -7.75390393e-02 -4.54024817e-03 3.28703574e+02] [ 4.54701367e-03 -8.92990813e-05 9.99989658e-01 7.63953266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.952755096 meters 0.022284045272250686 Centerline is valid? [True, True] Translation: X:48.65, Y:328.73, Z:7.64 [[-7.89608091e-02 -9.96877687e-01 2.62305949e-04 4.86456476e+01] [ 9.96867580e-01 -7.89611900e-02 -4.48983846e-03 3.28730170e+02] [ 4.49653176e-03 -9.30369803e-05 9.99989886e-01 7.64008058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.982755096 meters 0.022012554004180514 Centerline is valid? [True, True] Translation: X:48.64, Y:328.76, Z:7.64 [[-7.96926861e-02 -9.96819436e-01 2.95463165e-04 4.86433446e+01] [ 9.96806797e-01 -7.96931639e-02 -5.02092657e-03 3.28756225e+02] [ 5.02850358e-03 -1.05611434e-04 9.99987351e-01 7.64014452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.012755096 meters 0.023842308018812552 Centerline is valid? [True, True] Translation: X:48.64, Y:328.78, Z:7.64 [[-8.06823574e-02 -9.96739807e-01 3.39023524e-04 4.86418725e+01] [ 9.96723413e-01 -8.06829752e-02 -5.71795512e-03 3.28782877e+02] [ 5.72666690e-03 -1.23425414e-04 9.99983595e-01 7.63821508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0427550960001 meters 0.022201713728922354 Centerline is valid? [True, True] Translation: X:48.64, Y:328.81, Z:7.64 [[-8.04673168e-02 -9.96757187e-01 3.47261833e-04 4.86378269e+01] [ 9.96740215e-01 -8.04679736e-02 -5.81799695e-03 3.28808883e+02] [ 5.82707373e-03 -1.22028770e-04 9.99983015e-01 7.63933704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.072755096 meters 0.023177817007349 Centerline is valid? [True, True] Translation: X:48.63, Y:328.84, Z:7.64 [[-8.09357948e-02 -9.96719246e-01 3.76406652e-04 4.86345513e+01] [ 9.96699579e-01 -8.09365628e-02 -6.26283615e-03 3.28836080e+02] [ 6.27275439e-03 -1.31723270e-04 9.99980317e-01 7.63797803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.102755096 meters 0.02317009016547603 Centerline is valid? [True, True] Translation: X:48.63, Y:328.86, Z:7.64 [[-7.98228415e-02 -9.96809016e-01 3.16212139e-04 4.86325600e+01] [ 9.96795273e-01 -7.98234018e-02 -5.23534903e-03 3.28861841e+02] [ 5.24388424e-03 -1.02701670e-04 9.99986246e-01 7.63964906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.132755096 meters 0.021322346605707126 Centerline is valid? [True, True] Translation: X:48.63, Y:328.89, Z:7.64 [[-7.92094104e-02 -9.96857956e-01 2.91033703e-04 4.86259730e+01] [ 9.96846460e-01 -7.92098948e-02 -4.78838504e-03 3.28888255e+02] [ 4.79639248e-03 -8.91692392e-05 9.99988493e-01 7.64032453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1627550960001 meters 0.021350225372452607 Centerline is valid? [True, True] Translation: X:48.62, Y:328.91, Z:7.64 [[-7.87236510e-02 -9.96896439e-01 2.75767945e-04 4.86233455e+01] [ 9.96886242e-01 -7.87240932e-02 -4.50984433e-03 3.28914096e+02] [ 4.51755734e-03 -8.01221410e-05 9.99989793e-01 7.64093754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.192755096 meters 0.02148652568566875 Centerline is valid? [True, True] Translation: X:48.62, Y:328.94, Z:7.64 [[-7.73176811e-02 -9.97006465e-01 2.92963554e-04 4.86176854e+01] [ 9.96995111e-01 -7.73181989e-02 -4.75862268e-03 3.28940032e+02] [ 4.76702899e-03 -7.58424399e-05 9.99988635e-01 7.64019174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.222755096 meters 0.02148652568566875 Centerline is valid? [True, True] Translation: X:48.62, Y:328.97, Z:7.64 [[-7.77034815e-02 -9.96976470e-01 2.94803784e-04 4.86158271e+01] [ 9.96965117e-01 -7.77040037e-02 -4.75850862e-03 3.28965907e+02] [ 4.76702856e-03 -7.58435974e-05 9.99988635e-01 7.64033134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.252755096 meters 0.021417947046295117 Centerline is valid? [True, True] Translation: X:48.61, Y:328.99, Z:7.64 [[-7.71947544e-02 -9.97015983e-01 3.16135301e-04 4.86124296e+01] [ 9.97003100e-01 -7.71953643e-02 -5.06891892e-03 3.28990989e+02] [ 5.07819736e-03 -7.61060764e-05 9.99987103e-01 7.63980098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.282755096 meters 0.020552836965146044 Centerline is valid? [True, True] Translation: X:48.61, Y:329.02, Z:7.64 [[-7.63986362e-02 -9.97077297e-01 3.34663129e-04 4.86081145e+01] [ 9.97063056e-01 -7.63993338e-02 -5.32960212e-03 3.29017489e+02] [ 5.33959331e-03 -7.34940908e-05 9.99985742e-01 7.64035096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.312755096 meters 0.02215145791050132 Centerline is valid? [True, True] Translation: X:48.60, Y:329.04, Z:7.64 [[-7.45004281e-02 -9.97220915e-01 3.65343025e-04 4.86018069e+01] [ 9.97204162e-01 -7.45012944e-02 -5.78071397e-03 3.29043678e+02] [ 5.79186740e-03 -6.63440806e-05 9.99983225e-01 7.63889998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.342755096 meters 0.019660583920824773 Centerline is valid? [True, True] Translation: X:48.60, Y:329.07, Z:7.64 [[-7.35152750e-02 -9.97294055e-01 2.70784777e-04 4.85971900e+01] [ 9.97284925e-01 -7.35157607e-02 -4.26748122e-03 3.29069831e+02] [ 4.27584060e-03 -4.36754795e-05 9.99990858e-01 7.64125605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.372755096 meters 0.01957759370372582 Centerline is valid? [True, True] Translation: X:48.59, Y:329.09, Z:7.64 [[-7.27367506e-02 -9.97351144e-01 2.48091859e-04 4.85924331e+01] [ 9.97343558e-01 -7.27371650e-02 -3.88997637e-03 3.29094902e+02] [ 3.89771788e-03 -3.55114236e-05 9.99992403e-01 7.64195516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.402755096 meters 0.01950716342966487 Centerline is valid? [True, True] Translation: X:48.59, Y:329.12, Z:7.64 [[-7.27932352e-02 -9.97347024e-01 2.42736426e-04 4.85891949e+01] [ 9.97339849e-01 -7.27936323e-02 -3.78312484e-03 3.29121085e+02] [ 3.79075797e-03 -3.32951862e-05 9.99992815e-01 7.64238717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.432755096 meters 0.019532121295880184 Centerline is valid? [True, True] Translation: X:48.59, Y:329.15, Z:7.64 [[-7.28171893e-02 -9.97345278e-01 2.31497462e-04 4.85861732e+01] [ 9.97338821e-01 -7.28175509e-02 -3.58881039e-03 3.29147368e+02] [ 3.59614018e-03 -3.04456792e-05 9.99993533e-01 7.64272230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.462755096 meters 0.020792788806108787 Centerline is valid? [True, True] Translation: X:48.58, Y:329.17, Z:7.64 [[-7.35803726e-02 -9.97289251e-01 2.79129677e-04 4.85834509e+01] [ 9.97279995e-01 -7.35808923e-02 -4.29690467e-03 3.29172796e+02] [ 4.30579545e-03 -3.77974036e-05 9.99990729e-01 7.64155867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.492755096 meters 0.020045423098683245 Centerline is valid? [True, True] Translation: X:48.58, Y:329.20, Z:7.64 [[-7.45460645e-02 -9.97217541e-01 2.46541782e-04 4.85809233e+01] [ 9.97210390e-01 -7.45464637e-02 -3.77671529e-03 3.29198175e+02] [ 3.78458555e-03 -3.56852346e-05 9.99992838e-01 7.64247672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.522755096 meters 0.021390149873798957 Centerline is valid? [True, True] Translation: X:48.58, Y:329.22, Z:7.64 [[-7.66936522e-02 -9.97054658e-01 3.04047222e-04 4.85790661e+01] [ 9.97043937e-01 -7.66942376e-02 -4.62407048e-03 3.29223224e+02] [ 4.63376968e-03 -5.14884147e-05 9.99989263e-01 7.64125884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.552755096 meters 0.023733949244590814 Centerline is valid? [True, True] Translation: X:48.58, Y:329.25, Z:7.64 [[-7.81588427e-02 -9.96940859e-01 3.46180631e-04 4.85777850e+01] [ 9.96927154e-01 -7.81595836e-02 -5.22764626e-03 3.29248816e+02] [ 5.23871149e-03 -6.34699103e-05 9.99986276e-01 7.63963884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.582755096 meters 0.02137660149588117 Centerline is valid? [True, True] Translation: X:48.58, Y:329.27, Z:7.64 [[-7.94166096e-02 -9.96841478e-01 2.65949884e-04 4.85755505e+01] [ 9.96833454e-01 -7.94170375e-02 -3.99990890e-03 3.29274546e+02] [ 4.00839605e-03 -5.25514619e-05 9.99991965e-01 7.64214913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.612755096 meters 0.025219940014157886 Centerline is valid? [True, True] Translation: X:48.58, Y:329.30, Z:7.64 [[-8.27417817e-02 -9.96570957e-01 3.54024940e-04 4.85767622e+01] [ 9.96556956e-01 -8.27424961e-02 -5.28333486e-03 3.29300298e+02] [ 5.29451099e-03 -8.43465235e-05 9.99985980e-01 7.63931424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.642755096 meters 0.02392027959546197 Centerline is valid? [True, True] Translation: X:48.58, Y:329.33, Z:7.64 [[-8.44526893e-02 -9.96427438e-01 3.21672803e-04 4.85760735e+01] [ 9.96415992e-01 -8.44532613e-02 -4.77682562e-03 3.29327036e+02] [ 4.78692643e-03 -8.28958444e-05 9.99988539e-01 7.64141707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6727550960001 meters 0.02391284599499799 Centerline is valid? [True, True] Translation: X:48.58, Y:329.35, Z:7.64 [[-8.59856459e-02 -9.96296331e-01 2.99124291e-04 4.85754405e+01] [ 9.96286525e-01 -8.59861270e-02 -4.42121238e-03 3.29353661e+02] [ 4.43055821e-03 -8.21473012e-05 9.99990182e-01 7.64264945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.702755096 meters 0.025337142444208573 Centerline is valid? [True, True] Translation: X:48.58, Y:329.38, Z:7.64 [[-8.87268454e-02 -9.96055945e-01 3.17500135e-04 4.85763685e+01] [ 9.96045018e-01 -8.87273596e-02 -4.66674995e-03 3.29379363e+02] [ 4.67651498e-03 -9.78215737e-05 9.99989060e-01 7.64300009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.732755096 meters 0.02746955878834736 Centerline is valid? [True, True] Translation: X:48.58, Y:329.40, Z:7.64 [[-8.99540778e-02 -9.95945842e-01 3.79589413e-04 4.85758362e+01] [ 9.95930377e-01 -8.99547969e-02 -5.55145114e-03 3.29404927e+02] [ 5.56309057e-03 -1.21331041e-04 9.99984519e-01 7.64140614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.762755096 meters 0.02862016731930794 Centerline is valid? [True, True] Translation: X:48.58, Y:329.43, Z:7.64 [[-9.15832734e-02 -9.95797350e-01 3.75915881e-04 4.85756685e+01] [ 9.95782344e-01 -9.15839575e-02 -5.46826515e-03 3.29430184e+02] [ 5.47971181e-03 -1.26471225e-04 9.99984978e-01 7.64155657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7927550960001 meters 0.02704713895288238 Centerline is valid? [True, True] Translation: X:48.57, Y:329.46, Z:7.64 [[-9.19575631e-02 -9.95762863e-01 3.56598433e-04 4.85734024e+01] [ 9.95749489e-01 -9.19581768e-02 -5.16227926e-03 3.29455561e+02] [ 5.17319812e-03 -1.19627914e-04 9.99986612e-01 7.64387260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.822755096 meters 0.02948274768880161 Centerline is valid? [True, True] Translation: X:48.57, Y:329.48, Z:7.64 [[-9.31443844e-02 -9.95652529e-01 4.06429482e-04 4.85727862e+01] [ 9.95635360e-01 -9.31451658e-02 -5.84878184e-03 3.29480708e+02] [ 5.86121137e-03 -1.40125621e-04 9.99982813e-01 7.64164035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.852755096 meters 0.028938173402709755 Centerline is valid? [True, True] Translation: X:48.57, Y:329.50, Z:7.64 [[-9.39556712e-02 -9.95576309e-01 3.81159643e-04 4.85713816e+01] [ 9.95561348e-01 -9.39563495e-02 -5.45949972e-03 3.29504780e+02] [ 5.47116095e-03 -1.33483152e-04 9.99985024e-01 7.64246701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.882755096 meters 0.031432845934005235 Centerline is valid? [True, True] Translation: X:48.57, Y:329.53, Z:7.64 [[-9.52034632e-02 -9.95457722e-01 4.74547142e-04 4.85710021e+01] [ 9.95434835e-01 -9.52044933e-02 -6.75237331e-03 3.29530406e+02] [ 6.76688117e-03 -1.70468568e-04 9.99977090e-01 7.63984400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9127550960001 meters 0.02945365857352688 Centerline is valid? [True, True] Translation: X:48.57, Y:329.55, Z:7.64 [[-9.55901323e-02 -9.95420686e-01 4.30889870e-04 4.85693117e+01] [ 9.95401991e-01 -9.55909787e-02 -6.10250622e-03 3.29554473e+02] [ 6.11575010e-03 -1.54430741e-04 9.99981287e-01 7.64219475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.942755096 meters 0.02412582020295383 Centerline is valid? [True, True] Translation: X:48.56, Y:329.58, Z:7.64 [[-9.61885819e-02 -9.95363034e-01 4.32668300e-04 4.85576203e+01] [ 9.95344381e-01 -9.61894290e-02 -6.09568081e-03 3.29581461e+02] [ 6.10903347e-03 -1.55680932e-04 9.99981328e-01 7.64245035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.972755096 meters 0.02442076567881494 Centerline is valid? [True, True] Translation: X:48.56, Y:329.61, Z:7.64 [[-9.71275319e-02 -9.95271853e-01 4.26273994e-04 4.85557458e+01] [ 9.95253924e-01 -9.71283418e-02 -5.97589599e-03 3.29608984e+02] [ 5.98904436e-03 -1.56173163e-04 9.99982053e-01 7.64258475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.002755096 meters 0.02987048173879594 Centerline is valid? [True, True] Translation: X:48.56, Y:329.64, Z:7.64 [[-9.89766335e-02 -9.95089646e-01 4.71483235e-04 4.85590995e+01] [ 9.95067938e-01 -9.89775898e-02 -6.57537540e-03 3.29635672e+02] [ 6.58975425e-03 -1.81650670e-04 9.99978271e-01 7.63963729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.032755096 meters 0.0251870621896995 Centerline is valid? [True, True] Translation: X:48.55, Y:329.66, Z:7.64 [[-9.88453668e-02 -9.95102736e-01 3.71083260e-04 4.85538296e+01] [ 9.95089367e-01 -9.88459631e-02 -5.16016288e-03 3.29661522e+02] [ 5.17157228e-03 -1.40797186e-04 9.99986617e-01 7.64321668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.062755096 meters 0.025377436357564516 Centerline is valid? [True, True] Translation: X:48.55, Y:329.69, Z:7.64 [[-9.95604411e-02 -9.95031456e-01 3.45961281e-04 4.85523504e+01] [ 9.95019951e-01 -9.95609543e-02 -4.78688370e-03 3.29688088e+02] [ 4.79754409e-03 -1.32345876e-04 9.99988483e-01 7.64396872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.092755096 meters 0.02568460102835502 Centerline is valid? [True, True] Translation: X:48.55, Y:329.71, Z:7.64 [[-9.93969873e-02 -9.95047807e-01 3.16246967e-04 4.85521905e+01] [ 9.95038284e-01 -9.93974202e-02 -4.35502513e-03 3.29713244e+02] [ 4.36489234e-03 -1.18198538e-04 9.99990467e-01 7.64468561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.122755096 meters 0.025794138157748395 Centerline is valid? [True, True] Translation: X:48.55, Y:329.74, Z:7.64 [[-9.98439459e-02 -9.95003053e-01 3.33464010e-04 4.85503246e+01] [ 9.94992590e-01 -9.98444258e-02 -4.56476942e-03 3.29739376e+02] [ 4.57525403e-03 -1.23970372e-04 9.99989526e-01 7.64461480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.152755096 meters 0.026182366467711403 Centerline is valid? [True, True] Translation: X:48.55, Y:329.77, Z:7.64 [[-9.99461287e-02 -9.94992780e-01 3.73717101e-04 4.85493536e+01] [ 9.94979790e-01 -9.99467342e-02 -5.08606355e-03 3.29765162e+02] [ 5.09794831e-03 -1.36491400e-04 9.99986996e-01 7.64395635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.182755096 meters 0.02855886298737476 Centerline is valid? [True, True] Translation: X:48.55, Y:329.79, Z:7.64 [[-1.01029993e-01 -9.94883279e-01 4.48971526e-04 4.85489854e+01] [ 9.94864764e-01 -1.01030853e-01 -6.07193655e-03 3.29791963e+02] [ 6.08622812e-03 -1.66781757e-04 9.99981465e-01 7.64171410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.212755096 meters 0.026426447901316586 Centerline is valid? [True, True] Translation: X:48.55, Y:329.82, Z:7.64 [[-1.00592616e-01 -9.94927607e-01 4.27151818e-04 4.85464870e+01] [ 9.94911007e-01 -1.00593406e-01 -5.74932435e-03 3.29818787e+02] [ 5.76313018e-03 -1.53361533e-04 9.99983381e-01 7.64394098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.242755096 meters 0.02662689940766007 Centerline is valid? [True, True] Translation: X:48.55, Y:329.84, Z:7.65 [[-1.00875635e-01 -9.94898966e-01 3.91614191e-04 4.85456818e+01] [ 9.94885133e-01 -1.00876298e-01 -5.24835665e-03 3.29844597e+02] [ 5.26108919e-03 -1.39820174e-04 9.99986151e-01 7.64521880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.272755096 meters 0.027408990754958312 Centerline is valid? [True, True] Translation: X:48.54, Y:329.87, Z:7.65 [[-1.00985967e-01 -9.94887774e-01 3.88812078e-04 4.85445203e+01] [ 9.94874276e-01 -1.00986623e-01 -5.18424718e-03 3.29870105e+02] [ 5.19700896e-03 -1.36717081e-04 9.99986486e-01 7.64512413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.302755096 meters 0.026886054834071468 Centerline is valid? [True, True] Translation: X:48.54, Y:329.90, Z:7.64 [[-1.00229762e-01 -9.94964213e-01 4.58826661e-04 4.85418458e+01] [ 9.94945635e-01 -1.00230695e-01 -6.08204959e-03 3.29896369e+02] [ 6.09741020e-03 -1.53094800e-04 9.99981399e-01 7.64428990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.332755096 meters 0.02590186483364723 Centerline is valid? [True, True] Translation: X:48.54, Y:329.92, Z:7.64 [[-1.00025968e-01 -9.94984710e-01 4.81949477e-04 4.85389849e+01] [ 9.94964421e-01 -1.00027007e-01 -6.35610016e-03 3.29922627e+02] [ 6.37243044e-03 -1.56252486e-04 9.99979684e-01 7.64454795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.362755096 meters 0.028245012262731378 Centerline is valid? [True, True] Translation: X:48.54, Y:329.95, Z:7.64 [[-1.00203423e-01 -9.94966842e-01 5.07172029e-04 4.85376717e+01] [ 9.94944602e-01 -1.00204576e-01 -6.65450937e-03 3.29949179e+02] [ 6.67183713e-03 -1.62196548e-04 9.99977730e-01 7.64315055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.392755096 meters 0.02484632857039039 Centerline is valid? [True, True] Translation: X:48.53, Y:329.98, Z:7.64 [[-9.74672374e-02 -9.95238647e-01 4.16643400e-04 4.85317656e+01] [ 9.95223759e-01 -9.74680589e-02 -5.44483873e-03 3.29976335e+02] [ 5.45952335e-03 -1.16039978e-04 9.99985090e-01 7.64476925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4227550960001 meters 0.02389090500393568 Centerline is valid? [True, True] Translation: X:48.53, Y:330.00, Z:7.64 [[-9.61383167e-02 -9.95367901e-01 4.06602361e-04 4.85283451e+01] [ 9.95353849e-01 -9.61391204e-02 -5.29009201e-03 3.30003414e+02] [ 5.30467817e-03 -1.03867316e-04 9.99985925e-01 7.64488739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.452755096 meters 0.022164748305218716 Centerline is valid? [True, True] Translation: X:48.53, Y:330.03, Z:7.64 [[-9.27102348e-02 -9.95692997e-01 5.17596737e-04 4.85252284e+01] [ 9.95670485e-01 -9.27116197e-02 -6.69633501e-03 3.30029109e+02] [ 6.71548111e-03 -1.05462997e-04 9.99977445e-01 7.64458567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.482755096 meters 0.021172286085678792 Centerline is valid? [True, True] Translation: X:48.52, Y:330.05, Z:7.64 [[-9.13774935e-02 -9.95816162e-01 5.70539326e-04 4.85215645e+01] [ 9.95789094e-01 -9.13792167e-02 -7.34294283e-03 3.30054891e+02] [ 7.36435658e-03 -1.02842872e-04 9.99972878e-01 7.64435639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.512755096 meters 0.021005425051220522 Centerline is valid? [True, True] Translation: X:48.52, Y:330.08, Z:7.64 [[-9.03550791e-02 -9.95909423e-01 6.16975909e-04 4.85199452e+01] [ 9.95878109e-01 -9.03571311e-02 -7.89811480e-03 3.30079936e+02] [ 7.92155513e-03 -9.92019858e-05 9.99968619e-01 7.64385597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5427550960001 meters 0.02083001347164698 Centerline is valid? [True, True] Translation: X:48.52, Y:330.11, Z:7.64 [[-8.96300689e-02 -9.95974938e-01 6.11946311e-04 4.85185434e+01] [ 9.95944442e-01 -8.96321135e-02 -7.79440051e-03 3.30105828e+02] [ 7.81787760e-03 -8.91481273e-05 9.99969436e-01 7.64366540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.572755096 meters 0.021694193991183382 Centerline is valid? [True, True] Translation: X:48.52, Y:330.13, Z:7.64 [[-8.85282621e-02 -9.96073434e-01 6.79154467e-04 4.85173992e+01] [ 9.96036252e-01 -8.85308259e-02 -8.60685997e-03 3.30132391e+02] [ 8.63319067e-03 -8.54878855e-05 9.99962730e-01 7.64273973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.602755096 meters 0.021731305433813054 Centerline is valid? [True, True] Translation: X:48.52, Y:330.16, Z:7.64 [[-8.85973983e-02 -9.96067266e-01 7.09339712e-04 4.85152838e+01] [ 9.96027102e-01 -8.86001962e-02 -8.94519897e-03 3.30158856e+02] [ 8.97286751e-03 -8.59997778e-05 9.99959739e-01 7.64279252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.632755096 meters 0.022618014177544478 Centerline is valid? [True, True] Translation: X:48.52, Y:330.18, Z:7.64 [[-8.85622318e-02 -9.96070359e-01 7.56293947e-04 4.85165159e+01] [ 9.96025126e-01 -8.85654179e-02 -9.49285692e-03 3.30184286e+02] [ 9.52253489e-03 -8.74208216e-05 9.99954656e-01 7.64183317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6627550960001 meters 0.01985285268860282 Centerline is valid? [True, True] Translation: X:48.51, Y:330.21, Z:7.64 [[-8.83412201e-02 -9.96089974e-01 7.69900652e-04 4.85142212e+01] [ 9.96043513e-01 -8.83445359e-02 -9.62101626e-03 3.30210070e+02] [ 9.65141435e-03 -8.30777655e-05 9.99953421e-01 7.64357786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.692755096 meters 0.021074050531676713 Centerline is valid? [True, True] Translation: X:48.51, Y:330.24, Z:7.64 [[-8.88656680e-02 -9.96043312e-01 7.83060055e-04 4.85126515e+01] [ 9.95995722e-01 -8.88690770e-02 -9.73702488e-03 3.30236333e+02] [ 9.76808833e-03 -8.53627559e-05 9.99952287e-01 7.64223699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.722755096 meters 0.020861553627065994 Centerline is valid? [True, True] Translation: X:48.51, Y:330.26, Z:7.64 [[-9.03379095e-02 -9.95910860e-01 7.88387431e-04 4.85143531e+01] [ 9.95863087e-01 -9.03412984e-02 -9.75509892e-03 3.30262022e+02] [ 9.78643289e-03 -9.61293022e-05 9.99952107e-01 7.64231031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.752755096 meters 0.022192093054052956 Centerline is valid? [True, True] Translation: X:48.51, Y:330.29, Z:7.64 [[-9.16015638e-02 -9.95795423e-01 7.93592785e-04 4.85144360e+01] [ 9.95747485e-01 -9.16049414e-02 -9.77143312e-03 3.30288484e+02] [ 9.80304540e-03 -1.04860535e-04 9.99951944e-01 7.64228043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.782755096 meters 0.023663934792573692 Centerline is valid? [True, True] Translation: X:48.52, Y:330.32, Z:7.64 [[-9.44379851e-02 -9.95530415e-01 8.12879432e-04 4.85163874e+01] [ 9.95480571e-01 -9.44413917e-02 -9.96278587e-03 3.30316376e+02] [ 9.99502581e-03 -1.31659742e-04 9.99950040e-01 7.64168263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.812755096 meters 0.021967384107207628 Centerline is valid? [True, True] Translation: X:48.52, Y:330.34, Z:7.64 [[-9.57705630e-02 -9.95403110e-01 8.05025756e-04 4.85160534e+01] [ 9.95354626e-01 -9.57738445e-02 -9.82541105e-03 3.30341374e+02] [ 9.85734513e-03 -1.39699037e-04 9.99951405e-01 7.64297679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.842755096 meters 0.023667941327857194 Centerline is valid? [True, True] Translation: X:48.52, Y:330.37, Z:7.64 [[-9.78908987e-02 -9.95196837e-01 7.92935948e-04 4.85174009e+01] [ 9.95150183e-01 -9.78939885e-02 -9.63744804e-03 3.30367493e+02] [ 9.66878147e-03 -1.54328096e-04 9.99953244e-01 7.64199348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.872755096 meters 0.021790469554860397 Centerline is valid? [True, True] Translation: X:48.52, Y:330.40, Z:7.64 [[-1.00788334e-01 -9.94907591e-01 7.73348688e-04 4.85171846e+01] [ 9.94863588e-01 -1.00791151e-01 -9.35870499e-03 3.30395095e+02] [ 9.38899334e-03 -1.73871838e-04 9.99955907e-01 7.64440155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.902755096 meters 0.0244945491027155 Centerline is valid? [True, True] Translation: X:48.52, Y:330.42, Z:7.64 [[-1.02461123e-01 -9.94736686e-01 8.01871385e-04 4.85178881e+01] [ 9.94689788e-01 -1.02464081e-01 -9.66112831e-03 3.30422652e+02] [ 9.69244177e-03 -1.92276780e-04 9.99953009e-01 7.64247389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.932755096 meters 0.022724885491520033 Centerline is valid? [True, True] Translation: X:48.52, Y:330.45, Z:7.64 [[-1.03594402e-01 -9.94619307e-01 7.95903275e-04 4.85183333e+01] [ 9.94573521e-01 -1.03597271e-01 -9.54556043e-03 3.30448474e+02] [ 9.57665211e-03 -1.97282299e-04 9.99954123e-01 7.64443263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.962755096 meters 0.022672691003336735 Centerline is valid? [True, True] Translation: X:48.52, Y:330.47, Z:7.64 [[-1.03831599e-01 -9.94594575e-01 7.94164606e-04 4.85169279e+01] [ 9.94549424e-01 -1.03834454e-01 -9.47895020e-03 3.30474489e+02] [ 9.51017410e-03 -1.94378601e-04 9.99954758e-01 7.64447954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.992755096 meters 0.02408720016732163 Centerline is valid? [True, True] Translation: X:48.51, Y:330.50, Z:7.64 [[-1.03923665e-01 -9.94584935e-01 8.23957634e-04 4.85143650e+01] [ 9.94536776e-01 -1.03926743e-01 -9.78943607e-03 3.30501264e+02] [ 9.82205687e-03 -1.97897909e-04 9.99951743e-01 7.64269502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.022755096 meters 0.02352790268953084 Centerline is valid? [True, True] Translation: X:48.51, Y:330.53, Z:7.64 [[-1.02805772e-01 -9.94701094e-01 8.41160555e-04 4.85134787e+01] [ 9.94651296e-01 -1.02809043e-01 -9.95490854e-03 3.30527985e+02] [ 9.98863733e-03 -1.86760617e-04 9.99950095e-01 7.64231817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.052755096 meters 0.022205849010269917 Centerline is valid? [True, True] Translation: X:48.51, Y:330.55, Z:7.64 [[-1.02617975e-01 -9.94720509e-01 8.12621363e-04 4.85118965e+01] [ 9.94674393e-01 -1.02621044e-01 -9.57985431e-03 3.30552928e+02] [ 9.61266961e-03 -1.74771594e-04 9.99953782e-01 7.64351827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.082755096 meters 0.021915637652927002 Centerline is valid? [True, True] Translation: X:48.51, Y:330.58, Z:7.64 [[-1.02170400e-01 -9.94766594e-01 7.96015774e-04 4.85113381e+01] [ 9.94722746e-01 -1.02173371e-01 -9.34135929e-03 3.30579484e+02] [ 9.37380378e-03 -1.62595418e-04 9.99956052e-01 7.64359466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.112755096 meters 0.021915637652927002 Centerline is valid? [True, True] Translation: X:48.51, Y:330.61, Z:7.64 [[-1.02544916e-01 -9.94728054e-01 7.99532802e-04 4.85088681e+01] [ 9.94684207e-01 -1.02547904e-01 -9.34105854e-03 3.30605317e+02] [ 9.37380339e-03 -1.62595411e-04 9.99956052e-01 7.64373427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.142755096 meters 0.023717006858409672 Centerline is valid? [True, True] Translation: X:48.51, Y:330.63, Z:7.64 [[-1.03042894e-01 -9.94676574e-01 8.21909819e-04 4.85086447e+01] [ 9.94630648e-01 -1.03046036e-01 -9.55970939e-03 3.30631444e+02] [ 9.59351353e-03 -1.67563428e-04 9.99953967e-01 7.64228362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1727550960001 meters 0.02250734281218099 Centerline is valid? [True, True] Translation: X:48.51, Y:330.66, Z:7.64 [[-1.03337740e-01 -9.94646017e-01 7.82548211e-04 4.85079020e+01] [ 9.94604741e-01 -1.03340582e-01 -9.06276489e-03 3.30656638e+02] [ 9.09511199e-03 -1.58199486e-04 9.99958626e-01 7.64353716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.202755096 meters 0.021616160166458682 Centerline is valid? [True, True] Translation: X:48.50, Y:330.68, Z:7.64 [[-1.03969845e-01 -9.94580143e-01 7.81423754e-04 4.85044863e+01] [ 9.94539353e-01 -1.03972659e-01 -9.00893459e-03 3.30682559e+02] [ 9.04135416e-03 -1.59500859e-04 9.99959113e-01 7.64427802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.232755096 meters 0.021445997668627866 Centerline is valid? [True, True] Translation: X:48.50, Y:330.71, Z:7.64 [[-1.03473635e-01 -9.94631946e-01 7.05772042e-04 4.85012161e+01] [ 9.94598957e-01 -1.03475952e-01 -8.10199213e-03 3.30707934e+02] [ 8.13153063e-03 -1.36382439e-04 9.99966929e-01 7.64491326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.262755096 meters 0.020929907674485545 Centerline is valid? [True, True] Translation: X:48.50, Y:330.73, Z:7.65 [[-1.02928780e-01 -9.94688513e-01 6.55202971e-04 4.84966301e+01] [ 9.94660331e-01 -1.02930796e-01 -7.48844160e-03 3.30733878e+02] [ 7.51610740e-03 -1.19071753e-04 9.99971747e-01 7.64558938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2927550960001 meters 0.02253013265602976 Centerline is valid? [True, True] Translation: X:48.49, Y:330.76, Z:7.65 [[-1.01234856e-01 -9.94862343e-01 6.50127486e-04 4.84936632e+01] [ 9.94834849e-01 -1.01236892e-01 -7.39692367e-03 3.30760099e+02] [ 7.42473770e-03 -1.02057025e-04 9.99972431e-01 7.64529653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.322755096 meters 0.021141828409545226 Centerline is valid? [True, True] Translation: X:48.49, Y:330.79, Z:7.65 [[-1.00655650e-01 -9.94921133e-01 6.16250395e-04 4.84907361e+01] [ 9.94896646e-01 -1.00657496e-01 -6.98085813e-03 3.30785468e+02] [ 7.00743350e-03 -8.95573586e-05 9.99975444e-01 7.64685620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.352755096 meters 0.021115872218646203 Centerline is valid? [True, True] Translation: X:48.49, Y:330.81, Z:7.65 [[-1.00887848e-01 -9.94897632e-01 5.86695713e-04 4.84880630e+01] [ 9.94875634e-01 -1.00889519e-01 -6.61654740e-03 3.30812205e+02] [ 6.64197878e-03 -8.38399566e-05 9.99977938e-01 7.64714792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.382755096 meters 0.02063083781866775 Centerline is valid? [True, True] Translation: X:48.49, Y:330.84, Z:7.65 [[-1.01800200e-01 -9.94804722e-01 5.32683600e-04 4.84864847e+01] [ 9.94786733e-01 -1.01801563e-01 -5.98310253e-03 3.30837652e+02] [ 6.00624668e-03 -7.91744584e-05 9.99981959e-01 7.64792541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4127550960001 meters 0.02195811264618003 Centerline is valid? [True, True] Translation: X:48.48, Y:330.86, Z:7.65 [[-1.03231744e-01 -9.94657172e-01 5.63969024e-04 4.84847350e+01] [ 9.94637196e-01 -1.03233245e-01 -6.30446931e-03 3.30864530e+02] [ 6.32900596e-03 -8.98767914e-05 9.99979968e-01 7.64688968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.442755096 meters 0.02149462691877966 Centerline is valid? [True, True] Translation: X:48.48, Y:330.89, Z:7.65 [[-1.05030579e-01 -9.94468860e-01 5.13488932e-04 4.84820559e+01] [ 9.94452427e-01 -1.05031796e-01 -5.71772804e-03 3.30890731e+02] [ 5.74003515e-03 -8.98959721e-05 9.99983522e-01 7.64701063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.472755096 meters 0.021813115792284565 Centerline is valid? [True, True] Translation: X:48.48, Y:330.92, Z:7.65 [[-1.06275144e-01 -9.94336629e-01 5.11906901e-04 4.84798646e+01] [ 9.94320426e-01 -1.06276335e-01 -5.67724642e-03 3.30916827e+02] [ 5.69949766e-03 -9.43506952e-05 9.99983753e-01 7.64675943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.502755096 meters 0.02490438466525563 Centerline is valid? [True, True] Translation: X:48.48, Y:330.94, Z:7.64 [[-1.08804515e-01 -9.94062982e-01 6.04897584e-04 4.84802952e+01] [ 9.94040565e-01 -1.08806124e-01 -6.67696367e-03 3.30942920e+02] [ 6.70313897e-03 -1.25191056e-04 9.99977526e-01 7.64428160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.532755096 meters 0.023973779513399986 Centerline is valid? [True, True] Translation: X:48.48, Y:330.97, Z:7.65 [[-1.09374359e-01 -9.94000463e-01 5.73992891e-04 4.84784954e+01] [ 9.93980430e-01 -1.09375800e-01 -6.31188306e-03 3.30968348e+02] [ 6.33679561e-03 -1.19820464e-04 9.99979915e-01 7.64572010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.562755096 meters 0.023135797624022743 Centerline is valid? [True, True] Translation: X:48.48, Y:330.99, Z:7.65 [[-1.09653456e-01 -9.93969735e-01 5.33788360e-04 4.84761221e+01] [ 9.93952546e-01 -1.09654700e-01 -5.84655588e-03 3.30994237e+02] [ 5.86983200e-03 -1.10534761e-04 9.99982766e-01 7.64685254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.592755096 meters 0.025822753980747043 Centerline is valid? [True, True] Translation: X:48.48, Y:331.02, Z:7.65 [[-1.10865931e-01 -9.93835228e-01 5.33629568e-04 4.84758041e+01] [ 9.93818186e-01 -1.10867155e-01 -5.82133853e-03 3.31019821e+02] [ 5.84461330e-03 -1.15057345e-04 9.99982914e-01 7.64619341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.622755096 meters 0.025709464031399006 Centerline is valid? [True, True] Translation: X:48.47, Y:331.05, Z:7.65 [[-1.10942042e-01 -9.93826760e-01 4.85311688e-04 4.84732031e+01] [ 9.93812769e-01 -1.10943055e-01 -5.27428940e-03 3.31045054e+02] [ 5.29557191e-03 -1.02831482e-04 9.99985973e-01 7.64696590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.652755096 meters 0.02327915128564734 Centerline is valid? [True, True] Translation: X:48.47, Y:331.07, Z:7.65 [[-1.09935378e-01 -9.93938660e-01 3.91606989e-04 4.84680905e+01] [ 9.93929610e-01 -1.09936048e-01 -4.24209991e-03 3.31070700e+02] [ 4.25943883e-03 -7.71270741e-05 9.99990926e-01 7.64812477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.682755096 meters 0.025166713492693855 Centerline is valid? [True, True] Translation: X:48.46, Y:331.10, Z:7.65 [[-1.10820370e-01 -9.93840333e-01 4.88144473e-04 4.84646645e+01] [ 9.93826420e-01 -1.10821402e-01 -5.25964454e-03 3.31097001e+02] [ 5.28134374e-03 -9.77448789e-05 9.99986049e-01 7.64607628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.712755096 meters 0.022703973506952295 Centerline is valid? [True, True] Translation: X:48.46, Y:331.12, Z:7.65 [[-1.10497582e-01 -9.93876325e-01 3.67986845e-04 4.84615715e+01] [ 9.93868461e-01 -1.10498172e-01 -3.95429572e-03 3.31123437e+02] [ 3.97074277e-03 -7.12095979e-05 9.99992114e-01 7.64789812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.742755096 meters 0.024258364154311377 Centerline is valid? [True, True] Translation: X:48.46, Y:331.15, Z:7.65 [[-1.11515429e-01 -9.93762606e-01 4.37303286e-04 4.84610923e+01] [ 9.93751610e-01 -1.11516253e-01 -4.67578208e-03 3.31148780e+02] [ 4.69538381e-03 -8.68510004e-05 9.99988973e-01 7.64717872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.772755096 meters 0.025749404668282593 Centerline is valid? [True, True] Translation: X:48.46, Y:331.17, Z:7.65 [[-1.12955265e-01 -9.93599975e-01 4.44701929e-04 4.84621247e+01] [ 9.93588672e-01 -1.12956101e-01 -4.74018744e-03 3.31174093e+02] [ 4.76008192e-03 -9.35783288e-05 9.99988666e-01 7.64742029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.802755096 meters 0.025345091272513755 Centerline is valid? [True, True] Translation: X:48.46, Y:331.20, Z:7.65 [[-1.13382019e-01 -9.93551365e-01 4.50403279e-04 4.84604868e+01] [ 9.93539867e-01 -1.13382874e-01 -4.78091406e-03 3.31200920e+02] [ 4.80115171e-03 -9.45760755e-05 9.99988470e-01 7.64781843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.832755096 meters 0.023587197130921462 Centerline is valid? [True, True] Translation: X:48.46, Y:331.23, Z:7.65 [[-1.13328797e-01 -9.93557472e-01 3.65515666e-04 4.84590142e+01] [ 9.93549939e-01 -1.13329361e-01 -3.86966372e-03 3.31225622e+02] [ 3.88615696e-03 -7.53862643e-05 9.99992446e-01 7.64917062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.862755096 meters 0.022725403613163987 Centerline is valid? [True, True] Translation: X:48.45, Y:331.25, Z:7.65 [[-1.13586163e-01 -9.93528082e-01 3.66339570e-04 4.84546988e+01] [ 9.93520583e-01 -1.13586730e-01 -3.86084394e-03 3.31251635e+02] [ 3.87746818e-03 -7.45725473e-05 9.99992480e-01 7.64883915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.892755096 meters 0.02446520337975938 Centerline is valid? [True, True] Translation: X:48.45, Y:331.28, Z:7.65 [[-1.14440898e-01 -9.93429963e-01 4.35127316e-04 4.84526721e+01] [ 9.93419485e-01 -1.14441690e-01 -4.56353642e-03 3.31278139e+02] [ 4.58335053e-03 -8.99912524e-05 9.99989492e-01 7.64745706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9227550960001 meters 0.023790857986515954 Centerline is valid? [True, True] Translation: X:48.45, Y:331.30, Z:7.65 [[-1.13747962e-01 -9.93509507e-01 5.10388816e-04 4.84502169e+01] [ 9.93495225e-01 -1.13749064e-01 -5.32814369e-03 3.31303268e+02] [ 5.35161766e-03 -9.89966341e-05 9.99985675e-01 7.64761751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.952755096 meters 0.023496088299031125 Centerline is valid? [True, True] Translation: X:48.45, Y:331.33, Z:7.65 [[-1.13388003e-01 -9.93550648e-01 5.20822763e-04 4.84488304e+01] [ 9.93535870e-01 -1.13389158e-01 -5.41978153e-03 3.31328919e+02] [ 5.44388310e-03 -9.70821090e-05 9.99985177e-01 7.64824087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.982755096 meters 0.02509244730647501 Centerline is valid? [True, True] Translation: X:48.45, Y:331.35, Z:7.65 [[-1.13924002e-01 -9.93489306e-01 5.67163440e-04 4.84463016e+01] [ 9.93471931e-01 -1.13925365e-01 -5.87651588e-03 3.31354483e+02] [ 5.90286998e-03 -1.06015252e-04 9.99982572e-01 7.64713565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.012755096 meters 0.02530308269869164 Centerline is valid? [True, True] Translation: X:48.44, Y:331.38, Z:7.65 [[-1.14233174e-01 -9.93453816e-01 5.45678796e-04 4.84419621e+01] [ 9.93437854e-01 -1.14234433e-01 -5.63252041e-03 3.31380682e+02] [ 5.65798420e-03 -1.01322714e-04 9.99983988e-01 7.64753221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0427550960001 meters 0.021839228102788384 Centerline is valid? [True, True] Translation: X:48.44, Y:331.41, Z:7.65 [[-1.13176597e-01 -9.93574776e-01 4.72066750e-04 4.84365862e+01] [ 9.93562906e-01 -1.13177553e-01 -4.85730724e-03 3.31407101e+02] [ 4.87952531e-03 -8.07054908e-05 9.99988092e-01 7.64993048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.072755096 meters 0.02231095801375605 Centerline is valid? [True, True] Translation: X:48.43, Y:331.43, Z:7.65 [[-1.13628606e-01 -9.93523173e-01 4.94340001e-04 4.84342913e+01] [ 9.93510262e-01 -1.13629650e-01 -5.06572034e-03 3.31432795e+02] [ 5.08908222e-03 -8.44788775e-05 9.99987047e-01 7.65057396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.102755096 meters 0.02540845833477003 Centerline is valid? [True, True] Translation: X:48.43, Y:331.46, Z:7.65 [[-1.14977983e-01 -9.93367903e-01 5.23320236e-04 4.84306968e+01] [ 9.93353555e-01 -1.14979135e-01 -5.33973872e-03 3.31458984e+02] [ 5.36449596e-03 -9.41103711e-05 9.99985607e-01 7.64832116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.132755096 meters 0.021999428258446804 Centerline is valid? [True, True] Translation: X:48.43, Y:331.49, Z:7.65 [[-1.14391984e-01 -9.93435599e-01 4.30045814e-04 4.84257669e+01] [ 9.93425968e-01 -1.14392769e-01 -4.37491298e-03 3.31485296e+02] [ 4.39538843e-03 -7.32362978e-05 9.99990338e-01 7.65079523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1627550960001 meters 0.021494468019080303 Centerline is valid? [True, True] Translation: X:48.42, Y:331.51, Z:7.65 [[-1.14634880e-01 -9.93407615e-01 3.93812884e-04 4.84196157e+01] [ 9.93399592e-01 -1.14635537e-01 -3.99304864e-03 3.31511368e+02] [ 4.01186987e-03 -6.65290908e-05 9.99991950e-01 7.65114537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.192755096 meters 0.023069398493966192 Centerline is valid? [True, True] Translation: X:48.42, Y:331.54, Z:7.65 [[-1.15848510e-01 -9.93266805e-01 4.20289975e-04 4.84178612e+01] [ 9.93257743e-01 -1.15849248e-01 -4.24364938e-03 3.31537205e+02] [ 4.26376633e-03 -7.41641837e-05 9.99990907e-01 7.65029366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.222755096 meters 0.024006345033292326 Centerline is valid? [True, True] Translation: X:48.42, Y:331.56, Z:7.65 [[-1.17893036e-01 -9.93026215e-01 4.09684619e-04 4.84150177e+01] [ 9.93017672e-01 -1.17893722e-01 -4.11984158e-03 3.31563877e+02] [ 4.13940993e-03 -7.88765656e-05 9.99991430e-01 7.64965483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.252755096 meters 0.022687661228233284 Centerline is valid? [True, True] Translation: X:48.41, Y:331.59, Z:7.65 [[-1.18791978e-01 -9.92919094e-01 3.72769738e-04 4.84121880e+01] [ 9.92912064e-01 -1.18792540e-01 -3.73714878e-03 3.31590311e+02] [ 3.75496864e-03 -7.38157266e-05 9.99992947e-01 7.65091872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.282755096 meters 0.024278554561563824 Centerline is valid? [True, True] Translation: X:48.41, Y:331.62, Z:7.65 [[-1.20555925e-01 -9.92706459e-01 3.94485311e-04 4.84105002e+01] [ 9.92698651e-01 -1.20556541e-01 -3.93817752e-03 3.31617546e+02] [ 3.95701205e-03 -8.31655967e-05 9.99992168e-01 7.65023934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.312755096 meters 0.025183676635870164 Centerline is valid? [True, True] Translation: X:48.41, Y:331.64, Z:7.65 [[-1.22476130e-01 -9.92471389e-01 3.74014425e-04 4.84098416e+01] [ 9.92464411e-01 -1.22476672e-01 -3.72250573e-03 3.31643548e+02] [ 3.74028847e-03 -8.47220902e-05 9.99993002e-01 7.65114637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.342755096 meters 0.025536964234165217 Centerline is valid? [True, True] Translation: X:48.41, Y:331.67, Z:7.65 [[-1.23392064e-01 -9.92357937e-01 3.52213597e-04 4.84066691e+01] [ 9.92351786e-01 -1.23392539e-01 -3.49502348e-03 3.31668635e+02] [ 3.51177482e-03 -8.17383670e-05 9.99993830e-01 7.65096008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.372755096 meters 0.024499266244898527 Centerline is valid? [True, True] Translation: X:48.40, Y:331.69, Z:7.65 [[-1.24252529e-01 -9.92250566e-01 3.52112604e-04 4.84008680e+01] [ 9.92244465e-01 -1.24253000e-01 -3.48041518e-03 3.31694456e+02] [ 3.49719498e-03 -8.30686061e-05 9.99993881e-01 7.65043066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.402755096 meters 0.023996308547379646 Centerline is valid? [True, True] Translation: X:48.40, Y:331.72, Z:7.65 [[-1.24812936e-01 -9.92180229e-01 3.53107382e-04 4.83960894e+01] [ 9.92174138e-01 -1.24813408e-01 -3.47752069e-03 3.31720690e+02] [ 3.49439981e-03 -8.36955558e-05 9.99993891e-01 7.65025752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.432755096 meters 0.026828253612991564 Centerline is valid? [True, True] Translation: X:48.40, Y:331.75, Z:7.65 [[-1.25737238e-01 -9.92063534e-01 3.01034349e-04 4.83982966e+01] [ 9.92059131e-01 -1.25737578e-01 -2.95685568e-03 3.31746710e+02] [ 2.97124002e-03 -7.31429925e-05 9.99995583e-01 7.65104461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.462755096 meters 0.02760573329475945 Centerline is valid? [True, True] Translation: X:48.40, Y:331.77, Z:7.65 [[-1.26894864e-01 -9.91916106e-01 3.64214591e-04 4.83959008e+01] [ 9.91909728e-01 -1.26895354e-01 -3.55823401e-03 3.31772018e+02] [ 3.57568676e-03 -9.02536248e-05 9.99993603e-01 7.65098774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.492755096 meters 0.026097615042580388 Centerline is valid? [True, True] Translation: X:48.39, Y:331.80, Z:7.65 [[-1.27487386e-01 -9.91840118e-01 3.83399407e-04 4.83898976e+01] [ 9.91833100e-01 -1.27487927e-01 -3.73224251e-03 3.31796810e+02] [ 3.75066665e-03 -9.55456196e-05 9.99992962e-01 7.65052276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.522755096 meters 0.026144171455174156 Centerline is valid? [True, True] Translation: X:48.39, Y:331.82, Z:7.65 [[-1.28038912e-01 -9.91769073e-01 3.79063631e-04 4.83866846e+01] [ 9.91762264e-01 -1.28039438e-01 -3.67611553e-03 3.31822718e+02] [ 3.69439279e-03 -9.47448285e-05 9.99993171e-01 7.65021742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.552755096 meters 0.023467318479664805 Centerline is valid? [True, True] Translation: X:48.38, Y:331.85, Z:7.65 [[-1.28111968e-01 -9.91759612e-01 4.43196162e-04 4.83776013e+01] [ 9.91750392e-01 -1.28112688e-01 -4.27778288e-03 3.31848887e+02] [ 4.29931134e-03 -1.08495216e-04 9.99990752e-01 7.64956499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.582755096 meters 0.025302160575028265 Centerline is valid? [True, True] Translation: X:48.38, Y:331.88, Z:7.65 [[-1.28726856e-01 -9.91680001e-01 4.15748775e-04 4.83772487e+01] [ 9.91671938e-01 -1.28727486e-01 -4.00022981e-03 3.31875136e+02] [ 4.02046619e-03 -1.02650612e-04 9.99991913e-01 7.64956773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.612755096 meters 0.024879867371181908 Centerline is valid? [True, True] Translation: X:48.37, Y:331.90, Z:7.65 [[-1.29345714e-01 -9.91599495e-01 3.57753907e-04 4.83728147e+01] [ 9.91593558e-01 -1.29346178e-01 -3.43241287e-03 3.31901223e+02] [ 3.44985297e-03 -8.92214227e-05 9.99994045e-01 7.64981950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.642755096 meters 0.02620285578385453 Centerline is valid? [True, True] Translation: X:48.37, Y:331.93, Z:7.65 [[-1.30735638e-01 -9.91417208e-01 3.35119309e-04 4.83687781e+01] [ 9.91412034e-01 -1.30736039e-01 -3.20434173e-03 3.31928108e+02] [ 3.22065171e-03 -8.66803445e-05 9.99994810e-01 7.64887076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6727550960001 meters 0.027488263396186898 Centerline is valid? [True, True] Translation: X:48.37, Y:331.95, Z:7.65 [[-1.30456120e-01 -9.91454030e-01 3.28113434e-04 4.83715820e+01] [ 9.91449098e-01 -1.30456506e-01 -3.12829588e-03 3.31953536e+02] [ 3.14436608e-03 -8.27975733e-05 9.99995053e-01 7.65157241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.702755096 meters 0.02410738791354106 Centerline is valid? [True, True] Translation: X:48.36, Y:331.98, Z:7.65 [[-1.30089180e-01 -9.91502218e-01 3.95531437e-04 4.83618742e+01] [ 9.91495125e-01 -1.30089746e-01 -3.75168575e-03 3.31979236e+02] [ 3.77125933e-03 -9.58862334e-05 9.99992884e-01 7.65090792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.732755096 meters 0.023644196294076807 Centerline is valid? [True, True] Translation: X:48.36, Y:332.01, Z:7.65 [[-1.29932975e-01 -9.91522703e-01 3.88687926e-04 4.83572128e+01] [ 9.91515902e-01 -1.29933523e-01 -3.67364702e-03 3.32005752e+02] [ 3.69300802e-03 -9.19376257e-05 9.99993177e-01 7.65149795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.762755096 meters 0.023330589507971823 Centerline is valid? [True, True] Translation: X:48.35, Y:332.03, Z:7.65 [[-1.29672324e-01 -9.91556822e-01 3.95866721e-04 4.83526211e+01] [ 9.91549821e-01 -1.29672897e-01 -3.72723948e-03 3.32031491e+02] [ 3.74710291e-03 -9.07982302e-05 9.99992976e-01 7.65166241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7927550960001 meters 0.023103510553165462 Centerline is valid? [True, True] Translation: X:48.35, Y:332.06, Z:7.65 [[-1.29231704e-01 -9.91614348e-01 3.88580263e-04 4.83483470e+01] [ 9.91607651e-01 -1.29232260e-01 -3.64540377e-03 3.32057531e+02] [ 3.66505178e-03 -8.57825799e-05 9.99993280e-01 7.65125462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.822755096 meters 0.02231898855232744 Centerline is valid? [True, True] Translation: X:48.34, Y:332.08, Z:7.65 [[-1.27906937e-01 -9.91786038e-01 5.20541323e-04 4.83419677e+01] [ 9.91774143e-01 -1.27907953e-01 -4.85850399e-03 3.32084002e+02] [ 4.88517780e-03 -1.05176937e-04 9.99988062e-01 7.65037707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.852755096 meters 0.022298317819354086 Centerline is valid? [True, True] Translation: X:48.34, Y:332.11, Z:7.65 [[-1.27276593e-01 -9.91867115e-01 5.43605815e-04 4.83386064e+01] [ 9.91854233e-01 -1.27277711e-01 -5.05615998e-03 3.32108957e+02] [ 5.08422771e-03 -1.04353086e-04 9.99987070e-01 7.65034428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.882755096 meters 0.021518210030837006 Centerline is valid? [True, True] Translation: X:48.33, Y:332.14, Z:7.65 [[-1.25333670e-01 -9.92114453e-01 6.19797254e-04 4.83329281e+01] [ 9.92097854e-01 -1.25335159e-01 -5.73989056e-03 3.32136141e+02] [ 5.77231077e-03 -1.04502027e-04 9.99983335e-01 7.65035327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9127550960001 meters 0.021643758894634237 Centerline is valid? [True, True] Translation: X:48.33, Y:332.16, Z:7.65 [[-1.24860281e-01 -9.92174144e-01 6.14471263e-04 4.83296019e+01] [ 9.92157937e-01 -1.24861754e-01 -5.67194841e-03 3.32161737e+02] [ 5.70428452e-03 -9.85485316e-05 9.99983726e-01 7.65005486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.942755096 meters 0.021072876316290658 Centerline is valid? [True, True] Translation: X:48.32, Y:332.19, Z:7.65 [[-1.24475526e-01 -9.92222437e-01 6.91870441e-04 4.83246974e+01] [ 9.92202060e-01 -1.24477404e-01 -6.35992192e-03 3.32188172e+02] [ 6.39657946e-03 -1.05179350e-04 9.99979536e-01 7.64977427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.972755096 meters 0.020807638286175555 Centerline is valid? [True, True] Translation: X:48.32, Y:332.21, Z:7.65 [[-1.24667706e-01 -9.92198302e-01 7.02064102e-04 4.83205710e+01] [ 9.92177472e-01 -1.24669639e-01 -6.43006779e-03 3.32214412e+02] [ 6.46742842e-03 -1.05049615e-04 9.99979080e-01 7.65029755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.002755096 meters 0.020807638286175555 Centerline is valid? [True, True] Translation: X:48.32, Y:332.24, Z:7.65 [[-1.25059283e-01 -9.92149021e-01 7.04602449e-04 4.83175013e+01] [ 9.92128191e-01 -1.25061224e-01 -6.42978971e-03 3.32240181e+02] [ 6.46742801e-03 -1.05048939e-04 9.99979080e-01 7.65043716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.032755096 meters 0.02094188929230345 Centerline is valid? [True, True] Translation: X:48.31, Y:332.27, Z:7.65 [[-1.25717808e-01 -9.92065799e-01 6.95480601e-04 4.83149370e+01] [ 9.92045649e-01 -1.25719688e-01 -6.32384966e-03 3.32266111e+02] [ 6.36111057e-03 -1.05072016e-04 9.99979762e-01 7.65088537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.062755096 meters 0.02184388588308209 Centerline is valid? [True, True] Translation: X:48.31, Y:332.29, Z:7.65 [[-1.26482269e-01 -9.91968615e-01 7.08960020e-04 4.83143598e+01] [ 9.91947827e-01 -1.26484209e-01 -6.42282089e-03 3.32291422e+02] [ 6.46090899e-03 -1.09121607e-04 9.99979122e-01 7.65126406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.092755096 meters 0.021387082768618622 Centerline is valid? [True, True] Translation: X:48.31, Y:332.32, Z:7.65 [[-1.27825915e-01 -9.91796391e-01 6.73863381e-04 4.83103232e+01] [ 9.91777740e-01 -1.27827644e-01 -6.08335119e-03 3.32317694e+02] [ 6.11958412e-03 -1.09287228e-04 9.99981269e-01 7.65199668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.122755096 meters 0.0225435843412523 Centerline is valid? [True, True] Translation: X:48.31, Y:332.34, Z:7.65 [[-1.28996470e-01 -9.91644860e-01 6.18966763e-04 4.83081178e+01] [ 9.91629223e-01 -1.28997913e-01 -5.56987773e-03 3.32343887e+02] [ 5.60318604e-03 -1.04709036e-04 9.99984297e-01 7.65136489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.152755096 meters 0.02203142790310672 Centerline is valid? [True, True] Translation: X:48.31, Y:332.37, Z:7.65 [[-1.30251752e-01 -9.91480774e-01 5.97152159e-04 4.83057893e+01] [ 9.91466314e-01 -1.30253078e-01 -5.35570453e-03 3.32368896e+02] [ 5.38785897e-03 -1.05533649e-04 9.99985480e-01 7.65215601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.182755096 meters 0.022257383519492618 Centerline is valid? [True, True] Translation: X:48.30, Y:332.39, Z:7.65 [[-1.31158320e-01 -9.91361271e-01 5.70777944e-04 4.83032304e+01] [ 9.91348149e-01 -1.31159521e-01 -5.10169368e-03 3.32394014e+02] [ 5.13248449e-03 -1.03289911e-04 9.99986823e-01 7.65231058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.212755096 meters 0.022422088009856588 Centerline is valid? [True, True] Translation: X:48.30, Y:332.42, Z:7.65 [[-1.32203847e-01 -9.91222396e-01 5.51130739e-04 4.83002441e+01] [ 9.91210244e-01 -1.32204956e-01 -4.90930853e-03 3.32420692e+02] [ 4.93907878e-03 -1.02743039e-04 9.99987797e-01 7.65242609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.242755096 meters 0.02315612025228917 Centerline is valid? [True, True] Translation: X:48.30, Y:332.45, Z:7.65 [[-1.34175290e-01 -9.90957513e-01 4.46844135e-04 4.82990819e+01] [ 9.90949565e-01 -1.34176004e-01 -3.96991364e-03 3.32447683e+02] [ 3.99397151e-03 -8.98643124e-05 9.99992020e-01 7.65207445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.272755096 meters 0.022781108174885458 Centerline is valid? [True, True] Translation: X:48.30, Y:332.47, Z:7.65 [[-1.35181451e-01 -9.90820755e-01 4.55111038e-04 4.82961006e+01] [ 9.90812557e-01 -1.35182185e-01 -4.03154313e-03 3.32473668e+02] [ 4.05605951e-03 -9.40601194e-05 9.99991770e-01 7.65214129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.302755096 meters 0.02449693127582374 Centerline is valid? [True, True] Translation: X:48.30, Y:332.50, Z:7.65 [[-1.37209259e-01 -9.90542019e-01 3.57713898e-04 4.82970557e+01] [ 9.90536977e-01 -1.37209702e-01 -3.16143016e-03 3.32499932e+02] [ 3.18061123e-03 -7.94486464e-05 9.99994939e-01 7.65256851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.332755096 meters 0.025407458663251142 Centerline is valid? [True, True] Translation: X:48.30, Y:332.53, Z:7.65 [[-1.38669079e-01 -9.90338701e-01 3.78637783e-04 4.82958809e+01] [ 9.90333090e-01 -1.38669569e-01 -3.33495972e-03 3.32525467e+02] [ 3.35524522e-03 -8.74782690e-05 9.99994367e-01 7.65225213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.362755096 meters 0.025965885162885442 Centerline is valid? [True, True] Translation: X:48.29, Y:332.55, Z:7.65 [[-1.39741963e-01 -9.90187903e-01 3.18206752e-04 4.82938835e+01] [ 9.90183959e-01 -1.39742305e-01 -2.79562937e-03 3.32552315e+02] [ 2.81266532e-03 -7.55835146e-05 9.99996042e-01 7.65228922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.392755096 meters 0.025988148225567317 Centerline is valid? [True, True] Translation: X:48.29, Y:332.58, Z:7.65 [[-1.41381722e-01 -9.89955121e-01 2.61454711e-04 4.82906401e+01] [ 9.89952467e-01 -1.41381948e-01 -2.29301142e-03 3.32578802e+02] [ 2.30694337e-03 -6.53621655e-05 9.99997337e-01 7.65178881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4227550960001 meters 0.025001498936566873 Centerline is valid? [True, True] Translation: X:48.29, Y:332.61, Z:7.65 [[-1.41941852e-01 -9.89874957e-01 2.83417156e-04 4.82857218e+01] [ 9.89871862e-01 -1.41942117e-01 -2.47652560e-03 3.32605354e+02] [ 2.49167950e-03 -7.09759622e-05 9.99996893e-01 7.65132297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.452755096 meters 0.02552439703596435 Centerline is valid? [True, True] Translation: X:48.28, Y:332.63, Z:7.65 [[-1.42357554e-01 -9.89815236e-01 3.55537687e-04 4.82835851e+01] [ 9.89810409e-01 -1.42357971e-01 -3.09218518e-03 3.32630968e+02] [ 3.11130562e-03 -8.82810149e-05 9.99995156e-01 7.65012566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.482755096 meters 0.025479938955702972 Centerline is valid? [True, True] Translation: X:48.28, Y:332.66, Z:7.65 [[-1.42429948e-01 -9.89804805e-01 3.96707943e-04 4.82805244e+01] [ 9.89798847e-01 -1.42430468e-01 -3.43581264e-03 3.32657041e+02] [ 3.45728716e-03 -9.67015518e-05 9.99994019e-01 7.64979454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.512755096 meters 0.02469742526872209 Centerline is valid? [True, True] Translation: X:48.28, Y:332.68, Z:7.65 [[-1.42826144e-01 -9.89747710e-01 4.04671948e-04 4.82761265e+01] [ 9.89741550e-01 -1.42826683e-01 -3.49331298e-03 3.32682928e+02] [ 3.51529648e-03 -9.84157803e-05 9.99993817e-01 7.64948753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5427550960001 meters 0.025317503850124226 Centerline is valid? [True, True] Translation: X:48.27, Y:332.71, Z:7.65 [[-1.43068048e-01 -9.89712738e-01 4.79487222e-04 4.82736545e+01] [ 9.89704159e-01 -1.43068805e-01 -4.12247229e-03 3.32708022e+02] [ 4.14866300e-03 -1.15243566e-04 9.99991388e-01 7.64875685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.572755096 meters 0.024483542958451607 Centerline is valid? [True, True] Translation: X:48.27, Y:332.73, Z:7.65 [[-1.43607750e-01 -9.89634566e-01 4.90802738e-04 4.82686953e+01] [ 9.89625640e-01 -1.43608540e-01 -4.20481313e-03 3.32733878e+02] [ 4.23171188e-03 -1.18132779e-04 9.99991039e-01 7.64799762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.602755096 meters 0.025168163229725614 Centerline is valid? [True, True] Translation: X:48.27, Y:332.76, Z:7.65 [[-1.43629309e-01 -9.89631457e-01 4.49094250e-04 4.82664314e+01] [ 9.89624026e-01 -1.43629971e-01 -3.83659469e-03 3.32758838e+02] [ 3.86131819e-03 -1.06612985e-04 9.99992539e-01 7.64790012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.632755096 meters 0.024945840353626854 Centerline is valid? [True, True] Translation: X:48.26, Y:332.78, Z:7.65 [[-1.44434884e-01 -9.89514219e-01 4.17289763e-04 4.82623602e+01] [ 9.89507843e-01 -1.44435452e-01 -3.55373611e-03 3.32784776e+02] [ 3.57674385e-03 -1.00371971e-04 9.99993598e-01 7.64799994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6627550960001 meters 0.024909882414671233 Centerline is valid? [True, True] Translation: X:48.26, Y:332.81, Z:7.65 [[-1.44619498e-01 -9.89487264e-01 3.95375283e-04 4.82592016e+01] [ 9.89481573e-01 -1.44620008e-01 -3.35721060e-03 3.32810763e+02] [ 3.37909631e-03 -9.43015550e-05 9.99994286e-01 7.64818545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.692755096 meters 0.025259902253029726 Centerline is valid? [True, True] Translation: X:48.26, Y:332.84, Z:7.65 [[-1.45277944e-01 -9.89390838e-01 2.99109549e-04 4.82569848e+01] [ 9.89387595e-01 -1.45278234e-01 -2.53404020e-03 3.32836007e+02] [ 2.55061026e-03 -7.22048720e-05 9.99996745e-01 7.64937731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.722755096 meters 0.024641808717933266 Centerline is valid? [True, True] Translation: X:48.25, Y:332.86, Z:7.65 [[-1.45569789e-01 -9.89347947e-01 2.76985974e-04 4.82525408e+01] [ 9.89345173e-01 -1.45570037e-01 -2.34376295e-03 3.32862185e+02] [ 2.35911792e-03 -6.71463428e-05 9.99997215e-01 7.64964305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.752755096 meters 0.023734255312967797 Centerline is valid? [True, True] Translation: X:48.25, Y:332.89, Z:7.65 [[-1.45521124e-01 -9.89355118e-01 2.31453468e-04 4.82460776e+01] [ 9.89353187e-01 -1.45521297e-01 -1.95526629e-03 3.32888158e+02] [ 1.96813412e-03 -5.55433205e-05 9.99998062e-01 7.64909290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.782755096 meters 0.02463908535455368 Centerline is valid? [True, True] Translation: X:48.24, Y:332.91, Z:7.65 [[-1.45510484e-01 -9.89356690e-01 1.97754858e-04 4.82434788e+01] [ 9.89355290e-01 -1.45510611e-01 -1.66525226e-03 3.32913398e+02] [ 1.67630390e-03 -4.66618481e-05 9.99998594e-01 7.64877098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.812755096 meters 0.02376431765349693 Centerline is valid? [True, True] Translation: X:48.24, Y:332.94, Z:7.65 [[-1.45376630e-01 -9.89376358e-01 2.40305251e-04 4.82381874e+01] [ 9.89374303e-01 -1.45376818e-01 -2.01747294e-03 3.32939273e+02] [ 2.03097484e-03 -5.55415762e-05 9.99997936e-01 7.64841709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.842755096 meters 0.02340295743825267 Centerline is valid? [True, True] Translation: X:48.23, Y:332.96, Z:7.65 [[-1.44406075e-01 -9.89518500e-01 1.51258190e-04 4.82337331e+01] [ 9.89517683e-01 -1.44406150e-01 -1.27268469e-03 3.32964547e+02] [ 1.28118766e-03 -3.41107472e-05 9.99999179e-01 7.64864408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.872755096 meters 0.023197165081507258 Centerline is valid? [True, True] Translation: X:48.23, Y:332.99, Z:7.65 [[-1.44700192e-01 -9.89475536e-01 1.32894610e-04 4.82295192e+01] [ 9.89474907e-01 -1.44700250e-01 -1.11595788e-03 3.32990970e+02] [ 1.12344291e-03 -2.99834381e-05 9.99999369e-01 7.64861988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.902755096 meters 0.02345958858621787 Centerline is valid? [True, True] Translation: X:48.23, Y:333.02, Z:7.65 [[-1.44103386e-01 -9.89562634e-01 8.50704498e-05 4.82263953e+01] [ 9.89562376e-01 -1.44103410e-01 -7.15165575e-04 3.33015927e+02] [ 7.19960072e-04 -1.88752642e-05 9.99999741e-01 7.64836660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.932755096 meters 0.024789327576947313 Centerline is valid? [True, True] Translation: X:48.22, Y:333.04, Z:7.65 [[-1.44242393e-01 -9.89542379e-01 1.08370254e-04 4.82232404e+01] [ 9.89541963e-01 -1.44242432e-01 -9.07629492e-04 3.33042132e+02] [ 9.13769436e-04 -2.36817357e-05 9.99999582e-01 7.64726934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.962755096 meters 0.02200550423166513 Centerline is valid? [True, True] Translation: X:48.22, Y:333.07, Z:7.65 [[-1.44060401e-01 -9.89568896e-01 1.76797972e-05 4.82169166e+01] [ 9.89568883e-01 -1.44060402e-01 -1.61906145e-04 3.33068217e+02] [ 1.62764244e-04 -5.82888696e-06 9.99999987e-01 7.64852352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.992755096 meters 0.022552331116943162 Centerline is valid? [True, True] Translation: X:48.21, Y:333.09, Z:7.65 [[-1.43894887e-01 -9.89592978e-01 -2.29491130e-05 4.82142699e+01] [ 9.89592963e-01 -1.43894889e-01 1.69998193e-04 3.33093767e+02] [-1.71531278e-04 1.75159000e-06 9.99999985e-01 7.64925071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.022755096 meters 0.02081313814366811 Centerline is valid? [True, True] Translation: X:48.21, Y:333.12, Z:7.65 [[-1.42058016e-01 -9.89858333e-01 -3.53017160e-05 4.82070587e+01] [ 9.89858295e-01 -1.42058020e-01 2.72616446e-04 3.33120542e+02] [-2.74866553e-04 3.78365498e-06 9.99999962e-01 7.64880720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.052755096 meters 0.020193504651247196 Centerline is valid? [True, True] Translation: X:48.20, Y:333.15, Z:7.65 [[-1.40849328e-01 -9.90031043e-01 2.88016054e-05 4.82019603e+01] [ 9.90031012e-01 -1.40849331e-01 -2.49481567e-04 3.33147230e+02] [ 2.51051183e-04 -6.62482852e-06 9.99999969e-01 7.64799957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.082755096 meters 0.018961991438010497 Centerline is valid? [True, True] Translation: X:48.20, Y:333.17, Z:7.65 [[-1.38004097e-01 -9.90431651e-01 1.21168783e-04 4.81955322e+01] [ 9.90431149e-01 -1.38004149e-01 -9.97478492e-04 3.33173278e+02] [ 1.00465606e-03 -1.76467815e-05 9.99999495e-01 7.64679404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.112755096 meters 0.018530429822407726 Centerline is valid? [True, True] Translation: X:48.19, Y:333.20, Z:7.65 [[-1.37123148e-01 -9.90554005e-01 7.62379701e-05 4.81912388e+01] [ 9.90553803e-01 -1.37123169e-01 -6.32184609e-04 3.33199031e+02] [ 6.36666988e-04 -1.11693325e-05 9.99999797e-01 7.64694780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.142755096 meters 0.018137079696130008 Centerline is valid? [True, True] Translation: X:48.19, Y:333.23, Z:7.65 [[-1.36354452e-01 -9.90660115e-01 1.30316360e-05 4.81873334e+01] [ 9.90660108e-01 -1.36354453e-01 -1.21094911e-04 3.33225586e+02] [ 1.21740819e-04 -3.60190825e-06 9.99999993e-01 7.64736064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1727550960001 meters 0.01775869003306464 Centerline is valid? [True, True] Translation: X:48.18, Y:333.25, Z:7.65 [[-1.35538292e-01 -9.90772108e-01 -2.95348153e-05 4.81835723e+01] [ 9.90772083e-01 -1.35538295e-01 2.24528369e-04 3.33250785e+02] [-2.26459544e-04 1.16992125e-06 9.99999974e-01 7.64759859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.202755096 meters 0.017637038117985202 Centerline is valid? [True, True] Translation: X:48.18, Y:333.28, Z:7.65 [[-1.35566670e-01 -9.90768226e-01 -7.35991182e-07 4.81799989e+01] [ 9.90768226e-01 -1.35566670e-01 -9.90862709e-06 3.33276728e+02] [ 9.71737687e-06 -2.07247625e-06 1.00000000e+00 7.64752112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.232755096 meters 0.01755856519666812 Centerline is valid? [True, True] Translation: X:48.18, Y:333.30, Z:7.65 [[-1.35609337e-01 -9.90762387e-01 -7.40070855e-06 4.81766123e+01] [ 9.90762386e-01 -1.35609337e-01 4.26619634e-05 3.33302611e+02] [-4.32714740e-05 -1.54698307e-06 9.99999999e-01 7.64761100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.262755096 meters 0.01712505589213899 Centerline is valid? [True, True] Translation: X:48.17, Y:333.33, Z:7.65 [[-1.34949510e-01 -9.90852476e-01 3.49634325e-05 4.81732924e+01] [ 9.90852432e-01 -1.34949514e-01 -2.96145502e-04 3.33327294e+02] [ 2.98154802e-04 -5.32108807e-06 9.99999956e-01 7.64818992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2927550960001 meters 0.01693938226293304 Centerline is valid? [True, True] Translation: X:48.17, Y:333.35, Z:7.65 [[-1.34778072e-01 -9.90875810e-01 7.08628209e-06 4.81695303e+01] [ 9.90875808e-01 -1.34778073e-01 -7.31752300e-05 3.33352263e+02] [ 7.34626406e-05 -2.84079095e-06 9.99999997e-01 7.64824359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.322755096 meters 0.016474167465727267 Centerline is valid? [True, True] Translation: X:48.17, Y:333.38, Z:7.65 [[-1.34007504e-01 -9.90980304e-01 1.61115597e-04 4.81659267e+01] [ 9.90979462e-01 -1.34007600e-01 -1.29184000e-03 3.33376825e+02] [ 1.30177871e-03 -1.34540053e-05 9.99999153e-01 7.64745760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.352755096 meters 0.016346676023440844 Centerline is valid? [True, True] Translation: X:48.16, Y:333.40, Z:7.65 [[-1.33822072e-01 -9.91005361e-01 1.64894262e-04 4.81625351e+01] [ 9.91004487e-01 -1.33822173e-01 -1.31665156e-03 3.33402077e+02] [ 1.32687526e-03 -1.27860856e-05 9.99999120e-01 7.64749696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.382755096 meters 0.016241331430700796 Centerline is valid? [True, True] Translation: X:48.16, Y:333.43, Z:7.65 [[-1.33957039e-01 -9.90987115e-01 2.22249999e-04 4.81589325e+01] [ 9.90985546e-01 -1.33957223e-01 -1.76346773e-03 3.33427704e+02] [ 1.77734579e-03 -1.59823795e-05 9.99998420e-01 7.64728545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4127550960001 meters 0.016117776758915046 Centerline is valid? [True, True] Translation: X:48.16, Y:333.45, Z:7.65 [[-1.33995769e-01 -9.90981879e-01 2.22995208e-04 4.81553251e+01] [ 9.90980309e-01 -1.33995954e-01 -1.76388176e-03 3.33452713e+02] [ 1.77785531e-03 -1.53688318e-05 9.99998420e-01 7.64725813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.442755096 meters 0.016277361315522768 Centerline is valid? [True, True] Translation: X:48.15, Y:333.48, Z:7.65 [[-1.34511508e-01 -9.90911987e-01 2.96804472e-04 4.81528615e+01] [ 9.90909235e-01 -1.34511834e-01 -2.33562443e-03 3.33477092e+02] [ 2.35432196e-03 -2.00620726e-05 9.99997228e-01 7.64719212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.472755096 meters 0.016355853578769237 Centerline is valid? [True, True] Translation: X:48.15, Y:333.50, Z:7.65 [[-1.35168671e-01 -9.90822562e-01 2.84879843e-04 4.81500649e+01] [ 9.90820041e-01 -1.35168969e-01 -2.23503765e-03 3.33502166e+02] [ 2.25303265e-03 -1.98424103e-05 9.99997462e-01 7.64731898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.502755096 meters 0.01612964162011095 Centerline is valid? [True, True] Translation: X:48.15, Y:333.53, Z:7.65 [[-1.37410809e-01 -9.90514104e-01 2.83264197e-04 4.81469620e+01] [ 9.90511624e-01 -1.37411099e-01 -2.21629638e-03 3.33528807e+02] [ 2.23419646e-03 -2.39665985e-05 9.99997504e-01 7.64705358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.532755096 meters 0.01765261527819767 Centerline is valid? [True, True] Translation: X:48.15, Y:333.55, Z:7.65 [[-1.38978678e-01 -9.90295334e-01 2.82020682e-04 4.81481579e+01] [ 9.90292890e-01 -1.38978961e-01 -2.20022582e-03 3.33554183e+02] [ 2.21806830e-03 -2.65013991e-05 9.99997540e-01 7.64825431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.562755096 meters 0.017270087533914846 Centerline is valid? [True, True] Translation: X:48.14, Y:333.58, Z:7.65 [[-1.42077436e-01 -9.89855480e-01 3.61782310e-04 4.81445006e+01] [ 9.89851500e-01 -1.42077890e-01 -2.80748844e-03 3.33581414e+02] [ 2.83040909e-03 -4.07699963e-05 9.99995994e-01 7.64667998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.592755096 meters 0.01760451479954495 Centerline is valid? [True, True] Translation: X:48.14, Y:333.61, Z:7.65 [[-1.43754253e-01 -9.89613287e-01 5.07678419e-04 4.81422172e+01] [ 9.89605514e-01 -1.43755136e-01 -3.92281177e-03 3.33608305e+02] [ 3.95504803e-03 -6.15195116e-05 9.99992177e-01 7.64624825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.622755096 meters 0.01802656636700076 Centerline is valid? [True, True] Translation: X:48.14, Y:333.63, Z:7.65 [[-1.45130820e-01 -9.89412337e-01 5.22878174e-04 4.81401464e+01] [ 9.89404136e-01 -1.45131746e-01 -4.02899310e-03 3.33634812e+02] [ 4.06222170e-03 -6.73932427e-05 9.99991747e-01 7.64610188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.652755096 meters 0.01903164922571421 Centerline is valid? [True, True] Translation: X:48.14, Y:333.66, Z:7.65 [[-1.47843851e-01 -9.89010583e-01 5.11614282e-04 4.81391964e+01] [ 9.89002778e-01 -1.47844717e-01 -3.93002531e-03 3.33662015e+02] [ 3.96247609e-03 -7.50421304e-05 9.99992147e-01 7.64632336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.682755096 meters 0.019578936689052903 Centerline is valid? [True, True] Translation: X:48.14, Y:333.69, Z:7.65 [[-1.49181352e-01 -9.88809753e-01 4.43031997e-04 4.81368257e+01] [ 9.88803924e-01 -1.49181994e-01 -3.39609568e-03 3.33687969e+02] [ 3.42418492e-03 -6.85623683e-05 9.99994135e-01 7.64649529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.712755096 meters 0.021773458016866382 Centerline is valid? [True, True] Translation: X:48.14, Y:333.71, Z:7.65 [[-1.51342036e-01 -9.88481325e-01 5.08301982e-04 4.81371749e+01] [ 9.88473702e-01 -1.51342865e-01 -3.88302165e-03 3.33714268e+02] [ 3.91522227e-03 -8.52212607e-05 9.99992332e-01 7.64636334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.742755096 meters 0.02101194274174829 Centerline is valid? [True, True] Translation: X:48.13, Y:333.74, Z:7.65 [[-1.52484655e-01 -9.88305669e-01 5.78634730e-04 4.81326588e+01] [ 9.88295853e-01 -1.52485720e-01 -4.40588055e-03 3.33740320e+02] [ 4.44259026e-03 -9.99668703e-05 9.99990127e-01 7.64632793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.772755096 meters 0.021018849263518477 Centerline is valid? [True, True] Translation: X:48.13, Y:333.77, Z:7.65 [[-1.53425443e-01 -9.88160029e-01 6.24896617e-04 4.81298088e+01] [ 9.88148653e-01 -1.53426676e-01 -4.74293025e-03 3.33767033e+02] [ 4.78264991e-03 -1.10195424e-04 9.99988557e-01 7.64643976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.802755096 meters 0.020696998152958022 Centerline is valid? [True, True] Translation: X:48.13, Y:333.79, Z:7.65 [[-1.53849151e-01 -9.88094041e-01 7.78431224e-04 4.81260150e+01] [ 9.88076513e-01 -1.53851060e-01 -5.88689765e-03 3.33793322e+02] [ 5.93657096e-03 -1.36544595e-04 9.99982369e-01 7.64632107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.832755096 meters 0.02082540774540826 Centerline is valid? [True, True] Translation: X:48.12, Y:333.82, Z:7.65 [[-1.53939667e-01 -9.88079872e-01 8.64088593e-04 4.81224424e+01] [ 9.88058415e-01 -1.53942020e-01 -6.51328140e-03 3.33818036e+02] [ 6.56866179e-03 -1.48882363e-04 9.99978415e-01 7.64616063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.862755096 meters 0.020242131328007566 Centerline is valid? [True, True] Translation: X:48.12, Y:333.84, Z:7.65 [[-1.53393354e-01 -9.88164674e-01 1.02803750e-03 4.81172924e+01] [ 9.88134514e-01 -1.53396706e-01 -7.72219131e-03 3.33844250e+02] [ 7.78849422e-03 -1.68693483e-04 9.99969655e-01 7.64608132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.892755096 meters 0.020706017495177028 Centerline is valid? [True, True] Translation: X:48.11, Y:333.87, Z:7.65 [[-1.52385191e-01 -9.88320654e-01 1.01918238e-03 4.81133120e+01] [ 9.88291192e-01 -1.52388519e-01 -7.63272541e-03 3.33869245e+02] [ 7.69889187e-03 -1.55865349e-04 9.99970351e-01 7.64596650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9227550960001 meters 0.019204762398427284 Centerline is valid? [True, True] Translation: X:48.11, Y:333.89, Z:7.65 [[-1.49245282e-01 -9.88799574e-01 1.11712579e-03 4.81050579e+01] [ 9.88764415e-01 -1.49249397e-01 -8.33966142e-03 3.33894514e+02] [ 8.41298401e-03 -1.40080894e-04 9.99964600e-01 7.64592143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.952755096 meters 0.019204762398427284 Centerline is valid? [True, True] Translation: X:48.10, Y:333.92, Z:7.65 [[-1.49609797e-01 -9.88744484e-01 1.12019906e-03 4.81013406e+01] [ 9.88709326e-01 -1.49613925e-01 -8.33924879e-03 3.33920191e+02] [ 8.41298362e-03 -1.40082054e-04 9.99964600e-01 7.64606103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.982755096 meters 0.017177675776641622 Centerline is valid? [True, True] Translation: X:48.09, Y:333.95, Z:7.65 [[-1.45837044e-01 -9.89307971e-01 1.13829261e-03 4.80917909e+01] [ 9.89271886e-01 -1.45841448e-01 -8.45036432e-03 3.33946758e+02] [ 8.52602302e-03 -1.06295275e-04 9.99963647e-01 7.64737266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.012755096 meters 0.01730071677561063 Centerline is valid? [True, True] Translation: X:48.09, Y:333.97, Z:7.65 [[-1.44440774e-01 -9.89512816e-01 1.11803215e-03 4.80880311e+01] [ 9.89478206e-01 -1.44445073e-01 -8.27656167e-03 3.33971788e+02] [ 8.35125808e-03 -8.92045329e-05 9.99965124e-01 7.64733165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0427550960001 meters 0.01686328421673978 Centerline is valid? [True, True] Translation: X:48.08, Y:334.00, Z:7.65 [[-1.42777349e-01 -9.89754069e-01 1.22933326e-03 4.80821381e+01] [ 9.89712495e-01 -1.42782619e-01 -9.07195807e-03 3.33997563e+02] [ 9.15453483e-03 -7.85836297e-05 9.99958093e-01 7.64718786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.072755096 meters 0.016256629044254536 Centerline is valid? [True, True] Translation: X:48.07, Y:334.02, Z:7.65 [[-1.40275600e-01 -9.90111469e-01 1.42669988e-03 4.80734848e+01] [ 9.90055834e-01 -1.40282842e-01 -1.04961877e-02 3.34023406e+02] [ 1.05925374e-02 -5.98464986e-05 9.99943896e-01 7.64777396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.102755096 meters 0.016110795440728364 Centerline is valid? [True, True] Translation: X:48.07, Y:334.05, Z:7.65 [[-1.39452932e-01 -9.90227559e-01 1.50372651e-03 4.80677850e+01] [ 9.90166136e-01 -1.39461031e-01 -1.10292036e-02 3.34049350e+02] [ 1.11311326e-02 -4.91157112e-05 9.99938046e-01 7.64763543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.132755096 meters 0.01613083051154778 Centerline is valid? [True, True] Translation: X:48.06, Y:334.07, Z:7.65 [[-1.37921186e-01 -9.90441813e-01 1.66166478e-03 4.80613795e+01] [ 9.90367299e-01 -1.37931192e-01 -1.21490882e-02 3.34073961e+02] [ 1.22621603e-02 -2.99581937e-05 9.99924816e-01 7.64712341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1627550960001 meters 0.016132881053338235 Centerline is valid? [True, True] Translation: X:48.06, Y:334.10, Z:7.65 [[-1.37671128e-01 -9.90476408e-01 1.77369041e-03 4.80574055e+01] [ 9.90391969e-01 -1.37682551e-01 -1.29330408e-02 3.34098827e+02] [ 1.30540780e-02 -2.38575789e-05 9.99914792e-01 7.64655898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.192755096 meters 0.016148426884512727 Centerline is valid? [True, True] Translation: X:48.05, Y:334.13, Z:7.65 [[-1.38033743e-01 -9.90425732e-01 1.88566604e-03 4.80539144e+01] [ 9.90330807e-01 -1.38046620e-01 -1.37121969e-02 3.34125530e+02] [ 1.38412225e-02 -2.53126939e-05 9.99904205e-01 7.64679398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.222755096 meters 0.01628666989161509 Centerline is valid? [True, True] Translation: X:48.05, Y:334.15, Z:7.65 [[-1.39347401e-01 -9.90241552e-01 1.99282915e-03 4.80525665e+01] [ 9.90136133e-01 -1.39361645e-01 -1.44488613e-02 3.34151791e+02] [ 1.45855868e-02 -4.02391220e-05 9.99893624e-01 7.64804211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.252755096 meters 0.016325192042365332 Centerline is valid? [True, True] Translation: X:48.05, Y:334.18, Z:7.65 [[-1.40922765e-01 -9.90018487e-01 2.04229723e-03 4.80500617e+01] [ 9.89908393e-01 -1.40937550e-01 -1.47641523e-02 3.34178078e+02] [ 1.49046201e-02 -5.89180002e-05 9.99888918e-01 7.64855044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2827550960001 meters 0.016587471269784465 Centerline is valid? [True, True] Translation: X:48.05, Y:334.20, Z:7.65 [[-1.42360085e-01 -9.89812724e-01 2.09205939e-03 4.80480377e+01] [ 9.89697873e-01 -1.42375436e-01 -1.50782972e-02 3.34203818e+02] [ 1.52225483e-02 -7.60409524e-05 9.99884127e-01 7.64814633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.312755096 meters 0.016944310979425902 Centerline is valid? [True, True] Translation: X:48.05, Y:334.23, Z:7.65 [[-1.44698094e-01 -9.89473507e-01 2.15410954e-03 4.80462638e+01] [ 9.89352422e-01 -1.44714086e-01 -1.54796051e-02 3.34230684e+02] [ 1.56283891e-02 -1.08695857e-04 9.99877863e-01 7.64919034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.342755096 meters 0.017507428683596 Centerline is valid? [True, True] Translation: X:48.04, Y:334.26, Z:7.65 [[-1.45789523e-01 -9.89312969e-01 2.29457265e-03 4.80445157e+01] [ 9.89176380e-01 -1.45807524e-01 -1.64394250e-02 3.34255706e+02] [ 1.65983023e-02 -1.26958865e-04 9.99862231e-01 7.64805015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.372755096 meters 0.017681344429659032 Centerline is valid? [True, True] Translation: X:48.04, Y:334.28, Z:7.65 [[-1.47729773e-01 -9.89024876e-01 2.38945053e-03 4.80424051e+01] [ 9.88877582e-01 -1.47749011e-01 -1.70692063e-02 3.34282489e+02] [ 1.72349086e-02 -1.58755920e-04 9.99851455e-01 7.64980922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.402755096 meters 0.01795882142446498 Centerline is valid? [True, True] Translation: X:48.04, Y:334.31, Z:7.65 [[-1.48795327e-01 -9.88864872e-01 2.49302169e-03 4.80396819e+01] [ 9.88705452e-01 -1.48816105e-01 -1.77565997e-02 3.34307822e+02] [ 1.79298794e-02 -1.77234919e-04 9.99839231e-01 7.65008734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.432755096 meters 0.018471279123451083 Centerline is valid? [True, True] Translation: X:48.04, Y:334.33, Z:7.65 [[-1.49194049e-01 -9.88804543e-01 2.59074022e-03 4.80374377e+01] [ 9.88633215e-01 -1.49216427e-01 -1.84071752e-02 3.34333331e+02] [ 1.85876794e-02 -1.84949172e-04 9.99827217e-01 7.64938852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.462755096 meters 0.017951273599246247 Centerline is valid? [True, True] Translation: X:48.03, Y:334.36, Z:7.65 [[-1.49289625e-01 -9.88789854e-01 2.68926503e-03 4.80324504e+01] [ 9.88606228e-01 -1.49313729e-01 -1.90561456e-02 3.34359658e+02] [ 1.92440676e-02 -1.86260683e-04 9.99814798e-01 7.65104249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.492755096 meters 0.017895056798994034 Centerline is valid? [True, True] Translation: X:48.03, Y:334.39, Z:7.65 [[-1.48680851e-01 -9.88881221e-01 2.81692215e-03 4.80279655e+01] [ 9.88680901e-01 -1.48707432e-01 -1.99041545e-02 3.34385568e+02] [ 2.01017418e-02 -1.74329495e-04 9.99797924e-01 7.65194727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.522755096 meters 0.017802412773760743 Centerline is valid? [True, True] Translation: X:48.02, Y:334.41, Z:7.65 [[-1.48060230e-01 -9.88974188e-01 2.86786372e-03 4.80233878e+01] [ 9.88767733e-01 -1.48087919e-01 -2.02073727e-02 3.34411390e+02] [ 2.04092660e-02 -1.56257131e-04 9.99791697e-01 7.65252551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.552755096 meters 0.017724889763890462 Centerline is valid? [True, True] Translation: X:48.02, Y:334.44, Z:7.65 [[-1.45863380e-01 -9.89299658e-01 3.17191642e-03 4.80164313e+01] [ 9.89048606e-01 -1.45897820e-01 -2.22863571e-02 3.34437079e+02] [ 2.25106612e-02 -1.13583862e-04 9.99746597e-01 7.65182473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.582755096 meters 0.017678514340426613 Centerline is valid? [True, True] Translation: X:48.01, Y:334.46, Z:7.65 [[-1.45540716e-01 -9.89346745e-01 3.30413989e-03 4.80111973e+01] [ 9.89075867e-01 -1.45578182e-01 -2.31500095e-02 3.34463016e+02] [ 2.33843972e-02 -1.01223936e-04 9.99726543e-01 7.65164980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.612755096 meters 0.018044572646873664 Centerline is valid? [True, True] Translation: X:48.01, Y:334.49, Z:7.65 [[-1.45311057e-01 -9.89379881e-01 3.48549502e-03 4.80067943e+01] [ 9.89079756e-01 -1.45352823e-01 -2.43678670e-02 3.34488779e+02] [ 2.46157039e-02 -9.34879422e-05 9.99696983e-01 7.65086124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.642755096 meters 0.01862433969841984 Centerline is valid? [True, True] Translation: X:48.00, Y:334.52, Z:7.65 [[-1.46225428e-01 -9.89244105e-01 3.77158612e-03 4.80025549e+01] [ 9.88894287e-01 -1.46274013e-01 -2.63059371e-02 3.34515442e+02] [ 2.65746782e-02 -1.16896941e-04 9.99646824e-01 7.65033330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6727550960001 meters 0.019005506411009114 Centerline is valid? [True, True] Translation: X:48.00, Y:334.54, Z:7.65 [[-1.47201436e-01 -9.89098868e-01 3.89447803e-03 4.79991387e+01] [ 9.88727703e-01 -1.47252881e-01 -2.70946240e-02 3.34541951e+02] [ 2.73727350e-02 -1.37789254e-04 9.99625287e-01 7.64953372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.702755096 meters 0.019232862905804362 Centerline is valid? [True, True] Translation: X:48.00, Y:334.57, Z:7.65 [[-1.48255368e-01 -9.88940738e-01 4.06982615e-03 4.79956389e+01] [ 9.88537314e-01 -1.48311128e-01 -2.82451641e-02 3.34568578e+02] [ 2.85363940e-02 -1.64322183e-04 9.99592741e-01 7.65030334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.732755096 meters 0.020006174032762017 Centerline is valid? [True, True] Translation: X:47.99, Y:334.60, Z:7.65 [[-1.50996172e-01 -9.88525308e-01 4.22749911e-03 4.79929834e+01] [ 9.88091935e-01 -1.51055146e-01 -2.92689514e-02 3.34595465e+02] [ 2.95716847e-02 -2.42341854e-04 9.99562633e-01 7.65130718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.762755096 meters 0.019446082243667468 Centerline is valid? [True, True] Translation: X:47.99, Y:334.62, Z:7.65 [[-1.52759989e-01 -9.88254157e-01 4.25532887e-03 4.79883868e+01] [ 9.87817147e-01 -1.52818979e-01 -2.93878313e-02 3.34622705e+02] [ 2.96929415e-02 -2.85797969e-04 9.99559027e-01 7.65440094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7927550960001 meters 0.020542096001384538 Centerline is valid? [True, True] Translation: X:47.99, Y:334.65, Z:7.66 [[-1.57714736e-01 -9.87475680e-01 4.22425863e-03 4.79860878e+01] [ 9.87046900e-01 -1.57770739e-01 -2.91000321e-02 3.34650328e+02] [ 2.94020384e-02 -4.19962500e-04 9.99567578e-01 7.65548726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.822755096 meters 0.021417470699898543 Centerline is valid? [True, True] Translation: X:47.98, Y:334.68, Z:7.66 [[-1.60747711e-01 -9.86987017e-01 4.09892173e-03 4.79841165e+01] [ 9.86585226e-01 -1.60799235e-01 -2.81637537e-02 3.34676533e+02] [ 2.84563627e-02 -4.83323307e-04 9.99594919e-01 7.65609434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.852755096 meters 0.022286501538909976 Centerline is valid? [True, True] Translation: X:47.98, Y:334.70, Z:7.66 [[-1.63870004e-01 -9.86473665e-01 4.04107141e-03 4.79821014e+01] [ 9.86084997e-01 -1.63918889e-01 -2.76943359e-02 3.34703263e+02] [ 2.79821410e-02 -5.53431049e-04 9.99608270e-01 7.65715474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.882755096 meters 0.0224980233865464 Centerline is valid? [True, True] Translation: X:47.98, Y:334.73, Z:7.66 [[-1.66549634e-01 -9.86025256e-01 3.92598334e-03 4.79789587e+01] [ 9.85660207e-01 -1.66594820e-01 -2.68350912e-02 3.34729891e+02] [ 2.71141261e-02 -5.99689049e-04 9.99632165e-01 7.65919008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9127550960001 meters 0.02466143892450038 Centerline is valid? [True, True] Translation: X:47.98, Y:334.76, Z:7.66 [[-1.71451970e-01 -9.85185477e-01 3.71447972e-03 4.79786289e+01] [ 9.84860197e-01 -1.71490839e-01 -2.53235910e-02 3.34756509e+02] [ 2.55854334e-02 -6.83536325e-04 9.99672406e-01 7.66026824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.942755096 meters 0.025162945149239405 Centerline is valid? [True, True] Translation: X:47.98, Y:334.78, Z:7.66 [[-1.73470470e-01 -9.84832709e-01 3.53995526e-03 4.79750906e+01] [ 9.84538658e-01 -1.73505210e-01 -2.40743423e-02 3.34783948e+02] [ 2.43234004e-02 -6.90964667e-04 9.99703904e-01 7.66148211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.972755096 meters 0.02689474974900966 Centerline is valid? [True, True] Translation: X:47.97, Y:334.81, Z:7.66 [[-1.76455984e-01 -9.84303024e-01 3.29298931e-03 4.79725191e+01] [ 9.84049748e-01 -1.76485314e-01 -2.23389163e-02 3.34810333e+02] [ 2.25694271e-02 -7.01370163e-04 9.99745032e-01 7.66248682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.002755096 meters 0.027124293002043245 Centerline is valid? [True, True] Translation: X:47.97, Y:334.84, Z:7.66 [[-1.77849427e-01 -9.84052428e-01 3.22494800e-03 4.79684153e+01] [ 9.83810647e-01 -1.77877252e-01 -2.18241843e-02 3.34837113e+02] [ 2.20497864e-02 -7.08680502e-04 9.99756623e-01 7.66319097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0327550960001 meters 0.02648688225011623 Centerline is valid? [True, True] Translation: X:47.96, Y:334.86, Z:7.66 [[-1.78705578e-01 -9.83897470e-01 3.17576417e-03 4.79633177e+01] [ 9.83664119e-01 -1.78732395e-01 -2.14390488e-02 3.34863536e+02] [ 2.16614378e-02 -7.07392355e-04 9.99765113e-01 7.66423755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.062755096 meters 0.026802208636772244 Centerline is valid? [True, True] Translation: X:47.96, Y:334.89, Z:7.66 [[-1.79332936e-01 -9.83783213e-01 3.20749104e-03 4.79597134e+01] [ 9.83546317e-01 -1.79360177e-01 -2.16002026e-02 3.34890279e+02] [ 2.18252129e-02 -7.18911747e-04 9.99761543e-01 7.66415472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.092755096 meters 0.026866396400908956 Centerline is valid? [True, True] Translation: X:47.96, Y:334.92, Z:7.66 [[-1.79348186e-01 -9.83780450e-01 3.20241515e-03 4.79554018e+01] [ 9.83545538e-01 -1.79375377e-01 -2.15092936e-02 3.34916712e+02] [ 2.17348570e-02 -7.07931652e-04 9.99763519e-01 7.66381400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.122755096 meters 0.02810720775698345 Centerline is valid? [True, True] Translation: X:47.95, Y:334.94, Z:7.66 [[-1.77884699e-01 -9.84045793e-01 3.30330990e-03 4.79526828e+01] [ 9.83797173e-01 -1.77914042e-01 -2.21295138e-02 3.34943103e+02] [ 2.23641602e-02 -6.86714975e-04 9.99749655e-01 7.66112938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.152755096 meters 0.02522414616222051 Centerline is valid? [True, True] Translation: X:47.94, Y:334.97, Z:7.66 [[-1.77090624e-01 -9.84189182e-01 3.25042124e-03 4.79438990e+01] [ 9.83949660e-01 -1.77119265e-01 -2.17216982e-02 3.34969540e+02] [ 2.19539726e-02 -6.48458208e-04 9.99758772e-01 7.66292243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.182755096 meters 0.026616055558955597 Centerline is valid? [True, True] Translation: X:47.94, Y:335.00, Z:7.66 [[-1.75995362e-01 -9.84385379e-01 3.32551504e-03 4.79392680e+01] [ 9.84135961e-01 -1.76025656e-01 -2.21670656e-02 3.34995788e+02] [ 2.24063113e-02 -6.28541803e-04 9.99748750e-01 7.66206977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.212755096 meters 0.023829916100879957 Centerline is valid? [True, True] Translation: X:47.93, Y:335.02, Z:7.66 [[-1.74328353e-01 -9.84683002e-01 3.00198788e-03 4.79319872e+01] [ 9.84480728e-01 -1.74353409e-01 -1.99646067e-02 3.35022589e+02] [ 2.01822157e-02 -5.24997800e-04 9.99796181e-01 7.66402148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.242755096 meters 0.02320086556537357 Centerline is valid? [True, True] Translation: X:47.93, Y:335.05, Z:7.66 [[-1.73414403e-01 -9.84844710e-01 2.88843196e-03 4.79265556e+01] [ 9.84658356e-01 -1.73437795e-01 -1.91638479e-02 3.35049644e+02] [ 1.93743775e-02 -4.79168593e-04 9.99812184e-01 7.66445239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.272755096 meters 0.022380673829363318 Centerline is valid? [True, True] Translation: X:47.92, Y:335.08, Z:7.67 [[-1.71821804e-01 -9.85124546e-01 2.62630587e-03 4.79208735e+01] [ 9.84971239e-01 -1.71841409e-01 -1.73835656e-02 3.35076433e+02] [ 1.75762852e-02 -4.00039851e-04 9.99845445e-01 7.66553785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.302755096 meters 0.022604282322630256 Centerline is valid? [True, True] Translation: X:47.92, Y:335.10, Z:7.67 [[-1.71563259e-01 -9.85169933e-01 2.50042129e-03 4.79170843e+01] [ 9.85031708e-01 -1.71581082e-01 -1.65065750e-02 3.35101589e+02] [ 1.66908064e-02 -3.68927543e-04 9.99860631e-01 7.66573464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.332755096 meters 0.023505269409389434 Centerline is valid? [True, True] Translation: X:47.91, Y:335.13, Z:7.67 [[-1.71653077e-01 -9.85154455e-01 2.43335612e-03 4.79127557e+01] [ 9.85024237e-01 -1.71669961e-01 -1.60211402e-02 3.35127420e+02] [ 1.62010318e-02 -3.53163251e-04 9.99868692e-01 7.66620521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.362755096 meters 0.022162765769727373 Centerline is valid? [True, True] Translation: X:47.91, Y:335.15, Z:7.67 [[-1.72040699e-01 -9.85087446e-01 2.17284948e-03 4.79081177e+01] [ 9.84984137e-01 -1.72054132e-01 -1.42697813e-02 3.35153334e+02] [ 1.44308302e-02 -3.14760882e-04 9.99895821e-01 7.66817552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.392755096 meters 0.02217717575376153 Centerline is valid? [True, True] Translation: X:47.90, Y:335.18, Z:7.67 [[-1.71754623e-01 -9.85137885e-01 1.92269692e-03 4.79042897e+01] [ 9.85057399e-01 -1.71765173e-01 -1.25954526e-02 3.35178944e+02] [ 1.27385099e-02 -2.69360379e-04 9.99918826e-01 7.66973449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4227550960001 meters 0.022385647071963985 Centerline is valid? [True, True] Translation: X:47.90, Y:335.21, Z:7.67 [[-1.72195428e-01 -9.85061073e-01 1.84881912e-03 4.78997920e+01] [ 9.84987026e-01 -1.72205158e-01 -1.20806759e-02 3.35205076e+02] [ 1.22185797e-02 -2.59174310e-04 9.99925317e-01 7.66986481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.452755096 meters 0.023421908532727582 Centerline is valid? [True, True] Translation: X:47.89, Y:335.23, Z:7.67 [[-1.72022504e-01 -9.85091254e-01 1.86566048e-03 4.78944893e+01] [ 9.85016244e-01 -1.72032433e-01 -1.21590095e-02 3.35231246e+02] [ 1.22986880e-02 -2.53917373e-04 9.99924336e-01 7.66859429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.482755096 meters 0.02185597589221438 Centerline is valid? [True, True] Translation: X:47.89, Y:335.26, Z:7.67 [[-1.72344349e-01 -9.85035291e-01 1.70323457e-03 4.78896463e+01] [ 9.84973082e-01 -1.72352611e-01 -1.10727162e-02 3.35257315e+02] [ 1.12005731e-02 -2.30679864e-04 9.99937245e-01 7.66960069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.512755096 meters 0.02172477441369064 Centerline is valid? [True, True] Translation: X:47.89, Y:335.28, Z:7.67 [[-1.72330056e-01 -9.85037711e-01 1.74950953e-03 4.78850737e+01] [ 9.84972420e-01 -1.72338780e-01 -1.13436096e-02 3.35283068e+02] [ 1.14753915e-02 -2.31626226e-04 9.99934129e-01 7.66975862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5427550960001 meters 0.021507401229489905 Centerline is valid? [True, True] Translation: X:47.88, Y:335.31, Z:7.67 [[-1.71517813e-01 -9.85179386e-01 1.79397126e-03 4.78792903e+01] [ 9.85111099e-01 -1.71527050e-01 -1.16014803e-02 3.35308484e+02] [ 1.17372538e-02 -2.22599531e-04 9.99931091e-01 7.66899354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.572755096 meters 0.021635332966507544 Centerline is valid? [True, True] Translation: X:47.87, Y:335.33, Z:7.67 [[-1.70693328e-01 -9.85322580e-01 1.78936575e-03 4.78734281e+01] [ 9.85254990e-01 -1.70702581e-01 -1.15427140e-02 3.35334847e+02] [ 1.16787461e-02 -2.07282728e-04 9.99931780e-01 7.66850263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.602755096 meters 0.020297195180818697 Centerline is valid? [True, True] Translation: X:47.87, Y:335.36, Z:7.67 [[-1.68493019e-01 -9.85701285e-01 1.75480701e-03 4.78654358e+01] [ 9.85636613e-01 -1.68502068e-01 -1.12924486e-02 3.35360847e+02] [ 1.14266697e-02 -1.73096728e-04 9.99934699e-01 7.66808266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.632755096 meters 0.0211813100446578 Centerline is valid? [True, True] Translation: X:47.86, Y:335.39, Z:7.67 [[-1.67832141e-01 -9.85813954e-01 1.79476583e-03 4.78614913e+01] [ 9.85746657e-01 -1.67841657e-01 -1.15198484e-02 3.35385946e+02] [ 1.16576638e-02 -1.64216400e-04 9.99932034e-01 7.66660432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6627550960001 meters 0.019564629777343853 Centerline is valid? [True, True] Translation: X:47.85, Y:335.41, Z:7.67 [[-1.66736292e-01 -9.85999999e-01 1.73524980e-03 4.78541124e+01] [ 9.85937426e-01 -1.66745261e-01 -1.11090232e-02 3.35411731e+02] [ 1.12428415e-02 -1.41429610e-04 9.99936787e-01 7.66766240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.692755096 meters 0.01981199459134749 Centerline is valid? [True, True] Translation: X:47.85, Y:335.44, Z:7.67 [[-1.66975349e-01 -9.85959727e-01 1.62769346e-03 4.78501878e+01] [ 9.85904951e-01 -1.66983231e-01 -1.03936642e-02 3.35437021e+02] [ 1.05195318e-02 -1.30734668e-04 9.99944660e-01 7.66778524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.722755096 meters 0.01969045668047475 Centerline is valid? [True, True] Translation: X:47.85, Y:335.46, Z:7.67 [[-1.67450834e-01 -9.85879245e-01 1.52743773e-03 4.78455404e+01] [ 9.85831252e-01 -1.67457755e-01 -9.72849617e-03 3.35463208e+02] [ 9.84690375e-03 -1.23248947e-04 9.99951511e-01 7.66863991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.752755096 meters 0.01983871566953738 Centerline is valid? [True, True] Translation: X:47.84, Y:335.49, Z:7.67 [[-1.68673001e-01 -9.85671057e-01 1.40940620e-03 4.78420411e+01] [ 9.85630388e-01 -1.68678846e-01 -8.95461854e-03 3.35489327e+02] [ 9.06404533e-03 -1.21248805e-04 9.99958913e-01 7.66910753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7827550960001 meters 0.021772393958857644 Centerline is valid? [True, True] Translation: X:47.84, Y:335.52, Z:7.67 [[-1.71858983e-01 -9.85120759e-01 1.25709556e-03 4.78398425e+01] [ 9.85088539e-01 -1.71863531e-01 -7.96853338e-03 3.35516951e+02] [ 8.06601654e-03 -1.31113617e-04 9.99967461e-01 7.66895385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.812755096 meters 0.023582597197644203 Centerline is valid? [True, True] Translation: X:47.84, Y:335.54, Z:7.67 [[-1.74064773e-01 -9.84733557e-01 1.13008016e-03 4.78368940e+01] [ 9.84707623e-01 -1.74068392e-01 -7.14782262e-03 3.35543554e+02] [ 7.23541203e-03 -1.31385574e-04 9.99973815e-01 7.66902737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.842755096 meters 0.023582597197644203 Centerline is valid? [True, True] Translation: X:47.83, Y:335.57, Z:7.67 [[-1.74454919e-01 -9.84664510e-01 1.13280773e-03 4.78325940e+01] [ 9.84638578e-01 -1.74458547e-01 -7.14739045e-03 3.35569145e+02] [ 7.23540971e-03 -1.31491224e-04 9.99973815e-01 7.66916701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.872755096 meters 0.0233928833670642 Centerline is valid? [True, True] Translation: X:47.83, Y:335.60, Z:7.67 [[-1.77568054e-01 -9.84108051e-01 9.64610472e-04 4.78310748e+01] [ 9.84089322e-01 -1.77570627e-01 -6.07276113e-03 3.35595858e+02] [ 6.14753961e-03 -1.29065513e-04 9.99981095e-01 7.67006756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.902755096 meters 0.02433881644222277 Centerline is valid? [True, True] Translation: X:47.83, Y:335.62, Z:7.67 [[-1.79231063e-01 -9.83806636e-01 8.53577555e-04 4.78269804e+01] [ 9.83792030e-01 -1.79233055e-01 -5.36233466e-03 3.35622718e+02] [ 5.42848973e-03 -1.21354148e-04 9.99985258e-01 7.67018691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.932755096 meters 0.023038766656199403 Centerline is valid? [True, True] Translation: X:47.82, Y:335.65, Z:7.67 [[-1.80330564e-01 -9.83605676e-01 8.73120601e-04 4.78242372e+01] [ 9.83590462e-01 -1.80332632e-01 -5.47226584e-03 3.35647597e+02] [ 5.54000388e-03 -1.28023690e-04 9.99984646e-01 7.67173221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.962755096 meters 0.02385047831275816 Centerline is valid? [True, True] Translation: X:47.82, Y:335.67, Z:7.67 [[-1.81542894e-01 -9.83382841e-01 6.05373916e-04 4.78197514e+01] [ 9.83375540e-01 -1.81543879e-01 -3.79052278e-03 3.35674011e+02] [ 3.83743699e-03 -9.28325722e-05 9.99992633e-01 7.67215547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.992755096 meters 0.023504544778361273 Centerline is valid? [True, True] Translation: X:47.81, Y:335.70, Z:7.67 [[-1.81467945e-01 -9.83396675e-01 6.03574565e-04 4.78140285e+01] [ 9.83389453e-01 -1.81468927e-01 -3.76996030e-03 3.35699455e+02] [ 3.81689645e-03 -9.05780884e-05 9.99992712e-01 7.67236713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.022755096 meters 0.023820227893557536 Centerline is valid? [True, True] Translation: X:47.81, Y:335.73, Z:7.67 [[-1.81143872e-01 -9.83456471e-01 5.17669588e-04 4.78085937e+01] [ 9.83451179e-01 -1.81144596e-01 -3.22693962e-03 3.35725887e+02] [ 3.26732770e-03 -7.54375704e-05 9.99994659e-01 7.67190437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.052755096 meters 0.022578415209355607 Centerline is valid? [True, True] Translation: X:47.80, Y:335.75, Z:7.67 [[-1.79835653e-01 -9.83696524e-01 5.36165637e-04 4.78019537e+01] [ 9.83690877e-01 -1.79836438e-01 -3.33370104e-03 3.35751998e+02] [ 3.37577224e-03 -7.20970568e-05 9.99994300e-01 7.67198050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.082755096 meters 0.021104188744841955 Centerline is valid? [True, True] Translation: X:47.79, Y:335.78, Z:7.67 [[-1.76535509e-01 -9.84294073e-01 6.25317584e-04 4.77929783e+01] [ 9.84286438e-01 -1.76536603e-01 -3.87765925e-03 3.35777455e+02] [ 3.92714847e-03 -6.90529346e-05 9.99992286e-01 7.67123504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.112755096 meters 0.022305994331364414 Centerline is valid? [True, True] Translation: X:47.79, Y:335.80, Z:7.67 [[-1.75994867e-01 -9.84390979e-01 4.55418173e-04 4.77873724e+01] [ 9.84386937e-01 -1.75995449e-01 -2.82148381e-03 3.35802612e+02] [ 2.85759474e-03 -4.82589673e-05 9.99995916e-01 7.67078661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.142755096 meters 0.021960328791060104 Centerline is valid? [True, True] Translation: X:47.78, Y:335.83, Z:7.67 [[-1.72694099e-01 -9.84975442e-01 3.55665669e-04 4.77806120e+01] [ 9.84972990e-01 -1.72694463e-01 -2.19820462e-03 3.35828171e+02] [ 2.22659906e-03 -2.92958894e-05 9.99997521e-01 7.67202784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1727550960001 meters 0.01960745403933638 Centerline is valid? [True, True] Translation: X:47.77, Y:335.85, Z:7.67 [[-1.71156543e-01 -9.85243813e-01 2.59188140e-04 4.77742692e+01] [ 9.85242507e-01 -1.71156739e-01 -1.60426927e-03 3.35853551e+02] [ 1.62495817e-03 -1.92180107e-05 9.99998680e-01 7.67394583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.202755096 meters 0.018894029835173902 Centerline is valid? [True, True] Translation: X:47.77, Y:335.88, Z:7.67 [[-1.70031439e-01 -9.85438606e-01 2.51308080e-04 4.77678781e+01] [ 9.85437385e-01 -1.70031624e-01 -1.55172092e-03 3.35879794e+02] [ 1.57185602e-03 -1.61929651e-05 9.99998765e-01 7.67454566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.232755096 meters 0.02231192747379328 Centerline is valid? [True, True] Translation: X:47.76, Y:335.91, Z:7.67 [[-1.68502851e-01 -9.85701166e-01 2.70163129e-06 4.77596152e+01] [ 9.85701166e-01 -1.68502851e-01 -2.93193491e-05 3.35905075e+02] [ 2.93553490e-05 -2.27739280e-06 1.00000000e+00 7.67259948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.262755096 meters 0.017931476992669365 Centerline is valid? [True, True] Translation: X:47.75, Y:335.93, Z:7.67 [[-1.66122559e-01 -9.86105109e-01 9.41184017e-05 4.77521825e+01] [ 9.86104934e-01 -1.66122586e-01 -5.87253035e-04 3.35930490e+02] [ 5.94728411e-04 -4.74535667e-06 9.99999823e-01 7.67482989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2927550960001 meters 0.01768296308527495 Centerline is valid? [True, True] Translation: X:47.74, Y:335.96, Z:7.67 [[-1.63226227e-01 -9.86588659e-01 1.27479325e-04 4.77435256e+01] [ 9.86588345e-01 -1.63226277e-01 -7.87138038e-04 3.35957189e+02] [ 7.97389437e-04 -2.71195619e-06 9.99999682e-01 7.67478241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.322755096 meters 0.017639318079496438 Centerline is valid? [True, True] Translation: X:47.74, Y:335.98, Z:7.67 [[-1.62055078e-01 -9.86781704e-01 1.39811767e-04 4.77372356e+01] [ 9.86781329e-01 -1.62055138e-01 -8.61360232e-04 3.35982742e+02] [ 8.72631733e-04 -1.62415845e-06 9.99999619e-01 7.67498278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.352755096 meters 0.020854328877308304 Centerline is valid? [True, True] Translation: X:47.73, Y:336.01, Z:7.67 [[-1.61895045e-01 -9.86807982e-01 2.08473009e-05 4.77316709e+01] [ 9.86807972e-01 -1.61895047e-01 -1.39607798e-04 3.36007392e+02] [ 1.41141164e-04 -2.02952808e-06 9.99999990e-01 7.67310809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.382755096 meters 0.017754271570243688 Centerline is valid? [True, True] Translation: X:47.72, Y:336.03, Z:7.68 [[-1.59085090e-01 -9.87264875e-01 -2.95438455e-05 4.77245562e+01] [ 9.87264861e-01 -1.59085093e-01 1.66506005e-04 3.36033817e+02] [-1.69085516e-04 -2.67897778e-06 9.99999986e-01 7.67539921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4127550960001 meters 0.01866504969779425 Centerline is valid? [True, True] Translation: X:47.72, Y:336.06, Z:7.67 [[-1.59248579e-01 -9.87238514e-01 -7.80362689e-05 4.77188988e+01] [ 9.87238408e-01 -1.59248598e-01 4.58412855e-04 3.36060934e+02] [-4.64989993e-04 -4.03880604e-06 9.99999892e-01 7.67457078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.442755096 meters 0.017807766290248574 Centerline is valid? [True, True] Translation: X:47.71, Y:336.09, Z:7.68 [[-1.58520260e-01 -9.87355724e-01 2.59272451e-05 4.77122215e+01] [ 9.87355710e-01 -1.58520262e-01 -1.69647185e-04 3.36085833e+02] [ 1.71612113e-04 -1.29310247e-06 9.99999985e-01 7.67518030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.472755096 meters 0.017720810829427835 Centerline is valid? [True, True] Translation: X:47.71, Y:336.11, Z:7.67 [[-1.59069497e-01 -9.87267387e-01 3.46586479e-05 4.77073444e+01] [ 9.87267363e-01 -1.59069500e-01 -2.20690148e-04 3.36111724e+02] [ 2.23393319e-04 -8.87718765e-07 9.99999975e-01 7.67493480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.502755096 meters 0.017663548285985247 Centerline is valid? [True, True] Translation: X:47.70, Y:336.14, Z:7.67 [[-1.60094057e-01 -9.87101762e-01 6.38819915e-05 4.77030175e+01] [ 9.87101683e-01 -1.60094069e-01 -3.95050404e-04 3.36137603e+02] [ 4.00182077e-04 -1.87200372e-07 9.99999920e-01 7.67497302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5327550960001 meters 0.017335435235596008 Centerline is valid? [True, True] Translation: X:47.70, Y:336.16, Z:7.68 [[-1.62900905e-01 -9.86642434e-01 5.60115636e-05 4.76998723e+01] [ 9.86642373e-01 -1.62900914e-01 -3.47083446e-04 3.36164175e+02] [ 3.51571591e-04 -1.27682538e-06 9.99999938e-01 7.67554953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.562755096 meters 0.017218668560316275 Centerline is valid? [True, True] Translation: X:47.70, Y:336.19, Z:7.68 [[-1.64933304e-01 -9.86304722e-01 -2.00377127e-05 4.76964206e+01] [ 9.86304716e-01 -1.64933305e-01 1.06384143e-04 3.36190203e+02] [-1.08232069e-04 -2.21700236e-06 9.99999994e-01 7.67587570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.592755096 meters 0.01832838690819191 Centerline is valid? [True, True] Translation: X:47.69, Y:336.22, Z:7.68 [[-1.68941551e-01 -9.85626067e-01 -9.52165084e-05 4.76946937e+01] [ 9.85625912e-01 -1.68941578e-01 5.52114442e-04 3.36215281e+02] [-5.60264413e-04 -5.72787558e-07 9.99999843e-01 7.67517487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.622755096 meters 0.01736903780736398 Centerline is valid? [True, True] Translation: X:47.69, Y:336.24, Z:7.68 [[-1.70475820e-01 -9.85361860e-01 1.50951535e-05 4.76911496e+01] [ 9.85361854e-01 -1.70475821e-01 -1.01982151e-04 3.36241206e+02] [ 1.03062680e-04 -2.51130233e-06 9.99999995e-01 7.67660197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.652755096 meters 0.018571378969194266 Centerline is valid? [True, True] Translation: X:47.69, Y:336.27, Z:7.67 [[-1.72987580e-01 -9.84924006e-01 2.26190505e-05 4.76877104e+01] [ 9.84923995e-01 -1.72987582e-01 -1.46521613e-04 3.36267301e+02] [ 1.48225468e-04 -3.06837365e-06 9.99999989e-01 7.67493236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.682755096 meters 0.0179090049987737 Centerline is valid? [True, True] Translation: X:47.68, Y:336.29, Z:7.68 [[-1.74583548e-01 -9.84642362e-01 7.04810459e-05 4.76845016e+01] [ 9.84642268e-01 -1.74583562e-01 -4.28873019e-04 3.36292682e+02] [ 4.34591374e-04 -5.47555621e-06 9.99999906e-01 7.67665470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.712755096 meters 0.018632393038756086 Centerline is valid? [True, True] Translation: X:47.68, Y:336.32, Z:7.68 [[-1.77891925e-01 -9.84050004e-01 2.30400873e-04 4.76812451e+01] [ 9.84049054e-01 -1.77892073e-01 -1.36704399e-03 3.36319103e+02] [ 1.38622614e-03 -1.64603265e-05 9.99999039e-01 7.67601245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.742755096 meters 0.018759685179431752 Centerline is valid? [True, True] Translation: X:47.68, Y:336.35, Z:7.68 [[-1.79671556e-01 -9.83726588e-01 3.64200178e-04 4.76763348e+01] [ 9.83724238e-01 -1.79671923e-01 -2.15011939e-03 3.36345178e+02] [ 2.18056615e-03 -2.80427527e-05 9.99997622e-01 7.67554293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.772755096 meters 0.018711042984677437 Centerline is valid? [True, True] Translation: X:47.67, Y:336.37, Z:7.68 [[-1.80375436e-01 -9.83597773e-01 3.51249118e-04 4.76711628e+01] [ 9.83595596e-01 -1.80375776e-01 -2.06945680e-03 3.36370910e+02] [ 2.09886993e-03 -2.77920861e-05 9.99997797e-01 7.67598794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.802755096 meters 0.01975348242302923 Centerline is valid? [True, True] Translation: X:47.67, Y:336.40, Z:7.68 [[-1.81229724e-01 -9.83440732e-01 3.37326146e-04 4.76664581e+01] [ 9.83438732e-01 -1.81230036e-01 -1.98361555e-03 3.36396272e+02] [ 2.01190195e-03 -2.77505014e-05 9.99997976e-01 7.67521854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.832755096 meters 0.018961069895342877 Centerline is valid? [True, True] Translation: X:47.66, Y:336.42, Z:7.68 [[-1.81451600e-01 -9.83399820e-01 3.33861082e-04 4.76616266e+01] [ 9.83397874e-01 -1.81451906e-01 -1.95663890e-03 3.36421191e+02] [ 1.98473807e-03 -2.67169824e-05 9.99998030e-01 7.67713966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.862755096 meters 0.019228499225738833 Centerline is valid? [True, True] Translation: X:47.66, Y:336.45, Z:7.68 [[-1.82488638e-01 -9.83207844e-01 4.82420526e-04 4.76559511e+01] [ 9.83203803e-01 -1.82489272e-01 -2.81917336e-03 3.36445766e+02] [ 2.85986993e-03 -4.01494133e-05 9.99995910e-01 7.67669939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.892755096 meters 0.02041584600381117 Centerline is valid? [True, True] Translation: X:47.65, Y:336.47, Z:7.68 [[-1.83646107e-01 -9.82992263e-01 5.64295093e-04 4.76510121e+01] [ 9.82986767e-01 -1.83646968e-01 -3.28744957e-03 3.36471521e+02] [ 3.33516858e-03 -4.90327082e-05 9.99994437e-01 7.67521683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9227550960001 meters 0.0200562432207084 Centerline is valid? [True, True] Translation: X:47.65, Y:336.50, Z:7.68 [[-1.85328705e-01 -9.82676434e-01 5.45648275e-04 4.76462747e+01] [ 9.82671315e-01 -1.85329501e-01 -3.17233067e-03 3.36496845e+02] [ 3.21849931e-03 -5.17310270e-05 9.99994819e-01 7.67625430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.952755096 meters 0.020375022998508165 Centerline is valid? [True, True] Translation: X:47.64, Y:336.52, Z:7.68 [[-1.86630867e-01 -9.82429927e-01 5.99194122e-04 4.76413998e+01] [ 9.82423786e-01 -1.86631819e-01 -3.47416965e-03 3.36522641e+02] [ 3.52495693e-03 -5.97247362e-05 9.99993786e-01 7.67606305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.982755096 meters 0.021888384967807345 Centerline is valid? [True, True] Translation: X:47.64, Y:336.55, Z:7.67 [[-1.88443789e-01 -9.82083773e-01 6.32747495e-04 4.76368423e+01] [ 9.82076956e-01 -1.88444839e-01 -3.65996699e-03 3.36548593e+02] [ 3.71363219e-03 -6.82913141e-05 9.99993102e-01 7.67408860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.012755096 meters 0.023289780605073727 Centerline is valid? [True, True] Translation: X:47.63, Y:336.57, Z:7.67 [[-1.91220035e-01 -9.81546960e-01 6.80801069e-04 4.76319461e+01] [ 9.81539102e-01 -1.91221229e-01 -3.92845986e-03 3.36574199e+02] [ 3.98615145e-03 -8.29673634e-05 9.99992052e-01 7.67340947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0427550960001 meters 0.0213376558448499 Centerline is valid? [True, True] Translation: X:47.62, Y:336.60, Z:7.67 [[-1.92621833e-01 -9.81272834e-01 6.75050823e-04 4.76245336e+01] [ 9.81265139e-01 -1.92622997e-01 -3.88683969e-03 3.36600352e+02] [ 3.94408051e-03 -8.62863462e-05 9.99992218e-01 7.67469387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.072755096 meters 0.0242714762786998 Centerline is valid? [True, True] Translation: X:47.62, Y:336.63, Z:7.67 [[-1.94479745e-01 -9.80906280e-01 7.06438299e-04 4.76225430e+01] [ 9.80897887e-01 -1.94481004e-01 -4.05879919e-03 3.36626665e+02] [ 4.11869045e-03 -9.64103981e-05 9.99991514e-01 7.67369639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.102755096 meters 0.0243727717022343 Centerline is valid? [True, True] Translation: X:47.62, Y:336.65, Z:7.67 [[-1.96832430e-01 -9.80436783e-01 8.42748141e-04 4.76162947e+01] [ 9.80424896e-01 -1.96834195e-01 -4.82933398e-03 3.36652561e+02] [ 4.90073832e-03 -1.24318283e-04 9.99987984e-01 7.67400011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.132755096 meters 0.02483961629659582 Centerline is valid? [True, True] Translation: X:47.61, Y:336.68, Z:7.67 [[-1.98359867e-01 -9.80128867e-01 8.75890253e-04 4.76082016e+01] [ 9.80116082e-01 -1.98361755e-01 -5.00806636e-03 3.36678956e+02] [ 5.08229354e-03 -1.34925256e-04 9.99987076e-01 7.67158700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1627550960001 meters 0.025426135951923393 Centerline is valid? [True, True] Translation: X:47.60, Y:336.71, Z:7.67 [[-1.99857631e-01 -9.79824364e-01 1.06900679e-03 4.76009584e+01] [ 9.79805407e-01 -1.99860417e-01 -6.09733732e-03 3.36705371e+02] [ 6.18797181e-03 -1.71180756e-04 9.99980840e-01 7.66995296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.192755096 meters 0.022959445437374534 Centerline is valid? [True, True] Translation: X:47.59, Y:336.73, Z:7.67 [[-2.00005043e-01 -9.79794226e-01 1.12107879e-03 4.75933417e+01] [ 9.79773466e-01 -2.00008106e-01 -6.38060675e-03 3.36731357e+02] [ 6.47590650e-03 -1.77750277e-04 9.99979015e-01 7.67203413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.222755096 meters 0.023274571785704926 Centerline is valid? [True, True] Translation: X:47.59, Y:336.76, Z:7.67 [[-2.00600443e-01 -9.79672452e-01 1.16174784e-03 4.75872063e+01] [ 9.79650257e-01 -2.00603721e-01 -6.59705367e-03 3.36757038e+02] [ 6.69600268e-03 -1.85265323e-04 9.99977564e-01 7.67164132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.252755096 meters 0.023217207235137042 Centerline is valid? [True, True] Translation: X:47.58, Y:336.78, Z:7.67 [[-2.00055135e-01 -9.79783838e-01 1.25442867e-03 4.75795185e+01] [ 9.79758081e-01 -2.00058975e-01 -7.10694598e-03 3.36781663e+02] [ 7.21423052e-03 -1.92744408e-04 9.99973959e-01 7.67054924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2827550960001 meters 0.024770585895572052 Centerline is valid? [True, True] Translation: X:47.57, Y:336.81, Z:7.67 [[-2.00324066e-01 -9.79728720e-01 1.37973221e-03 4.75733931e+01] [ 9.79697688e-01 -2.00328706e-01 -7.80062492e-03 3.36807274e+02] [ 7.91889623e-03 -2.10932442e-04 9.99968623e-01 7.66797864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.312755096 meters 0.024138560828849326 Centerline is valid? [True, True] Translation: X:47.57, Y:336.83, Z:7.67 [[-1.99768297e-01 -9.79842215e-01 1.36463590e-03 4.75671068e+01] [ 9.79811994e-01 -1.99772857e-01 -7.69814687e-03 3.36833023e+02] [ 7.81558649e-03 -2.00759068e-04 9.99969438e-01 7.66850590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.342755096 meters 0.022185096319046697 Centerline is valid? [True, True] Translation: X:47.56, Y:336.86, Z:7.67 [[-1.98125788e-01 -9.80175672e-01 1.35089255e-03 4.75586346e+01] [ 9.80146192e-01 -1.98130309e-01 -7.60411076e-03 3.36858432e+02] [ 7.72101713e-03 -1.82498246e-04 9.99970176e-01 7.67037793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.372755096 meters 0.021702309224050555 Centerline is valid? [True, True] Translation: X:47.55, Y:336.88, Z:7.67 [[-1.97077631e-01 -9.80386998e-01 1.31953595e-03 4.75518680e+01] [ 9.80358989e-01 -1.97081978e-01 -7.41262702e-03 3.36884506e+02] [ 7.52729990e-03 -1.67244045e-04 9.99971656e-01 7.67058719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.402755096 meters 0.020583676077345823 Centerline is valid? [True, True] Translation: X:47.54, Y:336.91, Z:7.67 [[-1.94716923e-01 -9.80858596e-01 1.31750098e-03 4.75431421e+01] [ 9.80830793e-01 -1.94721325e-01 -7.38660305e-03 3.36909481e+02] [ 7.50175862e-03 -1.46051084e-04 9.99971851e-01 7.67030957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.432755096 meters 0.020051467497811715 Centerline is valid? [True, True] Translation: X:47.54, Y:336.93, Z:7.67 [[-1.93820271e-01 -9.81036245e-01 1.26012600e-03 4.75362527e+01] [ 9.81010916e-01 -1.93824324e-01 -7.05085582e-03 3.36934845e+02] [ 7.16138819e-03 -1.30401429e-04 9.99974348e-01 7.67068391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.462755096 meters 0.020336246622738936 Centerline is valid? [True, True] Translation: X:47.53, Y:336.96, Z:7.67 [[-1.93279633e-01 -9.81142990e-01 1.18999332e-03 4.75299235e+01] [ 9.81120495e-01 -1.93283261e-01 -6.64491302e-03 3.36960886e+02] [ 6.74961562e-03 -1.16799512e-04 9.99977214e-01 7.66993716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.492755096 meters 0.01921838667758101 Centerline is valid? [True, True] Translation: X:47.52, Y:336.99, Z:7.67 [[-1.92329317e-01 -9.81329727e-01 1.18324573e-03 4.75242117e+01] [ 9.81307584e-01 -1.92332927e-01 -6.59322719e-03 3.36985850e+02] [ 6.69770695e-03 -1.06942879e-04 9.99977564e-01 7.67113453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.522755096 meters 0.01894390012541737 Centerline is valid? [True, True] Translation: X:47.52, Y:337.01, Z:7.67 [[-1.91769717e-01 -9.81439253e-01 1.17004370e-03 4.75190474e+01] [ 9.81417695e-01 -1.91773261e-01 -6.50578747e-03 3.37010202e+02] [ 6.60941829e-03 -9.93114365e-05 9.99978153e-01 7.67084887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.552755096 meters 0.018776765147868104 Centerline is valid? [True, True] Translation: X:47.51, Y:337.04, Z:7.67 [[-1.91762330e-01 -9.81440618e-01 1.23391304e-03 4.75139488e+01] [ 9.81416742e-01 -1.91766273e-01 -6.84655984e-03 3.37035291e+02] [ 6.95611482e-03 -1.01929353e-04 9.99975801e-01 7.67075329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.582755096 meters 0.018025516769977275 Centerline is valid? [True, True] Translation: X:47.51, Y:337.06, Z:7.67 [[-1.92212362e-01 -9.81352556e-01 1.25220171e-03 4.75072158e+01] [ 9.81328077e-01 -1.92216413e-01 -6.93230591e-03 3.37060777e+02] [ 7.04372985e-03 -1.03654198e-04 9.99975187e-01 7.67046240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.612755096 meters 0.018451046839232 Centerline is valid? [True, True] Translation: X:47.50, Y:337.09, Z:7.67 [[-1.92855311e-01 -9.81226423e-01 1.23916726e-03 4.75034335e+01] [ 9.81202552e-01 -1.92859264e-01 -6.84514458e-03 3.37085655e+02] [ 6.95562162e-03 -1.04248414e-04 9.99975804e-01 7.67006550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.642755096 meters 0.01823901705529752 Centerline is valid? [True, True] Translation: X:47.50, Y:337.11, Z:7.67 [[-1.93621448e-01 -9.81075500e-01 1.26400040e-03 4.74983048e+01] [ 9.81050773e-01 -1.93625543e-01 -6.96641515e-03 3.37111975e+02] [ 7.07932200e-03 -1.08798816e-04 9.99974935e-01 7.66984647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6727550960001 meters 0.02009141787014485 Centerline is valid? [True, True] Translation: X:47.50, Y:337.14, Z:7.67 [[-1.95110408e-01 -9.80780489e-01 1.24985570e-03 4.74983674e+01] [ 9.80756407e-01 -1.95114377e-01 -6.87391880e-03 3.37138246e+02] [ 6.98567026e-03 -1.15369120e-04 9.99975593e-01 7.66933085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.702755096 meters 0.019116430889789943 Centerline is valid? [True, True] Translation: X:47.49, Y:337.16, Z:7.67 [[-1.96365690e-01 -9.80529947e-01 1.24041354e-03 4.74930055e+01] [ 9.80506319e-01 -1.96369570e-01 -6.80809589e-03 3.37163760e+02] [ 6.91912138e-03 -1.20643130e-04 9.99976055e-01 7.66951855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.732755096 meters 0.019116430889789943 Centerline is valid? [True, True] Translation: X:47.49, Y:337.19, Z:7.67 [[-1.96732626e-01 -9.80456388e-01 1.24296532e-03 4.74880908e+01] [ 9.80432761e-01 -1.96736516e-01 -6.80763008e-03 3.37189213e+02] [ 6.91912107e-03 -1.20639020e-04 9.99976055e-01 7.66965815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.762755096 meters 0.02097801083483802 Centerline is valid? [True, True] Translation: X:47.49, Y:337.22, Z:7.67 [[-1.97870326e-01 -9.80227447e-01 1.21888945e-03 4.74878519e+01] [ 9.80204818e-01 -1.97874041e-01 -6.66178027e-03 3.37215116e+02] [ 6.77124645e-03 -1.23407325e-04 9.99977067e-01 7.66963048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7927550960001 meters 0.02038701346204541 Centerline is valid? [True, True] Translation: X:47.48, Y:337.24, Z:7.67 [[-1.99799986e-01 -9.79836077e-01 1.10843916e-03 4.74836081e+01] [ 9.79817431e-01 -1.99803023e-01 -6.04598519e-03 3.37241353e+02] [ 6.14554390e-03 -1.21919745e-04 9.99981109e-01 7.66970858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.822755096 meters 0.019679084472758325 Centerline is valid? [True, True] Translation: X:47.48, Y:337.27, Z:7.67 [[-2.00348539e-01 -9.79724107e-01 1.06667677e-03 4.74781240e+01] [ 9.79706907e-01 -2.00351344e-01 -5.80657698e-03 3.37267305e+02] [ 5.90255357e-03 -1.18308615e-04 9.99982573e-01 7.67005897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.852755096 meters 0.022434336872922893 Centerline is valid? [True, True] Translation: X:47.48, Y:337.29, Z:7.67 [[-2.00572334e-01 -9.79678373e-01 1.01212541e-03 4.74796943e+01] [ 9.79662950e-01 -2.00574856e-01 -5.49839294e-03 3.37293373e+02] [ 5.58966356e-03 -1.11283738e-04 9.99984372e-01 7.66971354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.882755096 meters 0.019518530542825128 Centerline is valid? [True, True] Translation: X:47.47, Y:337.32, Z:7.67 [[-2.00175815e-01 -9.79759548e-01 9.33344955e-04 4.74710140e+01] [ 9.79746487e-01 -2.00177967e-01 -5.06001649e-03 3.37318879e+02] [ 5.14443457e-03 -9.84514838e-05 9.99986763e-01 7.66970963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9127550960001 meters 0.019289711720031587 Centerline is valid? [True, True] Translation: X:47.47, Y:337.34, Z:7.67 [[-1.99885344e-01 -9.79818889e-01 8.91478143e-04 4.74665805e+01] [ 9.79807021e-01 -1.99887312e-01 -4.82341204e-03 3.37344936e+02] [ 4.90426540e-03 -9.06528329e-05 9.99987970e-01 7.66950536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.942755096 meters 0.01762143000907682 Centerline is valid? [True, True] Translation: X:47.46, Y:337.37, Z:7.67 [[-1.97609693e-01 -9.80280400e-01 8.64695831e-04 4.74600543e+01] [ 9.80269283e-01 -1.97611571e-01 -4.66899249e-03 3.37371276e+02] [ 4.74779572e-03 -7.50034106e-05 9.99988726e-01 7.66935104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.972755096 meters 0.017641917610859165 Centerline is valid? [True, True] Translation: X:47.46, Y:337.40, Z:7.67 [[-1.96339265e-01 -9.80535697e-01 7.99649994e-04 4.74562666e+01] [ 9.80526225e-01 -1.96340883e-01 -4.31039722e-03 3.37396719e+02] [ 4.38350233e-03 -6.22224311e-05 9.99990391e-01 7.66962039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.002755096 meters 0.01648195236174707 Centerline is valid? [True, True] Translation: X:47.45, Y:337.42, Z:7.67 [[-1.95280045e-01 -9.80747248e-01 7.34158815e-04 4.74492474e+01] [ 9.80739298e-01 -1.95281418e-01 -3.94936890e-03 3.37422269e+02] [ 4.01670025e-03 -5.12145364e-05 9.99991932e-01 7.66983124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0327550960001 meters 0.015582709144278712 Centerline is valid? [True, True] Translation: X:47.44, Y:337.45, Z:7.67 [[-1.92995248e-01 -9.81199555e-01 5.17147672e-04 4.74441755e+01] [ 9.81195621e-01 -1.92995938e-01 -2.77887259e-03 3.37448574e+02] [ 2.82643595e-03 -2.88861736e-05 9.99996005e-01 7.67104603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.062755096 meters 0.015550421029050833 Centerline is valid? [True, True] Translation: X:47.44, Y:337.47, Z:7.67 [[-1.92323860e-01 -9.81331432e-01 3.91519476e-04 4.74406511e+01] [ 9.81329179e-01 -1.92324258e-01 -2.10319709e-03 3.37473439e+02] [ 2.13923210e-03 -2.02854967e-05 9.99997712e-01 7.67214303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.092755096 meters 0.015169506157863798 Centerline is valid? [True, True] Translation: X:47.44, Y:337.50, Z:7.67 [[-1.91740428e-01 -9.81445629e-01 2.91420293e-04 4.74371877e+01] [ 9.81444382e-01 -1.91740649e-01 -1.56458085e-03 3.37500140e+02] [ 1.59142816e-03 -1.39805936e-05 9.99998734e-01 7.67282636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.122755096 meters 0.015226503505366945 Centerline is valid? [True, True] Translation: X:47.43, Y:337.53, Z:7.67 [[-1.92200921e-01 -9.81355540e-01 3.30879870e-04 4.74334958e+01] [ 9.81353942e-01 -1.92201206e-01 -1.77094892e-03 3.37526459e+02] [ 1.80152605e-03 -1.56677501e-05 9.99998377e-01 7.67255447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.152755096 meters 0.015216655783134674 Centerline is valid? [True, True] Translation: X:47.43, Y:337.55, Z:7.67 [[-1.93012844e-01 -9.81196157e-01 3.79945912e-04 4.74302035e+01] [ 9.81194062e-01 -1.93013217e-01 -2.02733705e-03 3.37552350e+02] [ 2.06254991e-03 -1.85014174e-05 9.99997873e-01 7.67211824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.182755096 meters 0.015492521079873518 Centerline is valid? [True, True] Translation: X:47.43, Y:337.58, Z:7.67 [[-1.95010200e-01 -9.80801064e-01 5.42666747e-04 4.74292396e+01] [ 9.80796823e-01 -1.95010953e-01 -2.88455420e-03 3.37578475e+02] [ 2.93499979e-03 -3.02716713e-05 9.99995692e-01 7.67100308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.212755096 meters 0.015772762598006373 Centerline is valid? [True, True] Translation: X:47.43, Y:337.60, Z:7.67 [[-1.96151123e-01 -9.80573497e-01 5.95497847e-04 4.74265468e+01] [ 9.80568419e-01 -1.96152024e-01 -3.15585163e-03 3.37603939e+02] [ 3.21135258e-03 -3.50974592e-05 9.99994843e-01 7.67064902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.242755096 meters 0.015995608657443646 Centerline is valid? [True, True] Translation: X:47.42, Y:337.63, Z:7.67 [[-1.97487532e-01 -9.80305195e-01 6.31308718e-04 4.74232778e+01] [ 9.80299506e-01 -1.97488537e-01 -3.34024871e-03 3.37629865e+02] [ 3.39913940e-03 -4.07858520e-05 9.99994222e-01 7.67001185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.272755096 meters 0.016229142244938467 Centerline is valid? [True, True] Translation: X:47.42, Y:337.66, Z:7.67 [[-1.99389236e-01 -9.79920156e-01 6.48549862e-04 4.74211757e+01] [ 9.79914175e-01 -1.99390285e-01 -3.42398083e-03 3.37656683e+02] [ 3.48454237e-03 -4.71817197e-05 9.99993928e-01 7.66956848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.302755096 meters 0.016761958415966203 Centerline is valid? [True, True] Translation: X:47.42, Y:337.68, Z:7.67 [[-2.00083718e-01 -9.79778527e-01 7.37043710e-04 4.74191973e+01] [ 9.79770841e-01 -2.00085068e-01 -3.88133907e-03 3.37682045e+02] [ 3.95032412e-03 -5.44588152e-05 9.99992196e-01 7.66959783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.332755096 meters 0.01648191925210634 Centerline is valid? [True, True] Translation: X:47.42, Y:337.71, Z:7.67 [[-2.00828888e-01 -9.79626029e-01 7.75723546e-04 4.74166252e+01] [ 9.79617554e-01 -2.00830378e-01 -4.07509907e-03 3.37708639e+02] [ 4.14786197e-03 -5.84852132e-05 9.99991396e-01 7.66883792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.362755096 meters 0.01659305008394921 Centerline is valid? [True, True] Translation: X:47.41, Y:337.73, Z:7.67 [[-2.01271366e-01 -9.79535152e-01 8.50145700e-04 4.74134643e+01] [ 9.79525021e-01 -2.01273151e-01 -4.45562062e-03 3.37734056e+02] [ 4.53554853e-03 -6.40498632e-05 9.99989712e-01 7.66832234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.392755096 meters 0.016536392197086823 Centerline is valid? [True, True] Translation: X:47.41, Y:337.76, Z:7.67 [[-2.01908564e-01 -9.79404002e-01 8.56520407e-04 4.74096253e+01] [ 9.79393762e-01 -2.01910370e-01 -4.47902275e-03 3.37760723e+02] [ 4.55971316e-03 -6.54823100e-05 9.99989602e-01 7.66797759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4227550960001 meters 0.01658276476013771 Centerline is valid? [True, True] Translation: X:47.41, Y:337.79, Z:7.67 [[-2.02182013e-01 -9.79347552e-01 8.97655234e-04 4.74070963e+01] [ 9.79336354e-01 -2.02183994e-01 -4.68375950e-03 3.37785919e+02] [ 4.76851992e-03 -6.78655181e-05 9.99988628e-01 7.66778627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.452755096 meters 0.01667630967417174 Centerline is valid? [True, True] Translation: X:47.41, Y:337.81, Z:7.67 [[-2.03001935e-01 -9.79177922e-01 9.00702448e-04 4.74060773e+01] [ 9.79166696e-01 -2.03003921e-01 -4.68929174e-03 3.37812699e+02] [ 4.77449707e-03 -6.99974536e-05 9.99988600e-01 7.66790119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.482755096 meters 0.016724925591970127 Centerline is valid? [True, True] Translation: X:47.40, Y:337.84, Z:7.67 [[-2.03477308e-01 -9.79079238e-01 9.11721427e-04 4.74030087e+01] [ 9.79067783e-01 -2.03479338e-01 -4.73670270e-03 3.37839058e+02] [ 4.82312374e-03 -7.11744376e-05 9.99988366e-01 7.66796065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.512755096 meters 0.01595995424924493 Centerline is valid? [True, True] Translation: X:47.40, Y:337.87, Z:7.67 [[-2.03123390e-01 -9.79152565e-01 1.06924126e-03 4.73992654e+01] [ 9.79136885e-01 -2.03126189e-01 -5.54177632e-03 3.37866083e+02] [ 5.64343540e-03 -7.87308367e-05 9.99984073e-01 7.66742983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5427550960001 meters 0.0165647678443378 Centerline is valid? [True, True] Translation: X:47.40, Y:337.89, Z:7.67 [[-2.02976979e-01 -9.79182867e-01 1.12189620e-03 4.73972120e+01] [ 9.79165677e-01 -2.02980064e-01 -5.80267749e-03 3.37891944e+02] [ 5.90960494e-03 -7.92877013e-05 9.99982535e-01 7.66719261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.572755096 meters 0.015691514715130056 Centerline is valid? [True, True] Translation: X:47.39, Y:337.92, Z:7.67 [[-2.01956877e-01 -9.79393757e-01 1.13507718e-03 4.73936596e+01] [ 9.79376243e-01 -2.01960054e-01 -5.85759533e-03 3.37918654e+02] [ 5.96613254e-03 -7.13140311e-05 9.99982200e-01 7.66736462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.602755096 meters 0.015296664500965349 Centerline is valid? [True, True] Translation: X:47.39, Y:337.94, Z:7.67 [[-2.01502330e-01 -9.79487404e-01 1.11211032e-03 4.73894648e+01] [ 9.79470661e-01 -2.01505389e-01 -5.72740355e-03 3.37944544e+02] [ 5.83401586e-03 -6.48057287e-05 9.99982980e-01 7.66752209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.632755096 meters 0.014984388265025813 Centerline is valid? [True, True] Translation: X:47.38, Y:337.97, Z:7.67 [[-2.00502310e-01 -9.79692701e-01 1.01705967e-03 4.73839563e+01] [ 9.79678755e-01 -2.00504883e-01 -5.22776192e-03 3.37970515e+02] [ 5.32552563e-03 -5.17865896e-05 9.99985818e-01 7.66842971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6627550960001 meters 0.014277260372668145 Centerline is valid? [True, True] Translation: X:47.38, Y:338.00, Z:7.67 [[-1.96786983e-01 -9.80445924e-01 8.20449061e-04 4.73753119e+01] [ 9.80436883e-01 -1.96788692e-01 -4.21052800e-03 3.37995079e+02] [ 4.28965011e-03 -2.41785835e-05 9.99990799e-01 7.66934338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.692755096 meters 0.013979691616085078 Centerline is valid? [True, True] Translation: X:47.37, Y:338.02, Z:7.67 [[-1.94768909e-01 -9.80848828e-01 8.05819691e-04 4.73673575e+01] [ 9.80840148e-01 -1.94770575e-01 -4.12644663e-03 3.38020037e+02] [ 4.20437030e-03 -1.33232013e-05 9.99991162e-01 7.66919517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.722755096 meters 0.013962223490500815 Centerline is valid? [True, True] Translation: X:47.36, Y:338.04, Z:7.67 [[-1.91760935e-01 -9.81441229e-01 9.26600281e-04 4.73587660e+01] [ 9.81429815e-01 -1.91763173e-01 -4.73318296e-03 3.38044137e+02] [ 4.82302871e-03 1.75355493e-06 9.99988369e-01 7.66862328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.752755096 meters 0.013945667678940288 Centerline is valid? [True, True] Translation: X:47.35, Y:338.07, Z:7.67 [[-1.91426019e-01 -9.81506556e-01 9.79699623e-04 4.73527251e+01] [ 9.81493842e-01 -1.91428526e-01 -4.99576104e-03 3.38070307e+02] [ 5.09091467e-03 5.25049663e-06 9.99987041e-01 7.66846425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7827550960001 meters 0.013989690222176492 Centerline is valid? [True, True] Translation: X:47.35, Y:338.10, Z:7.67 [[-1.91113315e-01 -9.81567483e-01 9.88947387e-04 4.73459486e+01] [ 9.81554578e-01 -1.91115873e-01 -5.03315233e-03 3.38096992e+02] [ 5.12938220e-03 8.80341031e-06 9.99986845e-01 7.66857797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.812755096 meters 0.01403586275006588 Centerline is valid? [True, True] Translation: X:47.34, Y:338.12, Z:7.67 [[-1.91316332e-01 -9.81528055e-01 8.59972882e-04 4.73399335e+01] [ 9.81518328e-01 -1.91318264e-01 -4.36965604e-03 3.38123342e+02] [ 4.45346851e-03 8.09258141e-06 9.99990083e-01 7.66895480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.842755096 meters 0.014035171252020879 Centerline is valid? [True, True] Translation: X:47.33, Y:338.15, Z:7.67 [[-1.93530670e-01 -9.81093837e-01 8.73510171e-04 4.73334985e+01] [ 9.81083837e-01 -1.93532642e-01 -4.42965514e-03 3.38148811e+02] [ 4.51496009e-03 -2.87418714e-07 9.99989808e-01 7.66884480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.872755096 meters 0.014120483833843227 Centerline is valid? [True, True] Translation: X:47.33, Y:338.17, Z:7.67 [[-1.95764623e-01 -9.80650469e-01 9.32668355e-04 4.73282995e+01] [ 9.80639114e-01 -1.95766845e-01 -4.71925695e-03 3.38174685e+02] [ 4.81052708e-03 -9.25249111e-06 9.99988429e-01 7.66844142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.902755096 meters 0.014616766409171719 Centerline is valid? [True, True] Translation: X:47.33, Y:338.20, Z:7.67 [[-2.01373246e-01 -9.79514095e-01 9.76801270e-04 4.73260507e+01] [ 9.79501680e-01 -2.01375611e-01 -4.93170499e-03 3.38202150e+02] [ 5.02737851e-03 -3.63349564e-05 9.99987362e-01 7.66829175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.932755096 meters 0.015633650086107957 Centerline is valid? [True, True] Translation: X:47.32, Y:338.23, Z:7.67 [[-2.04601135e-01 -9.78844942e-01 9.77028667e-04 4.73242662e+01] [ 9.78832560e-01 -2.04603461e-01 -4.92375032e-03 3.38228483e+02] [ 5.01949155e-03 -5.10574324e-05 9.99987401e-01 7.66861686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.962755096 meters 0.01592713282031301 Centerline is valid? [True, True] Translation: X:47.32, Y:338.26, Z:7.67 [[-2.07637022e-01 -9.78205468e-01 9.63761394e-04 4.73194954e+01] [ 9.78193459e-01 -2.07639249e-01 -4.84761765e-03 3.38255775e+02] [ 4.94208079e-03 -6.37998015e-05 9.99987786e-01 7.66855630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.992755096 meters 0.017498384996210942 Centerline is valid? [True, True] Translation: X:47.32, Y:338.28, Z:7.67 [[-2.13257179e-01 -9.76995697e-01 8.85015304e-04 4.73169444e+01] [ 9.76985593e-01 -2.13258999e-01 -4.44416659e-03 3.38282631e+02] [ 4.53066911e-03 -8.31032271e-05 9.99989733e-01 7.66875333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.022755096 meters 0.019156915468952117 Centerline is valid? [True, True] Translation: X:47.31, Y:338.31, Z:7.67 [[-2.15657349e-01 -9.76468750e-01 8.29662155e-04 4.73141991e+01] [ 9.76459899e-01 -2.15658927e-01 -4.15838507e-03 3.38308395e+02] [ 4.23945712e-03 -8.66544734e-05 9.99991010e-01 7.66920770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.052755096 meters 0.02006718594849943 Centerline is valid? [True, True] Translation: X:47.31, Y:338.33, Z:7.67 [[-2.18733067e-01 -9.75784360e-01 8.53949828e-04 4.73082047e+01] [ 9.75775013e-01 -2.18734711e-01 -4.27204105e-03 3.38334711e+02] [ 4.35537931e-03 -1.01173736e-04 9.99990510e-01 7.66855686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.082755096 meters 0.019843402839140323 Centerline is valid? [True, True] Translation: X:47.30, Y:338.36, Z:7.67 [[-2.19962404e-01 -9.75507903e-01 9.34221948e-04 4.73016594e+01] [ 9.75496759e-01 -2.19964358e-01 -4.66426794e-03 3.38360852e+02] [ 4.75552577e-03 -1.14633107e-04 9.99988686e-01 7.66838667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.112755096 meters 0.02027381630342918 Centerline is valid? [True, True] Translation: X:47.30, Y:338.39, Z:7.67 [[-2.21058926e-01 -9.75260017e-01 9.21973910e-04 4.72968807e+01] [ 9.75249201e-01 -2.21060818e-01 -4.59466201e-03 3.38388007e+02] [ 4.68480245e-03 -1.16536728e-04 9.99989020e-01 7.66839261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.142755096 meters 0.020652932635158692 Centerline is valid? [True, True] Translation: X:47.29, Y:338.41, Z:7.67 [[-2.21435988e-01 -9.75174434e-01 9.62693384e-04 4.72929679e+01] [ 9.75162685e-01 -2.21438047e-01 -4.78844921e-03 3.38413294e+02] [ 4.88275019e-03 -1.21552317e-04 9.99988072e-01 7.66914465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1727550960001 meters 0.020710367094675476 Centerline is valid? [True, True] Translation: X:47.29, Y:338.44, Z:7.67 [[-2.21416110e-01 -9.75178929e-01 9.81400842e-04 4.72874100e+01] [ 9.75166772e-01 -2.21418252e-01 -4.87083174e-03 3.38439204e+02] [ 4.96723254e-03 -1.21451126e-04 9.99987656e-01 7.66925962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.202755096 meters 0.02041522417070907 Centerline is valid? [True, True] Translation: X:47.28, Y:338.47, Z:7.67 [[-2.20777628e-01 -9.75323651e-01 1.00740804e-03 4.72813143e+01] [ 9.75310895e-01 -2.20779895e-01 -4.98961470e-03 3.38465245e+02] [ 5.08890467e-03 -1.19059264e-04 9.99987044e-01 7.66921475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.232755096 meters 0.019314278553096215 Centerline is valid? [True, True] Translation: X:47.27, Y:338.49, Z:7.67 [[-2.18228567e-01 -9.75897249e-01 9.23057083e-04 4.72735821e+01] [ 9.75886583e-01 -2.18230499e-01 -4.56356157e-03 3.38490853e+02] [ 4.65500639e-03 -9.51004796e-05 9.99989161e-01 7.67005032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.262755096 meters 0.018539655161050415 Centerline is valid? [True, True] Translation: X:47.27, Y:338.52, Z:7.67 [[-2.16346964e-01 -9.76316102e-01 9.27252498e-04 4.72664091e+01] [ 9.76305384e-01 -2.16348934e-01 -4.57562560e-03 3.38517539e+02] [ 4.66786704e-03 -8.46410978e-05 9.99989102e-01 7.67057595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2927550960001 meters 0.01730719783564123 Centerline is valid? [True, True] Translation: X:47.26, Y:338.54, Z:7.67 [[-2.12823075e-01 -9.77090342e-01 8.95398421e-04 4.72577814e+01] [ 9.77080388e-01 -2.12824949e-01 -4.41107912e-03 3.38542372e+02] [ 4.50058593e-03 -6.39031856e-05 9.99989870e-01 7.67108994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.322755096 meters 0.016783160870083105 Centerline is valid? [True, True] Translation: X:47.25, Y:338.57, Z:7.67 [[-2.11714369e-01 -9.77331193e-01 8.75129112e-04 4.72509505e+01] [ 9.77321719e-01 -2.11716170e-01 -4.30362854e-03 3.38567701e+02] [ 4.39134940e-03 -5.58573103e-05 9.99990356e-01 7.67115381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.352755096 meters 0.016610688799883384 Centerline is valid? [True, True] Translation: X:47.24, Y:338.59, Z:7.67 [[-2.11013113e-01 -9.77482756e-01 9.63527267e-04 4.72449256e+01] [ 9.77471321e-01 -2.11015306e-01 -4.72829883e-03 3.38592854e+02] [ 4.82514958e-03 -5.59127873e-05 9.99988357e-01 7.67137412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.382755096 meters 0.01630878229876798 Centerline is valid? [True, True] Translation: X:47.24, Y:338.62, Z:7.67 [[-2.09993839e-01 -9.77702208e-01 9.90163108e-04 4.72401029e+01] [ 9.77690184e-01 -2.09996168e-01 -4.84903909e-03 3.38617769e+02] [ 4.94884669e-03 -5.01955846e-05 9.99987753e-01 7.67169538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4127550960001 meters 0.0164101954076527 Centerline is valid? [True, True] Translation: X:47.24, Y:338.64, Z:7.67 [[-2.10373533e-01 -9.77620596e-01 9.73529935e-04 4.72358260e+01] [ 9.77609017e-01 -2.10375780e-01 -4.75839406e-03 3.38643083e+02] [ 4.85671115e-03 -4.93085256e-05 9.99988205e-01 7.67224150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.442755096 meters 0.016641359379088557 Centerline is valid? [True, True] Translation: X:47.23, Y:338.67, Z:7.67 [[-2.11277229e-01 -9.77425671e-01 9.95306168e-04 4.72316320e+01] [ 9.77413613e-01 -2.11279567e-01 -4.85519147e-03 3.38668163e+02] [ 4.95587663e-03 -5.29656034e-05 9.99987718e-01 7.67266674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.472755096 meters 0.01742601964515421 Centerline is valid? [True, True] Translation: X:47.23, Y:338.69, Z:7.67 [[-2.13293634e-01 -9.76987530e-01 1.09196916e-03 4.72288041e+01] [ 9.76973075e-01 -2.13296419e-01 -5.31492801e-03 3.38693577e+02] [ 5.42553150e-03 -6.68158364e-05 9.99985280e-01 7.67241874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.502755096 meters 0.017422513018119135 Centerline is valid? [True, True] Translation: X:47.22, Y:338.72, Z:7.67 [[-2.16367766e-01 -9.76311128e-01 1.25367407e-03 4.72246328e+01] [ 9.76292148e-01 -2.16371378e-01 -6.08836508e-03 3.38720833e+02] [ 6.21539776e-03 -9.33738007e-05 9.99980680e-01 7.67188251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5327550960001 meters 0.019755403711922408 Centerline is valid? [True, True] Translation: X:47.22, Y:338.75, Z:7.67 [[-2.18371518e-01 -9.75864821e-01 1.31598419e-03 4.72243859e+01] [ 9.75843975e-01 -2.18375456e-01 -6.37942974e-03 3.38747621e+02] [ 6.51283971e-03 -1.08890511e-04 9.99978785e-01 7.67171912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.562755096 meters 0.018615816148104744 Centerline is valid? [True, True] Translation: X:47.22, Y:338.77, Z:7.67 [[-2.20018321e-01 -9.75494727e-01 1.40594963e-03 4.72172759e+01] [ 9.75471000e-01 -2.20022777e-01 -6.80481764e-03 3.38773525e+02] [ 6.94740466e-03 -1.25721461e-04 9.99975859e-01 7.67198817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.592755096 meters 0.019365010146325384 Centerline is valid? [True, True] Translation: X:47.21, Y:338.80, Z:7.67 [[-2.21483865e-01 -9.75162920e-01 1.47538915e-03 4.72139189e+01] [ 9.75136880e-01 -2.21488735e-01 -7.12783320e-03 3.38799247e+02] [ 7.27758071e-03 -1.39993677e-04 9.99973508e-01 7.67174181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.622755096 meters 0.019365010146325384 Centerline is valid? [True, True] Translation: X:47.21, Y:338.82, Z:7.67 [[-2.21863112e-01 -9.75076703e-01 1.47755807e-03 4.72084097e+01] [ 9.75050664e-01 -2.21867988e-01 -7.12738365e-03 3.38824605e+02] [ 7.27756858e-03 -1.40609536e-04 9.99973508e-01 7.67188162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.652755096 meters 0.019786076096555576 Centerline is valid? [True, True] Translation: X:47.20, Y:338.85, Z:7.67 [[-2.24092531e-01 -9.74566485e-01 1.64419580e-03 4.72046228e+01] [ 9.74534359e-01 -2.24098497e-01 -7.91499084e-03 3.38851864e+02] [ 8.08214661e-03 -1.71365031e-04 9.99967324e-01 7.67200847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.682755096 meters 0.019954702730434478 Centerline is valid? [True, True] Translation: X:47.20, Y:338.88, Z:7.67 [[-2.25074069e-01 -9.74340306e-01 1.62211554e-03 4.71996143e+01] [ 9.74309142e-01 -2.25079847e-01 -7.79483226e-03 3.38879121e+02] [ 7.95992477e-03 -1.73972611e-04 9.99968304e-01 7.67270430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.712755096 meters 0.020650453121060536 Centerline is valid? [True, True] Translation: X:47.20, Y:338.90, Z:7.67 [[-2.26452324e-01 -9.74020843e-01 1.65598758e-03 4.71957864e+01] [ 9.73988474e-01 -2.26458303e-01 -7.94286335e-03 3.38904975e+02] [ 8.11152659e-03 -1.85767054e-04 9.99967084e-01 7.67309709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.742755096 meters 0.021223146208805315 Centerline is valid? [True, True] Translation: X:47.19, Y:338.93, Z:7.67 [[-2.27107664e-01 -9.73868284e-01 1.63527390e-03 4.71915549e+01] [ 9.73836837e-01 -2.27113476e-01 -7.82845959e-03 3.38929885e+02] [ 7.99528125e-03 -1.85413212e-04 9.99968020e-01 7.67324234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.772755096 meters 0.020900944161237806 Centerline is valid? [True, True] Translation: X:47.19, Y:338.96, Z:7.67 [[-2.27568691e-01 -9.73760603e-01 1.66707340e-03 4.71859652e+01] [ 9.73728051e-01 -2.27574718e-01 -7.96436288e-03 3.38955225e+02] [ 8.13476656e-03 -1.89163504e-04 9.99966894e-01 7.67393424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.802755096 meters 0.020946254382642627 Centerline is valid? [True, True] Translation: X:47.18, Y:338.98, Z:7.67 [[-2.28122326e-01 -9.73630857e-01 1.77713152e-03 4.71812348e+01] [ 9.73594011e-01 -2.28129159e-01 -8.47279012e-03 3.38980830e+02] [ 8.65478543e-03 -2.02627985e-04 9.99962526e-01 7.67416968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.832755096 meters 0.021940920931844243 Centerline is valid? [True, True] Translation: X:47.18, Y:339.01, Z:7.67 [[-2.28220827e-01 -9.73607491e-01 1.92551187e-03 4.71774150e+01] [ 9.73564415e-01 -2.28228847e-01 -9.16096171e-03 3.39006215e+02] [ 9.35863830e-03 -2.16112416e-04 9.99956184e-01 7.67365635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.862755096 meters 0.020494188255260115 Centerline is valid? [True, True] Translation: X:47.17, Y:339.03, Z:7.67 [[-2.27706922e-01 -9.73727365e-01 2.13946962e-03 4.71685905e+01] [ 9.73674409e-01 -2.27716857e-01 -1.01577121e-02 3.39031876e+02] [ 1.03780355e-02 -2.29834538e-04 9.99946120e-01 7.67341974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.892755096 meters 0.02002878342690251 Centerline is valid? [True, True] Translation: X:47.16, Y:339.06, Z:7.67 [[-2.25753872e-01 -9.74181239e-01 2.47038520e-03 4.71614203e+01] [ 9.74110941e-01 -2.25767264e-01 -1.17054560e-02 3.39057079e+02] [ 1.19609677e-02 -2.36122755e-04 9.99928437e-01 7.67266454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9227550960001 meters 0.019552948194921194 Centerline is valid? [True, True] Translation: X:47.15, Y:339.08, Z:7.67 [[-2.24803443e-01 -9.74400990e-01 2.47461590e-03 4.71543748e+01] [ 9.74330729e-01 -2.24816955e-01 -1.17032941e-02 3.39082770e+02] [ 1.19600369e-02 -2.19846489e-04 9.99928452e-01 7.67278795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.952755096 meters 0.018507392522728535 Centerline is valid? [True, True] Translation: X:47.14, Y:339.11, Z:7.67 [[-2.22346024e-01 -9.74964412e-01 2.57711763e-03 4.71448400e+01] [ 9.74888529e-01 -2.22360876e-01 -1.21654188e-02 3.39108788e+02] [ 1.24339005e-02 -1.92530080e-04 9.99922678e-01 7.67300519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.982755096 meters 0.018273772682999408 Centerline is valid? [True, True] Translation: X:47.14, Y:339.13, Z:7.67 [[-2.21642847e-01 -9.75124483e-01 2.58669701e-03 4.71380105e+01] [ 9.75048335e-01 -2.21657868e-01 -1.21874183e-02 3.39133203e+02] [ 1.24576117e-02 -1.79099471e-04 9.99922385e-01 7.67347286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.012755096 meters 0.018404054670798004 Centerline is valid? [True, True] Translation: X:47.13, Y:339.16, Z:7.67 [[-2.20958621e-01 -9.75279995e-01 2.49371489e-03 4.71322762e+01] [ 9.75209475e-01 -2.20972635e-01 -1.17292301e-02 3.39157739e+02] [ 1.19903262e-02 -1.59780114e-04 9.99928101e-01 7.67355902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0427550960001 meters 0.017482910996589784 Centerline is valid? [True, True] Translation: X:47.12, Y:339.18, Z:7.68 [[-2.20564813e-01 -9.75369267e-01 2.44055092e-03 4.71237168e+01] [ 9.75301948e-01 -2.20578265e-01 -1.14603258e-02 3.39184194e+02] [ 1.17163820e-02 -1.47470542e-04 9.99931350e-01 7.67534815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.072755096 meters 0.017670531898258728 Centerline is valid? [True, True] Translation: X:47.12, Y:339.21, Z:7.68 [[-2.21120732e-01 -9.75243286e-01 2.48086455e-03 4.71184123e+01] [ 9.75173971e-01 -2.21134596e-01 -1.16283034e-02 3.39210099e+02] [ 1.18890298e-02 -1.51984433e-04 9.99929311e-01 7.67544406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.102755096 meters 0.01784716336834658 Centerline is valid? [True, True] Translation: X:47.11, Y:339.24, Z:7.68 [[-2.21955345e-01 -9.75053768e-01 2.44437702e-03 4.71136007e+01] [ 9.74986717e-01 -2.21968751e-01 -1.14357057e-02 3.39235648e+02] [ 1.16930032e-02 -1.54980872e-04 9.99931623e-01 7.67585620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.132755096 meters 0.01849370913607756 Centerline is valid? [True, True] Translation: X:47.11, Y:339.26, Z:7.68 [[-2.24304609e-01 -9.74516245e-01 2.35163899e-03 4.71099583e+01] [ 9.74454378e-01 -2.24316871e-01 -1.09821256e-02 3.39262884e+02] [ 1.12297721e-02 -1.71776485e-04 9.99936929e-01 7.67667255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1627550960001 meters 0.018705133217366623 Centerline is valid? [True, True] Translation: X:47.10, Y:339.29, Z:7.68 [[-2.25542056e-01 -9.74230901e-01 2.22081441e-03 4.71049003e+01] [ 9.74175908e-01 -2.25552925e-01 -1.03527492e-02 3.39288897e+02] [ 1.05868794e-02 -1.71516460e-04 9.99943943e-01 7.67707199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.192755096 meters 0.019575264668770385 Centerline is valid? [True, True] Translation: X:47.10, Y:339.32, Z:7.68 [[-2.27995242e-01 -9.73659445e-01 2.33562104e-03 4.71002827e+01] [ 9.73598815e-01 -2.28007114e-01 -1.08675844e-02 3.39315505e+02] [ 1.11138644e-02 -2.03799657e-04 9.99938218e-01 7.67684053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.222755096 meters 0.019955013939479644 Centerline is valid? [True, True] Translation: X:47.09, Y:339.34, Z:7.68 [[-2.29278459e-01 -9.73358076e-01 2.33311053e-03 4.70948713e+01] [ 9.73297779e-01 -2.29290230e-01 -1.08361946e-02 3.39341176e+02] [ 1.10824570e-02 -2.13694706e-04 9.99938565e-01 7.67659770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.252755096 meters 0.020145088223459482 Centerline is valid? [True, True] Translation: X:47.09, Y:339.37, Z:7.68 [[-2.30369667e-01 -9.73100214e-01 2.40619247e-03 4.70892637e+01] [ 9.73036314e-01 -2.30382120e-01 -1.11539912e-02 3.39366980e+02] [ 1.14082950e-02 -2.28228595e-04 9.99934897e-01 7.67609796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2827550960001 meters 0.021160351913947703 Centerline is valid? [True, True] Translation: X:47.09, Y:339.39, Z:7.68 [[-2.32151303e-01 -9.72676701e-01 2.40984404e-03 4.70851727e+01] [ 9.72612820e-01 -2.32163681e-01 -1.11502453e-02 3.39392794e+02] [ 1.14050621e-02 -2.44698761e-04 9.99934930e-01 7.67627098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.312755096 meters 0.021509141249923817 Centerline is valid? [True, True] Translation: X:47.08, Y:339.42, Z:7.68 [[-2.33321956e-01 -9.72396571e-01 2.40286032e-03 4.70799204e+01] [ 9.72333276e-01 -2.33334191e-01 -1.10975606e-02 3.39419077e+02] [ 1.13518994e-02 -2.52923502e-04 9.99935533e-01 7.67682800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.342755096 meters 0.022033514580844585 Centerline is valid? [True, True] Translation: X:47.07, Y:339.45, Z:7.68 [[-2.34832270e-01 -9.72033035e-01 2.36301957e-03 4.70746350e+01] [ 9.71972018e-01 -2.34844013e-01 -1.08943420e-02 3.39446256e+02] [ 1.11446013e-02 -2.61554159e-04 9.99937863e-01 7.67681987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.372755096 meters 0.02187777032159849 Centerline is valid? [True, True] Translation: X:47.07, Y:339.47, Z:7.68 [[-2.35738484e-01 -9.71813581e-01 2.39422230e-03 4.70679317e+01] [ 9.71751143e-01 -2.35750486e-01 -1.10192930e-02 3.39472973e+02] [ 1.12731376e-02 -2.71083159e-04 9.99936419e-01 7.67720775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.402755096 meters 0.023077306317600892 Centerline is valid? [True, True] Translation: X:47.06, Y:339.50, Z:7.68 [[-2.36167559e-01 -9.71709207e-01 2.47027870e-03 4.70638220e+01] [ 9.71642949e-01 -2.36180311e-01 -1.13507677e-02 3.39498327e+02] [ 1.16130766e-02 -2.80454209e-04 9.99932527e-01 7.67668664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.432755096 meters 0.022431016632769144 Centerline is valid? [True, True] Translation: X:47.06, Y:339.52, Z:7.68 [[-2.36614636e-01 -9.71600166e-01 2.57504992e-03 4.70561206e+01] [ 9.71528413e-01 -2.36628466e-01 -1.18115060e-02 3.39523588e+02] [ 1.20853913e-02 -2.93041030e-04 9.99926926e-01 7.67676169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.462755096 meters 0.022533988694448472 Centerline is valid? [True, True] Translation: X:47.05, Y:339.55, Z:7.68 [[-2.36171027e-01 -9.71707828e-01 2.67253751e-03 4.70492922e+01] [ 9.71630806e-01 -2.36185966e-01 -1.22379066e-02 3.39547719e+02] [ 1.25228855e-02 -2.93519204e-04 9.99921543e-01 7.67625210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.492755096 meters 0.02259325865763518 Centerline is valid? [True, True] Translation: X:47.04, Y:339.57, Z:7.68 [[-2.35924092e-01 -9.71767731e-01 2.70173915e-03 4.70428393e+01] [ 9.71689295e-01 -2.35939385e-01 -1.23498956e-02 3.39572755e+02] [ 1.26386767e-02 -2.88386904e-04 9.99920087e-01 7.67599893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.522755096 meters 0.021477614886547487 Centerline is valid? [True, True] Translation: X:47.03, Y:339.60, Z:7.68 [[-2.34439620e-01 -9.72126693e-01 2.78525661e-03 4.70335660e+01] [ 9.72043659e-01 -2.34456007e-01 -1.27084920e-02 3.39598448e+02] [ 1.30072845e-02 -2.71983012e-04 9.99915365e-01 7.67583908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.552755096 meters 0.021452376983403756 Centerline is valid? [True, True] Translation: X:47.03, Y:339.62, Z:7.68 [[-2.33861846e-01 -9.72265823e-01 2.79410446e-03 4.70276805e+01] [ 9.72182533e-01 -2.33878392e-01 -1.27287433e-02 3.39622759e+02] [ 1.30292027e-02 -2.60387851e-04 9.99915082e-01 7.67530942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.582755096 meters 0.020925393356937126 Centerline is valid? [True, True] Translation: X:47.02, Y:339.65, Z:7.68 [[-2.33427053e-01 -9.72370138e-01 2.85057610e-03 4.70202867e+01] [ 9.72283752e-01 -2.33444319e-01 -1.29636218e-02 3.39647984e+02] [ 1.32708895e-02 -2.54491200e-04 9.99911906e-01 7.67568487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.612755096 meters 0.020205317264821866 Centerline is valid? [True, True] Translation: X:47.01, Y:339.67, Z:7.68 [[-2.31547197e-01 -9.72819829e-01 2.73425437e-03 4.70124114e+01] [ 9.72740652e-01 -2.31563241e-01 -1.24132866e-02 3.39674072e+02] [ 1.27090442e-02 -2.14541341e-04 9.99919214e-01 7.67681410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.642755096 meters 0.019759393483636742 Centerline is valid? [True, True] Translation: X:47.00, Y:339.70, Z:7.68 [[-2.30511366e-01 -9.73066238e-01 2.57046993e-03 4.70048161e+01] [ 9.72996517e-01 -2.30525624e-01 -1.16496761e-02 3.39699111e+02] [ 1.19284656e-02 -1.84324457e-04 9.99928836e-01 7.67752720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6727550960001 meters 0.019569346236784253 Centerline is valid? [True, True] Translation: X:47.00, Y:339.72, Z:7.68 [[-2.29371079e-01 -9.73335913e-01 2.47166823e-03 4.69973088e+01] [ 9.73271702e-01 -2.29384341e-01 -1.11811901e-02 3.39723795e+02] [ 1.14500158e-02 -1.59036891e-04 9.99934434e-01 7.67761224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.702755096 meters 0.018413366298985975 Centerline is valid? [True, True] Translation: X:46.99, Y:339.75, Z:7.68 [[-2.26486692e-01 -9.74011766e-01 2.20427332e-03 4.69856558e+01] [ 9.73960900e-01 -2.26497392e-01 -9.95468454e-03 3.39749325e+02] [ 1.01952420e-02 -1.07727544e-04 9.99948021e-01 7.67867028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.732755096 meters 0.01815038608557385 Centerline is valid? [True, True] Translation: X:46.98, Y:339.77, Z:7.68 [[-2.25598219e-01 -9.74218143e-01 2.11050719e-03 4.69783210e+01] [ 9.74171681e-01 -2.25608072e-01 -9.51487409e-03 3.39774305e+02] [ 9.74571042e-03 -9.05423021e-05 9.99952505e-01 7.67943612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.762755096 meters 0.01896398815238147 Centerline is valid? [True, True] Translation: X:46.97, Y:339.80, Z:7.68 [[-2.24196932e-01 -9.74541958e-01 1.92547967e-03 4.69701386e+01] [ 9.74503434e-01 -2.24205190e-01 -8.66544214e-03 3.39799863e+02] [ 8.87653949e-03 -6.63789884e-05 9.99960601e-01 7.67879501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7927550960001 meters 0.017796516053874122 Centerline is valid? [True, True] Translation: X:46.96, Y:339.82, Z:7.68 [[-2.23713015e-01 -9.74653483e-01 1.75377804e-03 4.69634597e+01] [ 9.74621639e-01 -2.23719883e-01 -7.87872024e-03 3.39824829e+02] [ 8.07137714e-03 -5.33022379e-05 9.99967425e-01 7.68039196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.822755096 meters 0.017906417565064132 Centerline is valid? [True, True] Translation: X:46.96, Y:339.85, Z:7.68 [[-2.23951244e-01 -9.74598937e-01 1.65891492e-03 4.69577404e+01] [ 9.74570549e-01 -2.23957383e-01 -7.43878177e-03 3.39849563e+02] [ 7.62135505e-03 -4.91948106e-05 9.99970956e-01 7.68087610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.852755096 meters 0.018098847277316282 Centerline is valid? [True, True] Translation: X:46.95, Y:339.88, Z:7.68 [[-2.25148528e-01 -9.74323552e-01 1.32550593e-03 4.69507999e+01] [ 9.74305479e-01 -2.25152425e-01 -5.93453450e-03 3.39875529e+02] [ 6.08059760e-03 -4.47040136e-05 9.99981512e-01 7.68202083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.882755096 meters 0.018290972888088536 Centerline is valid? [True, True] Translation: X:46.94, Y:339.90, Z:7.68 [[-2.26226468e-01 -9.74073823e-01 1.33133748e-03 4.69448359e+01] [ 9.74055652e-01 -2.26230380e-01 -5.94998598e-03 3.39900968e+02] [ 6.09691457e-03 -4.92475218e-05 9.99981412e-01 7.68164982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9127550960001 meters 0.01856368723942271 Centerline is valid? [True, True] Translation: X:46.94, Y:339.93, Z:7.68 [[-2.27613023e-01 -9.73750892e-01 1.23009708e-03 4.69396412e+01] [ 9.73735425e-01 -2.27616341e-01 -5.48850696e-03 3.39926676e+02] [ 5.62442874e-03 -5.14665548e-05 9.99984181e-01 7.68158948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.942755096 meters 0.019374305449146506 Centerline is valid? [True, True] Translation: X:46.94, Y:339.95, Z:7.68 [[-2.31116199e-01 -9.72925608e-01 1.03115412e-03 4.69367880e+01] [ 9.72914763e-01 -2.31118492e-01 -4.59421229e-03 3.39953218e+02] [ 4.70814558e-03 -5.85718167e-05 9.99988915e-01 7.68235615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.972755096 meters 0.020700865719223072 Centerline is valid? [True, True] Translation: X:46.93, Y:339.98, Z:7.68 [[-2.34863932e-01 -9.72027744e-01 9.99611465e-04 4.69345186e+01] [ 9.72017575e-01 -2.34866048e-01 -4.44673089e-03 3.39978784e+02] [ 4.55712059e-03 -7.27367900e-05 9.99989614e-01 7.68256651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.002755096 meters 0.021465806100419458 Centerline is valid? [True, True] Translation: X:46.93, Y:340.00, Z:7.68 [[-2.36868283e-01 -9.71541135e-01 1.11327552e-03 4.69301760e+01] [ 9.71528568e-01 -2.36870882e-01 -4.94232074e-03 3.40004856e+02] [ 5.06537045e-03 -8.91000562e-05 9.99987167e-01 7.68200512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0327550960001 meters 0.022212888754567336 Centerline is valid? [True, True] Translation: X:46.93, Y:340.03, Z:7.68 [[-2.38946704e-01 -9.71032022e-01 1.13354836e-03 4.69257730e+01] [ 9.71019032e-01 -2.38949372e-01 -5.02365393e-03 3.40031005e+02] [ 5.14898950e-03 -9.96885182e-05 9.99986739e-01 7.68134113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.062755096 meters 0.023098778986889293 Centerline is valid? [True, True] Translation: X:46.92, Y:340.06, Z:7.68 [[-2.40774186e-01 -9.70580233e-01 1.34255790e-03 4.69218322e+01] [ 9.70562075e-01 -2.40777895e-01 -5.93831053e-03 3.40056971e+02] [ 6.08686508e-03 -1.26756097e-04 9.99981467e-01 7.68045703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.092755096 meters 0.024982312327470405 Centerline is valid? [True, True] Translation: X:46.92, Y:340.08, Z:7.68 [[-2.44416241e-01 -9.69669108e-01 1.58807911e-03 4.69192430e+01] [ 9.69643778e-01 -2.44421338e-01 -7.01099984e-03 3.40083806e+02] [ 7.18651038e-03 -1.73731197e-04 9.99974162e-01 7.67890916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.122755096 meters 0.023407616264993696 Centerline is valid? [True, True] Translation: X:46.91, Y:340.11, Z:7.68 [[-2.46386870e-01 -9.69170064e-01 1.70222499e-03 4.69103906e+01] [ 9.69141051e-01 -2.46392670e-01 -7.50170951e-03 3.40109220e+02] [ 7.68984805e-03 -1.98626606e-04 9.99970413e-01 7.67860116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.152755096 meters 0.02343881156714277 Centerline is valid? [True, True] Translation: X:46.90, Y:340.13, Z:7.68 [[-2.47092946e-01 -9.68990295e-01 1.69867772e-03 4.69040116e+01] [ 9.68961499e-01 -2.47098703e-01 -7.47295832e-03 3.40134828e+02] [ 7.66096514e-03 -2.00561977e-04 9.99970634e-01 7.67862645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.182755096 meters 0.026786508450636435 Centerline is valid? [True, True] Translation: X:46.90, Y:340.16, Z:7.68 [[-2.47381590e-01 -9.68916622e-01 1.71128899e-03 4.69033343e+01] [ 9.68887503e-01 -2.47387427e-01 -7.51449986e-03 3.40160943e+02] [ 7.70427520e-03 -2.00902409e-04 9.99970301e-01 7.67767401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.212755096 meters 0.0239731910690539 Centerline is valid? [True, True] Translation: X:46.89, Y:340.19, Z:7.68 [[-2.47444486e-01 -9.68900620e-01 1.67750257e-03 4.68923942e+01] [ 9.68872741e-01 -2.47450096e-01 -7.35266639e-03 3.40185590e+02] [ 7.53910120e-03 -1.94090242e-04 9.99971562e-01 7.67835651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.242755096 meters 0.023113202910430636 Centerline is valid? [True, True] Translation: X:46.88, Y:340.21, Z:7.68 [[-2.46649889e-01 -9.69103211e-01 1.67314828e-03 4.68846326e+01] [ 9.69075578e-01 -2.46655495e-01 -7.32060321e-03 3.40210534e+02] [ 7.50711130e-03 -1.84218830e-04 9.99971804e-01 7.67904534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.272755096 meters 0.023450910825636023 Centerline is valid? [True, True] Translation: X:46.88, Y:340.24, Z:7.68 [[-2.46570019e-01 -9.69123413e-01 1.74277146e-03 4.68791129e+01] [ 9.69093536e-01 -2.46576106e-01 -7.61204157e-03 3.40235322e+02] [ 7.80673350e-03 -1.87992672e-04 9.99969509e-01 7.67899592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.302755096 meters 0.02329526321927431 Centerline is valid? [True, True] Translation: X:46.87, Y:340.26, Z:7.68 [[-2.46856841e-01 -9.69050490e-01 1.68750313e-03 4.68723330e+01] [ 9.69022559e-01 -2.46862542e-01 -7.35966860e-03 3.40260939e+02] [ 7.54847177e-03 -1.81555935e-04 9.99971493e-01 7.67897545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.332755096 meters 0.02333008459922391 Centerline is valid? [True, True] Translation: X:46.87, Y:340.29, Z:7.68 [[-2.46581243e-01 -9.69120617e-01 1.70904603e-03 4.68655243e+01] [ 9.69092073e-01 -2.46587101e-01 -7.44014641e-03 3.40285197e+02] [ 7.63182799e-03 -1.78377594e-04 9.99970861e-01 7.67921532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.362755096 meters 0.023701358102009695 Centerline is valid? [True, True] Translation: X:46.86, Y:340.31, Z:7.68 [[-2.46717048e-01 -9.69086255e-01 1.59009152e-03 4.68598750e+01] [ 9.69061631e-01 -2.46722117e-01 -6.91026568e-03 3.40310403e+02] [ 7.08895423e-03 -1.63983667e-04 9.99974860e-01 7.67949044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.392755096 meters 0.02333262397334963 Centerline is valid? [True, True] Translation: X:46.85, Y:340.34, Z:7.68 [[-2.46674923e-01 -9.69097358e-01 1.33890636e-03 4.68523697e+01] [ 9.69079953e-01 -2.46678520e-01 -5.80967789e-03 3.40335347e+02] [ 5.96042293e-03 -1.35594538e-04 9.99982227e-01 7.68035597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4227550960001 meters 0.024242256047414187 Centerline is valid? [True, True] Translation: X:46.85, Y:340.36, Z:7.68 [[-2.46876013e-01 -9.69046152e-01 1.33789651e-03 4.68474985e+01] [ 9.69028831e-01 -2.46879602e-01 -5.79534917e-03 3.40360489e+02] [ 5.94626017e-03 -1.34272407e-04 9.99982312e-01 7.68073391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.452755096 meters 0.023633035453010882 Centerline is valid? [True, True] Translation: X:46.84, Y:340.39, Z:7.68 [[-2.47502629e-01 -9.68886442e-01 1.22963214e-03 4.68398237e+01] [ 9.68871857e-01 -2.47505652e-01 -5.31769169e-03 3.40385898e+02] [ 5.45658028e-03 -1.24786696e-04 9.99985105e-01 7.68160162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.482755096 meters 0.02246416663474931 Centerline is valid? [True, True] Translation: X:46.83, Y:340.41, Z:7.68 [[-2.47993470e-01 -9.68760919e-01 1.23289771e-03 4.68317556e+01] [ 9.68746304e-01 -2.47996503e-01 -5.32284525e-03 3.40411008e+02] [ 5.46231878e-03 -1.25665766e-04 9.99985074e-01 7.68186289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.512755096 meters 0.02235766858397077 Centerline is valid? [True, True] Translation: X:46.83, Y:340.44, Z:7.68 [[-2.48631570e-01 -9.68597336e-01 1.24224869e-03 4.68254718e+01] [ 9.68582549e-01 -2.48634640e-01 -5.35360173e-03 3.40436719e+02] [ 5.49435043e-03 -1.27854003e-04 9.99984898e-01 7.68190832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5427550960001 meters 0.022445721228087016 Centerline is valid? [True, True] Translation: X:46.82, Y:340.46, Z:7.68 [[-2.49086087e-01 -9.68480458e-01 1.31268042e-03 4.68198756e+01] [ 9.68464008e-01 -2.49089510e-01 -5.64643222e-03 3.40462198e+02] [ 5.79543418e-03 -1.35163965e-04 9.99983197e-01 7.68191250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.572755096 meters 0.022445721228087016 Centerline is valid? [True, True] Translation: X:46.81, Y:340.49, Z:7.68 [[-2.49469693e-01 -9.68381714e-01 1.31491740e-03 4.68137536e+01] [ 9.68365265e-01 -2.49473121e-01 -5.64591126e-03 3.40487415e+02] [ 5.79543377e-03 -1.35163408e-04 9.99983197e-01 7.68205212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.602755096 meters 0.022691144222025752 Centerline is valid? [True, True] Translation: X:46.81, Y:340.51, Z:7.68 [[-2.50157826e-01 -9.68204164e-01 1.32606836e-03 4.68087263e+01] [ 9.68187491e-01 -2.50161303e-01 -5.68368881e-03 3.40512742e+02] [ 5.83470217e-03 -1.37936437e-04 9.99982969e-01 7.68226143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.632755096 meters 0.023919161246223487 Centerline is valid? [True, True] Translation: X:46.80, Y:340.54, Z:7.68 [[-2.51010378e-01 -9.67983097e-01 1.58553594e-03 4.68039426e+01] [ 9.67959339e-01 -2.51015329e-01 -6.78406506e-03 3.40537302e+02] [ 6.96485413e-03 -1.68136417e-04 9.99975731e-01 7.68126681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6627550960001 meters 0.023405903137360334 Centerline is valid? [True, True] Translation: X:46.80, Y:340.56, Z:7.68 [[-2.51254419e-01 -9.67919728e-01 1.61808806e-03 4.67980207e+01] [ 9.67895073e-01 -2.51259571e-01 -6.91061411e-03 3.40562658e+02] [ 7.09547984e-03 -1.70182873e-04 9.99974812e-01 7.68210102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.692755096 meters 0.023449985245477294 Centerline is valid? [True, True] Translation: X:46.79, Y:340.59, Z:7.68 [[-2.51916654e-01 -9.67747473e-01 1.68193044e-03 4.67917030e+01] [ 9.67720924e-01 -2.51922206e-01 -7.17048413e-03 3.40588580e+02] [ 7.36293352e-03 -1.78725093e-04 9.99972877e-01 7.68228047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.722755096 meters 0.02385989913936031 Centerline is valid? [True, True] Translation: X:46.79, Y:340.61, Z:7.68 [[-2.52333143e-01 -9.67638968e-01 1.67691723e-03 4.67860421e+01] [ 9.67612667e-01 -2.52338653e-01 -7.13663145e-03 3.40613849e+02] [ 7.32883373e-03 -1.78202293e-04 9.99973128e-01 7.68200992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.752755096 meters 0.02333496885052215 Centerline is valid? [True, True] Translation: X:46.78, Y:340.64, Z:7.68 [[-2.52657958e-01 -9.67554068e-01 1.75537418e-03 4.67786202e+01] [ 9.67525351e-01 -2.52663988e-01 -7.45679882e-03 3.40639345e+02] [ 7.65837588e-03 -1.85650546e-04 9.99970657e-01 7.68179828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7827550960001 meters 0.026389066819858052 Centerline is valid? [True, True] Translation: X:46.78, Y:340.67, Z:7.68 [[-2.53094923e-01 -9.67439773e-01 1.80159120e-03 4.67781052e+01] [ 9.67409629e-01 -2.53101264e-01 -7.63941396e-03 3.40665216e+02] [ 7.84665792e-03 -1.90620214e-04 9.99969196e-01 7.68153436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.812755096 meters 0.023331330097014203 Centerline is valid? [True, True] Translation: X:46.77, Y:340.69, Z:7.68 [[-2.53229890e-01 -9.67404272e-01 1.89682710e-03 4.67660386e+01] [ 9.67370978e-01 -2.53236916e-01 -8.02840564e-03 3.40689475e+02] [ 8.24706056e-03 -1.98096785e-04 9.99965973e-01 7.68183984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.842755096 meters 0.022936932073704733 Centerline is valid? [True, True] Translation: X:46.76, Y:340.72, Z:7.68 [[-2.53826219e-01 -9.67247638e-01 2.06331239e-03 4.67586983e+01] [ 9.67208377e-01 -2.53834512e-01 -8.71757669e-03 3.40715338e+02] [ 8.95579536e-03 -2.17096502e-04 9.99959873e-01 7.68176537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.872755096 meters 0.0233501491888233 Centerline is valid? [True, True] Translation: X:46.75, Y:340.74, Z:7.68 [[-2.54308250e-01 -9.67120861e-01 2.13420121e-03 4.67534301e+01] [ 9.67078996e-01 -2.54317106e-01 -9.00144934e-03 3.40740227e+02] [ 9.24825331e-03 -2.25201671e-04 9.99957209e-01 7.68185614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.902755096 meters 0.02327286476196165 Centerline is valid? [True, True] Translation: X:46.75, Y:340.77, Z:7.68 [[-2.54228888e-01 -9.67141498e-01 2.23496464e-03 4.67476304e+01] [ 9.67095756e-01 -2.54238607e-01 -9.40904254e-03 3.40766231e+02] [ 9.66808979e-03 -2.30625608e-04 9.99953236e-01 7.68272280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.932755096 meters 0.022837668744851734 Centerline is valid? [True, True] Translation: X:46.74, Y:340.79, Z:7.68 [[-2.53920634e-01 -9.67222428e-01 2.25510226e-03 4.67402170e+01] [ 9.67176019e-01 -2.53930548e-01 -9.47761117e-03 3.40792166e+02] [ 9.73959744e-03 -2.25480213e-04 9.99952544e-01 7.68296684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.962755096 meters 0.022290902111726178 Centerline is valid? [True, True] Translation: X:46.73, Y:340.82, Z:7.68 [[-2.53270161e-01 -9.67393105e-01 2.19227330e-03 4.67322806e+01] [ 9.67349398e-01 -2.53279562e-01 -9.19810813e-03 3.40817030e+02] [ 9.45344441e-03 -2.08912068e-04 9.99955293e-01 7.68332658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.992755096 meters 0.0238307960750654 Centerline is valid? [True, True] Translation: X:46.73, Y:340.84, Z:7.68 [[-2.51146035e-01 -9.67945456e-01 2.69505811e-03 4.67252704e+01] [ 9.67879682e-01 -2.51160394e-01 -1.12861868e-02 3.40842319e+02] [ 1.16013051e-02 -2.25989073e-04 9.99932677e-01 7.68062911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.022755096 meters 0.02100960268583287 Centerline is valid? [True, True] Translation: X:46.72, Y:340.87, Z:7.68 [[-2.49227775e-01 -9.68441067e-01 2.72329952e-03 4.67166449e+01] [ 9.68374152e-01 -2.49242573e-01 -1.13860645e-02 3.40868189e+02] [ 1.17054947e-02 -2.00550672e-04 9.99931468e-01 7.68258676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.052755096 meters 0.020052646576294502 Centerline is valid? [True, True] Translation: X:46.71, Y:340.89, Z:7.68 [[-2.45822191e-01 -9.69310083e-01 3.06825781e-03 4.67079910e+01] [ 9.69225483e-01 -2.45841276e-01 -1.28074121e-02 3.40894356e+02] [ 1.31686581e-02 -1.74512436e-04 9.99913274e-01 7.68177251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.082755096 meters 0.021140118976003233 Centerline is valid? [True, True] Translation: X:46.70, Y:340.92, Z:7.68 [[-2.44352713e-01 -9.69680899e-01 3.27205756e-03 4.67010554e+01] [ 9.69585042e-01 -2.44374567e-01 -1.36351216e-02 3.40919823e+02] [ 1.40213246e-02 -1.59240881e-04 9.99901684e-01 7.68040267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.112755096 meters 0.01921301713195289 Centerline is valid? [True, True] Translation: X:46.69, Y:340.95, Z:7.68 [[-2.42698812e-01 -9.70096222e-01 3.25697038e-03 4.66933507e+01] [ 9.70001606e-01 -2.42720630e-01 -1.35491952e-02 3.40945249e+02] [ 1.39345569e-02 -1.29107065e-04 9.99902901e-01 7.68205584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.142755096 meters 0.019025795827630827 Centerline is valid? [True, True] Translation: X:46.69, Y:340.97, Z:7.68 [[-2.41292401e-01 -9.70447230e-01 3.18606075e-03 4.66865210e+01] [ 9.70357031e-01 -2.41313414e-01 -1.32313298e-02 3.40969736e+02] [ 1.36091466e-02 -1.01002900e-04 9.99907386e-01 7.68243314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1727550960001 meters 0.01858366478776856 Centerline is valid? [True, True] Translation: X:46.68, Y:341.00, Z:7.68 [[-2.38779552e-01 -9.71068848e-01 3.10136839e-03 4.66785880e+01] [ 9.70983726e-01 -2.38799685e-01 -1.28574941e-02 3.40995222e+02] [ 1.32261178e-02 -5.87284658e-05 9.99912529e-01 7.68396346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.202755096 meters 0.01859660891661173 Centerline is valid? [True, True] Translation: X:46.67, Y:341.02, Z:7.69 [[-2.37938172e-01 -9.71275485e-01 3.05916058e-03 4.66717619e+01] [ 9.71192964e-01 -2.37957833e-01 -1.26608605e-02 3.41020933e+02] [ 1.30251347e-02 -4.14667676e-05 9.99915169e-01 7.68504184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.232755096 meters 0.018674809127326338 Centerline is valid? [True, True] Translation: X:46.67, Y:341.05, Z:7.69 [[-2.36646786e-01 -9.71591448e-01 2.89090190e-03 4.66653370e+01] [ 9.71518023e-01 -2.36664443e-01 -1.19445475e-02 3.41046291e+02] [ 1.22893939e-02 -1.80754683e-05 9.99924482e-01 7.68560347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.262755096 meters 0.01869186328134076 Centerline is valid? [True, True] Translation: X:46.66, Y:341.07, Z:7.69 [[-2.36525890e-01 -9.71621093e-01 2.82068214e-03 4.66594394e+01] [ 9.71551431e-01 -2.36542708e-01 -1.16346366e-02 3.41071674e+02] [ 1.19716701e-02 -1.14550044e-05 9.99928337e-01 7.68604611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2927550960001 meters 0.01876546882971974 Centerline is valid? [True, True] Translation: X:46.65, Y:341.10, Z:7.69 [[-2.36948314e-01 -9.71518248e-01 2.79131079e-03 4.66542035e+01] [ 9.71450261e-01 -2.36964754e-01 -1.14932656e-02 3.41096413e+02] [ 1.18273596e-02 -1.16903123e-05 9.99930054e-01 7.68623430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.322755096 meters 0.01886299966704823 Centerline is valid? [True, True] Translation: X:46.65, Y:341.12, Z:7.69 [[-2.38186863e-01 -9.71215470e-01 2.74405985e-03 4.66502319e+01] [ 9.71149972e-01 -2.38202668e-01 -1.12791768e-02 3.41122922e+02] [ 1.16081533e-02 -2.16580826e-05 9.99932623e-01 7.68638054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.352755096 meters 0.018941484111751717 Centerline is valid? [True, True] Translation: X:46.65, Y:341.15, Z:7.69 [[-2.39628278e-01 -9.70860873e-01 2.73020568e-03 4.66456119e+01] [ 9.70796231e-01 -2.39643828e-01 -1.12032834e-02 3.41148704e+02] [ 1.15311064e-02 -3.41501169e-05 9.99933514e-01 7.68656155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.382755096 meters 0.019221108134759666 Centerline is valid? [True, True] Translation: X:46.64, Y:341.18, Z:7.69 [[-2.42769358e-01 -9.70080109e-01 2.76057793e-03 4.66432098e+01] [ 9.70014195e-01 -2.42785044e-01 -1.13085664e-02 3.41175664e+02] [ 1.16404424e-02 -6.75736426e-05 9.99932246e-01 7.68680524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4127550960001 meters 0.019486558015237656 Centerline is valid? [True, True] Translation: X:46.64, Y:341.20, Z:7.69 [[-2.44957038e-01 -9.69530213e-01 2.68607386e-03 4.66396205e+01] [ 9.69467990e-01 -2.44971750e-01 -1.09844199e-02 3.41200769e+02] [ 1.13077392e-02 -8.66483349e-05 9.99936062e-01 7.68661488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.442755096 meters 0.019712715358644967 Centerline is valid? [True, True] Translation: X:46.63, Y:341.23, Z:7.69 [[-2.47124951e-01 -9.68980087e-01 2.61718901e-03 4.66347247e+01] [ 9.68921186e-01 -2.47138787e-01 -1.06843428e-02 3.41226717e+02] [ 1.09997243e-02 -1.04517810e-04 9.99939496e-01 7.68725306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.472755096 meters 0.020318612315903165 Centerline is valid? [True, True] Translation: X:46.63, Y:341.25, Z:7.69 [[-2.50507431e-01 -9.68111280e-01 2.56464650e-03 4.66322891e+01] [ 9.68054854e-01 -2.50520522e-01 -1.04530887e-02 3.41254375e+02] [ 1.07622496e-02 -1.35857906e-04 9.99942076e-01 7.68737800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.502755096 meters 0.020717193490405156 Centerline is valid? [True, True] Translation: X:46.63, Y:341.28, Z:7.69 [[-2.52689483e-01 -9.67543870e-01 2.62375086e-03 4.66271102e+01] [ 9.67484967e-01 -2.52703054e-01 -1.06772983e-02 3.41281546e+02] [ 1.09937844e-02 -1.59601471e-04 9.99939554e-01 7.68770420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5327550960001 meters 0.022133080987713202 Centerline is valid? [True, True] Translation: X:46.63, Y:341.31, Z:7.69 [[-2.54561163e-01 -9.67052888e-01 2.70690745e-03 4.66253761e+01] [ 9.66990365e-01 -2.54575489e-01 -1.09978915e-02 3.41308343e+02] [ 1.13246550e-02 -1.82082619e-04 9.99935858e-01 7.68636512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.562755096 meters 0.023034509414480046 Centerline is valid? [True, True] Translation: X:46.62, Y:341.33, Z:7.69 [[-2.56987273e-01 -9.66411038e-01 2.69218999e-03 4.66208142e+01] [ 9.66349358e-01 -2.57001293e-01 -1.09203569e-02 3.41333902e+02] [ 1.12454497e-02 -2.04796677e-04 9.99936747e-01 7.68680541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.592755096 meters 0.021658561593604395 Centerline is valid? [True, True] Translation: X:46.61, Y:341.36, Z:7.69 [[-2.57420620e-01 -9.66296244e-01 2.48848887e-03 4.66097230e+01] [ 9.66243708e-01 -2.57432578e-01 -1.00779361e-02 3.41358413e+02] [ 1.03788899e-02 -1.89781855e-04 9.99946120e-01 7.68811771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.622755096 meters 0.02209269455663578 Centerline is valid? [True, True] Translation: X:46.60, Y:341.38, Z:7.69 [[-2.57628935e-01 -9.66240572e-01 2.54719043e-03 4.66040245e+01] [ 9.66185695e-01 -2.57641455e-01 -1.02996597e-02 3.41383238e+02] [ 1.06082109e-02 -1.92431414e-04 9.99943713e-01 7.68773218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.652755096 meters 0.022266236344682493 Centerline is valid? [True, True] Translation: X:46.60, Y:341.41, Z:7.69 [[-2.58178309e-01 -9.66093623e-01 2.65931844e-03 4.65984041e+01] [ 9.66033987e-01 -2.58191924e-01 -1.07362300e-02 3.41407825e+02] [ 1.10588179e-02 -2.02869697e-04 9.99938829e-01 7.68743221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.682755096 meters 0.022067875670158492 Centerline is valid? [True, True] Translation: X:46.59, Y:341.43, Z:7.69 [[-2.58601484e-01 -9.65980134e-01 2.76635739e-03 4.65913014e+01] [ 9.65915814e-01 -2.58616194e-01 -1.11491864e-02 3.41432871e+02] [ 1.14853174e-02 -2.11127799e-04 9.99934019e-01 7.68756065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.712755096 meters 0.022141400414574908 Centerline is valid? [True, True] Translation: X:46.59, Y:341.46, Z:7.69 [[-2.58615460e-01 -9.65975377e-01 3.10087678e-03 4.65851746e+01] [ 9.65894846e-01 -2.58633947e-01 -1.24750857e-02 3.41457895e+02] [ 1.28526176e-02 -2.31129120e-04 9.99917375e-01 7.68644105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.742755096 meters 0.0224440183219398 Centerline is valid? [True, True] Translation: X:46.58, Y:341.48, Z:7.69 [[-2.58652681e-01 -9.65965264e-01 3.14623762e-03 4.65776648e+01] [ 9.65882641e-01 -2.58671714e-01 -1.26360379e-02 3.41483176e+02] [ 1.30198163e-02 -2.29448768e-04 9.99915212e-01 7.68595018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.772755096 meters 0.021280387630019968 Centerline is valid? [True, True] Translation: X:46.57, Y:341.51, Z:7.69 [[-2.57653188e-01 -9.66232566e-01 3.07621431e-03 4.65689341e+01] [ 9.66153857e-01 -2.57671469e-01 -1.23344417e-02 3.41508323e+02] [ 1.27105919e-02 -2.05911898e-04 9.99919196e-01 7.68741807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.802755096 meters 0.021136771048308148 Centerline is valid? [True, True] Translation: X:46.56, Y:341.53, Z:7.69 [[-2.57140202e-01 -9.66368711e-01 3.22974406e-03 4.65615172e+01] [ 9.66282252e-01 -2.57160404e-01 -1.29281302e-02 3.41533512e+02] [ 1.33239028e-02 -2.03497663e-04 9.99911212e-01 7.68709483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.832755096 meters 0.021523761547817058 Centerline is valid? [True, True] Translation: X:46.56, Y:341.56, Z:7.69 [[-2.56276467e-01 -9.66597777e-01 3.33330425e-03 4.65557764e+01] [ 9.66505972e-01 -2.56298071e-01 -1.33230815e-02 3.41558184e+02] [ 1.37323805e-02 -1.92733798e-04 9.99905688e-01 7.68607304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.862755096 meters 0.020346542002465495 Centerline is valid? [True, True] Translation: X:46.55, Y:341.58, Z:7.69 [[-2.54256572e-01 -9.67131060e-01 3.33300671e-03 4.65463705e+01] [ 9.67039594e-01 -2.54278367e-01 -1.33017334e-02 3.41583313e+02] [ 1.37120310e-02 -1.58903679e-04 9.99905973e-01 7.68743539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.892755096 meters 0.020817915509445922 Centerline is valid? [True, True] Translation: X:46.54, Y:341.61, Z:7.69 [[-2.53217906e-01 -9.67402995e-01 3.48378412e-03 4.65397514e+01] [ 9.67303433e-01 -2.53241829e-01 -1.38796692e-02 3.41607950e+02] [ 1.43094734e-02 -1.44704426e-04 9.99897604e-01 7.68707848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9227550960001 meters 0.020009004899274683 Centerline is valid? [True, True] Translation: X:46.53, Y:341.63, Z:7.69 [[-2.51497064e-01 -9.67851852e-01 3.46688079e-03 4.65314533e+01] [ 9.67753621e-01 -2.51520933e-01 -1.37894460e-02 3.41633585e+02] [ 1.42181340e-02 -1.12918758e-04 9.99898911e-01 7.68750520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.952755096 meters 0.019496808951538255 Centerline is valid? [True, True] Translation: X:46.52, Y:341.66, Z:7.69 [[-2.50914791e-01 -9.68003180e-01 3.40761539e-03 4.65241075e+01] [ 9.67908600e-01 -2.50937910e-01 -1.35316887e-02 3.41658781e+02] [ 1.39538175e-02 -9.70405896e-05 9.99902636e-01 7.68811112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.982755096 meters 0.019308870036374312 Centerline is valid? [True, True] Translation: X:46.52, Y:341.68, Z:7.69 [[-2.50586938e-01 -9.68088279e-01 3.35718044e-03 4.65170796e+01] [ 9.67996789e-01 -2.50609411e-01 -1.33094007e-02 3.41684075e+02] [ 1.37260158e-02 -8.54220782e-05 9.99905790e-01 7.68891196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.012755096 meters 0.019223100686819865 Centerline is valid? [True, True] Translation: X:46.51, Y:341.71, Z:7.69 [[-2.49827530e-01 -9.68284954e-01 3.23315210e-03 4.65107663e+01] [ 9.68200401e-01 -2.49848441e-01 -1.27960705e-02 3.41708970e+02] [ 1.31980406e-02 -6.64715356e-05 9.99912900e-01 7.68866588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0427550960001 meters 0.020219068233220304 Centerline is valid? [True, True] Translation: X:46.50, Y:341.73, Z:7.69 [[-2.49906254e-01 -9.68264373e-01 3.31179487e-03 4.65046777e+01] [ 9.68175951e-01 -2.49928189e-01 -1.30853948e-02 3.41734456e+02] [ 1.34978325e-02 -6.37218596e-05 9.99908898e-01 7.68820992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.072755096 meters 0.019142428507865995 Centerline is valid? [True, True] Translation: X:46.50, Y:341.76, Z:7.69 [[-2.50649744e-01 -9.68072663e-01 3.16638239e-03 4.64987163e+01] [ 9.67992077e-01 -2.50669734e-01 -1.24909534e-02 3.41760254e+02] [ 1.28858667e-02 -6.58211901e-05 9.99916972e-01 7.69042178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.102755096 meters 0.01907731089686153 Centerline is valid? [True, True] Translation: X:46.49, Y:341.79, Z:7.69 [[-2.51156015e-01 -9.67941477e-01 3.15506539e-03 4.64921520e+01] [ 9.67861719e-01 -2.51175822e-01 -1.24257679e-02 3.41785963e+02] [ 1.28198923e-02 -6.71393305e-05 9.99917820e-01 7.69112258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.132755096 meters 0.021608865787812244 Centerline is valid? [True, True] Translation: X:46.49, Y:341.81, Z:7.69 [[-2.51438156e-01 -9.67867945e-01 3.23957084e-03 4.64869279e+01] [ 9.67784141e-01 -2.51459016e-01 -1.27365921e-02 3.41810643e+02] [ 1.31419585e-02 -6.72599456e-05 9.99913639e-01 7.68917154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1627550960001 meters 0.01907363557816876 Centerline is valid? [True, True] Translation: X:46.48, Y:341.84, Z:7.69 [[-2.52116451e-01 -9.67692584e-01 2.89106430e-03 4.64801009e+01] [ 9.67626042e-01 -2.52133018e-01 -1.13482702e-02 3.41836544e+02] [ 1.17105697e-02 -6.36165019e-05 9.99931427e-01 7.69282183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.192755096 meters 0.01968606165431148 Centerline is valid? [True, True] Translation: X:46.47, Y:341.86, Z:7.69 [[-2.52198636e-01 -9.67670971e-01 2.95641745e-03 4.64733863e+01] [ 9.67601617e-01 -2.52215956e-01 -1.15853995e-02 3.41861870e+02] [ 1.19565105e-02 -6.11876443e-05 9.99928517e-01 7.69258983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.222755096 meters 0.019600538451116967 Centerline is valid? [True, True] Translation: X:46.46, Y:341.89, Z:7.69 [[-2.51794322e-01 -9.67776166e-01 2.98535117e-03 4.64646641e+01] [ 9.67705680e-01 -2.51812013e-01 -1.16801916e-02 3.41887453e+02] [ 1.20555583e-02 -5.20646312e-05 9.99927328e-01 7.69246487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.252755096 meters 0.018872585519054533 Centerline is valid? [True, True] Translation: X:46.46, Y:341.91, Z:7.69 [[-2.52050637e-01 -9.67709749e-01 2.88424108e-03 4.64574499e+01] [ 9.67644164e-01 -2.52067134e-01 -1.12663814e-02 3.41911918e+02] [ 1.16296095e-02 -4.87795579e-05 9.99932373e-01 7.69274769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2827550960001 meters 0.0190186800514555 Centerline is valid? [True, True] Translation: X:46.45, Y:341.94, Z:7.69 [[-2.52180172e-01 -9.67675929e-01 2.90804920e-03 4.64511676e+01] [ 9.67609456e-01 -2.52196935e-01 -1.13422217e-02 3.41936451e+02] [ 1.17089960e-02 -4.64275088e-05 9.99931446e-01 7.69190742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.312755096 meters 0.021353627138383072 Centerline is valid? [True, True] Translation: X:46.45, Y:341.96, Z:7.69 [[-2.53394128e-01 -9.67358197e-01 3.08785150e-03 4.64458878e+01] [ 9.67283453e-01 -2.53412935e-01 -1.20252564e-02 3.41961992e+02] [ 1.24152318e-02 -6.03016976e-05 9.99922926e-01 7.69041027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.342755096 meters 0.021645978028148997 Centerline is valid? [True, True] Translation: X:46.44, Y:341.99, Z:7.69 [[-2.54628930e-01 -9.67034091e-01 3.02885636e-03 4.64400105e+01] [ 9.66962386e-01 -2.54646934e-01 -1.17763828e-02 3.41987973e+02] [ 1.21594526e-02 -6.98175736e-05 9.99926069e-01 7.69088048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.372755096 meters 0.020289746182161627 Centerline is valid? [True, True] Translation: X:46.44, Y:342.01, Z:7.69 [[-2.57796865e-01 -9.66195188e-01 2.76319964e-03 4.64358035e+01] [ 9.66135648e-01 -2.57811656e-01 -1.07265938e-02 3.42014603e+02] [ 1.10763684e-02 -9.56565872e-05 9.99938651e-01 7.69408356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.402755096 meters 0.01974074524506574 Centerline is valid? [True, True] Translation: X:46.43, Y:342.04, Z:7.70 [[-2.59588251e-01 -9.65715637e-01 2.69234893e-03 4.64295111e+01] [ 9.65659260e-01 -2.59602189e-01 -1.04353746e-02 3.42041012e+02] [ 1.07765442e-02 -1.09008972e-04 9.99941925e-01 7.69547561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.432755096 meters 0.020184940768309276 Centerline is valid? [True, True] Translation: X:46.42, Y:342.07, Z:7.70 [[-2.61219554e-01 -9.65275964e-01 2.58038771e-03 4.64241776e+01] [ 9.65224311e-01 -2.61232271e-01 -9.98645435e-03 3.42066452e+02] [ 1.03137649e-02 -1.18004197e-04 9.99946805e-01 7.69561849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.462755096 meters 0.020184940768309276 Centerline is valid? [True, True] Translation: X:46.42, Y:342.09, Z:7.70 [[-2.61596060e-01 -9.65173986e-01 2.58422724e-03 4.64174387e+01] [ 9.65122338e-01 -2.61608797e-01 -9.98546106e-03 3.42091509e+02] [ 1.03137638e-02 -1.18061829e-04 9.99946805e-01 7.69575810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.492755096 meters 0.022213736151891768 Centerline is valid? [True, True] Translation: X:46.41, Y:342.12, Z:7.70 [[-2.63994033e-01 -9.64521226e-01 2.44041204e-03 4.64114496e+01] [ 9.64475276e-01 -2.64005279e-01 -9.41563004e-03 3.42118185e+02] [ 9.72585669e-03 -1.31953070e-04 9.99952694e-01 7.69583616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.522755096 meters 0.021996956789642363 Centerline is valid? [True, True] Translation: X:46.41, Y:342.14, Z:7.70 [[-2.65208013e-01 -9.64188292e-01 2.37648855e-03 4.64054700e+01] [ 9.64144824e-01 -2.65218625e-01 -9.15635743e-03 3.42142571e+02] [ 9.45874166e-03 -1.37060223e-04 9.99955256e-01 7.69669302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.552755096 meters 0.021710914148704876 Centerline is valid? [True, True] Translation: X:46.40, Y:342.17, Z:7.70 [[-2.67129393e-01 -9.63658281e-01 2.14604700e-03 4.63996340e+01] [ 9.63622909e-01 -2.67137978e-01 -8.25773164e-03 3.42167807e+02] [ 8.53092213e-03 -1.37902784e-04 9.99963602e-01 7.69799209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.582755096 meters 0.02397370528369938 Centerline is valid? [True, True] Translation: X:46.39, Y:342.19, Z:7.70 [[-2.67925153e-01 -9.63436630e-01 2.44377156e-03 4.63933033e+01] [ 9.63390911e-01 -2.67936250e-01 -9.38718831e-03 3.42192995e+02] [ 9.69873606e-03 -1.60756558e-04 9.99952953e-01 7.69675200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.612755096 meters 0.0248265743741385 Centerline is valid? [True, True] Translation: X:46.39, Y:342.22, Z:7.70 [[-2.68722970e-01 -9.63214282e-01 2.49241369e-03 4.63878298e+01] [ 9.63166877e-01 -2.68734476e-01 -9.55763974e-03 3.42217814e+02] [ 9.87585259e-03 -1.67747035e-04 9.99951219e-01 7.69671687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.642755096 meters 0.023084324372499482 Centerline is valid? [True, True] Translation: X:46.38, Y:342.24, Z:7.70 [[-2.70108281e-01 -9.62826839e-01 2.44853726e-03 4.63820370e+01] [ 9.62781216e-01 -2.70119322e-01 -9.37459672e-03 3.42243524e+02] [ 9.68751055e-03 -1.74750519e-04 9.99953060e-01 7.69797296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6727550960001 meters 0.022958218239481114 Centerline is valid? [True, True] Translation: X:46.37, Y:342.27, Z:7.70 [[-2.70843467e-01 -9.62620065e-01 2.53532740e-03 4.63744590e+01] [ 9.62571290e-01 -2.70855270e-01 -9.69199212e-03 3.42269158e+02] [ 1.00164129e-02 -1.84579383e-04 9.99949817e-01 7.69802338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.702755096 meters 0.023525968255059745 Centerline is valid? [True, True] Translation: X:46.37, Y:342.29, Z:7.70 [[-2.72198240e-01 -9.62237687e-01 2.59860315e-03 4.63685091e+01] [ 9.62186584e-01 -2.72210571e-01 -9.91879523e-03 3.42294289e+02] [ 1.02516058e-02 -1.99537515e-04 9.99947431e-01 7.69778348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.732755096 meters 0.023396596600647995 Centerline is valid? [True, True] Translation: X:46.36, Y:342.32, Z:7.70 [[-2.73158875e-01 -9.61965609e-01 2.52908148e-03 4.63611762e+01] [ 9.61917335e-01 -2.73170509e-01 -9.63915069e-03 3.42319850e+02] [ 9.96340194e-03 -2.00252234e-04 9.99950344e-01 7.69835950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.762755096 meters 0.024107328491073648 Centerline is valid? [True, True] Translation: X:46.36, Y:342.34, Z:7.70 [[-2.73796825e-01 -9.61784373e-01 2.47340562e-03 4.63559962e+01] [ 9.61738323e-01 -2.73807925e-01 -9.41377125e-03 3.42344972e+02] [ 9.73125614e-03 -1.98691706e-04 9.99952631e-01 7.69826474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7927550960001 meters 0.025167833864078105 Centerline is valid? [True, True] Translation: X:46.35, Y:342.37, Z:7.70 [[-2.74470966e-01 -9.61591751e-01 2.64465349e-03 4.63484299e+01] [ 9.61539244e-01 -2.74483622e-01 -1.00510458e-02 3.42370268e+02] [ 1.03909168e-02 -2.15782142e-04 9.99945990e-01 7.69787430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.822755096 meters 0.025020469823984016 Centerline is valid? [True, True] Translation: X:46.34, Y:342.40, Z:7.70 [[-2.75083932e-01 -9.61416758e-01 2.57820405e-03 4.63424486e+01] [ 9.61367005e-01 -2.75095932e-01 -9.78310711e-03 3.42395316e+02] [ 1.01148966e-02 -2.12575270e-04 9.99948821e-01 7.69825094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.852755096 meters 0.025212362633561542 Centerline is valid? [True, True] Translation: X:46.33, Y:342.42, Z:7.70 [[-2.75150240e-01 -9.61397602e-01 2.64509222e-03 4.63336580e+01] [ 9.61345403e-01 -2.75162870e-01 -1.00205389e-02 3.42420119e+02] [ 1.03615532e-02 -2.14306423e-04 9.99946295e-01 7.69854280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.882755096 meters 0.02585459609432452 Centerline is valid? [True, True] Translation: X:46.33, Y:342.44, Z:7.70 [[-2.75266130e-01 -9.61364452e-01 2.63601218e-03 4.63280600e+01] [ 9.61312776e-01 -2.75278671e-01 -9.96993921e-03 3.42444698e+02] [ 1.03103831e-02 -2.10354398e-04 9.99946825e-01 7.69808359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9127550960001 meters 0.025191796429647362 Centerline is valid? [True, True] Translation: X:46.32, Y:342.47, Z:7.70 [[-2.75389795e-01 -9.61329138e-01 2.59809828e-03 4.63202702e+01] [ 9.61279095e-01 -2.75401974e-01 -9.81097263e-03 3.42469504e+02] [ 1.01470953e-02 -2.04344175e-04 9.99948496e-01 7.69820746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.942755096 meters 0.023555353418562335 Centerline is valid? [True, True] Translation: X:46.31, Y:342.50, Z:7.70 [[-2.75685824e-01 -9.61244519e-01 2.51016755e-03 4.63099621e+01] [ 9.61197939e-01 -2.75697181e-01 -9.46505730e-03 3.42495282e+02] [ 9.79028057e-03 -1.96614244e-04 9.99952055e-01 7.70011067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.972755096 meters 0.025367928868129982 Centerline is valid? [True, True] Translation: X:46.30, Y:342.52, Z:7.70 [[-2.75869356e-01 -9.61191688e-01 2.57627759e-03 4.63036935e+01] [ 9.61142773e-01 -2.75881313e-01 -9.69906251e-03 3.42519980e+02] [ 1.00334051e-02 -1.99503544e-04 9.99949644e-01 7.69935575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.002755096 meters 0.025286536276649733 Centerline is valid? [True, True] Translation: X:46.30, Y:342.55, Z:7.70 [[-2.76463293e-01 -9.61020613e-01 2.72553028e-03 4.62961841e+01] [ 9.60966040e-01 -2.76476645e-01 -1.02437981e-02 3.42545086e+02] [ 1.05980466e-02 -2.12892126e-04 9.99943817e-01 7.69899479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0327550960001 meters 0.025127297232768103 Centerline is valid? [True, True] Translation: X:46.29, Y:342.57, Z:7.70 [[-2.77147074e-01 -9.60823129e-01 2.90071924e-03 4.62894615e+01] [ 9.60761506e-01 -2.77162158e-01 -1.08842099e-02 3.42569755e+02] [ 1.12617702e-02 -2.29627531e-04 9.99936558e-01 7.69807051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.062755096 meters 0.02489631503875158 Centerline is valid? [True, True] Translation: X:46.28, Y:342.59, Z:7.70 [[-2.77429416e-01 -9.60740951e-01 3.12152266e-03 4.62809517e+01] [ 9.60669819e-01 -2.77446868e-01 -1.16933880e-02 3.42594804e+02] [ 1.21003734e-02 -2.45337200e-04 9.99926758e-01 7.69717251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.092755096 meters 0.026029637568138492 Centerline is valid? [True, True] Translation: X:46.27, Y:342.62, Z:7.69 [[-2.76855672e-01 -9.60904382e-01 3.70217988e-03 4.62721352e+01] [ 9.60804669e-01 -2.76880286e-01 -1.38453962e-02 3.42620192e+02] [ 1.43291625e-02 -2.76104764e-04 9.99897294e-01 7.69452724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.122755096 meters 0.02445397138249313 Centerline is valid? [True, True] Translation: X:46.26, Y:342.64, Z:7.69 [[-2.77164837e-01 -9.60815597e-01 3.61142027e-03 4.62642825e+01] [ 9.60721004e-01 -2.77188235e-01 -1.34845948e-02 3.42644556e+02] [ 1.39572522e-02 -2.67888213e-04 9.99902557e-01 7.69443065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.152755096 meters 0.02316717733518088 Centerline is valid? [True, True] Translation: X:46.25, Y:342.67, Z:7.69 [[-2.75799948e-01 -9.61206945e-01 3.94926710e-03 4.62528720e+01] [ 9.61094220e-01 -2.75828095e-01 -1.47228770e-02 3.42669372e+02] [ 1.52410504e-02 -2.64950930e-04 9.99883813e-01 7.69271456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.182755096 meters 0.022924867304537588 Centerline is valid? [True, True] Translation: X:46.24, Y:342.69, Z:7.69 [[-2.75303908e-01 -9.61348585e-01 4.08130827e-03 4.62445668e+01] [ 9.61228576e-01 -2.75334036e-01 -1.51918766e-02 3.42694831e+02] [ 1.57284121e-02 -2.59312860e-04 9.99876267e-01 7.69207369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.212755096 meters 0.024199046561097035 Centerline is valid? [True, True] Translation: X:46.24, Y:342.72, Z:7.69 [[-2.74277341e-01 -9.61640874e-01 4.33238415e-03 4.62370121e+01] [ 9.61506102e-01 -2.74311441e-01 -1.61012441e-02 3.42720277e+02] [ 1.66720370e-02 -2.50592620e-04 9.99860981e-01 7.69057866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.242755096 meters 0.024145003150949654 Centerline is valid? [True, True] Translation: X:46.23, Y:342.75, Z:7.69 [[-2.72424573e-01 -9.62166147e-01 4.59976903e-03 4.62271188e+01] [ 9.62014768e-01 -2.72463310e-01 -1.70684515e-02 3.42745134e+02] [ 1.76759545e-02 -2.24819865e-04 9.99843743e-01 7.68946336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.272755096 meters 0.02441606993066709 Centerline is valid? [True, True] Translation: X:46.22, Y:342.77, Z:7.69 [[-2.71161728e-01 -9.62522303e-01 4.70462285e-03 4.62175026e+01] [ 9.62364494e-01 -2.71202464e-01 -1.74299753e-02 3.42770138e+02] [ 1.80526453e-02 -1.98780235e-04 9.99837018e-01 7.68978268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.302755096 meters 0.024260712814644095 Centerline is valid? [True, True] Translation: X:46.21, Y:342.79, Z:7.69 [[-2.68538395e-01 -9.63256788e-01 4.84678458e-03 4.62083238e+01] [ 9.63089872e-01 -2.68582090e-01 -1.79320615e-02 3.42794377e+02] [ 1.85749395e-02 -1.47557888e-04 9.99827460e-01 7.68923755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.332755096 meters 0.020918679102869316 Centerline is valid? [True, True] Translation: X:46.20, Y:342.82, Z:7.69 [[-2.68027668e-01 -9.63400684e-01 4.50460948e-03 4.61984598e+01] [ 9.63256941e-01 -2.68065491e-01 -1.66420860e-02 3.42819525e+02] [ 1.72405274e-02 -1.21443155e-04 9.99851364e-01 7.69120380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.362755096 meters 0.021740993706500778 Centerline is valid? [True, True] Translation: X:46.19, Y:342.84, Z:7.69 [[-2.66624491e-01 -9.63789574e-01 4.58664694e-03 4.61914749e+01] [ 9.63641005e-01 -2.66663923e-01 -1.69223624e-02 3.42843590e+02] [ 1.75326898e-02 -9.20352075e-05 9.99846286e-01 7.68920784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.392755096 meters 0.022699903227737437 Centerline is valid? [True, True] Translation: X:46.18, Y:342.87, Z:7.69 [[-2.64083721e-01 -9.64489138e-01 4.52670731e-03 4.61822821e+01] [ 9.64344945e-01 -2.64122512e-01 -1.66770958e-02 3.42868829e+02] [ 1.72804831e-02 -3.88421955e-05 9.99850681e-01 7.69087401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4227550960001 meters 0.020400426414418703 Centerline is valid? [True, True] Translation: X:46.17, Y:342.89, Z:7.69 [[-2.64256691e-01 -9.64443327e-01 4.17971671e-03 4.61743084e+01] [ 9.64320758e-01 -2.64289742e-01 -1.53755802e-02 3.42894070e+02] [ 1.59335320e-02 -3.25123754e-05 9.99873053e-01 7.69317924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.452755096 meters 0.021411956581689866 Centerline is valid? [True, True] Translation: X:46.17, Y:342.92, Z:7.69 [[-2.62627712e-01 -9.64888050e-01 4.21146204e-03 4.61683963e+01] [ 9.64764054e-01 -2.62661477e-01 -1.54683367e-02 3.42920121e+02] [ 1.60314021e-02 6.53312092e-07 9.99871489e-01 7.69417557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.482755096 meters 0.020455585288421525 Centerline is valid? [True, True] Translation: X:46.16, Y:342.95, Z:7.70 [[-2.62599312e-01 -9.64896528e-01 4.03632361e-03 4.61614226e+01] [ 9.64782978e-01 -2.62630330e-01 -1.48025237e-02 3.42945292e+02] [ 1.53429647e-02 7.04379867e-06 9.99882290e-01 7.69544517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.512755096 meters 0.021946814177573205 Centerline is valid? [True, True] Translation: X:46.16, Y:342.97, Z:7.70 [[-2.62279093e-01 -9.64983495e-01 4.06595547e-03 4.61552240e+01] [ 9.64868639e-01 -2.62310607e-01 -1.48880920e-02 3.42971189e+02] [ 1.54333063e-02 1.82776509e-05 9.99880899e-01 7.69531591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5427550960001 meters 0.02052277687873298 Centerline is valid? [True, True] Translation: X:46.15, Y:343.00, Z:7.70 [[-2.62184277e-01 -9.65010577e-01 3.74059786e-03 4.61488648e+01] [ 9.64913670e-01 -2.62210958e-01 -1.36756736e-02 3.42995896e+02] [ 1.41779954e-02 2.38074068e-05 9.99899487e-01 7.69741709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.572755096 meters 0.022122299048243258 Centerline is valid? [True, True] Translation: X:46.14, Y:343.02, Z:7.70 [[-2.62124809e-01 -9.65026776e-01 3.72899665e-03 4.61430414e+01] [ 9.64930771e-01 -2.62151330e-01 -1.36120267e-02 3.43021558e+02] [ 1.41135317e-02 3.01737053e-05 9.99900399e-01 7.69697809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.602755096 meters 0.022415910285940574 Centerline is valid? [True, True] Translation: X:46.14, Y:343.05, Z:7.70 [[-2.62714104e-01 -9.64866646e-01 3.69516678e-03 4.61383052e+01] [ 9.64772645e-01 -2.62740089e-01 -1.34680931e-02 3.43048020e+02] [ 1.39657823e-02 2.67378193e-05 9.99902473e-01 7.69802110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.632755096 meters 0.020611543187497836 Centerline is valid? [True, True] Translation: X:46.13, Y:343.07, Z:7.70 [[-2.63747896e-01 -9.64585540e-01 3.43281179e-03 4.61321763e+01] [ 9.64504634e-01 -2.63770234e-01 -1.24930145e-02 3.43072706e+02] [ 1.29560547e-02 1.59566022e-05 9.99916067e-01 7.69953547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6627550960001 meters 0.021811433421409517 Centerline is valid? [True, True] Translation: X:46.13, Y:343.10, Z:7.70 [[-2.65275786e-01 -9.64166777e-01 3.34432239e-03 4.61278432e+01] [ 9.64090186e-01 -2.65296866e-01 -1.21526481e-02 3.43099264e+02] [ 1.26044178e-02 4.25110145e-07 9.99920561e-01 7.69916556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.692755096 meters 0.02059240798683857 Centerline is valid? [True, True] Translation: X:46.12, Y:343.12, Z:7.70 [[-2.66959612e-01 -9.63702167e-01 3.27093599e-03 4.61225830e+01] [ 9.63629086e-01 -2.66979649e-01 -1.18681247e-02 3.43124651e+02] [ 1.23106108e-02 -1.63409034e-05 9.99924221e-01 7.70049835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.722755096 meters 0.021712048582851733 Centerline is valid? [True, True] Translation: X:46.12, Y:343.15, Z:7.70 [[-2.69575664e-01 -9.62973743e-01 3.24531193e-03 4.61207673e+01] [ 9.62901963e-01 -2.69595195e-01 -1.17575530e-02 3.43151594e+02] [ 1.21971354e-02 -4.46329395e-05 9.99925611e-01 7.70140747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.752755096 meters 0.020896461451970983 Centerline is valid? [True, True] Translation: X:46.11, Y:343.18, Z:7.70 [[-2.71536497e-01 -9.62423073e-01 3.12409133e-03 4.61148221e+01] [ 9.62356712e-01 -2.71554461e-01 -1.13019224e-02 3.43177112e+02] [ 1.17255918e-02 -6.23941422e-05 9.99931251e-01 7.70318390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7827550960001 meters 0.021835941961022287 Centerline is valid? [True, True] Translation: X:46.11, Y:343.20, Z:7.70 [[-2.71513266e-01 -9.62430337e-01 2.89713755e-03 4.61066472e+01] [ 9.62373434e-01 -2.71528717e-01 -1.04656453e-02 3.43201789e+02] [ 1.08591106e-02 -5.34333366e-05 9.99941037e-01 7.70371373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.812755096 meters 0.020901800643743907 Centerline is valid? [True, True] Translation: X:46.10, Y:343.23, Z:7.70 [[-2.72228777e-01 -9.62229058e-01 2.59496829e-03 4.60994205e+01] [ 9.62183530e-01 -2.72241139e-01 -9.36037247e-03 3.43225912e+02] [ 9.71327950e-03 -5.13269976e-05 9.99952824e-01 7.70448072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.842755096 meters 0.020922331739099517 Centerline is valid? [True, True] Translation: X:46.09, Y:343.25, Z:7.70 [[-2.72861267e-01 -9.62049594e-01 2.70335694e-03 4.60929946e+01] [ 9.62000336e-01 -2.72874652e-01 -9.73535918e-03 3.43250137e+02] [ 1.01035759e-02 -5.57721527e-05 9.99948956e-01 7.70471217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.872755096 meters 0.021399596818655657 Centerline is valid? [True, True] Translation: X:46.09, Y:343.28, Z:7.71 [[-2.75306606e-01 -9.61352857e-01 2.63757717e-03 4.60871971e+01] [ 9.61306078e-01 -2.75319230e-01 -9.48398207e-03 3.43275996e+02] [ 9.84362898e-03 -7.54839517e-05 9.99951548e-01 7.70563512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.902755096 meters 0.023580321660323356 Centerline is valid? [True, True] Translation: X:46.08, Y:343.30, Z:7.70 [[-2.77007989e-01 -9.60863927e-01 2.66241378e-03 4.60831949e+01] [ 9.60816365e-01 -2.77020769e-01 -9.56062685e-03 3.43301672e+02] [ 9.92400537e-03 -9.02792903e-05 9.99950752e-01 7.70474723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.932755096 meters 0.02167546876966959 Centerline is valid? [True, True] Translation: X:46.08, Y:343.33, Z:7.71 [[-2.80868307e-01 -9.59744119e-01 2.05431701e-03 4.60771376e+01] [ 9.59715831e-01 -2.80875803e-01 -7.36934949e-03 3.43327878e+02] [ 7.64969777e-03 -9.82561577e-05 9.99970736e-01 7.70967469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.962755096 meters 0.024250228099702342 Centerline is valid? [True, True] Translation: X:46.07, Y:343.35, Z:7.71 [[-2.83156907e-01 -9.59071253e-01 2.12070299e-03 4.60709849e+01] [ 9.59041173e-01 -2.83164824e-01 -7.59674761e-03 3.43354880e+02] [ 7.88633074e-03 -1.17230070e-04 9.99968896e-01 7.70886036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.992755096 meters 0.02330692807160503 Centerline is valid? [True, True] Translation: X:46.07, Y:343.38, Z:7.71 [[-2.84873536e-01 -9.58563353e-01 1.83487323e-03 4.60662451e+01] [ 9.58540880e-01 -2.84879424e-01 -6.56467095e-03 3.43380761e+02] [ 6.81537062e-03 -1.11300028e-04 9.99976769e-01 7.71057706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.022755096 meters 0.0251572223897234 Centerline is valid? [True, True] Translation: X:46.06, Y:343.41, Z:7.71 [[-2.88724032e-01 -9.57410515e-01 1.88129413e-03 4.60585580e+01] [ 9.57386934e-01 -2.88730127e-01 -6.72097628e-03 3.43407263e+02] [ 6.97791965e-03 -1.39380949e-04 9.99975644e-01 7.71016888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.052755096 meters 0.023662559674995944 Centerline is valid? [True, True] Translation: X:46.05, Y:343.43, Z:7.71 [[-2.90399523e-01 -9.56904305e-01 1.50622093e-03 4.60517784e+01] [ 9.56889216e-01 -2.90403405e-01 -5.37507902e-03 3.43434060e+02] [ 5.58084794e-03 -1.19633818e-04 9.99984420e-01 7.71283629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.082755096 meters 0.024801144447999413 Centerline is valid? [True, True] Translation: X:46.05, Y:343.46, Z:7.71 [[-2.93236447e-01 -9.56039052e-01 1.31019174e-03 4.60472066e+01] [ 9.56027653e-01 -2.93239351e-01 -4.67012841e-03 3.43460212e+02] [ 4.84902491e-03 -1.16872328e-04 9.99988237e-01 7.71449704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.112755096 meters 0.02518919004352375 Centerline is valid? [True, True] Translation: X:46.04, Y:343.49, Z:7.71 [[-2.94524938e-01 -9.55642917e-01 1.29432009e-03 4.60406781e+01] [ 9.55631820e-01 -2.94527758e-01 -4.60703128e-03 3.43486602e+02] [ 4.78389001e-03 -1.19992140e-04 9.99988550e-01 7.71488521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.142755096 meters 0.025017172733226255 Centerline is valid? [True, True] Translation: X:46.03, Y:343.51, Z:7.71 [[-2.95481568e-01 -9.55347622e-01 1.25067118e-03 4.60335052e+01] [ 9.55337284e-01 -2.95484191e-01 -4.44610524e-03 3.43512502e+02] [ 4.61712963e-03 -1.18929344e-04 9.99989334e-01 7.71495087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1727550960001 meters 0.025742289046940894 Centerline is valid? [True, True] Translation: X:46.03, Y:343.54, Z:7.72 [[-2.96455585e-01 -9.55045954e-01 1.14552126e-03 4.60281545e+01] [ 9.55037303e-01 -2.96457777e-01 -4.06649524e-03 3.43537322e+02] [ 4.22328851e-03 -1.11519689e-04 9.99991076e-01 7.71541760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.202755096 meters 0.026053767209476133 Centerline is valid? [True, True] Translation: X:46.02, Y:343.56, Z:7.72 [[-2.96751689e-01 -9.54954241e-01 9.12847716e-04 4.60214283e+01] [ 9.54948753e-01 -2.96753079e-01 -3.23859315e-03 3.43561932e+02] [ 3.36359864e-03 -8.93351986e-05 9.99994339e-01 7.71596819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.232755096 meters 0.025974372857855154 Centerline is valid? [True, True] Translation: X:46.01, Y:343.59, Z:7.72 [[-2.97019872e-01 -9.54870928e-01 8.40632239e-04 4.60136615e+01] [ 9.54866287e-01 -2.97021050e-01 -2.97827564e-03 3.43587620e+02] [ 3.09355430e-03 -8.19156654e-05 9.99995212e-01 7.71644994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.262755096 meters 0.025398407775960443 Centerline is valid? [True, True] Translation: X:46.01, Y:343.61, Z:7.72 [[-2.96874508e-01 -9.54916175e-01 7.91141086e-04 4.60053418e+01] [ 9.54912074e-01 -2.96875552e-01 -2.79939738e-03 3.43612989e+02] [ 2.90806029e-03 -7.55995437e-05 9.99995769e-01 7.71717402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2927550960001 meters 0.02490617332209005 Centerline is valid? [True, True] Translation: X:46.00, Y:343.64, Z:7.72 [[-2.95682600e-01 -9.55285803e-01 9.13706334e-04 4.59968696e+01] [ 9.55280356e-01 -2.95684000e-01 -3.22704401e-03 3.43638532e+02] [ 3.35291767e-03 -8.13350501e-05 9.99994376e-01 7.71755223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.322755096 meters 0.023959682662244405 Centerline is valid? [True, True] Translation: X:45.99, Y:343.66, Z:7.72 [[-2.95046940e-01 -9.55482334e-01 9.01068384e-04 4.59877984e+01] [ 9.55477051e-01 -2.95048306e-01 -3.17836262e-03 3.43663890e+02] [ 3.30272803e-03 -7.68160022e-05 9.99994543e-01 7.71783012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.352755096 meters 0.023959682662244405 Centerline is valid? [True, True] Translation: X:45.98, Y:343.69, Z:7.72 [[-2.95419202e-01 -9.55367302e-01 9.02307103e-04 4.59804637e+01] [ 9.55362019e-01 -2.95420570e-01 -3.17801075e-03 3.43688789e+02] [ 3.30272763e-03 -7.68154634e-05 9.99994543e-01 7.71796974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.382755096 meters 0.02319639399494541 Centerline is valid? [True, True] Translation: X:45.97, Y:343.71, Z:7.72 [[-2.93212484e-01 -9.56046739e-01 1.03522414e-03 4.59720273e+01] [ 9.56039817e-01 -2.93214302e-01 -3.63893196e-03 3.43713704e+02] [ 3.78253155e-03 -7.72647824e-05 9.99992843e-01 7.71839398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4127550960001 meters 0.023847561480095467 Centerline is valid? [True, True] Translation: X:45.97, Y:343.74, Z:7.72 [[-2.92194542e-01 -9.56358261e-01 1.10762736e-03 4.59657346e+01] [ 9.56350354e-01 -2.92196631e-01 -3.88972602e-03 3.43738685e+02] [ 4.04361659e-03 -7.72768978e-05 9.99991822e-01 7.71839845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.442755096 meters 0.022386704142220694 Centerline is valid? [True, True] Translation: X:45.95, Y:343.76, Z:7.72 [[-2.91018842e-01 -9.56716624e-01 1.15571185e-03 4.59544042e+01] [ 9.56708046e-01 -2.91021128e-01 -4.05196596e-03 3.43762550e+02] [ 4.21291976e-03 -7.35196210e-05 9.99991123e-01 7.71746490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.472755096 meters 0.0224630818639212 Centerline is valid? [True, True] Translation: X:45.95, Y:343.79, Z:7.72 [[-2.90980738e-01 -9.56728136e-01 1.21792938e-03 4.59474059e+01] [ 9.56718639e-01 -2.90983278e-01 -4.26363607e-03 3.43786726e+02] [ 4.43353768e-03 -7.54202324e-05 9.99990169e-01 7.71741608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.502755096 meters 0.022377376207398787 Centerline is valid? [True, True] Translation: X:45.94, Y:343.81, Z:7.72 [[-2.91021465e-01 -9.56715731e-01 1.23205962e-03 4.59400801e+01] [ 9.56706041e-01 -2.91024063e-01 -4.30649402e-03 3.43811735e+02] [ 4.47864957e-03 -7.45633149e-05 9.99989968e-01 7.71742098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5327550960001 meters 0.021705823258390097 Centerline is valid? [True, True] Translation: X:45.93, Y:343.84, Z:7.72 [[-2.91140071e-01 -9.56679370e-01 1.42892694e-03 4.59309592e+01] [ 9.56666379e-01 -2.91143565e-01 -4.98645162e-03 3.43836539e+02] [ 5.18645827e-03 -8.47495168e-05 9.99986547e-01 7.71587225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.562755096 meters 0.02266835980492805 Centerline is valid? [True, True] Translation: X:45.93, Y:343.86, Z:7.72 [[-2.92249806e-01 -9.56340652e-01 1.61498700e-03 4.59260313e+01] [ 9.56324107e-01 -2.92254251e-01 -5.62632246e-03 3.43861837e+02] [ 5.85266771e-03 -9.98406461e-05 9.99982868e-01 7.71536094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.592755096 meters 0.024404779456412725 Centerline is valid? [True, True] Translation: X:45.92, Y:343.89, Z:7.71 [[-2.93394060e-01 -9.55989863e-01 1.81858134e-03 4.59198904e+01] [ 9.55968947e-01 -2.93399673e-01 -6.32492021e-03 3.43886423e+02] [ 6.58013077e-03 -1.17186733e-04 9.99978344e-01 7.71374224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.622755096 meters 0.023017129046111744 Centerline is valid? [True, True] Translation: X:45.91, Y:343.91, Z:7.71 [[-2.95510064e-01 -9.55337724e-01 1.90661782e-03 4.59115069e+01] [ 9.55314787e-01 -2.95516184e-01 -6.62135349e-03 3.43912095e+02] [ 6.88906520e-03 -1.35256399e-04 9.99976261e-01 7.71383301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.652755096 meters 0.023594732786882747 Centerline is valid? [True, True] Translation: X:45.90, Y:343.94, Z:7.71 [[-2.97223846e-01 -9.54805440e-01 2.13487822e-03 4.59044289e+01] [ 9.54776750e-01 -2.97231469e-01 -7.40353082e-03 3.43938782e+02] [ 7.70348449e-03 -1.62173818e-04 9.99970315e-01 7.71302623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.682755096 meters 0.025204308677508187 Centerline is valid? [True, True] Translation: X:45.90, Y:343.97, Z:7.71 [[-3.00183500e-01 -9.53877919e-01 2.60424977e-03 4.58984635e+01] [ 9.53835317e-01 -3.00194714e-01 -9.01792013e-03 3.43965365e+02] [ 9.38377690e-03 -2.23005428e-04 9.99955947e-01 7.71090162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.712755096 meters 0.024328339434909585 Centerline is valid? [True, True] Translation: X:45.89, Y:343.99, Z:7.71 [[-3.01661578e-01 -9.53411427e-01 2.63494351e-03 4.58907128e+01] [ 9.53367913e-01 -3.01672993e-01 -9.11197950e-03 3.43991588e+02] [ 9.48235667e-03 -2.36663524e-04 9.99955013e-01 7.71152678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.742755096 meters 0.026696803419025684 Centerline is valid? [True, True] Translation: X:45.88, Y:344.02, Z:7.71 [[-3.03802928e-01 -9.52729006e-01 3.34992181e-03 4.58834882e+01] [ 9.52658840e-01 -3.03821225e-01 -1.15670938e-02 3.44018271e+02] [ 1.20380832e-02 -3.22784343e-04 9.99927488e-01 7.70836717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.772755096 meters 0.02745283976961658 Centerline is valid? [True, True] Translation: X:45.88, Y:344.04, Z:7.71 [[-3.04839242e-01 -9.52397283e-01 3.52878144e-03 4.58770698e+01] [ 9.52319617e-01 -3.04859467e-01 -1.21676732e-02 3.44044044e+02] [ 1.26642413e-02 -3.48656477e-04 9.99919745e-01 7.70756497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.802755096 meters 0.02660649871490771 Centerline is valid? [True, True] Translation: X:45.87, Y:344.07, Z:7.71 [[-3.05473195e-01 -9.52193298e-01 3.74845743e-03 4.58690767e+01] [ 9.52105901e-01 -3.05495964e-01 -1.29062070e-02 3.44069040e+02] [ 1.34343424e-02 -3.73571843e-04 9.99909685e-01 7.70803136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.832755096 meters 0.026049901997021393 Centerline is valid? [True, True] Translation: X:45.86, Y:344.09, Z:7.71 [[-3.05652377e-01 -9.52135248e-01 3.88502165e-03 4.58615851e+01] [ 9.52041643e-01 -3.05676826e-01 -1.33561661e-02 3.44093393e+02] [ 1.39044376e-02 -3.83641530e-04 9.99903255e-01 7.70845131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.862755096 meters 0.028870762561493967 Centerline is valid? [True, True] Translation: X:45.86, Y:344.12, Z:7.71 [[-3.05979896e-01 -9.52029432e-01 4.03293149e-03 4.58572004e+01] [ 9.51928860e-01 -3.06006215e-01 -1.38434986e-02 3.44118144e+02] [ 1.44135202e-02 -3.96768404e-04 9.99896041e-01 7.70654293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.892755096 meters 0.027285413493792987 Centerline is valid? [True, True] Translation: X:45.85, Y:344.14, Z:7.71 [[-3.04516542e-01 -9.52499370e-01 3.82432334e-03 4.58487493e+01] [ 9.52409223e-01 -3.04540354e-01 -1.31089658e-02 3.44142233e+02] [ 1.36509424e-02 -3.49576102e-04 9.99906760e-01 7.70839505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9227550960001 meters 0.02563289465767677 Centerline is valid? [True, True] Translation: X:45.84, Y:344.17, Z:7.71 [[-3.04089278e-01 -9.52635284e-01 3.96561503e-03 4.58354085e+01] [ 9.52538636e-01 -3.04114933e-01 -1.35740586e-02 3.44166424e+02] [ 1.41371299e-02 -3.50324147e-04 9.99900004e-01 7.70914084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.952755096 meters 0.02497207763800577 Centerline is valid? [True, True] Translation: X:45.83, Y:344.19, Z:7.71 [[-3.03235405e-01 -9.52907441e-01 3.96202280e-03 4.58251059e+01] [ 9.52811251e-01 -3.03261106e-01 -1.35433423e-02 3.44192282e+02] [ 1.41070791e-02 -3.31760986e-04 9.99900435e-01 7.70967569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.982755096 meters 0.024312615034685108 Centerline is valid? [True, True] Translation: X:45.81, Y:344.22, Z:7.71 [[-3.00502337e-01 -9.53772913e-01 3.94662150e-03 4.58138065e+01] [ 9.53677795e-01 -3.00528117e-01 -1.34727403e-02 3.44217479e+02] [ 1.40360055e-02 -2.84784657e-04 9.99901450e-01 7.71025028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.012755096 meters 0.022941402811482894 Centerline is valid? [True, True] Translation: X:45.81, Y:344.24, Z:7.71 [[-2.98860966e-01 -9.54289444e-01 3.71216040e-03 4.58062747e+01] [ 9.54205555e-01 -2.98883923e-01 -1.26554493e-02 3.44242400e+02] [ 1.31864667e-02 -2.40055714e-04 9.99913026e-01 7.71114555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0427550960001 meters 0.0209773638730414 Centerline is valid? [True, True] Translation: X:45.79, Y:344.27, Z:7.71 [[-2.95818743e-01 -9.55236681e-01 3.76223842e-03 4.57925170e+01] [ 9.55150821e-01 -2.95842601e-01 -1.28087916e-02 3.44266939e+02] [ 1.33484579e-02 -1.95575501e-04 9.99910886e-01 7.71197138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.072755096 meters 0.020509996067546613 Centerline is valid? [True, True] Translation: X:45.78, Y:344.29, Z:7.71 [[-2.94478884e-01 -9.55650503e-01 3.78189585e-03 4.57830646e+01] [ 9.55564020e-01 -2.94503117e-01 -1.28576026e-02 3.44291769e+02] [ 1.34011545e-02 -1.72448874e-04 9.99910186e-01 7.71201220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.102755096 meters 0.020092878618540224 Centerline is valid? [True, True] Translation: X:45.77, Y:344.32, Z:7.71 [[-2.91971672e-01 -9.56418591e-01 4.00272649e-03 4.57724038e+01] [ 9.56322070e-01 -2.91999074e-01 -1.35882204e-02 3.44315678e+02] [ 1.41648191e-02 -1.39479753e-04 9.99899664e-01 7.71074201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.132755096 meters 0.023864741275400995 Centerline is valid? [True, True] Translation: X:45.76, Y:344.34, Z:7.71 [[-2.91373055e-01 -9.56598039e-01 4.68351385e-03 4.57637013e+01] [ 9.56466313e-01 -2.91410657e-01 -1.58751452e-02 3.44339179e+02] [ 1.65509586e-02 -1.45966325e-04 9.99863013e-01 7.70706126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1627550960001 meters 0.01937314428038551 Centerline is valid? [True, True] Translation: X:45.75, Y:344.36, Z:7.71 [[-2.90029399e-01 -9.57008385e-01 4.23063305e-03 4.57525297e+01] [ 9.56901244e-01 -2.90060234e-01 -1.43202282e-02 3.44363200e+02] [ 1.49317168e-02 -1.04989134e-04 9.99888510e-01 7.71049327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.192755096 meters 0.018979184904727758 Centerline is valid? [True, True] Translation: X:45.74, Y:344.39, Z:7.71 [[-2.88025249e-01 -9.57613575e-01 4.20668696e-03 4.57415037e+01] [ 9.57508017e-01 -2.88055959e-01 -1.42183302e-02 3.44386913e+02] [ 1.48274273e-02 -6.73016071e-05 9.99890065e-01 7.71081805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.222755096 meters 0.018804036298717096 Centerline is valid? [True, True] Translation: X:45.73, Y:344.41, Z:7.71 [[-2.85992875e-01 -9.58222676e-01 4.16867180e-03 4.57309125e+01] [ 9.58119340e-01 -2.86023254e-01 -1.40722822e-02 3.44410592e+02] [ 1.46767170e-02 -3.04873888e-05 9.99892291e-01 7.71193668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.252755096 meters 0.018813236980143578 Centerline is valid? [True, True] Translation: X:45.72, Y:344.43, Z:7.71 [[-2.85245495e-01 -9.58445391e-01 4.17621073e-03 4.57217010e+01] [ 9.58341978e-01 -2.85276064e-01 -1.40790505e-02 3.44434447e+02] [ 1.46853740e-02 -1.37476803e-05 9.99892164e-01 7.71238363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2827550960001 meters 0.018759969614958686 Centerline is valid? [True, True] Translation: X:45.71, Y:344.46, Z:7.71 [[-2.84745519e-01 -9.58594644e-01 4.03700808e-03 4.57120363e+01] [ 9.58498292e-01 -2.84774136e-01 -1.35910147e-02 3.44459647e+02] [ 1.41779094e-02 -5.15196694e-07 9.99899488e-01 7.71249853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.312755096 meters 0.018725968896265984 Centerline is valid? [True, True] Translation: X:45.70, Y:344.48, Z:7.71 [[-2.83896734e-01 -9.58846480e-01 4.00909034e-03 4.57013869e+01] [ 9.58751750e-01 -2.83925040e-01 -1.34778950e-02 3.44483610e+02] [ 1.40615134e-02 1.73919917e-05 9.99901132e-01 7.71355121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.342755096 meters 0.0201192090708663 Centerline is valid? [True, True] Translation: X:45.69, Y:344.51, Z:7.71 [[-2.84126348e-01 -9.58777930e-01 4.13523800e-03 4.56930012e+01] [ 9.58677441e-01 -2.84156438e-01 -1.38809982e-02 3.44508019e+02] [ 1.44838492e-02 2.04020669e-05 9.99895103e-01 7.71171173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.372755096 meters 0.01876484239050338 Centerline is valid? [True, True] Translation: X:45.69, Y:344.53, Z:7.71 [[-2.84480778e-01 -9.58673854e-01 3.88952842e-03 4.56851369e+01] [ 9.58585198e-01 -2.84507366e-01 -1.30375010e-02 3.44531756e+02] [ 1.36053108e-02 1.95259403e-05 9.99907443e-01 7.71269567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.402755096 meters 0.019392221398001955 Centerline is valid? [True, True] Translation: X:45.68, Y:344.56, Z:7.71 [[-2.85586317e-01 -9.58344460e-01 4.04368541e-03 4.56785048e+01] [ 9.58248882e-01 -2.85614943e-01 -1.35345564e-02 3.44557199e+02] [ 1.41257041e-02 9.57291256e-06 9.99900227e-01 7.71323363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.432755096 meters 0.018654755404650215 Centerline is valid? [True, True] Translation: X:45.67, Y:344.58, Z:7.71 [[-2.87483319e-01 -9.57776756e-01 4.12642958e-03 4.56725540e+01] [ 9.57677459e-01 -2.87512932e-01 -1.37912180e-02 3.44581498e+02] [ 1.43953099e-02 -1.29565469e-05 9.99896382e-01 7.71391483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.462755096 meters 0.01873773442273772 Centerline is valid? [True, True] Translation: X:45.67, Y:344.61, Z:7.71 [[-2.88702071e-01 -9.57409518e-01 4.25781058e-03 4.56654629e+01] [ 9.57304062e-01 -2.88733465e-01 -1.42098351e-02 3.44606657e+02] [ 1.48340038e-02 -2.63894555e-05 9.99889970e-01 7.71390278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.492755096 meters 0.019699060436304396 Centerline is valid? [True, True] Translation: X:45.66, Y:344.63, Z:7.71 [[-2.90069030e-01 -9.56994960e-01 4.53928910e-03 4.56584075e+01] [ 9.56875408e-01 -2.90104543e-01 -1.51264176e-02 3.44631615e+02] [ 1.57927738e-02 -4.41711860e-05 9.99875285e-01 7.71387985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.522755096 meters 0.018998792138370378 Centerline is valid? [True, True] Translation: X:45.65, Y:344.66, Z:7.71 [[-2.91599006e-01 -9.56529586e-01 4.60110426e-03 4.56514087e+01] [ 9.56407060e-01 -2.91635297e-01 -1.53098054e-02 3.44657622e+02] [ 1.59861262e-02 -6.37954392e-05 9.99872212e-01 7.71459486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.552755096 meters 0.02230275019680348 Centerline is valid? [True, True] Translation: X:45.65, Y:344.68, Z:7.71 [[-2.92897114e-01 -9.56131292e-01 4.92277637e-03 4.56454080e+01] [ 9.55991331e-01 -2.92938468e-01 -1.63593664e-02 3.44682560e+02] [ 1.70837727e-02 -8.54796720e-05 9.99854058e-01 7.71273318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.582755096 meters 0.018703891195839505 Centerline is valid? [True, True] Translation: X:45.64, Y:344.71, Z:7.72 [[-2.93716410e-01 -9.55882083e-01 4.48478712e-03 4.56386157e+01] [ 9.55766190e-01 -2.93750635e-01 -1.48846977e-02 3.44707735e+02] [ 1.55454249e-02 -8.54720617e-05 9.99879159e-01 7.71604558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.612755096 meters 0.019341407102664916 Centerline is valid? [True, True] Translation: X:45.63, Y:344.73, Z:7.72 [[-2.94774805e-01 -9.55555588e-01 4.61871373e-03 4.56313535e+01] [ 9.55432961e-01 -2.94810970e-01 -1.53084427e-02 3.44734399e+02] [ 1.59897154e-02 -9.96718745e-05 9.99872151e-01 7.71621221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.642755096 meters 0.018568436238804706 Centerline is valid? [True, True] Translation: X:45.62, Y:344.76, Z:7.72 [[-2.95712185e-01 -9.55266887e-01 4.41348642e-03 4.56246115e+01] [ 9.55155147e-01 -2.95745100e-01 -1.46109682e-02 3.44759379e+02] [ 1.52626410e-02 -1.05077041e-04 9.99883514e-01 7.71746517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6727550960001 meters 0.02129876698738119 Centerline is valid? [True, True] Translation: X:45.62, Y:344.79, Z:7.72 [[-2.97405485e-01 -9.54740888e-01 4.45129033e-03 4.56202184e+01] [ 9.54627470e-01 -2.97438768e-01 -1.47164503e-02 3.44786054e+02] [ 1.53743831e-02 -1.27429008e-04 9.99881799e-01 7.71781085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.702755096 meters 0.018586409137708794 Centerline is valid? [True, True] Translation: X:45.61, Y:344.81, Z:7.72 [[-2.98409490e-01 -9.54429030e-01 4.12350483e-03 4.56127385e+01] [ 9.54331942e-01 -2.98437951e-01 -1.36137482e-02 3.44811401e+02] [ 1.42239668e-02 -1.27279296e-04 9.99898826e-01 7.72058418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.732755096 meters 0.01953103704661682 Centerline is valid? [True, True] Translation: X:45.61, Y:344.84, Z:7.72 [[-2.99762464e-01 -9.54004410e-01 4.24874804e-03 4.56076339e+01] [ 9.53901589e-01 -2.99792537e-01 -1.40069343e-02 3.44837067e+02] [ 1.46364200e-02 -1.45865632e-04 9.99892871e-01 7.72039301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.762755096 meters 0.019648316051556657 Centerline is valid? [True, True] Translation: X:45.60, Y:344.86, Z:7.72 [[-3.00655206e-01 -9.53723877e-01 4.14891292e-03 4.56010108e+01] [ 9.53626081e-01 -3.00683794e-01 -1.36584837e-02 3.44862219e+02] [ 1.42739329e-02 -1.49982670e-04 9.99898111e-01 7.72086222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7927550960001 meters 0.02078699153300533 Centerline is valid? [True, True] Translation: X:45.60, Y:344.89, Z:7.72 [[-3.01609732e-01 -9.53422243e-01 4.19473197e-03 4.55962092e+01] [ 9.53322529e-01 -3.01638858e-01 -1.37896463e-02 3.44887923e+02] [ 1.44126497e-02 -1.60159056e-04 9.99896120e-01 7.72079939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.822755096 meters 0.020108141880003174 Centerline is valid? [True, True] Translation: X:45.59, Y:344.91, Z:7.72 [[-3.02281461e-01 -9.53209220e-01 4.25444845e-03 4.55892453e+01] [ 9.53106919e-01 -3.02311354e-01 -1.39659388e-02 3.44913054e+02] [ 1.45986297e-02 -1.66700146e-04 9.99893420e-01 7.72179409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.852755096 meters 0.02186257326546985 Centerline is valid? [True, True] Translation: X:45.58, Y:344.94, Z:7.72 [[-3.02692965e-01 -9.53078095e-01 4.37190588e-03 4.55839301e+01] [ 9.52970371e-01 -3.02724487e-01 -1.43302864e-02 3.44938348e+02] [ 1.49813650e-02 -1.71380101e-04 9.99887758e-01 7.72004759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.882755096 meters 0.019156027358544808 Centerline is valid? [True, True] Translation: X:45.58, Y:344.96, Z:7.72 [[-3.02591539e-01 -9.53110913e-01 4.23653395e-03 4.55752624e+01] [ 9.53010041e-01 -3.02621153e-01 -1.38671741e-02 3.44963684e+02] [ 1.44990198e-02 -1.58630152e-04 9.99894871e-01 7.72178015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9127550960001 meters 0.018876002017679215 Centerline is valid? [True, True] Translation: X:45.57, Y:344.99, Z:7.72 [[-3.02623916e-01 -9.53100391e-01 4.29075392e-03 4.55678221e+01] [ 9.52997208e-01 -3.02654293e-01 -1.40250212e-02 3.44988913e+02] [ 1.46658682e-02 -1.55230311e-04 9.99892438e-01 7.72205001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.942755096 meters 0.018820536035875912 Centerline is valid? [True, True] Translation: X:45.56, Y:345.02, Z:7.72 [[-3.03116405e-01 -9.52943449e-01 4.38497952e-03 4.55624854e+01] [ 9.52835973e-01 -3.03148079e-01 -1.43126145e-02 3.45015215e+02] [ 1.49684104e-02 -1.60222045e-04 9.99887954e-01 7.72227305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.972755096 meters 0.018772212034071225 Centerline is valid? [True, True] Translation: X:45.56, Y:345.04, Z:7.72 [[-3.03561003e-01 -9.52802572e-01 4.23974945e-03 4.55563904e+01] [ 9.52702364e-01 -3.03590570e-01 -1.38192729e-02 3.45040787e+02] [ 1.44541867e-02 -1.55773027e-04 9.99895521e-01 7.72259104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.002755096 meters 0.019465447691376994 Centerline is valid? [True, True] Translation: X:45.55, Y:345.07, Z:7.72 [[-3.04662938e-01 -9.52451112e-01 4.16822889e-03 4.55525424e+01] [ 9.52354493e-01 -3.04691407e-01 -1.35670953e-02 3.45066988e+02] [ 1.41920185e-02 -1.63759616e-04 9.99899275e-01 7.72279919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0327550960001 meters 0.018791361130312358 Centerline is valid? [True, True] Translation: X:45.55, Y:345.09, Z:7.72 [[-3.05411800e-01 -9.52211287e-01 4.15903980e-03 4.55466061e+01] [ 9.52115349e-01 -3.05440071e-01 -1.35175926e-02 3.45091373e+02] [ 1.41419417e-02 -1.68546659e-04 9.99899984e-01 7.72351493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.062755096 meters 0.02055294763831146 Centerline is valid? [True, True] Translation: X:45.54, Y:345.12, Z:7.72 [[-3.06418550e-01 -9.51887698e-01 4.18131889e-03 4.55412201e+01] [ 9.51790981e-01 -3.06447026e-01 -1.35701501e-02 3.45116050e+02] [ 1.41986117e-02 -1.78404123e-04 9.99899179e-01 7.72189381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.092755096 meters 0.019390902749586807 Centerline is valid? [True, True] Translation: X:45.54, Y:345.14, Z:7.72 [[-3.08031064e-01 -9.51367482e-01 4.09609117e-03 4.55354890e+01] [ 9.51274878e-01 -3.08058236e-01 -1.32751577e-02 3.45141781e+02] [ 1.38913879e-02 -1.92652306e-04 9.99903491e-01 7.72269399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.122755096 meters 0.01922430669644457 Centerline is valid? [True, True] Translation: X:45.53, Y:345.17, Z:7.72 [[-3.09518666e-01 -9.50885744e-01 3.80758466e-03 4.55305101e+01] [ 9.50805904e-01 -3.09542024e-01 -1.23234836e-02 3.45167869e+02] [ 1.28968323e-02 -1.94074217e-04 9.99916814e-01 7.72433208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.152755096 meters 0.019547792471398488 Centerline is valid? [True, True] Translation: X:45.52, Y:345.19, Z:7.73 [[-3.10890485e-01 -9.50438589e-01 3.68718494e-03 4.55242692e+01] [ 9.50363888e-01 -3.10912285e-01 -1.19177379e-02 3.45193961e+02] [ 1.24734691e-02 -2.00943919e-04 9.99922183e-01 7.72500233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.182755096 meters 0.019697426901251588 Centerline is valid? [True, True] Translation: X:45.52, Y:345.22, Z:7.73 [[-3.11634012e-01 -9.50195590e-01 3.54714992e-03 4.55174129e+01] [ 9.50126625e-01 -3.11654137e-01 -1.14496789e-02 3.45219659e+02] [ 1.19849184e-02 -1.97867805e-04 9.99928159e-01 7.72524322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.212755096 meters 0.019728470107009472 Centerline is valid? [True, True] Translation: X:45.51, Y:345.25, Z:7.72 [[-3.12477143e-01 -9.49918447e-01 3.60265264e-03 4.55110001e+01] [ 9.49847488e-01 -3.12497842e-01 -1.16124371e-02 3.45245448e+02] [ 1.21566893e-02 -2.06650597e-04 9.99926083e-01 7.72499248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.242755096 meters 0.019728470107009472 Centerline is valid? [True, True] Translation: X:45.50, Y:345.27, Z:7.73 [[-3.12853939e-01 -9.49794399e-01 3.60725961e-03 4.55030704e+01] [ 9.49723448e-01 -3.12874667e-01 -1.16110063e-02 3.45270168e+02] [ 1.21566889e-02 -2.06650040e-04 9.99926083e-01 7.72513209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.272755096 meters 0.02139421432885033 Centerline is valid? [True, True] Translation: X:45.50, Y:345.30, Z:7.72 [[-3.13808293e-01 -9.49479140e-01 3.70371217e-03 4.54959711e+01] [ 9.49404532e-01 -3.13830072e-01 -1.19046406e-02 3.45295744e+02] [ 1.24655441e-02 -2.19453812e-04 9.99922278e-01 7.72369450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.302755096 meters 0.0199083895538545 Centerline is valid? [True, True] Translation: X:45.49, Y:345.32, Z:7.73 [[-3.13901538e-01 -9.49448592e-01 3.63269610e-03 4.54879927e+01] [ 9.49377011e-01 -3.13922486e-01 -1.16603402e-02 3.45321010e+02] [ 1.22112786e-02 -2.11400552e-04 9.99925417e-01 7.72504051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.332755096 meters 0.019889833269858027 Centerline is valid? [True, True] Translation: X:45.48, Y:345.35, Z:7.73 [[-3.14105290e-01 -9.49380568e-01 3.79528255e-03 4.54803054e+01] [ 9.49302649e-01 -3.14128142e-01 -1.21651547e-02 3.45345961e+02] [ 1.27415665e-02 -2.18267658e-04 9.99918799e-01 7.72506830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.362755096 meters 0.02059938181186138 Centerline is valid? [True, True] Translation: X:45.47, Y:345.37, Z:7.72 [[-3.14085875e-01 -9.49386535e-01 3.90771748e-03 4.54725264e+01] [ 9.49304161e-01 -3.14110107e-01 -1.25080202e-02 3.45371258e+02] [ 1.31023995e-02 -2.18980008e-04 9.99914136e-01 7.72447522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.392755096 meters 0.01934963429222366 Centerline is valid? [True, True] Translation: X:45.46, Y:345.40, Z:7.73 [[-3.13819852e-01 -9.49474146e-01 3.99330777e-03 4.54648834e+01] [ 9.49388377e-01 -3.13845185e-01 -1.27636296e-02 3.45395442e+02] [ 1.33720168e-02 -2.14280390e-04 9.99910568e-01 7.72576877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4227550960001 meters 0.019318933423470346 Centerline is valid? [True, True] Translation: X:45.46, Y:345.42, Z:7.73 [[-3.13684465e-01 -9.49518456e-01 4.09358546e-03 4.54565063e+01] [ 9.49428582e-01 -3.13711103e-01 -1.30656799e-02 3.45420363e+02] [ 1.36903074e-02 -2.11933772e-04 9.99906261e-01 7.72572048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.452755096 meters 0.020531136838152823 Centerline is valid? [True, True] Translation: X:45.45, Y:345.45, Z:7.72 [[-3.13605589e-01 -9.49543400e-01 4.34358612e-03 4.54476783e+01] [ 9.49442495e-01 -3.13635592e-01 -1.38442839e-02 3.45445632e+02] [ 1.45080516e-02 -2.17659553e-04 9.99894729e-01 7.72411463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.482755096 meters 0.02129131324901407 Centerline is valid? [True, True] Translation: X:45.44, Y:345.47, Z:7.72 [[-3.13873658e-01 -9.49454930e-01 4.31993141e-03 4.54401195e+01] [ 9.49355390e-01 -3.13903312e-01 -1.37497083e-02 3.45469516e+02] [ 1.44107691e-02 -2.14521068e-04 9.99896137e-01 7.72368201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.512755096 meters 0.021165554004221203 Centerline is valid? [True, True] Translation: X:45.43, Y:345.50, Z:7.72 [[-3.13872221e-01 -9.49456431e-01 4.08843714e-03 4.54316531e+01] [ 9.49367504e-01 -3.13898785e-01 -1.29959905e-02 3.45495069e+02] [ 1.36224822e-02 -1.97651036e-04 9.99907190e-01 7.72488925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5427550960001 meters 0.019754565777901252 Centerline is valid? [True, True] Translation: X:45.42, Y:345.52, Z:7.73 [[-3.13634735e-01 -9.49535268e-01 4.00350066e-03 4.54226943e+01] [ 9.49450227e-01 -3.13660232e-01 -1.27092529e-02 3.45520305e+02] [ 1.33236228e-02 -1.84938553e-04 9.99911220e-01 7.72658668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.572755096 meters 0.020963006917332258 Centerline is valid? [True, True] Translation: X:45.41, Y:345.55, Z:7.73 [[-3.13565592e-01 -9.49559226e-01 3.72783840e-03 4.54147942e+01] [ 9.49485688e-01 -3.13587706e-01 -1.18185784e-02 3.45545522e+02] [ 1.23914445e-02 -1.66370325e-04 9.99923209e-01 7.72724742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.602755096 meters 0.01826702869275359 Centerline is valid? [True, True] Translation: X:45.41, Y:345.57, Z:7.73 [[-3.13156025e-01 -9.49695624e-01 3.39492798e-03 4.54055588e+01] [ 9.49634800e-01 -3.13174395e-01 -1.07492444e-02 3.45570207e+02] [ 1.12717149e-02 -1.42248913e-04 9.99936462e-01 7.73002563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.632755096 meters 0.020105622821828466 Centerline is valid? [True, True] Translation: X:45.40, Y:345.60, Z:7.73 [[-3.12809616e-01 -9.49810674e-01 3.13482059e-03 4.53970687e+01] [ 9.49758953e-01 -3.12825299e-01 -9.91283898e-03 3.45595057e+02] [ 1.03959715e-02 -1.23507438e-04 9.99945953e-01 7.72951311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6627550960001 meters 0.01787734370732314 Centerline is valid? [True, True] Translation: X:45.39, Y:345.62, Z:7.73 [[-3.12450740e-01 -9.49929441e-01 2.93116585e-03 4.53883454e+01] [ 9.49884346e-01 -3.12464470e-01 -9.25657846e-03 3.45618842e+02] [ 9.70898159e-03 -1.07956229e-04 9.99952861e-01 7.73158755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.692755096 meters 0.017564091580612798 Centerline is valid? [True, True] Translation: X:45.38, Y:345.64, Z:7.73 [[-3.12702616e-01 -9.49846995e-01 2.78582600e-03 4.53787799e+01] [ 9.49806367e-01 -3.12715009e-01 -8.78573400e-03 3.45643899e+02] [ 9.21627264e-03 -1.01326730e-04 9.99957524e-01 7.73224000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.722755096 meters 0.017549991243724423 Centerline is valid? [True, True] Translation: X:45.37, Y:345.67, Z:7.73 [[-3.12773596e-01 -9.49823599e-01 2.79427134e-03 4.53702667e+01] [ 9.49782837e-01 -3.12786062e-01 -8.80007225e-03 3.45667700e+02] [ 9.23252543e-03 -9.84792734e-05 9.99957375e-01 7.73177015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.752755096 meters 0.019125126588481773 Centerline is valid? [True, True] Translation: X:45.36, Y:345.69, Z:7.73 [[-3.13458803e-01 -9.49597097e-01 2.98868836e-03 4.53635825e+01] [ 9.49550592e-01 -3.13473032e-01 -9.39852643e-03 3.45692290e+02] [ 9.86168662e-03 -1.08140045e-04 9.99951367e-01 7.72986209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7827550960001 meters 0.017805746093448312 Centerline is valid? [True, True] Translation: X:45.35, Y:345.72, Z:7.73 [[-3.14055910e-01 -9.49399641e-01 3.03417515e-03 4.53542754e+01] [ 9.49351833e-01 -3.14070547e-01 -9.52835941e-03 3.45716760e+02] [ 9.99916605e-03 -1.11937849e-04 9.99950001e-01 7.73032838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.812755096 meters 0.019146412213235535 Centerline is valid? [True, True] Translation: X:45.35, Y:345.74, Z:7.73 [[-3.15635943e-01 -9.48875255e-01 3.11487218e-03 4.53465864e+01] [ 9.48824980e-01 -3.15651287e-01 -9.76843994e-03 3.45741929e+02] [ 1.02522444e-02 -1.27802219e-04 9.99947436e-01 7.72936745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.842755096 meters 0.01821714491357179 Centerline is valid? [True, True] Translation: X:45.34, Y:345.77, Z:7.73 [[-3.16630419e-01 -9.48544183e-01 3.01848066e-03 4.53386377e+01] [ 9.48497081e-01 -3.16644779e-01 -9.45359392e-03 3.45767480e+02] [ 9.92293766e-03 -1.30275306e-04 9.99950758e-01 7.72994118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.872755096 meters 0.01915480906851758 Centerline is valid? [True, True] Translation: X:45.33, Y:345.79, Z:7.73 [[-3.19645181e-01 -9.47532271e-01 3.09096689e-03 4.53326375e+01] [ 9.47482963e-01 -3.19660084e-01 -9.66779811e-03 3.45793063e+02] [ 1.01486094e-02 -1.61626602e-04 9.99948489e-01 7.72928434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.902755096 meters 0.01955743044329892 Centerline is valid? [True, True] Translation: X:45.33, Y:345.82, Z:7.73 [[-3.21287919e-01 -9.46976733e-01 3.02322113e-03 4.53253105e+01] [ 9.46929658e-01 -3.21302096e-01 -9.44380045e-03 3.45818433e+02] [ 9.91442659e-03 -1.71401236e-04 9.99950836e-01 7.72903800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.932755096 meters 0.022089162233053627 Centerline is valid? [True, True] Translation: X:45.32, Y:345.84, Z:7.73 [[-3.23348254e-01 -9.46274831e-01 3.13876086e-03 4.53194414e+01] [ 9.46224188e-01 -3.23363428e-01 -9.79176075e-03 3.45843738e+02] [ 1.02806572e-02 -1.96177299e-04 9.99947133e-01 7.72781252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.962755096 meters 0.022658377590908524 Centerline is valid? [True, True] Translation: X:45.31, Y:345.87, Z:7.73 [[-3.26075006e-01 -9.45339541e-01 2.87104689e-03 4.53124378e+01] [ 9.45297232e-01 -3.26087582e-01 -8.94609699e-03 3.45869977e+02] [ 9.39331196e-03 -2.03105954e-04 9.99955861e-01 7.72842598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.992755096 meters 0.022007719530804437 Centerline is valid? [True, True] Translation: X:45.31, Y:345.89, Z:7.73 [[-3.26954379e-01 -9.45036143e-01 2.74273464e-03 4.53059453e+01] [ 9.44997616e-01 -3.26965823e-01 -8.53560620e-03 3.45894882e+02] [ 8.96323685e-03 -1.98876132e-04 9.99959810e-01 7.72988123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.022755096 meters 0.022173099603437663 Centerline is valid? [True, True] Translation: X:45.30, Y:345.92, Z:7.73 [[-3.29046685e-01 -9.44309578e-01 2.77499958e-03 4.52982393e+01] [ 9.44270217e-01 -3.29058314e-01 -8.62460380e-03 3.45921071e+02] [ 9.05743265e-03 -2.17547837e-04 9.99958957e-01 7.72979568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.052755096 meters 0.023377625379646008 Centerline is valid? [True, True] Translation: X:45.29, Y:345.95, Z:7.73 [[-3.30000928e-01 -9.43976181e-01 2.89078007e-03 4.52899323e+01] [ 9.43933549e-01 -3.30013507e-01 -8.97441866e-03 3.45946530e+02] [ 9.42563393e-03 -2.32862202e-04 9.99955551e-01 7.72873230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.082755096 meters 0.02149345510761429 Centerline is valid? [True, True] Translation: X:45.28, Y:345.97, Z:7.73 [[-3.29878559e-01 -9.44018746e-01 2.95704229e-03 4.52809589e+01] [ 9.43974239e-01 -3.29891730e-01 -9.16963268e-03 3.45971866e+02] [ 9.63180894e-03 -2.33493473e-04 9.99953586e-01 7.72976194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.112755096 meters 0.021382329776815853 Centerline is valid? [True, True] Translation: X:45.27, Y:346.00, Z:7.73 [[-3.29623648e-01 -9.44107424e-01 3.06965328e-03 4.52725193e+01] [ 9.44059599e-01 -3.29637857e-01 -9.50564646e-03 3.45997261e+02] [ 9.98622533e-03 -2.35350216e-04 9.99950109e-01 7.72962998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.142755096 meters 0.02320062320048999 Centerline is valid? [True, True] Translation: X:45.26, Y:346.02, Z:7.73 [[-3.29612687e-01 -9.44110738e-01 3.22343598e-03 4.52646566e+01] [ 9.44058146e-01 -3.29628359e-01 -9.96803147e-03 3.46022443e+02] [ 1.04734615e-02 -2.42478644e-04 9.99945122e-01 7.72814323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1727550960001 meters 0.022887545773478655 Centerline is valid? [True, True] Translation: X:45.26, Y:346.05, Z:7.73 [[-3.28597904e-01 -9.44464516e-01 3.19304406e-03 4.52559929e+01] [ 9.44413067e-01 -3.28613340e-01 -9.86062618e-03 3.46046914e+02] [ 1.03622884e-02 -2.24628564e-04 9.99946285e-01 7.72849850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.202755096 meters 0.02032483197077463 Centerline is valid? [True, True] Translation: X:45.25, Y:346.07, Z:7.73 [[-3.27400389e-01 -9.44880738e-01 3.06198369e-03 4.52460603e+01] [ 9.44833563e-01 -3.27414647e-01 -9.44390182e-03 3.46072481e+02] [ 9.92589923e-03 -1.98872173e-04 9.99950717e-01 7.73007510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.232755096 meters 0.019134905313959595 Centerline is valid? [True, True] Translation: X:45.24, Y:346.10, Z:7.73 [[-3.24866635e-01 -9.45755035e-01 3.01378924e-03 4.52359349e+01] [ 9.45709479e-01 -3.24880571e-01 -9.28416883e-03 3.46097787e+02] [ 9.75967099e-03 -1.65947630e-04 9.99952360e-01 7.73044638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.262755096 meters 0.01923249217713428 Centerline is valid? [True, True] Translation: X:45.23, Y:346.12, Z:7.73 [[-3.23909163e-01 -9.46083295e-01 3.04183148e-03 4.52288797e+01] [ 9.46037022e-01 -3.23923410e-01 -9.35830418e-03 3.46121841e+02] [ 9.83905568e-03 -1.53555287e-04 9.99951584e-01 7.73068818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2927550960001 meters 0.018470099256134888 Centerline is valid? [True, True] Translation: X:45.22, Y:346.15, Z:7.73 [[-3.22849884e-01 -9.46445804e-01 2.87984532e-03 4.52197813e+01] [ 9.46404452e-01 -3.22862702e-01 -8.84816729e-03 3.46146339e+02] [ 9.30410544e-03 -1.31131351e-04 9.99956707e-01 7.73172045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.322755096 meters 0.020564148646131656 Centerline is valid? [True, True] Translation: X:45.21, Y:346.17, Z:7.73 [[-3.21545251e-01 -9.46889757e-01 2.90515087e-03 4.52113699e+01] [ 9.46847805e-01 -3.21558354e-01 -8.91401387e-03 3.46171498e+02] [ 9.37476396e-03 -1.15523105e-04 9.99956049e-01 7.73105487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.352755096 meters 0.01987004766829767 Centerline is valid? [True, True] Translation: X:45.20, Y:346.20, Z:7.73 [[-3.20958579e-01 -9.47089175e-01 2.77236399e-03 4.52029851e+01] [ 9.47051067e-01 -3.20970536e-01 -8.49654053e-03 3.46195161e+02] [ 8.93682871e-03 -1.01467304e-04 9.99960061e-01 7.73113252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.382755096 meters 0.019742031424014653 Centerline is valid? [True, True] Translation: X:45.19, Y:346.22, Z:7.73 [[-3.20116338e-01 -9.47374046e-01 2.81916903e-03 4.51948945e+01] [ 9.47334743e-01 -3.20128738e-01 -8.62991383e-03 3.46220766e+02] [ 9.07825341e-03 -9.18796433e-05 9.99958788e-01 7.73144075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4127550960001 meters 0.017441519030755928 Centerline is valid? [True, True] Translation: X:45.19, Y:346.25, Z:7.73 [[-3.19833120e-01 -9.47470467e-01 2.54738072e-03 4.51866726e+01] [ 9.47438460e-01 -3.19843255e-01 -7.78823742e-03 3.46245150e+02] [ 8.19388749e-03 -7.74498072e-05 9.99966427e-01 7.73300643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.442755096 meters 0.017441248908963102 Centerline is valid? [True, True] Translation: X:45.18, Y:346.27, Z:7.73 [[-3.20242630e-01 -9.47332118e-01 2.55287817e-03 4.51784297e+01] [ 9.47300054e-01 -3.20252796e-01 -7.79451020e-03 3.46270756e+02] [ 8.20155622e-03 -7.77928201e-05 9.99966364e-01 7.73325486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.472755096 meters 0.01742970536176547 Centerline is valid? [True, True] Translation: X:45.17, Y:346.30, Z:7.73 [[-3.20390913e-01 -9.47282791e-01 2.23075235e-03 4.51692343e+01] [ 9.47258366e-01 -3.20398672e-01 -6.80282547e-03 3.46296030e+02] [ 7.15892959e-03 -6.64646350e-05 9.99974372e-01 7.73429644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.502755096 meters 0.01752199117625655 Centerline is valid? [True, True] Translation: X:45.16, Y:346.32, Z:7.73 [[-3.20659075e-01 -9.47192772e-01 1.90005504e-03 4.51600597e+01] [ 9.47175091e-01 -3.20664700e-01 -5.78768948e-03 3.46320793e+02] [ 6.09133822e-03 -5.61903481e-05 9.99981446e-01 7.73453463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5327550960001 meters 0.01755191983479241 Centerline is valid? [True, True] Translation: X:45.15, Y:346.35, Z:7.73 [[-3.21128937e-01 -9.47033432e-01 1.97104380e-03 4.51502746e+01] [ 9.47014454e-01 -3.21134980e-01 -5.99577454e-03 3.46345784e+02] [ 6.31117005e-03 -5.88097360e-05 9.99980083e-01 7.73337648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.562755096 meters 0.017616927816205365 Centerline is valid? [True, True] Translation: X:45.14, Y:346.37, Z:7.73 [[-3.21304541e-01 -9.46973568e-01 2.11015960e-03 4.51408959e+01] [ 9.46951876e-01 -3.21311464e-01 -6.40993232e-03 3.46370961e+02] [ 6.74805496e-03 -6.13207738e-05 9.99977230e-01 7.73277143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.592755096 meters 0.01895496956092237 Centerline is valid? [True, True] Translation: X:45.13, Y:346.39, Z:7.73 [[-3.21914777e-01 -9.46766167e-01 2.16814421e-03 4.51334611e+01] [ 9.46743324e-01 -3.21922072e-01 -6.57705273e-03 3.46394904e+02] [ 6.92490448e-03 -6.45744046e-05 9.99976021e-01 7.73140541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.622755096 meters 0.018135692122283435 Centerline is valid? [True, True] Translation: X:45.12, Y:346.42, Z:7.73 [[-3.22688323e-01 -9.46502888e-01 2.12840528e-03 4.51246072e+01] [ 9.46480927e-01 -3.22695335e-01 -6.44784950e-03 3.46419672e+02] [ 6.78973462e-03 -6.61507387e-05 9.99976947e-01 7.73135484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.652755096 meters 0.019898578636817793 Centerline is valid? [True, True] Translation: X:45.12, Y:346.45, Z:7.73 [[-3.23805426e-01 -9.46121211e-01 2.16806938e-03 4.51154629e+01] [ 9.46098474e-01 -3.23812676e-01 -6.55957307e-03 3.46445090e+02] [ 6.90819956e-03 -7.28182225e-05 9.99976135e-01 7.73007578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.682755096 meters 0.02103792851677318 Centerline is valid? [True, True] Translation: X:45.11, Y:346.47, Z:7.73 [[-3.25174928e-01 -9.45650903e-01 2.37422214e-03 4.51082629e+01] [ 9.45623690e-01 -3.25183583e-01 -7.17454485e-03 3.46470285e+02] [ 7.55667288e-03 -8.78614012e-05 9.99971444e-01 7.72838468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.712755096 meters 0.018677794888080433 Centerline is valid? [True, True] Translation: X:45.10, Y:346.50, Z:7.73 [[-3.26103579e-01 -9.45331252e-01 2.29787879e-03 4.50970978e+01] [ 9.45305803e-01 -3.26111662e-01 -6.93700901e-03 3.46495790e+02] [ 7.30713649e-03 -8.99853071e-05 9.99973299e-01 7.72948459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.742755096 meters 0.01889662570887271 Centerline is valid? [True, True] Translation: X:45.09, Y:346.52, Z:7.73 [[-3.26865021e-01 -9.45068245e-01 2.29559857e-03 4.50888476e+01] [ 9.45042903e-01 -3.26873069e-01 -6.92166696e-03 3.46520476e+02] [ 7.29181700e-03 -9.30116790e-05 9.99973410e-01 7.72930610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.772755096 meters 0.019174009681728672 Centerline is valid? [True, True] Translation: X:45.08, Y:346.55, Z:7.73 [[-3.28124765e-01 -9.44631941e-01 2.15282918e-03 4.50794212e+01] [ 9.44609696e-01 -3.28131814e-01 -6.48349265e-03 3.46545820e+02] [ 6.83092599e-03 -9.38111813e-05 9.99976665e-01 7.72954784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.802755096 meters 0.01936028203570984 Centerline is valid? [True, True] Translation: X:45.07, Y:346.57, Z:7.73 [[-3.29041452e-01 -9.44313325e-01 2.01658870e-03 4.50703611e+01] [ 9.44293845e-01 -3.29047619e-01 -6.06620044e-03 3.46570380e+02] [ 6.39194762e-03 -9.17791039e-05 9.99979567e-01 7.72984773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.832755096 meters 0.019407564549478368 Centerline is valid? [True, True] Translation: X:45.06, Y:346.60, Z:7.73 [[-3.29841422e-01 -9.44034293e-01 1.97232170e-03 4.50607509e+01] [ 9.44015701e-01 -3.29847306e-01 -5.92547699e-03 3.46596305e+02] [ 6.24441848e-03 -9.25650995e-05 9.99980499e-01 7.72971544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.862755096 meters 0.021067782912719508 Centerline is valid? [True, True] Translation: X:45.05, Y:346.62, Z:7.73 [[-3.30808121e-01 -9.43695779e-01 2.06494077e-03 4.50528615e+01] [ 9.43675445e-01 -3.30814550e-01 -6.19585275e-03 3.46620968e+02] [ 6.53011254e-03 -1.01004504e-04 9.99978674e-01 7.72878717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.892755096 meters 0.020154898273030276 Centerline is valid? [True, True] Translation: X:45.04, Y:346.65, Z:7.73 [[-3.32383893e-01 -9.43142484e-01 1.78961184e-03 4.50437311e+01] [ 9.43127239e-01 -3.32388697e-01 -5.36331211e-03 3.46645409e+02] [ 5.65321425e-03 -9.48468807e-05 9.99984016e-01 7.72970980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9227550960001 meters 0.020548577511001014 Centerline is valid? [True, True] Translation: X:45.04, Y:346.67, Z:7.73 [[-3.33300110e-01 -9.42819142e-01 1.76135651e-03 4.50355827e+01] [ 9.42804405e-01 -3.33304750e-01 -5.27228520e-03 3.46669753e+02] [ 5.55787990e-03 -9.66385647e-05 9.99984550e-01 7.72995180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.952755096 meters 0.021893867176684546 Centerline is valid? [True, True] Translation: X:45.03, Y:346.69, Z:7.73 [[-3.34734140e-01 -9.42311309e-01 1.56587042e-03 4.50278619e+01] [ 9.42299677e-01 -3.34737790e-01 -4.68299496e-03 3.46694832e+02] [ 4.93699512e-03 -9.20391023e-05 9.99987809e-01 7.73046890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.982755096 meters 0.021423830493326322 Centerline is valid? [True, True] Translation: X:45.02, Y:346.72, Z:7.73 [[-3.35516980e-01 -9.42033177e-01 1.36031747e-03 4.50194754e+01] [ 9.42024413e-01 -3.35519728e-01 -4.06423635e-03 3.46719455e+02] [ 4.28505883e-03 -8.21680386e-05 9.99990816e-01 7.73173329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.012755096 meters 0.02142821974935974 Centerline is valid? [True, True] Translation: X:45.01, Y:346.74, Z:7.73 [[-3.35875676e-01 -9.41905476e-01 1.26674442e-03 4.50107377e+01] [ 9.41897893e-01 -3.35878056e-01 -3.78038903e-03 3.46744438e+02] [ 3.98624078e-03 -7.65968202e-05 9.99992052e-01 7.73266940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0427550960001 meters 0.020881775359391258 Centerline is valid? [True, True] Translation: X:45.00, Y:346.77, Z:7.73 [[-3.34772400e-01 -9.42298420e-01 1.06196047e-03 4.50002701e+01] [ 9.42293104e-01 -3.34774079e-01 -3.16585230e-03 3.46769339e+02] [ 3.33869446e-03 -5.91619479e-05 9.99994425e-01 7.73347135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.072755096 meters 0.020780516444618886 Centerline is valid? [True, True] Translation: X:44.99, Y:346.79, Z:7.73 [[-3.34686646e-01 -9.42328989e-01 9.61654949e-04 4.49907014e+01] [ 9.42324636e-01 -3.34688024e-01 -2.86495590e-03 3.46793862e+02] [ 3.02158539e-03 -5.26713323e-05 9.99995434e-01 7.73393642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.102755096 meters 0.02037533309967893 Centerline is valid? [True, True] Translation: X:44.98, Y:346.82, Z:7.73 [[-3.33543137e-01 -9.42734618e-01 6.44076673e-04 4.49797685e+01] [ 9.42732667e-01 -3.33543758e-01 -1.91834349e-03 3.46818641e+02] [ 2.02331658e-03 -3.26581881e-05 9.99997953e-01 7.73391048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.132755096 meters 0.02064377949577873 Centerline is valid? [True, True] Translation: X:44.97, Y:346.84, Z:7.73 [[-3.33177457e-01 -9.42863859e-01 7.25439390e-04 4.49719671e+01] [ 9.42861391e-01 -3.33178245e-01 -2.15746912e-03 3.46843400e+02] [ 2.27590028e-03 -3.48312810e-05 9.99997410e-01 7.73403838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1627550960001 meters 0.02040302723350857 Centerline is valid? [True, True] Translation: X:44.96, Y:346.87, Z:7.73 [[-3.32378038e-01 -9.43146035e-01 6.29842831e-04 4.49646218e+01] [ 9.43144179e-01 -3.32378633e-01 -1.87122766e-03 3.46867229e+02] [ 1.97418725e-03 -2.79223774e-05 9.99998051e-01 7.73409328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.192755096 meters 0.02040302723350857 Centerline is valid? [True, True] Translation: X:44.96, Y:346.89, Z:7.73 [[-3.32752921e-01 -9.43013837e-01 6.30282336e-04 4.49562823e+01] [ 9.43011981e-01 -3.32753516e-01 -1.87107956e-03 3.46890927e+02] [ 1.97418258e-03 -2.82433937e-05 9.99998051e-01 7.73422847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.222755096 meters 0.019938019347802913 Centerline is valid? [True, True] Translation: X:44.95, Y:346.92, Z:7.73 [[-3.32342036e-01 -9.43158669e-01 7.04651105e-04 4.49465572e+01] [ 9.43156358e-01 -3.32342782e-01 -2.08809998e-03 3.46915290e+02] [ 2.20359531e-03 -2.93672303e-05 9.99997572e-01 7.73448531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.252755096 meters 0.019769469190367248 Centerline is valid? [True, True] Translation: X:44.94, Y:346.94, Z:7.74 [[-3.30316912e-01 -9.43869998e-01 4.06813421e-04 4.49357161e+01] [ 9.43869227e-01 -3.30317162e-01 -1.20665519e-03 3.46938967e+02] [ 1.27330308e-03 -1.45999458e-05 9.99999189e-01 7.73564352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2827550960001 meters 0.01924081982198079 Centerline is valid? [True, True] Translation: X:44.92, Y:346.96, Z:7.73 [[-3.29898027e-01 -9.44016458e-01 4.67910157e-04 4.49243774e+01] [ 9.44015441e-01 -3.29898359e-01 -1.38547358e-03 3.46962787e+02] [ 1.46227265e-03 -1.53505879e-05 9.99998931e-01 7.73450482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.312755096 meters 0.019471505595619876 Centerline is valid? [True, True] Translation: X:44.92, Y:346.99, Z:7.73 [[-3.30331189e-01 -9.43864770e-01 7.75655321e-04 4.49162028e+01] [ 9.43861993e-01 -3.30332099e-01 -2.28959366e-03 3.46987275e+02] [ 2.41729065e-03 -2.42126197e-05 9.99997078e-01 7.73318703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.342755096 meters 0.01969481901768154 Centerline is valid? [True, True] Translation: X:44.91, Y:347.01, Z:7.73 [[-3.31790801e-01 -9.43352524e-01 9.37676767e-04 4.49087911e+01] [ 9.43348480e-01 -3.31792125e-01 -2.76255943e-03 3.47012656e+02] [ 2.91718118e-03 -3.20358540e-05 9.99995745e-01 7.73233629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.372755096 meters 0.020850119597095953 Centerline is valid? [True, True] Translation: X:44.90, Y:347.04, Z:7.73 [[-3.33357424e-01 -9.42799952e-01 1.03825905e-03 4.49043698e+01] [ 9.42795007e-01 -3.33359038e-01 -3.05382425e-03 3.47038110e+02] [ 3.22525839e-03 -3.91495351e-05 9.99994798e-01 7.73266364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.402755096 meters 0.02129886804268318 Centerline is valid? [True, True] Translation: X:44.90, Y:347.06, Z:7.73 [[-3.37427419e-01 -9.41351327e-01 6.44382862e-04 4.48967600e+01] [ 9.41349421e-01 -3.37428033e-01 -1.89497488e-03 3.47063734e+02] [ 2.00126996e-03 -3.28270507e-05 9.99997997e-01 7.73349459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.432755096 meters 0.022133114707800838 Centerline is valid? [True, True] Translation: X:44.89, Y:347.09, Z:7.73 [[-3.39668758e-01 -9.40545059e-01 3.56599984e-04 4.48891613e+01] [ 9.40544472e-01 -3.39668945e-01 -1.05097992e-03 3.47089199e+02] [ 1.10961991e-03 -2.15868992e-05 9.99999384e-01 7.73390186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.462755096 meters 0.026186020385857375 Centerline is valid? [True, True] Translation: X:44.88, Y:347.12, Z:7.73 [[-3.45418114e-01 -9.38448851e-01 2.85150476e-04 4.48837029e+01] [ 9.38448476e-01 -3.45418231e-01 -8.39265696e-04 3.47115058e+02] [ 8.86104101e-04 -2.22985447e-05 9.99999607e-01 7.73309896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.492755096 meters 0.025952024647974706 Centerline is valid? [True, True] Translation: X:44.88, Y:347.14, Z:7.73 [[-3.47954176e-01 -9.37511533e-01 1.30084835e-04 4.48760836e+01] [ 9.37511454e-01 -3.47954200e-01 -3.86032553e-04 3.47141055e+02] [ 4.07173535e-04 -1.23656161e-05 9.99999917e-01 7.73381662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.522755096 meters 0.028300915560806297 Centerline is valid? [True, True] Translation: X:44.87, Y:347.17, Z:7.73 [[-3.52650346e-01 -9.35755140e-01 2.27755229e-04 4.48707092e+01] [ 9.35754900e-01 -3.52650419e-01 -6.70939184e-04 3.47168247e+02] [ 7.08152766e-04 -2.34838638e-05 9.99999749e-01 7.73373189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.552755096 meters 0.029304030386834063 Centerline is valid? [True, True] Translation: X:44.86, Y:347.19, Z:7.73 [[-3.54647112e-01 -9.35000146e-01 3.92607722e-04 4.48633064e+01] [ 9.34999437e-01 -3.54647326e-01 -1.15175874e-03 3.47194078e+02] [ 1.21613187e-03 -4.13799121e-05 9.99999260e-01 7.73402219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.582755096 meters 0.030637603135193224 Centerline is valid? [True, True] Translation: X:44.86, Y:347.22, Z:7.73 [[-3.56712370e-01 -9.34214126e-01 5.01905652e-04 4.48565430e+01] [ 9.34212974e-01 -3.56712719e-01 -1.46806950e-03 3.47218903e+02] [ 1.55052739e-03 -5.47917782e-05 9.99998796e-01 7.73338458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.612755096 meters 0.029677743947933263 Centerline is valid? [True, True] Translation: X:44.84, Y:347.24, Z:7.73 [[-3.57463233e-01 -9.33926942e-01 7.10477412e-04 4.48444713e+01] [ 9.33924640e-01 -3.57463930e-01 -2.07500302e-03 3.47242539e+02] [ 2.19187128e-03 -7.82049282e-05 9.99997595e-01 7.73189558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.642755096 meters 0.0287430434916032 Centerline is valid? [True, True] Translation: X:44.84, Y:347.27, Z:7.73 [[-3.57550622e-01 -9.33893478e-01 7.24934957e-04 4.48351292e+01] [ 9.33891087e-01 -3.57551348e-01 -2.11457579e-03 3.47266047e+02] [ 2.23399001e-03 -7.90575933e-05 9.99997502e-01 7.73207221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6727550960001 meters 0.029531543349610646 Centerline is valid? [True, True] Translation: X:44.82, Y:347.29, Z:7.73 [[-3.56188168e-01 -9.34413789e-01 9.27622588e-04 4.48227740e+01] [ 9.34409893e-01 -3.56189364e-01 -2.69987241e-03 3.47290526e+02] [ 2.85320731e-03 -9.48828854e-05 9.99995925e-01 7.73016331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.702755096 meters 0.027900216980531595 Centerline is valid? [True, True] Translation: X:44.81, Y:347.31, Z:7.73 [[-3.55160928e-01 -9.34804915e-01 6.97712545e-04 4.48125500e+01] [ 9.34802713e-01 -3.55161607e-01 -2.03001967e-03 3.47314655e+02] [ 2.14547307e-03 -6.87600901e-05 9.99997696e-01 7.73139253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.732755096 meters 0.02775305155274656 Centerline is valid? [True, True] Translation: X:44.80, Y:347.34, Z:7.73 [[-3.54012248e-01 -9.35240633e-01 5.36116884e-04 4.48026223e+01] [ 9.35239334e-01 -3.54012651e-01 -1.55934682e-03 3.47338733e+02] [ 1.64815667e-03 -5.06302780e-05 9.99998641e-01 7.73288931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.762755096 meters 0.02730901227944273 Centerline is valid? [True, True] Translation: X:44.79, Y:347.36, Z:7.73 [[-3.54149021e-01 -9.35188940e-01 3.44157377e-04 4.47930887e+01] [ 9.35188403e-01 -3.54149186e-01 -1.00223710e-03 3.47363308e+02] [ 1.05916410e-03 -3.30892985e-05 9.99999439e-01 7.73361192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7927550960001 meters 0.027257452924550635 Centerline is valid? [True, True] Translation: X:44.78, Y:347.39, Z:7.73 [[-3.54352040e-01 -9.35112005e-01 4.12080518e-04 4.47842966e+01] [ 9.35111240e-01 -3.54352277e-01 -1.19734627e-03 3.47388614e+02] [ 1.26567454e-03 -3.89409682e-05 9.99999198e-01 7.73417462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.822755096 meters 0.02773246237916172 Centerline is valid? [True, True] Translation: X:44.78, Y:347.41, Z:7.73 [[-3.54589157e-01 -9.35021928e-01 7.24387131e-04 4.47769644e+01] [ 9.35019577e-01 -3.54589891e-01 -2.09768461e-03 3.47412599e+02] [ 2.21824147e-03 -6.65000708e-05 9.99997538e-01 7.73333124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.852755096 meters 0.02828442180120655 Centerline is valid? [True, True] Translation: X:44.77, Y:347.44, Z:7.73 [[-3.55025307e-01 -9.34856275e-01 8.81225515e-04 4.47692027e+01] [ 9.34852808e-01 -3.55026392e-01 -2.54718397e-03 3.47436337e+02] [ 2.69410924e-03 -8.04986250e-05 9.99996368e-01 7.73307839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.882755096 meters 0.029007541095692507 Centerline is valid? [True, True] Translation: X:44.76, Y:347.46, Z:7.73 [[-3.55880081e-01 -9.34531144e-01 9.53592496e-04 4.47606885e+01] [ 9.34527094e-01 -3.55881348e-01 -2.75252551e-03 3.47460463e+02] [ 2.91168660e-03 -8.84109782e-05 9.99995757e-01 7.73228739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9127550960001 meters 0.029215768461645815 Centerline is valid? [True, True] Translation: X:44.75, Y:347.49, Z:7.73 [[-3.57029767e-01 -9.34092524e-01 9.49466290e-04 4.47519383e+01] [ 9.34088519e-01 -3.57031019e-01 -2.73685845e-03 3.47485483e+02] [ 2.89546793e-03 -9.02543740e-05 9.99995804e-01 7.73235590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.942755096 meters 0.03010900143332689 Centerline is valid? [True, True] Translation: X:44.74, Y:347.51, Z:7.73 [[-3.58248013e-01 -9.33626168e-01 7.35179891e-04 4.47443491e+01] [ 9.33623768e-01 -3.58248760e-01 -2.11804521e-03 3.47510506e+02] [ 2.24083972e-03 -7.24040682e-05 9.99997487e-01 7.73260056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.972755096 meters 0.03146978089574778 Centerline is valid? [True, True] Translation: X:44.74, Y:347.54, Z:7.73 [[-3.60576611e-01 -9.32729377e-01 6.45516854e-04 4.47394434e+01] [ 9.32727530e-01 -3.60577182e-01 -1.85771222e-03 3.47535244e+02] [ 1.96550141e-03 -6.77562346e-05 9.99998066e-01 7.73363463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.002755096 meters 0.0325287812520483 Centerline is valid? [True, True] Translation: X:44.73, Y:347.56, Z:7.73 [[-3.62079491e-01 -9.32146982e-01 6.67992925e-04 4.47327566e+01] [ 9.32145006e-01 -3.62080100e-01 -1.92085766e-03 3.47560511e+02] [ 2.03238862e-03 -7.28368966e-05 9.99997932e-01 7.73381107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0327550960001 meters 0.03374811899933266 Centerline is valid? [True, True] Translation: X:44.73, Y:347.59, Z:7.73 [[-3.63823831e-01 -9.31467173e-01 1.06076640e-03 4.47272466e+01] [ 9.31462208e-01 -3.63825358e-01 -3.04365265e-03 3.47585050e+02] [ 3.22099625e-03 -1.19289549e-04 9.99994806e-01 7.73251079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.062755096 meters 0.03501712748000984 Centerline is valid? [True, True] Translation: X:44.72, Y:347.61, Z:7.73 [[-3.64201838e-01 -9.31319175e-01 1.27129396e-03 4.47196216e+01] [ 9.31312064e-01 -3.64204029e-01 -3.64201667e-03 3.47609117e+02] [ 3.85489034e-03 -1.42457766e-04 9.99992560e-01 7.73113140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.092755096 meters 0.03409766725796515 Centerline is valid? [True, True] Translation: X:44.71, Y:347.63, Z:7.73 [[-3.64031424e-01 -9.31385760e-01 1.29937083e-03 4.47101293e+01] [ 9.31378351e-01 -3.64033715e-01 -3.71775144e-03 3.47632607e+02] [ 3.93567554e-03 -1.43172495e-04 9.99992245e-01 7.73156800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.122755096 meters 0.029777214759981133 Centerline is valid? [True, True] Translation: X:44.69, Y:347.66, Z:7.73 [[-3.63056715e-01 -9.31765560e-01 1.66241687e-03 4.46932843e+01] [ 9.31753474e-01 -3.63060479e-01 -4.74895541e-03 3.47655705e+02] [ 5.02847096e-03 -1.75177452e-04 9.99987342e-01 7.73047410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.152755096 meters 0.029032372384122606 Centerline is valid? [True, True] Translation: X:44.68, Y:347.68, Z:7.73 [[-3.62755629e-01 -9.31882633e-01 1.76417321e-03 4.46840607e+01] [ 9.31869055e-01 -3.62759873e-01 -5.03374200e-03 3.47679923e+02] [ 5.33082800e-03 -1.82039825e-04 9.99985775e-01 7.73045179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.182755096 meters 0.02679473704199789 Centerline is valid? [True, True] Translation: X:44.67, Y:347.70, Z:7.73 [[-3.62134327e-01 -9.32123251e-01 2.23021240e-03 4.46710671e+01] [ 9.32101617e-01 -3.62141126e-01 -6.35463622e-03 3.47704724e+02] [ 6.73095580e-03 -2.22447328e-04 9.99977322e-01 7.72932266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.212755096 meters 0.028817635338340225 Centerline is valid? [True, True] Translation: X:44.67, Y:347.73, Z:7.73 [[-3.62613106e-01 -9.31937114e-01 2.22520017e-03 4.46653260e+01] [ 9.31915610e-01 -3.62619865e-01 -6.33473295e-03 3.47730276e+02] [ 6.71047453e-03 -2.23358418e-04 9.99977460e-01 7.72877774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.242755096 meters 0.027765280605173394 Centerline is valid? [True, True] Translation: X:44.66, Y:347.75, Z:7.73 [[-3.63331228e-01 -9.31657813e-01 2.03448562e-03 4.46551242e+01] [ 9.31639873e-01 -3.63336865e-01 -5.78531719e-03 3.47754719e+02] [ 6.12913958e-03 -2.06578475e-04 9.99981195e-01 7.73029596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.272755096 meters 0.030492315569982366 Centerline is valid? [True, True] Translation: X:44.65, Y:347.78, Z:7.73 [[-3.64433416e-01 -9.31226687e-01 2.26769012e-03 4.46468713e+01] [ 9.31204449e-01 -3.64440396e-01 -6.43985825e-03 3.47780433e+02] [ 6.82340574e-03 -2.35216412e-04 9.99976693e-01 7.72989987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.302755096 meters 0.028526310196213173 Centerline is valid? [True, True] Translation: X:44.64, Y:347.80, Z:7.73 [[-3.64056190e-01 -9.31375443e-01 1.69571888e-03 4.46384958e+01] [ 9.31363030e-01 -3.64060099e-01 -4.81156305e-03 3.47804117e+02] [ 5.09871525e-03 -1.72349436e-04 9.99986987e-01 7.73183825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.332755096 meters 0.02718441052751361 Centerline is valid? [True, True] Translation: X:44.63, Y:347.83, Z:7.73 [[-3.64550668e-01 -9.31181820e-01 1.79703744e-03 4.46264092e+01] [ 9.31167906e-01 -3.64555051e-01 -5.09371458e-03 3.47828801e+02] [ 5.39829349e-03 -1.83573465e-04 9.99985412e-01 7.73179190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.362755096 meters 0.02866163922199655 Centerline is valid? [True, True] Translation: X:44.62, Y:347.85, Z:7.73 [[-3.65046281e-01 -9.30987366e-01 1.93303518e-03 4.46183114e+01] [ 9.30971303e-01 -3.65051346e-01 -5.47249404e-03 3.47854225e+02] [ 5.80047990e-03 -1.98113317e-04 9.99983157e-01 7.73166108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.392755096 meters 0.028237222112038333 Centerline is valid? [True, True] Translation: X:44.61, Y:347.88, Z:7.73 [[-3.64946202e-01 -9.31026648e-01 1.91055137e-03 4.46091458e+01] [ 9.31010994e-01 -3.64951152e-01 -5.40243472e-03 3.47877914e+02] [ 5.72706861e-03 -1.92853705e-04 9.99983582e-01 7.73230606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4227550960001 meters 0.027553558287111778 Centerline is valid? [True, True] Translation: X:44.60, Y:347.90, Z:7.73 [[-3.64835408e-01 -9.31070374e-01 1.75613015e-03 4.45993684e+01] [ 9.31057179e-01 -3.64839593e-01 -4.95986609e-03 3.47902073e+02] [ 5.25869018e-03 -1.74477187e-04 9.99986158e-01 7.73278575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.452755096 meters 0.026863157553050254 Centerline is valid? [True, True] Translation: X:44.59, Y:347.93, Z:7.73 [[-3.64794822e-01 -9.31086353e-01 1.71469339e-03 4.45885978e+01] [ 9.31073804e-01 -3.64798814e-01 -4.83704467e-03 3.47926219e+02] [ 5.12922439e-03 -1.68022748e-04 9.99986831e-01 7.73346870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.482755096 meters 0.02790068112606422 Centerline is valid? [True, True] Translation: X:44.58, Y:347.95, Z:7.73 [[-3.64067617e-01 -9.31370896e-01 1.73925188e-03 4.45780286e+01] [ 9.31358020e-01 -3.64071734e-01 -4.90011414e-03 3.47950439e+02] [ 5.19703615e-03 -1.64106684e-04 9.99986482e-01 7.73332616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.512755096 meters 0.02539523965772361 Centerline is valid? [True, True] Translation: X:44.56, Y:347.97, Z:7.73 [[-3.62143870e-01 -9.32120587e-01 1.74012519e-03 4.45642557e+01] [ 9.32107737e-01 -3.62148019e-01 -4.89682267e-03 3.47974452e+02] [ 5.19461211e-03 -1.51370165e-04 9.99986496e-01 7.73334998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5427550960001 meters 0.0254780957426146 Centerline is valid? [True, True] Translation: X:44.55, Y:348.00, Z:7.73 [[-3.61922237e-01 -9.32206334e-01 1.90933660e-03 4.45548500e+01] [ 9.32190902e-01 -3.61927237e-01 -5.36640612e-03 3.47998135e+02] [ 5.69363870e-03 -1.62355499e-04 9.99983778e-01 7.73323928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.572755096 meters 0.0249773483354678 Centerline is valid? [True, True] Translation: X:44.54, Y:348.02, Z:7.73 [[-3.61190826e-01 -9.32490020e-01 1.88429602e-03 4.45447920e+01] [ 9.32475031e-01 -3.61195709e-01 -5.28930841e-03 3.48023070e+02] [ 5.61282694e-03 -1.53390685e-04 9.99984236e-01 7.73333777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.602755096 meters 0.023786933282975795 Centerline is valid? [True, True] Translation: X:44.53, Y:348.05, Z:7.73 [[-3.58845139e-01 -9.33394400e-01 2.24939152e-03 4.45332405e+01] [ 9.33373115e-01 -3.58852152e-01 -6.30562300e-03 3.48047872e+02] [ 6.69283219e-03 -1.63220592e-04 9.99977589e-01 7.73267839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.632755096 meters 0.023870872510189836 Centerline is valid? [True, True] Translation: X:44.52, Y:348.07, Z:7.73 [[-3.57846342e-01 -9.33777391e-01 2.40394458e-03 4.45241324e+01] [ 9.33753146e-01 -3.57854379e-01 -6.73090556e-03 3.48071859e+02] [ 7.14542953e-03 -1.63939116e-04 9.99974458e-01 7.73237167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6627550960001 meters 0.02244374707085905 Centerline is valid? [True, True] Translation: X:44.51, Y:348.10, Z:7.73 [[-3.55996884e-01 -9.34483981e-01 2.43050192e-03 4.45111134e+01] [ 9.34459273e-01 -3.56005150e-01 -6.79712549e-03 3.48096526e+02] [ 7.21707609e-03 -1.48550442e-04 9.99973946e-01 7.73192933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.692755096 meters 0.022037678554171335 Centerline is valid? [True, True] Translation: X:44.50, Y:348.12, Z:7.73 [[-3.55670335e-01 -9.34608524e-01 2.34942065e-03 4.45010632e+01] [ 9.34585489e-01 -3.55678068e-01 -6.56324468e-03 3.48120911e+02] [ 6.96970182e-03 -1.38616987e-04 9.99975702e-01 7.73197253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.722755096 meters 0.021541525927909106 Centerline is valid? [True, True] Translation: X:44.49, Y:348.15, Z:7.73 [[-3.55762899e-01 -9.34573547e-01 2.24624073e-03 4.44913628e+01] [ 9.34552539e-01 -3.55769966e-01 -6.26763751e-03 3.48145609e+02] [ 6.65671321e-03 -1.30562911e-04 9.99977835e-01 7.73238714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.752755096 meters 0.021578802145541594 Centerline is valid? [True, True] Translation: X:44.48, Y:348.17, Z:7.73 [[-3.56058033e-01 -9.34461366e-01 2.15237294e-03 4.44835375e+01] [ 9.34442121e-01 -3.56064517e-01 -5.99851675e-03 3.48169970e+02] [ 6.37176578e-03 -1.24552143e-04 9.99979692e-01 7.73299844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7827550960001 meters 0.022069617236214274 Centerline is valid? [True, True] Translation: X:44.48, Y:348.19, Z:7.73 [[-3.56327736e-01 -9.34359042e-01 1.92991899e-03 4.44775924e+01] [ 9.34343604e-01 -3.56332945e-01 -5.37232003e-03 3.48194660e+02] [ 5.70736951e-03 -1.11099170e-04 9.99983707e-01 7.73445246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.812755096 meters 0.021684824369251357 Centerline is valid? [True, True] Translation: X:44.47, Y:348.22, Z:7.73 [[-3.56665527e-01 -9.34230258e-01 1.87809444e-03 4.44680824e+01] [ 9.34215672e-01 -3.56670455e-01 -5.22161140e-03 3.48219512e+02] [ 5.54804816e-03 -1.07823520e-04 9.99984604e-01 7.73487193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.842755096 meters 0.022789501545121868 Centerline is valid? [True, True] Translation: X:44.46, Y:348.24, Z:7.73 [[-3.57349130e-01 -9.33968792e-01 1.97346937e-03 4.44618824e+01] [ 9.33952723e-01 -3.57354561e-01 -5.47999008e-03 3.48243935e+02] [ 5.82336800e-03 -1.15142594e-04 9.99983037e-01 7.73442836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.872755096 meters 0.022181384120026904 Centerline is valid? [True, True] Translation: X:44.45, Y:348.27, Z:7.73 [[-3.58241886e-01 -9.33626663e-01 2.00121786e-03 4.44515300e+01] [ 9.33610165e-01 -3.58247456e-01 -5.55158668e-03 3.48268366e+02] [ 5.90004056e-03 -1.20453544e-04 9.99982587e-01 7.73428246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.902755096 meters 0.021838319615026212 Centerline is valid? [True, True] Translation: X:44.44, Y:348.29, Z:7.73 [[-3.59088897e-01 -9.33300985e-01 2.10615554e-03 4.44417749e+01] [ 9.33282751e-01 -3.59095050e-01 -5.83547530e-03 3.48293140e+02] [ 6.20256487e-03 -1.29815755e-04 9.99980756e-01 7.73388846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.932755096 meters 0.024319863534875127 Centerline is valid? [True, True] Translation: X:44.44, Y:348.32, Z:7.73 [[-3.61017545e-01 -9.32555913e-01 2.40880251e-03 4.44377939e+01] [ 9.32532105e-01 -3.61025545e-01 -6.66552150e-03 3.48319068e+02] [ 7.08561072e-03 -1.60084534e-04 9.99974884e-01 7.73278371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.962755096 meters 0.02321510934307358 Centerline is valid? [True, True] Translation: X:44.43, Y:348.34, Z:7.73 [[-3.62404493e-01 -9.32017831e-01 2.39720107e-03 4.44269122e+01] [ 9.31994284e-01 -3.62412383e-01 -6.62719667e-03 3.48343707e+02] [ 7.04544082e-03 -1.67548160e-04 9.99975167e-01 7.73284950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.992755096 meters 0.02470573116550568 Centerline is valid? [True, True] Translation: X:44.42, Y:348.37, Z:7.73 [[-3.65195530e-01 -9.30928010e-01 2.29449465e-03 4.44210181e+01] [ 9.30906461e-01 -3.65202695e-01 -6.33667657e-03 3.48368995e+02] [ 6.73694534e-03 -1.78166069e-04 9.99977291e-01 7.73337285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.022755096 meters 0.025098561225979765 Centerline is valid? [True, True] Translation: X:44.41, Y:348.39, Z:7.73 [[-3.66146096e-01 -9.30554966e-01 2.11931061e-03 4.44127349e+01] [ 9.30536613e-01 -3.66152190e-01 -5.84686191e-03 3.48394182e+02] [ 6.21681661e-03 -1.68709545e-04 9.99980661e-01 7.73405025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.052755096 meters 0.027440874474383106 Centerline is valid? [True, True] Translation: X:44.41, Y:348.42, Z:7.73 [[-3.68026908e-01 -9.29813002e-01 1.99410023e-03 4.44073795e+01] [ 9.29796778e-01 -3.68032272e-01 -5.49539754e-03 3.48419888e+02] [ 5.84358533e-03 -1.68346194e-04 9.99982912e-01 7.73455978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.082755096 meters 0.027440874474383106 Centerline is valid? [True, True] Translation: X:44.40, Y:348.44, Z:7.73 [[-3.68391775e-01 -9.29668498e-01 1.99605212e-03 4.43984962e+01] [ 9.29652275e-01 -3.68397144e-01 -5.49468851e-03 3.48443395e+02] [ 5.84357872e-03 -1.68563657e-04 9.99982912e-01 7.73469498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.112755096 meters 0.026313543839498903 Centerline is valid? [True, True] Translation: X:44.39, Y:348.47, Z:7.73 [[-3.69415261e-01 -9.29262562e-01 1.85902096e-03 4.43872184e+01] [ 9.29248517e-01 -3.69419904e-01 -5.11165820e-03 3.48468097e+02] [ 5.43683194e-03 -1.60832073e-04 9.99985207e-01 7.73491039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.142755096 meters 0.02695715689214053 Centerline is valid? [True, True] Translation: X:44.38, Y:348.49, Z:7.73 [[-3.70296749e-01 -9.28911285e-01 2.03526302e-03 4.43775565e+01] [ 9.28894483e-01 -3.70302299e-01 -5.58986178e-03 3.48492925e+02] [ 5.94614827e-03 -1.79363056e-04 9.99982305e-01 7.73413833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1727550960001 meters 0.026392131051112044 Centerline is valid? [True, True] Translation: X:44.37, Y:348.52, Z:7.73 [[-3.70534554e-01 -9.28816536e-01 1.99662967e-03 4.43679079e+01] [ 9.28800401e-01 -3.70539892e-01 -5.47747341e-03 3.48517731e+02] [ 5.82739882e-03 -1.75122734e-04 9.99983005e-01 7.73426268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.202755096 meters 0.027082108823713223 Centerline is valid? [True, True] Translation: X:44.36, Y:348.54, Z:7.73 [[-3.70319659e-01 -9.28901676e-01 2.24213989e-03 4.43599371e+01] [ 9.28881382e-01 -3.70326397e-01 -6.14309350e-03 3.48541989e+02] [ 6.53665343e-03 -1.92226296e-04 9.99978617e-01 7.73373396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.232755096 meters 0.02507442478019084 Centerline is valid? [True, True] Translation: X:44.35, Y:348.57, Z:7.73 [[-3.69787156e-01 -9.29113262e-01 2.45076884e-03 4.43469582e+01] [ 9.29089082e-01 -3.69795221e-01 -6.70608455e-03 3.48565541e+02] [ 7.13699469e-03 -2.02841356e-04 9.99974511e-01 7.73346268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.262755096 meters 0.024766176528221922 Centerline is valid? [True, True] Translation: X:44.34, Y:348.59, Z:7.73 [[-3.69144561e-01 -9.29368646e-01 2.49278695e-03 4.43369372e+01] [ 9.29343695e-01 -3.69152924e-01 -6.81285470e-03 3.48588881e+02] [ 7.25187314e-03 -1.98272422e-04 9.99973685e-01 7.73330261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2927550960001 meters 0.02359481108350221 Centerline is valid? [True, True] Translation: X:44.32, Y:348.61, Z:7.73 [[-3.66829396e-01 -9.30284463e-01 2.64806436e-03 4.43234116e+01] [ 9.30256398e-01 -3.66838905e-01 -7.22850647e-03 3.48613560e+02] [ 7.69598029e-03 -1.88249846e-04 9.99970368e-01 7.73245164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.322755096 meters 0.02281248186569275 Centerline is valid? [True, True] Translation: X:44.31, Y:348.64, Z:7.73 [[-3.65743610e-01 -9.30711348e-01 2.82829658e-03 4.43120613e+01] [ 9.30679409e-01 -3.65754497e-01 -7.71269874e-03 3.48638114e+02] [ 8.21275843e-03 -1.88632888e-04 9.99966257e-01 7.73256182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.352755096 meters 0.02199384496468503 Centerline is valid? [True, True] Translation: X:44.30, Y:348.66, Z:7.73 [[-3.64795320e-01 -9.31083403e-01 2.84107872e-03 4.43011119e+01] [ 9.31051251e-01 -3.64806340e-01 -7.73968919e-03 3.48661792e+02] [ 8.24273968e-03 -1.78212502e-04 9.99966012e-01 7.73293522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.382755096 meters 0.020989032783041484 Centerline is valid? [True, True] Translation: X:44.29, Y:348.69, Z:7.73 [[-3.62448192e-01 -9.31999781e-01 2.77767713e-03 4.42897257e+01] [ 9.31969144e-01 -3.62458804e-01 -7.55839084e-03 3.48685302e+02] [ 8.05121214e-03 -1.50815714e-04 9.99967577e-01 7.73349228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4127550960001 meters 0.020300652883024302 Centerline is valid? [True, True] Translation: X:44.28, Y:348.71, Z:7.73 [[-3.61255505e-01 -9.32462935e-01 2.70843706e-03 4.42787408e+01] [ 9.32433883e-01 -3.61265633e-01 -7.36184782e-03 3.48709839e+02] [ 7.84311545e-03 -1.34069560e-04 9.99969233e-01 7.73411864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.442755096 meters 0.01927815796240481 Centerline is valid? [True, True] Translation: X:44.27, Y:348.73, Z:7.74 [[-3.58991672e-01 -9.33337315e-01 2.53694048e-03 4.42664846e+01] [ 9.33311899e-01 -3.59000621e-01 -6.88870326e-03 3.48733425e+02] [ 7.34024701e-03 -1.05230368e-04 9.99973055e-01 7.73513201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.472755096 meters 0.01923783595774977 Centerline is valid? [True, True] Translation: X:44.26, Y:348.76, Z:7.74 [[-3.58172420e-01 -9.33652404e-01 2.38868799e-03 4.42565414e+01] [ 9.33629914e-01 -3.58180373e-01 -6.48100120e-03 3.48756850e+02] [ 6.90658351e-03 -9.11653227e-05 9.99976145e-01 7.73517164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.502755096 meters 0.01863999807131775 Centerline is valid? [True, True] Translation: X:44.25, Y:348.78, Z:7.73 [[-3.57022069e-01 -9.34093010e-01 2.34345454e-03 4.42453738e+01] [ 9.34071415e-01 -3.57029751e-01 -6.35210944e-03 3.48779299e+02] [ 6.77014402e-03 -7.88893547e-05 9.99977079e-01 7.73496316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5327550960001 meters 0.018079101279524928 Centerline is valid? [True, True] Translation: X:44.23, Y:348.80, Z:7.74 [[-3.57266635e-01 -9.33999861e-01 2.19350527e-03 4.42343015e+01] [ 9.33980984e-01 -3.57273361e-01 -5.93863093e-03 3.48802948e+02] [ 6.33036147e-03 -7.29824769e-05 9.99979960e-01 7.73521354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.562755096 meters 0.018447589810013144 Centerline is valid? [True, True] Translation: X:44.23, Y:348.83, Z:7.74 [[-3.57906588e-01 -9.33754832e-01 2.18799459e-03 4.42262870e+01] [ 9.33736089e-01 -3.57913268e-01 -5.91678725e-03 3.48826958e+02] [ 6.30794098e-03 -7.46476276e-05 9.99980102e-01 7.73513890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.592755096 meters 0.01879658790922735 Centerline is valid? [True, True] Translation: X:44.22, Y:348.85, Z:7.74 [[-3.59220488e-01 -9.33250493e-01 2.03907780e-03 4.42180075e+01] [ 9.33234244e-01 -3.59226267e-01 -5.50780476e-03 3.48850389e+02] [ 5.87265182e-03 -7.55790874e-05 9.99982753e-01 7.73555682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.622755096 meters 0.018630614000132776 Centerline is valid? [True, True] Translation: X:44.21, Y:348.88, Z:7.74 [[-3.60316029e-01 -9.32828004e-01 2.06762037e-03 4.42077703e+01] [ 9.32811331e-01 -3.60321952e-01 -5.57785384e-03 3.48875032e+02] [ 5.94818727e-03 -8.10904354e-05 9.99982306e-01 7.73566499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.652755096 meters 0.02016561550012665 Centerline is valid? [True, True] Translation: X:44.20, Y:348.90, Z:7.74 [[-3.62689088e-01 -9.31908038e-01 2.00851062e-03 4.42012498e+01] [ 9.31892325e-01 -3.62694638e-01 -5.41239403e-03 3.48899945e+02] [ 5.77232953e-03 -9.13006215e-05 9.99983336e-01 7.73610906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.682755096 meters 0.019882921696770698 Centerline is valid? [True, True] Translation: X:44.19, Y:348.92, Z:7.74 [[-3.64023626e-01 -9.31387819e-01 1.87866910e-03 4.41907943e+01] [ 9.31374096e-01 -3.64028463e-01 -5.05691945e-03 3.48924637e+02] [ 5.39384220e-03 -9.10944195e-05 9.99985449e-01 7.73656205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.712755096 meters 0.019869021493892317 Centerline is valid? [True, True] Translation: X:44.18, Y:348.95, Z:7.74 [[-3.65180039e-01 -9.30935310e-01 1.72847559e-03 4.41808213e+01] [ 9.30923712e-01 -3.65184119e-01 -4.64788516e-03 3.48949534e+02] [ 4.95809225e-03 -8.82359760e-05 9.99987705e-01 7.73664271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.742755096 meters 0.022288571321062257 Centerline is valid? [True, True] Translation: X:44.17, Y:348.97, Z:7.74 [[-3.67073840e-01 -9.30190539e-01 1.53515880e-03 4.41747585e+01] [ 9.30181402e-01 -3.67077040e-01 -4.12375516e-03 3.48974847e+02] [ 4.39939959e-03 -8.57464759e-05 9.99990319e-01 7.73666466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.772755096 meters 0.023108699254683313 Centerline is valid? [True, True] Translation: X:44.17, Y:349.00, Z:7.74 [[-3.68534718e-01 -9.29612289e-01 1.77591451e-03 4.41660602e+01] [ 9.29600080e-01 -3.68538981e-01 -4.76547387e-03 3.48999149e+02] [ 5.08453679e-03 -1.05352298e-04 9.99987068e-01 7.73522325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.802755096 meters 0.02081036593738967 Centerline is valid? [True, True] Translation: X:44.15, Y:349.02, Z:7.73 [[-3.69107780e-01 -9.29384685e-01 1.88514297e-03 4.41519030e+01] [ 9.29370957e-01 -3.69112577e-01 -5.05275688e-03 3.49022571e+02] [ 5.39178484e-03 -1.13014751e-04 9.99985458e-01 7.73473030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.832755096 meters 0.021017319567474338 Centerline is valid? [True, True] Translation: X:44.14, Y:349.05, Z:7.73 [[-3.69794262e-01 -9.29111681e-01 1.92061169e-03 4.41420889e+01] [ 9.29097461e-01 -3.69799231e-01 -5.14176528e-03 3.49047035e+02] [ 5.48751490e-03 -1.16959855e-04 9.99984937e-01 7.73428118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.862755096 meters 0.019630890557097432 Centerline is valid? [True, True] Translation: X:44.13, Y:349.07, Z:7.73 [[-3.70099475e-01 -9.28989627e-01 2.15693413e-03 4.41278290e+01] [ 9.28971735e-01 -3.70105737e-01 -5.76711652e-03 3.49071028e+02] [ 6.15588512e-03 -1.30675951e-04 9.99981044e-01 7.73323667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.892755096 meters 0.020017229275212066 Centerline is valid? [True, True] Translation: X:44.12, Y:349.10, Z:7.73 [[-3.70350215e-01 -9.28889574e-01 2.20872878e-03 4.41182376e+01] [ 9.28870853e-01 -3.70356777e-01 -5.89879289e-03 3.49095128e+02] [ 6.29734489e-03 -1.32995428e-04 9.99980163e-01 7.73256785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9227550960001 meters 0.019736866211556788 Centerline is valid? [True, True] Translation: X:44.11, Y:349.12, Z:7.73 [[-3.70354202e-01 -9.28887616e-01 2.35836191e-03 4.41076982e+01] [ 9.28866330e-01 -3.70361685e-01 -6.29003563e-03 3.49119036e+02] [ 6.71618309e-03 -1.38938159e-04 9.99977437e-01 7.73249847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.952755096 meters 0.019893010897360657 Centerline is valid? [True, True] Translation: X:44.10, Y:349.14, Z:7.73 [[-3.70933594e-01 -9.28656455e-01 2.33612933e-03 4.40977575e+01] [ 9.28635612e-01 -3.70940924e-01 -6.22336475e-03 3.49143507e+02] [ 6.64593382e-03 -1.39042162e-04 9.99977906e-01 7.73254902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.982755096 meters 0.019973728183764958 Centerline is valid? [True, True] Translation: X:44.09, Y:349.17, Z:7.73 [[-3.71469309e-01 -9.28442312e-01 2.32960795e-03 4.40871484e+01] [ 9.28421629e-01 -3.71476587e-01 -6.19865911e-03 3.49168153e+02] [ 6.62049220e-03 -1.39753205e-04 9.99978075e-01 7.73212062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.012755096 meters 0.020277811186189754 Centerline is valid? [True, True] Translation: X:44.08, Y:349.19, Z:7.73 [[-3.72094861e-01 -9.28191927e-01 2.27167410e-03 4.40778731e+01] [ 9.28172302e-01 -3.72101770e-01 -6.03748950e-03 3.49192190e+02] [ 6.44924297e-03 -1.38013844e-04 9.99979194e-01 7.73230070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0427550960001 meters 0.020687738066008366 Centerline is valid? [True, True] Translation: X:44.07, Y:349.22, Z:7.73 [[-3.74012300e-01 -9.27421915e-01 1.84181923e-03 4.40665929e+01] [ 9.27409029e-01 -3.74016815e-01 -4.89020579e-03 3.49216759e+02] [ 5.22415538e-03 -1.20877327e-04 9.99986347e-01 7.73210454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.072755096 meters 0.02074299361248797 Centerline is valid? [True, True] Translation: X:44.06, Y:349.24, Z:7.73 [[-3.74957395e-01 -9.27040599e-01 1.63707940e-03 4.40576466e+01] [ 9.27030436e-01 -3.74960953e-01 -4.34228724e-03 3.49241808e+02] [ 4.63931741e-03 -1.10550285e-04 9.99989232e-01 7.73301299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.102755096 meters 0.02121111272378663 Centerline is valid? [True, True] Translation: X:44.05, Y:349.27, Z:7.73 [[-3.76632116e-01 -9.26361962e-01 1.32879847e-03 4.40478956e+01] [ 9.26355268e-01 -3.76634447e-01 -3.52277514e-03 3.49267440e+02] [ 3.76383617e-03 -9.58507874e-05 9.99992912e-01 7.73307514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.132755096 meters 0.021425584699682792 Centerline is valid? [True, True] Translation: X:44.04, Y:349.29, Z:7.73 [[-3.77344406e-01 -9.26072376e-01 1.07439926e-03 4.40383099e+01] [ 9.26068004e-01 -3.77345927e-01 -2.84657580e-03 3.49291689e+02] [ 3.04155540e-03 -7.91726711e-05 9.99995371e-01 7.73312543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1627550960001 meters 0.02135707007872095 Centerline is valid? [True, True] Translation: X:44.03, Y:349.32, Z:7.73 [[-3.77642048e-01 -9.25951040e-01 1.07457833e-03 4.40284931e+01] [ 9.25946677e-01 -3.77643569e-01 -2.84365821e-03 3.49315993e+02] [ 3.03889587e-03 -7.88826773e-05 9.99995379e-01 7.73336315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.192755096 meters 0.021286759709563112 Centerline is valid? [True, True] Translation: X:44.02, Y:349.34, Z:7.73 [[-3.76888050e-01 -9.26258403e-01 8.76807381e-04 4.40178955e+01] [ 9.26255503e-01 -3.76889065e-01 -2.31877400e-03 3.49339146e+02] [ 2.47824302e-03 -6.17705515e-05 9.99996927e-01 7.73320164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.222755096 meters 0.020103122456892355 Centerline is valid? [True, True] Translation: X:44.00, Y:349.36, Z:7.73 [[-3.74383984e-01 -9.27273484e-01 7.20488831e-04 4.40047561e+01] [ 9.27271531e-01 -3.74384675e-01 -1.90351257e-03 3.49363499e+02] [ 2.03481671e-03 -4.45558390e-05 9.99997929e-01 7.73284604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.252755096 meters 0.019460618722029508 Centerline is valid? [True, True] Translation: X:43.99, Y:349.39, Z:7.73 [[-3.73207836e-01 -9.27747544e-01 6.36830779e-04 4.39933071e+01] [ 9.27746021e-01 -3.73208377e-01 -1.68153043e-03 3.49387921e+02] [ 1.79770631e-03 -3.67431129e-05 9.99998383e-01 7.73282689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2827550960001 meters 0.01866134373787329 Centerline is valid? [True, True] Translation: X:43.98, Y:349.41, Z:7.73 [[-3.71931738e-01 -9.28259822e-01 6.95933464e-04 4.39814371e+01] [ 9.28258010e-01 -3.71932388e-01 -1.83490962e-03 3.49412759e+02] [ 1.96211307e-03 -3.64553113e-05 9.99998074e-01 7.73238985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.312755096 meters 0.017626139828918832 Centerline is valid? [True, True] Translation: X:43.97, Y:349.44, Z:7.73 [[-3.69298930e-01 -9.29310294e-01 8.23313278e-04 4.39690162e+01] [ 9.29307768e-01 -3.69299846e-01 -2.16682643e-03 3.49436504e+02] [ 2.31770358e-03 -3.50952589e-05 9.99997314e-01 7.73152383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.342755096 meters 0.01722815652378114 Centerline is valid? [True, True] Translation: X:43.96, Y:349.46, Z:7.73 [[-3.68616607e-01 -9.29581345e-01 5.65295185e-04 4.39584311e+01] [ 9.29580153e-01 -3.68617040e-01 -1.48906694e-03 3.49460520e+02] [ 1.59258628e-03 -2.34076177e-05 9.99998732e-01 7.73165463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.372755096 meters 0.017070005691979546 Centerline is valid? [True, True] Translation: X:43.95, Y:349.48, Z:7.73 [[-3.67948267e-01 -9.29846195e-01 3.56914571e-04 4.39488176e+01] [ 9.29845718e-01 -3.67948440e-01 -9.41418052e-04 3.49484522e+02] [ 1.00670015e-03 -1.45176552e-05 9.99999493e-01 7.73174898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.402755096 meters 0.016976781907195003 Centerline is valid? [True, True] Translation: X:43.94, Y:349.51, Z:7.73 [[-3.68078444e-01 -9.29794693e-01 2.96716105e-04 4.39398677e+01] [ 9.29794364e-01 -3.68078563e-01 -7.82425266e-04 3.49509452e+02] [ 8.36709698e-04 -1.21089117e-05 9.99999650e-01 7.73181678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.432755096 meters 0.017250048555154805 Centerline is valid? [True, True] Translation: X:43.93, Y:349.53, Z:7.73 [[-3.69070256e-01 -9.29401489e-01 1.38045323e-04 4.39327862e+01] [ 9.29401416e-01 -3.69070282e-01 -3.66878105e-04 3.49534361e+02] [ 3.91925483e-04 -7.10427789e-06 9.99999923e-01 7.73201586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.462755096 meters 0.017516577948207535 Centerline is valid? [True, True] Translation: X:43.92, Y:349.56, Z:7.73 [[-3.70029424e-01 -9.29020033e-01 -5.74058971e-05 4.39243194e+01] [ 9.29020022e-01 -3.70029429e-01 1.44300197e-04 3.49559838e+02] [-1.55299645e-04 6.40909714e-08 9.99999988e-01 7.73221787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.492755096 meters 0.017747197769686498 Centerline is valid? [True, True] Translation: X:43.92, Y:349.58, Z:7.73 [[-3.70794721e-01 -9.28714848e-01 -8.19167081e-05 4.39170863e+01] [ 9.28714824e-01 -3.70794730e-01 2.07842780e-04 3.49584252e+02] [-2.23400959e-04 9.89744379e-07 9.99999975e-01 7.73256814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.522755096 meters 0.018354640206942684 Centerline is valid? [True, True] Translation: X:43.91, Y:349.61, Z:7.73 [[-3.72058606e-01 -9.28209204e-01 -2.58771507e-04 4.39110316e+01] [ 9.28208964e-01 -3.72058696e-01 6.67922014e-04 3.49608657e+02] [-7.16249550e-04 8.31210085e-06 9.99999743e-01 7.73315205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.552755096 meters 0.018328769861199252 Centerline is valid? [True, True] Translation: X:43.90, Y:349.63, Z:7.73 [[-3.72371544e-01 -9.28083723e-01 -1.91036373e-04 4.39026760e+01] [ 9.28083593e-01 -3.72371593e-01 4.91214793e-04 3.49632825e+02] [-5.27024972e-04 5.61668742e-06 9.99999861e-01 7.73285243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.582755096 meters 0.018240707342520496 Centerline is valid? [True, True] Translation: X:43.89, Y:349.66, Z:7.73 [[-3.72602312e-01 -9.27991118e-01 -4.67143053e-05 4.38938717e+01] [ 9.27991111e-01 -3.72602315e-01 1.15504732e-04 3.49657129e+02] [-1.24593224e-04 -3.13129735e-07 9.99999992e-01 7.73234374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.612755096 meters 0.01810808860303104 Centerline is valid? [True, True] Translation: X:43.89, Y:349.68, Z:7.73 [[-3.72644512e-01 -9.27974166e-01 1.23571411e-04 4.38858042e+01] [ 9.27974108e-01 -3.72644532e-01 -3.26708244e-04 3.49681604e+02] [ 3.49225021e-04 -7.07496466e-06 9.99999939e-01 7.73136326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.642755096 meters 0.017833217698354165 Centerline is valid? [True, True] Translation: X:43.88, Y:349.71, Z:7.73 [[-3.72369883e-01 -9.28084380e-01 2.33648261e-04 4.38772010e+01] [ 9.28084178e-01 -3.72369956e-01 -6.11781275e-04 3.49705499e+02] [ 6.54788238e-04 -1.09636674e-05 9.99999786e-01 7.73128546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6727550960001 meters 0.017540522173733235 Centerline is valid? [True, True] Translation: X:43.87, Y:349.73, Z:7.73 [[-3.71896076e-01 -9.28274276e-01 4.21449271e-04 4.38702172e+01] [ 9.28273627e-01 -3.71896314e-01 -1.09770922e-03 3.49729234e+02] [ 1.17571066e-03 -1.70135062e-05 9.99999309e-01 7.73096140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.702755096 meters 0.01736590688951748 Centerline is valid? [True, True] Translation: X:43.86, Y:349.75, Z:7.73 [[-3.71919664e-01 -9.28264746e-01 5.70626218e-04 4.38616982e+01] [ 9.28263563e-01 -3.71920102e-01 -1.48207246e-03 3.49753050e+02] [ 1.58798298e-03 -2.15203680e-05 9.99998739e-01 7.73061051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.732755096 meters 0.01616994490357801 Centerline is valid? [True, True] Translation: X:43.85, Y:349.78, Z:7.73 [[-3.71382602e-01 -9.28479641e-01 7.20145177e-04 4.38515617e+01] [ 9.28477765e-01 -3.71383299e-01 -1.86676363e-03 3.49777625e+02] [ 2.00070191e-03 -2.46447484e-05 9.99997998e-01 7.72954354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.762755096 meters 0.015882473656349667 Centerline is valid? [True, True] Translation: X:43.84, Y:349.80, Z:7.73 [[-3.71313739e-01 -9.28507032e-01 8.94081881e-04 4.38424992e+01] [ 9.28504149e-01 -3.71314815e-01 -2.31375043e-03 3.49802148e+02] [ 2.48031940e-03 -2.89685893e-05 9.99996924e-01 7.72892085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7927550960001 meters 0.016349202429335696 Centerline is valid? [True, True] Translation: X:43.84, Y:349.83, Z:7.73 [[-3.70556735e-01 -9.28809102e-01 1.16531214e-03 4.38377015e+01] [ 9.28804224e-01 -3.70558566e-01 -3.01044285e-03 3.49828109e+02] [ 3.22794312e-03 -3.31930405e-05 9.99994790e-01 7.72937433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.822755096 meters 0.015392751121251684 Centerline is valid? [True, True] Translation: X:43.83, Y:349.85, Z:7.73 [[-3.70462673e-01 -9.28846532e-01 1.23650317e-03 4.38269763e+01] [ 9.28841053e-01 -3.70464735e-01 -3.19039853e-03 3.49851788e+02] [ 3.42147143e-03 -3.34086627e-05 9.99994146e-01 7.72903399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.852755096 meters 0.015433623192397872 Centerline is valid? [True, True] Translation: X:43.82, Y:349.88, Z:7.73 [[-3.70353876e-01 -9.28890075e-01 1.11154115e-03 4.38203980e+01] [ 9.28885656e-01 -3.70355543e-01 -2.86540489e-03 3.49876736e+02] [ 3.07331159e-03 -2.87191722e-05 9.99995277e-01 7.72938560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.882755096 meters 0.015373355954969721 Centerline is valid? [True, True] Translation: X:43.81, Y:349.90, Z:7.73 [[-3.70541223e-01 -9.28815352e-01 1.11535198e-03 4.38127891e+01] [ 9.28810913e-01 -3.70542901e-01 -2.87175223e-03 3.49900946e+02] [ 3.08061332e-03 -2.81514974e-05 9.99995255e-01 7.72977265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9127550960001 meters 0.015451238250645363 Centerline is valid? [True, True] Translation: X:43.81, Y:349.93, Z:7.73 [[-3.70922741e-01 -9.28662891e-01 1.24703720e-03 4.38053255e+01] [ 9.28657356e-01 -3.70924836e-01 -3.20653575e-03 3.49925170e+02] [ 3.44034783e-03 -3.13067658e-05 9.99994082e-01 7.72975462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.942755096 meters 0.015477376616445633 Centerline is valid? [True, True] Translation: X:43.80, Y:349.95, Z:7.73 [[-3.71058792e-01 -9.28608193e-01 1.48254561e-03 4.37990540e+01] [ 9.28600392e-01 -3.71061752e-01 -3.80644509e-03 3.49950380e+02] [ 4.08481207e-03 -3.57224885e-05 9.99991657e-01 7.73002678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.972755096 meters 0.015477376616445633 Centerline is valid? [True, True] Translation: X:43.79, Y:349.97, Z:7.73 [[-3.71428845e-01 -9.28460236e-01 1.48406392e-03 4.37896275e+01] [ 9.28452437e-01 -3.71431808e-01 -3.80585293e-03 3.49973662e+02] [ 4.08481165e-03 -3.57207942e-05 9.99991657e-01 7.73016186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.002755096 meters 0.015135139854587785 Centerline is valid? [True, True] Translation: X:43.78, Y:350.00, Z:7.73 [[-3.71001359e-01 -9.28631448e-01 1.27507188e-03 4.37792210e+01] [ 9.28625702e-01 -3.71003550e-01 -3.26672467e-03 3.49998251e+02] [ 3.50663945e-03 -2.78947780e-05 9.99993851e-01 7.73091543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0327550960001 meters 0.014552428689267143 Centerline is valid? [True, True] Translation: X:43.77, Y:350.02, Z:7.73 [[-3.68978095e-01 -9.29437493e-01 1.05435157e-03 4.37658858e+01] [ 9.29433573e-01 -3.68979601e-01 -2.69945307e-03 3.50021453e+02] [ 2.89800712e-03 -1.60893015e-05 9.99995801e-01 7.73130598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.062755096 meters 0.01457556936409766 Centerline is valid? [True, True] Translation: X:43.76, Y:350.04, Z:7.73 [[-3.68249971e-01 -9.29726073e-01 1.17805552e-03 4.37555222e+01] [ 9.29721194e-01 -3.68251855e-01 -3.01208133e-03 3.50044610e+02] [ 3.23423168e-03 -1.39356783e-05 9.99994770e-01 7.73137103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.092755096 meters 0.014437165415172312 Centerline is valid? [True, True] Translation: X:43.74, Y:350.07, Z:7.73 [[-3.66957359e-01 -9.30236535e-01 1.51214615e-03 4.37425338e+01] [ 9.30228527e-01 -3.66960475e-01 -3.85984433e-03 3.50068141e+02] [ 4.14546608e-03 -9.75679470e-06 9.99991408e-01 7.73050568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.122755096 meters 0.014343719444687961 Centerline is valid? [True, True] Translation: X:43.73, Y:350.09, Z:7.73 [[-3.66800256e-01 -9.30298093e-01 1.74070527e-03 4.37317926e+01] [ 9.30287511e-01 -3.66804386e-01 -4.43724287e-03 3.50090851e+02] [ 4.76645691e-03 -8.22544666e-06 9.99988640e-01 7.73015721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.152755096 meters 0.01426923527394928 Centerline is valid? [True, True] Translation: X:43.72, Y:350.11, Z:7.73 [[-3.66941372e-01 -9.30241840e-01 2.03702091e-03 4.37199096e+01] [ 9.30227388e-01 -3.66947026e-01 -5.18528720e-03 3.50114932e+02] [ 5.57104987e-03 -7.80376263e-06 9.99984482e-01 7.72929640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.182755096 meters 0.014260605778930504 Centerline is valid? [True, True] Translation: X:43.71, Y:350.14, Z:7.73 [[-3.67796967e-01 -9.29903660e-01 2.13874079e-03 4.37102797e+01] [ 9.29887762e-01 -3.67803185e-01 -5.43757869e-03 3.50138640e+02] [ 5.84306000e-03 -1.11360610e-05 9.99982929e-01 7.72906756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.212755096 meters 0.014445422739612577 Centerline is valid? [True, True] Translation: X:43.70, Y:350.16, Z:7.73 [[-3.69805946e-01 -9.29105939e-01 2.39098598e-03 4.37016450e+01] [ 9.29086105e-01 -3.69813675e-01 -6.07089749e-03 3.50163797e+02] [ 6.52472622e-03 -2.36221423e-05 9.99978714e-01 7.72952087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.242755096 meters 0.014495427147577034 Centerline is valid? [True, True] Translation: X:43.69, Y:350.19, Z:7.73 [[-3.70773878e-01 -9.28719997e-01 2.42857526e-03 4.36925327e+01] [ 9.28699574e-01 -3.70781830e-01 -6.15918017e-03 3.50188102e+02] [ 6.62062537e-03 -2.82463068e-05 9.99978083e-01 7.73008079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.272755096 meters 0.014690349393724395 Centerline is valid? [True, True] Translation: X:43.68, Y:350.21, Z:7.73 [[-3.71490646e-01 -9.28432640e-01 2.74473459e-03 4.36826280e+01] [ 9.28406612e-01 -3.71500783e-01 -6.95205148e-03 3.50211713e+02] [ 7.47418256e-03 -3.43923460e-05 9.99972067e-01 7.73010658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.302755096 meters 0.014796676895245737 Centerline is valid? [True, True] Translation: X:43.67, Y:350.24, Z:7.73 [[-3.72301839e-01 -9.28106703e-01 3.04785875e-03 4.36714706e+01] [ 9.28074677e-01 -3.72314312e-01 -7.71022771e-03 3.50236206e+02] [ 8.29067545e-03 -4.18914299e-05 9.99965631e-01 7.72957159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.332755096 meters 0.015378316941497008 Centerline is valid? [True, True] Translation: X:43.66, Y:350.26, Z:7.73 [[-3.74389990e-01 -9.27265729e-01 3.22534066e-03 4.36623801e+01] [ 9.27229916e-01 -3.74403878e-01 -8.14976697e-03 3.50260110e+02] [ 8.76457966e-03 -6.05588277e-05 9.99961589e-01 7.72881724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.362755096 meters 0.01549936618739277 Centerline is valid? [True, True] Translation: X:43.65, Y:350.29, Z:7.73 [[-3.76252133e-01 -9.26511238e-01 3.35548885e-03 4.36522697e+01] [ 9.26472537e-01 -3.76267087e-01 -8.46857388e-03 3.50285844e+02] [ 9.10878888e-03 -7.75507219e-05 9.99958511e-01 7.72933799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.392755096 meters 0.016092752574181805 Centerline is valid? [True, True] Translation: X:43.64, Y:350.31, Z:7.73 [[-3.78249864e-01 -9.25697248e-01 3.41261197e-03 4.36440588e+01] [ 9.25657273e-01 -3.78265246e-01 -8.60332580e-03 3.50310866e+02] [ 9.25494752e-03 -9.52977294e-05 9.99957168e-01 7.72955753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4227550960001 meters 0.017289581762647638 Centerline is valid? [True, True] Translation: X:43.64, Y:350.34, Z:7.73 [[-3.82852902e-01 -9.23803384e-01 3.31103652e-03 4.36373708e+01] [ 9.23765764e-01 -3.82867196e-01 -8.33815178e-03 3.50337045e+02] [ 8.97050009e-03 -1.33663428e-04 9.99959755e-01 7.73081380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.452755096 meters 0.018139020073507692 Centerline is valid? [True, True] Translation: X:43.63, Y:350.36, Z:7.73 [[-3.84932277e-01 -9.22939323e-01 3.18581144e-03 4.36289438e+01] [ 9.22904537e-01 -3.84945433e-01 -8.01431978e-03 3.50363489e+02] [ 8.62309443e-03 -1.44770528e-04 9.99962810e-01 7.73194416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.482755096 meters 0.01940551924546929 Centerline is valid? [True, True] Translation: X:43.62, Y:350.39, Z:7.73 [[-3.87938534e-01 -9.21680053e-01 3.09421851e-03 4.36211213e+01] [ 9.21647266e-01 -3.87950839e-01 -7.77583725e-03 3.50389005e+02] [ 8.36723875e-03 -1.64768878e-04 9.99964981e-01 7.73290484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.512755096 meters 0.020045857583769044 Centerline is valid? [True, True] Translation: X:43.61, Y:350.41, Z:7.73 [[-3.89319253e-01 -9.21098380e-01 2.87990997e-03 4.36121855e+01] [ 9.21070020e-01 -3.89329871e-01 -7.22982011e-03 3.50414103e+02] [ 7.78061057e-03 -1.62109430e-04 9.99969717e-01 7.73318253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5427550960001 meters 0.02046040727660028 Centerline is valid? [True, True] Translation: X:43.60, Y:350.44, Z:7.73 [[-3.90504257e-01 -9.20596124e-01 3.03335066e-03 4.36025167e+01] [ 9.20564717e-01 -3.90515998e-01 -7.60642114e-03 3.50438757e+02] [ 8.18701378e-03 -1.77944249e-04 9.99966470e-01 7.73355140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.572755096 meters 0.02051481886575205 Centerline is valid? [True, True] Translation: X:43.59, Y:350.46, Z:7.73 [[-3.90545156e-01 -9.20577989e-01 3.26294813e-03 4.35923917e+01] [ 9.20541732e-01 -3.90558742e-01 -8.17251054e-03 3.50463647e+02] [ 8.79780623e-03 -1.88054487e-04 9.99961281e-01 7.73352568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.602755096 meters 0.020252380315567732 Centerline is valid? [True, True] Translation: X:43.58, Y:350.49, Z:7.73 [[-3.89472167e-01 -9.21030739e-01 3.71613266e-03 4.35824823e+01] [ 9.20983845e-01 -3.89489845e-01 -9.29615065e-03 3.50487088e+02] [ 1.00094364e-02 -1.98093796e-04 9.99949885e-01 7.73279672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.632755096 meters 0.019993620589143057 Centerline is valid? [True, True] Translation: X:43.57, Y:350.51, Z:7.73 [[-3.89017378e-01 -9.21222808e-01 3.74398690e-03 4.35720680e+01] [ 9.21175325e-01 -3.89035348e-01 -9.35511586e-03 3.50511675e+02] [ 1.00746894e-02 -1.90434293e-04 9.99949231e-01 7.73317966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6627550960001 meters 0.01975109635216898 Centerline is valid? [True, True] Translation: X:43.56, Y:350.54, Z:7.73 [[-3.88156548e-01 -9.21585125e-01 3.91825232e-03 4.35613148e+01] [ 9.21533251e-01 -3.88176280e-01 -9.77976287e-03 3.50536349e+02] [ 1.05338566e-02 -1.85279197e-04 9.99944500e-01 7.73339100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.692755096 meters 0.019124486356845688 Centerline is valid? [True, True] Translation: X:43.55, Y:350.56, Z:7.73 [[-3.86461488e-01 -9.22296934e-01 3.98562343e-03 4.35492945e+01] [ 9.22243410e-01 -3.86482004e-01 -9.93748265e-03 3.50560128e+02] [ 1.07056815e-02 -1.64739384e-04 9.99942679e-01 7.73355909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.722755096 meters 0.019269344034920075 Centerline is valid? [True, True] Translation: X:43.54, Y:350.58, Z:7.73 [[-3.85357146e-01 -9.22757120e-01 4.37813079e-03 4.35384232e+01] [ 9.22692710e-01 -3.85381982e-01 -1.09037532e-02 3.50583492e+02] [ 1.17487686e-02 -1.62169865e-04 9.99930968e-01 7.73302794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.752755096 meters 0.01892322459281708 Centerline is valid? [True, True] Translation: X:43.53, Y:350.61, Z:7.73 [[-3.85151934e-01 -9.22841798e-01 4.58287573e-03 4.35271242e+01] [ 9.22771386e-01 -3.85179165e-01 -1.14009013e-02 3.50607673e+02] [ 1.22864565e-02 -1.62132587e-04 9.99924506e-01 7.73321087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7827550960001 meters 0.01832618993178201 Centerline is valid? [True, True] Translation: X:43.52, Y:350.63, Z:7.73 [[-3.85091204e-01 -9.22866596e-01 4.69165409e-03 4.35152947e+01] [ 9.22792967e-01 -3.85119749e-01 -1.16584588e-02 3.50631444e+02] [ 1.25660508e-02 -1.60144546e-04 9.99921031e-01 7.73432588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.812755096 meters 0.0184894460090635 Centerline is valid? [True, True] Translation: X:43.50, Y:350.65, Z:7.73 [[-3.84995819e-01 -9.22906339e-01 4.70196440e-03 4.35038665e+01] [ 9.22832560e-01 -3.85024500e-01 -1.16704791e-02 3.50654236e+02] [ 1.25811307e-02 -1.53959836e-04 9.99920843e-01 7.73458091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.842755096 meters 0.018770324963510863 Centerline is valid? [True, True] Translation: X:43.49, Y:350.68, Z:7.73 [[-3.85616258e-01 -9.22647875e-01 4.58258033e-03 4.34937293e+01] [ 9.22577935e-01 -3.85643456e-01 -1.13613011e-02 3.50678414e+02] [ 1.22497225e-02 -1.53314935e-04 9.99924958e-01 7.73490942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.872755096 meters 0.0193874553928274 Centerline is valid? [True, True] Translation: X:43.48, Y:350.70, Z:7.74 [[-3.87299163e-01 -9.21943342e-01 4.45327911e-03 4.34840275e+01] [ 9.21877391e-01 -3.87324730e-01 -1.10285670e-02 3.50702592e+02] [ 1.18925791e-02 -1.65977462e-04 9.99929267e-01 7.73602962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.902755096 meters 0.019580251880713564 Centerline is valid? [True, True] Translation: X:43.47, Y:350.73, Z:7.74 [[-3.88648703e-01 -9.21375237e-01 4.45629172e-03 4.34733650e+01] [ 9.21309307e-01 -3.88674209e-01 -1.10235678e-02 3.50727232e+02] [ 1.18888881e-02 -1.78672302e-04 9.99929309e-01 7.73635294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.932755096 meters 0.02046839088018463 Centerline is valid? [True, True] Translation: X:43.46, Y:350.75, Z:7.74 [[-3.90918755e-01 -9.20412947e-01 4.74710445e-03 4.34621451e+01] [ 9.20338224e-01 -3.90947517e-01 -1.17299648e-02 3.50752170e+02] [ 1.26522802e-02 -2.16521569e-04 9.99919933e-01 7.73507647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.962755096 meters 0.021037992247202843 Centerline is valid? [True, True] Translation: X:43.45, Y:350.78, Z:7.73 [[-3.92023916e-01 -9.19941948e-01 4.90522524e-03 4.34522305e+01] [ 9.19862308e-01 -3.92054533e-01 -1.21069191e-02 3.50775775e+02] [ 1.30607785e-02 -2.34070026e-04 9.99914677e-01 7.73430796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.992755096 meters 0.021825862043375988 Centerline is valid? [True, True] Translation: X:43.44, Y:350.80, Z:7.73 [[-3.93252418e-01 -9.19418131e-01 4.77868684e-03 4.34420234e+01] [ 9.19342683e-01 -3.93281379e-01 -1.17808826e-02 3.50798791e+02] [ 1.27109256e-02 -2.39609798e-04 9.99919184e-01 7.73431063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.022755096 meters 0.02200194994784421 Centerline is valid? [True, True] Translation: X:43.43, Y:350.82, Z:7.73 [[-3.94213307e-01 -9.19007061e-01 4.67864514e-03 4.34318464e+01] [ 9.18934871e-01 -3.94240996e-01 -1.15212604e-02 3.50822963e+02] [ 1.24326334e-02 -2.42464004e-04 9.99922682e-01 7.73487836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.052755096 meters 0.022456262047030644 Centerline is valid? [True, True] Translation: X:43.42, Y:350.85, Z:7.74 [[-3.95235243e-01 -9.18569045e-01 4.47348809e-03 4.34218853e+01] [ 9.18503162e-01 -3.95260486e-01 -1.10040831e-02 3.50847965e+02] [ 1.18762032e-02 -2.40288516e-04 9.99929447e-01 7.73558670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.082755096 meters 0.022403723051815455 Centerline is valid? [True, True] Translation: X:43.41, Y:350.87, Z:7.74 [[-3.95768584e-01 -9.18339574e-01 4.43337046e-03 4.34103961e+01] [ 9.18274996e-01 -3.95793341e-01 -1.08932623e-02 3.50872222e+02] [ 1.17584124e-02 -2.40157759e-04 9.99930839e-01 7.73616935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.112755096 meters 0.02268567461779131 Centerline is valid? [True, True] Translation: X:43.40, Y:350.90, Z:7.74 [[-3.96307676e-01 -9.18107196e-01 4.40481403e-03 4.34003980e+01] [ 9.18043578e-01 -3.96332081e-01 -1.08106780e-02 3.50895620e+02] [ 1.16711303e-02 -2.40543429e-04 9.99931861e-01 7.73595017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.142755096 meters 0.02320727803227159 Centerline is valid? [True, True] Translation: X:43.39, Y:350.92, Z:7.74 [[-3.96397199e-01 -9.18069156e-01 4.27621805e-03 4.33901708e+01] [ 9.18009332e-01 -3.96420197e-01 -1.04830292e-02 3.50919299e+02] [ 1.13193249e-02 -2.29835318e-04 9.99935908e-01 7.73522294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1727550960001 meters 0.022926728267556422 Centerline is valid? [True, True] Translation: X:43.38, Y:350.94, Z:7.74 [[-3.96844876e-01 -9.17876377e-01 4.13535661e-03 4.33787172e+01] [ 9.17820543e-01 -3.96866359e-01 -1.01264309e-02 3.50942953e+02] [ 1.09359956e-02 -2.23106952e-04 9.99940175e-01 7.73573190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.202755096 meters 0.022974408950281373 Centerline is valid? [True, True] Translation: X:43.37, Y:350.97, Z:7.74 [[-3.97636097e-01 -9.17536542e-01 3.49703962e-03 4.33670562e+01] [ 9.17496681e-01 -3.97651427e-01 -8.55467128e-03 3.50966872e+02] [ 9.23982630e-03 -1.93123855e-04 9.99957293e-01 7.73701323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.232755096 meters 0.023472007245761 Centerline is valid? [True, True] Translation: X:43.36, Y:350.99, Z:7.74 [[-3.98524781e-01 -9.17152016e-01 3.19020750e-03 4.33581646e+01] [ 9.17118903e-01 -3.98537509e-01 -7.79568033e-03 3.50991248e+02] [ 8.42124128e-03 -1.80972194e-04 9.99964524e-01 7.73793267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.262755096 meters 0.023960844326187627 Centerline is valid? [True, True] Translation: X:43.35, Y:351.02, Z:7.74 [[-3.99661898e-01 -9.16657712e-01 3.00089280e-03 4.33494183e+01] [ 9.16628462e-01 -3.99673125e-01 -7.32502366e-03 3.51016079e+02] [ 7.91391563e-03 -1.76829113e-04 9.99968669e-01 7.73894194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2927550960001 meters 0.024901152205543963 Centerline is valid? [True, True] Translation: X:43.34, Y:351.04, Z:7.74 [[-4.01552593e-01 -9.15831768e-01 2.77283849e-03 4.33414173e+01] [ 9.15806824e-01 -4.01562128e-01 -6.76158366e-03 3.51041866e+02] [ 7.30594004e-03 -1.75747039e-04 9.99973296e-01 7.74012504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.322755096 meters 0.025128098660105524 Centerline is valid? [True, True] Translation: X:43.33, Y:351.07, Z:7.74 [[-4.02888327e-01 -9.15245734e-01 2.49835703e-03 4.33314212e+01] [ 9.15225509e-01 -4.02896039e-01 -6.08678060e-03 3.51067304e+02] [ 6.57747813e-03 -1.65732766e-04 9.99978354e-01 7.74086531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.352755096 meters 0.02731843529599383 Centerline is valid? [True, True] Translation: X:43.32, Y:351.09, Z:7.74 [[-4.04676862e-01 -9.14457365e-01 2.08924439e-03 4.33243638e+01] [ 9.14443234e-01 -4.04682228e-01 -5.08583824e-03 3.51092640e+02] [ 5.49626231e-03 -1.47625666e-04 9.99984885e-01 7.74099613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.382755096 meters 0.02665716737239302 Centerline is valid? [True, True] Translation: X:43.31, Y:351.12, Z:7.74 [[-4.05807438e-01 -9.13956765e-01 1.83164750e-03 4.33145872e+01] [ 9.13945918e-01 -4.05811550e-01 -4.45481398e-03 3.51117561e+02] [ 4.81481109e-03 -1.33769892e-04 9.99988400e-01 7.74229033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4127550960001 meters 0.027395264712804058 Centerline is valid? [True, True] Translation: X:43.30, Y:351.14, Z:7.74 [[-4.06846511e-01 -9.13494311e-01 2.01497294e-03 4.33049208e+01] [ 9.13481208e-01 -4.06851473e-01 -4.89514041e-03 3.51142263e+02] [ 5.29147763e-03 -1.50930878e-04 9.99985989e-01 7.74092961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.442755096 meters 0.026939786656529106 Centerline is valid? [True, True] Translation: X:43.30, Y:351.17, Z:7.74 [[-4.07584760e-01 -9.13165451e-01 1.87703992e-03 4.32952659e+01] [ 9.13154099e-01 -4.07589057e-01 -4.55540967e-03 3.51166414e+02] [ 4.92490366e-03 -1.42688858e-04 9.99987862e-01 7.74149559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.472755096 meters 0.027263614670925283 Centerline is valid? [True, True] Translation: X:43.29, Y:351.19, Z:7.74 [[-4.08092550e-01 -9.12938466e-01 1.95681655e-03 4.32857664e+01] [ 9.12926154e-01 -4.08097214e-01 -4.74353121e-03 3.51190628e+02] [ 5.12912348e-03 -1.49370740e-04 9.99986835e-01 7.74140881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.502755096 meters 0.027299603240904524 Centerline is valid? [True, True] Translation: X:43.28, Y:351.22, Z:7.74 [[-4.08510459e-01 -9.12752222e-01 1.60854927e-03 4.32774285e+01] [ 9.12743916e-01 -4.08513607e-01 -3.89568074e-03 3.51215125e+02] [ 4.21290551e-03 -1.23232767e-04 9.99991118e-01 7.74267137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5327550960001 meters 0.028354114402842395 Centerline is valid? [True, True] Translation: X:43.27, Y:351.24, Z:7.74 [[-4.08061045e-01 -9.12953157e-01 1.64812309e-03 4.32673943e+01] [ 9.12944454e-01 -4.08064355e-01 -3.98813335e-03 3.51238511e+02] [ 4.31351922e-03 -1.22757028e-04 9.99990689e-01 7.74141475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.562755096 meters 0.02664659469686355 Centerline is valid? [True, True] Translation: X:43.26, Y:351.26, Z:7.74 [[-4.07746973e-01 -9.13093496e-01 1.63535191e-03 4.32559505e+01] [ 9.13084948e-01 -4.07750235e-01 -3.95273200e-03 3.51262389e+02] [ 4.27602901e-03 -1.18499293e-04 9.99990851e-01 7.74264205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.592755096 meters 0.025763612687503632 Centerline is valid? [True, True] Translation: X:43.24, Y:351.29, Z:7.74 [[-4.07177962e-01 -9.13347380e-01 1.63440676e-03 4.32445014e+01] [ 9.13338862e-01 -4.07181226e-01 -3.94613919e-03 3.51285956e+02] [ 4.26969564e-03 -1.14013707e-04 9.99990878e-01 7.74277594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.622755096 meters 0.025150738533088104 Centerline is valid? [True, True] Translation: X:43.23, Y:351.31, Z:7.74 [[-4.05002865e-01 -9.14313691e-01 1.77608217e-03 4.32330681e+01] [ 9.14303667e-01 -4.05006745e-01 -4.28265416e-03 3.51309385e+02] [ 4.63501459e-03 -1.10608760e-04 9.99989252e-01 7.74239096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.652755096 meters 0.02472549954624626 Centerline is valid? [True, True] Translation: X:43.22, Y:351.33, Z:7.74 [[-4.03603469e-01 -9.14932786e-01 1.49547533e-03 4.32213977e+01] [ 9.14925691e-01 -4.03606230e-01 -3.60420852e-03 3.51333617e+02] [ 3.90119170e-03 -8.64222568e-05 9.99992387e-01 7.74287136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.682755096 meters 0.024009044195116576 Centerline is valid? [True, True] Translation: X:43.21, Y:351.36, Z:7.74 [[-4.00851267e-01 -9.16142166e-01 1.33923569e-03 4.32089411e+01] [ 9.16136493e-01 -4.00853499e-01 -3.22470777e-03 3.51357378e+02] [ 3.49112807e-03 -6.57055112e-05 9.99993904e-01 7.74261946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.712755096 meters 0.02377756990188852 Centerline is valid? [True, True] Translation: X:43.20, Y:351.38, Z:7.74 [[-3.99982218e-01 -9.16521803e-01 1.41803403e-03 4.31969853e+01] [ 9.16515458e-01 -3.99984726e-01 -3.41093808e-03 3.51380504e+02] [ 3.69339107e-03 -6.46644710e-05 9.99993177e-01 7.74231567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.742755096 meters 0.023476402990354726 Centerline is valid? [True, True] Translation: X:43.18, Y:351.40, Z:7.74 [[-3.99264886e-01 -9.16834548e-01 1.40049789e-03 4.31846448e+01] [ 9.16828374e-01 -3.99267338e-01 -3.36519138e-03 3.51403499e+02] [ 3.64449679e-03 -5.95865481e-05 9.99993357e-01 7.74221413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.772755096 meters 0.024556157954408207 Centerline is valid? [True, True] Translation: X:43.18, Y:351.43, Z:7.74 [[-3.98875761e-01 -9.17003457e-01 1.66958989e-03 4.31751395e+01] [ 9.16994708e-01 -3.98879249e-01 -4.00628990e-03 3.51427544e+02] [ 4.33974645e-03 -6.70068401e-05 9.99990581e-01 7.74070458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.802755096 meters 0.023200932266383142 Centerline is valid? [True, True] Translation: X:43.16, Y:351.45, Z:7.74 [[-3.99504577e-01 -9.16730090e-01 1.42647045e-03 4.31646162e+01] [ 9.16723709e-01 -3.99507120e-01 -3.42104473e-03 3.51452294e+02] [ 3.70605974e-03 -5.90437518e-05 9.99993131e-01 7.74318377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.832755096 meters 0.023438990526332262 Centerline is valid? [True, True] Translation: X:43.16, Y:351.48, Z:7.74 [[-4.00301793e-01 -9.16382138e-01 1.50062295e-03 4.31561508e+01] [ 9.16375091e-01 -4.00304601e-01 -3.59431903e-03 3.51475949e+02] [ 3.89447603e-03 -6.36788602e-05 9.99992415e-01 7.74360384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.862755096 meters 0.023438990526332262 Centerline is valid? [True, True] Translation: X:43.15, Y:351.50, Z:7.74 [[-4.00650699e-01 -9.16229645e-01 1.50164417e-03 4.31459061e+01] [ 9.16222599e-01 -4.00653508e-01 -3.59389228e-03 3.51499784e+02] [ 3.89446965e-03 -6.40551250e-05 9.99992415e-01 7.74374356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.892755096 meters 0.02336705086785404 Centerline is valid? [True, True] Translation: X:43.14, Y:351.52, Z:7.74 [[-4.00861140e-01 -9.16137496e-01 1.56062093e-03 4.31356376e+01] [ 9.16129901e-01 -4.00864173e-01 -3.73085404e-03 3.51524523e+02] [ 4.04357229e-03 -6.58229114e-05 9.99991823e-01 7.74394115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9227550960001 meters 0.024077413786901175 Centerline is valid? [True, True] Translation: X:43.12, Y:351.55, Z:7.74 [[-4.01973449e-01 -9.15650165e-01 1.45664545e-03 4.31248799e+01] [ 9.15643558e-01 -4.01976083e-01 -3.47895551e-03 3.51548743e+02] [ 3.77104282e-03 -6.46797187e-05 9.99992888e-01 7.74346443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.952755096 meters 0.023986989473169264 Centerline is valid? [True, True] Translation: X:43.11, Y:351.57, Z:7.74 [[-4.02674131e-01 -9.15342196e-01 1.48613331e-03 4.31146256e+01] [ 9.15335332e-01 -4.02676868e-01 -3.54538413e-03 3.51572056e+02] [ 3.84367121e-03 -6.73241470e-05 9.99992611e-01 7.74383839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.982755096 meters 0.025096642440404045 Centerline is valid? [True, True] Translation: X:43.10, Y:351.60, Z:7.74 [[-4.04509179e-01 -9.14533211e-01 1.15317908e-03 4.31043328e+01] [ 9.14529082e-01 -4.04510819e-01 -2.74883028e-03 3.51597085e+02] [ 2.98037000e-03 -5.73112743e-05 9.99995557e-01 7.74333010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.012755096 meters 0.024074936010335814 Centerline is valid? [True, True] Translation: X:43.09, Y:351.62, Z:7.75 [[-4.05364963e-01 -9.14154359e-01 1.02733264e-03 4.30947588e+01] [ 9.14151084e-01 -4.05366262e-01 -2.44722203e-03 3.51621635e+02] [ 2.65358468e-03 -5.28808186e-05 9.99996478e-01 7.74587640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0427550960001 meters 0.025179424709439374 Centerline is valid? [True, True] Translation: X:43.09, Y:351.65, Z:7.75 [[-4.06400481e-01 -9.13694611e-01 8.98106906e-04 4.30859342e+01] [ 9.13692112e-01 -4.06401471e-01 -2.13769290e-03 3.51646781e+02] [ 2.31819045e-03 -4.81662283e-05 9.99997312e-01 7.74557571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.072755096 meters 0.024581850108110804 Centerline is valid? [True, True] Translation: X:43.08, Y:351.67, Z:7.75 [[-4.08009877e-01 -9.12976738e-01 1.19028600e-03 4.30778201e+01] [ 9.12972360e-01 -4.08011608e-01 -2.82801900e-03 3.51672656e+02] [ 3.06756607e-03 -6.71614702e-05 9.99995293e-01 7.74756755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.102755096 meters 0.024770120719473127 Centerline is valid? [True, True] Translation: X:43.07, Y:351.70, Z:7.75 [[-4.08696241e-01 -9.12669845e-01 1.06653145e-03 4.30684447e+01] [ 9.12666334e-01 -4.08697628e-01 -2.53228387e-03 3.51697240e+02] [ 2.74702800e-03 -6.15475461e-05 9.99996225e-01 7.74754539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.132755096 meters 0.02518440965693436 Centerline is valid? [True, True] Translation: X:43.06, Y:351.72, Z:7.75 [[-4.09457376e-01 -9.12328486e-01 1.17926989e-03 4.30597321e+01] [ 9.12324204e-01 -4.09459068e-01 -2.79633631e-03 3.51722282e+02] [ 3.03404002e-03 -6.91040678e-05 9.99995395e-01 7.74703248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1627550960001 meters 0.02560962270799496 Centerline is valid? [True, True] Translation: X:43.05, Y:351.75, Z:7.75 [[-4.09733546e-01 -9.12204538e-01 1.14083388e-03 4.30488327e+01] [ 9.12200537e-01 -4.09735129e-01 -2.70251507e-03 3.51746465e+02] [ 2.93268623e-03 -6.66418041e-05 9.99995697e-01 7.74562347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.192755096 meters 0.024307771659640705 Centerline is valid? [True, True] Translation: X:43.04, Y:351.77, Z:7.75 [[-4.09200580e-01 -9.12443455e-01 1.35159159e-03 4.30380276e+01] [ 9.12437856e-01 -4.09202805e-01 -3.19734588e-03 3.51769206e+02] [ 3.47047240e-03 -7.51124560e-05 9.99993975e-01 7.74648315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.222755096 meters 0.024586578312379044 Centerline is valid? [True, True] Translation: X:43.03, Y:351.79, Z:7.75 [[-4.09026805e-01 -9.12521350e-01 1.36361000e-03 4.30285032e+01] [ 9.12515664e-01 -4.09029071e-01 -3.22201501e-03 3.51792973e+02] [ 3.49791362e-03 -7.35750177e-05 9.99993880e-01 7.74615496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.252755096 meters 0.023488468508303276 Centerline is valid? [True, True] Translation: X:43.02, Y:351.82, Z:7.74 [[-4.07282722e-01 -9.13301070e-01 1.39261968e-03 4.30153283e+01] [ 9.13295160e-01 -4.07285097e-01 -3.28647678e-03 3.51816815e+02] [ 3.56873600e-03 -6.66523954e-05 9.99993630e-01 7.74486758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2827550960001 meters 0.02293530767082708 Centerline is valid? [True, True] Translation: X:43.00, Y:351.84, Z:7.74 [[-4.06508061e-01 -9.13646172e-01 1.36739565e-03 4.30027414e+01] [ 9.13640485e-01 -4.06510356e-01 -3.22405768e-03 3.51840699e+02] [ 3.50150845e-03 -6.12974085e-05 9.99993868e-01 7.74475044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.312755096 meters 0.02213166070016478 Centerline is valid? [True, True] Translation: X:42.99, Y:351.86, Z:7.75 [[-4.03778002e-01 -9.14856449e-01 1.00134148e-03 4.29897100e+01] [ 9.14853406e-01 -4.03779242e-01 -2.35988576e-03 3.51863553e+02] [ 2.56327761e-03 -3.67892937e-05 9.99996714e-01 7.74542799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.342755096 meters 0.021841519017642967 Centerline is valid? [True, True] Translation: X:42.98, Y:351.89, Z:7.75 [[-4.02599314e-01 -9.15375480e-01 1.23407195e-03 4.29779087e+01] [ 9.15370873e-01 -4.02601204e-01 -2.90430932e-03 3.51886958e+02] [ 3.15537239e-03 -3.96394250e-05 9.99995021e-01 7.74533978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.372755096 meters 0.02134249936459284 Centerline is valid? [True, True] Translation: X:42.96, Y:351.91, Z:7.74 [[-3.99986861e-01 -9.16520057e-01 1.22328987e-03 4.29639107e+01] [ 9.16515545e-01 -3.99988730e-01 -2.87599303e-03 3.51908884e+02] [ 3.12520746e-03 -2.91952450e-05 9.99995116e-01 7.74476347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.402755096 meters 0.021089572627556796 Centerline is valid? [True, True] Translation: X:42.95, Y:351.93, Z:7.74 [[-3.99233919e-01 -9.16848338e-01 1.18485886e-03 4.29514388e+01] [ 9.16844116e-01 -3.99235676e-01 -2.78256557e-03 3.51932859e+02] [ 3.02422855e-03 -2.45636810e-05 9.99995427e-01 7.74447537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.432755096 meters 0.02105533456474366 Centerline is valid? [True, True] Translation: X:42.94, Y:351.96, Z:7.74 [[-3.97896305e-01 -9.17429806e-01 1.03995305e-03 4.29397844e+01] [ 9.17426560e-01 -3.97897664e-01 -2.44059380e-03 3.51955381e+02] [ 2.65286838e-03 -1.70227051e-05 9.99996481e-01 7.74489379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.462755096 meters 0.02085990682415697 Centerline is valid? [True, True] Translation: X:42.93, Y:351.98, Z:7.74 [[-3.97801028e-01 -9.17471199e-01 9.70179943e-04 4.29268634e+01] [ 9.17468380e-01 -3.97802211e-01 -2.27445140e-03 3.51978286e+02] [ 2.47268338e-03 -1.46696832e-05 9.99996943e-01 7.74408282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.492755096 meters 0.020901461340048673 Centerline is valid? [True, True] Translation: X:42.92, Y:352.00, Z:7.74 [[-3.97924272e-01 -9.17418013e-01 6.80990256e-04 4.29158820e+01] [ 9.17416624e-01 -3.97924854e-01 -1.59651505e-03 3.52000946e+02] [ 1.73565461e-03 -1.05403067e-05 9.99998494e-01 7.74409851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.522755096 meters 0.020861986685075655 Centerline is valid? [True, True] Translation: X:42.90, Y:352.03, Z:7.74 [[-3.99096983e-01 -9.16908494e-01 6.41677652e-04 4.29045461e+01] [ 9.16907263e-01 -3.99097499e-01 -1.50275477e-03 3.52025300e+02] [ 1.63398056e-03 -1.13859953e-05 9.99998665e-01 7.74448137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.552755096 meters 0.020990100302865265 Centerline is valid? [True, True] Translation: X:42.89, Y:352.05, Z:7.75 [[-4.00078701e-01 -9.16480726e-01 3.34219918e-04 4.28946404e+01] [ 9.16480390e-01 -4.00078841e-01 -7.84396210e-04 3.52049666e+02] [ 8.52598325e-04 -7.51421623e-06 9.99999637e-01 7.74501408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.582755096 meters 0.021972875449199243 Centerline is valid? [True, True] Translation: X:42.89, Y:352.08, Z:7.75 [[-4.03141455e-01 -9.15137676e-01 3.46036284e-05 4.28873631e+01] [ 9.15137672e-01 -4.03141457e-01 -8.53096211e-05 3.52076519e+02] [ 9.20202054e-05 -2.72476087e-06 9.99999996e-01 7.74509220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.612755096 meters 0.02295077980377363 Centerline is valid? [True, True] Translation: X:42.88, Y:352.10, Z:7.74 [[-4.05169991e-01 -9.14241362e-01 -1.04651643e-04 4.28797165e+01] [ 9.14241330e-01 -4.05170004e-01 2.39907619e-04 3.52101661e+02] [-2.61735176e-04 1.52651036e-06 9.99999966e-01 7.74470252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.642755096 meters 0.02276431012558899 Centerline is valid? [True, True] Translation: X:42.87, Y:352.13, Z:7.75 [[-4.08788286e-01 -9.12629239e-01 -9.59487903e-05 4.28724018e+01] [ 9.12629213e-01 -4.08788297e-01 2.18495880e-04 3.52128479e+02] [-2.38628472e-04 1.75288732e-06 9.99999972e-01 7.74737164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6727550960001 meters 0.02303077170849118 Centerline is valid? [True, True] Translation: X:42.86, Y:352.15, Z:7.75 [[-4.10281959e-01 -9.11958713e-01 -1.40037847e-04 4.28624201e+01] [ 9.11958657e-01 -4.10281983e-01 3.20648607e-04 3.52153636e+02] [-3.49873297e-04 3.84761209e-06 9.99999939e-01 7.74708836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.702755096 meters 0.023803883638439313 Centerline is valid? [True, True] Translation: X:42.85, Y:352.18, Z:7.75 [[-4.11800194e-01 -9.11274161e-01 -6.47566464e-05 4.28544479e+01] [ 9.11274149e-01 -4.11800199e-01 1.45421216e-04 3.52178992e+02] [-1.59185396e-04 8.73426952e-07 9.99999987e-01 7.74690426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.732755096 meters 0.025823829114698993 Centerline is valid? [True, True] Translation: X:42.85, Y:352.20, Z:7.74 [[-4.12686000e-01 -9.10873330e-01 2.05440707e-04 4.28457352e+01] [ 9.10873203e-01 -4.12686051e-01 -4.80998794e-04 3.52201588e+02] [ 5.22911487e-04 -1.13710336e-05 9.99999863e-01 7.74314612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.762755096 meters 0.023838435339273996 Centerline is valid? [True, True] Translation: X:42.83, Y:352.23, Z:7.75 [[-4.12954920e-01 -9.10751462e-01 8.68850525e-05 4.28345518e+01] [ 9.10751439e-01 -4.12954930e-01 -2.06223164e-04 3.52225137e+02] [ 2.23697659e-04 -6.03018386e-06 9.99999975e-01 7.74569581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7927550960001 meters 0.02403407220550722 Centerline is valid? [True, True] Translation: X:42.83, Y:352.25, Z:7.75 [[-4.13109814e-01 -9.10681163e-01 3.18301533e-04 4.28256776e+01] [ 9.10680861e-01 -4.13109936e-01 -7.42061889e-04 3.52248248e+02] [ 8.07275310e-04 -1.66819350e-05 9.99999674e-01 7.74541529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.822755096 meters 0.022836857774746967 Centerline is valid? [True, True] Translation: X:42.81, Y:352.27, Z:7.74 [[-4.13385116e-01 -9.10556054e-01 6.47360351e-04 4.28136863e+01] [ 9.10554816e-01 -4.13385622e-01 -1.50134059e-03 3.52271995e+02] [ 1.63466422e-03 -3.11747662e-05 9.99998663e-01 7.74418338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.852755096 meters 0.023126296327862048 Centerline is valid? [True, True] Translation: X:42.80, Y:352.30, Z:7.74 [[-4.13604438e-01 -9.10456269e-01 8.66831773e-04 4.28044841e+01] [ 9.10454059e-01 -4.13605345e-01 -2.00651985e-03 3.52296247e+02] [ 2.18537483e-03 -4.06950083e-05 9.99997611e-01 7.74430312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.882755096 meters 0.02245289552316949 Centerline is valid? [True, True] Translation: X:42.79, Y:352.32, Z:7.74 [[-4.13677324e-01 -9.10423123e-01 8.99804748e-04 4.27924098e+01] [ 9.10420747e-01 -4.13678301e-01 -2.08027019e-03 3.52320183e+02] [ 2.26615578e-03 -4.13596955e-05 9.99997431e-01 7.74386351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9127550960001 meters 0.0223641841480052 Centerline is valid? [True, True] Translation: X:42.78, Y:352.34, Z:7.74 [[-4.13510591e-01 -9.10498927e-01 8.33638317e-04 4.27801815e+01] [ 9.10496891e-01 -4.13511430e-01 -1.92558429e-03 3.52343875e+02] [ 2.09796140e-03 -3.72244031e-05 9.99997799e-01 7.74387812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.942755096 meters 0.023698761212679838 Centerline is valid? [True, True] Translation: X:42.77, Y:352.37, Z:7.74 [[-4.13124927e-01 -9.10674024e-01 7.85198254e-04 4.27717595e+01] [ 9.10672222e-01 -4.13125672e-01 -1.81218053e-03 3.52367962e+02] [ 1.97469129e-03 -3.35987100e-05 9.99998050e-01 7.74447167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.972755096 meters 0.022082635238830906 Centerline is valid? [True, True] Translation: X:42.76, Y:352.39, Z:7.74 [[-4.12593965e-01 -9.10914866e-01 5.71548265e-04 4.27553525e+01] [ 9.10913912e-01 -4.12594360e-01 -1.31891102e-03 3.52389247e+02] [ 1.43723324e-03 -2.35434600e-05 9.99998967e-01 7.74329948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.002755096 meters 0.02209446376500552 Centerline is valid? [True, True] Translation: X:42.74, Y:352.41, Z:7.74 [[-4.12812001e-01 -9.10816095e-01 5.42012193e-04 4.27449621e+01] [ 9.10815237e-01 -4.12812357e-01 -1.24985422e-03 3.52412489e+02] [ 1.36213667e-03 -2.22818562e-05 9.99999072e-01 7.74388556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0327550960001 meters 0.02216886770076861 Centerline is valid? [True, True] Translation: X:42.73, Y:352.44, Z:7.74 [[-4.13120805e-01 -9.10676038e-01 5.95158323e-04 4.27344339e+01] [ 9.10675008e-01 -4.13121233e-01 -1.37012268e-03 3.52436966e+02] [ 1.49361044e-03 -2.40303760e-05 9.99998884e-01 7.74446460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.062755096 meters 0.022400726056093768 Centerline is valid? [True, True] Translation: X:42.72, Y:352.46, Z:7.74 [[-4.14332850e-01 -9.10125267e-01 5.37037641e-04 4.27246554e+01] [ 9.10124429e-01 -4.14333197e-01 -1.23550764e-03 3.52462053e+02] [ 1.34697924e-03 -2.31403265e-05 9.99999093e-01 7.74484267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.092755096 meters 0.022276947753840273 Centerline is valid? [True, True] Translation: X:42.71, Y:352.49, Z:7.74 [[-4.15415406e-01 -9.09631677e-01 5.02905922e-04 4.27131010e+01] [ 9.09630943e-01 -4.15415710e-01 -1.15584528e-03 3.52487133e+02] [ 1.26030850e-03 -2.26971499e-05 9.99999206e-01 7.74482842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.122755096 meters 0.022124913232775663 Centerline is valid? [True, True] Translation: X:42.70, Y:352.51, Z:7.74 [[-4.16174546e-01 -9.09284634e-01 4.49002159e-04 4.27020968e+01] [ 9.09284049e-01 -4.16174787e-01 -1.03153870e-03 3.52512337e+02] [ 1.12482567e-03 -2.10296500e-05 9.99999367e-01 7.74484888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.152755096 meters 0.022396512803136693 Centerline is valid? [True, True] Translation: X:42.69, Y:352.54, Z:7.74 [[-4.16803081e-01 -9.08996527e-01 7.10538013e-04 4.26921514e+01] [ 9.08995070e-01 -4.16803686e-01 -1.62808247e-03 3.52536511e+02] [ 1.77607617e-03 -3.27142393e-05 9.99998422e-01 7.74489811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.182755096 meters 0.021947213617908218 Centerline is valid? [True, True] Translation: X:42.68, Y:352.56, Z:7.74 [[-4.16152251e-01 -9.09294118e-01 1.22906811e-03 4.26803223e+01] [ 9.09289779e-01 -4.16154063e-01 -2.80965446e-03 3.52560408e+02] [ 3.06628396e-03 -5.16649554e-05 9.99995298e-01 7.74377989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.212755096 meters 0.021557687606953688 Centerline is valid? [True, True] Translation: X:42.67, Y:352.58, Z:7.74 [[-4.14798977e-01 -9.09911281e-01 1.80806763e-03 4.26691722e+01] [ 9.09901927e-01 -4.14802913e-01 -4.12633399e-03 3.52583754e+02] [ 4.50458957e-03 -6.64348931e-05 9.99989852e-01 7.74222949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.242755096 meters 0.0225014917217194 Centerline is valid? [True, True] Translation: X:42.66, Y:352.61, Z:7.74 [[-4.14643201e-01 -9.09981626e-01 2.11109712e-03 4.26566255e+01] [ 9.09968908e-01 -4.14648568e-01 -4.81156268e-03 3.52608431e+02] [ 5.25379703e-03 -7.40490086e-05 9.99986196e-01 7.73944492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.272755096 meters 0.022599994669267782 Centerline is valid? [True, True] Translation: X:42.65, Y:352.63, Z:7.74 [[-4.14527349e-01 -9.10034001e-01 2.27887445e-03 4.26454834e+01] [ 9.10019214e-01 -4.14533606e-01 -5.18843695e-03 3.52632801e+02] [ 5.66632408e-03 -7.69294844e-05 9.99983943e-01 7.73928228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.302755096 meters 0.02140448675214924 Centerline is valid? [True, True] Translation: X:42.64, Y:352.66, Z:7.74 [[-4.14557954e-01 -9.10020171e-01 2.23405212e-03 4.26377424e+01] [ 9.10005990e-01 -4.14563967e-01 -5.08095676e-03 3.52657091e+02] [ 5.54993065e-03 -7.33502298e-05 9.99984596e-01 7.74245583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.332755096 meters 0.02063023209430042 Centerline is valid? [True, True] Translation: X:42.63, Y:352.68, Z:7.74 [[-4.14992256e-01 -9.09822443e-01 2.13282275e-03 4.26258617e+01] [ 9.09809543e-01 -4.14997731e-01 -4.84548921e-03 3.52680728e+02] [ 5.29365144e-03 -7.03780044e-05 9.99985986e-01 7.74302434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.362755096 meters 0.020920570045038778 Centerline is valid? [True, True] Translation: X:42.62, Y:352.70, Z:7.74 [[-4.16175936e-01 -9.09281854e-01 2.02490721e-03 4.26177580e+01] [ 9.09270243e-01 -4.16180856e-01 -4.59567573e-03 3.52704409e+02] [ 5.02149217e-03 -7.14217748e-05 9.99987390e-01 7.74397085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.392755096 meters 0.021127173102435996 Centerline is valid? [True, True] Translation: X:42.61, Y:352.73, Z:7.74 [[-4.16943620e-01 -9.08930195e-01 1.97960888e-03 4.26083607e+01] [ 9.08919118e-01 -4.16948313e-01 -4.48794015e-03 3.52728480e+02] [ 4.90461890e-03 -7.19136602e-05 9.99987970e-01 7.74459857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4227550960001 meters 0.021202011703481967 Centerline is valid? [True, True] Translation: X:42.60, Y:352.75, Z:7.75 [[-4.17729441e-01 -9.08569648e-01 1.81890496e-03 4.25984413e+01] [ 9.08560312e-01 -4.17733396e-01 -4.11949899e-03 3.52752483e+02] [ 4.50266910e-03 -6.82511553e-05 9.99989861e-01 7.74515252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.452755096 meters 0.020996345376092244 Centerline is valid? [True, True] Translation: X:42.59, Y:352.78, Z:7.75 [[-4.17749278e-01 -9.08561164e-01 1.46715159e-03 4.25851705e+01] [ 9.08555098e-01 -4.17751851e-01 -3.32039985e-03 3.52775460e+02] [ 3.62969164e-03 -5.41065764e-05 9.99993411e-01 7.74572032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.482755096 meters 0.021095577885787573 Centerline is valid? [True, True] Translation: X:42.57, Y:352.80, Z:7.75 [[-4.17745254e-01 -9.08563031e-01 1.45642170e-03 4.25733281e+01] [ 9.08557066e-01 -4.17747790e-01 -3.29278239e-03 3.52798365e+02] [ 3.60011730e-03 -5.23019929e-05 9.99993518e-01 7.74548291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.512755096 meters 0.02080342575395599 Centerline is valid? [True, True] Translation: X:42.56, Y:352.82, Z:7.74 [[-4.17485202e-01 -9.08681949e-01 1.79482378e-03 4.25617644e+01] [ 9.08672916e-01 -4.17489056e-01 -4.05219356e-03 3.52820665e+02] [ 4.43147443e-03 -6.08230862e-05 9.99990179e-01 7.74493727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5427550960001 meters 0.020309868545673654 Centerline is valid? [True, True] Translation: X:42.55, Y:352.84, Z:7.74 [[-4.17759692e-01 -9.08555839e-01 1.76830779e-03 4.25493359e+01] [ 9.08547088e-01 -4.17763430e-01 -3.98816281e-03 3.52844301e+02] [ 4.36220294e-03 -5.95027790e-05 9.99990484e-01 7.74497329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.572755096 meters 0.020731894490503604 Centerline is valid? [True, True] Translation: X:42.54, Y:352.87, Z:7.74 [[-4.17926005e-01 -9.08479094e-01 1.89494240e-03 4.25396551e+01] [ 9.08469066e-01 -4.17930296e-01 -4.26888192e-03 3.52867535e+02] [ 4.67014382e-03 -6.25802107e-05 9.99989093e-01 7.74480010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.602755096 meters 0.02083933738647699 Centerline is valid? [True, True] Translation: X:42.53, Y:352.89, Z:7.75 [[-4.18510191e-01 -9.08210248e-01 1.83462402e-03 4.25291931e+01] [ 9.08200866e-01 -4.18514207e-01 -4.12854762e-03 3.52890928e+02] [ 4.51740548e-03 -6.16321271e-05 9.99989795e-01 7.74504352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.632755096 meters 0.02081268921079367 Centerline is valid? [True, True] Translation: X:42.52, Y:352.91, Z:7.74 [[-4.18883724e-01 -9.08038021e-01 1.83793572e-03 4.25182893e+01] [ 9.08028623e-01 -4.18887751e-01 -4.13174460e-03 3.52914262e+02] [ 4.52166995e-03 -6.18223221e-05 9.99989775e-01 7.74496972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6627550960001 meters 0.019859629552987985 Centerline is valid? [True, True] Translation: X:42.50, Y:352.94, Z:7.74 [[-4.19353945e-01 -9.07820830e-01 1.89969026e-03 4.25031115e+01] [ 9.07810810e-01 -4.19358243e-01 -4.26577481e-03 3.52937026e+02] [ 4.66921000e-03 -6.43101413e-05 9.99989097e-01 7.74366931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.692755096 meters 0.020082694208112754 Centerline is valid? [True, True] Translation: X:42.49, Y:352.96, Z:7.74 [[-4.20036327e-01 -9.07505247e-01 1.92615834e-03 4.24920762e+01] [ 9.07494963e-01 -4.20040738e-01 -4.32091957e-03 3.52960441e+02] [ 4.73032215e-03 -6.69641945e-05 9.99988810e-01 7.74286676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.722755096 meters 0.02022851779078618 Centerline is valid? [True, True] Translation: X:42.48, Y:352.98, Z:7.74 [[-4.20798497e-01 -9.07151401e-01 2.22712315e-03 4.24810507e+01] [ 9.07137680e-01 -4.20804383e-01 -4.99014019e-03 3.52983179e+02] [ 5.46399585e-03 -7.95361606e-05 9.99985069e-01 7.74145239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.752755096 meters 0.020382252061374787 Centerline is valid? [True, True] Translation: X:42.47, Y:353.01, Z:7.74 [[-4.21354676e-01 -9.06892894e-01 2.34847346e-03 4.24706542e+01] [ 9.06877668e-01 -4.21361212e-01 -5.25593148e-03 3.53006772e+02] [ 5.75612254e-03 -8.48331751e-05 9.99983430e-01 7.74098466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7827550960001 meters 0.020388995293802992 Centerline is valid? [True, True] Translation: X:42.46, Y:353.03, Z:7.74 [[-4.21919235e-01 -9.06629185e-01 2.77121330e-03 4.24603527e+01] [ 9.06608029e-01 -4.21928324e-01 -6.19446891e-03 3.53031333e+02] [ 6.78533969e-03 -1.01161352e-04 9.99976974e-01 7.74056239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.812755096 meters 0.020388995293802992 Centerline is valid? [True, True] Translation: X:42.45, Y:353.05, Z:7.74 [[-4.22263523e-01 -9.06468877e-01 2.77356712e-03 4.24495158e+01] [ 9.06447724e-01 -4.22272620e-01 -6.19341493e-03 3.53054901e+02] [ 6.78533932e-03 -1.01159604e-04 9.99976974e-01 7.74070198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.842755096 meters 0.022754914293757603 Centerline is valid? [True, True] Translation: X:42.44, Y:353.08, Z:7.74 [[-4.24180944e-01 -9.05574004e-01 2.49997592e-03 4.24416914e+01] [ 9.05556834e-01 -4.24188299e-01 -5.57733980e-03 3.53080400e+02] [ 6.11115447e-03 -1.01930978e-04 9.99981322e-01 7.73837037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.872755096 meters 0.020496370506817147 Centerline is valid? [True, True] Translation: X:42.43, Y:353.10, Z:7.74 [[-4.24677067e-01 -9.05342016e-01 2.28517048e-03 4.24292802e+01] [ 9.05327692e-01 -4.24683205e-01 -5.09363164e-03 3.53104082e+02] [ 5.58195226e-03 -9.43204316e-05 9.99984416e-01 7.74083180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.902755096 meters 0.02043057814126416 Centerline is valid? [True, True] Translation: X:42.42, Y:353.13, Z:7.74 [[-4.25698281e-01 -9.04863064e-01 1.95142901e-03 4.24185325e+01] [ 9.04852632e-01 -4.25702746e-01 -4.34587733e-03 3.53129262e+02] [ 4.76315257e-03 -8.42768383e-05 9.99988653e-01 7.74052233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.932755096 meters 0.02133878096554906 Centerline is valid? [True, True] Translation: X:42.41, Y:353.15, Z:7.74 [[-4.26231092e-01 -9.04611731e-01 2.16148180e-03 4.24101502e+01] [ 9.04598956e-01 -4.26236562e-01 -4.80844693e-03 3.53153852e+02] [ 5.27108008e-03 -9.42354071e-05 9.99986103e-01 7.74045502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.962755096 meters 0.020637837343158796 Centerline is valid? [True, True] Translation: X:42.40, Y:353.18, Z:7.74 [[-4.26534986e-01 -9.04468762e-01 2.04088853e-03 4.23987580e+01] [ 9.04457386e-01 -4.26539859e-01 -4.53709709e-03 3.53177933e+02] [ 4.97418289e-03 -8.93339387e-05 9.99987625e-01 7.74034477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.992755096 meters 0.020446302344134602 Centerline is valid? [True, True] Translation: X:42.39, Y:353.20, Z:7.74 [[-4.26646278e-01 -9.04416992e-01 1.69036181e-03 4.23885610e+01] [ 9.04409201e-01 -4.26649621e-01 -3.75475350e-03 3.53202808e+02] [ 4.11705509e-03 -7.31728321e-05 9.99991522e-01 7.74049468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.022755096 meters 0.02044374372881845 Centerline is valid? [True, True] Translation: X:42.38, Y:353.23, Z:7.74 [[-4.26624957e-01 -9.04427294e-01 1.55431940e-03 4.23788145e+01] [ 9.04420719e-01 -4.26627783e-01 -3.44939651e-03 3.53226520e+02] [ 3.78284419e-03 -6.58399696e-05 9.99992843e-01 7.74083139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.052755096 meters 0.02000352961890545 Centerline is valid? [True, True] Translation: X:42.37, Y:353.25, Z:7.74 [[-4.26284385e-01 -9.04588644e-01 1.00379759e-03 4.23671167e+01] [ 9.04585904e-01 -4.26285565e-01 -2.22702133e-03 3.53250630e+02] [ 2.44244263e-03 -4.13232678e-05 9.99997016e-01 7.74155005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.082755096 meters 0.02002781519463042 Centerline is valid? [True, True] Translation: X:42.36, Y:353.27, Z:7.74 [[-4.26213831e-01 -9.04622284e-01 5.42026366e-04 4.23562190e+01] [ 9.04621484e-01 -4.26214176e-01 -1.20285101e-03 3.53273719e+02] [ 1.31914515e-03 -2.23430403e-05 9.99999130e-01 7.74220576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.112755096 meters 0.019744897298250304 Centerline is valid? [True, True] Translation: X:42.34, Y:353.30, Z:7.74 [[-4.26240335e-01 -9.04609885e-01 3.64851017e-04 4.23435822e+01] [ 9.04609522e-01 -4.26240491e-01 -8.10826347e-04 3.53298060e+02] [ 8.88995805e-04 -1.55591899e-05 9.99999605e-01 7.74237661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.142755096 meters 0.019336009293589498 Centerline is valid? [True, True] Translation: X:42.33, Y:353.32, Z:7.74 [[-4.25597054e-01 -9.04912781e-01 -8.74070790e-05 4.23311785e+01] [ 9.04912761e-01 -4.25597063e-01 1.87710146e-04 3.53320967e+02] [-2.07061506e-04 7.93103926e-07 9.99999979e-01 7.74297989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1727550960001 meters 0.019244772062488983 Centerline is valid? [True, True] Translation: X:42.32, Y:353.34, Z:7.74 [[-4.25333035e-01 -9.05036893e-01 -1.77042646e-04 4.23189591e+01] [ 9.05036812e-01 -4.25333071e-01 3.85154929e-04 3.53344596e+02] [-4.23881513e-04 3.58900275e-06 9.99999910e-01 7.74293838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.202755096 meters 0.01874659729097102 Centerline is valid? [True, True] Translation: X:42.31, Y:353.37, Z:7.74 [[-4.24404307e-01 -9.05472749e-01 -2.91878677e-04 4.23052048e+01] [ 9.05472524e-01 -4.24404407e-01 6.37619716e-04 3.53367581e+02] [-7.01221874e-04 6.32043111e-06 9.99999754e-01 7.74261489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.232755096 meters 0.018492547319263492 Centerline is valid? [True, True] Translation: X:42.29, Y:353.39, Z:7.74 [[-4.24008737e-01 -9.05658072e-01 -2.18870336e-04 4.22930597e+01] [ 9.05657947e-01 -4.24008793e-01 4.76359142e-04 3.53390613e+02] [-5.24221449e-04 3.75877937e-06 9.99999863e-01 7.74191778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.262755096 meters 0.01850035090210103 Centerline is valid? [True, True] Translation: X:42.28, Y:353.41, Z:7.74 [[-4.23918123e-01 -9.05700503e-01 -1.53895523e-04 4.22814256e+01] [ 9.05700442e-01 -4.23918151e-01 3.32834141e-04 3.53413628e+02] [-3.66687155e-04 1.71118085e-06 9.99999933e-01 7.74203420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2927550960001 meters 0.018077458279331778 Centerline is valid? [True, True] Translation: X:42.27, Y:353.44, Z:7.74 [[-4.23336494e-01 -9.05972520e-01 7.94490519e-05 4.22691516e+01] [ 9.05972502e-01 -4.23336502e-01 -1.79626106e-04 3.53436724e+02] [ 1.96369999e-04 -4.06362968e-06 9.99999981e-01 7.74031789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.322755096 meters 0.0181157926352165 Centerline is valid? [True, True] Translation: X:42.26, Y:353.46, Z:7.74 [[-4.23619898e-01 -9.05840037e-01 9.40018588e-05 4.22584153e+01] [ 9.05840012e-01 -4.23619909e-01 -2.11564536e-04 3.53459798e+02] [ 2.31464686e-04 -4.47230221e-06 9.99999973e-01 7.74025350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.352755096 meters 0.01808266417150412 Centerline is valid? [True, True] Translation: X:42.25, Y:353.48, Z:7.74 [[-4.24149769e-01 -9.05592006e-01 -3.02459226e-04 4.22478093e+01] [ 9.05591768e-01 -4.24149877e-01 6.57378745e-04 3.53483643e+02] [-7.23604980e-04 4.92245740e-06 9.99999738e-01 7.74017568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.382755096 meters 0.018132235544687212 Centerline is valid? [True, True] Translation: X:42.24, Y:353.51, Z:7.74 [[-4.24552430e-01 -9.05403327e-01 -2.20951061e-04 4.22375880e+01] [ 9.05403201e-01 -4.24552488e-01 4.78088450e-04 3.53507285e+02] [-5.26668196e-04 2.92381587e-06 9.99999861e-01 7.74023786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4127550960001 meters 0.018010886515432187 Centerline is valid? [True, True] Translation: X:42.23, Y:353.53, Z:7.74 [[-4.24816637e-01 -9.05279179e-01 -6.58083765e-04 4.22261886e+01] [ 9.05278043e-01 -4.24817147e-01 1.43391733e-03 3.53532585e+02] [-1.57766077e-03 1.34031551e-05 9.99998755e-01 7.73979548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.442755096 meters 0.01808490984614515 Centerline is valid? [True, True] Translation: X:42.22, Y:353.56, Z:7.74 [[-4.25258387e-01 -9.05071769e-01 -6.30364450e-04 4.22153307e+01] [ 9.05070730e-01 -4.25258854e-01 1.37172815e-03 3.53556249e+02] [-1.50958049e-03 1.28144884e-05 9.99998861e-01 7.73951726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.472755096 meters 0.01818038022725766 Centerline is valid? [True, True] Translation: X:42.21, Y:353.58, Z:7.74 [[-4.26140984e-01 -9.04656607e-01 -5.33733373e-04 4.22061828e+01] [ 9.04655863e-01 -4.26141318e-01 1.16022116e-03 3.53579480e+02] [-1.27704758e-03 1.15727608e-05 9.99999185e-01 7.73923338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.502755096 meters 0.0186488735076976 Centerline is valid? [True, True] Translation: X:42.20, Y:353.60, Z:7.74 [[-4.26767855e-01 -9.04360994e-01 -6.25156980e-04 4.21970895e+01] [ 9.04359976e-01 -4.26768312e-01 1.35727519e-03 3.53603833e+02] [-1.49426392e-03 1.38744681e-05 9.99998884e-01 7.73982324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5327550960001 meters 0.018831585254706112 Centerline is valid? [True, True] Translation: X:42.19, Y:353.63, Z:7.74 [[-4.27435954e-01 -9.04045378e-01 -6.78597672e-04 4.21872659e+01] [ 9.04044176e-01 -4.27436493e-01 1.47408870e-03 3.53627421e+02] [-1.62270048e-03 1.65962359e-05 9.99998683e-01 7.74034348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.562755096 meters 0.018901928702289003 Centerline is valid? [True, True] Translation: X:42.18, Y:353.65, Z:7.74 [[-4.29015099e-01 -9.03297017e-01 -7.38156743e-04 4.21768670e+01] [ 9.03295598e-01 -4.29015733e-01 1.60095072e-03 3.53652156e+02] [-1.76281486e-03 2.00582939e-05 9.99998446e-01 7.73919432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.592755096 meters 0.019475986787602182 Centerline is valid? [True, True] Translation: X:42.17, Y:353.68, Z:7.74 [[-4.30854612e-01 -9.02421110e-01 -6.66297691e-04 4.21680479e+01] [ 9.02419956e-01 -4.30855127e-01 1.44351031e-03 3.53676808e+02] [-1.58973195e-03 2.06627419e-05 9.99998736e-01 7.73868630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.622755096 meters 0.019270835128786138 Centerline is valid? [True, True] Translation: X:42.16, Y:353.70, Z:7.74 [[-4.31571921e-01 -9.02078454e-01 -3.74387244e-04 4.21563661e+01] [ 9.02078092e-01 -4.31572083e-01 8.07824818e-04 3.53701001e+02] [-8.90296446e-04 1.09079775e-05 9.99999604e-01 7.73786597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.652755096 meters 0.019732033325700785 Centerline is valid? [True, True] Translation: X:42.15, Y:353.72, Z:7.74 [[-4.31679809e-01 -9.02026780e-01 -4.80541705e-04 4.21456926e+01] [ 9.02026184e-01 -4.31680077e-01 1.03699393e-03 3.53723669e+02] [-1.14283658e-03 1.41881422e-05 9.99999347e-01 7.73804912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.682755096 meters 0.018938081593882303 Centerline is valid? [True, True] Translation: X:42.13, Y:353.75, Z:7.74 [[-4.30944884e-01 -9.02378183e-01 -3.49999323e-04 4.21308383e+01] [ 9.02377868e-01 -4.30945026e-01 7.53270767e-04 3.53746396e+02] [-8.30565573e-04 8.78654049e-06 9.99999655e-01 7.73645267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.712755096 meters 0.01898415754039263 Centerline is valid? [True, True] Translation: X:42.12, Y:353.77, Z:7.74 [[-4.30445227e-01 -9.02616608e-01 -4.07857026e-04 4.21185568e+01] [ 9.02616181e-01 -4.30445420e-01 8.77477489e-04 3.53768928e+02] [-9.67585943e-04 9.56764633e-06 9.99999532e-01 7.73613059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.742755096 meters 0.0190145726567206 Centerline is valid? [True, True] Translation: X:42.11, Y:353.79, Z:7.73 [[-4.30315379e-01 -9.02678497e-01 4.53477866e-04 4.21074578e+01] [ 9.02677959e-01 -4.30315618e-01 -9.85407183e-04 3.53792362e+02] [ 1.08464448e-03 -1.46913905e-05 9.99999412e-01 7.73413688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.772755096 meters 0.01898031440172077 Centerline is valid? [True, True] Translation: X:42.10, Y:353.82, Z:7.73 [[-4.30555264e-01 -9.02563790e-01 8.76963379e-04 4.20964061e+01] [ 9.02561793e-01 -4.30556156e-01 -1.89911961e-03 3.53816532e+02] [ 2.09165858e-03 -2.61623061e-05 9.99997812e-01 7.73327896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.802755096 meters 0.01869846389756711 Centerline is valid? [True, True] Translation: X:42.08, Y:353.84, Z:7.73 [[-4.30809578e-01 -9.02442227e-01 1.06513915e-03 4.20840921e+01] [ 9.02439288e-01 -4.30810894e-01 -2.30351228e-03 3.53840388e+02] [ 2.53766030e-03 -3.11517441e-05 9.99996780e-01 7.73215465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.832755096 meters 0.01864824583034978 Centerline is valid? [True, True] Translation: X:42.07, Y:353.86, Z:7.73 [[-4.31284135e-01 -9.02215436e-01 1.14083741e-03 4.20719680e+01] [ 9.02212071e-01 -4.31285643e-01 -2.46441911e-03 3.53864326e+02] [ 2.71546376e-03 -3.35875896e-05 9.99996313e-01 7.73237619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.862755096 meters 0.019046935532308965 Centerline is valid? [True, True] Translation: X:42.06, Y:353.89, Z:7.73 [[-4.30522480e-01 -9.02579151e-01 1.12720565e-03 4.20602006e+01] [ 9.02575873e-01 -4.30523955e-01 -2.43264807e-03 3.53886993e+02] [ 2.68094647e-03 -2.99210542e-05 9.99996406e-01 7.73245514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.892755096 meters 0.01841502665427601 Centerline is valid? [True, True] Translation: X:42.05, Y:353.91, Z:7.73 [[-4.30538180e-01 -9.02571571e-01 1.19792980e-03 4.20459795e+01] [ 9.02567878e-01 -4.30539845e-01 -2.58207090e-03 3.53909036e+02] [ 2.84626030e-03 -3.04671464e-05 9.99995949e-01 7.73173770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9227550960001 meters 0.018501634662100214 Centerline is valid? [True, True] Translation: X:42.03, Y:353.93, Z:7.73 [[-4.31019292e-01 -9.02341696e-01 1.35415746e-03 4.20333318e+01] [ 9.02336987e-01 -4.31021418e-01 -2.91525398e-03 3.53932705e+02] [ 3.21422609e-03 -3.46243419e-05 9.99994834e-01 7.73102867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.952755096 meters 0.019060919897380797 Centerline is valid? [True, True] Translation: X:42.02, Y:353.96, Z:7.73 [[-4.32355317e-01 -9.01702027e-01 1.52816970e-03 4.20234175e+01] [ 9.01696040e-01 -4.32358016e-01 -3.28596830e-03 3.53956483e+02] [ 3.62368069e-03 -4.27612962e-05 9.99993434e-01 7.73136852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.982755096 meters 0.019454667568700186 Centerline is valid? [True, True] Translation: X:42.01, Y:353.98, Z:7.73 [[-4.33821101e-01 -9.00998288e-01 1.15661386e-03 4.20130350e+01] [ 9.00994860e-01 -4.33822642e-01 -2.48548065e-03 3.53980340e+02] [ 2.74117909e-03 -3.61508101e-05 9.99996242e-01 7.73205773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.012755096 meters 0.020615103565665812 Centerline is valid? [True, True] Translation: X:42.00, Y:354.01, Z:7.73 [[-4.37364529e-01 -8.99283920e-01 8.36678589e-04 4.20039083e+01] [ 8.99282124e-01 -4.37365328e-01 -1.79740316e-03 3.54005724e+02] [ 1.98230996e-03 -3.37102877e-05 9.99998035e-01 7.73325461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0427550960001 meters 0.021178404086085904 Centerline is valid? [True, True] Translation: X:41.99, Y:354.03, Z:7.73 [[-4.38982277e-01 -8.98495635e-01 3.92093289e-04 4.19921777e+01] [ 8.98495239e-01 -4.38982452e-01 -8.43744174e-04 3.54030758e+02] [ 9.30222531e-04 -1.80947848e-05 9.99999567e-01 7.73429805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.072755096 meters 0.021664987878226637 Centerline is valid? [True, True] Translation: X:41.98, Y:354.05, Z:7.74 [[-4.40065929e-01 -8.97965438e-01 2.26646965e-04 4.19803374e+01] [ 8.97965304e-01 -4.40065987e-01 -4.89513324e-04 3.54054786e+02] [ 5.39305667e-04 -1.18970244e-05 9.99999855e-01 7.73508217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.102755096 meters 0.02224610666289944 Centerline is valid? [True, True] Translation: X:41.97, Y:354.08, Z:7.74 [[-4.41345741e-01 -8.97337120e-01 -1.74210552e-04 4.19677067e+01] [ 8.97337045e-01 -4.41345775e-01 3.67986104e-04 3.54079367e+02] [-4.07094682e-04 6.08351801e-06 9.99999917e-01 7.73591066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.132755096 meters 0.022121026897228228 Centerline is valid? [True, True] Translation: X:41.95, Y:354.10, Z:7.74 [[-4.40735910e-01 -8.97636803e-01 -1.69435085e-04 4.19546432e+01] [ 8.97636732e-01 -4.40735942e-01 3.56746315e-04 3.54101447e+02] [-3.94904753e-04 5.13975592e-06 9.99999922e-01 7.73615101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1627550960001 meters 0.02073959726123051 Centerline is valid? [True, True] Translation: X:41.94, Y:354.12, Z:7.74 [[-4.40348012e-01 -8.97827158e-01 -1.53177115e-04 4.19398127e+01] [ 8.97827100e-01 -4.40348038e-01 3.21621797e-04 3.54123968e+02] [-3.56212026e-04 4.09895352e-06 9.99999937e-01 7.73556051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.192755096 meters 0.02194208443546054 Centerline is valid? [True, True] Translation: X:41.93, Y:354.15, Z:7.74 [[-4.40289436e-01 -8.97855894e-01 -8.13471961e-05 4.19303068e+01] [ 8.97855878e-01 -4.40289443e-01 1.68048401e-04 3.54147564e+02] [-1.86699559e-04 9.51877346e-07 9.99999983e-01 7.73641402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.222755096 meters 0.021595922403252674 Centerline is valid? [True, True] Translation: X:41.92, Y:354.17, Z:7.74 [[-4.40027360e-01 -8.97984225e-01 5.03821071e-04 4.19174021e+01] [ 8.97983579e-01 -4.40027648e-01 -1.07722748e-03 3.54169663e+02] [ 1.18902848e-03 -2.15865139e-05 9.99999293e-01 7.73500359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.252755096 meters 0.02201285373169897 Centerline is valid? [True, True] Translation: X:41.91, Y:354.19, Z:7.73 [[-4.40888263e-01 -8.97561479e-01 9.65229011e-04 4.19071084e+01] [ 8.97559123e-01 -4.40889318e-01 -2.05660819e-03 3.54191453e+02] [ 2.27149145e-03 -4.03843065e-05 9.99997419e-01 7.73380735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2827550960001 meters 0.022604016148800594 Centerline is valid? [True, True] Translation: X:41.90, Y:354.21, Z:7.73 [[-4.42194544e-01 -8.96918471e-01 1.11439692e-03 4.18966643e+01] [ 8.96915336e-01 -4.42195945e-01 -2.37198986e-03 3.54214772e+02] [ 2.62026332e-03 -4.93612876e-05 9.99996566e-01 7.73353817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.312755096 meters 0.023116832175262243 Centerline is valid? [True, True] Translation: X:41.89, Y:354.24, Z:7.73 [[-4.43206428e-01 -8.96418693e-01 1.26079247e-03 4.18867056e+01] [ 8.96414688e-01 -4.43208218e-01 -2.67992397e-03 3.54237291e+02] [ 2.96112753e-03 -5.75666465e-05 9.99995614e-01 7.73345888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.342755096 meters 0.024663245980667478 Centerline is valid? [True, True] Translation: X:41.88, Y:354.26, Z:7.73 [[-4.46024301e-01 -8.95019038e-01 1.80115904e-03 4.18786308e+01] [ 8.95010876e-01 -4.46027928e-01 -3.82346343e-03 3.54261188e+02] [ 4.22543979e-03 -9.33006686e-05 9.99991068e-01 7.73271758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.372755096 meters 0.023206959420729634 Centerline is valid? [True, True] Translation: X:41.87, Y:354.29, Z:7.73 [[-4.49352932e-01 -8.93351656e-01 2.18216208e-03 4.18662536e+01] [ 8.93339683e-01 -4.49358212e-01 -4.62688905e-03 3.54285487e+02] [ 5.11401144e-03 -1.29694178e-04 9.99986915e-01 7.73277321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.402755096 meters 0.02386433842186831 Centerline is valid? [True, True] Translation: X:41.86, Y:354.31, Z:7.73 [[-4.51246837e-01 -8.92395811e-01 2.45122935e-03 4.18562752e+01] [ 8.92380721e-01 -4.51253468e-01 -5.19204188e-03 3.54311120e+02] [ 5.73948217e-03 -1.55462663e-04 9.99983517e-01 7.73309621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.432755096 meters 0.024546678926790806 Centerline is valid? [True, True] Translation: X:41.85, Y:354.34, Z:7.73 [[-4.53038067e-01 -8.91487220e-01 2.65450683e-03 4.18465107e+01] [ 8.91469542e-01 -4.53045808e-01 -5.61700053e-03 3.54336112e+02] [ 6.21009738e-03 -1.78303068e-04 9.99980701e-01 7.73354207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.462755096 meters 0.026294247008508374 Centerline is valid? [True, True] Translation: X:41.84, Y:354.36, Z:7.73 [[-4.56372621e-01 -8.89784300e-01 2.81605978e-03 4.18388053e+01] [ 8.89764412e-01 -4.56381261e-01 -5.95275805e-03 3.54360876e+02] [ 6.58186757e-03 -2.11046019e-04 9.99978317e-01 7.73364379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.492755096 meters 0.02718601592137002 Centerline is valid? [True, True] Translation: X:41.83, Y:354.39, Z:7.73 [[-4.58054437e-01 -8.88919411e-01 2.90067039e-03 4.18282526e+01] [ 8.88898334e-01 -4.58063565e-01 -6.12562485e-03 3.54385786e+02] [ 6.77387825e-03 -2.27468571e-04 9.99977031e-01 7.73423495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.522755096 meters 0.028209943155460812 Centerline is valid? [True, True] Translation: X:41.82, Y:354.41, Z:7.73 [[-4.59524982e-01 -8.88159723e-01 3.01621163e-03 4.18185593e+01] [ 8.88136959e-01 -4.59534816e-01 -6.36362831e-03 3.54409960e+02] [ 7.03797261e-03 -2.45437168e-04 9.99975203e-01 7.73436452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.552755096 meters 0.028488269413517096 Centerline is valid? [True, True] Translation: X:41.81, Y:354.43, Z:7.73 [[-4.59620243e-01 -8.88109892e-01 3.17037711e-03 4.18081645e+01] [ 8.88084787e-01 -4.59631106e-01 -6.68260223e-03 3.54432681e+02] [ 7.39208908e-03 -2.55895578e-04 9.99972645e-01 7.73409090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.582755096 meters 0.028308059615014404 Centerline is valid? [True, True] Translation: X:41.80, Y:354.46, Z:7.73 [[-4.59246017e-01 -8.88303608e-01 3.12970723e-03 4.17965372e+01] [ 8.88279188e-01 -4.59256615e-01 -6.59138330e-03 3.54456917e+02] [ 7.29248832e-03 -2.47012733e-04 9.99973379e-01 7.73444719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.612755096 meters 0.028015529152804888 Centerline is valid? [True, True] Translation: X:41.79, Y:354.48, Z:7.74 [[-4.57768344e-01 -8.89066067e-01 3.10983150e-03 4.17850856e+01] [ 8.89042018e-01 -4.57778849e-01 -6.54330518e-03 3.54481032e+02] [ 7.24104568e-03 -2.30547108e-04 9.99973757e-01 7.73555489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.642755096 meters 0.026916440061195965 Centerline is valid? [True, True] Translation: X:41.77, Y:354.50, Z:7.74 [[-4.55810466e-01 -8.90070125e-01 3.46286351e-03 4.17717991e+01] [ 8.90040390e-01 -4.55823558e-01 -7.27927364e-03 3.54504927e+02] [ 8.05751877e-03 -2.35880716e-04 9.99967510e-01 7.73578626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6727550960001 meters 0.02623743749996354 Centerline is valid? [True, True] Translation: X:41.76, Y:354.53, Z:7.74 [[-4.54851874e-01 -8.90559364e-01 3.71381831e-03 4.17589187e+01] [ 8.90525239e-01 -4.54866972e-01 -7.79974674e-03 3.54529066e+02] [ 8.63543078e-03 -2.40480483e-04 9.99962685e-01 7.73574925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.702755096 meters 0.02623743749996354 Centerline is valid? [True, True] Translation: X:41.75, Y:354.55, Z:7.74 [[-4.55183597e-01 -8.90389848e-01 3.71654095e-03 4.17475215e+01] [ 8.90355728e-01 -4.55198705e-01 -7.79844941e-03 3.54552376e+02] [ 8.63542482e-03 -2.40682725e-04 9.99962685e-01 7.73588894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.732755096 meters 0.02582396774113337 Centerline is valid? [True, True] Translation: X:41.74, Y:354.57, Z:7.74 [[-4.53750655e-01 -8.91120016e-01 3.93196321e-03 4.17358222e+01] [ 8.91081929e-01 -4.53767630e-01 -8.24216315e-03 3.54574612e+02] [ 9.12895419e-03 -2.36185569e-04 9.99958302e-01 7.73537608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.762755096 meters 0.02434913839923152 Centerline is valid? [True, True] Translation: X:41.72, Y:354.60, Z:7.73 [[-4.50620655e-01 -8.92705191e-01 4.29731182e-03 4.17213940e+01] [ 8.92659853e-01 -4.50641092e-01 -8.99958722e-03 3.54595734e+02] [ 9.97052352e-03 -2.19362156e-04 9.99950269e-01 7.73482314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7927550960001 meters 0.023917645070430243 Centerline is valid? [True, True] Translation: X:41.71, Y:354.62, Z:7.73 [[-4.49503563e-01 -8.93267772e-01 4.38571469e-03 4.17087713e+01] [ 8.93220658e-01 -4.49524910e-01 -9.17665140e-03 3.54617439e+02] [ 1.01686950e-02 -2.07526544e-04 9.99948276e-01 7.73472296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.822755096 meters 0.023483896349068854 Centerline is valid? [True, True] Translation: X:41.70, Y:354.64, Z:7.73 [[-4.48135328e-01 -8.93954044e-01 4.57117188e-03 4.16956483e+01] [ 8.93902999e-01 -4.48158598e-01 -9.55506001e-03 3.54639184e+02] [ 1.05903945e-02 -1.95775693e-04 9.99943901e-01 7.73437993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.852755096 meters 0.023457249544918103 Centerline is valid? [True, True] Translation: X:41.68, Y:354.66, Z:7.73 [[-4.48069633e-01 -8.93985864e-01 4.78315724e-03 4.16833736e+01] [ 8.93930088e-01 -4.48095118e-01 -9.98814423e-03 3.54662062e+02] [ 1.10725692e-02 -1.99575946e-04 9.99938677e-01 7.73453128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.882755096 meters 0.023315843873774587 Centerline is valid? [True, True] Translation: X:41.67, Y:354.69, Z:7.74 [[-4.48796725e-01 -8.93620490e-01 4.89069019e-03 4.16696549e+01] [ 8.93562269e-01 -4.48823324e-01 -1.02027007e-02 3.54685172e+02] [ 1.13123983e-02 -2.08802455e-04 9.99935991e-01 7.73515450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9127550960001 meters 0.022967623399764905 Centerline is valid? [True, True] Translation: X:41.66, Y:354.71, Z:7.74 [[-4.49893673e-01 -8.93068614e-01 4.91267847e-03 4.16569029e+01] [ 8.93009947e-01 -4.49920441e-01 -1.02386839e-02 3.54708082e+02] [ 1.13541617e-02 -2.19248373e-04 9.99935515e-01 7.73562994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.942755096 meters 0.024698340813138566 Centerline is valid? [True, True] Translation: X:41.65, Y:354.73, Z:7.74 [[-4.52083285e-01 -8.91962653e-01 4.82993404e-03 4.16463671e+01] [ 8.91905990e-01 -4.52109022e-01 -1.00567297e-02 3.54731983e+02] [ 1.11538840e-02 -2.38632281e-04 9.99937765e-01 7.73583812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.972755096 meters 0.025070471693297635 Centerline is valid? [True, True] Translation: X:41.63, Y:354.76, Z:7.74 [[-4.55172493e-01 -8.90391845e-01 4.51266683e-03 4.16323785e+01] [ 8.90342391e-01 -4.55194791e-01 -9.38768970e-03 3.54755066e+02] [ 1.04128648e-02 -2.55199547e-04 9.99945752e-01 7.73662391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.002755096 meters 0.02557394754029928 Centerline is valid? [True, True] Translation: X:41.62, Y:354.78, Z:7.74 [[-4.56744373e-01 -8.89586462e-01 4.52825684e-03 4.16202077e+01] [ 8.89536716e-01 -4.56766739e-01 -9.41153321e-03 3.54779890e+02] [ 1.04407296e-02 -2.70614117e-04 9.99945458e-01 7.73677139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0327550960001 meters 0.02640104719796633 Centerline is valid? [True, True] Translation: X:41.61, Y:354.80, Z:7.74 [[-4.58528480e-01 -8.88668515e-01 4.46148520e-03 4.16088671e+01] [ 8.88620265e-01 -4.58550097e-01 -9.26464701e-03 3.54804705e+02] [ 1.02790146e-02 -2.83538353e-04 9.99947129e-01 7.73690817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.062755096 meters 0.028176162919734248 Centerline is valid? [True, True] Translation: X:41.60, Y:354.83, Z:7.74 [[-4.61184307e-01 -8.87290494e-01 4.96121898e-03 4.15993630e+01] [ 8.87230847e-01 -4.61210862e-01 -1.02939414e-02 3.54829142e+02] [ 1.14218844e-02 -3.45657706e-04 9.99934708e-01 7.73674252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.092755096 meters 0.028355128857455916 Centerline is valid? [True, True] Translation: X:41.59, Y:354.85, Z:7.74 [[-4.62205023e-01 -8.86758247e-01 5.13107697e-03 4.15873849e+01] [ 8.86694512e-01 -4.62233357e-01 -1.06379513e-02 3.54854047e+02] [ 1.18050460e-02 -3.67216726e-04 9.99930251e-01 7.73642743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.122755096 meters 0.029774974028089093 Centerline is valid? [True, True] Translation: X:41.58, Y:354.88, Z:7.74 [[-4.63153020e-01 -8.86260710e-01 5.58874453e-03 4.15772720e+01] [ 8.86185183e-01 -4.63186557e-01 -1.15773928e-02 3.54877738e+02] [ 1.28492197e-02 -4.09441838e-04 9.99917362e-01 7.73517003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.152755096 meters 0.02935908707026988 Centerline is valid? [True, True] Translation: X:41.56, Y:354.90, Z:7.74 [[-4.63988337e-01 -8.85823179e-01 5.66735815e-03 4.15642149e+01] [ 8.85745610e-01 -4.64022755e-01 -1.17301469e-02 3.54900496e+02] [ 1.30206191e-02 -4.22813743e-04 9.99915139e-01 7.73554245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.182755096 meters 0.029738360846761513 Centerline is valid? [True, True] Translation: X:41.55, Y:354.92, Z:7.74 [[-4.64302466e-01 -8.85658067e-01 5.74531088e-03 4.15523845e+01] [ 8.85578492e-01 -4.64337814e-01 -1.18798036e-02 3.54922838e+02] [ 1.31892090e-02 -4.27898371e-04 9.99912927e-01 7.73517436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.212755096 meters 0.03072909328840462 Centerline is valid? [True, True] Translation: X:41.54, Y:354.95, Z:7.73 [[-4.64115591e-01 -8.85753135e-01 6.17260798e-03 4.15406227e+01] [ 8.85661475e-01 -4.64156418e-01 -1.27503869e-02 3.54945444e+02] [ 1.41587508e-02 -4.50812277e-04 9.99899658e-01 7.73430930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.242755096 meters 0.030408032627805465 Centerline is valid? [True, True] Translation: X:41.53, Y:354.97, Z:7.73 [[-4.64213063e-01 -8.85701449e-01 6.25900461e-03 4.15279227e+01] [ 8.85607386e-01 -4.64255036e-01 -1.29158578e-02 3.54968089e+02] [ 1.43453684e-02 -4.52689216e-04 9.99896997e-01 7.73463182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.272755096 meters 0.03002553186379501 Centerline is valid? [True, True] Translation: X:41.52, Y:354.99, Z:7.74 [[-4.63721379e-01 -8.85958269e-01 6.35835460e-03 4.15165401e+01] [ 8.85861414e-01 -4.63764754e-01 -1.31075873e-02 3.54991148e+02] [ 1.45615561e-02 -4.45647451e-04 9.99893876e-01 7.73591596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.302755096 meters 0.028182379065766927 Centerline is valid? [True, True] Translation: X:41.50, Y:355.01, Z:7.74 [[-4.63756961e-01 -8.85939874e-01 6.32622300e-03 4.15026364e+01] [ 8.85844178e-01 -4.63799901e-01 -1.30286161e-02 3.55014131e+02] [ 1.44766721e-02 -4.38063610e-04 9.99895112e-01 7.73767682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.332755096 meters 0.027782042749757353 Centerline is valid? [True, True] Translation: X:41.49, Y:355.04, Z:7.74 [[-4.63969169e-01 -8.85831580e-01 5.91792852e-03 4.14905784e+01] [ 8.85747986e-01 -4.64006730e-01 -1.21762357e-02 3.55038050e+02] [ 1.35320528e-02 -4.07604711e-04 9.99908355e-01 7.74002494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.362755096 meters 0.030415423893313132 Centerline is valid? [True, True] Translation: X:41.48, Y:355.06, Z:7.74 [[-4.64455567e-01 -8.85577720e-01 5.75575835e-03 4.14825236e+01] [ 8.85498778e-01 -4.64491059e-01 -1.18308869e-02 3.55062939e+02] [ 1.31506681e-02 -3.98204287e-04 9.99913447e-01 7.73913315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.392755096 meters 0.028606773457043624 Centerline is valid? [True, True] Translation: X:41.47, Y:355.08, Z:7.74 [[-4.64641382e-01 -8.85478553e-01 6.00992658e-03 4.14671890e+01] [ 8.85392645e-01 -4.64680065e-01 -1.23410862e-02 3.55084380e+02] [ 1.37204602e-02 -4.13034562e-04 9.99905785e-01 7.73940468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4227550960001 meters 0.02751798981223566 Centerline is valid? [True, True] Translation: X:41.45, Y:355.11, Z:7.74 [[-4.64960431e-01 -8.85309999e-01 6.16461606e-03 4.14537139e+01] [ 8.85219771e-01 -4.65001103e-01 -1.26463692e-02 3.55107635e+02] [ 1.40625104e-02 -4.23021275e-04 9.99901029e-01 7.73971054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.452755096 meters 0.027392056393834494 Centerline is valid? [True, True] Translation: X:41.44, Y:355.13, Z:7.74 [[-4.65569070e-01 -8.84990761e-01 6.06588428e-03 4.14416585e+01] [ 8.84903541e-01 -4.65608395e-01 -1.24316458e-02 3.55130965e+02] [ 1.38262183e-02 -4.20067297e-04 9.99904325e-01 7.74097030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.482755096 meters 0.027346309969938004 Centerline is valid? [True, True] Translation: X:41.43, Y:355.15, Z:7.74 [[-4.66025968e-01 -8.84750726e-01 5.99590522e-03 4.14294035e+01] [ 8.84665653e-01 -4.66064352e-01 -1.22761211e-02 3.55154690e+02] [ 1.36557848e-02 -4.16619830e-04 9.99906669e-01 7.74189956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.512755096 meters 0.027911851905364615 Centerline is valid? [True, True] Translation: X:41.42, Y:355.18, Z:7.74 [[-4.66549041e-01 -8.84476708e-01 5.73987372e-03 4.14190606e+01] [ 8.84398878e-01 -4.66584176e-01 -1.17402063e-02 3.55177700e+02] [ 1.30620733e-02 -4.01044111e-04 9.99914607e-01 7.74255899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5427550960001 meters 0.028106162681462883 Centerline is valid? [True, True] Translation: X:41.41, Y:355.20, Z:7.74 [[-4.66866901e-01 -8.84310144e-01 5.55573713e-03 4.14076313e+01] [ 8.84237357e-01 -4.66899796e-01 -1.13524172e-02 3.55200994e+02] [ 1.26330302e-02 -3.87477514e-04 9.99920125e-01 7.74398979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.572755096 meters 0.028289024222327253 Centerline is valid? [True, True] Translation: X:41.40, Y:355.22, Z:7.74 [[-4.66908356e-01 -8.84289637e-01 5.33152194e-03 4.13957117e+01] [ 8.84222731e-01 -4.66938650e-01 -1.08839205e-02 3.55224922e+02] [ 1.21140317e-02 -3.67540523e-04 9.99926555e-01 7.74407982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.602755096 meters 0.027911087791665668 Centerline is valid? [True, True] Translation: X:41.38, Y:355.25, Z:7.75 [[-4.66784422e-01 -8.84355262e-01 5.29859046e-03 4.13828648e+01] [ 8.84289309e-01 -4.66814356e-01 -1.08062445e-02 3.55248344e+02] [ 1.20300173e-02 -3.58699709e-04 9.99927572e-01 7.74586408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.632755096 meters 0.028317958782558432 Centerline is valid? [True, True] Translation: X:41.37, Y:355.27, Z:7.75 [[-4.66650460e-01 -8.84426820e-01 5.15247377e-03 4.13720237e+01] [ 8.84364564e-01 -4.66678779e-01 -1.04992928e-02 3.55271396e+02] [ 1.16904063e-02 -3.42834593e-04 9.99931606e-01 7.74709349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6627550960001 meters 0.026803407305331973 Centerline is valid? [True, True] Translation: X:41.36, Y:355.29, Z:7.75 [[-4.65422303e-01 -8.85074194e-01 5.07456228e-03 4.13571408e+01] [ 8.85013943e-01 -4.65449858e-01 -1.03319630e-02 3.55294635e+02] [ 1.15065081e-02 -3.17667637e-04 9.99933748e-01 7.74903055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.692755096 meters 0.026932516840422163 Centerline is valid? [True, True] Translation: X:41.35, Y:355.32, Z:7.75 [[-4.64523069e-01 -8.85545302e-01 5.27602303e-03 4.13458210e+01] [ 8.85480312e-01 -4.64552925e-01 -1.07330291e-02 3.55317173e+02] [ 1.19555755e-02 -3.13925127e-04 9.99928480e-01 7.74942765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.722755096 meters 0.025942185652324472 Centerline is valid? [True, True] Translation: X:41.33, Y:355.34, Z:7.75 [[-4.63358870e-01 -8.86152847e-01 5.62941630e-03 4.13314779e+01] [ 8.86079029e-01 -4.63392959e-01 -1.14420225e-02 3.55340490e+02] [ 1.27480127e-02 -3.13654896e-04 9.99918692e-01 7.74999626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.752755096 meters 0.026044560409489086 Centerline is valid? [True, True] Translation: X:41.32, Y:355.36, Z:7.75 [[-4.60012753e-01 -8.87892279e-01 5.96391171e-03 4.13195646e+01] [ 8.87809725e-01 -4.60051329e-01 -1.21106038e-02 3.55363533e+02] [ 1.34966171e-02 -2.76213380e-04 9.99908878e-01 7.74909226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7827550960001 meters 0.02384368269887477 Centerline is valid? [True, True] Translation: X:41.30, Y:355.39, Z:7.75 [[-4.56436431e-01 -8.89733618e-01 6.31457741e-03 4.13021543e+01] [ 8.89641407e-01 -4.56480051e-01 -1.28113284e-02 3.55385814e+02] [ 1.42811482e-02 -2.29847477e-04 9.99897993e-01 7.75029615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.812755096 meters 0.023642960891568032 Centerline is valid? [True, True] Translation: X:41.29, Y:355.41, Z:7.75 [[-4.55048307e-01 -8.90444689e-01 6.26847409e-03 4.12898896e+01] [ 8.90354057e-01 -4.55091436e-01 -1.27058411e-02 3.55408441e+02] [ 1.41665776e-02 -2.00610136e-04 9.99899629e-01 7.75059470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.842755096 meters 0.02314478855564521 Centerline is valid? [True, True] Translation: X:41.28, Y:355.43, Z:7.75 [[-4.53689120e-01 -8.91137137e-01 6.38631424e-03 4.12764872e+01] [ 8.91043318e-01 -4.53734031e-01 -1.29319249e-02 3.55431688e+02] [ 1.44218067e-02 -1.76591008e-04 9.99895985e-01 7.75180858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.872755096 meters 0.022603494059452486 Centerline is valid? [True, True] Translation: X:41.26, Y:355.45, Z:7.75 [[-4.51643243e-01 -8.92177659e-01 6.11609640e-03 4.12635238e+01] [ 8.92091846e-01 -4.51684634e-01 -1.23745552e-02 3.55453160e+02] [ 1.38028485e-02 -1.32764518e-04 9.99904727e-01 7.75357840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.902755096 meters 0.022375184481742354 Centerline is valid? [True, True] Translation: X:41.25, Y:355.48, Z:7.75 [[-4.51097506e-01 -8.92454770e-01 5.96016922e-03 4.12504782e+01] [ 8.92373442e-01 -4.51136864e-01 -1.20486273e-02 3.55476415e+02] [ 1.34417069e-02 -1.16409001e-04 9.99909649e-01 7.75437875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.932755096 meters 0.02228093831371576 Centerline is valid? [True, True] Translation: X:41.24, Y:355.50, Z:7.76 [[-4.50626357e-01 -8.92695040e-01 5.60827546e-03 4.12387157e+01] [ 8.92623187e-01 -4.50661244e-01 -1.13265228e-02 3.55498568e+02] [ 1.26385631e-02 -9.79529736e-05 9.99920125e-01 7.75603243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.962755096 meters 0.022299502765136647 Centerline is valid? [True, True] Translation: X:41.23, Y:355.52, Z:7.76 [[-4.51060847e-01 -8.92476617e-01 5.44074101e-03 4.12268003e+01] [ 8.92409104e-01 -4.51093649e-01 -1.09777950e-02 3.55522695e+02] [ 1.22517090e-02 -9.62866800e-05 9.99924940e-01 7.75647273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.992755096 meters 0.02257812853471211 Centerline is valid? [True, True] Translation: X:41.22, Y:355.55, Z:7.76 [[-4.53311273e-01 -8.91338541e-01 4.94930296e-03 4.12170259e+01] [ 8.91282707e-01 -4.53338277e-01 -9.97712198e-03 3.55546076e+02] [ 1.11367018e-02 -1.11513731e-04 9.99937979e-01 7.75742248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.022755096 meters 0.02303918335483824 Centerline is valid? [True, True] Translation: X:41.21, Y:355.57, Z:7.76 [[-4.55238292e-01 -8.90354689e-01 5.16002457e-03 4.12083585e+01] [ 8.90294052e-01 -4.55267514e-01 -1.03919236e-02 3.55571622e+02] [ 1.16016894e-02 -1.36862353e-04 9.99932689e-01 7.75823810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.052755096 meters 0.023399724598750896 Centerline is valid? [True, True] Translation: X:41.20, Y:355.59, Z:7.76 [[-4.56456633e-01 -8.89730157e-01 5.25272076e-03 4.11987299e+01] [ 8.89667404e-01 -4.56486830e-01 -1.05681102e-02 3.55593992e+02] [ 1.18005642e-02 -1.50709567e-04 9.99930360e-01 7.75811601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.082755096 meters 0.022920512088115203 Centerline is valid? [True, True] Translation: X:41.19, Y:355.62, Z:7.76 [[-4.57503737e-01 -8.89190925e-01 5.46163846e-03 4.11858164e+01] [ 8.89123181e-01 -4.57536306e-01 -1.09770959e-02 3.55617385e+02] [ 1.22596319e-02 -1.65993021e-04 9.99924834e-01 7.75858759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.112755096 meters 0.02398880478863446 Centerline is valid? [True, True] Translation: X:41.18, Y:355.64, Z:7.76 [[-4.59614018e-01 -8.88097271e-01 6.17992585e-03 4.11769618e+01] [ 8.88010585e-01 -4.59655513e-01 -1.24101088e-02 3.55642279e+02] [ 1.38620207e-02 -2.16020403e-04 9.99903894e-01 7.75679650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.142755096 meters 0.023840325662778626 Centerline is valid? [True, True] Translation: X:41.16, Y:355.67, Z:7.76 [[-4.61098279e-01 -8.87325102e-01 6.52233226e-03 4.11644746e+01] [ 8.87228623e-01 -4.61144341e-01 -1.30869047e-02 3.55666465e+02] [ 1.46200756e-02 -2.47549341e-04 9.99893090e-01 7.75645225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1727550960001 meters 0.026332376939771356 Centerline is valid? [True, True] Translation: X:41.16, Y:355.69, Z:7.75 [[-4.63353286e-01 -8.86142219e-01 7.46320173e-03 4.11577972e+01] [ 8.86015981e-01 -4.63413277e-01 -1.49604974e-02 3.55692841e+02] [ 1.67156752e-02 -3.19479652e-04 9.99860232e-01 7.75266730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.202755096 meters 0.024660378556043548 Centerline is valid? [True, True] Translation: X:41.14, Y:355.72, Z:7.75 [[-4.64650064e-01 -8.85460985e-01 7.69164738e-03 4.11432553e+01] [ 8.85327049e-01 -4.64713592e-01 -1.54043559e-02 3.55715915e+02] [ 1.72143693e-02 -3.48011496e-04 9.99851761e-01 7.75495296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.232755096 meters 0.025372082002555273 Centerline is valid? [True, True] Translation: X:41.13, Y:355.74, Z:7.75 [[-4.66533556e-01 -8.84466586e-01 8.08080492e-03 4.11342244e+01] [ 8.84318868e-01 -4.66603365e-01 -1.61691027e-02 3.55741767e+02] [ 1.80715618e-02 -3.97420713e-04 9.99836617e-01 7.75470332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.262755096 meters 0.025834340029071506 Centerline is valid? [True, True] Translation: X:41.12, Y:355.77, Z:7.76 [[-4.67948411e-01 -8.83718387e-01 8.13008647e-03 4.11234219e+01] [ 8.83569010e-01 -4.68018841e-01 -1.62532928e-02 3.55766869e+02] [ 1.81683673e-02 -4.22210088e-04 9.99834852e-01 7.75507408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2927550960001 meters 0.02696234230861433 Centerline is valid? [True, True] Translation: X:41.11, Y:355.79, Z:7.75 [[-4.70389308e-01 -8.82421854e-01 8.09749909e-03 4.11142000e+01] [ 8.82273739e-01 -4.70458772e-01 -1.61738597e-02 3.55791169e+02] [ 1.80817067e-02 -4.63799866e-04 9.99836405e-01 7.75474170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.322755096 meters 0.026969672800619657 Centerline is valid? [True, True] Translation: X:41.10, Y:355.82, Z:7.76 [[-4.71901221e-01 -8.81614557e-01 8.06292797e-03 4.11014057e+01] [ 8.81467842e-01 -4.71969847e-01 -1.60905603e-02 3.55815505e+02] [ 1.79911311e-02 -4.85943322e-04 9.99838028e-01 7.75543157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.352755096 meters 0.0302687084123385 Centerline is valid? [True, True] Translation: X:41.09, Y:355.84, Z:7.75 [[-4.72945661e-01 -8.81053212e-01 8.22425247e-03 4.10943370e+01] [ 8.80900742e-01 -4.73016888e-01 -1.63983964e-02 3.55840777e+02] [ 1.83380701e-02 -5.10800319e-04 9.99831713e-01 7.75321540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.382755096 meters 0.02768362159004094 Centerline is valid? [True, True] Translation: X:41.08, Y:355.86, Z:7.76 [[-4.74014168e-01 -8.80478637e-01 8.24249974e-03 4.10782425e+01] [ 8.80325675e-01 -4.74085533e-01 -1.64199121e-02 3.55862597e+02] [ 1.83650317e-02 -5.27186819e-04 9.99831210e-01 7.75611602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4127550960001 meters 0.028066879900253635 Centerline is valid? [True, True] Translation: X:41.07, Y:355.89, Z:7.76 [[-4.73951775e-01 -8.80511658e-01 8.30270239e-03 4.10675679e+01] [ 8.80356763e-01 -4.74024206e-01 -1.65233848e-02 3.55885327e+02] [ 1.84847148e-02 -5.21947355e-04 9.99829007e-01 7.75583172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.442755096 meters 0.027041471992527145 Centerline is valid? [True, True] Translation: X:41.05, Y:355.91, Z:7.76 [[-4.72571177e-01 -8.81249350e-01 8.72154331e-03 4.10524135e+01] [ 8.81078870e-01 -4.72651375e-01 -1.73407794e-02 3.55908533e+02] [ 1.94038000e-02 -5.10385029e-04 9.99811598e-01 7.75553142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.472755096 meters 0.02758976674781396 Centerline is valid? [True, True] Translation: X:41.04, Y:355.93, Z:7.75 [[-4.72080458e-01 -8.81509057e-01 9.04564733e-03 4.10401568e+01] [ 8.81326073e-01 -4.72166838e-01 -1.79674659e-02 3.55930582e+02] [ 2.01095386e-02 -5.09924678e-04 9.99797653e-01 7.75402982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.502755096 meters 0.02831662749585215 Centerline is valid? [True, True] Translation: X:41.03, Y:355.95, Z:7.75 [[-4.70614330e-01 -8.82282881e-01 9.95342404e-03 4.10256513e+01] [ 8.82061928e-01 -4.70719293e-01 -1.97509973e-02 3.55952387e+02] [ 2.21112355e-02 -5.15565978e-04 9.99755384e-01 7.75076102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5327550960001 meters 0.026857623616930736 Centerline is valid? [True, True] Translation: X:41.01, Y:355.97, Z:7.75 [[-4.69774510e-01 -8.82729207e-01 1.00526977e-02 4.10130490e+01] [ 8.82504364e-01 -4.69881801e-01 -1.99283829e-02 3.55974493e+02] [ 2.23149454e-02 -4.90296699e-04 9.99750870e-01 7.75070035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.562755096 meters 0.025805980244129223 Centerline is valid? [True, True] Translation: X:41.00, Y:356.00, Z:7.75 [[-4.69189690e-01 -8.83037375e-01 1.02970547e-02 4.09981429e+01] [ 8.82801992e-01 -4.69302425e-01 -2.03930529e-02 3.55996651e+02] [ 2.28402607e-02 -4.77949753e-04 9.99739013e-01 7.75148897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.592755096 meters 0.025805980244129223 Centerline is valid? [True, True] Translation: X:40.99, Y:356.02, Z:7.75 [[-4.69528082e-01 -8.82857401e-01 1.03048720e-02 4.09862197e+01] [ 8.82622061e-01 -4.69640907e-01 -2.03891034e-02 3.56019692e+02] [ 2.28402603e-02 -4.77949232e-04 9.99739013e-01 7.75162860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.622755096 meters 0.0266711309156276 Centerline is valid? [True, True] Translation: X:40.97, Y:356.04, Z:7.75 [[-4.68386864e-01 -8.83454102e-01 1.10722590e-02 4.09732902e+01] [ 8.83183005e-01 -4.68517475e-01 -2.18896075e-02 3.56041329e+02] [ 2.45260104e-02 -4.73973592e-04 9.99699080e-01 7.74959360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.652755096 meters 0.025335501845314305 Centerline is valid? [True, True] Translation: X:40.96, Y:356.06, Z:7.75 [[-4.67275167e-01 -8.84046509e-01 1.07558836e-02 4.09588797e+01] [ 8.83791270e-01 -4.67398751e-01 -2.12461504e-02 3.56063682e+02] [ 2.38098716e-02 -4.21842426e-04 9.99716416e-01 7.75039083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.682755096 meters 0.02497138143792821 Centerline is valid? [True, True] Translation: X:40.94, Y:356.09, Z:7.75 [[-4.67348729e-01 -8.84005514e-01 1.09277979e-02 4.09442347e+01] [ 8.83742538e-01 -4.67476282e-01 -2.15650860e-02 3.56085671e+02] [ 2.41721413e-02 -4.21055737e-04 9.99707722e-01 7.75183369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.712755096 meters 0.026437642655011234 Centerline is valid? [True, True] Translation: X:40.93, Y:356.11, Z:7.75 [[-4.67649934e-01 -8.83846173e-01 1.09307980e-02 4.09324047e+01] [ 8.83583533e-01 -4.67777476e-01 -2.15493286e-02 3.56108177e+02] [ 2.41594727e-02 -4.19268994e-04 9.99708029e-01 7.75076883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.742755096 meters 0.0263712293927899 Centerline is valid? [True, True] Translation: X:40.92, Y:356.13, Z:7.75 [[-4.67907107e-01 -8.83717520e-01 1.03094489e-02 4.09184626e+01] [ 8.83484308e-01 -4.68020503e-01 -2.03048519e-02 3.56130433e+02] [ 2.27687869e-02 -3.92548170e-04 9.99740681e-01 7.75307919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.772755096 meters 0.02686613656061428 Centerline is valid? [True, True] Translation: X:40.91, Y:356.15, Z:7.75 [[-4.68340153e-01 -8.83492379e-01 9.93565538e-03 4.09067131e+01] [ 8.83276145e-01 -4.68445378e-01 -1.95494082e-02 3.56153327e+02] [ 2.19260650e-02 -3.79845458e-04 9.99759523e-01 7.75312700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.802755096 meters 0.02434233000172526 Centerline is valid? [True, True] Translation: X:40.89, Y:356.18, Z:7.76 [[-4.68176884e-01 -8.83592593e-01 8.63336022e-03 4.08935292e+01] [ 8.83429636e-01 -4.68256370e-01 -1.69720577e-02 3.56175826e+02] [ 1.90390104e-02 -3.18958807e-04 9.99818691e-01 7.75582364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.832755096 meters 0.024588561525893764 Centerline is valid? [True, True] Translation: X:40.88, Y:356.20, Z:7.76 [[-4.68900835e-01 -8.83210469e-01 8.44237452e-03 4.08812786e+01] [ 8.83054864e-01 -4.68976721e-01 -1.65813750e-02 3.56199420e+02] [ 1.86041211e-02 -3.19940710e-04 9.99826877e-01 7.75635339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.862755096 meters 0.02578968020828471 Centerline is valid? [True, True] Translation: X:40.87, Y:356.22, Z:7.76 [[-4.69459993e-01 -8.82912909e-01 8.49177688e-03 4.08704844e+01] [ 8.82755731e-01 -4.69536674e-01 -1.66622727e-02 3.56222445e+02] [ 1.86985363e-02 -3.26105697e-04 9.99825114e-01 7.75587755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.892755096 meters 0.0250876077902115 Centerline is valid? [True, True] Translation: X:40.86, Y:356.25, Z:7.76 [[-4.69503040e-01 -8.82897084e-01 7.72229971e-03 4.08597795e+01] [ 8.82767302e-01 -4.69566453e-01 -1.51405617e-02 3.56245240e+02] [ 1.69936907e-02 -2.91546063e-04 9.99855554e-01 7.75668976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9227550960001 meters 0.024419922781554866 Centerline is valid? [True, True] Translation: X:40.85, Y:356.27, Z:7.76 [[-4.69698517e-01 -8.82794544e-01 7.55622771e-03 4.08463087e+01] [ 8.82670480e-01 -4.69759208e-01 -1.48023811e-02 3.56268117e+02] [ 1.66170688e-02 -2.82997316e-04 9.99861887e-01 7.75824149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.952755096 meters 0.024175290334815476 Centerline is valid? [True, True] Translation: X:40.83, Y:356.29, Z:7.76 [[-4.69541362e-01 -8.82880958e-01 7.21964480e-03 4.08328156e+01] [ 8.82767913e-01 -4.69596791e-01 -1.41303327e-02 3.56290855e+02] [ 1.58657237e-02 -2.61504893e-04 9.99874097e-01 7.75849926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.982755096 meters 0.026727860649000422 Centerline is valid? [True, True] Translation: X:40.82, Y:356.32, Z:7.76 [[-4.69896191e-01 -8.82684867e-01 8.06195059e-03 4.08199614e+01] [ 8.82544123e-01 -4.69965254e-01 -1.57648801e-02 3.56315076e+02] [ 1.77042577e-02 -2.92829988e-04 9.99843225e-01 7.75665929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.012755096 meters 0.023734297476349104 Centerline is valid? [True, True] Translation: X:40.81, Y:356.34, Z:7.76 [[-4.69063998e-01 -8.83136199e-01 7.02995578e-03 4.08078463e+01] [ 8.83029420e-01 -4.69116616e-01 -1.37347637e-02 3.56337632e+02] [ 1.54275361e-02 -2.34825404e-04 9.99880961e-01 7.75902610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0427550960001 meters 0.02348517936784058 Centerline is valid? [True, True] Translation: X:40.80, Y:356.36, Z:7.76 [[-4.68533424e-01 -8.83418562e-01 6.93362873e-03 4.07961482e+01] [ 8.83314920e-01 -4.68584676e-01 -1.35334207e-02 3.56360519e+02] [ 1.52046672e-02 -2.16282218e-04 9.99884379e-01 7.75971309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.072755096 meters 0.024511047083951843 Centerline is valid? [True, True] Translation: X:40.78, Y:356.38, Z:7.76 [[-4.68382608e-01 -8.83493636e-01 7.53182063e-03 4.07814315e+01] [ 8.83371578e-01 -4.68443107e-01 -1.46871011e-02 3.56383929e+02] [ 1.65041898e-02 -2.25786459e-04 9.99863771e-01 7.76017542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.102755096 meters 0.022341096283032665 Centerline is valid? [True, True] Translation: X:40.77, Y:356.41, Z:7.76 [[-4.65884313e-01 -8.84820271e-01 6.70046191e-03 4.07686679e+01] [ 8.84723977e-01 -4.65932469e-01 -1.30544976e-02 3.56406794e+02] [ 1.46728468e-02 -1.53826324e-04 9.99892336e-01 7.76041363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.132755096 meters 0.02375318723133685 Centerline is valid? [True, True] Translation: X:40.75, Y:356.43, Z:7.76 [[-4.65706372e-01 -8.84909484e-01 7.26503723e-03 4.07549210e+01] [ 8.84796511e-01 -4.65763009e-01 -1.41405122e-02 3.56429287e+02] [ 1.58968589e-02 -1.57247027e-04 9.99873625e-01 7.76025666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1627550960001 meters 0.021954244809916715 Centerline is valid? [True, True] Translation: X:40.74, Y:356.45, Z:7.76 [[-4.64330930e-01 -8.85635977e-01 6.76042014e-03 4.07415611e+01] [ 8.85538414e-01 -4.64380127e-01 -1.31459076e-02 3.56451606e+02] [ 1.47818935e-02 -1.17439780e-04 9.99890735e-01 7.76100562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.192755096 meters 0.021310922520743073 Centerline is valid? [True, True] Translation: X:40.73, Y:356.47, Z:7.76 [[-4.62976666e-01 -8.86344317e-01 6.80873452e-03 4.07283606e+01] [ 8.86245622e-01 -4.63026721e-01 -1.32270340e-02 3.56474851e+02] [ 1.48763324e-02 -8.95969369e-05 9.99889337e-01 7.76050785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.222755096 meters 0.021307602071260315 Centerline is valid? [True, True] Translation: X:40.72, Y:356.50, Z:7.76 [[-4.62904809e-01 -8.86379548e-01 7.10175698e-03 4.07171973e+01] [ 8.86272394e-01 -4.62959274e-01 -1.37824065e-02 3.56497331e+02] [ 1.55042675e-02 -8.58510786e-05 9.99879798e-01 7.76023509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.252755096 meters 0.021077218758906995 Centerline is valid? [True, True] Translation: X:40.71, Y:356.52, Z:7.76 [[-4.62498120e-01 -8.86590274e-01 7.29220582e-03 4.07060478e+01] [ 8.86477542e-01 -4.62555598e-01 -1.41381291e-02 3.56521168e+02] [ 1.59077783e-02 -7.44814216e-05 9.99873461e-01 7.75991086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2827550960001 meters 0.021040614097230157 Centerline is valid? [True, True] Translation: X:40.69, Y:356.55, Z:7.76 [[-4.62727145e-01 -8.86470786e-01 7.28936832e-03 4.06943577e+01] [ 8.86358342e-01 -4.62784551e-01 -1.41190926e-02 3.56545278e+02] [ 1.58895702e-02 -7.22950182e-05 9.99873750e-01 7.76005022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.312755096 meters 0.02270918330869883 Centerline is valid? [True, True] Translation: X:40.68, Y:356.57, Z:7.76 [[-4.63367877e-01 -8.86130544e-01 7.92904766e-03 4.06835382e+01] [ 8.85997716e-01 -4.63435705e-01 -1.53425732e-02 3.56568845e+02] [ 1.72701266e-02 -8.41374781e-05 9.99850857e-01 7.75834793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.342755096 meters 0.02098772549581637 Centerline is valid? [True, True] Translation: X:40.67, Y:356.59, Z:7.76 [[-4.64018702e-01 -8.85795577e-01 7.26916995e-03 4.06713142e+01] [ 8.85684107e-01 -4.64075629e-01 -1.40525291e-02 3.56592022e+02] [ 1.58211128e-02 -8.24480370e-05 9.99874835e-01 7.75962796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.372755096 meters 0.02098034755920673 Centerline is valid? [True, True] Translation: X:40.66, Y:356.62, Z:7.76 [[-4.65400845e-01 -8.85071570e-01 7.09715838e-03 4.06598545e+01] [ 8.84965429e-01 -4.65454945e-01 -1.37070816e-02 3.56615976e+02] [ 1.54351557e-02 -9.85475354e-05 9.99880866e-01 7.75980603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.402755096 meters 0.02130883063972399 Centerline is valid? [True, True] Translation: X:40.65, Y:356.64, Z:7.76 [[-4.67948510e-01 -8.83727014e-01 7.12440845e-03 4.06513505e+01] [ 8.83620102e-01 -4.68002720e-01 -1.37466021e-02 3.56641802e+02] [ 1.54824862e-02 -1.37431446e-04 9.99880130e-01 7.75998983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.432755096 meters 0.021491086349907908 Centerline is valid? [True, True] Translation: X:40.64, Y:356.67, Z:7.76 [[-4.69869022e-01 -8.82706577e-01 7.22506913e-03 4.06420465e+01] [ 8.82596711e-01 -4.69924538e-01 -1.39274836e-02 3.56666468e+02] [ 1.56891186e-02 -1.67270838e-04 9.99876904e-01 7.76057590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.462755096 meters 0.02173959392831197 Centerline is valid? [True, True] Translation: X:40.63, Y:356.69, Z:7.76 [[-4.71381874e-01 -8.81905599e-01 6.45327337e-03 4.06314341e+01] [ 8.81818040e-01 -4.71426015e-01 -1.24280720e-02 3.56690093e+02] [ 1.40026272e-02 -1.67755004e-04 9.99901944e-01 7.76248131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.492755096 meters 0.023232649776831146 Centerline is valid? [True, True] Translation: X:40.62, Y:356.71, Z:7.76 [[-4.72663847e-01 -8.81217838e-01 6.63401237e-03 4.06208959e+01] [ 8.81125420e-01 -4.72710363e-01 -1.27634947e-02 3.56712824e+02] [ 1.43833856e-02 -1.87445542e-04 9.99896536e-01 7.76197699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.522755096 meters 0.021782652346834193 Centerline is valid? [True, True] Translation: X:40.61, Y:356.74, Z:7.76 [[-4.72989829e-01 -8.81044799e-01 6.37841750e-03 4.06083622e+01] [ 8.80959510e-01 -4.73032800e-01 -1.22601482e-02 3.56736219e+02] [ 1.38189405e-02 -1.79797848e-04 9.99904498e-01 7.76353840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.552755096 meters 0.02201266925949964 Centerline is valid? [True, True] Translation: X:40.60, Y:356.76, Z:7.76 [[-4.73821697e-01 -8.80595284e-01 6.70405908e-03 4.05970145e+01] [ 8.80501205e-01 -4.73869082e-01 -1.28732835e-02 3.56759250e+02] [ 1.45129990e-02 -1.96708927e-04 9.99894662e-01 7.76260399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.582755096 meters 0.02194055547310744 Centerline is valid? [True, True] Translation: X:40.58, Y:356.78, Z:7.76 [[-4.74461484e-01 -8.80250618e-01 6.71934584e-03 4.05843447e+01] [ 8.80156256e-01 -4.74509019e-01 -1.28901885e-02 3.56782344e+02] [ 1.45349866e-02 -2.01823675e-04 9.99894341e-01 7.76226491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.612755096 meters 0.022027790371469083 Centerline is valid? [True, True] Translation: X:40.57, Y:356.81, Z:7.76 [[-4.74970970e-01 -8.79974955e-01 6.83057894e-03 4.05725150e+01] [ 8.79877598e-01 -4.75020037e-01 -1.30911130e-02 3.56805642e+02] [ 1.47645134e-02 -2.07825242e-04 9.99890977e-01 7.76191528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.642755096 meters 0.02484057164170665 Centerline is valid? [True, True] Translation: X:40.56, Y:356.83, Z:7.76 [[-4.75552703e-01 -8.79658362e-01 7.12696592e-03 4.05637028e+01] [ 8.79552543e-01 -4.75606054e-01 -1.36457405e-02 3.56830264e+02] [ 1.53932179e-02 -2.20727795e-04 9.99881493e-01 7.75951839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6727550960001 meters 0.022111756367951107 Centerline is valid? [True, True] Translation: X:40.55, Y:356.85, Z:7.76 [[-4.75868203e-01 -8.79491195e-01 6.68516758e-03 4.05477659e+01] [ 8.79398244e-01 -4.75915114e-01 -1.27879605e-02 3.56852095e+02] [ 1.44284710e-02 -2.06459181e-04 9.99895883e-01 7.76262837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.702755096 meters 0.022102685950525638 Centerline is valid? [True, True] Translation: X:40.53, Y:356.87, Z:7.76 [[-4.76535342e-01 -8.79130435e-01 6.61404604e-03 4.05344486e+01] [ 8.79039586e-01 -4.76581193e-01 -1.26400832e-02 3.56874547e+02] [ 1.42644118e-02 -2.09438100e-04 9.99898236e-01 7.76312962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.732755096 meters 0.02241536750651227 Centerline is valid? [True, True] Translation: X:40.52, Y:356.90, Z:7.76 [[-4.77517263e-01 -8.78597665e-01 6.58842842e-03 4.05223714e+01] [ 8.78507637e-01 -4.77562662e-01 -1.25792011e-02 3.56898431e+02] [ 1.41984442e-02 -2.18801014e-04 9.99899173e-01 7.76408773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.762755096 meters 0.022305141437332476 Centerline is valid? [True, True] Translation: X:40.51, Y:356.92, Z:7.77 [[-4.78390677e-01 -8.78123754e-01 6.40569008e-03 4.05116498e+01] [ 8.78038771e-01 -4.78433511e-01 -1.22184933e-02 3.56921452e+02] [ 1.37940460e-02 -2.20769014e-04 9.99904833e-01 7.76525001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7927550960001 meters 0.02363157027131736 Centerline is valid? [True, True] Translation: X:40.50, Y:356.95, Z:7.77 [[-4.79855363e-01 -8.77322411e-01 6.64968867e-03 4.05000661e+01] [ 8.77230923e-01 -4.79901372e-01 -1.26720987e-02 3.56945740e+02] [ 1.43087109e-02 -2.47461998e-04 9.99897595e-01 7.76593291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.822755096 meters 0.0230078794585248 Centerline is valid? [True, True] Translation: X:40.49, Y:356.97, Z:7.77 [[-4.80415220e-01 -8.77016570e-01 6.56909565e-03 4.04893297e+01] [ 8.76927400e-01 -4.80460066e-01 -1.25084544e-02 3.56969339e+02] [ 1.41263099e-02 -2.48631896e-04 9.99900188e-01 7.76562808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.852755096 meters 0.023470998679057224 Centerline is valid? [True, True] Translation: X:40.48, Y:356.99, Z:7.77 [[-4.81689230e-01 -8.76317030e-01 6.62931003e-03 4.04793002e+01] [ 8.76226301e-01 -4.81734773e-01 -1.26125924e-02 3.56993313e+02] [ 1.42461987e-02 -2.66574128e-04 9.99898482e-01 7.76540178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.882755096 meters 0.022734594637969643 Centerline is valid? [True, True] Translation: X:40.47, Y:357.02, Z:7.77 [[-4.82418772e-01 -8.75915019e-01 6.70885503e-03 4.04658899e+01] [ 8.75822226e-01 -4.82465340e-01 -1.27524170e-02 3.57016484e+02] [ 1.44068236e-02 -2.76240989e-04 9.99896178e-01 7.76643291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9127550960001 meters 0.022959644794405244 Centerline is valid? [True, True] Translation: X:40.45, Y:357.04, Z:7.77 [[-4.83193717e-01 -8.75487802e-01 6.70378415e-03 4.04540278e+01] [ 8.75395270e-01 -4.83240136e-01 -1.27315282e-02 3.57040942e+02] [ 1.43858352e-02 -2.83333510e-04 9.99896478e-01 7.76654300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.942755096 meters 0.024310121797844662 Centerline is valid? [True, True] Translation: X:40.45, Y:357.06, Z:7.77 [[-4.83634734e-01 -8.75245648e-01 6.51921616e-03 4.04450915e+01] [ 8.75158282e-01 -4.83678591e-01 -1.23694063e-02 3.57064702e+02] [ 1.39794743e-02 -2.76928509e-04 9.99902244e-01 7.76612683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.972755096 meters 0.022975857976434692 Centerline is valid? [True, True] Translation: X:40.43, Y:357.09, Z:7.77 [[-4.83485423e-01 -8.75330423e-01 6.20453394e-03 4.04313814e+01] [ 8.75251443e-01 -4.83525165e-01 -1.17612398e-02 3.57087453e+02] [ 1.32950194e-02 -2.55860738e-04 9.99911585e-01 7.76828860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.002755096 meters 0.022815054993650476 Centerline is valid? [True, True] Translation: X:40.42, Y:357.11, Z:7.77 [[-4.83437608e-01 -8.75355124e-01 6.44097116e-03 4.04187957e+01] [ 8.75270172e-01 -4.83480444e-01 -1.21978047e-02 3.57110716e+02] [ 1.37914945e-02 -2.59287593e-04 9.99904859e-01 7.76871653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0327550960001 meters 0.02241176496992388 Centerline is valid? [True, True] Translation: X:40.41, Y:357.13, Z:7.77 [[-4.82676560e-01 -8.75775800e-01 6.33136774e-03 4.04060655e+01] [ 8.75693898e-01 -4.82718025e-01 -1.19794290e-02 3.57134439e+02] [ 1.35475593e-02 -2.37849468e-04 9.99908199e-01 7.76906775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.062755096 meters 0.02498386868732783 Centerline is valid? [True, True] Translation: X:40.40, Y:357.16, Z:7.77 [[-4.82490086e-01 -8.75873568e-01 6.98637391e-03 4.03956114e+01] [ 8.75774044e-01 -4.82540598e-01 -1.32058572e-02 3.57157329e+02] [ 1.49378703e-02 -2.53210250e-04 9.99888392e-01 7.76670085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.092755096 meters 0.025116853554106058 Centerline is valid? [True, True] Translation: X:40.38, Y:357.18, Z:7.77 [[-4.82599938e-01 -8.75809141e-01 7.45976066e-03 4.03834721e+01] [ 8.75695877e-01 -4.82657516e-01 -1.40873632e-02 3.57180937e+02] [ 1.59383510e-02 -2.66078931e-04 9.99872941e-01 7.76603866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.122755096 meters 0.022374009163685014 Centerline is valid? [True, True] Translation: X:40.37, Y:357.20, Z:7.77 [[-4.82779586e-01 -8.75712467e-01 7.17953030e-03 4.03703290e+01] [ 8.75607729e-01 -4.82832901e-01 -1.35460134e-02 3.57203974e+02] [ 1.53289263e-02 -2.53286527e-04 9.99882473e-01 7.76801005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.152755096 meters 0.023109459745787615 Centerline is valid? [True, True] Translation: X:40.36, Y:357.23, Z:7.77 [[-4.83003492e-01 -8.75588126e-01 7.28430583e-03 4.03595765e+01] [ 8.75480496e-01 -4.83058350e-01 -1.37307311e-02 3.57227085e+02] [ 1.55412098e-02 -2.54723367e-04 9.99879196e-01 7.76721688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.182755096 meters 0.023069808424105574 Centerline is valid? [True, True] Translation: X:40.35, Y:357.25, Z:7.77 [[-4.83972167e-01 -8.75053177e-01 7.27181907e-03 4.03483141e+01] [ 8.74946047e-01 -4.84026722e-01 -1.36947813e-02 3.57250802e+02] [ 1.55034166e-02 -2.65443626e-04 9.99879780e-01 7.76736689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.212755096 meters 0.02297081102796026 Centerline is valid? [True, True] Translation: X:40.34, Y:357.27, Z:7.77 [[-4.85228829e-01 -8.74357272e-01 7.23489535e-03 4.03359967e+01] [ 8.74251338e-01 -4.85282682e-01 -1.36130787e-02 3.57273773e+02] [ 1.54136638e-02 -2.80341314e-04 9.99881163e-01 7.76852274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.242755096 meters 0.023521867356500376 Centerline is valid? [True, True] Translation: X:40.33, Y:357.30, Z:7.77 [[-4.86684333e-01 -8.73554248e-01 6.42931522e-03 4.03254417e+01] [ 8.73470668e-01 -4.86726725e-01 -1.20866253e-02 3.57297300e+02] [ 1.36876424e-02 -2.66552930e-04 9.99906284e-01 7.77115592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.272755096 meters 0.024090403345127683 Centerline is valid? [True, True] Translation: X:40.31, Y:357.32, Z:7.77 [[-4.87757280e-01 -8.72957639e-01 6.14793344e-03 4.03141971e+01] [ 8.72881306e-01 -4.87795952e-01 -1.15470813e-02 3.57319809e+02] [ 1.30790499e-02 -2.65756804e-04 9.99914430e-01 7.77220610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.302755096 meters 0.026825242865319007 Centerline is valid? [True, True] Translation: X:40.30, Y:357.34, Z:7.77 [[-4.88724621e-01 -8.72414988e-01 6.35085689e-03 4.03038451e+01] [ 8.72333628e-01 -4.88765801e-01 -1.19177949e-02 3.57342298e+02] [ 1.35013445e-02 -2.84453749e-04 9.99908812e-01 7.77120801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.332755096 meters 0.025959689520805275 Centerline is valid? [True, True] Translation: X:40.29, Y:357.37, Z:7.77 [[-4.90105460e-01 -8.71636409e-01 6.82705155e-03 4.02892323e+01] [ 8.71542471e-01 -4.90152900e-01 -1.28006089e-02 3.57365770e+02] [ 1.45037759e-02 -3.23582946e-04 9.99894762e-01 7.77197069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.362755096 meters 0.024104341031850194 Centerline is valid? [True, True] Translation: X:40.28, Y:357.39, Z:7.77 [[-4.90932786e-01 -8.71170982e-01 6.79110964e-03 4.02759564e+01] [ 8.71078149e-01 -4.90979644e-01 -1.27219490e-02 3.57388356e+02] [ 1.44172894e-02 -3.30034668e-04 9.99896011e-01 7.77304122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.392755096 meters 0.0259071223760693 Centerline is valid? [True, True] Translation: X:40.26, Y:357.41, Z:7.77 [[-4.91801986e-01 -8.70680596e-01 6.79016234e-03 4.02628746e+01] [ 8.70587911e-01 -4.91848742e-01 -1.27084018e-02 3.57411198e+02] [ 1.44046917e-02 -3.38584020e-04 9.99896190e-01 7.77169961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4227550960001 meters 0.025229777903421794 Centerline is valid? [True, True] Translation: X:40.25, Y:357.43, Z:7.77 [[-4.92166844e-01 -8.70475550e-01 6.64190745e-03 4.02492885e+01] [ 8.70387012e-01 -4.92211548e-01 -1.24193720e-02 3.57433375e+02] [ 1.40799832e-02 -3.31373129e-04 9.99900817e-01 7.77260719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.452755096 meters 0.024050408704963902 Centerline is valid? [True, True] Translation: X:40.24, Y:357.46, Z:7.77 [[-4.92852657e-01 -8.70088179e-01 6.54373859e-03 4.02371343e+01] [ 8.70002369e-01 -4.92895985e-01 -1.22240304e-02 3.57455489e+02] [ 1.38613668e-02 -3.31577793e-04 9.99903872e-01 7.77374377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.482755096 meters 0.024050408704963902 Centerline is valid? [True, True] Translation: X:40.22, Y:357.48, Z:7.77 [[-4.93188599e-01 -8.69897765e-01 6.54856900e-03 4.02246630e+01] [ 8.69811973e-01 -4.93231962e-01 -1.22214429e-02 3.57478244e+02] [ 1.38613694e-02 -3.31452593e-04 9.99903872e-01 7.77388335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.512755096 meters 0.025538669703681172 Centerline is valid? [True, True] Translation: X:40.21, Y:357.50, Z:7.77 [[-4.93609760e-01 -8.69657207e-01 6.76359908e-03 4.02135189e+01] [ 8.69565814e-01 -4.93655977e-01 -1.26124043e-02 3.57501093e+02] [ 1.43073594e-02 -3.44211341e-04 9.99897585e-01 7.77270539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5427550960001 meters 0.02565298330821373 Centerline is valid? [True, True] Translation: X:40.20, Y:357.52, Z:7.77 [[-4.93709292e-01 -8.69598562e-01 7.03395280e-03 4.02010245e+01] [ 8.69499887e-01 -4.93759269e-01 -1.31046054e-02 3.57522485e+02] [ 1.48688254e-02 -3.53844285e-04 9.99889390e-01 7.77228373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.572755096 meters 0.023037729227509657 Centerline is valid? [True, True] Translation: X:40.18, Y:357.54, Z:7.77 [[-4.93942341e-01 -8.69468028e-01 6.80532784e-03 4.01831964e+01] [ 8.69375815e-01 -4.93989102e-01 -1.26672833e-02 3.57543358e+02] [ 1.43755556e-02 -3.40520117e-04 9.99896608e-01 7.77470561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.602755096 meters 0.02294444025272197 Centerline is valid? [True, True] Translation: X:40.17, Y:357.57, Z:7.77 [[-4.94072383e-01 -8.69395538e-01 6.62407492e-03 4.01697117e+01] [ 8.69308322e-01 -4.94116677e-01 -1.23187274e-02 3.57566537e+02] [ 1.39829125e-02 -3.27979534e-04 9.99902181e-01 7.77476166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.632755096 meters 0.02313016359562439 Centerline is valid? [True, True] Translation: X:40.16, Y:357.59, Z:7.78 [[-4.94673721e-01 -8.69055065e-01 6.41902430e-03 4.01570228e+01] [ 8.68973287e-01 -4.94715262e-01 -1.19262558e-02 3.57589553e+02] [ 1.35401623e-02 -3.21644704e-04 9.99908276e-01 7.77560344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6627550960001 meters 0.023654278429877947 Centerline is valid? [True, True] Translation: X:40.14, Y:357.61, Z:7.78 [[-4.94959975e-01 -8.68891564e-01 6.48647624e-03 4.01443939e+01] [ 8.68808200e-01 -4.95002370e-01 -1.20401827e-02 3.57612691e+02] [ 1.36724343e-02 -3.23904796e-04 9.99906475e-01 7.77594182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.692755096 meters 0.023426827608158965 Centerline is valid? [True, True] Translation: X:40.13, Y:357.63, Z:7.78 [[-4.95551454e-01 -8.68557050e-01 6.11620262e-03 4.01312781e+01] [ 8.68483025e-01 -4.95589099e-01 -1.13437247e-02 3.57634790e+02] [ 1.28837954e-02 -3.09581097e-04 9.99916953e-01 7.77726553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.722755096 meters 0.02486206897792914 Centerline is valid? [True, True] Translation: X:40.12, Y:357.66, Z:7.78 [[-4.95506518e-01 -8.68582357e-01 6.16278718e-03 4.01170702e+01] [ 8.68507326e-01 -4.95544747e-01 -1.14205565e-02 3.57657718e+02] [ 1.29736307e-02 -3.06534381e-04 9.99915792e-01 7.77649833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.752755096 meters 0.022922634857446823 Centerline is valid? [True, True] Translation: X:40.10, Y:357.68, Z:7.78 [[-4.95135883e-01 -8.68794010e-01 6.11765899e-03 4.01013769e+01] [ 8.68720218e-01 -4.95173588e-01 -1.13270085e-02 3.57680590e+02] [ 1.28701403e-02 -2.93874329e-04 9.99917133e-01 7.77821865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7827550960001 meters 0.022125376393733506 Centerline is valid? [True, True] Translation: X:40.09, Y:357.70, Z:7.78 [[-4.94843448e-01 -8.68960142e-01 6.18332322e-03 4.00875166e+01] [ 8.68884899e-01 -4.94881995e-01 -1.14386654e-02 3.57704491e+02] [ 1.29997596e-02 -2.87752454e-04 9.99915458e-01 7.77895325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.812755096 meters 0.021583619498610963 Centerline is valid? [True, True] Translation: X:40.07, Y:357.73, Z:7.78 [[-4.93456732e-01 -8.69748529e-01 6.16045169e-03 4.00726517e+01] [ 8.69674025e-01 -4.93495115e-01 -1.13868887e-02 3.57728000e+02] [ 1.29438825e-02 -2.61352069e-04 9.99916190e-01 7.77945386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.842755096 meters 0.022520782242098043 Centerline is valid? [True, True] Translation: X:40.06, Y:357.75, Z:7.78 [[-4.92754863e-01 -8.70145877e-01 6.22874876e-03 4.00600404e+01] [ 8.70069862e-01 -4.92794166e-01 -1.15041133e-02 3.57750447e+02] [ 1.30797478e-02 -2.49261228e-04 9.99914425e-01 7.77847117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.872755096 meters 0.021180006030983054 Centerline is valid? [True, True] Translation: X:40.04, Y:357.77, Z:7.78 [[-4.92284820e-01 -8.70410312e-01 6.44546900e-03 4.00449366e+01] [ 8.70329080e-01 -4.92326952e-01 -1.18938978e-02 3.57772394e+02] [ 1.35258494e-02 -2.45506244e-04 9.99908491e-01 7.77907141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.902755096 meters 0.021702819797858628 Centerline is valid? [True, True] Translation: X:40.03, Y:357.80, Z:7.78 [[-4.91594610e-01 -8.70797270e-01 6.84497778e-03 4.00317832e+01] [ 8.70705867e-01 -4.91642202e-01 -1.26189426e-02 3.57795092e+02] [ 1.43538207e-02 -2.43441825e-04 9.99896949e-01 7.77811439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.932755096 meters 0.022209612752215533 Centerline is valid? [True, True] Translation: X:40.02, Y:357.82, Z:7.78 [[-4.92243209e-01 -8.70428861e-01 7.08670536e-03 4.00190015e+01] [ 8.70331025e-01 -4.92294152e-01 -1.30528094e-02 3.57819171e+02] [ 1.48502857e-02 -2.57377268e-04 9.99889695e-01 7.77810450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.962755096 meters 0.02243135885935354 Centerline is valid? [True, True] Translation: X:40.01, Y:357.84, Z:7.78 [[-4.94503658e-01 -8.69145557e-01 7.22030023e-03 4.00081936e+01] [ 8.69044039e-01 -4.94556279e-01 -1.32870268e-02 3.57843676e+02] [ 1.51192051e-02 -2.95724456e-04 9.99885655e-01 7.77934898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.992755096 meters 0.021693459121009052 Centerline is valid? [True, True] Translation: X:39.99, Y:357.87, Z:7.78 [[-4.96092201e-01 -8.68239678e-01 7.23805974e-03 3.99941782e+01] [ 8.68137728e-01 -4.96144898e-01 -1.33088027e-02 3.57868306e+02] [ 1.51463570e-02 -3.18760497e-04 9.99885237e-01 7.78088587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.022755096 meters 0.022334316939225312 Centerline is valid? [True, True] Translation: X:39.98, Y:357.89, Z:7.78 [[-4.97457551e-01 -8.67458370e-01 7.20849515e-03 3.99821348e+01] [ 8.67357310e-01 -4.97509662e-01 -1.32450897e-02 3.57891796e+02] [ 1.50758599e-02 -3.36528926e-04 9.99886296e-01 7.78118505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.052755096 meters 0.02335418632492444 Centerline is valid? [True, True] Translation: X:39.97, Y:357.92, Z:7.78 [[-5.00226034e-01 -8.65864446e-01 7.25783679e-03 3.99707442e+01] [ 8.65761990e-01 -5.00278538e-01 -1.33251920e-02 3.57916678e+02] [ 1.51687499e-02 -3.82048714e-04 9.99884875e-01 7.78188500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.082755096 meters 0.023768708808803593 Centerline is valid? [True, True] Translation: X:39.96, Y:357.94, Z:7.78 [[-5.02076326e-01 -8.64791651e-01 7.40025239e-03 3.99584714e+01] [ 8.64685200e-01 -5.02130688e-01 -1.35748972e-02 3.57941271e+02] [ 1.54553516e-02 -4.16745801e-04 9.99880472e-01 7.78253678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.112755096 meters 0.025077720424119904 Centerline is valid? [True, True] Translation: X:39.95, Y:357.97, Z:7.78 [[-5.05131132e-01 -8.63012195e-01 7.24510664e-03 3.99477096e+01] [ 8.62910148e-01 -5.05182882e-01 -1.32789821e-02 3.57966805e+02] [ 1.51200273e-02 -4.55751224e-04 9.99885582e-01 7.78353832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.142755096 meters 0.026597234611855362 Centerline is valid? [True, True] Translation: X:39.94, Y:357.99, Z:7.78 [[-5.06435901e-01 -8.62244186e-01 7.59223112e-03 3.99355725e+01] [ 8.62132226e-01 -5.06492564e-01 -1.39034916e-02 3.57991658e+02] [ 1.58336134e-02 -4.95720160e-04 9.99874518e-01 7.78272578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1727550960001 meters 0.02611471530951271 Centerline is valid? [True, True] Translation: X:39.92, Y:358.02, Z:7.78 [[-5.08111485e-01 -8.61255849e-01 7.81543856e-03 3.99225367e+01] [ 8.61137276e-01 -5.08171304e-01 -1.43009688e-02 3.58016579e+02] [ 1.62883746e-02 -5.36321008e-04 9.99867192e-01 7.78396328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.202755096 meters 0.02723799882553838 Centerline is valid? [True, True] Translation: X:39.91, Y:358.04, Z:7.78 [[-5.10139995e-01 -8.60048858e-01 8.55261537e-03 3.99096137e+01] [ 8.59906926e-01 -5.10211303e-01 -1.56366348e-02 3.58040267e+02] [ 1.78119110e-02 -6.22419613e-04 9.99841162e-01 7.78247708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.232755096 meters 0.0286626703638905 Centerline is valid? [True, True] Translation: X:39.90, Y:358.06, Z:7.78 [[-5.10474967e-01 -8.59844246e-01 9.12033222e-03 3.98967205e+01] [ 8.59683085e-01 -5.10556002e-01 -1.66601985e-02 3.58064187e+02] [ 1.89816162e-02 -6.64018935e-04 9.99819612e-01 7.78047659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.262755096 meters 0.027290801736542157 Centerline is valid? [True, True] Translation: X:39.88, Y:358.09, Z:7.78 [[-5.11184720e-01 -8.59415407e-01 9.76424860e-03 3.98825869e+01] [ 8.59230895e-01 -5.11277458e-01 -1.78221998e-02 3.58088115e+02] [ 2.03089133e-02 -7.20692168e-04 9.99793493e-01 7.78128399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2927550960001 meters 0.029770597048539717 Centerline is valid? [True, True] Translation: X:39.87, Y:358.11, Z:7.78 [[-5.11473500e-01 -8.59237301e-01 1.03013987e-02 3.98709807e+01] [ 8.59032172e-01 -5.11576662e-01 -1.87895482e-02 3.58111818e+02] [ 2.14146358e-02 -7.61123054e-04 9.99770391e-01 7.77925755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.322755096 meters 0.028326119225759512 Centerline is valid? [True, True] Translation: X:39.86, Y:358.13, Z:7.78 [[-5.11546839e-01 -8.59190717e-01 1.05424102e-02 3.98578588e+01] [ 8.58976246e-01 -5.11654879e-01 -1.92118276e-02 3.58133903e+02] [ 2.19006995e-02 -7.72069744e-04 9.99759853e-01 7.78054080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.352755096 meters 0.029735774419740704 Centerline is valid? [True, True] Translation: X:39.84, Y:358.16, Z:7.78 [[-5.11694830e-01 -8.59094870e-01 1.11537558e-02 3.98449871e+01] [ 8.58855220e-01 -5.11815735e-01 -2.03067617e-02 3.58156916e+02] [ 2.31541026e-02 -8.11403558e-04 9.99731579e-01 7.77861512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.382755096 meters 0.02868780017680086 Centerline is valid? [True, True] Translation: X:39.83, Y:358.18, Z:7.78 [[-5.11508324e-01 -8.59201840e-01 1.14644048e-02 3.98307327e+01] [ 8.58949140e-01 -5.11636127e-01 -2.08530158e-02 3.58179060e+02] [ 2.37825532e-02 -8.19150497e-04 9.99716820e-01 7.77900254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4127550960001 meters 0.02698316304606611 Centerline is valid? [True, True] Translation: X:39.81, Y:358.20, Z:7.78 [[-5.10145446e-01 -8.60006037e-01 1.18844724e-02 3.98149326e+01] [ 8.59735152e-01 -5.10283230e-01 -2.15984664e-02 3.58201747e+02] [ 2.46392585e-02 -8.00860579e-04 9.99696087e-01 7.77926311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.442755096 meters 0.026908114760292066 Centerline is valid? [True, True] Translation: X:39.80, Y:358.22, Z:7.78 [[-5.08003563e-01 -8.61272953e-01 1.18861690e-02 3.97997011e+01] [ 8.61002780e-01 -5.08142074e-01 -2.15834720e-02 3.58224076e+02] [ 2.46291232e-02 -7.30456152e-04 9.99696390e-01 7.77872821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.472755096 meters 0.024538673365728066 Centerline is valid? [True, True] Translation: X:39.78, Y:358.25, Z:7.78 [[-5.06674866e-01 -8.62062273e-01 1.13673694e-02 3.97848019e+01] [ 8.61815776e-01 -5.06801944e-01 -2.06242153e-02 3.58246722e+02] [ 2.35403629e-02 -6.53193229e-04 9.99722674e-01 7.78070047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.502755096 meters 0.02451487953412898 Centerline is valid? [True, True] Translation: X:39.77, Y:358.27, Z:7.78 [[-5.05646614e-01 -8.62665477e-01 1.13919702e-02 3.97714475e+01] [ 8.62418489e-01 -5.05774549e-01 -2.06508067e-02 3.58269348e+02] [ 2.35765066e-02 -6.17364831e-04 9.99721845e-01 7.78019731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5327550960001 meters 0.023424282517312017 Centerline is valid? [True, True] Translation: X:39.76, Y:358.29, Z:7.78 [[-5.04830982e-01 -8.63140414e-01 1.15890397e-02 3.97560071e+01] [ 8.62885362e-01 -5.04963633e-01 -2.09900363e-02 3.58292442e+02] [ 2.39693922e-02 -5.96407870e-04 9.99712515e-01 7.78105420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.562755096 meters 0.023197576835987235 Centerline is valid? [True, True] Translation: X:39.74, Y:358.32, Z:7.78 [[-5.02844457e-01 -8.64296087e-01 1.18205642e-02 3.97420711e+01] [ 8.64031499e-01 -5.02983080e-01 -2.13913317e-02 3.58315201e+02] [ 2.44339880e-02 -5.43172809e-04 9.99701298e-01 7.78037223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.592755096 meters 0.02255893281862874 Centerline is valid? [True, True] Translation: X:39.73, Y:358.34, Z:7.78 [[-5.01460049e-01 -8.65105599e-01 1.14070638e-02 3.97287641e+01] [ 8.64859828e-01 -5.01589548e-01 -2.06253220e-02 3.58338143e+02] [ 2.35647456e-02 -4.77263742e-04 9.99722199e-01 7.78094166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.622755096 meters 0.022269928898608415 Centerline is valid? [True, True] Translation: X:39.72, Y:358.36, Z:7.78 [[-5.01275202e-01 -8.65214586e-01 1.12646340e-02 3.97155750e+01] [ 8.64975369e-01 -5.01401547e-01 -2.03494571e-02 3.58360605e+02] [ 2.32547520e-02 -4.57047325e-04 9.99729467e-01 7.78142581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.652755096 meters 0.022402807273278817 Centerline is valid? [True, True] Translation: X:39.70, Y:358.38, Z:7.78 [[-5.01271586e-01 -8.65217055e-01 1.12358679e-02 3.97031155e+01] [ 8.64979501e-01 -5.01397297e-01 -2.02784203e-02 3.58383114e+02] [ 2.31788689e-02 -4.46200511e-04 9.99731234e-01 7.78147819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.682755096 meters 0.023547826472486533 Centerline is valid? [True, True] Translation: X:39.69, Y:358.41, Z:7.78 [[-5.00916067e-01 -8.65415993e-01 1.17581081e-02 3.96912538e+01] [ 8.65156383e-01 -5.01053849e-01 -2.12008077e-02 3.58405187e+02] [ 2.42389634e-02 -4.47222878e-04 9.99706093e-01 7.78029640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.712755096 meters 0.023209547498241466 Centerline is valid? [True, True] Translation: X:39.68, Y:358.43, Z:7.78 [[-5.01064994e-01 -8.65332855e-01 1.15291672e-02 3.96779601e+01] [ 8.65083677e-01 -5.01197429e-01 -2.07694306e-02 3.58428225e+02] [ 2.37508596e-02 -4.33140240e-04 9.99717815e-01 7.78043618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.742755096 meters 0.02240361067466574 Centerline is valid? [True, True] Translation: X:39.66, Y:358.45, Z:7.78 [[-5.01076896e-01 -8.65327544e-01 1.14099075e-02 3.96641245e+01] [ 8.65083921e-01 -5.01206610e-01 -2.05364198e-02 3.58451233e+02] [ 2.34894508e-02 -4.19797982e-04 9.99723997e-01 7.78156667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.772755096 meters 0.022591023743406883 Centerline is valid? [True, True] Translation: X:39.65, Y:358.47, Z:7.78 [[-5.01510298e-01 -8.65078895e-01 1.12217071e-02 3.96508686e+01] [ 8.64843591e-01 -5.01635658e-01 -2.01799461e-02 3.58474466e+02] [ 2.30864538e-02 -4.15429330e-04 9.99733386e-01 7.78177022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.802755096 meters 0.024148613116559563 Centerline is valid? [True, True] Translation: X:39.64, Y:358.50, Z:7.78 [[-5.02441735e-01 -8.64535971e-01 1.13955354e-02 3.96388603e+01] [ 8.64293585e-01 -5.02570755e-01 -2.04752566e-02 3.58497359e+02] [ 2.34286587e-02 -4.38535292e-04 9.99725415e-01 7.78045301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.832755096 meters 0.023762094103118966 Centerline is valid? [True, True] Translation: X:39.63, Y:358.52, Z:7.78 [[-5.03424332e-01 -8.63968897e-01 1.10311542e-02 3.96276795e+01] [ 8.63742026e-01 -5.03544983e-01 -1.98030825e-02 3.58520323e+02] [ 2.26639297e-02 -4.41282054e-04 9.99743043e-01 7.78134233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.862755096 meters 0.025983854373651923 Centerline is valid? [True, True] Translation: X:39.61, Y:358.54, Z:7.78 [[-5.04573677e-01 -8.63289663e-01 1.16774114e-02 3.96143107e+01] [ 8.63035661e-01 -5.04708547e-01 -2.09458850e-02 3.58544501e+02] [ 2.39760554e-02 -4.90719735e-04 9.99712413e-01 7.78055265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.892755096 meters 0.02419905193902425 Centerline is valid? [True, True] Translation: X:39.60, Y:358.57, Z:7.78 [[-5.04474357e-01 -8.63360921e-01 1.06556797e-02 3.96026649e+01] [ 8.63149806e-01 -5.04586692e-01 -1.90966541e-02 3.58567453e+02] [ 2.18640191e-02 -4.36324418e-04 9.99760859e-01 7.78304541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9227550960001 meters 0.023778924560792034 Centerline is valid? [True, True] Translation: X:39.59, Y:358.59, Z:7.78 [[-5.04363251e-01 -8.63428727e-01 1.04184672e-02 3.95899638e+01] [ 8.63227290e-01 -5.04470674e-01 -1.86543701e-02 3.58589349e+02] [ 2.13625302e-02 -4.15073533e-04 9.99771709e-01 7.78425740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.952755096 meters 0.024113062706550007 Centerline is valid? [True, True] Translation: X:39.58, Y:358.61, Z:7.78 [[-5.04121089e-01 -8.63567650e-01 1.06227010e-02 3.95755681e+01] [ 8.63358633e-01 -5.04232830e-01 -1.90032796e-02 3.58611947e+02] [ 2.17669321e-02 -4.08753389e-04 9.99762989e-01 7.78448193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.982755096 meters 0.022051469071294315 Centerline is valid? [True, True] Translation: X:39.56, Y:358.63, Z:7.79 [[-5.01968266e-01 -8.64827005e-01 1.01050481e-02 3.95596911e+01] [ 8.64638387e-01 -5.02069859e-01 -1.80642427e-02 3.58631940e+02] [ 2.06958850e-02 -3.30464088e-04 9.99785763e-01 7.78581922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.012755096 meters 0.020534324873405025 Centerline is valid? [True, True] Translation: X:39.54, Y:358.65, Z:7.79 [[-4.98837137e-01 -8.66641702e-01 9.67840937e-03 3.95425908e+01] [ 8.66469288e-01 -4.98930961e-01 -1.72878488e-02 3.58652100e+02] [ 1.98112288e-02 -2.37776534e-04 9.99803710e-01 7.78645825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0427550960001 meters 0.02000881318156029 Centerline is valid? [True, True] Translation: X:39.53, Y:358.67, Z:7.79 [[-4.97116104e-01 -8.67633801e-01 9.33630387e-03 3.95282321e+01] [ 8.67473800e-01 -4.97203734e-01 -1.66629159e-02 3.58673724e+02] [ 1.90993542e-02 -1.84404835e-04 9.99817574e-01 7.78688597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.072755096 meters 0.018366990850716264 Centerline is valid? [True, True] Translation: X:39.51, Y:358.69, Z:7.79 [[-4.95255601e-01 -8.68699715e-01 9.09365131e-03 3.95113213e+01] [ 8.68548372e-01 -4.95339063e-01 -1.62153844e-02 3.58694895e+02] [ 1.85907406e-02 -1.32483920e-04 9.99827169e-01 7.79126218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.102755096 meters 0.019804518986593675 Centerline is valid? [True, True] Translation: X:39.50, Y:358.72, Z:7.79 [[-4.93470017e-01 -8.69715174e-01 9.10265651e-03 3.94977992e+01] [ 8.69563989e-01 -4.93553957e-01 -1.62160371e-02 3.58716417e+02] [ 1.85959857e-02 -8.67858161e-05 9.99827076e-01 7.78831706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.132755096 meters 0.017467257387589065 Centerline is valid? [True, True] Translation: X:39.48, Y:358.74, Z:7.79 [[-4.89316576e-01 -8.72067287e-01 8.24228634e-03 3.94797418e+01] [ 8.71943887e-01 -4.89385990e-01 -1.46700838e-02 3.58736427e+02] [ 1.68269596e-02 8.49600255e-06 9.99858417e-01 7.79412907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1627550960001 meters 0.01821794549459092 Centerline is valid? [True, True] Translation: X:39.46, Y:358.76, Z:7.79 [[-4.85217690e-01 -8.74359846e-01 7.65845291e-03 3.94615668e+01] [ 8.74253789e-01 -4.85278118e-01 -1.36184263e-02 3.58755420e+02] [ 1.56238847e-02 8.75301316e-05 9.99877936e-01 7.79301813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.192755096 meters 0.01797184403787713 Centerline is valid? [True, True] Translation: X:39.45, Y:358.78, Z:7.80 [[-4.83551821e-01 -8.75284083e-01 7.44388176e-03 3.94480849e+01] [ 8.75184178e-01 -4.83609099e-01 -1.32247709e-02 3.58777918e+02] [ 1.51753604e-02 1.19905493e-04 9.99884840e-01 7.79649802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.222755096 meters 0.018459307724539995 Centerline is valid? [True, True] Translation: X:39.43, Y:358.80, Z:7.80 [[-4.81743409e-01 -8.76282073e-01 7.28128673e-03 3.94330252e+01] [ 8.76186764e-01 -4.81798408e-01 -1.29247018e-02 3.58800157e+02] [ 1.48337968e-02 1.53377167e-04 9.99889961e-01 7.79750550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.252755096 meters 0.01916260081659786 Centerline is valid? [True, True] Translation: X:39.42, Y:358.82, Z:7.80 [[-4.79127810e-01 -8.77722021e-01 6.37145566e-03 3.94169648e+01] [ 8.77649291e-01 -4.79170139e-01 -1.13004821e-02 3.58821805e+02] [ 1.29716933e-02 1.77528312e-04 9.99915848e-01 7.80002846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2827550960001 meters 0.0196967062371349 Centerline is valid? [True, True] Translation: X:39.40, Y:358.84, Z:7.80 [[-4.78647447e-01 -8.77986405e-01 6.04114281e-03 3.94025062e+01] [ 8.77921158e-01 -4.78685535e-01 -1.07050990e-02 3.58843170e+02] [ 1.22907391e-02 1.79678781e-04 9.99924450e-01 7.80060185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.312755096 meters 0.019807313513791072 Centerline is valid? [True, True] Translation: X:39.39, Y:358.87, Z:7.80 [[-4.79248465e-01 -8.77658001e-01 6.11077010e-03 3.93912805e+01] [ 8.77591343e-01 -4.79287389e-01 -1.08182189e-02 3.58866807e+02] [ 1.24235114e-02 1.78144130e-04 9.99922809e-01 7.80091655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.342755096 meters 0.01886804252606225 Centerline is valid? [True, True] Translation: X:39.38, Y:358.89, Z:7.80 [[-4.80577434e-01 -8.76933339e-01 5.76619259e-03 3.93783771e+01] [ 8.76874031e-01 -4.80612001e-01 -1.01999145e-02 3.58888394e+02] [ 1.17159464e-02 1.54375823e-04 9.99931354e-01 7.80172930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.372755096 meters 0.01839118603894882 Centerline is valid? [True, True] Translation: X:39.37, Y:358.91, Z:7.80 [[-4.82141025e-01 -8.76074307e-01 5.81723411e-03 3.93656941e+01] [ 8.76013984e-01 -4.82176097e-01 -1.02816337e-02 3.58911342e+02] [ 1.18124064e-02 1.38781001e-04 9.99930222e-01 7.80146244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.402755096 meters 0.01839118603894882 Centerline is valid? [True, True] Translation: X:39.35, Y:358.93, Z:7.80 [[-4.82479291e-01 -8.75888034e-01 5.82120408e-03 3.93526971e+01] [ 8.75827723e-01 -4.82514386e-01 -1.02793861e-02 3.58933773e+02] [ 1.18124060e-02 1.38780996e-04 9.99930222e-01 7.80160203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.432755096 meters 0.017387018154574024 Centerline is valid? [True, True] Translation: X:39.34, Y:358.96, Z:7.80 [[-4.86441797e-01 -8.73695168e-01 5.57957866e-03 3.93418099e+01] [ 8.73639698e-01 -4.86473787e-01 -9.84543606e-03 3.58957673e+02] [ 1.13162287e-02 8.53098082e-05 9.99935966e-01 7.80120108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.462755096 meters 0.016773087977749374 Centerline is valid? [True, True] Translation: X:39.33, Y:358.98, Z:7.80 [[-4.89184264e-01 -8.72162586e-01 5.58381712e-03 3.93312030e+01] [ 8.72107017e-01 -4.89216128e-01 -9.84531867e-03 3.58981788e+02] [ 1.13184120e-02 5.35111239e-05 9.99935943e-01 7.80142397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.492755096 meters 0.01809739859259394 Centerline is valid? [True, True] Translation: X:39.32, Y:359.01, Z:7.80 [[-4.94855785e-01 -8.68954743e-01 5.95043283e-03 3.93237229e+01] [ 8.68891522e-01 -4.94891559e-01 -1.04817582e-02 3.59007110e+02] [ 1.20529925e-02 -1.66780461e-05 9.99927360e-01 7.79953725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.522755096 meters 0.016769752383593354 Centerline is valid? [True, True] Translation: X:39.31, Y:359.03, Z:7.80 [[-4.98156008e-01 -8.67068976e-01 5.65537316e-03 3.93133152e+01] [ 8.67011838e-01 -4.98188105e-01 -9.95416988e-03 3.59030755e+02] [ 1.14483915e-02 -5.54540463e-05 9.99934464e-01 7.80074427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.552755096 meters 0.01818534777634417 Centerline is valid? [True, True] Translation: X:39.30, Y:359.06, Z:7.80 [[-5.04724849e-01 -8.63261286e-01 5.72531649e-03 3.93033875e+01] [ 8.63202565e-01 -5.04757301e-01 -1.00697152e-02 3.59056341e+02] [ 1.15826906e-02 -1.40327578e-04 9.99932909e-01 7.80046435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.582755096 meters 0.019925533444929307 Centerline is valid? [True, True] Translation: X:39.29, Y:359.08, Z:7.80 [[-5.08419335e-01 -8.61089294e-01 5.91666711e-03 3.92934831e+01] [ 8.61026537e-01 -5.08453725e-01 -1.03976599e-02 3.59081343e+02] [ 1.19616650e-02 -1.91963935e-04 9.99928438e-01 7.79994042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.612755096 meters 0.022807956824365292 Centerline is valid? [True, True] Translation: X:39.28, Y:359.11, Z:7.80 [[-5.14886738e-01 -8.57236724e-01 6.07012566e-03 3.92840611e+01] [ 8.57170505e-01 -5.14922439e-01 -1.06586873e-02 3.59107460e+02] [ 1.22626621e-02 -2.84884061e-04 9.99924770e-01 7.79960776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.642755096 meters 0.023743396192472635 Centerline is valid? [True, True] Translation: X:39.27, Y:359.13, Z:7.80 [[-5.18029562e-01 -8.55338520e-01 6.43342381e-03 3.92712104e+01] [ 8.55264109e-01 -5.18069394e-01 -1.12874819e-02 3.59131454e+02] [ 1.29875781e-02 -3.44972845e-04 9.99915598e-01 7.79907864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6727550960001 meters 0.026513523419041632 Centerline is valid? [True, True] Translation: X:39.26, Y:359.16, Z:7.80 [[-5.20763516e-01 -8.53671099e-01 7.14254576e-03 3.92610203e+01] [ 8.53579374e-01 -5.20812323e-01 -1.25210015e-02 3.59155238e+02] [ 1.44087430e-02 -4.23751024e-04 9.99896099e-01 7.79692970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.702755096 meters 0.027897599315221153 Centerline is valid? [True, True] Translation: X:39.25, Y:359.18, Z:7.80 [[-5.23272062e-01 -8.52137570e-01 6.92179825e-03 3.92504400e+01] [ 8.52051419e-01 -5.23317650e-01 -1.21250447e-02 3.59178618e+02] [ 1.39545053e-02 -4.46969107e-04 9.99902531e-01 7.79720706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.732755096 meters 0.026236482866099333 Centerline is valid? [True, True] Translation: X:39.23, Y:359.20, Z:7.80 [[-5.27305958e-01 -8.49645973e-01 7.08141636e-03 3.92329712e+01] [ 8.49555710e-01 -5.27353249e-01 -1.23954149e-02 3.59200785e+02] [ 1.42661223e-02 -5.20118437e-04 9.99898098e-01 7.79833501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.762755096 meters 0.03234468688036167 Centerline is valid? [True, True] Translation: X:39.23, Y:359.23, Z:7.80 [[-5.30767602e-01 -8.47485861e-01 7.31220557e-03 3.92257563e+01] [ 8.47389572e-01 -5.30817639e-01 -1.27885439e-02 3.59227076e+02] [ 1.47195578e-02 -5.91458048e-04 9.99891487e-01 7.79661592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7927550960001 meters 0.028894641941456137 Centerline is valid? [True, True] Translation: X:39.21, Y:359.25, Z:7.80 [[-5.32321074e-01 -8.46512112e-01 7.17772492e-03 3.92076536e+01] [ 8.46419398e-01 -5.32369123e-01 -1.25427239e-02 3.59248190e+02] [ 1.44387668e-02 -6.01390639e-04 9.99895575e-01 7.79818730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.822755096 meters 0.02930951310400581 Centerline is valid? [True, True] Translation: X:39.19, Y:359.27, Z:7.80 [[-5.33464913e-01 -8.45790795e-01 7.28814284e-03 3.91945831e+01] [ 8.45695302e-01 -5.33514330e-01 -1.27246254e-02 3.59271497e+02] [ 1.46506996e-02 -6.24593000e-04 9.99892478e-01 7.79887781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.852755096 meters 0.029871154809377232 Centerline is valid? [True, True] Translation: X:39.18, Y:359.30, Z:7.80 [[-5.34204625e-01 -8.45320550e-01 7.65417402e-03 3.91810779e+01] [ 8.45215352e-01 -5.34259045e-01 -1.33521853e-02 3.59295371e+02] [ 1.53761883e-02 -6.63373747e-04 9.99881559e-01 7.79910365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.882755096 meters 0.029989063195385825 Centerline is valid? [True, True] Translation: X:39.17, Y:359.32, Z:7.80 [[-5.33909095e-01 -8.45503382e-01 8.06900074e-03 3.91668880e+01] [ 8.45386678e-01 -5.33969623e-01 -1.40643598e-02 3.59318427e+02] [ 1.62000651e-02 -6.87663888e-04 9.99868534e-01 7.79916335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9127550960001 meters 0.027890297033932022 Centerline is valid? [True, True] Translation: X:39.15, Y:359.34, Z:7.80 [[-5.31824903e-01 -8.46816930e-01 7.95985824e-03 3.91489338e+01] [ 8.46703683e-01 -5.31884091e-01 -1.38631899e-02 3.59340233e+02] [ 1.59733059e-02 -6.33148335e-04 9.99872218e-01 7.80018325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.942755096 meters 0.033695647697570365 Centerline is valid? [True, True] Translation: X:39.14, Y:359.37, Z:7.80 [[-5.30551909e-01 -8.47614914e-01 7.97682334e-03 3.91413805e+01] [ 8.47501461e-01 -5.30611527e-01 -1.38809967e-02 3.59366425e+02] [ 1.59983343e-02 -6.04219884e-04 9.99871836e-01 7.79810506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.972755096 meters 0.027455799127041474 Centerline is valid? [True, True] Translation: X:39.12, Y:359.38, Z:7.80 [[-5.29205873e-01 -8.48456666e-01 7.90119940e-03 3.91193137e+01] [ 8.48345626e-01 -5.29264550e-01 -1.37380866e-02 3.59384867e+02] [ 1.58379959e-02 -5.67328158e-04 9.99874410e-01 7.80009967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.002755096 meters 0.02463145661683576 Centerline is valid? [True, True] Translation: X:39.10, Y:359.41, Z:7.80 [[-5.25835890e-01 -8.50553264e-01 7.46737179e-03 3.91009752e+01] [ 8.50454446e-01 -5.25888698e-01 -1.29735652e-02 3.59406176e+02] [ 1.49617147e-02 -4.71306673e-04 9.99887956e-01 7.80205565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0327550960001 meters 0.024212934260541896 Centerline is valid? [True, True] Translation: X:39.09, Y:359.43, Z:7.80 [[-5.24589350e-01 -8.51324195e-01 7.28893823e-03 3.90869864e+01] [ 8.51230270e-01 -5.24639807e-01 -1.26530337e-02 3.59428475e+02] [ 1.45959009e-02 -4.33081877e-04 9.99893380e-01 7.80295502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.062755096 meters 0.0229574149804303 Centerline is valid? [True, True] Translation: X:39.07, Y:359.45, Z:7.80 [[-5.22215940e-01 -8.52783200e-01 7.16421762e-03 3.90711864e+01] [ 8.52692739e-01 -5.22264942e-01 -1.24267066e-02 3.59451425e+02] [ 1.43389063e-02 -3.80547905e-04 9.99897120e-01 7.80384578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.092755096 meters 0.022319893653760012 Centerline is valid? [True, True] Translation: X:39.06, Y:359.47, Z:7.80 [[-5.21477933e-01 -8.53235287e-01 7.09308596e-03 3.90567505e+01] [ 8.53146792e-01 -5.21526046e-01 -1.22937155e-02 3.59474181e+02] [ 1.41886609e-02 -3.59457822e-04 9.99899271e-01 7.80449721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.122755096 meters 0.020951251045174 Centerline is valid? [True, True] Translation: X:39.04, Y:359.50, Z:7.81 [[-5.19767058e-01 -8.54281420e-01 6.74253754e-03 3.90402471e+01] [ 8.54201664e-01 -5.19810696e-01 -1.16772187e-02 3.59496732e+02] [ 1.34804741e-02 -3.09946817e-04 9.99909086e-01 7.80551068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.152755096 meters 0.020188788902349892 Centerline is valid? [True, True] Translation: X:39.03, Y:359.52, Z:7.81 [[-5.19030633e-01 -8.54729413e-01 6.69568061e-03 3.90253220e+01] [ 8.54650932e-01 -5.19073738e-01 -1.15861966e-02 3.59518922e+02] [ 1.33786150e-02 -2.91121296e-04 9.99910460e-01 7.80595405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.182755096 meters 0.01983125029112483 Centerline is valid? [True, True] Translation: X:39.01, Y:359.54, Z:7.81 [[-5.17342890e-01 -8.55750595e-01 6.87411058e-03 3.90110651e+01] [ 8.55668109e-01 -5.17388489e-01 -1.18843592e-02 3.59540527e+02] [ 1.37266331e-02 -2.66331545e-04 9.99905750e-01 7.80557719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.212755096 meters 0.020200153527993165 Centerline is valid? [True, True] Translation: X:39.00, Y:359.56, Z:7.80 [[-5.17191058e-01 -8.55839844e-01 7.18126583e-03 3.89954374e+01] [ 8.55749983e-01 -5.17240842e-01 -1.24047902e-02 3.59563485e+02] [ 1.43309577e-02 -2.70278472e-04 9.99897270e-01 7.80475687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.242755096 meters 0.01887637390410904 Centerline is valid? [True, True] Translation: X:38.98, Y:359.59, Z:7.81 [[-5.16241431e-01 -8.56413671e-01 7.10001642e-03 3.89829554e+01] [ 8.56326042e-01 -5.16290194e-01 -1.22533668e-02 3.59585723e+02] [ 1.41596197e-02 -2.45766637e-04 9.99899717e-01 7.80547418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.272755096 meters 0.018102599047140674 Centerline is valid? [True, True] Translation: X:38.97, Y:359.61, Z:7.80 [[-5.14556861e-01 -8.57422188e-01 7.64388078e-03 3.89685226e+01] [ 8.57320913e-01 -5.14613583e-01 -1.31800433e-02 3.59608421e+02] [ 1.52345065e-02 -2.28622868e-04 9.99883922e-01 7.80498507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.302755096 meters 0.017761686618789522 Centerline is valid? [True, True] Translation: X:38.96, Y:359.63, Z:7.80 [[-5.13881259e-01 -8.57824146e-01 7.98660989e-03 3.89551667e+01] [ 8.57713831e-01 -5.13943271e-01 -1.37585507e-02 3.59629723e+02] [ 1.59070814e-02 -2.20035607e-04 9.99873450e-01 7.80403021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.332755096 meters 0.017301592967414323 Centerline is valid? [True, True] Translation: X:38.94, Y:359.65, Z:7.80 [[-5.12573781e-01 -8.58600330e-01 8.57859721e-03 3.89405848e+01] [ 8.58473390e-01 -5.12645523e-01 -1.47650304e-02 3.59651632e+02] [ 1.70750394e-02 -2.03670009e-04 9.99854190e-01 7.80313947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.362755096 meters 0.017651965370574153 Centerline is valid? [True, True] Translation: X:38.93, Y:359.67, Z:7.80 [[-5.12044564e-01 -8.58913891e-01 8.79165917e-03 3.89262450e+01] [ 8.58780847e-01 -5.12119998e-01 -1.51183859e-02 3.59673924e+02] [ 1.74877761e-02 -1.91178810e-04 9.99847059e-01 7.80292769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.392755096 meters 0.01664289429508127 Centerline is valid? [True, True] Translation: X:38.91, Y:359.70, Z:7.80 [[-5.11133593e-01 -8.59457406e-01 8.68432136e-03 3.89130241e+01] [ 8.59327903e-01 -5.11207336e-01 -1.49202987e-02 3.59695253e+02] [ 1.72628500e-02 -1.63586208e-04 9.99850973e-01 7.80355210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4227550960001 meters 0.016318948264627927 Centerline is valid? [True, True] Translation: X:38.90, Y:359.72, Z:7.80 [[-5.09780321e-01 -8.60260427e-01 8.71903666e-03 3.88997624e+01] [ 8.60130238e-01 -5.09854862e-01 -1.49664308e-02 3.59717389e+02] [ 1.73204714e-02 -1.30084849e-04 9.99849981e-01 7.80323257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.452755096 meters 0.015542091531816087 Centerline is valid? [True, True] Translation: X:38.89, Y:359.74, Z:7.81 [[-5.09140928e-01 -8.60639943e-01 8.62577542e-03 3.88854692e+01] [ 8.60512805e-01 -5.09213979e-01 -1.47931204e-02 3.59739626e+02] [ 1.71239157e-02 -1.09192816e-04 9.99853369e-01 7.80548001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.482755096 meters 0.018238286307325328 Centerline is valid? [True, True] Translation: X:38.87, Y:359.76, Z:7.80 [[-5.07909908e-01 -8.61363105e-01 9.00701079e-03 3.88737342e+01] [ 8.61224851e-01 -5.07989758e-01 -1.54324823e-02 3.59761668e+02] [ 1.78684401e-02 -8.12491205e-05 9.99840343e-01 7.80401838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.512755096 meters 0.015091490423170175 Centerline is valid? [True, True] Translation: X:38.86, Y:359.78, Z:7.81 [[-5.06856184e-01 -8.61988966e-01 8.47536403e-03 3.88605761e+01] [ 8.61866857e-01 -5.06927037e-01 -1.45086007e-02 3.59784259e+02] [ 1.68026449e-02 -4.91386351e-05 9.99858824e-01 7.80697275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5427550960001 meters 0.015027485417343512 Centerline is valid? [True, True] Translation: X:38.85, Y:359.81, Z:7.81 [[-5.06006108e-01 -8.62488851e-01 8.41436273e-03 3.88474668e+01] [ 8.62368779e-01 -5.06076063e-01 -1.43912447e-02 3.59807246e+02] [ 1.66705957e-02 -2.57740245e-05 9.99861036e-01 7.80750866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.572755096 meters 0.016378696343546665 Centerline is valid? [True, True] Translation: X:38.84, Y:359.83, Z:7.81 [[-5.04355242e-01 -8.63454099e-01 8.53286303e-03 3.88353411e+01] [ 8.63330987e-01 -5.04427418e-01 -1.45803611e-02 3.59830025e+02] [ 1.68936826e-02 1.30035093e-05 9.99857292e-01 7.80631954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.602755096 meters 0.01503781825269686 Centerline is valid? [True, True] Translation: X:38.82, Y:359.85, Z:7.81 [[-5.03073810e-01 -8.64200996e-01 8.56628811e-03 3.88226475e+01] [ 8.64077250e-01 -5.03146735e-01 -1.46242301e-02 3.59853034e+02] [ 1.69483741e-02 4.48675091e-05 9.99856365e-01 7.80829656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.632755096 meters 0.015369363362496068 Centerline is valid? [True, True] Translation: X:38.81, Y:359.88, Z:7.81 [[-5.01141068e-01 -8.65324965e-01 8.38663721e-03 3.88117770e+01] [ 8.65206728e-01 -5.01211231e-01 -1.43045525e-02 3.59875761e+02] [ 1.65815631e-02 8.75762323e-05 9.99862513e-01 7.80916812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6627550960001 meters 0.016872525528323145 Centerline is valid? [True, True] Translation: X:38.80, Y:359.90, Z:7.81 [[-5.00697366e-01 -8.65581145e-01 8.45157482e-03 3.87993659e+01] [ 8.65461320e-01 -5.00768680e-01 -1.44025247e-02 3.59898645e+02] [ 1.66988378e-02 1.03204902e-04 9.99860559e-01 7.80849343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.692755096 meters 0.015836217873841322 Centerline is valid? [True, True] Translation: X:38.79, Y:359.92, Z:7.81 [[-4.99594247e-01 -8.66220065e-01 8.26964266e-03 3.87863862e+01] [ 8.66105629e-01 -4.99662669e-01 -1.40803765e-02 3.59921812e+02] [ 1.63287363e-02 1.27908970e-04 9.99866669e-01 7.81039492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.722755096 meters 0.017648579744087955 Centerline is valid? [True, True] Translation: X:38.78, Y:359.95, Z:7.81 [[-4.98916209e-01 -8.66612957e-01 8.03736058e-03 3.87765932e+01] [ 8.66505098e-01 -4.98980924e-01 -1.36730857e-02 3.59946241e+02] [ 1.58597628e-02 1.42689840e-04 9.99874216e-01 7.80970827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.752755096 meters 0.01590228316498676 Centerline is valid? [True, True] Translation: X:38.77, Y:359.97, Z:7.81 [[-4.99015105e-01 -8.66558062e-01 7.81350208e-03 3.87651730e+01] [ 8.66456298e-01 -4.99076252e-01 -1.32807846e-02 3.59970699e+02] [ 1.54081043e-02 1.42745973e-04 9.99881278e-01 7.81253004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7827550960001 meters 0.015710347493724998 Centerline is valid? [True, True] Translation: X:38.76, Y:360.00, Z:7.81 [[-4.99642485e-01 -8.66199575e-01 7.46215970e-03 3.87571137e+01] [ 8.66106856e-01 -4.99698188e-01 -1.26741703e-02 3.59995811e+02] [ 1.47071886e-02 1.30473751e-04 9.99891835e-01 7.81390908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.812755096 meters 0.015901948949190003 Centerline is valid? [True, True] Translation: X:38.75, Y:360.02, Z:7.81 [[-5.00113672e-01 -8.65927570e-01 7.46718697e-03 3.87457598e+01] [ 8.65834849e-01 -5.00169399e-01 -1.26722829e-02 3.60019097e+02] [ 1.47081375e-02 1.27768796e-04 9.99891821e-01 7.81352835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.842755096 meters 0.01550438950733248 Centerline is valid? [True, True] Translation: X:38.74, Y:360.04, Z:7.81 [[-5.00558173e-01 -8.65668511e-01 7.71651817e-03 3.87356555e+01] [ 8.65569643e-01 -5.00617631e-01 -1.30835902e-02 3.60043602e+02] [ 1.51890771e-02 1.30085866e-04 9.99884631e-01 7.81485177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.872755096 meters 0.015639115198262873 Centerline is valid? [True, True] Translation: X:38.73, Y:360.07, Z:7.81 [[-5.01464338e-01 -8.65142914e-01 7.82667107e-03 3.87263179e+01] [ 8.65041326e-01 -5.01525397e-01 -1.32581887e-02 3.60067778e+02] [ 1.53955023e-02 1.21885125e-04 9.99881475e-01 7.81290536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.902755096 meters 0.01492175699012616 Centerline is valid? [True, True] Translation: X:38.72, Y:360.09, Z:7.81 [[-5.02167475e-01 -8.64735369e-01 7.78262214e-03 3.87161771e+01] [ 8.64635048e-01 -5.02227766e-01 -1.31721402e-02 3.60093019e+02] [ 1.52990645e-02 1.14507471e-04 9.99882956e-01 7.81455902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.932755096 meters 0.01739750667971385 Centerline is valid? [True, True] Translation: X:38.71, Y:360.12, Z:7.81 [[-5.03624226e-01 -8.63886442e-01 7.92810535e-03 3.87079007e+01] [ 8.63782411e-01 -5.03686615e-01 -1.34067186e-02 3.60118642e+02] [ 1.55751630e-02 9.62096887e-05 9.99878695e-01 7.81172280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.962755096 meters 0.018549001399359256 Centerline is valid? [True, True] Translation: X:38.70, Y:360.14, Z:7.81 [[-5.04420186e-01 -8.63419865e-01 8.14942153e-03 3.86970057e+01] [ 8.63310071e-01 -5.04486005e-01 -1.37692405e-02 3.60144249e+02] [ 1.59999049e-02 8.99948136e-05 9.99871989e-01 7.81128360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.992755096 meters 0.016457085387357132 Centerline is valid? [True, True] Translation: X:38.69, Y:360.17, Z:7.81 [[-5.05067011e-01 -8.63042261e-01 8.08516388e-03 3.86859795e+01] [ 8.62934322e-01 -5.05131714e-01 -1.36494570e-02 3.60169461e+02] [ 1.58641309e-02 8.30749699e-05 9.99874153e-01 7.81248148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.022755096 meters 0.014685771724386083 Centerline is valid? [True, True] Translation: X:38.68, Y:360.19, Z:7.81 [[-5.06733080e-01 -8.62063184e-01 8.28566214e-03 3.86785552e+01] [ 8.61949901e-01 -5.06800812e-01 -1.39751562e-02 3.60194507e+02] [ 1.62466480e-02 6.01517020e-05 9.99868013e-01 7.81327201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.052755096 meters 0.014545554619085082 Centerline is valid? [True, True] Translation: X:38.67, Y:360.22, Z:7.81 [[-5.07735189e-01 -8.61472736e-01 8.34883721e-03 3.86679518e+01] [ 8.61357851e-01 -5.07803823e-01 -1.40687691e-02 3.60218749e+02] [ 1.63594325e-02 4.81273456e-05 9.99866174e-01 7.81350351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.082755096 meters 0.014563248091710118 Centerline is valid? [True, True] Translation: X:38.66, Y:360.24, Z:7.81 [[-5.08927028e-01 -8.60765639e-01 8.70607428e-03 3.86611900e+01] [ 8.60640841e-01 -5.09001488e-01 -1.46570080e-02 3.60243912e+02] [ 1.70476536e-02 3.34555760e-05 9.99854678e-01 7.81257783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.112755096 meters 0.014605556937371224 Centerline is valid? [True, True] Translation: X:38.65, Y:360.27, Z:7.81 [[-5.09888071e-01 -8.60193650e-01 9.00216915e-03 3.86508564e+01] [ 8.60060374e-01 -5.09967532e-01 -1.51416335e-02 3.60268742e+02] [ 1.76155510e-02 2.18706611e-05 9.99844834e-01 7.81258499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.142755096 meters 0.016359207434863316 Centerline is valid? [True, True] Translation: X:38.64, Y:360.29, Z:7.81 [[-5.11230329e-01 -8.59392404e-01 9.39396714e-03 3.86403585e+01] [ 8.59247398e-01 -5.11316630e-01 -1.57864682e-02 3.60293302e+02] [ 1.83700624e-02 1.22050657e-06 9.99831256e-01 7.81116378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1727550960001 meters 0.01601221551380755 Centerline is valid? [True, True] Translation: X:38.63, Y:360.32, Z:7.81 [[-5.12866912e-01 -8.58416762e-01 9.39117669e-03 3.86334017e+01] [ 8.58271941e-01 -5.12952886e-01 -1.57674524e-02 3.60318779e+02] [ 1.83522766e-02 -2.64211771e-05 9.99831582e-01 7.81151229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.202755096 meters 0.01719432819599745 Centerline is valid? [True, True] Translation: X:38.62, Y:360.34, Z:7.81 [[-5.12957795e-01 -8.58368161e-01 8.85447115e-03 3.86203077e+01] [ 8.58239644e-01 -5.13034210e-01 -1.48530430e-02 3.60340432e+02] [ 1.72920258e-02 -1.97260361e-05 9.99850482e-01 7.81204225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.232755096 meters 0.014524315591971449 Centerline is valid? [True, True] Translation: X:38.61, Y:360.36, Z:7.81 [[-5.10866313e-01 -8.59621695e-01 8.13336695e-03 3.86066636e+01] [ 8.59513608e-01 -5.10931052e-01 -1.36315134e-02 3.60361915e+02] [ 1.58735344e-02 2.68585990e-05 9.99874007e-01 7.81499453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.262755096 meters 0.01445435085443849 Centerline is valid? [True, True] Translation: X:38.59, Y:360.38, Z:7.82 [[-5.10332828e-01 -8.59938146e-01 8.17252116e-03 3.85934697e+01] [ 8.59829247e-01 -5.10398260e-01 -1.36851330e-02 3.60384270e+02] [ 1.59396085e-02 4.30000701e-05 9.99872955e-01 7.81660019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2927550960001 meters 0.014429550757055713 Centerline is valid? [True, True] Translation: X:38.58, Y:360.41, Z:7.82 [[-5.09916294e-01 -8.60186932e-01 7.98839984e-03 3.85799260e+01] [ 8.60083096e-01 -5.09978861e-01 -1.33652171e-02 3.60406981e+02] [ 1.55705001e-02 5.55456923e-05 9.99878771e-01 7.81769405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.322755096 meters 0.014429550757055713 Centerline is valid? [True, True] Translation: X:38.57, Y:360.43, Z:7.82 [[-5.10248979e-01 -8.59989583e-01 7.99356992e-03 3.85663858e+01] [ 8.59885771e-01 -5.10311586e-01 -1.33621251e-02 3.60429126e+02] [ 1.55704997e-02 5.55463333e-05 9.99878771e-01 7.81783363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.352755096 meters 0.014635640399462168 Centerline is valid? [True, True] Translation: X:38.55, Y:360.45, Z:7.82 [[-5.09080435e-01 -8.60684765e-01 7.67111226e-03 3.85515073e+01] [ 8.60589409e-01 -5.09138222e-01 -1.28117214e-02 3.60450270e+02] [ 1.49325099e-02 7.94812427e-05 9.99888501e-01 7.81820500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.382755096 meters 0.014700631890897336 Centerline is valid? [True, True] Translation: X:38.54, Y:360.47, Z:7.82 [[-5.08488723e-01 -8.61037120e-01 7.36860669e-03 3.85371283e+01] [ 8.60949326e-01 -5.08542102e-01 -1.22958845e-02 3.60472434e+02] [ 1.43344598e-02 9.16783246e-05 9.99897252e-01 7.81897042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4127550960001 meters 0.01508570800371729 Centerline is valid? [True, True] Translation: X:38.52, Y:360.49, Z:7.82 [[-5.07372356e-01 -8.61695023e-01 7.41480741e-03 3.85223210e+01] [ 8.61606328e-01 -5.07426521e-01 -1.23637511e-02 3.60492730e+02] [ 1.44162527e-02 1.15619464e-04 9.99896074e-01 7.81927874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.442755096 meters 0.014859820703184595 Centerline is valid? [True, True] Translation: X:38.51, Y:360.52, Z:7.82 [[-5.07574841e-01 -8.61575204e-01 7.47995636e-03 3.85080184e+01] [ 8.61485076e-01 -5.07629939e-01 -1.24623465e-02 3.60515312e+02] [ 1.45342985e-02 1.18297219e-04 9.99894365e-01 7.81972490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.472755096 meters 0.015131440761190258 Centerline is valid? [True, True] Translation: X:38.49, Y:360.54, Z:7.82 [[-5.08029694e-01 -8.61306714e-01 7.52157486e-03 3.84933009e+01] [ 8.61215716e-01 -5.08085358e-01 -1.25204012e-02 3.60536512e+02] [ 1.46055077e-02 1.16962861e-04 9.99893327e-01 7.81865533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.502755096 meters 0.014826650808700473 Centerline is valid? [True, True] Translation: X:38.48, Y:360.56, Z:7.82 [[-5.09329336e-01 -8.60537503e-01 7.67030078e-03 3.84809952e+01] [ 8.60442962e-01 -5.09387078e-01 -1.27559746e-02 3.60557337e+02] [ 1.48841467e-02 1.02864232e-04 9.99889220e-01 7.81850321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5327550960001 meters 0.014580362798553967 Centerline is valid? [True, True] Translation: X:38.47, Y:360.58, Z:7.82 [[-5.10129149e-01 -8.60063174e-01 7.71936562e-03 3.84684421e+01] [ 8.59967536e-01 -5.10187542e-01 -1.28261353e-02 3.60580256e+02] [ 1.49696108e-02 9.54183405e-05 9.99887945e-01 7.81929439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.562755096 meters 0.014326937247111428 Centerline is valid? [True, True] Translation: X:38.46, Y:360.60, Z:7.82 [[-5.12474300e-01 -8.58663049e-01 8.23779546e-03 3.84566254e+01] [ 8.58554147e-01 -5.12540501e-01 -1.36752220e-02 3.60602940e+02] [ 1.59646116e-02 6.43936335e-05 9.99872555e-01 7.81866289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.592755096 meters 0.014171959071852952 Centerline is valid? [True, True] Translation: X:38.44, Y:360.63, Z:7.82 [[-5.13906514e-01 -8.57807128e-01 8.18692275e-03 3.84443258e+01] [ 8.57699644e-01 -5.13971720e-01 -1.35791230e-02 3.60625928e+02] [ 1.58561153e-02 4.35209717e-05 9.99874283e-01 7.81902223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.622755096 meters 0.014300765869700383 Centerline is valid? [True, True] Translation: X:38.43, Y:360.65, Z:7.82 [[-5.15255120e-01 -8.56996462e-01 8.32015709e-03 3.84322355e+01] [ 8.56885538e-01 -5.15322290e-01 -1.37881178e-02 3.60648111e+02] [ 1.61039305e-02 2.50240173e-05 9.99870323e-01 7.81911275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.652755096 meters 0.014386255179201923 Centerline is valid? [True, True] Translation: X:38.42, Y:360.67, Z:7.82 [[-5.17432278e-01 -8.55681572e-01 8.53729535e-03 3.84198626e+01] [ 8.55564801e-01 -5.17502703e-01 -1.41359102e-02 3.60671805e+02] [ 1.65139113e-02 -1.01668363e-05 9.99863636e-01 7.81867794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.682755096 meters 0.014564192709811106 Centerline is valid? [True, True] Translation: X:38.41, Y:360.69, Z:7.82 [[-5.18763092e-01 -8.54871481e-01 8.92217798e-03 3.84077188e+01] [ 8.54744044e-01 -5.18839811e-01 -1.47604390e-02 3.60694526e+02] [ 1.72474595e-02 -3.09925107e-05 9.99851251e-01 7.81835216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.712755096 meters 0.015142235503100947 Centerline is valid? [True, True] Translation: X:38.40, Y:360.72, Z:7.82 [[-5.21511026e-01 -8.53193697e-01 9.31477771e-03 3.83981002e+01] [ 8.53054761e-01 -5.21594199e-01 -1.53969809e-02 3.60719283e+02] [ 1.79951410e-02 -8.36798152e-05 9.99838071e-01 7.81861597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.742755096 meters 0.015559902598638488 Centerline is valid? [True, True] Translation: X:38.39, Y:360.74, Z:7.82 [[-5.23303495e-01 -8.52094493e-01 9.40352410e-03 3.83870837e+01] [ 8.51952972e-01 -5.23387964e-01 -1.55297138e-02 3.60741419e+02] [ 1.81544749e-02 -1.15393190e-04 9.99835187e-01 7.81863610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.772755096 meters 0.017065443837539843 Centerline is valid? [True, True] Translation: X:38.38, Y:360.77, Z:7.82 [[-5.26780797e-01 -8.49946974e-01 9.59859092e-03 3.83771470e+01] [ 8.49799380e-01 -5.26868205e-01 -1.58400596e-02 3.60765262e+02] [ 1.85204031e-02 -1.87362593e-04 9.99828465e-01 7.81791594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.802755096 meters 0.017887683816062264 Centerline is valid? [True, True] Translation: X:38.37, Y:360.79, Z:7.82 [[-5.28583539e-01 -8.48827697e-01 9.53854784e-03 3.83657144e+01] [ 8.48681986e-01 -5.28669551e-01 -1.57287349e-02 3.60788486e+02] [ 1.83937256e-02 -2.18756655e-04 9.99830797e-01 7.81810273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.832755096 meters 0.017738110333644277 Centerline is valid? [True, True] Translation: X:38.35, Y:360.81, Z:7.82 [[-5.30299156e-01 -8.47758368e-01 9.41038817e-03 3.83528649e+01] [ 8.47616611e-01 -5.30382588e-01 -1.55045416e-02 3.60811737e+02] [ 1.81352109e-02 -2.45643981e-04 9.99835513e-01 7.82083111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.862755096 meters 0.017886247990308163 Centerline is valid? [True, True] Translation: X:38.34, Y:360.84, Z:7.82 [[-5.31977952e-01 -8.46707608e-01 9.25662488e-03 3.83401029e+01] [ 8.46570517e-01 -5.32058412e-01 -1.52383008e-02 3.60835445e+02] [ 1.78274504e-02 -2.70054358e-04 9.99841042e-01 7.82291302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.892755096 meters 0.01954752733833229 Centerline is valid? [True, True] Translation: X:38.33, Y:360.86, Z:7.82 [[-5.34150171e-01 -8.45348058e-01 8.38193118e-03 3.83306038e+01] [ 8.45235675e-01 -5.34215859e-01 -1.37866163e-02 3.60859095e+02] [ 1.61322499e-02 -2.79416206e-04 9.99869828e-01 7.82457616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9227550960001 meters 0.01865967219884125 Centerline is valid? [True, True] Translation: X:38.32, Y:360.88, Z:7.83 [[-5.34947759e-01 -8.44847174e-01 8.00926228e-03 3.83159461e+01] [ 8.44744681e-01 -5.35007642e-01 -1.31623580e-02 3.60881226e+02] [ 1.54051975e-02 -2.75392202e-04 9.99881295e-01 7.82650080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.952755096 meters 0.01899821198858268 Centerline is valid? [True, True] Translation: X:38.30, Y:360.90, Z:7.83 [[-5.35354710e-01 -8.44591228e-01 7.80974843e-03 3.83033650e+01] [ 8.44493893e-01 -5.35411603e-01 -1.28249926e-02 3.60903884e+02] [ 1.50133062e-02 -2.70635348e-04 9.99887257e-01 7.82685553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.982755096 meters 0.018730578329937176 Centerline is valid? [True, True] Translation: X:38.29, Y:360.92, Z:7.83 [[-5.34831597e-01 -8.44921478e-01 7.92837920e-03 3.82894401e+01] [ 8.44821361e-01 -5.34890296e-01 -1.30091787e-02 3.60924845e+02] [ 1.52325476e-02 -2.59655720e-04 9.99883944e-01 7.82632377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.012755096 meters 0.01845778390422751 Centerline is valid? [True, True] Translation: X:38.27, Y:360.95, Z:7.83 [[-5.34223080e-01 -8.45303156e-01 8.26287040e-03 3.82745936e+01] [ 8.45194645e-01 -5.34286917e-01 -1.35462879e-02 3.60946451e+02] [ 1.58654634e-02 -2.53005807e-04 9.99874104e-01 7.82552323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0427550960001 meters 0.017510873776350078 Centerline is valid? [True, True] Translation: X:38.26, Y:360.97, Z:7.83 [[-5.32080922e-01 -8.46653511e-01 8.22947665e-03 3.82590578e+01] [ 8.46546208e-01 -5.32144519e-01 -1.34807011e-02 3.60967872e+02] [ 1.57927538e-02 -2.06191612e-04 9.99875265e-01 7.82543981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.072755096 meters 0.017094875156924195 Centerline is valid? [True, True] Translation: X:38.24, Y:360.99, Z:7.83 [[-5.31021488e-01 -8.47320832e-01 7.97418467e-03 3.82439938e+01] [ 8.47220317e-01 -5.31081329e-01 -1.30520777e-02 3.60989028e+02] [ 1.52942380e-02 -1.75042478e-04 9.99883021e-01 7.82553482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.102755096 meters 0.015912553099164225 Centerline is valid? [True, True] Translation: X:38.23, Y:361.01, Z:7.82 [[-5.28055253e-01 -8.49169644e-01 8.28041456e-03 3.82261110e+01] [ 8.49061670e-01 -5.28120157e-01 -1.35417954e-02 3.61008399e+02] [ 1.58723355e-02 -1.20233599e-04 9.99874019e-01 7.82498778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.132755096 meters 0.015014353508027914 Centerline is valid? [True, True] Translation: X:38.21, Y:361.03, Z:7.83 [[-5.26820962e-01 -8.49932885e-01 8.58870259e-03 3.82089008e+01] [ 8.49817013e-01 -5.26890959e-01 -1.40343323e-02 3.61029707e+02] [ 1.64535503e-02 -9.47548798e-05 9.99864627e-01 7.82634579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1627550960001 meters 0.014731781959273523 Centerline is valid? [True, True] Translation: X:38.19, Y:361.05, Z:7.83 [[-5.25301234e-01 -8.50872888e-01 8.59895406e-03 3.81933084e+01] [ 8.50757051e-01 -5.25371607e-01 -1.40397342e-02 3.61052009e+02] [ 1.64636755e-02 -5.94689103e-05 9.99864463e-01 7.82658144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.192755096 meters 0.014661079666538865 Centerline is valid? [True, True] Translation: X:38.18, Y:361.07, Z:7.83 [[-5.22202276e-01 -8.52779776e-01 8.45205238e-03 3.81767844e+01] [ 8.52668291e-01 -5.22270672e-01 -1.37887957e-02 3.61074024e+02] [ 1.61730651e-02 6.25657376e-06 9.99869207e-01 7.82775514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.222755096 meters 0.01476032787738196 Centerline is valid? [True, True] Translation: X:38.16, Y:361.10, Z:7.83 [[-5.21091352e-01 -8.53461929e-01 8.15709437e-03 3.81615903e+01] [ 8.53358345e-01 -5.21155192e-01 -1.32966661e-02 3.61095568e+02] [ 1.55993104e-02 3.21468513e-05 9.99878323e-01 7.82820320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.252755096 meters 0.01476600870646683 Centerline is valid? [True, True] Translation: X:38.15, Y:361.12, Z:7.83 [[-5.20102478e-01 -8.54068321e-01 7.79199306e-03 3.81458929e+01] [ 8.53974024e-01 -5.20160840e-01 -1.26911776e-02 3.61118280e+02] [ 1.48922224e-02 5.34467366e-05 9.99889103e-01 7.82980534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2827550960001 meters 0.015038053185404356 Centerline is valid? [True, True] Translation: X:38.13, Y:361.14, Z:7.83 [[-5.18246058e-01 -8.55202286e-01 7.07631096e-03 3.81292714e+01] [ 8.55124727e-01 -5.18294360e-01 -1.15177093e-02 3.61138700e+02] [ 1.35175834e-02 8.21210197e-05 9.99908630e-01 7.83080416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.312755096 meters 0.01892306980150151 Centerline is valid? [True, True] Translation: X:38.11, Y:361.16, Z:7.83 [[-5.18025417e-01 -8.55336057e-01 7.06378874e-03 3.81143446e+01] [ 8.55258905e-01 -5.18073568e-01 -1.14884521e-02 3.61160994e+02] [ 1.34860495e-02 9.00580397e-05 9.99909055e-01 7.82759039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.342755096 meters 0.015267965906996273 Centerline is valid? [True, True] Translation: X:38.10, Y:361.18, Z:7.83 [[-5.17532974e-01 -8.55635460e-01 6.89783002e-03 3.81004142e+01] [ 8.55562038e-01 -5.17578930e-01 -1.12093430e-02 3.61184231e+02] [ 1.31612829e-02 1.00316869e-04 9.99913382e-01 7.83300927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.372755096 meters 0.015515684757866693 Centerline is valid? [True, True] Translation: X:38.09, Y:361.21, Z:7.83 [[-5.17969925e-01 -8.55372434e-01 6.71981793e-03 3.80865750e+01] [ 8.55302834e-01 -5.18013504e-01 -1.09120024e-02 3.61205367e+02] [ 1.28147825e-02 9.53902686e-05 9.99917883e-01 7.83253458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.402755096 meters 0.01517219628241582 Centerline is valid? [True, True] Translation: X:38.07, Y:361.23, Z:7.83 [[-5.18396698e-01 -8.55113188e-01 6.80438992e-03 3.80732396e+01] [ 8.55041912e-01 -5.18441344e-01 -1.10408893e-02 3.61228777e+02] [ 1.29688871e-02 9.44780091e-05 9.99915896e-01 7.83373922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.432755096 meters 0.015159260868377275 Centerline is valid? [True, True] Translation: X:38.06, Y:361.25, Z:7.83 [[-5.19182620e-01 -8.54633443e-01 7.14740463e-03 3.80593905e+01] [ 8.54554895e-01 -5.19231807e-01 -1.15871434e-02 3.61250387e+02] [ 1.36139201e-02 9.20061548e-05 9.99907322e-01 7.83280365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.462755096 meters 0.01666241295706416 Centerline is valid? [True, True] Translation: X:38.05, Y:361.27, Z:7.83 [[-5.20010568e-01 -8.54132367e-01 6.84894518e-03 3.80451582e+01] [ 8.54060320e-01 -5.20055663e-01 -1.10940445e-02 3.61274214e+02] [ 1.30376152e-02 8.03919342e-05 9.99915003e-01 7.83085259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.492755096 meters 0.014859688183761738 Centerline is valid? [True, True] Translation: X:38.03, Y:361.30, Z:7.83 [[-5.21892998e-01 -8.52982806e-01 6.93046928e-03 3.80337086e+01] [ 8.52909060e-01 -5.21939010e-01 -1.12163019e-02 3.61296620e+02] [ 1.31845950e-02 5.73505988e-05 9.99913078e-01 7.83363427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.522755096 meters 0.014639146374996723 Centerline is valid? [True, True] Translation: X:38.02, Y:361.32, Z:7.83 [[-5.23836855e-01 -8.51790436e-01 6.92843816e-03 3.80213634e+01] [ 8.51716755e-01 -5.23882671e-01 -1.12034288e-02 3.61320563e+02] [ 1.31726622e-02 3.22979319e-05 9.99913236e-01 7.83441360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.552755096 meters 0.016680545605688143 Centerline is valid? [True, True] Translation: X:38.01, Y:361.35, Z:7.83 [[-5.26363273e-01 -8.50232138e-01 6.85684062e-03 3.80089706e+01] [ 8.50159956e-01 -5.26407933e-01 -1.10786946e-02 3.61345153e+02] [ 1.30289575e-02 -2.00662570e-06 9.99915120e-01 7.83196981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.582755096 meters 0.01526230364613508 Centerline is valid? [True, True] Translation: X:38.00, Y:361.37, Z:7.83 [[-5.30893444e-01 -8.47407166e-01 7.29704712e-03 3.80004860e+01] [ 8.47325280e-01 -5.30943585e-01 -1.17804986e-02 3.61371850e+02] [ 1.38571993e-02 -7.12169665e-05 9.99903982e-01 7.83432050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.612755096 meters 0.01569093447893139 Centerline is valid? [True, True] Translation: X:37.99, Y:361.40, Z:7.83 [[-5.33769290e-01 -8.45598308e-01 7.33796772e-03 3.79888155e+01] [ 8.45515458e-01 -5.33819715e-01 -1.18373017e-02 3.61396217e+02] [ 1.39267542e-02 -1.14023011e-04 9.99903012e-01 7.83494776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.642755096 meters 0.016993470302891073 Centerline is valid? [True, True] Translation: X:37.98, Y:361.42, Z:7.84 [[-5.38319418e-01 -8.42710102e-01 7.20332643e-03 3.79787419e+01] [ 8.42630121e-01 -5.38367580e-01 -1.16115502e-02 3.61423362e+02] [ 1.36632081e-02 -1.80983138e-04 9.99906638e-01 7.83595195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6727550960001 meters 0.017786000272774695 Centerline is valid? [True, True] Translation: X:37.97, Y:361.45, Z:7.84 [[-5.40404822e-01 -8.41376504e-01 6.94311449e-03 3.79673541e+01] [ 8.41302194e-01 -5.40449385e-01 -1.11839865e-02 3.61446643e+02] [ 1.31623454e-02 -2.02622787e-04 9.99913352e-01 7.83596923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.702755096 meters 0.01812841472807968 Centerline is valid? [True, True] Translation: X:37.95, Y:361.47, Z:7.84 [[-5.42329591e-01 -8.40139129e-01 6.69770196e-03 3.79536587e+01] [ 8.40069982e-01 -5.42370903e-01 -1.07809276e-02 3.61471154e+02] [ 1.26901178e-02 -2.20277676e-04 9.99919453e-01 7.83693989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.732755096 meters 0.01912344564882217 Centerline is valid? [True, True] Translation: X:37.94, Y:361.49, Z:7.84 [[-5.44477369e-01 -8.38756212e-01 5.69322428e-03 3.79412857e+01] [ 8.38706230e-01 -5.44507092e-01 -9.15899750e-03 3.61494805e+02] [ 1.07821670e-02 -2.11924187e-04 9.99941848e-01 7.83840398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.762755096 meters 0.01943553747261647 Centerline is valid? [True, True] Translation: X:37.93, Y:361.52, Z:7.84 [[-5.45222414e-01 -8.38272574e-01 5.62234979e-03 3.79273661e+01] [ 8.38223865e-01 -5.45251360e-01 -9.03920279e-03 3.61518418e+02] [ 1.06429097e-02 -2.15588199e-04 9.99943339e-01 7.83913083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7927550960001 meters 0.019963271948207875 Centerline is valid? [True, True] Translation: X:37.92, Y:361.54, Z:7.84 [[-5.46090137e-01 -8.37703709e-01 6.16913835e-03 3.79151340e+01] [ 8.37645123e-01 -5.46124927e-01 -9.91017311e-03 3.61543170e+02] [ 1.16709090e-02 -2.44299134e-04 9.99931863e-01 7.83928213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.822755096 meters 0.020194444910893273 Centerline is valid? [True, True] Translation: X:37.90, Y:361.57, Z:7.84 [[-5.46357418e-01 -8.37525522e-01 6.67620006e-03 3.79012056e+01] [ 8.37457005e-01 -5.46398143e-01 -1.07160864e-02 3.61566715e+02] [ 1.26228592e-02 -2.63782816e-04 9.99920294e-01 7.83893119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.852755096 meters 0.01982192132711949 Centerline is valid? [True, True] Translation: X:37.88, Y:361.59, Z:7.84 [[-5.45759640e-01 -8.37911370e-01 7.13803616e-03 3.78848352e+01] [ 8.37833202e-01 -5.45806252e-01 -1.14482405e-02 3.61589136e+02] [ 1.34885957e-02 -2.67503945e-04 9.99908989e-01 7.83801872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.882755096 meters 0.021354336062012338 Centerline is valid? [True, True] Translation: X:37.87, Y:361.61, Z:7.83 [[-5.45390947e-01 -8.38154627e-01 6.74801743e-03 3.78691704e+01] [ 8.38084898e-01 -5.45432638e-01 -1.08139809e-02 3.61610888e+02] [ 1.27443770e-02 -2.42435764e-04 9.99918758e-01 7.83452691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9127550960001 meters 0.018300197852486638 Centerline is valid? [True, True] Translation: X:37.85, Y:361.63, Z:7.84 [[-5.43960871e-01 -8.39079632e-01 7.20703766e-03 3.78520147e+01] [ 8.39000307e-01 -5.44008564e-01 -1.15397682e-02 3.61632090e+02] [ 1.36034747e-02 -2.30475558e-04 9.99907442e-01 7.83802405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.942755096 meters 0.018389702257341062 Centerline is valid? [True, True] Translation: X:37.84, Y:361.65, Z:7.84 [[-5.42815267e-01 -8.39819914e-01 7.35510684e-03 3.78371322e+01] [ 8.39737500e-01 -5.42865055e-01 -1.17670348e-02 3.61653675e+02] [ 1.38750207e-02 -2.10967136e-04 9.99903715e-01 7.83710451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.972755096 meters 0.017234172890558872 Centerline is valid? [True, True] Translation: X:37.82, Y:361.67, Z:7.84 [[-5.39878086e-01 -8.41710750e-01 7.39363022e-03 3.78187795e+01] [ 8.41627780e-01 -5.39928688e-01 -1.18191143e-02 3.61674231e+02] [ 1.39403087e-02 -1.58196243e-04 9.99902817e-01 7.83734872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.002755096 meters 0.01815164218603474 Centerline is valid? [True, True] Translation: X:37.80, Y:361.70, Z:7.84 [[-5.37214033e-01 -8.43418881e-01 6.75830120e-03 3.78007295e+01] [ 8.43349790e-01 -5.37256533e-01 -1.07958345e-02 3.61695868e+02] [ 1.27363521e-02 -1.00061905e-04 9.99918884e-01 7.83564037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0327550960001 meters 0.016017905694896376 Centerline is valid? [True, True] Translation: X:37.78, Y:361.72, Z:7.84 [[-5.35487657e-01 -8.44512358e-01 7.20042390e-03 3.77844084e+01] [ 8.44434152e-01 -5.35536060e-01 -1.14931104e-02 3.61718185e+02] [ 1.35621604e-02 -7.41349221e-05 9.99908027e-01 7.83868442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.062755096 meters 0.015800115264386072 Centerline is valid? [True, True] Translation: X:37.77, Y:361.74, Z:7.84 [[-5.34544394e-01 -8.45112009e-01 6.92694382e-03 3.77679012e+01] [ 8.45039795e-01 -5.34589272e-01 -1.10479085e-02 3.61740269e+02] [ 1.30397900e-02 -5.20543904e-05 9.99914977e-01 7.83879093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.092755096 meters 0.015697345587317453 Centerline is valid? [True, True] Translation: X:37.75, Y:361.76, Z:7.84 [[-5.33516390e-01 -8.45763939e-01 6.60465173e-03 3.77515285e+01] [ 8.45698440e-01 -5.33557268e-01 -1.05256962e-02 3.61761854e+02] [ 1.24262142e-02 -3.00877703e-05 9.99922791e-01 7.83903855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.122755096 meters 0.015463914817682417 Centerline is valid? [True, True] Translation: X:37.74, Y:361.78, Z:7.84 [[-5.32455395e-01 -8.46437435e-01 5.90941935e-03 3.77350113e+01] [ 8.46385120e-01 -5.32488186e-01 -9.41060917e-03 3.61783782e+02] [ 1.11121879e-02 -9.08501647e-06 9.99938258e-01 7.84045142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.152755096 meters 0.015525946012896712 Centerline is valid? [True, True] Translation: X:37.72, Y:361.81, Z:7.84 [[-5.32524162e-01 -8.46395491e-01 5.71751150e-03 3.77208116e+01] [ 8.46346595e-01 -5.32554855e-01 -9.09766451e-03 3.61805627e+02] [ 1.07451107e-02 -5.72978831e-06 9.99942270e-01 7.84104153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.182755096 meters 0.015628091845914405 Centerline is valid? [True, True] Translation: X:37.71, Y:361.83, Z:7.84 [[-5.32838975e-01 -8.46200674e-01 5.20049532e-03 3.77063257e+01] [ 8.46160276e-01 -5.32864353e-01 -8.26857852e-03 3.61828955e+02] [ 9.76803530e-03 -5.36835666e-06 9.99952292e-01 7.84239428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.212755096 meters 0.015628091845914405 Centerline is valid? [True, True] Translation: X:37.69, Y:361.85, Z:7.84 [[-5.33141156e-01 -8.46010303e-01 5.20344703e-03 3.76918867e+01] [ 8.45969913e-01 -5.33166548e-01 -8.26672091e-03 3.61851514e+02] [ 9.76803495e-03 -5.36950825e-06 9.99952292e-01 7.84253836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.242755096 meters 0.01564345996889637 Centerline is valid? [True, True] Translation: X:37.68, Y:361.88, Z:7.84 [[-5.33951698e-01 -8.45498645e-01 5.25593045e-03 3.76776187e+01] [ 8.45457477e-01 -5.33977566e-01 -8.34346893e-03 3.61875341e+02] [ 9.86094062e-03 -1.13437062e-05 9.99951380e-01 7.84318343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.272755096 meters 0.01571482944308208 Centerline is valid? [True, True] Translation: X:37.66, Y:361.90, Z:7.84 [[-5.35135066e-01 -8.44751233e-01 5.08086818e-03 3.76636527e+01] [ 8.44712788e-01 -5.35159185e-01 -8.05934590e-03 3.61898497e+02] [ 9.52721566e-03 -2.09642695e-05 9.99954615e-01 7.84368969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.302755096 meters 0.015938360031906507 Centerline is valid? [True, True] Translation: X:37.65, Y:361.92, Z:7.84 [[-5.36798134e-01 -8.43697027e-01 4.80528093e-03 3.76503609e+01] [ 8.43662649e-01 -5.36819640e-01 -7.61631143e-03 3.61921692e+02] [ 9.00542848e-03 -3.43857220e-05 9.99959450e-01 7.84407404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.332755096 meters 0.017595780639100302 Centerline is valid? [True, True] Translation: X:37.64, Y:361.94, Z:7.84 [[-5.38484981e-01 -8.42622300e-01 4.64592191e-03 3.76363039e+01] [ 8.42590175e-01 -5.38505021e-01 -7.35793548e-03 3.61944670e+02] [ 8.70181279e-03 -4.75295879e-05 9.99962137e-01 7.84200064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.362755096 meters 0.01671231783280339 Centerline is valid? [True, True] Translation: X:37.62, Y:361.97, Z:7.84 [[-5.40896140e-01 -8.41076061e-01 4.73554255e-03 3.76237121e+01] [ 8.41042678e-01 -5.40916865e-01 -7.49397302e-03 3.61969276e+02] [ 8.86453614e-03 -7.06676959e-05 9.99960707e-01 7.84494007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.392755096 meters 0.017181140601241315 Centerline is valid? [True, True] Translation: X:37.61, Y:361.99, Z:7.85 [[-5.42911483e-01 -8.39775285e-01 4.95904141e-03 3.76106091e+01] [ 8.39738680e-01 -5.42934123e-01 -7.84138586e-03 3.61992995e+02] [ 9.27743485e-03 -9.28795357e-05 9.99956959e-01 7.84510107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4227550960001 meters 0.017983808653446797 Centerline is valid? [True, True] Translation: X:37.60, Y:362.02, Z:7.84 [[-5.45151205e-01 -8.38322733e-01 5.01593994e-03 3.75981909e+01] [ 8.38285280e-01 -5.45174268e-01 -7.92503682e-03 3.62016740e+02] [ 9.37829991e-03 -1.15554751e-04 9.99956016e-01 7.84466597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.452755096 meters 0.01879605604683754 Centerline is valid? [True, True] Translation: X:37.59, Y:362.04, Z:7.84 [[-5.47524842e-01 -8.36772778e-01 5.27880961e-03 3.75853800e+01] [ 8.36731292e-01 -5.47550269e-01 -8.33355133e-03 3.62040935e+02] [ 9.86370252e-03 -1.45881194e-04 9.99951342e-01 7.84468756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.482755096 meters 0.020957759618916966 Centerline is valid? [True, True] Translation: X:37.57, Y:362.07, Z:7.85 [[-5.52237604e-01 -8.33669469e-01 5.37075779e-03 3.75741827e+01] [ 8.33626444e-01 -5.52263683e-01 -8.47211792e-03 3.62066466e+02] [ 1.00290205e-02 -2.01416389e-04 9.99949688e-01 7.84502317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.512755096 meters 0.022123400762004166 Centerline is valid? [True, True] Translation: X:37.56, Y:362.09, Z:7.85 [[-5.54863657e-01 -8.31923972e-01 5.36913665e-03 3.75611912e+01] [ 8.31880955e-01 -5.54889586e-01 -8.46306799e-03 3.62090241e+02] [ 1.00199071e-02 -2.29366327e-04 9.99949773e-01 7.84536940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5427550960001 meters 0.025309039004657027 Centerline is valid? [True, True] Translation: X:37.55, Y:362.12, Z:7.85 [[-5.59300214e-01 -8.28948194e-01 5.30685243e-03 3.75512340e+01] [ 8.28906099e-01 -5.59325322e-01 -8.35840089e-03 3.62115068e+02] [ 9.89693827e-03 -2.75973063e-04 9.99950986e-01 7.84605156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.572755096 meters 0.024843563947107194 Centerline is valid? [True, True] Translation: X:37.54, Y:362.14, Z:7.85 [[-5.61281544e-01 -8.27607759e-01 5.33145917e-03 3.75352803e+01] [ 8.27565276e-01 -5.61306786e-01 -8.39082586e-03 3.62138277e+02] [ 9.93689681e-03 -2.97485218e-04 9.99950584e-01 7.84685526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.602755096 meters 0.02798758945569683 Centerline is valid? [True, True] Translation: X:37.52, Y:362.16, Z:7.85 [[-5.63266571e-01 -8.26259863e-01 5.04072395e-03 3.75236222e+01] [ 8.26221884e-01 -5.63289045e-01 -7.92779869e-03 3.62162737e+02] [ 9.38980644e-03 -3.00707540e-04 9.99955870e-01 7.84727267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.632755096 meters 0.02844595625415474 Centerline is valid? [True, True] Translation: X:37.51, Y:362.19, Z:7.85 [[-5.63678674e-01 -8.25979210e-01 4.96966817e-03 3.75086999e+01] [ 8.25942338e-01 -5.63700503e-01 -7.81012238e-03 3.62185079e+02] [ 9.25240316e-03 -2.97740083e-04 9.99957151e-01 7.84783776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6627550960001 meters 0.026204158079679057 Centerline is valid? [True, True] Translation: X:37.49, Y:362.21, Z:7.85 [[-5.64034483e-01 -8.25736220e-01 4.97969623e-03 3.74906737e+01] [ 8.25699248e-01 -5.64056385e-01 -7.81963758e-03 3.62205699e+02] [ 9.26578743e-03 -2.98813811e-04 9.99957027e-01 7.84889495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.692755096 meters 0.026417955092090675 Centerline is valid? [True, True] Translation: X:37.48, Y:362.23, Z:7.85 [[-5.63358656e-01 -8.26196579e-01 5.12220480e-03 3.74754970e+01] [ 8.26157540e-01 -5.63381864e-01 -8.03708357e-03 3.62227767e+02] [ 9.52596824e-03 -2.96012488e-04 9.99954583e-01 7.84943847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.722755096 meters 0.026205008567150773 Centerline is valid? [True, True] Translation: X:37.46, Y:362.25, Z:7.85 [[-5.63164766e-01 -8.26330043e-01 4.90982772e-03 3.74588994e+01] [ 8.26294232e-01 -5.63186100e-01 -7.69806821e-03 3.62249658e+02] [ 9.12629175e-03 -2.78318463e-04 9.99958316e-01 7.84974132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.752755096 meters 0.027143059985592594 Centerline is valid? [True, True] Translation: X:37.44, Y:362.27, Z:7.85 [[-5.61536729e-01 -8.27440745e-01 4.27954982e-03 3.74431531e+01] [ 8.27413608e-01 -5.61552992e-01 -6.70508694e-03 3.62271134e+02] [ 7.95125614e-03 -2.24194832e-04 9.99968363e-01 7.84974424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7827550960001 meters 0.02447296746353477 Centerline is valid? [True, True] Translation: X:37.42, Y:362.29, Z:7.85 [[-5.61128516e-01 -8.27719774e-01 3.84241412e-03 3.74230399e+01] [ 8.27697936e-01 -5.61141638e-01 -6.01576168e-03 3.62290147e+02] [ 7.13550345e-03 -1.95257188e-04 9.99974523e-01 7.85058091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.812755096 meters 0.027132866872750603 Centerline is valid? [True, True] Translation: X:37.41, Y:362.31, Z:7.85 [[-5.60648782e-01 -8.28047032e-01 3.32507225e-03 3.74109110e+01] [ 8.28030707e-01 -5.60658618e-01 -5.20217249e-03 3.62313892e+02] [ 6.17187390e-03 -1.63329738e-04 9.99980941e-01 7.85075540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.842755096 meters 0.024619965505183843 Centerline is valid? [True, True] Translation: X:37.39, Y:362.33, Z:7.85 [[-5.61021096e-01 -8.27798311e-01 2.29945877e-03 3.73894788e+01] [ 8.27790509e-01 -5.61025796e-01 -3.59572539e-03 3.62332945e+02] [ 4.26659109e-03 -1.13807656e-04 9.99990892e-01 7.85179537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.872755096 meters 0.02450403948455437 Centerline is valid? [True, True] Translation: X:37.37, Y:362.36, Z:7.85 [[-5.61775078e-01 -8.27288216e-01 1.72301955e-03 3.73735903e+01] [ 8.27283837e-01 -5.61777714e-01 -2.69315372e-03 3.62355406e+02] [ 3.19596832e-03 -8.75204141e-05 9.99994889e-01 7.85261900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.902755096 meters 0.025992978075818966 Centerline is valid? [True, True] Translation: X:37.36, Y:362.38, Z:7.85 [[-5.63532308e-01 -8.26093857e-01 5.27247075e-04 3.73603833e+01] [ 8.26093444e-01 -5.63532554e-01 -8.25764067e-04 3.62379112e+02] [ 9.79279513e-04 -2.97893780e-05 9.99999520e-01 7.85464148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.932755096 meters 0.026558942263129617 Centerline is valid? [True, True] Translation: X:37.35, Y:362.40, Z:7.85 [[-5.65083678e-01 -8.25033595e-01 6.56022974e-05 3.73455538e+01] [ 8.25033588e-01 -5.65083682e-01 -1.05742645e-04 3.62401668e+02] [ 1.24312022e-04 -5.62934364e-06 9.99999992e-01 7.85496501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.962755096 meters 0.029206341281386536 Centerline is valid? [True, True] Translation: X:37.33, Y:362.42, Z:7.85 [[-5.68284680e-01 -8.22831988e-01 -2.07054822e-04 3.73312363e+01] [ 8.22831926e-01 -5.68284717e-01 3.18770651e-04 3.62424417e+02] [-3.79960780e-04 1.07811595e-05 9.99999928e-01 7.85173691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.992755096 meters 0.028072006079729418 Centerline is valid? [True, True] Translation: X:37.31, Y:362.45, Z:7.85 [[-5.69625123e-01 -8.21904246e-01 -7.93699162e-04 3.73146098e+01] [ 8.21903324e-01 -5.69625674e-01 1.23203532e-03 3.62447497e+02] [-1.46472648e-03 4.94542944e-05 9.99998926e-01 7.85360095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.022755096 meters 0.028847905633309575 Centerline is valid? [True, True] Translation: X:37.30, Y:362.47, Z:7.85 [[-5.71128504e-01 -8.20860118e-01 -9.47935315e-04 3.72997854e+01] [ 8.20858803e-01 -5.71129287e-01 1.47106298e-03 3.62471663e+02] [-1.74893056e-03 6.20449524e-05 9.99998469e-01 7.85338549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.052755096 meters 0.031140047066204404 Centerline is valid? [True, True] Translation: X:37.29, Y:362.50, Z:7.85 [[-5.72680908e-01 -8.19777751e-01 -1.00803623e-03 3.72878007e+01] [ 8.19776264e-01 -5.72681791e-01 1.56322041e-03 3.62496049e+02] [-1.85877730e-03 6.88623084e-05 9.99998270e-01 7.85373414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.082755096 meters 0.03020936590751556 Centerline is valid? [True, True] Translation: X:37.27, Y:362.52, Z:7.85 [[-5.75136067e-01 -8.18057069e-01 -1.06566192e-03 3.72713539e+01] [ 8.18055406e-01 -5.75137049e-01 1.65147262e-03 3.62518297e+02] [-1.96390050e-03 7.80509754e-05 9.99998069e-01 7.85306129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.112755096 meters 0.030272797920211772 Centerline is valid? [True, True] Translation: X:37.26, Y:362.54, Z:7.85 [[-5.76366558e-01 -8.17190710e-01 -9.66472974e-04 3.72560551e+01] [ 8.17189344e-01 -5.76367363e-01 1.49628358e-03 3.62541300e+02] [-1.77979252e-03 7.26164035e-05 9.99998414e-01 7.85249956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.142755096 meters 0.03190619606570114 Centerline is valid? [True, True] Translation: X:37.24, Y:362.57, Z:7.85 [[-5.77873945e-01 -8.16125623e-01 -8.18854342e-04 3.72426255e+01] [ 8.16124641e-01 -5.77874522e-01 1.26764771e-03 3.62565235e+02] [-1.50775484e-03 6.42533750e-05 9.99998861e-01 7.85168940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1727550960001 meters 0.032259059822548265 Centerline is valid? [True, True] Translation: X:37.23, Y:362.59, Z:7.85 [[-5.78550615e-01 -8.15646076e-01 -8.15445853e-04 3.72274743e+01] [ 8.15645104e-01 -5.78551187e-01 1.26069509e-03 3.62589103e+02] [-1.50005817e-03 6.42615029e-05 9.99998873e-01 7.85126208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.202755096 meters 0.03192260972384165 Centerline is valid? [True, True] Translation: X:37.21, Y:362.61, Z:7.85 [[-5.79168841e-01 -8.15207425e-01 -5.55688617e-04 3.72119710e+01] [ 8.15206975e-01 -5.79169106e-01 8.57006666e-04 3.62611802e+02] [-1.02047588e-03 4.33503204e-05 9.99999478e-01 7.85064707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.232755096 meters 0.03198267157492481 Centerline is valid? [True, True] Translation: X:37.20, Y:362.63, Z:7.85 [[-5.79825285e-01 -8.14740702e-01 -4.77126579e-04 3.71968292e+01] [ 8.14740371e-01 -5.79825480e-01 7.34760553e-04 3.62634243e+02] [-8.75289477e-04 3.72984614e-05 9.99999616e-01 7.84994788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.262755096 meters 0.0330289710367223 Centerline is valid? [True, True] Translation: X:37.18, Y:362.66, Z:7.85 [[-5.79844085e-01 -8.14727183e-01 -6.74730379e-04 3.71831343e+01] [ 8.14726521e-01 -5.79844475e-01 1.03952116e-03 3.62656864e+02] [-1.23816483e-03 5.30394603e-05 9.99999232e-01 7.84969775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2927550960001 meters 0.03327380389239104 Centerline is valid? [True, True] Translation: X:37.17, Y:362.68, Z:7.85 [[-5.79397397e-01 -8.15045111e-01 -3.51572471e-04 3.71680162e+01] [ 8.15044933e-01 -5.79397503e-01 5.39523364e-04 3.62678209e+02] [-6.43436093e-04 2.60510719e-05 9.99999793e-01 7.84856409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.322755096 meters 0.032546020329330176 Centerline is valid? [True, True] Translation: X:37.15, Y:362.70, Z:7.85 [[-5.79101607e-01 -8.15255124e-01 -6.42513514e-04 3.71515793e+01] [ 8.15254524e-01 -5.79101961e-01 9.89681810e-04 3.62700609e+02] [-1.17892400e-03 4.93142769e-05 9.99999304e-01 7.84852171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.352755096 meters 0.03156821393786732 Centerline is valid? [True, True] Translation: X:37.14, Y:362.72, Z:7.85 [[-5.78622407e-01 -8.15595253e-01 -7.02523262e-04 3.71351072e+01] [ 8.15594539e-01 -5.78622831e-01 1.08045039e-03 3.62722301e+02] [-1.28770621e-03 5.21986695e-05 9.99999170e-01 7.84830272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.382755096 meters 0.0304559622813657 Centerline is valid? [True, True] Translation: X:37.12, Y:362.74, Z:7.85 [[-5.76703675e-01 -8.16953000e-01 -8.16837465e-04 3.71183019e+01] [ 8.16952036e-01 -5.76704250e-01 1.25612552e-03 3.62744310e+02] [-1.49726915e-03 5.70951716e-05 9.99998878e-01 7.84821837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4127550960001 meters 0.02851501200683746 Centerline is valid? [True, True] Translation: X:37.10, Y:362.77, Z:7.85 [[-5.75868629e-01 -8.17541743e-01 -9.05272116e-04 3.70997037e+01] [ 8.17540561e-01 -5.75869338e-01 1.39158597e-03 3.62766220e+02] [-1.65899807e-03 6.12740306e-05 9.99998622e-01 7.84811302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.442755096 meters 0.027233944475841477 Centerline is valid? [True, True] Translation: X:37.08, Y:362.79, Z:7.85 [[-5.73401924e-01 -8.19273489e-01 -1.08826785e-03 3.70814320e+01] [ 8.19271784e-01 -5.73402953e-01 1.67253337e-03 3.62788147e+02] [-1.99427825e-03 6.74467081e-05 9.99998009e-01 7.84836330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.472755096 meters 0.02855155766288426 Centerline is valid? [True, True] Translation: X:37.07, Y:362.81, Z:7.85 [[-5.72506139e-01 -8.19899443e-01 -1.27428717e-03 3.70667817e+01] [ 8.19897110e-01 -5.72507552e-01 1.95749128e-03 3.62811209e+02] [-2.33448504e-03 7.58914097e-05 9.99997272e-01 7.84725580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.502755096 meters 0.026444614695263293 Centerline is valid? [True, True] Translation: X:37.05, Y:362.83, Z:7.85 [[-5.70947638e-01 -8.20985518e-01 -1.25493640e-03 3.70491823e+01] [ 8.20983262e-01 -5.70949012e-01 1.92587051e-03 3.62832649e+02] [-2.29761650e-03 6.92894380e-05 9.99997358e-01 7.84860745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5327550960001 meters 0.02448987700417061 Centerline is valid? [True, True] Translation: X:37.03, Y:362.85, Z:7.85 [[-5.68435484e-01 -8.22726956e-01 -1.20717553e-03 3.70297085e+01] [ 8.22724875e-01 -5.68436762e-01 1.85141127e-03 3.62853001e+02] [-2.20940891e-03 5.92345263e-05 9.99997558e-01 7.84800564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.562755096 meters 0.024648108095119033 Centerline is valid? [True, True] Translation: X:37.01, Y:362.88, Z:7.85 [[-5.67254288e-01 -8.23541829e-01 -1.19555761e-03 3.70145412e+01] [ 8.23539792e-01 -5.67255545e-01 1.83237814e-03 3.62876120e+02] [-2.18722673e-03 5.48350947e-05 9.99997607e-01 7.84846814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.592755096 meters 0.023535543717761183 Centerline is valid? [True, True] Translation: X:37.00, Y:362.90, Z:7.85 [[-5.65588241e-01 -8.24686949e-01 -1.17380035e-03 3.69981092e+01] [ 8.24684992e-01 -5.65589457e-01 1.79727496e-03 3.62897851e+02] [-2.14607831e-03 4.85020532e-05 9.99997696e-01 7.84796884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.622755096 meters 0.023049953289163448 Centerline is valid? [True, True] Translation: X:36.98, Y:362.92, Z:7.85 [[-5.65300735e-01 -8.24884318e-01 -9.70038174e-04 3.69822973e+01] [ 8.24882985e-01 -5.65301566e-01 1.48351716e-03 3.62920245e+02] [-1.77209414e-03 3.84653577e-05 9.99998429e-01 7.84795216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.652755096 meters 0.022928608233931464 Centerline is valid? [True, True] Translation: X:36.97, Y:362.94, Z:7.85 [[-5.65206943e-01 -8.24948564e-01 -9.89152949e-04 3.69673472e+01] [ 8.24947181e-01 -5.65207807e-01 1.51115979e-03 3.62942072e+02] [-1.80570607e-03 3.81190703e-05 9.99998369e-01 7.84786009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.682755096 meters 0.022858471953027506 Centerline is valid? [True, True] Translation: X:36.95, Y:362.96, Z:7.85 [[-5.65383704e-01 -8.24827555e-01 -8.78392419e-04 3.69524753e+01] [ 8.24826466e-01 -5.65384386e-01 1.34040070e-03 3.62964196e+02] [-1.60222879e-03 3.33193985e-05 9.99998716e-01 7.84740210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.712755096 meters 0.023552746413669574 Centerline is valid? [True, True] Translation: X:36.94, Y:362.99, Z:7.85 [[-5.66368743e-01 -8.24151366e-01 -9.86143338e-04 3.69393216e+01] [ 8.24149994e-01 -5.66369601e-01 1.50432036e-03 3.62987374e+02] [-1.79830929e-03 3.92700049e-05 9.99998382e-01 7.84809750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.742755096 meters 0.023537456848873928 Centerline is valid? [True, True] Translation: X:36.93, Y:363.01, Z:7.85 [[-5.67253802e-01 -8.23542325e-01 -1.07855007e-03 3.69252614e+01] [ 8.23540684e-01 -5.67254826e-01 1.64432077e-03 3.63010148e+02] [-1.96598048e-03 4.45173459e-05 9.99998067e-01 7.84814907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.772755096 meters 0.024741179612749437 Centerline is valid? [True, True] Translation: X:36.91, Y:363.03, Z:7.85 [[-5.69496953e-01 -8.21991859e-01 -1.61373039e-03 3.69142436e+01] [ 8.21988181e-01 -5.69499235e-01 2.46011016e-03 3.63034198e+02] [-2.94120875e-03 7.45579330e-05 9.99995672e-01 7.84935048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.802755096 meters 0.02589625669310688 Centerline is valid? [True, True] Translation: X:36.90, Y:363.06, Z:7.85 [[-5.70856289e-01 -8.21048736e-01 -1.43910651e-03 3.69020186e+01] [ 8.21045813e-01 -5.70858099e-01 2.19185673e-03 3.63057715e+02] [-2.62114680e-03 6.96628225e-05 9.99996562e-01 7.84995797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.832755096 meters 0.027468953139751215 Centerline is valid? [True, True] Translation: X:36.89, Y:363.08, Z:7.85 [[-5.73189045e-01 -8.19421871e-01 -1.45475736e-03 3.68901250e+01] [ 8.19418883e-01 -5.73190885e-01 2.21413344e-03 3.63081382e+02] [-2.64816302e-03 7.70613753e-05 9.99996491e-01 7.84949281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.862755096 meters 0.028095317186864036 Centerline is valid? [True, True] Translation: X:36.87, Y:363.10, Z:7.85 [[-5.74836488e-01 -8.18266883e-01 -1.52364160e-03 3.68733954e+01] [ 8.18263606e-01 -5.74838501e-01 2.31738035e-03 3.63103454e+02] [-2.77208345e-03 8.53743075e-05 9.99996154e-01 7.84524269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.892755096 meters 0.028832242499134908 Centerline is valid? [True, True] Translation: X:36.86, Y:363.13, Z:7.85 [[-5.75461306e-01 -8.17827292e-01 -1.67497893e-03 3.68619968e+01] [ 8.17823336e-01 -5.75463736e-01 2.54571826e-03 3.63127410e+02] [-3.04584750e-03 9.51254928e-05 9.99995357e-01 7.84981970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9227550960001 meters 0.02917863395388859 Centerline is valid? [True, True] Translation: X:36.85, Y:363.15, Z:7.85 [[-5.76515372e-01 -8.17085252e-01 -1.31030865e-03 3.68475666e+01] [ 8.17082833e-01 -5.76516856e-01 1.98966148e-03 3.63150181e+02] [-2.38113807e-03 7.64397241e-05 9.99997162e-01 7.84884572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.952755096 meters 0.027493001524057082 Centerline is valid? [True, True] Translation: X:36.83, Y:363.17, Z:7.85 [[-5.76837447e-01 -8.16858449e-01 -9.12984841e-04 3.68309346e+01] [ 8.16857279e-01 -5.76838167e-01 1.38371036e-03 3.63171046e+02] [-1.65694000e-03 5.23976394e-05 9.99998626e-01 7.84717977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.982755096 meters 0.02564900499921251 Centerline is valid? [True, True] Translation: X:36.81, Y:363.19, Z:7.85 [[-5.76613305e-01 -8.17017168e-01 -2.09697929e-04 3.68138296e+01] [ 8.17017107e-01 -5.76613343e-01 3.14935670e-04 3.63192533e+02] [-3.78222473e-04 1.02693022e-05 9.99999928e-01 7.84523599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.012755096 meters 0.029377816905472993 Centerline is valid? [True, True] Translation: X:36.80, Y:363.22, Z:7.85 [[-5.76489926e-01 -8.17104243e-01 1.46904655e-04 3.68038815e+01] [ 8.17104212e-01 -5.76489945e-01 -2.26538183e-04 3.63217615e+02] [ 2.69794367e-04 -1.05605683e-05 9.99999964e-01 7.84587832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0427550960001 meters 0.025151457748996662 Centerline is valid? [True, True] Translation: X:36.78, Y:363.24, Z:7.84 [[-5.76140787e-01 -8.17350468e-01 -7.83879809e-05 3.67825890e+01] [ 8.17350460e-01 -5.76140792e-01 1.15373219e-04 3.63236715e+02] [-1.39462868e-04 2.40076510e-06 9.99999990e-01 7.84437936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.072755096 meters 0.024360976422308597 Centerline is valid? [True, True] Translation: X:36.77, Y:363.26, Z:7.84 [[-5.74993726e-01 -8.18157788e-01 2.22828587e-04 3.67657700e+01] [ 8.18157717e-01 -5.74993769e-01 -3.40504676e-04 3.63259795e+02] [ 4.06711601e-04 -1.34791241e-05 9.99999917e-01 7.84394192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.102755096 meters 0.024360976422308597 Centerline is valid? [True, True] Translation: X:36.75, Y:363.28, Z:7.84 [[-5.75283439e-01 -8.17954103e-01 2.22680541e-04 3.67508416e+01] [ 8.17954032e-01 -5.75283482e-01 -3.40602764e-04 3.63282044e+02] [ 4.06701865e-04 -1.38006827e-05 9.99999917e-01 7.84408619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.132755096 meters 0.024457399663706938 Centerline is valid? [True, True] Translation: X:36.74, Y:363.30, Z:7.84 [[-5.74875477e-01 -8.18240834e-01 3.52029395e-04 3.67367096e+01] [ 8.18240659e-01 -5.74875584e-01 -5.35321022e-04 3.63303782e+02] [ 6.40394623e-04 -1.96981634e-05 9.99999795e-01 7.84456854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1627550960001 meters 0.027668054746650985 Centerline is valid? [True, True] Translation: X:36.73, Y:363.33, Z:7.85 [[-5.74264257e-01 -8.18669926e-01 3.41179850e-04 3.67270190e+01] [ 8.18669761e-01 -5.74264358e-01 -5.19729844e-04 3.63328139e+02] [ 6.21414620e-04 -1.91486460e-05 9.99999807e-01 7.84592837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.192755096 meters 0.02337570241847784 Centerline is valid? [True, True] Translation: X:36.71, Y:363.35, Z:7.85 [[-5.73426264e-01 -8.19257155e-01 1.82782079e-04 3.67062942e+01] [ 8.19257108e-01 -5.73426293e-01 -2.79514547e-04 3.63346823e+02] [ 3.33806342e-04 -1.05354646e-05 9.99999944e-01 7.84525233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.222755096 meters 0.022510748247047112 Centerline is valid? [True, True] Translation: X:36.69, Y:363.37, Z:7.85 [[-5.73150226e-01 -8.19450306e-01 1.24947961e-04 3.66899705e+01] [ 8.19450283e-01 -5.73150239e-01 -1.92092760e-04 3.63368332e+02] [ 2.29024424e-04 -7.70936726e-06 9.99999974e-01 7.84521392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.252755096 meters 0.021988662138311695 Centerline is valid? [True, True] Translation: X:36.67, Y:363.39, Z:7.85 [[-5.72022205e-01 -8.20237877e-01 -6.49639298e-04 3.66736540e+01] [ 8.20237296e-01 -5.72022573e-01 9.76816968e-04 3.63390882e+02] [-1.17283062e-03 2.59026148e-05 9.99999312e-01 7.84564665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2827550960001 meters 0.022117952710379706 Centerline is valid? [True, True] Translation: X:36.66, Y:363.41, Z:7.85 [[-5.71951672e-01 -8.20286871e-01 -8.57034979e-04 3.66591732e+01] [ 8.20285858e-01 -5.71952313e-01 1.28928507e-03 3.63412575e+02] [-1.54776676e-03 3.43950803e-05 9.99998802e-01 7.84593415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.312755096 meters 0.0215790560650451 Centerline is valid? [True, True] Translation: X:36.64, Y:363.43, Z:7.85 [[-5.71369213e-01 -8.20692498e-01 -1.02308033e-03 3.66435653e+01] [ 8.20691058e-01 -5.71370128e-01 1.53764856e-03 3.63434753e+02] [-1.84649417e-03 3.89321705e-05 9.99998295e-01 7.84644360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.342755096 meters 0.02094742605911806 Centerline is valid? [True, True] Translation: X:36.63, Y:363.46, Z:7.85 [[-5.70482806e-01 -8.21308721e-01 -1.16331178e-03 3.66282606e+01] [ 8.21306862e-01 -5.70483991e-01 1.74752143e-03 3.63456996e+02] [-2.09890533e-03 4.14949833e-05 9.99997796e-01 7.84602691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.372755096 meters 0.020878011657425064 Centerline is valid? [True, True] Translation: X:36.61, Y:363.48, Z:7.85 [[-5.70519314e-01 -8.21283450e-01 -1.09836239e-03 3.66128500e+01] [ 8.21281797e-01 -5.70520370e-01 1.64851944e-03 3.63479654e+02] [-1.98053985e-03 3.84471381e-05 9.99998038e-01 7.84600017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.402755096 meters 0.020009744324499222 Centerline is valid? [True, True] Translation: X:36.60, Y:363.50, Z:7.85 [[-5.69728350e-01 -8.21832548e-01 -9.33018684e-04 3.65963933e+01] [ 8.21831359e-01 -5.69729113e-01 1.39866361e-03 3.63501240e+02] [-1.68103519e-03 3.00742970e-05 9.99998587e-01 7.84548750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.432755096 meters 0.020543464671985118 Centerline is valid? [True, True] Translation: X:36.58, Y:363.52, Z:7.85 [[-5.69898620e-01 -8.21714556e-01 -8.66978685e-04 3.65825162e+01] [ 8.21713529e-01 -5.69899278e-01 1.29943399e-03 3.63523419e+02] [-1.56185435e-03 2.81375206e-05 9.99998780e-01 7.84555654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.462755096 meters 0.01954721308889959 Centerline is valid? [True, True] Translation: X:36.57, Y:363.54, Z:7.84 [[-5.68863230e-01 -8.22431584e-01 -9.57018433e-04 3.65651341e+01] [ 8.22430336e-01 -5.68864035e-01 1.43278343e-03 3.63544654e+02] [-1.72277971e-03 2.79768197e-05 9.99998516e-01 7.84393334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.492755096 meters 0.019338401969859698 Centerline is valid? [True, True] Translation: X:36.55, Y:363.57, Z:7.84 [[-5.68770766e-01 -8.22495729e-01 -7.69149921e-04 3.65489153e+01] [ 8.22494925e-01 -5.68771286e-01 1.14993070e-03 3.63567110e+02] [-1.38328348e-03 2.14250601e-05 9.99999043e-01 7.84388891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.522755096 meters 0.01918426520615972 Centerline is valid? [True, True] Translation: X:36.53, Y:363.59, Z:7.84 [[-5.68335181e-01 -8.22796563e-01 -9.68641861e-04 3.65338979e+01] [ 8.22795288e-01 -5.68336006e-01 1.44901985e-03 3.63588418e+02] [-1.74276260e-03 2.65349976e-05 9.99998481e-01 7.84399438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.552755096 meters 0.01951947967088348 Centerline is valid? [True, True] Translation: X:36.52, Y:363.61, Z:7.84 [[-5.68292889e-01 -8.22826209e-01 -4.70443271e-04 3.65200263e+01] [ 8.22825910e-01 -5.68293084e-01 7.01979695e-04 3.63610613e+02] [-8.44956949e-04 1.18371562e-05 9.99999643e-01 7.84366685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.582755096 meters 0.01938251105358499 Centerline is valid? [True, True] Translation: X:36.50, Y:363.63, Z:7.84 [[-5.68811202e-01 -8.22468107e-01 -1.72326638e-04 3.65047160e+01] [ 8.22468068e-01 -5.68811228e-01 2.54130656e-04 3.63632377e+02] [-3.07035686e-04 2.81920726e-06 9.99999953e-01 7.84263008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.612755096 meters 0.019615259682716008 Centerline is valid? [True, True] Translation: X:36.49, Y:363.66, Z:7.84 [[-5.69734382e-01 -8.21828892e-01 7.91369317e-05 3.64905457e+01] [ 8.21828883e-01 -5.69734388e-01 -1.21731366e-04 3.63655509e+02] [ 1.45129385e-04 -4.31752862e-06 9.99999990e-01 7.84242914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.642755096 meters 0.01985659902739882 Centerline is valid? [True, True] Translation: X:36.48, Y:363.68, Z:7.84 [[-5.70485441e-01 -8.21307600e-01 4.34378352e-04 3.64763755e+01] [ 8.21307340e-01 -5.70485606e-01 -6.52791512e-04 3.63678096e+02] [ 7.83949227e-04 -1.56499248e-05 9.99999693e-01 7.84259206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6727550960001 meters 0.02017179943908263 Centerline is valid? [True, True] Translation: X:36.46, Y:363.70, Z:7.84 [[-5.71154845e-01 -8.20842145e-01 5.62985737e-04 3.64629819e+01] [ 8.20841711e-01 -5.71155122e-01 -8.44377350e-04 3.63699751e+02] [ 1.01465270e-03 -2.01480385e-05 9.99999485e-01 7.84266688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.702755096 meters 0.02086127310687253 Centerline is valid? [True, True] Translation: X:36.45, Y:363.72, Z:7.84 [[-5.72861009e-01 -8.19652072e-01 8.63807805e-04 3.64493278e+01] [ 8.19651054e-01 -5.72861659e-01 -1.29193452e-03 3.63723684e+02] [ 1.55377918e-03 -3.20779367e-05 9.99998792e-01 7.84194650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.732755096 meters 0.02131041623680118 Centerline is valid? [True, True] Translation: X:36.44, Y:363.75, Z:7.84 [[-5.74081403e-01 -8.18797408e-01 1.16090595e-03 3.64359152e+01] [ 8.18795573e-01 -5.74082575e-01 -1.73408995e-03 3.63746109e+02] [ 2.08632423e-03 -4.49641379e-05 9.99997823e-01 7.84188655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.762755096 meters 0.022497781026382824 Centerline is valid? [True, True] Translation: X:36.42, Y:363.77, Z:7.84 [[-5.76117873e-01 -8.17365402e-01 1.41285134e-03 3.64240585e+01] [ 8.17362687e-01 -5.76119602e-01 -2.10769652e-03 3.63769236e+02] [ 2.53672957e-03 -5.94696676e-05 9.99996781e-01 7.84193145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7927550960001 meters 0.022873037630604498 Centerline is valid? [True, True] Translation: X:36.41, Y:363.79, Z:7.84 [[-5.76955441e-01 -8.16774654e-01 1.25851856e-03 3.64099499e+01] [ 8.16772500e-01 -5.76956811e-01 -1.87666743e-03 3.63791508e+02] [ 2.25892525e-03 -5.48301359e-05 9.99997447e-01 7.84217973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.822755096 meters 0.023320308960332402 Centerline is valid? [True, True] Translation: X:36.40, Y:363.81, Z:7.84 [[-5.77597178e-01 -8.16320638e-01 1.45440795e-03 3.63963973e+01] [ 8.16317766e-01 -5.77599006e-01 -2.16656026e-03 3.63812566e+02] [ 2.60867244e-03 -6.41400449e-05 9.99996595e-01 7.84262830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.852755096 meters 0.023622798509472964 Centerline is valid? [True, True] Translation: X:36.38, Y:363.83, Z:7.84 [[-5.77953066e-01 -8.16069175e-01 1.16400939e-03 3.63812762e+01] [ 8.16067337e-01 -5.77954236e-01 -1.73314056e-03 3.63834382e+02] [ 2.08710674e-03 -5.17638575e-05 9.99997821e-01 7.84291834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.882755096 meters 0.02367226388779987 Centerline is valid? [True, True] Translation: X:36.37, Y:363.86, Z:7.84 [[-5.77898150e-01 -8.16108304e-01 9.82078907e-04 3.63665160e+01] [ 8.16106997e-01 -5.77898983e-01 -1.46117523e-03 3.63855511e+02] [ 1.76001964e-03 -4.29289953e-05 9.99998450e-01 7.84333245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9127550960001 meters 0.020970172561636784 Centerline is valid? [True, True] Translation: X:36.35, Y:363.88, Z:7.84 [[-5.77881883e-01 -8.16119634e-01 1.12772957e-03 3.63470377e+01] [ 8.16117913e-01 -5.77882981e-01 -1.67686630e-03 3.63875441e+02] [ 2.02021924e-03 -4.86703525e-05 9.99997958e-01 7.84262039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.942755096 meters 0.020923816703248017 Centerline is valid? [True, True] Translation: X:36.33, Y:363.90, Z:7.84 [[-5.77852729e-01 -8.16140318e-01 1.09762063e-03 3.63316230e+01] [ 8.16138690e-01 -5.77853770e-01 -1.63091818e-03 3.63897480e+02] [ 1.96532231e-03 -4.66198566e-05 9.99998068e-01 7.84261979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.972755096 meters 0.023497965952226096 Centerline is valid? [True, True] Translation: X:36.32, Y:363.92, Z:7.84 [[-5.77716439e-01 -8.16236776e-01 1.11415616e-03 3.63203596e+01] [ 8.16235101e-01 -5.77717511e-01 -1.65425027e-03 3.63921994e+02] [ 1.99392743e-03 -4.62742110e-05 9.99998011e-01 7.84344256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.002755096 meters 0.021538112695664375 Centerline is valid? [True, True] Translation: X:36.30, Y:363.94, Z:7.84 [[-5.77350854e-01 -8.16495606e-01 9.57001237e-04 3.63026792e+01] [ 8.16494372e-01 -5.77351646e-01 -1.42028138e-03 3.63941624e+02] [ 1.71217975e-03 -3.86145443e-05 9.99998534e-01 7.84298380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0327550960001 meters 0.020488003316719527 Centerline is valid? [True, True] Translation: X:36.28, Y:363.96, Z:7.84 [[-5.76607010e-01 -8.17021251e-01 7.95478047e-04 3.62849831e+01] [ 8.17020399e-01 -5.76607558e-01 -1.18003407e-03 3.63962165e+02] [ 1.42279156e-03 -3.04941231e-05 9.99998987e-01 7.84266619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.062755096 meters 0.020247400896755807 Centerline is valid? [True, True] Translation: X:36.27, Y:363.98, Z:7.84 [[-5.76427934e-01 -8.17147482e-01 9.10226795e-04 3.62687100e+01] [ 8.17146370e-01 -5.76428652e-01 -1.34874621e-03 3.63983926e+02] [ 1.62680537e-03 -3.36664709e-05 9.99998676e-01 7.84237316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.092755096 meters 0.020175461917250545 Centerline is valid? [True, True] Translation: X:36.25, Y:364.01, Z:7.84 [[-5.75702698e-01 -8.17658455e-01 1.02704933e-03 3.62529084e+01] [ 8.17657042e-01 -5.75703613e-01 -1.52036076e-03 3.64005191e+02] [ 1.83441184e-03 -3.55016713e-05 9.99998317e-01 7.84179778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.122755096 meters 0.019648803399226644 Centerline is valid? [True, True] Translation: X:36.24, Y:364.03, Z:7.84 [[-5.75691490e-01 -8.17666348e-01 1.02613078e-03 3.62366382e+01] [ 8.17664940e-01 -5.75692403e-01 -1.51768473e-03 3.64027124e+02] [ 1.83169542e-03 -3.46870162e-05 9.99998322e-01 7.84197042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.152755096 meters 0.019510858142482188 Centerline is valid? [True, True] Translation: X:36.22, Y:364.05, Z:7.84 [[-5.75557423e-01 -8.17760723e-01 1.02641115e-03 3.62213457e+01] [ 8.17759317e-01 -5.75558337e-01 -1.51693224e-03 3.64049152e+02] [ 1.83124710e-03 -3.37243257e-05 9.99998323e-01 7.84209240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.182755096 meters 0.019563747905455117 Centerline is valid? [True, True] Translation: X:36.21, Y:364.07, Z:7.84 [[-5.75152502e-01 -8.18044972e-01 1.42261411e-03 3.62064110e+01] [ 8.18042278e-01 -5.75154259e-01 -2.09987088e-03 3.64070313e+02] [ 2.53601138e-03 -4.39875062e-05 9.99996783e-01 7.84186140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.212755096 meters 0.01973925426537191 Centerline is valid? [True, True] Translation: X:36.19, Y:364.09, Z:7.84 [[-5.75333992e-01 -8.17917618e-01 1.25224388e-03 3.61921431e+01] [ 8.17915533e-01 -5.75335354e-01 -1.84717171e-03 3.64090899e+02] [ 2.23129446e-03 -3.85109569e-05 9.99997510e-01 7.84184754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.242755096 meters 0.019145465513346668 Centerline is valid? [True, True] Translation: X:36.18, Y:364.11, Z:7.84 [[-5.75354978e-01 -8.17903176e-01 1.02128732e-03 3.61753301e+01] [ 8.17901791e-01 -5.75355884e-01 -1.50585840e-03 3.64111809e+02] [ 1.81925004e-03 -3.10903929e-05 9.99998345e-01 7.84187136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.272755096 meters 0.01918037764891632 Centerline is valid? [True, True] Translation: X:36.16, Y:364.13, Z:7.84 [[-5.75645490e-01 -8.17699039e-01 7.43317329e-04 3.61596618e+01] [ 8.17698304e-01 -5.75645969e-01 -1.09609037e-03 3.64133740e+02] [ 1.32415967e-03 -2.31501579e-05 9.99999123e-01 7.84223375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.302755096 meters 0.019189381785968632 Centerline is valid? [True, True] Translation: X:36.14, Y:364.16, Z:7.84 [[-5.75818621e-01 -8.17577317e-01 4.96347524e-04 3.61443030e+01] [ 8.17576989e-01 -5.75818834e-01 -7.32513994e-04 3.64155634e+02] [ 8.84693079e-04 -1.59928833e-05 9.99999609e-01 7.84240167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.332755096 meters 0.019325631576243372 Centerline is valid? [True, True] Translation: X:36.13, Y:364.18, Z:7.84 [[-5.76243557e-01 -8.17277917e-01 4.10977859e-04 3.61301130e+01] [ 8.17277692e-01 -5.76243704e-01 -6.06789155e-04 3.64176981e+02] [ 7.32738780e-04 -1.37753051e-05 9.99999731e-01 7.84258193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.362755096 meters 0.019377245451309776 Centerline is valid? [True, True] Translation: X:36.12, Y:364.20, Z:7.84 [[-5.76346971e-01 -8.17205038e-01 3.08982524e-04 3.61153148e+01] [ 8.17204911e-01 -5.76347053e-01 -4.56567037e-04 3.64199138e+02] [ 5.51190050e-04 -1.06389924e-05 9.99999848e-01 7.84302635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.392755096 meters 0.019309637737864056 Centerline is valid? [True, True] Translation: X:36.10, Y:364.22, Z:7.84 [[-5.76202414e-01 -8.17306860e-01 5.24712378e-04 3.60996483e+01] [ 8.17306495e-01 -5.76202652e-01 -7.72195281e-04 3.64219944e+02] [ 9.33461164e-04 -1.60899498e-05 9.99999564e-01 7.84261409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4227550960001 meters 0.01920686176595839 Centerline is valid? [True, True] Translation: X:36.08, Y:364.24, Z:7.84 [[-5.75984586e-01 -8.17460486e-01 3.33874674e-04 3.60845626e+01] [ 8.17460337e-01 -5.75984683e-01 -4.92383349e-04 3.64240144e+02] [ 5.94810629e-04 -1.06759158e-05 9.99999823e-01 7.84234977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.452755096 meters 0.01851947598513705 Centerline is valid? [True, True] Translation: X:36.07, Y:364.26, Z:7.84 [[-5.75415450e-01 -8.17861033e-01 6.25701342e-04 3.60674555e+01] [ 8.17860517e-01 -5.75415790e-01 -9.18675910e-04 3.64260691e+02] [ 1.11138766e-03 -1.68838890e-05 9.99999382e-01 7.84122192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.482755096 meters 0.018875634099655102 Centerline is valid? [True, True] Translation: X:36.05, Y:364.28, Z:7.84 [[-5.75802612e-01 -8.17588210e-01 9.32776394e-04 3.60531415e+01] [ 8.17587068e-01 -5.75803367e-01 -1.36674833e-03 3.64282129e+02] [ 1.65453311e-03 -2.43513413e-05 9.99998631e-01 7.84084571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.512755096 meters 0.018233938337842707 Centerline is valid? [True, True] Translation: X:36.04, Y:364.30, Z:7.84 [[-5.76224768e-01 -8.17290657e-01 9.99393097e-04 3.60361480e+01] [ 8.17289349e-01 -5.76225634e-01 -1.46261108e-03 3.64304036e+02] [ 1.77125429e-03 -2.59993953e-05 9.99998431e-01 7.83975413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5427550960001 meters 0.01884249236679394 Centerline is valid? [True, True] Translation: X:36.02, Y:364.33, Z:7.84 [[-5.77716813e-01 -8.16236602e-01 1.04609636e-03 3.60234053e+01] [ 8.16235169e-01 -5.77717759e-01 -1.52973524e-03 3.64326839e+02] [ 1.85297434e-03 -2.98931257e-05 9.99998283e-01 7.83955856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.572755096 meters 0.01934048538727977 Centerline is valid? [True, True] Translation: X:36.01, Y:364.35, Z:7.84 [[-5.79144223e-01 -8.15224620e-01 8.87830573e-04 3.60092989e+01] [ 8.15223587e-01 -5.79144903e-01 -1.29764207e-03 3.64350046e+02] [ 1.57205232e-03 -2.77414869e-05 9.99998764e-01 7.84041136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.602755096 meters 0.020524888484986754 Centerline is valid? [True, True] Translation: X:36.00, Y:364.37, Z:7.84 [[-5.81870249e-01 -8.13281565e-01 3.32681437e-04 3.59963838e+01] [ 8.13281418e-01 -5.81870344e-01 -4.88108305e-04 3.64373432e+02] [ 5.90546947e-04 -1.34520701e-05 9.99999826e-01 7.84107893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.632755096 meters 0.021145712887347304 Centerline is valid? [True, True] Translation: X:35.98, Y:364.40, Z:7.84 [[-5.83286064e-01 -8.12266779e-01 -2.15210051e-04 3.59814609e+01] [ 8.12266720e-01 -5.83286104e-01 3.09958538e-04 3.64396484e+02] [-3.77298056e-04 5.98653361e-06 9.99999929e-01 7.84148686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6627550960001 meters 0.02142920623669224 Centerline is valid? [True, True] Translation: X:35.97, Y:364.42, Z:7.84 [[-5.84339473e-01 -8.11509256e-01 -3.27535988e-04 3.59658881e+01] [ 8.11509118e-01 -5.84339565e-01 4.73077447e-04 3.64419368e+02] [-5.75298964e-04 1.06393853e-05 9.99999835e-01 7.84154975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.692755096 meters 0.021846556284908815 Centerline is valid? [True, True] Translation: X:35.95, Y:364.44, Z:7.84 [[-5.85365899e-01 -8.10769008e-01 -6.16342085e-04 3.59510334e+01] [ 8.10768517e-01 -5.85366223e-01 8.92493781e-04 3.64442064e+02] [-1.08439214e-03 2.27246667e-05 9.99999412e-01 7.84216548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.722755096 meters 0.02187787044723543 Centerline is valid? [True, True] Translation: X:35.94, Y:364.46, Z:7.84 [[-5.85814839e-01 -8.10444433e-01 -8.91240880e-04 3.59352114e+01] [ 8.10443406e-01 -5.85815516e-01 1.29104589e-03 3.64463955e+02] [-1.56842369e-03 3.40135449e-05 9.99998769e-01 7.84233969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.752755096 meters 0.02149167914092205 Centerline is valid? [True, True] Translation: X:35.92, Y:364.48, Z:7.84 [[-5.85503918e-01 -8.10669100e-01 -8.78716595e-04 3.59180938e+01] [ 8.10668103e-01 -5.85504577e-01 1.27188488e-03 3.64484860e+02] [-1.54557036e-03 3.23460677e-05 9.99998805e-01 7.84151809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7827550960001 meters 0.02105957290906341 Centerline is valid? [True, True] Translation: X:35.90, Y:364.51, Z:7.84 [[-5.85341088e-01 -8.10786500e-01 -1.03108949e-03 3.59005782e+01] [ 8.10785128e-01 -5.85341995e-01 1.49181178e-03 3.64505875e+02] [-1.81308083e-03 3.72266995e-05 9.99998356e-01 7.84100628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.812755096 meters 0.021351295914341317 Centerline is valid? [True, True] Translation: X:35.88, Y:364.53, Z:7.84 [[-5.85078264e-01 -8.10976392e-01 -8.47085673e-04 3.58846042e+01] [ 8.10975469e-01 -5.85078877e-01 1.22384244e-03 3.64527091e+02] [-1.48811926e-03 2.90779098e-05 9.99998892e-01 7.84090262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.842755096 meters 0.02074283402150937 Centerline is valid? [True, True] Translation: X:35.87, Y:364.55, Z:7.84 [[-5.83765294e-01 -8.11922337e-01 -4.47380314e-04 3.58665878e+01] [ 8.11922081e-01 -5.83765466e-01 6.44294162e-04 3.64546513e+02] [-7.84281999e-04 1.28786158e-05 9.99999692e-01 7.83952398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.872755096 meters 0.019519541777659747 Centerline is valid? [True, True] Translation: X:35.85, Y:364.57, Z:7.84 [[-5.83246735e-01 -8.12294983e-01 -3.28557057e-04 3.58479257e+01] [ 8.12294846e-01 -5.83246827e-01 4.71878141e-04 3.64567025e+02] [-5.74934108e-04 8.33618100e-06 9.99999835e-01 7.83845123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.902755096 meters 0.018804066172313515 Centerline is valid? [True, True] Translation: X:35.83, Y:364.59, Z:7.84 [[-5.81424617e-01 -8.13600208e-01 -3.39971946e-04 3.58293191e+01] [ 8.13600062e-01 -5.81424717e-01 4.88448829e-04 3.64588548e+02] [-5.95070162e-04 7.39497699e-06 9.99999823e-01 7.83848864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.932755096 meters 0.01857947231504716 Centerline is valid? [True, True] Translation: X:35.81, Y:364.61, Z:7.84 [[-5.80626286e-01 -8.14170030e-01 -5.27840948e-04 3.58126466e+01] [ 8.14169676e-01 -5.80626526e-01 7.59103297e-04 3.64609855e+02] [-9.24517610e-04 1.10032348e-05 9.99999573e-01 7.83882487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.962755096 meters 0.018219402364851187 Centerline is valid? [True, True] Translation: X:35.80, Y:364.63, Z:7.84 [[-5.79781445e-01 -8.14771894e-01 -4.86932688e-04 3.57956734e+01] [ 8.14771593e-01 -5.79781650e-01 6.99466386e-04 3.64630972e+02] [-8.52220189e-04 8.79871045e-06 9.99999637e-01 7.83892633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.992755096 meters 0.017785930232642383 Centerline is valid? [True, True] Translation: X:35.78, Y:364.65, Z:7.84 [[-5.78264357e-01 -8.15849262e-01 -5.61185794e-04 3.57772930e+01] [ 8.15848864e-01 -5.78264629e-01 8.06064734e-04 3.64650750e+02] [-9.82141213e-04 8.27571223e-06 9.99999518e-01 7.83902215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.022755096 meters 0.017785930232642383 Centerline is valid? [True, True] Translation: X:35.76, Y:364.67, Z:7.84 [[-5.78581525e-01 -8.15624365e-01 -5.61638535e-04 3.57622992e+01] [ 8.15623967e-01 -5.78581797e-01 8.05750266e-04 3.64671933e+02] [-9.82143382e-04 8.10636758e-06 9.99999518e-01 7.83916179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.052755096 meters 0.017577449191466993 Centerline is valid? [True, True] Translation: X:35.75, Y:364.69, Z:7.84 [[-5.78469300e-01 -8.15704020e-01 -4.69323312e-04 3.57453421e+01] [ 8.15703743e-01 -5.78469491e-01 6.72504202e-04 3.64693162e+02] [-8.20053598e-04 6.19425298e-06 9.99999664e-01 7.83886574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.082755096 meters 0.017681281467551043 Centerline is valid? [True, True] Translation: X:35.73, Y:364.71, Z:7.84 [[-5.78603881e-01 -8.15608539e-01 -5.09665521e-04 3.57302785e+01] [ 8.15608213e-01 -5.78604105e-01 7.29432397e-04 3.64714245e+02] [-8.89825854e-04 6.36503059e-06 9.99999604e-01 7.83972238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.112755096 meters 0.017554774290010736 Centerline is valid? [True, True] Translation: X:35.71, Y:364.74, Z:7.84 [[-5.79529124e-01 -8.14951419e-01 -4.24732153e-04 3.57142345e+01] [ 8.14951192e-01 -5.79529279e-01 6.07310261e-04 3.64736057e+02] [-7.41073077e-04 5.81800850e-06 9.99999725e-01 7.83908464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.142755096 meters 0.01773273945509854 Centerline is valid? [True, True] Translation: X:35.70, Y:364.76, Z:7.84 [[-5.80320543e-01 -8.14387952e-01 -5.75731481e-04 3.56992063e+01] [ 8.14387535e-01 -5.80320828e-01 8.23803389e-04 3.64758761e+02] [-1.00500453e-03 9.20148832e-06 9.99999495e-01 7.83950404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1727550960001 meters 0.018138070806961726 Centerline is valid? [True, True] Translation: X:35.69, Y:364.78, Z:7.84 [[-5.82277204e-01 -8.12989342e-01 -1.26032968e-03 3.56851790e+01] [ 8.12987336e-01 -5.82278567e-01 1.80596963e-03 3.64781929e+02] [-2.20209703e-03 2.69428769e-05 9.99997575e-01 7.84063948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.202755096 meters 0.018490967081500286 Centerline is valid? [True, True] Translation: X:35.67, Y:364.80, Z:7.84 [[-5.83436927e-01 -8.12156911e-01 -1.58232943e-03 3.56704975e+01] [ 8.12153746e-01 -5.83439071e-01 2.26766960e-03 3.64804280e+02] [-2.76489635e-03 3.79474038e-05 9.99996177e-01 7.84131490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.232755096 meters 0.018849914699548484 Centerline is valid? [True, True] Translation: X:35.66, Y:364.83, Z:7.84 [[-5.84278014e-01 -8.11551167e-01 -1.97641355e-03 3.56564482e+01] [ 8.11546231e-01 -5.84281355e-01 2.83086634e-03 3.64825340e+02] [-3.45217447e-03 5.00619994e-05 9.99994040e-01 7.84197017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.262755096 meters 0.019473513027214555 Centerline is valid? [True, True] Translation: X:35.64, Y:364.85, Z:7.84 [[-5.86109751e-01 -8.10229223e-01 -1.99152012e-03 3.56414696e+01] [ 8.10224212e-01 -5.86113132e-01 2.85008482e-03 3.64847633e+02] [-3.47647810e-03 5.68846878e-05 9.99993955e-01 7.84146148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2927550960001 meters 0.019625102493551354 Centerline is valid? [True, True] Translation: X:35.63, Y:364.87, Z:7.84 [[-5.86978982e-01 -8.09600096e-01 -1.83306787e-03 3.56266461e+01] [ 8.09595856e-01 -5.86981841e-01 2.62057596e-03 3.64869478e+02] [-3.19759610e-03 5.41788584e-05 9.99994886e-01 7.84113871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.322755096 meters 0.02023814292517291 Centerline is valid? [True, True] Translation: X:35.61, Y:364.89, Z:7.84 [[-5.88355447e-01 -8.08601248e-01 -1.37509279e-03 3.56125446e+01] [ 8.08598864e-01 -5.88357052e-01 1.96365034e-03 3.64891514e+02] [-2.39685565e-03 4.34259027e-05 9.99997127e-01 7.83963254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.352755096 meters 0.020352248078908373 Centerline is valid? [True, True] Translation: X:35.60, Y:364.91, Z:7.84 [[-5.88746260e-01 -8.08317426e-01 -8.83492429e-04 3.55972152e+01] [ 8.08316446e-01 -5.88746922e-01 1.25927239e-03 3.64913304e+02] [-1.53804527e-03 2.72504514e-05 9.99998817e-01 7.83868064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.382755096 meters 0.020473484269876187 Centerline is valid? [True, True] Translation: X:35.58, Y:364.94, Z:7.84 [[-5.89147113e-01 -8.08025309e-01 -8.82505175e-04 3.55823811e+01] [ 8.08024332e-01 -5.89147774e-01 1.25687765e-03 3.64935233e+02] [-1.53551491e-03 2.74001838e-05 9.99998821e-01 7.83795118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4127550960001 meters 0.020601188437064506 Centerline is valid? [True, True] Translation: X:35.57, Y:364.96, Z:7.84 [[-5.89408508e-01 -8.07835054e-01 -3.68036354e-04 3.55686221e+01] [ 8.07834885e-01 -5.89408623e-01 5.22500632e-04 3.64956474e+02] [-6.39018127e-04 1.06537123e-05 9.99999796e-01 7.83768476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.442755096 meters 0.020540453366959754 Centerline is valid? [True, True] Translation: X:35.55, Y:364.98, Z:7.84 [[-5.89411539e-01 -8.07832824e-01 -4.08115371e-04 3.55532591e+01] [ 8.07832617e-01 -5.89411680e-01 5.78418527e-04 3.64977240e+02] [-7.07813439e-04 1.12376455e-05 9.99999749e-01 7.83770285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.472755096 meters 0.01990030711341621 Centerline is valid? [True, True] Translation: X:35.54, Y:365.00, Z:7.84 [[-5.88135387e-01 -8.08762456e-01 -2.36852942e-04 3.55361337e+01] [ 8.08762387e-01 -5.88135435e-01 3.34850629e-04 3.64996057e+02] [-4.10116225e-04 5.37975424e-06 9.99999916e-01 7.83714809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.502755096 meters 0.01919177272595226 Centerline is valid? [True, True] Translation: X:35.52, Y:365.02, Z:7.84 [[-5.87215172e-01 -8.09430875e-01 1.35233060e-05 3.55194333e+01] [ 8.09430875e-01 -5.87215172e-01 -2.29817706e-05 3.65015326e+02] [ 2.65432450e-05 -2.54906291e-06 1.00000000e+00 7.83671287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5327550960001 meters 0.018538114781721134 Centerline is valid? [True, True] Translation: X:35.50, Y:365.03, Z:7.84 [[-5.86145664e-01 -8.10205676e-01 1.49733834e-04 3.55023244e+01] [ 8.10205647e-01 -5.86145684e-01 -2.16744255e-04 3.65034991e+02] [ 2.63373266e-04 -5.72850771e-06 9.99999965e-01 7.83644767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.562755096 meters 0.016540830785988447 Centerline is valid? [True, True] Translation: X:35.48, Y:365.05, Z:7.84 [[-5.83585547e-01 -8.12051613e-01 2.95602468e-04 3.54815302e+01] [ 8.12051502e-01 -5.83585622e-01 -4.23607015e-04 3.65053375e+02] [ 5.16500110e-04 -7.16650394e-06 9.99999867e-01 7.83504797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.592755096 meters 0.01628220893685127 Centerline is valid? [True, True] Translation: X:35.46, Y:365.07, Z:7.84 [[-5.82887317e-01 -8.12552902e-01 3.96651651e-04 3.54648918e+01] [ 8.12552704e-01 -5.82887452e-01 -5.67181854e-04 3.65073957e+02] [ 6.92068531e-04 -8.30273736e-06 9.99999761e-01 7.83515294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.622755096 meters 0.016016061634703354 Centerline is valid? [True, True] Translation: X:35.45, Y:365.09, Z:7.84 [[-5.81385772e-01 -8.13627863e-01 5.34014012e-04 3.54495244e+01] [ 8.13627506e-01 -5.81386017e-01 -7.61812775e-04 3.65093904e+02] [ 9.30300380e-04 -8.41861987e-06 9.99999567e-01 7.83567993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.652755096 meters 0.01575034890904843 Centerline is valid? [True, True] Translation: X:35.43, Y:365.12, Z:7.84 [[-5.81158719e-01 -8.13789887e-01 7.50297020e-04 3.54324982e+01] [ 8.13789187e-01 -5.81159203e-01 -1.06753144e-03 3.65115208e+02] [ 1.30478831e-03 -9.82160403e-06 9.99999149e-01 7.83514850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.682755096 meters 0.01571607473955881 Centerline is valid? [True, True] Translation: X:35.42, Y:365.14, Z:7.84 [[-5.80688024e-01 -8.14125930e-01 6.23189324e-04 3.54163181e+01] [ 8.14125448e-01 -5.80688359e-01 -8.85957172e-04 3.65136141e+02] [ 1.08315949e-03 -7.11043202e-06 9.99999413e-01 7.83566441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.712755096 meters 0.015521254851773416 Centerline is valid? [True, True] Translation: X:35.40, Y:365.16, Z:7.84 [[-5.79696142e-01 -8.14832305e-01 8.35646265e-04 3.53978331e+01] [ 8.14831441e-01 -5.79696744e-01 -1.18694561e-03 3.65155914e+02] [ 1.45158305e-03 -7.15694146e-06 9.99998946e-01 7.83543106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.742755096 meters 0.015497827716416621 Centerline is valid? [True, True] Translation: X:35.38, Y:365.18, Z:7.84 [[-5.79700696e-01 -8.14829079e-01 8.21502592e-04 3.53805347e+01] [ 8.14828245e-01 -5.79701278e-01 -1.16602596e-03 3.65177486e+02] [ 1.42633796e-03 -6.56254361e-06 9.99998983e-01 7.83541440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.772755096 meters 0.015422339547687678 Centerline is valid? [True, True] Translation: X:35.36, Y:365.20, Z:7.84 [[-5.78912568e-01 -8.15389399e-01 6.05382784e-04 3.53625315e+01] [ 8.15388946e-01 -5.78912885e-01 -8.59510121e-04 3.65198012e+02] [ 1.05129933e-03 -3.95878161e-06 9.99999447e-01 7.83581732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.802755096 meters 0.015409819006651488 Centerline is valid? [True, True] Translation: X:35.35, Y:365.22, Z:7.84 [[-5.78778166e-01 -8.15484615e-01 8.23856927e-04 3.53468964e+01] [ 8.15483778e-01 -5.78778752e-01 -1.16798728e-03 3.65218676e+02] [ 1.42930654e-03 -4.16357839e-06 9.99998979e-01 7.83610203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.832755096 meters 0.015287665040318924 Centerline is valid? [True, True] Translation: X:35.33, Y:365.24, Z:7.84 [[-5.78898533e-01 -8.15398850e-01 1.09721470e-03 3.53317984e+01] [ 8.15397371e-01 -5.78899573e-01 -1.55284301e-03 3.65239699e+02] [ 1.90136352e-03 -4.27255383e-06 9.99998192e-01 7.83656294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.862755096 meters 0.015294615011439108 Centerline is valid? [True, True] Translation: X:35.32, Y:365.26, Z:7.84 [[-5.79357598e-01 -8.15071680e-01 1.71168725e-03 3.53171660e+01] [ 8.15068093e-01 -5.79360127e-01 -2.41816617e-03 3.65260468e+02] [ 2.96266211e-03 -5.84128177e-06 9.99995611e-01 7.83615106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.892755096 meters 0.015413489147579828 Centerline is valid? [True, True] Translation: X:35.30, Y:365.28, Z:7.83 [[-5.80604506e-01 -8.14182032e-01 2.45487279e-03 3.53018521e+01] [ 8.14174665e-01 -5.80609695e-01 -3.46364671e-03 3.65281431e+02] [ 4.24536186e-03 -1.23136493e-05 9.99990988e-01 7.83422864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9227550960001 meters 0.015424609589032719 Centerline is valid? [True, True] Translation: X:35.29, Y:365.30, Z:7.83 [[-5.81807148e-01 -8.13321184e-01 3.01578937e-03 3.52863581e+01] [ 8.13310076e-01 -5.81814963e-01 -4.25069022e-03 3.65304055e+02] [ 5.21180779e-03 -2.03100678e-05 9.99986418e-01 7.83333264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.952755096 meters 0.015544159562052675 Centerline is valid? [True, True] Translation: X:35.27, Y:365.33, Z:7.83 [[-5.83176564e-01 -8.12338417e-01 3.37505352e-03 3.52726635e+01] [ 8.12324512e-01 -5.83186330e-01 -4.75306098e-03 3.65325237e+02] [ 5.82937911e-03 -3.02350708e-05 9.99983009e-01 7.83255014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.982755096 meters 0.015744094396036704 Centerline is valid? [True, True] Translation: X:35.26, Y:365.35, Z:7.83 [[-5.84508401e-01 -8.11378292e-01 3.89836041e-03 3.52582545e+01] [ 8.11359754e-01 -5.84521399e-01 -5.48480096e-03 3.65348243e+02] [ 6.72892351e-03 -4.29394948e-05 9.99977360e-01 7.83233207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.012755096 meters 0.016386145819641155 Centerline is valid? [True, True] Translation: X:35.25, Y:365.37, Z:7.83 [[-5.86686271e-01 -8.09801885e-01 4.48620414e-03 3.52453916e+01] [ 8.09777330e-01 -5.86703419e-01 -6.30658743e-03 3.65370896e+02] [ 7.73915770e-03 -6.71618535e-05 9.99970050e-01 7.83158635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0427550960001 meters 0.016474392323594184 Centerline is valid? [True, True] Translation: X:35.23, Y:365.39, Z:7.83 [[-5.87683096e-01 -8.09078386e-01 4.55451830e-03 3.52284904e+01] [ 8.09053096e-01 -5.87700739e-01 -6.39761824e-03 3.65392910e+02] [ 7.85286841e-03 -7.49249645e-05 9.99969163e-01 7.83170406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.072755096 meters 0.017389524367927893 Centerline is valid? [True, True] Translation: X:35.21, Y:365.41, Z:7.83 [[-5.89345969e-01 -8.07863136e-01 5.33682823e-03 3.52141336e+01] [ 8.07828419e-01 -5.89370123e-01 -7.49017787e-03 3.65414814e+02] [ 9.19640570e-03 -1.03064625e-04 9.99957707e-01 7.83064667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.102755096 meters 0.017216841347922566 Centerline is valid? [True, True] Translation: X:35.20, Y:365.44, Z:7.83 [[-5.90322461e-01 -8.07147660e-01 5.66093096e-03 3.51966033e+01] [ 8.07108627e-01 -5.90349592e-01 -7.93871074e-03 3.65436105e+02] [ 9.74964008e-03 -1.17413042e-04 9.99952464e-01 7.83074426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.132755096 meters 0.018908838834615648 Centerline is valid? [True, True] Translation: X:35.18, Y:365.46, Z:7.83 [[-5.91518356e-01 -8.06271060e-01 5.74563734e-03 3.51817743e+01] [ 8.06230870e-01 -5.91546246e-01 -8.05127982e-03 3.65457728e+02] [ 9.89032411e-03 -1.30169608e-04 9.99951081e-01 7.82977772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1627550960001 meters 0.018338247136611103 Centerline is valid? [True, True] Translation: X:35.17, Y:365.48, Z:7.83 [[-5.93108530e-01 -8.05106153e-01 5.13370103e-03 3.51659780e+01] [ 8.05074072e-01 -5.93130733e-01 -7.18841670e-03 3.65478777e+02] [ 8.83239436e-03 -1.30501674e-04 9.99960985e-01 7.83166329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.192755096 meters 0.01869042383779414 Centerline is valid? [True, True] Translation: X:35.15, Y:365.50, Z:7.83 [[-5.93916965e-01 -8.04507830e-01 5.45810931e-03 3.51508238e+01] [ 8.04471601e-01 -5.93942027e-01 -7.63621854e-03 3.65500099e+02] [ 9.38519811e-03 -1.44385795e-04 9.99955948e-01 7.83145016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.222755096 meters 0.018502487190272438 Centerline is valid? [True, True] Translation: X:35.13, Y:365.52, Z:7.83 [[-5.94742146e-01 -8.03889821e-01 6.55255115e-03 3.51342047e+01] [ 8.03837656e-01 -5.94778213e-01 -9.15970222e-03 3.65522154e+02] [ 1.12607060e-02 -1.80473596e-04 9.99936580e-01 7.83083141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.252755096 meters 0.01930421348125171 Centerline is valid? [True, True] Translation: X:35.12, Y:365.54, Z:7.83 [[-5.95225303e-01 -8.03525315e-01 7.34209583e-03 3.51197741e+01] [ 8.03459896e-01 -5.95270549e-01 -1.02551902e-02 3.65544711e+02] [ 1.26108383e-02 -2.05069134e-04 9.99920459e-01 7.82947293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2827550960001 meters 0.01863041447560755 Centerline is valid? [True, True] Translation: X:35.10, Y:365.57, Z:7.83 [[-5.95207680e-01 -8.03537176e-01 7.47167276e-03 3.51016396e+01] [ 8.03469532e-01 -5.95254539e-01 -1.04280682e-02 3.65565751e+02] [ 1.28268876e-02 -2.03604867e-04 9.99917711e-01 7.83000976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.312755096 meters 0.01884662840679879 Centerline is valid? [True, True] Translation: X:35.08, Y:365.59, Z:7.83 [[-5.94299523e-01 -8.04202176e-01 8.18149895e-03 3.50840371e+01] [ 8.04121261e-01 -5.94355802e-01 -1.14095950e-02 3.65585971e+02] [ 1.40383425e-02 -2.01799615e-04 9.99901437e-01 7.82861896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.342755096 meters 0.01836912950003995 Centerline is valid? [True, True] Translation: X:35.07, Y:365.61, Z:7.83 [[-5.94188152e-01 -8.04281012e-01 8.51431393e-03 3.50659925e+01] [ 8.04193522e-01 -5.94249117e-01 -1.18645014e-02 3.65606301e+02] [ 1.46020168e-02 -2.02590080e-04 9.99893364e-01 7.82853669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.372755096 meters 0.018449284601052274 Centerline is valid? [True, True] Translation: X:35.05, Y:365.63, Z:7.83 [[-5.93468438e-01 -8.04802453e-01 9.39281576e-03 3.50488864e+01] [ 8.04696221e-01 -5.93542729e-01 -1.30774883e-02 3.65625892e+02] [ 1.60998321e-02 -2.02713202e-04 9.99870369e-01 7.82771171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.402755096 meters 0.018064581950151256 Centerline is valid? [True, True] Translation: X:35.03, Y:365.65, Z:7.83 [[-5.93473965e-01 -8.04795424e-01 9.64260045e-03 3.50315045e+01] [ 8.04683645e-01 -5.93552260e-01 -1.34143774e-02 3.65647285e+02] [ 1.65192169e-02 -2.01840869e-04 9.99863528e-01 7.82859180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.432755096 meters 0.01856897201872167 Centerline is valid? [True, True] Translation: X:35.02, Y:365.67, Z:7.83 [[-5.93400462e-01 -8.04841772e-01 1.02768863e-02 3.50151644e+01] [ 8.04714978e-01 -5.93489409e-01 -1.42872627e-02 3.65668294e+02] [ 1.75982090e-02 -2.08103988e-04 9.99845118e-01 7.82792931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.462755096 meters 0.01910609765674475 Centerline is valid? [True, True] Translation: X:35.00, Y:365.69, Z:7.83 [[-5.93801529e-01 -8.04544079e-01 1.04196591e-02 3.50000522e+01] [ 8.04413894e-01 -5.93892903e-01 -1.44743742e-02 3.65688350e+02] [ 1.78334337e-02 -2.13186967e-04 9.99840949e-01 7.82649594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.492755096 meters 0.019097704865125353 Centerline is valid? [True, True] Translation: X:34.98, Y:365.71, Z:7.83 [[-5.94530260e-01 -8.04003534e-01 1.05871697e-02 3.49833294e+01] [ 8.03869266e-01 -5.94624476e-01 -1.46947509e-02 3.65708800e+02] [ 1.81100219e-02 -2.25773788e-04 9.99835975e-01 7.82675695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.522755096 meters 0.019754234748793148 Centerline is valid? [True, True] Translation: X:34.97, Y:365.73, Z:7.83 [[-5.95588481e-01 -8.03216602e-01 1.08375290e-02 3.49665304e+01] [ 8.03075998e-01 -5.95687022e-01 -1.50304311e-02 3.65730291e+02] [ 1.85284671e-02 -2.48592215e-04 9.99828302e-01 7.82681501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.552755096 meters 0.019841501529232163 Centerline is valid? [True, True] Translation: X:34.95, Y:365.75, Z:7.83 [[-5.97886251e-01 -8.01515345e-01 1.02558954e-02 3.49503217e+01] [ 8.01389349e-01 -5.97974142e-01 -1.42139728e-02 3.65753601e+02] [ 1.75254776e-02 -2.79373635e-04 9.99846378e-01 7.82733089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.582755096 meters 0.02033204963545632 Centerline is valid? [True, True] Translation: X:34.93, Y:365.78, Z:7.83 [[-5.99451466e-01 -8.00342105e-01 1.05097281e-02 3.49343413e+01] [ 8.00209792e-01 -5.99543506e-01 -1.45558710e-02 3.65776598e+02] [ 1.79507157e-02 -3.15550823e-04 9.99838823e-01 7.82748764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.612755096 meters 0.022214794214001077 Centerline is valid? [True, True] Translation: X:34.92, Y:365.80, Z:7.83 [[-6.02907345e-01 -7.97745461e-01 1.02426817e-02 3.49210985e+01] [ 7.97619583e-01 -6.02994227e-01 -1.41761680e-02 3.65800916e+02] [ 1.74852516e-02 -3.77152323e-04 9.99847050e-01 7.82724416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.642755096 meters 0.02284955849151214 Centerline is valid? [True, True] Translation: X:34.91, Y:365.82, Z:7.83 [[-6.04928796e-01 -7.96212049e-01 1.03694077e-02 3.49056519e+01] [ 7.96082999e-01 -6.05017517e-01 -1.43409583e-02 3.65823728e+02] [ 1.76921171e-02 -4.20349480e-04 9.99843394e-01 7.82765745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6727550960001 meters 0.024537530337405956 Centerline is valid? [True, True] Translation: X:34.89, Y:365.85, Z:7.83 [[-6.06777753e-01 -7.94806184e-01 1.01925436e-02 3.48922311e+01] [ 7.94681488e-01 -6.06863189e-01 -1.40855252e-02 3.65846746e+02] [ 1.73807421e-02 -4.46957611e-04 9.99848844e-01 7.82710986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.702755096 meters 0.025317039166934962 Centerline is valid? [True, True] Translation: X:34.88, Y:365.87, Z:7.83 [[-6.09288642e-01 -7.92883347e-01 1.01660631e-02 3.48772001e+01] [ 7.92759212e-01 -6.09373247e-01 -1.40384541e-02 3.65869784e+02] [ 1.73257833e-02 -4.94230491e-04 9.99849775e-01 7.82824445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.732755096 meters 0.02599059336032628 Centerline is valid? [True, True] Translation: X:34.86, Y:365.89, Z:7.83 [[-6.10533948e-01 -7.91926906e-01 1.00036676e-02 3.48618228e+01] [ 7.91806747e-01 -6.10615688e-01 -1.38042123e-02 3.65892725e+02] [ 1.70403235e-02 -5.06968719e-04 9.99854675e-01 7.82887021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.762755096 meters 0.02686146167997119 Centerline is valid? [True, True] Translation: X:34.85, Y:365.92, Z:7.83 [[-6.12264692e-01 -7.90592720e-01 9.75181581e-03 3.48465597e+01] [ 7.90478527e-01 -6.12342124e-01 -1.34470005e-02 3.65915851e+02] [ 1.66025483e-02 -5.24522629e-04 9.99862031e-01 7.82977236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7927550960001 meters 0.02743191052575396 Centerline is valid? [True, True] Translation: X:34.83, Y:365.94, Z:7.83 [[-6.12826948e-01 -7.90158033e-01 9.66510970e-03 3.48318000e+01] [ 7.90045984e-01 -6.12902934e-01 -1.33167816e-02 3.65937158e+02] [ 1.64461361e-02 -5.25001528e-04 9.99864615e-01 7.82980546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.822755096 meters 0.02783533468817631 Centerline is valid? [True, True] Translation: X:34.82, Y:365.96, Z:7.83 [[-6.13137992e-01 -7.89916945e-01 9.64480636e-03 3.48167493e+01] [ 7.89805518e-01 -6.13213622e-01 -1.32777524e-02 3.65958285e+02] [ 1.64026483e-02 -5.23573165e-04 9.99865330e-01 7.83029333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.852755096 meters 0.027124042723303276 Centerline is valid? [True, True] Translation: X:34.80, Y:365.98, Z:7.83 [[-6.12282455e-01 -7.90587593e-01 9.02518816e-03 3.47997493e+01] [ 7.90490235e-01 -6.12348790e-01 -1.24156656e-02 3.65979540e+02] [ 1.53422342e-02 -4.67571084e-04 9.99882192e-01 7.83118516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.882755096 meters 0.026695279730876462 Centerline is valid? [True, True] Translation: X:34.78, Y:366.00, Z:7.83 [[-6.11553735e-01 -7.91151130e-01 9.05093965e-03 3.47824342e+01] [ 7.91053412e-01 -6.11620543e-01 -1.24423198e-02 3.66000983e+02] [ 1.53794960e-02 -4.49370468e-04 9.99881628e-01 7.83153632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9127550960001 meters 0.024824299066788236 Centerline is valid? [True, True] Translation: X:34.76, Y:366.02, Z:7.83 [[-6.10638379e-01 -7.91857942e-01 9.04268593e-03 3.47633114e+01] [ 7.91760617e-01 -6.10705182e-01 -1.24220270e-02 3.66020996e+02] [ 1.53588958e-02 -4.25723824e-04 9.99881955e-01 7.83220698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.942755096 meters 0.024824299066788236 Centerline is valid? [True, True] Translation: X:34.75, Y:366.04, Z:7.83 [[-6.10943650e-01 -7.91622387e-01 9.04730711e-03 3.47478318e+01] [ 7.91525086e-01 -6.11010487e-01 -1.24186612e-02 3.66041828e+02] [ 1.53588897e-02 -4.25931636e-04 9.99881955e-01 7.83234668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.972755096 meters 0.023954453061565892 Centerline is valid? [True, True] Translation: X:34.73, Y:366.06, Z:7.83 [[-6.08921511e-01 -7.93178450e-01 9.08516328e-03 3.47296077e+01] [ 7.93080650e-01 -6.08989163e-01 -1.24612105e-02 3.66062264e+02] [ 1.54167296e-02 -3.82631947e-04 9.99881082e-01 7.83097689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.002755096 meters 0.02455001922298645 Centerline is valid? [True, True] Translation: X:34.72, Y:366.08, Z:7.83 [[-6.08058662e-01 -7.93838080e-01 9.26099335e-03 3.47155376e+01] [ 7.93736695e-01 -6.08129072e-01 -1.26921779e-02 3.66083484e+02] [ 1.57074134e-02 -3.66798448e-04 9.99876564e-01 7.83017695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0327550960001 meters 0.023601429933875318 Centerline is valid? [True, True] Translation: X:34.70, Y:366.10, Z:7.83 [[-6.06518937e-01 -7.95012150e-01 9.51108722e-03 3.46981370e+01] [ 7.94905524e-01 -6.06593412e-01 -1.30246522e-02 3.66103618e+02] [ 1.61241196e-02 -3.39282462e-04 9.99869940e-01 7.82997994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.062755096 meters 0.02124937887472409 Centerline is valid? [True, True] Translation: X:34.68, Y:366.12, Z:7.83 [[-6.06097262e-01 -7.95332721e-01 9.59020447e-03 3.46783465e+01] [ 7.95224514e-01 -6.06173041e-01 -1.31231381e-02 3.66123187e+02] [ 1.62505846e-02 -3.27532407e-04 9.99867897e-01 7.83176372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.092755096 meters 0.020703452177888493 Centerline is valid? [True, True] Translation: X:34.66, Y:366.14, Z:7.83 [[-6.05436317e-01 -7.95830950e-01 9.99826765e-03 3.46613192e+01] [ 7.95713583e-01 -6.05518782e-01 -1.36710685e-02 3.66144299e+02] [ 1.69339983e-02 -3.21203963e-04 9.99856558e-01 7.83162000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.122755096 meters 0.025163433548719343 Centerline is valid? [True, True] Translation: X:34.65, Y:366.17, Z:7.83 [[-6.05946655e-01 -7.95441265e-01 1.00918853e-02 3.46495492e+01] [ 7.95321787e-01 -6.06030598e-01 -1.37902204e-02 3.66167823e+02] [ 1.70853017e-02 -3.29841653e-04 9.99853981e-01 7.82738147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.152755096 meters 0.023199210956794124 Centerline is valid? [True, True] Translation: X:34.63, Y:366.19, Z:7.83 [[-6.06170441e-01 -7.95272864e-01 9.92314588e-03 3.46339525e+01] [ 7.95157484e-01 -6.06251571e-01 -1.35501996e-02 3.66189524e+02] [ 1.67920288e-02 -3.23266764e-04 9.99858952e-01 7.82969798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.182755096 meters 0.02404678435553716 Centerline is valid? [True, True] Translation: X:34.62, Y:366.21, Z:7.83 [[-6.07943283e-01 -7.93919049e-01 9.87463438e-03 3.46168847e+01] [ 7.93804782e-01 -6.08023371e-01 -1.34740049e-02 3.66211252e+02] [ 1.67012777e-02 -3.52898805e-04 9.99860462e-01 7.82983520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.212755096 meters 0.024478044795992603 Centerline is valid? [True, True] Translation: X:34.61, Y:366.23, Z:7.83 [[-6.08614008e-01 -7.93406406e-01 9.76028985e-03 3.46054144e+01] [ 7.93294882e-01 -6.08692162e-01 -1.33072408e-02 3.66233991e+02] [ 1.64990620e-02 -3.56185155e-04 9.99863818e-01 7.83002473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.242755096 meters 0.023648108781678216 Centerline is valid? [True, True] Translation: X:34.59, Y:366.26, Z:7.83 [[-6.10916304e-01 -7.91638436e-01 9.47928747e-03 3.45901062e+01] [ 7.91533162e-01 -6.10989720e-01 -1.29157287e-02 3.66255857e+02] [ 1.60163344e-02 -3.87258855e-04 9.99871655e-01 7.83220965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.272755096 meters 0.024314325026145906 Centerline is valid? [True, True] Translation: X:34.58, Y:366.28, Z:7.83 [[-6.12058771e-01 -7.90757021e-01 9.34846008e-03 3.45752752e+01] [ 7.90654663e-01 -6.12130030e-01 -1.27290785e-02 3.66278569e+02] [ 1.57880813e-02 -3.99540567e-04 9.99875281e-01 7.83287596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.302755096 meters 0.024347919931353355 Centerline is valid? [True, True] Translation: X:34.56, Y:366.30, Z:7.83 [[-6.12734378e-01 -7.90236969e-01 9.06177159e-03 3.45591626e+01] [ 7.90140880e-01 -6.12801255e-01 -1.23293357e-02 3.66299508e+02] [ 1.52961618e-02 -3.94531647e-04 9.99882929e-01 7.83355391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.332755096 meters 0.024636228089460123 Centerline is valid? [True, True] Translation: X:34.54, Y:366.32, Z:7.83 [[-6.13245587e-01 -7.89843215e-01 8.80598902e-03 3.45430074e+01] [ 7.89752574e-01 -6.13308687e-01 -1.19718918e-02 3.66320702e+02] [ 1.48567070e-02 -3.87157303e-04 9.99889558e-01 7.83398126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.362755096 meters 0.02571541927627938 Centerline is valid? [True, True] Translation: X:34.53, Y:366.34, Z:7.83 [[-6.13485016e-01 -7.89662654e-01 8.30829450e-03 3.45287820e+01] [ 7.89582079e-01 -6.13541164e-01 -1.12862722e-02 3.66341405e+02] [ 1.40098283e-02 -3.63878412e-04 9.99901791e-01 7.83370985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.392755096 meters 0.024868485995076454 Centerline is valid? [True, True] Translation: X:34.51, Y:366.36, Z:7.84 [[-6.13054483e-01 -7.90003639e-01 7.64541021e-03 3.45113209e+01] [ 7.89935532e-01 -6.13102069e-01 -1.03782715e-02 3.66362492e+02] [ 1.28862891e-02 -3.23064696e-04 9.99916916e-01 7.83597087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4227550960001 meters 0.027274074022171118 Centerline is valid? [True, True] Translation: X:34.50, Y:366.38, Z:7.84 [[-6.13101022e-01 -7.89971412e-01 7.23226787e-03 3.44982321e+01] [ 7.89910554e-01 -6.13143603e-01 -9.81018946e-03 3.66384354e+02] [ 1.21841880e-02 -3.01792461e-04 9.99925725e-01 7.83525110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.452755096 meters 0.025310303124177022 Centerline is valid? [True, True] Translation: X:34.48, Y:366.40, Z:7.84 [[-6.13279107e-01 -7.89835086e-01 7.01957946e-03 3.44788084e+01] [ 7.89777832e-01 -6.13319210e-01 -9.51437777e-03 3.66402807e+02] [ 1.18200323e-02 -2.91060857e-04 9.99930099e-01 7.83639544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.482755096 meters 0.026298040028383526 Centerline is valid? [True, True] Translation: X:34.46, Y:366.42, Z:7.84 [[-6.13254138e-01 -7.89857561e-01 6.66300569e-03 3.44622199e+01] [ 7.89806052e-01 -6.13290274e-01 -9.02442671e-03 3.66423550e+02] [ 1.12143683e-02 -2.71784805e-04 9.99937080e-01 7.83579560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.512755096 meters 0.025000578024908883 Centerline is valid? [True, True] Translation: X:34.45, Y:366.44, Z:7.84 [[-6.13118421e-01 -7.89965932e-01 6.29514737e-03 3.44450833e+01] [ 7.89920029e-01 -6.13150686e-01 -8.51967084e-03 3.66442180e+02] [ 1.05901236e-02 -2.50904145e-04 9.99943892e-01 7.83776152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5427550960001 meters 0.024591338363869095 Centerline is valid? [True, True] Translation: X:34.43, Y:366.46, Z:7.84 [[-6.13558748e-01 -7.89621464e-01 6.60348027e-03 3.44253691e+01] [ 7.89571018e-01 -6.13594225e-01 -8.92946403e-03 3.66460427e+02] [ 1.11027538e-02 -2.64834132e-04 9.99938328e-01 7.83620389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.572755096 meters 0.024331051072504526 Centerline is valid? [True, True] Translation: X:34.41, Y:366.48, Z:7.84 [[-6.13525797e-01 -7.89643732e-01 6.99093188e-03 3.44075600e+01] [ 7.89587281e-01 -6.13565564e-01 -9.44585095e-03 3.66481543e+02] [ 1.17482521e-02 -2.75322342e-04 9.99930949e-01 7.83569964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.602755096 meters 0.02254894544174566 Centerline is valid? [True, True] Translation: X:34.39, Y:366.50, Z:7.84 [[-6.13647311e-01 -7.89548155e-01 7.11961364e-03 3.43909609e+01] [ 7.89489687e-01 -6.13688548e-01 -9.61253282e-03 3.66502888e+02] [ 1.19587829e-02 -2.77843367e-04 9.99928453e-01 7.83781744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.632755096 meters 0.023364802163344935 Centerline is valid? [True, True] Translation: X:34.38, Y:366.52, Z:7.84 [[-6.14410392e-01 -7.88956272e-01 6.91885887e-03 3.43759237e+01] [ 7.88901099e-01 -6.14449285e-01 -9.33448251e-03 3.66524174e+02] [ 1.16157864e-02 -2.76907690e-04 9.99932496e-01 7.83773170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6627550960001 meters 0.023349569666216034 Centerline is valid? [True, True] Translation: X:34.36, Y:366.55, Z:7.84 [[-6.15720295e-01 -7.87940292e-01 6.21408755e-03 3.43594382e+01] [ 7.87895797e-01 -6.15751596e-01 -8.37765454e-03 3.66545891e+02] [ 1.04274259e-02 -2.62238458e-04 9.99945599e-01 7.83865439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.692755096 meters 0.024389972729959655 Centerline is valid? [True, True] Translation: X:34.35, Y:366.57, Z:7.84 [[-6.16534341e-01 -7.87306039e-01 5.88272918e-03 3.43456322e+01] [ 7.87266186e-01 -6.16562353e-01 -7.92571809e-03 3.66567711e+02] [ 9.86703506e-03 -2.55203616e-04 9.99951287e-01 7.83934720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.722755096 meters 0.02483674331849922 Centerline is valid? [True, True] Translation: X:34.33, Y:366.59, Z:7.84 [[-6.18285770e-01 -7.85937443e-01 5.00426707e-03 3.43303573e+01] [ 7.85908589e-01 -6.18305978e-01 -6.73857955e-03 3.66589642e+02] [ 8.39027022e-03 -2.33471374e-04 9.99964774e-01 7.84150194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.752755096 meters 0.024642189691823545 Centerline is valid? [True, True] Translation: X:34.31, Y:366.61, Z:7.84 [[-6.19062463e-01 -7.85328433e-01 4.57382434e-03 3.43139309e+01] [ 7.85304340e-01 -6.19079321e-01 -6.15532238e-03 3.66610760e+02] [ 7.66550974e-03 -2.18684928e-04 9.99970596e-01 7.84231258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7827550960001 meters 0.026045216716346044 Centerline is valid? [True, True] Translation: X:34.30, Y:366.63, Z:7.84 [[-6.19608829e-01 -7.84897964e-01 4.48161023e-03 3.42998686e+01] [ 7.84874856e-01 -6.19624999e-01 -6.02663955e-03 3.66633632e+02] [ 7.50721485e-03 -2.16655890e-04 9.99971797e-01 7.84281673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.812755096 meters 0.025157859545557933 Centerline is valid? [True, True] Translation: X:34.28, Y:366.65, Z:7.84 [[-6.20533440e-01 -7.84169344e-01 4.08543493e-03 3.42821794e+01] [ 7.84150152e-01 -6.20546855e-01 -5.49001142e-03 3.66653929e+02] [ 6.84030245e-03 -2.03141248e-04 9.99976584e-01 7.84392189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.842755096 meters 0.025793023234988745 Centerline is valid? [True, True] Translation: X:34.27, Y:366.67, Z:7.84 [[-6.20801964e-01 -7.83957608e-01 3.92314680e-03 3.42673841e+01] [ 7.83939931e-01 -6.20814329e-01 -5.26810114e-03 3.66674533e+02] [ 6.56551372e-03 -1.94936101e-04 9.99978428e-01 7.84407108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.872755096 meters 0.025572238797967953 Centerline is valid? [True, True] Translation: X:34.25, Y:366.70, Z:7.84 [[-6.20667792e-01 -7.84065698e-01 3.53185080e-03 3.42509546e+01] [ 7.84051395e-01 -6.20677817e-01 -4.73904421e-03 3.66695006e+02] [ 5.90786344e-03 -1.72219563e-04 9.99982534e-01 7.84447728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.902755096 meters 0.023884635031337555 Centerline is valid? [True, True] Translation: X:34.23, Y:366.71, Z:7.84 [[-6.20134454e-01 -7.84488758e-01 3.26318611e-03 3.42313203e+01] [ 7.84476571e-01 -6.20143020e-01 -4.37535088e-03 3.66714604e+02] [ 5.45605567e-03 -1.53412777e-04 9.99985104e-01 7.84438930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.932755096 meters 0.023333966718392943 Centerline is valid? [True, True] Translation: X:34.21, Y:366.74, Z:7.84 [[-6.19763927e-01 -7.84781438e-01 3.28175843e-03 3.42139222e+01] [ 7.84769135e-01 -6.19772597e-01 -4.39696621e-03 3.66735797e+02] [ 5.48460141e-03 -1.49658323e-04 9.99984948e-01 7.84436453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.962755096 meters 0.023172090413501528 Centerline is valid? [True, True] Translation: X:34.20, Y:366.76, Z:7.84 [[-6.19896857e-01 -7.84676657e-01 3.22956755e-03 3.41971181e+01] [ 7.84664758e-01 -6.19905253e-01 -4.32386142e-03 3.66757634e+02] [ 5.39485902e-03 -1.46220263e-04 9.99985437e-01 7.84457466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.992755096 meters 0.02365557644226316 Centerline is valid? [True, True] Translation: X:34.18, Y:366.78, Z:7.84 [[-6.20219685e-01 -7.84419425e-01 3.70249702e-03 3.41820818e+01] [ 7.84403807e-01 -6.20230713e-01 -4.95283040e-03 3.66778721e+02] [ 6.18149874e-03 -1.67590153e-04 9.99980880e-01 7.84402415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.022755096 meters 0.024375421642590853 Centerline is valid? [True, True] Translation: X:34.17, Y:366.80, Z:7.84 [[-6.20974669e-01 -7.83819851e-01 4.11113392e-03 3.41655690e+01] [ 7.83800613e-01 -6.20988249e-01 -5.49483574e-03 3.66799941e+02] [ 6.85992718e-03 -1.89844518e-04 9.99976452e-01 7.84214121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.052755096 meters 0.024374003285895524 Centerline is valid? [True, True] Translation: X:34.15, Y:366.82, Z:7.84 [[-6.21537823e-01 -7.83372882e-01 4.20266222e-03 3.41503103e+01] [ 7.83352798e-01 -6.21552001e-01 -5.61291528e-03 3.66821088e+02] [ 7.00917873e-03 -1.96471937e-04 9.99975416e-01 7.84271273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.082755096 meters 0.024363942659941854 Centerline is valid? [True, True] Translation: X:34.13, Y:366.84, Z:7.84 [[-6.22211697e-01 -7.82838785e-01 4.00518083e-03 3.41338385e+01] [ 7.82820559e-01 -6.22224558e-01 -5.34523929e-03 3.66842285e+02] [ 6.67658250e-03 -1.90532513e-04 9.99977693e-01 7.84269175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.112755096 meters 0.027270576301435676 Centerline is valid? [True, True] Translation: X:34.12, Y:366.87, Z:7.84 [[-6.23057580e-01 -7.82169097e-01 3.27954199e-03 3.41207188e+01] [ 7.82156882e-01 -6.23066191e-01 -4.37418328e-03 3.66865593e+02] [ 5.46472272e-03 -1.60251715e-04 9.99985055e-01 7.84428581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.142755096 meters 0.026579740436825296 Centerline is valid? [True, True] Translation: X:34.10, Y:366.88, Z:7.84 [[-6.23554339e-01 -7.81774930e-01 2.81870952e-03 3.41002551e+01] [ 7.81765914e-01 -6.23560695e-01 -3.75710452e-03 3.66884442e+02] [ 4.69484659e-03 -1.39187802e-04 9.99988970e-01 7.84293312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1727550960001 meters 0.02462011580784716 Centerline is valid? [True, True] Translation: X:34.08, Y:366.90, Z:7.85 [[-6.23732604e-01 -7.81633215e-01 2.67515761e-03 3.40830533e+01] [ 7.81625103e-01 -6.23738327e-01 -3.56337796e-03 3.66904225e+02] [ 4.45385291e-03 -1.31624672e-04 9.99990073e-01 7.84566280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.202755096 meters 0.024798405040705046 Centerline is valid? [True, True] Translation: X:34.07, Y:366.92, Z:7.85 [[-6.23911998e-01 -7.81490998e-01 2.37459458e-03 3.40672270e+01] [ 7.81484614e-01 -6.23916506e-01 -3.16087957e-03 3.66923814e+02] [ 3.95174768e-03 -1.16401555e-04 9.99992185e-01 7.84582544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.232755096 meters 0.024582386992396857 Centerline is valid? [True, True] Translation: X:34.05, Y:366.94, Z:7.85 [[-6.23499194e-01 -7.81821839e-01 1.83479807e-03 3.40502481e+01] [ 7.81818033e-01 -6.23501888e-01 -2.44102150e-03 3.66944474e+02] [ 3.05244398e-03 -8.74967247e-05 9.99995337e-01 7.84662370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.262755096 meters 0.023925827133710015 Centerline is valid? [True, True] Translation: X:34.03, Y:366.96, Z:7.85 [[-6.22222893e-01 -7.82839068e-01 1.29059471e-03 3.40319135e+01] [ 7.82837188e-01 -6.22224229e-01 -1.71643927e-03 3.66964235e+02] [ 2.14673502e-03 -5.76822799e-05 9.99997694e-01 7.84768677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2927550960001 meters 0.02383327799193059 Centerline is valid? [True, True] Translation: X:34.02, Y:366.98, Z:7.85 [[-6.21780114e-01 -7.83190838e-01 1.26514226e-03 3.40150656e+01] [ 7.83189035e-01 -6.21781399e-01 -1.68164367e-03 3.66983971e+02] [ 2.10368984e-03 -5.47670443e-05 9.99997786e-01 7.84799609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.322755096 meters 0.022800001379274435 Centerline is valid? [True, True] Translation: X:34.00, Y:367.00, Z:7.85 [[-6.20131037e-01 -7.84496763e-01 1.52512808e-03 3.39952677e+01] [ 7.84494152e-01 -6.20132910e-01 -2.02465573e-03 3.67003739e+02] [ 2.53411798e-03 -5.90978006e-05 9.99996787e-01 7.84780639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.352755096 meters 0.02230957446094764 Centerline is valid? [True, True] Translation: X:33.98, Y:367.02, Z:7.85 [[-6.19389901e-01 -7.85081501e-01 1.78525246e-03 3.39780663e+01] [ 7.85077932e-01 -6.19392471e-01 -2.36821798e-03 3.67023101e+02] [ 2.96501606e-03 -6.52879898e-05 9.99995602e-01 7.84792655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.382755096 meters 0.020877346249577607 Centerline is valid? [True, True] Translation: X:33.96, Y:367.04, Z:7.85 [[-6.18483216e-01 -7.85796500e-01 1.54012142e-03 3.39585403e+01] [ 7.85793849e-01 -6.18485132e-01 -2.04185961e-03 3.67041466e+02] [ 2.55702833e-03 -5.26379554e-05 9.99996729e-01 7.84798895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4127550960001 meters 0.022367246738250645 Centerline is valid? [True, True] Translation: X:33.94, Y:367.06, Z:7.85 [[-6.16854201e-01 -7.87075010e-01 1.95542789e-03 3.39400151e+01] [ 7.87070753e-01 -6.16857297e-01 -2.58928236e-03 3.67060951e+02] [ 3.24417941e-03 -5.81496023e-05 9.99994736e-01 7.84731982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.442755096 meters 0.019459087093368764 Centerline is valid? [True, True] Translation: X:33.92, Y:367.08, Z:7.85 [[-6.15899025e-01 -7.87823303e-01 1.68323968e-03 3.39199208e+01] [ 7.87820155e-01 -6.15901324e-01 -2.22787629e-03 3.67078850e+02] [ 2.79188240e-03 -4.60566889e-05 9.99996102e-01 7.84838117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.472755096 meters 0.01875522388770529 Centerline is valid? [True, True] Translation: X:33.90, Y:367.10, Z:7.85 [[-6.14650514e-01 -7.88796110e-01 2.33306380e-03 3.38996501e+01] [ 7.88790082e-01 -6.14654939e-01 -3.08414409e-03 3.67097187e+02] [ 3.86679005e-03 -5.53731582e-05 9.99992522e-01 7.84737817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.502755096 meters 0.01879322786044954 Centerline is valid? [True, True] Translation: X:33.88, Y:367.12, Z:7.85 [[-6.14808336e-01 -7.88672834e-01 2.42288591e-03 3.38825898e+01] [ 7.88666344e-01 -6.14813108e-01 -3.20010406e-03 3.67117377e+02] [ 4.01345716e-03 -5.66020776e-05 9.99991944e-01 7.84748560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5327550960001 meters 0.018766661825905685 Centerline is valid? [True, True] Translation: X:33.87, Y:367.14, Z:7.85 [[-6.15151431e-01 -7.88405401e-01 2.37493090e-03 3.38653165e+01] [ 7.88399173e-01 -6.15156013e-01 -3.13418663e-03 3.67137858e+02] [ 3.93196269e-03 -5.56058327e-05 9.99992268e-01 7.84773661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.562755096 meters 0.01931050906911729 Centerline is valid? [True, True] Translation: X:33.85, Y:367.16, Z:7.85 [[-6.16289052e-01 -7.87517455e-01 2.01531332e-03 3.38483025e+01] [ 7.87512970e-01 -6.16292346e-01 -2.65831096e-03 3.67157240e+02] [ 3.33548845e-03 -5.12025610e-05 9.99994436e-01 7.84827179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.592755096 meters 0.019262672433673165 Centerline is valid? [True, True] Translation: X:33.83, Y:367.18, Z:7.85 [[-6.16878707e-01 -7.87055479e-01 2.08182319e-03 3.38308265e+01] [ 7.87050699e-01 -6.16882217e-01 -2.74351623e-03 3.67177221e+02] [ 3.44353919e-03 -5.39163476e-05 9.99994070e-01 7.84826850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.622755096 meters 0.019833887534553993 Centerline is valid? [True, True] Translation: X:33.81, Y:367.20, Z:7.85 [[-6.18027856e-01 -7.86152256e-01 2.48986503e-03 3.38144190e+01] [ 7.86145425e-01 -6.18032868e-01 -3.27793534e-03 3.67196069e+02] [ 4.11577469e-03 -6.84593411e-05 9.99991528e-01 7.84794237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.652755096 meters 0.01964735174847556 Centerline is valid? [True, True] Translation: X:33.80, Y:367.22, Z:7.85 [[-6.18759412e-01 -7.85576279e-01 2.58848161e-03 3.37960119e+01] [ 7.85568905e-01 -6.18764822e-01 -3.40460537e-03 3.67216430e+02] [ 4.27623858e-03 -7.32009522e-05 9.99990854e-01 7.84804224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.682755096 meters 0.02059455596962679 Centerline is valid? [True, True] Translation: X:33.78, Y:367.24, Z:7.85 [[-6.19360693e-01 -7.85101423e-01 2.84373383e-03 3.37806408e+01] [ 7.85092532e-01 -6.19367216e-01 -3.73725148e-03 3.67237141e+02] [ 4.69543696e-03 -8.21124778e-05 9.99988973e-01 7.84795915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.712755096 meters 0.02115582486316235 Centerline is valid? [True, True] Translation: X:33.76, Y:367.26, Z:7.85 [[-6.20338263e-01 -7.84327483e-01 3.29239363e-03 3.37621104e+01] [ 7.84315575e-01 -6.20346992e-01 -4.32298402e-03 3.67256410e+02] [ 5.43306166e-03 -9.94367942e-05 9.99985236e-01 7.84748063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.742755096 meters 0.02152821122351987 Centerline is valid? [True, True] Translation: X:33.75, Y:367.28, Z:7.85 [[-6.20957123e-01 -7.83835540e-01 3.75479970e-03 3.37456370e+01] [ 7.83820070e-01 -6.20968464e-01 -4.92587479e-03 3.67276414e+02] [ 6.19268793e-03 -1.15669675e-04 9.99980818e-01 7.84718261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.772755096 meters 0.02102516405422354 Centerline is valid? [True, True] Translation: X:33.73, Y:367.30, Z:7.85 [[-6.22038108e-01 -7.82976441e-01 4.06014798e-03 3.37263260e+01] [ 7.82958366e-01 -6.22051344e-01 -5.32192960e-03 3.67295415e+02] [ 6.69256601e-03 -1.31516192e-04 9.99977596e-01 7.84721150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.802755096 meters 0.021490541546297735 Centerline is valid? [True, True] Translation: X:33.71, Y:367.32, Z:7.85 [[-6.22909781e-01 -7.82281113e-01 4.43453947e-03 3.37100147e+01] [ 7.82259568e-01 -6.22925548e-01 -5.80773379e-03 3.67315826e+02] [ 7.30566839e-03 -1.48733253e-04 9.99973302e-01 7.84701619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.832755096 meters 0.021490541546297735 Centerline is valid? [True, True] Translation: X:33.69, Y:367.34, Z:7.85 [[-6.23209619e-01 -7.82042254e-01 4.43675903e-03 3.36940686e+01] [ 7.82020715e-01 -6.23225394e-01 -5.80603786e-03 3.67336268e+02] [ 7.30566783e-03 -1.48741175e-04 9.99973302e-01 7.84715580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.862755096 meters 0.021629243566950583 Centerline is valid? [True, True] Translation: X:33.68, Y:367.36, Z:7.85 [[-6.24061049e-01 -7.81361340e-01 4.71841799e-03 3.36776689e+01] [ 7.81337000e-01 -6.24078865e-01 -6.16949278e-03 3.67356416e+02] [ 7.76526809e-03 -1.63465574e-04 9.99969837e-01 7.84745723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.892755096 meters 0.021456169661242867 Centerline is valid? [True, True] Translation: X:33.66, Y:367.38, Z:7.85 [[-6.24995542e-01 -7.80612004e-01 5.04694322e-03 3.36598874e+01] [ 7.80584177e-01 -6.25015893e-01 -6.59367487e-03 3.67377232e+02] [ 8.30152147e-03 -1.81453385e-04 9.99965525e-01 7.84818943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9227550960001 meters 0.02203595215859274 Centerline is valid? [True, True] Translation: X:33.64, Y:367.40, Z:7.85 [[-6.26375316e-01 -7.79504776e-01 5.12518453e-03 3.36420790e+01] [ 7.79476085e-01 -6.26396253e-01 -6.69080910e-03 3.67397342e+02] [ 8.42591403e-03 -1.95998893e-04 9.99964482e-01 7.84863321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.952755096 meters 0.022349253806840854 Centerline is valid? [True, True] Translation: X:33.63, Y:367.42, Z:7.85 [[-6.27085487e-01 -7.78931041e-01 5.49775659e-03 3.36257288e+01] [ 7.78898058e-01 -6.27109550e-01 -7.17128038e-03 3.67417687e+02] [ 9.03362855e-03 -2.14813919e-04 9.99959173e-01 7.84883366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.982755096 meters 0.024345881626028562 Centerline is valid? [True, True] Translation: X:33.61, Y:367.44, Z:7.85 [[-6.27981607e-01 -7.78203578e-01 6.18813419e-03 3.36108508e+01] [ 7.78161824e-01 -6.28012046e-01 -8.06510851e-03 3.67440204e+02] [ 1.01625191e-02 -2.49370013e-04 9.99948329e-01 7.84847991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.012755096 meters 0.023069543022191562 Centerline is valid? [True, True] Translation: X:33.59, Y:367.46, Z:7.85 [[-6.28544636e-01 -7.77749425e-01 6.12153056e-03 3.35928057e+01] [ 7.77708609e-01 -6.28574395e-01 -7.97180596e-03 3.67458157e+02] [ 1.00479049e-02 -2.49868858e-04 9.99949487e-01 7.84867958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0427550960001 meters 0.022858633083592726 Centerline is valid? [True, True] Translation: X:33.58, Y:367.48, Z:7.85 [[-6.28252642e-01 -7.77983911e-01 6.29695226e-03 3.35752901e+01] [ 7.77940808e-01 -6.28284149e-01 -8.19310048e-03 3.67477539e+02] [ 1.03303756e-02 -2.48680896e-04 9.99946609e-01 7.84855699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.072755096 meters 0.022852500320721465 Centerline is valid? [True, True] Translation: X:33.56, Y:367.50, Z:7.85 [[-6.28632079e-01 -7.77676020e-01 6.45893546e-03 3.35584864e+01] [ 7.77630726e-01 -6.28665208e-01 -8.39705279e-03 3.67497804e+02] [ 1.05906946e-02 -2.55990084e-04 9.99943884e-01 7.84839926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.102755096 meters 0.02294529571813605 Centerline is valid? [True, True] Translation: X:33.54, Y:367.52, Z:7.85 [[-6.28679361e-01 -7.77638764e-01 6.34144289e-03 3.35429980e+01] [ 7.77595171e-01 -6.28711295e-01 -8.23765097e-03 3.67517460e+02] [ 1.03928535e-02 -2.47765790e-04 9.99945962e-01 7.84832540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.132755096 meters 0.02440163645865416 Centerline is valid? [True, True] Translation: X:33.53, Y:367.54, Z:7.85 [[-6.28437991e-01 -7.77831323e-01 6.64265716e-03 3.35290574e+01] [ 7.77783583e-01 -6.28473046e-01 -8.62142463e-03 3.67538695e+02] [ 1.08807451e-02 -2.51481086e-04 9.99940771e-01 7.84665072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1627550960001 meters 0.02410639546856601 Centerline is valid? [True, True] Translation: X:33.51, Y:367.56, Z:7.85 [[-6.28318650e-01 -7.77924164e-01 7.04760183e-03 3.35128995e+01] [ 7.77870529e-01 -6.28358120e-01 -9.13856680e-03 3.67559104e+02] [ 1.15375298e-02 -2.59810193e-04 9.99933407e-01 7.84636292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.192755096 meters 0.021379652518662418 Centerline is valid? [True, True] Translation: X:33.49, Y:367.58, Z:7.85 [[-6.27441983e-01 -7.78629107e-01 7.29881383e-03 3.34929901e+01] [ 7.78571731e-01 -6.27484384e-01 -9.45560542e-03 3.67577390e+02] [ 1.19423013e-02 -2.50193690e-04 9.99928657e-01 7.84629463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.222755096 meters 0.02023176348833979 Centerline is valid? [True, True] Translation: X:33.48, Y:367.60, Z:7.85 [[-6.26885284e-01 -7.79076004e-01 7.44451589e-03 3.34759954e+01] [ 7.79016442e-01 -6.26929440e-01 -9.63645402e-03 3.67598859e+02] [ 1.21747163e-02 -2.41550939e-04 9.99925856e-01 7.84681337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.252755096 meters 0.019948193227221765 Centerline is valid? [True, True] Translation: X:33.46, Y:367.62, Z:7.85 [[-6.26201692e-01 -7.79626612e-01 7.33387791e-03 3.34592283e+01] [ 7.79568930e-01 -6.26244597e-01 -9.48621302e-03 3.67620542e+02] [ 1.19885055e-02 -2.23019294e-04 9.99928110e-01 7.84643539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2827550960001 meters 0.019201413392450926 Centerline is valid? [True, True] Translation: X:33.44, Y:367.64, Z:7.85 [[-6.24224015e-01 -7.81215233e-01 6.86578826e-03 3.34434098e+01] [ 7.81164848e-01 -6.24261747e-01 -8.87419321e-03 3.67641599e+02] [ 1.12187039e-02 -1.76172073e-04 9.99937053e-01 7.84692137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.312755096 meters 0.018603873151031448 Centerline is valid? [True, True] Translation: X:33.43, Y:367.66, Z:7.85 [[-6.23373343e-01 -7.81894226e-01 6.86264321e-03 3.34269335e+01] [ 7.81844007e-01 -6.23411096e-01 -8.86303083e-03 3.67661747e+02] [ 1.12082006e-02 -1.59460684e-04 9.99937173e-01 7.84692815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.342755096 meters 0.018635995880822025 Centerline is valid? [True, True] Translation: X:33.41, Y:367.68, Z:7.85 [[-6.21550645e-01 -7.83339636e-01 7.33558198e-03 3.34123351e+01] [ 7.83282453e-01 -6.21593916e-01 -9.46583086e-03 3.67683274e+02] [ 1.19747136e-02 -1.37660632e-04 9.99928291e-01 7.84519970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.372755096 meters 0.018386905762503885 Centerline is valid? [True, True] Translation: X:33.40, Y:367.70, Z:7.85 [[-6.21178590e-01 -7.83635775e-01 7.22021373e-03 3.33969883e+01] [ 7.83580486e-01 -6.21220538e-01 -9.30941103e-03 3.67704181e+02] [ 1.17805326e-02 -1.25188240e-04 9.99930599e-01 7.84548948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.402755096 meters 0.01748722279039048 Centerline is valid? [True, True] Translation: X:33.38, Y:367.73, Z:7.85 [[-6.21171665e-01 -7.83641409e-01 7.20447495e-03 3.33797580e+01] [ 7.83586446e-01 -6.21213431e-01 -9.28190039e-03 3.67725111e+02] [ 1.17491981e-02 -1.20324589e-04 9.99930969e-01 7.84727981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.432755096 meters 0.017358326975182442 Centerline is valid? [True, True] Translation: X:33.37, Y:367.75, Z:7.85 [[-6.21477777e-01 -7.83399561e-01 7.10641060e-03 3.33660925e+01] [ 7.83346149e-01 -6.21518394e-01 -9.14861307e-03 3.67747518e+02] [ 1.15837844e-02 -1.18880344e-04 9.99932899e-01 7.84724066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.462755096 meters 0.01743799427236856 Centerline is valid? [True, True] Translation: X:33.35, Y:367.77, Z:7.85 [[-6.22174204e-01 -7.82844825e-01 7.29665292e-03 3.33512034e+01] [ 7.82788566e-01 -6.22216975e-01 -9.38596721e-03 3.67770007e+02] [ 1.18878572e-02 -1.27970199e-04 9.99929329e-01 7.84704231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.492755096 meters 0.01775917281593411 Centerline is valid? [True, True] Translation: X:33.34, Y:367.79, Z:7.85 [[-6.23142197e-01 -7.82073986e-01 7.35410873e-03 3.33366274e+01] [ 7.82016876e-01 -6.23185575e-01 -9.45222240e-03 3.67792681e+02] [ 1.19753117e-02 -1.39041493e-04 9.99928284e-01 7.84711596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.522755096 meters 0.018889291060858453 Centerline is valid? [True, True] Translation: X:33.32, Y:367.82, Z:7.85 [[-6.24364017e-01 -7.81102664e-01 6.94277734e-03 3.33248587e+01] [ 7.81051785e-01 -6.24402600e-01 -8.91640478e-03 3.67815330e+02] [ 1.12997158e-02 -1.44413675e-04 9.99936146e-01 7.84639219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.552755096 meters 0.018157661052657023 Centerline is valid? [True, True] Translation: X:33.31, Y:367.84, Z:7.85 [[-6.24936877e-01 -7.80646180e-01 6.74104537e-03 3.33102666e+01] [ 7.80598264e-01 -6.24973216e-01 -8.65039299e-03 3.67837417e+02] [ 1.09658690e-02 -1.43901269e-04 9.99939863e-01 7.84797387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.582755096 meters 0.0183011762824083 Centerline is valid? [True, True] Translation: X:33.30, Y:367.86, Z:7.85 [[-6.25431119e-01 -7.80253538e-01 6.35072644e-03 3.32965639e+01] [ 7.80211056e-01 -6.25463346e-01 -8.14315114e-03 3.67858803e+02] [ 1.03258691e-02 -1.38073145e-04 9.99946677e-01 7.84841563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.612755096 meters 0.017995770275853005 Centerline is valid? [True, True] Translation: X:33.28, Y:367.88, Z:7.85 [[-6.25716896e-01 -7.80024920e-01 6.28408215e-03 3.32835030e+01] [ 7.79983380e-01 -6.25748436e-01 -8.05121109e-03 3.67882343e+02] [ 1.02123999e-02 -1.36299185e-04 9.99947843e-01 7.84877978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.642755096 meters 0.017822558891418257 Centerline is valid? [True, True] Translation: X:33.27, Y:367.90, Z:7.85 [[-6.25990542e-01 -7.79804505e-01 6.38556458e-03 3.32682339e+01] [ 7.79761666e-01 -6.26023095e-01 -8.17492785e-03 3.67904792e+02] [ 1.03723565e-02 -1.38209038e-04 9.99946196e-01 7.84852462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6727550960001 meters 0.01823346970168079 Centerline is valid? [True, True] Translation: X:33.26, Y:367.93, Z:7.85 [[-6.26123384e-01 -7.79696969e-01 6.49189021e-03 3.32551861e+01] [ 7.79652755e-01 -6.26157023e-01 -8.30446811e-03 3.67926703e+02] [ 1.05399113e-02 -1.38201588e-04 9.99944444e-01 7.84793080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.702755096 meters 0.017952165423660092 Centerline is valid? [True, True] Translation: X:33.24, Y:367.95, Z:7.85 [[-6.25643246e-01 -7.80078948e-01 6.88218458e-03 3.32425516e+01] [ 7.80029363e-01 -6.25681083e-01 -8.79630027e-03 3.67948971e+02] [ 1.11678614e-02 -1.35039800e-04 9.99937628e-01 7.84694785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.732755096 meters 0.017241717826132846 Centerline is valid? [True, True] Translation: X:33.23, Y:367.97, Z:7.85 [[-6.25338739e-01 -7.80323338e-01 6.85195459e-03 3.32255820e+01] [ 7.80274277e-01 -6.25376265e-01 -8.75098231e-03 3.67970050e+02] [ 1.11136455e-02 -1.25924326e-04 9.99938234e-01 7.84716690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.762755096 meters 0.016708842242089794 Centerline is valid? [True, True] Translation: X:33.21, Y:367.99, Z:7.85 [[-6.24065346e-01 -7.81341133e-01 6.96264043e-03 3.32120502e+01] [ 7.81290607e-01 -6.24104177e-01 -8.88616170e-03 3.67991580e+02] [ 1.12885366e-02 -1.05700006e-04 9.99936277e-01 7.84709289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7927550960001 meters 0.016509184349760727 Centerline is valid? [True, True] Translation: X:33.20, Y:368.01, Z:7.85 [[-6.23363890e-01 -7.81903088e-01 6.70979903e-03 3.31977187e+01] [ 7.81856266e-01 -6.23399995e-01 -8.55719790e-03 3.68012973e+02] [ 1.08737881e-02 -8.81497530e-05 9.99940875e-01 7.84757372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.822755096 meters 0.016228046651972923 Centerline is valid? [True, True] Translation: X:33.18, Y:368.03, Z:7.85 [[-6.22889124e-01 -7.82285444e-01 6.21484457e-03 3.31822644e+01] [ 7.82245356e-01 -6.22920123e-01 -7.91977449e-03 3.68034545e+02] [ 1.00668760e-02 -7.16080919e-05 9.99949325e-01 7.84851528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.852755096 meters 0.015765029027341726 Centerline is valid? [True, True] Translation: X:33.17, Y:368.06, Z:7.85 [[-6.21801365e-01 -7.83155592e-01 5.51196602e-03 3.31684725e+01] [ 7.83124140e-01 -6.21825793e-01 -7.01891618e-03 3.68056905e+02] [ 8.92438610e-03 -4.78180131e-05 9.99960176e-01 7.84927932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.882755096 meters 0.01566077755429136 Centerline is valid? [True, True] Translation: X:33.15, Y:368.08, Z:7.85 [[-6.21583794e-01 -7.83328081e-01 5.54119555e-03 3.31538709e+01] [ 7.83296352e-01 -6.21608491e-01 -7.05046170e-03 3.68078289e+02] [ 8.96727884e-03 -4.20544776e-05 9.99959792e-01 7.84909220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9127550960001 meters 0.015394947616794875 Centerline is valid? [True, True] Translation: X:33.14, Y:368.10, Z:7.85 [[-6.21087178e-01 -7.83722011e-01 5.52508264e-03 3.31401565e+01] [ 7.83690533e-01 -6.21111752e-01 -7.02425648e-03 3.68101301e+02] [ 8.93675817e-03 -3.27206745e-05 9.99960066e-01 7.84918823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.942755096 meters 0.015344124291352419 Centerline is valid? [True, True] Translation: X:33.13, Y:368.12, Z:7.85 [[-6.20968828e-01 -7.83813330e-01 5.86343022e-03 3.31260514e+01] [ 7.83777942e-01 -6.20996509e-01 -7.44813732e-03 3.68122645e+02] [ 9.47911900e-03 -2.94338320e-05 9.99955072e-01 7.84863750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.972755096 meters 0.015226597292139722 Centerline is valid? [True, True] Translation: X:33.11, Y:368.14, Z:7.85 [[-6.20742896e-01 -7.83989645e-01 6.20435384e-03 3.31113889e+01] [ 7.83950097e-01 -6.20773901e-01 -7.87458938e-03 3.68144986e+02] [ 1.00250975e-02 -2.41916267e-05 9.99949747e-01 7.84838012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.002755096 meters 0.015125134997674126 Centerline is valid? [True, True] Translation: X:33.10, Y:368.17, Z:7.85 [[-6.19983120e-01 -7.84586370e-01 6.72008484e-03 3.30992262e+01] [ 7.84540087e-01 -6.20019539e-01 -8.52200140e-03 3.68167691e+02] [ 1.08528300e-02 -1.13210714e-05 9.99941106e-01 7.84800783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0327550960001 meters 0.015129275863226307 Centerline is valid? [True, True] Translation: X:33.08, Y:368.19, Z:7.85 [[-6.19591357e-01 -7.84892917e-01 7.04695829e-03 3.30846181e+01] [ 7.84842126e-01 -6.19631430e-01 -8.92903842e-03 3.68188754e+02] [ 1.13748558e-02 -1.60530120e-06 9.99935304e-01 7.84764679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.062755096 meters 0.015122287380778044 Centerline is valid? [True, True] Translation: X:33.07, Y:368.21, Z:7.85 [[-6.19504081e-01 -7.84959630e-01 7.28515121e-03 3.30693458e+01] [ 7.84905440e-01 -6.19546915e-01 -9.22342455e-03 3.68210693e+02] [ 1.17535089e-02 4.20566465e-06 9.99930925e-01 7.84721530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.092755096 meters 0.015308237830236883 Centerline is valid? [True, True] Translation: X:33.06, Y:368.23, Z:7.85 [[-6.18883941e-01 -7.85448988e-01 7.24947797e-03 3.30566780e+01] [ 7.85395434e-01 -6.18926399e-01 -9.17197809e-03 3.68232954e+02] [ 1.16910142e-02 1.73169484e-05 9.99931658e-01 7.84713958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.122755096 meters 0.015434566674721638 Centerline is valid? [True, True] Translation: X:33.04, Y:368.25, Z:7.85 [[-6.19024443e-01 -7.85338514e-01 7.22204158e-03 3.30418779e+01] [ 7.85285430e-01 -6.19066570e-01 -9.13096962e-03 3.68254653e+02] [ 1.16418266e-02 1.90706421e-05 9.99932232e-01 7.84712884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.152755096 meters 0.015706016171739116 Centerline is valid? [True, True] Translation: X:33.02, Y:368.27, Z:7.85 [[-6.17049095e-01 -7.86895639e-01 6.75780919e-03 3.30248449e+01] [ 7.86849323e-01 -6.17086097e-01 -8.53771709e-03 3.68274567e+02] [ 1.08884424e-02 4.91869795e-05 9.99940718e-01 7.84846736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.182755096 meters 0.015970674469123744 Centerline is valid? [True, True] Translation: X:33.01, Y:368.30, Z:7.85 [[-6.16329706e-01 -7.87458145e-01 6.88211243e-03 3.30079883e+01] [ 7.87410217e-01 -6.16368125e-01 -8.68819593e-03 3.68295789e+02] [ 1.10835054e-02 6.42524039e-05 9.99938574e-01 7.84863698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.212755096 meters 0.016214825738165507 Centerline is valid? [True, True] Translation: X:32.99, Y:368.32, Z:7.85 [[-6.15769242e-01 -7.87895500e-01 6.99437800e-03 3.29910597e+01] [ 7.87846096e-01 -6.15808960e-01 -8.82344778e-03 3.68316748e+02] [ 1.12591554e-02 7.72856507e-05 9.99936611e-01 7.84898111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.242755096 meters 0.01683168076353093 Centerline is valid? [True, True] Translation: X:32.97, Y:368.34, Z:7.85 [[-6.14670160e-01 -7.88749993e-01 7.35141328e-03 3.29726852e+01] [ 7.88695561e-01 -6.14714112e-01 -9.26677600e-03 3.68335732e+02] [ 1.18281870e-02 1.02016331e-04 9.99930039e-01 7.84883236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.272755096 meters 0.01665198187507641 Centerline is valid? [True, True] Translation: X:32.96, Y:368.36, Z:7.85 [[-6.14558940e-01 -7.88834930e-01 7.53409250e-03 3.29550905e+01] [ 7.88777853e-01 -6.14605110e-01 -9.48985596e-03 3.68356889e+02] [ 1.21164216e-02 1.10649496e-04 9.99926587e-01 7.84941562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.302755096 meters 0.016891753361096246 Centerline is valid? [True, True] Translation: X:32.94, Y:368.38, Z:7.85 [[-6.15480609e-01 -7.88109766e-01 8.16194998e-03 3.29385102e+01] [ 7.88042821e-01 -6.15534715e-01 -1.02726295e-02 3.68376701e+02] [ 1.31199232e-02 1.09361797e-04 9.99913924e-01 7.84813719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.332755096 meters 0.016669798197868235 Centerline is valid? [True, True] Translation: X:32.92, Y:368.40, Z:7.85 [[-6.16339966e-01 -7.87436983e-01 8.24893985e-03 3.29225892e+01] [ 7.87368652e-01 -6.16395156e-01 -1.03739086e-02 3.68398039e+02] [ 1.32534059e-02 1.01102151e-04 9.99912165e-01 7.84910532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.362755096 meters 0.01634094881649627 Centerline is valid? [True, True] Translation: X:32.91, Y:368.42, Z:7.85 [[-6.17644819e-01 -7.86413042e-01 8.33095040e-03 3.29058600e+01] [ 7.86343360e-01 -6.17700995e-01 -1.04690602e-02 3.68420140e+02] [ 1.33790419e-02 8.48267251e-05 9.99910493e-01 7.84926894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.392755096 meters 0.01601730060685133 Centerline is valid? [True, True] Translation: X:32.89, Y:368.44, Z:7.85 [[-6.20808330e-01 -7.83915647e-01 8.56017914e-03 3.28904759e+01] [ 7.83841947e-01 -6.20867343e-01 -1.07491327e-02 3.68442874e+02] [ 1.37411490e-02 3.66763529e-05 9.99905585e-01 7.84918469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4227550960001 meters 0.016024550164594916 Centerline is valid? [True, True] Translation: X:32.87, Y:368.46, Z:7.85 [[-6.22675994e-01 -7.82434834e-01 8.38678364e-03 3.28743154e+01] [ 7.82364058e-01 -6.22732472e-01 -1.05237481e-02 3.68464586e+02] [ 1.34568696e-02 8.63278718e-06 9.99909452e-01 7.84931870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.452755096 meters 0.01636314374645866 Centerline is valid? [True, True] Translation: X:32.86, Y:368.49, Z:7.85 [[-6.26897526e-01 -7.79049060e-01 9.05838464e-03 3.28599582e+01] [ 7.78966267e-01 -6.26962964e-01 -1.13576834e-02 3.68486264e+02] [ 1.45274642e-02 -6.39275324e-05 9.99894469e-01 7.84844879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.482755096 meters 0.01675351322105661 Centerline is valid? [True, True] Translation: X:32.84, Y:368.51, Z:7.85 [[-6.29035839e-01 -7.77318352e-01 9.49169172e-03 3.28438873e+01] [ 7.77227387e-01 -6.29107438e-01 -1.18920343e-02 3.68508814e+02] [ 1.52151904e-02 -1.03313037e-04 9.99884237e-01 7.84849221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.512755096 meters 0.017076115175253672 Centerline is valid? [True, True] Translation: X:32.83, Y:368.53, Z:7.85 [[-6.30935083e-01 -7.75775600e-01 9.65088869e-03 3.28280680e+01] [ 7.75681515e-01 -6.31008875e-01 -1.20825441e-02 3.68530985e+02] [ 1.54631393e-02 -1.37285021e-04 9.99880429e-01 7.84918554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5427550960001 meters 0.018424369812504324 Centerline is valid? [True, True] Translation: X:32.81, Y:368.55, Z:7.85 [[-6.34487003e-01 -7.72873936e-01 9.59802436e-03 3.28137566e+01] [ 7.72780677e-01 -6.34559562e-01 -1.20078376e-02 3.68554707e+02] [ 1.53710629e-02 -2.01649144e-04 9.99881838e-01 7.84992247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.572755096 meters 0.018694585165985343 Centerline is valid? [True, True] Translation: X:32.80, Y:368.58, Z:7.85 [[-6.35974591e-01 -7.71650625e-01 9.57252913e-03 3.27967292e+01] [ 7.71557852e-01 -6.36046588e-01 -1.19673725e-02 3.68575992e+02] [ 1.53232050e-02 -2.25184824e-04 9.99882567e-01 7.85073313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.602755096 meters 0.019179439868006656 Centerline is valid? [True, True] Translation: X:32.78, Y:368.60, Z:7.85 [[-6.37396120e-01 -7.70476194e-01 9.62396195e-03 3.27785395e+01] [ 7.70382413e-01 -6.37468723e-01 -1.20235396e-02 3.68597674e+02] [ 1.53988257e-02 -2.49626450e-04 9.99881400e-01 7.85085444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.632755096 meters 0.0194889279719525 Centerline is valid? [True, True] Translation: X:32.76, Y:368.62, Z:7.85 [[-6.38011702e-01 -7.69966705e-01 9.60943728e-03 3.27611121e+01] [ 7.69873278e-01 -6.38084013e-01 -1.19970439e-02 3.68618752e+02] [ 1.53689527e-02 -2.56205438e-04 9.99881858e-01 7.85098052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6627550960001 meters 0.019537838571188754 Centerline is valid? [True, True] Translation: X:32.74, Y:368.64, Z:7.85 [[-6.38509370e-01 -7.69553998e-01 9.61399997e-03 3.27437822e+01] [ 7.69460568e-01 -6.38581692e-01 -1.19940406e-02 3.68639301e+02] [ 1.53693862e-02 -2.60713404e-04 9.99881850e-01 7.85127954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.692755096 meters 0.019752593167631765 Centerline is valid? [True, True] Translation: X:32.73, Y:368.66, Z:7.85 [[-6.38893137e-01 -7.69234168e-01 9.71359255e-03 3.27267254e+01] [ 7.69138893e-01 -6.38966919e-01 -1.21095042e-02 3.68660084e+02] [ 1.55217087e-02 -2.65577289e-04 9.99879496e-01 7.85194344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.722755096 meters 0.019752593167631765 Centerline is valid? [True, True] Translation: X:32.71, Y:368.68, Z:7.85 [[-6.39163622e-01 -7.69009381e-01 9.71785137e-03 3.27098079e+01] [ 7.68914131e-01 -6.39237437e-01 -1.21060863e-02 3.68680837e+02] [ 1.55217083e-02 -2.65576725e-04 9.99879496e-01 7.85208755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.752755096 meters 0.019631355475501065 Centerline is valid? [True, True] Translation: X:32.69, Y:368.70, Z:7.85 [[-6.39376684e-01 -7.68836425e-01 9.38120880e-03 3.26925480e+01] [ 7.68747767e-01 -6.39445452e-01 -1.16783786e-02 3.68702020e+02] [ 1.49775342e-02 -2.55099674e-04 9.99887798e-01 7.85312741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7827550960001 meters 0.019380386139383022 Centerline is valid? [True, True] Translation: X:32.68, Y:368.72, Z:7.86 [[-6.39342872e-01 -7.68866506e-01 9.21890797e-03 3.26752647e+01] [ 7.68781014e-01 -6.39409287e-01 -1.14680159e-02 3.68722534e+02] [ 1.47120287e-02 -2.44672794e-04 9.99891742e-01 7.85527332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.812755096 meters 0.019216331937778122 Centerline is valid? [True, True] Translation: X:32.66, Y:368.74, Z:7.86 [[-6.39074321e-01 -7.69094377e-01 8.82341732e-03 3.26572640e+01] [ 7.69016196e-01 -6.39135189e-01 -1.09681402e-02 3.68743375e+02] [ 1.40748914e-02 -2.24105915e-04 9.99900919e-01 7.85570054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.842755096 meters 0.01946431886909138 Centerline is valid? [True, True] Translation: X:32.64, Y:368.76, Z:7.86 [[-6.38910662e-01 -7.69230283e-01 8.82824939e-03 3.26402220e+01] [ 7.69152146e-01 -6.38971615e-01 -1.09658981e-02 3.68763581e+02] [ 1.40763017e-02 -2.15962246e-04 9.99900901e-01 7.85560492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.872755096 meters 0.018550919015991672 Centerline is valid? [True, True] Translation: X:32.62, Y:368.78, Z:7.86 [[-6.38093695e-01 -7.69909890e-01 8.67163970e-03 3.26203296e+01] [ 7.69834674e-01 -6.38152587e-01 -1.07633590e-02 3.68782078e+02] [ 1.38206458e-02 -1.92302566e-04 9.99904472e-01 7.85656094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.902755096 meters 0.018784931186621796 Centerline is valid? [True, True] Translation: X:32.60, Y:368.80, Z:7.86 [[-6.37733952e-01 -7.70206575e-01 8.78852867e-03 3.26037653e+01] [ 7.70129462e-01 -6.37794480e-01 -1.09001146e-02 3.68802572e+02] [ 1.40006150e-02 -1.83068317e-04 9.99901970e-01 7.85619209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.932755096 meters 0.01876518394083962 Centerline is valid? [True, True] Translation: X:32.59, Y:368.82, Z:7.86 [[-6.37640612e-01 -7.70285325e-01 8.65842104e-03 3.25865844e+01] [ 7.70210595e-01 -6.37699371e-01 -1.07308449e-02 3.68823652e+02] [ 1.37872820e-02 -1.73614873e-04 9.99904936e-01 7.85723847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.962755096 meters 0.019232277031019977 Centerline is valid? [True, True] Translation: X:32.57, Y:368.84, Z:7.86 [[-6.38292677e-01 -7.69746534e-01 8.52832245e-03 3.25707968e+01] [ 7.69674091e-01 -6.38349624e-01 -1.05618427e-02 3.68844934e+02] [ 1.35739933e-02 -1.77518041e-04 9.99907853e-01 7.85764003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.992755096 meters 0.022063859402436638 Centerline is valid? [True, True] Translation: X:32.56, Y:368.87, Z:7.85 [[-6.38882047e-01 -7.69251080e-01 9.08326536e-03 3.25561788e+01] [ 7.69168963e-01 -6.38946584e-01 -1.12413881e-02 3.68866009e+02] [ 1.44511713e-02 -1.95355251e-04 9.99895557e-01 7.85495848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.022755096 meters 0.02004291839174901 Centerline is valid? [True, True] Translation: X:32.54, Y:368.89, Z:7.86 [[-6.40379241e-01 -7.68014103e-01 8.29251640e-03 3.25395531e+01] [ 7.67945646e-01 -6.40432899e-01 -1.02560697e-02 3.68887327e+02] [ 1.31876065e-02 -1.99572245e-04 9.99913020e-01 7.86001745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.052755096 meters 0.022831887168682882 Centerline is valid? [True, True] Translation: X:32.52, Y:368.91, Z:7.86 [[-6.41479950e-01 -7.67089276e-01 8.80440458e-03 3.25243530e+01] [ 7.67012133e-01 -6.41540328e-01 -1.08809941e-02 3.68909206e+02] [ 1.39950745e-02 -2.26854393e-04 9.99902038e-01 7.85813586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.082755096 meters 0.02183224769634805 Centerline is valid? [True, True] Translation: X:32.51, Y:368.93, Z:7.86 [[-6.43941381e-01 -7.65034918e-01 7.81484307e-03 3.25088689e+01] [ 7.64974073e-01 -6.43988756e-01 -9.65140533e-03 3.68931950e+02] [ 1.24163332e-02 -2.36786940e-04 9.99922886e-01 7.86276077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.112755096 meters 0.022054008596958555 Centerline is valid? [True, True] Translation: X:32.49, Y:368.95, Z:7.86 [[-6.45372717e-01 -7.63827859e-01 7.81401773e-03 3.24918850e+01] [ 7.63767021e-01 -6.45419970e-01 -9.64368984e-03 3.68953755e+02] [ 1.24094420e-02 -2.55685274e-04 9.99922967e-01 7.86395296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.142755096 meters 0.022643036522387257 Centerline is valid? [True, True] Translation: X:32.48, Y:368.98, Z:7.86 [[-6.46667899e-01 -7.62733251e-01 7.65616678e-03 3.24752132e+01] [ 7.62674845e-01 -6.46713164e-01 -9.44267735e-03 3.68976000e+02] [ 1.21535878e-02 -2.67110511e-04 9.99926107e-01 7.86493637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1727550960001 meters 0.023856325783357765 Centerline is valid? [True, True] Translation: X:32.46, Y:369.00, Z:7.87 [[-6.48049979e-01 -7.61560120e-01 7.57687155e-03 3.24592200e+01] [ 7.61502911e-01 -6.48094209e-01 -9.33871798e-03 3.68998425e+02] [ 1.20225218e-02 -2.82146244e-04 9.99927687e-01 7.86524065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.202755096 meters 0.024297018324322368 Centerline is valid? [True, True] Translation: X:32.44, Y:369.02, Z:7.87 [[-6.50212119e-01 -7.59708493e-01 8.19797442e-03 3.24412022e+01] [ 7.59641463e-01 -6.50263709e-01 -1.00973435e-02 3.69020256e+02] [ 1.30018828e-02 -3.37893800e-04 9.99915415e-01 7.86547502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.232755096 meters 0.02470110593684966 Centerline is valid? [True, True] Translation: X:32.42, Y:369.04, Z:7.87 [[-6.51532843e-01 -7.58572198e-01 8.55426607e-03 3.24233903e+01] [ 7.58499211e-01 -6.51588891e-01 -1.05291994e-02 3.69041972e+02] [ 1.35610226e-02 -3.71715128e-04 9.99907976e-01 7.86532666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.262755096 meters 0.028367479122089097 Centerline is valid? [True, True] Translation: X:32.41, Y:369.07, Z:7.86 [[-6.52979570e-01 -7.57326314e-01 8.63337707e-03 3.24104157e+01] [ 7.57251961e-01 -6.53036520e-01 -1.06193860e-02 3.69065909e+02] [ 1.36802510e-02 -3.96600380e-04 9.99906342e-01 7.86416441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2927550960001 meters 0.025945224800538628 Centerline is valid? [True, True] Translation: X:32.39, Y:369.08, Z:7.87 [[-6.53417357e-01 -7.56950044e-01 8.50820927e-03 3.23894730e+01] [ 7.56877898e-01 -6.53472629e-01 -1.04580420e-02 3.69083938e+02] [ 1.34760972e-02 -3.93790583e-04 9.99909116e-01 7.86618561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.322755096 meters 0.030112537585595053 Centerline is valid? [True, True] Translation: X:32.38, Y:369.11, Z:7.86 [[-6.54012191e-01 -7.56428785e-01 9.14042652e-03 3.23755236e+01] [ 7.56345563e-01 -6.54075919e-01 -1.12285800e-02 3.69107141e+02] [ 1.44721540e-02 -4.30307150e-04 9.99895180e-01 7.86342094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.352755096 meters 0.02644534755283118 Centerline is valid? [True, True] Translation: X:32.35, Y:369.12, Z:7.87 [[-6.53875392e-01 -7.56551053e-01 8.80203553e-03 3.23537065e+01] [ 7.56473984e-01 -6.53934506e-01 -1.08062271e-02 3.69124187e+02] [ 1.39314173e-02 -4.07415119e-04 9.99902870e-01 7.86608011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.382755096 meters 0.027928813996439796 Centerline is valid? [True, True] Translation: X:32.34, Y:369.15, Z:7.87 [[-6.54307336e-01 -7.56177914e-01 8.76769009e-03 3.23384950e+01] [ 7.56101522e-01 -6.54365949e-01 -1.07561130e-02 3.69145330e+02] [ 1.38708130e-02 -4.08539834e-04 9.99903712e-01 7.86596405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4127550960001 meters 0.02705755171721901 Centerline is valid? [True, True] Translation: X:32.32, Y:369.16, Z:7.87 [[-6.54605473e-01 -7.55920815e-01 8.68310003e-03 3.23193325e+01] [ 7.55845972e-01 -6.54662935e-01 -1.06446363e-02 3.69164790e+02] [ 1.37310059e-02 -4.04950992e-04 9.99905643e-01 7.86695180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.442755096 meters 0.026690520510864606 Centerline is valid? [True, True] Translation: X:32.30, Y:369.18, Z:7.87 [[-6.54677838e-01 -7.55866015e-01 7.96843881e-03 3.22999663e+01] [ 7.55803067e-01 -6.54726226e-01 -9.76180832e-03 3.69183789e+02] [ 1.25957650e-02 -3.68269069e-04 9.99920602e-01 7.86854962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.472755096 meters 0.027013974375197234 Centerline is valid? [True, True] Translation: X:32.28, Y:369.20, Z:7.87 [[-6.54733375e-01 -7.55822677e-01 7.50260673e-03 3.22827726e+01] [ 7.55766949e-01 -6.54776270e-01 -9.18456113e-03 3.69204015e+02] [ 1.18544284e-02 -3.43216517e-04 9.99929675e-01 7.86918505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.502755096 meters 0.027096949474555154 Centerline is valid? [True, True] Translation: X:32.26, Y:369.22, Z:7.87 [[-6.54078359e-01 -7.56397712e-01 6.63341827e-03 3.22646280e+01] [ 7.56354237e-01 -6.54111930e-01 -8.11483953e-03 3.69222579e+02] [ 1.04770441e-02 -2.90526907e-04 9.99945072e-01 7.86980895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5327550960001 meters 0.026177650448305025 Centerline is valid? [True, True] Translation: X:32.25, Y:369.24, Z:7.87 [[-6.54192113e-01 -7.56303057e-01 6.19397713e-03 3.22450635e+01] [ 7.56265200e-01 -6.54221379e-01 -7.57195246e-03 3.69241492e+02] [ 9.77892306e-03 -2.69222222e-04 9.99952149e-01 7.87068745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.562755096 meters 0.02604962217218365 Centerline is valid? [True, True] Translation: X:32.23, Y:369.26, Z:7.87 [[-6.54632229e-01 -7.55924852e-01 5.85342548e-03 3.22263018e+01] [ 7.55891075e-01 -6.54658347e-01 -7.15062523e-03 3.69260829e+02] [ 9.23732917e-03 -2.56477660e-04 9.99957302e-01 7.87110291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.592755096 meters 0.02557842709667484 Centerline is valid? [True, True] Translation: X:32.21, Y:369.28, Z:7.87 [[-6.54895254e-01 -7.55700530e-01 5.37725473e-03 3.22077286e+01] [ 7.55672056e-01 -6.54917287e-01 -6.56434868e-03 3.69281470e+02] [ 8.48233886e-03 -2.35519661e-04 9.99963997e-01 7.87270028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.622755096 meters 0.02585817912188765 Centerline is valid? [True, True] Translation: X:32.19, Y:369.30, Z:7.87 [[-6.55173622e-01 -7.55459685e-01 5.30943010e-03 3.21906093e+01] [ 7.55431957e-01 -6.55195094e-01 -6.47675324e-03 3.69301773e+02] [ 8.37163852e-03 -2.32484707e-04 9.99964930e-01 7.87310776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.652755096 meters 0.02642019849657258 Centerline is valid? [True, True] Translation: X:32.17, Y:369.32, Z:7.87 [[-6.56359634e-01 -7.54429633e-01 5.28757894e-03 3.21722128e+01] [ 7.54402138e-01 -6.56380888e-01 -6.44544672e-03 3.69323116e+02] [ 8.33330176e-03 -2.41570191e-04 9.99965248e-01 7.87340521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.682755096 meters 0.026771011749276846 Centerline is valid? [True, True] Translation: X:32.15, Y:369.34, Z:7.87 [[-6.57190073e-01 -7.53706938e-01 5.20189886e-03 3.21543199e+01] [ 7.53680337e-01 -6.57210615e-01 -6.33699184e-03 3.69344620e+02] [ 8.19497786e-03 -2.44039240e-04 9.99966391e-01 7.87356210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.712755096 meters 0.027145071250148933 Centerline is valid? [True, True] Translation: X:32.14, Y:369.37, Z:7.87 [[-6.58091893e-01 -7.52920270e-01 5.11151153e-03 3.21366772e+01] [ 7.52894593e-01 -6.58111697e-01 -6.22295283e-03 3.69366401e+02] [ 8.04933285e-03 -2.46845412e-04 9.99967573e-01 7.87424778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.742755096 meters 0.027974114182718925 Centerline is valid? [True, True] Translation: X:32.12, Y:369.39, Z:7.87 [[-6.60053192e-01 -7.51199116e-01 5.44726600e-03 3.21191929e+01] [ 7.51169934e-01 -6.60075608e-01 -6.62730595e-03 3.69387957e+02] [ 8.57403378e-03 -2.82551999e-04 9.99963202e-01 7.87450684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.772755096 meters 0.02780434453852306 Centerline is valid? [True, True] Translation: X:32.10, Y:369.41, Z:7.87 [[-6.61206398e-01 -7.50182631e-01 5.66750506e-03 3.21003441e+01] [ 7.50151045e-01 -6.61230616e-01 -6.89069936e-03 3.69408879e+02] [ 8.91681084e-03 -3.04689655e-04 9.99960198e-01 7.87445008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.802755096 meters 0.02909932946937744 Centerline is valid? [True, True] Translation: X:32.08, Y:369.43, Z:7.87 [[-6.63605881e-01 -7.48062801e-01 5.41110817e-03 3.20828150e+01] [ 7.48033974e-01 -6.63627867e-01 -6.57480120e-03 3.69430735e+02] [ 8.50932637e-03 -3.15383998e-04 9.99963745e-01 7.87416280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.832755096 meters 0.030366123901776038 Centerline is valid? [True, True] Translation: X:32.07, Y:369.45, Z:7.87 [[-6.64868880e-01 -7.46940139e-01 5.45905993e-03 3.20668992e+01] [ 7.46910795e-01 -6.64891209e-01 -6.62910369e-03 3.69452033e+02] [ 8.58122459e-03 -3.30053949e-04 9.99963126e-01 7.87417456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.862755096 meters 0.031980708596999315 Centerline is valid? [True, True] Translation: X:32.05, Y:369.47, Z:7.87 [[-6.67223071e-01 -7.44833595e-01 6.02400448e-03 3.20503838e+01] [ 7.44797819e-01 -6.67250150e-01 -7.31070618e-03 3.69474348e+02] [ 9.46477746e-03 -3.91206426e-04 9.99955132e-01 7.87344801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.892755096 meters 0.03288970600652505 Centerline is valid? [True, True] Translation: X:32.03, Y:369.50, Z:7.87 [[-6.68513097e-01 -7.43671310e-01 6.57430451e-03 3.20320215e+01] [ 7.43628700e-01 -6.68545277e-01 -7.97302805e-03 3.69495812e+02] [ 1.03245324e-02 -4.41232155e-04 9.99946603e-01 7.87210741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9227550960001 meters 0.03325880829797297 Centerline is valid? [True, True] Translation: X:32.02, Y:369.52, Z:7.87 [[-6.69409894e-01 -7.42857935e-01 7.24451081e-03 3.20155258e+01] [ 7.42806215e-01 -6.69448910e-01 -8.77975680e-03 3.69517797e+02] [ 1.13719419e-02 -4.95988415e-04 9.99935214e-01 7.87303461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.952755096 meters 0.033309331182903724 Centerline is valid? [True, True] Translation: X:32.00, Y:369.54, Z:7.87 [[-6.70429035e-01 -7.41934433e-01 7.62933965e-03 3.19971802e+01] [ 7.41877087e-01 -6.70472230e-01 -9.23993047e-03 3.69539162e+02] [ 1.19706829e-02 -5.34685387e-04 9.99928206e-01 7.87292738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.982755096 meters 0.03430108127745638 Centerline is valid? [True, True] Translation: X:31.98, Y:369.56, Z:7.87 [[-6.71137419e-01 -7.41286251e-01 8.32222511e-03 3.19788083e+01] [ 7.41218052e-01 -6.71188755e-01 -1.00724488e-02 3.69560741e+02] [ 1.30523517e-02 -5.91413829e-04 9.99914640e-01 7.87247563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.012755096 meters 0.03422972888945996 Centerline is valid? [True, True] Translation: X:31.96, Y:369.58, Z:7.87 [[-6.71468221e-01 -7.40981331e-01 8.78034488e-03 3.19605326e+01] [ 7.40905493e-01 -6.71525335e-01 -1.06195504e-02 3.69581159e+02] [ 1.37651127e-02 -6.25284900e-04 9.99905061e-01 7.87279406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0427550960001 meters 0.03516523985662139 Centerline is valid? [True, True] Translation: X:31.94, Y:369.60, Z:7.87 [[-6.71768009e-01 -7.40701911e-01 9.40324406e-03 3.19433861e+01] [ 7.40615028e-01 -6.71833484e-01 -1.13644103e-02 3.69600628e+02] [ 1.47350547e-02 -6.70063441e-04 9.99891209e-01 7.87201732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.072755096 meters 0.03551894482993077 Centerline is valid? [True, True] Translation: X:31.93, Y:369.62, Z:7.87 [[-6.72302047e-01 -7.40215764e-01 9.51740184e-03 3.19252439e+01] [ 7.40126833e-01 -6.72369062e-01 -1.14941322e-02 3.69621438e+02] [ 1.49073444e-02 -6.83444089e-04 9.99888646e-01 7.87200107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.102755096 meters 0.036194126275305376 Centerline is valid? [True, True] Translation: X:31.91, Y:369.64, Z:7.87 [[-6.72237383e-01 -7.40274514e-01 9.51548612e-03 3.19094104e+01] [ 7.40185756e-01 -6.72304386e-01 -1.14830023e-02 3.69641323e+02] [ 1.48978770e-02 -6.76076160e-04 9.99888792e-01 7.87205155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.132755096 meters 0.03509620523398604 Centerline is valid? [True, True] Translation: X:31.89, Y:369.66, Z:7.87 [[-6.72873452e-01 -7.39696379e-01 9.51756953e-03 3.18904413e+01] [ 7.39607652e-01 -6.72940413e-01 -1.14770123e-02 3.69660819e+02] [ 1.48942616e-02 -6.83309646e-04 9.99888841e-01 7.87304799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1627550960001 meters 0.03792626686829066 Centerline is valid? [True, True] Translation: X:31.88, Y:369.68, Z:7.87 [[-6.73871607e-01 -7.38788076e-01 9.44650375e-03 3.18764820e+01] [ 7.38700696e-01 -6.73937459e-01 -1.13834298e-02 3.69682626e+02] [ 1.47762950e-02 -6.92831262e-04 9.99890585e-01 7.87276721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.192755096 meters 0.035966320085009516 Centerline is valid? [True, True] Translation: X:31.86, Y:369.70, Z:7.87 [[-6.74390610e-01 -7.38312952e-01 9.55458348e-03 3.18560887e+01] [ 7.38223634e-01 -6.74457921e-01 -1.15056263e-02 3.69701393e+02] [ 1.49389174e-02 -7.05866994e-04 9.99888159e-01 7.87322264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.222755096 meters 0.036067652344113604 Centerline is valid? [True, True] Translation: X:31.84, Y:369.72, Z:7.87 [[-6.74482490e-01 -7.38235798e-01 9.01541888e-03 3.18375434e+01] [ 7.38156374e-01 -6.74542414e-01 -1.08489539e-02 3.69721112e+02] [ 1.40903685e-02 -6.62640512e-04 9.99900506e-01 7.87381932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.252755096 meters 0.03819876807443406 Centerline is valid? [True, True] Translation: X:31.82, Y:369.74, Z:7.87 [[-6.74813857e-01 -7.37933343e-01 8.97998903e-03 3.18222652e+01] [ 7.37854631e-01 -6.74873281e-01 -1.07980728e-02 3.69740988e+02] [ 1.40286126e-02 -6.60762634e-04 9.99901376e-01 7.87264067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2827550960001 meters 0.035234391874668744 Centerline is valid? [True, True] Translation: X:31.80, Y:369.76, Z:7.87 [[-6.74290657e-01 -7.38418375e-01 8.39126884e-03 3.18016898e+01] [ 7.38349779e-01 -6.74342598e-01 -1.00828722e-02 3.69759712e+02] [ 1.31039681e-02 -6.03095026e-04 9.99913957e-01 7.87489776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.312755096 meters 0.03510640742566711 Centerline is valid? [True, True] Translation: X:31.78, Y:369.78, Z:7.88 [[-6.73627127e-01 -7.39029798e-01 7.83908160e-03 3.17832714e+01] [ 7.38970042e-01 -6.73672515e-01 -9.41380072e-03 3.69778789e+02] [ 1.22380531e-02 -5.48545080e-04 9.99924962e-01 7.87520004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.342755096 meters 0.03533764341557893 Centerline is valid? [True, True] Translation: X:31.77, Y:369.80, Z:7.88 [[-6.73528542e-01 -7.39123237e-01 7.49295720e-03 3.17662509e+01] [ 7.39068716e-01 -6.73570020e-01 -8.99229165e-03 3.69798531e+02] [ 1.16934430e-02 -5.18754821e-04 9.99931495e-01 7.87559985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.372755096 meters 0.03520100427228737 Centerline is valid? [True, True] Translation: X:31.75, Y:369.82, Z:7.88 [[-6.72958485e-01 -7.39642808e-01 7.44270751e-03 3.17483506e+01] [ 7.39589124e-01 -6.72999454e-01 -8.92538776e-03 3.69817355e+02] [ 1.16105370e-02 -5.01869901e-04 9.99932470e-01 7.87546856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.402755096 meters 0.03559712145884204 Centerline is valid? [True, True] Translation: X:31.73, Y:369.84, Z:7.87 [[-6.73103839e-01 -7.39508399e-01 7.65173042e-03 3.17320052e+01] [ 7.39451733e-01 -6.73147134e-01 -9.16900434e-03 3.69836954e+02] [ 1.19312961e-02 -5.13606701e-04 9.99928688e-01 7.87498598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.432755096 meters 0.03598347066429127 Centerline is valid? [True, True] Translation: X:31.72, Y:369.86, Z:7.87 [[-6.73519745e-01 -7.39131783e-01 7.44042945e-03 3.17155559e+01] [ 7.39078259e-01 -6.73560655e-01 -8.90905035e-03 3.69857066e+02] [ 1.15965428e-02 -5.01361671e-04 9.99932632e-01 7.87494640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.462755096 meters 0.03650080290805549 Centerline is valid? [True, True] Translation: X:31.70, Y:369.88, Z:7.87 [[-6.73854744e-01 -7.38824629e-01 7.61252512e-03 3.16993285e+01] [ 7.38768665e-01 -6.73897547e-01 -9.10807086e-03 3.69876762e+02] [ 1.18593291e-02 -5.13621744e-04 9.99929544e-01 7.87462518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.492755096 meters 0.03895087838035573 Centerline is valid? [True, True] Translation: X:31.69, Y:369.90, Z:7.87 [[-6.73867286e-01 -7.38815063e-01 7.42856050e-03 3.16850305e+01] [ 7.38761849e-01 -6.73908047e-01 -8.88115271e-03 3.69898431e+02] [ 1.15676961e-02 -4.96781189e-04 9.99932969e-01 7.87394404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.522755096 meters 0.0386610639650821 Centerline is valid? [True, True] Translation: X:31.67, Y:369.92, Z:7.87 [[-6.72930130e-01 -7.39666349e-01 7.66375982e-03 3.16683620e+01] [ 7.39609849e-01 -6.72973588e-01 -9.15535946e-03 3.69917250e+02] [ 1.19294192e-02 -4.92724980e-04 9.99928721e-01 7.87343892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.552755096 meters 0.038080088945099975 Centerline is valid? [True, True] Translation: X:31.65, Y:369.94, Z:7.87 [[-6.72309044e-01 -7.40229969e-01 7.75516928e-03 3.16508700e+01] [ 7.40172231e-01 -6.72353597e-01 -9.25793222e-03 3.69936541e+02] [ 1.20672148e-02 -4.84030604e-04 9.99927071e-01 7.87306376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.582755096 meters 0.030249564142571895 Centerline is valid? [True, True] Translation: X:31.62, Y:369.95, Z:7.87 [[-6.70539378e-01 -7.41833818e-01 7.71559045e-03 3.16246557e+01] [ 7.41776851e-01 -6.70583616e-01 -9.20421727e-03 3.69949986e+02] [ 1.20019482e-02 -4.48543736e-04 9.99927873e-01 7.87366980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.612755096 meters 0.029515609481447432 Centerline is valid? [True, True] Translation: X:31.61, Y:369.97, Z:7.87 [[-6.69712300e-01 -7.42579971e-01 7.77316895e-03 3.16055578e+01] [ 7.42522276e-01 -6.69757269e-01 -9.26667130e-03 3.69970637e+02] [ 1.20873809e-02 -4.34252650e-04 9.99926851e-01 7.87352630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.642755096 meters 0.029515609481447432 Centerline is valid? [True, True] Translation: X:31.59, Y:369.99, Z:7.87 [[-6.69973890e-01 -7.42343934e-01 7.77627076e-03 3.15881891e+01] [ 7.42286254e-01 -6.70018876e-01 -9.26406813e-03 3.69991020e+02] [ 1.20873730e-02 -4.34464868e-04 9.99926851e-01 7.87367055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6727550960001 meters 0.02790189406687745 Centerline is valid? [True, True] Translation: X:31.57, Y:370.01, Z:7.87 [[-6.68954033e-01 -7.43263072e-01 7.77868176e-03 3.15679634e+01] [ 7.43205494e-01 -6.68999129e-01 -9.26063713e-03 3.70010751e+02] [ 1.20870209e-02 -4.13781532e-04 9.99926864e-01 7.87384921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.702755096 meters 0.027391981959916312 Centerline is valid? [True, True] Translation: X:31.55, Y:370.03, Z:7.87 [[-6.66989774e-01 -7.45027544e-01 7.65513106e-03 3.15500155e+01] [ 7.44971963e-01 -6.67033598e-01 -9.10784642e-03 3.70030732e+02] [ 1.18918261e-02 -3.71982411e-04 9.99929221e-01 7.87294101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.732755096 meters 0.027197458006936973 Centerline is valid? [True, True] Translation: X:31.53, Y:370.05, Z:7.87 [[-6.66061773e-01 -7.45856208e-01 7.76094189e-03 3.15331600e+01] [ 7.45799214e-01 -6.66106890e-01 -9.22733373e-03 3.70050511e+02] [ 1.20518810e-02 -3.57869906e-04 9.99927309e-01 7.87267642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.762755096 meters 0.024997242071920025 Centerline is valid? [True, True] Translation: X:31.51, Y:370.07, Z:7.87 [[-6.64015229e-01 -7.47675552e-01 8.06498465e-03 3.15128420e+01] [ 7.47614223e-01 -6.64064122e-01 -9.58205760e-03 3.70069963e+02] [ 1.25199372e-02 -3.33134945e-04 9.99921567e-01 7.87261881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7927550960001 meters 0.02417218361176593 Centerline is valid? [True, True] Translation: X:31.49, Y:370.09, Z:7.87 [[-6.63295127e-01 -7.48314334e-01 8.07663368e-03 3.14940661e+01] [ 7.48252959e-01 -6.63344222e-01 -9.58919339e-03 3.70090337e+02] [ 1.25333192e-02 -3.17100202e-04 9.99921405e-01 7.87309825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.822755096 meters 0.024213369072467152 Centerline is valid? [True, True] Translation: X:31.48, Y:370.11, Z:7.87 [[-6.63015442e-01 -7.48563057e-01 7.99208438e-03 3.14774402e+01] [ 7.48503066e-01 -6.63063540e-01 -9.48167268e-03 3.70110902e+02] [ 1.23968896e-02 -3.04395746e-04 9.99923109e-01 7.87325613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.852755096 meters 0.02380384430575029 Centerline is valid? [True, True] Translation: X:31.46, Y:370.13, Z:7.87 [[-6.62106191e-01 -7.49371604e-01 7.58885323e-03 3.14612746e+01] [ 7.49317646e-01 -6.62149625e-01 -8.99658227e-03 3.70131349e+02] [ 1.17667396e-02 -2.70231181e-04 9.99930733e-01 7.87305690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.882755096 meters 0.02338081645708712 Centerline is valid? [True, True] Translation: X:31.44, Y:370.15, Z:7.87 [[-6.62022328e-01 -7.49445022e-01 7.65480797e-03 3.14439695e+01] [ 7.49390207e-01 -6.62066528e-01 -9.06806008e-03 3.70151886e+02] [ 1.18640046e-02 -2.66820108e-04 9.99929585e-01 7.87307728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9127550960001 meters 0.022890516942740313 Centerline is valid? [True, True] Translation: X:31.43, Y:370.17, Z:7.87 [[-6.61900574e-01 -7.49554967e-01 7.41492544e-03 3.14271700e+01] [ 7.49503613e-01 -6.61942058e-01 -8.77763547e-03 3.70173667e+02] [ 1.14875713e-02 -2.52408553e-04 9.99933984e-01 7.87342271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.942755096 meters 0.023004934083712528 Centerline is valid? [True, True] Translation: X:31.41, Y:370.19, Z:7.87 [[-6.62109983e-01 -7.49373222e-01 7.08123938e-03 3.14112636e+01] [ 7.49326433e-01 -6.62147805e-01 -8.37738872e-03 3.70194898e+02] [ 1.09666179e-02 -2.40592858e-04 9.99939836e-01 7.87389847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.972755096 meters 0.023039232102001917 Centerline is valid? [True, True] Translation: X:31.39, Y:370.22, Z:7.87 [[-6.62368254e-01 -7.49147410e-01 6.81579795e-03 3.13947718e+01] [ 7.49104104e-01 -6.62403280e-01 -8.05833267e-03 3.70216112e+02] [ 1.05516860e-02 -2.31841518e-04 9.99944303e-01 7.87445035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.002755096 meters 0.022800709527036733 Centerline is valid? [True, True] Translation: X:31.38, Y:370.24, Z:7.87 [[-6.62311309e-01 -7.49203193e-01 6.18917000e-03 3.13789263e+01] [ 7.49167534e-01 -6.62340195e-01 -7.31253115e-03 3.70238021e+02] [ 9.57790775e-03 -2.06446857e-04 9.99954110e-01 7.87467871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0327550960001 meters 0.022932217477139194 Centerline is valid? [True, True] Translation: X:31.36, Y:370.26, Z:7.87 [[-6.62404879e-01 -7.49121118e-01 6.10962249e-03 3.13631180e+01] [ 7.49086418e-01 -6.62433023e-01 -7.21311336e-03 3.70258550e+02] [ 9.45071124e-03 -2.01366259e-04 9.99955321e-01 7.87484981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.062755096 meters 0.022456453330310894 Centerline is valid? [True, True] Translation: X:31.35, Y:370.28, Z:7.87 [[-6.62115587e-01 -7.49379239e-01 5.80562905e-03 3.13471675e+01] [ 7.49347964e-01 -6.62141014e-01 -6.84887971e-03 3.70279618e+02] [ 8.97655337e-03 -1.84313703e-04 9.99959693e-01 7.87473665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.092755096 meters 0.022487842362210207 Centerline is valid? [True, True] Translation: X:31.33, Y:370.30, Z:7.87 [[-6.62163961e-01 -7.49336409e-01 5.81680088e-03 3.13314649e+01] [ 7.49305060e-01 -6.62189485e-01 -6.85664890e-03 3.70300006e+02] [ 8.98976104e-03 -1.81667467e-04 9.99959575e-01 7.87443868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.122755096 meters 0.02221857960941499 Centerline is valid? [True, True] Translation: X:31.32, Y:370.32, Z:7.87 [[-6.62007735e-01 -7.49472072e-01 6.11324242e-03 3.13151155e+01] [ 7.49437508e-01 -6.62035935e-01 -7.20023228e-03 3.70320217e+02] [ 9.44355917e-03 -1.85116306e-04 9.99955392e-01 7.87386938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.152755096 meters 0.02193800955163295 Centerline is valid? [True, True] Translation: X:31.30, Y:370.34, Z:7.87 [[-6.61600613e-01 -7.49830492e-01 6.23394251e-03 3.12999627e+01] [ 7.49794621e-01 -6.61629958e-01 -7.33661732e-03 3.70341182e+02] [ 9.62578250e-03 -1.79733958e-04 9.99953655e-01 7.87317301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.182755096 meters 0.02156131680852691 Centerline is valid? [True, True] Translation: X:31.28, Y:370.36, Z:7.87 [[-6.61315054e-01 -7.50083328e-01 6.11558997e-03 3.12830709e+01] [ 7.50048869e-01 -6.61343309e-01 -7.19180156e-03 3.70361839e+02] [ 9.43895496e-03 -1.69055290e-04 9.99955438e-01 7.87327168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.212755096 meters 0.020914884739461872 Centerline is valid? [True, True] Translation: X:31.27, Y:370.38, Z:7.87 [[-6.60421773e-01 -7.50875149e-01 5.43998072e-03 3.12673901e+01] [ 7.50847947e-01 -6.60444163e-01 -6.39284729e-03 3.70382947e+02] [ 8.39303367e-03 -1.37377180e-04 9.99964768e-01 7.87341526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.242755096 meters 0.02049679351232609 Centerline is valid? [True, True] Translation: X:31.25, Y:370.40, Z:7.87 [[-6.59953053e-01 -7.51287253e-01 5.42503021e-03 3.12510161e+01] [ 7.51260254e-01 -6.59975338e-01 -6.37053351e-03 3.70403263e+02] [ 8.36648676e-03 -1.28643469e-04 9.99964992e-01 7.87342536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.272755096 meters 0.020261682931585645 Centerline is valid? [True, True] Translation: X:31.23, Y:370.42, Z:7.87 [[-6.59519974e-01 -7.51668147e-01 5.32913460e-03 3.12347520e+01] [ 7.51642145e-01 -6.59541494e-01 -6.25325753e-03 3.70423222e+02] [ 8.21515990e-03 -1.18546086e-04 9.99966248e-01 7.87303921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.302755096 meters 0.019785779247083597 Centerline is valid? [True, True] Translation: X:31.22, Y:370.44, Z:7.87 [[-6.58741813e-01 -7.52343948e-01 6.14886441e-03 3.12190822e+01] [ 7.52309417e-01 -6.58770498e-01 -7.20908653e-03 3.70442789e+02] [ 9.47440309e-03 -1.23078127e-04 9.99955109e-01 7.87135695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.332755096 meters 0.01932896666767693 Centerline is valid? [True, True] Translation: X:31.20, Y:370.46, Z:7.87 [[-6.58197880e-01 -7.52821670e-01 5.92318482e-03 3.12025960e+01] [ 7.52789695e-01 -6.58224522e-01 -6.93932343e-03 3.70462487e+02] [ 9.12285855e-03 -1.08535480e-04 9.99958380e-01 7.87112308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.362755096 meters 0.019211009711730256 Centerline is valid? [True, True] Translation: X:31.19, Y:370.48, Z:7.87 [[-6.58307756e-01 -7.52725865e-01 5.88821742e-03 3.11858075e+01] [ 7.52694308e-01 -6.58334080e-01 -6.89326384e-03 3.70483178e+02] [ 9.06515218e-03 -1.05861310e-04 9.99958905e-01 7.87102394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.392755096 meters 0.01809726917998008 Centerline is valid? [True, True] Translation: X:31.17, Y:370.50, Z:7.87 [[-6.58295826e-01 -7.52739683e-01 5.43828554e-03 3.11685215e+01] [ 7.52712802e-01 -6.58318282e-01 -6.36219349e-03 3.70504100e+02] [ 8.36919831e-03 -9.47382750e-05 9.99964973e-01 7.87174332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4227550960001 meters 0.018957497096932556 Centerline is valid? [True, True] Translation: X:31.15, Y:370.53, Z:7.87 [[-6.58555777e-01 -7.52511816e-01 5.50044164e-03 3.11540283e+01] [ 7.52484349e-01 -6.58578741e-01 -6.43020282e-03 3.70526879e+02] [ 8.46127753e-03 -9.56509688e-05 9.99964198e-01 7.87156003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.452755096 meters 0.018123762355325077 Centerline is valid? [True, True] Translation: X:31.14, Y:370.55, Z:7.87 [[-6.57647607e-01 -7.53311310e-01 4.65790521e-03 3.11354219e+01] [ 7.53291659e-01 -6.57664098e-01 -5.44159200e-03 3.70545185e+02] [ 7.16254982e-03 -6.98888150e-05 9.99974346e-01 7.87317323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.482755096 meters 0.017260552870202454 Centerline is valid? [True, True] Translation: X:31.12, Y:370.56, Z:7.87 [[-6.56825938e-01 -7.54029763e-01 4.33628589e-03 3.11152912e+01] [ 7.54012773e-01 -6.56840249e-01 -5.06215347e-03 3.70563796e+02] [ 6.66526149e-03 -5.53387536e-05 9.99977785e-01 7.87351827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.512755096 meters 0.017539126011811745 Centerline is valid? [True, True] Translation: X:31.10, Y:370.58, Z:7.87 [[-6.56456068e-01 -7.54349942e-01 4.64708104e-03 3.10993900e+01] [ 7.54330465e-01 -6.56472514e-01 -5.42110964e-03 3.70584701e+02] [ 7.14009472e-03 -5.32855181e-05 9.99974508e-01 7.87274544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5427550960001 meters 0.016682912662781022 Centerline is valid? [True, True] Translation: X:31.08, Y:370.60, Z:7.87 [[-6.55404743e-01 -7.55263648e-01 4.63087486e-03 3.10809272e+01] [ 7.55244352e-01 -6.55421102e-01 -5.39895831e-03 3.70603060e+02] [ 7.11281005e-03 -4.10608027e-05 9.99974703e-01 7.87334526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.572755096 meters 0.016642127574686142 Centerline is valid? [True, True] Translation: X:31.06, Y:370.62, Z:7.87 [[-6.55271014e-01 -7.55381209e-01 4.37347658e-03 3.10629289e+01] [ 7.55364026e-01 -6.55285608e-01 -5.09520479e-03 3.70623201e+02] [ 6.71469821e-03 -3.51731321e-05 9.99977456e-01 7.87353729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.602755096 meters 0.016476752918980066 Centerline is valid? [True, True] Translation: X:31.04, Y:370.64, Z:7.87 [[-6.55874680e-01 -7.54857932e-01 4.23169230e-03 3.10449735e+01] [ 7.54841856e-01 -6.55888330e-01 -4.92663632e-03 3.70643696e+02] [ 6.49442810e-03 -3.69975438e-05 9.99978910e-01 7.87346529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.632755096 meters 0.016649586100442752 Centerline is valid? [True, True] Translation: X:31.03, Y:370.66, Z:7.87 [[-6.56570149e-01 -7.54253947e-01 4.07701642e-03 3.10281182e+01] [ 7.54239034e-01 -6.56582806e-01 -4.74324636e-03 3.70662608e+02] [ 6.25451117e-03 -3.92290442e-05 9.99980440e-01 7.87359354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6627550960001 meters 0.01702607250838067 Centerline is valid? [True, True] Translation: X:31.01, Y:370.68, Z:7.87 [[-6.58308479e-01 -7.52735300e-01 4.41760925e-03 3.10110531e+01] [ 7.52717785e-01 -6.58323299e-01 -5.13523189e-03 3.70681680e+02] [ 6.77368541e-03 -5.53536482e-05 9.99977057e-01 7.87203644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.692755096 meters 0.017169481073029076 Centerline is valid? [True, True] Translation: X:30.99, Y:370.70, Z:7.87 [[-6.59281556e-01 -7.51881009e-01 4.77262792e-03 3.09937892e+01] [ 7.51860572e-01 -6.59298827e-01 -5.54409177e-03 3.70702038e+02] [ 7.31508530e-03 -6.67666905e-05 9.99973242e-01 7.87150666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.722755096 meters 0.017499290852925117 Centerline is valid? [True, True] Translation: X:30.98, Y:370.72, Z:7.87 [[-6.60613287e-01 -7.50713353e-01 4.42121498e-03 3.09780510e+01] [ 7.50695814e-01 -6.60628077e-01 -5.13215539e-03 3.70721460e+02] [ 6.77355633e-03 -7.13824662e-05 9.99977057e-01 7.87166730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.752755096 meters 0.01804833269097067 Centerline is valid? [True, True] Translation: X:30.96, Y:370.74, Z:7.87 [[-6.62148386e-01 -7.49359158e-01 4.51305155e-03 3.09614857e+01] [ 7.49340880e-01 -6.62163760e-01 -5.23458485e-03 3.70741520e+02] [ 6.91096328e-03 -8.42578893e-05 9.99976116e-01 7.87145757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7827550960001 meters 0.01831895600419807 Centerline is valid? [True, True] Translation: X:30.94, Y:370.76, Z:7.87 [[-6.62888995e-01 -7.48704081e-01 4.51433975e-03 3.09441548e+01] [ 7.48685804e-01 -6.62904361e-01 -5.23216179e-03 3.70761443e+02] [ 6.90991639e-03 -8.85203826e-05 9.99976122e-01 7.87107072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.812755096 meters 0.018853645751462637 Centerline is valid? [True, True] Translation: X:30.93, Y:370.78, Z:7.87 [[-6.63812096e-01 -7.47884860e-01 4.66242623e-03 3.09271314e+01] [ 7.47865374e-01 -6.63828462e-01 -5.39964088e-03 3.70780501e+02] [ 7.13336090e-03 -9.74797887e-05 9.99974553e-01 7.86984713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.842755096 meters 0.01902765158881863 Centerline is valid? [True, True] Translation: X:30.91, Y:370.80, Z:7.87 [[-6.64637391e-01 -7.47148814e-01 5.07820524e-03 3.09088862e+01] [ 7.47125713e-01 -6.64656782e-01 -5.87640153e-03 3.70800294e+02] [ 7.76580999e-03 -1.11618470e-04 9.99969839e-01 7.86874981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.872755096 meters 0.018691152806176392 Centerline is valid? [True, True] Translation: X:30.89, Y:370.82, Z:7.87 [[-6.65167729e-01 -7.46674827e-01 5.34736664e-03 3.08905450e+01] [ 7.46649236e-01 -6.65189212e-01 -6.18309890e-03 3.70818815e+02] [ 8.17377490e-03 -1.20190639e-04 9.99966587e-01 7.86800814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.902755096 meters 0.018800769382933343 Centerline is valid? [True, True] Translation: X:30.87, Y:370.84, Z:7.87 [[-6.65556758e-01 -7.46324906e-01 5.77385421e-03 3.08744963e+01] [ 7.46295100e-01 -6.65581789e-01 -6.67127563e-03 3.70838031e+02] [ 8.82191137e-03 -1.31113474e-04 9.99961078e-01 7.86753827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.932755096 meters 0.019679482884235013 Centerline is valid? [True, True] Translation: X:30.86, Y:370.86, Z:7.87 [[-6.66081343e-01 -7.45857136e-01 5.72507343e-03 3.08599376e+01] [ 7.45827854e-01 -6.66105933e-01 -6.61044240e-03 3.70859282e+02] [ 8.74395102e-03 -1.33173127e-04 9.99961762e-01 7.86748549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.962755096 meters 0.01814812738926505 Centerline is valid? [True, True] Translation: X:30.84, Y:370.88, Z:7.87 [[-6.66552818e-01 -7.45436137e-01 5.68396467e-03 3.08397167e+01] [ 7.45407302e-01 -6.66577038e-01 -6.55795377e-03 3.70877995e+02] [ 8.67733606e-03 -1.34353794e-04 9.99962342e-01 7.86865373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.992755096 meters 0.01814760692794368 Centerline is valid? [True, True] Translation: X:30.82, Y:370.90, Z:7.87 [[-6.66694388e-01 -7.45311158e-01 5.46539570e-03 3.08224231e+01] [ 7.45284532e-01 -6.66716777e-01 -6.30120491e-03 3.70898247e+02] [ 8.34022934e-03 -1.27703071e-04 9.99965212e-01 7.86871163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.022755096 meters 0.018242143394436805 Centerline is valid? [True, True] Translation: X:30.81, Y:370.92, Z:7.87 [[-6.66793580e-01 -7.45223898e-01 5.25960043e-03 3.08059210e+01] [ 7.45199273e-01 -6.66814313e-01 -6.05943530e-03 3.70918158e+02] [ 8.02281284e-03 -1.20942143e-04 9.99967809e-01 7.86871396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.052755096 meters 0.017889688895419645 Centerline is valid? [True, True] Translation: X:30.79, Y:370.94, Z:7.87 [[-6.66753100e-01 -7.45261354e-01 5.08112816e-03 3.07878678e+01] [ 7.45238406e-01 -6.66772451e-01 -5.84957406e-03 3.70938527e+02] [ 7.74741776e-03 -1.13569790e-04 9.99969982e-01 7.86911141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.082755096 meters 0.017108922396558097 Centerline is valid? [True, True] Translation: X:30.77, Y:370.96, Z:7.87 [[-6.65333024e-01 -7.46531573e-01 4.75162023e-03 3.07687381e+01] [ 7.46511563e-01 -6.65349986e-01 -5.46650336e-03 3.70958473e+02] [ 7.24240780e-03 -8.99057670e-05 9.99973769e-01 7.86972469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.112755096 meters 0.01663772168064047 Centerline is valid? [True, True] Translation: X:30.75, Y:370.98, Z:7.87 [[-6.64667139e-01 -7.47124431e-01 4.76229206e-03 3.07497021e+01] [ 7.47104376e-01 -6.64684194e-01 -5.47483235e-03 3.70978344e+02] [ 7.25580126e-03 -8.10119138e-05 9.99973673e-01 7.86978704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.142755096 meters 0.016326822999616426 Centerline is valid? [True, True] Translation: X:30.73, Y:371.00, Z:7.87 [[-6.63397676e-01 -7.48250092e-01 5.03226626e-03 3.07322056e+01] [ 7.48227762e-01 -6.63416759e-01 -5.78109485e-03 3.70997877e+02] [ 7.66419452e-03 -6.98835690e-05 9.99970627e-01 7.86968406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1727550960001 meters 0.015991728685126792 Centerline is valid? [True, True] Translation: X:30.71, Y:371.02, Z:7.87 [[-6.63259433e-01 -7.48372774e-01 5.01156825e-03 3.07135022e+01] [ 7.48350658e-01 -6.63278363e-01 -5.75380795e-03 3.71017495e+02] [ 7.63005800e-03 -6.58569982e-05 9.99970889e-01 7.86957226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.202755096 meters 0.015944357526006765 Centerline is valid? [True, True] Translation: X:30.70, Y:371.04, Z:7.87 [[-6.63057148e-01 -7.48551655e-01 5.06334981e-03 3.06960400e+01] [ 7.48529118e-01 -6.63076478e-01 -5.80894412e-03 3.71036883e+02] [ 7.70568289e-03 -6.15971546e-05 9.99970309e-01 7.86926671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.232755096 meters 0.015671196074183505 Centerline is valid? [True, True] Translation: X:30.68, Y:371.06, Z:7.87 [[-6.63270911e-01 -7.48365485e-01 4.56060337e-03 3.06772909e+01] [ 7.48347222e-01 -6.63286588e-01 -5.22854517e-03 3.71057059e+02] [ 6.93784979e-03 -5.50270577e-05 9.99975931e-01 7.86981968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.262755096 meters 0.015739022749841156 Centerline is valid? [True, True] Translation: X:30.66, Y:371.08, Z:7.87 [[-6.63885071e-01 -7.47822748e-01 4.21300189e-03 3.06606222e+01] [ 7.47807173e-01 -6.63898437e-01 -4.82676854e-03 3.71076738e+02] [ 6.40657269e-03 -5.39065429e-05 9.99979476e-01 7.87043798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2927550960001 meters 0.01584687330211661 Centerline is valid? [True, True] Translation: X:30.64, Y:371.10, Z:7.87 [[-6.64853875e-01 -7.46961837e-01 4.16413222e-03 3.06429085e+01] [ 7.46946626e-01 -6.64866912e-01 -4.76726033e-03 3.71097743e+02] [ 6.32955526e-03 -5.91469853e-05 9.99979966e-01 7.87091440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.322755096 meters 0.016732991988031437 Centerline is valid? [True, True] Translation: X:30.63, Y:371.12, Z:7.87 [[-6.67391491e-01 -7.44693731e-01 4.45471692e-03 3.06276166e+01] [ 7.44676299e-01 -6.67406353e-01 -5.09605676e-03 3.71119829e+02] [ 6.76810789e-03 -8.37428138e-05 9.99977093e-01 7.87058368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.352755096 meters 0.017135752367821597 Centerline is valid? [True, True] Translation: X:30.61, Y:371.14, Z:7.87 [[-6.68828040e-01 -7.43402576e-01 4.65430505e-03 3.06109249e+01] [ 7.43383545e-01 -6.68844227e-01 -5.32023281e-03 3.71140329e+02] [ 7.06807984e-03 -9.83870900e-05 9.99975016e-01 7.87017023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.382755096 meters 0.018003517453452925 Centerline is valid? [True, True] Translation: X:30.59, Y:371.16, Z:7.87 [[-6.71567817e-01 -7.40922936e-01 5.46537661e-03 3.05932814e+01] [ 7.40896654e-01 -6.71590040e-01 -6.24226450e-03 3.71162031e+02] [ 8.29552944e-03 -1.42824698e-04 9.99965581e-01 7.86881919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4127550960001 meters 0.019023465560100202 Centerline is valid? [True, True] Translation: X:30.58, Y:371.18, Z:7.87 [[-6.73451014e-01 -7.39209197e-01 5.78753670e-03 3.05769351e+01] [ 7.39179701e-01 -6.73475860e-01 -6.60577679e-03 3.71183465e+02] [ 8.78081721e-03 -1.70637430e-04 9.99961433e-01 7.86821145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.442755096 meters 0.020840175050214776 Centerline is valid? [True, True] Translation: X:30.56, Y:371.21, Z:7.87 [[-6.75389388e-01 -7.37438553e-01 5.79269267e-03 3.05619918e+01] [ 7.37408979e-01 -6.75414202e-01 -6.60706200e-03 3.71205777e+02] [ 8.78476914e-03 -1.90755969e-04 9.99961395e-01 7.86798735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.472755096 meters 0.021789067259002235 Centerline is valid? [True, True] Translation: X:30.55, Y:371.23, Z:7.87 [[-6.78355909e-01 -7.34715661e-01 5.11450369e-03 3.05458041e+01] [ 7.34692559e-01 -6.78375161e-01 -5.82965371e-03 3.71227937e+02] [ 7.75269014e-03 -1.96992240e-04 9.99969928e-01 7.86977577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.502755096 meters 0.021013588682017817 Centerline is valid? [True, True] Translation: X:30.53, Y:371.25, Z:7.87 [[-6.79523249e-01 -7.33639358e-01 4.63106404e-03 3.05262735e+01] [ 7.33620415e-01 -6.79539004e-01 -5.27527154e-03 3.71247861e+02] [ 7.01713547e-03 -1.87226533e-04 9.99975362e-01 7.87062042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5327550960001 meters 0.021721469084352883 Centerline is valid? [True, True] Translation: X:30.51, Y:371.27, Z:7.87 [[-6.80506798e-01 -7.32724406e-01 5.04408528e-03 3.05091256e+01] [ 7.32701940e-01 -6.80525459e-01 -5.74173036e-03 3.71268315e+02] [ 7.63973442e-03 -2.11475470e-04 9.99970794e-01 7.87118220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.562755096 meters 0.021721469084352883 Centerline is valid? [True, True] Translation: X:30.49, Y:371.29, Z:7.87 [[-6.80768051e-01 -7.32481671e-01 5.04605935e-03 3.04912937e+01] [ 7.32459211e-01 -6.80786719e-01 -5.73999512e-03 3.71288299e+02] [ 7.63973141e-03 -2.11572645e-04 9.99970794e-01 7.87132637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.592755096 meters 0.024579992400378236 Centerline is valid? [True, True] Translation: X:30.48, Y:371.31, Z:7.87 [[-6.80917103e-01 -7.32341935e-01 5.21441926e-03 3.04767247e+01] [ 7.32317982e-01 -6.80937033e-01 -5.92708547e-03 3.71310803e+02] [ 7.89134442e-03 -2.17240877e-04 9.99968839e-01 7.87068441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.622755096 meters 0.021394063605358515 Centerline is valid? [True, True] Translation: X:30.45, Y:371.33, Z:7.87 [[-6.80482183e-01 -7.32743145e-01 5.61090114e-03 3.04547401e+01] [ 7.32715467e-01 -6.80505277e-01 -6.37281788e-03 3.71327946e+02] [ 8.48788645e-03 -2.25394973e-04 9.99963952e-01 7.87100441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.652755096 meters 0.020792697813097262 Centerline is valid? [True, True] Translation: X:30.44, Y:371.35, Z:7.87 [[-6.78859081e-01 -7.34246762e-01 5.66049388e-03 3.04357933e+01] [ 7.34218681e-01 -6.78882649e-01 -6.42477631e-03 3.71347322e+02] [ 8.56018228e-03 -2.05477390e-04 9.99963340e-01 7.87099807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.682755096 meters 0.02018709052483402 Centerline is valid? [True, True] Translation: X:30.42, Y:371.37, Z:7.87 [[-6.77726894e-01 -7.35291010e-01 5.77826954e-03 3.04172083e+01] [ 7.35261824e-01 -6.77751499e-01 -6.55408882e-03 3.71366442e+02] [ 8.73539343e-03 -1.93341260e-04 9.99961827e-01 7.87117202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.712755096 meters 0.01790210537725207 Centerline is valid? [True, True] Translation: X:30.39, Y:371.38, Z:7.87 [[-6.75319223e-01 -7.37505574e-01 5.42914288e-03 3.03940153e+01] [ 7.37479914e-01 -6.75341029e-01 -6.15394196e-03 3.71383661e+02] [ 8.20508944e-03 -1.51991483e-04 9.99966326e-01 7.87164893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.742755096 meters 0.018066395176793 Centerline is valid? [True, True] Translation: X:30.38, Y:371.40, Z:7.87 [[-6.74415500e-01 -7.38330331e-01 5.66171986e-03 3.03758364e+01] [ 7.38302494e-01 -6.74439249e-01 -6.41305996e-03 3.71403204e+02] [ 8.55344278e-03 -1.45005151e-04 9.99963408e-01 7.87107451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.772755096 meters 0.01755761723549706 Centerline is valid? [True, True] Translation: X:30.36, Y:371.42, Z:7.87 [[-6.73475847e-01 -7.39186473e-01 5.80022815e-03 3.03566812e+01] [ 7.39157332e-01 -6.73500810e-01 -6.56490295e-03 3.71421898e+02] [ 8.75914582e-03 -1.34022410e-04 9.99961629e-01 7.87084794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.802755096 meters 0.016709477850534834 Centerline is valid? [True, True] Translation: X:30.34, Y:371.44, Z:7.87 [[-6.72344212e-01 -7.40220462e-01 5.18923327e-03 3.03375114e+01] [ 7.40197200e-01 -6.72364229e-01 -5.86923474e-03 3.71439851e+02] [ 7.83358248e-03 -1.05090072e-04 9.99969312e-01 7.87171600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.832755096 meters 0.016705655021235156 Centerline is valid? [True, True] Translation: X:30.32, Y:371.46, Z:7.87 [[-6.72228142e-01 -7.40327739e-01 4.91573362e-03 3.03207354e+01] [ 7.40306896e-01 -6.72246108e-01 -5.55606936e-03 3.71458837e+02] [ 7.41789506e-03 -9.57946843e-05 9.99972482e-01 7.87265516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.862755096 meters 0.016486183892924656 Centerline is valid? [True, True] Translation: X:30.30, Y:371.48, Z:7.87 [[-6.73395582e-01 -7.39269669e-01 4.32983419e-03 3.03022847e+01] [ 7.39253494e-01 -6.73409496e-01 -4.89109563e-03 3.71479342e+02] [ 6.53159010e-03 -9.27971283e-05 9.99978665e-01 7.87380466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.892755096 meters 0.017750443140094368 Centerline is valid? [True, True] Translation: X:30.29, Y:371.50, Z:7.87 [[-6.74280354e-01 -7.38462170e-01 4.43024279e-03 3.02870708e+01] [ 7.38445244e-01 -6.74294901e-01 -5.00085586e-03 3.71501136e+02] [ 6.68023299e-03 -1.00487141e-04 9.99977682e-01 7.87365445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9227550960001 meters 0.01866214245332218 Centerline is valid? [True, True] Translation: X:30.27, Y:371.52, Z:7.87 [[-6.75705820e-01 -7.37157941e-01 4.45145982e-03 3.02704758e+01] [ 7.37140848e-01 -6.75720474e-01 -5.02113611e-03 3.71522338e+02] [ 6.70931289e-03 -1.11458027e-04 9.99977486e-01 7.87352429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.952755096 meters 0.018819833613986908 Centerline is valid? [True, True] Translation: X:30.25, Y:371.54, Z:7.87 [[-6.78422827e-01 -7.34657655e-01 4.53858348e-03 3.02533469e+01] [ 7.34639854e-01 -6.78437994e-01 -5.11600532e-03 3.71543915e+02] [ 6.83765994e-03 -1.36590487e-04 9.99976614e-01 7.87389901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.982755096 meters 0.019625824531273043 Centerline is valid? [True, True] Translation: X:30.24, Y:371.57, Z:7.87 [[-6.80119894e-01 -7.33087648e-01 4.40792157e-03 3.02367372e+01] [ 7.33070846e-01 -6.80134162e-01 -4.96548380e-03 3.71566131e+02] [ 6.63811289e-03 -1.45805521e-04 9.99977957e-01 7.87413969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.012755096 meters 0.021623013780412165 Centerline is valid? [True, True] Translation: X:30.22, Y:371.59, Z:7.87 [[-6.83186951e-01 -7.30230304e-01 4.39235074e-03 3.02223870e+01] [ 7.30213583e-01 -6.83201049e-01 -4.94465840e-03 3.71589530e+02] [ 6.61159804e-03 -1.70771924e-04 9.99978129e-01 7.87418742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0427550960001 meters 0.02240110535131577 Centerline is valid? [True, True] Translation: X:30.21, Y:371.61, Z:7.87 [[-6.84421994e-01 -7.29073440e-01 4.29577775e-03 3.02056650e+01] [ 7.29057443e-01 -6.84435453e-01 -4.83278033e-03 3.71610782e+02] [ 6.46363436e-03 -1.75792409e-04 9.99979095e-01 7.87446234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.072755096 meters 0.022239591138292124 Centerline is valid? [True, True] Translation: X:30.19, Y:371.63, Z:7.87 [[-6.85213065e-01 -7.28329852e-01 4.32232705e-03 3.01875671e+01] [ 7.28313665e-01 -6.85226673e-01 -4.85924724e-03 3.71631801e+02] [ 6.50090861e-03 -1.81609838e-04 9.99978852e-01 7.87464970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.102755096 meters 0.022342442553331645 Centerline is valid? [True, True] Translation: X:30.17, Y:371.65, Z:7.88 [[-6.85611437e-01 -7.27954599e-01 4.36568675e-03 3.01712891e+01] [ 7.27938100e-01 -6.85625312e-01 -4.90449715e-03 3.71653675e+02] [ 6.56347660e-03 -1.84629622e-04 9.99978443e-01 7.87508739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.132755096 meters 0.022687431268785193 Centerline is valid? [True, True] Translation: X:30.15, Y:371.67, Z:7.87 [[-6.85350294e-01 -7.28199013e-01 4.60129256e-03 3.01547786e+01] [ 7.28180718e-01 -6.85365714e-01 -5.16533992e-03 3.71674169e+02] [ 6.91496359e-03 -1.89494712e-04 9.99976073e-01 7.87487945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1627550960001 meters 0.02143124195634835 Centerline is valid? [True, True] Translation: X:30.14, Y:371.69, Z:7.87 [[-6.83970988e-01 -7.29492116e-01 4.99406519e-03 3.01355771e+01] [ 7.29470631e-01 -6.83989194e-01 -5.60193123e-03 3.71693504e+02] [ 7.50245130e-03 -1.88534555e-04 9.99971838e-01 7.87417592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.192755096 meters 0.0207394663771533 Centerline is valid? [True, True] Translation: X:30.12, Y:371.71, Z:7.87 [[-6.83079996e-01 -7.30325436e-01 5.14568005e-03 3.01166113e+01] [ 7.30302681e-01 -6.83099352e-01 -5.76790012e-03 3.71712880e+02] [ 7.72745488e-03 -1.82033248e-04 9.99970126e-01 7.87381201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.222755096 meters 0.018601737080369798 Centerline is valid? [True, True] Translation: X:30.10, Y:371.73, Z:7.87 [[-6.80183495e-01 -7.33019813e-01 5.68922170e-03 3.00959347e+01] [ 7.32992131e-01 -6.80207267e-01 -6.37257596e-03 3.71731595e+02] [ 8.54107439e-03 -1.64366243e-04 9.99963511e-01 7.87311382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.252755096 meters 0.017970639281542446 Centerline is valid? [True, True] Translation: X:30.08, Y:371.75, Z:7.87 [[-6.78796895e-01 -7.34302395e-01 5.89642083e-03 3.00771171e+01] [ 7.34272746e-01 -6.78822488e-01 -6.60037929e-03 3.71751154e+02] [ 8.84929738e-03 -1.50735861e-04 9.99960833e-01 7.87254282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2827550960001 meters 0.01716312752864847 Centerline is valid? [True, True] Translation: X:30.06, Y:371.77, Z:7.87 [[-6.77168745e-01 -7.35799752e-01 6.41995680e-03 3.00576754e+01] [ 7.35764719e-01 -6.77199163e-01 -7.18142930e-03 3.71770753e+02] [ 9.63168327e-03 -1.39461758e-04 9.99953605e-01 7.87263333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.312755096 meters 0.016966410306770204 Centerline is valid? [True, True] Translation: X:30.04, Y:371.79, Z:7.87 [[-6.75883966e-01 -7.36977829e-01 6.67408149e-03 3.00399768e+01] [ 7.36940073e-01 -6.75916906e-01 -7.46088574e-03 3.71790112e+02] [ 1.00096319e-02 -1.24294953e-04 9.99949895e-01 7.87217594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.342755096 meters 0.015530675847003348 Centerline is valid? [True, True] Translation: X:30.02, Y:371.81, Z:7.87 [[-6.73571967e-01 -7.39093813e-01 6.41415522e-03 3.00182006e+01] [ 7.39059075e-01 -6.73602500e-01 -7.16623901e-03 3.71808836e+02] [ 9.61711390e-03 -8.65380781e-05 9.99953751e-01 7.87298808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.372755096 meters 0.015044034057943516 Centerline is valid? [True, True] Translation: X:30.00, Y:371.83, Z:7.87 [[-6.71710343e-01 -7.40785099e-01 6.53082849e-03 2.99991232e+01] [ 7.40749209e-01 -6.71742088e-01 -7.29222235e-03 3.71827253e+02] [ 9.78900202e-03 -6.05551376e-05 9.99952085e-01 7.87362681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.402755096 meters 0.014788120727231069 Centerline is valid? [True, True] Translation: X:29.98, Y:371.85, Z:7.87 [[-6.70961971e-01 -7.41463111e-01 6.51837976e-03 2.99796527e+01] [ 7.41427433e-01 -6.70993631e-01 -7.27380550e-03 3.71846785e+02] [ 9.76704976e-03 -4.75412984e-05 9.99952300e-01 7.87418277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.432755096 meters 0.014728047817403573 Centerline is valid? [True, True] Translation: X:29.96, Y:371.87, Z:7.87 [[-6.70553247e-01 -7.41834162e-01 6.35754710e-03 2.99615143e+01] [ 7.41800283e-01 -6.70583384e-01 -7.08984857e-03 3.71865159e+02] [ 9.52275732e-03 -3.80907486e-05 9.99954657e-01 7.87433257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.462755096 meters 0.014634817119633327 Centerline is valid? [True, True] Translation: X:29.94, Y:371.88, Z:7.87 [[-6.70196601e-01 -7.42156273e-01 6.37050176e-03 2.99427267e+01] [ 7.42122312e-01 -6.70226876e-01 -7.09991746e-03 3.71884539e+02] [ 9.53892978e-03 -3.06490557e-05 9.99954503e-01 7.87461140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.492755096 meters 0.014684953405042127 Centerline is valid? [True, True] Translation: X:29.92, Y:371.91, Z:7.88 [[-6.70860381e-01 -7.41559508e-01 5.98713306e-03 2.99242456e+01] [ 7.41529528e-01 -6.70887096e-01 -6.66812952e-03 3.71905221e+02] [ 8.96150515e-03 -3.37479496e-05 9.99959844e-01 7.87533299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.522755096 meters 0.014802836282056014 Centerline is valid? [True, True] Translation: X:29.91, Y:371.93, Z:7.88 [[-6.71729699e-01 -7.40772184e-01 5.98184901e-03 2.99063218e+01] [ 7.40742269e-01 -6.71756332e-01 -6.65750001e-03 3.71925343e+02] [ 8.95003577e-03 -4.10320767e-05 9.99959947e-01 7.87569911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.552755096 meters 0.015561066275764365 Centerline is valid? [True, True] Translation: X:29.89, Y:371.95, Z:7.88 [[-6.74281539e-01 -7.38448795e-01 6.14689237e-03 2.98906898e+01] [ 7.38417150e-01 -6.74309553e-01 -6.83662902e-03 3.71946322e+02] [ 9.19340870e-03 -7.08419939e-05 9.99957737e-01 7.87548440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.582755096 meters 0.016016155994516577 Centerline is valid? [True, True] Translation: X:29.87, Y:371.97, Z:7.88 [[-6.76190058e-01 -7.36699181e-01 6.42817640e-03 2.98732333e+01] [ 7.36664539e-01 -6.76220606e-01 -7.14494821e-03 3.71967319e+02] [ 9.61054283e-03 -9.59333484e-05 9.99953813e-01 7.87535416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.612755096 meters 0.016392016762130084 Centerline is valid? [True, True] Translation: X:29.86, Y:371.99, Z:7.88 [[-6.78206991e-01 -7.34841330e-01 6.59525619e-03 2.98553007e+01] [ 7.34804825e-01 -6.78239047e-01 -7.32564817e-03 3.71989105e+02] [ 9.85634931e-03 -1.22079736e-04 9.99951418e-01 7.87551875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.642755096 meters 0.018557108253700154 Centerline is valid? [True, True] Translation: X:29.84, Y:372.01, Z:7.88 [[-6.82473518e-01 -7.30877201e-01 6.95801537e-03 2.98407620e+01] [ 7.30836411e-01 -6.82508961e-01 -7.72386046e-03 3.72011935e+02] [ 1.03941014e-02 -1.86159240e-04 9.99945963e-01 7.87552121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6727550960001 meters 0.019202523665194586 Centerline is valid? [True, True] Translation: X:29.82, Y:372.03, Z:7.88 [[-6.84447328e-01 -7.29030865e-01 6.77150383e-03 2.98227117e+01] [ 7.28992186e-01 -6.84480793e-01 -7.51249785e-03 3.72033423e+02] [ 1.01118071e-02 -2.05535702e-04 9.99948853e-01 7.87611537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.702755096 meters 0.020627175722701667 Centerline is valid? [True, True] Translation: X:29.80, Y:372.05, Z:7.88 [[-6.88292522e-01 -7.25403799e-01 6.53705087e-03 2.98048169e+01] [ 7.25367632e-01 -6.88323520e-01 -7.24782162e-03 3.72054807e+02] [ 9.75720320e-03 -2.46856309e-04 9.99952367e-01 7.87646221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.732755096 meters 0.022598819707521138 Centerline is valid? [True, True] Translation: X:29.79, Y:372.08, Z:7.88 [[-6.89974485e-01 -7.23802107e-01 6.76160372e-03 2.97885033e+01] [ 7.23763381e-01 -6.90007561e-01 -7.49233937e-03 3.72075913e+02] [ 1.00885287e-02 -2.75721831e-04 9.99949072e-01 7.87558714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.762755096 meters 0.023314168301870487 Centerline is valid? [True, True] Translation: X:29.77, Y:372.10, Z:7.88 [[-6.91306130e-01 -7.22526378e-01 7.17410063e-03 2.97696355e+01] [ 7.22482762e-01 -6.91343285e-01 -7.94482201e-03 3.72097047e+02] [ 1.07001098e-02 -3.09140121e-04 9.99942704e-01 7.87534189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7927550960001 meters 0.02381632825381779 Centerline is valid? [True, True] Translation: X:29.75, Y:372.12, Z:7.88 [[-6.93018069e-01 -7.20878117e-01 7.79080252e-03 2.97500349e+01] [ 7.20826642e-01 -6.93061766e-01 -8.62213733e-03 3.72117233e+02] [ 1.16150175e-02 -3.59478944e-04 9.99932479e-01 7.87509303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.822755096 meters 0.024098699956529704 Centerline is valid? [True, True] Translation: X:29.73, Y:372.14, Z:7.88 [[-6.93712729e-01 -7.20205259e-01 8.18746125e-03 2.97309726e+01] [ 7.20148433e-01 -6.93760936e-01 -9.05526140e-03 3.72137860e+02] [ 1.22017877e-02 -3.85562703e-04 9.99925481e-01 7.87505573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.852755096 meters 0.023564599654483306 Centerline is valid? [True, True] Translation: X:29.71, Y:372.16, Z:7.87 [[-6.93860384e-01 -7.20052645e-01 9.05298123e-03 2.97103162e+01] [ 7.19983253e-01 -6.93919310e-01 -1.00053695e-02 3.72155719e+02] [ 1.34864313e-02 -4.24334675e-04 9.99908964e-01 7.87470349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.882755096 meters 0.023515638426317837 Centerline is valid? [True, True] Translation: X:29.69, Y:372.17, Z:7.87 [[-6.93483412e-01 -7.20413776e-01 9.20586027e-03 2.96907981e+01] [ 7.20342153e-01 -6.93544386e-01 -1.01669571e-02 3.72174673e+02] [ 1.37090887e-02 -4.19246882e-04 9.99905938e-01 7.87441861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9127550960001 meters 0.022641282213642096 Centerline is valid? [True, True] Translation: X:29.67, Y:372.19, Z:7.87 [[-6.91913905e-01 -7.21920449e-01 9.27433009e-03 2.96688650e+01] [ 7.21847986e-01 -6.91975950e-01 -1.02357265e-02 3.72192887e+02] [ 1.38069936e-02 -3.87584996e-04 9.99904604e-01 7.87487528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.942755096 meters 0.022296675810624198 Centerline is valid? [True, True] Translation: X:29.65, Y:372.21, Z:7.88 [[-6.91293142e-01 -7.22517552e-01 9.06533239e-03 2.96483007e+01] [ 7.22448454e-01 -6.91352483e-01 -9.99879523e-03 3.72212324e+02] [ 1.34916451e-02 -3.62863201e-04 9.99908918e-01 7.87512490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.972755096 meters 0.021857662971591307 Centerline is valid? [True, True] Translation: X:29.63, Y:372.23, Z:7.88 [[-6.90480504e-01 -7.23290924e-01 9.32267368e-03 2.96279513e+01] [ 7.23218008e-01 -6.90543347e-01 -1.02761017e-02 3.72231599e+02] [ 1.38703214e-02 -3.53122409e-04 9.99903740e-01 7.87538810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.002755096 meters 0.02078338339610494 Centerline is valid? [True, True] Translation: X:29.61, Y:372.25, Z:7.88 [[-6.88884896e-01 -7.24808764e-01 9.47924091e-03 2.96068316e+01] [ 7.24733614e-01 -6.88950036e-01 -1.04420725e-02 3.72250364e+02] [ 1.40992290e-02 -3.23461525e-04 9.99900549e-01 7.87602343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0327550960001 meters 0.019967170461374067 Centerline is valid? [True, True] Translation: X:29.59, Y:372.27, Z:7.88 [[-6.88154939e-01 -7.25503804e-01 9.32796817e-03 2.95874752e+01] [ 7.25431194e-01 -6.88218091e-01 -1.02684680e-02 3.72269385e+02] [ 1.38694890e-02 -2.99497871e-04 9.99903769e-01 7.87701879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.062755096 meters 0.019307657657001133 Centerline is valid? [True, True] Translation: X:29.57, Y:372.29, Z:7.88 [[-6.86539269e-01 -7.27044380e-01 8.38462875e-03 2.95673370e+01] [ 7.26985902e-01 -6.86590426e-01 -9.22415059e-03 3.72288299e+02] [ 1.24631727e-02 -2.37234707e-04 9.99922304e-01 7.87872538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.092755096 meters 0.018378212496074717 Centerline is valid? [True, True] Translation: X:29.55, Y:372.31, Z:7.88 [[-6.85521302e-01 -7.28010561e-01 7.82092255e-03 2.95470194e+01] [ 7.27959809e-01 -6.85565885e-01 -8.59854537e-03 3.72307301e+02] [ 1.16215895e-02 -2.01168741e-04 9.99932447e-01 7.88001802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.122755096 meters 0.017788177266695182 Centerline is valid? [True, True] Translation: X:29.53, Y:372.33, Z:7.88 [[-6.84840300e-01 -7.28656080e-01 7.35390631e-03 2.95278043e+01] [ 7.28611305e-01 -6.84879761e-01 -8.07959734e-03 3.72326161e+02] [ 1.09237893e-02 -1.75094592e-04 9.99940318e-01 7.88148799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.152755096 meters 0.01734182758119259 Centerline is valid? [True, True] Translation: X:29.51, Y:372.35, Z:7.88 [[-6.83366993e-01 -7.30044256e-01 6.70350442e-03 2.95088603e+01] [ 7.30007166e-01 -6.83399858e-01 -7.36020498e-03 3.72346099e+02] [ 9.95444933e-03 -1.36114880e-04 9.99950444e-01 7.88302606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.182755096 meters 0.017543114998358037 Centerline is valid? [True, True] Translation: X:29.49, Y:372.37, Z:7.88 [[-6.83034118e-01 -7.30355901e-01 6.68212665e-03 2.94912797e+01] [ 7.30319111e-01 -6.83066791e-01 -7.33183316e-03 3.72366272e+02] [ 9.91918642e-03 -1.27807409e-04 9.99950796e-01 7.88338160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.212755096 meters 0.017228537651275192 Centerline is valid? [True, True] Translation: X:29.47, Y:372.39, Z:7.88 [[-6.82425730e-01 -7.30922923e-01 6.84136482e-03 2.94732451e+01] [ 7.30884441e-01 -6.82460012e-01 -7.50106492e-03 3.72385188e+02] [ 1.01516582e-02 -1.18672598e-04 9.99948464e-01 7.88354776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.242755096 meters 0.016814941228638122 Centerline is valid? [True, True] Translation: X:29.45, Y:372.40, Z:7.88 [[-6.82509766e-01 -7.30844044e-01 6.88499709e-03 2.94543329e+01] [ 7.30805123e-01 -6.82544482e-01 -7.54339329e-03 3.72404394e+02] [ 1.02123608e-02 -1.16848446e-04 9.99947846e-01 7.88446602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.272755096 meters 0.016820670505757085 Centerline is valid? [True, True] Translation: X:29.44, Y:372.42, Z:7.88 [[-6.82741046e-01 -7.30631272e-01 6.52757462e-03 2.94359460e+01] [ 7.30596324e-01 -6.82772241e-01 -7.14690732e-03 3.72424363e+02] [ 9.67860073e-03 -1.10464954e-04 9.99953155e-01 7.88482804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.302755096 meters 0.01698023755492318 Centerline is valid? [True, True] Translation: X:29.42, Y:372.45, Z:7.89 [[-6.83174659e-01 -7.30230352e-01 6.00154379e-03 2.94179667e+01] [ 7.30200834e-01 -6.83201011e-01 -6.56657456e-03 3.72445040e+02] [ 8.89537284e-03 -1.03785057e-04 9.99960430e-01 7.88679636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.332755096 meters 0.01759169544287518 Centerline is valid? [True, True] Translation: X:29.40, Y:372.47, Z:7.89 [[-6.84556310e-01 -7.28940851e-01 5.28151517e-03 2.94015221e+01] [ 7.28917982e-01 -6.84576676e-01 -5.77497975e-03 3.72465421e+02] [ 7.82522075e-03 -1.03507454e-04 9.99969377e-01 7.88749886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.362755096 meters 0.018146655027961124 Centerline is valid? [True, True] Translation: X:29.38, Y:372.49, Z:7.89 [[-6.85749485e-01 -7.27818483e-01 5.28208932e-03 2.93837908e+01] [ 7.27795608e-01 -6.85769818e-01 -5.77144378e-03 3.72485943e+02] [ 7.82286089e-03 -1.13483188e-04 9.99969395e-01 7.88755912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.392755096 meters 0.018077348981295566 Centerline is valid? [True, True] Translation: X:29.36, Y:372.51, Z:7.89 [[-6.87090004e-01 -7.26556437e-01 4.80311758e-03 2.93649314e+01] [ 7.26537517e-01 -6.87106782e-01 -5.24468172e-03 3.72505901e+02] [ 7.11081194e-03 -1.13923264e-04 9.99974711e-01 7.88787055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4227550960001 meters 0.019292711183699983 Centerline is valid? [True, True] Translation: X:29.35, Y:372.53, Z:7.89 [[-6.88391303e-01 -7.25324637e-01 4.64602432e-03 2.93485948e+01] [ 7.25306930e-01 -6.88406970e-01 -5.06960940e-03 3.72527102e+02] [ 6.87546812e-03 -1.20081382e-04 9.99976357e-01 7.88802448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.452755096 meters 0.019292711183699983 Centerline is valid? [True, True] Translation: X:29.33, Y:372.55, Z:7.89 [[-6.88668239e-01 -7.25061690e-01 4.64778706e-03 2.93308695e+01] [ 7.25043988e-01 -6.88683912e-01 -5.06799294e-03 3.72546052e+02] [ 6.87546370e-03 -1.20315709e-04 9.99976357e-01 7.88816415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.482755096 meters 0.020432490786448734 Centerline is valid? [True, True] Translation: X:29.31, Y:372.57, Z:7.89 [[-6.91212094e-01 -7.22639179e-01 4.29634662e-03 2.93135903e+01] [ 7.22624027e-01 -6.91225434e-01 -4.68146955e-03 3.72567719e+02] [ 6.35275737e-03 -1.31245073e-04 9.99979812e-01 7.88820544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.512755096 meters 0.02048050213750577 Centerline is valid? [True, True] Translation: X:29.29, Y:372.59, Z:7.89 [[-6.92408656e-01 -7.21491394e-01 4.51912010e-03 2.92944872e+01] [ 7.21474628e-01 -6.92423388e-01 -4.92069715e-03 3.72587936e+02] [ 6.67938509e-03 -1.46702804e-04 9.99977682e-01 7.88823918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5427550960001 meters 0.021401832259719106 Centerline is valid? [True, True] Translation: X:29.28, Y:372.61, Z:7.89 [[-6.94176155e-01 -7.19792155e-01 4.32667671e-03 2.92759591e+01] [ 7.19776772e-01 -6.94189621e-01 -4.70826522e-03 3.72608717e+02] [ 6.39250644e-03 -1.54124051e-04 9.99979556e-01 7.88852896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.572755096 meters 0.023941045903092074 Centerline is valid? [True, True] Translation: X:29.26, Y:372.63, Z:7.89 [[-6.95072867e-01 -7.18925655e-01 4.42862919e-03 2.92602641e+01] [ 7.18909542e-01 -6.95086956e-01 -4.81605406e-03 3.72630872e+02] [ 6.54066720e-03 -1.63724721e-04 9.99978596e-01 7.88828093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.602755096 meters 0.02222417735349314 Centerline is valid? [True, True] Translation: X:29.24, Y:372.65, Z:7.89 [[-6.95611897e-01 -7.18401896e-01 4.77543101e-03 2.92392701e+01] [ 7.18383174e-01 -6.95628266e-01 -5.18945666e-03 3.72648928e+02] [ 7.05004029e-03 -1.79258507e-04 9.99975132e-01 7.88848741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.632755096 meters 0.02522000003454929 Centerline is valid? [True, True] Translation: X:29.22, Y:372.67, Z:7.89 [[-6.96140588e-01 -7.17884696e-01 5.46317021e-03 2.92244704e+01] [ 7.17860214e-01 -6.96161993e-01 -5.93231203e-03 3.72670317e+02] [ 8.06196748e-03 -2.07930647e-04 9.99967480e-01 7.88748801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6627550960001 meters 0.022919994707438246 Centerline is valid? [True, True] Translation: X:29.20, Y:372.69, Z:7.89 [[-6.96817510e-01 -7.17227091e-01 5.53696199e-03 2.92024060e+01] [ 7.17201956e-01 -6.96839475e-01 -6.00836611e-03 3.72687420e+02] [ 8.16773663e-03 -2.15614746e-04 9.99966620e-01 7.88801976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.692755096 meters 0.023047471342553343 Centerline is valid? [True, True] Translation: X:29.18, Y:372.71, Z:7.89 [[-6.97037949e-01 -7.17012237e-01 5.61682868e-03 2.91835746e+01] [ 7.16986401e-01 -6.97060545e-01 -6.09071285e-03 3.72706934e+02] [ 8.28238531e-03 -2.18268213e-04 9.99965677e-01 7.88857025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.722755096 meters 0.023089229491001104 Centerline is valid? [True, True] Translation: X:29.16, Y:372.73, Z:7.89 [[-6.97157364e-01 -7.16896862e-01 5.52261483e-03 2.91645851e+01] [ 7.16871915e-01 -6.97179205e-01 -5.98441068e-03 3.72726279e+02] [ 8.14045745e-03 -2.13068502e-04 9.99966843e-01 7.88926769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.752755096 meters 0.02313596601583209 Centerline is valid? [True, True] Translation: X:29.15, Y:372.75, Z:7.89 [[-6.97085943e-01 -7.16968111e-01 5.28365356e-03 2.91453280e+01] [ 7.16945308e-01 -6.97105938e-01 -5.72160596e-03 3.72746163e+02] [ 7.78547528e-03 -2.00360452e-04 9.99969673e-01 7.88978943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7827550960001 meters 0.02315020214316888 Centerline is valid? [True, True] Translation: X:29.13, Y:372.76, Z:7.89 [[-6.96915776e-01 -7.17137931e-01 4.64644249e-03 2.91271723e+01] [ 7.17120322e-01 -6.96931244e-01 -5.02851718e-03 3.72764020e+02] [ 6.84439135e-03 -1.72394618e-04 9.99976562e-01 7.89152656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.812755096 meters 0.02302009257855143 Centerline is valid? [True, True] Translation: X:29.11, Y:372.78, Z:7.89 [[-6.96842688e-01 -7.17213124e-01 3.95005607e-03 2.91083188e+01] [ 7.17200412e-01 -6.96853869e-01 -4.27258755e-03 3.72783229e+02] [ 5.81696771e-03 -1.44339555e-04 9.99983071e-01 7.89301543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.842755096 meters 0.02184531442233803 Centerline is valid? [True, True] Translation: X:29.09, Y:372.80, Z:7.89 [[-6.96579364e-01 -7.17472023e-01 3.32954980e-03 2.90876041e+01] [ 7.17463005e-01 -6.96587312e-01 -3.59918296e-03 3.72801854e+02] [ 4.90163522e-03 -1.18287769e-04 9.99987980e-01 7.89464559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.872755096 meters 0.022049120795688628 Centerline is valid? [True, True] Translation: X:29.07, Y:372.82, Z:7.90 [[-6.95816025e-01 -7.18214917e-01 2.71894147e-03 2.90693010e+01] [ 7.18208913e-01 -6.95821331e-01 -2.93807651e-03 3.72820564e+02] [ 4.00206785e-03 -9.15927189e-05 9.99991988e-01 7.89594876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.902755096 meters 0.021001124017345132 Centerline is valid? [True, True] Translation: X:29.05, Y:372.84, Z:7.90 [[-6.95326230e-01 -7.18689437e-01 2.63190501e-03 2.90485251e+01] [ 7.18683820e-01 -6.95331206e-01 -2.84271559e-03 3.72838752e+02] [ 3.87307536e-03 -8.51071668e-05 9.99992496e-01 7.89652748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.932755096 meters 0.021404479461453792 Centerline is valid? [True, True] Translation: X:29.03, Y:372.86, Z:7.90 [[-6.94486150e-01 -7.19504097e-01 1.68591141e-03 2.90301108e+01] [ 7.19501795e-01 -6.94488194e-01 -1.82073783e-03 3.72857205e+02] [ 2.48087390e-03 -5.14609184e-05 9.99996921e-01 7.89770015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.962755096 meters 0.020435762052212217 Centerline is valid? [True, True] Translation: X:29.01, Y:372.88, Z:7.90 [[-6.94361503e-01 -7.19624883e-01 1.45978831e-03 2.90095124e+01] [ 7.19623159e-01 -6.94363036e-01 -1.57566772e-03 3.72875516e+02] [ 2.14751274e-03 -4.35855280e-05 9.99997693e-01 7.89825368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.992755096 meters 0.020572061732439795 Centerline is valid? [True, True] Translation: X:28.99, Y:372.90, Z:7.90 [[-6.94368237e-01 -7.19619278e-01 9.20052869e-04 2.89908873e+01] [ 7.19618593e-01 -6.94368846e-01 -9.93409529e-04 3.72895032e+02] [ 1.35373270e-03 -2.77048728e-05 9.99999083e-01 7.89921175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.022755096 meters 0.020777690241402434 Centerline is valid? [True, True] Translation: X:28.97, Y:372.91, Z:7.90 [[-6.94375767e-01 -7.19612594e-01 -9.59896232e-05 2.89713634e+01] [ 7.19612587e-01 -6.94375774e-01 1.00492204e-04 3.72914526e+02] [-1.38968325e-04 7.04010326e-07 9.99999990e-01 7.90067903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.052755096 meters 0.02058619839392915 Centerline is valid? [True, True] Translation: X:28.95, Y:372.93, Z:7.90 [[-6.94361380e-01 -7.19626397e-01 -3.49614820e-04 2.89519620e+01] [ 7.19626301e-01 -6.94361468e-01 3.73082597e-04 3.72933692e+02] [-5.11239145e-04 7.46212796e-06 9.99999869e-01 7.90092407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.082755096 meters 0.02069683718503648 Centerline is valid? [True, True] Translation: X:28.93, Y:372.95, Z:7.90 [[-6.94314762e-01 -7.19671234e-01 -5.72138105e-04 2.89316200e+01] [ 7.19670974e-01 -6.94314997e-01 6.11915268e-04 3.72952650e+02] [-8.37621883e-04 1.31106167e-05 9.99999649e-01 7.90064383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.112755096 meters 0.020841267074548725 Centerline is valid? [True, True] Translation: X:28.91, Y:372.97, Z:7.90 [[-6.94383117e-01 -7.19605098e-01 -7.67980430e-04 2.89122325e+01] [ 7.19604629e-01 -6.94383541e-01 8.21767779e-04 3.72971647e+02] [-1.12462125e-03 1.79793986e-05 9.99999367e-01 7.90043464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.142755096 meters 0.022041926316725705 Centerline is valid? [True, True] Translation: X:28.90, Y:372.99, Z:7.90 [[-6.94513696e-01 -7.19479151e-01 -6.90378099e-04 2.88953128e+01] [ 7.19478773e-01 -6.94514039e-01 7.37779978e-04 3.72991502e+02] [-1.01029459e-03 1.56859114e-05 9.99999490e-01 7.90097230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1727550960001 meters 0.02128523640151493 Centerline is valid? [True, True] Translation: X:28.87, Y:373.01, Z:7.90 [[-6.94823566e-01 -7.19180079e-01 -4.75834488e-04 2.88743703e+01] [ 7.19179900e-01 -6.94823729e-01 5.07109822e-04 3.73008079e+02] [-6.95324375e-04 1.01412554e-05 9.99999758e-01 7.89927982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.202755096 meters 0.021460463846067104 Centerline is valid? [True, True] Translation: X:28.86, Y:373.03, Z:7.90 [[-6.95251656e-01 -7.18766258e-01 -4.49880990e-04 2.88557097e+01] [ 7.18766098e-01 -6.95251801e-01 4.78928914e-04 3.73027239e+02] [-6.57018512e-04 9.61691636e-06 9.99999784e-01 7.89909318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.232755096 meters 0.021843804654157806 Centerline is valid? [True, True] Translation: X:28.84, Y:373.05, Z:7.90 [[-6.95828328e-01 -7.18208126e-01 1.62947031e-04 2.88383735e+01] [ 7.18208104e-01 -6.95828347e-01 -1.77538088e-04 3.73045675e+02] [ 2.40892461e-04 -6.50615303e-06 9.99999971e-01 7.89864557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.262755096 meters 0.022120065111196505 Centerline is valid? [True, True] Translation: X:28.82, Y:373.06, Z:7.90 [[-6.96287904e-01 -7.17762286e-01 6.74870384e-04 2.88209680e+01] [ 7.17761921e-01 -6.96288231e-01 -7.24293176e-04 3.73063987e+02] [ 9.89774631e-04 -1.99203144e-05 9.99999510e-01 7.89790338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2927550960001 meters 0.022278669394385827 Centerline is valid? [True, True] Translation: X:28.80, Y:373.08, Z:7.90 [[-6.96686224e-01 -7.17374249e-01 1.57873643e-03 2.88027649e+01] [ 7.17372259e-01 -6.96688011e-01 -1.69052419e-03 3.73082726e+02] [ 2.31262527e-03 -4.52231996e-05 9.99997325e-01 7.89723589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.322755096 meters 0.022654724746520433 Centerline is valid? [True, True] Translation: X:28.79, Y:373.10, Z:7.90 [[-6.97052278e-01 -7.17014326e-01 2.92906196e-03 2.87851601e+01] [ 7.17007492e-01 -6.97058427e-01 -3.13151911e-03 3.73101228e+02] [ 4.28707138e-03 -8.26731568e-05 9.99990807e-01 7.89569727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.352755096 meters 0.022610629401649235 Centerline is valid? [True, True] Translation: X:28.77, Y:373.12, Z:7.89 [[-6.97093655e-01 -7.16970963e-01 3.61593256e-03 2.87670311e+01] [ 7.16960563e-01 -6.97103026e-01 -3.86306265e-03 3.73120074e+02] [ 5.29038127e-03 -1.00435418e-04 9.99986001e-01 7.89449187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.382755096 meters 0.022727068488504906 Centerline is valid? [True, True] Translation: X:28.75, Y:373.14, Z:7.89 [[-6.97082232e-01 -7.16974271e-01 4.92510689e-03 2.87493212e+01] [ 7.16955010e-01 -6.97099618e-01 -5.25705501e-03 3.73137873e+02] [ 7.20246331e-03 -1.33519583e-04 9.99974053e-01 7.89332818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4127550960001 meters 0.02279327730675 Centerline is valid? [True, True] Translation: X:28.73, Y:373.16, Z:7.89 [[-6.97088097e-01 -7.16965856e-01 5.30534155e-03 2.87313418e+01] [ 7.16943535e-01 -6.97108271e-01 -5.65923943e-03 3.73156618e+02] [ 7.75587892e-03 -1.41358124e-04 9.99969913e-01 7.89313858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.442755096 meters 0.022044224647688352 Centerline is valid? [True, True] Translation: X:28.71, Y:373.17, Z:7.89 [[-6.97257336e-01 -7.16793368e-01 6.28287831e-03 2.87121580e+01] [ 7.16762106e-01 -6.97285623e-01 -6.69657663e-03 3.73174647e+02] [ 9.18102244e-03 -1.65908096e-04 9.99957840e-01 7.89266625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.472755096 meters 0.022038941874126063 Centerline is valid? [True, True] Translation: X:28.69, Y:373.19, Z:7.89 [[-6.97709743e-01 -7.16349313e-01 6.69147787e-03 2.86939721e+01] [ 7.16313886e-01 -6.97741807e-01 -7.12651832e-03 3.73193580e+02] [ 9.77400036e-03 -1.79042754e-04 9.99952217e-01 7.89280611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.502755096 meters 0.02321175217951545 Centerline is valid? [True, True] Translation: X:28.68, Y:373.21, Z:7.89 [[-6.98793839e-01 -7.15290704e-01 6.81016852e-03 2.86784222e+01] [ 7.15254013e-01 -6.98826996e-01 -7.24752154e-03 3.73214464e+02] [ 9.94321440e-03 -1.93523044e-04 9.99950546e-01 7.89273353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5327550960001 meters 0.022234891922465562 Centerline is valid? [True, True] Translation: X:28.66, Y:373.23, Z:7.89 [[-6.99343490e-01 -7.14753238e-01 6.81845586e-03 2.86589924e+01] [ 7.14716483e-01 -6.99376701e-01 -7.25117558e-03 3.73232951e+02] [ 9.95147039e-03 -1.97799646e-04 9.99950463e-01 7.89410145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.562755096 meters 0.02390409243176518 Centerline is valid? [True, True] Translation: X:28.64, Y:373.26, Z:7.89 [[-7.00308231e-01 -7.13809430e-01 6.66925374e-03 2.86428405e+01] [ 7.13774270e-01 -7.00339958e-01 -7.08767734e-03 3.73255403e+02] [ 9.72999580e-03 -2.03217054e-04 9.99952642e-01 7.89438636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.592755096 meters 0.02444387130752603 Centerline is valid? [True, True] Translation: X:28.63, Y:373.28, Z:7.90 [[-7.01826571e-01 -7.12319326e-01 6.37507010e-03 2.86252387e+01] [ 7.12287179e-01 -7.01855493e-01 -6.77063830e-03 3.73276448e+02] [ 9.29723448e-03 -2.10933163e-04 9.99956758e-01 7.89560162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.622755096 meters 0.02508858390923455 Centerline is valid? [True, True] Translation: X:28.61, Y:373.30, Z:7.90 [[-7.02808797e-01 -7.11349604e-01 6.44483367e-03 2.86076793e+01] [ 7.11316752e-01 -7.02838311e-01 -6.84013382e-03 3.73297553e+02] [ 9.39540249e-03 -2.22988068e-04 9.99955837e-01 7.89642769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.652755096 meters 0.026247124435374136 Centerline is valid? [True, True] Translation: X:28.59, Y:373.32, Z:7.90 [[-7.04383765e-01 -7.09795428e-01 5.82772489e-03 2.85917224e+01] [ 7.09768546e-01 -7.04407839e-01 -6.18131334e-03 3.73320030e+02] [ 8.49256304e-03 -2.17680941e-04 9.99963914e-01 7.89837586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.682755096 meters 0.024797667566792015 Centerline is valid? [True, True] Translation: X:28.57, Y:373.34, Z:7.90 [[-7.05217395e-01 -7.08970913e-01 5.35442151e-03 2.85713986e+01] [ 7.08948225e-01 -7.05237692e-01 -5.67565971e-03 3.73338400e+02] [ 7.80001751e-03 -2.06566331e-04 9.99969558e-01 7.90010455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.712755096 meters 0.025157160072548295 Centerline is valid? [True, True] Translation: X:28.55, Y:373.36, Z:7.90 [[-7.05949904e-01 -7.08243488e-01 5.08867885e-03 2.85533299e+01] [ 7.08223004e-01 -7.05968216e-01 -5.39027807e-03 3.73358678e+02] [ 7.41007487e-03 -2.01346868e-04 9.99972525e-01 7.90098550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.742755096 meters 0.024832837710253457 Centerline is valid? [True, True] Translation: X:28.54, Y:373.38, Z:7.90 [[-7.06119264e-01 -7.08075602e-01 4.95251196e-03 2.85351681e+01] [ 7.08056222e-01 -7.06136605e-01 -5.24237782e-03 3.73378809e+02] [ 7.20914981e-03 -1.95087061e-04 9.99973995e-01 7.90178490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.772755096 meters 0.02462868551894529 Centerline is valid? [True, True] Translation: X:28.52, Y:373.40, Z:7.90 [[-7.05901321e-01 -7.08294043e-01 4.78275347e-03 2.85162908e+01] [ 7.08275997e-01 -7.05917499e-01 -5.05937884e-03 3.73399113e+02] [ 6.95975726e-03 -1.83912724e-04 9.99975764e-01 7.90230841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.802755096 meters 0.024598888523595316 Centerline is valid? [True, True] Translation: X:28.50, Y:373.42, Z:7.90 [[-7.05765722e-01 -7.08429969e-01 4.66095259e-03 2.84987907e+01] [ 7.08412852e-01 -7.05781091e-01 -4.92783728e-03 3.73418560e+02] [ 6.78063982e-03 -1.76019924e-04 9.99976996e-01 7.90257219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.832755096 meters 0.02597477959251576 Centerline is valid? [True, True] Translation: X:28.48, Y:373.44, Z:7.90 [[-7.04696281e-01 -7.09495067e-01 4.46117409e-03 2.84818721e+01] [ 7.09479428e-01 -7.04710384e-01 -4.71327716e-03 3.73440614e+02] [ 6.48788260e-03 -1.56317642e-04 9.99978941e-01 7.90256370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.862755096 meters 0.023668216005289972 Centerline is valid? [True, True] Translation: X:28.46, Y:373.46, Z:7.90 [[-7.04525341e-01 -7.09665800e-01 4.30067145e-03 2.84603340e+01] [ 7.09651288e-01 -7.04538452e-01 -4.54087585e-03 3.73457257e+02] [ 6.25249270e-03 -1.47185071e-04 9.99980442e-01 7.90337575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.892755096 meters 0.023654423363189882 Centerline is valid? [True, True] Translation: X:28.44, Y:373.48, Z:7.90 [[-7.03898748e-01 -7.10287196e-01 4.31889201e-03 2.84429164e+01] [ 7.10272591e-01 -7.03911983e-01 -4.55693882e-03 3.73477253e+02] [ 6.27685513e-03 -1.40032909e-04 9.99980291e-01 7.90375295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9227550960001 meters 0.025409197603231036 Centerline is valid? [True, True] Translation: X:28.43, Y:373.50, Z:7.90 [[-7.03942268e-01 -7.10242027e-01 4.64181497e-03 2.84276375e+01] [ 7.10225177e-01 -7.03957556e-01 -4.89461411e-03 3.73499531e+02] [ 6.74400137e-03 -1.48791894e-04 9.99977248e-01 7.90355498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.952755096 meters 0.023623417789367728 Centerline is valid? [True, True] Translation: X:28.41, Y:373.52, Z:7.90 [[-7.03929584e-01 -7.10254247e-01 4.69537502e-03 2.84067417e+01] [ 7.10237030e-01 -7.03945228e-01 -4.94746451e-03 3.73517805e+02] [ 6.81924452e-03 -1.47837418e-04 9.99976738e-01 7.90417819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.982755096 meters 0.023651314021054397 Centerline is valid? [True, True] Translation: X:28.39, Y:373.54, Z:7.91 [[-7.04081979e-01 -7.10106087e-01 4.23221404e-03 2.83889888e+01] [ 7.10092115e-01 -7.04094686e-01 -4.45660616e-03 3.73538203e+02] [ 6.14454258e-03 -1.32554268e-04 9.99981113e-01 7.90512709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.012755096 meters 0.02307122383416123 Centerline is valid? [True, True] Translation: X:28.37, Y:373.56, Z:7.91 [[-7.03665973e-01 -7.10519814e-01 3.97397631e-03 2.83704990e+01] [ 7.10507517e-01 -7.03677185e-01 -4.18194556e-03 3.73558066e+02] [ 5.76775164e-03 -1.19152758e-04 9.99983359e-01 7.90630363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0427550960001 meters 0.023529890284408692 Centerline is valid? [True, True] Translation: X:28.35, Y:373.58, Z:7.91 [[-7.03679717e-01 -7.10504111e-01 4.33188213e-03 2.83529536e+01] [ 7.10489520e-01 -7.03693039e-01 -4.55509952e-03 3.73577913e+02] [ 6.28473223e-03 -1.27574283e-04 9.99980243e-01 7.90615992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.072755096 meters 0.023307435863101487 Centerline is valid? [True, True] Translation: X:28.33, Y:373.60, Z:7.90 [[-7.03606833e-01 -7.10574157e-01 4.66810847e-03 2.83332819e+01] [ 7.10557241e-01 -7.03622306e-01 -4.90484144e-03 3.73596643e+02] [ 6.76983882e-03 -1.34121676e-04 9.99977075e-01 7.90359098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.102755096 meters 0.023687221568081045 Centerline is valid? [True, True] Translation: X:28.32, Y:373.62, Z:7.91 [[-7.03781378e-01 -7.10401323e-01 4.66173183e-03 2.83169047e+01] [ 7.10384473e-01 -7.03796805e-01 -4.89467140e-03 3.73617373e+02] [ 6.75809300e-03 -1.33156667e-04 9.99977155e-01 7.90530061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.132755096 meters 0.024045581192661505 Centerline is valid? [True, True] Translation: X:28.30, Y:373.64, Z:7.90 [[-7.04168969e-01 -7.10014207e-01 5.08811659e-03 2.83003817e+01] [ 7.09994155e-01 -7.04187337e-01 -5.33811874e-03 3.73636822e+02] [ 7.37312741e-03 -1.46404532e-04 9.99972807e-01 7.90479190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1627550960001 meters 0.02355752433424303 Centerline is valid? [True, True] Translation: X:28.28, Y:373.66, Z:7.90 [[-7.04950005e-01 -7.09236050e-01 5.45125262e-03 2.82821163e+01] [ 7.09213046e-01 -7.04971063e-01 -5.71460434e-03 3.73656995e+02] [ 7.89597876e-03 -1.62410888e-04 9.99968813e-01 7.90483361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.192755096 meters 0.023455091595323215 Centerline is valid? [True, True] Translation: X:28.26, Y:373.68, Z:7.90 [[-7.05855772e-01 -7.08336214e-01 5.23812344e-03 2.82630372e+01] [ 7.08314977e-01 -7.05875189e-01 -5.48744365e-03 3.73676791e+02] [ 7.58441643e-03 -1.63102492e-04 9.99971225e-01 7.90423865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.222755096 meters 0.024654158830184895 Centerline is valid? [True, True] Translation: X:28.25, Y:373.70, Z:7.91 [[-7.06895834e-01 -7.07296931e-01 5.41576403e-03 2.82478830e+01] [ 7.07274228e-01 -7.06916558e-01 -5.66986091e-03 3.73699094e+02] [ 7.83876849e-03 -1.77570736e-04 9.99969261e-01 7.90561926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.252755096 meters 0.024210981170880278 Centerline is valid? [True, True] Translation: X:28.23, Y:373.72, Z:7.91 [[-7.07503061e-01 -7.06689941e-01 5.36156955e-03 2.82289160e+01] [ 7.06667695e-01 -7.07523353e-01 -5.61019403e-03 3.73718284e+02] [ 7.75810335e-03 -1.80381453e-04 9.99969889e-01 7.90549744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2827550960001 meters 0.024159281676224227 Centerline is valid? [True, True] Translation: X:28.21, Y:373.74, Z:7.91 [[-7.08059959e-01 -7.06129584e-01 5.66615168e-03 2.82106808e+01] [ 7.06104756e-01 -7.08082603e-01 -5.92453689e-03 3.73738402e+02] [ 8.19559420e-03 -1.94030700e-04 9.99966397e-01 7.90582501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.312755096 meters 0.02486800838531276 Centerline is valid? [True, True] Translation: X:28.19, Y:373.76, Z:7.91 [[-7.08825155e-01 -7.05358562e-01 6.01647389e-03 2.81946211e+01] [ 7.05330582e-01 -7.08850657e-01 -6.28625929e-03 3.73760684e+02] [ 8.69884828e-03 -2.12255688e-04 9.99962142e-01 7.90608717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.342755096 meters 0.02486800838531276 Centerline is valid? [True, True] Translation: X:28.18, Y:373.78, Z:7.91 [[-7.09072304e-01 -7.05110094e-01 6.01861827e-03 2.81759499e+01] [ 7.05082121e-01 -7.09097815e-01 -6.28420581e-03 3.73779883e+02] [ 8.69884601e-03 -2.12336157e-04 9.99962142e-01 7.90623133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.372755096 meters 0.02634998278272859 Centerline is valid? [True, True] Translation: X:28.16, Y:373.80, Z:7.91 [[-7.09372260e-01 -7.04807247e-01 6.14342587e-03 2.81604437e+01] [ 7.04778128e-01 -7.09398828e-01 -6.41036744e-03 3.73801616e+02] [ 8.87621254e-03 -2.17584648e-04 9.99960582e-01 7.90640655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.402755096 meters 0.024394651736683287 Centerline is valid? [True, True] Translation: X:28.14, Y:373.82, Z:7.91 [[-7.09748966e-01 -7.04426018e-01 6.35543934e-03 2.81397488e+01] [ 7.04394877e-01 -7.09777384e-01 -6.62744724e-03 3.73819916e+02] [ 9.17949337e-03 -2.27084910e-04 9.99957842e-01 7.90695313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.432755096 meters 0.025110862635176947 Centerline is valid? [True, True] Translation: X:28.12, Y:373.84, Z:7.91 [[-7.10100526e-01 -7.04067870e-01 6.75856033e-03 2.81234356e+01] [ 7.04032689e-01 -7.10132647e-01 -7.04247556e-03 3.73840011e+02] [ 9.75785510e-03 -2.42618189e-04 9.99952362e-01 7.90643776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.462755096 meters 0.024996180516345643 Centerline is valid? [True, True] Translation: X:28.11, Y:373.86, Z:7.91 [[-7.10370655e-01 -7.03788346e-01 7.44961803e-03 2.81052668e+01] [ 7.03745652e-01 -7.10409666e-01 -7.75662206e-03 3.73860757e+02] [ 1.07513009e-02 -2.67440397e-04 9.99942167e-01 7.90628615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.492755096 meters 0.02481449945889159 Centerline is valid? [True, True] Translation: X:28.09, Y:373.88, Z:7.91 [[-7.10114199e-01 -7.04041661e-01 7.94758661e-03 2.80885283e+01] [ 7.03993153e-01 -7.10158618e-01 -8.26914408e-03 3.73882830e+02] [ 1.14658691e-02 -2.76990069e-04 9.99934226e-01 7.90558152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.522755096 meters 0.02462281750886653 Centerline is valid? [True, True] Translation: X:28.07, Y:373.90, Z:7.90 [[-7.09817931e-01 -7.04332949e-01 8.57914241e-03 2.80699254e+01] [ 7.04276526e-01 -7.09869716e-01 -8.91978186e-03 3.73903083e+02] [ 1.23725696e-02 -2.89332497e-04 9.99923415e-01 7.90464507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.552755096 meters 0.02607124348842666 Centerline is valid? [True, True] Translation: X:28.05, Y:373.92, Z:7.90 [[-7.08294040e-01 -7.05849873e-01 9.77292159e-03 2.80515182e+01] [ 7.05776896e-01 -7.08361398e-01 -1.01539327e-02 3.73922762e+02] [ 1.40899125e-02 -2.94467783e-04 9.99900689e-01 7.89885436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.582755096 meters 0.022655012610702154 Centerline is valid? [True, True] Translation: X:28.03, Y:373.94, Z:7.90 [[-7.06935232e-01 -7.07210472e-01 9.79416992e-03 2.80304755e+01] [ 7.07137402e-01 -7.07003026e-01 -1.01693470e-02 3.73941054e+02] [ 1.41163765e-02 -2.63245825e-04 9.99900324e-01 7.90457461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.612755096 meters 0.021863003966088514 Centerline is valid? [True, True] Translation: X:28.01, Y:373.96, Z:7.90 [[-7.05190358e-01 -7.08949376e-01 9.86618855e-03 2.80086574e+01] [ 7.08875488e-01 -7.05259337e-01 -1.02376934e-02 3.73959711e+02] [ 1.42162279e-02 -2.25623439e-04 9.99898919e-01 7.90471695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.642755096 meters 0.022539310853667782 Centerline is valid? [True, True] Translation: X:27.99, Y:373.98, Z:7.90 [[-7.01459405e-01 -7.12636844e-01 1.01701647e-02 2.79875599e+01] [ 7.12558813e-01 -7.01533111e-01 -1.05466522e-02 3.73976704e+02] [ 1.46506403e-02 -1.51207928e-04 9.99892662e-01 7.90009183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6727550960001 meters 0.02044837721301796 Centerline is valid? [True, True] Translation: X:27.97, Y:373.99, Z:7.90 [[-7.00453219e-01 -7.13622206e-01 1.04228485e-02 2.79666181e+01] [ 7.13540467e-01 -7.00530749e-01 -1.08014714e-02 3.73994136e+02] [ 1.50096957e-02 -1.28801274e-04 9.99887340e-01 7.90406314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.702755096 meters 0.02040641856860937 Centerline is valid? [True, True] Translation: X:27.95, Y:374.01, Z:7.90 [[-6.98496216e-01 -7.15532142e-01 1.08069924e-02 2.79460454e+01] [ 7.15444618e-01 -6.98579807e-01 -1.11915829e-02 3.74011940e+02] [ 1.55574839e-02 -8.54737387e-05 9.99878971e-01 7.90352326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.732755096 meters 0.02019921625723231 Centerline is valid? [True, True] Translation: X:27.93, Y:374.03, Z:7.90 [[-6.98448930e-01 -7.15583462e-01 1.04595048e-02 2.79271806e+01] [ 7.15501600e-01 -6.98527239e-01 -1.08238843e-02 3.74030465e+02] [ 1.50516416e-02 -7.61379422e-05 9.99886715e-01 7.90424403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.762755096 meters 0.020904550914584635 Centerline is valid? [True, True] Translation: X:27.91, Y:374.05, Z:7.90 [[-6.98349273e-01 -7.15679998e-01 1.05087251e-02 2.79074798e+01] [ 7.15597495e-01 -6.98428333e-01 -1.08668883e-02 3.74049202e+02] [ 1.51168059e-02 -6.88661690e-05 9.99885732e-01 7.90288808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7927550960001 meters 0.021747961979142468 Centerline is valid? [True, True] Translation: X:27.89, Y:374.07, Z:7.90 [[-6.99211943e-01 -7.14827672e-01 1.11381528e-02 2.78889254e+01] [ 7.14735020e-01 -6.99300645e-01 -1.15090664e-02 3.74067713e+02] [ 1.60159166e-02 -8.64488231e-05 9.99871733e-01 7.89989105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.822755096 meters 0.020834930404298107 Centerline is valid? [True, True] Translation: X:27.87, Y:374.09, Z:7.90 [[-7.00565878e-01 -7.13495592e-01 1.14669924e-02 2.78716208e+01] [ 7.13397356e-01 -7.00659709e-01 -1.18399956e-02 3.74086877e+02] [ 1.64822442e-02 -1.14174819e-04 9.99864152e-01 7.90153149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.852755096 meters 0.02117179761260399 Centerline is valid? [True, True] Translation: X:27.86, Y:374.11, Z:7.90 [[-7.02198421e-01 -7.11891413e-01 1.13134374e-02 2.78550309e+01] [ 7.11795708e-01 -7.02289539e-01 -1.16736661e-02 3.74106702e+02] [ 1.62556914e-02 -1.44373734e-04 9.99867857e-01 7.90156284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.882755096 meters 0.02112413519334581 Centerline is valid? [True, True] Translation: X:27.84, Y:374.13, Z:7.90 [[-7.03132574e-01 -7.10969670e-01 1.12566660e-02 2.78359417e+01] [ 7.10874934e-01 -7.03222656e-01 -1.16070760e-02 3.74126228e+02] [ 1.61682215e-02 -1.59231524e-04 9.99869273e-01 7.90312396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9127550960001 meters 0.021294279622932975 Centerline is valid? [True, True] Translation: X:27.82, Y:374.15, Z:7.90 [[-7.04199038e-01 -7.09912424e-01 1.13165972e-02 2.78176223e+01] [ 7.09816677e-01 -7.04289940e-01 -1.16604848e-02 3.74145856e+02] [ 1.62480885e-02 -1.78592756e-04 9.99867975e-01 7.90339805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.942755096 meters 0.02194555192634949 Centerline is valid? [True, True] Translation: X:27.80, Y:374.17, Z:7.90 [[-7.05131020e-01 -7.08983294e-01 1.15296581e-02 2.77989931e+01] [ 7.08883925e-01 -7.05225248e-01 -1.18714736e-02 3.74165759e+02] [ 1.65476825e-02 -1.97754981e-04 9.99863058e-01 7.90171227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.972755096 meters 0.02168714465833577 Centerline is valid? [True, True] Translation: X:27.78, Y:374.18, Z:7.90 [[-7.05903119e-01 -7.08217696e-01 1.13349745e-02 2.77808807e+01] [ 7.08121694e-01 -7.05994089e-01 -1.16624740e-02 3.74184847e+02] [ 1.62619955e-02 -2.06035438e-04 9.99867744e-01 7.90214952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.002755096 meters 0.02193022385841065 Centerline is valid? [True, True] Translation: X:27.76, Y:374.20, Z:7.90 [[-7.05456250e-01 -7.08664211e-01 1.12479355e-02 2.77615461e+01] [ 7.08569871e-01 -7.05545889e-01 -1.15644609e-02 3.74203912e+02] [ 1.61312542e-02 -1.88273010e-04 9.99869865e-01 7.90157211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0327550960001 meters 0.0234149409788219 Centerline is valid? [True, True] Translation: X:27.74, Y:374.22, Z:7.90 [[-7.04685976e-01 -7.09422357e-01 1.17300888e-02 2.77441948e+01] [ 7.09320014e-01 -7.04783577e-01 -1.20510336e-02 3.74223797e+02] [ 1.68164466e-02 -1.71807614e-04 9.99858579e-01 7.89834821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.062755096 meters 0.02245979704109853 Centerline is valid? [True, True] Translation: X:27.72, Y:374.24, Z:7.90 [[-7.04723140e-01 -7.09386068e-01 1.16920257e-02 2.77248560e+01] [ 7.09284528e-01 -7.04820105e-01 -1.20032828e-02 3.74242397e+02] [ 1.67557364e-02 -1.66018189e-04 9.99859599e-01 7.90038240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.092755096 meters 0.020934259469103343 Centerline is valid? [True, True] Translation: X:27.70, Y:374.26, Z:7.90 [[-7.03723253e-01 -7.10378425e-01 1.16652326e-02 2.77047725e+01] [ 7.10277626e-01 -7.03819917e-01 -1.19673964e-02 3.74260724e+02] [ 1.67116032e-02 -1.36181425e-04 9.99860342e-01 7.90308078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.122755096 meters 0.02156318752589087 Centerline is valid? [True, True] Translation: X:27.69, Y:374.28, Z:7.90 [[-7.02227883e-01 -7.11858574e-01 1.15485888e-02 2.76855055e+01] [ 7.11760122e-01 -7.02322833e-01 -1.18392075e-02 3.74278596e+02] [ 1.65386789e-02 -9.39966517e-05 9.99863222e-01 7.90133557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.152755096 meters 0.020549173727860543 Centerline is valid? [True, True] Translation: X:27.67, Y:374.30, Z:7.90 [[-7.01910405e-01 -7.12175507e-01 1.13062127e-02 2.76650443e+01] [ 7.12081319e-01 -7.02001454e-01 -1.15825231e-02 3.74297176e+02] [ 1.61857670e-02 -7.89506600e-05 9.99868999e-01 7.90400955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.182755096 meters 0.020367351672350317 Centerline is valid? [True, True] Translation: X:27.65, Y:374.32, Z:7.90 [[-7.00087120e-01 -7.13974587e-01 1.08771961e-02 2.76450733e+01] [ 7.13887748e-01 -7.00171613e-01 -1.11353049e-02 3.74315173e+02] [ 1.55662286e-02 -3.05864991e-05 9.99878838e-01 7.90435093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.212755096 meters 0.020328081849531155 Centerline is valid? [True, True] Translation: X:27.63, Y:374.33, Z:7.90 [[-6.99422515e-01 -7.14622525e-01 1.10811445e-02 2.76262262e+01] [ 7.14532611e-01 -6.99510290e-01 -1.13358468e-02 3.74333541e+02] [ 1.58522261e-02 -1.07074110e-05 9.99874346e-01 7.90372692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.242755096 meters 0.020238724162313194 Centerline is valid? [True, True] Translation: X:27.61, Y:374.35, Z:7.91 [[-6.98508582e-01 -7.15519023e-01 1.08760667e-02 2.76074539e+01] [ 7.15432639e-01 -6.98593249e-01 -1.11180680e-02 3.74353037e+02] [ 1.55531359e-02 1.50271684e-05 9.99879043e-01 7.90574622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.272755096 meters 0.02027029693991494 Centerline is valid? [True, True] Translation: X:27.59, Y:374.37, Z:7.91 [[-6.98177880e-01 -7.15847992e-01 1.04547315e-02 2.75888292e+01] [ 7.15768322e-01 -6.98256151e-01 -1.06797630e-02 3.74372892e+02] [ 1.49451675e-02 2.67913500e-05 9.99888314e-01 7.90640925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.302755096 meters 0.020242607049662128 Centerline is valid? [True, True] Translation: X:27.57, Y:374.39, Z:7.91 [[-6.98189554e-01 -7.15834390e-01 1.06053121e-02 2.75698599e+01] [ 7.15752527e-01 -6.98270094e-01 -1.08257160e-02 3.74393087e+02] [ 1.51547921e-02 3.23770722e-05 9.99885159e-01 7.90650072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.332755096 meters 0.02017289953386915 Centerline is valid? [True, True] Translation: X:27.55, Y:374.41, Z:7.91 [[-6.98873071e-01 -7.15159832e-01 1.10835812e-02 2.75526504e+01] [ 7.15070468e-01 -6.98960953e-01 -1.13053763e-02 3.74413243e+02] [ 1.58321415e-02 2.45185688e-05 9.99874664e-01 7.90542717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.362755096 meters 0.020194781760917737 Centerline is valid? [True, True] Translation: X:27.53, Y:374.43, Z:7.91 [[-6.99765624e-01 -7.14285256e-01 1.11644177e-02 2.75349253e+01] [ 7.14194604e-01 -6.99854680e-01 -1.13795433e-02 3.74433976e+02] [ 1.59417099e-02 1.05536637e-05 9.99872923e-01 7.90538000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.392755096 meters 0.020101976233172152 Centerline is valid? [True, True] Translation: X:27.52, Y:374.46, Z:7.91 [[-7.01950456e-01 -7.12139412e-01 1.10912449e-02 2.75194679e+01] [ 7.12049802e-01 -7.02038074e-01 -1.12969913e-02 3.74456951e+02] [ 1.58315090e-02 -3.24094164e-05 9.99874673e-01 7.90566556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4227550960001 meters 0.020152695762438548 Centerline is valid? [True, True] Translation: X:27.50, Y:374.48, Z:7.91 [[-7.03417530e-01 -7.10688389e-01 1.12157480e-02 2.75025155e+01] [ 7.10596701e-01 -7.03506937e-01 -1.14157270e-02 3.74477893e+02] [ 1.60033811e-02 -6.01490040e-05 9.99871936e-01 7.90593535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.452755096 meters 0.020200918129999596 Centerline is valid? [True, True] Translation: X:27.49, Y:374.50, Z:7.91 [[-7.04908145e-01 -7.09214264e-01 1.09377514e-02 2.74850797e+01] [ 7.09127008e-01 -7.04992993e-01 -1.11250265e-02 3.74498871e+02] [ 1.56010656e-02 -8.58668983e-05 9.99878292e-01 7.90645433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.482755096 meters 0.02024854424609195 Centerline is valid? [True, True] Translation: X:27.47, Y:374.52, Z:7.91 [[-7.06340156e-01 -7.07790737e-01 1.07636501e-02 2.74675598e+01] [ 7.07706189e-01 -7.06422154e-01 -1.09403177e-02 3.74519664e+02] [ 1.53471364e-02 -1.10083878e-04 9.99882220e-01 7.90722872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.512755096 meters 0.020240956939398615 Centerline is valid? [True, True] Translation: X:27.45, Y:374.54, Z:7.91 [[-7.07384722e-01 -7.06759644e-01 9.88237948e-03 2.74484837e+01] [ 7.06688370e-01 -7.07453739e-01 -1.00376900e-02 3.74539366e+02] [ 1.40855606e-02 -1.16745935e-04 9.99900787e-01 7.90919320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5427550960001 meters 0.0204726307256052 Centerline is valid? [True, True] Translation: X:27.43, Y:374.56, Z:7.91 [[-7.08534475e-01 -7.05616225e-01 9.20005410e-03 2.74301437e+01] [ 7.05554430e-01 -7.08594191e-01 -9.33905959e-03 3.74558721e+02] [ 1.31088969e-02 -1.25906753e-04 9.99914067e-01 7.91072369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.572755096 meters 0.02046833348388998 Centerline is valid? [True, True] Translation: X:27.41, Y:374.58, Z:7.91 [[-7.09180936e-01 -7.04967151e-01 9.14960592e-03 2.74105521e+01] [ 7.04906056e-01 -7.09239944e-01 -9.28193651e-03 3.74578297e+02] [ 1.30327263e-02 -1.32959799e-04 9.99915062e-01 7.91162872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.602755096 meters 0.020270489103120636 Centerline is valid? [True, True] Translation: X:27.39, Y:374.60, Z:7.91 [[-7.09744136e-01 -7.04402580e-01 8.95917243e-03 2.73903052e+01] [ 7.04344039e-01 -7.09800667e-01 -9.08230035e-03 3.74597040e+02] [ 1.27568224e-02 -1.35769723e-04 9.99918619e-01 7.91222180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.632755096 meters 0.020712266483967953 Centerline is valid? [True, True] Translation: X:27.37, Y:374.62, Z:7.91 [[-7.10690036e-01 -7.03445397e-01 9.17858409e-03 2.73725345e+01] [ 7.03383965e-01 -7.10749288e-01 -9.29770666e-03 3.74616356e+02] [ 1.30641011e-02 -1.51718607e-04 9.99914650e-01 7.91249400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6627550960001 meters 0.02096963900110105 Centerline is valid? [True, True] Translation: X:27.35, Y:374.64, Z:7.91 [[-7.12074373e-01 -7.02044596e-01 9.13627209e-03 2.73534538e+01] [ 7.01983702e-01 -7.12132962e-01 -9.24807100e-03 3.74635673e+02] [ 1.29987988e-02 -1.71800257e-04 9.99915497e-01 7.91327470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.692755096 meters 0.02111123883624138 Centerline is valid? [True, True] Translation: X:27.33, Y:374.65, Z:7.91 [[-7.12720608e-01 -7.01386335e-01 9.30286764e-03 2.73337216e+01] [ 7.01323233e-01 -7.12781296e-01 -9.40992746e-03 3.74654707e+02] [ 1.32309046e-02 -1.82332008e-04 9.99912451e-01 7.91347411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.722755096 meters 0.021253871385547234 Centerline is valid? [True, True] Translation: X:27.31, Y:374.67, Z:7.91 [[-7.13442560e-01 -7.00644766e-01 9.82982965e-03 2.73132272e+01] [ 7.00574343e-01 -7.13510246e-01 -9.93571126e-03 3.74673323e+02] [ 1.39750883e-02 -2.02032832e-04 9.99902323e-01 7.91268894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.752755096 meters 0.021443781655504448 Centerline is valid? [True, True] Translation: X:27.29, Y:374.69, Z:7.91 [[-7.13869931e-01 -7.00204129e-01 1.01930899e-02 2.72944460e+01] [ 7.00128471e-01 -7.13942668e-01 -1.02952405e-02 3.74691811e+02] [ 1.44860517e-02 -2.12990148e-04 9.99895049e-01 7.91245219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7827550960001 meters 0.02153090275505119 Centerline is valid? [True, True] Translation: X:27.27, Y:374.71, Z:7.91 [[-7.14185347e-01 -6.99881473e-01 1.02574000e-02 2.72746508e+01] [ 6.99804932e-01 -7.14258971e-01 -1.03527877e-02 3.74710099e+02] [ 1.45721643e-02 -2.15630220e-04 9.99893797e-01 7.91318377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.812755096 meters 0.021393625848756318 Centerline is valid? [True, True] Translation: X:27.25, Y:374.73, Z:7.91 [[-7.14253329e-01 -6.99816972e-01 9.91907640e-03 2.72544678e+01] [ 6.99745488e-01 -7.14322171e-01 -1.00044191e-02 3.74728860e+02] [ 1.40866785e-02 -2.04860715e-04 9.99900757e-01 7.91363858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.842755096 meters 0.021466635727841417 Centerline is valid? [True, True] Translation: X:27.24, Y:374.75, Z:7.91 [[-7.14480874e-01 -6.99586995e-01 9.75278588e-03 2.72355692e+01] [ 6.99517964e-01 -7.14547406e-01 -9.82966403e-03 3.74747228e+02] [ 1.38455330e-02 -2.00858027e-04 9.99904126e-01 7.91441620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.872755096 meters 0.021357780704476675 Centerline is valid? [True, True] Translation: X:27.21, Y:374.77, Z:7.92 [[-7.14777298e-01 -6.99295863e-01 8.87194288e-03 2.72144477e+01] [ 6.99238793e-01 -7.14832332e-01 -8.93575970e-03 3.74765094e+02] [ 1.25906914e-02 -1.83471546e-04 9.99920717e-01 7.91618834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.902755096 meters 0.02128158043161019 Centerline is valid? [True, True] Translation: X:27.19, Y:374.78, Z:7.92 [[-7.14894215e-01 -6.99178891e-01 8.66833836e-03 2.71943648e+01] [ 6.99124476e-01 -7.14946744e-01 -8.72465054e-03 3.74783393e+02] [ 1.22974918e-02 -1.76954678e-04 9.99924367e-01 7.91674990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.932755096 meters 0.02091654035581053 Centerline is valid? [True, True] Translation: X:27.17, Y:374.80, Z:7.92 [[-7.14535805e-01 -6.99541331e-01 8.97268969e-03 2.71737099e+01] [ 6.99483139e-01 -7.14592119e-01 -9.02454573e-03 3.74801397e+02] [ 1.27248561e-02 -1.72115904e-04 9.99919021e-01 7.91712717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.962755096 meters 0.02077211978406363 Centerline is valid? [True, True] Translation: X:27.15, Y:374.82, Z:7.92 [[-7.14484348e-01 -6.99595801e-01 8.82221758e-03 2.71542196e+01] [ 6.99539626e-01 -7.14538794e-01 -8.86700043e-03 3.74820124e+02] [ 1.25071330e-02 -1.63842245e-04 9.99921769e-01 7.91731756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.992755096 meters 0.02144200975897522 Centerline is valid? [True, True] Translation: X:27.14, Y:374.84, Z:7.92 [[-7.14810894e-01 -6.99259538e-01 9.02683791e-03 2.71350335e+01] [ 6.99200783e-01 -7.14867869e-01 -9.06620589e-03 3.74839250e+02] [ 1.27926273e-02 -1.69050609e-04 9.99918157e-01 7.91606589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.022755096 meters 0.02062168777718373 Centerline is valid? [True, True] Translation: X:27.12, Y:374.86, Z:7.92 [[-7.14394937e-01 -6.99683002e-01 9.14173142e-03 2.71164672e+01] [ 6.99622862e-01 -7.14453407e-01 -9.17492926e-03 3.74857217e+02] [ 1.29508832e-02 -1.58758707e-04 9.99916121e-01 7.91735297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.052755096 meters 0.02179897684596092 Centerline is valid? [True, True] Translation: X:27.10, Y:374.88, Z:7.92 [[-7.14764635e-01 -6.99306221e-01 9.07335282e-03 2.70988773e+01] [ 6.99247032e-01 -7.14822204e-01 -9.09970680e-03 3.74876292e+02] [ 1.28493156e-02 -1.59633570e-04 9.99917431e-01 7.91508213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.082755096 meters 0.02020713946668866 Centerline is valid? [True, True] Translation: X:27.08, Y:374.89, Z:7.92 [[-7.14284787e-01 -6.99789966e-01 9.55227376e-03 2.70778422e+01] [ 6.99724500e-01 -7.14348640e-01 -9.57309247e-03 3.74894384e+02] [ 1.35228078e-02 -1.53954336e-04 9.99908551e-01 7.91755024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.112755096 meters 0.020468214960214837 Centerline is valid? [True, True] Translation: X:27.06, Y:374.91, Z:7.92 [[-7.14687141e-01 -6.99373791e-01 9.92933355e-03 2.70596389e+01] [ 6.99303116e-01 -7.14756094e-01 -9.94370346e-03 3.74912932e+02] [ 1.40514173e-02 -1.63023094e-04 9.99901261e-01 7.91675931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.142755096 meters 0.020686531191487237 Centerline is valid? [True, True] Translation: X:27.04, Y:374.93, Z:7.92 [[-7.14692667e-01 -6.99360083e-01 1.04817146e-02 2.70420978e+01] [ 6.99281446e-01 -7.14769506e-01 -1.04886972e-02 3.74930723e+02] [ 1.48273861e-02 -1.66526372e-04 9.99890054e-01 7.91563221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1727550960001 meters 0.020253041378004814 Centerline is valid? [True, True] Translation: X:27.02, Y:374.95, Z:7.92 [[-7.15335005e-01 -6.98696126e-01 1.09340721e-02 2.70212372e+01] [ 6.98610603e-01 -7.15418542e-01 -1.09332238e-02 3.74948754e+02] [ 1.54614390e-02 -1.82258998e-04 9.99880448e-01 7.91629254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.202755096 meters 0.02141111278068968 Centerline is valid? [True, True] Translation: X:27.02, Y:374.93, Z:7.91 [[-6.67288529e-01 -7.44726611e-01 1.04064266e-02 2.70169972e+01] [ 7.44638225e-01 -6.67369663e-01 -1.14737908e-02 3.74927193e+02] [ 1.54897708e-02 9.26940831e-05 9.99880022e-01 7.91402995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.232755096 meters 0.020787546312929877 Centerline is valid? [True, True] Translation: X:27.00, Y:374.95, Z:7.92 [[-6.69346007e-01 -7.42880198e-01 1.02437943e-02 2.69979252e+01] [ 7.42787839e-01 -6.69424348e-01 -1.17161398e-02 3.74947681e+02] [ 1.55611335e-02 -2.33185596e-04 9.99878891e-01 7.91766365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.262755096 meters 0.020787546312929877 Centerline is valid? [True, True] Translation: X:26.98, Y:374.97, Z:7.92 [[-6.69610616e-01 -7.42641640e-01 1.02478077e-02 2.69801417e+01] [ 7.42549308e-01 -6.69688988e-01 -1.17126291e-02 3.74967706e+02] [ 1.55611300e-02 -2.33398223e-04 9.99878891e-01 7.91780765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2927550960001 meters 0.021162574819536446 Centerline is valid? [True, True] Translation: X:26.96, Y:374.99, Z:7.92 [[-6.70936555e-01 -7.41446467e-01 1.00636063e-02 2.69626567e+01] [ 7.41357415e-01 -6.71011977e-01 -1.14939143e-02 3.74988765e+02] [ 1.52749225e-02 -2.50958092e-04 9.99883300e-01 7.91803607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.322755096 meters 0.022272628128670913 Centerline is valid? [True, True] Translation: X:26.95, Y:375.01, Z:7.92 [[-6.72724838e-01 -7.39833848e-01 9.33650209e-03 2.69457663e+01] [ 7.39757145e-01 -6.72789573e-01 -1.06563553e-02 3.75010486e+02] [ 1.41654336e-02 -2.62050747e-04 9.99899631e-01 7.91764604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.352755096 meters 0.023631666337147177 Centerline is valid? [True, True] Translation: X:26.93, Y:375.03, Z:7.92 [[-6.75297491e-01 -7.37489824e-01 9.05861885e-03 2.69310499e+01] [ 7.37417507e-01 -6.75358180e-01 -1.03319340e-02 3.75032068e+02] [ 1.37375085e-02 -2.97144985e-04 9.99905592e-01 7.92012133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.382755096 meters 0.023908152921051355 Centerline is valid? [True, True] Translation: X:26.91, Y:375.05, Z:7.92 [[-6.77597536e-01 -7.35369692e-01 9.64338831e-03 2.69118598e+01] [ 7.35287632e-01 -6.77666060e-01 -1.09913437e-02 3.75052335e+02] [ 1.46176980e-02 -3.57043255e-04 9.99893092e-01 7.91991540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4127550960001 meters 0.024403353781868864 Centerline is valid? [True, True] Translation: X:26.89, Y:375.07, Z:7.92 [[-6.78725860e-01 -7.34318901e-01 1.03420890e-02 2.68935987e+01] [ 7.34224515e-01 -6.78804531e-01 -1.17801020e-02 3.75073263e+02] [ 1.56706085e-02 -4.02044577e-04 9.99877128e-01 7.91924150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.442755096 meters 0.02518632536971936 Centerline is valid? [True, True] Translation: X:26.88, Y:375.09, Z:7.92 [[-6.79858747e-01 -7.33266427e-01 1.06033582e-02 2.68760282e+01] [ 7.33167211e-01 -6.79941292e-01 -1.20697716e-02 3.75094146e+02] [ 1.60600193e-02 -4.31705235e-04 9.99870936e-01 7.91871888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.472755096 meters 0.02673975935144464 Centerline is valid? [True, True] Translation: X:26.86, Y:375.11, Z:7.92 [[-6.82049040e-01 -7.31214893e-01 1.15710104e-02 2.68599202e+01] [ 7.31096613e-01 -6.82146988e-01 -1.31616826e-02 3.75114246e+02] [ 1.75171482e-02 -5.17386500e-04 9.99846429e-01 7.91706741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.502755096 meters 0.02664392457543678 Centerline is valid? [True, True] Translation: X:26.84, Y:375.13, Z:7.92 [[-6.82893181e-01 -7.30421902e-01 1.18637518e-02 2.68406169e+01] [ 7.30297601e-01 -6.82996009e-01 -1.34857498e-02 3.75134513e+02] [ 1.79531821e-02 -5.45257092e-04 9.99838680e-01 7.91698049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5327550960001 meters 0.026984612675026158 Centerline is valid? [True, True] Translation: X:26.82, Y:375.15, Z:7.92 [[-6.84077398e-01 -7.29295877e-01 1.28700270e-02 2.68207248e+01] [ 7.29149577e-01 -6.84198176e-01 -1.46202106e-02 3.75154621e+02] [ 1.94681083e-02 -6.17180887e-04 9.99810288e-01 7.91605481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.562755096 meters 0.027044050012323802 Centerline is valid? [True, True] Translation: X:26.80, Y:375.17, Z:7.92 [[-6.84388424e-01 -7.28997496e-01 1.32339026e-02 2.68022434e+01] [ 7.28842959e-01 -6.84516067e-01 -1.50231789e-02 3.75174430e+02] [ 2.00106788e-02 -6.36252950e-04 9.99799564e-01 7.91599441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.592755096 meters 0.027565519889825904 Centerline is valid? [True, True] Translation: X:26.78, Y:375.19, Z:7.92 [[-6.84905369e-01 -7.28509253e-01 1.33754871e-02 2.67848088e+01] [ 7.28351523e-01 -6.85035653e-01 -1.51727610e-02 3.75194035e+02] [ 2.02161823e-02 -6.49849045e-04 9.99795421e-01 7.91560756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.622755096 meters 0.02685619115174389 Centerline is valid? [True, True] Translation: X:26.76, Y:375.21, Z:7.92 [[-6.85128115e-01 -7.28298567e-01 1.34411148e-02 2.67648857e+01] [ 7.28139468e-01 -6.85259639e-01 -1.52361974e-02 3.75213258e+02] [ 2.03071542e-02 -6.51740970e-04 9.99793576e-01 7.91637281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.652755096 meters 0.027212593300249298 Centerline is valid? [True, True] Translation: X:26.75, Y:375.23, Z:7.92 [[-6.85078644e-01 -7.28344222e-01 1.34887042e-02 2.67461547e+01] [ 7.28184234e-01 -6.85211119e-01 -1.52788506e-02 3.75231856e+02] [ 2.03708727e-02 -6.44952479e-04 9.99792284e-01 7.91746640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.682755096 meters 0.026608088686375545 Centerline is valid? [True, True] Translation: X:26.73, Y:375.25, Z:7.92 [[-6.84834204e-01 -7.28566731e-01 1.38791692e-02 2.67263627e+01] [ 7.28397630e-01 -6.84974523e-01 -1.57097512e-02 3.75250672e+02] [ 2.09524794e-02 -6.49020980e-04 9.99780262e-01 7.91788361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.712755096 meters 0.02534322008073612 Centerline is valid? [True, True] Translation: X:26.70, Y:375.27, Z:7.92 [[-6.83806712e-01 -7.29521553e-01 1.43764958e-02 2.67043601e+01] [ 7.29340560e-01 -6.83957529e-01 -1.62618155e-02 3.75268333e+02] [ 2.16962574e-02 -6.34577066e-04 9.99764407e-01 7.91867175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.742755096 meters 0.025706523805778744 Centerline is valid? [True, True] Translation: X:26.69, Y:375.29, Z:7.92 [[-6.83188667e-01 -7.30110769e-01 1.38387463e-02 2.66862319e+01] [ 7.29943391e-01 -6.83328561e-01 -1.56436342e-02 3.75288997e+02] [ 2.08779964e-02 -5.86052230e-04 9.99781859e-01 7.91902164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.772755096 meters 0.024914820891873087 Centerline is valid? [True, True] Translation: X:26.67, Y:375.31, Z:7.92 [[-6.82730861e-01 -7.30547115e-01 1.33971869e-02 2.66663443e+01] [ 7.30390527e-01 -6.82862074e-01 -1.51349393e-02 3.75309124e+02] [ 2.02052171e-02 -5.47911756e-04 9.99795704e-01 7.92107299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.802755096 meters 0.024154789150707633 Centerline is valid? [True, True] Translation: X:26.65, Y:375.33, Z:7.92 [[-6.81565053e-01 -7.31643958e-01 1.28917572e-02 2.66463882e+01] [ 7.31499337e-01 -6.81686789e-01 -1.45547774e-02 3.75329419e+02] [ 1.94370556e-02 -4.89715781e-04 9.99810963e-01 7.92388063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.832755096 meters 0.024141140846388374 Centerline is valid? [True, True] Translation: X:26.63, Y:375.35, Z:7.92 [[-6.81122544e-01 -7.32059464e-01 1.26893958e-02 2.66286648e+01] [ 7.31919616e-01 -6.81240579e-01 -1.43160586e-02 3.75348209e+02] [ 1.91247375e-02 -4.63372605e-04 9.99816998e-01 7.92431024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.862755096 meters 0.02335647864584296 Centerline is valid? [True, True] Translation: X:26.61, Y:375.37, Z:7.93 [[-6.79596505e-01 -7.33469878e-01 1.30586681e-02 2.66079066e+01] [ 7.33322225e-01 -6.79721821e-01 -1.47228025e-02 3.75366808e+02] [ 1.96749938e-02 -4.29353605e-04 9.99806336e-01 7.92502163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.892755096 meters 0.023159415700098846 Centerline is valid? [True, True] Translation: X:26.59, Y:375.39, Z:7.92 [[-6.78837411e-01 -7.34170714e-01 1.31579761e-02 2.65897752e+01] [ 7.34021148e-01 -6.78964800e-01 -1.48241649e-02 3.75385756e+02] [ 1.98172704e-02 -4.04965043e-04 9.99803537e-01 7.92494042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9227550960001 meters 0.023327597283186088 Centerline is valid? [True, True] Translation: X:26.57, Y:375.41, Z:7.92 [[-6.77990393e-01 -7.34953295e-01 1.31408221e-02 2.65721391e+01] [ 7.34804440e-01 -6.78117625e-01 -1.47959815e-02 3.75405299e+02] [ 1.97853784e-02 -3.75598869e-04 9.99804180e-01 7.92435831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.952755096 meters 0.02210355676615211 Centerline is valid? [True, True] Translation: X:26.55, Y:375.42, Z:7.93 [[-6.76852795e-01 -7.35996196e-01 1.34124388e-02 2.65525010e+01] [ 7.35841532e-01 -6.76985584e-01 -1.50917039e-02 3.75423721e+02] [ 2.01874644e-02 -3.45432458e-04 9.99796153e-01 7.92532183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.982755096 meters 0.022123505502527452 Centerline is valid? [True, True] Translation: X:26.53, Y:375.44, Z:7.93 [[-6.76753302e-01 -7.36077942e-01 1.39366905e-02 2.65347533e+01] [ 7.35911203e-01 -6.76896699e-01 -1.56703820e-02 3.75444434e+02] [ 2.09683223e-02 -3.48816116e-04 9.99780080e-01 7.92500733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.012755096 meters 0.022067116251950545 Centerline is valid? [True, True] Translation: X:26.52, Y:375.47, Z:7.92 [[-6.77001642e-01 -7.35848594e-01 1.39865375e-02 2.65171474e+01] [ 7.35680846e-01 -6.77146014e-01 -1.57152493e-02 3.75465163e+02] [ 2.10349723e-02 -3.49621877e-04 9.99778679e-01 7.92492351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0427550960001 meters 0.022654085677010015 Centerline is valid? [True, True] Translation: X:26.50, Y:375.49, Z:7.92 [[-6.78038879e-01 -7.34889978e-01 1.41420968e-02 2.65003595e+01] [ 7.34718498e-01 -6.78186242e-01 -1.58792332e-02 3.75486913e+02] [ 2.12604648e-02 -3.76277369e-04 9.99773900e-01 7.92407526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.072755096 meters 0.023079739498276654 Centerline is valid? [True, True] Translation: X:26.48, Y:375.51, Z:7.92 [[-6.79048152e-01 -7.33957891e-01 1.41216619e-02 2.64841233e+01] [ 7.33786927e-01 -6.79194859e-01 -1.58458236e-02 3.75506964e+02] [ 2.12215274e-02 -3.97786325e-04 9.99774719e-01 7.92356383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.102755096 meters 0.024010379736950766 Centerline is valid? [True, True] Translation: X:26.47, Y:375.53, Z:7.92 [[-6.81190824e-01 -7.31980527e-01 1.35487793e-02 2.64687988e+01] [ 7.31822972e-01 -6.81325414e-01 -1.51927121e-02 3.75530236e+02] [ 2.03518971e-02 -4.33828152e-04 9.99792785e-01 7.92440915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.132755096 meters 0.024577323652864518 Centerline is valid? [True, True] Translation: X:26.45, Y:375.55, Z:7.92 [[-6.82399134e-01 -7.30862203e-01 1.31096523e-02 2.64524862e+01] [ 7.30714687e-01 -6.82524902e-01 -1.46902577e-02 3.75551665e+02] [ 1.96842182e-02 -4.45203669e-04 9.99806148e-01 7.92476561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1627550960001 meters 0.0251266702370286 Centerline is valid? [True, True] Translation: X:26.44, Y:375.57, Z:7.93 [[-6.83445844e-01 -7.29884276e-01 1.30661006e-02 2.64360311e+01] [ 7.29737725e-01 -6.83570572e-01 -1.46330306e-02 3.75572891e+02] [ 1.96120208e-02 -4.66057414e-04 9.99807557e-01 7.92539054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.192755096 meters 0.02563178154466785 Centerline is valid? [True, True] Translation: X:26.42, Y:375.59, Z:7.93 [[-6.85372355e-01 -7.28085090e-01 1.25234671e-02 2.64194443e+01] [ 7.27950328e-01 -6.85486588e-01 -1.40163321e-02 3.75594433e+02] [ 1.87897512e-02 -4.89944567e-04 9.99823337e-01 7.92528913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.222755096 meters 0.02704239573264947 Centerline is valid? [True, True] Translation: X:26.40, Y:375.62, Z:7.92 [[-6.86295188e-01 -7.27215848e-01 1.24910454e-02 2.64039257e+01] [ 7.27081827e-01 -6.86408665e-01 -1.39700407e-02 3.75615477e+02] [ 1.87331968e-02 -5.05559621e-04 9.99824390e-01 7.92413988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.252755096 meters 0.027969366877797223 Centerline is valid? [True, True] Translation: X:26.39, Y:375.64, Z:7.92 [[-6.87453524e-01 -7.26126201e-01 1.21816540e-02 2.63865436e+01] [ 7.25998735e-01 -6.87561252e-01 -1.36147654e-02 3.75636859e+02] [ 1.82616711e-02 -5.15653055e-04 9.99833109e-01 7.92328601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2827550960001 meters 0.02804478991692386 Centerline is valid? [True, True] Translation: X:26.37, Y:375.66, Z:7.92 [[-6.87555767e-01 -7.26034440e-01 1.18768839e-02 2.63685289e+01] [ 7.25913428e-01 -6.87658159e-01 -1.32646569e-02 3.75656707e+02] [ 1.77978339e-02 -4.98601879e-04 9.99841482e-01 7.92275227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.312755096 meters 0.027675200077708142 Centerline is valid? [True, True] Translation: X:26.35, Y:375.68, Z:7.92 [[-6.87515852e-01 -7.26071255e-01 1.19367455e-02 2.63517334e+01] [ 7.25949208e-01 -6.87619291e-01 -1.33213202e-02 3.75676141e+02] [ 1.78801641e-02 -4.93147833e-04 9.99840016e-01 7.92468245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.342755096 meters 0.026461976000456768 Centerline is valid? [True, True] Translation: X:26.33, Y:375.70, Z:7.93 [[-6.86549592e-01 -7.27001885e-01 1.08589626e-02 2.63321439e+01] [ 7.26901134e-01 -6.86635334e-01 -1.21103066e-02 3.75695532e+02] [ 1.62603631e-02 -4.20933821e-04 9.99867703e-01 7.92634592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.372755096 meters 0.024959716003941528 Centerline is valid? [True, True] Translation: X:26.31, Y:375.71, Z:7.93 [[-6.85947074e-01 -7.27579262e-01 1.02484115e-02 2.63121559e+01] [ 7.27489704e-01 -6.86023523e-01 -1.14217487e-02 3.75713673e+02] [ 1.53408788e-02 -3.79101255e-04 9.99882250e-01 7.92798682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.402755096 meters 0.02376164714165732 Centerline is valid? [True, True] Translation: X:26.29, Y:375.73, Z:7.93 [[-6.83690988e-01 -7.29707555e-01 9.67038943e-03 2.62927660e+01] [ 7.29628132e-01 -6.83759307e-01 -1.07702934e-02 3.75732210e+02] [ 1.44713832e-02 -3.07764372e-04 9.99895237e-01 7.92858455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.432755096 meters 0.02325673802976412 Centerline is valid? [True, True] Translation: X:26.27, Y:375.75, Z:7.93 [[-6.82660469e-01 -7.30676339e-01 9.31514242e-03 2.62742644e+01] [ 7.30602835e-01 -6.82723966e-01 -1.03674643e-02 3.75750516e+02] [ 1.39349319e-02 -2.71788606e-04 9.99902867e-01 7.92893796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.462755096 meters 0.022497466377779666 Centerline is valid? [True, True] Translation: X:26.25, Y:375.77, Z:7.93 [[-6.81490581e-01 -7.31769168e-01 9.19091541e-03 2.62541764e+01] [ 7.31697807e-01 -6.81552512e-01 -1.02221874e-02 3.75769638e+02] [ 1.37443730e-02 -2.41351749e-04 9.99905513e-01 7.92931689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.492755096 meters 0.021345016061169758 Centerline is valid? [True, True] Translation: X:26.23, Y:375.79, Z:7.93 [[-6.79044648e-01 -7.34046093e-01 8.64289726e-03 2.62339713e+01] [ 7.33983256e-01 -6.79099626e-01 -9.60617505e-03 3.75786784e+02] [ 1.29207636e-02 -1.79279892e-04 9.99916507e-01 7.92935339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.522755096 meters 0.02046901576025271 Centerline is valid? [True, True] Translation: X:26.21, Y:375.81, Z:7.93 [[-6.78217193e-01 -7.34815012e-01 8.26667436e-03 2.62141596e+01] [ 7.34757662e-01 -6.78267554e-01 -9.18171173e-03 3.75805132e+02] [ 1.23538766e-02 -1.53192428e-04 9.99923676e-01 7.93063708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.552755096 meters 0.01980560053044287 Centerline is valid? [True, True] Translation: X:26.20, Y:375.82, Z:7.93 [[-6.76180035e-01 -7.36703533e-01 6.96174495e-03 2.61954469e+01] [ 7.36663012e-01 -6.76215865e-01 -7.72728328e-03 3.75823825e+02] [ 1.04003593e-02 -9.65746734e-05 9.99945910e-01 7.93234320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.582755096 meters 0.02114383755361601 Centerline is valid? [True, True] Translation: X:26.18, Y:375.84, Z:7.93 [[-6.75678163e-01 -7.37170110e-01 6.26492476e-03 2.61779928e+01] [ 7.37137361e-01 -6.75707202e-01 -6.94891423e-03 3.75842470e+02] [ 9.35578665e-03 -7.71194963e-05 9.99956231e-01 7.93011820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.612755096 meters 0.0192658390560462 Centerline is valid? [True, True] Translation: X:26.16, Y:375.86, Z:7.93 [[-6.75172888e-01 -7.37635489e-01 5.95461129e-03 2.61593602e+01] [ 7.37605966e-01 -6.75199142e-01 -6.59979194e-03 3.75861347e+02] [ 8.88878919e-03 -6.38437693e-05 9.99960492e-01 7.93374129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.642755096 meters 0.01893104966804651 Centerline is valid? [True, True] Translation: X:26.14, Y:375.88, Z:7.93 [[-6.74094272e-01 -7.38627631e-01 5.11231533e-03 2.61412131e+01] [ 7.38605927e-01 -6.74113656e-01 -5.66240175e-03 3.75880447e+02] [ 7.62868796e-03 -4.10061829e-05 9.99970900e-01 7.93459003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6727550960001 meters 0.019388782850953943 Centerline is valid? [True, True] Translation: X:26.12, Y:375.90, Z:7.93 [[-6.73423774e-01 -7.39241738e-01 4.69829675e-03 2.61235057e+01] [ 7.39223448e-01 -6.73440162e-01 -5.20016215e-03 3.75899692e+02] [ 7.00819863e-03 -2.88216984e-05 9.99975442e-01 7.93320896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.702755096 meters 0.0187891783754146 Centerline is valid? [True, True] Translation: X:26.11, Y:375.92, Z:7.93 [[-6.73959891e-01 -7.38751243e-01 4.96656689e-03 2.61071934e+01] [ 7.38730824e-01 -6.73978190e-01 -5.49264956e-03 3.75918678e+02] [ 7.40505945e-03 -3.28694496e-05 9.99972582e-01 7.93424694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.732755096 meters 0.018782152401517083 Centerline is valid? [True, True] Translation: X:26.09, Y:375.94, Z:7.93 [[-6.74342819e-01 -7.38402933e-01 4.78233756e-03 2.60893572e+01] [ 7.38384021e-01 -6.74359776e-01 -5.28484667e-03 3.75938639e+02] [ 7.12736237e-03 -3.25967669e-05 9.99974600e-01 7.93402674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.762755096 meters 0.018943241364806844 Centerline is valid? [True, True] Translation: X:26.07, Y:375.96, Z:7.93 [[-6.75565762e-01 -7.37286037e-01 4.49463928e-03 2.60737867e+01] [ 7.37269331e-01 -6.75580712e-01 -4.96328859e-03 3.75959300e+02] [ 6.69585498e-03 -3.92681397e-05 9.99977582e-01 7.93380553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7927550960001 meters 0.019126043791369434 Centerline is valid? [True, True] Translation: X:26.06, Y:375.98, Z:7.93 [[-6.76517452e-01 -7.36413075e-01 4.46313922e-03 2.60569307e+01] [ 7.36396610e-01 -6.76532173e-01 -4.92465978e-03 3.75980144e+02] [ 6.64604113e-03 -4.49776970e-05 9.99977914e-01 7.93388650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.822755096 meters 0.01931786272843929 Centerline is valid? [True, True] Translation: X:26.04, Y:376.00, Z:7.93 [[-6.78019248e-01 -7.35032754e-01 4.09270018e-03 2.60408837e+01] [ 7.35018902e-01 -6.78031598e-01 -4.51280527e-03 3.76001832e+02] [ 6.09203973e-03 -5.15568430e-05 9.99981442e-01 7.93434769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.852755096 meters 0.01961877149370666 Centerline is valid? [True, True] Translation: X:26.02, Y:376.02, Z:7.93 [[-6.79155950e-01 -7.33984448e-01 3.74524397e-03 2.60237611e+01] [ 7.33972847e-01 -6.79166274e-01 -4.12704161e-03 3.76023069e+02] [ 5.57282775e-03 -5.39974850e-05 9.99984470e-01 7.93462750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.882755096 meters 0.019849065781330808 Centerline is valid? [True, True] Translation: X:26.01, Y:376.04, Z:7.94 [[-6.80372671e-01 -7.32858120e-01 3.46480848e-03 2.60066453e+01] [ 7.32848189e-01 -6.80381491e-01 -3.81557353e-03 3.76044076e+02] [ 5.15366561e-03 -5.68333339e-05 9.99986718e-01 7.93540009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9127550960001 meters 0.020843327137540064 Centerline is valid? [True, True] Translation: X:25.99, Y:376.07, Z:7.94 [[-6.82550663e-01 -7.30833626e-01 2.60833734e-03 2.59923442e+01] [ 7.30827988e-01 -6.82555645e-01 -2.87111202e-03 3.76066518e+02] [ 3.87864058e-03 -5.34334844e-05 9.99992477e-01 7.93561564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.942755096 meters 0.02090041664283942 Centerline is valid? [True, True] Translation: X:25.97, Y:376.09, Z:7.94 [[-6.83755905e-01 -7.29705718e-01 2.72549894e-03 2.59747595e+01] [ 7.29699563e-01 -6.83761334e-01 -2.99771414e-03 3.76086886e+02] [ 4.05103994e-03 -6.09093531e-05 9.99991793e-01 7.93533315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.972755096 meters 0.02189575692853937 Centerline is valid? [True, True] Translation: X:25.96, Y:376.11, Z:7.93 [[-6.85991718e-01 -7.27604486e-01 2.65997431e-03 2.59597278e+01] [ 7.27598615e-01 -6.85996872e-01 -2.92364317e-03 3.76108160e+02] [ 3.95198994e-03 -7.02013723e-05 9.99992188e-01 7.93416818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.002755096 meters 0.022581796275357106 Centerline is valid? [True, True] Translation: X:25.94, Y:376.13, Z:7.93 [[-6.86942550e-01 -7.26705903e-01 2.90914546e-03 2.59415793e+01] [ 7.26698884e-01 -6.86948705e-01 -3.19507286e-03 3.76128509e+02] [ 4.32031201e-03 -8.07587447e-05 9.99990664e-01 7.93210879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0327550960001 meters 0.022167576406762493 Centerline is valid? [True, True] Translation: X:25.92, Y:376.15, Z:7.93 [[-6.87760869e-01 -7.25930864e-01 3.06066479e-03 2.59230558e+01] [ 7.25923098e-01 -6.87767674e-01 -3.35900028e-03 3.76148672e+02] [ 4.54342828e-03 -8.83816828e-05 9.99989675e-01 7.93241234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.062755096 meters 0.024370226237828144 Centerline is valid? [True, True] Translation: X:25.91, Y:376.17, Z:7.93 [[-6.88906219e-01 -7.24841040e-01 3.69973624e-03 2.59065164e+01] [ 7.24829695e-01 -6.88916145e-01 -4.05688829e-03 3.76170894e+02] [ 5.48940715e-03 -1.13136885e-04 9.99984927e-01 7.93059382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.092755096 meters 0.02285354762647733 Centerline is valid? [True, True] Translation: X:25.88, Y:376.19, Z:7.93 [[-6.89610657e-01 -7.24172010e-01 3.47020801e-03 2.58848329e+01] [ 7.24162033e-01 -6.89619379e-01 -3.80284335e-03 3.76188546e+02] [ 5.14703541e-03 -1.09488416e-04 9.99986748e-01 7.93074609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.122755096 meters 0.024550002308416113 Centerline is valid? [True, True] Translation: X:25.87, Y:376.21, Z:7.93 [[-6.90256833e-01 -7.23555452e-01 3.60719396e-03 2.58692832e+01] [ 7.23544679e-01 -6.90266249e-01 -3.95003617e-03 3.76209926e+02] [ 5.34799445e-03 -1.16573464e-04 9.99985693e-01 7.93063198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.152755096 meters 0.024550002308416113 Centerline is valid? [True, True] Translation: X:25.85, Y:376.23, Z:7.93 [[-6.90518092e-01 -7.23306121e-01 3.60826863e-03 2.58515737e+01] [ 7.23295350e-01 -6.90527510e-01 -3.94905424e-03 3.76228901e+02] [ 5.34798386e-03 -1.17049478e-04 9.99985693e-01 7.93077157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.182755096 meters 0.02350070522039777 Centerline is valid? [True, True] Translation: X:25.83, Y:376.25, Z:7.93 [[-6.91141750e-01 -7.22710958e-01 3.45713267e-03 2.58309035e+01] [ 7.22701077e-01 -6.91150387e-01 -3.78101777e-03 3.76247383e+02] [ 5.12198156e-03 -1.14745736e-04 9.99986876e-01 7.93086568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.212755096 meters 0.02468705158700642 Centerline is valid? [True, True] Translation: X:25.81, Y:376.27, Z:7.93 [[-6.91959927e-01 -7.21928214e-01 3.33374065e-03 2.58124445e+01] [ 7.21919028e-01 -6.91967948e-01 -3.64362167e-03 3.76267845e+02] [ 4.93727496e-03 -1.14549378e-04 9.99987805e-01 7.92885344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.242755096 meters 0.024749310281220762 Centerline is valid? [True, True] Translation: X:25.79, Y:376.29, Z:7.93 [[-6.93905027e-01 -7.20063331e-01 2.14760726e-03 2.57942305e+01] [ 7.20059514e-01 -6.93908346e-01 -2.34618353e-03 3.76288511e+02] [ 3.17964333e-03 -8.16235083e-05 9.99994942e-01 7.93205462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.272755096 meters 0.026080213366911895 Centerline is valid? [True, True] Translation: X:25.78, Y:376.31, Z:7.93 [[-6.96401379e-01 -7.17650979e-01 1.48060980e-03 2.57750652e+01] [ 7.17649159e-01 -6.96402950e-01 -1.61772760e-03 3.76309124e+02] [ 2.19206483e-03 -6.40293575e-05 9.99997595e-01 7.93292052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.302755096 meters 0.027013878800668106 Centerline is valid? [True, True] Translation: X:25.76, Y:376.33, Z:7.93 [[-6.97800260e-01 -7.16292023e-01 7.31885423e-04 2.57572165e+01] [ 7.16291576e-01 -6.97800643e-01 -8.00763133e-04 3.76328869e+02] [ 1.08429036e-03 -3.45293591e-05 9.99999412e-01 7.93322668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.332755096 meters 0.02779387103826428 Centerline is valid? [True, True] Translation: X:25.74, Y:376.35, Z:7.93 [[-6.99180481e-01 -7.14945175e-01 2.27990338e-04 2.57390888e+01] [ 7.14945131e-01 -6.99180518e-01 -2.51249578e-04 3.76348644e+02] [ 3.39036076e-04 -1.26682181e-05 9.99999942e-01 7.93350340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.362755096 meters 0.02970034179120024 Centerline is valid? [True, True] Translation: X:25.72, Y:376.37, Z:7.93 [[-7.01810730e-01 -7.12363408e-01 -2.72456584e-04 2.57226843e+01] [ 7.12363347e-01 -7.01810783e-01 2.93731467e-04 3.76369087e+02] [-4.00456518e-04 1.20558112e-05 9.99999920e-01 7.93433097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.392755096 meters 0.029800672145753257 Centerline is valid? [True, True] Translation: X:25.70, Y:376.39, Z:7.93 [[-7.03042819e-01 -7.11147095e-01 -7.76956838e-04 2.57037086e+01] [ 7.11146597e-01 -7.03043248e-01 8.42467756e-04 3.76389170e+02] [-1.14535276e-03 3.97606950e-05 9.99999343e-01 7.93415357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4227550960001 meters 0.030373817712897704 Centerline is valid? [True, True] Translation: X:25.68, Y:376.41, Z:7.93 [[-7.05077225e-01 -7.09130439e-01 -3.56670001e-04 2.56845998e+01] [ 7.09130335e-01 -7.05077315e-01 3.85293950e-04 3.76409387e+02] [-5.24703595e-04 1.87364718e-05 9.99999862e-01 7.93348232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.452755096 meters 0.03320993428768661 Centerline is valid? [True, True] Translation: X:25.67, Y:376.43, Z:7.93 [[-7.05988211e-01 -7.08223314e-01 -6.18630915e-04 2.56692107e+01] [ 7.08222999e-01 -7.05988482e-01 6.69164326e-04 3.76430646e+02] [-9.10664077e-04 3.42934839e-05 9.99999585e-01 7.93404627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.482755096 meters 0.03073598003312353 Centerline is valid? [True, True] Translation: X:25.65, Y:376.45, Z:7.93 [[-7.06662496e-01 -7.07550441e-01 -7.00109860e-04 2.56460018e+01] [ 7.07550036e-01 -7.06662842e-01 7.57622771e-04 3.76448067e+02] [-1.03079795e-03 4.00208418e-05 9.99999468e-01 7.93295753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.512755096 meters 0.031688473910589064 Centerline is valid? [True, True] Translation: X:25.63, Y:376.47, Z:7.93 [[-7.06929116e-01 -7.07283796e-01 -9.25248765e-04 2.56266089e+01] [ 7.07283089e-01 -7.06929720e-01 1.00183984e-03 3.76466098e+02] [-1.36267094e-03 5.38169487e-05 9.99999070e-01 7.93287205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5427550960001 meters 0.03130190829992906 Centerline is valid? [True, True] Translation: X:25.61, Y:376.48, Z:7.93 [[-7.07099264e-01 -7.07113861e-01 -7.86168647e-04 2.56059977e+01] [ 7.07113352e-01 -7.07099700e-01 8.49737546e-04 3.76484569e+02] [-1.15676081e-03 4.49384459e-05 9.99999330e-01 7.93276254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.572755096 meters 0.030268381633639607 Centerline is valid? [True, True] Translation: X:25.58, Y:376.50, Z:7.93 [[-7.06932438e-01 -7.07280368e-01 -1.00455362e-03 2.55846263e+01] [ 7.07279537e-01 -7.06933149e-01 1.08573851e-03 3.76501525e+02] [-1.47807379e-03 5.70435470e-05 9.99998906e-01 7.93287133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.602755096 meters 0.03128101875351855 Centerline is valid? [True, True] Translation: X:25.57, Y:376.52, Z:7.93 [[-7.07044194e-01 -7.07168619e-01 -1.02570050e-03 2.55666170e+01] [ 7.07167754e-01 -7.07044935e-01 1.10771020e-03 3.76521048e+02] [-1.50855423e-03 5.78577472e-05 9.99998861e-01 7.93340876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.632755096 meters 0.030008249289652022 Centerline is valid? [True, True] Translation: X:25.55, Y:376.54, Z:7.93 [[-7.06840350e-01 -7.07372255e-01 -1.10163573e-03 2.55451338e+01] [ 7.07371258e-01 -7.06841206e-01 1.18923510e-03 3.76538550e+02] [-1.61991345e-03 6.13339006e-05 9.99998686e-01 7.93337838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6627550960001 meters 0.02800452658761375 Centerline is valid? [True, True] Translation: X:25.52, Y:376.55, Z:7.93 [[-7.05584819e-01 -7.08624037e-01 -1.42730933e-03 2.55207732e+01] [ 7.08622366e-01 -7.05586259e-01 1.54088540e-03 3.76554551e+02] [-2.09899828e-03 7.58020314e-05 9.99997794e-01 7.93305339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.692755096 meters 0.029294262524123867 Centerline is valid? [True, True] Translation: X:25.50, Y:376.58, Z:7.93 [[-7.04648035e-01 -7.09555755e-01 -1.33282264e-03 2.55026417e+01] [ 7.09554302e-01 -7.04649293e-01 1.43789879e-03 3.76575061e+02] [-1.95944190e-03 6.75025215e-05 9.99998078e-01 7.93406298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.722755096 meters 0.026349559714696245 Centerline is valid? [True, True] Translation: X:25.48, Y:376.59, Z:7.93 [[-7.02431367e-01 -7.11749281e-01 -1.77082512e-03 2.54774430e+01] [ 7.11746723e-01 -7.02433594e-01 1.91013691e-03 3.76590697e+02] [-2.60342563e-03 8.13611076e-05 9.99996608e-01 7.93467768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.752755096 meters 0.025581220667924915 Centerline is valid? [True, True] Translation: X:25.46, Y:376.61, Z:7.94 [[-7.01326518e-01 -7.12837270e-01 -2.03513471e-03 2.54557314e+01] [ 7.12833899e-01 -7.01329465e-01 2.19410606e-03 3.76609123e+02] [-2.99134051e-03 8.80717482e-05 9.99995522e-01 7.93520720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7827550960001 meters 0.024241985420686746 Centerline is valid? [True, True] Translation: X:25.43, Y:376.63, Z:7.94 [[-7.00094766e-01 -7.14047211e-01 -1.97458567e-03 2.54335569e+01] [ 7.14044046e-01 -7.00097546e-01 2.12732099e-03 3.76626490e+02] [-2.90141020e-03 7.93851474e-05 9.99995788e-01 7.93502767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.812755096 meters 0.02298827827238991 Centerline is valid? [True, True] Translation: X:25.41, Y:376.64, Z:7.93 [[-6.96772333e-01 -7.17290826e-01 -1.47849028e-03 2.54109476e+01] [ 7.17289061e-01 -6.96773900e-01 1.59199659e-03 3.76641878e+02] [-2.17209799e-03 4.87542741e-05 9.99997640e-01 7.93452128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.842755096 meters 0.02249841939427989 Centerline is valid? [True, True] Translation: X:25.39, Y:376.66, Z:7.93 [[-6.95305808e-01 -7.18713448e-01 -9.01351953e-04 2.53904918e+01] [ 7.18712795e-01 -6.95306392e-01 9.69475740e-04 3.76659622e+02] [-1.32349103e-03 2.62689324e-05 9.99999124e-01 7.93436100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.872755096 meters 0.022385871053234543 Centerline is valid? [True, True] Translation: X:25.37, Y:376.68, Z:7.93 [[-6.92822515e-01 -7.21108149e-01 -3.31795155e-07 2.53662816e+01] [ 7.21108149e-01 -6.92822515e-01 -2.01592947e-06 3.76676186e+02] [ 1.22382785e-06 -1.63594151e-06 1.00000000e+00 7.92937754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.902755096 meters 0.02095144609161482 Centerline is valid? [True, True] Translation: X:25.35, Y:376.69, Z:7.93 [[-6.92369951e-01 -7.21542615e-01 3.24709478e-04 2.53470295e+01] [ 7.21542529e-01 -6.92370027e-01 -3.52417292e-04 3.76694506e+02] [ 4.79103204e-04 -9.71144550e-06 9.99999885e-01 7.93317523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.932755096 meters 0.0215979333973343 Centerline is valid? [True, True] Translation: X:25.33, Y:376.71, Z:7.93 [[-6.92027586e-01 -7.21870854e-01 5.39254359e-04 2.53271137e+01] [ 7.21870619e-01 -6.92027796e-01 -5.82714283e-04 3.76712896e+02] [ 7.93823463e-04 -1.39824807e-05 9.99999685e-01 7.92980010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.962755096 meters 0.02109170003000482 Centerline is valid? [True, True] Translation: X:25.31, Y:376.73, Z:7.93 [[-6.92004101e-01 -7.21892362e-01 1.31987207e-03 2.53086540e+01] [ 7.21890964e-01 -6.92005359e-01 -1.42125633e-03 3.76731971e+02] [ 1.93935263e-03 -3.07114904e-05 9.99998119e-01 7.93277599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.992755096 meters 0.02060312573447876 Centerline is valid? [True, True] Translation: X:25.29, Y:376.75, Z:7.93 [[-6.92643231e-01 -7.21279295e-01 1.23822905e-03 2.52881563e+01] [ 7.21278065e-01 -6.92644337e-01 -1.33246197e-03 3.76750662e+02] [ 1.81872957e-03 -2.98133113e-05 9.99998346e-01 7.93247235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.022755096 meters 0.021184354505443825 Centerline is valid? [True, True] Translation: X:25.27, Y:376.77, Z:7.93 [[-6.93912314e-01 -7.20058896e-01 9.42109793e-04 2.52683701e+01] [ 7.20058183e-01 -6.93912953e-01 -1.01350975e-03 3.76770143e+02] [ 1.38352890e-03 -2.49130335e-05 9.99999043e-01 7.93250802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.052755096 meters 0.023208798658661125 Centerline is valid? [True, True] Translation: X:25.25, Y:376.79, Z:7.93 [[-6.94760560e-01 -7.19240809e-01 6.49769737e-04 2.52503284e+01] [ 7.19240470e-01 -6.94760864e-01 -6.99075155e-04 3.76789462e+02] [ 9.54237964e-04 -1.83491556e-05 9.99999545e-01 7.92862817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.082755096 meters 0.022324937815537245 Centerline is valid? [True, True] Translation: X:25.23, Y:376.81, Z:7.93 [[-6.96209797e-01 -7.17838335e-01 2.06838705e-04 2.52317961e+01] [ 7.17838300e-01 -6.96209828e-01 -2.24439609e-04 3.76809361e+02] [ 3.05114494e-04 -7.78031043e-06 9.99999953e-01 7.93340803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.112755096 meters 0.023941947706161853 Centerline is valid? [True, True] Translation: X:25.21, Y:376.83, Z:7.93 [[-6.99228676e-01 -7.14897948e-01 -4.27460869e-04 2.52146979e+01] [ 7.14897803e-01 -6.99228807e-01 4.54944758e-04 3.76829919e+02] [-6.24132027e-04 1.25195845e-05 9.99999805e-01 7.93497839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.142755096 meters 0.024689918989452195 Centerline is valid? [True, True] Translation: X:25.20, Y:376.85, Z:7.94 [[-7.01149014e-01 -7.13014466e-01 -6.56747185e-04 2.51964559e+01] [ 7.13014123e-01 -7.01149321e-01 7.00157596e-04 3.76850153e+02] [-9.59700337e-04 2.26447898e-05 9.99999539e-01 7.93543827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1727550960001 meters 0.02527720273134665 Centerline is valid? [True, True] Translation: X:25.18, Y:376.87, Z:7.93 [[-7.04318062e-01 -7.09884464e-01 -3.40242431e-04 2.51769982e+01] [ 7.09884372e-01 -7.04318144e-01 3.61199139e-04 3.76869869e+02] [-4.96048575e-04 1.28662924e-05 9.99999877e-01 7.93432692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.202755096 meters 0.026694327091452544 Centerline is valid? [True, True] Translation: X:25.16, Y:376.89, Z:7.93 [[-7.06095266e-01 -7.08116851e-01 2.33671054e-05 2.51591129e+01] [ 7.08116850e-01 -7.06095267e-01 -2.76541983e-05 3.76890640e+02] [ 3.60818061e-05 -2.97985741e-06 9.99999999e-01 7.93397688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.232755096 meters 0.028328563892212562 Centerline is valid? [True, True] Translation: X:25.14, Y:376.91, Z:7.93 [[-7.07898392e-01 -7.06314212e-01 3.18324883e-04 2.51414971e+01] [ 7.06314129e-01 -7.07898463e-01 -3.42632922e-04 3.76911074e+02] [ 4.67348198e-04 -1.77119321e-05 9.99999891e-01 7.93344888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.262755096 meters 0.029512544255678657 Centerline is valid? [True, True] Translation: X:25.12, Y:376.93, Z:7.93 [[-7.11102333e-01 -7.03088126e-01 7.48232632e-04 2.51215167e+01] [ 7.03087670e-01 -7.11102725e-01 -8.01213015e-04 3.76930957e+02] [ 1.09539362e-03 -4.36713054e-05 9.99999399e-01 7.93158093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2927550960001 meters 0.03032713550760775 Centerline is valid? [True, True] Translation: X:25.10, Y:376.95, Z:7.93 [[-7.12556216e-01 -7.01614454e-01 8.93420523e-04 2.51012916e+01] [ 7.01613805e-01 -7.12556774e-01 -9.55588821e-04 3.76951025e+02] [ 1.30706777e-03 -5.40745818e-05 9.99999144e-01 7.92837454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.322755096 meters 0.03167837133374866 Centerline is valid? [True, True] Translation: X:25.08, Y:376.97, Z:7.93 [[-7.13818462e-01 -7.00329731e-01 1.21314525e-03 2.50844527e+01] [ 7.00328536e-01 -7.13819489e-01 -1.29590846e-03 3.76972473e+02] [ 1.77352994e-03 -7.54431455e-05 9.99998424e-01 7.93088361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.352755096 meters 0.03281433926706465 Centerline is valid? [True, True] Translation: X:25.07, Y:376.99, Z:7.93 [[-7.15494533e-01 -6.98616460e-01 1.61711606e-03 2.50650717e+01] [ 6.98614338e-01 -7.15496353e-01 -1.72523717e-03 3.76992543e+02] [ 2.36231973e-03 -1.04657300e-04 9.99997204e-01 7.93035331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.382755096 meters 0.032445143574468815 Centerline is valid? [True, True] Translation: X:25.04, Y:377.01, Z:7.93 [[-7.16403942e-01 -6.97682455e-01 2.14118344e-03 2.50439170e+01] [ 6.97678736e-01 -7.16407128e-01 -2.28216406e-03 3.77010979e+02] [ 3.12618490e-03 -1.41093174e-04 9.99995104e-01 7.92969780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4127550960001 meters 0.03323193896281003 Centerline is valid? [True, True] Translation: X:25.03, Y:377.03, Z:7.93 [[-7.16357424e-01 -6.97728333e-01 2.68589290e-03 2.50261601e+01] [ 6.97722492e-01 -7.16362438e-01 -2.86021733e-03 3.77029876e+02] [ 3.91972746e-03 -1.74930034e-04 9.99992303e-01 7.92955215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.442755096 meters 0.03512449989341633 Centerline is valid? [True, True] Translation: X:25.01, Y:377.05, Z:7.93 [[-7.16523110e-01 -6.97557405e-01 2.88091629e-03 2.50089884e+01] [ 6.97550692e-01 -7.16528877e-01 -3.06605209e-03 3.77050141e+02] [ 4.20300705e-03 -1.87312026e-04 9.99991150e-01 7.92929931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.472755096 meters 0.03271986929253176 Centerline is valid? [True, True] Translation: X:24.99, Y:377.07, Z:7.93 [[-7.16169285e-01 -6.97919514e-01 3.14760083e-03 2.49860661e+01] [ 6.97911513e-01 -7.16176173e-01 -3.34797877e-03 3.77065612e+02] [ 4.59085643e-03 -2.00972709e-04 9.99989442e-01 7.92876382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.502755096 meters 0.03213069441879811 Centerline is valid? [True, True] Translation: X:24.97, Y:377.08, Z:7.93 [[-7.15796782e-01 -6.98300618e-01 3.34867506e-03 2.49664102e+01] [ 6.98291579e-01 -7.15804585e-01 -3.55920730e-03 3.77083955e+02] [ 4.88239362e-03 -2.09317539e-04 9.99988059e-01 7.92907997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5327550960001 meters 0.032341119634365416 Centerline is valid? [True, True] Translation: X:24.95, Y:377.10, Z:7.93 [[-7.14571486e-01 -6.99554569e-01 3.31623757e-03 2.49470084e+01] [ 6.99545729e-01 -7.14579153e-01 -3.52230449e-03 3.77102255e+02] [ 4.83375843e-03 -1.97078526e-04 9.99988298e-01 7.92954188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.562755096 meters 0.031320816292259926 Centerline is valid? [True, True] Translation: X:24.93, Y:377.12, Z:7.93 [[-7.13668709e-01 -7.00474587e-01 3.51091624e-03 2.49265171e+01] [ 7.00464704e-01 -7.13677317e-01 -3.72634990e-03 3.77120270e+02] [ 5.11587469e-03 -2.00106421e-04 9.99986894e-01 7.92964601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.592755096 meters 0.03126421980384129 Centerline is valid? [True, True] Translation: X:24.91, Y:377.14, Z:7.93 [[-7.12995992e-01 -7.01159495e-01 3.47538063e-03 2.49070236e+01] [ 7.01149831e-01 -7.13004436e-01 -3.68615755e-03 3.77138657e+02] [ 5.06254617e-03 -1.91453017e-04 9.99987167e-01 7.92999735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.622755096 meters 0.026892584795752354 Centerline is valid? [True, True] Translation: X:24.88, Y:377.15, Z:7.93 [[-7.10335109e-01 -7.03856320e-01 3.21155514e-03 2.48816074e+01] [ 7.03848106e-01 -7.10342352e-01 -3.40411924e-03 3.77153054e+02] [ 4.67731447e-03 -1.57618415e-04 9.99989049e-01 7.92999149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.652755096 meters 0.02903551363276232 Centerline is valid? [True, True] Translation: X:24.86, Y:377.17, Z:7.93 [[-7.09175603e-01 -7.05024215e-01 3.28952530e-03 2.48645763e+01] [ 7.05015616e-01 -7.09183216e-01 -3.48527018e-03 3.77174602e+02] [ 4.79007601e-03 -1.52501878e-04 9.99988516e-01 7.93029574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.682755096 meters 0.02739105963107697 Centerline is valid? [True, True] Translation: X:24.84, Y:377.19, Z:7.93 [[-7.06770361e-01 -7.07434530e-01 3.47018068e-03 2.48431594e+01] [ 7.07425002e-01 -7.06778866e-01 -3.67430143e-03 3.77190178e+02] [ 5.05197807e-03 -1.41994777e-04 9.99987229e-01 7.93057072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.712755096 meters 0.025875594143845267 Centerline is valid? [True, True] Translation: X:24.82, Y:377.21, Z:7.93 [[-7.05683971e-01 -7.08518893e-01 3.33341086e-03 2.48215908e+01] [ 7.08510126e-01 -7.05691832e-01 -3.52702428e-03 3.77206995e+02] [ 4.85132416e-03 -1.27209153e-04 9.99988224e-01 7.93086937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.742755096 meters 0.02524005019625594 Centerline is valid? [True, True] Translation: X:24.80, Y:377.23, Z:7.93 [[-7.04884887e-01 -7.09313180e-01 3.47972153e-03 2.48007968e+01] [ 7.09303649e-01 -7.04893465e-01 -3.67928209e-03 3.77225342e+02] [ 5.06259625e-03 -1.25291162e-04 9.99987177e-01 7.93058564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.772755096 meters 0.02322016547486194 Centerline is valid? [True, True] Translation: X:24.78, Y:377.24, Z:7.93 [[-7.03975833e-01 -7.10215181e-01 3.52484672e-03 2.47780413e+01] [ 7.10205424e-01 -7.03984647e-01 -3.72451062e-03 3.77241429e+02] [ 5.12664196e-03 -1.18600206e-04 9.99986852e-01 7.93042094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.802755096 meters 0.023113865590433904 Centerline is valid? [True, True] Translation: X:24.76, Y:377.26, Z:7.93 [[-7.03783074e-01 -7.10407362e-01 3.28100091e-03 2.47594876e+01] [ 7.10398922e-01 -7.03790713e-01 -3.46465207e-03 3.77259846e+02] [ 4.77045231e-03 -1.07543970e-04 9.99988616e-01 7.93050046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.832755096 meters 0.022431588982357916 Centerline is valid? [True, True] Translation: X:24.74, Y:377.28, Z:7.93 [[-7.03717519e-01 -7.10472238e-01 3.29442685e-03 2.47392269e+01] [ 7.10463742e-01 -7.03725222e-01 -3.47610645e-03 3.77278074e+02] [ 4.78804840e-03 -1.05626179e-04 9.99988532e-01 7.93072483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.862755096 meters 0.023115820348373006 Centerline is valid? [True, True] Translation: X:24.72, Y:377.30, Z:7.93 [[-7.04433384e-01 -7.09763692e-01 3.01824999e-03 2.47220441e+01] [ 7.09756563e-01 -7.04439843e-01 -3.18267561e-03 3.77297838e+02] [ 4.38512314e-03 -9.97602139e-05 9.99990380e-01 7.93127237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.892755096 meters 0.022849531826349315 Centerline is valid? [True, True] Translation: X:24.70, Y:377.32, Z:7.93 [[-7.05048736e-01 -7.09151917e-01 3.13656316e-03 2.47027324e+01] [ 7.09144224e-01 -7.05055705e-01 -3.30482096e-03 3.77317528e+02] [ 4.55507187e-03 -1.05784191e-04 9.99989620e-01 7.93121095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9227550960001 meters 0.023558244981953337 Centerline is valid? [True, True] Translation: X:24.69, Y:377.34, Z:7.93 [[-7.06164699e-01 -7.08038262e-01 3.63839359e-03 2.46853946e+01] [ 7.08027912e-01 -7.06174061e-01 -3.83039321e-03 3.77337622e+02] [ 5.28140412e-03 -1.28804254e-04 9.99986045e-01 7.93061186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.952755096 meters 0.024035292012825508 Centerline is valid? [True, True] Translation: X:24.67, Y:377.36, Z:7.93 [[-7.06922993e-01 -7.07279286e-01 3.98657623e-03 2.46680843e+01] [ 7.07266869e-01 -7.06934219e-01 -4.19357080e-03 3.77356658e+02] [ 5.78427292e-03 -1.44958335e-04 9.99983260e-01 7.93038991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.982755096 meters 0.02432621026308155 Centerline is valid? [True, True] Translation: X:24.65, Y:377.38, Z:7.93 [[-7.07619572e-01 -7.06581601e-01 4.12103035e-03 2.46502790e+01] [ 7.06568338e-01 -7.07631555e-01 -4.33202689e-03 3.77375658e+02] [ 5.97710161e-03 -1.53637452e-04 9.99982125e-01 7.92999407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.012755096 meters 0.02525077153693242 Centerline is valid? [True, True] Translation: X:24.63, Y:377.40, Z:7.93 [[-7.09192515e-01 -7.05002976e-01 4.09648310e-03 2.46324854e+01] [ 7.04989864e-01 -7.09204327e-01 -4.30295822e-03 3.77396681e+02] [ 5.93884189e-03 -1.63646700e-04 9.99982352e-01 7.93022039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0427550960001 meters 0.024869991817346258 Centerline is valid? [True, True] Translation: X:24.61, Y:377.42, Z:7.93 [[-7.10196986e-01 -7.03991957e-01 3.94543148e-03 2.46133482e+01] [ 7.03979793e-01 -7.10207926e-01 -4.14154678e-03 3.77415732e+02] [ 5.71769233e-03 -1.63810003e-04 9.99983640e-01 7.93055058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.072755096 meters 0.024869991817346258 Centerline is valid? [True, True] Translation: X:24.59, Y:377.43, Z:7.93 [[-7.10445216e-01 -7.03741442e-01 3.94689161e-03 2.45947361e+01] [ 7.03729282e-01 -7.10456161e-01 -4.14015483e-03 3.77434961e+02] [ 5.71769199e-03 -1.63809994e-04 9.99983640e-01 7.93069453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.102755096 meters 0.026441327206949954 Centerline is valid? [True, True] Translation: X:24.58, Y:377.46, Z:7.93 [[-7.11496244e-01 -7.02674013e-01 4.72502993e-03 2.45798116e+01] [ 7.02656591e-01 -7.11511904e-01 -4.95231994e-03 3.77456438e+02] [ 6.84178158e-03 -2.03483615e-04 9.99976574e-01 7.93011858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.132755096 meters 0.026724843691876155 Centerline is valid? [True, True] Translation: X:24.56, Y:377.48, Z:7.93 [[-7.11742214e-01 -7.02421500e-01 5.20163538e-03 2.45621495e+01] [ 7.02400411e-01 -7.11761187e-01 -5.44751724e-03 3.77476503e+02] [ 7.52877540e-03 -2.23597154e-04 9.99971633e-01 7.92960191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1627550960001 meters 0.026362791358435736 Centerline is valid? [True, True] Translation: X:24.54, Y:377.50, Z:7.93 [[-7.11570508e-01 -7.02591839e-01 5.66744919e-03 2.45439489e+01] [ 7.02566848e-01 -7.11593038e-01 -5.93063413e-03 3.77495329e+02] [ 8.19973253e-03 -2.38302425e-04 9.99966353e-01 7.92883947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.192755096 meters 0.027017700665984645 Centerline is valid? [True, True] Translation: X:24.53, Y:377.52, Z:7.93 [[-7.10776887e-01 -7.03390869e-01 6.12393697e-03 2.45261813e+01] [ 7.03361763e-01 -7.10803226e-01 -6.40347521e-03 3.77515334e+02] [ 8.85706014e-03 -2.44099080e-04 9.99960746e-01 7.92779223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.222755096 meters 0.024858748679170012 Centerline is valid? [True, True] Translation: X:24.50, Y:377.53, Z:7.93 [[-7.10070191e-01 -7.04101424e-01 6.44271966e-03 2.45049415e+01] [ 7.04069282e-01 -7.10099377e-01 -6.73213316e-03 3.77532440e+02] [ 9.31507576e-03 -2.44166076e-04 9.99956584e-01 7.92805192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.252755096 meters 0.024001709830794842 Centerline is valid? [True, True] Translation: X:24.49, Y:377.55, Z:7.93 [[-7.08403453e-01 -7.05774257e-01 6.87362515e-03 2.44865554e+01] [ 7.05737801e-01 -7.08436761e-01 -7.17722375e-03 3.77551405e+02] [ 9.93502849e-03 -2.33392989e-04 9.99950619e-01 7.92747430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2827550960001 meters 0.02356061396278429 Centerline is valid? [True, True] Translation: X:24.47, Y:377.57, Z:7.93 [[-7.07826245e-01 -7.06350654e-01 7.12467939e-03 2.44680583e+01] [ 7.06311572e-01 -7.07862064e-01 -7.43384277e-03 3.77570801e+02] [ 1.02941900e-02 -2.29625510e-04 9.99946987e-01 7.92804882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.312755096 meters 0.022891052313325565 Centerline is valid? [True, True] Translation: X:24.45, Y:377.59, Z:7.93 [[-7.06828506e-01 -7.07353706e-01 6.64815040e-03 2.44491169e+01] [ 7.07319767e-01 -7.06859743e-01 -6.93188879e-03 3.77590811e+02] [ 9.60260711e-03 -1.97288405e-04 9.99953874e-01 7.92917622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.342755096 meters 0.022123314364735257 Centerline is valid? [True, True] Translation: X:24.43, Y:377.61, Z:7.93 [[-7.05570190e-01 -7.08611553e-01 6.35401025e-03 2.44307452e+01] [ 7.08580643e-01 -7.05598780e-01 -6.62080054e-03 3.77609094e+02] [ 9.17495764e-03 -1.69110830e-04 9.99957895e-01 7.93065366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.372755096 meters 0.021767250342568118 Centerline is valid? [True, True] Translation: X:24.41, Y:377.63, Z:7.93 [[-7.05138029e-01 -7.09042828e-01 6.21521247e-03 2.44117093e+01] [ 7.09013310e-01 -7.05165402e-01 -6.47162542e-03 3.77627961e+02] [ 8.97141239e-03 -1.56720822e-04 9.99959744e-01 7.93108822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.402755096 meters 0.020662452247559856 Centerline is valid? [True, True] Translation: X:24.39, Y:377.65, Z:7.93 [[-7.04604614e-01 -7.09572537e-01 6.25726491e-03 2.43924123e+01] [ 7.09542683e-01 -7.04632382e-01 -6.51062627e-03 3.77646735e+02] [ 9.02883307e-03 -1.47620777e-04 9.99959228e-01 7.93157114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.432755096 meters 0.021382439595360386 Centerline is valid? [True, True] Translation: X:24.38, Y:377.67, Z:7.93 [[-7.04913605e-01 -7.09263957e-01 6.43819408e-03 2.43770473e+01] [ 7.09232386e-01 -7.04942988e-01 -6.69369856e-03 3.77667817e+02] [ 9.28615890e-03 -1.52303428e-04 9.99956871e-01 7.93162900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.462755096 meters 0.020709520443932348 Centerline is valid? [True, True] Translation: X:24.36, Y:377.69, Z:7.93 [[-7.05292312e-01 -7.08888791e-01 6.27985746e-03 2.43594642e+01] [ 7.08858786e-01 -7.05320253e-01 -6.52401745e-03 3.77686883e+02] [ 9.05411349e-03 -1.49807221e-04 9.99958999e-01 7.93287631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.492755096 meters 0.021328646988345426 Centerline is valid? [True, True] Translation: X:24.34, Y:377.71, Z:7.93 [[-7.06317935e-01 -7.07862853e-01 6.71981946e-03 2.43447986e+01] [ 7.07828502e-01 -7.06349879e-01 -6.97567811e-03 3.77709403e+02] [ 9.68436708e-03 -1.70566813e-04 9.99953091e-01 7.93383755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.522755096 meters 0.020977445138144493 Centerline is valid? [True, True] Translation: X:24.33, Y:377.73, Z:7.93 [[-7.07277792e-01 -7.06904311e-01 6.66481166e-03 2.43262384e+01] [ 7.06870524e-01 -7.07309171e-01 -6.91365541e-03 3.77729114e+02] [ 9.60137523e-03 -1.78716018e-04 9.99953890e-01 7.93461168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.552755096 meters 0.021412471320062874 Centerline is valid? [True, True] Translation: X:24.31, Y:377.75, Z:7.93 [[-7.08695433e-01 -7.05477946e-01 7.18684937e-03 2.43088969e+01] [ 7.05438641e-01 -7.08731842e-01 -7.44981305e-03 3.77750767e+02] [ 1.03492278e-02 -2.09767225e-04 9.99946423e-01 7.93471258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.582755096 meters 0.02155116074217236 Centerline is valid? [True, True] Translation: X:24.29, Y:377.77, Z:7.93 [[-7.09383856e-01 -7.04783122e-01 7.43612465e-03 2.42912020e+01] [ 7.04741063e-01 -7.09422795e-01 -7.70276169e-03 3.77770976e+02] [ 1.07041328e-02 -2.23672404e-04 9.99942684e-01 7.93478769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.612755096 meters 0.022899509756432748 Centerline is valid? [True, True] Translation: X:24.28, Y:377.79, Z:7.93 [[-7.09832267e-01 -7.04329237e-01 7.64712730e-03 2.42762581e+01] [ 7.04284788e-01 -7.09873419e-01 -7.91624124e-03 3.77792649e+02] [ 1.10041326e-02 -2.33448037e-04 9.99939425e-01 7.93443788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.642755096 meters 0.02158326158846424 Centerline is valid? [True, True] Translation: X:24.26, Y:377.81, Z:7.94 [[-7.10368860e-01 -7.03786315e-01 7.80418866e-03 2.42576191e+01] [ 7.03740047e-01 -7.10411686e-01 -8.07361251e-03 3.77813144e+02] [ 1.12262848e-02 -2.43122820e-04 9.99936954e-01 7.93586074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6727550960001 meters 0.023530958997940356 Centerline is valid? [True, True] Translation: X:24.24, Y:377.84, Z:7.94 [[-7.10550088e-01 -7.03601156e-01 7.99903924e-03 2.42424325e+01] [ 7.03552608e-01 -7.10595069e-01 -8.26900528e-03 3.77835165e+02] [ 1.15021595e-02 -2.47797516e-04 9.99933817e-01 7.93503181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.702755096 meters 0.021623147860344243 Centerline is valid? [True, True] Translation: X:24.22, Y:377.85, Z:7.94 [[-7.09998041e-01 -7.04148069e-01 8.84747810e-03 2.42220971e+01] [ 7.04088806e-01 -7.10053117e-01 -9.13914064e-03 3.77853158e+02] [ 1.27174876e-02 -2.59361656e-04 9.99919096e-01 7.93524076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.732755096 meters 0.021423882495247442 Centerline is valid? [True, True] Translation: X:24.20, Y:377.87, Z:7.94 [[-7.09664530e-01 -7.04478214e-01 9.31131259e-03 2.42032073e+01] [ 7.04412695e-01 -7.09725565e-01 -9.61136525e-03 3.77873061e+02] [ 1.33794740e-02 -2.61838204e-04 9.99910457e-01 7.93500718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.762755096 meters 0.02102888010092818 Centerline is valid? [True, True] Translation: X:24.18, Y:377.89, Z:7.94 [[-7.09375645e-01 -7.04767606e-01 9.42421554e-03 2.41845218e+01] [ 7.04700607e-01 -7.09438198e-01 -9.72103203e-03 3.77892673e+02] [ 1.35369670e-02 -2.54612959e-04 9.99908339e-01 7.93518022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7927550960001 meters 0.02068386750833563 Centerline is valid? [True, True] Translation: X:24.17, Y:377.91, Z:7.94 [[-7.08353355e-01 -7.05789056e-01 9.86577824e-03 2.41668574e+01] [ 7.05715836e-01 -7.08422015e-01 -1.01690051e-02 3.77912542e+02] [ 1.41663070e-02 -2.40812924e-04 9.99899624e-01 7.93503984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.822755096 meters 0.0204500880012082 Centerline is valid? [True, True] Translation: X:24.15, Y:377.93, Z:7.94 [[-7.07859082e-01 -7.06282480e-01 1.00289374e-02 2.41494868e+01] [ 7.06206965e-01 -7.07930086e-01 -1.03303547e-02 3.77931432e+02] [ 1.43959350e-02 -2.29929908e-04 9.99896347e-01 7.93521712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.852755096 meters 0.019264535958607564 Centerline is valid? [True, True] Translation: X:24.13, Y:377.95, Z:7.94 [[-7.07081631e-01 -7.07054960e-01 1.04331535e-02 2.41303783e+01] [ 7.06973430e-01 -7.07158565e-01 -1.07393052e-02 3.77951264e+02] [ 1.49711729e-02 -2.17603154e-04 9.99887902e-01 7.93660076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.882755096 meters 0.01935059735781758 Centerline is valid? [True, True] Translation: X:24.11, Y:377.97, Z:7.94 [[-7.06705800e-01 -7.07423026e-01 1.09350120e-02 2.41126909e+01] [ 7.07333618e-01 -7.06790362e-01 -1.12488397e-02 3.77970799e+02] [ 1.56864493e-02 -2.14918655e-04 9.99876937e-01 7.93634294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9127550960001 meters 0.018681264618408796 Centerline is valid? [True, True] Translation: X:24.09, Y:377.99, Z:7.94 [[-7.05247408e-01 -7.08864458e-01 1.17163595e-02 2.40938325e+01] [ 7.08762151e-01 -7.05344699e-01 -1.20444990e-02 3.77990335e+02] [ 1.68019893e-02 -1.90239587e-04 9.99858819e-01 7.93592536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.942755096 meters 0.0183187942468639 Centerline is valid? [True, True] Translation: X:24.07, Y:378.01, Z:7.94 [[-7.04642065e-01 -7.09462662e-01 1.19286348e-02 2.40748033e+01] [ 7.09356849e-01 -7.04743004e-01 -1.22539102e-02 3.78010489e+02] [ 1.71003136e-02 -1.72961779e-04 9.99853764e-01 7.93651847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.972755096 meters 0.018189948752646668 Centerline is valid? [True, True] Translation: X:24.06, Y:378.03, Z:7.94 [[-7.03997126e-01 -7.10107052e-01 1.16628162e-02 2.40576971e+01] [ 7.10006139e-01 -7.04093710e-01 -1.19720435e-02 3.78029938e+02] [ 1.67131481e-02 -1.47613144e-04 9.99860315e-01 7.93713067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.002755096 meters 0.01754638478080167 Centerline is valid? [True, True] Translation: X:24.04, Y:378.05, Z:7.94 [[-7.02145408e-01 -7.11938950e-01 1.16085100e-02 2.40384556e+01] [ 7.11839369e-01 -7.02241356e-01 -1.19075858e-02 3.78049735e+02] [ 1.66294499e-02 -9.74622650e-05 9.99861716e-01 7.93849857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0327550960001 meters 0.01735790610417201 Centerline is valid? [True, True] Translation: X:24.02, Y:378.07, Z:7.94 [[-7.01581099e-01 -7.12488676e-01 1.19936603e-02 2.40194312e+01] [ 7.12382614e-01 -7.01683604e-01 -1.22935846e-02 3.78069119e+02] [ 1.71747946e-02 -8.08715380e-05 9.99852499e-01 7.93834452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.062755096 meters 0.017341839390098437 Centerline is valid? [True, True] Translation: X:24.00, Y:378.09, Z:7.94 [[-7.00939675e-01 -7.13105071e-01 1.28346900e-02 2.40029302e+01] [ 7.12983901e-01 -7.01057168e-01 -1.31454889e-02 3.78089742e+02] [ 1.83719662e-02 -6.32673749e-05 9.99831219e-01 7.93769558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.092755096 meters 0.017230726058663288 Centerline is valid? [True, True] Translation: X:23.98, Y:378.11, Z:7.94 [[-7.01074657e-01 -7.12968380e-01 1.30543342e-02 2.39848396e+01] [ 7.12843188e-01 -7.01196182e-01 -1.33604949e-02 3.78110753e+02] [ 1.86792597e-02 -6.10111781e-05 9.99825526e-01 7.93836606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.122755096 meters 0.017407934566648114 Centerline is valid? [True, True] Translation: X:23.97, Y:378.13, Z:7.94 [[-7.01783128e-01 -7.12274017e-01 1.28905597e-02 2.39677590e+01] [ 7.12152013e-01 -7.01901503e-01 -1.31829606e-02 3.78130962e+02] [ 1.84377835e-02 -7.15413394e-05 9.99830007e-01 7.93793824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1527550960001 meters 0.017492082513590336 Centerline is valid? [True, True] Translation: X:23.95, Y:378.15, Z:7.94 [[-7.03175337e-01 -7.10905994e-01 1.25344782e-02 2.39515978e+01] [ 7.10790587e-01 -7.03287038e-01 -1.28095190e-02 3.78153683e+02] [ 1.79216999e-02 -9.79486647e-05 9.99839389e-01 7.93949760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.182755096 meters 0.017745951241641182 Centerline is valid? [True, True] Translation: X:23.93, Y:378.18, Z:7.94 [[-7.04495048e-01 -7.09590356e-01 1.29712564e-02 2.39342787e+01] [ 7.09466719e-01 -7.04614440e-01 -1.32463358e-02 3.78175463e+02] [ 1.85392068e-02 -1.29303250e-04 9.99828126e-01 7.93956512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.212755096 meters 0.020103392819880047 Centerline is valid? [True, True] Translation: X:23.92, Y:378.20, Z:7.94 [[-7.07066051e-01 -7.07029130e-01 1.29386356e-02 2.39205472e+01] [ 7.06905811e-01 -7.07184398e-01 -1.32061187e-02 3.78199234e+02] [ 1.84871118e-02 -1.91201467e-04 9.99829081e-01 7.93879828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.242755096 meters 0.01899851906849695 Centerline is valid? [True, True] Translation: X:23.90, Y:378.22, Z:7.94 [[-7.08424630e-01 -7.05670491e-01 1.27946115e-02 2.39036494e+01] [ 7.05549829e-01 -7.08540127e-01 -1.30510005e-02 3.78220626e+02] [ 1.82752016e-02 -2.18414303e-04 9.99832971e-01 7.94090306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.272755096 meters 0.01968488096960515 Centerline is valid? [True, True] Translation: X:23.89, Y:378.24, Z:7.94 [[-7.10135853e-01 -7.03948632e-01 1.27825570e-02 2.38866199e+01] [ 7.03828083e-01 -7.10250842e-01 -1.30296455e-02 3.78242702e+02] [ 1.82510230e-02 -2.56095869e-04 9.99833403e-01 7.94111755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.302755096 meters 0.020862669845189367 Centerline is valid? [True, True] Translation: X:23.87, Y:378.27, Z:7.94 [[-7.12526227e-01 -7.01526623e-01 1.29140931e-02 2.38718720e+01] [ 7.01403356e-01 -7.12643178e-01 -1.31542137e-02 3.78265786e+02] [ 1.84311715e-02 -3.14734033e-04 9.99830082e-01 7.94169737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.332755096 meters 0.021430603723464097 Centerline is valid? [True, True] Translation: X:23.86, Y:378.29, Z:7.94 [[-7.13223786e-01 -7.00810430e-01 1.32880446e-02 2.38553070e+01] [ 7.00679950e-01 -7.13347480e-01 -1.35270495e-02 3.78286145e+02] [ 1.89588905e-02 -3.37147073e-04 9.99820207e-01 7.94099891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.362755096 meters 0.021230841715278212 Centerline is valid? [True, True] Translation: X:23.84, Y:378.31, Z:7.94 [[-7.13557168e-01 -7.00451908e-01 1.42580899e-02 2.38365753e+01] [ 7.00301788e-01 -7.13699511e-01 -1.45056900e-02 3.78307610e+02] [ 2.03365300e-02 -3.65673224e-04 9.99793125e-01 7.94112978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.392755096 meters 0.02071386836596793 Centerline is valid? [True, True] Translation: X:23.82, Y:378.33, Z:7.94 [[-7.12948083e-01 -7.01069443e-01 1.43759217e-02 2.38170772e+01] [ 7.00917162e-01 -7.13092924e-01 -1.46155641e-02 3.78326247e+02] [ 2.04978934e-02 -3.43808212e-04 9.99789837e-01 7.94163295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4227550960001 meters 0.021172774787461317 Centerline is valid? [True, True] Translation: X:23.80, Y:378.35, Z:7.94 [[-7.12147969e-01 -7.01877462e-01 1.46047285e-02 2.37984084e+01] [ 7.01720681e-01 -7.12297639e-01 -1.48377599e-02 3.78345467e+02] [ 2.08172029e-02 -3.18240551e-04 9.99783248e-01 7.94013040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.452755096 meters 0.01932469482578074 Centerline is valid? [True, True] Translation: X:23.77, Y:378.36, Z:7.94 [[-7.09353340e-01 -7.04685438e-01 1.53711376e-02 2.37748848e+01] [ 7.04512650e-01 -7.09519820e-01 -1.56061341e-02 3.78361808e+02] [ 2.19035422e-02 -2.41102466e-04 9.99760060e-01 7.94198785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.482755096 meters 0.019134316159619195 Centerline is valid? [True, True] Translation: X:23.75, Y:378.38, Z:7.94 [[-7.08649384e-01 -7.05382486e-01 1.58618698e-02 2.37544957e+01] [ 7.05198915e-01 -7.08826848e-01 -1.60931357e-02 3.78380151e+02] [ 2.25951352e-02 -2.18617361e-04 9.99744673e-01 7.94194538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.512755096 meters 0.018738984640513358 Centerline is valid? [True, True] Translation: X:23.73, Y:378.40, Z:7.94 [[-7.07448135e-01 -7.06562207e-01 1.69406232e-02 2.37333558e+01] [ 7.06353458e-01 -7.07650913e-01 -1.71749333e-02 3.78398095e+02] [ 2.41232063e-02 -1.84306766e-04 9.99708976e-01 7.94177801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5427550960001 meters 0.021250607231518323 Centerline is valid? [True, True] Translation: X:23.72, Y:378.42, Z:7.94 [[-7.07622608e-01 -7.06390185e-01 1.68271029e-02 2.37154418e+01] [ 7.06184486e-01 -7.07822629e-01 -1.70469317e-02 3.78416698e+02] [ 2.39523894e-02 -1.79755256e-04 9.99713084e-01 7.93855356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.572755096 meters 0.019433634875444812 Centerline is valid? [True, True] Translation: X:23.70, Y:378.44, Z:7.94 [[-7.07246902e-01 -7.06754503e-01 1.73174086e-02 2.36975040e+01] [ 7.06537004e-01 -7.07458865e-01 -1.75332793e-02 3.78435187e+02] [ 2.46430784e-02 -1.64967459e-04 9.99696300e-01 7.93988845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.602755096 meters 0.02300582566991379 Centerline is valid? [True, True] Translation: X:23.68, Y:378.45, Z:7.94 [[-7.08457115e-01 -7.05557386e-01 1.66520637e-02 2.36801837e+01] [ 7.05356235e-01 -7.08652763e-01 -1.68476642e-02 3.78454011e+02] [ 2.36875249e-02 -1.90210609e-04 9.99719393e-01 7.93844812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.632755096 meters 0.02155579662000229 Centerline is valid? [True, True] Translation: X:23.66, Y:378.47, Z:7.94 [[-7.09272530e-01 -7.04745601e-01 1.63130586e-02 2.36603178e+01] [ 7.04552617e-01 -7.09460074e-01 -1.64928369e-02 3.78472557e+02] [ 2.31967180e-02 -2.04508011e-04 9.99730899e-01 7.94241847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6627550960001 meters 0.01971589633289569 Centerline is valid? [True, True] Translation: X:23.64, Y:378.49, Z:7.95 [[-7.10927863e-01 -7.03094362e-01 1.54884374e-02 2.36421578e+01] [ 7.02920254e-01 -7.11096521e-01 -1.56478175e-02 3.78491912e+02] [ 2.20156662e-02 -2.37333113e-04 9.99757598e-01 7.94614457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.692755096 meters 0.021491255873103226 Centerline is valid? [True, True] Translation: X:23.62, Y:378.51, Z:7.95 [[-7.12142012e-01 -7.01876366e-01 1.49439852e-02 2.36234406e+01] [ 7.01714244e-01 -7.12298744e-01 -1.50870447e-02 3.78511149e+02] [ 2.12338220e-02 -2.57711074e-04 9.99774504e-01 7.94627133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.722755096 meters 0.020001197756506498 Centerline is valid? [True, True] Translation: X:23.60, Y:378.53, Z:7.95 [[-7.13037285e-01 -7.00969800e-01 1.48043645e-02 2.36044440e+01] [ 7.00810723e-01 -7.13190903e-01 -1.49354365e-02 3.78530519e+02] [ 2.10276281e-02 -2.74465723e-04 9.99778857e-01 7.94883532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.752755096 meters 0.020730238138028087 Centerline is valid? [True, True] Translation: X:23.59, Y:378.55, Z:7.95 [[-7.14623048e-01 -6.99355387e-01 1.46950073e-02 2.35868991e+01] [ 6.99198519e-01 -7.14774052e-01 -1.48150180e-02 3.78550992e+02] [ 2.08645726e-02 -3.12425984e-04 9.99782262e-01 7.94899095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7827550960001 meters 0.023011208036299035 Centerline is valid? [True, True] Translation: X:23.57, Y:378.57, Z:7.95 [[-7.15744431e-01 -6.98199716e-01 1.50687014e-02 2.35680029e+01] [ 6.98034720e-01 -7.15902951e-01 -1.51820427e-02 3.78571531e+02] [ 2.13878257e-02 -3.47985740e-04 9.99771194e-01 7.94720937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.812755096 meters 0.02140442823522901 Centerline is valid? [True, True] Translation: X:23.55, Y:378.59, Z:7.95 [[-7.16123906e-01 -6.97811213e-01 1.50353648e-02 2.35486859e+01] [ 6.97647080e-01 -7.16281640e-01 -1.51381832e-02 3.78590342e+02] [ 2.13331497e-02 -3.51436584e-04 9.99772361e-01 7.94949871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.842755096 meters 0.021465413604779434 Centerline is valid? [True, True] Translation: X:23.53, Y:378.61, Z:7.95 [[-7.16363706e-01 -6.97562834e-01 1.51371398e-02 2.35284836e+01] [ 6.97396643e-01 -7.16523529e-01 -1.52300476e-02 3.78609076e+02] [ 2.14700320e-02 -3.53662865e-04 9.99769430e-01 7.94899769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.872755096 meters 0.021593957015018622 Centerline is valid? [True, True] Translation: X:23.51, Y:378.63, Z:7.95 [[-7.16324204e-01 -6.97598721e-01 1.53512184e-02 2.35082857e+01] [ 6.97428037e-01 -7.16488592e-01 -1.54347419e-02 3.78628017e+02] [ 2.17662290e-02 -3.49909075e-04 9.99763026e-01 7.94839497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9027550960001 meters 0.021202148614333543 Centerline is valid? [True, True] Translation: X:23.49, Y:378.65, Z:7.95 [[-7.15955842e-01 -6.97976693e-01 1.53547589e-02 2.34874644e+01] [ 6.97806250e-01 -7.16120400e-01 -1.54275700e-02 3.78645772e+02] [ 2.17639404e-02 -3.30812166e-04 9.99763083e-01 7.94904868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.932755096 meters 0.021587596983238807 Centerline is valid? [True, True] Translation: X:23.47, Y:378.66, Z:7.95 [[-7.16107661e-01 -6.97819240e-01 1.54313346e-02 2.34674247e+01] [ 6.97647298e-01 -7.16273831e-01 -1.54934772e-02 3.78664168e+02] [ 2.18647077e-02 -3.29368855e-04 9.99760884e-01 7.94951011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.962755096 meters 0.021587596983238807 Centerline is valid? [True, True] Translation: X:23.45, Y:378.68, Z:7.95 [[-7.16357166e-01 -6.97562982e-01 1.54368755e-02 2.34483806e+01] [ 6.97391100e-01 -7.16523396e-01 -1.54879562e-02 3.78682998e+02] [ 2.18647073e-02 -3.29368849e-04 9.99760884e-01 7.94965404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.992755096 meters 0.020977320771578902 Centerline is valid? [True, True] Translation: X:23.43, Y:378.70, Z:7.95 [[-7.17233926e-01 -6.96684839e-01 1.43433272e-02 2.34295925e+01] [ 6.96536478e-01 -7.17377259e-01 -1.43806602e-02 3.78702434e+02] [ 2.03083646e-02 -3.23646745e-04 9.99793712e-01 7.95229903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.022755096 meters 0.021145186105637075 Centerline is valid? [True, True] Translation: X:23.41, Y:378.72, Z:7.95 [[-7.17885551e-01 -6.96026961e-01 1.36676743e-02 2.34104679e+01] [ 6.95892318e-01 -7.18015576e-01 -1.36935588e-02 3.78721750e+02] [ 1.93446892e-02 -3.19178433e-04 9.99812823e-01 7.95343066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.052755096 meters 0.02173421470842029 Centerline is valid? [True, True] Translation: X:23.39, Y:378.74, Z:7.95 [[-7.18952955e-01 -6.94935474e-01 1.30895292e-02 2.33916617e+01] [ 6.94811945e-01 -7.19072026e-01 -1.31065581e-02 3.78740006e+02] [ 1.85205264e-02 -3.28237435e-04 9.99828427e-01 7.95439004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.082755096 meters 0.0217782842408759 Centerline is valid? [True, True] Translation: X:23.37, Y:378.76, Z:7.95 [[-7.19162241e-01 -6.94726103e-01 1.27009312e-02 2.33712200e+01] [ 6.94609917e-01 -7.19274316e-01 -1.27091314e-02 3.78757925e+02] [ 1.79648189e-02 -3.17734655e-04 9.99838569e-01 7.95472242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.112755096 meters 0.024311899077448556 Centerline is valid? [True, True] Translation: X:23.35, Y:378.78, Z:7.95 [[-7.19033720e-01 -6.94853541e-01 1.30025616e-02 2.33516800e+01] [ 6.94731934e-01 -7.19151206e-01 -1.30031986e-02 3.78776206e+02] [ 1.83861264e-02 -3.16443460e-04 9.99830911e-01 7.95180337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.142755096 meters 0.022670685087438792 Centerline is valid? [True, True] Translation: X:22.88, Y:378.29, Z:9.03 [[-7.44106055e-01 6.68037895e-01 5.61690097e-03 2.28812835e+01] [ 6.68023820e-01 7.44127084e-01 -4.36563889e-03 3.78287552e+02] [-7.09610036e-03 5.03725308e-04 -9.99974696e-01 9.02972947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1727550960001 meters 0.023489628207071945 Centerline is valid? [True, True] Translation: X:22.90, Y:378.30, Z:9.03 [[-7.89697340e-01 6.13463955e-01 6.33143053e-03 2.28996145e+01] [ 6.13449268e-01 7.89722558e-01 -4.27521522e-03 3.78297426e+02] [-7.62276395e-03 5.07885334e-04 -9.99970817e-01 9.03106994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.202755096 meters 0.0236514937029744 Centerline is valid? [True, True] Translation: X:23.31, Y:378.83, Z:7.95 [[-7.68594362e-01 -6.39587441e-01 1.38062795e-02 2.33101370e+01] [ 6.39482221e-01 -7.68718348e-01 -1.16013432e-02 3.78833670e+02] [ 1.80332138e-02 -8.78566918e-05 9.99837385e-01 7.95222884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.232755096 meters 0.02261399085384992 Centerline is valid? [True, True] Translation: X:23.30, Y:378.81, Z:7.95 [[-7.23959813e-01 -6.89728910e-01 1.24987764e-02 2.33049920e+01] [ 6.89624743e-01 -7.24067695e-01 -1.19869247e-02 3.78811373e+02] [ 1.73176887e-02 -5.85863258e-05 9.99850036e-01 7.95382865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.262755096 meters 0.024006805374039795 Centerline is valid? [True, True] Translation: X:23.30, Y:378.79, Z:7.95 [[-6.76021716e-01 -7.36787386e-01 1.17892991e-02 2.32984304e+01] [ 7.36674597e-01 -6.76124506e-01 -1.28915011e-02 3.78789585e+02] [ 1.74693294e-02 -3.00575451e-05 9.99847399e-01 7.95244187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2927550960001 meters 0.022917245035615336 Centerline is valid? [True, True] Translation: X:23.28, Y:378.81, Z:7.95 [[-6.76568999e-01 -7.36297131e-01 1.09965557e-02 2.32801670e+01] [ 7.36192622e-01 -6.76658293e-01 -1.24087718e-02 3.78809254e+02] [ 1.65774537e-02 -2.99807127e-04 9.99862540e-01 7.95483986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.322755096 meters 0.0249829755385612 Centerline is valid? [True, True] Translation: X:23.26, Y:378.83, Z:7.95 [[-6.76606205e-01 -7.36253478e-01 1.16129113e-02 2.32637201e+01] [ 7.36137098e-01 -6.76705786e-01 -1.30939829e-02 3.78828481e+02] [ 1.74990147e-02 -3.10775185e-04 9.99846832e-01 7.95252196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.352755096 meters 0.023693189783116225 Centerline is valid? [True, True] Translation: X:23.25, Y:378.85, Z:7.96 [[-6.77402664e-01 -7.35533810e-01 1.07538561e-02 2.32470191e+01] [ 7.35434071e-01 -6.77487952e-01 -1.21162069e-02 3.78848107e+02] [ 1.61974878e-02 -2.98798632e-04 9.99868767e-01 7.95538441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.382755096 meters 0.02398507476705909 Centerline is valid? [True, True] Translation: X:23.23, Y:378.87, Z:7.96 [[-6.77911900e-01 -7.35069848e-01 1.03814293e-02 2.32296577e+01] [ 7.34976978e-01 -6.77991322e-01 -1.16880216e-02 3.78867600e+02] [ 1.56300312e-02 -2.93337399e-04 9.99877801e-01 7.95568394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4127550960001 meters 0.024240159285790017 Centerline is valid? [True, True] Translation: X:23.21, Y:378.89, Z:7.96 [[-6.78675411e-01 -7.34368452e-01 1.01322570e-02 2.32120566e+01] [ 7.34280034e-01 -6.78750977e-01 -1.13992689e-02 3.78887869e+02] [ 1.52485428e-02 -2.96489471e-04 9.99883690e-01 7.95609604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.442755096 meters 0.025563700369062893 Centerline is valid? [True, True] Translation: X:23.20, Y:378.91, Z:7.96 [[-6.80368370e-01 -7.32800858e-01 1.00888199e-02 2.31962050e+01] [ 7.32713143e-01 -6.80443089e-01 -1.13424792e-02 3.78909197e+02] [ 1.51766462e-02 -3.24853169e-04 9.99884775e-01 7.95603918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.472755096 meters 0.027406888622904312 Centerline is valid? [True, True] Translation: X:23.18, Y:378.93, Z:7.95 [[-6.81126082e-01 -7.32093407e-01 1.03200392e-02 2.31795807e+01] [ 7.32001672e-01 -6.81204173e-01 -1.15942309e-02 3.78930068e+02] [ 1.55181138e-02 -3.42847081e-04 9.99879528e-01 7.95445498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.502755096 meters 0.024369685186044276 Centerline is valid? [True, True] Translation: X:23.16, Y:378.95, Z:7.96 [[-6.83200774e-01 -7.30174517e-01 9.04860533e-03 2.31585280e+01] [ 7.30103914e-01 -6.83260611e-01 -1.01593457e-02 3.78949286e+02] [ 1.36006509e-02 -3.34450648e-04 9.99907451e-01 7.95938036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5327550960001 meters 0.026719840307621104 Centerline is valid? [True, True] Translation: X:23.14, Y:378.97, Z:7.96 [[-6.83806912e-01 -7.29605836e-01 9.13410673e-03 2.31416826e+01] [ 7.29533939e-01 -6.83867828e-01 -1.02482098e-02 3.78970325e+02] [ 1.37236754e-02 -3.44155813e-04 9.99905767e-01 7.95794833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.562755096 meters 0.02495985932161846 Centerline is valid? [True, True] Translation: X:23.12, Y:378.99, Z:7.96 [[-6.84858774e-01 -7.28632455e-01 7.95017683e-03 2.31235738e+01] [ 7.28577995e-01 -6.84904847e-01 -8.91380463e-03 3.78990962e+02] [ 1.19400020e-02 -3.12373415e-04 9.99928667e-01 7.96111499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.592755096 meters 0.02669508420817182 Centerline is valid? [True, True] Translation: X:23.11, Y:379.01, Z:7.96 [[-6.85535261e-01 -7.27997455e-01 7.81735948e-03 2.31057137e+01] [ 7.27944833e-01 -6.85579760e-01 -8.75862202e-03 3.79012069e+02] [ 1.17356780e-02 -3.13737792e-04 9.99931085e-01 7.96000325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.622755096 meters 0.0261317610138902 Centerline is valid? [True, True] Translation: X:23.09, Y:379.03, Z:7.96 [[-6.86010335e-01 -7.27555277e-01 7.28974087e-03 2.30891579e+01] [ 7.27509557e-01 -6.86049001e-01 -8.16165329e-03 3.79031928e+02] [ 1.09391734e-02 -2.95622349e-04 9.99940122e-01 7.96179260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6527550960001 meters 0.025370575952100117 Centerline is valid? [True, True] Translation: X:23.07, Y:379.05, Z:7.96 [[-6.85539486e-01 -7.28001165e-01 7.06521015e-03 2.30701342e+01] [ 7.27958302e-01 -6.85575837e-01 -7.90458315e-03 3.79051445e+02] [ 1.05982831e-02 -2.75725488e-04 9.99943799e-01 7.96258640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.682755096 meters 0.02509239580322571 Centerline is valid? [True, True] Translation: X:23.05, Y:379.07, Z:7.96 [[-6.85154871e-01 -7.28363861e-01 6.99203729e-03 2.30515615e+01] [ 7.28321958e-01 -6.85190497e-01 -7.81721129e-03 3.79070909e+02] [ 1.04846517e-02 -2.63546111e-04 9.99945000e-01 7.96255807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.712755096 meters 0.02563126820889082 Centerline is valid? [True, True] Translation: X:23.03, Y:379.09, Z:7.96 [[-6.84737481e-01 -7.28754923e-01 7.13056934e-03 2.30329061e+01] [ 7.28711425e-01 -6.84774558e-01 -7.96638593e-03 3.79090690e+02] [ 1.06883754e-02 -2.58755684e-04 9.99942844e-01 7.96182608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.742755096 meters 0.024664368178360783 Centerline is valid? [True, True] Translation: X:23.01, Y:379.11, Z:7.96 [[-6.83995313e-01 -7.29457515e-01 6.49193822e-03 2.30137701e+01] [ 7.29421537e-01 -6.84026085e-01 -7.24824844e-03 3.79110259e+02] [ 9.72794438e-03 -2.22408403e-04 9.99952658e-01 7.96269748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.772755096 meters 0.024356643294784822 Centerline is valid? [True, True] Translation: X:23.00, Y:379.13, Z:7.96 [[-6.83689609e-01 -7.29743026e-01 6.60570305e-03 2.29951278e+01] [ 7.29705838e-01 -6.83721484e-01 -7.37034422e-03 3.79129831e+02] [ 9.89491839e-03 -2.18807677e-04 9.99951020e-01 7.96246048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.802755096 meters 0.02534785616345731 Centerline is valid? [True, True] Translation: X:22.98, Y:379.15, Z:7.96 [[-6.82935413e-01 -7.30445517e-01 6.96910376e-03 2.29782246e+01] [ 7.30404220e-01 -6.82970936e-01 -7.77014645e-03 3.79149731e+02] [ 1.04353640e-02 -2.16245375e-04 9.99945527e-01 7.96065179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.832755096 meters 0.025201993549770083 Centerline is valid? [True, True] Translation: X:22.96, Y:379.17, Z:7.96 [[-6.82714572e-01 -7.30648683e-01 7.30170861e-03 2.29585197e+01] [ 7.30603427e-01 -6.82753582e-01 -8.13500268e-03 3.79169071e+02] [ 1.09290967e-02 -2.19231538e-04 9.99940252e-01 7.96005488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.862755096 meters 0.023386204389282943 Centerline is valid? [True, True] Translation: X:22.94, Y:379.19, Z:7.96 [[-6.82862234e-01 -7.30514257e-01 6.93469845e-03 2.29400266e+01] [ 7.30473485e-01 -6.82897414e-01 -7.72077287e-03 3.79188721e+02] [ 1.03758223e-02 -2.06610865e-04 9.99946148e-01 7.96223684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.892755096 meters 0.023857254245453374 Centerline is valid? [True, True] Translation: X:22.92, Y:379.21, Z:7.96 [[-6.82945918e-01 -7.30438302e-01 6.69029602e-03 2.29231290e+01] [ 7.30400401e-01 -6.82978659e-01 -7.44351534e-03 3.79209540e+02] [ 1.00063581e-02 -1.96923520e-04 9.99949916e-01 7.96188697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9227550960001 meters 0.023305532051598066 Centerline is valid? [True, True] Translation: X:22.90, Y:379.23, Z:7.96 [[-6.82921390e-01 -7.30460663e-01 6.75243719e-03 2.29045329e+01] [ 7.30422109e-01 -6.82954744e-01 -7.50735600e-03 3.79229956e+02] [ 1.00954373e-02 -1.94804585e-04 9.99949021e-01 7.96235244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.952755096 meters 0.023200113602256545 Centerline is valid? [True, True] Translation: X:22.89, Y:379.25, Z:7.96 [[-6.83086937e-01 -7.30306577e-01 6.67391192e-03 2.28857958e+01] [ 7.30268959e-01 -6.83119512e-01 -7.41485051e-03 3.79249839e+02] [ 9.97419354e-03 -1.91236812e-04 9.99950238e-01 7.96260883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.982755096 meters 0.024707000384312203 Centerline is valid? [True, True] Translation: X:22.87, Y:379.27, Z:7.96 [[-6.82633153e-01 -7.30728601e-01 6.90585301e-03 2.28694777e+01] [ 7.30688403e-01 -6.82668058e-01 -7.66687855e-03 3.79271098e+02] [ 1.03168127e-02 -1.87638769e-04 9.99946763e-01 7.96101603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.012755096 meters 0.023481283286821544 Centerline is valid? [True, True] Translation: X:22.85, Y:379.29, Z:7.96 [[-6.82640134e-01 -7.30721184e-01 6.99995580e-03 2.28488977e+01] [ 7.30679942e-01 -6.82675997e-01 -7.76568438e-03 3.79289154e+02] [ 1.04532519e-02 -1.86440528e-04 9.99945346e-01 7.96174764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0427550960001 meters 0.02282527059431733 Centerline is valid? [True, True] Translation: X:22.83, Y:379.31, Z:7.96 [[-6.82687098e-01 -7.30679388e-01 6.77923479e-03 2.28307216e+01] [ 7.30640758e-01 -6.82720734e-01 -7.51549093e-03 3.79308525e+02] [ 1.01197385e-02 -1.77543455e-04 9.99948778e-01 7.96251012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.072755096 meters 0.022851391377684598 Centerline is valid? [True, True] Translation: X:22.81, Y:379.33, Z:7.96 [[-6.82614422e-01 -7.30748864e-01 6.60669034e-03 2.28122762e+01] [ 7.30712230e-01 -6.82646372e-01 -7.31903854e-03 3.79328345e+02] [ 9.85841229e-03 -1.68491832e-04 9.99951391e-01 7.96311660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.102755096 meters 0.02353364187158642 Centerline is valid? [True, True] Translation: X:22.79, Y:379.35, Z:7.96 [[-6.83085896e-01 -7.30310184e-01 6.37913376e-03 2.27938239e+01] [ 7.30276056e-01 -6.83115662e-01 -7.06215493e-03 3.79348598e+02] [ 9.51524985e-03 -1.65529791e-04 9.99954715e-01 7.96313827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.132755096 meters 0.02285297368183688 Centerline is valid? [True, True] Translation: X:22.78, Y:379.37, Z:7.96 [[-6.83384420e-01 -7.30034907e-01 5.89647482e-03 2.27754368e+01] [ 7.30005776e-01 -6.83409841e-01 -6.52350573e-03 3.79368654e+02] [ 8.79209582e-03 -1.53601506e-04 9.99961337e-01 7.96448535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1627550960001 meters 0.022799620352521033 Centerline is valid? [True, True] Translation: X:22.76, Y:379.39, Z:7.97 [[-6.83482061e-01 -7.29947116e-01 5.42958743e-03 2.27582282e+01] [ 7.29922446e-01 -6.83503613e-01 -6.00281011e-03 3.79387757e+02] [ 8.09287655e-03 -1.39635292e-04 9.99967242e-01 7.96555684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.192755096 meters 0.02292253377946482 Centerline is valid? [True, True] Translation: X:22.74, Y:379.41, Z:7.97 [[-6.83837668e-01 -7.29614764e-01 5.32349132e-03 2.27414201e+01] [ 7.29591073e-01 -6.83858375e-01 -5.88123459e-03 3.79406925e+02] [ 7.93154972e-03 -1.37837999e-04 9.99968535e-01 7.96591673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.222755096 meters 0.024500320890394042 Centerline is valid? [True, True] Translation: X:22.72, Y:379.43, Z:7.96 [[-6.84037897e-01 -7.29425580e-01 5.52079255e-03 2.27245990e+01] [ 7.29400128e-01 -6.84060161e-01 -6.09511496e-03 3.79426894e+02] [ 8.22248700e-03 -1.42422825e-04 9.99966185e-01 7.96492043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.252755096 meters 0.0237293027868811 Centerline is valid? [True, True] Translation: X:22.71, Y:379.45, Z:7.97 [[-6.84309474e-01 -7.29173669e-01 5.12880531e-03 2.27079493e+01] [ 7.29151727e-01 -6.84328680e-01 -5.65825306e-03 3.79446361e+02] [ 7.63563771e-03 -1.32318927e-04 9.99970839e-01 7.96646412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2827550960001 meters 0.02230077422205497 Centerline is valid? [True, True] Translation: X:22.69, Y:379.46, Z:7.97 [[-6.84209731e-01 -7.29268147e-01 5.00144369e-03 2.26877920e+01] [ 7.29247315e-01 -6.84227999e-01 -5.51361719e-03 3.79464877e+02] [ 7.44303319e-03 -1.25181148e-04 9.99972292e-01 7.96717156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.312755096 meters 0.022392727871363306 Centerline is valid? [True, True] Translation: X:22.67, Y:379.48, Z:7.97 [[-6.84924661e-01 -7.28594531e-01 5.31203173e-03 2.26691071e+01] [ 7.28571045e-01 -6.84945246e-01 -5.85166916e-03 3.79484298e+02] [ 7.90194503e-03 -1.37760008e-04 9.99968770e-01 7.96645406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.342755096 meters 0.022782266229334373 Centerline is valid? [True, True] Translation: X:22.65, Y:379.50, Z:7.97 [[-6.85620510e-01 -7.27937839e-01 5.56950615e-03 2.26523485e+01] [ 7.27912038e-01 -6.85643114e-01 -6.13068270e-03 3.79504351e+02] [ 8.28144946e-03 -1.49211227e-04 9.99965697e-01 7.96582515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.372755096 meters 0.022797729220664233 Centerline is valid? [True, True] Translation: X:22.63, Y:379.52, Z:7.97 [[-6.86420396e-01 -7.27181643e-01 5.82226073e-03 2.26343641e+01] [ 7.27153462e-01 -6.86445069e-01 -6.40396102e-03 3.79524184e+02] [ 8.65350506e-03 -1.62132410e-04 9.99962545e-01 7.96521714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4027550960001 meters 0.02342988226269608 Centerline is valid? [True, True] Translation: X:22.62, Y:379.54, Z:7.96 [[-6.87286627e-01 -7.26359474e-01 6.24554416e-03 2.26181315e+01] [ 7.26327057e-01 -6.87314980e-01 -6.86476266e-03 3.79544672e+02] [ 9.27894146e-03 -1.81751866e-04 9.99956933e-01 7.96479667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.432755096 meters 0.023773821621049858 Centerline is valid? [True, True] Translation: X:22.60, Y:379.57, Z:7.96 [[-6.89278255e-01 -7.24468130e-01 6.43550026e-03 2.26006308e+01] [ 7.24433669e-01 -6.89308265e-01 -7.06933641e-03 3.79566285e+02] [ 9.55755245e-03 -2.10646805e-04 9.99954303e-01 7.96497828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.462755096 meters 0.025990778874406914 Centerline is valid? [True, True] Translation: X:22.58, Y:379.59, Z:7.96 [[-6.90687283e-01 -7.23117953e-01 7.17652532e-03 2.25839384e+01] [ 7.23075084e-01 -6.90724520e-01 -7.87790341e-03 3.79588268e+02] [ 1.06536554e-02 -2.52001064e-04 9.99943216e-01 7.96355344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.492755096 meters 0.02532332742082842 Centerline is valid? [True, True] Translation: X:22.57, Y:379.61, Z:7.96 [[-6.91848498e-01 -7.22012779e-01 6.57295468e-03 2.25662734e+01] [ 7.21976805e-01 -6.91879677e-01 -7.21142945e-03 3.79609212e+02] [ 9.75443798e-03 -2.43695803e-04 9.99952395e-01 7.96462532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.522755096 meters 0.026309780345100203 Centerline is valid? [True, True] Translation: X:22.55, Y:379.63, Z:7.97 [[-6.93618390e-01 -7.20316894e-01 6.09111792e-03 2.25490622e+01] [ 7.20285968e-01 -6.93645091e-01 -6.67923310e-03 3.79630876e+02] [ 9.03623848e-03 -2.45492143e-04 9.99959142e-01 7.96580632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.552755096 meters 0.028336244064221135 Centerline is valid? [True, True] Translation: X:22.53, Y:379.65, Z:7.96 [[-6.94748700e-01 -7.19218903e-01 6.95796394e-03 2.25301306e+01] [ 7.19178549e-01 -6.94783480e-01 -7.62435282e-03 3.79652101e+02] [ 1.03178571e-02 -2.92990796e-04 9.99946727e-01 7.96485885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.582755096 meters 0.025880763558321158 Centerline is valid? [True, True] Translation: X:22.51, Y:379.67, Z:7.97 [[-6.95389150e-01 -7.18605098e-01 6.37521346e-03 2.25106641e+01] [ 7.18571237e-01 -6.95418319e-01 -6.98134943e-03 3.79671493e+02] [ 9.45027352e-03 -2.73709630e-04 9.99955308e-01 7.96664376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.612755096 meters 0.02640413322375622 Centerline is valid? [True, True] Translation: X:22.49, Y:379.69, Z:7.97 [[-6.95431833e-01 -7.18564826e-01 6.25750103e-03 2.24940405e+01] [ 7.18532248e-01 -6.95459934e-01 -6.84748110e-03 3.79691359e+02] [ 9.27220032e-03 -2.65740047e-04 9.99956977e-01 7.96682836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.642755096 meters 0.02746664713911122 Centerline is valid? [True, True] Translation: X:22.48, Y:379.71, Z:7.97 [[-6.95636045e-01 -7.18359845e-01 7.04462742e-03 2.24751467e+01] [ 7.18318608e-01 -6.95671650e-01 -7.70280800e-03 3.79710980e+02] [ 1.04341355e-02 -2.98063927e-04 9.99945519e-01 7.96638032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6727550960001 meters 0.02555507613531707 Centerline is valid? [True, True] Translation: X:22.46, Y:379.73, Z:7.97 [[-6.93961368e-01 -7.19978006e-01 7.02072335e-03 2.24558001e+01] [ 7.19937183e-01 -6.93996829e-01 -7.67162630e-03 3.79729748e+02] [ 1.03957619e-02 -2.69332483e-04 9.99945926e-01 7.96767172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.702755096 meters 0.025900569962076514 Centerline is valid? [True, True] Translation: X:22.44, Y:379.75, Z:7.97 [[-6.93095972e-01 -7.20809863e-01 7.14944665e-03 2.24376784e+01] [ 7.20767628e-01 -6.93132797e-01 -7.80719993e-03 3.79749448e+02] [ 1.05830227e-02 -2.58049130e-04 9.99943965e-01 7.96689148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.732755096 meters 0.024486037826329323 Centerline is valid? [True, True] Translation: X:22.42, Y:379.77, Z:7.97 [[-6.92134988e-01 -7.21726623e-01 7.73571237e-03 2.24169558e+01] [ 7.21677302e-01 -6.92178167e-01 -8.44136150e-03 3.79766930e+02] [ 1.14468465e-02 -2.59873596e-04 9.99934449e-01 7.96722979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.762755096 meters 0.022681818999250977 Centerline is valid? [True, True] Translation: X:22.39, Y:379.78, Z:7.97 [[-6.90122575e-01 -7.23650761e-01 7.77223234e-03 2.23945212e+01] [ 7.23601160e-01 -6.90166303e-01 -8.47560532e-03 3.79784204e+02] [ 1.14975111e-02 -2.25210234e-04 9.99933876e-01 7.96720237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7927550960001 meters 0.022415488837985574 Centerline is valid? [True, True] Translation: X:22.38, Y:379.80, Z:7.97 [[-6.89404638e-01 -7.24331822e-01 8.04099458e-03 2.23754324e+01] [ 7.24278849e-01 -6.89451496e-01 -8.76268427e-03 3.79803008e+02] [ 1.18909668e-02 -2.17112875e-04 9.99929276e-01 7.96741184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.822755096 meters 0.02218083251158888 Centerline is valid? [True, True] Translation: X:22.36, Y:379.82, Z:7.97 [[-6.88828586e-01 -7.24883211e-01 7.71431784e-03 2.23565622e+01] [ 7.24834557e-01 -6.88871754e-01 -8.40070735e-03 3.79821747e+02] [ 1.14037074e-02 -1.95043212e-04 9.99934957e-01 7.96764370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.852755096 meters 0.021377750105059407 Centerline is valid? [True, True] Translation: X:22.34, Y:379.84, Z:7.97 [[-6.87440754e-01 -7.26203356e-01 7.34128114e-03 2.23367176e+01] [ 7.26159431e-01 -6.87479934e-01 -7.98888685e-03 3.79840016e+02] [ 1.08485399e-02 -1.60945871e-04 9.99941140e-01 7.96843447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.882755096 meters 0.021377750105059407 Centerline is valid? [True, True] Translation: X:22.32, Y:379.86, Z:7.97 [[-6.87692582e-01 -7.25964860e-01 7.34405064e-03 2.23184418e+01] [ 7.25920947e-01 -6.87731777e-01 -7.98634053e-03 3.79859583e+02] [ 1.08485396e-02 -1.60946943e-04 9.99941140e-01 7.96857730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9127550960001 meters 0.02122787918944319 Centerline is valid? [True, True] Translation: X:22.30, Y:379.88, Z:7.97 [[-6.87508182e-01 -7.26140503e-01 7.24355453e-03 2.22996333e+01] [ 7.26097852e-01 -6.87546323e-01 -7.87161155e-03 3.79878794e+02] [ 1.06961753e-02 -1.52267961e-04 9.99942783e-01 7.96944859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.942755096 meters 0.020922821304427075 Centerline is valid? [True, True] Translation: X:22.28, Y:379.90, Z:7.97 [[-6.87508021e-01 -7.26148089e-01 6.45555133e-03 2.22804307e+01] [ 7.26114257e-01 -6.87538316e-01 -7.01068975e-03 3.79898425e+02] [ 9.52923785e-03 -1.32437577e-04 9.99954587e-01 7.97067204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.972755096 meters 0.020856652673959728 Centerline is valid? [True, True] Translation: X:22.26, Y:379.92, Z:7.97 [[-6.87209628e-01 -7.26435650e-01 5.84580285e-03 2.22618271e+01] [ 7.26407955e-01 -6.87234482e-01 -6.34424925e-03 3.79917294e+02] [ 8.62612612e-03 -1.13391474e-04 9.99962788e-01 7.97123521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.002755096 meters 0.020483234027997798 Centerline is valid? [True, True] Translation: X:22.24, Y:379.94, Z:7.97 [[-6.87149511e-01 -7.26494541e-01 5.58853138e-03 2.22421537e+01] [ 7.26469267e-01 -6.87172228e-01 -6.06078021e-03 3.79936628e+02] [ 8.24340729e-03 -1.04765866e-04 9.99966017e-01 7.97177487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0327550960001 meters 0.020366553689751 Centerline is valid? [True, True] Translation: X:22.22, Y:379.96, Z:7.97 [[-6.87036410e-01 -7.26604412e-01 5.19608201e-03 2.22238739e+01] [ 7.26582596e-01 -6.87056053e-01 -5.63131842e-03 3.79955563e+02] [ 7.66174041e-03 -9.35380342e-05 9.99970644e-01 7.97227245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.062755096 meters 0.02203265993791878 Centerline is valid? [True, True] Translation: X:22.20, Y:379.97, Z:7.97 [[-6.86424048e-01 -7.27183083e-01 5.17594587e-03 2.22034966e+01] [ 7.27161483e-01 -6.86443557e-01 -5.60540851e-03 3.79974322e+02] [ 7.62915293e-03 -8.39387267e-05 9.99970894e-01 7.97166436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.092755096 meters 0.01962393380288977 Centerline is valid? [True, True] Translation: X:22.18, Y:379.99, Z:7.97 [[-6.85437968e-01 -7.28114580e-01 4.89386685e-03 2.21837225e+01] [ 7.28095320e-01 -6.85455435e-01 -5.29632246e-03 3.79992588e+02] [ 7.21085724e-03 -6.70989518e-05 9.99973999e-01 7.97356175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.122755096 meters 0.020130454549484436 Centerline is valid? [True, True] Translation: X:22.16, Y:380.01, Z:7.97 [[-6.85033125e-01 -7.28494196e-01 5.08175219e-03 2.21637818e+01] [ 7.28473470e-01 -6.85051970e-01 -5.49564800e-03 3.80011586e+02] [ 7.48481202e-03 -6.27792728e-05 9.99971986e-01 7.97296546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1527550960001 meters 0.01905659793210276 Centerline is valid? [True, True] Translation: X:22.14, Y:380.03, Z:7.97 [[-6.83335350e-01 -7.30087501e-01 5.00397919e-03 2.21432720e+01] [ 7.30067475e-01 -6.83353670e-01 -5.40767039e-03 3.80028788e+02] [ 7.36756011e-03 -4.20098859e-05 9.99972858e-01 7.97385182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.182755096 meters 0.02198826221570028 Centerline is valid? [True, True] Translation: X:22.12, Y:380.05, Z:7.97 [[-6.83390963e-01 -7.30031095e-01 5.60281980e-03 2.21242372e+01] [ 7.30006028e-01 -6.83413929e-01 -6.04990578e-03 3.80047644e+02] [ 8.24566443e-03 -4.43587177e-05 9.99966003e-01 7.97178676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.212755096 meters 0.01869803796872616 Centerline is valid? [True, True] Translation: X:22.11, Y:380.07, Z:7.97 [[-6.82292428e-01 -7.31060887e-01 5.19827886e-03 2.21052254e+01] [ 7.31039370e-01 -6.82312229e-01 -5.60901147e-03 3.80066027e+02] [ 7.64737814e-03 -2.68395504e-05 9.99970758e-01 7.97434265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.242755096 meters 0.018560949472245694 Centerline is valid? [True, True] Translation: X:22.09, Y:380.08, Z:7.97 [[-6.81632475e-01 -7.31677206e-01 5.06315705e-03 2.20869920e+01] [ 7.31656840e-01 -6.81651279e-01 -5.45909259e-03 3.80083596e+02] [ 7.44560109e-03 -1.66013016e-05 9.99972281e-01 7.97461877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.272755096 meters 0.018508833170269898 Centerline is valid? [True, True] Translation: X:22.07, Y:380.10, Z:7.97 [[-6.81691884e-01 -7.31621682e-01 5.08827749e-03 2.20682459e+01] [ 7.31601144e-01 -6.81710873e-01 -5.48194650e-03 3.80102728e+02] [ 7.47944500e-03 -1.44088030e-05 9.99972028e-01 7.97488954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.302755096 meters 0.018324054665918244 Centerline is valid? [True, True] Translation: X:22.05, Y:380.12, Z:7.97 [[-6.81864148e-01 -7.31458679e-01 5.42994270e-03 2.20498411e+01] [ 7.31435321e-01 -6.81885768e-01 -5.84563125e-03 3.80121272e+02] [ 7.97843836e-03 -1.42744921e-05 9.99968172e-01 7.97344689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.332755096 meters 0.018259726381824076 Centerline is valid? [True, True] Translation: X:22.03, Y:380.14, Z:7.97 [[-6.82387083e-01 -7.30970224e-01 5.51362994e-03 2.20324349e+01] [ 7.30946161e-01 -6.82409357e-01 -5.93120201e-03 3.80139229e+02] [ 8.09808473e-03 -1.72089975e-05 9.99967210e-01 7.97322231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.362755096 meters 0.018247144751472644 Centerline is valid? [True, True] Translation: X:22.01, Y:380.16, Z:7.97 [[-6.83442732e-01 -7.29983243e-01 5.52243325e-03 2.20148425e+01] [ 7.29959107e-01 -6.83465042e-01 -5.93616435e-03 3.80158847e+02] [ 8.10769058e-03 -2.58779301e-05 9.99967132e-01 7.97307161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.392755096 meters 0.019299713014835664 Centerline is valid? [True, True] Translation: X:22.00, Y:380.18, Z:7.97 [[-6.84872889e-01 -7.28640912e-01 5.61670729e-03 2.19970987e+01] [ 7.28615936e-01 -6.84895919e-01 -6.03308835e-03 3.80179188e+02] [ 8.24281490e-03 -3.94762061e-05 9.99966027e-01 7.97268013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4227550960001 meters 0.01851031271466171 Centerline is valid? [True, True] Translation: X:21.98, Y:380.20, Z:7.97 [[-6.87568968e-01 -7.26096062e-01 5.78137731e-03 2.19811149e+01] [ 7.26069546e-01 -6.87593270e-01 -6.20565861e-03 3.80203285e+02] [ 8.48114041e-03 -6.91362900e-05 9.99964032e-01 7.97385381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.452755096 meters 0.018853916538408014 Centerline is valid? [True, True] Translation: X:21.96, Y:380.22, Z:7.97 [[-6.89282715e-01 -7.24468929e-01 5.84035840e-03 2.19646742e+01] [ 7.24441847e-01 -6.89307452e-01 -6.26479555e-03 3.80224610e+02] [ 8.56445229e-03 -8.72152613e-05 9.99963321e-01 7.97422657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.482755096 meters 0.020054979376172215 Centerline is valid? [True, True] Translation: X:21.95, Y:380.25, Z:7.97 [[-6.92381321e-01 -7.21505481e-01 6.16019307e-03 2.19499238e+01] [ 7.21475271e-01 -6.92408712e-01 -6.60370764e-03 3.80247846e+02] [ 9.02998261e-03 -1.27856861e-04 9.99959221e-01 7.97389857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.512755096 meters 0.02072710017481229 Centerline is valid? [True, True] Translation: X:21.93, Y:380.27, Z:7.97 [[-6.94090954e-01 -7.19858699e-01 6.41877220e-03 2.19330164e+01] [ 7.19825867e-01 -6.94120616e-01 -6.87688519e-03 3.80268496e+02] [ 9.40578774e-03 -1.52785545e-04 9.99955753e-01 7.97371624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5427550960001 meters 0.020838013579983383 Centerline is valid? [True, True] Translation: X:21.91, Y:380.29, Z:7.97 [[-6.95586804e-01 -7.18415915e-01 6.12954736e-03 2.19138729e+01] [ 7.18385958e-01 -6.95613791e-01 -6.56262730e-03 3.80289434e+02] [ 8.97849357e-03 -1.61496197e-04 9.99959680e-01 7.97381775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.572755096 meters 0.022008491299682603 Centerline is valid? [True, True] Translation: X:21.90, Y:380.31, Z:7.97 [[-6.97737859e-01 -7.16325187e-01 6.33297871e-03 2.18982757e+01] [ 7.16293160e-01 -6.97766573e-01 -6.77641565e-03 3.80311191e+02] [ 9.27305806e-03 -1.91892420e-04 9.99956986e-01 7.97346667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.602755096 meters 0.02205599428501307 Centerline is valid? [True, True] Translation: X:21.88, Y:380.33, Z:7.97 [[-6.98374728e-01 -7.15702444e-01 6.53841806e-03 2.18805029e+01] [ 7.15668318e-01 -6.98405305e-01 -6.99202819e-03 3.80331429e+02] [ 9.57067753e-03 -2.03717131e-04 9.99954179e-01 7.97316252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.632755096 meters 0.02307816327646314 Centerline is valid? [True, True] Translation: X:21.86, Y:380.35, Z:7.97 [[-6.98817711e-01 -7.15269182e-01 6.61845833e-03 2.18646674e+01] [ 7.15234245e-01 -6.98849021e-01 -7.07253897e-03 3.80352024e+02] [ 9.68407229e-03 -2.08667440e-04 9.99953087e-01 7.97286946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6627550960001 meters 0.02214052151872793 Centerline is valid? [True, True] Translation: X:21.85, Y:380.37, Z:7.97 [[-6.98803970e-01 -7.15282880e-01 6.58891542e-03 2.18458432e+01] [ 7.15248303e-01 -6.98835002e-01 -7.03595691e-03 3.80371903e+02] [ 9.63726424e-03 -2.04044045e-04 9.99953540e-01 7.97325656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.692755096 meters 0.021660441812339358 Centerline is valid? [True, True] Translation: X:21.83, Y:380.39, Z:7.97 [[-6.98399614e-01 -7.15677014e-01 6.66272264e-03 2.18269611e+01] [ 7.15641724e-01 -6.98431366e-01 -7.10980579e-03 3.80391436e+02] [ 9.74177905e-03 -1.97363302e-04 9.99952528e-01 7.97308004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.722755096 meters 0.021119827881098528 Centerline is valid? [True, True] Translation: X:21.81, Y:380.41, Z:7.97 [[-6.97790903e-01 -7.16267229e-01 7.00798006e-03 2.18078018e+01] [ 7.16228272e-01 -6.97826066e-01 -7.47287402e-03 3.80410551e+02] [ 1.02429259e-02 -1.95190069e-04 9.99947521e-01 7.97276992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.752755096 meters 0.020164308317789138 Centerline is valid? [True, True] Translation: X:21.79, Y:380.43, Z:7.97 [[-6.95699098e-01 -7.18298764e-01 7.04637097e-03 2.17880786e+01] [ 7.18259538e-01 -6.95734762e-01 -7.50842355e-03 3.80428117e+02] [ 1.02956966e-02 -1.62480330e-04 9.99946985e-01 7.97219924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7827550960001 meters 0.01914048418598391 Centerline is valid? [True, True] Translation: X:21.77, Y:380.45, Z:7.97 [[-6.94423907e-01 -7.19531859e-01 7.02431635e-03 2.17679019e+01] [ 7.19492997e-01 -6.94459418e-01 -7.47954963e-03 3.80446218e+02] [ 1.02598769e-02 -1.40031656e-04 9.99947356e-01 7.97241623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.812755096 meters 0.01892559816868068 Centerline is valid? [True, True] Translation: X:21.75, Y:380.47, Z:7.97 [[-6.93294176e-01 -7.20623053e-01 6.75282820e-03 2.17492539e+01] [ 7.20587237e-01 -6.93327053e-01 -7.18552423e-03 3.80465387e+02] [ 9.85997288e-03 -1.15680284e-04 9.99951383e-01 7.97224758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.842755096 meters 0.017667383669007348 Centerline is valid? [True, True] Translation: X:21.73, Y:380.48, Z:7.97 [[-6.90942179e-01 -7.22882964e-01 6.25504040e-03 2.17279282e+01] [ 7.22852365e-01 -6.90970487e-01 -6.65159290e-03 3.80484171e+02] [ 9.13037151e-03 -7.43953389e-05 9.99958315e-01 7.97315954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.872755096 meters 0.017264805928655313 Centerline is valid? [True, True] Translation: X:21.71, Y:380.50, Z:7.97 [[-6.90072260e-01 -7.23716412e-01 5.90181379e-03 2.17084790e+01] [ 7.23689236e-01 -6.90097495e-01 -6.27198704e-03 3.80503231e+02] [ 8.61196686e-03 -5.70451595e-05 9.99962915e-01 7.97357480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9027550960001 meters 0.016957582011283254 Centerline is valid? [True, True] Translation: X:21.69, Y:380.52, Z:7.97 [[-6.89369412e-01 -7.24388178e-01 5.61982242e-03 2.16890902e+01] [ 7.24363593e-01 -6.89392317e-01 -5.96816612e-03 3.80522225e+02] [ 8.19753138e-03 -4.34764093e-05 9.99966399e-01 7.97387150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.932755096 meters 0.01679766502191628 Centerline is valid? [True, True] Translation: X:21.67, Y:380.54, Z:7.97 [[-6.88113254e-01 -7.25582799e-01 5.45443219e-03 2.16709698e+01] [ 7.25559708e-01 -6.88134871e-01 -5.78871202e-03 3.80541117e+02] [ 7.95357486e-03 -2.57732387e-05 9.99968370e-01 7.97431770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.962755096 meters 0.01677727153693672 Centerline is valid? [True, True] Translation: X:21.65, Y:380.56, Z:7.97 [[-6.87959268e-01 -7.25729852e-01 5.31292159e-03 2.16518175e+01] [ 7.25707974e-01 -6.87979783e-01 -5.63516236e-03 3.80561027e+02] [ 7.74478818e-03 -2.11326144e-05 9.99970008e-01 7.97423391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.992755096 meters 0.016644856617219032 Centerline is valid? [True, True] Translation: X:21.63, Y:380.58, Z:7.97 [[-6.87985854e-01 -7.25702042e-01 5.65790366e-03 2.16331553e+01] [ 7.25677266e-01 -6.88009118e-01 -5.99658986e-03 3.80580278e+02] [ 8.24442682e-03 -1.97569343e-05 9.99966014e-01 7.97399249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.022755096 meters 0.01662886847589672 Centerline is valid? [True, True] Translation: X:21.62, Y:380.60, Z:7.97 [[-6.88303384e-01 -7.25399429e-01 5.84133073e-03 2.16150472e+01] [ 7.25373045e-01 -6.88328169e-01 -6.18678895e-03 3.80599078e+02] [ 8.50864566e-03 -2.12439071e-05 9.99963801e-01 7.97282204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.052755096 meters 0.017747316449290694 Centerline is valid? [True, True] Translation: X:21.60, Y:380.62, Z:7.97 [[-6.88785019e-01 -7.24944430e-01 5.54729566e-03 2.15972993e+01] [ 7.24920647e-01 -6.88807356e-01 -5.87219158e-03 3.80617857e+02] [ 8.07803064e-03 -2.33284320e-05 9.99967372e-01 7.97114980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.082755096 meters 0.01652554662426102 Centerline is valid? [True, True] Translation: X:21.58, Y:380.64, Z:7.97 [[-6.89135177e-01 -7.24610653e-01 5.66647432e-03 2.15783109e+01] [ 7.24585857e-01 -6.89158473e-01 -5.99463962e-03 3.80637318e+02] [ 8.24887852e-03 -2.52698894e-05 9.99965977e-01 7.97267328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.112755096 meters 0.016510154230762554 Centerline is valid? [True, True] Translation: X:21.56, Y:380.66, Z:7.97 [[-6.90112081e-01 -7.23682885e-01 5.32901986e-03 2.15593430e+01] [ 7.23660956e-01 -6.90132655e-01 -5.63376931e-03 3.80657411e+02] [ 7.75479305e-03 -3.15286575e-05 9.99969931e-01 7.97304664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.142755096 meters 0.016557364619617126 Centerline is valid? [True, True] Translation: X:21.54, Y:380.68, Z:7.97 [[-6.91015986e-01 -7.22820076e-01 5.29581645e-03 2.15408058e+01] [ 7.22798425e-01 -6.91036277e-01 -5.59465934e-03 3.80676961e+02] [ 7.70353337e-03 -3.81912469e-05 9.99970327e-01 7.97325026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1727550960001 meters 0.016863111833748872 Centerline is valid? [True, True] Translation: X:21.52, Y:380.70, Z:7.97 [[-6.92947066e-01 -7.20976464e-01 4.15958066e-03 2.15236086e+01] [ 7.20963089e-01 -6.92959549e-01 -4.39183561e-03 3.80697442e+02] [ 6.04883125e-03 -4.44054793e-05 9.99981705e-01 7.97445652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.202755096 meters 0.017034280097249267 Centerline is valid? [True, True] Translation: X:21.50, Y:380.72, Z:7.97 [[-6.94166668e-01 -7.19803022e-01 4.03071637e-03 2.15048992e+01] [ 7.19790456e-01 -6.94178369e-01 -4.25343144e-03 3.80717545e+02] [ 5.85966892e-03 -5.13191586e-05 9.99982831e-01 7.97455949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.232755096 meters 0.01704677717046433 Centerline is valid? [True, True] Translation: X:21.49, Y:380.74, Z:7.97 [[-6.95209679e-01 -7.18797835e-01 3.62967889e-03 2.14858248e+01] [ 7.18787645e-01 -6.95219152e-01 -3.82778584e-03 3.80736912e+02] [ 5.27482645e-03 -5.21454198e-05 9.99986087e-01 7.97431130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.262755096 meters 0.017752981798456708 Centerline is valid? [True, True] Translation: X:21.47, Y:380.76, Z:7.97 [[-6.97203801e-01 -7.16864223e-01 3.54206305e-03 2.14680327e+01] [ 7.16854508e-01 -6.97212795e-01 -3.73268617e-03 3.80757243e+02] [ 5.14540085e-03 -6.32991158e-05 9.99986760e-01 7.97306426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2927550960001 meters 0.017808513576575397 Centerline is valid? [True, True] Translation: X:21.45, Y:380.78, Z:7.97 [[-6.98157961e-01 -7.15934709e-01 3.59918369e-03 2.14494889e+01] [ 7.15924675e-01 -6.98167235e-01 -3.79108203e-03 3.80776868e+02] [ 5.22699933e-03 -7.00296871e-05 9.99986337e-01 7.97298803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.322755096 meters 0.01801783230210503 Centerline is valid? [True, True] Translation: X:21.43, Y:380.80, Z:7.97 [[-6.99194502e-01 -7.14921030e-01 3.86899283e-03 2.14309605e+01] [ 7.14909437e-01 -6.99205202e-01 -4.07212384e-03 3.80796927e+02] [ 5.61646688e-03 -8.12271127e-05 9.99984224e-01 7.97262859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.352755096 meters 0.018445712808882537 Centerline is valid? [True, True] Translation: X:21.41, Y:380.82, Z:7.97 [[-7.00020756e-01 -7.14113165e-01 3.65085252e-03 2.14131609e+01] [ 7.14102846e-01 -7.00030271e-01 -3.83992894e-03 3.80816343e+02] [ 5.29785109e-03 -8.09457838e-05 9.99985963e-01 7.97263100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.382755096 meters 0.018501185428841098 Centerline is valid? [True, True] Translation: X:21.39, Y:380.84, Z:7.97 [[-7.00818615e-01 -7.13330213e-01 3.64367587e-03 2.13941310e+01] [ 7.13319939e-01 -7.00828082e-01 -3.82950255e-03 3.80835265e+02] [ 5.28529024e-03 -8.46800269e-05 9.99986029e-01 7.97215693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4127550960001 meters 0.01858039891004231 Centerline is valid? [True, True] Translation: X:21.38, Y:380.85, Z:7.97 [[-7.01157636e-01 -7.12996011e-01 3.82867380e-03 2.13755391e+01] [ 7.12984678e-01 -7.01168083e-01 -4.02094126e-03 3.80853536e+02] [ 5.55145895e-03 -8.95279132e-05 9.99984587e-01 7.97151177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.442755096 meters 0.018285154313120916 Centerline is valid? [True, True] Translation: X:21.35, Y:380.87, Z:7.97 [[-7.00785047e-01 -7.13361583e-01 3.94578496e-03 2.13548342e+01] [ 7.13349571e-01 -7.00796150e-01 -4.14078646e-03 3.80871590e+02] [ 5.71906890e-03 -8.70772285e-05 9.99983642e-01 7.97094563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.472755096 meters 0.018183663595301318 Centerline is valid? [True, True] Translation: X:21.33, Y:380.89, Z:7.97 [[-7.00523763e-01 -7.13619285e-01 3.73803179e-03 2.13349149e+01] [ 7.13608522e-01 -7.00533732e-01 -3.92018177e-03 3.80890362e+02] [ 5.41613468e-03 -7.86891433e-05 9.99985330e-01 7.97140206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.502755096 meters 0.017927474265953182 Centerline is valid? [True, True] Translation: X:21.31, Y:380.91, Z:7.97 [[-7.00172636e-01 -7.13965723e-01 3.35059758e-03 2.13147885e+01] [ 7.13957090e-01 -7.00180650e-01 -3.51171883e-03 3.80908947e+02] [ 4.85327047e-03 -6.66265318e-05 9.99988221e-01 7.97197998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5327550960001 meters 0.017359149618363157 Centerline is valid? [True, True] Translation: X:21.29, Y:380.92, Z:7.97 [[-6.99231608e-01 -7.14889534e-01 2.84819066e-03 2.12942934e+01] [ 7.14883310e-01 -6.99237407e-01 -2.98359826e-03 3.80924833e+02] [ 4.12450462e-03 -5.01022465e-05 9.99991493e-01 7.97298859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.562755096 meters 0.017101094755164557 Centerline is valid? [True, True] Translation: X:21.27, Y:380.94, Z:7.97 [[-6.98871198e-01 -7.15243959e-01 2.26434755e-03 2.12745035e+01] [ 7.15240031e-01 -6.98874866e-01 -2.37068485e-03 3.80942429e+02] [ 3.27811361e-03 -3.72513548e-05 9.99994626e-01 7.97358021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.592755096 meters 0.01693879615354311 Centerline is valid? [True, True] Translation: X:21.26, Y:380.96, Z:7.97 [[-6.98548938e-01 -7.15559112e-01 2.13037657e-03 2.12552350e+01] [ 7.15555641e-01 -6.98552186e-01 -2.22896190e-03 3.80959862e+02] [ 3.08313321e-03 -3.26359892e-05 9.99995247e-01 7.97407030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.622755096 meters 0.016142923734675803 Centerline is valid? [True, True] Translation: X:21.23, Y:380.98, Z:7.97 [[-6.97376395e-01 -7.16703148e-01 1.66185808e-03 2.12319620e+01] [ 7.16701041e-01 -6.97378375e-01 -1.73791140e-03 3.80975968e+02] [ 2.40451046e-03 -2.09229738e-05 9.99997109e-01 7.97381077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6527550960001 meters 0.01608741756253673 Centerline is valid? [True, True] Translation: X:21.21, Y:380.99, Z:7.97 [[-6.96976897e-01 -7.17092501e-01 1.24473924e-03 2.12116038e+01] [ 7.17091320e-01 -6.96978009e-01 -1.30149042e-03 3.80994258e+02] [ 1.80084490e-03 -1.45170522e-05 9.99998378e-01 7.97367604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.682755096 meters 0.015978943637136526 Centerline is valid? [True, True] Translation: X:21.19, Y:381.01, Z:7.97 [[-6.96571118e-01 -7.17486935e-01 1.08421953e-03 2.11925458e+01] [ 7.17486040e-01 -6.96571962e-01 -1.13328485e-03 3.81012401e+02] [ 1.56835399e-03 -1.15011150e-05 9.99998770e-01 7.97448150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.712755096 meters 0.01573858064939485 Centerline is valid? [True, True] Translation: X:21.17, Y:381.03, Z:7.97 [[-6.95614906e-01 -7.18414212e-01 9.60486511e-04 2.11717639e+01] [ 7.18413512e-01 -6.95615569e-01 -1.00340873e-03 3.81030483e+02] [ 1.38899247e-03 -7.95958491e-06 9.99999035e-01 7.97448461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.742755096 meters 0.016552067573362413 Centerline is valid? [True, True] Translation: X:21.15, Y:381.05, Z:7.97 [[-6.95417673e-01 -7.18604893e-01 1.12570195e-03 2.11530247e+01] [ 7.18603933e-01 -6.95418584e-01 -1.17477396e-03 3.81049295e+02] [ 1.62703237e-03 -8.02471934e-06 9.99998676e-01 7.97401641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.772755096 meters 0.016552067573362413 Centerline is valid? [True, True] Translation: X:21.13, Y:381.07, Z:7.97 [[-6.95673966e-01 -7.18356781e-01 1.12618773e-03 2.11348566e+01] [ 7.18355821e-01 -6.95674878e-01 -1.17430765e-03 3.81067800e+02] [ 1.62703238e-03 -7.93174743e-06 9.99998676e-01 7.97415472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.802755096 meters 0.016098010295178773 Centerline is valid? [True, True] Translation: X:21.11, Y:381.09, Z:7.97 [[-6.94958740e-01 -7.19048271e-01 1.39043480e-03 2.11142185e+01] [ 7.19046813e-01 -6.94960131e-01 -1.44812915e-03 3.81085221e+02] [ 2.00757152e-03 -6.60229765e-06 9.99997985e-01 7.97300748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.832755096 meters 0.01561149070838069 Centerline is valid? [True, True] Translation: X:21.10, Y:381.10, Z:7.97 [[-6.94822813e-01 -7.19179035e-01 1.66549037e-03 2.10964822e+01] [ 7.19176947e-01 -6.94824809e-01 -1.73308691e-03 3.81102800e+02] [ 2.40362380e-03 -6.40604040e-06 9.99997111e-01 7.97355463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.862755096 meters 0.015560329731432702 Centerline is valid? [True, True] Translation: X:21.08, Y:381.12, Z:7.97 [[-6.95000017e-01 -7.19006690e-01 2.08708686e-03 2.10771362e+01] [ 7.19003418e-01 -6.95003151e-01 -2.16906101e-03 3.81122561e+02] [ 3.01010133e-03 -6.87485614e-06 9.99995470e-01 7.97310829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.892755096 meters 0.015540224157789282 Centerline is valid? [True, True] Translation: X:21.06, Y:381.14, Z:7.97 [[-6.95583312e-01 -7.18440548e-01 2.65239067e-03 2.10588676e+01] [ 7.18435270e-01 -6.95588369e-01 -2.75393157e-03 3.81142192e+02] [ 3.82350821e-03 -1.00178348e-05 9.99992690e-01 7.97221960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9227550960001 meters 0.015608282278672975 Centerline is valid? [True, True] Translation: X:21.04, Y:381.16, Z:7.97 [[-6.96704424e-01 -7.17350894e-01 3.26203850e-03 2.10421298e+01] [ 7.17342913e-01 -6.96712061e-01 -3.38381945e-03 3.81161830e+02] [ 4.70008748e-03 -1.75217819e-05 9.99988954e-01 7.97138440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.952755096 meters 0.015625887164335554 Centerline is valid? [True, True] Translation: X:21.02, Y:381.18, Z:7.97 [[-6.97799467e-01 -7.16285627e-01 3.28709971e-03 2.10239278e+01] [ 7.16277521e-01 -6.97807208e-01 -3.40784544e-03 3.81182501e+02] [ 4.73475258e-03 -2.35170963e-05 9.99988791e-01 7.97119690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.982755096 meters 0.015809276581027522 Centerline is valid? [True, True] Translation: X:21.01, Y:381.20, Z:7.97 [[-6.99245103e-01 -7.14872872e-01 3.61416445e-03 2.10062113e+01] [ 7.14863069e-01 -6.99254443e-01 -3.74400871e-03 3.81203434e+02] [ 5.20371081e-03 -3.43470721e-05 9.99986460e-01 7.97089996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.012755096 meters 0.016332308051301994 Centerline is valid? [True, True] Translation: X:20.99, Y:381.22, Z:7.97 [[-7.01005897e-01 -7.13145592e-01 3.75465622e-03 2.09893015e+01] [ 7.13135002e-01 -7.01015950e-01 -3.88672083e-03 3.81224148e+02] [ 5.40387172e-03 -4.70374447e-05 9.99985398e-01 7.97042658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0427550960001 meters 0.017681404533941097 Centerline is valid? [True, True] Translation: X:20.97, Y:381.25, Z:7.97 [[-7.04336077e-01 -7.09856493e-01 3.80123602e-03 2.09745981e+01] [ 7.09845607e-01 -7.04346331e-01 -3.93202435e-03 3.81246394e+02] [ 5.46855966e-03 -7.11759155e-05 9.99985045e-01 7.97000401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.072755096 meters 0.01780449389231036 Centerline is valid? [True, True] Translation: X:20.96, Y:381.27, Z:7.97 [[-7.06261432e-01 -7.07941649e-01 3.66216063e-03 2.09562213e+01] [ 7.07931532e-01 -7.06270922e-01 -3.78551128e-03 3.81267169e+02] [ 5.26639866e-03 -8.10016303e-05 9.99986129e-01 7.97069534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.102755096 meters 0.01943911090863405 Centerline is valid? [True, True] Translation: X:20.94, Y:381.29, Z:7.97 [[-7.08422159e-01 -7.05783529e-01 2.76666027e-03 2.09394121e+01] [ 7.05777744e-01 -7.08427558e-01 -2.85866026e-03 3.81288836e+02] [ 3.97757370e-03 -7.24910300e-05 9.99992087e-01 7.97114368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.132755096 meters 0.019875023927914296 Centerline is valid? [True, True] Translation: X:20.92, Y:381.31, Z:7.97 [[-7.08772499e-01 -7.05433786e-01 2.17212065e-03 2.09218499e+01] [ 7.05430221e-01 -7.08775825e-01 -2.24351157e-03 3.81308447e+02] [ 3.12219546e-03 -5.78597555e-05 9.99995124e-01 7.97300601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1627550960001 meters 0.019193911533193476 Centerline is valid? [True, True] Translation: X:20.90, Y:381.33, Z:7.97 [[-7.09227720e-01 -7.04976961e-01 1.87767956e-03 2.09016541e+01] [ 7.04974298e-01 -7.09230204e-01 -1.93826321e-03 3.81326918e+02] [ 2.69813797e-03 -5.09541695e-05 9.99996359e-01 7.97326409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.192755096 meters 0.01890158160491921 Centerline is valid? [True, True] Translation: X:20.88, Y:381.35, Z:7.97 [[-7.08719136e-01 -7.05486521e-01 2.44011727e-03 2.08827183e+01] [ 7.05482036e-01 -7.08723334e-01 -2.51628564e-03 3.81346620e+02] [ 3.50457365e-03 -6.18808872e-05 9.99993857e-01 7.97338162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.222755096 meters 0.018209964282698006 Centerline is valid? [True, True] Translation: X:20.86, Y:381.36, Z:7.97 [[-7.08136275e-01 -7.06069824e-01 2.90162265e-03 2.08623513e+01] [ 7.06063498e-01 -7.08142217e-01 -2.98963185e-03 3.81364990e+02] [ 4.16565033e-03 -6.83369282e-05 9.99991321e-01 7.97324539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.252755096 meters 0.018172631369352186 Centerline is valid? [True, True] Translation: X:20.84, Y:381.38, Z:7.97 [[-7.06998788e-01 -7.07205702e-01 3.57897263e-03 2.08423956e+01] [ 7.07196109e-01 -7.07007842e-01 -3.68430084e-03 3.81382228e+02] [ 5.13592029e-03 -7.37607081e-05 9.99986808e-01 7.97190160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2827550960001 meters 0.017423510433526027 Centerline is valid? [True, True] Translation: X:20.82, Y:381.40, Z:7.97 [[-7.07030751e-01 -7.07170286e-01 4.20762761e-03 2.08215776e+01] [ 7.07157048e-01 -7.07043266e-01 -4.32777723e-03 3.81400124e+02] [ 6.03545023e-03 -8.44180640e-05 9.99981783e-01 7.97144835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.312755096 meters 0.01759458725440452 Centerline is valid? [True, True] Translation: X:20.80, Y:381.42, Z:7.97 [[-7.07001447e-01 -7.07198039e-01 4.45965757e-03 2.08027451e+01] [ 7.07183190e-01 -7.07015507e-01 -4.58354966e-03 3.81418397e+02] [ 6.39452438e-03 -8.67813728e-05 9.99979551e-01 7.97099127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.342755096 meters 0.017337684377000746 Centerline is valid? [True, True] Translation: X:20.78, Y:381.44, Z:7.97 [[-7.07152455e-01 -7.07043517e-01 4.98707175e-03 2.07826786e+01] [ 7.07024974e-01 -7.07170033e-01 -5.12150876e-03 3.81437015e+02] [ 7.14783726e-03 -9.57032175e-05 9.99974449e-01 7.97031291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.372755096 meters 0.01762821626694004 Centerline is valid? [True, True] Translation: X:20.76, Y:381.46, Z:7.97 [[-7.08041380e-01 -7.06148918e-01 5.57755181e-03 2.07634822e+01] [ 7.06125731e-01 -7.08063339e-01 -5.72355192e-03 3.81456878e+02] [ 7.99093995e-03 -1.14058750e-04 9.99968065e-01 7.96967264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4027550960001 meters 0.018354284166365763 Centerline is valid? [True, True] Translation: X:20.75, Y:381.48, Z:7.97 [[-7.08681117e-01 -7.05506552e-01 5.61964489e-03 2.07466704e+01] [ 7.05483027e-01 -7.08703388e-01 -5.76261487e-03 3.81476848e+02] [ 8.04822392e-03 -1.19292261e-04 9.99967605e-01 7.96987428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.432755096 meters 0.017977009906853147 Centerline is valid? [True, True] Translation: X:20.73, Y:381.50, Z:7.97 [[-7.10100149e-01 -7.04074425e-01 6.08133802e-03 2.07265998e+01] [ 7.04046863e-01 -7.10126174e-01 -6.23146252e-03 3.81496842e+02] [ 8.70593069e-03 -1.43415500e-04 9.99962092e-01 7.97068464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.462755096 meters 0.018415904139804318 Centerline is valid? [True, True] Translation: X:20.71, Y:381.52, Z:7.97 [[-7.11025302e-01 -7.03139366e-01 6.16872579e-03 2.07086217e+01] [ 7.03111009e-01 -7.11052044e-01 -6.31663356e-03 3.81515934e+02] [ 8.82775879e-03 -1.53987269e-04 9.99961023e-01 7.97071576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.492755096 meters 0.018685421463366724 Centerline is valid? [True, True] Translation: X:20.69, Y:381.54, Z:7.97 [[-7.11906121e-01 -7.02245130e-01 6.43841868e-03 2.06895371e+01] [ 7.02214249e-01 -7.11935215e-01 -6.58780249e-03 3.81535011e+02] [ 9.20998920e-03 -1.68747578e-04 9.99957573e-01 7.97056240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.522755096 meters 0.01932846062204696 Centerline is valid? [True, True] Translation: X:20.67, Y:381.56, Z:7.97 [[-7.13263441e-01 -7.00866889e-01 6.39276802e-03 2.06699352e+01] [ 7.00836430e-01 -7.13292066e-01 -6.53666086e-03 3.81555107e+02] [ 9.14123987e-03 -1.82076503e-04 9.99958201e-01 7.97095570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.552755096 meters 0.019755814388353023 Centerline is valid? [True, True] Translation: X:20.65, Y:381.57, Z:7.97 [[-7.14095806e-01 -7.00021964e-01 6.03573198e-03 2.06510998e+01] [ 6.99994816e-01 -7.14121291e-01 -6.16764923e-03 3.81574812e+02] [ 8.62773464e-03 -1.79311353e-04 9.99962764e-01 7.97172068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.582755096 meters 0.02012137899071657 Centerline is valid? [True, True] Translation: X:20.63, Y:381.59, Z:7.97 [[-7.14824963e-01 -6.99278756e-01 5.87312353e-03 2.06325056e+01] [ 6.99253061e-01 -7.14849067e-01 -5.99734034e-03 3.81594119e+02] [ 8.39220957e-03 -1.80248978e-04 9.99964769e-01 7.97240621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.612755096 meters 0.02069603344307607 Centerline is valid? [True, True] Translation: X:20.61, Y:381.61, Z:7.97 [[-7.15963289e-01 -6.98119505e-01 5.07205235e-03 2.06139985e+01] [ 6.98100335e-01 -7.15981235e-01 -5.17617578e-03 3.81614964e+02] [ 7.24508359e-03 -1.65150388e-04 9.99973740e-01 7.97466993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.642755096 meters 0.02142656984572367 Centerline is valid? [True, True] Translation: X:20.60, Y:381.63, Z:7.98 [[-7.16753355e-01 -6.97309559e-01 4.89976673e-03 2.05967711e+01] [ 6.97291670e-01 -7.16770083e-01 -4.99743977e-03 3.81634206e+02] [ 6.99676873e-03 -1.65365194e-04 9.99975509e-01 7.97537262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6727550960001 meters 0.02089881532903224 Centerline is valid? [True, True] Translation: X:20.58, Y:381.65, Z:7.98 [[-7.17701982e-01 -6.96331493e-01 5.13002598e-03 2.05761874e+01] [ 6.96311881e-01 -7.17720293e-01 -5.22925143e-03 3.81653505e+02] [ 7.32321620e-03 -1.80946070e-04 9.99973169e-01 7.97627483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.702755096 meters 0.02136694648527473 Centerline is valid? [True, True] Translation: X:20.56, Y:381.67, Z:7.98 [[-7.18241714e-01 -6.95774130e-01 5.21538115e-03 2.05578472e+01] [ 6.95753872e-01 -7.18260625e-01 -5.31268785e-03 3.81672134e+02] [ 7.44243369e-03 -1.87172395e-04 9.99972287e-01 7.97647031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.732755096 meters 0.023782417098386473 Centerline is valid? [True, True] Translation: X:20.54, Y:381.69, Z:7.97 [[-7.19051243e-01 -6.94936312e-01 5.36959167e-03 2.05402768e+01] [ 6.94914845e-01 -7.19071264e-01 -5.46576209e-03 3.81692229e+02] [ 7.65947562e-03 -1.98754061e-04 9.99970646e-01 7.97485817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.762755096 meters 0.02200454037400822 Centerline is valid? [True, True] Translation: X:20.52, Y:381.71, Z:7.98 [[-7.19195734e-01 -6.94786714e-01 5.37764570e-03 2.05193380e+01] [ 6.94765207e-01 -7.19215811e-01 -5.47028737e-03 3.81709258e+02] [ 7.66837080e-03 -1.98006203e-04 9.99970578e-01 7.97595365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7927550960001 meters 0.021626866488902788 Centerline is valid? [True, True] Translation: X:20.50, Y:381.73, Z:7.98 [[-7.19357182e-01 -6.94616113e-01 5.80526080e-03 2.04990592e+01] [ 6.94591080e-01 -7.19380574e-01 -5.90093498e-03 3.81728164e+02] [ 8.27507637e-03 -2.12597589e-04 9.99965738e-01 7.97573768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.822755096 meters 0.02333880602253021 Centerline is valid? [True, True] Translation: X:20.48, Y:381.75, Z:7.97 [[-7.19871987e-01 -6.94076430e-01 6.49853582e-03 2.04794463e+01] [ 6.94045085e-01 -7.19901279e-01 -6.60068194e-03 3.81747494e+02] [ 9.25968201e-03 -2.41369183e-04 9.99957099e-01 7.97384195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.852755096 meters 0.022110330796523085 Centerline is valid? [True, True] Translation: X:20.46, Y:381.77, Z:7.98 [[-7.19800205e-01 -6.94156072e-01 5.91714452e-03 2.04595024e+01] [ 6.94130121e-01 -7.19824493e-01 -6.00620145e-03 3.81765432e+02] [ 8.42854676e-03 -2.15996788e-04 9.99964456e-01 7.97527842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.882755096 meters 0.022523682991323853 Centerline is valid? [True, True] Translation: X:20.44, Y:381.78, Z:7.97 [[-7.20135622e-01 -6.93802539e-01 6.53620365e-03 2.04396235e+01] [ 6.93770900e-01 -7.20165244e-01 -6.63015245e-03 3.81782586e+02] [ 9.30716331e-03 -2.39981073e-04 9.99956659e-01 7.97378739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9127550960001 meters 0.022853132370314153 Centerline is valid? [True, True] Translation: X:20.42, Y:381.80, Z:7.97 [[-7.20881170e-01 -6.93022990e-01 7.03370800e-03 2.04186932e+01] [ 6.92986357e-01 -7.20915435e-01 -7.13054741e-03 3.81801589e+02] [ 1.00123419e-02 -2.66013678e-04 9.99949840e-01 7.97282188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.942755096 meters 0.02365423073353469 Centerline is valid? [True, True] Translation: X:20.40, Y:381.82, Z:7.97 [[-7.21428835e-01 -6.92457843e-01 6.52470696e-03 2.04011146e+01] [ 6.92426336e-01 -7.21458296e-01 -6.61028169e-03 3.81820571e+02] [ 9.28464537e-03 -2.50968884e-04 9.99956865e-01 7.97363727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.972755096 meters 0.026146968229587456 Centerline is valid? [True, True] Translation: X:20.38, Y:381.84, Z:7.97 [[-7.22271789e-01 -6.91568385e-01 7.52543894e-03 2.03821356e+01] [ 6.91526486e-01 -7.22310930e-01 -7.61836711e-03 3.81839776e+02] [ 1.07043286e-02 -2.98491294e-04 9.99942663e-01 7.97151547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.002755096 meters 0.023974381001933515 Centerline is valid? [True, True] Translation: X:20.36, Y:381.86, Z:7.97 [[-7.22433378e-01 -6.91409609e-01 6.53961277e-03 2.03620208e+01] [ 6.91378002e-01 -7.22462931e-01 -6.61605948e-03 3.81857241e+02] [ 9.29903490e-03 -2.58317792e-04 9.99956730e-01 7.97438558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0327550960001 meters 0.02451884047120608 Centerline is valid? [True, True] Translation: X:20.34, Y:381.87, Z:7.97 [[-7.22810168e-01 -6.91015121e-01 6.60023251e-03 2.03421539e+01] [ 6.90982952e-01 -7.22840255e-01 -6.67282423e-03 3.81873317e+02] [ 9.38193619e-03 -2.62537061e-04 9.99955954e-01 7.97348594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.062755096 meters 0.024113065118789703 Centerline is valid? [True, True] Translation: X:20.32, Y:381.89, Z:7.97 [[-7.23229178e-01 -6.90576958e-01 6.55907650e-03 2.03215095e+01] [ 6.90545212e-01 -7.23258872e-01 -6.62685631e-03 3.81889864e+02] [ 9.32026454e-03 -2.63396969e-04 9.99956531e-01 7.97295015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.092755096 meters 0.024822213581985837 Centerline is valid? [True, True] Translation: X:20.30, Y:381.91, Z:7.97 [[-7.23453395e-01 -6.90340765e-01 6.69423780e-03 2.03034366e+01] [ 6.90307736e-01 -7.23484316e-01 -6.75818887e-03 3.81907272e+02] [ 9.50862934e-03 -2.68150538e-04 9.99954756e-01 7.97266242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.122755096 meters 0.02373638005770254 Centerline is valid? [True, True] Translation: X:20.28, Y:381.92, Z:7.97 [[-7.24300070e-01 -6.89460154e-01 5.83996293e-03 2.02817126e+01] [ 6.89435022e-01 -7.24323573e-01 -5.89169190e-03 3.81923616e+02] [ 8.29210962e-03 -2.41077890e-04 9.99965591e-01 7.97412096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1527550960001 meters 0.02458142223875268 Centerline is valid? [True, True] Translation: X:20.26, Y:381.94, Z:7.98 [[-7.24765659e-01 -6.88975832e-01 5.20032405e-03 2.02639161e+01] [ 6.88955917e-01 -7.24784283e-01 -5.24294987e-03 3.81943218e+02] [ 7.38137888e-03 -2.17115995e-04 9.99972734e-01 7.97562968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.182755096 meters 0.0266252583698751 Centerline is valid? [True, True] Translation: X:20.25, Y:381.96, Z:7.97 [[-7.25631554e-01 -6.88062721e-01 5.34227487e-03 2.02456073e+01] [ 6.88041709e-01 -7.25651183e-01 -5.38217216e-03 3.81961322e+02] [ 7.57990010e-03 -2.29766011e-04 9.99971246e-01 7.97449139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.212755096 meters 0.024860103403260597 Centerline is valid? [True, True] Translation: X:20.22, Y:381.98, Z:7.98 [[-7.26164201e-01 -6.87505671e-01 4.63743766e-03 2.02224147e+01] [ 6.87489845e-01 -7.26178980e-01 -4.66934455e-03 3.81976871e+02] [ 6.57781061e-03 -2.02519554e-04 9.99978346e-01 7.97566182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.242755096 meters 0.023197386975421126 Centerline is valid? [True, True] Translation: X:20.20, Y:381.99, Z:7.98 [[-7.26457738e-01 -6.87195734e-01 4.60185894e-03 2.01998670e+01] [ 6.87180164e-01 -7.26472286e-01 -4.63032996e-03 3.81992410e+02] [ 6.52506598e-03 -2.01432846e-04 9.99978691e-01 7.97532922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.272755096 meters 0.025321493051055747 Centerline is valid? [True, True] Translation: X:20.18, Y:382.01, Z:7.97 [[-7.26815993e-01 -6.86811362e-01 5.35392892e-03 2.01803520e+01] [ 6.86790310e-01 -7.26835674e-01 -5.38263684e-03 3.82010623e+02] [ 7.58828268e-03 -2.35160042e-04 9.99971181e-01 7.97304752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.302755096 meters 0.023360308185620984 Centerline is valid? [True, True] Translation: X:20.16, Y:382.03, Z:7.97 [[-7.26098632e-01 -6.87577060e-01 4.30841247e-03 2.01583939e+01] [ 6.87563457e-01 -7.26111392e-01 -4.32890566e-03 3.82025904e+02] [ 6.10484360e-03 -1.80905513e-04 9.99981349e-01 7.97450975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.332755096 meters 0.025438408883465363 Centerline is valid? [True, True] Translation: X:20.14, Y:382.04, Z:7.97 [[-7.26470087e-01 -6.87180247e-01 4.95189157e-03 2.01379930e+01] [ 6.87162289e-01 -7.26486934e-01 -4.97226598e-03 3.82043955e+02] [ 7.01432748e-03 -2.09449346e-04 9.99975377e-01 7.97209229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.362755096 meters 0.02354772480046316 Centerline is valid? [True, True] Translation: X:20.12, Y:382.06, Z:7.97 [[-7.26277189e-01 -6.87391960e-01 3.70668386e-03 2.01186512e+01] [ 6.87381911e-01 -7.26286631e-01 -3.71994039e-03 3.82061331e+02] [ 5.24917204e-03 -1.53800410e-04 9.99986211e-01 7.97478656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.392755096 meters 0.025457613311536113 Centerline is valid? [True, True] Translation: X:20.10, Y:382.08, Z:7.97 [[-7.26620712e-01 -6.87021332e-01 4.90211424e-03 2.00969512e+01] [ 6.87003780e-01 -7.26637219e-01 -4.91504919e-03 3.82078370e+02] [ 6.93880230e-03 -2.03605525e-04 9.99975906e-01 7.97146039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4227550960001 meters 0.022792682134338386 Centerline is valid? [True, True] Translation: X:20.08, Y:382.09, Z:7.97 [[-7.26723870e-01 -6.86915197e-01 4.46414329e-03 2.00755440e+01] [ 6.86900658e-01 -7.26737558e-01 -4.47296412e-03 3.82094957e+02] [ 6.31680762e-03 -1.84186833e-04 9.99980032e-01 7.97296246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.452755096 meters 0.024625869229734514 Centerline is valid? [True, True] Translation: X:20.06, Y:382.11, Z:7.97 [[-7.27325801e-01 -6.86274467e-01 4.95330298e-03 2.00570732e+01] [ 6.86256577e-01 -7.27342638e-01 -4.95952085e-03 3.82114058e+02] [ 7.00634098e-03 -2.07950725e-04 9.99975434e-01 7.97127256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.482755096 meters 0.023802618520774248 Centerline is valid? [True, True] Translation: X:20.04, Y:382.13, Z:7.97 [[-7.27806342e-01 -6.85764163e-01 5.04395868e-03 2.00367006e+01] [ 6.85745619e-01 -7.27823789e-01 -5.04767187e-03 3.82131840e+02] [ 7.13262559e-03 -2.14855034e-04 9.99974539e-01 7.97168896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.512755096 meters 0.026957085634275818 Centerline is valid? [True, True] Translation: X:20.02, Y:382.15, Z:7.97 [[-7.28980911e-01 -6.84510359e-01 5.69213061e-03 2.00168969e+01] [ 6.84486740e-01 -7.29003089e-01 -5.69200356e-03 3.82151094e+02] [ 8.04581620e-03 -2.53174015e-04 9.99967600e-01 7.96860840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5427550960001 meters 0.024901346015263927 Centerline is valid? [True, True] Translation: X:20.01, Y:382.13, Z:7.97 [[-6.81243877e-01 -7.32041321e-01 4.72058024e-03 2.00071281e+01] [ 7.32024457e-01 -6.81260229e-01 -4.96939323e-03 3.82130218e+02] [ 6.85374476e-03 7.02114795e-05 9.99976510e-01 7.97061025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.572755096 meters 0.02649090467277156 Centerline is valid? [True, True] Translation: X:19.99, Y:382.15, Z:7.97 [[-6.82458384e-01 -7.30909108e-01 4.73608833e-03 1.99869706e+01] [ 7.30889063e-01 -6.82474776e-01 -5.41829124e-03 3.82150005e+02] [ 7.19253924e-03 -2.36203122e-04 9.99974106e-01 7.96864078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.602755096 meters 0.025030737890556827 Centerline is valid? [True, True] Translation: X:19.97, Y:382.17, Z:7.97 [[-6.82564495e-01 -7.30815784e-01 3.74175765e-03 1.99696867e+01] [ 7.30803284e-01 -6.82574725e-01 -4.27845598e-03 3.82169574e+02] [ 5.68079236e-03 -1.85833367e-04 9.99983847e-01 7.97107299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.632755096 meters 0.02527148586768637 Centerline is valid? [True, True] Translation: X:19.95, Y:382.19, Z:7.97 [[-6.83457446e-01 -7.29984633e-01 2.89046186e-03 1.99499135e+01] [ 7.29977175e-01 -6.83463542e-01 -3.30315157e-03 3.82188950e+02] [ 4.38677519e-03 -1.47592358e-04 9.99990367e-01 7.97162903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6627550960001 meters 0.026033483767356178 Centerline is valid? [True, True] Translation: X:19.93, Y:382.21, Z:7.97 [[-6.84000117e-01 -7.29476351e-01 2.84475483e-03 1.99304415e+01] [ 7.29469132e-01 -6.84006017e-01 -3.24879195e-03 3.82207775e+02] [ 4.31574632e-03 -1.47013240e-04 9.99990676e-01 7.97032330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.692755096 meters 0.0246194852368497 Centerline is valid? [True, True] Translation: X:19.91, Y:382.23, Z:7.97 [[-6.83656604e-01 -7.29800719e-01 2.13501207e-03 1.99124703e+01] [ 7.29796658e-01 -6.83659929e-01 -2.43723902e-03 3.82226388e+02] [ 3.23832099e-03 -1.08109876e-04 9.99994751e-01 7.97215967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.722755096 meters 0.0246194852368497 Centerline is valid? [True, True] Translation: X:19.89, Y:382.25, Z:7.97 [[-6.83919765e-01 -7.29554106e-01 2.13598412e-03 1.98946721e+01] [ 7.29550045e-01 -6.83923092e-01 -2.43638660e-03 3.82246383e+02] [ 3.23832471e-03 -1.07985639e-04 9.99994751e-01 7.97230234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.752755096 meters 0.025556331016453517 Centerline is valid? [True, True] Translation: X:19.88, Y:382.26, Z:7.97 [[-6.83621719e-01 -7.29832944e-01 2.28441655e-03 1.98764613e+01] [ 7.29828310e-01 -6.83625527e-01 -2.60336190e-03 3.82264917e+02] [ 3.46170475e-03 -1.12482864e-04 9.99994002e-01 7.97130584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7827550960001 meters 0.02416826995336345 Centerline is valid? [True, True] Translation: X:19.86, Y:382.28, Z:7.97 [[-6.83368467e-01 -7.30070632e-01 2.10008669e-03 1.98567913e+01] [ 7.30066719e-01 -6.83371686e-01 -2.39240832e-03 3.82283284e+02] [ 3.18176684e-03 -1.01693004e-04 9.99994933e-01 7.97189380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.812755096 meters 0.02429490172850881 Centerline is valid? [True, True] Translation: X:19.84, Y:382.30, Z:7.97 [[-6.83380245e-01 -7.30060002e-01 1.95817793e-03 1.98376557e+01] [ 7.30056605e-01 -6.83383044e-01 -2.22931052e-03 3.82303351e+02] [ 2.96571603e-03 -9.38860408e-05 9.99995598e-01 7.97131739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.842755096 meters 0.024588394338078395 Centerline is valid? [True, True] Translation: X:19.82, Y:382.32, Z:7.97 [[-6.83329744e-01 -7.30106433e-01 2.24889060e-03 1.98196272e+01] [ 7.30101959e-01 -6.83333437e-01 -2.55804336e-03 3.82322858e+02] [ 3.40438606e-03 -1.06067682e-04 9.99994199e-01 7.97093409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.872755096 meters 0.024921838983929072 Centerline is valid? [True, True] Translation: X:19.80, Y:382.34, Z:7.97 [[-6.83070241e-01 -7.30348461e-01 2.48411921e-03 1.98005342e+01] [ 7.30343013e-01 -6.83074749e-01 -2.82319315e-03 3.82341537e+02] [ 3.75875388e-03 -1.14180117e-04 9.99992929e-01 7.97009692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9027550960001 meters 0.025981635078954773 Centerline is valid? [True, True] Translation: X:19.78, Y:382.36, Z:7.97 [[-6.83082241e-01 -7.30336775e-01 2.61670801e-03 1.97826180e+01] [ 7.30330740e-01 -6.83087243e-01 -2.97136811e-03 3.82360645e+02] [ 3.95753927e-03 -1.18626491e-04 9.99992162e-01 7.96883251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.932755096 meters 0.02302029844605599 Centerline is valid? [True, True] Translation: X:19.76, Y:382.38, Z:7.97 [[-6.81654851e-01 -7.31670341e-01 2.27503621e-03 1.97611115e+01] [ 7.31665792e-01 -6.81658641e-01 -2.58169767e-03 3.82378454e+02] [ 3.43974970e-03 -9.52605652e-05 9.99994080e-01 7.97023907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.962755096 meters 0.022406514627140273 Centerline is valid? [True, True] Translation: X:19.74, Y:382.40, Z:7.97 [[-6.81148473e-01 -7.32142597e-01 1.99400282e-03 1.97417887e+01] [ 7.32139109e-01 -6.81151387e-01 -2.26151991e-03 3.82397371e+02] [ 3.01397285e-03 -8.05433887e-05 9.99995455e-01 7.97066760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.992755096 meters 0.022051071012930717 Centerline is valid? [True, True] Translation: X:19.72, Y:382.42, Z:7.97 [[-6.80560644e-01 -7.32689594e-01 1.78002328e-03 1.97221198e+01] [ 7.32686819e-01 -6.80562968e-01 -2.01767828e-03 3.82416787e+02] [ 2.68974981e-03 -6.89528320e-05 9.99996380e-01 7.97087937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.022755096 meters 0.02161893232094091 Centerline is valid? [True, True] Translation: X:19.70, Y:382.43, Z:7.97 [[-6.78784708e-01 -7.34335686e-01 1.55582799e-03 1.97018474e+01] [ 7.34333573e-01 -6.78786489e-01 -1.76262507e-03 3.82434681e+02] [ 2.35043351e-03 -5.39462138e-05 9.99997236e-01 7.97021950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.052755096 meters 0.022261607146410043 Centerline is valid? [True, True] Translation: X:19.69, Y:382.45, Z:7.97 [[-6.78084367e-01 -7.34981985e-01 1.75287248e-03 1.96854118e+01] [ 7.34979310e-01 -6.78086630e-01 -1.98387596e-03 3.82454086e+02] [ 2.64671249e-03 -5.69102680e-05 9.99996496e-01 7.97029512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.082755096 meters 0.020776788330458953 Centerline is valid? [True, True] Translation: X:19.67, Y:382.47, Z:7.97 [[-6.77655599e-01 -7.35377713e-01 1.58356396e-03 1.96656015e+01] [ 7.35375532e-01 -6.77657448e-01 -1.79174809e-03 3.82471408e+02] [ 2.39072552e-03 -4.96739363e-05 9.99997141e-01 7.97008098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.112755096 meters 0.02207756460932951 Centerline is valid? [True, True] Translation: X:19.65, Y:382.49, Z:7.97 [[-6.77216575e-01 -7.35781612e-01 1.76948455e-03 1.96474498e+01] [ 7.35778895e-01 -6.77218884e-01 -2.00001124e-03 3.82492101e+02] [ 2.66989984e-03 -5.24913764e-05 9.99996434e-01 7.96863010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.142755096 meters 0.02010046465499287 Centerline is valid? [True, True] Translation: X:19.63, Y:382.51, Z:7.97 [[-6.76957841e-01 -7.36021028e-01 1.06236427e-03 1.96291941e+01] [ 7.36020048e-01 -6.76958674e-01 -1.20127547e-03 3.82511737e+02] [ 1.60334072e-03 -3.12914438e-05 9.99998714e-01 7.97063662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1727550960001 meters 0.02031955902617648 Centerline is valid? [True, True] Translation: X:19.61, Y:382.53, Z:7.97 [[-6.77186129e-01 -7.35811220e-01 8.91327290e-04 1.96125435e+01] [ 7.35810531e-01 -6.77186716e-01 -1.00768149e-03 3.82531000e+02] [ 1.34505835e-03 -2.65399234e-05 9.99999095e-01 7.97097614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.202755096 meters 0.02028455109020129 Centerline is valid? [True, True] Translation: X:19.60, Y:382.55, Z:7.97 [[-6.77492561e-01 -7.35529620e-01 -8.94129832e-05 1.95954736e+01] [ 7.35529614e-01 -6.77492567e-01 9.75546109e-05 3.82550555e+02] [-1.32330938e-04 3.26626159e-07 9.99999991e-01 7.97185229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.232755096 meters 0.020533019599893534 Centerline is valid? [True, True] Translation: X:19.58, Y:382.57, Z:7.97 [[-6.77764986e-01 -7.35278455e-01 -4.66541901e-04 1.95786654e+01] [ 7.35278270e-01 -6.77765146e-01 5.22512305e-04 3.82570050e+02] [-7.00397880e-04 1.11024232e-05 9.99999755e-01 7.97234326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.262755096 meters 0.02067623369113668 Centerline is valid? [True, True] Translation: X:19.56, Y:382.59, Z:7.97 [[-6.78355429e-01 -7.34733354e-01 -9.01000250e-04 1.95612163e+01] [ 7.34732660e-01 -6.78356027e-01 1.01000687e-03 3.82590498e+02] [-1.35328468e-03 2.31493319e-05 9.99999084e-01 7.97248696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2927550960001 meters 0.02057821367372771 Centerline is valid? [True, True] Translation: X:19.54, Y:382.61, Z:7.97 [[-6.78792771e-01 -7.34328935e-01 -1.17887454e-03 1.95437701e+01] [ 7.34327747e-01 -6.78793794e-01 1.32136616e-03 3.82610530e+02] [-1.77053013e-03 3.12535175e-05 9.99998432e-01 7.97214843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.322755096 meters 0.020270898382571855 Centerline is valid? [True, True] Translation: X:19.53, Y:382.63, Z:7.97 [[-6.79217528e-01 -7.33936109e-01 -1.15657424e-03 1.95257776e+01] [ 7.33934966e-01 -6.79218512e-01 1.29561499e-03 3.82630840e+02] [-1.73646526e-03 3.11541381e-05 9.99998492e-01 7.97192573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.352755096 meters 0.021332877456250277 Centerline is valid? [True, True] Translation: X:19.51, Y:382.65, Z:7.97 [[-6.79922534e-01 -7.33283583e-01 -7.30721119e-04 1.95106619e+01] [ 7.33283128e-01 -6.79922927e-01 8.17721677e-04 3.82652370e+02] [-1.09645592e-03 2.01619277e-05 9.99999399e-01 7.97220128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.382755096 meters 0.02064524246422189 Centerline is valid? [True, True] Translation: X:19.49, Y:382.67, Z:7.97 [[-6.81214340e-01 -7.32083926e-01 -3.86037160e-04 1.94927915e+01] [ 7.32083799e-01 -6.81214449e-01 4.30296705e-04 3.82673683e+02] [-5.77987393e-04 1.05127348e-05 9.99999833e-01 7.96987229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4127550960001 meters 0.02134505989361036 Centerline is valid? [True, True] Translation: X:19.48, Y:382.70, Z:7.97 [[-6.82144129e-01 -7.31217740e-01 -6.19009229e-05 1.94771531e+01] [ 7.31217737e-01 -6.82144132e-01 6.71263874e-05 3.82695026e+02] [-9.13093568e-05 5.26818340e-07 9.99999996e-01 7.96924421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.442755096 meters 0.022219998283438323 Centerline is valid? [True, True] Translation: X:19.46, Y:382.72, Z:7.97 [[-6.84252515e-01 -7.29245105e-01 2.69223589e-04 1.94627111e+01] [ 7.29245042e-01 -6.84252568e-01 -3.04383341e-04 3.82718834e+02] [ 4.06186993e-04 -1.19450993e-05 9.99999917e-01 7.96903808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.472755096 meters 0.022438897117003274 Centerline is valid? [True, True] Translation: X:19.45, Y:382.74, Z:7.97 [[-6.85025704e-01 -7.28518892e-01 9.45435434e-05 1.94459436e+01] [ 7.28518884e-01 -6.85025711e-01 -1.08668390e-04 3.82740261e+02] [ 1.43931733e-04 -5.56388357e-06 9.99999990e-01 7.96939108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.502755096 meters 0.022815997246286104 Centerline is valid? [True, True] Translation: X:19.43, Y:382.76, Z:7.97 [[-6.85841333e-01 -7.27751068e-01 -2.20236981e-04 1.94289249e+01] [ 7.27751028e-01 -6.85841368e-01 2.43446228e-04 3.82761970e+02] [-3.28215885e-04 6.68779612e-06 9.99999946e-01 7.96964610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5327550960001 meters 0.02296953622878381 Centerline is valid? [True, True] Translation: X:19.41, Y:382.78, Z:7.97 [[-6.85769360e-01 -7.27818890e-01 -2.20284455e-04 1.94137256e+01] [ 7.27818849e-01 -6.85769395e-01 2.43183217e-04 3.82783029e+02] [-3.28057677e-04 6.44042033e-06 9.99999946e-01 7.96971001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.562755096 meters 0.022656720563271462 Centerline is valid? [True, True] Translation: X:19.40, Y:382.80, Z:7.97 [[-6.85146113e-01 -7.28405584e-01 -3.32367790e-04 1.93972742e+01] [ 7.28405491e-01 -6.85146193e-01 3.67874143e-04 3.82802727e+02] [-4.95682106e-04 9.94901554e-06 9.99999877e-01 7.96961546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.592755096 meters 0.02137678982483102 Centerline is valid? [True, True] Translation: X:19.38, Y:382.82, Z:7.97 [[-6.84373656e-01 -7.29131465e-01 -7.26569827e-05 1.93785616e+01] [ 7.29131461e-01 -6.84373660e-01 7.82163533e-05 3.82822396e+02] [-1.06754530e-04 5.52719748e-07 9.99999994e-01 7.96908504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.622755096 meters 0.02010060182971756 Centerline is valid? [True, True] Translation: X:19.36, Y:382.84, Z:7.97 [[-6.81886882e-01 -7.31457602e-01 2.36338808e-04 1.93606673e+01] [ 7.31457554e-01 -6.81886923e-01 -2.66347277e-04 3.82843188e+02] [ 3.55978083e-04 -8.74690752e-06 9.99999937e-01 7.96838634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6527550960001 meters 0.01983635069364594 Centerline is valid? [True, True] Translation: X:19.34, Y:382.86, Z:7.97 [[-6.80880043e-01 -7.32394782e-01 5.01543957e-04 1.93444769e+01] [ 7.32394566e-01 -6.80880227e-01 -5.62034683e-04 3.82862262e+02] [ 7.53122632e-04 -1.53501296e-05 9.99999716e-01 7.96872441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.682755096 meters 0.019288836653616977 Centerline is valid? [True, True] Translation: X:19.33, Y:382.88, Z:7.97 [[-6.79397989e-01 -7.33769921e-01 2.76684297e-04 1.93275289e+01] [ 7.33769855e-01 -6.79398045e-01 -3.10478142e-04 3.82881232e+02] [ 4.15798292e-04 -7.91562903e-06 9.99999914e-01 7.96912043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.712755096 meters 0.01716242855999362 Centerline is valid? [True, True] Translation: X:19.31, Y:382.90, Z:7.97 [[-6.76235720e-01 -7.36685019e-01 6.58131492e-04 1.93059256e+01] [ 7.36684653e-01 -6.76236040e-01 -7.34751290e-04 3.82900093e+02] [ 9.86332502e-04 -1.20296979e-05 9.99999514e-01 7.96852690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.742755096 meters 0.016902541657591547 Centerline is valid? [True, True] Translation: X:19.29, Y:382.92, Z:7.97 [[-6.74312115e-01 -7.38446304e-01 4.77170742e-04 1.92887334e+01] [ 7.38446112e-01 -6.74312284e-01 -5.32915040e-04 3.82920096e+02] [ 7.15291234e-04 -6.98618905e-06 9.99999744e-01 7.96916469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.772755096 meters 0.016223508804165843 Centerline is valid? [True, True] Translation: X:19.27, Y:382.94, Z:7.97 [[-6.70983499e-01 -7.41472281e-01 -8.22014032e-06 1.92710629e+01] [ 7.41472281e-01 -6.70983499e-01 6.07933889e-06 3.82937862e+02] [-1.00232400e-05 -2.01587011e-06 1.00000000e+00 7.97048114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.802755096 meters 0.016050262291764993 Centerline is valid? [True, True] Translation: X:19.25, Y:382.96, Z:7.97 [[-6.69927550e-01 -7.42426410e-01 -3.20277673e-04 1.92524659e+01] [ 7.42426327e-01 -6.69927627e-01 3.52781437e-04 3.82958223e+02] [-4.76477118e-04 -1.44457216e-06 9.99999887e-01 7.97013912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.832755096 meters 0.01605973983298927 Centerline is valid? [True, True] Translation: X:19.23, Y:382.98, Z:7.97 [[-6.69080785e-01 -7.43189518e-01 -4.93011802e-04 1.92348734e+01] [ 7.43189319e-01 -6.69080967e-01 5.44193421e-04 3.82978802e+02] [-7.34303659e-04 -2.29174437e-06 9.99999730e-01 7.97042309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.862755096 meters 0.015979401162185186 Centerline is valid? [True, True] Translation: X:19.22, Y:383.00, Z:7.97 [[-6.68870951e-01 -7.43378527e-01 1.31255204e-04 1.92200254e+01] [ 7.43378512e-01 -6.68870964e-01 -1.48528504e-04 3.83000390e+02] [ 1.98205695e-04 -1.77410350e-06 9.99999980e-01 7.97007088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.892755096 meters 0.015865086640613896 Centerline is valid? [True, True] Translation: X:19.20, Y:383.02, Z:7.97 [[-6.69334305e-01 -7.42961318e-01 2.61987448e-04 1.92034170e+01] [ 7.42961260e-01 -6.69334356e-01 -2.93129191e-04 3.83022201e+02] [ 3.93140849e-04 -1.55489880e-06 9.99999923e-01 7.96989871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9227550960001 meters 0.01578017513396591 Centerline is valid? [True, True] Translation: X:19.19, Y:383.04, Z:7.97 [[-6.70129019e-01 -7.42244543e-01 3.69608766e-04 1.91864461e+01] [ 7.42244428e-01 -6.70129121e-01 -4.12077140e-04 3.83044192e+02] [ 5.53547606e-04 -1.80480229e-06 9.99999847e-01 7.96976109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.952755096 meters 0.01578946865195988 Centerline is valid? [True, True] Translation: X:19.17, Y:383.07, Z:7.97 [[-6.70908635e-01 -7.41539956e-01 3.13907421e-04 1.91704232e+01] [ 7.41539873e-01 -6.70908708e-01 -3.50274246e-04 3.83065227e+02] [ 4.70345571e-04 -2.22714735e-06 9.99999889e-01 7.96955243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.982755096 meters 0.015682522856342543 Centerline is valid? [True, True] Translation: X:19.16, Y:383.09, Z:7.97 [[-6.72635302e-01 -7.39973508e-01 9.79242214e-04 1.91576965e+01] [ 7.39972711e-01 -6.72636014e-01 -1.08576298e-03 3.83087750e+02] [ 1.46210942e-03 -5.70999165e-06 9.99998931e-01 7.96820404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.012755096 meters 0.015642998432936806 Centerline is valid? [True, True] Translation: X:19.14, Y:383.11, Z:7.97 [[-6.73696041e-01 -7.39007594e-01 1.19211557e-03 1.91421870e+01] [ 7.39006415e-01 -6.73697096e-01 -1.31988288e-03 3.83109654e+02] [ 1.77852827e-03 -8.21881638e-06 9.99998418e-01 7.96764446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0427550960001 meters 0.015973486552266446 Centerline is valid? [True, True] Translation: X:19.13, Y:383.13, Z:7.97 [[-6.75661664e-01 -7.37210178e-01 1.57145135e-03 1.91293413e+01] [ 7.37208130e-01 -6.75663492e-01 -1.73755782e-03 3.83134298e+02] [ 2.34271761e-03 -1.55144968e-05 9.99997256e-01 7.96728625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.072755096 meters 0.016261018034193733 Centerline is valid? [True, True] Translation: X:19.11, Y:383.16, Z:7.97 [[-6.77189627e-01 -7.35806169e-01 1.86852682e-03 1.91148789e+01] [ 7.35803274e-01 -6.77192204e-01 -2.06392836e-03 3.83155717e+02] [ 2.78400301e-03 -2.28027288e-05 9.99996124e-01 7.96678448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.102755096 meters 0.0164610767722126 Centerline is valid? [True, True] Translation: X:19.10, Y:383.18, Z:7.97 [[-6.78167935e-01 -7.34903160e-01 2.36599937e-03 1.90995695e+01] [ 7.34898524e-01 -6.78172061e-01 -2.61042059e-03 3.83177864e+02] [ 3.52296101e-03 -3.15340905e-05 9.99993794e-01 7.96653262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.132755096 meters 0.017015367511227317 Centerline is valid? [True, True] Translation: X:19.09, Y:383.20, Z:7.97 [[-6.79930887e-01 -7.33272440e-01 2.34916378e-03 1.90874161e+01] [ 7.33267867e-01 -6.79934944e-01 -2.58984793e-03 3.83201880e+02] [ 3.49634265e-03 -3.83512900e-05 9.99993887e-01 7.96651343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1627550960001 meters 0.017165658571623287 Centerline is valid? [True, True] Translation: X:19.07, Y:383.22, Z:7.97 [[-6.80536410e-01 -7.32710913e-01 2.21634894e-03 1.90720165e+01] [ 7.32706845e-01 -6.80540018e-01 -2.44189718e-03 3.83223234e+02] [ 3.29751886e-03 -3.78659023e-05 9.99994562e-01 7.96681447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.192755096 meters 0.01722715830644225 Centerline is valid? [True, True] Translation: X:19.06, Y:383.24, Z:7.97 [[-6.80996438e-01 -7.32283824e-01 2.06210440e-03 1.90560290e+01] [ 7.32280305e-01 -6.80999559e-01 -2.27047103e-03 3.83244506e+02] [ 3.06692139e-03 -3.61442473e-05 9.99995296e-01 7.96687999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.222755096 meters 0.016708118482735252 Centerline is valid? [True, True] Translation: X:19.04, Y:383.26, Z:7.97 [[-6.79527736e-01 -7.33648156e-01 1.56181015e-03 1.90374314e+01] [ 7.33646142e-01 -6.79529530e-01 -1.71904949e-03 3.83262596e+02] [ 2.32247361e-03 -2.23258188e-05 9.99997303e-01 7.96752078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.252755096 meters 0.016152823555478143 Centerline is valid? [True, True] Translation: X:19.02, Y:383.28, Z:7.97 [[-6.78083422e-01 -7.34983880e-01 1.25219273e-03 1.90180036e+01] [ 7.34982589e-01 -6.78084579e-01 -1.37789854e-03 3.83279843e+02] [ 1.86182579e-03 -1.39903042e-05 9.99998267e-01 7.96754066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2827550960001 meters 0.01555667450762569 Centerline is valid? [True, True] Translation: X:19.00, Y:383.30, Z:7.97 [[-6.74663096e-01 -7.38123272e-01 1.93457702e-03 1.89971764e+01] [ 7.38120211e-01 -6.74665870e-01 -2.12551151e-03 3.83295149e+02] [ 2.87408260e-03 -6.05377265e-06 9.99995870e-01 7.96622820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.312755096 meters 0.015573940482129714 Centerline is valid? [True, True] Translation: X:18.98, Y:383.31, Z:7.97 [[-6.73204941e-01 -7.39452070e-01 2.39655367e-03 1.89776952e+01] [ 7.39447392e-01 -6.73209206e-01 -2.63042509e-03 3.83312282e+02] [ 3.55845528e-03 1.31019572e-06 9.99993669e-01 7.96560307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.342755096 meters 0.015642948086287578 Centerline is valid? [True, True] Translation: X:18.96, Y:383.33, Z:7.96 [[-6.71465610e-01 -7.41030010e-01 2.90849553e-03 1.89576754e+01] [ 7.41023148e-01 -6.71471909e-01 -3.18913371e-03 3.83330380e+02] [ 4.31621683e-03 1.38689015e-05 9.99990685e-01 7.96463305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.372755096 meters 0.01617407710863423 Centerline is valid? [True, True] Translation: X:18.94, Y:383.35, Z:7.96 [[-6.69090322e-01 -7.43173729e-01 3.30905249e-03 1.89380494e+01] [ 7.43164888e-01 -6.69098504e-01 -3.62513662e-03 3.83349829e+02] [ 4.90818837e-03 3.36277905e-05 9.99987954e-01 7.96475798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4027550960001 meters 0.01639159042221627 Centerline is valid? [True, True] Translation: X:18.92, Y:383.37, Z:7.96 [[-6.68351527e-01 -7.43836628e-01 3.64796184e-03 1.89188236e+01] [ 7.43825910e-01 -6.68361481e-01 -3.99324309e-03 3.83369721e+02] [ 5.40847765e-03 4.45584217e-05 9.99985373e-01 7.96472959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.432755096 meters 0.01651818169190955 Centerline is valid? [True, True] Translation: X:18.90, Y:383.39, Z:7.96 [[-6.68201161e-01 -7.43970617e-01 3.86403034e-03 1.88999679e+01] [ 7.43958613e-01 -6.68212331e-01 -4.22649990e-03 3.83388137e+02] [ 5.72638446e-03 5.05265195e-05 9.99983603e-01 7.96403633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.462755096 meters 0.016488184999603476 Centerline is valid? [True, True] Translation: X:18.88, Y:383.41, Z:7.96 [[-6.68329006e-01 -7.43853743e-01 4.23662997e-03 1.88807113e+01] [ 7.43839334e-01 -6.68342432e-01 -4.63025073e-03 3.83407577e+02] [ 6.27574891e-03 5.68411406e-05 9.99980306e-01 7.96370640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.492755096 meters 0.01630686133591483 Centerline is valid? [True, True] Translation: X:18.86, Y:383.43, Z:7.96 [[-6.69484345e-01 -7.42815090e-01 4.05631824e-03 1.88621700e+01] [ 7.42801881e-01 -6.69496632e-01 -4.43006093e-03 3.83426214e+02] [ 6.00640750e-03 4.71843835e-05 9.99981960e-01 7.96348229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.522755096 meters 0.016212550735104907 Centerline is valid? [True, True] Translation: X:18.84, Y:383.45, Z:7.96 [[-6.70395478e-01 -7.41993791e-01 3.88820468e-03 1.88442509e+01] [ 7.41981658e-01 -6.70406752e-01 -4.24334909e-03 3.83445119e+02] [ 5.75521734e-03 4.02545182e-05 9.99983438e-01 7.96394541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.552755096 meters 0.015767171173900075 Centerline is valid? [True, True] Translation: X:18.83, Y:383.47, Z:7.96 [[-6.72535306e-01 -7.40056576e-01 3.53936164e-03 1.88261480e+01] [ 7.40046509e-01 -6.72544619e-01 -3.86002521e-03 3.83466087e+02] [ 5.23701567e-03 2.32889931e-05 9.99986287e-01 7.96408117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.582755096 meters 0.015767171173900075 Centerline is valid? [True, True] Translation: X:18.81, Y:383.49, Z:7.96 [[-6.72800058e-01 -7.39815886e-01 3.54074321e-03 1.88078995e+01] [ 7.39805823e-01 -6.72809375e-01 -3.85875749e-03 3.83485668e+02] [ 5.23701532e-03 2.32901830e-05 9.99986287e-01 7.96422380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.612755096 meters 0.01555505892251336 Centerline is valid? [True, True] Translation: X:18.79, Y:383.51, Z:7.96 [[-6.74107608e-01 -7.38624073e-01 3.66229254e-03 1.87912719e+01] [ 7.38613306e-01 -6.74117556e-01 -3.98826064e-03 3.83505481e+02] [ 5.41464101e-03 1.65011550e-05 9.99985341e-01 7.96422007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.642755096 meters 0.015448290201044457 Centerline is valid? [True, True] Translation: X:18.77, Y:383.53, Z:7.96 [[-6.75598693e-01 -7.37259366e-01 3.87723491e-03 1.87744901e+01] [ 7.37247295e-01 -6.75609819e-01 -4.21899683e-03 3.83526456e+02] [ 5.72999290e-03 8.13220332e-06 9.99983583e-01 7.96440804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6727550960001 meters 0.015443481421363158 Centerline is valid? [True, True] Translation: X:18.76, Y:383.55, Z:7.96 [[-6.78636726e-01 -7.34464047e-01 3.84157847e-03 1.87607129e+01] [ 7.34452168e-01 -6.78647599e-01 -4.17722836e-03 3.83548819e+02] [ 5.67510205e-03 -1.33649397e-05 9.99983896e-01 7.96484710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.702755096 meters 0.015624602837617272 Centerline is valid? [True, True] Translation: X:18.74, Y:383.57, Z:7.97 [[-6.80483535e-01 -7.32753474e-01 3.80861071e-03 1.87441306e+01] [ 7.32741784e-01 -6.80494192e-01 -4.13905104e-03 3.83570377e+02] [ 5.62464150e-03 -2.58278759e-05 9.99984181e-01 7.96504277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.732755096 meters 0.016177685445601702 Centerline is valid? [True, True] Translation: X:18.73, Y:383.59, Z:7.96 [[-6.83934539e-01 -7.29534032e-01 3.69362499e-03 1.87283573e+01] [ 7.29523006e-01 -6.83944511e-01 -4.01135648e-03 3.83593455e+02] [ 5.45265560e-03 -4.89208410e-05 9.99985133e-01 7.96494213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.762755096 meters 0.016518047619186946 Centerline is valid? [True, True] Translation: X:18.71, Y:383.61, Z:7.97 [[-6.85241118e-01 -7.28308395e-01 3.38991791e-03 1.87108532e+01] [ 7.28299103e-01 -6.85249501e-01 -3.67942506e-03 3.83613665e+02] [ 5.00269572e-03 -5.24191669e-05 9.99987485e-01 7.96516437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7927550960001 meters 0.0171089381334136 Centerline is valid? [True, True] Translation: X:18.69, Y:383.63, Z:7.97 [[-6.86489016e-01 -7.27133254e-01 3.17204770e-03 1.86929988e+01] [ 7.27125116e-01 -6.86496343e-01 -3.44056402e-03 3.83633356e+02] [ 4.67934766e-03 -5.54338599e-05 9.99989050e-01 7.96549904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.822755096 meters 0.017526321428717802 Centerline is valid? [True, True] Translation: X:18.67, Y:383.65, Z:7.97 [[-6.88329313e-01 -7.25391358e-01 3.18359067e-03 1.86740138e+01] [ 7.25383154e-01 -6.88336672e-01 -3.45050709e-03 3.83654670e+02] [ 4.69435023e-03 -6.57621360e-05 9.99988979e-01 7.96552793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.852755096 meters 0.01792109699895091 Centerline is valid? [True, True] Translation: X:18.66, Y:383.67, Z:7.97 [[-6.89346133e-01 -7.24424889e-01 3.23877525e-03 1.86571580e+01] [ 7.24416398e-01 -6.89353737e-01 -3.50813589e-03 3.83674247e+02] [ 4.77404278e-03 -7.20980107e-05 9.99988602e-01 7.96566005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.882755096 meters 0.018149920205077014 Centerline is valid? [True, True] Translation: X:18.64, Y:383.69, Z:7.97 [[-6.90169026e-01 -7.23641116e-01 3.20173206e-03 1.86386817e+01] [ 7.23632822e-01 -6.90176449e-01 -3.46541643e-03 3.83693591e+02] [ 4.71747787e-03 -7.48446727e-05 9.99988870e-01 7.96585420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9127550960001 meters 0.0180540954959042 Centerline is valid? [True, True] Translation: X:18.62, Y:383.71, Z:7.97 [[-6.90252595e-01 -7.23561980e-01 3.06870697e-03 1.86187556e+01] [ 7.23554368e-01 -6.90259412e-01 -3.31979380e-03 3.83712983e+02] [ 4.52028044e-03 -7.11199495e-05 9.99989781e-01 7.96598973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.942755096 meters 0.018518911262436853 Centerline is valid? [True, True] Translation: X:18.60, Y:383.73, Z:7.97 [[-6.90453947e-01 -7.23369760e-01 3.08824847e-03 1.86012945e+01] [ 7.23362058e-01 -6.90460850e-01 -3.33874255e-03 3.83732536e+02] [ 4.54746006e-03 -7.13261989e-05 9.99989658e-01 7.96598384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.972755096 meters 0.018296685922950254 Centerline is valid? [True, True] Translation: X:18.58, Y:383.75, Z:7.96 [[-6.90948028e-01 -7.22893774e-01 3.92613868e-03 1.85822917e+01] [ 7.22881341e-01 -6.90959176e-01 -4.24070323e-03 3.83751545e+02] [ 5.77837951e-03 -9.19731343e-05 9.99983301e-01 7.96498490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.002755096 meters 0.018606313383860856 Centerline is valid? [True, True] Translation: X:18.56, Y:383.77, Z:7.96 [[-6.92040900e-01 -7.21836274e-01 5.63799038e-03 1.85620381e+01] [ 7.21810644e-01 -6.92063851e-01 -6.08444737e-03 3.83771446e+02] [ 8.29382415e-03 -1.41124966e-04 9.99965596e-01 7.96172061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0327550960001 meters 0.019345562727262105 Centerline is valid? [True, True] Translation: X:18.54, Y:383.79, Z:7.96 [[-6.92970101e-01 -7.20939545e-01 6.21382627e-03 1.85446655e+01] [ 7.20908420e-01 -6.92997940e-01 -6.70115901e-03 3.83791381e+02] [ 9.13729933e-03 -1.64103157e-04 9.99958241e-01 7.96089832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.062755096 meters 0.01979928129408423 Centerline is valid? [True, True] Translation: X:18.53, Y:383.81, Z:7.96 [[-6.94553006e-01 -7.19417573e-01 5.87175557e-03 1.85265580e+01] [ 7.19389763e-01 -6.94577804e-01 -6.32788287e-03 3.83811371e+02] [ 8.63078123e-03 -1.70969215e-04 9.99962740e-01 7.96192476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.092755096 meters 0.020746903399002092 Centerline is valid? [True, True] Translation: X:18.51, Y:383.83, Z:7.96 [[-6.95458765e-01 -7.18541992e-01 5.87469557e-03 1.85091863e+01] [ 7.18514161e-01 -6.95483554e-01 -6.32659307e-03 3.83830608e+02] [ 8.63167694e-03 -1.78832641e-04 9.99962730e-01 7.96206738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.122755096 meters 0.02091266916939007 Centerline is valid? [True, True] Translation: X:18.49, Y:383.85, Z:7.96 [[-6.96431281e-01 -7.17598265e-01 6.01667027e-03 1.84900209e+01] [ 7.17569079e-01 -6.96457244e-01 -6.47483939e-03 3.83849616e+02] [ 8.83668711e-03 -1.91904151e-04 9.99960937e-01 7.96189758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1527550960001 meters 0.022488426658023038 Centerline is valid? [True, True] Translation: X:18.47, Y:383.87, Z:7.96 [[-6.98134539e-01 -7.15942958e-01 5.81783078e-03 1.84735318e+01] [ 7.15915648e-01 -6.98158750e-01 -6.25660576e-03 3.83869828e+02] [ 8.54114230e-03 -2.02876484e-04 9.99963503e-01 7.96179928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.182755096 meters 0.02230923148479227 Centerline is valid? [True, True] Translation: X:18.46, Y:383.89, Z:7.96 [[-6.98894560e-01 -7.15201500e-01 5.76268692e-03 1.84557627e+01] [ 7.15174718e-01 -6.98918287e-01 -6.19281246e-03 3.83889013e+02] [ 8.45675603e-03 -2.06794948e-04 9.99964220e-01 7.96249958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.212755096 meters 0.023480838388844887 Centerline is valid? [True, True] Translation: X:18.44, Y:383.91, Z:7.96 [[-6.99954879e-01 -7.14163036e-01 5.85883158e-03 1.84393282e+01] [ 7.14135357e-01 -6.99979364e-01 -6.29143601e-03 3.83910099e+02] [ 8.59417224e-03 -2.19722547e-04 9.99963045e-01 7.96252707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.242755096 meters 0.023031475146719185 Centerline is valid? [True, True] Translation: X:18.42, Y:383.93, Z:7.96 [[-7.01521345e-01 -7.12619401e-01 6.43371744e-03 1.84202167e+01] [ 7.12586004e-01 -7.01550799e-01 -6.90385681e-03 3.83930621e+02] [ 9.43340191e-03 -2.58625909e-04 9.99955471e-01 7.96229517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.272755096 meters 0.0232572929933789 Centerline is valid? [True, True] Translation: X:18.40, Y:383.95, Z:7.96 [[-7.02339600e-01 -7.11814729e-01 6.23517655e-03 1.84012928e+01] [ 7.11783368e-01 -7.02367229e-01 -6.68672252e-03 3.83951660e+02] [ 9.13909125e-03 -2.58255054e-04 9.99958204e-01 7.96228543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.302755096 meters 0.022751074332809103 Centerline is valid? [True, True] Translation: X:18.38, Y:383.97, Z:7.96 [[-7.02957993e-01 -7.11207797e-01 5.79053606e-03 1.83818448e+01] [ 7.11180762e-01 -7.02981799e-01 -6.20596447e-03 3.83970883e+02] [ 8.48437177e-03 -2.44414482e-04 9.99963977e-01 7.96260236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.332755096 meters 0.02310250176812236 Centerline is valid? [True, True] Translation: X:18.36, Y:383.99, Z:7.96 [[-7.03285149e-01 -7.10884751e-01 5.73327030e-03 1.83638488e+01] [ 7.10858274e-01 -7.03308476e-01 -6.14021426e-03 3.83991043e+02] [ 8.39724228e-03 -2.42778868e-04 9.99964713e-01 7.96319014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.362755096 meters 0.023117941310746352 Centerline is valid? [True, True] Translation: X:18.35, Y:384.01, Z:7.96 [[-7.03367618e-01 -7.10806078e-01 5.35859177e-03 1.83459295e+01] [ 7.10782977e-01 -7.03387994e-01 -5.73504209e-03 3.84011190e+02] [ 7.84567189e-03 -2.25047088e-04 9.99969197e-01 7.96372051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.392755096 meters 0.02394611136681623 Centerline is valid? [True, True] Translation: X:18.33, Y:384.03, Z:7.96 [[-7.03430431e-01 -7.10747991e-01 4.78775769e-03 1.83291538e+01] [ 7.10729572e-01 -7.03446696e-01 -5.12073241e-03 3.84031705e+02] [ 7.00748260e-03 -1.99278032e-04 9.99975427e-01 7.96432636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4227550960001 meters 0.02297721789133651 Centerline is valid? [True, True] Translation: X:18.31, Y:384.05, Z:7.97 [[-7.03134269e-01 -7.11043564e-01 4.38752729e-03 1.83107118e+01] [ 7.11028122e-01 -7.03147935e-01 -4.68946424e-03 3.84052067e+02] [ 6.41949412e-03 -1.77667716e-04 9.99979379e-01 7.96557530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.452755096 meters 0.023133983730947858 Centerline is valid? [True, True] Translation: X:18.29, Y:384.07, Z:7.97 [[-7.03049796e-01 -7.11127894e-01 4.25471653e-03 1.82939652e+01] [ 7.11113394e-01 -7.03062650e-01 -4.54439043e-03 3.84072025e+02] [ 6.22297508e-03 -1.69346849e-04 9.99980623e-01 7.96625914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.482755096 meters 0.02267695145230202 Centerline is valid? [True, True] Translation: X:18.28, Y:384.09, Z:7.97 [[-7.02063993e-01 -7.12096214e-01 5.01319900e-03 1.82764149e+01] [ 7.12076140e-01 -7.02081867e-01 -5.35009459e-03 3.84091035e+02] [ 7.32945821e-03 -1.86329380e-04 9.99973122e-01 7.96591491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.512755096 meters 0.02210626783240465 Centerline is valid? [True, True] Translation: X:18.26, Y:384.11, Z:7.97 [[-7.01565007e-01 -7.12588044e-01 4.98198706e-03 1.82560237e+01] [ 7.12568259e-01 -7.01582674e-01 -5.31301865e-03 3.84109744e+02] [ 7.28126937e-03 -1.77422122e-04 9.99973476e-01 7.96533255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5427550960001 meters 0.02135607613985452 Centerline is valid? [True, True] Translation: X:18.24, Y:384.13, Z:7.97 [[-7.01071912e-01 -7.13068086e-01 5.66379495e-03 1.82356216e+01] [ 7.13042568e-01 -7.01094763e-01 -6.03562334e-03 3.84128424e+02] [ 8.27466736e-03 -1.92879095e-04 9.99965746e-01 7.96507378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.572755096 meters 0.0211210770359562 Centerline is valid? [True, True] Translation: X:18.22, Y:384.15, Z:7.96 [[-6.99771589e-01 -7.14341029e-01 6.05125989e-03 1.82167476e+01] [ 7.14311989e-01 -6.99797727e-01 -6.44390259e-03 3.84147423e+02] [ 8.83780193e-03 -1.86772464e-04 9.99960928e-01 7.96433226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.602755096 meters 0.020148122664519888 Centerline is valid? [True, True] Translation: X:18.20, Y:384.17, Z:7.96 [[-6.99300528e-01 -7.14802128e-01 6.05713268e-03 1.81962496e+01] [ 7.14773087e-01 -6.99326738e-01 -6.44573654e-03 3.84166082e+02] [ 8.84334103e-03 -1.78031547e-04 9.99960881e-01 7.96465795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.632755096 meters 0.019978784696543433 Centerline is valid? [True, True] Translation: X:18.18, Y:384.18, Z:7.96 [[-6.98886964e-01 -7.15205130e-01 6.21567813e-03 1.81783702e+01] [ 7.15174604e-01 -6.98914582e-01 -6.61007338e-03 3.84183737e+02] [ 9.07178647e-03 -1.74398970e-04 9.99958835e-01 7.96491388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6627550960001 meters 0.019479141707203468 Centerline is valid? [True, True] Translation: X:18.16, Y:384.20, Z:7.96 [[-6.98589240e-01 -7.15494917e-01 6.33227207e-03 1.81592501e+01] [ 7.15463290e-01 -6.98617917e-01 -6.72953284e-03 3.84201538e+02] [ 9.23878526e-03 -1.70671022e-04 9.99957307e-01 7.96499776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.692755096 meters 0.019679805435769852 Centerline is valid? [True, True] Translation: X:18.14, Y:384.22, Z:7.96 [[-6.98923519e-01 -7.15163963e-01 6.81320604e-03 1.81406016e+01] [ 7.15127390e-01 -6.98956702e-01 -7.23497464e-03 3.84220558e+02] [ 9.93632917e-03 -1.84383686e-04 9.99950617e-01 7.96476680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.722755096 meters 0.01982741955493837 Centerline is valid? [True, True] Translation: X:18.12, Y:384.24, Z:7.96 [[-6.99532030e-01 -7.14565997e-01 7.09755132e-03 1.81220468e+01] [ 7.14526336e-01 -6.99568007e-01 -7.53114142e-03 3.84239338e+02] [ 1.03467174e-02 -1.96887295e-04 9.99946452e-01 7.96447247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.752755096 meters 0.021383356145631784 Centerline is valid? [True, True] Translation: X:18.11, Y:384.26, Z:7.96 [[-7.00810051e-01 -7.13305215e-01 7.80662481e-03 1.81055689e+01] [ 7.13257226e-01 -7.00853492e-01 -8.27721580e-03 3.84259613e+02] [ 1.13754814e-02 -2.32624470e-04 9.99935270e-01 7.96365526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7827550960001 meters 0.02189821691774703 Centerline is valid? [True, True] Translation: X:18.09, Y:384.28, Z:7.96 [[-7.01933523e-01 -7.12193849e-01 8.32170145e-03 1.80870702e+01] [ 7.12139315e-01 -7.01982801e-01 -8.81718044e-03 3.84280068e+02] [ 1.21212330e-02 -2.62863763e-04 9.99926501e-01 7.96370683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.812755096 meters 0.023573801629385598 Centerline is valid? [True, True] Translation: X:18.07, Y:384.30, Z:7.96 [[-7.04401921e-01 -7.09745434e-01 8.90797651e-03 1.80707157e+01] [ 7.09682835e-01 -7.04458171e-01 -9.43179851e-03 3.84301656e+02] [ 1.29694728e-02 -3.21938962e-04 9.99915841e-01 7.96363299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.842755096 meters 0.0244853210070196 Centerline is valid? [True, True] Translation: X:18.05, Y:384.32, Z:7.96 [[-7.05848910e-01 -7.08303076e-01 9.16886555e-03 1.80532722e+01] [ 7.08236722e-01 -7.05908370e-01 -9.70144830e-03 3.84322454e+02] [ 1.33439446e-02 -3.54029428e-04 9.99910903e-01 7.96368237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.872755096 meters 0.025833234531640204 Centerline is valid? [True, True] Translation: X:18.04, Y:384.34, Z:7.96 [[-7.07226154e-01 -7.06927767e-01 9.18143569e-03 1.80370795e+01] [ 7.06861189e-01 -7.07285650e-01 -9.70924577e-03 3.84342932e+02] [ 1.33576331e-02 -3.76632000e-04 9.99910712e-01 7.96383995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9027550960001 meters 0.02501583782159815 Centerline is valid? [True, True] Translation: X:18.02, Y:384.36, Z:7.97 [[-7.09256980e-01 -7.04889194e-01 9.26070432e-03 1.80179142e+01] [ 7.04821368e-01 -7.09317315e-01 -9.78702016e-03 3.84361975e+02] [ 1.34675427e-02 -4.14370074e-04 9.99909223e-01 7.96509476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.932755096 meters 0.02493509875907556 Centerline is valid? [True, True] Translation: X:18.00, Y:384.38, Z:7.97 [[-7.10434215e-01 -7.03704057e-01 9.15568234e-03 1.79983917e+01] [ 7.03637746e-01 -7.10493081e-01 -9.66977810e-03 3.84382399e+02] [ 1.33097110e-02 -4.27457526e-04 9.99911331e-01 7.96576577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.962755096 meters 0.02537204759524773 Centerline is valid? [True, True] Translation: X:17.98, Y:384.40, Z:7.97 [[-7.11365005e-01 -7.02763681e-01 9.11254022e-03 1.79798572e+01] [ 7.02697996e-01 -7.11423233e-01 -9.61822560e-03 3.84403803e+02] [ 1.32422125e-02 -4.38705350e-04 9.99912222e-01 7.96655262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.992755096 meters 0.02619136132483937 Centerline is valid? [True, True] Translation: X:17.96, Y:384.43, Z:7.97 [[-7.12203198e-01 -7.01920865e-01 8.58513041e-03 1.79632082e+01] [ 7.01862573e-01 -7.12254814e-01 -9.05586670e-03 3.84425738e+02] [ 1.24713022e-02 -4.24035505e-04 9.99922140e-01 7.96835408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.022755096 meters 0.026608931403145988 Centerline is valid? [True, True] Translation: X:17.94, Y:384.45, Z:7.97 [[-7.12587764e-01 -7.01532359e-01 8.42782268e-03 1.79449613e+01] [ 7.01476230e-01 -7.12637477e-01 -8.88398790e-03 3.84445668e+02] [ 1.22383873e-02 -4.18703788e-04 9.99925021e-01 7.96908540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.052755096 meters 0.025850516059934648 Centerline is valid? [True, True] Translation: X:17.92, Y:384.47, Z:7.97 [[-7.11971496e-01 -7.02161537e-01 8.10953543e-03 1.79242115e+01] [ 7.02109672e-01 -7.12017574e-01 -8.54303205e-03 3.84465036e+02] [ 1.17727202e-02 -3.88612052e-04 9.99930624e-01 7.96975311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.082755096 meters 0.025195307127239743 Centerline is valid? [True, True] Translation: X:17.90, Y:384.48, Z:7.97 [[-7.11288267e-01 -7.02854105e-01 8.06896829e-03 1.79040082e+01] [ 7.02802863e-01 -7.11333936e-01 -8.49507911e-03 3.84484212e+02] [ 1.17105322e-02 -3.71556085e-04 9.99931360e-01 7.96987821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.112755096 meters 0.025139182064414404 Centerline is valid? [True, True] Translation: X:17.89, Y:384.50, Z:7.97 [[-7.10312345e-01 -7.03841209e-01 7.99532023e-03 1.78851944e+01] [ 7.03791016e-01 -7.10357256e-01 -8.41275243e-03 3.84503071e+02] [ 1.16007756e-02 -3.48647368e-04 9.99932648e-01 7.97007291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.142755096 meters 0.023701601959288516 Centerline is valid? [True, True] Translation: X:17.86, Y:384.52, Z:7.97 [[-7.09269336e-01 -7.04890510e-01 8.14725311e-03 1.78643460e+01] [ 7.04838524e-01 -7.09316049e-01 -8.56726765e-03 3.84520562e+02] [ 1.18179631e-02 -3.34002381e-04 9.99930110e-01 7.97042155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1727550960001 meters 0.0219085535312906 Centerline is valid? [True, True] Translation: X:17.84, Y:384.54, Z:7.97 [[-7.06515607e-01 -7.07647719e-01 8.39066041e-03 1.78424965e+01] [ 7.07592848e-01 -7.06565369e-01 -8.81706846e-03 3.84536942e+02] [ 1.21679285e-02 -2.92225176e-04 9.99925925e-01 7.97014068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.202755096 meters 0.020715856537850925 Centerline is valid? [True, True] Translation: X:17.82, Y:384.56, Z:7.97 [[-7.05162016e-01 -7.08996640e-01 8.38426714e-03 1.78210664e+01] [ 7.08942018e-01 -7.05211808e-01 -8.80463275e-03 3.84555422e+02] [ 1.21551392e-02 -2.64733312e-04 9.99926089e-01 7.97032263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.232755096 meters 0.01980893058069971 Centerline is valid? [True, True] Translation: X:17.80, Y:384.57, Z:7.97 [[-7.04140825e-01 -7.10008131e-01 8.61115857e-03 1.77999571e+01] [ 7.09950659e-01 -7.04193433e-01 -9.03718039e-03 3.84573711e+02] [ 1.24803929e-02 -2.49949952e-04 9.99922086e-01 7.97016392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.262755096 meters 0.01894819524848366 Centerline is valid? [True, True] Translation: X:17.78, Y:384.59, Z:7.97 [[-7.01957444e-01 -7.12159069e-01 9.23077319e-03 1.77786521e+01] [ 7.12093296e-01 -7.02018099e-01 -9.68125309e-03 3.84590624e+02] [ 1.33747620e-02 -2.22655976e-04 9.99910529e-01 7.96889803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2927550960001 meters 0.01842093481124893 Centerline is valid? [True, True] Translation: X:17.76, Y:384.61, Z:7.97 [[-7.01221322e-01 -7.12882370e-01 9.34796072e-03 1.77584260e+01] [ 7.12815070e-01 -7.01283597e-01 -9.79759436e-03 3.84608418e+02] [ 1.35401038e-02 -2.06914796e-04 9.99908307e-01 7.96843399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.322755096 meters 0.01869642500697742 Centerline is valid? [True, True] Translation: X:17.74, Y:384.63, Z:7.97 [[-6.99993185e-01 -7.14079335e-01 1.00122397e-02 1.77396168e+01] [ 7.14002345e-01 -7.00064759e-01 -1.04873428e-02 3.84626379e+02] [ 1.44980109e-02 -1.92305861e-04 9.99894880e-01 7.96610279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.352755096 meters 0.017903537001614265 Centerline is valid? [True, True] Translation: X:17.72, Y:384.64, Z:7.97 [[-6.99839140e-01 -7.14222299e-01 1.05681141e-02 1.77192164e+01] [ 7.14136650e-01 -6.99918902e-01 -1.10623445e-02 3.84644757e+02] [ 1.52977959e-02 -1.94784062e-04 9.99882963e-01 7.96719724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.382755096 meters 0.01832922137242215 Centerline is valid? [True, True] Translation: X:17.70, Y:384.66, Z:7.97 [[-6.99964845e-01 -7.14096468e-01 1.07447946e-02 1.77016809e+01] [ 7.14008021e-01 -7.00047282e-01 -1.12405379e-02 3.84664895e+02] [ 1.55486927e-02 -1.96111794e-04 9.99879093e-01 7.96674877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4127550960001 meters 0.017774254205268063 Centerline is valid? [True, True] Translation: X:17.68, Y:384.68, Z:7.97 [[-7.00008988e-01 -7.14052220e-01 1.08094396e-02 1.76822092e+01] [ 7.13962815e-01 -7.00092415e-01 -1.13008425e-02 3.84684125e+02] [ 1.56369983e-02 -1.93153354e-04 9.99877716e-01 7.96848690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.442755096 meters 0.017538520612949145 Centerline is valid? [True, True] Translation: X:17.66, Y:384.70, Z:7.97 [[-7.00226918e-01 -7.13838495e-01 1.08104756e-02 1.76629422e+01] [ 7.13749173e-01 -7.00310336e-01 -1.12938847e-02 3.84703184e+02] [ 1.56326975e-02 -1.92313994e-04 9.99877783e-01 7.96888565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.472755096 meters 0.017615239832157598 Centerline is valid? [True, True] Translation: X:17.64, Y:384.72, Z:7.97 [[-6.99695523e-01 -7.14352856e-01 1.12326275e-02 1.76441658e+01] [ 7.14256605e-01 -6.99785655e-01 -1.17276775e-02 3.84722099e+02] [ 1.62381315e-02 -1.82825038e-04 9.99868136e-01 7.96840405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.502755096 meters 0.017615239832157598 Centerline is valid? [True, True] Translation: X:17.63, Y:384.74, Z:7.97 [[-6.99945359e-01 -7.14108001e-01 1.12364468e-02 1.76254955e+01] [ 7.14011777e-01 -7.00035520e-01 -1.17240179e-02 3.84741284e+02] [ 1.62381268e-02 -1.83216595e-04 9.99868136e-01 7.96854683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5327550960001 meters 0.017342814643474997 Centerline is valid? [True, True] Translation: X:17.61, Y:384.76, Z:7.97 [[-6.99871664e-01 -7.14177290e-01 1.14216050e-02 1.76061417e+01] [ 7.14078018e-01 -6.99964833e-01 -1.19087203e-02 3.84759832e+02] [ 1.64996595e-02 -1.78658848e-04 9.99863855e-01 7.96939789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.562755096 meters 0.01737730823284089 Centerline is valid? [True, True] Translation: X:17.59, Y:384.78, Z:7.97 [[-6.99717619e-01 -7.14329033e-01 1.13704443e-02 1.75871899e+01] [ 7.14230807e-01 -6.99809978e-01 -1.18469508e-02 3.84779119e+02] [ 1.64197713e-02 -1.68398613e-04 9.99865172e-01 7.96962210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.592755096 meters 0.017292019974923998 Centerline is valid? [True, True] Translation: X:17.57, Y:384.80, Z:7.97 [[-6.99254513e-01 -7.14777215e-01 1.16901596e-02 1.75701847e+01] [ 7.14673601e-01 -6.99352207e-01 -1.21710486e-02 3.84798634e+02] [ 1.68751271e-02 -1.56012194e-04 9.99857593e-01 7.96998754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.622755096 meters 0.01742787755986659 Centerline is valid? [True, True] Translation: X:17.55, Y:384.82, Z:7.97 [[-6.99232128e-01 -7.14794664e-01 1.19590677e-02 1.75524115e+01] [ 7.14686391e-01 -6.99334373e-01 -1.24418012e-02 3.84818045e+02] [ 1.72567202e-02 -1.52724237e-04 9.99851080e-01 7.97000991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6527550960001 meters 0.017164759537164963 Centerline is valid? [True, True] Translation: X:17.53, Y:384.84, Z:7.97 [[-6.99282158e-01 -7.14739727e-01 1.23120186e-02 1.75335760e+01] [ 7.14625122e-01 -6.99390520e-01 -1.27998133e-02 3.84837660e+02] [ 1.77594442e-02 -1.52203267e-04 9.99842277e-01 7.97023017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.682755096 meters 0.017765963375313304 Centerline is valid? [True, True] Translation: X:17.52, Y:384.86, Z:7.97 [[-6.99658804e-01 -7.14368404e-01 1.24635862e-02 1.75165910e+01] [ 7.14251071e-01 -6.99769790e-01 -1.29479617e-02 3.84858465e+02] [ 1.79712558e-02 -1.57025622e-04 9.99838492e-01 7.96945577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.712755096 meters 0.01703706427544898 Centerline is valid? [True, True] Translation: X:17.50, Y:384.88, Z:7.97 [[-6.99826501e-01 -7.14206058e-01 1.23521276e-02 1.74972683e+01] [ 7.14090954e-01 -6.99935485e-01 -1.28228868e-02 3.84877266e+02] [ 1.78038759e-02 -1.53253361e-04 9.99841487e-01 7.97221986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.742755096 meters 0.01729434805650746 Centerline is valid? [True, True] Translation: X:17.48, Y:384.90, Z:7.97 [[-7.00203952e-01 -7.13843621e-01 1.19042037e-02 1.74799132e+01] [ 7.13736818e-01 -7.00305121e-01 -1.23487861e-02 3.84897404e+02] [ 1.71516769e-02 -1.50200376e-04 9.99852888e-01 7.97344545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.772755096 meters 0.017212250226028465 Centerline is valid? [True, True] Translation: X:17.46, Y:384.92, Z:7.97 [[-7.00444965e-01 -7.13611349e-01 1.16487637e-02 1.74610367e+01] [ 7.13509194e-01 -7.00541805e-01 -1.20751702e-02 3.84916850e+02] [ 1.67774244e-02 -1.46492153e-04 9.99859238e-01 7.97490280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.802755096 meters 0.017318431478204104 Centerline is valid? [True, True] Translation: X:17.44, Y:384.94, Z:7.98 [[-7.00716209e-01 -7.13352321e-01 1.11920184e-02 1.74419831e+01] [ 7.13258116e-01 -7.00805570e-01 -1.15936929e-02 3.84936719e+02] [ 1.61138166e-02 -1.41090558e-04 9.99870154e-01 7.97582000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.832755096 meters 0.017039100694424218 Centerline is valid? [True, True] Translation: X:17.42, Y:384.96, Z:7.98 [[-7.01058342e-01 -7.13022096e-01 1.08023976e-02 1.74229028e+01] [ 7.12934419e-01 -7.01141549e-01 -1.11822300e-02 3.84956090e+02] [ 1.55471869e-02 -1.37994559e-04 9.99879126e-01 7.97733038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.862755096 meters 0.01702643136554874 Centerline is valid? [True, True] Translation: X:17.40, Y:384.98, Z:7.98 [[-7.01134754e-01 -7.12948405e-01 1.07065000e-02 1.74043381e+01] [ 7.12862391e-01 -7.01216482e-01 -1.10750814e-02 3.84975508e+02] [ 1.54035359e-02 -1.32863279e-04 9.99881350e-01 7.97788656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.892755096 meters 0.016850504726874948 Centerline is valid? [True, True] Translation: X:17.38, Y:385.00, Z:7.98 [[-7.01404750e-01 -7.12685843e-01 1.05007685e-02 1.73849438e+01] [ 7.12603191e-01 -7.01483337e-01 -1.08544964e-02 3.84995026e+02] [ 1.51019601e-02 -1.30514204e-04 9.99885950e-01 7.97899354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9227550960001 meters 0.01680500654860313 Centerline is valid? [True, True] Translation: X:17.37, Y:385.01, Z:7.98 [[-7.01090402e-01 -7.13000143e-01 1.01510863e-02 1.73659057e+01] [ 7.12923050e-01 -7.01163878e-01 -1.04852969e-02 3.85013123e+02] [ 1.45935932e-02 -1.14197663e-04 9.99893501e-01 7.97911012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.952755096 meters 0.016667548824881327 Centerline is valid? [True, True] Translation: X:17.35, Y:385.03, Z:7.98 [[-7.00739905e-01 -7.13347676e-01 9.93368516e-03 1.73462262e+01] [ 7.13273990e-01 -7.00810304e-01 -1.02533888e-02 3.85031921e+02] [ 1.42758600e-02 -9.95194717e-05 9.99898090e-01 7.97917063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.982755096 meters 0.01641252855796157 Centerline is valid? [True, True] Translation: X:17.33, Y:385.05, Z:7.98 [[-7.00226040e-01 -7.13849105e-01 1.01463130e-02 1.73265494e+01] [ 7.13772392e-01 -7.00299541e-01 -1.04654176e-02 3.85050225e+02] [ 1.45761873e-02 -8.59997927e-05 9.99893758e-01 7.97959085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.012755096 meters 0.016282258063783656 Centerline is valid? [True, True] Translation: X:17.31, Y:385.07, Z:7.98 [[-6.99905957e-01 -7.14161916e-01 1.02180880e-02 1.73074428e+01] [ 7.14084256e-01 -6.99980538e-01 -1.05319523e-02 3.85069225e+02] [ 1.46739820e-02 -7.48003915e-05 9.99892329e-01 7.98019302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0427550960001 meters 0.01627404001879191 Centerline is valid? [True, True] Translation: X:17.29, Y:385.09, Z:7.98 [[-6.99785519e-01 -7.14283641e-01 9.95531151e-03 1.72889652e+01] [ 7.14210044e-01 -6.99856325e-01 -1.02536737e-02 3.85087574e+02] [ 1.42913191e-02 -6.51888902e-05 9.99897872e-01 7.98017246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.072755096 meters 0.016123118866326794 Centerline is valid? [True, True] Translation: X:17.27, Y:385.11, Z:7.98 [[-6.99842978e-01 -7.14233234e-01 9.52331466e-03 1.72694513e+01] [ 7.14165976e-01 -6.99907768e-01 -9.80179020e-03 3.85106993e+02] [ 1.36662062e-02 -5.84867384e-05 9.99906611e-01 7.98165697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.102755096 meters 0.016336367507471108 Centerline is valid? [True, True] Translation: X:17.25, Y:385.13, Z:7.98 [[-7.00333550e-01 -7.13752714e-01 9.48591843e-03 1.72513146e+01] [ 7.13686035e-01 -7.00397787e-01 -9.75623106e-03 3.85125848e+02] [ 1.36074527e-02 -6.26484239e-05 9.99907412e-01 7.98175727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.132755096 meters 0.01637763741593926 Centerline is valid? [True, True] Translation: X:17.23, Y:385.14, Z:7.98 [[-7.00765598e-01 -7.13331704e-01 9.24423345e-03 1.72321289e+01] [ 7.13268433e-01 -7.00826566e-01 -9.50092023e-03 3.85144813e+02] [ 1.32559120e-02 -6.42981493e-05 9.99912135e-01 7.98281094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1627550960001 meters 0.016335889151465183 Centerline is valid? [True, True] Translation: X:17.21, Y:385.16, Z:7.98 [[-7.01563708e-01 -7.12551709e-01 8.85579696e-03 1.72126140e+01] [ 7.12493660e-01 -7.01619596e-01 -9.09544544e-03 3.85164502e+02] [ 1.26943759e-02 -7.13352336e-05 9.99919421e-01 7.98374866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.192755096 meters 0.01641614815057114 Centerline is valid? [True, True] Translation: X:17.19, Y:385.18, Z:7.99 [[-7.02755083e-01 -7.11388192e-01 7.88247001e-03 1.71943114e+01] [ 7.11342192e-01 -7.02799284e-01 -8.09028895e-03 3.85184010e+02] [ 1.12951303e-02 -7.83581935e-05 9.99936205e-01 7.98562480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.222755096 meters 0.01659582558371836 Centerline is valid? [True, True] Translation: X:17.18, Y:385.20, Z:7.99 [[-7.03521570e-01 -7.10636456e-01 7.29572269e-03 1.71753798e+01] [ 7.10597062e-01 -7.03559394e-01 -7.48295934e-03 3.85203522e+02] [ 1.04506379e-02 -8.01041935e-05 9.99945387e-01 7.98676297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.252755096 meters 0.01703300045437322 Centerline is valid? [True, True] Translation: X:17.16, Y:385.22, Z:7.99 [[-7.05143090e-01 -7.09034621e-01 6.56732220e-03 1.71571826e+01] [ 7.09002672e-01 -7.05173665e-01 -6.73148981e-03 3.85223282e+02] [ 9.40396199e-03 -9.04145328e-05 9.99955778e-01 7.98866443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2827550960001 meters 0.017229128746058645 Centerline is valid? [True, True] Translation: X:17.14, Y:385.24, Z:7.99 [[-7.06085712e-01 -7.08096854e-01 6.46635549e-03 1.71396007e+01] [ 7.08065883e-01 -7.06115314e-01 -6.62340137e-03 3.85242197e+02] [ 9.25600231e-03 -9.80833673e-05 9.99957158e-01 7.98930955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.312755096 meters 0.017405678678207994 Centerline is valid? [True, True] Translation: X:17.12, Y:385.26, Z:7.99 [[-7.06606655e-01 -7.07575168e-01 6.66451441e-03 1.71215480e+01] [ 7.07542295e-01 -7.06638076e-01 -6.82130050e-03 3.85260903e+02] [ 9.53598249e-03 -1.04550501e-04 9.99954526e-01 7.98931025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.342755096 meters 0.01721423161525452 Centerline is valid? [True, True] Translation: X:17.10, Y:385.28, Z:7.99 [[-7.07255921e-01 -7.06917455e-01 7.53478342e-03 1.71007914e+01] [ 7.06875464e-01 -7.07296046e-01 -7.70604089e-03 3.85278583e+02] [ 1.07768573e-02 -1.23989528e-04 9.99941920e-01 7.98832162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.372755096 meters 0.017843199655574734 Centerline is valid? [True, True] Translation: X:17.08, Y:385.30, Z:7.99 [[-7.07394598e-01 -7.06771725e-01 8.16164463e-03 1.70826127e+01] [ 7.06722519e-01 -7.07441667e-01 -8.34081696e-03 3.85296946e+02] [ 1.16689411e-02 -1.32230798e-04 9.99931907e-01 7.98645964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4027550960001 meters 0.01741333362000656 Centerline is valid? [True, True] Translation: X:17.06, Y:385.31, Z:7.99 [[-7.06650842e-01 -7.07515040e-01 8.18877092e-03 1.70617565e+01] [ 7.07465629e-01 -7.06698278e-01 -8.36233419e-03 3.85313520e+02] [ 1.17034675e-02 -1.15976528e-04 9.99931505e-01 7.98585696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.432755096 meters 0.017310825029627466 Centerline is valid? [True, True] Translation: X:17.04, Y:385.33, Z:7.99 [[-7.06370464e-01 -7.07796328e-01 8.07012109e-03 1.70431018e+01] [ 7.07748428e-01 -7.06416554e-01 -8.23502081e-03 3.85330401e+02] [ 1.15295846e-02 -1.05359957e-04 9.99933527e-01 7.98643042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.462755096 meters 0.017055031012722606 Centerline is valid? [True, True] Translation: X:17.02, Y:385.35, Z:7.99 [[-7.05858255e-01 -7.08306590e-01 8.11778076e-03 1.70227507e+01] [ 7.08258228e-01 -7.05904927e-01 -8.27750112e-03 3.85348128e+02] [ 1.15933900e-02 -9.32574823e-05 9.99932790e-01 7.98734452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.492755096 meters 0.016341434761584943 Centerline is valid? [True, True] Translation: X:17.00, Y:385.36, Z:7.99 [[-7.04976415e-01 -7.09193194e-01 7.29847248e-03 1.69994893e+01] [ 7.09154202e-01 -7.05014190e-01 -7.43702725e-03 3.85363635e+02] [ 1.04198158e-02 -6.71863789e-05 9.99945710e-01 7.98906994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.522755096 meters 0.016232804305653374 Centerline is valid? [True, True] Translation: X:16.98, Y:385.38, Z:7.99 [[-7.04573963e-01 -7.09595498e-01 7.05410252e-03 1.69794479e+01] [ 7.09559145e-01 -7.04609272e-01 -7.18289387e-03 3.85380894e+02] [ 1.00673352e-02 -5.55770474e-05 9.99949322e-01 7.98933196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.552755096 meters 0.01628861085573825 Centerline is valid? [True, True] Translation: X:16.96, Y:385.40, Z:7.99 [[-7.04273642e-01 -7.09898008e-01 6.59207891e-03 1.69602829e+01] [ 7.09866321e-01 -7.04304491e-01 -6.70747619e-03 3.85397213e+02] [ 9.40445477e-03 -4.44038849e-05 9.99955776e-01 7.98989310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.582755096 meters 0.016011259065477998 Centerline is valid? [True, True] Translation: X:16.94, Y:385.41, Z:7.99 [[-7.03245322e-01 -7.10923702e-01 5.78849041e-03 1.69380007e+01] [ 7.10899339e-01 -7.03269144e-01 -5.88569502e-03 3.85413417e+02] [ 8.25514679e-03 -2.40534887e-05 9.99965925e-01 7.99138811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.612755096 meters 0.01607415036981335 Centerline is valid? [True, True] Translation: X:16.92, Y:385.43, Z:7.99 [[-7.03126041e-01 -7.11045784e-01 5.25962133e-03 1.69175127e+01] [ 7.11025699e-01 -7.03145712e-01 -5.34443292e-03 3.85431624e+02] [ 7.49841668e-03 -1.80840329e-05 9.99971886e-01 7.99235504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.642755096 meters 0.016100080218760457 Centerline is valid? [True, True] Translation: X:16.90, Y:385.45, Z:7.99 [[-7.02563058e-01 -7.11606205e-01 4.66468181e-03 1.68967008e+01] [ 7.11590439e-01 -7.02578543e-01 -4.73682308e-03 3.85448059e+02] [ 6.64805804e-03 -8.57392813e-06 9.99977901e-01 7.99259957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6727550960001 meters 0.016107261237138962 Centerline is valid? [True, True] Translation: X:16.88, Y:385.47, Z:7.99 [[-7.02476463e-01 -7.11691539e-01 4.68756924e-03 1.68762794e+01] [ 7.11675643e-01 -7.02492102e-01 -4.75655334e-03 3.85465774e+02] [ 6.67817913e-03 -5.33790905e-06 9.99977701e-01 7.99279946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.702755096 meters 0.016135120395103265 Centerline is valid? [True, True] Translation: X:16.86, Y:385.48, Z:7.99 [[-7.02647134e-01 -7.11524718e-01 4.42495723e-03 1.68558021e+01] [ 7.11510570e-01 -7.02661067e-01 -4.48702717e-03 3.85483923e+02] [ 6.30187591e-03 -4.39294082e-06 9.99980143e-01 7.99311230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.732755096 meters 0.016153949988916873 Centerline is valid? [True, True] Translation: X:16.83, Y:385.50, Z:7.99 [[-7.02624306e-01 -7.11546791e-01 4.49976275e-03 1.68349641e+01] [ 7.11532182e-01 -7.02638715e-01 -4.55960066e-03 3.85502137e+02] [ 6.40607674e-03 -1.96024115e-06 9.99979481e-01 7.99310141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.762755096 meters 0.01613394068773762 Centerline is valid? [True, True] Translation: X:16.81, Y:385.52, Z:7.99 [[-7.02559069e-01 -7.11611682e-01 4.42367397e-03 1.68145949e+01] [ 7.11597584e-01 -7.02572996e-01 -4.47935605e-03 3.85518285e+02] [ 6.29551596e-03 8.63491842e-07 9.99980183e-01 7.99255439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7927550960001 meters 0.016224861730676877 Centerline is valid? [True, True] Translation: X:16.79, Y:385.54, Z:7.99 [[-7.03190989e-01 -7.10985470e-01 4.70040519e-03 1.67947917e+01] [ 7.10969564e-01 -7.03206699e-01 -4.75590252e-03 3.85536795e+02] [ 6.68673400e-03 -2.46277092e-06 9.99977644e-01 7.99267851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.822755096 meters 0.016236588603252874 Centerline is valid? [True, True] Translation: X:16.78, Y:385.56, Z:7.99 [[-7.03500710e-01 -7.10675276e-01 5.23478103e-03 1.67753321e+01] [ 7.10655569e-01 -7.03520186e-01 -5.29246778e-03 3.85555005e+02] [ 7.44400013e-03 -3.12854955e-06 9.99972293e-01 7.99257937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.852755096 meters 0.0162977769894497 Centerline is valid? [True, True] Translation: X:16.76, Y:385.57, Z:7.99 [[-7.04043598e-01 -7.10136410e-01 5.37514362e-03 1.67555945e+01] [ 7.10115648e-01 -7.04064116e-01 -5.43021100e-03 3.85572859e+02] [ 7.64063629e-03 -6.13169609e-06 9.99970810e-01 7.99198918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.882755096 meters 0.016371619069079614 Centerline is valid? [True, True] Translation: X:16.74, Y:385.59, Z:7.99 [[-7.04590935e-01 -7.09590598e-01 5.72692657e-03 1.67357220e+01] [ 7.09567048e-01 -7.04614209e-01 -5.78107057e-03 3.85591483e+02] [ 8.13746716e-03 -9.65154404e-06 9.99966890e-01 7.99157982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9127550960001 meters 0.016376685754301287 Centerline is valid? [True, True] Translation: X:16.72, Y:385.61, Z:7.99 [[-7.05911208e-01 -7.08276198e-01 5.84761404e-03 1.67173221e+01] [ 7.08251637e-01 -7.05935427e-01 -5.89846579e-03 3.85609594e+02] [ 8.30578084e-03 -2.22108977e-05 9.99965506e-01 7.99155223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.942755096 meters 0.01648992944388273 Centerline is valid? [True, True] Translation: X:16.70, Y:385.63, Z:7.99 [[-7.07109820e-01 -7.07080941e-01 5.67849069e-03 1.66988544e+01] [ 7.07057778e-01 -7.07132620e-01 -5.72339321e-03 3.85628085e+02] [ 8.06234825e-03 -3.20465317e-05 9.99967498e-01 7.99178328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.972755096 meters 0.016877485075603636 Centerline is valid? [True, True] Translation: X:16.68, Y:385.65, Z:7.99 [[-7.09467501e-01 -7.04717729e-01 5.36547509e-03 1.66808811e+01] [ 7.04697011e-01 -7.09487787e-01 -5.40392198e-03 3.85647155e+02] [ 7.61497867e-03 -5.28727625e-05 9.99971004e-01 7.99275556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.002755096 meters 0.017132328142744565 Centerline is valid? [True, True] Translation: X:16.66, Y:385.67, Z:7.99 [[-7.10943663e-01 -7.03230308e-01 5.12269609e-03 1.66628112e+01] [ 7.03211412e-01 -7.10962116e-01 -5.15559969e-03 3.85666162e+02] [ 7.26761681e-03 -6.30025766e-05 9.99973589e-01 7.99349391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0327550960001 meters 0.0176073784697968 Centerline is valid? [True, True] Translation: X:16.64, Y:385.69, Z:7.99 [[-7.12642265e-01 -7.01508872e-01 5.12879029e-03 1.66447143e+01] [ 7.01489915e-01 -7.12660716e-01 -5.15778633e-03 3.85685707e+02] [ 7.27332024e-03 -7.78618711e-05 9.99973546e-01 7.99386814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.062755096 meters 0.018480399393316006 Centerline is valid? [True, True] Translation: X:16.63, Y:385.71, Z:7.99 [[-7.16074674e-01 -6.98003681e-01 5.28417799e-03 1.66254853e+01] [ 6.97983491e-01 -7.16094162e-01 -5.31011391e-03 3.85706591e+02] [ 7.49044806e-03 -1.14169086e-04 9.99971940e-01 7.99452530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.092755096 meters 0.018927389402193358 Centerline is valid? [True, True] Translation: X:16.61, Y:385.73, Z:7.99 [[-7.17908074e-01 -6.96116589e-01 5.44907639e-03 1.66058891e+01] [ 6.96095093e-01 -7.17928741e-01 -5.47216467e-03 3.85726021e+02] [ 7.72131315e-03 -1.35435856e-04 9.99970181e-01 7.99468552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.122755096 meters 0.02099520130062309 Centerline is valid? [True, True] Translation: X:16.59, Y:385.75, Z:7.99 [[-7.21115006e-01 -6.92789364e-01 6.00374593e-03 1.65877292e+01] [ 6.92763192e-01 -7.21139974e-01 -6.02476526e-03 3.85745903e+02] [ 8.50343448e-03 -1.85374439e-04 9.99963828e-01 7.99403596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1527550960001 meters 0.021542821512054805 Centerline is valid? [True, True] Translation: X:16.57, Y:385.77, Z:7.99 [[-7.22438961e-01 -6.91403066e-01 6.61416076e-03 1.65674100e+01] [ 6.91371286e-01 -7.22469205e-01 -6.63266586e-03 3.85765030e+02] [ 9.36437298e-03 -2.18855397e-04 9.99956129e-01 7.99340821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.182755096 meters 0.022864223658743733 Centerline is valid? [True, True] Translation: X:16.55, Y:385.78, Z:7.99 [[-7.24790358e-01 -6.88929875e-01 7.38670985e-03 1.65463006e+01] [ 6.88890162e-01 -7.24827946e-01 -7.40228779e-03 3.85783112e+02] [ 1.04537509e-02 -2.76475075e-04 9.99945320e-01 7.99237834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.212755096 meters 0.025365969775842028 Centerline is valid? [True, True] Translation: X:16.53, Y:385.80, Z:7.99 [[-7.25564629e-01 -6.88110738e-01 7.71898114e-03 1.65282633e+01] [ 6.88067374e-01 -7.25605626e-01 -7.73079638e-03 3.85803858e+02] [ 1.09205801e-02 -2.98013324e-04 9.99940324e-01 7.99188256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.242755096 meters 0.02344938302520073 Centerline is valid? [True, True] Translation: X:16.50, Y:385.82, Z:7.99 [[-7.26453153e-01 -6.87174343e-01 7.56563220e-03 1.65042175e+01] [ 6.87132678e-01 -7.26492485e-01 -7.57310659e-03 3.85819801e+02] [ 1.07004195e-02 -3.02914046e-04 9.99942703e-01 7.99244677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.272755096 meters 0.023873548741895068 Centerline is valid? [True, True] Translation: X:16.48, Y:385.84, Z:7.99 [[-7.27492047e-01 -6.86083393e-01 6.70077122e-03 1.64811030e+01] [ 6.86050701e-01 -7.27522852e-01 -6.70340063e-03 3.85836941e+02] [ 9.47405603e-03 -2.79601851e-04 9.99955081e-01 7.99328805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.302755096 meters 0.025135742350152195 Centerline is valid? [True, True] Translation: X:16.46, Y:385.86, Z:7.99 [[-7.28112691e-01 -6.85428453e-01 6.30435979e-03 1.64620791e+01] [ 6.85399528e-01 -7.28139934e-01 -6.30266870e-03 3.85855246e+02] [ 8.91048458e-03 -2.68047848e-04 9.99960265e-01 7.99393587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.332755096 meters 0.024863816555439466 Centerline is valid? [True, True] Translation: X:16.45, Y:385.83, Z:7.99 [[-6.80742249e-01 -7.32499642e-01 5.85369591e-03 1.64524316e+01] [ 7.32472808e-01 -6.80767416e-01 -6.26984199e-03 3.85831677e+02] [ 8.57766245e-03 1.95267436e-05 9.99963211e-01 7.99430203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.362755096 meters 0.025093531549371963 Centerline is valid? [True, True] Translation: X:16.43, Y:385.85, Z:8.00 [[-6.81726054e-01 -7.31588777e-01 5.23908210e-03 1.64310826e+01] [ 7.31564282e-01 -6.81746139e-01 -5.99200477e-03 3.85850499e+02] [ 7.95540743e-03 -2.52180428e-04 9.99968323e-01 7.99504144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.392755096 meters 0.025093531549371963 Centerline is valid? [True, True] Translation: X:16.41, Y:385.87, Z:8.00 [[-6.81987057e-01 -7.31345463e-01 5.24105947e-03 1.64133092e+01] [ 7.31320973e-01 -6.82007149e-01 -5.99027490e-03 3.85870512e+02] [ 7.95540039e-03 -2.52393240e-04 9.99968323e-01 7.99518402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4227550960001 meters 0.02524705879895243 Centerline is valid? [True, True] Translation: X:16.39, Y:385.89, Z:8.00 [[-6.82470246e-01 -7.30897194e-01 4.86369669e-03 1.63939322e+01] [ 7.30876120e-01 -6.82487536e-01 -5.55518011e-03 3.85890237e+02] [ 7.37967792e-03 -2.36485376e-04 9.99972742e-01 7.99582411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.452755096 meters 0.025213286024428207 Centerline is valid? [True, True] Translation: X:16.37, Y:385.91, Z:8.00 [[-6.82403682e-01 -7.30961797e-01 4.47955250e-03 1.63724594e+01] [ 7.30943946e-01 -6.82418351e-01 -5.11298155e-03 3.85907712e+02] [ 6.79432301e-03 -2.14815665e-04 9.99976895e-01 7.99686189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.482755096 meters 0.02508455120852045 Centerline is valid? [True, True] Translation: X:16.35, Y:385.93, Z:8.00 [[-6.82089950e-01 -7.31255914e-01 4.25308174e-03 1.63521176e+01] [ 7.31239850e-01 -6.82103181e-01 -4.85115927e-03 3.85925663e+02] [ 6.44847949e-03 -1.98904132e-04 9.99979189e-01 7.99706803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.512755096 meters 0.024957905473939904 Centerline is valid? [True, True] Translation: X:16.33, Y:385.94, Z:8.00 [[-6.81384988e-01 -7.31913450e-01 4.14728139e-03 1.63324655e+01] [ 7.31898208e-01 -6.81397584e-01 -4.72716639e-03 3.85943036e+02] [ 6.28582418e-03 -1.85632399e-04 9.99980227e-01 7.99641423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5427550960001 meters 0.023685410574350516 Centerline is valid? [True, True] Translation: X:16.31, Y:385.96, Z:8.00 [[-6.80486803e-01 -7.32747935e-01 4.26329593e-03 1.63107651e+01] [ 7.32731868e-01 -6.80500133e-01 -4.85573067e-03 3.85960503e+02] [ 6.45920007e-03 -1.80407846e-04 9.99979123e-01 7.99662673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.572755096 meters 0.022451293676758077 Centerline is valid? [True, True] Translation: X:16.29, Y:385.98, Z:8.00 [[-6.77794763e-01 -7.35237114e-01 4.54378224e-03 1.62879487e+01] [ 7.35218945e-01 -6.77809973e-01 -5.17132900e-03 3.85976981e+02] [ 6.88197392e-03 -1.64424932e-04 9.99976305e-01 7.99645954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.602755096 meters 0.021543095788788585 Centerline is valid? [True, True] Translation: X:16.27, Y:385.99, Z:8.00 [[-6.76747726e-01 -7.36200272e-01 4.65575240e-03 1.62675788e+01] [ 7.36181246e-01 -6.76763722e-01 -5.29496361e-03 3.85994173e+02] [ 7.04899797e-03 -1.55876976e-04 9.99975143e-01 7.99649453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.632755096 meters 0.02122179275382794 Centerline is valid? [True, True] Translation: X:16.25, Y:386.01, Z:8.00 [[-6.74530895e-01 -7.38227265e-01 5.34578014e-03 1.62465449e+01] [ 7.38202286e-01 -6.74552061e-01 -6.07466646e-03 3.86010889e+02] [ 8.09049142e-03 -1.51283083e-04 9.99967260e-01 7.99557277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6627550960001 meters 0.021092548093718768 Centerline is valid? [True, True] Translation: X:16.23, Y:386.03, Z:8.00 [[-6.73923521e-01 -7.38780152e-01 5.56547113e-03 1.62272830e+01] [ 7.38753137e-01 -6.73946485e-01 -6.31966314e-03 3.86029142e+02] [ 8.41967140e-03 -1.47460376e-04 9.99964543e-01 7.99528162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.692755096 meters 0.019651426673752633 Centerline is valid? [True, True] Translation: X:16.21, Y:386.04, Z:8.00 [[-6.72481654e-01 -7.40091376e-01 5.76024073e-03 1.62062859e+01] [ 7.40062523e-01 -6.72506311e-01 -6.53636816e-03 3.86044701e+02] [ 8.71130794e-03 -1.32649385e-04 9.99962047e-01 7.99564527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.722755096 meters 0.019008696844346917 Centerline is valid? [True, True] Translation: X:16.19, Y:386.06, Z:8.00 [[-6.71907494e-01 -7.40609705e-01 6.13056608e-03 1.61866684e+01] [ 7.40577093e-01 -6.71935449e-01 -6.95141773e-03 3.86063221e+02] [ 9.26763211e-03 -1.30552866e-04 9.99957046e-01 7.99585153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.752755096 meters 0.019310413456924327 Centerline is valid? [True, True] Translation: X:16.17, Y:386.08, Z:8.00 [[-6.71588828e-01 -7.40899212e-01 6.06657596e-03 1.61698272e+01] [ 7.40867339e-01 -6.71616217e-01 -6.87334106e-03 3.86082591e+02] [ 9.16686377e-03 -1.21531078e-04 9.99957976e-01 7.99590065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7827550960001 meters 0.018825273829104316 Centerline is valid? [True, True] Translation: X:16.15, Y:386.10, Z:8.00 [[-6.71104636e-01 -7.41338435e-01 5.99104425e-03 1.61510171e+01] [ 7.41307417e-01 -6.71131368e-01 -6.78239793e-03 3.86101596e+02] [ 9.04882999e-03 -1.10493151e-04 9.99959052e-01 7.99657269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.812755096 meters 0.0184614490516708 Centerline is valid? [True, True] Translation: X:16.13, Y:386.12, Z:8.00 [[-6.70231330e-01 -7.42130755e-01 5.64866640e-03 1.61331605e+01] [ 7.42103249e-01 -6.70255127e-01 -6.39007420e-03 3.86119435e+02] [ 8.52831820e-03 -9.09342382e-05 9.99963629e-01 7.99796240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.842755096 meters 0.018113992874335533 Centerline is valid? [True, True] Translation: X:16.12, Y:386.14, Z:8.00 [[-6.70130579e-01 -7.42223603e-01 5.39726991e-03 1.61150475e+01] [ 7.42198531e-01 -6.70152309e-01 -6.10105825e-03 3.86138140e+02] [ 8.14534232e-03 -8.26598989e-05 9.99966823e-01 7.99848027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.872755096 meters 0.01779072304094162 Centerline is valid? [True, True] Translation: X:16.10, Y:386.16, Z:8.00 [[-6.70121132e-01 -7.42232126e-01 5.39809350e-03 1.60970023e+01] [ 7.42207085e-01 -6.70142869e-01 -6.09737757e-03 3.86158071e+02] [ 8.14316338e-03 -7.94783174e-05 9.99966841e-01 7.99918341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9027550960001 meters 0.01821250806415096 Centerline is valid? [True, True] Translation: X:16.08, Y:386.18, Z:8.00 [[-6.70558976e-01 -7.41836764e-01 5.37356008e-03 1.60815351e+01] [ 7.41811975e-01 -6.70580502e-01 -6.06502570e-03 3.86178455e+02] [ 8.10266365e-03 -8.07862053e-05 9.99967170e-01 7.99912316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.932755096 meters 0.017901417492063837 Centerline is valid? [True, True] Translation: X:16.06, Y:386.20, Z:8.00 [[-6.70913001e-01 -7.41514844e-01 5.61089742e-03 1.60640683e+01] [ 7.41487852e-01 -6.70936457e-01 -6.32739452e-03 3.86197981e+02] [ 8.45641260e-03 -8.47189680e-05 9.99964240e-01 7.99958388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.962755096 meters 0.01793708711968214 Centerline is valid? [True, True] Translation: X:16.05, Y:386.22, Z:8.00 [[-6.71253852e-01 -7.41208212e-01 5.35289549e-03 1.60499973e+01] [ 7.41183675e-01 -6.71275190e-01 -6.03152841e-03 3.86219030e+02] [ 8.06388432e-03 -8.12079259e-05 9.99967483e-01 8.00001069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.992755096 meters 0.017917582067635177 Centerline is valid? [True, True] Translation: X:16.03, Y:386.24, Z:8.00 [[-6.71609598e-01 -7.40886519e-01 5.26437397e-03 1.60334987e+01] [ 7.40862815e-01 -6.71630226e-01 -5.92703310e-03 3.86239491e+02] [ 7.92697160e-03 -8.04733981e-05 9.99968578e-01 8.00090338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.022755096 meters 0.017930489892283377 Centerline is valid? [True, True] Translation: X:16.02, Y:386.26, Z:8.00 [[-6.72037874e-01 -7.40500884e-01 4.85138947e-03 1.60158242e+01] [ 7.40480772e-01 -6.72055381e-01 -5.45814696e-03 3.86260533e+02] [ 7.30216504e-03 -7.57208600e-05 9.99973336e-01 8.00165152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.052755096 meters 0.017794997508363056 Centerline is valid? [True, True] Translation: X:16.00, Y:386.28, Z:8.00 [[-6.72369887e-01 -7.40197519e-01 5.13498983e-03 1.59988130e+01] [ 7.40175011e-01 -6.72389490e-01 -5.77286324e-03 3.86282414e+02] [ 7.72577224e-03 -8.07082539e-05 9.99970153e-01 8.00163512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.082755096 meters 0.017876216768158766 Centerline is valid? [True, True] Translation: X:15.98, Y:386.30, Z:8.00 [[-6.72585154e-01 -7.40001961e-01 5.12918817e-03 1.59823551e+01] [ 7.39979528e-01 -6.72604707e-01 -5.76243417e-03 3.86303382e+02] [ 7.71412869e-03 -8.02334355e-05 9.99970242e-01 8.00156157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.112755096 meters 0.017900233679475675 Centerline is valid? [True, True] Translation: X:15.97, Y:386.33, Z:8.00 [[-6.73070388e-01 -7.39557513e-01 5.56218630e-03 1.59671976e+01] [ 7.39531153e-01 -6.73093364e-01 -6.24480416e-03 3.86326217e+02] [ 8.36226252e-03 -8.97827093e-05 9.99965032e-01 8.00171304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.142755096 meters 0.01801676323043352 Centerline is valid? [True, True] Translation: X:15.95, Y:386.35, Z:8.00 [[-6.73447291e-01 -7.39211160e-01 5.96722039e-03 1.59510568e+01] [ 7.39180853e-01 -6.73473721e-01 -6.69433504e-03 3.86347647e+02] [ 8.96729329e-03 -9.74267388e-05 9.99959788e-01 8.00158766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1727550960001 meters 0.01839998877283748 Centerline is valid? [True, True] Translation: X:15.94, Y:386.37, Z:8.00 [[-6.73784854e-01 -7.38905130e-01 5.76013179e-03 1.59360093e+01] [ 7.38876919e-01 -6.73809469e-01 -6.45749200e-03 3.86368175e+02] [ 8.65270530e-03 -9.49318766e-05 9.99962560e-01 8.00125286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.202755096 meters 0.018268768619461574 Centerline is valid? [True, True] Translation: X:15.92, Y:386.39, Z:8.00 [[-6.74114459e-01 -7.38603774e-01 5.84474315e-03 1.59186038e+01] [ 7.38574755e-01 -6.74139789e-01 -6.54795391e-03 3.86389180e+02] [ 8.77651739e-03 -9.72906623e-05 9.99961481e-01 8.00152724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.232755096 meters 0.018426424078755266 Centerline is valid? [True, True] Translation: X:15.90, Y:386.41, Z:8.00 [[-6.74197009e-01 -7.38528810e-01 5.79570349e-03 1.59039140e+01] [ 7.38500315e-01 -6.74221913e-01 -6.48814575e-03 3.86410110e+02] [ 8.69927285e-03 -9.41595984e-05 9.99962156e-01 8.00154799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.262755096 meters 0.018405409843439614 Centerline is valid? [True, True] Translation: X:15.89, Y:386.43, Z:8.00 [[-6.74331704e-01 -7.38405915e-01 5.78436851e-03 1.58873795e+01] [ 7.38377572e-01 -6.74356506e-01 -6.47024619e-03 3.86430868e+02] [ 8.67839459e-03 -9.20441563e-05 9.99962338e-01 8.00148335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2927550960001 meters 0.01848189607178321 Centerline is valid? [True, True] Translation: X:15.87, Y:386.45, Z:8.00 [[-6.74662281e-01 -7.38102409e-01 5.97001077e-03 1.58731877e+01] [ 7.38072252e-01 -6.74688687e-01 -6.67277739e-03 3.86454308e+02] [ 8.95309180e-03 -9.55719174e-05 9.99959916e-01 8.00244314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.322755096 meters 0.018668887566377246 Centerline is valid? [True, True] Translation: X:15.86, Y:386.48, Z:8.00 [[-6.75228209e-01 -7.37584230e-01 6.03065146e-03 1.58584791e+01] [ 7.37553481e-01 -6.75255132e-01 -6.73563282e-03 3.86476359e+02] [ 9.04032490e-03 -1.00161305e-04 9.99959130e-01 8.00312050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.352755096 meters 0.018765097287542228 Centerline is valid? [True, True] Translation: X:15.84, Y:386.50, Z:8.00 [[-6.75907136e-01 -7.36959805e-01 6.30789916e-03 1.58434674e+01] [ 7.36926189e-01 -6.75936561e-01 -7.03979668e-03 3.86497754e+02] [ 9.45178685e-03 -1.09792722e-04 9.99955325e-01 8.00384280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.382755096 meters 0.019456768745972526 Centerline is valid? [True, True] Translation: X:15.83, Y:386.52, Z:8.00 [[-6.77180133e-01 -7.35788821e-01 6.47134991e-03 1.58310372e+01] [ 7.35753443e-01 -6.77211042e-01 -7.21640363e-03 3.86521160e+02] [ 9.69221874e-03 -1.25487193e-04 9.99953022e-01 8.00452163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4127550960001 meters 0.019394198485153315 Centerline is valid? [True, True] Translation: X:15.81, Y:386.54, Z:8.00 [[-6.77825748e-01 -7.35190973e-01 6.81828966e-03 1.58143078e+01] [ 7.35151732e-01 -6.77860026e-01 -7.59709601e-03 3.86542198e+02] [ 1.02071624e-02 -1.37029831e-04 9.99947896e-01 8.00494456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.442755096 meters 0.019222208941753187 Centerline is valid? [True, True] Translation: X:15.80, Y:386.57, Z:8.01 [[-6.78238291e-01 -7.34809946e-01 6.86758423e-03 1.57988640e+01] [ 7.34770175e-01 -6.78273045e-01 -7.64633815e-03 3.86565228e+02] [ 1.02767026e-02 -1.39943250e-04 9.99947184e-01 8.00574790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.472755096 meters 0.019068286926071633 Centerline is valid? [True, True] Translation: X:15.78, Y:386.59, Z:8.01 [[-6.78543965e-01 -7.34530032e-01 6.61205894e-03 1.57824597e+01] [ 7.34493203e-01 -6.78576167e-01 -7.35667685e-03 3.86586462e+02] [ 9.89048569e-03 -1.35316333e-04 9.99951079e-01 8.00672153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.502755096 meters 0.019611553277908814 Centerline is valid? [True, True] Translation: X:15.77, Y:386.61, Z:8.01 [[-6.78725051e-01 -7.34366445e-01 6.18304682e-03 1.57677238e+01] [ 7.34334279e-01 -6.78753202e-01 -6.87444771e-03 3.86609103e+02] [ 9.24512655e-03 -1.25436653e-04 9.99957255e-01 8.00748111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5327550960001 meters 0.01909129079964536 Centerline is valid? [True, True] Translation: X:15.75, Y:386.63, Z:8.01 [[-6.79081384e-01 -7.34038125e-01 6.04195029e-03 1.57504354e+01] [ 7.34007442e-01 -6.79108251e-01 -6.71262587e-03 3.86630267e+02] [ 9.03046160e-03 -1.23582794e-04 9.99959217e-01 8.00885490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.562755096 meters 0.019985647079385587 Centerline is valid? [True, True] Translation: X:15.74, Y:386.65, Z:8.01 [[-6.79163207e-01 -7.33959281e-01 6.41186984e-03 1.57378761e+01] [ 7.33924774e-01 -6.79193461e-01 -7.11813833e-03 3.86653810e+02] [ 9.57932376e-03 -1.28547527e-04 9.99954109e-01 8.00814618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.592755096 meters 0.019271914906829512 Centerline is valid? [True, True] Translation: X:15.72, Y:386.67, Z:8.01 [[-6.79344900e-01 -7.33789824e-01 6.55747565e-03 1.57198766e+01] [ 7.33753778e-01 -6.79376536e-01 -7.27431945e-03 3.86673852e+02] [ 9.79281668e-03 -1.30199288e-04 9.99952041e-01 8.00856334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.622755096 meters 0.01958724157996882 Centerline is valid? [True, True] Translation: X:15.70, Y:386.70, Z:8.01 [[-6.79700339e-01 -7.33458995e-01 6.73436837e-03 1.57040905e+01] [ 7.33421018e-01 -6.79733687e-01 -7.46500271e-03 3.86695515e+02] [ 1.00528504e-02 -1.34837570e-04 9.99949460e-01 8.00849151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6527550960001 meters 0.019894437071743265 Centerline is valid? [True, True] Translation: X:15.69, Y:386.72, Z:8.01 [[-6.80255512e-01 -7.32948200e-01 6.27492326e-03 1.56914082e+01] [ 7.32915254e-01 -6.80284441e-01 -6.95053938e-03 3.86717939e+02] [ 9.36311799e-03 -1.29155752e-04 9.99956157e-01 8.00959336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.682755096 meters 0.019905460076720408 Centerline is valid? [True, True] Translation: X:15.67, Y:386.74, Z:8.01 [[-6.80741909e-01 -7.32497787e-01 6.11925387e-03 1.56746589e+01] [ 7.32466484e-01 -6.80769400e-01 -6.77303377e-03 3.86739522e+02] [ 9.12703304e-03 -1.28539569e-04 9.99958340e-01 8.01036957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.712755096 meters 0.020606070590640947 Centerline is valid? [True, True] Translation: X:15.66, Y:386.76, Z:8.01 [[-6.81903341e-01 -7.31421168e-01 5.55946782e-03 1.56613349e+01] [ 7.31395329e-01 -6.81925992e-01 -6.14931682e-03 3.86762559e+02] [ 8.28888610e-03 -1.27070889e-04 9.99965639e-01 8.01140688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.742755096 meters 0.020546472138931935 Centerline is valid? [True, True] Translation: X:15.64, Y:386.78, Z:8.01 [[-6.82704986e-01 -7.30673135e-01 5.53822354e-03 1.56442979e+01] [ 7.30647505e-01 -6.82727436e-01 -6.12139151e-03 3.86783874e+02] [ 8.25383349e-03 -1.32615291e-04 9.99965928e-01 8.01161182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.772755096 meters 0.02105045725595138 Centerline is valid? [True, True] Translation: X:15.63, Y:386.81, Z:8.01 [[-6.83637723e-01 -7.29799885e-01 5.62075888e-03 1.56278007e+01] [ 7.29773492e-01 -6.83660814e-01 -6.20817373e-03 3.86805939e+02] [ 8.37341706e-03 -1.42260916e-04 9.99964932e-01 8.01138565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.802755096 meters 0.02114307052190542 Centerline is valid? [True, True] Translation: X:15.61, Y:386.83, Z:8.01 [[-6.84442423e-01 -7.29046645e-01 5.43680643e-03 1.56108031e+01] [ 7.29021962e-01 -6.84464001e-01 -6.00083689e-03 3.86827622e+02] [ 8.09618829e-03 -1.43676051e-04 9.99967215e-01 8.01158173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.832755096 meters 0.021725644360818076 Centerline is valid? [True, True] Translation: X:15.60, Y:386.85, Z:8.01 [[-6.85809768e-01 -7.27761496e-01 5.30725779e-03 1.55958054e+01] [ 7.27737968e-01 -6.85830286e-01 -5.85388745e-03 3.86851820e+02] [ 7.90011202e-03 -1.52360195e-04 9.99968782e-01 8.01214306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.862755096 meters 0.02237790093384745 Centerline is valid? [True, True] Translation: X:15.58, Y:386.87, Z:8.01 [[-6.86404094e-01 -7.27197206e-01 5.80035599e-03 1.55805230e+01] [ 7.27169122e-01 -6.86428579e-01 -6.39321551e-03 3.86872912e+02] [ 8.63065858e-03 -1.70489519e-04 9.99962741e-01 8.01183618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.892755096 meters 0.02349175845036214 Centerline is valid? [True, True] Translation: X:15.57, Y:386.89, Z:8.01 [[-6.86991171e-01 -7.26640152e-01 6.10088025e-03 1.55653044e+01] [ 7.26609106e-01 -6.87018236e-01 -6.71934992e-03 3.86894880e+02] [ 9.07396543e-03 -1.83178926e-04 9.99958814e-01 8.01113281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9227550960001 meters 0.02252500305884673 Centerline is valid? [True, True] Translation: X:15.55, Y:386.92, Z:8.01 [[-6.87270124e-01 -7.26369052e-01 6.91211202e-03 1.55479704e+01] [ 7.26329248e-01 -6.87304850e-01 -7.60701483e-03 3.86916000e+02] [ 1.02762283e-02 -2.07604897e-04 9.99947177e-01 8.01100953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.952755096 meters 0.022714636664378268 Centerline is valid? [True, True] Translation: X:15.53, Y:386.94, Z:8.01 [[-6.87377549e-01 -7.26263462e-01 7.31363396e-03 1.55318779e+01] [ 7.26218949e-01 -6.87416422e-01 -8.04376595e-03 3.86936577e+02] [ 1.08694054e-02 -2.17804556e-04 9.99940903e-01 8.01128199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.982755096 meters 0.022431757168680254 Centerline is valid? [True, True] Translation: X:15.52, Y:386.96, Z:8.01 [[-6.86827288e-01 -7.26787699e-01 6.92222287e-03 1.55164159e+01] [ 7.26747900e-01 -6.86862143e-01 -7.60833219e-03 3.86956630e+02] [ 1.02842551e-02 -1.94899229e-04 9.99947097e-01 8.01182212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.012755096 meters 0.02165390036645472 Centerline is valid? [True, True] Translation: X:15.50, Y:386.98, Z:8.01 [[-6.86676189e-01 -7.26930380e-01 6.93059018e-03 1.54975732e+01] [ 7.26890552e-01 -6.86711138e-01 -7.61173519e-03 3.86975835e+02] [ 1.02925150e-02 -1.89016789e-04 9.99947013e-01 8.01225651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0427550960001 meters 0.022073063734144152 Centerline is valid? [True, True] Translation: X:15.48, Y:387.00, Z:8.01 [[-6.86155448e-01 -7.27422156e-01 6.90709556e-03 1.54818278e+01] [ 7.27382679e-01 -6.86190189e-01 -7.58038095e-03 3.86996768e+02] [ 1.02537183e-02 -1.77218014e-04 9.99947414e-01 8.01179010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.072755096 meters 0.02088358890740364 Centerline is valid? [True, True] Translation: X:15.46, Y:387.02, Z:8.01 [[-6.84766511e-01 -7.28726881e-01 7.20818767e-03 1.54630303e+01] [ 7.28684020e-01 -6.84804430e-01 -7.90522567e-03 3.87017485e+02] [ 1.06969493e-02 -1.60742634e-04 9.99942773e-01 8.01227477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.102755096 meters 0.020743978244877188 Centerline is valid? [True, True] Translation: X:15.45, Y:387.04, Z:8.01 [[-6.84373104e-01 -7.29097013e-01 7.14152335e-03 1.54451296e+01] [ 7.29055016e-01 -6.84410347e-01 -7.82688326e-03 3.87038034e+02] [ 1.05942897e-02 -1.49944964e-04 9.99943868e-01 8.01252623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.132755096 meters 0.02098687825152105 Centerline is valid? [True, True] Translation: X:15.43, Y:387.06, Z:8.01 [[-6.83689508e-01 -7.29735835e-01 7.36666961e-03 1.54288789e+01] [ 7.29691241e-01 -6.83729180e-01 -8.06848389e-03 3.87059331e+02] [ 1.09246688e-02 -1.40943492e-04 9.99940314e-01 8.01176143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1627550960001 meters 0.020290317752003656 Centerline is valid? [True, True] Translation: X:15.41, Y:387.08, Z:8.01 [[-6.82366801e-01 -7.30973745e-01 7.27546834e-03 1.54121140e+01] [ 7.30930374e-01 -6.82405576e-01 -7.96351228e-03 3.87080397e+02] [ 1.07859386e-02 -1.16175605e-04 9.99941823e-01 8.01294289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.192755096 meters 0.019700646955616675 Centerline is valid? [True, True] Translation: X:15.39, Y:387.10, Z:8.01 [[-6.82196562e-01 -7.31134927e-01 7.04057847e-03 1.53930343e+01] [ 7.31094377e-01 -6.82232884e-01 -7.70091951e-03 3.87100148e+02] [ 1.04337254e-02 -1.06213480e-04 9.99945562e-01 8.01449279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.222755096 meters 0.020086512167181207 Centerline is valid? [True, True] Translation: X:15.38, Y:387.12, Z:8.01 [[-6.81800620e-01 -7.31504346e-01 7.02190350e-03 1.53753653e+01] [ 7.31464087e-01 -6.81836772e-01 -7.67501491e-03 3.87120351e+02] [ 1.04020988e-02 -9.65596900e-05 9.99945892e-01 8.01399100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.252755096 meters 0.019510724577601682 Centerline is valid? [True, True] Translation: X:15.36, Y:387.14, Z:8.02 [[-6.81183903e-01 -7.32080431e-01 6.83614214e-03 1.53587845e+01] [ 7.32042358e-01 -6.81218200e-01 -7.46661037e-03 3.87141416e+02] [ 1.01230638e-02 -8.17891785e-05 9.99948757e-01 8.01685007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2827550960001 meters 0.019492999138412955 Centerline is valid? [True, True] Translation: X:15.34, Y:387.16, Z:8.02 [[-6.81005513e-01 -7.32247054e-01 6.76340068e-03 1.53411511e+01] [ 7.32209848e-01 -6.81039093e-01 -7.38185091e-03 3.87162408e+02] [ 1.00114788e-02 -7.48525800e-05 9.99949881e-01 8.01765331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.312755096 meters 0.01954443056962576 Centerline is valid? [True, True] Translation: X:15.32, Y:387.18, Z:8.02 [[-6.80599884e-01 -7.32626849e-01 6.45736547e-03 1.53243569e+01] [ 7.32592998e-01 -6.80630514e-01 -7.04293997e-03 3.87183223e+02] [ 9.55492689e-03 -6.28033975e-05 9.99954349e-01 8.01916846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.342755096 meters 0.01954443056962576 Centerline is valid? [True, True] Translation: X:15.31, Y:387.20, Z:8.02 [[-6.80850771e-01 -7.32393677e-01 6.45986136e-03 1.53060974e+01] [ 7.32359837e-01 -6.80881413e-01 -7.04065032e-03 3.87202808e+02] [ 9.55492730e-03 -6.26891883e-05 9.99954349e-01 8.01931087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.372755096 meters 0.01967577526201787 Centerline is valid? [True, True] Translation: X:15.29, Y:387.22, Z:8.02 [[-6.81183576e-01 -7.32084834e-01 6.38215128e-03 1.52882577e+01] [ 7.32051835e-01 -6.81213471e-01 -6.95116620e-03 3.87222899e+02] [ 9.43645077e-03 -6.29546988e-05 9.99955474e-01 8.01879425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4027550960001 meters 0.019466612711154442 Centerline is valid? [True, True] Translation: X:15.27, Y:387.24, Z:8.02 [[-6.81458140e-01 -7.31828174e-01 6.50587202e-03 1.52717477e+01] [ 7.31793921e-01 -6.81489192e-01 -7.08079939e-03 3.87243642e+02] [ 9.61560995e-03 -6.43107855e-05 9.99953767e-01 8.01949667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.432755096 meters 0.01983185336685883 Centerline is valid? [True, True] Translation: X:15.26, Y:387.26, Z:8.02 [[-6.82540940e-01 -7.30816203e-01 6.74855130e-03 1.52576580e+01] [ 7.30779354e-01 -6.82574298e-01 -7.33925737e-03 3.87264900e+02] [ 9.97003587e-03 -7.76416709e-05 9.99950295e-01 8.01944489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.462755096 meters 0.019916691851952013 Centerline is valid? [True, True] Translation: X:15.24, Y:387.29, Z:8.02 [[-6.83283767e-01 -7.30118652e-01 7.07440029e-03 1.52409031e+01] [ 7.30078184e-01 -6.83320383e-01 -7.68757025e-03 3.87285300e+02] [ 1.04469203e-02 -8.79266441e-05 9.99945426e-01 8.01897933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.492755096 meters 0.020163624361776083 Centerline is valid? [True, True] Translation: X:15.22, Y:387.31, Z:8.02 [[-6.84472387e-01 -7.29001675e-01 7.35591696e-03 1.52230696e+01] [ 7.28957921e-01 -6.84511904e-01 -7.98765288e-03 3.87306531e+02] [ 1.08582251e-02 -1.05173896e-04 9.99941042e-01 8.01904068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.522755096 meters 0.020934546865351518 Centerline is valid? [True, True] Translation: X:15.21, Y:387.33, Z:8.02 [[-6.85835243e-01 -7.27717160e-01 7.59965181e-03 1.52079214e+01] [ 7.27670448e-01 -6.85877336e-01 -8.24614866e-03 3.87327729e+02] [ 1.12132928e-02 -1.25457331e-04 9.99937121e-01 8.01845958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.552755096 meters 0.020479885175455282 Centerline is valid? [True, True] Translation: X:15.19, Y:387.35, Z:8.02 [[-6.85993857e-01 -7.27569873e-01 7.38295693e-03 1.51880639e+01] [ 7.27525843e-01 -6.86033575e-01 -8.00517531e-03 3.87346362e+02] [ 1.08892807e-02 -1.20209120e-04 9.99940703e-01 8.01953567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.582755096 meters 0.020709254027333455 Centerline is valid? [True, True] Translation: X:15.17, Y:387.37, Z:8.02 [[-6.85822776e-01 -7.27731389e-01 7.35834105e-03 1.51698530e+01] [ 7.27687714e-01 -6.85862240e-01 -7.97359228e-03 3.87365453e+02] [ 1.08494417e-02 -1.13896816e-04 9.99941137e-01 8.01931679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.612755096 meters 0.02106611573086353 Centerline is valid? [True, True] Translation: X:15.15, Y:387.38, Z:8.02 [[-6.85810458e-01 -7.27740154e-01 7.63442948e-03 1.51494727e+01] [ 7.27693200e-01 -6.85852940e-01 -8.26746710e-03 3.87383798e+02] [ 1.12526637e-02 -1.14392983e-04 9.99936680e-01 8.01799776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.642755096 meters 0.020655978763485128 Centerline is valid? [True, True] Translation: X:15.13, Y:387.40, Z:8.02 [[-6.85800168e-01 -7.27748417e-01 7.76997523e-03 1.51322493e+01] [ 7.27699842e-01 -6.85844173e-01 -8.40890649e-03 3.87403770e+02] [ 1.14485606e-02 -1.12619732e-04 9.99934457e-01 8.01813717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6727550960001 meters 0.020553360073921813 Centerline is valid? [True, True] Translation: X:15.11, Y:387.42, Z:8.02 [[-6.86024446e-01 -7.27532080e-01 8.21775055e-03 1.51137392e+01] [ 7.27477803e-01 -6.86073654e-01 -8.88753603e-03 3.87422109e+02] [ 1.21039497e-02 -1.18835866e-04 9.99926737e-01 8.01805167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.702755096 meters 0.020453702347409022 Centerline is valid? [True, True] Translation: X:15.09, Y:387.44, Z:8.02 [[-6.86509749e-01 -7.27068647e-01 8.69182767e-03 1.50941569e+01] [ 7.27007977e-01 -6.86564758e-01 -9.39334748e-03 3.87440615e+02] [ 1.27971110e-02 -1.29596569e-04 9.99918105e-01 8.01847145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.732755096 meters 0.020623765553354878 Centerline is valid? [True, True] Translation: X:15.07, Y:387.46, Z:8.02 [[-6.87487781e-01 -7.26143385e-01 8.73707229e-03 1.50749753e+01] [ 7.26082093e-01 -6.87543282e-01 -9.43556515e-03 3.87460486e+02] [ 1.28586886e-02 -1.43004017e-04 9.99917313e-01 8.01803015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.762755096 meters 0.02101041982616127 Centerline is valid? [True, True] Translation: X:15.06, Y:387.48, Z:8.02 [[-6.88633463e-01 -7.25056480e-01 8.77813340e-03 1.50570492e+01] [ 7.24994611e-01 -6.88689390e-01 -9.47299360e-03 3.87480110e+02] [ 1.29138627e-02 -1.59320969e-04 9.99916600e-01 8.01757538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7927550960001 meters 0.021814419409863114 Centerline is valid? [True, True] Translation: X:15.04, Y:387.50, Z:8.02 [[-6.91214507e-01 -7.22597628e-01 8.67026208e-03 1.50390707e+01] [ 7.22537156e-01 -6.91268854e-01 -9.35033513e-03 3.87501532e+02] [ 1.27500121e-02 -1.98500781e-04 9.99918696e-01 8.01802772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.822755096 meters 0.022120904045815924 Centerline is valid? [True, True] Translation: X:15.02, Y:387.52, Z:8.02 [[-6.92713328e-01 -7.21160852e-01 8.67588154e-03 1.50204552e+01] [ 7.21100264e-01 -6.92767621e-01 -9.35052035e-03 3.87523079e+02] [ 1.27535990e-02 -2.21049607e-04 9.99918645e-01 8.01916780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.852755096 meters 0.022344591120617083 Centerline is valid? [True, True] Translation: X:15.00, Y:387.54, Z:8.02 [[-6.94177002e-01 -7.19755277e-01 8.40421576e-03 1.50015152e+01] [ 7.19698392e-01 -6.94227834e-01 -9.05200632e-03 3.87544316e+02] [ 1.23496698e-02 -2.35194048e-04 9.99923712e-01 8.02008824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.882755096 meters 0.02437672234072076 Centerline is valid? [True, True] Translation: X:14.99, Y:387.57, Z:8.02 [[-6.96502464e-01 -7.17511964e-01 7.80382527e-03 1.49858220e+01] [ 7.17462837e-01 -6.96546136e-01 -8.39993247e-03 3.87566658e+02] [ 1.14627764e-02 -2.51619051e-04 9.99934269e-01 8.02055078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9127550960001 meters 0.023934451493844516 Centerline is valid? [True, True] Translation: X:14.97, Y:387.59, Z:8.02 [[-6.97480735e-01 -7.16562195e-01 7.69709815e-03 1.49660069e+01] [ 7.16514410e-01 -6.97523156e-01 -8.27932626e-03 3.87586013e+02] [ 1.13015564e-02 -2.59588823e-04 9.99936102e-01 8.02123573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.942755096 meters 0.0241780435050781 Centerline is valid? [True, True] Translation: X:14.95, Y:387.61, Z:8.02 [[-6.98744195e-01 -7.15337883e-01 6.94722155e-03 1.49464313e+01] [ 7.15298943e-01 -6.98778686e-01 -7.46794351e-03 3.87605924e+02] [ 1.01966732e-02 -2.48841936e-04 9.99947982e-01 8.02219212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.972755096 meters 0.024520793267266854 Centerline is valid? [True, True] Translation: X:14.93, Y:387.63, Z:8.02 [[-6.99274421e-01 -7.14822631e-01 6.62501348e-03 1.49283155e+01] [ 7.14787237e-01 -6.99305762e-01 -7.11741381e-03 3.87625512e+02] [ 9.72059856e-03 -2.41550346e-04 9.99952725e-01 8.02248117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.002755096 meters 0.02486561322617964 Centerline is valid? [True, True] Translation: X:14.91, Y:387.64, Z:8.02 [[-6.99680376e-01 -7.14428110e-01 6.31253038e-03 1.49099861e+01] [ 7.14395999e-01 -6.99708812e-01 -6.77749685e-03 3.87644920e+02] [ 9.25896740e-03 -2.32435097e-04 9.99957108e-01 8.02242613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0327550960001 meters 0.02483090428808272 Centerline is valid? [True, True] Translation: X:14.89, Y:387.66, Z:8.02 [[-6.99905212e-01 -7.14207486e-01 6.35305537e-03 1.48903042e+01] [ 7.14174999e-01 -6.99934006e-01 -6.81603197e-03 3.87664349e+02] [ 9.31478055e-03 -2.33382993e-04 9.99956589e-01 8.02268526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.062755096 meters 0.02501812016673313 Centerline is valid? [True, True] Translation: X:14.87, Y:387.68, Z:8.02 [[-6.99936761e-01 -7.14170700e-01 6.98150289e-03 1.48723994e+01] [ 7.14131517e-01 -6.99971533e-01 -7.48532502e-03 3.87683487e+02] [ 1.02326531e-02 -2.53542907e-04 9.99947613e-01 8.02195795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.092755096 meters 0.024612827223119367 Centerline is valid? [True, True] Translation: X:14.85, Y:387.70, Z:8.02 [[-6.99830465e-01 -7.14267547e-01 7.69358397e-03 1.48528556e+01] [ 7.14220029e-01 -6.99872700e-01 -8.24343029e-03 3.87702458e+02] [ 1.12725441e-02 -2.74091884e-04 9.99936425e-01 8.02158704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.122755096 meters 0.024579525528068347 Centerline is valid? [True, True] Translation: X:14.83, Y:387.72, Z:8.02 [[-6.99817012e-01 -7.14278299e-01 7.91590770e-03 1.48342956e+01] [ 7.14228065e-01 -6.99861726e-01 -8.47565130e-03 3.87722120e+02] [ 1.15940146e-02 -2.77641534e-04 9.99932749e-01 8.02154578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1527550960001 meters 0.024498588227026726 Centerline is valid? [True, True] Translation: X:14.82, Y:387.74, Z:8.02 [[-6.99518948e-01 -7.14567959e-01 8.11622837e-03 1.48153615e+01] [ 7.14515242e-01 -6.99565977e-01 -8.68404436e-03 3.87741932e+02] [ 1.18831771e-02 -2.75484698e-04 9.99929355e-01 8.02186292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.182755096 meters 0.02445862556502755 Centerline is valid? [True, True] Translation: X:14.80, Y:387.76, Z:8.02 [[-6.99331540e-01 -7.14750379e-01 8.20324519e-03 1.47966411e+01] [ 7.14696611e-01 -6.99379598e-01 -8.77107781e-03 3.87761258e+02] [ 1.20063135e-02 -2.71059813e-04 9.99927885e-01 8.02185137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.212755096 meters 0.024004262112635087 Centerline is valid? [True, True] Translation: X:14.78, Y:387.78, Z:8.02 [[-6.98988929e-01 -7.15086655e-01 8.09656144e-03 1.47767384e+01] [ 7.15034369e-01 -6.99035772e-01 -8.65108385e-03 3.87779969e+02] [ 1.18460607e-02 -2.57692128e-04 9.99929800e-01 8.02241890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.242755096 meters 0.024372028996523906 Centerline is valid? [True, True] Translation: X:14.76, Y:387.80, Z:8.02 [[-6.98794320e-01 -7.15278378e-01 7.95863820e-03 1.47590045e+01] [ 7.15227941e-01 -6.98839596e-01 -8.49774293e-03 3.87799438e+02] [ 1.16400633e-02 -2.45934078e-04 9.99932222e-01 8.02244729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.272755096 meters 0.023914536812903866 Centerline is valid? [True, True] Translation: X:14.74, Y:387.82, Z:8.02 [[-6.98554933e-01 -7.15515153e-01 7.68583721e-03 1.47400281e+01] [ 7.15468195e-01 -6.98597176e-01 -8.20051943e-03 3.87817357e+02] [ 1.12369001e-02 -2.29541230e-04 9.99936838e-01 8.02259077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.302755096 meters 0.0238622334500592 Centerline is valid? [True, True] Translation: X:14.72, Y:387.84, Z:8.02 [[-6.98437479e-01 -7.15629880e-01 7.67872371e-03 1.47226313e+01] [ 7.15583086e-01 -6.98479653e-01 -8.18666839e-03 3.87835545e+02] [ 1.12220568e-02 -2.23111218e-04 9.99937006e-01 8.02308500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.332755096 meters 0.02390956439020372 Centerline is valid? [True, True] Translation: X:14.71, Y:387.85, Z:8.02 [[-6.98281714e-01 -7.15783236e-01 7.55030341e-03 1.47052953e+01] [ 7.15738063e-01 -6.98322500e-01 -8.04431992e-03 3.87854058e+02] [ 1.10305361e-02 -2.13161964e-04 9.99939139e-01 8.02393412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.362755096 meters 0.022490957882039773 Centerline is valid? [True, True] Translation: X:14.68, Y:387.87, Z:8.02 [[-6.97510437e-01 -7.16536168e-01 7.42358806e-03 1.46844076e+01] [ 7.16492596e-01 -6.97549914e-01 -7.90424306e-03 3.87872356e+02] [ 1.08419992e-02 -1.94346152e-04 9.99941205e-01 8.02457445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.392755096 meters 0.02270266739512405 Centerline is valid? [True, True] Translation: X:14.67, Y:387.89, Z:8.02 [[-6.96905726e-01 -7.17124237e-01 7.43230332e-03 1.46668158e+01] [ 7.17080658e-01 -6.96945333e-01 -7.90784196e-03 3.87891469e+02] [ 1.08508142e-02 -1.81459383e-04 9.99941112e-01 8.02413011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4227550960001 meters 0.021691616460549377 Centerline is valid? [True, True] Translation: X:14.65, Y:387.91, Z:8.02 [[-6.96361041e-01 -7.17649927e-01 7.73842664e-03 1.46459480e+01] [ 7.17602783e-01 -6.96404015e-01 -8.22765967e-03 3.87909935e+02] [ 1.12936507e-02 -1.76305163e-04 9.99936209e-01 8.02467742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.452755096 meters 0.021912906722374625 Centerline is valid? [True, True] Translation: X:14.63, Y:387.93, Z:8.02 [[-6.94712063e-01 -7.19248738e-01 7.51024553e-03 1.46279735e+01] [ 7.19204482e-01 -6.94752642e-01 -7.97994469e-03 3.87930969e+02] [ 1.09573281e-02 -1.42361583e-04 9.99939957e-01 8.02451927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.482755096 meters 0.020715300821882242 Centerline is valid? [True, True] Translation: X:14.61, Y:387.95, Z:8.03 [[-6.94053589e-01 -7.19882495e-01 7.66868127e-03 1.46068755e+01] [ 7.19836453e-01 -6.94095942e-01 -8.14276180e-03 3.87948367e+02] [ 1.11846322e-02 -1.31316731e-04 9.99937441e-01 8.02584218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.512755096 meters 0.020460840238503593 Centerline is valid? [True, True] Translation: X:14.59, Y:387.97, Z:8.03 [[-6.92481899e-01 -7.21388712e-01 8.19421329e-03 1.45877597e+01] [ 7.21336327e-01 -6.92530370e-01 -8.69422804e-03 3.87966762e+02] [ 1.19466595e-02 -1.09811821e-04 9.99928630e-01 8.02502456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5427550960001 meters 0.020838794996011014 Centerline is valid? [True, True] Translation: X:14.57, Y:387.99, Z:8.02 [[-6.92134817e-01 -7.21720930e-01 8.26400124e-03 1.45704285e+01] [ 7.21667751e-01 -6.92184144e-01 -8.76174994e-03 3.87987039e+02] [ 1.20437489e-02 -1.00449000e-04 9.99927466e-01 8.02304458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.572755096 meters 0.020213367477068075 Centerline is valid? [True, True] Translation: X:14.55, Y:388.01, Z:8.02 [[-6.91496979e-01 -7.22327284e-01 8.67314191e-03 1.45507340e+01] [ 7.22268841e-01 -6.91551363e-01 -9.18882588e-03 3.88005971e+02] [ 1.26352627e-02 -8.97051843e-05 9.99920168e-01 8.02443944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.602755096 meters 0.02015030763474056 Centerline is valid? [True, True] Translation: X:14.53, Y:388.03, Z:8.02 [[-6.91771899e-01 -7.22066701e-01 8.44508464e-03 1.45314364e+01] [ 7.22011349e-01 -6.91823440e-01 -8.94095673e-03 3.88025719e+02] [ 1.22984746e-02 -8.76556592e-05 9.99924367e-01 8.02493167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.632755096 meters 0.02032959028687863 Centerline is valid? [True, True] Translation: X:14.51, Y:388.04, Z:8.03 [[-6.92237750e-01 -7.21623300e-01 8.16763247e-03 1.45132145e+01] [ 7.21571569e-01 -6.92285927e-01 -8.64097396e-03 3.88044953e+02] [ 1.18898652e-02 -8.80769986e-05 9.99929309e-01 8.02504881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6627550960001 meters 0.020256979234414604 Centerline is valid? [True, True] Translation: X:14.49, Y:388.06, Z:8.03 [[-6.92785636e-01 -7.21099255e-01 7.99547988e-03 1.44944170e+01] [ 7.21049717e-01 -6.92831767e-01 -8.45279281e-03 3.88064443e+02] [ 1.16348250e-02 -9.08349357e-05 9.99932309e-01 8.02528079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.692755096 meters 0.020671561310628413 Centerline is valid? [True, True] Translation: X:14.48, Y:388.08, Z:8.03 [[-6.94206541e-01 -7.19734106e-01 7.75205593e-03 1.44769315e+01] [ 7.19687519e-01 -6.94249815e-01 -8.18963170e-03 3.88083665e+02] [ 1.12762206e-02 -1.06238003e-04 9.99936416e-01 8.02609703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.722755096 meters 0.020944124311356054 Centerline is valid? [True, True] Translation: X:14.46, Y:388.10, Z:8.03 [[-6.95409411e-01 -7.18574267e-01 7.53486585e-03 1.44595220e+01] [ 7.18530247e-01 -6.95450220e-01 -7.95458636e-03 3.88104336e+02] [ 1.09560852e-02 -1.17665187e-04 9.99939973e-01 8.02674892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.752755096 meters 0.02229912955594159 Centerline is valid? [True, True] Translation: X:14.45, Y:388.13, Z:8.03 [[-6.98960221e-01 -7.15121516e-01 7.47169618e-03 1.44457157e+01] [ 7.15078094e-01 -6.99000135e-01 -7.88233108e-03 3.88127947e+02] [ 1.08595412e-02 -1.66589614e-04 9.99941020e-01 8.02791279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7827550960001 meters 0.023261116994491935 Centerline is valid? [True, True] Translation: X:14.43, Y:388.15, Z:8.03 [[-7.00943588e-01 -7.13180005e-01 7.23650085e-03 1.44288739e+01] [ 7.13139225e-01 -7.00980916e-01 -7.62895416e-03 3.88149191e+02] [ 1.05134666e-02 -1.86833890e-04 9.99944715e-01 8.02842307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.812755096 meters 0.02370520672599571 Centerline is valid? [True, True] Translation: X:14.41, Y:388.17, Z:8.03 [[-7.02904094e-01 -7.11250589e-01 6.95945502e-03 1.44095986e+01] [ 7.11212824e-01 -7.02938517e-01 -7.33223709e-03 3.88169637e+02] [ 1.01071269e-02 -2.04205814e-04 9.99948901e-01 8.02868238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.842755096 meters 0.02564612253588608 Centerline is valid? [True, True] Translation: X:14.39, Y:388.19, Z:8.03 [[-7.06113668e-01 -7.08067314e-01 6.64584777e-03 1.43928819e+01] [ 7.08032778e-01 -7.06144903e-01 -6.99728361e-03 3.88190205e+02] [ 9.64747934e-03 -2.35399541e-04 9.99953434e-01 8.02844639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.872755096 meters 0.025900313568490322 Centerline is valid? [True, True] Translation: X:14.37, Y:388.21, Z:8.03 [[-7.07676060e-01 -7.06509444e-01 6.24501001e-03 1.43729129e+01] [ 7.06478927e-01 -7.07703574e-01 -6.57093379e-03 3.88210522e+02] [ 9.06204268e-03 -2.38124562e-04 9.99958911e-01 8.02876053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9027550960001 meters 0.027215306365270763 Centerline is valid? [True, True] Translation: X:14.36, Y:388.23, Z:8.03 [[-7.08869160e-01 -7.05311497e-01 6.34085666e-03 1.43551026e+01] [ 7.05280027e-01 -7.08897473e-01 -6.66751887e-03 3.88231546e+02] [ 9.19769498e-03 -2.54318939e-04 9.99957668e-01 8.02839541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.932755096 meters 0.02676636903183744 Centerline is valid? [True, True] Translation: X:14.33, Y:388.25, Z:8.03 [[-7.10286906e-01 -7.03883631e-01 6.35174542e-03 1.43346435e+01] [ 7.03852035e-01 -7.10315255e-01 -6.67467573e-03 3.88250879e+02] [ 9.20993665e-03 -2.70245835e-04 9.99957551e-01 8.02878452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.962755096 meters 0.02685690710357182 Centerline is valid? [True, True] Translation: X:14.32, Y:388.27, Z:8.03 [[-7.10931319e-01 -7.03228447e-01 6.81260906e-03 1.43152544e+01] [ 7.03192119e-01 -7.10963898e-01 -7.15402147e-03 3.88270330e+02] [ 9.87443050e-03 -2.95444923e-04 9.99951203e-01 8.02903432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.992755096 meters 0.02770351273481417 Centerline is valid? [True, True] Translation: X:14.30, Y:388.29, Z:8.03 [[-7.11332739e-01 -7.02814930e-01 7.54384045e-03 1.42964149e+01] [ 7.02770419e-01 -7.11372663e-01 -7.91661392e-03 3.88288229e+02] [ 1.09303963e-02 -3.29758747e-04 9.99940207e-01 8.02667227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.022755096 meters 0.027358109896843605 Centerline is valid? [True, True] Translation: X:14.28, Y:388.31, Z:8.03 [[-7.11064743e-01 -7.03082928e-01 7.83121742e-03 1.42773495e+01] [ 7.03035029e-01 -7.11107787e-01 -8.21361514e-03 3.88306871e+02] [ 1.13436923e-02 -3.34791973e-04 9.99935602e-01 8.02711232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.052755096 meters 0.026629618017448075 Centerline is valid? [True, True] Translation: X:14.26, Y:388.32, Z:8.03 [[-7.10744412e-01 -7.03403830e-01 8.08910876e-03 1.42572476e+01] [ 7.03352808e-01 -7.10790362e-01 -8.47866953e-03 3.88324906e+02] [ 1.17135892e-02 -3.36669630e-04 9.99931337e-01 8.02739529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.082755096 meters 0.026538497604719904 Centerline is valid? [True, True] Translation: X:14.24, Y:388.34, Z:8.03 [[-7.10542546e-01 -7.03608347e-01 8.03646460e-03 1.42381492e+01] [ 7.03558071e-01 -7.10587917e-01 -8.41741147e-03 3.88342991e+02] [ 1.16331756e-02 -3.26809450e-04 9.99932279e-01 8.02739439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.112755096 meters 0.025616233027285898 Centerline is valid? [True, True] Translation: X:14.22, Y:388.36, Z:8.03 [[-7.09174538e-01 -7.04993333e-01 7.47505905e-03 1.42167071e+01] [ 7.04949968e-01 -7.09213877e-01 -7.82427050e-03 3.88360937e+02] [ 1.08174741e-02 -2.79230774e-04 9.99941450e-01 8.02863652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.142755096 meters 0.025308249665000684 Centerline is valid? [True, True] Translation: X:14.20, Y:388.38, Z:8.03 [[-7.08537977e-01 -7.05638612e-01 6.93436272e-03 1.41962972e+01] [ 7.05601368e-01 -7.08571866e-01 -7.25398525e-03 3.88380817e+02] [ 1.00321864e-02 -2.46828210e-04 9.99949646e-01 8.02999286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1727550960001 meters 0.023991617715657717 Centerline is valid? [True, True] Translation: X:14.17, Y:388.40, Z:8.03 [[-7.07187452e-01 -7.07002062e-01 5.83033662e-03 1.41738028e+01] [ 7.06975808e-01 -7.07211460e-01 -6.09573834e-03 3.88398927e+02] [ 8.43298045e-03 -1.88922714e-04 9.99964424e-01 8.03209155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.202755096 meters 0.023991617715657717 Centerline is valid? [True, True] Translation: X:14.16, Y:388.42, Z:8.03 [[-7.07438693e-01 -7.06750649e-01 5.83227313e-03 1.41551373e+01] [ 7.06724402e-01 -7.07462709e-01 -6.09388518e-03 3.88418142e+02] [ 8.43297305e-03 -1.89240426e-04 9.99964424e-01 8.03223414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.232755096 meters 0.024724931182430968 Centerline is valid? [True, True] Translation: X:14.14, Y:388.44, Z:8.03 [[-7.06950068e-01 -7.07242770e-01 5.40987099e-03 1.41367914e+01] [ 7.07220232e-01 -7.06970747e-01 -5.64865594e-03 3.88436483e+02] [ 7.81959161e-03 -1.67347485e-04 9.99969413e-01 8.03146534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.262755096 meters 0.023176986898727003 Centerline is valid? [True, True] Translation: X:14.12, Y:388.45, Z:8.03 [[-7.06072193e-01 -7.08120677e-01 5.21209085e-03 1.41157487e+01] [ 7.08099809e-01 -7.06091414e-01 -5.43838443e-03 3.88454771e+02] [ 7.53124506e-03 -1.49211489e-04 9.99971629e-01 8.03385589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2927550960001 meters 0.022531789794809066 Centerline is valid? [True, True] Translation: X:14.10, Y:388.47, Z:8.03 [[-7.04308512e-01 -7.09880319e-01 4.41063172e-03 1.40955084e+01] [ 7.09865425e-01 -7.04322314e-01 -4.59961848e-03 3.88472815e+02] [ 6.37168497e-03 -1.08595480e-04 9.99979695e-01 8.03483673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.322755096 meters 0.022112205619549137 Centerline is valid? [True, True] Translation: X:14.08, Y:388.49, Z:8.03 [[-7.03644368e-01 -7.10539740e-01 4.22867926e-03 1.40751268e+01] [ 7.10526078e-01 -7.03657068e-01 -4.40722984e-03 3.88491783e+02] [ 6.10705199e-03 -9.65355651e-05 9.99981347e-01 8.03493115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.352755096 meters 0.02343183449832341 Centerline is valid? [True, True] Translation: X:14.05, Y:388.51, Z:8.03 [[-7.03383430e-01 -7.10798877e-01 4.08745373e-03 1.40549067e+01] [ 7.10786133e-01 -7.03395301e-01 -4.25731066e-03 3.88510084e+02] [ 5.90118738e-03 -8.92163482e-05 9.99982584e-01 8.03205068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.382755096 meters 0.021259026828320055 Centerline is valid? [True, True] Translation: X:14.04, Y:388.53, Z:8.04 [[-7.02111013e-01 -7.12055202e-01 4.18496560e-03 1.40351994e+01] [ 7.12041884e-01 -7.02123481e-01 -4.35572555e-03 3.88529186e+02] [ 6.03987966e-03 -7.83320886e-05 9.99981757e-01 8.03513319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4127550960001 meters 0.021394468625590246 Centerline is valid? [True, True] Translation: X:14.02, Y:388.55, Z:8.04 [[-7.01983340e-01 -7.12178471e-01 4.60598598e-03 1.40174958e+01] [ 7.12162366e-01 -7.01998446e-01 -4.79025425e-03 3.88548005e+02] [ 6.64491095e-03 -8.24688004e-05 9.99977919e-01 8.03549043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.442755096 meters 0.021169093694479044 Centerline is valid? [True, True] Translation: X:14.00, Y:388.57, Z:8.04 [[-7.01512550e-01 -7.12642730e-01 4.52572752e-03 1.39983478e+01] [ 7.12627213e-01 -7.01527145e-01 -4.70335647e-03 3.88566285e+02] [ 6.52673350e-03 -7.43069987e-05 9.99978698e-01 8.03503705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.472755096 meters 0.02112628816448969 Centerline is valid? [True, True] Translation: X:13.98, Y:388.58, Z:8.04 [[-7.01582891e-01 -7.12573813e-01 4.47305079e-03 1.39804215e+01] [ 7.12558676e-01 -7.01597147e-01 -4.64510765e-03 3.88583942e+02] [ 6.44826174e-03 -7.16169088e-05 9.99979207e-01 8.03520863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.502755096 meters 0.02112591948842164 Centerline is valid? [True, True] Translation: X:13.96, Y:388.60, Z:8.04 [[-7.01867654e-01 -7.12295239e-01 4.15810204e-03 1.39622576e+01] [ 7.12282173e-01 -7.01879967e-01 -4.31488055e-03 3.88602567e+02] [ 5.99195739e-03 -6.67331302e-05 9.99982046e-01 8.03525474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5327550960001 meters 0.02111226917915272 Centerline is valid? [True, True] Translation: X:13.94, Y:388.62, Z:8.03 [[-7.03071941e-01 -7.11104324e-01 4.52622636e-03 1.39435551e+01] [ 7.11088842e-01 -7.03086505e-01 -4.69317044e-03 3.88622928e+02] [ 6.51966246e-03 -8.10873885e-05 9.99978744e-01 8.03468557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.562755096 meters 0.021709152543167475 Centerline is valid? [True, True] Translation: X:13.93, Y:388.64, Z:8.03 [[-7.04049232e-01 -7.10134039e-01 4.93209726e-03 1.39272069e+01] [ 7.10115660e-01 -7.04066501e-01 -5.11005749e-03 3.88643982e+02] [ 7.10135023e-03 -9.53725465e-05 9.99974781e-01 8.03412546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.592755096 meters 0.022489652177979744 Centerline is valid? [True, True] Translation: X:13.91, Y:388.66, Z:8.03 [[-7.05460120e-01 -7.08732030e-01 4.99285350e-03 1.39107266e+01] [ 7.08713188e-01 -7.05477780e-01 -5.16914358e-03 3.88664845e+02] [ 7.18588482e-03 -1.08123526e-04 9.99974175e-01 8.03410561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.622755096 meters 0.023589486053256416 Centerline is valid? [True, True] Translation: X:13.89, Y:388.69, Z:8.03 [[-7.08783902e-01 -7.05407091e-01 5.12021153e-03 1.38948409e+01] [ 7.05387216e-01 -7.08802382e-01 -5.29713942e-03 3.88686797e+02] [ 7.36585784e-03 -1.42795395e-04 9.99972862e-01 8.03453017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6527550960001 meters 0.024054243422233623 Centerline is valid? [True, True] Translation: X:13.88, Y:388.71, Z:8.03 [[-7.10523848e-01 -7.03655497e-01 4.98016887e-03 1.38759302e+01] [ 7.03636677e-01 -7.10541285e-01 -5.14874047e-03 3.88707971e+02] [ 7.16155512e-03 -1.54073418e-04 9.99974344e-01 8.03431734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.682755096 meters 0.024199959676842037 Centerline is valid? [True, True] Translation: X:13.86, Y:388.73, Z:8.03 [[-7.12261037e-01 -7.01896334e-01 5.07464487e-03 1.38566932e+01] [ 7.01876772e-01 -7.12279093e-01 -5.24307377e-03 3.88728497e+02] [ 7.29465770e-03 -1.72661795e-04 9.99973379e-01 8.03392133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.712755096 meters 0.027865224994458454 Centerline is valid? [True, True] Translation: X:13.84, Y:388.75, Z:8.03 [[-7.15309566e-01 -6.98785579e-01 5.56221700e-03 1.38418617e+01] [ 6.98762016e-01 -7.15331158e-01 -5.74282166e-03 3.88751550e+02] [ 7.99182809e-03 -2.21229303e-04 9.99968040e-01 8.03103796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.742755096 meters 0.026501508107057092 Centerline is valid? [True, True] Translation: X:13.82, Y:388.77, Z:8.03 [[-7.16360073e-01 -6.97708055e-01 5.63165567e-03 1.38225422e+01] [ 6.97683898e-01 -7.16382171e-01 -5.81063570e-03 3.88771430e+02] [ 8.08854505e-03 -2.33391937e-04 9.99967260e-01 8.03321678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.772755096 meters 0.028329363873057983 Centerline is valid? [True, True] Translation: X:13.81, Y:388.79, Z:8.03 [[-7.17660247e-01 -6.96373095e-01 5.31810228e-03 1.38052722e+01] [ 6.96351542e-01 -7.17679914e-01 -5.48374872e-03 3.88792603e+02] [ 7.63543026e-03 -2.32199739e-04 9.99970823e-01 8.03211522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.802755096 meters 0.02808963469574652 Centerline is valid? [True, True] Translation: X:13.79, Y:388.81, Z:8.03 [[-7.18379623e-01 -6.95632895e-01 5.05887211e-03 1.37862993e+01] [ 6.95613397e-01 -7.18397400e-01 -5.21318085e-03 3.88813149e+02] [ 7.26074065e-03 -2.26023680e-04 9.99973615e-01 8.03402758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.832755096 meters 0.02855583526346365 Centerline is valid? [True, True] Translation: X:13.77, Y:388.83, Z:8.03 [[-7.18679662e-01 -6.95322058e-01 5.17486729e-03 1.37686139e+01] [ 6.95301672e-01 -7.18698255e-01 -5.32950582e-03 3.88831983e+02] [ 7.42489105e-03 -2.32113566e-04 9.99972408e-01 8.03345739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.862755096 meters 0.02782673522311005 Centerline is valid? [True, True] Translation: X:13.75, Y:388.85, Z:8.03 [[-7.19197895e-01 -6.94785011e-01 5.30810366e-03 1.37484520e+01] [ 6.94763571e-01 -7.19217443e-01 -5.46348309e-03 3.88850031e+02] [ 7.61362690e-03 -2.41448484e-04 9.99970987e-01 8.03335203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.892755096 meters 0.02802056028256025 Centerline is valid? [True, True] Translation: X:13.73, Y:388.87, Z:8.03 [[-7.18896669e-01 -6.95098658e-01 5.04330153e-03 1.37299993e+01] [ 6.95079338e-01 -7.18914324e-01 -5.18738303e-03 3.88869183e+02] [ 7.23144470e-03 -2.23697692e-04 9.99973828e-01 8.03308749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9227550960001 meters 0.027520665614019127 Centerline is valid? [True, True] Translation: X:13.71, Y:388.89, Z:8.03 [[-7.18885950e-01 -6.95112831e-01 4.59814683e-03 1.37103386e+01] [ 6.95096792e-01 -7.18900627e-01 -4.72632641e-03 3.88887667e+02] [ 6.59094077e-03 -2.01532543e-04 9.99978259e-01 8.03385662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.952755096 meters 0.0275474818290435 Centerline is valid? [True, True] Translation: X:13.69, Y:388.91, Z:8.03 [[-7.18197003e-01 -6.95829132e-01 3.85798751e-03 1.36902178e+01] [ 6.95817864e-01 -7.18207347e-01 -3.96321794e-03 3.88905499e+02] [ 5.52855747e-03 -1.61914625e-04 9.99984704e-01 8.03435213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.982755096 meters 0.026784526738030487 Centerline is valid? [True, True] Translation: X:13.67, Y:388.92, Z:8.04 [[-7.17707737e-01 -6.96335381e-01 3.55557994e-03 1.36701067e+01] [ 6.96325827e-01 -7.17716530e-01 -3.65050791e-03 3.88923627e+02] [ 5.09387631e-03 -1.44155633e-04 9.99987016e-01 8.03544944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.012755096 meters 0.026647227973787126 Centerline is valid? [True, True] Translation: X:13.65, Y:388.94, Z:8.04 [[-7.17150795e-01 -6.96909549e-01 3.43772562e-03 1.36512157e+01] [ 6.96900636e-01 -7.17159022e-01 -3.52717797e-03 3.88941291e+02] [ 4.92351995e-03 -1.33765315e-04 9.99987870e-01 8.03602030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0427550960001 meters 0.025323135551929766 Centerline is valid? [True, True] Translation: X:13.63, Y:388.96, Z:8.04 [[-7.16063369e-01 -6.98028879e-01 2.98918308e-03 1.36292926e+01] [ 6.98022158e-01 -7.16069600e-01 -3.06509455e-03 3.88958062e+02] [ 4.27998765e-03 -1.08285911e-04 9.99990835e-01 8.03633484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.072755096 meters 0.025527915712055173 Centerline is valid? [True, True] Translation: X:13.61, Y:388.98, Z:8.04 [[-7.15482909e-01 -6.98624469e-01 2.83872055e-03 1.36109659e+01] [ 6.98618420e-01 -7.15488534e-01 -2.90896134e-03 3.88976500e+02] [ 4.06334357e-03 -9.81296568e-05 9.99991740e-01 8.03665283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.102755096 meters 0.023535393323092325 Centerline is valid? [True, True] Translation: X:13.59, Y:388.99, Z:8.04 [[-7.14328489e-01 -6.99805758e-01 2.59050243e-03 1.35871194e+01] [ 6.99800735e-01 -7.14333182e-01 -2.65281900e-03 3.88992950e+02] [ 3.70693985e-03 -8.21486831e-05 9.99993126e-01 8.03646808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.132755096 meters 0.024303602124169914 Centerline is valid? [True, True] Translation: X:13.57, Y:389.01, Z:8.04 [[-7.13975579e-01 -7.00166753e-01 2.32189911e-03 1.35692522e+01] [ 7.00162724e-01 -7.13979351e-01 -2.37638091e-03 3.89012058e+02] [ 3.32165092e-03 -7.09707269e-05 9.99994481e-01 8.03632427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1627550960001 meters 0.022870181106499327 Centerline is valid? [True, True] Translation: X:13.55, Y:389.03, Z:8.04 [[-7.13291679e-01 -7.00863149e-01 2.41409781e-03 1.35462595e+01] [ 7.00858801e-01 -7.13295761e-01 -2.46951067e-03 3.89028324e+02] [ 3.45275475e-03 -6.95397098e-05 9.99994037e-01 8.03540683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.192755096 meters 0.02278679215278864 Centerline is valid? [True, True] Translation: X:13.53, Y:389.05, Z:8.04 [[-7.13454488e-01 -7.00697928e-01 2.25987737e-03 1.35264248e+01] [ 7.00694122e-01 -7.13458064e-01 -2.31028338e-03 3.89047358e+02] [ 3.23113852e-03 -6.47992544e-05 9.99994778e-01 8.03517039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.222755096 meters 0.022900365013616076 Centerline is valid? [True, True] Translation: X:13.51, Y:389.07, Z:8.04 [[-7.13477088e-01 -7.00674813e-01 2.29169161e-03 1.35080851e+01] [ 7.00670904e-01 -7.13480766e-01 -2.34118388e-03 3.89065898e+02] [ 3.27548645e-03 -6.46594254e-05 9.99994634e-01 8.03571648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.252755096 meters 0.02293406718059201 Centerline is valid? [True, True] Translation: X:13.49, Y:389.09, Z:8.04 [[-7.13800224e-01 -7.00347027e-01 1.81155400e-03 1.34885982e+01] [ 7.00344586e-01 -7.13802521e-01 -1.84982555e-03 3.89085078e+02] [ 2.58861164e-03 -5.16938514e-05 9.99996648e-01 8.03628695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2827550960001 meters 0.02287541080317856 Centerline is valid? [True, True] Translation: X:13.47, Y:389.10, Z:8.04 [[-7.14004533e-01 -7.00139736e-01 1.37006616e-03 1.34691465e+01] [ 7.00138340e-01 -7.14005846e-01 -1.39867723e-03 3.89104399e+02] [ 1.95750475e-03 -3.94260357e-05 9.99998083e-01 8.03674532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.312755096 meters 0.02384521248373797 Centerline is valid? [True, True] Translation: X:13.45, Y:389.12, Z:8.04 [[-7.14365573e-01 -6.99770315e-01 1.82594844e-03 1.34500332e+01] [ 6.99767840e-01 -7.14367905e-01 -1.86193666e-03 3.89123196e+02] [ 2.60732697e-03 -5.23634552e-05 9.99996600e-01 8.03558964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.342755096 meters 0.02339964651697302 Centerline is valid? [True, True] Translation: X:13.43, Y:389.14, Z:8.03 [[-7.14874658e-01 -6.99249650e-01 2.03733681e-03 1.34297255e+01] [ 6.99246571e-01 -7.14877559e-01 -2.07582700e-03 3.89141153e+02] [ 2.90796766e-03 -5.93553365e-05 9.99995770e-01 8.03428493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.372755096 meters 0.022465950380227934 Centerline is valid? [True, True] Translation: X:13.41, Y:389.16, Z:8.04 [[-7.15328230e-01 -6.98786470e-01 1.73012412e-03 1.34107755e+01] [ 6.98784251e-01 -7.15330320e-01 -1.76196122e-03 3.89160343e+02] [ 2.46884490e-03 -5.13971092e-05 9.99996951e-01 8.03524834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4027550960001 meters 0.022581598754699672 Centerline is valid? [True, True] Translation: X:13.39, Y:389.18, Z:8.04 [[-7.15733734e-01 -6.98371041e-01 1.76352405e-03 1.33911785e+01] [ 6.98368737e-01 -7.15735905e-01 -1.79464824e-03 3.89179874e+02] [ 2.51554785e-03 -5.29002224e-05 9.99996835e-01 8.03512423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.432755096 meters 0.022963492012236002 Centerline is valid? [True, True] Translation: X:13.37, Y:389.20, Z:8.03 [[-7.16755925e-01 -6.97322532e-01 1.49352465e-03 1.33719012e+01] [ 6.97320879e-01 -7.16757479e-01 -1.51904506e-03 3.89200241e+02] [ 2.12975931e-03 -4.73186271e-05 9.99997731e-01 8.03478247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.462755096 meters 0.023421984056663372 Centerline is valid? [True, True] Translation: X:13.35, Y:389.22, Z:8.04 [[-7.17783448e-01 -6.96265378e-01 1.20215429e-03 1.33534131e+01] [ 6.96264306e-01 -7.17784454e-01 -1.22248396e-03 3.89220644e+02] [ 1.71406091e-03 -4.04616288e-05 9.99998530e-01 8.03501308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.492755096 meters 0.02384203778775 Centerline is valid? [True, True] Translation: X:13.34, Y:389.24, Z:8.04 [[-7.18568597e-01 -6.95455341e-01 1.01976352e-03 1.33352384e+01] [ 6.95454569e-01 -7.18569320e-01 -1.03679944e-03 3.89240634e+02] [ 1.45381849e-03 -3.58123158e-05 9.99998943e-01 8.03540539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.522755096 meters 0.02425560383329893 Centerline is valid? [True, True] Translation: X:13.32, Y:389.26, Z:8.04 [[-7.20385261e-01 -6.93573911e-01 5.53815406e-04 1.33164540e+01] [ 6.93573682e-01 -7.20385473e-01 -5.63669297e-04 3.89261661e+02] [ 7.89906892e-04 -2.19472638e-05 9.99999688e-01 8.03589204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.552755096 meters 0.025661460609739107 Centerline is valid? [True, True] Translation: X:13.30, Y:389.28, Z:8.04 [[-7.21384907e-01 -6.92534215e-01 4.20441750e-04 1.32993176e+01] [ 6.92534084e-01 -7.21385029e-01 -4.27653066e-04 3.89283051e+02] [ 5.99464764e-04 -1.73322257e-05 9.99999820e-01 8.03594735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.582755096 meters 0.026230316882070878 Centerline is valid? [True, True] Translation: X:13.28, Y:389.30, Z:8.03 [[-7.22420005e-01 -6.91454127e-01 7.25612327e-04 1.32809289e+01] [ 6.91453735e-01 -7.22420369e-01 -7.37144207e-04 3.89303097e+02] [ 1.03389853e-03 -3.08003682e-05 9.99999465e-01 8.03494066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.612755096 meters 0.027724316495384767 Centerline is valid? [True, True] Translation: X:13.26, Y:389.32, Z:8.03 [[-7.24231369e-01 -6.89555673e-01 1.37750495e-03 1.32647917e+01] [ 6.89554262e-01 -7.24232677e-01 -1.39618903e-03 3.89323548e+02] [ 1.96038417e-03 -6.12994834e-05 9.99998077e-01 8.03346319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.642755096 meters 0.02781310260339457 Centerline is valid? [True, True] Translation: X:13.25, Y:389.34, Z:8.03 [[-7.25053007e-01 -6.88691960e-01 1.23335601e-03 1.32454991e+01] [ 6.88690829e-01 -7.25054054e-01 -1.24946166e-03 3.89343320e+02] [ 1.75474397e-03 -5.65249588e-05 9.99998459e-01 8.03322311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6727550960001 meters 0.029528195413533045 Centerline is valid? [True, True] Translation: X:13.23, Y:389.36, Z:8.03 [[-7.25600541e-01 -6.88114738e-01 1.40070622e-03 1.32283226e+01] [ 6.88113281e-01 -7.25601890e-01 -1.41795873e-03 3.89362783e+02] [ 1.99207338e-03 -6.50270727e-05 9.99998014e-01 8.03207568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.702755096 meters 0.027559576716416165 Centerline is valid? [True, True] Translation: X:13.21, Y:389.38, Z:8.03 [[-7.25875111e-01 -6.87826247e-01 6.14624687e-04 1.32084217e+01] [ 6.87825965e-01 -7.25875371e-01 -6.23287130e-04 3.89380577e+02] [ 8.74854170e-04 -2.96737966e-05 9.99999617e-01 8.03295044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.732755096 meters 0.026489102604550428 Centerline is valid? [True, True] Translation: X:13.19, Y:389.40, Z:8.03 [[-7.25503220e-01 -6.88217784e-01 1.16644777e-03 1.31871269e+01] [ 6.88216775e-01 -7.25504156e-01 -1.17935281e-03 3.89397465e+02] [ 1.65791428e-03 -5.28553367e-05 9.99998624e-01 8.03123654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.762755096 meters 0.0253942174913044 Centerline is valid? [True, True] Translation: X:13.17, Y:389.42, Z:8.03 [[-7.25233654e-01 -6.88502614e-01 5.45805630e-04 1.31687689e+01] [ 6.88502392e-01 -7.25233859e-01 -5.52997237e-04 3.89416399e+02] [ 7.76576767e-04 -2.52637247e-05 9.99999698e-01 8.03221159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7927550960001 meters 0.02424999625111178 Centerline is valid? [True, True] Translation: X:13.15, Y:389.44, Z:8.03 [[-7.24243151e-01 -6.89544559e-01 3.98797987e-04 1.31484403e+01] [ 6.89544441e-01 -7.24243261e-01 -4.04128035e-04 3.89436094e+02] [ 5.67491042e-04 -1.76980267e-05 9.99999839e-01 8.03212763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.822755096 meters 0.02358803355099375 Centerline is valid? [True, True] Translation: X:13.13, Y:389.46, Z:8.03 [[-7.23653101e-01 -6.90163860e-01 1.86921233e-04 1.31284030e+01] [ 6.90163834e-01 -7.23653125e-01 -1.90732062e-04 3.89455284e+02] [ 2.66902511e-04 -9.01757316e-06 9.99999964e-01 8.03254251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.852755096 meters 0.023143158834816158 Centerline is valid? [True, True] Translation: X:13.11, Y:389.47, Z:8.03 [[-7.22426658e-01 -6.91447421e-01 -4.33503599e-04 1.31088689e+01] [ 6.91447285e-01 -7.22426788e-01 4.33752481e-04 3.89474302e+02] [-6.13091647e-04 1.36094688e-05 9.99999812e-01 8.03238233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.882755096 meters 0.022621530918938863 Centerline is valid? [True, True] Translation: X:13.09, Y:389.49, Z:8.03 [[-7.21974933e-01 -6.91919126e-01 -3.45070357e-04 1.30892759e+01] [ 6.91919040e-01 -7.21975016e-01 3.44238213e-04 3.89492921e+02] [-4.87317180e-04 9.77061058e-06 9.99999881e-01 8.03233506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9127550960001 meters 0.021964825213835647 Centerline is valid? [True, True] Translation: X:13.07, Y:389.51, Z:8.03 [[-7.20732257e-01 -6.93213479e-01 -2.94537398e-04 1.30694773e+01] [ 6.93213417e-01 -7.20732317e-01 2.93563979e-04 3.89512454e+02] [-4.15785128e-04 7.40375326e-06 9.99999914e-01 8.03232683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.942755096 meters 0.02147576003259459 Centerline is valid? [True, True] Translation: X:13.05, Y:389.53, Z:8.03 [[-7.20376522e-01 -6.93582862e-01 -6.93038166e-04 1.30498693e+01] [ 6.93582516e-01 -7.20376855e-01 6.93140676e-04 3.89530952e+02] [-9.79999148e-04 1.86431147e-05 9.99999520e-01 8.03249134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.972755096 meters 0.021281870807186305 Centerline is valid? [True, True] Translation: X:13.03, Y:389.55, Z:8.03 [[-7.20163347e-01 -6.93803644e-01 -1.12143008e-03 1.30304908e+01] [ 6.93802737e-01 -7.20164219e-01 1.12246765e-03 3.89549583e+02] [-1.58638596e-03 3.03088009e-05 9.99998741e-01 8.03277735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.002755096 meters 0.020927560166289907 Centerline is valid? [True, True] Translation: X:13.01, Y:389.57, Z:8.03 [[-7.20081711e-01 -6.93887959e-01 -1.35267536e-03 1.30102238e+01] [ 6.93886640e-01 -7.20082980e-01 1.35349159e-03 3.89568495e+02] [-1.91321003e-03 3.60211807e-05 9.99998169e-01 8.03267484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0327550960001 meters 0.021122300323482147 Centerline is valid? [True, True] Translation: X:12.99, Y:389.59, Z:8.03 [[-7.20166392e-01 -6.93797913e-01 -2.19642319e-03 1.29918492e+01] [ 6.93794431e-01 -7.20169739e-01 2.19883155e-03 3.89587322e+02] [-3.10734225e-03 5.96584076e-05 9.99995170e-01 8.03341462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.062755096 meters 0.02078814252992159 Centerline is valid? [True, True] Translation: X:12.97, Y:389.61, Z:8.03 [[-7.20298914e-01 -6.93659400e-01 -2.47204351e-03 1.29720220e+01] [ 6.93654996e-01 -7.20303153e-01 2.47264545e-03 3.89606166e+02] [-3.49579449e-03 6.62984966e-05 9.99993888e-01 8.03306933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.092755096 meters 0.020789263867571985 Centerline is valid? [True, True] Translation: X:12.95, Y:389.63, Z:8.03 [[-7.20739995e-01 -6.93202126e-01 -2.16161040e-03 1.29525640e+01] [ 6.93198762e-01 -7.20743234e-01 2.16025682e-03 3.89625836e+02] [-3.05546069e-03 5.85578383e-05 9.99995330e-01 8.03257770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.122755096 meters 0.020789263867571985 Centerline is valid? [True, True] Translation: X:12.93, Y:389.64, Z:8.03 [[-7.20986265e-01 -6.92945979e-01 -2.16237811e-03 1.29334851e+01] [ 6.92942616e-01 -7.20989506e-01 2.15948884e-03 3.89644639e+02] [-3.05546103e-03 5.85578453e-05 9.99995330e-01 8.03272017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1527550960001 meters 0.021119951365275495 Centerline is valid? [True, True] Translation: X:12.93, Y:389.62, Z:8.03 [[-6.72989460e-01 -7.39650307e-01 -1.61576628e-03 1.29289270e+01] [ 7.39646827e-01 -6.72991308e-01 2.29582964e-03 3.89621105e+02] [-2.78550777e-03 3.49972748e-04 9.99996059e-01 8.03213803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.182755096 meters 0.021068504343945877 Centerline is valid? [True, True] Translation: X:12.91, Y:389.64, Z:8.03 [[-6.73490724e-01 -7.39193762e-01 -1.68116077e-03 1.29109568e+01] [ 7.39191271e-01 -6.73492821e-01 1.91980757e-03 3.89641624e+02] [-2.55135949e-03 5.02732258e-05 9.99996744e-01 8.03206244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.212755096 meters 0.02165013795205062 Centerline is valid? [True, True] Translation: X:12.89, Y:389.66, Z:8.03 [[-6.74624809e-01 -7.38159382e-01 -1.44691596e-03 1.28933925e+01] [ 7.38157537e-01 -6.74626359e-01 1.65099570e-03 3.89662644e+02] [-2.19482561e-03 4.57507392e-05 9.99997590e-01 8.03160096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.242755096 meters 0.022071208381007575 Centerline is valid? [True, True] Translation: X:12.88, Y:389.68, Z:8.03 [[-6.75366415e-01 -7.37480924e-01 -1.44673916e-03 1.28763272e+01] [ 7.37479080e-01 -6.75367963e-01 1.64976843e-03 3.89681942e+02] [-2.19375403e-03 4.72583257e-05 9.99997593e-01 8.03074659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.272755096 meters 0.021989187510063967 Centerline is valid? [True, True] Translation: X:12.86, Y:389.70, Z:8.03 [[-6.76246400e-01 -7.36674629e-01 -1.13930707e-03 1.28573566e+01] [ 7.36673488e-01 -6.76247358e-01 1.29748991e-03 3.89702030e+02] [-1.72628130e-03 3.81255662e-05 9.99998509e-01 8.03002352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.302755096 meters 0.022694763852493836 Centerline is valid? [True, True] Translation: X:12.84, Y:389.72, Z:8.03 [[-6.77204578e-01 -7.35794260e-01 -8.75944324e-04 1.28399828e+01] [ 7.35793585e-01 -6.77205143e-01 9.97449181e-04 3.89722830e+02] [-1.32711138e-03 3.09629374e-05 9.99999119e-01 8.02919611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.332755096 meters 0.022666736274368104 Centerline is valid? [True, True] Translation: X:12.82, Y:389.74, Z:8.03 [[-6.77721397e-01 -7.35318575e-01 -5.49663700e-04 1.28214503e+01] [ 7.35318311e-01 -6.77721619e-01 6.23820853e-04 3.89743514e+02] [-8.31226033e-04 1.85989562e-05 9.99999654e-01 8.02881566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.362755096 meters 0.02325814033120781 Centerline is valid? [True, True] Translation: X:12.80, Y:389.76, Z:8.03 [[-6.78271822e-01 -7.34810945e-01 -4.59014160e-04 1.28046159e+01] [ 7.34810761e-01 -6.78271977e-01 5.19969376e-04 3.89764038e+02] [-6.93415631e-04 1.53920318e-05 9.99999760e-01 8.02839084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.392755096 meters 0.023114374046039065 Centerline is valid? [True, True] Translation: X:12.79, Y:389.78, Z:8.03 [[-6.78409012e-01 -7.34684361e-01 -3.20962205e-04 1.27864695e+01] [ 7.34684271e-01 -6.78409088e-01 3.62305692e-04 3.89783520e+02] [-4.83924003e-04 9.98556287e-06 9.99999883e-01 8.02849825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4227550960001 meters 0.021863008140583205 Centerline is valid? [True, True] Translation: X:12.77, Y:389.80, Z:8.03 [[-6.78332898e-01 -7.34754610e-01 -3.77953624e-04 1.27665096e+01] [ 7.34754486e-01 -6.78333004e-01 4.27060010e-04 3.89801946e+02] [-5.70162728e-04 1.19857340e-05 9.99999837e-01 8.02805954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.452755096 meters 0.022633099169483462 Centerline is valid? [True, True] Translation: X:12.75, Y:389.82, Z:8.03 [[-6.78166522e-01 -7.34908022e-01 -6.07248736e-04 1.27493796e+01] [ 7.34907701e-01 -6.78166793e-01 6.87236217e-04 3.89822009e+02] [-9.16871336e-04 1.97888226e-05 9.99999580e-01 8.02857704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.482755096 meters 0.021010115241579898 Centerline is valid? [True, True] Translation: X:12.73, Y:389.84, Z:8.03 [[-6.76782642e-01 -7.36182522e-01 -7.41759664e-04 1.27275781e+01] [ 7.36182043e-01 -6.76783048e-01 8.40089616e-04 3.89839738e+02] [-1.12046966e-03 2.24879248e-05 9.99999372e-01 8.02850921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.512755096 meters 0.020281309398740125 Centerline is valid? [True, True] Translation: X:12.71, Y:389.86, Z:8.03 [[-6.76191588e-01 -7.36725360e-01 -8.24657975e-04 1.27079590e+01] [ 7.36724770e-01 -6.76192090e-01 9.33228800e-04 3.89859186e+02] [-1.24516052e-03 2.34955073e-05 9.99999225e-01 8.02848434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5427550960001 meters 0.01961979543759308 Centerline is valid? [True, True] Translation: X:12.69, Y:389.88, Z:8.03 [[-6.74722405e-01 -7.38071587e-01 -9.99995206e-05 1.26886636e+01] [ 7.38071578e-01 -6.74722412e-01 1.11599333e-04 3.89878677e+02] [-1.49840215e-04 1.49176636e-06 9.99999989e-01 8.02831733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.572755096 meters 0.019338652062992907 Centerline is valid? [True, True] Translation: X:12.67, Y:389.90, Z:8.03 [[-6.74161162e-01 -7.38584269e-01 -6.89439836e-05 1.26700822e+01] [ 7.38584266e-01 -6.74161166e-01 7.53511559e-05 3.89898249e+02] [-1.02132535e-04 -1.22118681e-07 9.99999995e-01 8.02812320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.602755096 meters 0.018730293775705644 Centerline is valid? [True, True] Translation: X:12.65, Y:389.92, Z:8.03 [[-6.73425810e-01 -7.39254813e-01 1.31275179e-05 1.26508449e+01] [ 7.39254813e-01 -6.73425810e-01 -1.77222955e-05 3.89917580e+02] [ 2.19417014e-05 -2.23007042e-06 1.00000000e+00 8.02825198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.632755096 meters 0.017826317170276888 Centerline is valid? [True, True] Translation: X:12.63, Y:389.94, Z:8.03 [[-6.71955787e-01 -7.40591264e-01 1.27508734e-05 1.26296342e+01] [ 7.40591264e-01 -6.71955787e-01 -1.73316925e-05 3.89935373e+02] [ 2.14037230e-05 -2.20294559e-06 1.00000000e+00 8.02800000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6627550960001 meters 0.017617362022369937 Centerline is valid? [True, True] Translation: X:12.61, Y:389.95, Z:8.03 [[-6.71355185e-01 -7.41135714e-01 2.62291263e-04 1.26108732e+01] [ 7.41135653e-01 -6.71355237e-01 -2.99763869e-04 3.89954324e+02] [ 3.98256322e-04 -6.85462156e-06 9.99999921e-01 8.02755659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.692755096 meters 0.017217369553603888 Centerline is valid? [True, True] Translation: X:12.59, Y:389.97, Z:8.03 [[-6.70365506e-01 -7.42030807e-01 6.08042142e-04 1.25919046e+01] [ 7.42030486e-01 -6.70365782e-01 -6.89714387e-04 3.89972189e+02] [ 9.19399969e-04 -1.11749281e-05 9.99999577e-01 8.02709932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.722755096 meters 0.017141446307764943 Centerline is valid? [True, True] Translation: X:12.57, Y:389.99, Z:8.03 [[-6.70305520e-01 -7.42085109e-01 4.49131744e-04 1.25735910e+01] [ 7.42084933e-01 -6.70305670e-01 -5.10299892e-04 3.89991876e+02] [ 6.79741505e-04 -8.76293379e-06 9.99999769e-01 8.02747199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.752755096 meters 0.01700797285571055 Centerline is valid? [True, True] Translation: X:12.55, Y:390.01, Z:8.03 [[-6.70494218e-01 -7.41914595e-01 4.87236104e-04 1.25548374e+01] [ 7.41914389e-01 -6.70494395e-01 -5.52996006e-04 3.90011822e+02] [ 7.36964885e-04 -9.29314827e-06 9.99999728e-01 8.02737378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7827550960001 meters 0.017084459556517058 Centerline is valid? [True, True] Translation: X:12.54, Y:390.03, Z:8.03 [[-6.70839055e-01 -7.41602747e-01 5.72522174e-04 1.25371165e+01] [ 7.41602464e-01 -6.70839299e-01 -6.48936494e-04 3.90031729e+02] [ 8.65323461e-04 -1.07480892e-05 9.99999626e-01 8.02758497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.812755096 meters 0.01730825430900998 Centerline is valid? [True, True] Translation: X:12.52, Y:390.05, Z:8.03 [[-6.71566336e-01 -7.40943891e-01 8.97975191e-04 1.25199611e+01] [ 7.40943195e-01 -6.71566937e-01 -1.01533797e-03 3.90051211e+02] [ 1.35535891e-03 -1.65181905e-05 9.99999081e-01 8.02704064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.842755096 meters 0.0175171385175622 Centerline is valid? [True, True] Translation: X:12.50, Y:390.07, Z:8.03 [[-6.72132831e-01 -7.40429999e-01 9.34844520e-04 1.25021578e+01] [ 7.40429246e-01 -6.72133481e-01 -1.05599716e-03 3.90071683e+02] [ 1.41023228e-03 -1.75841404e-05 9.99999006e-01 8.02715096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.872755096 meters 0.017464441799058452 Centerline is valid? [True, True] Translation: X:12.48, Y:390.09, Z:8.03 [[-6.73057519e-01 -7.39589249e-01 1.14878589e-03 1.24841448e+01] [ 7.39588113e-01 -6.73058499e-01 -1.29616301e-03 3.90092474e+02] [ 1.73182833e-03 -2.27638695e-05 9.99998500e-01 8.02669035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9027550960001 meters 0.018252535242077764 Centerline is valid? [True, True] Translation: X:12.47, Y:390.12, Z:8.03 [[-6.75249715e-01 -7.37588255e-01 1.17833123e-03 1.24677351e+01] [ 7.37587059e-01 -6.75250743e-01 -1.32826730e-03 3.90115139e+02] [ 1.77538340e-03 -2.77902456e-05 9.99998424e-01 8.02695444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.932755096 meters 0.018753199270646594 Centerline is valid? [True, True] Translation: X:12.45, Y:390.14, Z:8.03 [[-6.76541348e-01 -7.36403823e-01 1.10177230e-03 1.24503871e+01] [ 7.36402777e-01 -6.76542244e-01 -1.24154954e-03 3.90136732e+02] [ 1.65967733e-03 -2.86114191e-05 9.99998622e-01 8.02716152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.962755096 meters 0.019852375280879384 Centerline is valid? [True, True] Translation: X:12.43, Y:390.16, Z:8.03 [[-6.77803508e-01 -7.35242068e-01 1.22745678e-03 1.24347402e+01] [ 7.35240770e-01 -6.77804619e-01 -1.38197937e-03 3.90158294e+02] [ 1.84806525e-03 -3.42341994e-05 9.99998292e-01 8.02753738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.992755096 meters 0.020794850370462987 Centerline is valid? [True, True] Translation: X:12.42, Y:390.18, Z:8.03 [[-6.79430970e-01 -7.33738694e-01 1.04249615e-03 1.24188988e+01] [ 7.33737756e-01 -6.79431769e-01 -1.17323724e-03 3.90179528e+02] [ 1.56915456e-03 -3.22149283e-05 9.99998768e-01 8.02798443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.022755096 meters 0.01964211083930106 Centerline is valid? [True, True] Translation: X:12.40, Y:390.20, Z:8.03 [[-6.80047222e-01 -7.33167610e-01 1.01557370e-03 1.23990013e+01] [ 7.33166721e-01 -6.80047980e-01 -1.14226154e-03 3.90197942e+02] [ 1.52810801e-03 -3.22069472e-05 9.99998832e-01 8.02747675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.052755096 meters 0.020004660214760356 Centerline is valid? [True, True] Translation: X:12.38, Y:390.22, Z:8.03 [[-6.80529090e-01 -7.32719995e-01 1.25200005e-03 1.23817467e+01] [ 7.32718646e-01 -6.80530240e-01 -1.40658277e-03 3.90217556e+02] [ 1.88265521e-03 -3.98567070e-05 9.99998227e-01 8.02749181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.082755096 meters 0.020742059870216968 Centerline is valid? [True, True] Translation: X:12.36, Y:390.24, Z:8.03 [[-6.80167410e-01 -7.33053026e-01 2.35694250e-03 1.23647337e+01] [ 7.33048265e-01 -6.80171490e-01 -2.64302962e-03 3.90237965e+02] [ 3.54060595e-03 -6.99500055e-05 9.99993730e-01 8.02612955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.112755096 meters 0.020459914254580828 Centerline is valid? [True, True] Translation: X:12.35, Y:390.26, Z:8.03 [[-6.79756854e-01 -7.33431597e-01 2.95160259e-03 1.23460529e+01] [ 7.33424144e-01 -6.79763257e-01 -3.30759602e-03 3.90257441e+02] [ 4.43228642e-03 -8.35844613e-05 9.99990174e-01 8.02511351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.142755096 meters 0.0191673126088396 Centerline is valid? [True, True] Translation: X:12.33, Y:390.28, Z:8.02 [[-6.79275455e-01 -7.33875219e-01 3.46690531e-03 1.23258663e+01] [ 7.33864958e-01 -6.79284296e-01 -3.88183256e-03 3.90275410e+02] [ 5.20379505e-03 -9.25932598e-05 9.99986456e-01 8.02455593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1727550960001 meters 0.018388347136019566 Centerline is valid? [True, True] Translation: X:12.31, Y:390.29, Z:8.02 [[-6.77515429e-01 -7.35495089e-01 4.45178165e-03 1.23051156e+01] [ 7.35478233e-01 -6.77530047e-01 -4.98034526e-03 3.90294294e+02] [ 6.67923531e-03 -1.00072253e-04 9.99977689e-01 8.02362473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.202755096 meters 0.01829271494037291 Centerline is valid? [True, True] Translation: X:12.29, Y:390.31, Z:8.02 [[-6.76801475e-01 -7.36149125e-01 4.92236666e-03 1.22861716e+01] [ 7.36128561e-01 -6.76819367e-01 -5.50321690e-03 3.90313109e+02] [ 7.38274139e-03 -1.01090630e-04 9.99972742e-01 8.02320721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.232755096 meters 0.017658090137435217 Centerline is valid? [True, True] Translation: X:12.26, Y:390.33, Z:8.02 [[-6.75754314e-01 -7.37105423e-01 5.63047912e-03 1.22640315e+01] [ 7.37078585e-01 -6.75777763e-01 -6.29078741e-03 3.90330447e+02] [ 8.44192610e-03 -1.00921148e-04 9.99964361e-01 8.02272974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.262755096 meters 0.01765166082356149 Centerline is valid? [True, True] Translation: X:12.24, Y:390.35, Z:8.02 [[-6.75519032e-01 -7.37318696e-01 5.93105924e-03 1.22442422e+01] [ 7.37288967e-01 -6.75545062e-01 -6.62183826e-03 3.90349745e+02] [ 8.88910294e-03 -1.00273231e-04 9.99960486e-01 8.02280226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2927550960001 meters 0.017610525920894994 Centerline is valid? [True, True] Translation: X:12.23, Y:390.37, Z:8.02 [[-6.75680189e-01 -7.37170295e-01 6.01979833e-03 1.22255289e+01] [ 7.37139708e-01 -6.75706997e-01 -6.71600121e-03 3.90367847e+02] [ 9.01845645e-03 -1.00436585e-04 9.99959328e-01 8.02324999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.322755096 meters 0.017757458634109005 Centerline is valid? [True, True] Translation: X:12.21, Y:390.39, Z:8.02 [[-6.75774076e-01 -7.37084834e-01 5.94524484e-03 1.22068355e+01] [ 7.37055043e-01 -6.75800221e-01 -6.62768796e-03 3.90385305e+02] [ 8.90296605e-03 -9.68470153e-05 9.99960363e-01 8.02425743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.352755096 meters 0.0178895150050273 Centerline is valid? [True, True] Translation: X:12.19, Y:390.40, Z:8.02 [[-6.76151783e-01 -7.36737613e-01 6.03796491e-03 1.21885188e+01] [ 7.36706919e-01 -6.76178734e-01 -6.72574213e-03 3.90403989e+02] [ 9.03785066e-03 -9.94120045e-05 9.99959153e-01 8.02497189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.382755096 meters 0.01815179808388687 Centerline is valid? [True, True] Translation: X:12.17, Y:390.42, Z:8.03 [[-6.76585684e-01 -7.36337598e-01 6.22530545e-03 1.21700380e+01] [ 7.36305003e-01 -6.76614315e-01 -6.92911039e-03 3.90423312e+02] [ 9.31429528e-03 -1.04413345e-04 9.99956616e-01 8.02505879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4127550960001 meters 0.018728230817392957 Centerline is valid? [True, True] Translation: X:12.15, Y:390.44, Z:8.02 [[-6.77491012e-01 -7.35500905e-01 6.65940302e-03 1.21520055e+01] [ 7.35463617e-01 -6.77523729e-01 -7.40705746e-03 3.90441515e+02] [ 9.95980103e-03 -1.20466224e-04 9.99950393e-01 8.02448967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.442755096 meters 0.019000715006711334 Centerline is valid? [True, True] Translation: X:12.13, Y:390.46, Z:8.02 [[-6.78280792e-01 -7.34770949e-01 6.84258556e-03 1.21336135e+01] [ 7.34731596e-01 -6.78315292e-01 -7.60570348e-03 3.90461009e+02] [ 1.02298804e-02 -1.31338770e-04 9.99947665e-01 8.02429871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.472755096 meters 0.020133155949009312 Centerline is valid? [True, True] Translation: X:12.12, Y:390.48, Z:8.02 [[-6.80296270e-01 -7.32897497e-01 7.63175704e-03 1.21157280e+01] [ 7.32848496e-01 -6.80339054e-01 -8.47665740e-03 3.90481410e+02] [ 1.14047034e-02 -1.73716742e-04 9.99934949e-01 8.02344256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.502755096 meters 0.020009260887691633 Centerline is valid? [True, True] Translation: X:12.10, Y:390.50, Z:8.02 [[-6.81721491e-01 -7.31568415e-01 7.96637524e-03 1.20962694e+01] [ 7.31515000e-01 -6.81768006e-01 -8.84254025e-03 3.90501213e+02] [ 1.19001429e-02 -2.00626739e-04 9.99929171e-01 8.02379776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5327550960001 meters 0.020493367659071435 Centerline is valid? [True, True] Translation: X:12.08, Y:390.52, Z:8.02 [[-6.83128013e-01 -7.30249696e-01 8.45575217e-03 1.20777399e+01] [ 7.30189492e-01 -6.83180304e-01 -9.37969146e-03 3.90522662e+02] [ 1.26263202e-02 -2.33228611e-04 9.99920258e-01 8.02383284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.562755096 meters 0.02241331832761625 Centerline is valid? [True, True] Translation: X:12.06, Y:390.55, Z:8.02 [[-6.86140340e-01 -7.27415680e-01 8.82402631e-03 1.20622161e+01] [ 7.27349967e-01 -6.86197015e-01 -9.78173019e-03 3.90545330e+02] [ 1.31704044e-02 -2.93484427e-04 9.99913223e-01 8.02354399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.592755096 meters 0.023052313418716112 Centerline is valid? [True, True] Translation: X:12.04, Y:390.57, Z:8.02 [[-6.87437689e-01 -7.26187958e-01 8.97070821e-03 1.20449730e+01] [ 7.26120029e-01 -6.87496145e-01 -9.93751349e-03 3.90566402e+02] [ 1.33838299e-02 -3.17610402e-04 9.99910382e-01 8.02386624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.622755096 meters 0.02573930549355221 Centerline is valid? [True, True] Translation: X:12.03, Y:390.59, Z:8.02 [[-6.88388385e-01 -7.25284216e-01 9.17807445e-03 1.20305885e+01] [ 7.25213130e-01 -6.88449484e-01 -1.01599241e-02 3.90588766e+02] [ 1.36874732e-02 -3.37913671e-04 9.99906265e-01 8.02323439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6527550960001 meters 0.02331323313056708 Centerline is valid? [True, True] Translation: X:12.01, Y:390.61, Z:8.03 [[-6.89095900e-01 -7.24617246e-01 8.75712826e-03 1.20088315e+01] [ 7.24552566e-01 -6.89151462e-01 -9.68718392e-03 3.90606113e+02] [ 1.30544883e-02 -3.30398968e-04 9.99914732e-01 8.02530379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.682755096 meters 0.023437151319094567 Centerline is valid? [True, True] Translation: X:11.99, Y:390.63, Z:8.03 [[-6.89310572e-01 -7.24413753e-01 8.69772645e-03 1.19897720e+01] [ 7.24350018e-01 -6.89365366e-01 -9.61475718e-03 3.90625013e+02] [ 1.29609737e-02 -3.27355461e-04 9.99915950e-01 8.02557404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.712755096 meters 0.023539385359297817 Centerline is valid? [True, True] Translation: X:11.97, Y:390.64, Z:8.02 [[-6.89250507e-01 -7.24473682e-01 8.46299169e-03 1.19715904e+01] [ 7.24413430e-01 -6.89302391e-01 -9.34863621e-03 3.90643815e+02] [ 1.26064013e-02 -3.12847409e-04 9.99920487e-01 8.02496324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.742755096 meters 0.02334015472286341 Centerline is valid? [True, True] Translation: X:11.95, Y:390.66, Z:8.02 [[-6.88236195e-01 -7.25428862e-01 9.16005582e-03 1.19532209e+01] [ 7.25358453e-01 -6.88297078e-01 -1.01117588e-02 3.90661599e+02] [ 1.36402013e-02 -3.14954484e-04 9.99906919e-01 8.02352857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.772755096 meters 0.023109162617500224 Centerline is valid? [True, True] Translation: X:11.94, Y:390.68, Z:8.02 [[-6.87843688e-01 -7.25794753e-01 9.64561378e-03 1.19351125e+01] [ 7.25716826e-01 -6.87911241e-01 -1.06401772e-02 3.90680445e+02] [ 1.43579109e-02 -3.18794505e-04 9.99896869e-01 8.02303997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.802755096 meters 0.02283247608316923 Centerline is valid? [True, True] Translation: X:11.92, Y:390.70, Z:8.02 [[-6.87274403e-01 -7.26332004e-01 9.78342210e-03 1.19166747e+01] [ 7.26252008e-01 -6.87343965e-01 -1.07840326e-02 3.90699572e+02] [ 1.45573642e-02 -3.06359656e-04 9.99893989e-01 8.02276354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.832755096 meters 0.02212033085088033 Centerline is valid? [True, True] Translation: X:11.90, Y:390.72, Z:8.02 [[-6.85942255e-01 -7.27593429e-01 9.54075095e-03 1.18971688e+01] [ 7.27517577e-01 -6.86008550e-01 -1.05092521e-02 3.90718023e+02] [ 1.41914995e-02 -2.67676075e-04 9.99899260e-01 8.02215689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.862755096 meters 0.020945920096644036 Centerline is valid? [True, True] Translation: X:11.88, Y:390.74, Z:8.02 [[-6.85227681e-01 -7.28266651e-01 9.52421915e-03 1.18765080e+01] [ 7.28191228e-01 -6.85293823e-01 -1.04838596e-02 3.90736495e+02] [ 1.41619339e-02 -2.48377976e-04 9.99899684e-01 8.02259474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.892755096 meters 0.020421960416405826 Centerline is valid? [True, True] Translation: X:11.86, Y:390.76, Z:8.02 [[-6.84597619e-01 -7.28855584e-01 9.77944829e-03 1.18569050e+01] [ 7.28776236e-01 -6.84667424e-01 -1.07571750e-02 3.90755062e+02] [ 1.45360967e-02 -2.37306853e-04 9.99894317e-01 8.02249136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9227550960001 meters 0.019488636776907462 Centerline is valid? [True, True] Translation: X:11.84, Y:390.77, Z:8.02 [[-6.83218192e-01 -7.30137474e-01 1.05910913e-02 1.18360161e+01] [ 7.30044697e-01 -6.83300242e-01 -1.16413254e-02 3.90773475e+02] [ 1.57366632e-02 -2.21595201e-04 9.99876147e-01 8.02191881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.952755096 meters 0.019848949436374268 Centerline is valid? [True, True] Translation: X:11.82, Y:390.79, Z:8.02 [[-6.83021755e-01 -7.30316372e-01 1.09215297e-02 1.18187369e+01] [ 7.30217860e-01 -6.83109032e-01 -1.19970228e-02 3.90793061e+02] [ 1.62222178e-02 -2.19131508e-04 9.99868387e-01 8.02065691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.982755096 meters 0.020401600897752704 Centerline is valid? [True, True] Translation: X:11.80, Y:390.81, Z:8.02 [[-6.82816929e-01 -7.30495956e-01 1.16918682e-02 1.18024098e+01] [ 7.30383247e-01 -6.82916985e-01 -1.28336888e-02 3.90812325e+02] [ 1.73595331e-02 -2.23515304e-04 9.99849287e-01 8.01841499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.012755096 meters 0.020401600897752704 Centerline is valid? [True, True] Translation: X:11.78, Y:390.83, Z:8.02 [[-6.83081234e-01 -7.30248736e-01 1.16966638e-02 1.17847338e+01] [ 7.30136066e-01 -6.83181333e-01 -1.28293176e-02 3.90831312e+02] [ 1.73595354e-02 -2.23310014e-04 9.99849287e-01 8.01855273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0427550960001 meters 0.019754569441810647 Centerline is valid? [True, True] Translation: X:11.77, Y:390.85, Z:8.02 [[-6.83306950e-01 -7.30023729e-01 1.25286444e-02 1.17650744e+01] [ 7.29894607e-01 -6.83421757e-01 -1.37319128e-02 3.90850232e+02] [ 1.85869704e-02 -2.38521489e-04 9.99827219e-01 8.01946398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.072755096 meters 0.02093607227766071 Centerline is valid? [True, True] Translation: X:11.75, Y:390.87, Z:8.02 [[-6.83372168e-01 -7.29955235e-01 1.29551146e-02 1.17487388e+01] [ 7.29817359e-01 -6.83494913e-01 -1.41889448e-02 3.90871349e+02] [ 1.92120495e-02 -2.41462414e-04 9.99815402e-01 8.01640034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.102755096 meters 0.020493693741752857 Centerline is valid? [True, True] Translation: X:11.73, Y:390.89, Z:8.02 [[-6.83793013e-01 -7.29542781e-01 1.39444041e-02 1.17299001e+01] [ 7.29383178e-01 -6.83935129e-01 -1.52617038e-02 3.90890566e+02] [ 2.06711337e-02 -2.65032671e-04 9.99786294e-01 8.01716567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.132755096 meters 0.020049688338722362 Centerline is valid? [True, True] Translation: X:11.71, Y:390.91, Z:8.02 [[-6.84415385e-01 -7.28957179e-01 1.40361004e-02 1.17107673e+01] [ 7.28795571e-01 -6.84559241e-01 -1.53512934e-02 3.90909761e+02] [ 2.07989778e-02 -2.77213629e-04 9.99783639e-01 8.01927248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1627550960001 meters 0.02006181216116566 Centerline is valid? [True, True] Translation: X:11.69, Y:390.93, Z:8.02 [[-6.84993866e-01 -7.28415618e-01 1.39316822e-02 1.16923827e+01] [ 7.28256515e-01 -6.85135466e-01 -1.52263131e-02 3.90929399e+02] [ 2.06361738e-02 -2.84092716e-04 9.99787011e-01 8.01976201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.192755096 meters 0.022111747908887074 Centerline is valid? [True, True] Translation: X:11.68, Y:390.95, Z:8.02 [[-6.85801534e-01 -7.27661696e-01 1.35908676e-02 1.16765616e+01] [ 7.27510353e-01 -6.85936128e-01 -1.48430129e-02 3.90950746e+02] [ 2.01231590e-02 -2.91864119e-04 9.99797466e-01 8.01790436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.222755096 meters 0.020281881360370933 Centerline is valid? [True, True] Translation: X:11.66, Y:390.97, Z:8.02 [[-6.86316632e-01 -7.27179786e-01 1.33805694e-02 1.16556984e+01] [ 7.27033206e-01 -6.86446992e-01 -1.46029328e-02 3.90968017e+02] [ 1.98040092e-02 -2.94117375e-04 9.99803838e-01 8.02213135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.252755096 meters 0.020730563293748745 Centerline is valid? [True, True] Translation: X:11.64, Y:390.99, Z:8.02 [[-6.86667896e-01 -7.26840750e-01 1.37740551e-02 1.16377218e+01] [ 7.26685535e-01 -6.86805962e-01 -1.50234634e-02 3.90987155e+02] [ 2.03797686e-02 -3.06723381e-04 9.99792264e-01 8.02278348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2827550960001 meters 0.020297442969184603 Centerline is valid? [True, True] Translation: X:11.62, Y:391.01, Z:8.02 [[-6.86861432e-01 -7.26650428e-01 1.41608052e-02 1.16180885e+01] [ 7.26486552e-01 -6.87007320e-01 -1.54348048e-02 3.91006289e+02] [ 2.09442844e-02 -3.13937560e-04 9.99780595e-01 8.02381519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.312755096 meters 0.02028593563035029 Centerline is valid? [True, True] Translation: X:11.60, Y:391.03, Z:8.02 [[-6.86927313e-01 -7.26579199e-01 1.46128477e-02 1.15990832e+01] [ 7.26404926e-01 -6.87082649e-01 -1.59159250e-02 3.91026189e+02] [ 2.16044142e-02 -3.18239068e-04 9.99766547e-01 8.02370773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.342755096 meters 0.020430541113717688 Centerline is valid? [True, True] Translation: X:11.58, Y:391.05, Z:8.02 [[-6.86517318e-01 -7.26954112e-01 1.52213873e-02 1.15798236e+01] [ 7.26765383e-01 -6.86685970e-01 -1.65667050e-02 3.91045181e+02] [ 2.24955474e-02 -3.10952517e-04 9.99746895e-01 8.02347962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.372755096 meters 0.02109990580854496 Centerline is valid? [True, True] Translation: X:11.56, Y:391.06, Z:8.02 [[-6.86260495e-01 -7.27187251e-01 1.56599848e-02 1.15618945e+01] [ 7.26987843e-01 -6.86439080e-01 -1.70313337e-02 3.91063777e+02] [ 2.31345943e-02 -3.03312970e-04 9.99732313e-01 8.02162835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4027550960001 meters 0.02073933408540076 Centerline is valid? [True, True] Translation: X:11.54, Y:391.08, Z:8.02 [[-6.85687041e-01 -7.27724545e-01 1.58199131e-02 1.15417241e+01] [ 7.27521493e-01 -6.85869455e-01 -1.71920956e-02 3.91081358e+02] [ 2.33615052e-02 -2.79070355e-04 9.99727044e-01 8.02173625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.432755096 meters 0.02022033358478673 Centerline is valid? [True, True] Translation: X:11.52, Y:391.10, Z:8.02 [[-6.85119650e-01 -7.28252717e-01 1.60948659e-02 1.15209909e+01] [ 7.28042995e-01 -6.85308627e-01 -1.74780700e-02 3.91099236e+02] [ 2.37584024e-02 -2.56814869e-04 9.99717696e-01 8.02259191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.462755096 meters 0.020098555853039168 Centerline is valid? [True, True] Translation: X:11.50, Y:391.12, Z:8.02 [[-6.84155058e-01 -7.29158301e-01 1.61254293e-02 1.14993436e+01] [ 7.28948333e-01 -6.84345034e-01 -1.74986262e-02 3.91116960e+02] [ 2.37946260e-02 -2.17168783e-04 9.99716844e-01 8.02214794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.492755096 meters 0.020123271357419825 Centerline is valid? [True, True] Translation: X:11.48, Y:391.14, Z:8.02 [[-6.83885699e-01 -7.29409034e-01 1.62114461e-02 1.14795338e+01] [ 7.29197193e-01 -6.84077788e-01 -1.75793388e-02 3.91136242e+02] [ 2.39124187e-02 -2.00917468e-04 9.99714037e-01 8.02204986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.522755096 meters 0.02016908804027876 Centerline is valid? [True, True] Translation: X:11.46, Y:391.16, Z:8.02 [[-6.83659004e-01 -7.29616306e-01 1.64442475e-02 1.14607926e+01] [ 7.29398717e-01 -6.83856719e-01 -1.78185325e-02 3.91155112e+02] [ 2.42462010e-02 -1.87387154e-04 9.99706000e-01 8.02129275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.552755096 meters 0.020071155871153504 Centerline is valid? [True, True] Translation: X:11.44, Y:391.17, Z:8.02 [[-6.83380991e-01 -7.29896338e-01 1.55485444e-02 1.14406370e+01] [ 7.29702155e-01 -6.83557833e-01 -1.68360929e-02 3.91173569e+02] [ 2.29169319e-02 -1.59659544e-04 9.99737360e-01 8.02281536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.582755096 meters 0.019944427507886126 Centerline is valid? [True, True] Translation: X:11.42, Y:391.19, Z:8.02 [[-6.83483445e-01 -7.29815241e-01 1.48355920e-02 1.14211256e+01] [ 7.29638686e-01 -6.83644419e-01 -1.60529067e-02 3.91192695e+02] [ 2.18579256e-02 -1.47274129e-04 9.99761076e-01 8.02340286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.612755096 meters 0.019820257060777176 Centerline is valid? [True, True] Translation: X:11.40, Y:391.21, Z:8.02 [[-6.84211295e-01 -7.29147732e-01 1.40885715e-02 1.14009360e+01] [ 7.28988593e-01 -6.84356312e-01 -1.52338558e-02 3.91211079e+02] [ 2.07493342e-02 -1.52768340e-04 9.99784698e-01 8.02387087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.642755096 meters 0.01995828229122192 Centerline is valid? [True, True] Translation: X:11.38, Y:391.23, Z:8.02 [[-6.84775007e-01 -7.28629634e-01 1.34924647e-02 1.13827325e+01] [ 7.28483789e-01 -6.84907901e-01 -1.45786116e-02 3.91230172e+02] [ 1.98635041e-02 -1.54027039e-04 9.99802689e-01 8.02367086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6727550960001 meters 0.0200468144263763 Centerline is valid? [True, True] Translation: X:11.36, Y:391.25, Z:8.02 [[-6.85721524e-01 -7.27747809e-01 1.30045194e-02 1.13642524e+01] [ 7.27612356e-01 -6.85844807e-01 -1.40414062e-02 3.91249785e+02] [ 1.91376847e-02 -1.66245424e-04 9.99816844e-01 8.02383533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.702755096 meters 0.02023416126492124 Centerline is valid? [True, True] Translation: X:11.35, Y:391.27, Z:8.02 [[-6.86367879e-01 -7.27151803e-01 1.22225155e-02 1.13462944e+01] [ 7.27032227e-01 -6.86476677e-01 -1.31876062e-02 3.91269560e+02] [ 1.79798635e-02 -1.65386622e-04 9.99838336e-01 8.02430217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.732755096 meters 0.020485992657647212 Centerline is valid? [True, True] Translation: X:11.33, Y:391.29, Z:8.03 [[-6.88157721e-01 -7.25478076e-01 1.09778294e-02 1.13294247e+01] [ 7.25381534e-01 -6.88245253e-01 -1.18364659e-02 3.91290463e+02] [ 1.61425355e-02 -1.82240677e-04 9.99869684e-01 8.02533194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.762755096 meters 0.020984047559389114 Centerline is valid? [True, True] Translation: X:11.31, Y:391.31, Z:8.03 [[-6.89413544e-01 -7.24291383e-01 1.05336580e-02 1.13121521e+01] [ 7.24202461e-01 -6.89493984e-01 -1.13508734e-02 3.91310836e+02] [ 1.54842336e-02 -1.96944835e-04 9.99880093e-01 8.02528342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7927550960001 meters 0.021454053144839346 Centerline is valid? [True, True] Translation: X:11.30, Y:391.33, Z:8.03 [[-6.90936708e-01 -7.22852767e-01 9.50485840e-03 1.12953252e+01] [ 7.22780318e-01 -6.91002052e-01 -1.02359757e-02 3.91332449e+02] [ 1.39669800e-02 -2.02486782e-04 9.99902437e-01 8.02567315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.822755096 meters 0.021769890735281187 Centerline is valid? [True, True] Translation: X:11.28, Y:391.35, Z:8.03 [[-6.91864965e-01 -7.21975185e-01 8.64312361e-03 1.12788913e+01] [ 7.21915295e-01 -6.91918922e-01 -9.30119611e-03 3.91352120e+02] [ 1.26955735e-02 -1.95568590e-04 9.99919389e-01 8.02604956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.852755096 meters 0.021759946653886836 Centerline is valid? [True, True] Translation: X:11.26, Y:391.37, Z:8.03 [[-6.92620039e-01 -7.21261045e-01 7.74513596e-03 1.12606307e+01] [ 7.21212976e-01 -6.92663318e-01 -8.32894466e-03 3.91372308e+02] [ 1.13721149e-02 -1.82901419e-04 9.99935319e-01 8.02694506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.882755096 meters 0.022604293481234976 Centerline is valid? [True, True] Translation: X:11.25, Y:391.39, Z:8.03 [[-6.93780622e-01 -7.20156146e-01 6.60112502e-03 1.12453320e+01] [ 7.20121224e-01 -6.93812005e-01 -7.09403355e-03 3.91393432e+02] [ 9.68875164e-03 -1.68092781e-04 9.99953049e-01 8.02747209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9127550960001 meters 0.021823477622863588 Centerline is valid? [True, True] Translation: X:11.23, Y:391.41, Z:8.03 [[-6.94316237e-01 -7.19644151e-01 6.10399173e-03 1.12252432e+01] [ 7.19614312e-01 -6.94343050e-01 -6.55521418e-03 3.91412401e+02] [ 8.95568578e-03 -1.58871838e-04 9.99959884e-01 8.02806646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.942755096 meters 0.0227829876926082 Centerline is valid? [True, True] Translation: X:11.21, Y:391.43, Z:8.03 [[-6.95191007e-01 -7.18806407e-01 5.17807846e-03 1.12095823e+01] [ 7.18784939e-01 -6.95210277e-01 -5.55720546e-03 3.91433760e+02] [ 7.59440825e-03 -1.41394447e-04 9.99971152e-01 8.02880496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.972755096 meters 0.022297260977910613 Centerline is valid? [True, True] Translation: X:11.19, Y:391.45, Z:8.03 [[-6.95832498e-01 -7.18191860e-01 4.19360356e-03 1.11903263e+01] [ 7.18177786e-01 -6.95845125e-01 -4.49782793e-03 3.91452797e+02] [ 6.14840200e-03 -1.17981930e-04 9.99981091e-01 8.02963448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.002755096 meters 0.02325120736935666 Centerline is valid? [True, True] Translation: X:11.17, Y:391.47, Z:8.03 [[-6.96344230e-01 -7.17697953e-01 3.78970787e-03 1.11744174e+01] [ 7.17686466e-01 -6.96354534e-01 -4.06197003e-03 3.91473655e+02] [ 5.55424783e-03 -1.08707346e-04 9.99984569e-01 8.03031342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0327550960001 meters 0.023412509351659536 Centerline is valid? [True, True] Translation: X:11.16, Y:391.49, Z:8.03 [[-6.96659254e-01 -7.17395331e-01 3.13407191e-03 1.11577816e+01] [ 7.17387482e-01 -6.96666298e-01 -3.35712445e-03 3.91493153e+02] [ 4.59178768e-03 -9.04278631e-05 9.99989454e-01 8.03124444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.062755096 meters 0.022749015154403668 Centerline is valid? [True, True] Translation: X:11.14, Y:391.51, Z:8.03 [[-6.97065420e-01 -7.17005459e-01 1.72387169e-03 1.11374190e+01] [ 7.17003082e-01 -6.97067550e-01 -1.84674599e-03 3.91511984e+02] [ 2.52578197e-03 -5.12814568e-05 9.99996809e-01 8.03253058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.092755096 meters 0.022977881337802906 Centerline is valid? [True, True] Translation: X:11.12, Y:391.53, Z:8.03 [[-6.97294045e-01 -7.16784471e-01 1.01859783e-03 1.11191328e+01] [ 7.16783640e-01 -6.97294788e-01 -1.09165671e-03 3.91531344e+02] [ 1.49274554e-03 -3.10914617e-05 9.99998885e-01 8.03336165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.122755096 meters 0.024150861204648842 Centerline is valid? [True, True] Translation: X:11.10, Y:391.55, Z:8.03 [[-6.97502138e-01 -7.16582678e-01 1.81976238e-04 1.11020216e+01] [ 7.16582651e-01 -6.97502162e-01 -1.96517686e-04 3.91551648e+02] [ 2.67749989e-04 -6.67049073e-06 9.99999964e-01 8.03431569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1527550960001 meters 0.023411393058959683 Centerline is valid? [True, True] Translation: X:11.08, Y:391.57, Z:8.03 [[-6.97959819e-01 -7.16136902e-01 -1.69932812e-04 1.10813941e+01] [ 7.16136879e-01 -6.97959840e-01 1.78694999e-04 3.91570122e+02] [-2.46576361e-04 3.02677586e-06 9.99999970e-01 8.03400117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.182755096 meters 0.02356958865023631 Centerline is valid? [True, True] Translation: X:11.06, Y:391.59, Z:8.03 [[-6.98223577e-01 -7.15879728e-01 -2.25829892e-04 1.10619290e+01] [ 7.15879689e-01 -6.98223614e-01 2.38215455e-04 3.91589926e+02] [-3.28213379e-04 4.66061444e-06 9.99999946e-01 8.03354624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.212755096 meters 0.02390357306614354 Centerline is valid? [True, True] Translation: X:11.04, Y:391.61, Z:8.03 [[-6.98720989e-01 -7.15394174e-01 -3.94265684e-04 1.10422670e+01] [ 7.15394052e-01 -6.98721100e-01 4.17625640e-04 3.91608720e+02] [-5.74248702e-04 9.74847538e-06 9.99999835e-01 8.03270120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.242755096 meters 0.024172035766569993 Centerline is valid? [True, True] Translation: X:11.02, Y:391.63, Z:8.03 [[-6.99147222e-01 -7.14977051e-01 -9.89463812e-04 1.10245685e+01] [ 7.14976279e-01 -6.99147922e-01 1.05088032e-03 3.91627442e+02] [-1.44313688e-03 2.72769046e-05 9.99998958e-01 8.03321934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.272755096 meters 0.02431797029414467 Centerline is valid? [True, True] Translation: X:11.01, Y:391.65, Z:8.03 [[-6.99829309e-01 -7.14308540e-01 -1.49945495e-03 1.10059797e+01] [ 7.14306765e-01 -6.99830914e-01 1.59304277e-03 3.91646350e+02] [-2.18728898e-03 4.37872117e-05 9.99997607e-01 8.03402159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.302755096 meters 0.024229880759625937 Centerline is valid? [True, True] Translation: X:10.98, Y:391.66, Z:8.03 [[-7.00146894e-01 -7.13996439e-01 -1.84713626e-03 1.09846912e+01] [ 7.13993746e-01 -7.00149328e-01 1.96198737e-03 3.91664228e+02] [-2.69412321e-03 5.48356259e-05 9.99996369e-01 8.03412604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.332755096 meters 0.02402128350753543 Centerline is valid? [True, True] Translation: X:10.96, Y:391.68, Z:8.03 [[-7.00176290e-01 -7.13965699e-01 -2.47881999e-03 1.09646503e+01] [ 7.13960851e-01 -7.00180674e-01 2.63199528e-03 3.91682802e+02] [-3.61477621e-03 7.30802619e-05 9.99993464e-01 8.03479462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.362755096 meters 0.024812113768127034 Centerline is valid? [True, True] Translation: X:10.95, Y:391.70, Z:8.04 [[-7.00056974e-01 -7.14083191e-01 -2.33012695e-03 1.09466699e+01] [ 7.14078915e-01 -7.00060849e-01 2.47199500e-03 3.91702220e+02] [-3.39644073e-03 6.66428140e-05 9.99994230e-01 8.03595928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.392755096 meters 0.02452042647681003 Centerline is valid? [True, True] Translation: X:10.93, Y:391.72, Z:8.04 [[-6.99263128e-01 -7.14857372e-01 -3.16462663e-03 1.09267135e+01] [ 7.14849495e-01 -6.99270284e-01 3.35692499e-03 3.91718725e+02] [-4.61265194e-03 8.51421205e-05 9.99989358e-01 8.03697783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4227550960001 meters 0.02372477067360071 Centerline is valid? [True, True] Translation: X:10.91, Y:391.74, Z:8.04 [[-6.98985729e-01 -7.15129920e-01 -2.85459783e-03 1.09057884e+01] [ 7.15123526e-01 -6.98991554e-01 3.02483657e-03 3.91735889e+02] [-4.15849091e-03 7.29275256e-05 9.99991351e-01 8.03614694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.452755096 meters 0.024010185798487845 Centerline is valid? [True, True] Translation: X:10.89, Y:391.75, Z:8.04 [[-6.98010551e-01 -7.16083398e-01 -2.41617168e-03 1.08859012e+01] [ 7.16078831e-01 -6.98014731e-01 2.55813335e-03 3.91753525e+02] [-3.51836025e-03 5.54346807e-05 9.99993809e-01 8.03663645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.482755096 meters 0.02359018619251338 Centerline is valid? [True, True] Translation: X:10.87, Y:391.77, Z:8.04 [[-6.97702475e-01 -7.16383819e-01 -2.34092740e-03 1.08656277e+01] [ 7.16379540e-01 -6.97706400e-01 2.47653021e-03 3.91771014e+02] [-3.40742620e-03 5.08887677e-05 9.99994193e-01 8.03617979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.512755096 meters 0.023533327214786143 Centerline is valid? [True, True] Translation: X:10.85, Y:391.79, Z:8.04 [[-6.97322606e-01 -7.16754426e-01 -2.06783400e-03 1.08464563e+01] [ 7.16751095e-01 -6.97325671e-01 2.18550424e-03 3.91787850e+02] [-3.00842357e-03 4.18792290e-05 9.99995474e-01 8.03628656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5427550960001 meters 0.02290853864519295 Centerline is valid? [True, True] Translation: X:10.83, Y:391.80, Z:8.04 [[-6.96762774e-01 -7.17297477e-01 -2.44246124e-03 1.08257746e+01] [ 7.17292838e-01 -6.96767054e-01 2.58011340e-03 3.91804537e+02] [-3.55253536e-03 4.57670145e-05 9.99993689e-01 8.03588384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.572755096 meters 0.023123790740973843 Centerline is valid? [True, True] Translation: X:10.81, Y:391.82, Z:8.04 [[-6.95894554e-01 -7.18137611e-01 -3.02338146e-03 1.08055432e+01] [ 7.18130520e-01 -6.95901120e-01 3.19185841e-03 3.91820514e+02] [-4.39616811e-03 5.00143839e-05 9.99990336e-01 8.03822898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.602755096 meters 0.022476025362783248 Centerline is valid? [True, True] Translation: X:10.78, Y:391.84, Z:8.04 [[-6.95624568e-01 -7.18394507e-01 -3.97398048e-03 1.07835701e+01] [ 7.18382269e-01 -6.95635917e-01 4.19376650e-03 3.91837242e+02] [-5.77722238e-03 6.24498955e-05 9.99983310e-01 8.03791408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.632755096 meters 0.022296561219980332 Centerline is valid? [True, True] Translation: X:10.76, Y:391.85, Z:8.04 [[-6.94697862e-01 -7.19286959e-01 -4.59906701e-03 1.07614071e+01] [ 7.19270612e-01 -6.94713082e-01 4.84973281e-03 3.91852756e+02] [-6.68338159e-03 6.11252667e-05 9.99977664e-01 8.03918847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6627550960001 meters 0.02226277277207418 Centerline is valid? [True, True] Translation: X:10.74, Y:391.87, Z:8.04 [[-6.94464779e-01 -7.19511746e-01 -4.63888032e-03 1.07423535e+01] [ 7.19495147e-01 -6.94480270e-01 4.88764245e-03 3.91869809e+02] [-6.73832701e-03 5.66436511e-05 9.99977296e-01 8.03974616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.692755096 meters 0.022331510533376838 Centerline is valid? [True, True] Translation: X:10.72, Y:391.89, Z:8.04 [[-6.94299890e-01 -7.19670860e-01 -4.63860690e-03 1.07236832e+01] [ 7.19654293e-01 -6.94315383e-01 4.88346735e-03 3.91886876e+02] [-6.73514527e-03 5.23974716e-05 9.99977317e-01 8.04060615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.722755096 meters 0.022191762151765732 Centerline is valid? [True, True] Translation: X:10.70, Y:391.90, Z:8.04 [[-6.93239985e-01 -7.20690581e-01 -4.83835848e-03 1.07013965e+01] [ 7.20672606e-01 -6.93256868e-01 5.09025392e-03 3.91902738e+02] [-7.02272330e-03 4.18951389e-05 9.99975340e-01 8.04086655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.752755096 meters 0.022076217845629346 Centerline is valid? [True, True] Translation: X:10.68, Y:391.92, Z:8.04 [[-6.92767645e-01 -7.21146360e-01 -4.57360155e-03 1.06807225e+01] [ 7.21130333e-01 -6.92782741e-01 4.80790392e-03 3.91919794e+02] [-6.63571463e-03 3.25974671e-05 9.99977983e-01 8.04063318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7827550960001 meters 0.02203819928198548 Centerline is valid? [True, True] Translation: X:10.66, Y:391.94, Z:8.04 [[-6.92160379e-01 -7.21728737e-01 -4.65190245e-03 1.06600995e+01] [ 7.21712195e-01 -6.92176010e-01 4.88660678e-03 3.91936547e+02] [-6.74673982e-03 2.49808697e-05 9.99977240e-01 8.04060035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.812755096 meters 0.02188537979630613 Centerline is valid? [True, True] Translation: X:10.64, Y:391.95, Z:8.04 [[-6.90946307e-01 -7.22896669e-01 -3.68878299e-03 1.06371546e+01] [ 7.22886303e-01 -6.90956154e-01 3.87127150e-03 3.91951108e+02] [-5.34731658e-03 8.27005246e-06 9.99985703e-01 8.03877382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.842755096 meters 0.02173283815758319 Centerline is valid? [True, True] Translation: X:10.62, Y:391.97, Z:8.04 [[-6.90692534e-01 -7.23142872e-01 -2.86530721e-03 1.06167043e+01] [ 7.23136632e-01 -6.90698477e-01 3.00409087e-03 3.91967933e+02] [-4.15145023e-03 2.89452742e-06 9.99991383e-01 8.03792602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.872755096 meters 0.021701531539686115 Centerline is valid? [True, True] Translation: X:10.59, Y:391.98, Z:8.04 [[-6.90142932e-01 -7.23669048e-01 -2.41702222e-03 1.05946669e+01] [ 7.23664620e-01 -6.90147165e-01 2.53165633e-03 3.91983525e+02] [-3.50018236e-03 -1.90874656e-06 9.99993874e-01 8.03708322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9027550960001 meters 0.02158109806697996 Centerline is valid? [True, True] Translation: X:10.57, Y:392.00, Z:8.04 [[-6.90228501e-01 -7.23588151e-01 -2.19210467e-03 1.05740876e+01] [ 7.23584514e-01 -6.90231981e-01 2.29398117e-03 3.92000685e+02] [-3.17295835e-03 -2.80181176e-06 9.99994966e-01 8.03679891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.932755096 meters 0.021599840609648823 Centerline is valid? [True, True] Translation: X:10.55, Y:392.02, Z:8.04 [[-6.90341682e-01 -7.23480101e-01 -2.21511684e-03 1.05530227e+01] [ 7.23476392e-01 -6.90345235e-01 2.31657348e-03 3.92018425e+02] [-3.20519017e-03 -3.35751089e-06 9.99994863e-01 8.03622243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.962755096 meters 0.021599840609648823 Centerline is valid? [True, True] Translation: X:10.53, Y:392.04, Z:8.04 [[-6.90606045e-01 -7.23227752e-01 -2.21596272e-03 1.05344074e+01] [ 7.23224044e-01 -6.90609600e-01 2.31576485e-03 3.92037628e+02] [-3.20519053e-03 -3.35631905e-06 9.99994863e-01 8.03636467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.992755096 meters 0.0216472118613094 Centerline is valid? [True, True] Translation: X:10.51, Y:392.05, Z:8.04 [[-6.90920618e-01 -7.22928451e-01 -1.77628716e-03 1.05131786e+01] [ 7.22926073e-01 -6.90922901e-01 1.85417578e-03 3.92053655e+02] [-2.56771390e-03 -3.03602246e-06 9.99996703e-01 8.03635560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.022755096 meters 0.021521687584924988 Centerline is valid? [True, True] Translation: X:10.49, Y:392.07, Z:8.04 [[-6.91297871e-01 -7.22568847e-01 -1.23073806e-03 1.04937312e+01] [ 7.22567708e-01 -6.91298967e-01 1.28285897e-03 3.92070740e+02] [-1.77776188e-03 -2.45390252e-06 9.99998420e-01 8.03631575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.052755096 meters 0.021538403990776285 Centerline is valid? [True, True] Translation: X:10.47, Y:392.09, Z:8.04 [[-6.91848448e-01 -7.22042125e-01 -9.46053479e-04 1.04741261e+01] [ 7.22041454e-01 -6.91849095e-01 9.84501834e-04 3.92088240e+02] [-1.36537804e-03 -1.96376339e-06 9.99999068e-01 8.03628061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.082755096 meters 0.02156164867294911 Centerline is valid? [True, True] Translation: X:10.46, Y:392.10, Z:8.04 [[-6.93295205e-01 -7.20653324e-01 -7.38691087e-04 1.04550118e+01] [ 7.20652916e-01 -6.93295598e-01 7.67275230e-04 3.92104441e+02] [-1.06507072e-03 -3.91648061e-07 9.99999433e-01 8.03628566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.112755096 meters 0.02155992615640609 Centerline is valid? [True, True] Translation: X:10.44, Y:392.12, Z:8.04 [[-6.94430086e-01 -7.19560118e-01 -3.04749850e-04 1.04371342e+01] [ 7.19560049e-01 -6.94430153e-01 3.14437670e-04 3.92122006e+02] [-4.37884292e-04 -9.30838925e-07 9.99999904e-01 8.03633026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.142755096 meters 0.021959671271638764 Centerline is valid? [True, True] Translation: X:10.42, Y:392.14, Z:8.04 [[-6.97870334e-01 -7.16224081e-01 2.51833848e-04 1.04188758e+01] [ 7.16224031e-01 -6.97870379e-01 -2.65280692e-04 3.92140797e+02] [ 3.65747802e-04 -4.76207105e-06 9.99999933e-01 8.03582159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1727550960001 meters 0.02225948533943434 Centerline is valid? [True, True] Translation: X:10.40, Y:392.16, Z:8.04 [[-7.00026536e-01 -7.14116417e-01 7.69406613e-04 1.04003841e+01] [ 7.14115965e-01 -7.00026959e-01 -8.03420942e-04 3.92160452e+02] [ 1.11234146e-03 -1.29704336e-05 9.99999381e-01 8.03531137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.202755096 meters 0.022741867988947034 Centerline is valid? [True, True] Translation: X:10.38, Y:392.18, Z:8.04 [[-7.02443675e-01 -7.11739021e-01 6.70342536e-04 1.03823273e+01] [ 7.11738677e-01 -7.02443995e-01 -6.99828389e-04 3.92180678e+02] [ 9.68973261e-04 -1.44813151e-05 9.99999530e-01 8.03556460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.232755096 meters 0.024163486571458215 Centerline is valid? [True, True] Translation: X:10.36, Y:392.20, Z:8.04 [[-7.06735584e-01 -7.07476807e-01 1.17602275e-03 1.03646874e+01] [ 7.07475748e-01 -7.06736561e-01 -1.22455627e-03 3.92203155e+02] [ 1.69748343e-03 -3.34299125e-05 9.99998559e-01 8.03599037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.262755096 meters 0.026326091479376756 Centerline is valid? [True, True] Translation: X:10.35, Y:392.23, Z:8.04 [[-7.09047623e-01 -7.05159886e-01 1.00177804e-03 1.03498167e+01] [ 7.05159115e-01 -7.09048330e-01 -1.04315188e-03 3.92225146e+02] [ 1.44589791e-03 -3.32314442e-05 9.99998954e-01 8.03750188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2927550960001 meters 0.025694895885116607 Centerline is valid? [True, True] Translation: X:10.33, Y:392.24, Z:8.04 [[-7.11100837e-01 -7.03089498e-01 8.70180290e-04 1.03292807e+01] [ 7.03088915e-01 -7.11101369e-01 -9.05860295e-04 3.92243254e+02] [ 1.25568726e-03 -3.23438975e-05 9.99999211e-01 8.03786146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.322755096 meters 0.029630520309895696 Centerline is valid? [True, True] Translation: X:10.32, Y:392.27, Z:8.04 [[-7.14583356e-01 -6.99549841e-01 8.04295820e-04 1.03156414e+01] [ 6.99549342e-01 -7.14583808e-01 -8.36809578e-04 3.92266300e+02] [ 1.16012678e-03 -3.53255856e-05 9.99999326e-01 8.03944957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.352755096 meters 0.0302808956858859 Centerline is valid? [True, True] Translation: X:10.30, Y:392.29, Z:8.04 [[-7.16279278e-01 -6.97813024e-01 9.90318301e-04 1.02969835e+01] [ 6.97812266e-01 -7.16279961e-01 -1.02904724e-03 3.92285572e+02] [ 1.42742772e-03 -4.60289535e-05 9.99998980e-01 8.03953042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.382755096 meters 0.03215211606341954 Centerline is valid? [True, True] Translation: X:10.28, Y:392.31, Z:8.04 [[-7.18212751e-01 -6.95822940e-01 9.38453405e-04 1.02805727e+01] [ 6.95822259e-01 -7.18213362e-01 -9.74455351e-04 3.92305462e+02] [ 1.35205816e-03 -4.68694895e-05 9.99999085e-01 8.04062637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4127550960001 meters 0.03200133842022321 Centerline is valid? [True, True] Translation: X:10.26, Y:392.32, Z:8.04 [[-7.19183817e-01 -6.94819399e-01 7.99954280e-04 1.02606149e+01] [ 6.94818904e-01 -7.19184261e-01 -8.30394613e-04 3.92324559e+02] [ 1.15228881e-03 -4.13830118e-05 9.99999335e-01 8.04080028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.442755096 meters 0.032528880593667646 Centerline is valid? [True, True] Translation: X:10.24, Y:392.34, Z:8.04 [[-7.19836184e-01 -6.94143092e-01 1.11216912e-03 1.02423282e+01] [ 6.94142137e-01 -7.19837041e-01 -1.15265324e-03 3.92343217e+02] [ 1.60068681e-03 -5.77180552e-05 9.99998717e-01 8.04095508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.472755096 meters 0.03201590447580205 Centerline is valid? [True, True] Translation: X:10.22, Y:392.36, Z:8.04 [[-7.19883718e-01 -6.94093228e-01 1.42243253e-03 1.02226716e+01] [ 6.94091671e-01 -7.19885120e-01 -1.47205239e-03 3.92361089e+02] [ 2.04572961e-03 -7.24079803e-05 9.99997905e-01 8.04081419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.502755096 meters 0.03181797756630208 Centerline is valid? [True, True] Translation: X:10.20, Y:392.38, Z:8.04 [[-7.19675234e-01 -6.94307123e-01 2.27519295e-03 1.02022357e+01] [ 6.94303153e-01 -7.19678822e-01 -2.35052278e-03 3.92378625e+02] [ 3.26939289e-03 -1.11939398e-04 9.99994649e-01 8.04071915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5327550960001 meters 0.03195168326801882 Centerline is valid? [True, True] Translation: X:10.18, Y:392.40, Z:8.04 [[-7.19379898e-01 -6.94611826e-01 2.64081777e-03 1.01839984e+01] [ 6.94606490e-01 -7.19384734e-01 -2.72541093e-03 3.92395872e+02] [ 3.79286665e-03 -1.26276668e-04 9.99992799e-01 8.04046900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.562755096 meters 0.03020743165780747 Centerline is valid? [True, True] Translation: X:10.16, Y:392.41, Z:8.04 [[-7.18047006e-01 -6.95985993e-01 3.46339690e-03 1.01616996e+01] [ 6.95976853e-01 -7.18055343e-01 -3.57005265e-03 3.92412453e+02] [ 4.97161728e-03 -1.53021539e-04 9.99987630e-01 8.03990909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.592755096 meters 0.030263559264353864 Centerline is valid? [True, True] Translation: X:10.14, Y:392.43, Z:8.04 [[-7.17369792e-01 -6.96683100e-01 3.63859940e-03 1.01431747e+01] [ 6.96673038e-01 -7.17379003e-01 -3.74759582e-03 3.92430650e+02] [ 5.22114149e-03 -1.53497940e-04 9.99986358e-01 8.04045694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.622755096 meters 0.02923572606260517 Centerline is valid? [True, True] Translation: X:10.12, Y:392.45, Z:8.04 [[-7.16641628e-01 -6.97431092e-01 3.82746790e-03 1.01225653e+01] [ 6.97419986e-01 -7.16651832e-01 -3.93877170e-03 3.92448050e+02] [ 5.48998373e-03 -1.53335147e-04 9.99984918e-01 8.04094046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6527550960001 meters 0.028237388531473534 Centerline is valid? [True, True] Translation: X:10.10, Y:392.46, Z:8.04 [[-7.14177912e-01 -6.99946611e-01 4.96507409e-03 1.01010411e+01] [ 6.99928017e-01 -7.14195151e-01 -5.10467187e-03 3.92464423e+02] [ 7.11902961e-03 -1.70449440e-04 9.99974645e-01 8.03997517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.682755096 meters 0.02743556731463589 Centerline is valid? [True, True] Translation: X:10.08, Y:392.48, Z:8.04 [[-7.12966676e-01 -7.01177208e-01 5.38911174e-03 1.00809392e+01] [ 7.01155373e-01 -7.12987023e-01 -5.53607829e-03 3.92480947e+02] [ 7.72413865e-03 -1.68434684e-04 9.99970154e-01 8.03933317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.712755096 meters 0.025944691219079552 Centerline is valid? [True, True] Translation: X:10.06, Y:392.50, Z:8.04 [[-7.11590898e-01 -7.02570424e-01 5.76146483e-03 1.00594383e+01] [ 7.02545554e-01 -7.11614203e-01 -5.91351974e-03 3.92496788e+02] [ 8.25460427e-03 -1.60315316e-04 9.99965917e-01 8.03944936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.742755096 meters 0.02435002242294449 Centerline is valid? [True, True] Translation: X:10.04, Y:392.51, Z:8.04 [[-7.08420211e-01 -7.05763052e-01 6.27050093e-03 1.00380059e+01] [ 7.05733765e-01 -7.08447950e-01 -6.43077056e-03 3.92511632e+02] [ 8.98092378e-03 -1.30383607e-04 9.99959662e-01 8.03991556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.772755096 meters 0.02371302613557135 Centerline is valid? [True, True] Translation: X:10.02, Y:392.53, Z:8.04 [[-7.06909241e-01 -7.07274951e-01 6.43960080e-03 1.00181637e+01] [ 7.07244172e-01 -7.06938563e-01 -6.59927568e-03 3.92528732e+02] [ 9.21990451e-03 -1.10718828e-04 9.99957490e-01 8.04044160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.802755096 meters 0.02266300573883474 Centerline is valid? [True, True] Translation: X:10.00, Y:392.54, Z:8.04 [[-7.03824691e-01 -7.10339880e-01 6.93257160e-03 9.99641336e+00] [ 7.10304411e-01 -7.03858829e-01 -7.09884103e-03 3.92543047e+02] [ 9.92214160e-03 -7.21034107e-05 9.99950772e-01 8.04018983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.832755096 meters 0.022410243709521143 Centerline is valid? [True, True] Translation: X:9.98, Y:392.56, Z:8.04 [[-7.02655224e-01 -7.11489080e-01 7.67623882e-03 9.97696860e+00] [ 7.11445734e-01 -7.02697151e-01 -7.85379278e-03 3.92558694e+02] [ 1.09819589e-02 -5.72811622e-05 9.99939695e-01 8.03973471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.862755096 meters 0.022080296247295794 Centerline is valid? [True, True] Translation: X:9.96, Y:392.58, Z:8.04 [[-7.01415238e-01 -7.12709089e-01 7.90047479e-03 9.95701061e+00] [ 7.12663334e-01 -7.01459730e-01 -8.07584802e-03 3.92575232e+02] [ 1.12975952e-02 -3.41441591e-05 9.99936180e-01 8.03990499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.892755096 meters 0.022030542175389196 Centerline is valid? [True, True] Translation: X:9.94, Y:392.59, Z:8.04 [[-6.98706114e-01 -7.15352584e-01 8.96919287e-03 9.93732104e+00] [ 7.15293930e-01 -6.98763680e-01 -9.16040937e-03 3.92590073e+02] [ 1.28202687e-02 1.51751867e-05 9.99917817e-01 8.03965140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9227550960001 meters 0.02210732680277257 Centerline is valid? [True, True] Translation: X:9.92, Y:392.61, Z:8.04 [[-6.97604957e-01 -7.16420228e-01 9.45412066e-03 9.91847781e+00] [ 7.16355268e-01 -6.97669015e-01 -9.64753962e-03 3.92606922e+02] [ 1.35075396e-02 4.23376785e-05 9.99908768e-01 8.04115124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.952755096 meters 0.0222557778475797 Centerline is valid? [True, True] Translation: X:9.90, Y:392.62, Z:8.04 [[-6.96589546e-01 -7.17409854e-01 9.27930729e-03 9.89944020e+00] [ 7.17347464e-01 -6.96651345e-01 -9.46150029e-03 3.92623288e+02] [ 1.32522155e-02 6.57053591e-05 9.99912183e-01 8.04135281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.982755096 meters 0.022688569688451784 Centerline is valid? [True, True] Translation: X:9.88, Y:392.64, Z:8.04 [[-6.94612116e-01 -7.19323113e-01 9.39505264e-03 9.87954352e+00] [ 7.19259428e-01 -6.94675642e-01 -9.57224654e-03 3.92640198e+02] [ 1.34120524e-02 1.08481760e-04 9.99910049e-01 8.04241765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.012755096 meters 0.022756645179040358 Centerline is valid? [True, True] Translation: X:9.86, Y:392.66, Z:8.04 [[-6.94345402e-01 -7.19581361e-01 9.33420006e-03 9.86121423e+00] [ 7.19518616e-01 -6.94408130e-01 -9.50316510e-03 3.92659197e+02] [ 1.33200449e-02 1.17651718e-04 9.99911277e-01 8.04312935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0427550960001 meters 0.022951376247808117 Centerline is valid? [True, True] Translation: X:9.84, Y:392.68, Z:8.04 [[-6.94040750e-01 -7.19874523e-01 9.38665695e-03 9.84463312e+00] [ 7.19811196e-01 -6.94104211e-01 -9.54921328e-03 3.92678018e+02] [ 1.33895535e-02 1.29077622e-04 9.99910348e-01 8.04398521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.072755096 meters 0.0230616209649136 Centerline is valid? [True, True] Translation: X:9.83, Y:392.70, Z:8.04 [[-6.94345795e-01 -7.19579514e-01 9.44665399e-03 9.82707513e+00] [ 7.19515451e-01 -6.94410042e-01 -9.60260221e-03 3.92697295e+02] [ 1.34696872e-02 1.29487035e-04 9.99909271e-01 8.04456726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.102755096 meters 0.023006449750110545 Centerline is valid? [True, True] Translation: X:9.81, Y:392.72, Z:8.04 [[-6.94842525e-01 -7.19094573e-01 9.84180878e-03 9.80965678e+00] [ 7.19025104e-01 -6.94912209e-01 -9.99609852e-03 3.92716722e+02] [ 1.40273333e-02 1.30793249e-04 9.99901604e-01 8.04466579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.132755096 meters 0.022919243208339966 Centerline is valid? [True, True] Translation: X:9.79, Y:392.74, Z:8.04 [[-6.95440298e-01 -7.18515873e-01 9.88590586e-03 9.79290516e+00] [ 7.18445836e-01 -6.95510549e-01 -1.00327740e-02 3.92735585e+02] [ 1.40844592e-02 1.25292564e-04 9.99900801e-01 8.04440345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1627550960001 meters 0.022759615805888138 Centerline is valid? [True, True] Translation: X:9.78, Y:392.76, Z:8.04 [[-6.96494027e-01 -7.17488561e-01 1.03070975e-02 9.77786654e+00] [ 7.17412429e-01 -6.96570278e-01 -1.04524819e-02 3.92755300e+02] [ 1.46791540e-02 1.14348617e-04 9.99892249e-01 8.04386919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.192755096 meters 0.02261536701135753 Centerline is valid? [True, True] Translation: X:9.76, Y:392.78, Z:8.04 [[-6.97297071e-01 -7.16703564e-01 1.06205718e-02 9.76160151e+00] [ 7.16622763e-01 -6.97377939e-01 -1.07622196e-02 3.92775136e+02] [ 1.51198737e-02 1.06479300e-04 9.99885683e-01 8.04387118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.222755096 meters 0.0226165675145303 Centerline is valid? [True, True] Translation: X:9.75, Y:392.80, Z:8.04 [[-6.98057449e-01 -7.15960867e-01 1.07626864e-02 9.74752082e+00] [ 7.15877936e-01 -6.98140407e-01 -1.08973862e-02 3.92795144e+02] [ 1.53159683e-02 9.77681218e-05 9.99882699e-01 8.04304652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.252755096 meters 0.022342926517241603 Centerline is valid? [True, True] Translation: X:9.73, Y:392.82, Z:8.04 [[-6.98284303e-01 -7.15735724e-01 1.10184364e-02 9.73079960e+00] [ 7.15648916e-01 -6.98371221e-01 -1.11474978e-02 3.92815500e+02] [ 1.56736213e-02 1.01209377e-04 9.99877156e-01 8.04486681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2827550960001 meters 0.022451223115750665 Centerline is valid? [True, True] Translation: X:9.71, Y:392.84, Z:8.04 [[-6.97906665e-01 -7.16098398e-01 1.13741337e-02 9.71396758e+00] [ 7.16006091e-01 -6.97999334e-01 -1.14981608e-02 3.92835113e+02] [ 1.61729523e-02 1.19305946e-04 9.99869202e-01 8.04453146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.312755096 meters 0.022317554158431976 Centerline is valid? [True, True] Translation: X:9.70, Y:392.86, Z:8.05 [[-6.97977059e-01 -7.16019828e-01 1.19846216e-02 9.69641134e+00] [ 7.15917491e-01 -6.98079931e-01 -1.21060892e-02 3.92855776e+02] [ 1.70344238e-02 1.30227652e-04 9.99854895e-01 8.04562315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.342755096 meters 0.02303804833858689 Centerline is valid? [True, True] Translation: X:9.68, Y:392.87, Z:8.04 [[-6.98085780e-01 -7.15912595e-01 1.20582010e-02 9.67699635e+00] [ 7.15809137e-01 -6.98189901e-01 -1.21713199e-02 3.92874152e+02] [ 1.71325154e-02 1.34745139e-04 9.99853219e-01 8.04212735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.372755096 meters 0.022508237735375577 Centerline is valid? [True, True] Translation: X:9.66, Y:392.90, Z:8.04 [[-6.98283785e-01 -7.15702052e-01 1.30509832e-02 9.66255928e+00] [ 7.15581009e-01 -6.98405721e-01 -1.31631622e-02 3.92896618e+02] [ 1.85357835e-02 1.47413057e-04 9.99828187e-01 8.04454509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4027550960001 meters 0.022458650946190043 Centerline is valid? [True, True] Translation: X:9.65, Y:392.92, Z:8.05 [[-6.98404200e-01 -7.15582778e-01 1.31476729e-02 9.64557635e+00] [ 7.15460106e-01 -6.98527927e-01 -1.32503892e-02 3.92917053e+02] [ 1.86657670e-02 1.52507971e-04 9.99825768e-01 8.04594206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.432755096 meters 0.022401524470455944 Centerline is valid? [True, True] Translation: X:9.63, Y:392.94, Z:8.05 [[-6.98552827e-01 -7.15433527e-01 1.33722099e-02 9.62849961e+00] [ 7.15306802e-01 -6.98680788e-01 -1.34660901e-02 3.92937254e+02] [ 1.89769985e-02 1.58457429e-04 9.99819908e-01 8.04690722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.462755096 meters 0.023292015229372638 Centerline is valid? [True, True] Translation: X:9.61, Y:392.96, Z:8.04 [[-6.98904868e-01 -7.15084129e-01 1.36628685e-02 9.61106176e+00] [ 7.14951947e-01 -6.99038385e-01 -1.37495648e-02 3.92956027e+02] [ 1.93829651e-02 1.58656707e-04 9.99812120e-01 8.04339902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.492755096 meters 0.02309613506820388 Centerline is valid? [True, True] Translation: X:9.59, Y:392.98, Z:8.04 [[-6.99717906e-01 -7.14290564e-01 1.35588481e-02 9.59441656e+00] [ 7.14160420e-01 -6.99849248e-01 -1.36353893e-02 3.92975144e+02] [ 1.92287796e-02 1.42266618e-04 9.99815100e-01 8.04347386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.522755096 meters 0.022026293033584193 Centerline is valid? [True, True] Translation: X:9.58, Y:393.00, Z:8.05 [[-7.00851380e-01 -7.13181180e-01 1.34144404e-02 9.58011601e+00] [ 7.13053788e-01 -7.00979736e-01 -1.34798191e-02 3.92998464e+02] [ 1.90168042e-02 1.17867702e-04 9.99819157e-01 8.04886937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.552755096 meters 0.021953752005730687 Centerline is valid? [True, True] Translation: X:9.56, Y:393.02, Z:8.05 [[-7.01672212e-01 -7.12377385e-01 1.32124469e-02 9.56340290e+00] [ 7.12253851e-01 -7.01796588e-01 -1.32664898e-02 3.93018559e+02] [ 1.87231974e-02 1.01888970e-04 9.99824700e-01 8.04946221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.582755096 meters 0.021797283231049416 Centerline is valid? [True, True] Translation: X:9.55, Y:393.04, Z:8.05 [[-7.02740918e-01 -7.11331810e-01 1.27380596e-02 9.54767045e+00] [ 7.11217001e-01 -7.02856351e-01 -1.27799815e-02 3.93038666e+02] [ 1.80438334e-02 7.85086461e-05 9.99837194e-01 8.04992621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.612755096 meters 0.021741826147972276 Centerline is valid? [True, True] Translation: X:9.53, Y:393.06, Z:8.05 [[-7.03985331e-01 -7.10094780e-01 1.30405896e-02 9.53166964e+00] [ 7.09974430e-01 -7.04106100e-01 -1.30732039e-02 3.93059487e+02] [ 1.84651725e-02 5.51414077e-05 9.99829503e-01 8.05040969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.642755096 meters 0.021609426622310635 Centerline is valid? [True, True] Translation: X:9.52, Y:393.08, Z:8.05 [[-7.06234772e-01 -7.07853354e-01 1.32693606e-02 9.51819300e+00] [ 7.07728546e-01 -7.06359419e-01 -1.32919715e-02 3.93082079e+02] [ 1.87817045e-02 3.85286799e-06 9.99823608e-01 8.05045005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6727550960001 meters 0.02163356089248209 Centerline is valid? [True, True] Translation: X:9.50, Y:393.10, Z:8.05 [[-7.07333967e-01 -7.06754174e-01 1.33115330e-02 9.50128479e+00] [ 7.06628569e-01 -7.07459213e-01 -1.33239601e-02 3.93102578e+02] [ 1.88341310e-02 -1.81800655e-05 9.99822622e-01 8.05029941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.702755096 meters 0.021756192230543318 Centerline is valid? [True, True] Translation: X:9.49, Y:393.12, Z:8.05 [[-7.08836629e-01 -7.05241486e-01 1.36044312e-02 9.48625421e+00] [ 7.05110218e-01 -7.08967167e-01 -1.36064684e-02 3.93123990e+02] [ 1.92409410e-02 -5.21397599e-05 9.99814875e-01 8.05039112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.732755096 meters 0.021823383294099143 Centerline is valid? [True, True] Translation: X:9.10, Y:392.73, Z:9.15 [[-7.53238345e-01 6.57712215e-01 6.82915422e-03 9.10001484e+00] [ 6.57689978e-01 7.53269193e-01 -5.42367120e-03 3.92726308e+02] [-8.71140629e-03 4.06149173e-04 -9.99961973e-01 9.14619693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.762755096 meters 0.021825678568479636 Centerline is valid? [True, True] Translation: X:9.11, Y:392.74, Z:9.15 [[-7.97638725e-01 6.03092008e-01 7.24534855e-03 9.11454769e+00] [ 6.03071699e-01 7.97671526e-01 -4.96610221e-03 3.92735221e+02] [-8.77442479e-03 4.08309229e-04 -9.99961421e-01 9.14597487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7927550960001 meters 0.02162722503275611 Centerline is valid? [True, True] Translation: X:9.13, Y:392.74, Z:9.14 [[-8.37758298e-01 5.45992097e-01 7.32561458e-03 9.12812447e+00] [ 5.45975479e-01 8.37790224e-01 -4.27994635e-03 3.92743072e+02] [-8.47414516e-03 4.14045358e-04 -9.99964008e-01 9.14389718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.822755096 meters 0.02162722503275611 Centerline is valid? [True, True] Translation: X:9.44, Y:393.22, Z:8.05 [[-8.04448297e-01 -5.93821908e-01 1.54428011e-02 9.43820670e+00] [ 5.93716646e-01 -8.04596490e-01 -1.11817823e-02 3.93220630e+02] [ 1.90652108e-02 1.73482373e-04 9.99818227e-01 8.05323469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.852755096 meters 0.021846341712465387 Centerline is valid? [True, True] Translation: X:9.10, Y:392.75, Z:9.15 [[-8.39511168e-01 5.43289224e-01 7.60377181e-03 9.10468612e+00] [ 5.43271396e-01 8.39545498e-01 -4.42118113e-03 3.92753944e+02] [-8.78569246e-03 4.19280792e-04 -9.99961317e-01 9.14504757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.882755096 meters 0.02221493097124119 Centerline is valid? [True, True] Translation: X:9.12, Y:392.77, Z:9.15 [[-8.75734898e-01 4.82720050e-01 8.35111786e-03 9.11551594e+00] [ 4.82702656e-01 8.75774614e-01 -4.11966369e-03 3.92766257e+02] [-9.30234128e-03 4.23373509e-04 -9.99956643e-01 9.14699351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9127550960001 meters 0.021687670750906593 Centerline is valid? [True, True] Translation: X:9.13, Y:392.78, Z:9.14 [[-9.07533774e-01 4.19885475e-01 8.86773772e-03 9.12842748e+00] [ 4.19870000e-01 9.07576997e-01 -3.63029266e-03 3.92777731e+02] [-9.57246192e-03 4.28683834e-04 -9.99954091e-01 9.14425340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.942755096 meters 0.021881822190456163 Centerline is valid? [True, True] Translation: X:9.14, Y:392.79, Z:9.15 [[-9.35037288e-01 3.54432671e-01 9.09678172e-03 9.13794730e+00] [ 3.54420305e-01 9.35081440e-01 -2.99136647e-03 3.92791413e+02] [-9.56646975e-03 4.27044953e-04 -9.99954149e-01 9.14528678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.972755096 meters 0.021615938720496372 Centerline is valid? [True, True] Translation: X:9.35, Y:393.35, Z:8.05 [[-9.13025622e-01 -4.07495127e-01 1.82191047e-02 9.34714933e+00] [ 4.07417492e-01 -9.13207368e-01 -7.95555583e-03 3.93345919e+02] [ 1.98796709e-02 1.59155640e-04 9.99802367e-01 8.05315990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.002755096 meters 0.02154069040388317 Centerline is valid? [True, True] Translation: X:9.11, Y:392.80, Z:9.15 [[-9.37145744e-01 3.48830736e-01 8.65868754e-03 9.10708412e+00] [ 3.48819801e-01 9.37185656e-01 -2.79146231e-03 3.92798970e+02] [-9.08854561e-03 4.04314641e-04 -9.99958617e-01 9.14540468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0327550960001 meters 0.0212627416899774 Centerline is valid? [True, True] Translation: X:9.32, Y:393.36, Z:8.05 [[-9.13955231e-01 -4.05399420e-01 1.83615333e-02 9.31696872e+00] [ 4.05322712e-01 -9.14139627e-01 -7.88937257e-03 3.93358382e+02] [ 1.99833522e-02 2.31813135e-04 9.99800286e-01 8.05454075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.062755096 meters 0.021328053914081116 Centerline is valid? [True, True] Translation: X:9.08, Y:392.81, Z:9.15 [[-9.39276322e-01 3.43040064e-01 9.13817410e-03 9.07754412e+00] [ 3.43027754e-01 9.39320696e-01 -2.93110054e-03 3.92806590e+02] [-9.58916096e-03 3.81534001e-04 -9.99953950e-01 9.14564038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.092755096 meters 0.021245721910234685 Centerline is valid? [True, True] Translation: X:9.09, Y:392.82, Z:9.15 [[-9.61312755e-01 2.75320647e-01 8.73655456e-03 9.08660341e+00] [ 2.75312808e-01 9.61352381e-01 -2.11131119e-03 3.92822375e+02] [-8.98019509e-03 3.75654991e-04 -9.99959607e-01 9.14541848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.122755096 meters 0.021027407428417296 Centerline is valid? [True, True] Translation: X:9.26, Y:393.40, Z:8.06 [[-9.40805866e-01 -3.38470267e-01 1.79499620e-02 9.25624313e+00] [ 3.38413575e-01 -9.40977056e-01 -6.19938554e-03 3.93402151e+02] [ 1.89888101e-02 2.42092528e-04 9.99819667e-01 8.05520215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1527550960001 meters 0.0210663697828308 Centerline is valid? [True, True] Translation: X:9.06, Y:392.83, Z:9.14 [[-9.62664202e-01 2.70583037e-01 7.90279013e-03 9.05623019e+00] [ 2.70577024e-01 9.62696570e-01 -1.84070443e-03 3.92827412e+02] [-8.10605234e-03 3.66333173e-04 -9.99967078e-01 9.14402403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.182755096 meters 0.020990139862553988 Centerline is valid? [True, True] Translation: X:9.06, Y:392.84, Z:9.14 [[-9.79513768e-01 2.01223607e-01 7.86371917e-03 9.06430472e+00] [ 2.01220069e-01 9.79545267e-01 -1.24671737e-03 3.92843182e+02] [-7.95373786e-03 3.61161284e-04 -9.99968303e-01 9.14257530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.212755096 meters 0.02097754232646341 Centerline is valid? [True, True] Translation: X:9.19, Y:393.45, Z:8.06 [[-9.63391388e-01 -2.67491228e-01 1.80409895e-02 9.19152267e+00] [ 2.67450354e-01 -9.63560246e-01 -4.68630165e-03 3.93445151e+02] [ 1.86371248e-02 3.10326357e-04 9.99826266e-01 8.05609494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.242755096 meters 0.02099988582875373 Centerline is valid? [True, True] Translation: X:9.03, Y:392.84, Z:9.14 [[-9.80102080e-01 1.98307189e-01 8.61232122e-03 9.02806054e+00] [ 1.98302845e-01 9.80139848e-01 -1.36403229e-03 3.92844593e+02] [-8.71177661e-03 3.70956915e-04 -9.99961983e-01 9.14372263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.272755096 meters 0.020848909078690418 Centerline is valid? [True, True] Translation: X:9.16, Y:393.46, Z:8.06 [[-9.64747785e-01 -2.62514751e-01 1.86471584e-02 9.15645809e+00] [ 2.62471343e-01 -9.64927939e-01 -4.78195721e-03 3.93456570e+02] [ 1.92484984e-02 2.80962080e-04 9.99814691e-01 8.05775189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.302755096 meters 0.02112490448171369 Centerline is valid? [True, True] Translation: X:9.00, Y:392.84, Z:9.14 [[-9.80597687e-01 1.95822451e-01 9.04124285e-03 8.99684955e+00] [ 1.95817728e-01 9.80639291e-01 -1.41337695e-03 3.92844949e+02] [-9.14296892e-03 3.84481462e-04 -9.99958128e-01 9.14454056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.332755096 meters 0.021355904658355573 Centerline is valid? [True, True] Translation: X:9.01, Y:392.86, Z:9.14 [[-9.91800978e-01 1.27483087e-01 8.88159719e-03 9.00559054e+00] [ 1.27481534e-01 9.91840666e-01 -7.43046282e-04 3.92856859e+02] [-8.90385510e-03 3.95285607e-04 -9.99960282e-01 9.14363782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.362755096 meters 0.02111251721024207 Centerline is valid? [True, True] Translation: X:9.01, Y:392.87, Z:9.14 [[-9.98306245e-01 5.74991985e-02 8.85906318e-03 9.01189421e+00] [ 5.75004951e-02 9.98345472e-01 -1.08482129e-04 3.92873538e+02] [-8.85064325e-03 4.01102132e-04 -9.99960752e-01 9.14161231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.392755096 meters 0.02127225831468859 Centerline is valid? [True, True] Translation: X:9.05, Y:393.52, Z:8.06 [[-9.93162743e-01 -1.15140654e-01 1.92456796e-02 9.04989987e+00] [ 1.15123450e-01 -9.93349173e-01 -2.00314457e-03 3.93522322e+02] [ 1.93483233e-02 2.26180483e-04 9.99812778e-01 8.05850745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4227550960001 meters 0.02152985944437945 Centerline is valid? [True, True] Translation: X:8.95, Y:392.87, Z:9.14 [[-9.98501859e-01 5.37636234e-02 1.01740356e-02 8.94713276e+00] [ 5.37653432e-02 9.98553593e-01 -1.04591480e-04 3.92869074e+02] [-1.01649430e-02 4.42575730e-04 -9.99948238e-01 9.14271171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.452755096 meters 0.021834474376318167 Centerline is valid? [True, True] Translation: X:8.95, Y:392.88, Z:9.14 [[-9.99808647e-01 -1.65378655e-02 1.04483799e-02 8.95453646e+00] [-1.65323586e-02 9.99863143e-01 6.13221005e-04 3.92884410e+02] [-1.04570913e-02 4.40367301e-04 -9.99945226e-01 9.14317748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.482755096 meters 0.02223104879588438 Centerline is valid? [True, True] Translation: X:8.94, Y:393.56, Z:8.06 [[-9.99200060e-01 -3.40166355e-02 2.10263890e-02 8.94427652e+00] [ 3.40125524e-02 -9.99421253e-01 -5.51883223e-04 3.93560322e+02] [ 2.10329933e-02 1.63719408e-04 9.99778769e-01 8.05793935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.512755096 meters 0.022387859297236565 Centerline is valid? [True, True] Translation: X:8.88, Y:392.88, Z:9.14 [[-9.99716355e-01 -2.11431855e-02 1.09624205e-02 8.88412676e+00] [-2.11366060e-02 9.99776341e-01 7.15710778e-04 3.92875082e+02] [-1.09751011e-02 4.83799406e-04 -9.99939655e-01 9.14370810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5427550960001 meters 0.022321758050282775 Centerline is valid? [True, True] Translation: X:8.89, Y:392.89, Z:9.14 [[-9.95836492e-01 -9.06306266e-02 9.78629535e-03 8.88681753e+00] [-9.06215707e-02 9.95884464e-01 1.36578152e-03 3.92889540e+02] [-9.86980113e-03 4.73245619e-04 -9.99951180e-01 9.14170638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.572755096 meters 0.023061151359764772 Centerline is valid? [True, True] Translation: X:8.88, Y:392.90, Z:9.14 [[-9.86884440e-01 -1.61179442e-01 8.96041238e-03 8.88496070e+00] [-1.61168443e-01 9.86925005e-01 1.94110567e-03 3.92904058e+02] [-9.15612136e-03 4.71511271e-04 -9.99957971e-01 9.14227468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.602755096 meters 0.02291737955007361 Centerline is valid? [True, True] Translation: X:8.87, Y:392.92, Z:9.14 [[-9.72504314e-01 -2.32758449e-01 7.67223829e-03 8.86543401e+00] [-2.32747461e-01 9.72534470e-01 2.30761949e-03 3.92918601e+02] [-7.99863413e-03 4.58475929e-04 -9.99967905e-01 9.14073310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.632755096 meters 0.022359181654350732 Centerline is valid? [True, True] Translation: X:8.83, Y:392.93, Z:9.14 [[-9.52114042e-01 -3.05693442e-01 5.51097356e-03 8.82845839e+00] [-3.05685694e-01 9.52129895e-01 2.21803447e-03 3.92928059e+02] [-5.92520127e-03 4.27195989e-04 -9.99982355e-01 9.13906749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6627550960001 meters 0.021793739714601235 Centerline is valid? [True, True] Translation: X:8.79, Y:392.93, Z:9.14 [[-9.26344101e-01 -3.76646111e-01 4.93083080e-03 8.78593777e+00] [-3.76638326e-01 9.26357129e-01 2.45768428e-03 3.92934056e+02] [-5.49338749e-03 4.19521480e-04 -9.99984823e-01 9.13776233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.692755096 meters 0.021470293447414426 Centerline is valid? [True, True] Translation: X:8.73, Y:392.93, Z:9.14 [[-8.94181030e-01 -4.47684192e-01 4.37600327e-03 8.73362665e+00] [-4.47676584e-01 8.94191648e-01 2.64074645e-03 3.92932536e+02] [-5.09520602e-03 4.02271186e-04 -9.99986938e-01 9.13876828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.722755096 meters 0.021274945435475732 Centerline is valid? [True, True] Translation: X:8.68, Y:392.92, Z:9.14 [[-8.56954620e-01 -5.15370812e-01 4.65894902e-03 8.67630590e+00] [-5.15360617e-01 8.56967192e-01 3.26601214e-03 3.92923712e+02] [-5.67577379e-03 3.97785354e-04 -9.99983814e-01 9.13919070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.752755096 meters 0.021230658862607145 Centerline is valid? [True, True] Translation: X:8.62, Y:392.91, Z:9.14 [[-8.14482681e-01 -5.80166254e-01 5.00803955e-03 8.61639033e+00] [-5.80152258e-01 8.14497983e-01 4.04881511e-03 3.92907966e+02] [-6.42802400e-03 3.92264330e-04 -9.99979263e-01 9.14080541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7827550960001 meters 0.02124772333147011 Centerline is valid? [True, True] Translation: X:8.55, Y:392.88, Z:9.14 [[-7.67262410e-01 -6.41312810e-01 5.12580179e-03 8.55337441e+00] [-6.41295039e-01 7.67279434e-01 4.78998732e-03 3.92884213e+02] [-7.00480252e-03 3.88025957e-04 -9.99975391e-01 9.14222730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.812755096 meters 0.021186960801145512 Centerline is valid? [True, True] Translation: X:8.49, Y:392.86, Z:9.14 [[-7.15107882e-01 -6.98991655e-01 5.60209171e-03 8.49102455e+00] [-6.98965917e-01 7.15129722e-01 6.01060668e-03 3.92855448e+02] [-8.20758620e-03 3.82561044e-04 -9.99966244e-01 9.14440972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.842755096 meters 0.021277735253212523 Centerline is valid? [True, True] Translation: X:8.43, Y:392.82, Z:9.15 [[-6.59553318e-01 -7.51638784e-01 5.34406420e-03 8.42847395e+00] [-7.51609244e-01 6.59574855e-01 6.67496313e-03 3.92816799e+02] [-8.54197154e-03 3.85846027e-04 -9.99963442e-01 9.14552181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.872755096 meters 0.02117247726206703 Centerline is valid? [True, True] Translation: X:8.37, Y:392.77, Z:9.14 [[-6.00314941e-01 -7.99750328e-01 4.62440853e-03 8.37070030e+00] [-7.99721366e-01 6.00332623e-01 6.81762951e-03 3.92773584e+02] [-8.22858473e-03 3.94486552e-04 -9.99966067e-01 9.14356418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9027550960001 meters 0.021137793649154295 Centerline is valid? [True, True] Translation: X:8.31, Y:392.72, Z:9.14 [[-5.37363253e-01 -8.43342588e-01 3.74335022e-03 8.31426836e+00] [-8.43316729e-01 5.37376144e-01 6.61624113e-03 3.92723184e+02] [-7.59134502e-03 3.98494996e-04 -9.99971106e-01 9.14321522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.932755096 meters 0.021079982800740398 Centerline is valid? [True, True] Translation: X:8.26, Y:392.66, Z:9.14 [[-4.71149800e-01 -8.82048005e-01 3.03050650e-03 8.25964665e+00] [-8.82023938e-01 4.71159374e-01 6.52817168e-03 3.92664452e+02] [-7.18601235e-03 4.02767500e-04 -9.99974099e-01 9.14220114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.962755096 meters 0.02101951797940178 Centerline is valid? [True, True] Translation: X:8.21, Y:392.61, Z:9.14 [[-4.02676388e-01 -9.15340400e-01 1.91796549e-03 8.21222081e+00] [-9.15324750e-01 4.02680751e-01 5.36797039e-03 3.92605265e+02] [-5.68584795e-03 4.05993644e-04 -9.99983753e-01 9.14008276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.992755096 meters 0.020926460289531653 Centerline is valid? [True, True] Translation: X:8.17, Y:392.54, Z:9.14 [[-3.31458138e-01 -9.43469041e-01 1.29317485e-03 8.16806749e+00] [-9.43456362e-01 3.31460411e-01 4.90814909e-03 3.92541111e+02] [-5.05932298e-03 4.06791921e-04 -9.99987119e-01 9.13934576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.022755096 meters 0.021386219549107348 Centerline is valid? [True, True] Translation: X:8.13, Y:392.47, Z:9.14 [[-2.58730567e-01 -9.65949198e-01 8.00902842e-04 8.12972231e+00] [-9.65938401e-01 2.58731477e-01 4.58574001e-03 3.92469482e+02] [-4.63681066e-03 4.12848303e-04 -9.99989165e-01 9.13934720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.052755096 meters 0.021509973988078242 Centerline is valid? [True, True] Translation: X:8.09, Y:392.39, Z:9.14 [[-1.83859768e-01 -9.82952409e-01 3.83197112e-04 8.09434192e+00] [-9.82943100e-01 1.83859702e-01 4.29789687e-03 3.92392661e+02] [-4.29508259e-03 4.13549362e-04 -9.99990691e-01 9.13932787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.082755096 meters 0.02199872023548111 Centerline is valid? [True, True] Translation: X:8.07, Y:392.32, Z:9.14 [[-1.07430692e-01 -9.94212575e-01 4.44526708e-05 8.06681953e+00] [-9.94203396e-01 1.07429892e-01 4.29248806e-03 3.92318140e+02] [-4.27242115e-03 4.16949965e-04 -9.99990786e-01 9.14081288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.112755096 meters 0.021916515083135104 Centerline is valid? [True, True] Translation: X:8.04, Y:392.24, Z:9.14 [[-3.11573511e-02 -9.99514452e-01 -2.81643059e-04 8.04394185e+00] [-9.99503494e-01 3.11556851e-02 4.69994218e-03 3.92238230e+02] [-4.68888535e-03 4.27940969e-04 -9.99988916e-01 9.13977128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.142755096 meters 0.022533009530115403 Centerline is valid? [True, True] Translation: X:8.03, Y:392.16, Z:9.14 [[ 4.65318495e-02 -9.98916595e-01 -6.50852502e-04 8.02888934e+00] [-9.98905500e-01 -4.65344130e-02 4.72768183e-03 3.92155111e+02] [-4.75284687e-03 4.30152364e-04 -9.99988613e-01 9.14109836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1727550960001 meters 0.02216873301401712 Centerline is valid? [True, True] Translation: X:8.02, Y:392.07, Z:9.14 [[ 1.23447701e-01 -9.92350505e-01 -1.06803441e-03 8.01747053e+00] [-9.92337797e-01 -1.23451546e-01 5.04107148e-03 3.92071586e+02] [-5.13436032e-03 4.37542227e-04 -9.99986723e-01 9.14087327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.202755096 meters 0.022476449373803123 Centerline is valid? [True, True] Translation: X:8.01, Y:391.99, Z:9.14 [[ 1.99591562e-01 -9.79877595e-01 -1.76251092e-03 8.01376144e+00] [-9.79857160e-01 -1.99598813e-01 6.34513124e-03 3.91989078e+02] [-6.56924703e-03 4.60574282e-04 -9.99978316e-01 9.14185883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.232755096 meters 0.022508473372685196 Centerline is valid? [True, True] Translation: X:8.02, Y:391.91, Z:9.14 [[ 2.74609771e-01 -9.61552269e-01 -2.58985764e-03 8.01582790e+00] [-9.61524620e-01 -2.74621558e-01 7.30790998e-03 3.91906585e+02] [-7.73816816e-03 4.83388392e-04 -9.99969943e-01 9.14284502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.262755096 meters 0.022886403827455375 Centerline is valid? [True, True] Translation: X:8.02, Y:391.82, Z:9.14 [[ 3.48249193e-01 -9.37396309e-01 -3.26479860e-03 8.02498810e+00] [-9.37367383e-01 -3.48264152e-01 7.38041065e-03 3.91824706e+02] [-8.05538202e-03 4.90093665e-04 -9.99967435e-01 9.14396172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2927550960001 meters 0.022927249998154636 Centerline is valid? [True, True] Translation: X:8.04, Y:391.74, Z:9.14 [[ 4.18780020e-01 -9.08079639e-01 -3.82934117e-03 8.03880757e+00] [-9.08051966e-01 -4.18797228e-01 7.10700511e-03 3.91743821e+02] [-8.05744410e-03 5.00969037e-04 -9.99967413e-01 9.14341910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.322755096 meters 0.023407980743044125 Centerline is valid? [True, True] Translation: X:8.06, Y:391.67, Z:9.14 [[ 4.87684319e-01 -8.73010164e-01 -4.15437031e-03 8.05941190e+00] [-8.72986714e-01 -4.87701760e-01 6.41800996e-03 3.91666624e+02] [-7.62908164e-03 4.96747273e-04 -9.99970775e-01 9.14405199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.352755096 meters 0.023388328322308645 Centerline is valid? [True, True] Translation: X:8.09, Y:391.59, Z:9.14 [[ 5.53376996e-01 -8.32920258e-01 -4.21227151e-03 8.08519865e+00] [-8.32902499e-01 -5.53392814e-01 5.46079108e-03 3.91591269e+02] [-6.87944430e-03 4.86535305e-04 -9.99976218e-01 9.14342517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.382755096 meters 0.02402063037607943 Centerline is valid? [True, True] Translation: X:8.12, Y:391.52, Z:9.14 [[ 6.14826748e-01 -7.88651250e-01 -4.15643064e-03 8.11713600e+00] [-7.88638291e-01 -6.14840608e-01 4.54677726e-03 3.91519936e+02] [-6.14136391e-03 4.82440073e-04 -9.99981025e-01 9.14222335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4127550960001 meters 0.024333081514429186 Centerline is valid? [True, True] Translation: X:8.15, Y:391.45, Z:9.14 [[ 6.73593486e-01 -7.39091066e-01 -4.02646054e-03 8.15307327e+00] [-7.39081858e-01 -6.73605355e-01 3.71928290e-03 3.91452280e+02] [-5.46113415e-03 4.70599205e-04 -9.99984977e-01 9.14227219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.442755096 meters 0.024474685746318798 Centerline is valid? [True, True] Translation: X:8.19, Y:391.39, Z:9.14 [[ 7.28256825e-01 -6.85291983e-01 -4.11035779e-03 8.19210462e+00] [-6.85284542e-01 -7.28268275e-01 3.22740033e-03 3.91388292e+02] [-5.20515475e-03 4.66388339e-04 -9.99986344e-01 9.14217649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.472755096 meters 0.025037308366287474 Centerline is valid? [True, True] Translation: X:8.20, Y:391.40, Z:9.14 [[ 7.79567842e-01 -6.26307960e-01 -3.50976298e-03 8.20433746e+00] [-6.26304093e-01 -7.79575615e-01 2.24609144e-03 3.91400500e+02] [-4.14287058e-03 4.47198266e-04 -9.99991318e-01 9.14175724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.502755096 meters 0.02458917131212111 Centerline is valid? [True, True] Translation: X:8.22, Y:391.41, Z:9.14 [[ 8.26453434e-01 -5.62995471e-01 -3.28950051e-03 8.21666879e+00] [-5.62993024e-01 -8.26459867e-01 1.71566484e-03 3.91412885e+02] [-3.68455169e-03 4.34048744e-04 -9.99993118e-01 9.14131913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5327550960001 meters 0.02396483982920293 Centerline is valid? [True, True] Translation: X:8.23, Y:391.42, Z:9.14 [[ 8.68208156e-01 -4.96188665e-01 -3.37730799e-03 8.22639644e+00] [-4.96186779e-01 -8.68214618e-01 1.43436346e-03 3.91423567e+02] [-3.64394306e-03 4.30449522e-04 -9.99993268e-01 9.14110212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.562755096 meters 0.023308347231144798 Centerline is valid? [True, True] Translation: X:8.23, Y:391.43, Z:9.14 [[ 9.05176898e-01 -4.25024558e-01 -2.98482499e-03 8.23481112e+00] [-4.25023706e-01 -9.05181725e-01 9.45992868e-04 3.91434951e+02] [-3.10387923e-03 4.12330489e-04 -9.99995098e-01 9.14051272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.592755096 meters 0.0229287365776489 Centerline is valid? [True, True] Translation: X:8.24, Y:391.45, Z:9.14 [[ 9.36003015e-01 -3.51979997e-01 -2.90492377e-03 8.24327002e+00] [-3.51979613e-01 -9.36007435e-01 6.59257208e-04 3.91447975e+02] [-2.95107559e-03 4.05407209e-04 -9.99995563e-01 9.14023882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.622755096 meters 0.022338734591933442 Centerline is valid? [True, True] Translation: X:8.25, Y:391.46, Z:9.14 [[ 9.61035062e-01 -2.76412042e-01 -2.82711796e-03 8.25001129e+00] [-2.76412040e-01 -9.61039138e-01 3.98903593e-04 3.91459210e+02] [-2.82723276e-03 3.98089104e-04 -9.99995924e-01 9.14030539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6527550960001 meters 0.021799967829163568 Centerline is valid? [True, True] Translation: X:8.26, Y:391.47, Z:9.14 [[ 9.80247851e-01 -1.97739055e-01 -3.66282418e-03 8.25571468e+00] [-1.97739183e-01 -9.80254613e-01 3.30714711e-04 3.91469779e+02] [-3.65589551e-03 4.00101477e-04 -9.99993237e-01 9.14107871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.682755096 meters 0.02141766512206114 Centerline is valid? [True, True] Translation: X:8.26, Y:391.48, Z:9.14 [[ 9.92863086e-01 -1.19207338e-01 -3.53601037e-03 8.25815644e+00] [-1.19207984e-01 -9.92869305e-01 2.82661177e-05 3.91482577e+02] [-3.51416569e-03 3.93456284e-04 -9.99993748e-01 9.14114340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.712755096 meters 0.020951368105458636 Centerline is valid? [True, True] Translation: X:8.26, Y:391.49, Z:9.14 [[ 9.99241995e-01 -3.87981046e-02 -3.18481776e-03 8.25901481e+00] [-3.87991202e-02 -9.99246998e-01 -2.57706969e-04 3.91494551e+02] [-3.17242104e-03 3.81079753e-04 -9.99994895e-01 9.14016022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.742755096 meters 0.020951368105458636 Centerline is valid? [True, True] Translation: X:8.26, Y:391.51, Z:9.14 [[ 9.99210481e-01 3.96027049e-02 -3.16857706e-03 8.25890329e+00] [ 3.96012960e-02 -9.99215433e-01 -5.06185691e-04 3.91508460e+02] [-3.18613742e-03 3.80306289e-04 -9.99994852e-01 9.14028158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.772755096 meters 0.020990381940021747 Centerline is valid? [True, True] Translation: X:8.26, Y:391.52, Z:9.14 [[ 9.93007594e-01 1.18017580e-01 -2.78726085e-03 8.25707233e+00] [ 1.18016047e-01 -9.93011435e-01 -7.08680385e-04 3.91522925e+02] [-2.85141864e-03 3.74783496e-04 -9.99995865e-01 9.14068217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.802755096 meters 0.020801774122117977 Centerline is valid? [True, True] Translation: X:8.26, Y:391.54, Z:9.14 [[ 9.80631354e-01 1.95843975e-01 -2.69895337e-03 8.25522647e+00] [ 1.95842174e-01 -9.80634998e-01 -9.18794616e-04 3.91536501e+02] [-2.82662852e-03 3.72429914e-04 -9.99995936e-01 9.14006930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.832755096 meters 0.020916991028643698 Centerline is valid? [True, True] Translation: X:8.25, Y:391.55, Z:9.14 [[ 9.62238593e-01 2.72195887e-01 -2.50790793e-03 8.25085398e+00] [ 2.72193940e-01 -9.62241790e-01 -1.09396230e-03 3.91551740e+02] [-2.71098586e-03 3.70015403e-04 -9.99996257e-01 9.14053510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.862755096 meters 0.021118111672734797 Centerline is valid? [True, True] Translation: X:8.24, Y:391.57, Z:9.14 [[ 9.38258396e-01 3.45926390e-01 -2.47270325e-03 8.24393706e+00] [ 3.45924118e-01 -9.38261581e-01 -1.30776786e-03 3.91569908e+02] [-2.77243387e-03 3.71656490e-04 -9.99996088e-01 9.14072018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.892755096 meters 0.02097261333405119 Centerline is valid? [True, True] Translation: X:8.24, Y:391.58, Z:9.14 [[ 9.08580719e-01 4.17704760e-01 -1.95199263e-03 8.23824664e+00] [ 4.17702893e-01 -9.08582742e-01 -1.30208650e-03 3.91583486e+02] [-2.31743454e-03 3.67697725e-04 -9.99997247e-01 9.14010423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9227550960001 meters 0.02163032758484655 Centerline is valid? [True, True] Translation: X:8.23, Y:391.60, Z:9.14 [[ 8.74288789e-01 4.85400681e-01 -2.30058469e-03 8.22909339e+00] [ 4.85397815e-01 -8.74291734e-01 -1.71054768e-03 3.91599967e+02] [-2.84168318e-03 3.78813879e-04 -9.99995891e-01 9.14078181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.952755096 meters 0.02201040211652483 Centerline is valid? [True, True] Translation: X:8.22, Y:391.62, Z:9.14 [[ 8.34343427e-01 5.51240508e-01 -2.22471345e-03 8.21824502e+00] [ 5.51237266e-01 -8.34346305e-01 -1.92902930e-03 3.91616098e+02] [-2.91954054e-03 3.83127959e-04 -9.99995665e-01 9.14145272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.982755096 meters 0.022713832372503046 Centerline is valid? [True, True] Translation: X:8.20, Y:391.63, Z:9.14 [[ 7.89489027e-01 6.13760467e-01 -2.27262877e-03 8.20424634e+00] [ 6.13756427e-01 -7.89492202e-01 -2.26098205e-03 3.91632768e+02] [-3.18192410e-03 3.90180005e-04 -9.99994862e-01 9.14198421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.012755096 meters 0.024084496159781078 Centerline is valid? [True, True] Translation: X:8.68, Y:391.09, Z:8.09 [[ 7.67418252e-01 -6.41069572e-01 -9.95144849e-03 8.68396799e+00] [ 6.41019824e-01 7.67482732e-01 -7.99012463e-03 3.91088004e+02] [ 1.27597906e-02 -2.47308285e-04 9.99918560e-01 8.09169394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0427550960001 meters 0.024132069354999765 Centerline is valid? [True, True] Translation: X:8.71, Y:391.11, Z:8.09 [[ 7.66156175e-01 -6.42570748e-01 -1.03706678e-02 8.70678945e+00] [ 6.42516795e-01 7.66226309e-01 -8.33142238e-03 3.91106056e+02] [ 1.32998068e-02 -2.80157561e-04 9.99911514e-01 8.09209321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.072755096 meters 0.024746989814811247 Centerline is valid? [True, True] Translation: X:8.73, Y:391.12, Z:8.09 [[ 7.64976806e-01 -6.43966297e-01 -1.08578969e-02 8.73043493e+00] [ 6.43907228e-01 7.65053795e-01 -8.72772407e-03 3.91123413e+02] [ 1.39272354e-02 -3.14971818e-04 9.99902962e-01 8.09161102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.102755096 meters 0.025832692581458896 Centerline is valid? [True, True] Translation: X:8.75, Y:391.14, Z:8.09 [[ 7.63174779e-01 -6.46093498e-01 -1.12893580e-02 8.75455820e+00] [ 6.46029799e-01 7.63258187e-01 -9.07958332e-03 3.91139474e+02] [ 1.44829547e-02 -3.63952724e-04 9.99895050e-01 8.09081666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.132755096 meters 0.026277451276813777 Centerline is valid? [True, True] Translation: X:8.78, Y:391.16, Z:8.09 [[ 7.62463972e-01 -6.46934757e-01 -1.11405477e-02 8.77783344e+00] [ 6.46872746e-01 7.62545266e-01 -8.96477709e-03 3.91156694e+02] [ 1.42947978e-02 -3.71197165e-04 9.99897755e-01 8.09091336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1627550960001 meters 0.02663933914210933 Centerline is valid? [True, True] Translation: X:8.80, Y:391.17, Z:8.09 [[ 7.61133945e-01 -6.48500148e-01 -1.10759178e-02 8.80076622e+00] [ 6.48438982e-01 7.61214425e-01 -8.91546708e-03 3.91173366e+02] [ 1.42128301e-02 -3.96192231e-04 9.99898914e-01 8.09257201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.192755096 meters 0.027498958738550055 Centerline is valid? [True, True] Translation: X:8.82, Y:391.19, Z:8.09 [[ 7.60747474e-01 -6.48955769e-01 -1.09403540e-02 8.82352850e+00] [ 6.48896106e-01 7.60826033e-01 -8.80860658e-03 3.91189082e+02] [ 1.40401022e-02 -3.98027936e-04 9.99901354e-01 8.09298429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.222755096 meters 0.027504522925991676 Centerline is valid? [True, True] Translation: X:8.85, Y:391.21, Z:8.09 [[ 7.60433694e-01 -6.49319303e-01 -1.11821597e-02 8.84538055e+00] [ 6.49256946e-01 7.60515795e-01 -9.00798383e-03 3.91206246e+02] [ 1.43532669e-02 -4.10120457e-04 9.99896902e-01 8.09330028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.252755096 meters 0.027582187621148585 Centerline is valid? [True, True] Translation: X:8.87, Y:391.22, Z:8.09 [[ 7.59879004e-01 -6.49971797e-01 -1.09801105e-02 8.86816643e+00] [ 6.49911670e-01 7.59958219e-01 -8.85019728e-03 3.91224204e+02] [ 1.40968039e-02 -4.11022873e-04 9.99900551e-01 8.09397231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2827550960001 meters 0.028045245913987524 Centerline is valid? [True, True] Translation: X:8.89, Y:391.24, Z:8.09 [[ 7.60143579e-01 -6.49667634e-01 -1.06632701e-02 8.89043819e+00] [ 6.49610862e-01 7.60218266e-01 -8.59737576e-03 3.91241145e+02] [ 1.36918495e-02 -3.91736089e-04 9.99906186e-01 8.09468377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.312755096 meters 0.026890530717748076 Centerline is valid? [True, True] Translation: X:8.91, Y:391.26, Z:8.10 [[ 7.60124045e-01 -6.49693743e-01 -1.04631138e-02 8.91093965e+00] [ 6.49639031e-01 7.60195958e-01 -8.44008551e-03 3.91260394e+02] [ 1.34374876e-02 -3.81735171e-04 9.99909640e-01 8.09590533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.342755096 meters 0.027386303849405196 Centerline is valid? [True, True] Translation: X:8.93, Y:391.28, Z:8.10 [[ 7.60913300e-01 -6.48773786e-01 -1.01747275e-02 8.93312530e+00] [ 6.48721930e-01 7.60981242e-01 -8.21017721e-03 3.91276708e+02] [ 1.30693245e-02 -3.53335837e-04 9.99914530e-01 8.09529058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.372755096 meters 0.02624987927352987 Centerline is valid? [True, True] Translation: X:8.95, Y:391.30, Z:8.10 [[ 7.61240796e-01 -6.48386470e-01 -1.03651780e-02 8.95444857e+00] [ 6.48332571e-01 7.61311279e-01 -8.36744061e-03 3.91296423e+02] [ 1.33164622e-02 -3.50445322e-04 9.99911271e-01 8.09568311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4027550960001 meters 0.02672024402669171 Centerline is valid? [True, True] Translation: X:8.98, Y:391.31, Z:8.09 [[ 7.62113098e-01 -6.47364517e-01 -1.01394235e-02 8.97665808e+00] [ 6.47312818e-01 7.62180476e-01 -8.18768130e-03 3.91313140e+02] [ 1.30284850e-02 -3.23439642e-04 9.99915073e-01 8.09482109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.432755096 meters 0.024608885983147335 Centerline is valid? [True, True] Translation: X:9.00, Y:391.33, Z:8.10 [[ 7.63836288e-01 -6.45330903e-01 -1.01069842e-02 8.99697076e+00] [ 6.45279330e-01 7.63903098e-01 -8.16350967e-03 3.91334538e+02] [ 1.29889216e-02 -2.86243099e-04 9.99915599e-01 8.09541418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.462755096 meters 0.023707534781833683 Centerline is valid? [True, True] Translation: X:9.02, Y:391.35, Z:8.10 [[ 7.64611364e-01 -6.44416440e-01 -9.84448937e-03 9.01841697e+00] [ 6.44367389e-01 7.64674692e-01 -7.95509839e-03 3.91354349e+02] [ 1.26542281e-02 -2.60909282e-04 9.99919898e-01 8.09553747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.492755096 meters 0.022998984872660763 Centerline is valid? [True, True] Translation: X:9.04, Y:391.37, Z:8.10 [[ 7.65928888e-01 -6.42864511e-01 -8.84075736e-03 9.03955986e+00] [ 6.42824807e-01 7.65979880e-01 -7.14776834e-03 3.91374497e+02] [ 1.13668889e-02 -2.08375885e-04 9.99935373e-01 8.09573527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.522755096 meters 0.022508410552969697 Centerline is valid? [True, True] Translation: X:9.06, Y:391.39, Z:8.10 [[ 7.66432936e-01 -6.42269728e-01 -8.37563853e-03 9.06124240e+00] [ 6.42234017e-01 7.66478677e-01 -6.77536966e-03 3.91393755e+02] [ 1.07713632e-02 -1.86253517e-04 9.99941970e-01 8.09627251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.552755096 meters 0.02219003428749695 Centerline is valid? [True, True] Translation: X:9.08, Y:391.41, Z:8.10 [[ 7.66883696e-01 -6.41739618e-01 -7.72394776e-03 9.08328504e+00] [ 6.41709189e-01 7.66922575e-01 -6.25152539e-03 3.91412456e+02] [ 9.93552142e-03 -1.62335354e-04 9.99950628e-01 8.09686198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.582755096 meters 0.022116875382191963 Centerline is valid? [True, True] Translation: X:9.11, Y:391.43, Z:8.10 [[ 7.67195243e-01 -6.41375394e-01 -7.00451291e-03 9.10562496e+00] [ 6.41350327e-01 7.67227205e-01 -5.67221027e-03 3.91431134e+02] [ 9.01206896e-03 -1.40653907e-04 9.99959381e-01 8.09741333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.612755096 meters 0.021760287647309758 Centerline is valid? [True, True] Translation: X:9.13, Y:391.45, Z:8.10 [[ 7.68081639e-01 -6.40320656e-01 -6.32879878e-03 9.12639420e+00] [ 6.40300141e-01 7.68107704e-01 -5.12683417e-03 3.91449411e+02] [ 8.14401692e-03 -1.14503558e-04 9.99966830e-01 8.09682574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.642755096 meters 0.021560805719559144 Centerline is valid? [True, True] Translation: X:9.15, Y:391.47, Z:8.10 [[ 7.68355486e-01 -6.39994713e-01 -6.05098049e-03 9.14773845e+00] [ 6.39975936e-01 7.68379305e-01 -4.90361393e-03 3.91468163e+02] [ 7.78773517e-03 -1.04763238e-04 9.99969670e-01 8.09652088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6727550960001 meters 0.02114331531804952 Centerline is valid? [True, True] Translation: X:9.17, Y:391.49, Z:8.10 [[ 7.68477855e-01 -6.39851197e-01 -5.67737634e-03 9.16869600e+00] [ 6.39834643e-01 7.68498820e-01 -4.60361347e-03 3.91487377e+02] [ 7.30868461e-03 -9.48070640e-05 9.99973287e-01 8.09707173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.702755096 meters 0.02092714110282863 Centerline is valid? [True, True] Translation: X:9.19, Y:391.51, Z:8.10 [[ 7.68566770e-01 -6.39748549e-01 -5.18791063e-03 9.18935203e+00] [ 6.39734707e-01 7.68584275e-01 -4.20925766e-03 3.91506361e+02] [ 6.68021301e-03 -8.37909228e-05 9.99977684e-01 8.09661748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.732755096 meters 0.021464737905773582 Centerline is valid? [True, True] Translation: X:9.21, Y:391.52, Z:8.10 [[ 7.68382540e-01 -6.39975090e-01 -4.48959506e-03 9.21107504e+00] [ 6.39964716e-01 7.68395653e-01 -3.64458379e-03 3.91522971e+02] [ 5.78222816e-03 -7.27478779e-05 9.99983280e-01 8.09602883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.762755096 meters 0.021474596853868898 Centerline is valid? [True, True] Translation: X:9.23, Y:391.54, Z:8.10 [[ 7.67291034e-01 -6.41285750e-01 -4.12981890e-03 9.23371529e+00] [ 6.41276984e-01 7.67302145e-01 -3.35395566e-03 3.91541676e+02] [ 5.31966287e-03 -7.48976979e-05 9.99985848e-01 8.09575593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7927550960001 meters 0.02173774007261931 Centerline is valid? [True, True] Translation: X:9.26, Y:391.56, Z:8.10 [[ 7.66532755e-01 -6.42193624e-01 -3.85806708e-03 9.25604941e+00] [ 6.42185977e-01 7.66542461e-01 -3.13477245e-03 3.91558771e+02] [ 4.97050311e-03 -7.46908156e-05 9.99987644e-01 8.09558343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.822755096 meters 0.02216546718223507 Centerline is valid? [True, True] Translation: X:9.28, Y:391.58, Z:8.10 [[ 7.65732737e-01 -6.43149744e-01 -3.43256684e-03 9.27790007e+00] [ 6.43143697e-01 7.65740428e-01 -2.78973642e-03 3.91575564e+02] [ 4.42267346e-03 -7.14412190e-05 9.99990217e-01 8.09570726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.852755096 meters 0.022629904471444626 Centerline is valid? [True, True] Translation: X:9.30, Y:391.59, Z:8.10 [[ 7.64996819e-01 -6.44026504e-01 -3.11915539e-03 9.30026922e+00] [ 6.44021516e-01 7.65003175e-01 -2.53566138e-03 3.91592657e+02] [ 4.01919691e-03 -6.90302909e-05 9.99991921e-01 8.09573458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.882755096 meters 0.023368745579207748 Centerline is valid? [True, True] Translation: X:9.32, Y:391.61, Z:8.10 [[ 7.63949017e-01 -6.45270292e-01 -2.85470586e-03 9.32280492e+00] [ 6.45266121e-01 7.63954348e-01 -2.32104033e-03 3.91609339e+02] [ 3.67856333e-03 -6.88884991e-05 9.99993232e-01 8.09535351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9127550960001 meters 0.023359092559899684 Centerline is valid? [True, True] Translation: X:9.35, Y:391.63, Z:8.10 [[ 7.63243927e-01 -6.46105570e-01 -2.50996553e-03 9.34501720e+00] [ 6.46102350e-01 7.63248051e-01 -2.04106180e-03 3.91628021e+02] [ 3.23446770e-03 -6.38666001e-05 9.99994767e-01 8.09504497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.942755096 meters 0.023116447784472444 Centerline is valid? [True, True] Translation: X:9.37, Y:391.65, Z:8.09 [[ 7.62135863e-01 -6.47414548e-01 -1.82457773e-03 9.36647848e+00] [ 6.47412849e-01 7.62138045e-01 -1.48407763e-03 3.91647835e+02] [ 2.35139355e-03 -5.01862820e-05 9.99997234e-01 8.09461786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.972755096 meters 0.02290387754188099 Centerline is valid? [True, True] Translation: X:9.39, Y:391.67, Z:8.09 [[ 7.61695566e-01 -6.47933524e-01 -1.41897820e-03 9.38856618e+00] [ 6.47932497e-01 7.61696887e-01 -1.15445017e-03 3.91667081e+02] [ 1.82883824e-03 -4.00625124e-05 9.99998327e-01 8.09462280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.002755096 meters 0.024522977288131062 Centerline is valid? [True, True] Translation: X:9.41, Y:391.68, Z:8.09 [[ 7.61108017e-01 -6.48623991e-01 -1.22662372e-03 9.41258637e+00] [ 6.48623223e-01 7.61109005e-01 -9.98729001e-04 3.91682414e+02] [ 1.58139395e-03 -3.54759794e-05 9.99998749e-01 8.09500000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0327550960001 meters 0.02430627445433052 Centerline is valid? [True, True] Translation: X:9.43, Y:391.70, Z:8.09 [[ 7.60088712e-01 -6.49818933e-01 -7.10138764e-04 9.43423996e+00] [ 6.49818677e-01 7.60089044e-01 -5.77544559e-04 3.91701029e+02] [ 9.15068082e-04 -2.24763321e-05 9.99999581e-01 8.09474535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.062755096 meters 0.023998897588910256 Centerline is valid? [True, True] Translation: X:9.46, Y:391.72, Z:8.09 [[ 7.59438058e-01 -6.50579460e-01 -4.49813221e-04 9.45643750e+00] [ 6.50579358e-01 7.59438191e-01 -3.65434457e-04 3.91720125e+02] [ 5.79349490e-04 -1.51143615e-05 9.99999832e-01 8.09459224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.092755096 meters 0.024843086051793424 Centerline is valid? [True, True] Translation: X:9.48, Y:391.74, Z:8.09 [[ 7.58684438e-01 -6.51458293e-01 -1.28445291e-04 9.47931361e+00] [ 6.51458285e-01 7.58684449e-01 -1.04266385e-04 3.91736769e+02] [ 1.65374646e-04 -4.57146503e-06 9.99999986e-01 8.09463957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.122755096 meters 0.024988363088279907 Centerline is valid? [True, True] Translation: X:9.50, Y:391.75, Z:8.09 [[ 7.58141187e-01 -6.52090439e-01 -3.39005351e-06 9.50135817e+00] [ 6.52090439e-01 7.58141187e-01 -1.24667009e-06 3.91754807e+02] [ 3.38308066e-06 -1.26546953e-06 1.00000000e+00 8.09434849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1527550960001 meters 0.025105309516106875 Centerline is valid? [True, True] Translation: X:9.52, Y:391.77, Z:8.09 [[ 7.58052262e-01 -6.52193800e-01 1.23671198e-04 9.52270238e+00] [ 6.52193792e-01 7.58052272e-01 1.02767194e-04 3.91772497e+02] [-1.60773360e-04 2.75468338e-06 9.99999987e-01 8.09401335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.182755096 meters 0.02519646633057269 Centerline is valid? [True, True] Translation: X:9.54, Y:391.79, Z:8.09 [[ 7.57792097e-01 -6.52496077e-01 9.03924266e-05 9.54401013e+00] [ 6.52496072e-01 7.57792102e-01 7.56124896e-05 3.91790396e+02] [-1.17835520e-04 1.68215626e-06 9.99999993e-01 8.09384471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.212755096 meters 0.025274399682387542 Centerline is valid? [True, True] Translation: X:9.57, Y:391.81, Z:8.09 [[ 7.58343829e-01 -6.51854726e-01 2.32223284e-04 9.56513856e+00] [ 6.51854698e-01 7.58343864e-01 1.90788766e-04 3.91808263e+02] [-3.00471662e-04 6.69235510e-06 9.99999955e-01 8.09364776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.242755096 meters 0.02487491832541163 Centerline is valid? [True, True] Translation: X:9.59, Y:391.83, Z:8.09 [[ 7.58752072e-01 -6.51379482e-01 2.51436388e-04 9.58721329e+00] [ 6.51379449e-01 7.58752114e-01 2.07213681e-04 3.91827441e+02] [-3.25752631e-04 6.55668573e-06 9.99999947e-01 8.09394259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.272755096 meters 0.02464229755597117 Centerline is valid? [True, True] Translation: X:9.61, Y:391.85, Z:8.09 [[ 7.59219154e-01 -6.50834961e-01 3.59670325e-04 9.60816884e+00] [ 6.50834894e-01 7.59219239e-01 2.94868062e-04 3.91845537e+02] [-4.64979075e-04 1.02165177e-05 9.99999892e-01 8.09417507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.302755096 meters 0.023568260852850634 Centerline is valid? [True, True] Translation: X:9.63, Y:391.87, Z:8.09 [[ 7.60301614e-01 -6.49569883e-01 6.50435699e-04 9.62826719e+00] [ 6.49569664e-01 7.60301892e-01 5.34089935e-04 3.91866434e+02] [-8.41456229e-04 1.64338588e-05 9.99999646e-01 8.09381938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.332755096 meters 0.023609649776895596 Centerline is valid? [True, True] Translation: X:9.65, Y:391.88, Z:8.09 [[ 7.60936992e-01 -6.48825417e-01 6.87353801e-04 9.64984735e+00] [ 6.48825172e-01 7.60937303e-01 5.63457071e-04 3.91883823e+02] [-8.88618416e-04 1.72171192e-05 9.99999605e-01 8.09370644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.362755096 meters 0.022757900703777423 Centerline is valid? [True, True] Translation: X:9.67, Y:391.90, Z:8.09 [[ 7.61993725e-01 -6.47584115e-01 6.14696732e-04 9.67196504e+00] [ 6.47583918e-01 7.61993973e-01 5.04415252e-04 3.91903185e+02] [-7.95046509e-04 1.37064616e-05 9.99999684e-01 8.09362925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.392755096 meters 0.022064538058403776 Centerline is valid? [True, True] Translation: X:9.69, Y:391.92, Z:8.09 [[ 7.62379761e-01 -6.47129855e-01 2.24805193e-04 9.69338895e+00] [ 6.47129828e-01 7.62379794e-01 1.85793836e-04 3.91923034e+02] [-2.91619675e-04 3.83268571e-06 9.99999958e-01 8.09303215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4227550960001 meters 0.022593519173565665 Centerline is valid? [True, True] Translation: X:9.72, Y:391.94, Z:8.09 [[ 7.63009423e-01 -6.46387235e-01 4.04055289e-04 9.71592958e+00] [ 6.46387150e-01 7.63009530e-01 3.31800396e-04 3.91940075e+02] [-5.22769577e-04 8.00931720e-06 9.99999863e-01 8.09357946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.452755096 meters 0.02147439403094718 Centerline is valid? [True, True] Translation: X:9.74, Y:391.96, Z:8.09 [[ 7.63909981e-01 -6.45322257e-01 8.52669286e-04 9.73659985e+00] [ 6.45321876e-01 7.63910456e-01 7.00927834e-04 3.91960938e+02] [-1.10368731e-03 1.48003756e-05 9.99999391e-01 8.09347706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.482755096 meters 0.021542247103204477 Centerline is valid? [True, True] Translation: X:9.76, Y:391.98, Z:8.09 [[ 7.64307604e-01 -6.44850100e-01 1.49504727e-03 9.75721606e+00] [ 6.44848932e-01 7.64309065e-01 1.22769296e-03 3.91977827e+02] [-1.93435611e-03 2.57445732e-05 9.99998129e-01 8.09457167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.512755096 meters 0.02111908270008937 Centerline is valid? [True, True] Translation: X:9.78, Y:392.00, Z:8.09 [[ 7.64535684e-01 -6.44577536e-01 2.23332358e-03 9.77823038e+00] [ 6.44574924e-01 7.64538946e-01 1.83543480e-03 3.91996408e+02] [-2.89054289e-03 3.62889742e-05 9.99995822e-01 8.09493393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5427550960001 meters 0.021022414653518635 Centerline is valid? [True, True] Translation: X:9.80, Y:392.01, Z:8.10 [[ 7.64475415e-01 -6.44647644e-01 2.59912577e-03 9.80034823e+00] [ 6.44644103e-01 7.64479832e-01 2.13712225e-03 3.92014215e+02] [-3.36467005e-03 4.17336807e-05 9.99994339e-01 8.09574457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.572755096 meters 0.020974955995826983 Centerline is valid? [True, True] Translation: X:9.82, Y:392.03, Z:8.10 [[ 7.64178307e-01 -6.44999540e-01 2.66617563e-03 9.82296208e+00] [ 6.44995811e-01 7.64182957e-01 2.19356667e-03 3.92031095e+02] [-3.45229547e-03 4.33960473e-05 9.99994040e-01 8.09598386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.602755096 meters 0.021440938975163474 Centerline is valid? [True, True] Translation: X:9.84, Y:392.05, Z:8.10 [[ 7.63789198e-01 -6.45461391e-01 2.37760436e-03 9.84454680e+00] [ 6.45458428e-01 7.63792898e-01 1.95627428e-03 3.92047031e+02] [-3.07869684e-03 4.04636029e-05 9.99995260e-01 8.09611847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.632755096 meters 0.021440938975163474 Centerline is valid? [True, True] Translation: X:9.87, Y:392.06, Z:8.10 [[ 7.63601360e-01 -6.45683602e-01 2.37670826e-03 9.86573979e+00] [ 6.45680637e-01 7.63605058e-01 1.95736342e-03 3.92064699e+02] [-3.07870391e-03 3.99491284e-05 9.99995260e-01 8.09623791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6627550960001 meters 0.02140430262953654 Centerline is valid? [True, True] Translation: X:9.89, Y:392.08, Z:8.09 [[ 7.62987087e-01 -6.46411318e-01 1.76445687e-03 9.88773799e+00] [ 6.46409682e-01 7.62989127e-01 1.45447254e-03 3.92081785e+02] [-2.28644892e-03 3.08182427e-05 9.99997386e-01 8.09497669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.692755096 meters 0.021593820014745475 Centerline is valid? [True, True] Translation: X:9.91, Y:392.10, Z:8.09 [[ 7.62358943e-01 -6.47152332e-01 1.64351046e-03 9.91054203e+00] [ 6.47150913e-01 7.62360714e-01 1.35539420e-03 3.92098972e+02] [-2.13009433e-03 3.03024005e-05 9.99997731e-01 8.09462372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.722755096 meters 0.021327210963438415 Centerline is valid? [True, True] Translation: X:9.93, Y:392.12, Z:8.09 [[ 7.61795331e-01 -6.47815466e-01 1.73077658e-03 9.93280670e+00] [ 6.47813892e-01 7.61797297e-01 1.42812280e-03 3.92116725e+02] [-2.24366095e-03 3.32838304e-05 9.99997482e-01 8.09405086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.752755096 meters 0.02214496934968158 Centerline is valid? [True, True] Translation: X:9.96, Y:392.13, Z:8.09 [[ 7.61168282e-01 -6.48552587e-01 1.54528606e-03 9.95588926e+00] [ 6.48551335e-01 7.61169850e-01 1.27484321e-03 3.92131945e+02] [-2.00302802e-03 3.18271188e-05 9.99997993e-01 8.09461532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7827550960001 meters 0.022730842016401586 Centerline is valid? [True, True] Translation: X:9.98, Y:392.15, Z:8.09 [[ 7.60481445e-01 -6.49357323e-01 1.74325938e-03 9.97921234e+00] [ 6.49355731e-01 7.60483442e-01 1.43840281e-03 3.92147131e+02] [-2.25975729e-03 3.81168218e-05 9.99997446e-01 8.09444001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.812755096 meters 0.02176405648763586 Centerline is valid? [True, True] Translation: X:10.00, Y:392.17, Z:8.09 [[ 7.60183600e-01 -6.49706609e-01 1.48895311e-03 1.00003088e+01] [ 6.49705444e-01 7.60185057e-01 1.23046132e-03 3.92165971e+02] [-1.93131875e-03 3.20044240e-05 9.99998135e-01 8.09358505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.842755096 meters 0.02156684049058944 Centerline is valid? [True, True] Translation: X:10.02, Y:392.18, Z:8.09 [[ 7.60035730e-01 -6.49881073e-01 5.28584492e-04 1.00226255e+01] [ 6.49880926e-01 7.60035914e-01 4.38231117e-04 3.92183632e+02] [-6.86541306e-04 1.04456716e-05 9.99999764e-01 8.09249498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.872755096 meters 0.021544862691204997 Centerline is valid? [True, True] Translation: X:10.04, Y:392.20, Z:8.09 [[ 7.60539086e-01 -6.49292088e-01 2.89774189e-04 1.00440843e+01] [ 6.49292044e-01 7.60539141e-01 2.39869920e-04 3.92201985e+02] [-3.76130254e-04 5.71762592e-06 9.99999929e-01 8.09219462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9027550960001 meters 0.02105594432117627 Centerline is valid? [True, True] Translation: X:10.06, Y:392.22, Z:8.09 [[ 7.61108751e-01 -6.48624214e-01 3.14904344e-04 1.00648557e+01] [ 6.48624161e-01 7.61108816e-01 2.61759831e-04 3.92221702e+02] [-4.09460237e-04 5.02686779e-06 9.99999916e-01 8.09171100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.932755096 meters 0.020466904181192753 Centerline is valid? [True, True] Translation: X:10.08, Y:392.24, Z:8.09 [[ 7.62977374e-01 -6.46425163e-01 1.87677944e-04 1.00849383e+01] [ 6.46425144e-01 7.62977398e-01 1.55663498e-04 3.92241186e+02] [-2.43818831e-04 2.55201496e-06 9.99999970e-01 8.09156148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.962755096 meters 0.020656444445382546 Centerline is valid? [True, True] Translation: X:10.11, Y:392.26, Z:8.09 [[ 7.63401522e-01 -6.45924206e-01 1.91159423e-04 1.01059753e+01] [ 6.45924187e-01 7.63401546e-01 1.58892299e-04 3.92257931e+02] [-2.48563781e-04 2.17587176e-06 9.99999969e-01 8.09245466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.992755096 meters 0.020104996195733076 Centerline is valid? [True, True] Translation: X:10.13, Y:392.28, Z:8.09 [[ 7.63760818e-01 -6.45499351e-01 -3.04621934e-05 1.01266092e+01] [ 6.45499351e-01 7.63760819e-01 -2.35199032e-05 3.92277119e+02] [ 3.84479118e-05 -1.69974548e-06 9.99999999e-01 8.09176152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.022755096 meters 0.01961562214972107 Centerline is valid? [True, True] Translation: X:10.15, Y:392.30, Z:8.09 [[ 7.64459312e-01 -6.44671479e-01 -8.03580892e-04 1.01481925e+01] [ 6.44671137e-01 7.64459734e-01 -6.63645058e-04 3.92296887e+02] [ 1.04213828e-03 -1.07157630e-05 9.99999457e-01 8.09066844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.052755096 meters 0.019555353754474994 Centerline is valid? [True, True] Translation: X:10.17, Y:392.32, Z:8.09 [[ 7.64674988e-01 -6.44415451e-01 -9.42720645e-04 1.01688371e+01] [ 6.44414980e-01 7.64675569e-01 -7.79659848e-04 3.92315040e+02] [ 1.22330030e-03 -1.13169201e-05 9.99999252e-01 8.09057770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.082755096 meters 0.019470763069321294 Centerline is valid? [True, True] Translation: X:10.19, Y:392.33, Z:8.09 [[ 7.64831634e-01 -6.44229447e-01 -9.95523672e-04 1.01895171e+01] [ 6.44228922e-01 7.64832282e-01 -8.23092484e-04 3.92334064e+02] [ 1.29166906e-03 -1.18179719e-05 9.99999166e-01 8.09013089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.112755096 meters 0.019407681242618477 Centerline is valid? [True, True] Translation: X:10.21, Y:392.35, Z:8.09 [[ 7.65024996e-01 -6.43999424e-01 -1.22361375e-03 1.02096989e+01] [ 6.43998627e-01 7.65025975e-01 -1.01321702e-03 3.92352557e+02] [ 1.58860747e-03 -1.28692289e-05 9.99998738e-01 8.08976555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.142755096 meters 0.019290714843293612 Centerline is valid? [True, True] Translation: X:10.23, Y:392.37, Z:8.09 [[ 7.65080816e-01 -6.43933132e-01 -1.21107132e-03 1.02307701e+01] [ 6.43932351e-01 7.65081775e-01 -1.00267449e-03 3.92371429e+02] [ 1.57222391e-03 -1.27209866e-05 9.99998764e-01 8.08981352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1727550960001 meters 0.019219035993775908 Centerline is valid? [True, True] Translation: X:10.25, Y:392.39, Z:8.09 [[ 7.65185676e-01 -6.43808440e-01 -1.25450490e-03 1.02518801e+01] [ 6.43807602e-01 7.65186704e-01 -1.03933460e-03 3.92390019e+02] [ 1.62906286e-03 -1.23758383e-05 9.99998673e-01 8.08989156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.202755096 meters 0.01902222287892994 Centerline is valid? [True, True] Translation: X:10.27, Y:392.41, Z:8.09 [[ 7.65300059e-01 -6.43670588e-01 -1.99835877e-03 1.02734335e+01] [ 6.43668454e-01 7.65302668e-01 -1.65760536e-03 3.92408076e+02] [ 2.59630112e-03 -1.77150243e-05 9.99996629e-01 8.09016389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.232755096 meters 0.01897241476561261 Centerline is valid? [True, True] Translation: X:10.29, Y:392.43, Z:8.09 [[ 7.65099556e-01 -6.43907355e-01 -2.44714486e-03 1.02948975e+01] [ 6.43904150e-01 7.65103469e-01 -2.03149566e-03 3.92425648e+02] [ 3.18041401e-03 -2.14303049e-05 9.99994942e-01 8.09039038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.262755096 meters 0.01901562652204825 Centerline is valid? [True, True] Translation: X:10.32, Y:392.44, Z:8.09 [[ 7.64478898e-01 -6.44644871e-01 -2.23714209e-03 1.03170353e+01] [ 6.44642194e-01 7.64482171e-01 -1.85815824e-03 3.92443639e+02] [ 2.90810743e-03 -2.16334199e-05 9.99995771e-01 8.09064875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2927550960001 meters 0.01914828509713041 Centerline is valid? [True, True] Translation: X:10.34, Y:392.46, Z:8.09 [[ 7.63816117e-01 -6.45429986e-01 -2.25232629e-03 1.03385655e+01] [ 6.45427272e-01 7.63819437e-01 -1.87191941e-03 3.92461099e+02] [ 2.92856352e-03 -2.39105967e-05 9.99995712e-01 8.09066363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.322755096 meters 0.01930605552090595 Centerline is valid? [True, True] Translation: X:10.36, Y:392.48, Z:8.09 [[ 7.63212918e-01 -6.46143603e-01 -2.11796755e-03 1.03605251e+01] [ 6.46141203e-01 7.63215857e-01 -1.76121953e-03 3.92478243e+02] [ 2.75446716e-03 -2.43206030e-05 9.99996206e-01 8.09082406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.352755096 meters 0.019373355457099336 Centerline is valid? [True, True] Translation: X:10.38, Y:392.50, Z:8.09 [[ 7.62400331e-01 -6.47102401e-01 -2.05402500e-03 1.03827963e+01] [ 6.47100144e-01 7.62403097e-01 -1.70906579e-03 3.92496120e+02] [ 2.67193560e-03 -2.61675498e-05 9.99996430e-01 8.09072356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.382755096 meters 0.019435722883791223 Centerline is valid? [True, True] Translation: X:10.41, Y:392.51, Z:8.09 [[ 7.61172593e-01 -6.48544460e-01 -2.52323008e-03 1.04062512e+01] [ 6.48541058e-01 7.61176774e-01 -2.10102440e-03 3.92513799e+02] [ 3.28323187e-03 -3.71761095e-05 9.99994610e-01 8.09079301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4127550960001 meters 0.01976853458364235 Centerline is valid? [True, True] Translation: X:10.43, Y:392.53, Z:8.09 [[ 7.60338322e-01 -6.49522870e-01 -2.38292783e-03 1.04286179e+01] [ 6.49519837e-01 7.60342055e-01 -1.98542570e-03 3.92530347e+02] [ 3.10141964e-03 -3.81636475e-05 9.99995190e-01 8.09072367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.442755096 meters 0.020173292163221272 Centerline is valid? [True, True] Translation: X:10.45, Y:392.55, Z:8.09 [[ 7.59006461e-01 -6.51078376e-01 -2.47807523e-03 1.04524639e+01] [ 6.51075102e-01 7.59010505e-01 -2.06527105e-03 3.92547157e+02] [ 3.22553845e-03 -4.58590173e-05 9.99994797e-01 8.09138069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.472755096 meters 0.02036052097408606 Centerline is valid? [True, True] Translation: X:10.47, Y:392.56, Z:8.09 [[ 7.58615160e-01 -6.51535312e-01 -2.18541677e-03 1.04740120e+01] [ 6.51532765e-01 7.58618307e-01 -1.82237724e-03 3.92563866e+02] [ 2.84524030e-03 -4.13876305e-05 9.99995951e-01 8.09156321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.502755096 meters 0.020492201533682017 Centerline is valid? [True, True] Translation: X:10.50, Y:392.58, Z:8.09 [[ 7.58056931e-01 -6.52184897e-01 -2.13296369e-03 1.04956120e+01] [ 6.52182472e-01 7.58059931e-01 -1.77900486e-03 3.92581730e+02] [ 2.77715441e-03 -4.24945706e-05 9.99996143e-01 8.09156122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5327550960001 meters 0.020710286330878385 Centerline is valid? [True, True] Translation: X:10.52, Y:392.60, Z:8.09 [[ 7.57749031e-01 -6.52542518e-01 -2.16089420e-03 1.05163563e+01] [ 6.52540026e-01 7.57752111e-01 -1.80372605e-03 3.92598703e+02] [ 2.81443008e-03 -4.32982957e-05 9.99996039e-01 8.09139749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.562755096 meters 0.02067589537757595 Centerline is valid? [True, True] Translation: X:10.54, Y:392.62, Z:8.09 [[ 7.57816308e-01 -6.52464605e-01 -2.09336008e-03 1.05380404e+01] [ 6.52462266e-01 7.57819198e-01 -1.74768131e-03 3.92616965e+02] [ 2.72668865e-03 -4.14170664e-05 9.99996282e-01 8.09182487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.592755096 meters 0.020280706744446233 Centerline is valid? [True, True] Translation: X:10.56, Y:392.64, Z:8.09 [[ 7.57822029e-01 -6.52459816e-01 -1.40035824e-03 1.05590632e+01] [ 6.52458769e-01 7.57823323e-01 -1.16923642e-03 3.92635889e+02] [ 1.82410391e-03 -2.76028941e-05 9.99998336e-01 8.09187800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.622755096 meters 0.02024942853268685 Centerline is valid? [True, True] Translation: X:10.58, Y:392.65, Z:8.09 [[ 7.57773486e-01 -6.52514286e-01 -2.10961255e-03 1.05807716e+01] [ 6.52511904e-01 7.57776422e-01 -1.76346791e-03 3.92654139e+02] [ 2.74930265e-03 -4.02380796e-05 9.99996220e-01 8.09162165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6527550960001 meters 0.02020962120056827 Centerline is valid? [True, True] Translation: X:10.60, Y:392.67, Z:8.09 [[ 7.58007105e-01 -6.52241935e-01 -2.38477657e-03 1.06015241e+01] [ 6.52238884e-01 7.58010856e-01 -1.99521934e-03 3.92672115e+02] [ 3.10905226e-03 -4.30535720e-05 9.99995166e-01 8.09160229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.682755096 meters 0.02012985842217329 Centerline is valid? [True, True] Translation: X:10.62, Y:392.69, Z:8.09 [[ 7.58014693e-01 -6.52232321e-01 -2.59308421e-03 1.06223207e+01] [ 6.52228713e-01 7.58019127e-01 -2.17012989e-03 3.92690624e+02] [ 3.38103629e-03 -4.62936298e-05 9.99994283e-01 8.09126675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.712755096 meters 0.019966025971404098 Centerline is valid? [True, True] Translation: X:10.64, Y:392.71, Z:8.09 [[ 7.58238140e-01 -6.51971904e-01 -2.74944478e-03 1.06431054e+01] [ 6.51967840e-01 7.58243123e-01 -2.30254273e-03 3.92710177e+02] [ 3.58594077e-03 -4.66738554e-05 9.99993569e-01 8.09041702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.742755096 meters 0.01995994210400266 Centerline is valid? [True, True] Translation: X:10.66, Y:392.73, Z:8.09 [[ 7.58261364e-01 -6.51942883e-01 -3.19077782e-03 1.06642209e+01] [ 6.51937401e-01 7.58268076e-01 -2.67413851e-03 3.92728944e+02] [ 4.16285052e-03 -5.24914861e-05 9.99991334e-01 8.09021616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.772755096 meters 0.020143330878582787 Centerline is valid? [True, True] Translation: X:10.69, Y:392.75, Z:8.09 [[ 7.58773130e-01 -6.51346580e-01 -3.31217820e-03 1.06854896e+01] [ 6.51340659e-01 7.58780357e-01 -2.77771552e-03 3.92746444e+02] [ 4.32247126e-03 -4.97004317e-05 9.99990657e-01 8.08994238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.802755096 meters 0.019799232669999122 Centerline is valid? [True, True] Translation: X:10.71, Y:392.77, Z:8.09 [[ 7.58729222e-01 -6.51395692e-01 -3.69053630e-03 1.07063678e+01] [ 6.51388336e-01 7.58738195e-01 -3.09615563e-03 3.92765607e+02] [ 4.81697329e-03 -5.48285512e-05 9.99988397e-01 8.09035020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.832755096 meters 0.019802951438322797 Centerline is valid? [True, True] Translation: X:10.73, Y:392.78, Z:8.09 [[ 7.58924396e-01 -6.51168391e-01 -3.67267773e-03 1.07267540e+01] [ 6.51161094e-01 7.58933281e-01 -3.08303813e-03 3.92783116e+02] [ 4.79489433e-03 -5.17120028e-05 9.99988503e-01 8.09043870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.862755096 meters 0.019737322776055152 Centerline is valid? [True, True] Translation: X:10.75, Y:392.80, Z:8.09 [[ 7.59119794e-01 -6.50939834e-01 -3.80416369e-03 1.07472428e+01] [ 6.50931995e-01 7.59129324e-01 -3.19489129e-03 3.92802567e+02] [ 4.96753421e-03 -5.09466414e-05 9.99987660e-01 8.09021993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.892755096 meters 0.01968056587967682 Centerline is valid? [True, True] Translation: X:10.77, Y:392.82, Z:8.09 [[ 7.58949545e-01 -6.51138084e-01 -3.84508161e-03 1.07681602e+01] [ 6.51130068e-01 7.58959283e-01 -3.23125277e-03 3.92821353e+02] [ 5.02225212e-03 -5.12904347e-05 9.99987387e-01 8.09042003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9227550960001 meters 0.01948331088229087 Centerline is valid? [True, True] Translation: X:10.79, Y:392.84, Z:8.09 [[ 7.58870318e-01 -6.51230905e-01 -3.76154044e-03 1.07882564e+01] [ 6.51223225e-01 7.58879639e-01 -3.16295323e-03 3.92840442e+02] [ 4.91436934e-03 -4.93311711e-05 9.99987923e-01 8.09084262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.952755096 meters 0.019697641417153407 Centerline is valid? [True, True] Translation: X:10.81, Y:392.86, Z:8.09 [[ 7.58257952e-01 -6.51946438e-01 -3.27427955e-03 1.08088222e+01] [ 6.51940620e-01 7.58265020e-01 -2.75475258e-03 3.92858457e+02] [ 4.27872278e-03 -4.58227911e-05 9.99990845e-01 8.09165833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.982755096 meters 0.019849435239706767 Centerline is valid? [True, True] Translation: X:10.83, Y:392.88, Z:8.09 [[ 7.58106633e-01 -6.52122091e-01 -3.33333573e-03 1.08305011e+01] [ 6.52116058e-01 7.58113960e-01 -2.80548117e-03 3.92875455e+02] [ 4.35656460e-03 -4.68678715e-05 9.99990509e-01 8.09196186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.012755096 meters 0.01993523786254973 Centerline is valid? [True, True] Translation: X:10.85, Y:392.89, Z:8.09 [[ 7.57305640e-01 -6.53051043e-01 -3.53588770e-03 1.08525249e+01] [ 6.53044260e-01 7.57313893e-01 -2.97708176e-03 3.92893536e+02] [ 4.62196323e-03 -5.45303526e-05 9.99989317e-01 8.09244216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0427550960001 meters 0.020289334261945114 Centerline is valid? [True, True] Translation: X:10.87, Y:392.91, Z:8.09 [[ 7.56707873e-01 -6.53744291e-01 -3.40529957e-03 1.08741877e+01] [ 6.53738000e-01 7.56715534e-01 -2.86860124e-03 3.92910480e+02] [ 4.45217477e-03 -5.54805880e-05 9.99990088e-01 8.09294393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.072755096 meters 0.020441559034982324 Centerline is valid? [True, True] Translation: X:10.90, Y:392.93, Z:8.09 [[ 7.56142712e-01 -6.54398353e-01 -3.31573093e-03 1.08956431e+01] [ 6.54392391e-01 7.56149980e-01 -2.79391793e-03 3.92928546e+02] [ 4.33552517e-03 -5.71884134e-05 9.99990600e-01 8.09317041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.102755096 meters 0.02083831512810673 Centerline is valid? [True, True] Translation: X:10.92, Y:392.95, Z:8.09 [[ 7.55461077e-01 -6.55184093e-01 -3.51653008e-03 1.09161162e+01] [ 6.55177387e-01 7.55469259e-01 -2.96499433e-03 3.92946001e+02] [ 4.59924749e-03 -6.40131812e-05 9.99989421e-01 8.09278938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.132755096 meters 0.020970131787692328 Centerline is valid? [True, True] Translation: X:10.94, Y:392.96, Z:8.09 [[ 7.55030230e-01 -6.55680994e-01 -3.43314888e-03 1.09373072e+01] [ 6.55674601e-01 7.55038032e-01 -2.89623180e-03 3.92963948e+02] [ 4.49116212e-03 -6.42859630e-05 9.99989913e-01 8.09292552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1627550960001 meters 0.02121832503918868 Centerline is valid? [True, True] Translation: X:10.96, Y:392.98, Z:8.09 [[ 7.54613910e-01 -6.56159431e-01 -3.55656825e-03 1.09586455e+01] [ 6.56152566e-01 7.54622288e-01 -3.00218439e-03 3.92981597e+02] [ 4.65377727e-03 -6.81612864e-05 9.99989169e-01 8.09303160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.192755096 meters 0.02156883554978196 Centerline is valid? [True, True] Translation: X:10.98, Y:393.00, Z:8.09 [[ 7.54101678e-01 -6.56746455e-01 -3.84111306e-03 1.09799751e+01] [ 6.56738445e-01 7.54111456e-01 -3.24439112e-03 3.92998788e+02] [ 5.02736973e-03 -7.60058256e-05 9.99987360e-01 8.09282546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.222755096 meters 0.021177555089286742 Centerline is valid? [True, True] Translation: X:11.00, Y:393.02, Z:8.09 [[ 7.53405003e-01 -6.57543458e-01 -4.18348161e-03 1.10016720e+01] [ 6.57533959e-01 7.53416613e-01 -3.53560389e-03 3.93018371e+02] [ 5.47671776e-03 -8.70395624e-05 9.99984999e-01 8.09321001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.252755096 meters 0.0214372296754332 Centerline is valid? [True, True] Translation: X:11.02, Y:393.04, Z:8.09 [[ 7.53222432e-01 -6.57750227e-01 -4.53955800e-03 1.10225640e+01] [ 6.57739033e-01 7.53236105e-01 -3.83855998e-03 3.93035194e+02] [ 5.94417268e-03 -9.45550097e-05 9.99982329e-01 8.09311273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2827550960001 meters 0.02142708803731931 Centerline is valid? [True, True] Translation: X:11.04, Y:393.05, Z:8.09 [[ 7.52954021e-01 -6.58057322e-01 -4.56100879e-03 1.10436846e+01] [ 6.58046018e-01 7.52967829e-01 -3.85834775e-03 3.93053561e+02] [ 5.97330688e-03 -9.61952179e-05 9.99982155e-01 8.09331720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.312755096 meters 0.021310565210212417 Centerline is valid? [True, True] Translation: X:11.06, Y:393.07, Z:8.09 [[ 7.52906672e-01 -6.58111084e-01 -4.61999956e-03 1.10648047e+01] [ 6.58099471e-01 7.52920841e-01 -3.91071972e-03 3.93071900e+02] [ 6.05218195e-03 -9.60122929e-05 9.99981681e-01 8.09371862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.342755096 meters 0.021482529370126333 Centerline is valid? [True, True] Translation: X:11.09, Y:393.09, Z:8.09 [[ 7.53175330e-01 -6.57803606e-01 -4.61940102e-03 1.10854902e+01] [ 6.57791977e-01 7.53189490e-01 -3.91233317e-03 3.93088880e+02] [ 6.05283117e-03 -9.19321018e-05 9.99981677e-01 8.09406842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.372755096 meters 0.021347159293572476 Centerline is valid? [True, True] Translation: X:11.11, Y:393.11, Z:8.09 [[ 7.53289652e-01 -6.57672877e-01 -4.59208950e-03 1.11063788e+01] [ 6.57661374e-01 7.53303643e-01 -3.89076350e-03 3.93107037e+02] [ 6.01808738e-03 -8.91680116e-05 9.99981887e-01 8.09401296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4027550960001 meters 0.021045786927453857 Centerline is valid? [True, True] Translation: X:11.13, Y:393.13, Z:8.09 [[ 7.53970507e-01 -6.56894335e-01 -4.27867396e-03 1.11284746e+01] [ 6.56884325e-01 7.53982644e-01 -3.62727065e-03 3.93126248e+02] [ 5.60877945e-03 -7.57387609e-05 9.99984268e-01 8.09450780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.432755096 meters 0.021091137318604455 Centerline is valid? [True, True] Translation: X:11.15, Y:393.14, Z:8.09 [[ 7.54357032e-01 -6.56451195e-01 -4.15909557e-03 1.11490399e+01] [ 6.56441720e-01 7.54368494e-01 -3.52760531e-03 3.93143112e+02] [ 5.45319138e-03 -6.91299832e-05 9.99985129e-01 8.09499955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.462755096 meters 0.021194000571683445 Centerline is valid? [True, True] Translation: X:11.17, Y:393.16, Z:8.09 [[ 7.55254634e-01 -6.55414934e-01 -4.65861252e-03 1.11718236e+01] [ 6.55403017e-01 7.55268999e-01 -3.95285317e-03 3.93160912e+02] [ 6.10926461e-03 -6.78580249e-05 9.99981336e-01 8.09489188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.492755096 meters 0.0206308722647824 Centerline is valid? [True, True] Translation: X:11.19, Y:393.18, Z:8.10 [[ 7.55988609e-01 -6.54567583e-01 -4.74369175e-03 1.11932625e+01] [ 6.54555197e-01 7.56003489e-01 -4.02721033e-03 3.93180600e+02] [ 6.22232885e-03 -6.04829574e-05 9.99980639e-01 8.09548042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.522755096 meters 0.02036393003358502 Centerline is valid? [True, True] Translation: X:11.21, Y:393.20, Z:8.10 [[ 7.56893048e-01 -6.53519174e-01 -5.06001646e-03 1.12139062e+01] [ 6.53505042e-01 7.56909960e-01 -4.29814984e-03 3.93201001e+02] [ 6.63890019e-03 -5.35065395e-05 9.99977961e-01 8.09545277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.552755096 meters 0.020041063842201393 Centerline is valid? [True, True] Translation: X:11.23, Y:393.22, Z:8.09 [[ 7.58471253e-01 -6.51683108e-01 -5.52126439e-03 1.12336225e+01] [ 6.51666219e-01 7.58491348e-01 -4.69195804e-03 3.93220970e+02] [ 7.24550107e-03 -3.93061906e-05 9.99973750e-01 8.09433115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.582755096 meters 0.020041063842201393 Centerline is valid? [True, True] Translation: X:11.25, Y:393.24, Z:8.09 [[ 7.58276058e-01 -6.51910227e-01 -5.52043668e-03 1.12545300e+01] [ 6.51893337e-01 7.58296152e-01 -4.69293173e-03 3.93238975e+02] [ 7.24549608e-03 -4.01981149e-05 9.99973750e-01 8.09445071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.612755096 meters 0.019874238072747942 Centerline is valid? [True, True] Translation: X:11.28, Y:393.26, Z:8.09 [[ 7.59066967e-01 -6.50983130e-01 -6.18905636e-03 1.12750644e+01] [ 6.50961841e-01 7.59092197e-01 -5.26473150e-03 3.93257662e+02] [ 8.12531578e-03 -3.25557484e-05 9.99966989e-01 8.09435309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.642755096 meters 0.020044471352781548 Centerline is valid? [True, True] Translation: X:11.30, Y:393.27, Z:8.09 [[ 7.59858152e-01 -6.50050591e-01 -7.05823915e-03 1.12953688e+01] [ 6.50022832e-01 7.59890933e-01 -6.00737380e-03 3.93274959e+02] [ 9.26858882e-03 -2.32646490e-05 9.99957045e-01 8.09323212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6727550960001 meters 0.020016272336628903 Centerline is valid? [True, True] Translation: X:11.32, Y:393.29, Z:8.09 [[ 7.59717668e-01 -6.50207492e-01 -7.69950144e-03 1.13173531e+01] [ 6.50174433e-01 7.59756683e-01 -6.55666233e-03 3.93292927e+02] [ 1.01129386e-02 -2.48067622e-05 9.99948863e-01 8.09308270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.702755096 meters 0.020125035494243996 Centerline is valid? [True, True] Translation: X:11.34, Y:393.31, Z:8.09 [[ 7.59881872e-01 -6.50012694e-01 -7.93964613e-03 1.13382709e+01] [ 6.49977490e-01 7.59923349e-01 -6.76501535e-03 3.93310688e+02] [ 1.04308683e-02 -1.99787407e-05 9.99945597e-01 8.09266187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.732755096 meters 0.02016841204069815 Centerline is valid? [True, True] Translation: X:11.36, Y:393.33, Z:8.09 [[ 7.59595295e-01 -6.50348211e-01 -7.88623840e-03 1.13592659e+01] [ 6.50313457e-01 7.59636232e-01 -6.72331551e-03 3.93329158e+02] [ 1.03631686e-02 -2.15281253e-05 9.99946301e-01 8.09266843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.762755096 meters 0.020328626335556 Centerline is valid? [True, True] Translation: X:11.38, Y:393.35, Z:8.09 [[ 7.59200216e-01 -6.50806570e-01 -8.11418397e-03 1.13806672e+01] [ 6.50769763e-01 7.59243576e-01 -6.92153929e-03 3.93346404e+02] [ 1.06652253e-02 -2.56314585e-05 9.99943125e-01 8.09241711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7927550960001 meters 0.020335358757001775 Centerline is valid? [True, True] Translation: X:11.40, Y:393.36, Z:8.09 [[ 7.58574995e-01 -6.51532826e-01 -8.30386523e-03 1.14027479e+01] [ 6.51494276e-01 7.58620443e-01 -7.08749495e-03 3.93364418e+02] [ 1.09172175e-02 -3.35242166e-05 9.99940405e-01 8.09336489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.822755096 meters 0.020382506586445467 Centerline is valid? [True, True] Translation: X:11.43, Y:393.38, Z:8.09 [[ 7.57774659e-01 -6.52458198e-01 -8.71016090e-03 1.14259273e+01] [ 6.52415791e-01 7.57824715e-01 -7.43892817e-03 3.93380605e+02] [ 1.14543649e-02 -4.56152500e-05 9.99934396e-01 8.09421074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.852755096 meters 0.020487766076315295 Centerline is valid? [True, True] Translation: X:11.45, Y:393.40, Z:8.09 [[ 7.56734019e-01 -6.53658356e-01 -9.18580646e-03 1.14492194e+01] [ 6.53611224e-01 7.56789766e-01 -7.84967641e-03 3.93398382e+02] [ 1.20827309e-02 -6.38290268e-05 9.99926999e-01 8.09470962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.882755096 meters 0.02083023814597426 Centerline is valid? [True, True] Translation: X:11.47, Y:393.41, Z:8.09 [[ 7.55881182e-01 -6.54643222e-01 -9.26773957e-03 1.14711181e+01] [ 6.54595279e-01 7.55937991e-01 -7.92302696e-03 3.93413817e+02] [ 1.21925923e-02 -7.77515896e-05 9.99925665e-01 8.09429873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9127550960001 meters 0.020655984752595117 Centerline is valid? [True, True] Translation: X:11.49, Y:393.43, Z:8.10 [[ 7.55341722e-01 -6.55278808e-01 -8.28053661e-03 1.14914825e+01] [ 6.55240536e-01 7.55387105e-01 -7.08252817e-03 3.93433223e+02] [ 1.08960412e-02 -7.60142277e-05 9.99940634e-01 8.09658270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.942755096 meters 0.020780302613987018 Centerline is valid? [True, True] Translation: X:11.51, Y:393.45, Z:8.10 [[ 7.54678439e-01 -6.56039417e-01 -8.52859319e-03 1.15122505e+01] [ 6.55998818e-01 7.54726624e-01 -7.29890433e-03 3.93450745e+02] [ 1.12251253e-02 -8.64213336e-05 9.99936993e-01 8.09649535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.972755096 meters 0.02074590498815192 Centerline is valid? [True, True] Translation: X:11.53, Y:393.47, Z:8.10 [[ 7.54129814e-01 -6.56658092e-01 -9.40075792e-03 1.15340559e+01] [ 6.56608756e-01 7.54188399e-01 -8.04988713e-03 3.93469654e+02] [ 1.23759661e-02 -1.01960080e-04 9.99923410e-01 8.09680872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.002755096 meters 0.021020813056210435 Centerline is valid? [True, True] Translation: X:11.56, Y:393.49, Z:8.10 [[ 7.52782476e-01 -6.58189584e-01 -1.02477495e-02 1.15566777e+01] [ 6.58131032e-01 7.52852213e-01 -8.78015340e-03 3.93487482e+02] [ 1.34940464e-02 -1.34816360e-04 9.99908942e-01 8.09653554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0327550960001 meters 0.02126682286038974 Centerline is valid? [True, True] Translation: X:11.58, Y:393.51, Z:8.10 [[ 7.52308217e-01 -6.58724438e-01 -1.06986515e-02 1.15776252e+01] [ 6.58660630e-01 7.52384272e-01 -9.16960488e-03 3.93505129e+02] [ 1.40897400e-02 -1.48411463e-04 9.99900724e-01 8.09648034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.062755096 meters 0.02184316646617923 Centerline is valid? [True, True] Translation: X:11.60, Y:393.52, Z:8.10 [[ 7.50910093e-01 -6.60306286e-01 -1.13859963e-02 1.16001906e+01] [ 6.60234130e-01 7.50996388e-01 -9.76319031e-03 3.93523629e+02] [ 1.49975380e-02 -1.86145203e-04 9.99887513e-01 8.09619672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.092755096 meters 0.022201603723291986 Centerline is valid? [True, True] Translation: X:11.62, Y:393.54, Z:8.10 [[ 7.49987162e-01 -6.61351479e-01 -1.15533059e-02 1.16219998e+01] [ 6.61277228e-01 7.50076115e-01 -9.91205581e-03 3.93542327e+02] [ 1.52212116e-02 -2.06023491e-04 9.99884129e-01 8.09587698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.122755096 meters 0.02320744499286296 Centerline is valid? [True, True] Translation: X:11.64, Y:393.56, Z:8.09 [[ 7.48547481e-01 -6.62973162e-01 -1.19689204e-02 1.16432738e+01] [ 6.62893618e-01 7.48643124e-01 -1.02725172e-02 3.93560678e+02] [ 1.57708532e-02 -2.44654018e-04 9.99875602e-01 8.09456651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1527550960001 meters 0.023573323263421167 Centerline is valid? [True, True] Translation: X:11.66, Y:393.58, Z:8.09 [[ 7.47686649e-01 -6.63947128e-01 -1.17850380e-02 1.16647568e+01] [ 6.63870050e-01 7.47779477e-01 -1.01198488e-02 3.93579333e+02] [ 1.55316541e-02 -2.57257947e-04 9.99879344e-01 8.09478944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.182755096 meters 0.023968679409272983 Centerline is valid? [True, True] Translation: X:11.69, Y:393.60, Z:8.10 [[ 7.46966847e-01 -6.64764479e-01 -1.13454011e-02 1.16857264e+01] [ 6.64693053e-01 7.47052957e-01 -9.74810008e-03 3.93597458e+02] [ 1.49558061e-02 -2.59701692e-04 9.99888122e-01 8.09555482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.212755096 meters 0.024453475023068973 Centerline is valid? [True, True] Translation: X:11.71, Y:393.62, Z:8.10 [[ 7.46171709e-01 -6.65662945e-01 -1.09828684e-02 1.17067948e+01] [ 6.65596029e-01 7.46252486e-01 -9.44212288e-03 3.93616043e+02] [ 1.44812642e-02 -2.64708642e-04 9.99895106e-01 8.09606023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.242755096 meters 0.025034332923031873 Centerline is valid? [True, True] Translation: X:11.73, Y:393.63, Z:8.10 [[ 7.45490519e-01 -6.66440965e-01 -1.00163263e-02 1.17267975e+01] [ 6.66385317e-01 7.45557762e-01 -8.61579686e-03 3.93634245e+02] [ 1.32096698e-02 -2.51737939e-04 9.99912717e-01 8.09722346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.272755096 meters 0.02434593676253613 Centerline is valid? [True, True] Translation: X:11.75, Y:393.65, Z:8.10 [[ 7.45194062e-01 -6.66778496e-01 -9.60454584e-03 1.17465943e+01] [ 6.66727296e-01 7.45255915e-01 -8.26641279e-03 3.93654374e+02] [ 1.26697109e-02 -2.43531147e-04 9.99919706e-01 8.09894539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.302755096 meters 0.02426188662134336 Centerline is valid? [True, True] Translation: X:11.77, Y:393.67, Z:8.10 [[ 7.44929415e-01 -6.67087018e-01 -8.66464779e-03 1.17662558e+01] [ 6.67045320e-01 7.44979772e-01 -7.46192437e-03 3.93674008e+02] [ 1.14327402e-02 -2.21105797e-04 9.99934620e-01 8.10045413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.332755096 meters 0.023841662098163924 Centerline is valid? [True, True] Translation: X:11.79, Y:393.69, Z:8.10 [[ 7.44827287e-01 -6.67204528e-01 -8.39229624e-03 1.17855054e+01] [ 6.67165367e-01 7.44874535e-01 -7.23190346e-03 3.93694030e+02] [ 1.10763665e-02 -2.12530365e-04 9.99938633e-01 8.10120317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.362755096 meters 0.024032464633255823 Centerline is valid? [True, True] Translation: X:11.81, Y:393.71, Z:8.10 [[ 7.45340053e-01 -6.66638894e-01 -7.79682539e-03 1.18056272e+01] [ 6.66605037e-01 7.45380809e-01 -6.72122365e-03 3.93712777e+02] [ 1.02922331e-02 -1.87805881e-04 9.99947016e-01 8.10121492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.392755096 meters 0.02317383571803189 Centerline is valid? [True, True] Translation: X:11.83, Y:393.73, Z:8.10 [[ 7.46428836e-01 -6.65432649e-01 -6.58649197e-03 1.18252636e+01] [ 6.65408423e-01 7.46457882e-01 -5.67990962e-03 3.93734671e+02] [ 8.69613615e-03 -1.43058908e-04 9.99962178e-01 8.10282842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4227550960001 meters 0.023362372263014995 Centerline is valid? [True, True] Translation: X:11.85, Y:393.75, Z:8.10 [[ 7.46823994e-01 -6.64991833e-01 -6.30737811e-03 1.18459207e+01] [ 6.64969583e-01 7.46850617e-01 -5.44137358e-03 3.93752299e+02] [ 8.32913823e-03 -1.30466239e-04 9.99965304e-01 8.10292065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.452755096 meters 0.022751196325073032 Centerline is valid? [True, True] Translation: X:11.87, Y:393.77, Z:8.10 [[ 7.47283110e-01 -6.64478624e-01 -6.00932278e-03 1.18657663e+01] [ 6.64458395e-01 7.47307263e-01 -5.18622798e-03 3.93773404e+02] [ 7.93694819e-03 -1.17364396e-04 9.99968495e-01 8.10367630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.482755096 meters 0.022485422248054766 Centerline is valid? [True, True] Translation: X:11.89, Y:393.79, Z:8.10 [[ 7.47602009e-01 -6.64119712e-01 -6.02028247e-03 1.18857998e+01] [ 6.64099373e-01 7.47626241e-01 -5.19877235e-03 3.93793493e+02] [ 7.95352835e-03 -1.11453157e-04 9.99968364e-01 8.10342939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.512755096 meters 0.02217411867630203 Centerline is valid? [True, True] Translation: X:11.91, Y:393.81, Z:8.10 [[ 7.48602361e-01 -6.62994463e-01 -5.73122048e-03 1.19051806e+01] [ 6.62975981e-01 7.48624294e-01 -4.95129649e-03 3.93814112e+02] [ 7.57321304e-03 -9.31092793e-05 9.99971319e-01 8.10330735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5427550960001 meters 0.021969222352705733 Centerline is valid? [True, True] Translation: X:11.93, Y:393.83, Z:8.10 [[ 7.48957114e-01 -6.62596008e-01 -5.45642403e-03 1.19256218e+01] [ 6.62579232e-01 7.48976985e-01 -4.71561693e-03 3.93833784e+02] [ 7.21128497e-03 -8.35184032e-05 9.99973995e-01 8.10384191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.572755096 meters 0.022209314598677095 Centerline is valid? [True, True] Translation: X:11.95, Y:393.85, Z:8.10 [[ 7.49363342e-01 -6.62137993e-01 -5.27817733e-03 1.19460175e+01] [ 6.62122269e-01 7.49381927e-01 -4.56385711e-03 3.93851096e+02] [ 6.97727388e-03 -7.48115323e-05 9.99975656e-01 8.10377511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.602755096 meters 0.02167005853988596 Centerline is valid? [True, True] Translation: X:11.96, Y:393.87, Z:8.10 [[ 7.49939931e-01 -6.61485777e-01 -5.16399538e-03 1.19647581e+01] [ 6.61470698e-01 7.49957707e-01 -4.46694845e-03 3.93873203e+02] [ 6.82760101e-03 -6.58886184e-05 9.99976690e-01 8.10398594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.632755096 meters 0.02172114287761545 Centerline is valid? [True, True] Translation: X:11.99, Y:393.89, Z:8.10 [[ 7.49666750e-01 -6.61795974e-01 -5.08464334e-03 1.19855840e+01] [ 6.61781344e-01 7.49683990e-01 -4.40088080e-03 3.93892420e+02] [ 6.72436090e-03 -6.57280989e-05 9.99977389e-01 8.10375235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6627550960001 meters 0.022086453169709495 Centerline is valid? [True, True] Translation: X:12.01, Y:393.91, Z:8.10 [[ 7.49104348e-01 -6.62432805e-01 -5.04530944e-03 1.20072807e+01] [ 6.62418400e-01 7.49121335e-01 -4.36907676e-03 3.93909941e+02] [ 6.67376872e-03 -6.92114161e-05 9.99977728e-01 8.10371125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.692755096 meters 0.022081368781737873 Centerline is valid? [True, True] Translation: X:12.03, Y:393.93, Z:8.10 [[ 7.48537861e-01 -6.63074052e-01 -4.88591285e-03 1.20285284e+01] [ 6.63060545e-01 7.48553804e-01 -4.23277676e-03 3.93928463e+02] [ 6.46401308e-03 -7.12623772e-05 9.99979106e-01 8.10410187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.722755096 meters 0.02225916175304625 Centerline is valid? [True, True] Translation: X:12.05, Y:393.95, Z:8.10 [[ 7.47742158e-01 -6.63974893e-01 -4.35963528e-03 1.20509149e+01] [ 6.63964143e-01 7.47754864e-01 -3.77887570e-03 3.93947189e+02] [ 5.76901707e-03 -6.90168336e-05 9.99983357e-01 8.10445444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.752755096 meters 0.02300312654731996 Centerline is valid? [True, True] Translation: X:12.07, Y:393.96, Z:8.11 [[ 7.46074629e-01 -6.65853701e-01 -3.39078934e-03 1.20735458e+01] [ 6.65847212e-01 7.46082331e-01 -2.94028986e-03 3.93964284e+02] [ 4.48761090e-03 -6.40719695e-05 9.99989929e-01 8.10550879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7827550960001 meters 0.022789265713283335 Centerline is valid? [True, True] Translation: X:12.09, Y:393.98, Z:8.11 [[ 7.44581741e-01 -6.67522656e-01 -3.39633319e-03 1.20948151e+01] [ 6.67516159e-01 7.44589483e-01 -2.94597090e-03 3.93984074e+02] [ 4.49537630e-03 -7.35911445e-05 9.99989893e-01 8.10579010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.812755096 meters 0.02451255553315039 Centerline is valid? [True, True] Translation: X:12.12, Y:394.00, Z:8.11 [[ 7.43596581e-01 -6.68618297e-01 -3.70089840e-03 1.21191223e+01] [ 6.68610588e-01 7.43605786e-01 -3.21197103e-03 3.93999058e+02] [ 4.89959207e-03 -8.60491747e-05 9.99987993e-01 8.10548184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.842755096 meters 0.02508800303108235 Centerline is valid? [True, True] Translation: X:12.14, Y:394.02, Z:8.11 [[ 7.42183079e-01 -6.70188903e-01 -3.33352124e-03 1.21418209e+01] [ 6.70182661e-01 7.42190560e-01 -2.89366391e-03 3.94017073e+02] [ 4.41340944e-03 -8.64397484e-05 9.99990257e-01 8.10572221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.872755096 meters 0.02496408574437058 Centerline is valid? [True, True] Translation: X:12.16, Y:394.04, Z:8.11 [[ 7.39645998e-01 -6.72989641e-01 -2.95651406e-03 1.21635415e+01] [ 6.72984750e-01 7.39651901e-01 -2.56752982e-03 3.94035750e+02] [ 3.91471221e-03 -9.06257209e-05 9.99992333e-01 8.10626886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9027550960001 meters 0.025847465788453646 Centerline is valid? [True, True] Translation: X:12.19, Y:394.05, Z:8.11 [[ 7.38457586e-01 -6.74295243e-01 -2.51379388e-03 1.21858481e+01] [ 6.74291711e-01 7.38461860e-01 -2.18419825e-03 3.94052258e+02] [ 3.32913540e-03 -8.20926095e-05 9.99994455e-01 8.10663917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.932755096 meters 0.028148150337349288 Centerline is valid? [True, True] Translation: X:12.21, Y:394.07, Z:8.11 [[ 7.36683867e-01 -6.76231813e-01 -2.72322221e-03 1.22098670e+01] [ 6.76227678e-01 7.36688894e-01 -2.36688677e-03 3.94066449e+02] [ 3.60673169e-03 -9.78709267e-05 9.99993491e-01 8.10707901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.962755096 meters 0.026960670728913456 Centerline is valid? [True, True] Translation: X:12.23, Y:394.09, Z:8.11 [[ 7.35779855e-01 -6.77214972e-01 -2.80830147e-03 1.22305980e+01] [ 6.77210578e-01 7.35785207e-01 -2.44170670e-03 3.94087279e+02] [ 3.71986702e-03 -1.05252862e-04 9.99993076e-01 8.10662541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.992755096 meters 0.027278728361637396 Centerline is valid? [True, True] Translation: X:12.25, Y:394.11, Z:8.11 [[ 7.35329483e-01 -6.77701480e-01 -3.35489575e-03 1.22531948e+01] [ 6.77695206e-01 7.35337126e-01 -2.91885246e-03 3.94105904e+02] [ 4.44509002e-03 -1.27278492e-04 9.99990112e-01 8.10647414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.022755096 meters 0.027993382132188306 Centerline is valid? [True, True] Translation: X:12.28, Y:394.12, Z:8.11 [[ 7.34039027e-01 -6.79099796e-01 -3.18973894e-03 1.22757237e+01] [ 6.79094132e-01 7.34045946e-01 -2.77659794e-03 3.94124679e+02] [ 4.22700203e-03 -1.28001749e-04 9.99991058e-01 8.10572751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.052755096 meters 0.027874313908564458 Centerline is valid? [True, True] Translation: X:12.30, Y:394.14, Z:8.11 [[ 7.33397247e-01 -6.79792071e-01 -3.34951531e-03 1.22968328e+01] [ 6.79785825e-01 7.33404883e-01 -2.91734560e-03 3.94143904e+02] [ 4.43973929e-03 -1.37379792e-04 9.99990135e-01 8.10587601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.082755096 meters 0.02799513176304875 Centerline is valid? [True, True] Translation: X:12.32, Y:394.16, Z:8.11 [[ 7.32911270e-01 -6.80317559e-01 -3.01479582e-03 1.23189715e+01] [ 6.80312498e-01 7.32917460e-01 -2.62710433e-03 3.94163099e+02] [ 3.99686170e-03 -1.25568902e-04 9.99992005e-01 8.10576848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.112755096 meters 0.03025627472331924 Centerline is valid? [True, True] Translation: X:12.34, Y:394.18, Z:8.11 [[ 7.32300698e-01 -6.80976533e-01 -2.57871510e-03 1.23432359e+01] [ 6.80972830e-01 7.32305230e-01 -2.24827545e-03 3.94177996e+02] [ 3.41942937e-03 -1.09621238e-04 9.99994148e-01 8.10702579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.142755096 meters 0.030568922882866976 Centerline is valid? [True, True] Translation: X:12.36, Y:394.20, Z:8.11 [[ 7.31867797e-01 -6.81442831e-01 -2.27931184e-03 1.23649163e+01] [ 6.81439940e-01 7.31871340e-01 -1.98746399e-03 3.94195910e+02] [ 3.02250610e-03 -9.86532328e-05 9.99995427e-01 8.10763105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1727550960001 meters 0.029534085201656464 Centerline is valid? [True, True] Translation: X:12.38, Y:394.22, Z:8.11 [[ 7.31504344e-01 -6.81833965e-01 -1.95932283e-03 1.23847587e+01] [ 6.81831828e-01 7.31506963e-01 -1.70916560e-03 3.94215735e+02] [ 2.59862546e-03 -8.56666059e-05 9.99996620e-01 8.10757137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.202755096 meters 0.029137675141052838 Centerline is valid? [True, True] Translation: X:12.41, Y:394.24, Z:8.11 [[ 7.31662054e-01 -6.81664320e-01 -2.09642053e-03 1.24057656e+01] [ 6.81661869e-01 7.31665052e-01 -1.83008073e-03 3.94235284e+02] [ 2.78137837e-03 -9.00493072e-05 9.99996128e-01 8.10762589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.232755096 meters 0.028643700595072347 Centerline is valid? [True, True] Translation: X:12.43, Y:394.25, Z:8.11 [[ 7.31540646e-01 -6.81795242e-01 -1.87907884e-03 1.24261254e+01] [ 6.81793272e-01 7.31543055e-01 -1.64097235e-03 3.94254697e+02] [ 2.49343421e-03 -8.07053376e-05 9.99996888e-01 8.10748152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.262755096 meters 0.028611701041934515 Centerline is valid? [True, True] Translation: X:12.45, Y:394.27, Z:8.11 [[ 7.32667891e-01 -6.80581782e-01 -2.48981193e-03 1.24474037e+01] [ 6.80578309e-01 7.32672115e-01 -2.17655615e-03 3.94272257e+02] [ 3.30554023e-03 -9.98191899e-05 9.99994532e-01 8.10633210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2927550960001 meters 0.02737830645891918 Centerline is valid? [True, True] Translation: X:12.47, Y:394.29, Z:8.11 [[ 7.33220708e-01 -6.79985198e-01 -2.74309067e-03 1.24681419e+01] [ 6.79980976e-01 7.33225831e-01 -2.39832696e-03 3.94292632e+02] [ 3.64213177e-03 -1.06746480e-04 9.99993362e-01 8.10619694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.322755096 meters 0.02687510489243586 Centerline is valid? [True, True] Translation: X:12.49, Y:394.31, Z:8.11 [[ 7.34175209e-01 -6.78954141e-01 -2.83476318e-03 1.24896991e+01] [ 6.78949620e-01 7.34180675e-01 -2.47989169e-03 3.94312200e+02] [ 3.76496108e-03 -1.03986384e-04 9.99992907e-01 8.10648741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.352755096 meters 0.02662836124828868 Centerline is valid? [True, True] Translation: X:12.51, Y:394.33, Z:8.11 [[ 7.34999451e-01 -6.78064402e-01 -2.11517393e-03 1.25107705e+01] [ 6.78061878e-01 7.35002491e-01 -1.85122596e-03 3.94330895e+02] [ 2.80990853e-03 -7.35687478e-05 9.99996050e-01 8.10727743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.382755096 meters 0.024886295908005396 Centerline is valid? [True, True] Translation: X:12.53, Y:394.35, Z:8.11 [[ 7.37300409e-01 -6.75562744e-01 -1.75703408e-03 1.25310158e+01] [ 6.75560995e-01 7.37302500e-01 -1.53814412e-03 3.94352543e+02] [ 2.33457848e-03 -5.29094023e-05 9.99997274e-01 8.10759366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4127550960001 meters 0.024857399664127866 Centerline is valid? [True, True] Translation: X:12.55, Y:394.37, Z:8.11 [[ 7.38186010e-01 -6.74595061e-01 -1.70839830e-03 1.25520061e+01] [ 6.74593404e-01 7.38187985e-01 -1.49613089e-03 3.94370419e+02] [ 2.27040161e-03 -4.80513349e-05 9.99997422e-01 8.10754424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.442755096 meters 0.02353478187141141 Centerline is valid? [True, True] Translation: X:12.57, Y:394.39, Z:8.11 [[ 7.39784672e-01 -6.72841022e-01 -1.89711780e-03 1.25726976e+01] [ 6.72838972e-01 7.39787103e-01 -1.66135576e-03 3.94390508e+02] [ 2.52129158e-03 -4.74092632e-05 9.99996820e-01 8.10719803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.472755096 meters 0.02353478187141141 Centerline is valid? [True, True] Translation: X:12.59, Y:394.41, Z:8.11 [[ 7.39573415e-01 -6.73073225e-01 -1.89670875e-03 1.25933449e+01] [ 6.73071176e-01 7.39575845e-01 -1.66182254e-03 3.94408825e+02] [ 2.52128823e-03 -4.75802222e-05 9.99996820e-01 8.10731735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.502755096 meters 0.023277090148864175 Centerline is valid? [True, True] Translation: X:12.61, Y:394.43, Z:8.11 [[ 7.40330211e-01 -6.72240730e-01 -1.89194586e-03 1.26149038e+01] [ 6.72238685e-01 7.40332627e-01 -1.65879723e-03 3.94427267e+02] [ 2.51578031e-03 -4.37814915e-05 9.99996835e-01 8.10755859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5327550960001 meters 0.022930421008125337 Centerline is valid? [True, True] Translation: X:12.64, Y:394.45, Z:8.11 [[ 7.40910918e-01 -6.71601496e-01 -1.56240938e-03 1.26364914e+01] [ 6.71600099e-01 7.40912565e-01 -1.37035169e-03 3.94446980e+02] [ 2.07793899e-03 -3.40057694e-05 9.99997841e-01 8.10792955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.562755096 meters 0.022442386280644287 Centerline is valid? [True, True] Translation: X:12.66, Y:394.47, Z:8.11 [[ 7.42419209e-01 -6.69934161e-01 -1.39238231e-03 1.26574612e+01] [ 6.69933046e-01 7.42420514e-01 -1.22230279e-03 3.94465476e+02] [ 1.85259559e-03 -2.53418461e-05 9.99998284e-01 8.10841860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.592755096 meters 0.02227761381781068 Centerline is valid? [True, True] Translation: X:12.68, Y:394.48, Z:8.11 [[ 7.42689991e-01 -6.69634265e-01 -1.23619129e-03 1.26786111e+01] [ 6.69633387e-01 7.42691020e-01 -1.08459993e-03 3.94484336e+02] [ 1.64439345e-03 -2.22734523e-05 9.99998648e-01 8.10886778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.622755096 meters 0.021995796058187682 Centerline is valid? [True, True] Translation: X:12.70, Y:394.50, Z:8.11 [[ 7.43091925e-01 -6.69187902e-01 -1.39399016e-03 1.27003349e+01] [ 6.69186783e-01 7.43093232e-01 -1.22401752e-03 3.94502243e+02] [ 1.85496237e-03 -2.32822502e-05 9.99998279e-01 8.10895129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6527550960001 meters 0.022033373995974957 Centerline is valid? [True, True] Translation: X:12.72, Y:394.52, Z:8.11 [[ 7.42842937e-01 -6.69464213e-01 -1.42743749e-03 1.27219092e+01] [ 6.69463039e-01 7.42844308e-01 -1.25428735e-03 3.94519192e+02] [ 1.90006431e-03 -2.38781408e-05 9.99998195e-01 8.10925429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.682755096 meters 0.021972395635947214 Centerline is valid? [True, True] Translation: X:12.74, Y:394.54, Z:8.11 [[ 7.42768752e-01 -6.69546539e-01 -1.41896082e-03 1.27441834e+01] [ 6.69545377e-01 7.42770107e-01 -1.24743292e-03 3.94536880e+02] [ 1.88917608e-03 -2.35044682e-05 9.99998215e-01 8.10952472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.712755096 meters 0.022076392577685646 Centerline is valid? [True, True] Translation: X:12.77, Y:394.55, Z:8.11 [[ 7.42104462e-01 -6.70283222e-01 -1.17056164e-03 1.27674512e+01] [ 6.70282431e-01 7.42105385e-01 -1.02946900e-03 3.94552248e+02] [ 1.55871589e-03 -2.06333640e-05 9.99998785e-01 8.11071590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.742755096 meters 0.02204676222062705 Centerline is valid? [True, True] Translation: X:12.79, Y:394.57, Z:8.11 [[ 7.41589918e-01 -6.70852668e-01 -1.04522231e-03 1.27891242e+01] [ 6.70852038e-01 7.41590654e-01 -9.19436930e-04 3.94570039e+02] [ 1.39193381e-03 -1.93443572e-05 9.99999031e-01 8.11071479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.772755096 meters 0.02255803105536731 Centerline is valid? [True, True] Translation: X:12.81, Y:394.59, Z:8.11 [[ 7.40709013e-01 -6.71822792e-01 -2.07234274e-03 1.28117961e+01] [ 6.71820312e-01 7.40711910e-01 -1.82587073e-03 3.94585333e+02] [ 2.76167052e-03 -3.98030393e-05 9.99996186e-01 8.10928784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.802755096 meters 0.022470945645505957 Centerline is valid? [True, True] Translation: X:12.83, Y:394.60, Z:8.11 [[ 7.40197927e-01 -6.72386001e-01 -2.02366226e-03 1.28334678e+01] [ 6.72383636e-01 7.40200692e-01 -1.78387424e-03 3.94603314e+02] [ 2.69736827e-03 -4.02573750e-05 9.99996361e-01 8.10905568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.832755096 meters 0.022462737852970465 Centerline is valid? [True, True] Translation: X:12.86, Y:394.62, Z:8.11 [[ 7.39642555e-01 -6.72996567e-01 -2.12411289e-03 1.28555151e+01] [ 6.72993960e-01 7.39645604e-01 -1.87362783e-03 3.94620869e+02] [ 2.83203586e-03 -4.37002730e-05 9.99995989e-01 8.10938962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.862755096 meters 0.022645404646169428 Centerline is valid? [True, True] Translation: X:12.88, Y:394.64, Z:8.11 [[ 7.39050257e-01 -6.73646143e-01 -2.36485261e-03 1.28774728e+01] [ 6.73642910e-01 7.39054038e-01 -2.08750312e-03 3.94637195e+02] [ 3.15399230e-03 -5.02964782e-05 9.99995025e-01 8.11003353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.892755096 meters 0.023168314960285995 Centerline is valid? [True, True] Translation: X:12.90, Y:394.65, Z:8.11 [[ 7.38121431e-01 -6.74663657e-01 -2.38803593e-03 1.29007936e+01] [ 6.74660362e-01 7.38125292e-01 -2.10914973e-03 3.94653260e+02] [ 3.18563639e-03 -5.43045659e-05 9.99994924e-01 8.11011356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9227550960001 meters 0.023574393756350485 Centerline is valid? [True, True] Translation: X:12.92, Y:394.67, Z:8.11 [[ 7.37694534e-01 -6.75130536e-01 -2.35238612e-03 1.29226550e+01] [ 6.75127338e-01 7.37698283e-01 -2.07886621e-03 3.94669896e+02] [ 3.13885726e-03 -5.45919400e-05 9.99995072e-01 8.11042177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.952755096 meters 0.02359796895294386 Centerline is valid? [True, True] Translation: X:12.95, Y:394.69, Z:8.11 [[ 7.37194485e-01 -6.75677012e-01 -2.20611263e-03 1.29456008e+01] [ 6.75674199e-01 7.37197784e-01 -1.95052600e-03 3.94686433e+02] [ 2.94426692e-03 -5.26963734e-05 9.99995664e-01 8.11119800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.982755096 meters 0.023947718005343694 Centerline is valid? [True, True] Translation: X:12.97, Y:394.70, Z:8.11 [[ 7.36727843e-01 -6.76185754e-01 -2.21636600e-03 1.29669563e+01] [ 6.76182913e-01 7.36731174e-01 -1.96080756e-03 3.94702740e+02] [ 2.95873607e-03 -5.40872946e-05 9.99995622e-01 8.11153474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.012755096 meters 0.024136471478623165 Centerline is valid? [True, True] Translation: X:12.99, Y:394.72, Z:8.11 [[ 7.36299381e-01 -6.76651292e-01 -2.49997904e-03 1.29890044e+01] [ 6.76647676e-01 7.36303623e-01 -2.21308064e-03 3.94720040e+02] [ 3.33822750e-03 -6.21151025e-05 9.99994426e-01 8.11185540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0427550960001 meters 0.02398228977983615 Centerline is valid? [True, True] Translation: X:13.01, Y:394.74, Z:8.11 [[ 7.36413860e-01 -6.76527386e-01 -2.30711015e-03 1.30105329e+01] [ 6.76524303e-01 7.36417472e-01 -2.04340572e-03 3.94738221e+02] [ 3.08141615e-03 -5.60237924e-05 9.99995251e-01 8.11211292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.072755096 meters 0.023997335201308187 Centerline is valid? [True, True] Translation: X:13.03, Y:394.76, Z:8.11 [[ 7.36647238e-01 -6.76273686e-01 -2.17933380e-03 1.30308411e+01] [ 6.76270930e-01 7.36650460e-01 -1.93133337e-03 3.94755758e+02] [ 2.91151718e-03 -5.11087001e-05 9.99995760e-01 8.11240171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.102755096 meters 0.02295728290488948 Centerline is valid? [True, True] Translation: X:13.05, Y:394.78, Z:8.11 [[ 7.36835370e-01 -6.76068375e-01 -2.27797218e-03 1.30504466e+01] [ 6.76065360e-01 7.36838890e-01 -2.01973141e-03 3.94775895e+02] [ 3.04397502e-03 -5.18485384e-05 9.99995366e-01 8.11214484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.132755096 meters 0.022862008333485298 Centerline is valid? [True, True] Translation: X:13.07, Y:394.79, Z:8.11 [[ 7.37153392e-01 -6.75720529e-01 -2.57749598e-03 1.30708604e+01] [ 6.75716661e-01 7.37157896e-01 -2.28703905e-03 3.94793878e+02] [ 3.44542075e-03 -5.57583848e-05 9.99994063e-01 8.11205451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1627550960001 meters 0.021912261413086186 Centerline is valid? [True, True] Translation: X:13.09, Y:394.81, Z:8.11 [[ 7.38197896e-01 -6.74577000e-01 -3.12041391e-03 1.30908396e+01] [ 6.74571315e-01 7.38204489e-01 -2.77011783e-03 3.94813839e+02] [ 4.17216133e-03 -6.00465638e-05 9.99991295e-01 8.11162692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.192755096 meters 0.02171600848457448 Centerline is valid? [True, True] Translation: X:13.11, Y:394.83, Z:8.11 [[ 7.38681676e-01 -6.74047846e-01 -2.98048188e-03 1.31102418e+01] [ 6.74042649e-01 7.38687687e-01 -2.64742119e-03 3.94832203e+02] [ 3.98613382e-03 -5.33703833e-05 9.99992054e-01 8.11202500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.222755096 meters 0.02145972532134253 Centerline is valid? [True, True] Translation: X:13.13, Y:394.85, Z:8.11 [[ 7.39163722e-01 -6.73520243e-01 -2.73410197e-03 1.31302635e+01] [ 6.73515862e-01 7.39168777e-01 -2.42969276e-03 3.94852164e+02] [ 3.65741007e-03 -4.55202959e-05 9.99993311e-01 8.11229544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.252755096 meters 0.020998076323107778 Centerline is valid? [True, True] Translation: X:13.15, Y:394.87, Z:8.11 [[ 7.40128315e-01 -6.72460641e-01 -2.60060166e-03 1.31500080e+01] [ 6.72456666e-01 7.40132883e-01 -2.31241695e-03 3.94874238e+02] [ 3.47980019e-03 -3.73066643e-05 9.99993945e-01 8.11304512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2827550960001 meters 0.020993032057916975 Centerline is valid? [True, True] Translation: X:13.17, Y:394.89, Z:8.11 [[ 7.40060199e-01 -6.72535302e-01 -2.67763194e-03 1.31704542e+01] [ 6.72531084e-01 7.40065042e-01 -2.38210344e-03 3.94893184e+02] [ 3.58367045e-03 -3.78907612e-05 9.99993578e-01 8.11310040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.312755096 meters 0.020990531748228607 Centerline is valid? [True, True] Translation: X:13.19, Y:394.91, Z:8.11 [[ 7.39909102e-01 -6.72701770e-01 -2.61709717e-03 1.31913064e+01] [ 6.72697737e-01 7.39913730e-01 -2.32965168e-03 3.94912504e+02] [ 3.50358693e-03 -3.67848612e-05 9.99993862e-01 8.11317096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.342755096 meters 0.021360894884499472 Centerline is valid? [True, True] Translation: X:13.21, Y:394.93, Z:8.11 [[ 7.38737871e-01 -6.73987062e-01 -2.79256105e-03 1.32123531e+01] [ 6.73982472e-01 7.38743148e-01 -2.48763344e-03 3.94931243e+02] [ 3.73961810e-03 -4.44281696e-05 9.99993007e-01 8.11338301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.372755096 meters 0.021612544750587707 Centerline is valid? [True, True] Translation: X:13.23, Y:394.95, Z:8.11 [[ 7.38038238e-01 -6.74753067e-01 -2.80330250e-03 1.32330900e+01] [ 6.74748445e-01 7.38043560e-01 -2.49775986e-03 3.94949675e+02] [ 3.75433048e-03 -4.80817106e-05 9.99992951e-01 8.11343648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4027550960001 meters 0.023093360238319694 Centerline is valid? [True, True] Translation: X:13.26, Y:394.97, Z:8.11 [[ 7.35956688e-01 -6.77022404e-01 -2.90136045e-03 1.32552257e+01] [ 6.77017464e-01 7.35962405e-01 -2.58683103e-03 3.94966885e+02] [ 3.88663477e-03 -6.04760953e-05 9.99992445e-01 8.11295033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.432755096 meters 0.022934158119802112 Centerline is valid? [True, True] Translation: X:13.28, Y:394.99, Z:8.11 [[ 7.34790079e-01 -6.78287246e-01 -3.15457975e-03 1.32758979e+01] [ 6.78281414e-01 7.34796847e-01 -2.81355496e-03 3.94987056e+02] [ 4.22637369e-03 -7.23205436e-05 9.99991066e-01 8.11262349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.462755096 meters 0.02369153397727592 Centerline is valid? [True, True] Translation: X:13.30, Y:395.00, Z:8.11 [[ 7.33535378e-01 -6.79643929e-01 -3.15905433e-03 1.32972381e+01] [ 6.79638087e-01 7.33542176e-01 -2.81905528e-03 3.95004755e+02] [ 4.23325339e-03 -7.91368603e-05 9.99991037e-01 8.11273525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.492755096 meters 0.02541229683220152 Centerline is valid? [True, True] Translation: X:13.32, Y:395.02, Z:8.11 [[ 7.30900283e-01 -6.82473700e-01 -3.79813315e-03 1.33198289e+01] [ 6.82465287e-01 7.30910142e-01 -3.39065325e-03 3.95021688e+02] [ 5.09012570e-03 -1.13864610e-04 9.99987039e-01 8.11161549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.522755096 meters 0.024817709409388048 Centerline is valid? [True, True] Translation: X:13.34, Y:395.04, Z:8.11 [[ 7.29509270e-01 -6.83959348e-01 -3.97927745e-03 1.33401685e+01] [ 6.83950126e-01 7.29520112e-01 -3.55412930e-03 3.95042243e+02] [ 5.33384289e-03 -1.28857040e-04 9.99985767e-01 8.11124440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.552755096 meters 0.02551451426628072 Centerline is valid? [True, True] Translation: X:13.36, Y:395.06, Z:8.11 [[ 7.28350436e-01 -6.85194168e-01 -3.82025846e-03 1.33617983e+01] [ 6.85185676e-01 7.28360443e-01 -3.41378719e-03 3.95060628e+02] [ 5.12163222e-03 -1.31152981e-04 9.99986876e-01 8.11157353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.582755096 meters 0.026392760466377382 Centerline is valid? [True, True] Translation: X:13.38, Y:395.08, Z:8.11 [[ 7.26249559e-01 -6.87420131e-01 -3.89118397e-03 1.33834474e+01] [ 6.87411346e-01 7.26259968e-01 -3.47842634e-03 3.95080056e+02] [ 5.21715144e-03 -1.48638411e-04 9.99986380e-01 8.11164882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.612755096 meters 0.027729065927869286 Centerline is valid? [True, True] Translation: X:13.41, Y:395.10, Z:8.11 [[ 7.25432439e-01 -6.88282165e-01 -3.92911993e-03 1.34051061e+01] [ 6.88273211e-01 7.25443063e-01 -3.51413102e-03 3.95097264e+02] [ 5.26906650e-03 -1.55043354e-04 9.99986106e-01 8.11141653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.642755096 meters 0.02764532621806528 Centerline is valid? [True, True] Translation: X:13.43, Y:395.12, Z:8.11 [[ 7.24548777e-01 -6.89210559e-01 -4.22779171e-03 1.34259266e+01] [ 6.89200201e-01 7.24561091e-01 -3.78266465e-03 3.95117347e+02] [ 5.67034580e-03 -1.73069848e-04 9.99983909e-01 8.11134472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6727550960001 meters 0.02792730702321997 Centerline is valid? [True, True] Translation: X:13.45, Y:395.14, Z:8.11 [[ 7.23500365e-01 -6.90309041e-01 -4.54420536e-03 1.34467234e+01] [ 6.90297081e-01 7.23514610e-01 -4.06808814e-03 3.95137195e+02] [ 6.09603700e-03 -1.93588441e-04 9.99981400e-01 8.11102147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.702755096 meters 0.028062266376920882 Centerline is valid? [True, True] Translation: X:13.47, Y:395.16, Z:8.11 [[ 7.23264486e-01 -6.90555216e-01 -4.68799977e-03 1.34672677e+01] [ 6.90542477e-01 7.23279651e-01 -4.19925699e-03 3.95155868e+02] [ 6.29055366e-03 -2.00089524e-04 9.99980194e-01 8.11111479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.732755096 meters 0.02846592010932867 Centerline is valid? [True, True] Translation: X:13.49, Y:395.17, Z:8.11 [[ 7.22977181e-01 -6.90853522e-01 -5.04053264e-03 1.34873610e+01] [ 6.90838783e-01 7.22994719e-01 -4.51788034e-03 3.95173708e+02] [ 6.76547203e-03 -2.15871048e-04 9.99977091e-01 8.11107278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.762755096 meters 0.02869795648628773 Centerline is valid? [True, True] Translation: X:13.51, Y:395.19, Z:8.11 [[ 7.22649771e-01 -6.91198075e-01 -4.74656104e-03 1.35078700e+01] [ 6.91184997e-01 7.22665330e-01 -4.25675313e-03 3.95192977e+02] [ 6.37243467e-03 -2.04610106e-04 9.99979675e-01 8.11150582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7927550960001 meters 0.028985701958277148 Centerline is valid? [True, True] Translation: X:13.53, Y:395.21, Z:8.11 [[ 7.22371908e-01 -6.91488198e-01 -4.78525574e-03 1.35285058e+01] [ 6.91474896e-01 7.22387728e-01 -4.29408106e-03 3.95211980e+02] [ 6.42611639e-03 -2.06960688e-04 9.99979331e-01 8.11178417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.822755096 meters 0.029075306422711333 Centerline is valid? [True, True] Translation: X:13.55, Y:395.23, Z:8.11 [[ 7.22245477e-01 -6.91622124e-01 -4.50651683e-03 1.35485640e+01] [ 6.91610314e-01 7.22259511e-01 -4.04629467e-03 3.95231008e+02] [ 6.05338155e-03 -1.94335501e-04 9.99981659e-01 8.11198019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.852755096 meters 0.02910453269322819 Centerline is valid? [True, True] Translation: X:13.57, Y:395.25, Z:8.11 [[ 7.22517915e-01 -6.91341014e-01 -3.93267438e-03 1.35676767e+01] [ 6.91332007e-01 7.22528598e-01 -3.53287793e-03 3.95250052e+02] [ 5.28389311e-03 -1.66216073e-04 9.99986026e-01 8.11260276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.882755096 meters 0.028921357599290137 Centerline is valid? [True, True] Translation: X:13.59, Y:395.27, Z:8.11 [[ 7.22721100e-01 -6.91130229e-01 -3.63575610e-03 1.35884879e+01] [ 6.91122521e-01 7.22730229e-01 -3.26762090e-03 3.95269816e+02] [ 4.88602242e-03 -1.51174350e-04 9.99988052e-01 8.11357304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9127550960001 meters 0.02812939920026171 Centerline is valid? [True, True] Translation: X:13.61, Y:395.29, Z:8.11 [[ 7.23466508e-01 -6.90353210e-01 -2.94230918e-03 1.36086936e+01] [ 6.90348151e-01 7.23472482e-01 -2.64552769e-03 3.95290854e+02] [ 3.95502826e-03 -1.17267026e-04 9.99992172e-01 8.11492273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.942755096 meters 0.02804146954788472 Centerline is valid? [True, True] Translation: X:13.63, Y:395.31, Z:8.12 [[ 7.24287560e-01 -6.89492230e-01 -2.82754530e-03 1.36291417e+01] [ 6.89487547e-01 7.24293071e-01 -2.54371842e-03 3.95310013e+02] [ 3.80184556e-03 -1.07173661e-04 9.99992767e-01 8.11560770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.972755096 meters 0.027511183215914094 Centerline is valid? [True, True] Translation: X:13.65, Y:395.33, Z:8.12 [[ 7.25149153e-01 -6.88586263e-01 -2.76849301e-03 1.36498126e+01] [ 6.88581765e-01 7.25154431e-01 -2.49090666e-03 3.95330862e+02] [ 3.72278908e-03 -1.00054944e-04 9.99993065e-01 8.11601736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.002755096 meters 0.026792709763209594 Centerline is valid? [True, True] Translation: X:13.67, Y:395.35, Z:8.12 [[ 7.25969102e-01 -6.87721823e-01 -2.74907019e-03 1.36697636e+01] [ 6.87717377e-01 7.25974301e-01 -2.47466666e-03 3.95351730e+02] [ 3.69763658e-03 -9.40518014e-05 9.99993159e-01 8.11611785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0327550960001 meters 0.025355261520863915 Centerline is valid? [True, True] Translation: X:13.69, Y:395.37, Z:8.12 [[ 7.28270574e-01 -6.85284621e-01 -2.63813892e-03 1.36880773e+01] [ 6.85280506e-01 7.28275348e-01 -2.37597780e-03 3.95373213e+02] [ 3.54951258e-03 -7.75104563e-05 9.99993697e-01 8.11588952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.062755096 meters 0.024124852318183492 Centerline is valid? [True, True] Translation: X:13.71, Y:395.39, Z:8.12 [[ 7.29412694e-01 -6.84069229e-01 -2.53205201e-03 1.37072408e+01] [ 6.84065428e-01 7.29417086e-01 -2.28159597e-03 3.95394564e+02] [ 3.40769160e-03 -6.78641794e-05 9.99994192e-01 8.11591780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.092755096 meters 0.021675602259252257 Centerline is valid? [True, True] Translation: X:13.72, Y:395.42, Z:8.12 [[ 7.31337305e-01 -6.82010955e-01 -2.60833309e-03 1.37246323e+01] [ 6.82006904e-01 7.31341954e-01 -2.35154261e-03 3.95418805e+02] [ 3.51136124e-03 -5.91303418e-05 9.99993833e-01 8.11566266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.122755096 meters 0.02275295086258168 Centerline is valid? [True, True] Translation: X:13.75, Y:395.44, Z:8.12 [[ 7.31912800e-01 -6.81392315e-01 -2.85771010e-03 1.37474676e+01] [ 6.81387441e-01 7.31918376e-01 -2.57797151e-03 3.95435953e+02] [ 3.84822051e-03 -6.03574242e-05 9.99992594e-01 8.11544185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1527550960001 meters 0.02254047686847175 Centerline is valid? [True, True] Translation: X:13.77, Y:395.46, Z:8.12 [[ 7.32079555e-01 -6.81212301e-01 -3.05402952e-03 1.37678011e+01] [ 6.81206726e-01 7.32085922e-01 -2.75671629e-03 3.95455410e+02] [ 4.11372106e-03 -6.22898123e-05 9.99991537e-01 8.11528539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.182755096 meters 0.021229033601259488 Centerline is valid? [True, True] Translation: X:13.79, Y:395.48, Z:8.11 [[ 7.31921928e-01 -6.81381563e-01 -3.07521542e-03 1.37869801e+01] [ 6.81375906e-01 7.31928385e-01 -2.77739879e-03 3.95476718e+02] [ 4.14330579e-03 -6.25386208e-05 9.99991415e-01 8.11496170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.212755096 meters 0.021315889765990487 Centerline is valid? [True, True] Translation: X:13.81, Y:395.49, Z:8.12 [[ 7.31713877e-01 -6.81603898e-01 -3.30599599e-03 1.38075693e+01] [ 6.81597352e-01 7.31721342e-01 -2.98783770e-03 3.95494684e+02] [ 4.45558964e-03 -6.71158081e-05 9.99990072e-01 8.11523724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.242755096 meters 0.021457667047897633 Centerline is valid? [True, True] Translation: X:13.83, Y:395.51, Z:8.12 [[ 7.31511737e-01 -6.81822310e-01 -2.98609228e-03 1.38283300e+01] [ 6.81816969e-01 7.31517829e-01 -2.69952487e-03 3.95513119e+02] [ 4.02497602e-03 -6.12342597e-05 9.99991898e-01 8.11538043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.272755096 meters 0.021548832318535032 Centerline is valid? [True, True] Translation: X:13.85, Y:395.53, Z:8.12 [[ 7.31129902e-01 -6.82230359e-01 -3.28687486e-03 1.38489731e+01] [ 6.82223882e-01 7.31137287e-01 -2.97347696e-03 3.95531569e+02] [ 4.43175302e-03 -6.83866114e-05 9.99990177e-01 8.11558435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.302755096 meters 0.021694797487306034 Centerline is valid? [True, True] Translation: X:13.87, Y:395.55, Z:8.12 [[ 7.30870328e-01 -6.82506789e-01 -3.61212493e-03 1.38702329e+01] [ 6.82498960e-01 7.30879250e-01 -3.26992300e-03 3.95550345e+02] [ 4.87177181e-03 -7.53818077e-05 9.99988130e-01 8.11557388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.332755096 meters 0.021713388037817125 Centerline is valid? [True, True] Translation: X:13.89, Y:395.57, Z:8.12 [[ 7.30676837e-01 -6.82713839e-01 -3.62962369e-03 1.38910005e+01] [ 6.82705927e-01 7.30685848e-01 -3.28779812e-03 3.95569067e+02] [ 4.89673994e-03 -7.56476696e-05 9.99988008e-01 8.11534954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.362755096 meters 0.021713388037817125 Centerline is valid? [True, True] Translation: X:13.91, Y:395.59, Z:8.12 [[ 7.30468227e-01 -6.82937042e-01 -3.62861866e-03 1.39113338e+01] [ 6.82929127e-01 7.30477235e-01 -3.28890700e-03 3.95587727e+02] [ 4.89673974e-03 -7.56473122e-05 9.99988008e-01 8.11546880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.392755096 meters 0.021679424079226323 Centerline is valid? [True, True] Translation: X:13.93, Y:395.61, Z:8.12 [[ 7.30229826e-01 -6.83190398e-01 -3.90915943e-03 1.39330213e+01] [ 6.83181203e-01 7.30240285e-01 -3.54550061e-03 3.95606243e+02] [ 5.27687767e-03 -8.16339527e-05 9.99986074e-01 8.11542731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4227550960001 meters 0.021738450779754753 Centerline is valid? [True, True] Translation: X:13.95, Y:395.62, Z:8.12 [[ 7.30002425e-01 -6.83433458e-01 -3.89451754e-03 1.39543878e+01] [ 6.83424324e-01 7.30012809e-01 -3.53439230e-03 3.95624849e+02] [ 5.25856964e-03 -8.14930683e-05 9.99986170e-01 8.11578614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.452755096 meters 0.021607759735586336 Centerline is valid? [True, True] Translation: X:13.98, Y:395.64, Z:8.12 [[ 7.29798197e-01 -6.83653821e-01 -3.47065229e-03 1.39751477e+01] [ 6.83646561e-01 7.29806446e-01 -3.15145803e-03 3.95644027e+02] [ 4.68741074e-03 -7.27711110e-05 9.99989011e-01 8.11620059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.482755096 meters 0.022037496430490876 Centerline is valid? [True, True] Translation: X:14.00, Y:395.66, Z:8.12 [[ 7.29448951e-01 -6.84024793e-01 -3.78289087e-03 1.39967080e+01] [ 6.84016161e-01 7.29458756e-01 -3.43724828e-03 3.95660938e+02] [ 5.11062591e-03 -8.02613433e-05 9.99986937e-01 8.11598831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.512755096 meters 0.02154335016523295 Centerline is valid? [True, True] Translation: X:14.02, Y:395.68, Z:8.12 [[ 7.29074007e-01 -6.84422034e-01 -4.19183917e-03 1.40166521e+01] [ 6.84411428e-01 7.29086052e-01 -3.81119970e-03 3.95680126e+02] [ 5.66468052e-03 -9.02960005e-05 9.99983952e-01 8.11596225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5427550960001 meters 0.022367596038489472 Centerline is valid? [True, True] Translation: X:14.04, Y:395.70, Z:8.12 [[ 7.28795469e-01 -6.84715089e-01 -4.73410370e-03 1.40388267e+01] [ 6.84701550e-01 7.28810837e-01 -4.30705220e-03 3.95695431e+02] [ 6.39936971e-03 -1.02488018e-04 9.99979519e-01 8.11560275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.572755096 meters 0.02206950478374856 Centerline is valid? [True, True] Translation: X:14.06, Y:395.71, Z:8.12 [[ 7.28704141e-01 -6.84811342e-01 -4.86836792e-03 1.40590040e+01] [ 6.84797010e-01 7.28720396e-01 -4.43178368e-03 3.95714549e+02] [ 6.58261473e-03 -1.04384673e-04 9.99978329e-01 8.11556282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.602755096 meters 0.021714591191217977 Centerline is valid? [True, True] Translation: X:14.08, Y:395.73, Z:8.12 [[ 7.28715973e-01 -6.84798189e-01 -4.94681881e-03 1.40790106e+01] [ 6.84783372e-01 7.28732756e-01 -4.50591442e-03 3.95733678e+02] [ 6.69055094e-03 -1.03967452e-04 9.99977613e-01 8.11581358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.632755096 meters 0.021335475949677066 Centerline is valid? [True, True] Translation: X:14.10, Y:395.75, Z:8.12 [[ 7.28419607e-01 -6.85115199e-01 -4.69473912e-03 1.40991490e+01] [ 6.85101845e-01 7.28434729e-01 -4.27883347e-03 3.95753006e+02] [ 6.35130486e-03 -9.95882432e-05 9.99979825e-01 8.11640368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6627550960001 meters 0.02128443742399208 Centerline is valid? [True, True] Translation: X:14.12, Y:395.77, Z:8.12 [[ 7.28315318e-01 -6.85227487e-01 -4.48214957e-03 1.41204224e+01] [ 6.85215301e-01 7.28329103e-01 -4.08755892e-03 3.95771570e+02] [ 6.06538770e-03 -9.42056996e-05 9.99981601e-01 8.11698802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.692755096 meters 0.021549014397009424 Centerline is valid? [True, True] Translation: X:14.14, Y:395.79, Z:8.12 [[ 7.28077032e-01 -6.85483513e-01 -4.02350869e-03 1.41407706e+01] [ 6.85473687e-01 7.28088145e-01 -3.67125900e-03 3.95789059e+02] [ 5.44605650e-03 -8.50499832e-05 9.99985167e-01 8.11744509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.722755096 meters 0.021650245074406292 Centerline is valid? [True, True] Translation: X:14.16, Y:395.81, Z:8.12 [[ 7.27245711e-01 -6.86367959e-01 -3.56392944e-03 1.41634364e+01] [ 6.86360254e-01 7.27254439e-01 -3.25319721e-03 3.95807242e+02] [ 4.82477383e-03 -8.02657938e-05 9.99988358e-01 8.11868030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.752755096 meters 0.02185466260873854 Centerline is valid? [True, True] Translation: X:14.19, Y:395.83, Z:8.12 [[ 7.26606505e-01 -6.87044081e-01 -3.66319395e-03 1.41852948e+01] [ 6.87035940e-01 7.26615734e-01 -3.34568067e-03 3.95825826e+02] [ 4.96036446e-03 -8.57525629e-05 9.99987694e-01 8.11858833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7827550960001 meters 0.022194522487798848 Centerline is valid? [True, True] Translation: X:14.21, Y:395.84, Z:8.12 [[ 7.26003368e-01 -6.87680507e-01 -3.82503890e-03 1.42066362e+01] [ 6.87671630e-01 7.26013438e-01 -3.49533393e-03 3.95843211e+02] [ 5.18070265e-03 -9.27465241e-05 9.99986576e-01 8.11826644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.812755096 meters 0.023307532823068244 Centerline is valid? [True, True] Translation: X:14.23, Y:395.86, Z:8.12 [[ 7.24537085e-01 -6.89221039e-01 -4.51356223e-03 1.42301106e+01] [ 6.89208700e-01 7.24551134e-01 -4.12584943e-03 3.95858705e+02] [ 6.11392886e-03 -1.21455442e-04 9.99981302e-01 8.11746552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.842755096 meters 0.02385824878754648 Centerline is valid? [True, True] Translation: X:14.25, Y:395.88, Z:8.12 [[ 7.23583977e-01 -6.90220900e-01 -4.61934904e-03 1.42527427e+01] [ 6.90207986e-01 7.23598710e-01 -4.22417672e-03 3.95876595e+02] [ 6.25817006e-03 -1.31765008e-04 9.99980409e-01 8.11776065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.872755096 meters 0.024838919426565166 Centerline is valid? [True, True] Translation: X:14.28, Y:395.89, Z:8.12 [[ 7.21497109e-01 -6.92399596e-01 -4.97199076e-03 1.42768572e+01] [ 6.92384670e-01 7.21514223e-01 -4.54916213e-03 3.95893686e+02] [ 6.73720007e-03 -1.60322858e-04 9.99977292e-01 8.11793535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9027550960001 meters 0.024511386611850393 Centerline is valid? [True, True] Translation: X:14.30, Y:395.91, Z:8.12 [[ 7.20366202e-01 -6.93578574e-01 -4.61471775e-03 1.42981050e+01] [ 6.93565727e-01 7.20380966e-01 -4.22441256e-03 3.95913452e+02] [ 6.25431687e-03 -1.57486040e-04 9.99980429e-01 8.11810874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.932755096 meters 0.025575604942511234 Centerline is valid? [True, True] Translation: X:14.32, Y:395.93, Z:8.12 [[ 7.19596598e-01 -6.94375142e-01 -4.88866693e-03 1.43206112e+01] [ 6.94360728e-01 7.19613183e-01 -4.47733167e-03 3.95930474e+02] [ 6.62689698e-03 -1.72625697e-04 9.99978027e-01 8.11781833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.962755096 meters 0.026706227873959577 Centerline is valid? [True, True] Translation: X:14.34, Y:395.95, Z:8.12 [[ 7.18805570e-01 -6.95191249e-01 -5.26113959e-03 1.43425732e+01] [ 6.95174567e-01 7.18824798e-01 -4.81990275e-03 3.95947471e+02] [ 7.13259182e-03 -1.92837492e-04 9.99974544e-01 8.11774175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.992755096 meters 0.027874757145236923 Centerline is valid? [True, True] Translation: X:14.37, Y:395.96, Z:8.12 [[ 7.17693884e-01 -6.96338374e-01 -5.32529842e-03 1.43655460e+01] [ 6.96321303e-01 7.17713611e-01 -4.88012864e-03 3.95963869e+02] [ 7.22026000e-03 -2.05680265e-04 9.99973912e-01 8.11744054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.022755096 meters 0.025590591080182416 Centerline is valid? [True, True] Translation: X:14.38, Y:395.99, Z:8.12 [[ 7.17101482e-01 -6.96946773e-01 -5.53710876e-03 1.43848621e+01] [ 6.96928320e-01 7.17122826e-01 -5.07638124e-03 3.95985751e+02] [ 7.50875461e-03 -2.18687392e-04 9.99971785e-01 8.11842956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.052755096 meters 0.026560274266785047 Centerline is valid? [True, True] Translation: X:14.41, Y:396.00, Z:8.12 [[ 7.16941469e-01 -6.97110726e-01 -5.61835380e-03 1.44062752e+01] [ 6.97091709e-01 7.16963449e-01 -5.15379968e-03 3.96002484e+02] [ 7.62092335e-03 -2.21535140e-04 9.99970936e-01 8.11840245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.082755096 meters 0.02495418030376196 Centerline is valid? [True, True] Translation: X:14.42, Y:396.03, Z:8.12 [[ 7.18490343e-01 -6.95514422e-01 -5.59609261e-03 1.44242965e+01] [ 6.95495486e-01 7.18512107e-01 -5.13626758e-03 3.96025479e+02] [ 7.59320847e-03 -2.01698492e-04 9.99971151e-01 8.11878640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.112755096 meters 0.024334777815014197 Centerline is valid? [True, True] Translation: X:14.44, Y:396.05, Z:8.12 [[ 7.19084046e-01 -6.94902446e-01 -5.35959079e-03 1.44443176e+01] [ 6.94885040e-01 7.19103996e-01 -4.92189091e-03 3.96046233e+02] [ 7.27433719e-03 -1.85046224e-04 9.99973525e-01 8.11853040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.142755096 meters 0.024277323420837302 Centerline is valid? [True, True] Translation: X:14.46, Y:396.07, Z:8.12 [[ 7.19823189e-01 -6.94134985e-01 -5.58571044e-03 1.44643068e+01] [ 6.94116036e-01 7.19844837e-01 -5.13219497e-03 3.96065386e+02] [ 7.58328090e-03 -1.82858235e-04 9.99971230e-01 8.11868709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1727550960001 meters 0.02350729673353323 Centerline is valid? [True, True] Translation: X:14.48, Y:396.09, Z:8.12 [[ 7.21727704e-01 -6.92151665e-01 -5.93251678e-03 1.44829809e+01] [ 6.92130208e-01 7.21752065e-01 -5.45260021e-03 3.96086428e+02] [ 8.05583256e-03 -1.70781445e-04 9.99967537e-01 8.11812438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.202755096 meters 0.023010507554046468 Centerline is valid? [True, True] Translation: X:14.50, Y:396.11, Z:8.12 [[ 7.22313169e-01 -6.91540591e-01 -5.94104401e-03 1.45033579e+01] [ 6.91519037e-01 7.22337583e-01 -5.46242622e-03 3.96106817e+02] [ 8.06892883e-03 -1.62762635e-04 9.99967432e-01 8.11806796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.232755096 meters 0.022216906737983964 Centerline is valid? [True, True] Translation: X:14.52, Y:396.13, Z:8.12 [[ 7.22987522e-01 -6.90832238e-01 -6.31369751e-03 1.45235212e+01] [ 6.90807838e-01 7.23015071e-01 -5.80841075e-03 3.96128061e+02] [ 8.57753585e-03 -1.62143239e-04 9.99963199e-01 8.11861890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.262755096 meters 0.022115201663572056 Centerline is valid? [True, True] Translation: X:14.54, Y:396.15, Z:8.12 [[ 7.23946902e-01 -6.89828045e-01 -6.17673266e-03 1.45428144e+01] [ 6.89804630e-01 7.23973237e-01 -5.68552223e-03 3.96149093e+02] [ 8.39382182e-03 -1.44722585e-04 9.99964761e-01 8.11855712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2927550960001 meters 0.02178429991617388 Centerline is valid? [True, True] Translation: X:14.56, Y:396.17, Z:8.12 [[ 7.24227342e-01 -6.89533380e-01 -6.20284644e-03 1.45622239e+01] [ 6.89509728e-01 7.24253891e-01 -5.71291670e-03 3.96170103e+02] [ 8.43168243e-03 -1.39472483e-04 9.99964443e-01 8.11818231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.322755096 meters 0.021669166267587383 Centerline is valid? [True, True] Translation: X:14.58, Y:396.19, Z:8.12 [[ 7.24403385e-01 -6.89344682e-01 -6.60650576e-03 1.45822353e+01] [ 6.89317808e-01 7.24433495e-01 -6.08859764e-03 3.96190541e+02] [ 8.98311646e-03 -1.43381321e-04 9.99959641e-01 8.11758431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.352755096 meters 0.02170840639563927 Centerline is valid? [True, True] Translation: X:14.60, Y:396.21, Z:8.12 [[ 7.24613325e-01 -6.89121061e-01 -6.90592265e-03 1.46016791e+01] [ 6.89091648e-01 7.24646219e-01 -6.36855423e-03 3.96210152e+02] [ 9.39305559e-03 -1.44074361e-04 9.99955874e-01 8.11709891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.382755096 meters 0.021584090256561616 Centerline is valid? [True, True] Translation: X:14.62, Y:396.23, Z:8.12 [[ 7.24858663e-01 -6.88859722e-01 -7.22507935e-03 1.46219459e+01] [ 6.88827473e-01 7.24894656e-01 -6.66704940e-03 3.96229606e+02] [ 9.83008321e-03 -1.44164637e-04 9.99951673e-01 8.11705831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4127550960001 meters 0.021155112149231017 Centerline is valid? [True, True] Translation: X:14.64, Y:396.25, Z:8.12 [[ 7.25130353e-01 -6.88571563e-01 -7.42789353e-03 1.46414198e+01] [ 6.88537420e-01 7.25168382e-01 -6.85852480e-03 3.96249869e+02] [ 1.01090587e-02 -1.41058139e-04 9.99948892e-01 8.11725477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.442755096 meters 0.02167193961912629 Centerline is valid? [True, True] Translation: X:14.66, Y:396.27, Z:8.12 [[ 7.25074222e-01 -6.88631033e-01 -7.39419126e-03 1.46616160e+01] [ 6.88597161e-01 7.25111910e-01 -6.83144935e-03 3.96267462e+02] [ 1.00659642e-02 -1.38311290e-04 9.99949327e-01 8.11691536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.472755096 meters 0.021245276215186282 Centerline is valid? [True, True] Translation: X:14.68, Y:396.29, Z:8.12 [[ 7.24867489e-01 -6.88848176e-01 -7.43739982e-03 1.46811938e+01] [ 6.88813876e-01 7.24905629e-01 -6.87549824e-03 3.96288056e+02] [ 1.01275874e-02 -1.39159056e-04 9.99948705e-01 8.11738238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.502755096 meters 0.02142238181894046 Centerline is valid? [True, True] Translation: X:14.70, Y:396.31, Z:8.12 [[ 7.24025250e-01 -6.89734011e-01 -7.37777603e-03 1.47021184e+01] [ 6.89700266e-01 7.24062823e-01 -6.82433933e-03 3.96308482e+02] [ 1.00489523e-02 -1.47460100e-04 9.99949497e-01 8.11704631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5327550960001 meters 0.021693560385777473 Centerline is valid? [True, True] Translation: X:14.72, Y:396.33, Z:8.12 [[ 7.23703591e-01 -6.90069278e-01 -7.58307200e-03 1.47229136e+01] [ 6.90033606e-01 7.23743302e-01 -7.01821497e-03 3.96326385e+02] [ 1.03312521e-02 -1.53467142e-04 9.99946619e-01 8.11683652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.562755096 meters 0.021853960506515654 Centerline is valid? [True, True] Translation: X:14.74, Y:396.35, Z:8.12 [[ 7.23174781e-01 -6.90620530e-01 -7.84347393e-03 1.47443271e+01] [ 6.90582351e-01 7.23217296e-01 -7.26354576e-03 3.96345033e+02] [ 1.06888898e-02 -1.63751553e-04 9.99942859e-01 8.11654656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.592755096 meters 0.022139781433762044 Centerline is valid? [True, True] Translation: X:14.77, Y:396.36, Z:8.12 [[ 7.22340254e-01 -6.91480125e-01 -8.93273747e-03 1.47666398e+01] [ 6.91430612e-01 7.22395458e-01 -8.27712789e-03 3.96363950e+02] [ 1.21764384e-02 -1.97465464e-04 9.99925845e-01 8.11570321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.622755096 meters 0.021942997046409837 Centerline is valid? [True, True] Translation: X:14.79, Y:396.38, Z:8.12 [[ 7.22183908e-01 -6.91630005e-01 -9.91660489e-03 1.47874981e+01] [ 6.91568929e-01 7.22251957e-01 -9.19392848e-03 3.96383536e+02] [ 1.35210841e-02 -2.18308617e-04 9.99908562e-01 8.11528081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6527550960001 meters 0.02214467649005645 Centerline is valid? [True, True] Translation: X:14.81, Y:396.40, Z:8.11 [[ 7.22049958e-01 -6.91747192e-01 -1.13877563e-02 1.48079707e+01] [ 6.91666601e-01 7.22139710e-01 -1.05618227e-02 3.96402329e+02] [ 1.55296623e-02 -2.50367090e-04 9.99879376e-01 8.11384289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.682755096 meters 0.02219774334690907 Centerline is valid? [True, True] Translation: X:14.83, Y:396.42, Z:8.11 [[ 7.21957290e-01 -6.91842430e-01 -1.14771253e-02 1.48281600e+01] [ 6.91760495e-01 7.22048468e-01 -1.06502726e-02 3.96422566e+02] [ 1.56553513e-02 -2.50379929e-04 9.99877416e-01 8.11374926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.712755096 meters 0.022594820025966675 Centerline is valid? [True, True] Translation: X:14.85, Y:396.44, Z:8.11 [[ 7.22056362e-01 -6.91733419e-01 -1.18104548e-02 1.48478484e+01] [ 6.91646540e-01 7.22152902e-01 -1.09658751e-02 3.96441747e+02] [ 1.61144164e-02 -2.50680315e-04 9.99870123e-01 8.11303513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.742755096 meters 0.021988378478367872 Centerline is valid? [True, True] Translation: X:14.87, Y:396.46, Z:8.11 [[ 7.21546045e-01 -6.92260351e-01 -1.21206962e-02 1.48679801e+01] [ 6.92168818e-01 7.21647792e-01 -1.12601600e-02 3.96462590e+02] [ 1.65418360e-02 -2.64844054e-04 9.99863139e-01 8.11492368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.772755096 meters 0.02248593585478519 Centerline is valid? [True, True] Translation: X:14.89, Y:396.48, Z:8.12 [[ 7.21133018e-01 -6.92682985e-01 -1.25480083e-02 1.48885733e+01] [ 6.92584878e-01 7.21242125e-01 -1.16612297e-02 3.96480806e+02] [ 1.71276875e-02 -2.81263063e-04 9.99853271e-01 8.11503925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.802755096 meters 0.02240830444254338 Centerline is valid? [True, True] Translation: X:14.91, Y:396.50, Z:8.12 [[ 7.20837377e-01 -6.92993426e-01 -1.23930665e-02 1.49086998e+01] [ 6.92897667e-01 7.20943849e-01 -1.15234263e-02 3.96500708e+02] [ 1.69203637e-02 -2.80610497e-04 9.99856801e-01 8.11576208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.832755096 meters 0.022690482487220425 Centerline is valid? [True, True] Translation: X:14.93, Y:396.52, Z:8.12 [[ 7.20424529e-01 -6.93409079e-01 -1.31280881e-02 1.49287455e+01] [ 6.93301612e-01 7.20544070e-01 -1.22114419e-02 3.96520201e+02] [ 1.79268907e-02 -3.04302322e-04 9.99839254e-01 8.11601376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.862755096 meters 0.022881978626513838 Centerline is valid? [True, True] Translation: X:14.95, Y:396.54, Z:8.12 [[ 7.20233185e-01 -6.93600973e-01 -1.34851604e-02 1.49489367e+01] [ 6.93487488e-01 7.20359349e-01 -1.25503513e-02 3.96539735e+02] [ 1.84190973e-02 -3.12610482e-04 9.99830305e-01 8.11576170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.892755096 meters 0.022640098954874822 Centerline is valid? [True, True] Translation: X:14.97, Y:396.56, Z:8.12 [[ 7.19890799e-01 -6.93943392e-01 -1.41353108e-02 1.49688369e+01] [ 6.93818619e-01 7.20029485e-01 -1.31629862e-02 3.96560418e+02] [ 1.93122079e-02 -3.31429167e-04 9.99813447e-01 8.11586014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9227550960001 meters 0.02336984471583641 Centerline is valid? [True, True] Translation: X:14.99, Y:396.58, Z:8.11 [[ 7.19138777e-01 -6.94694527e-01 -1.54574967e-02 1.49887198e+01] [ 6.94545372e-01 7.19304782e-01 -1.43998978e-02 3.96579609e+02] [ 2.11221815e-02 -3.80407949e-04 9.99776830e-01 8.11395107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.952755096 meters 0.023674481370845865 Centerline is valid? [True, True] Translation: X:15.01, Y:396.60, Z:8.11 [[ 7.18692250e-01 -6.95142692e-01 -1.60651016e-02 1.50093699e+01] [ 6.94981512e-01 7.18871668e-01 -1.49740590e-02 3.96599106e+02] [ 2.19578541e-02 -4.03208427e-04 9.99758816e-01 8.11335735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.982755096 meters 0.023844062467800853 Centerline is valid? [True, True] Translation: X:15.03, Y:396.62, Z:8.11 [[ 7.17775097e-01 -6.96080245e-01 -1.64682603e-02 1.50295964e+01] [ 6.95910989e-01 7.17963858e-01 -1.53556087e-02 3.96619016e+02] [ 2.25123515e-02 -4.38569752e-04 9.99746469e-01 8.11356627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.012755096 meters 0.02465894621921438 Centerline is valid? [True, True] Translation: X:15.05, Y:396.64, Z:8.11 [[ 7.16267168e-01 -6.97618053e-01 -1.70409839e-02 1.50511789e+01] [ 6.97437065e-01 7.16469681e-01 -1.58976837e-02 3.96638770e+02] [ 2.32998594e-02 -4.98024877e-04 9.99728397e-01 8.11398605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0427550960001 meters 0.025423060292545235 Centerline is valid? [True, True] Translation: X:15.07, Y:396.66, Z:8.11 [[ 7.15408718e-01 -6.98495282e-01 -1.71670277e-02 1.50718085e+01] [ 6.98311731e-01 7.15614466e-01 -1.60206869e-02 3.96657012e+02] [ 2.34753476e-02 -5.26597696e-04 9.99724277e-01 8.11387813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.072755096 meters 0.026162294842303688 Centerline is valid? [True, True] Translation: X:15.09, Y:396.68, Z:8.11 [[ 7.14024301e-01 -6.99914899e-01 -1.69832897e-02 1.50935756e+01] [ 6.99735476e-01 7.14226028e-01 -1.58570125e-02 3.96676482e+02] [ 2.32284668e-02 -5.61518031e-04 9.99730025e-01 8.11469320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.102755096 meters 0.02716633153819076 Centerline is valid? [True, True] Translation: X:15.11, Y:396.70, Z:8.12 [[ 7.11294774e-01 -7.02692732e-01 -1.68127628e-02 1.51147813e+01] [ 7.02517470e-01 7.11493159e-01 -1.57063296e-02 3.96695707e+02] [ 2.29988893e-02 -6.39429430e-04 9.99735286e-01 8.11594561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.132755096 meters 0.028022681435403214 Centerline is valid? [True, True] Translation: X:15.14, Y:396.71, Z:8.12 [[ 7.10232212e-01 -7.03773933e-01 -1.65062407e-02 1.51351798e+01] [ 7.03605175e-01 7.10423689e-01 -1.54252789e-02 3.96714516e+02] [ 2.25823336e-02 -6.58346410e-04 9.99744770e-01 8.11655856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1627550960001 meters 0.02780642877224709 Centerline is valid? [True, True] Translation: X:15.15, Y:396.74, Z:8.12 [[ 7.08597010e-01 -7.05426707e-01 -1.62307977e-02 1.51546996e+01] [ 7.05263841e-01 7.08782533e-01 -1.51735219e-02 3.96735359e+02] [ 2.22079135e-02 -6.95082453e-04 9.99753132e-01 8.11789499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.192755096 meters 0.029450127591003617 Centerline is valid? [True, True] Translation: X:15.18, Y:396.75, Z:8.12 [[ 7.07762488e-01 -7.06263021e-01 -1.62728450e-02 1.51764187e+01] [ 7.06099441e-01 7.07949169e-01 -1.52168936e-02 3.96752211e+02] [ 2.22674764e-02 -7.20300267e-04 9.99751790e-01 8.11731434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.222755096 meters 0.029614356109902835 Centerline is valid? [True, True] Translation: X:15.20, Y:396.77, Z:8.12 [[ 7.06899264e-01 -7.07119837e-01 -1.65821247e-02 1.51971835e+01] [ 7.06950103e-01 7.07093319e-01 -1.55109500e-02 3.96771529e+02] [ 2.26932101e-02 -7.58055642e-04 9.99742189e-01 8.11823667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.252755096 meters 0.029614356109902835 Centerline is valid? [True, True] Translation: X:15.22, Y:396.79, Z:8.12 [[ 7.06680775e-01 -7.07338292e-01 -1.65777599e-02 1.52172397e+01] [ 7.07168510e-01 7.06874787e-01 -1.55156147e-02 3.96790518e+02] [ 2.26931889e-02 -7.58683179e-04 9.99742189e-01 8.11835623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2827550960001 meters 0.030124122445208627 Centerline is valid? [True, True] Translation: X:15.24, Y:396.81, Z:8.12 [[ 7.05457731e-01 -7.08557994e-01 -1.65818798e-02 1.52378003e+01] [ 7.08388264e-01 7.05652139e-01 -1.55282457e-02 3.96811078e+02] [ 2.27037015e-02 -7.91888066e-04 9.99741924e-01 8.11841805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.312755096 meters 0.029428105560811227 Centerline is valid? [True, True] Translation: X:15.26, Y:396.83, Z:8.12 [[ 7.05148707e-01 -7.08869066e-01 -1.64300842e-02 1.52581998e+01] [ 7.08702301e-01 7.05339653e-01 -1.53955348e-02 3.96830279e+02] [ 2.25022082e-02 -7.87897032e-04 9.99746483e-01 8.12005470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.342755096 meters 0.029103260618678666 Centerline is valid? [True, True] Translation: X:15.28, Y:396.85, Z:8.12 [[ 7.05755442e-01 -7.08261627e-01 -1.65747853e-02 1.52776131e+01] [ 7.08091545e-01 7.05949627e-01 -1.55398728e-02 3.96851892e+02] [ 2.27072591e-02 -7.69115532e-04 9.99741861e-01 8.11986470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.372755096 meters 0.028142882800729494 Centerline is valid? [True, True] Translation: X:15.30, Y:396.87, Z:8.12 [[ 7.06319371e-01 -7.07697164e-01 -1.66634426e-02 1.52970417e+01] [ 7.07524904e-01 7.06515508e-01 -1.56316225e-02 3.96873937e+02] [ 2.28354356e-02 -7.48882880e-04 9.99738957e-01 8.12023579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4027550960001 meters 0.027818095052768037 Centerline is valid? [True, True] Translation: X:15.32, Y:396.89, Z:8.12 [[ 7.06603656e-01 -7.07409287e-01 -1.68337350e-02 1.53164423e+01] [ 7.07233184e-01 7.06803758e-01 -1.58009913e-02 3.96894446e+02] [ 2.30759152e-02 -7.40337766e-04 9.99733442e-01 8.12004897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.432755096 meters 0.027420246511165973 Centerline is valid? [True, True] Translation: X:15.34, Y:396.92, Z:8.12 [[ 7.07487648e-01 -7.06530126e-01 -1.66255243e-02 1.53371382e+01] [ 7.06357921e-01 7.07682623e-01 -1.56138393e-02 3.96915247e+02] [ 2.27972425e-02 -6.96972359e-04 9.99739866e-01 8.11995514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.462755096 meters 0.02718663719445933 Centerline is valid? [True, True] Translation: X:15.36, Y:396.93, Z:8.12 [[ 7.09039649e-01 -7.04979956e-01 -1.63106850e-02 1.53574166e+01] [ 7.04813680e-01 7.09226948e-01 -1.53236035e-02 3.96934680e+02] [ 2.23708107e-02 -6.30951506e-04 9.99749543e-01 8.11938276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.492755096 meters 0.02564329646242826 Centerline is valid? [True, True] Translation: X:15.38, Y:396.96, Z:8.12 [[ 7.09603870e-01 -7.04412541e-01 -1.62886671e-02 1.53761735e+01] [ 7.04246374e-01 7.09790536e-01 -1.53114141e-02 3.96956189e+02] [ 2.23470939e-02 -6.06196092e-04 9.99750089e-01 8.12035427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.522755096 meters 0.024831090904566998 Centerline is valid? [True, True] Translation: X:15.40, Y:396.98, Z:8.12 [[ 7.11570458e-01 -7.02435373e-01 -1.58754376e-02 1.53956364e+01] [ 7.02276852e-01 7.11747337e-01 -1.49315387e-02 3.96976833e+02] [ 2.17877414e-02 -5.24110522e-04 9.99762482e-01 8.11990156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.552755096 meters 0.023661348331422163 Centerline is valid? [True, True] Translation: X:15.42, Y:397.00, Z:8.12 [[ 7.12380098e-01 -7.01617850e-01 -1.57158543e-02 1.54153757e+01] [ 7.01462124e-01 7.12553264e-01 -1.47896770e-02 3.96998184e+02] [ 2.15750846e-02 -4.88205016e-04 9.99767112e-01 8.12098828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.582755096 meters 0.023748954776289046 Centerline is valid? [True, True] Translation: X:15.44, Y:397.02, Z:8.12 [[ 7.13065401e-01 -7.00930322e-01 -1.53107416e-02 1.54350449e+01] [ 7.00782231e-01 7.13229613e-01 -1.44146971e-02 3.97016674e+02] [ 2.10237726e-02 -4.50873864e-04 9.99778874e-01 8.12059318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.612755096 meters 0.02204237685566 Centerline is valid? [True, True] Translation: X:15.45, Y:397.04, Z:8.12 [[ 7.14975375e-01 -6.99003171e-01 -1.43101599e-02 1.54546319e+01] [ 6.98873291e-01 7.15118476e-01 -1.34791799e-02 3.97038633e+02] [ 1.96554492e-02 -3.63706824e-04 9.99806747e-01 8.12193484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.642755096 meters 0.021855754944071337 Centerline is valid? [True, True] Translation: X:15.47, Y:397.06, Z:8.12 [[ 7.15626162e-01 -6.98342190e-01 -1.40492418e-02 1.54744682e+01] [ 6.98216751e-01 7.15763979e-01 -1.32398978e-02 3.97057388e+02] [ 1.93019204e-02 -3.34598753e-04 9.99813645e-01 8.12206645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6727550960001 meters 0.0206646231410763 Centerline is valid? [True, True] Translation: X:15.50, Y:397.08, Z:8.12 [[ 7.17265919e-01 -6.96670893e-01 -1.33891433e-02 1.54950046e+01] [ 6.96556550e-01 7.17390824e-01 -1.26245459e-02 3.97077553e+02] [ 1.84004022e-02 -2.71138900e-04 9.99830662e-01 8.12387535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.702755096 meters 0.02062724344981547 Centerline is valid? [True, True] Translation: X:15.52, Y:397.10, Z:8.12 [[ 7.17960241e-01 -6.95964538e-01 -1.29017230e-02 1.55155848e+01] [ 6.95858128e-01 7.18076113e-01 -1.21721505e-02 3.97096178e+02] [ 1.77358042e-02 -2.38648734e-04 9.99842680e-01 8.12343721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.732755096 meters 0.02144125225004135 Centerline is valid? [True, True] Translation: X:15.54, Y:397.12, Z:8.12 [[ 7.17996893e-01 -6.95923636e-01 -1.30672887e-02 1.55359552e+01] [ 6.95814336e-01 7.18115755e-01 -1.23358463e-02 3.97116128e+02] [ 1.79686329e-02 -2.35307531e-04 9.99838523e-01 8.12217316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.762755096 meters 0.0198966784130671 Centerline is valid? [True, True] Translation: X:15.56, Y:397.14, Z:8.12 [[ 7.18764628e-01 -6.95135275e-01 -1.28202525e-02 1.55556014e+01] [ 6.95029814e-01 7.18878924e-01 -1.21099569e-02 3.97136850e+02] [ 1.76342676e-02 -2.06249058e-04 9.99844483e-01 8.12386647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7927550960001 meters 0.020239250635019874 Centerline is valid? [True, True] Translation: X:15.58, Y:397.15, Z:8.12 [[ 7.19044723e-01 -6.94847680e-01 -1.27038529e-02 1.55758997e+01] [ 6.94743963e-01 7.19156912e-01 -1.20067148e-02 3.97154674e+02] [ 1.74789016e-02 -1.92560206e-04 9.99847214e-01 8.12112729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.822755096 meters 0.019563267273505748 Centerline is valid? [True, True] Translation: X:15.60, Y:397.17, Z:8.12 [[ 7.18857969e-01 -6.95038957e-01 -1.28089400e-02 1.55955649e+01] [ 6.94933420e-01 7.18972052e-01 -1.21132599e-02 3.97174707e+02] [ 1.76284574e-02 -1.93647074e-04 9.99844588e-01 8.12243939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.852755096 meters 0.019906065351489616 Centerline is valid? [True, True] Translation: X:15.62, Y:397.19, Z:8.12 [[ 7.17991695e-01 -6.95938293e-01 -1.25625526e-02 1.56163198e+01] [ 6.95836798e-01 7.18101559e-01 -1.18869878e-02 3.97191877e+02] [ 1.72937986e-02 -2.06727902e-04 9.99850430e-01 8.12221246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.882755096 meters 0.01998024168262473 Centerline is valid? [True, True] Translation: X:15.64, Y:397.21, Z:8.12 [[ 7.17226054e-01 -6.96738135e-01 -1.19481849e-02 1.56374470e+01] [ 6.96646328e-01 7.17325538e-01 -1.13122253e-02 3.97210137e+02] [ 1.64523969e-02 -2.10236421e-04 9.99864628e-01 8.12285479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9127550960001 meters 0.02009631207003083 Centerline is valid? [True, True] Translation: X:15.66, Y:397.23, Z:8.12 [[ 7.16452565e-01 -6.97540160e-01 -1.15519356e-02 1.56591193e+01] [ 6.97454343e-01 7.16545657e-01 -1.09435664e-02 3.97228738e+02] [ 1.59110663e-02 -2.16401458e-04 9.99873388e-01 8.12315146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.942755096 meters 0.020938105214708375 Centerline is valid? [True, True] Translation: X:15.68, Y:397.25, Z:8.12 [[ 7.14828589e-01 -6.99213072e-01 -1.10076582e-02 1.56816348e+01] [ 6.99135292e-01 7.14913298e-01 -1.04316960e-02 3.97245430e+02] [ 1.51634995e-02 -2.38967818e-04 9.99884999e-01 8.12381486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.972755096 meters 0.02123475925417436 Centerline is valid? [True, True] Translation: X:15.70, Y:397.26, Z:8.12 [[ 7.13890381e-01 -7.00172820e-01 -1.08878691e-02 1.57028928e+01] [ 7.00096761e-01 7.13973359e-01 -1.03231570e-02 3.97264024e+02] [ 1.50016424e-02 -2.52959427e-04 9.99887437e-01 8.12419103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.002755096 meters 0.020838996227813187 Centerline is valid? [True, True] Translation: X:15.72, Y:397.28, Z:8.13 [[ 7.12709830e-01 -7.01378764e-01 -1.06079326e-02 1.57242948e+01] [ 7.01306613e-01 7.12788719e-01 -1.00636079e-02 3.97283082e+02] [ 1.46196156e-02 -2.66981005e-04 9.99893092e-01 8.12548352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0327550960001 meters 0.022683027523978383 Centerline is valid? [True, True] Translation: X:15.75, Y:397.30, Z:8.12 [[ 7.12132385e-01 -7.01965045e-01 -1.06086317e-02 1.57465092e+01] [ 7.01892865e-01 7.12211346e-01 -1.00700319e-02 3.97299138e+02] [ 1.46243982e-02 -2.74927067e-04 9.99893020e-01 8.12405554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.062755096 meters 0.02159151139979892 Centerline is valid? [True, True] Translation: X:15.77, Y:397.32, Z:8.12 [[ 7.11711921e-01 -7.02394887e-01 -1.03712947e-02 1.57656216e+01] [ 7.02325864e-01 7.11787432e-01 -9.85053034e-03 3.97319776e+02] [ 1.43011193e-02 -2.73288609e-04 9.99897696e-01 8.12468990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.092755096 meters 0.02161445667224736 Centerline is valid? [True, True] Translation: X:15.79, Y:397.34, Z:8.12 [[ 7.11410886e-01 -7.02700909e-01 -1.02948165e-02 1.57859426e+01] [ 7.02632849e-01 7.11485318e-01 -9.78376693e-03 3.97339454e+02] [ 1.41996727e-02 -2.73197924e-04 9.99899142e-01 8.12436140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.122755096 meters 0.021031100337037905 Centerline is valid? [True, True] Translation: X:15.81, Y:397.36, Z:8.12 [[ 7.11401942e-01 -7.02707361e-01 -1.04710004e-02 1.58058190e+01] [ 7.02636867e-01 7.11478946e-01 -9.95705404e-03 3.97360037e+02] [ 1.44467915e-02 -2.73843367e-04 9.99895602e-01 8.12450791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1527550960001 meters 0.020726068271601544 Centerline is valid? [True, True] Translation: X:15.83, Y:397.38, Z:8.12 [[ 7.11322053e-01 -7.02794845e-01 -1.00171714e-02 1.58259663e+01] [ 7.02730259e-01 7.11392535e-01 -9.53123069e-03 3.97380144e+02] [ 1.38246407e-02 -2.59594877e-04 9.99904401e-01 8.12474510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.182755096 meters 0.020232990154181254 Centerline is valid? [True, True] Translation: X:15.85, Y:397.40, Z:8.13 [[ 7.11549513e-01 -7.02576910e-01 -9.10909167e-03 1.58462748e+01] [ 7.02523421e-01 7.11607780e-01 -8.67239182e-03 3.97400138e+02] [ 1.25751228e-02 -2.28514060e-04 9.99920904e-01 8.12676085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.212755096 meters 0.020344690869335602 Centerline is valid? [True, True] Translation: X:15.87, Y:397.42, Z:8.13 [[ 7.12052413e-01 -7.02069824e-01 -8.90639029e-03 1.58663666e+01] [ 7.02018599e-01 7.12108080e-01 -8.48345768e-03 3.97418252e+02] [ 1.22982921e-02 -2.11785118e-04 9.99924351e-01 8.12709446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.242755096 meters 0.019541584648375895 Centerline is valid? [True, True] Translation: X:15.89, Y:397.44, Z:8.13 [[ 7.12666512e-01 -7.01448706e-01 -8.72668674e-03 1.58864507e+01] [ 7.01399430e-01 7.12719913e-01 -8.31655150e-03 3.97438850e+02] [ 1.20533177e-02 -1.93965360e-04 9.99927337e-01 8.12802534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.272755096 meters 0.01867143974956125 Centerline is valid? [True, True] Translation: X:15.91, Y:397.46, Z:8.13 [[ 7.14873707e-01 -6.99199988e-01 -8.65792823e-03 1.59052791e+01] [ 6.99151279e-01 7.14926118e-01 -8.25442505e-03 3.97458914e+02] [ 1.19612729e-02 -1.52330157e-04 9.99928450e-01 8.12795267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.302755096 meters 0.017920453729918618 Centerline is valid? [True, True] Translation: X:15.92, Y:397.48, Z:8.13 [[ 7.17842487e-01 -6.96154934e-01 -8.39478214e-03 1.59229141e+01] [ 6.96108910e-01 7.17891565e-01 -8.00543811e-03 3.97480202e+02] [ 1.15995685e-02 -9.70390384e-05 9.99932718e-01 8.12699655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.332755096 meters 0.017093746532312437 Centerline is valid? [True, True] Translation: X:15.94, Y:397.50, Z:8.13 [[ 7.19048975e-01 -6.94912039e-01 -8.11354672e-03 1.59413134e+01] [ 6.94868929e-01 7.19094746e-01 -7.74069167e-03 3.97502080e+02] [ 1.12135086e-02 -7.19151123e-05 9.99937124e-01 8.12815035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.362755096 meters 0.016839023525398428 Centerline is valid? [True, True] Translation: X:15.96, Y:397.52, Z:8.13 [[ 7.20608200e-01 -6.93299023e-01 -7.76445357e-03 1.59606935e+01] [ 6.93259402e-01 7.20650028e-01 -7.41207364e-03 3.97523030e+02] [ 1.07342371e-02 -4.15793860e-05 9.99942386e-01 8.12863327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.392755096 meters 0.016860708586497027 Centerline is valid? [True, True] Translation: X:15.98, Y:397.54, Z:8.13 [[ 7.21839614e-01 -6.92019843e-01 -7.49052891e-03 1.59797641e+01] [ 6.91982855e-01 7.21878478e-01 -7.15489741e-03 3.97543676e+02] [ 1.03585826e-02 -1.86291919e-05 9.99946348e-01 8.12916381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4227550960001 meters 0.01725551215049478 Centerline is valid? [True, True] Translation: X:16.00, Y:397.56, Z:8.13 [[ 7.22953847e-01 -6.90857952e-01 -7.28191414e-03 1.59990615e+01] [ 6.90822893e-01 7.22990519e-01 -6.95986922e-03 3.97564414e+02] [ 1.00730359e-02 1.15122922e-06 9.99949266e-01 8.12920888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.452755096 meters 0.01695558095364186 Centerline is valid? [True, True] Translation: X:16.02, Y:397.58, Z:8.13 [[ 7.24707458e-01 -6.89020342e-01 -7.07595993e-03 1.60182073e+01] [ 6.88987109e-01 7.24742001e-01 -6.76722658e-03 3.97584614e+02] [ 9.79100213e-03 2.90143944e-05 9.99952067e-01 8.13014313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.482755096 meters 0.017324439754230522 Centerline is valid? [True, True] Translation: X:16.04, Y:397.60, Z:8.13 [[ 7.25281463e-01 -6.88416504e-01 -7.03682740e-03 1.60372265e+01] [ 6.88383578e-01 7.25315597e-01 -6.73305078e-03 3.97604083e+02] [ 9.73906395e-03 3.93204982e-05 9.99952573e-01 8.12937585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.512755096 meters 0.017097857614391396 Centerline is valid? [True, True] Translation: X:16.06, Y:397.62, Z:8.13 [[ 7.26127797e-01 -6.87527615e-01 -6.64836646e-03 1.60566358e+01] [ 6.87498158e-01 7.26158231e-01 -6.36449355e-03 3.97623872e+02] [ 9.20353110e-03 5.06959897e-05 9.99957645e-01 8.12976845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5427550960001 meters 0.017429592597812564 Centerline is valid? [True, True] Translation: X:16.08, Y:397.64, Z:8.13 [[ 7.26376110e-01 -6.87267768e-01 -6.38451202e-03 1.60752257e+01] [ 6.87240567e-01 7.26404166e-01 -6.11480621e-03 3.97643100e+02] [ 8.84024534e-03 5.39534932e-05 9.99960923e-01 8.12943783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.572755096 meters 0.01726215020707244 Centerline is valid? [True, True] Translation: X:16.10, Y:397.66, Z:8.13 [[ 7.26409732e-01 -6.87237176e-01 -5.82789536e-03 1.60953241e+01] [ 6.87214490e-01 7.26433108e-01 -5.58427119e-03 3.97663349e+02] [ 8.07129491e-03 5.14548015e-05 9.99967425e-01 8.12931205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.602755096 meters 0.017401452256110155 Centerline is valid? [True, True] Translation: X:16.12, Y:397.68, Z:8.13 [[ 7.26358585e-01 -6.87297998e-01 -4.96661951e-03 1.61154522e+01] [ 6.87281505e-01 7.26375564e-01 -4.76172683e-03 3.97683313e+02] [ 6.88035637e-03 4.52554362e-05 9.99976329e-01 8.12917825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.632755096 meters 0.017226960199087482 Centerline is valid? [True, True] Translation: X:16.14, Y:397.70, Z:8.13 [[ 7.25847456e-01 -6.87840591e-01 -4.55976719e-03 1.61351447e+01] [ 6.87826685e-01 7.25861777e-01 -4.37391566e-03 3.97702345e+02] [ 6.31831745e-03 3.84660067e-05 9.99980039e-01 8.12928687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6627550960001 meters 0.017054725119755025 Centerline is valid? [True, True] Translation: X:16.16, Y:397.72, Z:8.13 [[ 7.24326017e-01 -6.89448679e-01 -3.51290107e-03 1.61563733e+01] [ 6.89440440e-01 7.24334535e-01 -3.37075803e-03 3.97720850e+02] [ 4.86848023e-03 1.95916744e-05 9.99988149e-01 8.12968537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.692755096 meters 0.016881097030139777 Centerline is valid? [True, True] Translation: X:16.18, Y:397.74, Z:8.13 [[ 7.23223317e-01 -6.90606711e-01 -3.22580526e-03 1.61773520e+01] [ 6.90599766e-01 7.23230511e-01 -3.09708376e-03 3.97739725e+02] [ 4.47186761e-03 1.21428343e-05 9.99990001e-01 8.13012457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.722755096 meters 0.01689722831212198 Centerline is valid? [True, True] Translation: X:16.20, Y:397.76, Z:8.13 [[ 7.22000277e-01 -6.91884641e-01 -3.35315298e-03 1.61983051e+01] [ 6.91877141e-01 7.22008064e-01 -3.22146643e-03 3.97758136e+02] [ 4.64988663e-03 5.92976362e-06 9.99989189e-01 8.12973734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.752755096 meters 0.016931480860927123 Centerline is valid? [True, True] Translation: X:16.22, Y:397.78, Z:8.13 [[ 7.20203531e-01 -6.93756260e-01 -3.02081125e-03 1.62195091e+01] [ 6.93750183e-01 7.20209866e-01 -2.90384360e-03 3.97776254e+02] [ 4.19017774e-03 -4.32994284e-06 9.99991221e-01 8.12959958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7827550960001 meters 0.016829250666018928 Centerline is valid? [True, True] Translation: X:16.24, Y:397.80, Z:8.13 [[ 7.19231484e-01 -6.94765545e-01 -2.62860517e-03 1.62391218e+01] [ 6.94760945e-01 7.19236288e-01 -2.52833347e-03 3.97795216e+02] [ 3.64718720e-03 -7.79517751e-06 9.99993349e-01 8.12975924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.812755096 meters 0.017036727955469448 Centerline is valid? [True, True] Translation: X:16.26, Y:397.81, Z:8.13 [[ 7.17747119e-01 -6.96301325e-01 -1.88117519e-03 1.62596208e+01] [ 6.96298974e-01 7.17749584e-01 -1.80943420e-03 3.97814853e+02] [ 2.61012414e-03 -1.11441725e-05 9.99996594e-01 8.12949254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.842755096 meters 0.018502340866061912 Centerline is valid? [True, True] Translation: X:16.28, Y:397.83, Z:8.13 [[ 7.17203850e-01 -6.96861620e-01 -1.58740849e-03 1.62801730e+01] [ 6.96859946e-01 7.17205607e-01 -1.52754651e-03 3.97834606e+02] [ 2.20298680e-03 -1.06391578e-05 9.99997573e-01 8.12803287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.872755096 meters 0.017110032549288536 Centerline is valid? [True, True] Translation: X:16.30, Y:397.85, Z:8.13 [[ 7.16583877e-01 -6.97499167e-01 -1.56810379e-03 1.62999808e+01] [ 6.97497533e-01 7.16585593e-01 -1.50990819e-03 3.97854683e+02] [ 2.17684028e-03 -1.17726617e-05 9.99997631e-01 8.13006207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9027550960001 meters 0.017125814150512675 Centerline is valid? [True, True] Translation: X:16.32, Y:397.87, Z:8.13 [[ 7.16630478e-01 -6.97451992e-01 -1.21545094e-03 1.63191396e+01] [ 6.97451009e-01 7.16631509e-01 -1.17077307e-03 3.97874295e+02] [ 1.68758845e-03 -8.70581727e-06 9.99998576e-01 8.13011934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.932755096 meters 0.017039703914098994 Centerline is valid? [True, True] Translation: X:16.34, Y:397.89, Z:8.13 [[ 7.16381594e-01 -6.97707914e-01 -1.03908129e-03 1.63386369e+01] [ 6.97707195e-01 7.16382347e-01 -1.00108910e-03 3.97894500e+02] [ 1.44284728e-03 -7.81269219e-06 9.99998959e-01 8.13004639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.962755096 meters 0.017046226085608827 Centerline is valid? [True, True] Translation: X:16.36, Y:397.92, Z:8.13 [[ 7.17100151e-01 -6.96969595e-01 -8.70263011e-04 1.63564317e+01] [ 6.96969091e-01 7.17100679e-01 -8.38806972e-04 3.97915732e+02] [ 1.20868915e-03 -5.03781329e-06 9.99999270e-01 8.12959867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.992755096 meters 0.016882022346051084 Centerline is valid? [True, True] Translation: X:16.38, Y:397.94, Z:8.13 [[ 7.17343697e-01 -6.96719219e-01 -5.91937803e-04 1.63756701e+01] [ 6.96718986e-01 7.17343941e-01 -5.70195496e-04 3.97936885e+02] [ 8.21889157e-04 -3.38816085e-06 9.99999662e-01 8.12962261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.022755096 meters 0.01693945329709194 Centerline is valid? [True, True] Translation: X:16.39, Y:397.96, Z:8.13 [[ 7.17397492e-01 -6.96663783e-01 -6.41673696e-04 1.63947504e+01] [ 6.96663508e-01 7.17397779e-01 -6.18640064e-04 3.97956880e+02] [ 8.91319412e-04 -3.21981800e-06 9.99999603e-01 8.12965458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.052755096 meters 0.016899399339019718 Centerline is valid? [True, True] Translation: X:16.41, Y:397.98, Z:8.13 [[ 7.18191966e-01 -6.95845024e-01 -4.95764394e-05 1.64131736e+01] [ 6.95845022e-01 7.18191968e-01 -4.67193560e-05 3.97977264e+02] [ 6.81148318e-05 -9.44052385e-07 9.99999998e-01 8.13047454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.082755096 meters 0.016871917969974837 Centerline is valid? [True, True] Translation: X:16.43, Y:398.00, Z:8.13 [[ 7.18163131e-01 -6.95874783e-01 6.84300341e-05 1.64325807e+01] [ 6.95874780e-01 7.18163134e-01 6.80469614e-05 3.97997116e+02] [-9.64960924e-05 -1.25008390e-06 9.99999995e-01 8.13089823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.112755096 meters 0.01691647421190584 Centerline is valid? [True, True] Translation: X:16.45, Y:398.02, Z:8.13 [[ 7.18359718e-01 -6.95671306e-01 8.65824821e-04 1.64514825e+01] [ 6.95670799e-01 7.18360240e-01 8.40354879e-04 3.98018446e+02] [-1.20658490e-03 -1.34804943e-06 9.99999272e-01 8.13159582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.142755096 meters 0.016964377351232938 Centerline is valid? [True, True] Translation: X:16.47, Y:398.04, Z:8.13 [[ 7.18078892e-01 -6.95960718e-01 1.17697472e-03 1.64708956e+01] [ 6.95959780e-01 7.18079856e-01 1.14248148e-03 3.98038941e+02] [-1.64028407e-03 -1.26477328e-06 9.99998655e-01 8.13169906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1727550960001 meters 0.016992293684467023 Centerline is valid? [True, True] Translation: X:16.49, Y:398.06, Z:8.13 [[ 7.17842781e-01 -6.96203320e-01 1.63703668e-03 1.64895141e+01] [ 6.96201506e-01 7.17844647e-01 1.58903696e-03 3.98058447e+02] [-2.28143083e-03 -9.71312109e-07 9.99997398e-01 8.13272214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.202755096 meters 0.016992293684467023 Centerline is valid? [True, True] Translation: X:16.51, Y:398.08, Z:8.13 [[ 7.17634441e-01 -6.96418072e-01 1.63650263e-03 1.65091936e+01] [ 6.96416258e-01 7.17636307e-01 1.58958730e-03 3.98077780e+02] [-2.28143103e-03 -1.05555171e-06 9.99997398e-01 8.13284142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.232755096 meters 0.01703837463478156 Centerline is valid? [True, True] Translation: X:16.53, Y:398.10, Z:8.13 [[ 7.16546483e-01 -6.97537164e-01 1.74420044e-03 1.65293467e+01] [ 6.97535104e-01 7.16548606e-01 1.69523588e-03 3.98097849e+02] [-2.43229443e-03 1.92572537e-06 9.99997042e-01 8.13226130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.262755096 meters 0.017100031230026205 Centerline is valid? [True, True] Translation: X:16.55, Y:398.12, Z:8.13 [[ 7.15536331e-01 -6.98573934e-01 1.48930821e-03 1.65493366e+01] [ 6.98572432e-01 7.15537881e-01 1.44868475e-03 3.98117056e+02] [-2.07766984e-03 3.80308745e-06 9.99997842e-01 8.13195072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2927550960001 meters 0.01745698174946168 Centerline is valid? [True, True] Translation: X:16.57, Y:398.14, Z:8.13 [[ 7.14163453e-01 -6.99976935e-01 1.68905704e-03 1.65690752e+01] [ 6.99975010e-01 7.14165450e-01 1.64191842e-03 3.98136033e+02] [-2.35557121e-03 9.69958876e-06 9.99997226e-01 8.13232899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.322755096 meters 0.01755850382059356 Centerline is valid? [True, True] Translation: X:16.59, Y:398.16, Z:8.13 [[ 7.13485952e-01 -7.00667267e-01 1.78275771e-03 1.65886901e+01] [ 7.00665118e-01 7.13488179e-01 1.73514544e-03 3.98155671e+02] [-2.48773617e-03 1.11142428e-05 9.99996906e-01 8.13214334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.352755096 meters 0.01762570653427577 Centerline is valid? [True, True] Translation: X:16.61, Y:398.18, Z:8.13 [[ 7.12744881e-01 -7.01421805e-01 1.47828890e-03 1.66086650e+01] [ 7.01420327e-01 7.12746414e-01 1.44003719e-03 3.98176090e+02] [-2.06371860e-03 1.05227497e-05 9.99997871e-01 8.13173107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.382755096 meters 0.017768325512588935 Centerline is valid? [True, True] Translation: X:16.63, Y:398.19, Z:8.13 [[ 7.11981722e-01 -7.02196777e-01 1.30918856e-03 1.66275621e+01] [ 7.02195619e-01 7.11982925e-01 1.27546088e-03 3.98194862e+02] [-1.82774442e-03 1.12016419e-05 9.99998330e-01 8.13138317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4127550960001 meters 0.018214656024216194 Centerline is valid? [True, True] Translation: X:16.65, Y:398.21, Z:8.13 [[ 7.10482319e-01 -7.03714270e-01 1.04923137e-03 1.66468126e+01] [ 7.03713527e-01 7.10483094e-01 1.02276077e-03 3.98213733e+02] [-1.46519249e-03 1.17048646e-05 9.99998927e-01 8.13123230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.442755096 meters 0.018215627995612976 Centerline is valid? [True, True] Translation: X:16.67, Y:398.23, Z:8.13 [[ 7.09329779e-01 -7.04876575e-01 5.27498328e-04 1.66663714e+01] [ 7.04876387e-01 7.09329975e-01 5.15780086e-04 3.98233581e+02] [-7.37731677e-04 5.96294059e-06 9.99999728e-01 8.13043881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.472755096 meters 0.018712376436083925 Centerline is valid? [True, True] Translation: X:16.69, Y:398.25, Z:8.13 [[ 7.07081514e-01 -7.07131902e-01 -4.54296339e-04 1.66870313e+01] [ 7.07131765e-01 7.07081659e-01 -4.41186222e-04 3.98254357e+02] [ 6.33201461e-04 -9.29275067e-06 9.99999800e-01 8.12908449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.502755096 meters 0.019229051331544723 Centerline is valid? [True, True] Translation: X:16.71, Y:398.27, Z:8.13 [[ 7.05775193e-01 -7.08434661e-01 -1.30653705e-03 1.67070104e+01] [ 7.08433518e-01 7.05776402e-01 -1.27289833e-03 3.98272951e+02] [ 1.82388831e-03 -2.72145751e-05 9.99998336e-01 8.12832771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5327550960001 meters 0.019754337379044654 Centerline is valid? [True, True] Translation: X:16.73, Y:398.29, Z:8.13 [[ 7.04225067e-01 -7.09974838e-01 -1.66885757e-03 1.67280436e+01] [ 7.09972976e-01 7.04227043e-01 -1.62665414e-03 3.98292722e+02] [ 2.33013814e-03 -3.93131486e-05 9.99997284e-01 8.12793681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.562755096 meters 0.021413815119149842 Centerline is valid? [True, True] Translation: X:16.75, Y:398.31, Z:8.13 [[ 7.01283458e-01 -7.12877878e-01 -2.57726581e-03 1.67494115e+01] [ 7.12873448e-01 7.01288190e-01 -2.51438597e-03 3.98310908e+02] [ 3.59985621e-03 -7.39670778e-05 9.99993518e-01 8.12771540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.592755096 meters 0.02192151664325718 Centerline is valid? [True, True] Translation: X:16.77, Y:398.33, Z:8.13 [[ 6.99302422e-01 -7.14821269e-01 -2.58362437e-03 1.67699349e+01] [ 7.14816826e-01 6.99307190e-01 -2.52165012e-03 3.98331665e+02] [ 3.60927624e-03 -8.34221290e-05 9.99993483e-01 8.12789227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.622755096 meters 0.024179992079477325 Centerline is valid? [True, True] Translation: X:16.79, Y:398.35, Z:8.13 [[ 6.95708350e-01 -7.18320038e-01 -2.49319034e-03 1.67912431e+01] [ 7.18315918e-01 6.95712810e-01 -2.43463590e-03 3.98349536e+02] [ 3.48339220e-03 -9.71017853e-05 9.99993928e-01 8.12884320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6527550960001 meters 0.024329276902332393 Centerline is valid? [True, True] Translation: X:16.81, Y:398.37, Z:8.13 [[ 6.93767292e-01 -7.20195844e-01 -2.21170407e-03 1.68114647e+01] [ 7.20192608e-01 6.93770811e-01 -2.16082860e-03 3.98370700e+02] [ 3.09063550e-03 -9.37407205e-05 9.99995220e-01 8.12934872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.682755096 meters 0.024915965730475186 Centerline is valid? [True, True] Translation: X:16.83, Y:398.39, Z:8.13 [[ 6.92246118e-01 -7.21657507e-01 -2.39892840e-03 1.68316899e+01] [ 7.21653704e-01 6.92250266e-01 -2.34529848e-03 3.98390529e+02] [ 3.35316107e-03 -1.07671800e-04 9.99994372e-01 8.12998596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.712755096 meters 0.02616238872199149 Centerline is valid? [True, True] Translation: X:16.85, Y:398.41, Z:8.13 [[ 6.90570229e-01 -7.23259491e-01 -2.90989645e-03 1.68516789e+01] [ 7.23253904e-01 6.90576346e-01 -2.84621866e-03 3.98410642e+02] [ 4.06806031e-03 -1.39080099e-04 9.99991716e-01 8.13007568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.742755096 meters 0.03011833711312674 Centerline is valid? [True, True] Translation: X:16.87, Y:398.43, Z:8.13 [[ 6.90154655e-01 -7.23654603e-01 -3.25093415e-03 1.68738177e+01] [ 7.23647627e-01 6.90162294e-01 -3.18135160e-03 3.98426505e+02] [ 4.54587189e-03 -1.56906166e-04 9.99989655e-01 8.13002065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.772755096 meters 0.02563067749563704 Centerline is valid? [True, True] Translation: X:16.89, Y:398.45, Z:8.13 [[ 6.90661521e-01 -7.23168435e-01 -3.75213629e-03 1.68867974e+01] [ 7.23159122e-01 6.90671691e-01 -3.67418712e-03 3.98454665e+02] [ 5.24855047e-03 -1.75771925e-04 9.99986211e-01 8.12977369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.802755096 meters 0.02593947446466859 Centerline is valid? [True, True] Translation: X:16.91, Y:398.48, Z:8.13 [[ 6.91321106e-01 -7.22537330e-01 -3.86468478e-03 1.69061476e+01] [ 7.22527429e-01 6.91331886e-01 -3.78654877e-03 3.98475502e+02] [ 5.40770265e-03 -1.74619673e-04 9.99985363e-01 8.12954946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.832755096 meters 0.025221635869237022 Centerline is valid? [True, True] Translation: X:16.92, Y:398.50, Z:8.13 [[ 6.92103552e-01 -7.21786628e-01 -4.09100383e-03 1.69247486e+01] [ 7.21775508e-01 6.92115620e-01 -4.01059346e-03 3.98498242e+02] [ 5.72624038e-03 -1.77040388e-04 9.99983589e-01 8.12938716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.862755096 meters 0.02571054672421641 Centerline is valid? [True, True] Translation: X:16.94, Y:398.52, Z:8.13 [[ 6.93064131e-01 -7.20862903e-01 -4.33427180e-03 1.69436587e+01] [ 7.20850390e-01 6.93077661e-01 -4.25106847e-03 3.98518384e+02] [ 6.06842452e-03 -1.78098440e-04 9.99981571e-01 8.12905507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.892755096 meters 0.023776194128202845 Centerline is valid? [True, True] Translation: X:16.96, Y:398.54, Z:8.13 [[ 6.94706583e-01 -7.19276323e-01 -4.93303744e-03 1.69592950e+01] [ 7.19260063e-01 6.94724072e-01 -4.83998230e-03 3.98543771e+02] [ 6.90838453e-03 -1.85769255e-04 9.99976120e-01 8.12842505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9227550960001 meters 0.023952646252222876 Centerline is valid? [True, True] Translation: X:16.98, Y:398.56, Z:8.13 [[ 6.95357832e-01 -7.18642793e-01 -5.47931123e-03 1.69775106e+01] [ 7.18622691e-01 6.95379391e-01 -5.37871407e-03 3.98563701e+02] [ 7.67557421e-03 -1.97426431e-04 9.99970523e-01 8.12836648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.952755096 meters 0.022921294928015562 Centerline is valid? [True, True] Translation: X:16.99, Y:398.59, Z:8.13 [[ 6.95859925e-01 -7.18152324e-01 -6.01704721e-03 1.69940531e+01] [ 7.18128038e-01 6.95885908e-01 -5.90963872e-03 3.98586874e+02] [ 8.43119913e-03 -2.08729552e-04 9.99964435e-01 8.12820938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.982755096 meters 0.021648713336534106 Centerline is valid? [True, True] Translation: X:17.01, Y:398.61, Z:8.13 [[ 6.95749875e-01 -7.18257893e-01 -6.14094002e-03 1.70118401e+01] [ 7.18232569e-01 6.95776943e-01 -6.03514400e-03 3.98609521e+02] [ 8.60751429e-03 -2.11672440e-04 9.99962932e-01 8.12898800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.012755096 meters 0.02237864922389312 Centerline is valid? [True, True] Translation: X:17.03, Y:398.63, Z:8.13 [[ 6.95985709e-01 -7.18029622e-01 -6.11185360e-03 1.70312450e+01] [ 7.18004504e-01 6.96012514e-01 -6.00945755e-03 3.98628894e+02] [ 8.56889512e-03 -2.05841836e-04 9.99963265e-01 8.12919434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0427550960001 meters 0.02322147328680886 Centerline is valid? [True, True] Translation: X:17.05, Y:398.65, Z:8.13 [[ 6.95769128e-01 -7.18240299e-01 -6.01620770e-03 1.70494387e+01] [ 7.18215946e-01 6.95795108e-01 -5.91796336e-03 3.98649576e+02] [ 8.43656766e-03 -2.03400098e-04 9.99964391e-01 8.12950489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.072755096 meters 0.022502361532872675 Centerline is valid? [True, True] Translation: X:17.07, Y:398.67, Z:8.13 [[ 6.95332454e-01 -7.18663730e-01 -5.93486322e-03 1.70668789e+01] [ 7.18640018e-01 6.95357751e-01 -5.84139460e-03 3.98671300e+02] [ 8.32485158e-03 -2.03318970e-04 9.99965327e-01 8.12993435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.102755096 meters 0.024116418855803536 Centerline is valid? [True, True] Translation: X:17.09, Y:398.69, Z:8.13 [[ 6.94116206e-01 -7.19837519e-01 -6.05308587e-03 1.70863652e+01] [ 7.19812873e-01 6.94142564e-01 -5.96064178e-03 3.98691367e+02] [ 8.49239813e-03 -2.19711079e-04 9.99963915e-01 8.12994874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.132755096 meters 0.02394864532451257 Centerline is valid? [True, True] Translation: X:17.11, Y:398.71, Z:8.13 [[ 6.93168865e-01 -7.20749631e-01 -6.07409086e-03 1.71057299e+01] [ 7.20724827e-01 6.93195439e-01 -5.98389599e-03 3.98712398e+02] [ 8.52342291e-03 -2.29897700e-04 9.99963649e-01 8.13041181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1627550960001 meters 0.024544308919047814 Centerline is valid? [True, True] Translation: X:17.13, Y:398.73, Z:8.13 [[ 6.92085100e-01 -7.21788682e-01 -6.26992299e-03 1.71260420e+01] [ 7.21762266e-01 6.92113457e-01 -6.18020790e-03 3.98732382e+02] [ 8.80030218e-03 -2.48164017e-04 9.99961246e-01 8.13067300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.192755096 meters 0.025931402864575 Centerline is valid? [True, True] Translation: X:17.15, Y:398.75, Z:8.13 [[ 6.90553519e-01 -7.23252117e-01 -6.49719665e-03 1.71459279e+01] [ 7.23223788e-01 6.90584029e-01 -6.40721273e-03 3.98751736e+02] [ 9.12089041e-03 -2.74403870e-04 9.99958366e-01 8.13106276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.222755096 meters 0.025516263368077254 Centerline is valid? [True, True] Translation: X:17.16, Y:398.77, Z:8.13 [[ 6.89924829e-01 -7.23848911e-01 -6.81791280e-03 1.71649518e+01] [ 7.23817715e-01 6.89958453e-01 -6.72670051e-03 3.98773719e+02] [ 9.57319141e-03 -2.94008361e-04 9.99954133e-01 8.13089455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.252755096 meters 0.0249034572946706 Centerline is valid? [True, True] Translation: X:17.18, Y:398.80, Z:8.13 [[ 6.90150232e-01 -7.23627339e-01 -7.49211555e-03 1.71824176e+01] [ 7.23589608e-01 6.90190825e-01 -7.39622526e-03 3.98796803e+02] [ 1.05231002e-02 -3.16710376e-04 9.99944581e-01 8.13049316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2827550960001 meters 0.024882298396154197 Centerline is valid? [True, True] Translation: X:17.20, Y:398.82, Z:8.13 [[ 6.90699676e-01 -7.23099161e-01 -7.84611171e-03 1.72006218e+01] [ 7.23057702e-01 6.90744165e-01 -7.74980133e-03 3.98816554e+02] [ 1.10235307e-02 -3.20406240e-04 9.99939188e-01 8.13000699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.312755096 meters 0.024660363662266517 Centerline is valid? [True, True] Translation: X:17.22, Y:398.84, Z:8.13 [[ 6.91363304e-01 -7.22461063e-01 -8.17271558e-03 1.72192423e+01] [ 7.22415992e-01 6.91411534e-01 -8.07624313e-03 3.98836951e+02] [ 1.14854810e-02 -3.20482288e-04 9.99933988e-01 8.12993449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.342755096 meters 0.023551071182501923 Centerline is valid? [True, True] Translation: X:17.24, Y:398.86, Z:8.13 [[ 6.92959231e-01 -7.20924709e-01 -8.66418446e-03 1.72376749e+01] [ 7.20873879e-01 6.93013324e-01 -8.56634974e-03 3.98859728e+02] [ 1.21800885e-02 -3.09653137e-04 9.99925772e-01 8.13030940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.372755096 meters 0.023444480529373226 Centerline is valid? [True, True] Translation: X:17.26, Y:398.88, Z:8.13 [[ 6.94029605e-01 -7.19894737e-01 -8.62993599e-03 1.72571106e+01] [ 7.19844188e-01 6.94083198e-01 -8.53582603e-03 3.98879920e+02] [ 1.21347898e-02 -2.88093295e-04 9.99926329e-01 8.13034898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4027550960001 meters 0.0224045948937285 Centerline is valid? [True, True] Translation: X:17.27, Y:398.90, Z:8.13 [[ 6.96006595e-01 -7.17980291e-01 -8.89509859e-03 1.72745020e+01] [ 7.17926405e-01 6.96063384e-01 -8.80013926e-03 3.98901645e+02] [ 1.25098790e-02 -2.61071194e-04 9.99921714e-01 8.13038543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.432755096 meters 0.021893691266712072 Centerline is valid? [True, True] Translation: X:17.29, Y:398.92, Z:8.13 [[ 6.96966194e-01 -7.17044970e-01 -9.19969987e-03 1.72922847e+01] [ 7.16987207e-01 6.97026863e-01 -9.10474992e-03 3.98921792e+02] [ 1.29409531e-02 -2.50364217e-04 9.99916231e-01 8.13019598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.462755096 meters 0.019463630209928848 Centerline is valid? [True, True] Translation: X:17.31, Y:398.95, Z:8.13 [[ 6.98611837e-01 -7.15438827e-01 -9.42267604e-03 1.73094441e+01] [ 7.15378019e-01 6.98675344e-01 -9.33028562e-03 3.98945746e+02] [ 1.32586400e-02 -2.22527344e-04 9.99912076e-01 8.13195494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.492755096 meters 0.02057706540079662 Centerline is valid? [True, True] Translation: X:17.33, Y:398.96, Z:8.13 [[ 6.99255212e-01 -7.14810124e-01 -9.41468808e-03 1.73307956e+01] [ 7.14749312e-01 6.99318557e-01 -9.32612223e-03 3.98963530e+02] [ 1.32502727e-02 -2.07802256e-04 9.99912190e-01 8.13070602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.522755096 meters 0.018759961069062893 Centerline is valid? [True, True] Translation: X:17.35, Y:398.99, Z:8.13 [[ 6.99966791e-01 -7.14116350e-01 -9.18313097e-03 1.73487468e+01] [ 7.14058378e-01 7.00027002e-01 -9.10104290e-03 3.98985984e+02] [ 1.29276432e-02 -1.86863809e-04 9.99916417e-01 8.13318764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.552755096 meters 0.018193179423547028 Centerline is valid? [True, True] Translation: X:17.37, Y:399.01, Z:8.13 [[ 7.00583684e-01 -7.13512392e-01 -9.08671004e-03 1.73685649e+01] [ 7.13455517e-01 7.00642589e-01 -9.01044966e-03 3.99007163e+02] [ 1.27956035e-02 -1.70389387e-04 9.99918118e-01 8.13415151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.582755096 meters 0.017726583764987428 Centerline is valid? [True, True] Translation: X:17.39, Y:399.03, Z:8.13 [[ 7.02348048e-01 -7.11779787e-01 -8.76093896e-03 1.73866313e+01] [ 7.11726748e-01 7.02402675e-01 -8.69015316e-03 3.99028234e+02] [ 1.23391823e-02 -1.31882482e-04 9.99923861e-01 8.13490898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.612755096 meters 0.01701525678435668 Centerline is valid? [True, True] Translation: X:17.41, Y:399.05, Z:8.14 [[ 7.03140144e-01 -7.11001579e-01 -8.40786690e-03 1.74053208e+01] [ 7.10952632e-01 7.03190402e-01 -8.34349226e-03 3.99050456e+02] [ 1.18445675e-02 -1.10950747e-04 9.99929845e-01 8.13601715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.642755096 meters 0.016645163203544595 Centerline is valid? [True, True] Translation: X:17.42, Y:399.07, Z:8.14 [[ 7.04730315e-01 -7.09432109e-01 -7.82721290e-03 1.74241175e+01] [ 7.09389545e-01 7.04773777e-01 -7.77151896e-03 3.99071808e+02] [ 1.10297795e-02 -7.57179960e-05 9.99939167e-01 8.13673504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6727550960001 meters 0.016461975868351658 Centerline is valid? [True, True] Translation: X:17.44, Y:399.09, Z:8.14 [[ 7.05279003e-01 -7.08886798e-01 -7.81258239e-03 1.74434671e+01] [ 7.08844308e-01 7.05322270e-01 -7.76165116e-03 3.99092565e+02] [ 1.10125204e-02 -6.37749630e-05 9.99939358e-01 8.13680075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.702755096 meters 0.01633596359376446 Centerline is valid? [True, True] Translation: X:17.46, Y:399.11, Z:8.14 [[ 7.05828806e-01 -7.08338643e-01 -7.87808072e-03 1.74624434e+01] [ 7.08295364e-01 7.05872768e-01 -7.83029301e-03 3.99112033e+02] [ 1.11074218e-02 -5.31616866e-05 9.99938309e-01 8.13638748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.732755096 meters 0.01626308883242492 Centerline is valid? [True, True] Translation: X:17.48, Y:399.13, Z:8.14 [[ 7.06686543e-01 -7.07470676e-01 -8.90913148e-03 1.74820316e+01] [ 7.07415196e-01 7.06742698e-01 -8.85998830e-03 3.99131906e+02] [ 1.25646455e-02 -4.12204946e-05 9.99921061e-01 8.13623400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.762755096 meters 0.016418934641023293 Centerline is valid? [True, True] Translation: X:17.50, Y:399.15, Z:8.13 [[ 7.06501480e-01 -7.07650709e-01 -9.28073552e-03 1.75014159e+01] [ 7.07590464e-01 7.06562433e-01 -9.23385720e-03 3.99150622e+02] [ 1.30917647e-02 -4.32261652e-05 9.99914298e-01 8.13480400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7927550960001 meters 0.01635149440689952 Centerline is valid? [True, True] Translation: X:17.52, Y:399.17, Z:8.13 [[ 7.06242168e-01 -7.07902742e-01 -9.78303015e-03 1.75214805e+01] [ 7.07835749e-01 7.06309922e-01 -9.73897042e-03 3.99170118e+02] [ 1.38040951e-02 -4.67068888e-05 9.99904718e-01 8.13457835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.822755096 meters 0.016423576813079533 Centerline is valid? [True, True] Translation: X:17.54, Y:399.19, Z:8.13 [[ 7.05439359e-01 -7.08698216e-01 -1.01068822e-02 1.75430405e+01] [ 7.08626704e-01 7.05511754e-01 -1.00677348e-02 3.99187837e+02] [ 1.42655099e-02 -5.98302661e-05 9.99898241e-01 8.13493991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.852755096 meters 0.01655678119352036 Centerline is valid? [True, True] Translation: X:17.56, Y:399.21, Z:8.14 [[ 7.04630653e-01 -7.09506875e-01 -9.77948032e-03 1.75635836e+01] [ 7.09439941e-01 7.04698510e-01 -9.74578272e-03 3.99205268e+02] [ 1.38062851e-02 -7.07767008e-05 9.99904686e-01 8.13551855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.882755096 meters 0.016975696855263428 Centerline is valid? [True, True] Translation: X:17.59, Y:399.22, Z:8.14 [[ 7.02803275e-01 -7.11323418e-01 -9.30332790e-03 1.75872311e+01] [ 7.11262963e-01 7.02864842e-01 -9.27421353e-03 3.99221332e+02] [ 1.31359474e-02 -9.91649263e-05 9.99913715e-01 8.13642558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9127550960001 meters 0.01726723313585572 Centerline is valid? [True, True] Translation: X:17.61, Y:399.24, Z:8.14 [[ 7.01498469e-01 -7.12611702e-01 -9.19020264e-03 1.76097239e+01] [ 7.12552765e-01 7.01558656e-01 -9.16565466e-03 3.99240116e+02] [ 1.29790190e-02 -1.18811597e-04 9.99915762e-01 8.13660338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.942755096 meters 0.017730678707722144 Centerline is valid? [True, True] Translation: X:17.63, Y:399.26, Z:8.14 [[ 7.00223752e-01 -7.13861906e-01 -9.37429700e-03 1.76321089e+01] [ 7.13800624e-01 7.00286484e-01 -9.35464551e-03 3.99258326e+02] [ 1.32426186e-02 -1.41034074e-04 9.99912303e-01 8.13664383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.972755096 meters 0.01889977983610689 Centerline is valid? [True, True] Translation: X:17.66, Y:399.27, Z:8.14 [[ 6.97661833e-01 -7.16364709e-01 -9.46412091e-03 1.76566594e+01] [ 7.16302426e-01 6.97725998e-01 -9.44809480e-03 3.99273450e+02] [ 1.33716449e-02 -1.87597628e-04 9.99910578e-01 8.13662290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.002755096 meters 0.019547138500468984 Centerline is valid? [True, True] Translation: X:17.68, Y:399.29, Z:8.14 [[ 6.96343456e-01 -7.17647168e-01 -9.39857830e-03 1.76794338e+01] [ 7.17585805e-01 6.96406849e-01 -9.38691584e-03 3.99292103e+02] [ 1.32817279e-02 -2.07768961e-04 9.99911772e-01 8.13696297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0327550960001 meters 0.020627779381925514 Centerline is valid? [True, True] Translation: X:17.70, Y:399.31, Z:8.14 [[ 6.94525873e-01 -7.19407447e-01 -9.31327623e-03 1.77027140e+01] [ 7.19347304e-01 6.94588273e-01 -9.30523096e-03 3.99307928e+02] [ 1.31631449e-02 -2.36756491e-04 9.99913334e-01 8.13714446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.062755096 meters 0.02108515922730996 Centerline is valid? [True, True] Translation: X:17.72, Y:399.33, Z:8.14 [[ 6.93858152e-01 -7.20053035e-01 -9.19192030e-03 1.77233516e+01] [ 7.19994451e-01 6.93918992e-01 -9.18817460e-03 3.99325250e+02] [ 1.29944211e-02 -2.42841757e-04 9.99915540e-01 8.13745028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.092755096 meters 0.02108515922730996 Centerline is valid? [True, True] Translation: X:17.74, Y:399.34, Z:8.14 [[ 6.93646786e-01 -7.20256686e-01 -9.18930573e-03 1.77427273e+01] [ 7.20198085e-01 6.93707610e-01 -9.19078924e-03 3.99344880e+02] [ 1.29944187e-02 -2.42958976e-04 9.99915540e-01 8.13756958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.122755096 meters 0.02137616327388078 Centerline is valid? [True, True] Translation: X:17.76, Y:399.36, Z:8.14 [[ 6.93086155e-01 -7.20798395e-01 -9.01418190e-03 1.77641550e+01] [ 7.20741986e-01 6.93144728e-01 -9.02087406e-03 3.99363135e+02] [ 1.27503642e-02 -2.44656456e-04 9.99918681e-01 8.13833310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1527550960001 meters 0.021189286815713464 Centerline is valid? [True, True] Translation: X:17.79, Y:399.38, Z:8.14 [[ 6.93272753e-01 -7.20618390e-01 -9.05684602e-03 1.77855736e+01] [ 7.20561362e-01 6.93331868e-01 -9.06885753e-03 3.99381347e+02] [ 1.28145855e-02 -2.38821483e-04 9.99917861e-01 8.13855136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.182755096 meters 0.021192172864248165 Centerline is valid? [True, True] Translation: X:17.81, Y:399.40, Z:8.14 [[ 6.93449276e-01 -7.20447787e-01 -9.11520831e-03 1.78051074e+01] [ 7.20389953e-01 6.93509143e-01 -9.13149093e-03 3.99399514e+02] [ 1.29002427e-02 -2.34278712e-04 9.99916761e-01 8.13836030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.212755096 meters 0.020838374275635868 Centerline is valid? [True, True] Translation: X:17.83, Y:399.42, Z:8.14 [[ 6.94125375e-01 -7.19791295e-01 -9.51079129e-03 1.78255271e+01] [ 7.19728212e-01 6.94190492e-01 -9.53210520e-03 3.99417221e+02] [ 1.34634272e-02 -2.28708713e-04 9.99909338e-01 8.13833571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.242755096 meters 0.01903206171677986 Centerline is valid? [True, True] Translation: X:17.84, Y:399.44, Z:8.14 [[ 6.94317013e-01 -7.19605349e-01 -9.59308909e-03 1.78438912e+01] [ 7.19541076e-01 6.94383245e-01 -9.62018513e-03 3.99438726e+02] [ 1.35840170e-02 -2.23163451e-04 9.99907708e-01 8.14005257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.272755096 meters 0.020650622471460815 Centerline is valid? [True, True] Translation: X:17.87, Y:399.45, Z:8.14 [[ 6.94291341e-01 -7.19630906e-01 -9.53379741e-03 1.78664403e+01] [ 7.19567352e-01 6.94356761e-01 -9.56630325e-03 3.99454821e+02] [ 1.35040642e-02 -2.18407844e-04 9.99908792e-01 8.13859153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.302755096 meters 0.020879289316589285 Centerline is valid? [True, True] Translation: X:17.89, Y:399.47, Z:8.14 [[ 6.93923914e-01 -7.19981055e-01 -9.84288375e-03 1.78884512e+01] [ 7.19913267e-01 6.93993681e-01 -9.88226516e-03 3.99470771e+02] [ 1.39459428e-02 -2.28482477e-04 9.99902725e-01 8.13897280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.332755096 meters 0.01916236576581893 Centerline is valid? [True, True] Translation: X:17.91, Y:399.49, Z:8.14 [[ 6.93319831e-01 -7.20565849e-01 -9.61613995e-03 1.79070516e+01] [ 7.20501129e-01 6.93386476e-01 -9.66017581e-03 3.99491158e+02] [ 1.36284942e-02 -2.30848226e-04 9.99907101e-01 8.14155780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.362755096 meters 0.02201952616106024 Centerline is valid? [True, True] Translation: X:17.93, Y:399.50, Z:8.14 [[ 6.92319927e-01 -7.21537044e-01 -8.79850056e-03 1.79327635e+01] [ 7.21482891e-01 6.92375796e-01 -8.84274618e-03 3.99504229e+02] [ 1.24722378e-02 -2.25958237e-04 9.99922193e-01 8.14070370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.392755096 meters 0.01952793661457475 Centerline is valid? [True, True] Translation: X:17.95, Y:399.53, Z:8.14 [[ 6.91887002e-01 -7.21955135e-01 -8.55335987e-03 1.79508912e+01] [ 7.21903933e-01 6.91939833e-01 -8.60105862e-03 3.99525871e+02] [ 1.21279888e-02 -2.23743475e-04 9.99926428e-01 8.14341923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4227550960001 meters 0.02002812229955837 Centerline is valid? [True, True] Translation: X:17.97, Y:399.54, Z:8.14 [[ 6.91557132e-01 -7.22273918e-01 -8.31392135e-03 1.79719378e+01] [ 7.22225517e-01 6.91607070e-01 -8.36442169e-03 3.99542798e+02] [ 1.17913704e-02 -2.20050664e-04 9.99930455e-01 8.14395006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.452755096 meters 0.020436617996549774 Centerline is valid? [True, True] Translation: X:17.99, Y:399.56, Z:8.15 [[ 6.91243712e-01 -7.22581663e-01 -7.60729600e-03 1.79940647e+01] [ 7.22541119e-01 6.91285541e-01 -7.65720277e-03 3.99558733e+02] [ 1.07917680e-02 -2.03590898e-04 9.99941746e-01 8.14546508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.482755096 meters 0.021736371627085867 Centerline is valid? [True, True] Translation: X:18.02, Y:399.58, Z:8.15 [[ 6.91088163e-01 -7.22733011e-01 -7.35833390e-03 1.80162921e+01] [ 7.22695045e-01 6.91127308e-01 -7.41054975e-03 3.99575506e+02] [ 1.04413944e-02 -1.96488239e-04 9.99945468e-01 8.14546332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.512755096 meters 0.019324051127410924 Centerline is valid? [True, True] Translation: X:18.04, Y:399.60, Z:8.15 [[ 6.91496613e-01 -7.22344288e-01 -7.15283729e-03 1.80353956e+01] [ 7.22308350e-01 6.91533583e-01 -7.20774360e-03 3.99596060e+02] [ 1.01528996e-02 -1.82423806e-04 9.99948441e-01 8.14780629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5427550960001 meters 0.01927230685349751 Centerline is valid? [True, True] Translation: X:18.06, Y:399.62, Z:8.15 [[ 6.91734244e-01 -7.22117974e-01 -7.02618183e-03 1.80559925e+01] [ 7.22083242e-01 6.91769905e-01 -7.08447084e-03 3.99615033e+02] [ 9.97632487e-03 -1.72917078e-04 9.99950220e-01 8.14783159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.572755096 meters 0.01961942085244803 Centerline is valid? [True, True] Translation: X:18.08, Y:399.63, Z:8.15 [[ 6.92023617e-01 -7.21841262e-01 -6.96463934e-03 1.80759729e+01] [ 7.21807082e-01 6.92058643e-01 -7.02643893e-03 3.99632765e+02] [ 9.89191239e-03 -1.64664319e-04 9.99951060e-01 8.14755934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.602755096 meters 0.018511897413554624 Centerline is valid? [True, True] Translation: X:18.10, Y:399.65, Z:8.15 [[ 6.92937133e-01 -7.20964553e-01 -6.94572400e-03 1.80958955e+01] [ 7.20930474e-01 6.92971927e-01 -7.01141256e-03 3.99653171e+02] [ 9.86817166e-03 -1.48915975e-04 9.99951297e-01 8.14784399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.632755096 meters 0.01855858038546324 Centerline is valid? [True, True] Translation: X:18.12, Y:399.67, Z:8.15 [[ 6.93481960e-01 -7.20438339e-01 -7.16731159e-03 1.81157110e+01] [ 7.20401986e-01 6.93518982e-01 -7.23877419e-03 3.99671371e+02] [ 1.01857571e-02 -1.43386190e-04 9.99948114e-01 8.14757000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6627550960001 meters 0.018590328133542076 Centerline is valid? [True, True] Translation: X:18.14, Y:399.69, Z:8.15 [[ 6.94453062e-01 -7.19501274e-01 -7.27055686e-03 1.81367568e+01] [ 7.19463780e-01 6.94491109e-01 -7.34644141e-03 3.99688854e+02] [ 1.03351110e-02 -1.29143579e-04 9.99946583e-01 8.14729505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.692755096 meters 0.018439163284180816 Centerline is valid? [True, True] Translation: X:18.16, Y:399.71, Z:8.15 [[ 6.94813637e-01 -7.19147595e-01 -7.79393313e-03 1.81568962e+01] [ 7.19104440e-01 6.94857337e-01 -7.87938054e-03 3.99707346e+02] [ 1.10821092e-02 -1.29950868e-04 9.99938583e-01 8.14706182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.722755096 meters 0.018465048135462177 Centerline is valid? [True, True] Translation: X:18.18, Y:399.73, Z:8.15 [[ 6.94750910e-01 -7.19205335e-01 -8.05356305e-03 1.81776317e+01] [ 7.19159208e-01 6.94797574e-01 -8.14642188e-03 3.99726831e+02] [ 1.14545461e-02 -1.32060015e-04 9.99934386e-01 8.14707497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.752755096 meters 0.017890497615710144 Centerline is valid? [True, True] Translation: X:18.20, Y:399.75, Z:8.15 [[ 6.94454576e-01 -7.19487634e-01 -8.38966120e-03 1.81979557e+01] [ 7.19437536e-01 6.94505237e-01 -8.49163164e-03 3.99746185e+02] [ 1.19362876e-02 -1.38784733e-04 9.99928750e-01 8.14808325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7827550960001 meters 0.018965378025582423 Centerline is valid? [True, True] Translation: X:18.22, Y:399.76, Z:8.15 [[ 6.93836063e-01 -7.20079373e-01 -8.78719030e-03 1.82192930e+01] [ 7.20024395e-01 6.93891688e-01 -8.89928700e-03 3.99762996e+02] [ 1.25055513e-02 -1.52345113e-04 9.99921791e-01 8.14645900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.812755096 meters 0.018666586565711914 Centerline is valid? [True, True] Translation: X:18.24, Y:399.78, Z:8.15 [[ 6.92255030e-01 -7.21596496e-01 -9.02609392e-03 1.82411073e+01] [ 7.21538550e-01 6.92313848e-01 -9.14637905e-03 3.99781532e+02] [ 1.28488849e-02 -1.81047812e-04 9.99917433e-01 8.14823844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.842755096 meters 0.01982603588826697 Centerline is valid? [True, True] Translation: X:18.26, Y:399.80, Z:8.15 [[ 6.91291486e-01 -7.22519256e-01 -9.05572244e-03 1.82634348e+01] [ 7.22460964e-01 6.91350770e-01 -9.17982800e-03 3.99798433e+02] [ 1.28932832e-02 -1.96469021e-04 9.99916859e-01 8.14789170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.872755096 meters 0.019879864236550592 Centerline is valid? [True, True] Translation: X:18.29, Y:399.82, Z:8.15 [[ 6.89448691e-01 -7.24277221e-01 -9.11095563e-03 1.82861131e+01] [ 7.24218314e-01 6.89508850e-01 -9.24009734e-03 3.99816859e+02] [ 1.29744766e-02 -2.27747915e-04 9.99915802e-01 8.14890703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9027550960001 meters 0.020801839922572937 Centerline is valid? [True, True] Translation: X:18.31, Y:399.83, Z:8.15 [[ 6.88606535e-01 -7.25075564e-01 -9.29876639e-03 1.83075895e+01] [ 7.25014228e-01 6.88669272e-01 -9.43410762e-03 3.99834278e+02] [ 1.32442156e-02 -2.45349774e-04 9.99912261e-01 8.14851737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.932755096 meters 0.020691593239744267 Centerline is valid? [True, True] Translation: X:18.33, Y:399.85, Z:8.15 [[ 6.87686580e-01 -7.25946734e-01 -9.40787400e-03 1.83281205e+01] [ 7.25883967e-01 6.87750879e-01 -9.54957731e-03 3.99854002e+02] [ 1.34027581e-02 -2.61908750e-04 9.99910145e-01 8.14897166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.962755096 meters 0.02108192142366909 Centerline is valid? [True, True] Translation: X:18.35, Y:399.87, Z:8.15 [[ 6.86943115e-01 -7.26650234e-01 -9.41245915e-03 1.83493310e+01] [ 7.26587395e-01 6.87007542e-01 -9.56003444e-03 3.99873193e+02] [ 1.34132317e-02 -2.71774337e-04 9.99910002e-01 8.14910730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.992755096 meters 0.02077532709803246 Centerline is valid? [True, True] Translation: X:18.37, Y:399.89, Z:8.15 [[ 6.87899161e-01 -7.25753716e-01 -8.73428645e-03 1.83676792e+01] [ 7.25699498e-01 6.87954569e-01 -8.87409930e-03 3.99893655e+02] [ 1.24492028e-02 -2.33981825e-04 9.99922478e-01 8.14996163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.022755096 meters 0.020857499549072653 Centerline is valid? [True, True] Translation: X:18.39, Y:399.91, Z:8.15 [[ 6.88250169e-01 -7.25423337e-01 -8.52568208e-03 1.83864535e+01] [ 7.25371610e-01 6.88302938e-01 -8.66560690e-03 3.99912753e+02] [ 1.21544855e-02 -2.20182327e-04 9.99926107e-01 8.15003045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.052755096 meters 0.020225619442524236 Centerline is valid? [True, True] Translation: X:18.41, Y:399.93, Z:8.15 [[ 6.89032917e-01 -7.24684349e-01 -8.13834949e-03 1.84056060e+01] [ 7.24637111e-01 6.89080950e-01 -8.27652176e-03 3.99934164e+02] [ 1.16058474e-02 -1.94554134e-04 9.99932631e-01 8.15146308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.082755096 meters 0.020318995989812173 Centerline is valid? [True, True] Translation: X:18.43, Y:399.95, Z:8.15 [[ 6.88719005e-01 -7.24980918e-01 -8.29463723e-03 1.84252609e+01] [ 7.24931808e-01 6.88768923e-01 -8.44060837e-03 3.99953570e+02] [ 1.18323684e-02 -1.99838961e-04 9.99929975e-01 8.15163690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.112755096 meters 0.02098312171116697 Centerline is valid? [True, True] Translation: X:18.45, Y:399.97, Z:8.15 [[ 6.88215326e-01 -7.25458216e-01 -8.36904180e-03 1.84452637e+01] [ 7.25408199e-01 6.88266179e-01 -8.52125076e-03 3.99971796e+02] [ 1.19419398e-02 -2.06516163e-04 9.99928671e-01 8.15086314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.142755096 meters 0.021940127198530186 Centerline is valid? [True, True] Translation: X:18.47, Y:399.99, Z:8.15 [[ 6.87081092e-01 -7.26537830e-01 -7.89653928e-03 1.84655648e+01] [ 7.26493332e-01 6.87126435e-01 -8.04361805e-03 3.99989998e+02] [ 1.12699137e-02 -2.10165263e-04 9.99936470e-01 8.15052333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1727550960001 meters 0.022221116652716894 Centerline is valid? [True, True] Translation: X:18.49, Y:400.01, Z:8.15 [[ 6.86386164e-01 -7.27195654e-01 -7.77919800e-03 1.84854454e+01] [ 7.27152469e-01 6.86430211e-01 -7.92795173e-03 4.00010155e+02] [ 1.11050486e-02 -2.15026656e-04 9.99938314e-01 8.15052486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.202755096 meters 0.02292234204234481 Centerline is valid? [True, True] Translation: X:18.51, Y:400.03, Z:8.15 [[ 6.85207992e-01 -7.28308701e-01 -7.51291854e-03 1.85056135e+01] [ 7.28268444e-01 6.85249142e-01 -7.66076029e-03 4.00030810e+02] [ 1.07276194e-02 -2.22207323e-04 9.99942433e-01 8.15031435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.232755096 meters 0.022151706307307704 Centerline is valid? [True, True] Translation: X:18.52, Y:400.05, Z:8.15 [[ 6.84492831e-01 -7.28984805e-01 -7.12171137e-03 1.85239006e+01] [ 7.28948626e-01 6.84529844e-01 -7.26592845e-03 4.00052421e+02] [ 1.01717754e-02 -2.17885791e-04 9.99948242e-01 8.15119315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.262755096 meters 0.022318433151973367 Centerline is valid? [True, True] Translation: X:18.54, Y:400.07, Z:8.15 [[ 6.84186728e-01 -7.29275699e-01 -6.74357444e-03 1.85435403e+01] [ 7.29243236e-01 6.84219929e-01 -6.88414350e-03 4.00072497e+02] [ 9.63452659e-03 -2.07666433e-04 9.99953565e-01 8.15183071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2927550960001 meters 0.0212403680801223 Centerline is valid? [True, True] Translation: X:18.56, Y:400.09, Z:8.15 [[ 6.83990216e-01 -7.29470515e-01 -5.49113006e-03 1.85616375e+01] [ 7.29448972e-01 6.84012236e-01 -5.60868965e-03 4.00093664e+02] [ 7.84737388e-03 -1.69210329e-04 9.99969195e-01 8.15447654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.322755096 meters 0.021014396662070174 Centerline is valid? [True, True] Translation: X:18.58, Y:400.11, Z:8.16 [[ 6.83961550e-01 -7.29500020e-01 -5.13021004e-03 1.85807502e+01] [ 7.29481194e-01 6.83980772e-01 -5.24322994e-03 4.00114435e+02] [ 7.33390136e-03 -1.56224066e-04 9.99973094e-01 8.15514375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.352755096 meters 0.020710625051633798 Centerline is valid? [True, True] Translation: X:18.60, Y:400.14, Z:8.16 [[ 6.85152359e-01 -7.28383921e-01 -4.80725290e-03 1.85986852e+01] [ 7.28367348e-01 6.85169210e-01 -4.91535618e-03 4.00136108e+02] [ 6.87404807e-03 -1.33678161e-04 9.99976365e-01 8.15522265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.382755096 meters 0.020974936060449003 Centerline is valid? [True, True] Translation: X:18.62, Y:400.16, Z:8.15 [[ 6.85990548e-01 -7.27594567e-01 -4.80776164e-03 1.86173661e+01] [ 7.27577960e-01 6.86007384e-01 -4.91736091e-03 4.00155739e+02] [ 6.87600506e-03 -1.24758303e-04 9.99976352e-01 8.15499357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4127550960001 meters 0.019738323117092216 Centerline is valid? [True, True] Translation: X:18.63, Y:400.18, Z:8.16 [[ 6.86854118e-01 -7.26779976e-01 -4.72104239e-03 1.86344002e+01] [ 7.26763927e-01 6.86870333e-01 -4.83120028e-03 4.00178308e+02] [ 6.75396358e-03 -1.12753502e-04 9.99977185e-01 8.15506266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.442755096 meters 0.019251020675708608 Centerline is valid? [True, True] Translation: X:18.65, Y:400.20, Z:8.15 [[ 6.88785394e-01 -7.24951969e-01 -4.39597044e-03 1.86522408e+01] [ 7.24938004e-01 6.88799416e-01 -4.50059616e-03 4.00200322e+02] [ 6.29065792e-03 -8.68611368e-05 9.99980210e-01 8.15453061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.472755096 meters 0.01889588407934398 Centerline is valid? [True, True] Translation: X:18.67, Y:400.22, Z:8.15 [[ 6.89521408e-01 -7.24251449e-01 -4.47963397e-03 1.86709972e+01] [ 7.24236922e-01 6.89535955e-01 -4.58777522e-03 4.00221079e+02] [ 6.41157154e-03 -8.09470912e-05 9.99979442e-01 8.15433067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.502755096 meters 0.01849077673269457 Centerline is valid? [True, True] Translation: X:18.69, Y:400.24, Z:8.15 [[ 6.90940431e-01 -7.22896831e-01 -4.63601704e-03 1.86894726e+01] [ 7.22881224e-01 6.90955980e-01 -4.75068955e-03 4.00241686e+02] [ 6.63754212e-03 -6.88461907e-05 9.99977969e-01 8.15399420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5327550960001 meters 0.01833316361776383 Centerline is valid? [True, True] Translation: X:18.71, Y:400.26, Z:8.15 [[ 6.91119202e-01 -7.22726263e-01 -4.58231375e-03 1.87083285e+01] [ 7.22710995e-01 6.91134390e-01 -4.69814202e-03 4.00262264e+02] [ 6.56246524e-03 -6.47123633e-05 9.99978465e-01 8.15423053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.562755096 meters 0.01832871116453701 Centerline is valid? [True, True] Translation: X:18.73, Y:400.28, Z:8.15 [[ 6.91366590e-01 -7.22490584e-01 -4.42652279e-03 1.87273458e+01] [ 7.22476315e-01 6.91380758e-01 -4.54120335e-03 4.00282371e+02] [ 6.34138935e-03 -5.84215984e-05 9.99979892e-01 8.15442157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.592755096 meters 0.0183729612240003 Centerline is valid? [True, True] Translation: X:18.75, Y:400.30, Z:8.15 [[ 6.91209391e-01 -7.22642723e-01 -4.13193983e-03 1.87470593e+01] [ 7.22630277e-01 6.91221739e-01 -4.24153002e-03 4.00302738e+02] [ 5.92119743e-03 -5.40794415e-05 9.99982468e-01 8.15462616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.622755096 meters 0.018570384090640792 Centerline is valid? [True, True] Translation: X:18.77, Y:400.32, Z:8.15 [[ 6.90883976e-01 -7.22954719e-01 -3.97581354e-03 1.87665160e+01] [ 7.22943187e-01 6.90895413e-01 -4.08369793e-03 4.00321206e+02] [ 5.69920002e-03 -5.29258450e-05 9.99983758e-01 8.15475724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6527550960001 meters 0.01875066293166643 Centerline is valid? [True, True] Translation: X:18.79, Y:400.34, Z:8.16 [[ 6.89940097e-01 -7.23858757e-01 -3.34090589e-03 1.87863704e+01] [ 7.23850617e-01 6.89948184e-01 -3.43324245e-03 4.00340448e+02] [ 4.79023456e-03 -4.95851555e-05 9.99988526e-01 8.15529212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.682755096 meters 0.01901368341811165 Centerline is valid? [True, True] Translation: X:18.81, Y:400.36, Z:8.16 [[ 6.89217981e-01 -7.24546539e-01 -3.29974499e-03 1.88069792e+01] [ 7.24538596e-01 6.89225878e-01 -3.39303049e-03 4.00359833e+02] [ 4.73267814e-03 -5.22549805e-05 9.99988799e-01 8.15536096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.712755096 meters 0.019669312088858054 Centerline is valid? [True, True] Translation: X:18.83, Y:400.38, Z:8.16 [[ 6.87353206e-01 -7.26315916e-01 -3.28029015e-03 1.88288109e+01] [ 7.26308077e-01 6.87361030e-01 -3.37502623e-03 4.00377028e+02] [ 4.70607889e-03 -6.26661300e-05 9.99988924e-01 8.15556699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.742755096 meters 0.02009709010738692 Centerline is valid? [True, True] Translation: X:18.85, Y:400.40, Z:8.16 [[ 6.86210386e-01 -7.27396284e-01 -3.15473610e-03 1.88488829e+01] [ 7.27389041e-01 6.86217634e-01 -3.24680176e-03 4.00396508e+02] [ 4.52654708e-03 -6.67313792e-05 9.99989753e-01 8.15565442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.772755096 meters 0.02060560632002307 Centerline is valid? [True, True] Translation: X:18.87, Y:400.42, Z:8.16 [[ 6.85191968e-01 -7.28354755e-01 -3.36425253e-03 1.88695654e+01] [ 7.28346520e-01 6.85200222e-01 -3.46452369e-03 4.00415606e+02] [ 4.82858888e-03 -7.64778129e-05 9.99988339e-01 8.15566303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.802755096 meters 0.021290419017210228 Centerline is valid? [True, True] Translation: X:18.89, Y:400.43, Z:8.16 [[ 6.83216380e-01 -7.30207471e-01 -3.52534143e-03 1.88909897e+01] [ 7.30198446e-01 6.83225469e-01 -3.63159923e-03 4.00434562e+02] [ 5.06042394e-03 -9.30307519e-05 9.99987192e-01 8.15512340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.832755096 meters 0.021682565951439074 Centerline is valid? [True, True] Translation: X:18.91, Y:400.45, Z:8.16 [[ 6.82332874e-01 -7.31032779e-01 -3.59525112e-03 1.89115236e+01] [ 7.31023393e-01 6.82342338e-01 -3.70569815e-03 4.00453590e+02] [ 5.16217887e-03 -9.96930109e-05 9.99986671e-01 8.15503044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.862755096 meters 0.022857008245268293 Centerline is valid? [True, True] Translation: X:18.93, Y:400.47, Z:8.15 [[ 6.80334820e-01 -7.32889472e-01 -4.18987341e-03 1.89336491e+01] [ 7.32876745e-01 6.80347709e-01 -4.32114048e-03 4.00470562e+02] [ 6.01748914e-03 -1.30838453e-04 9.99981886e-01 8.15449244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.892755096 meters 0.023114562510773172 Centerline is valid? [True, True] Translation: X:18.95, Y:400.49, Z:8.15 [[ 6.79059065e-01 -7.34069799e-01 -4.50747114e-03 1.89544208e+01] [ 7.34055082e-01 6.79074008e-01 -4.65058219e-03 4.00490129e+02] [ 6.47475843e-03 -1.50712107e-04 9.99979027e-01 8.15404474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9227550960001 meters 0.023596989746910744 Centerline is valid? [True, True] Translation: X:18.98, Y:400.51, Z:8.15 [[ 6.77735235e-01 -7.35289422e-01 -4.94139518e-03 1.89752992e+01] [ 7.35271750e-01 6.77753226e-01 -5.10078625e-03 4.00509447e+02] [ 7.09960069e-03 -1.76285712e-04 9.99974782e-01 8.15383929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.952755096 meters 0.023939593030775214 Centerline is valid? [True, True] Translation: X:19.00, Y:400.53, Z:8.15 [[ 6.75909948e-01 -7.36967725e-01 -4.93090463e-03 1.89964523e+01] [ 7.36950158e-01 6.75927907e-01 -5.09207206e-03 4.00529797e+02] [ 7.08562880e-03 -1.92048790e-04 9.99974878e-01 8.15425696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.982755096 meters 0.023939593030775214 Centerline is valid? [True, True] Translation: X:19.02, Y:400.55, Z:8.15 [[ 6.75673112e-01 -7.37184880e-01 -4.92939296e-03 1.90155494e+01] [ 7.37167308e-01 6.75691065e-01 -5.09353518e-03 4.00549749e+02] [ 7.08562390e-03 -1.92222574e-04 9.99974878e-01 8.15437631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.012755096 meters 0.02515032012015933 Centerline is valid? [True, True] Translation: X:19.04, Y:400.57, Z:8.15 [[ 6.75093938e-01 -7.37718191e-01 -4.47713794e-03 1.90352850e+01] [ 7.37703692e-01 6.75108761e-01 -4.62866084e-03 4.00568804e+02] [ 6.43720234e-03 -1.78020312e-04 9.99979265e-01 8.15468592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0427550960001 meters 0.024985532896304685 Centerline is valid? [True, True] Translation: X:19.05, Y:400.59, Z:8.16 [[ 6.74206845e-01 -7.38529701e-01 -4.36006078e-03 1.90546180e+01] [ 7.38515955e-01 6.74220919e-01 -4.50963627e-03 4.00589964e+02] [ 6.27014452e-03 -1.79546807e-04 9.99980326e-01 8.15513980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.072755096 meters 0.02493271171229389 Centerline is valid? [True, True] Translation: X:19.07, Y:400.61, Z:8.16 [[ 6.73840859e-01 -7.38864592e-01 -4.19668315e-03 1.90738090e+01] [ 7.38851847e-01 6.73853905e-01 -4.34309532e-03 4.00609932e+02] [ 6.03691068e-03 -1.74172019e-04 9.99981763e-01 8.15596723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.102755096 meters 0.025215342111268503 Centerline is valid? [True, True] Translation: X:19.09, Y:400.63, Z:8.16 [[ 6.73701449e-01 -7.38992928e-01 -3.97608063e-03 1.90923036e+01] [ 7.38981478e-01 6.73713162e-01 -4.11711055e-03 4.00629063e+02] [ 5.72125344e-03 -1.64546598e-04 9.99983620e-01 8.15661551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.132755096 meters 0.0251543441204325 Centerline is valid? [True, True] Translation: X:19.11, Y:400.65, Z:8.16 [[ 6.73710707e-01 -7.38985819e-01 -3.72064102e-03 1.91116489e+01] [ 7.38975783e-01 6.73720964e-01 -3.85433530e-03 4.00649539e+02] [ 5.35497298e-03 -1.52756650e-04 9.99985650e-01 8.15746539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1627550960001 meters 0.025274983963840245 Centerline is valid? [True, True] Translation: X:19.13, Y:400.67, Z:8.16 [[ 6.74014876e-01 -7.38708952e-01 -3.60991987e-03 1.91298683e+01] [ 7.38699489e-01 6.74024528e-01 -3.74186344e-03 4.00669475e+02] [ 5.19732255e-03 -1.44574335e-04 9.99986483e-01 8.15776919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.192755096 meters 0.024742379925340407 Centerline is valid? [True, True] Translation: X:19.15, Y:400.69, Z:8.16 [[ 6.74625960e-01 -7.38151809e-01 -3.42360548e-03 1.91482155e+01] [ 7.38143282e-01 6.74634634e-01 -3.55051707e-03 4.00691618e+02] [ 4.93050343e-03 -1.31840399e-04 9.99987836e-01 8.15827795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.222755096 meters 0.024168290621016185 Centerline is valid? [True, True] Translation: X:19.16, Y:400.71, Z:8.16 [[ 6.76486844e-01 -7.36447230e-01 -3.32078536e-03 1.91645042e+01] [ 7.36439177e-01 6.76494985e-01 -3.44581630e-03 4.00714861e+02] [ 4.78415651e-03 -1.14507048e-04 9.99988549e-01 8.15839741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.252755096 meters 0.02401816837749713 Centerline is valid? [True, True] Translation: X:19.18, Y:400.74, Z:8.16 [[ 6.77365507e-01 -7.35638949e-01 -3.36252026e-03 1.91827108e+01] [ 7.35630677e-01 6.77373844e-01 -3.49032033e-03 4.00736693e+02] [ 4.84529885e-03 -1.09350460e-04 9.99988256e-01 8.15847074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2827550960001 meters 0.022759133588952474 Centerline is valid? [True, True] Translation: X:19.20, Y:400.76, Z:8.16 [[ 6.79252731e-01 -7.33897059e-01 -3.29167593e-03 1.91991692e+01] [ 7.33889103e-01 6.79260700e-01 -3.41856376e-03 4.00760941e+02] [ 4.74477999e-03 -9.36563255e-05 9.99988739e-01 8.15871495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.312755096 meters 0.02208319613183961 Centerline is valid? [True, True] Translation: X:19.22, Y:400.78, Z:8.16 [[ 6.79716967e-01 -7.33468115e-01 -3.06082776e-03 1.92172318e+01] [ 7.33461224e-01 6.79723854e-01 -3.18039677e-03 4.00783384e+02] [ 4.41323726e-03 -8.32288263e-05 9.99990258e-01 8.15882608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.342755096 meters 0.021707355804862244 Centerline is valid? [True, True] Translation: X:19.24, Y:400.81, Z:8.16 [[ 6.80383930e-01 -7.32848879e-01 -3.19820512e-03 1.92357428e+01] [ 7.32841340e-01 6.80391442e-01 -3.32513812e-03 4.00805026e+02] [ 4.61285514e-03 -8.14063804e-05 9.99989357e-01 8.15903388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.372755096 meters 0.021385216048974226 Centerline is valid? [True, True] Translation: X:19.25, Y:400.83, Z:8.16 [[ 6.81406127e-01 -7.31898612e-01 -3.17977937e-03 1.92530654e+01] [ 7.31891140e-01 6.81413543e-01 -3.30798084e-03 4.00826458e+02] [ 4.58785131e-03 -7.31739352e-05 9.99989473e-01 8.15892171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4027550960001 meters 0.021303450386597714 Centerline is valid? [True, True] Translation: X:19.27, Y:400.85, Z:8.16 [[ 6.81957171e-01 -7.31385069e-01 -3.20900450e-03 1.92714243e+01] [ 7.31377446e-01 6.81964718e-01 -3.34001670e-03 4.00846422e+02] [ 4.63126619e-03 -6.92451758e-05 9.99989273e-01 8.15907109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.432755096 meters 0.020785159784902044 Centerline is valid? [True, True] Translation: X:19.29, Y:400.87, Z:8.16 [[ 6.82518035e-01 -7.30864003e-01 -2.63458809e-03 1.92889730e+01] [ 7.30858857e-01 6.82523118e-01 -2.74324439e-03 4.00868505e+02] [ 3.80310585e-03 -5.31982668e-05 9.99992767e-01 8.16026321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.462755096 meters 0.020786494767440798 Centerline is valid? [True, True] Translation: X:19.31, Y:400.89, Z:8.16 [[ 6.82610866e-01 -7.30778678e-01 -2.22019438e-03 1.93069913e+01] [ 7.30775019e-01 6.82614476e-01 -2.31294510e-03 4.00888160e+02] [ 3.20578778e-03 -4.36211290e-05 9.99994861e-01 8.16100484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.492755096 meters 0.020898110090300275 Centerline is valid? [True, True] Translation: X:19.33, Y:400.91, Z:8.16 [[ 6.82766681e-01 -7.30633072e-01 -2.23028675e-03 1.93255772e+01] [ 7.30629374e-01 6.82770322e-01 -2.32477665e-03 4.00907480e+02] [ 3.22133231e-03 -4.22329765e-05 9.99994811e-01 8.16143108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.522755096 meters 0.020790635318030905 Centerline is valid? [True, True] Translation: X:19.34, Y:400.93, Z:8.16 [[ 6.82751263e-01 -7.30646623e-01 -2.49499476e-03 1.93448098e+01] [ 7.30641990e-01 6.82755820e-01 -2.60243642e-03 4.00928606e+02] [ 3.60493358e-03 -4.61311783e-05 9.99993501e-01 8.16159203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.552755096 meters 0.0208720200923158 Centerline is valid? [True, True] Translation: X:19.36, Y:400.95, Z:8.16 [[ 6.82457607e-01 -7.30919799e-01 -2.80393849e-03 1.93635442e+01] [ 7.30913945e-01 6.82463365e-01 -2.92595090e-03 4.00947649e+02] [ 4.05222074e-03 -5.26002940e-05 9.99991788e-01 8.16137942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.582755096 meters 0.021086299483089918 Centerline is valid? [True, True] Translation: X:19.38, Y:400.97, Z:8.16 [[ 6.81877326e-01 -7.31459643e-01 -3.17859063e-03 1.93837190e+01] [ 7.31452118e-01 6.81884731e-01 -3.31850524e-03 4.00967228e+02] [ 4.59478508e-03 -6.21733636e-05 9.99989442e-01 8.16104917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.612755096 meters 0.021498371103292144 Centerline is valid? [True, True] Translation: X:19.41, Y:400.99, Z:8.16 [[ 6.80647349e-01 -7.32600514e-01 -3.95890240e-03 1.94056423e+01] [ 7.32588843e-01 6.80658857e-01 -4.13610954e-03 4.00985456e+02] [ 5.72477796e-03 -8.50157325e-05 9.99983610e-01 8.16091725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.642755096 meters 0.021685622968472724 Centerline is valid? [True, True] Translation: X:19.43, Y:401.00, Z:8.16 [[ 6.79648761e-01 -7.33525439e-01 -4.24164963e-03 1.94260999e+01] [ 7.33512043e-01 6.79661990e-01 -4.43424058e-03 4.01004849e+02] [ 6.13551629e-03 -9.75749660e-05 9.99981173e-01 8.16113800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6727550960001 meters 0.022885563185409158 Centerline is valid? [True, True] Translation: X:19.45, Y:401.02, Z:8.16 [[ 6.77591654e-01 -7.35422180e-01 -4.87509687e-03 1.94479147e+01] [ 7.35404510e-01 6.77609179e-01 -5.09965139e-03 4.01023933e+02] [ 7.05380714e-03 -1.29687004e-04 9.99975113e-01 8.15998172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.702755096 meters 0.02274152889220477 Centerline is valid? [True, True] Translation: X:19.47, Y:401.04, Z:8.16 [[ 6.76767273e-01 -7.36177843e-01 -5.31429095e-03 1.94686488e+01] [ 7.36156849e-01 6.76788122e-01 -5.56160470e-03 4.01043400e+02] [ 7.69097914e-03 -1.48239628e-04 9.99970413e-01 8.16079373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.732755096 meters 0.022937841670537164 Centerline is valid? [True, True] Translation: X:19.49, Y:401.06, Z:8.16 [[ 6.75924662e-01 -7.36949247e-01 -5.62666068e-03 1.94890747e+01] [ 7.36925725e-01 6.75948061e-01 -5.89031973e-03 4.01063108e+02] [ 8.14419706e-03 -1.65018631e-04 9.99966822e-01 8.16067233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.762755096 meters 0.02360769622945359 Centerline is valid? [True, True] Translation: X:19.51, Y:401.08, Z:8.16 [[ 6.74958197e-01 -7.37832722e-01 -5.85720490e-03 1.95096907e+01] [ 7.37807249e-01 6.74983587e-01 -6.13357715e-03 4.01081357e+02] [ 8.47907109e-03 -1.81580066e-04 9.99964036e-01 8.16098237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7927550960001 meters 0.024701394722145092 Centerline is valid? [True, True] Translation: X:19.53, Y:401.10, Z:8.16 [[ 6.73507729e-01 -7.39151577e-01 -6.50274810e-03 1.95317998e+01] [ 7.39120221e-01 6.73539085e-01 -6.81179302e-03 4.01099210e+02] [ 9.41480255e-03 -2.18517367e-04 9.99955656e-01 8.16073342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.822755096 meters 0.023761683878550623 Centerline is valid? [True, True] Translation: X:19.55, Y:401.12, Z:8.16 [[ 6.72685319e-01 -7.39898178e-01 -6.71926061e-03 1.95505358e+01] [ 7.39864702e-01 6.72718836e-01 -7.04206183e-03 4.01120730e+02] [ 9.73058189e-03 -2.34252142e-04 9.99952629e-01 8.16145034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.852755096 meters 0.024447694361331644 Centerline is valid? [True, True] Translation: X:19.57, Y:401.14, Z:8.16 [[ 6.71834259e-01 -7.40669557e-01 -6.88005872e-03 1.95712828e+01] [ 7.40634469e-01 6.71869440e-01 -7.21375177e-03 4.01139528e+02] [ 9.96550753e-03 -2.49163062e-04 9.99950312e-01 8.16168592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.882755096 meters 0.02577423997156489 Centerline is valid? [True, True] Translation: X:19.59, Y:401.16, Z:8.16 [[ 6.71391586e-01 -7.41068133e-01 -7.16664154e-03 1.95917715e+01] [ 7.41030047e-01 6.71429783e-01 -7.51769167e-03 4.01157697e+02] [ 1.03830183e-02 -2.63381786e-04 9.99946060e-01 8.16096456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9127550960001 meters 0.026586590299391706 Centerline is valid? [True, True] Translation: X:19.61, Y:401.18, Z:8.16 [[ 6.70586510e-01 -7.41789491e-01 -7.87929671e-03 1.96115943e+01] [ 7.41743460e-01 6.70632732e-01 -8.26913497e-03 4.01176998e+02] [ 1.14180717e-02 -2.99246444e-04 9.99934767e-01 8.16054740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.942755096 meters 0.026676897253962686 Centerline is valid? [True, True] Translation: X:19.63, Y:401.20, Z:8.16 [[ 6.70607758e-01 -7.41766616e-01 -8.21716711e-03 1.96309352e+01] [ 7.41716498e-01 6.70658029e-01 -8.62815303e-03 4.01197100e+02] [ 1.19109850e-02 -3.08702057e-04 9.99929014e-01 8.16083570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.972755096 meters 0.025874946600208656 Centerline is valid? [True, True] Translation: X:19.65, Y:401.22, Z:8.16 [[ 6.70297304e-01 -7.42044403e-01 -8.46335904e-03 1.96492182e+01] [ 7.41991193e-01 6.70350656e-01 -8.89201638e-03 4.01218122e+02] [ 1.22716893e-02 -3.19443267e-04 9.99924649e-01 8.16192981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.002755096 meters 0.024954105092348876 Centerline is valid? [True, True] Translation: X:19.67, Y:401.24, Z:8.16 [[ 6.70178041e-01 -7.42151718e-01 -8.49835263e-03 1.96673101e+01] [ 7.42098007e-01 6.70231845e-01 -8.93428869e-03 4.01240036e+02] [ 1.23264643e-02 -3.19046463e-04 9.99923975e-01 8.16309581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0327550960001 meters 0.02460282832273974 Centerline is valid? [True, True] Translation: X:19.69, Y:401.26, Z:8.16 [[ 6.70270394e-01 -7.42067357e-01 -8.58123268e-03 1.96858498e+01] [ 7.42012516e-01 6.70325248e-01 -9.02708878e-03 4.01261171e+02] [ 1.24509248e-02 -3.16791703e-04 9.99922434e-01 8.16355538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.062755096 meters 0.023875666023321897 Centerline is valid? [True, True] Translation: X:19.70, Y:401.28, Z:8.16 [[ 6.71155904e-01 -7.41265939e-01 -8.63481612e-03 1.97037187e+01] [ 7.41210279e-01 6.71211381e-01 -9.08872495e-03 4.01284472e+02] [ 1.25329491e-02 -3.00263053e-04 9.99921414e-01 8.16492318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.092755096 meters 0.023537811261646002 Centerline is valid? [True, True] Translation: X:19.72, Y:401.31, Z:8.17 [[ 6.72088563e-01 -7.40423321e-01 -8.38262450e-03 1.97213722e+01] [ 7.40370751e-01 6.72140782e-01 -8.82725943e-03 4.01305484e+02] [ 1.21702125e-02 -2.73549887e-04 9.99925903e-01 8.16521849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.122755096 meters 0.02204573474941041 Centerline is valid? [True, True] Translation: X:19.74, Y:401.33, Z:8.17 [[ 6.73790089e-01 -7.38886416e-01 -7.33353884e-03 1.97372340e+01] [ 7.38846050e-01 6.73829964e-01 -7.72623339e-03 4.01330210e+02] [ 1.06503671e-02 -2.12496719e-04 9.99943261e-01 8.16756458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1527550960001 meters 0.02203422869343855 Centerline is valid? [True, True] Translation: X:19.76, Y:401.35, Z:8.17 [[ 6.74954950e-01 -7.37821268e-01 -7.45603129e-03 1.97558954e+01] [ 7.37779429e-01 6.74996103e-01 -7.85973944e-03 4.01351680e+02] [ 1.08318750e-02 -1.95936467e-04 9.99941314e-01 8.16790080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.182755096 meters 0.022118667053682955 Centerline is valid? [True, True] Translation: X:19.77, Y:401.37, Z:8.17 [[ 6.75854490e-01 -7.37000727e-01 -7.11592530e-03 1.97744337e+01] [ 7.36962529e-01 6.75891928e-01 -7.50550564e-03 4.01372403e+02] [ 1.03411596e-02 -1.71540618e-04 9.99946514e-01 8.16805639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.212755096 meters 0.02041156276752474 Centerline is valid? [True, True] Translation: X:19.79, Y:401.40, Z:8.17 [[ 6.77891372e-01 -7.35128035e-01 -7.07530509e-03 1.97893091e+01] [ 7.35090125e-01 6.77928280e-01 -7.46690776e-03 4.01397721e+02] [ 1.02856826e-02 -1.39234559e-04 9.99947091e-01 8.16849759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.242755096 meters 0.02016532006775324 Centerline is valid? [True, True] Translation: X:19.81, Y:401.42, Z:8.17 [[ 6.78670641e-01 -7.34407143e-01 -7.23249800e-03 1.98068989e+01] [ 7.34367446e-01 6.78709166e-01 -7.63693865e-03 4.01418585e+02] [ 1.05173850e-02 -1.28345033e-04 9.99944683e-01 8.16826658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.272755096 meters 0.019739319794253727 Centerline is valid? [True, True] Translation: X:19.82, Y:401.44, Z:8.17 [[ 6.79038114e-01 -7.34068404e-01 -7.12869410e-03 1.98246397e+01] [ 7.34029774e-01 6.79075522e-01 -7.53177289e-03 4.01440332e+02] [ 1.03697582e-02 -1.18312861e-04 9.99946226e-01 8.16883803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.302755096 meters 0.01938431857016095 Centerline is valid? [True, True] Translation: X:19.84, Y:401.46, Z:8.17 [[ 6.79796708e-01 -7.33363368e-01 -7.38965285e-03 1.98420222e+01] [ 7.33321761e-01 6.79836862e-01 -7.81256160e-03 4.01462352e+02] [ 1.07532049e-02 -1.08039588e-04 9.99942177e-01 8.16883815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.332755096 meters 0.0194614369792498 Centerline is valid? [True, True] Translation: X:19.86, Y:401.48, Z:8.17 [[ 6.79570201e-01 -7.33572905e-01 -7.42533794e-03 1.98599248e+01] [ 7.33530856e-01 6.79610758e-01 -7.85502503e-03 4.01482800e+02] [ 1.08085731e-02 -1.08673550e-04 9.99941580e-01 8.16852301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.362755096 meters 0.01984388547032931 Centerline is valid? [True, True] Translation: X:19.88, Y:401.50, Z:8.17 [[ 6.79021315e-01 -7.34077019e-01 -7.80927105e-03 1.98779701e+01] [ 7.34030487e-01 6.79066209e-01 -8.26603089e-03 4.01503090e+02] [ 1.13709154e-02 -1.19431873e-04 9.99935342e-01 8.16732357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.392755096 meters 0.019599852877983787 Centerline is valid? [True, True] Translation: X:19.90, Y:401.52, Z:8.17 [[ 6.78201642e-01 -7.34832831e-01 -7.95251703e-03 1.98960297e+01] [ 7.34784569e-01 6.78248253e-01 -8.42284173e-03 4.01524917e+02] [ 1.15831614e-02 -1.31001703e-04 9.99932904e-01 8.16810608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4227550960001 meters 0.01973992315732625 Centerline is valid? [True, True] Translation: X:19.92, Y:401.55, Z:8.17 [[ 6.77433026e-01 -7.35538108e-01 -8.25755831e-03 1.99153581e+01] [ 7.35486058e-01 6.77483336e-01 -8.75148479e-03 4.01545496e+02] [ 1.20314087e-02 -1.44774192e-04 9.99927610e-01 8.16800960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.452755096 meters 0.020495086361526013 Centerline is valid? [True, True] Translation: X:19.94, Y:401.57, Z:8.17 [[ 6.75793288e-01 -7.37044346e-01 -8.31049633e-03 1.99354519e+01] [ 7.36991693e-01 6.75844363e-01 -8.81139582e-03 4.01565030e+02] [ 1.21109916e-02 -1.70084614e-04 9.99926645e-01 8.16725870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.482755096 meters 0.02054651498295107 Centerline is valid? [True, True] Translation: X:19.96, Y:401.59, Z:8.17 [[ 6.74437488e-01 -7.38286170e-01 -8.22231746e-03 1.99550808e+01] [ 7.38234672e-01 6.74487581e-01 -8.72197918e-03 4.01585920e+02] [ 1.19851676e-02 -1.87570098e-04 9.99928158e-01 8.16807216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.512755096 meters 0.021833088711419014 Centerline is valid? [True, True] Translation: X:19.98, Y:401.60, Z:8.17 [[ 6.71756717e-01 -7.40727250e-01 -8.12734930e-03 1.99755767e+01] [ 7.40677067e-01 6.71805843e-01 -8.62508644e-03 4.01604528e+02] [ 1.18488373e-02 -2.25781487e-04 9.99929775e-01 8.16821589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5427550960001 meters 0.023029371307056942 Centerline is valid? [True, True] Translation: X:20.00, Y:401.62, Z:8.17 [[ 6.70240737e-01 -7.42098445e-01 -8.20076954e-03 1.99957449e+01] [ 7.42047418e-01 6.70290859e-01 -8.70598509e-03 4.01623325e+02] [ 1.19575989e-02 -2.50253994e-04 9.99928474e-01 8.16786618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.572755096 meters 0.02322327457536363 Centerline is valid? [True, True] Translation: X:20.02, Y:401.64, Z:8.17 [[ 6.68452819e-01 -7.43709058e-01 -8.22593828e-03 2.00155059e+01] [ 7.43657791e-01 6.68503373e-01 -8.73672191e-03 4.01644927e+02] [ 1.19966467e-02 -2.77196701e-04 9.99927999e-01 8.16801207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.602755096 meters 0.023741470169427705 Centerline is valid? [True, True] Translation: X:20.04, Y:401.67, Z:8.17 [[ 6.66869019e-01 -7.45130403e-01 -8.14827069e-03 2.00353026e+01] [ 7.45080149e-01 6.66918732e-01 -8.65893293e-03 4.01665562e+02] [ 1.18862685e-02 -2.96740627e-04 9.99929312e-01 8.16780023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.632755096 meters 0.024888708089656125 Centerline is valid? [True, True] Translation: X:20.06, Y:401.69, Z:8.17 [[ 6.64281726e-01 -7.47439563e-01 -7.99299421e-03 2.00556772e+01] [ 7.47391332e-01 6.64329731e-01 -8.49733723e-03 4.01685326e+02] [ 1.16612297e-02 -3.29268746e-04 9.99931951e-01 8.16778121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6627550960001 meters 0.02497489825640436 Centerline is valid? [True, True] Translation: X:20.08, Y:401.71, Z:8.17 [[ 6.62945949e-01 -7.48626899e-01 -7.77405364e-03 2.00753020e+01] [ 7.48581312e-01 6.62991442e-01 -8.26841945e-03 4.01706620e+02] [ 1.13440922e-02 -3.37996099e-04 9.99935597e-01 8.16788707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.692755096 meters 0.02588444669794728 Centerline is valid? [True, True] Translation: X:20.10, Y:401.73, Z:8.17 [[ 6.60591756e-01 -7.50709396e-01 -7.34396595e-03 2.00955196e+01] [ 7.50668796e-01 6.60632485e-01 -7.81526220e-03 4.01727663e+02] [ 1.07186532e-02 -3.50188296e-04 9.99942492e-01 8.16814036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.722755096 meters 0.02718754968405284 Centerline is valid? [True, True] Translation: X:20.12, Y:401.75, Z:8.17 [[ 6.59474058e-01 -7.51690696e-01 -7.42057945e-03 2.01153339e+01] [ 7.51649275e-01 6.59515703e-01 -7.89971816e-03 4.01746608e+02] [ 1.08321333e-02 -3.68013971e-04 9.99941263e-01 8.16795397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.752755096 meters 0.02753968335797182 Centerline is valid? [True, True] Translation: X:20.13, Y:401.77, Z:8.17 [[ 6.58488288e-01 -7.52552289e-01 -7.63067917e-03 2.01345654e+01] [ 7.52508507e-01 6.58532384e-01 -8.12689335e-03 4.01767965e+02] [ 1.11409615e-02 -3.90686893e-04 9.99937861e-01 8.16710469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7827550960001 meters 0.02753686824886039 Centerline is valid? [True, True] Translation: X:20.15, Y:401.79, Z:8.17 [[ 6.58259699e-01 -7.52751388e-01 -7.71473818e-03 2.01531954e+01] [ 7.52706595e-01 6.58304787e-01 -8.22135831e-03 4.01789361e+02] [ 1.12672879e-02 -3.95145458e-04 9.99936444e-01 8.16631539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.812755096 meters 0.029529616470897673 Centerline is valid? [True, True] Translation: X:20.17, Y:401.81, Z:8.16 [[ 6.58624849e-01 -7.52431503e-01 -7.75514670e-03 2.01723856e+01] [ 7.52386170e-01 6.58670390e-01 -8.26849443e-03 4.01808648e+02] [ 1.13295612e-02 -3.89029234e-04 9.99935743e-01 8.16477219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.842755096 meters 0.0279300952602473 Centerline is valid? [True, True] Translation: X:20.19, Y:401.83, Z:8.16 [[ 6.59027566e-01 -7.52081081e-01 -7.53089637e-03 2.01891644e+01] [ 7.52038265e-01 6.59070490e-01 -8.03352704e-03 4.01831494e+02] [ 1.10052553e-02 -3.69206469e-04 9.99939372e-01 8.16496618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.872755096 meters 0.0279300952602473 Centerline is valid? [True, True] Translation: X:20.21, Y:401.85, Z:8.17 [[ 6.58798262e-01 -7.52281976e-01 -7.52847801e-03 2.02079201e+01] [ 7.52239147e-01 6.58841174e-01 -8.03579314e-03 4.01851755e+02] [ 1.10052536e-02 -3.69249321e-04 9.99939372e-01 8.16508550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9027550960001 meters 0.02606381028627333 Centerline is valid? [True, True] Translation: X:20.23, Y:401.87, Z:8.17 [[ 6.59495727e-01 -7.51671688e-01 -7.42024640e-03 2.02251157e+01] [ 7.51629993e-01 6.59537376e-01 -7.92480841e-03 4.01874815e+02] [ 1.08507840e-02 -3.50902474e-04 9.99941067e-01 8.16550888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.932755096 meters 0.024471204465847066 Centerline is valid? [True, True] Translation: X:20.24, Y:401.90, Z:8.17 [[ 6.60918021e-01 -7.50421685e-01 -7.39348535e-03 2.02429801e+01] [ 7.50380165e-01 6.60959294e-01 -7.90064220e-03 4.01898145e+02] [ 1.08156061e-02 -3.26247942e-04 9.99941456e-01 8.16663347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.962755096 meters 0.02544685578330879 Centerline is valid? [True, True] Translation: X:20.26, Y:401.92, Z:8.17 [[ 6.61797493e-01 -7.49646984e-01 -7.31278498e-03 2.02626205e+01] [ 7.49606289e-01 6.61837823e-01 -7.81709938e-03 4.01917613e+02] [ 1.06999427e-02 -3.08372835e-04 9.99942706e-01 8.16612725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.992755096 meters 0.02360334584302028 Centerline is valid? [True, True] Translation: X:20.28, Y:401.94, Z:8.17 [[ 6.62435855e-01 -7.49084912e-01 -7.10865765e-03 2.02791897e+01] [ 7.49046393e-01 6.62473932e-01 -7.60200310e-03 4.01941287e+02] [ 1.04038462e-02 -2.88874953e-04 9.99945837e-01 8.16684585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.022755096 meters 0.023690798224209896 Centerline is valid? [True, True] Translation: X:20.30, Y:401.96, Z:8.17 [[ 6.63918664e-01 -7.47781415e-01 -5.91288556e-03 2.02979702e+01] [ 7.47754685e-01 6.63944957e-01 -6.32648738e-03 4.01962747e+02] [ 8.65666024e-03 -2.21114834e-04 9.99962506e-01 8.16720706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.052755096 meters 0.022325966999288824 Centerline is valid? [True, True] Translation: X:20.32, Y:401.99, Z:8.17 [[ 6.64421850e-01 -7.47337972e-01 -5.43702773e-03 2.03153967e+01] [ 7.47315330e-01 6.64444067e-01 -5.82060807e-03 4.01985770e+02] [ 7.96256225e-03 -1.95834994e-04 9.99968279e-01 8.16817791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.082755096 meters 0.02149641216398774 Centerline is valid? [True, True] Translation: X:20.33, Y:402.01, Z:8.17 [[ 6.65803968e-01 -7.46113478e-01 -4.44448883e-03 2.03341742e+01] [ 7.46098305e-01 6.65818787e-01 -4.76053160e-03 4.02007474e+02] [ 6.51112095e-03 -1.46444755e-04 9.99978792e-01 8.16907663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.112755096 meters 0.021403383954860595 Centerline is valid? [True, True] Translation: X:20.35, Y:402.03, Z:8.17 [[ 6.66105516e-01 -7.45845675e-01 -4.20360445e-03 2.03524915e+01] [ 7.45832083e-01 6.66118766e-01 -4.50489376e-03 4.02027100e+02] [ 6.16005534e-03 -1.34448480e-04 9.99981018e-01 8.16951180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.142755096 meters 0.021097568274025615 Centerline is valid? [True, True] Translation: X:20.37, Y:402.05, Z:8.17 [[ 6.66433114e-01 -7.45554357e-01 -3.95053614e-03 2.03716109e+01] [ 7.45542333e-01 6.66444811e-01 -4.23593365e-03 4.02048392e+02] [ 5.79093310e-03 -1.22325481e-04 9.99983225e-01 8.16959965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1727550960001 meters 0.02148219306985876 Centerline is valid? [True, True] Translation: X:20.39, Y:402.07, Z:8.17 [[ 6.66801573e-01 -7.45226295e-01 -3.66506693e-03 2.03903167e+01] [ 7.45215929e-01 6.66811636e-01 -3.93206277e-03 4.02067914e+02] [ 5.37418584e-03 -1.09360615e-04 9.99985553e-01 8.16929423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.202755096 meters 0.020434863644665298 Centerline is valid? [True, True] Translation: X:20.41, Y:402.09, Z:8.17 [[ 6.67333139e-01 -7.44753865e-01 -2.85683661e-03 2.04074024e+01] [ 7.44747558e-01 6.67339249e-01 -3.06618019e-03 4.02090805e+02] [ 4.19002874e-03 -8.14584379e-05 9.99991219e-01 8.16913499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.232755096 meters 0.020101548491285617 Centerline is valid? [True, True] Translation: X:20.43, Y:402.11, Z:8.17 [[ 6.67556272e-01 -7.44554847e-01 -2.58938760e-03 2.04258122e+01] [ 7.44549658e-01 6.67561290e-01 -2.78065050e-03 4.02111578e+02] [ 3.79892173e-03 -7.16869652e-05 9.99992782e-01 8.16886244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.262755096 meters 0.020041023227500784 Centerline is valid? [True, True] Translation: X:20.45, Y:402.13, Z:8.17 [[ 6.67523466e-01 -7.44584732e-01 -2.44939315e-03 2.04456798e+01] [ 7.44580083e-01 6.67527957e-01 -2.63186712e-03 4.02132117e+02] [ 3.59468648e-03 -6.69362945e-05 9.99993537e-01 8.16834696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2927550960001 meters 0.019980457652303687 Centerline is valid? [True, True] Translation: X:20.47, Y:402.15, Z:8.17 [[ 6.67263728e-01 -7.44817473e-01 -2.45955683e-03 2.04651389e+01] [ 7.44812781e-01 6.67268258e-01 -2.64445820e-03 4.02152729e+02] [ 3.61082288e-03 -6.73583275e-05 9.99993479e-01 8.16786973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.322755096 meters 0.020128602960781335 Centerline is valid? [True, True] Translation: X:20.48, Y:402.17, Z:8.17 [[ 6.66875526e-01 -7.45165777e-01 -2.23540162e-03 2.04840432e+01] [ 7.45161899e-01 6.66879270e-01 -2.40478176e-03 4.02172841e+02] [ 3.28270407e-03 -6.20460106e-05 9.99994610e-01 8.16764947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.352755096 meters 0.02067663435067899 Centerline is valid? [True, True] Translation: X:20.50, Y:402.19, Z:8.17 [[ 6.66116038e-01 -7.45844864e-01 -2.20500046e-03 2.05031079e+01] [ 7.45841090e-01 6.66119685e-01 -2.37359274e-03 4.02192205e+02] [ 3.23912617e-03 -6.34917551e-05 9.99994752e-01 8.16623742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.382755096 meters 0.020590812816591076 Centerline is valid? [True, True] Translation: X:20.52, Y:402.21, Z:8.17 [[ 6.65262522e-01 -7.46606827e-01 -2.00568622e-03 2.05224667e+01] [ 7.46603704e-01 6.65265543e-01 -2.16003591e-03 4.02213234e+02] [ 2.94701149e-03 -6.04618202e-05 9.99995656e-01 8.16597860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4127550960001 meters 0.021257427224752597 Centerline is valid? [True, True] Translation: X:20.54, Y:402.23, Z:8.17 [[ 6.64100803e-01 -7.47642508e-01 -8.96734338e-04 2.05434613e+01] [ 7.47641884e-01 6.64101408e-01 -9.65934376e-04 4.02232213e+02] [ 1.31769614e-03 -2.89583546e-05 9.99999131e-01 8.16659945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.442755096 meters 0.02245335592754771 Centerline is valid? [True, True] Translation: X:20.56, Y:402.25, Z:8.17 [[ 6.63319478e-01 -7.48336217e-01 -4.19842976e-04 2.05640692e+01] [ 7.48336081e-01 6.63319611e-01 -4.51660274e-04 4.02250492e+02] [ 6.16483820e-04 -1.45885896e-05 9.99999810e-01 8.16735832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.472755096 meters 0.022093070951728088 Centerline is valid? [True, True] Translation: X:20.58, Y:402.27, Z:8.17 [[ 6.62546723e-01 -7.49020583e-01 -7.62932953e-05 2.05833154e+01] [ 7.49020579e-01 6.62546727e-01 -8.04431775e-05 4.02271734e+02] [ 1.10801469e-04 -3.84788457e-06 9.99999994e-01 8.16744921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.502755096 meters 0.02283367292679807 Centerline is valid? [True, True] Translation: X:20.60, Y:402.29, Z:8.17 [[ 6.61215365e-01 -7.50195837e-01 6.69277489e-04 2.06044604e+01] [ 7.50195487e-01 6.61215703e-01 7.24461226e-04 4.02291795e+02] [-9.86024581e-04 2.30640582e-05 9.99999514e-01 8.16718980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5327550960001 meters 0.024247653924797666 Centerline is valid? [True, True] Translation: X:20.63, Y:402.31, Z:8.17 [[ 6.60648477e-01 -7.50695099e-01 6.77922131e-04 2.06251523e+01] [ 7.50694740e-01 6.60648824e-01 7.33618679e-04 4.02310375e+02] [-9.98592405e-04 2.42485161e-05 9.99999501e-01 8.16765356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.562755096 meters 0.02384015456892893 Centerline is valid? [True, True] Translation: X:20.64, Y:402.33, Z:8.17 [[ 6.60143403e-01 -7.51138049e-01 1.52259630e-03 2.06448761e+01] [ 7.51136244e-01 6.60145157e-01 1.64767589e-03 4.02330982e+02] [-2.24276663e-03 5.59748985e-05 9.99997483e-01 8.16760078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.592755096 meters 0.023860258527712345 Centerline is valid? [True, True] Translation: X:20.66, Y:402.35, Z:8.17 [[ 6.60034867e-01 -7.51233104e-01 1.67295256e-03 2.06641429e+01] [ 7.51230923e-01 6.60036984e-01 1.81135369e-03 4.02351258e+02] [-2.46495942e-03 6.12171050e-05 9.99996960e-01 8.16741707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.622755096 meters 0.023795695447067087 Centerline is valid? [True, True] Translation: X:20.68, Y:402.37, Z:8.17 [[ 6.60120117e-01 -7.51157664e-01 1.89600193e-03 2.06833547e+01] [ 7.51154860e-01 6.60122837e-01 2.05362252e-03 4.02372416e+02] [-2.79418847e-03 6.85535212e-05 9.99996094e-01 8.16725119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6527550960001 meters 0.022656405531484434 Centerline is valid? [True, True] Translation: X:20.70, Y:402.39, Z:8.17 [[ 6.62050771e-01 -7.49455763e-01 2.19894204e-03 2.07008259e+01] [ 7.49451982e-01 6.62054419e-01 2.38172640e-03 4.02393816e+02] [-3.24081787e-03 7.11776696e-05 9.99994746e-01 8.16700869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.682755096 meters 0.022179702168571968 Centerline is valid? [True, True] Translation: X:20.72, Y:402.41, Z:8.17 [[ 6.63086189e-01 -7.48539758e-01 2.22187085e-03 2.07183812e+01] [ 7.48535888e-01 6.63089909e-01 2.40777754e-03 4.02414352e+02] [-3.27561735e-03 6.65860328e-05 9.99994633e-01 8.16691190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.712755096 meters 0.02051686334178431 Centerline is valid? [True, True] Translation: X:20.74, Y:402.44, Z:8.17 [[ 6.65792165e-01 -7.46134128e-01 2.15799296e-03 2.07351019e+01] [ 7.46130459e-01 6.65795660e-01 2.34033027e-03 4.02437168e+02] [-3.18298263e-03 5.19707197e-05 9.99994933e-01 8.16615847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.742755096 meters 0.019893792382713237 Centerline is valid? [True, True] Translation: X:20.75, Y:402.46, Z:8.17 [[ 6.66898623e-01 -7.45145275e-01 2.17870519e-03 2.07529872e+01] [ 7.45141526e-01 6.66902180e-01 2.36418842e-03 4.02458170e+02] [-3.21464707e-03 4.67697108e-05 9.99994832e-01 8.16585283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.772755096 meters 0.018724743729803123 Centerline is valid? [True, True] Translation: X:20.77, Y:402.48, Z:8.17 [[ 6.67952391e-01 -7.44201055e-01 2.09598483e-03 2.07703148e+01] [ 7.44197576e-01 6.67955678e-01 2.27585511e-03 4.02480055e+02] [-3.09371874e-03 3.96639670e-05 9.99995214e-01 8.16529813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.802755096 meters 0.01831004350162656 Centerline is valid? [True, True] Translation: X:20.79, Y:402.50, Z:8.17 [[ 6.68894631e-01 -7.43354471e-01 2.02545438e-03 2.07890245e+01] [ 7.43351214e-01 6.68897697e-01 2.20063124e-03 4.02501404e+02] [-2.99067084e-03 3.36335474e-05 9.99995527e-01 8.16510147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.832755096 meters 0.017617135223560648 Centerline is valid? [True, True] Translation: X:20.81, Y:402.52, Z:8.16 [[ 6.70953897e-01 -7.41496016e-01 2.12726276e-03 2.08069050e+01] [ 7.41492414e-01 6.70957269e-01 2.31140103e-03 4.02522520e+02] [-3.14119706e-03 2.65056684e-05 9.99995066e-01 8.16471764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.862755096 meters 0.017217928935493603 Centerline is valid? [True, True] Translation: X:20.83, Y:402.54, Z:8.16 [[ 6.71805229e-01 -7.40725791e-01 1.74267197e-03 2.08259190e+01] [ 7.40723367e-01 6.71807489e-01 1.89500734e-03 4.02542299e+02] [-2.57442089e-03 1.77620122e-05 9.99996686e-01 8.16402860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.892755096 meters 0.01687105181888233 Centerline is valid? [True, True] Translation: X:20.84, Y:402.56, Z:8.16 [[ 6.72016436e-01 -7.40533597e-01 1.97541274e-03 2.08445436e+01] [ 7.40530477e-01 6.72019339e-01 2.14974634e-03 4.02563106e+02] [-2.91947496e-03 1.81884632e-05 9.99995738e-01 8.16321498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9227550960001 meters 0.017483228090176082 Centerline is valid? [True, True] Translation: X:20.87, Y:402.58, Z:8.17 [[ 6.71643665e-01 -7.40870960e-01 2.23788933e-03 2.08654326e+01] [ 7.40866954e-01 6.71647393e-01 2.43633210e-03 4.02581261e+02] [-3.30808023e-03 2.16312355e-05 9.99994528e-01 8.16549995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.952755096 meters 0.01700178440345386 Centerline is valid? [True, True] Translation: X:20.88, Y:402.60, Z:8.16 [[ 6.71186817e-01 -7.41284027e-01 2.49950788e-03 2.08845095e+01] [ 7.41279027e-01 6.71191471e-01 2.72288626e-03 4.02602502e+02] [-3.69608046e-03 2.52674066e-05 9.99993169e-01 8.16367368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.982755096 meters 0.0171935212415018 Centerline is valid? [True, True] Translation: X:20.91, Y:402.62, Z:8.16 [[ 6.70005096e-01 -7.42351288e-01 2.78151580e-03 2.09058077e+01] [ 7.42345099e-01 6.70010869e-01 3.03138991e-03 4.02620089e+02] [-4.11400202e-03 3.37979303e-05 9.99991537e-01 8.16446996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.012755096 meters 0.01792236469969475 Centerline is valid? [True, True] Translation: X:20.93, Y:402.64, Z:8.17 [[ 6.69364137e-01 -7.42929081e-01 2.83431334e-03 2.09261630e+01] [ 7.42922657e-01 6.69370136e-01 3.08974081e-03 4.02637573e+02] [-4.19266301e-03 3.75139081e-05 9.99991210e-01 8.16565799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0427550960001 meters 0.01798546504908584 Centerline is valid? [True, True] Translation: X:20.95, Y:402.66, Z:8.16 [[ 6.67714225e-01 -7.44413695e-01 2.44244663e-03 2.09470941e+01] [ 7.44408925e-01 6.67718691e-01 2.66493903e-03 4.02656832e+02] [-3.61468437e-03 3.87613738e-05 9.99993466e-01 8.16417950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.072755096 meters 0.017912285706058437 Centerline is valid? [True, True] Translation: X:20.97, Y:402.68, Z:8.16 [[ 6.67104023e-01 -7.44960521e-01 2.45854350e-03 2.09669536e+01] [ 7.44955686e-01 6.67108553e-01 2.68433944e-03 4.02677320e+02] [-3.63984230e-03 4.07723146e-05 9.99993375e-01 8.16346361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.102755096 meters 0.018282799364214033 Centerline is valid? [True, True] Translation: X:20.99, Y:402.70, Z:8.16 [[ 6.66490222e-01 -7.45510248e-01 2.29232283e-03 2.09860936e+01] [ 7.45506043e-01 6.66494163e-01 2.50425341e-03 4.02695860e+02] [-3.39476636e-03 3.98801132e-05 9.99994237e-01 8.16339717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.132755096 meters 0.018618482888276743 Centerline is valid? [True, True] Translation: X:21.01, Y:402.71, Z:8.16 [[ 6.65331241e-01 -7.46545560e-01 2.01658957e-03 2.10074772e+01] [ 7.46542306e-01 6.65334296e-01 2.20469256e-03 4.02714904e+02] [-2.98760965e-03 3.86185909e-05 9.99995536e-01 8.16237394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1627550960001 meters 0.019080623595944226 Centerline is valid? [True, True] Translation: X:21.03, Y:402.73, Z:8.16 [[ 6.64400054e-01 -7.47375119e-01 1.73217394e-03 2.10276011e+01] [ 7.47372719e-01 6.64402311e-01 1.89412244e-03 4.02733452e+02] [-2.56648036e-03 3.61244984e-05 9.99996706e-01 8.16247727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.192755096 meters 0.019771968102570807 Centerline is valid? [True, True] Translation: X:21.05, Y:402.75, Z:8.16 [[ 6.63146297e-01 -7.48488219e-01 1.54138015e-03 2.10489239e+01] [ 7.48486318e-01 6.63148087e-01 1.68725976e-03 4.02752340e+02] [-2.28505735e-03 3.48018971e-05 9.99997389e-01 8.16197816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.222755096 meters 0.02075967209947471 Centerline is valid? [True, True] Translation: X:21.07, Y:402.77, Z:8.16 [[ 6.62031797e-01 -7.49474761e-01 1.21724408e-03 2.10693607e+01] [ 7.49473575e-01 6.62032916e-01 1.33366321e-03 4.02772567e+02] [-1.80540256e-03 2.93648203e-05 9.99998370e-01 8.16077573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.252755096 meters 0.020961258544683264 Centerline is valid? [True, True] Translation: X:21.09, Y:402.79, Z:8.16 [[ 6.60660314e-01 -7.50684326e-01 9.95891167e-04 2.10907927e+01] [ 7.50683532e-01 6.60661064e-01 1.09192510e-03 4.02792315e+02] [-1.47763757e-03 2.62075207e-05 9.99998908e-01 8.16054245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2827550960001 meters 0.021300481554695244 Centerline is valid? [True, True] Translation: X:21.11, Y:402.81, Z:8.16 [[ 6.59891411e-01 -7.51360607e-01 7.51089965e-04 2.11105370e+01] [ 7.51360155e-01 6.59891838e-01 8.24678696e-04 4.02811997e+02] [-1.11526922e-03 2.01406837e-05 9.99999378e-01 8.16069078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.312755096 meters 0.02212998842266575 Centerline is valid? [True, True] Translation: X:21.13, Y:402.83, Z:8.16 [[ 6.59068116e-01 -7.52082957e-01 6.66960345e-04 2.11303457e+01] [ 7.52082600e-01 6.59068453e-01 7.32758276e-04 4.02830256e+02] [-9.90667534e-04 1.86716538e-05 9.99999509e-01 8.16126791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.342755096 meters 0.02208514415737512 Centerline is valid? [True, True] Translation: X:21.15, Y:402.85, Z:8.16 [[ 6.58425636e-01 -7.52645694e-01 3.76919389e-04 2.11499461e+01] [ 7.52645579e-01 6.58425744e-01 4.15325796e-04 4.02851033e+02] [-5.60766601e-04 1.02255603e-05 9.99999843e-01 8.16127115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.372755096 meters 0.021945279357818846 Centerline is valid? [True, True] Translation: X:21.17, Y:402.87, Z:8.16 [[ 6.58332758e-01 -7.52726829e-01 -5.48373581e-04 2.11683252e+01] [ 7.52726590e-01 6.58332986e-01 -5.99719309e-04 4.02871658e+02] [ 8.12437231e-04 -1.79605088e-05 9.99999670e-01 8.16042022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4027550960001 meters 0.022231007223001517 Centerline is valid? [True, True] Translation: X:21.19, Y:402.89, Z:8.16 [[ 6.58655521e-01 -7.52444018e-01 -9.51651426e-04 2.11870450e+01] [ 7.52443295e-01 6.58656208e-01 -1.04313524e-03 4.02891615e+02] [ 1.41171199e-03 -2.89969507e-05 9.99999003e-01 8.16029819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.432755096 meters 0.021057048160276277 Centerline is valid? [True, True] Translation: X:21.20, Y:402.91, Z:8.16 [[ 6.60383768e-01 -7.50926951e-01 -1.41201073e-03 2.12042489e+01] [ 7.50925354e-01 6.60385276e-01 -1.54932678e-03 4.02914637e+02] [ 2.09590233e-03 -3.71644048e-05 9.99997803e-01 8.16031553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.462755096 meters 0.0223432104992133 Centerline is valid? [True, True] Translation: X:21.22, Y:402.93, Z:8.16 [[ 6.61080113e-01 -7.50313728e-01 -1.54691050e-03 2.12230612e+01] [ 7.50311807e-01 6.61081922e-01 -1.69852314e-03 4.02934682e+02] [ 2.29705980e-03 -3.78053411e-05 9.99997361e-01 8.15986646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.492755096 meters 0.020539121576835274 Centerline is valid? [True, True] Translation: X:21.24, Y:402.96, Z:8.16 [[ 6.62013397e-01 -7.49489938e-01 -1.75934827e-03 2.12402831e+01] [ 7.49487446e-01 6.62015734e-01 -1.93287068e-03 4.02957383e+02] [ 2.61338336e-03 -3.90231554e-05 9.99996584e-01 8.16099975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.522755096 meters 0.019926297663903303 Centerline is valid? [True, True] Translation: X:21.26, Y:402.98, Z:8.16 [[ 6.64329485e-01 -7.47437566e-01 -1.84947897e-03 2.12573141e+01] [ 7.47434800e-01 6.64332059e-01 -2.03373594e-03 4.02979067e+02] [ 2.74875881e-03 -3.12941902e-05 9.99996222e-01 8.16263006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.552755096 meters 0.019579546281395785 Centerline is valid? [True, True] Translation: X:21.27, Y:403.00, Z:8.16 [[ 6.65498355e-01 -7.46397264e-01 -1.75062318e-03 2.12748849e+01] [ 7.46394782e-01 6.65500657e-01 -1.92483603e-03 4.03000765e+02] [ 2.60173322e-03 -2.56807979e-05 9.99996615e-01 8.16330755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.582755096 meters 0.01937645164860052 Centerline is valid? [True, True] Translation: X:21.29, Y:403.02, Z:8.16 [[ 6.66611880e-01 -7.45401107e-01 -2.40643381e-03 2.12923336e+01] [ 7.45396403e-01 6.66616223e-01 -2.64832520e-03 4.03021774e+02] [ 3.57823235e-03 -2.83420650e-05 9.99993598e-01 8.16309582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.612755096 meters 0.019127855404972804 Centerline is valid? [True, True] Translation: X:21.31, Y:403.04, Z:8.16 [[ 6.69026186e-01 -7.43232016e-01 -3.18333656e-03 2.13085188e+01] [ 7.43223748e-01 6.69033759e-01 -3.50567084e-03 4.03043601e+02] [ 4.73528643e-03 -2.05457399e-05 9.99988788e-01 8.16274342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.642755096 meters 0.019060033080412063 Centerline is valid? [True, True] Translation: X:21.33, Y:403.07, Z:8.16 [[ 6.69884397e-01 -7.42457962e-01 -3.32718348e-03 2.13263088e+01] [ 7.42448911e-01 6.69892659e-01 -3.66598879e-03 4.03065920e+02] [ 4.95069836e-03 -1.44750618e-05 9.99987745e-01 8.16282477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6727550960001 meters 0.019024784356987737 Centerline is valid? [True, True] Translation: X:21.34, Y:403.09, Z:8.16 [[ 6.71302350e-01 -7.41173464e-01 -3.87966612e-03 2.13428417e+01] [ 7.41161120e-01 6.71313561e-01 -4.27756918e-03 4.03088586e+02] [ 5.77489324e-03 -3.91544419e-06 9.99983325e-01 8.16290611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.702755096 meters 0.019173119827498607 Centerline is valid? [True, True] Translation: X:21.36, Y:403.11, Z:8.16 [[ 6.72158240e-01 -7.40396975e-01 -3.95227396e-03 2.13598760e+01] [ 7.40384135e-01 6.72169859e-01 -4.36035637e-03 4.03109783e+02] [ 5.88499409e-03 4.64852580e-06 9.99982683e-01 8.16273504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.732755096 meters 0.019343477448964645 Centerline is valid? [True, True] Translation: X:21.38, Y:403.13, Z:8.16 [[ 6.72626027e-01 -7.39969767e-01 -4.35580136e-03 2.13780189e+01] [ 7.39954143e-01 6.72640130e-01 -4.80856745e-03 4.03131570e+02] [ 6.48808133e-03 1.12743572e-05 9.99978952e-01 8.16317604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.762755096 meters 0.01960061815546087 Centerline is valid? [True, True] Translation: X:21.40, Y:403.15, Z:8.16 [[ 6.73190642e-01 -7.39452463e-01 -4.94107132e-03 2.13954407e+01] [ 7.39432317e-01 6.73208775e-01 -5.45834539e-03 4.03153417e+02] [ 7.36255951e-03 2.09192233e-05 9.99972896e-01 8.16325858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7927550960001 meters 0.019703933031675887 Centerline is valid? [True, True] Translation: X:21.41, Y:403.17, Z:8.16 [[ 6.73008298e-01 -7.39617297e-01 -5.10735092e-03 2.14129674e+01] [ 7.39595751e-01 6.73027677e-01 -5.64545941e-03 4.03174312e+02] [ 7.61286795e-03 2.20659851e-05 9.99971022e-01 8.16282653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.822755096 meters 0.019703933031675887 Centerline is valid? [True, True] Translation: X:21.43, Y:403.19, Z:8.16 [[ 6.72792877e-01 -7.39813271e-01 -5.10574743e-03 2.14313332e+01] [ 7.39791720e-01 6.72812250e-01 -5.64690941e-03 4.03194900e+02] [ 7.61286794e-03 2.20107546e-05 9.99971022e-01 8.16294579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.852755096 meters 0.01964422913012656 Centerline is valid? [True, True] Translation: X:21.45, Y:403.22, Z:8.16 [[ 6.71876246e-01 -7.40641775e-01 -5.66316649e-03 2.14499792e+01] [ 7.40615258e-01 6.71900112e-01 -6.26727175e-03 4.03216491e+02] [ 8.44688547e-03 1.66035037e-05 9.99964324e-01 8.16265902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.882755096 meters 0.01960939668740229 Centerline is valid? [True, True] Translation: X:21.47, Y:403.24, Z:8.16 [[ 6.70992943e-01 -7.41439736e-01 -5.96562408e-03 2.14692441e+01] [ 7.41410306e-01 6.71019462e-01 -6.60609489e-03 4.03237287e+02] [ 8.90107111e-03 9.66787817e-06 9.99960385e-01 8.16325697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9127550960001 meters 0.01978129879185009 Centerline is valid? [True, True] Translation: X:21.49, Y:403.26, Z:8.16 [[ 6.69579819e-01 -7.42712570e-01 -6.39566699e-03 2.14883018e+01] [ 7.42678757e-01 6.69610364e-01 -7.08692318e-03 4.03257499e+02] [ 9.54615182e-03 -4.66526628e-06 9.99954434e-01 8.16342469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.942755096 meters 0.019875606548135173 Centerline is valid? [True, True] Translation: X:21.51, Y:403.28, Z:8.16 [[ 6.66810889e-01 -7.45195908e-01 -6.80411715e-03 2.15087782e+01] [ 7.45157719e-01 6.66845602e-01 -7.54437419e-03 4.03277289e+02] [ 1.01593324e-02 -3.94695502e-05 9.99948392e-01 8.16394130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.972755096 meters 0.020132043392705287 Centerline is valid? [True, True] Translation: X:21.53, Y:403.30, Z:8.16 [[ 6.64986342e-01 -7.46821567e-01 -7.12126415e-03 2.15282459e+01] [ 7.46779785e-01 6.65024468e-01 -7.90000143e-03 4.03296318e+02] [ 1.06357063e-02 -6.46230599e-05 9.99943437e-01 8.16392191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.002755096 meters 0.020451910450297792 Centerline is valid? [True, True] Translation: X:21.55, Y:403.32, Z:8.16 [[ 6.63159568e-01 -7.48446282e-01 -6.89571800e-03 2.15481215e+01] [ 7.48407152e-01 6.63195413e-01 -7.65371407e-03 4.03316576e+02] [ 1.03016024e-02 -8.51709493e-05 9.99946934e-01 8.16418840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0327550960001 meters 0.02137523538903659 Centerline is valid? [True, True] Translation: X:21.57, Y:403.34, Z:8.17 [[ 6.59363155e-01 -7.51787779e-01 -7.44077590e-03 2.15696792e+01] [ 7.51742376e-01 6.59405122e-01 -8.26353798e-03 4.03336627e+02] [ 1.11189126e-02 -1.44874078e-04 9.99938173e-01 8.16500061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.062755096 meters 0.02236431511413907 Centerline is valid? [True, True] Translation: X:21.59, Y:403.36, Z:8.16 [[ 6.57707447e-01 -7.53235735e-01 -7.53937476e-03 2.15895456e+01] [ 7.53189178e-01 6.57750636e-01 -8.37634536e-03 4.03355742e+02] [ 1.12683912e-02 -1.69390759e-04 9.99936495e-01 8.16458189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.092755096 meters 0.023882427005275854 Centerline is valid? [True, True] Translation: X:21.61, Y:403.38, Z:8.16 [[ 6.53685322e-01 -7.56717780e-01 -8.58493031e-03 2.16103874e+01] [ 7.56657652e-01 6.53741643e-01 -9.54263845e-03 4.03375416e+02] [ 1.28334106e-02 -2.57970522e-04 9.99917615e-01 8.16444009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.122755096 meters 0.023987280614517922 Centerline is valid? [True, True] Translation: X:21.63, Y:403.40, Z:8.17 [[ 6.51872066e-01 -7.58275660e-01 -8.99066348e-03 2.16296719e+01] [ 7.58209787e-01 6.51933995e-01 -9.99927118e-03 4.03397169e+02] [ 1.34435231e-02 -2.98563470e-04 9.99909587e-01 8.16526390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1527550960001 meters 0.024964791120695867 Centerline is valid? [True, True] Translation: X:21.65, Y:403.42, Z:8.17 [[ 6.50031759e-01 -7.59850302e-01 -9.28605465e-03 2.16489802e+01] [ 7.59780126e-01 6.50097996e-01 -1.03323333e-02 4.03417943e+02] [ 1.38878721e-02 -3.39014986e-04 9.99903501e-01 8.16545613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.182755096 meters 0.026890244619667106 Centerline is valid? [True, True] Translation: X:21.67, Y:403.44, Z:8.16 [[ 6.46960047e-01 -7.62459988e-01 -9.87245031e-03 2.16693431e+01] [ 7.62380888e-01 6.47035234e-01 -1.09903265e-02 4.03437593e+02] [ 1.47675074e-02 -4.16265306e-04 9.99890868e-01 8.16479292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.212755096 meters 0.027537907081060554 Centerline is valid? [True, True] Translation: X:21.69, Y:403.46, Z:8.16 [[ 6.45758768e-01 -7.63479545e-01 -9.72620174e-03 2.16892200e+01] [ 7.63402798e-01 6.45831867e-01 -1.08336427e-02 4.03458428e+02] [ 1.45527556e-02 -4.29089870e-04 9.99894011e-01 8.16499714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.242755096 meters 0.029060036881579918 Centerline is valid? [True, True] Translation: X:21.71, Y:403.48, Z:8.16 [[ 6.44079297e-01 -7.64889851e-01 -1.02652606e-02 2.17087425e+01] [ 7.64804435e-01 6.44160914e-01 -1.14408621e-02 4.03477402e+02] [ 1.53634790e-02 -4.82094366e-04 9.99881859e-01 8.16467747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.272755096 meters 0.030036213689255884 Centerline is valid? [True, True] Translation: X:21.73, Y:403.50, Z:8.16 [[ 6.42126792e-01 -7.66524048e-01 -1.06802190e-02 2.17272372e+01] [ 7.66431701e-01 6.42215381e-01 -1.19101825e-02 4.03498715e+02] [ 1.59884422e-02 -5.37811110e-04 9.99872032e-01 8.16431895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.302755096 meters 0.030560711933052664 Centerline is valid? [True, True] Translation: X:21.75, Y:403.52, Z:8.16 [[ 6.41465117e-01 -7.67076462e-01 -1.07798776e-02 2.17457593e+01] [ 7.66982351e-01 6.41555451e-01 -1.20281494e-02 4.03519993e+02] [ 1.61423995e-02 -5.52337556e-04 9.99869550e-01 8.16432448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.332755096 meters 0.030668833827513356 Centerline is valid? [True, True] Translation: X:21.76, Y:403.54, Z:8.17 [[ 6.41096580e-01 -7.67387236e-01 -1.05832771e-02 2.17628380e+01] [ 7.67296459e-01 6.41183697e-01 -1.18157003e-02 4.03542130e+02] [ 1.58530423e-02 -5.45506012e-04 9.99874184e-01 8.16536835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.362755096 meters 0.031273309232264304 Centerline is valid? [True, True] Translation: X:21.78, Y:403.56, Z:8.17 [[ 6.41034702e-01 -7.67442174e-01 -1.03450114e-02 2.17806671e+01] [ 7.67355337e-01 6.41117952e-01 -1.15567494e-02 4.03561949e+02] [ 1.55015094e-02 -5.30022275e-04 9.99879704e-01 8.16581537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.392755096 meters 0.031078107932168822 Centerline is valid? [True, True] Translation: X:21.80, Y:403.58, Z:8.17 [[ 6.41153972e-01 -7.67341759e-01 -1.04024015e-02 2.17991039e+01] [ 7.67253834e-01 6.41238137e-01 -1.16277883e-02 4.03583696e+02] [ 1.55929040e-02 -5.26079777e-04 9.99878285e-01 8.16700022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4227550960001 meters 0.030986570282764414 Centerline is valid? [True, True] Translation: X:21.82, Y:403.60, Z:8.17 [[ 6.41923140e-01 -7.66706489e-01 -9.78994429e-03 2.18167275e+01] [ 7.66628470e-01 6.41997611e-01 -1.09479156e-02 4.03604665e+02] [ 1.46789588e-02 -4.77529666e-04 9.99892144e-01 8.16817045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.452755096 meters 0.030406113499660038 Centerline is valid? [True, True] Translation: X:21.83, Y:403.63, Z:8.17 [[ 6.42550089e-01 -7.66181123e-01 -9.79133572e-03 2.18345105e+01] [ 7.66102940e-01 6.42624520e-01 -1.09549778e-02 4.03627034e+02] [ 1.46856496e-02 -4.62049131e-04 9.99892053e-01 8.16857053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.482755096 meters 0.026600525710190052 Centerline is valid? [True, True] Translation: X:21.85, Y:403.65, Z:8.17 [[ 6.44173695e-01 -7.64805069e-01 -1.06516602e-02 2.18469278e+01] [ 7.64712240e-01 6.44261587e-01 -1.19246584e-02 4.03654189e+02] [ 1.59824947e-02 -4.63903647e-04 9.99872164e-01 8.16904234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.512755096 meters 0.025395306085013402 Centerline is valid? [True, True] Translation: X:21.86, Y:403.68, Z:8.17 [[ 6.45157309e-01 -7.63971597e-01 -1.09291127e-02 2.18639058e+01] [ 7.63873636e-01 6.45249716e-01 -1.22422306e-02 4.03678075e+02] [ 1.64047233e-02 -4.50296545e-04 9.99865332e-01 8.16925948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5427550960001 meters 0.027962553269723543 Centerline is valid? [True, True] Translation: X:21.89, Y:403.70, Z:8.17 [[ 6.46654399e-01 -7.62710665e-01 -1.05133288e-02 2.18852406e+01] [ 7.62619795e-01 6.46739733e-01 -1.17798879e-02 4.03696807e+02] [ 1.57840336e-02 -4.00156274e-04 9.99875344e-01 8.16723930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.572755096 meters 0.02721651553646125 Centerline is valid? [True, True] Translation: X:21.90, Y:403.72, Z:8.17 [[ 6.47360611e-01 -7.62108536e-01 -1.07153930e-02 2.19023801e+01] [ 7.62013968e-01 6.47449171e-01 -1.20118508e-02 4.03719673e+02] [ 1.60920063e-02 -3.89280056e-04 9.99870440e-01 8.16741673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.602755096 meters 0.023281828303307908 Centerline is valid? [True, True] Translation: X:21.92, Y:403.75, Z:8.17 [[ 6.48897358e-01 -7.60799571e-01 -1.07811127e-02 2.19154234e+01] [ 7.60703550e-01 6.48986816e-01 -1.20922346e-02 4.03746664e+02] [ 1.61965669e-02 -3.54611587e-04 9.99868764e-01 8.16988322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.632755096 meters 0.024152399368188505 Centerline is valid? [True, True] Translation: X:21.93, Y:403.77, Z:8.17 [[ 6.49310897e-01 -7.60449620e-01 -1.05704775e-02 2.19340263e+01] [ 7.60357171e-01 6.49396846e-01 -1.18621066e-02 4.03765944e+02] [ 1.58849693e-02 -3.35143301e-04 9.99873770e-01 8.16891280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6627550960001 meters 0.022747314091150737 Centerline is valid? [True, True] Translation: X:21.95, Y:403.79, Z:8.17 [[ 6.49445365e-01 -7.60335430e-01 -1.05238544e-02 2.19503679e+01] [ 7.60243668e-01 6.49530544e-01 -1.18168586e-02 4.03789016e+02] [ 1.58203411e-02 -3.26289649e-04 9.99874797e-01 8.17051089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.692755096 meters 0.02261467932287733 Centerline is valid? [True, True] Translation: X:21.97, Y:403.81, Z:8.17 [[ 6.49762362e-01 -7.60071581e-01 -1.00032351e-02 2.19673983e+01] [ 7.59988539e-01 6.49839290e-01 -1.12391234e-02 4.03811037e+02] [ 1.50430335e-02 -2.99584710e-04 9.99886802e-01 8.17075757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.722755096 meters 0.023929174389556263 Centerline is valid? [True, True] Translation: X:21.99, Y:403.83, Z:8.17 [[ 6.49585751e-01 -7.60229062e-01 -9.49339307e-03 2.19865270e+01] [ 7.60154215e-01 6.49655056e-01 -1.06713368e-02 4.03830226e+02] [ 1.42800912e-02 -2.84494421e-04 9.99897994e-01 8.16926240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.752755096 meters 0.022935887828425518 Centerline is valid? [True, True] Translation: X:22.00, Y:403.85, Z:8.17 [[ 6.49378299e-01 -7.60407752e-01 -9.37424811e-03 2.20026732e+01] [ 7.60334707e-01 6.49445897e-01 -1.05432554e-02 4.03853204e+02] [ 1.41052401e-02 -2.81004958e-04 9.99900477e-01 8.17005373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7827550960001 meters 0.02299811940980282 Centerline is valid? [True, True] Translation: X:22.02, Y:403.87, Z:8.17 [[ 6.48919670e-01 -7.60800231e-01 -9.28814810e-03 2.20205225e+01] [ 7.60728473e-01 6.48986077e-01 -1.04528272e-02 4.03874414e+02] [ 1.39803921e-02 -2.82713551e-04 9.99902230e-01 8.16952372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.812755096 meters 0.023588665600689007 Centerline is valid? [True, True] Translation: X:22.04, Y:403.90, Z:8.17 [[ 6.48048242e-01 -7.61543294e-01 -9.23513508e-03 2.20388702e+01] [ 7.61472362e-01 6.48113975e-01 -1.03979213e-02 4.03895123e+02] [ 1.39038873e-02 -2.93945530e-04 9.99903293e-01 8.16882121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.842755096 meters 0.02387134198577399 Centerline is valid? [True, True] Translation: X:22.06, Y:403.92, Z:8.17 [[ 6.47320117e-01 -7.62164500e-01 -9.05212584e-03 2.20578989e+01] [ 7.62096340e-01 6.47383338e-01 -1.01972201e-02 4.03916157e+02] [ 1.36321546e-02 -2.97726275e-04 9.99907034e-01 8.16832391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.872755096 meters 0.024085627568108777 Centerline is valid? [True, True] Translation: X:22.08, Y:403.94, Z:8.17 [[ 6.46471778e-01 -7.62887485e-01 -8.77072082e-03 2.20766461e+01] [ 7.62823486e-01 6.46531202e-01 -9.88599850e-03 4.03937321e+02] [ 1.32124492e-02 -2.99492806e-04 9.99912667e-01 8.16851133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9027550960001 meters 0.02511823738068567 Centerline is valid? [True, True] Translation: X:22.10, Y:403.96, Z:8.17 [[ 6.45677303e-01 -7.63562587e-01 -8.54376697e-03 2.20958013e+01] [ 7.63501848e-01 6.45733757e-01 -9.63551991e-03 4.03956477e+02] [ 1.28743213e-02 -3.01745366e-04 9.99917077e-01 8.16816277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.932755096 meters 0.025441656203138326 Centerline is valid? [True, True] Translation: X:22.12, Y:403.98, Z:8.17 [[ 6.43865678e-01 -7.65096252e-01 -8.04449514e-03 2.21150098e+01] [ 7.65042478e-01 6.43915855e-01 -9.07629780e-03 4.03976846e+02] [ 1.21242194e-02 -3.10463863e-04 9.99926451e-01 8.16873121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.962755096 meters 0.025276449454595257 Centerline is valid? [True, True] Translation: X:22.13, Y:404.00, Z:8.17 [[ 6.43278549e-01 -7.65593639e-01 -7.68692950e-03 2.21335345e+01] [ 7.65544522e-01 6.43324404e-01 -8.67737930e-03 4.03998558e+02] [ 1.15885357e-02 -3.02714802e-04 9.99932805e-01 8.16932250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.992755096 meters 0.026391893350756538 Centerline is valid? [True, True] Translation: X:22.15, Y:404.02, Z:8.17 [[ 6.42602537e-01 -7.66165736e-01 -7.21423234e-03 2.21530088e+01] [ 7.66122460e-01 6.42642966e-01 -8.14836575e-03 4.04018163e+02] [ 1.08791743e-02 -2.90824918e-04 9.99940778e-01 8.16910157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.022755096 meters 0.026511270854595575 Centerline is valid? [True, True] Translation: X:22.17, Y:404.04, Z:8.17 [[ 6.42628326e-01 -7.66147774e-01 -6.81347369e-03 2.21714345e+01] [ 7.66109127e-01 6.42664387e-01 -7.70004089e-03 4.04039426e+02] [ 1.02781461e-02 -2.71600004e-04 9.99947142e-01 8.16903304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.052755096 meters 0.026525169958257228 Centerline is valid? [True, True] Translation: X:22.19, Y:404.06, Z:8.17 [[ 6.42504153e-01 -7.66252384e-01 -6.75999551e-03 2.21898067e+01] [ 7.66214303e-01 6.42539658e-01 -7.64393344e-03 4.04061341e+02] [ 1.02007474e-02 -2.68346263e-04 9.99947935e-01 8.16897688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.082755096 meters 0.02485668639480331 Centerline is valid? [True, True] Translation: X:22.21, Y:404.09, Z:8.17 [[ 6.42819322e-01 -7.65994274e-01 -6.00759336e-03 2.22059728e+01] [ 7.65964154e-01 6.42847352e-01 -6.79687971e-03 4.04085047e+02] [ 9.06833642e-03 -2.32435548e-04 9.99958855e-01 8.16980885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.112755096 meters 0.026886091613266615 Centerline is valid? [True, True] Translation: X:22.23, Y:404.10, Z:8.17 [[ 6.42889909e-01 -7.65936344e-01 -5.83795528e-03 2.22261504e+01] [ 7.65907869e-01 6.42916376e-01 -6.60826526e-03 4.04102772e+02] [ 8.81482759e-03 -2.22948840e-04 9.99961124e-01 8.16907377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.142755096 meters 0.025188167007617786 Centerline is valid? [True, True] Translation: X:22.24, Y:404.13, Z:8.17 [[ 6.43076243e-01 -7.65785557e-01 -5.04240409e-03 2.22422187e+01] [ 7.65764289e-01 6.43095984e-01 -5.71037426e-03 4.04126792e+02] [ 7.61567195e-03 -1.89086955e-04 9.99970983e-01 8.17011677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1727550960001 meters 0.024983978131618678 Centerline is valid? [True, True] Translation: X:22.26, Y:404.15, Z:8.17 [[ 6.43277911e-01 -7.65617072e-01 -4.90196293e-03 2.22607788e+01] [ 7.65596943e-01 6.43296562e-01 -5.55457519e-03 4.04148552e+02] [ 7.40609350e-03 -1.79792314e-04 9.99972558e-01 8.17033844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.202755096 meters 0.025107659520111097 Centerline is valid? [True, True] Translation: X:22.28, Y:404.17, Z:8.17 [[ 6.43365916e-01 -7.65546078e-01 -4.41601659e-03 2.22787191e+01] [ 7.65529722e-01 6.43381051e-01 -5.00678824e-03 4.04168878e+02] [ 6.67410849e-03 -1.59395050e-04 9.99977715e-01 8.17070161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.232755096 meters 0.02522306355533995 Centerline is valid? [True, True] Translation: X:22.30, Y:404.19, Z:8.17 [[ 6.43489743e-01 -7.65444378e-01 -3.98183090e-03 2.22962087e+01] [ 7.65431063e-01 6.43502047e-01 -4.51715284e-03 4.04189422e+02] [ 6.01994558e-03 -1.41075544e-04 9.99981870e-01 8.17087837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.262755096 meters 0.024214645314914296 Centerline is valid? [True, True] Translation: X:22.31, Y:404.21, Z:8.17 [[ 6.43334666e-01 -7.65575602e-01 -3.80855869e-03 2.23127804e+01] [ 7.65563408e-01 6.43345925e-01 -4.32318318e-03 4.04212034e+02] [ 5.75994428e-03 -1.34439564e-04 9.99983402e-01 8.17119187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2927550960001 meters 0.02422889778636443 Centerline is valid? [True, True] Translation: X:22.33, Y:404.23, Z:8.17 [[ 6.43090890e-01 -7.65781109e-01 -3.66078691e-03 2.23311427e+01] [ 7.65769831e-01 6.43101296e-01 -4.15793732e-03 4.04233565e+02] [ 5.53832666e-03 -1.29388562e-04 9.99984655e-01 8.17129130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.322755096 meters 0.023819879657370473 Centerline is valid? [True, True] Translation: X:22.35, Y:404.26, Z:8.17 [[ 6.42978197e-01 -7.65877674e-01 -3.22897826e-03 2.23491924e+01] [ 7.65868892e-01 6.42986295e-01 -3.66952658e-03 4.04255666e+02] [ 4.88659725e-03 -1.13548415e-04 9.99988054e-01 8.17129398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.352755096 meters 0.02482851338845929 Centerline is valid? [True, True] Translation: X:22.37, Y:404.28, Z:8.17 [[ 6.42779248e-01 -7.66044906e-01 -3.16870904e-03 2.23685480e+01] [ 7.66036439e-01 6.42787049e-01 -3.60324908e-03 4.04275155e+02] [ 4.79705573e-03 -1.11252855e-04 9.99988488e-01 8.17184811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.382755096 meters 0.023945320902680107 Centerline is valid? [True, True] Translation: X:22.39, Y:404.30, Z:8.17 [[ 6.42613465e-01 -7.66185903e-01 -2.66389320e-03 2.23854021e+01] [ 7.66179915e-01 6.42618980e-01 -3.03061484e-03 4.04298118e+02] [ 4.03388270e-03 -9.35075603e-05 9.99991860e-01 8.17204316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4127550960001 meters 0.023966746061507845 Centerline is valid? [True, True] Translation: X:22.40, Y:404.32, Z:8.17 [[ 6.42822740e-01 -7.66010726e-01 -2.54818460e-03 2.24028071e+01] [ 7.66005238e-01 6.42827785e-01 -2.90074277e-03 4.04318978e+02] [ 3.86004394e-03 -8.72593351e-05 9.99992546e-01 8.17221267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.442755096 meters 0.02396206552970502 Centerline is valid? [True, True] Translation: X:22.42, Y:404.34, Z:8.17 [[ 6.42592137e-01 -7.66205775e-01 -2.01387822e-03 2.24202193e+01] [ 7.66202346e-01 6.42595289e-01 -2.29330488e-03 4.04340609e+02] [ 3.05125210e-03 -6.93785312e-05 9.99995343e-01 8.17220287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.472755096 meters 0.023297499895643656 Centerline is valid? [True, True] Translation: X:22.44, Y:404.36, Z:8.17 [[ 6.43321541e-01 -7.65593311e-01 -2.06794153e-03 2.24365683e+01] [ 7.65589688e-01 6.43324861e-01 -2.35639319e-03 4.04363808e+02] [ 3.13439706e-03 -6.72762147e-05 9.99995086e-01 8.17129905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.502755096 meters 0.023094453686994722 Centerline is valid? [True, True] Translation: X:22.45, Y:404.39, Z:8.17 [[ 6.43694457e-01 -7.65279678e-01 -2.11191229e-03 2.24542220e+01] [ 7.65275892e-01 6.43697918e-01 -2.40801414e-03 4.04385549e+02] [ 3.20223783e-03 -6.61702053e-05 9.99994871e-01 8.17089632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5327550960001 meters 0.022936631904852473 Centerline is valid? [True, True] Translation: X:22.47, Y:404.41, Z:8.17 [[ 6.43880417e-01 -7.65122731e-01 -2.28373744e-03 2.24718205e+01] [ 7.65118297e-01 6.43884464e-01 -2.60570572e-03 4.04407230e+02] [ 3.46414773e-03 -6.95664095e-05 9.99993997e-01 8.17066285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.562755096 meters 0.02268523871972592 Centerline is valid? [True, True] Translation: X:22.49, Y:404.43, Z:8.17 [[ 6.44717411e-01 -7.64415723e-01 -2.83961546e-03 2.24885583e+01] [ 7.64408850e-01 6.44723659e-01 -3.24250797e-03 4.04428812e+02] [ 4.30939134e-03 -8.01258503e-05 9.99990711e-01 8.17024418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.592755096 meters 0.022831224404387528 Centerline is valid? [True, True] Translation: X:22.51, Y:404.45, Z:8.17 [[ 6.45069436e-01 -7.64119568e-01 -2.58999903e-03 2.25060856e+01] [ 7.64113843e-01 6.45074632e-01 -2.95873696e-03 4.04450392e+02] [ 3.93157148e-03 -7.04633318e-05 9.99992269e-01 8.16988576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.622755096 meters 0.021993115826616855 Centerline is valid? [True, True] Translation: X:22.52, Y:404.47, Z:8.17 [[ 6.45317867e-01 -7.63909547e-01 -2.65601410e-03 2.25218806e+01] [ 7.63903517e-01 6.45323329e-01 -3.03606611e-03 4.04473618e+02] [ 4.03326774e-03 -6.97108079e-05 9.99991864e-01 8.17025203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6527550960001 meters 0.022368921972193572 Centerline is valid? [True, True] Translation: X:22.54, Y:404.49, Z:8.17 [[ 6.45261547e-01 -7.63956721e-01 -2.76839132e-03 2.25395919e+01] [ 7.63950162e-01 6.45267482e-01 -3.16662082e-03 4.04493819e+02] [ 4.20551415e-03 -7.16143542e-05 9.99991154e-01 8.17022247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.682755096 meters 0.021672042051016284 Centerline is valid? [True, True] Translation: X:22.56, Y:404.52, Z:8.17 [[ 6.45101126e-01 -7.64092702e-01 -2.62290868e-03 2.25563684e+01] [ 7.64086809e-01 6.45106455e-01 -3.00178935e-03 4.04516444e+02] [ 3.98570065e-03 -6.76722299e-05 9.99992055e-01 8.16986290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.712755096 meters 0.021672042051016284 Centerline is valid? [True, True] Translation: X:22.57, Y:404.54, Z:8.17 [[ 6.44857070e-01 -7.64298689e-01 -2.62194973e-03 2.25743975e+01] [ 7.64292793e-01 6.44862396e-01 -3.00262670e-03 4.04537334e+02] [ 3.98570043e-03 -6.76722262e-05 9.99992055e-01 8.16998216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.742755096 meters 0.021818358037241248 Centerline is valid? [True, True] Translation: X:22.59, Y:404.56, Z:8.17 [[ 6.44532274e-01 -7.64573832e-01 -2.23670762e-03 2.25929070e+01] [ 7.64569539e-01 6.44536153e-01 -2.56294098e-03 4.04557511e+02] [ 3.40119653e-03 -5.82203327e-05 9.99994214e-01 8.17010983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.772755096 meters 0.021887076925011514 Centerline is valid? [True, True] Translation: X:22.61, Y:404.58, Z:8.17 [[ 6.43905406e-01 -7.65101929e-01 -2.20611715e-03 2.26113553e+01] [ 7.65097752e-01 6.43909183e-01 -2.52883021e-03 4.04578461e+02] [ 3.35535196e-03 -5.95678253e-05 9.99994369e-01 8.17063052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.802755096 meters 0.02213806778339844 Centerline is valid? [True, True] Translation: X:22.63, Y:404.60, Z:8.17 [[ 6.43062593e-01 -7.65810807e-01 -2.07584195e-03 2.26290897e+01] [ 7.65807108e-01 6.43065941e-01 -2.38094449e-03 4.04598879e+02] [ 3.15825627e-03 -5.85981863e-05 9.99995011e-01 8.17104086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.832755096 meters 0.022157401783317515 Centerline is valid? [True, True] Translation: X:22.65, Y:404.62, Z:8.17 [[ 6.42826442e-01 -7.66008839e-01 -2.15039088e-03 2.26472623e+01] [ 7.66004866e-01 6.42830036e-01 -2.46786222e-03 4.04620621e+02] [ 3.27274012e-03 -6.08027882e-05 9.99994643e-01 8.17055228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.862755096 meters 0.022227579613168225 Centerline is valid? [True, True] Translation: X:22.66, Y:404.64, Z:8.17 [[ 6.42425011e-01 -7.66346014e-01 -1.97273804e-03 2.26649802e+01] [ 7.66342668e-01 6.42428038e-01 -2.26522417e-03 4.04642432e+02] [ 3.00328774e-03 -5.65566696e-05 9.99995489e-01 8.17049049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.892755096 meters 0.022539205639418556 Centerline is valid? [True, True] Translation: X:22.68, Y:404.66, Z:8.17 [[ 6.42022113e-01 -7.66684092e-01 -1.76354165e-03 2.26829422e+01] [ 7.66681416e-01 6.42024533e-01 -2.02630908e-03 4.04663091e+02] [ 2.68577594e-03 -5.11393704e-05 9.99996392e-01 8.17135358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9227550960001 meters 0.022205069526017182 Centerline is valid? [True, True] Translation: X:22.70, Y:404.68, Z:8.17 [[ 6.41739169e-01 -7.66921287e-01 -1.60544720e-03 2.27004125e+01] [ 7.66919070e-01 6.41741176e-01 -1.84501731e-03 4.04684659e+02] [ 2.44526462e-03 -4.72281964e-05 9.99997009e-01 8.17194124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.952755096 meters 0.022395865801770554 Centerline is valid? [True, True] Translation: X:22.72, Y:404.71, Z:8.17 [[ 6.41545726e-01 -7.67083171e-01 -1.57813132e-03 2.27175710e+01] [ 7.67081025e-01 6.41547666e-01 -1.81481641e-03 4.04705197e+02] [ 2.40456159e-03 -4.62668791e-05 9.99997108e-01 8.17219700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.982755096 meters 0.02245223222064049 Centerline is valid? [True, True] Translation: X:22.74, Y:404.73, Z:8.17 [[ 6.41584289e-01 -7.67049904e-01 -2.01140063e-03 2.27351717e+01] [ 7.67046413e-01 6.41587439e-01 -2.31488595e-03 4.04726042e+02] [ 3.06612242e-03 -5.76431803e-05 9.99995298e-01 8.17200235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.012755096 meters 0.0221915853689182 Centerline is valid? [True, True] Translation: X:22.75, Y:404.75, Z:8.17 [[ 6.41529964e-01 -7.67094976e-01 -2.14543508e-03 2.27528658e+01] [ 7.67091000e-01 6.41533549e-01 -2.47054664e-03 4.04748373e+02] [ 3.27151250e-03 -6.08142480e-05 9.99994647e-01 8.17170507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0427550960001 meters 0.021754254251894062 Centerline is valid? [True, True] Translation: X:22.77, Y:404.77, Z:8.17 [[ 6.42534121e-01 -7.66252648e-01 -2.60441022e-03 2.27691622e+01] [ 7.66246773e-01 6.42539396e-01 -3.00132787e-03 4.04771326e+02] [ 3.97321159e-03 -6.71653613e-05 9.99992105e-01 8.17096935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.072755096 meters 0.02110317505670926 Centerline is valid? [True, True] Translation: X:22.79, Y:404.79, Z:8.17 [[ 6.42971174e-01 -7.65885256e-01 -2.80082627e-03 2.27857784e+01] [ 7.65878449e-01 6.42977270e-01 -3.22970576e-03 4.04794065e+02] [ 4.27445165e-03 -6.84847790e-05 9.99990862e-01 8.17081560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.102755096 meters 0.021203679483974 Centerline is valid? [True, True] Translation: X:22.80, Y:404.81, Z:8.17 [[ 6.43956547e-01 -7.65057316e-01 -2.69601720e-03 2.28037760e+01] [ 7.65050994e-01 6.43962188e-01 -3.11072383e-03 4.04814713e+02] [ 4.11601516e-03 -5.94196664e-05 9.99991527e-01 8.17106924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.132755096 meters 0.021039211744788473 Centerline is valid? [True, True] Translation: X:22.82, Y:404.84, Z:8.17 [[ 6.44179137e-01 -7.64869530e-01 -2.80034124e-03 2.28215984e+01] [ 7.64862701e-01 6.44185221e-01 -3.23274346e-03 4.04836891e+02] [ 4.27656541e-03 -5.94106728e-05 9.99990854e-01 8.17068517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1627550960001 meters 0.020305355516043632 Centerline is valid? [True, True] Translation: X:22.84, Y:404.86, Z:8.17 [[ 6.44684971e-01 -7.64442304e-01 -3.04165332e-03 2.28385580e+01] [ 7.64434232e-01 6.44692144e-01 -3.51354482e-03 4.04859924e+02] [ 4.64683230e-03 -6.00143745e-05 9.99989202e-01 8.17029367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.192755096 meters 0.02019511294747645 Centerline is valid? [True, True] Translation: X:22.86, Y:404.88, Z:8.17 [[ 6.44820460e-01 -7.64327159e-01 -3.25096728e-03 2.28568460e+01] [ 7.64317923e-01 6.44828652e-01 -3.75779123e-03 4.04881474e+02] [ 4.96849874e-03 -6.16718869e-05 9.99987655e-01 8.17000274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.222755096 meters 0.020435548857014707 Centerline is valid? [True, True] Translation: X:22.88, Y:404.90, Z:8.17 [[ 6.43972363e-01 -7.65040211e-01 -3.61551705e-03 2.28761683e+01] [ 7.65028784e-01 6.43982508e-01 -4.18196573e-03 4.04902365e+02] [ 5.52770168e-03 -7.29042546e-05 9.99984720e-01 8.16921836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.252755096 meters 0.020671866577384256 Centerline is valid? [True, True] Translation: X:22.89, Y:404.92, Z:8.17 [[ 6.43260152e-01 -7.65638560e-01 -3.73801218e-03 2.28949672e+01] [ 7.65626341e-01 6.43271008e-01 -4.32632921e-03 4.04923104e+02] [ 5.71695933e-03 -7.89653992e-05 9.99983655e-01 8.16911998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2827550960001 meters 0.021366649653809335 Centerline is valid? [True, True] Translation: X:22.91, Y:404.94, Z:8.17 [[ 6.41661946e-01 -7.66979498e-01 -3.52079405e-03 2.29146807e+01] [ 7.66968666e-01 6.41671600e-01 -4.07722813e-03 4.04942120e+02] [ 5.38634393e-03 -8.41365773e-05 9.99985490e-01 8.16920829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.312755096 meters 0.021527877646302183 Centerline is valid? [True, True] Translation: X:22.93, Y:404.96, Z:8.17 [[ 6.41005547e-01 -7.67527830e-01 -3.59436876e-03 2.29336248e+01] [ 7.67516535e-01 6.41015618e-01 -4.16477146e-03 4.04962302e+02] [ 5.50062451e-03 -8.90958501e-05 9.99984868e-01 8.16939113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.342755096 meters 0.02129008291055941 Centerline is valid? [True, True] Translation: X:22.95, Y:404.98, Z:8.17 [[ 6.40152159e-01 -7.68239987e-01 -3.54057174e-03 2.29523692e+01] [ 7.68229026e-01 6.40161944e-01 -4.10486566e-03 4.04982833e+02] [ 5.42006123e-03 -9.22313675e-05 9.99985307e-01 8.16998909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.372755096 meters 0.02216854269916786 Centerline is valid? [True, True] Translation: X:22.97, Y:405.00, Z:8.17 [[ 6.39824711e-01 -7.68512687e-01 -3.54806769e-03 2.29717539e+01] [ 7.68501670e-01 6.39834542e-01 -4.11600993e-03 4.05001381e+02] [ 5.43338212e-03 -9.31710793e-05 9.99985235e-01 8.16953618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4027550960001 meters 0.021845916341079144 Centerline is valid? [True, True] Translation: X:22.99, Y:405.02, Z:8.17 [[ 6.39516132e-01 -7.68768188e-01 -3.81976942e-03 2.29900474e+01] [ 7.68755408e-01 6.39527531e-01 -4.43386779e-03 4.05022748e+02] [ 5.85146421e-03 -1.00938422e-04 9.99982875e-01 8.16937431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.432755096 meters 0.02098453661508912 Centerline is valid? [True, True] Translation: X:23.01, Y:405.04, Z:8.17 [[ 6.39055801e-01 -7.69149501e-01 -4.09007575e-03 2.30082876e+01] [ 7.69134837e-01 6.39068880e-01 -4.75067299e-03 4.05043831e+02] [ 6.26781789e-03 -1.09874610e-04 9.99980351e-01 8.16937795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.462755096 meters 0.021902411928452634 Centerline is valid? [True, True] Translation: X:23.03, Y:405.06, Z:8.17 [[ 6.38612888e-01 -7.69516831e-01 -4.17452526e-03 2.30284868e+01] [ 7.69501543e-01 6.38626522e-01 -4.85185238e-03 4.05061666e+02] [ 6.39954461e-03 -1.13848169e-04 9.99979516e-01 8.16911746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.492755096 meters 0.021337312318938612 Centerline is valid? [True, True] Translation: X:23.05, Y:405.08, Z:8.17 [[ 6.38217937e-01 -7.69842313e-01 -4.54724552e-03 2.30476624e+01] [ 7.69824159e-01 6.38234124e-01 -5.28842408e-03 4.05082041e+02] [ 6.97345989e-03 -1.25412348e-04 9.99975677e-01 8.16926028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.522755096 meters 0.021598897194185885 Centerline is valid? [True, True] Translation: X:23.07, Y:405.10, Z:8.17 [[ 6.38009780e-01 -7.70013136e-01 -4.82598122e-03 2.30666626e+01] [ 7.69992667e-01 6.38028018e-01 -5.61615255e-03 4.05101085e+02] [ 7.40362247e-03 -1.32809890e-04 9.99972584e-01 8.16892591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.552755096 meters 0.02166598646093849 Centerline is valid? [True, True] Translation: X:23.09, Y:405.12, Z:8.17 [[ 6.37663774e-01 -7.70298958e-01 -4.94237046e-03 2.30880093e+01] [ 7.70277471e-01 6.37682913e-01 -5.75506629e-03 4.05120275e+02] [ 7.58478675e-03 -1.37199323e-04 9.99971226e-01 8.16907105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.582755096 meters 0.02165930437501373 Centerline is valid? [True, True] Translation: X:23.11, Y:405.14, Z:8.17 [[ 6.37733709e-01 -7.70241064e-01 -4.94169077e-03 2.31074998e+01] [ 7.70219554e-01 6.37752840e-01 -5.75785524e-03 4.05140676e+02] [ 7.58651387e-03 -1.34208487e-04 9.99971213e-01 8.16915991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.612755096 meters 0.02166441777709082 Centerline is valid? [True, True] Translation: X:23.13, Y:405.16, Z:8.17 [[ 6.37596025e-01 -7.70354759e-01 -4.98534769e-03 2.31267511e+01] [ 7.70332844e-01 6.37615501e-01 -5.81233937e-03 4.05160898e+02] [ 7.65629826e-03 -1.34452584e-04 9.99970681e-01 8.16943337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.642755096 meters 0.02170116500250603 Centerline is valid? [True, True] Translation: X:23.15, Y:405.18, Z:8.17 [[ 6.37849208e-01 -7.70143262e-01 -5.26716736e-03 2.31472379e+01] [ 7.70118765e-01 6.37870941e-01 -6.14425817e-03 4.05178593e+02] [ 8.09173203e-03 -1.37234214e-04 9.99967252e-01 8.16964403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6727550960001 meters 0.0218214480680145 Centerline is valid? [True, True] Translation: X:23.17, Y:405.20, Z:8.17 [[ 6.37400131e-01 -7.70516477e-01 -5.04305560e-03 2.31666989e+01] [ 7.70494009e-01 6.37420066e-01 -5.88572187e-03 4.05198409e+02] [ 7.74959052e-03 -1.34084240e-04 9.99969963e-01 8.16975074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.702755096 meters 0.021502547071099037 Centerline is valid? [True, True] Translation: X:23.19, Y:405.22, Z:8.17 [[ 6.36942772e-01 -7.70893809e-01 -5.16147848e-03 2.31870435e+01] [ 7.70870256e-01 6.36963669e-01 -6.02769869e-03 4.05218155e+02] [ 7.93438987e-03 -1.39531118e-04 9.99968513e-01 8.17056625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.732755096 meters 0.022424874004815618 Centerline is valid? [True, True] Translation: X:23.21, Y:405.24, Z:8.17 [[ 6.36437643e-01 -7.71311449e-01 -5.07699149e-03 2.32075804e+01] [ 7.71288646e-01 6.36457877e-01 -5.93258332e-03 4.05236179e+02] [ 7.80716066e-03 -1.40106545e-04 9.99969514e-01 8.17046377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.762755096 meters 0.022741785274922266 Centerline is valid? [True, True] Translation: X:23.23, Y:405.26, Z:8.17 [[ 6.35851785e-01 -7.71793579e-01 -5.21340388e-03 2.32277801e+01] [ 7.71769521e-01 6.35873140e-01 -6.09557334e-03 4.05256001e+02] [ 8.01958786e-03 -1.47665026e-04 9.99967832e-01 8.17038093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7927550960001 meters 0.022111387938939266 Centerline is valid? [True, True] Translation: X:23.25, Y:405.28, Z:8.17 [[ 6.35361988e-01 -7.72192663e-01 -5.79955800e-03 2.32483581e+01] [ 7.72162870e-01 6.35388435e-01 -6.78523547e-03 4.05275735e+02] [ 8.92448113e-03 -1.67122651e-04 9.99960162e-01 8.16996894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.822755096 meters 0.021975110598819833 Centerline is valid? [True, True] Translation: X:23.27, Y:405.30, Z:8.17 [[ 6.35240292e-01 -7.72289612e-01 -6.20689612e-03 2.32676706e+01] [ 7.72255447e-01 6.35270591e-01 -7.26648228e-03 4.05295789e+02] [ 9.55488735e-03 -1.77347011e-04 9.99954335e-01 8.16958716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.852755096 meters 0.021600092744848583 Centerline is valid? [True, True] Translation: X:23.29, Y:405.32, Z:8.17 [[ 6.35375962e-01 -7.72176345e-01 -6.40938901e-03 2.32882451e+01] [ 7.72139860e-01 6.35408264e-01 -7.50836965e-03 4.05315198e+02] [ 9.87036417e-03 -1.78307141e-04 9.99951271e-01 8.16947433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.882755096 meters 0.021555408766347105 Centerline is valid? [True, True] Translation: X:23.31, Y:405.34, Z:8.17 [[ 6.35360957e-01 -7.72185799e-01 -6.74881390e-03 2.33079406e+01] [ 7.72145294e-01 6.35396772e-01 -7.91114246e-03 4.05335892e+02] [ 1.03970464e-02 -1.84633849e-04 9.99945932e-01 8.16947708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9127550960001 meters 0.02148454311439895 Centerline is valid? [True, True] Translation: X:23.33, Y:405.36, Z:8.17 [[ 6.36091861e-01 -7.71584379e-01 -6.68508822e-03 2.33262436e+01] [ 7.71544558e-01 6.36126966e-01 -7.84082384e-03 4.05355932e+02] [ 1.03024221e-02 -1.70359211e-04 9.99946914e-01 8.16948399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.942755096 meters 0.02073894165845839 Centerline is valid? [True, True] Translation: X:23.34, Y:405.38, Z:8.17 [[ 6.37082928e-01 -7.70766312e-01 -6.68100614e-03 2.33425973e+01] [ 7.70726448e-01 6.37117940e-01 -7.84053265e-03 4.05378542e+02] [ 1.02998073e-02 -1.54158632e-04 9.99946944e-01 8.17027408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.972755096 meters 0.02011928652243173 Centerline is valid? [True, True] Translation: X:23.36, Y:405.40, Z:8.17 [[ 6.40079265e-01 -7.68279937e-01 -6.66880095e-03 2.33590195e+01] [ 7.68240053e-01 6.40113994e-01 -7.82915610e-03 4.05401310e+02] [ 1.02837764e-02 -1.11959512e-04 9.99947114e-01 8.16966073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.002755096 meters 0.019627303579582565 Centerline is valid? [True, True] Translation: X:23.38, Y:405.42, Z:8.17 [[ 6.41005225e-01 -7.67506197e-01 -6.82196817e-03 2.33757584e+01] [ 7.67464378e-01 6.41041518e-01 -8.01251783e-03 4.05423642e+02] [ 1.05228219e-02 -9.95517710e-05 9.99944629e-01 8.16978714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0327550960001 meters 0.01925905373973543 Centerline is valid? [True, True] Translation: X:23.39, Y:405.44, Z:8.17 [[ 6.42403669e-01 -7.66334320e-01 -7.01685119e-03 2.33922536e+01] [ 7.66289961e-01 6.42441985e-01 -8.24569114e-03 4.05444832e+02] [ 1.08268759e-02 -7.98803854e-05 9.99941385e-01 8.16958221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.062755096 meters 0.01924825275079563 Centerline is valid? [True, True] Translation: X:23.41, Y:405.47, Z:8.17 [[ 6.42732902e-01 -7.66055721e-01 -7.28349169e-03 2.34096149e+01] [ 7.66007855e-01 6.42774164e-01 -8.56389568e-03 4.05465066e+02] [ 1.12420616e-02 -7.49143323e-05 9.99936803e-01 8.16945849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.092755096 meters 0.01918999641337924 Centerline is valid? [True, True] Translation: X:23.43, Y:405.49, Z:8.17 [[ 6.42609292e-01 -7.66161330e-01 -7.07910288e-03 2.34277276e+01] [ 7.66116064e-01 6.42648279e-01 -8.32862302e-03 4.05486413e+02] [ 1.09304422e-02 -7.13638880e-05 9.99940258e-01 8.17004718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.122755096 meters 0.019101656708619127 Centerline is valid? [True, True] Translation: X:23.45, Y:405.51, Z:8.17 [[ 6.42255693e-01 -7.66458358e-01 -7.01498415e-03 2.34459802e+01] [ 7.66413871e-01 6.42293998e-01 -8.25817605e-03 4.05508157e+02] [ 1.08352303e-02 -7.25205738e-05 9.99941295e-01 8.17104410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1527550960001 meters 0.01930993907572303 Centerline is valid? [True, True] Translation: X:23.46, Y:405.53, Z:8.17 [[ 6.41637787e-01 -7.66978943e-01 -6.65220363e-03 2.34635834e+01] [ 7.66938917e-01 6.41672265e-01 -7.83593730e-03 4.05529022e+02] [ 1.02785335e-02 -7.40003786e-05 9.99947172e-01 8.17112383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.182755096 meters 0.019450852279276558 Centerline is valid? [True, True] Translation: X:23.48, Y:405.55, Z:8.17 [[ 6.40765606e-01 -7.67708428e-01 -6.57322120e-03 2.34817045e+01] [ 7.67669337e-01 6.40799316e-01 -7.74769225e-03 4.05550728e+02] [ 1.01600843e-02 -8.16056357e-05 9.99948382e-01 8.17127593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.212755096 meters 0.01977149341940853 Centerline is valid? [True, True] Translation: X:23.50, Y:405.57, Z:8.17 [[ 6.39203529e-01 -7.69011839e-01 -6.29597745e-03 2.35002391e+01] [ 7.68975995e-01 6.39234528e-01 -7.42545524e-03 4.05570764e+02] [ 9.73486916e-03 -9.50783225e-05 9.99952611e-01 8.17129905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.242755096 meters 0.020118188318229105 Centerline is valid? [True, True] Translation: X:23.52, Y:405.59, Z:8.17 [[ 6.38081304e-01 -7.69942257e-01 -6.41647440e-03 2.35191403e+01] [ 7.69905027e-01 6.38113556e-01 -7.57225410e-03 4.05591291e+02] [ 9.92463770e-03 -1.08362122e-04 9.99950744e-01 8.17180221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.272755096 meters 0.021185906488645607 Centerline is valid? [True, True] Translation: X:23.54, Y:405.61, Z:8.17 [[ 6.35362892e-01 -7.72186179e-01 -6.51923358e-03 2.35392686e+01] [ 7.72147834e-01 6.35396320e-01 -7.69665027e-03 4.05609492e+02] [ 1.00855440e-02 -1.43646117e-04 9.99949129e-01 8.17180900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.302755096 meters 0.022088279691727667 Centerline is valid? [True, True] Translation: X:23.56, Y:405.63, Z:8.17 [[ 6.33563495e-01 -7.73663973e-01 -6.43077195e-03 2.35592723e+01] [ 7.73626705e-01 6.33596110e-01 -7.59540366e-03 4.05629494e+02] [ 9.95080226e-03 -1.62846430e-04 9.99950476e-01 8.17197528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.332755096 meters 0.023079746216363786 Centerline is valid? [True, True] Translation: X:23.58, Y:405.65, Z:8.17 [[ 6.31645940e-01 -7.75227897e-01 -6.71676618e-03 2.35798052e+01] [ 7.75187283e-01 6.31681622e-01 -7.93760940e-03 4.05649889e+02] [ 1.03963140e-02 -1.92992977e-04 9.99945938e-01 8.17168849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.362755096 meters 0.025676769095579477 Centerline is valid? [True, True] Translation: X:23.60, Y:405.67, Z:8.17 [[ 6.27715945e-01 -7.78410959e-01 -7.00502962e-03 2.36017591e+01] [ 7.78366930e-01 6.27754980e-01 -8.28300766e-03 4.05667565e+02] [ 1.08450262e-02 -2.53107414e-04 9.99941159e-01 8.17099625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.392755096 meters 0.026722959598770864 Centerline is valid? [True, True] Translation: X:23.62, Y:405.69, Z:8.17 [[ 6.26154719e-01 -7.79667932e-01 -6.94151928e-03 2.36216795e+01] [ 7.79624725e-01 6.26193136e-01 -8.21241440e-03 4.05688361e+02] [ 1.07496879e-02 -2.69538033e-04 9.99942184e-01 8.17100412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4227550960001 meters 0.028693884931296043 Centerline is valid? [True, True] Translation: X:23.64, Y:405.71, Z:8.17 [[ 6.23875467e-01 -7.81492878e-01 -6.94863496e-03 2.36414487e+01] [ 7.81449652e-01 6.23914091e-01 -8.22485251e-03 4.05706532e+02] [ 1.07630149e-02 -2.98724673e-04 9.99942033e-01 8.17114279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.452755096 meters 0.029332964722289138 Centerline is valid? [True, True] Translation: X:23.66, Y:405.73, Z:8.17 [[ 6.23071918e-01 -7.82133989e-01 -6.91427759e-03 2.36605052e+01] [ 7.82091184e-01 6.23110206e-01 -8.18840701e-03 4.05727672e+02] [ 1.07127884e-02 -3.05629081e-04 9.99942570e-01 8.17145829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.482755096 meters 0.029925853557073036 Centerline is valid? [True, True] Translation: X:23.68, Y:405.75, Z:8.17 [[ 6.22519752e-01 -7.82571522e-01 -7.13944029e-03 2.36775872e+01] [ 7.82525862e-01 6.22560608e-01 -8.45963264e-03 4.05746924e+02] [ 1.10650019e-02 -3.20508252e-04 9.99938730e-01 8.17144784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.512755096 meters 0.030042295375336436 Centerline is valid? [True, True] Translation: X:23.69, Y:405.77, Z:8.17 [[ 6.22551273e-01 -7.82547053e-01 -7.07264021e-03 2.36948993e+01] [ 7.82502187e-01 6.22591368e-01 -8.38548013e-03 4.05766983e+02] [ 1.09653975e-02 -3.13965104e-04 9.99939829e-01 8.17173264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5427550960001 meters 0.029584836775481918 Centerline is valid? [True, True] Translation: X:23.71, Y:405.79, Z:8.17 [[ 6.23174127e-01 -7.82052362e-01 -6.93625075e-03 2.37105510e+01] [ 7.82009122e-01 6.23212657e-01 -8.22904766e-03 4.05787902e+02] [ 1.07583054e-02 -2.96081769e-04 9.99942084e-01 8.17214785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.572755096 meters 0.029053579987911006 Centerline is valid? [True, True] Translation: X:23.73, Y:405.81, Z:8.17 [[ 6.23783533e-01 -7.81571302e-01 -6.35641340e-03 2.37275360e+01] [ 7.81534923e-01 6.23815864e-01 -7.54536207e-03 4.05809798e+02] [ 9.86246997e-03 -2.61086437e-04 9.99951331e-01 8.17287317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.602755096 meters 0.029053579987911006 Centerline is valid? [True, True] Translation: X:23.74, Y:405.83, Z:8.17 [[ 6.23550857e-01 -7.81756965e-01 -6.35427719e-03 2.37445899e+01] [ 7.81720577e-01 6.23583178e-01 -7.54716093e-03 4.05830440e+02] [ 9.86246598e-03 -2.61230567e-04 9.99951331e-01 8.17298889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.632755096 meters 0.02378322093492255 Centerline is valid? [True, True] Translation: X:23.76, Y:405.86, Z:8.18 [[ 6.24161918e-01 -7.81269511e-01 -6.31285021e-03 2.37560554e+01] [ 7.81233527e-01 6.24193792e-01 -7.50250950e-03 4.05857912e+02] [ 9.80192383e-03 -2.49029519e-04 9.99951929e-01 8.17520828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6627550960001 meters 0.02487295006054172 Centerline is valid? [True, True] Translation: X:23.77, Y:405.88, Z:8.17 [[ 6.24785289e-01 -7.80773948e-01 -5.94846271e-03 2.37739326e+01] [ 7.80741936e-01 6.24813565e-01 -7.07371680e-03 4.05878873e+02] [ 9.23965398e-03 -2.24660096e-04 9.99957288e-01 8.17472074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.692755096 meters 0.022791582670617747 Centerline is valid? [True, True] Translation: X:23.79, Y:405.90, Z:8.18 [[ 6.27038281e-01 -7.78967507e-01 -5.71119944e-03 2.37902348e+01] [ 7.78937888e-01 6.27064262e-01 -6.79544593e-03 4.05902777e+02] [ 8.87472063e-03 -1.87664899e-04 9.99960601e-01 8.17659265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.722755096 meters 0.02117572803959539 Centerline is valid? [True, True] Translation: X:23.81, Y:405.93, Z:8.18 [[ 6.28082225e-01 -7.78125702e-01 -5.75425266e-03 2.38061774e+01] [ 7.78095566e-01 6.28108559e-01 -6.85046795e-03 4.05927237e+02] [ 8.94482053e-03 -1.74701328e-04 9.99959979e-01 8.17718392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.752755096 meters 0.01997294243626805 Centerline is valid? [True, True] Translation: X:23.82, Y:405.95, Z:8.18 [[ 6.30864922e-01 -7.75866745e-01 -6.34380570e-03 2.38224051e+01] [ 7.75829959e-01 6.30896798e-01 -7.55679463e-03 4.05950857e+02] [ 9.86535235e-03 -1.54397864e-04 9.99951324e-01 8.17689887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7827550960001 meters 0.019627316671080093 Centerline is valid? [True, True] Translation: X:23.84, Y:405.97, Z:8.18 [[ 6.32055620e-01 -7.74897307e-01 -6.31317030e-03 2.38389778e+01] [ 7.74860788e-01 6.32087134e-01 -7.52428288e-03 4.05972390e+02] [ 9.82102026e-03 -1.36062832e-04 9.99951763e-01 8.17694081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.812755096 meters 0.019105407856758412 Centerline is valid? [True, True] Translation: X:23.86, Y:406.00, Z:8.18 [[ 6.33339087e-01 -7.73848553e-01 -6.32597853e-03 2.38556459e+01] [ 7.73811790e-01 6.33370669e-01 -7.54387179e-03 4.05995074e+02] [ 9.84450352e-03 -1.17287894e-04 9.99951535e-01 8.17713316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.842755096 meters 0.01857799900832089 Centerline is valid? [True, True] Translation: X:23.87, Y:406.02, Z:8.18 [[ 6.35821263e-01 -7.71807319e-01 -6.69207102e-03 2.38708513e+01] [ 7.71766018e-01 6.35856473e-01 -7.98490135e-03 4.06017834e+02] [ 1.04180020e-02 -8.77429365e-05 9.99945727e-01 8.17605586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.872755096 meters 0.018450203286451635 Centerline is valid? [True, True] Translation: X:23.89, Y:406.04, Z:8.18 [[ 6.36553988e-01 -7.71200623e-01 -6.97279068e-03 2.38878135e+01] [ 7.71155699e-01 6.36592172e-01 -8.32432595e-03 4.06039371e+02] [ 1.08585493e-02 -7.82243880e-05 9.99941041e-01 8.17524427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9027550960001 meters 0.018064974668307414 Centerline is valid? [True, True] Translation: X:23.90, Y:406.06, Z:8.18 [[ 6.37708559e-01 -7.70247975e-01 -6.77139729e-03 2.39047410e+01] [ 7.70205503e-01 6.37744506e-01 -8.08877582e-03 4.06062285e+02] [ 1.05487846e-02 -5.70858882e-05 9.99944358e-01 8.17652656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.932755096 meters 0.0181156355450537 Centerline is valid? [True, True] Translation: X:23.92, Y:406.08, Z:8.18 [[ 6.37707551e-01 -7.70247957e-01 -6.86762296e-03 2.39224516e+01] [ 7.70204217e-01 6.37744527e-01 -8.20872955e-03 4.06083059e+02] [ 1.07025461e-02 -5.47033539e-05 9.99942725e-01 8.17694818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.962755096 meters 0.018148316732799714 Centerline is valid? [True, True] Translation: X:23.94, Y:406.10, Z:8.18 [[ 6.37431796e-01 -7.70480128e-01 -6.40920412e-03 2.39406214e+01] [ 7.70441998e-01 6.37464015e-01 -7.66536795e-03 4.06104055e+02] [ 9.99165066e-03 -5.17707653e-05 9.99950081e-01 8.17753749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.992755096 meters 0.018294246527270516 Centerline is valid? [True, True] Translation: X:23.96, Y:406.12, Z:8.18 [[ 6.36524791e-01 -7.71229973e-01 -6.36553335e-03 2.39595427e+01] [ 7.71192350e-01 6.36556616e-01 -7.61797779e-03 4.06124259e+02] [ 9.92723518e-03 -6.00189016e-05 9.99950722e-01 8.17824348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.022755096 meters 0.01838395320166618 Centerline is valid? [True, True] Translation: X:23.98, Y:406.15, Z:8.18 [[ 6.35827165e-01 -7.71803876e-01 -6.52635169e-03 2.39780352e+01] [ 7.71764307e-01 6.35860655e-01 -7.81553290e-03 4.06145488e+02] [ 1.01819088e-02 -6.74771650e-05 9.99948161e-01 8.17894145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.052755096 meters 0.01879920524850465 Centerline is valid? [True, True] Translation: X:24.00, Y:406.16, Z:8.18 [[ 6.34633258e-01 -7.72783776e-01 -6.77224083e-03 2.39968180e+01] [ 7.72741171e-01 6.34669385e-01 -8.11505750e-03 4.06164631e+02] [ 1.05693187e-02 -8.31039340e-05 9.99944140e-01 8.17876251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.082755096 meters 0.01896077040655561 Centerline is valid? [True, True] Translation: X:24.02, Y:406.19, Z:8.18 [[ 6.33811337e-01 -7.73457007e-01 -6.88819551e-03 2.40155963e+01] [ 7.73412915e-01 6.33848760e-01 -8.25909612e-03 4.06186119e+02] [ 1.07541299e-02 -9.27106122e-05 9.99942168e-01 8.17889620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.112755096 meters 0.01901937902540443 Centerline is valid? [True, True] Translation: X:24.03, Y:406.21, Z:8.18 [[ 6.33165348e-01 -7.73986502e-01 -6.82176410e-03 2.40339202e+01] [ 7.73943232e-01 6.33202089e-01 -8.18464214e-03 4.06207516e+02] [ 1.06543578e-02 -9.74263693e-05 9.99943236e-01 8.17922421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.142755096 meters 0.019581080037123395 Centerline is valid? [True, True] Translation: X:24.05, Y:406.23, Z:8.18 [[ 6.31177951e-01 -7.75610944e-01 -6.48524736e-03 2.40534046e+01] [ 7.75571877e-01 6.31211257e-01 -7.78547536e-03 4.06227241e+02] [ 1.01320610e-02 -1.15755079e-04 9.99948663e-01 8.17935804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1727550960001 meters 0.01987339721150334 Centerline is valid? [True, True] Translation: X:24.07, Y:406.25, Z:8.18 [[ 6.30020066e-01 -7.76553353e-01 -6.29337726e-03 2.40725265e+01] [ 7.76516566e-01 6.30051486e-01 -7.55959008e-03 4.06248230e+02] [ 9.83557672e-03 -1.24218257e-04 9.99951622e-01 8.18013493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.202755096 meters 0.020409601377925624 Centerline is valid? [True, True] Translation: X:24.09, Y:406.27, Z:8.18 [[ 6.28837622e-01 -7.77510840e-01 -6.33555655e-03 2.40911904e+01] [ 7.77473561e-01 6.28869522e-01 -7.61491318e-03 4.06269513e+02] [ 9.90491596e-03 -1.37183818e-04 9.99950936e-01 8.18002812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.232755096 meters 0.02079790585126974 Centerline is valid? [True, True] Translation: X:24.11, Y:406.29, Z:8.18 [[ 6.28314597e-01 -7.77929378e-01 -6.83018860e-03 2.41089981e+01] [ 7.77886017e-01 6.28351701e-01 -8.21482659e-03 4.06290308e+02] [ 1.06823156e-02 -1.51612758e-04 9.99942931e-01 8.17926972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.262755096 meters 0.02090393564686755 Centerline is valid? [True, True] Translation: X:24.13, Y:406.31, Z:8.18 [[ 6.27967750e-01 -7.78206757e-01 -7.12377914e-03 2.41268094e+01] [ 7.78159545e-01 6.28008135e-01 -8.57344726e-03 4.06311909e+02] [ 1.11457058e-02 -1.59588351e-04 9.99937872e-01 8.17862186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2927550960001 meters 0.020548215008265005 Centerline is valid? [True, True] Translation: X:24.14, Y:406.33, Z:8.18 [[ 6.27888073e-01 -7.78263840e-01 -7.87173559e-03 2.41436589e+01] [ 7.78206121e-01 6.27937390e-01 -9.47980591e-03 4.06334367e+02] [ 1.23207472e-02 -1.73575754e-04 9.99924082e-01 8.17864091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.322755096 meters 0.02088331251448652 Centerline is valid? [True, True] Translation: X:24.16, Y:406.36, Z:8.18 [[ 6.27757408e-01 -7.78368274e-01 -7.96667926e-03 2.41616922e+01] [ 7.78309091e-01 6.27807933e-01 -9.59990681e-03 4.06355211e+02] [ 1.24738073e-02 -1.74126285e-04 9.99922184e-01 8.17854597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.352755096 meters 0.02054959433769297 Centerline is valid? [True, True] Translation: X:24.18, Y:406.38, Z:8.18 [[ 6.28164795e-01 -7.78037181e-01 -8.19360534e-03 2.41779145e+01] [ 7.77974473e-01 6.28218208e-01 -9.87945586e-03 4.06377649e+02] [ 1.28339561e-02 -1.68489429e-04 9.99917627e-01 8.17912533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.382755096 meters 0.020506795365085203 Centerline is valid? [True, True] Translation: X:24.19, Y:406.40, Z:8.18 [[ 6.28234615e-01 -7.77979834e-01 -8.28532511e-03 2.41948125e+01] [ 7.77915626e-01 6.28289226e-01 -9.99635365e-03 4.06399635e+02] [ 1.29825421e-02 -1.65228488e-04 9.99915710e-01 8.17958662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4127550960001 meters 0.020317032544014065 Centerline is valid? [True, True] Translation: X:24.21, Y:406.42, Z:8.18 [[ 6.28613552e-01 -7.77673909e-01 -8.26405894e-03 2.42116723e+01] [ 7.77609923e-01 6.28667852e-01 -9.97692388e-03 4.06422224e+02] [ 1.29541416e-02 -1.54584685e-04 9.99916080e-01 8.18047828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.442755096 meters 0.020406360966539985 Centerline is valid? [True, True] Translation: X:24.23, Y:406.44, Z:8.18 [[ 6.28759761e-01 -7.77555237e-01 -8.30761761e-03 2.42287890e+01] [ 7.77490481e-01 6.28814624e-01 -1.00360082e-02 4.06443765e+02] [ 1.30275021e-02 -1.48855521e-04 9.99915127e-01 8.18058243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.472755096 meters 0.020007993660019523 Centerline is valid? [True, True] Translation: X:24.25, Y:406.47, Z:8.18 [[ 6.28631635e-01 -7.77658863e-01 -8.30426342e-03 2.42457224e+01] [ 7.77594083e-01 6.28686465e-01 -1.00384348e-02 4.06466196e+02] [ 1.30272558e-02 -1.46868424e-04 9.99915131e-01 8.18175995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.502755096 meters 0.020199540156318318 Centerline is valid? [True, True] Translation: X:24.26, Y:406.49, Z:8.18 [[ 6.28951005e-01 -7.77401068e-01 -8.25911658e-03 2.42632277e+01] [ 7.77336892e-01 6.29005216e-01 -9.98973211e-03 4.06487136e+02] [ 1.29610558e-02 -1.37063960e-04 9.99915993e-01 8.18197501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5327550960001 meters 0.020206660397215758 Centerline is valid? [True, True] Translation: X:24.28, Y:406.51, Z:8.18 [[ 6.29368980e-01 -7.77062538e-01 -8.27647107e-03 2.42792722e+01] [ 7.76997983e-01 6.29423384e-01 -1.00168828e-02 4.06509366e+02] [ 1.29931488e-02 -1.26485993e-04 9.99915578e-01 8.18184960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.562755096 meters 0.020140357411017242 Centerline is valid? [True, True] Translation: X:24.30, Y:406.53, Z:8.18 [[ 6.29494034e-01 -7.76964854e-01 -7.92953012e-03 2.42959759e+01] [ 7.76905518e-01 6.29543964e-01 -9.60276042e-03 4.06532365e+02] [ 1.24529952e-02 -1.15615310e-04 9.99922452e-01 8.18258752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.592755096 meters 0.01975718895195741 Centerline is valid? [True, True] Translation: X:24.31, Y:406.56, Z:8.18 [[ 6.29456073e-01 -7.76996216e-01 -7.86965050e-03 2.43123268e+01] [ 7.76937703e-01 6.29505256e-01 -9.53613088e-03 4.06555270e+02] [ 1.23635240e-02 -1.11652688e-04 9.99923563e-01 8.18417427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.622755096 meters 0.019687156599054918 Centerline is valid? [True, True] Translation: X:24.33, Y:406.58, Z:8.18 [[ 6.29432380e-01 -7.77014691e-01 -7.94038231e-03 2.43291724e+01] [ 7.76955046e-01 6.29482453e-01 -9.62795790e-03 4.06577468e+02] [ 1.24793961e-02 -1.09171651e-04 9.99922123e-01 8.18498014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6527550960001 meters 0.020032418776238563 Centerline is valid? [True, True] Translation: X:24.35, Y:406.60, Z:8.18 [[ 6.29725909e-01 -7.76779889e-01 -7.63440587e-03 2.43461324e+01] [ 7.76724671e-01 6.29772177e-01 -9.26228752e-03 4.06599129e+02] [ 1.20026951e-02 -9.71289636e-05 9.99927960e-01 8.18435137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.682755096 meters 0.019735024555158093 Centerline is valid? [True, True] Translation: X:24.36, Y:406.62, Z:8.19 [[ 6.29461777e-01 -7.76992644e-01 -7.76554020e-03 2.43628158e+01] [ 7.76935458e-01 6.29509668e-01 -9.42718763e-03 4.06622235e+02] [ 1.22133381e-02 -9.92692584e-05 9.99925410e-01 8.18563426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.712755096 meters 0.01996675840273069 Centerline is valid? [True, True] Translation: X:24.38, Y:406.64, Z:8.19 [[ 6.29135835e-01 -7.77250322e-01 -8.36888104e-03 2.43794668e+01] [ 7.77183860e-01 6.29191485e-01 -1.01648007e-02 4.06643804e+02] [ 1.31662233e-02 -1.09118904e-04 9.99913316e-01 8.18501478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.742755096 meters 0.02006531756569975 Centerline is valid? [True, True] Translation: X:24.40, Y:406.67, Z:8.18 [[ 6.28801873e-01 -7.77518031e-01 -8.59748075e-03 2.43969025e+01] [ 7.77447833e-01 6.28860635e-01 -1.04483883e-02 4.06666401e+02] [ 1.35304275e-02 -1.14126626e-04 9.99908453e-01 8.18446185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.772755096 meters 0.02054879383966396 Centerline is valid? [True, True] Translation: X:24.41, Y:406.69, Z:8.18 [[ 6.28570632e-01 -7.77701320e-01 -8.92290891e-03 2.44142457e+01] [ 7.77625649e-01 6.28633950e-01 -1.08492952e-02 4.06686849e+02] [ 1.40467547e-02 -1.19134476e-04 9.99901332e-01 8.18288384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.802755096 meters 0.020430344585380945 Centerline is valid? [True, True] Translation: X:24.43, Y:406.71, Z:8.18 [[ 6.27698908e-01 -7.78405735e-01 -8.86531175e-03 2.44314326e+01] [ 7.78331022e-01 6.27761496e-01 -1.07853562e-02 4.06709462e+02] [ 1.39606845e-02 -1.30190851e-04 9.99902536e-01 8.18394244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.832755096 meters 0.020869219513770073 Centerline is valid? [True, True] Translation: X:24.45, Y:406.73, Z:8.18 [[ 6.26087631e-01 -7.79709901e-01 -8.16992127e-03 2.44489432e+01] [ 7.79646481e-01 6.26140918e-01 -9.94565818e-03 4.06729524e+02] [ 1.28702502e-02 -1.42796796e-04 9.99917165e-01 8.18479288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.862755096 meters 0.021293910143526728 Centerline is valid? [True, True] Translation: X:24.47, Y:406.75, Z:8.19 [[ 6.23881899e-01 -7.81483502e-01 -7.41028138e-03 2.44682386e+01] [ 7.81431391e-01 6.23925886e-01 -9.02610251e-03 4.06751327e+02] [ 1.16772166e-02 -1.59404514e-04 9.99931806e-01 8.18672799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.892755096 meters 0.021610238401491507 Centerline is valid? [True, True] Translation: X:24.49, Y:406.77, Z:8.19 [[ 6.22712127e-01 -7.82418356e-01 -7.15000008e-03 2.44870756e+01] [ 7.82369845e-01 6.22753152e-01 -8.71423947e-03 4.06773019e+02] [ 1.12708660e-02 -1.67481859e-04 9.99936468e-01 8.18752565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9227550960001 meters 0.022455375330249282 Centerline is valid? [True, True] Translation: X:24.51, Y:406.79, Z:8.19 [[ 6.21666696e-01 -7.83251122e-01 -6.94253270e-03 2.45059090e+01] [ 7.83205383e-01 6.21705436e-01 -8.46636568e-03 4.06792698e+02] [ 1.09475007e-02 -1.74171409e-04 9.99940059e-01 8.18784336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.952755096 meters 0.02246153278088829 Centerline is valid? [True, True] Translation: X:24.52, Y:406.82, Z:8.19 [[ 6.20441255e-01 -7.84224316e-01 -6.69861517e-03 2.45229184e+01] [ 7.84181739e-01 6.20477389e-01 -8.17372218e-03 4.06815322e+02] [ 1.05663709e-02 -1.81617248e-04 9.99944158e-01 8.18869940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.982755096 meters 0.022471560895516215 Centerline is valid? [True, True] Translation: X:24.54, Y:406.84, Z:8.19 [[ 6.20079879e-01 -7.84511033e-01 -6.58657921e-03 2.45404266e+01] [ 7.84469833e-01 6.20114833e-01 -8.04204401e-03 4.06837853e+02] [ 1.03935077e-02 -1.80263028e-04 9.99945970e-01 8.18863826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.012755096 meters 0.022460154117686704 Centerline is valid? [True, True] Translation: X:24.56, Y:406.86, Z:8.19 [[ 6.20280340e-01 -7.84351490e-01 -6.71121457e-03 2.45570712e+01] [ 7.84308654e-01 6.20316620e-01 -8.19917108e-03 4.06859576e+02] [ 1.05941100e-02 -1.77879043e-04 9.99943865e-01 8.18811944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0427550960001 meters 0.02235247111677075 Centerline is valid? [True, True] Translation: X:24.57, Y:406.88, Z:8.19 [[ 6.20631956e-01 -7.84072253e-01 -6.83207696e-03 2.45742431e+01] [ 7.84027789e-01 6.20669535e-01 -8.35191421e-03 4.06881500e+02] [ 1.07889662e-02 -1.73073341e-04 9.99941782e-01 8.18816123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.072755096 meters 0.02180938637023864 Centerline is valid? [True, True] Translation: X:24.59, Y:406.90, Z:8.19 [[ 6.20686850e-01 -7.84027540e-01 -6.97506446e-03 2.45907168e+01] [ 7.83981131e-01 6.20726016e-01 -8.53224492e-03 4.06904619e+02] [ 1.10191190e-02 -1.72466706e-04 9.99939273e-01 8.18887342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.102755096 meters 0.021630155170961875 Centerline is valid? [True, True] Translation: X:24.61, Y:406.93, Z:8.19 [[ 6.21516032e-01 -7.83372064e-01 -6.78456433e-03 2.46069445e+01] [ 7.83328072e-01 6.21553043e-01 -8.30344477e-03 4.06926828e+02] [ 1.07216533e-02 -1.53815647e-04 9.99942510e-01 8.18942791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.132755096 meters 0.02150069784665696 Centerline is valid? [True, True] Translation: X:24.62, Y:406.95, Z:8.19 [[ 6.21505109e-01 -7.83382942e-01 -6.52423276e-03 2.46242292e+01] [ 7.83342217e-01 6.21539335e-01 -7.98915685e-03 4.06949604e+02] [ 1.03136365e-02 -1.45405161e-04 9.99946803e-01 8.19020527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1627550960001 meters 0.02117175970877748 Centerline is valid? [True, True] Translation: X:24.64, Y:406.97, Z:8.19 [[ 6.22225608e-01 -7.82814013e-01 -6.12496125e-03 2.46402161e+01] [ 7.82778052e-01 6.22255740e-01 -7.50438945e-03 4.06971708e+02] [ 9.68583351e-03 -1.25061943e-04 9.99953083e-01 8.19158967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.192755096 meters 0.021437430424798332 Centerline is valid? [True, True] Translation: X:24.66, Y:406.99, Z:8.19 [[ 6.22391875e-01 -7.82683368e-01 -5.92446848e-03 2.46578609e+01] [ 7.82649677e-01 6.22420061e-01 -7.26301940e-03 4.06992619e+02] [ 9.37215252e-03 -1.16339069e-04 9.99956074e-01 8.19183803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.222755096 meters 0.021304304889866107 Centerline is valid? [True, True] Translation: X:24.68, Y:407.02, Z:8.19 [[ 6.22444900e-01 -7.82642049e-01 -5.81121634e-03 2.46753524e+01] [ 7.82609591e-01 6.22472016e-01 -7.12864513e-03 4.07015043e+02] [ 9.19649698e-03 -1.10724841e-04 9.99957705e-01 8.19229549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.252755096 meters 0.020658561638070783 Centerline is valid? [True, True] Translation: X:24.69, Y:407.04, Z:8.19 [[ 6.23097841e-01 -7.82123835e-01 -5.60244475e-03 2.46907590e+01] [ 7.82093609e-01 6.23123019e-01 -6.87673796e-03 4.07038314e+02] [ 8.86947295e-03 -9.67556617e-05 9.99960661e-01 8.19317761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2827550960001 meters 0.020336913683816325 Centerline is valid? [True, True] Translation: X:24.71, Y:407.06, Z:8.19 [[ 6.24640980e-01 -7.80889459e-01 -5.94133353e-03 2.47055548e+01] [ 7.80855365e-01 6.24669229e-01 -7.29745631e-03 4.07062149e+02] [ 9.40987495e-03 -8.10319083e-05 9.99955723e-01 8.19262183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.312755096 meters 0.020162178282969245 Centerline is valid? [True, True] Translation: X:24.72, Y:407.08, Z:8.19 [[ 6.25243912e-01 -7.80406663e-01 -5.95740101e-03 2.47215309e+01] [ 7.80372319e-01 6.25272289e-01 -7.32183381e-03 4.07084726e+02] [ 9.43900566e-03 -7.10588230e-05 9.99955449e-01 8.19183585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.342755096 meters 0.020139961775949178 Centerline is valid? [True, True] Translation: X:24.74, Y:407.11, Z:8.19 [[ 6.25933470e-01 -7.79851678e-01 -6.21708722e-03 2.47385555e+01] [ 7.79814198e-01 6.25964341e-01 -7.64595462e-03 4.07107381e+02] [ 9.85438545e-03 -6.23139720e-05 9.99951442e-01 8.19146665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.372755096 meters 0.02004970808012203 Centerline is valid? [True, True] Translation: X:24.76, Y:407.13, Z:8.19 [[ 6.26195767e-01 -7.79639308e-01 -6.43517112e-03 2.47551281e+01] [ 7.79599092e-01 6.26228829e-01 -7.91896725e-03 4.07128787e+02] [ 1.02038278e-02 -5.80297891e-05 9.99947938e-01 8.19151390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4027550960001 meters 0.02002712456682372 Centerline is valid? [True, True] Translation: X:24.77, Y:407.15, Z:8.19 [[ 6.26545234e-01 -7.79357620e-01 -6.53983198e-03 2.47724862e+01] [ 7.79316019e-01 6.26579362e-01 -8.05262950e-03 4.07150906e+02] [ 1.03736019e-02 -5.12591968e-05 9.99946191e-01 8.19160457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.432755096 meters 0.020178180695354625 Centerline is valid? [True, True] Translation: X:24.79, Y:407.17, Z:8.19 [[ 6.26579572e-01 -7.79328999e-01 -6.65971821e-03 2.47901698e+01] [ 7.79285803e-01 6.26614961e-01 -8.20538703e-03 4.07172925e+02] [ 1.05677751e-02 -4.84959642e-05 9.99944158e-01 8.19176323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.462755096 meters 0.020148110438838726 Centerline is valid? [True, True] Translation: X:24.81, Y:407.20, Z:8.19 [[ 6.26160340e-01 -7.79665695e-01 -6.68076084e-03 2.48071796e+01] [ 7.79622191e-01 6.26195977e-01 -8.23641835e-03 4.07195513e+02] [ 1.06051184e-02 -5.11508805e-05 9.99943763e-01 8.19182124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.492755096 meters 0.020148110438838726 Centerline is valid? [True, True] Translation: X:24.82, Y:407.22, Z:8.19 [[ 6.25924530e-01 -7.79855040e-01 -6.67826947e-03 2.48244194e+01] [ 7.79811525e-01 6.25960154e-01 -8.23843829e-03 4.07217055e+02] [ 1.06051182e-02 -5.11508795e-05 9.99943763e-01 8.19194048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.522755096 meters 0.020254505414630513 Centerline is valid? [True, True] Translation: X:24.84, Y:407.24, Z:8.19 [[ 6.25259777e-01 -7.80389946e-01 -6.46100010e-03 2.48414169e+01] [ 7.80349193e-01 6.25293155e-01 -7.97542592e-03 4.07238149e+02] [ 1.02639613e-02 -5.51231747e-05 9.99947323e-01 8.19154312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.552755096 meters 0.020270488243497344 Centerline is valid? [True, True] Translation: X:24.86, Y:407.26, Z:8.19 [[ 6.24235249e-01 -7.81208291e-01 -6.63020041e-03 2.48596617e+01] [ 7.81165368e-01 6.24270455e-01 -8.18948197e-03 4.07260141e+02] [ 1.05367294e-02 -6.71196250e-05 9.99944485e-01 8.19186418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.582755096 meters 0.020775978668157277 Centerline is valid? [True, True] Translation: X:24.88, Y:407.28, Z:8.19 [[ 6.22253069e-01 -7.82788406e-01 -6.59004657e-03 2.48780617e+01] [ 7.82746043e-01 6.22287958e-01 -8.14428161e-03 4.07279435e+02] [ 1.04761558e-02 -9.05286463e-05 9.99945120e-01 8.19244470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.612755096 meters 0.020954720529003743 Centerline is valid? [True, True] Translation: X:24.90, Y:407.30, Z:8.19 [[ 6.21275026e-01 -7.83565526e-01 -6.51221774e-03 2.48961965e+01] [ 7.83524154e-01 6.21309148e-01 -8.05254787e-03 4.07300541e+02] [ 1.03557994e-02 -9.96330107e-05 9.99946372e-01 8.19281120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.642755096 meters 0.021410723740301826 Centerline is valid? [True, True] Translation: X:24.91, Y:407.32, Z:8.19 [[ 6.19348090e-01 -7.85088440e-01 -6.63968740e-03 2.49142016e+01] [ 7.85045470e-01 6.19383666e-01 -8.21481919e-03 4.07320823e+02] [ 1.05618735e-02 -1.24623946e-04 9.99944214e-01 8.19330842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6727550960001 meters 0.02152324432153213 Centerline is valid? [True, True] Translation: X:24.93, Y:407.34, Z:8.19 [[ 6.18416597e-01 -7.85820990e-01 -6.80319213e-03 2.49316158e+01] [ 7.85775870e-01 6.18454002e-01 -8.42200224e-03 4.07342903e+02] [ 1.08256475e-02 -1.37478241e-04 9.99941392e-01 8.19336979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.702755096 meters 0.021484019989124574 Centerline is valid? [True, True] Translation: X:24.95, Y:407.37, Z:8.19 [[ 6.16745939e-01 -7.87129203e-01 -7.21562630e-03 2.49483904e+01] [ 7.87078471e-01 6.16788124e-01 -8.93809900e-03 4.07365674e+02] [ 1.14859513e-02 -1.66727861e-04 9.99934020e-01 8.19440152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.732755096 meters 0.02184205280266874 Centerline is valid? [True, True] Translation: X:24.97, Y:407.39, Z:8.19 [[ 6.15710365e-01 -7.87938979e-01 -7.27405102e-03 2.49661046e+01] [ 7.87887429e-01 6.15753305e-01 -9.01480173e-03 4.07386809e+02] [ 1.15821346e-02 -1.80626493e-04 9.99932909e-01 8.19446315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.762755096 meters 0.02224245702936244 Centerline is valid? [True, True] Translation: X:24.98, Y:407.41, Z:8.20 [[ 6.14233802e-01 -7.89085181e-01 -7.83672061e-03 2.49842028e+01] [ 7.89025373e-01 6.14283755e-01 -9.71744022e-03 4.07409228e+02] [ 1.24818582e-02 -2.14591153e-04 9.99922076e-01 8.19510172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7927550960001 meters 0.022289629545731656 Centerline is valid? [True, True] Translation: X:25.00, Y:407.43, Z:8.20 [[ 6.13628132e-01 -7.89554605e-01 -8.00264063e-03 2.50016104e+01] [ 7.89492198e-01 6.13680272e-01 -9.92942690e-03 4.07431134e+02] [ 1.27508874e-02 -2.25046670e-04 9.99918679e-01 8.19516048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.822755096 meters 0.02252723511590381 Centerline is valid? [True, True] Translation: X:25.02, Y:407.45, Z:8.20 [[ 6.12903659e-01 -7.90115292e-01 -8.18114694e-03 2.50188188e+01] [ 7.90050036e-01 6.12958212e-01 -1.01573408e-02 4.07453185e+02] [ 1.30401715e-02 -2.38044091e-04 9.99914945e-01 8.19554731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.852755096 meters 0.022680751097556556 Centerline is valid? [True, True] Translation: X:25.04, Y:407.48, Z:8.20 [[ 6.12514169e-01 -7.90414874e-01 -8.40949253e-03 2.50358407e+01] [ 7.90345863e-01 6.12571846e-01 -1.04475381e-02 4.07475855e+02] [ 1.34093079e-02 -2.47142480e-04 9.99910061e-01 8.19610296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.882755096 meters 0.02267500987593457 Centerline is valid? [True, True] Translation: X:25.05, Y:407.50, Z:8.20 [[ 6.12868448e-01 -7.90136254e-01 -8.77302924e-03 2.50512463e+01] [ 7.90061041e-01 6.12931187e-01 -1.09046994e-02 4.07498124e+02] [ 1.39934616e-02 -2.48082402e-04 9.99902056e-01 8.19566468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9127550960001 meters 0.022096628075117627 Centerline is valid? [True, True] Translation: X:25.07, Y:407.52, Z:8.20 [[ 6.12992568e-01 -7.90040958e-01 -8.68307804e-03 2.50668998e+01] [ 7.89967183e-01 6.13054017e-01 -1.07991840e-02 4.07521655e+02] [ 1.38549935e-02 -2.39527170e-04 9.99903986e-01 8.19627514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.942755096 meters 0.02240167815014765 Centerline is valid? [True, True] Translation: X:25.08, Y:407.54, Z:8.20 [[ 6.13471774e-01 -7.89665689e-01 -8.97113525e-03 2.50840325e+01] [ 7.89586802e-01 6.13537321e-01 -1.11641497e-02 4.07543115e+02] [ 1.43200723e-02 -2.34599268e-04 9.99897435e-01 8.19559320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.972755096 meters 0.02216823306460983 Centerline is valid? [True, True] Translation: X:25.10, Y:407.57, Z:8.20 [[ 6.13892939e-01 -7.89339449e-01 -8.87090993e-03 2.51004799e+01] [ 7.89262186e-01 6.13956990e-01 -1.10460938e-02 4.07566056e+02] [ 1.41654748e-02 -2.20354756e-04 9.99899640e-01 8.19606664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.002755096 meters 0.021337865098597378 Centerline is valid? [True, True] Translation: X:25.12, Y:407.59, Z:8.20 [[ 6.14932810e-01 -7.88530607e-01 -8.78183011e-03 2.51155724e+01] [ 7.88454714e-01 6.14995483e-01 -1.09417101e-02 4.07590797e+02] [ 1.40286592e-02 -1.95658780e-04 9.99901574e-01 8.19731217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0327550960001 meters 0.021776585474577365 Centerline is valid? [True, True] Translation: X:25.13, Y:407.61, Z:8.20 [[ 6.15486508e-01 -7.88098596e-01 -8.77283573e-03 2.51324397e+01] [ 7.88022727e-01 6.15548999e-01 -1.09366858e-02 4.07611637e+02] [ 1.40192970e-02 -1.81811403e-04 9.99901708e-01 8.19642038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.062755096 meters 0.02099799131862877 Centerline is valid? [True, True] Translation: X:25.15, Y:407.64, Z:8.20 [[ 6.15588107e-01 -7.88019907e-01 -8.71256302e-03 2.51477708e+01] [ 7.87944976e-01 6.15649734e-01 -1.08682515e-02 4.07635456e+02] [ 1.39282856e-02 -1.74653926e-04 9.99902982e-01 8.19801749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.092755096 meters 0.021039505590747833 Centerline is valid? [True, True] Translation: X:25.16, Y:407.66, Z:8.20 [[ 6.15430775e-01 -7.88144506e-01 -8.55570756e-03 2.51640430e+01] [ 7.88072174e-01 6.15490219e-01 -1.06789507e-02 4.07657059e+02] [ 1.36825107e-02 -1.70360134e-04 9.99906376e-01 8.19882439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.122755096 meters 0.021334990627512228 Centerline is valid? [True, True] Translation: X:25.18, Y:407.68, Z:8.20 [[ 6.14631336e-01 -7.88767077e-01 -8.64981692e-03 2.51811401e+01] [ 7.88693120e-01 6.14692171e-01 -1.08026680e-02 4.07677744e+02] [ 1.38377636e-02 -1.82392833e-04 9.99904237e-01 8.19904797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1527550960001 meters 0.021999445616230073 Centerline is valid? [True, True] Translation: X:25.20, Y:407.70, Z:8.20 [[ 6.13044044e-01 -7.90002618e-01 -8.53609229e-03 2.51991421e+01] [ 7.89930630e-01 6.13103436e-01 -1.06666585e-02 4.07698244e+02] [ 1.36601956e-02 -2.03789310e-04 9.99906674e-01 8.19914995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.182755096 meters 0.022246124453437554 Centerline is valid? [True, True] Translation: X:25.22, Y:407.72, Z:8.20 [[ 6.11953471e-01 -7.90849362e-01 -8.38068050e-03 2.52172642e+01] [ 7.90779968e-01 6.12010818e-01 -1.04786436e-02 4.07720064e+02] [ 1.34160957e-02 -2.14831912e-04 9.99909977e-01 8.19968670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.212755096 meters 0.022839173979764142 Centerline is valid? [True, True] Translation: X:25.24, Y:407.74, Z:8.20 [[ 6.09955227e-01 -7.92393548e-01 -8.19061608e-03 2.52359833e+01] [ 7.92327324e-01 6.10010171e-01 -1.02471099e-02 4.07741242e+02] [ 1.31161029e-02 -2.39370652e-04 9.99913952e-01 8.20081799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.242755096 meters 0.023562159188339333 Centerline is valid? [True, True] Translation: X:25.25, Y:407.76, Z:8.20 [[ 6.08909120e-01 -7.93198147e-01 -8.14759167e-03 2.52537173e+01] [ 7.93132622e-01 6.08963576e-01 -1.01984369e-02 4.07761650e+02] [ 1.30509678e-02 -2.52199505e-04 9.99914801e-01 8.20066264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.272755096 meters 0.023211598899355628 Centerline is valid? [True, True] Translation: X:25.27, Y:407.78, Z:8.20 [[ 6.07490962e-01 -7.94283466e-01 -8.27692156e-03 2.52705241e+01] [ 7.94215871e-01 6.07547282e-01 -1.03658754e-02 4.07784671e+02] [ 1.32620647e-02 -2.76486823e-04 9.99912017e-01 8.20182240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.302755096 meters 0.02379355352487456 Centerline is valid? [True, True] Translation: X:25.29, Y:407.81, Z:8.20 [[ 6.06960728e-01 -7.94684755e-01 -8.64955300e-03 2.52883897e+01] [ 7.94610889e-01 6.07022285e-01 -1.08388947e-02 4.07805677e+02] [ 1.38639758e-02 -2.94245567e-04 9.99903847e-01 8.20146343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.332755096 meters 0.024295437955449885 Centerline is valid? [True, True] Translation: X:25.31, Y:407.83, Z:8.20 [[ 6.05909960e-01 -7.95484021e-01 -8.84835368e-03 2.53064092e+01] [ 7.95406710e-01 6.05974483e-01 -1.10946644e-02 4.07827760e+02] [ 1.41875048e-02 -3.15672248e-04 9.99899303e-01 8.20141665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.362755096 meters 0.02535051487398425 Centerline is valid? [True, True] Translation: X:25.32, Y:407.85, Z:8.20 [[ 6.05495823e-01 -7.95797965e-01 -8.96703384e-03 2.53241554e+01] [ 7.95718496e-01 6.05562132e-01 -1.12507816e-02 4.07847781e+02] [ 1.43834452e-02 -3.22933403e-04 9.99896501e-01 8.20086346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.392755096 meters 0.0257651881728421 Centerline is valid? [True, True] Translation: X:25.34, Y:407.87, Z:8.20 [[ 6.05174457e-01 -7.96038166e-01 -9.33361174e-03 2.53411037e+01] [ 7.95951980e-01 6.05246334e-01 -1.17183889e-02 4.07868675e+02] [ 1.49774191e-02 -3.37437109e-04 9.99887775e-01 8.20052206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4227550960001 meters 0.02424003004359677 Centerline is valid? [True, True] Translation: X:25.36, Y:407.89, Z:8.20 [[ 6.04737903e-01 -7.96366777e-01 -9.59298473e-03 2.53553185e+01] [ 7.96275656e-01 6.04813884e-01 -1.20517728e-02 4.07892794e+02] [ 1.53996018e-02 -3.50496393e-04 9.99881358e-01 8.20198717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.452755096 meters 0.02417861461085392 Centerline is valid? [True, True] Translation: X:25.37, Y:407.92, Z:8.20 [[ 6.04609026e-01 -7.96463746e-01 -9.66580374e-03 2.53726208e+01] [ 7.96371128e-01 6.04686182e-01 -1.21510569e-02 4.07915290e+02] [ 1.55226543e-02 -3.50928333e-04 9.99879455e-01 8.20206794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.482755096 meters 0.023819918511833318 Centerline is valid? [True, True] Translation: X:25.39, Y:407.94, Z:8.20 [[ 6.04522815e-01 -7.96527938e-01 -9.76786202e-03 2.53893915e+01] [ 7.96433236e-01 6.04601622e-01 -1.22873492e-02 4.07937778e+02] [ 1.56928822e-02 -3.51467028e-04 9.99876797e-01 8.20304748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.512755096 meters 0.024141529571809966 Centerline is valid? [True, True] Translation: X:25.41, Y:407.96, Z:8.20 [[ 6.04386237e-01 -7.96634492e-01 -9.52700678e-03 2.54064981e+01] [ 7.96544307e-01 6.04461223e-01 -1.19915031e-02 4.07958772e+02] [ 1.53115512e-02 -3.41183577e-04 9.99882713e-01 8.20328481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5427550960001 meters 0.02366428430436601 Centerline is valid? [True, True] Translation: X:25.42, Y:407.98, Z:8.20 [[ 6.04256656e-01 -7.96735606e-01 -9.28805322e-03 2.54229013e+01] [ 7.96649792e-01 6.04327944e-01 -1.16980750e-02 4.07981302e+02] [ 1.49333030e-02 -3.30685996e-04 9.99888437e-01 8.20448463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.572755096 meters 0.023612251091229018 Centerline is valid? [True, True] Translation: X:25.44, Y:408.00, Z:8.21 [[ 6.04310232e-01 -7.96696475e-01 -9.15806865e-03 2.54400415e+01] [ 7.96612931e-01 6.04379536e-01 -1.15418318e-02 4.08003455e+02] [ 1.47302860e-02 -3.20588879e-04 9.99891452e-01 8.20542962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.602755096 meters 0.02368200979804251 Centerline is valid? [True, True] Translation: X:25.46, Y:408.02, Z:8.21 [[ 6.04376502e-01 -7.96644815e-01 -9.27808850e-03 2.54569261e+01] [ 7.96558956e-01 6.04447630e-01 -1.17001106e-02 4.08024532e+02] [ 1.49289510e-02 -3.19272573e-04 9.99888506e-01 8.20567507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.632755096 meters 0.02343393545142454 Centerline is valid? [True, True] Translation: X:25.47, Y:408.05, Z:8.21 [[ 6.04755380e-01 -7.96360740e-01 -8.97231243e-03 2.54743288e+01] [ 7.96280317e-01 6.04821861e-01 -1.13213583e-02 4.08047034e+02] [ 1.44425360e-02 -2.97823423e-04 9.99895657e-01 8.20678884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6627550960001 meters 0.023170552842868116 Centerline is valid? [True, True] Translation: X:25.49, Y:408.07, Z:8.21 [[ 6.05207740e-01 -7.96018030e-01 -8.88184581e-03 2.54912348e+01] [ 7.95939084e-01 6.05272844e-01 -1.12142261e-02 4.08069384e+02] [ 1.43026663e-02 -2.82471765e-04 9.99897672e-01 8.20687690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.692755096 meters 0.022267428321186954 Centerline is valid? [True, True] Translation: X:25.51, Y:408.09, Z:8.21 [[ 6.06863400e-01 -7.94755220e-01 -8.99750772e-03 2.55078709e+01] [ 7.94673967e-01 6.06930044e-01 -1.13669609e-02 4.08093111e+02] [ 1.44948092e-02 -2.51892644e-04 9.99894913e-01 8.20811362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.722755096 meters 0.021909689096139516 Centerline is valid? [True, True] Translation: X:25.52, Y:408.12, Z:8.21 [[ 6.07986905e-01 -7.93896263e-01 -8.98037457e-03 2.55243359e+01] [ 7.93815127e-01 6.08053182e-01 -1.13522208e-02 4.08115534e+02] [ 1.44730310e-02 -2.26755588e-04 9.99895235e-01 8.20807691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.752755096 meters 0.023064766531525987 Centerline is valid? [True, True] Translation: X:25.54, Y:408.14, Z:8.21 [[ 6.08682295e-01 -7.93366732e-01 -8.66561119e-03 2.55403548e+01] [ 7.93291035e-01 6.08743943e-01 -1.09611115e-02 4.08138809e+02] [ 1.39713195e-02 -2.02517178e-04 9.99902376e-01 8.20614633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7827550960001 meters 0.021813925844601803 Centerline is valid? [True, True] Translation: X:25.55, Y:408.16, Z:8.21 [[ 6.12133027e-01 -7.90708941e-01 -8.51631603e-03 2.55546355e+01] [ 7.90635501e-01 6.12192251e-01 -1.07773888e-02 4.08162826e+02] [ 1.37354004e-02 -1.36106171e-04 9.99905656e-01 8.20634471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.812755096 meters 0.02100701045122649 Centerline is valid? [True, True] Translation: X:25.57, Y:408.19, Z:8.21 [[ 6.14899872e-01 -7.88559487e-01 -8.49013731e-03 2.55694414e+01] [ 7.88486211e-01 6.14958477e-01 -1.07502118e-02 4.08187533e+02] [ 1.36982634e-02 -8.40523516e-05 9.99906171e-01 8.20644084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.842755096 meters 0.01945361556875278 Centerline is valid? [True, True] Translation: X:25.59, Y:408.21, Z:8.21 [[ 6.15849565e-01 -7.87815061e-01 -8.76029398e-03 2.55853380e+01] [ 7.87736879e-01 6.15911865e-01 -1.10988672e-02 4.08208951e+02] [ 1.41394238e-02 -6.55741014e-05 9.99900031e-01 8.20776151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.872755096 meters 0.019273104840867757 Centerline is valid? [True, True] Translation: X:25.60, Y:408.23, Z:8.21 [[ 6.16373941e-01 -7.87405006e-01 -8.74761675e-03 2.56025038e+01] [ 7.87326913e-01 6.16436009e-01 -1.10895795e-02 4.08231148e+02] [ 1.41243364e-02 -5.19062761e-05 9.99900245e-01 8.20756055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9027550960001 meters 0.019157694640971456 Centerline is valid? [True, True] Translation: X:25.62, Y:408.25, Z:8.21 [[ 6.16450213e-01 -7.87348371e-01 -8.46623021e-03 2.56200751e+01] [ 7.87275122e-01 6.16508346e-01 -1.07396912e-02 4.08253252e+02] [ 1.36753800e-02 -4.47674825e-05 9.99906487e-01 8.20868951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.932755096 meters 0.01911378096229343 Centerline is valid? [True, True] Translation: X:25.64, Y:408.27, Z:8.21 [[ 6.16310838e-01 -7.87465366e-01 -7.69730786e-03 2.56377168e+01] [ 7.87404758e-01 6.16358902e-01 -9.76988298e-03 4.08273304e+02] [ 1.24377487e-02 -3.96120702e-05 9.99922647e-01 8.20950364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.962755096 meters 0.019059415713868894 Centerline is valid? [True, True] Translation: X:25.66, Y:408.29, Z:8.21 [[ 6.16045569e-01 -7.87675037e-01 -7.47623544e-03 2.56551323e+01] [ 7.87617807e-01 6.16090931e-01 -9.49502359e-03 4.08294800e+02] [ 1.20850339e-02 -3.90489531e-05 9.99926973e-01 8.20992542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.992755096 meters 0.01905598924369276 Centerline is valid? [True, True] Translation: X:25.67, Y:408.31, Z:8.21 [[ 6.15429188e-01 -7.88160807e-01 -7.03254233e-03 2.56730511e+01] [ 7.88110141e-01 6.15469366e-01 -8.93670750e-03 4.08314877e+02] [ 1.13718770e-02 -4.25072897e-05 9.99935337e-01 8.21045036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.022755096 meters 0.019024178584208344 Centerline is valid? [True, True] Translation: X:25.69, Y:408.34, Z:8.21 [[ 6.14689461e-01 -7.88740053e-01 -6.78197989e-03 2.56914065e+01] [ 7.88692913e-01 6.14726871e-01 -8.62343472e-03 4.08336118e+02] [ 1.09707136e-02 -4.81650339e-05 9.99939819e-01 8.21075335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.052755096 meters 0.01908086227342999 Centerline is valid? [True, True] Translation: X:25.71, Y:408.36, Z:8.21 [[ 6.14079474e-01 -7.89212775e-01 -7.04241334e-03 2.57097469e+01] [ 7.89161908e-01 6.14119853e-01 -8.96045796e-03 4.08356675e+02] [ 1.13965937e-02 -5.51710346e-05 9.99935055e-01 8.21036753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.082755096 meters 0.019063027822614077 Centerline is valid? [True, True] Translation: X:25.73, Y:408.38, Z:8.21 [[ 6.13055270e-01 -7.90005762e-01 -7.35747137e-03 2.57296188e+01] [ 7.89950225e-01 6.13099415e-01 -9.36749431e-03 4.08376444e+02] [ 1.19112359e-02 -6.92444135e-05 9.99929056e-01 8.21058579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.112755096 meters 0.019113494648142524 Centerline is valid? [True, True] Translation: X:25.75, Y:408.40, Z:8.21 [[ 6.12537676e-01 -7.90408405e-01 -7.22144298e-03 2.57485629e+01] [ 7.90354863e-01 6.12580238e-01 -9.20016743e-03 4.08397878e+02] [ 1.16956029e-02 -7.20533994e-05 9.99931602e-01 8.21058678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.142755096 meters 0.01910822261917395 Centerline is valid? [True, True] Translation: X:25.77, Y:408.42, Z:8.21 [[ 6.11877339e-01 -7.90914766e-01 -7.74305458e-03 2.57683109e+01] [ 7.90853168e-01 6.11926324e-01 -9.87119979e-03 4.08418754e+02] [ 1.25454566e-02 -8.36557935e-05 9.99921299e-01 8.21032046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1727550960001 meters 0.019385799941777623 Centerline is valid? [True, True] Translation: X:25.79, Y:408.44, Z:8.21 [[ 6.11569800e-01 -7.91150727e-01 -7.93143618e-03 2.57871600e+01] [ 7.91086035e-01 6.11621223e-01 -1.01175252e-02 4.08438397e+02] [ 1.28555221e-02 -8.68755375e-05 9.99917361e-01 8.20868119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.202755096 meters 0.019280222193375267 Centerline is valid? [True, True] Translation: X:25.81, Y:408.46, Z:8.21 [[ 6.10961913e-01 -7.91617973e-01 -8.15628726e-03 2.58053995e+01] [ 7.91549518e-01 6.11016346e-01 -1.04108289e-02 4.08459631e+02] [ 1.32250241e-02 -9.54852971e-05 9.99912541e-01 8.20933098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.232755096 meters 0.019371626441718866 Centerline is valid? [True, True] Translation: X:25.83, Y:408.48, Z:8.21 [[ 6.09996015e-01 -7.92356831e-01 -8.68987146e-03 2.58267844e+01] [ 7.92279101e-01 6.10057898e-01 -1.10989716e-02 4.08479429e+02] [ 1.40956707e-02 -1.14475098e-04 9.99900645e-01 8.20975514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.262755096 meters 0.01963553811556091 Centerline is valid? [True, True] Translation: X:25.85, Y:408.50, Z:8.21 [[ 6.09551996e-01 -7.92697770e-01 -8.75271099e-03 2.58456092e+01] [ 7.92618841e-01 6.09614823e-01 -1.11866189e-02 4.08498771e+02] [ 1.42033902e-02 -1.18737737e-04 9.99899120e-01 8.20955507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2927550960001 meters 0.01971958357756379 Centerline is valid? [True, True] Translation: X:25.87, Y:408.52, Z:8.21 [[ 6.08113368e-01 -7.93802748e-01 -8.67919048e-03 2.58670214e+01] [ 7.93725152e-01 6.08175285e-01 -1.10997996e-02 4.08517922e+02] [ 1.40895205e-02 -1.38955289e-04 9.99900728e-01 8.21111045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.322755096 meters 0.019622300460740608 Centerline is valid? [True, True] Translation: X:25.89, Y:408.54, Z:8.21 [[ 6.07296248e-01 -7.94430464e-01 -8.45607309e-03 2.58861559e+01] [ 7.94356772e-01 6.07355099e-01 -1.08214008e-02 4.08539143e+02] [ 1.37326896e-02 -1.45342820e-04 9.99905692e-01 8.21235893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.352755096 meters 0.01991109230173472 Centerline is valid? [True, True] Translation: X:25.91, Y:408.56, Z:8.21 [[ 6.06070020e-01 -7.95375949e-01 -7.49871820e-03 2.59070865e+01] [ 7.95318002e-01 6.06116391e-01 -9.60187078e-03 4.08556918e+02] [ 1.21821931e-02 -1.44459567e-04 9.99925784e-01 8.21353634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.382755096 meters 0.019893693931416965 Centerline is valid? [True, True] Translation: X:25.93, Y:408.58, Z:8.21 [[ 6.05684245e-01 -7.95673150e-01 -7.12977439e-03 2.59258273e+01] [ 7.95620721e-01 6.05726191e-01 -9.13504470e-03 4.08577801e+02] [ 1.15872009e-02 -1.39643592e-04 9.99932856e-01 8.21468661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4127550960001 meters 0.019952146143283125 Centerline is valid? [True, True] Translation: X:25.94, Y:408.60, Z:8.22 [[ 6.05284836e-01 -7.95978122e-01 -7.00688655e-03 2.59441272e+01] [ 7.95927438e-01 6.05325375e-01 -8.98353942e-03 4.08597677e+02] [ 1.13921471e-02 -1.39373072e-04 9.99935098e-01 8.21511887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.442755096 meters 0.019952146143283125 Centerline is valid? [True, True] Translation: X:25.96, Y:408.62, Z:8.22 [[ 6.05038536e-01 -7.96165381e-01 -7.00403798e-03 2.59609669e+01] [ 7.96114684e-01 6.05079058e-01 -8.98576021e-03 4.08619548e+02] [ 1.13921479e-02 -1.39286281e-04 9.99935098e-01 8.21523808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.472755096 meters 0.019793132161484317 Centerline is valid? [True, True] Translation: X:25.98, Y:408.64, Z:8.22 [[ 6.04979855e-01 -7.96212445e-01 -6.71688093e-03 2.59813005e+01] [ 7.96165763e-01 6.05017128e-01 -8.62279807e-03 4.08639887e+02] [ 1.09294071e-02 -1.31131508e-04 9.99940264e-01 8.21623415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.502755096 meters 0.01973863552568316 Centerline is valid? [True, True] Translation: X:26.00, Y:408.66, Z:8.22 [[ 6.04866569e-01 -7.96299273e-01 -6.62579461e-03 2.60001399e+01] [ 7.96253795e-01 6.04902844e-01 -8.51131216e-03 4.08661192e+02] [ 1.07855137e-02 -1.27605919e-04 9.99941827e-01 8.21644928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5327550960001 meters 0.019376289605028817 Centerline is valid? [True, True] Translation: X:26.02, Y:408.68, Z:8.22 [[ 6.05724184e-01 -7.95647300e-01 -6.60208818e-03 2.60198951e+01] [ 7.95602049e-01 6.05760152e-01 -8.48627938e-03 4.08681752e+02] [ 1.07513672e-02 -1.12290228e-04 9.99942196e-01 8.21681372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.562755096 meters 0.01903852415034618 Centerline is valid? [True, True] Translation: X:26.04, Y:408.70, Z:8.22 [[ 6.06393305e-01 -7.95136616e-01 -6.70234954e-03 2.60376053e+01] [ 7.95089889e-01 6.06430335e-01 -8.62077871e-03 4.08703405e+02] [ 1.09192049e-02 -1.01387855e-04 9.99940379e-01 8.21704587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.592755096 meters 0.018583560279082183 Centerline is valid? [True, True] Translation: X:26.06, Y:408.72, Z:8.22 [[ 6.08176671e-01 -7.93772076e-01 -6.85768123e-03 2.60555336e+01] [ 7.93723004e-01 6.08215329e-01 -8.82653502e-03 4.08723645e+02] [ 1.11772039e-02 -7.50066538e-05 9.99937530e-01 8.21615093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.622755096 meters 0.01838555317490896 Centerline is valid? [True, True] Translation: X:26.07, Y:408.75, Z:8.22 [[ 6.08931344e-01 -7.93190864e-01 -7.13241127e-03 2.60733913e+01] [ 7.93137669e-01 6.08973110e-01 -9.18638830e-03 4.08745989e+02] [ 1.16300059e-02 -6.31042736e-05 9.99932367e-01 8.21619505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6527550960001 meters 0.018202275503535398 Centerline is valid? [True, True] Translation: X:26.09, Y:408.77, Z:8.22 [[ 6.10941618e-01 -7.91641561e-01 -7.34704399e-03 2.60906297e+01] [ 7.91584932e-01 6.10985792e-01 -9.46872535e-03 4.08767275e+02] [ 1.19847760e-02 -3.09709400e-05 9.99928180e-01 8.21542955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.682755096 meters 0.018753946773160265 Centerline is valid? [True, True] Translation: X:26.11, Y:408.79, Z:8.21 [[ 6.11945588e-01 -7.90866255e-01 -7.29138747e-03 2.61065656e+01] [ 7.90810356e-01 6.11989026e-01 -9.40287379e-03 4.08790375e+02] [ 1.18986647e-02 -1.20575863e-05 9.99929208e-01 8.21448966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.712755096 meters 0.017988526523512124 Centerline is valid? [True, True] Translation: X:26.12, Y:408.81, Z:8.22 [[ 6.13254884e-01 -7.89852787e-01 -7.14298633e-03 2.61228278e+01] [ 7.89799003e-01 6.13296482e-01 -9.21741717e-03 4.08813343e+02] [ 1.16611710e-02 1.11026134e-05 9.99932006e-01 8.21547125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.742755096 meters 0.018164081385646375 Centerline is valid? [True, True] Translation: X:26.14, Y:408.84, Z:8.22 [[ 6.15299509e-01 -7.88263276e-01 -6.89368348e-03 2.61388332e+01] [ 7.88213027e-01 6.15338124e-01 -8.90042254e-03 4.08835422e+02] [ 1.12578225e-02 4.27344892e-05 9.99936628e-01 8.21543770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.772755096 meters 0.018197702809261734 Centerline is valid? [True, True] Translation: X:26.16, Y:408.86, Z:8.22 [[ 6.15607756e-01 -7.88022285e-01 -6.92597561e-03 2.61562035e+01] [ 7.87971491e-01 6.15646713e-01 -8.94729225e-03 4.08857629e+02] [ 1.13146198e-02 5.05511668e-05 9.99935986e-01 8.21573246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.802755096 meters 0.01830018093496735 Centerline is valid? [True, True] Translation: X:26.17, Y:408.88, Z:8.22 [[ 6.15425810e-01 -7.88169053e-01 -6.37310064e-03 2.61734644e+01] [ 7.88125997e-01 6.15458806e-01 -8.23836742e-03 4.08878188e+02] [ 1.04156072e-02 4.72976517e-05 9.99945755e-01 8.21606637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.832755096 meters 0.01824326828325748 Centerline is valid? [True, True] Translation: X:26.19, Y:408.90, Z:8.22 [[ 6.14815706e-01 -7.88647303e-01 -6.08929159e-03 2.61905097e+01] [ 7.88607968e-01 6.14845859e-01 -7.87669670e-03 4.08898916e+02] [ 9.95591132e-03 4.06529702e-05 9.99950438e-01 8.21689544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.862755096 meters 0.01808616811257615 Centerline is valid? [True, True] Translation: X:26.21, Y:408.92, Z:8.22 [[ 6.13671594e-01 -7.89540190e-01 -5.78468140e-03 2.62077508e+01] [ 7.89504688e-01 6.13698857e-01 -7.48738435e-03 4.08920798e+02] [ 9.46164322e-03 2.77620079e-05 9.99955237e-01 8.21700602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.892755096 meters 0.018129206000667787 Centerline is valid? [True, True] Translation: X:26.22, Y:408.94, Z:8.22 [[ 6.12921548e-01 -7.90122165e-01 -5.84300456e-03 2.62247415e+01] [ 7.90085924e-01 6.12949398e-01 -7.56764951e-03 4.08942630e+02] [ 9.56083374e-03 2.18997974e-05 9.99954294e-01 8.21704196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9227550960001 meters 0.018075013649446595 Centerline is valid? [True, True] Translation: X:26.24, Y:408.96, Z:8.22 [[ 6.12119116e-01 -7.90743863e-01 -5.85936820e-03 2.62414710e+01] [ 7.90707399e-01 6.12147159e-01 -7.59378480e-03 4.08964188e+02] [ 9.59153432e-03 1.52550515e-05 9.99954000e-01 8.21689251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.952755096 meters 0.01801806703158835 Centerline is valid? [True, True] Translation: X:26.26, Y:408.99, Z:8.22 [[ 6.10839555e-01 -7.91731649e-01 -6.00276664e-03 2.62589981e+01] [ 7.91693377e-01 6.10869050e-01 -7.78467649e-03 4.08986129e+02] [ 9.83027911e-03 2.83773329e-06 9.99951682e-01 8.21638261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.982755096 meters 0.017906113609945384 Centerline is valid? [True, True] Translation: X:26.28, Y:409.01, Z:8.22 [[ 6.10182672e-01 -7.92237240e-01 -6.10425313e-03 2.62757133e+01] [ 7.92197637e-01 6.10213205e-01 -7.92136331e-03 4.09008471e+02] [ 1.00004949e-02 -2.29627508e-06 9.99949994e-01 8.21656607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.012755096 meters 0.017862968858391663 Centerline is valid? [True, True] Translation: X:26.29, Y:409.03, Z:8.22 [[ 6.09102866e-01 -7.93063229e-01 -6.66435349e-03 2.62915066e+01] [ 7.93016011e-01 6.09139323e-01 -8.65397922e-03 4.09031713e+02] [ 1.09226725e-02 -1.37754787e-05 9.99940346e-01 8.21530032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0427550960001 meters 0.017817448363128607 Centerline is valid? [True, True] Translation: X:26.31, Y:409.05, Z:8.21 [[ 6.08843817e-01 -7.93259506e-01 -6.96867644e-03 2.63073229e+01] [ 7.93207823e-01 6.08883697e-01 -9.05506755e-03 4.09054866e+02] [ 1.14261319e-02 -1.44867745e-05 9.99934720e-01 8.21489089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.072755096 meters 0.018049779671072817 Centerline is valid? [True, True] Translation: X:26.32, Y:409.08, Z:8.21 [[ 6.07053883e-01 -7.94627905e-01 -7.21632529e-03 2.63231422e+01] [ 7.94572505e-01 6.07096772e-01 -9.38314986e-03 4.09076766e+02] [ 1.18371205e-02 -3.78161062e-05 9.99929938e-01 8.21333608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.102755096 meters 0.018138304124189777 Centerline is valid? [True, True] Translation: X:26.34, Y:409.10, Z:8.21 [[ 6.06040768e-01 -7.95400739e-01 -7.22861245e-03 2.63404080e+01] [ 7.95345133e-01 6.06083874e-01 -9.40518877e-03 4.09099403e+02] [ 1.18620395e-02 -4.93139049e-05 9.99929642e-01 8.21354358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.132755096 meters 0.01832233296492284 Centerline is valid? [True, True] Translation: X:26.36, Y:409.12, Z:8.21 [[ 6.04604870e-01 -7.96494322e-01 -7.05309891e-03 2.63573967e+01] [ 7.96441391e-01 6.04646004e-01 -9.18262544e-03 4.09121455e+02] [ 1.15785371e-02 -6.55198506e-05 9.99932964e-01 8.21393691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1627550960001 meters 0.01867060423258208 Centerline is valid? [True, True] Translation: X:26.37, Y:409.14, Z:8.21 [[ 6.03637088e-01 -7.97228663e-01 -6.98026407e-03 2.63744977e+01] [ 7.97176813e-01 6.03677441e-01 -9.09263852e-03 4.09142773e+02] [ 1.14627400e-02 -7.58508258e-05 9.99934298e-01 8.21395997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.192755096 meters 0.019598059754205074 Centerline is valid? [True, True] Translation: X:26.39, Y:409.16, Z:8.21 [[ 6.01080100e-01 -7.99162431e-01 -6.49012451e-03 2.63925178e+01] [ 7.99117673e-01 6.01115129e-01 -8.45849170e-03 4.09162885e+02] [ 1.06610208e-02 -1.02142159e-04 9.99943165e-01 8.21395732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.222755096 meters 0.019941469259667218 Centerline is valid? [True, True] Translation: X:26.41, Y:409.18, Z:8.21 [[ 5.99361144e-01 -8.00458282e-01 -5.72340159e-03 2.64104864e+01] [ 8.00423495e-01 5.99388461e-01 -7.46337908e-03 4.09184621e+02] [ 9.40466446e-03 -1.07885682e-04 9.99955769e-01 8.21488969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.252755096 meters 0.020706767960030525 Centerline is valid? [True, True] Translation: X:26.43, Y:409.21, Z:8.22 [[ 5.96593692e-01 -8.02528374e-01 -4.91695488e-03 2.64290546e+01] [ 8.02502740e-01 5.96613942e-01 -6.41531184e-03 4.09205964e+02] [ 8.08199361e-03 -1.18535193e-04 9.99967333e-01 8.21618020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2827550960001 meters 0.021243188082091632 Centerline is valid? [True, True] Translation: X:26.45, Y:409.23, Z:8.22 [[ 5.95129508e-01 -8.03616387e-01 -4.64456261e-03 2.64470040e+01] [ 8.03593521e-01 5.95147619e-01 -6.06339080e-03 4.09227439e+02] [ 7.63684058e-03 -1.23837639e-04 9.99970831e-01 8.21654276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.312755096 meters 0.021504449853123043 Centerline is valid? [True, True] Translation: X:26.46, Y:409.25, Z:8.22 [[ 5.94165662e-01 -8.04330629e-01 -4.40524257e-03 2.64646562e+01] [ 8.04310054e-01 5.94181979e-01 -5.75436135e-03 4.09249718e+02] [ 7.24592483e-03 -1.24136973e-04 9.99973740e-01 8.21670564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.342755096 meters 0.022356608538365134 Centerline is valid? [True, True] Translation: X:26.48, Y:409.27, Z:8.22 [[ 5.92645821e-01 -8.05452084e-01 -4.22747533e-03 2.64827748e+01] [ 8.05433142e-01 5.92660885e-01 -5.52539926e-03 4.09270245e+02] [ 6.95590362e-03 -1.30343954e-04 9.99975799e-01 8.21664230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.372755096 meters 0.02233625061523154 Centerline is valid? [True, True] Translation: X:26.50, Y:409.29, Z:8.22 [[ 5.92362133e-01 -8.05660936e-01 -4.19052463e-03 2.64996360e+01] [ 8.05642307e-01 5.92376941e-01 -5.48026917e-03 4.09292334e+02] [ 6.89760895e-03 -1.29760001e-04 9.99976203e-01 8.21660497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4027550960001 meters 0.022393049850756665 Centerline is valid? [True, True] Translation: X:26.52, Y:409.31, Z:8.22 [[ 5.92769761e-01 -8.05359540e-01 -4.47462455e-03 2.65161355e+01] [ 8.05338263e-01 5.92786635e-01 -5.85561078e-03 4.09314097e+02] [ 7.36836963e-03 -1.32557353e-04 9.99972844e-01 8.21565749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.432755096 meters 0.021652795420038614 Centerline is valid? [True, True] Translation: X:26.53, Y:409.34, Z:8.22 [[ 5.93213073e-01 -8.05032881e-01 -4.50670797e-03 2.65317618e+01] [ 8.05011261e-01 5.93230178e-01 -5.90133152e-03 4.09337690e+02] [ 7.42428108e-03 -1.27203659e-04 9.99972432e-01 8.21571217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.462755096 meters 0.020597969434646708 Centerline is valid? [True, True] Translation: X:26.55, Y:409.36, Z:8.22 [[ 5.93650928e-01 -8.04709861e-01 -4.54046066e-03 2.65467139e+01] [ 8.04687878e-01 5.93668279e-01 -5.94931770e-03 4.09361509e+02] [ 7.48300209e-03 -1.21835685e-04 9.99971995e-01 8.21577329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.492755096 meters 0.020230802908319828 Centerline is valid? [True, True] Translation: X:26.56, Y:409.38, Z:8.22 [[ 5.94743054e-01 -8.03901927e-01 -4.73212468e-03 2.65623266e+01] [ 8.03877994e-01 5.94761868e-01 -6.20413992e-03 4.09383205e+02] [ 7.80200735e-03 -1.14181780e-04 9.99969557e-01 8.21559571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.522755096 meters 0.02027594069728468 Centerline is valid? [True, True] Translation: X:26.58, Y:409.40, Z:8.22 [[ 5.95437118e-01 -8.03388400e-01 -4.66023360e-03 2.65790157e+01] [ 8.03365151e-01 5.95455345e-01 -6.11278113e-03 4.09404804e+02] [ 7.68589846e-03 -1.04092491e-04 9.99970458e-01 8.21542783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.552755096 meters 0.020138717714681228 Centerline is valid? [True, True] Translation: X:26.60, Y:409.43, Z:8.21 [[ 5.96302966e-01 -8.02744372e-01 -4.92402976e-03 2.65953930e+01] [ 8.02718369e-01 5.96323288e-01 -6.46192771e-03 4.09426022e+02] [ 8.12358972e-03 -9.93424791e-05 9.99966998e-01 8.21485142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.582755096 meters 0.019514617621185934 Centerline is valid? [True, True] Translation: X:26.61, Y:409.45, Z:8.22 [[ 5.96341476e-01 -8.02714159e-01 -5.17909887e-03 2.66112534e+01] [ 8.02685358e-01 5.96363957e-01 -6.80053109e-03 4.09449564e+02] [ 8.54751049e-03 -1.01748088e-04 9.99963464e-01 8.21532081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.612755096 meters 0.0195247775770953 Centerline is valid? [True, True] Translation: X:26.63, Y:409.47, Z:8.22 [[ 5.96349164e-01 -8.02709964e-01 -4.93846399e-03 2.66278373e+01] [ 8.02683743e-01 5.96369604e-01 -6.48868757e-03 4.09471671e+02] [ 8.15368398e-03 -9.45013560e-05 9.99966754e-01 8.21536838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.642755096 meters 0.019105091441862405 Centerline is valid? [True, True] Translation: X:26.64, Y:409.49, Z:8.22 [[ 5.96947993e-01 -8.02262993e-01 -5.21377404e-03 2.66438151e+01] [ 8.02233711e-01 5.96970755e-01 -6.85504095e-03 4.09494411e+02] [ 8.61201629e-03 -9.05623549e-05 9.99962912e-01 8.21591692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6727550960001 meters 0.01896216759489249 Centerline is valid? [True, True] Translation: X:26.66, Y:409.52, Z:8.22 [[ 5.97575825e-01 -8.01797450e-01 -4.89720740e-03 2.66594387e+01] [ 8.01771566e-01 5.97595886e-01 -6.44302008e-03 4.09516897e+02] [ 8.09254807e-03 -7.62486113e-05 9.99967252e-01 8.21677299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.702755096 meters 0.018739181886699027 Centerline is valid? [True, True] Translation: X:26.68, Y:409.54, Z:8.22 [[ 5.97873612e-01 -8.01577605e-01 -4.52626911e-03 2.66754349e+01] [ 8.01555459e-01 5.97890741e-01 -5.95883926e-03 4.09539535e+02] [ 7.48268650e-03 -6.54229642e-05 9.99972002e-01 8.21754502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.732755096 meters 0.018630804384292658 Centerline is valid? [True, True] Translation: X:26.69, Y:409.56, Z:8.22 [[ 5.98118777e-01 -8.01395897e-01 -4.30636009e-03 2.66917018e+01] [ 8.01375820e-01 5.98134277e-01 -5.67293942e-03 4.09562441e+02] [ 7.12205195e-03 -5.79212528e-05 9.99974636e-01 8.21848841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.762755096 meters 0.018449693444754913 Centerline is valid? [True, True] Translation: X:26.71, Y:409.59, Z:8.22 [[ 5.98920348e-01 -8.00797941e-01 -4.13221764e-03 2.67073629e+01] [ 8.00779417e-01 5.98934601e-01 -5.44699592e-03 4.09586428e+02] [ 6.83687124e-03 -4.66781375e-05 9.99976627e-01 8.21927495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7927550960001 meters 0.018341265605687152 Centerline is valid? [True, True] Translation: X:26.72, Y:409.61, Z:8.22 [[ 5.99526990e-01 -8.00344516e-01 -4.00553778e-03 2.67231007e+01] [ 8.00327078e-01 5.99540370e-01 -5.28338913e-03 4.09609513e+02] [ 6.63001312e-03 -3.82059649e-05 9.99978021e-01 8.21929266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.822755096 meters 0.01803773555191641 Centerline is valid? [True, True] Translation: X:26.74, Y:409.63, Z:8.22 [[ 6.01012414e-01 -7.99226925e-01 -4.51666390e-03 2.67375970e+01] [ 7.99204689e-01 6.01029385e-01 -5.96187653e-03 4.09632320e+02] [ 7.47953997e-03 -2.65771597e-05 9.99972028e-01 8.21871258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.852755096 meters 0.017953105388445897 Centerline is valid? [True, True] Translation: X:26.75, Y:409.66, Z:8.22 [[ 6.01549720e-01 -7.98822695e-01 -4.49859705e-03 2.67538227e+01] [ 7.98800595e-01 6.01566540e-01 -5.94203231e-03 4.09655607e+02] [ 7.45283572e-03 -1.90541299e-05 9.99972227e-01 8.21826446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.882755096 meters 0.01793332612380474 Centerline is valid? [True, True] Translation: X:26.77, Y:409.68, Z:8.22 [[ 6.02167118e-01 -7.98355144e-01 -4.88122220e-03 2.67698676e+01] [ 7.98329073e-01 6.02186902e-01 -6.45185800e-03 4.09678987e+02] [ 8.09028209e-03 -1.17248624e-05 9.99967273e-01 8.21751942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9127550960001 meters 0.017988649186629412 Centerline is valid? [True, True] Translation: X:26.79, Y:409.70, Z:8.22 [[ 6.02656272e-01 -7.97984731e-01 -5.07811547e-03 2.67850934e+01] [ 7.97956468e-01 6.02677666e-01 -6.71607169e-03 4.09701253e+02] [ 8.41978944e-03 -4.63235926e-06 9.99964553e-01 8.21669782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.942755096 meters 0.017936570695024377 Centerline is valid? [True, True] Translation: X:26.80, Y:409.72, Z:8.22 [[ 6.03684443e-01 -7.97205351e-01 -5.35926366e-03 2.67997781e+01] [ 7.97173804e-01 6.03708231e-01 -7.09208749e-03 4.09724995e+02] [ 8.88928168e-03 9.11828330e-06 9.99960490e-01 8.21582204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.972755096 meters 0.017942441702544457 Centerline is valid? [True, True] Translation: X:26.82, Y:409.75, Z:8.22 [[ 6.03849716e-01 -7.97079700e-01 -5.42890710e-03 2.68152036e+01] [ 7.97047281e-01 6.03874120e-01 -7.18881026e-03 4.09746918e+02] [ 9.00843121e-03 1.38653888e-05 9.99959423e-01 8.21560827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.002755096 meters 0.01812339632748221 Centerline is valid? [True, True] Translation: X:26.83, Y:409.77, Z:8.22 [[ 6.03905353e-01 -7.97037800e-01 -5.39177604e-03 2.68314457e+01] [ 7.97005781e-01 6.03929421e-01 -7.14413633e-03 4.09769385e+02] [ 8.95039888e-03 1.71054950e-05 9.99959944e-01 8.21599889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0327550960001 meters 0.019214761536467853 Centerline is valid? [True, True] Translation: X:26.85, Y:409.79, Z:8.21 [[ 6.03684568e-01 -7.97205947e-01 -5.25551029e-03 2.68475539e+01] [ 7.97175499e-01 6.03707444e-01 -6.96751091e-03 4.09791100e+02] [ 8.72733182e-03 1.66147785e-05 9.99961916e-01 8.21474016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.062755096 meters 0.018260386295085505 Centerline is valid? [True, True] Translation: X:26.86, Y:409.81, Z:8.22 [[ 6.02995471e-01 -7.97727910e-01 -5.16177097e-03 2.68649991e+01] [ 7.97698524e-01 6.03017563e-01 -6.84712808e-03 4.09812713e+02] [ 8.57478372e-03 1.12501386e-05 9.99963236e-01 8.21664713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.092755096 meters 0.018263079741299263 Centerline is valid? [True, True] Translation: X:26.88, Y:409.83, Z:8.22 [[ 6.02117137e-01 -7.98392157e-01 -4.99170859e-03 2.68817478e+01] [ 7.98364664e-01 6.02137828e-01 -6.62564721e-03 4.09834110e+02] [ 8.29556133e-03 4.21197329e-06 9.99965591e-01 8.21679695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.122755096 meters 0.01834294219181123 Centerline is valid? [True, True] Translation: X:26.90, Y:409.86, Z:8.22 [[ 6.01395178e-01 -7.98936960e-01 -4.85531364e-03 2.68986541e+01] [ 7.98910935e-01 6.01414777e-01 -6.44855964e-03 4.09856051e+02] [ 8.07205000e-03 -8.30492960e-07 9.99967421e-01 8.21688049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1527550960001 meters 0.018475847638813766 Centerline is valid? [True, True] Translation: X:26.92, Y:409.88, Z:8.22 [[ 5.99929094e-01 -8.00039552e-01 -4.66880944e-03 2.69161443e+01] [ 8.00015490e-01 5.99947261e-01 -6.20484881e-03 4.09878220e+02] [ 7.76516390e-03 -1.26505459e-05 9.99969851e-01 8.21674095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.182755096 meters 0.018725844504072525 Centerline is valid? [True, True] Translation: X:26.93, Y:409.90, Z:8.22 [[ 5.97304585e-01 -8.02001172e-01 -4.62093586e-03 2.69337025e+01] [ 8.01977630e-01 5.97322458e-01 -6.14512099e-03 4.09898743e+02] [ 7.68858300e-03 -3.53782492e-05 9.99970442e-01 8.21608690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.212755096 meters 0.0188715944269612 Centerline is valid? [True, True] Translation: X:26.95, Y:409.92, Z:8.22 [[ 5.95431171e-01 -8.03393238e-01 -4.58536289e-03 2.69519193e+01] [ 8.03370069e-01 5.95448824e-01 -6.10160603e-03 4.09920733e+02] [ 7.63233797e-03 -5.06568788e-05 9.99970872e-01 8.21630801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.242755096 meters 0.019976727627306623 Centerline is valid? [True, True] Translation: X:26.97, Y:409.94, Z:8.22 [[ 5.93422615e-01 -8.04879557e-01 -4.30113438e-03 2.69698043e+01] [ 8.04859187e-01 5.93438199e-01 -5.72658965e-03 4.09940774e+02] [ 7.16167237e-03 -6.35197154e-05 9.99974353e-01 8.21561479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.272755096 meters 0.019732982875369662 Centerline is valid? [True, True] Translation: X:26.99, Y:409.96, Z:8.22 [[ 5.91515200e-01 -8.06283202e-01 -4.14329203e-03 2.69878965e+01] [ 8.06264317e-01 5.91529706e-01 -5.51887996e-03 4.09962046e+02] [ 6.90066052e-03 -7.60871436e-05 9.99976187e-01 8.21736596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.302755096 meters 0.02017930945282439 Centerline is valid? [True, True] Translation: X:27.01, Y:409.98, Z:8.22 [[ 5.89135469e-01 -8.08024128e-01 -4.05063789e-03 2.70058959e+01] [ 8.08006102e-01 5.89149387e-01 -5.39805853e-03 4.09984298e+02] [ 6.74819237e-03 -9.27523904e-05 9.99977226e-01 8.21733450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.332755096 meters 0.02017930945282439 Centerline is valid? [True, True] Translation: X:27.02, Y:410.01, Z:8.22 [[ 5.88878775e-01 -8.08211231e-01 -4.04898307e-03 2.70223330e+01] [ 8.08193201e-01 5.88892687e-01 -5.39929964e-03 4.10006482e+02] [ 6.74819113e-03 -9.28276262e-05 9.99977226e-01 8.21745378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.362755096 meters 0.022106695164234833 Centerline is valid? [True, True] Translation: X:27.04, Y:410.03, Z:8.22 [[ 5.85027103e-01 -8.11002383e-01 -4.29219353e-03 2.70425109e+01] [ 8.10982172e-01 5.85042834e-01 -5.72711182e-03 4.10025116e+02] [ 7.15581840e-03 -1.30376791e-04 9.99974388e-01 8.21647983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.392755096 meters 0.022389076419743383 Centerline is valid? [True, True] Translation: X:27.06, Y:410.05, Z:8.22 [[ 5.82760475e-01 -8.12632183e-01 -4.37767857e-03 2.70596605e+01] [ 8.12611181e-01 5.82776898e-01 -5.84429188e-03 4.10047479e+02] [ 7.30046960e-03 -1.51528236e-04 9.99973340e-01 8.21668932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4227550960001 meters 0.023547800041951342 Centerline is valid? [True, True] Translation: X:27.08, Y:410.07, Z:8.22 [[ 5.79165488e-01 -8.15201547e-01 -3.71148091e-03 2.70777863e+01] [ 8.15186487e-01 5.79177359e-01 -4.95763852e-03 4.10069808e+02] [ 6.19108031e-03 -1.54255950e-04 9.99980823e-01 8.21705519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.452755096 meters 0.02370913719744751 Centerline is valid? [True, True] Translation: X:27.09, Y:410.09, Z:8.22 [[ 5.78018776e-01 -8.16017529e-01 -3.11239949e-03 2.70935078e+01] [ 8.16006938e-01 5.78027140e-01 -4.15966578e-03 4.10094102e+02] [ 5.19341156e-03 -1.35374656e-04 9.99986505e-01 8.21748773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.482755096 meters 0.02482121639948229 Centerline is valid? [True, True] Translation: X:27.11, Y:410.12, Z:8.22 [[ 5.75878517e-01 -8.17532800e-01 -2.01376386e-03 2.71096341e+01] [ 8.17528372e-01 5.75882030e-01 -2.69231095e-03 4.10117668e+02] [ 3.36074293e-03 -9.58650523e-05 9.99994348e-01 8.21838858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.512755096 meters 0.025696203955598053 Centerline is valid? [True, True] Translation: X:27.13, Y:410.14, Z:8.22 [[ 5.74716671e-01 -8.18350868e-01 -1.61411247e-03 2.71265186e+01] [ 8.18348024e-01 5.74718932e-01 -2.15895340e-03 4.10139754e+02] [ 2.69444238e-03 -8.01192398e-05 9.99996367e-01 8.21904400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5427550960001 meters 0.026730325137167697 Centerline is valid? [True, True] Translation: X:27.14, Y:410.16, Z:8.22 [[ 5.73469814e-01 -8.19225808e-01 -1.20310872e-03 2.71434173e+01] [ 8.19224229e-01 5.73471073e-01 -1.60965950e-03 4.10161778e+02] [ 2.00862265e-03 -6.25246760e-05 9.99997981e-01 8.21974815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.572755096 meters 0.0275203721733001 Centerline is valid? [True, True] Translation: X:27.16, Y:410.18, Z:8.22 [[ 5.71920889e-01 -8.20308781e-01 -2.46076452e-05 2.71601053e+01] [ 8.20308781e-01 5.71920889e-01 -3.08781892e-05 4.10184777e+02] [ 3.94032759e-05 -2.52598597e-06 9.99999999e-01 8.22040093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.602755096 meters 0.02754895869860081 Centerline is valid? [True, True] Translation: X:27.18, Y:410.21, Z:8.22 [[ 5.71458725e-01 -8.20630569e-01 6.29261579e-04 2.71753675e+01] [ 8.20630133e-01 5.71459070e-01 8.46475074e-04 4.10207846e+02] [-1.05424056e-03 3.26654465e-05 9.99999444e-01 8.22073208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.632755096 meters 0.027828819592555083 Centerline is valid? [True, True] Translation: X:27.19, Y:410.23, Z:8.22 [[ 5.71599855e-01 -8.20531644e-01 1.19439635e-03 2.71889384e+01] [ 8.20530076e-01 5.71601100e-01 1.60558492e-03 4.10231949e+02] [-2.00015150e-03 6.22860231e-05 9.99997998e-01 8.21962858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6627550960001 meters 0.026703308356109904 Centerline is valid? [True, True] Translation: X:27.20, Y:410.26, Z:8.22 [[ 5.71240892e-01 -8.20781245e-01 1.41156661e-03 2.72018107e+01] [ 8.20779053e-01 5.71242631e-01 1.89830150e-03 4.10256967e+02] [-2.36443729e-03 7.41968596e-05 9.99997202e-01 8.21800748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.692755096 meters 0.02775288675062886 Centerline is valid? [True, True] Translation: X:27.22, Y:410.28, Z:8.22 [[ 5.71230627e-01 -8.20787882e-01 1.68007132e-03 2.72175188e+01] [ 8.20784774e-01 5.71233091e-01 2.26065654e-03 4.10278501e+02] [-2.81523183e-03 8.76207020e-05 9.99996033e-01 8.21782962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.722755096 meters 0.026836863193804728 Centerline is valid? [True, True] Translation: X:27.23, Y:410.30, Z:8.22 [[ 5.71329867e-01 -8.20718007e-01 2.03364740e-03 2.72319559e+01] [ 8.20713448e-01 5.71333477e-01 2.73754313e-03 4.10302773e+02] [-3.40864178e-03 1.05001622e-04 9.99994185e-01 8.21757864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.752755096 meters 0.026745842875355065 Centerline is valid? [True, True] Translation: X:27.25, Y:410.33, Z:8.22 [[ 5.71963431e-01 -8.20273623e-01 3.00287067e-03 2.72466893e+01] [ 8.20263668e-01 5.71971294e-01 4.04395454e-03 4.10325916e+02] [-5.03470506e-03 1.50151595e-04 9.99987315e-01 8.21780125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7827550960001 meters 0.02652863328092025 Centerline is valid? [True, True] Translation: X:27.26, Y:410.35, Z:8.22 [[ 5.72132431e-01 -8.20155270e-01 3.13301026e-03 2.72624345e+01] [ 8.20144418e-01 5.72140988e-01 4.22174256e-03 4.10349520e+02] [-5.25500799e-03 1.54125046e-04 9.99986181e-01 8.21767782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.812755096 meters 0.02629613109457472 Centerline is valid? [True, True] Translation: X:27.28, Y:410.37, Z:8.22 [[ 5.72906705e-01 -8.19611498e-01 3.85998825e-03 2.72775847e+01] [ 8.19594996e-01 5.72919680e-01 5.20414576e-03 4.10373734e+02] [-6.47684093e-03 1.82137057e-04 9.99979009e-01 8.21711745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.842755096 meters 0.02641186776706232 Centerline is valid? [True, True] Translation: X:27.29, Y:410.40, Z:8.22 [[ 5.72893518e-01 -8.19618436e-01 4.31693208e-03 2.72930190e+01] [ 8.19597769e-01 5.72909747e-01 5.82400976e-03 4.10396438e+02] [-7.24667824e-03 2.01610464e-04 9.99973722e-01 8.21726876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.872755096 meters 0.026539267732795132 Centerline is valid? [True, True] Translation: X:27.31, Y:410.42, Z:8.22 [[ 5.72953321e-01 -8.19574989e-01 4.61842707e-03 2.73089719e+01] [ 8.19551304e-01 5.72971896e-01 6.23437467e-03 4.10420139e+02] [-7.75576646e-03 2.13032256e-04 9.99969901e-01 8.21716764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9027550960001 meters 0.026182647691964513 Centerline is valid? [True, True] Translation: X:27.32, Y:410.44, Z:8.22 [[ 5.73551292e-01 -8.19152029e-01 5.37296021e-03 2.73234942e+01] [ 8.19119917e-01 5.73576408e-01 7.25708473e-03 4.10444104e+02] [-9.02645891e-03 2.38788401e-04 9.99959232e-01 8.21741228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.932755096 meters 0.026234907718679 Centerline is valid? [True, True] Translation: X:27.34, Y:410.47, Z:8.22 [[ 5.73719396e-01 -8.19033738e-01 5.45807073e-03 2.73392726e+01] [ 8.19000551e-01 5.73745308e-01 7.37693860e-03 4.10466110e+02] [-9.17350407e-03 2.37870175e-04 9.99957894e-01 8.21789459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.962755096 meters 0.02638187889609573 Centerline is valid? [True, True] Translation: X:27.35, Y:410.49, Z:8.22 [[ 5.73564874e-01 -8.19141459e-01 5.53228826e-03 2.73549039e+01] [ 8.19107322e-01 5.73591503e-01 7.48211586e-03 4.10487971e+02] [-9.30218484e-03 2.40058981e-04 9.99956705e-01 8.21796049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.992755096 meters 0.026666036653049077 Centerline is valid? [True, True] Translation: X:27.37, Y:410.51, Z:8.22 [[ 5.73476485e-01 -8.19196579e-01 6.45645399e-03 2.73709123e+01] [ 8.19150057e-01 5.73512761e-01 8.73481734e-03 4.10509681e+02] [-1.08583912e-02 2.79592300e-04 9.99941007e-01 8.21954778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.022755096 meters 0.024839210561155404 Centerline is valid? [True, True] Translation: X:27.39, Y:410.53, Z:8.22 [[ 5.73250513e-01 -8.19350932e-01 6.92093369e-03 2.73850126e+01] [ 8.19297409e-01 5.73292212e-01 9.36991667e-03 4.10534335e+02] [-1.16449673e-02 2.98993494e-04 9.99932150e-01 8.21845835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.052755096 meters 0.02497768290756396 Centerline is valid? [True, True] Translation: X:27.40, Y:410.56, Z:8.22 [[ 5.72361798e-01 -8.19964852e-01 7.72098454e-03 2.74015697e+01] [ 8.19898216e-01 5.72413769e-01 1.04591366e-02 4.10557230e+02] [-1.29957223e-02 3.44011222e-04 9.99915493e-01 8.21898680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.082755096 meters 0.027772418803710234 Centerline is valid? [True, True] Translation: X:27.42, Y:410.58, Z:8.22 [[ 5.71813186e-01 -8.20346529e-01 7.82641865e-03 2.74209328e+01] [ 8.20277996e-01 5.71866635e-01 1.06095286e-02 4.10576053e+02] [-1.31791577e-02 3.53170637e-04 9.99913089e-01 8.22197610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.112755096 meters 0.02814239699350504 Centerline is valid? [True, True] Translation: X:27.44, Y:410.60, Z:8.22 [[ 5.71080107e-01 -8.20857539e-01 7.77249183e-03 2.74377026e+01] [ 8.20789916e-01 5.71132884e-01 1.05423886e-02 4.10598164e+02] [-1.30929249e-02 3.59034482e-04 9.99914220e-01 8.22169597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.142755096 meters 0.025666441151975986 Centerline is valid? [True, True] Translation: X:27.45, Y:410.62, Z:8.22 [[ 5.69465643e-01 -8.21982674e-01 7.30511735e-03 2.74518322e+01] [ 8.21922952e-01 5.69512384e-01 9.91488593e-03 4.10623065e+02] [-1.23102192e-02 3.58056718e-04 9.99924162e-01 8.21733208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1727550960001 meters 0.026508024362733678 Centerline is valid? [True, True] Translation: X:27.47, Y:410.64, Z:8.22 [[ 5.68354812e-01 -8.22749558e-01 7.48148537e-03 2.74697688e+01] [ 8.22686909e-01 5.68403924e-01 1.01601663e-02 4.10644492e+02] [-1.26117780e-02 3.80340665e-04 9.99920396e-01 8.21750844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.202755096 meters 0.027472155951744497 Centerline is valid? [True, True] Translation: X:27.49, Y:410.67, Z:8.22 [[ 5.66394610e-01 -8.24105979e-01 6.81769231e-03 2.74883766e+01] [ 8.24053985e-01 5.66435520e-01 9.26457470e-03 4.10666265e+02] [-1.14967745e-02 3.70741342e-04 9.99933841e-01 8.21692209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.232755096 meters 0.02764043419916315 Centerline is valid? [True, True] Translation: X:27.51, Y:410.69, Z:8.22 [[ 5.65040843e-01 -8.25034416e-01 6.85986478e-03 2.75051371e+01] [ 8.24981778e-01 5.65082349e-01 9.32765905e-03 4.10689387e+02] [-1.15720282e-02 3.88755107e-04 9.99932966e-01 8.21605753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.262755096 meters 0.027792070305004545 Centerline is valid? [True, True] Translation: X:27.52, Y:410.71, Z:8.22 [[ 5.63935215e-01 -8.25791938e-01 6.68951202e-03 2.75219783e+01] [ 8.25741869e-01 5.63974754e-01 9.10179300e-03 4.10711802e+02] [-1.12889032e-02 3.90988574e-04 9.99936202e-01 8.21553932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2927550960001 meters 0.028964361163346337 Centerline is valid? [True, True] Translation: X:27.54, Y:410.73, Z:8.22 [[ 5.62077651e-01 -8.27062429e-01 6.03767544e-03 2.75407203e+01] [ 8.27021662e-01 5.62109954e-01 8.22010457e-03 4.10732551e+02] [-1.01923771e-02 3.72951309e-04 9.99947987e-01 8.21509919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.322755096 meters 0.03043708308714112 Centerline is valid? [True, True] Translation: X:27.56, Y:410.75, Z:8.22 [[ 5.60977482e-01 -8.27810843e-01 5.78559697e-03 2.75592134e+01] [ 8.27773404e-01 5.61007195e-01 7.88153081e-03 4.10752660e+02] [-9.77017819e-03 3.67801984e-04 9.99952203e-01 8.21575187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.352755096 meters 0.030300085626377718 Centerline is valid? [True, True] Translation: X:27.58, Y:410.78, Z:8.22 [[ 5.60187330e-01 -8.28347846e-01 5.47743046e-03 2.75755663e+01] [ 8.28314274e-01 5.60213996e-01 7.46610582e-03 4.10775186e+02] [-9.25306588e-03 3.54615949e-04 9.99957127e-01 8.21540291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.382755096 meters 0.030071277970105288 Centerline is valid? [True, True] Translation: X:27.59, Y:410.80, Z:8.22 [[ 5.60411982e-01 -8.28195471e-01 5.53823050e-03 2.75913448e+01] [ 8.28161095e-01 5.60439236e-01 7.55404525e-03 4.10798695e+02] [-9.36006773e-03 3.53169559e-04 9.99956131e-01 8.21539401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4127550960001 meters 0.02943815409081146 Centerline is valid? [True, True] Translation: X:27.61, Y:410.82, Z:8.22 [[ 5.60991774e-01 -8.27803379e-01 5.45848091e-03 2.76067915e+01] [ 8.27769927e-01 5.61018226e-01 7.44968400e-03 4.10822858e+02] [-9.22918087e-03 3.39154904e-04 9.99957353e-01 8.21524163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.442755096 meters 0.029063475863260257 Centerline is valid? [True, True] Translation: X:27.62, Y:410.85, Z:8.22 [[ 5.62537579e-01 -8.26754789e-01 5.29061132e-03 2.76213884e+01] [ 8.26723298e-01 5.62562372e-01 7.22263352e-03 4.10845788e+02] [-8.94764571e-03 3.10868867e-04 9.99959921e-01 8.21564075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.472755096 meters 0.027900287062021488 Centerline is valid? [True, True] Translation: X:27.64, Y:410.87, Z:8.22 [[ 5.62875827e-01 -8.26523155e-01 5.50258070e-03 2.76361538e+01] [ 8.26489025e-01 5.62902634e-01 7.51779113e-03 4.10869557e+02] [-9.31104561e-03 3.16239658e-04 9.99956601e-01 8.21542988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.502755096 meters 0.027008677237649978 Centerline is valid? [True, True] Translation: X:27.65, Y:410.89, Z:8.22 [[ 5.63787393e-01 -8.25901687e-01 5.49359472e-03 2.76518692e+01] [ 8.25867595e-01 5.63814076e-01 7.51018559e-03 4.10892991e+02] [-9.30004098e-03 3.02833904e-04 9.99956708e-01 8.21620908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5327550960001 meters 0.027061653677601678 Centerline is valid? [True, True] Translation: X:27.67, Y:410.92, Z:8.22 [[ 5.64110554e-01 -8.25682089e-01 5.32645287e-03 2.76681058e+01] [ 8.25650003e-01 5.64135626e-01 7.28472444e-03 4.10915092e+02] [-9.01970832e-03 2.88395892e-04 9.99959280e-01 8.21702651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.562755096 meters 0.026552712990240354 Centerline is valid? [True, True] Translation: X:27.68, Y:410.94, Z:8.22 [[ 5.64439038e-01 -8.25457798e-01 5.29111252e-03 2.76833894e+01] [ 8.25426079e-01 5.64463768e-01 7.24176540e-03 4.10938325e+02] [-8.96441303e-03 2.79887168e-04 9.99959780e-01 8.21716757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.592755096 meters 0.02582638243481676 Centerline is valid? [True, True] Translation: X:27.70, Y:410.96, Z:8.22 [[ 5.65598848e-01 -8.24664213e-01 5.18447439e-03 2.76978330e+01] [ 8.24633687e-01 5.65622550e-01 7.10022391e-03 4.10962892e+02] [-8.78775619e-03 2.59413770e-04 9.99961353e-01 8.21718927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.622755096 meters 0.025864537017511926 Centerline is valid? [True, True] Translation: X:27.71, Y:410.99, Z:8.22 [[ 5.65780204e-01 -8.24540119e-01 5.13361492e-03 2.77137453e+01] [ 8.24510143e-01 5.65803437e-01 7.03524048e-03 4.10986086e+02] [-8.70545498e-03 2.52317776e-04 9.99962075e-01 8.21741820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6527550960001 meters 0.026201740342493274 Centerline is valid? [True, True] Translation: X:27.73, Y:411.01, Z:8.22 [[ 5.65976211e-01 -8.24405722e-01 5.11225134e-03 2.77298664e+01] [ 8.24375948e-01 5.65999245e-01 7.01077668e-03 4.11008311e+02] [-8.67325481e-03 2.46484229e-04 9.99962356e-01 8.21765943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.682755096 meters 0.0257525330186791 Centerline is valid? [True, True] Translation: X:27.75, Y:411.03, Z:8.22 [[ 5.66355964e-01 -8.24147921e-01 4.59624730e-03 2.77455696e+01] [ 8.24123816e-01 5.66374573e-01 6.30708508e-03 4.11031701e+02] [-7.80116866e-03 2.15821607e-04 9.99969547e-01 8.21734411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.712755096 meters 0.025556843794329525 Centerline is valid? [True, True] Translation: X:27.76, Y:411.05, Z:8.22 [[ 5.66344596e-01 -8.24157095e-01 4.34526573e-03 2.77619105e+01] [ 8.24135521e-01 5.66361229e-01 5.96671284e-03 4.11054902e+02] [-7.37849876e-03 2.01872262e-04 9.99972758e-01 8.21699483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.742755096 meters 0.024969992458346954 Centerline is valid? [True, True] Translation: X:27.78, Y:411.08, Z:8.22 [[ 5.66130618e-01 -8.24308535e-01 3.40041233e-03 2.77768863e+01] [ 8.24295305e-01 5.66140808e-01 4.67285304e-03 4.11079226e+02] [-5.77698483e-03 1.57498737e-04 9.99983301e-01 8.21587115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.772755096 meters 0.02581729012055081 Centerline is valid? [True, True] Translation: X:27.79, Y:411.10, Z:8.22 [[ 5.66014434e-01 -8.24389641e-01 3.06265024e-03 2.77933409e+01] [ 8.24378894e-01 5.66022702e-01 4.21190751e-03 4.11101308e+02] [-5.20578248e-03 1.40783775e-04 9.99986440e-01 8.21580027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.802755096 meters 0.025695716310112006 Centerline is valid? [True, True] Translation: X:27.81, Y:411.13, Z:8.21 [[ 5.65299854e-01 -8.24881562e-01 2.54635010e-03 2.78077743e+01] [ 8.24874127e-01 5.65305576e-01 3.50435020e-03 4.11125377e+02] [-4.33013978e-03 1.19409662e-04 9.99990618e-01 8.21461059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.832755096 meters 0.026498419740361788 Centerline is valid? [True, True] Translation: X:27.82, Y:411.15, Z:8.21 [[ 5.64660311e-01 -8.25320735e-01 2.10171295e-03 2.78240136e+01] [ 8.25315664e-01 5.64664213e-01 2.89488595e-03 4.11147213e+02] [-3.57597149e-03 9.99494177e-05 9.99993601e-01 8.21435895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.862755096 meters 0.026288198256465587 Centerline is valid? [True, True] Translation: X:27.84, Y:411.17, Z:8.21 [[ 5.63819557e-01 -8.25895789e-01 1.91125413e-03 2.78395685e+01] [ 8.25891593e-01 5.63822789e-01 2.63431255e-03 4.11171050e+02] [-3.25327628e-03 9.32117798e-05 9.99994704e-01 8.21396993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.892755096 meters 0.026862391256031598 Centerline is valid? [True, True] Translation: X:27.86, Y:411.19, Z:8.21 [[ 5.63119286e-01 -8.26373939e-01 1.66810243e-03 2.78556538e+01] [ 8.26370743e-01 5.63121751e-01 2.29991718e-03 4.11193248e+02] [-2.83993638e-03 8.33433284e-05 9.99995964e-01 8.21404098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9227550960001 meters 0.028259571713656544 Centerline is valid? [True, True] Translation: X:27.87, Y:411.22, Z:8.21 [[ 5.61320152e-01 -8.27597983e-01 1.12531874e-03 2.78717851e+01] [ 8.27596527e-01 5.61321277e-01 1.55341672e-03 4.11215605e+02] [-1.91726990e-03 5.93457722e-05 9.99998160e-01 8.21364473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.952755096 meters 0.028932516474621146 Centerline is valid? [True, True] Translation: X:27.89, Y:411.24, Z:8.21 [[ 5.60349766e-01 -8.28255795e-01 6.91590482e-04 2.78882978e+01] [ 8.28255244e-01 5.60350192e-01 9.56042503e-04 4.11239251e+02] [-1.17938060e-03 3.70952503e-05 9.99999304e-01 8.21344858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.982755096 meters 0.03000837747315873 Centerline is valid? [True, True] Translation: X:27.90, Y:411.26, Z:8.21 [[ 5.58994141e-01 -8.29171446e-01 5.12688200e-04 2.79028548e+01] [ 8.29171143e-01 5.58994376e-01 7.09950320e-04 4.11262187e+02] [-8.75260354e-04 2.82481913e-05 9.99999617e-01 8.21297369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.012755096 meters 0.030686866810257094 Centerline is valid? [True, True] Translation: X:27.92, Y:411.29, Z:8.21 [[ 5.58138142e-01 -8.29747945e-01 4.03727351e-04 2.79187439e+01] [ 8.29747756e-01 5.58138288e-01 5.59737258e-04 4.11285841e+02] [-6.89776532e-04 2.25811505e-05 9.99999762e-01 8.21278658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0427550960001 meters 0.031349692478379605 Centerline is valid? [True, True] Translation: X:27.93, Y:411.31, Z:8.21 [[ 5.57505014e-01 -8.30173479e-01 3.93526264e-04 2.79344944e+01] [ 8.30173300e-01 5.57505152e-01 5.45958925e-04 4.11308768e+02] [-6.72633540e-04 2.23201595e-05 9.99999774e-01 8.21295220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.072755096 meters 0.029198432351482773 Centerline is valid? [True, True] Translation: X:27.95, Y:411.34, Z:8.21 [[ 5.56096480e-01 -8.31117744e-01 -2.97692287e-05 2.79459056e+01] [ 8.31117743e-01 5.56096481e-01 -3.90294620e-05 4.11335218e+02] [ 4.89926416e-05 -3.03758774e-06 9.99999999e-01 8.21215094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.102755096 meters 0.03310970837008576 Centerline is valid? [True, True] Translation: X:27.97, Y:411.35, Z:8.21 [[ 5.55210416e-01 -8.31709824e-01 -4.03985636e-04 2.79650303e+01] [ 8.31709638e-01 5.55210562e-01 -5.56933564e-04 4.11354676e+02] [ 6.87504208e-04 -2.67834317e-05 9.99999763e-01 8.21264410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.132755096 meters 0.03353394834601041 Centerline is valid? [True, True] Translation: X:27.98, Y:411.38, Z:8.21 [[ 5.54724053e-01 -8.32034312e-01 -3.59078997e-04 2.79797844e+01] [ 8.32034165e-01 5.54724169e-01 -4.94700774e-04 4.11377036e+02] [ 6.10797816e-04 -2.43435756e-05 9.99999813e-01 8.21260770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1627550960001 meters 0.0305551159388537 Centerline is valid? [True, True] Translation: X:27.99, Y:411.41, Z:8.21 [[ 5.54068412e-01 -8.32471071e-01 -3.31481654e-04 2.79894910e+01] [ 8.32470946e-01 5.54068511e-01 -4.57011668e-04 4.11405100e+02] [ 5.64112539e-04 -2.27331166e-05 9.99999841e-01 8.21241839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.192755096 meters 0.029961654860393434 Centerline is valid? [True, True] Translation: X:28.00, Y:411.43, Z:8.21 [[ 5.53699269e-01 -8.32716669e-01 -2.64121271e-04 2.80027700e+01] [ 8.32716589e-01 5.53699331e-01 -3.63886404e-04 4.11429675e+02] [ 4.49258045e-04 -1.84545288e-05 9.99999899e-01 8.21260263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.222755096 meters 0.029961654860393434 Centerline is valid? [True, True] Translation: X:28.02, Y:411.45, Z:8.21 [[ 5.53443645e-01 -8.32886584e-01 -2.64007145e-04 2.80187863e+01] [ 8.32886505e-01 5.53443708e-01 -3.63968950e-04 4.11452165e+02] [ 4.49257949e-04 -1.84516852e-05 9.99999899e-01 8.21272196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.252755096 meters 0.030412763694701098 Centerline is valid? [True, True] Translation: X:28.03, Y:411.48, Z:8.21 [[ 5.53868897e-01 -8.32603840e-01 -3.01042857e-04 2.80314932e+01] [ 8.32603737e-01 5.53868979e-01 -4.15595019e-04 4.11476623e+02] [ 5.12764308e-04 -2.04642531e-05 9.99999868e-01 8.21250389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2827550960001 meters 0.029643447880051323 Centerline is valid? [True, True] Translation: X:28.05, Y:411.50, Z:8.21 [[ 5.54095411e-01 -8.32453035e-01 -4.67953833e-04 2.80454108e+01] [ 8.32452784e-01 5.54095608e-01 -6.47758086e-04 4.11501212e+02] [ 7.98519348e-04 -3.06296876e-05 9.99999681e-01 8.21208960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.312755096 meters 0.030403935347740184 Centerline is valid? [True, True] Translation: X:28.06, Y:411.52, Z:8.21 [[ 5.54306823e-01 -8.32312060e-01 -7.61552842e-04 2.80608335e+01] [ 8.32311392e-01 5.54307344e-01 -1.05622118e-03 4.11523611e+02] [ 1.30123996e-03 -4.83784979e-05 9.99999152e-01 8.21188996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.342755096 meters 0.028567892303328582 Centerline is valid? [True, True] Translation: X:28.07, Y:411.55, Z:8.21 [[ 5.54459934e-01 -8.32209714e-01 -1.08307253e-03 2.80736220e+01] [ 8.32208357e-01 5.54460988e-01 -1.50412495e-03 4.11549425e+02] [ 1.85226886e-03 -6.73649919e-05 9.99998282e-01 8.21186130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.372755096 meters 0.028361232062461713 Centerline is valid? [True, True] Translation: X:28.09, Y:411.57, Z:8.21 [[ 5.54960064e-01 -8.31876534e-01 -8.71528648e-04 2.80870426e+01] [ 8.31875655e-01 5.54960746e-01 -1.21069281e-03 4.11574822e+02] [ 1.49081113e-03 -5.31173024e-05 9.99998887e-01 8.21235335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4027550960001 meters 0.029784589691286553 Centerline is valid? [True, True] Translation: X:28.10, Y:411.60, Z:8.21 [[ 5.54993656e-01 -8.31854121e-01 -8.73268660e-04 2.81022141e+01] [ 8.31853237e-01 5.54994341e-01 -1.21383467e-03 4.11597514e+02] [ 1.49439254e-03 -5.27608197e-05 9.99998882e-01 8.21192028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.432755096 meters 0.028990208336014112 Centerline is valid? [True, True] Translation: X:28.11, Y:411.62, Z:8.21 [[ 5.56123946e-01 -8.31098879e-01 -9.00146064e-04 2.81149246e+01] [ 8.31097936e-01 5.56124672e-01 -1.25271517e-03 4.11621543e+02] [ 1.54172361e-03 -5.14446298e-05 9.99998810e-01 8.21321958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.462755096 meters 0.028735110895763156 Centerline is valid? [True, True] Translation: X:28.13, Y:411.65, Z:8.21 [[ 5.56456119e-01 -8.30876643e-01 -7.69494378e-04 2.81293207e+01] [ 8.30875954e-01 5.56456650e-01 -1.07060330e-03 4.11645448e+02] [ 1.31772954e-03 -4.36106152e-05 9.99999131e-01 8.21322281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.492755096 meters 0.02835355563343972 Centerline is valid? [True, True] Translation: X:28.14, Y:411.67, Z:8.21 [[ 5.57285108e-01 -8.30320667e-01 -9.48536210e-04 2.81438334e+01] [ 8.30319617e-01 5.57285913e-01 -1.32109271e-03 4.11669879e+02] [ 1.62553645e-03 -5.13629293e-05 9.99998678e-01 8.21328562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.522755096 meters 0.02750800476394427 Centerline is valid? [True, True] Translation: X:28.16, Y:411.69, Z:8.21 [[ 5.59557414e-01 -8.28790853e-01 -1.10558253e-03 2.81553273e+01] [ 8.28789422e-01 5.59558503e-01 -1.54152637e-03 4.11694898e+02] [ 1.89624106e-03 -5.37225983e-05 9.99998201e-01 8.21245340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.552755096 meters 0.02573544504348486 Centerline is valid? [True, True] Translation: X:28.17, Y:411.72, Z:8.21 [[ 5.60733351e-01 -8.27995689e-01 -1.11723869e-03 2.81679472e+01] [ 8.27994225e-01 5.60734462e-01 -1.55797900e-03 4.11721363e+02] [ 1.91647413e-03 -5.14564002e-05 9.99998162e-01 8.21163781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.582755096 meters 0.02416459773611453 Centerline is valid? [True, True] Translation: X:28.18, Y:411.75, Z:8.21 [[ 5.61742143e-01 -8.27310745e-01 -1.64183328e-03 2.81802328e+01] [ 8.27307574e-01 5.61744538e-01 -2.29165165e-03 4.11747277e+02] [ 2.81819892e-03 -7.09837998e-05 9.99996026e-01 8.21088567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.612755096 meters 0.024264358479327237 Centerline is valid? [True, True] Translation: X:28.19, Y:411.77, Z:8.21 [[ 5.63703924e-01 -8.25973747e-01 -2.29237165e-03 2.81930157e+01] [ 8.25967543e-01 5.63708579e-01 -3.20261012e-03 4.11771864e+02] [ 3.93750145e-03 -8.81006870e-05 9.99992244e-01 8.20996457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.642755096 meters 0.024214065859272285 Centerline is valid? [True, True] Translation: X:28.21, Y:411.79, Z:8.21 [[ 5.64221000e-01 -8.25619858e-01 -2.55228935e-03 2.82069170e+01] [ 8.25612156e-01 5.64226765e-01 -3.56734116e-03 4.11794773e+02] [ 4.38533766e-03 -9.44323192e-05 9.99990380e-01 8.20949014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6727550960001 meters 0.02238980947037339 Centerline is valid? [True, True] Translation: X:28.22, Y:411.82, Z:8.21 [[ 5.64320279e-01 -8.25551116e-01 -2.82469983e-03 2.82172942e+01] [ 8.25541672e-01 5.64327339e-01 -3.95011766e-03 4.11821290e+02] [ 4.85507938e-03 -1.02775921e-04 9.99988209e-01 8.20869664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.702755096 meters 0.022704229024047194 Centerline is valid? [True, True] Translation: X:28.23, Y:411.84, Z:8.21 [[ 5.63737338e-01 -8.25948826e-01 -2.95834955e-03 2.82323833e+01] [ 8.25938458e-01 5.63745089e-01 -4.13986038e-03 4.11844578e+02] [ 5.08706785e-03 -1.09620793e-04 9.99987055e-01 8.20843270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.732755096 meters 0.022866610474613035 Centerline is valid? [True, True] Translation: X:28.25, Y:411.87, Z:8.21 [[ 5.63007737e-01 -8.26445870e-01 -3.08418299e-03 2.82479869e+01] [ 8.26434593e-01 5.63016173e-01 -4.31887746e-03 4.11868047e+02] [ 5.30576334e-03 -1.17314091e-04 9.99985918e-01 8.20867543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.762755096 meters 0.022878515087265714 Centerline is valid? [True, True] Translation: X:28.26, Y:411.89, Z:8.21 [[ 5.61301435e-01 -8.27607249e-01 -2.63454715e-03 2.82629560e+01] [ 8.27599024e-01 5.61307607e-01 -3.69126924e-03 4.11893223e+02] [ 4.53371254e-03 -1.08433929e-04 9.99989717e-01 8.20980687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7927550960001 meters 0.023345458717554647 Centerline is valid? [True, True] Translation: X:28.28, Y:411.92, Z:8.21 [[ 5.60087681e-01 -8.28429815e-01 -2.41491406e-03 2.82797214e+01] [ 8.28422904e-01 5.60092877e-01 -3.38537449e-03 4.11917230e+02] [ 4.15712132e-03 -1.04463580e-04 9.99991354e-01 8.21037383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.822755096 meters 0.024498559551597174 Centerline is valid? [True, True] Translation: X:28.30, Y:411.94, Z:8.21 [[ 5.58241104e-01 -8.29674190e-01 -2.75828852e-03 2.82957369e+01] [ 8.29665178e-01 5.58247903e-01 -3.86926078e-03 4.11939843e+02] [ 4.75003459e-03 -1.28475530e-04 9.99988710e-01 8.21029746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.852755096 meters 0.024790903188012605 Centerline is valid? [True, True] Translation: X:28.31, Y:411.96, Z:8.21 [[ 5.57477912e-01 -8.30187299e-01 -2.72514559e-03 2.83117008e+01] [ 8.30178500e-01 5.57484558e-01 -3.82440356e-03 4.11963150e+02] [ 4.69419784e-03 -1.30336767e-04 9.99988974e-01 8.21012740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.882755096 meters 0.02540134634170839 Centerline is valid? [True, True] Translation: X:28.33, Y:411.99, Z:8.21 [[ 5.56414181e-01 -8.30900320e-01 -2.81372797e-03 2.83276782e+01] [ 8.30890937e-01 5.56421278e-01 -3.95129378e-03 4.11985995e+02] [ 4.84874938e-03 -1.39345171e-04 9.99988235e-01 8.20976559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9127550960001 meters 0.02574485864364041 Centerline is valid? [True, True] Translation: X:28.34, Y:412.01, Z:8.21 [[ 5.55670100e-01 -8.31397155e-01 -3.08400656e-03 2.83429615e+01] [ 8.31385875e-01 5.55678636e-01 -4.33365802e-03 4.12009030e+02] [ 5.31670751e-03 -1.55915307e-04 9.99985854e-01 8.20912945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.942755096 meters 0.025424492234872708 Centerline is valid? [True, True] Translation: X:28.36, Y:412.03, Z:8.21 [[ 5.55077330e-01 -8.31793588e-01 -2.93007991e-03 2.83583391e+01] [ 8.31783398e-01 5.55085043e-01 -4.11994393e-03 4.12033275e+02] [ 5.05338648e-03 -1.50304351e-04 9.99987220e-01 8.20910718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.972755096 meters 0.02558437402342851 Centerline is valid? [True, True] Translation: X:28.37, Y:412.06, Z:8.21 [[ 5.54997946e-01 -8.31846725e-01 -2.88221280e-03 2.83741011e+01] [ 8.31836853e-01 5.55005410e-01 -4.05526131e-03 4.12056218e+02] [ 4.97299953e-03 -1.46869134e-04 9.99987624e-01 8.20900138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.002755096 meters 0.026917677630931763 Centerline is valid? [True, True] Translation: X:28.39, Y:412.08, Z:8.21 [[ 5.55844378e-01 -8.31280340e-01 -3.16600160e-03 2.83910140e+01] [ 8.31268402e-01 5.55853373e-01 -4.45771861e-03 4.12078305e+02] [ 5.46544651e-03 -1.53999269e-04 9.99985053e-01 8.20802014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0327550960001 meters 0.02537460464992918 Centerline is valid? [True, True] Translation: X:28.40, Y:412.10, Z:8.21 [[ 5.56503418e-01 -8.30837992e-01 -3.48955637e-03 2.84045266e+01] [ 8.30823460e-01 5.56514335e-01 -4.91664665e-03 4.12103326e+02] [ 6.02692497e-03 -1.63074631e-04 9.99981825e-01 8.20779834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.062755096 meters 0.0240966673824374 Centerline is valid? [True, True] Translation: X:28.42, Y:412.13, Z:8.21 [[ 5.58652727e-01 -8.29394414e-01 -3.46945394e-03 2.84182416e+01] [ 8.29380004e-01 5.58663482e-01 -4.89108609e-03 4.12128809e+02] [ 5.99489670e-03 -1.45077136e-04 9.99982020e-01 8.20737931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.092755096 meters 0.023455348749066764 Centerline is valid? [True, True] Translation: X:28.43, Y:412.15, Z:8.21 [[ 5.59735085e-01 -8.28664699e-01 -3.38396110e-03 2.84335742e+01] [ 8.28650966e-01 5.59745298e-01 -4.77261058e-03 4.12152813e+02] [ 5.84905023e-03 -1.32725046e-04 9.99982885e-01 8.20776228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.122755096 meters 0.023087576525009392 Centerline is valid? [True, True] Translation: X:28.45, Y:412.18, Z:8.21 [[ 5.60618732e-01 -8.28067552e-01 -3.28131951e-03 2.84490558e+01] [ 8.28054613e-01 5.60628322e-01 -4.63068903e-03 4.12175922e+02] [ 5.67412398e-03 -1.21060745e-04 9.99983895e-01 8.20785774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1527550960001 meters 0.022718468836945498 Centerline is valid? [True, True] Translation: X:28.46, Y:412.20, Z:8.21 [[ 5.62041099e-01 -8.27104071e-01 -2.94249768e-03 2.84642439e+01] [ 8.27093641e-01 5.62048793e-01 -4.15484810e-03 4.12198354e+02] [ 5.09031905e-03 -9.85257320e-05 9.99987039e-01 8.20883006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.182755096 meters 0.022147833974356178 Centerline is valid? [True, True] Translation: X:28.48, Y:412.22, Z:8.21 [[ 5.62423808e-01 -8.26844022e-01 -2.90244373e-03 2.84796472e+01] [ 8.26833861e-01 5.62431290e-01 -4.10022692e-03 4.12221921e+02] [ 5.02267328e-03 -9.37735191e-05 9.99987382e-01 8.20920211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.212755096 meters 0.02183943059788676 Centerline is valid? [True, True] Translation: X:28.49, Y:412.24, Z:8.21 [[ 5.62976436e-01 -8.26466879e-01 -3.16715918e-03 2.84943778e+01] [ 8.26454756e-01 5.62985337e-01 -4.47730073e-03 4.12244176e+02] [ 5.48340494e-03 -9.68989563e-05 9.99984961e-01 8.20831913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.242755096 meters 0.021935725117203587 Centerline is valid? [True, True] Translation: X:28.51, Y:412.27, Z:8.21 [[ 5.63260696e-01 -8.26272996e-01 -3.21317582e-03 2.85106161e+01] [ 8.26260499e-01 5.63269852e-01 -4.54541755e-03 4.12266136e+02] [ 5.56564085e-03 -9.46652062e-05 9.99984507e-01 8.20825175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.272755096 meters 0.021383441464498724 Centerline is valid? [True, True] Translation: X:28.53, Y:412.29, Z:8.21 [[ 5.63491671e-01 -8.26115601e-01 -3.18590673e-03 2.85263605e+01] [ 8.26103297e-01 5.63500670e-01 -4.50978223e-03 4.12289691e+02] [ 5.52086203e-03 -9.06633259e-05 9.99984756e-01 8.20850572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.302755096 meters 0.02055573182232228 Centerline is valid? [True, True] Translation: X:28.54, Y:412.31, Z:8.21 [[ 5.63491878e-01 -8.26116003e-01 -3.04189268e-03 2.85410804e+01] [ 8.26104772e-01 5.63500082e-01 -4.30860848e-03 4.12313142e+02] [ 5.27351719e-03 -8.50561736e-05 9.99986091e-01 8.20902989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.332755096 meters 0.021581567079778045 Centerline is valid? [True, True] Translation: X:28.56, Y:412.33, Z:8.21 [[ 5.63259761e-01 -8.26273562e-01 -3.23154096e-03 2.85587454e+01] [ 8.26260871e-01 5.63269024e-01 -4.58045314e-03 4.12334003e+02] [ 5.60493426e-03 -9.01109091e-05 9.99984288e-01 8.20901742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.362755096 meters 0.020962070754007838 Centerline is valid? [True, True] Translation: X:28.57, Y:412.36, Z:8.21 [[ 5.62774825e-01 -8.26603919e-01 -3.23396802e-03 2.85740062e+01] [ 8.26591198e-01 5.62784109e-01 -4.58677082e-03 4.12357467e+02] [ 5.61146854e-03 -9.18503596e-05 9.99984251e-01 8.20897324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.392755096 meters 0.02091333436780144 Centerline is valid? [True, True] Translation: X:28.59, Y:412.38, Z:8.21 [[ 5.61535599e-01 -8.27446701e-01 -3.11904672e-03 2.85912897e+01] [ 8.27434866e-01 5.61544253e-01 -4.42660147e-03 4.12379419e+02] [ 5.41425954e-03 -9.51136970e-05 9.99985338e-01 8.20886157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4227550960001 meters 0.0214757249321807 Centerline is valid? [True, True] Translation: X:28.61, Y:412.40, Z:8.21 [[ 5.60493828e-01 -8.28152102e-01 -3.28101008e-03 2.86083476e+01] [ 8.28139001e-01 5.60503421e-01 -4.65938485e-03 4.12400393e+02] [ 5.69769673e-03 -1.05575960e-04 9.99983762e-01 8.20902297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.452755096 meters 0.022199531454578966 Centerline is valid? [True, True] Translation: X:28.63, Y:412.42, Z:8.21 [[ 5.58311578e-01 -8.29624907e-01 -3.27042405e-03 2.86271525e+01] [ 8.29611903e-01 5.58321144e-01 -4.64656488e-03 4.12421657e+02] [ 5.68085285e-03 -1.18951749e-04 9.99983857e-01 8.20869671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.482755096 meters 0.02262768215941453 Centerline is valid? [True, True] Translation: X:28.64, Y:412.44, Z:8.21 [[ 5.56891748e-01 -8.30579346e-01 -3.08732017e-03 2.86443976e+01] [ 8.30567758e-01 5.56900293e-01 -4.38907325e-03 4.12443961e+02] [ 5.36480310e-03 -1.19989918e-04 9.99985602e-01 8.20846264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.512755096 meters 0.02289907198027205 Centerline is valid? [True, True] Translation: X:28.66, Y:412.47, Z:8.21 [[ 5.55542518e-01 -8.31481783e-01 -3.24888123e-03 2.86616409e+01] [ 8.31468948e-01 5.55552002e-01 -4.62178745e-03 4.12466867e+02] [ 5.64785455e-03 -1.33744420e-04 9.99984042e-01 8.20840999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5427550960001 meters 0.024211501474972957 Centerline is valid? [True, True] Translation: X:28.68, Y:412.49, Z:8.21 [[ 5.53157857e-01 -8.33069996e-01 -3.28130415e-03 2.86804744e+01] [ 8.33056917e-01 5.53167569e-01 -4.67052219e-03 4.12487566e+02] [ 5.70598294e-03 -1.49977069e-04 9.99983710e-01 8.20786226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.572755096 meters 0.02469418627731523 Centerline is valid? [True, True] Translation: X:28.70, Y:412.51, Z:8.21 [[ 5.52200140e-01 -8.33705288e-01 -3.24009994e-03 2.86981455e+01] [ 8.33692534e-01 5.52209624e-01 -4.61401892e-03 4.12509738e+02] [ 5.63594635e-03 -1.53385234e-04 9.99984106e-01 8.20825112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.602755096 meters 0.0244272289429404 Centerline is valid? [True, True] Translation: X:28.72, Y:412.53, Z:8.21 [[ 5.51254025e-01 -8.34331601e-01 -3.12711374e-03 2.87150724e+01] [ 8.34319717e-01 5.51262874e-01 -4.45590186e-03 4.12533016e+02] [ 5.44156143e-03 -1.52678812e-04 9.99985183e-01 8.20883679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.632755096 meters 0.02506201865732745 Centerline is valid? [True, True] Translation: X:28.73, Y:412.56, Z:8.21 [[ 5.49974416e-01 -8.35176750e-01 -2.81751269e-03 2.87329719e+01] [ 8.35167101e-01 5.49981614e-01 -4.01712570e-03 4.12555476e+02] [ 4.90459016e-03 -1.43777546e-04 9.99987962e-01 8.20994964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6627550960001 meters 0.025214872680075738 Centerline is valid? [True, True] Translation: X:28.75, Y:412.58, Z:8.21 [[ 5.50057332e-01 -8.35122141e-01 -2.81790409e-03 2.87493944e+01] [ 8.35112477e-01 5.50064532e-01 -4.02018842e-03 4.12577471e+02] [ 4.90737746e-03 -1.41932747e-04 9.99987949e-01 8.21042707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.692755096 meters 0.024253534920667178 Centerline is valid? [True, True] Translation: X:28.76, Y:412.60, Z:8.21 [[ 5.51029993e-01 -8.34481447e-01 -2.58118408e-03 2.87649842e+01] [ 8.34473323e-01 5.51036024e-01 -3.68416411e-03 4.12600817e+02] [ 4.49669201e-03 -1.23844334e-04 9.99989882e-01 8.21131561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.722755096 meters 0.023924654586435477 Centerline is valid? [True, True] Translation: X:28.78, Y:412.62, Z:8.21 [[ 5.51717660e-01 -8.34026656e-01 -2.67593139e-03 2.87806844e+01] [ 8.34017908e-01 5.51724136e-01 -3.82198789e-03 4.12623894e+02] [ 4.66401572e-03 -1.23116486e-04 9.99989116e-01 8.21143964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.752755096 meters 0.023730487243993292 Centerline is valid? [True, True] Translation: X:28.80, Y:412.65, Z:8.21 [[ 5.52316566e-01 -8.33630039e-01 -2.71467661e-03 2.87959942e+01] [ 8.33621018e-01 5.52323224e-01 -3.87991371e-03 4.12646026e+02] [ 4.73379155e-03 -1.20070864e-04 9.99988788e-01 8.21134030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7827550960001 meters 0.022419988670093854 Centerline is valid? [True, True] Translation: X:28.81, Y:412.67, Z:8.21 [[ 5.53363402e-01 -8.32936077e-01 -2.53723406e-03 2.88106409e+01] [ 8.32928179e-01 5.53369209e-01 -3.62864008e-03 4.12670903e+02] [ 4.42645243e-03 -1.05377132e-04 9.99990198e-01 8.21151963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.812755096 meters 0.02160026063199411 Centerline is valid? [True, True] Translation: X:28.83, Y:412.69, Z:8.21 [[ 5.55987543e-01 -8.31185590e-01 -2.89268699e-03 2.88257269e+01] [ 8.31175288e-01 5.55995059e-01 -4.13958036e-03 4.12693957e+02] [ 5.04907922e-03 -1.02774821e-04 9.99987248e-01 8.21191892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.842755096 meters 0.021530607642124295 Centerline is valid? [True, True] Translation: X:28.84, Y:412.72, Z:8.21 [[ 5.57053152e-01 -8.30471522e-01 -2.97274167e-03 2.88414463e+01] [ 8.30460626e-01 5.57061075e-01 -4.25528886e-03 4.12716453e+02] [ 5.18989489e-03 -9.83228351e-05 9.99986528e-01 8.21229811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.872755096 meters 0.02059111093296795 Centerline is valid? [True, True] Translation: X:28.86, Y:412.74, Z:8.21 [[ 5.59272420e-01 -8.28977968e-01 -3.14455732e-03 2.88569030e+01] [ 8.28965739e-01 5.59281253e-01 -4.50374870e-03 4.12740781e+02] [ 5.49220041e-03 -8.79078439e-05 9.99984914e-01 8.21256447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9027550960001 meters 0.020153194924070746 Centerline is valid? [True, True] Translation: X:28.87, Y:412.76, Z:8.21 [[ 5.60015238e-01 -8.28476344e-01 -3.14351342e-03 2.88726642e+01] [ 8.28464099e-01 5.60024054e-01 -4.50501121e-03 4.12764399e+02] [ 5.49273834e-03 -8.14130935e-05 9.99984912e-01 8.21288447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.932755096 meters 0.019812157944336474 Centerline is valid? [True, True] Translation: X:28.89, Y:412.79, Z:8.21 [[ 5.60608438e-01 -8.28075405e-01 -3.04991496e-03 2.88884800e+01] [ 8.28063858e-01 5.60616730e-01 -4.37371693e-03 4.12788091e+02] [ 5.33160077e-03 -7.35817286e-05 9.99985784e-01 8.21327757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.962755096 meters 0.01986044505843901 Centerline is valid? [True, True] Translation: X:28.90, Y:412.81, Z:8.21 [[ 5.61387051e-01 -8.27547538e-01 -3.10663516e-03 2.89048517e+01] [ 8.27535533e-01 5.61395643e-01 -4.45804400e-03 4.12809178e+02] [ 5.43329478e-03 -6.81628046e-05 9.99985237e-01 8.21443710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.992755096 meters 0.01957619622538226 Centerline is valid? [True, True] Translation: X:28.92, Y:412.83, Z:8.22 [[ 5.61429488e-01 -8.27517624e-01 -3.39287283e-03 2.89207713e+01] [ 8.27503286e-01 5.61439736e-01 -4.87194173e-03 4.12832209e+02] [ 5.93651127e-03 -7.23616578e-05 9.99982376e-01 8.21515393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0227550960001 meters 0.019465878565289925 Centerline is valid? [True, True] Translation: X:28.94, Y:412.85, Z:8.22 [[ 5.61978993e-01 -8.27143684e-01 -3.59678191e-03 2.89374347e+01] [ 8.27127540e-01 5.61990499e-01 -5.16830383e-03 4.12853780e+02] [ 6.29628713e-03 -7.05191876e-05 9.99980176e-01 8.21591213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.052755096 meters 0.019358517890699742 Centerline is valid? [True, True] Translation: X:28.95, Y:412.88, Z:8.22 [[ 5.61812632e-01 -8.27256179e-01 -3.71226743e-03 2.89535321e+01] [ 8.27238962e-01 5.61824892e-01 -5.33768221e-03 4.12876978e+02] [ 6.50127484e-03 -7.21549589e-05 9.99978864e-01 8.21623564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.082755096 meters 0.019432283802407472 Centerline is valid? [True, True] Translation: X:28.97, Y:412.90, Z:8.22 [[ 5.61706168e-01 -8.27328897e-01 -3.61627734e-03 2.89696952e+01] [ 8.27312538e-01 5.61717804e-01 -5.20307627e-03 4.12898495e+02] [ 6.33598272e-03 -6.91915484e-05 9.99979925e-01 8.21660085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.112755096 meters 0.019432283802407472 Centerline is valid? [True, True] Translation: X:28.99, Y:412.92, Z:8.22 [[ 5.61444320e-01 -8.27506622e-01 -3.61472568e-03 2.89852962e+01] [ 8.27490261e-01 5.61455952e-01 -5.20415413e-03 4.12921238e+02] [ 6.33598126e-03 -6.93075206e-05 9.99979925e-01 8.21672013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.142755096 meters 0.019525627604225108 Centerline is valid? [True, True] Translation: X:29.00, Y:412.94, Z:8.22 [[ 5.61035606e-01 -8.27782840e-01 -3.82342227e-03 2.90033678e+01] [ 8.27764518e-01 5.61048629e-01 -5.50812129e-03 4.12941963e+02] [ 6.70465411e-03 -7.46411248e-05 9.99977521e-01 8.21722051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1727550960001 meters 0.019788640864874068 Centerline is valid? [True, True] Translation: X:29.02, Y:412.96, Z:8.22 [[ 5.60632236e-01 -8.28053895e-01 -4.27120648e-03 2.90210555e+01] [ 8.28031013e-01 5.60648500e-01 -6.15643849e-03 4.12963003e+02] [ 7.49250837e-03 -8.51935493e-05 9.99971927e-01 8.21703950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.202755096 meters 0.01951624199492294 Centerline is valid? [True, True] Translation: X:29.04, Y:412.98, Z:8.22 [[ 5.59459632e-01 -8.28841576e-01 -5.15385767e-03 2.90392249e+01] [ 8.28808251e-01 5.59483359e-01 -7.43336706e-03 4.12984862e+02] [ 9.04458127e-03 -1.12890963e-04 9.99959091e-01 8.21742682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.232755096 meters 0.02037218682367409 Centerline is valid? [True, True] Translation: X:29.06, Y:413.01, Z:8.22 [[ 5.58932491e-01 -8.29193597e-01 -5.69640861e-03 2.90570888e+01] [ 8.29152848e-01 5.58961503e-01 -8.22148404e-03 4.13005504e+02] [ 1.00012750e-02 -1.27938872e-04 9.99949978e-01 8.21598493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.262755096 meters 0.019943515728583352 Centerline is valid? [True, True] Translation: X:29.07, Y:413.03, Z:8.22 [[ 5.58360663e-01 -8.29576822e-01 -5.97208506e-03 2.90739711e+01] [ 8.29531994e-01 5.58392583e-01 -8.62513992e-03 4.13027999e+02] [ 1.04899842e-02 -1.38096782e-04 9.99944969e-01 8.21664031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2927550960001 meters 0.020142976894345202 Centerline is valid? [True, True] Translation: X:29.09, Y:413.05, Z:8.22 [[ 5.58072719e-01 -8.29768249e-01 -6.28434659e-03 2.90908206e+01] [ 8.29718554e-01 5.58108082e-01 -9.08244840e-03 4.13050553e+02] [ 1.10436719e-02 -1.45572294e-04 9.99939006e-01 8.21618370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.322755096 meters 0.019840745114386066 Centerline is valid? [True, True] Translation: X:29.11, Y:413.07, Z:8.22 [[ 5.58272632e-01 -8.29629138e-01 -6.86750347e-03 2.91079038e+01] [ 8.29569700e-01 5.58314849e-01 -9.93188202e-03 4.13071148e+02] [ 1.20740079e-02 -1.52374880e-04 9.99927095e-01 8.21623966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.352755096 meters 0.020906498189327702 Centerline is valid? [True, True] Translation: X:29.12, Y:413.09, Z:8.21 [[ 5.58135657e-01 -8.29718790e-01 -7.16370150e-03 2.91245430e+01] [ 8.29654035e-01 5.58181606e-01 -1.03671433e-02 4.13093709e+02] [ 1.26004600e-02 -1.57121537e-04 9.99920599e-01 8.21442922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.382755096 meters 0.01957717052877744 Centerline is valid? [True, True] Translation: X:29.14, Y:413.12, Z:8.22 [[ 5.58494117e-01 -8.29476046e-01 -7.33558716e-03 2.91423541e+01] [ 8.29408030e-01 5.58542269e-01 -1.06232317e-02 4.13116011e+02] [ 1.29089517e-02 -1.51182485e-04 9.99916665e-01 8.21659419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4127550960001 meters 0.01962437056103385 Centerline is valid? [True, True] Translation: X:29.16, Y:413.14, Z:8.22 [[ 5.58568945e-01 -8.29424611e-01 -7.45317447e-03 2.91591962e+01] [ 8.29354301e-01 5.58618648e-01 -1.08004884e-02 4.13137622e+02] [ 1.31216732e-02 -1.48504876e-04 9.99913896e-01 8.21686488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.442755096 meters 0.019581225309868864 Centerline is valid? [True, True] Translation: X:29.18, Y:413.16, Z:8.22 [[ 5.58722957e-01 -8.29319781e-01 -7.57358250e-03 2.91762450e+01] [ 8.29247074e-01 5.58774266e-01 -1.09822602e-02 4.13159431e+02] [ 1.33397286e-02 -1.44330262e-04 9.99911011e-01 8.21758695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.472755096 meters 0.019688036753635223 Centerline is valid? [True, True] Translation: X:29.19, Y:413.18, Z:8.22 [[ 5.58623958e-01 -8.29385117e-01 -7.72016327e-03 2.91943448e+01] [ 8.29309489e-01 5.58677283e-01 -1.12010846e-02 4.13179487e+02] [ 1.36030927e-02 -1.45210471e-04 9.99907463e-01 8.21806201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.502755096 meters 0.021673661817602406 Centerline is valid? [True, True] Translation: X:29.21, Y:413.20, Z:8.22 [[ 5.58577209e-01 -8.29411447e-01 -8.25548011e-03 2.92120039e+01] [ 8.29324856e-01 5.58638191e-01 -1.19856087e-02 4.13200516e+02] [ 1.45528275e-02 -1.51587005e-04 9.99894091e-01 8.21513986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5327550960001 meters 0.019782723506586795 Centerline is valid? [True, True] Translation: X:29.23, Y:413.22, Z:8.22 [[ 5.57789931e-01 -8.29945652e-01 -7.78515393e-03 2.92307038e+01] [ 8.29868593e-01 5.57844237e-01 -1.13104083e-02 4.13222199e+02] [ 1.37299275e-02 -1.51822857e-04 9.99905729e-01 8.21983131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.562755096 meters 0.020611049115830078 Centerline is valid? [True, True] Translation: X:29.25, Y:413.24, Z:8.22 [[ 5.57218379e-01 -8.30325892e-01 -8.16032982e-03 2.92485647e+01] [ 8.30241152e-01 5.57278105e-01 -1.18635681e-02 4.13244280e+02] [ 1.43982009e-02 -1.64443462e-04 9.99896327e-01 8.21966160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.592755096 meters 0.019948120401271315 Centerline is valid? [True, True] Translation: X:29.27, Y:413.27, Z:8.22 [[ 5.56836687e-01 -8.30585681e-01 -7.76730248e-03 2.92659256e+01] [ 8.30508829e-01 5.56890835e-01 -1.12996994e-02 4.13265908e+02] [ 1.37109081e-02 -1.58726100e-04 9.99905989e-01 8.22168012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.622755096 meters 0.020128278569775174 Centerline is valid? [True, True] Translation: X:29.29, Y:413.29, Z:8.22 [[ 5.56000285e-01 -8.31143160e-01 -8.04552285e-03 2.92850406e+01] [ 8.31060644e-01 5.56058466e-01 -1.17127745e-02 4.13286007e+02] [ 1.42087735e-02 -1.74011437e-04 9.99899035e-01 8.22230582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6527550960001 meters 0.02024880209412532 Centerline is valid? [True, True] Translation: X:29.30, Y:413.31, Z:8.22 [[ 5.55499812e-01 -8.31479012e-01 -7.91269086e-03 2.93023643e+01] [ 8.31399119e-01 5.55556137e-01 -1.15275383e-02 4.13307410e+02] [ 1.39808501e-02 -1.75058845e-04 9.99902248e-01 8.22247508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.682755096 meters 0.02006364775955042 Centerline is valid? [True, True] Translation: X:29.32, Y:413.33, Z:8.22 [[ 5.55125892e-01 -8.31726185e-01 -8.17296915e-03 2.93195231e+01] [ 8.31640856e-01 5.55186023e-01 -1.19149737e-02 4.13329964e+02] [ 1.44475139e-02 -1.82664645e-04 9.99895613e-01 8.22287015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.712755096 meters 0.020345861363667818 Centerline is valid? [True, True] Translation: X:29.34, Y:413.35, Z:8.22 [[ 5.54249436e-01 -8.32309088e-01 -8.31532161e-03 2.93383238e+01] [ 8.32220700e-01 5.54311775e-01 -1.21310497e-02 4.13349713e+02] [ 1.47060636e-02 -1.96555309e-04 9.99891841e-01 8.22285585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.742755096 meters 0.021163382022185345 Centerline is valid? [True, True] Translation: X:29.36, Y:413.37, Z:8.22 [[ 5.53872100e-01 -8.32554219e-01 -8.89769618e-03 2.93551236e+01] [ 8.32452898e-01 5.53943524e-01 -1.29902212e-02 4.13371667e+02] [ 1.57438846e-02 -2.11991889e-04 9.99876035e-01 8.22169123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7727550960001 meters 0.02071693449079515 Centerline is valid? [True, True] Translation: X:29.37, Y:413.39, Z:8.22 [[ 5.52711746e-01 -8.33328795e-01 -8.53497054e-03 2.93728148e+01] [ 8.33235524e-01 5.52777597e-01 -1.24695498e-02 4.13392091e+02] [ 1.51091754e-02 -2.19573993e-04 9.99885826e-01 8.22241024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.802755096 meters 0.02066301589380575 Centerline is valid? [True, True] Translation: X:29.39, Y:413.41, Z:8.22 [[ 5.51607149e-01 -8.34057294e-01 -8.83082570e-03 2.93915611e+01] [ 8.33957397e-01 5.51677778e-01 -1.29107873e-02 4.13413186e+02] [ 1.56401067e-02 -2.42849826e-04 9.99877657e-01 8.22320712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.832755096 meters 0.021385068421849805 Centerline is valid? [True, True] Translation: X:29.41, Y:413.43, Z:8.22 [[ 5.51122149e-01 -8.34376200e-01 -8.98518918e-03 2.94092624e+01] [ 8.34272674e-01 5.51195332e-01 -1.31457742e-02 4.13433505e+02] [ 1.59211155e-02 -2.51170461e-04 9.99873220e-01 8.22268423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.862755096 meters 0.021097277102749754 Centerline is valid? [True, True] Translation: X:29.43, Y:413.46, Z:8.22 [[ 5.50413410e-01 -8.34844801e-01 -8.90154732e-03 2.94272352e+01] [ 8.34743114e-01 5.50485325e-01 -1.30322911e-02 4.13455383e+02] [ 1.57801116e-02 -2.57357537e-04 9.99875453e-01 8.22440449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.892755096 meters 0.021277524951935918 Centerline is valid? [True, True] Translation: X:29.44, Y:413.48, Z:8.22 [[ 5.49880317e-01 -8.35193948e-01 -9.09432467e-03 2.94445379e+01] [ 8.35087712e-01 5.49955451e-01 -1.33235197e-02 4.13477471e+02] [ 1.61291965e-02 -2.68217536e-04 9.99869880e-01 8.22493071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9227550960001 meters 0.021440895558020347 Centerline is valid? [True, True] Translation: X:29.46, Y:413.50, Z:8.22 [[ 5.49529449e-01 -8.35421147e-01 -9.42823397e-03 2.94620827e+01] [ 8.35306844e-01 5.49610252e-01 -1.38220159e-02 4.13500038e+02] [ 1.67290584e-02 -2.79863585e-04 9.99860020e-01 8.22486881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.952755096 meters 0.02144267265494566 Centerline is valid? [True, True] Translation: X:29.48, Y:413.52, Z:8.23 [[ 5.49105422e-01 -8.35697366e-01 -9.65129203e-03 2.94788127e+01] [ 8.35577469e-01 5.49190157e-01 -1.41585596e-02 4.13522392e+02] [ 1.71326655e-02 -2.89860332e-04 9.99853183e-01 8.22510490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.982755096 meters 0.021315254503116228 Centerline is valid? [True, True] Translation: X:29.50, Y:413.54, Z:8.23 [[ 5.49577274e-01 -8.35380063e-01 -1.02455009e-02 2.94965760e+01] [ 8.35244706e-01 5.49672689e-01 -1.50404817e-02 4.13544804e+02] [ 1.81961906e-02 -2.91593440e-04 9.99834393e-01 8.22547982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.012755096 meters 0.02125397769975405 Centerline is valid? [True, True] Translation: X:29.51, Y:413.57, Z:8.23 [[ 5.50318407e-01 -8.34889016e-01 -1.04872565e-02 2.95116271e+01] [ 8.34746906e-01 5.50418255e-01 -1.54060773e-02 4.13566898e+02] [ 1.86347421e-02 -2.75957019e-04 9.99826320e-01 8.22537607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0427550960001 meters 0.02072710420143038 Centerline is valid? [True, True] Translation: X:29.53, Y:413.59, Z:8.23 [[ 5.52351116e-01 -8.33543789e-01 -1.06300138e-02 2.95258652e+01] [ 8.33397334e-01 5.52453347e-01 -1.56263634e-02 4.13590161e+02] [ 1.88978449e-02 -2.27785874e-04 9.99821394e-01 8.22540884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.072755096 meters 0.020471694666510068 Centerline is valid? [True, True] Translation: X:29.54, Y:413.61, Z:8.23 [[ 5.53420717e-01 -8.32832560e-01 -1.07441769e-02 2.95405533e+01] [ 8.32682609e-01 5.53524965e-01 -1.58045968e-02 4.13614210e+02] [ 1.91097530e-02 -1.99897988e-04 9.99817372e-01 8.22614565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.102755096 meters 0.020299705103918916 Centerline is valid? [True, True] Translation: X:29.56, Y:413.64, Z:8.23 [[ 5.54419137e-01 -8.32167868e-01 -1.07731656e-02 2.95553285e+01] [ 8.32016782e-01 5.54523769e-01 -1.58576019e-02 4.13638355e+02] [ 1.91701632e-02 -1.71696616e-04 9.99816221e-01 8.22658881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.132755096 meters 0.02027173585612082 Centerline is valid? [True, True] Translation: X:29.57, Y:413.66, Z:8.23 [[ 5.56213521e-01 -8.30962540e-01 -1.13037769e-02 2.95679099e+01] [ 8.30795724e-01 5.56328356e-01 -1.66500876e-02 4.13662297e+02] [ 2.01242107e-02 -1.30125655e-04 9.99797479e-01 8.22618149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1627550960001 meters 0.020320056543897794 Centerline is valid? [True, True] Translation: X:29.58, Y:413.69, Z:8.23 [[ 5.56717862e-01 -8.30620511e-01 -1.16098535e-02 2.95828287e+01] [ 8.30444232e-01 5.56838893e-01 -1.71121412e-02 4.13686064e+02] [ 2.06785135e-02 -1.14701221e-04 9.99786170e-01 8.22649295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.192755096 meters 0.01999149117937388 Centerline is valid? [True, True] Translation: X:29.60, Y:413.71, Z:8.23 [[ 5.57107898e-01 -8.30353937e-01 -1.19636952e-02 2.95972065e+01] [ 8.30166429e-01 5.57236332e-01 -1.76456716e-02 4.13710168e+02] [ 2.13187585e-02 -1.01315090e-04 9.99772724e-01 8.22843227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.222755096 meters 0.020792775051172434 Centerline is valid? [True, True] Translation: X:29.61, Y:413.73, Z:8.23 [[ 5.57553562e-01 -8.30045349e-01 -1.25993332e-02 2.96112040e+01] [ 8.29837093e-01 5.57695894e-01 -1.85927141e-02 4.13732812e+02] [ 2.24593922e-02 -8.89600140e-05 9.99747752e-01 8.22619518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.252755096 meters 0.021059904835452028 Centerline is valid? [True, True] Translation: X:29.63, Y:413.76, Z:8.23 [[ 5.57901434e-01 -8.29808108e-01 -1.28255044e-02 2.96255629e+01] [ 8.29592044e-01 5.58048831e-01 -1.89352418e-02 4.13756079e+02] [ 2.28698750e-02 -7.59378515e-05 9.99738447e-01 8.22610411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2827550960001 meters 0.020877813357335448 Centerline is valid? [True, True] Translation: X:29.64, Y:413.78, Z:8.23 [[ 5.58002610e-01 -8.29737425e-01 -1.29959084e-02 2.96392496e+01] [ 8.29515276e-01 5.58153923e-01 -1.91991129e-02 4.13780497e+02] [ 2.31839398e-02 -6.71494472e-05 9.99731214e-01 8.22859101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.312755096 meters 0.021089400505709094 Centerline is valid? [True, True] Translation: X:29.65, Y:413.80, Z:8.23 [[ 5.57528036e-01 -8.30056383e-01 -1.29957972e-02 2.96540101e+01] [ 8.29834008e-01 5.57679474e-01 -1.92125806e-02 4.13803279e+02] [ 2.31950145e-02 -7.28021293e-05 9.99730957e-01 8.22865663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.342755096 meters 0.02138614285508195 Centerline is valid? [True, True] Translation: X:29.67, Y:413.83, Z:8.23 [[ 5.56760299e-01 -8.30572015e-01 -1.29652124e-02 2.96696601e+01] [ 8.30350526e-01 5.56911232e-01 -1.91802969e-02 4.13826512e+02] [ 2.31510902e-02 -8.68431291e-05 9.99731974e-01 8.22905174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.372755096 meters 0.02175028326778438 Centerline is valid? [True, True] Translation: X:29.69, Y:413.85, Z:8.23 [[ 5.54720134e-01 -8.31947132e-01 -1.22287693e-02 2.96860543e+01] [ 8.31750163e-01 5.54854894e-01 -1.81028684e-02 4.13849288e+02] [ 2.18458220e-02 -1.29255270e-04 9.99761343e-01 8.23087519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4027550960001 meters 0.02209728083590266 Centerline is valid? [True, True] Translation: X:29.70, Y:413.87, Z:8.23 [[ 5.53076813e-01 -8.33044421e-01 -1.19595655e-02 2.97025593e+01] [ 8.32856032e-01 5.53206079e-01 -1.77161926e-02 4.13872565e+02] [ 2.13744797e-02 -1.62180930e-04 9.99771527e-01 8.23142116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.432755096 meters 0.022564945981285747 Centerline is valid? [True, True] Translation: X:29.72, Y:413.90, Z:8.23 [[ 5.51480333e-01 -8.34108597e-01 -1.15017770e-02 2.97185652e+01] [ 8.33934344e-01 5.51600229e-01 -1.70498681e-02 4.13895033e+02] [ 2.05658244e-02 -1.89059866e-04 9.99788483e-01 8.23198614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.462755096 meters 0.023516784175715337 Centerline is valid? [True, True] Translation: X:29.74, Y:413.92, Z:8.23 [[ 5.48394337e-01 -8.36149272e-01 -1.08649476e-02 2.97358938e+01] [ 8.35993990e-01 5.48501901e-01 -1.61156051e-02 4.13915847e+02] [ 1.94344958e-02 -2.45324303e-04 9.99811102e-01 8.23312295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.492755096 meters 0.024014520147595392 Centerline is valid? [True, True] Translation: X:29.75, Y:413.94, Z:8.23 [[ 5.46853714e-01 -8.37163384e-01 -1.04155642e-02 2.97520064e+01] [ 8.37020684e-01 5.46952831e-01 -1.54588188e-02 4.13938527e+02] [ 1.86383793e-02 -2.64330205e-04 9.99826255e-01 8.23355530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5227550960001 meters 0.024362966315979773 Centerline is valid? [True, True] Translation: X:29.77, Y:413.96, Z:8.24 [[ 5.44186349e-01 -8.38908927e-01 -9.64518998e-03 2.97677009e+01] [ 8.38786673e-01 5.44271738e-01 -1.43245496e-02 4.13961952e+02] [ 1.72665968e-02 -2.95032494e-04 9.99850878e-01 8.23533647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.552755096 meters 0.025706583814895333 Centerline is valid? [True, True] Translation: X:29.78, Y:413.98, Z:8.23 [[ 5.43057496e-01 -8.39645852e-01 -9.13232033e-03 2.97849971e+01] [ 8.39536205e-01 5.43134196e-01 -1.35722340e-02 4.13983496e+02] [ 1.63559455e-02 -2.96410139e-04 9.99866189e-01 8.23386416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.582755096 meters 0.024986273528524332 Centerline is valid? [True, True] Translation: X:29.80, Y:414.01, Z:8.24 [[ 5.42099120e-01 -8.40266709e-01 -8.96673995e-03 2.97990036e+01] [ 8.40160939e-01 5.42173188e-01 -1.33353049e-02 4.14008243e+02] [ 1.60667387e-02 -3.04447617e-04 9.99870875e-01 8.23520621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.612755096 meters 0.0251625197064982 Centerline is valid? [True, True] Translation: X:29.81, Y:414.03, Z:8.24 [[ 5.41131734e-01 -8.40890830e-01 -8.89149145e-03 2.98145509e+01] [ 8.40786769e-01 5.41204687e-01 -1.32323649e-02 4.14031796e+02] [ 1.59390911e-02 -3.15395819e-04 9.99872915e-01 8.23550167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.642755096 meters 0.025474242687950954 Centerline is valid? [True, True] Translation: X:29.83, Y:414.05, Z:8.24 [[ 5.40249053e-01 -8.41466059e-01 -8.11368804e-03 2.98302090e+01] [ 8.41379358e-01 5.40309895e-01 -1.20828047e-02 4.14054578e+02] [ 1.45511760e-02 -2.98965823e-04 9.99894081e-01 8.23565962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6727550960001 meters 0.025537995881664558 Centerline is valid? [True, True] Translation: X:29.85, Y:414.08, Z:8.24 [[ 5.39445313e-01 -8.41984301e-01 -7.82247634e-03 2.98456110e+01] [ 8.41903657e-01 5.39501945e-01 -1.16569573e-02 4.14077649e+02] [ 1.40352162e-02 -2.97480459e-04 9.99901457e-01 8.23613927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.702755096 meters 0.026064247911143108 Centerline is valid? [True, True] Translation: X:29.86, Y:414.10, Z:8.24 [[ 5.38553596e-01 -8.42563545e-01 -6.83352859e-03 2.98619236e+01] [ 8.42501965e-01 5.38596881e-01 -1.01900912e-02 4.14099473e+02] [ 1.22663165e-02 -2.69351029e-04 9.99924730e-01 8.23632692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.732755096 meters 0.025988223979006953 Centerline is valid? [True, True] Translation: X:29.88, Y:414.12, Z:8.24 [[ 5.38165680e-01 -8.42813582e-01 -6.55487321e-03 2.98777051e+01] [ 8.42756864e-01 5.38205535e-01 -9.78115781e-03 4.14122598e+02] [ 1.17715617e-02 -2.60280940e-04 9.99930679e-01 8.23681694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.762755096 meters 0.026069421109304044 Centerline is valid? [True, True] Translation: X:29.89, Y:414.15, Z:8.24 [[ 5.37747668e-01 -8.43084014e-01 -6.06552678e-03 2.98933132e+01] [ 8.43035401e-01 5.37781820e-01 -9.05681173e-03 4.14145698e+02] [ 1.08975832e-02 -2.43174409e-04 9.99940590e-01 8.23731300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7927550960001 meters 0.02641264655289038 Centerline is valid? [True, True] Translation: X:29.91, Y:414.17, Z:8.24 [[ 5.37128772e-01 -8.43485038e-01 -5.06684336e-03 2.99090669e+01] [ 8.43451090e-01 5.37152629e-01 -7.57040259e-03 4.14167683e+02] [ 9.10718955e-03 -2.07353516e-04 9.99958507e-01 8.23748078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.822755096 meters 0.02629202742827081 Centerline is valid? [True, True] Translation: X:29.92, Y:414.19, Z:8.24 [[ 5.36583742e-01 -8.43832369e-01 -4.98208733e-03 2.99244428e+01] [ 8.43799517e-01 5.36606830e-01 -7.44882143e-03 4.14191560e+02] [ 8.95897873e-03 -2.06966408e-04 9.99959846e-01 8.23715426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.852755096 meters 0.026633650847545667 Centerline is valid? [True, True] Translation: X:29.94, Y:414.21, Z:8.24 [[ 5.35892262e-01 -8.44273372e-01 -4.68583431e-03 2.99397088e+01] [ 8.44244289e-01 5.35912711e-01 -7.01054510e-03 4.14213717e+02] [ 8.43001472e-03 -1.99091980e-04 9.99964447e-01 8.23681429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.882755096 meters 0.02638565834773406 Centerline is valid? [True, True] Translation: X:29.96, Y:414.24, Z:8.24 [[ 5.35162806e-01 -8.44740465e-01 -3.78394383e-03 2.99550709e+01] [ 8.44721488e-01 5.35176158e-01 -5.66465340e-03 4.14237609e+02] [ 6.81023846e-03 -1.64866856e-04 9.99976797e-01 8.23708217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9127550960001 meters 0.026570421373470782 Centerline is valid? [True, True] Translation: X:29.97, Y:414.26, Z:8.24 [[ 5.34713355e-01 -8.45026976e-01 -3.32248358e-03 2.99710276e+01] [ 8.45012332e-01 5.34723657e-01 -4.97689919e-03 4.14260457e+02] [ 5.98222464e-03 -1.46325140e-04 9.99982096e-01 8.23746107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.942755096 meters 0.027162852497171985 Centerline is valid? [True, True] Translation: X:29.99, Y:414.28, Z:8.24 [[ 5.34065553e-01 -8.45438644e-01 -2.73587061e-03 2.99871182e+01] [ 8.45428708e-01 5.34072546e-01 -4.10052835e-03 4.14282779e+02] [ 4.92789851e-03 -1.23032612e-04 9.99987850e-01 8.23827050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.972755096 meters 0.027524702615632873 Centerline is valid? [True, True] Translation: X:30.00, Y:414.31, Z:8.24 [[ 5.33299908e-01 -8.45923761e-01 -2.04917512e-03 3.00027501e+01] [ 8.45918185e-01 5.33303836e-01 -3.07284931e-03 4.14305274e+02] [ 3.69222920e-03 -9.46842396e-05 9.99993179e-01 8.23878532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.002755096 meters 0.026976107098939703 Centerline is valid? [True, True] Translation: X:30.02, Y:414.33, Z:8.24 [[ 5.32904625e-01 -8.46173695e-01 -1.65497797e-03 3.00170819e+01] [ 8.46170055e-01 5.32907190e-01 -2.48299446e-03 4.14329587e+02] [ 2.98299426e-03 -7.71935654e-05 9.99995548e-01 8.23885950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0327550960001 meters 0.027212265500481777 Centerline is valid? [True, True] Translation: X:30.03, Y:414.35, Z:8.24 [[ 5.32834333e-01 -8.46219017e-01 -9.74270482e-04 3.00317660e+01] [ 8.46217755e-01 5.32835222e-01 -1.46209228e-03 4.14351736e+02] [ 1.75637592e-03 -4.53920144e-05 9.99998457e-01 8.23905580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.062755096 meters 0.027212265500481777 Centerline is valid? [True, True] Translation: X:30.05, Y:414.37, Z:8.24 [[ 5.32575087e-01 -8.46382200e-01 -9.74112891e-04 3.00469190e+01] [ 8.46380938e-01 5.32575976e-01 -1.46219731e-03 4.14374810e+02] [ 1.75636690e-03 -4.57407224e-05 9.99998457e-01 8.23917521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.092755096 meters 0.02667265171302034 Centerline is valid? [True, True] Translation: X:30.06, Y:414.40, Z:8.24 [[ 5.32463189e-01 -8.46452765e-01 -8.17786573e-04 3.00613026e+01] [ 8.46451875e-01 5.32463816e-01 -1.22793253e-03 4.14399436e+02] [ 1.47482865e-03 -3.83881057e-05 9.99998912e-01 8.23893953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.122755096 meters 0.026265129245534383 Centerline is valid? [True, True] Translation: X:30.08, Y:414.42, Z:8.24 [[ 5.32719501e-01 -8.46291490e-01 -8.05003513e-04 3.00759554e+01] [ 8.46290626e-01 5.32720108e-01 -1.20951859e-03 4.14423249e+02] [ 1.45244685e-03 -3.69327868e-05 9.99998945e-01 8.23872859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1527550960001 meters 0.025694704184820324 Centerline is valid? [True, True] Translation: X:30.09, Y:414.45, Z:8.24 [[ 5.33625597e-01 -8.45720711e-01 -4.48982122e-04 3.00891959e+01] [ 8.45720443e-01 5.33625785e-01 -6.73948434e-04 4.14447752e+02] [ 8.09560586e-04 -2.00772232e-05 9.99999672e-01 8.23848186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.182755096 meters 0.02571524400958811 Centerline is valid? [True, True] Translation: X:30.10, Y:414.47, Z:8.24 [[ 5.34303793e-01 -8.45292423e-01 -4.19876590e-04 3.01034927e+01] [ 8.45292188e-01 5.34303957e-01 -6.31088179e-04 4.14470393e+02] [ 7.57795780e-04 -1.77255935e-05 9.99999713e-01 8.23822216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.212755096 meters 0.0252846594040088 Centerline is valid? [True, True] Translation: X:30.12, Y:414.49, Z:8.24 [[ 5.34782936e-01 -8.44989474e-01 7.36024396e-06 3.01175305e+01] [ 8.44989474e-01 5.34782936e-01 1.35670110e-05 4.14494756e+02] [-1.54001146e-05 -1.03607728e-06 1.00000000e+00 8.23791195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.242755096 meters 0.024909639416503676 Centerline is valid? [True, True] Translation: X:30.13, Y:414.52, Z:8.24 [[ 5.35981979e-01 -8.44229281e-01 4.90032072e-04 3.01310649e+01] [ 8.44228955e-01 5.35982203e-01 7.42174617e-04 4.14518629e+02] [-8.89214013e-04 1.59070445e-05 9.99999605e-01 8.23735458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2727550960001 meters 0.024863436654404072 Centerline is valid? [True, True] Translation: X:30.15, Y:414.54, Z:8.24 [[ 5.36149957e-01 -8.44122515e-01 6.34457756e-04 3.01461362e+01] [ 8.44121969e-01 5.36150332e-01 9.60744064e-04 4.14542113e+02] [-1.15115043e-03 2.04568412e-05 9.99999337e-01 8.23691191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.302755096 meters 0.024876586628296463 Centerline is valid? [True, True] Translation: X:30.16, Y:414.57, Z:8.24 [[ 5.35386304e-01 -8.44606676e-01 1.03340565e-03 3.01618160e+01] [ 8.44605228e-01 5.35387300e-01 1.56443361e-03 4.14565764e+02] [-1.87460334e-03 3.52434892e-05 9.99998242e-01 8.23660386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.332755096 meters 0.024942223214782167 Centerline is valid? [True, True] Translation: X:30.18, Y:414.59, Z:8.24 [[ 5.34707645e-01 -8.45036007e-01 1.37180005e-03 3.01778470e+01] [ 8.45033455e-01 5.34709403e-01 2.07731407e-03 4.14588996e+02] [-2.48891957e-03 4.84612205e-05 9.99996902e-01 8.23692302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.362755096 meters 0.025495170696092594 Centerline is valid? [True, True] Translation: X:30.19, Y:414.61, Z:8.24 [[ 5.33801412e-01 -8.45607870e-01 1.83908476e-03 3.01938209e+01] [ 8.45603289e-01 5.33804576e-01 2.78434043e-03 4.14611060e+02] [-3.33617204e-03 6.88512714e-05 9.99994433e-01 8.23727321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.392755096 meters 0.02544863433958359 Centerline is valid? [True, True] Translation: X:30.21, Y:414.64, Z:8.24 [[ 5.32533429e-01 -8.46406611e-01 1.99890904e-03 3.02095359e+01] [ 8.46401195e-01 5.32537175e-01 3.02893025e-03 4.14635259e+02] [-3.62819996e-03 7.88723908e-05 9.99993415e-01 8.23678249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4227550960001 meters 0.026207441479700156 Centerline is valid? [True, True] Translation: X:30.23, Y:414.66, Z:8.24 [[ 5.30815953e-01 -8.47483840e-01 2.35925157e-03 3.02262272e+01] [ 8.47476304e-01 5.30821186e-01 3.57520231e-03 4.14657300e+02] [-4.28226690e-03 1.01635379e-04 9.99990826e-01 8.23704950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.452755096 meters 0.026715504789771985 Centerline is valid? [True, True] Translation: X:30.24, Y:414.68, Z:8.24 [[ 5.29636651e-01 -8.48221614e-01 2.26085277e-03 3.02421077e+01] [ 8.48214690e-01 5.29641466e-01 3.42883933e-03 4.14679180e+02] [-4.10585701e-03 1.01649551e-04 9.99991566e-01 8.23746020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.482755096 meters 0.02742855499314129 Centerline is valid? [True, True] Translation: X:30.26, Y:414.70, Z:8.24 [[ 5.28351506e-01 -8.49021879e-01 2.55661748e-03 3.02584900e+01] [ 8.49013024e-01 5.28357677e-01 3.87945109e-03 4.14700837e+02] [-4.64454733e-03 1.20887714e-04 9.99989207e-01 8.23805864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.512755096 meters 0.02660270997154573 Centerline is valid? [True, True] Translation: X:30.27, Y:414.73, Z:8.24 [[ 5.28263405e-01 -8.49076017e-01 2.77352260e-03 3.02725467e+01] [ 8.49065582e-01 5.28270670e-01 4.21149786e-03 4.14725261e+02] [-5.04105247e-03 1.30122379e-04 9.99987285e-01 8.23761385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5427550960001 meters 0.026315951849117114 Centerline is valid? [True, True] Translation: X:30.29, Y:414.75, Z:8.24 [[ 5.28364988e-01 -8.49013317e-01 2.61298124e-03 3.02876937e+01] [ 8.49004041e-01 5.28371435e-01 3.97052789e-03 4.14749077e+02] [-4.75165570e-03 1.20543709e-04 9.99988704e-01 8.23679831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.572755096 meters 0.026082069383529402 Centerline is valid? [True, True] Translation: X:30.30, Y:414.77, Z:8.24 [[ 5.28326797e-01 -8.49037820e-01 2.36142703e-03 3.03027902e+01] [ 8.49030233e-01 5.28332063e-01 3.59093445e-03 4.14772389e+02] [-4.29645677e-03 1.07736045e-04 9.99990764e-01 8.23616349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.602755096 meters 0.02555116839921907 Centerline is valid? [True, True] Translation: X:30.32, Y:414.80, Z:8.24 [[ 5.28276743e-01 -8.49069093e-01 2.31458870e-03 3.03178277e+01] [ 8.49061794e-01 5.28281803e-01 3.52221304e-03 4.14796655e+02] [-4.21335733e-03 1.04525603e-04 9.99991118e-01 8.23599580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.632755096 meters 0.025248549585077575 Centerline is valid? [True, True] Translation: X:30.33, Y:414.82, Z:8.24 [[ 5.29061451e-01 -8.48580917e-01 2.09980830e-03 3.03332691e+01] [ 8.48574897e-01 5.29065610e-01 3.19774694e-03 4.14819463e+02] [-3.82448339e-03 9.00399775e-05 9.99992683e-01 8.23628135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6627550960001 meters 0.02463616960651355 Centerline is valid? [True, True] Translation: X:30.35, Y:414.84, Z:8.24 [[ 5.29677548e-01 -8.48196689e-01 2.01806465e-03 3.03479719e+01] [ 8.48191117e-01 5.29681385e-01 3.07547352e-03 4.14843782e+02] [-3.67753773e-03 8.26952427e-05 9.99993234e-01 8.23622951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.692755096 meters 0.02439457665629425 Centerline is valid? [True, True] Translation: X:30.36, Y:414.87, Z:8.24 [[ 5.31410991e-01 -8.47112248e-01 1.78825520e-03 3.03630078e+01] [ 8.47107865e-01 5.31413996e-01 2.72591472e-03 4.14866122e+02] [-3.25945958e-03 6.62640000e-05 9.99994686e-01 8.23687385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.722755096 meters 0.02352129961405788 Centerline is valid? [True, True] Translation: X:30.38, Y:414.89, Z:8.24 [[ 5.32113504e-01 -8.46671172e-01 1.77361530e-03 3.03770431e+01] [ 8.46666850e-01 5.32116456e-01 2.70596134e-03 4.14891113e+02] [-3.23482935e-03 6.17827119e-05 9.99994766e-01 8.23604261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.752755096 meters 0.02317889647899956 Centerline is valid? [True, True] Translation: X:30.39, Y:414.91, Z:8.24 [[ 5.32894779e-01 -8.46179997e-01 1.60228038e-03 3.03916003e+01] [ 8.46176462e-01 5.32897185e-01 2.44655343e-03 4.14914899e+02] [-2.92407528e-03 5.20563888e-05 9.99995724e-01 8.23569282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7827550960001 meters 0.02269140872188638 Centerline is valid? [True, True] Translation: X:30.41, Y:414.94, Z:8.24 [[ 5.33543036e-01 -8.45771937e-01 1.28811439e-03 3.04066444e+01] [ 8.45769647e-01 5.33544590e-01 1.96840090e-03 4.14939173e+02] [-2.35208470e-03 3.92214649e-05 9.99997233e-01 8.23522750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.812755096 meters 0.021588665067620336 Centerline is valid? [True, True] Translation: X:30.42, Y:414.96, Z:8.23 [[ 5.35326441e-01 -8.44644594e-01 1.05428341e-03 3.04205091e+01] [ 8.44643055e-01 5.35327478e-01 1.61269017e-03 4.14963864e+02] [-1.92653691e-03 2.71774719e-05 9.99998144e-01 8.23414226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.842755096 meters 0.021370547364645488 Centerline is valid? [True, True] Translation: X:30.44, Y:414.99, Z:8.23 [[ 5.35595989e-01 -8.44473822e-01 9.49074433e-04 3.04358852e+01] [ 8.44472572e-01 5.35596829e-01 1.45308822e-03 4.14987463e+02] [-1.73541622e-03 2.31991060e-05 9.99998494e-01 8.23380484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.872755096 meters 0.02105008611570438 Centerline is valid? [True, True] Translation: X:30.45, Y:415.01, Z:8.23 [[ 5.36353681e-01 -8.43993084e-01 6.35923254e-04 3.04508835e+01] [ 8.43992520e-01 5.36354057e-01 9.75103023e-04 4.15011532e+02] [-1.16406022e-03 1.37143743e-05 9.99999322e-01 8.23311600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9027550960001 meters 0.020959365080630597 Centerline is valid? [True, True] Translation: X:30.47, Y:415.04, Z:8.23 [[ 5.36706525e-01 -8.43768766e-01 6.13114630e-04 3.04657776e+01] [ 8.43768241e-01 5.36706875e-01 9.40852250e-04 4.15035334e+02] [-1.12292458e-03 1.23651116e-05 9.99999369e-01 8.23269591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.932755096 meters 0.020724959263531805 Centerline is valid? [True, True] Translation: X:30.48, Y:415.06, Z:8.23 [[ 5.37140274e-01 -8.43492687e-01 6.42648386e-04 3.04810013e+01] [ 8.43492110e-01 5.37140658e-01 9.86736542e-04 4.15059345e+02] [-1.17749763e-03 1.20529064e-05 9.99999307e-01 8.23263729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.962755096 meters 0.02046541712194153 Centerline is valid? [True, True] Translation: X:30.50, Y:415.08, Z:8.23 [[ 5.37696237e-01 -8.43138158e-01 8.96060491e-04 3.04969442e+01] [ 8.43137036e-01 5.37696983e-01 1.37579259e-03 4.15082822e+02] [-1.64179225e-03 1.57432877e-05 9.99998652e-01 8.23319276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.992755096 meters 0.020523362125159407 Centerline is valid? [True, True] Translation: X:30.51, Y:415.11, Z:8.23 [[ 5.37902594e-01 -8.43006505e-01 9.12456513e-04 3.05127579e+01] [ 8.43005339e-01 5.37903368e-01 1.40185817e-03 4.15106329e+02] [-1.67258898e-03 1.51425682e-05 9.99998601e-01 8.23388336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0227550960001 meters 0.020421719665840603 Centerline is valid? [True, True] Translation: X:30.53, Y:415.13, Z:8.23 [[ 5.38039184e-01 -8.42918847e-01 1.28607107e-03 3.05285330e+01] [ 8.42916533e-01 5.38040721e-01 1.97516143e-03 4.15128559e+02] [-2.35685940e-03 2.13363258e-05 9.99997222e-01 8.23400151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.052755096 meters 0.02044443269725276 Centerline is valid? [True, True] Translation: X:30.54, Y:415.15, Z:8.23 [[ 5.37675731e-01 -8.43150652e-01 1.33646951e-03 3.05438421e+01] [ 8.43148149e-01 5.37677392e-01 2.05471988e-03 4.15150860e+02] [-2.45102784e-03 2.20687789e-05 9.99996996e-01 8.23453517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.082755096 meters 0.02045518045154808 Centerline is valid? [True, True] Translation: X:30.56, Y:415.17, Z:8.23 [[ 5.37562388e-01 -8.43222875e-01 1.36483944e-03 3.05591241e+01] [ 8.43220261e-01 5.37564120e-01 2.09953637e-03 4.15173868e+02] [-2.50406581e-03 2.22284806e-05 9.99996865e-01 8.23469760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.112755096 meters 0.020266040053950024 Centerline is valid? [True, True] Translation: X:30.57, Y:415.20, Z:8.23 [[ 5.37288804e-01 -8.43397419e-01 1.23900239e-03 3.05744463e+01] [ 8.43395262e-01 5.37290233e-01 1.90746431e-03 4.15196824e+02] [-2.27445436e-03 2.01095274e-05 9.99997413e-01 8.23469154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.142755096 meters 0.020303290049904107 Centerline is valid? [True, True] Translation: X:30.59, Y:415.22, Z:8.24 [[ 5.36974962e-01 -8.43597096e-01 1.35262737e-03 3.05899779e+01] [ 8.43594523e-01 5.36976665e-01 2.08376888e-03 4.15219507e+02] [-2.48419071e-03 2.21373300e-05 9.99996914e-01 8.23537246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1727550960001 meters 0.020158783688120876 Centerline is valid? [True, True] Translation: X:30.60, Y:415.24, Z:8.24 [[ 5.36791011e-01 -8.43714293e-01 1.26566400e-03 3.06047845e+01] [ 8.43712037e-01 5.36792503e-01 1.95119395e-03 4.15242875e+02] [-2.32564917e-03 2.04725743e-05 9.99997296e-01 8.23529671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.202755096 meters 0.020174558586853047 Centerline is valid? [True, True] Translation: X:30.62, Y:415.27, Z:8.24 [[ 5.36283286e-01 -8.44036725e-01 1.49809892e-03 3.06204175e+01] [ 8.44033562e-01 5.36285378e-01 2.31070064e-03 4.15266488e+02] [-2.75372475e-03 2.52556361e-05 9.99996208e-01 8.23601222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.232755096 meters 0.02015966763070464 Centerline is valid? [True, True] Translation: X:30.64, Y:415.29, Z:8.24 [[ 5.35989954e-01 -8.44223594e-01 1.13757447e-03 3.06354777e+01] [ 8.44221767e-01 5.35991160e-01 1.75643114e-03 4.15289633e+02] [-2.09255047e-03 1.89356848e-05 9.99997810e-01 8.23599074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.262755096 meters 0.020207032164110378 Centerline is valid? [True, True] Translation: X:30.65, Y:415.31, Z:8.24 [[ 5.35376043e-01 -8.44613134e-01 1.07052276e-03 3.06513069e+01] [ 8.44611515e-01 5.35377113e-01 1.65417073e-03 4.15313174e+02] [-1.97026771e-03 1.85724680e-05 9.99998059e-01 8.23630252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2927550960001 meters 0.020218808070249342 Centerline is valid? [True, True] Translation: X:30.67, Y:415.34, Z:8.24 [[ 5.34445139e-01 -8.45203098e-01 3.41623823e-04 3.06675975e+01] [ 8.45202932e-01 5.34445248e-01 5.29980205e-04 4.15336492e+02] [-6.30520140e-04 5.49611250e-06 9.99999801e-01 8.23566072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.322755096 meters 0.020392573634856307 Centerline is valid? [True, True] Translation: X:30.68, Y:415.36, Z:8.24 [[ 5.33872240e-01 -8.45565144e-01 -1.36324135e-04 3.06826787e+01] [ 8.45565119e-01 5.33872257e-01 -2.07963057e-04 4.15358446e+02] [ 2.48625986e-04 -4.24523068e-06 9.99999969e-01 8.23535286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.352755096 meters 0.020602621558796365 Centerline is valid? [True, True] Translation: X:30.70, Y:415.38, Z:8.23 [[ 5.33047232e-01 -8.46085191e-01 -7.06002862e-04 3.06976774e+01] [ 8.46084490e-01 5.33047699e-01 -1.08898523e-03 4.15381250e+02] [ 1.29770748e-03 -1.68575098e-05 9.99999158e-01 8.23474084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.382755096 meters 0.02083446394147694 Centerline is valid? [True, True] Translation: X:30.71, Y:415.40, Z:8.23 [[ 5.32217700e-01 -8.46606576e-01 -1.27482644e-03 3.07131386e+01] [ 8.46604285e-01 5.32219226e-01 -1.96999610e-03 4.15404483e+02] [ 2.34629879e-03 -3.08067301e-05 9.99997247e-01 8.23347550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4127550960001 meters 0.020884622690796033 Centerline is valid? [True, True] Translation: X:30.73, Y:415.43, Z:8.23 [[ 5.31540037e-01 -8.47031599e-01 -1.63084804e-03 3.07283849e+01] [ 8.47027844e-01 5.31542537e-01 -2.52253149e-03 4.15428118e+02] [ 3.00352899e-03 -4.05472211e-05 9.99995489e-01 8.23329745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.442755096 meters 0.020898248164452318 Centerline is valid? [True, True] Translation: X:30.74, Y:415.45, Z:8.23 [[ 5.30839714e-01 -8.47469417e-01 -2.18764173e-03 3.07433859e+01] [ 8.47462651e-01 5.30844219e-01 -3.38685823e-03 4.15451992e+02] [ 4.03155574e-03 -5.60658053e-05 9.99991872e-01 8.23303895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.472755096 meters 0.021190404988889938 Centerline is valid? [True, True] Translation: X:30.76, Y:415.47, Z:8.23 [[ 5.30530881e-01 -8.47661114e-01 -2.76048366e-03 3.07582988e+01] [ 8.47650326e-01 5.30538058e-01 -4.27713741e-03 4.15474254e+02] [ 5.09010470e-03 -7.07714010e-05 9.99987043e-01 8.23287011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.502755096 meters 0.02109000227239516 Centerline is valid? [True, True] Translation: X:30.77, Y:415.50, Z:8.23 [[ 5.30292774e-01 -8.47809658e-01 -2.89078175e-03 3.07735851e+01] [ 8.47797817e-01 5.30300648e-01 -4.48146016e-03 4.15498296e+02] [ 5.33240864e-03 -7.43125173e-05 9.99985780e-01 8.23311659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5327550960001 meters 0.02137805332433389 Centerline is valid? [True, True] Translation: X:30.79, Y:415.52, Z:8.23 [[ 5.30288262e-01 -8.47812236e-01 -2.96180023e-03 3.07884842e+01] [ 8.47799788e-01 5.30296528e-01 -4.59471134e-03 4.15521171e+02] [ 5.46608487e-03 -7.44921214e-05 9.99985058e-01 8.23360560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.562755096 meters 0.022783810988555284 Centerline is valid? [True, True] Translation: X:30.80, Y:415.55, Z:8.23 [[ 5.30073284e-01 -8.47943187e-01 -3.82964244e-03 3.08017727e+01] [ 8.47922345e-01 5.30087109e-01 -5.94590068e-03 4.15546007e+02] [ 7.07183006e-03 -9.54763049e-05 9.99974990e-01 8.23177586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.592755096 meters 0.020917043974964612 Centerline is valid? [True, True] Translation: X:30.82, Y:415.57, Z:8.23 [[ 5.30342098e-01 -8.47775151e-01 -3.81471232e-03 3.08161352e+01] [ 8.47754438e-01 5.30355810e-01 -5.92684886e-03 4.15568941e+02] [ 7.04779003e-03 -9.06818409e-05 9.99975160e-01 8.23331570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.622755096 meters 0.02033510518678612 Centerline is valid? [True, True] Translation: X:30.83, Y:415.59, Z:8.23 [[ 5.30891388e-01 -8.47430110e-01 -4.06719639e-03 3.08298061e+01] [ 8.47406521e-01 5.30906960e-01 -6.32364620e-03 4.15594123e+02] [ 7.51815106e-03 -8.93994334e-05 9.99971734e-01 8.23399405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6527550960001 meters 0.020329539919680093 Centerline is valid? [True, True] Translation: X:30.84, Y:415.62, Z:8.23 [[ 5.30929440e-01 -8.47405784e-01 -4.16744440e-03 3.08445454e+01] [ 8.47380983e-01 5.30945788e-01 -6.48386037e-03 4.15618419e+02] [ 7.70714783e-03 -8.89407729e-05 9.99970296e-01 8.23437978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.682755096 meters 0.020286015829001875 Centerline is valid? [True, True] Translation: X:30.86, Y:415.64, Z:8.23 [[ 5.31008362e-01 -8.47357427e-01 -3.93843549e-03 3.08593705e+01] [ 8.47335246e-01 5.31022961e-01 -6.13161809e-03 4.15642442e+02] [ 7.28707180e-03 -8.12347240e-05 9.99973446e-01 8.23484024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.712755096 meters 0.020195059087719788 Centerline is valid? [True, True] Translation: X:30.87, Y:415.67, Z:8.24 [[ 5.31158059e-01 -8.47263831e-01 -3.88813601e-03 3.08731763e+01] [ 8.47242181e-01 5.31172284e-01 -6.05740219e-03 4.15666425e+02] [ 7.19748786e-03 -7.67548425e-05 9.99974095e-01 8.23509565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.742755096 meters 0.02030385498509134 Centerline is valid? [True, True] Translation: X:30.89, Y:415.69, Z:8.24 [[ 5.30780803e-01 -8.47500750e-01 -3.77072047e-03 3.08874183e+01] [ 8.47480365e-01 5.30794192e-01 -5.87848315e-03 4.15689394e+02] [ 6.98349540e-03 -7.54255482e-05 9.99975612e-01 8.23542406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7727550960001 meters 0.02029198529823993 Centerline is valid? [True, True] Translation: X:30.90, Y:415.71, Z:8.24 [[ 5.30272407e-01 -8.47818108e-01 -3.95358576e-03 3.09025328e+01] [ 8.47795675e-01 5.30287139e-01 -6.16799197e-03 4.15713233e+02] [ 7.32587096e-03 -8.11169582e-05 9.99973162e-01 8.23562694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.802755096 meters 0.02057080407227719 Centerline is valid? [True, True] Translation: X:30.92, Y:415.74, Z:8.24 [[ 5.29637164e-01 -8.48215482e-01 -3.86929824e-03 3.09175962e+01] [ 8.48193977e-01 5.29651291e-01 -6.04056228e-03 4.15736258e+02] [ 7.17307725e-03 -8.26091844e-05 9.99974270e-01 8.23600238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.832755096 meters 0.020634808985827653 Centerline is valid? [True, True] Translation: X:30.93, Y:415.76, Z:8.24 [[ 5.29151348e-01 -8.48519728e-01 -3.62245499e-03 3.09327297e+01] [ 8.48500861e-01 5.29163741e-01 -5.65893155e-03 4.15759712e+02] [ 6.71858690e-03 -7.92249221e-05 9.99977427e-01 8.23631919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.862755096 meters 0.021119508832069766 Centerline is valid? [True, True] Translation: X:30.95, Y:415.78, Z:8.24 [[ 5.27622281e-01 -8.49471136e-01 -3.67651867e-03 3.09485694e+01] [ 8.49451699e-01 5.27635083e-01 -5.74729157e-03 4.15781885e+02] [ 6.82201854e-03 -9.06259356e-05 9.99976726e-01 8.23672571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.892755096 meters 0.021610991180378906 Centerline is valid? [True, True] Translation: X:30.96, Y:415.80, Z:8.24 [[ 5.26442477e-01 -8.50202280e-01 -3.79502923e-03 3.09632852e+01] [ 8.50181557e-01 5.26456146e-01 -5.93692614e-03 4.15803302e+02] [ 7.04550460e-03 -1.01013753e-04 9.99975175e-01 8.23663588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9227550960001 meters 0.0218750748453965 Centerline is valid? [True, True] Translation: X:30.98, Y:415.83, Z:8.24 [[ 5.24472823e-01 -8.51419002e-01 -3.73380430e-03 3.09786078e+01] [ 8.51398944e-01 5.24486101e-01 -5.84528817e-03 4.15827416e+02] [ 6.93511788e-03 -1.13262251e-04 9.99975945e-01 8.23640050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.952755096 meters 0.0218750748453965 Centerline is valid? [True, True] Translation: X:30.99, Y:415.85, Z:8.24 [[ 5.24214801e-01 -8.51577897e-01 -3.73209191e-03 3.09933129e+01] [ 8.51557835e-01 5.24228074e-01 -5.84638142e-03 4.15850769e+02] [ 6.93511655e-03 -1.13332432e-04 9.99975945e-01 8.23651978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.982755096 meters 0.02184554164132543 Centerline is valid? [True, True] Translation: X:31.01, Y:415.87, Z:8.24 [[ 5.23086875e-01 -8.52270638e-01 -3.85752252e-03 3.10082478e+01] [ 8.52249194e-01 5.23101084e-01 -6.04702933e-03 4.15874088e+02] [ 7.17157976e-03 -1.24448783e-04 9.99974276e-01 8.23674022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.012755096 meters 0.02191085274292439 Centerline is valid? [True, True] Translation: X:31.02, Y:415.90, Z:8.24 [[ 5.22190376e-01 -8.52820139e-01 -3.87580623e-03 3.10237308e+01] [ 8.52798476e-01 5.22204743e-01 -6.07988397e-03 4.15897678e+02] [ 7.20901189e-03 -1.30424752e-04 9.99974006e-01 8.23713022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0427550960001 meters 0.022730052417558613 Centerline is valid? [True, True] Translation: X:31.04, Y:415.92, Z:8.24 [[ 5.21332456e-01 -8.53343625e-01 -4.13875047e-03 3.10402639e+01] [ 8.53318903e-01 5.21348864e-01 -6.49714631e-03 4.15919666e+02] [ 7.70203124e-03 -1.44500770e-04 9.99970329e-01 8.23712799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.072755096 meters 0.02307659149949536 Centerline is valid? [True, True] Translation: X:31.06, Y:415.94, Z:8.24 [[ 5.20911719e-01 -8.53599730e-01 -4.29917307e-03 3.10555882e+01] [ 8.53573023e-01 5.20929437e-01 -6.75393326e-03 4.15941693e+02] [ 8.00472142e-03 -1.51455170e-04 9.99967950e-01 8.23742153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.102755096 meters 0.022318820391046826 Centerline is valid? [True, True] Translation: X:31.07, Y:415.97, Z:8.24 [[ 5.20935479e-01 -8.53583632e-01 -4.60549230e-03 3.10688625e+01] [ 8.53552938e-01 5.20955813e-01 -7.24037096e-03 4.15966566e+02] [ 8.57952012e-03 -1.59265374e-04 9.99963183e-01 8.23754606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.132755096 meters 0.021697567815070925 Centerline is valid? [True, True] Translation: X:31.08, Y:415.99, Z:8.24 [[ 5.22781322e-01 -8.52451115e-01 -5.17555115e-03 3.10821537e+01] [ 8.52412241e-01 5.22806918e-01 -8.14235091e-03 4.15991486e+02] [ 9.64677005e-03 -1.55034185e-04 9.99953457e-01 8.23697392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1627550960001 meters 0.021184991276010232 Centerline is valid? [True, True] Translation: X:31.10, Y:416.02, Z:8.24 [[ 5.23747059e-01 -8.51857318e-01 -5.30361893e-03 3.10955037e+01] [ 8.51816410e-01 5.23773892e-01 -8.34955614e-03 4.16016381e+02] [ 9.89052762e-03 -1.44654158e-04 9.99951077e-01 8.23699855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.192755096 meters 0.02093850118390005 Centerline is valid? [True, True] Translation: X:31.11, Y:416.04, Z:8.24 [[ 5.24879252e-01 -8.51159078e-01 -5.47680991e-03 3.11088025e+01] [ 8.51115353e-01 5.24907808e-01 -8.62839615e-03 4.16039676e+02] [ 1.02189580e-02 -1.32530876e-04 9.99947776e-01 8.23644687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.222755096 meters 0.019956908204615834 Centerline is valid? [True, True] Translation: X:31.12, Y:416.07, Z:8.24 [[ 5.27956709e-01 -8.49249288e-01 -6.11231692e-03 3.11206233e+01] [ 8.49194621e-01 5.27992080e-01 -9.63636142e-03 4.16066032e+02] [ 1.14109280e-02 -1.02964988e-04 9.99934888e-01 8.23642770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.252755096 meters 0.019690102227993705 Centerline is valid? [True, True] Translation: X:31.13, Y:416.09, Z:8.24 [[ 5.29560764e-01 -8.48245949e-01 -6.64881865e-03 3.11338366e+01] [ 8.48181095e-01 5.29602495e-01 -1.04894279e-02 4.16090520e+02] [ 1.24188457e-02 -8.46128406e-05 9.99922880e-01 8.23616313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2827550960001 meters 0.01941584422844261 Centerline is valid? [True, True] Translation: X:31.15, Y:416.12, Z:8.24 [[ 5.30889163e-01 -8.47413416e-01 -6.87012444e-03 3.11471681e+01] [ 8.47344006e-01 5.30933610e-01 -1.08460916e-02 4.16115234e+02] [ 1.28387035e-02 -6.32862754e-05 9.99917578e-01 8.23611333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.312755096 meters 0.019177381647023612 Centerline is valid? [True, True] Translation: X:31.16, Y:416.14, Z:8.24 [[ 5.33676355e-01 -8.45657182e-01 -7.31297061e-03 3.11589697e+01] [ 8.45578278e-01 5.33726457e-01 -1.15518496e-02 4.16139657e+02] [ 1.36720304e-02 -1.87401206e-05 9.99906533e-01 8.23525970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.342755096 meters 0.019220483863779947 Centerline is valid? [True, True] Translation: X:31.17, Y:416.16, Z:8.24 [[ 5.34673604e-01 -8.45026962e-01 -7.31916954e-03 3.11725773e+01] [ 8.44947766e-01 5.34723698e-01 -1.15689334e-02 4.16163854e+02] [ 1.36897940e-02 1.28736079e-06 9.99906290e-01 8.23615541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.372755096 meters 0.019065483199391112 Centerline is valid? [True, True] Translation: X:31.19, Y:416.19, Z:8.24 [[ 5.35218355e-01 -8.44680815e-01 -7.45886225e-03 3.11870450e+01] [ 8.44598418e-01 5.35270326e-01 -1.17979308e-02 4.16188246e+02] [ 1.39579935e-02 1.47258769e-05 9.99902582e-01 8.23638066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4027550960001 meters 0.01913363398674498 Centerline is valid? [True, True] Translation: X:31.20, Y:416.21, Z:8.24 [[ 5.35450786e-01 -8.44529512e-01 -7.89680035e-03 3.12017456e+01] [ 8.44437004e-01 5.35509013e-01 -1.24997378e-02 4.16210832e+02] [ 1.47852052e-02 2.46440214e-05 9.99890693e-01 8.23644901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.432755096 meters 0.019000393967805198 Centerline is valid? [True, True] Translation: X:31.22, Y:416.23, Z:8.24 [[ 5.34488666e-01 -8.45137446e-01 -8.03517903e-03 3.12174109e+01] [ 8.45041599e-01 5.34549061e-01 -1.27278396e-02 4.16233754e+02] [ 1.50519713e-02 1.28254986e-05 9.99886713e-01 8.23710932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.462755096 meters 0.018955683403821942 Centerline is valid? [True, True] Translation: X:31.23, Y:416.26, Z:8.24 [[ 5.33798251e-01 -8.45571564e-01 -8.25572366e-03 3.12328115e+01] [ 8.45470320e-01 5.33862089e-01 -1.30846373e-02 4.16256253e+02] [ 1.54714151e-02 4.58717744e-06 9.99880311e-01 8.23702735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.492755096 meters 0.01890255397852674 Centerline is valid? [True, True] Translation: X:31.25, Y:416.28, Z:8.24 [[ 5.31628627e-01 -8.46938690e-01 -8.11533548e-03 3.12498719e+01] [ 8.46840920e-01 5.31690563e-01 -1.28686217e-02 4.16277439e+02] [ 1.52137809e-02 -3.10704885e-05 9.99884263e-01 8.23661658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5227550960001 meters 0.01890044539016254 Centerline is valid? [True, True] Translation: X:31.27, Y:416.30, Z:8.24 [[ 5.30242228e-01 -8.47807751e-01 -8.07447456e-03 3.12655855e+01] [ 8.47710941e-01 5.30303701e-01 -1.28119350e-02 4.16300191e+02] [ 1.51439815e-02 -5.13914817e-05 9.99885322e-01 8.23763621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.552755096 meters 0.018907943535684306 Centerline is valid? [True, True] Translation: X:31.28, Y:416.32, Z:8.24 [[ 5.28764907e-01 -8.48731589e-01 -7.89704231e-03 3.12820194e+01] [ 8.48638962e-01 5.28823870e-01 -1.25390155e-02 4.16323607e+02] [ 1.48184030e-02 -7.15464494e-05 9.99890199e-01 8.23839270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.582755096 meters 0.019153280062712344 Centerline is valid? [True, True] Translation: X:31.30, Y:416.35, Z:8.24 [[ 5.25797935e-01 -8.50574606e-01 -7.70530414e-03 3.12995104e+01] [ 8.50486496e-01 5.25854378e-01 -1.22431207e-02 4.16346220e+02] [ 1.44655555e-02 -1.15849549e-04 9.99895362e-01 8.23909359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.612755096 meters 0.0194556676872043 Centerline is valid? [True, True] Translation: X:31.31, Y:416.37, Z:8.24 [[ 5.24299412e-01 -8.51500866e-01 -7.51010417e-03 3.13146328e+01] [ 8.51417163e-01 5.24353180e-01 -1.19397552e-02 4.16368160e+02] [ 1.41046589e-02 -1.34224936e-04 9.99900515e-01 8.23896227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.642755096 meters 0.019952326244647878 Centerline is valid? [True, True] Translation: X:31.33, Y:416.39, Z:8.24 [[ 5.22207375e-01 -8.52788497e-01 -7.15797020e-03 3.13299043e+01] [ 8.52712483e-01 5.22256407e-01 -1.13871190e-02 4.16391303e+02] [ 1.34490999e-02 -1.57252999e-04 9.99909544e-01 8.23919177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6727550960001 meters 0.020179744133397164 Centerline is valid? [True, True] Translation: X:31.34, Y:416.41, Z:8.24 [[ 5.21432118e-01 -8.53265084e-01 -6.87341892e-03 3.13444603e+01] [ 8.53194937e-01 5.21477394e-01 -1.09419645e-02 4.16414778e+02] [ 1.29207288e-02 -1.58874491e-04 9.99916511e-01 8.23938463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.702755096 meters 0.02007235942320299 Centerline is valid? [True, True] Translation: X:31.36, Y:416.44, Z:8.24 [[ 5.21253993e-01 -8.53375055e-01 -6.72986645e-03 3.13589237e+01] [ 8.53307723e-01 5.21297413e-01 -1.07208690e-02 4.16438741e+02] [ 1.26571841e-02 -1.54351247e-04 9.99919883e-01 8.24003851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.732755096 meters 0.01981128152263721 Centerline is valid? [True, True] Translation: X:31.37, Y:416.46, Z:8.24 [[ 5.21762764e-01 -8.53068618e-01 -6.12791539e-03 3.13725473e+01] [ 8.53012699e-01 5.21798732e-01 -9.76827977e-03 4.16463926e+02] [ 1.15305514e-02 -1.30464988e-04 9.99933513e-01 8.24043207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.762755096 meters 0.020981420318547 Centerline is valid? [True, True] Translation: X:31.39, Y:416.49, Z:8.24 [[ 5.22876185e-01 -8.52388474e-01 -5.86379350e-03 3.13863234e+01] [ 8.52337160e-01 5.22909053e-01 -9.35353216e-03 4.16488345e+02] [ 1.10390737e-02 -1.07189889e-04 9.99939062e-01 8.23899526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7927550960001 meters 0.019203976087452578 Centerline is valid? [True, True] Translation: X:31.40, Y:416.51, Z:8.24 [[ 5.24979010e-01 -8.51097996e-01 -5.40742548e-03 3.13965147e+01] [ 8.51054230e-01 5.25006853e-01 -8.63146485e-03 4.16513944e+02] [ 1.01851579e-02 -7.06744632e-05 9.99948127e-01 8.24009939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.822755096 meters 0.018906419258969066 Centerline is valid? [True, True] Translation: X:31.41, Y:416.54, Z:8.24 [[ 5.26614372e-01 -8.50088556e-01 -5.17218623e-03 3.14088672e+01] [ 8.50048409e-01 5.26639768e-01 -8.26174639e-03 4.16538065e+02] [ 9.74709502e-03 -4.58542910e-05 9.99952495e-01 8.23988644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.852755096 meters 0.0187934562870443 Centerline is valid? [True, True] Translation: X:31.42, Y:416.56, Z:8.24 [[ 5.27831407e-01 -8.49334734e-01 -4.95123031e-03 3.14219218e+01] [ 8.49297860e-01 5.27854628e-01 -7.91433318e-03 4.16563353e+02] [ 9.33544791e-03 -2.76356861e-05 9.99956423e-01 8.24058402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.882755096 meters 0.018847082376118145 Centerline is valid? [True, True] Translation: X:31.43, Y:416.59, Z:8.24 [[ 5.30840235e-01 -8.47458643e-01 -4.74273223e-03 3.14336813e+01] [ 8.47424685e-01 5.30861421e-01 -7.58649965e-03 4.16587967e+02] [ 8.94697828e-03 8.11089312e-06 9.99959975e-01 8.24073320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9127550960001 meters 0.018869365485676807 Centerline is valid? [True, True] Translation: X:31.45, Y:416.61, Z:8.24 [[ 5.31771716e-01 -8.46873859e-01 -4.84872119e-03 3.14477956e+01] [ 8.46838289e-01 5.31793820e-01 -7.76176318e-03 4.16612272e+02] [ 9.15175430e-03 2.14033653e-05 9.99958122e-01 8.24114295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.942755096 meters 0.018968804820236492 Centerline is valid? [True, True] Translation: X:31.46, Y:416.64, Z:8.24 [[ 5.32591100e-01 -8.46360116e-01 -4.61231837e-03 3.14612294e+01] [ 8.46327873e-01 5.32611071e-01 -7.38773939e-03 4.16635214e+02] [ 8.70925979e-03 3.11106531e-05 9.99962073e-01 8.24168714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.972755096 meters 0.01927296489813428 Centerline is valid? [True, True] Translation: X:31.47, Y:416.66, Z:8.24 [[ 5.34581613e-01 -8.45105928e-01 -4.29774644e-03 3.14736437e+01] [ 8.45077865e-01 5.34598886e-01 -6.88714342e-03 4.16658784e+02] [ 8.11793619e-03 4.98098545e-05 9.99967048e-01 8.24256799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.002755096 meters 0.01935621879277184 Centerline is valid? [True, True] Translation: X:31.49, Y:416.68, Z:8.24 [[ 5.35181777e-01 -8.44726981e-01 -4.09808051e-03 3.14879882e+01] [ 8.44701426e-01 5.35197464e-01 -6.57082404e-03 4.16683076e+02] [ 7.74383465e-03 5.49308383e-05 9.99970015e-01 8.24283047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0327550960001 meters 0.019542454263757864 Centerline is valid? [True, True] Translation: X:31.50, Y:416.71, Z:8.24 [[ 5.35805108e-01 -8.44331723e-01 -4.10224109e-03 3.15023835e+01] [ 8.44306069e-01 5.35820808e-01 -6.58207342e-03 4.16707219e+02] [ 7.75551952e-03 6.31615145e-05 9.99969924e-01 8.24277746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.062755096 meters 0.019801444141153486 Centerline is valid? [True, True] Translation: X:31.52, Y:416.73, Z:8.24 [[ 5.36617294e-01 -8.43817474e-01 -3.73495752e-03 3.15168501e+01] [ 8.43796168e-01 5.36630288e-01 -5.99677910e-03 4.16730130e+02] [ 7.06447832e-03 6.64325356e-05 9.99975044e-01 8.24299750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.092755096 meters 0.019852206122899244 Centerline is valid? [True, True] Translation: X:31.53, Y:416.75, Z:8.24 [[ 5.36543163e-01 -8.43865006e-01 -3.64489650e-03 3.15321938e+01] [ 8.43844688e-01 5.36555539e-01 -5.85629286e-03 4.16753910e+02] [ 6.89761002e-03 6.64273510e-05 9.99976209e-01 8.24309582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.122755096 meters 0.01965391808037918 Centerline is valid? [True, True] Translation: X:31.55, Y:416.78, Z:8.24 [[ 5.35650291e-01 -8.44430846e-01 -3.91307547e-03 3.15480974e+01] [ 8.44407409e-01 5.35664580e-01 -6.29177743e-03 4.16775382e+02] [ 7.40906687e-03 6.59624904e-05 9.99972550e-01 8.24250128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1527550960001 meters 0.01939311737785698 Centerline is valid? [True, True] Translation: X:31.56, Y:416.80, Z:8.24 [[ 5.34570643e-01 -8.45114969e-01 -3.86234382e-03 3.15639196e+01] [ 8.45092121e-01 5.34584592e-01 -6.21455126e-03 4.16798178e+02] [ 7.31675979e-03 5.80803298e-05 9.99973231e-01 8.24236605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.182755096 meters 0.019040209079561003 Centerline is valid? [True, True] Translation: X:31.58, Y:416.82, Z:8.24 [[ 5.33580603e-01 -8.45741027e-01 -3.72220341e-03 3.15806115e+01] [ 8.45719794e-01 5.33593584e-01 -5.99308035e-03 4.16820989e+02] [ 7.05473779e-03 4.98503313e-05 9.99975114e-01 8.24333508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.212755096 meters 0.018982537697038733 Centerline is valid? [True, True] Translation: X:31.60, Y:416.84, Z:8.24 [[ 5.32318067e-01 -8.46537021e-01 -3.54230435e-03 3.15959699e+01] [ 8.46517782e-01 5.32329852e-01 -5.70737786e-03 4.16843344e+02] [ 6.71718100e-03 3.95167298e-05 9.99977439e-01 8.24345677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.242755096 meters 0.018589908516161806 Centerline is valid? [True, True] Translation: X:31.61, Y:416.87, Z:8.24 [[ 5.30152932e-01 -8.47895180e-01 -3.41057377e-03 3.16135503e+01] [ 8.47877348e-01 5.30163902e-01 -5.49904033e-03 4.16865266e+02] [ 6.47077288e-03 2.35841119e-05 9.99979064e-01 8.24452278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2727550960001 meters 0.01860986264493885 Centerline is valid? [True, True] Translation: X:31.63, Y:416.89, Z:8.25 [[ 5.29064594e-01 -8.48576641e-01 -2.88781725e-03 3.16280671e+01] [ 8.48563851e-01 5.29072475e-01 -4.65912939e-03 4.16888370e+02] [ 5.48149299e-03 1.44830689e-05 9.99984976e-01 8.24519036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.302755096 meters 0.01847653923482301 Centerline is valid? [True, True] Translation: X:31.64, Y:416.91, Z:8.25 [[ 5.27169244e-01 -8.49756971e-01 -2.38293421e-03 3.16429818e+01] [ 8.49748263e-01 5.27174629e-01 -3.84696826e-03 4.16911319e+02] [ 4.52521056e-03 3.10914618e-06 9.99989761e-01 8.24648914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.332755096 meters 0.018312039385971386 Centerline is valid? [True, True] Translation: X:31.66, Y:416.93, Z:8.25 [[ 5.25398505e-01 -8.50853379e-01 -2.22233023e-03 3.16574472e+01] [ 8.50845805e-01 5.25403205e-01 -3.59015633e-03 4.16932975e+02] [ 4.22231607e-03 -4.59758584e-06 9.99991086e-01 8.24695177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.362755096 meters 0.018399841306221958 Centerline is valid? [True, True] Translation: X:31.67, Y:416.96, Z:8.25 [[ 5.23499286e-01 -8.52023386e-01 -2.15582306e-03 3.16729158e+01] [ 8.52016257e-01 5.23503725e-01 -3.48533117e-03 4.16955687e+02] [ 4.09816507e-03 -1.22279134e-05 9.99991602e-01 8.24776309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.392755096 meters 0.018827006443297815 Centerline is valid? [True, True] Translation: X:31.69, Y:416.98, Z:8.25 [[ 5.20306136e-01 -8.53977747e-01 -1.87960374e-03 3.16881821e+01] [ 8.53972334e-01 5.20309530e-01 -3.04073718e-03 4.16976554e+02] [ 3.57469763e-03 -2.30153823e-05 9.99993611e-01 8.24887637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4227550960001 meters 0.018965725064896438 Centerline is valid? [True, True] Translation: X:31.70, Y:417.00, Z:8.25 [[ 5.18857840e-01 -8.54859156e-01 -1.53807027e-03 3.17025657e+01] [ 8.54855532e-01 5.18860119e-01 -2.48907132e-03 4.17000836e+02] [ 2.92584874e-03 -2.33537120e-05 9.99995719e-01 8.24938127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.452755096 meters 0.020054333318208984 Centerline is valid? [True, True] Translation: X:31.72, Y:417.02, Z:8.25 [[ 5.16147446e-01 -8.56498856e-01 -1.23423519e-03 3.17196625e+01] [ 8.56496525e-01 5.16148921e-01 -1.99871035e-03 4.17022364e+02] [ 2.34894229e-03 -2.54889137e-05 9.99997241e-01 8.25083570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.482755096 meters 0.019988879849364198 Centerline is valid? [True, True] Translation: X:31.73, Y:417.05, Z:8.25 [[ 5.14628383e-01 -8.57412621e-01 -1.10625152e-03 3.17328732e+01] [ 8.57410750e-01 5.14629572e-01 -1.79159911e-03 4.17046742e+02] [ 2.10544944e-03 -2.65041938e-05 9.99997783e-01 8.25072314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.512755096 meters 0.021577356760176775 Centerline is valid? [True, True] Translation: X:31.75, Y:417.07, Z:8.25 [[ 5.12574778e-01 -8.58641410e-01 -1.42345584e-03 3.17487821e+01] [ 8.58638310e-01 5.12576753e-01 -2.30756514e-03 4.17069125e+02] [ 2.71100136e-03 -3.94340270e-05 9.99996324e-01 8.25008346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5427550960001 meters 0.020778090603357755 Centerline is valid? [True, True] Translation: X:31.76, Y:417.09, Z:8.25 [[ 5.11412408e-01 -8.59333986e-01 -1.56533195e-03 3.17603937e+01] [ 8.59330234e-01 5.11414801e-01 -2.53968422e-03 4.17094676e+02] [ 2.98297089e-03 -4.63110464e-05 9.99995550e-01 8.24961327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.572755096 meters 0.02129465758808419 Centerline is valid? [True, True] Translation: X:31.77, Y:417.12, Z:8.25 [[ 5.10232240e-01 -8.60034937e-01 -1.72279689e-03 3.17746567e+01] [ 8.60030390e-01 5.10235145e-01 -2.79731905e-03 4.17118184e+02] [ 3.28482363e-03 -5.43753206e-05 9.99994604e-01 8.24945781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.602755096 meters 0.022923225239099596 Centerline is valid? [True, True] Translation: X:31.79, Y:417.14, Z:8.25 [[ 5.09478690e-01 -8.60480952e-01 -1.99912547e-03 3.17910005e+01] [ 8.60474821e-01 5.09482608e-01 -3.24879854e-03 4.17139818e+02] [ 3.81404892e-03 -6.50035082e-05 9.99992724e-01 8.24947025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.632755096 meters 0.021925665245090112 Centerline is valid? [True, True] Translation: X:31.80, Y:417.17, Z:8.25 [[ 5.08134994e-01 -8.61275398e-01 -1.87538400e-03 3.18018392e+01] [ 8.61270001e-01 5.08138451e-01 -3.04973382e-03 4.17165989e+02] [ 3.57961542e-03 -6.55354988e-05 9.99993591e-01 8.25010235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6627550960001 meters 0.021269553769058504 Centerline is valid? [True, True] Translation: X:31.81, Y:417.19, Z:8.25 [[ 5.07619078e-01 -8.61579727e-01 -1.80182684e-03 3.18141881e+01] [ 8.61574740e-01 5.07622271e-01 -2.93195861e-03 4.17190799e+02] [ 3.44076354e-03 -6.40903690e-05 9.99994079e-01 8.25088136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.692755096 meters 0.02227969520458497 Centerline is valid? [True, True] Translation: X:31.83, Y:417.21, Z:8.25 [[ 5.07017293e-01 -8.61934785e-01 -1.37552929e-03 3.18292312e+01] [ 8.61931877e-01 5.07019156e-01 -2.23919700e-03 4.17213276e+02] [ 2.62746148e-03 -5.03009391e-05 9.99996547e-01 8.25186353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.722755096 meters 0.02153470082085657 Centerline is valid? [True, True] Translation: X:31.84, Y:417.24, Z:8.25 [[ 5.06759061e-01 -8.62086981e-01 -1.13650759e-03 3.18398181e+01] [ 8.62084994e-01 5.06760334e-01 -1.85109051e-03 4.17239234e+02] [ 2.17173800e-03 -4.17092516e-05 9.99997641e-01 8.25259747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.752755096 meters 0.021615411986120586 Centerline is valid? [True, True] Translation: X:31.85, Y:417.26, Z:8.25 [[ 5.06671433e-01 -8.62138813e-01 -8.52237984e-04 3.18528005e+01] [ 8.62137696e-01 5.06672148e-01 -1.38832517e-03 4.17262936e+02] [ 1.62873427e-03 -3.13217875e-05 9.99998673e-01 8.25252959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7827550960001 meters 0.021799106214595992 Centerline is valid? [True, True] Translation: X:31.87, Y:417.29, Z:8.25 [[ 5.05566921e-01 -8.62787295e-01 -4.14712448e-04 3.18653605e+01] [ 8.62787031e-01 5.05567091e-01 -6.74798093e-04 4.17288278e+02] [ 7.91872187e-04 -1.66529282e-05 9.99999686e-01 8.25291157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.812755096 meters 0.02190411638412747 Centerline is valid? [True, True] Translation: X:31.88, Y:417.31, Z:8.25 [[ 5.04866022e-01 -8.63197624e-01 -4.01827551e-04 3.18795226e+01] [ 8.63197376e-01 5.04866182e-01 -6.54206142e-04 4.17312768e+02] [ 7.67578329e-04 -1.65700355e-05 9.99999705e-01 8.25350228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.842755096 meters 0.02190411638412747 Centerline is valid? [True, True] Translation: X:31.89, Y:417.34, Z:8.25 [[ 5.04596120e-01 -8.63355428e-01 -4.01622568e-04 3.18937844e+01] [ 8.63355180e-01 5.04596279e-01 -6.54331753e-04 4.17336396e+02] [ 7.67578124e-04 -1.65696607e-05 9.99999705e-01 8.25362154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.872755096 meters 0.022323883233991468 Centerline is valid? [True, True] Translation: X:31.91, Y:417.36, Z:8.25 [[ 5.03651439e-01 -8.63906867e-01 -3.91724022e-04 3.19080895e+01] [ 8.63906631e-01 5.03651591e-01 -6.39172914e-04 4.17359967e+02] [ 7.49478296e-04 -1.64926224e-05 9.99999719e-01 8.25379497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9027550960001 meters 0.023522936250391837 Centerline is valid? [True, True] Translation: X:31.92, Y:417.38, Z:8.25 [[ 5.01190792e-01 -8.65336744e-01 -3.29948751e-04 3.19224105e+01] [ 8.65336577e-01 5.01190901e-01 -5.38620597e-04 4.17383401e+02] [ 6.31455505e-04 -1.55650393e-05 9.99999801e-01 8.25431769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.932755096 meters 0.02336822090399716 Centerline is valid? [True, True] Translation: X:31.94, Y:417.41, Z:8.25 [[ 4.99456624e-01 -8.66338799e-01 -4.08079660e-04 3.19353426e+01] [ 8.66338543e-01 4.99456791e-01 -6.66087851e-04 4.17408395e+02] [ 7.80875906e-04 -2.08531487e-05 9.99999695e-01 8.25399896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.962755096 meters 0.024129977407408163 Centerline is valid? [True, True] Translation: X:31.95, Y:417.43, Z:8.25 [[ 4.97648880e-01 -8.67378344e-01 -6.33350877e-04 3.19500637e+01] [ 8.67377726e-01 4.97649282e-01 -1.03587027e-03 4.17432380e+02] [ 1.21367805e-03 -3.38547617e-05 9.99999263e-01 8.25342757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.992755096 meters 0.02562336887395343 Centerline is valid? [True, True] Translation: X:31.97, Y:417.46, Z:8.25 [[ 4.94369873e-01 -8.69250813e-01 -1.20549051e-03 3.19651304e+01] [ 8.69248572e-01 4.94371338e-01 -1.97516941e-03 4.17456450e+02] [ 2.31287757e-03 -7.14066532e-05 9.99997323e-01 8.25251954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0227550960001 meters 0.026601680613481306 Centerline is valid? [True, True] Translation: X:31.98, Y:417.48, Z:8.25 [[ 4.92550689e-01 -8.70282587e-01 -1.42769572e-03 3.19794757e+01] [ 8.70279442e-01 4.92552750e-01 -2.34123006e-03 4.17479472e+02] [ 2.74074720e-03 -8.93197538e-05 9.99996240e-01 8.25229457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.052755096 meters 0.027512701622238383 Centerline is valid? [True, True] Translation: X:31.99, Y:417.50, Z:8.25 [[ 4.90353272e-01 -8.71522090e-01 -1.70714303e-03 3.19933404e+01] [ 8.71517594e-01 4.90356231e-01 -2.80179958e-03 4.17504034e+02] [ 3.27893845e-03 -1.13933597e-04 9.99994618e-01 8.25142819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.082755096 meters 0.027899083580420668 Centerline is valid? [True, True] Translation: X:32.01, Y:417.53, Z:8.25 [[ 4.89446425e-01 -8.72030956e-01 -2.05178840e-03 3.20071619e+01] [ 8.72024454e-01 4.89450706e-01 -3.37011783e-03 4.17528366e+02] [ 3.94309635e-03 -1.39717541e-04 9.99992216e-01 8.25114406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.112755096 meters 0.028812156252901427 Centerline is valid? [True, True] Translation: X:32.02, Y:417.55, Z:8.25 [[ 4.88465766e-01 -8.72580584e-01 -2.07843016e-03 3.20213324e+01] [ 8.72573909e-01 4.88470166e-01 -3.41618066e-03 4.17551992e+02] [ 3.99614404e-03 -1.44896626e-04 9.99992005e-01 8.25057697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.142755096 meters 0.029402210623047473 Centerline is valid? [True, True] Translation: X:32.03, Y:417.58, Z:8.25 [[ 4.87337443e-01 -8.73209441e-01 -2.73646987e-03 3.20337686e+01] [ 8.73197861e-01 4.87345087e-01 -4.50130631e-03 4.17577403e+02] [ 5.26418831e-03 -1.95824524e-04 9.99986125e-01 8.24825980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1727550960001 meters 0.029542836763172976 Centerline is valid? [True, True] Translation: X:32.05, Y:417.60, Z:8.25 [[ 4.87046428e-01 -8.73370705e-01 -3.06393256e-03 3.20469078e+01] [ 8.73356170e-01 4.87056016e-01 -5.04355621e-03 4.17601907e+02] [ 5.89720103e-03 -2.19458363e-04 9.99982587e-01 8.24682076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.202755096 meters 0.030308726098482872 Centerline is valid? [True, True] Translation: X:32.06, Y:417.63, Z:8.25 [[ 4.86727234e-01 -8.73547766e-01 -3.30154409e-03 3.20608816e+01] [ 8.73530870e-01 4.86738373e-01 -5.43828828e-03 4.17625397e+02] [ 6.35759278e-03 -2.37037679e-04 9.99979762e-01 8.24545277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.232755096 meters 0.028316001154492388 Centerline is valid? [True, True] Translation: X:32.07, Y:417.65, Z:8.24 [[ 4.87543926e-01 -8.73090112e-01 -3.81794356e-03 3.20714311e+01] [ 8.73067475e-01 4.87558803e-01 -6.29273105e-03 4.17652358e+02] [ 7.35559325e-03 -2.65339539e-04 9.99972912e-01 8.24292989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.262755096 meters 0.026894028461056017 Centerline is valid? [True, True] Translation: X:32.08, Y:417.68, Z:8.24 [[ 4.88201449e-01 -8.72721460e-01 -4.07409492e-03 3.20831394e+01] [ 8.72695634e-01 4.88218370e-01 -6.71959903e-03 4.17678218e+02] [ 7.85338626e-03 -2.74926874e-04 9.99969124e-01 8.24191129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2927550960001 meters 0.026178075709296866 Centerline is valid? [True, True] Translation: X:32.09, Y:417.70, Z:8.24 [[ 4.91091002e-01 -8.71094761e-01 -4.85234764e-03 3.20948147e+01] [ 8.71057989e-01 4.91114886e-01 -8.00932844e-03 4.17703293e+02] [ 9.35994421e-03 -2.93367052e-04 9.99956152e-01 8.23984826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.322755096 meters 0.028371020961601944 Centerline is valid? [True, True] Translation: X:32.11, Y:417.73, Z:8.24 [[ 4.92779169e-01 -8.70140708e-01 -4.88250711e-03 3.21112499e+01] [ 8.70103378e-01 4.92803280e-01 -8.06467092e-03 4.17725780e+02] [ 9.42351398e-03 -2.74184098e-04 9.99955560e-01 8.23805776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.352755096 meters 0.025518005906069764 Centerline is valid? [True, True] Translation: X:32.12, Y:417.75, Z:8.24 [[ 4.94259136e-01 -8.69296822e-01 -5.56261016e-03 3.21196953e+01] [ 8.69248244e-01 4.94290351e-01 -9.19452699e-03 4.17753354e+02] [ 1.07423176e-02 -2.90810145e-04 9.99942257e-01 8.23646420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.382755096 meters 0.022690534188841427 Centerline is valid? [True, True] Translation: X:32.13, Y:417.78, Z:8.24 [[ 4.96572160e-01 -8.67976857e-01 -5.68026128e-03 3.21309330e+01] [ 8.67926048e-01 4.96604576e-01 -9.39518622e-03 4.17780182e+02] [ 1.09756480e-02 -2.64658815e-04 9.99939731e-01 8.23671370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4127550960001 meters 0.021379129733525952 Centerline is valid? [True, True] Translation: X:32.14, Y:417.81, Z:8.23 [[ 5.01514946e-01 -8.65127517e-01 -6.09410862e-03 3.21422077e+01] [ 8.65068765e-01 5.01551924e-01 -1.00845556e-02 4.17805247e+02] [ 1.17809385e-02 -2.14267655e-04 9.99930579e-01 8.23449332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.442755096 meters 0.020804218688054463 Centerline is valid? [True, True] Translation: X:32.16, Y:417.83, Z:8.23 [[ 5.03612028e-01 -8.63909978e-01 -5.87163494e-03 3.21550919e+01] [ 8.63855294e-01 5.03646225e-01 -9.72165513e-03 4.17830519e+02] [ 1.13558616e-02 -1.76300471e-04 9.99935505e-01 8.23392503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.472755096 meters 0.018990699253314383 Centerline is valid? [True, True] Translation: X:32.17, Y:417.86, Z:8.23 [[ 5.07810235e-01 -8.61452471e-01 -5.32972076e-03 3.21659179e+01] [ 8.61407222e-01 5.07838192e-01 -8.82995988e-03 4.17855982e+02] [ 1.03132265e-02 -1.07115958e-04 9.99946812e-01 8.23440850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.502755096 meters 0.018243735844410972 Centerline is valid? [True, True] Translation: X:32.18, Y:417.88, Z:8.23 [[ 5.09488431e-01 -8.60461737e-01 -5.20942866e-03 3.21788479e+01] [ 8.60418397e-01 5.09515057e-01 -8.63647960e-03 4.17881092e+02] [ 1.00856426e-02 -8.21018172e-05 9.99949135e-01 8.23491399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5327550960001 meters 0.017984834179765506 Centerline is valid? [True, True] Translation: X:32.19, Y:417.90, Z:8.24 [[ 5.10898163e-01 -8.59628079e-01 -4.75735570e-03 3.21925507e+01] [ 8.59591849e-01 5.10920309e-01 -7.89241045e-03 4.17904853e+02] [ 9.21516728e-03 -5.71661768e-05 9.99957538e-01 8.23525282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.562755096 meters 0.01744198183129316 Centerline is valid? [True, True] Translation: X:32.21, Y:417.93, Z:8.24 [[ 5.13338854e-01 -8.58175840e-01 -4.17717991e-03 3.22062834e+01] [ 8.58147823e-01 5.13355849e-01 -6.93447165e-03 4.17929219e+02] [ 8.09537577e-03 -2.49041164e-05 9.99967232e-01 8.23686390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.592755096 meters 0.017358485859411493 Centerline is valid? [True, True] Translation: X:32.22, Y:417.95, Z:8.24 [[ 5.14171443e-01 -8.57679473e-01 -3.69442255e-03 3.22206239e+01] [ 8.57657517e-01 5.14184715e-01 -6.13695292e-03 4.17952830e+02] [ 7.16315416e-03 -1.31033304e-05 9.99974344e-01 8.23775239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.622755096 meters 0.017209199819228464 Centerline is valid? [True, True] Translation: X:32.24, Y:417.98, Z:8.24 [[ 5.14854411e-01 -8.57271672e-01 -3.19628665e-03 3.22354021e+01] [ 8.57255209e-01 5.14864332e-01 -5.31279184e-03 4.17976793e+02] [ 6.20015993e-03 -4.71906626e-06 9.99980779e-01 8.23892446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6527550960001 meters 0.017223782821043216 Centerline is valid? [True, True] Translation: X:32.25, Y:418.00, Z:8.24 [[ 5.16438004e-01 -8.56322401e-01 -1.93218226e-03 3.22507116e+01] [ 8.56316374e-01 5.16441618e-01 -3.21283478e-03 4.17999386e+02] [ 3.74908173e-03 4.67067245e-06 9.99992972e-01 8.24110205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.682755096 meters 0.017332117446232326 Centerline is valid? [True, True] Translation: X:32.27, Y:418.02, Z:8.24 [[ 5.16945457e-01 -8.56017565e-01 -1.15020623e-03 3.22664453e+01] [ 8.56015428e-01 5.16946736e-01 -1.91289844e-03 4.18022624e+02] [ 2.23207002e-03 4.26988197e-06 9.99997509e-01 8.24206826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.712755096 meters 0.0175328799684371 Centerline is valid? [True, True] Translation: X:32.28, Y:418.04, Z:8.24 [[ 5.17660345e-01 -8.55586200e-01 1.50365437e-04 3.22840742e+01] [ 8.55586162e-01 5.17660367e-01 2.53455059e-04 4.18044045e+02] [-2.94690878e-04 -2.55304600e-06 9.99999957e-01 8.24492691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.742755096 meters 0.017558353209453856 Centerline is valid? [True, True] Translation: X:32.30, Y:418.07, Z:8.25 [[ 5.17316497e-01 -8.55793807e-01 7.76257775e-04 3.23006357e+01] [ 8.55792823e-01 5.17317079e-01 1.29744874e-03 4.18066708e+02] [-1.51192000e-03 -6.87580301e-06 9.99998857e-01 8.24644117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7727550960001 meters 0.017580295991719713 Centerline is valid? [True, True] Translation: X:32.32, Y:418.09, Z:8.25 [[ 5.16584847e-01 -8.56235232e-01 1.15074260e-03 3.23166913e+01] [ 8.56233071e-01 5.16586128e-01 1.92367964e-03 4.18088376e+02] [-2.24157995e-03 -8.43987786e-06 9.99997488e-01 8.24779742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.802755096 meters 0.01741383736873893 Centerline is valid? [True, True] Translation: X:32.34, Y:418.11, Z:8.25 [[ 5.13186181e-01 -8.58275682e-01 1.67262617e-03 3.23374660e+01] [ 8.58271125e-01 5.13188907e-01 2.79662845e-03 4.18108572e+02] [-3.25865138e-03 3.75674319e-07 9.99994691e-01 8.24850786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.832755096 meters 0.01743034963500089 Centerline is valid? [True, True] Translation: X:32.35, Y:418.13, Z:8.25 [[ 5.11116100e-01 -8.59509621e-01 1.88240187e-03 3.23531548e+01] [ 8.59503852e-01 5.11119567e-01 3.14929814e-03 4.18131574e+02] [-3.66898448e-03 8.27467163e-06 9.99993269e-01 8.24918927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.862755096 meters 0.018034195379115766 Centerline is valid? [True, True] Translation: X:32.37, Y:418.15, Z:8.25 [[ 5.07301304e-01 -8.61763949e-01 2.87804242e-03 3.23694925e+01] [ 8.61750490e-01 5.07309467e-01 4.81645642e-03 4.18153541e+02] [-5.61070667e-03 3.67598410e-05 9.99984259e-01 8.25152442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.892755096 meters 0.01824282806687373 Centerline is valid? [True, True] Translation: X:32.38, Y:418.18, Z:8.25 [[ 5.05130917e-01 -8.63037583e-01 2.98110207e-03 3.23843505e+01] [ 8.63023144e-01 5.05139711e-01 4.99258764e-03 4.18177410e+02] [-5.81466381e-03 5.08497144e-05 9.99983093e-01 8.25146955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9227550960001 meters 0.0187135764904718 Centerline is valid? [True, True] Translation: X:32.40, Y:418.20, Z:8.25 [[ 5.02749277e-01 -8.64426664e-01 3.11557014e-03 3.23996825e+01] [ 8.64410899e-01 5.02758926e-01 5.22108212e-03 4.18201468e+02] [-6.07962329e-03 6.82375218e-05 9.99981517e-01 8.25157984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.952755096 meters 0.019570085692939138 Centerline is valid? [True, True] Translation: X:32.42, Y:418.22, Z:8.25 [[ 5.00543779e-01 -8.65704288e-01 3.46576157e-03 3.24155349e+01] [ 8.65684788e-01 5.00555769e-01 5.81124526e-03 4.18224148e+02] [-6.76562689e-03 9.14744087e-05 9.99977109e-01 8.25287098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.982755096 meters 0.020901255033916447 Centerline is valid? [True, True] Translation: X:32.43, Y:418.25, Z:8.25 [[ 4.96595709e-01 -8.67971899e-01 4.18142399e-03 3.24333498e+01] [ 8.67943580e-01 4.96613291e-01 7.01297796e-03 4.18246174e+02] [-8.16361853e-03 1.46625348e-04 9.99966666e-01 8.25469612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.012755096 meters 0.021413514975862382 Centerline is valid? [True, True] Translation: X:32.45, Y:418.27, Z:8.26 [[ 4.94727447e-01 -8.69035865e-01 4.62814921e-03 3.24502036e+01] [ 8.69001164e-01 4.94749062e-01 7.76805553e-03 4.18269554e+02] [-9.04049134e-03 1.78796767e-04 9.99959118e-01 8.25640560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0427550960001 meters 0.021898786239455223 Centerline is valid? [True, True] Translation: X:32.47, Y:418.29, Z:8.26 [[ 4.92910481e-01 -8.70058525e-01 6.11735378e-03 3.24668966e+01] [ 8.69997904e-01 4.92948372e-01 1.02737614e-02 4.18292866e+02] [-1.19543133e-02 2.58040301e-04 9.99928511e-01 8.25882581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.072755096 meters 0.022683222519381714 Centerline is valid? [True, True] Translation: X:32.48, Y:418.32, Z:8.26 [[ 4.92106051e-01 -8.70510462e-01 6.57040845e-03 3.24817679e+01] [ 8.70440482e-01 4.92149829e-01 1.10414393e-02 4.18315403e+02] [-1.28453138e-02 2.85590422e-04 9.99917455e-01 8.26052626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.102755096 meters 0.023448064556123197 Centerline is valid? [True, True] Translation: X:32.50, Y:418.34, Z:8.26 [[ 4.91483387e-01 -8.70860502e-01 6.78722642e-03 3.24968426e+01] [ 8.70785744e-01 4.91530157e-01 1.14145410e-02 4.18337558e+02] [-1.32765994e-02 3.00162740e-04 9.99911817e-01 8.26160546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.132755096 meters 0.024145364418157973 Centerline is valid? [True, True] Translation: X:32.51, Y:418.36, Z:8.26 [[ 4.89850527e-01 -8.71776412e-01 7.23532589e-03 3.25122352e+01] [ 8.71691441e-01 4.89903839e-01 1.21762252e-02 4.18360745e+02] [-1.41595598e-02 3.42441321e-04 9.99899690e-01 8.26169021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1627550960001 meters 0.02427376610329172 Centerline is valid? [True, True] Translation: X:32.53, Y:418.38, Z:8.26 [[ 4.88844486e-01 -8.72342561e-01 7.03737896e-03 3.25262841e+01] [ 8.72262119e-01 4.88895016e-01 1.18515210e-02 4.18384913e+02] [-1.37791257e-02 3.44888381e-04 9.99905004e-01 8.26085421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.192755096 meters 0.025078165809360713 Centerline is valid? [True, True] Translation: X:32.54, Y:418.41, Z:8.26 [[ 4.87115303e-01 -8.73312879e-01 6.58006906e-03 3.25405217e+01] [ 8.73242539e-01 4.87159622e-01 1.10891929e-02 4.18408913e+02] [-1.28898789e-02 3.44280662e-04 9.99916863e-01 8.25977789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.222755096 meters 0.026020743934885415 Centerline is valid? [True, True] Translation: X:32.55, Y:418.43, Z:8.26 [[ 4.86139637e-01 -8.73859337e-01 6.17354256e-03 3.25549920e+01] [ 8.73797369e-01 4.86178721e-01 1.04119847e-02 4.18431347e+02] [-1.21000551e-02 3.32746769e-04 9.99926736e-01 8.25929414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.252755096 meters 0.02581371151992112 Centerline is valid? [True, True] Translation: X:32.57, Y:418.46, Z:8.26 [[ 4.85087019e-01 -8.74447953e-01 5.60017431e-03 3.25684526e+01] [ 8.74396927e-01 4.85119244e-01 9.45160759e-03 4.18455986e+02] [-1.09816912e-02 3.11923058e-04 9.99939651e-01 8.25751049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2827550960001 meters 0.025575391161112345 Centerline is valid? [True, True] Translation: X:32.58, Y:418.48, Z:8.26 [[ 4.84018240e-01 -8.75043440e-01 5.03214738e-03 3.25814271e+01] [ 8.75002211e-01 4.84044311e-01 8.49920871e-03 4.18480644e+02] [-9.87295913e-03 2.89368047e-04 9.99951219e-01 8.25550283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.312755096 meters 0.026695980149202374 Centerline is valid? [True, True] Translation: X:32.60, Y:418.50, Z:8.25 [[ 4.82547916e-01 -8.75858974e-01 4.30892050e-03 3.25958719e+01] [ 8.75828748e-01 4.82567084e-01 7.28108629e-03 4.18503216e+02] [-8.45654796e-03 2.60403432e-04 9.99964209e-01 8.25380025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.342755096 meters 0.02730047876631371 Centerline is valid? [True, True] Translation: X:32.61, Y:418.53, Z:8.25 [[ 4.81873726e-01 -8.76231411e-01 4.02822505e-03 3.26095469e+01] [ 8.76204961e-01 4.81890500e-01 6.81267561e-03 4.18526366e+02] [-7.91064375e-03 2.46701392e-04 9.99968680e-01 8.25338976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.372755096 meters 0.025979933954578233 Centerline is valid? [True, True] Translation: X:32.62, Y:418.55, Z:8.25 [[ 4.81378277e-01 -8.76505485e-01 3.61796426e-03 3.26211070e+01] [ 8.76484123e-01 4.81391821e-01 6.12342983e-03 4.18552268e+02] [-7.10887824e-03 2.23402134e-04 9.99974707e-01 8.25127770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4027550960001 meters 0.028135911487652536 Centerline is valid? [True, True] Translation: X:32.64, Y:418.58, Z:8.25 [[ 4.80013679e-01 -8.77257845e-01 2.35400836e-03 3.26351304e+01] [ 8.77248792e-01 4.80019427e-01 3.98825260e-03 4.18575180e+02] [-4.62869562e-03 1.50635187e-04 9.99989276e-01 8.24791750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.432755096 meters 0.02844477277428522 Centerline is valid? [True, True] Translation: X:32.65, Y:418.60, Z:8.24 [[ 4.79040107e-01 -8.77792012e-01 1.32642958e-03 3.26478962e+01] [ 8.77789132e-01 4.79041935e-01 2.25030243e-03 4.18598825e+02] [-2.61071289e-03 8.63403502e-05 9.99996588e-01 8.24489456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.462755096 meters 0.029103444144375323 Centerline is valid? [True, True] Translation: X:32.66, Y:418.62, Z:8.24 [[ 4.77457535e-01 -8.78654526e-01 -7.25323495e-04 3.26612777e+01] [ 8.78653671e-01 4.77458083e-01 -1.22723020e-03 4.18623243e+02] [ 1.42462293e-03 -5.13578466e-05 9.99998984e-01 8.23903259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.492755096 meters 0.031973172562417426 Centerline is valid? [True, True] Translation: X:32.68, Y:418.64, Z:8.24 [[ 4.77154077e-01 -8.78818150e-01 -1.62665900e-03 3.26770684e+01] [ 8.78813832e-01 4.77156836e-01 -2.75742872e-03 4.18644504e+02] [ 3.19944987e-03 -1.13812069e-04 9.99994875e-01 8.23687177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5227550960001 meters 0.028202074320774637 Centerline is valid? [True, True] Translation: X:32.69, Y:418.67, Z:8.23 [[ 4.76568960e-01 -8.79133965e-01 -2.34488461e-03 3.26852445e+01] [ 8.79124979e-01 4.76574700e-01 -3.97830216e-03 4.18672818e+02] [ 4.61497323e-03 -1.65511306e-04 9.99989337e-01 8.23449108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.552755096 meters 0.02936915328455531 Centerline is valid? [True, True] Translation: X:32.70, Y:418.70, Z:8.23 [[ 4.76464429e-01 -8.79188929e-01 -2.91123240e-03 3.26990382e+01] [ 8.79175056e-01 4.76473279e-01 -4.94333288e-03 4.18695886e+02] [ 5.73324799e-03 -2.04160630e-04 9.99983544e-01 8.23226179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.582755096 meters 0.028123926118193202 Centerline is valid? [True, True] Translation: X:32.71, Y:418.72, Z:8.23 [[ 4.77076121e-01 -8.78851599e-01 -4.27106581e-03 3.27085947e+01] [ 8.78821669e-01 4.77095151e-01 -7.25888298e-03 4.18723260e+02] [ 8.41718570e-03 -2.90465453e-04 9.99964533e-01 8.22787536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.612755096 meters 0.026560127591940264 Centerline is valid? [True, True] Translation: X:32.72, Y:418.75, Z:8.23 [[ 4.77707052e-01 -8.78503959e-01 -5.17366611e-03 3.27186054e+01] [ 8.78459952e-01 4.77734945e-01 -8.79968568e-03 4.18750322e+02] [ 1.02021998e-02 -3.41186581e-04 9.99947898e-01 8.22579515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.642755096 meters 0.025916861583334304 Centerline is valid? [True, True] Translation: X:32.73, Y:418.78, Z:8.22 [[ 4.79785824e-01 -8.77356619e-01 -7.13631123e-03 3.27283203e+01] [ 8.77272661e-01 4.79838698e-01 -1.21450406e-02 4.18778091e+02] [ 1.40798100e-02 -4.33472442e-04 9.99900781e-01 8.21960981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6727550960001 meters 0.02589620286663775 Centerline is valid? [True, True] Translation: X:32.74, Y:418.80, Z:8.22 [[ 4.80605740e-01 -8.76895632e-01 -8.49551847e-03 3.27398274e+01] [ 8.76776407e-01 4.80680566e-01 -1.44681013e-02 4.18802617e+02] [ 1.67706454e-02 -4.95217629e-04 9.99859240e-01 8.21597514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.702755096 meters 0.025048127026467276 Centerline is valid? [True, True] Translation: X:32.75, Y:418.83, Z:8.21 [[ 4.81577150e-01 -8.76347747e-01 -9.90332027e-03 3.27505370e+01] [ 8.76185366e-01 4.81678654e-01 -1.68783326e-02 4.18829293e+02] [ 1.95615067e-02 -5.48924993e-04 9.99808505e-01 8.21289701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.732755096 meters 0.025048127026467276 Centerline is valid? [True, True] Translation: X:32.76, Y:418.85, Z:8.21 [[ 4.81302292e-01 -8.76498792e-01 -9.89802543e-03 3.27643622e+01] [ 8.76336380e-01 4.81403746e-01 -1.68814380e-02 4.18853182e+02] [ 1.95615065e-02 -5.48924987e-04 9.99808505e-01 8.21301630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.762755096 meters 0.02607367558882603 Centerline is valid? [True, True] Translation: X:32.77, Y:418.88, Z:8.20 [[ 4.83965604e-01 -8.75002584e-01 -1.21561675e-02 3.27739557e+01] [ 8.74756742e-01 4.84117886e-01 -2.07488496e-02 4.18879458e+02] [ 2.40403151e-02 -5.91959904e-04 9.99710815e-01 8.20475964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7927550960001 meters 0.024065841143553264 Centerline is valid? [True, True] Translation: X:32.78, Y:418.91, Z:8.20 [[ 4.85504078e-01 -8.74133822e-01 -1.32608754e-02 3.27826007e+01] [ 8.73840504e-01 4.85684786e-01 -2.26508627e-02 4.18907174e+02] [ 2.62404906e-02 -5.90803875e-04 9.99655485e-01 8.20386103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.822755096 meters 0.024979526541502265 Centerline is valid? [True, True] Translation: X:32.79, Y:418.93, Z:8.20 [[ 4.87112364e-01 -8.73220212e-01 -1.44223820e-02 3.27927171e+01] [ 8.72872459e-01 4.87325478e-01 -2.46484957e-02 4.18932560e+02] [ 2.85519589e-02 -5.82313005e-04 9.99592140e-01 8.19958696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.852755096 meters 0.023226262330285935 Centerline is valid? [True, True] Translation: X:32.80, Y:418.96, Z:8.19 [[ 4.90449786e-01 -8.71312311e-01 -1.65488813e-02 3.27981687e+01] [ 8.70852747e-01 4.90728617e-01 -2.83004887e-02 4.18961749e+02] [ 3.27795738e-02 -5.31670076e-04 9.99462464e-01 8.19483178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.882755096 meters 0.02470972819966811 Centerline is valid? [True, True] Translation: X:32.81, Y:418.99, Z:8.19 [[ 4.91872123e-01 -8.70494172e-01 -1.73698274e-02 3.28089312e+01] [ 8.69986646e-01 4.92178479e-01 -2.97250950e-02 4.18988534e+02] [ 3.44245772e-02 -4.90572278e-04 9.99407178e-01 8.19216859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9127550960001 meters 0.022047169422591044 Centerline is valid? [True, True] Translation: X:32.82, Y:419.02, Z:8.19 [[ 4.94803399e-01 -8.68829292e-01 -1.74716222e-02 3.28168784e+01] [ 8.68314213e-01 4.95111629e-01 -2.99149340e-02 4.19015966e+02] [ 3.46413743e-02 -3.68846819e-04 9.99399739e-01 8.19168089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.942755096 meters 0.021700309503088287 Centerline is valid? [True, True] Translation: X:32.83, Y:419.04, Z:8.19 [[ 4.96140634e-01 -8.68062119e-01 -1.76813029e-02 3.28282369e+01] [ 8.67533402e-01 4.96455499e-01 -3.02941251e-02 4.19042383e+02] [ 3.50751624e-02 -3.08974418e-04 9.99384629e-01 8.19156201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.972755096 meters 0.021554381974748852 Centerline is valid? [True, True] Translation: X:32.84, Y:419.07, Z:8.19 [[ 4.96851604e-01 -8.67657343e-01 -1.75846162e-02 3.28396691e+01] [ 8.67133418e-01 4.97162613e-01 -3.01491656e-02 4.19068308e+02] [ 3.49015587e-02 -2.68547083e-04 9.99390719e-01 8.19144040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.002755096 meters 0.02129394191583349 Centerline is valid? [True, True] Translation: X:32.85, Y:419.10, Z:8.19 [[ 4.98829700e-01 -8.66522045e-01 -1.75634889e-02 3.28485483e+01] [ 8.65997955e-01 4.99138772e-01 -3.01335187e-02 4.19095318e+02] [ 3.48779765e-02 -1.78451365e-04 9.99391562e-01 8.19130518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0327550960001 meters 0.022034943871526397 Centerline is valid? [True, True] Translation: X:32.86, Y:419.12, Z:8.19 [[ 4.99433495e-01 -8.66177164e-01 -1.74156323e-02 3.28601965e+01] [ 8.65661115e-01 4.99737030e-01 -2.98954157e-02 4.19120365e+02] [ 3.45979627e-02 -1.45263681e-04 9.99401301e-01 8.19076517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.062755096 meters 0.02037763650166459 Centerline is valid? [True, True] Translation: X:32.87, Y:419.15, Z:8.19 [[ 5.00175117e-01 -8.65755755e-01 -1.70828943e-02 3.28719970e+01] [ 8.65258317e-01 5.00466745e-01 -2.93442047e-02 4.19146422e+02] [ 3.39543346e-02 -1.03875394e-04 9.99423380e-01 8.19425567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.092755096 meters 0.02024812415883892 Centerline is valid? [True, True] Translation: X:32.88, Y:419.17, Z:8.19 [[ 5.01241791e-01 -8.65142792e-01 -1.68706060e-02 3.28815092e+01] [ 8.64656613e-01 5.01525620e-01 -2.89999094e-02 4.19172751e+02] [ 3.35501037e-02 -5.13144976e-05 9.99437036e-01 8.19432792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.122755096 meters 0.020655778407010564 Centerline is valid? [True, True] Translation: X:32.89, Y:419.20, Z:8.19 [[ 5.02088431e-01 -8.64657415e-01 -1.65759723e-02 3.28931699e+01] [ 8.64187151e-01 5.02361976e-01 -2.85133683e-02 4.19198962e+02] [ 3.29814335e-02 -8.50998430e-06 9.99455965e-01 8.19469408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1527550960001 meters 0.01967317731937468 Centerline is valid? [True, True] Translation: X:32.90, Y:419.23, Z:8.20 [[ 5.04078721e-01 -8.63514303e-01 -1.57381949e-02 3.29032066e+01] [ 8.63089260e-01 5.04324343e-01 -2.70903297e-02 4.19225499e+02] [ 3.13300420e-02 7.21917148e-05 9.99509091e-01 8.19668943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.182755096 meters 0.01969732408056904 Centerline is valid? [True, True] Translation: X:32.92, Y:419.25, Z:8.20 [[ 5.04786838e-01 -8.63106195e-01 -1.54254929e-02 3.29151618e+01] [ 8.62697104e-01 5.05022461e-01 -2.65710434e-02 4.19249868e+02] [ 3.07238526e-02 1.05184904e-04 9.99527906e-01 8.19736274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.212755096 meters 0.019977537579005448 Centerline is valid? [True, True] Translation: X:32.93, Y:419.27, Z:8.20 [[ 5.05366206e-01 -8.62767012e-01 -1.54298949e-02 3.29265761e+01] [ 8.62356938e-01 5.05601686e-01 -2.65978626e-02 4.19274760e+02] [ 3.07491393e-02 1.35583942e-04 9.99527124e-01 8.19749501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.242755096 meters 0.018687080076715698 Centerline is valid? [True, True] Translation: X:32.94, Y:419.30, Z:8.20 [[ 5.06869897e-01 -8.61891998e-01 -1.50030267e-02 3.29380977e+01] [ 8.61503357e-01 5.07091852e-01 -2.58808886e-02 4.19299964e+02] [ 2.99144434e-02 1.93085472e-04 9.99552444e-01 8.20407770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2727550960001 meters 0.018688160333469237 Centerline is valid? [True, True] Translation: X:32.95, Y:419.32, Z:8.21 [[ 5.07416468e-01 -8.61578042e-01 -1.45535491e-02 3.29512029e+01] [ 8.61211681e-01 5.07625089e-01 -2.51238757e-02 4.19324375e+02] [ 2.90339263e-02 2.14581790e-04 9.99578404e-01 8.20645928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.302755096 meters 0.018596526910042675 Centerline is valid? [True, True] Translation: X:32.96, Y:419.35, Z:8.21 [[ 5.07808275e-01 -8.61357509e-01 -1.39283014e-02 3.29647561e+01] [ 8.61021386e-01 5.07999204e-01 -2.40620390e-02 4.19349148e+02] [ 2.78015840e-02 2.26337135e-04 9.99613436e-01 8.20858980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.332755096 meters 0.018720922488279373 Centerline is valid? [True, True] Translation: X:32.98, Y:419.37, Z:8.21 [[ 5.08993952e-01 -8.60673953e-01 -1.28648497e-02 3.29774538e+01] [ 8.60386576e-01 5.09156444e-01 -2.22408790e-02 4.19373712e+02] [ 2.56923663e-02 2.51728879e-04 9.99669865e-01 8.21249167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.362755096 meters 0.01901475669557938 Centerline is valid? [True, True] Translation: X:32.99, Y:419.40, Z:8.21 [[ 5.09945094e-01 -8.60115004e-01 -1.25770048e-02 3.29904898e+01] [ 8.59839779e-01 5.10100089e-01 -2.17589911e-02 4.19398179e+02] [ 2.51307660e-02 2.81681787e-04 9.99684133e-01 8.21395201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.392755096 meters 0.019796817021147307 Centerline is valid? [True, True] Translation: X:33.00, Y:419.42, Z:8.22 [[ 5.12603027e-01 -8.58537568e-01 -1.23037044e-02 3.30020695e+01] [ 8.58273357e-01 5.12750540e-01 -2.13009246e-02 4.19424036e+02] [ 2.45963751e-02 3.58976803e-04 9.99697399e-01 8.21618853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4227550960001 meters 0.020368429116214292 Centerline is valid? [True, True] Translation: X:33.01, Y:419.45, Z:8.22 [[ 5.13664821e-01 -8.57903744e-01 -1.22318545e-02 3.30141414e+01] [ 8.57642091e-01 5.13810287e-01 -2.11903959e-02 4.19449056e+02] [ 2.44641726e-02 3.94207673e-04 9.99700630e-01 8.21663399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.452755096 meters 0.02093477759800257 Centerline is valid? [True, True] Translation: X:33.03, Y:419.47, Z:8.22 [[ 5.14664055e-01 -8.57304957e-01 -1.22115014e-02 3.30266632e+01] [ 8.57043656e-01 5.14808728e-01 -2.11694641e-02 4.19474212e+02] [ 2.44352741e-02 4.29372418e-04 9.99701322e-01 8.21743481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.482755096 meters 0.02155844423496113 Centerline is valid? [True, True] Translation: X:33.04, Y:419.50, Z:8.22 [[ 5.16255768e-01 -8.56357616e-01 -1.14724349e-02 3.30387835e+01] [ 8.56126434e-01 5.16383026e-01 -1.99022674e-02 4.19499504e+02] [ 2.29676289e-02 4.52805626e-04 9.99736107e-01 8.21990957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.512755096 meters 0.022001950671040407 Centerline is valid? [True, True] Translation: X:33.05, Y:419.52, Z:8.22 [[ 5.16979331e-01 -8.55926283e-01 -1.10710661e-02 3.30519995e+01] [ 8.55710594e-01 5.17097654e-01 -1.92196678e-02 4.19523942e+02] [ 2.21754411e-02 4.62542462e-04 9.99753988e-01 8.22147293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5427550960001 meters 0.022416135004111677 Centerline is valid? [True, True] Translation: X:33.06, Y:419.55, Z:8.22 [[ 5.17212569e-01 -8.55788695e-01 -1.08106041e-02 3.30646915e+01] [ 8.55582779e-01 5.17325329e-01 -1.87779773e-02 4.19547269e+02] [ 2.16625800e-02 4.62839123e-04 9.99765232e-01 8.22276863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.572755096 meters 0.022871788162736856 Centerline is valid? [True, True] Translation: X:33.08, Y:419.57, Z:8.22 [[ 5.17787727e-01 -8.55447545e-01 -1.02649165e-02 3.30777917e+01] [ 8.55261585e-01 5.17889262e-01 -1.78419031e-02 4.19572186e+02] [ 2.05789023e-02 4.59129662e-04 9.99788127e-01 8.22437864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.602755096 meters 0.02368089173649731 Centerline is valid? [True, True] Translation: X:33.09, Y:419.60, Z:8.23 [[ 5.19104352e-01 -8.54660504e-01 -9.27877465e-03 3.30898443e+01] [ 8.54508228e-01 5.19187078e-01 -1.61389518e-02 4.19598030e+02] [ 1.86107446e-02 4.49010822e-04 9.99826704e-01 8.22747311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.632755096 meters 0.024161587493809603 Centerline is valid? [True, True] Translation: X:33.10, Y:419.62, Z:8.23 [[ 5.19693525e-01 -8.54307521e-01 -8.79204121e-03 3.31029865e+01] [ 8.54170566e-01 5.19767701e-01 -1.53029642e-02 4.19622871e+02] [ 1.76432564e-02 4.42948555e-04 9.99844248e-01 8.22863901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6627550960001 meters 0.025364963860917862 Centerline is valid? [True, True] Translation: X:33.12, Y:419.65, Z:8.23 [[ 5.20471645e-01 -8.53829963e-01 -9.14666380e-03 3.31159181e+01] [ 8.53681470e-01 5.20551785e-01 -1.59307083e-02 4.19647193e+02] [ 1.83634283e-02 4.83144575e-04 9.99831261e-01 8.22934719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.692755096 meters 0.026515109037583716 Centerline is valid? [True, True] Translation: X:33.13, Y:419.67, Z:8.23 [[ 5.20413760e-01 -8.53860119e-01 -9.61325461e-03 3.31296829e+01] [ 8.53695872e-01 5.20502290e-01 -1.67548446e-02 4.19671387e+02] [ 1.93100146e-02 5.12655908e-04 9.99813413e-01 8.22833126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.722755096 meters 0.028339755217084133 Centerline is valid? [True, True] Translation: X:33.14, Y:419.70, Z:8.23 [[ 5.20015894e-01 -8.54093291e-01 -1.03981124e-02 3.31439867e+01] [ 8.53900917e-01 5.20119550e-01 -1.81349763e-02 4.19695737e+02] [ 2.08972231e-02 5.51518182e-04 9.99781477e-01 8.22732189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.752755096 meters 0.0331400632943735 Centerline is valid? [True, True] Translation: X:33.16, Y:419.72, Z:8.23 [[ 5.18304893e-01 -8.55118658e-01 -1.14943224e-02 3.31600932e+01] [ 8.54883494e-01 5.18432016e-01 -2.00613355e-02 4.19718192e+02] [ 2.31138470e-02 5.71581902e-04 9.99732676e-01 8.22615650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7827550960001 meters 0.03465095791866354 Centerline is valid? [True, True] Translation: X:33.18, Y:419.74, Z:8.23 [[ 5.17038962e-01 -8.55877690e-01 -1.20038450e-02 3.31760576e+01] [ 8.55621065e-01 5.17177974e-01 -2.09651267e-02 4.19741556e+02] [ 2.41517084e-02 5.69044691e-04 9.99708143e-01 8.22661948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.812755096 meters 0.034229286994321165 Centerline is valid? [True, True] Translation: X:33.19, Y:419.76, Z:8.23 [[ 5.15129073e-01 -8.57023919e-01 -1.23304719e-02 3.31946340e+01] [ 8.56753077e-01 5.15276347e-01 -2.15511370e-02 4.19763017e+02] [ 2.48234404e-02 5.37447452e-04 9.99691707e-01 8.23025972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.842755096 meters 0.035224699105904526 Centerline is valid? [True, True] Translation: X:33.21, Y:419.78, Z:8.23 [[ 5.10451368e-01 -8.59822131e-01 -1.20542622e-02 3.32136176e+01] [ 8.59563693e-01 5.10593521e-01 -2.10835128e-02 4.19783901e+02] [ 2.42828991e-02 4.00701852e-04 9.99705047e-01 8.23306310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.872755096 meters 0.034093083567999005 Centerline is valid? [True, True] Translation: X:33.23, Y:419.81, Z:8.24 [[ 5.07398884e-01 -8.61633183e-01 -1.16030443e-02 3.32315042e+01] [ 8.61393867e-01 5.07531440e-01 -2.03087076e-02 4.19806405e+02] [ 2.33875662e-02 3.09824444e-04 9.99726426e-01 8.23571561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9027550960001 meters 0.03349364118903394 Centerline is valid? [True, True] Translation: X:33.25, Y:419.83, Z:8.24 [[ 5.01164641e-01 -8.65285531e-01 -1.07216495e-02 3.32518449e+01] [ 8.65081730e-01 5.01279295e-01 -1.87794938e-02 4.19826710e+02] [ 2.16241651e-02 1.36515133e-04 9.99766161e-01 8.23705548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.932755096 meters 0.032683265689252644 Centerline is valid? [True, True] Translation: X:33.27, Y:419.85, Z:8.24 [[ 4.98011761e-01 -8.67107939e-01 -1.03975671e-02 3.32689942e+01] [ 8.66916399e-01 4.98120286e-01 -1.82246296e-02 4.19849376e+02] [ 2.09819601e-02 6.22584181e-05 9.99779853e-01 8.23817147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.962755096 meters 0.03243790591878248 Centerline is valid? [True, True] Translation: X:33.29, Y:419.87, Z:8.24 [[ 4.95090517e-01 -8.68783113e-01 -1.00639554e-02 3.32854483e+01] [ 8.68603753e-01 4.95192794e-01 -1.76526991e-02 4.19872576e+02] [ 2.03199650e-02 -1.90548021e-06 9.99793528e-01 8.24048352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.992755096 meters 0.03227659101755001 Centerline is valid? [True, True] Translation: X:33.30, Y:419.90, Z:8.24 [[ 4.90948461e-01 -8.71140795e-01 -9.12822351e-03 3.33034905e+01] [ 8.70993430e-01 4.91033307e-01 -1.60229983e-02 4.19895015e+02] [ 1.84405492e-02 -8.41563462e-05 9.99829955e-01 8.24186735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0227550960001 meters 0.03205372204917018 Centerline is valid? [True, True] Translation: X:33.32, Y:419.92, Z:8.24 [[ 4.89199729e-01 -8.72130209e-01 -8.51609592e-03 3.33188612e+01] [ 8.72001906e-01 4.89273837e-01 -1.49595774e-02 4.19918795e+02] [ 1.72134023e-02 -1.07830671e-04 9.99851833e-01 8.24332961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.052755096 meters 0.032499670149376714 Centerline is valid? [True, True] Translation: X:33.34, Y:419.94, Z:8.24 [[ 4.86868339e-01 -8.73440739e-01 -7.77791702e-03 3.33356357e+01] [ 8.73333719e-01 4.86930444e-01 -1.36732879e-02 4.19940556e+02] [ 1.57301112e-02 -1.35626250e-04 9.99876265e-01 8.24491459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.082755096 meters 0.03272159621844018 Centerline is valid? [True, True] Translation: X:33.35, Y:419.96, Z:8.25 [[ 4.85853538e-01 -8.74006830e-01 -7.64205688e-03 3.33512730e+01] [ 8.73903430e-01 4.85913614e-01 -1.34445007e-02 4.19964091e+02] [ 1.54639649e-02 -1.46361494e-04 9.99880415e-01 8.24580673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.112755096 meters 0.03327711333057536 Centerline is valid? [True, True] Translation: X:33.37, Y:419.99, Z:8.25 [[ 4.85436627e-01 -8.74237302e-01 -7.77307608e-03 3.33666036e+01] [ 8.74130190e-01 4.85498833e-01 -1.36855241e-02 4.19986570e+02] [ 1.57382150e-02 -1.51225819e-04 9.99876135e-01 8.24581471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.142755096 meters 0.033425347702735246 Centerline is valid? [True, True] Translation: X:33.38, Y:420.01, Z:8.24 [[ 4.85023917e-01 -8.74462312e-01 -8.21368574e-03 3.33822967e+01] [ 8.74342607e-01 4.85093433e-01 -1.44695159e-02 4.20008193e+02] [ 1.66374513e-02 -1.63514119e-04 9.99861575e-01 8.24428679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1727550960001 meters 0.03278271655819072 Centerline is valid? [True, True] Translation: X:33.39, Y:420.03, Z:8.25 [[ 4.84977996e-01 -8.74487048e-01 -8.29135620e-03 3.33948947e+01] [ 8.74364908e-01 4.85048840e-01 -1.46160965e-02 4.20032885e+02] [ 1.68032998e-02 -1.61185714e-04 9.99858802e-01 8.24502632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.202755096 meters 0.03311593568739439 Centerline is valid? [True, True] Translation: X:33.41, Y:420.06, Z:8.24 [[ 4.85086442e-01 -8.74427889e-01 -8.18607439e-03 3.34084646e+01] [ 8.74308642e-01 4.85155485e-01 -1.44414323e-02 4.20056673e+02] [ 1.65995100e-02 -1.51812586e-04 9.99862207e-01 8.24469940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.232755096 meters 0.033450184101775644 Centerline is valid? [True, True] Translation: X:33.42, Y:420.08, Z:8.25 [[ 4.86379127e-01 -8.73717656e-01 -7.26649145e-03 3.34226757e+01] [ 8.73623486e-01 4.86433393e-01 -1.28280426e-02 4.20081188e+02] [ 1.47427514e-02 -1.08885435e-04 9.99891314e-01 8.24626184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.262755096 meters 0.03318508125122287 Centerline is valid? [True, True] Translation: X:33.44, Y:420.11, Z:8.25 [[ 4.86849426e-01 -8.73458967e-01 -6.86075654e-03 3.34367022e+01] [ 8.73374876e-01 4.86897756e-01 -1.21202867e-02 4.20105804e+02] [ 1.39270601e-02 -9.12577553e-05 9.99903010e-01 8.24732518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2927550960001 meters 0.03259932648249803 Centerline is valid? [True, True] Translation: X:33.45, Y:420.13, Z:8.25 [[ 4.88072808e-01 -8.72781358e-01 -6.13472801e-03 3.34506748e+01] [ 8.72713973e-01 4.88111358e-01 -1.08454366e-02 4.20130617e+02] [ 1.24601253e-02 -6.05001680e-05 9.99922368e-01 8.24926912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.322755096 meters 0.0322946728326353 Centerline is valid? [True, True] Translation: X:33.46, Y:420.15, Z:8.25 [[ 4.88571720e-01 -8.72503702e-01 -5.91305237e-03 3.34639985e+01] [ 8.72440983e-01 4.88607498e-01 -1.04615851e-02 4.20153985e+02] [ 1.20169335e-02 -4.75545712e-05 9.99927793e-01 8.24947428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.352755096 meters 0.03203615883161046 Centerline is valid? [True, True] Translation: X:33.48, Y:420.18, Z:8.25 [[ 4.89023589e-01 -8.72253761e-01 -5.41353128e-03 3.34770098e+01] [ 8.72201098e-01 4.89053551e-01 -9.58479123e-03 4.20179073e+02] [ 1.10078769e-02 -3.44989170e-05 9.99939411e-01 8.24992136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.382755096 meters 0.03150567880025829 Centerline is valid? [True, True] Translation: X:33.49, Y:420.20, Z:8.25 [[ 4.90134110e-01 -8.71633104e-01 -4.92811552e-03 3.34892270e+01] [ 8.71589369e-01 4.90158884e-01 -8.73153553e-03 4.20203944e+02] [ 1.00262550e-02 -1.56697034e-05 9.99949736e-01 8.24979483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4127550960001 meters 0.031573549603719074 Centerline is valid? [True, True] Translation: X:33.50, Y:420.23, Z:8.25 [[ 4.90872064e-01 -8.71218867e-01 -4.72267527e-03 3.35021923e+01] [ 8.71178633e-01 4.90894781e-01 -8.37271977e-03 4.20227320e+02] [ 9.61280807e-03 -4.35955430e-06 9.99953796e-01 8.24988348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.442755096 meters 0.0315391629531501 Centerline is valid? [True, True] Translation: X:33.52, Y:420.25, Z:8.25 [[ 4.91022109e-01 -8.71135537e-01 -4.49047172e-03 3.35160596e+01] [ 8.71099114e-01 4.91042641e-01 -7.96607220e-03 4.20251357e+02] [ 9.14454169e-03 -1.28364638e-07 9.99958188e-01 8.25007954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.472755096 meters 0.03107174698860893 Centerline is valid? [True, True] Translation: X:33.53, Y:420.28, Z:8.25 [[ 4.91765318e-01 -8.70717191e-01 -4.29481025e-03 3.35298324e+01] [ 8.70683808e-01 4.91784072e-01 -7.62452416e-03 4.20275748e+02] [ 8.75092353e-03 1.00548069e-05 9.99961710e-01 8.25044908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.502755096 meters 0.031014838896495537 Centerline is valid? [True, True] Translation: X:33.54, Y:420.30, Z:8.25 [[ 4.92166866e-01 -8.70490141e-01 -4.32326224e-03 3.35429705e+01] [ 8.70456253e-01 4.92185853e-01 -7.68100779e-03 4.20299750e+02] [ 8.81409007e-03 1.71268801e-05 9.99961155e-01 8.24994631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5327550960001 meters 0.030615967265608408 Centerline is valid? [True, True] Translation: X:33.56, Y:420.32, Z:8.25 [[ 4.92518315e-01 -8.70290546e-01 -4.48044483e-03 3.35569014e+01] [ 8.70254083e-01 4.92538694e-01 -7.96654919e-03 4.20323641e+02] [ 9.14000489e-03 2.45459757e-05 9.99958229e-01 8.24980484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.562755096 meters 0.030460259350933508 Centerline is valid? [True, True] Translation: X:33.57, Y:420.35, Z:8.25 [[ 4.92281549e-01 -8.70424824e-01 -4.41615202e-03 3.35709367e+01] [ 8.70389352e-01 4.92301357e-01 -7.85811396e-03 4.20347560e+02] [ 9.01397509e-03 2.46328234e-05 9.99959373e-01 8.25037496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.592755096 meters 0.030264002500200164 Centerline is valid? [True, True] Translation: X:33.58, Y:420.37, Z:8.25 [[ 4.92232444e-01 -8.70453982e-01 -4.13371180e-03 3.35844345e+01] [ 8.70422857e-01 4.92249800e-01 -7.36103669e-03 4.20371343e+02] [ 8.44226250e-03 2.52638401e-05 9.99964363e-01 8.25087701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.622755096 meters 0.029680326806887064 Centerline is valid? [True, True] Translation: X:33.60, Y:420.40, Z:8.25 [[ 4.91613980e-01 -8.70803657e-01 -4.08476232e-03 3.35985066e+01] [ 8.70773231e-01 4.91630949e-01 -7.27938132e-03 4.20395088e+02] [ 8.34710746e-03 2.17439365e-05 9.99965162e-01 8.25072263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6527550960001 meters 0.029458360836104813 Centerline is valid? [True, True] Translation: X:33.61, Y:420.42, Z:8.25 [[ 4.91351914e-01 -8.70949742e-01 -4.45457986e-03 3.36119103e+01] [ 8.70913507e-01 4.91372106e-01 -7.94462931e-03 4.20418146e+02] [ 9.10822914e-03 2.40550462e-05 9.99958519e-01 8.25015805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.682755096 meters 0.029458360836104813 Centerline is valid? [True, True] Translation: X:33.63, Y:420.44, Z:8.25 [[ 4.91083856e-01 -8.71100927e-01 -4.45205915e-03 3.36252398e+01] [ 8.71064686e-01 4.91104036e-01 -7.94604190e-03 4.20442286e+02] [ 9.10822869e-03 2.41413891e-05 9.99958519e-01 8.25027727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.712755096 meters 0.02921878646337933 Centerline is valid? [True, True] Translation: X:33.64, Y:420.47, Z:8.25 [[ 4.90942817e-01 -8.71179618e-01 -4.60685605e-03 3.36397468e+01] [ 8.71140759e-01 4.90964431e-01 -8.22838725e-03 4.20466732e+02] [ 9.43020573e-03 2.64475433e-05 9.99955534e-01 8.25022834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.742755096 meters 0.028883093442838195 Centerline is valid? [True, True] Translation: X:33.65, Y:420.49, Z:8.25 [[ 4.90551906e-01 -8.71397990e-01 -4.93666810e-03 3.36540285e+01] [ 8.71353311e-01 4.90576745e-01 -8.82413746e-03 4.20490775e+02] [ 1.01111502e-02 2.71153600e-05 9.99948881e-01 8.25025663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7727550960001 meters 0.028570684983582808 Centerline is valid? [True, True] Translation: X:33.67, Y:420.51, Z:8.25 [[ 4.89769580e-01 -8.71839365e-01 -4.67768220e-03 3.36685617e+01] [ 8.71799211e-01 4.89791917e-01 -8.36740959e-03 4.20513755e+02] [ 9.58612799e-03 2.01030219e-05 9.99954052e-01 8.25060193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.802755096 meters 0.0281727761399262 Centerline is valid? [True, True] Translation: X:33.68, Y:420.54, Z:8.25 [[ 4.89263249e-01 -8.72123586e-01 -4.68238433e-03 3.36825903e+01] [ 8.72083303e-01 4.89285654e-01 -8.38225009e-03 4.20537194e+02] [ 9.60138148e-03 1.76977267e-05 9.99953906e-01 8.25075528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.832755096 meters 0.027764174732973906 Centerline is valid? [True, True] Translation: X:33.70, Y:420.56, Z:8.25 [[ 4.88750544e-01 -8.72411063e-01 -4.67372229e-03 3.36974831e+01] [ 8.72370881e-01 4.88772890e-01 -8.37304401e-03 4.20561112e+02] [ 9.58912497e-03 1.51105830e-05 9.99954023e-01 8.25203961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.862755096 meters 0.027396055496997928 Centerline is valid? [True, True] Translation: X:33.71, Y:420.58, Z:8.25 [[ 4.87413578e-01 -8.73159745e-01 -4.47929601e-03 3.37120235e+01] [ 8.73122813e-01 4.87434160e-01 -8.03079092e-03 4.20583656e+02] [ 9.19552524e-03 3.34100593e-06 9.99957720e-01 8.25196463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.892755096 meters 0.028315586120477014 Centerline is valid? [True, True] Translation: X:33.73, Y:420.61, Z:8.25 [[ 4.86898765e-01 -8.73444817e-01 -4.87282168e-03 3.37263566e+01] [ 8.73401056e-01 4.86923147e-01 -8.74323344e-03 4.20607678e+02] [ 1.00094216e-02 1.14195273e-06 9.99949905e-01 8.25210078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9227550960001 meters 0.02707550838615385 Centerline is valid? [True, True] Translation: X:33.74, Y:420.63, Z:8.25 [[ 4.86765292e-01 -8.73519266e-01 -4.86246177e-03 3.37405080e+01] [ 8.73475630e-01 4.86789578e-01 -8.73106785e-03 4.20632182e+02] [ 9.99375169e-03 2.73892845e-06 9.99950061e-01 8.25236230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.952755096 meters 0.02677195720370585 Centerline is valid? [True, True] Translation: X:33.75, Y:420.66, Z:8.25 [[ 4.87850275e-01 -8.72909624e-01 -5.55854333e-03 3.37524390e+01] [ 8.72852469e-01 4.87881941e-01 -9.98894796e-03 4.20656164e+02] [ 1.14313617e-02 2.13227411e-05 9.99934660e-01 8.25143076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.982755096 meters 0.026545314814006207 Centerline is valid? [True, True] Translation: X:33.76, Y:420.68, Z:8.25 [[ 4.88130194e-01 -8.72751632e-01 -5.78815632e-03 3.37649758e+01] [ 8.72689550e-01 4.88164509e-01 -1.04096673e-02 4.20680166e+02] [ 1.19106266e-02 3.00093570e-05 9.99929066e-01 8.25068912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.012755096 meters 0.02637451837702508 Centerline is valid? [True, True] Translation: X:33.78, Y:420.70, Z:8.25 [[ 4.88744824e-01 -8.72403690e-01 -6.34813880e-03 3.37782444e+01] [ 8.72328868e-01 4.88786047e-01 -1.14256859e-02 4.20703745e+02] [ 1.30706922e-02 4.65801340e-05 9.99914574e-01 8.24931819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0427550960001 meters 0.026019562347492916 Centerline is valid? [True, True] Translation: X:33.79, Y:420.73, Z:8.25 [[ 4.88371177e-01 -8.72611354e-01 -6.55893119e-03 3.37923295e+01] [ 8.72531382e-01 4.88415217e-01 -1.18136841e-02 4.20727661e+02] [ 1.35122367e-02 4.65895263e-05 9.99908705e-01 8.24944964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.072755096 meters 0.02574374938360049 Centerline is valid? [True, True] Translation: X:33.81, Y:420.75, Z:8.25 [[ 4.87653144e-01 -8.73014535e-01 -6.32716854e-03 3.38055376e+01] [ 8.72940034e-01 4.87694188e-01 -1.14051392e-02 4.20749929e+02] [ 1.30425756e-02 3.85132656e-05 9.99914941e-01 8.24975426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.102755096 meters 0.025443059005166076 Centerline is valid? [True, True] Translation: X:33.82, Y:420.77, Z:8.25 [[ 4.86390489e-01 -8.73722621e-01 -5.75102461e-03 3.38204594e+01] [ 8.73661022e-01 4.86424487e-01 -1.03748783e-02 4.20772120e+02] [ 1.18622050e-02 2.17960778e-05 9.99929641e-01 8.25121738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.132755096 meters 0.02518924747431872 Centerline is valid? [True, True] Translation: X:33.84, Y:420.80, Z:8.25 [[ 4.85627626e-01 -8.74146703e-01 -5.77503829e-03 3.38351414e+01] [ 8.74084523e-01 4.85661963e-01 -1.04261241e-02 4.20796381e+02] [ 1.19186785e-02 1.53423198e-05 9.99928970e-01 8.25268592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1627550960001 meters 0.024714861028414425 Centerline is valid? [True, True] Translation: X:33.85, Y:420.82, Z:8.25 [[ 4.84097959e-01 -8.74995232e-01 -5.70179750e-03 3.38494300e+01] [ 8.74934588e-01 4.84131536e-01 -1.03015570e-02 4.20819442e+02] [ 1.17742333e-02 -1.73710475e-06 9.99930681e-01 8.25297903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.192755096 meters 0.02488836402024496 Centerline is valid? [True, True] Translation: X:33.86, Y:420.84, Z:8.25 [[ 4.83340144e-01 -8.75412975e-01 -5.86757490e-03 3.38631388e+01] [ 8.75348684e-01 4.83375758e-01 -1.06093544e-02 4.20843181e+02] [ 1.21238100e-02 -8.24707409e-06 9.99926504e-01 8.25287799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.222755096 meters 0.024426397371551993 Centerline is valid? [True, True] Translation: X:33.88, Y:420.87, Z:8.25 [[ 4.82664309e-01 -8.75785457e-01 -5.91602553e-03 3.38765087e+01] [ 8.75720022e-01 4.82700564e-01 -1.07055829e-02 4.20866153e+02] [ 1.22314626e-02 -1.35792490e-05 9.99925193e-01 8.25308449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.252755096 meters 0.024465008784429185 Centerline is valid? [True, True] Translation: X:33.89, Y:420.89, Z:8.25 [[ 4.81492588e-01 -8.76429022e-01 -6.08750331e-03 3.38915078e+01] [ 8.76359682e-01 4.81531068e-01 -1.10244363e-02 4.20890308e+02] [ 1.25934579e-02 -2.66580912e-05 9.99920699e-01 8.25481121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2827550960001 meters 0.023995964109938945 Centerline is valid? [True, True] Translation: X:33.91, Y:420.91, Z:8.25 [[ 4.80951670e-01 -8.76726103e-01 -6.06890804e-03 3.39052800e+01] [ 8.76657104e-01 4.80989958e-01 -1.09991946e-02 4.20913734e+02] [ 1.25623648e-02 -3.02703525e-05 9.99921090e-01 8.25416898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.312755096 meters 0.023946971442642663 Centerline is valid? [True, True] Translation: X:33.92, Y:420.94, Z:8.26 [[ 4.79997616e-01 -8.77247599e-01 -6.24016115e-03 3.39191071e+01] [ 8.77174583e-01 4.80038175e-01 -1.13181918e-02 4.20937893e+02] [ 1.29243722e-02 -4.10056573e-05 9.99916476e-01 8.25577230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.342755096 meters 0.02391733599627172 Centerline is valid? [True, True] Translation: X:33.93, Y:420.96, Z:8.26 [[ 4.79083687e-01 -8.77746226e-01 -6.35477799e-03 3.39331012e+01] [ 8.77670434e-01 4.79125828e-01 -1.15347416e-02 4.20961868e+02] [ 1.31693142e-02 -5.12941978e-05 9.99913280e-01 8.25642056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.372755096 meters 0.02398270643615818 Centerline is valid? [True, True] Translation: X:33.95, Y:420.98, Z:8.26 [[ 4.78132567e-01 -8.78265452e-01 -6.24856247e-03 3.39471319e+01] [ 8.78192102e-01 4.78173392e-01 -1.13507066e-02 4.20984653e+02] [ 1.29568297e-02 -6.02957451e-05 9.99916055e-01 8.25651065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4027550960001 meters 0.025398335421292304 Centerline is valid? [True, True] Translation: X:33.96, Y:421.01, Z:8.26 [[ 4.77409805e-01 -8.78658167e-01 -6.30107947e-03 3.39617331e+01] [ 8.78583500e-01 4.77451381e-01 -1.14547876e-02 4.21009106e+02] [ 1.30733017e-02 -6.73965481e-05 9.99914539e-01 8.25637426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.432755096 meters 0.023380188258972943 Centerline is valid? [True, True] Translation: X:33.98, Y:421.03, Z:8.26 [[ 4.75317457e-01 -8.79793744e-01 -6.02357090e-03 3.39770028e+01] [ 8.79725499e-01 4.75355615e-01 -1.09584067e-02 4.21032205e+02] [ 1.25044759e-02 -9.03669220e-05 9.99921812e-01 8.25843493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.462755096 meters 0.023571049459818753 Centerline is valid? [True, True] Translation: X:33.99, Y:421.06, Z:8.26 [[ 4.74416033e-01 -8.80279814e-01 -6.07261357e-03 3.39906416e+01] [ 8.80210383e-01 4.74454887e-01 -1.10563115e-02 4.21055721e+02] [ 1.26138290e-02 -9.98860691e-05 9.99920438e-01 8.25780163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.492755096 meters 0.023750932252613887 Centerline is valid? [True, True] Translation: X:34.00, Y:421.08, Z:8.26 [[ 4.73461920e-01 -8.80792895e-01 -6.13900925e-03 3.40035835e+01] [ 8.80721872e-01 4.73501705e-01 -1.11857326e-02 4.21080267e+02] [ 1.27591452e-02 -1.10741263e-04 9.99918593e-01 8.25737179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5227550960001 meters 0.02335225691877559 Centerline is valid? [True, True] Translation: X:34.02, Y:421.10, Z:8.26 [[ 4.73201111e-01 -8.80934384e-01 -5.94308350e-03 3.40164681e+01] [ 8.80867731e-01 4.73238418e-01 -1.08369642e-02 4.21104443e+02] [ 1.23591498e-02 -1.07006998e-04 9.99923617e-01 8.25684334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.552755096 meters 0.02288496412414297 Centerline is valid? [True, True] Translation: X:34.03, Y:421.13, Z:8.26 [[ 4.72943595e-01 -8.81071771e-01 -6.07370613e-03 3.40289825e+01] [ 8.81002059e-01 4.72982581e-01 -1.10837804e-02 4.21129663e+02] [ 1.26383632e-02 -1.08944648e-04 9.99920127e-01 8.25733770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.582755096 meters 0.02250350684630709 Centerline is valid? [True, True] Translation: X:34.04, Y:421.15, Z:8.26 [[ 4.72858203e-01 -8.81120960e-01 -5.56551740e-03 3.40412637e+01] [ 8.81062341e-01 4.72890945e-01 -1.01639926e-02 4.21154861e+02] [ 1.15875897e-02 -9.74404956e-05 9.99932857e-01 8.25795359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.612755096 meters 0.02290494575023351 Centerline is valid? [True, True] Translation: X:34.05, Y:421.18, Z:8.26 [[ 4.72693817e-01 -8.81209982e-01 -5.43354028e-03 3.40538697e+01] [ 8.81154027e-01 4.72725036e-01 -9.93083407e-03 4.21178860e+02] [ 1.13197206e-02 -9.35420392e-05 9.99935926e-01 8.25760036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.642755096 meters 0.022491269183103478 Centerline is valid? [True, True] Translation: X:34.07, Y:421.20, Z:8.26 [[ 4.72639102e-01 -8.81240991e-01 -5.15699701e-03 3.40658856e+01] [ 8.81190509e-01 4.72667228e-01 -9.43283031e-03 4.21202825e+02] [ 1.07501402e-02 -8.59723688e-05 9.99942212e-01 8.25709097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6727550960001 meters 0.022032486335065153 Centerline is valid? [True, True] Translation: X:34.08, Y:421.23, Z:8.26 [[ 4.72146071e-01 -8.81506583e-01 -4.92261234e-03 3.40784425e+01] [ 8.81460531e-01 4.72171724e-01 -9.01087325e-03 4.21228384e+02] [ 1.02674624e-02 -8.46400886e-05 9.99947285e-01 8.25788975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.702755096 meters 0.022105966297316853 Centerline is valid? [True, True] Translation: X:34.09, Y:421.25, Z:8.26 [[ 4.71259882e-01 -8.81981814e-01 -4.71211781e-03 3.40915240e+01] [ 8.81939576e-01 4.71283431e-01 -8.63208535e-03 4.21252669e+02] [ 9.83408535e-03 -8.78476633e-05 9.99951640e-01 8.25842671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.732755096 meters 0.02156821805338195 Centerline is valid? [True, True] Translation: X:34.10, Y:421.28, Z:8.26 [[ 4.70368665e-01 -8.82461110e-01 -3.96325594e-03 3.41048865e+01] [ 8.82431205e-01 4.70385355e-01 -7.26538327e-03 4.21276837e+02] [ 8.27567574e-03 -7.98920843e-05 9.99965753e-01 8.25979523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.762755096 meters 0.02203754184911638 Centerline is valid? [True, True] Translation: X:34.12, Y:421.30, Z:8.26 [[ 4.69967732e-01 -8.82674571e-01 -3.99150353e-03 3.41191227e+01] [ 8.82644199e-01 4.69984675e-01 -7.32282858e-03 4.21300409e+02] [ 8.33962006e-03 -8.15842949e-05 9.99965221e-01 8.25930730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7927550960001 meters 0.022645818264724633 Centerline is valid? [True, True] Translation: X:34.13, Y:421.33, Z:8.26 [[ 4.70499889e-01 -8.82391384e-01 -3.91155762e-03 3.41312450e+01] [ 8.82362161e-01 4.70516143e-01 -7.18161135e-03 4.21325640e+02] [ 8.17744298e-03 -7.24630848e-05 9.99966562e-01 8.25921168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.822755096 meters 0.02129936800377049 Centerline is valid? [True, True] Translation: X:34.14, Y:421.35, Z:8.26 [[ 4.70838098e-01 -8.82212707e-01 -3.49646317e-03 3.41434713e+01] [ 8.82189320e-01 4.70851077e-01 -6.42398195e-03 4.21350746e+02] [ 7.31363195e-03 -5.98870206e-05 9.99973253e-01 8.26043292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.852755096 meters 0.02211864115396519 Centerline is valid? [True, True] Translation: X:34.16, Y:421.38, Z:8.26 [[ 4.71678250e-01 -8.81764254e-01 -3.38079606e-03 3.41554278e+01] [ 8.81742345e-01 4.71690363e-01 -6.21602877e-03 4.21375840e+02] [ 7.07576089e-03 -4.90254691e-05 9.99974965e-01 8.26018695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.882755096 meters 0.020809002991041332 Centerline is valid? [True, True] Translation: X:34.17, Y:421.40, Z:8.26 [[ 4.72557963e-01 -8.81295335e-01 -2.73924309e-03 3.41670785e+01] [ 8.81280926e-01 4.72565901e-01 -5.03971719e-03 4.21400611e+02] [ 5.73595213e-03 -3.24841920e-05 9.99983549e-01 8.26145871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9127550960001 meters 0.02038782167979707 Centerline is valid? [True, True] Translation: X:34.18, Y:421.43, Z:8.26 [[ 4.73736330e-01 -8.80663567e-01 -2.36050113e-03 3.41789426e+01] [ 8.80652844e-01 4.73742211e-01 -4.34586362e-03 4.21425937e+02] [ 4.94551278e-03 -1.99885505e-05 9.99987771e-01 8.26189490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.942755096 meters 0.020062596936313872 Centerline is valid? [True, True] Translation: X:34.19, Y:421.45, Z:8.26 [[ 4.76626173e-01 -8.79104276e-01 -1.77850642e-03 3.41901290e+01] [ 8.79098172e-01 4.76629491e-01 -3.27607390e-03 4.21450894e+02] [ 3.72769919e-03 -2.01918102e-06 9.99993052e-01 8.26295126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.972755096 meters 0.019713328908680165 Centerline is valid? [True, True] Translation: X:34.20, Y:421.48, Z:8.26 [[ 4.77971308e-01 -8.78373894e-01 -1.65272308e-03 3.42023199e+01] [ 8.78368610e-01 4.77974165e-01 -3.04658957e-03 4.21475734e+02] [ 3.46600368e-03 4.48232214e-06 9.99993993e-01 8.26378617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.002755096 meters 0.020101121107454118 Centerline is valid? [True, True] Translation: X:34.21, Y:421.50, Z:8.26 [[ 4.80391448e-01 -8.77053036e-01 -1.42447347e-03 3.42134772e+01] [ 8.77049101e-01 4.80393559e-01 -2.62732095e-03 4.21500951e+02] [ 2.98860770e-03 1.28093362e-05 9.99995534e-01 8.26338613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0327550960001 meters 0.02004975111534094 Centerline is valid? [True, True] Translation: X:34.23, Y:421.53, Z:8.26 [[ 4.81281486e-01 -8.76565159e-01 -1.28571892e-03 3.42258430e+01] [ 8.76561947e-01 4.81283203e-01 -2.37298186e-03 4.21525925e+02] [ 2.69886814e-03 1.50599569e-05 9.99996358e-01 8.26295502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.062755096 meters 0.01999982833355462 Centerline is valid? [True, True] Translation: X:34.24, Y:421.55, Z:8.26 [[ 4.81938187e-01 -8.76204230e-01 -1.31549692e-03 3.42382983e+01] [ 8.76200861e-01 4.81939983e-01 -2.42979586e-03 4.21551205e+02] [ 2.76298798e-03 1.83718808e-05 9.99996183e-01 8.26275593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.092755096 meters 0.01994572500457286 Centerline is valid? [True, True] Translation: X:34.25, Y:421.58, Z:8.26 [[ 4.82745758e-01 -8.75759910e-01 -1.05537702e-03 3.42506220e+01] [ 8.75757739e-01 4.82746911e-01 -1.95014395e-03 4.21575105e+02] [ 2.21733789e-03 1.71691308e-05 9.99997542e-01 8.26242122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.122755096 meters 0.020149150730966046 Centerline is valid? [True, True] Translation: X:34.26, Y:421.60, Z:8.26 [[ 4.82676223e-01 -8.75798319e-01 -9.84164702e-04 3.42646594e+01] [ 8.75796428e-01 4.82677226e-01 -1.81984074e-03 4.21599688e+02] [ 2.06884735e-03 1.64659241e-05 9.99997860e-01 8.26207181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1527550960001 meters 0.02010892982788316 Centerline is valid? [True, True] Translation: X:34.28, Y:421.62, Z:8.26 [[ 4.82693687e-01 -8.75788507e-01 -1.13841503e-03 3.42777071e+01] [ 8.75785973e-01 4.82695029e-01 -2.10699170e-03 4.21623338e+02] [ 2.39478639e-03 2.00236790e-05 9.99997132e-01 8.26198216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.182755096 meters 0.01972015312266234 Centerline is valid? [True, True] Translation: X:34.29, Y:421.65, Z:8.26 [[ 4.82742607e-01 -8.75761252e-01 -1.34358191e-03 3.42928888e+01] [ 8.75757715e-01 4.82744476e-01 -2.48920119e-03 4.21646878e+02] [ 2.82855270e-03 2.49912510e-05 9.99995999e-01 8.26097133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.212755096 meters 0.019927741255373083 Centerline is valid? [True, True] Translation: X:34.31, Y:421.67, Z:8.26 [[ 4.82311269e-01 -8.75998839e-01 -1.36914544e-03 3.43050832e+01] [ 8.75995161e-01 4.82313212e-01 -2.53848985e-03 4.21670721e+02] [ 2.88407110e-03 2.49774774e-05 9.99995841e-01 8.26064086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.242755096 meters 0.01928439477573335 Centerline is valid? [True, True] Translation: X:34.32, Y:421.69, Z:8.26 [[ 4.81610162e-01 -8.76384504e-01 -1.36168198e-03 3.43213788e+01] [ 8.76380862e-01 4.81612086e-01 -2.52671954e-03 4.21693519e+02] [ 2.87018035e-03 2.35417766e-05 9.99995881e-01 8.25965462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2727550960001 meters 0.01893298559316631 Centerline is valid? [True, True] Translation: X:34.34, Y:421.72, Z:8.26 [[ 4.80847955e-01 -8.76802614e-01 -1.55577087e-03 3.43356870e+01] [ 8.76797854e-01 4.80850471e-01 -2.88940235e-03 4.21716639e+02] [ 3.28152869e-03 2.52666476e-05 9.99994615e-01 8.25944614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.302755096 meters 0.019088397459571183 Centerline is valid? [True, True] Translation: X:34.35, Y:421.74, Z:8.26 [[ 4.79946066e-01 -8.77296222e-01 -1.76400044e-03 3.43507841e+01] [ 8.77290094e-01 4.79949307e-01 -3.27914457e-03 4.21740215e+02] [ 3.72341193e-03 2.62724275e-05 9.99993068e-01 8.25904356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.332755096 meters 0.018495288756124138 Centerline is valid? [True, True] Translation: X:34.37, Y:421.76, Z:8.26 [[ 4.77442064e-01 -8.78660908e-01 -2.02101842e-03 3.43684677e+01] [ 8.78652863e-01 4.77446341e-01 -3.76011635e-03 4.21761910e+02] [ 4.26879510e-03 1.94640873e-05 9.99990889e-01 8.25845562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.362755096 meters 0.018545519586167982 Centerline is valid? [True, True] Translation: X:34.39, Y:421.78, Z:8.26 [[ 4.75246674e-01 -8.79850023e-01 -2.12967804e-03 3.43854934e+01] [ 8.79841087e-01 4.75251445e-01 -3.96548400e-03 4.21783644e+02] [ 4.50116376e-03 1.08048399e-05 9.99989870e-01 8.25844036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.392755096 meters 0.018053935185593683 Centerline is valid? [True, True] Translation: X:34.41, Y:421.80, Z:8.26 [[ 4.71686639e-01 -8.81763482e-01 -2.20830136e-03 3.44060685e+01] [ 8.81753878e-01 4.71691809e-01 -4.11534093e-03 4.21803597e+02] [ 4.67039501e-03 -6.02695001e-06 9.99989094e-01 8.25908513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4227550960001 meters 0.01820084894606581 Centerline is valid? [True, True] Translation: X:34.42, Y:421.83, Z:8.26 [[ 4.69441176e-01 -8.82960867e-01 -2.25620707e-03 3.44230288e+01] [ 8.82950839e-01 4.69446597e-01 -4.20807045e-03 4.21826227e+02] [ 4.77473026e-03 -1.66783855e-05 9.99988601e-01 8.25930022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.452755096 meters 0.018277763873716657 Centerline is valid? [True, True] Translation: X:34.44, Y:421.85, Z:8.26 [[ 4.66207744e-01 -8.84671346e-01 -2.63604653e-03 3.44425964e+01] [ 8.84657662e-01 4.66215195e-01 -4.92073909e-03 4.21845660e+02] [ 5.58220182e-03 -3.79120955e-05 9.99984419e-01 8.25871108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.482755096 meters 0.018677142610003788 Centerline is valid? [True, True] Translation: X:34.46, Y:421.87, Z:8.26 [[ 4.63949946e-01 -8.85856737e-01 -2.87891276e-03 3.44594306e+01] [ 8.85840409e-01 4.63958875e-01 -5.37890038e-03 4.21867658e+02] [ 6.10063227e-03 -5.47167086e-05 9.99981390e-01 8.25811023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.512755096 meters 0.01957412399570825 Centerline is valid? [True, True] Translation: X:34.48, Y:421.89, Z:8.26 [[ 4.61934385e-01 -8.86907622e-01 -3.39047806e-03 3.44767406e+01] [ 8.86884964e-01 4.61946820e-01 -6.34005982e-03 4.21889577e+02] [ 7.18926794e-03 -7.82723785e-05 9.99974154e-01 8.25695902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5427550960001 meters 0.019142705609883147 Centerline is valid? [True, True] Translation: X:34.49, Y:421.91, Z:8.26 [[ 4.61705301e-01 -8.87027153e-01 -3.32338741e-03 3.44903245e+01] [ 8.87005353e-01 4.61717256e-01 -6.21935702e-03 4.21913735e+02] [ 7.05120387e-03 -7.63523198e-05 9.99975137e-01 8.25749223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.572755096 meters 0.019142705609883147 Centerline is valid? [True, True] Translation: X:34.50, Y:421.94, Z:8.26 [[ 4.61411703e-01 -8.87179919e-01 -3.32132835e-03 3.45027356e+01] [ 8.87158115e-01 4.61423651e-01 -6.22045660e-03 4.21937454e+02] [ 7.05120363e-03 -7.63519200e-05 9.99975137e-01 8.25760785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.602755096 meters 0.019215758891748605 Centerline is valid? [True, True] Translation: X:34.52, Y:421.96, Z:8.26 [[ 4.61681199e-01 -8.87041194e-01 -2.89666020e-03 3.45156707e+01] [ 8.87024582e-01 4.61690281e-01 -5.42902857e-03 4.21961783e+02] [ 6.15313185e-03 -6.29283828e-05 9.99981067e-01 8.25818000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.632755096 meters 0.01910653461876882 Centerline is valid? [True, True] Translation: X:34.53, Y:421.99, Z:8.26 [[ 4.62046831e-01 -8.86850262e-01 -3.05585999e-03 3.45283935e+01] [ 8.86831740e-01 4.62056932e-01 -5.73209526e-03 4.21985964e+02] [ 6.49549147e-03 -6.15371767e-05 9.99978902e-01 8.25855605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6627550960001 meters 0.019403635933987827 Centerline is valid? [True, True] Translation: X:34.54, Y:422.01, Z:8.26 [[ 4.62417245e-01 -8.86655029e-01 -3.62656783e-03 3.45419295e+01] [ 8.86628889e-01 4.62431461e-01 -6.80863494e-03 4.22009026e+02] [ 7.71394946e-03 -6.69895901e-05 9.99970245e-01 8.25779499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.692755096 meters 0.0190558528179164 Centerline is valid? [True, True] Translation: X:34.56, Y:422.03, Z:8.26 [[ 4.61695633e-01 -8.87030446e-01 -3.75921438e-03 3.45562330e+01] [ 8.87002325e-01 4.61710931e-01 -7.06343416e-03 4.22032083e+02] [ 8.00115152e-03 -7.32751944e-05 9.99967988e-01 8.25804690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.722755096 meters 0.019217780057048956 Centerline is valid? [True, True] Translation: X:34.57, Y:422.06, Z:8.26 [[ 4.61357780e-01 -8.87205101e-01 -4.01349450e-03 3.45700326e+01] [ 8.87173002e-01 4.61375231e-01 -7.54723046e-03 4.22055590e+02] [ 8.54766831e-03 -7.86904753e-05 9.99963465e-01 8.25816702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.752755096 meters 0.019353257910513507 Centerline is valid? [True, True] Translation: X:34.58, Y:422.08, Z:8.26 [[ 4.61373490e-01 -8.87197590e-01 -3.86505955e-03 3.45821244e+01] [ 8.87167776e-01 4.61389673e-01 -7.27370558e-03 4.22078823e+02] [ 8.23651263e-03 -7.30613605e-05 9.99966077e-01 8.25837095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7827550960001 meters 0.019467541873685205 Centerline is valid? [True, True] Translation: X:34.59, Y:422.10, Z:8.26 [[ 4.61393006e-01 -8.87188076e-01 -3.71642445e-03 3.45939335e+01] [ 8.87160468e-01 4.61407968e-01 -6.99934149e-03 4.22103159e+02] [ 7.92452017e-03 -6.76176470e-05 9.99968598e-01 8.25861519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.812755096 meters 0.0190581811665933 Centerline is valid? [True, True] Translation: X:34.60, Y:422.13, Z:8.26 [[ 4.61816127e-01 -8.86968698e-01 -3.52044103e-03 3.46049227e+01] [ 8.86943882e-01 4.61829541e-01 -6.63519411e-03 4.22127597e+02] [ 7.51105314e-03 -5.81939908e-05 9.99971790e-01 8.25981530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.842755096 meters 0.01893808271532662 Centerline is valid? [True, True] Translation: X:34.62, Y:422.15, Z:8.26 [[ 4.62108115e-01 -8.86817633e-01 -3.25216658e-03 3.46171558e+01] [ 8.86796419e-01 4.62119556e-01 -6.13406906e-03 4.22151489e+02] [ 6.94269038e-03 -4.94065796e-05 9.99975898e-01 8.26102574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.872755096 meters 0.018906940879639105 Centerline is valid? [True, True] Translation: X:34.63, Y:422.18, Z:8.26 [[ 4.62110320e-01 -8.86816614e-01 -3.21630386e-03 3.46299739e+01] [ 8.86795836e-01 4.62121510e-01 -6.07090475e-03 4.22175577e+02] [ 6.87010239e-03 -4.67771309e-05 9.99976400e-01 8.26216410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9027550960001 meters 0.018908794142603352 Centerline is valid? [True, True] Translation: X:34.64, Y:422.20, Z:8.26 [[ 4.62509327e-01 -8.86609645e-01 -2.90854017e-03 3.46430151e+01] [ 8.86592623e-01 4.62518471e-01 -5.49400200e-03 4.22197684e+02] [ 6.21628872e-03 -3.76630904e-05 9.99980678e-01 8.26437991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.932755096 meters 0.01859824604816098 Centerline is valid? [True, True] Translation: X:34.65, Y:422.22, Z:8.27 [[ 4.62813523e-01 -8.86450207e-01 -3.11007494e-03 3.46544843e+01] [ 8.86430707e-01 4.62823972e-01 -5.87996407e-03 4.22220368e+02] [ 6.65171260e-03 -3.55390368e-05 9.99977877e-01 8.26541179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.962755096 meters 0.018451537799854027 Centerline is valid? [True, True] Translation: X:34.67, Y:422.24, Z:8.27 [[ 4.63281442e-01 -8.86204877e-01 -3.34988178e-03 3.46662705e+01] [ 8.86182206e-01 4.63293552e-01 -6.33889018e-03 4.22244572e+02] [ 7.16953402e-03 -3.19154377e-05 9.99974298e-01 8.26557645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.992755096 meters 0.018100226053428644 Centerline is valid? [True, True] Translation: X:34.68, Y:422.27, Z:8.26 [[ 4.64458133e-01 -8.85584890e-01 -4.24809727e-03 3.46765223e+01] [ 8.85548345e-01 4.64477559e-01 -8.04521356e-03 4.22268261e+02] [ 9.09786541e-03 -2.52306417e-05 9.99958613e-01 8.26468710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0227550960001 meters 0.018278571821377324 Centerline is valid? [True, True] Translation: X:34.69, Y:422.29, Z:8.26 [[ 4.64449986e-01 -8.85587042e-01 -4.66925806e-03 3.46887040e+01] [ 8.85542825e-01 4.64473455e-01 -8.84954897e-03 4.22292203e+02] [ 1.00057923e-02 -2.46550802e-05 9.99949941e-01 8.26378873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.052755096 meters 0.018422163075986597 Centerline is valid? [True, True] Translation: X:34.70, Y:422.32, Z:8.26 [[ 4.64214209e-01 -8.85702445e-01 -6.02882761e-03 3.47012341e+01] [ 8.85628616e-01 4.64253355e-01 -1.14357328e-02 4.22316187e+02] [ 1.29275599e-02 -3.06726134e-05 9.99916435e-01 8.26097705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.082755096 meters 0.01887619923806671 Centerline is valid? [True, True] Translation: X:34.71, Y:422.34, Z:8.26 [[ 4.62912350e-01 -8.86380713e-01 -6.43345401e-03 3.47138970e+01] [ 8.86296569e-01 4.62957050e-01 -1.22131417e-02 4.22337872e+02] [ 1.38039061e-02 -4.83341199e-05 9.99904720e-01 8.26006513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.112755096 meters 0.020108600719618664 Centerline is valid? [True, True] Translation: X:34.73, Y:422.36, Z:8.26 [[ 4.59303905e-01 -8.88250695e-01 -7.11521169e-03 3.47305322e+01] [ 8.88147831e-01 4.59359000e-01 -1.35181084e-02 4.22358444e+02] [ 1.52759057e-02 -1.10439835e-04 9.99883310e-01 8.25972087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.142755096 meters 0.02109022877802371 Centerline is valid? [True, True] Translation: X:34.75, Y:422.38, Z:8.26 [[ 4.56723918e-01 -8.89578090e-01 -7.35424277e-03 3.47462633e+01] [ 8.89468210e-01 4.56783098e-01 -1.39822922e-02 4.22380963e+02] [ 1.57976346e-02 -1.55317879e-04 9.99875198e-01 8.26040497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1727550960001 meters 0.023140442303112806 Centerline is valid? [True, True] Translation: X:34.76, Y:422.40, Z:8.26 [[ 4.53223640e-01 -8.91366570e-01 -7.34646621e-03 3.47624866e+01] [ 8.91256996e-01 4.53283127e-01 -1.39776282e-02 4.22402434e+02] [ 1.57892196e-02 -2.12597896e-04 9.99875320e-01 8.26066950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.202755096 meters 0.025061211926454188 Centerline is valid? [True, True] Translation: X:34.78, Y:422.42, Z:8.26 [[ 4.50049108e-01 -8.92972043e-01 -7.53202751e-03 3.47780725e+01] [ 8.92856916e-01 4.50112050e-01 -1.43412284e-02 4.22424549e+02] [ 1.61965724e-02 -2.70765805e-04 9.99868790e-01 8.26146271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.232755096 meters 0.029510572790782164 Centerline is valid? [True, True] Translation: X:34.80, Y:422.44, Z:8.26 [[ 4.44236995e-01 -8.95876650e-01 -7.64989993e-03 3.47958608e+01] [ 8.95758167e-01 4.44302697e-01 -1.45746421e-02 4.22444492e+02] [ 1.64559527e-02 -3.77865115e-04 9.99864520e-01 8.26235689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.262755096 meters 0.03212549278843143 Centerline is valid? [True, True] Translation: X:34.81, Y:422.47, Z:8.26 [[ 4.41185426e-01 -8.97382034e-01 -7.80410799e-03 3.48098954e+01] [ 8.97258776e-01 4.41254227e-01 -1.48793928e-02 4.22465852e+02] [ 1.67960954e-02 -4.37733131e-04 9.99858840e-01 8.26266141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2927550960001 meters 0.03731510138792221 Centerline is valid? [True, True] Translation: X:34.83, Y:422.49, Z:8.26 [[ 4.35669693e-01 -9.00073342e-01 -7.73934982e-03 3.48254905e+01] [ 8.99952351e-01 4.35738105e-01 -1.47671876e-02 4.22486939e+02] [ 1.66638816e-02 -5.31429958e-04 9.99861007e-01 8.26358304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.322755096 meters 0.034525359211026875 Centerline is valid? [True, True] Translation: X:34.83, Y:422.51, Z:8.27 [[ 4.33025008e-01 -9.01351416e-01 -7.41406794e-03 3.48329638e+01] [ 9.01240428e-01 4.33088121e-01 -1.41552165e-02 4.22513218e+02] [ 1.59697692e-02 -5.52295024e-04 9.99872323e-01 8.26713147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.352755096 meters 0.02976397288332721 Centerline is valid? [True, True] Translation: X:34.84, Y:422.54, Z:8.27 [[ 4.30559091e-01 -9.02532325e-01 -7.36694499e-03 3.48380218e+01] [ 9.02422750e-01 4.30621710e-01 -1.40756041e-02 4.22541844e+02] [ 1.58760541e-02 -5.87719476e-04 9.99873795e-01 8.27074276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.382755096 meters 0.03159182191122142 Centerline is valid? [True, True] Translation: X:34.85, Y:422.57, Z:8.27 [[ 4.25955093e-01 -9.04709565e-01 -7.92857823e-03 3.48502935e+01] [ 9.04582800e-01 4.26028278e-01 -1.51612872e-02 4.22566492e+02] [ 1.70943601e-02 -7.14027984e-04 9.99853626e-01 8.27223861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4127550960001 meters 0.03303924441206469 Centerline is valid? [True, True] Translation: X:34.86, Y:422.59, Z:8.27 [[ 4.24267549e-01 -9.05499399e-01 -8.23921739e-03 3.48628639e+01] [ 9.05362478e-01 4.24346844e-01 -1.57651293e-02 4.22590475e+02] [ 1.77716010e-02 -7.70845494e-04 9.99841776e-01 8.27204901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.442755096 meters 0.03482810733157764 Centerline is valid? [True, True] Translation: X:34.87, Y:422.62, Z:8.27 [[ 4.21455117e-01 -9.06805114e-01 -8.94817661e-03 3.48738635e+01] [ 9.06643654e-01 4.21549156e-01 -1.71346034e-02 4.22615804e+02] [ 1.93098423e-02 -8.91341274e-04 9.99813150e-01 8.27215360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.472755096 meters 0.035852975354277464 Centerline is valid? [True, True] Translation: X:34.89, Y:422.64, Z:8.27 [[ 4.20399121e-01 -9.07293718e-01 -9.09334326e-03 3.48851031e+01] [ 9.07126818e-01 4.20496442e-01 -1.74263443e-02 4.22640243e+02] [ 1.96345312e-02 -9.22795729e-04 9.99806798e-01 8.27218105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.502755096 meters 0.034042372126711344 Centerline is valid? [True, True] Translation: X:34.89, Y:422.67, Z:8.27 [[ 4.19916124e-01 -9.07515719e-01 -9.25576352e-03 3.48932071e+01] [ 9.07342640e-01 4.20017055e-01 -1.77484428e-02 4.22667147e+02] [ 1.99945693e-02 -9.45291614e-04 9.99799642e-01 8.27351080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5327550960001 meters 0.03233040278727929 Centerline is valid? [True, True] Translation: X:34.90, Y:422.70, Z:8.28 [[ 4.19967827e-01 -9.07489802e-01 -9.44903673e-03 3.48992852e+01] [ 9.07309139e-01 4.20073020e-01 -1.81324368e-02 4.22695756e+02] [ 2.04242869e-02 -9.58157294e-04 9.99790943e-01 8.27527900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.562755096 meters 0.03170207663313191 Centerline is valid? [True, True] Translation: X:34.91, Y:422.72, Z:8.28 [[ 4.20462028e-01 -9.07260906e-01 -9.45157733e-03 3.49090834e+01] [ 9.07079805e-01 4.20567192e-01 -1.81511844e-02 4.22722911e+02] [ 2.04428833e-02 -9.41451106e-04 9.99790579e-01 8.27640015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.592755096 meters 0.03133381816564208 Centerline is valid? [True, True] Translation: X:34.92, Y:422.75, Z:8.28 [[ 4.21434005e-01 -9.06810357e-01 -9.39977241e-03 3.49191985e+01] [ 9.06630863e-01 4.21537840e-01 -1.80645805e-02 4.22750152e+02] [ 2.03435084e-02 -9.09095267e-04 9.99792636e-01 8.27730593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.622755096 meters 0.033572023563168504 Centerline is valid? [True, True] Translation: X:34.93, Y:422.77, Z:8.28 [[ 4.22419160e-01 -9.06352515e-01 -9.33654999e-03 3.49315117e+01] [ 9.06175119e-01 4.22521419e-01 -1.79528509e-02 4.22774341e+02] [ 2.02165039e-02 -8.76921106e-04 9.99795241e-01 8.27650988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6527550960001 meters 0.03085955455806356 Centerline is valid? [True, True] Translation: X:34.93, Y:422.81, Z:8.28 [[ 4.24733377e-01 -9.05272248e-01 -9.14967971e-03 3.49342803e+01] [ 9.05101392e-01 4.24831157e-01 -1.76056223e-02 4.22805027e+02] [ 1.98249502e-02 -8.03692454e-04 9.99803143e-01 8.27891554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.682755096 meters 0.03093777772396764 Centerline is valid? [True, True] Translation: X:34.94, Y:422.83, Z:8.28 [[ 4.25750965e-01 -9.04797596e-01 -8.79921380e-03 3.49433383e+01] [ 9.04639243e-01 4.25841230e-01 -1.69436513e-02 4.22831145e+02] [ 1.90776430e-02 -7.46338206e-04 9.99817727e-01 8.27947354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.712755096 meters 0.029816750758067483 Centerline is valid? [True, True] Translation: X:34.95, Y:422.86, Z:8.28 [[ 4.27272932e-01 -9.04089219e-01 -7.77981412e-03 3.49481651e+01] [ 9.03965129e-01 4.27343294e-01 -1.49918218e-02 4.22860345e+02] [ 1.68785959e-02 -6.27080997e-04 9.99857350e-01 8.28297947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.742755096 meters 0.029712270571468347 Centerline is valid? [True, True] Translation: X:34.96, Y:422.89, Z:8.28 [[ 4.27334800e-01 -9.04062546e-01 -7.47540821e-03 3.49572380e+01] [ 9.03947797e-01 4.27399762e-01 -1.44160863e-02 4.22886930e+02] [ 1.62280314e-02 -5.96883447e-04 9.99868139e-01 8.28406626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7727550960001 meters 0.02947492765785014 Centerline is valid? [True, True] Translation: X:34.97, Y:422.91, Z:8.28 [[ 4.27177883e-01 -9.04138707e-01 -7.22884210e-03 3.49664385e+01] [ 9.04031249e-01 4.27238655e-01 -1.39511061e-02 4.22914325e+02] [ 1.57021758e-02 -5.75495165e-04 9.99876548e-01 8.28495472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.802755096 meters 0.030554158828925263 Centerline is valid? [True, True] Translation: X:34.97, Y:422.94, Z:8.29 [[ 4.26093615e-01 -9.04653115e-01 -6.85364916e-03 3.49726743e+01] [ 9.04556470e-01 4.26148363e-01 -1.32350170e-02 4.22941443e+02] [ 1.48937707e-02 -5.60156464e-04 9.99888925e-01 8.28531050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.832755096 meters 0.031094306488486958 Centerline is valid? [True, True] Translation: X:34.98, Y:422.97, Z:8.29 [[ 4.25167741e-01 -9.05090954e-01 -6.53889121e-03 3.49825023e+01] [ 9.05002911e-01 4.25217670e-01 -1.26358194e-02 4.22968446e+02] [ 1.42170180e-02 -5.45372780e-04 9.99898784e-01 8.28613208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.862755096 meters 0.03619154584936634 Centerline is valid? [True, True] Translation: X:35.00, Y:422.99, Z:8.28 [[ 4.23947699e-01 -9.05663628e-01 -6.46072924e-03 3.49973536e+01] [ 9.05577643e-01 4.23996563e-01 -1.24919306e-02 4.22992572e+02] [ 1.40528142e-02 -5.54766699e-04 9.99901100e-01 8.28446708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.892755096 meters 0.03760953051409288 Centerline is valid? [True, True] Translation: X:35.00, Y:423.02, Z:8.29 [[ 4.22012109e-01 -9.06571172e-01 -5.87277964e-03 3.50045212e+01] [ 9.06500134e-01 4.22052638e-01 -1.13612620e-02 4.23019137e+02] [ 1.27784148e-02 -5.29085385e-04 9.99918213e-01 8.28602738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9227550960001 meters 0.03920027455792755 Centerline is valid? [True, True] Translation: X:35.01, Y:423.04, Z:8.29 [[ 4.20933296e-01 -9.07072138e-01 -5.94115794e-03 3.50149929e+01] [ 9.06999371e-01 4.20974866e-01 -1.15022809e-02 4.23044204e+02] [ 1.29344767e-02 -5.46933520e-04 9.99916197e-01 8.28579143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.952755096 meters 0.03874289899257242 Centerline is valid? [True, True] Translation: X:35.02, Y:423.07, Z:8.29 [[ 4.19218388e-01 -9.07865654e-01 -5.99143778e-03 3.50206883e+01] [ 9.07791606e-01 4.19260810e-01 -1.16091964e-02 4.23072912e+02] [ 1.30515658e-02 -5.72188321e-04 9.99914661e-01 8.28731258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.982755096 meters 0.03690829570366788 Centerline is valid? [True, True] Translation: X:35.03, Y:423.10, Z:8.29 [[ 4.18551424e-01 -9.08172037e-01 -6.18523946e-03 3.50265166e+01] [ 9.08093006e-01 4.18596699e-01 -1.19957082e-02 4.23100175e+02] [ 1.34832875e-02 -5.95951962e-04 9.99908919e-01 8.28811663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.012755096 meters 0.0410315950331944 Centerline is valid? [True, True] Translation: X:35.04, Y:423.12, Z:8.29 [[ 4.18262206e-01 -9.08305695e-01 -6.12311342e-03 3.50385981e+01] [ 9.08228129e-01 4.18306607e-01 -1.18847824e-02 4.23123029e+02] [ 1.33563543e-02 -5.90228543e-04 9.99910626e-01 8.28720581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0427550960001 meters 0.04200758136270182 Centerline is valid? [True, True] Translation: X:35.04, Y:423.15, Z:8.29 [[ 4.18305461e-01 -9.08284947e-01 -6.24474883e-03 3.50417499e+01] [ 9.08204128e-01 4.18351645e-01 -1.21310567e-02 4.23151496e+02] [ 1.36309571e-02 -5.97019394e-04 9.99906916e-01 8.28699714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.072755096 meters 0.04345265503082334 Centerline is valid? [True, True] Translation: X:35.05, Y:423.18, Z:8.28 [[ 4.18815061e-01 -9.08045457e-01 -6.88427509e-03 3.50495799e+01] [ 9.07947025e-01 4.18871142e-01 -1.33853253e-02 4.23178032e+02] [ 1.50381080e-02 -6.44581249e-04 9.99886714e-01 8.28468334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.102755096 meters 0.03682340992203855 Centerline is valid? [True, True] Translation: X:35.05, Y:423.21, Z:8.29 [[ 4.18821267e-01 -9.08047476e-01 -6.20707143e-03 3.50511785e+01] [ 9.07967313e-01 4.18866862e-01 -1.20793662e-02 4.23207857e+02] [ 1.35685745e-02 -5.76722517e-04 9.99907776e-01 8.29001005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.132755096 meters 0.034978234284672574 Centerline is valid? [True, True] Translation: X:35.05, Y:423.24, Z:8.29 [[ 4.20416769e-01 -9.07310025e-01 -6.18535058e-03 3.50529742e+01] [ 9.07230198e-01 4.20461912e-01 -1.20477424e-02 4.23238828e+02] [ 1.35317418e-02 -5.46463898e-04 9.99908293e-01 8.29230676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1627550960001 meters 0.03811613568442491 Centerline is valid? [True, True] Translation: X:35.06, Y:423.26, Z:8.29 [[ 4.21410691e-01 -9.06850496e-01 -5.93363467e-03 3.50639763e+01] [ 9.06776885e-01 4.21452158e-01 -1.15654417e-02 4.23263475e+02] [ 1.29888697e-02 -5.06681981e-04 9.99915513e-01 8.29198065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.192755096 meters 0.03373830293942265 Centerline is valid? [True, True] Translation: X:35.06, Y:423.30, Z:8.29 [[ 4.22733933e-01 -9.06236809e-01 -5.55593484e-03 3.50599747e+01] [ 9.06172120e-01 4.22770199e-01 -1.08373689e-02 4.23296925e+02] [ 1.21701063e-02 -4.53309680e-04 9.99925839e-01 8.29409466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.222755096 meters 0.033455013602660906 Centerline is valid? [True, True] Translation: X:35.07, Y:423.32, Z:8.30 [[ 4.22464176e-01 -9.06364325e-01 -5.26607858e-03 3.50665352e+01] [ 9.06306113e-01 4.22496778e-01 -1.02811533e-02 4.23324365e+02] [ 1.15433718e-02 -4.29260240e-04 9.99933281e-01 8.29526519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.252755096 meters 0.02970417819346064 Centerline is valid? [True, True] Translation: X:35.07, Y:423.35, Z:8.30 [[ 4.22158069e-01 -9.06509503e-01 -4.80486644e-03 3.50688179e+01] [ 9.06460960e-01 4.22185230e-01 -9.38936573e-03 4.23353968e+02] [ 1.05400929e-02 -3.91627344e-04 9.99944375e-01 8.29715384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2827550960001 meters 0.03029554625300757 Centerline is valid? [True, True] Translation: X:35.07, Y:423.38, Z:8.30 [[ 4.21584677e-01 -9.06777780e-01 -4.51865161e-03 3.50735349e+01] [ 9.06734789e-01 4.21608729e-01 -8.83760378e-03 4.23381587e+02] [ 9.91884569e-03 -3.71420278e-04 9.99950738e-01 8.29846847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.312755096 meters 0.030447968690822648 Centerline is valid? [True, True] Translation: X:35.08, Y:423.41, Z:8.30 [[ 4.21272389e-01 -9.06921416e-01 -4.80836079e-03 3.50828343e+01] [ 9.06872664e-01 4.21299643e-01 -9.41180809e-03 4.23408460e+02] [ 1.05615310e-02 -3.95636082e-04 9.99944147e-01 8.29890116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.342755096 meters 0.03107354023468757 Centerline is valid? [True, True] Translation: X:35.09, Y:423.44, Z:8.30 [[ 4.21404512e-01 -9.06860261e-01 -4.76485218e-03 3.50868929e+01] [ 9.06812322e-01 4.21431271e-01 -9.33261162e-03 4.23436619e+02] [ 1.04714323e-02 -3.88022022e-04 9.99945098e-01 8.30032173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.372755096 meters 0.0313505206451204 Centerline is valid? [True, True] Translation: X:35.09, Y:423.46, Z:8.30 [[ 4.21219028e-01 -9.06948432e-01 -4.36712207e-03 3.50947865e+01] [ 9.06908114e-01 4.21241516e-01 -8.55906277e-03 4.23464334e+02] [ 9.60224168e-03 -3.55338337e-04 9.99953834e-01 8.30127391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4027550960001 meters 0.03086930807995705 Centerline is valid? [True, True] Translation: X:35.10, Y:423.49, Z:8.30 [[ 4.21313248e-01 -9.06905211e-01 -4.25262954e-03 3.51018479e+01] [ 9.06866920e-01 4.21334571e-01 -8.34081306e-03 4.23492658e+02] [ 9.35610667e-03 -3.42474016e-04 9.99956172e-01 8.30244497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.432755096 meters 0.030325307613020793 Centerline is valid? [True, True] Translation: X:35.10, Y:423.52, Z:8.30 [[ 4.21900171e-01 -9.06633797e-01 -3.92489632e-03 3.51044737e+01] [ 9.06601121e-01 4.21918314e-01 -7.70345286e-03 4.23522698e+02] [ 8.64019635e-03 -3.08227330e-04 9.99962625e-01 8.30397735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.462755096 meters 0.030325307613020793 Centerline is valid? [True, True] Translation: X:35.12, Y:423.55, Z:8.30 [[ 4.21625426e-01 -9.06761608e-01 -3.92260568e-03 3.51168262e+01] [ 9.06728927e-01 4.21643560e-01 -7.70461929e-03 4.23547328e+02] [ 8.64019440e-03 -3.08276649e-04 9.99962625e-01 8.30409667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.492755096 meters 0.028906742169298078 Centerline is valid? [True, True] Translation: X:35.12, Y:423.58, Z:8.30 [[ 4.21855626e-01 -9.06655722e-01 -3.63761097e-03 3.51231403e+01] [ 9.06627572e-01 4.21871215e-01 -7.15007820e-03 4.23575482e+02] [ 8.01726268e-03 -2.81657690e-04 9.99967822e-01 8.30477000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5227550960001 meters 0.030077561069568562 Centerline is valid? [True, True] Translation: X:35.13, Y:423.60, Z:8.30 [[ 4.22503117e-01 -9.06356949e-01 -2.86299622e-03 3.51321489e+01] [ 9.06339484e-01 4.22512762e-01 -5.63084090e-03 4.23601295e+02] [ 6.31320422e-03 -2.15798691e-04 9.99980048e-01 8.30480723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 11122.91 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%| | 0/24551 [00:00